591 lines
19 KiB
C
591 lines
19 KiB
C
/**
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* ZhaTianRX - STC8H1K08 接收机固件
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* 主程序: NRF24L01 接收 + 4路舵机PWM + SBUS输出 + 串口命令
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*
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* MCU: STC8H1K08 (SOP16/SOP20)
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* 编译: SDCC -mmcs51 --model-small
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*
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* 引脚分配:
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* CH1(P3.7) CH2(P3.6) CH3(P3.5) CH4(P3.4) - 舵机PWM输出 50Hz
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* BAT_ADC(P3.3/ADC11) - 电池电压分压输入
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* LED(P3.2) - 状态指示灯 (低电平亮)
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* TX(P3.1) - UART1 TX / SBUS 输出 (经板上三极管反相)
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* RX(P3.0) - UART1 RX / 命令输入
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*
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* NRF24L01 (硬件SPI):
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* SCK(P1.5) CE(P1.6) IRQ(P1.7) CSN(P5.4) MISO(P1.3) MOSI(P1.4)
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*/
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# ifndef CONFIG
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# define CONFIG
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# include "CONFIG.h"
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# endif
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#include "NRF24.h"
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#include "UART.h"
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/* ========================================================================
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* 函数声明
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* ======================================================================== */
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static void System_Init(void);
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static void GPIO_Init(void);
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static void Timer0_Init(void);
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static void UART1_Init(void);
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static void ADC_Init(void);
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static void IAP_Init(void);
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static uint8_t IAP_ReadByte(uint16_t addr);
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static void IAP_WriteByte(uint16_t addr, uint8_t dat);
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static void IAP_EraseSector(uint16_t addr);
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static void EEPROM_LoadConfig(void);
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static void EEPROM_SaveConfig(void);
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static uint8_t EEPROM_IsBound(void);
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static void LED_SetMode(uint8_t mode);
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static void LED_Update(void);
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static void PWM_SetChannel(uint8_t ch, uint16_t pulse_us);
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static void PWM_SetAllFailsafe(void);
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static void UART1_SendByte(uint8_t dat);
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static void UART1_SendString(const char *s);
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static void UART1_SendStringLen(const char *s, uint8_t len);
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static void SBUS_SendFrame(void);
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static void SBUS_Init(void);
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static void CRFS_SendFrame(void);
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static void CRFS_Init(void);
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static void Cmd_Parse(void);
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static void Cmd_Respond(const char *resp);
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static void NRF_ProcessPacket(void);
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static void NRF_EnterBindMode(void);
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static uint8_t NRF_DoBindScan(void);
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static void NRF_SendTelemetry(void);
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/* ========================================================================
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* 系统初始化
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* ======================================================================== */
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static void System_Init(void) {
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}
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static void GPIO_Init(void) {
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}
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/* ========================================================================
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* 定时器0 - PWM 时基 (4us 中断)
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* ======================================================================== */
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static void Timer0_Init(void) {
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}
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/* T0 中断服务 - 4us一次, 生成4路PWM */
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void tm0_isr(void) __interrupt(1) {
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static uint16_t pwm_cnt = 0;
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pwm_cnt++;
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if (pwm_cnt >= PWM_PERIOD) {
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pwm_cnt = 0;
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}
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/* 4路舵机PWM (P3.4-P3.7) */
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if (pwm_cnt < pwm_ch[0]) P37 = 1; else P37 = 0;
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if (pwm_cnt < pwm_ch[1]) P36 = 1; else P36 = 0;
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if (pwm_cnt < pwm_ch[2]) P35 = 1; else P35 = 0;
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if (pwm_cnt < pwm_ch[3]) P34 = 1; else P34 = 0;
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/* 系统滴答 (每10ms) */
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if (pwm_cnt == 0) {
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sys_tick++;
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}
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}
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/* ========================================================================
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* ADC - 电池电压检测 (P3.3/ADC11)
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* ======================================================================== */
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static void ADC_Init(void) {
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ADCCFG = ADC_RESFMT; /* 右对齐, 12位结果 */
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ADC_CONTR = ADC_POWER; /* 开启ADC电源 */
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/* 选择通道11 (P3.3) */
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ADC_CONTR = (ADC_CONTR & 0xF0) | 0x0B;
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}
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/* 读取指定ADC通道 */
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static uint16_t ADC_ReadChannel(uint8_t ch) {
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ADC_CONTR = (ADC_CONTR & 0xF0) | ch; /* 切换通道 */
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__asm nop __endasm; /* 等待通道切换稳定 */
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__asm nop __endasm;
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ADC_CONTR |= ADC_START; /* 启动转换 */
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while (!(ADC_CONTR & ADC_FLAG)); /* 等待完成 */
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ADC_CONTR &= ~ADC_FLAG; /* 清除标志 */
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return ((uint16_t)ADC_RES << 8) | ADC_RESL;
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}
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static uint16_t ADC_Read(void) {
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return ADC_ReadChannel(0x0B); /* P3.3/ADC11 */
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}
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/* 读取内部带隙基准电压 (通道14), 用于反算VCC */
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/* VCC(mV) = 1190 * 4096 / bandgap_adc */
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static uint16_t ADC_ReadBandgap(void) {
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return ADC_ReadChannel(0x0E); /* 内部带隙基准 */
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}
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/* ========================================================================
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* LED 控制 (P3.2, 低电平亮)
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* ======================================================================== */
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static void LED_SetMode(uint8_t mode) {
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static uint8_t current_mode = 0xFF;
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if (mode != current_mode) {
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current_mode = mode;
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switch (mode) {
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case LED_ON: P32 = 0; break; /* 常亮 */
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case LED_OFF: P32 = 1; break; /* 熄灭 */
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default: break; /* 闪烁模式由 LED_Update 处理 */
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}
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}
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}
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static void LED_Update(void) {
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uint8_t mode;
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if (nrf_hw_error) {
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mode = LED_BLINK_DOUBLE;
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} else if (rx_state == RX_STATE_BINDING) {
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mode = LED_BLINK_FAST;
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} else if (rx_state == RX_STATE_CONNECTED) {
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mode = LED_ON;
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} else {
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mode = LED_BLINK_SLOW;
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}
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switch (mode) {
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case LED_BLINK_SLOW: /* 1Hz: 500ms亮/500ms灭 */
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P32 = (sys_tick % 100 < 50) ? 0 : 1;
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break;
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case LED_BLINK_FAST: /* 3Hz: ~167ms亮/~167ms灭 */
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P32 = (sys_tick % 30 < 15) ? 0 : 1;
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break;
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case LED_BLINK_DOUBLE: /* 双闪: 100ms亮+100ms灭+100ms亮+700ms灭 */
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{
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uint16_t t = sys_tick % 100;
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if (t < 10) P32 = 0; /* 亮 100ms */
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else if (t < 20) P32 = 1; /* 灭 100ms */
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else if (t < 30) P32 = 0; /* 亮 100ms */
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else P32 = 1; /* 灭 700ms */
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}
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break;
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case LED_ON:
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P32 = 0;
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break;
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default:
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P32 = 1;
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break;
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}
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}
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/* ========================================================================
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* PWM 通道设置
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* ======================================================================== */
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static void PWM_SetChannel(uint8_t ch, uint16_t pulse_us) {
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if (ch >= CHANNEL_COUNT) return;
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/* 限制脉宽范围: 1.0ms ~ 2.0ms */
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if (pulse_us < 1000) pulse_us = 1000;
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if (pulse_us > 2000) pulse_us = 2000;
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/* 转换为4us步长 */
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pwm_ch[ch] = pulse_us / 4;
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}
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static void PWM_SetAllFailsafe(void) {
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/* 失控保护: 所有通道回到中位 */
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for (uint8_t i = 0; i < CHANNEL_COUNT; i++) {
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pwm_ch[i] = PWM_MID;
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}
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}
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/* ========================================================================
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* 串口命令解析
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* ======================================================================== */
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static void Cmd_Respond(const char *resp) {
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UART1_SendString(resp);
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UART1_SendString("\r\n");
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}
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static void Cmd_Parse(void) {
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if (!uart_cmd_ready) return;
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uart_cmd_ready = 0;
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char *cmd = (char *)uart_rx_buf;
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/* MODEL(SBUS) - 切换到SBUS模式 */
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if (strcmp(cmd, "MODEL(SBUS)") == 0) {
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out_mode = OUT_MODE_SBUS;
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SBUS_Init();
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Cmd_Respond("OK");
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return;
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}
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/* MODEL(PWM) - 切换到PWM模式 */
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if (strcmp(cmd, "MODEL(PWM)") == 0) {
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out_mode = OUT_MODE_PWM;
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/* 重新初始化UART1为115200 */
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UART1_Init();
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Cmd_Respond("OK");
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return;
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}
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/* MODEL(UART) - 切换到UART模式 (占位) */
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if (strcmp(cmd, "MODEL(UART)") == 0) {
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out_mode = OUT_MODE_UART;
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UART1_Init();
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Cmd_Respond("OK");
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return;
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}
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/* MODEL(CRFS) - 切换到CRFS/CRSF输出模式 */
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if (strcmp(cmd, "MODEL(CRFS)") == 0) {
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out_mode = OUT_MODE_CRFS;
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CRFS_Init();
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Cmd_Respond("OK");
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return;
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}
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/* ADDR(0xHH HH HH HH HH) - 切换NRF24L01地址 */
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if (cmd[0] == 'A' && cmd[1] == 'D' && cmd[2] == 'D' && cmd[3] == 'R') {
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/* 解析: ADDR(0xHH HH HH HH HH) */
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static uint8_t __xdata new_addr[NRF_ADDR_WIDTH];
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uint8_t ok = 1;
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char *p = cmd + 5; /* 跳过 "ADDR(" */
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for (uint8_t i = 0; i < NRF_ADDR_WIDTH; i++) {
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/* 跳过 "0x" */
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if (*p == '0' && (*(p+1) == 'x' || *(p+1) == 'X')) p += 2;
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/* 跳过空格 */
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while (*p == ' ') p++;
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/* 解析两位十六进制 */
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uint8_t hi = 0, lo = 0;
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if (*p >= '0' && *p <= '9') hi = *p - '0';
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else if (*p >= 'A' && *p <= 'F') hi = *p - 'A' + 10;
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else if (*p >= 'a' && *p <= 'f') hi = *p - 'a' + 10;
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else { ok = 0; break; }
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p++;
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if (*p >= '0' && *p <= '9') lo = *p - '0';
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else if (*p >= 'A' && *p <= 'F') lo = *p - 'A' + 10;
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else if (*p >= 'a' && *p <= 'f') lo = *p - 'a' + 10;
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else { ok = 0; break; }
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p++;
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new_addr[i] = (hi << 4) | lo;
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}
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if (ok) {
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for (uint8_t i = 0; i < NRF_ADDR_WIDTH; i++)
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tx_addr[i] = new_addr[i];
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NRF24L01_WriteBuf(NRF_TX_ADDR, tx_addr, NRF_ADDR_WIDTH);
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NRF24L01_WriteBuf(NRF_RX_ADDR_P0, tx_addr, NRF_ADDR_WIDTH);
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Cmd_Respond("OK");
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} else {
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Cmd_Respond("ERR_ADDR");
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}
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return;
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}
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/* TUN(N) - 切换RF频道 */
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if (cmd[0] == 'T' && cmd[1] == 'U' && cmd[2] == 'N') {
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uint8_t ch = 0;
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char *p = cmd + 4; /* 跳过 "TUN(" */
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while (*p >= '0' && *p <= '9') {
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ch = ch * 10 + (*p - '0');
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p++;
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}
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if (ch <= NRF_MAX_CHANNEL) {
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NRF24L01_SetChannel(ch);
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Cmd_Respond("OK");
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} else {
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Cmd_Respond("ERR_RANGE");
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}
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return;
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}
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/* DEL(BIND) - 清除对频信息 */
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if (strcmp(cmd, "DEL(BIND)") == 0) {
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/* 擦除EEPROM中的对频标志 */
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IAP_EraseSector(0x0000);
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IAP_WriteByte(EEPROM_ADDR_BIND_FLAG, 0x00);
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rx_state = RX_STATE_BINDING;
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NRF_EnterBindMode();
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Cmd_Respond("OK");
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return;
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}
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/* PHRASE(xxxxxx) - 设置对频短语, 1~6位字母数字 */
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if (cmd[0] == 'P' && cmd[1] == 'H' && cmd[2] == 'R' && cmd[3] == 'A'
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&& cmd[4] == 'S' && cmd[5] == 'E') {
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uint8_t i;
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char *p = cmd + 7; /* 跳过 "PHRASE(" */
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/* 计算短语长度 (直到 ')' 或结束) */
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uint8_t len = 0;
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while (p[len] && p[len] != ')' && len < RF_PHRASE_LEN) {
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char c = p[len];
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/* 只允许字母和数字 */
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if (!((c >= '0' && c <= '9') ||
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(c >= 'A' && c <= 'Z') ||
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(c >= 'a' && c <= 'z'))) {
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Cmd_Respond("ERR");
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return;
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}
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len++;
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}
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if (len < 1 || len > RF_PHRASE_LEN) {
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Cmd_Respond("ERR_RANGE");
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return;
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}
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/* 复制新短语 */
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for (i = 0; i < len; i++)
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bind_phrase[i] = (uint8_t)p[i];
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/* 剩余部分用空格填充 */
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for (i = len; i < RF_PHRASE_LEN; i++)
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bind_phrase[i] = ' ';
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/* 保存到EEPROM */
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IAP_EraseSector(0x0000);
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IAP_WriteByte(EEPROM_ADDR_BIND_FLAG, EEPROM_BIND_MAGIC);
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for (i = 0; i < NRF_ADDR_WIDTH; i++)
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IAP_WriteByte(EEPROM_ADDR_TX_ADDR + i, tx_addr[i]);
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IAP_WriteByte(EEPROM_ADDR_RF_CH, rf_channel);
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for (i = 0; i < RF_PHRASE_LEN; i++)
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IAP_WriteByte(EEPROM_ADDR_BIND_PHRASE + i, bind_phrase[i]);
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/* 重新初始化NRF以使用新短语 */
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NRF24L01_Init();
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NRF24L01_RXMode();
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Cmd_Respond("OK");
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return;
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}
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/* TELEM(N) - 设置回传频率 1~10Hz */
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if (cmd[0] == 'T' && cmd[1] == 'E' && cmd[2] == 'L' && cmd[3] == 'E'
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&& cmd[4] == 'M') {
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uint8_t hz = 0;
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char *p = cmd + 6; /* 跳过 "TELEM(" */
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while (*p >= '0' && *p <= '9') {
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hz = hz * 10 + (*p - '0');
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p++;
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}
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if (hz >= 1 && hz <= 10) {
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telem_rate_hz = hz;
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Cmd_Respond("OK");
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} else {
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Cmd_Respond("ERR_RANGE");
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}
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return;
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}
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/* 未知命令 */
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Cmd_Respond("UNK");
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}
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/* ========================================================================
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* 主函数
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* ======================================================================== */
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void main(void) {
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/* 系统初始化 */
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System_Init();
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GPIO_Init();
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Timer0_Init();
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UART1_Init();
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ADC_Init();
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IAP_Init();
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/* 初始PWM: 中位 */
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PWM_SetAllFailsafe();
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/* 从EEPROM加载配置 */
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EEPROM_LoadConfig();
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/* 初始化NRF24L01 */
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NRF24L01_Init();
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/* 检测NRF模块 */
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if (!NRF24L01_Check()) {
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/* NRF模块未检测到, 设置硬件错误标志, LED双闪 */
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nrf_hw_error = 1;
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}
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/* 进入接收模式 */
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if (rx_state == RX_STATE_BINDING) {
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NRF_EnterBindMode();
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} else {
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NRF24L01_RXMode();
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}
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/* 主循环 */
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while (1) {
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/* 处理串口命令 */
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Cmd_Parse();
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/* NRF 硬件错误时定期重检 */
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if (nrf_hw_error) {
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static uint16_t last_check_tick = 0;
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if (sys_tick - last_check_tick >= 50) { /* 每 500ms 重检一次 */
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last_check_tick = sys_tick;
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NRF24L01_Init();
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if (NRF24L01_Check()) {
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nrf_hw_error = 0;
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NRF24L01_RXMode();
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}
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}
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LED_Update();
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continue;
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}
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/* 对频模式 */
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if (rx_state == RX_STATE_BINDING) {
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if (NRF_DoBindScan()) {
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/* 对频成功, 继续 */
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}
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/* 更新LED */
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LED_Update();
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continue;
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}
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/* 接收数据包 */
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if (NRF24L01_IsDataReady()) {
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NRF_ProcessPacket();
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} else {
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lost_packet_cnt++;
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/* 每 100 个丢失包更新一次丢包率 (滑动窗口) */
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static uint16_t loss_window_cnt = 0;
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static uint16_t loss_window_pkts = 0;
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loss_window_cnt++;
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loss_window_pkts++;
|
|
if (loss_window_cnt >= 100) {
|
|
/* 如果连续100次都没收到, 丢包率上升 */
|
|
if (telem_packet_loss < 99) telem_packet_loss++;
|
|
loss_window_cnt = 0;
|
|
loss_window_pkts = 0;
|
|
}
|
|
if (lost_packet_cnt > LOST_PACKET_TIMEOUT) {
|
|
if (rx_state == RX_STATE_CONNECTED) {
|
|
rx_state = RX_STATE_DISCONNECTED;
|
|
PWM_SetAllFailsafe();
|
|
}
|
|
}
|
|
}
|
|
|
|
/* 回传发送 (PWM/SBUS 模式通过 NRF, CRFS 模式通过 UART) */
|
|
if (rx_state == RX_STATE_CONNECTED) {
|
|
static uint16_t last_telem_tick = 0;
|
|
uint16_t telem_interval = 100 / telem_rate_hz; /* sys_tick=10ms单位 */
|
|
if (telem_interval < 1) telem_interval = 1;
|
|
if (sys_tick - last_telem_tick >= telem_interval) {
|
|
last_telem_tick = sys_tick;
|
|
|
|
if (out_mode == OUT_MODE_CRFS) {
|
|
/* CRFS 模式: 通过 CRSF 链路回传电压/RSSI/丢包
|
|
* CRSF 遥测帧: type=0x02 (GPS), 或 type=0x08 (Battery sensor)
|
|
* 这里使用 Battery sensor type=0x08
|
|
* 帧: 0xEE + len + 0x08 + voltage(2B)+current(2B)+capacity(3B)+remaining(1B) + crc
|
|
* 简化: 直接发一个精简遥测帧
|
|
*/
|
|
static uint8_t __xdata telem_frame[14];
|
|
telem_frame[0] = 0xEE;
|
|
telem_frame[1] = 10; /* len */
|
|
telem_frame[2] = 0x08; /* Battery sensor */
|
|
telem_frame[3] = (uint8_t)((bat_voltage_mv / 10) >> 8); /* voltage high (10mV单位) */
|
|
telem_frame[4] = (uint8_t)((bat_voltage_mv / 10) & 0xFF); /* voltage low */
|
|
telem_frame[5] = 0; /* current high */
|
|
telem_frame[6] = 0; /* current low */
|
|
telem_frame[7] = 0; /* capacity */
|
|
telem_frame[8] = 0;
|
|
telem_frame[9] = 0;
|
|
telem_frame[10] = telem_rssi; /* remaining = RSSI */
|
|
telem_frame[11] = CRSF_CalcCRC(telem_frame + 2, 9);
|
|
for (uint8_t i = 0; i < 12; i++) {
|
|
SBUF = telem_frame[i];
|
|
while (!TI);
|
|
TI = 0;
|
|
}
|
|
} else {
|
|
/* PWM/SBUS 模式: 通过 NRF 回传 */
|
|
NRF_SendTelemetry();
|
|
}
|
|
}
|
|
}
|
|
|
|
/* SBUS 输出模式 (每10ms发送一帧) */
|
|
if (out_mode == OUT_MODE_SBUS && rx_state == RX_STATE_CONNECTED) {
|
|
static uint16_t last_sbus_tick = 0;
|
|
if (sys_tick - last_sbus_tick >= 10) {
|
|
last_sbus_tick = sys_tick;
|
|
SBUS_SendFrame();
|
|
}
|
|
}
|
|
|
|
/* CRFS 输出模式 (每10ms发送一帧) */
|
|
if (out_mode == OUT_MODE_CRFS && rx_state == RX_STATE_CONNECTED) {
|
|
static uint16_t last_crfs_tick = 0;
|
|
if (sys_tick - last_crfs_tick >= 10) {
|
|
last_crfs_tick = sys_tick;
|
|
CRFS_SendFrame();
|
|
}
|
|
|
|
/* 转发飞控发来的 CRSF 帧到 NRF 回传通道 */
|
|
if (crfs_forward_len >= 3) {
|
|
uint8_t frame_len = crfs_forward_buf[1] + 2;
|
|
if (crfs_forward_len >= frame_len) {
|
|
/* 通过 NRF 转发给发射机 */
|
|
NRF24L01_TXMode();
|
|
NRF_CSN = 0;
|
|
NRF_SPI_TransferByte(NRF_CMD_FLUSH_TX);
|
|
NRF_CSN = 1;
|
|
NRF_CSN = 0;
|
|
NRF_SPI_TransferByte(NRF_CMD_W_TX_PAYLOAD);
|
|
for (uint8_t i = 0; i < frame_len && i < RF_PACKET_SIZE; i++)
|
|
NRF_SPI_TransferByte(crfs_forward_buf[i]);
|
|
NRF_CSN = 1;
|
|
NRF_CE = 1;
|
|
for (volatile uint16_t d = 0; d < 100; d++);
|
|
NRF_CE = 0;
|
|
NRF24L01_RXMode();
|
|
NRF24L01_FlushRX();
|
|
crfs_forward_len = 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
/* 读取电池电压 (每100ms) */
|
|
static uint16_t last_adc_tick = 0;
|
|
if (sys_tick - last_adc_tick >= 100) {
|
|
last_adc_tick = sys_tick;
|
|
|
|
/* 读取电池分压 ADC (P3.3/ADC11) */
|
|
uint16_t bat_adc = ADC_Read();
|
|
|
|
/* 读取内部带隙基准 (通道14), 反算 VCC */
|
|
uint16_t bg_adc = ADC_ReadBandgap();
|
|
|
|
/* VCC(mV) = 1190 * 4096 / bg_adc
|
|
* V_bat(mV) = bat_adc * VCC / 4096 * 11 (分压比 1K:10K = 1/11)
|
|
* 合并: V_bat(mV) = bat_adc * 1190 * 11 / bg_adc
|
|
* = bat_adc * 13090 / bg_adc
|
|
*/
|
|
if (bg_adc > 0) {
|
|
uint32_t tmp = (uint32_t)bat_adc * 13090UL / bg_adc;
|
|
bat_voltage_mv = (uint16_t)tmp;
|
|
}
|
|
}
|
|
|
|
/* 更新LED */
|
|
LED_Update();
|
|
}
|
|
}
|