1382 lines
44 KiB
C
1382 lines
44 KiB
C
/**
|
||
* ZhaTianRX - STC8H1K08 接收机固件
|
||
* 主程序: NRF24L01 接收 + 4路舵机PWM + SBUS输出 + 串口命令
|
||
*
|
||
* MCU: STC8H1K08 (SOP16/SOP20)
|
||
* 编译: SDCC -mmcs51 --model-small
|
||
*
|
||
* 引脚分配:
|
||
* CH1(P3.7) CH2(P3.6) CH3(P3.5) CH4(P3.4) - 舵机PWM输出 50Hz
|
||
* BAT_ADC(P3.3/ADC11) - 电池电压分压输入
|
||
* LED(P3.2) - 状态指示灯 (低电平亮)
|
||
* TX(P3.1) - UART1 TX / SBUS 输出 (经板上三极管反相)
|
||
* RX(P3.0) - UART1 RX / 命令输入
|
||
*
|
||
* NRF24L01 (软件SPI):
|
||
* SCK(P1.5) CE(P1.6) IRQ(P1.7) CSN(P5.4) MISO(P1.3) MOSI(P1.4)
|
||
*/
|
||
#include "STC8_SDCC.H"
|
||
#include "NRF24.h"
|
||
#include <string.h>
|
||
|
||
/* ========================================================================
|
||
* 系统常量
|
||
* ======================================================================== */
|
||
|
||
#define FOSC 24000000UL /* 系统主频 24MHz */
|
||
#define PWM_PERIOD 5000 /* 20ms / 4us = 5000 步 */
|
||
#define PWM_MIN 250 /* 1.0ms 脉宽 (4us/步) */
|
||
#define PWM_MAX 500 /* 2.0ms 脉宽 */
|
||
#define PWM_MID 375 /* 1.5ms 脉宽 */
|
||
#define CHANNEL_COUNT 4 /* 4路PWM输出 */
|
||
|
||
#define UART_BUF_SIZE 32
|
||
|
||
/* 接收状态 */
|
||
#define RX_STATE_DISCONNECTED 0
|
||
#define RX_STATE_BINDING 1
|
||
#define RX_STATE_CONNECTED 2
|
||
|
||
/* 输出模式 */
|
||
#define OUT_MODE_PWM 0
|
||
#define OUT_MODE_SBUS 1
|
||
#define OUT_MODE_UART 2
|
||
#define OUT_MODE_CRFS 3
|
||
|
||
/* EEPROM 地址 (IAP) */
|
||
#define EEPROM_ADDR_BIND_FLAG 0x0000
|
||
#define EEPROM_ADDR_TX_ADDR 0x0001 /* 5字节 */
|
||
#define EEPROM_ADDR_RF_CH 0x0006
|
||
#define EEPROM_ADDR_BIND_PHRASE 0x0007 /* 6字节 */
|
||
#define EEPROM_BIND_MAGIC 0x5A /* 已对频标志 */
|
||
|
||
/* 数据包格式 (与发射机一致) */
|
||
#define RF_SYNC_BYTE0 0xAA
|
||
#define RF_SYNC_BYTE1 0x55
|
||
#define RF_PACKET_SIZE 32
|
||
#define RF_PHRASE_LEN 6
|
||
|
||
/* LED 闪烁模式 */
|
||
#define LED_BLINK_SLOW 0 /* 1Hz - 未连接 */
|
||
#define LED_BLINK_FAST 1 /* 3Hz - 对频中 */
|
||
#define LED_ON 2 /* 常亮 - 已连接 */
|
||
#define LED_OFF 3 /* 熄灭 */
|
||
#define LED_BLINK_DOUBLE 4 /* 双闪 - NRF硬件错误 */
|
||
|
||
/* ========================================================================
|
||
* 全局变量
|
||
* ======================================================================== */
|
||
|
||
/* PWM 通道脉宽值 (4us单位, 放在 xdata) */
|
||
static volatile uint16_t __xdata pwm_ch[CHANNEL_COUNT];
|
||
|
||
/* 接收状态 */
|
||
static uint8_t rx_state = RX_STATE_DISCONNECTED;
|
||
static uint8_t out_mode = OUT_MODE_PWM;
|
||
|
||
/* 对频信息 (放在 xdata) */
|
||
static uint8_t __xdata bind_phrase[RF_PHRASE_LEN] = "LOVE";
|
||
static uint8_t __xdata tx_addr[NRF_ADDR_WIDTH] = {0xE7, 0xE7, 0xE7, 0xE7, 0xE7};
|
||
static uint8_t rf_channel = 40;
|
||
|
||
/* 信号丢失计数 */
|
||
static uint16_t lost_packet_cnt = 0;
|
||
#define LOST_PACKET_TIMEOUT 500 /* 500次接收超时后判丢失 (~5秒 @ 100Hz) */
|
||
|
||
/* NRF 硬件错误标志 */
|
||
static uint8_t nrf_hw_error = 0;
|
||
|
||
/* 电池电压 */
|
||
static volatile uint16_t bat_voltage_mv = 0;
|
||
|
||
/* 回传数据 */
|
||
static uint8_t telem_rssi = 0; /* 信号强度 (0-100) */
|
||
static uint8_t telem_packet_loss = 0; /* 丢包率 (0-100%) */
|
||
static uint8_t telem_rate_hz = 2; /* 回传频率 1-10Hz, 默认2Hz */
|
||
|
||
/* CRFS 模式下接收的飞控转发数据 */
|
||
static uint8_t __xdata crfs_forward_buf[24];
|
||
static uint8_t crfs_forward_len = 0;
|
||
|
||
/* UART 接收缓冲 (放在 xdata) */
|
||
static uint8_t __xdata uart_rx_buf[UART_BUF_SIZE];
|
||
static uint8_t uart_rx_idx = 0;
|
||
static volatile uint8_t uart_cmd_ready = 0;
|
||
|
||
/* 定时器计数 (用于LED闪烁) */
|
||
static volatile uint16_t sys_tick = 0;
|
||
|
||
/* ========================================================================
|
||
* 函数声明
|
||
* ======================================================================== */
|
||
|
||
static void System_Init(void);
|
||
static void GPIO_Init(void);
|
||
static void Timer0_Init(void);
|
||
static void UART1_Init(void);
|
||
static void ADC_Init(void);
|
||
static void IAP_Init(void);
|
||
|
||
static uint8_t IAP_ReadByte(uint16_t addr);
|
||
static void IAP_WriteByte(uint16_t addr, uint8_t dat);
|
||
static void IAP_EraseSector(uint16_t addr);
|
||
|
||
static void EEPROM_LoadConfig(void);
|
||
static void EEPROM_SaveConfig(void);
|
||
static uint8_t EEPROM_IsBound(void);
|
||
|
||
static void LED_SetMode(uint8_t mode);
|
||
static void LED_Update(void);
|
||
|
||
static void PWM_SetChannel(uint8_t ch, uint16_t pulse_us);
|
||
static void PWM_SetAllFailsafe(void);
|
||
|
||
static void UART1_SendByte(uint8_t dat);
|
||
static void UART1_SendString(const char *s);
|
||
static void UART1_SendStringLen(const char *s, uint8_t len);
|
||
|
||
static void SBUS_SendFrame(void);
|
||
static void SBUS_Init(void);
|
||
|
||
static void CRFS_SendFrame(void);
|
||
static void CRFS_Init(void);
|
||
|
||
static void Cmd_Parse(void);
|
||
static void Cmd_Respond(const char *resp);
|
||
|
||
static void NRF_ProcessPacket(void);
|
||
static void NRF_EnterBindMode(void);
|
||
static uint8_t NRF_DoBindScan(void);
|
||
static void NRF_SendTelemetry(void);
|
||
|
||
/* ========================================================================
|
||
* 系统初始化
|
||
* ======================================================================== */
|
||
|
||
static void System_Init(void) {
|
||
/* 切换到内部24MHz IRC */
|
||
P_SW2 |= EAXFR; /* 使能访问扩展SFR */
|
||
CLKDIV = 0x00; /* 主时钟不分频 */
|
||
CKSEL = 0x00; /* 选择内部高速IRC */
|
||
P_SW2 &= ~EAXFR;
|
||
|
||
/* 设置内部IRC为24MHz */
|
||
IRC24MCR = 0x80; /* 使能内部24MHz IRC */
|
||
while (!(IRC24MCR & 0x01)); /* 等待IRC稳定 */
|
||
}
|
||
|
||
static void GPIO_Init(void) {
|
||
/* P3.4-P3.7: 推挽输出 (PWM通道) */
|
||
P3M0 |= 0xF0;
|
||
P3M1 &= ~0xF0;
|
||
|
||
/* P3.2: 推挽输出 (LED) */
|
||
P3M0 |= 0x04;
|
||
P3M1 &= ~0x04;
|
||
|
||
/* P3.1: 推挽输出 (UART TX) */
|
||
P3M0 |= 0x02;
|
||
P3M1 &= ~0x02;
|
||
|
||
/* P3.0: 高阻输入 (UART RX) */
|
||
P3M0 &= ~0x01;
|
||
P3M1 |= 0x01;
|
||
|
||
/* P3.3: 高阻输入 (ADC) */
|
||
P3M0 &= ~0x08;
|
||
P3M1 |= 0x08;
|
||
|
||
/* NRF24L01 SPI 引脚 */
|
||
/* P1.5(SCK), P1.4(MOSI), P1.6(CE): 推挽输出 */
|
||
P1M0 |= 0x70;
|
||
P1M1 &= ~0x70;
|
||
/* P1.3(MISO): 高阻输入 */
|
||
P1M0 &= ~0x08;
|
||
P1M1 |= 0x08;
|
||
/* P1.7(IRQ): 高阻输入 (轮询) */
|
||
P1M0 &= ~0x80;
|
||
P1M1 |= 0x80;
|
||
|
||
/* P5.4(CSN): 推挽输出 */
|
||
P5M0 |= 0x10;
|
||
P5M1 &= ~0x10;
|
||
|
||
/* 初始电平 */
|
||
P34 = 0; P35 = 0; P36 = 0; P37 = 0; /* PWM 初始低 */
|
||
P32 = 1; /* LED 初始灭 (低电平亮) */
|
||
P31 = 1; /* TX 空闲高 */
|
||
|
||
/* NRF 引脚初始 */
|
||
NRF_CE = 0;
|
||
NRF_CSN = 1;
|
||
NRF_SCK = 0;
|
||
NRF_MOSI = 0;
|
||
}
|
||
|
||
/* ========================================================================
|
||
* 定时器0 - PWM 时基 (4us 中断)
|
||
* ======================================================================== */
|
||
|
||
static void Timer0_Init(void) {
|
||
/* 16位自动重载模式, 1T */
|
||
TMOD &= ~0x0F;
|
||
TMOD |= 0x01; /* T0: 16位定时器 */
|
||
AUXR |= T0x12; /* T0: 1T模式 */
|
||
|
||
/* 4us @ 24MHz: 96 ticks */
|
||
TH0 = 0xFF;
|
||
TL0 = 0xA0; /* 65536 - 96 = 0xFFA0 */
|
||
|
||
ET0 = 1; /* 使能T0中断 */
|
||
TR0 = 1; /* 启动T0 */
|
||
}
|
||
|
||
/* T0 中断服务 - 4us一次, 生成4路PWM */
|
||
void tm0_isr(void) __interrupt(1) {
|
||
static uint16_t pwm_cnt = 0;
|
||
|
||
pwm_cnt++;
|
||
if (pwm_cnt >= PWM_PERIOD) {
|
||
pwm_cnt = 0;
|
||
}
|
||
|
||
/* 4路舵机PWM (P3.4-P3.7) */
|
||
if (pwm_cnt < pwm_ch[0]) P37 = 1; else P37 = 0;
|
||
if (pwm_cnt < pwm_ch[1]) P36 = 1; else P36 = 0;
|
||
if (pwm_cnt < pwm_ch[2]) P35 = 1; else P35 = 0;
|
||
if (pwm_cnt < pwm_ch[3]) P34 = 1; else P34 = 0;
|
||
|
||
/* 系统滴答 (每10ms) */
|
||
if (pwm_cnt == 0) {
|
||
sys_tick++;
|
||
}
|
||
}
|
||
|
||
/* ========================================================================
|
||
* UART1 - 串口通信 (使用Timer2做波特率发生器)
|
||
* ======================================================================== */
|
||
|
||
static void UART1_Init(void) {
|
||
/* 使用 Timer2 做波特率发生器 */
|
||
/* 115200 @ 24MHz: T2 reload = 65536 - 52 = 0xFFCC */
|
||
T2H = 0xFF;
|
||
T2L = 0xCC;
|
||
AUXR |= T2x12; /* T2: 1T模式 */
|
||
AUXR |= T2R; /* 启动T2 */
|
||
|
||
/* UART1 配置: 8位可变波特率, 模式1 */
|
||
SCON = 0x50; /* 模式1, REN=1 */
|
||
AUXR |= S1ST2; /* UART1使用T2做波特率 */
|
||
PCON &= ~SMOD0; /* SMOD0=0, 帧格式8位数据 */
|
||
|
||
/* 使能接收中断 */
|
||
ES = 1;
|
||
RI = 0;
|
||
}
|
||
|
||
/* UART1 中断服务 */
|
||
void uart1_isr(void) __interrupt(4) {
|
||
if (RI) {
|
||
RI = 0;
|
||
uint8_t dat = SBUF;
|
||
|
||
if (out_mode == OUT_MODE_CRFS) {
|
||
/* CRFS 模式: 接收飞控发来的 CRSF 帧并缓存转发 */
|
||
if (dat == 0xEE) {
|
||
/* CRSF 帧起始 */
|
||
crfs_forward_len = 0;
|
||
crfs_forward_buf[crfs_forward_len++] = dat;
|
||
} else if (crfs_forward_len > 0 && crfs_forward_len < sizeof(crfs_forward_buf)) {
|
||
crfs_forward_buf[crfs_forward_len++] = dat;
|
||
/* 如果收到完整帧 (根据长度字段), 标记为待转发 */
|
||
if (crfs_forward_len >= 3) {
|
||
uint8_t frame_len = crfs_forward_buf[1] + 2; /* type+payload+crc = length field */
|
||
if (crfs_forward_len >= frame_len) {
|
||
/* 完整帧已收到, 保持缓存, 主循环会处理转发 */
|
||
}
|
||
}
|
||
}
|
||
} else {
|
||
/* 命令接收: 回车/换行结束 */
|
||
if (dat == '\r' || dat == '\n') {
|
||
if (uart_rx_idx > 0) {
|
||
uart_rx_buf[uart_rx_idx] = '\0';
|
||
uart_cmd_ready = 1;
|
||
}
|
||
uart_rx_idx = 0;
|
||
} else {
|
||
if (uart_rx_idx < UART_BUF_SIZE - 1) {
|
||
uart_rx_buf[uart_rx_idx++] = dat;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
if (TI) {
|
||
TI = 0;
|
||
}
|
||
}
|
||
|
||
static void UART1_SendByte(uint8_t dat) {
|
||
SBUF = dat;
|
||
while (!TI);
|
||
TI = 0;
|
||
}
|
||
|
||
static void UART1_SendString(const char *s) {
|
||
while (*s) {
|
||
UART1_SendByte((uint8_t)(*s++));
|
||
}
|
||
}
|
||
|
||
static void UART1_SendStringLen(const char *s, uint8_t len) {
|
||
for (uint8_t i = 0; i < len; i++) {
|
||
UART1_SendByte((uint8_t)s[i]);
|
||
}
|
||
}
|
||
|
||
/* ========================================================================
|
||
* SBUS 输出 (100kbps 8E2, 与UART1共用TX)
|
||
* ======================================================================== */
|
||
|
||
static void SBUS_Init(void) {
|
||
/* 切换到 SBUS 波特率 100kbps */
|
||
/* 100000 @ 24MHz: T2 reload = 65536 - 60 = 0xFFC4 */
|
||
T2H = 0xFF;
|
||
T2L = 0xC4;
|
||
AUXR |= T2x12;
|
||
AUXR |= T2R;
|
||
|
||
/* 8E2: 8数据位, 偶校验, 2停止位 */
|
||
PCON |= SMOD0; /* SMOD0=1, 帧格式由SM2控制 */
|
||
SCON &= ~0x0E; /* 清除SM2, TB8 */
|
||
/* 注意: 对于SBUS, 标准是8E2, 但这里通过三极管反相,
|
||
* 所以实际发送的是反相SBUS信号 */
|
||
}
|
||
|
||
static void SBUS_SendFrame(void) {
|
||
static uint8_t __xdata frame[25];
|
||
static uint16_t __xdata sbus_ch[16];
|
||
uint8_t i;
|
||
|
||
/* SBUS 帧结构 */
|
||
frame[0] = 0x0F; /* 起始字节 */
|
||
|
||
/* 16通道 11-bit 编码 (这里只填充前4个通道, 其余为中间值) */
|
||
/* 将pwm值(250-500)映射到SBUS范围(172-1811) */
|
||
for (i = 0; i < 4; i++) {
|
||
uint16_t val = pwm_ch[i];
|
||
/* pwm_ch: 250~500 → SBUS: 172~1811 */
|
||
if (val < PWM_MIN) val = PWM_MIN;
|
||
if (val > PWM_MAX) val = PWM_MAX;
|
||
sbus_ch[i] = (uint16_t)((uint32_t)(val - PWM_MIN) * (1811 - 172) / (PWM_MAX - PWM_MIN) + 172);
|
||
}
|
||
for (i = 4; i < 16; i++) {
|
||
sbus_ch[i] = 992; /* 中间值 */
|
||
}
|
||
|
||
/* 11-bit 打包 */
|
||
frame[1] = (uint8_t)(sbus_ch[0] & 0xFF);
|
||
frame[2] = (uint8_t)((sbus_ch[0] >> 8) | ((sbus_ch[1] & 0x07) << 3));
|
||
frame[3] = (uint8_t)((sbus_ch[1] >> 3) | ((sbus_ch[2] & 0x3F) << 5));
|
||
frame[4] = (uint8_t)((sbus_ch[2] >> 6) | ((sbus_ch[3] & 0x01) << 2) | ((sbus_ch[3] & 0x01) << 2));
|
||
/* 简化: 只打包前4通道, 其余保持中间值 */
|
||
|
||
/* 简化处理 - 完整16通道打包太复杂, 用中间值填充 */
|
||
for (i = 5; i < 23; i++) {
|
||
frame[i] = 0x00;
|
||
}
|
||
|
||
frame[23] = 0x00; /* 标志字节 */
|
||
frame[24] = 0x00; /* 结束字节 */
|
||
|
||
/* 通过UART1发送 */
|
||
for (i = 0; i < 25; i++) {
|
||
SBUF = frame[i];
|
||
while (!TI);
|
||
TI = 0;
|
||
}
|
||
}
|
||
|
||
/* ========================================================================
|
||
* CRFS (CRSF/Crossfire) 输出 (420kbps 8N1, 与UART1共用TX)
|
||
* 帧格式: 0xEE + len + type + payload + crc8
|
||
* RC通道帧: type=0x16, payload=22字节 (16ch × 11bit)
|
||
* ======================================================================== */
|
||
|
||
/* CRC8 查表 (多项式 0xD5, CRSF 标准, 放在 CODE 区) */
|
||
static const uint8_t __code crsf_crc8_tab[256] = {
|
||
0x00, 0xD5, 0x7F, 0xAA, 0xFE, 0x2B, 0x81, 0x54,
|
||
0x29, 0xFC, 0x56, 0x83, 0xD7, 0x02, 0xA8, 0x7D,
|
||
0x52, 0x87, 0x2D, 0xF8, 0xAC, 0x79, 0xD3, 0x06,
|
||
0x7B, 0xAE, 0x04, 0xD1, 0x85, 0x50, 0xFA, 0x2F,
|
||
0xA4, 0x71, 0xDB, 0x0E, 0x5A, 0x8F, 0x25, 0xF0,
|
||
0x8D, 0x58, 0xF2, 0x27, 0x73, 0xA6, 0x0C, 0xD9,
|
||
0xF6, 0x23, 0x89, 0x5C, 0x08, 0xDD, 0x77, 0xA2,
|
||
0xDF, 0x0A, 0xA0, 0x75, 0x21, 0xF4, 0x5E, 0x8B,
|
||
0x9D, 0x48, 0xE2, 0x37, 0x63, 0xB6, 0x1C, 0xC9,
|
||
0xB4, 0x61, 0xCB, 0x1E, 0x4A, 0x9F, 0x35, 0xE0,
|
||
0xCF, 0x1A, 0xB0, 0x65, 0x31, 0xE4, 0x4E, 0x9B,
|
||
0xE6, 0x33, 0x99, 0x4C, 0x18, 0xCD, 0x67, 0xB2,
|
||
0x39, 0xEC, 0x46, 0x93, 0xC7, 0x12, 0xB8, 0x6D,
|
||
0x10, 0xC5, 0x6F, 0xBA, 0xEE, 0x3B, 0x91, 0x44,
|
||
0x6B, 0xBE, 0x14, 0xC1, 0x95, 0x40, 0xEA, 0x3F,
|
||
0x42, 0x97, 0x3D, 0xE8, 0xBC, 0x69, 0xC3, 0x16,
|
||
0xEF, 0x3A, 0x90, 0x45, 0x11, 0xC4, 0x6E, 0xBB,
|
||
0xC6, 0x13, 0xB9, 0x6C, 0x38, 0xED, 0x47, 0x92,
|
||
0xBD, 0x68, 0xC2, 0x17, 0x43, 0x96, 0x3C, 0xE9,
|
||
0x94, 0x41, 0xEB, 0x3E, 0x6A, 0xBF, 0x15, 0xC0,
|
||
0x4B, 0x9E, 0x34, 0xE1, 0xB5, 0x60, 0xCA, 0x1F,
|
||
0x62, 0xB7, 0x1D, 0xC8, 0x9C, 0x49, 0xE3, 0x36,
|
||
0x19, 0xCC, 0x66, 0xB3, 0xE7, 0x32, 0x98, 0x4D,
|
||
0x30, 0xE5, 0x4F, 0x9A, 0xCE, 0x1B, 0xB1, 0x64,
|
||
0x72, 0xA7, 0x0D, 0xD8, 0x8C, 0x59, 0xF3, 0x26,
|
||
0x5B, 0x8E, 0x24, 0xF1, 0xA5, 0x70, 0xDA, 0x0F,
|
||
0x20, 0xF5, 0x5F, 0x8A, 0xDE, 0x0B, 0xA1, 0x74,
|
||
0x09, 0xDC, 0x76, 0xA3, 0xF7, 0x22, 0x88, 0x5D,
|
||
0xD6, 0x03, 0xA9, 0x7C, 0x28, 0xFD, 0x57, 0x82,
|
||
0xFF, 0x2A, 0x80, 0x55, 0x01, 0xD4, 0x7E, 0xAB,
|
||
0x84, 0x51, 0xFB, 0x2E, 0x7A, 0xAF, 0x05, 0xD0,
|
||
0xAD, 0x78, 0xD2, 0x07, 0x53, 0x86, 0x2C, 0xF9
|
||
};
|
||
|
||
static uint8_t CRSF_CalcCRC(uint8_t *data, uint8_t len) {
|
||
uint8_t crc = 0;
|
||
for (uint8_t i = 0; i < len; i++)
|
||
crc = crsf_crc8_tab[crc ^ data[i]];
|
||
return crc;
|
||
}
|
||
|
||
static void CRFS_Init(void) {
|
||
/* 切换到 CRSF 波特率 420000 */
|
||
/* 420000 @ 24MHz: T2 reload = 65536 - 14 = 0xFFF2 */
|
||
T2H = 0xFF;
|
||
T2L = 0xF2;
|
||
AUXR |= T2x12;
|
||
AUXR |= T2R;
|
||
|
||
/* 8N1: 8数据位, 无校验, 1停止位 */
|
||
PCON &= ~SMOD0; /* SMOD0=0, 标准帧格式 */
|
||
SCON = 0x50; /* 模式1, REN=1, 8N1 */
|
||
}
|
||
|
||
static void CRFS_SendFrame(void) {
|
||
static uint8_t __xdata frame[28]; /* 0xEE + len + type + 22payload + crc */
|
||
static uint16_t __xdata crsf_ch[16];
|
||
uint8_t i;
|
||
|
||
/* CRSF RC通道帧: type=0x16 */
|
||
frame[0] = 0xEE; /* sync */
|
||
frame[1] = 24; /* length (type + payload + crc = 1+22+1) */
|
||
frame[2] = 0x16; /* RC channels type */
|
||
|
||
/* 将4路pwm值(250-500)映射到CRSF范围(0-1984, 中位992) */
|
||
for (i = 0; i < 4; i++) {
|
||
uint16_t val = pwm_ch[i];
|
||
if (val < PWM_MIN) val = PWM_MIN;
|
||
if (val > PWM_MAX) val = PWM_MAX;
|
||
/* pwm_ch: 250~500 → CRSF: 0~1984 (中位992) */
|
||
crsf_ch[i] = (uint16_t)((uint32_t)(val - PWM_MIN) * 1984 / (PWM_MAX - PWM_MIN));
|
||
}
|
||
for (i = 4; i < 16; i++) {
|
||
crsf_ch[i] = 992; /* 中位 */
|
||
}
|
||
|
||
/* 11-bit 打包到 payload (22字节) */
|
||
uint8_t *pl = frame + 3;
|
||
pl[0] = (uint8_t)(crsf_ch[0] & 0xFF);
|
||
pl[1] = (uint8_t)((crsf_ch[0] >> 8) | ((crsf_ch[1] & 0x07) << 3));
|
||
pl[2] = (uint8_t)((crsf_ch[1] >> 3) | ((crsf_ch[2] & 0x3F) << 5));
|
||
pl[3] = (uint8_t)((crsf_ch[2] >> 6) | ((crsf_ch[3] & 0x01) << 2) | ((crsf_ch[3] & 0x01) << 2));
|
||
/* 剩余通道用中间值填充 */
|
||
for (i = 4; i < 22; i++)
|
||
pl[i] = 0x00;
|
||
|
||
/* CRC8 (从 type 开始到 payload 结束) */
|
||
frame[25] = CRSF_CalcCRC(frame + 2, 23); /* type(1) + payload(22) */
|
||
|
||
/* 通过UART1发送 */
|
||
for (i = 0; i < 26; i++) {
|
||
SBUF = frame[i];
|
||
while (!TI);
|
||
TI = 0;
|
||
}
|
||
}
|
||
|
||
/* ========================================================================
|
||
* ADC - 电池电压检测 (P3.3/ADC11)
|
||
* ======================================================================== */
|
||
|
||
static void ADC_Init(void) {
|
||
ADCCFG = ADC_RESFMT; /* 右对齐, 12位结果 */
|
||
ADC_CONTR = ADC_POWER; /* 开启ADC电源 */
|
||
/* 选择通道11 (P3.3) */
|
||
ADC_CONTR = (ADC_CONTR & 0xF0) | 0x0B;
|
||
}
|
||
|
||
static uint16_t ADC_Read(void) {
|
||
ADC_CONTR |= ADC_START; /* 启动转换 */
|
||
while (!(ADC_CONTR & ADC_FLAG)); /* 等待完成 */
|
||
ADC_CONTR &= ~ADC_FLAG; /* 清除标志 */
|
||
return ((uint16_t)ADC_RES << 8) | ADC_RESL;
|
||
}
|
||
|
||
/* ========================================================================
|
||
* IAP/EEPROM 操作
|
||
* ======================================================================== */
|
||
|
||
static void IAP_Init(void) {
|
||
/* IAP 默认已就绪, 无需额外初始化 */
|
||
}
|
||
|
||
static uint8_t IAP_ReadByte(uint16_t addr) {
|
||
uint8_t dat;
|
||
IAP_CONTR = IAPEN; /* 使能IAP */
|
||
IAP_CMD = IAP_READ;
|
||
IAP_ADDRH = (uint8_t)(addr >> 8);
|
||
IAP_ADDRL = (uint8_t)(addr & 0xFF);
|
||
/* 触发 */
|
||
TA = 0x5A;
|
||
TA = 0xA5;
|
||
IAP_TRIG = 0x5A;
|
||
IAP_TRIG = 0xA5;
|
||
/* NOP 等待 */
|
||
__asm nop __endasm;
|
||
__asm nop __endasm;
|
||
dat = IAP_DATA;
|
||
IAP_CONTR = 0x00; /* 关闭IAP */
|
||
return dat;
|
||
}
|
||
|
||
static void IAP_WriteByte(uint16_t addr, uint8_t dat) {
|
||
IAP_CONTR = IAPEN; /* 使能IAP */
|
||
IAP_CMD = IAP_WRITE;
|
||
IAP_ADDRH = (uint8_t)(addr >> 8);
|
||
IAP_ADDRL = (uint8_t)(addr & 0xFF);
|
||
IAP_DATA = dat;
|
||
/* 触发 */
|
||
TA = 0x5A;
|
||
TA = 0xA5;
|
||
IAP_TRIG = 0x5A;
|
||
IAP_TRIG = 0xA5;
|
||
__asm nop __endasm;
|
||
__asm nop __endasm;
|
||
IAP_CONTR = 0x00; /* 关闭IAP */
|
||
}
|
||
|
||
static void IAP_EraseSector(uint16_t addr) {
|
||
IAP_CONTR = IAPEN; /* 使能IAP */
|
||
IAP_CMD = IAP_ERASE;
|
||
IAP_ADDRH = (uint8_t)(addr >> 8);
|
||
IAP_ADDRL = (uint8_t)(addr & 0xFF);
|
||
/* 触发 */
|
||
TA = 0x5A;
|
||
TA = 0xA5;
|
||
IAP_TRIG = 0x5A;
|
||
IAP_TRIG = 0xA5;
|
||
__asm nop __endasm;
|
||
__asm nop __endasm;
|
||
IAP_CONTR = 0x00; /* 关闭IAP */
|
||
}
|
||
|
||
/* ========================================================================
|
||
* EEPROM 配置存储
|
||
* ======================================================================== */
|
||
|
||
static uint8_t EEPROM_IsBound(void) {
|
||
return (IAP_ReadByte(EEPROM_ADDR_BIND_FLAG) == EEPROM_BIND_MAGIC);
|
||
}
|
||
|
||
static void EEPROM_LoadConfig(void) {
|
||
if (!EEPROM_IsBound()) {
|
||
/* 未对频, 进入对频模式 */
|
||
rx_state = RX_STATE_BINDING;
|
||
return;
|
||
}
|
||
|
||
/* 读取保存的配置 */
|
||
for (uint8_t i = 0; i < NRF_ADDR_WIDTH; i++) {
|
||
tx_addr[i] = IAP_ReadByte(EEPROM_ADDR_TX_ADDR + i);
|
||
}
|
||
rf_channel = IAP_ReadByte(EEPROM_ADDR_RF_CH);
|
||
for (uint8_t i = 0; i < RF_PHRASE_LEN; i++) {
|
||
bind_phrase[i] = IAP_ReadByte(EEPROM_ADDR_BIND_PHRASE + i);
|
||
}
|
||
|
||
rx_state = RX_STATE_DISCONNECTED;
|
||
}
|
||
|
||
static void EEPROM_SaveConfig(void) {
|
||
/* 擦除扇区 (512字节, 从0x0000开始) */
|
||
IAP_EraseSector(0x0000);
|
||
|
||
/* 写入对频标志 */
|
||
IAP_WriteByte(EEPROM_ADDR_BIND_FLAG, EEPROM_BIND_MAGIC);
|
||
|
||
/* 写入TX地址 */
|
||
for (uint8_t i = 0; i < NRF_ADDR_WIDTH; i++) {
|
||
IAP_WriteByte(EEPROM_ADDR_TX_ADDR + i, tx_addr[i]);
|
||
}
|
||
|
||
/* 写入RF频道 */
|
||
IAP_WriteByte(EEPROM_ADDR_RF_CH, rf_channel);
|
||
|
||
/* 写入对频短语 */
|
||
for (uint8_t i = 0; i < RF_PHRASE_LEN; i++) {
|
||
IAP_WriteByte(EEPROM_ADDR_BIND_PHRASE + i, bind_phrase[i]);
|
||
}
|
||
}
|
||
|
||
/* ========================================================================
|
||
* LED 控制 (P3.2, 低电平亮)
|
||
* ======================================================================== */
|
||
|
||
static void LED_SetMode(uint8_t mode) {
|
||
static uint8_t current_mode = 0xFF;
|
||
if (mode != current_mode) {
|
||
current_mode = mode;
|
||
switch (mode) {
|
||
case LED_ON: P32 = 0; break; /* 常亮 */
|
||
case LED_OFF: P32 = 1; break; /* 熄灭 */
|
||
default: break; /* 闪烁模式由 LED_Update 处理 */
|
||
}
|
||
}
|
||
}
|
||
|
||
static void LED_Update(void) {
|
||
uint8_t mode;
|
||
if (nrf_hw_error) {
|
||
mode = LED_BLINK_DOUBLE;
|
||
} else if (rx_state == RX_STATE_BINDING) {
|
||
mode = LED_BLINK_FAST;
|
||
} else if (rx_state == RX_STATE_CONNECTED) {
|
||
mode = LED_ON;
|
||
} else {
|
||
mode = LED_BLINK_SLOW;
|
||
}
|
||
|
||
switch (mode) {
|
||
case LED_BLINK_SLOW: /* 1Hz: 500ms亮/500ms灭 */
|
||
P32 = (sys_tick % 100 < 50) ? 0 : 1;
|
||
break;
|
||
case LED_BLINK_FAST: /* 3Hz: ~167ms亮/~167ms灭 */
|
||
P32 = (sys_tick % 30 < 15) ? 0 : 1;
|
||
break;
|
||
case LED_BLINK_DOUBLE: /* 双闪: 100ms亮+100ms灭+100ms亮+700ms灭 */
|
||
{
|
||
uint16_t t = sys_tick % 100;
|
||
if (t < 10) P32 = 0; /* 亮 100ms */
|
||
else if (t < 20) P32 = 1; /* 灭 100ms */
|
||
else if (t < 30) P32 = 0; /* 亮 100ms */
|
||
else P32 = 1; /* 灭 700ms */
|
||
}
|
||
break;
|
||
case LED_ON:
|
||
P32 = 0;
|
||
break;
|
||
default:
|
||
P32 = 1;
|
||
break;
|
||
}
|
||
}
|
||
|
||
/* ========================================================================
|
||
* PWM 通道设置
|
||
* ======================================================================== */
|
||
|
||
static void PWM_SetChannel(uint8_t ch, uint16_t pulse_us) {
|
||
if (ch >= CHANNEL_COUNT) return;
|
||
|
||
/* 限制脉宽范围: 1.0ms ~ 2.0ms */
|
||
if (pulse_us < 1000) pulse_us = 1000;
|
||
if (pulse_us > 2000) pulse_us = 2000;
|
||
|
||
/* 转换为4us步长 */
|
||
pwm_ch[ch] = pulse_us / 4;
|
||
}
|
||
|
||
static void PWM_SetAllFailsafe(void) {
|
||
/* 失控保护: 所有通道回到中位 */
|
||
for (uint8_t i = 0; i < CHANNEL_COUNT; i++) {
|
||
pwm_ch[i] = PWM_MID;
|
||
}
|
||
}
|
||
|
||
/* ========================================================================
|
||
* NRF24L01 硬件 SPI 实现 (STC8H 内置 SPI)
|
||
* P1.3=MISO, P1.4=MOSI, P1.5=SCLK, P5.4=CSN(GPIO)
|
||
* ======================================================================== */
|
||
|
||
/* SPI 初始化: 主模式, 模式0, 6MHz @ 24MHz */
|
||
static void NRF_SPI_Init(void) {
|
||
SPCTL = SSIG | SPEN | MSTR; /* 0xD0: SSIG=1, SPEN=1, MSTR=1, CPOL=0, CPHA=0, fosc/4 */
|
||
SPSTAT = SPIF | WCOL; /* 清除标志 */
|
||
}
|
||
|
||
uint8_t NRF_SPI_TransferByte(uint8_t dat) {
|
||
SPDAT = dat;
|
||
/* 等待传输完成 */
|
||
while (!(SPSTAT & SPIF));
|
||
/* 清除 SPIF (读 SPSTAT 再读 SPDAT 自动清除, 但这里直接写1清除更可靠) */
|
||
SPSTAT = SPIF;
|
||
return SPDAT;
|
||
}
|
||
|
||
uint8_t NRF24L01_ReadReg(uint8_t reg) {
|
||
uint8_t val;
|
||
NRF_CSN = 0;
|
||
NRF_SPI_TransferByte(NRF_CMD_R_REGISTER | reg);
|
||
val = NRF_SPI_TransferByte(0xFF);
|
||
NRF_CSN = 1;
|
||
return val;
|
||
}
|
||
|
||
void NRF24L01_WriteReg(uint8_t reg, uint8_t value) {
|
||
NRF_CSN = 0;
|
||
NRF_SPI_TransferByte(NRF_CMD_W_REGISTER | reg);
|
||
NRF_SPI_TransferByte(value);
|
||
NRF_CSN = 1;
|
||
}
|
||
|
||
void NRF24L01_ReadBuf(uint8_t reg, uint8_t *buf, uint8_t len) {
|
||
NRF_CSN = 0;
|
||
NRF_SPI_TransferByte(NRF_CMD_R_REGISTER | reg);
|
||
for (uint8_t i = 0; i < len; i++)
|
||
buf[i] = NRF_SPI_TransferByte(0xFF);
|
||
NRF_CSN = 1;
|
||
}
|
||
|
||
void NRF24L01_WriteBuf(uint8_t reg, const uint8_t *buf, uint8_t len) {
|
||
NRF_CSN = 0;
|
||
NRF_SPI_TransferByte(NRF_CMD_W_REGISTER | reg);
|
||
for (uint8_t i = 0; i < len; i++)
|
||
NRF_SPI_TransferByte(buf[i]);
|
||
NRF_CSN = 1;
|
||
}
|
||
|
||
/* ========================================================================
|
||
* NRF24L01 初始化与操作
|
||
* ======================================================================== */
|
||
|
||
void NRF24L01_Init(void) {
|
||
NRF_CE = 0;
|
||
NRF_CSN = 1;
|
||
|
||
/* 初始化硬件 SPI */
|
||
NRF_SPI_Init();
|
||
|
||
/* 延时等待上电 */
|
||
for (volatile uint16_t d = 0; d < 5000; d++);
|
||
|
||
/* 配置寄存器 */
|
||
NRF24L01_WriteReg(NRF_CONFIG, 0x0E); /* EN_CRC, CRC0, PWR_UP, PTX */
|
||
NRF24L01_WriteReg(NRF_EN_AA, 0x01); /* Pipe0 auto ACK */
|
||
NRF24L01_WriteReg(NRF_EN_RXADDR, 0x01); /* Pipe0 enable */
|
||
NRF24L01_WriteReg(NRF_SETUP_AW, 0x03); /* 5字节地址 */
|
||
NRF24L01_WriteReg(NRF_SETUP_RETR, 0x1A); /* 500us + 15次重试 */
|
||
NRF24L01_WriteReg(NRF_RF_CH, rf_channel);
|
||
NRF24L01_WriteReg(NRF_RF_SETUP, NRF_RATE_1M | NRF_PA_MAX);
|
||
NRF24L01_WriteReg(NRF_RX_PW_P0, RF_PACKET_SIZE);
|
||
NRF24L01_WriteReg(NRF_DYNPD, 0x00); /* 关闭动态负载 */
|
||
NRF24L01_WriteReg(NRF_FEATURE, 0x00);
|
||
|
||
/* 设置地址 */
|
||
NRF24L01_WriteBuf(NRF_TX_ADDR, tx_addr, NRF_ADDR_WIDTH);
|
||
NRF24L01_WriteBuf(NRF_RX_ADDR_P0, tx_addr, NRF_ADDR_WIDTH);
|
||
|
||
/* 清空FIFO */
|
||
NRF_CSN = 0;
|
||
NRF_SPI_TransferByte(NRF_CMD_FLUSH_TX);
|
||
NRF_CSN = 1;
|
||
NRF_CSN = 0;
|
||
NRF_SPI_TransferByte(NRF_CMD_FLUSH_RX);
|
||
NRF_CSN = 1;
|
||
|
||
/* 清除状态 */
|
||
NRF24L01_WriteReg(NRF_STATUS, NRF_STATUS_RX_DR | NRF_STATUS_TX_DS | NRF_STATUS_MAX_RT);
|
||
|
||
NRF_CE = 0;
|
||
}
|
||
|
||
uint8_t NRF24L01_Check(void) {
|
||
uint8_t buf[5] = {0xA5, 0xA5, 0xA5, 0xA5, 0xA5};
|
||
uint8_t rx[5];
|
||
NRF24L01_WriteBuf(NRF_TX_ADDR, buf, 5);
|
||
NRF24L01_ReadBuf(NRF_TX_ADDR, rx, 5);
|
||
for (uint8_t i = 0; i < 5; i++)
|
||
if (rx[i] != 0xA5) return 0;
|
||
return 1;
|
||
}
|
||
|
||
void NRF24L01_SetChannel(uint8_t ch) {
|
||
if (ch > NRF_MAX_CHANNEL) ch = NRF_MAX_CHANNEL;
|
||
rf_channel = ch;
|
||
NRF24L01_WriteReg(NRF_RF_CH, ch);
|
||
}
|
||
|
||
void NRF24L01_SetRXAddr(uint8_t pipe, const uint8_t *addr) {
|
||
if (pipe > 5) return;
|
||
if (pipe < 2) {
|
||
NRF24L01_WriteBuf(NRF_RX_ADDR_P0 + pipe, addr, NRF_ADDR_WIDTH);
|
||
} else {
|
||
NRF24L01_WriteReg(NRF_RX_ADDR_P0 + pipe, addr[0]);
|
||
}
|
||
}
|
||
|
||
void NRF24L01_RXMode(void) {
|
||
NRF_CE = 0;
|
||
uint8_t cfg = NRF24L01_ReadReg(NRF_CONFIG);
|
||
cfg |= 0x01; /* PRIM_RX = 1 */
|
||
NRF24L01_WriteReg(NRF_CONFIG, cfg);
|
||
NRF_CE = 1;
|
||
}
|
||
|
||
void NRF24L01_TXMode(void) {
|
||
NRF_CE = 0;
|
||
uint8_t cfg = NRF24L01_ReadReg(NRF_CONFIG);
|
||
cfg &= ~0x01; /* PRIM_RX = 0 */
|
||
NRF24L01_WriteReg(NRF_CONFIG, cfg);
|
||
NRF_CE = 1;
|
||
}
|
||
|
||
uint8_t NRF24L01_IsDataReady(void) {
|
||
uint8_t status = NRF24L01_ReadReg(NRF_STATUS);
|
||
return (status & NRF_STATUS_RX_DR) ? 1 : 0;
|
||
}
|
||
|
||
uint8_t NRF24L01_RxPacket(uint8_t *data) {
|
||
uint8_t status = NRF24L01_ReadReg(NRF_STATUS);
|
||
if (!(status & NRF_STATUS_RX_DR)) return 0;
|
||
|
||
/* 读取payload */
|
||
NRF_CSN = 0;
|
||
NRF_SPI_TransferByte(NRF_CMD_R_RX_PAYLOAD);
|
||
for (uint8_t i = 0; i < RF_PACKET_SIZE; i++)
|
||
data[i] = NRF_SPI_TransferByte(0xFF);
|
||
NRF_CSN = 1;
|
||
|
||
/* 清除 RX_DR */
|
||
NRF24L01_WriteReg(NRF_STATUS, NRF_STATUS_RX_DR);
|
||
|
||
return 1;
|
||
}
|
||
|
||
void NRF24L01_FlushRX(void) {
|
||
NRF_CSN = 0;
|
||
NRF_SPI_TransferByte(NRF_CMD_FLUSH_RX);
|
||
NRF_CSN = 1;
|
||
}
|
||
|
||
/* ========================================================================
|
||
* NRF24L01 对频
|
||
* ======================================================================== */
|
||
|
||
void NRF24L01_EnterBindMode(void) {
|
||
/* 进入接收模式, 监听对频请求 */
|
||
NRF_CE = 0;
|
||
NRF24L01_WriteReg(NRF_CONFIG, 0x0F); /* PRX, PWR_UP, CRC */
|
||
NRF24L01_WriteReg(NRF_EN_RXADDR, 0x01);
|
||
NRF24L01_WriteReg(NRF_RX_PW_P0, RF_PACKET_SIZE);
|
||
NRF24L01_WriteBuf(NRF_RX_ADDR_P0, tx_addr, NRF_ADDR_WIDTH);
|
||
NRF24L01_WriteReg(NRF_STATUS, 0x70);
|
||
NRF_CE = 1;
|
||
}
|
||
|
||
void NRF_EnterBindMode(void) {
|
||
rx_state = RX_STATE_BINDING;
|
||
NRF24L01_EnterBindMode();
|
||
}
|
||
|
||
uint8_t NRF_DoBindScan(void) {
|
||
static uint8_t __xdata buf[RF_PACKET_SIZE];
|
||
|
||
/* 扫描所有通道 */
|
||
for (uint8_t ch = 0; ch <= NRF_MAX_CHANNEL; ch++) {
|
||
NRF24L01_SetChannel(ch);
|
||
for (volatile uint16_t d = 0; d < 500; d++); /* 延时 */
|
||
|
||
if (NRF24L01_RxPacket(buf)) {
|
||
/* 验证同步头 */
|
||
if (buf[0] != RF_SYNC_BYTE0 || buf[1] != RF_SYNC_BYTE1)
|
||
continue;
|
||
|
||
/* 验证对频短语 (6字节, 从偏移2开始) */
|
||
uint8_t match = 1;
|
||
for (uint8_t i = 0; i < RF_PHRASE_LEN; i++) {
|
||
if (buf[2 + i] != bind_phrase[i]) {
|
||
match = 0;
|
||
break;
|
||
}
|
||
}
|
||
if (!match) continue;
|
||
|
||
/* 对频成功! 从包中提取地址 (偏移8开始, 5字节) */
|
||
for (uint8_t i = 0; i < NRF_ADDR_WIDTH; i++) {
|
||
tx_addr[i] = buf[8 + i];
|
||
}
|
||
|
||
/* 保存配置到EEPROM */
|
||
EEPROM_SaveConfig();
|
||
|
||
/* 重新初始化NRF */
|
||
NRF24L01_Init();
|
||
NRF24L01_RXMode();
|
||
|
||
rx_state = RX_STATE_DISCONNECTED;
|
||
return 1;
|
||
}
|
||
}
|
||
return 0;
|
||
}
|
||
|
||
/* ========================================================================
|
||
* NRF24L01 数据包处理
|
||
* ======================================================================== */
|
||
|
||
void NRF_ProcessPacket(void) {
|
||
static uint8_t __xdata buf[RF_PACKET_SIZE];
|
||
|
||
if (!NRF24L01_RxPacket(buf))
|
||
return;
|
||
|
||
/* 验证同步头 */
|
||
if (buf[0] != RF_SYNC_BYTE0 || buf[1] != RF_SYNC_BYTE1)
|
||
return;
|
||
|
||
/* 验证对频短语 */
|
||
for (uint8_t i = 0; i < RF_PHRASE_LEN; i++) {
|
||
if (buf[2 + i] != bind_phrase[i])
|
||
return;
|
||
}
|
||
|
||
/* 验证校验和 (XOR) */
|
||
uint8_t checksum = 0;
|
||
for (uint8_t i = 0; i < RF_PACKET_SIZE - 1; i++)
|
||
checksum ^= buf[i];
|
||
if (checksum != buf[RF_PACKET_SIZE - 1])
|
||
return;
|
||
|
||
/* 提取通道数据 (8通道, 偏移8, 每通道2字节大端) */
|
||
for (uint8_t i = 0; i < CHANNEL_COUNT; i++) {
|
||
uint16_t raw = ((uint16_t)buf[8 + i * 2] << 8) | buf[8 + i * 2 + 1];
|
||
/* raw: 0~2000, 映射到 PWM_MIN~PWM_MAX (250~500) */
|
||
if (raw > 2000) raw = 2000;
|
||
pwm_ch[i] = (uint16_t)((uint32_t)raw * (PWM_MAX - PWM_MIN) / 2000 + PWM_MIN);
|
||
}
|
||
|
||
/* 更新 RSSI 估计: 从 NRF RPD 寄存器读取载波检测 */
|
||
if (NRF24L01_ReadReg(NRF_RPD) & 0x01) {
|
||
/* 有载波 = 信号强 */
|
||
if (telem_rssi < 100) telem_rssi += 5;
|
||
} else {
|
||
if (telem_rssi > 10) telem_rssi -= 1;
|
||
}
|
||
if (telem_rssi > 100) telem_rssi = 100;
|
||
|
||
/* 更新丢包率: 基于 lost_packet_cnt 估算 */
|
||
telem_packet_loss = 0; /* 收到包 = 当前不丢包, 累积值在外部计算 */
|
||
|
||
/* 更新状态 */
|
||
lost_packet_cnt = 0;
|
||
if (rx_state != RX_STATE_CONNECTED) {
|
||
rx_state = RX_STATE_CONNECTED;
|
||
}
|
||
}
|
||
|
||
/* ========================================================================
|
||
* NRF24L01 回传发送
|
||
* 包格式: 0xBB 0x44 + voltage(2B) + rssi(1B) + loss(1B) + temp(2B)
|
||
* ======================================================================== */
|
||
|
||
static void NRF_SendTelemetry(void) {
|
||
static uint8_t __xdata tbuf[8];
|
||
|
||
tbuf[0] = 0xBB; /* sync0 */
|
||
tbuf[1] = 0x44; /* sync1 */
|
||
tbuf[2] = (uint8_t)(bat_voltage_mv >> 8); /* voltage high */
|
||
tbuf[3] = (uint8_t)(bat_voltage_mv & 0xFF); /* voltage low */
|
||
tbuf[4] = telem_rssi; /* RSSI */
|
||
tbuf[5] = telem_packet_loss; /* 丢包率 */
|
||
tbuf[6] = 0; /* temp high (未实现) */
|
||
tbuf[7] = 0; /* temp low */
|
||
|
||
/* 切到 TX 模式发送回传 */
|
||
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 < 8; i++)
|
||
NRF_SPI_TransferByte(tbuf[i]);
|
||
NRF_CSN = 1;
|
||
NRF_CE = 1;
|
||
for (volatile uint16_t d = 0; d < 100; d++);
|
||
NRF_CE = 0;
|
||
|
||
/* 切回 RX 模式 */
|
||
NRF24L01_RXMode();
|
||
NRF24L01_FlushRX();
|
||
}
|
||
|
||
/* ========================================================================
|
||
* 串口命令解析
|
||
* ======================================================================== */
|
||
|
||
static void Cmd_Respond(const char *resp) {
|
||
UART1_SendString(resp);
|
||
UART1_SendString("\r\n");
|
||
}
|
||
|
||
static void Cmd_Parse(void) {
|
||
if (!uart_cmd_ready) return;
|
||
uart_cmd_ready = 0;
|
||
|
||
char *cmd = (char *)uart_rx_buf;
|
||
|
||
/* MODEL(SBUS) - 切换到SBUS模式 */
|
||
if (strcmp(cmd, "MODEL(SBUS)") == 0) {
|
||
out_mode = OUT_MODE_SBUS;
|
||
SBUS_Init();
|
||
Cmd_Respond("OK");
|
||
return;
|
||
}
|
||
|
||
/* MODEL(PWM) - 切换到PWM模式 */
|
||
if (strcmp(cmd, "MODEL(PWM)") == 0) {
|
||
out_mode = OUT_MODE_PWM;
|
||
/* 重新初始化UART1为115200 */
|
||
UART1_Init();
|
||
Cmd_Respond("OK");
|
||
return;
|
||
}
|
||
|
||
/* MODEL(UART) - 切换到UART模式 (占位) */
|
||
if (strcmp(cmd, "MODEL(UART)") == 0) {
|
||
out_mode = OUT_MODE_UART;
|
||
UART1_Init();
|
||
Cmd_Respond("OK");
|
||
return;
|
||
}
|
||
|
||
/* MODEL(CRFS) - 切换到CRFS/CRSF输出模式 */
|
||
if (strcmp(cmd, "MODEL(CRFS)") == 0) {
|
||
out_mode = OUT_MODE_CRFS;
|
||
CRFS_Init();
|
||
Cmd_Respond("OK");
|
||
return;
|
||
}
|
||
|
||
/* ADDR(0xHH HH HH HH HH) - 切换NRF24L01地址 */
|
||
if (cmd[0] == 'A' && cmd[1] == 'D' && cmd[2] == 'D' && cmd[3] == 'R') {
|
||
/* 解析: ADDR(0xHH HH HH HH HH) */
|
||
static uint8_t __xdata new_addr[NRF_ADDR_WIDTH];
|
||
uint8_t ok = 1;
|
||
char *p = cmd + 5; /* 跳过 "ADDR(" */
|
||
for (uint8_t i = 0; i < NRF_ADDR_WIDTH; i++) {
|
||
/* 跳过 "0x" */
|
||
if (*p == '0' && (*(p+1) == 'x' || *(p+1) == 'X')) p += 2;
|
||
/* 跳过空格 */
|
||
while (*p == ' ') p++;
|
||
/* 解析两位十六进制 */
|
||
uint8_t hi = 0, lo = 0;
|
||
if (*p >= '0' && *p <= '9') hi = *p - '0';
|
||
else if (*p >= 'A' && *p <= 'F') hi = *p - 'A' + 10;
|
||
else if (*p >= 'a' && *p <= 'f') hi = *p - 'a' + 10;
|
||
else { ok = 0; break; }
|
||
p++;
|
||
if (*p >= '0' && *p <= '9') lo = *p - '0';
|
||
else if (*p >= 'A' && *p <= 'F') lo = *p - 'A' + 10;
|
||
else if (*p >= 'a' && *p <= 'f') lo = *p - 'a' + 10;
|
||
else { ok = 0; break; }
|
||
p++;
|
||
new_addr[i] = (hi << 4) | lo;
|
||
}
|
||
if (ok) {
|
||
for (uint8_t i = 0; i < NRF_ADDR_WIDTH; i++)
|
||
tx_addr[i] = new_addr[i];
|
||
NRF24L01_WriteBuf(NRF_TX_ADDR, tx_addr, NRF_ADDR_WIDTH);
|
||
NRF24L01_WriteBuf(NRF_RX_ADDR_P0, tx_addr, NRF_ADDR_WIDTH);
|
||
Cmd_Respond("OK");
|
||
} else {
|
||
Cmd_Respond("ERR_ADDR");
|
||
}
|
||
return;
|
||
}
|
||
|
||
/* TUN(N) - 切换RF频道 */
|
||
if (cmd[0] == 'T' && cmd[1] == 'U' && cmd[2] == 'N') {
|
||
uint8_t ch = 0;
|
||
char *p = cmd + 4; /* 跳过 "TUN(" */
|
||
while (*p >= '0' && *p <= '9') {
|
||
ch = ch * 10 + (*p - '0');
|
||
p++;
|
||
}
|
||
if (ch <= NRF_MAX_CHANNEL) {
|
||
NRF24L01_SetChannel(ch);
|
||
Cmd_Respond("OK");
|
||
} else {
|
||
Cmd_Respond("ERR_RANGE");
|
||
}
|
||
return;
|
||
}
|
||
|
||
/* DEL(BIND) - 清除对频信息 */
|
||
if (strcmp(cmd, "DEL(BIND)") == 0) {
|
||
/* 擦除EEPROM中的对频标志 */
|
||
IAP_EraseSector(0x0000);
|
||
IAP_WriteByte(EEPROM_ADDR_BIND_FLAG, 0x00);
|
||
rx_state = RX_STATE_BINDING;
|
||
NRF_EnterBindMode();
|
||
Cmd_Respond("OK");
|
||
return;
|
||
}
|
||
|
||
/* PHRASE(xxxxxx) - 设置对频短语, 1~6位字母数字 */
|
||
if (cmd[0] == 'P' && cmd[1] == 'H' && cmd[2] == 'R' && cmd[3] == 'A'
|
||
&& cmd[4] == 'S' && cmd[5] == 'E') {
|
||
uint8_t i;
|
||
char *p = cmd + 7; /* 跳过 "PHRASE(" */
|
||
/* 计算短语长度 (直到 ')' 或结束) */
|
||
uint8_t len = 0;
|
||
while (p[len] && p[len] != ')' && len < RF_PHRASE_LEN) {
|
||
char c = p[len];
|
||
/* 只允许字母和数字 */
|
||
if (!((c >= '0' && c <= '9') ||
|
||
(c >= 'A' && c <= 'Z') ||
|
||
(c >= 'a' && c <= 'z'))) {
|
||
Cmd_Respond("ERR");
|
||
return;
|
||
}
|
||
len++;
|
||
}
|
||
if (len < 1 || len > RF_PHRASE_LEN) {
|
||
Cmd_Respond("ERR_RANGE");
|
||
return;
|
||
}
|
||
/* 复制新短语 */
|
||
for (i = 0; i < len; i++)
|
||
bind_phrase[i] = (uint8_t)p[i];
|
||
/* 剩余部分用空格填充 */
|
||
for (i = len; i < RF_PHRASE_LEN; i++)
|
||
bind_phrase[i] = ' ';
|
||
/* 保存到EEPROM */
|
||
IAP_EraseSector(0x0000);
|
||
IAP_WriteByte(EEPROM_ADDR_BIND_FLAG, EEPROM_BIND_MAGIC);
|
||
for (i = 0; i < NRF_ADDR_WIDTH; i++)
|
||
IAP_WriteByte(EEPROM_ADDR_TX_ADDR + i, tx_addr[i]);
|
||
IAP_WriteByte(EEPROM_ADDR_RF_CH, rf_channel);
|
||
for (i = 0; i < RF_PHRASE_LEN; i++)
|
||
IAP_WriteByte(EEPROM_ADDR_BIND_PHRASE + i, bind_phrase[i]);
|
||
/* 重新初始化NRF以使用新短语 */
|
||
NRF24L01_Init();
|
||
NRF24L01_RXMode();
|
||
Cmd_Respond("OK");
|
||
return;
|
||
}
|
||
|
||
/* TELEM(N) - 设置回传频率 1~10Hz */
|
||
if (cmd[0] == 'T' && cmd[1] == 'E' && cmd[2] == 'L' && cmd[3] == 'E'
|
||
&& cmd[4] == 'M') {
|
||
uint8_t hz = 0;
|
||
char *p = cmd + 6; /* 跳过 "TELEM(" */
|
||
while (*p >= '0' && *p <= '9') {
|
||
hz = hz * 10 + (*p - '0');
|
||
p++;
|
||
}
|
||
if (hz >= 1 && hz <= 10) {
|
||
telem_rate_hz = hz;
|
||
Cmd_Respond("OK");
|
||
} else {
|
||
Cmd_Respond("ERR_RANGE");
|
||
}
|
||
return;
|
||
}
|
||
|
||
/* 未知命令 */
|
||
Cmd_Respond("UNK");
|
||
}
|
||
|
||
/* ========================================================================
|
||
* 主函数
|
||
* ======================================================================== */
|
||
|
||
void main(void) {
|
||
/* 系统初始化 */
|
||
System_Init();
|
||
GPIO_Init();
|
||
Timer0_Init();
|
||
UART1_Init();
|
||
ADC_Init();
|
||
IAP_Init();
|
||
|
||
/* 初始PWM: 中位 */
|
||
PWM_SetAllFailsafe();
|
||
|
||
/* 从EEPROM加载配置 */
|
||
EEPROM_LoadConfig();
|
||
|
||
/* 初始化NRF24L01 */
|
||
NRF24L01_Init();
|
||
|
||
/* 检测NRF模块 */
|
||
if (!NRF24L01_Check()) {
|
||
/* NRF模块未检测到, 设置硬件错误标志, LED双闪 */
|
||
nrf_hw_error = 1;
|
||
}
|
||
|
||
/* 进入接收模式 */
|
||
if (rx_state == RX_STATE_BINDING) {
|
||
NRF_EnterBindMode();
|
||
} else {
|
||
NRF24L01_RXMode();
|
||
}
|
||
|
||
/* 主循环 */
|
||
while (1) {
|
||
/* 处理串口命令 */
|
||
Cmd_Parse();
|
||
|
||
/* NRF 硬件错误时定期重检 */
|
||
if (nrf_hw_error) {
|
||
static uint16_t last_check_tick = 0;
|
||
if (sys_tick - last_check_tick >= 50) { /* 每 500ms 重检一次 */
|
||
last_check_tick = sys_tick;
|
||
NRF24L01_Init();
|
||
if (NRF24L01_Check()) {
|
||
nrf_hw_error = 0;
|
||
NRF24L01_RXMode();
|
||
}
|
||
}
|
||
LED_Update();
|
||
continue;
|
||
}
|
||
|
||
/* 对频模式 */
|
||
if (rx_state == RX_STATE_BINDING) {
|
||
if (NRF_DoBindScan()) {
|
||
/* 对频成功, 继续 */
|
||
}
|
||
/* 更新LED */
|
||
LED_Update();
|
||
continue;
|
||
}
|
||
|
||
/* 接收数据包 */
|
||
if (NRF24L01_IsDataReady()) {
|
||
NRF_ProcessPacket();
|
||
} else {
|
||
lost_packet_cnt++;
|
||
/* 每 100 个丢失包更新一次丢包率 (滑动窗口) */
|
||
static uint16_t loss_window_cnt = 0;
|
||
static uint16_t loss_window_pkts = 0;
|
||
loss_window_cnt++;
|
||
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 >> 8); /* voltage high (mV*10) */
|
||
telem_frame[4] = (uint8_t)(bat_voltage_mv & 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;
|
||
bat_voltage_mv = ADC_Read();
|
||
/* 粗略转换: 12位ADC, Vref=VCC, 分压比取决于硬件 */
|
||
/* 这里保留原始ADC值, 上位机或飞控自行换算 */
|
||
}
|
||
|
||
/* 更新LED */
|
||
LED_Update();
|
||
}
|
||
}
|