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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1199 | killagreg | 1 | #include "dsl.h" |
| 2 | |||
| 3 | /* |
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| 4 | 1. GND (at channel 4 side) |
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| 5 | 2. TxD |
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| 6 | 3. RxD |
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| 7 | 4. 5V |
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| 8 | */ |
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| 9 | |||
| 10 | // dsl protocol parser state machine |
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| 11 | #define DSLSTATE_IDLE 0 |
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| 12 | #define DLSSTATE_SYNC 1 |
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| 13 | #define DSLSTATE_HDR 2 |
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| 14 | #define DSLSTATE_DATA 3 |
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| 15 | |||
| 16 | #define DSL_SYNC1_CHAR 0xFF |
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| 17 | #define DSL_SYNC2_CHAR 0xFF |
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| 18 | |||
| 19 | |||
| 20 | volatile uint8_t rcdsl_RSSI = 0; |
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| 21 | uint8_t dsl_battery = 0; |
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| 22 | uint8_t dsl_allocation = 0; |
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| 23 | uint8_t data[6]; |
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| 24 | |||
| 25 | typedef union { |
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| 26 | uint16_t pos[2]; |
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| 27 | uint8_t dat[4]; |
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| 28 | } servos_t; |
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| 29 | |||
| 30 | |||
| 31 | // This function is called, when a new servo signal is properly received. |
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| 32 | // Parameters: servo - servo number (0-9) |
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| 33 | // signal - servo signal between 7373 (1ms) and 14745 (2ms) |
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| 34 | void dsl_new_signal(uint8_t channel, int16_t signal) |
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| 35 | { |
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| 36 | volatile signed int tmp; |
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| 37 | uint8_t index = channel+1; // Der MK fängt bei 1 an zu zählen |
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| 38 | |||
| 39 | |||
| 40 | // Signal vom ACTDSL-Empfänger liegt zwischen |
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| 41 | // 7373 (1ms) und 14745 (2ms). |
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| 42 | signal-= 11059; // Neutralstellung zur Null verschieben |
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| 43 | signal/= 24; // Auf MK Skalierung umrechnen |
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| 44 | |||
| 45 | // Stabiles Signal |
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| 46 | //if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
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| 47 | |||
| 48 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
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| 49 | if(tmp > signal+1) tmp--; else |
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| 50 | if(tmp < signal-1) tmp++; |
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| 51 | if(SenderOkay >= 105) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
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| 52 | else PPM_diff[index] = 0; |
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| 53 | PPM_in[index] = tmp; |
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| 54 | //NewPpmData = 0; |
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| 55 | //NewActData = 1; |
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| 56 | if(index == 4) { |
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| 57 | //NewActData = 1; |
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| 58 | NewPpmData = 0; |
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| 59 | //PORTC = (PORTC&(~(1<<PC4))) | ((~PORTC)&(1<<PC4)); |
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| 60 | //PINC = (1<<PC4); |
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| 61 | } |
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| 62 | //PPM_in[index] = signal; |
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| 63 | |||
| 64 | } |
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| 65 | |||
| 66 | // This function is called within dsl_parser(), when a complete |
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| 67 | // data packet with valid checksum has been received. |
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| 68 | void dsl_incoming_paket(void) |
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| 69 | { |
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| 70 | uint8_t i; |
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| 71 | static servos_t servos; |
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| 72 | // Look for status headers |
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| 73 | if ((data[0])==0x1F) { |
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| 74 | // Get frequency allocation |
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| 75 | dsl_allocation = data[0+1]; |
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| 76 | // Get signal quality |
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| 77 | dsl_RSSI = data[2+1]; |
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| 78 | // Get voltage of battery supply |
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| 79 | dsl_battery = data[3+1]; |
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| 80 | } |
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| 81 | |||
| 82 | // Look for signal headers |
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| 83 | if ((data[0]&0xF0)==0x10) { |
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| 84 | |||
| 85 | i = data[0]&0x0F; // Last 4 bits of the header indicates servo pair |
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| 86 | |||
| 87 | if (i<10) { |
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| 88 | // Convert byte array to two uint16 |
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| 89 | servos.dat[1] = data[1]; |
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| 90 | servos.dat[0] = data[2]; |
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| 91 | servos.dat[3] = data[3]; |
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| 92 | servos.dat[2] = data[4]; |
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| 93 | |||
| 94 | rcdsl_new_signal(i , (int16_t)servos.pos[0]); |
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| 95 | rcdsl_new_signal(i+1, (int16_t)servos.pos[1]); |
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| 96 | } |
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| 97 | } |
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| 98 | } |
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| 99 | |||
| 100 | |||
| 101 | // Status Frame: |0xFF|0xFF|0x1F|FREQALLOC|??|RSSI|VBAT|CRC |
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| 102 | // FREQ ALLOC = 35, 40, 72 |
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| 103 | // RSSI = 0.. 255 // Received signal strength indicator |
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| 104 | // VBAT = 0...255 // supply voltage (0.0V.. 8.2V) |
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| 105 | // |
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| 106 | //|0xFF|0xFF|CMD|D0|D1|D2|D3 |
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| 107 | |||
| 108 | // this function should be called within the UART RX ISR |
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| 109 | void dsl_parser(uint8_t c) |
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| 110 | { |
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| 111 | static uint8_t crc = 0; |
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| 112 | static uint8_t packet_len = 0; |
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| 113 | static uint8_t data_counter = 0; |
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| 114 | |||
| 115 | static uint8_t dslstate = DSLSTATE_IDLE; |
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| 116 | |||
| 117 | switch(dslstate) |
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| 118 | { |
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| 119 | case DSLSTATE_IDLE: // check 1st sync byte |
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| 120 | if (c == DSL_SYNC1_CHAR) dslstate = DSLSTATE_SYNC; |
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| 121 | else dslstate = UBXSTATE_IDLE; // out of synchronization |
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| 122 | break; |
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| 123 | |||
| 124 | case DSLSTATE_SYNC: // check 2nd sync byte |
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| 125 | if (c == DSL_SYNC2_CHAR) dslstate = DSLSTATE_CMD; // snchrinization complete trigger to cmd |
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| 126 | else dslstate = DSLSTATE_IDLE; // out of synchronization |
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| 127 | break; |
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| 128 | |||
| 129 | case DSLSTATE_HDR: // check cmd byte |
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| 130 | if (c == 0x1F) packet_len = 5; |
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| 131 | else packet_len = 4; |
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| 132 | dcnt = 1; |
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| 133 | crc = 0; |
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| 134 | dslstate = DSLSTATE_DATA; |
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| 135 | break; |
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| 136 | |||
| 137 | case DSLSTATE_DATA: |
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| 138 | data[dcnt++] = c; |
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| 139 | crc += c; |
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| 140 | if(dcnt > packetlen) dslstate = DSLSTATE_CRC; |
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| 141 | break; |
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| 142 | |||
| 143 | case DSLSTATE_CRC: |
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| 144 | // Calculate checksum |
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| 145 | crc = ~crc; |
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| 146 | if (crc == 0xFF) crc = 0xFE; |
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| 147 | // If it match the received one, then apply data |
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| 148 | if (c == crc) rcdsl_incoming_paket(); |
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| 149 | dslstate = DSLSTATE_IDLE; |
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| 150 | break; |
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| 151 | |||
| 152 | default: // unknown ubx state |
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| 153 | dslstate = DSLSTATE_IDLE; |
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| 154 | break; |
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| 155 | } |
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| 156 | } |