Subversion Repositories FlightCtrl

#include "dsl.h"

#include "rc.h"

/*

Connection of DSL to SV1 of FC:

( DSL Pin1 is on side of channel 4 )

1. GND <--> pin 7 (GND)

2. TXD <--> pin 3 (RXD1 Atmega644p)

3. RXD <--> pin 4 (TXD1 Atmega644p) optional

4. 5V  <--> pin 2 (5V)

Do not connect the receiver via PPM-Sumsignal output the same time.

Data are send at 38400baud8n1

Data Frame: |0xFF|0xFF|0x1F|FREQALLOC|??|RSSI|VBAT|??|CRC|10|CH0D1|CH0D0|CH1D1|CH1D0|CRC| ...etc

FREQALLOC = 35, 40, 72

RSSI = 0.. 255 // Received signal strength indicator

VBAT = 0...255 // supply voltage (0.0V.. 8.2V)

Servo Pair:   |0x1X|CHXD1|CHXD0|CHX+1D1|CHX+1D0|CRC|

X is channel index of 1 servo value

D1D0 is servo value as u16 in range of 7373 (1ms) to 14745 (2ms)

there are 8 channels submitted, i.e 4 servo pairs

Frame examples with signel received

FFFF 1F23F079A304AD 1036012B1E6F 122AFB2AECB2 142B4D2B4404 1636872B33CE

FFFF 1F23F079A304AD 1036002B1F6F 122AFE2AEBB0 142B4B2B4406 1636872B33CE

FFFF 1F23F079A304AD 1035FF2B226E 122AFC2AEAB3 142B4E2B4304 1636882B33CD

FFFF 1F23F079A304AD 1036022B1E6E 122AFB2AEEB0 142B4A2B4506 1636872B33CE

FFFF 1F23F079A304AD 1036022B1E6E 122AFE2AEBB0 142B4B2B4406 1636882B33CD

FFFF 1F23F079A304AD 1036012B1E6F 122AFD2AEAB2 142B4E2B4403 1636862B33CF

FFFF 1F23F079A304AD 1036032B1D6E 122AFD2AEBB1 142B4C2B4504 1636862B33CF

Frame examples with no signal received

FFFF 1F23F000A30426

FFFF 1F23F000A30426

FFFF 1F23F000A30426

FFFF 1F23F000A30426

FFFF 1F23F000A30426

FFFF 1F23F000A30426

FFFF 1F23F000A30426

*/

uint8_t dsl_RSSI = 0;

uint8_t dsl_Battery = 0;

uint8_t dsl_Allocation = 0;

uint8_t PacketBuffer[6];

typedef union

{

        int16_t Servo[2];

        uint8_t  byte[4];

} ChannelPair_t;

ChannelPair_t ChannelPair;

// This function is called, when a new servo signal is properly received.

// Parameters: servo  - servo number (0-9)

//             signal - servo signal between 7373 (1ms) and 14745 (2ms)

void dsl_new_signal(uint8_t channel, int16_t signal)

{

    int16_t tmp;

    uint8_t index = channel + 1; // mk channels start with 1

    // signal from  DSL-receiver is between 7373 (1ms) und 14745 (2ms).

    signal-= 11059;     // shift to neutral

    signal/= 24;        // scale to mk rc resolution

        // calculate exponential history for signal

        tmp = (3 * (PPM_in[index]) + signal) / 4;

        if(tmp > signal+1) tmp--; else

        if(tmp < signal-1) tmp++;

        // calculate signal difference on good signal level

        if(RC_Quality >= 195)  PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for noise reduction

        else PPM_diff[index] = 0;

        PPM_in[index] = tmp; // update channel value

    if(index == 4)

    {

                NewPpmData = 0;

                NewRCFrames++;

        }

}

// This function is called within dsl_parser(), when a complete

// data packet with valid checksum has been received.

void dsl_decode_packet(void)

{

    uint8_t  i;

        // check for header condition

        if((PacketBuffer[0] & 0xF0) == 0x10)

        {

                if(PacketBuffer[0] == 0x1F) // separate status frame

                {

                        dsl_Allocation  = PacketBuffer[1]; // Get frequency allocation

                        // ??                   = PacketBuffer[2];

                        dsl_RSSI                = PacketBuffer[3]; // Get signal quality

                        RC_Quality              = (212 * (uint16_t)dsl_RSSI) / 128; // have to be scaled approx. by a factor of 1.66 to get 200 at full level

                        if(RC_Quality > 255) RC_Quality = 255;

                        dsl_Battery     = PacketBuffer[4]; // Get voltage of battery supply

                        // ??                   = PacketBuffer[5];

                        if(dsl_RSSI == 0)

                        {

                                for (i = 0; i<5; i++)

                                {

                                        PPM_diff[i] = 0;

                                        PPM_in[i] = 0;

                                }

                        }

                }

                else // probably a channel pair

                {

                        i = PacketBuffer[0] & 0x0F;   // last 4 bits of the header indicates the channel pair

                        if(i < 10)// maximum 12 channels

                        {

                                // big to little endian

                                ChannelPair.byte[1] = PacketBuffer[1];

                                ChannelPair.byte[0] = PacketBuffer[2];

                                ChannelPair.byte[3] = PacketBuffer[3];

                                ChannelPair.byte[2] = PacketBuffer[4];

                                dsl_new_signal(i,  ChannelPair.Servo[0]);

                                dsl_new_signal(i+1,ChannelPair.Servo[1]);

                        }

                }

        } // EOF header condition

}

// this function should be called within the UART RX ISR

void dsl_parser(uint8_t c)

{

        static uint8_t last_c = 0;

        static uint8_t crc      = 0;

        static uint8_t cnt = 0;

        static uint8_t packet_len = 0;

        // check for sync condition

        if ((c==0xFF) && (last_c==0xFF))

        {

                cnt = 0; // reset byte counter

                crc = 0; // reset checksum

                return;

    }

        if(cnt == 0) // begin of a packet

        {

                if(c == 0x1F)   packet_len = 5; // a status packet has 5 bytes + crc

                else                    packet_len = 4; // a channel pair packet has 4 bytes + crc

        }

        if(cnt > packet_len) // packet complete, crc byte received

        {

                // calculate checksum

                crc = ~crc;

                if (crc == 0xFF) crc = 0xFE;

                // if crc matches decode the packet

        if (c == crc) dsl_decode_packet();

        // handle next packet

        cnt = 0;

        crc = 0;

        }

        else // collect channel data bytes

        {

                PacketBuffer[cnt++] = c;

                crc += c;

        }

        // store last byte for sync check

        last_c = c;

}