Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1180 | killagreg | 1 | /*####################################################################################### |
| 2 | Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit |
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| 3 | #######################################################################################*/ |
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| 4 | |||
| 1201 | killagreg | 5 | #include "spectrum.h" |
| 6 | #include rc.h |
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| 1180 | killagreg | 7 | |
| 1201 | killagreg | 8 | |
| 1180 | killagreg | 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 10 | // + Copyright (c) Rainer Walther |
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| 11 | // + RC-routines from original MK rc.c (c) H&I |
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| 12 | // + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2 |
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| 13 | // + only for non-profit use |
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| 14 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 15 | // |
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| 16 | // 20080808 rw Modified for Spektrum AR6100 (PPM) |
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| 17 | // 20080823 rw Add Spektrum satellite receiver on USART1 (644P only) |
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| 18 | // 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels) |
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| 19 | // Replace AR6100-coding with original composit-signal routines |
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| 20 | // |
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| 21 | // --- |
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| 22 | // Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben! |
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| 23 | // Binding is not implemented. Bind with external Receiver. |
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| 24 | // Servo output J3, J4, J5 not serviced |
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| 25 | // |
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| 26 | // Anschuß Spektrum Receiver |
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| 27 | // Orange: 3V von der FC (keinesfalls an 5V anschließen!) |
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| 28 | // Schwarz: GND |
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| 29 | // Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker |
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| 30 | // |
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| 31 | // --- |
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| 32 | // Satellite-Reciever connected on USART1: |
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| 33 | // |
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| 34 | // DX7/DX6i: One data-frame at 115200 baud every 22ms. |
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| 35 | // DX7se: One data-frame at 115200 baud every 11ms. |
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| 36 | // byte1: unknown |
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| 37 | // byte2: unknown |
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| 38 | // byte3: and byte4: channel data (FLT-Mode) |
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| 39 | // byte5: and byte6: channel data (Roll) |
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| 40 | // byte7: and byte8: channel data (Nick) |
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| 41 | // byte9: and byte10: channel data (Gier) |
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| 42 | // byte11: and byte12: channel data (Gear Switch) |
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| 43 | // byte13: and byte14: channel data (Gas) |
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| 44 | // byte15: and byte16: channel data (AUX2) |
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| 45 | // |
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| 46 | // DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9 |
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| 47 | // 1st Frame: |
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| 48 | // byte1: unknown |
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| 49 | // byte2: unknown |
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| 50 | // byte3: and byte4: channel data |
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| 51 | // byte5: and byte6: channel data |
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| 52 | // byte7: and byte8: channel data |
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| 53 | // byte9: and byte10: channel data |
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| 54 | // byte11: and byte12: channel data |
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| 55 | // byte13: and byte14: channel data |
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| 1201 | killagreg | 56 | // byte15: and byte16: channel data |
| 1180 | killagreg | 57 | // 2nd Frame: |
| 58 | // byte1: unknown |
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| 59 | // byte2: unknown |
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| 60 | // byte3: and byte4: channel data |
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| 61 | // byte5: and byte6: channel data |
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| 62 | // byte7: and byte8: 0xffff |
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| 63 | // byte9: and byte10: 0xffff |
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| 64 | // byte11: and byte12: 0xffff |
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| 65 | // byte13: and byte14: 0xffff |
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| 66 | // byte15: and byte16: 0xffff |
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| 67 | // |
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| 68 | // Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as: |
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| 69 | // |
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| 70 | // Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 |
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| 71 | // |
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| 72 | // 0 means a '0' bit |
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| 73 | // F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only) |
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| 74 | // C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter) |
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| 75 | // D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel |
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| 76 | // |
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| 77 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 78 | |||
| 1201 | killagreg | 79 | |
| 80 | void spectrum_parser(uint8_t c) |
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| 81 | |||
| 1180 | killagreg | 82 | { |
| 1201 | killagreg | 83 | static unsigned int Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0, FrameTimer; |
| 1180 | killagreg | 84 | unsigned int Channel, index; |
| 85 | signed int signal, tmp; |
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| 86 | int bCheckDelay; |
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| 1201 | killagreg | 87 | |
| 1180 | killagreg | 88 | if (ReSync == 1) |
| 89 | { |
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| 90 | // wait for beginning of new frame |
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| 91 | ReSync = 0; |
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| 1201 | killagreg | 92 | |
| 1180 | killagreg | 93 | FrameTimer = SetDelay(7); // minimum 7ms zwischen den frames |
| 94 | FrameCnt = 0; |
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| 95 | Sync = 0; |
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| 96 | ByteHigh = 0; |
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| 97 | } |
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| 98 | else |
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| 1201 | killagreg | 99 | { |
| 1180 | killagreg | 100 | bCheckDelay = CheckDelay(FrameTimer); |
| 101 | if ( Sync == 0 ) |
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| 102 | { |
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| 103 | if(bCheckDelay) |
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| 104 | { |
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| 105 | // nach einer Pause von mind. 7ms erstes Sync-Character gefunden |
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| 106 | // Zeichen ignorieren, da Bedeutung unbekannt |
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| 107 | Sync = 1; |
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| 108 | FrameCnt ++; |
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| 109 | } |
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| 110 | else |
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| 111 | { |
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| 112 | // Zeichen kam vor Ablauf der 7ms Sync-Pause |
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| 113 | // warten auf erstes Sync-Zeichen |
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| 114 | } |
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| 115 | } |
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| 116 | else if((Sync == 1) && !bCheckDelay) |
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| 117 | { |
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| 118 | // zweites Sync-Character ignorieren, Bedeutung unbekannt |
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| 119 | Sync = 2; |
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| 120 | FrameCnt ++; |
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| 121 | } |
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| 122 | else if((Sync == 2) && !bCheckDelay) |
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| 123 | { |
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| 124 | // Datenbyte high |
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| 125 | ByteHigh = c; |
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| 1201 | killagreg | 126 | |
| 1180 | killagreg | 127 | if (FrameCnt == 2) |
| 128 | { |
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| 129 | // is 1st Byte of Channel-data |
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| 130 | // Frame 1 with Channel 1-7 comming next |
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| 131 | Frame2 = 0; |
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| 132 | if(ByteHigh & 0x80) |
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| 133 | { |
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| 134 | // DS9: Frame 2 with Channel 8-9 comming next |
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| 135 | Frame2 = 1; |
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| 136 | } |
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| 1201 | killagreg | 137 | } |
| 1180 | killagreg | 138 | Sync = 3; |
| 139 | FrameCnt ++; |
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| 140 | } |
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| 141 | else if((Sync == 3) && !bCheckDelay) |
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| 142 | { |
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| 143 | // Datenbyte low |
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| 1201 | killagreg | 144 | |
| 1180 | killagreg | 145 | // High-Byte for next channel comes next |
| 146 | Sync = 2; |
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| 147 | FrameCnt ++; |
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| 1201 | killagreg | 148 | |
| 1180 | killagreg | 149 | index = (ByteHigh >> 2) & 0x0f; |
| 150 | index ++; |
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| 151 | Channel = (ByteHigh << 8) | c; |
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| 152 | signal = Channel & 0x3ff; |
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| 153 | signal -= 0x200; // Offset, range 0x000..0x3ff? |
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| 154 | signal = signal/3; // scaling to fit PPM resolution |
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| 1201 | killagreg | 155 | |
| 1180 | killagreg | 156 | if(index >= 0 && index <= 10) |
| 157 | { |
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| 158 | // Stabiles Signal |
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| 159 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
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| 1201 | killagreg | 160 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
| 1180 | killagreg | 161 | if(tmp > signal+1) tmp--; else |
| 1201 | killagreg | 162 | if(tmp < signal-1) tmp++; |
| 163 | if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
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| 1180 | killagreg | 164 | else PPM_diff[index] = 0; |
| 165 | PPM_in[index] = tmp; |
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| 166 | } |
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| 167 | } |
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| 168 | else |
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| 169 | { |
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| 170 | // hier stimmt was nicht: neu synchronisieren |
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| 171 | ReSync = 1; |
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| 172 | FrameCnt = 0; |
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| 173 | Frame2 = 0; |
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| 174 | } |
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| 1201 | killagreg | 175 | |
| 1180 | killagreg | 176 | // 16 Bytes per frame |
| 177 | if(FrameCnt >= 16) |
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| 178 | { |
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| 179 | // Frame complete |
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| 180 | if(Frame2 == 0) |
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| 181 | { |
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| 182 | // Null bedeutet: Neue Daten |
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| 183 | // nur beim ersten Frame (CH 0-7) setzen |
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| 1201 | killagreg | 184 | NewPpmData = 0; |
| 1180 | killagreg | 185 | } |
| 1201 | killagreg | 186 | |
| 1180 | killagreg | 187 | // new frame next, nach fruehestens 7ms erwartet |
| 188 | FrameCnt = 0; |
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| 189 | Frame2 = 0; |
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| 190 | Sync = 0; |
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| 191 | } |
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| 192 | // Zeit bis zum nächsten Zeichen messen |
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| 193 | FrameTimer = SetDelay(7); |
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| 194 | } |
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| 1201 | killagreg | 195 | } |
| 1180 | killagreg | 196 | |
| 197 |