0,0 → 1,406 |
/*####################################################################################### |
Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit |
#######################################################################################*/ |
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#include "Spektrum.h" |
#include "main.h" |
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unsigned char SpektrumTimer = 0; |
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// Achtung: RECEIVER_SPEKTRUM_DX7EXP oder RECEIVER_SPEKTRUM_DX8EXP wird in der main.h gesetzt |
#if defined (RECEIVER_SPEKTRUM_DX7EXP) || defined (RECEIVER_SPEKTRUM_DX8EXP) |
unsigned char s_excnt = 0; // Bitcounter for Spektrum-Expander |
unsigned char s_exparity = 0; // Parity Bit for Spektrum-Expander |
signed char s_exdata[11]; // Data for Spektrum-Expander |
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void s_update(unsigned char channel, signed int value) // Channel-Diff numbercrunching and finally assign new stickvalue to PPM_in |
{ |
if(SenderOkay >= 180) PPM_diff[channel] = ((value - PPM_in[channel]) / 3) * 3; |
else PPM_diff[channel] = 0; |
PPM_in[channel] = value; |
} |
#endif |
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//############################################################################ |
// USART1 initialisation from killagreg |
void SpektrumUartInit(void) |
//############################################################################ |
{ |
// -- Start of USART1 initialisation for Spekturm seriell-mode |
// USART1 Control and Status Register A, B, C and baud rate register |
uint8_t sreg = SREG; |
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uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1); |
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// disable all interrupts before reconfiguration |
cli(); |
// disable RX-Interrupt |
UCSR1B &= ~(1 << RXCIE1); |
// disable TX-Interrupt |
UCSR1B &= ~(1 << TXCIE1); |
// disable DRE-Interrupt |
UCSR1B &= ~(1 << UDRIE1); |
/* |
// set direction of RXD1 and TXD1 pins |
// set RXD1 (PD2) as an input pin |
PORTD |= (1 << PORTD2); |
DDRD &= ~(1 << DDD2); |
// set TXD1 (PD3) as an output pin |
PORTD |= (1 << PORTD3); |
DDRD |= (1 << DDD3); |
*/ |
// USART0 Baud Rate Register |
// set clock divider |
UBRR1H = (uint8_t)(ubrr>>8); |
UBRR1L = (uint8_t)ubrr; |
// enable double speed operation |
UCSR1A |= (1 << U2X1); |
// enable receiver and transmitter |
//UCSR1B = (1<<RXEN1)|(1<<TXEN1); |
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UCSR1B = (1<<RXEN1); |
// set asynchronous mode |
UCSR1C &= ~(1 << UMSEL11); |
UCSR1C &= ~(1 << UMSEL10); |
// no parity |
UCSR1C &= ~(1 << UPM11); |
UCSR1C &= ~(1 << UPM10); |
// 1 stop bit |
UCSR1C &= ~(1 << USBS1); |
// 8-bit |
UCSR1B &= ~(1 << UCSZ12); |
UCSR1C |= (1 << UCSZ11); |
UCSR1C |= (1 << UCSZ10); |
// flush receive buffer explicit |
while(UCSR1A & (1<<RXC1)) UDR1; |
// enable RX-interrupts at the end |
UCSR1B |= (1 << RXCIE1); |
// -- End of USART1 initialisation |
// restore global interrupt flags |
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SREG = sreg; |
return; |
} |
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Rainer Walther |
// + RC-routines from original MK rc.c (c) H&I |
// + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2 |
// + only for non-profit use |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// |
// 20080808 rw Modified for Spektrum AR6100 (PPM) |
// 20080823 rw Add Spektrum satellite receiver on USART1 (644P only) |
// 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels) |
// Replace AR6100-coding with original composit-signal routines |
// |
// --- |
// Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben! |
// Binding is not implemented. Bind with external Receiver. |
// Servo output J3, J4, J5 not serviced |
// |
// Anschuß Spektrum Receiver |
// Orange: 3V von der FC (keinesfalls an 5V anschließen!) |
// Schwarz: GND |
// Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker |
// |
// --- |
// Satellite-Reciever connected on USART1: |
// |
// DX7/DX6i: One data-frame at 115200 baud every 22ms. |
// DX7se: One data-frame at 115200 baud every 11ms. |
// byte1: unknown |
// byte2: unknown |
// byte3: and byte4: channel data (FLT-Mode) |
// byte5: and byte6: channel data (Roll) |
// byte7: and byte8: channel data (Nick) |
// byte9: and byte10: channel data (Gier) |
// byte11: and byte12: channel data (Gear Switch) |
// byte13: and byte14: channel data (Gas) |
// byte15: and byte16: channel data (AUX2) |
// |
// DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9 |
// 1st Frame: |
// byte1: unknown |
// byte2: unknown |
// byte3: and byte4: channel data |
// byte5: and byte6: channel data |
// byte7: and byte8: channel data |
// byte9: and byte10: channel data |
// byte11: and byte12: channel data |
// byte13: and byte14: channel data |
// byte15: and byte16: channel data |
// 2nd Frame: |
// byte1: unknown |
// byte2: unknown |
// byte3: and byte4: channel data |
// byte5: and byte6: channel data |
// byte7: and byte8: 0xffff |
// byte9: and byte10: 0xffff |
// byte11: and byte12: 0xffff |
// byte13: and byte14: 0xffff |
// byte15: and byte16: 0xffff |
// |
// Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as: |
// |
// Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 |
// |
// 0 means a '0' bit |
// F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only) |
// C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter) |
// D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel |
// |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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#define MIN_FRAMEGAP 68 // 7ms |
#define MAX_BYTEGAP 3 // 310us |
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//############################################################################ |
// Wird im UART-Interrupt aufgerufen |
//############################################################################ |
void SpektrumParser(unsigned char c) |
{ |
static unsigned char Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0; |
unsigned int Channel, index = 0; |
signed int signal = 0, tmp; |
int bCheckDelay; |
// c = UDR1; // get data byte |
if(ReSync == 1) |
{ |
// wait for beginning of new frame |
ReSync = 0; |
SpektrumTimer = MIN_FRAMEGAP; |
FrameCnt = 0; |
Sync = 0; |
ByteHigh = 0; |
} |
else |
{ |
if(!SpektrumTimer) bCheckDelay = 1; else bCheckDelay = 0;//CheckDelay(FrameTimer); |
if ( Sync == 0 ) |
{ |
if(bCheckDelay) |
{ |
// nach einer Pause von mind. 7ms erstes Sync-Character gefunden |
// Zeichen ignorieren, da Bedeutung unbekannt |
Sync = 1; |
FrameCnt ++; |
SpektrumTimer = MAX_BYTEGAP; |
} |
else |
{ |
// Zeichen kam vor Ablauf der 7ms Sync-Pause |
// warten auf erstes Sync-Zeichen |
SpektrumTimer = MIN_FRAMEGAP; |
FrameCnt = 0; |
Sync = 0; |
ByteHigh = 0; |
} |
} |
else if((Sync == 1) && !bCheckDelay) |
{ |
// zweites Sync-Character ignorieren, Bedeutung unbekannt |
Sync = 2; |
FrameCnt ++; |
SpektrumTimer = MAX_BYTEGAP; |
} |
else if((Sync == 2) && !bCheckDelay) |
{ |
SpektrumTimer = MAX_BYTEGAP; |
// Datenbyte high |
ByteHigh = c; |
if (FrameCnt == 2) |
{ |
// is 1st Byte of Channel-data |
// Frame 1 with Channel 1-7 comming next |
Frame2 = 0; |
if(ByteHigh & 0x80) |
{ |
// DS9: Frame 2 with Channel 8-9 comming next |
Frame2 = 1; |
} |
} |
Sync = 3; |
FrameCnt ++; |
} |
else if((Sync == 3) && !bCheckDelay) |
{ |
// Datenbyte low |
// High-Byte for next channel comes next |
SpektrumTimer = MAX_BYTEGAP; |
Sync = 2; |
FrameCnt ++; |
Channel = ((unsigned int)ByteHigh << 8) | c; |
if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM) |
{ |
signal = Channel & 0x3ff; |
signal -= 0x200; // Offset, range 0x000..0x3ff? |
signal = signal/3; // scaling to fit PPM resolution |
index = (ByteHigh >> 2) & 0x0f; |
} |
else |
if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM_HI_RES) |
{ |
signal = Channel & 0x7ff; |
signal -= 0x400; // Offset, range 0x000..0x7ff? |
signal = signal/6; // scaling to fit PPM resolution |
index = (ByteHigh >> 3) & 0x0f; |
} |
else |
//if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM_LOW_RES) |
{ |
signal = Channel & 0x3ff; |
signal -= 360; // Offset, range 0x000..0x3ff? |
signal = signal/2; // scaling to fit PPM resolution |
index = (ByteHigh >> 2) & 0x0f; |
} |
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index++; |
if(index < 13) |
{ |
// Stabiles Signal |
#if defined (RECEIVER_SPEKTRUM_DX7EXP) || defined (RECEIVER_SPEKTRUM_DX8EXP) |
if (index == 2) index = 4; // Analog channel reassigment (2 <-> 4) for logical numbering (1,2,3,4) |
else if (index == 4) index = 2; |
#endif |
if(abs(signal - PPM_in[index]) < 6) |
{ |
if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe |
{ |
if(SenderOkay < 200) SenderOkay += 10; |
else |
{ |
SenderOkay = 200; |
TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input |
} |
} |
} |
tmp = (3 * (PPM_in[index]) + signal) / 4; |
if(tmp > signal+1) tmp--; else |
if(tmp < signal-1) tmp++; |
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#ifdef RECEIVER_SPEKTRUM_DX7EXP |
if(index == 6) // FLIGHT-MODE - The channel used for our data uplink |
{ |
if (signal > 100) // SYNC received |
{ |
if (s_exdata[s_excnt] == 125) s_exparity = ~s_exparity; // Bit = 1 -> Re-Invert parity bit |
if ((s_excnt == 6 && ((s_exparity != 0 && s_exdata[s_excnt] == -125) || (s_exparity == 0 && s_exdata[s_excnt] == 125))) || (s_excnt == 9 && ((s_exparity == 0 && s_exdata[s_excnt] == -125) || (s_exparity != 0 && s_exdata[s_excnt] == 125)))) // Parity check |
{ |
if (s_exdata[1] == 125 && s_exdata[2] == -125) s_update(5,-125); // Reconstruct tripole Flight-Mode value (CH5) |
else if (s_exdata[1] == -125 && s_exdata[2] == -125) s_update(5,0); // Reconstruct tripole Flight-Mode value (CH5) |
else if (s_exdata[1] == -125 && s_exdata[2] == 125) s_update(5,125); // Reconstruct tripole Flight-Mode value (CH5) |
s_update(6,s_exdata[3]); // Elevator (CH6) |
s_update(11,s_exdata[4]); // Aileron (CH11) |
s_update(12,s_exdata[5]); // Rudder (CH12) |
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if (s_excnt == 9) // New Mode (12 Channels) |
{ |
if (s_exdata[7] == 125) s_update(8,PPM_in[8]+5); // Hover Pitch UP (CH8) |
if (s_exdata[8] == 125) s_update(8,PPM_in[8]-5); // Hover Pitch DN (CH8) |
if (PPM_in[8] < -125) PPM_in[8] = -125; // Range-Limit |
else if (PPM_in[8] > 125) PPM_in[8] = 125; // Range-Limit |
s_update(10,s_exdata[6]); // AUX2 (CH10) |
} |
} |
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s_excnt = 0; // Reset bitcounter |
s_exparity = 0; // Reset parity bit |
} |
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if (signal < 10) s_exdata[++s_excnt] = -125; // Bit = 0 -> value = -125 (min) |
if (s_excnt == 10) s_excnt = 0; // Overflow protection |
if (signal < -100) |
{ |
s_exdata[s_excnt] = 125; // Bit = 1 -> value = 125 (max) |
s_exparity = ~s_exparity; // Bit = 1 -> Invert parity bit |
} |
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} |
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if (index < 5 ) s_update(index,tmp); // Update normal potis (CH1-4) |
else if (index == 5) s_update(7,signal); // Gear (CH7) |
else if (index == 7) s_update(9,signal); // Hover Throttle (CH9) |
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#elif defined RECEIVER_SPEKTRUM_DX8EXP |
if(index == 6) // FLIGHT-MODE - The channel used for our data uplink |
{ |
if (signal > 100) // SYNC received |
{ |
if (s_exdata[s_excnt] == 125) s_exparity = ~s_exparity; // Bit = 1 -> Re-Invert parity bit |
if (s_excnt == 9 && ((s_exparity == 0 && s_exdata[s_excnt] == -125) || (s_exparity != 0 && s_exdata[s_excnt] == 125))) // Parity check |
{ |
if (s_exdata[1] == 125 && s_exdata[2] == -125) s_update(5,-125); // Reconstruct tripole Flight-Mode value (CH5) |
else if (s_exdata[1] == -125 && s_exdata[2] == -125) s_update(5,0); // Reconstruct tripole Flight-Mode value (CH5) |
else if (s_exdata[1] == -125 && s_exdata[2] == 125) s_update(5,125); // Reconstruct tripole Flight-Mode value (CH5) |
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if (s_exdata[3] == 125 && s_exdata[6] == -125) s_update(6,125); // Reconstruct tripole Elev D/R value (CH6) |
else if (s_exdata[3] == -125 && s_exdata[6] == -125) s_update(6,0); // Reconstruct tripole Elev D/R value (CH6) |
else if (s_exdata[3] == -125 && s_exdata[6] == 125) s_update(6,-125); // Reconstruct tripole Elev D/R value (CH6) |
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if (s_exdata[7] == 125 && s_exdata[8] == -125) s_update(9,-125); // Reconstruct tripole AIL D/R value (CH9) |
else if (s_exdata[7] == -125 && s_exdata[8] == -125) s_update(9,0); // Reconstruct tripole AIL D/R value (CH9) |
else if (s_exdata[7] == -125 && s_exdata[8] == 125) s_update(9,125); // Reconstruct tripole AIL D/R value (CH9) |
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s_update(10,s_exdata[5]); // Gear (CH10) |
s_update(12,s_exdata[4]); // Mix (CH12) |
} |
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s_excnt = 0; // Reset bitcounter |
s_exparity = 0; // Reset parity bit |
} |
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if (signal < 10) s_exdata[++s_excnt] = -125; // Bit = 0 -> value = -125 (min) |
if (s_excnt == 10) s_excnt = 0; // Overflow protection |
if (signal < -100) |
{ |
s_exdata[s_excnt] = 125; // Bit = 1 -> value = 125 (max) |
s_exparity = ~s_exparity; // Bit = 1 -> Invert parity bit |
} |
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} |
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if (index < 5 ) s_update(index,tmp); // Update normal potis (CH1-4) |
else if (index == 7) s_update(7,signal); // R Trim (CH7) |
else if (index == 5) s_update(8,signal); // AUX2 (CH8) |
else if (index == 8) s_update(11,signal); // AUX3 (CH11) |
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#else |
if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
else PPM_diff[index] = 0; |
PPM_in[index] = tmp; |
#endif |
} |
else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren |
} |
else |
{ |
// hier stimmt was nicht: neu synchronisieren |
ReSync = 1; |
FrameCnt = 0; |
Frame2 = 0; |
// new frame next, nach fruehestens 7ms erwartet |
SpektrumTimer = MIN_FRAMEGAP; |
} |
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// 16 Bytes eingetroffen -> Komplett |
if(FrameCnt >= 16) |
{ |
// Frame complete |
if(Frame2 == 0) |
{ |
// Null bedeutet: Neue Daten |
// nur beim ersten Frame (CH 0-7) setzen |
if(!ReSync) NewPpmData = 0; |
} |
FrameCnt = 0; |
Frame2 = 0; |
Sync = 0; |
SpektrumTimer = MIN_FRAMEGAP; |
} |
} |
} |
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