| 2,88 → 2,87 |
|---|
| // This code has been derived from the implementation of Stefan Engelke. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /* |
| Copyright (c) 2008 Stefan Engelke <stefan@tinkerer.eu> |
| Copyright (c) 2008 Stefan Engelke <stefan@tinkerer.eu> |
| |
| Permission is hereby granted, free of charge, to any person |
| obtaining a copy of this software and associated documentation |
| files (the "Software"), to deal in the Software without |
| restriction, including without limitation the rights to use, copy, |
| modify, merge, publish, distribute, sublicense, and/or sell copies |
| of the Software, and to permit persons to whom the Software is |
| furnished to do so, subject to the following conditions: |
| Permission is hereby granted, free of charge, to any person |
| obtaining a copy of this software and associated documentation |
| files (the "Software"), to deal in the Software without |
| restriction, including without limitation the rights to use, copy, |
| modify, merge, publish, distribute, sublicense, and/or sell copies |
| of the Software, and to permit persons to whom the Software is |
| furnished to do so, subject to the following conditions: |
| |
| The above copyright notice and this permission notice shall be |
| included in all copies or substantial portions of the Software. |
| The above copyright notice and this permission notice shall be |
| included in all copies or substantial portions of the Software. |
| |
| THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
| EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF |
| MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
| NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
| HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
| WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER |
| DEALINGS IN THE SOFTWARE. |
| THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
| EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF |
| MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
| NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
| HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
| WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER |
| DEALINGS IN THE SOFTWARE. |
| |
| $Id: rcdsl.c 60 2008-08-21 07:50:48Z taser $ |
| $Id: rcdsl.c 60 2008-08-21 07:50:48Z taser $ |
| |
| RCDSL.H and RCDSL.C is an INOFFICIAL implementation of the |
| communication protocol used by DSL receivers of Act Europe. |
| The DSL receivers have a serial communication port to connect |
| two receivers in diversity mode. Each receiver is sending the |
| received servo signals periodically over this port. This fact |
| can be used to connect the receiver to the control unit of the |
| model via UART instead of evaluating the PPM signal. |
| RCDSL.H and RCDSL.C is an INOFFICIAL implementation of the |
| communication protocol used by DSL receivers of Act Europe. |
| The DSL receivers have a serial communication port to connect |
| two receivers in diversity mode. Each receiver is sending the |
| received servo signals periodically over this port. This fact |
| can be used to connect the receiver to the control unit of the |
| model via UART instead of evaluating the PPM signal. |
| |
| If you have any questions, fell free to send me an e-mail. |
| If you have any questions, fell free to send me an e-mail. |
| |
| */ |
| */ |
| |
| |
| /* |
| Connection of DSL to SV1 of FC: |
| ( DSL Pin1 is on side of channel 4 ) |
| 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) |
| 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. |
| Do not connect the receiver via PPM-Sumsignal output the same time. |
| |
| Data are send at every 20 ms @ 38400 Baud 8-N-1 |
| Data are send at every 20 ms @ 38400 Baud 8-N-1 |
| |
| Data Frame: |0xFF|0xFF|0x1F|FREQALLOC|??|RSSI|VBAT|??|CRC|10|CH0D1|CH0D0|CH1D1|CH1D0|CRC| ...etc |
| 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.. 7.8V) |
| FREQALLOC = 35, 40, 72 |
| RSSI = 0.. 255 // Received signal strength indicator |
| VBAT = 0...255 // supply voltage (0.0V.. 7.8V) |
| |
| 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 |
| 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 |
| 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 |
| 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 |
| Frame examples with no signal received |
| |
| FFFF 1F23F000A30426 |
| FFFF 1F23F000A30426 |
| FFFF 1F23F000A30426 |
| FFFF 1F23F000A30426 |
| FFFF 1F23F000A30426 |
| FFFF 1F23F000A30426 |
| FFFF 1F23F000A30426 |
| */ |
| FFFF 1F23F000A30426 |
| FFFF 1F23F000A30426 |
| FFFF 1F23F000A30426 |
| FFFF 1F23F000A30426 |
| FFFF 1F23F000A30426 |
| FFFF 1F23F000A30426 |
| FFFF 1F23F000A30426 |
| */ |
| |
| #include <stdlib.h> |
| #include "dsl.h" |
| 96,47 → 95,48 |
|---|
| uint8_t PacketBuffer[6]; |
| //uint8_t Jitter = 0; // same measurement as RC_Quality in rc.c |
| |
| typedef union |
| { |
| typedef union { |
| int16_t Servo[2]; |
| uint8_t byte[4]; |
| 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 |
| void dsl_new_signal(uint8_t channel, int16_t signal) { |
| int16_t tmp; |
| uint8_t index = channel + 1; // mk channels start with 1 |
| |
| //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; |
| |
| // signal from DSL-receiver is between 7373 (1ms) und 14745 (2ms). |
| signal-= 11059; // shift to neutral |
| signal/= 24; // scale to mk rc resolution |
| // signal from DSL-receiver is between 7373 (1ms) und 14745 (2ms). |
| signal -= 11059; // shift to neutral |
| signal /= 24; // scale to mk rc resolution |
| |
| if(abs(signal-PPM_in[index]) < 6) |
| { |
| if(RC_Quality < 200) RC_Quality +=10; |
| else RC_Quality = 200; |
| if (abs(signal-PPM_in[index]) < 6) { |
| if (RC_Quality < 200) |
| RC_Quality += 10; |
| else |
| RC_Quality = 200; |
| } |
| |
| // calculate exponential history for signal |
| // calculate exponential history for signal |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| 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; |
| 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) |
| { |
| if (index == 4) { |
| NewPpmData = 0; |
| } |
| } |
| 143,34 → 143,29 |
|---|
| |
| // 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; |
| void dsl_decode_packet(void) { |
| uint8_t i; |
| |
| // check for header condition |
| if((PacketBuffer[0] & 0xF0) == 0x10) |
| { |
| if(PacketBuffer[0] == 0x1F) // separate status frame |
| if ((PacketBuffer[0] & 0xF0) == 0x10) { |
| if (PacketBuffer[0] == 0x1F) // separate status frame |
| { |
| dsl_Allocation = PacketBuffer[1]; // Get frequency allocation |
| dsl_Allocation = PacketBuffer[1]; // Get frequency allocation |
| // ?? = PacketBuffer[2]; |
| dsl_RSSI = PacketBuffer[3]; // Get signal quality |
| dsl_Battery = PacketBuffer[4]; // Get voltage of battery supply |
| dsl_RSSI = PacketBuffer[3]; // Get signal quality |
| dsl_Battery = PacketBuffer[4]; // Get voltage of battery supply |
| // ?? = PacketBuffer[5]; |
| if(dsl_RSSI == 0) |
| { |
| if (dsl_RSSI == 0) { |
| RC_Quality = 0; |
| for (i = 0; i<5; i++) |
| { |
| for (i = 0; i < 5; i++) { |
| PPM_diff[i] = 0; |
| PPM_in[i] = 0; |
| } |
| } |
| } |
| else // probably a channel pair |
| } 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 |
| 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]; |
| 177,47 → 172,47 |
|---|
| 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]); |
| 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) |
| { |
| void dsl_parser(uint8_t c) { |
| static uint8_t last_c = 0; |
| static uint8_t crc = 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)) |
| { |
| if ((c == 0xFF) && (last_c == 0xFF)) { |
| cnt = 0; // reset byte counter |
| crc = 0; // reset checksum |
| return; |
| } |
| } |
| |
| if(cnt == 0) // begin of a packet |
| 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 (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 |
| if (cnt > packet_len) // packet complete, crc byte received |
| { |
| // calculate checksum |
| crc = ~crc; |
| if (crc == 0xFF) crc = 0xFE; |
| 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 |
| if (c == crc) |
| dsl_decode_packet(); |
| // handle next packet |
| cnt = 0; |
| crc = 0; |
| } else // collect channel data bytes |
| { |
| PacketBuffer[cnt++] = c; |
| crc += c; |