| 0,0 → 1,211 |
|---|
| #include <stdlib.h> |
| #include "spectrum.h" |
| #include "rc.h" |
| |
| uint8_t SpektrumTimer; |
| |
| /* |
| Code derived from: |
| |
| 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 |
| |
| Connection of Spectrum Sattelite to SV1 of FC: |
| |
| Orange: 3V from the FC (never connect 5V!) |
| Black: GND |
| Gray: RXD1 (Pin 3) |
| |
| If a receiver is connected via PPM input at the same time, the PPM input will be disabled |
| if a stable signal can be captured by the uart. |
| |
| Data are send at every 20 ms @ 115200 Baud 8-N-1 |
| |
| DX7/DX6i: One data-frame @ 115200 Baud 8-N-1 every 22ms. |
| DX7se: One data-frame @ 115200 Baud 8-N-1 every 11ms. |
| |
| Frame consist of: |
| 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 |
| |
| DS9 (9 Channel): One data-frame @ 115200 Baud 8-N-1 every 11ms, |
| alternating frame 1/2 for CH1-7 / CH8-9 |
| |
| 1st Frame consist of: |
| 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 consist of: |
| 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: 0 = indicate first frame, 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 |
| */ |
| |
| #define MIN_FRAMEGAP 68 // 7ms |
| #define MAX_BYTEGAP 3 // 375us |
| |
| void spectrum_parser(uint8_t c) |
| { |
| static uint8_t Sync = 0, FrameCnt = 0, ByteHigh = 0, ReSync = 1, Frame2 = 0; |
| uint16_t Channel, index; |
| int16_t signal; //tmp; |
| int16_t bCheckDelay; |
| |
| |
| 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; |
| if ( Sync == 0 ) |
| { |
| if(bCheckDelay) |
| { |
| // nach einer Pause von mind. 7ms erstes Sync-Character gefunden |
| // Zeichen ignorieren, da Bedeutung unbekannt |
| SpektrumTimer = MAX_BYTEGAP; |
| FrameCnt++; |
| Sync = 1; |
| } |
| 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 |
| SpektrumTimer = MAX_BYTEGAP; |
| Sync = 2; |
| FrameCnt++; |
| } |
| else if((Sync == 2) && !bCheckDelay) |
| { |
| // Datenbyte high |
| SpektrumTimer = MAX_BYTEGAP; |
| 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 ++; |
| index = (ByteHigh >> 2) & 0x0f; |
| index ++; |
| Channel = ((uint16_t)ByteHigh << 8) | c; |
| signal = Channel & 0x3ff; |
| signal -= 0x200; // Offset, range 0x000..0x3ff? |
| signal = signal/3; // scaling to fit PPM resolution |
| |
| if(index >= 0 && index < MAX_CHANNELS) |
| { |
| if(RC_Channels < index) RC_Channels = index; |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) |
| { |
| if(RC_Quality < 200) |
| { |
| RC_Quality += 10; |
| } |
| else |
| { |
| RC_Quality = 200; |
| PPM_INPUT_OFF; // disable PPM input at ICP |
| } |
| } |
| //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 >= 180) PPM_diff[index] = ((signal - PPM_in[index]) / 3) * 3; |
| else PPM_diff[index] = 0; |
| PPM_in[index] = signal; |
| } |
| else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren |
| } |
| else |
| { |
| // hier stimmt was nicht: neu synchronisieren |
| SpektrumTimer = MIN_FRAMEGAP; // next frame expexted after 7ms |
| ReSync = 1; |
| FrameCnt = 0; |
| Frame2 = 0; |
| } |
| |
| // 16 Bytes per frame --> frame complete |
| if(FrameCnt >= 16) |
| { |
| // Frame complete |
| if(Frame2 == 0) |
| { |
| // Null bedeutet: Neue Daten |
| // nur beim ersten Frame (CH 0-7) setzen |
| if(!ReSync) NewPpmData = 0; |
| } |
| SpektrumTimer = MIN_FRAMEGAP; |
| FrameCnt = 0; |
| Frame2 = 0; |
| Sync = 0; |
| } |
| } |
| } |
| |