| 1,4 → 1,5 |
|---|
| #include "dsl.h" |
| #include "rc.h" |
| |
| /* |
| 1. GND (at channel 4 side) |
| 8,136 → 9,139 |
|---|
| */ |
| |
| // dsl protocol parser state machine |
| #define DSLSTATE_IDLE 0 |
| #define DLSSTATE_SYNC 1 |
| #define DSLSTATE_SYNC1 0 |
| #define DSLSTATE_SYNC2 1 |
| #define DSLSTATE_HDR 2 |
| #define DSLSTATE_DATA 3 |
| #define DSLSTATE_CRC 4 |
| |
| #define DSL_SYNC1_CHAR 0xFF |
| #define DSL_SYNC2_CHAR 0xFF |
| |
| |
| volatile uint8_t rcdsl_RSSI = 0; |
| uint8_t dsl_battery = 0; |
| uint8_t dsl_allocation = 0; |
| uint8_t data[6]; |
| uint8_t dsl_RSSI = 0; |
| uint8_t dsl_Battery = 0; |
| uint8_t dsl_Allocation = 0; |
| uint8_t PacketBuffer[6]; |
| |
| typedef union { |
| uint16_t pos[2]; |
| uint8_t dat[4]; |
| } servos_t; |
| typedef union |
| { |
| int16_t Servo[2]; |
| uint8_t byte[4]; |
| } ServoPair_t; |
| |
| ServoPair_t ServoPair; |
| |
| |
| // 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) |
| { |
| volatile signed int tmp; |
| uint8_t index = channel+1; // Der MK fängt bei 1 an zu zählen |
| int16_t tmp; |
| uint8_t index = channel + 1; // mk channels start with 1 |
| |
| |
| // Signal vom ACTDSL-Empfänger liegt zwischen |
| // 7373 (1ms) und 14745 (2ms). |
| signal-= 11059; // Neutralstellung zur Null verschieben |
| signal/= 24; // Auf MK Skalierung umrechnen |
| signal-= 11059; // shift to neutral |
| signal/= 24; // scale to mk rc resolution |
| |
| // Stabiles Signal |
| //if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| // 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 |
| |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| if(SenderOkay >= 105) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| else PPM_diff[index] = 0; |
| PPM_in[index] = tmp; |
| //NewPpmData = 0; |
| //NewActData = 1; |
| if(index == 4) { |
| //NewActData = 1; |
| NewPpmData = 0; |
| //PORTC = (PORTC&(~(1<<PC4))) | ((~PORTC)&(1<<PC4)); |
| //PINC = (1<<PC4); |
| } |
| //PPM_in[index] = signal; |
| |
| if(index == 4) NewPpmData = 0; |
| } |
| |
| // This function is called within dsl_parser(), when a complete |
| // data packet with valid checksum has been received. |
| void dsl_incoming_paket(void) |
| void dsl_decode_packet(void) |
| { |
| uint8_t i; |
| static servos_t servos; |
| // Look for status headers |
| if ((data[0])==0x1F) { |
| // Get frequency allocation |
| dsl_allocation = data[0+1]; |
| // Get signal quality |
| dsl_RSSI = data[2+1]; |
| // Get voltage of battery supply |
| dsl_battery = data[3+1]; |
| } |
| |
| // Look for signal headers |
| if ((data[0]&0xF0)==0x10) { |
| |
| i = data[0]&0x0F; // Last 4 bits of the header indicates servo pair |
| |
| if (i<10) { |
| // Convert byte array to two uint16 |
| servos.dat[1] = data[1]; |
| servos.dat[0] = data[2]; |
| servos.dat[3] = data[3]; |
| servos.dat[2] = data[4]; |
| |
| rcdsl_new_signal(i , (int16_t)servos.pos[0]); |
| rcdsl_new_signal(i+1, (int16_t)servos.pos[1]); |
| } |
| } |
| 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 = dsl_RSSI; // have to be scaled |
| dsl_Battery = PacketBuffer[4]; // Get voltage of battery supply |
| // ?? = PacketBuffer[5]; |
| } |
| else // analyze servo pair frame |
| { |
| i = PacketBuffer[0] & 0x0F; // last 4 bits of the header indicates servo pair |
| if(i < 10) |
| { |
| // big to little endian |
| ServoPair.byte[1] = PacketBuffer[1]; |
| ServoPair.byte[0] = PacketBuffer[2]; |
| ServoPair.byte[3] = PacketBuffer[3]; |
| ServoPair.byte[2] = PacketBuffer[4]; |
| dsl_new_signal(i, ServoPair.Servo[0]); |
| dsl_new_signal(i+1,ServoPair.Servo[0]); |
| } |
| } |
| } |
| |
| |
| // Status Frame: |0xFF|0xFF|0x1F|FREQALLOC|??|RSSI|VBAT|CRC |
| // Status Frame: |0xFF|0xFF|0x1F|FREQALLOC|??|RSSI|VBAT|??|CRC| |
| // FREQ ALLOC = 35, 40, 72 |
| // RSSI = 0.. 255 // Received signal strength indicator |
| // VBAT = 0...255 // supply voltage (0.0V.. 8.2V) |
| // |
| //|0xFF|0xFF|CMD|D0|D1|D2|D3 |
| // Servo Pair: |0xFF|0xFF|0x1X|D0|D1|D2|D3|CRC| |
| // X is channel index of 1 servo value |
| // D0, D1 is servo channel X |
| // D2, D3 is servo channel X+1 |
| |
| // this function should be called within the UART RX ISR |
| void dsl_parser(uint8_t c) |
| { |
| static uint8_t crc = 0; |
| static uint8_t packet_len = 0; |
| static uint8_t data_counter = 0; |
| static uint8_t cnt = 0; |
| static uint8_t packet_len = 0; |
| |
| static uint8_t dslstate = DSLSTATE_IDLE; |
| static uint8_t dslstate = DSLSTATE_SYNC1; |
| |
| switch(dslstate) |
| { |
| case DSLSTATE_IDLE: // check 1st sync byte |
| if (c == DSL_SYNC1_CHAR) dslstate = DSLSTATE_SYNC; |
| else dslstate = UBXSTATE_IDLE; // out of synchronization |
| case DSLSTATE_SYNC1: // check 1st sync byte |
| if (c == DSL_SYNC1_CHAR) dslstate = DSLSTATE_SYNC2; |
| else dslstate = DSLSTATE_SYNC1; // out of synchronization |
| break; |
| |
| case DSLSTATE_SYNC: // check 2nd sync byte |
| if (c == DSL_SYNC2_CHAR) dslstate = DSLSTATE_CMD; // snchrinization complete trigger to cmd |
| else dslstate = DSLSTATE_IDLE; // out of synchronization |
| case DSLSTATE_SYNC2: // check 2nd sync byte |
| if (c == DSL_SYNC2_CHAR) dslstate = DSLSTATE_HDR; // snchrinization complete trigger to cmd |
| else dslstate = DSLSTATE_SYNC1; // out of synchronization |
| break; |
| |
| case DSLSTATE_HDR: // check cmd byte |
| if (c == 0x1F) packet_len = 5; |
| else packet_len = 4; |
| dcnt = 1; |
| crc = 0; |
| dslstate = DSLSTATE_DATA; |
| case DSLSTATE_HDR: // check header byte |
| if ((c & 0xF0) != 0x10) |
| { |
| dslstate = DSLSTATE_SYNC1; |
| } |
| else |
| { |
| cnt = 0; |
| PacketBuffer[cnt++] = c; |
| crc = c; |
| if(c == 0x1F) packet_len = 5; |
| else packet_len = 4; |
| dslstate = DSLSTATE_DATA; |
| } |
| break; |
| |
| case DSLSTATE_DATA: |
| data[dcnt++] = c; |
| PacketBuffer[cnt++] = c; |
| crc += c; |
| if(dcnt > packetlen) dslstate = DSLSTATE_CRC; |
| if(cnt > packet_len) dslstate = DSLSTATE_CRC; |
| break; |
| |
| case DSLSTATE_CRC: |
| 144,13 → 148,13 |
|---|
| // Calculate checksum |
| crc = ~crc; |
| if (crc == 0xFF) crc = 0xFE; |
| // If it match the received one, then apply data |
| if (c == crc) rcdsl_incoming_paket(); |
| dslstate = DSLSTATE_IDLE; |
| // if crc matches |
| if (c == crc) dsl_decode_packet(); |
| dslstate = DSLSTATE_SYNC1; |
| break; |
| |
| default: // unknown ubx state |
| dslstate = DSLSTATE_IDLE; |
| dslstate = DSLSTATE_SYNC1; |
| break; |
| } |
| } |
| } |