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| 1 | #include "dsl.h" |
1 | #include "dsl.h" |
| - | 2 | #include "rc.h" |
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| Line 2... | Line 3... | ||
| 2 | 3 | ||
| 3 | /* |
4 | /* |
| 4 | 1. GND (at channel 4 side) |
5 | 1. GND (at channel 4 side) |
| 5 | 2. TxD |
6 | 2. TxD |
| 6 | 3. RxD |
7 | 3. RxD |
| 7 | 4. 5V |
8 | 4. 5V |
| Line 8... | Line 9... | ||
| 8 | */ |
9 | */ |
| 9 | 10 | ||
| 10 | // dsl protocol parser state machine |
11 | // dsl protocol parser state machine |
| 11 | #define DSLSTATE_IDLE 0 |
12 | #define DSLSTATE_SYNC1 0 |
| 12 | #define DLSSTATE_SYNC 1 |
13 | #define DSLSTATE_SYNC2 1 |
| - | 14 | #define DSLSTATE_HDR 2 |
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| Line 13... | Line 15... | ||
| 13 | #define DSLSTATE_HDR 2 |
15 | #define DSLSTATE_DATA 3 |
| 14 | #define DSLSTATE_DATA 3 |
16 | #define DSLSTATE_CRC 4 |
| Line 15... | Line 17... | ||
| 15 | 17 | ||
| 16 | #define DSL_SYNC1_CHAR 0xFF |
18 | #define DSL_SYNC1_CHAR 0xFF |
| 17 | #define DSL_SYNC2_CHAR 0xFF |
19 | #define DSL_SYNC2_CHAR 0xFF |
| 18 | 20 | ||
| 19 | 21 | ||
| 20 | volatile uint8_t rcdsl_RSSI = 0; |
22 | uint8_t dsl_RSSI = 0; |
| - | 23 | uint8_t dsl_Battery = 0; |
|
| 21 | uint8_t dsl_battery = 0; |
24 | uint8_t dsl_Allocation = 0; |
| 22 | uint8_t dsl_allocation = 0; |
25 | uint8_t PacketBuffer[6]; |
| 23 | uint8_t data[6]; |
26 | |
| - | 27 | typedef union |
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| - | 28 | { |
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| Line 24... | Line 29... | ||
| 24 | 29 | int16_t Servo[2]; |
|
| 25 | typedef union { |
30 | uint8_t byte[4]; |
| 26 | uint16_t pos[2]; |
31 | } ServoPair_t; |
| 27 | uint8_t dat[4]; |
32 | |
| 28 | } servos_t; |
33 | ServoPair_t ServoPair; |
| 29 | 34 | ||
| 30 | 35 | ||
| Line 31... | Line 36... | ||
| 31 | // This function is called, when a new servo signal is properly received. |
36 | // This function is called, when a new servo signal is properly received. |
| 32 | // Parameters: servo - servo number (0-9) |
37 | // Parameters: servo - servo number (0-9) |
| 33 | // signal - servo signal between 7373 (1ms) and 14745 (2ms) |
38 | // signal - servo signal between 7373 (1ms) and 14745 (2ms) |
| 34 | void dsl_new_signal(uint8_t channel, int16_t signal) |
39 | void dsl_new_signal(uint8_t channel, int16_t signal) |
| 35 | { |
- | |
| 36 | volatile signed int tmp; |
- | |
| 37 | uint8_t index = channel+1; // Der MK fängt bei 1 an zu zählen |
- | |
| Line -... | Line 40... | ||
| - | 40 | { |
|
| 38 | 41 | int16_t tmp; |
|
| 39 | 42 | uint8_t index = channel + 1; // mk channels start with 1 |
|
| 40 | // Signal vom ACTDSL-Empfänger liegt zwischen |
43 | |
| - | 44 | ||
| 41 | // 7373 (1ms) und 14745 (2ms). |
45 | // Signal vom ACTDSL-Empfänger liegt zwischen |
| 42 | signal-= 11059; // Neutralstellung zur Null verschieben |
46 | // 7373 (1ms) und 14745 (2ms). |
| 43 | signal/= 24; // Auf MK Skalierung umrechnen |
47 | signal-= 11059; // shift to neutral |
| 44 | - | ||
| 45 | // Stabiles Signal |
- | |
| 46 | //if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
- | |
| 47 | - | ||
| 48 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
- | |
| 49 | if(tmp > signal+1) tmp--; else |
- | |
| 50 | if(tmp < signal-1) tmp++; |
- | |
| 51 | if(SenderOkay >= 105) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
- | |
| 52 | else PPM_diff[index] = 0; |
- | |
| Line -... | Line 48... | ||
| - | 48 | signal/= 24; // scale to mk rc resolution |
|
| 53 | PPM_in[index] = tmp; |
49 | |
| Line 54... | Line 50... | ||
| 54 | //NewPpmData = 0; |
50 | // calculate exponential history for signal |
| 55 | //NewActData = 1; |
51 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
| 56 | if(index == 4) { |
52 | if(tmp > signal+1) tmp--; else |
| 57 | //NewActData = 1; |
53 | if(tmp < signal-1) tmp++; |
| 58 | NewPpmData = 0; |
54 | // calculate signal difference on good signal level |
| 59 | //PORTC = (PORTC&(~(1<<PC4))) | ((~PORTC)&(1<<PC4)); |
- | |
| - | 55 | if(RC_Quality >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for noise reduction |
|
| 60 | //PINC = (1<<PC4); |
56 | else PPM_diff[index] = 0; |
| 61 | } |
57 | PPM_in[index] = tmp; // update channel value |
| 62 | //PPM_in[index] = signal; |
58 | |
| 63 | 59 | if(index == 4) NewPpmData = 0; |
|
| 64 | } |
60 | } |
| 65 | 61 | ||
| 66 | // This function is called within dsl_parser(), when a complete |
62 | // This function is called within dsl_parser(), when a complete |
| 67 | // data packet with valid checksum has been received. |
63 | // data packet with valid checksum has been received. |
| 68 | void dsl_incoming_paket(void) |
- | |
| 69 | { |
64 | void dsl_decode_packet(void) |
| 70 | uint8_t i; |
65 | { |
| 71 | static servos_t servos; |
- | |
| 72 | // Look for status headers |
66 | uint8_t i; |
| 73 | if ((data[0])==0x1F) { |
67 | |
| - | 68 | if(PacketBuffer[0] == 0x1F) // separate status frame |
|
| 74 | // Get frequency allocation |
69 | { |
| 75 | dsl_allocation = data[0+1]; |
70 | dsl_Allocation = PacketBuffer[1]; // Get frequency allocation |
| 76 | // Get signal quality |
- | |
| 77 | dsl_RSSI = data[2+1]; |
71 | // ?? = PacketBuffer[2]; |
| 78 | // Get voltage of battery supply |
72 | dsl_RSSI = PacketBuffer[3]; // Get signal quality |
| 79 | dsl_battery = data[3+1]; |
73 | RC_Quality = dsl_RSSI; // have to be scaled |
| 80 | } |
74 | dsl_Battery = PacketBuffer[4]; // Get voltage of battery supply |
| 81 | - | ||
| 82 | // Look for signal headers |
75 | // ?? = PacketBuffer[5]; |
| 83 | if ((data[0]&0xF0)==0x10) { |
76 | } |
| 84 | 77 | else // analyze servo pair frame |
|
| 85 | i = data[0]&0x0F; // Last 4 bits of the header indicates servo pair |
78 | { |
| 86 | 79 | i = PacketBuffer[0] & 0x0F; // last 4 bits of the header indicates servo pair |
|
| Line 87... | Line 80... | ||
| 87 | if (i<10) { |
80 | if(i < 10) |
| 88 | // Convert byte array to two uint16 |
81 | { |
| 89 | servos.dat[1] = data[1]; |
82 | // big to little endian |
| 90 | servos.dat[0] = data[2]; |
83 | ServoPair.byte[1] = PacketBuffer[1]; |
| 91 | servos.dat[3] = data[3]; |
84 | ServoPair.byte[0] = PacketBuffer[2]; |
| 92 | servos.dat[2] = data[4]; |
85 | ServoPair.byte[3] = PacketBuffer[3]; |
| - | 86 | ServoPair.byte[2] = PacketBuffer[4]; |
|
| - | 87 | dsl_new_signal(i, ServoPair.Servo[0]); |
|
| - | 88 | dsl_new_signal(i+1,ServoPair.Servo[0]); |
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| Line 93... | Line 89... | ||
| 93 | 89 | } |
|
| 94 | rcdsl_new_signal(i , (int16_t)servos.pos[0]); |
90 | } |
| 95 | rcdsl_new_signal(i+1, (int16_t)servos.pos[1]); |
91 | } |
| 96 | } |
92 | |
| 97 | } |
93 | |
| 98 | } |
94 | // Status Frame: |0xFF|0xFF|0x1F|FREQALLOC|??|RSSI|VBAT|??|CRC| |
| Line 99... | Line 95... | ||
| 99 | 95 | // FREQ ALLOC = 35, 40, 72 |
|
| Line 100... | Line 96... | ||
| 100 | 96 | // RSSI = 0.. 255 // Received signal strength indicator |
|
| 101 | // Status Frame: |0xFF|0xFF|0x1F|FREQALLOC|??|RSSI|VBAT|CRC |
97 | // VBAT = 0...255 // supply voltage (0.0V.. 8.2V) |
| 102 | // FREQ ALLOC = 35, 40, 72 |
98 | // |
| 103 | // RSSI = 0.. 255 // Received signal strength indicator |
99 | // Servo Pair: |0xFF|0xFF|0x1X|D0|D1|D2|D3|CRC| |
| 104 | // VBAT = 0...255 // supply voltage (0.0V.. 8.2V) |
100 | // X is channel index of 1 servo value |
| 105 | // |
101 | // D0, D1 is servo channel X |
| 106 | //|0xFF|0xFF|CMD|D0|D1|D2|D3 |
102 | // D2, D3 is servo channel X+1 |
| 107 | 103 | ||
| 108 | // this function should be called within the UART RX ISR |
104 | // this function should be called within the UART RX ISR |
| 109 | void dsl_parser(uint8_t c) |
105 | void dsl_parser(uint8_t c) |
| 110 | { |
106 | { |
| 111 | static uint8_t crc = 0; |
107 | static uint8_t crc = 0; |
| 112 | static uint8_t packet_len = 0; |
108 | static uint8_t cnt = 0; |
| 113 | static uint8_t data_counter = 0; |
109 | static uint8_t packet_len = 0; |
| - | 110 | ||
| 114 | 111 | static uint8_t dslstate = DSLSTATE_SYNC1; |
|
| - | 112 | ||
| - | 113 | switch(dslstate) |
|
| - | 114 | { |
|
| 115 | static uint8_t dslstate = DSLSTATE_IDLE; |
115 | case DSLSTATE_SYNC1: // check 1st sync byte |
| - | 116 | if (c == DSL_SYNC1_CHAR) dslstate = DSLSTATE_SYNC2; |
|
| 116 | 117 | else dslstate = DSLSTATE_SYNC1; // out of synchronization |
|
| - | 118 | break; |
|
| - | 119 | ||
| 117 | switch(dslstate) |
120 | case DSLSTATE_SYNC2: // check 2nd sync byte |
| - | 121 | if (c == DSL_SYNC2_CHAR) dslstate = DSLSTATE_HDR; // snchrinization complete trigger to cmd |
|
| 118 | { |
122 | else dslstate = DSLSTATE_SYNC1; // out of synchronization |
| Line 119... | Line 123... | ||
| 119 | case DSLSTATE_IDLE: // check 1st sync byte |
123 | break; |
| 120 | if (c == DSL_SYNC1_CHAR) dslstate = DSLSTATE_SYNC; |
124 | |
| 121 | else dslstate = UBXSTATE_IDLE; // out of synchronization |
125 | case DSLSTATE_HDR: // check header byte |
| 122 | break; |
126 | if ((c & 0xF0) != 0x10) |
| 123 | 127 | { |
|
| Line 124... | Line 128... | ||
| 124 | case DSLSTATE_SYNC: // check 2nd sync byte |
128 | dslstate = DSLSTATE_SYNC1; |
| 125 | if (c == DSL_SYNC2_CHAR) dslstate = DSLSTATE_CMD; // snchrinization complete trigger to cmd |
129 | } |
| 126 | else dslstate = DSLSTATE_IDLE; // out of synchronization |
130 | else |
| 127 | break; |
131 | { |
| 128 | 132 | cnt = 0; |
|
| 129 | case DSLSTATE_HDR: // check cmd byte |
133 | PacketBuffer[cnt++] = c; |
| 130 | if (c == 0x1F) packet_len = 5; |
134 | crc = c; |
| 131 | else packet_len = 4; |
135 | if(c == 0x1F) packet_len = 5; |
| Line 132... | Line 136... | ||
| 132 | dcnt = 1; |
136 | else packet_len = 4; |
| 133 | crc = 0; |
137 | dslstate = DSLSTATE_DATA; |
| 134 | dslstate = DSLSTATE_DATA; |
138 | } |
| 135 | break; |
139 | break; |
| 136 | - | ||
| 137 | case DSLSTATE_DATA: |
140 | |
| - | 141 | case DSLSTATE_DATA: |
|