WebSVN - FlightCtrl - Diff - Rev 1221 and 1222 - /branches/V0.73d Code Redesign killagreg/spectrum.c

 /*#######################################################################################
 Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit
 #######################################################################################*/
-#include "spectrum.h"
+#include "Spectrum.h"
+#include "main.h"
+//--------------------------------------------------------------//
+//--------------------------------------------------------------//
+void SpektrumBinding(void)
+{
+  unsigned int timerTimeout = SetDelay(10000);  // Timeout 10 sec.
+  unsigned char connected = 0;
+  unsigned int delaycounter;
+  UCSR1B &= ~(1 << RXCIE1);  // disable rx-interrupt
+  UCSR1B &= ~(1<<RXEN1);     // disable Uart-Rx
+  PORTD &= ~(1 << PORTD2);   // disable pull-up
+  printf("\n\rPlease connect Spektrum receiver for binding NOW...");
+  while(!CheckDelay(timerTimeout))
+  {
+    if (PIND & (1 << PORTD2)) { timerTimeout = SetDelay(90); connected = 1; break; }
+  }
+  if (connected)
+  {
+    printf("ok.\n\r");
+    DDRD |= (1 << DDD2);     // Rx as output
+        while(!CheckDelay(timerTimeout));  // delay after startup of RX
+        for (delaycounter = 0; delaycounter < 100; delaycounter++) PORTD |= (1 << PORTD2);
+        for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2);
+        for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2);
+    for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2);
+        for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2);
+        for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2);
+        for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2);
+    for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2);
+        for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2);
+        for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2);
+        for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2);
+    for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2);
+        for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2);
+  }
+   else
+  { printf("Timeout.\n\r");
+  }
+  DDRD &= ~(1 << DDD2);      // RX as input
+  PORTD &= ~(1 << PORTD2);
+  Uart1Init();    // init Uart again
+}
+//############################################################################
+// zum Decodieren des Spektrum Satelliten wird USART1 benutzt.
+// USART1 initialisation from killagreg
+void Uart1Init(void)
+//############################################################################
+    {
+        // -- Start of USART1 initialisation for Spekturm seriell-mode
+        // USART1 Control and Status Register A, B, C and baud rate register
+        uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1);
+        // 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);
+        // 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);
+        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
-#include rc.h
+  return;
+ }
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Copyright (c) Rainer Walther
 //      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
 // 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
 //
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+//############################################################################
+//Diese Routine startet und inizialisiert den USART1 für seriellen Spektrum satellite reciever
-void spectrum_parser(uint8_t c)
+SIGNAL(USART1_RX_vect)
 //############################################################################
 {
-        static unsigned int Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0, FrameTimer;
+static unsigned int Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0, FrameTimer;
         unsigned int Channel, index;
         signed int signal, tmp;
+        int bCheckDelay;
-        int bCheckDelay;
+        uint8_t c;
+        c = UDR1; // get data byte
         if (ReSync == 1)
+            {
                 // wait for beginning of new frame
                 ReSync = 0;
                 FrameTimer = SetDelay(7);  // minimum 7ms zwischen den frames
                 FrameCnt = 0;
                 Sync = 0;
                 ByteHigh = 0;
+                }
   else
+  {
         bCheckDelay = CheckDelay(FrameTimer);
         if ( Sync == 0 )
+            {
                 if(bCheckDelay)
+                }
         else if((Sync == 2) && !bCheckDelay)
+            {
                 // 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
                 Sync = 2;
                 FrameCnt ++;
                 index = (ByteHigh >> 2) & 0x0f;
                 index ++;
                 Channel = (ByteHigh << 8) | c;
                 signal = Channel & 0x3ff;
                 signal -= 0x200;                // Offset, range 0x000..0x3ff?
                 signal = signal/3;              // scaling to fit PPM resolution
                 if(index >= 0  &&  index <= 10)
+                    {
                 // Stabiles Signal
                 if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;}
                 tmp = (3 * (PPM_in[index]) + signal) / 4;
                 if(tmp > signal+1) tmp--; else
                 if(tmp < signal-1) tmp++;
                 if(SenderOkay >= 180)  PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
                 else PPM_diff[index] = 0;
                 PPM_in[index] = tmp;
+                        }
+                }
         else
                 // hier stimmt was nicht: neu synchronisieren
                 ReSync = 1;
                 FrameCnt = 0;
                 Frame2 = 0;
+                }
         // 16 Bytes per frame
         if(FrameCnt >= 16)
+            {
                 // Frame complete
                 if(Frame2 == 0)
+                        {
                         // Null bedeutet: Neue Daten
                         // nur beim ersten Frame (CH 0-7) setzen
                         NewPpmData = 0;
+                        }
                 // new frame next, nach fruehestens 7ms erwartet
                 FrameCnt = 0;
                 Frame2 = 0;
                 Sync = 0;
+                }
         // Zeit bis zum nächsten Zeichen messen
         FrameTimer = SetDelay(7);
+   }
 }

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(root)/branches/V0.73d Code Redesign killagreg/spectrum.c - Rev 1221 → 1222