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| 2 | Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit |
2 | Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit |
| 3 | #######################################################################################*/ |
3 | #######################################################################################*/ |
| Line 4... | Line 4... | ||
| 4 | 4 | ||
| 5 | #include "Spektrum.h" |
5 | #include "Spektrum.h" |
| - | 6 | #include "main.h" |
|
| - | 7 | //#define RECEIVER_SPEKTRUM_EXP |
|
| 6 | #include "main.h" |
8 | |
| Line -... | Line 9... | ||
| - | 9 | unsigned char SpektrumTimer = 0; |
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| - | 10 | ||
| - | 11 | #ifdef RECEIVER_SPEKTRUM_EXP |
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| - | 12 | unsigned char sexcnt; // Counter for Spektrum-Expander |
|
| - | 13 | unsigned char sexparity; // Parity Bit for Spektrum-Expander |
|
| 7 | unsigned char SpektrumTimer = 0; |
14 | signed char sexdata[7]; // Data for Spektrum-Expander |
| 8 | 15 | #endif |
|
| 9 | //--------------------------------------------------------------// |
16 | //--------------------------------------------------------------// |
| 10 | //--------------------------------------------------------------// |
17 | //--------------------------------------------------------------// |
| 11 | void SpektrumBinding(void) |
18 | void SpektrumBinding(void) |
| Line 297... | Line 304... | ||
| 297 | index = (ByteHigh >> 2) & 0x0f; |
304 | index = (ByteHigh >> 2) & 0x0f; |
| 298 | } |
305 | } |
| Line 299... | Line 306... | ||
| 299 | 306 | ||
| 300 | index++; |
307 | index++; |
| 301 | if(index < 13) |
308 | if(index < 13) |
| 302 | { |
309 | { |
| - | 310 | // Stabiles Signal |
|
| - | 311 | #ifdef RECEIVER_SPEKTRUM_EXP |
|
| - | 312 | if (index == 2) index = 4; // Analog channel reassigment (2 <-> 4) for logical numbering (1,2,3,4) |
|
| - | 313 | else if (index == 4) index = 2; |
|
| 303 | // Stabiles Signal |
314 | #endif |
| 304 | if(abs(signal - PPM_in[index]) < 6) |
315 | if(abs(signal - PPM_in[index]) < 6) |
| 305 | { |
316 | { |
| 306 | if(SenderOkay < 200) SenderOkay += 10; |
317 | if(SenderOkay < 200) SenderOkay += 10; |
| 307 | else |
318 | else |
| 308 | { |
319 | { |
| 309 | SenderOkay = 200; |
320 | SenderOkay = 200; |
| 310 | TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input |
321 | TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input |
| 311 | } |
322 | } |
| 312 | } |
323 | } |
| 313 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
324 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
| 314 | if(tmp > signal+1) tmp--; else |
325 | if(tmp > signal+1) tmp--; else |
| - | 326 | if(tmp < signal-1) tmp++; |
|
| - | 327 | ||
| - | 328 | #ifdef RECEIVER_SPEKTRUM_EXP |
|
| - | 329 | if(index == 6) // FLIGHT-MODE - The channel used for our data uplink |
|
| - | 330 | { |
|
| - | 331 | if (signal > 100) // SYNC received |
|
| - | 332 | { |
|
| - | 333 | sexcnt = 0; // Reset bitcounter |
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| - | 334 | sexparity = 0; // Reset parity bit |
|
| - | 335 | } |
|
| - | 336 | ||
| - | 337 | if (signal < 10) |
|
| - | 338 | { |
|
| - | 339 | sexcnt++; // Increase counter only for non-sync bits |
|
| - | 340 | sexdata[sexcnt] = -113; // Bit = 0 -> value = -113 (min) |
|
| - | 341 | } |
|
| - | 342 | ||
| - | 343 | if (sexcnt == 7) sexcnt = 0; // Overflow protection |
|
| - | 344 | ||
| - | 345 | if (signal < -100) |
|
| - | 346 | { |
|
| - | 347 | sexdata[sexcnt] = 114; // Bit = 1 -> value = 114 (max) |
|
| - | 348 | if (sexcnt < 6) sexparity = ~sexparity; // Bit = 1 -> Invert parity bit (without itself) |
|
| - | 349 | } |
|
| - | 350 | ||
| - | 351 | if (sexcnt == 6) // Wait for complete frame |
|
| - | 352 | { |
|
| - | 353 | if ((sexparity != 0 && sexdata[6] == -113) || (sexparity == 0 && sexdata[6] == 114)) // Parity check |
|
| - | 354 | { |
|
| - | 355 | if (sexdata[1] == 114 && sexdata[2] == -113) PPM_in[5] = -113;// Reconstruct tripole Flight-Mode value (CH5) |
|
| - | 356 | if (sexdata[1] == -113 && sexdata[2] == -113) PPM_in[5] = 0; // Reconstruct tripole Flight-Mode value (CH5) |
|
| - | 357 | if (sexdata[1] == -113 && sexdata[2] == 114) PPM_in[5] = 114; // Reconstruct tripole Flight-Mode value (CH5) |
|
| - | 358 | PPM_in[6] = sexdata[3]; // Elevator (CH6) |
|
| - | 359 | PPM_in[9] = sexdata[4]; // Aileron (CH9) |
|
| - | 360 | PPM_in[10] = sexdata[5]; // Rudder (CH10) |
|
| - | 361 | } |
|
| - | 362 | } |
|
| - | 363 | } |
|
| 315 | if(tmp < signal-1) tmp++; |
364 | #endif |
| - | 365 | if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
|
| 316 | if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
366 | |
| - | 367 | else PPM_diff[index] = 0; |
|
| - | 368 | ||
| - | 369 | #ifdef RECEIVER_SPEKTRUM_EXP |
|
| - | 370 | if (index < 5 ) PPM_in[index] = tmp; // Update normal potis (CH1-4) |
|
| - | 371 | if (index == 5) PPM_in[7] = signal; // Gear (CH7) |
|
| - | 372 | if (index == 7) PPM_in[8] = signal; // AUX2 (CH8) |
|
| 317 | else PPM_diff[index] = 0; |
373 | #else |
| - | 374 | PPM_in[index] = tmp; |
|
| 318 | PPM_in[index] = tmp; |
375 | #endif |
| 319 | } |
376 | } |
| 320 | else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren |
377 | else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren |
| 321 | } |
378 | } |
| 322 | else |
379 | else |
| 323 | { |
380 | { |
| 324 | // hier stimmt was nicht: neu synchronisieren |
381 | // hier stimmt was nicht: neu synchronisieren |