WebSVN - Projects - Blame - Rev 938 - /Spektrum-Diversity/Software/diversity.c

Rev	Author	Line No.	Line
780	-	1	// ***************************************************************
938	-	2	// Spektrum Diversity v2.1 - use up to 4 satellite receivers
780	-	3	// ***************************************************************
938	-	4	// Spektrum DSMX Binding Extension by Johannes Stein 2011/03
		5	//
		6	// 3 Pulses = DSM2 1024/22ms
		7	// 5 Pulses = DSM2 2048/11ms
		8	// 7 Pulses = DSMX 22ms
		9	// 9 Pulses = DSMX 11ms
		10	//
780	-	11	// Target: An Atmel ATtiny2313 (RC-Oscillator @ 8 MHz)
		12	// controls a 74HC151 Multiplexer
		13	// ***************************************************************
		14	// It monitors the data from 4 satellite receivers and
		15	// connects a valid one to the output via the multiplexer
		16	// ***************************************************************
791	-	17	// LED-Modes during startup
780	-	18	// ********************
931	-	19	// LED fast flash: Waiting for first signal
780	-	20	//
		21	// LED-Modes during operation
		22	// **********************
931	-	23	// LED flash 1x - 4x: Shows which channel is active every 2s
		24	// LED ON after flash: FAILURE - A used signal was lost
780	-	25	//
791	-	26	// LED-Modes after Self-Test and pressed button
		27	// ****************************************
780	-	28	// LED flashes at 1 Hz: Everything is fine
		29	// LED flashes some times: Times flashed -> damaged Channel#
791	-	30	// LED off: check voltage(regulator), button or firmware
780	-	31	// ***************************************************************
		32	// (c) 2010-0xFFFF Stefan Pendsa
		33	// License: don't know - use it and have fun
		34	// ***************************************************************
775	-	35
		36	#include <avr/io.h>
791	-	37	#include <avr/eeprom.h>
775	-	38	#include <avr/interrupt.h>
		39	#include <util/delay.h>
		40
791	-	41
780	-	42	#define LED_OFF PORTD \|= 1 << PD0
		43	#define LED_ON PORTD &= ~(1 << PD0)
775	-	44
931	-	45	volatile unsigned char Timer0Event = 0;
		46	volatile unsigned int Timer1Event;
		47	volatile unsigned char BlinkCode = 0;
		48	volatile unsigned char failure = 0;
775	-	49
791	-	50	unsigned char eedummy EEMEM; // Dummy-Variable for Address 0 in EEPROM
		51	unsigned char eecheck EEMEM; // Check-Variable
		52	unsigned char bind; // Bind-Pulse-Counter (in RAM)
		53	unsigned char eebind EEMEM; // Bind-Pulse-Counter (in EEPROM)
775	-	54
778	-	55
791	-	56
931	-	57	ISR(TIMER0_OVF_vect) // Triggered every 32,768 msec
		58	{
		59	if (Timer0Event > 64) // Max. 64*32 msec = 2,097152 sec
		60	{
		61	Timer0Event = 0;
		62	LED_OFF;
		63	}
		64
		65	if(Timer0Event == 0 && BlinkCode > 0) LED_ON;
		66	else if(Timer0Event == 4 && BlinkCode > 0) LED_OFF;
		67	else if(Timer0Event == 8 && BlinkCode > 1) LED_ON;
		68	else if(Timer0Event == 12 && BlinkCode > 1) LED_OFF;
		69	else if(Timer0Event == 16 && BlinkCode > 2) LED_ON;
		70	else if(Timer0Event == 20 && BlinkCode > 2) LED_OFF;
		71	else if(Timer0Event == 24 && BlinkCode > 3) LED_ON;
		72	else if(Timer0Event == 28 && BlinkCode > 3) LED_OFF;
		73	else if(Timer0Event == 35 && failure == 1) LED_ON;
		74	else if(Timer0Event == 55 && failure == 1) LED_OFF;
		75
		76	Timer0Event++;
		77	}
		78
		79
778	-	80	ISR(TIMER1_OVF_vect) // Triggered every 8,192 msec
		81	{
931	-	82	Timer1Event++;
778	-	83	}
		84
		85
775	-	86	void SelectSat(unsigned char sat)
		87	{
780	-	88	PORTD = (PORTD & 0b1100111) \| (sat << 3); // Select the input for 74HC151
		89	_delay_us(10); // Wait for stable state
775	-	90	}
		91
778	-	92
		93
931	-	94	void ResetTimer1(void)
775	-	95	{
		96	TCNT1H = 0;
		97	TCNT1L = 0;
931	-	98	Timer1Event = 0;
775	-	99	}
		100
		101
778	-	102
931	-	103	void Binding(void) // Binding sequence (for Spektrum sats only)
776	-	104	{
		105	unsigned char i = 0;
775	-	106
776	-	107	DDRB = 0b11110000; // Sat-Pins to output
780	-	108	_delay_ms(80); // Let them time to boot up
776	-	109
791	-	110	for (i=0;i<bind;i++) // Send negative 100�s pulses to all sat's
776	-	111	{
		112	PORTB = 0b00000000;
		113	_delay_us(100);
		114	PORTB = 0b11110000;
		115	_delay_us(100);
		116	}
		117
791	-	118	for (i=0;i<bind;i++) // Flash the number of used pulses to the LED
		119	{
		120	LED_ON;
		121	_delay_ms(100);
		122	LED_OFF;
		123	_delay_ms(250);
		124	}
		125
		126	DDRB = 0b00000000; // Sat-Pins to input again
		127
938	-	128	bind += 2;
		129	if (bind > 9) bind = 3; // 3, 5, 7, 9 pulses, then start with 3 again
		130	eeprom_write_byte(&eebind, bind); // Save increased bind-pulse-counter for next binding.
791	-	131	_delay_ms(500);
776	-	132	}
		133
		134
778	-	135
776	-	136	void Testing(void) // Self Test
775	-	137	{
778	-	138	unsigned char error = 0;
776	-	139	unsigned char i = 0;
		140
778	-	141	DDRB = 0b11110000; // Port B Output for satellites, Input for feedback
776	-	142
778	-	143	PORTB = 0b01010000; // Test Pattern
		144	SelectSat(0);
780	-	145	if (!(PINB & (1<<PB3))) error = 1;
778	-	146	SelectSat(1);
780	-	147	if (PINB & (1<<PB3)) error = 2;
778	-	148	SelectSat(2);
780	-	149	if (!(PINB & (1<<PB3))) error = 3;
778	-	150	SelectSat(3);
780	-	151	if (PINB & (1<<PB3)) error = 4;
776	-	152
778	-	153	PORTB = 0b10100000; // Another (inverted) Test Pattern
		154	SelectSat(0);
780	-	155	if (PINB & (1<<PB3)) error = 1;
778	-	156	SelectSat(1);
780	-	157	if (!(PINB & (1<<PB3))) error = 2;
778	-	158	SelectSat(2);
780	-	159	if (PINB & (1<<PB3)) error = 3;
778	-	160	SelectSat(3);
780	-	161	if (!(PINB & (1<<PB3))) error = 4;
778	-	162
		163	DDRB = 0b00000000; // Port B Input again
		164
791	-	165	while (PIND & (1<<PD6)); // Wait for Bind-Switch
		166
776	-	167	while(1) // Never return
		168	{
778	-	169	if (error == 0) // When no error occured -> LED flashes at 1 Hz
776	-	170	{
		171	LED_ON;
		172	_delay_ms(100);
		173	LED_OFF;
778	-	174	_delay_ms(900);
776	-	175	}
778	-	176	else
		177	{
780	-	178	for (i=0;i<error;i++) // When error occured -> Flash-Out the Errorcode
778	-	179	{
		180	LED_ON;
		181	_delay_ms(100);
		182	LED_OFF;
		183	_delay_ms(400);
		184	}
		185	_delay_ms(1000);
		186	}
		187
776	-	188	}
778	-	189
776	-	190	}
		191
		192
775	-	193
		194	int main(void)
		195	{
		196	unsigned char i = 0;
776	-	197	unsigned char active[4];
931	-	198	unsigned char active_lo[4];
		199	unsigned char active_hi[4];
791	-	200	unsigned char sat = 99;
775	-	201
931	-	202
778	-	203	DDRB = 0b00000000; // Port B Input for satellites and feedback
		204	DDRD = 0b0011001; // Port D Output for MUX and LED, Input for Switch & Test
		205	PORTB = 0b11110000; // Port B Pullup's for (unused) satellites
780	-	206	PORTD = 0b1100001; // Port D Pullup's for Switch & Test, LED off
775	-	207
938	-	208	if (eeprom_read_byte(&eecheck) != 0x84) // Invalid Data in EEPROM -> initialize
791	-	209	{
938	-	210	eeprom_write_byte(&eecheck, 0x84);
791	-	211	bind = 3;
		212	eeprom_write_byte(&eebind, bind);
		213	}
		214	else bind = eeprom_read_byte(&eebind); // Valid Data in EEPROM -> read bind-pulse-counter
		215
		216
778	-	217	if (!(PIND & (1<<PD5))) Testing(); // Initiate Self-Test when Test-Pad is low
776	-	218	if (!(PIND & (1<<PD6))) Binding(); // Initiate Binding when Bind-Button is pressed
		219
931	-	220
		221	for (i=0;i<4;i++) // Reset active-arrays
		222	{
		223	active[i] = 0;
		224	active_lo[i] = 0;
		225	active_hi[i] = 0;
		226	}
		227
780	-	228	_delay_ms(100);
		229
931	-	230	TCCR0B = ( 1 << CS00 ) \| ( 1 << CS02 ); // Timer0 Prescaler = 1024 -> 32,768 msec
776	-	231	TCCR1B = ( 1 << CS10 ); // Timer1 Prescaler = 1 -> 8,192 msec
931	-	232	TIMSK = ( 1 << TOIE0 ) \| ( 1 << TOIE1 ); // Timer0+1 Overflow Interrupt Enable
775	-	233	sei(); // Global Interrupts enable
		234
931	-	235	ResetTimer1();
791	-	236	while(sat == 99) // Wait for first signal
775	-	237	{
931	-	238	if (Timer1Event == 10) LED_ON; // Blink while waiting
		239	if (Timer1Event == 20)
775	-	240	{
		241	LED_OFF;
931	-	242	Timer1Event = 0;
775	-	243	}
		244
931	-	245	while(Timer1Event < 3) // Check active satellites (for 3*8=24ms)
775	-	246	{
931	-	247	for (i=0;i<4;i++)
775	-	248	{
931	-	249	if (PINB & (1<<(i+4))) active_hi[i] = 1;
		250	else active_lo[i] = 1;
		251	}
		252	}
		253
		254	for (i=0;i<4;i++) // When an input had low AND high signals, mark it as active
		255	{
		256	if (active_lo[i] == 1 && active_hi[i] == 1) active[i] = 1;
		257	}
		258
		259
		260	for (i=0;i<4;i++) // Select first active satellite
		261	{
		262	if (active[i] == 1)
		263	{
		264	SelectSat(i);
791	-	265	sat = i;
931	-	266	BlinkCode = i+1;
791	-	267	break;
775	-	268	}
		269	}
931	-	270
775	-	271	}
		272
		273
931	-	274
		275
775	-	276	while(1) // Main-Loop
		277	{
931	-	278	for (i=0;i<4;i++) // Reset active-arrays
775	-	279	{
931	-	280	active[i] = 0;
		281	active_lo[i] = 0;
		282	active_hi[i] = 0;
775	-	283	}
931	-	284
		285	ResetTimer1();
		286	while(Timer1Event < 3) // Check active satellites (for 3*8=24ms)
775	-	287	{
776	-	288	for (i=0;i<4;i++)
775	-	289	{
931	-	290	if (PINB & (1<<(i+4))) active_hi[i] = 1;
		291	else active_lo[i] = 1;
775	-	292	}
		293	}
		294
931	-	295
		296	for (i=0;i<4;i++) // When an input had low AND high signals, mark it as active
775	-	297	{
931	-	298	if (active_lo[i] == 1 && active_hi[i] == 1) active[i] = 1;
		299	}
		300
		301
		302	if (active[0] == 0 && active[1] == 0 && active[2] == 0 && active[3] == 0 && sat != 99)
		303	{
		304	failure = 1; // Set Failure-LED when the signal is lost completely
		305	BlinkCode = 0;
		306	sat = 99;
		307	}
		308
		309
		310	for (i=0;i<4;i++) // Select active satellite (priorized)
		311	{
		312	if (active[i] == 1)
775	-	313	{
931	-	314	SelectSat(i);
		315	if (sat != i) failure = 1; // Set Failure-LED when the active satellite changes
		316	sat = i;
		317	BlinkCode = i+1;
		318	break;
775	-	319	}
		320	}
776	-	321
931	-	322
		323
		324	if (!(PIND & (1<<PD6))) failure = 0; // Reset Failure-LED when Bind-Button is pressed
775	-	325	}
776	-	326
775	-	327	}

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