WebSVN - Projects - Blame - Rev 931 - /Spektrum-Diversity/Software/diversity.c

Rev	Author	Line No.	Line
780	-	1	// ***************************************************************
931	-	2	// Spektrum Diversity v2.0 - use up to 4 satellite receivers
780	-	3	// ***************************************************************
		4	// Target: An Atmel ATtiny2313 (RC-Oscillator @ 8 MHz)
		5	// controls a 74HC151 Multiplexer
		6	// ***************************************************************
		7	// It monitors the data from 4 satellite receivers and
		8	// connects a valid one to the output via the multiplexer
		9	// ***************************************************************
791	-	10	// LED-Modes during startup
780	-	11	// ********************
931	-	12	// LED fast flash: Waiting for first signal
780	-	13	//
		14	// LED-Modes during operation
		15	// **********************
931	-	16	// LED flash 1x - 4x: Shows which channel is active every 2s
		17	// LED ON after flash: FAILURE - A used signal was lost
780	-	18	//
791	-	19	// LED-Modes after Self-Test and pressed button
		20	// ****************************************
780	-	21	// LED flashes at 1 Hz: Everything is fine
		22	// LED flashes some times: Times flashed -> damaged Channel#
791	-	23	// LED off: check voltage(regulator), button or firmware
780	-	24	// ***************************************************************
		25	// (c) 2010-0xFFFF Stefan Pendsa
		26	// License: don't know - use it and have fun
		27	// ***************************************************************
775	-	28
		29	#include <avr/io.h>
791	-	30	#include <avr/eeprom.h>
775	-	31	#include <avr/interrupt.h>
		32	#include <util/delay.h>
		33
791	-	34
780	-	35	#define LED_OFF PORTD \|= 1 << PD0
		36	#define LED_ON PORTD &= ~(1 << PD0)
775	-	37
931	-	38	volatile unsigned char Timer0Event = 0;
		39	volatile unsigned int Timer1Event;
		40	volatile unsigned char BlinkCode = 0;
		41	volatile unsigned char failure = 0;
775	-	42
791	-	43	unsigned char eedummy EEMEM; // Dummy-Variable for Address 0 in EEPROM
		44	unsigned char eecheck EEMEM; // Check-Variable
		45	unsigned char bind; // Bind-Pulse-Counter (in RAM)
		46	unsigned char eebind EEMEM; // Bind-Pulse-Counter (in EEPROM)
775	-	47
778	-	48
791	-	49
931	-	50	ISR(TIMER0_OVF_vect) // Triggered every 32,768 msec
		51	{
		52	if (Timer0Event > 64) // Max. 64*32 msec = 2,097152 sec
		53	{
		54	Timer0Event = 0;
		55	LED_OFF;
		56	}
		57
		58	if(Timer0Event == 0 && BlinkCode > 0) LED_ON;
		59	else if(Timer0Event == 4 && BlinkCode > 0) LED_OFF;
		60	else if(Timer0Event == 8 && BlinkCode > 1) LED_ON;
		61	else if(Timer0Event == 12 && BlinkCode > 1) LED_OFF;
		62	else if(Timer0Event == 16 && BlinkCode > 2) LED_ON;
		63	else if(Timer0Event == 20 && BlinkCode > 2) LED_OFF;
		64	else if(Timer0Event == 24 && BlinkCode > 3) LED_ON;
		65	else if(Timer0Event == 28 && BlinkCode > 3) LED_OFF;
		66	else if(Timer0Event == 35 && failure == 1) LED_ON;
		67	else if(Timer0Event == 55 && failure == 1) LED_OFF;
		68
		69	Timer0Event++;
		70	}
		71
		72
778	-	73	ISR(TIMER1_OVF_vect) // Triggered every 8,192 msec
		74	{
931	-	75	Timer1Event++;
778	-	76	}
		77
		78
775	-	79	void SelectSat(unsigned char sat)
		80	{
780	-	81	PORTD = (PORTD & 0b1100111) \| (sat << 3); // Select the input for 74HC151
		82	_delay_us(10); // Wait for stable state
775	-	83	}
		84
778	-	85
		86
931	-	87	void ResetTimer1(void)
775	-	88	{
		89	TCNT1H = 0;
		90	TCNT1L = 0;
931	-	91	Timer1Event = 0;
775	-	92	}
		93
		94
778	-	95
931	-	96	void Binding(void) // Binding sequence (for Spektrum sats only)
776	-	97	{
		98	unsigned char i = 0;
775	-	99
776	-	100	DDRB = 0b11110000; // Sat-Pins to output
780	-	101	_delay_ms(80); // Let them time to boot up
776	-	102
791	-	103	for (i=0;i<bind;i++) // Send negative 100�s pulses to all sat's
776	-	104	{
		105	PORTB = 0b00000000;
		106	_delay_us(100);
		107	PORTB = 0b11110000;
		108	_delay_us(100);
		109	}
		110
791	-	111	for (i=0;i<bind;i++) // Flash the number of used pulses to the LED
		112	{
		113	LED_ON;
		114	_delay_ms(100);
		115	LED_OFF;
		116	_delay_ms(250);
		117	}
		118
		119	DDRB = 0b00000000; // Sat-Pins to input again
		120
		121	bind++; // Save increased bind-pulse-counter for next binding.
		122	if (bind > 6) bind = 3; // 3 pulses are for DX7+AR6200, 4-6 pulses have been seen...
		123	eeprom_write_byte(&eebind, bind); // around the world for other combinations. Hopefully it works for them.
		124	_delay_ms(500);
776	-	125	}
		126
		127
778	-	128
776	-	129	void Testing(void) // Self Test
775	-	130	{
778	-	131	unsigned char error = 0;
776	-	132	unsigned char i = 0;
		133
778	-	134	DDRB = 0b11110000; // Port B Output for satellites, Input for feedback
776	-	135
778	-	136	PORTB = 0b01010000; // Test Pattern
		137	SelectSat(0);
780	-	138	if (!(PINB & (1<<PB3))) error = 1;
778	-	139	SelectSat(1);
780	-	140	if (PINB & (1<<PB3)) error = 2;
778	-	141	SelectSat(2);
780	-	142	if (!(PINB & (1<<PB3))) error = 3;
778	-	143	SelectSat(3);
780	-	144	if (PINB & (1<<PB3)) error = 4;
776	-	145
778	-	146	PORTB = 0b10100000; // Another (inverted) Test Pattern
		147	SelectSat(0);
780	-	148	if (PINB & (1<<PB3)) error = 1;
778	-	149	SelectSat(1);
780	-	150	if (!(PINB & (1<<PB3))) error = 2;
778	-	151	SelectSat(2);
780	-	152	if (PINB & (1<<PB3)) error = 3;
778	-	153	SelectSat(3);
780	-	154	if (!(PINB & (1<<PB3))) error = 4;
778	-	155
		156	DDRB = 0b00000000; // Port B Input again
		157
791	-	158	while (PIND & (1<<PD6)); // Wait for Bind-Switch
		159
776	-	160	while(1) // Never return
		161	{
778	-	162	if (error == 0) // When no error occured -> LED flashes at 1 Hz
776	-	163	{
		164	LED_ON;
		165	_delay_ms(100);
		166	LED_OFF;
778	-	167	_delay_ms(900);
776	-	168	}
778	-	169	else
		170	{
780	-	171	for (i=0;i<error;i++) // When error occured -> Flash-Out the Errorcode
778	-	172	{
		173	LED_ON;
		174	_delay_ms(100);
		175	LED_OFF;
		176	_delay_ms(400);
		177	}
		178	_delay_ms(1000);
		179	}
		180
776	-	181	}
778	-	182
776	-	183	}
		184
		185
775	-	186
		187	int main(void)
		188	{
		189	unsigned char i = 0;
776	-	190	unsigned char active[4];
931	-	191	unsigned char active_lo[4];
		192	unsigned char active_hi[4];
791	-	193	unsigned char sat = 99;
775	-	194
931	-	195
778	-	196	DDRB = 0b00000000; // Port B Input for satellites and feedback
		197	DDRD = 0b0011001; // Port D Output for MUX and LED, Input for Switch & Test
		198	PORTB = 0b11110000; // Port B Pullup's for (unused) satellites
780	-	199	PORTD = 0b1100001; // Port D Pullup's for Switch & Test, LED off
775	-	200
791	-	201	if (eeprom_read_byte(&eecheck) != 0x42) // Invalid Data in EEPROM -> initialize
		202	{
		203	eeprom_write_byte(&eecheck, 0x42);
		204	bind = 3;
		205	eeprom_write_byte(&eebind, bind);
		206	}
		207	else bind = eeprom_read_byte(&eebind); // Valid Data in EEPROM -> read bind-pulse-counter
		208
		209
778	-	210	if (!(PIND & (1<<PD5))) Testing(); // Initiate Self-Test when Test-Pad is low
776	-	211	if (!(PIND & (1<<PD6))) Binding(); // Initiate Binding when Bind-Button is pressed
		212
931	-	213
		214	for (i=0;i<4;i++) // Reset active-arrays
		215	{
		216	active[i] = 0;
		217	active_lo[i] = 0;
		218	active_hi[i] = 0;
		219	}
		220
780	-	221	_delay_ms(100);
		222
931	-	223	TCCR0B = ( 1 << CS00 ) \| ( 1 << CS02 ); // Timer0 Prescaler = 1024 -> 32,768 msec
776	-	224	TCCR1B = ( 1 << CS10 ); // Timer1 Prescaler = 1 -> 8,192 msec
931	-	225	TIMSK = ( 1 << TOIE0 ) \| ( 1 << TOIE1 ); // Timer0+1 Overflow Interrupt Enable
775	-	226	sei(); // Global Interrupts enable
		227
931	-	228	ResetTimer1();
791	-	229	while(sat == 99) // Wait for first signal
775	-	230	{
931	-	231	if (Timer1Event == 10) LED_ON; // Blink while waiting
		232	if (Timer1Event == 20)
775	-	233	{
		234	LED_OFF;
931	-	235	Timer1Event = 0;
775	-	236	}
		237
931	-	238	while(Timer1Event < 3) // Check active satellites (for 3*8=24ms)
775	-	239	{
931	-	240	for (i=0;i<4;i++)
775	-	241	{
931	-	242	if (PINB & (1<<(i+4))) active_hi[i] = 1;
		243	else active_lo[i] = 1;
		244	}
		245	}
		246
		247	for (i=0;i<4;i++) // When an input had low AND high signals, mark it as active
		248	{
		249	if (active_lo[i] == 1 && active_hi[i] == 1) active[i] = 1;
		250	}
		251
		252
		253	for (i=0;i<4;i++) // Select first active satellite
		254	{
		255	if (active[i] == 1)
		256	{
		257	SelectSat(i);
791	-	258	sat = i;
931	-	259	BlinkCode = i+1;
791	-	260	break;
775	-	261	}
		262	}
931	-	263
775	-	264	}
		265
		266
931	-	267
		268
775	-	269	while(1) // Main-Loop
		270	{
931	-	271	for (i=0;i<4;i++) // Reset active-arrays
775	-	272	{
931	-	273	active[i] = 0;
		274	active_lo[i] = 0;
		275	active_hi[i] = 0;
775	-	276	}
931	-	277
		278	ResetTimer1();
		279	while(Timer1Event < 3) // Check active satellites (for 3*8=24ms)
775	-	280	{
776	-	281	for (i=0;i<4;i++)
775	-	282	{
931	-	283	if (PINB & (1<<(i+4))) active_hi[i] = 1;
		284	else active_lo[i] = 1;
775	-	285	}
		286	}
		287
931	-	288
		289	for (i=0;i<4;i++) // When an input had low AND high signals, mark it as active
775	-	290	{
931	-	291	if (active_lo[i] == 1 && active_hi[i] == 1) active[i] = 1;
		292	}
		293
		294
		295	if (active[0] == 0 && active[1] == 0 && active[2] == 0 && active[3] == 0 && sat != 99)
		296	{
		297	failure = 1; // Set Failure-LED when the signal is lost completely
		298	BlinkCode = 0;
		299	sat = 99;
		300	}
		301
		302
		303	for (i=0;i<4;i++) // Select active satellite (priorized)
		304	{
		305	if (active[i] == 1)
775	-	306	{
931	-	307	SelectSat(i);
		308	if (sat != i) failure = 1; // Set Failure-LED when the active satellite changes
		309	sat = i;
		310	BlinkCode = i+1;
		311	break;
775	-	312	}
		313	}
776	-	314
931	-	315
		316
		317	if (!(PIND & (1<<PD6))) failure = 0; // Reset Failure-LED when Bind-Button is pressed
775	-	318	}
776	-	319
775	-	320	}

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