Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 671 | form | 1 | /*####################################################################################### |
| 2 | Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit |
||
| 3 | #######################################################################################*/ |
||
| 4 | |||
| 5 | #include "Spectrum.h" |
||
| 6 | #include "main.h" |
||
| 7 | |||
| 8 | unsigned int sexcnt; // Counter for Spektrum-Expander |
||
| 9 | unsigned int sexparity; // Parity Bit for Spektrum-Expander |
||
| 10 | signed int sexdata[7]; // Data for Spektrum-Expander |
||
| 11 | signed int sexdata_valid[7]; // Valid Data for Spektrum-Expander |
||
| 12 | |||
| 13 | //--------------------------------------------------------------// |
||
| 14 | |||
| 15 | //--------------------------------------------------------------// |
||
| 16 | void SpektrumBinding(void) |
||
| 17 | { |
||
| 18 | unsigned int timerTimeout = SetDelay(10000); // Timeout 10 sec. |
||
| 19 | unsigned char connected = 0; |
||
| 20 | unsigned int delaycounter; |
||
| 21 | |||
| 22 | UCSR1B &= ~(1 << RXCIE1); // disable rx-interrupt |
||
| 23 | UCSR1B &= ~(1<<RXEN1); // disable Uart-Rx |
||
| 24 | PORTD &= ~(1 << PORTD2); // disable pull-up |
||
| 25 | |||
| 26 | printf("\n\rPlease connect Spektrum receiver for binding NOW..."); |
||
| 27 | |||
| 28 | while(!CheckDelay(timerTimeout)) |
||
| 29 | { |
||
| 30 | if (PIND & (1 << PORTD2)) { timerTimeout = SetDelay(90); connected = 1; break; } |
||
| 31 | } |
||
| 32 | |||
| 33 | if (connected) |
||
| 34 | { |
||
| 35 | |||
| 36 | printf("ok.\n\r"); |
||
| 37 | DDRD |= (1 << DDD2); // Rx as output |
||
| 38 | |||
| 39 | while(!CheckDelay(timerTimeout)); // delay after startup of RX |
||
| 40 | for (delaycounter = 0; delaycounter < 100; delaycounter++) PORTD |= (1 << PORTD2); |
||
| 41 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
||
| 42 | |||
| 43 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
||
| 44 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
||
| 45 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
||
| 46 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
||
| 47 | |||
| 48 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
||
| 49 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
||
| 50 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
||
| 51 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
||
| 52 | |||
| 53 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
||
| 54 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
||
| 55 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
||
| 56 | |||
| 57 | } |
||
| 58 | else |
||
| 59 | { printf("Timeout.\n\r"); |
||
| 60 | |||
| 61 | |||
| 62 | } |
||
| 63 | |||
| 64 | DDRD &= ~(1 << DDD2); // RX as input |
||
| 65 | PORTD &= ~(1 << PORTD2); |
||
| 66 | |||
| 67 | Uart1Init(); // init Uart again |
||
| 68 | } |
||
| 69 | |||
| 70 | //############################################################################ |
||
| 71 | // zum Decodieren des Spektrum Satelliten wird USART1 benutzt. |
||
| 72 | // USART1 initialisation from killagreg |
||
| 73 | void Uart1Init(void) |
||
| 74 | //############################################################################ |
||
| 75 | { |
||
| 76 | // -- Start of USART1 initialisation for Spekturm seriell-mode |
||
| 77 | // USART1 Control and Status Register A, B, C and baud rate register |
||
| 78 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1); |
||
| 79 | // disable RX-Interrupt |
||
| 80 | UCSR1B &= ~(1 << RXCIE1); |
||
| 81 | // disable TX-Interrupt |
||
| 82 | UCSR1B &= ~(1 << TXCIE1); |
||
| 83 | // disable DRE-Interrupt |
||
| 84 | UCSR1B &= ~(1 << UDRIE1); |
||
| 85 | // set direction of RXD1 and TXD1 pins |
||
| 86 | // set RXD1 (PD2) as an input pin |
||
| 87 | PORTD |= (1 << PORTD2); |
||
| 88 | DDRD &= ~(1 << DDD2); |
||
| 89 | // USART0 Baud Rate Register |
||
| 90 | // set clock divider |
||
| 91 | |||
| 92 | UBRR1H = (uint8_t)(ubrr>>8); |
||
| 93 | UBRR1L = (uint8_t)ubrr; |
||
| 94 | // enable double speed operation |
||
| 95 | UCSR1A |= (1 << U2X1); |
||
| 96 | // enable receiver and transmitter |
||
| 97 | //UCSR1B = (1<<RXEN1)|(1<<TXEN1); |
||
| 98 | |||
| 99 | |||
| 100 | |||
| 101 | |||
| 102 | UCSR1B = (1<<RXEN1); |
||
| 103 | // set asynchronous mode |
||
| 104 | UCSR1C &= ~(1 << UMSEL11); |
||
| 105 | UCSR1C &= ~(1 << UMSEL10); |
||
| 106 | // no parity |
||
| 107 | UCSR1C &= ~(1 << UPM11); |
||
| 108 | UCSR1C &= ~(1 << UPM10); |
||
| 109 | // 1 stop bit |
||
| 110 | UCSR1C &= ~(1 << USBS1); |
||
| 111 | // 8-bit |
||
| 112 | UCSR1B &= ~(1 << UCSZ12); |
||
| 113 | UCSR1C |= (1 << UCSZ11); |
||
| 114 | UCSR1C |= (1 << UCSZ10); |
||
| 115 | // flush receive buffer explicit |
||
| 116 | while(UCSR1A & (1<<RXC1)) UDR1; |
||
| 117 | // enable RX-interrupts at the end |
||
| 118 | UCSR1B |= (1 << RXCIE1); |
||
| 119 | // -- End of USART1 initialisation |
||
| 120 | return; |
||
| 121 | } |
||
| 122 | |||
| 123 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 124 | // + Copyright (c) Rainer Walther |
||
| 125 | // + RC-routines from original MK rc.c (c) H&I |
||
| 126 | // + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2 |
||
| 127 | // + only for non-profit use |
||
| 128 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 129 | // |
||
| 130 | // 20080808 rw Modified for Spektrum AR6100 (PPM) |
||
| 131 | // 20080823 rw Add Spektrum satellite receiver on USART1 (644P only) |
||
| 132 | // 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels) |
||
| 133 | // Replace AR6100-coding with original composit-signal routines |
||
| 134 | // |
||
| 135 | // --- |
||
| 136 | // Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben! |
||
| 137 | // Binding is not implemented. Bind with external Receiver. |
||
| 138 | // Servo output J3, J4, J5 not serviced |
||
| 139 | // |
||
| 140 | // Anschuß Spektrum Receiver |
||
| 141 | // Orange: 3V von der FC (keinesfalls an 5V anschließen!) |
||
| 142 | // Schwarz: GND |
||
| 143 | // Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker |
||
| 144 | // |
||
| 145 | // --- |
||
| 146 | // Satellite-Reciever connected on USART1: |
||
| 147 | // |
||
| 148 | // DX7/DX6i: One data-frame at 115200 baud every 22ms. |
||
| 149 | // DX7se: One data-frame at 115200 baud every 11ms. |
||
| 150 | // byte1: unknown |
||
| 151 | // byte2: unknown |
||
| 152 | // byte3: and byte4: channel data (FLT-Mode) |
||
| 153 | // byte5: and byte6: channel data (Roll) |
||
| 154 | // byte7: and byte8: channel data (Nick) |
||
| 155 | // byte9: and byte10: channel data (Gier) |
||
| 156 | // byte11: and byte12: channel data (Gear Switch) |
||
| 157 | // byte13: and byte14: channel data (Gas) |
||
| 158 | // byte15: and byte16: channel data (AUX2) |
||
| 159 | // |
||
| 160 | // DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9 |
||
| 161 | // 1st Frame: |
||
| 162 | // byte1: unknown |
||
| 163 | // byte2: unknown |
||
| 164 | // byte3: and byte4: channel data |
||
| 165 | // byte5: and byte6: channel data |
||
| 166 | // byte7: and byte8: channel data |
||
| 167 | // byte9: and byte10: channel data |
||
| 168 | // byte11: and byte12: channel data |
||
| 169 | // byte13: and byte14: channel data |
||
| 170 | // byte15: and byte16: channel data |
||
| 171 | // 2nd Frame: |
||
| 172 | // byte1: unknown |
||
| 173 | // byte2: unknown |
||
| 174 | // byte3: and byte4: channel data |
||
| 175 | // byte5: and byte6: channel data |
||
| 176 | // byte7: and byte8: 0xffff |
||
| 177 | // byte9: and byte10: 0xffff |
||
| 178 | // byte11: and byte12: 0xffff |
||
| 179 | // byte13: and byte14: 0xffff |
||
| 180 | // byte15: and byte16: 0xffff |
||
| 181 | // |
||
| 182 | // Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as: |
||
| 183 | // |
||
| 184 | // Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 |
||
| 185 | // |
||
| 186 | // 0 means a '0' bit |
||
| 187 | // F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only) |
||
| 188 | // C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter) |
||
| 189 | // D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel |
||
| 190 | // |
||
| 191 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 192 | |||
| 193 | //############################################################################ |
||
| 194 | //Diese Routine startet und inizialisiert den USART1 für seriellen Spektrum satellite reciever |
||
| 195 | SIGNAL(USART1_RX_vect) |
||
| 196 | //############################################################################ |
||
| 197 | { |
||
| 198 | static unsigned int Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0, FrameTimer; |
||
| 199 | unsigned int Channel, index; |
||
| 200 | signed int signal; |
||
| 201 | int bCheckDelay; |
||
| 202 | uint8_t c; |
||
| 203 | |||
| 204 | c = UDR1; // get data byte |
||
| 205 | |||
| 206 | if (ReSync == 1) |
||
| 207 | { |
||
| 208 | // wait for beginning of new frame |
||
| 209 | ReSync = 0; |
||
| 210 | |||
| 211 | FrameTimer = SetDelay(7); // minimum 7ms zwischen den frames |
||
| 212 | FrameCnt = 0; |
||
| 213 | Sync = 0; |
||
| 214 | ByteHigh = 0; |
||
| 215 | } |
||
| 216 | else |
||
| 217 | { |
||
| 218 | bCheckDelay = CheckDelay(FrameTimer); |
||
| 219 | if ( Sync == 0 ) |
||
| 220 | { |
||
| 221 | if(bCheckDelay) |
||
| 222 | { |
||
| 223 | // nach einer Pause von mind. 7ms erstes Sync-Character gefunden |
||
| 224 | // Zeichen ignorieren, da Bedeutung unbekannt |
||
| 225 | Sync = 1; |
||
| 226 | FrameCnt ++; |
||
| 227 | } |
||
| 228 | else |
||
| 229 | { |
||
| 230 | // Zeichen kam vor Ablauf der 7ms Sync-Pause |
||
| 231 | // warten auf erstes Sync-Zeichen |
||
| 232 | } |
||
| 233 | } |
||
| 234 | else if((Sync == 1) && !bCheckDelay) |
||
| 235 | { |
||
| 236 | // zweites Sync-Character ignorieren, Bedeutung unbekannt |
||
| 237 | Sync = 2; |
||
| 238 | FrameCnt ++; |
||
| 239 | } |
||
| 240 | else if((Sync == 2) && !bCheckDelay) |
||
| 241 | { |
||
| 242 | // Datenbyte high |
||
| 243 | ByteHigh = c; |
||
| 244 | |||
| 245 | if (FrameCnt == 2) |
||
| 246 | { |
||
| 247 | // is 1st Byte of Channel-data |
||
| 248 | // Frame 1 with Channel 1-7 comming next |
||
| 249 | Frame2 = 0; |
||
| 250 | if(ByteHigh & 0x80) |
||
| 251 | { |
||
| 252 | // DS9: Frame 2 with Channel 8-9 comming next |
||
| 253 | Frame2 = 1; |
||
| 254 | } |
||
| 255 | } |
||
| 256 | Sync = 3; |
||
| 257 | FrameCnt ++; |
||
| 258 | } |
||
| 259 | else if((Sync == 3) && !bCheckDelay) |
||
| 260 | { |
||
| 261 | // Datenbyte low |
||
| 262 | |||
| 263 | // High-Byte for next channel comes next |
||
| 264 | Sync = 2; |
||
| 265 | FrameCnt ++; |
||
| 266 | |||
| 267 | index = (ByteHigh >> 2) & 0x0f; |
||
| 268 | index ++; |
||
| 269 | Channel = (ByteHigh << 8) | c; |
||
| 270 | signal = Channel & 0x3ff; |
||
| 271 | signal -= 0x200; // Offset, range 0x000..0x3ff? |
||
| 272 | signal = signal/3; // scaling to fit PPM resolution |
||
| 273 | |||
| 274 | if(index >= 0 && index <= 10) |
||
| 275 | { |
||
| 276 | // Stabiles Signal |
||
| 277 | if((abs(signal - PPM_in[index]) < 6) && (index < 5)) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200; } // RX-check only for CH1-4 |
||
| 278 | |||
| 279 | // Spektrum-Expander START |
||
| 280 | if (index == 6) // FLIGHT-MODE - The channel used for our data uplink |
||
| 281 | { |
||
| 282 | if (signal > 100) // SYNC received |
||
| 283 | { |
||
| 284 | sexcnt = 0; // Reset bitcounter |
||
| 285 | sexparity = 0; // Reset parity bit |
||
| 286 | } |
||
| 287 | |||
| 288 | if (signal < 10) sexcnt++; // Increase counter only for non-sync bits |
||
| 289 | if (sexcnt == 7) sexcnt = 0; // Overflow protection |
||
| 290 | |||
| 291 | if (signal < 10) sexdata[sexcnt] = -113; // Bit = 0 -> value = -113 (min) |
||
| 292 | |||
| 293 | if (signal < -100) |
||
| 294 | { |
||
| 295 | sexdata[sexcnt] = 114; // Bit = 1 -> value = 114 (max) |
||
| 296 | if (sexcnt < 6) sexparity = ~sexparity; // Bit = 1 -> Invert parity bit without itself |
||
| 297 | } |
||
| 298 | |||
| 299 | if (sexcnt == 6) // Wait for complete frame |
||
| 300 | { |
||
| 301 | if ((sexparity != 0 && sexdata[6] == -113) || (sexparity == 0 && sexdata[6] == 114)) // Parity check |
||
| 302 | { |
||
| 303 | sexdata_valid[1] = sexdata[1]; // Flight Mode 1 |
||
| 304 | sexdata_valid[2] = sexdata[2]; // Flight Mode 2 |
||
| 305 | sexdata_valid[3] = sexdata[3]; // Elevator |
||
| 306 | sexdata_valid[4] = sexdata[4]; // Aileron |
||
| 307 | sexdata_valid[5] = sexdata[5]; // Rudder |
||
| 308 | } |
||
| 309 | } |
||
| 310 | } |
||
| 311 | |||
| 312 | switch(index) // Analog channel reassigment for logical numbering (1,2,3,4) |
||
| 313 | { |
||
| 314 | case 2: index = 4; |
||
| 315 | break; |
||
| 316 | case 4: index = 2; |
||
| 317 | } |
||
| 318 | |||
| 319 | |||
| 320 | if(SenderOkay >= 180 && index < 5) PPM_diff[index] = ((signal - PPM_in[index]) / 3) * 3; // RX-check only for CH1-4 |
||
| 321 | else PPM_diff[index] = 0; |
||
| 322 | |||
| 323 | if (index < 5 ) PPM_in[index] = signal; // Update normal potis (CH1-4) |
||
| 324 | if (index == 5) PPM_in[7] = signal; // Gear (CH7) |
||
| 325 | if (index == 7) PPM_in[8] = signal; // AUX2 (CH8) |
||
| 326 | |||
| 327 | if (index == 6) |
||
| 328 | { |
||
| 329 | if (sexdata_valid[1] == 114 && sexdata_valid[2] == -113) PPM_in[5] = -113;// Reconstruct tripole Flight-Mode value (CH5) |
||
| 330 | if (sexdata_valid[1] == -113 && sexdata_valid[2] == -113) PPM_in[5] = 0; // Reconstruct tripole Flight-Mode value (CH5) |
||
| 331 | if (sexdata_valid[1] == -113 && sexdata_valid[2] == 114) PPM_in[5] = 114; // Reconstruct tripole Flight-Mode value (CH5) |
||
| 332 | |||
| 333 | PPM_in[6] = sexdata_valid[3]; // Elevator (CH6) |
||
| 334 | if (sexdata_valid[4] == 114) J16_ON; else J16_OFF;// Aileron (CH9) for LED-Output J16 |
||
| 335 | if (sexdata_valid[5] == 114) J17_ON; else J17_OFF;// Rudder (CH10) for LED-Output J17 |
||
| 336 | } |
||
| 337 | // Spektrum-Expander END |
||
| 338 | } |
||
| 339 | } |
||
| 340 | else |
||
| 341 | { |
||
| 342 | // hier stimmt was nicht: neu synchronisieren |
||
| 343 | ReSync = 1; |
||
| 344 | FrameCnt = 0; |
||
| 345 | Frame2 = 0; |
||
| 346 | } |
||
| 347 | |||
| 348 | // 16 Bytes per frame |
||
| 349 | if(FrameCnt >= 16) |
||
| 350 | { |
||
| 351 | // Frame complete |
||
| 352 | if(Frame2 == 0) |
||
| 353 | { |
||
| 354 | // Null bedeutet: Neue Daten |
||
| 355 | // nur beim ersten Frame (CH 0-7) setzen |
||
| 356 | NewPpmData = 0; |
||
| 357 | } |
||
| 358 | |||
| 359 | // new frame next, nach fruehestens 7ms erwartet |
||
| 360 | FrameCnt = 0; |
||
| 361 | Frame2 = 0; |
||
| 362 | Sync = 0; |
||
| 363 | } |
||
| 364 | // Zeit bis zum nächsten Zeichen messen |
||
| 365 | FrameTimer = SetDelay(7); |
||
| 366 | } |
||
| 367 | } |
||
| 368 | |||
| 369 |