Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1797 | - | 1 | /*####################################################################################### |
| 2 | Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit |
||
| 3 | #######################################################################################*/ |
||
| 4 | |||
| 5 | #include "Spektrum.h" |
||
| 6 | #include "main.h" |
||
| 7 | |||
| 8 | unsigned char SpektrumTimer = 0; |
||
| 9 | |||
| 10 | // Achtung: RECEIVER_SPEKTRUM_DX7EXP oder RECEIVER_SPEKTRUM_DX8EXP wird in der main.h gesetzt |
||
| 11 | #if defined (RECEIVER_SPEKTRUM_DX7EXP) || defined (RECEIVER_SPEKTRUM_DX8EXP) |
||
| 12 | unsigned char s_excnt = 0; // Bitcounter for Spektrum-Expander |
||
| 13 | unsigned char s_exparity = 0; // Parity Bit for Spektrum-Expander |
||
| 14 | signed char s_exdata[11]; // Data for Spektrum-Expander |
||
| 15 | |||
| 16 | void s_update(unsigned char channel, signed int value) // Channel-Diff numbercrunching and finally assign new stickvalue to PPM_in |
||
| 17 | { |
||
| 18 | if(SenderOkay >= 180) PPM_diff[channel] = ((value - PPM_in[channel]) / 3) * 3; |
||
| 19 | else PPM_diff[channel] = 0; |
||
| 20 | PPM_in[channel] = value; |
||
| 21 | } |
||
| 22 | #endif |
||
| 23 | |||
| 24 | //--------------------------------------------------------------// |
||
| 25 | //--------------------------------------------------------------// |
||
| 26 | /* |
||
| 27 | void SpektrumBinding(void) |
||
| 28 | { |
||
| 29 | unsigned int timerTimeout = SetDelay(10000); // Timeout 10 sec. |
||
| 30 | unsigned char connected = 0; |
||
| 31 | unsigned int delaycounter; |
||
| 32 | |||
| 33 | UCSR1B &= ~(1 << RXCIE1); // disable rx-interrupt |
||
| 34 | UCSR1B &= ~(1<<RXEN1); // disable Uart-Rx |
||
| 35 | PORTD &= ~(1 << PORTD2); // disable pull-up |
||
| 36 | |||
| 37 | printf("\n\rPlease connect Spektrum receiver for binding NOW..."); |
||
| 38 | |||
| 39 | while(!CheckDelay(timerTimeout)) |
||
| 40 | { |
||
| 41 | if (PIND & (1 << PORTD2)) { timerTimeout = SetDelay(90); connected = 1; break; } |
||
| 42 | } |
||
| 43 | |||
| 44 | if (connected) |
||
| 45 | { |
||
| 46 | |||
| 47 | printf("ok.\n\r"); |
||
| 48 | DDRD |= (1 << DDD2); // Rx as output |
||
| 49 | |||
| 50 | while(!CheckDelay(timerTimeout)); // delay after startup of RX |
||
| 51 | for (delaycounter = 0; delaycounter < 100; delaycounter++) PORTD |= (1 << PORTD2); |
||
| 52 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
||
| 53 | |||
| 54 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
||
| 55 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
||
| 56 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
||
| 57 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
||
| 58 | |||
| 59 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
||
| 60 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
||
| 61 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
||
| 62 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
||
| 63 | |||
| 64 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
||
| 65 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
||
| 66 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
||
| 67 | |||
| 68 | } |
||
| 69 | else |
||
| 70 | { printf("Timeout.\n\r"); |
||
| 71 | |||
| 72 | |||
| 73 | } |
||
| 74 | |||
| 75 | DDRD &= ~(1 << DDD2); // RX as input |
||
| 76 | PORTD &= ~(1 << PORTD2); |
||
| 77 | |||
| 78 | SpektrumUartInit(); // init Uart again |
||
| 79 | } |
||
| 80 | */ |
||
| 81 | //############################################################################ |
||
| 82 | // USART1 initialisation from killagreg |
||
| 83 | void SpektrumUartInit(void) |
||
| 84 | //############################################################################ |
||
| 85 | { |
||
| 86 | // -- Start of USART1 initialisation for Spekturm seriell-mode |
||
| 87 | // USART1 Control and Status Register A, B, C and baud rate register |
||
| 88 | uint8_t sreg = SREG; |
||
| 89 | |||
| 90 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1); |
||
| 91 | |||
| 92 | // disable all interrupts before reconfiguration |
||
| 93 | cli(); |
||
| 94 | // disable RX-Interrupt |
||
| 95 | UCSR1B &= ~(1 << RXCIE1); |
||
| 96 | // disable TX-Interrupt |
||
| 97 | UCSR1B &= ~(1 << TXCIE1); |
||
| 98 | // disable DRE-Interrupt |
||
| 99 | UCSR1B &= ~(1 << UDRIE1); |
||
| 100 | // set direction of RXD1 and TXD1 pins |
||
| 101 | // set RXD1 (PD2) as an input pin |
||
| 102 | PORTD |= (1 << PORTD2); |
||
| 103 | DDRD &= ~(1 << DDD2); |
||
| 104 | |||
| 105 | // set TXD1 (PD3) as an output pin |
||
| 106 | PORTD |= (1 << PORTD3); |
||
| 107 | DDRD |= (1 << DDD3); |
||
| 108 | |||
| 109 | // USART0 Baud Rate Register |
||
| 110 | // set clock divider |
||
| 111 | UBRR1H = (uint8_t)(ubrr>>8); |
||
| 112 | UBRR1L = (uint8_t)ubrr; |
||
| 113 | // enable double speed operation |
||
| 114 | UCSR1A |= (1 << U2X1); |
||
| 115 | // enable receiver and transmitter |
||
| 116 | //UCSR1B = (1<<RXEN1)|(1<<TXEN1); |
||
| 117 | |||
| 118 | UCSR1B = (1<<RXEN1); |
||
| 119 | // set asynchronous mode |
||
| 120 | UCSR1C &= ~(1 << UMSEL11); |
||
| 121 | UCSR1C &= ~(1 << UMSEL10); |
||
| 122 | // no parity |
||
| 123 | UCSR1C &= ~(1 << UPM11); |
||
| 124 | UCSR1C &= ~(1 << UPM10); |
||
| 125 | // 1 stop bit |
||
| 126 | UCSR1C &= ~(1 << USBS1); |
||
| 127 | // 8-bit |
||
| 128 | UCSR1B &= ~(1 << UCSZ12); |
||
| 129 | UCSR1C |= (1 << UCSZ11); |
||
| 130 | UCSR1C |= (1 << UCSZ10); |
||
| 131 | // flush receive buffer explicit |
||
| 132 | while(UCSR1A & (1<<RXC1)) UDR1; |
||
| 133 | // enable RX-interrupts at the end |
||
| 134 | UCSR1B |= (1 << RXCIE1); |
||
| 135 | // -- End of USART1 initialisation |
||
| 136 | // restore global interrupt flags |
||
| 137 | |||
| 138 | SREG = sreg; |
||
| 139 | return; |
||
| 140 | } |
||
| 141 | |||
| 142 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 143 | // + Copyright (c) Rainer Walther |
||
| 144 | // + RC-routines from original MK rc.c (c) H&I |
||
| 145 | // + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2 |
||
| 146 | // + only for non-profit use |
||
| 147 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 148 | // |
||
| 149 | // 20080808 rw Modified for Spektrum AR6100 (PPM) |
||
| 150 | // 20080823 rw Add Spektrum satellite receiver on USART1 (644P only) |
||
| 151 | // 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels) |
||
| 152 | // Replace AR6100-coding with original composit-signal routines |
||
| 153 | // |
||
| 154 | // --- |
||
| 155 | // Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben! |
||
| 156 | // Binding is not implemented. Bind with external Receiver. |
||
| 157 | // Servo output J3, J4, J5 not serviced |
||
| 158 | // |
||
| 159 | // Anschuß Spektrum Receiver |
||
| 160 | // Orange: 3V von der FC (keinesfalls an 5V anschließen!) |
||
| 161 | // Schwarz: GND |
||
| 162 | // Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker |
||
| 163 | // |
||
| 164 | // --- |
||
| 165 | // Satellite-Reciever connected on USART1: |
||
| 166 | // |
||
| 167 | // DX7/DX6i: One data-frame at 115200 baud every 22ms. |
||
| 168 | // DX7se: One data-frame at 115200 baud every 11ms. |
||
| 169 | // byte1: unknown |
||
| 170 | // byte2: unknown |
||
| 171 | // byte3: and byte4: channel data (FLT-Mode) |
||
| 172 | // byte5: and byte6: channel data (Roll) |
||
| 173 | // byte7: and byte8: channel data (Nick) |
||
| 174 | // byte9: and byte10: channel data (Gier) |
||
| 175 | // byte11: and byte12: channel data (Gear Switch) |
||
| 176 | // byte13: and byte14: channel data (Gas) |
||
| 177 | // byte15: and byte16: channel data (AUX2) |
||
| 178 | // |
||
| 179 | // DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9 |
||
| 180 | // 1st Frame: |
||
| 181 | // byte1: unknown |
||
| 182 | // byte2: unknown |
||
| 183 | // byte3: and byte4: channel data |
||
| 184 | // byte5: and byte6: channel data |
||
| 185 | // byte7: and byte8: channel data |
||
| 186 | // byte9: and byte10: channel data |
||
| 187 | // byte11: and byte12: channel data |
||
| 188 | // byte13: and byte14: channel data |
||
| 189 | // byte15: and byte16: channel data |
||
| 190 | // 2nd Frame: |
||
| 191 | // byte1: unknown |
||
| 192 | // byte2: unknown |
||
| 193 | // byte3: and byte4: channel data |
||
| 194 | // byte5: and byte6: channel data |
||
| 195 | // byte7: and byte8: 0xffff |
||
| 196 | // byte9: and byte10: 0xffff |
||
| 197 | // byte11: and byte12: 0xffff |
||
| 198 | // byte13: and byte14: 0xffff |
||
| 199 | // byte15: and byte16: 0xffff |
||
| 200 | // |
||
| 201 | // Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as: |
||
| 202 | // |
||
| 203 | // Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 |
||
| 204 | // |
||
| 205 | // 0 means a '0' bit |
||
| 206 | // F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only) |
||
| 207 | // C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter) |
||
| 208 | // D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel |
||
| 209 | // |
||
| 210 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 211 | |||
| 212 | #define MIN_FRAMEGAP 68 // 7ms |
||
| 213 | #define MAX_BYTEGAP 3 // 310us |
||
| 214 | |||
| 215 | |||
| 216 | //############################################################################ |
||
| 217 | // Wird im UART-Interrupt aufgerufen |
||
| 218 | //############################################################################ |
||
| 219 | void SpektrumParser(unsigned char c) |
||
| 220 | { |
||
| 221 | static unsigned char Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0; |
||
| 222 | unsigned int Channel, index = 0; |
||
| 223 | signed int signal = 0, tmp; |
||
| 224 | int bCheckDelay; |
||
| 225 | // c = UDR1; // get data byte |
||
| 226 | if(ReSync == 1) |
||
| 227 | { |
||
| 228 | // wait for beginning of new frame |
||
| 229 | ReSync = 0; |
||
| 230 | SpektrumTimer = MIN_FRAMEGAP; |
||
| 231 | FrameCnt = 0; |
||
| 232 | Sync = 0; |
||
| 233 | ByteHigh = 0; |
||
| 234 | } |
||
| 235 | else |
||
| 236 | { |
||
| 237 | if(!SpektrumTimer) bCheckDelay = 1; else bCheckDelay = 0;//CheckDelay(FrameTimer); |
||
| 238 | if ( Sync == 0 ) |
||
| 239 | { |
||
| 240 | if(bCheckDelay) |
||
| 241 | { |
||
| 242 | // nach einer Pause von mind. 7ms erstes Sync-Character gefunden |
||
| 243 | // Zeichen ignorieren, da Bedeutung unbekannt |
||
| 244 | Sync = 1; |
||
| 245 | FrameCnt ++; |
||
| 246 | SpektrumTimer = MAX_BYTEGAP; |
||
| 247 | } |
||
| 248 | else |
||
| 249 | { |
||
| 250 | // Zeichen kam vor Ablauf der 7ms Sync-Pause |
||
| 251 | // warten auf erstes Sync-Zeichen |
||
| 252 | SpektrumTimer = MIN_FRAMEGAP; |
||
| 253 | FrameCnt = 0; |
||
| 254 | Sync = 0; |
||
| 255 | ByteHigh = 0; |
||
| 256 | } |
||
| 257 | } |
||
| 258 | else if((Sync == 1) && !bCheckDelay) |
||
| 259 | { |
||
| 260 | // zweites Sync-Character ignorieren, Bedeutung unbekannt |
||
| 261 | Sync = 2; |
||
| 262 | FrameCnt ++; |
||
| 263 | SpektrumTimer = MAX_BYTEGAP; |
||
| 264 | } |
||
| 265 | else if((Sync == 2) && !bCheckDelay) |
||
| 266 | { |
||
| 267 | SpektrumTimer = MAX_BYTEGAP; |
||
| 268 | // Datenbyte high |
||
| 269 | ByteHigh = c; |
||
| 270 | if (FrameCnt == 2) |
||
| 271 | { |
||
| 272 | // is 1st Byte of Channel-data |
||
| 273 | // Frame 1 with Channel 1-7 comming next |
||
| 274 | Frame2 = 0; |
||
| 275 | if(ByteHigh & 0x80) |
||
| 276 | { |
||
| 277 | // DS9: Frame 2 with Channel 8-9 comming next |
||
| 278 | Frame2 = 1; |
||
| 279 | } |
||
| 280 | } |
||
| 281 | Sync = 3; |
||
| 282 | FrameCnt ++; |
||
| 283 | } |
||
| 284 | else if((Sync == 3) && !bCheckDelay) |
||
| 285 | { |
||
| 286 | // Datenbyte low |
||
| 287 | // High-Byte for next channel comes next |
||
| 288 | SpektrumTimer = MAX_BYTEGAP; |
||
| 289 | Sync = 2; |
||
| 290 | FrameCnt ++; |
||
| 291 | Channel = ((unsigned int)ByteHigh << 8) | c; |
||
| 292 | if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM) |
||
| 293 | { |
||
| 294 | signal = Channel & 0x3ff; |
||
| 295 | signal -= 0x200; // Offset, range 0x000..0x3ff? |
||
| 296 | signal = signal/3; // scaling to fit PPM resolution |
||
| 297 | index = (ByteHigh >> 2) & 0x0f; |
||
| 298 | } |
||
| 299 | else |
||
| 300 | if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM_HI_RES) |
||
| 301 | { |
||
| 302 | signal = Channel & 0x7ff; |
||
| 303 | signal -= 0x400; // Offset, range 0x000..0x7ff? |
||
| 304 | signal = signal/6; // scaling to fit PPM resolution |
||
| 305 | index = (ByteHigh >> 3) & 0x0f; |
||
| 306 | } |
||
| 307 | else |
||
| 308 | //if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM_LOW_RES) |
||
| 309 | { |
||
| 310 | signal = Channel & 0x3ff; |
||
| 311 | signal -= 360; // Offset, range 0x000..0x3ff? |
||
| 312 | signal = signal/2; // scaling to fit PPM resolution |
||
| 313 | index = (ByteHigh >> 2) & 0x0f; |
||
| 314 | } |
||
| 315 | |||
| 316 | index++; |
||
| 317 | if(index < 13) |
||
| 318 | { |
||
| 319 | // Stabiles Signal |
||
| 320 | #if defined (RECEIVER_SPEKTRUM_DX7EXP) || defined (RECEIVER_SPEKTRUM_DX8EXP) |
||
| 321 | if (index == 2) index = 4; // Analog channel reassigment (2 <-> 4) for logical numbering (1,2,3,4) |
||
| 322 | else if (index == 4) index = 2; |
||
| 323 | #endif |
||
| 324 | if(abs(signal - PPM_in[index]) < 6) |
||
| 325 | { |
||
| 326 | if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe |
||
| 327 | { |
||
| 328 | if(SenderOkay < 200) SenderOkay += 10; |
||
| 329 | else |
||
| 330 | { |
||
| 331 | SenderOkay = 200; |
||
| 332 | TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input |
||
| 333 | } |
||
| 334 | } |
||
| 335 | } |
||
| 336 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
||
| 337 | if(tmp > signal+1) tmp--; else |
||
| 338 | if(tmp < signal-1) tmp++; |
||
| 339 | |||
| 340 | #ifdef RECEIVER_SPEKTRUM_DX7EXP |
||
| 341 | if(index == 6) // FLIGHT-MODE - The channel used for our data uplink |
||
| 342 | { |
||
| 343 | if (signal > 100) // SYNC received |
||
| 344 | { |
||
| 345 | if (s_exdata[s_excnt] == 125) s_exparity = ~s_exparity; // Bit = 1 -> Re-Invert parity bit |
||
| 346 | if ((s_excnt == 6 && ((s_exparity != 0 && s_exdata[s_excnt] == -125) || (s_exparity == 0 && s_exdata[s_excnt] == 125))) || (s_excnt == 9 && ((s_exparity == 0 && s_exdata[s_excnt] == -125) || (s_exparity != 0 && s_exdata[s_excnt] == 125)))) // Parity check |
||
| 347 | { |
||
| 348 | if (s_exdata[1] == 125 && s_exdata[2] == -125) s_update(5,-125); // Reconstruct tripole Flight-Mode value (CH5) |
||
| 349 | else if (s_exdata[1] == -125 && s_exdata[2] == -125) s_update(5,0); // Reconstruct tripole Flight-Mode value (CH5) |
||
| 350 | else if (s_exdata[1] == -125 && s_exdata[2] == 125) s_update(5,125); // Reconstruct tripole Flight-Mode value (CH5) |
||
| 351 | s_update(6,s_exdata[3]); // Elevator (CH6) |
||
| 352 | s_update(11,s_exdata[4]); // Aileron (CH11) |
||
| 353 | s_update(12,s_exdata[5]); // Rudder (CH12) |
||
| 354 | |||
| 355 | if (s_excnt == 9) // New Mode (12 Channels) |
||
| 356 | { |
||
| 357 | if (s_exdata[7] == 125) s_update(8,PPM_in[8]+5); // Hover Pitch UP (CH8) |
||
| 358 | if (s_exdata[8] == 125) s_update(8,PPM_in[8]-5); // Hover Pitch DN (CH8) |
||
| 359 | if (PPM_in[8] < -125) PPM_in[8] = -125; // Range-Limit |
||
| 360 | else if (PPM_in[8] > 125) PPM_in[8] = 125; // Range-Limit |
||
| 361 | s_update(10,s_exdata[6]); // AUX2 (CH10) |
||
| 362 | } |
||
| 363 | } |
||
| 364 | |||
| 365 | s_excnt = 0; // Reset bitcounter |
||
| 366 | s_exparity = 0; // Reset parity bit |
||
| 367 | } |
||
| 368 | |||
| 369 | if (signal < 10) s_exdata[++s_excnt] = -125; // Bit = 0 -> value = -125 (min) |
||
| 370 | if (s_excnt == 10) s_excnt = 0; // Overflow protection |
||
| 371 | if (signal < -100) |
||
| 372 | { |
||
| 373 | s_exdata[s_excnt] = 125; // Bit = 1 -> value = 125 (max) |
||
| 374 | s_exparity = ~s_exparity; // Bit = 1 -> Invert parity bit |
||
| 375 | } |
||
| 376 | |||
| 377 | } |
||
| 378 | |||
| 379 | if (index < 5 ) s_update(index,tmp); // Update normal potis (CH1-4) |
||
| 380 | else if (index == 5) s_update(7,signal); // Gear (CH7) |
||
| 381 | else if (index == 7) s_update(9,signal); // Hover Throttle (CH9) |
||
| 382 | |||
| 383 | #elif defined RECEIVER_SPEKTRUM_DX8EXP |
||
| 384 | if(index == 6) // FLIGHT-MODE - The channel used for our data uplink |
||
| 385 | { |
||
| 386 | if (signal > 100) // SYNC received |
||
| 387 | { |
||
| 388 | if (s_exdata[s_excnt] == 125) s_exparity = ~s_exparity; // Bit = 1 -> Re-Invert parity bit |
||
| 389 | if (s_excnt == 9 && ((s_exparity == 0 && s_exdata[s_excnt] == -125) || (s_exparity != 0 && s_exdata[s_excnt] == 125))) // Parity check |
||
| 390 | { |
||
| 391 | if (s_exdata[1] == 125 && s_exdata[2] == -125) s_update(5,-125); // Reconstruct tripole Flight-Mode value (CH5) |
||
| 392 | else if (s_exdata[1] == -125 && s_exdata[2] == -125) s_update(5,0); // Reconstruct tripole Flight-Mode value (CH5) |
||
| 393 | else if (s_exdata[1] == -125 && s_exdata[2] == 125) s_update(5,125); // Reconstruct tripole Flight-Mode value (CH5) |
||
| 394 | |||
| 395 | if (s_exdata[3] == 125 && s_exdata[6] == -125) s_update(6,125); // Reconstruct tripole Elev D/R value (CH6) |
||
| 396 | else if (s_exdata[3] == -125 && s_exdata[6] == -125) s_update(6,0); // Reconstruct tripole Elev D/R value (CH6) |
||
| 397 | else if (s_exdata[3] == -125 && s_exdata[6] == 125) s_update(6,-125); // Reconstruct tripole Elev D/R value (CH6) |
||
| 398 | |||
| 399 | |||
| 400 | if (s_exdata[7] == 125 && s_exdata[8] == -125) s_update(9,-125); // Reconstruct tripole AIL D/R value (CH9) |
||
| 401 | else if (s_exdata[7] == -125 && s_exdata[8] == -125) s_update(9,0); // Reconstruct tripole AIL D/R value (CH9) |
||
| 402 | else if (s_exdata[7] == -125 && s_exdata[8] == 125) s_update(9,125); // Reconstruct tripole AIL D/R value (CH9) |
||
| 403 | |||
| 404 | s_update(10,s_exdata[5]); // Gear (CH10) |
||
| 405 | s_update(12,s_exdata[4]); // Mix (CH12) |
||
| 406 | } |
||
| 407 | |||
| 408 | s_excnt = 0; // Reset bitcounter |
||
| 409 | s_exparity = 0; // Reset parity bit |
||
| 410 | } |
||
| 411 | |||
| 412 | if (signal < 10) s_exdata[++s_excnt] = -125; // Bit = 0 -> value = -125 (min) |
||
| 413 | if (s_excnt == 10) s_excnt = 0; // Overflow protection |
||
| 414 | if (signal < -100) |
||
| 415 | { |
||
| 416 | s_exdata[s_excnt] = 125; // Bit = 1 -> value = 125 (max) |
||
| 417 | s_exparity = ~s_exparity; // Bit = 1 -> Invert parity bit |
||
| 418 | } |
||
| 419 | |||
| 420 | } |
||
| 421 | |||
| 422 | if (index < 5 ) s_update(index,tmp); // Update normal potis (CH1-4) |
||
| 423 | else if (index == 7) s_update(7,signal); // R Trim (CH7) |
||
| 424 | else if (index == 5) s_update(8,signal); // AUX2 (CH8) |
||
| 425 | else if (index == 8) s_update(11,signal); // AUX3 (CH11) |
||
| 426 | |||
| 427 | #else |
||
| 428 | if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
||
| 429 | else PPM_diff[index] = 0; |
||
| 430 | PPM_in[index] = tmp; |
||
| 431 | #endif |
||
| 432 | } |
||
| 433 | else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren |
||
| 434 | } |
||
| 435 | else |
||
| 436 | { |
||
| 437 | // hier stimmt was nicht: neu synchronisieren |
||
| 438 | ReSync = 1; |
||
| 439 | FrameCnt = 0; |
||
| 440 | Frame2 = 0; |
||
| 441 | // new frame next, nach fruehestens 7ms erwartet |
||
| 442 | SpektrumTimer = MIN_FRAMEGAP; |
||
| 443 | } |
||
| 444 | |||
| 445 | // 16 Bytes eingetroffen -> Komplett |
||
| 446 | if(FrameCnt >= 16) |
||
| 447 | { |
||
| 448 | // Frame complete |
||
| 449 | if(Frame2 == 0) |
||
| 450 | { |
||
| 451 | // Null bedeutet: Neue Daten |
||
| 452 | // nur beim ersten Frame (CH 0-7) setzen |
||
| 453 | if(!ReSync) NewPpmData = 0; |
||
| 454 | } |
||
| 455 | FrameCnt = 0; |
||
| 456 | Frame2 = 0; |
||
| 457 | Sync = 0; |
||
| 458 | SpektrumTimer = MIN_FRAMEGAP; |
||
| 459 | } |
||
| 460 | } |
||
| 461 | } |
||
| 462 |