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| Rev | Author | Line No. | Line |
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| 1538 | killagreg | 1 | #include <stdlib.h> |
| 2 | #include "spectrum.h" |
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| 3 | #include "rc.h" |
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| 4 | |||
| 5 | uint8_t SpektrumTimer; |
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| 6 | |||
| 7 | /* |
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| 8 | Code derived from: |
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| 9 | |||
| 10 | Copyright (c) Rainer Walther |
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| 11 | RC-routines from original MK rc.c (c) H&I |
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| 12 | Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2 |
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| 13 | only for non-profit use |
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| 14 | |||
| 15 | Connection of Spectrum Sattelite to SV1 of FC: |
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| 16 | |||
| 17 | Orange: 3V from the FC (never connect 5V!) |
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| 18 | Black: GND |
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| 19 | Gray: RXD1 (Pin 3) |
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| 20 | |||
| 21 | If a receiver is connected via PPM input at the same time, the PPM input will be disabled |
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| 22 | if a stable signal can be captured by the uart. |
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| 23 | |||
| 24 | Data are send at every 20 ms @ 115200 Baud 8-N-1 |
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| 25 | |||
| 26 | DX7/DX6i: One data-frame @ 115200 Baud 8-N-1 every 22ms. |
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| 27 | DX7se: One data-frame @ 115200 Baud 8-N-1 every 11ms. |
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| 28 | |||
| 29 | Frame consist of: |
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| 30 | byte1: unknown |
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| 31 | byte2: unknown |
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| 32 | byte3: and byte4: channel data |
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| 33 | byte5: and byte6: channel data |
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| 34 | byte7: and byte8: channel data |
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| 35 | byte9: and byte10: channel data |
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| 36 | byte11: and byte12: channel data |
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| 37 | byte13: and byte14: channel data |
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| 38 | byte15: and byte16: channel data |
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| 39 | |||
| 40 | DS9 (9 Channel): One data-frame @ 115200 Baud 8-N-1 every 11ms, |
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| 41 | alternating frame 1/2 for CH1-7 / CH8-9 |
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| 42 | |||
| 43 | 1st Frame consist of: |
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| 44 | byte1: unknown |
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| 45 | byte2: unknown |
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| 46 | byte3: and byte4: channel data |
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| 47 | byte5: and byte6: channel data |
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| 48 | byte7: and byte8: channel data |
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| 49 | byte9: and byte10: channel data |
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| 50 | byte11: and byte12: channel data |
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| 51 | byte13: and byte14: channel data |
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| 52 | byte15: and byte16: channel data |
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| 53 | |||
| 54 | 2nd Frame consist of: |
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| 55 | byte1: unknown |
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| 56 | byte2: unknown |
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| 57 | byte3: and byte4: channel data |
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| 58 | byte5: and byte6: channel data |
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| 59 | byte7: and byte8: 0xffff |
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| 60 | byte9: and byte10: 0xffff |
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| 61 | byte11: and byte12: 0xffff |
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| 62 | byte13: and byte14: 0xffff |
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| 63 | byte15: and byte16: 0xffff |
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| 64 | |||
| 65 | Each channel data (16 bit = 2byte, first msb, second lsb) is arranged as: |
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| 66 | |||
| 67 | Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 |
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| 68 | |||
| 69 | |||
| 70 | F: 0 = indicate first frame, 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only) |
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| 71 | C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter) |
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| 72 | D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel |
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| 73 | */ |
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| 74 | |||
| 75 | #define MIN_FRAMEGAP 68 // 7ms |
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| 76 | #define MAX_BYTEGAP 3 // 375us |
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| 77 | |||
| 78 | void spectrum_parser(uint8_t c) |
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| 79 | { |
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| 80 | static uint8_t Sync = 0, FrameCnt = 0, ByteHigh = 0, ReSync = 1, Frame2 = 0; |
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| 81 | uint16_t Channel, index; |
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| 82 | int16_t signal; //tmp; |
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| 83 | int16_t bCheckDelay; |
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| 84 | |||
| 85 | |||
| 86 | if (ReSync == 1) |
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| 87 | { |
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| 88 | // wait for beginning of new frame |
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| 89 | ReSync = 0; |
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| 90 | SpektrumTimer = MIN_FRAMEGAP; |
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| 91 | FrameCnt = 0; |
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| 92 | Sync = 0; |
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| 93 | ByteHigh = 0; |
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| 94 | } |
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| 95 | else |
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| 96 | { |
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| 97 | if(!SpektrumTimer) bCheckDelay = 1; |
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| 98 | else bCheckDelay = 0; |
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| 99 | if ( Sync == 0 ) |
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| 100 | { |
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| 101 | if(bCheckDelay) |
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| 102 | { |
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| 103 | // nach einer Pause von mind. 7ms erstes Sync-Character gefunden |
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| 104 | // Zeichen ignorieren, da Bedeutung unbekannt |
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| 105 | SpektrumTimer = MAX_BYTEGAP; |
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| 106 | FrameCnt++; |
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| 107 | Sync = 1; |
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| 108 | } |
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| 109 | else |
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| 110 | { |
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| 111 | // Zeichen kam vor Ablauf der 7ms Sync-Pause |
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| 112 | // warten auf erstes Sync-Zeichen |
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| 113 | SpektrumTimer = MIN_FRAMEGAP; |
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| 114 | FrameCnt = 0; |
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| 115 | Sync = 0; |
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| 116 | ByteHigh = 0; |
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| 117 | } |
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| 118 | } |
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| 119 | else if((Sync == 1) && !bCheckDelay) |
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| 120 | { |
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| 121 | // zweites Sync-Character ignorieren, Bedeutung unbekannt |
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| 122 | SpektrumTimer = MAX_BYTEGAP; |
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| 123 | Sync = 2; |
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| 124 | FrameCnt++; |
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| 125 | } |
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| 126 | else if((Sync == 2) && !bCheckDelay) |
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| 127 | { |
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| 128 | // Datenbyte high |
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| 129 | SpektrumTimer = MAX_BYTEGAP; |
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| 130 | ByteHigh = c; |
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| 131 | if (FrameCnt == 2) |
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| 132 | { |
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| 133 | // is 1st Byte of Channel-data |
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| 134 | // Frame 1 with Channel 1-7 comming next |
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| 135 | Frame2 = 0; |
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| 136 | if(ByteHigh & 0x80) |
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| 137 | { |
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| 138 | // DS9: Frame 2 with Channel 8-9 comming next |
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| 139 | Frame2 = 1; |
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| 140 | } |
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| 141 | } |
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| 142 | Sync = 3; |
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| 143 | FrameCnt ++; |
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| 144 | } |
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| 145 | else if((Sync == 3) && !bCheckDelay) |
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| 146 | { |
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| 147 | // Datenbyte low |
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| 148 | // High-Byte for next channel comes next |
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| 149 | SpektrumTimer = MAX_BYTEGAP; |
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| 150 | Sync = 2; |
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| 151 | FrameCnt ++; |
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| 152 | index = (ByteHigh >> 2) & 0x0f; |
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| 153 | index ++; |
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| 154 | Channel = ((uint16_t)ByteHigh << 8) | c; |
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| 155 | signal = Channel & 0x3ff; |
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| 156 | signal -= 0x200; // Offset, range 0x000..0x3ff? |
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| 157 | signal = signal/3; // scaling to fit PPM resolution |
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| 158 | |||
| 159 | if(index >= 0 && index < MAX_CHANNELS) |
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| 160 | { |
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| 161 | if(RC_Channels < index) RC_Channels = index; |
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| 162 | // Stabiles Signal |
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| 163 | if(abs(signal - PPM_in[index]) < 6) |
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| 164 | { |
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| 165 | if(RC_Quality < 200) |
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| 166 | { |
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| 167 | RC_Quality += 10; |
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| 168 | } |
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| 169 | else |
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| 170 | { |
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| 171 | RC_Quality = 200; |
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| 172 | PPM_INPUT_OFF; // disable PPM input at ICP |
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| 173 | } |
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| 174 | } |
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| 175 | //tmp = (3 * PPM_in[index] + signal)/4; |
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| 176 | //if(tmp > signal+1) tmp--; |
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| 177 | //else if(tmp < signal-1) tmp++; |
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| 178 | // calculate signal difference on good signal level |
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| 179 | if(RC_Quality >= 180) PPM_diff[index] = ((signal - PPM_in[index]) / 3) * 3; |
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| 180 | else PPM_diff[index] = 0; |
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| 181 | PPM_in[index] = signal; |
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| 182 | } |
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| 183 | else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren |
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| 184 | } |
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| 185 | else |
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| 186 | { |
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| 187 | // hier stimmt was nicht: neu synchronisieren |
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| 188 | SpektrumTimer = MIN_FRAMEGAP; // next frame expexted after 7ms |
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| 189 | ReSync = 1; |
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| 190 | FrameCnt = 0; |
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| 191 | Frame2 = 0; |
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| 192 | } |
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| 193 | |||
| 194 | // 16 Bytes per frame --> frame complete |
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| 195 | if(FrameCnt >= 16) |
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| 196 | { |
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| 197 | // Frame complete |
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| 198 | if(Frame2 == 0) |
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| 199 | { |
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| 200 | // Null bedeutet: Neue Daten |
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| 201 | // nur beim ersten Frame (CH 0-7) setzen |
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| 202 | if(!ReSync) NewPpmData = 0; |
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| 203 | } |
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| 204 | SpektrumTimer = MIN_FRAMEGAP; |
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| 205 | FrameCnt = 0; |
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| 206 | Frame2 = 0; |
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| 207 | Sync = 0; |
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| 208 | } |
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| 209 | } |
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| 210 | } |
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| 211 |