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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1612 | dongfang | 1 | /*####################################################################################### |
| 1821 | - | 2 | Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit |
| 3 | #######################################################################################*/ |
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| 1612 | dongfang | 4 | |
| 5 | #include "Spectrum.h" |
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| 6 | |||
| 7 | //--------------------------------------------------------------// |
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| 8 | |||
| 9 | //--------------------------------------------------------------// |
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| 1821 | - | 10 | void SpektrumBinding(void) { |
| 11 | unsigned int timerTimeout = SetDelay(10000); // Timeout 10 sec. |
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| 12 | unsigned char connected = 0; |
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| 13 | unsigned int delaycounter; |
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| 1612 | dongfang | 14 | |
| 1821 | - | 15 | UCSR1B &= ~(1 << RXCIE1); // disable rx-interrupt |
| 16 | UCSR1B &= ~(1 << RXEN1); // disable Uart-Rx |
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| 17 | PORTD &= ~(1 << PORTD2); // disable pull-up |
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| 1612 | dongfang | 18 | |
| 1821 | - | 19 | printf("\n\rPlease connect Spektrum receiver for binding NOW..."); |
| 1612 | dongfang | 20 | |
| 1821 | - | 21 | while (!CheckDelay(timerTimeout)) { |
| 22 | if (PIND & (1 << PORTD2)) { |
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| 23 | timerTimeout = SetDelay(90); |
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| 24 | connected = 1; |
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| 25 | break; |
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| 26 | } |
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| 27 | } |
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| 28 | |||
| 29 | if (connected) { |
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| 30 | |||
| 31 | printf("ok.\n\r"); |
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| 32 | DDRD |= (1 << DDD2); // Rx as output |
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| 33 | |||
| 34 | while (!CheckDelay(timerTimeout)) |
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| 35 | ; // delay after startup of RX |
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| 36 | for (delaycounter = 0; delaycounter < 100; delaycounter++) |
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| 37 | PORTD |= (1 << PORTD2); |
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| 38 | for (delaycounter = 0; delaycounter < 400; delaycounter++) |
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| 39 | PORTD &= ~(1 << PORTD2); |
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| 40 | |||
| 41 | for (delaycounter = 0; delaycounter < 10; delaycounter++) |
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| 42 | PORTD |= (1 << PORTD2); |
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| 43 | for (delaycounter = 0; delaycounter < 10; delaycounter++) |
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| 44 | PORTD &= ~(1 << PORTD2); |
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| 45 | for (delaycounter = 0; delaycounter < 400; delaycounter++) |
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| 46 | PORTD |= (1 << PORTD2); |
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| 47 | for (delaycounter = 0; delaycounter < 400; delaycounter++) |
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| 48 | PORTD &= ~(1 << PORTD2); |
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| 49 | |||
| 50 | for (delaycounter = 0; delaycounter < 10; delaycounter++) |
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| 51 | PORTD |= (1 << PORTD2); |
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| 52 | for (delaycounter = 0; delaycounter < 10; delaycounter++) |
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| 53 | PORTD &= ~(1 << PORTD2); |
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| 54 | for (delaycounter = 0; delaycounter < 400; delaycounter++) |
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| 55 | PORTD |= (1 << PORTD2); |
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| 56 | for (delaycounter = 0; delaycounter < 400; delaycounter++) |
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| 57 | PORTD &= ~(1 << PORTD2); |
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| 58 | |||
| 59 | for (delaycounter = 0; delaycounter < 10; delaycounter++) |
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| 60 | PORTD |= (1 << PORTD2); |
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| 61 | for (delaycounter = 0; delaycounter < 10; delaycounter++) |
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| 62 | PORTD &= ~(1 << PORTD2); |
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| 63 | for (delaycounter = 0; delaycounter < 400; delaycounter++) |
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| 64 | PORTD |= (1 << PORTD2); |
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| 65 | |||
| 66 | } else { |
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| 67 | printf("Timeout.\n\r"); |
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| 68 | |||
| 69 | } |
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| 70 | |||
| 71 | DDRD &= ~(1 << DDD2); // RX as input |
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| 72 | PORTD &= ~(1 << PORTD2); |
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| 73 | |||
| 74 | Uart1Init(); // init Uart again |
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| 1612 | dongfang | 75 | } |
| 76 | |||
| 77 | //############################################################################ |
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| 78 | // zum Decodieren des Spektrum Satelliten wird USART1 benutzt. |
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| 79 | // USART1 initialisation from killagreg |
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| 80 | void Uart1Init(void) |
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| 81 | //############################################################################ |
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| 1821 | - | 82 | { |
| 1612 | dongfang | 83 | // -- Start of USART1 initialisation for Spekturm seriell-mode |
| 84 | // USART1 Control and Status Register A, B, C and baud rate register |
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| 1821 | - | 85 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK / (8 * 115200) - 1); |
| 1612 | dongfang | 86 | // disable RX-Interrupt |
| 87 | UCSR1B &= ~(1 << RXCIE1); |
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| 88 | // disable TX-Interrupt |
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| 89 | UCSR1B &= ~(1 << TXCIE1); |
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| 90 | // disable DRE-Interrupt |
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| 91 | UCSR1B &= ~(1 << UDRIE1); |
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| 92 | // set direction of RXD1 and TXD1 pins |
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| 93 | // set RXD1 (PD2) as an input pin |
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| 94 | PORTD |= (1 << PORTD2); |
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| 95 | DDRD &= ~(1 << DDD2); |
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| 96 | // USART0 Baud Rate Register |
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| 97 | // set clock divider |
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| 1821 | - | 98 | |
| 99 | UBRR1H = (uint8_t) (ubrr >> 8); |
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| 100 | UBRR1L = (uint8_t) ubrr; |
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| 1612 | dongfang | 101 | // enable double speed operation |
| 102 | UCSR1A |= (1 << U2X1); |
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| 103 | // enable receiver and transmitter |
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| 104 | //UCSR1B = (1<<RXEN1)|(1<<TXEN1); |
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| 105 | |||
| 106 | |||
| 1821 | - | 107 | UCSR1B = (1 << RXEN1); |
| 1612 | dongfang | 108 | // set asynchronous mode |
| 109 | UCSR1C &= ~(1 << UMSEL11); |
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| 110 | UCSR1C &= ~(1 << UMSEL10); |
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| 111 | // no parity |
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| 112 | UCSR1C &= ~(1 << UPM11); |
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| 113 | UCSR1C &= ~(1 << UPM10); |
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| 114 | // 1 stop bit |
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| 115 | UCSR1C &= ~(1 << USBS1); |
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| 116 | // 8-bit |
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| 117 | UCSR1B &= ~(1 << UCSZ12); |
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| 1821 | - | 118 | UCSR1C |= (1 << UCSZ11); |
| 119 | UCSR1C |= (1 << UCSZ10); |
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| 1612 | dongfang | 120 | // flush receive buffer explicit |
| 1821 | - | 121 | while (UCSR1A & (1 << RXC1)) |
| 122 | UDR1; |
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| 1612 | dongfang | 123 | // enable RX-interrupts at the end |
| 124 | UCSR1B |= (1 << RXCIE1); |
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| 125 | // -- End of USART1 initialisation |
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| 1821 | - | 126 | return; |
| 127 | } |
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| 128 | |||
| 1612 | dongfang | 129 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 130 | // + Copyright (c) Rainer Walther |
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| 131 | // + RC-routines from original MK rc.c (c) H&I |
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| 132 | // + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2 |
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| 133 | // + only for non-profit use |
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| 134 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 135 | // |
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| 136 | // 20080808 rw Modified for Spektrum AR6100 (PPM) |
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| 137 | // 20080823 rw Add Spektrum satellite receiver on USART1 (644P only) |
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| 138 | // 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels) |
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| 139 | // Replace AR6100-coding with original composit-signal routines |
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| 140 | // |
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| 141 | // --- |
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| 142 | // Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben! |
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| 143 | // Binding is not implemented. Bind with external Receiver. |
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| 144 | // Servo output J3, J4, J5 not serviced |
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| 145 | // |
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| 146 | // Anschuß Spektrum Receiver |
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| 147 | // Orange: 3V von der FC (keinesfalls an 5V anschließen!) |
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| 148 | // Schwarz: GND |
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| 149 | // Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker |
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| 150 | // |
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| 151 | // --- |
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| 152 | // Satellite-Reciever connected on USART1: |
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| 153 | // |
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| 154 | // DX7/DX6i: One data-frame at 115200 baud every 22ms. |
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| 155 | // DX7se: One data-frame at 115200 baud every 11ms. |
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| 156 | // byte1: unknown |
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| 157 | // byte2: unknown |
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| 158 | // byte3: and byte4: channel data (FLT-Mode) |
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| 159 | // byte5: and byte6: channel data (Roll) |
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| 160 | // byte7: and byte8: channel data (Nick) |
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| 161 | // byte9: and byte10: channel data (Gier) |
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| 162 | // byte11: and byte12: channel data (Gear Switch) |
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| 163 | // byte13: and byte14: channel data (Gas) |
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| 164 | // byte15: and byte16: channel data (AUX2) |
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| 165 | // |
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| 166 | // DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9 |
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| 167 | // 1st Frame: |
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| 168 | // byte1: unknown |
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| 169 | // byte2: unknown |
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| 170 | // byte3: and byte4: channel data |
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| 171 | // byte5: and byte6: channel data |
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| 172 | // byte7: and byte8: channel data |
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| 173 | // byte9: and byte10: channel data |
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| 174 | // byte11: and byte12: channel data |
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| 175 | // byte13: and byte14: channel data |
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| 176 | // byte15: and byte16: channel data |
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| 177 | // 2nd Frame: |
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| 178 | // byte1: unknown |
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| 179 | // byte2: unknown |
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| 180 | // byte3: and byte4: channel data |
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| 181 | // byte5: and byte6: channel data |
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| 182 | // byte7: and byte8: 0xffff |
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| 183 | // byte9: and byte10: 0xffff |
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| 184 | // byte11: and byte12: 0xffff |
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| 185 | // byte13: and byte14: 0xffff |
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| 186 | // byte15: and byte16: 0xffff |
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| 187 | // |
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| 188 | // Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as: |
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| 189 | // |
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| 190 | // Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 |
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| 191 | // |
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| 192 | // 0 means a '0' bit |
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| 193 | // F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only) |
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| 194 | // C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter) |
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| 195 | // D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel |
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| 196 | // |
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| 197 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 198 | |||
| 199 | //############################################################################ |
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| 200 | //Diese Routine startet und inizialisiert den USART1 für seriellen Spektrum satellite reciever |
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| 1821 | - | 201 | SIGNAL( USART1_RX_vect) |
| 1612 | dongfang | 202 | //############################################################################ |
| 203 | { |
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| 1821 | - | 204 | static unsigned int Sync = 0, FrameCnt = 0, ByteHigh = 0, ReSync = 1, Frame2 = |
| 205 | 0, FrameTimer; |
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| 1612 | dongfang | 206 | unsigned int Channel, index; |
| 207 | signed int signal, tmp; |
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| 208 | int bCheckDelay; |
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| 209 | uint8_t c; |
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| 1821 | - | 210 | |
| 1612 | dongfang | 211 | c = UDR1; // get data byte |
| 1821 | - | 212 | |
| 213 | if (ReSync == 1) { |
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| 1612 | dongfang | 214 | // wait for beginning of new frame |
| 215 | ReSync = 0; |
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| 1821 | - | 216 | |
| 217 | FrameTimer = SetDelay(7); // minimum 7ms zwischen den frames |
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| 1612 | dongfang | 218 | FrameCnt = 0; |
| 219 | Sync = 0; |
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| 220 | ByteHigh = 0; |
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| 1821 | - | 221 | } else { |
| 222 | bCheckDelay = CheckDelay(FrameTimer); |
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| 223 | if (Sync == 0) { |
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| 224 | if (bCheckDelay) { |
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| 225 | // nach einer Pause von mind. 7ms erstes Sync-Character gefunden |
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| 226 | // Zeichen ignorieren, da Bedeutung unbekannt |
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| 227 | Sync = 1; |
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| 228 | FrameCnt++; |
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| 229 | } else { |
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| 230 | // Zeichen kam vor Ablauf der 7ms Sync-Pause |
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| 231 | // warten auf erstes Sync-Zeichen |
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| 1612 | dongfang | 232 | } |
| 1821 | - | 233 | } else if ((Sync == 1) && !bCheckDelay) { |
| 234 | // zweites Sync-Character ignorieren, Bedeutung unbekannt |
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| 235 | Sync = 2; |
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| 236 | FrameCnt++; |
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| 237 | } else if ((Sync == 2) && !bCheckDelay) { |
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| 238 | // Datenbyte high |
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| 239 | ByteHigh = c; |
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| 240 | |||
| 241 | if (FrameCnt == 2) { |
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| 242 | // is 1st Byte of Channel-data |
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| 243 | // Frame 1 with Channel 1-7 comming next |
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| 244 | Frame2 = 0; |
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| 245 | if (ByteHigh & 0x80) { |
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| 246 | // DS9: Frame 2 with Channel 8-9 comming next |
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| 247 | Frame2 = 1; |
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| 248 | } |
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| 1612 | dongfang | 249 | } |
| 1821 | - | 250 | Sync = 3; |
| 251 | FrameCnt++; |
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| 252 | } else if ((Sync == 3) && !bCheckDelay) { |
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| 253 | // Datenbyte low |
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| 254 | |||
| 255 | // High-Byte for next channel comes next |
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| 256 | Sync = 2; |
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| 257 | FrameCnt++; |
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| 258 | |||
| 259 | index = (ByteHigh >> 2) & 0x0f; |
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| 260 | index++; |
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| 261 | Channel = (ByteHigh << 8) | c; |
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| 262 | signal = Channel & 0x3ff; |
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| 263 | signal -= 0x200; // Offset, range 0x000..0x3ff? |
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| 264 | signal = signal / 3; // scaling to fit PPM resolution |
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| 265 | |||
| 266 | if (index >= 0 && index <= 10) { |
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| 267 | // Stabiles Signal |
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| 268 | if (abs(signal - PPM_in[index]) < 6) { |
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| 269 | if (SenderOkay < 200) |
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| 270 | SenderOkay += 10; |
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| 271 | else |
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| 272 | SenderOkay = 200; |
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| 1612 | dongfang | 273 | } |
| 1821 | - | 274 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
| 275 | if (tmp > signal + 1) |
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| 276 | tmp--; |
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| 277 | else if (tmp < signal - 1) |
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| 278 | tmp++; |
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| 279 | if (SenderOkay >= 180) |
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| 280 | PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
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| 281 | else |
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| 282 | PPM_diff[index] = 0; |
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| 283 | PPM_in[index] = tmp; |
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| 1612 | dongfang | 284 | } |
| 1821 | - | 285 | } else { |
| 286 | // hier stimmt was nicht: neu synchronisieren |
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| 287 | ReSync = 1; |
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| 288 | FrameCnt = 0; |
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| 289 | Frame2 = 0; |
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| 1612 | dongfang | 290 | } |
| 1821 | - | 291 | |
| 292 | // 16 Bytes per frame |
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| 293 | if (FrameCnt >= 16) { |
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| 294 | // Frame complete |
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| 295 | if (Frame2 == 0) { |
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| 296 | // Null bedeutet: Neue Daten |
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| 297 | // nur beim ersten Frame (CH 0-7) setzen |
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| 298 | NewPpmData = 0; |
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| 1612 | dongfang | 299 | } |
| 1821 | - | 300 | |
| 301 | // new frame next, nach fruehestens 7ms erwartet |
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| 302 | FrameCnt = 0; |
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| 303 | Frame2 = 0; |
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| 304 | Sync = 0; |
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| 1612 | dongfang | 305 | } |
| 1821 | - | 306 | // Zeit bis zum nächsten Zeichen messen |
| 307 | FrameTimer = SetDelay(7); |
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| 308 | } |
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| 309 | } |
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| 1612 | dongfang | 310 |