Go to most recent revision | Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1171 | hbuss | 1 | /*####################################################################################### |
| 2 | Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit |
||
| 3 | #######################################################################################*/ |
||
| 4 | |||
| 5 | #include "Spectrum.h" |
||
| 6 | #include "main.h" |
||
| 7 | |||
| 8 | //############################################################################ |
||
| 9 | // zum Decodieren des Spektrum Satelliten wird USART1 benutzt. |
||
| 10 | // USART1 initialisation from killagreg |
||
| 11 | void Uart1Init(void) |
||
| 12 | //############################################################################ |
||
| 13 | { |
||
| 14 | // -- Start of USART1 initialisation for Spekturm seriell-mode |
||
| 15 | // USART1 Control and Status Register A, B, C and baud rate register |
||
| 16 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1); |
||
| 17 | // disable RX-Interrupt |
||
| 18 | UCSR1B &= ~(1 << RXCIE1); |
||
| 19 | // disable TX-Interrupt |
||
| 20 | UCSR1B &= ~(1 << TXCIE1); |
||
| 21 | // disable DRE-Interrupt |
||
| 22 | UCSR1B &= ~(1 << UDRIE1); |
||
| 23 | // set direction of RXD1 and TXD1 pins |
||
| 24 | // set RXD1 (PD2) as an input pin |
||
| 25 | PORTD |= (1 << PORTD2); |
||
| 26 | DDRD &= ~(1 << DDD2); |
||
| 27 | // USART0 Baud Rate Register |
||
| 28 | // set clock divider |
||
| 29 | UBRR1H = (uint8_t)(ubrr>>8); |
||
| 30 | UBRR1L = (uint8_t)ubrr; |
||
| 31 | // enable double speed operation |
||
| 32 | UCSR1A |= (1 << U2X1); |
||
| 33 | // enable receiver and transmitter |
||
| 34 | //UCSR1B = (1<<RXEN1)|(1<<TXEN1); |
||
| 35 | UCSR1B = (1<<RXEN1); |
||
| 36 | // set asynchronous mode |
||
| 37 | UCSR1C &= ~(1 << UMSEL11); |
||
| 38 | UCSR1C &= ~(1 << UMSEL10); |
||
| 39 | // no parity |
||
| 40 | UCSR1C &= ~(1 << UPM11); |
||
| 41 | UCSR1C &= ~(1 << UPM10); |
||
| 42 | // 1 stop bit |
||
| 43 | UCSR1C &= ~(1 << USBS1); |
||
| 44 | // 8-bit |
||
| 45 | UCSR1B &= ~(1 << UCSZ12); |
||
| 46 | UCSR1C |= (1 << UCSZ11); |
||
| 47 | UCSR1C |= (1 << UCSZ10); |
||
| 48 | // flush receive buffer explicit |
||
| 1172 | hbuss | 49 | while(UCSR1A & (1<<RXC1)) UDR1; |
| 1171 | hbuss | 50 | // enable RX-interrupts at the end |
| 51 | UCSR1B |= (1 << RXCIE1); |
||
| 52 | // -- End of USART1 initialisation |
||
| 53 | return; |
||
| 54 | } |
||
| 55 | |||
| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 57 | // + Copyright (c) Rainer Walther |
||
| 58 | // + RC-routines from original MK rc.c (c) H&I |
||
| 59 | // + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2 |
||
| 60 | // + only for non-profit use |
||
| 61 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 62 | // |
||
| 63 | // 20080808 rw Modified for Spektrum AR6100 (PPM) |
||
| 64 | // 20080823 rw Add Spektrum satellite receiver on USART1 (644P only) |
||
| 65 | // 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels) |
||
| 66 | // Replace AR6100-coding with original composit-signal routines |
||
| 67 | // |
||
| 68 | // --- |
||
| 69 | // Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben! |
||
| 70 | // Binding is not implemented. Bind with external Receiver. |
||
| 71 | // Servo output J3, J4, J5 not serviced |
||
| 72 | // |
||
| 73 | // Anschuß Spektrum Receiver |
||
| 74 | // Orange: 3V von der FC (keinesfalls an 5V anschließen!) |
||
| 75 | // Schwarz: GND |
||
| 76 | // Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker |
||
| 77 | // |
||
| 78 | // --- |
||
| 79 | // Satellite-Reciever connected on USART1: |
||
| 80 | // |
||
| 81 | // DX7/DX6i: One data-frame at 115200 baud every 22ms. |
||
| 82 | // DX7se: One data-frame at 115200 baud every 11ms. |
||
| 83 | // byte1: unknown |
||
| 84 | // byte2: unknown |
||
| 85 | // byte3: and byte4: channel data (FLT-Mode) |
||
| 86 | // byte5: and byte6: channel data (Roll) |
||
| 87 | // byte7: and byte8: channel data (Nick) |
||
| 88 | // byte9: and byte10: channel data (Gier) |
||
| 89 | // byte11: and byte12: channel data (Gear Switch) |
||
| 90 | // byte13: and byte14: channel data (Gas) |
||
| 91 | // byte15: and byte16: channel data (AUX2) |
||
| 92 | // |
||
| 93 | // DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9 |
||
| 94 | // 1st Frame: |
||
| 95 | // byte1: unknown |
||
| 96 | // byte2: unknown |
||
| 97 | // byte3: and byte4: channel data |
||
| 98 | // byte5: and byte6: channel data |
||
| 99 | // byte7: and byte8: channel data |
||
| 100 | // byte9: and byte10: channel data |
||
| 101 | // byte11: and byte12: channel data |
||
| 102 | // byte13: and byte14: channel data |
||
| 103 | // byte15: and byte16: channel data |
||
| 104 | // 2nd Frame: |
||
| 105 | // byte1: unknown |
||
| 106 | // byte2: unknown |
||
| 107 | // byte3: and byte4: channel data |
||
| 108 | // byte5: and byte6: channel data |
||
| 109 | // byte7: and byte8: 0xffff |
||
| 110 | // byte9: and byte10: 0xffff |
||
| 111 | // byte11: and byte12: 0xffff |
||
| 112 | // byte13: and byte14: 0xffff |
||
| 113 | // byte15: and byte16: 0xffff |
||
| 114 | // |
||
| 115 | // Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as: |
||
| 116 | // |
||
| 117 | // Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 |
||
| 118 | // |
||
| 119 | // 0 means a '0' bit |
||
| 120 | // F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only) |
||
| 121 | // C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter) |
||
| 122 | // D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel |
||
| 123 | // |
||
| 124 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 125 | |||
| 126 | //############################################################################ |
||
| 127 | //Diese Routine startet und inizialisiert den USART1 für seriellen Spektrum satellite reciever |
||
| 128 | SIGNAL(USART1_RX_vect) |
||
| 129 | //############################################################################ |
||
| 130 | { |
||
| 131 | static unsigned int Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0, FrameTimer; |
||
| 132 | unsigned int Channel, index; |
||
| 133 | signed int signal, tmp; |
||
| 134 | int bCheckDelay; |
||
| 135 | uint8_t c; |
||
| 136 | |||
| 137 | c = UDR1; // get data byte |
||
| 138 | |||
| 139 | if (ReSync == 1) |
||
| 140 | { |
||
| 141 | // wait for beginning of new frame |
||
| 142 | ReSync = 0; |
||
| 143 | |||
| 144 | FrameTimer = SetDelay(7); // minimum 7ms zwischen den frames |
||
| 145 | FrameCnt = 0; |
||
| 146 | Sync = 0; |
||
| 147 | ByteHigh = 0; |
||
| 148 | } |
||
| 149 | else |
||
| 150 | { |
||
| 151 | bCheckDelay = CheckDelay(FrameTimer); |
||
| 152 | if ( Sync == 0 ) |
||
| 153 | { |
||
| 1172 | hbuss | 154 | if(bCheckDelay) |
| 1171 | hbuss | 155 | { |
| 156 | // nach einer Pause von mind. 7ms erstes Sync-Character gefunden |
||
| 157 | // Zeichen ignorieren, da Bedeutung unbekannt |
||
| 158 | Sync = 1; |
||
| 159 | FrameCnt ++; |
||
| 160 | } |
||
| 161 | else |
||
| 162 | { |
||
| 163 | // Zeichen kam vor Ablauf der 7ms Sync-Pause |
||
| 164 | // warten auf erstes Sync-Zeichen |
||
| 165 | } |
||
| 166 | } |
||
| 1172 | hbuss | 167 | else if((Sync == 1) && !bCheckDelay) |
| 1171 | hbuss | 168 | { |
| 169 | // zweites Sync-Character ignorieren, Bedeutung unbekannt |
||
| 170 | Sync = 2; |
||
| 171 | FrameCnt ++; |
||
| 172 | } |
||
| 1172 | hbuss | 173 | else if((Sync == 2) && !bCheckDelay) |
| 1171 | hbuss | 174 | { |
| 175 | // Datenbyte high |
||
| 176 | ByteHigh = c; |
||
| 177 | |||
| 178 | if (FrameCnt == 2) |
||
| 179 | { |
||
| 180 | // is 1st Byte of Channel-data |
||
| 181 | // Frame 1 with Channel 1-7 comming next |
||
| 182 | Frame2 = 0; |
||
| 1172 | hbuss | 183 | if(ByteHigh & 0x80) |
| 1171 | hbuss | 184 | { |
| 185 | // DS9: Frame 2 with Channel 8-9 comming next |
||
| 186 | Frame2 = 1; |
||
| 187 | } |
||
| 188 | } |
||
| 189 | Sync = 3; |
||
| 190 | FrameCnt ++; |
||
| 191 | } |
||
| 1172 | hbuss | 192 | else if((Sync == 3) && !bCheckDelay) |
| 1171 | hbuss | 193 | { |
| 194 | // Datenbyte low |
||
| 195 | |||
| 196 | // High-Byte for next channel comes next |
||
| 197 | Sync = 2; |
||
| 198 | FrameCnt ++; |
||
| 199 | |||
| 200 | index = (ByteHigh >> 2) & 0x0f; |
||
| 201 | index ++; |
||
| 202 | Channel = (ByteHigh << 8) | c; |
||
| 203 | signal = Channel & 0x3ff; |
||
| 204 | signal -= 0x200; // Offset, range 0x000..0x3ff? |
||
| 205 | signal = signal/3; // scaling to fit PPM resolution |
||
| 206 | |||
| 1172 | hbuss | 207 | if(index >= 0 && index <= 10) |
| 1171 | hbuss | 208 | { |
| 1172 | hbuss | 209 | // Stabiles Signal |
| 210 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
||
| 211 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
||
| 212 | if(tmp > signal+1) tmp--; else |
||
| 213 | if(tmp < signal-1) tmp++; |
||
| 214 | if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
||
| 215 | else PPM_diff[index] = 0; |
||
| 216 | PPM_in[index] = tmp; |
||
| 1171 | hbuss | 217 | } |
| 218 | } |
||
| 219 | else |
||
| 220 | { |
||
| 221 | // hier stimmt was nicht: neu synchronisieren |
||
| 222 | ReSync = 1; |
||
| 223 | FrameCnt = 0; |
||
| 224 | Frame2 = 0; |
||
| 225 | } |
||
| 226 | |||
| 227 | // 16 Bytes per frame |
||
| 1172 | hbuss | 228 | if(FrameCnt >= 16) |
| 1171 | hbuss | 229 | { |
| 230 | // Frame complete |
||
| 1172 | hbuss | 231 | if(Frame2 == 0) |
| 1171 | hbuss | 232 | { |
| 233 | // Null bedeutet: Neue Daten |
||
| 234 | // nur beim ersten Frame (CH 0-7) setzen |
||
| 235 | NewPpmData = 0; |
||
| 236 | } |
||
| 237 | |||
| 238 | // new frame next, nach fruehestens 7ms erwartet |
||
| 239 | FrameCnt = 0; |
||
| 240 | Frame2 = 0; |
||
| 241 | Sync = 0; |
||
| 242 | } |
||
| 243 | // Zeit bis zum nächsten Zeichen messen |
||
| 1172 | hbuss | 244 | FrameTimer = SetDelay(7); |
| 1171 | hbuss | 245 | } |
| 246 | } |
||
| 247 | |||
| 248 |