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2287 | - | 1 | /*####################################################################################### |
2 | Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit |
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3 | #######################################################################################*/ |
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4 | |||
5 | #include "Spektrum.h" |
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6 | #include "main.h" |
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7 | |||
8 | unsigned char SpektrumTimer = 0; |
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9 | |||
10 | // Achtung: RECEIVER_SPEKTRUM_DX7EXP oder RECEIVER_SPEKTRUM_DX8EXP wird in der main.h gesetzt |
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11 | #if defined (RECEIVER_SPEKTRUM_DX7EXP) || defined (RECEIVER_SPEKTRUM_DX8EXP) |
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12 | unsigned char s_excnt = 0; // Bitcounter for Spektrum-Expander |
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13 | unsigned char s_exparity = 0; // Parity Bit for Spektrum-Expander |
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14 | signed char s_exdata[11]; // Data for Spektrum-Expander |
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15 | |||
16 | void s_update(unsigned char channel, signed int value) // Channel-Diff numbercrunching and finally assign new stickvalue to PPM_in |
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17 | { |
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18 | if(SenderOkay >= 180) PPM_diff[channel] = ((value - PPM_in[channel]) / 3) * 3; |
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19 | else PPM_diff[channel] = 0; |
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20 | PPM_in[channel] = value; |
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21 | } |
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22 | #endif |
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23 | |||
24 | //--------------------------------------------------------------// |
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25 | //--------------------------------------------------------------// |
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26 | /* |
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27 | void SpektrumBinding(void) |
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28 | { |
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29 | unsigned int timerTimeout = SetDelay(10000); // Timeout 10 sec. |
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30 | unsigned char connected = 0; |
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31 | unsigned int delaycounter; |
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32 | |||
33 | UCSR1B &= ~(1 << RXCIE1); // disable rx-interrupt |
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34 | UCSR1B &= ~(1<<RXEN1); // disable Uart-Rx |
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35 | PORTD &= ~(1 << PORTD2); // disable pull-up |
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36 | |||
37 | printf("\n\rPlease connect Spektrum receiver for binding NOW..."); |
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38 | |||
39 | while(!CheckDelay(timerTimeout)) |
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40 | { |
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41 | if (PIND & (1 << PORTD2)) { timerTimeout = SetDelay(90); connected = 1; break; } |
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42 | } |
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43 | |||
44 | if (connected) |
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45 | { |
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46 | |||
47 | printf("ok.\n\r"); |
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48 | DDRD |= (1 << DDD2); // Rx as output |
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49 | |||
50 | while(!CheckDelay(timerTimeout)); // delay after startup of RX |
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51 | for (delaycounter = 0; delaycounter < 100; delaycounter++) PORTD |= (1 << PORTD2); |
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52 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
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53 | |||
54 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
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55 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
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56 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
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57 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
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58 | |||
59 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
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60 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
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61 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
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62 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
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63 | |||
64 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
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65 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
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66 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
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67 | |||
68 | } |
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69 | else |
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70 | { printf("Timeout.\n\r"); |
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71 | |||
72 | |||
73 | } |
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74 | |||
75 | DDRD &= ~(1 << DDD2); // RX as input |
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76 | PORTD &= ~(1 << PORTD2); |
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77 | |||
78 | SpektrumUartInit(); // init Uart again |
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79 | } |
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80 | */ |
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81 | //############################################################################ |
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82 | // USART1 initialisation from killagreg |
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83 | void SpektrumUartInit(void) |
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84 | //############################################################################ |
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85 | { |
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86 | // -- Start of USART1 initialisation for Spekturm seriell-mode |
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87 | // USART1 Control and Status Register A, B, C and baud rate register |
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88 | uint8_t sreg = SREG; |
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89 | |||
90 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1); |
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91 | |||
92 | // disable all interrupts before reconfiguration |
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93 | cli(); |
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94 | // disable RX-Interrupt |
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95 | UCSR1B &= ~(1 << RXCIE1); |
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96 | // disable TX-Interrupt |
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97 | UCSR1B &= ~(1 << TXCIE1); |
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98 | // disable DRE-Interrupt |
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99 | UCSR1B &= ~(1 << UDRIE1); |
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100 | // set direction of RXD1 and TXD1 pins |
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101 | // set RXD1 (PD2) as an input pin |
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102 | PORTD |= (1 << PORTD2); |
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103 | DDRD &= ~(1 << DDD2); |
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104 | |||
105 | // set TXD1 (PD3) as an output pin |
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106 | PORTD |= (1 << PORTD3); |
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107 | DDRD |= (1 << DDD3); |
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108 | |||
109 | // USART0 Baud Rate Register |
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110 | // set clock divider |
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111 | UBRR1H = (uint8_t)(ubrr>>8); |
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112 | UBRR1L = (uint8_t)ubrr; |
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113 | // enable double speed operation |
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114 | UCSR1A |= (1 << U2X1); |
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115 | // enable receiver and transmitter |
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116 | //UCSR1B = (1<<RXEN1)|(1<<TXEN1); |
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117 | |||
118 | UCSR1B = (1<<RXEN1); |
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119 | // set asynchronous mode |
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120 | UCSR1C &= ~(1 << UMSEL11); |
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121 | UCSR1C &= ~(1 << UMSEL10); |
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122 | // no parity |
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123 | UCSR1C &= ~(1 << UPM11); |
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124 | UCSR1C &= ~(1 << UPM10); |
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125 | // 1 stop bit |
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126 | UCSR1C &= ~(1 << USBS1); |
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127 | // 8-bit |
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128 | UCSR1B &= ~(1 << UCSZ12); |
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129 | UCSR1C |= (1 << UCSZ11); |
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130 | UCSR1C |= (1 << UCSZ10); |
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131 | // flush receive buffer explicit |
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132 | while(UCSR1A & (1<<RXC1)) UDR1; |
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133 | // enable RX-interrupts at the end |
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134 | UCSR1B |= (1 << RXCIE1); |
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135 | // -- End of USART1 initialisation |
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136 | // restore global interrupt flags |
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137 | |||
138 | SREG = sreg; |
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139 | return; |
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140 | } |
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141 | |||
142 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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143 | // + Copyright (c) Rainer Walther |
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144 | // + RC-routines from original MK rc.c (c) H&I |
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145 | // + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2 |
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146 | // + only for non-profit use |
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147 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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148 | // |
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149 | // 20080808 rw Modified for Spektrum AR6100 (PPM) |
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150 | // 20080823 rw Add Spektrum satellite receiver on USART1 (644P only) |
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151 | // 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels) |
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152 | // Replace AR6100-coding with original composit-signal routines |
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153 | // |
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154 | // --- |
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155 | // Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben! |
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156 | // Binding is not implemented. Bind with external Receiver. |
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157 | // Servo output J3, J4, J5 not serviced |
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158 | // |
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159 | // Anschuß Spektrum Receiver |
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160 | // Orange: 3V von der FC (keinesfalls an 5V anschließen!) |
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161 | // Schwarz: GND |
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162 | // Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker |
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163 | // |
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164 | // --- |
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165 | // Satellite-Reciever connected on USART1: |
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166 | // |
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167 | // DX7/DX6i: One data-frame at 115200 baud every 22ms. |
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168 | // DX7se: One data-frame at 115200 baud every 11ms. |
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169 | // byte1: unknown |
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170 | // byte2: unknown |
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171 | // byte3: and byte4: channel data (FLT-Mode) |
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172 | // byte5: and byte6: channel data (Roll) |
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173 | // byte7: and byte8: channel data (Nick) |
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174 | // byte9: and byte10: channel data (Gier) |
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175 | // byte11: and byte12: channel data (Gear Switch) |
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176 | // byte13: and byte14: channel data (Gas) |
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177 | // byte15: and byte16: channel data (AUX2) |
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178 | // |
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179 | // DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9 |
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180 | // 1st Frame: |
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181 | // byte1: unknown |
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182 | // byte2: unknown |
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183 | // byte3: and byte4: channel data |
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184 | // byte5: and byte6: channel data |
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185 | // byte7: and byte8: channel data |
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186 | // byte9: and byte10: channel data |
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187 | // byte11: and byte12: channel data |
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188 | // byte13: and byte14: channel data |
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189 | // byte15: and byte16: channel data |
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190 | // 2nd Frame: |
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191 | // byte1: unknown |
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192 | // byte2: unknown |
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193 | // byte3: and byte4: channel data |
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194 | // byte5: and byte6: channel data |
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195 | // byte7: and byte8: 0xffff |
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196 | // byte9: and byte10: 0xffff |
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197 | // byte11: and byte12: 0xffff |
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198 | // byte13: and byte14: 0xffff |
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199 | // byte15: and byte16: 0xffff |
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200 | // |
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201 | // Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as: |
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202 | // |
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203 | // Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 |
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204 | // |
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205 | // 0 means a '0' bit |
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206 | // F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only) |
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207 | // C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter) |
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208 | // D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel |
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209 | // |
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210 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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211 | |||
212 | #define MIN_FRAMEGAP 68 // 7ms |
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213 | #define MAX_BYTEGAP 3 // 310us |
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214 | |||
215 | |||
216 | //############################################################################ |
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217 | // Wird im UART-Interrupt aufgerufen |
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218 | //############################################################################ |
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219 | void SpektrumParser(unsigned char c) |
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220 | { |
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221 | static unsigned char Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0; |
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222 | unsigned int Channel, index = 0; |
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223 | signed int signal = 0, tmp; |
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224 | int bCheckDelay; |
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225 | // c = UDR1; // get data byte |
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226 | if(ReSync == 1) |
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227 | { |
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228 | // wait for beginning of new frame |
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229 | ReSync = 0; |
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230 | SpektrumTimer = MIN_FRAMEGAP; |
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231 | FrameCnt = 0; |
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232 | Sync = 0; |
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233 | ByteHigh = 0; |
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234 | } |
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235 | else |
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236 | { |
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237 | if(!SpektrumTimer) bCheckDelay = 1; else bCheckDelay = 0;//CheckDelay(FrameTimer); |
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238 | if ( Sync == 0 ) |
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239 | { |
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240 | if(bCheckDelay) |
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241 | { |
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242 | // nach einer Pause von mind. 7ms erstes Sync-Character gefunden |
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243 | // Zeichen ignorieren, da Bedeutung unbekannt |
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244 | Sync = 1; |
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245 | FrameCnt ++; |
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246 | SpektrumTimer = MAX_BYTEGAP; |
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247 | } |
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248 | else |
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249 | { |
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250 | // Zeichen kam vor Ablauf der 7ms Sync-Pause |
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251 | // warten auf erstes Sync-Zeichen |
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252 | SpektrumTimer = MIN_FRAMEGAP; |
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253 | FrameCnt = 0; |
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254 | Sync = 0; |
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255 | ByteHigh = 0; |
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256 | } |
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257 | } |
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258 | else if((Sync == 1) && !bCheckDelay) |
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259 | { |
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260 | // zweites Sync-Character ignorieren, Bedeutung unbekannt |
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261 | Sync = 2; |
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262 | FrameCnt ++; |
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263 | SpektrumTimer = MAX_BYTEGAP; |
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264 | } |
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265 | else if((Sync == 2) && !bCheckDelay) |
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266 | { |
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267 | SpektrumTimer = MAX_BYTEGAP; |
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268 | // Datenbyte high |
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269 | ByteHigh = c; |
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270 | if (FrameCnt == 2) |
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271 | { |
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272 | // is 1st Byte of Channel-data |
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273 | // Frame 1 with Channel 1-7 comming next |
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274 | Frame2 = 0; |
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275 | if(ByteHigh & 0x80) |
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276 | { |
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277 | // DS9: Frame 2 with Channel 8-9 comming next |
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278 | Frame2 = 1; |
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279 | } |
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280 | } |
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281 | Sync = 3; |
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282 | FrameCnt ++; |
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283 | } |
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284 | else if((Sync == 3) && !bCheckDelay) |
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285 | { |
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286 | // Datenbyte low |
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287 | // High-Byte for next channel comes next |
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288 | SpektrumTimer = MAX_BYTEGAP; |
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289 | Sync = 2; |
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290 | FrameCnt ++; |
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291 | Channel = ((unsigned int)ByteHigh << 8) | c; |
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292 | if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM) |
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293 | { |
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294 | signal = Channel & 0x3ff; |
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295 | signal -= 0x200; // Offset, range 0x000..0x3ff? |
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296 | signal = signal/3; // scaling to fit PPM resolution |
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297 | index = (ByteHigh >> 2) & 0x0f; |
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298 | } |
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299 | else |
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300 | if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM_HI_RES) |
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301 | { |
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302 | signal = Channel & 0x7ff; |
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303 | signal -= 0x400; // Offset, range 0x000..0x7ff? |
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304 | signal = signal/6; // scaling to fit PPM resolution |
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305 | index = (ByteHigh >> 3) & 0x0f; |
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306 | } |
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307 | else |
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308 | //if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM_LOW_RES) |
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309 | { |
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310 | signal = Channel & 0x3ff; |
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311 | signal -= 360; // Offset, range 0x000..0x3ff? |
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312 | signal = signal/2; // scaling to fit PPM resolution |
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313 | index = (ByteHigh >> 2) & 0x0f; |
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314 | } |
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315 | |||
316 | index++; |
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317 | if(index < 13) |
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318 | { |
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319 | // Stabiles Signal |
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320 | #if defined (RECEIVER_SPEKTRUM_DX7EXP) || defined (RECEIVER_SPEKTRUM_DX8EXP) |
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321 | if (index == 2) index = 4; // Analog channel reassigment (2 <-> 4) for logical numbering (1,2,3,4) |
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322 | else if (index == 4) index = 2; |
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323 | #endif |
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324 | if(abs(signal - PPM_in[index]) < 6) |
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325 | { |
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326 | if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe |
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327 | { |
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328 | if(SenderOkay < 200) SenderOkay += 10; |
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329 | else |
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330 | { |
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331 | SenderOkay = 200; |
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332 | TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input |
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333 | } |
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334 | } |
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335 | } |
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336 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
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337 | if(tmp > signal+1) tmp--; else |
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338 | if(tmp < signal-1) tmp++; |
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339 | |||
340 | #ifdef RECEIVER_SPEKTRUM_DX7EXP |
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341 | if(index == 6) // FLIGHT-MODE - The channel used for our data uplink |
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342 | { |
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343 | if (signal > 100) // SYNC received |
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344 | { |
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345 | if (s_exdata[s_excnt] == 125) s_exparity = ~s_exparity; // Bit = 1 -> Re-Invert parity bit |
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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 |
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347 | { |
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348 | if (s_exdata[1] == 125 && s_exdata[2] == -125) s_update(5,-125); // Reconstruct tripole Flight-Mode value (CH5) |
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349 | else if (s_exdata[1] == -125 && s_exdata[2] == -125) s_update(5,0); // Reconstruct tripole Flight-Mode value (CH5) |
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350 | else if (s_exdata[1] == -125 && s_exdata[2] == 125) s_update(5,125); // Reconstruct tripole Flight-Mode value (CH5) |
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351 | s_update(6,s_exdata[3]); // Elevator (CH6) |
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352 | s_update(11,s_exdata[4]); // Aileron (CH11) |
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353 | s_update(12,s_exdata[5]); // Rudder (CH12) |
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354 | |||
355 | if (s_excnt == 9) // New Mode (12 Channels) |
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356 | { |
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357 | if (s_exdata[7] == 125) s_update(8,PPM_in[8]+5); // Hover Pitch UP (CH8) |
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358 | if (s_exdata[8] == 125) s_update(8,PPM_in[8]-5); // Hover Pitch DN (CH8) |
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359 | if (PPM_in[8] < -125) PPM_in[8] = -125; // Range-Limit |
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360 | else if (PPM_in[8] > 125) PPM_in[8] = 125; // Range-Limit |
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361 | s_update(10,s_exdata[6]); // AUX2 (CH10) |
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362 | } |
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363 | } |
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364 | |||
365 | s_excnt = 0; // Reset bitcounter |
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366 | s_exparity = 0; // Reset parity bit |
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367 | } |
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368 | |||
369 | if (signal < 10) s_exdata[++s_excnt] = -125; // Bit = 0 -> value = -125 (min) |
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370 | if (s_excnt == 10) s_excnt = 0; // Overflow protection |
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371 | if (signal < -100) |
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372 | { |
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373 | s_exdata[s_excnt] = 125; // Bit = 1 -> value = 125 (max) |
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374 | s_exparity = ~s_exparity; // Bit = 1 -> Invert parity bit |
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375 | } |
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376 | |||
377 | } |
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378 | |||
379 | if (index < 5 ) s_update(index,tmp); // Update normal potis (CH1-4) |
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380 | else if (index == 5) s_update(7,signal); // Gear (CH7) |
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381 | else if (index == 7) s_update(9,signal); // Hover Throttle (CH9) |
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382 | |||
383 | #elif defined RECEIVER_SPEKTRUM_DX8EXP |
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384 | if(index == 6) // FLIGHT-MODE - The channel used for our data uplink |
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385 | { |
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386 | if (signal > 100) // SYNC received |
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387 | { |
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388 | if (s_exdata[s_excnt] == 125) s_exparity = ~s_exparity; // Bit = 1 -> Re-Invert parity bit |
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389 | if (s_excnt == 9 && ((s_exparity == 0 && s_exdata[s_excnt] == -125) || (s_exparity != 0 && s_exdata[s_excnt] == 125))) // Parity check |
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390 | { |
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391 | if (s_exdata[1] == 125 && s_exdata[2] == -125) s_update(5,-125); // Reconstruct tripole Flight-Mode value (CH5) |
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392 | else if (s_exdata[1] == -125 && s_exdata[2] == -125) s_update(5,0); // Reconstruct tripole Flight-Mode value (CH5) |
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393 | else if (s_exdata[1] == -125 && s_exdata[2] == 125) s_update(5,125); // Reconstruct tripole Flight-Mode value (CH5) |
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394 | |||
395 | if (s_exdata[3] == 125 && s_exdata[6] == -125) s_update(6,125); // Reconstruct tripole Elev D/R value (CH6) |
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396 | else if (s_exdata[3] == -125 && s_exdata[6] == -125) s_update(6,0); // Reconstruct tripole Elev D/R value (CH6) |
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397 | else if (s_exdata[3] == -125 && s_exdata[6] == 125) s_update(6,-125); // Reconstruct tripole Elev D/R value (CH6) |
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398 | |||
399 | |||
400 | if (s_exdata[7] == 125 && s_exdata[8] == -125) s_update(9,-125); // Reconstruct tripole AIL D/R value (CH9) |
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401 | else if (s_exdata[7] == -125 && s_exdata[8] == -125) s_update(9,0); // Reconstruct tripole AIL D/R value (CH9) |
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402 | else if (s_exdata[7] == -125 && s_exdata[8] == 125) s_update(9,125); // Reconstruct tripole AIL D/R value (CH9) |
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403 | |||
404 | s_update(10,s_exdata[5]); // Gear (CH10) |
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405 | s_update(12,s_exdata[4]); // Mix (CH12) |
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406 | } |
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407 | |||
408 | s_excnt = 0; // Reset bitcounter |
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409 | s_exparity = 0; // Reset parity bit |
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410 | } |
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411 | |||
412 | if (signal < 10) s_exdata[++s_excnt] = -125; // Bit = 0 -> value = -125 (min) |
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413 | if (s_excnt == 10) s_excnt = 0; // Overflow protection |
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414 | if (signal < -100) |
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415 | { |
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416 | s_exdata[s_excnt] = 125; // Bit = 1 -> value = 125 (max) |
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417 | s_exparity = ~s_exparity; // Bit = 1 -> Invert parity bit |
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418 | } |
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419 | |||
420 | } |
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421 | |||
422 | if (index < 5 ) s_update(index,tmp); // Update normal potis (CH1-4) |
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423 | else if (index == 7) s_update(7,signal); // R Trim (CH7) |
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424 | else if (index == 5) s_update(8,signal); // AUX2 (CH8) |
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425 | else if (index == 8) s_update(11,signal); // AUX3 (CH11) |
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426 | |||
427 | #else |
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428 | if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
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429 | else PPM_diff[index] = 0; |
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430 | PPM_in[index] = tmp; |
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431 | #endif |
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432 | } |
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433 | else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren |
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434 | } |
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435 | else |
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436 | { |
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437 | // hier stimmt was nicht: neu synchronisieren |
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438 | ReSync = 1; |
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439 | FrameCnt = 0; |
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440 | Frame2 = 0; |
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441 | // new frame next, nach fruehestens 7ms erwartet |
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442 | SpektrumTimer = MIN_FRAMEGAP; |
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443 | } |
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444 | |||
445 | // 16 Bytes eingetroffen -> Komplett |
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446 | if(FrameCnt >= 16) |
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447 | { |
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448 | // Frame complete |
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449 | if(Frame2 == 0) |
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450 | { |
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451 | // Null bedeutet: Neue Daten |
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452 | // nur beim ersten Frame (CH 0-7) setzen |
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453 | if(!ReSync) NewPpmData = 0; |
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454 | } |
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455 | FrameCnt = 0; |
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456 | Frame2 = 0; |
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457 | Sync = 0; |
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458 | SpektrumTimer = MIN_FRAMEGAP; |
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459 | } |
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460 | } |
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461 | } |
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462 | |||
463 |