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Rev | Author | Line No. | Line |
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1171 | hbuss | 1 | /*####################################################################################### |
2 | Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit |
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3 | #######################################################################################*/ |
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4 | |||
5 | #include "Spectrum.h" |
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6 | #include "main.h" |
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1320 | hbuss | 7 | unsigned char SpektrumTimer = 0; |
1171 | hbuss | 8 | |
1213 | ingob | 9 | //--------------------------------------------------------------// |
10 | |||
11 | //--------------------------------------------------------------// |
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12 | void SpektrumBinding(void) |
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13 | { |
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14 | unsigned int timerTimeout = SetDelay(10000); // Timeout 10 sec. |
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15 | unsigned char connected = 0; |
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16 | unsigned int delaycounter; |
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1391 | killagreg | 17 | |
1213 | ingob | 18 | UCSR1B &= ~(1 << RXCIE1); // disable rx-interrupt |
19 | UCSR1B &= ~(1<<RXEN1); // disable Uart-Rx |
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20 | PORTD &= ~(1 << PORTD2); // disable pull-up |
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1391 | killagreg | 21 | |
1213 | ingob | 22 | printf("\n\rPlease connect Spektrum receiver for binding NOW..."); |
1391 | killagreg | 23 | |
1213 | ingob | 24 | while(!CheckDelay(timerTimeout)) |
25 | { |
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26 | if (PIND & (1 << PORTD2)) { timerTimeout = SetDelay(90); connected = 1; break; } |
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27 | } |
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1391 | killagreg | 28 | |
29 | if (connected) |
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30 | { |
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31 | |||
32 | printf("ok.\n\r"); |
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1213 | ingob | 33 | DDRD |= (1 << DDD2); // Rx as output |
34 | |||
35 | while(!CheckDelay(timerTimeout)); // delay after startup of RX |
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36 | for (delaycounter = 0; delaycounter < 100; delaycounter++) PORTD |= (1 << PORTD2); |
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37 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
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1391 | killagreg | 38 | |
1213 | ingob | 39 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
40 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
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41 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
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42 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
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1391 | killagreg | 43 | |
1213 | ingob | 44 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
45 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
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46 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
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47 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
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48 | |||
49 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
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50 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
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51 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
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1391 | killagreg | 52 | |
1213 | ingob | 53 | } |
1391 | killagreg | 54 | else |
55 | { printf("Timeout.\n\r"); |
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56 | |||
57 | |||
1213 | ingob | 58 | } |
1391 | killagreg | 59 | |
1213 | ingob | 60 | DDRD &= ~(1 << DDD2); // RX as input |
1391 | killagreg | 61 | PORTD &= ~(1 << PORTD2); |
1213 | ingob | 62 | |
63 | Uart1Init(); // init Uart again |
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64 | } |
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65 | |||
1171 | hbuss | 66 | //############################################################################ |
67 | // zum Decodieren des Spektrum Satelliten wird USART1 benutzt. |
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68 | // USART1 initialisation from killagreg |
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69 | void Uart1Init(void) |
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70 | //############################################################################ |
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71 | { |
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72 | // -- Start of USART1 initialisation for Spekturm seriell-mode |
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73 | // USART1 Control and Status Register A, B, C and baud rate register |
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74 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1); |
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75 | // disable RX-Interrupt |
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76 | UCSR1B &= ~(1 << RXCIE1); |
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77 | // disable TX-Interrupt |
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78 | UCSR1B &= ~(1 << TXCIE1); |
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79 | // disable DRE-Interrupt |
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80 | UCSR1B &= ~(1 << UDRIE1); |
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81 | // set direction of RXD1 and TXD1 pins |
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82 | // set RXD1 (PD2) as an input pin |
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83 | PORTD |= (1 << PORTD2); |
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84 | DDRD &= ~(1 << DDD2); |
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85 | // USART0 Baud Rate Register |
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86 | // set clock divider |
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1391 | killagreg | 87 | |
1171 | hbuss | 88 | UBRR1H = (uint8_t)(ubrr>>8); |
89 | UBRR1L = (uint8_t)ubrr; |
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90 | // enable double speed operation |
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91 | UCSR1A |= (1 << U2X1); |
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92 | // enable receiver and transmitter |
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93 | //UCSR1B = (1<<RXEN1)|(1<<TXEN1); |
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1391 | killagreg | 94 | |
1171 | hbuss | 95 | UCSR1B = (1<<RXEN1); |
96 | // set asynchronous mode |
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97 | UCSR1C &= ~(1 << UMSEL11); |
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98 | UCSR1C &= ~(1 << UMSEL10); |
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99 | // no parity |
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100 | UCSR1C &= ~(1 << UPM11); |
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101 | UCSR1C &= ~(1 << UPM10); |
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102 | // 1 stop bit |
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103 | UCSR1C &= ~(1 << USBS1); |
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104 | // 8-bit |
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105 | UCSR1B &= ~(1 << UCSZ12); |
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106 | UCSR1C |= (1 << UCSZ11); |
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107 | UCSR1C |= (1 << UCSZ10); |
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108 | // flush receive buffer explicit |
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1172 | hbuss | 109 | while(UCSR1A & (1<<RXC1)) UDR1; |
1171 | hbuss | 110 | // enable RX-interrupts at the end |
111 | UCSR1B |= (1 << RXCIE1); |
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112 | // -- End of USART1 initialisation |
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113 | return; |
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114 | } |
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1391 | killagreg | 115 | |
1171 | hbuss | 116 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
117 | // + Copyright (c) Rainer Walther |
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118 | // + RC-routines from original MK rc.c (c) H&I |
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119 | // + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2 |
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120 | // + only for non-profit use |
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121 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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122 | // |
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123 | // 20080808 rw Modified for Spektrum AR6100 (PPM) |
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124 | // 20080823 rw Add Spektrum satellite receiver on USART1 (644P only) |
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125 | // 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels) |
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126 | // Replace AR6100-coding with original composit-signal routines |
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127 | // |
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128 | // --- |
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129 | // Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben! |
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130 | // Binding is not implemented. Bind with external Receiver. |
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131 | // Servo output J3, J4, J5 not serviced |
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132 | // |
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133 | // Anschuß Spektrum Receiver |
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134 | // Orange: 3V von der FC (keinesfalls an 5V anschließen!) |
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135 | // Schwarz: GND |
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136 | // Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker |
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137 | // |
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138 | // --- |
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139 | // Satellite-Reciever connected on USART1: |
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140 | // |
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141 | // DX7/DX6i: One data-frame at 115200 baud every 22ms. |
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142 | // DX7se: One data-frame at 115200 baud every 11ms. |
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143 | // byte1: unknown |
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144 | // byte2: unknown |
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145 | // byte3: and byte4: channel data (FLT-Mode) |
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146 | // byte5: and byte6: channel data (Roll) |
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147 | // byte7: and byte8: channel data (Nick) |
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148 | // byte9: and byte10: channel data (Gier) |
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149 | // byte11: and byte12: channel data (Gear Switch) |
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150 | // byte13: and byte14: channel data (Gas) |
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151 | // byte15: and byte16: channel data (AUX2) |
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152 | // |
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153 | // DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9 |
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154 | // 1st Frame: |
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155 | // byte1: unknown |
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156 | // byte2: unknown |
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157 | // byte3: and byte4: channel data |
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158 | // byte5: and byte6: channel data |
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159 | // byte7: and byte8: channel data |
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160 | // byte9: and byte10: channel data |
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161 | // byte11: and byte12: channel data |
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162 | // byte13: and byte14: channel data |
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1391 | killagreg | 163 | // byte15: and byte16: channel data |
1171 | hbuss | 164 | // 2nd Frame: |
165 | // byte1: unknown |
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166 | // byte2: unknown |
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167 | // byte3: and byte4: channel data |
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168 | // byte5: and byte6: channel data |
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169 | // byte7: and byte8: 0xffff |
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170 | // byte9: and byte10: 0xffff |
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171 | // byte11: and byte12: 0xffff |
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172 | // byte13: and byte14: 0xffff |
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173 | // byte15: and byte16: 0xffff |
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174 | // |
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175 | // Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as: |
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176 | // |
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177 | // Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 |
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178 | // |
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179 | // 0 means a '0' bit |
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180 | // F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only) |
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181 | // C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter) |
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182 | // D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel |
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183 | // |
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184 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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185 | |||
1322 | hbuss | 186 | #define MIN_FRAMEGAP 68 // 7ms |
187 | #define MAX_BYTEGAP 3 // 310us |
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1320 | hbuss | 188 | |
1171 | hbuss | 189 | //############################################################################ |
190 | //Diese Routine startet und inizialisiert den USART1 für seriellen Spektrum satellite reciever |
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191 | SIGNAL(USART1_RX_vect) |
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192 | //############################################################################ |
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193 | { |
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1320 | hbuss | 194 | static unsigned char Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0; |
1171 | hbuss | 195 | unsigned int Channel, index; |
196 | signed int signal, tmp; |
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197 | int bCheckDelay; |
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198 | uint8_t c; |
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199 | c = UDR1; // get data byte |
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1320 | hbuss | 200 | if(ReSync == 1) |
1171 | hbuss | 201 | { |
202 | // wait for beginning of new frame |
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203 | ReSync = 0; |
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1322 | hbuss | 204 | SpektrumTimer = MIN_FRAMEGAP; |
1171 | hbuss | 205 | FrameCnt = 0; |
206 | Sync = 0; |
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207 | ByteHigh = 0; |
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208 | } |
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209 | else |
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1391 | killagreg | 210 | { |
1320 | hbuss | 211 | if(!SpektrumTimer) bCheckDelay = 1; else bCheckDelay = 0;//CheckDelay(FrameTimer); |
1171 | hbuss | 212 | if ( Sync == 0 ) |
213 | { |
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1172 | hbuss | 214 | if(bCheckDelay) |
1171 | hbuss | 215 | { |
216 | // nach einer Pause von mind. 7ms erstes Sync-Character gefunden |
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217 | // Zeichen ignorieren, da Bedeutung unbekannt |
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218 | Sync = 1; |
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219 | FrameCnt ++; |
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1320 | hbuss | 220 | SpektrumTimer = MAX_BYTEGAP; |
1171 | hbuss | 221 | } |
222 | else |
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223 | { |
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224 | // Zeichen kam vor Ablauf der 7ms Sync-Pause |
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225 | // warten auf erstes Sync-Zeichen |
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1322 | hbuss | 226 | SpektrumTimer = MIN_FRAMEGAP; |
1320 | hbuss | 227 | FrameCnt = 0; |
228 | Sync = 0; |
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229 | ByteHigh = 0; |
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1171 | hbuss | 230 | } |
231 | } |
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1172 | hbuss | 232 | else if((Sync == 1) && !bCheckDelay) |
1171 | hbuss | 233 | { |
234 | // zweites Sync-Character ignorieren, Bedeutung unbekannt |
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235 | Sync = 2; |
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236 | FrameCnt ++; |
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1320 | hbuss | 237 | SpektrumTimer = MAX_BYTEGAP; |
1171 | hbuss | 238 | } |
1172 | hbuss | 239 | else if((Sync == 2) && !bCheckDelay) |
1171 | hbuss | 240 | { |
1320 | hbuss | 241 | SpektrumTimer = MAX_BYTEGAP; |
1171 | hbuss | 242 | // Datenbyte high |
243 | ByteHigh = c; |
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244 | if (FrameCnt == 2) |
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245 | { |
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246 | // is 1st Byte of Channel-data |
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247 | // Frame 1 with Channel 1-7 comming next |
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248 | Frame2 = 0; |
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1172 | hbuss | 249 | if(ByteHigh & 0x80) |
1171 | hbuss | 250 | { |
251 | // DS9: Frame 2 with Channel 8-9 comming next |
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252 | Frame2 = 1; |
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253 | } |
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1391 | killagreg | 254 | } |
1171 | hbuss | 255 | Sync = 3; |
256 | FrameCnt ++; |
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257 | } |
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1172 | hbuss | 258 | else if((Sync == 3) && !bCheckDelay) |
1171 | hbuss | 259 | { |
260 | // Datenbyte low |
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261 | // High-Byte for next channel comes next |
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1320 | hbuss | 262 | SpektrumTimer = MAX_BYTEGAP; |
1171 | hbuss | 263 | Sync = 2; |
264 | FrameCnt ++; |
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265 | index = (ByteHigh >> 2) & 0x0f; |
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1320 | hbuss | 266 | index++; |
267 | Channel = ((unsigned int)ByteHigh << 8) | c; |
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1171 | hbuss | 268 | signal = Channel & 0x3ff; |
269 | signal -= 0x200; // Offset, range 0x000..0x3ff? |
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270 | signal = signal/3; // scaling to fit PPM resolution |
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1391 | killagreg | 271 | |
272 | if(index > 0 && index < 13) |
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1171 | hbuss | 273 | { |
1172 | hbuss | 274 | // Stabiles Signal |
1391 | killagreg | 275 | if(abs(signal - PPM_in[index]) < 6) |
276 | { |
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277 | if(SenderOkay < 200) SenderOkay += 10; |
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278 | else |
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1232 | hbuss | 279 | { |
280 | SenderOkay = 200; |
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281 | TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input |
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282 | } |
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283 | } |
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1391 | killagreg | 284 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
1172 | hbuss | 285 | if(tmp > signal+1) tmp--; else |
1391 | killagreg | 286 | if(tmp < signal-1) tmp++; |
287 | if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
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1172 | hbuss | 288 | else PPM_diff[index] = 0; |
289 | PPM_in[index] = tmp; |
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1171 | hbuss | 290 | } |
1320 | hbuss | 291 | else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren |
1171 | hbuss | 292 | } |
293 | else |
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294 | { |
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295 | // hier stimmt was nicht: neu synchronisieren |
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296 | ReSync = 1; |
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297 | FrameCnt = 0; |
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298 | Frame2 = 0; |
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1320 | hbuss | 299 | // new frame next, nach fruehestens 7ms erwartet |
1322 | hbuss | 300 | SpektrumTimer = MIN_FRAMEGAP; |
1171 | hbuss | 301 | } |
1391 | killagreg | 302 | |
1320 | hbuss | 303 | // 16 Bytes eingetroffen -> Komplett |
1172 | hbuss | 304 | if(FrameCnt >= 16) |
1171 | hbuss | 305 | { |
306 | // Frame complete |
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1172 | hbuss | 307 | if(Frame2 == 0) |
1171 | hbuss | 308 | { |
309 | // Null bedeutet: Neue Daten |
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310 | // nur beim ersten Frame (CH 0-7) setzen |
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1391 | killagreg | 311 | if(!ReSync) NewPpmData = 0; |
1171 | hbuss | 312 | } |
313 | FrameCnt = 0; |
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314 | Frame2 = 0; |
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315 | Sync = 0; |
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1322 | hbuss | 316 | SpektrumTimer = MIN_FRAMEGAP; |
1171 | hbuss | 317 | } |
318 | } |
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1391 | killagreg | 319 | } |
1171 | hbuss | 320 | |
321 |