1,4 → 1,5 |
#include "dsl.h" |
#include "rc.h" |
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/* |
1. GND (at channel 4 side) |
8,136 → 9,139 |
*/ |
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// dsl protocol parser state machine |
#define DSLSTATE_IDLE 0 |
#define DLSSTATE_SYNC 1 |
#define DSLSTATE_SYNC1 0 |
#define DSLSTATE_SYNC2 1 |
#define DSLSTATE_HDR 2 |
#define DSLSTATE_DATA 3 |
#define DSLSTATE_CRC 4 |
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#define DSL_SYNC1_CHAR 0xFF |
#define DSL_SYNC2_CHAR 0xFF |
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volatile uint8_t rcdsl_RSSI = 0; |
uint8_t dsl_battery = 0; |
uint8_t dsl_allocation = 0; |
uint8_t data[6]; |
uint8_t dsl_RSSI = 0; |
uint8_t dsl_Battery = 0; |
uint8_t dsl_Allocation = 0; |
uint8_t PacketBuffer[6]; |
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typedef union { |
uint16_t pos[2]; |
uint8_t dat[4]; |
} servos_t; |
typedef union |
{ |
int16_t Servo[2]; |
uint8_t byte[4]; |
} ServoPair_t; |
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ServoPair_t ServoPair; |
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// This function is called, when a new servo signal is properly received. |
// Parameters: servo - servo number (0-9) |
// signal - servo signal between 7373 (1ms) and 14745 (2ms) |
void dsl_new_signal(uint8_t channel, int16_t signal) |
{ |
volatile signed int tmp; |
uint8_t index = channel+1; // Der MK fängt bei 1 an zu zählen |
int16_t tmp; |
uint8_t index = channel + 1; // mk channels start with 1 |
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// Signal vom ACTDSL-Empfänger liegt zwischen |
// 7373 (1ms) und 14745 (2ms). |
signal-= 11059; // Neutralstellung zur Null verschieben |
signal/= 24; // Auf MK Skalierung umrechnen |
signal-= 11059; // shift to neutral |
signal/= 24; // scale to mk rc resolution |
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// Stabiles Signal |
//if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
// calculate exponential history for signal |
tmp = (3 * (PPM_in[index]) + signal) / 4; |
if(tmp > signal+1) tmp--; else |
if(tmp < signal-1) tmp++; |
// calculate signal difference on good signal level |
if(RC_Quality >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for noise reduction |
else PPM_diff[index] = 0; |
PPM_in[index] = tmp; // update channel value |
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tmp = (3 * (PPM_in[index]) + signal) / 4; |
if(tmp > signal+1) tmp--; else |
if(tmp < signal-1) tmp++; |
if(SenderOkay >= 105) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
else PPM_diff[index] = 0; |
PPM_in[index] = tmp; |
//NewPpmData = 0; |
//NewActData = 1; |
if(index == 4) { |
//NewActData = 1; |
NewPpmData = 0; |
//PORTC = (PORTC&(~(1<<PC4))) | ((~PORTC)&(1<<PC4)); |
//PINC = (1<<PC4); |
} |
//PPM_in[index] = signal; |
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if(index == 4) NewPpmData = 0; |
} |
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// This function is called within dsl_parser(), when a complete |
// data packet with valid checksum has been received. |
void dsl_incoming_paket(void) |
void dsl_decode_packet(void) |
{ |
uint8_t i; |
static servos_t servos; |
// Look for status headers |
if ((data[0])==0x1F) { |
// Get frequency allocation |
dsl_allocation = data[0+1]; |
// Get signal quality |
dsl_RSSI = data[2+1]; |
// Get voltage of battery supply |
dsl_battery = data[3+1]; |
} |
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// Look for signal headers |
if ((data[0]&0xF0)==0x10) { |
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i = data[0]&0x0F; // Last 4 bits of the header indicates servo pair |
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if (i<10) { |
// Convert byte array to two uint16 |
servos.dat[1] = data[1]; |
servos.dat[0] = data[2]; |
servos.dat[3] = data[3]; |
servos.dat[2] = data[4]; |
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rcdsl_new_signal(i , (int16_t)servos.pos[0]); |
rcdsl_new_signal(i+1, (int16_t)servos.pos[1]); |
} |
} |
if(PacketBuffer[0] == 0x1F) // separate status frame |
{ |
dsl_Allocation = PacketBuffer[1]; // Get frequency allocation |
// ?? = PacketBuffer[2]; |
dsl_RSSI = PacketBuffer[3]; // Get signal quality |
RC_Quality = dsl_RSSI; // have to be scaled |
dsl_Battery = PacketBuffer[4]; // Get voltage of battery supply |
// ?? = PacketBuffer[5]; |
} |
else // analyze servo pair frame |
{ |
i = PacketBuffer[0] & 0x0F; // last 4 bits of the header indicates servo pair |
if(i < 10) |
{ |
// big to little endian |
ServoPair.byte[1] = PacketBuffer[1]; |
ServoPair.byte[0] = PacketBuffer[2]; |
ServoPair.byte[3] = PacketBuffer[3]; |
ServoPair.byte[2] = PacketBuffer[4]; |
dsl_new_signal(i, ServoPair.Servo[0]); |
dsl_new_signal(i+1,ServoPair.Servo[0]); |
} |
} |
} |
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// Status Frame: |0xFF|0xFF|0x1F|FREQALLOC|??|RSSI|VBAT|CRC |
// Status Frame: |0xFF|0xFF|0x1F|FREQALLOC|??|RSSI|VBAT|??|CRC| |
// FREQ ALLOC = 35, 40, 72 |
// RSSI = 0.. 255 // Received signal strength indicator |
// VBAT = 0...255 // supply voltage (0.0V.. 8.2V) |
// |
//|0xFF|0xFF|CMD|D0|D1|D2|D3 |
// Servo Pair: |0xFF|0xFF|0x1X|D0|D1|D2|D3|CRC| |
// X is channel index of 1 servo value |
// D0, D1 is servo channel X |
// D2, D3 is servo channel X+1 |
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// this function should be called within the UART RX ISR |
void dsl_parser(uint8_t c) |
{ |
static uint8_t crc = 0; |
static uint8_t packet_len = 0; |
static uint8_t data_counter = 0; |
static uint8_t cnt = 0; |
static uint8_t packet_len = 0; |
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static uint8_t dslstate = DSLSTATE_IDLE; |
static uint8_t dslstate = DSLSTATE_SYNC1; |
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switch(dslstate) |
{ |
case DSLSTATE_IDLE: // check 1st sync byte |
if (c == DSL_SYNC1_CHAR) dslstate = DSLSTATE_SYNC; |
else dslstate = UBXSTATE_IDLE; // out of synchronization |
case DSLSTATE_SYNC1: // check 1st sync byte |
if (c == DSL_SYNC1_CHAR) dslstate = DSLSTATE_SYNC2; |
else dslstate = DSLSTATE_SYNC1; // out of synchronization |
break; |
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case DSLSTATE_SYNC: // check 2nd sync byte |
if (c == DSL_SYNC2_CHAR) dslstate = DSLSTATE_CMD; // snchrinization complete trigger to cmd |
else dslstate = DSLSTATE_IDLE; // out of synchronization |
case DSLSTATE_SYNC2: // check 2nd sync byte |
if (c == DSL_SYNC2_CHAR) dslstate = DSLSTATE_HDR; // snchrinization complete trigger to cmd |
else dslstate = DSLSTATE_SYNC1; // out of synchronization |
break; |
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case DSLSTATE_HDR: // check cmd byte |
if (c == 0x1F) packet_len = 5; |
else packet_len = 4; |
dcnt = 1; |
crc = 0; |
dslstate = DSLSTATE_DATA; |
case DSLSTATE_HDR: // check header byte |
if ((c & 0xF0) != 0x10) |
{ |
dslstate = DSLSTATE_SYNC1; |
} |
else |
{ |
cnt = 0; |
PacketBuffer[cnt++] = c; |
crc = c; |
if(c == 0x1F) packet_len = 5; |
else packet_len = 4; |
dslstate = DSLSTATE_DATA; |
} |
break; |
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case DSLSTATE_DATA: |
data[dcnt++] = c; |
PacketBuffer[cnt++] = c; |
crc += c; |
if(dcnt > packetlen) dslstate = DSLSTATE_CRC; |
if(cnt > packet_len) dslstate = DSLSTATE_CRC; |
break; |
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case DSLSTATE_CRC: |
144,13 → 148,13 |
// Calculate checksum |
crc = ~crc; |
if (crc == 0xFF) crc = 0xFE; |
// If it match the received one, then apply data |
if (c == crc) rcdsl_incoming_paket(); |
dslstate = DSLSTATE_IDLE; |
// if crc matches |
if (c == crc) dsl_decode_packet(); |
dslstate = DSLSTATE_SYNC1; |
break; |
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default: // unknown ubx state |
dslstate = DSLSTATE_IDLE; |
dslstate = DSLSTATE_SYNC1; |
break; |
} |
} |
} |