| 38,7 → 38,6 |
|---|
| |
| */ |
| |
| |
| /* |
| Connection of DSL to SV1 of FC: |
| ( DSL Pin1 is on side of channel 4 ) |
| 96,8 → 95,7 |
|---|
| uint8_t PacketBuffer[6]; |
| //uint8_t Jitter = 0; // same measurement as RC_Quality in rc.c |
| |
| typedef union |
| { |
| typedef union { |
| int16_t Servo[2]; |
| uint8_t byte[4]; |
| } ChannelPair_t; |
| 104,12 → 102,10 |
|---|
| |
| ChannelPair_t ChannelPair; |
| |
| |
| // 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) |
| { |
| void dsl_new_signal(uint8_t channel, int16_t signal) { |
| int16_t tmp; |
| uint8_t index = channel + 1; // mk channels start with 1 |
| |
| 120,23 → 116,27 |
|---|
| signal-= 11059; // shift to neutral |
| signal/= 24; // scale to mk rc resolution |
| |
| if(abs(signal-PPM_in[index]) < 6) |
| { |
| if(RC_Quality < 200) RC_Quality +=10; |
| else RC_Quality = 200; |
| if (abs(signal-PPM_in[index]) < 6) { |
| if (RC_Quality < 200) |
| RC_Quality += 10; |
| else |
| RC_Quality = 200; |
| } |
| |
| // calculate exponential history for signal |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| 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; |
| 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 |
| |
| if(index == 4) |
| { |
| if (index == 4) { |
| NewPpmData = 0; |
| } |
| } |
| 143,13 → 143,11 |
|---|
| |
| // This function is called within dsl_parser(), when a complete |
| // data packet with valid checksum has been received. |
| void dsl_decode_packet(void) |
| { |
| void dsl_decode_packet(void) { |
| uint8_t i; |
| |
| // check for header condition |
| if((PacketBuffer[0] & 0xF0) == 0x10) |
| { |
| if ((PacketBuffer[0] & 0xF0) == 0x10) { |
| if(PacketBuffer[0] == 0x1F) // separate status frame |
| { |
| dsl_Allocation = PacketBuffer[1]; // Get frequency allocation |
| 157,17 → 155,14 |
|---|
| dsl_RSSI = PacketBuffer[3]; // Get signal quality |
| dsl_Battery = PacketBuffer[4]; // Get voltage of battery supply |
| // ?? = PacketBuffer[5]; |
| if(dsl_RSSI == 0) |
| { |
| if (dsl_RSSI == 0) { |
| RC_Quality = 0; |
| for (i = 0; i<5; i++) |
| { |
| for (i = 0; i < 5; i++) { |
| PPM_diff[i] = 0; |
| PPM_in[i] = 0; |
| } |
| } |
| } |
| else // probably a channel pair |
| } else // probably a channel pair |
| { |
| i = PacketBuffer[0] & 0x0F; // last 4 bits of the header indicates the channel pair |
| if(i < 10)// maximum 12 channels |
| 184,10 → 179,8 |
|---|
| } // EOF header condition |
| } |
| |
| |
| // this function should be called within the UART RX ISR |
| void dsl_parser(uint8_t c) |
| { |
| void dsl_parser(uint8_t c) { |
| static uint8_t last_c = 0; |
| static uint8_t crc = 0; |
| static uint8_t cnt = 0; |
| 194,8 → 187,7 |
|---|
| static uint8_t packet_len = 0; |
| |
| // check for sync condition |
| if ((c==0xFF) && (last_c==0xFF)) |
| { |
| if ((c == 0xFF) && (last_c == 0xFF)) { |
| cnt = 0; // reset byte counter |
| crc = 0; // reset checksum |
| return; |
| 203,21 → 195,24 |
|---|
| |
| if(cnt == 0) // begin of a packet |
| { |
| if(c == 0x1F) packet_len = 5; // a status packet has 5 bytes + crc |
| else packet_len = 4; // a channel pair packet has 4 bytes + crc |
| if (c == 0x1F) |
| packet_len = 5; // a status packet has 5 bytes + crc |
| else |
| packet_len = 4; // a channel pair packet has 4 bytes + crc |
| } |
| if(cnt > packet_len) // packet complete, crc byte received |
| { |
| // calculate checksum |
| crc = ~crc; |
| if (crc == 0xFF) crc = 0xFE; |
| if (crc == 0xFF) |
| crc = 0xFE; |
| // if crc matches decode the packet |
| if (c == crc) dsl_decode_packet(); |
| if (c == crc) |
| dsl_decode_packet(); |
| // handle next packet |
| cnt = 0; |
| crc = 0; |
| } |
| else // collect channel data bytes |
| } else // collect channel data bytes |
| { |
| PacketBuffer[cnt++] = c; |
| crc += c; |