| 0,0 → 1,407 |
|---|
| /*####################################################################################### |
| Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit |
| #######################################################################################*/ |
| |
| #include "Spektrum.h" |
| #include "main.h" |
| // Achtung: RECEIVER_SPEKTRUM_EXP wird in der Main.h gesetzt |
| |
| unsigned char SpektrumTimer = 0; |
| |
| #ifdef RECEIVER_SPEKTRUM_EXP |
| unsigned char s_excnt = 0; // Counter for Spektrum-Expander |
| unsigned char s_exparity = 0; // Parity Bit for Spektrum-Expander |
| signed char s_exdata[11]; // Data for Spektrum-Expander |
| #endif |
| //--------------------------------------------------------------// |
| //--------------------------------------------------------------// |
| /* |
| void SpektrumBinding(void) |
| { |
| unsigned int timerTimeout = SetDelay(10000); // Timeout 10 sec. |
| unsigned char connected = 0; |
| unsigned int delaycounter; |
| |
| UCSR1B &= ~(1 << RXCIE1); // disable rx-interrupt |
| UCSR1B &= ~(1<<RXEN1); // disable Uart-Rx |
| PORTD &= ~(1 << PORTD2); // disable pull-up |
| |
| printf("\n\rPlease connect Spektrum receiver for binding NOW..."); |
| |
| while(!CheckDelay(timerTimeout)) |
| { |
| if (PIND & (1 << PORTD2)) { timerTimeout = SetDelay(90); connected = 1; break; } |
| } |
| |
| if (connected) |
| { |
| |
| printf("ok.\n\r"); |
| DDRD |= (1 << DDD2); // Rx as output |
| |
| while(!CheckDelay(timerTimeout)); // delay after startup of RX |
| for (delaycounter = 0; delaycounter < 100; delaycounter++) PORTD |= (1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
| |
| for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
| |
| for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
| |
| for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
| |
| } |
| else |
| { printf("Timeout.\n\r"); |
| |
| |
| } |
| |
| DDRD &= ~(1 << DDD2); // RX as input |
| PORTD &= ~(1 << PORTD2); |
| |
| SpektrumUartInit(); // init Uart again |
| } |
| */ |
| //############################################################################ |
| // USART1 initialisation from killagreg |
| void SpektrumUartInit(void) |
| //############################################################################ |
| { |
| // -- Start of USART1 initialisation for Spekturm seriell-mode |
| // USART1 Control and Status Register A, B, C and baud rate register |
| uint8_t sreg = SREG; |
| |
| uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1); |
| |
| // disable all interrupts before reconfiguration |
| cli(); |
| // disable RX-Interrupt |
| UCSR1B &= ~(1 << RXCIE1); |
| // disable TX-Interrupt |
| UCSR1B &= ~(1 << TXCIE1); |
| // disable DRE-Interrupt |
| UCSR1B &= ~(1 << UDRIE1); |
| // set direction of RXD1 and TXD1 pins |
| // set RXD1 (PD2) as an input pin |
| PORTD |= (1 << PORTD2); |
| DDRD &= ~(1 << DDD2); |
| |
| // set TXD1 (PD3) as an output pin |
| PORTD |= (1 << PORTD3); |
| DDRD |= (1 << DDD3); |
| |
| // USART0 Baud Rate Register |
| // set clock divider |
| UBRR1H = (uint8_t)(ubrr>>8); |
| UBRR1L = (uint8_t)ubrr; |
| // enable double speed operation |
| UCSR1A |= (1 << U2X1); |
| // enable receiver and transmitter |
| //UCSR1B = (1<<RXEN1)|(1<<TXEN1); |
| |
| UCSR1B = (1<<RXEN1); |
| // set asynchronous mode |
| UCSR1C &= ~(1 << UMSEL11); |
| UCSR1C &= ~(1 << UMSEL10); |
| // no parity |
| UCSR1C &= ~(1 << UPM11); |
| UCSR1C &= ~(1 << UPM10); |
| // 1 stop bit |
| UCSR1C &= ~(1 << USBS1); |
| // 8-bit |
| UCSR1B &= ~(1 << UCSZ12); |
| UCSR1C |= (1 << UCSZ11); |
| UCSR1C |= (1 << UCSZ10); |
| // flush receive buffer explicit |
| while(UCSR1A & (1<<RXC1)) UDR1; |
| // enable RX-interrupts at the end |
| UCSR1B |= (1 << RXCIE1); |
| // -- End of USART1 initialisation |
| // restore global interrupt flags |
| |
| SREG = sreg; |
| return; |
| } |
| |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Rainer Walther |
| // + RC-routines from original MK rc.c (c) H&I |
| // + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2 |
| // + only for non-profit use |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // |
| // 20080808 rw Modified for Spektrum AR6100 (PPM) |
| // 20080823 rw Add Spektrum satellite receiver on USART1 (644P only) |
| // 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels) |
| // Replace AR6100-coding with original composit-signal routines |
| // |
| // --- |
| // Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben! |
| // Binding is not implemented. Bind with external Receiver. |
| // Servo output J3, J4, J5 not serviced |
| // |
| // Anschuß Spektrum Receiver |
| // Orange: 3V von der FC (keinesfalls an 5V anschließen!) |
| // Schwarz: GND |
| // Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker |
| // |
| // --- |
| // Satellite-Reciever connected on USART1: |
| // |
| // DX7/DX6i: One data-frame at 115200 baud every 22ms. |
| // DX7se: One data-frame at 115200 baud every 11ms. |
| // byte1: unknown |
| // byte2: unknown |
| // byte3: and byte4: channel data (FLT-Mode) |
| // byte5: and byte6: channel data (Roll) |
| // byte7: and byte8: channel data (Nick) |
| // byte9: and byte10: channel data (Gier) |
| // byte11: and byte12: channel data (Gear Switch) |
| // byte13: and byte14: channel data (Gas) |
| // byte15: and byte16: channel data (AUX2) |
| // |
| // DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9 |
| // 1st Frame: |
| // byte1: unknown |
| // byte2: unknown |
| // byte3: and byte4: channel data |
| // byte5: and byte6: channel data |
| // byte7: and byte8: channel data |
| // byte9: and byte10: channel data |
| // byte11: and byte12: channel data |
| // byte13: and byte14: channel data |
| // byte15: and byte16: channel data |
| // 2nd Frame: |
| // byte1: unknown |
| // byte2: unknown |
| // byte3: and byte4: channel data |
| // byte5: and byte6: channel data |
| // byte7: and byte8: 0xffff |
| // byte9: and byte10: 0xffff |
| // byte11: and byte12: 0xffff |
| // byte13: and byte14: 0xffff |
| // byte15: and byte16: 0xffff |
| // |
| // Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as: |
| // |
| // Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 |
| // |
| // 0 means a '0' bit |
| // F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only) |
| // C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter) |
| // D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel |
| // |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| #define MIN_FRAMEGAP 68 // 7ms |
| #define MAX_BYTEGAP 3 // 310us |
| |
| |
| //############################################################################ |
| // Wird im UART-Interrupt aufgerufen |
| //############################################################################ |
| void SpektrumParser(unsigned char c) |
| { |
| static unsigned char Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0; |
| unsigned int Channel, index = 0; |
| signed int signal = 0, tmp; |
| int bCheckDelay; |
| // c = UDR1; // get data byte |
| if(ReSync == 1) |
| { |
| // wait for beginning of new frame |
| ReSync = 0; |
| SpektrumTimer = MIN_FRAMEGAP; |
| FrameCnt = 0; |
| Sync = 0; |
| ByteHigh = 0; |
| } |
| else |
| { |
| if(!SpektrumTimer) bCheckDelay = 1; else bCheckDelay = 0;//CheckDelay(FrameTimer); |
| if ( Sync == 0 ) |
| { |
| if(bCheckDelay) |
| { |
| // nach einer Pause von mind. 7ms erstes Sync-Character gefunden |
| // Zeichen ignorieren, da Bedeutung unbekannt |
| Sync = 1; |
| FrameCnt ++; |
| SpektrumTimer = MAX_BYTEGAP; |
| } |
| else |
| { |
| // Zeichen kam vor Ablauf der 7ms Sync-Pause |
| // warten auf erstes Sync-Zeichen |
| SpektrumTimer = MIN_FRAMEGAP; |
| FrameCnt = 0; |
| Sync = 0; |
| ByteHigh = 0; |
| } |
| } |
| else if((Sync == 1) && !bCheckDelay) |
| { |
| // zweites Sync-Character ignorieren, Bedeutung unbekannt |
| Sync = 2; |
| FrameCnt ++; |
| SpektrumTimer = MAX_BYTEGAP; |
| } |
| else if((Sync == 2) && !bCheckDelay) |
| { |
| SpektrumTimer = MAX_BYTEGAP; |
| // Datenbyte high |
| ByteHigh = c; |
| if (FrameCnt == 2) |
| { |
| // is 1st Byte of Channel-data |
| // Frame 1 with Channel 1-7 comming next |
| Frame2 = 0; |
| if(ByteHigh & 0x80) |
| { |
| // DS9: Frame 2 with Channel 8-9 comming next |
| Frame2 = 1; |
| } |
| } |
| Sync = 3; |
| FrameCnt ++; |
| } |
| else if((Sync == 3) && !bCheckDelay) |
| { |
| // Datenbyte low |
| // High-Byte for next channel comes next |
| SpektrumTimer = MAX_BYTEGAP; |
| Sync = 2; |
| FrameCnt ++; |
| Channel = ((unsigned int)ByteHigh << 8) | c; |
| if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM) |
| { |
| signal = Channel & 0x3ff; |
| signal -= 0x200; // Offset, range 0x000..0x3ff? |
| signal = signal/3; // scaling to fit PPM resolution |
| index = (ByteHigh >> 2) & 0x0f; |
| } |
| else |
| if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM_HI_RES) |
| { |
| signal = Channel & 0x7ff; |
| signal -= 0x400; // Offset, range 0x000..0x7ff? |
| signal = signal/6; // scaling to fit PPM resolution |
| index = (ByteHigh >> 3) & 0x0f; |
| } |
| else |
| //if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM_LOW_RES) |
| { |
| signal = Channel & 0x3ff; |
| signal -= 360; // Offset, range 0x000..0x3ff? |
| signal = signal/2; // scaling to fit PPM resolution |
| index = (ByteHigh >> 2) & 0x0f; |
| } |
| |
| index++; |
| if(index < 13) |
| { |
| // Stabiles Signal |
| #ifdef RECEIVER_SPEKTRUM_EXP |
| if (index == 2) index = 4; // Analog channel reassigment (2 <-> 4) for logical numbering (1,2,3,4) |
| else if (index == 4) index = 2; |
| #endif |
| if(abs(signal - PPM_in[index]) < 6) |
| { |
| if(SenderOkay < 200) SenderOkay += 10; |
| else |
| { |
| SenderOkay = 200; |
| TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input |
| } |
| } |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| |
| #ifdef RECEIVER_SPEKTRUM_EXP |
| if(index == 6) // FLIGHT-MODE - The channel used for our data uplink |
| { |
| if (signal > 100) // SYNC received |
| { |
| if (s_exdata[s_excnt] == 125) s_exparity = ~s_exparity; // Bit = 1 -> Re-Invert parity bit |
| 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 |
| { |
| if (s_exdata[1] == 125 && s_exdata[2] == -125) PPM_in[5] = -125; // Reconstruct tripole Flight-Mode value (CH5) |
| else if (s_exdata[1] == -125 && s_exdata[2] == -125) PPM_in[5] = 0; // Reconstruct tripole Flight-Mode value (CH5) |
| else if (s_exdata[1] == -125 && s_exdata[2] == 125) PPM_in[5] = 125; // Reconstruct tripole Flight-Mode value (CH5) |
| PPM_in[6] = s_exdata[3]; // Elevator (CH6) |
| PPM_in[11] = s_exdata[4]; // Aileron (CH11) |
| PPM_in[12] = s_exdata[5]; // Rudder (CH12) |
| |
| if (s_excnt == 9) // New Mode (12 Channels) |
| { |
| if (s_exdata[7] == 125) PPM_in[8] += 5; // Hover Pitch UP (CH8) |
| if (s_exdata[8] == 125) PPM_in[8] -= 5; // Hover Pitch DN (CH8) |
| if (PPM_in[8] < -125) PPM_in[8] = -125; // Range-Limit |
| else if (PPM_in[8] > 125) PPM_in[8] = 125; // Range-Limit |
| PPM_in[10] = s_exdata[6]; // AUX2 (CH10) |
| } |
| } |
| |
| s_excnt = 0; // Reset bitcounter |
| s_exparity = 0; // Reset parity bit |
| } |
| |
| if (signal < 10) s_exdata[++s_excnt] = -125; // Bit = 0 -> value = -125 (min) |
| if (s_excnt == 10) s_excnt = 0; // Overflow protection |
| if (signal < -100) |
| { |
| s_exdata[s_excnt] = 125; // Bit = 1 -> value = 125 (max) |
| s_exparity = ~s_exparity; // Bit = 1 -> Invert parity bit |
| } |
| |
| } |
| #endif |
| if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| else PPM_diff[index] = 0; |
| |
| #ifdef RECEIVER_SPEKTRUM_EXP |
| if (index < 5 ) PPM_in[index] = tmp; // Update normal potis (CH1-4) |
| else if (index == 5) PPM_in[7] = signal; // Gear (CH7) |
| else if (index == 7) PPM_in[9] = signal; // Hover Throttle (CH9) |
| #else |
| PPM_in[index] = tmp; |
| #endif |
| } |
| else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren |
| } |
| else |
| { |
| // hier stimmt was nicht: neu synchronisieren |
| ReSync = 1; |
| FrameCnt = 0; |
| Frame2 = 0; |
| // new frame next, nach fruehestens 7ms erwartet |
| SpektrumTimer = MIN_FRAMEGAP; |
| } |
| |
| // 16 Bytes eingetroffen -> Komplett |
| if(FrameCnt >= 16) |
| { |
| // Frame complete |
| if(Frame2 == 0) |
| { |
| // Null bedeutet: Neue Daten |
| // nur beim ersten Frame (CH 0-7) setzen |
| if(!ReSync) NewPpmData = 0; |
| } |
| FrameCnt = 0; |
| Frame2 = 0; |
| Sync = 0; |
| SpektrumTimer = MIN_FRAMEGAP; |
| } |
| } |
| } |