| 4,11 → 4,11 |
|---|
| |
| #include "Spektrum.h" |
| #include "main.h" |
| // Achtung: RECEIVER_SPEKTRUM_EXP wird in der Main.h gesetzt |
| // Achtung: RECEIVER_SPEKTRUM_DX7EXP oder RECEIVER_SPEKTRUM_DX8EXP wird in der Main.h gesetzt |
| |
| unsigned char SpektrumTimer = 0; |
| |
| #ifdef RECEIVER_SPEKTRUM_EXP |
| #if defined (RECEIVER_SPEKTRUM_DX7EXP) || defined (RECEIVER_SPEKTRUM_DX8EXP) |
| 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 |
| 78,9 → 78,9 |
|---|
| // -- 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 |
| 97,7 → 97,7 |
|---|
| // 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); |
| 126,7 → 126,7 |
|---|
| UCSR1B |= (1 << RXCIE1); |
| // -- End of USART1 initialisation |
| // restore global interrupt flags |
| |
| |
| SREG = sreg; |
| return; |
| } |
| 295,7 → 295,7 |
|---|
| 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) |
| { |
| 309,73 → 309,117 |
|---|
| 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; |
| #if defined (RECEIVER_SPEKTRUM_DX7EXP) || defined (RECEIVER_SPEKTRUM_DX8EXP) |
| 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(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_DX7EXP |
| 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) |
| } |
| } |
| 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 |
| } |
| 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 |
| } |
| 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 |
| } |
| |
| } |
| } |
| |
| #elif defined RECEIVER_SPEKTRUM_DX8EXP |
| 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 == 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) |
| |
| if (s_exdata[3] == 125 && s_exdata[6] == -125) PPM_in[6] = 125; // Reconstruct tripole Elev D/R value (CH6) |
| else if (s_exdata[3] == -125 && s_exdata[6] == -125) PPM_in[6] = 0; // Reconstruct tripole Elev D/R value (CH6) |
| else if (s_exdata[3] == -125 && s_exdata[6] == 125) PPM_in[6] = -125; // Reconstruct tripole Elev D/R value (CH6) |
| |
| |
| if (s_exdata[7] == 125 && s_exdata[8] == -125) PPM_in[9] = -125; // Reconstruct tripole AIL D/R value (CH9) |
| else if (s_exdata[7] == -125 && s_exdata[8] == -125) PPM_in[9] = 0; // Reconstruct tripole AIL D/R value (CH9) |
| else if (s_exdata[7] == -125 && s_exdata[8] == 125) PPM_in[9] = 125; // Reconstruct tripole AIL D/R value (CH9) |
| |
| PPM_in[10] = s_exdata[5]; // Gear (CH10) |
| PPM_in[12] = s_exdata[4]; // Mix (CH12) |
| } |
| |
| 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; |
| 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) |
| #ifdef RECEIVER_SPEKTRUM_DX7EXP |
| 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) |
| #elif defined RECEIVER_SPEKTRUM_DX8EXP |
| if (index < 5 ) PPM_in[index] = tmp; // Update normal potis (CH1-4) |
| else if (index == 7) PPM_in[7] = signal; // R Trim (CH7) |
| else if (index == 5) PPM_in[8] = signal; // AUX2 (CH8) |
| else if (index == 8) PPM_in[11] = signal; // AUX3 (CH11) |
| #else |
| PPM_in[index] = tmp; |
| PPM_in[index] = tmp; |
| #endif |
| } |
| } |
| else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren |
| } |
| else |
| 405,3 → 449,4 |
|---|
| } |
| } |
| } |
| |