WebSVN - FlightCtrl - Diff - Rev 1431 and 1481 - /branches/MartinW


/*#######################################################################################
Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit
#######################################################################################*/
 
#include "Spektrum.h"
#include "main.h"
unsigned char SpektrumTimer = 0;
 
//--------------------------------------------------------------//
//--------------------------------------------------------------//
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
                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++;
                if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
                else PPM_diff[index] = 0;
                PPM_in[index] = tmp;
                        }
         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;
                }
   }
}
 
 
 

Rev 1431	Rev 1481
1	/*#######################################################################################	1	/*#######################################################################################
2	Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit	2	Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit
3	#######################################################################################*/	3	#######################################################################################*/
4		4
5	#include "Spektrum.h"	5	#include "Spektrum.h"
6	#include "main.h"	6	#include "main.h"
7	unsigned char SpektrumTimer = 0;	7	unsigned char SpektrumTimer = 0;
8		8
9	//--------------------------------------------------------------//	9	//--------------------------------------------------------------//
10	//--------------------------------------------------------------//	10	//--------------------------------------------------------------//
11	void SpektrumBinding(void)	11	void SpektrumBinding(void)
12	{	12	{
13	unsigned int timerTimeout = SetDelay(10000); // Timeout 10 sec.	13	unsigned int timerTimeout = SetDelay(10000); // Timeout 10 sec.
14	unsigned char connected = 0;	14	unsigned char connected = 0;
15	unsigned int delaycounter;	15	unsigned int delaycounter;
16		16
17	UCSR1B &= ~(1 << RXCIE1); // disable rx-interrupt	17	UCSR1B &= ~(1 << RXCIE1); // disable rx-interrupt
18	UCSR1B &= ~(1<<RXEN1); // disable Uart-Rx	18	UCSR1B &= ~(1<<RXEN1); // disable Uart-Rx
19	PORTD &= ~(1 << PORTD2); // disable pull-up	19	PORTD &= ~(1 << PORTD2); // disable pull-up
20		20
21	printf("\n\rPlease connect Spektrum receiver for binding NOW...");	21	printf("\n\rPlease connect Spektrum receiver for binding NOW...");
22		22
23	while(!CheckDelay(timerTimeout))	23	while(!CheckDelay(timerTimeout))
24	{	24	{
25	if (PIND & (1 << PORTD2)) { timerTimeout = SetDelay(90); connected = 1; break; }	25	if (PIND & (1 << PORTD2)) { timerTimeout = SetDelay(90); connected = 1; break; }
26	}	26	}
27		27
28	if (connected)	28	if (connected)
29	{	29	{
30		30
31	printf("ok.\n\r");	31	printf("ok.\n\r");
32	DDRD \|= (1 << DDD2); // Rx as output	32	DDRD \|= (1 << DDD2); // Rx as output
33		33
34	while(!CheckDelay(timerTimeout)); // delay after startup of RX	34	while(!CheckDelay(timerTimeout)); // delay after startup of RX
35	for (delaycounter = 0; delaycounter < 100; delaycounter++) PORTD \|= (1 << PORTD2);	35	for (delaycounter = 0; delaycounter < 100; delaycounter++) PORTD \|= (1 << PORTD2);
36	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2);	36	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2);
37		37
38	for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD \|= (1 << PORTD2);	38	for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD \|= (1 << PORTD2);
39	for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2);	39	for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2);
40	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD \|= (1 << PORTD2);	40	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD \|= (1 << PORTD2);
41	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2);	41	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2);
42		42
43	for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD \|= (1 << PORTD2);	43	for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD \|= (1 << PORTD2);
44	for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2);	44	for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2);
45	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD \|= (1 << PORTD2);	45	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD \|= (1 << PORTD2);
46	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2);	46	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2);
47		47
48	for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD \|= (1 << PORTD2);	48	for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD \|= (1 << PORTD2);
49	for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2);	49	for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2);
50	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD \|= (1 << PORTD2);	50	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD \|= (1 << PORTD2);
51		51
52	}	52	}
53	else	53	else
54	{ printf("Timeout.\n\r");	54	{ printf("Timeout.\n\r");
55		55
56		56
57	}	57	}
58		58
59	DDRD &= ~(1 << DDD2); // RX as input	59	DDRD &= ~(1 << DDD2); // RX as input
60	PORTD &= ~(1 << PORTD2);	60	PORTD &= ~(1 << PORTD2);
61		61
62	SpektrumUartInit(); // init Uart again	62	SpektrumUartInit(); // init Uart again
63	}	63	}
64		64
65	//############################################################################	65	//############################################################################
66	// USART1 initialisation from killagreg	66	// USART1 initialisation from killagreg
67	void SpektrumUartInit(void)	67	void SpektrumUartInit(void)
68	//############################################################################	68	//############################################################################
69	{	69	{
70	// -- Start of USART1 initialisation for Spekturm seriell-mode	70	// -- Start of USART1 initialisation for Spekturm seriell-mode
71	// USART1 Control and Status Register A, B, C and baud rate register	71	// USART1 Control and Status Register A, B, C and baud rate register
72	uint8_t sreg = SREG;	72	uint8_t sreg = SREG;
73		73
74	uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1);	74	uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1);
75		75
76	// disable all interrupts before reconfiguration	76	// disable all interrupts before reconfiguration
77	cli();	77	cli();
78	// disable RX-Interrupt	78	// disable RX-Interrupt
79	UCSR1B &= ~(1 << RXCIE1);	79	UCSR1B &= ~(1 << RXCIE1);
80	// disable TX-Interrupt	80	// disable TX-Interrupt
81	UCSR1B &= ~(1 << TXCIE1);	81	UCSR1B &= ~(1 << TXCIE1);
82	// disable DRE-Interrupt	82	// disable DRE-Interrupt
83	UCSR1B &= ~(1 << UDRIE1);	83	UCSR1B &= ~(1 << UDRIE1);
84	// set direction of RXD1 and TXD1 pins	84	// set direction of RXD1 and TXD1 pins
85	// set RXD1 (PD2) as an input pin	85	// set RXD1 (PD2) as an input pin
86	PORTD \|= (1 << PORTD2);	86	PORTD \|= (1 << PORTD2);
87	DDRD &= ~(1 << DDD2);	87	DDRD &= ~(1 << DDD2);
88		88
89	// set TXD1 (PD3) as an output pin	89	// set TXD1 (PD3) as an output pin
90	PORTD \|= (1 << PORTD3);	90	PORTD \|= (1 << PORTD3);
91	DDRD \|= (1 << DDD3);	91	DDRD \|= (1 << DDD3);
92		92
93	// USART0 Baud Rate Register	93	// USART0 Baud Rate Register
94	// set clock divider	94	// set clock divider
95	UBRR1H = (uint8_t)(ubrr>>8);	95	UBRR1H = (uint8_t)(ubrr>>8);
96	UBRR1L = (uint8_t)ubrr;	96	UBRR1L = (uint8_t)ubrr;
97	// enable double speed operation	97	// enable double speed operation
98	UCSR1A \|= (1 << U2X1);	98	UCSR1A \|= (1 << U2X1);
99	// enable receiver and transmitter	99	// enable receiver and transmitter
100	//UCSR1B = (1<<RXEN1)\|(1<<TXEN1);	100	//UCSR1B = (1<<RXEN1)\|(1<<TXEN1);
101		101
102	UCSR1B = (1<<RXEN1);	102	UCSR1B = (1<<RXEN1);
103	// set asynchronous mode	103	// set asynchronous mode
104	UCSR1C &= ~(1 << UMSEL11);	104	UCSR1C &= ~(1 << UMSEL11);
105	UCSR1C &= ~(1 << UMSEL10);	105	UCSR1C &= ~(1 << UMSEL10);
106	// no parity	106	// no parity
107	UCSR1C &= ~(1 << UPM11);	107	UCSR1C &= ~(1 << UPM11);
108	UCSR1C &= ~(1 << UPM10);	108	UCSR1C &= ~(1 << UPM10);
109	// 1 stop bit	109	// 1 stop bit
110	UCSR1C &= ~(1 << USBS1);	110	UCSR1C &= ~(1 << USBS1);
111	// 8-bit	111	// 8-bit
112	UCSR1B &= ~(1 << UCSZ12);	112	UCSR1B &= ~(1 << UCSZ12);
113	UCSR1C \|= (1 << UCSZ11);	113	UCSR1C \|= (1 << UCSZ11);
114	UCSR1C \|= (1 << UCSZ10);	114	UCSR1C \|= (1 << UCSZ10);
115	// flush receive buffer explicit	115	// flush receive buffer explicit
116	while(UCSR1A & (1<<RXC1)) UDR1;	116	while(UCSR1A & (1<<RXC1)) UDR1;
117	// enable RX-interrupts at the end	117	// enable RX-interrupts at the end
118	UCSR1B \|= (1 << RXCIE1);	118	UCSR1B \|= (1 << RXCIE1);
119	// -- End of USART1 initialisation	119	// -- End of USART1 initialisation
120	// restore global interrupt flags	120	// restore global interrupt flags
121		121
122	SREG = sreg;	122	SREG = sreg;
123	return;	123	return;
124	}	124	}
125		125
126	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	126	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
127	// + Copyright (c) Rainer Walther	127	// + Copyright (c) Rainer Walther
128	// + RC-routines from original MK rc.c (c) H&I	128	// + RC-routines from original MK rc.c (c) H&I
129	// + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2	129	// + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2
130	// + only for non-profit use	130	// + only for non-profit use
131	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	131	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
132	//	132	//
133	// 20080808 rw Modified for Spektrum AR6100 (PPM)	133	// 20080808 rw Modified for Spektrum AR6100 (PPM)
134	// 20080823 rw Add Spektrum satellite receiver on USART1 (644P only)	134	// 20080823 rw Add Spektrum satellite receiver on USART1 (644P only)
135	// 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels)	135	// 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels)
136	// Replace AR6100-coding with original composit-signal routines	136	// Replace AR6100-coding with original composit-signal routines
137	//	137	//
138	// ---	138	// ---
139	// Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben!	139	// Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben!
140	// Binding is not implemented. Bind with external Receiver.	140	// Binding is not implemented. Bind with external Receiver.
141	// Servo output J3, J4, J5 not serviced	141	// Servo output J3, J4, J5 not serviced
142	//	142	//
143	// Anschuß Spektrum Receiver	143	// Anschuß Spektrum Receiver
144	// Orange: 3V von der FC (keinesfalls an 5V anschließen!)	144	// Orange: 3V von der FC (keinesfalls an 5V anschließen!)
145	// Schwarz: GND	145	// Schwarz: GND
146	// Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker	146	// Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker
147	//	147	//
148	// ---	148	// ---
149	// Satellite-Reciever connected on USART1:	149	// Satellite-Reciever connected on USART1:
150	//	150	//
151	// DX7/DX6i: One data-frame at 115200 baud every 22ms.	151	// DX7/DX6i: One data-frame at 115200 baud every 22ms.
152	// DX7se: One data-frame at 115200 baud every 11ms.	152	// DX7se: One data-frame at 115200 baud every 11ms.
153	// byte1: unknown	153	// byte1: unknown
154	// byte2: unknown	154	// byte2: unknown
155	// byte3: and byte4: channel data (FLT-Mode)	155	// byte3: and byte4: channel data (FLT-Mode)
156	// byte5: and byte6: channel data (Roll)	156	// byte5: and byte6: channel data (Roll)
157	// byte7: and byte8: channel data (Nick)	157	// byte7: and byte8: channel data (Nick)
158	// byte9: and byte10: channel data (Gier)	158	// byte9: and byte10: channel data (Gier)
159	// byte11: and byte12: channel data (Gear Switch)	159	// byte11: and byte12: channel data (Gear Switch)
160	// byte13: and byte14: channel data (Gas)	160	// byte13: and byte14: channel data (Gas)
161	// byte15: and byte16: channel data (AUX2)	161	// byte15: and byte16: channel data (AUX2)
162	//	162	//
163	// DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9	163	// DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9
164	// 1st Frame:	164	// 1st Frame:
165	// byte1: unknown	165	// byte1: unknown
166	// byte2: unknown	166	// byte2: unknown
167	// byte3: and byte4: channel data	167	// byte3: and byte4: channel data
168	// byte5: and byte6: channel data	168	// byte5: and byte6: channel data
169	// byte7: and byte8: channel data	169	// byte7: and byte8: channel data
170	// byte9: and byte10: channel data	170	// byte9: and byte10: channel data
171	// byte11: and byte12: channel data	171	// byte11: and byte12: channel data
172	// byte13: and byte14: channel data	172	// byte13: and byte14: channel data
173	// byte15: and byte16: channel data	173	// byte15: and byte16: channel data
174	// 2nd Frame:	174	// 2nd Frame:
175	// byte1: unknown	175	// byte1: unknown
176	// byte2: unknown	176	// byte2: unknown
177	// byte3: and byte4: channel data	177	// byte3: and byte4: channel data
178	// byte5: and byte6: channel data	178	// byte5: and byte6: channel data
179	// byte7: and byte8: 0xffff	179	// byte7: and byte8: 0xffff
180	// byte9: and byte10: 0xffff	180	// byte9: and byte10: 0xffff
181	// byte11: and byte12: 0xffff	181	// byte11: and byte12: 0xffff
182	// byte13: and byte14: 0xffff	182	// byte13: and byte14: 0xffff
183	// byte15: and byte16: 0xffff	183	// byte15: and byte16: 0xffff
184	//	184	//
185	// Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as:	185	// Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as:
186	//	186	//
187	// Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0	187	// Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
188	//	188	//
189	// 0 means a '0' bit	189	// 0 means a '0' bit
190	// F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only)	190	// F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only)
191	// C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter)	191	// C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter)
192	// D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel	192	// D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel
193	//	193	//
194	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	194	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
195		195
196	#define MIN_FRAMEGAP 68 // 7ms	196	#define MIN_FRAMEGAP 68 // 7ms
197	#define MAX_BYTEGAP 3 // 310us	197	#define MAX_BYTEGAP 3 // 310us
198		198
199		-
200		-
201		199
202	//############################################################################	200	//############################################################################
203	//Diese Routine startet und inizialisiert den USART1 für seriellen Spektrum satellite reciever	201	// Wird im UART-Interrupt aufgerufen
204	//############################################################################	202	//############################################################################
205	void SpektrumParser(unsigned char c)	203	void SpektrumParser(unsigned char c)
206	{	204	{
207	static unsigned char Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0;	205	static unsigned char Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0;
208	unsigned int Channel, index;	206	unsigned int Channel, index = 0;
209	signed int signal, tmp;	207	signed int signal = 0, tmp;
210	int bCheckDelay;	208	int bCheckDelay;
211		-
212	// c = UDR1; // get data byte	209	// c = UDR1; // get data byte
213	if(ReSync == 1)	210	if(ReSync == 1)
214	{	211	{
215	// wait for beginning of new frame	212	// wait for beginning of new frame
216	ReSync = 0;	213	ReSync = 0;
217	SpektrumTimer = MIN_FRAMEGAP;	214	SpektrumTimer = MIN_FRAMEGAP;
218	FrameCnt = 0;	215	FrameCnt = 0;
219	Sync = 0;	216	Sync = 0;
220	ByteHigh = 0;	217	ByteHigh = 0;
221	}	218	}
222	else	219	else
223	{	220	{
224	if(!SpektrumTimer) bCheckDelay = 1; else bCheckDelay = 0;//CheckDelay(FrameTimer);	221	if(!SpektrumTimer) bCheckDelay = 1; else bCheckDelay = 0;//CheckDelay(FrameTimer);
225	if ( Sync == 0 )	222	if ( Sync == 0 )
226	{	223	{
227	if(bCheckDelay)	224	if(bCheckDelay)
228	{	225	{
229	// nach einer Pause von mind. 7ms erstes Sync-Character gefunden	226	// nach einer Pause von mind. 7ms erstes Sync-Character gefunden
230	// Zeichen ignorieren, da Bedeutung unbekannt	227	// Zeichen ignorieren, da Bedeutung unbekannt
231	Sync = 1;	228	Sync = 1;
232	FrameCnt ++;	229	FrameCnt ++;
233	SpektrumTimer = MAX_BYTEGAP;	230	SpektrumTimer = MAX_BYTEGAP;
234	}	231	}
235	else	232	else
236	{	233	{
237	// Zeichen kam vor Ablauf der 7ms Sync-Pause	234	// Zeichen kam vor Ablauf der 7ms Sync-Pause
238	// warten auf erstes Sync-Zeichen	235	// warten auf erstes Sync-Zeichen
239	SpektrumTimer = MIN_FRAMEGAP;	236	SpektrumTimer = MIN_FRAMEGAP;
240	FrameCnt = 0;	237	FrameCnt = 0;
241	Sync = 0;	238	Sync = 0;
242	ByteHigh = 0;	239	ByteHigh = 0;
243	}	240	}
244	}	241	}
245	else if((Sync == 1) && !bCheckDelay)	242	else if((Sync == 1) && !bCheckDelay)
246	{	243	{
247	// zweites Sync-Character ignorieren, Bedeutung unbekannt	244	// zweites Sync-Character ignorieren, Bedeutung unbekannt
248	Sync = 2;	245	Sync = 2;
249	FrameCnt ++;	246	FrameCnt ++;
250	SpektrumTimer = MAX_BYTEGAP;	247	SpektrumTimer = MAX_BYTEGAP;
251	}	248	}
252	else if((Sync == 2) && !bCheckDelay)	249	else if((Sync == 2) && !bCheckDelay)
253	{	250	{
254	SpektrumTimer = MAX_BYTEGAP;	251	SpektrumTimer = MAX_BYTEGAP;
255	// Datenbyte high	252	// Datenbyte high
256	ByteHigh = c;	253	ByteHigh = c;
257	if (FrameCnt == 2)	254	if (FrameCnt == 2)
258	{	255	{
259	// is 1st Byte of Channel-data	256	// is 1st Byte of Channel-data
260	// Frame 1 with Channel 1-7 comming next	257	// Frame 1 with Channel 1-7 comming next
261	Frame2 = 0;	258	Frame2 = 0;
262	if(ByteHigh & 0x80)	259	if(ByteHigh & 0x80)
263	{	260	{
264	// DS9: Frame 2 with Channel 8-9 comming next	261	// DS9: Frame 2 with Channel 8-9 comming next
265	Frame2 = 1;	262	Frame2 = 1;
266	}	263	}
267	}	264	}
268	Sync = 3;	265	Sync = 3;
269	FrameCnt ++;	266	FrameCnt ++;
270	}	267	}
271	else if((Sync == 3) && !bCheckDelay)	268	else if((Sync == 3) && !bCheckDelay)
272	{	269	{
273	// Datenbyte low	270	// Datenbyte low
274	// High-Byte for next channel comes next	271	// High-Byte for next channel comes next
275	SpektrumTimer = MAX_BYTEGAP;	272	SpektrumTimer = MAX_BYTEGAP;
276	Sync = 2;	273	Sync = 2;
277	FrameCnt ++;	274	FrameCnt ++;
278	index = (ByteHigh >> 2) & 0x0f;	-
279	index++;	-
280	Channel = ((unsigned int)ByteHigh << 8) \| c;	275	Channel = ((unsigned int)ByteHigh << 8) \| c;
-		276	if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM)
-		277	{
281	signal = Channel & 0x3ff;	278	signal = Channel & 0x3ff;
282	signal -= 0x200; // Offset, range 0x000..0x3ff?	279	signal -= 0x200; // Offset, range 0x000..0x3ff?
283	signal = signal/3; // scaling to fit PPM resolution	280	signal = signal/3; // scaling to fit PPM resolution
-		281	index = (ByteHigh >> 2) & 0x0f;
-		282	}
-		283	else
-		284	if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM_HI_RES)
-		285	{
-		286	signal = Channel & 0x7ff;
-		287	signal -= 0x400; // Offset, range 0x000..0x7ff?
-		288	signal = signal/6; // scaling to fit PPM resolution
-		289	index = (ByteHigh >> 3) & 0x0f;
-		290	}
-		291	else
-		292	//if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM_LOW_RES)
-		293	{
-		294	signal = Channel & 0x3ff;
-		295	signal -= 360; // Offset, range 0x000..0x3ff?
-		296	signal = signal/2; // scaling to fit PPM resolution
-		297	index = (ByteHigh >> 2) & 0x0f;
-		298	}
-		299
284		300	index++;
285	if(index > 0 && index < 13)	301	if(index < 13)
286	{	302	{
287	// Stabiles Signal	303	// Stabiles Signal
288	if(abs(signal - PPM_in[index]) < 6)	304	if(abs(signal - PPM_in[index]) < 6)
289	{	305	{
290	if(SenderOkay < 200) SenderOkay += 10;	306	if(SenderOkay < 200) SenderOkay += 10;
291	else	307	else
292	{	308	{
293	SenderOkay = 200;	309	SenderOkay = 200;
294	TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input	310	TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input
295	}	311	}
296	}	312	}
297	tmp = (3 * (PPM_in[index]) + signal) / 4;	313	tmp = (3 * (PPM_in[index]) + signal) / 4;
298	if(tmp > signal+1) tmp--; else	314	if(tmp > signal+1) tmp--; else
299	if(tmp < signal-1) tmp++;	315	if(tmp < signal-1) tmp++;
300	if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;	316	if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
301	else PPM_diff[index] = 0;	317	else PPM_diff[index] = 0;
302	PPM_in[index] = tmp;	318	PPM_in[index] = tmp;
303	}	319	}
304	else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren	320	else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren
305	}	321	}
306	else	322	else
307	{	323	{
308	// hier stimmt was nicht: neu synchronisieren	324	// hier stimmt was nicht: neu synchronisieren
309	ReSync = 1;	325	ReSync = 1;
310	FrameCnt = 0;	326	FrameCnt = 0;
311	Frame2 = 0;	327	Frame2 = 0;
312	// new frame next, nach fruehestens 7ms erwartet	328	// new frame next, nach fruehestens 7ms erwartet
313	SpektrumTimer = MIN_FRAMEGAP;	329	SpektrumTimer = MIN_FRAMEGAP;
314	}	330	}
315		331
316	// 16 Bytes eingetroffen -> Komplett	332	// 16 Bytes eingetroffen -> Komplett
317	if(FrameCnt >= 16)	333	if(FrameCnt >= 16)
318	{	334	{
319	// Frame complete	335	// Frame complete
320	if(Frame2 == 0)	336	if(Frame2 == 0)
321	{	337	{
322	// Null bedeutet: Neue Daten	338	// Null bedeutet: Neue Daten
323	// nur beim ersten Frame (CH 0-7) setzen	339	// nur beim ersten Frame (CH 0-7) setzen
324	if(!ReSync) NewPpmData = 0;	340	if(!ReSync) NewPpmData = 0;
325	}	341	}
326	FrameCnt = 0;	342	FrameCnt = 0;
327	Frame2 = 0;	343	Frame2 = 0;
328	Sync = 0;	344	Sync = 0;
329	SpektrumTimer = MIN_FRAMEGAP;	345	SpektrumTimer = MIN_FRAMEGAP;
330	}	346	}
331	}	347	}
332	}	348	}
333		349
334		350
335		351

Subversion Repositories FlightCtrl

(root)/branches/MartinW_Jeti+/Spektrum.c @ 2059 - Rev 1431 → 1481