Rev 1152 | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 1152 | Rev 1208 | ||
---|---|---|---|
1 | /* |
1 | /* |
2 | Copyright (c) 2008 Stefan Engelke <stefan@tinkerer.eu> |
2 | Copyright (c) 2008 Stefan Engelke <stefan@tinkerer.eu> |
3 | 3 | ||
4 | Permission is hereby granted, free of charge, to any person |
4 | Permission is hereby granted, free of charge, to any person |
5 | obtaining a copy of this software and associated documentation |
5 | obtaining a copy of this software and associated documentation |
6 | files (the "Software"), to deal in the Software without |
6 | files (the "Software"), to deal in the Software without |
7 | restriction, including without limitation the rights to use, copy, |
7 | restriction, including without limitation the rights to use, copy, |
8 | modify, merge, publish, distribute, sublicense, and/or sell copies |
8 | modify, merge, publish, distribute, sublicense, and/or sell copies |
9 | of the Software, and to permit persons to whom the Software is |
9 | of the Software, and to permit persons to whom the Software is |
10 | furnished to do so, subject to the following conditions: |
10 | furnished to do so, subject to the following conditions: |
11 | 11 | ||
12 | The above copyright notice and this permission notice shall be |
12 | The above copyright notice and this permission notice shall be |
13 | included in all copies or substantial portions of the Software. |
13 | included in all copies or substantial portions of the Software. |
14 | 14 | ||
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
16 | EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF |
16 | EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF |
17 | MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
17 | MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
18 | NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
18 | NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
19 | HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
19 | HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
20 | WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
20 | WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
21 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER |
21 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER |
22 | DEALINGS IN THE SOFTWARE. |
22 | DEALINGS IN THE SOFTWARE. |
23 | |
23 | |
24 | $Id: rcdsl.c 62 2008-08-21 16:09:07Z tensor $ |
24 | $Id: rcdsl.c 62 2008-08-21 16:09:07Z tensor $ |
25 | |
25 | |
26 | RCDSL.H and RCDSL.C is an INOFFICIAL implementation of the |
26 | RCDSL.H and RCDSL.C is an INOFFICIAL implementation of the |
27 | communication protocol used by DSL receivers of Act Europe. |
27 | communication protocol used by DSL receivers of Act Europe. |
28 | The DSL receivers have a serial communication port to connect |
28 | The DSL receivers have a serial communication port to connect |
29 | two receivers in diversity mode. Each receiver is sending the |
29 | two receivers in diversity mode. Each receiver is sending the |
30 | received servo signals periodically over this port. This fact |
30 | received servo signals periodically over this port. This fact |
31 | can be used to connect the receiver to the control unit of the |
31 | can be used to connect the receiver to the control unit of the |
32 | model via UART instead of evaluating the PPM signal. |
32 | model via UART instead of evaluating the PPM signal. |
33 | The UART parameters are |
33 | The UART parameters are |
34 | 38400 Baud, 8-N-1 |
34 | 38400 Baud, 8-N-1 |
35 | |
35 | |
36 | If you have any questions, feel free to send me an e-mail. |
36 | If you have any questions, feel free to send me an e-mail. |
- | 37 | ||
- | 38 | Connection of DSL to SV1 of FC: |
|
- | 39 | ( DSL Pin1 is on side of channel 4 ) |
|
- | 40 | ||
- | 41 | 1. GND <--> pin 7 (GND) |
|
- | 42 | 2. TXD <--> pin 3 (RXD1 Atmega644p) |
|
- | 43 | 3. RXD <--> pin 4 (TXD1 Atmega644p) optional |
|
- | 44 | 4. 5V <--> pin 2 (5V) |
|
- | 45 | ||
- | 46 | Do not connect the receiver via PPM-Sumsignal output the same time. |
|
- | 47 | ||
- | 48 | Data are send at 38400baud8n1 |
|
- | 49 | ||
- | 50 | Data Frame: |0xFF|0xFF|0x1F|FREQALLOC|??|RSSI|VBAT|??|CRC|10|CH0D1|CH0D0|CH1D1|CH1D0|CRC| ...etc |
|
- | 51 | ||
- | 52 | FREQALLOC = 35, 40, 72 |
|
- | 53 | RSSI = 0.. 255 // Received signal strength indicator |
|
- | 54 | VBAT = 0...255 // supply voltage (0.0V.. 8.2V) |
|
- | 55 | ||
- | 56 | Servo Pair: |0x1X|CHXD1|CHXD0|CHX+1D1|CHX+1D0|CRC| |
|
- | 57 | X is channel index of 1 servo value |
|
- | 58 | D1D0 is servo value as u16 in range of 7373 (1ms) to 14745 (2ms) |
|
- | 59 | there are 8 channels submitted, i.e 4 servo pairs |
|
- | 60 | ||
- | 61 | ||
- | 62 | Frame examples with signel received |
|
- | 63 | ||
- | 64 | FFFF 1F23F079A304AD 1036012B1E6F 122AFB2AECB2 142B4D2B4404 1636872B33CE |
|
- | 65 | FFFF 1F23F079A304AD 1036002B1F6F 122AFE2AEBB0 142B4B2B4406 1636872B33CE |
|
- | 66 | FFFF 1F23F079A304AD 1035FF2B226E 122AFC2AEAB3 142B4E2B4304 1636882B33CD |
|
- | 67 | FFFF 1F23F079A304AD 1036022B1E6E 122AFB2AEEB0 142B4A2B4506 1636872B33CE |
|
- | 68 | FFFF 1F23F079A304AD 1036022B1E6E 122AFE2AEBB0 142B4B2B4406 1636882B33CD |
|
- | 69 | FFFF 1F23F079A304AD 1036012B1E6F 122AFD2AEAB2 142B4E2B4403 1636862B33CF |
|
- | 70 | FFFF 1F23F079A304AD 1036032B1D6E 122AFD2AEBB1 142B4C2B4504 1636862B33CF |
|
- | 71 | ||
- | 72 | Frame examples with no signal received |
|
- | 73 | ||
- | 74 | FFFF 1F23F000A30426 |
|
- | 75 | FFFF 1F23F000A30426 |
|
- | 76 | FFFF 1F23F000A30426 |
|
- | 77 | FFFF 1F23F000A30426 |
|
- | 78 | FFFF 1F23F000A30426 |
|
- | 79 | FFFF 1F23F000A30426 |
|
37 | 80 | FFFF 1F23F000A30426 |
|
38 | */ |
81 | */ |
39 | 82 | ||
40 | #include "rcdsl.h" |
83 | #include "rcdsl.h" |
41 | 84 | ||
42 | #include "main.h" |
85 | #include "main.h" |
43 | 86 | ||
44 | volatile unsigned char data_counter = 0; |
87 | volatile unsigned char data_counter = 0; |
45 | volatile unsigned char last_byte = 0; |
88 | volatile unsigned char last_byte = 0; |
46 | unsigned char check_sum = 0; |
89 | unsigned char check_sum = 0; |
47 | unsigned char paket_len = 0; |
90 | unsigned char paket_len = 0; |
48 | 91 | ||
49 | #define UART1_BAUDRATE 38400 |
92 | #define UART1_BAUDRATE 38400 |
50 | 93 | ||
51 | volatile uint8_t rcdsl_RSSI = 0; |
94 | volatile uint8_t rcdsl_RSSI = 0; |
52 | uint8_t rcdsl_battery=0; |
95 | volatile uint8_t rcdsl_battery=0; |
53 | uint8_t rcdsl_allocation=0; |
96 | volatile uint8_t rcdsl_allocation=0; |
54 | uint8_t data[6]; |
97 | volatile uint8_t data[6]; |
55 | 98 | ||
56 | typedef union { |
99 | typedef union { |
57 | uint16_t pos[2]; |
100 | uint16_t pos[2]; |
58 | uint8_t dat[4]; |
101 | uint8_t dat[4]; |
59 | } servos_t; |
102 | } servos_t; |
- | 103 | ||
60 | 104 | ||
61 | void rcdsl_init(void) { |
105 | void rcdsl_init(void) { |
62 | 106 | ||
63 | // Save state of status register and disable interrupts |
107 | // Save state of status register and disable interrupts |
64 | uint8_t sreg = SREG; |
108 | uint8_t sreg = SREG; |
65 | cli(); |
109 | cli(); |
66 | 110 | ||
67 | // Set baud rate |
111 | // Set baud rate |
68 | UBRR1 = (uint16_t) ((uint32_t) F_CPU/(16*UART1_BAUDRATE) - 1); |
112 | UBRR1 = (uint16_t) ((uint32_t) F_CPU/(16*UART1_BAUDRATE) - 1); |
69 | 113 | ||
70 | 114 | ||
71 | // UART Receiver und Transmitter anschalten |
115 | // UART Receiver und Transmitter anschalten |
72 | // Data mode 8N1, asynchron |
116 | // Data mode 8N1, asynchron |
73 | UCSR1B = (1 << RXEN1) | (1 << TXEN0) | (1 << RXCIE1); |
117 | UCSR1B = (1 << RXEN1) | (1 << TXEN0) | (1 << RXCIE1); |
74 | UCSR1C = (1 << UCSZ11) | (1 << UCSZ10); |
118 | UCSR1C = (1 << UCSZ11) | (1 << UCSZ10); |
75 | 119 | ||
76 | // Flush Receive-Buffer |
120 | // Flush Receive-Buffer |
77 | do { UDR1; } |
121 | do { UDR1; } |
78 | while (UCSR1A & (1 << RXC1)); |
122 | while (UCSR1A & (1 << RXC1)); |
79 | 123 | ||
80 | // Clear rx and tx interrupt flags |
124 | // Clear rx and tx interrupt flags |
81 | UCSR1A = (1 << RXC1) | (1 << TXC1); |
125 | UCSR1A = (1 << RXC1) | (1 << TXC1); |
82 | 126 | ||
83 | // Reactive interrupts, if they were active before |
127 | // Reactive interrupts, if they were active before |
84 | SREG = sreg; |
128 | SREG = sreg; |
- | 129 | ||
- | 130 | printf("\n\rUART 1 initialized."); |
|
85 | 131 | ||
86 | } |
132 | } |
87 | 133 | ||
88 | void rcdsl_new_signal(uint8_t channel, int16_t signal) |
134 | void rcdsl_new_signal(uint8_t channel, int16_t signal) |
89 | // This function is called, when a new servo signal is properly received. |
135 | // This function is called, when a new servo signal is properly received. |
90 | // Parameters: servo - servo number (0-9) |
136 | // Parameters: servo - servo number (0-9) |
91 | // signal - servo signal between 7373 (1ms) and 14745 (2ms) |
137 | // signal - servo signal between 7373 (1ms) and 14745 (2ms) |
92 | { |
138 | { |
93 | volatile signed int tmp; |
139 | volatile signed int tmp; |
94 | uint8_t index = channel+1; // Der MK fängt bei 1 an zu zählen |
140 | uint8_t index = channel+1; // Der MK fängt bei 1 an zu zählen |
95 | 141 | ||
96 | 142 | ||
97 | // Signal vom ACTDSL-Empfänger liegt zwischen |
143 | // Signal vom ACTDSL-Empfänger liegt zwischen |
98 | // 7373 (1ms) und 14745 (2ms). |
144 | // 7373 (1ms) und 14745 (2ms). |
99 | signal-= 11059; // Neutralstellung zur Null verschieben |
145 | signal-= 11059; // Neutralstellung zur Null verschieben |
100 | signal/= 24; // Auf MK Skalierung umrechnen |
146 | signal/= 24; // Auf MK Skalierung umrechnen |
101 | 147 | ||
102 | // Stabiles Signal |
148 | // Stabiles Signal |
103 | //if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
149 | //if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
104 | 150 | ||
105 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
151 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
106 | if(tmp > signal+1) tmp--; else |
152 | if(tmp > signal+1) tmp--; else |
107 | if(tmp < signal-1) tmp++; |
153 | if(tmp < signal-1) tmp++; |
108 | if(SenderOkay >= 105) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
154 | if(SenderOkay >= 105) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
109 | else PPM_diff[index] = 0; |
155 | else PPM_diff[index] = 0; |
110 | PPM_in[index] = tmp; |
156 | PPM_in[index] = tmp; |
111 | //NewPpmData = 0; |
157 | //NewPpmData = 0; |
112 | //NewActData = 1; |
158 | //NewActData = 1; |
113 | if(index == 4) { |
159 | if(index == 4) { |
114 | //NewActData = 1; |
160 | //NewActData = 1; |
115 | NewPpmData = 0; |
161 | NewPpmData = 0; |
116 | //PORTC = (PORTC&(~(1<<PC4))) | ((~PORTC)&(1<<PC4)); |
162 | //PORTC = (PORTC&(~(1<<PC4))) | ((~PORTC)&(1<<PC4)); |
117 | //PINC = (1<<PC4); |
163 | //PINC = (1<<PC4); |
118 | } |
164 | } |
119 | //PPM_in[index] = signal; |
165 | //PPM_in[index] = signal; |
120 | 166 | ||
121 | } |
167 | } |
122 | 168 | ||
123 | 169 | ||
124 | void rcdsl_incoming_paket(void) |
170 | void rcdsl_incoming_paket(void) |
125 | // This function is called within rcdsl_parse_data(), when a complete |
171 | // This function is called within rcdsl_parse_data(), when a complete |
126 | // data paket with matching checksum has been received. |
172 | // data paket with matching checksum has been received. |
127 | { |
173 | { |
128 | 174 | ||
129 | uint8_t i; |
175 | uint8_t i; |
130 | static servos_t servos; |
176 | static servos_t servos; |
131 | // Look for status headers |
177 | // Look for status headers |
132 | if ((data[0])==0x1F) { |
178 | if ((data[0])==0x1F) { |
133 | // Get frequency allocation |
179 | // Get frequency allocation |
134 | rcdsl_allocation = data[0+1]; |
180 | rcdsl_allocation = data[0+1]; |
135 | // Get signal quality |
181 | // Get signal quality |
136 | rcdsl_RSSI = data[2+1]; |
182 | rcdsl_RSSI = data[2+1]; |
- | 183 | SenderOkay = (212 * (uint16_t) rcdsl_RSSI) / 128; // have to be scaled approx. by a factor of 1.66 to get 200 at full level |
|
- | 184 | if(SenderOkay > 255) SenderOkay = 255; |
|
137 | // Get voltage of battery supply |
185 | // Get voltage of battery supply |
138 | rcdsl_battery = data[3+1]; |
186 | rcdsl_battery = data[3+1]; |
139 | } |
187 | } |
140 | 188 | ||
141 | // Look for signal headers |
189 | // Look for signal headers |
142 | if ((data[0]&0xF0)==0x10) { |
190 | if ((data[0]&0xF0)==0x10) { |
143 | 191 | ||
144 | i = data[0]&0x0F; // Last 4 bits of the header indicates servo pair |
192 | i = data[0]&0x0F; // Last 4 bits of the header indicates servo pair |
145 | 193 | ||
146 | if (i<10) { |
194 | if (i<10) { |
147 | // Convert byte array to two uint16 |
195 | // Convert byte array to two uint16 |
148 | servos.dat[1] = data[1]; |
196 | servos.dat[1] = data[1]; |
149 | servos.dat[0] = data[2]; |
197 | servos.dat[0] = data[2]; |
150 | servos.dat[3] = data[3]; |
198 | servos.dat[3] = data[3]; |
151 | servos.dat[2] = data[4]; |
199 | servos.dat[2] = data[4]; |
152 | 200 | ||
153 | rcdsl_new_signal(i , (int16_t)servos.pos[0]); |
201 | rcdsl_new_signal(i , (int16_t)servos.pos[0]); |
154 | rcdsl_new_signal(i+1, (int16_t)servos.pos[1]); |
202 | rcdsl_new_signal(i+1, (int16_t)servos.pos[1]); |
155 | } |
203 | } |
156 | } |
204 | } |
157 | } |
205 | } |
158 | 206 | ||
159 | 207 | ||
160 | void rcdsl_parse_data(uint8_t b) |
208 | void rcdsl_parse_data(uint8_t b) |
161 | // This function should be called externaly, when a new data byte has |
209 | // This function should be called externaly, when a new data byte has |
162 | // been received over uart. |
210 | // been received over uart. |
163 | { |
211 | { |
164 | 212 | ||
165 | // Check for sync condition |
213 | // Check for sync condition |
166 | if ((b==0xFF) && (last_byte==0xFF)) { |
214 | if ((b==0xFF) && (last_byte==0xFF)) { |
167 | data_counter = 0; |
215 | data_counter = 0; |
168 | check_sum = 0; |
216 | check_sum = 0; |
169 | return; |
217 | return; |
170 | } |
218 | } |
171 | 219 | ||
172 | // First byte is cmd |
220 | // First byte is cmd |
173 | if (data_counter == 0) { |
221 | if (data_counter == 0) { |
174 | if (b==0x1F) paket_len = 5; else paket_len=4; |
222 | if (b==0x1F) paket_len = 5; else paket_len=4; |
175 | } |
223 | } |
176 | 224 | ||
177 | // Last byte is checksum |
225 | // Last byte is checksum |
178 | if (data_counter > paket_len) { |
226 | if (data_counter > paket_len) { |
179 | 227 | ||
180 | // Calculate checksum |
228 | // Calculate checksum |
181 | check_sum = ~check_sum; |
229 | check_sum = ~check_sum; |
182 | if (check_sum==0xFF) check_sum=0xFE; |
230 | if (check_sum==0xFF) check_sum=0xFE; |
183 | 231 | ||
184 | // If it match the received one, then apply data |
232 | // If it match the received one, then apply data |
185 | if (b==check_sum) rcdsl_incoming_paket(); |
233 | if (b==check_sum) rcdsl_incoming_paket(); |
186 | 234 | ||
187 | // Prepare for a new data paket |
235 | // Prepare for a new data paket |
188 | data_counter = 0; |
236 | data_counter = 0; |
189 | check_sum = 0; |
237 | check_sum = 0; |
190 | 238 | ||
191 | 239 | ||
192 | // New byte within a paket |
240 | // New byte within a paket |
193 | } else { |
241 | } else { |
194 | 242 | ||
195 | data[data_counter] = b; |
243 | data[data_counter] = b; |
196 | check_sum += b; |
244 | check_sum += b; |
197 | data_counter++; |
245 | data_counter++; |
198 | 246 | ||
199 | } |
247 | } |
200 | 248 | ||
201 | // Remember last byte received for detection of sync condition |
249 | // Remember last byte received for detection of sync condition |
202 | last_byte = b; |
250 | last_byte = b; |
203 | } |
251 | } |
204 | 252 | ||
205 | 253 | ||
206 | ISR (USART1_RX_vect) |
254 | ISR (USART1_RX_vect) |
207 | { |
255 | { |
208 | rcdsl_parse_data(UDR1); |
256 | rcdsl_parse_data(UDR1); |
209 | } |
257 | } |
210 | 258 |