WebSVN - FlightCtrl - Diff - Rev 1419 and 1424 - /branches/V0.80f_ACC-HH


/*#######################################################################################
Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit
#######################################################################################*/
 
#include "Spectrum.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
        uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1);
        // 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);
        // 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
  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
 
 
 
 
//############################################################################
//Diese Routine startet und inizialisiert den USART1 für seriellen Spektrum satellite reciever
//SIGNAL(USART1_RX_vect)
//############################################################################
void SpektrumParser(unsigned char c)
{
    static unsigned char Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0;
        unsigned int Channel, index;
        signed int signal, 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 ++;
                index = (ByteHigh >> 2) & 0x0f;
                index++;
                Channel = ((unsigned int)ByteHigh << 8) | c;
                signal = Channel & 0x3ff;
                signal -= 0x200;                // Offset, range 0x000..0x3ff?
                signal = signal/3;              // scaling to fit PPM resolution
 
                if(index > 0  &&  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 1419	Rev 1424
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 "Spectrum.h"	5	#include "Spectrum.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	//--------------------------------------------------------------//	11	//--------------------------------------------------------------//
12	void SpektrumBinding(void)	12	void SpektrumBinding(void)
13	{	13	{
14	unsigned int timerTimeout = SetDelay(10000); // Timeout 10 sec.	14	unsigned int timerTimeout = SetDelay(10000); // Timeout 10 sec.
15	unsigned char connected = 0;	15	unsigned char connected = 0;
16	unsigned int delaycounter;	16	unsigned int delaycounter;
17		17
18	UCSR1B &= ~(1 << RXCIE1); // disable rx-interrupt	18	UCSR1B &= ~(1 << RXCIE1); // disable rx-interrupt
19	UCSR1B &= ~(1<<RXEN1); // disable Uart-Rx	19	UCSR1B &= ~(1<<RXEN1); // disable Uart-Rx
20	PORTD &= ~(1 << PORTD2); // disable pull-up	20	PORTD &= ~(1 << PORTD2); // disable pull-up
21		21
22	printf("\n\rPlease connect Spektrum receiver for binding NOW...");	22	printf("\n\rPlease connect Spektrum receiver for binding NOW...");
23		23
24	while(!CheckDelay(timerTimeout))	24	while(!CheckDelay(timerTimeout))
25	{	25	{
26	if (PIND & (1 << PORTD2)) { timerTimeout = SetDelay(90); connected = 1; break; }	26	if (PIND & (1 << PORTD2)) { timerTimeout = SetDelay(90); connected = 1; break; }
27	}	27	}
28		28
29	if (connected)	29	if (connected)
30	{	30	{
31		31
32	printf("ok.\n\r");	32	printf("ok.\n\r");
33	DDRD \|= (1 << DDD2); // Rx as output	33	DDRD \|= (1 << DDD2); // Rx as output
34		34
35	while(!CheckDelay(timerTimeout)); // delay after startup of RX	35	while(!CheckDelay(timerTimeout)); // delay after startup of RX
36	for (delaycounter = 0; delaycounter < 100; delaycounter++) PORTD \|= (1 << PORTD2);	36	for (delaycounter = 0; delaycounter < 100; delaycounter++) PORTD \|= (1 << PORTD2);
37	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2);	37	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2);
38		38
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 < 10; delaycounter++) PORTD &= ~(1 << PORTD2);	40	for (delaycounter = 0; delaycounter < 10; 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	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2);	42	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2);
43		43
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 < 10; delaycounter++) PORTD &= ~(1 << PORTD2);	45	for (delaycounter = 0; delaycounter < 10; 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	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2);	47	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2);
48		48
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 < 10; delaycounter++) PORTD &= ~(1 << PORTD2);	50	for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2);
51	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD \|= (1 << PORTD2);	51	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD \|= (1 << PORTD2);
52		52
53	}	53	}
54	else	54	else
55	{ printf("Timeout.\n\r");	55	{ printf("Timeout.\n\r");
56		56
57		57
58	}	58	}
59		59
60	DDRD &= ~(1 << DDD2); // RX as input	60	DDRD &= ~(1 << DDD2); // RX as input
61	PORTD &= ~(1 << PORTD2);	61	PORTD &= ~(1 << PORTD2);
62		62
63	Uart1Init(); // init Uart again	63	SpektrumUartInit(); // init Uart again
64	}	64	}
65		65
66	//############################################################################	66	//############################################################################
67	// USART1 initialisation from killagreg	67	// USART1 initialisation from killagreg
68	void Uart1Init(void)	68	void SpektrumUartInit(void)
69	//############################################################################	69	//############################################################################
70	{	70	{
71	// -- Start of USART1 initialisation for Spekturm seriell-mode	71	// -- Start of USART1 initialisation for Spekturm seriell-mode
72	// USART1 Control and Status Register A, B, C and baud rate register	72	// USART1 Control and Status Register A, B, C and baud rate register
73	uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1);	73	uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1);
74	// disable RX-Interrupt	74	// disable RX-Interrupt
75	UCSR1B &= ~(1 << RXCIE1);	75	UCSR1B &= ~(1 << RXCIE1);
76	// disable TX-Interrupt	76	// disable TX-Interrupt
77	UCSR1B &= ~(1 << TXCIE1);	77	UCSR1B &= ~(1 << TXCIE1);
78	// disable DRE-Interrupt	78	// disable DRE-Interrupt
79	UCSR1B &= ~(1 << UDRIE1);	79	UCSR1B &= ~(1 << UDRIE1);
80	// set direction of RXD1 and TXD1 pins	80	// set direction of RXD1 and TXD1 pins
81	// set RXD1 (PD2) as an input pin	81	// set RXD1 (PD2) as an input pin
82	PORTD \|= (1 << PORTD2);	82	PORTD \|= (1 << PORTD2);
83	DDRD &= ~(1 << DDD2);	83	DDRD &= ~(1 << DDD2);
84	// USART0 Baud Rate Register	84	// USART0 Baud Rate Register
85	// set clock divider	85	// set clock divider
86		86
87	UBRR1H = (uint8_t)(ubrr>>8);	87	UBRR1H = (uint8_t)(ubrr>>8);
88	UBRR1L = (uint8_t)ubrr;	88	UBRR1L = (uint8_t)ubrr;
89	// enable double speed operation	89	// enable double speed operation
90	UCSR1A \|= (1 << U2X1);	90	UCSR1A \|= (1 << U2X1);
91	// enable receiver and transmitter	91	// enable receiver and transmitter
92	//UCSR1B = (1<<RXEN1)\|(1<<TXEN1);	92	//UCSR1B = (1<<RXEN1)\|(1<<TXEN1);
93		93
94	UCSR1B = (1<<RXEN1);	94	UCSR1B = (1<<RXEN1);
95	// set asynchronous mode	95	// set asynchronous mode
96	UCSR1C &= ~(1 << UMSEL11);	96	UCSR1C &= ~(1 << UMSEL11);
97	UCSR1C &= ~(1 << UMSEL10);	97	UCSR1C &= ~(1 << UMSEL10);
98	// no parity	98	// no parity
99	UCSR1C &= ~(1 << UPM11);	99	UCSR1C &= ~(1 << UPM11);
100	UCSR1C &= ~(1 << UPM10);	100	UCSR1C &= ~(1 << UPM10);
101	// 1 stop bit	101	// 1 stop bit
102	UCSR1C &= ~(1 << USBS1);	102	UCSR1C &= ~(1 << USBS1);
103	// 8-bit	103	// 8-bit
104	UCSR1B &= ~(1 << UCSZ12);	104	UCSR1B &= ~(1 << UCSZ12);
105	UCSR1C \|= (1 << UCSZ11);	105	UCSR1C \|= (1 << UCSZ11);
106	UCSR1C \|= (1 << UCSZ10);	106	UCSR1C \|= (1 << UCSZ10);
107	// flush receive buffer explicit	107	// flush receive buffer explicit
108	while(UCSR1A & (1<<RXC1)) UDR1;	108	while(UCSR1A & (1<<RXC1)) UDR1;
109	// enable RX-interrupts at the end	109	// enable RX-interrupts at the end
110	UCSR1B \|= (1 << RXCIE1);	110	UCSR1B \|= (1 << RXCIE1);
111	// -- End of USART1 initialisation	111	// -- End of USART1 initialisation
112	return;	112	return;
113	}	113	}
114		114
115	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	115	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
116	// + Copyright (c) Rainer Walther	116	// + Copyright (c) Rainer Walther
117	// + RC-routines from original MK rc.c (c) H&I	117	// + RC-routines from original MK rc.c (c) H&I
118	// + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2	118	// + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2
119	// + only for non-profit use	119	// + only for non-profit use
120	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	120	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
121	//	121	//
122	// 20080808 rw Modified for Spektrum AR6100 (PPM)	122	// 20080808 rw Modified for Spektrum AR6100 (PPM)
123	// 20080823 rw Add Spektrum satellite receiver on USART1 (644P only)	123	// 20080823 rw Add Spektrum satellite receiver on USART1 (644P only)
124	// 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels)	124	// 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels)
125	// Replace AR6100-coding with original composit-signal routines	125	// Replace AR6100-coding with original composit-signal routines
126	//	126	//
127	// ---	127	// ---
128	// Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben!	128	// Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben!
129	// Binding is not implemented. Bind with external Receiver.	129	// Binding is not implemented. Bind with external Receiver.
130	// Servo output J3, J4, J5 not serviced	130	// Servo output J3, J4, J5 not serviced
131	//	131	//
132	// Anschuß Spektrum Receiver	132	// Anschuß Spektrum Receiver
133	// Orange: 3V von der FC (keinesfalls an 5V anschließen!)	133	// Orange: 3V von der FC (keinesfalls an 5V anschließen!)
134	// Schwarz: GND	134	// Schwarz: GND
135	// Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker	135	// Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker
136	//	136	//
137	// ---	137	// ---
138	// Satellite-Reciever connected on USART1:	138	// Satellite-Reciever connected on USART1:
139	//	139	//
140	// DX7/DX6i: One data-frame at 115200 baud every 22ms.	140	// DX7/DX6i: One data-frame at 115200 baud every 22ms.
141	// DX7se: One data-frame at 115200 baud every 11ms.	141	// DX7se: One data-frame at 115200 baud every 11ms.
142	// byte1: unknown	142	// byte1: unknown
143	// byte2: unknown	143	// byte2: unknown
144	// byte3: and byte4: channel data (FLT-Mode)	144	// byte3: and byte4: channel data (FLT-Mode)
145	// byte5: and byte6: channel data (Roll)	145	// byte5: and byte6: channel data (Roll)
146	// byte7: and byte8: channel data (Nick)	146	// byte7: and byte8: channel data (Nick)
147	// byte9: and byte10: channel data (Gier)	147	// byte9: and byte10: channel data (Gier)
148	// byte11: and byte12: channel data (Gear Switch)	148	// byte11: and byte12: channel data (Gear Switch)
149	// byte13: and byte14: channel data (Gas)	149	// byte13: and byte14: channel data (Gas)
150	// byte15: and byte16: channel data (AUX2)	150	// byte15: and byte16: channel data (AUX2)
151	//	151	//
152	// DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9	152	// DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9
153	// 1st Frame:	153	// 1st Frame:
154	// byte1: unknown	154	// byte1: unknown
155	// byte2: unknown	155	// byte2: unknown
156	// byte3: and byte4: channel data	156	// byte3: and byte4: channel data
157	// byte5: and byte6: channel data	157	// byte5: and byte6: channel data
158	// byte7: and byte8: channel data	158	// byte7: and byte8: channel data
159	// byte9: and byte10: channel data	159	// byte9: and byte10: channel data
160	// byte11: and byte12: channel data	160	// byte11: and byte12: channel data
161	// byte13: and byte14: channel data	161	// byte13: and byte14: channel data
162	// byte15: and byte16: channel data	162	// byte15: and byte16: channel data
163	// 2nd Frame:	163	// 2nd Frame:
164	// byte1: unknown	164	// byte1: unknown
165	// byte2: unknown	165	// byte2: unknown
166	// byte3: and byte4: channel data	166	// byte3: and byte4: channel data
167	// byte5: and byte6: channel data	167	// byte5: and byte6: channel data
168	// byte7: and byte8: 0xffff	168	// byte7: and byte8: 0xffff
169	// byte9: and byte10: 0xffff	169	// byte9: and byte10: 0xffff
170	// byte11: and byte12: 0xffff	170	// byte11: and byte12: 0xffff
171	// byte13: and byte14: 0xffff	171	// byte13: and byte14: 0xffff
172	// byte15: and byte16: 0xffff	172	// byte15: and byte16: 0xffff
173	//	173	//
174	// Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as:	174	// Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as:
175	//	175	//
176	// Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0	176	// Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
177	//	177	//
178	// 0 means a '0' bit	178	// 0 means a '0' bit
179	// F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only)	179	// F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only)
180	// C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter)	180	// C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter)
181	// D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel	181	// D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel
182	//	182	//
183	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	183	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
184		184
185	#define MIN_FRAMEGAP 68 // 7ms	185	#define MIN_FRAMEGAP 68 // 7ms
186	#define MAX_BYTEGAP 3 // 310us	186	#define MAX_BYTEGAP 3 // 310us
187		187
188		188
189		189
190		190
191	//############################################################################	191	//############################################################################
192	//Diese Routine startet und inizialisiert den USART1 für seriellen Spektrum satellite reciever	192	//Diese Routine startet und inizialisiert den USART1 für seriellen Spektrum satellite reciever
193	//SIGNAL(USART1_RX_vect)	193	//SIGNAL(USART1_RX_vect)
194	//############################################################################	194	//############################################################################
195	void SpektrumParser(unsigned char c)	195	void SpektrumParser(unsigned char c)
196	{	196	{
197	static unsigned char Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0;	197	static unsigned char Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0;
198	unsigned int Channel, index;	198	unsigned int Channel, index;
199	signed int signal, tmp;	199	signed int signal, tmp;
200	int bCheckDelay;	200	int bCheckDelay;
201		201
202	// c = UDR1; // get data byte	202	// c = UDR1; // get data byte
203	if(ReSync == 1)	203	if(ReSync == 1)
204	{	204	{
205	// wait for beginning of new frame	205	// wait for beginning of new frame
206	ReSync = 0;	206	ReSync = 0;
207	SpektrumTimer = MIN_FRAMEGAP;	207	SpektrumTimer = MIN_FRAMEGAP;
208	FrameCnt = 0;	208	FrameCnt = 0;
209	Sync = 0;	209	Sync = 0;
210	ByteHigh = 0;	210	ByteHigh = 0;
211	}	211	}
212	else	212	else
213	{	213	{
214	if(!SpektrumTimer) bCheckDelay = 1; else bCheckDelay = 0;//CheckDelay(FrameTimer);	214	if(!SpektrumTimer) bCheckDelay = 1; else bCheckDelay = 0;//CheckDelay(FrameTimer);
215	if ( Sync == 0 )	215	if ( Sync == 0 )
216	{	216	{
217	if(bCheckDelay)	217	if(bCheckDelay)
218	{	218	{
219	// nach einer Pause von mind. 7ms erstes Sync-Character gefunden	219	// nach einer Pause von mind. 7ms erstes Sync-Character gefunden
220	// Zeichen ignorieren, da Bedeutung unbekannt	220	// Zeichen ignorieren, da Bedeutung unbekannt
221	Sync = 1;	221	Sync = 1;
222	FrameCnt ++;	222	FrameCnt ++;
223	SpektrumTimer = MAX_BYTEGAP;	223	SpektrumTimer = MAX_BYTEGAP;
224	}	224	}
225	else	225	else
226	{	226	{
227	// Zeichen kam vor Ablauf der 7ms Sync-Pause	227	// Zeichen kam vor Ablauf der 7ms Sync-Pause
228	// warten auf erstes Sync-Zeichen	228	// warten auf erstes Sync-Zeichen
229	SpektrumTimer = MIN_FRAMEGAP;	229	SpektrumTimer = MIN_FRAMEGAP;
230	FrameCnt = 0;	230	FrameCnt = 0;
231	Sync = 0;	231	Sync = 0;
232	ByteHigh = 0;	232	ByteHigh = 0;
233	}	233	}
234	}	234	}
235	else if((Sync == 1) && !bCheckDelay)	235	else if((Sync == 1) && !bCheckDelay)
236	{	236	{
237	// zweites Sync-Character ignorieren, Bedeutung unbekannt	237	// zweites Sync-Character ignorieren, Bedeutung unbekannt
238	Sync = 2;	238	Sync = 2;
239	FrameCnt ++;	239	FrameCnt ++;
240	SpektrumTimer = MAX_BYTEGAP;	240	SpektrumTimer = MAX_BYTEGAP;
241	}	241	}
242	else if((Sync == 2) && !bCheckDelay)	242	else if((Sync == 2) && !bCheckDelay)
243	{	243	{
244	SpektrumTimer = MAX_BYTEGAP;	244	SpektrumTimer = MAX_BYTEGAP;
245	// Datenbyte high	245	// Datenbyte high
246	ByteHigh = c;	246	ByteHigh = c;
247	if (FrameCnt == 2)	247	if (FrameCnt == 2)
248	{	248	{
249	// is 1st Byte of Channel-data	249	// is 1st Byte of Channel-data
250	// Frame 1 with Channel 1-7 comming next	250	// Frame 1 with Channel 1-7 comming next
251	Frame2 = 0;	251	Frame2 = 0;
252	if(ByteHigh & 0x80)	252	if(ByteHigh & 0x80)
253	{	253	{
254	// DS9: Frame 2 with Channel 8-9 comming next	254	// DS9: Frame 2 with Channel 8-9 comming next
255	Frame2 = 1;	255	Frame2 = 1;
256	}	256	}
257	}	257	}
258	Sync = 3;	258	Sync = 3;
259	FrameCnt ++;	259	FrameCnt ++;
260	}	260	}
261	else if((Sync == 3) && !bCheckDelay)	261	else if((Sync == 3) && !bCheckDelay)
262	{	262	{
263	// Datenbyte low	263	// Datenbyte low
264	// High-Byte for next channel comes next	264	// High-Byte for next channel comes next
265	SpektrumTimer = MAX_BYTEGAP;	265	SpektrumTimer = MAX_BYTEGAP;
266	Sync = 2;	266	Sync = 2;
267	FrameCnt ++;	267	FrameCnt ++;
268	index = (ByteHigh >> 2) & 0x0f;	268	index = (ByteHigh >> 2) & 0x0f;
269	index++;	269	index++;
270	Channel = ((unsigned int)ByteHigh << 8) \| c;	270	Channel = ((unsigned int)ByteHigh << 8) \| c;
271	signal = Channel & 0x3ff;	271	signal = Channel & 0x3ff;
272	signal -= 0x200; // Offset, range 0x000..0x3ff?	272	signal -= 0x200; // Offset, range 0x000..0x3ff?
273	signal = signal/3; // scaling to fit PPM resolution	273	signal = signal/3; // scaling to fit PPM resolution
274		274
275	if(index > 0 && index < 13)	275	if(index > 0 && index < 13)
276	{	276	{
277	// Stabiles Signal	277	// Stabiles Signal
278	if(abs(signal - PPM_in[index]) < 6)	278	if(abs(signal - PPM_in[index]) < 6)
279	{	279	{
280	if(SenderOkay < 200) SenderOkay += 10;	280	if(SenderOkay < 200) SenderOkay += 10;
281	else	281	else
282	{	282	{
283	SenderOkay = 200;	283	SenderOkay = 200;
284	TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input	284	TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input
285	}	285	}
286	}	286	}
287	tmp = (3 * (PPM_in[index]) + signal) / 4;	287	tmp = (3 * (PPM_in[index]) + signal) / 4;
288	if(tmp > signal+1) tmp--; else	288	if(tmp > signal+1) tmp--; else
289	if(tmp < signal-1) tmp++;	289	if(tmp < signal-1) tmp++;
290	if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;	290	if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
291	else PPM_diff[index] = 0;	291	else PPM_diff[index] = 0;
292	PPM_in[index] = tmp;	292	PPM_in[index] = tmp;
293	}	293	}
294	else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren	294	else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren
295	}	295	}
296	else	296	else
297	{	297	{
298	// hier stimmt was nicht: neu synchronisieren	298	// hier stimmt was nicht: neu synchronisieren
299	ReSync = 1;	299	ReSync = 1;
300	FrameCnt = 0;	300	FrameCnt = 0;
301	Frame2 = 0;	301	Frame2 = 0;
302	// new frame next, nach fruehestens 7ms erwartet	302	// new frame next, nach fruehestens 7ms erwartet
303	SpektrumTimer = MIN_FRAMEGAP;	303	SpektrumTimer = MIN_FRAMEGAP;
304	}	304	}
305		305
306	// 16 Bytes eingetroffen -> Komplett	306	// 16 Bytes eingetroffen -> Komplett
307	if(FrameCnt >= 16)	307	if(FrameCnt >= 16)
308	{	308	{
309	// Frame complete	309	// Frame complete
310	if(Frame2 == 0)	310	if(Frame2 == 0)
311	{	311	{
312	// Null bedeutet: Neue Daten	312	// Null bedeutet: Neue Daten
313	// nur beim ersten Frame (CH 0-7) setzen	313	// nur beim ersten Frame (CH 0-7) setzen
314	if(!ReSync) NewPpmData = 0;	314	if(!ReSync) NewPpmData = 0;
315	}	315	}
316	FrameCnt = 0;	316	FrameCnt = 0;
317	Frame2 = 0;	317	Frame2 = 0;
318	Sync = 0;	318	Sync = 0;
319	SpektrumTimer = MIN_FRAMEGAP;	319	SpektrumTimer = MIN_FRAMEGAP;
320	}	320	}
321	}	321	}
322	}	322	}
323		323
324		324
325		325

Subversion Repositories FlightCtrl

(root)/branches/V0.80f_ACC-HH_MartinR/Spektrum.c @ 1895 - Rev 1419 → 1424