Rev 1171 | Rev 1213 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 1171 | Rev 1172 | ||
---|---|---|---|
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 | 7 | ||
8 | //############################################################################ |
8 | //############################################################################ |
9 | // zum Decodieren des Spektrum Satelliten wird USART1 benutzt. |
9 | // zum Decodieren des Spektrum Satelliten wird USART1 benutzt. |
10 | // USART1 initialisation from killagreg |
10 | // USART1 initialisation from killagreg |
11 | void Uart1Init(void) |
11 | void Uart1Init(void) |
12 | //############################################################################ |
12 | //############################################################################ |
13 | { |
13 | { |
14 | // -- Start of USART1 initialisation for Spekturm seriell-mode |
14 | // -- Start of USART1 initialisation for Spekturm seriell-mode |
15 | // USART1 Control and Status Register A, B, C and baud rate register |
15 | // USART1 Control and Status Register A, B, C and baud rate register |
16 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1); |
16 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1); |
17 | // disable RX-Interrupt |
17 | // disable RX-Interrupt |
18 | UCSR1B &= ~(1 << RXCIE1); |
18 | UCSR1B &= ~(1 << RXCIE1); |
19 | // disable TX-Interrupt |
19 | // disable TX-Interrupt |
20 | UCSR1B &= ~(1 << TXCIE1); |
20 | UCSR1B &= ~(1 << TXCIE1); |
21 | // disable DRE-Interrupt |
21 | // disable DRE-Interrupt |
22 | UCSR1B &= ~(1 << UDRIE1); |
22 | UCSR1B &= ~(1 << UDRIE1); |
23 | // set direction of RXD1 and TXD1 pins |
23 | // set direction of RXD1 and TXD1 pins |
24 | // set RXD1 (PD2) as an input pin |
24 | // set RXD1 (PD2) as an input pin |
25 | PORTD |= (1 << PORTD2); |
25 | PORTD |= (1 << PORTD2); |
26 | DDRD &= ~(1 << DDD2); |
26 | DDRD &= ~(1 << DDD2); |
27 | // USART0 Baud Rate Register |
27 | // USART0 Baud Rate Register |
28 | // set clock divider |
28 | // set clock divider |
29 | UBRR1H = (uint8_t)(ubrr>>8); |
29 | UBRR1H = (uint8_t)(ubrr>>8); |
30 | UBRR1L = (uint8_t)ubrr; |
30 | UBRR1L = (uint8_t)ubrr; |
31 | // enable double speed operation |
31 | // enable double speed operation |
32 | UCSR1A |= (1 << U2X1); |
32 | UCSR1A |= (1 << U2X1); |
33 | // enable receiver and transmitter |
33 | // enable receiver and transmitter |
34 | //UCSR1B = (1<<RXEN1)|(1<<TXEN1); |
34 | //UCSR1B = (1<<RXEN1)|(1<<TXEN1); |
35 | UCSR1B = (1<<RXEN1); |
35 | UCSR1B = (1<<RXEN1); |
36 | // set asynchronous mode |
36 | // set asynchronous mode |
37 | UCSR1C &= ~(1 << UMSEL11); |
37 | UCSR1C &= ~(1 << UMSEL11); |
38 | UCSR1C &= ~(1 << UMSEL10); |
38 | UCSR1C &= ~(1 << UMSEL10); |
39 | // no parity |
39 | // no parity |
40 | UCSR1C &= ~(1 << UPM11); |
40 | UCSR1C &= ~(1 << UPM11); |
41 | UCSR1C &= ~(1 << UPM10); |
41 | UCSR1C &= ~(1 << UPM10); |
42 | // 1 stop bit |
42 | // 1 stop bit |
43 | UCSR1C &= ~(1 << USBS1); |
43 | UCSR1C &= ~(1 << USBS1); |
44 | // 8-bit |
44 | // 8-bit |
45 | UCSR1B &= ~(1 << UCSZ12); |
45 | UCSR1B &= ~(1 << UCSZ12); |
46 | UCSR1C |= (1 << UCSZ11); |
46 | UCSR1C |= (1 << UCSZ11); |
47 | UCSR1C |= (1 << UCSZ10); |
47 | UCSR1C |= (1 << UCSZ10); |
48 | // flush receive buffer explicit |
48 | // flush receive buffer explicit |
49 | while ( UCSR1A & (1<<RXC1) ) UDR1; |
49 | while(UCSR1A & (1<<RXC1)) UDR1; |
50 | // enable RX-interrupts at the end |
50 | // enable RX-interrupts at the end |
51 | UCSR1B |= (1 << RXCIE1); |
51 | UCSR1B |= (1 << RXCIE1); |
52 | // -- End of USART1 initialisation |
52 | // -- End of USART1 initialisation |
53 | return; |
53 | return; |
54 | } |
54 | } |
55 | 55 | ||
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
57 | // + Copyright (c) Rainer Walther |
57 | // + Copyright (c) Rainer Walther |
58 | // + RC-routines from original MK rc.c (c) H&I |
58 | // + RC-routines from original MK rc.c (c) H&I |
59 | // + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2 |
59 | // + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2 |
60 | // + only for non-profit use |
60 | // + only for non-profit use |
61 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
61 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
62 | // |
62 | // |
63 | // 20080808 rw Modified for Spektrum AR6100 (PPM) |
63 | // 20080808 rw Modified for Spektrum AR6100 (PPM) |
64 | // 20080823 rw Add Spektrum satellite receiver on USART1 (644P only) |
64 | // 20080823 rw Add Spektrum satellite receiver on USART1 (644P only) |
65 | // 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels) |
65 | // 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels) |
66 | // Replace AR6100-coding with original composit-signal routines |
66 | // Replace AR6100-coding with original composit-signal routines |
67 | // |
67 | // |
68 | // --- |
68 | // --- |
69 | // Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben! |
69 | // Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben! |
70 | // Binding is not implemented. Bind with external Receiver. |
70 | // Binding is not implemented. Bind with external Receiver. |
71 | // Servo output J3, J4, J5 not serviced |
71 | // Servo output J3, J4, J5 not serviced |
72 | // |
72 | // |
73 | // Anschuß Spektrum Receiver |
73 | // Anschuß Spektrum Receiver |
74 | // Orange: 3V von der FC (keinesfalls an 5V anschließen!) |
74 | // Orange: 3V von der FC (keinesfalls an 5V anschließen!) |
75 | // Schwarz: GND |
75 | // Schwarz: GND |
76 | // Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker |
76 | // Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker |
77 | // |
77 | // |
78 | // --- |
78 | // --- |
79 | // Satellite-Reciever connected on USART1: |
79 | // Satellite-Reciever connected on USART1: |
80 | // |
80 | // |
81 | // DX7/DX6i: One data-frame at 115200 baud every 22ms. |
81 | // DX7/DX6i: One data-frame at 115200 baud every 22ms. |
82 | // DX7se: One data-frame at 115200 baud every 11ms. |
82 | // DX7se: One data-frame at 115200 baud every 11ms. |
83 | // byte1: unknown |
83 | // byte1: unknown |
84 | // byte2: unknown |
84 | // byte2: unknown |
85 | // byte3: and byte4: channel data (FLT-Mode) |
85 | // byte3: and byte4: channel data (FLT-Mode) |
86 | // byte5: and byte6: channel data (Roll) |
86 | // byte5: and byte6: channel data (Roll) |
87 | // byte7: and byte8: channel data (Nick) |
87 | // byte7: and byte8: channel data (Nick) |
88 | // byte9: and byte10: channel data (Gier) |
88 | // byte9: and byte10: channel data (Gier) |
89 | // byte11: and byte12: channel data (Gear Switch) |
89 | // byte11: and byte12: channel data (Gear Switch) |
90 | // byte13: and byte14: channel data (Gas) |
90 | // byte13: and byte14: channel data (Gas) |
91 | // byte15: and byte16: channel data (AUX2) |
91 | // byte15: and byte16: channel data (AUX2) |
92 | // |
92 | // |
93 | // DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9 |
93 | // DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9 |
94 | // 1st Frame: |
94 | // 1st Frame: |
95 | // byte1: unknown |
95 | // byte1: unknown |
96 | // byte2: unknown |
96 | // byte2: unknown |
97 | // byte3: and byte4: channel data |
97 | // byte3: and byte4: channel data |
98 | // byte5: and byte6: channel data |
98 | // byte5: and byte6: channel data |
99 | // byte7: and byte8: channel data |
99 | // byte7: and byte8: channel data |
100 | // byte9: and byte10: channel data |
100 | // byte9: and byte10: channel data |
101 | // byte11: and byte12: channel data |
101 | // byte11: and byte12: channel data |
102 | // byte13: and byte14: channel data |
102 | // byte13: and byte14: channel data |
103 | // byte15: and byte16: channel data |
103 | // byte15: and byte16: channel data |
104 | // 2nd Frame: |
104 | // 2nd Frame: |
105 | // byte1: unknown |
105 | // byte1: unknown |
106 | // byte2: unknown |
106 | // byte2: unknown |
107 | // byte3: and byte4: channel data |
107 | // byte3: and byte4: channel data |
108 | // byte5: and byte6: channel data |
108 | // byte5: and byte6: channel data |
109 | // byte7: and byte8: 0xffff |
109 | // byte7: and byte8: 0xffff |
110 | // byte9: and byte10: 0xffff |
110 | // byte9: and byte10: 0xffff |
111 | // byte11: and byte12: 0xffff |
111 | // byte11: and byte12: 0xffff |
112 | // byte13: and byte14: 0xffff |
112 | // byte13: and byte14: 0xffff |
113 | // byte15: and byte16: 0xffff |
113 | // byte15: and byte16: 0xffff |
114 | // |
114 | // |
115 | // Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as: |
115 | // Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as: |
116 | // |
116 | // |
117 | // Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 |
117 | // Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 |
118 | // |
118 | // |
119 | // 0 means a '0' bit |
119 | // 0 means a '0' bit |
120 | // F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only) |
120 | // F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only) |
121 | // C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter) |
121 | // C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter) |
122 | // D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel |
122 | // D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel |
123 | // |
123 | // |
124 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
124 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
125 | 125 | ||
126 | //############################################################################ |
126 | //############################################################################ |
127 | //Diese Routine startet und inizialisiert den USART1 für seriellen Spektrum satellite reciever |
127 | //Diese Routine startet und inizialisiert den USART1 für seriellen Spektrum satellite reciever |
128 | SIGNAL(USART1_RX_vect) |
128 | SIGNAL(USART1_RX_vect) |
129 | //############################################################################ |
129 | //############################################################################ |
130 | { |
130 | { |
131 | static unsigned int Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0, FrameTimer; |
131 | static unsigned int Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0, FrameTimer; |
132 | unsigned int Channel, index; |
132 | unsigned int Channel, index; |
133 | signed int signal, tmp; |
133 | signed int signal, tmp; |
134 | int bCheckDelay; |
134 | int bCheckDelay; |
135 | uint8_t c; |
135 | uint8_t c; |
136 | 136 | ||
137 | c = UDR1; // get data byte |
137 | c = UDR1; // get data byte |
138 | 138 | ||
139 | if (ReSync == 1) |
139 | if (ReSync == 1) |
140 | { |
140 | { |
141 | // wait for beginning of new frame |
141 | // wait for beginning of new frame |
142 | ReSync = 0; |
142 | ReSync = 0; |
143 | 143 | ||
144 | FrameTimer = SetDelay(7); // minimum 7ms zwischen den frames |
144 | FrameTimer = SetDelay(7); // minimum 7ms zwischen den frames |
145 | FrameCnt = 0; |
145 | FrameCnt = 0; |
146 | Sync = 0; |
146 | Sync = 0; |
147 | ByteHigh = 0; |
147 | ByteHigh = 0; |
148 | } |
148 | } |
149 | else |
149 | else |
150 | { |
150 | { |
151 | bCheckDelay = CheckDelay(FrameTimer); |
151 | bCheckDelay = CheckDelay(FrameTimer); |
152 | if ( Sync == 0 ) |
152 | if ( Sync == 0 ) |
153 | { |
153 | { |
154 | if ( bCheckDelay ) |
154 | if(bCheckDelay) |
155 | { |
155 | { |
156 | // nach einer Pause von mind. 7ms erstes Sync-Character gefunden |
156 | // nach einer Pause von mind. 7ms erstes Sync-Character gefunden |
157 | // Zeichen ignorieren, da Bedeutung unbekannt |
157 | // Zeichen ignorieren, da Bedeutung unbekannt |
158 | Sync = 1; |
158 | Sync = 1; |
159 | FrameCnt ++; |
159 | FrameCnt ++; |
160 | } |
160 | } |
161 | else |
161 | else |
162 | { |
162 | { |
163 | // Zeichen kam vor Ablauf der 7ms Sync-Pause |
163 | // Zeichen kam vor Ablauf der 7ms Sync-Pause |
164 | // warten auf erstes Sync-Zeichen |
164 | // warten auf erstes Sync-Zeichen |
165 | } |
165 | } |
166 | } |
166 | } |
167 | else if ( (Sync == 1) && !bCheckDelay ) |
167 | else if((Sync == 1) && !bCheckDelay) |
168 | { |
168 | { |
169 | // zweites Sync-Character ignorieren, Bedeutung unbekannt |
169 | // zweites Sync-Character ignorieren, Bedeutung unbekannt |
170 | Sync = 2; |
170 | Sync = 2; |
171 | FrameCnt ++; |
171 | FrameCnt ++; |
172 | } |
172 | } |
173 | else if ( (Sync == 2) && !bCheckDelay ) |
173 | else if((Sync == 2) && !bCheckDelay) |
174 | { |
174 | { |
175 | // Datenbyte high |
175 | // Datenbyte high |
176 | ByteHigh = c; |
176 | ByteHigh = c; |
177 | 177 | ||
178 | if (FrameCnt == 2) |
178 | if (FrameCnt == 2) |
179 | { |
179 | { |
180 | // is 1st Byte of Channel-data |
180 | // is 1st Byte of Channel-data |
181 | - | ||
182 | // Frame 1 with Channel 1-7 comming next |
181 | // Frame 1 with Channel 1-7 comming next |
183 | Frame2 = 0; |
182 | Frame2 = 0; |
184 | if ( ByteHigh & 0x80 ) |
183 | if(ByteHigh & 0x80) |
185 | { |
184 | { |
186 | // DS9: Frame 2 with Channel 8-9 comming next |
185 | // DS9: Frame 2 with Channel 8-9 comming next |
187 | Frame2 = 1; |
186 | Frame2 = 1; |
188 | } |
187 | } |
189 | } |
188 | } |
190 | Sync = 3; |
189 | Sync = 3; |
191 | FrameCnt ++; |
190 | FrameCnt ++; |
192 | } |
191 | } |
193 | else if ( (Sync == 3) && !bCheckDelay ) |
192 | else if((Sync == 3) && !bCheckDelay) |
194 | { |
193 | { |
195 | // Datenbyte low |
194 | // Datenbyte low |
196 | 195 | ||
197 | // High-Byte for next channel comes next |
196 | // High-Byte for next channel comes next |
198 | Sync = 2; |
197 | Sync = 2; |
199 | FrameCnt ++; |
198 | FrameCnt ++; |
200 | 199 | ||
201 | index = (ByteHigh >> 2) & 0x0f; |
200 | index = (ByteHigh >> 2) & 0x0f; |
202 | index ++; |
201 | index ++; |
203 | Channel = (ByteHigh << 8) | c; |
202 | Channel = (ByteHigh << 8) | c; |
204 | signal = Channel & 0x3ff; |
203 | signal = Channel & 0x3ff; |
205 | signal -= 0x200; // Offset, range 0x000..0x3ff? |
204 | signal -= 0x200; // Offset, range 0x000..0x3ff? |
206 | signal = signal/3; // scaling to fit PPM resolution |
205 | signal = signal/3; // scaling to fit PPM resolution |
207 | 206 | ||
208 | if (index >= 0 && index <= 10) |
207 | if(index >= 0 && index <= 10) |
209 | { |
- | |
210 | 208 | { |
|
211 | if(abs(signal - PPM_in[index]) < 6) |
- | |
212 | { |
209 | // Stabiles Signal |
213 | if(SenderOkay < 200) |
- | |
214 | { |
- | |
215 | SenderOkay += 10; |
- | |
216 | } |
- | |
217 | } |
210 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
218 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
211 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
219 | if(tmp > signal+1) |
- | |
220 | { |
- | |
221 | tmp--; |
- | |
222 | } |
- | |
223 | else |
- | |
224 | { |
212 | if(tmp > signal+1) tmp--; else |
225 | if(tmp < signal-1) |
- | |
226 | { |
- | |
227 | tmp++; |
- | |
228 | } |
- | |
229 | } |
- | |
230 | if(SenderOkay >= 195) |
- | |
231 | { |
213 | if(tmp < signal-1) tmp++; |
232 | PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
- | |
233 | } |
- | |
234 | else |
- | |
235 | { |
214 | if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
236 | PPM_diff[index] = 0; |
- | |
237 | } |
- | |
238 | 215 | else PPM_diff[index] = 0; |
|
239 | PPM_in[index] = tmp; |
216 | PPM_in[index] = tmp; |
240 | } |
217 | } |
241 | } |
218 | } |
242 | else |
219 | else |
243 | { |
220 | { |
244 | // hier stimmt was nicht: neu synchronisieren |
221 | // hier stimmt was nicht: neu synchronisieren |
245 | ReSync = 1; |
222 | ReSync = 1; |
246 | FrameCnt = 0; |
223 | FrameCnt = 0; |
247 | Frame2 = 0; |
224 | Frame2 = 0; |
248 | } |
225 | } |
249 | 226 | ||
250 | // 16 Bytes per frame |
227 | // 16 Bytes per frame |
251 | if (FrameCnt >= 16) |
228 | if(FrameCnt >= 16) |
252 | { |
229 | { |
253 | // Frame complete |
230 | // Frame complete |
254 | if ( Frame2 == 0 ) |
231 | if(Frame2 == 0) |
255 | { |
232 | { |
256 | // Null bedeutet: Neue Daten |
233 | // Null bedeutet: Neue Daten |
257 | // nur beim ersten Frame (CH 0-7) setzen |
234 | // nur beim ersten Frame (CH 0-7) setzen |
258 | NewPpmData = 0; |
235 | NewPpmData = 0; |
259 | } |
236 | } |
260 | 237 | ||
261 | // new frame next, nach fruehestens 7ms erwartet |
238 | // new frame next, nach fruehestens 7ms erwartet |
262 | FrameCnt = 0; |
239 | FrameCnt = 0; |
263 | Frame2 = 0; |
240 | Frame2 = 0; |
264 | Sync = 0; |
241 | Sync = 0; |
265 | } |
242 | } |
266 | - | ||
267 | // Zeit bis zum nächsten Zeichen messen |
243 | // Zeit bis zum nächsten Zeichen messen |
268 | FrameTimer = SetDelay (7); |
244 | FrameTimer = SetDelay(7); |
269 | } |
245 | } |
270 | } |
246 | } |
271 | 247 | ||
272 | 248 | ||
273 | 249 |