WebSVN - FlightCtrl - Diff - Rev 1232 and 1320 - /branches/V0.84a_var


/*#######################################################################################
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);  
 
  Uart1Init();    // init Uart again
}
 
//############################################################################
// zum Decodieren des Spektrum Satelliten wird USART1 benutzt.
// USART1 initialisation from killagreg
void Uart1Init(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 MAX_FRAMEGAP 56  // 7ms
#define MAX_BYTEGAP  3   // 375us
 
//############################################################################
//Diese Routine startet und inizialisiert den USART1 für seriellen Spektrum satellite reciever
SIGNAL(USART1_RX_vect)
//############################################################################
{
    static unsigned char Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0;
        unsigned int Channel, index;
        signed int signal, tmp;
        int bCheckDelay;
        uint8_t c;
 
        c = UDR1; // get data byte
 
        if(ReSync == 1)
            {
                // wait for beginning of new frame
                ReSync = 0;
 
                SpektrumTimer = MAX_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 = MAX_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 <= 10)
                    {
                // 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 = MAX_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 = MAX_FRAMEGAP;
                }
 
 
   }
}  
 
 
 

Rev 1232	Rev 1320
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		8
8	//--------------------------------------------------------------//	9	//--------------------------------------------------------------//
9		10
10	//--------------------------------------------------------------//	11	//--------------------------------------------------------------//
11	void SpektrumBinding(void)	12	void SpektrumBinding(void)
12	{	13	{
13	unsigned int timerTimeout = SetDelay(10000); // Timeout 10 sec.	14	unsigned int timerTimeout = SetDelay(10000); // Timeout 10 sec.
14	unsigned char connected = 0;	15	unsigned char connected = 0;
15	unsigned int delaycounter;	16	unsigned int delaycounter;
16		17
17	UCSR1B &= ~(1 << RXCIE1); // disable rx-interrupt	18	UCSR1B &= ~(1 << RXCIE1); // disable rx-interrupt
18	UCSR1B &= ~(1<<RXEN1); // disable Uart-Rx	19	UCSR1B &= ~(1<<RXEN1); // disable Uart-Rx
19	PORTD &= ~(1 << PORTD2); // disable pull-up	20	PORTD &= ~(1 << PORTD2); // disable pull-up
20		21
21	printf("\n\rPlease connect Spektrum receiver for binding NOW...");	22	printf("\n\rPlease connect Spektrum receiver for binding NOW...");
22		23
23	while(!CheckDelay(timerTimeout))	24	while(!CheckDelay(timerTimeout))
24	{	25	{
25	if (PIND & (1 << PORTD2)) { timerTimeout = SetDelay(90); connected = 1; break; }	26	if (PIND & (1 << PORTD2)) { timerTimeout = SetDelay(90); connected = 1; break; }
26	}	27	}
27		28
28	if (connected)	29	if (connected)
29	{	30	{
30		31
31	printf("ok.\n\r");	32	printf("ok.\n\r");
32	DDRD \|= (1 << DDD2); // Rx as output	33	DDRD \|= (1 << DDD2); // Rx as output
33		34
34	while(!CheckDelay(timerTimeout)); // delay after startup of RX	35	while(!CheckDelay(timerTimeout)); // delay after startup of RX
35	for (delaycounter = 0; delaycounter < 100; delaycounter++) PORTD \|= (1 << PORTD2);	36	for (delaycounter = 0; delaycounter < 100; delaycounter++) PORTD \|= (1 << PORTD2);
36	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2);	37	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2);
37		38
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 < 10; 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	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2);
42		43
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 < 10; 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	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2);
47		48
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 < 10; delaycounter++) PORTD &= ~(1 << PORTD2);
50	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD \|= (1 << PORTD2);	51	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD \|= (1 << PORTD2);
51		52
52	}	53	}
53	else	54	else
54	{ printf("Timeout.\n\r");	55	{ printf("Timeout.\n\r");
55		56
56		57
57	}	58	}
58		59
59	DDRD &= ~(1 << DDD2); // RX as input	60	DDRD &= ~(1 << DDD2); // RX as input
60	PORTD &= ~(1 << PORTD2);	61	PORTD &= ~(1 << PORTD2);
61		62
62	Uart1Init(); // init Uart again	63	Uart1Init(); // init Uart again
63	}	64	}
64		65
65	//############################################################################	66	//############################################################################
66	// zum Decodieren des Spektrum Satelliten wird USART1 benutzt.	67	// zum Decodieren des Spektrum Satelliten wird USART1 benutzt.
67	// USART1 initialisation from killagreg	68	// USART1 initialisation from killagreg
68	void Uart1Init(void)	69	void Uart1Init(void)
69	//############################################################################	70	//############################################################################
70	{	71	{
71	// -- Start of USART1 initialisation for Spekturm seriell-mode	72	// -- Start of USART1 initialisation for Spekturm seriell-mode
72	// USART1 Control and Status Register A, B, C and baud rate register	73	// USART1 Control and Status Register A, B, C and baud rate register
73	uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1);	74	uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1);
74	// disable RX-Interrupt	75	// disable RX-Interrupt
75	UCSR1B &= ~(1 << RXCIE1);	76	UCSR1B &= ~(1 << RXCIE1);
76	// disable TX-Interrupt	77	// disable TX-Interrupt
77	UCSR1B &= ~(1 << TXCIE1);	78	UCSR1B &= ~(1 << TXCIE1);
78	// disable DRE-Interrupt	79	// disable DRE-Interrupt
79	UCSR1B &= ~(1 << UDRIE1);	80	UCSR1B &= ~(1 << UDRIE1);
80	// set direction of RXD1 and TXD1 pins	81	// set direction of RXD1 and TXD1 pins
81	// set RXD1 (PD2) as an input pin	82	// set RXD1 (PD2) as an input pin
82	PORTD \|= (1 << PORTD2);	83	PORTD \|= (1 << PORTD2);
83	DDRD &= ~(1 << DDD2);	84	DDRD &= ~(1 << DDD2);
84	// USART0 Baud Rate Register	85	// USART0 Baud Rate Register
85	// set clock divider	86	// set clock divider
86		87
87	UBRR1H = (uint8_t)(ubrr>>8);	88	UBRR1H = (uint8_t)(ubrr>>8);
88	UBRR1L = (uint8_t)ubrr;	89	UBRR1L = (uint8_t)ubrr;
89	// enable double speed operation	90	// enable double speed operation
90	UCSR1A \|= (1 << U2X1);	91	UCSR1A \|= (1 << U2X1);
91	// enable receiver and transmitter	92	// enable receiver and transmitter
92	//UCSR1B = (1<<RXEN1)\|(1<<TXEN1);	93	//UCSR1B = (1<<RXEN1)\|(1<<TXEN1);
93		-
94		-
95		-
96		94
97	UCSR1B = (1<<RXEN1);	95	UCSR1B = (1<<RXEN1);
98	// set asynchronous mode	96	// set asynchronous mode
99	UCSR1C &= ~(1 << UMSEL11);	97	UCSR1C &= ~(1 << UMSEL11);
100	UCSR1C &= ~(1 << UMSEL10);	98	UCSR1C &= ~(1 << UMSEL10);
101	// no parity	99	// no parity
102	UCSR1C &= ~(1 << UPM11);	100	UCSR1C &= ~(1 << UPM11);
103	UCSR1C &= ~(1 << UPM10);	101	UCSR1C &= ~(1 << UPM10);
104	// 1 stop bit	102	// 1 stop bit
105	UCSR1C &= ~(1 << USBS1);	103	UCSR1C &= ~(1 << USBS1);
106	// 8-bit	104	// 8-bit
107	UCSR1B &= ~(1 << UCSZ12);	105	UCSR1B &= ~(1 << UCSZ12);
108	UCSR1C \|= (1 << UCSZ11);	106	UCSR1C \|= (1 << UCSZ11);
109	UCSR1C \|= (1 << UCSZ10);	107	UCSR1C \|= (1 << UCSZ10);
110	// flush receive buffer explicit	108	// flush receive buffer explicit
111	while(UCSR1A & (1<<RXC1)) UDR1;	109	while(UCSR1A & (1<<RXC1)) UDR1;
112	// enable RX-interrupts at the end	110	// enable RX-interrupts at the end
113	UCSR1B \|= (1 << RXCIE1);	111	UCSR1B \|= (1 << RXCIE1);
114	// -- End of USART1 initialisation	112	// -- End of USART1 initialisation
115	return;	113	return;
116	}	114	}
117		115
118	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	116	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
119	// + Copyright (c) Rainer Walther	117	// + Copyright (c) Rainer Walther
120	// + RC-routines from original MK rc.c (c) H&I	118	// + RC-routines from original MK rc.c (c) H&I
121	// + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2	119	// + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2
122	// + only for non-profit use	120	// + only for non-profit use
123	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	121	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
124	//	122	//
125	// 20080808 rw Modified for Spektrum AR6100 (PPM)	123	// 20080808 rw Modified for Spektrum AR6100 (PPM)
126	// 20080823 rw Add Spektrum satellite receiver on USART1 (644P only)	124	// 20080823 rw Add Spektrum satellite receiver on USART1 (644P only)
127	// 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels)	125	// 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels)
128	// Replace AR6100-coding with original composit-signal routines	126	// Replace AR6100-coding with original composit-signal routines
129	//	127	//
130	// ---	128	// ---
131	// Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben!	129	// Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben!
132	// Binding is not implemented. Bind with external Receiver.	130	// Binding is not implemented. Bind with external Receiver.
133	// Servo output J3, J4, J5 not serviced	131	// Servo output J3, J4, J5 not serviced
134	//	132	//
135	// Anschuß Spektrum Receiver	133	// Anschuß Spektrum Receiver
136	// Orange: 3V von der FC (keinesfalls an 5V anschließen!)	134	// Orange: 3V von der FC (keinesfalls an 5V anschließen!)
137	// Schwarz: GND	135	// Schwarz: GND
138	// Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker	136	// Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker
139	//	137	//
140	// ---	138	// ---
141	// Satellite-Reciever connected on USART1:	139	// Satellite-Reciever connected on USART1:
142	//	140	//
143	// DX7/DX6i: One data-frame at 115200 baud every 22ms.	141	// DX7/DX6i: One data-frame at 115200 baud every 22ms.
144	// DX7se: One data-frame at 115200 baud every 11ms.	142	// DX7se: One data-frame at 115200 baud every 11ms.
145	// byte1: unknown	143	// byte1: unknown
146	// byte2: unknown	144	// byte2: unknown
147	// byte3: and byte4: channel data (FLT-Mode)	145	// byte3: and byte4: channel data (FLT-Mode)
148	// byte5: and byte6: channel data (Roll)	146	// byte5: and byte6: channel data (Roll)
149	// byte7: and byte8: channel data (Nick)	147	// byte7: and byte8: channel data (Nick)
150	// byte9: and byte10: channel data (Gier)	148	// byte9: and byte10: channel data (Gier)
151	// byte11: and byte12: channel data (Gear Switch)	149	// byte11: and byte12: channel data (Gear Switch)
152	// byte13: and byte14: channel data (Gas)	150	// byte13: and byte14: channel data (Gas)
153	// byte15: and byte16: channel data (AUX2)	151	// byte15: and byte16: channel data (AUX2)
154	//	152	//
155	// DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9	153	// DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9
156	// 1st Frame:	154	// 1st Frame:
157	// byte1: unknown	155	// byte1: unknown
158	// byte2: unknown	156	// byte2: unknown
159	// byte3: and byte4: channel data	157	// byte3: and byte4: channel data
160	// byte5: and byte6: channel data	158	// byte5: and byte6: channel data
161	// byte7: and byte8: channel data	159	// byte7: and byte8: channel data
162	// byte9: and byte10: channel data	160	// byte9: and byte10: channel data
163	// byte11: and byte12: channel data	161	// byte11: and byte12: channel data
164	// byte13: and byte14: channel data	162	// byte13: and byte14: channel data
165	// byte15: and byte16: channel data	163	// byte15: and byte16: channel data
166	// 2nd Frame:	164	// 2nd Frame:
167	// byte1: unknown	165	// byte1: unknown
168	// byte2: unknown	166	// byte2: unknown
169	// byte3: and byte4: channel data	167	// byte3: and byte4: channel data
170	// byte5: and byte6: channel data	168	// byte5: and byte6: channel data
171	// byte7: and byte8: 0xffff	169	// byte7: and byte8: 0xffff
172	// byte9: and byte10: 0xffff	170	// byte9: and byte10: 0xffff
173	// byte11: and byte12: 0xffff	171	// byte11: and byte12: 0xffff
174	// byte13: and byte14: 0xffff	172	// byte13: and byte14: 0xffff
175	// byte15: and byte16: 0xffff	173	// byte15: and byte16: 0xffff
176	//	174	//
177	// Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as:	175	// Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as:
178	//	176	//
179	// Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0	177	// Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
180	//	178	//
181	// 0 means a '0' bit	179	// 0 means a '0' bit
182	// F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only)	180	// F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only)
183	// C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter)	181	// C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter)
184	// D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel	182	// D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel
185	//	183	//
186	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	184	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-		185
-		186	#define MAX_FRAMEGAP 56 // 7ms
-		187	#define MAX_BYTEGAP 3 // 375us
187		188
188	//############################################################################	189	//############################################################################
189	//Diese Routine startet und inizialisiert den USART1 für seriellen Spektrum satellite reciever	190	//Diese Routine startet und inizialisiert den USART1 für seriellen Spektrum satellite reciever
190	SIGNAL(USART1_RX_vect)	191	SIGNAL(USART1_RX_vect)
191	//############################################################################	192	//############################################################################
192	{	193	{
193	static unsigned int Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0, FrameTimer;	194	static unsigned char Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0;
194	unsigned int Channel, index;	195	unsigned int Channel, index;
195	signed int signal, tmp;	196	signed int signal, tmp;
196	int bCheckDelay;	197	int bCheckDelay;
197	uint8_t c;	198	uint8_t c;
198		-
199	c = UDR1; // get data byte	199	c = UDR1; // get data byte
200		-
201	if (ReSync == 1)	200	if(ReSync == 1)
202	{	201	{
203	// wait for beginning of new frame	202	// wait for beginning of new frame
204	ReSync = 0;	203	ReSync = 0;
205		-
206	FrameTimer = SetDelay(7); // minimum 7ms zwischen den frames	204	SpektrumTimer = MAX_FRAMEGAP;
207	FrameCnt = 0;	205	FrameCnt = 0;
208	Sync = 0;	206	Sync = 0;
209	ByteHigh = 0;	207	ByteHigh = 0;
210	}	208	}
211	else	209	else
212	{	210	{
213	bCheckDelay = CheckDelay(FrameTimer);	211	if(!SpektrumTimer) bCheckDelay = 1; else bCheckDelay = 0;//CheckDelay(FrameTimer);
214	if ( Sync == 0 )	212	if ( Sync == 0 )
215	{	213	{
216	if(bCheckDelay)	214	if(bCheckDelay)
217	{	215	{
218	// nach einer Pause von mind. 7ms erstes Sync-Character gefunden	216	// nach einer Pause von mind. 7ms erstes Sync-Character gefunden
219	// Zeichen ignorieren, da Bedeutung unbekannt	217	// Zeichen ignorieren, da Bedeutung unbekannt
220	Sync = 1;	218	Sync = 1;
221	FrameCnt ++;	219	FrameCnt ++;
-		220	SpektrumTimer = MAX_BYTEGAP;
222	}	221	}
223	else	222	else
224	{	223	{
225	// Zeichen kam vor Ablauf der 7ms Sync-Pause	224	// Zeichen kam vor Ablauf der 7ms Sync-Pause
226	// warten auf erstes Sync-Zeichen	225	// warten auf erstes Sync-Zeichen
-		226	SpektrumTimer = MAX_FRAMEGAP;
-		227	FrameCnt = 0;
-		228	Sync = 0;
-		229	ByteHigh = 0;
227	}	230	}
228	}	231	}
229	else if((Sync == 1) && !bCheckDelay)	232	else if((Sync == 1) && !bCheckDelay)
230	{	233	{
231	// zweites Sync-Character ignorieren, Bedeutung unbekannt	234	// zweites Sync-Character ignorieren, Bedeutung unbekannt
232	Sync = 2;	235	Sync = 2;
233	FrameCnt ++;	236	FrameCnt ++;
-		237	SpektrumTimer = MAX_BYTEGAP;
234	}	238	}
235	else if((Sync == 2) && !bCheckDelay)	239	else if((Sync == 2) && !bCheckDelay)
236	{	240	{
-		241	SpektrumTimer = MAX_BYTEGAP;
237	// Datenbyte high	242	// Datenbyte high
238	ByteHigh = c;	243	ByteHigh = c;
239		-
240	if (FrameCnt == 2)	244	if (FrameCnt == 2)
241	{	245	{
242	// is 1st Byte of Channel-data	246	// is 1st Byte of Channel-data
243	// Frame 1 with Channel 1-7 comming next	247	// Frame 1 with Channel 1-7 comming next
244	Frame2 = 0;	248	Frame2 = 0;
245	if(ByteHigh & 0x80)	249	if(ByteHigh & 0x80)
246	{	250	{
247	// DS9: Frame 2 with Channel 8-9 comming next	251	// DS9: Frame 2 with Channel 8-9 comming next
248	Frame2 = 1;	252	Frame2 = 1;
249	}	253	}
250	}	254	}
251	Sync = 3;	255	Sync = 3;
252	FrameCnt ++;	256	FrameCnt ++;
253	}	257	}
254	else if((Sync == 3) && !bCheckDelay)	258	else if((Sync == 3) && !bCheckDelay)
255	{	259	{
256	// Datenbyte low	260	// Datenbyte low
257		-
258	// High-Byte for next channel comes next	261	// High-Byte for next channel comes next
-		262	SpektrumTimer = MAX_BYTEGAP;
259	Sync = 2;	263	Sync = 2;
260	FrameCnt ++;	264	FrameCnt ++;
261		-
262	index = (ByteHigh >> 2) & 0x0f;	265	index = (ByteHigh >> 2) & 0x0f;
263	index ++;	266	index++;
264	Channel = (ByteHigh << 8) \| c;	267	Channel = ((unsigned int)ByteHigh << 8) \| c;
265	signal = Channel & 0x3ff;	268	signal = Channel & 0x3ff;
266	signal -= 0x200; // Offset, range 0x000..0x3ff?	269	signal -= 0x200; // Offset, range 0x000..0x3ff?
267	signal = signal/3; // scaling to fit PPM resolution	270	signal = signal/3; // scaling to fit PPM resolution
268		271
269	if(index >= 0 && index <= 10)	272	if(index >= 0 && index <= 10)
270	{	273	{
271	// Stabiles Signal	274	// Stabiles Signal
272	if(abs(signal - PPM_in[index]) < 6)	275	if(abs(signal - PPM_in[index]) < 6)
273	{	276	{
274	if(SenderOkay < 200) SenderOkay += 10;	277	if(SenderOkay < 200) SenderOkay += 10;
275	else	278	else
276	{	279	{
277	SenderOkay = 200;	280	SenderOkay = 200;
278	TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input	281	TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input
279	}	282	}
280	}	283	}
281	tmp = (3 * (PPM_in[index]) + signal) / 4;	284	tmp = (3 * (PPM_in[index]) + signal) / 4;
282	if(tmp > signal+1) tmp--; else	285	if(tmp > signal+1) tmp--; else
283	if(tmp < signal-1) tmp++;	286	if(tmp < signal-1) tmp++;
284	if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;	287	if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
285	else PPM_diff[index] = 0;	288	else PPM_diff[index] = 0;
286	PPM_in[index] = tmp;	289	PPM_in[index] = tmp;
287	}	290	}
-		291	else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren
288	}	292	}
289	else	293	else
290	{	294	{
291	// hier stimmt was nicht: neu synchronisieren	295	// hier stimmt was nicht: neu synchronisieren
292	ReSync = 1;	296	ReSync = 1;
293	FrameCnt = 0;	297	FrameCnt = 0;
294	Frame2 = 0;	298	Frame2 = 0;
-		299	// new frame next, nach fruehestens 7ms erwartet
-		300	SpektrumTimer = MAX_FRAMEGAP;
295	}	301	}
296		302
297	// 16 Bytes per frame	303	// 16 Bytes eingetroffen -> Komplett
298	if(FrameCnt >= 16)	304	if(FrameCnt >= 16)
299	{	305	{
300	// Frame complete	306	// Frame complete
301	if(Frame2 == 0)	307	if(Frame2 == 0)
302	{	308	{
303	// Null bedeutet: Neue Daten	309	// Null bedeutet: Neue Daten
304	// nur beim ersten Frame (CH 0-7) setzen	310	// nur beim ersten Frame (CH 0-7) setzen
305	NewPpmData = 0;	311	if(!ReSync) NewPpmData = 0;
306	}	312	}
307		-
308	// new frame next, nach fruehestens 7ms erwartet	-
309	FrameCnt = 0;	313	FrameCnt = 0;
310	Frame2 = 0;	314	Frame2 = 0;
311	Sync = 0;	315	Sync = 0;
-		316	SpektrumTimer = MAX_FRAMEGAP;
312	}	317	}
313	// Zeit bis zum nächsten Zeichen messen	-
314	FrameTimer = SetDelay(7);	-
315	}	318	}
316	}	319	}
317		320
318		321
319		322

Subversion Repositories FlightCtrl

(root)/branches/V0.84a_var_motorsmoothing/Spektrum.c @ 2251 - Rev 1232 → 1320