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| 1 | /*####################################################################################### |
1 | /*####################################################################################### |
| 2 | Decodes the sbus protocol |
2 | Decodes the sbus protocol |
| 3 | #######################################################################################*/ |
3 | #######################################################################################*/ |
| - | 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 5 | // + www.MikroKopter.com |
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| - | 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 7 | // + Software Nutzungsbedingungen (english version: see below) |
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| - | 8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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| - | 9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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| - | 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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| - | 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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| - | 12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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| - | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
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| - | 15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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| - | 16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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| - | 17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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| - | 18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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| - | 19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| - | 20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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| - | 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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| - | 22 | // + des Mitverschuldens offen. |
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| - | 23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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| - | 24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| - | 25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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| - | 26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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| - | 27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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| - | 28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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| - | 29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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| - | 30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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| - | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 32 | // + Software LICENSING TERMS |
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| - | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
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| - | 35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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| - | 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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| - | 37 | // + The Software may only be used with the Licensor's products. |
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| - | 38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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| - | 39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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| - | 40 | // + agreement shall be the property of the Licensor. |
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| - | 41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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| - | 42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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| - | 43 | // + The customer shall be responsible for taking reasonable precautions |
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| - | 44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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| - | 45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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| - | 46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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| - | 47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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| - | 48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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| - | 49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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| - | 50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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| - | 51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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| - | 52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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| - | 53 | // + #### END OF LICENSING TERMS #### |
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| - | 54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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| - | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 4 | 56 | ||
| 5 | #include "sbus.h" |
57 | #include "sbus.h" |
| 6 | #include "main.h" |
58 | #include "main.h" |
| 7 | 59 | ||
| 8 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
60 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 9 | unsigned char NewSBusData = 0, sBusBuffer[25]; |
61 | unsigned char NewSBusData = 0, sBusBuffer[25]; |
| 10 | 62 | ||
| 11 | //############################################################################ |
63 | //############################################################################ |
| 12 | // USART1 initialisation from killagreg |
64 | // USART1 initialisation from killagreg |
| 13 | void SbusUartInit(void) |
65 | void SbusUartInit(void) |
| 14 | //############################################################################ |
66 | //############################################################################ |
| 15 | { |
67 | { |
| 16 | // -- Start of USART1 initialisation for Spekturm seriell-mode |
68 | // -- Start of USART1 initialisation for Spekturm seriell-mode |
| 17 | // USART1 Control and Status Register A, B, C and baud rate register |
69 | // USART1 Control and Status Register A, B, C and baud rate register |
| 18 | uint8_t sreg = SREG; |
70 | uint8_t sreg = SREG; |
| 19 | 71 | ||
| 20 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 100000) - 1); |
72 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 100000) - 1); |
| 21 | 73 | ||
| 22 | // disable all interrupts before reconfiguration |
74 | // disable all interrupts before reconfiguration |
| 23 | cli(); |
75 | cli(); |
| 24 | // disable RX-Interrupt |
76 | // disable RX-Interrupt |
| 25 | UCSR1B &= ~(1 << RXCIE1); |
77 | UCSR1B &= ~(1 << RXCIE1); |
| 26 | // disable TX-Interrupt |
78 | // disable TX-Interrupt |
| 27 | UCSR1B &= ~(1 << TXCIE1); |
79 | UCSR1B &= ~(1 << TXCIE1); |
| 28 | // disable DRE-Interrupt |
80 | // disable DRE-Interrupt |
| 29 | UCSR1B &= ~(1 << UDRIE1); |
81 | UCSR1B &= ~(1 << UDRIE1); |
| 30 | // set direction of RXD1 and TXD1 pins |
82 | // set direction of RXD1 and TXD1 pins |
| 31 | // set RXD1 (PD2) as an input pin |
83 | // set RXD1 (PD2) as an input pin |
| 32 | PORTD |= (1 << PORTD2); |
84 | PORTD |= (1 << PORTD2); |
| 33 | DDRD &= ~(1 << DDD2); |
85 | DDRD &= ~(1 << DDD2); |
| 34 | 86 | ||
| 35 | // set TXD1 (PD3) as an output pin |
87 | // set TXD1 (PD3) as an output pin |
| 36 | PORTD |= (1 << PORTD3); |
88 | PORTD |= (1 << PORTD3); |
| 37 | DDRD |= (1 << DDD3); |
89 | DDRD |= (1 << DDD3); |
| 38 | 90 | ||
| 39 | // USART0 Baud Rate Register |
91 | // USART0 Baud Rate Register |
| 40 | // set clock divider |
92 | // set clock divider |
| 41 | UBRR1H = (uint8_t)(ubrr>>8); |
93 | UBRR1H = (uint8_t)(ubrr>>8); |
| 42 | UBRR1L = (uint8_t)ubrr; |
94 | UBRR1L = (uint8_t)ubrr; |
| 43 | // enable double speed operation |
95 | // enable double speed operation |
| 44 | UCSR1A |= (1 << U2X1); |
96 | UCSR1A |= (1 << U2X1); |
| 45 | // enable receiver and transmitter |
97 | // enable receiver and transmitter |
| 46 | //UCSR1B = (1<<RXEN1)|(1<<TXEN1); |
98 | //UCSR1B = (1<<RXEN1)|(1<<TXEN1); |
| 47 | 99 | ||
| 48 | UCSR1B = (1<<RXEN1); |
100 | UCSR1B = (1<<RXEN1); |
| 49 | // set asynchronous mode |
101 | // set asynchronous mode |
| 50 | UCSR1C &= ~(1 << UMSEL11); |
102 | UCSR1C &= ~(1 << UMSEL11); |
| 51 | UCSR1C &= ~(1 << UMSEL10); |
103 | UCSR1C &= ~(1 << UMSEL10); |
| 52 | // parity |
104 | // parity |
| 53 | UCSR1C <= (1 << UPM11); // even |
105 | UCSR1C <= (1 << UPM11); // even |
| 54 | UCSR1C &= ~(1 << UPM10); |
106 | UCSR1C &= ~(1 << UPM10); |
| 55 | // stop bit |
107 | // stop bit |
| 56 | UCSR1C |= (1 << USBS1); // two |
108 | UCSR1C |= (1 << USBS1); // two |
| 57 | // 8-bit |
109 | // 8-bit |
| 58 | UCSR1B &= ~(1 << UCSZ12); |
110 | UCSR1B &= ~(1 << UCSZ12); |
| 59 | UCSR1C |= (1 << UCSZ11); |
111 | UCSR1C |= (1 << UCSZ11); |
| 60 | UCSR1C |= (1 << UCSZ10); |
112 | UCSR1C |= (1 << UCSZ10); |
| 61 | // flush receive buffer explicit |
113 | // flush receive buffer explicit |
| 62 | while(UCSR1A & (1<<RXC1)) UDR1; |
114 | while(UCSR1A & (1<<RXC1)) UDR1; |
| 63 | // enable RX-interrupts at the end |
115 | // enable RX-interrupts at the end |
| 64 | UCSR1B |= (1 << RXCIE1); |
116 | UCSR1B |= (1 << RXCIE1); |
| 65 | // -- End of USART1 initialisation |
117 | // -- End of USART1 initialisation |
| 66 | // restore global interrupt flags |
118 | // restore global interrupt flags |
| 67 | sBusBuffer[23] |= 4; // This Bit contains the 'Signal loss' |
119 | sBusBuffer[23] |= 4; // This Bit contains the 'Signal loss' |
| 68 | SREG = sreg; |
120 | SREG = sreg; |
| 69 | return; |
121 | return; |
| 70 | } |
122 | } |
| 71 | 123 | ||
| 72 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
124 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 73 | #define MIN_FRAMEGAP 68 // 7ms |
125 | #define MIN_FRAMEGAP 68 // 7ms |
| 74 | #define MAX_BYTEGAP 3 // 310us |
126 | #define MAX_BYTEGAP 3 // 310us |
| 75 | 127 | ||
| 76 | //############################################################################ |
128 | //############################################################################ |
| 77 | // Is called by the uart interrupt |
129 | // Is called by the uart RX interrupt |
| 78 | //############################################################################ |
130 | //############################################################################ |
| 79 | void SbusParser(unsigned char udr) |
131 | void SbusParser(unsigned char udr) |
| 80 | { |
132 | { |
| 81 | static unsigned char ptr = 0; |
133 | static unsigned char ptr = 0; |
| 82 | if(!SpektrumTimer && udr == 0x0f) // wait for the start |
134 | if(!SpektrumTimer && udr == 0x0f) // wait for the start |
| 83 | { |
135 | { |
| 84 | ptr = 0; |
136 | ptr = 0; |
| 85 | SpektrumTimer = 80; // 8ms gap |
137 | SpektrumTimer = 80; // 8ms gap |
| 86 | } |
138 | } |
| 87 | else |
139 | else |
| 88 | { |
140 | { |
| 89 | if(++ptr == 24) // last byte |
141 | if(++ptr == 24) // last byte |
| 90 | { |
142 | { |
| 91 | NewSBusData = 1; |
143 | NewSBusData = 1; |
| 92 | } |
144 | } |
| 93 | else |
145 | else |
| 94 | if(ptr > 24) ptr = 25; |
146 | if(ptr > 24) ptr = 25; |
| 95 | else |
147 | else |
| 96 | { |
148 | { |
| 97 | sBusBuffer[ptr] = udr; // collect all bytes |
149 | sBusBuffer[ptr] = udr; // collect all bytes |
| 98 | } |
150 | } |
| 99 | } |
151 | } |
| 100 | } |
152 | } |
| 101 | 153 | ||
| 102 | void ProcessSBus(void) |
154 | void ProcessSBus(void) |
| 103 | { |
155 | { |
| 104 | static unsigned char load = 0; |
156 | static unsigned char load = 0; |
| 105 | unsigned char bitmask8 = 1, sbyte = 2, i, index = 1, process; |
157 | unsigned char bitmask8 = 1, sbyte = 2, i, index = 1, process; |
| 106 | unsigned int bitmask11 = 256; |
158 | unsigned int bitmask11 = 256; |
| 107 | signed int signal = 0,tmp; |
159 | signed int signal = 0,tmp; |
| 108 | 160 | ||
| 109 | if(!(sBusBuffer[23] & 4)) // This Bit contains the 'Signal loss' |
161 | if(!(sBusBuffer[23] & 4)) // This Bit contains the 'Signal loss' |
| 110 | { |
162 | { |
| 111 | TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input |
163 | TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input |
| 112 | if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe |
164 | if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe |
| 113 | { |
165 | { |
| 114 | if(SenderOkay < 200) SenderOkay += 20; else SenderOkay = 200; |
166 | if(SenderOkay < 200) SenderOkay += 20; else SenderOkay = 200; |
| 115 | } |
167 | } |
| 116 | signal = sBusBuffer[1]; |
168 | signal = sBusBuffer[1]; |
| 117 | if(!load--) { process = (12*11 - 8); load = 2;} else process = (4*11 - 8); // lowers the processor load |
169 | if(!load--) { process = (12*11 - 8); load = 2;} else process = (4*11 - 8); // lowers the processor load |
| 118 | for(i = 0; i < process; i++) // collect the single bits |
170 | for(i = 0; i < process; i++) // collect the single bits |
| 119 | { |
171 | { |
| 120 | if(sBusBuffer[sbyte] & bitmask8) signal |= bitmask11; |
172 | if(sBusBuffer[sbyte] & bitmask8) signal |= bitmask11; |
| 121 | bitmask8 *= 2; |
173 | bitmask8 *= 2; |
| 122 | if(!bitmask8) |
174 | if(!bitmask8) |
| 123 | { |
175 | { |
| 124 | bitmask8 = 1; |
176 | bitmask8 = 1; |
| 125 | sbyte++; |
177 | sbyte++; |
| 126 | } |
178 | } |
| 127 | bitmask11 *= 2; |
179 | bitmask11 *= 2; |
| 128 | if(bitmask11 == 2048) |
180 | if(bitmask11 == 2048) |
| 129 | { |
181 | { |
| 130 | bitmask11 = 1; |
182 | bitmask11 = 1; |
| 131 | signal = (signal-1024) / 5; // the resolution is higher than required |
183 | signal = (signal-1024) / 5; // the resolution is higher than required |
| 132 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
184 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
| 133 | if(tmp > signal+1) tmp--; else |
185 | if(tmp > signal+1) tmp--; else |
| 134 | if(tmp < signal-1) tmp++; |
186 | if(tmp < signal-1) tmp++; |
| 135 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
187 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| 136 | else PPM_diff[index] = 0; |
188 | else PPM_diff[index] = 0; |
| 137 | PPM_in[index] = tmp; |
189 | PPM_in[index] = tmp; |
| 138 | signal = 0; |
190 | signal = 0; |
| 139 | index++; // next channel |
191 | index++; // next channel |
| 140 | } |
192 | } |
| 141 | } |
193 | } |
| 142 | NewPpmData = 0; // Null bedeutet: Neue Daten |
194 | NewPpmData = 0; // Null bedeutet: Neue Daten |
| 143 | } |
195 | } |
| 144 | NewSBusData = 0; |
196 | NewSBusData = 0; |
| 145 | } |
197 | } |
| 146 | 198 | ||
| 147 | #endif |
199 | #endif |
| 148 | 200 | ||