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| Rev 1506 | Rev 1680 | ||
|---|---|---|---|
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| 2 | Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit |
2 | Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit |
| 3 | #######################################################################################*/ |
3 | #######################################################################################*/ |
| Line 4... | Line 4... | ||
| 4 | 4 | ||
| 5 | #include "Spektrum.h" |
5 | #include "Spektrum.h" |
| 6 | #include "main.h" |
6 | #include "main.h" |
| Line 7... | Line 7... | ||
| 7 | //#define RECEIVER_SPEKTRUM_EXP |
7 | // Achtung: RECEIVER_SPEKTRUM_EXP wird in der Main.h gesetzt |
| Line 8... | Line 8... | ||
| 8 | 8 | ||
| 9 | unsigned char SpektrumTimer = 0; |
9 | unsigned char SpektrumTimer = 0; |
| 10 | 10 | ||
| 11 | #ifdef RECEIVER_SPEKTRUM_EXP |
11 | #ifdef RECEIVER_SPEKTRUM_EXP |
| 12 | unsigned char sexcnt; // Counter for Spektrum-Expander |
12 | unsigned char s_excnt = 0; // Counter for Spektrum-Expander |
| 13 | unsigned char sexparity; // Parity Bit for Spektrum-Expander |
13 | unsigned char s_exparity = 0; // Parity Bit for Spektrum-Expander |
| 14 | signed char sexdata[7]; // Data for Spektrum-Expander |
14 | signed char s_exdata[11]; // Data for Spektrum-Expander |
| 15 | #endif |
15 | #endif |
| 16 | //--------------------------------------------------------------// |
16 | //--------------------------------------------------------------// |
| Line 328... | Line 328... | ||
| 328 | #ifdef RECEIVER_SPEKTRUM_EXP |
328 | #ifdef RECEIVER_SPEKTRUM_EXP |
| 329 | if(index == 6) // FLIGHT-MODE - The channel used for our data uplink |
329 | if(index == 6) // FLIGHT-MODE - The channel used for our data uplink |
| 330 | { |
330 | { |
| 331 | if (signal > 100) // SYNC received |
331 | if (signal > 100) // SYNC received |
| 332 | { |
332 | { |
| 333 | sexcnt = 0; // Reset bitcounter |
333 | if (s_exdata[s_excnt] == 125) s_exparity = ~s_exparity; // Bit = 1 -> Re-Invert parity bit |
| 334 | sexparity = 0; // Reset parity bit |
334 | if ((s_excnt == 6 && ((s_exparity != 0 && s_exdata[s_excnt] == -125) || (s_exparity == 0 && s_exdata[s_excnt] == 125))) || (s_excnt == 9 && ((s_exparity == 0 && s_exdata[s_excnt] == -125) || (s_exparity != 0 && s_exdata[s_excnt] == 125)))) // Parity check |
| 335 | } |
335 | { |
| - | 336 | if (s_exdata[1] == 125 && s_exdata[2] == -125) PPM_in[5] = -125; // Reconstruct tripole Flight-Mode value (CH5) |
|
| - | 337 | else if (s_exdata[1] == -125 && s_exdata[2] == -125) PPM_in[5] = 0; // Reconstruct tripole Flight-Mode value (CH5) |
|
| - | 338 | else if (s_exdata[1] == -125 && s_exdata[2] == 125) PPM_in[5] = 125; // Reconstruct tripole Flight-Mode value (CH5) |
|
| - | 339 | PPM_in[6] = s_exdata[3]; // Elevator (CH6) |
|
| - | 340 | PPM_in[11] = s_exdata[4]; // Aileron (CH11) |
|
| - | 341 | PPM_in[12] = s_exdata[5]; // Rudder (CH12) |
|
| Line 336... | Line 342... | ||
| 336 | 342 | ||
| 337 | if (signal < 10) |
343 | if (s_excnt == 9) // New Mode (12 Channels) |
| - | 344 | { |
|
| 338 | { |
345 | if (s_exdata[7] == 125) PPM_in[8] += 5; // Hover Pitch UP (CH8) |
| 339 | sexcnt++; // Increase counter only for non-sync bits |
346 | if (s_exdata[8] == 125) PPM_in[8] -= 5; // Hover Pitch DN (CH8) |
| - | 347 | if (PPM_in[8] < -125) PPM_in[8] = -125; // Range-Limit |
|
| - | 348 | else if (PPM_in[8] > 125) PPM_in[8] = 125; // Range-Limit |
|
| - | 349 | PPM_in[10] = s_exdata[6]; // AUX2 (CH10) |
|
| 340 | sexdata[sexcnt] = -113; // Bit = 0 -> value = -113 (min) |
350 | } |
| Line 341... | Line 351... | ||
| 341 | } |
351 | } |
| - | 352 | ||
| - | 353 | s_excnt = 0; // Reset bitcounter |
|
| Line -... | Line 354... | ||
| - | 354 | s_exparity = 0; // Reset parity bit |
|
| - | 355 | } |
|
| 342 | 356 | ||
| 343 | if (sexcnt == 7) sexcnt = 0; // Overflow protection |
357 | if (signal < 10) s_exdata[++s_excnt] = -125; // Bit = 0 -> value = -125 (min) |
| 344 | 358 | if (s_excnt == 10) s_excnt = 0; // Overflow protection |
|
| 345 | if (signal < -100) |
359 | if (signal < -100) |
| 346 | { |
360 | { |
| Line 347... | Line -... | ||
| 347 | sexdata[sexcnt] = 114; // Bit = 1 -> value = 114 (max) |
- | |
| 348 | if (sexcnt < 6) sexparity = ~sexparity; // Bit = 1 -> Invert parity bit (without itself) |
- | |
| 349 | } |
- | |
| 350 | - | ||
| 351 | if (sexcnt == 6) // Wait for complete frame |
- | |
| 352 | { |
- | |
| 353 | if ((sexparity != 0 && sexdata[6] == -113) || (sexparity == 0 && sexdata[6] == 114)) // Parity check |
- | |
| 354 | { |
- | |
| 355 | if (sexdata[1] == 114 && sexdata[2] == -113) PPM_in[5] = -113;// Reconstruct tripole Flight-Mode value (CH5) |
- | |
| 356 | if (sexdata[1] == -113 && sexdata[2] == -113) PPM_in[5] = 0; // Reconstruct tripole Flight-Mode value (CH5) |
- | |
| 357 | if (sexdata[1] == -113 && sexdata[2] == 114) PPM_in[5] = 114; // Reconstruct tripole Flight-Mode value (CH5) |
- | |
| 358 | PPM_in[6] = sexdata[3]; // Elevator (CH6) |
- | |
| 359 | PPM_in[9] = sexdata[4]; // Aileron (CH9) |
361 | s_exdata[s_excnt] = 125; // Bit = 1 -> value = 125 (max) |
| 360 | PPM_in[10] = sexdata[5]; // Rudder (CH10) |
362 | s_exparity = ~s_exparity; // Bit = 1 -> Invert parity bit |
| 361 | } |
363 | } |
| 362 | } |
- | |
| 363 | } |
364 | |
| Line 364... | Line 365... | ||
| 364 | #endif |
365 | } |
| 365 | if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
366 | #endif |
| 366 | 367 | if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
|
| 367 | else PPM_diff[index] = 0; |
368 | else PPM_diff[index] = 0; |
| 368 | 369 | ||
| 369 | #ifdef RECEIVER_SPEKTRUM_EXP |
370 | #ifdef RECEIVER_SPEKTRUM_EXP |
| 370 | if (index < 5 ) PPM_in[index] = tmp; // Update normal potis (CH1-4) |
371 | if (index < 5 ) PPM_in[index] = tmp; // Update normal potis (CH1-4) |
| 371 | if (index == 5) PPM_in[7] = signal; // Gear (CH7) |
372 | else if (index == 5) PPM_in[7] = signal; // Gear (CH7) |
| 372 | if (index == 7) PPM_in[8] = signal; // AUX2 (CH8) |
373 | else if (index == 7) PPM_in[9] = signal; // Hover Throttle (CH9) |
| Line 401... | Line 402... | ||
| 401 | Sync = 0; |
402 | Sync = 0; |
| 402 | SpektrumTimer = MIN_FRAMEGAP; |
403 | SpektrumTimer = MIN_FRAMEGAP; |
| 403 | } |
404 | } |
| 404 | } |
405 | } |
| 405 | } |
406 | } |
| 406 | - | ||
| 407 | - | ||