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| Rev 2177 | Rev 2312 | ||
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| Line 10... | Line 10... | ||
| 10 | #warning : "### without SPECTRUM Code ###" |
10 | #warning : "### without SPECTRUM Code ###" |
| 11 | #endif |
11 | #endif |
| Line 12... | Line 12... | ||
| 12 | 12 | ||
| Line -... | Line 13... | ||
| - | 13 | unsigned char SpektrumTimer = 0; |
|
| 13 | unsigned char SpektrumTimer = 0; |
14 | |
| 14 | 15 | // Achtung: RECEIVER_SPEKTRUM_DX7EXP oder RECEIVER_SPEKTRUM_DX8EXP wird in der main.h gesetzt |
|
| 15 | #if defined (RECEIVER_SPEKTRUM_DX7EXP) || defined (RECEIVER_SPEKTRUM_DX8EXP) |
16 | #if defined (RECEIVER_SPEKTRUM_DX7EXP) || defined (RECEIVER_SPEKTRUM_DX8EXP) |
| 16 | unsigned char s_excnt = 0; // Counter for Spektrum-Expander |
17 | unsigned char s_excnt = 0; // Bitcounter for Spektrum-Expander |
| - | 18 | unsigned char s_exparity = 0; // Parity Bit for Spektrum-Expander |
|
| - | 19 | signed char s_exdata[11]; // Data for Spektrum-Expander |
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| - | 20 | ||
| - | 21 | void s_update(unsigned char channel, signed int value) // Channel-Diff numbercrunching and finally assign new stickvalue to PPM_in |
|
| - | 22 | { |
|
| - | 23 | if(SenderOkay >= 180) PPM_diff[channel] = ((value - PPM_in[channel]) / 3) * 3; |
|
| - | 24 | else PPM_diff[channel] = 0; |
|
| 17 | unsigned char s_exparity = 0; // Parity Bit for Spektrum-Expander |
25 | PPM_in[channel] = value; |
| - | 26 | } |
|
| 18 | signed char s_exdata[11]; // Data for Spektrum-Expander |
27 | #endif |
| 19 | #endif |
28 | |
| 20 | //--------------------------------------------------------------// |
29 | //--------------------------------------------------------------// |
| 21 | //--------------------------------------------------------------// |
30 | //--------------------------------------------------------------// |
| 22 | /* |
31 | /* |
| Line 319... | Line 328... | ||
| 319 | index++; |
328 | index++; |
| 320 | if(index < 13) |
329 | if(index < 13) |
| 321 | { |
330 | { |
| 322 | // Stabiles Signal |
331 | // Stabiles Signal |
| 323 | #if defined (RECEIVER_SPEKTRUM_DX7EXP) || defined (RECEIVER_SPEKTRUM_DX8EXP) |
332 | #if defined (RECEIVER_SPEKTRUM_DX7EXP) || defined (RECEIVER_SPEKTRUM_DX8EXP) |
| 324 | if (index == 2) index = 4; // Analog channel reassigment (2 <-> 4) for logical numbering (1,2,3,4) |
333 | if (index == 2) index = 4; // Analog channel reassigment (2 <-> 4) for logical numbering (1,2,3,4) |
| 325 | else if (index == 4) index = 2; |
334 | else if (index == 4) index = 2; |
| 326 | #endif |
335 | #endif |
| 327 | if(abs(signal - PPM_in[index]) < 6) |
336 | if(abs(signal - PPM_in[index]) < 6) |
| 328 | { |
337 | { |
| 329 | if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe |
338 | if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe |
| Line 339... | Line 348... | ||
| 339 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
348 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
| 340 | if(tmp > signal+1) tmp--; else |
349 | if(tmp > signal+1) tmp--; else |
| 341 | if(tmp < signal-1) tmp++; |
350 | if(tmp < signal-1) tmp++; |
| Line 342... | Line 351... | ||
| 342 | 351 | ||
| 343 | #ifdef RECEIVER_SPEKTRUM_DX7EXP |
352 | #ifdef RECEIVER_SPEKTRUM_DX7EXP |
| 344 | if(index == 6) // FLIGHT-MODE - The channel used for our data uplink |
353 | if(index == 6) // FLIGHT-MODE - The channel used for our data uplink |
| 345 | { |
354 | { |
| 346 | if (signal > 100) // SYNC received |
355 | if (signal > 100) // SYNC received |
| 347 | { |
356 | { |
| 348 | if (s_exdata[s_excnt] == 125) s_exparity = ~s_exparity; // Bit = 1 -> Re-Invert parity bit |
357 | if (s_exdata[s_excnt] == 125) s_exparity = ~s_exparity; // Bit = 1 -> Re-Invert parity bit |
| 349 | 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 |
358 | 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 |
| 350 | { |
359 | { |
| 351 | if (s_exdata[1] == 125 && s_exdata[2] == -125) PPM_in[5] = -125; // Reconstruct tripole Flight-Mode value (CH5) |
360 | if (s_exdata[1] == 125 && s_exdata[2] == -125) s_update(5,-125); // Reconstruct tripole Flight-Mode value (CH5) |
| 352 | else if (s_exdata[1] == -125 && s_exdata[2] == -125) PPM_in[5] = 0; // Reconstruct tripole Flight-Mode value (CH5) |
361 | else if (s_exdata[1] == -125 && s_exdata[2] == -125) s_update(5,0); // Reconstruct tripole Flight-Mode value (CH5) |
| 353 | else if (s_exdata[1] == -125 && s_exdata[2] == 125) PPM_in[5] = 125; // Reconstruct tripole Flight-Mode value (CH5) |
362 | else if (s_exdata[1] == -125 && s_exdata[2] == 125) s_update(5,125); // Reconstruct tripole Flight-Mode value (CH5) |
| 354 | PPM_in[6] = s_exdata[3]; // Elevator (CH6) |
363 | s_update(6,s_exdata[3]); // Elevator (CH6) |
| 355 | PPM_in[11] = s_exdata[4]; // Aileron (CH11) |
364 | s_update(11,s_exdata[4]); // Aileron (CH11) |
| Line 356... | Line 365... | ||
| 356 | PPM_in[12] = s_exdata[5]; // Rudder (CH12) |
365 | s_update(12,s_exdata[5]); // Rudder (CH12) |
| 357 | 366 | ||
| 358 | if (s_excnt == 9) // New Mode (12 Channels) |
367 | if (s_excnt == 9) // New Mode (12 Channels) |
| 359 | { |
368 | { |
| 360 | if (s_exdata[7] == 125) PPM_in[8] += 5; // Hover Pitch UP (CH8) |
369 | if (s_exdata[7] == 125) s_update(8,PPM_in[8]+5); // Hover Pitch UP (CH8) |
| 361 | if (s_exdata[8] == 125) PPM_in[8] -= 5; // Hover Pitch DN (CH8) |
370 | if (s_exdata[8] == 125) s_update(8,PPM_in[8]-5); // Hover Pitch DN (CH8) |
| 362 | if (PPM_in[8] < -125) PPM_in[8] = -125; // Range-Limit |
371 | if (PPM_in[8] < -125) PPM_in[8] = -125; // Range-Limit |
| 363 | else if (PPM_in[8] > 125) PPM_in[8] = 125; // Range-Limit |
372 | else if (PPM_in[8] > 125) PPM_in[8] = 125; // Range-Limit |
| 364 | PPM_in[10] = s_exdata[6]; // AUX2 (CH10) |
373 | s_update(10,s_exdata[6]); // AUX2 (CH10) |
| Line 365... | Line 374... | ||
| 365 | } |
374 | } |
| 366 | } |
375 | } |
| 367 | 376 | ||
| Line 368... | Line 377... | ||
| 368 | s_excnt = 0; // Reset bitcounter |
377 | s_excnt = 0; // Reset bitcounter |
| 369 | s_exparity = 0; // Reset parity bit |
378 | s_exparity = 0; // Reset parity bit |
| 370 | } |
379 | } |
| 371 | 380 | ||
| 372 | if (signal < 10) s_exdata[++s_excnt] = -125; // Bit = 0 -> value = -125 (min) |
381 | if (signal < 10) s_exdata[++s_excnt] = -125; // Bit = 0 -> value = -125 (min) |
| 373 | if (s_excnt == 10) s_excnt = 0; // Overflow protection |
382 | if (s_excnt == 10) s_excnt = 0; // Overflow protection |
| 374 | if (signal < -100) |
383 | if (signal < -100) |
| Line 375... | Line 384... | ||
| 375 | { |
384 | { |
| Line -... | Line 385... | ||
| - | 385 | s_exdata[s_excnt] = 125; // Bit = 1 -> value = 125 (max) |
|
| - | 386 | s_exparity = ~s_exparity; // Bit = 1 -> Invert parity bit |
|
| - | 387 | } |
|
| - | 388 | ||
| 376 | s_exdata[s_excnt] = 125; // Bit = 1 -> value = 125 (max) |
389 | } |
| 377 | s_exparity = ~s_exparity; // Bit = 1 -> Invert parity bit |
390 | |
| 378 | } |
391 | if (index < 5 ) s_update(index,tmp); // Update normal potis (CH1-4) |
| 379 | 392 | else if (index == 5) s_update(7,signal); // Gear (CH7) |
|
| 380 | } |
393 | else if (index == 7) s_update(9,signal); // Hover Throttle (CH9) |
| 381 | 394 | ||
| 382 | #elif defined RECEIVER_SPEKTRUM_DX8EXP |
395 | #elif defined RECEIVER_SPEKTRUM_DX8EXP |
| 383 | if(index == 6) // FLIGHT-MODE - The channel used for our data uplink |
396 | if(index == 6) // FLIGHT-MODE - The channel used for our data uplink |
| 384 | { |
397 | { |
| 385 | if (signal > 100) // SYNC received |
398 | if (signal > 100) // SYNC received |
| 386 | { |
399 | { |
| Line 387... | Line 400... | ||
| 387 | if (s_exdata[s_excnt] == 125) s_exparity = ~s_exparity; // Bit = 1 -> Re-Invert parity bit |
400 | if (s_exdata[s_excnt] == 125) s_exparity = ~s_exparity; // Bit = 1 -> Re-Invert parity bit |
| 388 | if (s_excnt == 9 && ((s_exparity == 0 && s_exdata[s_excnt] == -125) || (s_exparity != 0 && s_exdata[s_excnt] == 125))) // Parity check |
401 | if (s_excnt == 9 && ((s_exparity == 0 && s_exdata[s_excnt] == -125) || (s_exparity != 0 && s_exdata[s_excnt] == 125))) // Parity check |
| 389 | { |
402 | { |
| Line 390... | Line 403... | ||
| 390 | if (s_exdata[1] == 125 && s_exdata[2] == -125) PPM_in[5] = -125; // Reconstruct tripole Flight-Mode value (CH5) |
403 | if (s_exdata[1] == 125 && s_exdata[2] == -125) s_update(5,-125); // Reconstruct tripole Flight-Mode value (CH5) |
| 391 | else if (s_exdata[1] == -125 && s_exdata[2] == -125) PPM_in[5] = 0; // Reconstruct tripole Flight-Mode value (CH5) |
404 | else if (s_exdata[1] == -125 && s_exdata[2] == -125) s_update(5,0); // Reconstruct tripole Flight-Mode value (CH5) |
| 392 | else if (s_exdata[1] == -125 && s_exdata[2] == 125) PPM_in[5] = 125; // Reconstruct tripole Flight-Mode value (CH5) |
405 | else if (s_exdata[1] == -125 && s_exdata[2] == 125) s_update(5,125); // Reconstruct tripole Flight-Mode value (CH5) |
| Line 393... | Line 406... | ||
| 393 | 406 | ||
| 394 | if (s_exdata[3] == 125 && s_exdata[6] == -125) PPM_in[6] = 125; // Reconstruct tripole Elev D/R value (CH6) |
407 | if (s_exdata[3] == 125 && s_exdata[6] == -125) s_update(6,125); // Reconstruct tripole Elev D/R value (CH6) |
| 395 | else if (s_exdata[3] == -125 && s_exdata[6] == -125) PPM_in[6] = 0; // Reconstruct tripole Elev D/R value (CH6) |
408 | else if (s_exdata[3] == -125 && s_exdata[6] == -125) s_update(6,0); // Reconstruct tripole Elev D/R value (CH6) |
| Line 396... | Line 409... | ||
| 396 | else if (s_exdata[3] == -125 && s_exdata[6] == 125) PPM_in[6] = -125; // Reconstruct tripole Elev D/R value (CH6) |
409 | else if (s_exdata[3] == -125 && s_exdata[6] == 125) s_update(6,-125); // Reconstruct tripole Elev D/R value (CH6) |
| 397 | 410 | ||
| 398 | 411 | ||
| Line 415... | Line 428... | ||
| 415 | s_exdata[s_excnt] = 125; // Bit = 1 -> value = 125 (max) |
428 | s_exdata[s_excnt] = 125; // Bit = 1 -> value = 125 (max) |
| 416 | s_exparity = ~s_exparity; // Bit = 1 -> Invert parity bit |
429 | s_exparity = ~s_exparity; // Bit = 1 -> Invert parity bit |
| 417 | } |
430 | } |
| Line 418... | Line 431... | ||
| 418 | 431 | ||
| 419 | } |
- | |
| 420 | #endif |
- | |
| 421 | if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
- | |
| Line 422... | Line -... | ||
| 422 | else PPM_diff[index] = 0; |
- | |
| 423 | 432 | } |
|
| 424 | #ifdef RECEIVER_SPEKTRUM_DX7EXP |
- | |
| 425 | if (index < 5 ) PPM_in[index] = tmp; // Update normal potis (CH1-4) |
- | |
| 426 | else if (index == 5) PPM_in[7] = signal; // Gear (CH7) |
- | |
| 427 | else if (index == 7) PPM_in[9] = signal; // Hover Throttle (CH9) |
- | |
| 428 | #elif defined RECEIVER_SPEKTRUM_DX8EXP |
433 | |
| 429 | if (index < 5 ) PPM_in[index] = tmp; // Update normal potis (CH1-4) |
434 | if (index < 5 ) s_update(index,tmp); // Update normal potis (CH1-4) |
| 430 | else if (index == 7) PPM_in[7] = signal; // R Trim (CH7) |
435 | else if (index == 7) s_update(7,signal); // R Trim (CH7) |
| - | 436 | else if (index == 5) s_update(8,signal); // AUX2 (CH8) |
|
| 431 | else if (index == 5) PPM_in[8] = signal; // AUX2 (CH8) |
437 | else if (index == 8) s_update(11,signal); // AUX3 (CH11) |
| - | 438 | ||
| - | 439 | #else |
|
| 432 | else if (index == 8) PPM_in[11] = signal; // AUX3 (CH11) |
440 | if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| 433 | #else |
441 | else PPM_diff[index] = 0; |
| 434 | PPM_in[index] = tmp; |
442 | PPM_in[index] = tmp; |
| 435 | #endif |
443 | #endif |
| 436 | } |
444 | } |