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| 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // This code has been derived from the implementation of Stefan Engelke. |
2 | // This code has been derived from the implementation of Stefan Engelke. |
| 3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 4 | /* |
4 | /* |
| 5 | Copyright (c) 2008 Stefan Engelke <stefan@tinkerer.eu> |
5 | Copyright (c) 2008 Stefan Engelke <stefan@tinkerer.eu> |
| Line 6... | Line 6... | ||
| 6 | 6 | ||
| 7 | Permission is hereby granted, free of charge, to any person |
7 | Permission is hereby granted, free of charge, to any person |
| 8 | obtaining a copy of this software and associated documentation |
8 | obtaining a copy of this software and associated documentation |
| 9 | files (the "Software"), to deal in the Software without |
9 | files (the "Software"), to deal in the Software without |
| 10 | restriction, including without limitation the rights to use, copy, |
10 | restriction, including without limitation the rights to use, copy, |
| 11 | modify, merge, publish, distribute, sublicense, and/or sell copies |
11 | modify, merge, publish, distribute, sublicense, and/or sell copies |
| 12 | of the Software, and to permit persons to whom the Software is |
12 | of the Software, and to permit persons to whom the Software is |
| 13 | furnished to do so, subject to the following conditions: |
13 | furnished to do so, subject to the following conditions: |
| 14 | 14 | ||
| 15 | The above copyright notice and this permission notice shall be |
15 | The above copyright notice and this permission notice shall be |
| 16 | included in all copies or substantial portions of the Software. |
16 | included in all copies or substantial portions of the Software. |
| 17 | 17 | ||
| 18 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
18 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
| 19 | EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF |
19 | EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF |
| 20 | MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
20 | MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
| 21 | NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
21 | NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
| 22 | HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
22 | HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
| 23 | WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
23 | WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| 24 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER |
24 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER |
| 25 | DEALINGS IN THE SOFTWARE. |
25 | DEALINGS IN THE SOFTWARE. |
| 26 | 26 | ||
| 27 | $Id: rcdsl.c 60 2008-08-21 07:50:48Z taser $ |
27 | $Id: rcdsl.c 60 2008-08-21 07:50:48Z taser $ |
| 28 | 28 | ||
| 29 | RCDSL.H and RCDSL.C is an INOFFICIAL implementation of the |
29 | RCDSL.H and RCDSL.C is an INOFFICIAL implementation of the |
| 30 | communication protocol used by DSL receivers of Act Europe. |
30 | communication protocol used by DSL receivers of Act Europe. |
| 31 | The DSL receivers have a serial communication port to connect |
31 | The DSL receivers have a serial communication port to connect |
| 32 | two receivers in diversity mode. Each receiver is sending the |
32 | two receivers in diversity mode. Each receiver is sending the |
| 33 | received servo signals periodically over this port. This fact |
33 | received servo signals periodically over this port. This fact |
| 34 | can be used to connect the receiver to the control unit of the |
34 | can be used to connect the receiver to the control unit of the |
| Line 35... | Line 35... | ||
| 35 | model via UART instead of evaluating the PPM signal. |
35 | model via UART instead of evaluating the PPM signal. |
| 36 | - | ||
| 37 | If you have any questions, fell free to send me an e-mail. |
- | |
| Line -... | Line 36... | ||
| - | 36 | ||
| Line 38... | Line 37... | ||
| 38 | 37 | If you have any questions, fell free to send me an e-mail. |
|
| 39 | */ |
38 | |
| 40 | 39 | */ |
|
| Line 41... | Line 40... | ||
| 41 | 40 | ||
| 42 | /* |
41 | /* |
| 43 | Connection of DSL to SV1 of FC: |
42 | Connection of DSL to SV1 of FC: |
| 44 | ( DSL Pin1 is on side of channel 4 ) |
43 | ( DSL Pin1 is on side of channel 4 ) |
| 45 | 44 | ||
| 46 | 1. GND <--> pin 7 (GND) |
45 | 1. GND <--> pin 7 (GND) |
| 47 | 2. TXD <--> pin 3 (RXD1 Atmega644p) |
46 | 2. TXD <--> pin 3 (RXD1 Atmega644p) |
| 48 | 3. RXD <--> pin 4 (TXD1 Atmega644p) optional |
47 | 3. RXD <--> pin 4 (TXD1 Atmega644p) optional |
| 49 | 4. 5V <--> pin 2 (5V) |
48 | 4. 5V <--> pin 2 (5V) |
| 50 | 49 | ||
| 51 | Do not connect the receiver via PPM-Sumsignal output the same time. |
50 | Do not connect the receiver via PPM-Sumsignal output the same time. |
| 52 | 51 | ||
| 53 | Data are send at every 20 ms @ 38400 Baud 8-N-1 |
52 | Data are send at every 20 ms @ 38400 Baud 8-N-1 |
| 54 | 53 | ||
| 55 | Data Frame: |0xFF|0xFF|0x1F|FREQALLOC|??|RSSI|VBAT|??|CRC|10|CH0D1|CH0D0|CH1D1|CH1D0|CRC| ...etc |
54 | Data Frame: |0xFF|0xFF|0x1F|FREQALLOC|??|RSSI|VBAT|??|CRC|10|CH0D1|CH0D0|CH1D1|CH1D0|CRC| ...etc |
| 56 | 55 | ||
| 57 | FREQALLOC = 35, 40, 72 |
56 | FREQALLOC = 35, 40, 72 |
| 58 | RSSI = 0.. 255 // Received signal strength indicator |
57 | RSSI = 0.. 255 // Received signal strength indicator |
| 59 | VBAT = 0...255 // supply voltage (0.0V.. 7.8V) |
58 | VBAT = 0...255 // supply voltage (0.0V.. 7.8V) |
| 60 | 59 | ||
| 61 | Servo Pair: |0x1X|CHXD1|CHXD0|CHX+1D1|CHX+1D0|CRC| |
60 | Servo Pair: |0x1X|CHXD1|CHXD0|CHX+1D1|CHX+1D0|CRC| |
| 62 | X is channel index of 1 servo value |
61 | X is channel index of 1 servo value |
| 63 | D1D0 is servo value as u16 in range of 7373 (1ms) to 14745 (2ms) |
62 | D1D0 is servo value as u16 in range of 7373 (1ms) to 14745 (2ms) |
| 64 | there are 8 channels submitted, i.e 4 servo pairs |
63 | there are 8 channels submitted, i.e 4 servo pairs |
| 65 | 64 | ||
| 66 | 65 | ||
| 67 | Frame examples with signel received |
66 | Frame examples with signel received |
| 68 | 67 | ||
| 69 | FFFF 1F23F079A304AD 1036012B1E6F 122AFB2AECB2 142B4D2B4404 1636872B33CE |
68 | FFFF 1F23F079A304AD 1036012B1E6F 122AFB2AECB2 142B4D2B4404 1636872B33CE |
| 70 | FFFF 1F23F079A304AD 1036002B1F6F 122AFE2AEBB0 142B4B2B4406 1636872B33CE |
69 | FFFF 1F23F079A304AD 1036002B1F6F 122AFE2AEBB0 142B4B2B4406 1636872B33CE |
| 71 | FFFF 1F23F079A304AD 1035FF2B226E 122AFC2AEAB3 142B4E2B4304 1636882B33CD |
70 | FFFF 1F23F079A304AD 1035FF2B226E 122AFC2AEAB3 142B4E2B4304 1636882B33CD |
| 72 | FFFF 1F23F079A304AD 1036022B1E6E 122AFB2AEEB0 142B4A2B4506 1636872B33CE |
71 | FFFF 1F23F079A304AD 1036022B1E6E 122AFB2AEEB0 142B4A2B4506 1636872B33CE |
| 73 | FFFF 1F23F079A304AD 1036022B1E6E 122AFE2AEBB0 142B4B2B4406 1636882B33CD |
72 | FFFF 1F23F079A304AD 1036022B1E6E 122AFE2AEBB0 142B4B2B4406 1636882B33CD |
| 74 | FFFF 1F23F079A304AD 1036012B1E6F 122AFD2AEAB2 142B4E2B4403 1636862B33CF |
73 | FFFF 1F23F079A304AD 1036012B1E6F 122AFD2AEAB2 142B4E2B4403 1636862B33CF |
| 75 | FFFF 1F23F079A304AD 1036032B1D6E 122AFD2AEBB1 142B4C2B4504 1636862B33CF |
74 | FFFF 1F23F079A304AD 1036032B1D6E 122AFD2AEBB1 142B4C2B4504 1636862B33CF |
| 76 | 75 | ||
| 77 | Frame examples with no signal received |
76 | Frame examples with no signal received |
| 78 | 77 | ||
| 79 | FFFF 1F23F000A30426 |
78 | FFFF 1F23F000A30426 |
| 80 | FFFF 1F23F000A30426 |
79 | FFFF 1F23F000A30426 |
| 81 | FFFF 1F23F000A30426 |
80 | FFFF 1F23F000A30426 |
| Line 82... | Line 81... | ||
| 82 | FFFF 1F23F000A30426 |
81 | FFFF 1F23F000A30426 |
| 83 | FFFF 1F23F000A30426 |
82 | FFFF 1F23F000A30426 |
| 84 | FFFF 1F23F000A30426 |
83 | FFFF 1F23F000A30426 |
| 85 | FFFF 1F23F000A30426 |
84 | FFFF 1F23F000A30426 |
| Line 94... | Line 93... | ||
| 94 | uint8_t dsl_Battery = 0; |
93 | uint8_t dsl_Battery = 0; |
| 95 | uint8_t dsl_Allocation = 0; |
94 | uint8_t dsl_Allocation = 0; |
| 96 | uint8_t PacketBuffer[6]; |
95 | uint8_t PacketBuffer[6]; |
| 97 | //uint8_t Jitter = 0; // same measurement as RC_Quality in rc.c |
96 | //uint8_t Jitter = 0; // same measurement as RC_Quality in rc.c |
| Line 98... | Line 97... | ||
| 98 | 97 | ||
| 99 | typedef union |
- | |
| 100 | { |
98 | typedef union { |
| 101 | int16_t Servo[2]; |
99 | int16_t Servo[2]; |
| 102 | uint8_t byte[4]; |
100 | uint8_t byte[4]; |
| Line 103... | Line 101... | ||
| 103 | } ChannelPair_t; |
101 | } ChannelPair_t; |
| Line 104... | Line -... | ||
| 104 | - | ||
| 105 | ChannelPair_t ChannelPair; |
102 | |
| 106 | 103 | ChannelPair_t ChannelPair; |
|
| 107 | 104 | ||
| 108 | // This function is called, when a new servo signal is properly received. |
105 | // This function is called, when a new servo signal is properly received. |
| 109 | // Parameters: servo - servo number (0-9) |
- | |
| 110 | // signal - servo signal between 7373 (1ms) and 14745 (2ms) |
106 | // Parameters: servo - servo number (0-9) |
| 111 | void dsl_new_signal(uint8_t channel, int16_t signal) |
107 | // signal - servo signal between 7373 (1ms) and 14745 (2ms) |
| Line 112... | Line 108... | ||
| 112 | { |
108 | void dsl_new_signal(uint8_t channel, int16_t signal) { |
| 113 | int16_t tmp; |
109 | int16_t tmp; |
| Line 114... | Line 110... | ||
| 114 | uint8_t index = channel + 1; // mk channels start with 1 |
110 | uint8_t index = channel + 1; // mk channels start with 1 |
| 115 | 111 | ||
| 116 | //RC_Quality = (212 * (uint16_t)dsl_RSSI) / 128; // have to be scaled approx. by a factor of 1.66 to get 200 at full level |
112 | //RC_Quality = (212 * (uint16_t)dsl_RSSI) / 128; // have to be scaled approx. by a factor of 1.66 to get 200 at full level |
| 117 | //if(RC_Quality > 255) RC_Quality = 255; |
113 | //if(RC_Quality > 255) RC_Quality = 255; |
| 118 | 114 | ||
| 119 | // signal from DSL-receiver is between 7373 (1ms) und 14745 (2ms). |
- | |
| 120 | signal-= 11059; // shift to neutral |
115 | // signal from DSL-receiver is between 7373 (1ms) und 14745 (2ms). |
| - | 116 | signal -= 11059; // shift to neutral |
|
| - | 117 | signal /= 24; // scale to mk rc resolution |
|
| 121 | signal/= 24; // scale to mk rc resolution |
118 | |
| 122 | 119 | if (abs(signal-PPM_in[index]) < 6) { |
|
| Line 123... | Line 120... | ||
| 123 | if(abs(signal-PPM_in[index]) < 6) |
120 | if (RC_Quality < 200) |
| 124 | { |
121 | RC_Quality += 10; |
| 125 | if(RC_Quality < 200) RC_Quality +=10; |
122 | else |
| - | 123 | RC_Quality = 200; |
|
| 126 | else RC_Quality = 200; |
124 | } |
| - | 125 | ||
| 127 | } |
126 | // calculate exponential history for signal |
| - | 127 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
|
| 128 | 128 | if (tmp > signal + 1) |
|
| - | 129 | tmp--; |
|
| 129 | // calculate exponential history for signal |
130 | else if (tmp < signal - 1) |
| 130 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
131 | tmp++; |
| Line 131... | Line 132... | ||
| 131 | if(tmp > signal+1) tmp--; else |
132 | // calculate signal difference on good signal level |
| 132 | if(tmp < signal-1) tmp++; |
- | |
| 133 | // calculate signal difference on good signal level |
133 | if (RC_Quality >= 195) |
| 134 | if(RC_Quality >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for noise reduction |
134 | PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for noise reduction |
| 135 | else PPM_diff[index] = 0; |
135 | else |
| Line 136... | Line 136... | ||
| 136 | PPM_in[index] = tmp; // update channel value |
136 | PPM_diff[index] = 0; |
| 137 | 137 | PPM_in[index] = tmp; // update channel value |
|
| 138 | if(index == 4) |
138 | |
| 139 | { |
- | |
| 140 | NewPpmData = 0; |
139 | if (index == 4) { |
| Line 141... | Line 140... | ||
| 141 | } |
140 | NewPpmData = 0; |
| 142 | } |
141 | } |
| 143 | - | ||
| 144 | // This function is called within dsl_parser(), when a complete |
142 | } |
| 145 | // data packet with valid checksum has been received. |
143 | |
| 146 | void dsl_decode_packet(void) |
144 | // This function is called within dsl_parser(), when a complete |
| 147 | { |
145 | // data packet with valid checksum has been received. |
| 148 | uint8_t i; |
146 | void dsl_decode_packet(void) { |
| 149 | 147 | uint8_t i; |
|
| 150 | // check for header condition |
148 | |
| 151 | if((PacketBuffer[0] & 0xF0) == 0x10) |
149 | // check for header condition |
| 152 | { |
- | |
| 153 | if(PacketBuffer[0] == 0x1F) // separate status frame |
150 | if ((PacketBuffer[0] & 0xF0) == 0x10) { |
| 154 | { |
151 | if (PacketBuffer[0] == 0x1F) // separate status frame |
| 155 | dsl_Allocation = PacketBuffer[1]; // Get frequency allocation |
- | |
| 156 | // ?? = PacketBuffer[2]; |
152 | { |
| 157 | dsl_RSSI = PacketBuffer[3]; // Get signal quality |
153 | dsl_Allocation = PacketBuffer[1]; // Get frequency allocation |
| 158 | dsl_Battery = PacketBuffer[4]; // Get voltage of battery supply |
154 | // ?? = PacketBuffer[2]; |
| 159 | // ?? = PacketBuffer[5]; |
155 | dsl_RSSI = PacketBuffer[3]; // Get signal quality |
| 160 | if(dsl_RSSI == 0) |
- | |
| 161 | { |
156 | dsl_Battery = PacketBuffer[4]; // Get voltage of battery supply |
| 162 | RC_Quality = 0; |
157 | // ?? = PacketBuffer[5]; |
| 163 | for (i = 0; i<5; i++) |
158 | if (dsl_RSSI == 0) { |
| 164 | { |
159 | RC_Quality = 0; |
| 165 | PPM_diff[i] = 0; |
160 | for (i = 0; i < 5; i++) { |
| 166 | PPM_in[i] = 0; |
161 | PPM_diff[i] = 0; |
| 167 | } |
162 | PPM_in[i] = 0; |
| 168 | } |
163 | } |
| 169 | } |
164 | } |
| 170 | else // probably a channel pair |
165 | } else // probably a channel pair |
| 171 | { |
166 | { |
| 172 | i = PacketBuffer[0] & 0x0F; // last 4 bits of the header indicates the channel pair |
167 | i = PacketBuffer[0] & 0x0F; // last 4 bits of the header indicates the channel pair |
| 173 | if(i < 10)// maximum 12 channels |
168 | if (i < 10)// maximum 12 channels |
| 174 | { |
169 | { |
| 175 | // big to little endian |
170 | // big to little endian |
| 176 | ChannelPair.byte[1] = PacketBuffer[1]; |
171 | ChannelPair.byte[1] = PacketBuffer[1]; |
| Line 177... | Line -... | ||
| 177 | ChannelPair.byte[0] = PacketBuffer[2]; |
- | |
| 178 | ChannelPair.byte[3] = PacketBuffer[3]; |
172 | ChannelPair.byte[0] = PacketBuffer[2]; |
| 179 | ChannelPair.byte[2] = PacketBuffer[4]; |
173 | ChannelPair.byte[3] = PacketBuffer[3]; |
| 180 | dsl_new_signal(i, ChannelPair.Servo[0]); |
- | |
| 181 | dsl_new_signal(i+1,ChannelPair.Servo[1]); |
174 | ChannelPair.byte[2] = PacketBuffer[4]; |
| 182 | } |
175 | dsl_new_signal(i, ChannelPair.Servo[0]); |
| 183 | } |
176 | dsl_new_signal(i + 1, ChannelPair.Servo[1]); |
| 184 | } // EOF header condition |
177 | } |
| Line 185... | Line 178... | ||
| 185 | } |
178 | } |
| 186 | 179 | } // EOF header condition |
|
| 187 | - | ||
| 188 | // this function should be called within the UART RX ISR |
180 | } |
| 189 | void dsl_parser(uint8_t c) |
181 | |
| 190 | { |
182 | // this function should be called within the UART RX ISR |
| 191 | static uint8_t last_c = 0; |
183 | void dsl_parser(uint8_t c) { |
| Line 192... | Line 184... | ||
| 192 | static uint8_t crc = 0; |
184 | static uint8_t last_c = 0; |
| 193 | static uint8_t cnt = 0; |
185 | static uint8_t crc = 0; |
| - | 186 | static uint8_t cnt = 0; |
|
| 194 | static uint8_t packet_len = 0; |
187 | static uint8_t packet_len = 0; |
| - | 188 | ||
| 195 | 189 | // check for sync condition |
|
| 196 | // check for sync condition |
190 | if ((c == 0xFF) && (last_c == 0xFF)) { |
| 197 | if ((c==0xFF) && (last_c==0xFF)) |
191 | cnt = 0; // reset byte counter |
| 198 | { |
192 | crc = 0; // reset checksum |
| 199 | cnt = 0; // reset byte counter |
193 | return; |
| 200 | crc = 0; // reset checksum |
194 | } |
| 201 | return; |
195 | |
| - | 196 | if (cnt == 0) // begin of a packet |
|
| 202 | } |
197 | { |
| - | 198 | if (c == 0x1F) |
|
| 203 | 199 | packet_len = 5; // a status packet has 5 bytes + crc |
|
| 204 | if(cnt == 0) // begin of a packet |
200 | else |
| 205 | { |
201 | packet_len = 4; // a channel pair packet has 4 bytes + crc |
| 206 | if(c == 0x1F) packet_len = 5; // a status packet has 5 bytes + crc |
202 | } |
| 207 | else packet_len = 4; // a channel pair packet has 4 bytes + crc |
- | |
| 208 | } |
203 | if (cnt > packet_len) // packet complete, crc byte received |
| 209 | if(cnt > packet_len) // packet complete, crc byte received |
204 | { |
| 210 | { |
205 | // calculate checksum |
| 211 | // calculate checksum |
206 | crc = ~crc; |
| 212 | crc = ~crc; |
207 | if (crc == 0xFF) |
| 213 | if (crc == 0xFF) crc = 0xFE; |
208 | crc = 0xFE; |