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// ***************************************************************
// ** Spektrum Diversity v2.1 - use up to 4 satellite receivers **
// ***************************************************************
// ** Spektrum DSMX Binding Extension by Johannes Stein 2011/03 **
// ** **
// ** 3 Pulses = DSM2 1024/22ms **
// ** 5 Pulses = DSM2 2048/11ms **
// ** 7 Pulses = DSMX 22ms **
// ** 9 Pulses = DSMX 11ms **
// ** **
// ** Target: An Atmel ATtiny2313 (RC-Oscillator @ 8 MHz) **
// ** controls a 74HC151 Multiplexer **
// ***************************************************************
// ** It monitors the data from 4 satellite receivers and **
// ** connects a valid one to the output via the multiplexer **
// ***************************************************************
// ** LED-Modes during startup **
// ** ************************ **
// ** LED fast flash: Waiting for first signal **
// ** **
// ** LED-Modes during operation **
// ** ************************** **
// ** LED flash 1x - 4x: Shows which channel is active every 2s **
// ** LED ON after flash: FAILURE - A used signal was lost **
// ** **
// ** LED-Modes after Self-Test and pressed button **
// ** ******************************************** **
// ** LED flashes at 1 Hz: Everything is fine **
// ** LED flashes some times: Times flashed -> damaged Channel# **
// ** LED off: check voltage(regulator), button or firmware **
// ***************************************************************
// ** (c) 2010-0xFFFF Stefan Pendsa **
// ** License: don't know - use it and have fun **
// ***************************************************************
#include <avr/io.h>
#include <avr/eeprom.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#define LED_OFF PORTD |= 1 << PD0
#define LED_ON PORTD &= ~(1 << PD0)
volatile unsigned char Timer0Event = 0;
volatile unsigned int Timer1Event;
volatile unsigned char BlinkCode = 0;
volatile unsigned char failure = 0;
unsigned char eedummy EEMEM; // Dummy-Variable for Address 0 in EEPROM
unsigned char eecheck EEMEM; // Check-Variable
unsigned char bind; // Bind-Pulse-Counter (in RAM)
unsigned char eebind EEMEM; // Bind-Pulse-Counter (in EEPROM)
ISR(TIMER0_OVF_vect) // Triggered every 32,768 msec
{
if (Timer0Event > 64) // Max. 64*32 msec = 2,097152 sec
{
Timer0Event = 0;
LED_OFF;
}
if(Timer0Event == 0 && BlinkCode > 0) LED_ON;
else if(Timer0Event == 4 && BlinkCode > 0) LED_OFF;
else if(Timer0Event == 8 && BlinkCode > 1) LED_ON;
else if(Timer0Event == 12 && BlinkCode > 1) LED_OFF;
else if(Timer0Event == 16 && BlinkCode > 2) LED_ON;
else if(Timer0Event == 20 && BlinkCode > 2) LED_OFF;
else if(Timer0Event == 24 && BlinkCode > 3) LED_ON;
else if(Timer0Event == 28 && BlinkCode > 3) LED_OFF;
else if(Timer0Event == 35 && failure == 1) LED_ON;
else if(Timer0Event == 55 && failure == 1) LED_OFF;
Timer0Event++;
}
ISR(TIMER1_OVF_vect) // Triggered every 8,192 msec
{
Timer1Event++;
}
void SelectSat(unsigned char sat)
{
PORTD = (PORTD & 0b1100111) | (sat << 3); // Select the input for 74HC151
_delay_us(10); // Wait for stable state
}
void ResetTimer1(void)
{
TCNT1H = 0;
TCNT1L = 0;
Timer1Event = 0;
}
void Binding(void) // Binding sequence (for Spektrum sats only)
{
unsigned char i = 0;
DDRB = 0b11110000; // Sat-Pins to output
_delay_ms(80); // Let them time to boot up
for (i=0;i<bind;i++) // Send negative 100µs pulses to all sat's
{
PORTB = 0b00000000;
_delay_us(100);
PORTB = 0b11110000;
_delay_us(100);
}
for (i=0;i<bind;i++) // Flash the number of used pulses to the LED
{
LED_ON;
_delay_ms(100);
LED_OFF;
_delay_ms(250);
}
DDRB = 0b00000000; // Sat-Pins to input again
bind += 2;
if (bind > 9) bind = 3; // 3, 5, 7, 9 pulses, then start with 3 again
eeprom_write_byte(&eebind, bind); // Save increased bind-pulse-counter for next binding.
_delay_ms(500);
}
void Testing(void) // Self Test
{
unsigned char error = 0;
unsigned char i = 0;
DDRB = 0b11110000; // Port B Output for satellites, Input for feedback
PORTB = 0b01010000; // Test Pattern
SelectSat(0);
if (!(PINB & (1<<PB3))) error = 1;
SelectSat(1);
if (PINB & (1<<PB3)) error = 2;
SelectSat(2);
if (!(PINB & (1<<PB3))) error = 3;
SelectSat(3);
if (PINB & (1<<PB3)) error = 4;
PORTB = 0b10100000; // Another (inverted) Test Pattern
SelectSat(0);
if (PINB & (1<<PB3)) error = 1;
SelectSat(1);
if (!(PINB & (1<<PB3))) error = 2;
SelectSat(2);
if (PINB & (1<<PB3)) error = 3;
SelectSat(3);
if (!(PINB & (1<<PB3))) error = 4;
DDRB = 0b00000000; // Port B Input again
while (PIND & (1<<PD6)); // Wait for Bind-Switch
while(1) // Never return
{
if (error == 0) // When no error occured -> LED flashes at 1 Hz
{
LED_ON;
_delay_ms(100);
LED_OFF;
_delay_ms(900);
}
else
{
for (i=0;i<error;i++) // When error occured -> Flash-Out the Errorcode
{
LED_ON;
_delay_ms(100);
LED_OFF;
_delay_ms(400);
}
_delay_ms(1000);
}
}
}
int main(void)
{
unsigned char i = 0;
unsigned char active[4];
unsigned char active_lo[4];
unsigned char active_hi[4];
unsigned char sat = 99;
DDRB = 0b00000000; // Port B Input for satellites and feedback
DDRD = 0b0011001; // Port D Output for MUX and LED, Input for Switch & Test
PORTB = 0b11110000; // Port B Pullup's for (unused) satellites
PORTD = 0b1100001; // Port D Pullup's for Switch & Test, LED off
if (eeprom_read_byte(&eecheck) != 0x84) // Invalid Data in EEPROM -> initialize
{
eeprom_write_byte(&eecheck, 0x84);
bind = 3;
eeprom_write_byte(&eebind, bind);
}
else bind = eeprom_read_byte(&eebind); // Valid Data in EEPROM -> read bind-pulse-counter
if (!(PIND & (1<<PD5))) Testing(); // Initiate Self-Test when Test-Pad is low
if (!(PIND & (1<<PD6))) Binding(); // Initiate Binding when Bind-Button is pressed
for (i=0;i<4;i++) // Reset active-arrays
{
active[i] = 0;
active_lo[i] = 0;
active_hi[i] = 0;
}
_delay_ms(100);
TCCR0B = ( 1 << CS00 ) | ( 1 << CS02 ); // Timer0 Prescaler = 1024 -> 32,768 msec
TCCR1B = ( 1 << CS10 ); // Timer1 Prescaler = 1 -> 8,192 msec
TIMSK = ( 1 << TOIE0 ) | ( 1 << TOIE1 ); // Timer0+1 Overflow Interrupt Enable
sei(); // Global Interrupts enable
ResetTimer1();
while(sat == 99) // Wait for first signal
{
if (Timer1Event == 10) LED_ON; // Blink while waiting
if (Timer1Event == 20)
{
LED_OFF;
Timer1Event = 0;
}
while(Timer1Event < 3) // Check active satellites (for 3*8=24ms)
{
for (i=0;i<4;i++)
{
if (PINB & (1<<(i+4))) active_hi[i] = 1;
else active_lo[i] = 1;
}
}
for (i=0;i<4;i++) // When an input had low AND high signals, mark it as active
{
if (active_lo[i] == 1 && active_hi[i] == 1) active[i] = 1;
}
for (i=0;i<4;i++) // Select first active satellite
{
if (active[i] == 1)
{
SelectSat(i);
sat = i;
BlinkCode = i+1;
break;
}
}
}
while(1) // Main-Loop
{
for (i=0;i<4;i++) // Reset active-arrays
{
active[i] = 0;
active_lo[i] = 0;
active_hi[i] = 0;
}
ResetTimer1();
while(Timer1Event < 3) // Check active satellites (for 3*8=24ms)
{
for (i=0;i<4;i++)
{
if (PINB & (1<<(i+4))) active_hi[i] = 1;
else active_lo[i] = 1;
}
}
for (i=0;i<4;i++) // When an input had low AND high signals, mark it as active
{
if (active_lo[i] == 1 && active_hi[i] == 1) active[i] = 1;
}
if (active[0] == 0 && active[1] == 0 && active[2] == 0 && active[3] == 0 && sat != 99)
{
failure = 1; // Set Failure-LED when the signal is lost completely
BlinkCode = 0;
sat = 99;
}
for (i=0;i<4;i++) // Select active satellite (priorized)
{
if (active[i] == 1)
{
SelectSat(i);
if (sat != i) failure = 1; // Set Failure-LED when the active satellite changes
sat = i;
BlinkCode = i+1;
break;
}
}
if (!(PIND & (1<<PD6))) failure = 0; // Reset Failure-LED when Bind-Button is pressed
}
}