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/*#######################################################################################
Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit
#######################################################################################*/
#include "Spectrum.h"
#include "main.h"
//############################################################################
// zum Decodieren des Spektrum Satelliten wird USART1 benutzt.
// USART1 initialisation from killagreg
void Uart1Init
(void)
//############################################################################
{
// -- Start of USART1 initialisation for Spekturm seriell-mode
// USART1 Control and Status Register A, B, C and baud rate register
uint16_t ubrr
= (uint16_t) ((uint32_t) SYSCLK
/(8 * 115200) - 1);
// disable RX-Interrupt
UCSR1B
&= ~
(1 << RXCIE1
);
// disable TX-Interrupt
UCSR1B
&= ~
(1 << TXCIE1
);
// disable DRE-Interrupt
UCSR1B
&= ~
(1 << UDRIE1
);
// set direction of RXD1 and TXD1 pins
// set RXD1 (PD2) as an input pin
PORTD
|= (1 << PORTD2
);
DDRD
&= ~
(1 << DDD2
);
// USART0 Baud Rate Register
// set clock divider
UBRR1H
= (uint8_t)(ubrr
>>8);
UBRR1L
= (uint8_t)ubrr
;
// enable double speed operation
UCSR1A
|= (1 << U2X1
);
// enable receiver and transmitter
//UCSR1B = (1<<RXEN1)|(1<<TXEN1);
UCSR1B
= (1<<RXEN1
);
// set asynchronous mode
UCSR1C
&= ~
(1 << UMSEL11
);
UCSR1C
&= ~
(1 << UMSEL10
);
// no parity
UCSR1C
&= ~
(1 << UPM11
);
UCSR1C
&= ~
(1 << UPM10
);
// 1 stop bit
UCSR1C
&= ~
(1 << USBS1
);
// 8-bit
UCSR1B
&= ~
(1 << UCSZ12
);
UCSR1C
|= (1 << UCSZ11
);
UCSR1C
|= (1 << UCSZ10
);
// flush receive buffer explicit
while ( UCSR1A
& (1<<RXC1
) ) UDR1
;
// enable RX-interrupts at the end
UCSR1B
|= (1 << RXCIE1
);
// -- End of USART1 initialisation
return;
}
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) Rainer Walther
// + RC-routines from original MK rc.c (c) H&I
// + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2
// + only for non-profit use
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//
// 20080808 rw Modified for Spektrum AR6100 (PPM)
// 20080823 rw Add Spektrum satellite receiver on USART1 (644P only)
// 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels)
// Replace AR6100-coding with original composit-signal routines
//
// ---
// Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben!
// Binding is not implemented. Bind with external Receiver.
// Servo output J3, J4, J5 not serviced
//
// Anschuß Spektrum Receiver
// Orange: 3V von der FC (keinesfalls an 5V anschließen!)
// Schwarz: GND
// Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker
//
// ---
// Satellite-Reciever connected on USART1:
//
// DX7/DX6i: One data-frame at 115200 baud every 22ms.
// DX7se: One data-frame at 115200 baud every 11ms.
// byte1: unknown
// byte2: unknown
// byte3: and byte4: channel data (FLT-Mode)
// byte5: and byte6: channel data (Roll)
// byte7: and byte8: channel data (Nick)
// byte9: and byte10: channel data (Gier)
// byte11: and byte12: channel data (Gear Switch)
// byte13: and byte14: channel data (Gas)
// byte15: and byte16: channel data (AUX2)
//
// DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9
// 1st Frame:
// byte1: unknown
// byte2: unknown
// byte3: and byte4: channel data
// byte5: and byte6: channel data
// byte7: and byte8: channel data
// byte9: and byte10: channel data
// byte11: and byte12: channel data
// byte13: and byte14: channel data
// byte15: and byte16: channel data
// 2nd Frame:
// byte1: unknown
// byte2: unknown
// byte3: and byte4: channel data
// byte5: and byte6: channel data
// byte7: and byte8: 0xffff
// byte9: and byte10: 0xffff
// byte11: and byte12: 0xffff
// byte13: and byte14: 0xffff
// byte15: and byte16: 0xffff
//
// Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as:
//
// Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
//
// 0 means a '0' bit
// F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only)
// C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter)
// D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel
//
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//############################################################################
//Diese Routine startet und inizialisiert den USART1 für seriellen Spektrum satellite reciever
SIGNAL
(USART1_RX_vect
)
//############################################################################
{
static unsigned int Sync
=0, FrameCnt
=0, ByteHigh
=0, ReSync
=1, Frame2
=0, FrameTimer
;
unsigned int Channel
, index
;
signed int signal
, tmp
;
int bCheckDelay
;
uint8_t c
;
c
= UDR1
; // get data byte
if (ReSync
== 1)
{
// wait for beginning of new frame
ReSync
= 0;
FrameTimer
= SetDelay
(7); // minimum 7ms zwischen den frames
FrameCnt
= 0;
Sync
= 0;
ByteHigh
= 0;
}
else
{
bCheckDelay
= CheckDelay
(FrameTimer
);
if ( Sync
== 0 )
{
if ( bCheckDelay
)
{
// nach einer Pause von mind. 7ms erstes Sync-Character gefunden
// Zeichen ignorieren, da Bedeutung unbekannt
Sync
= 1;
FrameCnt
++;
}
else
{
// Zeichen kam vor Ablauf der 7ms Sync-Pause
// warten auf erstes Sync-Zeichen
}
}
else if ( (Sync
== 1) && !bCheckDelay
)
{
// zweites Sync-Character ignorieren, Bedeutung unbekannt
Sync
= 2;
FrameCnt
++;
}
else if ( (Sync
== 2) && !bCheckDelay
)
{
// Datenbyte high
ByteHigh
= c
;
if (FrameCnt
== 2)
{
// is 1st Byte of Channel-data
// Frame 1 with Channel 1-7 comming next
Frame2
= 0;
if ( ByteHigh
& 0x80 )
{
// DS9: Frame 2 with Channel 8-9 comming next
Frame2
= 1;
}
}
Sync
= 3;
FrameCnt
++;
}
else if ( (Sync
== 3) && !bCheckDelay
)
{
// Datenbyte low
// High-Byte for next channel comes next
Sync
= 2;
FrameCnt
++;
index
= (ByteHigh
>> 2) & 0x0f;
index
++;
Channel
= (ByteHigh
<< 8) | c
;
signal
= Channel
& 0x3ff;
signal
-= 0x200; // Offset, range 0x000..0x3ff?
signal
= signal
/3; // scaling to fit PPM resolution
if (index
>= 0 && index
<= 10)
{
if(abs(signal
- PPM_in
[index
]) < 6)
{
if(SenderOkay
< 200)
{
SenderOkay
+= 10;
}
}
tmp
= (3 * (PPM_in
[index
]) + signal
) / 4;
if(tmp
> signal
+1)
{
tmp
--;
}
else
{
if(tmp
< signal
-1)
{
tmp
++;
}
}
if(SenderOkay
>= 195)
{
PPM_diff
[index
] = ((tmp
- PPM_in
[index
]) / 3) * 3;
}
else
{
PPM_diff
[index
] = 0;
}
PPM_in
[index
] = tmp
;
}
}
else
{
// hier stimmt was nicht: neu synchronisieren
ReSync
= 1;
FrameCnt
= 0;
Frame2
= 0;
}
// 16 Bytes per frame
if (FrameCnt
>= 16)
{
// Frame complete
if ( Frame2
== 0 )
{
// Null bedeutet: Neue Daten
// nur beim ersten Frame (CH 0-7) setzen
NewPpmData
= 0;
}
// new frame next, nach fruehestens 7ms erwartet
FrameCnt
= 0;
Frame2
= 0;
Sync
= 0;
}
// Zeit bis zum nächsten Zeichen messen
FrameTimer
= SetDelay
(7);
}
}