DX5-Modul aus Spectrum-Sender in DC16 nutzen?!?!

/* PPM to DSM v1.07 - June 2011 Sends DSM2 signal using low power MLP4DSM Spektrum TX module Based on the code by daniel_arg, modifications by AS aka c2po. This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>. */ #include "WProgram.h" #include <avr/interrupt.h> #define DE_BUG // Change this to #define DEBUG if needed typedef enum { NULL_ST = -1, NOT_SYNCHED, ACQUIRING, READY, FAILSAFE } State_t; #define TICKS_PER_uS 1 // number of timer ticks per 1 microsecond with prescaler = 8 and CPU 8MHz #define MAX_CHANNELS 8 // maximum number of channels we can store, don't increase this above 8 #define MIN_IN_PULSE ( 750 * TICKS_PER_uS) // valid pulse must be at least 750us #define MAX_IN_PULSE (2250 * TICKS_PER_uS) // valid pulse must be less than 2250us #define SYNC_GAP_LEN (5000 * TICKS_PER_uS) // we assume a space at least 5000us is sync #define VALID_FRAMES 10 // must have this many consecutive valid frames to transition to the ready state. #define DSM2_CHANNELS 6 // Max number of DSM2 Channels transmitted #define BINDING_PIN 4 // Pin used to bind #define BINDING_LED 5 // Pin used for Binding in process LED #define PPM_OK_LED 6 // Pin used for PPM Ok signal LED #define RF_OK_PIN 7 // Pin used for RF Ok signal #define GREEN_LED 13 // Pin used for board LED #define FLASH_LED 250 // LED flash interval in ms static int Pulses[ MAX_CHANNELS + 1]; // array holding channel pulses width value in microseconds static int Failsafe[MAX_CHANNELS + 1]; // array holding channel fail safe values static byte ChannelNum; // number of channels detected so far in the frame (first channel is 1) static byte ChannelCnt; // the total number of channels detected in a complete frame static State_t State; // this will be one of the following states: Null, Not_Synched, Acquiring, Ready, Failsafe static byte stateCount; // counts the number of times this state has been repeated static byte DSM2_Header[2]; static byte DSM2_Channel[DSM2_CHANNELS*2] = {0x00,0xAA,0x05,0xFF,0x09,0xFF,0x0D,0xFF,0x13,0x54,0x14,0xAA}; static byte DSM2_Sent = 0; static byte ChanIndex[] = {1,2,3,4,5,6}; //PPM to DSM2 Channel Mapping Table static byte count; static int pulse; /* ---------- ---------- ---------- Sync ---------- ---------- ---------- */ static void processSync() { // sync pulse was detected so reset the channel to first and update the system state Pulses[0] = ICR1 / TICKS_PER_uS; // save the sync pulse duration for debugging if(State == READY) { if( ChannelNum != ChannelCnt) // if the number of channels is unstable, go into failsafe State = FAILSAFE; } else { if(State == NOT_SYNCHED) { State = ACQUIRING; // this is the first sync pulse, we need one more to fill the channel data array stateCount = 0; } else { if( State == ACQUIRING) { if(++stateCount > VALID_FRAMES) { State = READY; // this is the second sync and all channel data is ok so flag that channel data is valid ChannelCnt = ChannelNum; // save the number of channels detected } } else if( State == FAILSAFE) { if(ChannelNum == ChannelCnt) // did we get good pulses on all channels? State = READY; } } } ChannelNum = 0; // reset the channel counter } /* ---------- ---------- ---------- Interrupt ---------- ---------- ---------- */ ISR(TIMER1_OVF_vect) { if(State == READY) { State = FAILSAFE; // use fail safe values if signal lost ChannelNum = 0; // reset the channel count } } ISR(TIMER1_CAPT_vect) { // we want to measure the time to the end of the pulse TCNT1 = 0; // reset the counter if(ICR1 >= SYNC_GAP_LEN) // is the space between pulses big enough to be the SYNC processSync(); else if(ChannelNum < MAX_CHANNELS) { // check if its a valid channel pulse and save it if((ICR1 >= MIN_IN_PULSE) && (ICR1 <= MAX_IN_PULSE)) // check for valid channel data Pulses[++ChannelNum] = ICR1 / TICKS_PER_uS; // store pulse length as microseconds else if(State == READY) { State = FAILSAFE; // use fail safe values if input data invalid ChannelNum = 0; // reset the channel count } } } /* ---------- ---------- ---------- Class ---------- ---------- ---------- */ class PPM_Decode { public: PPM_Decode() { // Constructor // empty } void begin() { pinMode(8, INPUT); // Timer1 interrupt handler uses pin 8 as input, do not change it ChannelNum = 0; State = NOT_SYNCHED; TCCR1A = 0x00; // COM1A1=0, COM1A0=0 => Disconnect Pin OC1 from Timer/Counter 1 // PWM11=0, PWM10=0 => PWM Operation disabled // TCCR1B = (1<<ICES1) | (1<<CS11); // capture using rising edge, prescaler = 8 TCCR1B = (1<<CS11); // capture using falling edge, prescaler = 8 // 8MHz clock with prescaler 8 means TCNT1 increments every 1 uS TIMSK1 = _BV(ICIE1)|_BV (TOIE1); // enable input capture and overflow interrupts for timer 1 for(byte ch = 1; ch <= MAX_CHANNELS; ch++) { Failsafe[ch] = Pulses[ch] = 1500; // set midpoint as default values for pulses and failsafe } Failsafe[3] = Pulses[3] = 1100; // set channel 3 failsafe pulse width to min throttle } State_t getState() { return State; } byte getChannelCnt() { return ChannelCnt; } void setFailsafe(byte ch, int value) { // pulse width to use if invalid data, value of 0 uses last valid data if((ch > 0) && (ch <= MAX_CHANNELS)) Failsafe[ch] = value; } void setFailsafe() { // setFailsafe with no arguments sets failsafe for all channels to their current values if(State == READY) // useful to capture current tx settings as failsafe values for(byte ch = 1; ch <= MAX_CHANNELS; ch++) Failsafe[ch] = Pulses[ch]; } int getChannelData(uint8_t channel) { // this is the access function for channel data int result = 0; // default value if(channel <= MAX_CHANNELS) { if((State == FAILSAFE) && (Failsafe[channel] > 0 )) result = Failsafe[channel]; // return the channels failsafe value if set and State is Failsafe else if((State == READY) || (State == FAILSAFE)) { cli(); // disable interrupts result = Pulses[channel]; // return the last valid pulse width for this channel sei(); // enable interrupts } } return result; } }; PPM_Decode Receiver = PPM_Decode(); void setup() { delay(100); #ifdef DEBUG Serial.begin(115200); // print values on the screen #else Serial.begin(125000); // closest speed for DSM2 module, otherwise it won't work #endif Receiver.begin(); pinMode(BINDING_PIN, INPUT); pinMode(BINDING_LED, OUTPUT); pinMode(PPM_OK_LED, OUTPUT); pinMode(RF_OK_PIN, OUTPUT); pinMode(GREEN_LED, OUTPUT); delay(100); DSM2_Header[0] = 0x80; DSM2_Header[1] = 0; digitalWrite(BINDING_LED, HIGH); // turn on the binding LED while(digitalRead(BINDING_PIN) == LOW) { // if bind button pressed at the power up if(millis()%FLASH_LED > FLASH_LED/2) digitalWrite(BINDING_LED, HIGH); // flash binding LED else digitalWrite(BINDING_LED, LOW); sendDSM2(); delay(20); } digitalWrite(BINDING_LED,LOW); // turn off the binding LED DSM2_Header[0] = 0; count = 50; while(Receiver.getState() != READY && count-- > 0) // wait 5 sec or until PPM data is stable and ready delay(100); } void loop() { if(millis()%(FLASH_LED*4) < FLASH_LED/16) digitalWrite(GREEN_LED, HIGH); // flash the board LED - we are alive else digitalWrite(GREEN_LED, LOW); if(Receiver.getState() == READY) { // if PPM is ready if(millis()%(FLASH_LED*4) < FLASH_LED/16) digitalWrite(PPM_OK_LED, HIGH); // flash the PPM OK LED else digitalWrite(PPM_OK_LED, LOW); digitalWrite(BINDING_LED, LOW); // turn off binding LED digitalWrite(RF_OK_PIN, LOW); // turn on RF OK LED in the radio } else { digitalWrite(BINDING_LED, HIGH); // turn on binding LED digitalWrite(PPM_OK_LED, LOW); // turn off the PPM OK LED digitalWrite(RF_OK_PIN, HIGH); // turn off RF OK LED in the radio, alarm will sound } if(Receiver.getState() == READY || Receiver.getState() == FAILSAFE) { if(ChannelNum == 0 || ChannelNum == ChannelCnt) { // during sync pulse or in failsafe if(DSM2_Sent == 0) { // if DSM2 frame is not sent yet for (byte i=0; i<DSM2_CHANNELS; i++) { // get receiver data pulse = Receiver.getChannelData(ChanIndex[i]) - 1000; pulse = constrain(pulse, 0, 0x3FF); DSM2_Channel[i*2] = (byte)(i<<2) | highByte(pulse); DSM2_Channel[i*2+1] = lowByte(pulse); } sendDSM2(); // send frame DSM2_Sent = 1; // frame sent flag } else { if(Receiver.getState() == FAILSAFE) { delay(20); // in case of failsafe DSM2_Sent = 0; // reset flag after delay } } } else { if(ChannelNum == 1) // after first channel is received DSM2_Sent = 0; // reset flag for the next frame } } } #ifndef DEBUG void sendDSM2() { Serial.write(DSM2_Header, 2); Serial.write(DSM2_Channel, DSM2_CHANNELS*2); } #else void sendDSM2() { Serial.print(DSM2_Header[0], HEX); Serial.print(" "); Serial.print(DSM2_Header[1], HEX); Serial.print(" "); for(byte i=0; i < DSM2_CHANNELS; i++) { // print channels 1 to 6 in Hex and Dec serialPrintHex(DSM2_Channel[i*2]); Serial.print(" "); serialPrintHex(DSM2_Channel[i*2+1]); Serial.print(" ("); Serial.print((DSM2_Channel[i*2]&0x03)<<8 | DSM2_Channel[i*2+1], DEC); Serial.print(") "); } Serial.print(Receiver.getChannelData(7), DEC); // channel 7 Serial.print(" "); Serial.print(Receiver.getChannelData(8), DEC); // channel 8 Serial.print(" "); Serial.print(Receiver.getChannelData(0), DEC); // sync pulse length Serial.print(" "); Serial.println(" "); delay(200); } void serialPrintHex(byte b) { byte b1 = (b >> 4) & 0x0F; byte b2 = (b & 0x0F); char c1 = (b1 < 10) ? ('0' + b1) : 'A' + b1 - 10; char c2 = (b2 < 10) ? ('0' + b2) : 'A' + b2 - 10; Serial.print(c1); Serial.print(c2); } #endif