void update_buttons() {
char c; uint8_t val;
while (uart_getc_nb(&c)) {
//uart_putc(c);
if (c < 'a') {
c -= 'A';
val = 0xff;
netvar_write(buttons.tx_nv[c], &val);
} else {
c -= 'a';
val = 0x00;
netvar_write(buttons.tx_nv[c], &val);
}
}
}
int main(void)
{
#if PPM_OUTPUT == TRUE
isr_channel_pw[0] = ((((F_CPU/1000) * 1500)/1000)/TIMER1_PRESCALER);
isr_channel_pw[1] = ((((F_CPU/1000) * 1500)/1000)/TIMER1_PRESCALER);
isr_channel_pw[2] = ((((F_CPU/1000) * 1500)/1000)/TIMER1_PRESCALER);
isr_channel_pw[3] = ((((F_CPU/1000) * 1500)/1000)/TIMER1_PRESCALER);
isr_channel_pw[4] = ((((F_CPU/1000) * 1500)/1000)/TIMER1_PRESCALER);
isr_channel_pw[5] = ((((F_CPU/1000) * 1500)/1000)/TIMER1_PRESCALER);
isr_channel_pw[6] = ((((F_CPU/1000) * 1500)/1000)/TIMER1_PRESCALER);
isr_channel_pw[7] = ((((F_CPU/1000) * 1500)/1000)/TIMER1_PRESCALER);
#if PPMCH == 12
isr_channel_pw[8] = ((((F_CPU/1000) * 1500)/1000)/TIMER1_PRESCALER);
isr_channel_pw[9] = ((((F_CPU/1000) * 1500)/1000)/TIMER1_PRESCALER);
isr_channel_pw[10] = ((((F_CPU/1000) * 1500)/1000)/TIMER1_PRESCALER);
isr_channel_pw[11] = ((((F_CPU/1000) * 1500)/1000)/TIMER1_PRESCALER);
#endif
TCCR1A = (1<<COM1B1) | (0<<COM1B0) | (1<<WGM11) | (1<<WGM10);
TCCR1B = (1<<WGM13)|(1<<WGM12);
OCR1A = RC_RESET_PW_TIMER_VAL;
OCR1B = RC_PPM_SYNC_PW_VAL;
TIMSK1 |= (1<<OCIE1B)|(1<<TOIE1);
TCNT1 = 0;
isr_channel_number = 1;
#endif
// timer0 with prescaler 8, and interrupt, Int freq: 9433khz , ~0.0001s
TCCR0B |= (1<<CS01);
TIMSK0 |= (1<<TOIE0);
DDRB |= (1<<PORTB2); //ppm out
#ifdef version1
DDRC |= (1<<PORTC5); //inv uart out
PCMSK2 |= (1<<PCINT18);
PCICR |= (1<<PCIE2);
#endif
// led
#if ENABLE_LED == TRUE
DDRC |= (1<<PORTC4); //led out
PORTC |= (1<<PORTC4);
DDRB |= (1<<PORTB1); //led out
PORTB |= (1<<PORTB1);
#endif
#if RSSI_OUTPUT == TRUE
//timer2 fuer RSSI
DDRB |= (1<<PORTB3);
TCCR2A |= (1<<COM2A1) | (1<<WGM20)| (1<<WGM21);
TCCR2B |= (1<<CS21);
OCR2A = 0;
#endif
USART_Init();
sei();
uint8_t data = 0;
uint8_t current_bit_in_ch = 0;
uint8_t current_bit_in_byte = 0;
uint8_t current_byte = 0;
uint8_t current_ch = 0;
uint8_t i = 0;
uint8_t sbus_bytes[25];
int16_t channels[12];
int16_t channels_old[12];
int16_t channels_vold[12];
uint8_t curr_byte = 0;
uint8_t ready = 0;
#if SPEKTRUM_OUTPUT == TRUE
uint8_t spektrum_frame = 1;
uint8_t send_sp = 0;
#endif
#if FORCE_FAILSAFE == FALSE
uint8_t first = 0;
ReadParameter();
if((MODE != 1)&&(MODE != 2)) MODE = 1;
#endif
#if FORCE_FAILSAFE == TRUE
MODE = 1;
#endif
while(1)
{
if(timeout == 0)
{
curr_byte = 0;
timeout = 60; // 6ms
}
if(uart_getc_nb(&data))
{
timeout = 60; //6ms
if(curr_byte == 0)
{
if(data != 0x0F)
{
curr_byte = 30;
}
}
if( curr_byte == 24)
{
if(data != 0)
{
curr_byte = 30;
}
}
if(curr_byte < 25)
{
sbus_bytes[curr_byte]=data;
curr_byte++;
}
if(curr_byte == 25)
{
curr_byte = 0;
current_bit_in_byte = 0;
current_bit_in_ch = 0;
current_ch = 0;
current_byte = 1;
for(i=0;i<12;i++)
{
channels[i] = 0;
}
for(i=0;i<132;i++)
{
if(sbus_bytes[current_byte] & (1<<current_bit_in_byte))
{
channels[current_ch] |= (1<<current_bit_in_ch);
}
current_bit_in_byte++;
current_bit_in_ch++;
if(current_bit_in_byte == 8)
{
current_bit_in_byte =0;
current_byte++;
}
if(current_bit_in_ch == 11)
{
current_bit_in_ch =0;
current_ch++;
}
}
#if FORCE_FAILSAFE == FALSE
if(first < 110)
{
first++;
}
if(first < 100)
{
if(channels[0] < 800)
{
MODE = 1;
WriteParameter();
}
if(channels[0] > 1250)
{
MODE = 2;
WriteParameter();
}
}
#endif
for(i=0;i<12;i++)
{
if(channels_vold[i] == channels_old[i])
{
if(channels_old[i] != channels[i])
{
channels_old[i] = channels[i];
if(channels_vold[i] != 0)
{
channels[i] = channels_vold[i];
}
}
};
}
#if PPM_OUTPUT == TRUE
unsigned int temp_isr_channel_pw[(PPMCH +1)];
uint8_t i=0;
/*
* Floating point math is slow, so perform computations before
* disabling interrupts.
*/
for(i=0;i<PPMCH;i++)
{
/*
* From linear regression of 7 PWM samples from
* 1100..1940us. R^2 = 0.999999.
* See https://gist.github.com/prattmic/8857047
*/
uint16_t pw = 0.624731*channels[i] + 880.561511;
temp_isr_channel_pw[i] = ((((F_CPU/1000) * pw)/1000)/TIMER1_PRESCALER);
}
cli();
for (i = 0; i < PPMCH; i++) {
isr_channel_pw[i] = temp_isr_channel_pw[i];
}
sei();
#endif
//wenn kein failsafe dann output senden
if((sbus_bytes[23] & 8) == 0)
{
if(ready == 0)
{
ready = 1;
#if ENABLE_LED == TRUE
ledpause = 0x2FFF;
ledcycle = 0;
PORTC |= (1<<PORTC4);
PORTB |= (1<<PORTB1);
if(MODE == 1) ledmode =1;
if(MODE == 2) ledmode =2;
#endif
#if PPM_OUTPUT == TRUE
TCCR1B |= TIMER1_PRESCALER_BITS;
#endif
#if SPEKTRUM_OUTPUT == TRUE
send_sp = 1;
#endif
}
}
else
{
#if RSSI_OUTPUT == TRUE
OCR2A=0;
#endif
if(ready == 1)
{
ready = 0;
#if ENABLE_LED == TRUE
ledpause = 0x2FFF;
ledcycle = 0;
PORTC |= (1<<PORTC4);
PORTB |= (1<<PORTB1);
if(MODE == 1) ledmode =3;
#endif
if(MODE == 2)
{
#if SPEKTRUM_OUTPUT == TRUE
send_sp = 0;
#endif
#if ENABLE_LED == TRUE
ledmode =4;
#endif
#if PPM_OUTPUT == TRUE
TCCR1B &= (~(1<<CS12)) & (~(1<<CS11)) & (~(1<<CS10));
#endif
}
}
}
#if SPEKTRUM_OUTPUT == TRUE
if(send_sp == 1)
{
//115200
uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/(8 * 115200) - 1);
UBRRH = (uint8_t)(ubrr>>8);
UBRRL = (uint8_t)ubrr;
UCSRA |= (1 << U2X);
//8N1
UCSRC &= ~(1 << UPM1);
UCSRC &= ~(1 << UPM0);
UCSRC &= ~(1 << USBS);
UCSRB &= ~(1 << UCSZ2);
UCSRC |= (1 << UCSZ1);
UCSRC |= (1 << UCSZ0);
_delay_ms(2);
if(spektrum_frame == 0)
{
spektrum_frame=1;
USART_putc(0);
USART_putc(0);
#if SPEKTRUM_TYPE == SPEKTRUM_NORMAL
USART_putc( ((uint8_t)((channels[0] >> 9)&0x03)) + (0 << 2) );
USART_putc( ((uint8_t)(channels[0] >> 1)) );
USART_putc( ((uint8_t)((channels[1] >> 9)&0x03)) + (1 << 2) );
USART_putc( ((uint8_t)(channels[1] >> 1)) );
USART_putc( ((uint8_t)((channels[2] >> 9)&0x03)) + (2 << 2) );
USART_putc( ((uint8_t)(channels[2] >> 1)) );
USART_putc( ((uint8_t)((channels[3] >> 9)&0x03)) + (3 << 2) );
USART_putc( ((uint8_t)(channels[3] >> 1)) );
USART_putc( ((uint8_t)((channels[4] >> 9)&0x03)) + (4 << 2) );
USART_putc( ((uint8_t)(channels[4] >> 1)) );
USART_putc( ((uint8_t)((channels[5] >> 9)&0x03)) + (5 << 2) );
USART_putc( ((uint8_t)(channels[5] >> 1)) );
USART_putc( ((uint8_t)((channels[6] >> 9)&0x03)) + (6 << 2) );
USART_putc( ((uint8_t)(channels[6] >> 1)) );
#endif
#if SPEKTRUM_TYPE == SPEKTRUM_HIRES
USART_putc( ((uint8_t)((channels[0] >> 8)&0x07)) + (0 << 3) );
USART_putc( ((uint8_t)(channels[0])) );
USART_putc( ((uint8_t)((channels[1] >> 8)&0x07)) + (1 << 3) );
USART_putc( ((uint8_t)(channels[1])) );
USART_putc( ((uint8_t)((channels[2] >> 8)&0x07)) + (2 << 3) );
USART_putc( ((uint8_t)(channels[2])) );
USART_putc( ((uint8_t)((channels[3] >> 8)&0x07)) + (3 << 3) );
USART_putc( ((uint8_t)(channels[3])) );
USART_putc( ((uint8_t)((channels[4] >> 8)&0x07)) + (4 << 3) );
USART_putc( ((uint8_t)(channels[4])) );
USART_putc( ((uint8_t)((channels[5] >> 8)&0x07)) + (5 << 3) );
USART_putc( ((uint8_t)(channels[5])) );
USART_putc( ((uint8_t)((channels[6] >> 8)&0x07)) + (6 << 3) );
USART_putc( ((uint8_t)(channels[6])) );
#endif
}
else
{
int main(void)
{
isr_channel_pw[0] = ((((F_CPU/1000) * 1500)/1000)/TIMER1_PRESCALER);
isr_channel_pw[1] = ((((F_CPU/1000) * 1500)/1000)/TIMER1_PRESCALER);
isr_channel_pw[2] = ((((F_CPU/1000) * 1500)/1000)/TIMER1_PRESCALER);
isr_channel_pw[3] = ((((F_CPU/1000) * 1500)/1000)/TIMER1_PRESCALER);
isr_channel_pw[4] = ((((F_CPU/1000) * 1500)/1000)/TIMER1_PRESCALER);
isr_channel_pw[5] = ((((F_CPU/1000) * 1500)/1000)/TIMER1_PRESCALER);
isr_channel_pw[6] = ((((F_CPU/1000) * 1500)/1000)/TIMER1_PRESCALER);
isr_channel_pw[7] = ((((F_CPU/1000) * 1500)/1000)/TIMER1_PRESCALER);
TCCR1A = (1<<COM1B1) | (0<<COM1B0) | (1<<WGM11) | (1<<WGM10);
TCCR1B = (1<<WGM13)|(1<<WGM12);
TCCR1B |= TIMER1_PRESCALER_BITS;
OCR1A = RC_RESET_PW_TIMER_VAL;
OCR1B = RC_PPM_SYNC_PW_VAL;
TIMSK1 |= (1<<OCIE1B)|(1<<TOIE1);
TCNT1 = 0;
isr_channel_number = 1;
// timer0 with prescaler 8, and interrupt, Int freq: 9433khz , ~0.0001s
TCCR0B |= (1<<CS01);
TIMSK0 |= (1<<TOIE0);
DDRB |= (1<<PORTB1); //ppm out
DDRB |= (1<<PORTB2); //ppm out
// bind();
USART_Init();
sei();
uint8_t data = 0;
uint8_t old_data = 0;
uint8_t state = 0;
int16_t channels[PPMCH];
int16_t channels_tmp[PPMCH];
int16_t channels_old[PPMCH];
uint8_t i = 0;
for(i=0; i<PPMCH; i++)
{
channels[i] = 0;
channels_old[i] = 0;
}
while(1)
{
if(timeout == 0)
{
//state = 0;
timeout = 60; // 6ms
}
if(uart_getc_nb(&data))
{
timeout = 60; //6ms
if((old_data == 0x03) && (data == 0x01))
{
state=0;
}
for(i = 2; i < 14; i+=2)
{
if(state == i)
{
channels[(i/2)-1] = data+((old_data&3)*0xff);
}
if(state == 12)
{
PORTB ^= (1 << PORTB1);
for(i=0; i<PPMCH; i++)
{
uint16_t pw = (1000 + (channels[i]*1.25)) - 116;
channels_tmp[i] = ((((F_CPU/1000) * pw)/1000)/TIMER1_PRESCALER);
}
cli();
for(i=0; i<PPMCH; i++)
{
isr_channel_pw[i] = channels_tmp[i];
}
sei();
timeout2 = 20000; // 2s
for(i=0; i<PPMCH; i++)
{
channels_old[i] = channels[i];
}
}
}
if(state < 20)
state++;
old_data = data;
}
}
}
