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Code Issues Releases Activity

OP-22 Flight/PiOS: Spektrum parser handles all known TXs, or atleast should. Test it well before sending aircraft to the sky.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3133 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
sambas 2011-04-09 14:17:23 +00:00 committed by sambas
parent 8e7fd4da81
commit cdfbf8614c
1 changed files with 30 additions and 9 deletions
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39
flight/PiOS/STM32F10x/pios_spektrum.c
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@ -188,13 +188,15 @@ uint8_t PIOS_SPEKTRUM_Bind(void)
*/
int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
{
static uint16_t channel = 0, sync_word = 0;
uint8_t channeln = 0, frame = 0;
static uint16_t channel = 0; /*, sync_word = 0;*/
uint8_t channeln = 0, frame = 0, datalength=0;
uint16_t data = 0;
byte_array[bytecount] = b;
bytecount++;
if (sync == 0) {
sync_word = (prev_byte << 8) + b;
//sync_word = (prev_byte << 8) + b;
#if 0
/* maybe create object to show this data */
if(bytecount==1)
{
/* record losscounter into channel8 */
@ -202,19 +204,38 @@ int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
/* instant write */
CaptureValue[7]=b;
}
if (((sync_word & 0x00FE) == 0) && (bytecount == 2)) {
/* sync low byte always 0x01, high byte seems to be random when switching TX on off on, loss counter??? */
if (sync_word & 0x01) {
#endif
/* Known sync bytes, 0x01, 0x02, 0x12 */
if (bytecount == 2) {
if (b == 0x01) {
datalength=0; // 10bit
//frames=1;
sync = 1;
bytecount = 2;
}
else if(b == 0x02) {
datalength=0; // 10bit
//frames=2;
sync = 1;
bytecount = 2;
}
else if(b == 0x12) {
datalength=1; // 11bit
//frames=2;
sync = 1;
bytecount = 2;
}
else
{
bytecount = 0;
}
}
} else {
if ((bytecount % 2) == 0) {
channel = (prev_byte << 8) + b;
frame = channel >> 15;
channeln = (channel >> 10) & 0x0F;
data = channel & 0x03FF;
channeln = (channel >> (10+datalength)) & 0x0F;
data = channel & (0x03FF+(0x0400*datalength));
if(channeln==0 && data<10) // discard frame if throttle misbehaves
{
frame_error=1;
@ -271,7 +292,7 @@ void PIOS_SPEKTRUM_irq_handler() {
/* Clear timer interrupt pending bit */
TIM_ClearITPendingBit(pios_spektrum_cfg.timer, TIM_IT_Update);
/* sync between frames, TODO! DX7SE */
/* sync between frames */
sync = 0;
bytecount = 0;
prev_byte = 0xFF;