diff -ruN crrcsim-0.9.10/documentation/input_method/walkera0701.txt crrcsim-0.9.10-w0701/documentation/input_method/walkera0701.txt
--- crrcsim-0.9.10/documentation/input_method/walkera0701.txt 1970-01-01 01:00:00.000000000 +0100
+++ crrcsim-0.9.10-w0701/documentation/input_method/walkera0701.txt 2009-06-19 09:49:13.000000000 +0200
@@ -0,0 +1,28 @@
+Cable:
+
+Walkera WK-0701 TX S-VIDEO connector to soundcard:
+
+
+ (back side of TX)
+ __ __ S-video:
+ / |_| \ pin 2 (signal)
+ / O 4 3 O \ pin 3 (GND)
+ ( O 2 1 O )
+ \ ___ / 2 ______________________ Center pin of jack 3.5mm
+ | [___] |
+ ------- 3 ______________________ "Ground" of jack 3.5mm
+
+
+No atenuators! limiting resistor is already inside TX.
+
+
+Select: Options-> Controls -> Input Method -> Audio, /dev/dsp
+ Configure -> Radio type -> Walkera0701
+
+Select: View -> Toggle Test Mode
+
+By mixer software (alsamixer etc.) set up inpul level from soundcard.
+
+Other method to connect walkera0701 to parport: check Walkera 0701
+joystick driver in 2.6.29 kernels.
+
diff -ruN crrcsim-0.9.10/src/GUI/crrc_calibmap.cpp crrcsim-0.9.10-w0701/src/GUI/crrc_calibmap.cpp
--- crrcsim-0.9.10/src/GUI/crrc_calibmap.cpp 2009-03-07 17:41:22.000000000 +0100
+++ crrcsim-0.9.10-w0701/src/GUI/crrc_calibmap.cpp 2009-06-16 13:48:04.000000000 +0200
@@ -45,7 +45,7 @@
static char *radioTypes[] = {(char*)RadioTypeStrings[0], (char*)RadioTypeStrings[1],
(char*)RadioTypeStrings[2], (char*)RadioTypeStrings[3],
(char*)RadioTypeStrings[4], (char*)RadioTypeStrings[5],
- (char*)RadioTypeStrings[6],
+ (char*)RadioTypeStrings[6], (char*)RadioTypeStrings[7],
NULL};
static void CGUICalibMapCallback(puObject *obj);
diff -ruN crrcsim-0.9.10/src/mod_inputdev/inputdev.cpp crrcsim-0.9.10-w0701/src/mod_inputdev/inputdev.cpp
--- crrcsim-0.9.10/src/mod_inputdev/inputdev.cpp 2009-03-07 17:41:22.000000000 +0100
+++ crrcsim-0.9.10-w0701/src/mod_inputdev/inputdev.cpp 2009-06-16 14:34:16.000000000 +0200
@@ -61,7 +61,7 @@
/**
* Strings ordered like radio type enums in T_TX_Interface
*/
-const char* RadioTypeStrings[] = {"Futaba", "Airtronics", "Hitec", "JR", "Cockpit", "Walkera", "Custom"};
+const char* RadioTypeStrings[] = {"Futaba", "Airtronics", "Hitec", "JR", "Cockpit", "Walkera", "Custom", "Walkera0701"};
/**
* Strings ordered like input method enums in T_TX_Interface
@@ -587,6 +587,15 @@
func[T_AxisMapper::RUDDER] = 3;
radio_type = rtype;
break;
+
+ case WALKERA0701:
+ func[T_AxisMapper::ELEVATOR] = 0; inv[T_AxisMapper::ELEVATOR]= 1;
+ func[T_AxisMapper::AILERON] = 1; inv[T_AxisMapper::AILERON ]= 1;
+ func[T_AxisMapper::THROTTLE] = 2; inv[T_AxisMapper::THROTTLE]= -1;
+ func[T_AxisMapper::RUDDER] = 3; inv[T_AxisMapper::RUDDER ]= 1;
+ radio_type = rtype;
+ printf ("mapper walkera\n");
+ break;
case JR:
func[T_AxisMapper::ELEVATOR] = 2;
diff -ruN crrcsim-0.9.10/src/mod_inputdev/inputdev.h crrcsim-0.9.10-w0701/src/mod_inputdev/inputdev.h
--- crrcsim-0.9.10/src/mod_inputdev/inputdev.h 2009-03-07 17:41:23.000000000 +0100
+++ crrcsim-0.9.10-w0701/src/mod_inputdev/inputdev.h 2009-06-16 13:43:21.000000000 +0200
@@ -113,12 +113,12 @@
* Available radio types. Ordered like RadioTypeStrings[]
*/
enum { FUTABA = 0, AIRTRONICS = 1, HITEC = 2,
- JR = 3, COCKPIT = 4, WALKERA=5, CUSTOM = 6 };
+ JR = 3, COCKPIT = 4, WALKERA=5, CUSTOM = 6, WALKERA0701 = 7 };
/**
* Number of available radio types
*/
- enum { NR_OF_RADIO_TYPES = 7 };
+ enum { NR_OF_RADIO_TYPES = 8 };
/**
* Loads configuration from cfgfile.
diff -ruN crrcsim-0.9.10/src/mod_inputdev/inputdev_audio/inputdev_audio.cpp crrcsim-0.9.10-w0701/src/mod_inputdev/inputdev_audio/inputdev_audio.cpp
--- crrcsim-0.9.10/src/mod_inputdev/inputdev_audio/inputdev_audio.cpp 2009-03-07 17:41:23.000000000 +0100
+++ crrcsim-0.9.10-w0701/src/mod_inputdev/inputdev_audio/inputdev_audio.cpp 2009-06-17 09:11:57.000000000 +0200
@@ -6,6 +6,10 @@
* Copyright (C) 2005 - Joel Lienard
* Copyright (C) 2008 - Olivier Bordes
*
+ * modifications for walkera 0701 PCM
+ * Copyright (C) 2009 - Peter Popovec
+ * http://zub.fei.tuke.sk/walkera-wk0701/
+ *
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2
* as published by the Free Software Foundation.
@@ -31,6 +35,7 @@
*/
#include "inputdev_audio.h"
+#include "../../global.h"
#include
#include
@@ -247,20 +252,19 @@
#if PORTAUDIO > 0
static float vals[11];
int i,n;
-
/*
* there is no need to update values more than 50 times a second
* then lest check here every (SAMPLE_RATE/50) recorded samples
*/
Pa_Sleep (1); // not sure this is usefull
-
n=AudioData.SamplesCounter;
if (n-AudioData.LastSamplesCounter>SAMPLE_RATE/50)
{
AudioData.LastSamplesCounter = n; // lets update values
- if(get_data(vals,&n))
+
+ if( Global::TXInterface->map->WALKERA0701 == Global::TXInterface->map->radioType() ? get_data_w0701(vals,&n):get_data(vals,&n))
{
for(i=0;i<11;i++)
values[i]=vals[i];
@@ -516,6 +520,146 @@
}
+#define RESERVE 40
+#define SYNC_PULSE 1306
+#define BIN0_PULSE 288
+#define BIN1_PULSE 438
+#define ANALOG_MIN_PULSE 318
+#define ANALOG_MAX_PULSE 878
+#define ANALOG_DELTA 80
+#define BIN_SAMPLE ((BIN0_PULSE + BIN1_PULSE) / 2)
+#define NO_SYNC 25
+
+int
+T_TX_InterfaceAudio::get_data_w0701 (float *values, int *nvalues)
+{
+ float x, px, max, min, moy;
+ int nval = AudioData.frameSize;
+ int i, j, k, chanel = 0;
+ int nibbles[26], crc1, crc2;
+ float dt_up = 0, dt_down = 0, val;
+ float *sig = AudioData.recordedSamples;
+
+ max= -100000;
+ min= 100000;
+
+ for(i = 0; i < nval; i++)
+ {
+ x = sig[i];
+ if (x > max)
+ max = x;
+ if (x < min)
+ min = x;
+ }
+ moy = (max + min) / 2;
+ x = 0;
+
+ chanel = 0;
+ j = (AudioData.frameIndex + 1024) % AudioData.frameSize;
+ for (i = 0; i < nval; i++)
+ {
+ px = x;
+ x = sig[j++];
+ if (j == AudioData.frameSize)
+ j = 0;
+
+ if ((x > moy) && (px < moy)) // rising edge
+ {
+ dt_up = j - (moy - px) / (x - px);
+ if(dt_up < dt_down)
+ dt_up += 1024;
+ val = dt_up - dt_down;
+ val = (val * 1000000) / SAMPLE_RATE;
+ if (abs(val - SYNC_PULSE) < RESERVE )
+ {
+ chanel = 0;
+ synchro_index = j; //for OSCILLO synchro
+// printf("DEBUG SYNC %f\n",val);
+ continue;
+ }
+ if (val > (ANALOG_MIN_PULSE - RESERVE) && val < (ANALOG_MAX_PULSE + RESERVE))
+ {
+ if (chanel < NO_SYNC){
+ val = val - ANALOG_MIN_PULSE + ANALOG_DELTA/2;
+ if(val < 0)
+ val = 0;
+ nibbles[chanel++] |= (int) (val / ANALOG_DELTA);
+ }
+// printf("DEBUG Analog = %d %f\n",(int)(val/80),val + ANALOG_MIN_PULSE - ANALOG_DELTA/2);
+ continue;
+ }
+ chanel = NO_SYNC;
+// printf ("DEBUG bad analog A=%f\n", val);
+ continue;
+ }
+
+ if ((x < moy) && (px > moy)) // falling edge
+ {
+ dt_down = j - (px - moy ) / (px - x);
+ if(dt_down < dt_up)
+ dt_down += 1024;
+ val = dt_down - dt_up;
+ val = (val * 1000000) / SAMPLE_RATE;
+ if (val > (BIN0_PULSE - RESERVE) && val < (BIN1_PULSE + RESERVE))
+ {
+ if (chanel < NO_SYNC)
+ nibbles[chanel] = (val > BIN_SAMPLE) * 8;
+
+ if (chanel == 24) // all nibbles
+ {
+
+ for (crc1 = crc2 = k = 0; k < 10; k++)
+ {
+ crc1 += nibbles[k] & 7;
+ crc2 += (nibbles[k] & 8) >> 3;
+ }
+ if ((nibbles[10] & 7) != (crc1 & 7))
+ continue;
+ if (((nibbles[10] & 8) >> 3) != (((crc1 >> 3) + crc2) & 1))
+ continue;
+
+ for (crc1 = crc2 =0, k = 11; k < 23; k++)
+ {
+ crc1 += nibbles[k] & 7;
+ crc2 += (nibbles[k] & 8) >> 3;
+ }
+ if ((nibbles[23] & 7) != (crc1 & 7))
+ continue;
+ if (((nibbles[23] & 8) >> 3) != (((crc1 >> 3) + crc2) & 1))
+ continue;
+
+ values[0] = ((nibbles[0] & 7) * 256 + nibbles[1] * 16 + nibbles[2]) >> 2;
+ values[0] *= ((nibbles[0] >> 2) & 2) - 1;
+ values[1] = (nibbles[2] & 1) << 8 | (nibbles[3] << 4) | nibbles[4];
+ values[1] *= (nibbles[2] & 2) - 1;
+ values[2] = ((nibbles[5] & 7) * 256 + nibbles[6] * 16 + nibbles[7]) >> 2;
+ values[2] *= ((nibbles[5] >> 2) & 2) - 1;
+ values[3] = (nibbles[7] & 1) << 8 | (nibbles[8] << 4) | nibbles[9];
+ values[3] *= (nibbles[7] & 2) - 1;
+ values[4] = ((nibbles[11] & 7) * 256 + nibbles[12] * 16 + nibbles[13]) >> 2;
+ values[4] *= ((nibbles[11] >> 2) & 2) - 1;
+ values[5] = (nibbles[13] & 1) << 8 | (nibbles[14] << 4) | nibbles[15];
+ values[5] *= (nibbles[13] & 2) - 1;
+ values[6] = ((nibbles[16] & 7) * 256 + nibbles[17] * 16 + nibbles[18]) >> 2;
+ values[6] *= ((nibbles[16] >> 2) & 2) - 1;
+ values[7] = (nibbles[18] & 1) << 8 | (nibbles[19] << 4) | nibbles[20];
+ values[7] *= (nibbles[18] & 2) - 1;
+ for (k = 0; k < 8; k++)
+ values[k] /= 512;
+ *nvalues = 8;
+ return 1;
+ }
+// printf("DEBUG BIN[%d] %d %f\n",chanel,val > BIN_SAMPLE,val);
+ continue;
+ }
+ chanel = NO_SYNC;
+// printf ("DEBUG Bad bin=%f\n", val);
+ }
+ }
+ return 0;
+}
+
+
/**
* \brief Re-open the audio interface
*
diff -ruN crrcsim-0.9.10/src/mod_inputdev/inputdev_audio/inputdev_audio.h crrcsim-0.9.10-w0701/src/mod_inputdev/inputdev_audio/inputdev_audio.h
--- crrcsim-0.9.10/src/mod_inputdev/inputdev_audio/inputdev_audio.h 2009-03-07 17:41:23.000000000 +0100
+++ crrcsim-0.9.10-w0701/src/mod_inputdev/inputdev_audio/inputdev_audio.h 2009-06-16 13:10:37.000000000 +0200
@@ -130,6 +130,7 @@
int audio_rc_close();
int get_data_from_audio_interface(float *values);
int get_data(float *values, int *nvalues);
+ int get_data_w0701(float *values, int *nvalues);
};
#endif