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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 689 | form | 1 | /*####################################################################################### |
| 2 | Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit |
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| 3 | #######################################################################################*/ |
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| 4 | |||
| 5 | #include "Spectrum.h" |
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| 6 | #include "main.h" |
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| 7 | unsigned char SpektrumTimer = 0; |
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| 8 | |||
| 9 | unsigned int sexcnt; // Counter for Spektrum-Expander |
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| 10 | unsigned int sexparity; // Parity Bit for Spektrum-Expander |
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| 11 | signed int sexdata[7]; // Data for Spektrum-Expander |
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| 12 | signed int sexdata_valid[7]; // Valid Data for Spektrum-Expander |
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| 13 | |||
| 14 | //--------------------------------------------------------------// |
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| 15 | |||
| 16 | //--------------------------------------------------------------// |
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| 17 | void SpektrumBinding(void) |
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| 18 | { |
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| 19 | unsigned int timerTimeout = SetDelay(10000); // Timeout 10 sec. |
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| 20 | unsigned char connected = 0; |
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| 21 | unsigned int delaycounter; |
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| 22 | |||
| 23 | UCSR1B &= ~(1 << RXCIE1); // disable rx-interrupt |
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| 24 | UCSR1B &= ~(1<<RXEN1); // disable Uart-Rx |
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| 25 | PORTD &= ~(1 << PORTD2); // disable pull-up |
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| 26 | |||
| 27 | printf("\n\rPlease connect Spektrum receiver for binding NOW..."); |
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| 28 | |||
| 29 | while(!CheckDelay(timerTimeout)) |
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| 30 | { |
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| 31 | if (PIND & (1 << PORTD2)) { timerTimeout = SetDelay(90); connected = 1; break; } |
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| 32 | } |
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| 33 | |||
| 34 | if (connected) |
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| 35 | { |
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| 36 | |||
| 37 | printf("ok.\n\r"); |
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| 38 | DDRD |= (1 << DDD2); // Rx as output |
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| 39 | |||
| 40 | while(!CheckDelay(timerTimeout)); // delay after startup of RX |
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| 41 | for (delaycounter = 0; delaycounter < 100; delaycounter++) PORTD |= (1 << PORTD2); |
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| 42 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
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| 43 | |||
| 44 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
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| 45 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
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| 46 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
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| 47 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
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| 48 | |||
| 49 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
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| 50 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
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| 51 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
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| 52 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
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| 53 | |||
| 54 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
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| 55 | for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
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| 56 | for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
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| 57 | |||
| 58 | } |
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| 59 | else |
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| 60 | { printf("Timeout.\n\r"); |
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| 61 | |||
| 62 | |||
| 63 | } |
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| 64 | |||
| 65 | DDRD &= ~(1 << DDD2); // RX as input |
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| 66 | PORTD &= ~(1 << PORTD2); |
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| 67 | |||
| 68 | Uart1Init(); // init Uart again |
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| 69 | } |
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| 70 | |||
| 71 | //############################################################################ |
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| 72 | // zum Decodieren des Spektrum Satelliten wird USART1 benutzt. |
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| 73 | // USART1 initialisation from killagreg |
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| 74 | void Uart1Init(void) |
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| 75 | //############################################################################ |
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| 76 | { |
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| 77 | // -- Start of USART1 initialisation for Spekturm seriell-mode |
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| 78 | // USART1 Control and Status Register A, B, C and baud rate register |
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| 79 | uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1); |
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| 80 | // disable RX-Interrupt |
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| 81 | UCSR1B &= ~(1 << RXCIE1); |
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| 82 | // disable TX-Interrupt |
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| 83 | UCSR1B &= ~(1 << TXCIE1); |
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| 84 | // disable DRE-Interrupt |
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| 85 | UCSR1B &= ~(1 << UDRIE1); |
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| 86 | // set direction of RXD1 and TXD1 pins |
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| 87 | // set RXD1 (PD2) as an input pin |
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| 88 | PORTD |= (1 << PORTD2); |
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| 89 | DDRD &= ~(1 << DDD2); |
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| 90 | // USART0 Baud Rate Register |
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| 91 | // set clock divider |
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| 92 | |||
| 93 | UBRR1H = (uint8_t)(ubrr>>8); |
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| 94 | UBRR1L = (uint8_t)ubrr; |
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| 95 | // enable double speed operation |
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| 96 | UCSR1A |= (1 << U2X1); |
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| 97 | // enable receiver and transmitter |
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| 98 | //UCSR1B = (1<<RXEN1)|(1<<TXEN1); |
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| 99 | |||
| 100 | UCSR1B = (1<<RXEN1); |
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| 101 | // set asynchronous mode |
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| 102 | UCSR1C &= ~(1 << UMSEL11); |
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| 103 | UCSR1C &= ~(1 << UMSEL10); |
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| 104 | // no parity |
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| 105 | UCSR1C &= ~(1 << UPM11); |
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| 106 | UCSR1C &= ~(1 << UPM10); |
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| 107 | // 1 stop bit |
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| 108 | UCSR1C &= ~(1 << USBS1); |
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| 109 | // 8-bit |
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| 110 | UCSR1B &= ~(1 << UCSZ12); |
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| 111 | UCSR1C |= (1 << UCSZ11); |
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| 112 | UCSR1C |= (1 << UCSZ10); |
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| 113 | // flush receive buffer explicit |
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| 114 | while(UCSR1A & (1<<RXC1)) UDR1; |
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| 115 | // enable RX-interrupts at the end |
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| 116 | UCSR1B |= (1 << RXCIE1); |
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| 117 | // -- End of USART1 initialisation |
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| 118 | return; |
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| 119 | } |
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| 120 | |||
| 121 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 122 | // + Copyright (c) Rainer Walther |
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| 123 | // + RC-routines from original MK rc.c (c) H&I |
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| 124 | // + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2 |
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| 125 | // + only for non-profit use |
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| 126 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 127 | // |
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| 128 | // 20080808 rw Modified for Spektrum AR6100 (PPM) |
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| 129 | // 20080823 rw Add Spektrum satellite receiver on USART1 (644P only) |
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| 130 | // 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels) |
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| 131 | // Replace AR6100-coding with original composit-signal routines |
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| 132 | // |
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| 133 | // --- |
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| 134 | // Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben! |
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| 135 | // Binding is not implemented. Bind with external Receiver. |
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| 136 | // Servo output J3, J4, J5 not serviced |
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| 137 | // |
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| 138 | // Anschuß Spektrum Receiver |
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| 139 | // Orange: 3V von der FC (keinesfalls an 5V anschließen!) |
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| 140 | // Schwarz: GND |
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| 141 | // Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker |
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| 142 | // |
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| 143 | // --- |
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| 144 | // Satellite-Reciever connected on USART1: |
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| 145 | // |
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| 146 | // DX7/DX6i: One data-frame at 115200 baud every 22ms. |
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| 147 | // DX7se: One data-frame at 115200 baud every 11ms. |
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| 148 | // byte1: unknown |
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| 149 | // byte2: unknown |
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| 150 | // byte3: and byte4: channel data (FLT-Mode) |
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| 151 | // byte5: and byte6: channel data (Roll) |
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| 152 | // byte7: and byte8: channel data (Nick) |
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| 153 | // byte9: and byte10: channel data (Gier) |
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| 154 | // byte11: and byte12: channel data (Gear Switch) |
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| 155 | // byte13: and byte14: channel data (Gas) |
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| 156 | // byte15: and byte16: channel data (AUX2) |
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| 157 | // |
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| 158 | // DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9 |
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| 159 | // 1st Frame: |
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| 160 | // byte1: unknown |
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| 161 | // byte2: unknown |
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| 162 | // byte3: and byte4: channel data |
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| 163 | // byte5: and byte6: channel data |
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| 164 | // byte7: and byte8: channel data |
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| 165 | // byte9: and byte10: channel data |
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| 166 | // byte11: and byte12: channel data |
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| 167 | // byte13: and byte14: channel data |
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| 168 | // byte15: and byte16: channel data |
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| 169 | // 2nd Frame: |
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| 170 | // byte1: unknown |
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| 171 | // byte2: unknown |
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| 172 | // byte3: and byte4: channel data |
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| 173 | // byte5: and byte6: channel data |
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| 174 | // byte7: and byte8: 0xffff |
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| 175 | // byte9: and byte10: 0xffff |
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| 176 | // byte11: and byte12: 0xffff |
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| 177 | // byte13: and byte14: 0xffff |
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| 178 | // byte15: and byte16: 0xffff |
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| 179 | // |
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| 180 | // Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as: |
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| 181 | // |
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| 182 | // Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 |
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| 183 | // |
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| 184 | // 0 means a '0' bit |
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| 185 | // F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only) |
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| 186 | // C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter) |
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| 187 | // D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel |
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| 188 | // |
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| 189 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 190 | |||
| 191 | #define MIN_FRAMEGAP 68 // 7ms |
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| 192 | #define MAX_BYTEGAP 3 // 310us |
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| 193 | |||
| 194 | //############################################################################ |
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| 195 | //Diese Routine startet und inizialisiert den USART1 für seriellen Spektrum satellite reciever |
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| 196 | SIGNAL(USART1_RX_vect) |
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| 197 | //############################################################################ |
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| 198 | { |
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| 199 | static unsigned char Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0; |
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| 200 | unsigned int Channel, index; |
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| 201 | signed int signal; |
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| 202 | int bCheckDelay; |
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| 203 | uint8_t c; |
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| 204 | c = UDR1; // get data byte |
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| 205 | if(ReSync == 1) |
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| 206 | { |
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| 207 | // wait for beginning of new frame |
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| 208 | ReSync = 0; |
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| 209 | SpektrumTimer = MIN_FRAMEGAP; |
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| 210 | FrameCnt = 0; |
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| 211 | Sync = 0; |
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| 212 | ByteHigh = 0; |
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| 213 | } |
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| 214 | else |
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| 215 | { |
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| 216 | if(!SpektrumTimer) bCheckDelay = 1; else bCheckDelay = 0;//CheckDelay(FrameTimer); |
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| 217 | if ( Sync == 0 ) |
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| 218 | { |
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| 219 | if(bCheckDelay) |
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| 220 | { |
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| 221 | // nach einer Pause von mind. 7ms erstes Sync-Character gefunden |
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| 222 | // Zeichen ignorieren, da Bedeutung unbekannt |
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| 223 | Sync = 1; |
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| 224 | FrameCnt ++; |
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| 225 | SpektrumTimer = MAX_BYTEGAP; |
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| 226 | } |
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| 227 | else |
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| 228 | { |
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| 229 | // Zeichen kam vor Ablauf der 7ms Sync-Pause |
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| 230 | // warten auf erstes Sync-Zeichen |
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| 231 | SpektrumTimer = MIN_FRAMEGAP; |
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| 232 | FrameCnt = 0; |
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| 233 | Sync = 0; |
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| 234 | ByteHigh = 0; |
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| 235 | } |
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| 236 | } |
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| 237 | else if((Sync == 1) && !bCheckDelay) |
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| 238 | { |
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| 239 | // zweites Sync-Character ignorieren, Bedeutung unbekannt |
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| 240 | Sync = 2; |
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| 241 | FrameCnt ++; |
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| 242 | SpektrumTimer = MAX_BYTEGAP; |
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| 243 | } |
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| 244 | else if((Sync == 2) && !bCheckDelay) |
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| 245 | { |
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| 246 | SpektrumTimer = MAX_BYTEGAP; |
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| 247 | // Datenbyte high |
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| 248 | ByteHigh = c; |
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| 249 | if (FrameCnt == 2) |
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| 250 | { |
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| 251 | // is 1st Byte of Channel-data |
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| 252 | // Frame 1 with Channel 1-7 comming next |
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| 253 | Frame2 = 0; |
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| 254 | if(ByteHigh & 0x80) |
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| 255 | { |
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| 256 | // DS9: Frame 2 with Channel 8-9 comming next |
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| 257 | Frame2 = 1; |
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| 258 | } |
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| 259 | } |
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| 260 | Sync = 3; |
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| 261 | FrameCnt ++; |
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| 262 | } |
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| 263 | else if((Sync == 3) && !bCheckDelay) |
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| 264 | { |
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| 265 | // Datenbyte low |
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| 266 | // High-Byte for next channel comes next |
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| 267 | SpektrumTimer = MAX_BYTEGAP; |
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| 268 | Sync = 2; |
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| 269 | FrameCnt ++; |
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| 270 | index = (ByteHigh >> 2) & 0x0f; |
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| 271 | index++; |
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| 272 | Channel = ((unsigned int)ByteHigh << 8) | c; |
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| 273 | signal = Channel & 0x3ff; |
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| 274 | signal -= 0x200; // Offset, range 0x000..0x3ff? |
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| 275 | signal = signal/3; // scaling to fit PPM resolution |
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| 276 | |||
| 277 | if(index >= 0 && index <= 10) |
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| 278 | { |
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| 279 | // Stabiles Signal |
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| 280 | if((abs(signal - PPM_in[index]) < 6) && (index < 5)) // RX-check only for CH1-4 |
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| 281 | { |
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| 282 | if(SenderOkay < 200) SenderOkay += 10; |
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| 283 | else |
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| 284 | { |
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| 285 | SenderOkay = 200; |
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| 286 | TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input |
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| 287 | } |
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| 288 | } |
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| 289 | |||
| 290 | |||
| 291 | |||
| 292 | // Spektrum-Expander START |
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| 293 | if (index == 6) // FLIGHT-MODE - The channel used for our data uplink |
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| 294 | { |
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| 295 | if (signal > 100) // SYNC received |
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| 296 | { |
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| 297 | sexcnt = 0; // Reset bitcounter |
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| 298 | sexparity = 0; // Reset parity bit |
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| 299 | } |
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| 300 | |||
| 301 | if (signal < 10) sexcnt++; // Increase counter only for non-sync bits |
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| 302 | if (sexcnt == 7) sexcnt = 0; // Overflow protection |
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| 303 | |||
| 304 | if (signal < 10) sexdata[sexcnt] = -113; // Bit = 0 -> value = -113 (min) |
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| 305 | |||
| 306 | if (signal < -100) |
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| 307 | { |
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| 308 | sexdata[sexcnt] = 114; // Bit = 1 -> value = 114 (max) |
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| 309 | if (sexcnt < 6) sexparity = ~sexparity; // Bit = 1 -> Invert parity bit without itself |
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| 310 | } |
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| 311 | |||
| 312 | if (sexcnt == 6) // Wait for complete frame |
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| 313 | { |
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| 314 | if ((sexparity != 0 && sexdata[6] == -113) || (sexparity == 0 && sexdata[6] == 114)) // Parity check |
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| 315 | { |
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| 316 | sexdata_valid[1] = sexdata[1]; // Flight Mode 1 |
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| 317 | sexdata_valid[2] = sexdata[2]; // Flight Mode 2 |
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| 318 | sexdata_valid[3] = sexdata[3]; // Elevator |
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| 319 | sexdata_valid[4] = sexdata[4]; // Aileron |
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| 320 | sexdata_valid[5] = sexdata[5]; // Rudder |
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| 321 | } |
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| 322 | } |
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| 323 | } |
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| 324 | |||
| 325 | switch(index) // Analog channel reassigment for logical numbering (1,2,3,4) |
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| 326 | { |
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| 327 | case 2: index = 4; |
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| 328 | break; |
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| 329 | case 4: index = 2; |
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| 330 | } |
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| 331 | |||
| 332 | |||
| 333 | |||
| 334 | |||
| 335 | |||
| 336 | |||
| 337 | |||
| 338 | |||
| 339 | |||
| 340 | |||
| 341 | |||
| 342 | if(SenderOkay >= 180 && index < 5) PPM_diff[index] = ((signal - PPM_in[index]) / 3) * 3; |
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| 343 | else PPM_diff[index] = 0; |
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| 344 | |||
| 345 | |||
| 346 | if (index < 5 ) PPM_in[index] = signal; // Update normal potis (CH1-4) |
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| 347 | if (index == 5) PPM_in[7] = signal; // Gear (CH7) |
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| 348 | if (index == 7) PPM_in[8] = signal; // AUX2 (CH8) |
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| 349 | |||
| 350 | if (index == 6) |
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| 351 | { |
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| 352 | if (sexdata_valid[1] == 114 && sexdata_valid[2] == -113) PPM_in[5] = -113;// Reconstruct tripole Flight-Mode value (CH5) |
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| 353 | if (sexdata_valid[1] == -113 && sexdata_valid[2] == -113) PPM_in[5] = 0; // Reconstruct tripole Flight-Mode value (CH5) |
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| 354 | if (sexdata_valid[1] == -113 && sexdata_valid[2] == 114) PPM_in[5] = 114; // Reconstruct tripole Flight-Mode value (CH5) |
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| 355 | |||
| 356 | PPM_in[6] = sexdata_valid[3]; // Elevator (CH6) |
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| 357 | if (sexdata_valid[4] == 114) J16_ON; else J16_OFF;// Aileron (CH9) for LED-Output J16 |
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| 358 | if (sexdata_valid[5] == 114) J17_ON; else J17_OFF;// Rudder (CH10) for LED-Output J17 |
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| 359 | } |
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| 360 | // Spektrum-Expander END |
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| 361 | |||
| 362 | } |
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| 363 | else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren |
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| 364 | } |
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| 365 | else |
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| 366 | { |
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| 367 | // hier stimmt was nicht: neu synchronisieren |
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| 368 | ReSync = 1; |
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| 369 | FrameCnt = 0; |
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| 370 | Frame2 = 0; |
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| 371 | // new frame next, nach fruehestens 7ms erwartet |
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| 372 | SpektrumTimer = MIN_FRAMEGAP; |
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| 373 | } |
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| 374 | |||
| 375 | // 16 Bytes eingetroffen -> Komplett |
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| 376 | if(FrameCnt >= 16) |
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| 377 | { |
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| 378 | // Frame complete |
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| 379 | if(Frame2 == 0) |
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| 380 | { |
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| 381 | // Null bedeutet: Neue Daten |
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| 382 | // nur beim ersten Frame (CH 0-7) setzen |
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| 383 | if(!ReSync) NewPpmData = 0; |
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| 384 | } |
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| 385 | FrameCnt = 0; |
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| 386 | Frame2 = 0; |
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| 387 | Sync = 0; |
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| 388 | SpektrumTimer = MIN_FRAMEGAP; |
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| 389 | } |
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| 390 | } |
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| 391 | } |
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| 392 | |||
| 393 |