| 0,0 → 1,70 |
|---|
| //############################################################################ |
| // MULTIPLEX Servo protocol SRXL16 & SRXL12 |
| //############################################################################ |
| |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| |
| #include "Spektrum.h" |
| #include "M-Link.h" |
| #include "main.h" |
| unsigned char NewMlinkData = 0; |
| unsigned char MlinkData[36]; |
| |
| //############################################################################ |
| // Initializes the UART here |
| //############################################################################ |
| void MlinkUartInit(void) |
| { |
| SpektrumUartInit(); // same like Spektrum |
| }; |
| |
| //############################################################################ |
| // Is called by the uart RX interrupt |
| // UDR contains the received byte |
| //############################################################################ |
| void MlinkParser(unsigned char udr) |
| { |
| static unsigned char state = 0, lenght = 0; |
| if(!SpektrumTimer) // Timeout-> block finished |
| { |
| if(state > 24 && state < 36) // udr = 0xA1 oder A2 |
| { |
| if(udr == 0xA1) lenght = 12 * 2 + 2; // 12 channels plus CRC |
| else |
| if(udr == 0xA2) lenght = 16 * 2 + 2; // 16 channels plus CRC |
| else lenght = 0; |
| } else lenght = 0; |
| state = 0; |
| } |
| else |
| { |
| if(state < sizeof(MlinkData)) |
| { |
| MlinkData[state++] = udr; |
| if(state == lenght) // last Byte received |
| { |
| NewMlinkData = lenght - 2; // without CRC |
| lenght = 0; |
| } |
| } |
| } |
| SpektrumTimer = 100; // 10ms Timeout |
| }; |
| |
| void ProcessMlinkData(void) |
| { |
| unsigned char i = 0; |
| unsigned int tmp; |
| while(i < NewMlinkData) |
| { |
| tmp = (unsigned int) MlinkData[i] * 256 + MlinkData[i + 1]; |
| tmp /= 13; |
| i += 2; |
| s_update(i/2, (signed int) tmp - 156); // copies the values into the Channel-Data and calculates the PPM_Diff |
| SenderOkay = 220; |
| } |
| Channels = i/2 + 1; |
| NewPpmData = 0; // Null bedeutet: Neue Daten |
| NewMlinkData = 0; |
| } |
| #endif |