Subversion Repositories FlightCtrl

Rev

Rev 1426 | Rev 1481 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 1426 Rev 1431
Line 5... Line 5...
5 
#include "Spektrum.h"
 5 
#include "Spektrum.h"
6 
#include "main.h"
 6 
#include "main.h"
7 
unsigned char SpektrumTimer = 0;
 7 
unsigned char SpektrumTimer = 0;
Line 8... Line 8...
8 
 
 8 
 
9 
//--------------------------------------------------------------//
 - 
 
10 
 
 9 
//--------------------------------------------------------------//
11 
//--------------------------------------------------------------//
 10 
//--------------------------------------------------------------//
12 
void SpektrumBinding(void)
 11 
void SpektrumBinding(void)
13 
{
 12 
{
14 
  unsigned int timerTimeout = SetDelay(10000);  // Timeout 10 sec.
 13 
  unsigned int timerTimeout = SetDelay(10000);  // Timeout 10 sec.
Line 68... Line 67...
68 
void SpektrumUartInit(void)
 67 
void SpektrumUartInit(void)
69 
//############################################################################
 68 
//############################################################################
70 
    {
 69 
    {
71 
        // -- Start of USART1 initialisation for Spekturm seriell-mode
 70 
        // -- Start of USART1 initialisation for Spekturm seriell-mode
72 
        // USART1 Control and Status Register A, B, C and baud rate register
 71 
        // USART1 Control and Status Register A, B, C and baud rate register
- 
 
 72 
        uint8_t sreg = SREG;
- 
 
 73 
       
73 
        uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1);
 74 
        uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1);
- 
 
 75 
       
- 
 
 76 
        // disable all interrupts before reconfiguration
- 
 
 77 
        cli();
74 
        // disable RX-Interrupt
 78 
        // disable RX-Interrupt
75 
        UCSR1B &= ~(1 << RXCIE1);
 79 
        UCSR1B &= ~(1 << RXCIE1);
76 
        // disable TX-Interrupt
 80 
        // disable TX-Interrupt
77 
        UCSR1B &= ~(1 << TXCIE1);
 81 
        UCSR1B &= ~(1 << TXCIE1);
78 
        // disable DRE-Interrupt
 82 
        // disable DRE-Interrupt
79 
        UCSR1B &= ~(1 << UDRIE1);
 83 
        UCSR1B &= ~(1 << UDRIE1);
80 
        // set direction of RXD1 and TXD1 pins
 84 
        // set direction of RXD1 and TXD1 pins
81 
        // set RXD1 (PD2) as an input pin
 85 
        // set RXD1 (PD2) as an input pin
82 
        PORTD |= (1 << PORTD2);
 86 
        PORTD |= (1 << PORTD2);
83 
        DDRD &= ~(1 << DDD2);
 87 
        DDRD &= ~(1 << DDD2);
- 
 
 88 
 
- 
 
 89 
        // set TXD1 (PD3) as an output pin
- 
 
 90 
        PORTD |= (1 << PORTD3);
- 
 
 91 
        DDRD  |= (1 << DDD3);
- 
 
 92 
       
84 
        // USART0 Baud Rate Register
 93 
        // USART0 Baud Rate Register
85 
        // set clock divider
 94 
        // set clock divider
86 
 
 - 
 
87 
        UBRR1H = (uint8_t)(ubrr>>8);
 95 
        UBRR1H = (uint8_t)(ubrr>>8);
88 
        UBRR1L = (uint8_t)ubrr;
 96 
        UBRR1L = (uint8_t)ubrr;
89 
        // enable double speed operation
 97 
        // enable double speed operation
90 
        UCSR1A |= (1 << U2X1);
 98 
        UCSR1A |= (1 << U2X1);
91 
        // enable receiver and transmitter
 99 
        // enable receiver and transmitter
Line 107... Line 115...
107 
        // flush receive buffer explicit
 115 
        // flush receive buffer explicit
108 
        while(UCSR1A & (1<<RXC1)) UDR1;
 116 
        while(UCSR1A & (1<<RXC1)) UDR1;
109 
        // enable RX-interrupts at the end
 117 
        // enable RX-interrupts at the end
110 
        UCSR1B |= (1 << RXCIE1);
 118 
        UCSR1B |= (1 << RXCIE1);
111 
        // -- End of USART1 initialisation
 119 
        // -- End of USART1 initialisation
- 
 
 120 
        // restore global interrupt flags
- 
 
 121 
   
- 
 
 122 
        SREG = sreg;
112 
  return;
 123 
  return;
113 
 }
 124 
 }
Line 114... Line 125...
114 
 
 125 
 
115 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 126 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
Line 188... Line 199...
188 
 
 199 
 
189 
 
 200 
 
190 
 
 - 
 
191 
//############################################################################
 201 
 
192 
//Diese Routine startet und inizialisiert den USART1 für seriellen Spektrum satellite reciever
 202 
//############################################################################
193 
//SIGNAL(USART1_RX_vect)
 203 
//Diese Routine startet und inizialisiert den USART1 für seriellen Spektrum satellite reciever
194 
//############################################################################
 204 
//############################################################################
195 
void SpektrumParser(unsigned char c)
 205 
void SpektrumParser(unsigned char c)