WebSVN - FlightCtrl - Blame - Rev 2312 - /branches/V0.88n_ACC-HH_HR

Rev	Author	Line No.	Line
1171	hbuss	1	/*#######################################################################################
		2	Decodieren eines RC Summen Signals oder Spektrum Empf�nger-Satellit
		3	#######################################################################################*/
		4
1426	ingob	5	#include "Spektrum.h"
1171	hbuss	6	#include "main.h"
1928	holgerb	7	// Achtung: RECEIVER_SPEKTRUM_DX7EXP oder RECEIVER_SPEKTRUM_DX8EXP wird in der Main.h gesetzt
1506	holgerb	8
2177	-	9	#ifndef WITHSPECTRUM /// MartinW
		10	#warning : "### without SPECTRUM Code ###"
		11	#endif
		12
1320	hbuss	13	unsigned char SpektrumTimer = 0;
1171	hbuss	14
2312	-	15	// Achtung: RECEIVER_SPEKTRUM_DX7EXP oder RECEIVER_SPEKTRUM_DX8EXP wird in der main.h gesetzt
1928	holgerb	16	#if defined (RECEIVER_SPEKTRUM_DX7EXP) \|\| defined (RECEIVER_SPEKTRUM_DX8EXP)
2312	-	17	unsigned char s_excnt = 0; // Bitcounter for Spektrum-Expander
1680	holgerb	18	unsigned char s_exparity = 0; // Parity Bit for Spektrum-Expander
2312	-	19	signed char s_exdata[11]; // Data for Spektrum-Expander
		20
		21	void s_update(unsigned char channel, signed int value) // Channel-Diff numbercrunching and finally assign new stickvalue to PPM_in
		22	{
		23	if(SenderOkay >= 180) PPM_diff[channel] = ((value - PPM_in[channel]) / 3) * 3;
		24	else PPM_diff[channel] = 0;
		25	PPM_in[channel] = value;
		26	}
1506	holgerb	27	#endif
2312	-	28
1213	ingob	29	//--------------------------------------------------------------//
		30	//--------------------------------------------------------------//
1743	holgerb	31	/*
1213	ingob	32	void SpektrumBinding(void)
		33	{
		34	unsigned int timerTimeout = SetDelay(10000); // Timeout 10 sec.
		35	unsigned char connected = 0;
		36	unsigned int delaycounter;
1391	killagreg	37
1213	ingob	38	UCSR1B &= ~(1 << RXCIE1); // disable rx-interrupt
		39	UCSR1B &= ~(1<<RXEN1); // disable Uart-Rx
		40	PORTD &= ~(1 << PORTD2); // disable pull-up
1391	killagreg	41
1213	ingob	42	printf("\n\rPlease connect Spektrum receiver for binding NOW...");
1391	killagreg	43
1213	ingob	44	while(!CheckDelay(timerTimeout))
		45	{
		46	if (PIND & (1 << PORTD2)) { timerTimeout = SetDelay(90); connected = 1; break; }
		47	}
1391	killagreg	48
		49	if (connected)
		50	{
		51
		52	printf("ok.\n\r");
1213	ingob	53	DDRD \|= (1 << DDD2); // Rx as output
		54
1680	holgerb	55	while(!CheckDelay(timerTimeout)); // delay after startup of RX
		56	for (delaycounter = 0; delaycounter < 100; delaycounter++) PORTD \|= (1 << PORTD2);
		57	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2);
1391	killagreg	58
1680	holgerb	59	for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD \|= (1 << PORTD2);
1213	ingob	60	for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2);
1680	holgerb	61	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD \|= (1 << PORTD2);
		62	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2);
1391	killagreg	63
1680	holgerb	64	for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD \|= (1 << PORTD2);
1213	ingob	65	for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2);
1680	holgerb	66	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD \|= (1 << PORTD2);
		67	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2);
1213	ingob	68
1680	holgerb	69	for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD \|= (1 << PORTD2);
1213	ingob	70	for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2);
1680	holgerb	71	for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD \|= (1 << PORTD2);
1391	killagreg	72
1213	ingob	73	}
1391	killagreg	74	else
		75	{ printf("Timeout.\n\r");
		76
		77
1213	ingob	78	}
1391	killagreg	79
1213	ingob	80	DDRD &= ~(1 << DDD2); // RX as input
1391	killagreg	81	PORTD &= ~(1 << PORTD2);
1213	ingob	82
1424	ingob	83	SpektrumUartInit(); // init Uart again
1213	ingob	84	}
1743	holgerb	85	*/
1171	hbuss	86	//############################################################################
		87	// USART1 initialisation from killagreg
1424	ingob	88	void SpektrumUartInit(void)
1171	hbuss	89	//############################################################################
		90	{
2177	-	91	#ifdef WITHSPECTRUM /// MartinW main.h means no memsave
		92	#warning : "### with left over Spectrum code ###"
		93
1680	holgerb	94	// -- Start of USART1 initialisation for Spekturm seriell-mode
		95	// USART1 Control and Status Register A, B, C and baud rate register
		96	uint8_t sreg = SREG;
1928	holgerb	97
1680	holgerb	98	uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1);
1928	holgerb	99
1680	holgerb	100	// disable all interrupts before reconfiguration
		101	cli();
		102	// disable RX-Interrupt
		103	UCSR1B &= ~(1 << RXCIE1);
		104	// disable TX-Interrupt
		105	UCSR1B &= ~(1 << TXCIE1);
		106	// disable DRE-Interrupt
		107	UCSR1B &= ~(1 << UDRIE1);
		108	// set direction of RXD1 and TXD1 pins
		109	// set RXD1 (PD2) as an input pin
		110	PORTD \|= (1 << PORTD2);
		111	DDRD &= ~(1 << DDD2);
1431	ingob	112
1680	holgerb	113	// set TXD1 (PD3) as an output pin
		114	PORTD \|= (1 << PORTD3);
		115	DDRD \|= (1 << DDD3);
1928	holgerb	116
1680	holgerb	117	// USART0 Baud Rate Register
		118	// set clock divider
		119	UBRR1H = (uint8_t)(ubrr>>8);
		120	UBRR1L = (uint8_t)ubrr;
		121	// enable double speed operation
		122	UCSR1A \|= (1 << U2X1);
		123	// enable receiver and transmitter
		124	//UCSR1B = (1<<RXEN1)\|(1<<TXEN1);
1391	killagreg	125
1680	holgerb	126	UCSR1B = (1<<RXEN1);
		127	// set asynchronous mode
		128	UCSR1C &= ~(1 << UMSEL11);
		129	UCSR1C &= ~(1 << UMSEL10);
		130	// no parity
		131	UCSR1C &= ~(1 << UPM11);
		132	UCSR1C &= ~(1 << UPM10);
		133	// 1 stop bit
		134	UCSR1C &= ~(1 << USBS1);
		135	// 8-bit
		136	UCSR1B &= ~(1 << UCSZ12);
		137	UCSR1C \|= (1 << UCSZ11);
		138	UCSR1C \|= (1 << UCSZ10);
		139	// flush receive buffer explicit
		140	while(UCSR1A & (1<<RXC1)) UDR1;
		141	// enable RX-interrupts at the end
		142	UCSR1B \|= (1 << RXCIE1);
		143	// -- End of USART1 initialisation
		144	// restore global interrupt flags
1928	holgerb	145
1680	holgerb	146	SREG = sreg;
2177	-	147	#endif
1171	hbuss	148	return;
		149	}
1391	killagreg	150
1171	hbuss	151	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		152	// + Copyright (c) Rainer Walther
		153	// + RC-routines from original MK rc.c (c) H&I
		154	// + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2
		155	// + only for non-profit use
		156	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		157	//
		158	// 20080808 rw Modified for Spektrum AR6100 (PPM)
		159	// 20080823 rw Add Spektrum satellite receiver on USART1 (644P only)
		160	// 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels)
		161	// Replace AR6100-coding with original composit-signal routines
		162	//
		163	// ---
		164	// Entweder Summensignal ODER Spektrum-Receiver anschlie�en. Nicht beides gleichzeitig betreiben!
		165	// Binding is not implemented. Bind with external Receiver.
		166	// Servo output J3, J4, J5 not serviced
		167	//
		168	// Anschu� Spektrum Receiver
1680	holgerb	169	// Orange: 3V von der FC (keinesfalls an 5V anschlie�en!)
		170	// Schwarz: GND
		171	// Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker
1171	hbuss	172	//
		173	// ---
		174	// Satellite-Reciever connected on USART1:
		175	//
		176	// DX7/DX6i: One data-frame at 115200 baud every 22ms.
		177	// DX7se: One data-frame at 115200 baud every 11ms.
1680	holgerb	178	// byte1: unknown
		179	// byte2: unknown
		180	// byte3: and byte4: channel data (FLT-Mode)
		181	// byte5: and byte6: channel data (Roll)
		182	// byte7: and byte8: channel data (Nick)
		183	// byte9: and byte10: channel data (Gier)
		184	// byte11: and byte12: channel data (Gear Switch)
		185	// byte13: and byte14: channel data (Gas)
		186	// byte15: and byte16: channel data (AUX2)
1171	hbuss	187	//
		188	// DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9
		189	// 1st Frame:
1680	holgerb	190	// byte1: unknown
		191	// byte2: unknown
		192	// byte3: and byte4: channel data
		193	// byte5: and byte6: channel data
		194	// byte7: and byte8: channel data
		195	// byte9: and byte10: channel data
		196	// byte11: and byte12: channel data
		197	// byte13: and byte14: channel data
		198	// byte15: and byte16: channel data
1171	hbuss	199	// 2nd Frame:
1680	holgerb	200	// byte1: unknown
		201	// byte2: unknown
		202	// byte3: and byte4: channel data
		203	// byte5: and byte6: channel data
		204	// byte7: and byte8: 0xffff
		205	// byte9: and byte10: 0xffff
		206	// byte11: and byte12: 0xffff
		207	// byte13: and byte14: 0xffff
		208	// byte15: and byte16: 0xffff
1171	hbuss	209	//
		210	// Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as:
		211	//
		212	// Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
		213	//
		214	// 0 means a '0' bit
		215	// F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only)
		216	// C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter)
		217	// D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel
		218	//
		219	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		220
1322	hbuss	221	#define MIN_FRAMEGAP 68 // 7ms
		222	#define MAX_BYTEGAP 3 // 310us
1320	hbuss	223
1419	ingob	224
1171	hbuss	225	//############################################################################
1481	holgerb	226	// Wird im UART-Interrupt aufgerufen
1171	hbuss	227	//############################################################################
1419	ingob	228	void SpektrumParser(unsigned char c)
1171	hbuss	229	{
2177	-	230	#ifdef WITHSPECTRUM /// MartinW main.h means no memsave
		231	#warning : "### with left over Spectrum code ###"
		232
1320	hbuss	233	static unsigned char Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0;
1680	holgerb	234	unsigned int Channel, index = 0;
		235	signed int signal = 0, tmp;
		236	int bCheckDelay;
		237	// c = UDR1; // get data byte
		238	if(ReSync == 1)
		239	{
		240	// wait for beginning of new frame
		241	ReSync = 0;
		242	SpektrumTimer = MIN_FRAMEGAP;
		243	FrameCnt = 0;
		244	Sync = 0;
		245	ByteHigh = 0;
		246	}
1171	hbuss	247	else
1391	killagreg	248	{
1680	holgerb	249	if(!SpektrumTimer) bCheckDelay = 1; else bCheckDelay = 0;//CheckDelay(FrameTimer);
		250	if ( Sync == 0 )
		251	{
		252	if(bCheckDelay)
		253	{
		254	// nach einer Pause von mind. 7ms erstes Sync-Character gefunden
		255	// Zeichen ignorieren, da Bedeutung unbekannt
		256	Sync = 1;
		257	FrameCnt ++;
		258	SpektrumTimer = MAX_BYTEGAP;
		259	}
		260	else
		261	{
		262	// Zeichen kam vor Ablauf der 7ms Sync-Pause
		263	// warten auf erstes Sync-Zeichen
		264	SpektrumTimer = MIN_FRAMEGAP;
		265	FrameCnt = 0;
		266	Sync = 0;
		267	ByteHigh = 0;
		268	}
		269	}
		270	else if((Sync == 1) && !bCheckDelay)
		271	{
		272	// zweites Sync-Character ignorieren, Bedeutung unbekannt
		273	Sync = 2;
		274	FrameCnt ++;
		275	SpektrumTimer = MAX_BYTEGAP;
		276	}
		277	else if((Sync == 2) && !bCheckDelay)
		278	{
		279	SpektrumTimer = MAX_BYTEGAP;
		280	// Datenbyte high
		281	ByteHigh = c;
		282	if (FrameCnt == 2)
		283	{
		284	// is 1st Byte of Channel-data
		285	// Frame 1 with Channel 1-7 comming next
		286	Frame2 = 0;
		287	if(ByteHigh & 0x80)
		288	{
		289	// DS9: Frame 2 with Channel 8-9 comming next
		290	Frame2 = 1;
		291	}
		292	}
		293	Sync = 3;
		294	FrameCnt ++;
		295	}
		296	else if((Sync == 3) && !bCheckDelay)
		297	{
		298	// Datenbyte low
		299	// High-Byte for next channel comes next
		300	SpektrumTimer = MAX_BYTEGAP;
		301	Sync = 2;
		302	FrameCnt ++;
		303	Channel = ((unsigned int)ByteHigh << 8) \| c;
		304	if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM)
		305	{
		306	signal = Channel & 0x3ff;
		307	signal -= 0x200; // Offset, range 0x000..0x3ff?
		308	signal = signal/3; // scaling to fit PPM resolution
		309	index = (ByteHigh >> 2) & 0x0f;
		310	}
		311	else
		312	if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM_HI_RES)
		313	{
		314	signal = Channel & 0x7ff;
		315	signal -= 0x400; // Offset, range 0x000..0x7ff?
		316	signal = signal/6; // scaling to fit PPM resolution
		317	index = (ByteHigh >> 3) & 0x0f;
1928	holgerb	318	}
1680	holgerb	319	else
		320	//if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM_LOW_RES)
		321	{
		322	signal = Channel & 0x3ff;
		323	signal -= 360; // Offset, range 0x000..0x3ff?
		324	signal = signal/2; // scaling to fit PPM resolution
		325	index = (ByteHigh >> 2) & 0x0f;
		326	}
1391	killagreg	327
1680	holgerb	328	index++;
		329	if(index < 13)
		330	{
		331	// Stabiles Signal
1928	holgerb	332	#if defined (RECEIVER_SPEKTRUM_DX7EXP) \|\| defined (RECEIVER_SPEKTRUM_DX8EXP)
2312	-	333	if (index == 2) index = 4; // Analog channel reassigment (2 <-> 4) for logical numbering (1,2,3,4)
1928	holgerb	334	else if (index == 4) index = 2;
1506	holgerb	335	#endif
2011	holgerb	336	if(abs(signal - PPM_in[index]) < 6)
		337	{
		338	if(EE_Parameter.FailsafeChannel == 0 \|\| PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe
		339	{
		340	if(SenderOkay < 200) SenderOkay += 10;
		341	else
		342	{
1928	holgerb	343	SenderOkay = 200;
		344	TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input
2011	holgerb	345	}
		346	}
		347	}
1928	holgerb	348	tmp = (3 * (PPM_in[index]) + signal) / 4;
		349	if(tmp > signal+1) tmp--; else
		350	if(tmp < signal-1) tmp++;
		351
		352	#ifdef RECEIVER_SPEKTRUM_DX7EXP
2312	-	353	if(index == 6) // FLIGHT-MODE - The channel used for our data uplink
1928	holgerb	354	{
2312	-	355	if (signal > 100) // SYNC received
1928	holgerb	356	{
2312	-	357	if (s_exdata[s_excnt] == 125) s_exparity = ~s_exparity; // Bit = 1 -> Re-Invert parity bit
1928	holgerb	358	if ((s_excnt == 6 && ((s_exparity != 0 && s_exdata[s_excnt] == -125) \|\| (s_exparity == 0 && s_exdata[s_excnt] == 125))) \|\| (s_excnt == 9 && ((s_exparity == 0 && s_exdata[s_excnt] == -125) \|\| (s_exparity != 0 && s_exdata[s_excnt] == 125)))) // Parity check
		359	{
2312	-	360	if (s_exdata[1] == 125 && s_exdata[2] == -125) s_update(5,-125); // Reconstruct tripole Flight-Mode value (CH5)
		361	else if (s_exdata[1] == -125 && s_exdata[2] == -125) s_update(5,0); // Reconstruct tripole Flight-Mode value (CH5)
		362	else if (s_exdata[1] == -125 && s_exdata[2] == 125) s_update(5,125); // Reconstruct tripole Flight-Mode value (CH5)
		363	s_update(6,s_exdata[3]); // Elevator (CH6)
		364	s_update(11,s_exdata[4]); // Aileron (CH11)
		365	s_update(12,s_exdata[5]); // Rudder (CH12)
1680	holgerb	366
2312	-	367	if (s_excnt == 9) // New Mode (12 Channels)
1928	holgerb	368	{
2312	-	369	if (s_exdata[7] == 125) s_update(8,PPM_in[8]+5); // Hover Pitch UP (CH8)
		370	if (s_exdata[8] == 125) s_update(8,PPM_in[8]-5); // Hover Pitch DN (CH8)
		371	if (PPM_in[8] < -125) PPM_in[8] = -125; // Range-Limit
		372	else if (PPM_in[8] > 125) PPM_in[8] = 125; // Range-Limit
		373	s_update(10,s_exdata[6]); // AUX2 (CH10)
1928	holgerb	374	}
		375	}
1680	holgerb	376
2312	-	377	s_excnt = 0; // Reset bitcounter
		378	s_exparity = 0; // Reset parity bit
1928	holgerb	379	}
1506	holgerb	380
2312	-	381	if (signal < 10) s_exdata[++s_excnt] = -125; // Bit = 0 -> value = -125 (min)
1928	holgerb	382	if (s_excnt == 10) s_excnt = 0; // Overflow protection
		383	if (signal < -100)
		384	{
2312	-	385	s_exdata[s_excnt] = 125; // Bit = 1 -> value = 125 (max)
		386	s_exparity = ~s_exparity; // Bit = 1 -> Invert parity bit
1928	holgerb	387	}
1680	holgerb	388
1928	holgerb	389	}
		390
2312	-	391	if (index < 5 ) s_update(index,tmp); // Update normal potis (CH1-4)
		392	else if (index == 5) s_update(7,signal); // Gear (CH7)
		393	else if (index == 7) s_update(9,signal); // Hover Throttle (CH9)
		394
1928	holgerb	395	#elif defined RECEIVER_SPEKTRUM_DX8EXP
2312	-	396	if(index == 6) // FLIGHT-MODE - The channel used for our data uplink
1928	holgerb	397	{
2312	-	398	if (signal > 100) // SYNC received
1928	holgerb	399	{
		400	if (s_exdata[s_excnt] == 125) s_exparity = ~s_exparity; // Bit = 1 -> Re-Invert parity bit
		401	if (s_excnt == 9 && ((s_exparity == 0 && s_exdata[s_excnt] == -125) \|\| (s_exparity != 0 && s_exdata[s_excnt] == 125))) // Parity check
		402	{
2312	-	403	if (s_exdata[1] == 125 && s_exdata[2] == -125) s_update(5,-125); // Reconstruct tripole Flight-Mode value (CH5)
		404	else if (s_exdata[1] == -125 && s_exdata[2] == -125) s_update(5,0); // Reconstruct tripole Flight-Mode value (CH5)
		405	else if (s_exdata[1] == -125 && s_exdata[2] == 125) s_update(5,125); // Reconstruct tripole Flight-Mode value (CH5)
1928	holgerb	406
2312	-	407	if (s_exdata[3] == 125 && s_exdata[6] == -125) s_update(6,125); // Reconstruct tripole Elev D/R value (CH6)
		408	else if (s_exdata[3] == -125 && s_exdata[6] == -125) s_update(6,0); // Reconstruct tripole Elev D/R value (CH6)
		409	else if (s_exdata[3] == -125 && s_exdata[6] == 125) s_update(6,-125); // Reconstruct tripole Elev D/R value (CH6)
1928	holgerb	410
		411
2312	-	412	if (s_exdata[7] == 125 && s_exdata[8] == -125) s_update(9,-125); // Reconstruct tripole AIL D/R value (CH9)
		413	else if (s_exdata[7] == -125 && s_exdata[8] == -125) s_update(9,0); // Reconstruct tripole AIL D/R value (CH9)
		414	else if (s_exdata[7] == -125 && s_exdata[8] == 125) s_update(9,125); // Reconstruct tripole AIL D/R value (CH9)
1928	holgerb	415
2312	-	416	s_update(10,s_exdata[5]); // Gear (CH10)
		417	s_update(12,s_exdata[4]); // Mix (CH12)
1928	holgerb	418	}
		419
		420	s_excnt = 0; // Reset bitcounter
		421	s_exparity = 0; // Reset parity bit
		422	}
		423
		424	if (signal < 10) s_exdata[++s_excnt] = -125; // Bit = 0 -> value = -125 (min)
		425	if (s_excnt == 10) s_excnt = 0; // Overflow protection
		426	if (signal < -100)
		427	{
		428	s_exdata[s_excnt] = 125; // Bit = 1 -> value = 125 (max)
		429	s_exparity = ~s_exparity; // Bit = 1 -> Invert parity bit
		430	}
		431
		432	}
2312	-	433
		434	if (index < 5 ) s_update(index,tmp); // Update normal potis (CH1-4)
		435	else if (index == 7) s_update(7,signal); // R Trim (CH7)
		436	else if (index == 5) s_update(8,signal); // AUX2 (CH8)
		437	else if (index == 8) s_update(11,signal); // AUX3 (CH11)
		438
		439	#else
1928	holgerb	440	if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
		441	else PPM_diff[index] = 0;
		442	PPM_in[index] = tmp;
1506	holgerb	443	#endif
1928	holgerb	444	}
1506	holgerb	445	else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren
1680	holgerb	446	}
		447	else
		448	{
		449	// hier stimmt was nicht: neu synchronisieren
		450	ReSync = 1;
		451	FrameCnt = 0;
		452	Frame2 = 0;
		453	// new frame next, nach fruehestens 7ms erwartet
		454	SpektrumTimer = MIN_FRAMEGAP;
		455	}
1391	killagreg	456
1680	holgerb	457	// 16 Bytes eingetroffen -> Komplett
		458	if(FrameCnt >= 16)
		459	{
		460	// Frame complete
		461	if(Frame2 == 0)
		462	{
		463	// Null bedeutet: Neue Daten
		464	// nur beim ersten Frame (CH 0-7) setzen
		465	if(!ReSync) NewPpmData = 0;
		466	}
		467	FrameCnt = 0;
		468	Frame2 = 0;
		469	Sync = 0;
		470	SpektrumTimer = MIN_FRAMEGAP;
		471	}
1171	hbuss	472	}
2177	-	473	#endif
1391	killagreg	474	}
1928	holgerb	475

Subversion Repositories FlightCtrl

(root)/branches/V0.88n_ACC-HH_HR_MartinR/Spektrum.c @ 2289 - Rev 2312