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/*#######################################################################################
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/*#######################################################################################
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Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit
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Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit
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#######################################################################################*/
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#######################################################################################*/
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#include "Spectrum.h"
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#include "spectrum.h"
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#include "main.h"
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//############################################################################
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// zum Decodieren des Spektrum Satelliten wird USART1 benutzt.
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// USART1 initialisation from killagreg
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void Uart1Init(void)
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//############################################################################
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    {
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        // -- Start of USART1 initialisation for Spekturm seriell-mode
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        // USART1 Control and Status Register A, B, C and baud rate register
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        uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1);
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        // disable RX-Interrupt
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        UCSR1B &= ~(1 << RXCIE1);
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        // disable TX-Interrupt
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        UCSR1B &= ~(1 << TXCIE1);
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        // disable DRE-Interrupt
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        UCSR1B &= ~(1 << UDRIE1);
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        // set direction of RXD1 and TXD1 pins
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        // set RXD1 (PD2) as an input pin
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        PORTD |= (1 << PORTD2);
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        DDRD &= ~(1 << DDD2);
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        // USART0 Baud Rate Register
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        // set clock divider
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        UBRR1H = (uint8_t)(ubrr>>8);
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        UBRR1L = (uint8_t)ubrr;
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        // enable double speed operation
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        UCSR1A |= (1 << U2X1);
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        // enable receiver and transmitter
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        //UCSR1B = (1<<RXEN1)|(1<<TXEN1);
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        UCSR1B = (1<<RXEN1);
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        // set asynchronous mode
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        UCSR1C &= ~(1 << UMSEL11);
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        UCSR1C &= ~(1 << UMSEL10);
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        // no parity
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        UCSR1C &= ~(1 << UPM11);
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        UCSR1C &= ~(1 << UPM10);
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        // 1 stop bit
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        UCSR1C &= ~(1 << USBS1);
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        // 8-bit
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        UCSR1B &= ~(1 << UCSZ12);
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        UCSR1C |=  (1 << UCSZ11);
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        UCSR1C |=  (1 << UCSZ10);
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        // flush receive buffer explicit
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        while(UCSR1A & (1<<RXC1)) UDR1;
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        // enable RX-interrupts at the end
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        UCSR1B |= (1 << RXCIE1);
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        // -- End of USART1 initialisation
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  return;
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#include rc.h
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 }
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter)
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// C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter)
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// D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel
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// D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel
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//
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//
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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//############################################################################
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//Diese Routine startet und inizialisiert den USART1 für seriellen Spektrum satellite reciever
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SIGNAL(USART1_RX_vect)
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void spectrum_parser(uint8_t c)
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//############################################################################
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{
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{
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static unsigned int Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0, FrameTimer;
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        static unsigned int Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0, FrameTimer;
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        unsigned int Channel, index;
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        unsigned int Channel, index;
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        signed int signal, tmp;
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        signed int signal, tmp;
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        int bCheckDelay;
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        uint8_t c;
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        c = UDR1; // get data byte
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        int bCheckDelay;
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        if (ReSync == 1)
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        if (ReSync == 1)
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            {
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            {