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Line 44... | Line 44... | ||
44 | // 8-bit |
44 | // 8-bit |
45 | UCSR1B &= ~(1 << UCSZ12); |
45 | UCSR1B &= ~(1 << UCSZ12); |
46 | UCSR1C |= (1 << UCSZ11); |
46 | UCSR1C |= (1 << UCSZ11); |
47 | UCSR1C |= (1 << UCSZ10); |
47 | UCSR1C |= (1 << UCSZ10); |
48 | // flush receive buffer explicit |
48 | // flush receive buffer explicit |
49 | while ( UCSR1A & (1<<RXC1) ) UDR1; |
49 | while(UCSR1A & (1<<RXC1)) UDR1; |
50 | // enable RX-interrupts at the end |
50 | // enable RX-interrupts at the end |
51 | UCSR1B |= (1 << RXCIE1); |
51 | UCSR1B |= (1 << RXCIE1); |
52 | // -- End of USART1 initialisation |
52 | // -- End of USART1 initialisation |
53 | return; |
53 | return; |
54 | } |
54 | } |
Line 149... | Line 149... | ||
149 | else |
149 | else |
150 | { |
150 | { |
151 | bCheckDelay = CheckDelay(FrameTimer); |
151 | bCheckDelay = CheckDelay(FrameTimer); |
152 | if ( Sync == 0 ) |
152 | if ( Sync == 0 ) |
153 | { |
153 | { |
154 | if ( bCheckDelay ) |
154 | if(bCheckDelay) |
155 | { |
155 | { |
156 | // nach einer Pause von mind. 7ms erstes Sync-Character gefunden |
156 | // nach einer Pause von mind. 7ms erstes Sync-Character gefunden |
157 | // Zeichen ignorieren, da Bedeutung unbekannt |
157 | // Zeichen ignorieren, da Bedeutung unbekannt |
158 | Sync = 1; |
158 | Sync = 1; |
159 | FrameCnt ++; |
159 | FrameCnt ++; |
Line 162... | Line 162... | ||
162 | { |
162 | { |
163 | // Zeichen kam vor Ablauf der 7ms Sync-Pause |
163 | // Zeichen kam vor Ablauf der 7ms Sync-Pause |
164 | // warten auf erstes Sync-Zeichen |
164 | // warten auf erstes Sync-Zeichen |
165 | } |
165 | } |
166 | } |
166 | } |
167 | else if ( (Sync == 1) && !bCheckDelay ) |
167 | else if((Sync == 1) && !bCheckDelay) |
168 | { |
168 | { |
169 | // zweites Sync-Character ignorieren, Bedeutung unbekannt |
169 | // zweites Sync-Character ignorieren, Bedeutung unbekannt |
170 | Sync = 2; |
170 | Sync = 2; |
171 | FrameCnt ++; |
171 | FrameCnt ++; |
172 | } |
172 | } |
173 | else if ( (Sync == 2) && !bCheckDelay ) |
173 | else if((Sync == 2) && !bCheckDelay) |
174 | { |
174 | { |
175 | // Datenbyte high |
175 | // Datenbyte high |
176 | ByteHigh = c; |
176 | ByteHigh = c; |
Line 177... | Line 177... | ||
177 | 177 | ||
178 | if (FrameCnt == 2) |
178 | if (FrameCnt == 2) |
179 | { |
179 | { |
180 | // is 1st Byte of Channel-data |
- | |
181 | 180 | // is 1st Byte of Channel-data |
|
182 | // Frame 1 with Channel 1-7 comming next |
181 | // Frame 1 with Channel 1-7 comming next |
183 | Frame2 = 0; |
182 | Frame2 = 0; |
184 | if ( ByteHigh & 0x80 ) |
183 | if(ByteHigh & 0x80) |
185 | { |
184 | { |
186 | // DS9: Frame 2 with Channel 8-9 comming next |
185 | // DS9: Frame 2 with Channel 8-9 comming next |
187 | Frame2 = 1; |
186 | Frame2 = 1; |
188 | } |
187 | } |
189 | } |
188 | } |
190 | Sync = 3; |
189 | Sync = 3; |
191 | FrameCnt ++; |
190 | FrameCnt ++; |
192 | } |
191 | } |
193 | else if ( (Sync == 3) && !bCheckDelay ) |
192 | else if((Sync == 3) && !bCheckDelay) |
194 | { |
193 | { |
Line 195... | Line 194... | ||
195 | // Datenbyte low |
194 | // Datenbyte low |
196 | 195 | ||
Line 203... | Line 202... | ||
203 | Channel = (ByteHigh << 8) | c; |
202 | Channel = (ByteHigh << 8) | c; |
204 | signal = Channel & 0x3ff; |
203 | signal = Channel & 0x3ff; |
205 | signal -= 0x200; // Offset, range 0x000..0x3ff? |
204 | signal -= 0x200; // Offset, range 0x000..0x3ff? |
206 | signal = signal/3; // scaling to fit PPM resolution |
205 | signal = signal/3; // scaling to fit PPM resolution |
Line 207... | Line 206... | ||
207 | 206 | ||
208 | if (index >= 0 && index <= 10) |
207 | if(index >= 0 && index <= 10) |
209 | { |
- | |
210 | 208 | { |
|
211 | if(abs(signal - PPM_in[index]) < 6) |
- | |
212 | { |
209 | // Stabiles Signal |
213 | if(SenderOkay < 200) |
- | |
214 | { |
- | |
215 | SenderOkay += 10; |
- | |
216 | } |
- | |
217 | } |
210 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
218 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
211 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
219 | if(tmp > signal+1) |
- | |
220 | { |
- | |
221 | tmp--; |
- | |
222 | } |
- | |
223 | else |
- | |
224 | { |
212 | if(tmp > signal+1) tmp--; else |
225 | if(tmp < signal-1) |
- | |
226 | { |
- | |
227 | tmp++; |
- | |
228 | } |
- | |
229 | } |
- | |
230 | if(SenderOkay >= 195) |
- | |
231 | { |
213 | if(tmp < signal-1) tmp++; |
232 | PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
- | |
233 | } |
- | |
234 | else |
- | |
235 | { |
214 | if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
236 | PPM_diff[index] = 0; |
- | |
237 | } |
- | |
238 | 215 | else PPM_diff[index] = 0; |
|
239 | PPM_in[index] = tmp; |
216 | PPM_in[index] = tmp; |
240 | } |
217 | } |
241 | } |
218 | } |
242 | else |
219 | else |
243 | { |
220 | { |
Line 246... | Line 223... | ||
246 | FrameCnt = 0; |
223 | FrameCnt = 0; |
247 | Frame2 = 0; |
224 | Frame2 = 0; |
248 | } |
225 | } |
Line 249... | Line 226... | ||
249 | 226 | ||
250 | // 16 Bytes per frame |
227 | // 16 Bytes per frame |
251 | if (FrameCnt >= 16) |
228 | if(FrameCnt >= 16) |
252 | { |
229 | { |
253 | // Frame complete |
230 | // Frame complete |
254 | if ( Frame2 == 0 ) |
231 | if(Frame2 == 0) |
255 | { |
232 | { |
256 | // Null bedeutet: Neue Daten |
233 | // Null bedeutet: Neue Daten |
257 | // nur beim ersten Frame (CH 0-7) setzen |
234 | // nur beim ersten Frame (CH 0-7) setzen |
258 | NewPpmData = 0; |
235 | NewPpmData = 0; |
Line 261... | Line 238... | ||
261 | // new frame next, nach fruehestens 7ms erwartet |
238 | // new frame next, nach fruehestens 7ms erwartet |
262 | FrameCnt = 0; |
239 | FrameCnt = 0; |
263 | Frame2 = 0; |
240 | Frame2 = 0; |
264 | Sync = 0; |
241 | Sync = 0; |
265 | } |
242 | } |
266 | - | ||
267 | // Zeit bis zum nächsten Zeichen messen |
243 | // Zeit bis zum nächsten Zeichen messen |
268 | FrameTimer = SetDelay (7); |
244 | FrameTimer = SetDelay(7); |
269 | } |
245 | } |
270 | } |
246 | } |