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| Rev 1171 | Rev 1172 | ||
|---|---|---|---|
| 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 | } |