| 34,6 → 34,12 |
|---|
| DDRD &= ~(1<<DDD6); |
| PORTD |= (1<<PORTD6); |
| |
| // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
| // set as output |
| DDRD |= (1<<DDD5)|(1<<DDD4)|(1<<DDD3); |
| // low level |
| PORTD &= ~((1<<PORTD5)|(1<<PORTD4)|(1<<PORTD3)); |
| |
| // Timer/Counter1 Control Register A, B, C |
| |
| // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
| 127,10 → 133,10 |
|---|
| PPM_in[index] = tmp; // update channel value |
| } |
| index++; // next channel |
| // demux sum signal fpr channels 5 to 7 |
| if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
| // demux sum signal for channels 5 to 7 to J3, J4, J5 |
| if(index == 5) PORTD |= (1<<PORTD5); else PORTD &= ~(1<<PORTD5); |
| if(index == 6) PORTD |= (1<<PORTD4); else PORTD &= ~(1<<PORTD4); |
| if(index == 7) PORTD |= (1<<PORTD3); else PORTD &= ~(1<<PORTD3); |
| } |
| } |
| } |