Rev 716 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 716 | Rev 753 | ||
|---|---|---|---|
| Line 19... | Line 19... | ||
| 19 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
19 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
| 20 | //Capture Funktion benutzt: |
20 | //Capture Funktion benutzt: |
| 21 | void rc_sum_init (void) |
21 | void rc_sum_init (void) |
| 22 | //############################################################################ |
22 | //############################################################################ |
| 23 | { |
23 | { |
| 24 | TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
24 | TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1); //timer1 prescale 64 |
| 25 | - | ||
| 26 | // PWM |
- | |
| 27 | //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
- | |
| 28 | //TCCR1B |= (1 << WGM12); |
- | |
| 29 | //OCR1B = 55; |
- | |
| Line 30... | Line 25... | ||
| 30 | 25 | ||
| 31 | TIMSK1 |= _BV(ICIE1); |
26 | TIMSK1 |= _BV(ICIE1); |
| 32 | AdNeutralGier = 0; |
27 | AdNeutralGier = 0; |
| 33 | AdNeutralRoll = 0; |
28 | AdNeutralRoll = 0; |
| Line 46... | Line 41... | ||
| 46 | static int index; |
41 | static int index; |
| Line 47... | Line 42... | ||
| 47 | 42 | ||
| 48 | signal = (unsigned int) ICR1 - AltICR; |
43 | signal = (unsigned int) ICR1 - AltICR; |
| Line 49... | Line 44... | ||
| 49 | AltICR = ICR1; |
44 | AltICR = ICR1; |
| 50 | - | ||
| 51 | //Syncronisationspause? |
45 | |
| 52 | // if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
46 | //Syncronisationspause? |
| 53 | if((signal > 1100) && (signal < 8000)) |
47 | if((signal > 1100) && (signal < 8000)) |
| 54 | { |
48 | { |
| 55 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
49 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| Line 60... | Line 54... | ||
| 60 | if(index < 10) |
54 | if(index < 10) |
| 61 | { |
55 | { |
| 62 | if((signal > 250) && (signal < 687)) |
56 | if((signal > 250) && (signal < 687)) |
| 63 | { |
57 | { |
| 64 | signal -= 466; |
58 | signal -= 466; |
| 65 | - | ||
| 66 | if (index == 1) signal -= 16; |
- | |
| 67 | if (index == 2) signal -= 12; |
- | |
| Line 68... | Line 59... | ||
| 68 | 59 | ||
| 69 | // Stabiles Signal |
60 | // Stabiles Signal |
| 70 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
61 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| 71 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
62 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
| Line 74... | Line 65... | ||
| 74 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
65 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| 75 | else PPM_diff[index] = 0; |
66 | else PPM_diff[index] = 0; |
| 76 | PPM_in[index] = tmp; |
67 | PPM_in[index] = tmp; |
| 77 | } |
68 | } |
| 78 | index++; |
69 | index++; |
| 79 | if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
70 | //if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| 80 | if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
71 | //if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| 81 | if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
72 | //if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
| 82 | } |
73 | } |
| 83 | } |
74 | } |
| 84 | } |
75 | } |