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/*#######################################################################################
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/*#######################################################################################
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Decodieren eines RC Summen Signals
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Decodieren eines RC Summen Signals
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#######################################################################################*/
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#######################################################################################*/
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + Copyright (c) 04.2007 Holger Buss
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// + only for non-profit use
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// + only for non-profit use
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// + www.MikroKopter.com
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// + www.MikroKopter.com
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// + see the File "License.txt" for further Informations
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// + see the File "License.txt" for further Informations
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include "rc.h"
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#include "rc.h"
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#include "main.h"
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#include "main.h"
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volatile int PPM_in[11];
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volatile int PPM_in[15];
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volatile int PPM_diff[11];  // das diffenzierte Stick-Signal
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volatile int PPM_diff[15];  // das diffenzierte Stick-Signal
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volatile unsigned char NewPpmData = 1;
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volatile unsigned char NewPpmData = 1;
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//############################################################################
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//############################################################################
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//zum decodieren des PPM-Signals wird Timer1 mit seiner Input
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//zum decodieren des PPM-Signals wird Timer1 mit seiner Input
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//Capture Funktion benutzt:
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//Capture Funktion benutzt:
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void rc_sum_init (void)
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void rc_sum_init (void)
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//############################################################################
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//############################################################################
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{
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{
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        TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64
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        TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64
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// PWM
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// PWM
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//TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10);
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//TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10);
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//TCCR1B |= (1 << WGM12);
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//TCCR1B |= (1 << WGM12);
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//OCR1B = 55;
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//OCR1B = 55;
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    TIMSK1 |= _BV(ICIE1);
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    TIMSK1 |= _BV(ICIE1);
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    AdNeutralGier = 0;
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    AdNeutralGier = 0;
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    AdNeutralRoll = 0;
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    AdNeutralRoll = 0;
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    AdNeutralNick = 0;
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    AdNeutralNick = 0;
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    return;
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    return;
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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 Timer für RC
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//Diese Routine startet und inizialisiert den Timer für RC
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SIGNAL(SIG_INPUT_CAPTURE1)
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SIGNAL(SIG_INPUT_CAPTURE1)
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//############################################################################
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//############################################################################
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{
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{
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        static unsigned int AltICR=0;
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        static unsigned int AltICR=0;
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    signed int signal = 0;
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    signed int signal = 0;
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        static int index;              
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        static int index;              
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        signal = (unsigned int) ICR1 - AltICR;         
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        signal = (unsigned int) ICR1 - AltICR;         
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        AltICR = ICR1; 
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        AltICR = ICR1; 
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    //Syncronisationspause?
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    //Syncronisationspause?
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        if ((signal > 1500) && (signal < 8000))  
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        if ((signal > 1000) && (signal < 5000))  
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        {
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        {
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        index = 1;             
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        index = 1;             
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        NewPpmData = 0;  // Null bedeutet: Neue Daten
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        NewPpmData = 0;  // Null bedeutet: Neue Daten
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//        OCR2A = Poti2/2 + 80;
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//        OCR2A = Poti2/2 + 80;
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        }
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        }
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        else
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        else
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        {
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        {
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        if(index < 10)
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        if(index < 14)
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            {
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            {
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            if((signal > 250) && (signal < 687))
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            if((signal > 250) && (signal < 687))
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                {
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            {
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                signal -= 466;
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                signal -= 466; // Stabiles Signal
- 
 
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                // Stabiles Signal
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                if(abs(signal - PPM_in[index]) < 6)
- 
 
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                                {
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                if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;}
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                                        if(SenderOkay < 200) SenderOkay += 10;
- 
 
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                                }
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                signal = (3 * (PPM_in[index]) + signal) / 4;  
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                signal = (3 * (PPM_in[index]) + signal) / 4;  
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                //373 entspricht ca. 1.5ms also Mittelstellung
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                //373 entspricht ca. 1.5ms also Mittelstellung
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                PPM_diff[index] = signal - PPM_in[index];
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                PPM_diff[index] = signal - PPM_in[index];
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                PPM_in[index] = signal;
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                PPM_in[index] = signal;
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                }
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            }
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            index++;  
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            index++;  
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    /*     if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20;  // Servosignal an J3 anlegen
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         if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10;  // Servosignal an J4 anlegen
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         if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08;  // Servosignal an J5 anlegen */
 - 
 
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        }
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        }
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        }
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        }
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}
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}
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