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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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        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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                signal -= 466; // Stabiles Signal
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                {
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- 
 
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                if(abs(signal - PPM_in[index]) < 6)
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                signal -= 466;
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                                {
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                // Stabiles Signal
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                                        if(SenderOkay < 200) SenderOkay += 10;
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                if(abs(signal - PPM_in[index]) < 6) { 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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                }
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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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                PPM_in[index] = signal;
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         if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10;  // Servosignal an J4 anlegen
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            }
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         if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08;  // Servosignal an J5 anlegen */
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            index++;