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| 13 | #include <avr/interrupt.h> |
13 | #include <avr/interrupt.h> |
| Line 14... | Line 14... | ||
| 14 | 14 | ||
| 15 | #include "rc.h" |
15 | #include "rc.h" |
| Line 16... | Line 16... | ||
| 16 | #include "main.h" |
16 | #include "main.h" |
| 17 | 17 | ||
| 18 | volatile int16_t PPM_in[11]; |
18 | volatile int16_t PPM_in[15]; //PPM24 supports 12 channels per frame |
| 19 | volatile int16_t PPM_diff[11]; |
19 | volatile int16_t PPM_diff[15]; |
| Line 20... | Line 20... | ||
| 20 | volatile uint8_t NewPpmData = 1; |
20 | volatile uint8_t NewPpmData = 1; |
| 21 | volatile uint8_t SenderOkay = 0; |
21 | volatile uint8_t SenderOkay = 0; |
| Line 75... | Line 75... | ||
| 75 | 75 | ||
| 76 | 76 | ||
| 77 | /********************************************************************/ |
77 | /********************************************************************/ |
| - | 78 | /* Every time a positive edge is detected at PD6 */ |
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| - | 79 | /********************************************************************/ |
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| - | 80 | /* t-Frame |
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| - | 81 | <-----------------------------------------------------------------------> |
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| - | 82 | ____ ______ _____ ________ ______ sync gap ____ |
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| - | 83 | | | | | | | | | | | | |
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| - | 84 | | | | | | | | | | | | |
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| - | 85 | ___| |_| |_| |_| |_.............| |________________| |
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| 78 | /* Every time a positive edge is detected at PD6 */ |
86 | <-----><-------><------><--------> <------> <--- |
| 79 | /********************************************************************/ |
87 | t0 t1 t2 t4 tn t0 |
| 80 | /* |
88 | |
| 81 | The PPM-Frame length is 22.5 ms. |
89 | The PPM-Frame length is 22.5 ms. |
| 82 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
90 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
| 83 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
91 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
| Line 110... | Line 118... | ||
| 110 | // synchronize channel index |
118 | // synchronize channel index |
| 111 | index = 1; |
119 | index = 1; |
| 112 | } |
120 | } |
| 113 | else // within the PPM frame |
121 | else // within the PPM frame |
| 114 | { |
122 | { |
| 115 | if(index < 10) // channel limit is 9 because of the frame length of 22.5 ms |
123 | if(index < 14) // PPM24 supports 12 channels |
| 116 | { |
124 | { |
| 117 | // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
125 | // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
| 118 | // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
126 | // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
| 119 | if((signal > 250) && (signal < 687)) |
127 | if((signal > 250) && (signal < 687)) |
| 120 | { |
128 | { |