21,13 → 21,7 |
void rc_sum_init (void) |
//############################################################################ |
{ |
TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
|
// PWM |
//TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
//TCCR1B |= (1 << WGM12); |
//OCR1B = 55; |
|
TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
TIMSK1 |= _BV(ICIE1); |
AdNeutralGier = 0; |
AdNeutralRoll = 0; |
63,8 → 57,7 |
{ |
signal -= 466; |
// Stabiles Signal |
if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
// tmp = (7 * (PPM_in[index]) + signal) / 8; |
if(abs(signal - PPM_in[index]) < 6) {if(SenderOkay < 200) SenderOkay += 10;} |
tmp = (3 * (PPM_in[index]) + signal) / 4; |
if(tmp > signal+1) tmp--; else |
if(tmp < signal-1) tmp++; |
71,8 → 64,8 |
if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
else PPM_diff[index] = 0; |
PPM_in[index] = tmp; |
} |
index++; |
} |
index++; |
//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 |