1,5 → 1,5 |
/*####################################################################################### |
Decodieren eines RC Summen Signals |
Decodieren eines RC Summen Signals |
#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
8,8 → 8,11 |
// + see the File "License.txt" for further Informations |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
#include <avr/io.h> |
#include <avr/interrupt.h> |
|
#include "rc.h" |
#include "main.h" |
#include "fc.h" |
|
volatile int PPM_in[11]; |
volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
27,7 → 30,7 |
//TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
//TCCR1B |= (1 << WGM12); |
//OCR1B = 55; |
|
|
TIMSK1 |= _BV(ICIE1); |
AdNeutralGier = 0; |
AdNeutralRoll = 0; |
43,39 → 46,39 |
{ |
static unsigned int AltICR=0; |
signed int signal = 0,tmp; |
static int index; |
|
signal = (unsigned int) ICR1 - AltICR; |
AltICR = ICR1; |
|
static int index; |
|
signal = (unsigned int) ICR1 - AltICR; |
AltICR = ICR1; |
|
//Syncronisationspause? |
// if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
if((signal > 1100) && (signal < 8000)) |
// if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
if((signal > 1100) && (signal < 8000)) |
{ |
if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
index = 1; |
} |
else |
index = 1; |
} |
else |
{ |
if(index < 10) |
{ |
if((signal > 250) && (signal < 687)) |
{ |
if((signal > 250) && (signal < 687)) |
{ |
signal -= 466; |
// Stabiles Signal |
if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
// tmp = (7 * (PPM_in[index]) + signal) / 8; |
tmp = (3 * (PPM_in[index]) + signal) / 4; |
// tmp = (7 * (PPM_in[index]) + signal) / 8; |
tmp = (3 * (PPM_in[index]) + signal) / 4; |
if(tmp > signal+1) tmp--; else |
if(tmp < signal-1) tmp++; |
if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
if(tmp < signal-1) tmp++; |
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 |
if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
} |
} |
} |