| 90,10 → 90,6 |
|---|
| ISR(TIMER1_CAPT_vect) |
| //############################################################################ |
| { |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC)) |
| #endif |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0,tmp; |
| static int index; |
| 122,12 → 118,10 |
|---|
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| PPM_in[index] = tmp; |
| if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| else |
| { |
| PPM_diff[index] = 0; |
| if(SenderOkay < 50) |
| else PPM_diff[index] = 0; |
| PPM_in[index] = tmp; |
| if(SenderOkay < 50) |
| { |
| PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| 134,11 → 128,8 |
|---|
| PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] = 0; |
| } |
| } |
| } |
| index++; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| #else |
| /* |
| if(PlatinenVersion < 20) |
| { |
| 147,106 → 138,8 |
|---|
| if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
| } |
| */ |
| #endif |
| } |
| } |
| } |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| else |
| { |
| static unsigned int AltICR=0; |
| static int ppm_in[13+4]; |
| static int ppm_diff[13+4]; |
| static int old_ppm_in[13+4]; |
| static int old_ppm_diff[13+4]; |
| signed int signal = 0,tmp; |
| static unsigned char index, okay_cnt = 0; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
| if((signal > 1100) && (signal < 8000)) |
| { |
| tmpChannels = index; |
| if(tmpChannels >= 4 && Channels == tmpChannels) |
| { |
| if(okay_cnt > 10) |
| { |
| NewPpmData = 0; // Null bedeutet: Neue Daten |
| for(index = 0; index < 13+4; index++) |
| { |
| if(okay_cnt > 30) |
| { |
| old_ppm_in[index] = PPM_in[index]; |
| old_ppm_diff[index] = PPM_diff[index]; |
| } |
| PPM_in[index] = ppm_in[index]; |
| PPM_diff[index] = ppm_diff[index]; |
| } |
| } |
| if(okay_cnt < 255) okay_cnt++; |
| } |
| else |
| { |
| if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0; |
| ROT_ON; |
| } |
| index = 1; |
| if(!MotorenEin) Channels = tmpChannels; |
| } |
| else |
| { |
| if(index < 13+4) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= PPM_Neutral; |
| // Stabiles Signal |
| if((abs(signal - ppm_in[index]) < 6)) |
| { |
| if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe |
| { |
| if(okay_cnt > 25) SenderOkay += 10; |
| else |
| if(okay_cnt > 10) SenderOkay += 2; |
| if(SenderOkay > 200) SenderOkay = 200; |
| } |
| } |
| tmp = (3 * (ppm_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
| else ppm_diff[index] = 0; |
| ppm_in[index] = tmp; |
| } |
| else ROT_ON; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| #else |
| if(PlatinenVersion < 20) |
| { |
| if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
| if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
| if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
| } |
| #endif |
| } |
| if(index < 20) index++; |
| else |
| if(index == 20) |
| { |
| unsigned char i; |
| ROT_ON; |
| index = 30; |
| for(i=0;i<13+4;i++) // restore from older data |
| { |
| PPM_in[i] = old_ppm_in[i]; |
| PPM_diff[i] = 0; |
| // okay_cnt /= 2; |
| } |
| } |
| } |
| } |
| #endif |
| |
| } |
| |
| #else |