WebSVN - FlightCtrl - Diff - Rev 1812 and 1819 - /branches/V0.82b-Arthur-P/rc.c


/******************************************************************************************************************
V0.82b-Arthur-P 2010-12-18
------------------------------------------------------------------------------------------------------------------
Version includes only support for external HEF4017 for FC1.x hardware, NOT for Twi2Ppm converters for ESCs.
 
2010-12-18 Chanded the if(Platinenversion < 20) statement within this file to correctly identify external HEF4017.
Arthur P. Modified to use several parameters for servo control:
User_Parameter4:
User_Parameter5:
User_Parameter6:
User_Parameter7:
User_Parameter8: Use external HEF4017 if bit 8 is set (>127). The remaining 7 bits are used
                 for the shutter cycle counter: the value is multiplied by 5 programmatically,
                                 resulting in steps of approx. 0.1sec. Minimum value to start using the
                                 interval timer is 10 (approx. 1 sec, or countervalue of 50). Note that this
                                 was originally done through user para 6.
******************************************************************************************************************/
/*#######################################################################################
Decodieren eines RC Summen Signals
#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) Holger Buss, Ingo Busker
// + only for non-profit use
// + www.MikroKopter.com
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
#include "rc.h"
#include "main.h"
// Achtung: ACT_S3D_SUMMENSIGNAL wird in der Main.h gesetzt
 
volatile int PPM_in[26];
volatile int PPM_diff[26];  // das diffenzierte Stick-Signal
volatile char Channels,tmpChannels = 0;
volatile unsigned char NewPpmData = 1;
 
//############################################################################
//zum decodieren des PPM-Signals wird Timer1 mit seiner Input
//Capture Funktion benutzt:
void rc_sum_init (void)
//############################################################################
{
 unsigned char i;
 for(i=0;i<26;i++)
  {
   PPM_in[i] = 0;
   PPM_diff[i] = 0;
  }
 
    AdNeutralGier = 0;
    AdNeutralRoll = 0;
    AdNeutralNick = 0;
    return;
}
 
#ifndef ACT_S3D_SUMMENSIGNAL
//############################################################################
//Diese Routine startet und inizialisiert den Timer für RC
ISR(TIMER1_CAPT_vect)
//############################################################################
{
if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC))
 {
        static unsigned int AltICR=0;
    signed int signal = 0,tmp;
        static int index;
 
        signal = (unsigned int) ICR1 - AltICR;
        AltICR = ICR1;
    //Syncronisationspause? (3.52 ms < signal < 25.6 ms)
        if((signal > 1100) && (signal < 8000))
        {
        Channels = index;
        if(index >= 4)  NewPpmData = 0;  // Null bedeutet: Neue Daten
        index = 1;
        }
        else
        {
        if(index < 13)
            {
            if((signal > 250) && (signal < 687))
                {
                signal -= 466;
                // Stabiles Signal
                if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;}
                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;
                else PPM_diff[index] = 0;
                PPM_in[index] = tmp;
                }
            index++;
/******************************************************************************************************************
Arthur P: Modified the code to check the value of parameter 8. If 128 or higher then a HEF4017 is
expected and will be used. Else J7 and J9 are seen as separate normal outputs.
if((PlatinenVersion < 20)
20100802 Inserted changes into v.0.82b code.
******************************************************************************************************************/    
 
//      if(PlatinenVersion < 20)
 
        if((PlatinenVersion < 20) && (Parameter_UserParam8 < 128 ))
/******************************************************************************************************************
Arthur P: End of modification ot if statement. 
******************************************************************************************************************/    
            {  
             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
                        }
        }
        }
 }
 else
 {
        static unsigned int AltICR=0;
    static int ppm_in[13];
    static int ppm_diff[13];
    static int old_ppm_in[13];
    static int old_ppm_diff[13];
    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; 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)
            {
            if((signal > 250) && (signal < 687))
                {
                signal -= 466;
                // Stabiles Signal
                if((abs(signal - ppm_in[index]) < 6))
                                 {
                                  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;
/******************************************************************************************************************
Arthur P: Modified the code to check the value of parameter 8. If 128 or higher then a HEF4017 is
expected and will be used. Else J7 and J9 are seen as separate normal outputs.
if((PlatinenVersion < 20)
20100802 Inserted changes into v.0.82b code.
******************************************************************************************************************/    
 
//      if(PlatinenVersion < 20)
 
        if((PlatinenVersion < 20) && (Parameter_UserParam8 < 128 ))
/******************************************************************************************************************
Arthur P: End of modification ot if statement. 
******************************************************************************************************************/    
            {  
             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
                        }
          }
                  if(index < 20) index++;
          else
                  if(index == 20)
                  {
            unsigned char i;
            ROT_ON;
                    index = 30;
            for(i=0;i<13;i++) // restore from older data
                         {
                      PPM_in[i] = old_ppm_in[i];
                      PPM_diff[i] = 0;
//                        okay_cnt /= 2;
                 }
                  }
            }
 }
}
 
#else
//############################################################################
//Diese Routine startet und inizialisiert den Timer für RC
ISR(TIMER1_CAPT_vect)
//############################################################################
 
{
        static unsigned int AltICR=0;
    signed int signal = 0,tmp;
        static int index;
 
        signal = (unsigned int) ICR1 - AltICR;
        signal /= 2;
        AltICR = ICR1;
    //Syncronisationspause?
        if((signal > 1100*2) && (signal < 8000*2))
        {
        if(index >= 4)  NewPpmData = 0;  // Null bedeutet: Neue Daten
        index = 1;
        }
        else
        {
        if(index < 13)
            {
            if((signal > 250) && (signal < 687*2))
                {
                signal -= 962;
                // Stabiles Signal
                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++;
                if(SenderOkay >= 195)  PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
                else PPM_diff[index] = 0;
                PPM_in[index] = tmp;
                }
            index++;
        }
        }
}
#endif
 
 

Rev 1812	Rev 1819
-		1	/******************************************************************************************************************
-		2	V0.82b-Arthur-P 2010-12-18
-		3	------------------------------------------------------------------------------------------------------------------
-		4	Version includes only support for external HEF4017 for FC1.x hardware, NOT for Twi2Ppm converters for ESCs.
-		5
-		6	2010-12-18 Chanded the if(Platinenversion < 20) statement within this file to correctly identify external HEF4017.
-		7	Arthur P. Modified to use several parameters for servo control:
-		8	User_Parameter4:
-		9	User_Parameter5:
-		10	User_Parameter6:
-		11	User_Parameter7:
-		12	User_Parameter8: Use external HEF4017 if bit 8 is set (>127). The remaining 7 bits are used
-		13	for the shutter cycle counter: the value is multiplied by 5 programmatically,
-		14	resulting in steps of approx. 0.1sec. Minimum value to start using the
-		15	interval timer is 10 (approx. 1 sec, or countervalue of 50). Note that this
-		16	was originally done through user para 6.
-		17	******************************************************************************************************************/
1	/*#######################################################################################	18	/*#######################################################################################
2	Decodieren eines RC Summen Signals	19	Decodieren eines RC Summen Signals
3	#######################################################################################*/	20	#######################################################################################*/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	21	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + Copyright (c) Holger Buss, Ingo Busker	22	// + Copyright (c) Holger Buss, Ingo Busker
6	// + only for non-profit use	23	// + only for non-profit use
7	// + www.MikroKopter.com	24	// + www.MikroKopter.com
8	// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed	25	// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
9	// + see the File "License.txt" for further Informations	26	// + see the File "License.txt" for further Informations
10	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
11		28
12	#include "rc.h"	29	#include "rc.h"
13	#include "main.h"	30	#include "main.h"
14	// Achtung: ACT_S3D_SUMMENSIGNAL wird in der Main.h gesetzt	31	// Achtung: ACT_S3D_SUMMENSIGNAL wird in der Main.h gesetzt
15		32
16	volatile int PPM_in[26];	33	volatile int PPM_in[26];
17	volatile int PPM_diff[26]; // das diffenzierte Stick-Signal	34	volatile int PPM_diff[26]; // das diffenzierte Stick-Signal
18	volatile char Channels,tmpChannels = 0;	35	volatile char Channels,tmpChannels = 0;
19	volatile unsigned char NewPpmData = 1;	36	volatile unsigned char NewPpmData = 1;
20		37
21	//############################################################################	38	//############################################################################
22	//zum decodieren des PPM-Signals wird Timer1 mit seiner Input	39	//zum decodieren des PPM-Signals wird Timer1 mit seiner Input
23	//Capture Funktion benutzt:	40	//Capture Funktion benutzt:
24	void rc_sum_init (void)	41	void rc_sum_init (void)
25	//############################################################################	42	//############################################################################
26	{	43	{
27	unsigned char i;	44	unsigned char i;
28	for(i=0;i<26;i++)	45	for(i=0;i<26;i++)
29	{	46	{
30	PPM_in[i] = 0;	47	PPM_in[i] = 0;
31	PPM_diff[i] = 0;	48	PPM_diff[i] = 0;
32	}	49	}
33		50
34	AdNeutralGier = 0;	51	AdNeutralGier = 0;
35	AdNeutralRoll = 0;	52	AdNeutralRoll = 0;
36	AdNeutralNick = 0;	53	AdNeutralNick = 0;
37	return;	54	return;
38	}	55	}
39		56
40	#ifndef ACT_S3D_SUMMENSIGNAL	57	#ifndef ACT_S3D_SUMMENSIGNAL
41	//############################################################################	58	//############################################################################
42	//Diese Routine startet und inizialisiert den Timer für RC	59	//Diese Routine startet und inizialisiert den Timer für RC
43	ISR(TIMER1_CAPT_vect)	60	ISR(TIMER1_CAPT_vect)
44	//############################################################################	61	//############################################################################
45	{	62	{
46	if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC))	63	if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC))
47	{	64	{
48	static unsigned int AltICR=0;	65	static unsigned int AltICR=0;
49	signed int signal = 0,tmp;	66	signed int signal = 0,tmp;
50	static int index;	67	static int index;
51		68
52	signal = (unsigned int) ICR1 - AltICR;	69	signal = (unsigned int) ICR1 - AltICR;
53	AltICR = ICR1;	70	AltICR = ICR1;
54	//Syncronisationspause? (3.52 ms < signal < 25.6 ms)	71	//Syncronisationspause? (3.52 ms < signal < 25.6 ms)
55	if((signal > 1100) && (signal < 8000))	72	if((signal > 1100) && (signal < 8000))
56	{	73	{
57	Channels = index;	74	Channels = index;
58	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten	75	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten
59	index = 1;	76	index = 1;
60	}	77	}
61	else	78	else
62	{	79	{
63	if(index < 13)	80	if(index < 13)
64	{	81	{
65	if((signal > 250) && (signal < 687))	82	if((signal > 250) && (signal < 687))
66	{	83	{
67	signal -= 466;	84	signal -= 466;
68	// Stabiles Signal	85	// Stabiles Signal
69	if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;}	86	if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;}
70	tmp = (3 * (PPM_in[index]) + signal) / 4;	87	tmp = (3 * (PPM_in[index]) + signal) / 4;
71	if(tmp > signal+1) tmp--; else	88	if(tmp > signal+1) tmp--; else
72	if(tmp < signal-1) tmp++;	89	if(tmp < signal-1) tmp++;
73	if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;	90	if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
74	else PPM_diff[index] = 0;	91	else PPM_diff[index] = 0;
75	PPM_in[index] = tmp;	92	PPM_in[index] = tmp;
76	}	93	}
77	index++;	94	index++;
-		95	/******************************************************************************************************************
-		96	Arthur P: Modified the code to check the value of parameter 8. If 128 or higher then a HEF4017 is
-		97	expected and will be used. Else J7 and J9 are seen as separate normal outputs.
-		98	if((PlatinenVersion < 20)
-		99	20100802 Inserted changes into v.0.82b code.
-		100	******************************************************************************************************************/
-		101
78	if(PlatinenVersion < 20)	102	// if(PlatinenVersion < 20)
-		103
-		104	if((PlatinenVersion < 20) && (Parameter_UserParam8 < 128 ))
-		105	/******************************************************************************************************************
-		106	Arthur P: End of modification ot if statement.
-		107	******************************************************************************************************************/
79	{	108	{
80	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen	109	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen
81	if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen	110	if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen
82	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen	111	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen
83	}	112	}
84	}	113	}
85	}	114	}
86	}	115	}
87	else	116	else
88	{	117	{
89	static unsigned int AltICR=0;	118	static unsigned int AltICR=0;
90	static int ppm_in[13];	119	static int ppm_in[13];
91	static int ppm_diff[13];	120	static int ppm_diff[13];
92	static int old_ppm_in[13];	121	static int old_ppm_in[13];
93	static int old_ppm_diff[13];	122	static int old_ppm_diff[13];
94	signed int signal = 0,tmp;	123	signed int signal = 0,tmp;
95	static unsigned char index, okay_cnt = 0;	124	static unsigned char index, okay_cnt = 0;
96	signal = (unsigned int) ICR1 - AltICR;	125	signal = (unsigned int) ICR1 - AltICR;
97	AltICR = ICR1;	126	AltICR = ICR1;
98	//Syncronisationspause? (3.52 ms < signal < 25.6 ms)	127	//Syncronisationspause? (3.52 ms < signal < 25.6 ms)
99	if((signal > 1100) && (signal < 8000))	128	if((signal > 1100) && (signal < 8000))
100	{	129	{
101	tmpChannels = index;	130	tmpChannels = index;
102	if(tmpChannels >= 4 && Channels == tmpChannels)	131	if(tmpChannels >= 4 && Channels == tmpChannels)
103	{	132	{
104	if(okay_cnt > 10)	133	if(okay_cnt > 10)
105	{	134	{
106	NewPpmData = 0; // Null bedeutet: Neue Daten	135	NewPpmData = 0; // Null bedeutet: Neue Daten
107	for(index = 0; index < 13; index++)	136	for(index = 0; index < 13; index++)
108	{	137	{
109	if(okay_cnt > 30)	138	if(okay_cnt > 30)
110	{	139	{
111	old_ppm_in[index] = PPM_in[index];	140	old_ppm_in[index] = PPM_in[index];
112	old_ppm_diff[index] = PPM_diff[index];	141	old_ppm_diff[index] = PPM_diff[index];
113	}	142	}
114	PPM_in[index] = ppm_in[index];	143	PPM_in[index] = ppm_in[index];
115	PPM_diff[index] = ppm_diff[index];	144	PPM_diff[index] = ppm_diff[index];
116	}	145	}
117	}	146	}
118	if(okay_cnt < 255) okay_cnt++;	147	if(okay_cnt < 255) okay_cnt++;
119	}	148	}
120	else	149	else
121	{	150	{
122	if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0;	151	if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0;
123	ROT_ON;	152	ROT_ON;
124	}	153	}
125	index = 1;	154	index = 1;
126	if(!MotorenEin) Channels = tmpChannels;	155	if(!MotorenEin) Channels = tmpChannels;
127	}	156	}
128	else	157	else
129	{	158	{
130	if(index < 13)	159	if(index < 13)
131	{	160	{
132	if((signal > 250) && (signal < 687))	161	if((signal > 250) && (signal < 687))
133	{	162	{
134	signal -= 466;	163	signal -= 466;
135	// Stabiles Signal	164	// Stabiles Signal
136	if((abs(signal - ppm_in[index]) < 6))	165	if((abs(signal - ppm_in[index]) < 6))
137	{	166	{
138	if(okay_cnt > 25) SenderOkay += 10;	167	if(okay_cnt > 25) SenderOkay += 10;
139	else	168	else
140	if(okay_cnt > 10) SenderOkay += 2;	169	if(okay_cnt > 10) SenderOkay += 2;
141	if(SenderOkay > 200) SenderOkay = 200;	170	if(SenderOkay > 200) SenderOkay = 200;
142	}	171	}
143	tmp = (3 * (ppm_in[index]) + signal) / 4;	172	tmp = (3 * (ppm_in[index]) + signal) / 4;
144	if(tmp > signal+1) tmp--; else	173	if(tmp > signal+1) tmp--; else
145	if(tmp < signal-1) tmp++;	174	if(tmp < signal-1) tmp++;
146	if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3;	175	if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3;
147	else ppm_diff[index] = 0;	176	else ppm_diff[index] = 0;
148	ppm_in[index] = tmp;	177	ppm_in[index] = tmp;
149	}	178	}
150	else ROT_ON;	179	else ROT_ON;
-		180	/******************************************************************************************************************
-		181	Arthur P: Modified the code to check the value of parameter 8. If 128 or higher then a HEF4017 is
-		182	expected and will be used. Else J7 and J9 are seen as separate normal outputs.
-		183	if((PlatinenVersion < 20)
-		184	20100802 Inserted changes into v.0.82b code.
-		185	******************************************************************************************************************/
-		186
151	if(PlatinenVersion < 20)	187	// if(PlatinenVersion < 20)
-		188
-		189	if((PlatinenVersion < 20) && (Parameter_UserParam8 < 128 ))
-		190	/******************************************************************************************************************
-		191	Arthur P: End of modification ot if statement.
-		192	******************************************************************************************************************/
152	{	193	{
153	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen	194	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen
154	if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen	195	if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen
155	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen	196	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen
156	}	197	}
157	}	198	}
158	if(index < 20) index++;	199	if(index < 20) index++;
159	else	200	else
160	if(index == 20)	201	if(index == 20)
161	{	202	{
162	unsigned char i;	203	unsigned char i;
163	ROT_ON;	204	ROT_ON;
164	index = 30;	205	index = 30;
165	for(i=0;i<13;i++) // restore from older data	206	for(i=0;i<13;i++) // restore from older data
166	{	207	{
167	PPM_in[i] = old_ppm_in[i];	208	PPM_in[i] = old_ppm_in[i];
168	PPM_diff[i] = 0;	209	PPM_diff[i] = 0;
169	// okay_cnt /= 2;	210	// okay_cnt /= 2;
170	}	211	}
171	}	212	}
172	}	213	}
173	}	214	}
174	}	215	}
175		216
176	#else	217	#else
177	//############################################################################	218	//############################################################################
178	//Diese Routine startet und inizialisiert den Timer für RC	219	//Diese Routine startet und inizialisiert den Timer für RC
179	ISR(TIMER1_CAPT_vect)	220	ISR(TIMER1_CAPT_vect)
180	//############################################################################	221	//############################################################################
181		222
182	{	223	{
183	static unsigned int AltICR=0;	224	static unsigned int AltICR=0;
184	signed int signal = 0,tmp;	225	signed int signal = 0,tmp;
185	static int index;	226	static int index;
186		227
187	signal = (unsigned int) ICR1 - AltICR;	228	signal = (unsigned int) ICR1 - AltICR;
188	signal /= 2;	229	signal /= 2;
189	AltICR = ICR1;	230	AltICR = ICR1;
190	//Syncronisationspause?	231	//Syncronisationspause?
191	if((signal > 11002) && (signal < 80002))	232	if((signal > 11002) && (signal < 80002))
192	{	233	{
193	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten	234	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten
194	index = 1;	235	index = 1;
195	}	236	}
196	else	237	else
197	{	238	{
198	if(index < 13)	239	if(index < 13)
199	{	240	{
200	if((signal > 250) && (signal < 687*2))	241	if((signal > 250) && (signal < 687*2))
201	{	242	{
202	signal -= 962;	243	signal -= 962;
203	// Stabiles Signal	244	// Stabiles Signal
204	if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;}	245	if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;}
205	tmp = (3 * (PPM_in[index]) + signal) / 4;	246	tmp = (3 * (PPM_in[index]) + signal) / 4;
206	if(tmp > signal+1) tmp--; else	247	if(tmp > signal+1) tmp--; else
207	if(tmp < signal-1) tmp++;	248	if(tmp < signal-1) tmp++;
208	if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;	249	if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
209	else PPM_diff[index] = 0;	250	else PPM_diff[index] = 0;
210	PPM_in[index] = tmp;	251	PPM_in[index] = tmp;
211	}	252	}
212	index++;	253	index++;
213	}	254	}
214	}	255	}
215	}	256	}
216	#endif	257	#endif
217		258
218		259

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(root)/branches/V0.82b-Arthur-P/rc.c @ 2121 - Rev 1812 → 1819