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/*#######################################################################################
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/*#######################################################################################
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Decodieren eines RC Summen Signals
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Decodieren eines RC Summen Signals
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#######################################################################################*/
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#######################################################################################*/
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + Copyright (c) 04.2007 Holger Buss
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// + only for non-profit use
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// + only for non-profit use
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// + www.MikroKopter.com
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// + www.MikroKopter.com
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// + see the File "License.txt" for further Informations
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// + see the File "License.txt" for further Informations
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include "rc.h"
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#include "rc.h"
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#include "main.h"
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#include "main.h"
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volatile int PPM_in[11];
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volatile int PPM_in[11];
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volatile int PPM_diff[11];  // das diffenzierte Stick-Signal
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volatile int PPM_diff[11];  // das diffenzierte Stick-Signal
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volatile unsigned char NewPpmData = 1;
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volatile unsigned char NewPpmData = 1;
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//############################################################################
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//############################################################################
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//zum decodieren des PPM-Signals wird Timer1 mit seiner Input
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//zum decodieren des PPM-Signals wird Timer1 mit seiner Input
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//Capture Funktion benutzt:
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//Capture Funktion benutzt:
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void rc_sum_init (void)
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void rc_sum_init (void)
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//############################################################################
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//############################################################################
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{
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{
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        TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64
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        TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64
- 
 
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//      TCCR1B=(1<<CS11)|(0<<CS10)|(1<<ICES1)|(1<<ICNC1); //timer1 prescale 64
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    TIMSK1 |= _BV(ICIE1);
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    TIMSK1 |= _BV(ICIE1);
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    AdNeutralGier = 0;
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    AdNeutralGier = 0;
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    AdNeutralRoll = 0;
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    AdNeutralRoll = 0;
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    AdNeutralNick = 0;
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    AdNeutralNick = 0;
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    return;
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    return;
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}
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}
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//############################################################################
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//############################################################################
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//Diese Routine startet und inizialisiert den Timer für RC
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//Diese Routine startet und inizialisiert den Timer für RC
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SIGNAL(SIG_INPUT_CAPTURE1)
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SIGNAL(SIG_INPUT_CAPTURE1)
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//############################################################################
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//############################################################################
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{
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{
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        static unsigned int AltICR=0;
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        static unsigned int AltICR=0;
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    signed int signal = 0,tmp;
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    signed int signal = 0,tmp;
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        static int index;              
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        static int index;              
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        signal = (unsigned int) ICR1 - AltICR;         
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        signal = (unsigned int) ICR1 - AltICR;         
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        AltICR = ICR1; 
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        AltICR = ICR1; 
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    //Syncronisationspause?
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    //Syncronisationspause?
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        if((signal > 1100) && (signal < 8000))   
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        if((signal > 1100) && (signal < 8000))   
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        {
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        {
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        if(index >= 4)  NewPpmData = 0;  // Null bedeutet: Neue Daten
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        if(index >= 4)  NewPpmData = 0;  // Null bedeutet: Neue Daten
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        index = 1;             
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        index = 1;             
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        }
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        }
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        else
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        else
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        {
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        {
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        if(index < 10)
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        if(index < 10)
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            {
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            {
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            if((signal > 250) && (signal < 687))
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            if((signal > 250) && (signal < 687))
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                {
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                {
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                signal -= 466;
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                signal -= 466;
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                // Stabiles Signal
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                // Stabiles Signal
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                if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;}
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                if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;}
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                tmp = (3 * (PPM_in[index]) + signal) / 4;  
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                tmp = (3 * (PPM_in[index]) + signal) / 4;  
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                if(tmp > signal+1) tmp--; else
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                if(tmp > signal+1) tmp--; else
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                if(tmp < signal-1) tmp++;
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                if(tmp < signal-1) tmp++;
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                if(SenderOkay >= 195)  PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
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                if(SenderOkay >= 195)  PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
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                else PPM_diff[index] = 0;
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                else PPM_diff[index] = 0;
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                PPM_in[index] = tmp;
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                PPM_in[index] = tmp;
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                }
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                }
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            index++;  
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            index++;  
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         if(index == 5) J3High; else J3Low;  // Servosignal an J3 anlegen
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//         if(index == 5) J3High; else J3Low;  // Servosignal an J3 anlegen
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         if(index == 6) J4High; else J4Low;  // Servosignal an J4 anlegen
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//         if(index == 6) J4High; else J4Low;  // Servosignal an J4 anlegen
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         if(index == 7) J5High; else J5Low;  // Servosignal an J5 anlegen
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//         if(index == 7) J5High; else J5Low;  // Servosignal an J5 anlegen
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        }
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        }
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        }
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        }
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}
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}
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/*
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//############################################################################
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//Diese Routine startet und inizialisiert den Timer für RC
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SIGNAL(SIG_INPUT_CAPTURE1)
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//############################################################################
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{
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        static unsigned int AltICR=0;
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    signed int signal = 0,tmp;
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        static int index;              
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        signal = (unsigned int) ICR1 - AltICR;         
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DebugOut.Analog[16] = signal;
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        signal /= 2;
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        AltICR = ICR1; 
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    //Syncronisationspause?
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        if((signal > 1100*2) && (signal < 8000*2))       
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        {
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        if(index >= 4)  NewPpmData = 0;  // Null bedeutet: Neue Daten
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        index = 1;             
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        }
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        else
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        {
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        if(index < 10)
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            {
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            if((signal > 250) && (signal < 687*2))
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                {
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                signal -= 962;
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                // Stabiles Signal
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                if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;}
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                tmp = (3 * (PPM_in[index]) + signal) / 4;  
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                if(tmp > signal+1) tmp--; else
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                if(tmp < signal-1) tmp++;
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                if(SenderOkay >= 195)  PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
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                else PPM_diff[index] = 0;
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                PPM_in[index] = tmp;
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                }
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            index++;  
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         if(index == 5) J3High; else J3Low;  // Servosignal an J3 anlegen
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         if(index == 2) J4High; else J4Low;  // Servosignal an J4 anlegen
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         if(index == 7) J5High; else J5Low;  // Servosignal an J5 anlegen
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        }
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        }
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}
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*/
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