Rev 517 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 517 | Rev 518 | ||
|---|---|---|---|
| Line 9... | Line 9... | ||
| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Line 10... | Line 10... | ||
| 10 | 10 | ||
| 11 | #include "rc.h" |
11 | #include "rc.h" |
| Line 12... | Line 12... | ||
| 12 | #include "main.h" |
12 | #include "main.h" |
| 13 | 13 | ||
| 14 | volatile int PPM_in[11]; |
14 | volatile int PPM_in[15]; //PPM24-Erweiterung (121007Kr) |
| Line 15... | Line 15... | ||
| 15 | volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
15 | volatile int PPM_diff[15]; // das diffenzierte Stick-Signal //PPM24-Erweiterung (121007Kr) |
| 16 | volatile unsigned char NewPpmData = 1; |
16 | volatile unsigned char NewPpmData = 1; |
| 17 | 17 | ||
| Line 48... | Line 48... | ||
| 48 | signal = (unsigned int) ICR1 - AltICR; |
48 | signal = (unsigned int) ICR1 - AltICR; |
| 49 | AltICR = ICR1; |
49 | AltICR = ICR1; |
| Line 50... | Line 50... | ||
| 50 | 50 | ||
| 51 | //Syncronisationspause? |
51 | //Syncronisationspause? |
| 52 | // if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
52 | // if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
| 53 | if((signal > 1100) && (signal < 8000)) |
53 | if ((signal > 1500) && (signal < 8000)) |
| 54 | { |
- | |
| 55 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
54 | { |
| - | 55 | index = 1; |
|
| 56 | index = 1; |
56 | NewPpmData = 0; // Null bedeutet: Neue Daten |
| 57 | } |
57 | } |
| 58 | else |
58 | else |
| 59 | { |
59 | { |
| 60 | if(index < 10) |
60 | if(index < 14) //PPM24-Erweiterung (121007Kr) |
| 61 | { |
61 | { |
| 62 | if((signal > 250) && (signal < 687)) |
62 | if((signal > 250) && (signal < 687)) |
| 63 | { |
63 | { |
| 64 | signal -= 466; |
64 | signal -= 466; |
| 65 | // Stabiles Signal |
65 | // Stabiles Signal |
| 66 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
66 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| - | 67 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
|
| - | 68 | ||
| - | 69 | //############################################################ |
|
| - | 70 | // Verhindert einen Restwert der RC-Kanäl bei neutralen Knüppelstellungen, führt |
|
| - | 71 | // unter Umständen jedoch zu +/-1 Sprüngen der einzelnen Kanäle. Siehe auch: |
|
| 67 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
72 | // http://forum.mikrokopter.de/topic-2191.html(121107Kr) |
| 68 | // if(tmp > signal+1) tmp--; else |
73 | //if(tmp > signal+1) tmp--; else |
| - | 74 | //if(tmp < signal-1) tmp++; |
|
| - | 75 | //############################################################ |
|
| 69 | // if(tmp < signal-1) tmp++; |
76 | |
| 70 | PPM_diff[index] = tmp - PPM_in[index]; |
77 | PPM_diff[index] = tmp - PPM_in[index]; |
| 71 | PPM_in[index] = tmp; |
78 | PPM_in[index] = tmp; |
| 72 | } |
79 | } |
| 73 | index++; |
80 | index++; |
| 74 | if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
81 | if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |