Rev 716 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 716 | Rev 753 | ||
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19 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
19 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
20 | //Capture Funktion benutzt: |
20 | //Capture Funktion benutzt: |
21 | void rc_sum_init (void) |
21 | void rc_sum_init (void) |
22 | //############################################################################ |
22 | //############################################################################ |
23 | { |
23 | { |
24 | TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
24 | TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1); //timer1 prescale 64 |
25 | - | ||
26 | // PWM |
- | |
27 | //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
- | |
28 | //TCCR1B |= (1 << WGM12); |
- | |
29 | //OCR1B = 55; |
- | |
Line 30... | Line 25... | ||
30 | 25 | ||
31 | TIMSK1 |= _BV(ICIE1); |
26 | TIMSK1 |= _BV(ICIE1); |
32 | AdNeutralGier = 0; |
27 | AdNeutralGier = 0; |
33 | AdNeutralRoll = 0; |
28 | AdNeutralRoll = 0; |
Line 46... | Line 41... | ||
46 | static int index; |
41 | static int index; |
Line 47... | Line 42... | ||
47 | 42 | ||
48 | signal = (unsigned int) ICR1 - AltICR; |
43 | signal = (unsigned int) ICR1 - AltICR; |
Line 49... | Line 44... | ||
49 | AltICR = ICR1; |
44 | AltICR = ICR1; |
50 | - | ||
51 | //Syncronisationspause? |
45 | |
52 | // if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
46 | //Syncronisationspause? |
53 | if((signal > 1100) && (signal < 8000)) |
47 | if((signal > 1100) && (signal < 8000)) |
54 | { |
48 | { |
55 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
49 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
Line 60... | Line 54... | ||
60 | if(index < 10) |
54 | if(index < 10) |
61 | { |
55 | { |
62 | if((signal > 250) && (signal < 687)) |
56 | if((signal > 250) && (signal < 687)) |
63 | { |
57 | { |
64 | signal -= 466; |
58 | signal -= 466; |
65 | - | ||
66 | if (index == 1) signal -= 16; |
- | |
67 | if (index == 2) signal -= 12; |
- | |
Line 68... | Line 59... | ||
68 | 59 | ||
69 | // Stabiles Signal |
60 | // Stabiles Signal |
70 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
61 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
71 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
62 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
Line 74... | Line 65... | ||
74 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
65 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
75 | else PPM_diff[index] = 0; |
66 | else PPM_diff[index] = 0; |
76 | PPM_in[index] = tmp; |
67 | PPM_in[index] = tmp; |
77 | } |
68 | } |
78 | index++; |
69 | index++; |
79 | if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
70 | //if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
80 | if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
71 | //if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
81 | if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
72 | //if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
82 | } |
73 | } |
83 | } |
74 | } |
84 | } |
75 | } |