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| Rev 787 | Rev 857 | ||
|---|---|---|---|
| Line 19... | Line 19... | ||
| 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);//|(1 << WGM12); //timer1 prescale 64 |
| 25 | - | ||
| 26 | // PWM |
- | |
| 27 | //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
- | |
| 28 | //TCCR1B |= (1 << WGM12); |
- | |
| 29 | //OCR1B = 55; |
- | |
| 30 | - | ||
| 31 | TIMSK1 |= _BV(ICIE1); |
25 | TIMSK1 |= _BV(ICIE1); |
| 32 | AdNeutralGier = 0; |
26 | AdNeutralGier = 0; |
| 33 | AdNeutralRoll = 0; |
27 | AdNeutralRoll = 0; |
| 34 | AdNeutralNick = 0; |
28 | AdNeutralNick = 0; |
| 35 | return; |
29 | return; |
| Line 61... | Line 55... | ||
| 61 | { |
55 | { |
| 62 | if((signal > 250) && (signal < 687)) |
56 | if((signal > 250) && (signal < 687)) |
| 63 | { |
57 | { |
| 64 | signal -= 466; |
58 | signal -= 466; |
| 65 | // Stabiles Signal |
59 | // Stabiles Signal |
| 66 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
60 | if(abs(signal - PPM_in[index]) < 6) {if(SenderOkay < 200) SenderOkay += 10;} |
| 67 | // tmp = (7 * (PPM_in[index]) + signal) / 8; |
- | |
| 68 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
61 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
| 69 | if(tmp > signal+1) tmp--; else |
62 | if(tmp > signal+1) tmp--; else |
| 70 | if(tmp < signal-1) tmp++; |
63 | if(tmp < signal-1) tmp++; |
| 71 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
64 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| 72 | else PPM_diff[index] = 0; |
65 | else PPM_diff[index] = 0; |
| 73 | PPM_in[index] = tmp; |
66 | PPM_in[index] = tmp; |
| 74 | } |
67 | } |
| 75 | index++; |
68 | index++; |
| 76 | //if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
69 | //if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| 77 | //if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
70 | //if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| 78 | //if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
71 | //if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
| 79 | } |
72 | } |
| 80 | } |
73 | } |