Rev 787 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 787 | Rev 857 | ||
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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);//|(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 | } |