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| Rev 1 | Rev 173 | ||
|---|---|---|---|
| Line 21... | Line 21... | ||
| 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 |
| Line 25... | Line -... | ||
| 25 | - | ||
| 26 | 25 | ||
| 27 | // PWM |
26 | // PWM |
| 28 | //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
27 | //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
| 29 | //TCCR1B |= (1 << WGM12); |
28 | //TCCR1B |= (1 << WGM12); |
| Line 41... | Line 40... | ||
| 41 | SIGNAL(SIG_INPUT_CAPTURE1) |
40 | SIGNAL(SIG_INPUT_CAPTURE1) |
| 42 | //############################################################################ |
41 | //############################################################################ |
| Line 43... | Line 42... | ||
| 43 | 42 | ||
| 44 | { |
43 | { |
| 45 | static unsigned int AltICR=0; |
44 | static unsigned int AltICR=0; |
| 46 | signed int signal = 0; |
45 | signed int signal = 0,tmp; |
| Line 47... | Line 46... | ||
| 47 | static int index; |
46 | static int index; |
| 48 | 47 | ||
| Line 64... | Line 63... | ||
| 64 | if((signal > 250) && (signal < 687)) |
63 | if((signal > 250) && (signal < 687)) |
| 65 | { |
64 | { |
| 66 | signal -= 466; |
65 | signal -= 466; |
| 67 | // Stabiles Signal |
66 | // Stabiles Signal |
| 68 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
67 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| 69 | signal = (3 * (PPM_in[index]) + signal) / 4; |
68 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
| 70 | //373 entspricht ca. 1.5ms also Mittelstellung |
69 | if(tmp > signal+1) tmp--; else |
| - | 70 | if(tmp < signal-1) tmp++; |
|
| 71 | PPM_diff[index] = signal - PPM_in[index]; |
71 | PPM_diff[index] = tmp - PPM_in[index]; |
| 72 | PPM_in[index] = signal; |
72 | PPM_in[index] = tmp; |
| 73 | } |
73 | } |
| 74 | index++; |
74 | index++; |
| 75 | /* if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
75 | if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| 76 | if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
76 | if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| 77 | if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen */ |
77 | if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
| 78 | } |
78 | } |
| 79 | } |
79 | } |
| 80 | } |
80 | } |