Rev 688 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 688 | Rev 689 | ||
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| 33 | // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
33 | // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
| 34 | DDRD &= ~(1<<DDD6); |
34 | DDRD &= ~(1<<DDD6); |
| Line -... | Line 35... | ||
| - | 35 | PORTD |= (1<<PORTD6); |
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| - | 36 | ||
| - | 37 | // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
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| - | 38 | // set as output |
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| - | 39 | DDRD |= (1<<DDD5)|(1<<DDD4)|(1<<DDD3); |
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| - | 40 | // low level |
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| 35 | PORTD |= (1<<PORTD6); |
41 | PORTD &= ~((1<<PORTD5)|(1<<PORTD4)|(1<<PORTD3)); |
| Line 36... | Line 42... | ||
| 36 | 42 | ||
| 37 | // Timer/Counter1 Control Register A, B, C |
43 | // Timer/Counter1 Control Register A, B, C |
| 38 | 44 | ||
| Line 125... | Line 131... | ||
| 125 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
131 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
| 126 | else PPM_diff[index] = 0; |
132 | else PPM_diff[index] = 0; |
| 127 | PPM_in[index] = tmp; // update channel value |
133 | PPM_in[index] = tmp; // update channel value |
| 128 | } |
134 | } |
| 129 | index++; // next channel |
135 | index++; // next channel |
| 130 | // demux sum signal fpr channels 5 to 7 |
136 | // demux sum signal for channels 5 to 7 to J3, J4, J5 |
| 131 | if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
137 | if(index == 5) PORTD |= (1<<PORTD5); else PORTD &= ~(1<<PORTD5); |
| 132 | if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
138 | if(index == 6) PORTD |= (1<<PORTD4); else PORTD &= ~(1<<PORTD4); |
| 133 | if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
139 | if(index == 7) PORTD |= (1<<PORTD3); else PORTD &= ~(1<<PORTD3); |
| 134 | } |
140 | } |
| 135 | } |
141 | } |
| 136 | } |
142 | } |