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| Rev 802 | Rev 804 | ||
|---|---|---|---|
| Line 126... | Line 126... | ||
| 126 | // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
126 | // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
| 127 | // implicit handles a timer overflow 65535 -> 0 the right way. |
127 | // implicit handles a timer overflow 65535 -> 0 the right way. |
| 128 | signal = (uint16_t) ICR1 - oldICR1; |
128 | signal = (uint16_t) ICR1 - oldICR1; |
| 129 | oldICR1 = ICR1; |
129 | oldICR1 = ICR1; |
| Line 130... | Line 130... | ||
| 130 | 130 | ||
| 131 | // lost frame |
131 | // lost frame? |
| 132 | if(signal > 8000) |
132 | if(signal > 8000) |
| 133 | { |
133 | { |
| 134 | Sum_RC_Quality -= Sum_RC_Quality/2; |
134 | Sum_RC_Quality -= Sum_RC_Quality/2; |
| 135 | } |
135 | } |
| Line 153... | Line 153... | ||
| 153 | { |
153 | { |
| 154 | // shift signal to zero symmetric range -154 to 159 |
154 | // shift signal to zero symmetric range -154 to 159 |
| 155 | signal -= 466; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
155 | signal -= 466; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
| 156 | // check for stable signal |
156 | // check for stable signal |
| 157 | Noise = abs(signal - PPM_in[index]); |
157 | Noise = abs(signal - PPM_in[index]); |
| 158 | if (Noise > 150) Sum_RC_Quality /= 2; |
- | |
| 159 | else if((Noise/16) > (200-RC_Quality)) // spike detector |
158 | if((Noise/16) > (200-RC_Quality)) // spike detector |
| 160 | { |
159 | { |
| 161 | Sum_RC_Quality -= 3*RC_Quality; |
160 | Sum_RC_Quality -= 3*RC_Quality; |
| 162 | Sum_RC_Quality += 3*(200 - Noise); |
161 | Sum_RC_Quality += 3*(200 - Noise); |
| 163 | } |
162 | } |
| 164 | else |
163 | else |
| Line 175... | Line 174... | ||
| 175 | else PPM_diff[index] = 0; |
174 | else PPM_diff[index] = 0; |
| 176 | PPM_in[index] = tmp; // update channel value |
175 | PPM_in[index] = tmp; // update channel value |
| 177 | } |
176 | } |
| 178 | else |
177 | else |
| 179 | { // invalid PPM time |
178 | { // invalid PPM time |
| 180 | Sum_RC_Quality /= 2; |
179 | Sum_RC_Quality /= 8; |
| 181 | } |
180 | } |
| 182 | index++; // next channel |
181 | index++; // next channel |
| 183 | // demux sum signal for channels 5 to 7 to J3, J4, J5 |
182 | // demux sum signal for channels 5 to 7 to J3, J4, J5 |
| 184 | if(index == 5) PORTD |= (1<<PORTD5); else PORTD &= ~(1<<PORTD5); |
183 | if(index == 5) PORTD |= (1<<PORTD5); else PORTD &= ~(1<<PORTD5); |
| 185 | if(index == 6) PORTD |= (1<<PORTD4); else PORTD &= ~(1<<PORTD4); |
184 | if(index == 6) PORTD |= (1<<PORTD4); else PORTD &= ~(1<<PORTD4); |