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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 | // TCCR1B=(1<<CS11)|(0<<CS10)|(1<<ICES1)|(1<<ICNC1); //timer1 prescale 64 |
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25 | TIMSK1 |= _BV(ICIE1); |
26 | TIMSK1 |= _BV(ICIE1); |
26 | AdNeutralGier = 0; |
27 | AdNeutralGier = 0; |
27 | AdNeutralRoll = 0; |
28 | AdNeutralRoll = 0; |
28 | AdNeutralNick = 0; |
29 | AdNeutralNick = 0; |
29 | return; |
30 | return; |
Line 62... | Line 63... | ||
62 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
63 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
63 | else PPM_diff[index] = 0; |
64 | else PPM_diff[index] = 0; |
64 | PPM_in[index] = tmp; |
65 | PPM_in[index] = tmp; |
65 | } |
66 | } |
66 | index++; |
67 | index++; |
67 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
68 | // if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
68 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
69 | // if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
69 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
70 | // if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
70 | } |
71 | } |
71 | } |
72 | } |
72 | } |
73 | } |
Line -... | Line 74... | ||
- | 74 | ||
- | 75 | /* |
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- | 76 | //############################################################################ |
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- | 77 | //Diese Routine startet und inizialisiert den Timer für RC |
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- | 78 | SIGNAL(SIG_INPUT_CAPTURE1) |
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Line -... | Line 79... | ||
- | 79 | //############################################################################ |
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- | 80 | ||
- | 81 | { |
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- | 82 | static unsigned int AltICR=0; |
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- | 83 | signed int signal = 0,tmp; |
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- | 84 | static int index; |
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- | 85 | |
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- | 86 | signal = (unsigned int) ICR1 - AltICR; |
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- | 87 | DebugOut.Analog[16] = signal; |
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- | 88 | signal /= 2; |
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- | 89 | AltICR = ICR1; |
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- | 90 | //Syncronisationspause? |
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- | 91 | if((signal > 1100*2) && (signal < 8000*2)) |
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- | 92 | { |
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- | 93 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
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- | 94 | index = 1; |
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- | 95 | } |
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- | 96 | else |
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- | 97 | { |
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- | 98 | if(index < 10) |
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- | 99 | { |
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- | 100 | if((signal > 250) && (signal < 687*2)) |
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- | 101 | { |
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- | 102 | signal -= 962; |
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- | 103 | // Stabiles Signal |
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- | 104 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
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- | 105 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
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- | 106 | if(tmp > signal+1) tmp--; else |
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- | 107 | if(tmp < signal-1) tmp++; |
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- | 108 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
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- | 109 | else PPM_diff[index] = 0; |
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- | 110 | PPM_in[index] = tmp; |
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- | 111 | } |
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- | 112 | index++; |
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- | 113 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
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- | 114 | if(index == 2) J4High; else J4Low; // Servosignal an J4 anlegen |
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- | 115 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
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- | 116 | } |
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- | 117 | } |