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Line 11... | Line 11... | ||
11 | #include "rc.h" |
11 | #include "rc.h" |
12 | #include "main.h" |
12 | #include "main.h" |
Line 13... | Line 13... | ||
13 | 13 | ||
14 | volatile int PPM_in[11]; |
14 | volatile int PPM_in[11]; |
- | 15 | volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
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15 | volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
16 | volatile char Channels,tmpChannels = 0; |
Line 16... | Line 17... | ||
16 | volatile unsigned char NewPpmData = 1; |
17 | volatile unsigned char NewPpmData = 1; |
17 | 18 | ||
18 | //############################################################################ |
19 | //############################################################################ |
Line 35... | Line 36... | ||
35 | SIGNAL(SIG_INPUT_CAPTURE1) |
36 | SIGNAL(SIG_INPUT_CAPTURE1) |
36 | //############################################################################ |
37 | //############################################################################ |
Line 37... | Line 38... | ||
37 | 38 | ||
38 | { |
39 | { |
- | 40 | static unsigned int AltICR=0; |
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- | 41 | static int ppm_in[11]; |
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- | 42 | static int ppm_diff[11]; |
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- | 43 | static int old_ppm_in[11]; |
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39 | static unsigned int AltICR=0; |
44 | static int old_ppm_diff[11]; |
40 | signed int signal = 0,tmp; |
45 | signed int signal = 0,tmp; |
41 | static int index; |
- | |
42 | 46 | static unsigned char index, okay_cnt = 0; |
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43 | signal = (unsigned int) ICR1 - AltICR; |
47 | signal = (unsigned int) ICR1 - AltICR; |
44 | AltICR = ICR1; |
48 | AltICR = ICR1; |
45 | //Syncronisationspause? |
49 | //Syncronisationspause? |
46 | if((signal > 1100) && (signal < 8000)) |
50 | if((signal > 1100) && (signal < 8000)) |
- | 51 | { |
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- | 52 | tmpChannels = index; |
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- | 53 | if(tmpChannels >= 4 && Channels == tmpChannels) |
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- | 54 | { |
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- | 55 | if(okay_cnt > 5) |
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47 | { |
56 | { |
- | 57 | NewPpmData = 0; // Null bedeutet: Neue Daten |
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- | 58 | for(index = 0; index < 11; index++) |
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- | 59 | { |
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- | 60 | if(okay_cnt > 30) |
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- | 61 | { |
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- | 62 | old_ppm_in[index] = PPM_in[index]; |
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- | 63 | old_ppm_diff[index] = PPM_diff[index]; |
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- | 64 | } |
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- | 65 | PPM_in[index] = ppm_in[index]; |
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- | 66 | PPM_diff[index] = ppm_diff[index]; |
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- | 67 | } |
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- | 68 | } |
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- | 69 | if(okay_cnt < 255) okay_cnt++; |
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- | 70 | } |
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48 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
71 | else okay_cnt = 0; |
- | 72 | index = 1; |
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49 | index = 1; |
73 | if(!MotorenEin) Channels = tmpChannels; |
50 | } |
74 | } |
51 | else |
75 | else |
52 | { |
76 | { |
53 | if(index < 10) |
77 | if(index < 10) |
54 | { |
78 | { |
55 | if((signal > 250) && (signal < 687)) |
79 | if((signal > 250) && (signal < 687)) |
56 | { |
80 | { |
57 | signal -= 466; |
81 | signal -= 466; |
58 | // Stabiles Signal |
82 | // Stabiles Signal |
59 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
83 | if((abs(signal - ppm_in[index]) < 6) && okay_cnt > 30) { if(SenderOkay < 200) SenderOkay += 5; else SenderOkay = 200;} |
60 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
84 | tmp = (3 * (ppm_in[index]) + signal) / 4; |
61 | if(tmp > signal+1) tmp--; else |
85 | if(tmp > signal+1) tmp--; else |
62 | if(tmp < signal-1) tmp++; |
86 | if(tmp < signal-1) tmp++; |
63 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
87 | if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
64 | else PPM_diff[index] = 0; |
88 | else ppm_diff[index] = 0; |
65 | PPM_in[index] = tmp; |
89 | ppm_in[index] = tmp; |
66 | } |
90 | } |
67 | index++; |
91 | else ROT_ON; |
68 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
92 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
69 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
93 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
70 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
94 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
- | 95 | } |
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- | 96 | else ROT_ON; |
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- | 97 | if(index < 20) index++; |
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- | 98 | else |
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- | 99 | { |
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- | 100 | unsigned char i; |
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- | 101 | for(i=0;i<11;i++) // restore from older data |
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- | 102 | { |
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- | 103 | PPM_in[i] = old_ppm_in[index]; |
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- | 104 | PPM_diff[index] = 0; |
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- | 105 | okay_cnt = 0; |
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71 | } |
106 | } |
- | 107 | } |
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- | 108 | } |
|
72 | } |
109 | DebugOut.Analog[16] = okay_cnt; |
Line 73... | Line 110... | ||
73 | } |
110 | } |
74 | 111 | ||
75 | /* |
112 | /* |