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| Rev 1166 | Rev 1167 | ||
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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 | - | ||
| 26 | // PWM |
- | |
| 27 | //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
- | |
| 28 | //TCCR1B |= (1 << WGM12); |
- | |
| 29 | //OCR1B = 55; |
- | |
| 30 | - | ||
| 31 | TIMSK1 |= _BV(ICIE1); |
25 | TIMSK1 |= _BV(ICIE1); |
| 32 | AdNeutralGier = 0; |
26 | AdNeutralGier = 0; |
| 33 | AdNeutralRoll = 0; |
27 | AdNeutralRoll = 0; |
| 34 | AdNeutralNick = 0; |
28 | AdNeutralNick = 0; |
| 35 | return; |
29 | return; |
| Line 46... | Line 40... | ||
| 46 | static int index; |
40 | static int index; |
| Line 47... | Line 41... | ||
| 47 | 41 | ||
| 48 | signal = (unsigned int) ICR1 - AltICR; |
42 | signal = (unsigned int) ICR1 - AltICR; |
| 49 | AltICR = ICR1; |
43 | AltICR = ICR1; |
| 50 | //Syncronisationspause? |
- | |
| 51 | // if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
44 | //Syncronisationspause? |
| 52 | if((signal > 1100) && (signal < 8000)) |
45 | if((signal > 1100) && (signal < 8000)) |
| 53 | { |
46 | { |
| 54 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
47 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| 55 | index = 1; |
48 | index = 1; |
| Line 61... | Line 54... | ||
| 61 | if((signal > 250) && (signal < 687)) |
54 | if((signal > 250) && (signal < 687)) |
| 62 | { |
55 | { |
| 63 | signal -= 466; |
56 | signal -= 466; |
| 64 | // Stabiles Signal |
57 | // Stabiles Signal |
| 65 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
58 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| 66 | // tmp = (7 * (PPM_in[index]) + signal) / 8; |
- | |
| 67 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
59 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
| 68 | if(tmp > signal+1) tmp--; else |
60 | if(tmp > signal+1) tmp--; else |
| 69 | if(tmp < signal-1) tmp++; |
61 | if(tmp < signal-1) tmp++; |
| 70 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
62 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| 71 | else PPM_diff[index] = 0; |
63 | else PPM_diff[index] = 0; |
| 72 | PPM_in[index] = tmp; |
64 | PPM_in[index] = tmp; |
| 73 | } |
65 | } |
| 74 | index++; |
66 | index++; |
| 75 | /* |
- | |
| 76 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
67 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
| 77 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
68 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
| 78 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
69 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
| 79 | */ |
- | |
| 80 | } |
70 | } |
| 81 | } |
71 | } |
| 82 | } |
72 | } |