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| 3 | #######################################################################################*/ |
3 | #######################################################################################*/ |
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 5 | // + Copyright (c) Holger Buss, Ingo Busker |
5 | // + Copyright (c) Holger Buss, Ingo Busker |
| 6 | // + only for non-profit use |
6 | // + only for non-profit use |
| 7 | // + www.MikroKopter.com |
7 | // + www.MikroKopter.com |
| - | 8 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
|
| 8 | // + see the File "License.txt" for further Informations |
9 | // + see the File "License.txt" for further Informations |
| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Line 10... | Line 11... | ||
| 10 | 11 | ||
| 11 | #include "rc.h" |
12 | #include "rc.h" |
| - | 13 | #include "main.h" |
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| Line 12... | Line 14... | ||
| 12 | #include "main.h" |
14 | //#define ACT_S3D_SUMMENSIGNAL |
| 13 | 15 | ||
| 14 | volatile int PPM_in[11]; |
16 | volatile int PPM_in[11]; |
| 15 | volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
17 | volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| Line 20... | Line 22... | ||
| 20 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
22 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
| 21 | //Capture Funktion benutzt: |
23 | //Capture Funktion benutzt: |
| 22 | void rc_sum_init (void) |
24 | void rc_sum_init (void) |
| 23 | //############################################################################ |
25 | //############################################################################ |
| 24 | { |
26 | { |
| - | 27 | #ifndef ACT_S3D_SUMMENSIGNAL |
|
| 25 | TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
28 | TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
| - | 29 | #else |
|
| - | 30 | TCCR1B=(1<<CS11)|(0<<CS10)|(1<<ICES1)|(1<<ICNC1); //timer1 prescale 64 |
|
| - | 31 | #endif |
|
| 26 | TIMSK1 |= _BV(ICIE1); |
32 | TIMSK1 |= _BV(ICIE1); |
| 27 | AdNeutralGier = 0; |
33 | AdNeutralGier = 0; |
| 28 | AdNeutralRoll = 0; |
34 | AdNeutralRoll = 0; |
| 29 | AdNeutralNick = 0; |
35 | AdNeutralNick = 0; |
| 30 | return; |
36 | return; |
| 31 | } |
37 | } |
| Line -... | Line 38... | ||
| - | 38 | ||
| 32 | 39 | #ifndef ACT_S3D_SUMMENSIGNAL |
|
| 33 | //############################################################################ |
40 | //############################################################################ |
| 34 | //Diese Routine startet und inizialisiert den Timer für RC |
41 | //Diese Routine startet und inizialisiert den Timer für RC |
| 35 | SIGNAL(SIG_INPUT_CAPTURE1) |
42 | SIGNAL(SIG_INPUT_CAPTURE1) |
| 36 | //############################################################################ |
43 | //############################################################################ |
| Line 157... | Line 164... | ||
| 157 | } |
164 | } |
| 158 | } |
165 | } |
| 159 | } |
166 | } |
| 160 | } |
167 | } |
| Line -... | Line 168... | ||
| - | 168 | ||
| 161 | 169 | #else |
|
| 162 | /* |
170 | |
| 163 | //############################################################################ |
171 | //############################################################################ |
| 164 | //Diese Routine startet und inizialisiert den Timer für RC |
172 | //Diese Routine startet und inizialisiert den Timer für RC |
| 165 | SIGNAL(SIG_INPUT_CAPTURE1) |
173 | SIGNAL(SIG_INPUT_CAPTURE1) |
| Line 166... | Line 174... | ||
| 166 | //############################################################################ |
174 | //############################################################################ |
| 167 | 175 | ||
| 168 | { |
176 | { |
| 169 | static unsigned int AltICR=0; |
177 | static unsigned int AltICR=0; |
| 170 | signed int signal = 0,tmp; |
178 | signed int signal = 0,tmp; |
| 171 | static int index; |
179 | static int index; |
| 172 | |
180 | |
| 173 | signal = (unsigned int) ICR1 - AltICR; |
181 | signal = (unsigned int) ICR1 - AltICR; |
| 174 | DebugOut.Analog[16] = signal; |
182 | DebugOut.Analog[16] = signal; |
| 175 | signal /= 2; |
183 | signal /= 2; |
| Line 195... | Line 203... | ||
| 195 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
203 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| 196 | else PPM_diff[index] = 0; |
204 | else PPM_diff[index] = 0; |
| 197 | PPM_in[index] = tmp; |
205 | PPM_in[index] = tmp; |
| 198 | } |
206 | } |
| 199 | index++; |
207 | index++; |
| 200 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
- | |
| 201 | if(index == 2) J4High; else J4Low; // Servosignal an J4 anlegen |
- | |
| 202 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
- | |
| 203 | } |
208 | } |
| 204 | } |
209 | } |
| 205 | } |
210 | } |
| 206 | */ |
211 | #endif |
| 207 | - | ||
| 208 | - | ||