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| 2751 | - | 1 | /*####################################################################################### |
| 2 | Decodieren eines RC Summen Signals |
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| 3 | #######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + www.MikroKopter.com |
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| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 7 | // + Software Nutzungsbedingungen (english version: see below) |
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| 8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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| 9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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| 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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| 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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| 12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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| 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
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| 15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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| 16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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| 17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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| 18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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| 19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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| 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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| 22 | // + des Mitverschuldens offen. |
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| 23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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| 24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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| 26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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| 27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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| 28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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| 29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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| 30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 32 | // + Software LICENSING TERMS |
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| 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
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| 35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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| 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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| 37 | // + The Software may only be used with the Licensor's products. |
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| 38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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| 39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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| 40 | // + agreement shall be the property of the Licensor. |
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| 41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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| 42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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| 43 | // + The customer shall be responsible for taking reasonable precautions |
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| 44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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| 45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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| 46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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| 47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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| 48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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| 49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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| 50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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| 51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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| 52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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| 53 | // + #### END OF LICENSING TERMS #### |
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| 54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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| 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 56 | |||
| 57 | #include "rc.h" |
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| 58 | #include "main.h" |
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| 59 | // Achtung: ACT_S3D_SUMMENSIGNAL wird in der Main.h gesetzt |
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| 60 | #define MAX_RC_IN 16+12+3+4 // 16ch + 12ser + 3stages + 4 reserved |
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| 61 | volatile int PPM_in[MAX_RC_IN]; |
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| 62 | volatile int PPM_diff[MAX_RC_IN]; // das differnzierte Stick-Signal |
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| 63 | volatile char Channels,tmpChannels = 0; |
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| 64 | volatile unsigned char NewPpmData = 1; |
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| 65 | unsigned int PPM_Neutral = 466; |
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| 66 | |||
| 67 | //############################################################################ |
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| 68 | // Clear the values |
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| 69 | void rc_sum_init(void) |
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| 70 | //############################################################################ |
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| 71 | { |
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| 72 | unsigned char i; |
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| 73 | for(i=0;i<MAX_RC_IN;i++) |
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| 74 | { |
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| 75 | if(i < 5) PPM_in[i] = 0; else PPM_in[i] = -127; |
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| 76 | PPM_diff[i] = 0; |
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| 77 | } |
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| 78 | PPM_in[PPM_IN_MAX] = +127; |
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| 79 | PPM_in[PPM_IN_OFF] = -127; |
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| 80 | PPM_in[PPM_IN_MID] = 0; |
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| 81 | AdNeutralGier = 0; |
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| 82 | AdNeutralRoll = 0; |
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| 83 | AdNeutralNick = 0; |
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| 84 | return; |
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| 85 | } |
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| 86 | |||
| 87 | #ifndef ACT_S3D_SUMMENSIGNAL |
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| 88 | //############################################################################ |
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| 89 | // Interrupt function for the PPM-Input |
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| 90 | ISR(TIMER1_CAPT_vect) |
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| 91 | //############################################################################ |
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| 92 | { |
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| 93 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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| 94 | if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC)) |
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| 95 | #endif |
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| 96 | { |
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| 97 | static unsigned int AltICR=0; |
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| 98 | signed int signal = 0,tmp; |
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| 99 | static int index; |
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| 100 | |||
| 101 | signal = (unsigned int) ICR1 - AltICR; |
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| 102 | AltICR = ICR1; |
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| 103 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
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| 104 | if((signal > 1100) && (signal < 8000)) |
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| 105 | { |
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| 106 | Channels = index; |
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| 107 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
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| 108 | index = 1; |
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| 109 | } |
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| 110 | else |
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| 111 | { |
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| 112 | if(index < 13+4) |
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| 113 | { |
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| 114 | if((signal > 250) && (signal < 687)) |
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| 115 | { |
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| 116 | signal -= PPM_Neutral; |
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| 117 | // Stabiles Signal |
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| 118 | if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe |
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| 119 | { |
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| 120 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
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| 121 | } |
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| 122 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
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| 123 | if(tmp > signal+1) tmp--; else |
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| 124 | if(tmp < signal-1) tmp++; |
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| 125 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
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| 126 | else PPM_diff[index] = 0; |
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| 127 | PPM_in[index] = tmp; |
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| 128 | } |
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| 129 | index++; |
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| 130 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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| 131 | #else |
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| 132 | if(PlatinenVersion < 20) |
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| 133 | { |
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| 134 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
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| 135 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
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| 136 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
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| 137 | } |
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| 138 | #endif |
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| 139 | } |
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| 140 | } |
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| 141 | } |
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| 142 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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| 143 | else |
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| 144 | { |
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| 145 | static unsigned int AltICR=0; |
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| 146 | static int ppm_in[13+4]; |
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| 147 | static int ppm_diff[13+4]; |
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| 148 | static int old_ppm_in[13+4]; |
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| 149 | static int old_ppm_diff[13+4]; |
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| 150 | signed int signal = 0,tmp; |
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| 151 | static unsigned char index, okay_cnt = 0; |
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| 152 | signal = (unsigned int) ICR1 - AltICR; |
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| 153 | AltICR = ICR1; |
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| 154 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
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| 155 | if((signal > 1100) && (signal < 8000)) |
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| 156 | { |
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| 157 | tmpChannels = index; |
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| 158 | if(tmpChannels >= 4 && Channels == tmpChannels) |
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| 159 | { |
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| 160 | if(okay_cnt > 10) |
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| 161 | { |
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| 162 | NewPpmData = 0; // Null bedeutet: Neue Daten |
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| 163 | for(index = 0; index < 13+4; index++) |
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| 164 | { |
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| 165 | if(okay_cnt > 30) |
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| 166 | { |
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| 167 | old_ppm_in[index] = PPM_in[index]; |
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| 168 | old_ppm_diff[index] = PPM_diff[index]; |
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| 169 | } |
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| 170 | PPM_in[index] = ppm_in[index]; |
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| 171 | PPM_diff[index] = ppm_diff[index]; |
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| 172 | } |
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| 173 | } |
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| 174 | if(okay_cnt < 255) okay_cnt++; |
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| 175 | } |
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| 176 | else |
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| 177 | { |
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| 178 | if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0; |
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| 179 | ROT_ON; |
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| 180 | } |
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| 181 | index = 1; |
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| 182 | if(!MotorenEin) Channels = tmpChannels; |
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| 183 | } |
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| 184 | else |
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| 185 | { |
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| 186 | if(index < 13+4) |
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| 187 | { |
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| 188 | if((signal > 250) && (signal < 687)) |
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| 189 | { |
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| 190 | signal -= PPM_Neutral; |
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| 191 | // Stabiles Signal |
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| 192 | if((abs(signal - ppm_in[index]) < 6)) |
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| 193 | { |
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| 194 | if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe |
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| 195 | { |
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| 196 | if(okay_cnt > 25) SenderOkay += 10; |
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| 197 | else |
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| 198 | if(okay_cnt > 10) SenderOkay += 2; |
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| 199 | if(SenderOkay > 200) SenderOkay = 200; |
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| 200 | } |
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| 201 | } |
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| 202 | tmp = (3 * (ppm_in[index]) + signal) / 4; |
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| 203 | if(tmp > signal+1) tmp--; else |
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| 204 | if(tmp < signal-1) tmp++; |
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| 205 | if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
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| 206 | else ppm_diff[index] = 0; |
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| 207 | ppm_in[index] = tmp; |
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| 208 | } |
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| 209 | else ROT_ON; |
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| 210 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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| 211 | #else |
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| 212 | if(PlatinenVersion < 20) |
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| 213 | { |
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| 214 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
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| 215 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
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| 216 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
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| 217 | } |
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| 218 | #endif |
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| 219 | } |
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| 220 | if(index < 20) index++; |
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| 221 | else |
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| 222 | if(index == 20) |
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| 223 | { |
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| 224 | unsigned char i; |
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| 225 | ROT_ON; |
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| 226 | index = 30; |
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| 227 | for(i=0;i<13+4;i++) // restore from older data |
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| 228 | { |
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| 229 | PPM_in[i] = old_ppm_in[i]; |
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| 230 | PPM_diff[i] = 0; |
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| 231 | // okay_cnt /= 2; |
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| 232 | } |
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| 233 | } |
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| 234 | } |
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| 235 | } |
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| 236 | #endif |
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| 237 | |||
| 238 | } |
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| 239 | |||
| 240 | #else |
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| 241 | //############################################################################ |
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| 242 | // Interrupt function for the PPM-Input |
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| 243 | ISR(TIMER1_CAPT_vect) |
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| 244 | //############################################################################ |
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| 245 | |||
| 246 | { |
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| 247 | static unsigned int AltICR=0; |
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| 248 | signed int signal = 0,tmp; |
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| 249 | static int index; |
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| 250 | |||
| 251 | signal = (unsigned int) ICR1 - AltICR; |
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| 252 | signal /= 2; |
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| 253 | AltICR = ICR1; |
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| 254 | //Syncronisationspause? |
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| 255 | if((signal > 1100*2) && (signal < 8000*2)) |
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| 256 | { |
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| 257 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
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| 258 | index = 1; |
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| 259 | } |
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| 260 | else |
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| 261 | { |
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| 262 | if(index < 13) |
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| 263 | { |
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| 264 | if((signal > 250) && (signal < 687*2)) |
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| 265 | { |
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| 266 | signal -= 962; |
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| 267 | // Stabiles Signal |
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| 268 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
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| 269 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
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| 270 | if(tmp > signal+1) tmp--; else |
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| 271 | if(tmp < signal-1) tmp++; |
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| 272 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
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| 273 | else PPM_diff[index] = 0; |
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| 274 | PPM_in[index] = tmp; |
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| 275 | } |
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| 276 | index++; |
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| 277 | } |
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| 278 | } |
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| 279 | } |
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| 280 | #endif |
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| 281 | |||
| 282 | |||
| 283 |