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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*####################################################################################### |
| 685 | killagreg | 2 | Decodieren eines RC Summen Signals |
| 1 | ingob | 3 | #######################################################################################*/ |
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) 04.2007 Holger Buss |
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| 6 | // + only for non-profit use |
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| 7 | // + www.MikroKopter.com |
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| 8 | // + see the File "License.txt" for further Informations |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 10 | |||
| 687 | killagreg | 11 | #include <stdlib.h> |
| 685 | killagreg | 12 | #include <avr/io.h> |
| 13 | #include <avr/interrupt.h> |
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| 14 | |||
| 1 | ingob | 15 | #include "rc.h" |
| 685 | killagreg | 16 | #include "fc.h" |
| 1 | ingob | 17 | |
| 687 | killagreg | 18 | volatile int16_t PPM_in[11]; |
| 19 | volatile int16_t PPM_diff[11]; // das diffenzierte Stick-Signal |
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| 20 | volatile uint8_t NewPpmData = 1; |
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| 1 | ingob | 21 | |
| 687 | killagreg | 22 | /***************************************************************/ |
| 23 | /* zum decodieren des PPM-Signals wird Timer1 mit seiner Input */ |
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| 24 | /* Capture Funktion benutzt: */ |
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| 25 | /***************************************************************/ |
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| 26 | |||
| 1 | ingob | 27 | void rc_sum_init (void) |
| 28 | { |
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| 29 | TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
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| 30 | |||
| 31 | // PWM |
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| 32 | //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
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| 33 | //TCCR1B |= (1 << WGM12); |
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| 34 | //OCR1B = 55; |
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| 685 | killagreg | 35 | |
| 1 | ingob | 36 | TIMSK1 |= _BV(ICIE1); |
| 37 | AdNeutralGier = 0; |
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| 38 | AdNeutralRoll = 0; |
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| 39 | AdNeutralNick = 0; |
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| 40 | return; |
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| 41 | } |
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| 42 | |||
| 43 | //############################################################################ |
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| 44 | //Diese Routine startet und inizialisiert den Timer für RC |
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| 45 | SIGNAL(SIG_INPUT_CAPTURE1) |
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| 46 | //############################################################################ |
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| 47 | |||
| 48 | { |
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| 49 | static unsigned int AltICR=0; |
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| 173 | holgerb | 50 | signed int signal = 0,tmp; |
| 685 | killagreg | 51 | static int index; |
| 52 | |||
| 53 | signal = (unsigned int) ICR1 - AltICR; |
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| 54 | AltICR = ICR1; |
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| 55 | |||
| 1 | ingob | 56 | //Syncronisationspause? |
| 685 | killagreg | 57 | // if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
| 58 | if((signal > 1100) && (signal < 8000)) |
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| 1 | ingob | 59 | { |
| 513 | hbuss | 60 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| 685 | killagreg | 61 | index = 1; |
| 62 | } |
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| 63 | else |
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| 1 | ingob | 64 | { |
| 65 | if(index < 10) |
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| 66 | { |
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| 685 | killagreg | 67 | if((signal > 250) && (signal < 687)) |
| 68 | { |
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| 1 | ingob | 69 | signal -= 466; |
| 70 | // Stabiles Signal |
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| 71 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
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| 685 | killagreg | 72 | // tmp = (7 * (PPM_in[index]) + signal) / 8; |
| 73 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
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| 604 | hbuss | 74 | if(tmp > signal+1) tmp--; else |
| 685 | killagreg | 75 | if(tmp < signal-1) tmp++; |
| 76 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
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| 604 | hbuss | 77 | else PPM_diff[index] = 0; |
| 173 | holgerb | 78 | PPM_in[index] = tmp; |
| 685 | killagreg | 79 | } |
| 80 | index++; |
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| 173 | holgerb | 81 | if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| 1 | ingob | 82 | if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| 685 | killagreg | 83 | if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
| 1 | ingob | 84 | } |
| 85 | } |
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| 86 | } |
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| 87 | |||
| 88 | |||
| 89 | |||
| 90 | |||
| 91 |