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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*####################################################################################### |
| 2 | Decodieren eines RC Summen Signals |
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| 3 | #######################################################################################*/ |
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| 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 | |||
| 11 | #include "rc.h" |
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| 12 | #include "main.h" |
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| 13 | |||
| 14 | volatile int PPM_in[11]; |
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| 15 | volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
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| 16 | volatile unsigned char NewPpmData = 1; |
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| 17 | |||
| 18 | //############################################################################ |
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| 19 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
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| 20 | //Capture Funktion benutzt: |
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| 21 | void rc_sum_init (void) |
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| 22 | //############################################################################ |
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| 23 | { |
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| 24 | TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
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| 1171 | hbuss | 25 | // TCCR1B=(1<<CS11)|(0<<CS10)|(1<<ICES1)|(1<<ICNC1); //timer1 prescale 64 |
| 1 | ingob | 26 | TIMSK1 |= _BV(ICIE1); |
| 27 | AdNeutralGier = 0; |
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| 28 | AdNeutralRoll = 0; |
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| 29 | AdNeutralNick = 0; |
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| 30 | return; |
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| 31 | } |
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| 32 | |||
| 33 | //############################################################################ |
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| 34 | //Diese Routine startet und inizialisiert den Timer für RC |
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| 35 | SIGNAL(SIG_INPUT_CAPTURE1) |
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| 36 | //############################################################################ |
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| 37 | |||
| 38 | { |
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| 39 | static unsigned int AltICR=0; |
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| 173 | holgerb | 40 | signed int signal = 0,tmp; |
| 1 | ingob | 41 | static int index; |
| 42 | |||
| 43 | signal = (unsigned int) ICR1 - AltICR; |
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| 44 | AltICR = ICR1; |
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| 45 | //Syncronisationspause? |
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| 513 | hbuss | 46 | if((signal > 1100) && (signal < 8000)) |
| 1 | ingob | 47 | { |
| 513 | hbuss | 48 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| 1 | ingob | 49 | index = 1; |
| 50 | } |
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| 51 | else |
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| 52 | { |
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| 53 | if(index < 10) |
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| 54 | { |
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| 55 | if((signal > 250) && (signal < 687)) |
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| 56 | { |
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| 57 | signal -= 466; |
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| 58 | // Stabiles Signal |
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| 1172 | hbuss | 59 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
| 614 | hbuss | 60 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
| 604 | hbuss | 61 | if(tmp > signal+1) tmp--; else |
| 62 | if(tmp < signal-1) tmp++; |
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| 1286 | MartinR | 63 | //if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // MartinR: so war es |
| 64 | if(SenderOkay >= 195) PPM_diff[index] = (tmp - PPM_in[index]); // MartinR: Optimiert |
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| 604 | hbuss | 65 | else PPM_diff[index] = 0; |
| 173 | holgerb | 66 | PPM_in[index] = tmp; |
| 1 | ingob | 67 | } |
| 68 | index++; |
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| 1224 | hbuss | 69 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
| 70 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
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| 71 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
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| 1171 | hbuss | 72 | } |
| 73 | } |
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| 74 | } |
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| 75 | |||
| 76 | /* |
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| 77 | //############################################################################ |
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| 78 | //Diese Routine startet und inizialisiert den Timer für RC |
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| 79 | SIGNAL(SIG_INPUT_CAPTURE1) |
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| 80 | //############################################################################ |
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| 81 | |||
| 82 | { |
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| 83 | static unsigned int AltICR=0; |
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| 84 | signed int signal = 0,tmp; |
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| 85 | static int index; |
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| 86 | |||
| 87 | signal = (unsigned int) ICR1 - AltICR; |
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| 88 | DebugOut.Analog[16] = signal; |
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| 89 | signal /= 2; |
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| 90 | AltICR = ICR1; |
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| 91 | //Syncronisationspause? |
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| 92 | if((signal > 1100*2) && (signal < 8000*2)) |
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| 93 | { |
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| 94 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
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| 95 | index = 1; |
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| 96 | } |
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| 97 | else |
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| 98 | { |
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| 99 | if(index < 10) |
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| 100 | { |
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| 101 | if((signal > 250) && (signal < 687*2)) |
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| 102 | { |
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| 103 | signal -= 962; |
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| 104 | // Stabiles Signal |
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| 105 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
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| 106 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
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| 107 | if(tmp > signal+1) tmp--; else |
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| 108 | if(tmp < signal-1) tmp++; |
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| 109 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
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| 110 | else PPM_diff[index] = 0; |
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| 111 | PPM_in[index] = tmp; |
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| 112 | } |
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| 113 | index++; |
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| 1155 | hbuss | 114 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
| 1171 | hbuss | 115 | if(index == 2) J4High; else J4Low; // Servosignal an J4 anlegen |
| 1155 | hbuss | 116 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
| 1 | ingob | 117 | } |
| 118 | } |
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| 119 | } |
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| 1171 | hbuss | 120 | */ |
| 1 | ingob | 121 | |
| 122 | |||
| 123 |