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Rev | Author | Line No. | Line |
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1388 | Arthur | 1 | /*####################################################################################### |
2 | Decodieren eines RC Summen Signals |
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3 | #######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) Holger Buss, Ingo Busker |
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6 | // + only for non-profit use |
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7 | // + www.MikroKopter.com |
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8 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
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9 | // + see the File "License.txt" for further Informations |
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10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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11 | |||
12 | #include "rc.h" |
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13 | #include "main.h" |
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14 | //#define ACT_S3D_SUMMENSIGNAL |
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15 | |||
16 | volatile int PPM_in[11]; |
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17 | volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
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18 | volatile char Channels,tmpChannels = 0; |
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19 | volatile unsigned char NewPpmData = 1; |
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20 | |||
21 | //############################################################################ |
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22 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
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23 | //Capture Funktion benutzt: |
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24 | void rc_sum_init (void) |
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25 | //############################################################################ |
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26 | { |
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27 | #ifndef ACT_S3D_SUMMENSIGNAL |
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28 | TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
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29 | #else |
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30 | TCCR1B=(1<<CS11)|(0<<CS10)|(1<<ICES1)|(1<<ICNC1); //timer1 prescale 64 |
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31 | #endif |
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32 | TIMSK1 |= _BV(ICIE1); |
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33 | AdNeutralGier = 0; |
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34 | AdNeutralRoll = 0; |
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35 | AdNeutralNick = 0; |
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36 | return; |
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37 | } |
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38 | |||
39 | #ifndef ACT_S3D_SUMMENSIGNAL |
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40 | //############################################################################ |
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41 | //Diese Routine startet und inizialisiert den Timer für RC |
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42 | SIGNAL(SIG_INPUT_CAPTURE1) |
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43 | //############################################################################ |
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44 | { |
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45 | if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC)) |
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46 | { |
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47 | static unsigned int AltICR=0; |
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48 | signed int signal = 0,tmp; |
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49 | static int index; |
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50 | |||
51 | signal = (unsigned int) ICR1 - AltICR; |
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52 | AltICR = ICR1; |
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53 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
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54 | if((signal > 1100) && (signal < 8000)) |
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55 | { |
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56 | Channels = index; |
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57 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
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58 | index = 1; |
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59 | } |
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60 | else |
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61 | { |
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62 | if(index < 10) |
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63 | { |
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64 | if((signal > 250) && (signal < 687)) |
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65 | { |
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66 | signal -= 466; |
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67 | // Stabiles Signal |
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68 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
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69 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
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70 | if(tmp > signal+1) tmp--; else |
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71 | if(tmp < signal-1) tmp++; |
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72 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
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73 | else PPM_diff[index] = 0; |
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74 | PPM_in[index] = tmp; |
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75 | } |
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76 | index++; |
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77 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
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78 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
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79 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
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80 | } |
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81 | } |
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82 | } |
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83 | else |
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84 | { |
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85 | static unsigned int AltICR=0; |
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86 | static int ppm_in[11]; |
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87 | static int ppm_diff[11]; |
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88 | static int old_ppm_in[11]; |
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89 | static int old_ppm_diff[11]; |
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90 | signed int signal = 0,tmp; |
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91 | static unsigned char index, okay_cnt = 0; |
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92 | signal = (unsigned int) ICR1 - AltICR; |
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93 | AltICR = ICR1; |
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94 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
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95 | if((signal > 1100) && (signal < 8000)) |
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96 | { |
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97 | tmpChannels = index; |
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98 | if(tmpChannels >= 4 && Channels == tmpChannels) |
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99 | { |
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100 | if(okay_cnt > 10) |
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101 | { |
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102 | NewPpmData = 0; // Null bedeutet: Neue Daten |
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103 | for(index = 0; index < 11; index++) |
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104 | { |
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105 | if(okay_cnt > 30) |
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106 | { |
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107 | old_ppm_in[index] = PPM_in[index]; |
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108 | old_ppm_diff[index] = PPM_diff[index]; |
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109 | } |
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110 | PPM_in[index] = ppm_in[index]; |
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111 | PPM_diff[index] = ppm_diff[index]; |
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112 | } |
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113 | } |
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114 | if(okay_cnt < 255) okay_cnt++; |
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115 | } |
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116 | else |
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117 | { |
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118 | if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0; |
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119 | ROT_ON; |
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120 | } |
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121 | index = 1; |
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122 | if(!MotorenEin) Channels = tmpChannels; |
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123 | } |
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124 | else |
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125 | { |
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126 | if(index < 10) |
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127 | { |
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128 | if((signal > 250) && (signal < 687)) |
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129 | { |
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130 | signal -= 466; |
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131 | // Stabiles Signal |
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132 | if((abs(signal - ppm_in[index]) < 6)) |
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133 | { |
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134 | if(okay_cnt > 25) SenderOkay += 10; |
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135 | else |
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136 | if(okay_cnt > 10) SenderOkay += 2; |
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137 | if(SenderOkay > 200) SenderOkay = 200; |
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138 | } |
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139 | tmp = (3 * (ppm_in[index]) + signal) / 4; |
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140 | if(tmp > signal+1) tmp--; else |
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141 | if(tmp < signal-1) tmp++; |
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142 | if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
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143 | else ppm_diff[index] = 0; |
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144 | ppm_in[index] = tmp; |
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145 | } |
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146 | else ROT_ON; |
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147 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
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148 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
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149 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
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150 | } |
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151 | if(index < 20) index++; |
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152 | else |
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153 | if(index == 20) |
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154 | { |
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155 | unsigned char i; |
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156 | ROT_ON; |
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157 | index = 30; |
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158 | for(i=0;i<11;i++) // restore from older data |
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159 | { |
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160 | PPM_in[i] = old_ppm_in[i]; |
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161 | PPM_diff[i] = 0; |
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162 | // okay_cnt /= 2; |
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163 | } |
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164 | } |
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165 | } |
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166 | } |
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167 | } |
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168 | |||
169 | #else |
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170 | |||
171 | //############################################################################ |
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172 | //Diese Routine startet und inizialisiert den Timer für RC |
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173 | SIGNAL(SIG_INPUT_CAPTURE1) |
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174 | //############################################################################ |
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175 | |||
176 | { |
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177 | static unsigned int AltICR=0; |
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178 | signed int signal = 0,tmp; |
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179 | static int index; |
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180 | |||
181 | signal = (unsigned int) ICR1 - AltICR; |
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182 | DebugOut.Analog[16] = signal; |
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183 | signal /= 2; |
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184 | AltICR = ICR1; |
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185 | //Syncronisationspause? |
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186 | if((signal > 1100*2) && (signal < 8000*2)) |
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187 | { |
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188 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
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189 | index = 1; |
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190 | } |
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191 | else |
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192 | { |
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193 | if(index < 10) |
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194 | { |
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195 | if((signal > 250) && (signal < 687*2)) |
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196 | { |
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197 | signal -= 962; |
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198 | // Stabiles Signal |
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199 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
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200 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
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201 | if(tmp > signal+1) tmp--; else |
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202 | if(tmp < signal-1) tmp++; |
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203 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
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204 | else PPM_diff[index] = 0; |
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205 | PPM_in[index] = tmp; |
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206 | } |
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207 | index++; |
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208 | } |
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209 | } |
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210 | } |
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211 | #endif |
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212 |