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1 | ingob | 1 | /*####################################################################################### |
2 | Decodieren eines RC Summen Signals |
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3 | #######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1338 | ingob | 5 | // + Copyright (c) Holger Buss, Ingo Busker |
1 | ingob | 6 | // + only for non-profit use |
7 | // + www.MikroKopter.com |
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1356 | hbuss | 8 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
1 | ingob | 9 | // + see the File "License.txt" for further Informations |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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11 | |||
12 | #include "rc.h" |
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13 | #include "main.h" |
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1356 | hbuss | 14 | //#define ACT_S3D_SUMMENSIGNAL |
1 | ingob | 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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1268 | hbuss | 18 | volatile char Channels,tmpChannels = 0; |
1 | ingob | 19 | volatile unsigned char NewPpmData = 1; |
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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1356 | hbuss | 27 | #ifndef ACT_S3D_SUMMENSIGNAL |
1 | ingob | 28 | TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
1356 | hbuss | 29 | #else |
30 | TCCR1B=(1<<CS11)|(0<<CS10)|(1<<ICES1)|(1<<ICNC1); //timer1 prescale 64 |
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31 | #endif |
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1 | ingob | 32 | TIMSK1 |= _BV(ICIE1); |
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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1309 | hbuss | 38 | |
1356 | hbuss | 39 | #ifndef ACT_S3D_SUMMENSIGNAL |
1278 | hbuss | 40 | //############################################################################ |
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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1309 | hbuss | 45 | if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC)) |
46 | { |
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1278 | hbuss | 47 | static unsigned int AltICR=0; |
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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1283 | hbuss | 53 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
1278 | hbuss | 54 | if((signal > 1100) && (signal < 8000)) |
55 | { |
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1320 | hbuss | 56 | Channels = index; |
1278 | hbuss | 57 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
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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1309 | hbuss | 82 | } |
83 | else |
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84 | { |
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1 | ingob | 85 | static unsigned int AltICR=0; |
1268 | hbuss | 86 | static int ppm_in[11]; |
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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173 | holgerb | 90 | signed int signal = 0,tmp; |
1268 | hbuss | 91 | static unsigned char index, okay_cnt = 0; |
1 | ingob | 92 | signal = (unsigned int) ICR1 - AltICR; |
93 | AltICR = ICR1; |
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1283 | hbuss | 94 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
513 | hbuss | 95 | if((signal > 1100) && (signal < 8000)) |
1 | ingob | 96 | { |
1268 | hbuss | 97 | tmpChannels = index; |
98 | if(tmpChannels >= 4 && Channels == tmpChannels) |
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99 | { |
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1276 | hbuss | 100 | if(okay_cnt > 10) |
1268 | hbuss | 101 | { |
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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1276 | hbuss | 116 | else |
1278 | hbuss | 117 | { |
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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1 | ingob | 121 | index = 1; |
1268 | hbuss | 122 | if(!MotorenEin) Channels = tmpChannels; |
1 | ingob | 123 | } |
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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1271 | hbuss | 132 | if((abs(signal - ppm_in[index]) < 6)) |
133 | { |
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1276 | hbuss | 134 | if(okay_cnt > 25) SenderOkay += 10; |
1271 | hbuss | 135 | else |
1276 | hbuss | 136 | if(okay_cnt > 10) SenderOkay += 2; |
137 | if(SenderOkay > 200) SenderOkay = 200; |
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1271 | hbuss | 138 | } |
1268 | hbuss | 139 | tmp = (3 * (ppm_in[index]) + signal) / 4; |
604 | hbuss | 140 | if(tmp > signal+1) tmp--; else |
141 | if(tmp < signal-1) tmp++; |
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1268 | hbuss | 142 | if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
143 | else ppm_diff[index] = 0; |
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144 | ppm_in[index] = tmp; |
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1 | ingob | 145 | } |
1268 | hbuss | 146 | else ROT_ON; |
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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1276 | hbuss | 152 | else |
153 | if(index == 20) |
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1268 | hbuss | 154 | { |
1276 | hbuss | 155 | unsigned char i; |
1278 | hbuss | 156 | ROT_ON; |
1276 | hbuss | 157 | index = 30; |
1268 | hbuss | 158 | for(i=0;i<11;i++) // restore from older data |
159 | { |
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1276 | hbuss | 160 | PPM_in[i] = old_ppm_in[i]; |
161 | PPM_diff[i] = 0; |
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162 | // okay_cnt /= 2; |
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1268 | hbuss | 163 | } |
164 | } |
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165 | } |
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1309 | hbuss | 166 | } |
1171 | hbuss | 167 | } |
168 | |||
1356 | hbuss | 169 | #else |
170 | |||
1171 | hbuss | 171 | //############################################################################ |
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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1356 | hbuss | 180 | |
1171 | hbuss | 181 | signal = (unsigned int) ICR1 - AltICR; |
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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1 | ingob | 208 | } |
209 | } |
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210 | } |
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1356 | hbuss | 211 | #endif |
1 | ingob | 212 |