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1 ingob 1 
/*#######################################################################################
1561 killagreg 2 
Decodieren eines RC Summen Signals
1 ingob 3 
#######################################################################################*/
4 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1338 ingob 5 
// + Copyright (c) Holger Buss, Ingo Busker
1 ingob 6 
// + only for non-profit use
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// + www.MikroKopter.com
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
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
11 
 
12 
#include "rc.h"
13 
#include "main.h"
1638 holgerb 14 
// Achtung: ACT_S3D_SUMMENSIGNAL wird in der Main.h gesetzt
1 ingob 15 
 
1377 hbuss 16 
volatile int PPM_in[26];
17 
volatile int PPM_diff[26];  // das diffenzierte Stick-Signal
1268 hbuss 18 
volatile char Channels,tmpChannels = 0;
1 ingob 19 
volatile unsigned char NewPpmData = 1;
1933 holgerb 20 
unsigned int PPM_Neutral = 466;
1 ingob 21 
 
22 
//############################################################################
2008 holgerb 23 
// Clear the values
1 ingob 24 
void rc_sum_init (void)
25 
//############################################################################
26 
{
1377 hbuss 27 
 unsigned char i;
28 
 for(i=0;i<26;i++)
29 
  {
1914 holgerb 30 
   if(i < 5) PPM_in[i] = 0; else PPM_in[i] = -126;
1377 hbuss 31 
   PPM_diff[i] = 0;
32 
  }
1 ingob 33 
    AdNeutralGier = 0;
34 
    AdNeutralRoll = 0;
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    AdNeutralNick = 0;
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    return;
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}
1309 hbuss 38 
 
1356 hbuss 39 
#ifndef ACT_S3D_SUMMENSIGNAL
1278 hbuss 40 
//############################################################################
2008 holgerb 41 
// Interrupt function for the PPM-Input
1561 killagreg 42 
ISR(TIMER1_CAPT_vect)
1278 hbuss 43 
//############################################################################
44 
{
1309 hbuss 45 
if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC))
46 
 {
1278 hbuss 47 
        static unsigned int AltICR=0;
48 
    signed int signal = 0,tmp;
1561 killagreg 49 
        static int index;
50 
 
51 
        signal = (unsigned int) ICR1 - AltICR;
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        AltICR = ICR1;
1283 hbuss 53 
    //Syncronisationspause? (3.52 ms < signal < 25.6 ms)
1561 killagreg 54 
        if((signal > 1100) && (signal < 8000))
1278 hbuss 55 
        {
1320 hbuss 56 
        Channels = index;
1278 hbuss 57 
        if(index >= 4)  NewPpmData = 0;  // Null bedeutet: Neue Daten
1561 killagreg 58 
        index = 1;
59 
        }
60 
        else
1278 hbuss 61 
        {
1377 hbuss 62 
        if(index < 13)
1278 hbuss 63 
            {
1561 killagreg 64 
            if((signal > 250) && (signal < 687))
65 
                {
1933 holgerb 66 
                signal -= PPM_Neutral;
1278 hbuss 67 
                // Stabiles Signal
2008 holgerb 68 
                                  if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100)  // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe
69 
                                  {
70 
                    if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;}
71 
                                  }    
1561 killagreg 72 
                tmp = (3 * (PPM_in[index]) + signal) / 4;
1278 hbuss 73 
                if(tmp > signal+1) tmp--; else
1561 killagreg 74 
                if(tmp < signal-1) tmp++;
75 
                if(SenderOkay >= 195)  PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
1278 hbuss 76 
                else PPM_diff[index] = 0;
77 
                PPM_in[index] = tmp;
1561 killagreg 78 
                }
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            index++;
1639 holgerb 80 
                   if(PlatinenVersion < 20)
81 
            {  
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             if(index == 5) J3High; else J3Low;  // Servosignal an J3 anlegen
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             if(index == 6) J4High; else J4Low;  // Servosignal an J4 anlegen
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             if(index == 7) J5High; else J5Low;  // Servosignal an J5 anlegen
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                        }
1278 hbuss 86 
        }
87 
        }
1309 hbuss 88 
 }
1561 killagreg 89 
 else
1309 hbuss 90 
 {
1 ingob 91 
        static unsigned int AltICR=0;
1377 hbuss 92 
    static int ppm_in[13];
1561 killagreg 93 
    static int ppm_diff[13];
1377 hbuss 94 
    static int old_ppm_in[13];
1561 killagreg 95 
    static int old_ppm_diff[13];
173 holgerb 96 
    signed int signal = 0,tmp;
1561 killagreg 97 
        static unsigned char index, okay_cnt = 0;
98 
        signal = (unsigned int) ICR1 - AltICR;
99 
        AltICR = ICR1;
1283 hbuss 100 
    //Syncronisationspause? (3.52 ms < signal < 25.6 ms)
1561 killagreg 101 
        if((signal > 1100) && (signal < 8000))
1 ingob 102 
        {
1268 hbuss 103 
        tmpChannels = index;
1561 killagreg 104 
        if(tmpChannels >= 4 && Channels == tmpChannels)
1268 hbuss 105 
                 {
1276 hbuss 106 
          if(okay_cnt > 10)
1268 hbuss 107 
                   {
108 
                   NewPpmData = 0;  // Null bedeutet: Neue Daten
1377 hbuss 109 
                   for(index = 0; index < 13; index++)
1268 hbuss 110 
                    {
1561 killagreg 111 
                         if(okay_cnt > 30)
1268 hbuss 112 
                          {
113 
                           old_ppm_in[index] = PPM_in[index];
114 
                           old_ppm_diff[index] = PPM_diff[index];
1561 killagreg 115 
                          }
1268 hbuss 116 
                     PPM_in[index] = ppm_in[index];
117 
                     PPM_diff[index] = ppm_diff[index];
118 
                    }
119 
                   }
120 
          if(okay_cnt < 255) okay_cnt++;
121 
                 }
1561 killagreg 122 
         else
1278 hbuss 123 
                  {
124 
                   if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0;
125 
                   ROT_ON;
126 
                  }
1561 killagreg 127 
        index = 1;
1268 hbuss 128 
        if(!MotorenEin) Channels = tmpChannels;
1561 killagreg 129 
        }
130 
        else
1 ingob 131 
        {
1377 hbuss 132 
        if(index < 13)
1 ingob 133 
            {
1561 killagreg 134 
            if((signal > 250) && (signal < 687))
135 
                {
1933 holgerb 136 
                signal -= PPM_Neutral;
1 ingob 137 
                // Stabiles Signal
1271 hbuss 138 
                if((abs(signal - ppm_in[index]) < 6))
139 
                                 {
2008 holgerb 140 
                                  if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100)  // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe
141 
                                  {
142 
                                   if(okay_cnt > 25)  SenderOkay += 10;
143 
                                   else
144 
                                   if(okay_cnt > 10)  SenderOkay += 2;
145 
                                   if(SenderOkay > 200) SenderOkay = 200;
146 
                                  }
1271 hbuss 147 
                                 }
1561 killagreg 148 
                tmp = (3 * (ppm_in[index]) + signal) / 4;
604 hbuss 149 
                if(tmp > signal+1) tmp--; else
1561 killagreg 150 
                if(tmp < signal-1) tmp++;
151 
                if(SenderOkay >= 190)  ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3;
1268 hbuss 152 
                else ppm_diff[index] = 0;
153 
                ppm_in[index] = tmp;
1561 killagreg 154 
                }
1268 hbuss 155 
                        else ROT_ON;
1639 holgerb 156 
                   if(PlatinenVersion < 20)
157 
            {  
158 
             if(index == 5) J3High; else J3Low;  // Servosignal an J3 anlegen
159 
             if(index == 6) J4High; else J4Low;  // Servosignal an J4 anlegen
160 
             if(index == 7) J5High; else J5Low;  // Servosignal an J5 anlegen
161 
                        }
1268 hbuss 162 
          }
1561 killagreg 163 
                  if(index < 20) index++;
1276 hbuss 164 
          else
1561 killagreg 165 
                  if(index == 20)
1268 hbuss 166 
                  {
1276 hbuss 167 
            unsigned char i;
1278 hbuss 168 
            ROT_ON;
1276 hbuss 169 
                    index = 30;
1377 hbuss 170 
            for(i=0;i<13;i++) // restore from older data
1268 hbuss 171 
                         {
1276 hbuss 172 
                      PPM_in[i] = old_ppm_in[i];
173 
                      PPM_diff[i] = 0;
174 
//                        okay_cnt /= 2;
1268 hbuss 175 
                 }
176 
                  }
177 
            }
1309 hbuss 178 
 }
1171 hbuss 179 
}
180 
 
1561 killagreg 181 
#else
1171 hbuss 182 
//############################################################################
2008 holgerb 183 
// Interrupt function for the PPM-Input
1561 killagreg 184 
ISR(TIMER1_CAPT_vect)
1171 hbuss 185 
//############################################################################
186 
 
187 
{
188 
        static unsigned int AltICR=0;
189 
    signed int signal = 0,tmp;
1561 killagreg 190 
        static int index;
191 
 
192 
        signal = (unsigned int) ICR1 - AltICR;
1171 hbuss 193 
        signal /= 2;
1561 killagreg 194 
        AltICR = ICR1;
1171 hbuss 195 
    //Syncronisationspause?
1561 killagreg 196 
        if((signal > 1100*2) && (signal < 8000*2))
1171 hbuss 197 
        {
198 
        if(index >= 4)  NewPpmData = 0;  // Null bedeutet: Neue Daten
1561 killagreg 199 
        index = 1;
200 
        }
201 
        else
1171 hbuss 202 
        {
1377 hbuss 203 
        if(index < 13)
1171 hbuss 204 
            {
1561 killagreg 205 
            if((signal > 250) && (signal < 687*2))
206 
                {
1171 hbuss 207 
                signal -= 962;
208 
                // Stabiles Signal
209 
                if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;}
1561 killagreg 210 
                tmp = (3 * (PPM_in[index]) + signal) / 4;
1171 hbuss 211 
                if(tmp > signal+1) tmp--; else
1561 killagreg 212 
                if(tmp < signal-1) tmp++;
213 
                if(SenderOkay >= 195)  PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
1171 hbuss 214 
                else PPM_diff[index] = 0;
215 
                PPM_in[index] = tmp;
1561 killagreg 216 
                }
217 
            index++;
1 ingob 218 
        }
219 
        }
220 
}
1356 hbuss 221 
#endif
1 ingob 222 
 
2034 holgerb 223 
 
224