Subversion Repositories FlightCtrl

Rev

Rev 127 | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
13 user 1
/*#######################################################################################
2
Decodieren eines RC Summen Signals
3
#######################################################################################*/
4
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5
// + Copyright (c) 04.2007 Holger Buss
6
// + only for non-profit use
7
// + www.MikroKopter.com
8
// + see the File "License.txt" for further Informations
9
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
10
 
11
#include "rc.h"
12
#include "main.h"
13
 
127 pakoxda 14
volatile int PPM_in[15];
15
volatile int PPM_diff[15];  // das diffenzierte Stick-Signal
13 user 16
volatile unsigned char NewPpmData = 1;
17
 
18
//############################################################################
19
//zum decodieren des PPM-Signals wird Timer1 mit seiner Input
20
//Capture Funktion benutzt:
21
void rc_sum_init (void)
22
//############################################################################
23
{
24
        TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64
25
 
26
 
27
// PWM
28
//TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10);
29
//TCCR1B |= (1 << WGM12);
30
//OCR1B = 55;
31
 
32
    TIMSK1 |= _BV(ICIE1);
33
    AdNeutralGier = 0;
34
    AdNeutralRoll = 0;
35
    AdNeutralNick = 0;
36
    return;
37
}
38
 
39
//############################################################################
40
//Diese Routine startet und inizialisiert den Timer fŁr RC
41
SIGNAL(SIG_INPUT_CAPTURE1)
42
//############################################################################
43
 
44
{
45
        static unsigned int AltICR=0;
46
    signed int signal = 0;
47
        static int index;              
48
 
49
        signal = (unsigned int) ICR1 - AltICR;         
50
        AltICR = ICR1; 
51
 
52
    //Syncronisationspause?
144 pakoxda 53
        if ((signal > 1500) && (signal < 8000))  
13 user 54
        {
55
        index = 1;             
56
        NewPpmData = 0;  // Null bedeutet: Neue Daten
57
//        OCR2A = Poti2/2 + 80;
58
 
59
        }
60
        else
61
        {
127 pakoxda 62
        if(index < 14)
13 user 63
            {
144 pakoxda 64
            if((signal > 250) && (signal < 687) )
127 pakoxda 65
            {
66
                signal -= 466; // Stabiles Signal
67
 
68
                if(abs(signal - PPM_in[index]) < 6)
69
                                {
70
                                        if(SenderOkay < 200) SenderOkay += 10;
71
                                }
13 user 72
                signal = (3 * (PPM_in[index]) + signal) / 4;  
73
                //373 entspricht ca. 1.5ms also Mittelstellung
74
                PPM_diff[index] = signal - PPM_in[index];
75
                PPM_in[index] = signal;
127 pakoxda 76
            }
13 user 77
            index++;  
78
        }
79
        }
80
}
81
 
82
 
83
 
84
 
85