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838 MikeW 1
/*#######################################################################################
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Decodieren eines RC Summen Signals
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#######################################################################################*/
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + only for non-profit use
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// + www.MikroKopter.com
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// + see the File "License.txt" for further Informations
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include "rc.h"
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#include "main.h"
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int PPM_in[11] = {0,0,0,0,0,0,0,0,0,0,0};
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int RCQuality = 0;
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unsigned char NewPpmData = 1;
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//############################################################################
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//zum decodieren des PPM-Signals wird Timer1 mit seiner Input
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//Capture Funktion benutzt:
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void rc_sum_init (void)
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//############################################################################
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{
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  TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1); //timer1 prescale 64 
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  TIMSK1 |= _BV(ICIE1);
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  return;
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}
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//############################################################################
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//Diese Routine startet und inizialisiert den Timer für RC
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SIGNAL(SIG_INPUT_CAPTURE1)
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//############################################################################
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{
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  static unsigned int AltICR=0;
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  signed int signal = 0,tmp;
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  static int index;
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  static float RC_Quality = 0.0F;
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  static int PPM_org[11];
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  signal = (unsigned int) ICR1 - AltICR;
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  AltICR = ICR1;
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  //Syncronisationspause?
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  if ((signal > 1500) && (signal < 8000))        
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  {
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    index = 1;
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    NewPpmData = 0;  // Null bedeutet: Neue Daten
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  }
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  else
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  {
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    if(index < 10)
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    {
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      if((signal > 250) && (signal < 687))
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      {
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        signal -= 466;
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        // Stabiles Signal
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        if(abs(signal - PPM_in[index]) < 6)
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        {
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          if(SenderOkay < 200)
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          {
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            SenderOkay += 10;
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          }
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        }
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        /* Give an estimate for the Signal Level based on the RC-Jitter see
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        http://forum.mikrokopter.de/topic-post44807.html#post44807*/
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        if (abs(2 * (signal - PPM_org[index]) > (int) RC_Quality))
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        {
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          RC_Quality = 0.99F * RC_Quality + 0.01F * (float) abs(2 * (signal - PPM_org[index])) ;
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        }
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        else
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        {
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          RC_Quality = 0.998F * RC_Quality + 0.002F * (float) abs(2 * (signal - PPM_org[index]));
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        }
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        tmp = (3 * (PPM_in[index]) + signal) / 4;  
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        PPM_in[index] = tmp;
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        PPM_org[index] = signal;
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      }
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      else
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      {
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        RC_Quality = 0.95F * RC_Quality + 0.05F * 100;         
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      }
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      RC_Quality = MIN(100.F, RC_Quality);
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      RCQuality = 100 - (int) RC_Quality;
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      DebugOut.Analog[12] = RCQuality;
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      index++;
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      /*
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      if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20;  // Servosignal an J3 anlegen
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      if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10;  // Servosignal an J4 anlegen
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      if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08;  // Servosignal an J5 anlegen
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      */
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    }
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  }
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}
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