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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2248 | - | 1 | /************************************************************************************************************************************** |
| 2 | * File: rc.c |
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| 3 | * |
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| 4 | * Purpose: Decoding of the radio control sum signal |
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| 5 | * |
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| 6 | * Functions: void rc_sum_init(void) |
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| 7 | * ISR(TIMER1_CAPT_vect) |
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| 8 | * |
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| 9 | *************************************************************************************************************************************/ |
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| 10 | #include "rc.h" |
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| 11 | #include "main.h" |
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| 12 | |||
| 13 | |||
| 14 | volatile int PPM_in[11]; // containing the stick signal of the according radio control chanel |
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| 15 | volatile int PPM_diff[11]; // the differential stick signal of the appropriate radio control chanel |
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| 16 | volatile char Channels; // containing the number of channels |
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| 17 | volatile char tmpChannels = 0; // |
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| 18 | volatile unsigned char NewPpmData = 1; // |
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| 19 | |||
| 20 | |||
| 21 | //---------------------------------------------------------------------------------------------------------------------------------- |
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| 22 | // The input capture function of Timer1 is used to decode the PPM sum signal |
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| 23 | //---------------------------------------------------------------------------------------------------------------------------------- |
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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 | // TCCR1B = Timer/Counter1 Control Register B -> ICNC1 ICES1 – WGM13 WGM12 CS12 CS11 CS10 |
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| 28 | // |
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| 29 | // ICES1: Input Capture Edge Select = activated |
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| 30 | // ICNC1: Input Capture Noise Canceler = activated |
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| 31 | // CSn2:0 Clock Select = 1:64 from prescaler |
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| 32 | // |
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| 33 | TCCR1B= (1<<ICES1)|(1<<ICNC1)|(1<<CS11)|(1<<CS10); |
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| 34 | |||
| 35 | //------------------------------------------------------------------------------------------------ |
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| 36 | // TIMSK1 = Timer/Counter1 Interrupt Mask Register -> – – ICIE1 – – OCIE1B OCIE1A TOIE1 |
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| 37 | // ICIE1: Timer/Counter1, Input Capture Interrupt Enable |
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| 38 | // |
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| 39 | TIMSK1 |= (1<<ICIE1); |
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| 40 | |||
| 41 | AdNeutralGier = 0; |
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| 42 | AdNeutralRoll = 0; |
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| 43 | AdNeutralNick = 0; |
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| 44 | |||
| 45 | return; |
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| 46 | } |
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| 47 | //---------------------------------------------------------------------------------------------------------------------------------- |
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| 48 | |||
| 49 | |||
| 50 | |||
| 51 | //---------------------------------------------------------------------------------------------------------------------------------- |
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| 52 | // This function works with Timer1 to decode the radio control |
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| 53 | //---------------------------------------------------------------------------------------------------------------------------------- |
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| 54 | ISR(TIMER1_CAPT_vect) |
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| 55 | { |
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| 56 | static unsigned int AltICR=0; |
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| 57 | signed int signal = 0; |
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| 58 | signed int tmp; |
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| 59 | static int index; |
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| 60 | |||
| 61 | signal = (unsigned int) ICR1 - AltICR; // ICR1H and ICR1L – Input Capture Register 1 |
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| 62 | AltICR = ICR1; |
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| 63 | |||
| 64 | if((signal > 1100) && (signal < 8000)) // Syncronisation break? (3.52 ms < signal < 25.6 ms) |
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| 65 | { |
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| 66 | Channels = index; |
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| 67 | if(index >= 4) NewPpmData = 0; // zero is equal to new Data |
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| 68 | index = 1; |
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| 69 | } |
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| 70 | else |
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| 71 | { |
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| 72 | if(index < 10) |
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| 73 | { |
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| 74 | if((signal > 250) && (signal < 687)) |
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| 75 | { |
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| 76 | signal -= 466; |
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| 77 | |||
| 78 | if(abs(signal - PPM_in[index]) < 6) // good signal |
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| 79 | { |
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| 80 | if(SenderOkay < 200) SenderOkay += 10; |
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| 81 | else SenderOkay = 200; |
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| 82 | } |
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| 83 | |||
| 84 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
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| 85 | |||
| 86 | if(tmp > signal+1) tmp--; |
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| 87 | else if(tmp < signal-1) tmp++; |
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| 88 | |||
| 89 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
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| 90 | else PPM_diff[index] = 0; |
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| 91 | |||
| 92 | PPM_in[index] = tmp; |
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| 93 | } |
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| 94 | |||
| 95 | index++; |
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| 96 | |||
| 97 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
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| 98 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
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| 99 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
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| 100 | } |
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| 101 | } |
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| 102 | } |
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| 103 | //---------------------------------------------------------------------------------------------------------------------------------- |
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| 104 |