WebSVN - FlightCtrl - Blame - Rev 1819 - /branches/V0.82b-Arthur-P/rc.c

Rev	Author	Line No.	Line
1819	-	1	/******************************************************************************************************************
		2	V0.82b-Arthur-P 2010-12-18
		3	------------------------------------------------------------------------------------------------------------------
		4	Version includes only support for external HEF4017 for FC1.x hardware, NOT for Twi2Ppm converters for ESCs.
		5
		6	2010-12-18 Chanded the if(Platinenversion < 20) statement within this file to correctly identify external HEF4017.
		7	Arthur P. Modified to use several parameters for servo control:
		8	User_Parameter4:
		9	User_Parameter5:
		10	User_Parameter6:
		11	User_Parameter7:
		12	User_Parameter8: Use external HEF4017 if bit 8 is set (>127). The remaining 7 bits are used
		13	for the shutter cycle counter: the value is multiplied by 5 programmatically,
		14	resulting in steps of approx. 0.1sec. Minimum value to start using the
		15	interval timer is 10 (approx. 1 sec, or countervalue of 50). Note that this
		16	was originally done through user para 6.
		17	******************************************************************************************************************/
1	ingob	18	/*#######################################################################################
1561	killagreg	19	Decodieren eines RC Summen Signals
1	ingob	20	#######################################################################################*/
		21	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1338	ingob	22	// + Copyright (c) Holger Buss, Ingo Busker
1	ingob	23	// + only for non-profit use
		24	// + www.MikroKopter.com
1356	hbuss	25	// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
1	ingob	26	// + see the File "License.txt" for further Informations
		27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		28
		29	#include "rc.h"
		30	#include "main.h"
1638	holgerb	31	// Achtung: ACT_S3D_SUMMENSIGNAL wird in der Main.h gesetzt
1	ingob	32
1377	hbuss	33	volatile int PPM_in[26];
		34	volatile int PPM_diff[26]; // das diffenzierte Stick-Signal
1268	hbuss	35	volatile char Channels,tmpChannels = 0;
1	ingob	36	volatile unsigned char NewPpmData = 1;
		37
		38	//############################################################################
		39	//zum decodieren des PPM-Signals wird Timer1 mit seiner Input
		40	//Capture Funktion benutzt:
		41	void rc_sum_init (void)
		42	//############################################################################
		43	{
1377	hbuss	44	unsigned char i;
		45	for(i=0;i<26;i++)
		46	{
		47	PPM_in[i] = 0;
		48	PPM_diff[i] = 0;
		49	}
1438	ingob	50
1	ingob	51	AdNeutralGier = 0;
		52	AdNeutralRoll = 0;
		53	AdNeutralNick = 0;
		54	return;
		55	}
1309	hbuss	56
1356	hbuss	57	#ifndef ACT_S3D_SUMMENSIGNAL
1278	hbuss	58	//############################################################################
		59	//Diese Routine startet und inizialisiert den Timer f�r RC
1561	killagreg	60	ISR(TIMER1_CAPT_vect)
1278	hbuss	61	//############################################################################
		62	{
1309	hbuss	63	if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC))
		64	{
1278	hbuss	65	static unsigned int AltICR=0;
		66	signed int signal = 0,tmp;
1561	killagreg	67	static int index;
		68
		69	signal = (unsigned int) ICR1 - AltICR;
		70	AltICR = ICR1;
1283	hbuss	71	//Syncronisationspause? (3.52 ms < signal < 25.6 ms)
1561	killagreg	72	if((signal > 1100) && (signal < 8000))
1278	hbuss	73	{
1320	hbuss	74	Channels = index;
1278	hbuss	75	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten
1561	killagreg	76	index = 1;
		77	}
		78	else
1278	hbuss	79	{
1377	hbuss	80	if(index < 13)
1278	hbuss	81	{
1561	killagreg	82	if((signal > 250) && (signal < 687))
		83	{
1278	hbuss	84	signal -= 466;
		85	// Stabiles Signal
		86	if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;}
1561	killagreg	87	tmp = (3 * (PPM_in[index]) + signal) / 4;
1278	hbuss	88	if(tmp > signal+1) tmp--; else
1561	killagreg	89	if(tmp < signal-1) tmp++;
		90	if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
1278	hbuss	91	else PPM_diff[index] = 0;
		92	PPM_in[index] = tmp;
1561	killagreg	93	}
		94	index++;
1819	-	95	/******************************************************************************************************************
		96	Arthur P: Modified the code to check the value of parameter 8. If 128 or higher then a HEF4017 is
		97	expected and will be used. Else J7 and J9 are seen as separate normal outputs.
		98	if((PlatinenVersion < 20)
		99	20100802 Inserted changes into v.0.82b code.
		100	******************************************************************************************************************/
		101
		102	// if(PlatinenVersion < 20)
		103
		104	if((PlatinenVersion < 20) && (Parameter_UserParam8 < 128 ))
		105	/******************************************************************************************************************
		106	Arthur P: End of modification ot if statement.
		107	******************************************************************************************************************/
1639	holgerb	108	{
		109	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen
		110	if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen
		111	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen
		112	}
1278	hbuss	113	}
		114	}
1309	hbuss	115	}
1561	killagreg	116	else
1309	hbuss	117	{
1	ingob	118	static unsigned int AltICR=0;
1377	hbuss	119	static int ppm_in[13];
1561	killagreg	120	static int ppm_diff[13];
1377	hbuss	121	static int old_ppm_in[13];
1561	killagreg	122	static int old_ppm_diff[13];
173	holgerb	123	signed int signal = 0,tmp;
1561	killagreg	124	static unsigned char index, okay_cnt = 0;
		125	signal = (unsigned int) ICR1 - AltICR;
		126	AltICR = ICR1;
1283	hbuss	127	//Syncronisationspause? (3.52 ms < signal < 25.6 ms)
1561	killagreg	128	if((signal > 1100) && (signal < 8000))
1	ingob	129	{
1268	hbuss	130	tmpChannels = index;
1561	killagreg	131	if(tmpChannels >= 4 && Channels == tmpChannels)
1268	hbuss	132	{
1276	hbuss	133	if(okay_cnt > 10)
1268	hbuss	134	{
		135	NewPpmData = 0; // Null bedeutet: Neue Daten
1377	hbuss	136	for(index = 0; index < 13; index++)
1268	hbuss	137	{
1561	killagreg	138	if(okay_cnt > 30)
1268	hbuss	139	{
		140	old_ppm_in[index] = PPM_in[index];
		141	old_ppm_diff[index] = PPM_diff[index];
1561	killagreg	142	}
1268	hbuss	143	PPM_in[index] = ppm_in[index];
		144	PPM_diff[index] = ppm_diff[index];
		145	}
		146	}
		147	if(okay_cnt < 255) okay_cnt++;
		148	}
1561	killagreg	149	else
1278	hbuss	150	{
		151	if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0;
		152	ROT_ON;
		153	}
1561	killagreg	154	index = 1;
1268	hbuss	155	if(!MotorenEin) Channels = tmpChannels;
1561	killagreg	156	}
		157	else
1	ingob	158	{
1377	hbuss	159	if(index < 13)
1	ingob	160	{
1561	killagreg	161	if((signal > 250) && (signal < 687))
		162	{
1	ingob	163	signal -= 466;
		164	// Stabiles Signal
1271	hbuss	165	if((abs(signal - ppm_in[index]) < 6))
		166	{
1276	hbuss	167	if(okay_cnt > 25) SenderOkay += 10;
1561	killagreg	168	else
		169	if(okay_cnt > 10) SenderOkay += 2;
1276	hbuss	170	if(SenderOkay > 200) SenderOkay = 200;
1271	hbuss	171	}
1561	killagreg	172	tmp = (3 * (ppm_in[index]) + signal) / 4;
604	hbuss	173	if(tmp > signal+1) tmp--; else
1561	killagreg	174	if(tmp < signal-1) tmp++;
		175	if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3;
1268	hbuss	176	else ppm_diff[index] = 0;
		177	ppm_in[index] = tmp;
1561	killagreg	178	}
1268	hbuss	179	else ROT_ON;
1819	-	180	/******************************************************************************************************************
		181	Arthur P: Modified the code to check the value of parameter 8. If 128 or higher then a HEF4017 is
		182	expected and will be used. Else J7 and J9 are seen as separate normal outputs.
		183	if((PlatinenVersion < 20)
		184	20100802 Inserted changes into v.0.82b code.
		185	******************************************************************************************************************/
		186
		187	// if(PlatinenVersion < 20)
		188
		189	if((PlatinenVersion < 20) && (Parameter_UserParam8 < 128 ))
		190	/******************************************************************************************************************
		191	Arthur P: End of modification ot if statement.
		192	******************************************************************************************************************/
1639	holgerb	193	{
		194	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen
		195	if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen
		196	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen
		197	}
1268	hbuss	198	}
1561	killagreg	199	if(index < 20) index++;
1276	hbuss	200	else
1561	killagreg	201	if(index == 20)
1268	hbuss	202	{
1276	hbuss	203	unsigned char i;
1278	hbuss	204	ROT_ON;
1276	hbuss	205	index = 30;
1377	hbuss	206	for(i=0;i<13;i++) // restore from older data
1268	hbuss	207	{
1276	hbuss	208	PPM_in[i] = old_ppm_in[i];
		209	PPM_diff[i] = 0;
		210	// okay_cnt /= 2;
1268	hbuss	211	}
		212	}
		213	}
1309	hbuss	214	}
1171	hbuss	215	}
		216
1561	killagreg	217	#else
1171	hbuss	218	//############################################################################
		219	//Diese Routine startet und inizialisiert den Timer f�r RC
1561	killagreg	220	ISR(TIMER1_CAPT_vect)
1171	hbuss	221	//############################################################################
		222
		223	{
		224	static unsigned int AltICR=0;
		225	signed int signal = 0,tmp;
1561	killagreg	226	static int index;
		227
		228	signal = (unsigned int) ICR1 - AltICR;
1171	hbuss	229	signal /= 2;
1561	killagreg	230	AltICR = ICR1;
1171	hbuss	231	//Syncronisationspause?
1561	killagreg	232	if((signal > 11002) && (signal < 80002))
1171	hbuss	233	{
		234	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten
1561	killagreg	235	index = 1;
		236	}
		237	else
1171	hbuss	238	{
1377	hbuss	239	if(index < 13)
1171	hbuss	240	{
1561	killagreg	241	if((signal > 250) && (signal < 687*2))
		242	{
1171	hbuss	243	signal -= 962;
		244	// Stabiles Signal
		245	if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;}
1561	killagreg	246	tmp = (3 * (PPM_in[index]) + signal) / 4;
1171	hbuss	247	if(tmp > signal+1) tmp--; else
1561	killagreg	248	if(tmp < signal-1) tmp++;
		249	if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
1171	hbuss	250	else PPM_diff[index] = 0;
		251	PPM_in[index] = tmp;
1561	killagreg	252	}
		253	index++;
1	ingob	254	}
		255	}
		256	}
1356	hbuss	257	#endif
1	ingob	258

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