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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1995 | - | 1 | /*####################################################################################### |
| 2 | Decodieren eines RC Summen Signals |
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| 3 | #######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) Holger Buss, Ingo Busker |
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| 6 | // + only for non-profit use |
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| 7 | // + www.MikroKopter.com |
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| 8 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
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| 9 | // + see the File "License.txt" for further Informations |
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| 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 11 | |||
| 12 | #include "rc.h" |
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| 13 | #include "main.h" |
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| 14 | // Achtung: ACT_S3D_SUMMENSIGNAL wird in der Main.h gesetzt |
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| 15 | |||
| 16 | volatile int PPM_in[26]; |
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| 17 | volatile int PPM_diff[26]; // das diffenzierte Stick-Signal |
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| 18 | volatile char Channels,tmpChannels = 0; |
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| 19 | volatile unsigned char NewPpmData = 1; |
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| 20 | unsigned int PPM_Neutral = 466; |
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| 21 | |||
| 22 | //############################################################################ |
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| 23 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
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| 24 | //Capture Funktion benutzt: |
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| 25 | void rc_sum_init (void) |
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| 26 | //############################################################################ |
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| 27 | { |
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| 28 | unsigned char i; |
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| 29 | for(i=0;i<26;i++) |
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| 30 | { |
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| 31 | if(i < 5) PPM_in[i] = 0; else PPM_in[i] = -126; |
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| 32 | PPM_diff[i] = 0; |
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| 33 | } |
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| 34 | |||
| 35 | AdNeutralGier = 0; |
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| 36 | AdNeutralRoll = 0; |
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| 37 | AdNeutralNick = 0; |
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| 38 | return; |
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| 39 | } |
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| 40 | |||
| 41 | #ifndef ACT_S3D_SUMMENSIGNAL |
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| 42 | //############################################################################ |
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| 43 | //Diese Routine startet und inizialisiert den Timer für RC |
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| 44 | ISR(TIMER1_CAPT_vect) |
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| 45 | //############################################################################ |
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| 46 | { |
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| 47 | if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC)) |
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| 48 | { |
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| 49 | static unsigned int AltICR=0; |
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| 50 | signed int signal = 0,tmp; |
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| 51 | static int index; |
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| 52 | |||
| 53 | signal = (unsigned int) ICR1 - AltICR; |
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| 54 | AltICR = ICR1; |
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| 55 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
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| 56 | if((signal > 1100) && (signal < 8000)) |
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| 57 | { |
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| 58 | Channels = index; |
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| 59 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
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| 60 | index = 1; |
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| 61 | } |
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| 62 | else |
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| 63 | { |
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| 64 | if(index < 13) |
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| 65 | { |
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| 66 | if((signal > 250) && (signal < 687)) |
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| 67 | { |
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| 68 | signal -= PPM_Neutral; |
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| 69 | // Stabiles Signal |
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| 70 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
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| 71 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
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| 72 | if(tmp > signal+1) tmp--; else |
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| 73 | if(tmp < signal-1) tmp++; |
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| 74 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
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| 75 | else PPM_diff[index] = 0; |
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| 76 | PPM_in[index] = tmp; |
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| 77 | } |
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| 78 | index++; |
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| 79 | if(PlatinenVersion < 20) |
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| 80 | { |
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| 81 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
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| 82 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
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| 83 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
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| 84 | } |
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| 85 | } |
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| 86 | } |
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| 87 | } |
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| 88 | else |
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| 89 | { |
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| 90 | static unsigned int AltICR=0; |
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| 91 | static int ppm_in[13]; |
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| 92 | static int ppm_diff[13]; |
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| 93 | static int old_ppm_in[13]; |
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| 94 | static int old_ppm_diff[13]; |
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| 95 | signed int signal = 0,tmp; |
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| 96 | static unsigned char index, okay_cnt = 0; |
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| 97 | signal = (unsigned int) ICR1 - AltICR; |
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| 98 | AltICR = ICR1; |
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| 99 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
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| 100 | if((signal > 1100) && (signal < 8000)) |
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| 101 | { |
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| 102 | tmpChannels = index; |
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| 103 | if(tmpChannels >= 4 && Channels == tmpChannels) |
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| 104 | { |
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| 105 | if(okay_cnt > 10) |
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| 106 | { |
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| 107 | NewPpmData = 0; // Null bedeutet: Neue Daten |
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| 108 | for(index = 0; index < 13; index++) |
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| 109 | { |
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| 110 | if(okay_cnt > 30) |
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| 111 | { |
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| 112 | old_ppm_in[index] = PPM_in[index]; |
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| 113 | old_ppm_diff[index] = PPM_diff[index]; |
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| 114 | } |
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| 115 | PPM_in[index] = ppm_in[index]; |
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| 116 | PPM_diff[index] = ppm_diff[index]; |
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| 117 | } |
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| 118 | } |
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| 119 | if(okay_cnt < 255) okay_cnt++; |
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| 120 | } |
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| 121 | else |
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| 122 | { |
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| 123 | if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0; |
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| 124 | ROT_ON; |
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| 125 | } |
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| 126 | index = 1; |
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| 127 | if(!MotorenEin) Channels = tmpChannels; |
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| 128 | } |
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| 129 | else |
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| 130 | { |
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| 131 | if(index < 13) |
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| 132 | { |
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| 133 | if((signal > 250) && (signal < 687)) |
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| 134 | { |
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| 135 | signal -= PPM_Neutral; |
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| 136 | // Stabiles Signal |
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| 137 | if((abs(signal - ppm_in[index]) < 6)) |
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| 138 | { |
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| 139 | if(okay_cnt > 25) SenderOkay += 10; |
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| 140 | else |
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| 141 | if(okay_cnt > 10) SenderOkay += 2; |
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| 142 | if(SenderOkay > 200) SenderOkay = 200; |
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| 143 | } |
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| 144 | tmp = (3 * (ppm_in[index]) + signal) / 4; |
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| 145 | if(tmp > signal+1) tmp--; else |
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| 146 | if(tmp < signal-1) tmp++; |
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| 147 | if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
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| 148 | else ppm_diff[index] = 0; |
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| 149 | ppm_in[index] = tmp; |
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| 150 | } |
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| 151 | else ROT_ON; |
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| 152 | if(PlatinenVersion < 20) |
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| 153 | { |
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| 154 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
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| 155 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
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| 156 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
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| 157 | } |
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| 158 | } |
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| 159 | if(index < 20) index++; |
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| 160 | else |
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| 161 | if(index == 20) |
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| 162 | { |
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| 163 | unsigned char i; |
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| 164 | ROT_ON; |
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| 165 | index = 30; |
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| 166 | for(i=0;i<13;i++) // restore from older data |
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| 167 | { |
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| 168 | PPM_in[i] = old_ppm_in[i]; |
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| 169 | PPM_diff[i] = 0; |
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| 170 | // okay_cnt /= 2; |
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| 171 | } |
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| 172 | } |
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| 173 | } |
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| 174 | } |
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| 175 | } |
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| 176 | |||
| 177 | #else |
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| 178 | //############################################################################ |
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| 179 | //Diese Routine startet und inizialisiert den Timer für RC |
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| 180 | ISR(TIMER1_CAPT_vect) |
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| 181 | //############################################################################ |
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| 182 | |||
| 183 | { |
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| 184 | static unsigned int AltICR=0; |
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| 185 | signed int signal = 0,tmp; |
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| 186 | static int index; |
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| 187 | |||
| 188 | signal = (unsigned int) ICR1 - AltICR; |
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| 189 | signal /= 2; |
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| 190 | AltICR = ICR1; |
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| 191 | //Syncronisationspause? |
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| 192 | if((signal > 1100*2) && (signal < 8000*2)) |
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| 193 | { |
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| 194 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
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| 195 | index = 1; |
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| 196 | } |
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| 197 | else |
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| 198 | { |
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| 199 | if(index < 13) |
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| 200 | { |
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| 201 | if((signal > 250) && (signal < 687*2)) |
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| 202 | { |
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| 203 | signal -= 962; |
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| 204 | // Stabiles Signal |
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| 205 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
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| 206 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
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| 207 | if(tmp > signal+1) tmp--; else |
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| 208 | if(tmp < signal-1) tmp++; |
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| 209 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
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| 210 | else PPM_diff[index] = 0; |
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| 211 | PPM_in[index] = tmp; |
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| 212 | } |
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| 213 | index++; |
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| 214 | } |
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| 215 | } |
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| 216 | } |
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| 217 | #endif |
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| 218 |