Subversion Repositories FlightCtrl

Rev

Rev 1226 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
1 ingob 1
/*#######################################################################################
2
Decodieren eines RC Summen Signals
3
#######################################################################################*/
4
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1340 ingob 5
// + Copyright (c) Holger Buss, Ingo Busker
1 ingob 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
 
14
volatile int PPM_in[11];
15
volatile int PPM_diff[11];  // das diffenzierte Stick-Signal
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
1171 hbuss 25
//      TCCR1B=(1<<CS11)|(0<<CS10)|(1<<ICES1)|(1<<ICNC1); //timer1 prescale 64
1 ingob 26
    TIMSK1 |= _BV(ICIE1);
27
    AdNeutralGier = 0;
28
    AdNeutralRoll = 0;
29
    AdNeutralNick = 0;
30
    return;
31
}
32
 
33
//############################################################################
34
//Diese Routine startet und inizialisiert den Timer für RC
35
SIGNAL(SIG_INPUT_CAPTURE1)
36
//############################################################################
37
 
38
{
39
        static unsigned int AltICR=0;
173 holgerb 40
    signed int signal = 0,tmp;
1 ingob 41
        static int index;              
42
 
43
        signal = (unsigned int) ICR1 - AltICR;         
44
        AltICR = ICR1; 
45
    //Syncronisationspause?
513 hbuss 46
        if((signal > 1100) && (signal < 8000))   
1 ingob 47
        {
513 hbuss 48
        if(index >= 4)  NewPpmData = 0;  // Null bedeutet: Neue Daten
1 ingob 49
        index = 1;             
50
        }
51
        else
52
        {
53
        if(index < 10)
54
            {
55
            if((signal > 250) && (signal < 687))
56
                {
57
                signal -= 466;
58
                // Stabiles Signal
1172 hbuss 59
                if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;}
614 hbuss 60
                tmp = (3 * (PPM_in[index]) + signal) / 4;  
604 hbuss 61
                if(tmp > signal+1) tmp--; else
62
                if(tmp < signal-1) tmp++;
63
                if(SenderOkay >= 195)  PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
64
                else PPM_diff[index] = 0;
173 holgerb 65
                PPM_in[index] = tmp;
1 ingob 66
                }
67
            index++;  
1224 hbuss 68
         if(index == 5) J3High; else J3Low;  // Servosignal an J3 anlegen
69
         if(index == 6) J4High; else J4Low;  // Servosignal an J4 anlegen
70
         if(index == 7) J5High; else J5Low;  // Servosignal an J5 anlegen 
1171 hbuss 71
        }
72
        }
73
}
74
 
75
/*
76
//############################################################################
77
//Diese Routine startet und inizialisiert den Timer für RC
78
SIGNAL(SIG_INPUT_CAPTURE1)
79
//############################################################################
80
 
81
{
82
        static unsigned int AltICR=0;
83
    signed int signal = 0,tmp;
84
        static int index;              
85
 
86
        signal = (unsigned int) ICR1 - AltICR;         
87
DebugOut.Analog[16] = signal;
88
        signal /= 2;
89
        AltICR = ICR1; 
90
    //Syncronisationspause?
91
        if((signal > 1100*2) && (signal < 8000*2))       
92
        {
93
        if(index >= 4)  NewPpmData = 0;  // Null bedeutet: Neue Daten
94
        index = 1;             
95
        }
96
        else
97
        {
98
        if(index < 10)
99
            {
100
            if((signal > 250) && (signal < 687*2))
101
                {
102
                signal -= 962;
103
                // Stabiles Signal
104
                if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;}
105
                tmp = (3 * (PPM_in[index]) + signal) / 4;  
106
                if(tmp > signal+1) tmp--; else
107
                if(tmp < signal-1) tmp++;
108
                if(SenderOkay >= 195)  PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
109
                else PPM_diff[index] = 0;
110
                PPM_in[index] = tmp;
111
                }
112
            index++;  
1155 hbuss 113
         if(index == 5) J3High; else J3Low;  // Servosignal an J3 anlegen
1171 hbuss 114
         if(index == 2) J4High; else J4Low;  // Servosignal an J4 anlegen
1155 hbuss 115
         if(index == 7) J5High; else J5Low;  // Servosignal an J5 anlegen
1 ingob 116
        }
117
        }
118
}
1171 hbuss 119
*/
1 ingob 120
 
121
 
122