| 16,71 → 16,121 |
|---|
| #include "fc.h" |
| |
| volatile int16_t PPM_in[11]; |
| volatile int16_t PPM_diff[11]; // das diffenzierte Stick-Signal |
| volatile int16_t PPM_diff[11]; |
| volatile uint8_t NewPpmData = 1; |
| volatile uint8_t SenderOkay = 0; |
| |
| /***************************************************************/ |
| /* zum decodieren des PPM-Signals wird Timer1 mit seiner Input */ |
| /* Capture Funktion benutzt: */ |
| /* 16bit timer 1 is used to decode the PPM-Signal */ |
| /***************************************************************/ |
| |
| void rc_sum_init (void) |
| { |
| TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
| uint8_t sreg = SREG; |
| |
| // PWM |
| //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
| //TCCR1B |= (1 << WGM12); |
| //OCR1B = 55; |
| // disable all interrupts before reconfiguration |
| cli(); |
| |
| TIMSK1 |= _BV(ICIE1); |
| // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
| DDRD &= ~(1<<DDD6); |
| PORTD |= (1<<PORTD6); |
| |
| // Timer/Counter1 Control Register A, B, C |
| |
| // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
| // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
| // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
| // Enable input capture noise cancler (bit: ICNC1=1) |
| // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
| // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2µs |
| // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
| TCCR1A &= ~((1<<COM1A1)|(1<<COM1A0)|(1<<COM1B1)|(1<<COM1B0)|(1<<WGM11)|(1<<WGM10)); |
| TCCR1B &= ~((1<<WGM13)|(1<<WGM12)|(1<<CS12)); |
| TCCR1B |= (1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1); |
| TCCR1C &= ~((1<<FOC1A)|(1<<FOC1B)); |
| |
| // Timer/Counter1 Interrupt Mask Register |
| |
| // Enable Input Capture Interrupt (bit: ICIE1=1) |
| // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
| // Disable Overflow Interrupt (bit: TOIE1=0) |
| TIMSK1 &= ~((1<<OCIE1B)|(1<<OCIE1A)|(1<<TOIE1)); |
| TIMSK1 |= (1<<ICIE1); |
| |
| AdNeutralGier = 0; |
| AdNeutralRoll = 0; |
| AdNeutralNick = 0; |
| return; |
| |
| SREG = sreg; |
| } |
| |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den Timer für RC |
| SIGNAL(SIG_INPUT_CAPTURE1) |
| //############################################################################ |
| |
| /********************************************************************/ |
| /* Every time a positive edge is detected at PD6 */ |
| /********************************************************************/ |
| /* |
| The PPM-Frame length is 22.5 ms. |
| Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
| The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
| The maximum time delay of two events coding a chanel is ( 1.7 + 0.3) ms = 2 ms. |
| The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
| The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
| The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
| the syncronization gap. |
| */ |
| ISR(TIMER1_CAPT_vect) // typical rate of 1 ms to 2 ms |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0,tmp; |
| static int index; |
| static uint16_t oldICR1 = 0; |
| int16_t signal = 0, tmp; |
| static int16_t index; |
| |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
| // at the time the edge was detected |
| |
| //Syncronisationspause? |
| // if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
| // calculate the time delay to the previous event time which is stored in oldICR1 |
| signal = (uint16_t) ICR1 - oldICR1; |
| oldICR1 = ICR1; |
| |
| |
| //sync gap? (3.52 ms < signal < 25.6 ms) |
| if((signal > 1100) && (signal < 8000)) |
| { |
| // if a sync gap happens and there where at least 4 channels decoded before |
| // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
| if(index >= 4) NewPpmData = 0; // Null means NewData |
| // synchronize channel index |
| index = 1; |
| } |
| else // within the PPM frame |
| { |
| if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| index = 1; |
| } |
| else |
| if(index < 10) // channel limit is 9 because of the frame length of 22.5 ms |
| { |
| if(index < 10) |
| // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
| if((signal > 250) && (signal < 687)) |
| { |
| if((signal > 250) && (signal < 687)) |
| signal -= 466; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
| // check for stable signal |
| // the deviation of the current signal level from the average must be less than 6 (aprox. 1%) |
| if(abs(signal - PPM_in[index]) < 6) |
| { |
| signal -= 466; |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| // tmp = (7 * (PPM_in[index]) + signal) / 8; |
| // a good signal condition increases SenderOkay by 10 |
| // SignalOkay is decremented every 2 ms in timer0.c |
| // this variable is a level for the average rate of noiseless signal |
| if(SenderOkay < 200) SenderOkay += 10; |
| } |
| // calculate exponential history for signal |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| // calculate signal difference on good signal level |
| if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
| else PPM_diff[index] = 0; |
| PPM_in[index] = tmp; |
| } |
| index++; |
| if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
| PPM_in[index] = tmp; // update channel value |
| } |
| index++; // next channel |
| // demux sum signal fpr channels 5 to 7 |
| if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
| } |
| } |
| } |