| /branches/V0.72p Code Redesign killagreg/dsl.c |
|---|
| 85,13 → 85,16 |
| FFFF 1F23F000A30426 |
| */ |
| #include <stdlib.h> |
| #include "dsl.h" |
| #include "rc.h" |
| #include "uart0.h" |
| uint8_t dsl_RSSI = 0; |
| uint8_t dsl_Battery = 0; |
| uint8_t dsl_Allocation = 0; |
| uint8_t PacketBuffer[6]; |
| uint8_t Jitter = 0; // same measurement as RC_Quality in rc.c |
| typedef union |
| { |
| 110,17 → 113,25 |
| int16_t tmp; |
| uint8_t index = channel + 1; // mk channels start with 1 |
| RC_Quality = (212 * (uint16_t)dsl_RSSI) / 128; // have to be scaled approx. by a factor of 1.66 to get 200 at full level |
| if(RC_Quality > 255) RC_Quality = 255; |
| // signal from DSL-receiver is between 7373 (1ms) und 14745 (2ms). |
| signal-= 11059; // shift to neutral |
| signal/= 24; // scale to mk rc resolution |
| if(abs(signal-PPM_in[index]) < 6) |
| { |
| if(Jitter < 200) Jitter +=10; |
| else Jitter = 200; |
| } |
| // calculate exponential history for signal |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| // calculate signal difference on good signal level |
| if(RC_Quality >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for noise reduction |
| if(Jitter >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for noise reduction |
| else PPM_diff[index] = 0; |
| PPM_in[index] = tmp; // update channel value |
| 127,7 → 138,6 |
| if(index == 4) |
| { |
| NewPpmData = 0; |
| NewRCFrames++; |
| } |
| } |
| 145,8 → 155,6 |
| dsl_Allocation = PacketBuffer[1]; // Get frequency allocation |
| // ?? = PacketBuffer[2]; |
| dsl_RSSI = PacketBuffer[3]; // Get signal quality |
| RC_Quality = (212 * (uint16_t)dsl_RSSI) / 128; // have to be scaled approx. by a factor of 1.66 to get 200 at full level |
| if(RC_Quality > 255) RC_Quality = 255; |
| dsl_Battery = PacketBuffer[4]; // Get voltage of battery supply |
| // ?? = PacketBuffer[5]; |
| if(dsl_RSSI == 0) |
| /branches/V0.72p Code Redesign killagreg/main.c |
|---|
| 268,7 → 268,7 |
| ExternStickRoll = 0; |
| ExternStickYaw = 0; |
| } |
| if(RC_Quality) RC_Quality--; |
| if(!I2CTimeout) |
| { |
| I2CTimeout = 5; |
| /branches/V0.72p Code Redesign killagreg/rc.c |
|---|
| 60,7 → 60,6 |
| volatile uint8_t NewPpmData = 1; |
| volatile int16_t RC_Quality = 0; |
| volatile uint8_t NewRCFrames = 0; |
| /***************************************************************/ |
| 110,8 → 109,8 |
| // Enable Input Capture Interrupt (bit: ICIE1=1) |
| // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
| // Enable Overflow Interrupt (bit: TOIE1=0) |
| TIMSK1 &= ~((1<<OCIE1B)|(1<<OCIE1A)); |
| TIMSK1 |= (1<<ICIE1)|(1<<TOIE1); |
| TIMSK1 &= ~((1<<OCIE1B)|(1<<OCIE1A)|(1<<TOIE1)); |
| TIMSK1 |= (1<<ICIE1); |
| RC_Quality = 0; |
| 119,15 → 118,6 |
| } |
| // happens every 0.209712 s. |
| // check for at least one new frame per timer overflow (timeout) |
| ISR(TIMER1_OVF_vect) |
| { |
| if (NewRCFrames == 0) RC_Quality -= RC_Quality/8; |
| NewRCFrames = 0; |
| } |
| /********************************************************************/ |
| /* Every time a positive edge is detected at PD6 */ |
| /********************************************************************/ |
| 169,10 → 159,9 |
| { |
| // 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) |
| if(index >= 4) |
| { |
| NewPpmData = 0; // Null means NewData for the first 4 channels |
| NewRCFrames++; |
| } |
| // synchronize channel index |
| index = 1; |
| 188,7 → 177,7 |
| // shift signal to zero symmetric range -154 to 159 |
| signal -= 466; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
| // check for stable signal |
| if(abs(signal-PPM_in[index]) < 6) |
| if(abs(signal - PPM_in[index]) < 6) |
| { |
| if(RC_Quality < 200) RC_Quality +=10; |
| else RC_Quality = 200; |
| 212,7 → 201,6 |
| } |
| } |
| } |
| if(RC_Quality) RC_Quality--; |
| } |
| /branches/V0.72p Code Redesign killagreg/rc.h |
|---|
| 21,6 → 21,5 |
| extern volatile int16_t PPM_diff[15]; // the differentiated RC-Signal |
| extern volatile uint8_t NewPpmData; // 0 indicates a new recieved PPM Frame |
| extern volatile int16_t RC_Quality; // rc signal quality indicator (0 to 200) |
| extern volatile uint8_t NewRCFrames; |
| #endif //_RC_H |