| 0,0 → 1,104 |
|---|
| /************************************************************************************************************************************** |
| * File: rc.c |
| * |
| * Purpose: Decoding of the radio control sum signal |
| * |
| * Functions: void rc_sum_init(void) |
| * ISR(TIMER1_CAPT_vect) |
| * |
| *************************************************************************************************************************************/ |
| #include "rc.h" |
| #include "main.h" |
| |
| |
| volatile int PPM_in[11]; // containing the stick signal of the according radio control chanel |
| volatile int PPM_diff[11]; // the differential stick signal of the appropriate radio control chanel |
| volatile char Channels; // containing the number of channels |
| volatile char tmpChannels = 0; // |
| volatile unsigned char NewPpmData = 1; // |
| |
| |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| // The input capture function of Timer1 is used to decode the PPM sum signal |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| void rc_sum_init(void) |
| { |
| //------------------------------------------------------------------------------------------------ |
| // TCCR1B = Timer/Counter1 Control Register B -> ICNC1 ICES1 WGM13 WGM12 CS12 CS11 CS10 |
| // |
| // ICES1: Input Capture Edge Select = activated |
| // ICNC1: Input Capture Noise Canceler = activated |
| // CSn2:0 Clock Select = 1:64 from prescaler |
| // |
| TCCR1B= (1<<ICES1)|(1<<ICNC1)|(1<<CS11)|(1<<CS10); |
| |
| //------------------------------------------------------------------------------------------------ |
| // TIMSK1 = Timer/Counter1 Interrupt Mask Register -> ICIE1 OCIE1B OCIE1A TOIE1 |
| // ICIE1: Timer/Counter1, Input Capture Interrupt Enable |
| // |
| TIMSK1 |= (1<<ICIE1); |
| |
| AdNeutralGier = 0; |
| AdNeutralRoll = 0; |
| AdNeutralNick = 0; |
| |
| return; |
| } |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| |
| |
| |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| // This function works with Timer1 to decode the radio control |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| ISR(TIMER1_CAPT_vect) |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0; |
| signed int tmp; |
| static int index; |
| |
| signal = (unsigned int) ICR1 - AltICR; // ICR1H and ICR1L Input Capture Register 1 |
| AltICR = ICR1; |
| |
| if((signal > 1100) && (signal < 8000)) // Syncronisation break? (3.52 ms < signal < 25.6 ms) |
| { |
| Channels = index; |
| if(index >= 4) NewPpmData = 0; // zero is equal to new Data |
| index = 1; |
| } |
| else |
| { |
| if(index < 10) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= 466; |
| |
| if(abs(signal - PPM_in[index]) < 6) // good signal |
| { |
| if(SenderOkay < 200) SenderOkay += 10; |
| else SenderOkay = 200; |
| } |
| |
| 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; |
| else PPM_diff[index] = 0; |
| |
| PPM_in[index] = tmp; |
| } |
| |
| index++; |
| |
| if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
| if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
| if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
| } |
| } |
| } |
| //---------------------------------------------------------------------------------------------------------------------------------- |
| |