| 1,141 → 1,136 |
|---|
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur f�r den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zul�ssig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdlib.h> |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| |
| #include "rc.h" |
| #include "uart0.h" |
| #include "controlMixer.h" |
| #include "configuration.h" |
| #include "commands.h" |
| |
| // The channel array is 1-based. The 0th entry is not used. |
| volatile int16_t PPM_in[MAX_CHANNELS]; |
| volatile int16_t PPM_diff[MAX_CHANNELS]; |
| volatile uint8_t NewPpmData = 1; |
| volatile uint8_t RC_Quality = 0; |
| int16_t RC_PRTY[4]; |
| uint8_t lastRCCommand = COMMAND_NONE; |
| uint8_t commandTimer = 0; |
| |
| // Useless. Just trim on the R/C instead. |
| // int16_t stickOffsetPitch = 0, stickOffsetRoll = 0; |
| |
| /*************************************************************** |
| * 16bit timer 1 is used to decode the PPM-Signal |
| ***************************************************************/ |
| void RC_Init(void) { |
| uint8_t sreg = SREG; |
| |
| // disable all interrupts before reconfiguration |
| cli(); |
| |
| // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
| DDRD &= ~(1<<6); |
| PORTD |= (1<<PORTD6); |
| |
| // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
| // set as output |
| DDRD |= (1<<DDD5) | (1<<DDD4) | (1<<DDD3); |
| // low level |
| PORTD &= ~((1<<PORTD5) | (1<<PORTD4) | (1<<PORTD3)); |
| |
| // PD3 can't be used if 2nd UART is activated |
| // because TXD1 is at that port |
| if (CPUType != ATMEGA644P) { |
| DDRD |= (1<<PORTD3); |
| PORTD &= ~(1<<PORTD3); |
| } |
| |
| // 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 3.2�s |
| // 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) |
| // Enable Overflow Interrupt (bit: TOIE1=0) |
| TIMSK1 &= ~((1<<OCIE1B) | (1<<OCIE1A) | (1<<TOIE1)); |
| TIMSK1 |= (1<<ICIE1); |
| |
| RC_Quality = 0; |
| |
| SREG = sreg; |
| } |
| |
| /********************************************************************/ |
| /* Every time a positive edge is detected at PD6 */ |
| /********************************************************************/ |
| /* t-Frame |
| <-----------------------------------------------------------------------> |
| ____ ______ _____ ________ ______ sync gap ____ |
| | | | | | | | | | | | |
| | | | | | | | | | | | |
| ___| |_| |_| |_| |_.............| |________________| |
| <-----><-------><------><--------> <------> <--- |
| t0 t1 t2 t4 tn t0 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur f�r den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zul�ssig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdlib.h> |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| |
| #include "rc.h" |
| #include "uart0.h" |
| #include "controlMixer.h" |
| #include "configuration.h" |
| #include "commands.h" |
| |
| // The channel array is now 0-based. |
| volatile int16_t PPM_in[MAX_CHANNELS]; |
| volatile int16_t PPM_diff[MAX_CHANNELS]; |
| volatile uint8_t NewPpmData = 1; |
| volatile uint8_t RC_Quality = 0; |
| int16_t RC_PRTY[4]; |
| uint8_t lastRCCommand = COMMAND_NONE; |
| uint8_t commandTimer = 0; |
| |
| /*************************************************************** |
| * 16bit timer 1 is used to decode the PPM-Signal |
| ***************************************************************/ |
| void RC_Init(void) { |
| uint8_t sreg = SREG; |
| |
| // disable all interrupts before reconfiguration |
| cli(); |
| |
| // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
| DDRD &= ~(1<<6); |
| PORTD |= (1<<PORTD6); |
| |
| // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
| // set as output |
| DDRD |= (1<<DDD5) | (1<<DDD4) | (1<<DDD3); |
| // low level |
| PORTD &= ~((1<<PORTD5) | (1<<PORTD4) | (1<<PORTD3)); |
| |
| // PD3 can't be used if 2nd UART is activated |
| // because TXD1 is at that port |
| if (CPUType != ATMEGA644P) { |
| DDRD |= (1<<PORTD3); |
| PORTD &= ~(1<<PORTD3); |
| } |
| |
| // 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 3.2�s |
| // 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) |
| // Enable Overflow Interrupt (bit: TOIE1=0) |
| TIMSK1 &= ~((1<<OCIE1B) | (1<<OCIE1A) | (1<<TOIE1)); |
| TIMSK1 |= (1<<ICIE1); |
| |
| RC_Quality = 0; |
| |
| SREG = sreg; |
| } |
| |
| /********************************************************************/ |
| /* Every time a positive edge is detected at PD6 */ |
| /********************************************************************/ |
| /* t-Frame |
| <-----------------------------------------------------------------------> |
| ____ ______ _____ ________ ______ sync gap ____ |
| | | | | | | | | | | | |
| | | | | | | | | | | | |
| ___| |_| |_| |_| |_.............| |________________| |
| <-----><-------><------><----------- <------> <--- |
| t0 t1 t2 t4 tn t0 |
| |
| 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. |
| 164,13 → 159,13 |
|---|
| 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) { |
| if (index >= 3) { |
| NewPpmData = 0; // Null means NewData for the first 4 channels |
| } |
| // synchronize channel index |
| index = 1; |
| index = 0; |
| } else { // within the PPM frame |
| if (index < MAX_CHANNELS - 1) { // PPM24 supports 12 channels |
| if (index < MAX_CHANNELS) { // PPM24 supports 12 channels |
| // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
| // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
| if ((signal > 250) && (signal < 687)) { |