| /branches/V0.68d Code Redesign killagreg/fc.c |
|---|
| 387,7 → 387,7 |
| /************************************************************************/ |
| void ParameterMapping(void) |
| { |
| if(SenderOkay > 140) // do the mapping of RC-Potis only if the rc-signal is ok |
| if(RC_Quality > 160) // do the mapping of RC-Potis only if the rc-signal is ok |
| // else the last updated values are used |
| { |
| //update poti values by rc-signals |
| 449,12 → 449,7 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // RC-signal is bad |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // SenderOkay is incremented at good rc-level, i.e. if the ppm-signal deviation |
| // of a channel to previous frame is less than 1% the SenderOkay is incremented by 10. |
| // Typicaly within a frame of 8 channels (22.5ms) the SenderOkay is incremented by 8 * 10 = 80 |
| // The decremtation of 1 in the mainloop is done every 2 ms, i.e. within a time of one rc frame |
| // the main loop is running 11 times that decrements the SenderOkay by 11. |
| if(SenderOkay < 100) // the rc-frame signal is not reveived or noisy |
| if(RC_Quality < 120) // the rc-frame signal is not reveived or noisy |
| { |
| if(!PcAccess) // if also no PC-Access via UART |
| { |
| 484,12 → 479,12 |
| PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
| } |
| else MotorsOn = 0; // switch of all motors |
| } // eof SenderOkay < 100 |
| } // eof RC_Quality < 120 |
| else |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // RC-signal is good |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay > 140) |
| if(RC_Quality > 150) |
| { |
| EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay |
| // reset emergency timer |
| 639,7 → 634,7 |
| else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
| } |
| // remapping of paameters only if the signal rc-sigbnal conditions are good |
| } // eof SenderOkay > 140 |
| } // eof RC_Quality > 150 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // new values from RC |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1083,7 → 1078,8 |
| DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
| DebugOut.Analog[8] = CompassHeading; |
| DebugOut.Analog[9] = UBat; |
| DebugOut.Analog[10] = SenderOkay; |
| DebugOut.Analog[10] = RC_Quality; |
| //DebugOut.Analog[11] = RC_Quality; |
| DebugOut.Analog[16] = Mean_AccTop; |
| /* DebugOut.Analog[16] = motor_rx[0]; |
| 1101,7 → 1097,7 |
| DebugOut.Analog[9] = Reading_GyroPitch; |
| DebugOut.Analog[9] = SetPointHeight; |
| DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
| DebugOut.Analog[11] = CompassCourse; |
| DebugOut.Analog[10] = FCParam.Gyro_I; |
| DebugOut.Analog[10] = ParamSet.Gyro_I; |
| DebugOut.Analog[9] = CompassOffCourse; |
| /branches/V0.68d Code Redesign killagreg/main.c |
|---|
| 240,7 → 240,6 |
| ExternStickRoll = 0; |
| ExternStickYaw = 0; |
| } |
| if(SenderOkay) SenderOkay--; |
| if(!I2CTimeout) |
| { |
| I2CTimeout = 5; |
| 268,7 → 267,8 |
| { |
| if(BeepModulation == 0xFFFF) |
| { |
| BeepTime = 6000; // 0.6 seconds |
| BeepTime = 6000; // 0.6 seconds |
| BeepModulation = 0x0300; |
| } |
| } |
| //SPI_StartTransmitPacket();//# |
| /branches/V0.68d Code Redesign killagreg/menu.c |
|---|
| 152,7 → 152,7 |
| break; |
| case 7:// Accumulator Voltage / Remote Control Level |
| LCD_printfxy(0,1,"Voltage: %5i",UBat); |
| LCD_printfxy(0,2,"RC-Level: %5i",SenderOkay); |
| LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality); |
| break; |
| case 8:// Compass Menu Item |
| LCD_printfxy(0,0,"Compass "); |
| /branches/V0.68d Code Redesign killagreg/rc.c |
|---|
| 18,8 → 18,9 |
| volatile int16_t PPM_in[15]; //PPM24 supports 12 channels per frame |
| volatile int16_t PPM_diff[15]; |
| volatile uint8_t NewPpmData = 1; |
| volatile uint8_t SenderOkay = 0; |
| volatile uint8_t RC_Quality = 0; |
| /***************************************************************/ |
| /* 16bit timer 1 is used to decode the PPM-Signal */ |
| /***************************************************************/ |
| 70,6 → 71,8 |
| TIMSK1 &= ~((1<<OCIE1B)|(1<<OCIE1A)|(1<<TOIE1)); |
| TIMSK1 |= (1<<ICIE1); |
| RC_Quality = 0; |
| SREG = sreg; |
| } |
| 100,11 → 103,14 |
| static uint16_t oldICR1 = 0; |
| int16_t signal = 0, tmp; |
| static int16_t index; |
| static int16_t Sum_RC_Quality = 0; |
| // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
| // at the time the edge was detected |
| // calculate the time delay to the previous event time which is stored in oldICR1 |
| // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
| // implicit handles a timer overflow 65535 -> 0 the right way. |
| signal = (uint16_t) ICR1 - oldICR1; |
| oldICR1 = ICR1; |
| 129,23 → 135,23 |
| // 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 |
| // the deviation of the current signal level from the average must be less than 6 (aprox. 1%) |
| if(abs(signal - PPM_in[index]) < 6) |
| { |
| // a good signal condition increases SenderOkay by 10 |
| // SignalOkay is decremented every 2 ms in main.c |
| // this variable is a level for the average rate of a noiseless rc signal |
| if(SenderOkay < 200) SenderOkay += 10; |
| } |
| Sum_RC_Quality -= Sum_RC_Quality/128; |
| Sum_RC_Quality += 200 - abs(signal - PPM_in[index]); // max 200*128 = 25600 |
| // 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(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
| if(RC_Quality >= 170) 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; // update channel value |
| } |
| else |
| { // invalid PPM time |
| Sum_RC_Quality -= Sum_RC_Quality/4; |
| } |
| if(Sum_RC_Quality < 0) Sum_RC_Quality = 0; |
| RC_Quality = (uint8_t)(Sum_RC_Quality/128); |
| index++; // next channel |
| // demux sum signal for channels 5 to 7 to J3, J4, J5 |
| if(index == 5) PORTD |= (1<<PORTD5); else PORTD &= ~(1<<PORTD5); |
| /branches/V0.68d Code Redesign killagreg/rc.h |
|---|
| 6,7 → 6,6 |
| extern void RC_Init (void); |
| extern volatile int16_t PPM_in[15]; // the RC-Signal |
| extern volatile int16_t PPM_diff[15]; // the differentiated RC-Signal |
| extern volatile uint8_t NewPpmData; |
| extern volatile uint8_t SenderOkay; // signal level indicator |
| extern volatile uint8_t NewPpmData; // 0 indicates a new recieved PPM Frame |
| extern volatile uint8_t RC_Quality; // rc signal quality indicator (0 to 200) |
| #endif //_RC_H |