| 0,0 → 1,217 |
|---|
| /*####################################################################################### |
| Decodieren eines RC Summen Signals |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| #include "rc.h" |
| #include "main.h" |
| // Achtung: ACT_S3D_SUMMENSIGNAL wird in der Main.h gesetzt |
| |
| volatile int PPM_in[26]; |
| volatile int PPM_diff[26]; // das diffenzierte Stick-Signal |
| volatile char Channels,tmpChannels = 0; |
| volatile unsigned char NewPpmData = 1; |
| |
| //############################################################################ |
| //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
| //Capture Funktion benutzt: |
| void rc_sum_init (void) |
| //############################################################################ |
| { |
| unsigned char i; |
| for(i=0;i<26;i++) |
| { |
| PPM_in[i] = 0; |
| PPM_diff[i] = 0; |
| } |
| |
| AdNeutralGier = 0; |
| AdNeutralRoll = 0; |
| AdNeutralNick = 0; |
| return; |
| } |
| |
| #ifndef ACT_S3D_SUMMENSIGNAL |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den Timer für RC |
| ISR(TIMER1_CAPT_vect) |
| //############################################################################ |
| { |
| if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC)) |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0,tmp; |
| static int index; |
| |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
| if((signal > 1100) && (signal < 8000)) |
| { |
| Channels = index; |
| if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| index = 1; |
| } |
| else |
| { |
| if(index < 13) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= 466; |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) { 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(PlatinenVersion < 20) |
| { |
| 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 |
| } |
| } |
| } |
| } |
| else |
| { |
| static unsigned int AltICR=0; |
| static int ppm_in[13]; |
| static int ppm_diff[13]; |
| static int old_ppm_in[13]; |
| static int old_ppm_diff[13]; |
| signed int signal = 0,tmp; |
| static unsigned char index, okay_cnt = 0; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
| if((signal > 1100) && (signal < 8000)) |
| { |
| tmpChannels = index; |
| if(tmpChannels >= 4 && Channels == tmpChannels) |
| { |
| if(okay_cnt > 10) |
| { |
| NewPpmData = 0; // Null bedeutet: Neue Daten |
| for(index = 0; index < 13; index++) |
| { |
| if(okay_cnt > 30) |
| { |
| old_ppm_in[index] = PPM_in[index]; |
| old_ppm_diff[index] = PPM_diff[index]; |
| } |
| PPM_in[index] = ppm_in[index]; |
| PPM_diff[index] = ppm_diff[index]; |
| } |
| } |
| if(okay_cnt < 255) okay_cnt++; |
| } |
| else |
| { |
| if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0; |
| ROT_ON; |
| } |
| index = 1; |
| if(!MotorenEin) Channels = tmpChannels; |
| } |
| else |
| { |
| if(index < 13) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= 466; |
| // Stabiles Signal |
| if((abs(signal - ppm_in[index]) < 6)) |
| { |
| if(okay_cnt > 25) SenderOkay += 10; |
| else |
| if(okay_cnt > 10) SenderOkay += 2; |
| if(SenderOkay > 200) SenderOkay = 200; |
| } |
| tmp = (3 * (ppm_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
| else ppm_diff[index] = 0; |
| ppm_in[index] = tmp; |
| } |
| else ROT_ON; |
| if(PlatinenVersion < 20) |
| { |
| 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 |
| } |
| } |
| if(index < 20) index++; |
| else |
| if(index == 20) |
| { |
| unsigned char i; |
| ROT_ON; |
| index = 30; |
| for(i=0;i<13;i++) // restore from older data |
| { |
| PPM_in[i] = old_ppm_in[i]; |
| PPM_diff[i] = 0; |
| // okay_cnt /= 2; |
| } |
| } |
| } |
| } |
| } |
| |
| #else |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den Timer für RC |
| ISR(TIMER1_CAPT_vect) |
| //############################################################################ |
| |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0,tmp; |
| static int index; |
| |
| signal = (unsigned int) ICR1 - AltICR; |
| signal /= 2; |
| AltICR = ICR1; |
| //Syncronisationspause? |
| if((signal > 1100*2) && (signal < 8000*2)) |
| { |
| if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| index = 1; |
| } |
| else |
| { |
| if(index < 13) |
| { |
| if((signal > 250) && (signal < 687*2)) |
| { |
| signal -= 962; |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| 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++; |
| } |
| } |
| } |
| #endif |
| |