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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*####################################################################################### |
| 2 | Decodieren eines RC Summen Signals |
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| 3 | #######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) 04.2007 Holger Buss |
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| 6 | // + only for non-profit use |
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| 7 | // + www.MikroKopter.com |
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| 8 | // + see the File "License.txt" for further Informations |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 10 | |||
| 11 | #include "rc.h" |
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| 12 | #include "main.h" |
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| 13 | |||
| 518 | joko | 14 | volatile int PPM_in[15]; //PPM24-Erweiterung (121007Kr) |
| 15 | volatile int PPM_diff[15]; // das diffenzierte Stick-Signal //PPM24-Erweiterung (121007Kr) |
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| 1 | ingob | 16 | volatile unsigned char NewPpmData = 1; |
| 17 | |||
| 18 | //############################################################################ |
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| 19 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
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| 20 | //Capture Funktion benutzt: |
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| 21 | void rc_sum_init (void) |
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| 22 | //############################################################################ |
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| 23 | { |
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| 24 | TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
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| 25 | |||
| 26 | // PWM |
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| 27 | //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
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| 28 | //TCCR1B |= (1 << WGM12); |
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| 29 | //OCR1B = 55; |
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| 30 | |||
| 31 | TIMSK1 |= _BV(ICIE1); |
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| 32 | AdNeutralGier = 0; |
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| 33 | AdNeutralRoll = 0; |
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| 34 | AdNeutralNick = 0; |
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| 35 | return; |
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| 36 | } |
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| 37 | |||
| 38 | //############################################################################ |
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| 39 | //Diese Routine startet und inizialisiert den Timer für RC |
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| 40 | SIGNAL(SIG_INPUT_CAPTURE1) |
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| 41 | //############################################################################ |
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| 42 | |||
| 43 | { |
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| 44 | static unsigned int AltICR=0; |
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| 173 | holgerb | 45 | signed int signal = 0,tmp; |
| 1 | ingob | 46 | static int index; |
| 47 | |||
| 48 | signal = (unsigned int) ICR1 - AltICR; |
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| 49 | AltICR = ICR1; |
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| 50 | |||
| 51 | //Syncronisationspause? |
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| 513 | hbuss | 52 | // if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
| 518 | joko | 53 | if ((signal > 1500) && (signal < 8000)) |
| 1 | ingob | 54 | { |
| 55 | index = 1; |
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| 518 | joko | 56 | NewPpmData = 0; // Null bedeutet: Neue Daten |
| 1 | ingob | 57 | } |
| 58 | else |
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| 59 | { |
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| 518 | joko | 60 | if(index < 14) //PPM24-Erweiterung (121007Kr) |
| 1 | ingob | 61 | { |
| 62 | if((signal > 250) && (signal < 687)) |
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| 63 | { |
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| 64 | signal -= 466; |
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| 65 | // Stabiles Signal |
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| 66 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
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| 173 | holgerb | 67 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
| 518 | joko | 68 | |
| 69 | //############################################################ |
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| 70 | // Verhindert einen Restwert der RC-Kanäl bei neutralen Knüppelstellungen, führt |
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| 71 | // unter Umständen jedoch zu +/-1 Sprüngen der einzelnen Kanäle. Siehe auch: |
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| 72 | // http://forum.mikrokopter.de/topic-2191.html(121107Kr) |
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| 73 | //if(tmp > signal+1) tmp--; else |
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| 74 | //if(tmp < signal-1) tmp++; |
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| 75 | //############################################################ |
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| 76 | |||
| 77 | PPM_diff[index] = tmp - PPM_in[index]; |
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| 173 | holgerb | 78 | PPM_in[index] = tmp; |
| 1 | ingob | 79 | } |
| 80 | index++; |
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| 173 | holgerb | 81 | if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| 1 | ingob | 82 | if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| 419 | hbuss | 83 | if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
| 1 | ingob | 84 | } |
| 85 | } |
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| 86 | } |
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| 87 | |||
| 88 | |||
| 89 | |||
| 90 | |||
| 91 |