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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 838 | MikeW | 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 | |||
| 14 | volatile int PPM_in[11]; |
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| 15 | int RCQuality = 0; |
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| 16 | volatile unsigned char NewPpmData = 1; |
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| 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); //timer1 prescale 64 |
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| 25 | TIMSK1 |= _BV(ICIE1); |
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| 26 | return; |
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| 27 | } |
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| 28 | |||
| 29 | //############################################################################ |
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| 30 | //Diese Routine startet und inizialisiert den Timer für RC |
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| 31 | SIGNAL(SIG_INPUT_CAPTURE1) |
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| 32 | //############################################################################ |
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| 33 | { |
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| 34 | static unsigned int AltICR=0; |
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| 35 | signed int signal = 0,tmp; |
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| 36 | static int index; |
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| 37 | static float RC_Quality = 0.0F; |
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| 38 | static int PPM_org[11]; |
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| 39 | |||
| 40 | signal = (unsigned int) ICR1 - AltICR; |
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| 41 | AltICR = ICR1; |
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| 42 | |||
| 43 | //Syncronisationspause? |
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| 44 | if ((signal > 1500) && (signal < 8000)) |
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| 45 | { |
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| 46 | index = 1; |
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| 47 | NewPpmData = 0; // Null bedeutet: Neue Daten |
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| 48 | } |
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| 49 | else |
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| 50 | { |
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| 51 | if(index < 10) |
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| 52 | { |
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| 53 | if((signal > 250) && (signal < 687)) |
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| 54 | { |
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| 55 | signal -= 466; |
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| 56 | // Stabiles Signal |
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| 57 | if(abs(signal - PPM_in[index]) < 6) |
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| 58 | { |
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| 59 | if(SenderOkay < 200) |
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| 60 | { |
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| 61 | SenderOkay += 10; |
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| 62 | } |
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| 63 | } |
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| 64 | /* Give an estimate for the Signal Level based on the RC-Jitter */ |
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| 65 | if (abs(2 * (signal - PPM_org[index]) > (int) RC_Quality)) |
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| 66 | { |
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| 67 | RC_Quality = 0.99F * RC_Quality + 0.01F * (float) abs(2 * (signal - PPM_org[index])) ; |
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| 68 | } |
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| 69 | else |
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| 70 | { |
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| 71 | RC_Quality = 0.998F * RC_Quality + 0.002F * (float) abs(2 * (signal - PPM_org[index])) ; |
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| 72 | } |
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| 73 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
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| 74 | PPM_in[index] = tmp; |
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| 75 | PPM_org[index] = signal; |
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| 76 | } |
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| 77 | else |
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| 78 | { |
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| 79 | RC_Quality = 0.95F * RC_Quality + 0.05F * 100; |
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| 80 | } |
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| 81 | RC_Quality = MIN(100.F, RC_Quality); |
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| 82 | RCQuality = 100 - (int) RC_Quality; |
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| 83 | index++; |
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| 84 | if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
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| 85 | if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
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| 86 | if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
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| 87 | } |
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| 88 | } |
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| 89 | } |
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| 90 | |||
| 91 | |||
| 92 | |||
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| 94 |