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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 308 | osiair | 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 | volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
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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);//|(1 << WGM12); //timer1 prescale 64 |
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| 25 | |||
| 26 | |||
| 27 | // PWM |
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| 28 | //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
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| 29 | //TCCR1B |= (1 << WGM12); |
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| 30 | //OCR1B = 55; |
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| 31 | |||
| 32 | TIMSK1 |= _BV(ICIE1); |
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| 33 | AdNeutralGier = 0; |
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| 34 | AdNeutralRoll = 0; |
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| 35 | AdNeutralNick = 0; |
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| 36 | return; |
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| 37 | } |
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| 38 | |||
| 39 | //############################################################################ |
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| 40 | //Diese Routine startet und inizialisiert den Timer für RC |
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| 41 | SIGNAL(SIG_INPUT_CAPTURE1) |
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| 42 | //############################################################################ |
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| 43 | |||
| 44 | { |
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| 45 | static unsigned int AltICR=0; |
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| 46 | signed int signal = 0; |
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| 47 | static int index; |
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| 48 | |||
| 49 | signal = (unsigned int) ICR1 - AltICR; |
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| 50 | AltICR = ICR1; |
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| 51 | |||
| 52 | //Syncronisationspause? |
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| 53 | if ((signal > 1500) && (signal < 8000)) |
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| 54 | { |
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| 55 | index = 1; |
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| 56 | NewPpmData = 0; // Null bedeutet: Neue Daten |
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| 57 | // OCR2A = Poti2/2 + 80; |
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| 58 | |||
| 59 | } |
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| 60 | else |
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| 61 | { |
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| 62 | if(index < 10) |
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| 63 | { |
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| 64 | if((signal > 250) && (signal < 687)) |
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| 65 | { |
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| 66 | signal -= 466; |
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| 67 | // Stabiles Signal |
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| 68 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
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| 69 | signal = (3 * (PPM_in[index]) + signal) / 4; |
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| 70 | //373 entspricht ca. 1.5ms also Mittelstellung |
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| 71 | PPM_diff[index] = signal - PPM_in[index]; |
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| 72 | PPM_in[index] = signal; |
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| 73 | } |
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| 74 | index++; |
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| 75 | /* if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
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| 76 | if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
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| 77 | if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen */ |
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| 78 | } |
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| 79 | } |
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| 80 | } |
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| 81 | |||
| 82 | |||
| 83 | |||
| 84 | |||
| 85 |