Go to most recent revision | Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*####################################################################################### |
| 2 | Decodieren eines RC Summen Signals |
||
| 3 | #######################################################################################*/ |
||
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 5 | // + Copyright (c) 04.2007 Holger Buss |
||
| 6 | // + only for non-profit use |
||
| 7 | // + www.MikroKopter.com |
||
| 8 | // + see the File "License.txt" for further Informations |
||
| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 10 | |||
| 11 | #include "rc.h" |
||
| 12 | #include "main.h" |
||
| 13 | |||
| 14 | volatile int PPM_in[11]; |
||
| 15 | volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
||
| 16 | volatile unsigned char NewPpmData = 1; |
||
| 17 | |||
| 18 | //############################################################################ |
||
| 19 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
||
| 20 | //Capture Funktion benutzt: |
||
| 21 | void rc_sum_init (void) |
||
| 22 | //############################################################################ |
||
| 23 | { |
||
| 24 | TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
||
| 25 | |||
| 26 | // PWM |
||
| 27 | //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
||
| 28 | //TCCR1B |= (1 << WGM12); |
||
| 29 | //OCR1B = 55; |
||
| 30 | |||
| 31 | TIMSK1 |= _BV(ICIE1); |
||
| 32 | AdNeutralGier = 0; |
||
| 33 | AdNeutralRoll = 0; |
||
| 34 | AdNeutralNick = 0; |
||
| 35 | return; |
||
| 36 | } |
||
| 37 | |||
| 38 | //############################################################################ |
||
| 39 | //Diese Routine startet und inizialisiert den Timer für RC |
||
| 40 | SIGNAL(SIG_INPUT_CAPTURE1) |
||
| 41 | //############################################################################ |
||
| 42 | |||
| 43 | { |
||
| 44 | static unsigned int AltICR=0; |
||
| 173 | holgerb | 45 | signed int signal = 0,tmp; |
| 1 | ingob | 46 | static int index; |
| 47 | |||
| 48 | signal = (unsigned int) ICR1 - AltICR; |
||
| 49 | AltICR = ICR1; |
||
| 50 | |||
| 51 | //Syncronisationspause? |
||
| 513 | hbuss | 52 | // if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
| 53 | if((signal > 1100) && (signal < 8000)) |
||
| 1 | ingob | 54 | { |
| 513 | hbuss | 55 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| 1 | ingob | 56 | index = 1; |
| 57 | } |
||
| 58 | else |
||
| 59 | { |
||
| 60 | if(index < 10) |
||
| 61 | { |
||
| 62 | if((signal > 250) && (signal < 687)) |
||
| 63 | { |
||
| 64 | signal -= 466; |
||
| 65 | // Stabiles Signal |
||
| 66 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
||
| 614 | hbuss | 67 | // tmp = (7 * (PPM_in[index]) + signal) / 8; |
| 68 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
||
| 604 | hbuss | 69 | if(tmp > signal+1) tmp--; else |
| 70 | if(tmp < signal-1) tmp++; |
||
| 71 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
||
| 72 | else PPM_diff[index] = 0; |
||
| 173 | holgerb | 73 | PPM_in[index] = tmp; |
| 1 | ingob | 74 | } |
| 75 | index++; |
||
| 173 | holgerb | 76 | if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| 1 | ingob | 77 | if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| 419 | hbuss | 78 | if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
| 1 | ingob | 79 | } |
| 80 | } |
||
| 81 | } |
||
| 82 | |||
| 83 | |||
| 84 | |||
| 85 | |||
| 86 |