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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 975 | ligi | 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 | // 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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| 45 | signed int signal = 0,tmp; |
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| 46 | static int index; |
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| 47 | |||
| 48 | signal = (unsigned int) ICR1 - AltICR; |
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| 49 | AltICR = ICR1; |
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| 50 | //Syncronisationspause? |
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| 51 | // if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
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| 52 | if((signal > 1100) && (signal < 8000)) |
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| 53 | { |
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| 54 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
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| 55 | index = 1; |
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| 56 | } |
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| 57 | else |
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| 58 | { |
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| 59 | if(index < 10) |
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| 60 | { |
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| 61 | if((signal > 250) && (signal < 687)) |
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| 62 | { |
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| 63 | signal -= 466; |
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| 64 | // Stabiles Signal |
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| 65 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
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| 66 | // tmp = (7 * (PPM_in[index]) + signal) / 8; |
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| 67 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
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| 68 | if(tmp > signal+1) tmp--; else |
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| 69 | if(tmp < signal-1) tmp++; |
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| 70 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
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| 71 | else PPM_diff[index] = 0; |
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| 72 | PPM_in[index] = tmp; |
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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 |