WebSVN - FlightCtrl - Blame - Rev 1338 - /branches/V0.82b-Arthur-P/rc.c

Rev	Author	Line No.	Line
1	ingob	1	/*#######################################################################################
		2	Decodieren eines RC Summen Signals
		3	#######################################################################################*/
		4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1338	ingob	5	// + Copyright (c) Holger Buss, Ingo Busker
1	ingob	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
1268	hbuss	16	volatile char Channels,tmpChannels = 0;
1	ingob	17	volatile unsigned char NewPpmData = 1;
		18
		19	//############################################################################
		20	//zum decodieren des PPM-Signals wird Timer1 mit seiner Input
		21	//Capture Funktion benutzt:
		22	void rc_sum_init (void)
		23	//############################################################################
		24	{
		25	TCCR1B=(1<<CS11)\|(1<<CS10)\|(1<<ICES1)\|(1<<ICNC1);//\|(1 << WGM12); //timer1 prescale 64
		26	TIMSK1 \|= _BV(ICIE1);
		27	AdNeutralGier = 0;
		28	AdNeutralRoll = 0;
		29	AdNeutralNick = 0;
		30	return;
		31	}
1309	hbuss	32
1278	hbuss	33	//############################################################################
		34	//Diese Routine startet und inizialisiert den Timer f�r RC
		35	SIGNAL(SIG_INPUT_CAPTURE1)
		36	//############################################################################
		37	{
1309	hbuss	38	if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC))
		39	{
1278	hbuss	40	static unsigned int AltICR=0;
		41	signed int signal = 0,tmp;
		42	static int index;
		43
		44	signal = (unsigned int) ICR1 - AltICR;
		45	AltICR = ICR1;
1283	hbuss	46	//Syncronisationspause? (3.52 ms < signal < 25.6 ms)
1278	hbuss	47	if((signal > 1100) && (signal < 8000))
		48	{
1320	hbuss	49	Channels = index;
1278	hbuss	50	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten
		51	index = 1;
		52	}
		53	else
		54	{
		55	if(index < 10)
		56	{
		57	if((signal > 250) && (signal < 687))
		58	{
		59	signal -= 466;
		60	// Stabiles Signal
		61	if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;}
		62	tmp = (3 * (PPM_in[index]) + signal) / 4;
		63	if(tmp > signal+1) tmp--; else
		64	if(tmp < signal-1) tmp++;
		65	if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
		66	else PPM_diff[index] = 0;
		67	PPM_in[index] = tmp;
		68	}
		69	index++;
		70	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen
		71	if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen
		72	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen
		73	}
		74	}
1309	hbuss	75	}
		76	else
		77	{
1	ingob	78	static unsigned int AltICR=0;
1268	hbuss	79	static int ppm_in[11];
		80	static int ppm_diff[11];
		81	static int old_ppm_in[11];
		82	static int old_ppm_diff[11];
173	holgerb	83	signed int signal = 0,tmp;
1268	hbuss	84	static unsigned char index, okay_cnt = 0;
1	ingob	85	signal = (unsigned int) ICR1 - AltICR;
		86	AltICR = ICR1;
1283	hbuss	87	//Syncronisationspause? (3.52 ms < signal < 25.6 ms)
513	hbuss	88	if((signal > 1100) && (signal < 8000))
1	ingob	89	{
1268	hbuss	90	tmpChannels = index;
		91	if(tmpChannels >= 4 && Channels == tmpChannels)
		92	{
1276	hbuss	93	if(okay_cnt > 10)
1268	hbuss	94	{
		95	NewPpmData = 0; // Null bedeutet: Neue Daten
		96	for(index = 0; index < 11; index++)
		97	{
		98	if(okay_cnt > 30)
		99	{
		100	old_ppm_in[index] = PPM_in[index];
		101	old_ppm_diff[index] = PPM_diff[index];
		102	}
		103	PPM_in[index] = ppm_in[index];
		104	PPM_diff[index] = ppm_diff[index];
		105	}
		106	}
		107	if(okay_cnt < 255) okay_cnt++;
		108	}
1276	hbuss	109	else
1278	hbuss	110	{
		111	if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0;
		112	ROT_ON;
		113	}
1	ingob	114	index = 1;
1268	hbuss	115	if(!MotorenEin) Channels = tmpChannels;
1	ingob	116	}
		117	else
		118	{
		119	if(index < 10)
		120	{
		121	if((signal > 250) && (signal < 687))
		122	{
		123	signal -= 466;
		124	// Stabiles Signal
1271	hbuss	125	if((abs(signal - ppm_in[index]) < 6))
		126	{
1276	hbuss	127	if(okay_cnt > 25) SenderOkay += 10;
1271	hbuss	128	else
1276	hbuss	129	if(okay_cnt > 10) SenderOkay += 2;
		130	if(SenderOkay > 200) SenderOkay = 200;
1271	hbuss	131	}
1268	hbuss	132	tmp = (3 * (ppm_in[index]) + signal) / 4;
604	hbuss	133	if(tmp > signal+1) tmp--; else
		134	if(tmp < signal-1) tmp++;
1268	hbuss	135	if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3;
		136	else ppm_diff[index] = 0;
		137	ppm_in[index] = tmp;
1	ingob	138	}
1268	hbuss	139	else ROT_ON;
		140	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen
		141	if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen
		142	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen
		143	}
		144	if(index < 20) index++;
1276	hbuss	145	else
		146	if(index == 20)
1268	hbuss	147	{
1276	hbuss	148	unsigned char i;
1278	hbuss	149	ROT_ON;
1276	hbuss	150	index = 30;
1268	hbuss	151	for(i=0;i<11;i++) // restore from older data
		152	{
1276	hbuss	153	PPM_in[i] = old_ppm_in[i];
		154	PPM_diff[i] = 0;
		155	// okay_cnt /= 2;
1268	hbuss	156	}
		157	}
		158	}
1309	hbuss	159	}
1171	hbuss	160	}
		161
		162	/*
		163	//############################################################################
		164	//Diese Routine startet und inizialisiert den Timer f�r RC
		165	SIGNAL(SIG_INPUT_CAPTURE1)
		166	//############################################################################
		167
		168	{
		169	static unsigned int AltICR=0;
		170	signed int signal = 0,tmp;
		171	static int index;
		172
		173	signal = (unsigned int) ICR1 - AltICR;
		174	DebugOut.Analog[16] = signal;
		175	signal /= 2;
		176	AltICR = ICR1;
		177	//Syncronisationspause?
		178	if((signal > 11002) && (signal < 80002))
		179	{
		180	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten
		181	index = 1;
		182	}
		183	else
		184	{
		185	if(index < 10)
		186	{
		187	if((signal > 250) && (signal < 687*2))
		188	{
		189	signal -= 962;
		190	// Stabiles Signal
		191	if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;}
		192	tmp = (3 * (PPM_in[index]) + signal) / 4;
		193	if(tmp > signal+1) tmp--; else
		194	if(tmp < signal-1) tmp++;
		195	if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
		196	else PPM_diff[index] = 0;
		197	PPM_in[index] = tmp;
		198	}
		199	index++;
1155	hbuss	200	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen
1171	hbuss	201	if(index == 2) J4High; else J4Low; // Servosignal an J4 anlegen
1155	hbuss	202	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen
1	ingob	203	}
		204	}
		205	}
1171	hbuss	206	*/
1	ingob	207
		208
		209

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