WebSVN - FlightCtrl - Blame - Rev 1283 - /branches/V0.84a-test1/rc.c

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
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
1171	hbuss	26	// TCCR1B=(1<<CS11)\|(0<<CS10)\|(1<<ICES1)\|(1<<ICNC1); //timer1 prescale 64
1	ingob	27	TIMSK1 \|= _BV(ICIE1);
		28	AdNeutralGier = 0;
		29	AdNeutralRoll = 0;
		30	AdNeutralNick = 0;
		31	return;
		32	}
1278	hbuss	33	/*
		34	//############################################################################
		35	//Diese Routine startet und inizialisiert den Timer f�r RC
		36	SIGNAL(SIG_INPUT_CAPTURE1)
		37	//############################################################################
1	ingob	38
1278	hbuss	39	{
		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	{
		49	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten
		50	index = 1;
		51	}
		52	else
		53	{
		54	if(index < 10)
		55	{
		56	if((signal > 250) && (signal < 687))
		57	{
		58	signal -= 466;
		59	// Stabiles Signal
		60	if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;}
		61	tmp = (3 * (PPM_in[index]) + signal) / 4;
		62	if(tmp > signal+1) tmp--; else
		63	if(tmp < signal-1) tmp++;
		64	if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
		65	else PPM_diff[index] = 0;
		66	PPM_in[index] = tmp;
		67	}
		68	index++;
		69	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen
		70	if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen
		71	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen
		72	}
		73	}
		74	}
		75	*/
		76
		77
1	ingob	78	//############################################################################
		79	//Diese Routine startet und inizialisiert den Timer f�r RC
		80	SIGNAL(SIG_INPUT_CAPTURE1)
		81	//############################################################################
		82
		83	{
		84	static unsigned int AltICR=0;
1268	hbuss	85	static int ppm_in[11];
		86	static int ppm_diff[11];
		87	static int old_ppm_in[11];
		88	static int old_ppm_diff[11];
173	holgerb	89	signed int signal = 0,tmp;
1268	hbuss	90	static unsigned char index, okay_cnt = 0;
1	ingob	91	signal = (unsigned int) ICR1 - AltICR;
		92	AltICR = ICR1;
1283	hbuss	93	//Syncronisationspause? (3.52 ms < signal < 25.6 ms)
513	hbuss	94	if((signal > 1100) && (signal < 8000))
1	ingob	95	{
1268	hbuss	96	tmpChannels = index;
		97	if(tmpChannels >= 4 && Channels == tmpChannels)
		98	{
1276	hbuss	99	if(okay_cnt > 10)
1268	hbuss	100	{
		101	NewPpmData = 0; // Null bedeutet: Neue Daten
		102	for(index = 0; index < 11; index++)
		103	{
		104	if(okay_cnt > 30)
		105	{
		106	old_ppm_in[index] = PPM_in[index];
		107	old_ppm_diff[index] = PPM_diff[index];
		108	}
		109	PPM_in[index] = ppm_in[index];
		110	PPM_diff[index] = ppm_diff[index];
		111	}
		112	}
		113	if(okay_cnt < 255) okay_cnt++;
		114	}
1276	hbuss	115	else
1278	hbuss	116	{
		117	if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0;
		118	ROT_ON;
		119	}
1	ingob	120	index = 1;
1268	hbuss	121	if(!MotorenEin) Channels = tmpChannels;
1	ingob	122	}
		123	else
		124	{
		125	if(index < 10)
		126	{
		127	if((signal > 250) && (signal < 687))
		128	{
		129	signal -= 466;
		130	// Stabiles Signal
1271	hbuss	131	if((abs(signal - ppm_in[index]) < 6))
		132	{
1276	hbuss	133	if(okay_cnt > 25) SenderOkay += 10;
1271	hbuss	134	else
1276	hbuss	135	if(okay_cnt > 10) SenderOkay += 2;
		136	if(SenderOkay > 200) SenderOkay = 200;
1271	hbuss	137	}
1268	hbuss	138	tmp = (3 * (ppm_in[index]) + signal) / 4;
604	hbuss	139	if(tmp > signal+1) tmp--; else
		140	if(tmp < signal-1) tmp++;
1268	hbuss	141	if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3;
		142	else ppm_diff[index] = 0;
		143	ppm_in[index] = tmp;
1	ingob	144	}
1268	hbuss	145	else ROT_ON;
		146	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen
		147	if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen
		148	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen
		149	}
		150	if(index < 20) index++;
1276	hbuss	151	else
		152	if(index == 20)
1268	hbuss	153	{
1276	hbuss	154	unsigned char i;
1278	hbuss	155	ROT_ON;
1276	hbuss	156	index = 30;
1268	hbuss	157	for(i=0;i<11;i++) // restore from older data
		158	{
1276	hbuss	159	PPM_in[i] = old_ppm_in[i];
		160	PPM_diff[i] = 0;
		161	// okay_cnt /= 2;
1268	hbuss	162	}
		163	}
		164	}
1276	hbuss	165	DebugOut.Analog[16] = okay_cnt;
		166	DebugOut.Analog[17] = PPM_in[2];
1171	hbuss	167	}
		168
1278	hbuss	169
1171	hbuss	170	/*
		171	//############################################################################
		172	//Diese Routine startet und inizialisiert den Timer f�r RC
		173	SIGNAL(SIG_INPUT_CAPTURE1)
		174	//############################################################################
		175
		176	{
		177	static unsigned int AltICR=0;
		178	signed int signal = 0,tmp;
		179	static int index;
		180
		181	signal = (unsigned int) ICR1 - AltICR;
		182	DebugOut.Analog[16] = signal;
		183	signal /= 2;
		184	AltICR = ICR1;
		185	//Syncronisationspause?
		186	if((signal > 11002) && (signal < 80002))
		187	{
		188	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten
		189	index = 1;
		190	}
		191	else
		192	{
		193	if(index < 10)
		194	{
		195	if((signal > 250) && (signal < 687*2))
		196	{
		197	signal -= 962;
		198	// Stabiles Signal
		199	if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;}
		200	tmp = (3 * (PPM_in[index]) + signal) / 4;
		201	if(tmp > signal+1) tmp--; else
		202	if(tmp < signal-1) tmp++;
		203	if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
		204	else PPM_diff[index] = 0;
		205	PPM_in[index] = tmp;
		206	}
		207	index++;
1155	hbuss	208	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen
1171	hbuss	209	if(index == 2) J4High; else J4Low; // Servosignal an J4 anlegen
1155	hbuss	210	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen
1	ingob	211	}
		212	}
		213	}
1171	hbuss	214	*/
1	ingob	215
		216
		217

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