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| Rev | Author | Line No. | Line |
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| 1 | ingob | 1 | /*####################################################################################### |
| 2 | Decodieren eines RC Summen Signals |
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| 3 | #######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1338 | ingob | 5 | // + Copyright (c) Holger Buss, Ingo Busker |
| 1 | ingob | 6 | // + only for non-profit use |
| 7 | // + www.MikroKopter.com |
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| 1356 | hbuss | 8 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 1 | ingob | 9 | // + see the File "License.txt" for further Informations |
| 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 11 | |||
| 12 | #include "rc.h" |
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| 13 | #include "main.h" |
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| 14 | |||
| 1438 | ingob | 15 | |
| 1377 | hbuss | 16 | volatile int PPM_in[26]; |
| 17 | volatile int PPM_diff[26]; // das diffenzierte Stick-Signal |
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| 1268 | hbuss | 18 | volatile char Channels,tmpChannels = 0; |
| 1 | ingob | 19 | volatile unsigned char NewPpmData = 1; |
| 20 | |||
| 21 | //############################################################################ |
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| 22 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
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| 23 | //Capture Funktion benutzt: |
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| 24 | void rc_sum_init (void) |
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| 25 | //############################################################################ |
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| 26 | { |
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| 1377 | hbuss | 27 | unsigned char i; |
| 28 | for(i=0;i<26;i++) |
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| 29 | { |
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| 30 | PPM_in[i] = 0; |
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| 31 | PPM_diff[i] = 0; |
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| 32 | } |
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| 1438 | ingob | 33 | |
| 1 | ingob | 34 | AdNeutralGier = 0; |
| 35 | AdNeutralRoll = 0; |
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| 36 | AdNeutralNick = 0; |
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| 37 | return; |
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| 38 | } |
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| 1309 | hbuss | 39 | |
| 1356 | hbuss | 40 | #ifndef ACT_S3D_SUMMENSIGNAL |
| 1278 | hbuss | 41 | //############################################################################ |
| 42 | //Diese Routine startet und inizialisiert den Timer für RC |
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| 43 | SIGNAL(SIG_INPUT_CAPTURE1) |
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| 44 | //############################################################################ |
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| 45 | { |
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| 1309 | hbuss | 46 | if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC)) |
| 47 | { |
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| 1278 | hbuss | 48 | static unsigned int AltICR=0; |
| 49 | signed int signal = 0,tmp; |
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| 50 | static int index; |
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| 51 | |||
| 52 | signal = (unsigned int) ICR1 - AltICR; |
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| 53 | AltICR = ICR1; |
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| 1283 | hbuss | 54 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
| 1278 | hbuss | 55 | if((signal > 1100) && (signal < 8000)) |
| 56 | { |
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| 1320 | hbuss | 57 | Channels = index; |
| 1278 | hbuss | 58 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| 59 | index = 1; |
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| 60 | } |
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| 61 | else |
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| 62 | { |
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| 1377 | hbuss | 63 | if(index < 13) |
| 1278 | hbuss | 64 | { |
| 65 | if((signal > 250) && (signal < 687)) |
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| 66 | { |
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| 67 | signal -= 466; |
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| 68 | // Stabiles Signal |
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| 69 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
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| 70 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
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| 71 | if(tmp > signal+1) tmp--; else |
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| 72 | if(tmp < signal-1) tmp++; |
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| 73 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
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| 74 | else PPM_diff[index] = 0; |
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| 75 | PPM_in[index] = tmp; |
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| 76 | } |
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| 77 | index++; |
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| 78 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
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| 79 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
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| 80 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
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| 81 | } |
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| 82 | } |
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| 1309 | hbuss | 83 | } |
| 84 | else |
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| 85 | { |
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| 1 | ingob | 86 | static unsigned int AltICR=0; |
| 1377 | hbuss | 87 | static int ppm_in[13]; |
| 88 | static int ppm_diff[13]; |
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| 89 | static int old_ppm_in[13]; |
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| 90 | static int old_ppm_diff[13]; |
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| 173 | holgerb | 91 | signed int signal = 0,tmp; |
| 1268 | hbuss | 92 | static unsigned char index, okay_cnt = 0; |
| 1 | ingob | 93 | signal = (unsigned int) ICR1 - AltICR; |
| 94 | AltICR = ICR1; |
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| 1283 | hbuss | 95 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
| 513 | hbuss | 96 | if((signal > 1100) && (signal < 8000)) |
| 1 | ingob | 97 | { |
| 1268 | hbuss | 98 | tmpChannels = index; |
| 99 | if(tmpChannels >= 4 && Channels == tmpChannels) |
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| 100 | { |
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| 1276 | hbuss | 101 | if(okay_cnt > 10) |
| 1268 | hbuss | 102 | { |
| 103 | NewPpmData = 0; // Null bedeutet: Neue Daten |
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| 1377 | hbuss | 104 | for(index = 0; index < 13; index++) |
| 1268 | hbuss | 105 | { |
| 106 | if(okay_cnt > 30) |
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| 107 | { |
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| 108 | old_ppm_in[index] = PPM_in[index]; |
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| 109 | old_ppm_diff[index] = PPM_diff[index]; |
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| 110 | } |
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| 111 | PPM_in[index] = ppm_in[index]; |
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| 112 | PPM_diff[index] = ppm_diff[index]; |
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| 113 | } |
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| 114 | } |
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| 115 | if(okay_cnt < 255) okay_cnt++; |
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| 116 | } |
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| 1276 | hbuss | 117 | else |
| 1278 | hbuss | 118 | { |
| 119 | if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0; |
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| 120 | ROT_ON; |
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| 121 | } |
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| 1 | ingob | 122 | index = 1; |
| 1268 | hbuss | 123 | if(!MotorenEin) Channels = tmpChannels; |
| 1 | ingob | 124 | } |
| 125 | else |
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| 126 | { |
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| 1377 | hbuss | 127 | if(index < 13) |
| 1 | ingob | 128 | { |
| 129 | if((signal > 250) && (signal < 687)) |
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| 130 | { |
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| 131 | signal -= 466; |
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| 132 | // Stabiles Signal |
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| 1271 | hbuss | 133 | if((abs(signal - ppm_in[index]) < 6)) |
| 134 | { |
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| 1276 | hbuss | 135 | if(okay_cnt > 25) SenderOkay += 10; |
| 1271 | hbuss | 136 | else |
| 1276 | hbuss | 137 | if(okay_cnt > 10) SenderOkay += 2; |
| 138 | if(SenderOkay > 200) SenderOkay = 200; |
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| 1271 | hbuss | 139 | } |
| 1268 | hbuss | 140 | tmp = (3 * (ppm_in[index]) + signal) / 4; |
| 604 | hbuss | 141 | if(tmp > signal+1) tmp--; else |
| 142 | if(tmp < signal-1) tmp++; |
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| 1268 | hbuss | 143 | if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
| 144 | else ppm_diff[index] = 0; |
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| 145 | ppm_in[index] = tmp; |
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| 1 | ingob | 146 | } |
| 1268 | hbuss | 147 | else ROT_ON; |
| 148 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
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| 149 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
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| 150 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
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| 151 | } |
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| 152 | if(index < 20) index++; |
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| 1276 | hbuss | 153 | else |
| 154 | if(index == 20) |
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| 1268 | hbuss | 155 | { |
| 1276 | hbuss | 156 | unsigned char i; |
| 1278 | hbuss | 157 | ROT_ON; |
| 1276 | hbuss | 158 | index = 30; |
| 1377 | hbuss | 159 | for(i=0;i<13;i++) // restore from older data |
| 1268 | hbuss | 160 | { |
| 1276 | hbuss | 161 | PPM_in[i] = old_ppm_in[i]; |
| 162 | PPM_diff[i] = 0; |
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| 163 | // okay_cnt /= 2; |
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| 1268 | hbuss | 164 | } |
| 165 | } |
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| 166 | } |
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| 1309 | hbuss | 167 | } |
| 1171 | hbuss | 168 | } |
| 169 | |||
| 1356 | hbuss | 170 | #else |
| 171 | |||
| 1171 | hbuss | 172 | //############################################################################ |
| 173 | //Diese Routine startet und inizialisiert den Timer für RC |
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| 174 | SIGNAL(SIG_INPUT_CAPTURE1) |
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| 175 | //############################################################################ |
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| 176 | |||
| 177 | { |
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| 178 | static unsigned int AltICR=0; |
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| 179 | signed int signal = 0,tmp; |
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| 180 | static int index; |
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| 1356 | hbuss | 181 | |
| 1171 | hbuss | 182 | signal = (unsigned int) ICR1 - AltICR; |
| 1377 | hbuss | 183 | //DebugOut.Analog[16] = signal; |
| 1171 | hbuss | 184 | signal /= 2; |
| 185 | AltICR = ICR1; |
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| 186 | //Syncronisationspause? |
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| 187 | if((signal > 1100*2) && (signal < 8000*2)) |
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| 188 | { |
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| 189 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
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| 190 | index = 1; |
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| 191 | } |
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| 192 | else |
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| 193 | { |
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| 1377 | hbuss | 194 | if(index < 13) |
| 1171 | hbuss | 195 | { |
| 196 | if((signal > 250) && (signal < 687*2)) |
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| 197 | { |
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| 198 | signal -= 962; |
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| 199 | // Stabiles Signal |
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| 200 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
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| 201 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
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| 202 | if(tmp > signal+1) tmp--; else |
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| 203 | if(tmp < signal-1) tmp++; |
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| 204 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
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| 205 | else PPM_diff[index] = 0; |
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| 206 | PPM_in[index] = tmp; |
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| 207 | } |
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| 208 | index++; |
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| 1 | ingob | 209 | } |
| 210 | } |
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| 211 | } |
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| 1356 | hbuss | 212 | #endif |
| 1 | ingob | 213 |