Subversion Repositories FlightCtrl

/*#######################################################################################

Decodieren eines RC Summen Signals

#######################################################################################*/

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Software Nutzungsbedingungen (english version: see below)

// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -

// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den

// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 

// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.

// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im

// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.

// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie

// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.

// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren

// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.

// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren

// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 

// + des Mitverschuldens offen.

// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.

// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.

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// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.

// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.

// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'

// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Software LICENSING TERMS

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -

// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 

// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.

// + The Software may only be used with the Licensor's products.

// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this

// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this

// + agreement shall be the property of the Licensor.

// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other

// + features that can be used to identify the program may not be altered or defaced by the customer.

// + The customer shall be responsible for taking reasonable precautions

// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the

// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and

// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product

// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.

// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test

// + the software for his purpose before any operational usage. The customer will backup his data before using the software.

// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data

// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.

// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.

// + #### END OF LICENSING TERMS ####

// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include "rc.h"

#include "main.h"

// Achtung: ACT_S3D_SUMMENSIGNAL wird in der Main.h gesetzt

volatile int PPM_in[26];

volatile int PPM_diff[26];  // das diffenzierte Stick-Signal

volatile char Channels,tmpChannels = 0;

volatile unsigned char NewPpmData = 1;

unsigned int PPM_Neutral = 466;

//############################################################################

// Clear the values

void rc_sum_init (void)

//############################################################################

{

 unsigned char i;

 for(i=0;i<26;i++)

  {

   if(i < 5) PPM_in[i] = 0; else PPM_in[i] = -127;

   PPM_diff[i] = 0;

  }

    AdNeutralGier = 0;

    AdNeutralRoll = 0;

    AdNeutralNick = 0;

    return;

}

#ifndef ACT_S3D_SUMMENSIGNAL

//############################################################################

// Interrupt function for the PPM-Input

ISR(TIMER1_CAPT_vect)

//############################################################################

{

if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC))

 {

        static unsigned int AltICR=0;

    signed int signal = 0,tmp;

        static int index;

        signal = (unsigned int) ICR1 - AltICR;

        AltICR = ICR1;

    //Syncronisationspause? (3.52 ms < signal < 25.6 ms)

        if((signal > 1100) && (signal < 8000))

        {

        Channels = index;

        if(index >= 4)  NewPpmData = 0;  // Null bedeutet: Neue Daten

        index = 1;

        }

        else

        {

        if(index < 13)

            {

            if((signal > 250) && (signal < 687))

                {

                signal -= PPM_Neutral;

                // Stabiles Signal

                                  if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100)  // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe

                                  {

                    if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;}

                                  }    

                tmp = (3 * (PPM_in[index]) + signal) / 4;

                if(tmp > signal+1) tmp--; else

                if(tmp < signal-1) tmp++;

                if(SenderOkay >= 195)  PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;

                else PPM_diff[index] = 0;

                PPM_in[index] = tmp;

                }

            index++;

                   if(PlatinenVersion < 20)

            {  

             if(index == 5) J3High; else J3Low;  // Servosignal an J3 anlegen

             if(index == 6) J4High; else J4Low;  // Servosignal an J4 anlegen

             if(index == 7) J5High; else J5Low;  // Servosignal an J5 anlegen

                        }

        }

        }

 }

 else

 {

        static unsigned int AltICR=0;

    static int ppm_in[13];

    static int ppm_diff[13];

    static int old_ppm_in[13];

    static int old_ppm_diff[13];

    signed int signal = 0,tmp;

        static unsigned char index, okay_cnt = 0;

        signal = (unsigned int) ICR1 - AltICR;

        AltICR = ICR1;

    //Syncronisationspause? (3.52 ms < signal < 25.6 ms)

        if((signal > 1100) && (signal < 8000))

        {

        tmpChannels = index;

        if(tmpChannels >= 4 && Channels == tmpChannels)

                 {

          if(okay_cnt > 10)

                   {

                   NewPpmData = 0;  // Null bedeutet: Neue Daten

                   for(index = 0; index < 13; index++)

                    {

                         if(okay_cnt > 30)

                          {

                           old_ppm_in[index] = PPM_in[index];

                           old_ppm_diff[index] = PPM_diff[index];

                          }

                     PPM_in[index] = ppm_in[index];

                     PPM_diff[index] = ppm_diff[index];

                    }

                   }

          if(okay_cnt < 255) okay_cnt++;

                 }

         else

                  {

                   if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0;

                   ROT_ON;

                  }

        index = 1;

        if(!MotorenEin) Channels = tmpChannels;

        }

        else

        {

        if(index < 13)

            {

            if((signal > 250) && (signal < 687))

                {

                signal -= PPM_Neutral;

                // Stabiles Signal

                if((abs(signal - ppm_in[index]) < 6))

                                 {

                                  if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100)  // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe

                                  {

                                   if(okay_cnt > 25)  SenderOkay += 10;

                                   else

                                   if(okay_cnt > 10)  SenderOkay += 2;

                                   if(SenderOkay > 200) SenderOkay = 200;

                                  }

                                 }

                tmp = (3 * (ppm_in[index]) + signal) / 4;

                if(tmp > signal+1) tmp--; else

                if(tmp < signal-1) tmp++;

                if(SenderOkay >= 190)  ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3;

                else ppm_diff[index] = 0;

                ppm_in[index] = tmp;

                }

                        else ROT_ON;

                   if(PlatinenVersion < 20)

            {  

             if(index == 5) J3High; else J3Low;  // Servosignal an J3 anlegen

             if(index == 6) J4High; else J4Low;  // Servosignal an J4 anlegen

             if(index == 7) J5High; else J5Low;  // Servosignal an J5 anlegen

                        }

          }

                  if(index < 20) index++;

          else

                  if(index == 20)

                  {

            unsigned char i;

            ROT_ON;

                    index = 30;

            for(i=0;i<13;i++) // restore from older data

                         {

                      PPM_in[i] = old_ppm_in[i];

                      PPM_diff[i] = 0;

//                        okay_cnt /= 2;

                 }

                  }

            }

 }

}

#else

//############################################################################

// Interrupt function for the PPM-Input

ISR(TIMER1_CAPT_vect)

//############################################################################

{

        static unsigned int AltICR=0;

    signed int signal = 0,tmp;

        static int index;

        signal = (unsigned int) ICR1 - AltICR;

        signal /= 2;

        AltICR = ICR1;

    //Syncronisationspause?

        if((signal > 1100*2) && (signal < 8000*2))

        {

        if(index >= 4)  NewPpmData = 0;  // Null bedeutet: Neue Daten

        index = 1;

        }

        else

        {

        if(index < 13)

            {

            if((signal > 250) && (signal < 687*2))

                {

                signal -= 962;

                // Stabiles Signal

                if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;}

                tmp = (3 * (PPM_in[index]) + signal) / 4;

                if(tmp > signal+1) tmp--; else

                if(tmp < signal-1) tmp++;

                if(SenderOkay >= 195)  PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;

                else PPM_diff[index] = 0;

                PPM_in[index] = tmp;

                }

            index++;

        }

        }

}

#endif