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