Go to most recent revision | Details | Last modification | View Log | RSS feed
| 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 | } |
||
| 33 | |||
| 34 | //############################################################################ |
||
| 35 | //Diese Routine startet und inizialisiert den Timer für RC |
||
| 36 | SIGNAL(SIG_INPUT_CAPTURE1) |
||
| 37 | //############################################################################ |
||
| 38 | |||
| 39 | { |
||
| 40 | static unsigned int AltICR=0; |
||
| 1268 | hbuss | 41 | static int ppm_in[11]; |
| 42 | static int ppm_diff[11]; |
||
| 43 | static int old_ppm_in[11]; |
||
| 44 | static int old_ppm_diff[11]; |
||
| 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; |
||
| 49 | //Syncronisationspause? |
||
| 513 | hbuss | 50 | if((signal > 1100) && (signal < 8000)) |
| 1 | ingob | 51 | { |
| 1268 | hbuss | 52 | tmpChannels = index; |
| 53 | if(tmpChannels >= 4 && Channels == tmpChannels) |
||
| 54 | { |
||
| 55 | if(okay_cnt > 5) |
||
| 56 | { |
||
| 57 | NewPpmData = 0; // Null bedeutet: Neue Daten |
||
| 58 | for(index = 0; index < 11; index++) |
||
| 59 | { |
||
| 60 | if(okay_cnt > 30) |
||
| 61 | { |
||
| 62 | old_ppm_in[index] = PPM_in[index]; |
||
| 63 | old_ppm_diff[index] = PPM_diff[index]; |
||
| 64 | } |
||
| 65 | PPM_in[index] = ppm_in[index]; |
||
| 66 | PPM_diff[index] = ppm_diff[index]; |
||
| 67 | } |
||
| 68 | } |
||
| 69 | if(okay_cnt < 255) okay_cnt++; |
||
| 70 | } |
||
| 71 | else okay_cnt = 0; |
||
| 1 | ingob | 72 | index = 1; |
| 1268 | hbuss | 73 | if(!MotorenEin) Channels = tmpChannels; |
| 1 | ingob | 74 | } |
| 75 | else |
||
| 76 | { |
||
| 77 | if(index < 10) |
||
| 78 | { |
||
| 79 | if((signal > 250) && (signal < 687)) |
||
| 80 | { |
||
| 81 | signal -= 466; |
||
| 82 | // Stabiles Signal |
||
| 1271 | hbuss | 83 | if((abs(signal - ppm_in[index]) < 6)) |
| 84 | { |
||
| 85 | if(okay_cnt > 25) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
||
| 86 | else |
||
| 87 | if(okay_cnt > 10) { if(SenderOkay < 200) SenderOkay += 2; else SenderOkay = 200;} |
||
| 88 | } |
||
| 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++; |
||
| 1268 | hbuss | 92 | if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
| 93 | else ppm_diff[index] = 0; |
||
| 94 | ppm_in[index] = tmp; |
||
| 1 | ingob | 95 | } |
| 1268 | hbuss | 96 | else ROT_ON; |
| 97 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
||
| 98 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
||
| 99 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
||
| 100 | } |
||
| 101 | else ROT_ON; |
||
| 102 | if(index < 20) index++; |
||
| 103 | else |
||
| 104 | { |
||
| 105 | unsigned char i; |
||
| 106 | for(i=0;i<11;i++) // restore from older data |
||
| 107 | { |
||
| 108 | PPM_in[i] = old_ppm_in[index]; |
||
| 109 | PPM_diff[index] = 0; |
||
| 110 | okay_cnt = 0; |
||
| 111 | } |
||
| 112 | } |
||
| 113 | } |
||
| 114 | DebugOut.Analog[16] = okay_cnt; |
||
| 1272 | hbuss | 115 | //DebugOut.Analog[17] = PPM_in[2]; |
| 1171 | hbuss | 116 | } |
| 117 | |||
| 118 | /* |
||
| 119 | //############################################################################ |
||
| 120 | //Diese Routine startet und inizialisiert den Timer für RC |
||
| 121 | SIGNAL(SIG_INPUT_CAPTURE1) |
||
| 122 | //############################################################################ |
||
| 123 | |||
| 124 | { |
||
| 125 | static unsigned int AltICR=0; |
||
| 126 | signed int signal = 0,tmp; |
||
| 127 | static int index; |
||
| 128 | |||
| 129 | signal = (unsigned int) ICR1 - AltICR; |
||
| 130 | DebugOut.Analog[16] = signal; |
||
| 131 | signal /= 2; |
||
| 132 | AltICR = ICR1; |
||
| 133 | //Syncronisationspause? |
||
| 134 | if((signal > 1100*2) && (signal < 8000*2)) |
||
| 135 | { |
||
| 136 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
||
| 137 | index = 1; |
||
| 138 | } |
||
| 139 | else |
||
| 140 | { |
||
| 141 | if(index < 10) |
||
| 142 | { |
||
| 143 | if((signal > 250) && (signal < 687*2)) |
||
| 144 | { |
||
| 145 | signal -= 962; |
||
| 146 | // Stabiles Signal |
||
| 147 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
||
| 148 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
||
| 149 | if(tmp > signal+1) tmp--; else |
||
| 150 | if(tmp < signal-1) tmp++; |
||
| 151 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
||
| 152 | else PPM_diff[index] = 0; |
||
| 153 | PPM_in[index] = tmp; |
||
| 154 | } |
||
| 155 | index++; |
||
| 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 | } |
||
| 161 | } |
||
| 1171 | hbuss | 162 | */ |
| 1 | ingob | 163 | |
| 164 | |||
| 165 |