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440 | Nick666 | 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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16 | volatile unsigned char NewPpmData = 1; |
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17 | |||
18 | //############################################################################ |
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19 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
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20 | //Capture Funktion benutzt: |
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21 | void rc_sum_init (void) |
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22 | //############################################################################ |
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23 | { |
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24 | TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
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25 | |||
26 | |||
27 | // PWM |
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28 | //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
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29 | //TCCR1B |= (1 << WGM12); |
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30 | //OCR1B = 55; |
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31 | |||
32 | TIMSK1 |= _BV(ICIE1); |
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33 | AdNeutralGier = 0; |
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34 | AdNeutralRoll = 0; |
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35 | AdNeutralNick = 0; |
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36 | return; |
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37 | } |
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38 | |||
39 | //############################################################################ |
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40 | //Diese Routine startet und inizialisiert den Timer für RC |
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41 | SIGNAL(SIG_INPUT_CAPTURE1) |
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42 | //############################################################################ |
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43 | |||
44 | { |
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45 | static unsigned int AltICR=0; |
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46 | signed int signal = 0; |
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47 | static int index; |
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48 | |||
49 | signal = (unsigned int) ICR1 - AltICR; |
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50 | AltICR = ICR1; |
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51 | |||
52 | //Syncronisationspause? |
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53 | if ((signal > 1500) && (signal < 8000)) |
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54 | { |
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55 | index = 1; |
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56 | NewPpmData = 0; // Null bedeutet: Neue Daten |
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57 | // OCR2A = Poti2/2 + 80; |
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58 | |||
59 | } |
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60 | else |
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61 | { |
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62 | if(index < 10) |
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63 | { |
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64 | if((signal > 250) && (signal < 687)) |
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65 | { |
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66 | signal -= 466; |
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67 | // Stabiles Signal |
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68 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
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69 | signal = (3 * (PPM_in[index]) + signal) / 4; |
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70 | //373 entspricht ca. 1.5ms also Mittelstellung |
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71 | PPM_diff[index] = signal - PPM_in[index]; |
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72 | PPM_in[index] = signal; |
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73 | } |
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74 | index++; |
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75 | /* if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
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76 | if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
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77 | if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen */ |
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78 | } |
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79 | } |
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80 | } |
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81 | |||
82 | |||
83 | |||
84 | |||
85 |