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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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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 |