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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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1278 | hbuss | 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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1 | ingob | 38 | |
1278 | hbuss | 39 | { |
40 | static unsigned int AltICR=0; |
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41 | signed int signal = 0,tmp; |
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42 | static int index; |
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43 | |||
44 | signal = (unsigned int) ICR1 - AltICR; |
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45 | AltICR = ICR1; |
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46 | //Syncronisationspause? |
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47 | if((signal > 1100) && (signal < 8000)) |
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48 | { |
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49 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
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50 | index = 1; |
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51 | } |
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52 | else |
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53 | { |
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54 | if(index < 10) |
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55 | { |
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56 | if((signal > 250) && (signal < 687)) |
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57 | { |
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58 | signal -= 466; |
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59 | // Stabiles Signal |
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60 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
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61 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
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62 | if(tmp > signal+1) tmp--; else |
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63 | if(tmp < signal-1) tmp++; |
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64 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
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65 | else PPM_diff[index] = 0; |
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66 | PPM_in[index] = tmp; |
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67 | } |
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68 | index++; |
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69 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
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70 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
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71 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
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72 | } |
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73 | } |
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74 | } |
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75 | */ |
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76 | |||
77 | |||
1 | ingob | 78 | //############################################################################ |
79 | //Diese Routine startet und inizialisiert den Timer für RC |
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80 | SIGNAL(SIG_INPUT_CAPTURE1) |
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81 | //############################################################################ |
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82 | |||
83 | { |
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84 | static unsigned int AltICR=0; |
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1268 | hbuss | 85 | static int ppm_in[11]; |
86 | static int ppm_diff[11]; |
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87 | static int old_ppm_in[11]; |
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88 | static int old_ppm_diff[11]; |
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173 | holgerb | 89 | signed int signal = 0,tmp; |
1268 | hbuss | 90 | static unsigned char index, okay_cnt = 0; |
1 | ingob | 91 | signal = (unsigned int) ICR1 - AltICR; |
92 | AltICR = ICR1; |
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93 | //Syncronisationspause? |
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513 | hbuss | 94 | if((signal > 1100) && (signal < 8000)) |
1 | ingob | 95 | { |
1268 | hbuss | 96 | tmpChannels = index; |
97 | if(tmpChannels >= 4 && Channels == tmpChannels) |
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98 | { |
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1276 | hbuss | 99 | if(okay_cnt > 10) |
1268 | hbuss | 100 | { |
101 | NewPpmData = 0; // Null bedeutet: Neue Daten |
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102 | for(index = 0; index < 11; index++) |
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103 | { |
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104 | if(okay_cnt > 30) |
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105 | { |
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106 | old_ppm_in[index] = PPM_in[index]; |
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107 | old_ppm_diff[index] = PPM_diff[index]; |
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108 | } |
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109 | PPM_in[index] = ppm_in[index]; |
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110 | PPM_diff[index] = ppm_diff[index]; |
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111 | } |
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112 | } |
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113 | if(okay_cnt < 255) okay_cnt++; |
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114 | } |
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1276 | hbuss | 115 | else |
1278 | hbuss | 116 | { |
117 | if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0; |
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118 | ROT_ON; |
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119 | } |
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1 | ingob | 120 | index = 1; |
1268 | hbuss | 121 | if(!MotorenEin) Channels = tmpChannels; |
1 | ingob | 122 | } |
123 | else |
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124 | { |
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125 | if(index < 10) |
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126 | { |
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127 | if((signal > 250) && (signal < 687)) |
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128 | { |
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129 | signal -= 466; |
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130 | // Stabiles Signal |
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1271 | hbuss | 131 | if((abs(signal - ppm_in[index]) < 6)) |
132 | { |
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1276 | hbuss | 133 | if(okay_cnt > 25) SenderOkay += 10; |
1271 | hbuss | 134 | else |
1276 | hbuss | 135 | if(okay_cnt > 10) SenderOkay += 2; |
136 | if(SenderOkay > 200) SenderOkay = 200; |
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1271 | hbuss | 137 | } |
1268 | hbuss | 138 | tmp = (3 * (ppm_in[index]) + signal) / 4; |
604 | hbuss | 139 | if(tmp > signal+1) tmp--; else |
140 | if(tmp < signal-1) tmp++; |
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1268 | hbuss | 141 | if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
142 | else ppm_diff[index] = 0; |
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143 | ppm_in[index] = tmp; |
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1 | ingob | 144 | } |
1268 | hbuss | 145 | else ROT_ON; |
146 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
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147 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
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148 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
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149 | } |
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150 | if(index < 20) index++; |
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1276 | hbuss | 151 | else |
152 | if(index == 20) |
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1268 | hbuss | 153 | { |
1276 | hbuss | 154 | unsigned char i; |
1278 | hbuss | 155 | ROT_ON; |
1276 | hbuss | 156 | index = 30; |
1268 | hbuss | 157 | for(i=0;i<11;i++) // restore from older data |
158 | { |
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1276 | hbuss | 159 | PPM_in[i] = old_ppm_in[i]; |
160 | PPM_diff[i] = 0; |
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161 | // okay_cnt /= 2; |
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1268 | hbuss | 162 | } |
163 | } |
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164 | } |
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1276 | hbuss | 165 | DebugOut.Analog[16] = okay_cnt; |
166 | DebugOut.Analog[17] = PPM_in[2]; |
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1171 | hbuss | 167 | } |
168 | |||
1278 | hbuss | 169 | |
1171 | hbuss | 170 | /* |
171 | //############################################################################ |
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172 | //Diese Routine startet und inizialisiert den Timer für RC |
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173 | SIGNAL(SIG_INPUT_CAPTURE1) |
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174 | //############################################################################ |
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175 | |||
176 | { |
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177 | static unsigned int AltICR=0; |
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178 | signed int signal = 0,tmp; |
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179 | static int index; |
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180 | |||
181 | signal = (unsigned int) ICR1 - AltICR; |
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182 | DebugOut.Analog[16] = signal; |
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183 | signal /= 2; |
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184 | AltICR = ICR1; |
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185 | //Syncronisationspause? |
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186 | if((signal > 1100*2) && (signal < 8000*2)) |
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187 | { |
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188 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
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189 | index = 1; |
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190 | } |
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191 | else |
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192 | { |
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193 | if(index < 10) |
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194 | { |
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195 | if((signal > 250) && (signal < 687*2)) |
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196 | { |
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197 | signal -= 962; |
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198 | // Stabiles Signal |
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199 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
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200 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
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201 | if(tmp > signal+1) tmp--; else |
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202 | if(tmp < signal-1) tmp++; |
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203 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
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204 | else PPM_diff[index] = 0; |
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205 | PPM_in[index] = tmp; |
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206 | } |
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207 | index++; |
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1155 | hbuss | 208 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
1171 | hbuss | 209 | if(index == 2) J4High; else J4Low; // Servosignal an J4 anlegen |
1155 | hbuss | 210 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
1 | ingob | 211 | } |
212 | } |
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213 | } |
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1171 | hbuss | 214 | */ |
1 | ingob | 215 | |
216 | |||
217 |