Rev 2342 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1 | ingob | 1 | /*####################################################################################### |
1561 | killagreg | 2 | Decodieren eines RC Summen Signals |
1 | ingob | 3 | #######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
5 | // + www.MikroKopter.com |
||
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2050 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
||
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
||
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
||
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
||
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
||
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
||
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
||
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
||
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
||
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
||
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
||
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
||
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
||
22 | // + des Mitverschuldens offen. |
||
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
||
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
||
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
||
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
||
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
||
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
||
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
||
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
||
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
32 | // + Software LICENSING TERMS |
||
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
||
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
||
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
||
37 | // + The Software may only be used with the Licensor's products. |
||
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
||
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
||
40 | // + agreement shall be the property of the Licensor. |
||
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
||
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
||
43 | // + The customer shall be responsible for taking reasonable precautions |
||
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
||
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
||
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
||
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
||
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
||
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
||
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
||
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
||
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
||
53 | // + #### END OF LICENSING TERMS #### |
||
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
||
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1 | ingob | 56 | |
57 | #include "rc.h" |
||
58 | #include "main.h" |
||
1638 | holgerb | 59 | // Achtung: ACT_S3D_SUMMENSIGNAL wird in der Main.h gesetzt |
2341 | holgerb | 60 | #define MAX_RC_IN 16+12+3+4 // 16ch + 12ser + 3stages + 4 reserved |
61 | volatile int PPM_in[MAX_RC_IN]; |
||
62 | volatile int PPM_diff[MAX_RC_IN]; // das differnzierte Stick-Signal |
||
1268 | hbuss | 63 | volatile char Channels,tmpChannels = 0; |
1 | ingob | 64 | volatile unsigned char NewPpmData = 1; |
1933 | holgerb | 65 | unsigned int PPM_Neutral = 466; |
1 | ingob | 66 | |
67 | //############################################################################ |
||
2008 | holgerb | 68 | // Clear the values |
2341 | holgerb | 69 | void rc_sum_init(void) |
1 | ingob | 70 | //############################################################################ |
71 | { |
||
1377 | hbuss | 72 | unsigned char i; |
2341 | holgerb | 73 | for(i=0;i<MAX_RC_IN;i++) |
1377 | hbuss | 74 | { |
2183 | holgerb | 75 | if(i < 5) PPM_in[i] = 0; else PPM_in[i] = -127; |
1377 | hbuss | 76 | PPM_diff[i] = 0; |
77 | } |
||
2342 | holgerb | 78 | PPM_in[PPM_IN_MAX] = +127; |
2341 | holgerb | 79 | PPM_in[PPM_IN_OFF] = -127; |
80 | PPM_in[PPM_IN_MID] = 0; |
||
1 | ingob | 81 | AdNeutralGier = 0; |
82 | AdNeutralRoll = 0; |
||
83 | AdNeutralNick = 0; |
||
84 | return; |
||
85 | } |
||
1309 | hbuss | 86 | |
1356 | hbuss | 87 | #ifndef ACT_S3D_SUMMENSIGNAL |
1278 | hbuss | 88 | //############################################################################ |
2008 | holgerb | 89 | // Interrupt function for the PPM-Input |
1561 | killagreg | 90 | ISR(TIMER1_CAPT_vect) |
1278 | hbuss | 91 | //############################################################################ |
92 | { |
||
2320 | holgerb | 93 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1309 | hbuss | 94 | if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC)) |
2320 | holgerb | 95 | #endif |
1309 | hbuss | 96 | { |
1278 | hbuss | 97 | static unsigned int AltICR=0; |
98 | signed int signal = 0,tmp; |
||
1561 | killagreg | 99 | static int index; |
100 | |||
101 | signal = (unsigned int) ICR1 - AltICR; |
||
102 | AltICR = ICR1; |
||
1283 | hbuss | 103 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
1561 | killagreg | 104 | if((signal > 1100) && (signal < 8000)) |
1278 | hbuss | 105 | { |
1320 | hbuss | 106 | Channels = index; |
1278 | hbuss | 107 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
1561 | killagreg | 108 | index = 1; |
109 | } |
||
110 | else |
||
1278 | hbuss | 111 | { |
2340 | holgerb | 112 | if(index < 13+4) |
1278 | hbuss | 113 | { |
1561 | killagreg | 114 | if((signal > 250) && (signal < 687)) |
115 | { |
||
1933 | holgerb | 116 | signal -= PPM_Neutral; |
1278 | hbuss | 117 | // Stabiles Signal |
2008 | holgerb | 118 | if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe |
119 | { |
||
120 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
||
121 | } |
||
1561 | killagreg | 122 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
1278 | hbuss | 123 | if(tmp > signal+1) tmp--; else |
1561 | killagreg | 124 | if(tmp < signal-1) tmp++; |
125 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
||
1278 | hbuss | 126 | else PPM_diff[index] = 0; |
127 | PPM_in[index] = tmp; |
||
1561 | killagreg | 128 | } |
129 | index++; |
||
2334 | holgerb | 130 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
131 | #else |
||
1639 | holgerb | 132 | if(PlatinenVersion < 20) |
133 | { |
||
134 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
||
135 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
||
136 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
||
137 | } |
||
2334 | holgerb | 138 | #endif |
1278 | hbuss | 139 | } |
140 | } |
||
1309 | hbuss | 141 | } |
2320 | holgerb | 142 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1561 | killagreg | 143 | else |
1309 | hbuss | 144 | { |
1 | ingob | 145 | static unsigned int AltICR=0; |
2340 | holgerb | 146 | static int ppm_in[13+4]; |
147 | static int ppm_diff[13+4]; |
||
148 | static int old_ppm_in[13+4]; |
||
149 | static int old_ppm_diff[13+4]; |
||
173 | holgerb | 150 | signed int signal = 0,tmp; |
1561 | killagreg | 151 | static unsigned char index, okay_cnt = 0; |
152 | signal = (unsigned int) ICR1 - AltICR; |
||
153 | AltICR = ICR1; |
||
1283 | hbuss | 154 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
1561 | killagreg | 155 | if((signal > 1100) && (signal < 8000)) |
1 | ingob | 156 | { |
1268 | hbuss | 157 | tmpChannels = index; |
1561 | killagreg | 158 | if(tmpChannels >= 4 && Channels == tmpChannels) |
1268 | hbuss | 159 | { |
1276 | hbuss | 160 | if(okay_cnt > 10) |
1268 | hbuss | 161 | { |
162 | NewPpmData = 0; // Null bedeutet: Neue Daten |
||
2340 | holgerb | 163 | for(index = 0; index < 13+4; index++) |
1268 | hbuss | 164 | { |
1561 | killagreg | 165 | if(okay_cnt > 30) |
1268 | hbuss | 166 | { |
167 | old_ppm_in[index] = PPM_in[index]; |
||
168 | old_ppm_diff[index] = PPM_diff[index]; |
||
1561 | killagreg | 169 | } |
1268 | hbuss | 170 | PPM_in[index] = ppm_in[index]; |
171 | PPM_diff[index] = ppm_diff[index]; |
||
172 | } |
||
173 | } |
||
174 | if(okay_cnt < 255) okay_cnt++; |
||
175 | } |
||
1561 | killagreg | 176 | else |
1278 | hbuss | 177 | { |
178 | if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0; |
||
179 | ROT_ON; |
||
180 | } |
||
1561 | killagreg | 181 | index = 1; |
1268 | hbuss | 182 | if(!MotorenEin) Channels = tmpChannels; |
1561 | killagreg | 183 | } |
184 | else |
||
1 | ingob | 185 | { |
2340 | holgerb | 186 | if(index < 13+4) |
1 | ingob | 187 | { |
1561 | killagreg | 188 | if((signal > 250) && (signal < 687)) |
189 | { |
||
1933 | holgerb | 190 | signal -= PPM_Neutral; |
1 | ingob | 191 | // Stabiles Signal |
1271 | hbuss | 192 | if((abs(signal - ppm_in[index]) < 6)) |
193 | { |
||
2008 | holgerb | 194 | if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe |
195 | { |
||
196 | if(okay_cnt > 25) SenderOkay += 10; |
||
197 | else |
||
198 | if(okay_cnt > 10) SenderOkay += 2; |
||
199 | if(SenderOkay > 200) SenderOkay = 200; |
||
200 | } |
||
1271 | hbuss | 201 | } |
1561 | killagreg | 202 | tmp = (3 * (ppm_in[index]) + signal) / 4; |
604 | hbuss | 203 | if(tmp > signal+1) tmp--; else |
1561 | killagreg | 204 | if(tmp < signal-1) tmp++; |
205 | if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
||
1268 | hbuss | 206 | else ppm_diff[index] = 0; |
207 | ppm_in[index] = tmp; |
||
1561 | killagreg | 208 | } |
1268 | hbuss | 209 | else ROT_ON; |
2334 | holgerb | 210 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
211 | #else |
||
1639 | holgerb | 212 | if(PlatinenVersion < 20) |
213 | { |
||
214 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
||
215 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
||
216 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
||
217 | } |
||
2334 | holgerb | 218 | #endif |
1268 | hbuss | 219 | } |
1561 | killagreg | 220 | if(index < 20) index++; |
1276 | hbuss | 221 | else |
1561 | killagreg | 222 | if(index == 20) |
1268 | hbuss | 223 | { |
1276 | hbuss | 224 | unsigned char i; |
1278 | hbuss | 225 | ROT_ON; |
1276 | hbuss | 226 | index = 30; |
2340 | holgerb | 227 | for(i=0;i<13+4;i++) // restore from older data |
1268 | hbuss | 228 | { |
1276 | hbuss | 229 | PPM_in[i] = old_ppm_in[i]; |
230 | PPM_diff[i] = 0; |
||
231 | // okay_cnt /= 2; |
||
1268 | hbuss | 232 | } |
233 | } |
||
234 | } |
||
1309 | hbuss | 235 | } |
2320 | holgerb | 236 | #endif |
237 | |||
1171 | hbuss | 238 | } |
239 | |||
1561 | killagreg | 240 | #else |
1171 | hbuss | 241 | //############################################################################ |
2008 | holgerb | 242 | // Interrupt function for the PPM-Input |
1561 | killagreg | 243 | ISR(TIMER1_CAPT_vect) |
1171 | hbuss | 244 | //############################################################################ |
245 | |||
246 | { |
||
247 | static unsigned int AltICR=0; |
||
248 | signed int signal = 0,tmp; |
||
1561 | killagreg | 249 | static int index; |
250 | |||
251 | signal = (unsigned int) ICR1 - AltICR; |
||
1171 | hbuss | 252 | signal /= 2; |
1561 | killagreg | 253 | AltICR = ICR1; |
1171 | hbuss | 254 | //Syncronisationspause? |
1561 | killagreg | 255 | if((signal > 1100*2) && (signal < 8000*2)) |
1171 | hbuss | 256 | { |
257 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
||
1561 | killagreg | 258 | index = 1; |
259 | } |
||
260 | else |
||
1171 | hbuss | 261 | { |
1377 | hbuss | 262 | if(index < 13) |
1171 | hbuss | 263 | { |
1561 | killagreg | 264 | if((signal > 250) && (signal < 687*2)) |
265 | { |
||
1171 | hbuss | 266 | signal -= 962; |
267 | // Stabiles Signal |
||
268 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
||
1561 | killagreg | 269 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
1171 | hbuss | 270 | if(tmp > signal+1) tmp--; else |
1561 | killagreg | 271 | if(tmp < signal-1) tmp++; |
272 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
||
1171 | hbuss | 273 | else PPM_diff[index] = 0; |
274 | PPM_in[index] = tmp; |
||
1561 | killagreg | 275 | } |
276 | index++; |
||
1 | ingob | 277 | } |
278 | } |
||
279 | } |
||
1356 | hbuss | 280 | #endif |
1 | ingob | 281 | |
2034 | holgerb | 282 | |
283 |