Subversion Repositories FlightCtrl

Rev

Rev 419 | Rev 604 | Go to most recent revision | Details | Compare with Previous | 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
16
volatile unsigned char NewPpmData = 1;
17
 
18
//############################################################################
19
//zum decodieren des PPM-Signals wird Timer1 mit seiner Input
20
//Capture Funktion benutzt:
21
void rc_sum_init (void)
22
//############################################################################
23
{
24
        TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64
25
 
26
// PWM
27
//TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10);
28
//TCCR1B |= (1 << WGM12);
29
//OCR1B = 55;
30
 
31
    TIMSK1 |= _BV(ICIE1);
32
    AdNeutralGier = 0;
33
    AdNeutralRoll = 0;
34
    AdNeutralNick = 0;
35
    return;
36
}
37
 
38
//############################################################################
39
//Diese Routine startet und inizialisiert den Timer für RC
40
SIGNAL(SIG_INPUT_CAPTURE1)
41
//############################################################################
42
 
43
{
44
        static unsigned int AltICR=0;
173 holgerb 45
    signed int signal = 0,tmp;
1 ingob 46
        static int index;              
47
 
48
        signal = (unsigned int) ICR1 - AltICR;         
49
        AltICR = ICR1; 
50
 
51
    //Syncronisationspause?
513 hbuss 52
//      if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000))        
53
        if((signal > 1100) && (signal < 8000))   
1 ingob 54
        {
513 hbuss 55
        if(index >= 4)  NewPpmData = 0;  // Null bedeutet: Neue Daten
1 ingob 56
        index = 1;             
57
        }
58
        else
59
        {
60
        if(index < 10)
61
            {
62
            if((signal > 250) && (signal < 687))
63
                {
64
                signal -= 466;
65
                // Stabiles Signal
66
                if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;}
173 holgerb 67
                tmp = (3 * (PPM_in[index]) + signal) / 4;  
188 holgerb 68
//                if(tmp > signal+1) tmp--; else
69
//                if(tmp < signal-1) tmp++; 
173 holgerb 70
                PPM_diff[index] = tmp - PPM_in[index];
71
                PPM_in[index] = tmp;
1 ingob 72
                }
73
            index++;  
173 holgerb 74
         if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20;  // Servosignal an J3 anlegen
1 ingob 75
         if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10;  // Servosignal an J4 anlegen
419 hbuss 76
         if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08;  // Servosignal an J5 anlegen 
1 ingob 77
        }
78
        }
79
}
80
 
81
 
82
 
83
 
84