| 0,0 → 1,94 |
|---|
| /*####################################################################################### |
| Decodieren eines RC Summen Signals |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| #include "rc.h" |
| #include "main.h" |
| |
| volatile int PPM_in[11]; |
| int RCQuality = 0; |
| volatile unsigned char NewPpmData = 1; |
| |
| //############################################################################ |
| //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
| //Capture Funktion benutzt: |
| void rc_sum_init (void) |
| //############################################################################ |
| { |
| TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1); //timer1 prescale 64 |
| TIMSK1 |= _BV(ICIE1); |
| return; |
| } |
| |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den Timer für RC |
| SIGNAL(SIG_INPUT_CAPTURE1) |
| //############################################################################ |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0,tmp; |
| static int index; |
| static float RC_Quality = 0.0F; |
| static int PPM_org[11]; |
| |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| |
| //Syncronisationspause? |
| if ((signal > 1500) && (signal < 8000)) |
| { |
| index = 1; |
| NewPpmData = 0; // Null bedeutet: Neue Daten |
| } |
| else |
| { |
| if(index < 10) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= 466; |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) |
| { |
| if(SenderOkay < 200) |
| { |
| SenderOkay += 10; |
| } |
| } |
| /* Give an estimate for the Signal Level based on the RC-Jitter */ |
| if (abs(2 * (signal - PPM_org[index]) > (int) RC_Quality)) |
| { |
| RC_Quality = 0.99F * RC_Quality + 0.01F * (float) abs(2 * (signal - PPM_org[index])) ; |
| } |
| else |
| { |
| RC_Quality = 0.998F * RC_Quality + 0.002F * (float) abs(2 * (signal - PPM_org[index])) ; |
| } |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| PPM_in[index] = tmp; |
| PPM_org[index] = signal; |
| } |
| else |
| { |
| RC_Quality = 0.95F * RC_Quality + 0.05F * 100; |
| } |
| RC_Quality = MIN(100.F, RC_Quality); |
| RCQuality = 100 - (int) RC_Quality; |
| index++; |
| if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
| } |
| } |
| } |
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