0,0 → 1,217 |
/*####################################################################################### |
Decodieren eines RC Summen Signals |
#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Holger Buss, Ingo Busker |
// + only for non-profit use |
// + www.MikroKopter.com |
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
// + see the File "License.txt" for further Informations |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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#include "rc.h" |
#include "main.h" |
// Achtung: ACT_S3D_SUMMENSIGNAL wird in der Main.h gesetzt |
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volatile int PPM_in[26]; |
volatile int PPM_diff[26]; // das diffenzierte Stick-Signal |
volatile char Channels,tmpChannels = 0; |
volatile unsigned char NewPpmData = 1; |
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//############################################################################ |
//zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
//Capture Funktion benutzt: |
void rc_sum_init (void) |
//############################################################################ |
{ |
unsigned char i; |
for(i=0;i<26;i++) |
{ |
PPM_in[i] = 0; |
PPM_diff[i] = 0; |
} |
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AdNeutralGier = 0; |
AdNeutralRoll = 0; |
AdNeutralNick = 0; |
return; |
} |
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#ifndef ACT_S3D_SUMMENSIGNAL |
//############################################################################ |
//Diese Routine startet und inizialisiert den Timer für RC |
ISR(TIMER1_CAPT_vect) |
//############################################################################ |
{ |
if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC)) |
{ |
static unsigned int AltICR=0; |
signed int signal = 0,tmp; |
static int index; |
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signal = (unsigned int) ICR1 - AltICR; |
AltICR = ICR1; |
//Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
if((signal > 1100) && (signal < 8000)) |
{ |
Channels = index; |
if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
index = 1; |
} |
else |
{ |
if(index < 13) |
{ |
if((signal > 250) && (signal < 687)) |
{ |
signal -= 466; |
// Stabiles Signal |
if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
tmp = (3 * (PPM_in[index]) + signal) / 4; |
if(tmp > signal+1) tmp--; else |
if(tmp < signal-1) tmp++; |
if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
else PPM_diff[index] = 0; |
PPM_in[index] = tmp; |
} |
index++; |
if(PlatinenVersion < 20) |
{ |
if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
} |
} |
} |
} |
else |
{ |
static unsigned int AltICR=0; |
static int ppm_in[13]; |
static int ppm_diff[13]; |
static int old_ppm_in[13]; |
static int old_ppm_diff[13]; |
signed int signal = 0,tmp; |
static unsigned char index, okay_cnt = 0; |
signal = (unsigned int) ICR1 - AltICR; |
AltICR = ICR1; |
//Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
if((signal > 1100) && (signal < 8000)) |
{ |
tmpChannels = index; |
if(tmpChannels >= 4 && Channels == tmpChannels) |
{ |
if(okay_cnt > 10) |
{ |
NewPpmData = 0; // Null bedeutet: Neue Daten |
for(index = 0; index < 13; index++) |
{ |
if(okay_cnt > 30) |
{ |
old_ppm_in[index] = PPM_in[index]; |
old_ppm_diff[index] = PPM_diff[index]; |
} |
PPM_in[index] = ppm_in[index]; |
PPM_diff[index] = ppm_diff[index]; |
} |
} |
if(okay_cnt < 255) okay_cnt++; |
} |
else |
{ |
if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0; |
ROT_ON; |
} |
index = 1; |
if(!MotorenEin) Channels = tmpChannels; |
} |
else |
{ |
if(index < 13) |
{ |
if((signal > 250) && (signal < 687)) |
{ |
signal -= 466; |
// Stabiles Signal |
if((abs(signal - ppm_in[index]) < 6)) |
{ |
if(okay_cnt > 25) SenderOkay += 10; |
else |
if(okay_cnt > 10) SenderOkay += 2; |
if(SenderOkay > 200) SenderOkay = 200; |
} |
tmp = (3 * (ppm_in[index]) + signal) / 4; |
if(tmp > signal+1) tmp--; else |
if(tmp < signal-1) tmp++; |
if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
else ppm_diff[index] = 0; |
ppm_in[index] = tmp; |
} |
else ROT_ON; |
if(PlatinenVersion < 20) |
{ |
if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
} |
} |
if(index < 20) index++; |
else |
if(index == 20) |
{ |
unsigned char i; |
ROT_ON; |
index = 30; |
for(i=0;i<13;i++) // restore from older data |
{ |
PPM_in[i] = old_ppm_in[i]; |
PPM_diff[i] = 0; |
// okay_cnt /= 2; |
} |
} |
} |
} |
} |
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#else |
//############################################################################ |
//Diese Routine startet und inizialisiert den Timer für RC |
ISR(TIMER1_CAPT_vect) |
//############################################################################ |
|
{ |
static unsigned int AltICR=0; |
signed int signal = 0,tmp; |
static int index; |
|
signal = (unsigned int) ICR1 - AltICR; |
signal /= 2; |
AltICR = ICR1; |
//Syncronisationspause? |
if((signal > 1100*2) && (signal < 8000*2)) |
{ |
if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
index = 1; |
} |
else |
{ |
if(index < 13) |
{ |
if((signal > 250) && (signal < 687*2)) |
{ |
signal -= 962; |
// Stabiles Signal |
if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
tmp = (3 * (PPM_in[index]) + signal) / 4; |
if(tmp > signal+1) tmp--; else |
if(tmp < signal-1) tmp++; |
if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
else PPM_diff[index] = 0; |
PPM_in[index] = tmp; |
} |
index++; |
} |
} |
} |
#endif |
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