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| 1 | /*####################################################################################### |
1 | /*####################################################################################### |
| 2 | Decodieren eines RC Summen Signals |
2 | Decodieren eines RC Summen Signals |
| 3 | #######################################################################################*/ |
3 | #######################################################################################*/ |
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 5 | // + Copyright (c) 04.2007 Holger Buss |
5 | // + Copyright (c) 04.2007 Holger Buss |
| 6 | // + only for non-profit use |
6 | // + only for non-profit use |
| 7 | // + www.MikroKopter.com |
7 | // + www.MikroKopter.com |
| 8 | // + see the File "License.txt" for further Informations |
8 | // + see the File "License.txt" for further Informations |
| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 10 | 10 | ||
| 11 | #include "rc.h" |
11 | #include "rc.h" |
| 12 | #include "main.h" |
12 | #include "main.h" |
| 13 | 13 | ||
| 14 | volatile int PPM_in[11]; |
14 | volatile int PPM_in[11]; |
| 15 | volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
15 | volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| 16 | volatile unsigned char NewPpmData = 1; |
16 | volatile unsigned char NewPpmData = 1; |
| 17 | 17 | ||
| 18 | //############################################################################ |
18 | //############################################################################ |
| 19 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
19 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
| 20 | //Capture Funktion benutzt: |
20 | //Capture Funktion benutzt: |
| 21 | void rc_sum_init (void) |
21 | void rc_sum_init (void) |
| 22 | //############################################################################ |
22 | //############################################################################ |
| 23 | { |
23 | { |
| 24 | TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
24 | TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
| 25 | - | ||
| 26 | 25 | ||
| 27 | // PWM |
26 | // PWM |
| 28 | //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
27 | //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
| 29 | //TCCR1B |= (1 << WGM12); |
28 | //TCCR1B |= (1 << WGM12); |
| 30 | //OCR1B = 55; |
29 | //OCR1B = 55; |
| 31 | 30 | ||
| 32 | TIMSK1 |= _BV(ICIE1); |
31 | TIMSK1 |= _BV(ICIE1); |
| 33 | AdNeutralGier = 0; |
32 | AdNeutralGier = 0; |
| 34 | AdNeutralRoll = 0; |
33 | AdNeutralRoll = 0; |
| 35 | AdNeutralNick = 0; |
34 | AdNeutralNick = 0; |
| 36 | return; |
35 | return; |
| 37 | } |
36 | } |
| 38 | 37 | ||
| 39 | //############################################################################ |
38 | //############################################################################ |
| 40 | //Diese Routine startet und inizialisiert den Timer für RC |
39 | //Diese Routine startet und inizialisiert den Timer für RC |
| 41 | SIGNAL(SIG_INPUT_CAPTURE1) |
40 | SIGNAL(SIG_INPUT_CAPTURE1) |
| 42 | //############################################################################ |
41 | //############################################################################ |
| 43 | 42 | ||
| 44 | { |
43 | { |
| 45 | static unsigned int AltICR=0; |
44 | static unsigned int AltICR=0; |
| 46 | signed int signal = 0; |
45 | signed int signal = 0,tmp; |
| 47 | static int index; |
46 | static int index; |
| 48 | 47 | ||
| 49 | signal = (unsigned int) ICR1 - AltICR; |
48 | signal = (unsigned int) ICR1 - AltICR; |
| 50 | AltICR = ICR1; |
49 | AltICR = ICR1; |
| 51 | 50 | ||
| 52 | //Syncronisationspause? |
51 | //Syncronisationspause? |
| 53 | if ((signal > 1500) && (signal < 8000)) |
52 | if ((signal > 1500) && (signal < 8000)) |
| 54 | { |
53 | { |
| 55 | index = 1; |
54 | index = 1; |
| 56 | NewPpmData = 0; // Null bedeutet: Neue Daten |
55 | NewPpmData = 0; // Null bedeutet: Neue Daten |
| 57 | // OCR2A = Poti2/2 + 80; |
56 | // OCR2A = Poti2/2 + 80; |
| 58 | 57 | ||
| 59 | } |
58 | } |
| 60 | else |
59 | else |
| 61 | { |
60 | { |
| 62 | if(index < 10) |
61 | if(index < 10) |
| 63 | { |
62 | { |
| 64 | if((signal > 250) && (signal < 687)) |
63 | if((signal > 250) && (signal < 687)) |
| 65 | { |
64 | { |
| 66 | signal -= 466; |
65 | signal -= 466; |
| 67 | // Stabiles Signal |
66 | // Stabiles Signal |
| 68 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
67 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| 69 | signal = (3 * (PPM_in[index]) + signal) / 4; |
68 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
| 70 | //373 entspricht ca. 1.5ms also Mittelstellung |
69 | if(tmp > signal+1) tmp--; else |
| - | 70 | if(tmp < signal-1) tmp++; |
|
| 71 | PPM_diff[index] = signal - PPM_in[index]; |
71 | PPM_diff[index] = tmp - PPM_in[index]; |
| 72 | PPM_in[index] = signal; |
72 | PPM_in[index] = tmp; |
| 73 | } |
73 | } |
| 74 | index++; |
74 | index++; |
| 75 | /* if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
75 | if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| 76 | if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
76 | if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| 77 | if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen */ |
77 | if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
| 78 | } |
78 | } |
| 79 | } |
79 | } |
| 80 | } |
80 | } |
| 81 | 81 | ||
| 82 | 82 | ||
| 83 | 83 | ||
| 84 | 84 | ||
| 85 | 85 | ||
| 86 | 86 | ||