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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 <stdlib.h> |
|
| 11 | #include <avr/io.h> |
12 | #include <avr/io.h> |
| 12 | #include <avr/interrupt.h> |
13 | #include <avr/interrupt.h> |
| 13 | 14 | ||
| 14 | #include "rc.h" |
15 | #include "rc.h" |
| 15 | #include "fc.h" |
16 | #include "fc.h" |
| 16 | 17 | ||
| 17 | volatile int PPM_in[11]; |
18 | volatile int16_t PPM_in[11]; |
| 18 | volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
19 | volatile int16_t PPM_diff[11]; // das diffenzierte Stick-Signal |
| - | 20 | volatile uint8_t NewPpmData = 1; |
|
| - | 21 | ||
| - | 22 | /***************************************************************/ |
|
| - | 23 | /* zum decodieren des PPM-Signals wird Timer1 mit seiner Input */ |
|
| - | 24 | /* Capture Funktion benutzt: */ |
|
| 19 | volatile unsigned char NewPpmData = 1; |
- | |
| 20 | - | ||
| 21 | //############################################################################ |
- | |
| 22 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
25 | /***************************************************************/ |
| 23 | //Capture Funktion benutzt: |
- | |
| 24 | void rc_sum_init (void) |
26 | |
| 25 | //############################################################################ |
27 | void rc_sum_init (void) |
| 26 | { |
28 | { |
| 27 | TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
29 | TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
| 28 | 30 | ||
| 29 | // PWM |
31 | // PWM |
| 30 | //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
32 | //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
| 31 | //TCCR1B |= (1 << WGM12); |
33 | //TCCR1B |= (1 << WGM12); |
| 32 | //OCR1B = 55; |
34 | //OCR1B = 55; |
| 33 | 35 | ||
| 34 | TIMSK1 |= _BV(ICIE1); |
36 | TIMSK1 |= _BV(ICIE1); |
| 35 | AdNeutralGier = 0; |
37 | AdNeutralGier = 0; |
| 36 | AdNeutralRoll = 0; |
38 | AdNeutralRoll = 0; |
| 37 | AdNeutralNick = 0; |
39 | AdNeutralNick = 0; |
| 38 | return; |
40 | return; |
| 39 | } |
41 | } |
| 40 | 42 | ||
| 41 | //############################################################################ |
43 | //############################################################################ |
| 42 | //Diese Routine startet und inizialisiert den Timer für RC |
44 | //Diese Routine startet und inizialisiert den Timer für RC |
| 43 | SIGNAL(SIG_INPUT_CAPTURE1) |
45 | SIGNAL(SIG_INPUT_CAPTURE1) |
| 44 | //############################################################################ |
46 | //############################################################################ |
| 45 | 47 | ||
| 46 | { |
48 | { |
| 47 | static unsigned int AltICR=0; |
49 | static unsigned int AltICR=0; |
| 48 | signed int signal = 0,tmp; |
50 | signed int signal = 0,tmp; |
| 49 | static int index; |
51 | static int index; |
| 50 | 52 | ||
| 51 | signal = (unsigned int) ICR1 - AltICR; |
53 | signal = (unsigned int) ICR1 - AltICR; |
| 52 | AltICR = ICR1; |
54 | AltICR = ICR1; |
| 53 | 55 | ||
| 54 | //Syncronisationspause? |
56 | //Syncronisationspause? |
| 55 | // if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
57 | // if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
| 56 | if((signal > 1100) && (signal < 8000)) |
58 | if((signal > 1100) && (signal < 8000)) |
| 57 | { |
59 | { |
| 58 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
60 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| 59 | index = 1; |
61 | index = 1; |
| 60 | } |
62 | } |
| 61 | else |
63 | else |
| 62 | { |
64 | { |
| 63 | if(index < 10) |
65 | if(index < 10) |
| 64 | { |
66 | { |
| 65 | if((signal > 250) && (signal < 687)) |
67 | if((signal > 250) && (signal < 687)) |
| 66 | { |
68 | { |
| 67 | signal -= 466; |
69 | signal -= 466; |
| 68 | // Stabiles Signal |
70 | // Stabiles Signal |
| 69 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
71 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| 70 | // tmp = (7 * (PPM_in[index]) + signal) / 8; |
72 | // tmp = (7 * (PPM_in[index]) + signal) / 8; |
| 71 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
73 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
| 72 | if(tmp > signal+1) tmp--; else |
74 | if(tmp > signal+1) tmp--; else |
| 73 | if(tmp < signal-1) tmp++; |
75 | if(tmp < signal-1) tmp++; |
| 74 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
76 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| 75 | else PPM_diff[index] = 0; |
77 | else PPM_diff[index] = 0; |
| 76 | PPM_in[index] = tmp; |
78 | PPM_in[index] = tmp; |
| 77 | } |
79 | } |
| 78 | index++; |
80 | index++; |
| 79 | if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
81 | if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| 80 | if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
82 | if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| 81 | if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
83 | if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
| 82 | } |
84 | } |
| 83 | } |
85 | } |
| 84 | } |
86 | } |
| 85 | 87 | ||
| 86 | 88 | ||
| 87 | 89 | ||
| 88 | 90 | ||
| 89 | 91 | ||
| 90 | 92 | ||