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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 <stdlib.h> |
| 12 | #include <avr/io.h> |
12 | #include <avr/io.h> |
| 13 | #include <avr/interrupt.h> |
13 | #include <avr/interrupt.h> |
| 14 | 14 | ||
| 15 | #include "rc.h" |
15 | #include "rc.h" |
| 16 | #include "fc.h" |
16 | #include "fc.h" |
| 17 | 17 | ||
| 18 | volatile int16_t PPM_in[11]; |
18 | volatile int16_t PPM_in[11]; |
| 19 | volatile int16_t PPM_diff[11]; // das diffenzierte Stick-Signal |
19 | volatile int16_t PPM_diff[11]; |
| 20 | volatile uint8_t NewPpmData = 1; |
20 | volatile uint8_t NewPpmData = 1; |
| - | 21 | volatile uint8_t SenderOkay = 0; |
|
| 21 | 22 | ||
| 22 | /***************************************************************/ |
- | |
| 23 | /* zum decodieren des PPM-Signals wird Timer1 mit seiner Input */ |
23 | /***************************************************************/ |
| 24 | /* Capture Funktion benutzt: */ |
24 | /* 16bit timer 1 is used to decode the PPM-Signal */ |
| 25 | /***************************************************************/ |
- | |
| 26 | 25 | /***************************************************************/ |
|
| 27 | void rc_sum_init (void) |
26 | void rc_sum_init (void) |
| - | 27 | { |
|
| - | 28 | uint8_t sreg = SREG; |
|
| 28 | { |
29 | |
| - | 30 | // disable all interrupts before reconfiguration |
|
| - | 31 | cli(); |
|
| - | 32 | ||
| - | 33 | // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
|
| - | 34 | DDRD &= ~(1<<DDD6); |
|
| - | 35 | PORTD |= (1<<PORTD6); |
|
| 29 | TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
36 | |
| - | 37 | // Timer/Counter1 Control Register A, B, C |
|
| - | 38 | ||
| - | 39 | // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
|
| - | 40 | // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
|
| - | 41 | // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
|
| - | 42 | // Enable input capture noise cancler (bit: ICNC1=1) |
|
| - | 43 | // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
|
| - | 44 | // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2µs |
|
| 30 | 45 | // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
|
| - | 46 | TCCR1A &= ~((1<<COM1A1)|(1<<COM1A0)|(1<<COM1B1)|(1<<COM1B0)|(1<<WGM11)|(1<<WGM10)); |
|
| 31 | // PWM |
47 | TCCR1B &= ~((1<<WGM13)|(1<<WGM12)|(1<<CS12)); |
| - | 48 | TCCR1B |= (1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1); |
|
| - | 49 | TCCR1C &= ~((1<<FOC1A)|(1<<FOC1B)); |
|
| - | 50 | ||
| - | 51 | // Timer/Counter1 Interrupt Mask Register |
|
| - | 52 | ||
| - | 53 | // Enable Input Capture Interrupt (bit: ICIE1=1) |
|
| - | 54 | // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
|
| 32 | //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
55 | // Disable Overflow Interrupt (bit: TOIE1=0) |
| 33 | //TCCR1B |= (1 << WGM12); |
- | |
| 34 | //OCR1B = 55; |
56 | TIMSK1 &= ~((1<<OCIE1B)|(1<<OCIE1A)|(1<<TOIE1)); |
| 35 | 57 | TIMSK1 |= (1<<ICIE1); |
|
| 36 | TIMSK1 |= _BV(ICIE1); |
58 | |
| 37 | AdNeutralGier = 0; |
59 | AdNeutralGier = 0; |
| 38 | AdNeutralRoll = 0; |
60 | AdNeutralRoll = 0; |
| 39 | AdNeutralNick = 0; |
61 | AdNeutralNick = 0; |
| - | 62 | ||
| 40 | return; |
63 | SREG = sreg; |
| 41 | } |
64 | } |
| 42 | - | ||
| 43 | //############################################################################ |
- | |
| 44 | //Diese Routine startet und inizialisiert den Timer für RC |
- | |
| 45 | SIGNAL(SIG_INPUT_CAPTURE1) |
- | |
| - | 65 | ||
| - | 66 | ||
| - | 67 | /********************************************************************/ |
|
| - | 68 | /* Every time a positive edge is detected at PD6 */ |
|
| - | 69 | /********************************************************************/ |
|
| - | 70 | /* |
|
| - | 71 | The PPM-Frame length is 22.5 ms. |
|
| - | 72 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
|
| - | 73 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
|
| - | 74 | The maximum time delay of two events coding a chanel is ( 1.7 + 0.3) ms = 2 ms. |
|
| - | 75 | The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
|
| - | 76 | The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
|
| - | 77 | The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
|
| - | 78 | the syncronization gap. |
|
| 46 | //############################################################################ |
79 | */ |
| 47 | 80 | ISR(TIMER1_CAPT_vect) // typical rate of 1 ms to 2 ms |
|
| 48 | { |
81 | { |
| 49 | static unsigned int AltICR=0; |
82 | static uint16_t oldICR1 = 0; |
| - | 83 | int16_t signal = 0, tmp; |
|
| - | 84 | static int16_t index; |
|
| - | 85 | ||
| - | 86 | // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
|
| 50 | signed int signal = 0,tmp; |
87 | // at the time the edge was detected |
| 51 | static int index; |
88 | |
| - | 89 | // calculate the time delay to the previous event time which is stored in oldICR1 |
|
| 52 | 90 | signal = (uint16_t) ICR1 - oldICR1; |
|
| 53 | signal = (unsigned int) ICR1 - AltICR; |
- | |
| 54 | AltICR = ICR1; |
91 | oldICR1 = ICR1; |
| - | 92 | ||
| - | 93 | ||
| - | 94 | //sync gap? (3.52 ms < signal < 25.6 ms) |
|
| - | 95 | if((signal > 1100) && (signal < 8000)) |
|
| - | 96 | { |
|
| - | 97 | // if a sync gap happens and there where at least 4 channels decoded before |
|
| - | 98 | // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
|
| - | 99 | if(index >= 4) NewPpmData = 0; // Null means NewData |
|
| 55 | 100 | // synchronize channel index |
|
| 56 | //Syncronisationspause? |
101 | index = 1; |
| 57 | // if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
- | |
| 58 | if((signal > 1100) && (signal < 8000)) |
- | |
| 59 | { |
- | |
| 60 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
102 | } |
| 61 | index = 1; |
103 | else // within the PPM frame |
| 62 | } |
- | |
| 63 | else |
104 | { |
| - | 105 | if(index < 10) // channel limit is 9 because of the frame length of 22.5 ms |
|
| - | 106 | { |
|
| - | 107 | // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
|
| - | 108 | if((signal > 250) && (signal < 687)) |
|
| - | 109 | { |
|
| 64 | { |
110 | signal -= 466; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
| 65 | if(index < 10) |
111 | // check for stable signal |
| - | 112 | // the deviation of the current signal level from the average must be less than 6 (aprox. 1%) |
|
| 66 | { |
113 | if(abs(signal - PPM_in[index]) < 6) |
| 67 | if((signal > 250) && (signal < 687)) |
114 | { |
| - | 115 | // a good signal condition increases SenderOkay by 10 |
|
| 68 | { |
116 | // SignalOkay is decremented every 2 ms in timer0.c |
| 69 | signal -= 466; |
117 | // this variable is a level for the average rate of noiseless signal |
| 70 | // Stabiles Signal |
118 | if(SenderOkay < 200) SenderOkay += 10; |
| 71 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
119 | } |
| 72 | // tmp = (7 * (PPM_in[index]) + signal) / 8; |
120 | // calculate exponential history for signal |
| 73 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
121 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
| 74 | if(tmp > signal+1) tmp--; else |
122 | if(tmp > signal+1) tmp--; else |
| 75 | if(tmp < signal-1) tmp++; |
123 | if(tmp < signal-1) tmp++; |
| - | 124 | // calculate signal difference on good signal level |
|
| 76 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
125 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
| 77 | else PPM_diff[index] = 0; |
126 | else PPM_diff[index] = 0; |
| 78 | PPM_in[index] = tmp; |
127 | PPM_in[index] = tmp; // update channel value |
| 79 | } |
128 | } |
| 80 | index++; |
129 | index++; // next channel |
| - | 130 | // demux sum signal fpr channels 5 to 7 |
|
| 81 | if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
131 | if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| 82 | if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
132 | if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| 83 | if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
133 | if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
| 84 | } |
134 | } |
| 85 | } |
135 | } |
| 86 | } |
136 | } |
| 87 | 137 | ||
| 88 | 138 | ||
| 89 | 139 | ||
| 90 | 140 | ||
| 91 | 141 | ||
| 92 | 142 | ||