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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + Nur für den privaten Gebrauch |
3 | // + Nur für den privaten Gebrauch |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt werden |
18 | // + eindeutig als Ursprung verlinkt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
25 | // + mit unserer Zustimmung zulässig |
25 | // + mit unserer Zustimmung zulässig |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
30 | // + this list of conditions and the following disclaimer. |
30 | // + this list of conditions and the following disclaimer. |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
32 | // + from this software without specific prior written permission. |
32 | // + from this software without specific prior written permission. |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
34 | // + for non-commercial use (directly or indirectly) |
34 | // + for non-commercial use (directly or indirectly) |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
36 | // + with our written permission |
36 | // + with our written permission |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + clearly linked as origin |
38 | // + clearly linked as origin |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + POSSIBILITY OF SUCH DAMAGE. |
49 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | #include <stdlib.h> |
51 | #include <stdlib.h> |
52 | #include <avr/io.h> |
52 | #include <avr/io.h> |
53 | #include <avr/interrupt.h> |
53 | #include <avr/interrupt.h> |
54 | 54 | ||
55 | #include "rc.h" |
55 | #include "rc.h" |
56 | #include "main.h" |
56 | #include "main.h" |
57 | 57 | ||
58 | volatile int16_t PPM_in[15]; //PPM24 supports 12 channels per frame |
58 | volatile int16_t PPM_in[15]; //PPM24 supports 12 channels per frame |
59 | volatile int16_t PPM_diff[15]; |
59 | volatile int16_t PPM_diff[15]; |
60 | volatile uint8_t NewPpmData = 1; |
60 | volatile uint8_t NewPpmData = 1; |
61 | volatile int16_t RC_Quality = 0; |
61 | volatile int16_t RC_Quality = 0; |
62 | 62 | ||
63 | 63 | ||
64 | 64 | ||
65 | /***************************************************************/ |
65 | /***************************************************************/ |
66 | /* 16bit timer 1 is used to decode the PPM-Signal */ |
66 | /* 16bit timer 1 is used to decode the PPM-Signal */ |
67 | /***************************************************************/ |
67 | /***************************************************************/ |
68 | void RC_Init (void) |
68 | void RC_Init (void) |
69 | { |
69 | { |
70 | uint8_t sreg = SREG; |
70 | uint8_t sreg = SREG; |
71 | 71 | ||
72 | // disable all interrupts before reconfiguration |
72 | // disable all interrupts before reconfiguration |
73 | cli(); |
73 | cli(); |
74 | 74 | ||
75 | // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
75 | // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
76 | DDRD &= ~(1<<DDD6); |
76 | DDRD &= ~(1<<DDD6); |
77 | PORTD |= (1<<PORTD6); |
77 | PORTD |= (1<<PORTD6); |
78 | 78 | ||
79 | // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
79 | // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
80 | // set as output |
80 | // set as output |
81 | DDRD |= (1<<DDD5)|(1<<DDD4); |
81 | DDRD |= (1<<DDD5)|(1<<DDD4); |
82 | // low level |
82 | // low level |
83 | PORTD &= ~((1<<PORTD5)|(1<<PORTD4)); |
83 | PORTD &= ~((1<<PORTD5)|(1<<PORTD4)); |
84 | 84 | ||
85 | // PD3 can't be used if 2nd UART is activated |
85 | // PD3 can't be used if 2nd UART is activated |
86 | // because TXD1 is at that port |
86 | // because TXD1 is at that port |
87 | if(CPUType != ATMEGA644P) |
87 | if(CPUType != ATMEGA644P) |
88 | { |
88 | { |
89 | DDRD |= (1<<PORTD3); |
89 | DDRD |= (1<<PORTD3); |
90 | PORTD &= ~(1<<PORTD3); |
90 | PORTD &= ~(1<<PORTD3); |
91 | } |
91 | } |
92 | 92 | ||
93 | // Timer/Counter1 Control Register A, B, C |
93 | // Timer/Counter1 Control Register A, B, C |
94 | 94 | ||
95 | // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
95 | // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
96 | // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
96 | // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
97 | // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
97 | // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
98 | // Enable input capture noise cancler (bit: ICNC1=1) |
98 | // Enable input capture noise cancler (bit: ICNC1=1) |
99 | // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
99 | // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
100 | // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2µs |
100 | // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2µs |
101 | // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
101 | // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
102 | TCCR1A &= ~((1<<COM1A1)|(1<<COM1A0)|(1<<COM1B1)|(1<<COM1B0)|(1<<WGM11)|(1<<WGM10)); |
102 | TCCR1A &= ~((1<<COM1A1)|(1<<COM1A0)|(1<<COM1B1)|(1<<COM1B0)|(1<<WGM11)|(1<<WGM10)); |
103 | TCCR1B &= ~((1<<WGM13)|(1<<WGM12)|(1<<CS12)); |
103 | TCCR1B &= ~((1<<WGM13)|(1<<WGM12)|(1<<CS12)); |
104 | TCCR1B |= (1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1); |
104 | TCCR1B |= (1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1); |
105 | TCCR1C &= ~((1<<FOC1A)|(1<<FOC1B)); |
105 | TCCR1C &= ~((1<<FOC1A)|(1<<FOC1B)); |
106 | 106 | ||
107 | // Timer/Counter1 Interrupt Mask Register |
107 | // Timer/Counter1 Interrupt Mask Register |
108 | 108 | ||
109 | // Enable Input Capture Interrupt (bit: ICIE1=1) |
109 | // Enable Input Capture Interrupt (bit: ICIE1=1) |
110 | // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
110 | // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
111 | // Enable Overflow Interrupt (bit: TOIE1=0) |
111 | // Enable Overflow Interrupt (bit: TOIE1=0) |
112 | TIMSK1 &= ~((1<<OCIE1B)|(1<<OCIE1A)|(1<<TOIE1)); |
112 | TIMSK1 &= ~((1<<OCIE1B)|(1<<OCIE1A)|(1<<TOIE1)); |
113 | TIMSK1 |= (1<<ICIE1); |
113 | TIMSK1 |= (1<<ICIE1); |
114 | 114 | ||
115 | RC_Quality = 0; |
115 | RC_Quality = 0; |
116 | 116 | ||
117 | SREG = sreg; |
117 | SREG = sreg; |
118 | } |
118 | } |
119 | 119 | ||
120 | 120 | ||
121 | /********************************************************************/ |
121 | /********************************************************************/ |
122 | /* Every time a positive edge is detected at PD6 */ |
122 | /* Every time a positive edge is detected at PD6 */ |
123 | /********************************************************************/ |
123 | /********************************************************************/ |
124 | /* t-Frame |
124 | /* t-Frame |
125 | <-----------------------------------------------------------------------> |
125 | <-----------------------------------------------------------------------> |
126 | ____ ______ _____ ________ ______ sync gap ____ |
126 | ____ ______ _____ ________ ______ sync gap ____ |
127 | | | | | | | | | | | | |
127 | | | | | | | | | | | | |
128 | | | | | | | | | | | | |
128 | | | | | | | | | | | | |
129 | ___| |_| |_| |_| |_.............| |________________| |
129 | ___| |_| |_| |_| |_.............| |________________| |
130 | <-----><-------><------><--------> <------> <--- |
130 | <-----><-------><------><--------> <------> <--- |
131 | t0 t1 t2 t4 tn t0 |
131 | t0 t1 t2 t4 tn t0 |
132 | 132 | ||
133 | The PPM-Frame length is 22.5 ms. |
133 | The PPM-Frame length is 22.5 ms. |
134 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
134 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
135 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
135 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
136 | The maximum time delay of two events coding a chanel is ( 1.7 + 0.3) ms = 2 ms. |
136 | The maximum time delay of two events coding a chanel is ( 1.7 + 0.3) ms = 2 ms. |
137 | The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
137 | The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
138 | The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
138 | The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
139 | The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
139 | The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
140 | the syncronization gap. |
140 | the syncronization gap. |
141 | */ |
141 | */ |
142 | ISR(TIMER1_CAPT_vect) // typical rate of 1 ms to 2 ms |
142 | ISR(TIMER1_CAPT_vect) // typical rate of 1 ms to 2 ms |
143 | { |
143 | { |
144 | int16_t signal = 0, tmp; |
144 | int16_t signal = 0, tmp; |
145 | static int16_t index; |
145 | static int16_t index; |
146 | static uint16_t oldICR1 = 0; |
146 | static uint16_t oldICR1 = 0; |
147 | 147 | ||
148 | // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
148 | // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
149 | // at the time the edge was detected |
149 | // at the time the edge was detected |
150 | 150 | ||
151 | // calculate the time delay to the previous event time which is stored in oldICR1 |
151 | // calculate the time delay to the previous event time which is stored in oldICR1 |
152 | // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
152 | // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
153 | // implicit handles a timer overflow 65535 -> 0 the right way. |
153 | // implicit handles a timer overflow 65535 -> 0 the right way. |
154 | signal = (uint16_t) ICR1 - oldICR1; |
154 | signal = (uint16_t) ICR1 - oldICR1; |
155 | oldICR1 = ICR1; |
155 | oldICR1 = ICR1; |
156 | 156 | ||
157 | //sync gap? (3.52 ms < signal < 25.6 ms) |
157 | //sync gap? (3.52 ms < signal < 25.6 ms) |
158 | if((signal > 1100) && (signal < 8000)) |
158 | if((signal > 1100) && (signal < 8000)) |
159 | { |
159 | { |
160 | // if a sync gap happens and there where at least 4 channels decoded before |
160 | // if a sync gap happens and there where at least 4 channels decoded before |
161 | // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
161 | // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
162 | if(index >= 4) |
162 | if(index >= 4) |
163 | { |
163 | { |
164 | NewPpmData = 0; // Null means NewData for the first 4 channels |
164 | NewPpmData = 0; // Null means NewData for the first 4 channels |
165 | } |
165 | } |
166 | // synchronize channel index |
166 | // synchronize channel index |
167 | index = 1; |
167 | index = 1; |
168 | } |
168 | } |
169 | else // within the PPM frame |
169 | else // within the PPM frame |
170 | { |
170 | { |
171 | if(index < 14) // PPM24 supports 12 channels |
171 | if(index < 14) // PPM24 supports 12 channels |
172 | { |
172 | { |
173 | // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
173 | // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
174 | // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
174 | // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
175 | if((signal > 250) && (signal < 687)) |
175 | if((signal > 250) && (signal < 687)) |
176 | { |
176 | { |
177 | // shift signal to zero symmetric range -154 to 159 |
177 | // shift signal to zero symmetric range -154 to 159 |
178 | signal -= 466; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
178 | signal -= 466; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
179 | // check for stable signal |
179 | // check for stable signal |
180 | if(abs(signal - PPM_in[index]) < 6) |
180 | if(abs(signal - PPM_in[index]) < 6) |
181 | { |
181 | { |
182 | if(RC_Quality < 200) RC_Quality +=10; |
182 | if(RC_Quality < 200) RC_Quality +=10; |
183 | else RC_Quality = 200; |
183 | else RC_Quality = 200; |
184 | } |
184 | } |
185 | // calculate exponential history for signal |
185 | // calculate exponential history for signal |
186 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
186 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
187 | if(tmp > signal+1) tmp--; else |
187 | if(tmp > signal+1) tmp--; else |
188 | if(tmp < signal-1) tmp++; |
188 | if(tmp < signal-1) tmp++; |
189 | // calculate signal difference on good signal level |
189 | // calculate signal difference on good signal level |
190 | if(RC_Quality >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
190 | if(RC_Quality >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
191 | else PPM_diff[index] = 0; |
191 | else PPM_diff[index] = 0; |
192 | PPM_in[index] = tmp; // update channel value |
192 | PPM_in[index] = tmp; // update channel value |
193 | } |
193 | } |
194 | index++; // next channel |
194 | index++; // next channel |
195 | // demux sum signal for channels 5 to 7 to J3, J4, J5 |
195 | // demux sum signal for channels 5 to 7 to J3, J4, J5 |
196 | if(index == 5) J3HIGH; else J3LOW; |
196 | if(index == 5) J3HIGH; else J3LOW; |
197 | if(index == 6) J4HIGH; else J3LOW; |
197 | if(index == 6) J4HIGH; else J4LOW; |
198 | if(CPUType != ATMEGA644P) // not used as TXD1 |
198 | if(CPUType != ATMEGA644P) // not used as TXD1 |
199 | { |
199 | { |
200 | if(index == 7) J5HIGH; else J5LOW; |
200 | if(index == 7) J5HIGH; else J5LOW; |
201 | } |
201 | } |
202 | } |
202 | } |
203 | } |
203 | } |
204 | } |
204 | } |
205 | 205 | ||
206 | 206 | ||
207 | 207 | ||
208 | 208 | ||
209 | 209 | ||
210 | 210 |