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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 char Channels,tmpChannels = 0; |
16 | volatile char Channels,tmpChannels = 0; |
17 | volatile unsigned char NewPpmData = 1; |
17 | volatile unsigned char NewPpmData = 1; |
18 | 18 | ||
19 | //############################################################################ |
19 | //############################################################################ |
20 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
20 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
21 | //Capture Funktion benutzt: |
21 | //Capture Funktion benutzt: |
22 | void rc_sum_init (void) |
22 | void rc_sum_init (void) |
23 | //############################################################################ |
23 | //############################################################################ |
24 | { |
24 | { |
25 | TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
25 | TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
26 | TIMSK1 |= _BV(ICIE1); |
26 | TIMSK1 |= _BV(ICIE1); |
27 | AdNeutralGier = 0; |
27 | AdNeutralGier = 0; |
28 | AdNeutralRoll = 0; |
28 | AdNeutralRoll = 0; |
29 | AdNeutralNick = 0; |
29 | AdNeutralNick = 0; |
30 | return; |
30 | return; |
31 | } |
31 | } |
32 | 32 | ||
33 | //############################################################################ |
33 | //############################################################################ |
34 | //Diese Routine startet und inizialisiert den Timer für RC |
34 | //Diese Routine startet und inizialisiert den Timer für RC |
35 | SIGNAL(SIG_INPUT_CAPTURE1) |
35 | SIGNAL(SIG_INPUT_CAPTURE1) |
36 | //############################################################################ |
36 | //############################################################################ |
37 | { |
37 | { |
38 | if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC)) |
38 | if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC)) |
39 | { |
39 | { |
40 | static unsigned int AltICR=0; |
40 | static unsigned int AltICR=0; |
41 | signed int signal = 0,tmp; |
41 | signed int signal = 0,tmp; |
42 | static int index; |
42 | static int index; |
43 | 43 | ||
44 | signal = (unsigned int) ICR1 - AltICR; |
44 | signal = (unsigned int) ICR1 - AltICR; |
45 | AltICR = ICR1; |
45 | AltICR = ICR1; |
46 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
46 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
47 | if((signal > 1100) && (signal < 8000)) |
47 | if((signal > 1100) && (signal < 8000)) |
48 | { |
48 | { |
49 | Channels = index; |
49 | Channels = index; |
50 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
50 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
51 | index = 1; |
51 | index = 1; |
52 | } |
52 | } |
53 | else |
53 | else |
54 | { |
54 | { |
55 | if(index < 10) |
55 | if(index < 10) |
56 | { |
56 | { |
57 | if((signal > 250) && (signal < 687)) |
57 | if((signal > 250) && (signal < 687)) |
58 | { |
58 | { |
59 | signal -= 466; |
59 | signal -= 466; |
60 | // Stabiles Signal |
60 | // Stabiles Signal |
61 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
61 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
62 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
62 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
63 | if(tmp > signal+1) tmp--; else |
63 | if(tmp > signal+1) tmp--; else |
64 | if(tmp < signal-1) tmp++; |
64 | if(tmp < signal-1) tmp++; |
65 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
65 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
66 | else PPM_diff[index] = 0; |
66 | else PPM_diff[index] = 0; |
67 | PPM_in[index] = tmp; |
67 | PPM_in[index] = tmp; |
68 | } |
68 | } |
69 | index++; |
69 | index++; |
70 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
70 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
71 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
71 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
72 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
72 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
73 | } |
73 | } |
74 | } |
74 | } |
75 | } |
75 | } |
76 | else |
76 | else |
77 | { |
77 | { |
78 | static unsigned int AltICR=0; |
78 | static unsigned int AltICR=0; |
79 | static int ppm_in[11]; |
79 | static int ppm_in[11]; |
80 | static int ppm_diff[11]; |
80 | static int ppm_diff[11]; |
81 | static int old_ppm_in[11]; |
81 | static int old_ppm_in[11]; |
82 | static int old_ppm_diff[11]; |
82 | static int old_ppm_diff[11]; |
83 | signed int signal = 0,tmp; |
83 | signed int signal = 0,tmp; |
84 | static unsigned char index, okay_cnt = 0; |
84 | static unsigned char index, okay_cnt = 0; |
85 | signal = (unsigned int) ICR1 - AltICR; |
85 | signal = (unsigned int) ICR1 - AltICR; |
86 | AltICR = ICR1; |
86 | AltICR = ICR1; |
87 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
87 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
88 | if((signal > 1100) && (signal < 8000)) |
88 | if((signal > 1100) && (signal < 8000)) |
89 | { |
89 | { |
90 | tmpChannels = index; |
90 | tmpChannels = index; |
91 | if(tmpChannels >= 4 && Channels == tmpChannels) |
91 | if(tmpChannels >= 4 && Channels == tmpChannels) |
92 | { |
92 | { |
93 | if(okay_cnt > 10) |
93 | if(okay_cnt > 10) |
94 | { |
94 | { |
95 | NewPpmData = 0; // Null bedeutet: Neue Daten |
95 | NewPpmData = 0; // Null bedeutet: Neue Daten |
96 | for(index = 0; index < 11; index++) |
96 | for(index = 0; index < 11; index++) |
97 | { |
97 | { |
98 | if(okay_cnt > 30) |
98 | if(okay_cnt > 30) |
99 | { |
99 | { |
100 | old_ppm_in[index] = PPM_in[index]; |
100 | old_ppm_in[index] = PPM_in[index]; |
101 | old_ppm_diff[index] = PPM_diff[index]; |
101 | old_ppm_diff[index] = PPM_diff[index]; |
102 | } |
102 | } |
103 | PPM_in[index] = ppm_in[index]; |
103 | PPM_in[index] = ppm_in[index]; |
104 | PPM_diff[index] = ppm_diff[index]; |
104 | PPM_diff[index] = ppm_diff[index]; |
105 | } |
105 | } |
106 | } |
106 | } |
107 | if(okay_cnt < 255) okay_cnt++; |
107 | if(okay_cnt < 255) okay_cnt++; |
108 | } |
108 | } |
109 | else |
109 | else |
110 | { |
110 | { |
111 | if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0; |
111 | if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0; |
112 | ROT_ON; |
112 | ROT_ON; |
113 | } |
113 | } |
114 | index = 1; |
114 | index = 1; |
115 | if(!MotorenEin) Channels = tmpChannels; |
115 | if(!MotorenEin) Channels = tmpChannels; |
116 | } |
116 | } |
117 | else |
117 | else |
118 | { |
118 | { |
119 | if(index < 10) |
119 | if(index < 10) |
120 | { |
120 | { |
121 | if((signal > 250) && (signal < 687)) |
121 | if((signal > 250) && (signal < 687)) |
122 | { |
122 | { |
123 | signal -= 466; |
123 | signal -= 466; |
124 | // Stabiles Signal |
124 | // Stabiles Signal |
125 | if((abs(signal - ppm_in[index]) < 6)) |
125 | if((abs(signal - ppm_in[index]) < 6)) |
126 | { |
126 | { |
127 | if(okay_cnt > 25) SenderOkay += 10; |
127 | if(okay_cnt > 25) SenderOkay += 10; |
128 | else |
128 | else |
129 | if(okay_cnt > 10) SenderOkay += 2; |
129 | if(okay_cnt > 10) SenderOkay += 2; |
130 | if(SenderOkay > 200) SenderOkay = 200; |
130 | if(SenderOkay > 200) SenderOkay = 200; |
131 | } |
131 | } |
132 | tmp = (3 * (ppm_in[index]) + signal) / 4; |
132 | tmp = (3 * (ppm_in[index]) + signal) / 4; |
133 | if(tmp > signal+1) tmp--; else |
133 | if(tmp > signal+1) tmp--; else |
134 | if(tmp < signal-1) tmp++; |
134 | if(tmp < signal-1) tmp++; |
135 | if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
135 | if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
136 | else ppm_diff[index] = 0; |
136 | else ppm_diff[index] = 0; |
137 | ppm_in[index] = tmp; |
137 | ppm_in[index] = tmp; |
138 | } |
138 | } |
139 | else ROT_ON; |
139 | else ROT_ON; |
140 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
140 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
141 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
141 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
142 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
142 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
143 | } |
143 | } |
144 | if(index < 20) index++; |
144 | if(index < 20) index++; |
145 | else |
145 | else |
146 | if(index == 20) |
146 | if(index == 20) |
147 | { |
147 | { |
148 | unsigned char i; |
148 | unsigned char i; |
149 | ROT_ON; |
149 | ROT_ON; |
150 | index = 30; |
150 | index = 30; |
151 | for(i=0;i<11;i++) // restore from older data |
151 | for(i=0;i<11;i++) // restore from older data |
152 | { |
152 | { |
153 | PPM_in[i] = old_ppm_in[i]; |
153 | PPM_in[i] = old_ppm_in[i]; |
154 | PPM_diff[i] = 0; |
154 | PPM_diff[i] = 0; |
155 | // okay_cnt /= 2; |
155 | // okay_cnt /= 2; |
156 | } |
156 | } |
157 | } |
157 | } |
158 | } |
158 | } |
159 | DebugOut.Analog[16] = okay_cnt; |
- | |
160 | DebugOut.Analog[17] = PPM_in[2]; |
- | |
161 | } |
159 | } |
162 | } |
160 | } |
163 | 161 | ||
164 | /* |
162 | /* |
165 | //############################################################################ |
163 | //############################################################################ |
166 | //Diese Routine startet und inizialisiert den Timer für RC |
164 | //Diese Routine startet und inizialisiert den Timer für RC |
167 | SIGNAL(SIG_INPUT_CAPTURE1) |
165 | SIGNAL(SIG_INPUT_CAPTURE1) |
168 | //############################################################################ |
166 | //############################################################################ |
169 | 167 | ||
170 | { |
168 | { |
171 | static unsigned int AltICR=0; |
169 | static unsigned int AltICR=0; |
172 | signed int signal = 0,tmp; |
170 | signed int signal = 0,tmp; |
173 | static int index; |
171 | static int index; |
174 | |
172 | |
175 | signal = (unsigned int) ICR1 - AltICR; |
173 | signal = (unsigned int) ICR1 - AltICR; |
176 | DebugOut.Analog[16] = signal; |
174 | DebugOut.Analog[16] = signal; |
177 | signal /= 2; |
175 | signal /= 2; |
178 | AltICR = ICR1; |
176 | AltICR = ICR1; |
179 | //Syncronisationspause? |
177 | //Syncronisationspause? |
180 | if((signal > 1100*2) && (signal < 8000*2)) |
178 | if((signal > 1100*2) && (signal < 8000*2)) |
181 | { |
179 | { |
182 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
180 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
183 | index = 1; |
181 | index = 1; |
184 | } |
182 | } |
185 | else |
183 | else |
186 | { |
184 | { |
187 | if(index < 10) |
185 | if(index < 10) |
188 | { |
186 | { |
189 | if((signal > 250) && (signal < 687*2)) |
187 | if((signal > 250) && (signal < 687*2)) |
190 | { |
188 | { |
191 | signal -= 962; |
189 | signal -= 962; |
192 | // Stabiles Signal |
190 | // Stabiles Signal |
193 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
191 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
194 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
192 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
195 | if(tmp > signal+1) tmp--; else |
193 | if(tmp > signal+1) tmp--; else |
196 | if(tmp < signal-1) tmp++; |
194 | if(tmp < signal-1) tmp++; |
197 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
195 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
198 | else PPM_diff[index] = 0; |
196 | else PPM_diff[index] = 0; |
199 | PPM_in[index] = tmp; |
197 | PPM_in[index] = tmp; |
200 | } |
198 | } |
201 | index++; |
199 | index++; |
202 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
200 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
203 | if(index == 2) J4High; else J4Low; // Servosignal an J4 anlegen |
201 | if(index == 2) J4High; else J4Low; // Servosignal an J4 anlegen |
204 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
202 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
205 | } |
203 | } |
206 | } |
204 | } |
207 | } |
205 | } |
208 | */ |
206 | */ |
209 | 207 | ||
210 | 208 | ||
211 | 209 | ||
212 | 210 |