WebSVN - FlightCtrl - Diff - Rev 1309 and 1320 - /branches/V0.76g-FredericG/rc.c


/*#######################################################################################
Decodieren eines RC Summen Signals
#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + only for non-profit use
// + www.MikroKopter.com
// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
#include "rc.h"
#include "main.h"
 
volatile int PPM_in[11];
volatile int PPM_diff[11];  // das diffenzierte Stick-Signal
volatile char Channels,tmpChannels = 0;
volatile unsigned char NewPpmData = 1;
 
//############################################################################
//zum decodieren des PPM-Signals wird Timer1 mit seiner Input
//Capture Funktion benutzt:
void rc_sum_init (void)
//############################################################################
{
        TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64
 
    TIMSK1 |= _BV(ICIE1);
    AdNeutralGier = 0;
    AdNeutralRoll = 0;
    AdNeutralNick = 0;
    return;
}
 
//############################################################################
//Diese Routine startet und inizialisiert den Timer für RC
SIGNAL(SIG_INPUT_CAPTURE1)
//############################################################################
{
if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC))
 {
        static unsigned int AltICR=0;
    signed int signal = 0,tmp;
        static int index;              
               
        signal = (unsigned int) ICR1 - AltICR;         
        AltICR = ICR1; 
    //Syncronisationspause? (3.52 ms < signal < 25.6 ms)
        if((signal > 1100) && (signal < 8000))   
        {
        Channels = index;
        if(index >= 4)  NewPpmData = 0;  // Null bedeutet: Neue Daten
        index = 1;             
        }
        else
        {
        if(index < 10)
            {
            if((signal > 250) && (signal < 687))
                {
                signal -= 466;
                // Stabiles Signal
                if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;}
                tmp = (3 * (PPM_in[index]) + signal) / 4;  
                if(tmp > signal+1) tmp--; else
                if(tmp < signal-1) tmp++;
                if(SenderOkay >= 195)  PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
                else PPM_diff[index] = 0;
                PPM_in[index] = tmp;
                }
            index++;  
         if(index == 5) J3High; else J3Low;  // Servosignal an J3 anlegen
         if(index == 6) J4High; else J4Low;  // Servosignal an J4 anlegen
         if(index == 7) J5High; else J5Low;  // Servosignal an J5 anlegen 
        }
        }
 }
 else
 {
        static unsigned int AltICR=0;
    static int ppm_in[11];
    static int ppm_diff[11];  
    static int old_ppm_in[11];
    static int old_ppm_diff[11];  
    signed int signal = 0,tmp;
        static unsigned char index, okay_cnt = 0;              
        signal = (unsigned int) ICR1 - AltICR;         
        AltICR = ICR1; 
    //Syncronisationspause? (3.52 ms < signal < 25.6 ms)
        if((signal > 1100) && (signal < 8000))   
        {
        tmpChannels = index;
        if(tmpChannels >= 4 && Channels == tmpChannels)  
                 {
          if(okay_cnt > 10)
                   {
                   NewPpmData = 0;  // Null bedeutet: Neue Daten
                   for(index = 0; index < 11; index++)
                    {
                         if(okay_cnt > 30)
                          {
                           old_ppm_in[index] = PPM_in[index];
                           old_ppm_diff[index] = PPM_diff[index];
                          }
                     PPM_in[index] = ppm_in[index];
                     PPM_diff[index] = ppm_diff[index];
                    }
                   }
          if(okay_cnt < 255) okay_cnt++;
                 }
         else
                  {
                   if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0;
                   ROT_ON;
                  }
        index = 1;             
        if(!MotorenEin) Channels = tmpChannels;
        }
        else
        {
        if(index < 10)
            {
            if((signal > 250) && (signal < 687))
                {
                signal -= 466;
                // Stabiles Signal
                if((abs(signal - ppm_in[index]) < 6))
                                 {
                                  if(okay_cnt > 25)  SenderOkay += 10;
                                  else
                                  if(okay_cnt > 10)  SenderOkay += 2;
                                  if(SenderOkay > 200) SenderOkay = 200;
                                 }
                tmp = (3 * (ppm_in[index]) + signal) / 4;  
                if(tmp > signal+1) tmp--; else
                if(tmp < signal-1) tmp++;
                if(SenderOkay >= 190)  ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3;
                else ppm_diff[index] = 0;
                ppm_in[index] = tmp;
                }
                        else ROT_ON;
            if(index == 5) J3High; else J3Low;  // Servosignal an J3 anlegen
            if(index == 6) J4High; else J4Low;  // Servosignal an J4 anlegen
            if(index == 7) J5High; else J5Low;  // Servosignal an J5 anlegen 
          }
                  if(index < 20) index++;
          else
                  if(index == 20)
                  {
            unsigned char i;
            ROT_ON;
                    index = 30;
            for(i=0;i<11;i++) // restore from older data
                         {
                      PPM_in[i] = old_ppm_in[i];
                      PPM_diff[i] = 0;
//                        okay_cnt /= 2;
                 }
                  }
            }
 DebugOut.Analog[16] = okay_cnt;
 DebugOut.Analog[17] = PPM_in[2];
 }
}
 
/*
//############################################################################
//Diese Routine startet und inizialisiert den Timer für RC
SIGNAL(SIG_INPUT_CAPTURE1)
//############################################################################
 
{
        static unsigned int AltICR=0;
    signed int signal = 0,tmp;
        static int index;              
               
        signal = (unsigned int) ICR1 - AltICR;         
DebugOut.Analog[16] = signal;
        signal /= 2;
        AltICR = ICR1; 
    //Syncronisationspause?
        if((signal > 1100*2) && (signal < 8000*2))       
        {
        if(index >= 4)  NewPpmData = 0;  // Null bedeutet: Neue Daten
        index = 1;             
        }
        else
        {
        if(index < 10)
            {
            if((signal > 250) && (signal < 687*2))
                {
                signal -= 962;
                // Stabiles Signal
                if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;}
                tmp = (3 * (PPM_in[index]) + signal) / 4;  
                if(tmp > signal+1) tmp--; else
                if(tmp < signal-1) tmp++;
                if(SenderOkay >= 195)  PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
                else PPM_diff[index] = 0;
                PPM_in[index] = tmp;
                }
            index++;  
         if(index == 5) J3High; else J3Low;  // Servosignal an J3 anlegen
         if(index == 2) J4High; else J4Low;  // Servosignal an J4 anlegen
         if(index == 7) J5High; else J5Low;  // Servosignal an J5 anlegen
        }
        }
}
*/
 
 
 
 

Rev 1309	Rev 1320
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	// TCCR1B=(1<<CS11)\|(0<<CS10)\|(1<<ICES1)\|(1<<ICNC1); //timer1 prescale 64	-
27	TIMSK1 \|= _BV(ICIE1);	26	TIMSK1 \|= _BV(ICIE1);
28	AdNeutralGier = 0;	27	AdNeutralGier = 0;
29	AdNeutralRoll = 0;	28	AdNeutralRoll = 0;
30	AdNeutralNick = 0;	29	AdNeutralNick = 0;
31	return;	30	return;
32	}	31	}
33		32
34	//############################################################################	33	//############################################################################
35	//Diese Routine startet und inizialisiert den Timer für RC	34	//Diese Routine startet und inizialisiert den Timer für RC
36	SIGNAL(SIG_INPUT_CAPTURE1)	35	SIGNAL(SIG_INPUT_CAPTURE1)
37	//############################################################################	36	//############################################################################
38	{	37	{
39	if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC))	38	if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC))
40	{	39	{
41	static unsigned int AltICR=0;	40	static unsigned int AltICR=0;
42	signed int signal = 0,tmp;	41	signed int signal = 0,tmp;
43	static int index;	42	static int index;
44		43
45	signal = (unsigned int) ICR1 - AltICR;	44	signal = (unsigned int) ICR1 - AltICR;
46	AltICR = ICR1;	45	AltICR = ICR1;
47	//Syncronisationspause? (3.52 ms < signal < 25.6 ms)	46	//Syncronisationspause? (3.52 ms < signal < 25.6 ms)
48	if((signal > 1100) && (signal < 8000))	47	if((signal > 1100) && (signal < 8000))
49	{	48	{
-		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;	159	DebugOut.Analog[16] = okay_cnt;
160	DebugOut.Analog[17] = PPM_in[2];	160	DebugOut.Analog[17] = PPM_in[2];
161	}	161	}
162	}	162	}
163		163
164	/*	164	/*
165	//############################################################################	165	//############################################################################
166	//Diese Routine startet und inizialisiert den Timer für RC	166	//Diese Routine startet und inizialisiert den Timer für RC
167	SIGNAL(SIG_INPUT_CAPTURE1)	167	SIGNAL(SIG_INPUT_CAPTURE1)
168	//############################################################################	168	//############################################################################
169		169
170	{	170	{
171	static unsigned int AltICR=0;	171	static unsigned int AltICR=0;
172	signed int signal = 0,tmp;	172	signed int signal = 0,tmp;
173	static int index;	173	static int index;
174		174
175	signal = (unsigned int) ICR1 - AltICR;	175	signal = (unsigned int) ICR1 - AltICR;
176	DebugOut.Analog[16] = signal;	176	DebugOut.Analog[16] = signal;
177	signal /= 2;	177	signal /= 2;
178	AltICR = ICR1;	178	AltICR = ICR1;
179	//Syncronisationspause?	179	//Syncronisationspause?
180	if((signal > 11002) && (signal < 80002))	180	if((signal > 11002) && (signal < 80002))
181	{	181	{
182	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten	182	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten
183	index = 1;	183	index = 1;
184	}	184	}
185	else	185	else
186	{	186	{
187	if(index < 10)	187	if(index < 10)
188	{	188	{
189	if((signal > 250) && (signal < 687*2))	189	if((signal > 250) && (signal < 687*2))
190	{	190	{
191	signal -= 962;	191	signal -= 962;
192	// Stabiles Signal	192	// Stabiles Signal
193	if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;}	193	if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;}
194	tmp = (3 * (PPM_in[index]) + signal) / 4;	194	tmp = (3 * (PPM_in[index]) + signal) / 4;
195	if(tmp > signal+1) tmp--; else	195	if(tmp > signal+1) tmp--; else
196	if(tmp < signal-1) tmp++;	196	if(tmp < signal-1) tmp++;
197	if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;	197	if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
198	else PPM_diff[index] = 0;	198	else PPM_diff[index] = 0;
199	PPM_in[index] = tmp;	199	PPM_in[index] = tmp;
200	}	200	}
201	index++;	201	index++;
202	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen	202	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen
203	if(index == 2) J4High; else J4Low; // Servosignal an J4 anlegen	203	if(index == 2) J4High; else J4Low; // Servosignal an J4 anlegen
204	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen	204	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen
205	}	205	}
206	}	206	}
207	}	207	}
208	*/	208	*/
209		209
210		210
211		211
212		212

Subversion Repositories FlightCtrl

(root)/branches/V0.76g-FredericG/rc.c @ 1798 - Rev 1309 → 1320