WebSVN - FlightCtrl - Diff - Rev 1338 and 1356 - /branches/V0.76g_ACC-HH


/*#######################################################################################
Decodieren eines RC Summen Signals
#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) Holger Buss, Ingo Busker
// + only for non-profit use
// + www.MikroKopter.com
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
#include "rc.h"
#include "main.h"
//#define ACT_S3D_SUMMENSIGNAL
 
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)
//############################################################################
{
#ifndef ACT_S3D_SUMMENSIGNAL
        TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64
#else 
        TCCR1B=(1<<CS11)|(0<<CS10)|(1<<ICES1)|(1<<ICNC1); //timer1 prescale 64
#endif
    TIMSK1 |= _BV(ICIE1);
    AdNeutralGier = 0;
    AdNeutralRoll = 0;
    AdNeutralNick = 0;
    return;
}
 
#ifndef ACT_S3D_SUMMENSIGNAL
//############################################################################
//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;
                 }
                  }
            }
 }
}
 
#else 
 
//############################################################################
//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++;  
 
 
 
        }
        }
}
#endif
 
 
 
 

Rev 1338	Rev 1356
1	/*#######################################################################################	1	/*#######################################################################################
2	Decodieren eines RC Summen Signals	2	Decodieren eines RC Summen Signals
3	#######################################################################################*/	3	#######################################################################################*/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + Copyright (c) Holger Buss, Ingo Busker	5	// + Copyright (c) Holger Buss, Ingo Busker
6	// + only for non-profit use	6	// + only for non-profit use
7	// + www.MikroKopter.com	7	// + www.MikroKopter.com
-		8	// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
8	// + see the File "License.txt" for further Informations	9	// + see the File "License.txt" for further Informations
9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	10	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
10		11
11	#include "rc.h"	12	#include "rc.h"
12	#include "main.h"	13	#include "main.h"
-		14	//#define ACT_S3D_SUMMENSIGNAL
13		15
14	volatile int PPM_in[11];	16	volatile int PPM_in[11];
15	volatile int PPM_diff[11]; // das diffenzierte Stick-Signal	17	volatile int PPM_diff[11]; // das diffenzierte Stick-Signal
16	volatile char Channels,tmpChannels = 0;	18	volatile char Channels,tmpChannels = 0;
17	volatile unsigned char NewPpmData = 1;	19	volatile unsigned char NewPpmData = 1;
18		20
19	//############################################################################	21	//############################################################################
20	//zum decodieren des PPM-Signals wird Timer1 mit seiner Input	22	//zum decodieren des PPM-Signals wird Timer1 mit seiner Input
21	//Capture Funktion benutzt:	23	//Capture Funktion benutzt:
22	void rc_sum_init (void)	24	void rc_sum_init (void)
23	//############################################################################	25	//############################################################################
24	{	26	{
-		27	#ifndef ACT_S3D_SUMMENSIGNAL
25	TCCR1B=(1<<CS11)\|(1<<CS10)\|(1<<ICES1)\|(1<<ICNC1);//\|(1 << WGM12); //timer1 prescale 64	28	TCCR1B=(1<<CS11)\|(1<<CS10)\|(1<<ICES1)\|(1<<ICNC1);//\|(1 << WGM12); //timer1 prescale 64
-		29	#else
-		30	TCCR1B=(1<<CS11)\|(0<<CS10)\|(1<<ICES1)\|(1<<ICNC1); //timer1 prescale 64
-		31	#endif
26	TIMSK1 \|= _BV(ICIE1);	32	TIMSK1 \|= _BV(ICIE1);
27	AdNeutralGier = 0;	33	AdNeutralGier = 0;
28	AdNeutralRoll = 0;	34	AdNeutralRoll = 0;
29	AdNeutralNick = 0;	35	AdNeutralNick = 0;
30	return;	36	return;
31	}	37	}
-		38
32		39	#ifndef ACT_S3D_SUMMENSIGNAL
33	//############################################################################	40	//############################################################################
34	//Diese Routine startet und inizialisiert den Timer für RC	41	//Diese Routine startet und inizialisiert den Timer für RC
35	SIGNAL(SIG_INPUT_CAPTURE1)	42	SIGNAL(SIG_INPUT_CAPTURE1)
36	//############################################################################	43	//############################################################################
37	{	44	{
38	if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC))	45	if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC))
39	{	46	{
40	static unsigned int AltICR=0;	47	static unsigned int AltICR=0;
41	signed int signal = 0,tmp;	48	signed int signal = 0,tmp;
42	static int index;	49	static int index;
43		50
44	signal = (unsigned int) ICR1 - AltICR;	51	signal = (unsigned int) ICR1 - AltICR;
45	AltICR = ICR1;	52	AltICR = ICR1;
46	//Syncronisationspause? (3.52 ms < signal < 25.6 ms)	53	//Syncronisationspause? (3.52 ms < signal < 25.6 ms)
47	if((signal > 1100) && (signal < 8000))	54	if((signal > 1100) && (signal < 8000))
48	{	55	{
49	Channels = index;	56	Channels = index;
50	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten	57	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten
51	index = 1;	58	index = 1;
52	}	59	}
53	else	60	else
54	{	61	{
55	if(index < 10)	62	if(index < 10)
56	{	63	{
57	if((signal > 250) && (signal < 687))	64	if((signal > 250) && (signal < 687))
58	{	65	{
59	signal -= 466;	66	signal -= 466;
60	// Stabiles Signal	67	// Stabiles Signal
61	if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;}	68	if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;}
62	tmp = (3 * (PPM_in[index]) + signal) / 4;	69	tmp = (3 * (PPM_in[index]) + signal) / 4;
63	if(tmp > signal+1) tmp--; else	70	if(tmp > signal+1) tmp--; else
64	if(tmp < signal-1) tmp++;	71	if(tmp < signal-1) tmp++;
65	if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;	72	if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
66	else PPM_diff[index] = 0;	73	else PPM_diff[index] = 0;
67	PPM_in[index] = tmp;	74	PPM_in[index] = tmp;
68	}	75	}
69	index++;	76	index++;
70	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen	77	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen
71	if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen	78	if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen
72	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen	79	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen
73	}	80	}
74	}	81	}
75	}	82	}
76	else	83	else
77	{	84	{
78	static unsigned int AltICR=0;	85	static unsigned int AltICR=0;
79	static int ppm_in[11];	86	static int ppm_in[11];
80	static int ppm_diff[11];	87	static int ppm_diff[11];
81	static int old_ppm_in[11];	88	static int old_ppm_in[11];
82	static int old_ppm_diff[11];	89	static int old_ppm_diff[11];
83	signed int signal = 0,tmp;	90	signed int signal = 0,tmp;
84	static unsigned char index, okay_cnt = 0;	91	static unsigned char index, okay_cnt = 0;
85	signal = (unsigned int) ICR1 - AltICR;	92	signal = (unsigned int) ICR1 - AltICR;
86	AltICR = ICR1;	93	AltICR = ICR1;
87	//Syncronisationspause? (3.52 ms < signal < 25.6 ms)	94	//Syncronisationspause? (3.52 ms < signal < 25.6 ms)
88	if((signal > 1100) && (signal < 8000))	95	if((signal > 1100) && (signal < 8000))
89	{	96	{
90	tmpChannels = index;	97	tmpChannels = index;
91	if(tmpChannels >= 4 && Channels == tmpChannels)	98	if(tmpChannels >= 4 && Channels == tmpChannels)
92	{	99	{
93	if(okay_cnt > 10)	100	if(okay_cnt > 10)
94	{	101	{
95	NewPpmData = 0; // Null bedeutet: Neue Daten	102	NewPpmData = 0; // Null bedeutet: Neue Daten
96	for(index = 0; index < 11; index++)	103	for(index = 0; index < 11; index++)
97	{	104	{
98	if(okay_cnt > 30)	105	if(okay_cnt > 30)
99	{	106	{
100	old_ppm_in[index] = PPM_in[index];	107	old_ppm_in[index] = PPM_in[index];
101	old_ppm_diff[index] = PPM_diff[index];	108	old_ppm_diff[index] = PPM_diff[index];
102	}	109	}
103	PPM_in[index] = ppm_in[index];	110	PPM_in[index] = ppm_in[index];
104	PPM_diff[index] = ppm_diff[index];	111	PPM_diff[index] = ppm_diff[index];
105	}	112	}
106	}	113	}
107	if(okay_cnt < 255) okay_cnt++;	114	if(okay_cnt < 255) okay_cnt++;
108	}	115	}
109	else	116	else
110	{	117	{
111	if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0;	118	if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0;
112	ROT_ON;	119	ROT_ON;
113	}	120	}
114	index = 1;	121	index = 1;
115	if(!MotorenEin) Channels = tmpChannels;	122	if(!MotorenEin) Channels = tmpChannels;
116	}	123	}
117	else	124	else
118	{	125	{
119	if(index < 10)	126	if(index < 10)
120	{	127	{
121	if((signal > 250) && (signal < 687))	128	if((signal > 250) && (signal < 687))
122	{	129	{
123	signal -= 466;	130	signal -= 466;
124	// Stabiles Signal	131	// Stabiles Signal
125	if((abs(signal - ppm_in[index]) < 6))	132	if((abs(signal - ppm_in[index]) < 6))
126	{	133	{
127	if(okay_cnt > 25) SenderOkay += 10;	134	if(okay_cnt > 25) SenderOkay += 10;
128	else	135	else
129	if(okay_cnt > 10) SenderOkay += 2;	136	if(okay_cnt > 10) SenderOkay += 2;
130	if(SenderOkay > 200) SenderOkay = 200;	137	if(SenderOkay > 200) SenderOkay = 200;
131	}	138	}
132	tmp = (3 * (ppm_in[index]) + signal) / 4;	139	tmp = (3 * (ppm_in[index]) + signal) / 4;
133	if(tmp > signal+1) tmp--; else	140	if(tmp > signal+1) tmp--; else
134	if(tmp < signal-1) tmp++;	141	if(tmp < signal-1) tmp++;
135	if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3;	142	if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3;
136	else ppm_diff[index] = 0;	143	else ppm_diff[index] = 0;
137	ppm_in[index] = tmp;	144	ppm_in[index] = tmp;
138	}	145	}
139	else ROT_ON;	146	else ROT_ON;
140	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen	147	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen
141	if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen	148	if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen
142	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen	149	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen
143	}	150	}
144	if(index < 20) index++;	151	if(index < 20) index++;
145	else	152	else
146	if(index == 20)	153	if(index == 20)
147	{	154	{
148	unsigned char i;	155	unsigned char i;
149	ROT_ON;	156	ROT_ON;
150	index = 30;	157	index = 30;
151	for(i=0;i<11;i++) // restore from older data	158	for(i=0;i<11;i++) // restore from older data
152	{	159	{
153	PPM_in[i] = old_ppm_in[i];	160	PPM_in[i] = old_ppm_in[i];
154	PPM_diff[i] = 0;	161	PPM_diff[i] = 0;
155	// okay_cnt /= 2;	162	// okay_cnt /= 2;
156	}	163	}
157	}	164	}
158	}	165	}
159	}	166	}
160	}	167	}
-		168
161		169	#else
162	/*	170
163	//############################################################################	171	//############################################################################
164	//Diese Routine startet und inizialisiert den Timer für RC	172	//Diese Routine startet und inizialisiert den Timer für RC
165	SIGNAL(SIG_INPUT_CAPTURE1)	173	SIGNAL(SIG_INPUT_CAPTURE1)
166	//############################################################################	174	//############################################################################
167		175
168	{	176	{
169	static unsigned int AltICR=0;	177	static unsigned int AltICR=0;
170	signed int signal = 0,tmp;	178	signed int signal = 0,tmp;
171	static int index;	179	static int index;
172		180
173	signal = (unsigned int) ICR1 - AltICR;	181	signal = (unsigned int) ICR1 - AltICR;
174	DebugOut.Analog[16] = signal;	182	DebugOut.Analog[16] = signal;
175	signal /= 2;	183	signal /= 2;
176	AltICR = ICR1;	184	AltICR = ICR1;
177	//Syncronisationspause?	185	//Syncronisationspause?
178	if((signal > 11002) && (signal < 80002))	186	if((signal > 11002) && (signal < 80002))
179	{	187	{
180	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten	188	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten
181	index = 1;	189	index = 1;
182	}	190	}
183	else	191	else
184	{	192	{
185	if(index < 10)	193	if(index < 10)
186	{	194	{
187	if((signal > 250) && (signal < 687*2))	195	if((signal > 250) && (signal < 687*2))
188	{	196	{
189	signal -= 962;	197	signal -= 962;
190	// Stabiles Signal	198	// Stabiles Signal
191	if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;}	199	if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;}
192	tmp = (3 * (PPM_in[index]) + signal) / 4;	200	tmp = (3 * (PPM_in[index]) + signal) / 4;
193	if(tmp > signal+1) tmp--; else	201	if(tmp > signal+1) tmp--; else
194	if(tmp < signal-1) tmp++;	202	if(tmp < signal-1) tmp++;
195	if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;	203	if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
196	else PPM_diff[index] = 0;	204	else PPM_diff[index] = 0;
197	PPM_in[index] = tmp;	205	PPM_in[index] = tmp;
198	}	206	}
199	index++;	207	index++;
200	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen	-
201	if(index == 2) J4High; else J4Low; // Servosignal an J4 anlegen	-
202	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen	-
203	}	208	}
204	}	209	}
205	}	210	}
206	*/	211	#endif
207		-
208		-
209		212
210		213

Subversion Repositories FlightCtrl

(root)/branches/V0.76g_ACC-HH_MartinR/rc.c @ 2224 - Rev 1338 → 1356