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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
3 | // + Nur für den privaten Gebrauch |
3 | // + Nur für den privaten Gebrauch |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
5 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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8 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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9 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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10 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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11 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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12 | // + Verkauf von Luftbildaufnahmen, usw. |
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13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
15 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
18 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
19 | // + eindeutig als Ursprung verlinkt werden |
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20 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
21 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
22 | // + Benutzung auf eigene Gefahr |
22 | // + Benutzung auf eigene Gefahr |
23 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
23 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
24 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
25 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
25 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
26 | // + mit unserer Zustimmung zulässig |
26 | // + mit unserer Zustimmung zulässig |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
28 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
30 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
31 | // + this list of conditions and the following disclaimer. |
31 | // + this list of conditions and the following disclaimer. |
32 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
32 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
33 | // + from this software without specific prior written permission. |
33 | // + from this software without specific prior written permission. |
34 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
34 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
35 | // + for non-commercial use (directly or indirectly) |
35 | // + for non-commercial use (directly or indirectly) |
36 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
36 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
37 | // + with our written permission |
37 | // + with our written permission |
38 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
39 | // + clearly linked as origin |
39 | // + clearly linked as origin |
40 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
40 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
41 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
41 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
42 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
42 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
43 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
43 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
44 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
44 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
45 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
45 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
46 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
46 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
47 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
47 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
48 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | #include <stdlib.h> |
52 | #include <stdlib.h> |
53 | #include <avr/interrupt.h> |
53 | #include <avr/interrupt.h> |
54 | 54 | ||
55 | #include "rc.h" |
55 | #include "rc.h" |
56 | #include "eeprom.h" |
56 | #include "eeprom.h" |
57 | #include "main.h" |
57 | #include "main.h" |
58 | #include "fc.h" |
58 | #include "fc.h" |
59 | #include "uart0.h" |
59 | #include "uart0.h" |
60 | 60 | ||
61 | 61 | ||
62 | //#define ACT_S3D_SUMSIGNAL |
62 | //#define ACT_S3D_SUMSIGNAL |
63 | 63 | ||
64 | volatile uint8_t RC_Channels; // number of received channels |
64 | volatile uint8_t RC_Channels; // number of received channels |
65 | volatile int16_t PPM_in[MAX_CHANNELS]; //PPM24 supports 12 channels per frame |
65 | volatile int16_t PPM_in[MAX_CHANNELS]; //PPM24 supports 12 channels per frame |
66 | volatile int16_t PPM_diff[MAX_CHANNELS]; |
66 | volatile int16_t PPM_diff[MAX_CHANNELS]; |
67 | volatile uint8_t NewPpmData = 1; |
67 | volatile uint8_t NewPpmData = 1; |
68 | volatile uint8_t RC_Quality = 0; |
68 | volatile uint8_t RC_Quality = 0; |
69 | volatile uint8_t RC_RSSI = 0; // Received Signal Strength Indication |
69 | volatile uint8_t RC_RSSI = 0; // Received Signal Strength Indication |
70 | 70 | ||
71 | 71 | ||
72 | 72 | ||
73 | /***************************************************************/ |
73 | /***************************************************************/ |
74 | /* 16bit timer 1 is used to decode the PPM-Signal */ |
74 | /* 16bit timer 1 is used to decode the PPM-Signal */ |
75 | /***************************************************************/ |
75 | /***************************************************************/ |
76 | void RC_Init (void) |
76 | void RC_Init (void) |
77 | { |
77 | { |
78 | uint8_t sreg = SREG; |
78 | uint8_t sreg = SREG; |
79 | 79 | ||
80 | // disable all interrupts before reconfiguration |
80 | // disable all interrupts before reconfiguration |
81 | cli(); |
81 | cli(); |
- | 82 | ||
82 | 83 | #ifndef USE_RC_JENNIC // LPD: FC_JN_Receiver support added |
|
83 | // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
84 | // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
84 | DDRD &= ~(1<<DDD6); |
85 | DDRD &= ~(1<<DDD6); |
- | 86 | PORTD |= (1<<PORTD6); |
|
85 | PORTD |= (1<<PORTD6); |
87 | #endif |
86 | 88 | ||
87 | // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
89 | // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
88 | // set as output |
90 | // set as output |
89 | DDRD |= (1<<DDD5)|(1<<DDD4); |
91 | DDRD |= (1<<DDD5)|(1<<DDD4); |
90 | // low level |
92 | // low level |
91 | PORTD &= ~((1<<PORTD5)|(1<<PORTD4)); |
93 | PORTD &= ~((1<<PORTD5)|(1<<PORTD4)); |
92 | 94 | ||
93 | // PD3 can't be used if 2nd UART is activated |
95 | // PD3 can't be used if 2nd UART is activated |
94 | // because TXD1 is at that port |
96 | // because TXD1 is at that port |
95 | if(CPUType != ATMEGA644P) |
97 | if(CPUType != ATMEGA644P) |
96 | { |
98 | { |
97 | DDRD |= (1<<PORTD3); |
99 | DDRD |= (1<<PORTD3); |
98 | PORTD &= ~(1<<PORTD3); |
100 | PORTD &= ~(1<<PORTD3); |
99 | } |
101 | } |
100 | 102 | ||
101 | // Timer/Counter1 Control Register A, B, C |
103 | // Timer/Counter1 Control Register A, B, C |
102 | 104 | ||
103 | // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
105 | // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
104 | // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
106 | // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
105 | TCCR1A &= ~((1<<COM1A1)|(1<<COM1A0)|(1<<COM1B1)|(1<<COM1B0)|(1<<WGM11)|(1<<WGM10)); |
107 | TCCR1A &= ~((1<<COM1A1)|(1<<COM1A0)|(1<<COM1B1)|(1<<COM1B0)|(1<<WGM11)|(1<<WGM10)); |
106 | #ifndef ACT_S3D_SUMSIGNAL |
108 | #ifndef ACT_S3D_SUMSIGNAL |
107 | // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
109 | // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
108 | // Enable input capture noise cancler (bit: ICNC1=1) |
110 | // Enable input capture noise cancler (bit: ICNC1=1) |
109 | // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
111 | // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
110 | // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2µs |
112 | // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2µs |
111 | // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
113 | // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
112 | TCCR1B &= ~((1<<WGM13)|(1<<WGM12)|(1<<CS12)); |
114 | TCCR1B &= ~((1<<WGM13)|(1<<WGM12)|(1<<CS12)); |
113 | TCCR1B |= (1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1); |
115 | TCCR1B |= (1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1); |
114 | #else |
116 | #else |
115 | // Set clock source to SYSCLK/8 (bit: CS12=0, CS11=1, CS10=0) |
117 | // Set clock source to SYSCLK/8 (bit: CS12=0, CS11=1, CS10=0) |
116 | // Enable input capture noise cancler (bit: ICNC1=1) |
118 | // Enable input capture noise cancler (bit: ICNC1=1) |
117 | // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
119 | // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
118 | // Therefore the counter incremets at a clock of 20 MHz/8 = 2.5 MHz or 0.4µs |
120 | // Therefore the counter incremets at a clock of 20 MHz/8 = 2.5 MHz or 0.4µs |
119 | // The longest period is 0xFFFF / 2.5 MHz = 0.026214 s. |
121 | // The longest period is 0xFFFF / 2.5 MHz = 0.026214 s. |
120 | TCCR1B &= ~((1<<WGM13)|(1<<WGM12)|(1<<CS12)|(1<<CS10)); |
122 | TCCR1B &= ~((1<<WGM13)|(1<<WGM12)|(1<<CS12)|(1<<CS10)); |
121 | TCCR1B |= (1<<CS11)|(1<<ICES1)|(1<<ICNC1); |
123 | TCCR1B |= (1<<CS11)|(1<<ICES1)|(1<<ICNC1); |
122 | #endif |
124 | #endif |
123 | TCCR1C &= ~((1<<FOC1A)|(1<<FOC1B)); |
125 | TCCR1C &= ~((1<<FOC1A)|(1<<FOC1B)); |
124 | 126 | ||
125 | // Timer/Counter1 Interrupt Mask Register |
127 | // Timer/Counter1 Interrupt Mask Register |
126 | 128 | ||
127 | // Enable Input Capture Interrupt (bit: ICIE1=1) |
129 | // Enable Input Capture Interrupt (bit: ICIE1=1) |
128 | // Disable Output Compare A & B Match Interrupts and Overflow Interrupt (bit: OCIE1B=0, OICIE1A=0, TOIE1=0) |
130 | // Disable Output Compare A & B Match Interrupts and Overflow Interrupt (bit: OCIE1B=0, OICIE1A=0, TOIE1=0) |
129 | TIMSK1 &= ~((1<<OCIE1B)|(1<<OCIE1A)|(1<<TOIE1)); |
131 | TIMSK1 &= ~((1<<OCIE1B)|(1<<OCIE1A)|(1<<TOIE1)); |
130 | 132 | ||
131 | PPM_INPUT_ON; //enabled by default |
133 | PPM_INPUT_ON; //enabled by default |
132 | 134 | ||
133 | SREG = sreg; |
135 | SREG = sreg; |
134 | } |
136 | } |
135 | 137 | ||
136 | 138 | ||
137 | /********************************************************************/ |
139 | /********************************************************************/ |
138 | /* Every time a positive edge is detected at PD6 */ |
140 | /* Every time a positive edge is detected at PD6 */ |
139 | /********************************************************************/ |
141 | /********************************************************************/ |
140 | /* t-Frame |
142 | /* t-Frame |
141 | <-----------------------------------------------------------------------> |
143 | <-----------------------------------------------------------------------> |
142 | ____ ______ _____ ________ ___ ________________ ____ |
144 | ____ ______ _____ ________ ___ ________________ ____ |
143 | | | | | | | | | | | | | | |
145 | | | | | | | | | | | | | | |
144 | | | | | | | | | | | | sync gap | | |
146 | | | | | | | | | | | | sync gap | | |
145 | ___| |_| |_| |_| |_............_| |_| |_| |
147 | ___| |_| |_| |_| |_............_| |_| |_| |
146 | <-----><-------><------><--------> <-----> <--- |
148 | <-----><-------><------><--------> <-----> <--- |
147 | t0 t1 t2 t4 tn t0 |
149 | t0 t1 t2 t4 tn t0 |
148 | 150 | ||
149 | The PPM-Frame length is 22.5 ms. |
151 | The PPM-Frame length is 22.5 ms. |
150 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
152 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
151 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
153 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
152 | The maximum time delay of two events coding a chanel is ( 1.7 + 0.3) ms = 2 ms. |
154 | The maximum time delay of two events coding a chanel is ( 1.7 + 0.3) ms = 2 ms. |
153 | The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
155 | The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
154 | The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
156 | The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
155 | The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
157 | The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
156 | the syncronization gap. |
158 | the syncronization gap. |
157 | */ |
159 | */ |
- | 160 | ||
158 | 161 | #ifndef USE_RC_JENNIC // LPD: FC_JN_Receiver support added |
|
159 | #ifndef ACT_S3D_SUMSIGNAL |
162 | #ifndef ACT_S3D_SUMSIGNAL |
160 | 163 | ||
161 | ISR(TIMER1_CAPT_vect) // typical rate of 1 ms to 2 ms |
164 | ISR(TIMER1_CAPT_vect) // typical rate of 1 ms to 2 ms |
162 | { |
165 | { |
163 | int16_t signal = 0, tmp; |
166 | int16_t signal = 0, tmp; |
164 | uint8_t i; |
167 | uint8_t i; |
165 | static uint8_t index = 1; |
168 | static uint8_t index = 1; |
166 | static uint16_t oldICR1 = 0; |
169 | static uint16_t oldICR1 = 0; |
167 | 170 | ||
168 | 171 | ||
169 | // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
172 | // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
170 | // at the time the edge was detected |
173 | // at the time the edge was detected |
171 | 174 | ||
172 | // calculate the time delay to the previous event time which is stored in oldICR1 |
175 | // calculate the time delay to the previous event time which is stored in oldICR1 |
173 | // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
176 | // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
174 | // implicit handles a timer overflow 65535 -> 0 the right way. |
177 | // implicit handles a timer overflow 65535 -> 0 the right way. |
175 | signal = (uint16_t) ICR1 - oldICR1; |
178 | signal = (uint16_t) ICR1 - oldICR1; |
176 | oldICR1 = ICR1; |
179 | oldICR1 = ICR1; |
177 | 180 | ||
178 | if(ParamSet.Config2 & CFG2_SENSITIVE_RC) |
181 | if(ParamSet.Config2 & CFG2_SENSITIVE_RC) |
179 | { |
182 | { |
180 | static int16_t old_ppm_in[MAX_CHANNELS]; |
183 | static int16_t old_ppm_in[MAX_CHANNELS]; |
181 | static int16_t ppm_in[MAX_CHANNELS]; |
184 | static int16_t ppm_in[MAX_CHANNELS]; |
182 | static int16_t ppm_diff[MAX_CHANNELS]; |
185 | static int16_t ppm_diff[MAX_CHANNELS]; |
183 | static uint8_t okay_cnt = 0; |
186 | static uint8_t okay_cnt = 0; |
184 | 187 | ||
185 | //sync gap? (3.52 ms < signal < 25.6 ms) |
188 | //sync gap? (3.52 ms < signal < 25.6 ms) |
186 | if((signal > 1100) && (signal < 8000)) |
189 | if((signal > 1100) && (signal < 8000)) |
187 | { |
190 | { |
188 | // if a sync gap happens and there where at least 4 channels decoded |
191 | // if a sync gap happens and there where at least 4 channels decoded |
189 | // and the number of channes decoded since the last sync gap matches the expectation |
192 | // and the number of channes decoded since the last sync gap matches the expectation |
190 | // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
193 | // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
191 | index--; // no next channel because the sync gap was detected |
194 | index--; // no next channel because the sync gap was detected |
192 | if(index >= 4 && index == RC_Channels) |
195 | if(index >= 4 && index == RC_Channels) |
193 | { |
196 | { |
194 | if(okay_cnt > 10) // at least 10 frames in line ok |
197 | if(okay_cnt > 10) // at least 10 frames in line ok |
195 | { |
198 | { |
196 | 199 | ||
197 | for(i=0; i < MAX_CHANNELS; i++) |
200 | for(i=0; i < MAX_CHANNELS; i++) |
198 | { |
201 | { |
199 | if(okay_cnt > 30) // at least 30 frames ok |
202 | if(okay_cnt > 30) // at least 30 frames ok |
200 | { |
203 | { |
201 | old_ppm_in[i] = PPM_in[i]; // backup data |
204 | old_ppm_in[i] = PPM_in[i]; // backup data |
202 | } |
205 | } |
203 | PPM_in[i] = ppm_in[i]; |
206 | PPM_in[i] = ppm_in[i]; |
204 | PPM_diff[i] = ppm_diff[i]; |
207 | PPM_diff[i] = ppm_diff[i]; |
205 | } |
208 | } |
206 | NewPpmData = 0; // Null means NewData for at least the first 4 channels |
209 | NewPpmData = 0; // Null means NewData for at least the first 4 channels |
207 | } |
210 | } |
208 | if(okay_cnt < 255) okay_cnt++; |
211 | if(okay_cnt < 255) okay_cnt++; |
209 | } // eof if(index >= 4 && index == RC_Channels) |
212 | } // eof if(index >= 4 && index == RC_Channels) |
210 | else |
213 | else |
211 | { |
214 | { |
212 | if(okay_cnt > 100) okay_cnt = 10; |
215 | if(okay_cnt > 100) okay_cnt = 10; |
213 | else okay_cnt = 0; |
216 | else okay_cnt = 0; |
214 | RED_ON; |
217 | RED_ON; |
215 | } |
218 | } |
216 | // store max channels transmitted |
219 | // store max channels transmitted |
217 | if(!(MKFlags & MKFLAG_MOTOR_RUN)) RC_Channels = index; |
220 | if(!(MKFlags & MKFLAG_MOTOR_RUN)) RC_Channels = index; |
218 | // reset channel index |
221 | // reset channel index |
219 | index = 1; |
222 | index = 1; |
220 | } |
223 | } |
221 | else // assuming within the PPM frame |
224 | else // assuming within the PPM frame |
222 | { |
225 | { |
223 | if(index < MAX_CHANNELS) |
226 | if(index < MAX_CHANNELS) |
224 | { |
227 | { |
225 | // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
228 | // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
226 | // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
229 | // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
227 | if((signal > 250) && (signal < 687)) |
230 | if((signal > 250) && (signal < 687)) |
228 | { |
231 | { |
229 | // shift signal to zero symmetric range -154 to 159 |
232 | // shift signal to zero symmetric range -154 to 159 |
230 | signal -= 466; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
233 | signal -= 466; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
231 | // check for stable signal |
234 | // check for stable signal |
232 | if(abs(signal - ppm_in[index]) < 6) |
235 | if(abs(signal - ppm_in[index]) < 6) |
233 | { |
236 | { |
234 | if(okay_cnt > 25) RC_Quality +=10; |
237 | if(okay_cnt > 25) RC_Quality +=10; |
235 | else if(okay_cnt > 10) RC_Quality += 2; |
238 | else if(okay_cnt > 10) RC_Quality += 2; |
236 | if(RC_Quality > 200) RC_Quality = 200; |
239 | if(RC_Quality > 200) RC_Quality = 200; |
237 | } |
240 | } |
238 | // calculate exponential history for signal |
241 | // calculate exponential history for signal |
239 | tmp = (3 * (ppm_in[index]) + signal) / 4; |
242 | tmp = (3 * (ppm_in[index]) + signal) / 4; |
240 | if(tmp > signal+1) tmp--; else |
243 | if(tmp > signal+1) tmp--; else |
241 | if(tmp < signal-1) tmp++; |
244 | if(tmp < signal-1) tmp++; |
242 | // calculate signal difference on good signal level |
245 | // calculate signal difference on good signal level |
243 | if(RC_Quality >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
246 | if(RC_Quality >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
244 | else ppm_diff[index] = 0; |
247 | else ppm_diff[index] = 0; |
245 | ppm_in[index] = tmp; // update channel value |
248 | ppm_in[index] = tmp; // update channel value |
246 | } |
249 | } |
247 | else // invalid signal lenght |
250 | else // invalid signal lenght |
248 | { |
251 | { |
249 | RED_ON; |
252 | RED_ON; |
250 | } |
253 | } |
251 | // demux sum signal for channels 5 to 7 to J3, J4, J5 |
254 | // demux sum signal for channels 5 to 7 to J3, J4, J5 |
252 | if(index == 5) J3HIGH; else J3LOW; |
255 | if(index == 5) J3HIGH; else J3LOW; |
253 | if(index == 6) J4HIGH; else J4LOW; |
256 | if(index == 6) J4HIGH; else J4LOW; |
254 | if(CPUType != ATMEGA644P) // not used as TXD1 |
257 | if(CPUType != ATMEGA644P) // not used as TXD1 |
255 | { |
258 | { |
256 | if(index == 7) J5HIGH; else J5LOW; |
259 | if(index == 7) J5HIGH; else J5LOW; |
257 | } |
260 | } |
258 | index++; // next channel |
261 | index++; // next channel |
259 | } |
262 | } |
260 | else // (index >= MAX_CHANNELS) |
263 | else // (index >= MAX_CHANNELS) |
261 | { |
264 | { |
262 | RED_ON; |
265 | RED_ON; |
263 | if(index == MAX_CHANNELS) |
266 | if(index == MAX_CHANNELS) |
264 | { |
267 | { |
265 | for(i = 0; i < MAX_CHANNELS; i++) |
268 | for(i = 0; i < MAX_CHANNELS; i++) |
266 | { |
269 | { |
267 | PPM_in[i] = old_ppm_in[i]; // restore old valid values |
270 | PPM_in[i] = old_ppm_in[i]; // restore old valid values |
268 | PPM_diff[i] = 0; |
271 | PPM_diff[i] = 0; |
269 | } |
272 | } |
270 | index++; |
273 | index++; |
271 | } |
274 | } |
272 | } // eof (index >= MAX_CHANNELS) |
275 | } // eof (index >= MAX_CHANNELS) |
273 | } // eof within the PPM frame |
276 | } // eof within the PPM frame |
274 | } // eof sensitive rc |
277 | } // eof sensitive rc |
275 | else // old more tolerant version |
278 | else // old more tolerant version |
276 | { |
279 | { |
277 | //sync gap? (3.52 ms < signal < 25.6 ms) |
280 | //sync gap? (3.52 ms < signal < 25.6 ms) |
278 | if((signal > 1100) && (signal < 8000)) |
281 | if((signal > 1100) && (signal < 8000)) |
279 | { |
282 | { |
280 | // if a sync gap happens and there where at least 4 channels decoded before |
283 | // if a sync gap happens and there where at least 4 channels decoded before |
281 | // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
284 | // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
282 | index--; // no next channel because the sync gap was detected |
285 | index--; // no next channel because the sync gap was detected |
283 | RC_Channels = index; |
286 | RC_Channels = index; |
284 | if(index >= 4) |
287 | if(index >= 4) |
285 | { |
288 | { |
286 | NewPpmData = 0; // Null means NewData for the first 4 channels |
289 | NewPpmData = 0; // Null means NewData for the first 4 channels |
287 | } |
290 | } |
288 | // synchronize channel index |
291 | // synchronize channel index |
289 | index = 1; |
292 | index = 1; |
290 | } |
293 | } |
291 | else // within the PPM frame |
294 | else // within the PPM frame |
292 | { |
295 | { |
293 | if(index < MAX_CHANNELS) |
296 | if(index < MAX_CHANNELS) |
294 | { |
297 | { |
295 | // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
298 | // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
296 | // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
299 | // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
297 | if((signal > 250) && (signal < 687)) |
300 | if((signal > 250) && (signal < 687)) |
298 | { |
301 | { |
299 | // shift signal to zero symmetric range -154 to 159 |
302 | // shift signal to zero symmetric range -154 to 159 |
300 | signal -= 466; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
303 | signal -= 466; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
301 | // check for stable signal |
304 | // check for stable signal |
302 | if(abs(signal - PPM_in[index]) < 6) |
305 | if(abs(signal - PPM_in[index]) < 6) |
303 | { |
306 | { |
304 | if(RC_Quality < 200) RC_Quality +=10; |
307 | if(RC_Quality < 200) RC_Quality +=10; |
305 | else RC_Quality = 200; |
308 | else RC_Quality = 200; |
306 | } |
309 | } |
307 | // calculate exponential history for signal |
310 | // calculate exponential history for signal |
308 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
311 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
309 | if(tmp > signal+1) tmp--; else |
312 | if(tmp > signal+1) tmp--; else |
310 | if(tmp < signal-1) tmp++; |
313 | if(tmp < signal-1) tmp++; |
311 | // calculate signal difference on good signal level |
314 | // calculate signal difference on good signal level |
312 | if(RC_Quality >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
315 | if(RC_Quality >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
313 | else PPM_diff[index] = 0; |
316 | else PPM_diff[index] = 0; |
314 | PPM_in[index] = tmp; // update channel value |
317 | PPM_in[index] = tmp; // update channel value |
315 | } |
318 | } |
316 | index++; // next channel |
319 | index++; // next channel |
317 | // demux sum signal for channels 5 to 7 to J3, J4, J5 |
320 | // demux sum signal for channels 5 to 7 to J3, J4, J5 |
318 | if(index == 5) J3HIGH; else J3LOW; |
321 | if(index == 5) J3HIGH; else J3LOW; |
319 | if(index == 6) J4HIGH; else J4LOW; |
322 | if(index == 6) J4HIGH; else J4LOW; |
320 | if(CPUType != ATMEGA644P) // not used as TXD1 |
323 | if(CPUType != ATMEGA644P) // not used as TXD1 |
321 | { |
324 | { |
322 | if(index == 7) J5HIGH; else J5LOW; |
325 | if(index == 7) J5HIGH; else J5LOW; |
323 | } |
326 | } |
324 | } // eof (index < MAX_CHANNELS) |
327 | } // eof (index < MAX_CHANNELS) |
325 | } // eof within the PPM frame |
328 | } // eof within the PPM frame |
326 | } // eof old more tolerant version |
329 | } // eof old more tolerant version |
327 | } |
330 | } |
328 | 331 | ||
329 | #else // ACT_S3D_SUMSIGNAL |
332 | #else // ACT_S3D_SUMSIGNAL |
330 | 333 | ||
331 | ISR(TIMER1_CAPT_vect) // typical rate of 1 ms to 2 ms |
334 | ISR(TIMER1_CAPT_vect) // typical rate of 1 ms to 2 ms |
332 | { |
335 | { |
333 | int16_t signal = 0, tmp; |
336 | int16_t signal = 0, tmp; |
334 | uint8_t i; |
337 | uint8_t i; |
335 | static uint8_t index = 1; |
338 | static uint8_t index = 1; |
336 | static uint16_t oldICR1 = 0; |
339 | static uint16_t oldICR1 = 0; |
337 | 340 | ||
338 | 341 | ||
339 | // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
342 | // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
340 | // at the time the edge was detected |
343 | // at the time the edge was detected |
341 | 344 | ||
342 | // calculate the time delay to the previous event time which is stored in oldICR1 |
345 | // calculate the time delay to the previous event time which is stored in oldICR1 |
343 | // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
346 | // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
344 | // implicit handles a timer overflow 65535 -> 0 the right way. |
347 | // implicit handles a timer overflow 65535 -> 0 the right way. |
345 | signal = (uint16_t) ICR1 - oldICR1; |
348 | signal = (uint16_t) ICR1 - oldICR1; |
346 | signal /= 2; |
349 | signal /= 2; |
347 | oldICR1 = ICR1; |
350 | oldICR1 = ICR1; |
348 | //sync gap? (3.52 ms < signal < 25.6 ms) |
351 | //sync gap? (3.52 ms < signal < 25.6 ms) |
349 | if((signal > 1100*2) && (signal < 8000*2)) |
352 | if((signal > 1100*2) && (signal < 8000*2)) |
350 | { |
353 | { |
351 | // if a sync gap happens and there where at least 4 channels decoded before |
354 | // if a sync gap happens and there where at least 4 channels decoded before |
352 | // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
355 | // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
353 | index--; // no next channel because the sync gap was detected |
356 | index--; // no next channel because the sync gap was detected |
354 | RC_Channels = index; |
357 | RC_Channels = index; |
355 | if(index >= 4) |
358 | if(index >= 4) |
356 | { |
359 | { |
357 | NewPpmData = 0; // Null means NewData for the first 4 channels |
360 | NewPpmData = 0; // Null means NewData for the first 4 channels |
358 | } |
361 | } |
359 | // synchronize channel index |
362 | // synchronize channel index |
360 | index = 1; |
363 | index = 1; |
361 | } |
364 | } |
362 | else // within the PPM frame |
365 | else // within the PPM frame |
363 | { |
366 | { |
364 | if(index < MAX_CHANNELS) |
367 | if(index < MAX_CHANNELS) |
365 | { |
368 | { |
366 | // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
369 | // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
367 | // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
370 | // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
368 | if((signal > 250) && (signal < 687*2)) |
371 | if((signal > 250) && (signal < 687*2)) |
369 | { |
372 | { |
370 | // shift signal to zero symmetric range -154 to 159 |
373 | // shift signal to zero symmetric range -154 to 159 |
371 | signal -= 962; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
374 | signal -= 962; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
372 | // check for stable signal |
375 | // check for stable signal |
373 | if(abs(signal - PPM_in[index]) < 6) |
376 | if(abs(signal - PPM_in[index]) < 6) |
374 | { |
377 | { |
375 | if(RC_Quality < 200) RC_Quality +=10; |
378 | if(RC_Quality < 200) RC_Quality +=10; |
376 | else RC_Quality = 200; |
379 | else RC_Quality = 200; |
377 | } |
380 | } |
378 | // calculate exponential history for signal |
381 | // calculate exponential history for signal |
379 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
382 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
380 | if(tmp > signal+1) tmp--; else |
383 | if(tmp > signal+1) tmp--; else |
381 | if(tmp < signal-1) tmp++; |
384 | if(tmp < signal-1) tmp++; |
382 | // calculate signal difference on good signal level |
385 | // calculate signal difference on good signal level |
383 | if(RC_Quality >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
386 | if(RC_Quality >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
384 | else PPM_diff[index] = 0; |
387 | else PPM_diff[index] = 0; |
385 | PPM_in[index] = tmp; // update channel value |
388 | PPM_in[index] = tmp; // update channel value |
386 | } |
389 | } |
387 | index++; // next channel |
390 | index++; // next channel |
388 | } // eof (index < MAX_CHANNELS) |
391 | } // eof (index < MAX_CHANNELS) |
389 | } // eof within the PPM frame |
392 | } // eof within the PPM frame |
390 | } |
393 | } |
391 | #endif |
394 | #endif |
392 | 395 | #endif |
|
393 | 396 | ||
394 | 397 | ||
395 | 398 | ||
396 | 399 |