WebSVN - FlightCtrl - Diff - Rev 1272 and 1276 - /branches/V0.82b-Arthur-P/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
//      TCCR1B=(1<<CS11)|(0<<CS10)|(1<<ICES1)|(1<<ICNC1); //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)
//############################################################################
 
{
        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?
        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;
        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 
          }
                  else ROT_ON;
                  if(index < 20) index++;
          else
                  if(index == 20)
                  {
            unsigned char i;
                    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 1272	Rev 1276
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	26	// TCCR1B=(1<<CS11)\|(0<<CS10)\|(1<<ICES1)\|(1<<ICNC1); //timer1 prescale 64
27	TIMSK1 \|= _BV(ICIE1);	27	TIMSK1 \|= _BV(ICIE1);
28	AdNeutralGier = 0;	28	AdNeutralGier = 0;
29	AdNeutralRoll = 0;	29	AdNeutralRoll = 0;
30	AdNeutralNick = 0;	30	AdNeutralNick = 0;
31	return;	31	return;
32	}	32	}
33		33
34	//############################################################################	34	//############################################################################
35	//Diese Routine startet und inizialisiert den Timer für RC	35	//Diese Routine startet und inizialisiert den Timer für RC
36	SIGNAL(SIG_INPUT_CAPTURE1)	36	SIGNAL(SIG_INPUT_CAPTURE1)
37	//############################################################################	37	//############################################################################
38		38
39	{	39	{
40	static unsigned int AltICR=0;	40	static unsigned int AltICR=0;
41	static int ppm_in[11];	41	static int ppm_in[11];
42	static int ppm_diff[11];	42	static int ppm_diff[11];
43	static int old_ppm_in[11];	43	static int old_ppm_in[11];
44	static int old_ppm_diff[11];	44	static int old_ppm_diff[11];
45	signed int signal = 0,tmp;	45	signed int signal = 0,tmp;
46	static unsigned char index, okay_cnt = 0;	46	static unsigned char index, okay_cnt = 0;
47	signal = (unsigned int) ICR1 - AltICR;	47	signal = (unsigned int) ICR1 - AltICR;
48	AltICR = ICR1;	48	AltICR = ICR1;
49	//Syncronisationspause?	49	//Syncronisationspause?
50	if((signal > 1100) && (signal < 8000))	50	if((signal > 1100) && (signal < 8000))
51	{	51	{
52	tmpChannels = index;	52	tmpChannels = index;
53	if(tmpChannels >= 4 && Channels == tmpChannels)	53	if(tmpChannels >= 4 && Channels == tmpChannels)
54	{	54	{
55	if(okay_cnt > 5)	55	if(okay_cnt > 10)
56	{	56	{
57	NewPpmData = 0; // Null bedeutet: Neue Daten	57	NewPpmData = 0; // Null bedeutet: Neue Daten
58	for(index = 0; index < 11; index++)	58	for(index = 0; index < 11; index++)
59	{	59	{
60	if(okay_cnt > 30)	60	if(okay_cnt > 30)
61	{	61	{
62	old_ppm_in[index] = PPM_in[index];	62	old_ppm_in[index] = PPM_in[index];
63	old_ppm_diff[index] = PPM_diff[index];	63	old_ppm_diff[index] = PPM_diff[index];
64	}	64	}
65	PPM_in[index] = ppm_in[index];	65	PPM_in[index] = ppm_in[index];
66	PPM_diff[index] = ppm_diff[index];	66	PPM_diff[index] = ppm_diff[index];
67	}	67	}
68	}	68	}
69	if(okay_cnt < 255) okay_cnt++;	69	if(okay_cnt < 255) okay_cnt++;
70	}	70	}
71	else okay_cnt = 0;	71	else
-		72	if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0;
72	index = 1;	73	index = 1;
73	if(!MotorenEin) Channels = tmpChannels;	74	if(!MotorenEin) Channels = tmpChannels;
74	}	75	}
75	else	76	else
76	{	77	{
77	if(index < 10)	78	if(index < 10)
78	{	79	{
79	if((signal > 250) && (signal < 687))	80	if((signal > 250) && (signal < 687))
80	{	81	{
81	signal -= 466;	82	signal -= 466;
82	// Stabiles Signal	83	// Stabiles Signal
83	if((abs(signal - ppm_in[index]) < 6))	84	if((abs(signal - ppm_in[index]) < 6))
84	{	85	{
85	if(okay_cnt > 25) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;}	86	if(okay_cnt > 25) SenderOkay += 10;
86	else	87	else
-		88	if(okay_cnt > 10) SenderOkay += 2;
87	if(okay_cnt > 10) { if(SenderOkay < 200) SenderOkay += 2; else SenderOkay = 200;}	89	if(SenderOkay > 200) SenderOkay = 200;
88	}	90	}
89	tmp = (3 * (ppm_in[index]) + signal) / 4;	91	tmp = (3 * (ppm_in[index]) + signal) / 4;
90	if(tmp > signal+1) tmp--; else	92	if(tmp > signal+1) tmp--; else
91	if(tmp < signal-1) tmp++;	93	if(tmp < signal-1) tmp++;
92	if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3;	94	if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3;
93	else ppm_diff[index] = 0;	95	else ppm_diff[index] = 0;
94	ppm_in[index] = tmp;	96	ppm_in[index] = tmp;
95	}	97	}
96	else ROT_ON;	98	else ROT_ON;
97	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen	99	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen
98	if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen	100	if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen
99	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen	101	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen
100	}	102	}
101	else ROT_ON;	103	else ROT_ON;
102	if(index < 20) index++;	104	if(index < 20) index++;
103	else	105	else
-		106	if(index == 20)
104	{	107	{
105	unsigned char i;	108	unsigned char i;
-		109	index = 30;
106	for(i=0;i<11;i++) // restore from older data	110	for(i=0;i<11;i++) // restore from older data
107	{	111	{
108	PPM_in[i] = old_ppm_in[index];	112	PPM_in[i] = old_ppm_in[i];
109	PPM_diff[index] = 0;	113	PPM_diff[i] = 0;
110	okay_cnt = 0;	114	// okay_cnt /= 2;
111	}	115	}
112	}	116	}
113	}	117	}
114	DebugOut.Analog[16] = okay_cnt;	118	DebugOut.Analog[16] = okay_cnt;
115	//DebugOut.Analog[17] = PPM_in[2];	119	DebugOut.Analog[17] = PPM_in[2];
116	}	120	}
117		121
118	/*	122	/*
119	//############################################################################	123	//############################################################################
120	//Diese Routine startet und inizialisiert den Timer für RC	124	//Diese Routine startet und inizialisiert den Timer für RC
121	SIGNAL(SIG_INPUT_CAPTURE1)	125	SIGNAL(SIG_INPUT_CAPTURE1)
122	//############################################################################	126	//############################################################################
123		127
124	{	128	{
125	static unsigned int AltICR=0;	129	static unsigned int AltICR=0;
126	signed int signal = 0,tmp;	130	signed int signal = 0,tmp;
127	static int index;	131	static int index;
128		132
129	signal = (unsigned int) ICR1 - AltICR;	133	signal = (unsigned int) ICR1 - AltICR;
130	DebugOut.Analog[16] = signal;	134	DebugOut.Analog[16] = signal;
131	signal /= 2;	135	signal /= 2;
132	AltICR = ICR1;	136	AltICR = ICR1;
133	//Syncronisationspause?	137	//Syncronisationspause?
134	if((signal > 11002) && (signal < 80002))	138	if((signal > 11002) && (signal < 80002))
135	{	139	{
136	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten	140	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten
137	index = 1;	141	index = 1;
138	}	142	}
139	else	143	else
140	{	144	{
141	if(index < 10)	145	if(index < 10)
142	{	146	{
143	if((signal > 250) && (signal < 687*2))	147	if((signal > 250) && (signal < 687*2))
144	{	148	{
145	signal -= 962;	149	signal -= 962;
146	// Stabiles Signal	150	// Stabiles Signal
147	if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;}	151	if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;}
148	tmp = (3 * (PPM_in[index]) + signal) / 4;	152	tmp = (3 * (PPM_in[index]) + signal) / 4;
149	if(tmp > signal+1) tmp--; else	153	if(tmp > signal+1) tmp--; else
150	if(tmp < signal-1) tmp++;	154	if(tmp < signal-1) tmp++;
151	if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;	155	if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
152	else PPM_diff[index] = 0;	156	else PPM_diff[index] = 0;
153	PPM_in[index] = tmp;	157	PPM_in[index] = tmp;
154	}	158	}
155	index++;	159	index++;
156	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen	160	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen
157	if(index == 2) J4High; else J4Low; // Servosignal an J4 anlegen	161	if(index == 2) J4High; else J4Low; // Servosignal an J4 anlegen
158	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen	162	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen
159	}	163	}
160	}	164	}
161	}	165	}
162	*/	166	*/
163		167
164		168
165		169
166		170

Subversion Repositories FlightCtrl

(root)/branches/V0.82b-Arthur-P/rc.c @ 2291 - Rev 1272 → 1276