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1 | /*####################################################################################### |
1 | /*####################################################################################### |
2 | Decodieren eines RC Summen Signals |
2 | Decodieren eines RC Summen Signals |
3 | #######################################################################################*/ |
3 | #######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) 04.2007 Holger Buss |
5 | // + Copyright (c) 04.2007 Holger Buss |
6 | // + only for non-profit use |
6 | // + only for non-profit use |
7 | // + www.MikroKopter.com |
7 | // + www.MikroKopter.com |
8 | // + see the File "License.txt" for further Informations |
8 | // + see the File "License.txt" for further Informations |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | 10 | ||
11 | #include "rc.h" |
11 | #include "rc.h" |
12 | #include "main.h" |
12 | #include "main.h" |
13 | 13 | ||
14 | volatile int PPM_in[11]; |
14 | volatile int PPM_in[11]; |
15 | volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
15 | volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
16 | volatile char Channels,tmpChannels = 0; |
16 | volatile char Channels,tmpChannels = 0; |
17 | volatile unsigned char NewPpmData = 1; |
17 | volatile unsigned char NewPpmData = 1; |
18 | 18 | ||
19 | //############################################################################ |
19 | //############################################################################ |
20 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
20 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
21 | //Capture Funktion benutzt: |
21 | //Capture Funktion benutzt: |
22 | void rc_sum_init (void) |
22 | void rc_sum_init (void) |
23 | //############################################################################ |
23 | //############################################################################ |
24 | { |
24 | { |
25 | TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
25 | TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
26 | // 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 | signed int signal = 0,tmp; |
41 | signed int signal = 0,tmp; |
42 | static int index; |
42 | static int index; |
43 | |
43 | |
44 | signal = (unsigned int) ICR1 - AltICR; |
44 | signal = (unsigned int) ICR1 - AltICR; |
45 | AltICR = ICR1; |
45 | AltICR = ICR1; |
46 | //Syncronisationspause? |
46 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
47 | if((signal > 1100) && (signal < 8000)) |
47 | if((signal > 1100) && (signal < 8000)) |
48 | { |
48 | { |
49 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
49 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
50 | index = 1; |
50 | index = 1; |
51 | } |
51 | } |
52 | else |
52 | else |
53 | { |
53 | { |
54 | if(index < 10) |
54 | if(index < 10) |
55 | { |
55 | { |
56 | if((signal > 250) && (signal < 687)) |
56 | if((signal > 250) && (signal < 687)) |
57 | { |
57 | { |
58 | signal -= 466; |
58 | signal -= 466; |
59 | // Stabiles Signal |
59 | // Stabiles Signal |
60 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
60 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
61 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
61 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
62 | if(tmp > signal+1) tmp--; else |
62 | if(tmp > signal+1) tmp--; else |
63 | if(tmp < signal-1) tmp++; |
63 | if(tmp < signal-1) tmp++; |
64 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
64 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
65 | else PPM_diff[index] = 0; |
65 | else PPM_diff[index] = 0; |
66 | PPM_in[index] = tmp; |
66 | PPM_in[index] = tmp; |
67 | } |
67 | } |
68 | index++; |
68 | index++; |
69 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
69 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
70 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
70 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
71 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
71 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
72 | } |
72 | } |
73 | } |
73 | } |
74 | } |
74 | } |
75 | */ |
75 | */ |
76 | 76 | ||
77 | 77 | ||
78 | //############################################################################ |
78 | //############################################################################ |
79 | //Diese Routine startet und inizialisiert den Timer für RC |
79 | //Diese Routine startet und inizialisiert den Timer für RC |
80 | SIGNAL(SIG_INPUT_CAPTURE1) |
80 | SIGNAL(SIG_INPUT_CAPTURE1) |
81 | //############################################################################ |
81 | //############################################################################ |
82 | 82 | ||
83 | { |
83 | { |
84 | static unsigned int AltICR=0; |
84 | static unsigned int AltICR=0; |
85 | static int ppm_in[11]; |
85 | static int ppm_in[11]; |
86 | static int ppm_diff[11]; |
86 | static int ppm_diff[11]; |
87 | static int old_ppm_in[11]; |
87 | static int old_ppm_in[11]; |
88 | static int old_ppm_diff[11]; |
88 | static int old_ppm_diff[11]; |
89 | signed int signal = 0,tmp; |
89 | signed int signal = 0,tmp; |
90 | static unsigned char index, okay_cnt = 0; |
90 | static unsigned char index, okay_cnt = 0; |
91 | signal = (unsigned int) ICR1 - AltICR; |
91 | signal = (unsigned int) ICR1 - AltICR; |
92 | AltICR = ICR1; |
92 | AltICR = ICR1; |
93 | //Syncronisationspause? |
93 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
94 | if((signal > 1100) && (signal < 8000)) |
94 | if((signal > 1100) && (signal < 8000)) |
95 | { |
95 | { |
96 | tmpChannels = index; |
96 | tmpChannels = index; |
97 | if(tmpChannels >= 4 && Channels == tmpChannels) |
97 | if(tmpChannels >= 4 && Channels == tmpChannels) |
98 | { |
98 | { |
99 | if(okay_cnt > 10) |
99 | if(okay_cnt > 10) |
100 | { |
100 | { |
101 | NewPpmData = 0; // Null bedeutet: Neue Daten |
101 | NewPpmData = 0; // Null bedeutet: Neue Daten |
102 | for(index = 0; index < 11; index++) |
102 | for(index = 0; index < 11; index++) |
103 | { |
103 | { |
104 | if(okay_cnt > 30) |
104 | if(okay_cnt > 30) |
105 | { |
105 | { |
106 | old_ppm_in[index] = PPM_in[index]; |
106 | old_ppm_in[index] = PPM_in[index]; |
107 | old_ppm_diff[index] = PPM_diff[index]; |
107 | old_ppm_diff[index] = PPM_diff[index]; |
108 | } |
108 | } |
109 | PPM_in[index] = ppm_in[index]; |
109 | PPM_in[index] = ppm_in[index]; |
110 | PPM_diff[index] = ppm_diff[index]; |
110 | PPM_diff[index] = ppm_diff[index]; |
111 | } |
111 | } |
112 | } |
112 | } |
113 | if(okay_cnt < 255) okay_cnt++; |
113 | if(okay_cnt < 255) okay_cnt++; |
114 | } |
114 | } |
115 | else |
115 | else |
116 | { |
116 | { |
117 | if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0; |
117 | if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0; |
118 | ROT_ON; |
118 | ROT_ON; |
119 | } |
119 | } |
120 | index = 1; |
120 | index = 1; |
121 | if(!MotorenEin) Channels = tmpChannels; |
121 | if(!MotorenEin) Channels = tmpChannels; |
122 | } |
122 | } |
123 | else |
123 | else |
124 | { |
124 | { |
125 | if(index < 10) |
125 | if(index < 10) |
126 | { |
126 | { |
127 | if((signal > 250) && (signal < 687)) |
127 | if((signal > 250) && (signal < 687)) |
128 | { |
128 | { |
129 | signal -= 466; |
129 | signal -= 466; |
130 | // Stabiles Signal |
130 | // Stabiles Signal |
131 | if((abs(signal - ppm_in[index]) < 6)) |
131 | if((abs(signal - ppm_in[index]) < 6)) |
132 | { |
132 | { |
133 | if(okay_cnt > 25) SenderOkay += 10; |
133 | if(okay_cnt > 25) SenderOkay += 10; |
134 | else |
134 | else |
135 | if(okay_cnt > 10) SenderOkay += 2; |
135 | if(okay_cnt > 10) SenderOkay += 2; |
136 | if(SenderOkay > 200) SenderOkay = 200; |
136 | if(SenderOkay > 200) SenderOkay = 200; |
137 | } |
137 | } |
138 | tmp = (3 * (ppm_in[index]) + signal) / 4; |
138 | tmp = (3 * (ppm_in[index]) + signal) / 4; |
139 | if(tmp > signal+1) tmp--; else |
139 | if(tmp > signal+1) tmp--; else |
140 | if(tmp < signal-1) tmp++; |
140 | if(tmp < signal-1) tmp++; |
141 | if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
141 | if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
142 | else ppm_diff[index] = 0; |
142 | else ppm_diff[index] = 0; |
143 | ppm_in[index] = tmp; |
143 | ppm_in[index] = tmp; |
144 | } |
144 | } |
145 | else ROT_ON; |
145 | else ROT_ON; |
146 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
146 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
147 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
147 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
148 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
148 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
149 | } |
149 | } |
150 | if(index < 20) index++; |
150 | if(index < 20) index++; |
151 | else |
151 | else |
152 | if(index == 20) |
152 | if(index == 20) |
153 | { |
153 | { |
154 | unsigned char i; |
154 | unsigned char i; |
155 | ROT_ON; |
155 | ROT_ON; |
156 | index = 30; |
156 | index = 30; |
157 | for(i=0;i<11;i++) // restore from older data |
157 | for(i=0;i<11;i++) // restore from older data |
158 | { |
158 | { |
159 | PPM_in[i] = old_ppm_in[i]; |
159 | PPM_in[i] = old_ppm_in[i]; |
160 | PPM_diff[i] = 0; |
160 | PPM_diff[i] = 0; |
161 | // okay_cnt /= 2; |
161 | // okay_cnt /= 2; |
162 | } |
162 | } |
163 | } |
163 | } |
164 | } |
164 | } |
165 | DebugOut.Analog[16] = okay_cnt; |
165 | DebugOut.Analog[16] = okay_cnt; |
166 | DebugOut.Analog[17] = PPM_in[2]; |
166 | DebugOut.Analog[17] = PPM_in[2]; |
167 | } |
167 | } |
168 | 168 | ||
169 | 169 | ||
170 | /* |
170 | /* |
171 | //############################################################################ |
171 | //############################################################################ |
172 | //Diese Routine startet und inizialisiert den Timer für RC |
172 | //Diese Routine startet und inizialisiert den Timer für RC |
173 | SIGNAL(SIG_INPUT_CAPTURE1) |
173 | SIGNAL(SIG_INPUT_CAPTURE1) |
174 | //############################################################################ |
174 | //############################################################################ |
175 | 175 | ||
176 | { |
176 | { |
177 | static unsigned int AltICR=0; |
177 | static unsigned int AltICR=0; |
178 | signed int signal = 0,tmp; |
178 | signed int signal = 0,tmp; |
179 | static int index; |
179 | static int index; |
180 | |
180 | |
181 | signal = (unsigned int) ICR1 - AltICR; |
181 | signal = (unsigned int) ICR1 - AltICR; |
182 | DebugOut.Analog[16] = signal; |
182 | DebugOut.Analog[16] = signal; |
183 | signal /= 2; |
183 | signal /= 2; |
184 | AltICR = ICR1; |
184 | AltICR = ICR1; |
185 | //Syncronisationspause? |
185 | //Syncronisationspause? |
186 | if((signal > 1100*2) && (signal < 8000*2)) |
186 | if((signal > 1100*2) && (signal < 8000*2)) |
187 | { |
187 | { |
188 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
188 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
189 | index = 1; |
189 | index = 1; |
190 | } |
190 | } |
191 | else |
191 | else |
192 | { |
192 | { |
193 | if(index < 10) |
193 | if(index < 10) |
194 | { |
194 | { |
195 | if((signal > 250) && (signal < 687*2)) |
195 | if((signal > 250) && (signal < 687*2)) |
196 | { |
196 | { |
197 | signal -= 962; |
197 | signal -= 962; |
198 | // Stabiles Signal |
198 | // Stabiles Signal |
199 | 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;} |
200 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
200 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
201 | if(tmp > signal+1) tmp--; else |
201 | if(tmp > signal+1) tmp--; else |
202 | if(tmp < signal-1) tmp++; |
202 | if(tmp < signal-1) tmp++; |
203 | 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; |
204 | else PPM_diff[index] = 0; |
204 | else PPM_diff[index] = 0; |
205 | PPM_in[index] = tmp; |
205 | PPM_in[index] = tmp; |
206 | } |
206 | } |
207 | index++; |
207 | index++; |
208 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
208 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
209 | if(index == 2) J4High; else J4Low; // Servosignal an J4 anlegen |
209 | if(index == 2) J4High; else J4Low; // Servosignal an J4 anlegen |
210 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
210 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
211 | } |
211 | } |
212 | } |
212 | } |
213 | } |
213 | } |
214 | */ |
214 | */ |
215 | 215 | ||
216 | 216 | ||
217 | 217 | ||
218 | 218 |