WebSVN - FlightCtrl - Diff - Rev 1268 and 1271 - /branches/V0.84a_var


/*#######################################################################################
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 > 5)
                   {
                   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 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) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;}
                                  else
                                  if(okay_cnt > 10) { if(SenderOkay < 200) SenderOkay += 2; else 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
                  {
                   unsigned char i;
            for(i=0;i<11;i++) // restore from older data
                         {
                      PPM_in[i] = old_ppm_in[index];
                      PPM_diff[index] = 0;
                          okay_cnt = 0;
                 }
                  }
            }
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 1268	Rev 1271
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 > 5)
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 okay_cnt = 0;
72	index = 1;	72	index = 1;
73	if(!MotorenEin) Channels = tmpChannels;	73	if(!MotorenEin) Channels = tmpChannels;
74	}	74	}
75	else	75	else
76	{	76	{
77	if(index < 10)	77	if(index < 10)
78	{	78	{
79	if((signal > 250) && (signal < 687))	79	if((signal > 250) && (signal < 687))
80	{	80	{
81	signal -= 466;	81	signal -= 466;
82	// Stabiles Signal	82	// Stabiles Signal
-		83	if((abs(signal - ppm_in[index]) < 6))
-		84	{
-		85	if(okay_cnt > 25) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;}
-		86	else
83	if((abs(signal - ppm_in[index]) < 6) && okay_cnt > 30) { if(SenderOkay < 200) SenderOkay += 5; else SenderOkay = 200;}	87	if(okay_cnt > 10) { if(SenderOkay < 200) SenderOkay += 2; else SenderOkay = 200;}
-		88	}
84	tmp = (3 * (ppm_in[index]) + signal) / 4;	89	tmp = (3 * (ppm_in[index]) + signal) / 4;
85	if(tmp > signal+1) tmp--; else	90	if(tmp > signal+1) tmp--; else
86	if(tmp < signal-1) tmp++;	91	if(tmp < signal-1) tmp++;
87	if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3;	92	if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3;
88	else ppm_diff[index] = 0;	93	else ppm_diff[index] = 0;
89	ppm_in[index] = tmp;	94	ppm_in[index] = tmp;
90	}	95	}
91	else ROT_ON;	96	else ROT_ON;
92	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen	97	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen
93	if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen	98	if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen
94	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen	99	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen
95	}	100	}
96	else ROT_ON;	101	else ROT_ON;
97	if(index < 20) index++;	102	if(index < 20) index++;
98	else	103	else
99	{	104	{
100	unsigned char i;	105	unsigned char i;
101	for(i=0;i<11;i++) // restore from older data	106	for(i=0;i<11;i++) // restore from older data
102	{	107	{
103	PPM_in[i] = old_ppm_in[index];	108	PPM_in[i] = old_ppm_in[index];
104	PPM_diff[index] = 0;	109	PPM_diff[index] = 0;
105	okay_cnt = 0;	110	okay_cnt = 0;
106	}	111	}
107	}	112	}
108	}	113	}
109	DebugOut.Analog[16] = okay_cnt;	114	DebugOut.Analog[16] = okay_cnt;
-		115	DebugOut.Analog[17] = PPM_in[2];
110	}	116	}
111		117
112	/*	118	/*
113	//############################################################################	119	//############################################################################
114	//Diese Routine startet und inizialisiert den Timer für RC	120	//Diese Routine startet und inizialisiert den Timer für RC
115	SIGNAL(SIG_INPUT_CAPTURE1)	121	SIGNAL(SIG_INPUT_CAPTURE1)
116	//############################################################################	122	//############################################################################
117		123
118	{	124	{
119	static unsigned int AltICR=0;	125	static unsigned int AltICR=0;
120	signed int signal = 0,tmp;	126	signed int signal = 0,tmp;
121	static int index;	127	static int index;
122		128
123	signal = (unsigned int) ICR1 - AltICR;	129	signal = (unsigned int) ICR1 - AltICR;
124	DebugOut.Analog[16] = signal;	130	DebugOut.Analog[16] = signal;
125	signal /= 2;	131	signal /= 2;
126	AltICR = ICR1;	132	AltICR = ICR1;
127	//Syncronisationspause?	133	//Syncronisationspause?
128	if((signal > 11002) && (signal < 80002))	134	if((signal > 11002) && (signal < 80002))
129	{	135	{
130	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten	136	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten
131	index = 1;	137	index = 1;
132	}	138	}
133	else	139	else
134	{	140	{
135	if(index < 10)	141	if(index < 10)
136	{	142	{
137	if((signal > 250) && (signal < 687*2))	143	if((signal > 250) && (signal < 687*2))
138	{	144	{
139	signal -= 962;	145	signal -= 962;
140	// Stabiles Signal	146	// Stabiles Signal
141	if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;}	147	if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;}
142	tmp = (3 * (PPM_in[index]) + signal) / 4;	148	tmp = (3 * (PPM_in[index]) + signal) / 4;
143	if(tmp > signal+1) tmp--; else	149	if(tmp > signal+1) tmp--; else
144	if(tmp < signal-1) tmp++;	150	if(tmp < signal-1) tmp++;
145	if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;	151	if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
146	else PPM_diff[index] = 0;	152	else PPM_diff[index] = 0;
147	PPM_in[index] = tmp;	153	PPM_in[index] = tmp;
148	}	154	}
149	index++;	155	index++;
150	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen	156	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen
151	if(index == 2) J4High; else J4Low; // Servosignal an J4 anlegen	157	if(index == 2) J4High; else J4Low; // Servosignal an J4 anlegen
152	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen	158	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen
153	}	159	}
154	}	160	}
155	}	161	}
156	*/	162	*/
157		163
158		164
159		165
160		166

Subversion Repositories FlightCtrl

(root)/branches/V0.84a_var_motorsmoothing/rc.c @ 2643 - Rev 1268 → 1271