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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) 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 > 1100*2) && (signal < 8000*2)) |
186 | if((signal > 1100*2) && (signal < 8000*2)) |
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 |