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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 unsigned char NewPpmData = 1; |
17 | volatile unsigned char NewPpmData = 1; |
17 | 18 | ||
18 | //############################################################################ |
19 | //############################################################################ |
19 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
20 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
20 | //Capture Funktion benutzt: |
21 | //Capture Funktion benutzt: |
21 | void rc_sum_init (void) |
22 | void rc_sum_init (void) |
22 | //############################################################################ |
23 | //############################################################################ |
23 | { |
24 | { |
24 | 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 |
25 | // 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 |
26 | TIMSK1 |= _BV(ICIE1); |
27 | TIMSK1 |= _BV(ICIE1); |
27 | AdNeutralGier = 0; |
28 | AdNeutralGier = 0; |
28 | AdNeutralRoll = 0; |
29 | AdNeutralRoll = 0; |
29 | AdNeutralNick = 0; |
30 | AdNeutralNick = 0; |
30 | return; |
31 | return; |
31 | } |
32 | } |
32 | 33 | ||
33 | //############################################################################ |
34 | //############################################################################ |
34 | //Diese Routine startet und inizialisiert den Timer für RC |
35 | //Diese Routine startet und inizialisiert den Timer für RC |
35 | SIGNAL(SIG_INPUT_CAPTURE1) |
36 | SIGNAL(SIG_INPUT_CAPTURE1) |
36 | //############################################################################ |
37 | //############################################################################ |
37 | 38 | ||
38 | { |
39 | { |
39 | static unsigned int AltICR=0; |
40 | static unsigned int AltICR=0; |
- | 41 | static int ppm_in[11]; |
|
- | 42 | static int ppm_diff[11]; |
|
- | 43 | static int old_ppm_in[11]; |
|
- | 44 | static int old_ppm_diff[11]; |
|
40 | signed int signal = 0,tmp; |
45 | signed int signal = 0,tmp; |
41 | static int index; |
46 | static unsigned char index, okay_cnt = 0; |
42 | - | ||
43 | signal = (unsigned int) ICR1 - AltICR; |
47 | signal = (unsigned int) ICR1 - AltICR; |
44 | AltICR = ICR1; |
48 | AltICR = ICR1; |
45 | //Syncronisationspause? |
49 | //Syncronisationspause? |
46 | if((signal > 1100) && (signal < 8000)) |
50 | if((signal > 1100) && (signal < 8000)) |
47 | { |
51 | { |
- | 52 | tmpChannels = index; |
|
- | 53 | if(tmpChannels >= 4 && Channels == tmpChannels) |
|
- | 54 | { |
|
- | 55 | if(okay_cnt > 5) |
|
- | 56 | { |
|
48 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
57 | NewPpmData = 0; // Null bedeutet: Neue Daten |
- | 58 | for(index = 0; index < 11; index++) |
|
- | 59 | { |
|
- | 60 | if(okay_cnt > 30) |
|
- | 61 | { |
|
- | 62 | old_ppm_in[index] = PPM_in[index]; |
|
- | 63 | old_ppm_diff[index] = PPM_diff[index]; |
|
- | 64 | } |
|
- | 65 | PPM_in[index] = ppm_in[index]; |
|
- | 66 | PPM_diff[index] = ppm_diff[index]; |
|
- | 67 | } |
|
- | 68 | } |
|
- | 69 | if(okay_cnt < 255) okay_cnt++; |
|
- | 70 | } |
|
- | 71 | else okay_cnt = 0; |
|
49 | index = 1; |
72 | index = 1; |
- | 73 | if(!MotorenEin) Channels = tmpChannels; |
|
50 | } |
74 | } |
51 | else |
75 | else |
52 | { |
76 | { |
53 | if(index < 10) |
77 | if(index < 10) |
54 | { |
78 | { |
55 | if((signal > 250) && (signal < 687)) |
79 | if((signal > 250) && (signal < 687)) |
56 | { |
80 | { |
57 | signal -= 466; |
81 | signal -= 466; |
58 | // Stabiles Signal |
82 | // Stabiles Signal |
59 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
83 | if((abs(signal - ppm_in[index]) < 6) && okay_cnt > 30) { if(SenderOkay < 200) SenderOkay += 5; else SenderOkay = 200;} |
60 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
84 | tmp = (3 * (ppm_in[index]) + signal) / 4; |
61 | if(tmp > signal+1) tmp--; else |
85 | if(tmp > signal+1) tmp--; else |
62 | if(tmp < signal-1) tmp++; |
86 | if(tmp < signal-1) tmp++; |
63 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
87 | if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
64 | else PPM_diff[index] = 0; |
88 | else ppm_diff[index] = 0; |
65 | PPM_in[index] = tmp; |
89 | ppm_in[index] = tmp; |
66 | } |
90 | } |
67 | index++; |
91 | else ROT_ON; |
68 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
92 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
69 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
93 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
70 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
94 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
71 | } |
95 | } |
- | 96 | else ROT_ON; |
|
- | 97 | if(index < 20) index++; |
|
- | 98 | else |
|
- | 99 | { |
|
- | 100 | unsigned char i; |
|
- | 101 | for(i=0;i<11;i++) // restore from older data |
|
- | 102 | { |
|
- | 103 | PPM_in[i] = old_ppm_in[index]; |
|
- | 104 | PPM_diff[index] = 0; |
|
- | 105 | okay_cnt = 0; |
|
- | 106 | } |
|
72 | } |
107 | } |
- | 108 | } |
|
- | 109 | DebugOut.Analog[16] = okay_cnt; |
|
73 | } |
110 | } |
74 | 111 | ||
75 | /* |
112 | /* |
76 | //############################################################################ |
113 | //############################################################################ |
77 | //Diese Routine startet und inizialisiert den Timer für RC |
114 | //Diese Routine startet und inizialisiert den Timer für RC |
78 | SIGNAL(SIG_INPUT_CAPTURE1) |
115 | SIGNAL(SIG_INPUT_CAPTURE1) |
79 | //############################################################################ |
116 | //############################################################################ |
80 | 117 | ||
81 | { |
118 | { |
82 | static unsigned int AltICR=0; |
119 | static unsigned int AltICR=0; |
83 | signed int signal = 0,tmp; |
120 | signed int signal = 0,tmp; |
84 | static int index; |
121 | static int index; |
85 | |
122 | |
86 | signal = (unsigned int) ICR1 - AltICR; |
123 | signal = (unsigned int) ICR1 - AltICR; |
87 | DebugOut.Analog[16] = signal; |
124 | DebugOut.Analog[16] = signal; |
88 | signal /= 2; |
125 | signal /= 2; |
89 | AltICR = ICR1; |
126 | AltICR = ICR1; |
90 | //Syncronisationspause? |
127 | //Syncronisationspause? |
91 | if((signal > 1100*2) && (signal < 8000*2)) |
128 | if((signal > 1100*2) && (signal < 8000*2)) |
92 | { |
129 | { |
93 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
130 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
94 | index = 1; |
131 | index = 1; |
95 | } |
132 | } |
96 | else |
133 | else |
97 | { |
134 | { |
98 | if(index < 10) |
135 | if(index < 10) |
99 | { |
136 | { |
100 | if((signal > 250) && (signal < 687*2)) |
137 | if((signal > 250) && (signal < 687*2)) |
101 | { |
138 | { |
102 | signal -= 962; |
139 | signal -= 962; |
103 | // Stabiles Signal |
140 | // Stabiles Signal |
104 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
141 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
105 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
142 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
106 | if(tmp > signal+1) tmp--; else |
143 | if(tmp > signal+1) tmp--; else |
107 | if(tmp < signal-1) tmp++; |
144 | if(tmp < signal-1) tmp++; |
108 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
145 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
109 | else PPM_diff[index] = 0; |
146 | else PPM_diff[index] = 0; |
110 | PPM_in[index] = tmp; |
147 | PPM_in[index] = tmp; |
111 | } |
148 | } |
112 | index++; |
149 | index++; |
113 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
150 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
114 | if(index == 2) J4High; else J4Low; // Servosignal an J4 anlegen |
151 | if(index == 2) J4High; else J4Low; // Servosignal an J4 anlegen |
115 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
152 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
116 | } |
153 | } |
117 | } |
154 | } |
118 | } |
155 | } |
119 | */ |
156 | */ |
120 | 157 | ||
121 | 158 | ||
122 | 159 | ||
123 | 160 |