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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 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
9 | // + see the File "License.txt" for further Informations |
9 | // + see the File "License.txt" for further Informations |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
11 | 11 | ||
12 | #include "rc.h" |
12 | #include "rc.h" |
13 | #include "main.h" |
13 | #include "main.h" |
14 | // Achtung: ACT_S3D_SUMMENSIGNAL wird in der Main.h gesetzt |
14 | // Achtung: ACT_S3D_SUMMENSIGNAL wird in der Main.h gesetzt |
15 | 15 | ||
16 | volatile int PPM_in[26]; |
16 | volatile int PPM_in[26]; |
17 | volatile int PPM_diff[26]; // das diffenzierte Stick-Signal |
17 | volatile int PPM_diff[26]; // das diffenzierte Stick-Signal |
18 | volatile char Channels,tmpChannels = 0; |
18 | volatile char Channels,tmpChannels = 0; |
19 | volatile unsigned char NewPpmData = 1; |
19 | volatile unsigned char NewPpmData = 1; |
20 | 20 | ||
21 | //############################################################################ |
21 | //############################################################################ |
22 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
22 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
23 | //Capture Funktion benutzt: |
23 | //Capture Funktion benutzt: |
24 | void rc_sum_init (void) |
24 | void rc_sum_init (void) |
25 | //############################################################################ |
25 | //############################################################################ |
26 | { |
26 | { |
27 | unsigned char i; |
27 | unsigned char i; |
28 | for(i=0;i<26;i++) |
28 | for(i=0;i<26;i++) |
29 | { |
29 | { |
30 | PPM_in[i] = 0; |
30 | PPM_in[i] = 0; |
31 | PPM_diff[i] = 0; |
31 | PPM_diff[i] = 0; |
32 | } |
32 | } |
- | 33 | ||
- | 34 | PPM_in[13] = PPM_in[13] -127; // MartinW: Initialisierungswerte für die seriellen Potis für Jeti+ |
|
- | 35 | PPM_in[14] = PPM_in[14] -127; |
|
- | 36 | PPM_in[13] = PPM_in[15] -127; |
|
- | 37 | PPM_in[14] = PPM_in[16] -127; |
|
33 | 38 | ||
34 | AdNeutralGier = 0; |
39 | AdNeutralGier = 0; |
35 | AdNeutralRoll = 0; |
40 | AdNeutralRoll = 0; |
36 | AdNeutralNick = 0; |
41 | AdNeutralNick = 0; |
37 | return; |
42 | return; |
38 | } |
43 | } |
39 | 44 | ||
40 | #ifndef ACT_S3D_SUMMENSIGNAL |
45 | #ifndef ACT_S3D_SUMMENSIGNAL |
41 | //############################################################################ |
46 | //############################################################################ |
42 | //Diese Routine startet und inizialisiert den Timer für RC |
47 | //Diese Routine startet und inizialisiert den Timer für RC |
43 | ISR(TIMER1_CAPT_vect) |
48 | ISR(TIMER1_CAPT_vect) |
44 | //############################################################################ |
49 | //############################################################################ |
45 | { |
50 | { |
46 | if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC)) |
51 | if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC)) |
47 | { |
52 | { |
48 | static unsigned int AltICR=0; |
53 | static unsigned int AltICR=0; |
49 | signed int signal = 0,tmp; |
54 | signed int signal = 0,tmp; |
50 | static int index; |
55 | static int index; |
51 | 56 | ||
52 | signal = (unsigned int) ICR1 - AltICR; |
57 | signal = (unsigned int) ICR1 - AltICR; |
53 | AltICR = ICR1; |
58 | AltICR = ICR1; |
54 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
59 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
55 | if((signal > 1100) && (signal < 8000)) |
60 | if((signal > 1100) && (signal < 8000)) |
56 | { |
61 | { |
57 | Channels = index; |
62 | Channels = index; |
58 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
63 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
59 | index = 1; |
64 | index = 1; |
60 | } |
65 | } |
61 | else |
66 | else |
62 | { |
67 | { |
63 | if(index < 13) |
68 | if(index < 13) |
64 | { |
69 | { |
65 | if((signal > 250) && (signal < 687)) |
70 | if((signal > 250) && (signal < 687)) |
66 | { |
71 | { |
67 | signal -= 466; |
72 | signal -= 466; |
68 | // Stabiles Signal |
73 | // Stabiles Signal |
69 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
74 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
70 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
75 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
71 | if(tmp > signal+1) tmp--; else |
76 | if(tmp > signal+1) tmp--; else |
72 | if(tmp < signal-1) tmp++; |
77 | if(tmp < signal-1) tmp++; |
73 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
78 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
74 | else PPM_diff[index] = 0; |
79 | else PPM_diff[index] = 0; |
75 | PPM_in[index] = tmp; |
80 | PPM_in[index] = tmp; |
76 | } |
81 | } |
77 | index++; |
82 | index++; |
78 | if(PlatinenVersion < 20) |
83 | if(PlatinenVersion < 20) |
79 | { |
84 | { |
80 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
85 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
81 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
86 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
82 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
87 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
83 | } |
88 | } |
84 | } |
89 | } |
85 | } |
90 | } |
86 | } |
91 | } |
87 | else |
92 | else |
88 | { |
93 | { |
89 | static unsigned int AltICR=0; |
94 | static unsigned int AltICR=0; |
90 | static int ppm_in[13]; |
95 | static int ppm_in[13]; |
91 | static int ppm_diff[13]; |
96 | static int ppm_diff[13]; |
92 | static int old_ppm_in[13]; |
97 | static int old_ppm_in[13]; |
93 | static int old_ppm_diff[13]; |
98 | static int old_ppm_diff[13]; |
94 | signed int signal = 0,tmp; |
99 | signed int signal = 0,tmp; |
95 | static unsigned char index, okay_cnt = 0; |
100 | static unsigned char index, okay_cnt = 0; |
96 | signal = (unsigned int) ICR1 - AltICR; |
101 | signal = (unsigned int) ICR1 - AltICR; |
97 | AltICR = ICR1; |
102 | AltICR = ICR1; |
98 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
103 | //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
99 | if((signal > 1100) && (signal < 8000)) |
104 | if((signal > 1100) && (signal < 8000)) |
100 | { |
105 | { |
101 | tmpChannels = index; |
106 | tmpChannels = index; |
102 | if(tmpChannels >= 4 && Channels == tmpChannels) |
107 | if(tmpChannels >= 4 && Channels == tmpChannels) |
103 | { |
108 | { |
104 | if(okay_cnt > 10) |
109 | if(okay_cnt > 10) |
105 | { |
110 | { |
106 | NewPpmData = 0; // Null bedeutet: Neue Daten |
111 | NewPpmData = 0; // Null bedeutet: Neue Daten |
107 | for(index = 0; index < 13; index++) |
112 | for(index = 0; index < 13; index++) |
108 | { |
113 | { |
109 | if(okay_cnt > 30) |
114 | if(okay_cnt > 30) |
110 | { |
115 | { |
111 | old_ppm_in[index] = PPM_in[index]; |
116 | old_ppm_in[index] = PPM_in[index]; |
112 | old_ppm_diff[index] = PPM_diff[index]; |
117 | old_ppm_diff[index] = PPM_diff[index]; |
113 | } |
118 | } |
114 | PPM_in[index] = ppm_in[index]; |
119 | PPM_in[index] = ppm_in[index]; |
115 | PPM_diff[index] = ppm_diff[index]; |
120 | PPM_diff[index] = ppm_diff[index]; |
116 | } |
121 | } |
117 | } |
122 | } |
118 | if(okay_cnt < 255) okay_cnt++; |
123 | if(okay_cnt < 255) okay_cnt++; |
119 | } |
124 | } |
120 | else |
125 | else |
121 | { |
126 | { |
122 | if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0; |
127 | if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0; |
123 | ROT_ON; |
128 | ROT_ON; |
124 | } |
129 | } |
125 | index = 1; |
130 | index = 1; |
126 | if(!MotorenEin) Channels = tmpChannels; |
131 | if(!MotorenEin) Channels = tmpChannels; |
127 | } |
132 | } |
128 | else |
133 | else |
129 | { |
134 | { |
130 | if(index < 13) |
135 | if(index < 13) |
131 | { |
136 | { |
132 | if((signal > 250) && (signal < 687)) |
137 | if((signal > 250) && (signal < 687)) |
133 | { |
138 | { |
134 | signal -= 466; |
139 | signal -= 466; |
135 | // Stabiles Signal |
140 | // Stabiles Signal |
136 | if((abs(signal - ppm_in[index]) < 6)) |
141 | if((abs(signal - ppm_in[index]) < 6)) |
137 | { |
142 | { |
138 | if(okay_cnt > 25) SenderOkay += 10; |
143 | if(okay_cnt > 25) SenderOkay += 10; |
139 | else |
144 | else |
140 | if(okay_cnt > 10) SenderOkay += 2; |
145 | if(okay_cnt > 10) SenderOkay += 2; |
141 | if(SenderOkay > 200) SenderOkay = 200; |
146 | if(SenderOkay > 200) SenderOkay = 200; |
142 | } |
147 | } |
143 | tmp = (3 * (ppm_in[index]) + signal) / 4; |
148 | tmp = (3 * (ppm_in[index]) + signal) / 4; |
144 | if(tmp > signal+1) tmp--; else |
149 | if(tmp > signal+1) tmp--; else |
145 | if(tmp < signal-1) tmp++; |
150 | if(tmp < signal-1) tmp++; |
146 | if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
151 | if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
147 | else ppm_diff[index] = 0; |
152 | else ppm_diff[index] = 0; |
148 | ppm_in[index] = tmp; |
153 | ppm_in[index] = tmp; |
149 | } |
154 | } |
150 | else ROT_ON; |
155 | else ROT_ON; |
151 | if(PlatinenVersion < 20) |
156 | if(PlatinenVersion < 20) |
152 | { |
157 | { |
153 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
158 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
154 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
159 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
155 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
160 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
156 | } |
161 | } |
157 | } |
162 | } |
158 | if(index < 20) index++; |
163 | if(index < 20) index++; |
159 | else |
164 | else |
160 | if(index == 20) |
165 | if(index == 20) |
161 | { |
166 | { |
162 | unsigned char i; |
167 | unsigned char i; |
163 | ROT_ON; |
168 | ROT_ON; |
164 | index = 30; |
169 | index = 30; |
165 | for(i=0;i<13;i++) // restore from older data |
170 | for(i=0;i<13;i++) // restore from older data |
166 | { |
171 | { |
167 | PPM_in[i] = old_ppm_in[i]; |
172 | PPM_in[i] = old_ppm_in[i]; |
168 | PPM_diff[i] = 0; |
173 | PPM_diff[i] = 0; |
169 | // okay_cnt /= 2; |
174 | // okay_cnt /= 2; |
170 | } |
175 | } |
171 | } |
176 | } |
172 | } |
177 | } |
173 | } |
178 | } |
174 | } |
179 | } |
175 | 180 | ||
176 | #else |
181 | #else |
177 | //############################################################################ |
182 | //############################################################################ |
178 | //Diese Routine startet und inizialisiert den Timer für RC |
183 | //Diese Routine startet und inizialisiert den Timer für RC |
179 | ISR(TIMER1_CAPT_vect) |
184 | ISR(TIMER1_CAPT_vect) |
180 | //############################################################################ |
185 | //############################################################################ |
181 | 186 | ||
182 | { |
187 | { |
183 | static unsigned int AltICR=0; |
188 | static unsigned int AltICR=0; |
184 | signed int signal = 0,tmp; |
189 | signed int signal = 0,tmp; |
185 | static int index; |
190 | static int index; |
186 | 191 | ||
187 | signal = (unsigned int) ICR1 - AltICR; |
192 | signal = (unsigned int) ICR1 - AltICR; |
188 | signal /= 2; |
193 | signal /= 2; |
189 | AltICR = ICR1; |
194 | AltICR = ICR1; |
190 | //Syncronisationspause? |
195 | //Syncronisationspause? |
191 | if((signal > 1100*2) && (signal < 8000*2)) |
196 | if((signal > 1100*2) && (signal < 8000*2)) |
192 | { |
197 | { |
193 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
198 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
194 | index = 1; |
199 | index = 1; |
195 | } |
200 | } |
196 | else |
201 | else |
197 | { |
202 | { |
198 | if(index < 13) |
203 | if(index < 13) |
199 | { |
204 | { |
200 | if((signal > 250) && (signal < 687*2)) |
205 | if((signal > 250) && (signal < 687*2)) |
201 | { |
206 | { |
202 | signal -= 962; |
207 | signal -= 962; |
203 | // Stabiles Signal |
208 | // Stabiles Signal |
204 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
209 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
205 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
210 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
206 | if(tmp > signal+1) tmp--; else |
211 | if(tmp > signal+1) tmp--; else |
207 | if(tmp < signal-1) tmp++; |
212 | if(tmp < signal-1) tmp++; |
208 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
213 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
209 | else PPM_diff[index] = 0; |
214 | else PPM_diff[index] = 0; |
210 | PPM_in[index] = tmp; |
215 | PPM_in[index] = tmp; |
211 | } |
216 | } |
212 | index++; |
217 | index++; |
213 | } |
218 | } |
214 | } |
219 | } |
215 | } |
220 | } |
216 | #endif |
221 | #endif |
217 | 222 | ||
218 | 223 |