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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 | /* |
|
| - | 34 | //############################################################################ |
|
| - | 35 | //Diese Routine startet und inizialisiert den Timer für RC |
|
| - | 36 | SIGNAL(SIG_INPUT_CAPTURE1) |
|
| - | 37 | //############################################################################ |
|
| - | 38 | ||
| - | 39 | { |
|
| - | 40 | static unsigned int AltICR=0; |
|
| - | 41 | signed int signal = 0,tmp; |
|
| - | 42 | static int index; |
|
| - | 43 | |
|
| - | 44 | signal = (unsigned int) ICR1 - AltICR; |
|
| - | 45 | AltICR = ICR1; |
|
| - | 46 | //Syncronisationspause? |
|
| - | 47 | if((signal > 1100) && (signal < 8000)) |
|
| - | 48 | { |
|
| - | 49 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
|
| - | 50 | index = 1; |
|
| - | 51 | } |
|
| - | 52 | else |
|
| - | 53 | { |
|
| - | 54 | if(index < 10) |
|
| - | 55 | { |
|
| - | 56 | if((signal > 250) && (signal < 687)) |
|
| - | 57 | { |
|
| - | 58 | signal -= 466; |
|
| - | 59 | // Stabiles Signal |
|
| - | 60 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
|
| - | 61 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
|
| - | 62 | if(tmp > signal+1) tmp--; else |
|
| - | 63 | if(tmp < signal-1) tmp++; |
|
| - | 64 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
|
| - | 65 | else PPM_diff[index] = 0; |
|
| - | 66 | PPM_in[index] = tmp; |
|
| - | 67 | } |
|
| - | 68 | index++; |
|
| - | 69 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
|
| - | 70 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
|
| - | 71 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
|
| - | 72 | } |
|
| - | 73 | } |
|
| - | 74 | } |
|
| - | 75 | */ |
|
| - | 76 | ||
| 33 | 77 | ||
| 34 | //############################################################################ |
78 | //############################################################################ |
| 35 | //Diese Routine startet und inizialisiert den Timer für RC |
79 | //Diese Routine startet und inizialisiert den Timer für RC |
| 36 | SIGNAL(SIG_INPUT_CAPTURE1) |
80 | SIGNAL(SIG_INPUT_CAPTURE1) |
| 37 | //############################################################################ |
81 | //############################################################################ |
| 38 | 82 | ||
| 39 | { |
83 | { |
| 40 | static unsigned int AltICR=0; |
84 | static unsigned int AltICR=0; |
| 41 | static int ppm_in[11]; |
85 | static int ppm_in[11]; |
| 42 | static int ppm_diff[11]; |
86 | static int ppm_diff[11]; |
| 43 | static int old_ppm_in[11]; |
87 | static int old_ppm_in[11]; |
| 44 | static int old_ppm_diff[11]; |
88 | static int old_ppm_diff[11]; |
| 45 | signed int signal = 0,tmp; |
89 | signed int signal = 0,tmp; |
| 46 | static unsigned char index, okay_cnt = 0; |
90 | static unsigned char index, okay_cnt = 0; |
| 47 | signal = (unsigned int) ICR1 - AltICR; |
91 | signal = (unsigned int) ICR1 - AltICR; |
| 48 | AltICR = ICR1; |
92 | AltICR = ICR1; |
| 49 | //Syncronisationspause? |
93 | //Syncronisationspause? |
| 50 | if((signal > 1100) && (signal < 8000)) |
94 | if((signal > 1100) && (signal < 8000)) |
| 51 | { |
95 | { |
| 52 | tmpChannels = index; |
96 | tmpChannels = index; |
| 53 | if(tmpChannels >= 4 && Channels == tmpChannels) |
97 | if(tmpChannels >= 4 && Channels == tmpChannels) |
| 54 | { |
98 | { |
| 55 | if(okay_cnt > 10) |
99 | if(okay_cnt > 10) |
| 56 | { |
100 | { |
| 57 | NewPpmData = 0; // Null bedeutet: Neue Daten |
101 | NewPpmData = 0; // Null bedeutet: Neue Daten |
| 58 | for(index = 0; index < 11; index++) |
102 | for(index = 0; index < 11; index++) |
| 59 | { |
103 | { |
| 60 | if(okay_cnt > 30) |
104 | if(okay_cnt > 30) |
| 61 | { |
105 | { |
| 62 | old_ppm_in[index] = PPM_in[index]; |
106 | old_ppm_in[index] = PPM_in[index]; |
| 63 | old_ppm_diff[index] = PPM_diff[index]; |
107 | old_ppm_diff[index] = PPM_diff[index]; |
| 64 | } |
108 | } |
| 65 | PPM_in[index] = ppm_in[index]; |
109 | PPM_in[index] = ppm_in[index]; |
| 66 | PPM_diff[index] = ppm_diff[index]; |
110 | PPM_diff[index] = ppm_diff[index]; |
| 67 | } |
111 | } |
| 68 | } |
112 | } |
| 69 | if(okay_cnt < 255) okay_cnt++; |
113 | if(okay_cnt < 255) okay_cnt++; |
| 70 | } |
114 | } |
| 71 | else |
115 | else |
| - | 116 | { |
|
| 72 | 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; |
|
| - | 119 | } |
|
| 73 | index = 1; |
120 | index = 1; |
| 74 | if(!MotorenEin) Channels = tmpChannels; |
121 | if(!MotorenEin) Channels = tmpChannels; |
| 75 | } |
122 | } |
| 76 | else |
123 | else |
| 77 | { |
124 | { |
| 78 | if(index < 10) |
125 | if(index < 10) |
| 79 | { |
126 | { |
| 80 | if((signal > 250) && (signal < 687)) |
127 | if((signal > 250) && (signal < 687)) |
| 81 | { |
128 | { |
| 82 | signal -= 466; |
129 | signal -= 466; |
| 83 | // Stabiles Signal |
130 | // Stabiles Signal |
| 84 | if((abs(signal - ppm_in[index]) < 6)) |
131 | if((abs(signal - ppm_in[index]) < 6)) |
| 85 | { |
132 | { |
| 86 | if(okay_cnt > 25) SenderOkay += 10; |
133 | if(okay_cnt > 25) SenderOkay += 10; |
| 87 | else |
134 | else |
| 88 | if(okay_cnt > 10) SenderOkay += 2; |
135 | if(okay_cnt > 10) SenderOkay += 2; |
| 89 | if(SenderOkay > 200) SenderOkay = 200; |
136 | if(SenderOkay > 200) SenderOkay = 200; |
| 90 | } |
137 | } |
| 91 | tmp = (3 * (ppm_in[index]) + signal) / 4; |
138 | tmp = (3 * (ppm_in[index]) + signal) / 4; |
| 92 | if(tmp > signal+1) tmp--; else |
139 | if(tmp > signal+1) tmp--; else |
| 93 | if(tmp < signal-1) tmp++; |
140 | if(tmp < signal-1) tmp++; |
| 94 | 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; |
| 95 | else ppm_diff[index] = 0; |
142 | else ppm_diff[index] = 0; |
| 96 | ppm_in[index] = tmp; |
143 | ppm_in[index] = tmp; |
| 97 | } |
144 | } |
| 98 | else ROT_ON; |
145 | else ROT_ON; |
| 99 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
146 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
| 100 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
147 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
| 101 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
148 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
| 102 | } |
149 | } |
| 103 | else ROT_ON; |
- | |
| 104 | if(index < 20) index++; |
150 | if(index < 20) index++; |
| 105 | else |
151 | else |
| 106 | if(index == 20) |
152 | if(index == 20) |
| 107 | { |
153 | { |
| 108 | unsigned char i; |
154 | unsigned char i; |
| - | 155 | ROT_ON; |
|
| 109 | index = 30; |
156 | index = 30; |
| 110 | for(i=0;i<11;i++) // restore from older data |
157 | for(i=0;i<11;i++) // restore from older data |
| 111 | { |
158 | { |
| 112 | PPM_in[i] = old_ppm_in[i]; |
159 | PPM_in[i] = old_ppm_in[i]; |
| 113 | PPM_diff[i] = 0; |
160 | PPM_diff[i] = 0; |
| 114 | // okay_cnt /= 2; |
161 | // okay_cnt /= 2; |
| 115 | } |
162 | } |
| 116 | } |
163 | } |
| 117 | } |
164 | } |
| 118 | DebugOut.Analog[16] = okay_cnt; |
165 | DebugOut.Analog[16] = okay_cnt; |
| 119 | DebugOut.Analog[17] = PPM_in[2]; |
166 | DebugOut.Analog[17] = PPM_in[2]; |
| 120 | } |
167 | } |
| - | 168 | ||
| 121 | 169 | ||
| 122 | /* |
170 | /* |
| 123 | //############################################################################ |
171 | //############################################################################ |
| 124 | //Diese Routine startet und inizialisiert den Timer für RC |
172 | //Diese Routine startet und inizialisiert den Timer für RC |
| 125 | SIGNAL(SIG_INPUT_CAPTURE1) |
173 | SIGNAL(SIG_INPUT_CAPTURE1) |
| 126 | //############################################################################ |
174 | //############################################################################ |
| 127 | 175 | ||
| 128 | { |
176 | { |
| 129 | static unsigned int AltICR=0; |
177 | static unsigned int AltICR=0; |
| 130 | signed int signal = 0,tmp; |
178 | signed int signal = 0,tmp; |
| 131 | static int index; |
179 | static int index; |
| 132 | |
180 | |
| 133 | signal = (unsigned int) ICR1 - AltICR; |
181 | signal = (unsigned int) ICR1 - AltICR; |
| 134 | DebugOut.Analog[16] = signal; |
182 | DebugOut.Analog[16] = signal; |
| 135 | signal /= 2; |
183 | signal /= 2; |
| 136 | AltICR = ICR1; |
184 | AltICR = ICR1; |
| 137 | //Syncronisationspause? |
185 | //Syncronisationspause? |
| 138 | if((signal > 1100*2) && (signal < 8000*2)) |
186 | if((signal > 1100*2) && (signal < 8000*2)) |
| 139 | { |
187 | { |
| 140 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
188 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| 141 | index = 1; |
189 | index = 1; |
| 142 | } |
190 | } |
| 143 | else |
191 | else |
| 144 | { |
192 | { |
| 145 | if(index < 10) |
193 | if(index < 10) |
| 146 | { |
194 | { |
| 147 | if((signal > 250) && (signal < 687*2)) |
195 | if((signal > 250) && (signal < 687*2)) |
| 148 | { |
196 | { |
| 149 | signal -= 962; |
197 | signal -= 962; |
| 150 | // Stabiles Signal |
198 | // Stabiles Signal |
| 151 | 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;} |
| 152 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
200 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
| 153 | if(tmp > signal+1) tmp--; else |
201 | if(tmp > signal+1) tmp--; else |
| 154 | if(tmp < signal-1) tmp++; |
202 | if(tmp < signal-1) tmp++; |
| 155 | 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; |
| 156 | else PPM_diff[index] = 0; |
204 | else PPM_diff[index] = 0; |
| 157 | PPM_in[index] = tmp; |
205 | PPM_in[index] = tmp; |
| 158 | } |
206 | } |
| 159 | index++; |
207 | index++; |
| 160 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
208 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
| 161 | if(index == 2) J4High; else J4Low; // Servosignal an J4 anlegen |
209 | if(index == 2) J4High; else J4Low; // Servosignal an J4 anlegen |
| 162 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
210 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
| 163 | } |
211 | } |
| 164 | } |
212 | } |
| 165 | } |
213 | } |
| 166 | */ |
214 | */ |
| 167 | 215 | ||
| 168 | 216 | ||
| 169 | 217 | ||
| 170 | 218 | ||