WebSVN - FlightCtrl - Diff - Rev 1933 and 2008


/*#######################################################################################
Decodieren eines RC Summen Signals
#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) Holger Buss, Ingo Busker
// + only for non-profit use
// + www.MikroKopter.com
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
#include "rc.h"
#include "main.h"
// Achtung: ACT_S3D_SUMMENSIGNAL wird in der Main.h gesetzt
 
volatile int PPM_in[26];
volatile int PPM_diff[26];  // das diffenzierte Stick-Signal
volatile char Channels,tmpChannels = 0;
volatile unsigned char NewPpmData = 1;
unsigned int PPM_Neutral = 466;
 
//############################################################################
 
// Clear the values
void rc_sum_init (void)
//############################################################################
{
 unsigned char i;
 for(i=0;i<26;i++)
  {
   if(i < 5) PPM_in[i] = 0; else PPM_in[i] = -126;
   PPM_diff[i] = 0;
  }
    AdNeutralGier = 0;
    AdNeutralRoll = 0;
    AdNeutralNick = 0;
    return;
}
 
#ifndef ACT_S3D_SUMMENSIGNAL
//############################################################################
// Interrupt function for the PPM-Input
ISR(TIMER1_CAPT_vect)
//############################################################################
{
if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC))
 {
        static unsigned int AltICR=0;
    signed int signal = 0,tmp;
        static int index;
 
        signal = (unsigned int) ICR1 - AltICR;
        AltICR = ICR1;
    //Syncronisationspause? (3.52 ms < signal < 25.6 ms)
        if((signal > 1100) && (signal < 8000))
        {
        Channels = index;
        if(index >= 4)  NewPpmData = 0;  // Null bedeutet: Neue Daten
        index = 1;
        }
        else
        {
        if(index < 13)
            {
            if((signal > 250) && (signal < 687))
                {
                signal -= PPM_Neutral;
                // Stabiles Signal
                                  if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100)  // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe
                                  {
                    if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;}
                                  }    
                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(PlatinenVersion < 20)
            {  
             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
 {
        static unsigned int AltICR=0;
    static int ppm_in[13];
    static int ppm_diff[13];
    static int old_ppm_in[13];
    static int old_ppm_diff[13];
    signed int signal = 0,tmp;
        static unsigned char index, okay_cnt = 0;
        signal = (unsigned int) ICR1 - AltICR;
        AltICR = ICR1;
    //Syncronisationspause? (3.52 ms < signal < 25.6 ms)
        if((signal > 1100) && (signal < 8000))
        {
        tmpChannels = index;
        if(tmpChannels >= 4 && Channels == tmpChannels)
                 {
          if(okay_cnt > 10)
                   {
                   NewPpmData = 0;  // Null bedeutet: Neue Daten
                   for(index = 0; index < 13; 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
                  {
                   if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0;
                   ROT_ON;
                  }
        index = 1;
        if(!MotorenEin) Channels = tmpChannels;
        }
        else
        {
        if(index < 13)
            {
            if((signal > 250) && (signal < 687))
                {
                signal -= PPM_Neutral;
                // Stabiles Signal
                if((abs(signal - ppm_in[index]) < 6))
                                 {
                                  if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100)  // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe
                                  {
                                   if(okay_cnt > 25)  SenderOkay += 10;
                                   else
                                   if(okay_cnt > 10)  SenderOkay += 2;
                                   if(SenderOkay > 200) 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(PlatinenVersion < 20)
            {  
             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
                        }
          }
                  if(index < 20) index++;
          else
                  if(index == 20)
                  {
            unsigned char i;
            ROT_ON;
                    index = 30;
            for(i=0;i<13;i++) // restore from older data
                         {
                      PPM_in[i] = old_ppm_in[i];
                      PPM_diff[i] = 0;
//                        okay_cnt /= 2;
                 }
                  }
            }
 }
}
 
#else
//############################################################################
// Interrupt function for the PPM-Input
ISR(TIMER1_CAPT_vect)
//############################################################################
 
{
        static unsigned int AltICR=0;
    signed int signal = 0,tmp;
        static int index;
 
        signal = (unsigned int) ICR1 - AltICR;
        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 < 13)
            {
            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++;
        }
        }
}
#endif
 
 

Rev 1933	Rev 2008
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	unsigned int PPM_Neutral = 466;	20	unsigned int PPM_Neutral = 466;
21		21
22	//############################################################################	22	//############################################################################
23	//zum decodieren des PPM-Signals wird Timer1 mit seiner Input	-
24	//Capture Funktion benutzt:	23	// Clear the values
25	void rc_sum_init (void)	24	void rc_sum_init (void)
26	//############################################################################	25	//############################################################################
27	{	26	{
28	unsigned char i;	27	unsigned char i;
29	for(i=0;i<26;i++)	28	for(i=0;i<26;i++)
30	{	29	{
31	if(i < 5) PPM_in[i] = 0; else PPM_in[i] = -126;	30	if(i < 5) PPM_in[i] = 0; else PPM_in[i] = -126;
32	PPM_diff[i] = 0;	31	PPM_diff[i] = 0;
33	}	32	}
34	AdNeutralGier = 0;	33	AdNeutralGier = 0;
35	AdNeutralRoll = 0;	34	AdNeutralRoll = 0;
36	AdNeutralNick = 0;	35	AdNeutralNick = 0;
37	return;	36	return;
38	}	37	}
39		38
40	#ifndef ACT_S3D_SUMMENSIGNAL	39	#ifndef ACT_S3D_SUMMENSIGNAL
41	//############################################################################	40	//############################################################################
42	//Diese Routine startet und inizialisiert den Timer für RC	41	// Interrupt function for the PPM-Input
43	ISR(TIMER1_CAPT_vect)	42	ISR(TIMER1_CAPT_vect)
44	//############################################################################	43	//############################################################################
45	{	44	{
46	if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC))	45	if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC))
47	{	46	{
48	static unsigned int AltICR=0;	47	static unsigned int AltICR=0;
49	signed int signal = 0,tmp;	48	signed int signal = 0,tmp;
50	static int index;	49	static int index;
51		50
52	signal = (unsigned int) ICR1 - AltICR;	51	signal = (unsigned int) ICR1 - AltICR;
53	AltICR = ICR1;	52	AltICR = ICR1;
54	//Syncronisationspause? (3.52 ms < signal < 25.6 ms)	53	//Syncronisationspause? (3.52 ms < signal < 25.6 ms)
55	if((signal > 1100) && (signal < 8000))	54	if((signal > 1100) && (signal < 8000))
56	{	55	{
57	Channels = index;	56	Channels = index;
58	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten	57	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten
59	index = 1;	58	index = 1;
60	}	59	}
61	else	60	else
62	{	61	{
63	if(index < 13)	62	if(index < 13)
64	{	63	{
65	if((signal > 250) && (signal < 687))	64	if((signal > 250) && (signal < 687))
66	{	65	{
67	signal -= PPM_Neutral;	66	signal -= PPM_Neutral;
68	// Stabiles Signal	67	// Stabiles Signal
-		68	if(EE_Parameter.FailsafeChannel == 0 \|\| PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe
-		69	{
69	if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;}	70	if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;}
-		71	}
70	tmp = (3 * (PPM_in[index]) + signal) / 4;	72	tmp = (3 * (PPM_in[index]) + signal) / 4;
71	if(tmp > signal+1) tmp--; else	73	if(tmp > signal+1) tmp--; else
72	if(tmp < signal-1) tmp++;	74	if(tmp < signal-1) tmp++;
73	if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;	75	if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
74	else PPM_diff[index] = 0;	76	else PPM_diff[index] = 0;
75	PPM_in[index] = tmp;	77	PPM_in[index] = tmp;
76	}	78	}
77	index++;	79	index++;
78	if(PlatinenVersion < 20)	80	if(PlatinenVersion < 20)
79	{	81	{
80	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen	82	if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen
81	if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen	83	if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen
82	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen	84	if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen
83	}	85	}
84	}	86	}
85	}	87	}
86	}	88	}
87	else	89	else
88	{	90	{
89	static unsigned int AltICR=0;	91	static unsigned int AltICR=0;
90	static int ppm_in[13];	92	static int ppm_in[13];
91	static int ppm_diff[13];	93	static int ppm_diff[13];
92	static int old_ppm_in[13];	94	static int old_ppm_in[13];
93	static int old_ppm_diff[13];	95	static int old_ppm_diff[13];
94	signed int signal = 0,tmp;	96	signed int signal = 0,tmp;
95	static unsigned char index, okay_cnt = 0;	97	static unsigned char index, okay_cnt = 0;
96	signal = (unsigned int) ICR1 - AltICR;	98	signal = (unsigned int) ICR1 - AltICR;
97	AltICR = ICR1;	99	AltICR = ICR1;
98	//Syncronisationspause? (3.52 ms < signal < 25.6 ms)	100	//Syncronisationspause? (3.52 ms < signal < 25.6 ms)
99	if((signal > 1100) && (signal < 8000))	101	if((signal > 1100) && (signal < 8000))
100	{	102	{
101	tmpChannels = index;	103	tmpChannels = index;
102	if(tmpChannels >= 4 && Channels == tmpChannels)	104	if(tmpChannels >= 4 && Channels == tmpChannels)
103	{	105	{
104	if(okay_cnt > 10)	106	if(okay_cnt > 10)
105	{	107	{
106	NewPpmData = 0; // Null bedeutet: Neue Daten	108	NewPpmData = 0; // Null bedeutet: Neue Daten
107	for(index = 0; index < 13; index++)	109	for(index = 0; index < 13; index++)
108	{	110	{
109	if(okay_cnt > 30)	111	if(okay_cnt > 30)
110	{	112	{
111	old_ppm_in[index] = PPM_in[index];	113	old_ppm_in[index] = PPM_in[index];
112	old_ppm_diff[index] = PPM_diff[index];	114	old_ppm_diff[index] = PPM_diff[index];
113	}	115	}
114	PPM_in[index] = ppm_in[index];	116	PPM_in[index] = ppm_in[index];
115	PPM_diff[index] = ppm_diff[index];	117	PPM_diff[index] = ppm_diff[index];
116	}	118	}
117	}	119	}
118	if(okay_cnt < 255) okay_cnt++;	120	if(okay_cnt < 255) okay_cnt++;
119	}	121	}
120	else	122	else
121	{	123	{
122	if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0;	124	if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0;
123	ROT_ON;	125	ROT_ON;
124	}	126	}
125	index = 1;	127	index = 1;
126	if(!MotorenEin) Channels = tmpChannels;	128	if(!MotorenEin) Channels = tmpChannels;
127	}	129	}
128	else	130	else
129	{	131	{
130	if(index < 13)	132	if(index < 13)
131	{	133	{
132	if((signal > 250) && (signal < 687))	134	if((signal > 250) && (signal < 687))
133	{	135	{
134	signal -= PPM_Neutral;	136	signal -= PPM_Neutral;
135	// Stabiles Signal	137	// Stabiles Signal
136	if((abs(signal - ppm_in[index]) < 6))	138	if((abs(signal - ppm_in[index]) < 6))
137	{	139	{
-		140	if(EE_Parameter.FailsafeChannel == 0 \|\| PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe
-		141	{
138	if(okay_cnt > 25) SenderOkay += 10;	142	if(okay_cnt > 25) SenderOkay += 10;
139	else	143	else
140	if(okay_cnt > 10) SenderOkay += 2;	144	if(okay_cnt > 10) SenderOkay += 2;
141	if(SenderOkay > 200) SenderOkay = 200;	145	if(SenderOkay > 200) SenderOkay = 200;
-		146	}
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	// Interrupt function for the PPM-Input
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 > 11002) && (signal < 80002))	196	if((signal > 11002) && (signal < 80002))
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

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(root)/tags/V0.88n/rc.c @ 2508 - Rev 1933 → 2008