WebSVN - FlightCtrl - Diff - Rev 2486 and 2488

 /*#######################################################################################
 Decodieren eines RC Summen Signals
 #######################################################################################*/
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + www.MikroKopter.com
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Software Nutzungsbedingungen (english version: see below)
 // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
 // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
 // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
 // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
 // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
 // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
 // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
 // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
 // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
 // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
 // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
 // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
 // + des Mitverschuldens offen.
 // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
 // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
 // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
 // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
 // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
 // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
 // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
 // +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Software LICENSING TERMS
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
 // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware
 // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
 // + The Software may only be used with the Licensor's products.
 // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
 // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
 // + agreement shall be the property of the Licensor.
 // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
 // + features that can be used to identify the program may not be altered or defaced by the customer.
 // + The customer shall be responsible for taking reasonable precautions
 // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
 // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
 // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
 // + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
 // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
 // + the software for his purpose before any operational usage. The customer will backup his data before using the software.
 // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
 // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
 // + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
 // + #### END OF LICENSING TERMS ####
 // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 #include "rc.h"
 #include "main.h"
 // Achtung: ACT_S3D_SUMMENSIGNAL wird in der Main.h gesetzt
 #define MAX_RC_IN  16+12+3+4 // 16ch + 12ser + 3stages + 4 reserved
 volatile int PPM_in[MAX_RC_IN];
 volatile int PPM_diff[MAX_RC_IN];  // das differnzierte 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<MAX_RC_IN;i++)
+  {
    if(i < 5) PPM_in[i] = 0; else PPM_in[i] = -127;
    PPM_diff[i] = 0;
+  }
         PPM_in[PPM_IN_MAX] = +127;
         PPM_in[PPM_IN_OFF] = -127;
         PPM_in[PPM_IN_MID] = 0;
     AdNeutralGier = 0;
     AdNeutralRoll = 0;
     AdNeutralNick = 0;
     return;
+}
 #ifndef ACT_S3D_SUMMENSIGNAL
 //############################################################################
 // Interrupt function for the PPM-Input
 ISR(TIMER1_CAPT_vect)
 //############################################################################
+{
-#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
-if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC))
-#endif
- {
         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+4)
+            {
             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++;
-                PPM_in[index] = tmp;
                 if(SenderOkay >= 195)  PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
-                else
+                                else PPM_diff[index] = 0;
-                                 {
-                                  PPM_diff[index] = 0;
+                                PPM_in[index] = tmp;
-                                  if(SenderOkay < 50)
+                                if(SenderOkay < 50)
+                                        {
                                                 PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
                                                 PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
                                                 PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0;
                                                 PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] = 0;
+                                        }
-                                 }
+                }
             index++;
-#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
-#else
 /*
                    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
+                        }
 */
-#endif
+        }
+        }
- }
-#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
- else
- {
-        static unsigned int AltICR=0;
-    static int ppm_in[13+4];
-    static int ppm_diff[13+4];
-    static int old_ppm_in[13+4];
-    static int old_ppm_diff[13+4];
-    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+4; 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+4)
-            {
-            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 (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
-#else
-                   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
-                        }
-#endif
-          }
-                  if(index < 20) index++;
-          else
-                  if(index == 20)
-                  {
-            unsigned char i;
-            ROT_ON;
-                    index = 30;
-            for(i=0;i<13+4;i++) // restore from older data
-                         {
-                      PPM_in[i] = old_ppm_in[i];
-                      PPM_diff[i] = 0;
-//                        okay_cnt /= 2;
-                 }
-                  }
-            }
- }
-#endif
+}
 #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

Subversion Repositories FlightCtrl

(root)/tags/V2.08a/rc.c @ 2684 - Rev 2486 → 2488