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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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
Line -... | Line 10... | ||
- | 10 | ||
- | 11 | #include <stdlib.h> |
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- | 12 | #include <avr/io.h> |
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- | 13 | #include <avr/interrupt.h> |
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10 | 14 | ||
11 | #include "rc.h" |
15 | #include "rc.h" |
Line -... | Line 16... | ||
- | 16 | #include "main.h" |
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12 | #include "main.h" |
17 | |
- | 18 | volatile int16_t PPM_in[15]; //PPM24 supports 12 channels per frame |
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13 | 19 | volatile int16_t PPM_diff[15]; |
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- | 20 | volatile uint8_t NewPpmData = 1; |
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14 | volatile int PPM_in[11]; |
21 | volatile int16_t RC_Quality = 0; |
- | 22 | ||
15 | volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
23 | volatile uint8_t NewRCFrames = 0; |
16 | volatile unsigned char NewPpmData = 1; |
24 | |
17 | 25 | ||
18 | //############################################################################ |
26 | /***************************************************************/ |
19 | //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
27 | /* 16bit timer 1 is used to decode the PPM-Signal */ |
- | 28 | /***************************************************************/ |
|
- | 29 | void RC_Init (void) |
|
- | 30 | { |
|
20 | //Capture Funktion benutzt: |
31 | uint8_t sreg = SREG; |
- | 32 | ||
21 | void rc_sum_init (void) |
33 | // disable all interrupts before reconfiguration |
22 | //############################################################################ |
34 | cli(); |
- | 35 | ||
- | 36 | // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
|
23 | { |
37 | DDRD &= ~(1<<DDD6); |
- | 38 | PORTD |= (1<<PORTD6); |
|
- | 39 | ||
- | 40 | // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
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24 | TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
41 | // set as output |
- | 42 | DDRD |= (1<<DDD5)|(1<<DDD4); |
|
- | 43 | // low level |
|
25 | 44 | PORTD &= ~((1<<PORTD5)|(1<<PORTD4)); |
|
- | 45 | ||
- | 46 | // PD3 can't be used in FC 1.1 if 2nd UART is activated |
|
- | 47 | // because TXD1 is at that port |
|
26 | // PWM |
48 | if(BoardRelease == 10) |
27 | //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
49 | { |
- | 50 | DDRD |= (1<<PORTD3); |
|
- | 51 | PORTD &= ~(1<<PORTD3); |
|
- | 52 | } |
|
- | 53 | ||
- | 54 | // Timer/Counter1 Control Register A, B, C |
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- | 55 | ||
- | 56 | // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
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- | 57 | // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
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- | 58 | // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
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- | 59 | // Enable input capture noise cancler (bit: ICNC1=1) |
|
- | 60 | // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
|
- | 61 | // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2µs |
|
- | 62 | // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
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- | 63 | TCCR1A &= ~((1<<COM1A1)|(1<<COM1A0)|(1<<COM1B1)|(1<<COM1B0)|(1<<WGM11)|(1<<WGM10)); |
|
- | 64 | TCCR1B &= ~((1<<WGM13)|(1<<WGM12)|(1<<CS12)); |
|
- | 65 | TCCR1B |= (1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1); |
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- | 66 | TCCR1C &= ~((1<<FOC1A)|(1<<FOC1B)); |
|
28 | //TCCR1B |= (1 << WGM12); |
67 | |
- | 68 | // Timer/Counter1 Interrupt Mask Register |
|
- | 69 | ||
- | 70 | // Enable Input Capture Interrupt (bit: ICIE1=1) |
|
- | 71 | // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
|
29 | //OCR1B = 55; |
72 | // Enable Overflow Interrupt (bit: TOIE1=0) |
- | 73 | TIMSK1 &= ~((1<<OCIE1B)|(1<<OCIE1A)); |
|
30 | 74 | TIMSK1 |= (1<<ICIE1)|(1<<TOIE1); |
|
- | 75 | ||
31 | TIMSK1 |= _BV(ICIE1); |
76 | RC_Quality = 0; |
- | 77 | ||
- | 78 | SREG = sreg; |
|
- | 79 | } |
|
32 | AdNeutralGier = 0; |
80 | |
- | 81 | ||
- | 82 | // happens every 0.209712 s. |
|
- | 83 | // check for at least one new frame per timer overflow (timeout) |
|
- | 84 | ISR(TIMER1_OVF_vect) |
|
33 | AdNeutralRoll = 0; |
85 | { |
34 | AdNeutralNick = 0; |
86 | if (NewRCFrames == 0) RC_Quality -= RC_Quality/8; |
- | 87 | NewRCFrames = 0; |
|
35 | return; |
88 | } |
36 | } |
89 | |
37 | 90 | ||
- | 91 | /********************************************************************/ |
|
38 | //############################################################################ |
92 | /* Every time a positive edge is detected at PD6 */ |
39 | //Diese Routine startet und inizialisiert den Timer für RC |
93 | /********************************************************************/ |
- | 94 | /* t-Frame |
|
- | 95 | <-----------------------------------------------------------------------> |
|
- | 96 | ____ ______ _____ ________ ______ sync gap ____ |
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- | 97 | | | | | | | | | | | | |
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- | 98 | | | | | | | | | | | | |
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- | 99 | ___| |_| |_| |_| |_.............| |________________| |
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40 | SIGNAL(SIG_INPUT_CAPTURE1) |
100 | <-----><-------><------><--------> <------> <--- |
- | 101 | t0 t1 t2 t4 tn t0 |
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- | 102 | ||
- | 103 | The PPM-Frame length is 22.5 ms. |
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- | 104 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
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- | 105 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
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- | 106 | The maximum time delay of two events coding a chanel is ( 1.7 + 0.3) ms = 2 ms. |
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- | 107 | The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
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- | 108 | The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
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- | 109 | The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
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- | 110 | the syncronization gap. |
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41 | //############################################################################ |
111 | */ |
42 | - | ||
43 | { |
112 | ISR(TIMER1_CAPT_vect) // typical rate of 1 ms to 2 ms |
44 | static unsigned int AltICR=0; |
113 | { |
- | 114 | int16_t signal = 0, tmp; |
|
- | 115 | static int16_t index; |
|
- | 116 | static uint16_t oldICR1 = 0; |
|
- | 117 | ||
45 | signed int signal = 0,tmp; |
118 | // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
- | 119 | // at the time the edge was detected |
|
- | 120 | ||
- | 121 | // calculate the time delay to the previous event time which is stored in oldICR1 |
|
46 | static int index; |
122 | // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
47 | 123 | // implicit handles a timer overflow 65535 -> 0 the right way. |
|
- | 124 | signal = (uint16_t) ICR1 - oldICR1; |
|
48 | signal = (unsigned int) ICR1 - AltICR; |
125 | oldICR1 = ICR1; |
49 | AltICR = ICR1; |
- | |
50 | //Syncronisationspause? |
126 | |
51 | // if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
127 | //sync gap? (3.52 ms < signal < 25.6 ms) |
- | 128 | if((signal > 1100) && (signal < 8000)) |
|
- | 129 | { |
|
- | 130 | // if a sync gap happens and there where at least 4 channels decoded before |
|
- | 131 | // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
|
52 | if((signal > 1100) && (signal < 8000)) |
132 | if(index >= 4) |
- | 133 | { |
|
- | 134 | NewPpmData = 0; // Null means NewData for the first 4 channels |
|
- | 135 | NewRCFrames++; |
|
53 | { |
136 | } |
54 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
137 | // synchronize channel index |
55 | index = 1; |
138 | index = 1; |
56 | } |
139 | } |
57 | else |
140 | else // within the PPM frame |
58 | { |
141 | { |
- | 142 | if(index < 14) // PPM24 supports 12 channels |
|
- | 143 | { |
|
59 | if(index < 10) |
144 | // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
60 | { |
145 | // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
- | 146 | if((signal > 250) && (signal < 687)) |
|
61 | if((signal > 250) && (signal < 687)) |
147 | { |
62 | { |
148 | // shift signal to zero symmetric range -154 to 159 |
63 | signal -= 466; |
149 | signal -= 466; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
- | 150 | // check for stable signal |
|
- | 151 | if(abs(signal-PPM_in[index]) < 6) |
|
- | 152 | { |
|
64 | // Stabiles Signal |
153 | if(RC_Quality < 200) RC_Quality +=10; |
65 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
154 | } |
66 | // tmp = (7 * (PPM_in[index]) + signal) / 8; |
155 | // calculate exponential history for signal |
67 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
156 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
- | 157 | if(tmp > signal+1) tmp--; else |
|
68 | if(tmp > signal+1) tmp--; else |
158 | if(tmp < signal-1) tmp++; |
69 | if(tmp < signal-1) tmp++; |
159 | // calculate signal difference on good signal level |
70 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
160 | if(RC_Quality >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
- | 161 | else PPM_diff[index] = 0; |
|
- | 162 | PPM_in[index] = tmp; // update channel value |
|
- | 163 | } |
|
- | 164 | index++; // next channel |
|
- | 165 | // demux sum signal for channels 5 to 7 to J3, J4, J5 |
|
- | 166 | if(index == 5) PORTD |= (1<<PORTD5); else PORTD &= ~(1<<PORTD5); |
|
- | 167 | if(index == 6) PORTD |= (1<<PORTD4); else PORTD &= ~(1<<PORTD4); |
|
- | 168 | if(BoardRelease == 10) |
|
71 | else PPM_diff[index] = 0; |
169 | { |
72 | PPM_in[index] = tmp; |
- | |
73 | } |
- | |
74 | index++; |
- | |
75 | if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
- | |
76 | if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
170 | if(index == 7) PORTD |= (1<<PORTD3); else PORTD &= ~(1<<PORTD3); |
77 | if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
171 | } |
- | 172 | } |
|
78 | } |
173 | } |