WebSVN - FlightCtrl - Diff - Rev 1378 and 1550 - /branches/V0.78g



// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

 
#include "rc.h"
 

#include "main.h"
 
 
volatile int PPM_in[26];
volatile int PPM_diff[26];  // das diffenzierte Stick-Signal

volatile char Channels,tmpChannels = 0;
volatile unsigned char NewPpmData = 1;
 
//############################################################################
//zum decodieren des PPM-Signals wird Timer1 mit seiner Input
//Capture Funktion benutzt:
void rc_sum_init (void)
//############################################################################
{
 
 unsigned char i;
 for(i=0;i<26;i++)
  {
   PPM_in[i] = 0;
   PPM_diff[i] = 0;
  }
 
    AdNeutralGier = 0;
    AdNeutralRoll = 0;

        if(index >= 4)  NewPpmData = 0;  // Null bedeutet: Neue Daten
        index = 1;             
        }
        else
        {
        if(index < 13)
            {
            if((signal > 250) && (signal < 687))
                {
                signal -= 466;
                // Stabiles Signal

        }
 }
 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(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];

        index = 1;             
        if(!MotorenEin) Channels = tmpChannels;
        }
        else
        {
        if(index < 13)
            {
            if((signal > 250) && (signal < 687))
                {
                signal -= 466;
                // Stabiles Signal

                  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;
                 }

        static unsigned int AltICR=0;
    signed int signal = 0,tmp;
        static int index;              

       
        signal = (unsigned int) ICR1 - AltICR;         
//DebugOut.Analog[16] = signal;
        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;

Rev 1378	Rev 1550
Line 9...	Line 9...
9	// + see the File "License.txt" for further Informations	9	// + see the File "License.txt" for further Informations
10	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	10	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
Line 11...	Line 11...
11		11
12	#include "rc.h"	12	#include "rc.h"
13	#include "main.h"	-
Line -...	Line 13...
-		13	#include "main.h"
14	//#define ACT_S3D_SUMMENSIGNAL	14
15		15
16	volatile int PPM_in[11];	16	volatile int PPM_in[26];
17	volatile int PPM_diff[11]; // das diffenzierte Stick-Signal	17	volatile int PPM_diff[26]; // das diffenzierte Stick-Signal
Line 18...	Line 18...
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	#ifndef ACT_S3D_SUMMENSIGNAL	-
28	TCCR1B=(1<<CS11)\|(1<<CS10)\|(1<<ICES1)\|(1<<ICNC1);//\|(1 << WGM12); //timer1 prescale 64	27	unsigned char i;
29	#else	28	for(i=0;i<26;i++)
-		29	{
-		30	PPM_in[i] = 0;
30	TCCR1B=(1<<CS11)\|(0<<CS10)\|(1<<ICES1)\|(1<<ICNC1); //timer1 prescale 64	31	PPM_diff[i] = 0;
31	#endif	32	}
32	TIMSK1 \|= _BV(ICIE1);	33
33	AdNeutralGier = 0;	34	AdNeutralGier = 0;
34	AdNeutralRoll = 0;	35	AdNeutralRoll = 0;
Line 57...	Line 58...
57	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten	58	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten
58	index = 1;	59	index = 1;
59	}	60	}
60	else	61	else
61	{	62	{
62	if(index < 10)	63	if(index < 13)
63	{	64	{
64	if((signal > 250) && (signal < 687))	65	if((signal > 250) && (signal < 687))
65	{	66	{
66	signal -= 466;	67	signal -= 466;
67	// Stabiles Signal	68	// Stabiles Signal
Line 81...	Line 82...
81	}	82	}
82	}	83	}
83	else	84	else
84	{	85	{
85	static unsigned int AltICR=0;	86	static unsigned int AltICR=0;
86	static int ppm_in[11];	87	static int ppm_in[13];
87	static int ppm_diff[11];	88	static int ppm_diff[13];
88	static int old_ppm_in[11];	89	static int old_ppm_in[13];
89	static int old_ppm_diff[11];	90	static int old_ppm_diff[13];
90	signed int signal = 0,tmp;	91	signed int signal = 0,tmp;
91	static unsigned char index, okay_cnt = 0;	92	static unsigned char index, okay_cnt = 0;
92	signal = (unsigned int) ICR1 - AltICR;	93	signal = (unsigned int) ICR1 - AltICR;
93	AltICR = ICR1;	94	AltICR = ICR1;
94	//Syncronisationspause? (3.52 ms < signal < 25.6 ms)	95	//Syncronisationspause? (3.52 ms < signal < 25.6 ms)
Line 98...	Line 99...
98	if(tmpChannels >= 4 && Channels == tmpChannels)	99	if(tmpChannels >= 4 && Channels == tmpChannels)
99	{	100	{
100	if(okay_cnt > 10)	101	if(okay_cnt > 10)
101	{	102	{
102	NewPpmData = 0; // Null bedeutet: Neue Daten	103	NewPpmData = 0; // Null bedeutet: Neue Daten
103	for(index = 0; index < 11; index++)	104	for(index = 0; index < 13; index++)
104	{	105	{
105	if(okay_cnt > 30)	106	if(okay_cnt > 30)
106	{	107	{
107	old_ppm_in[index] = PPM_in[index];	108	old_ppm_in[index] = PPM_in[index];
108	old_ppm_diff[index] = PPM_diff[index];	109	old_ppm_diff[index] = PPM_diff[index];
Line 121...	Line 122...
121	index = 1;	122	index = 1;
122	if(!MotorenEin) Channels = tmpChannels;	123	if(!MotorenEin) Channels = tmpChannels;
123	}	124	}
124	else	125	else
125	{	126	{
126	if(index < 10)	127	if(index < 13)
127	{	128	{
128	if((signal > 250) && (signal < 687))	129	if((signal > 250) && (signal < 687))
129	{	130	{
130	signal -= 466;	131	signal -= 466;
131	// Stabiles Signal	132	// Stabiles Signal
Line 153...	Line 154...
153	if(index == 20)	154	if(index == 20)
154	{	155	{
155	unsigned char i;	156	unsigned char i;
156	ROT_ON;	157	ROT_ON;
157	index = 30;	158	index = 30;
158	for(i=0;i<11;i++) // restore from older data	159	for(i=0;i<13;i++) // restore from older data
159	{	160	{
160	PPM_in[i] = old_ppm_in[i];	161	PPM_in[i] = old_ppm_in[i];
161	PPM_diff[i] = 0;	162	PPM_diff[i] = 0;
162	// okay_cnt /= 2;	163	// okay_cnt /= 2;
163	}	164	}
Line 177...	Line 178...
177	static unsigned int AltICR=0;	178	static unsigned int AltICR=0;
178	signed int signal = 0,tmp;	179	signed int signal = 0,tmp;
179	static int index;	180	static int index;
Line 180...	Line 181...
180		181
181	signal = (unsigned int) ICR1 - AltICR;	182	signal = (unsigned int) ICR1 - AltICR;
182	DebugOut.Analog[16] = signal;	183	//DebugOut.Analog[16] = signal;
183	signal /= 2;	184	signal /= 2;
184	AltICR = ICR1;	185	AltICR = ICR1;
185	//Syncronisationspause?	186	//Syncronisationspause?
186	if((signal > 11002) && (signal < 80002))	187	if((signal > 11002) && (signal < 80002))
187	{	188	{
188	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten	189	if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten
189	index = 1;	190	index = 1;
190	}	191	}
191	else	192	else
192	{	193	{
193	if(index < 10)	194	if(index < 13)
194	{	195	{
195	if((signal > 250) && (signal < 687*2))	196	if((signal > 250) && (signal < 687*2))
196	{	197	{
197	signal -= 962;	198	signal -= 962;

Subversion Repositories FlightCtrl

(root)/branches/V0.78g_WKN-hef/rc.c @ 1553 - Rev 1378 → 1550