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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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Line -... | Line 10... | ||
| - | 10 | ||
| - | 11 | #include <avr/io.h> |
|
| - | 12 | #include <avr/interrupt.h> |
|
| 10 | 13 | ||
| 11 | #include "rc.h" |
14 | #include "rc.h" |
| Line 12... | Line 15... | ||
| 12 | #include "main.h" |
15 | #include "fc.h" |
| 13 | 16 | ||
| 14 | volatile int PPM_in[11]; |
17 | volatile int PPM_in[11]; |
| Line 25... | Line 28... | ||
| 25 | 28 | ||
| 26 | // PWM |
29 | // PWM |
| 27 | //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
30 | //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
| 28 | //TCCR1B |= (1 << WGM12); |
31 | //TCCR1B |= (1 << WGM12); |
| 29 | //OCR1B = 55; |
32 | //OCR1B = 55; |
| 30 | 33 | ||
| 31 | TIMSK1 |= _BV(ICIE1); |
34 | TIMSK1 |= _BV(ICIE1); |
| 32 | AdNeutralGier = 0; |
35 | AdNeutralGier = 0; |
| 33 | AdNeutralRoll = 0; |
36 | AdNeutralRoll = 0; |
| 34 | AdNeutralNick = 0; |
37 | AdNeutralNick = 0; |
| Line 41... | Line 44... | ||
| 41 | //############################################################################ |
44 | //############################################################################ |
| Line 42... | Line 45... | ||
| 42 | 45 | ||
| 43 | { |
46 | { |
| 44 | static unsigned int AltICR=0; |
47 | static unsigned int AltICR=0; |
| 45 | signed int signal = 0,tmp; |
48 | signed int signal = 0,tmp; |
| 46 | static int index; |
49 | static int index; |
| 47 | 50 | ||
| 48 | signal = (unsigned int) ICR1 - AltICR; |
51 | signal = (unsigned int) ICR1 - AltICR; |
| 49 | AltICR = ICR1; |
52 | AltICR = ICR1; |
| 50 | 53 | ||
| 51 | //Syncronisationspause? |
54 | //Syncronisationspause? |
| 52 | // if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
55 | // if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
| 53 | if((signal > 1100) && (signal < 8000)) |
56 | if((signal > 1100) && (signal < 8000)) |
| 54 | { |
57 | { |
| 55 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
58 | if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| 56 | index = 1; |
59 | index = 1; |
| 57 | } |
60 | } |
| 58 | else |
61 | else |
| 59 | { |
62 | { |
| 60 | if(index < 10) |
63 | if(index < 10) |
| 61 | { |
64 | { |
| 62 | if((signal > 250) && (signal < 687)) |
65 | if((signal > 250) && (signal < 687)) |
| 63 | { |
66 | { |
| 64 | signal -= 466; |
67 | signal -= 466; |
| 65 | // Stabiles Signal |
68 | // Stabiles Signal |
| 66 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
69 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| 67 | // tmp = (7 * (PPM_in[index]) + signal) / 8; |
70 | // tmp = (7 * (PPM_in[index]) + signal) / 8; |
| 68 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
71 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
| 69 | if(tmp > signal+1) tmp--; else |
72 | if(tmp > signal+1) tmp--; else |
| 70 | if(tmp < signal-1) tmp++; |
73 | if(tmp < signal-1) tmp++; |
| 71 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
74 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| 72 | else PPM_diff[index] = 0; |
75 | else PPM_diff[index] = 0; |
| 73 | PPM_in[index] = tmp; |
76 | PPM_in[index] = tmp; |
| 74 | } |
77 | } |
| 75 | index++; |
78 | index++; |
| 76 | if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
79 | if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| 77 | if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
80 | if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| 78 | if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
81 | if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
| 79 | } |
82 | } |
| 80 | } |
83 | } |