Subversion Repositories FlightCtrl

/*#######################################################################################
Decodieren eines RC Summen Signals
#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + only for non-profit use
// + www.MikroKopter.com
// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include "rc.h"
#include "main.h"

volatile int PPM_in[11];
volatile int PPM_diff[11];  // das diffenzierte Stick-Signal
volatile unsigned char NewPpmData = 1;

//############################################################################
//zum decodieren des PPM-Signals wird Timer1 mit seiner Input
//Capture Funktion benutzt:
void rc_sum_init (void)
//############################################################################
{
        TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64

// PWM
//TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10);
//TCCR1B |= (1 << WGM12);
//OCR1B = 55;
   
    TIMSK1 |= _BV(ICIE1);
    AdNeutralGier = 0;
    AdNeutralRoll = 0;
    AdNeutralNick = 0;
    return;
}

//############################################################################
//Diese Routine startet und inizialisiert den Timer für RC
SIGNAL(SIG_INPUT_CAPTURE1)
//############################################################################

{
        static unsigned int AltICR=0;
    signed int signal = 0,tmp;
        static int index;              
               
        signal = (unsigned int) ICR1 - AltICR;         
        AltICR = ICR1; 
       
    //Syncronisationspause?
        if ((signal > 1500) && (signal < 8000))  
        {
        index = 1;             
        NewPpmData = 0;  // Null bedeutet: Neue Daten
//        OCR2A = Poti2/2 + 80;
       
        }
        else
        {
        if(index < 10)
            {
            if((signal > 250) && (signal < 687))
                {
                signal -= 466;
                // 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++;
                PPM_diff[index] = tmp - PPM_in[index];
                PPM_in[index] = tmp;
                }
            index++;  
         if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20;  // Servosignal an J3 anlegen
         if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10;  // Servosignal an J4 anlegen
         if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08;  // Servosignal an J5 anlegen
        }
        }
}