WebSVN - FlightCtrl - Rev 1819 - /branches/V0.82b-Arthur-P/rc.c

/******************************************************************************************************************
V0.82b-Arthur-P 2010-12-18
------------------------------------------------------------------------------------------------------------------
Version includes only support for external HEF4017 for FC1.x hardware, NOT for Twi2Ppm converters for ESCs.

2010-12-18 Chanded the if(Platinenversion < 20) statement within this file to correctly identify external HEF4017.
Arthur P. Modified to use several parameters for servo control:
User_Parameter4:
User_Parameter5:
User_Parameter6:
User_Parameter7:
User_Parameter8: Use external HEF4017 if bit 8 is set (>127). The remaining 7 bits are used
for the shutter cycle counter: the value is multiplied by 5 programmatically,
resulting in steps of approx. 0.1sec. Minimum value to start using the
interval timer is 10 (approx. 1 sec, or countervalue of 50). Note that this
was originally done through user para 6.
******************************************************************************************************************/
/*#######################################################################################
Decodieren eines RC Summen Signals
#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) Holger Buss, Ingo Busker
// + only for non-profit use
// + www.MikroKopter.com
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include "rc.h"
#include "main.h"
// Achtung: ACT_S3D_SUMMENSIGNAL wird in der Main.h gesetzt

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;
AdNeutralNick = 0;
return;
}

#ifndef ACT_S3D_SUMMENSIGNAL
//############################################################################
//Diese Routine startet und inizialisiert den Timer für RC
ISR(TIMER1_CAPT_vect)
//############################################################################
{
if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC))
{
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)
{
if((signal > 250) && (signal < 687))
{
signal -= 466;
// Stabiles Signal
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++;
if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3;
else PPM_diff[index] = 0;
PPM_in[index] = tmp;
}
index++;
/******************************************************************************************************************
Arthur P: Modified the code to check the value of parameter 8. If 128 or higher then a HEF4017 is
expected and will be used. Else J7 and J9 are seen as separate normal outputs.
if((PlatinenVersion < 20)
20100802 Inserted changes into v.0.82b code.
******************************************************************************************************************/

// if(PlatinenVersion < 20)

if((PlatinenVersion < 20) && (Parameter_UserParam8 < 128 ))
/******************************************************************************************************************
Arthur P: End of modification ot if statement.
******************************************************************************************************************/
{
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
}
}
}
}
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((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; 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)
{
if((signal > 250) && (signal < 687))
{
signal -= 466;
// Stabiles Signal
if((abs(signal - ppm_in[index]) < 6))
{
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;
/******************************************************************************************************************
Arthur P: Modified the code to check the value of parameter 8. If 128 or higher then a HEF4017 is
expected and will be used. Else J7 and J9 are seen as separate normal outputs.
if((PlatinenVersion < 20)
20100802 Inserted changes into v.0.82b code.
******************************************************************************************************************/

// if(PlatinenVersion < 20)

if((PlatinenVersion < 20) && (Parameter_UserParam8 < 128 ))
/******************************************************************************************************************
Arthur P: End of modification ot if statement.
******************************************************************************************************************/
{
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
}
}
if(index < 20) index++;
else
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;
}
}
}
}
}

#else
//############################################################################
//Diese Routine startet und inizialisiert den Timer für RC
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

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