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/*#######################################################################################
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"
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
SIGNAL
(SIG_INPUT_CAPTURE1
)
//############################################################################
{
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
++;
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
;
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
SIGNAL
(SIG_INPUT_CAPTURE1
)
//############################################################################
{
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;
// 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