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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1968 | - | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
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| 3 | // + Nur f�r den privaten Gebrauch |
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| 4 | // + www.MikroKopter.com |
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| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 6 | // + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation), |
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| 7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist. |
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| 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
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| 11 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht, |
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| 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen |
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| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 17 | // + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 18 | // + eindeutig als Ursprung verlinkt werden |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion |
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| 21 | // + Benutzung auf eigene Gefahr |
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| 22 | // + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 25 | // + mit unserer Zustimmung zul�ssig |
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| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 30 | // + this list of conditions and the following disclaimer. |
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| 31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 32 | // + from this software without specific prior written permission. |
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| 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| 34 | // + for non-commercial use (directly or indirectly) |
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| 35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 36 | // + with our written permission |
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| 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 38 | // + clearly linked as origin |
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| 39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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| 40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 49 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 51 | #include <stdlib.h> |
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| 52 | #include <avr/io.h> |
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| 53 | #include <avr/interrupt.h> |
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| 1962 | - | 54 | |
| 1968 | - | 55 | #include "rc.h" |
| 56 | #include "uart0.h" |
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| 57 | #include "controlMixer.h" |
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| 58 | #include "configuration.h" |
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| 59 | #include "commands.h" |
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| 60 | |||
| 61 | // The channel array is now 0-based. |
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| 62 | volatile int16_t PPM_in[MAX_CHANNELS]; |
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| 63 | volatile int16_t PPM_diff[MAX_CHANNELS]; |
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| 64 | volatile uint8_t NewPpmData = 1; |
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| 65 | volatile uint8_t RC_Quality = 0; |
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| 66 | int16_t RC_PRTY[4]; |
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| 67 | uint8_t lastRCCommand = COMMAND_NONE; |
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| 68 | uint8_t commandTimer = 0; |
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| 69 | |||
| 70 | /*************************************************************** |
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| 71 | * 16bit timer 1 is used to decode the PPM-Signal |
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| 72 | ***************************************************************/ |
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| 73 | void RC_Init(void) { |
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| 74 | uint8_t sreg = SREG; |
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| 75 | |||
| 76 | // disable all interrupts before reconfiguration |
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| 77 | cli(); |
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| 78 | |||
| 79 | // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
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| 80 | DDRD &= ~(1<<6); |
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| 81 | PORTD |= (1<<PORTD6); |
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| 82 | |||
| 83 | // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
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| 84 | // set as output |
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| 85 | DDRD |= (1<<DDD5) | (1<<DDD4) | (1<<DDD3); |
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| 86 | // low level |
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| 87 | PORTD &= ~((1<<PORTD5) | (1<<PORTD4) | (1<<PORTD3)); |
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| 88 | |||
| 89 | // PD3 can't be used if 2nd UART is activated |
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| 90 | // because TXD1 is at that port |
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| 91 | if (CPUType != ATMEGA644P) { |
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| 92 | DDRD |= (1<<PORTD3); |
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| 93 | PORTD &= ~(1<<PORTD3); |
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| 94 | } |
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| 95 | |||
| 96 | // Timer/Counter1 Control Register A, B, C |
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| 97 | |||
| 98 | // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
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| 99 | // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
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| 100 | // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
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| 101 | // Enable input capture noise cancler (bit: ICNC1=1) |
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| 102 | // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
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| 103 | // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2�s |
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| 104 | // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
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| 105 | TCCR1A &= ~((1 << COM1A1) | (1 << COM1A0) | (1 << COM1B1) | (1 << COM1B0) | (1 << WGM11) | (1 << WGM10)); |
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| 106 | TCCR1B &= ~((1 << WGM13) | (1 << WGM12) | (1 << CS12)); |
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| 107 | TCCR1B |= (1 << CS11) | (1 << CS10) | (1 << ICES1) | (1 << ICNC1); |
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| 108 | TCCR1C &= ~((1 << FOC1A) | (1 << FOC1B)); |
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| 109 | |||
| 110 | // Timer/Counter1 Interrupt Mask Register |
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| 111 | // Enable Input Capture Interrupt (bit: ICIE1=1) |
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| 112 | // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
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| 113 | // Enable Overflow Interrupt (bit: TOIE1=0) |
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| 114 | TIMSK1 &= ~((1<<OCIE1B) | (1<<OCIE1A) | (1<<TOIE1)); |
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| 115 | TIMSK1 |= (1<<ICIE1); |
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| 116 | |||
| 117 | RC_Quality = 0; |
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| 118 | |||
| 119 | SREG = sreg; |
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| 120 | } |
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| 121 | |||
| 122 | /********************************************************************/ |
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| 123 | /* Every time a positive edge is detected at PD6 */ |
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| 124 | /********************************************************************/ |
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| 125 | /* t-Frame |
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| 126 | <-----------------------------------------------------------------------> |
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| 127 | ____ ______ _____ ________ ______ sync gap ____ |
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| 128 | | | | | | | | | | | | |
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| 129 | | | | | | | | | | | | |
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| 130 | ___| |_| |_| |_| |_.............| |________________| |
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| 131 | <-----><-------><------><----------- <------> <--- |
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| 132 | t0 t1 t2 t4 tn t0 |
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| 133 | |||
| 1962 | - | 134 | The PPM-Frame length is 22.5 ms. |
| 135 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
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| 136 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
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| 137 | The maximum time delay of two events coding a channel is ( 1.7 + 0.3) ms = 2 ms. |
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| 138 | The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
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| 139 | The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
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| 140 | The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
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| 141 | the syncronization gap. |
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| 142 | */ |
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| 143 | ISR(TIMER1_CAPT_vect) |
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| 144 | { // typical rate of 1 ms to 2 ms |
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| 145 | int16_t signal = 0, tmp; |
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| 146 | static int16_t index; |
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| 147 | static uint16_t oldICR1 = 0; |
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| 148 | |||
| 149 | // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
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| 150 | // at the time the edge was detected |
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| 151 | |||
| 152 | // calculate the time delay to the previous event time which is stored in oldICR1 |
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| 153 | // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
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| 154 | // implicit handles a timer overflow 65535 -> 0 the right way. |
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| 155 | signal = (uint16_t) ICR1 - oldICR1; |
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| 156 | oldICR1 = ICR1; |
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| 157 | |||
| 158 | //sync gap? (3.52 ms < signal < 25.6 ms) |
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| 159 | if ((signal > 1100) && (signal < 8000)) { |
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| 160 | // if a sync gap happens and there where at least 4 channels decoded before |
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| 161 | // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
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| 1968 | - | 162 | if (index >= 3) { |
| 1962 | - | 163 | NewPpmData = 0; // Null means NewData for the first 4 channels |
| 164 | } |
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| 165 | // synchronize channel index |
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| 1968 | - | 166 | index = 0; |
| 1962 | - | 167 | } else { // within the PPM frame |
| 1968 | - | 168 | if (index < MAX_CHANNELS) { // PPM24 supports 12 channels |
| 1962 | - | 169 | // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
| 170 | // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
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| 171 | if ((signal > 250) && (signal < 687)) { |
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| 172 | // shift signal to zero symmetric range -154 to 159 |
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| 1963 | - | 173 | signal -= 470; // offset of 1.4912 ms ??? (469 * 3.2�s = 1.5008 ms) |
| 1962 | - | 174 | // check for stable signal |
| 175 | if (abs(signal - PPM_in[index]) < 6) { |
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| 176 | if (RC_Quality < 200) |
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| 177 | RC_Quality += 10; |
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| 178 | else |
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| 179 | RC_Quality = 200; |
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| 180 | } |
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| 181 | // If signal is the same as before +/- 1, just keep it there. |
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| 182 | if (signal >= PPM_in[index] - 1 && signal <= PPM_in[index] + 1) { |
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| 183 | // In addition, if the signal is very close to 0, just set it to 0. |
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| 184 | if (signal >= -1 && signal <= 1) { |
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| 185 | tmp = 0; |
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| 186 | } else { |
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| 187 | tmp = PPM_in[index]; |
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| 188 | } |
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| 189 | } else |
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| 190 | tmp = signal; |
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| 191 | // calculate signal difference on good signal level |
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| 192 | if (RC_Quality >= 195) |
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| 193 | PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
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| 194 | else |
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| 195 | PPM_diff[index] = 0; |
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| 196 | PPM_in[index] = tmp; // update channel value |
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| 197 | } |
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| 198 | index++; // next channel |
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| 199 | // demux sum signal for channels 5 to 7 to J3, J4, J5 |
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| 200 | // TODO: General configurability of this R/C channel forwarding. Or remove it completely - the |
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| 201 | // channels are usually available at the receiver anyway. |
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| 202 | // if(index == 5) J3HIGH; else J3LOW; |
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| 203 | // if(index == 6) J4HIGH; else J4LOW; |
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| 204 | // if(CPUType != ATMEGA644P) // not used as TXD1 |
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| 205 | // { |
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| 206 | // if(index == 7) J5HIGH; else J5LOW; |
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| 207 | // } |
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| 208 | } |
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| 209 | } |
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| 210 | } |
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| 211 | |||
| 212 | #define RCChannel(dimension) PPM_in[channelMap.channels[dimension]] |
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| 213 | #define RCDiff(dimension) PPM_diff[channelMap.channels[dimension]] |
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| 214 | #define COMMAND_THRESHOLD 85 |
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| 215 | #define COMMAND_CHANNEL_VERTICAL CH_THROTTLE |
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| 216 | #define COMMAND_CHANNEL_HORIZONTAL CH_YAW |
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| 217 | |||
| 218 | // Internal. |
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| 219 | uint8_t RC_getStickCommand(void) { |
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| 220 | if (RCChannel(COMMAND_CHANNEL_VERTICAL) > COMMAND_THRESHOLD) { |
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| 221 | // vertical is up |
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| 222 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
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| 223 | return COMMAND_GYROCAL; |
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| 224 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
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| 225 | return COMMAND_ACCCAL; |
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| 226 | return COMMAND_NONE; |
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| 227 | } else if (RCChannel(COMMAND_CHANNEL_VERTICAL) < -COMMAND_THRESHOLD) { |
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| 228 | // vertical is down |
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| 229 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
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| 230 | return COMMAND_STOP; |
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| 231 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
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| 232 | return COMMAND_START; |
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| 233 | return COMMAND_NONE; |
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| 234 | } |
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| 235 | // vertical is around center |
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| 236 | return COMMAND_NONE; |
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| 237 | } |
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| 238 | |||
| 239 | /* |
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| 240 | * This must be called (as the only thing) for each control loop cycle (488 Hz). |
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| 241 | */ |
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| 242 | void RC_update() { |
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| 243 | int16_t tmp1, tmp2; |
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| 244 | if (RC_Quality) { |
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| 245 | RC_Quality--; |
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| 246 | if (NewPpmData-- == 0) { |
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| 247 | RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.stickP |
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| 248 | + RCDiff(CH_PITCH) * staticParams.stickD; |
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| 249 | RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.stickP |
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| 250 | + RCDiff(CH_ROLL) * staticParams.stickD; |
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| 251 | RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) |
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| 252 | * staticParams.stickThrottleD + 120; |
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| 253 | if (RC_PRTY[CONTROL_THROTTLE] < 0) |
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| 254 | RC_PRTY[CONTROL_THROTTLE] = 0; // Throttle is non negative. |
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| 255 | tmp1 = -RCChannel(CH_YAW) - RCDiff(CH_YAW); |
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| 256 | // exponential stick sensitivity in yawing rate |
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| 257 | tmp2 = (int32_t) staticParams.stickYawP * ((int32_t) tmp1 * abs(tmp1)) |
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| 258 | / 512L; // expo y = ax + bx^2 |
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| 259 | tmp2 += (staticParams.stickYawP * tmp1) >> 2; |
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| 260 | RC_PRTY[CONTROL_YAW] = tmp2; |
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| 261 | } |
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| 262 | uint8_t command = RC_getStickCommand(); |
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| 263 | |||
| 264 | if (lastRCCommand == command) { |
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| 265 | // Keep timer from overrunning. |
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| 266 | if (commandTimer < COMMAND_TIMER) |
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| 267 | commandTimer++; |
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| 268 | } else { |
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| 269 | // There was a change. |
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| 270 | lastRCCommand = command; |
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| 271 | commandTimer = 0; |
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| 272 | } |
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| 273 | } else { // Bad signal |
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| 274 | RC_PRTY[CONTROL_PITCH] = RC_PRTY[CONTROL_ROLL] = RC_PRTY[CONTROL_THROTTLE] |
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| 275 | = RC_PRTY[CONTROL_YAW] = 0; |
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| 276 | } |
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| 277 | } |
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| 278 | |||
| 279 | /* |
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| 280 | * Get Pitch, Roll, Throttle, Yaw values |
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| 281 | */ |
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| 282 | int16_t* RC_getPRTY(void) { |
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| 283 | return RC_PRTY; |
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| 284 | } |
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| 285 | |||
| 286 | /* |
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| 287 | * Get other channel value |
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| 288 | */ |
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| 289 | int16_t RC_getVariable(uint8_t varNum) { |
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| 290 | if (varNum < 4) |
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| 291 | // 0th variable is 5th channel (1-based) etc. |
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| 292 | return RCChannel(varNum + 4) + POT_OFFSET; |
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| 293 | /* |
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| 294 | * Let's just say: |
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| 295 | * The RC variable 4 is hardwired to channel 5 |
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| 296 | * The RC variable 5 is hardwired to channel 6 |
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| 297 | * The RC variable 6 is hardwired to channel 7 |
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| 298 | * The RC variable 7 is hardwired to channel 8 |
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| 299 | * Alternatively, one could bind them to channel (4 + varNum) - or whatever... |
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| 300 | */ |
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| 301 | return PPM_in[varNum + 1] + POT_OFFSET; |
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| 302 | } |
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| 303 | |||
| 304 | uint8_t RC_getSignalQuality(void) { |
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| 305 | if (RC_Quality >= 160) |
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| 306 | return SIGNAL_GOOD; |
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| 307 | if (RC_Quality >= 140) |
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| 308 | return SIGNAL_OK; |
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| 309 | if (RC_Quality >= 120) |
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| 310 | return SIGNAL_BAD; |
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| 311 | return SIGNAL_LOST; |
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| 312 | } |
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| 313 | |||
| 314 | /* |
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| 315 | * To should fired only when the right stick is in the center position. |
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| 316 | * This will cause the value of pitch and roll stick to be adjusted |
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| 317 | * to zero (not just to near zero, as per the assumption in rc.c |
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| 318 | * about the rc signal. I had values about 50..70 with a Futaba |
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| 319 | * R617 receiver.) This calibration is not strictly necessary, but |
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| 320 | * for control logic that depends on the exact (non)center position |
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| 321 | * of a stick, it may be useful. |
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| 322 | */ |
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| 323 | void RC_calibrate(void) { |
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| 324 | // Do nothing. |
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| 325 | } |
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| 326 | |||
| 327 | /* |
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| 328 | if (staticParams.GlobalConfig & CFG_HEADING_HOLD) { |
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| 329 | // In HH, it s OK to trim the R/C. The effect should not be conteracted here. |
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| 330 | stickOffsetPitch = stickOffsetRoll = 0; |
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| 331 | } else { |
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| 332 | stickOffsetPitch = RCChannel(CH_PITCH) * staticParams.StickP; |
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| 333 | stickOffsetRoll = RCChannel(CH_ROLL) * staticParams.StickP; |
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| 334 | } |
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| 335 | } |
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| 336 | */ |
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| 337 | |||
| 338 | uint8_t RC_getCommand(void) { |
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| 339 | if (commandTimer == COMMAND_TIMER) { |
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| 340 | // Stick has been held long enough; command committed. |
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| 341 | return lastRCCommand; |
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| 342 | } |
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| 343 | // Not yet sure what the command is. |
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| 344 | return COMMAND_NONE; |
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| 345 | } |
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| 346 | |||
| 347 | /* |
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| 348 | * Command arguments on R/C: |
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| 349 | * 2--3--4 |
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| 350 | * | | + |
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| 351 | * 1 0 5 ^ 0 |
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| 352 | * | | | |
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| 353 | * 8--7--6 |
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| 354 | * |
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| 355 | * + <-- |
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| 356 | * 0 |
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| 357 | * |
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| 358 | * Not in any of these positions: 0 |
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| 359 | */ |
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| 360 | |||
| 361 | #define ARGUMENT_THRESHOLD 70 |
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| 362 | #define ARGUMENT_CHANNEL_VERTICAL CH_PITCH |
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| 363 | #define ARGUMENT_CHANNEL_HORIZONTAL CH_ROLL |
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| 364 | |||
| 365 | uint8_t RC_getArgument(void) { |
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| 366 | if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) > ARGUMENT_THRESHOLD) { |
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| 367 | // vertical is up |
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| 368 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
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| 369 | return 2; |
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| 370 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
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| 371 | return 4; |
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| 372 | return 3; |
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| 373 | } else if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) < -ARGUMENT_THRESHOLD) { |
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| 374 | // vertical is down |
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| 375 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
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| 376 | return 8; |
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| 377 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
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| 378 | return 6; |
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| 379 | return 7; |
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| 380 | } else { |
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| 381 | // vertical is around center |
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| 382 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
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| 383 | return 1; |
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| 384 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
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| 385 | return 5; |
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| 386 | return 0; |
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| 387 | } |
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| 388 | } |
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| 389 | |||
| 390 | /* |
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| 391 | uint8_t RC_getLooping(uint8_t looping) { |
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| 392 | // static uint8_t looping = 0; |
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| 393 | |||
| 394 | if (RCChannel(CH_ROLL) > staticParams.LoopThreshold && staticParams.BitConfig |
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| 395 | & CFG_LOOP_LEFT) { |
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| 396 | looping |= (LOOPING_ROLL_AXIS | LOOPING_LEFT); |
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| 397 | } else if ((looping & LOOPING_LEFT) && RCChannel(CH_ROLL) |
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| 398 | < staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
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| 399 | looping &= (~(LOOPING_ROLL_AXIS | LOOPING_LEFT)); |
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| 400 | } |
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| 401 | |||
| 402 | if (RCChannel(CH_ROLL) < -staticParams.LoopThreshold |
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| 403 | && staticParams.BitConfig & CFG_LOOP_RIGHT) { |
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| 404 | looping |= (LOOPING_ROLL_AXIS | LOOPING_RIGHT); |
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| 405 | } else if ((looping & LOOPING_RIGHT) && RCChannel(CH_ROLL) |
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| 406 | > -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
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| 407 | looping &= (~(LOOPING_ROLL_AXIS | LOOPING_RIGHT)); |
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| 408 | } |
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| 409 | |||
| 410 | if (RCChannel(CH_PITCH) > staticParams.LoopThreshold |
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| 411 | && staticParams.BitConfig & CFG_LOOP_UP) { |
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| 412 | looping |= (LOOPING_PITCH_AXIS | LOOPING_UP); |
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| 413 | } else if ((looping & LOOPING_UP) && RCChannel(CH_PITCH) |
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| 414 | < staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
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| 415 | looping &= (~(LOOPING_PITCH_AXIS | LOOPING_UP)); |
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| 416 | } |
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| 417 | |||
| 418 | if (RCChannel(CH_PITCH) < -staticParams.LoopThreshold |
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| 419 | && staticParams.BitConfig & CFG_LOOP_DOWN) { |
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| 420 | looping |= (LOOPING_PITCH_AXIS | LOOPING_DOWN); |
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| 421 | } else if ((looping & LOOPING_DOWN) && RCChannel(CH_PITCH) |
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| 422 | > -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
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| 423 | looping &= (~(LOOPING_PITCH_AXIS | LOOPING_DOWN)); |
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| 424 | } |
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| 425 | |||
| 426 | return looping; |
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| 427 | } |
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| 428 | */ |
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| 429 | |||
| 430 | uint8_t RC_testCompassCalState(void) { |
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| 431 | static uint8_t stick = 1; |
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| 432 | // if pitch is centered or top set stick to zero |
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| 433 | if (RCChannel(CH_PITCH) > -20) |
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| 434 | stick = 0; |
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| 435 | // if pitch is down trigger to next cal state |
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| 436 | if ((RCChannel(CH_PITCH) < -70) && !stick) { |
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| 437 | stick = 1; |
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| 438 | return 1; |
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| 439 | } |
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| 440 | return 0; |
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| 441 | } |
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| 442 | /* |
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| 443 | * Abstract controls are not used at the moment. |
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| 444 | t_control rc_control = { |
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| 445 | RC_getPitch, |
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| 446 | RC_getRoll, |
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| 447 | RC_getYaw, |
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| 448 | RC_getThrottle, |
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| 449 | RC_getSignalQuality, |
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| 450 | RC_calibrate |
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| 451 | }; |
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| 452 | */ |