| 15,6 → 15,8 |
|---|
| uint8_t lastRCCommand = COMMAND_NONE; |
| uint8_t lastFlightMode = FLIGHT_MODE_NONE; |
| |
| #define TIME(s) ((int16_t)(((long)F_CPU/(long)8000)*(float)s)) |
| |
| /*************************************************************** |
| * 16bit timer 1 is used to decode the PPM-Signal |
| ***************************************************************/ |
| 25,22 → 27,9 |
|---|
| cli(); |
| |
| // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
| DDRD &= ~(1<<6); |
| PORTD |= (1<<PORTD6); |
| DDRB &= ~(1<<0); |
| PORTB |= (1<<PORTB0); |
| |
| // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
| // set as output |
| DDRD |= (1<<DDD5) | (1<<DDD4) | (1<<DDD3); |
| // low level |
| PORTD &= ~((1<<PORTD5) | (1<<PORTD4) | (1<<PORTD3)); |
| |
| // PD3 can't be used if 2nd UART is activated |
| // because TXD1 is at that port |
| // if (CPUType != ATMEGA644P) { |
| // DDRD |= (1<<PORTD3); |
| // PORTD &= ~(1<<PORTD3); |
| // } |
| |
| // Timer/Counter1 Control Register A, B, C |
| // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
| // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
| 51,7 → 40,7 |
|---|
| // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
| TCCR1A &= ~((1 << COM1A1) | (1 << COM1A0) | (1 << COM1B1) | (1 << COM1B0) | (1 << WGM11) | (1 << WGM10)); |
| TCCR1B &= ~((1 << WGM13) | (1 << WGM12) | (1 << CS12)); |
| TCCR1B |= (1 << CS11) | (1 << CS10) | (1 << ICES1) | (1 << ICNC1); |
| TCCR1B |= (1 << CS11) | (1 << ICES1) | (1 << ICNC1); |
| TCCR1C &= ~((1 << FOC1A) | (1 << FOC1B)); |
| |
| // Timer/Counter1 Interrupt Mask Register |
| 88,7 → 77,7 |
|---|
| the syncronization gap. |
| */ |
| ISR(TIMER1_CAPT_vect) { // typical rate of 1 ms to 2 ms |
| int16_t signal = 0, tmp; |
| int16_t signal, tmp; |
| static int16_t index; |
| static uint16_t oldICR1 = 0; |
| |
| 101,18 → 90,19 |
|---|
| signal = (uint16_t) ICR1 - oldICR1; |
| oldICR1 = ICR1; |
| |
| //sync gap? (3.52 ms < signal < 25.6 ms) |
| if ((signal > 1100) && (signal < 8000)) { |
| //sync gap? (3.5 ms < signal < 25.6 ms) |
| if (signal > TIME(3.5)) { |
| // never happens... |
| index = 0; |
| } else { // within the PPM frame |
| if (index < MAX_CHANNELS) { // PPM24 supports 12 channels |
| // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
| // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
| if ((signal > 250) && (signal < 687)) { |
| // check for valid signal length (0.8 ms < signal < 2.2 ms) |
| if ((signal >= TIME(0.8)) && (signal < TIME(2.2))) { |
| // shift signal to zero symmetric range -154 to 159 |
| signal -= 475; // offset of 1.4912 ms ??? (469 * 3.2us = 1.5008 ms) |
| //signal -= 3750; // theoretical value |
| signal -= (TIME(1.5) + RC_TRIM); // best value with my Futaba in zero trim. |
| // check for stable signal |
| if (abs(signal - PPM_in[index]) < 6) { |
| if (abs(signal - PPM_in[index]) < TIME(0.05)) { |
| if (RCQuality < 200) |
| RCQuality += 10; |
| else |
| 145,16 → 135,12 |
|---|
| } |
| |
| #define RCChannel(dimension) PPM_in[channelMap.channels[dimension]] |
| #define COMMAND_THRESHOLD 85 |
| #define COMMAND_CHANNEL_VERTICAL CH_THROTTLE |
| #define COMMAND_CHANNEL_HORIZONTAL CH_YAW |
| |
| #define RC_SCALING 4 |
| |
| uint8_t getControlModeSwitch(void) { |
| int16_t channel = RCChannel(CH_MODESWITCH) + POT_OFFSET; |
| uint8_t flightMode = channel < 256/3 ? FLIGHT_MODE_MANUAL : |
| (channel > 256*2/3 ? FLIGHT_MODE_ANGLES : FLIGHT_MODE_RATE); |
| int16_t channel = RCChannel(CH_MODESWITCH); |
| uint8_t flightMode = channel < -TIME(0.17) ? FLIGHT_MODE_MANUAL : (channel > TIME(0.17) ? FLIGHT_MODE_ANGLES : FLIGHT_MODE_RATE); |
| return flightMode; |
| } |
| |
| 174,10 → 160,12 |
|---|
| |
| int16_t channel = RCChannel(CH_THROTTLE); |
| |
| if (channel <= -140) { // <= 900 us |
| lastRCCommand = COMMAND_GYROCAL; |
| if (channel <= -TIME(0.55)) { |
| lastRCCommand = COMMAND_GYROCAL; |
| debugOut.analog[17] = 1; |
| } else { |
| lastRCCommand = COMMAND_NONE; |
| debugOut.analog[17] = 0; |
| } |
| return lastRCCommand; |
| } |
| 198,10 → 186,10 |
|---|
| debugOut.analog[22] = RCChannel(CH_RUDDER); |
| debugOut.analog[23] = RCChannel(CH_THROTTLE); |
| |
| PRYT[CONTROL_ELEVATOR] = RCChannel(CH_ELEVATOR) * RC_SCALING; |
| PRYT[CONTROL_AILERONS] = RCChannel(CH_AILERONS) * RC_SCALING; |
| PRYT[CONTROL_RUDDER] = RCChannel(CH_RUDDER) * RC_SCALING; |
| PRYT[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) * RC_SCALING; |
| PRYT[CONTROL_ELEVATOR] = RCChannel(CH_ELEVATOR) / RC_SCALING; |
| PRYT[CONTROL_AILERONS] = RCChannel(CH_AILERONS) / RC_SCALING; |
| PRYT[CONTROL_RUDDER] = RCChannel(CH_RUDDER) / RC_SCALING; |
| PRYT[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) / RC_SCALING; |
| } // if RCQuality is no good, we just do nothing. |
| } |
| |
| 211,12 → 199,12 |
|---|
| int16_t RC_getVariable(uint8_t varNum) { |
| if (varNum < 4) |
| // 0th variable is 5th channel (1-based) etc. |
| return RCChannel(varNum + CH_POTS) + POT_OFFSET; |
| return (RCChannel(varNum + CH_POTS) >> 2) + VARIABLE_OFFSET; |
| /* |
| * Let's just say: |
| * The RC variable i is hardwired to channel i, i>=4 |
| */ |
| return PPM_in[varNum] + POT_OFFSET; |
| return (PPM_in[varNum] >> 2) + VARIABLE_OFFSET; |
| } |
| |
| uint8_t RC_getSignalQuality(void) { |