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| Rev 1796 | Rev 1821 | ||
|---|---|---|---|
| Line 62... | Line 62... | ||
| 62 | volatile int16_t PPM_in[MAX_CHANNELS]; |
62 | volatile int16_t PPM_in[MAX_CHANNELS]; |
| 63 | volatile int16_t PPM_diff[MAX_CHANNELS]; |
63 | volatile int16_t PPM_diff[MAX_CHANNELS]; |
| 64 | volatile uint8_t NewPpmData = 1; |
64 | volatile uint8_t NewPpmData = 1; |
| 65 | volatile int16_t RC_Quality = 0; |
65 | volatile int16_t RC_Quality = 0; |
| 66 | int16_t RC_PRTY[4]; |
66 | int16_t RC_PRTY[4]; |
| 67 | uint8_t lastRCCommand = COMMAND_NONE; |
67 | uint8_t lastRCCommand = COMMAND_NONE; |
| 68 | uint8_t commandTimer = 0; |
68 | uint8_t commandTimer = 0; |
| Line 69... | Line 69... | ||
| 69 | 69 | ||
| 70 | // Useless. Just trim on the R/C instead. |
70 | // Useless. Just trim on the R/C instead. |
| Line 71... | Line 71... | ||
| 71 | // int16_t stickOffsetPitch = 0, stickOffsetRoll = 0; |
71 | // int16_t stickOffsetPitch = 0, stickOffsetRoll = 0; |
| 72 | 72 | ||
| 73 | /*************************************************************** |
73 | /*************************************************************** |
| 74 | * 16bit timer 1 is used to decode the PPM-Signal |
74 | * 16bit timer 1 is used to decode the PPM-Signal |
| 75 | ***************************************************************/ |
75 | ***************************************************************/ |
| Line 76... | Line 76... | ||
| 76 | void RC_Init (void) { |
76 | void RC_Init(void) { |
| 77 | uint8_t sreg = SREG; |
77 | uint8_t sreg = SREG; |
| Line 78... | Line 78... | ||
| 78 | 78 | ||
| 79 | // disable all interrupts before reconfiguration |
79 | // disable all interrupts before reconfiguration |
| 80 | cli(); |
80 | cli(); |
| 81 | 81 | ||
| 82 | // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
82 | // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
| 83 | DDRD &= ~(1<<DDD6); |
83 | DDRD &= ~(1 << DDD6); |
| 84 | PORTD |= (1<<PORTD6); |
84 | PORTD |= (1 << PORTD6); |
| 85 | 85 | ||
| 86 | // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
86 | // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
| 87 | // set as output |
87 | // set as output |
| 88 | DDRD |= (1<<DDD5)| (1<<DDD4) | (1<<DDD3); |
88 | DDRD |= (1 << DDD5) | (1 << DDD4) | (1 << DDD3); |
| 89 | // low level |
89 | // low level |
| 90 | PORTD &= ~((1<<PORTD5) | (1<<PORTD4) | (1<<PORTD3)); |
90 | PORTD &= ~((1 << PORTD5) | (1 << PORTD4) | (1 << PORTD3)); |
| 91 | 91 | ||
| 92 | // PD3 can't be used if 2nd UART is activated |
92 | // PD3 can't be used if 2nd UART is activated |
| 93 | // because TXD1 is at that port |
93 | // because TXD1 is at that port |
| 94 | if(CPUType != ATMEGA644P) { |
94 | if (CPUType != ATMEGA644P) { |
| 95 | DDRD |= (1<<PORTD3); |
95 | DDRD |= (1 << PORTD3); |
| 96 | PORTD &= ~(1<<PORTD3); |
96 | PORTD &= ~(1 << PORTD3); |
| 97 | } |
97 | } |
| 98 | 98 | ||
| 99 | // Timer/Counter1 Control Register A, B, C |
99 | // Timer/Counter1 Control Register A, B, C |
| 100 | 100 | ||
| 101 | // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
101 | // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
| 102 | // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
102 | // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
| 103 | // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
103 | // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
| 104 | // Enable input capture noise cancler (bit: ICNC1=1) |
104 | // Enable input capture noise cancler (bit: ICNC1=1) |
| - | 105 | // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
|
| 105 | // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
106 | // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2µs |
| 106 | // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2µs |
107 | // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
| 107 | // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
108 | TCCR1A &= ~((1 << COM1A1) | (1 << COM1A0) | (1 << COM1B1) | (1 << COM1B0) |
| 108 | TCCR1A &= ~((1<<COM1A1)|(1<<COM1A0)|(1<<COM1B1)|(1<<COM1B0)|(1<<WGM11)|(1<<WGM10)); |
109 | | (1 << WGM11) | (1 << WGM10)); |
| 109 | TCCR1B &= ~((1<<WGM13)|(1<<WGM12)|(1<<CS12)); |
110 | TCCR1B &= ~((1 << WGM13) | (1 << WGM12) | (1 << CS12)); |
| 110 | TCCR1B |= (1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1); |
111 | TCCR1B |= (1 << CS11) | (1 << CS10) | (1 << ICES1) | (1 << ICNC1); |
| 111 | TCCR1C &= ~((1<<FOC1A)|(1<<FOC1B)); |
112 | TCCR1C &= ~((1 << FOC1A) | (1 << FOC1B)); |
| 112 | 113 | ||
| 113 | // Timer/Counter1 Interrupt Mask Register |
114 | // Timer/Counter1 Interrupt Mask Register |
| 114 | 115 | ||
| 115 | // Enable Input Capture Interrupt (bit: ICIE1=1) |
116 | // Enable Input Capture Interrupt (bit: ICIE1=1) |
| Line 116... | Line 117... | ||
| 116 | // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
117 | // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
| Line 117... | Line 118... | ||
| 117 | // Enable Overflow Interrupt (bit: TOIE1=0) |
118 | // Enable Overflow Interrupt (bit: TOIE1=0) |
| 118 | TIMSK1 &= ~((1<<OCIE1B)|(1<<OCIE1A)|(1<<TOIE1)); |
119 | TIMSK1 &= ~((1 << OCIE1B) | (1 << OCIE1A) | (1 << TOIE1)); |
| Line 119... | Line 120... | ||
| 119 | TIMSK1 |= (1<<ICIE1); |
120 | TIMSK1 |= (1 << ICIE1); |
| 120 | 121 | ||
| 121 | RC_Quality = 0; |
122 | RC_Quality = 0; |
| 122 | 123 | ||
| 123 | SREG = sreg; |
124 | SREG = sreg; |
| 124 | } |
125 | } |
| 125 | 126 | ||
| 126 | /********************************************************************/ |
127 | /********************************************************************/ |
| 127 | /* Every time a positive edge is detected at PD6 */ |
128 | /* Every time a positive edge is detected at PD6 */ |
| 128 | /********************************************************************/ |
129 | /********************************************************************/ |
| 129 | /* t-Frame |
130 | /* t-Frame |
| 130 | <-----------------------------------------------------------------------> |
131 | <-----------------------------------------------------------------------> |
| 131 | ____ ______ _____ ________ ______ sync gap ____ |
132 | ____ ______ _____ ________ ______ sync gap ____ |
| 132 | | | | | | | | | | | | |
133 | | | | | | | | | | | | |
| 133 | | | | | | | | | | | | |
134 | | | | | | | | | | | | |
| 134 | ___| |_| |_| |_| |_.............| |________________| |
135 | ___| |_| |_| |_| |_.............| |________________| |
| 135 | <-----><-------><------><--------> <------> <--- |
136 | <-----><-------><------><--------> <------> <--- |
| 136 | t0 t1 t2 t4 tn t0 |
137 | t0 t1 t2 t4 tn t0 |
| 137 | 138 | ||
| 138 | The PPM-Frame length is 22.5 ms. |
139 | The PPM-Frame length is 22.5 ms. |
| 139 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
140 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
| - | 141 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
|
| 140 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
142 | The maximum time delay of two events coding a chanel is ( 1.7 + 0.3) ms = 2 ms. |
| 141 | The maximum time delay of two events coding a chanel is ( 1.7 + 0.3) ms = 2 ms. |
143 | The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
| 142 | The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
144 | The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
| 143 | The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
145 | The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
| 144 | The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
146 | the syncronization gap. |
| 145 | the syncronization gap. |
147 | */ |
| 146 | */ |
148 | ISR(TIMER1_CAPT_vect) |
| 147 | ISR(TIMER1_CAPT_vect) { // typical rate of 1 ms to 2 ms |
149 | { // typical rate of 1 ms to 2 ms |
| 148 | int16_t signal = 0, tmp; |
150 | int16_t signal = 0, tmp; |
| 149 | static int16_t index; |
151 | static int16_t index; |
| 150 | static uint16_t oldICR1 = 0; |
152 | static uint16_t oldICR1 = 0; |
| 151 | 153 | ||
| 152 | // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
154 | // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
| 153 | // at the time the edge was detected |
155 | // at the time the edge was detected |
| 154 | 156 | ||
| 155 | // calculate the time delay to the previous event time which is stored in oldICR1 |
157 | // calculate the time delay to the previous event time which is stored in oldICR1 |
| 156 | // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
158 | // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
| 157 | // implicit handles a timer overflow 65535 -> 0 the right way. |
159 | // implicit handles a timer overflow 65535 -> 0 the right way. |
| 158 | signal = (uint16_t) ICR1 - oldICR1; |
160 | signal = (uint16_t) ICR1 - oldICR1; |
| 159 | oldICR1 = ICR1; |
161 | oldICR1 = ICR1; |
| 160 | 162 | ||
| 161 | //sync gap? (3.52 ms < signal < 25.6 ms) |
163 | //sync gap? (3.52 ms < signal < 25.6 ms) |
| 162 | if((signal > 1100) && (signal < 8000)) { |
164 | if ((signal > 1100) && (signal < 8000)) { |
| 163 | // if a sync gap happens and there where at least 4 channels decoded before |
165 | // if a sync gap happens and there where at least 4 channels decoded before |
| 164 | // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
166 | // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
| 165 | if(index >= 4) { |
167 | if (index >= 4) { |
| 166 | NewPpmData = 0; // Null means NewData for the first 4 channels |
168 | NewPpmData = 0; // Null means NewData for the first 4 channels |
| 167 | } |
169 | } |
| 168 | // synchronize channel index |
170 | // synchronize channel index |
| 169 | index = 1; |
171 | index = 1; |
| 170 | } else { // within the PPM frame |
172 | } else { // within the PPM frame |
| 171 | if(index < MAX_CHANNELS-1) { // PPM24 supports 12 channels |
173 | if (index < MAX_CHANNELS - 1) { // PPM24 supports 12 channels |
| 172 | // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
174 | // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
| - | 175 | // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
|
| - | 176 | if ((signal > 250) && (signal < 687)) { |
|
| 173 | // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
177 | // shift signal to zero symmetric range -154 to 159 |
| 174 | if((signal > 250) && (signal < 687)) { |
178 | signal -= 470; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
| 175 | // shift signal to zero symmetric range -154 to 159 |
179 | // check for stable signal |
| 176 | signal -= 470; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
180 | if (abs(signal - PPM_in[index]) < 6) { |
| 177 | // check for stable signal |
181 | if (RC_Quality < 200) |
| 178 | if(abs(signal - PPM_in[index]) < 6) { |
182 | RC_Quality += 10; |
| 179 | if(RC_Quality < 200) RC_Quality +=10; |
183 | else |
| 180 | else RC_Quality = 200; |
184 | RC_Quality = 200; |
| 181 | } |
185 | } |
| 182 | // If signal is the same as before +/- 1, just keep it there. |
186 | // If signal is the same as before +/- 1, just keep it there. |
| 183 | if (signal>=PPM_in[index]-1 && signal<=PPM_in[index]+1) { |
- | |
| 184 | // In addition, if the signal is very close to 0, just set it to 0. |
187 | if (signal >= PPM_in[index] - 1 && signal <= PPM_in[index] + 1) { |
| 185 | if (signal >=-1 && signal <= 1) { |
188 | // In addition, if the signal is very close to 0, just set it to 0. |
| 186 | tmp = 0; |
189 | if (signal >= -1 && signal <= 1) { |
| 187 | } else { |
190 | tmp = 0; |
| 188 | tmp = PPM_in[index]; |
191 | } else { |
| - | 192 | tmp = PPM_in[index]; |
|
| 189 | } |
193 | } |
| 190 | } |
194 | } else |
| 191 | else |
195 | tmp = signal; |
| 192 | tmp = signal; |
196 | // calculate signal difference on good signal level |
| 193 | // calculate signal difference on good signal level |
197 | if (RC_Quality >= 195) |
| 194 | if(RC_Quality >= 195) |
198 | PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
| 195 | PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
199 | else |
| 196 | else PPM_diff[index] = 0; |
200 | PPM_diff[index] = 0; |
| 197 | PPM_in[index] = tmp; // update channel value |
201 | PPM_in[index] = tmp; // update channel value |
| 198 | } |
202 | } |
| 199 | index++; // next channel |
203 | index++; // next channel |
| 200 | // demux sum signal for channels 5 to 7 to J3, J4, J5 |
204 | // demux sum signal for channels 5 to 7 to J3, J4, J5 |
| 201 | // TODO: General configurability of this R/C channel forwarding. Or remove it completely - the |
205 | // TODO: General configurability of this R/C channel forwarding. Or remove it completely - the |
| 202 | // channels are usually available at the receiver anyway. |
206 | // channels are usually available at the receiver anyway. |
| 203 | // if(index == 5) J3HIGH; else J3LOW; |
207 | // if(index == 5) J3HIGH; else J3LOW; |
| 204 | // if(index == 6) J4HIGH; else J4LOW; |
208 | // if(index == 6) J4HIGH; else J4LOW; |
| Line 205... | Line 209... | ||
| 205 | // if(CPUType != ATMEGA644P) // not used as TXD1 |
209 | // if(CPUType != ATMEGA644P) // not used as TXD1 |
| 206 | // { |
210 | // { |
| 207 | // if(index == 7) J5HIGH; else J5LOW; |
211 | // if(index == 7) J5HIGH; else J5LOW; |
| 208 | // } |
212 | // } |
| 209 | } |
213 | } |
| Line 210... | Line 214... | ||
| 210 | } |
214 | } |
| 211 | } |
215 | } |
| 212 | 216 | ||
| 213 | #define RCChannel(dimension) PPM_in[staticParams.ChannelAssignment[dimension]] |
217 | #define RCChannel(dimension) PPM_in[staticParams.ChannelAssignment[dimension]] |
| 214 | #define RCDiff(dimension) PPM_diff[staticParams.ChannelAssignment[dimension]] |
218 | #define RCDiff(dimension) PPM_diff[staticParams.ChannelAssignment[dimension]] |
| 215 | #define COMMAND_THRESHOLD 85 |
219 | #define COMMAND_THRESHOLD 85 |
| 216 | #define COMMAND_CHANNEL_VERTICAL CH_THROTTLE |
220 | #define COMMAND_CHANNEL_VERTICAL CH_THROTTLE |
| 217 | #define COMMAND_CHANNEL_HORIZONTAL CH_YAW |
221 | #define COMMAND_CHANNEL_HORIZONTAL CH_YAW |
| 218 | 222 | ||
| 219 | // Internal. |
223 | // Internal. |
| 220 | uint8_t RC_getStickCommand(void) { |
224 | uint8_t RC_getStickCommand(void) { |
| 221 | if(RCChannel(COMMAND_CHANNEL_VERTICAL) > COMMAND_THRESHOLD) { |
225 | if (RCChannel(COMMAND_CHANNEL_VERTICAL) > COMMAND_THRESHOLD) { |
| 222 | // vertical is up |
226 | // vertical is up |
| 223 | if(RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
227 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
| 224 | return COMMAND_GYROCAL; |
228 | return COMMAND_GYROCAL; |
| 225 | if(RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
229 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
| 226 | return COMMAND_ACCCAL; |
230 | return COMMAND_ACCCAL; |
| 227 | return COMMAND_NONE; |
231 | return COMMAND_NONE; |
| 228 | } else if(RCChannel(COMMAND_CHANNEL_VERTICAL) < -COMMAND_THRESHOLD) { |
232 | } else if (RCChannel(COMMAND_CHANNEL_VERTICAL) < -COMMAND_THRESHOLD) { |
| 229 | // vertical is down |
233 | // vertical is down |
| Line 230... | Line 234... | ||
| 230 | if(RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
234 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
| 231 | return COMMAND_STOP; |
235 | return COMMAND_STOP; |
| 232 | if(RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
236 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
| 233 | return COMMAND_START; |
237 | return COMMAND_START; |
| 234 | return COMMAND_NONE; |
238 | return COMMAND_NONE; |
| 235 | } |
239 | } |
| 236 | // vertical is around center |
240 | // vertical is around center |
| 237 | return COMMAND_NONE; |
241 | return COMMAND_NONE; |
| 238 | } |
242 | } |
| - | 243 | ||
| 239 | 244 | /* |
|
| - | 245 | * This must be called (as the only thing) for each control loop cycle (488 Hz). |
|
| 240 | /* |
246 | */ |
| - | 247 | void RC_update() { |
|
| - | 248 | int16_t tmp1, tmp2; |
|
| 241 | * This must be called (as the only thing) for each control loop cycle (488 Hz). |
249 | if (RC_Quality) { |
| 242 | */ |
250 | RC_Quality--; |
| 243 | void RC_update() { |
251 | if (NewPpmData-- == 0) { |
| 244 | int16_t tmp1, tmp2; |
252 | RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.StickP |
| - | 253 | + RCDiff(CH_PITCH) * staticParams.StickD; |
|
| 245 | if(RC_Quality) { |
254 | RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.StickP |
| 246 | RC_Quality--; |
255 | + RCDiff(CH_ROLL) * staticParams.StickD; |
| 247 | if (NewPpmData-- == 0) { |
256 | RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) |
| 248 | RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.StickP + RCDiff(CH_PITCH) * staticParams.StickD; |
257 | * dynamicParams.UserParams[3] + 120; |
| 249 | RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.StickP + RCDiff(CH_ROLL) * staticParams.StickD; |
258 | if (RC_PRTY[CONTROL_THROTTLE] < 0) |
| 250 | RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) * dynamicParams.UserParams[3] + 120; |
259 | RC_PRTY[CONTROL_THROTTLE] = 0; // Throttle is non negative. |
| 251 | if (RC_PRTY[CONTROL_THROTTLE] < 0) RC_PRTY[CONTROL_THROTTLE] = 0; // Throttle is non negative. |
260 | tmp1 = -RCChannel(CH_YAW) - RCDiff(CH_YAW); |
| - | 261 | // exponential stick sensitivity in yawing rate |
|
| 252 | tmp1 = -RCChannel(CH_YAW) - RCDiff(CH_YAW); |
262 | tmp2 = (int32_t) staticParams.StickYawP * ((int32_t) tmp1 * abs(tmp1)) |
| 253 | // exponential stick sensitivity in yawing rate |
263 | / 512L; // expo y = ax + bx^2 |
| 254 | tmp2 = (int32_t) staticParams.StickYawP * ((int32_t)tmp1 * abs(tmp1)) / 512L; // expo y = ax + bx^2 |
264 | tmp2 += (staticParams.StickYawP * tmp1) / 4; |
| 255 | tmp2 += (staticParams.StickYawP * tmp1) / 4; |
265 | RC_PRTY[CONTROL_YAW] = tmp2; |
| 256 | RC_PRTY[CONTROL_YAW] = tmp2; |
266 | } |
| 257 | } |
267 | uint8_t command = RC_getStickCommand(); |
| 258 | uint8_t command = RC_getStickCommand(); |
268 | if (lastRCCommand == command) { |
| - | 269 | // Keep timer from overrunning. |
|
| 259 | if (lastRCCommand == command) { |
270 | if (commandTimer < COMMAND_TIMER) |
| 260 | // Keep timer from overrunning. |
271 | commandTimer++; |
| Line 261... | Line 272... | ||
| 261 | if (commandTimer < COMMAND_TIMER) commandTimer++; |
272 | } else { |
| 262 | } else { |
273 | // There was a change. |
| 263 | // There was a change. |
274 | lastRCCommand = command; |
| 264 | lastRCCommand = command; |
275 | commandTimer = 0; |
| 265 | commandTimer = 0; |
276 | } |
| 266 | } |
277 | } else { // Bad signal |
| Line 267... | Line 278... | ||
| 267 | } else { // Bad signal |
278 | RC_PRTY[CONTROL_PITCH] = RC_PRTY[CONTROL_ROLL] = RC_PRTY[CONTROL_THROTTLE] |
| 268 | RC_PRTY[CONTROL_PITCH] = RC_PRTY[CONTROL_ROLL] = RC_PRTY[CONTROL_THROTTLE] = RC_PRTY[CONTROL_YAW] = 0; |
279 | = RC_PRTY[CONTROL_YAW] = 0; |
| 269 | } |
280 | } |
| 270 | } |
281 | } |
| 271 | 282 | ||
| 272 | /* |
283 | /* |
| 273 | * Get Pitch, Roll, Throttle, Yaw values |
284 | * Get Pitch, Roll, Throttle, Yaw values |
| 274 | */ |
285 | */ |
| 275 | int16_t* RC_getPRTY(void) { |
286 | int16_t* RC_getPRTY(void) { |
| 276 | return RC_PRTY; |
287 | return RC_PRTY; |
| 277 | } |
288 | } |
| 278 | 289 | ||
| 279 | /* |
290 | /* |
| 280 | * Get other channel value |
291 | * Get other channel value |
| 281 | */ |
292 | */ |
| 282 | int16_t RC_getVariable (uint8_t varNum) { |
293 | int16_t RC_getVariable(uint8_t varNum) { |
| 283 | if (varNum < 4) |
294 | if (varNum < 4) |
| Line 284... | Line 295... | ||
| 284 | // 0th variable is 5th channel (1-based) etc. |
295 | // 0th variable is 5th channel (1-based) etc. |
| 285 | return RCChannel(varNum + 4) + POT_OFFSET; |
296 | return RCChannel(varNum + 4) + POT_OFFSET; |
| 286 | /* |
297 | /* |
| 287 | * Let's just say: |
298 | * Let's just say: |
| 288 | * The RC variable 4 is hardwired to channel 5 |
299 | * The RC variable 4 is hardwired to channel 5 |
| 289 | * The RC variable 5 is hardwired to channel 6 |
300 | * The RC variable 5 is hardwired to channel 6 |
| 290 | * The RC variable 6 is hardwired to channel 7 |
301 | * The RC variable 6 is hardwired to channel 7 |
| 291 | * The RC variable 7 is hardwired to channel 8 |
302 | * The RC variable 7 is hardwired to channel 8 |
| 292 | * Alternatively, one could bind them to channel (4 + varNum) - or whatever... |
303 | * Alternatively, one could bind them to channel (4 + varNum) - or whatever... |
| Line 293... | Line 304... | ||
| 293 | */ |
304 | */ |
| 294 | return PPM_in[varNum + 1] + POT_OFFSET; |
305 | return PPM_in[varNum + 1] + POT_OFFSET; |
| 295 | } |
306 | } |
| Line 312... | Line 323... | ||
| 312 | * R617 receiver.) This calibration is not strictly necessary, but |
323 | * R617 receiver.) This calibration is not strictly necessary, but |
| 313 | * for control logic that depends on the exact (non)center position |
324 | * for control logic that depends on the exact (non)center position |
| 314 | * of a stick, it may be useful. |
325 | * of a stick, it may be useful. |
| 315 | */ |
326 | */ |
| 316 | void RC_calibrate(void) { |
327 | void RC_calibrate(void) { |
| 317 | // Do nothing. |
328 | // Do nothing. |
| 318 | } |
329 | } |
| Line 319... | Line 330... | ||
| 319 | 330 | ||
| 320 | /* |
331 | /* |
| 321 | if (staticParams.GlobalConfig & CFG_HEADING_HOLD) { |
332 | if (staticParams.GlobalConfig & CFG_HEADING_HOLD) { |
| 322 | // In HH, it s OK to trim the R/C. The effect should not be conteracted here. |
333 | // In HH, it s OK to trim the R/C. The effect should not be conteracted here. |
| 323 | stickOffsetPitch = stickOffsetRoll = 0; |
334 | stickOffsetPitch = stickOffsetRoll = 0; |
| 324 | } else { |
335 | } else { |
| 325 | stickOffsetPitch = RCChannel(CH_PITCH) * staticParams.StickP; |
336 | stickOffsetPitch = RCChannel(CH_PITCH) * staticParams.StickP; |
| 326 | stickOffsetRoll = RCChannel(CH_ROLL) * staticParams.StickP; |
337 | stickOffsetRoll = RCChannel(CH_ROLL) * staticParams.StickP; |
| 327 | } |
338 | } |
| 328 | } |
339 | } |
| Line 329... | Line 340... | ||
| 329 | */ |
340 | */ |
| 330 | 341 | ||
| 331 | uint8_t RC_getCommand(void) { |
342 | uint8_t RC_getCommand(void) { |
| 332 | if (commandTimer == COMMAND_TIMER) { |
343 | if (commandTimer == COMMAND_TIMER) { |
| 333 | // Stick has been held long enough; command committed. |
344 | // Stick has been held long enough; command committed. |
| 334 | return lastRCCommand; |
345 | return lastRCCommand; |
| 335 | } |
346 | } |
| 336 | // Not yet sure what the command is. |
347 | // Not yet sure what the command is. |
| Line 337... | Line 348... | ||
| 337 | return COMMAND_NONE; |
348 | return COMMAND_NONE; |
| 338 | } |
349 | } |
| 339 | 350 | ||
| Line 354... | Line 365... | ||
| 354 | #define ARGUMENT_THRESHOLD 70 |
365 | #define ARGUMENT_THRESHOLD 70 |
| 355 | #define ARGUMENT_CHANNEL_VERTICAL CH_PITCH |
366 | #define ARGUMENT_CHANNEL_VERTICAL CH_PITCH |
| 356 | #define ARGUMENT_CHANNEL_HORIZONTAL CH_ROLL |
367 | #define ARGUMENT_CHANNEL_HORIZONTAL CH_ROLL |
| Line 357... | Line 368... | ||
| 357 | 368 | ||
| 358 | uint8_t RC_getArgument(void) { |
369 | uint8_t RC_getArgument(void) { |
| 359 | if(RCChannel(ARGUMENT_CHANNEL_VERTICAL) > ARGUMENT_THRESHOLD) { |
370 | if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) > ARGUMENT_THRESHOLD) { |
| 360 | // vertical is up |
371 | // vertical is up |
| 361 | if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
372 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
| 362 | return 2; |
373 | return 2; |
| 363 | if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
374 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
| 364 | return 4; |
375 | return 4; |
| 365 | return 3; |
376 | return 3; |
| 366 | } else if(RCChannel(ARGUMENT_CHANNEL_VERTICAL) < -ARGUMENT_THRESHOLD) { |
377 | } else if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) < -ARGUMENT_THRESHOLD) { |
| 367 | // vertical is down |
378 | // vertical is down |
| 368 | if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
379 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
| 369 | return 8; |
380 | return 8; |
| 370 | if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
381 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
| 371 | return 6; |
382 | return 6; |
| 372 | return 7; |
383 | return 7; |
| 373 | } else { |
384 | } else { |
| 374 | // vertical is around center |
385 | // vertical is around center |
| 375 | if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
386 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
| 376 | return 1; |
387 | return 1; |
| 377 | if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
388 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
| 378 | return 5; |
389 | return 5; |
| 379 | return 0; |
390 | return 0; |
| 380 | } |
391 | } |
| Line 381... | Line 392... | ||
| 381 | } |
392 | } |
| 382 | 393 | ||
| - | 394 | uint8_t RC_getLooping(uint8_t looping) { |
|
| - | 395 | // static uint8_t looping = 0; |
|
| - | 396 | ||
| - | 397 | if (RCChannel(CH_ROLL) > staticParams.LoopThreshold && staticParams.BitConfig |
|
| - | 398 | & CFG_LOOP_LEFT) { |
|
| - | 399 | looping |= (LOOPING_ROLL_AXIS | LOOPING_LEFT); |
|
| - | 400 | } else if ((looping & LOOPING_LEFT) && RCChannel(CH_ROLL) |
|
| - | 401 | < staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
|
| - | 402 | looping &= (~(LOOPING_ROLL_AXIS | LOOPING_LEFT)); |
|
| - | 403 | } |
|
| - | 404 | ||
| - | 405 | if (RCChannel(CH_ROLL) < -staticParams.LoopThreshold |
|
| - | 406 | && staticParams.BitConfig & CFG_LOOP_RIGHT) { |
|
| - | 407 | looping |= (LOOPING_ROLL_AXIS | LOOPING_RIGHT); |
|
| - | 408 | } else if ((looping & LOOPING_RIGHT) && RCChannel(CH_ROLL) |
|
| - | 409 | > -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
|
| Line 383... | Line 410... | ||
| 383 | uint8_t RC_getLooping(uint8_t looping) { |
410 | looping &= (~(LOOPING_ROLL_AXIS | LOOPING_RIGHT)); |
| 384 | // static uint8_t looping = 0; |
411 | } |
| 385 | - | ||
| 386 | if(RCChannel(CH_ROLL) > staticParams.LoopThreshold && staticParams.BitConfig & CFG_LOOP_LEFT) { |
412 | |
| 387 | looping |= (LOOPING_ROLL_AXIS | LOOPING_LEFT); |
- | |
| 388 | } else if((looping & LOOPING_LEFT) && RCChannel(CH_ROLL) < staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
- | |
| 389 | looping &= (~(LOOPING_ROLL_AXIS | LOOPING_LEFT)); |
- | |
| 390 | } |
413 | if (RCChannel(CH_PITCH) > staticParams.LoopThreshold |
| 391 | 414 | && staticParams.BitConfig & CFG_LOOP_UP) { |
|
| 392 | if(RCChannel(CH_ROLL) < -staticParams.LoopThreshold && staticParams.BitConfig & CFG_LOOP_RIGHT) { |
415 | looping |= (LOOPING_PITCH_AXIS | LOOPING_UP); |
| 393 | looping |= (LOOPING_ROLL_AXIS | LOOPING_RIGHT); |
416 | } else if ((looping & LOOPING_UP) && RCChannel(CH_PITCH) |
| 394 | } else if((looping & LOOPING_RIGHT) && RCChannel(CH_ROLL) > -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
417 | < staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
| 395 | looping &= (~(LOOPING_ROLL_AXIS | LOOPING_RIGHT)); |
418 | looping &= (~(LOOPING_PITCH_AXIS | LOOPING_UP)); |
| 396 | } |
419 | } |
| 397 | - | ||
| 398 | if(RCChannel(CH_PITCH) > staticParams.LoopThreshold && staticParams.BitConfig & CFG_LOOP_UP) { |
420 | |
| 399 | looping |= (LOOPING_PITCH_AXIS | LOOPING_UP); |
- | |
| 400 | } else if((looping & LOOPING_UP) && RCChannel(CH_PITCH) < staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
- | |
| 401 | looping &= (~(LOOPING_PITCH_AXIS | LOOPING_UP)); |
- | |
| 402 | } |
421 | if (RCChannel(CH_PITCH) < -staticParams.LoopThreshold |
| 403 | 422 | && staticParams.BitConfig & CFG_LOOP_DOWN) { |
|
| 404 | if(RCChannel(CH_PITCH) < -staticParams.LoopThreshold && staticParams.BitConfig & CFG_LOOP_DOWN) { |
423 | looping |= (LOOPING_PITCH_AXIS | LOOPING_DOWN); |
| 405 | looping |= (LOOPING_PITCH_AXIS | LOOPING_DOWN); |
424 | } else if ((looping & LOOPING_DOWN) && RCChannel(CH_PITCH) |
| Line 406... | Line 425... | ||
| 406 | } else if((looping & LOOPING_DOWN) && RCChannel(CH_PITCH) > -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
425 | > -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
| 407 | looping &= (~(LOOPING_PITCH_AXIS | LOOPING_DOWN)); |
426 | looping &= (~(LOOPING_PITCH_AXIS | LOOPING_DOWN)); |
| Line 408... | Line 427... | ||
| 408 | } |
427 | } |
| 409 | 428 | ||
| 410 | return looping; |
429 | return looping; |
| 411 | } |
430 | } |
| - | 431 | ||
| 412 | 432 | uint8_t RC_testCompassCalState(void) { |
|
| 413 | uint8_t RC_testCompassCalState(void) { |
433 | static uint8_t stick = 1; |
| 414 | static uint8_t stick = 1; |
434 | // if pitch is centered or top set stick to zero |
| 415 | // if pitch is centered or top set stick to zero |
435 | if (RCChannel(CH_PITCH) > -20) |
| 416 | if(RCChannel(CH_PITCH) > -20) stick = 0; |
436 | stick = 0; |
| 417 | // if pitch is down trigger to next cal state |
437 | // if pitch is down trigger to next cal state |
| 418 | if((RCChannel(CH_PITCH) < -70) && !stick) { |
438 | if ((RCChannel(CH_PITCH) < -70) && !stick) { |
| 419 | stick = 1; |
439 | stick = 1; |
| 420 | return 1; |
440 | return 1; |
| 421 | } |
441 | } |
| 422 | return 0; |
442 | return 0; |
| Line 429... | Line 449... | ||
| 429 | RC_getYaw, |
449 | RC_getYaw, |
| 430 | RC_getThrottle, |
450 | RC_getThrottle, |
| 431 | RC_getSignalQuality, |
451 | RC_getSignalQuality, |
| 432 | RC_calibrate |
452 | RC_calibrate |
| 433 | }; |
453 | }; |
| 434 | */ |
454 | */ |