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1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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3 | // + Nur für den privaten Gebrauch |
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4 | // + www.MikroKopter.com |
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5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig 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, Bestückung und Verkauf von Platinen oder Bausätzen, |
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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 veröffentlicht, |
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14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen 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 veröffentlicht 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 Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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21 | // + Benutzung auf eigene Gefahr |
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22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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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 zulässig |
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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 excample: 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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54 | |||
55 | #include "rc.h" |
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1775 | - | 56 | #include "uart0.h" |
1612 | dongfang | 57 | #include "controlMixer.h" |
58 | #include "configuration.h" |
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1775 | - | 59 | #include "commands.h" |
1612 | dongfang | 60 | |
61 | // The channel array is 1-based. The 0th entry is not used. |
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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 int16_t RC_Quality = 0; |
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66 | int16_t RC_PRTY[4]; |
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1775 | - | 67 | uint8_t lastRCCommand = COMMAND_NONE; |
68 | uint8_t commandTimer = 0; |
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1612 | dongfang | 69 | |
1775 | - | 70 | // Useless. Just trim on the R/C instead. |
71 | // int16_t stickOffsetPitch = 0, stickOffsetRoll = 0; |
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1612 | dongfang | 72 | |
73 | /*************************************************************** |
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74 | * 16bit timer 1 is used to decode the PPM-Signal |
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75 | ***************************************************************/ |
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76 | void RC_Init (void) { |
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77 | uint8_t sreg = SREG; |
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78 | |||
79 | // disable all interrupts before reconfiguration |
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80 | cli(); |
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81 | |||
82 | // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
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83 | DDRD &= ~(1<<DDD6); |
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84 | PORTD |= (1<<PORTD6); |
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85 | |||
86 | // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
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87 | // set as output |
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1775 | - | 88 | DDRD |= (1<<DDD5)| (1<<DDD4) | (1<<DDD3); |
1612 | dongfang | 89 | // low level |
1775 | - | 90 | PORTD &= ~((1<<PORTD5) | (1<<PORTD4) | (1<<PORTD3)); |
1612 | dongfang | 91 | |
92 | // PD3 can't be used if 2nd UART is activated |
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93 | // because TXD1 is at that port |
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94 | if(CPUType != ATMEGA644P) { |
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95 | DDRD |= (1<<PORTD3); |
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96 | PORTD &= ~(1<<PORTD3); |
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97 | } |
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98 | |||
99 | // Timer/Counter1 Control Register A, B, C |
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100 | |||
101 | // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
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102 | // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
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103 | // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
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104 | // Enable input capture noise cancler (bit: ICNC1=1) |
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105 | // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
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106 | // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2µs |
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107 | // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
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108 | TCCR1A &= ~((1<<COM1A1)|(1<<COM1A0)|(1<<COM1B1)|(1<<COM1B0)|(1<<WGM11)|(1<<WGM10)); |
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109 | TCCR1B &= ~((1<<WGM13)|(1<<WGM12)|(1<<CS12)); |
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110 | TCCR1B |= (1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1); |
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111 | TCCR1C &= ~((1<<FOC1A)|(1<<FOC1B)); |
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112 | |||
113 | // Timer/Counter1 Interrupt Mask Register |
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114 | |||
115 | // Enable Input Capture Interrupt (bit: ICIE1=1) |
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116 | // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
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117 | // Enable Overflow Interrupt (bit: TOIE1=0) |
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118 | TIMSK1 &= ~((1<<OCIE1B)|(1<<OCIE1A)|(1<<TOIE1)); |
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119 | TIMSK1 |= (1<<ICIE1); |
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120 | |||
121 | RC_Quality = 0; |
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122 | |||
123 | SREG = sreg; |
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124 | } |
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125 | |||
126 | /********************************************************************/ |
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127 | /* Every time a positive edge is detected at PD6 */ |
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128 | /********************************************************************/ |
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129 | /* t-Frame |
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130 | <-----------------------------------------------------------------------> |
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131 | ____ ______ _____ ________ ______ sync gap ____ |
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132 | | | | | | | | | | | | |
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133 | | | | | | | | | | | | |
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1634 | - | 134 | ___| |_| |_| |_| |_.............| |________________| |
1612 | dongfang | 135 | <-----><-------><------><--------> <------> <--- |
136 | t0 t1 t2 t4 tn t0 |
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137 | |||
138 | The PPM-Frame length is 22.5 ms. |
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139 | 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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140 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
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141 | The maximum time delay of two events coding a chanel is ( 1.7 + 0.3) ms = 2 ms. |
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142 | The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
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143 | The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
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144 | 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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145 | the syncronization gap. |
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146 | */ |
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147 | ISR(TIMER1_CAPT_vect) { // typical rate of 1 ms to 2 ms |
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148 | int16_t signal = 0, tmp; |
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149 | static int16_t index; |
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150 | static uint16_t oldICR1 = 0; |
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151 | |||
152 | // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
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153 | // at the time the edge was detected |
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154 | |||
155 | // calculate the time delay to the previous event time which is stored in oldICR1 |
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156 | // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
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157 | // implicit handles a timer overflow 65535 -> 0 the right way. |
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158 | signal = (uint16_t) ICR1 - oldICR1; |
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159 | oldICR1 = ICR1; |
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160 | |||
161 | //sync gap? (3.52 ms < signal < 25.6 ms) |
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162 | if((signal > 1100) && (signal < 8000)) { |
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163 | // if a sync gap happens and there where at least 4 channels decoded before |
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164 | // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
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165 | if(index >= 4) { |
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166 | NewPpmData = 0; // Null means NewData for the first 4 channels |
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167 | } |
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168 | // synchronize channel index |
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169 | index = 1; |
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170 | } else { // within the PPM frame |
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171 | if(index < MAX_CHANNELS-1) // PPM24 supports 12 channels |
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172 | { |
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173 | // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
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174 | // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
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1775 | - | 175 | if((signal > 250) && (signal < 687)) { |
1612 | dongfang | 176 | // shift signal to zero symmetric range -154 to 159 |
1775 | - | 177 | signal -= 470; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
1612 | dongfang | 178 | // check for stable signal |
179 | if(abs(signal - PPM_in[index]) < 6) { |
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180 | if(RC_Quality < 200) RC_Quality +=10; |
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181 | else RC_Quality = 200; |
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182 | } |
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1775 | - | 183 | // If signal is the same as before +/- 1, just keep it there. |
184 | if (signal>=PPM_in[index]-1 && signal<=PPM_in[index]+1) { |
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185 | // In addition, if the signal is very close to 0, just set it to 0. |
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186 | if (signal >=-1 && signal <= 1) { |
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187 | tmp = 0; |
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188 | } else { |
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189 | tmp = PPM_in[index]; |
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190 | } |
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191 | } |
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192 | else |
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193 | tmp = signal; |
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1612 | dongfang | 194 | // calculate signal difference on good signal level |
195 | if(RC_Quality >= 195) |
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196 | PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
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197 | else PPM_diff[index] = 0; |
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198 | PPM_in[index] = tmp; // update channel value |
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199 | } |
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200 | index++; // next channel |
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201 | // demux sum signal for channels 5 to 7 to J3, J4, J5 |
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202 | // TODO: General configurability of this R/C channel forwarding. Or remove it completely - the |
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203 | // channels are usually available at the receiver anyway. |
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204 | // if(index == 5) J3HIGH; else J3LOW; |
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205 | // if(index == 6) J4HIGH; else J4LOW; |
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206 | // if(CPUType != ATMEGA644P) // not used as TXD1 |
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207 | // { |
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208 | // if(index == 7) J5HIGH; else J5LOW; |
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209 | // } |
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210 | } |
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211 | } |
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212 | } |
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213 | |||
214 | #define RCChannel(dimension) PPM_in[staticParams.ChannelAssignment[dimension]] |
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215 | #define RCDiff(dimension) PPM_diff[staticParams.ChannelAssignment[dimension]] |
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1775 | - | 216 | #define COMMAND_THRESHOLD 85 |
217 | #define COMMAND_CHANNEL_VERTICAL CH_THROTTLE |
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218 | #define COMMAND_CHANNEL_HORIZONTAL CH_YAW |
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1612 | dongfang | 219 | |
1775 | - | 220 | // Internal. |
221 | uint8_t RC_getStickCommand(void) { |
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222 | if(RCChannel(COMMAND_CHANNEL_VERTICAL) > COMMAND_THRESHOLD) { |
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223 | // vertical is up |
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224 | if(RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
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225 | return COMMAND_GYROCAL; |
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226 | if(RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
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227 | return COMMAND_ACCCAL; |
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228 | return COMMAND_NONE; |
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229 | } else if(RCChannel(COMMAND_CHANNEL_VERTICAL) < -COMMAND_THRESHOLD) { |
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230 | // vertical is down |
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231 | if(RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
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232 | return COMMAND_STOP; |
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233 | if(RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
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234 | return COMMAND_START; |
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235 | return COMMAND_NONE; |
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236 | } |
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237 | // vertical is around center |
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238 | return COMMAND_NONE; |
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239 | } |
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240 | |||
1612 | dongfang | 241 | /* |
242 | * This must be called (as the only thing) for each control loop cycle (488 Hz). |
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243 | */ |
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244 | void RC_update() { |
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245 | int16_t tmp1, tmp2; |
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246 | if(RC_Quality) { |
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247 | RC_Quality--; |
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248 | if (NewPpmData-- == 0) { |
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1775 | - | 249 | RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.StickP - /* stickOffsetPitch */ + RCDiff(CH_PITCH) * staticParams.StickD; |
250 | RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.StickP - /* stickOffsetRoll */ + RCDiff(CH_ROLL) * staticParams.StickD; |
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1635 | - | 251 | RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + PPM_diff[staticParams.ChannelAssignment[CH_THROTTLE]] * dynamicParams.UserParams[3] + 120; |
1612 | dongfang | 252 | if (RC_PRTY[CONTROL_THROTTLE] < 0) RC_PRTY[CONTROL_THROTTLE] = 0; // Throttle is non negative. |
253 | tmp1 = -RCChannel(CH_YAW) - RCDiff(CH_YAW); |
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1775 | - | 254 | // exponential stick sensitivity in yawing rate |
1612 | dongfang | 255 | tmp2 = (int32_t) staticParams.StickYawP * ((int32_t)tmp1 * abs(tmp1)) / 512L; // expo y = ax + bx^2 |
256 | tmp2 += (staticParams.StickYawP * tmp1) / 4; |
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257 | RC_PRTY[CONTROL_YAW] = tmp2; |
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258 | } |
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1775 | - | 259 | uint8_t command = RC_getStickCommand(); |
260 | if (lastRCCommand == command) { |
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261 | // Keep timer from overrunning. |
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262 | if (commandTimer < COMMAND_TIMER) commandTimer++; |
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263 | } else { |
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264 | // There was a change. |
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265 | lastRCCommand = command; |
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266 | commandTimer = 0; |
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267 | } |
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1612 | dongfang | 268 | } else { // Bad signal |
269 | RC_PRTY[CONTROL_PITCH] = RC_PRTY[CONTROL_ROLL] = RC_PRTY[CONTROL_THROTTLE] = RC_PRTY[CONTROL_YAW] = 0; |
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270 | } |
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271 | } |
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272 | |||
273 | /* |
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274 | * Get Pitch, Roll, Throttle, Yaw values |
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275 | */ |
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276 | int16_t* RC_getPRTY(void) { |
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277 | return RC_PRTY; |
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278 | } |
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279 | |||
280 | /* |
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281 | * Get other channel value |
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282 | */ |
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1775 | - | 283 | int16_t RC_getVariable (uint8_t varNum) { |
1612 | dongfang | 284 | if (varNum < 4) |
285 | // 0th variable is 5th channel (1-based) etc. |
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1775 | - | 286 | return RCChannel(varNum + 4) + POT_OFFSET; |
1612 | dongfang | 287 | /* |
288 | * Let's just say: |
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289 | * The RC variable 4 is hardwired to channel 5 |
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290 | * The RC variable 5 is hardwired to channel 6 |
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291 | * The RC variable 6 is hardwired to channel 7 |
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292 | * The RC variable 7 is hardwired to channel 8 |
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293 | * Alternatively, one could bind them to channel (4 + varNum) - or whatever... |
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294 | */ |
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1775 | - | 295 | return PPM_in[varNum + 1] + POT_OFFSET; |
1612 | dongfang | 296 | } |
297 | |||
298 | uint8_t RC_getSignalQuality(void) { |
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299 | if (RC_Quality >= 160) |
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300 | return SIGNAL_GOOD; |
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301 | if (RC_Quality >= 140) |
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302 | return SIGNAL_OK; |
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303 | if (RC_Quality >= 120) |
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304 | return SIGNAL_BAD; |
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305 | return SIGNAL_LOST; |
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306 | } |
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307 | |||
308 | /* |
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309 | * To should fired only when the right stick is in the center position. |
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310 | * This will cause the value of pitch and roll stick to be adjusted |
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311 | * to zero (not just to near zero, as per the assumption in rc.c |
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312 | * about the rc signal. I had values about 50..70 with a Futaba |
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313 | * R617 receiver.) This calibration is not strictly necessary, but |
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314 | * for control logic that depends on the exact (non)center position |
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315 | * of a stick, it may be useful. |
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316 | */ |
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317 | void RC_calibrate(void) { |
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1775 | - | 318 | // Do nothing. |
319 | } |
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320 | |||
321 | /* |
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1612 | dongfang | 322 | if (staticParams.GlobalConfig & CFG_HEADING_HOLD) { |
323 | // In HH, it s OK to trim the R/C. The effect should not be conteracted here. |
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324 | stickOffsetPitch = stickOffsetRoll = 0; |
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325 | } else { |
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1645 | - | 326 | stickOffsetPitch = RCChannel(CH_PITCH) * staticParams.StickP; |
327 | stickOffsetRoll = RCChannel(CH_ROLL) * staticParams.StickP; |
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1612 | dongfang | 328 | } |
329 | } |
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1775 | - | 330 | */ |
1612 | dongfang | 331 | |
332 | uint8_t RC_getCommand(void) { |
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1775 | - | 333 | if (commandTimer == COMMAND_TIMER) { |
334 | // Stick has been held long enough; command committed. |
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335 | return lastRCCommand; |
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1612 | dongfang | 336 | } |
1775 | - | 337 | // Not yet sure what the command is. |
338 | return COMMAND_NONE; |
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1612 | dongfang | 339 | } |
340 | |||
341 | /* |
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342 | * Command arguments on R/C: |
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343 | * 2--3--4 |
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344 | * | | + |
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345 | * 1 0 5 ^ 0 |
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346 | * | | | |
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347 | * 8--7--6 |
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348 | * |
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349 | * + <-- |
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350 | * 0 |
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351 | * |
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352 | * Not in any of these positions: 0 |
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353 | */ |
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1635 | - | 354 | |
1612 | dongfang | 355 | #define ARGUMENT_THRESHOLD 70 |
1635 | - | 356 | #define ARGUMENT_CHANNEL_VERTICAL CH_PITCH |
357 | #define ARGUMENT_CHANNEL_HORIZONTAL CH_ROLL |
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358 | |||
1612 | dongfang | 359 | uint8_t RC_getArgument(void) { |
1635 | - | 360 | if(RCChannel(ARGUMENT_CHANNEL_VERTICAL) > ARGUMENT_THRESHOLD) { |
361 | // vertical is up |
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362 | if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
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1612 | dongfang | 363 | return 2; |
1635 | - | 364 | if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
1612 | dongfang | 365 | return 4; |
366 | return 3; |
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1635 | - | 367 | } else if(RCChannel(ARGUMENT_CHANNEL_VERTICAL) < -ARGUMENT_THRESHOLD) { |
368 | // vertical is down |
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369 | if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
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1612 | dongfang | 370 | return 8; |
1635 | - | 371 | if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
1612 | dongfang | 372 | return 6; |
373 | return 7; |
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374 | } else { |
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1635 | - | 375 | // vertical is around center |
376 | if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
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1612 | dongfang | 377 | return 1; |
1635 | - | 378 | if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
1612 | dongfang | 379 | return 5; |
380 | return 0; |
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381 | } |
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382 | } |
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383 | |||
384 | uint8_t RC_getLooping(uint8_t looping) { |
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385 | // static uint8_t looping = 0; |
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386 | |||
387 | if(RCChannel(CH_ROLL) > staticParams.LoopThreshold && staticParams.BitConfig & CFG_LOOP_LEFT) { |
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388 | looping |= (LOOPING_ROLL_AXIS | LOOPING_LEFT); |
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389 | } else if((looping & LOOPING_LEFT) && RCChannel(CH_ROLL) < staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
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390 | looping &= (~(LOOPING_ROLL_AXIS | LOOPING_LEFT)); |
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391 | } |
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392 | |||
393 | if(RCChannel(CH_ROLL) < -staticParams.LoopThreshold && staticParams.BitConfig & CFG_LOOP_RIGHT) { |
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394 | looping |= (LOOPING_ROLL_AXIS | LOOPING_RIGHT); |
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395 | } else if((looping & LOOPING_RIGHT) && RCChannel(CH_ROLL) > -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
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396 | looping &= (~(LOOPING_ROLL_AXIS | LOOPING_RIGHT)); |
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397 | } |
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398 | |||
399 | if(RCChannel(CH_PITCH) > staticParams.LoopThreshold && staticParams.BitConfig & CFG_LOOP_UP) { |
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400 | looping |= (LOOPING_PITCH_AXIS | LOOPING_UP); |
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401 | } else if((looping & LOOPING_UP) && RCChannel(CH_PITCH) < staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
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402 | looping &= (~(LOOPING_PITCH_AXIS | LOOPING_UP)); |
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403 | } |
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404 | |||
405 | if(RCChannel(CH_PITCH) < -staticParams.LoopThreshold && staticParams.BitConfig & CFG_LOOP_DOWN) { |
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406 | looping |= (LOOPING_PITCH_AXIS | LOOPING_DOWN); |
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407 | } else if((looping & LOOPING_DOWN) && RCChannel(CH_PITCH) > -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
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408 | looping &= (~(LOOPING_PITCH_AXIS | LOOPING_DOWN)); |
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409 | } |
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410 | |||
411 | return looping; |
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412 | } |
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413 | |||
1775 | - | 414 | uint8_t RC_testCompassCalState(void) { |
415 | static uint8_t stick = 1; |
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416 | // if pitch is centered or top set stick to zero |
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417 | if(RCChannel(CH_PITCH) > -20) stick = 0; |
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418 | // if pitch is down trigger to next cal state |
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419 | if((RCChannel(CH_PITCH) < -70) && !stick) { |
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420 | stick = 1; |
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421 | return 1; |
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422 | } |
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423 | return 0; |
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424 | } |
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1612 | dongfang | 425 | /* |
426 | * Abstract controls are not used at the moment. |
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427 | t_control rc_control = { |
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428 | RC_getPitch, |
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429 | RC_getRoll, |
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430 | RC_getYaw, |
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431 | RC_getThrottle, |
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432 | RC_getSignalQuality, |
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433 | RC_calibrate |
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434 | }; |
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435 | */ |