| 10,6 → 10,9 |
|---|
| |
| // The channel array is 0-based! |
| volatile int16_t PPM_in[MAX_CHANNELS]; |
| volatile uint16_t RC_buffer[MAX_CHANNELS]; |
| volatile uint8_t inBfrPnt = 0; |
| |
| volatile uint8_t RCQuality; |
| |
| uint8_t lastRCCommand = COMMAND_NONE; |
| 55,6 → 58,21 |
|---|
| SREG = sreg; |
| } |
| |
| /* |
| * This new and much faster interrupt handler should reduce servo jolts. |
| */ |
| ISR(TIMER1_CAPT_vect) { |
| static uint16_t oldICR1 = 0; |
| uint16_t signal = (uint16_t)ICR1 - oldICR1; |
| oldICR1 = ICR1; |
| //sync gap? (3.5 ms < signal < 25.6 ms) |
| if (signal > TIME(3.5)) { |
| inBfrPnt = 0; |
| } else if (inBfrPnt<MAX_CHANNELS) { |
| RC_buffer[inBfrPnt++] = signal; |
| } |
| } |
| |
| /********************************************************************/ |
| /* Every time a positive edge is detected at PD6 */ |
| /********************************************************************/ |
| 76,66 → 94,26 |
|---|
| The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
| the syncronization gap. |
| */ |
| ISR(TIMER1_CAPT_vect) { // typical rate of 1 ms to 2 ms |
| int16_t signal, tmp; |
| static int16_t index; |
| static uint16_t oldICR1 = 0; |
| |
| // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
| // at the time the edge was detected |
| |
| // calculate the time delay to the previous event time which is stored in oldICR1 |
| // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
| // implicit handles a timer overflow 65535 -> 0 the right way. |
| signal = (uint16_t) ICR1 - oldICR1; |
| oldICR1 = ICR1; |
| |
| //sync gap? (3.5 ms < signal < 25.6 ms) |
| if (signal > TIME(3.5)) { |
| index = 0; |
| } else { // within the PPM frame |
| if (index < MAX_CHANNELS) { // PPM24 supports 12 channels |
| // check for valid signal length (0.8 ms < signal < 2.2 ms) |
| void RC_process(void) { |
| if (RCQuality) RCQuality--; |
| for (uint8_t channel=0; channel<MAX_CHANNELS; channel++) { |
| uint16_t signal = RC_buffer[channel]; |
| if (signal != 0) { |
| RC_buffer[channel] = 0; // reset to flag value already used. |
| if ((signal >= TIME(0.8)) && (signal < TIME(2.2))) { |
| // shift signal to zero symmetric range -154 to 159 |
| //signal -= 3750; // theoretical value |
| signal -= (TIME(1.5) - 128 + channelMap.trim-128); // best value with my Futaba in zero trim. |
| // check for stable signal |
| if (abs(signal - PPM_in[index]) < TIME(0.05)) { |
| signal -= (TIME(1.5) - 128 + channelMap.HWTrim); |
| if (abs(signal - PPM_in[channel]) < TIME(0.05)) { |
| // With 7 channels and 50 frames/sec, we get 350 channel values/sec. |
| if (RCQuality < 200) |
| RCQuality += 10; |
| else |
| RCQuality = 200; |
| RCQuality += 2; |
| } |
| // If signal is the same as before +/- 1, just keep it there. Naah lets get rid of this slimy sticy stuff. |
| // if (signal >= PPM_in[index] - 1 && signal <= PPM_in[index] + 1) { |
| // In addition, if the signal is very close to 0, just set it to 0. |
| if (signal >= -1 && signal <= 1) { |
| tmp = 0; |
| //} else { |
| // tmp = PPM_in[index]; |
| // } |
| } else |
| tmp = signal; |
| PPM_in[index] = tmp; // update channel value |
| PPM_in[channel] = signal; |
| } |
| index++; // next channel |
| // demux sum signal for channels 5 to 7 to J3, J4, J5 |
| // TODO: General configurability of this R/C channel forwarding. Or remove it completely - the |
| // channels are usually available at the receiver anyway. |
| // if(index == 5) J3HIGH; else J3LOW; |
| // if(index == 6) J4HIGH; else J4LOW; |
| // if(CPUType != ATMEGA644P) // not used as TXD1 |
| // { |
| // if(index == 7) J5HIGH; else J5LOW; |
| // } |
| } |
| } |
| } |
| |
| #define RCChannel(dimension) PPM_in[channelMap.channels[dimension]] |
| #define COMMAND_CHANNEL_VERTICAL CH_THROTTLE |
| #define COMMAND_CHANNEL_HORIZONTAL CH_YAW |
| |
| uint8_t getControlModeSwitch(void) { |
| int16_t channel = RCChannel(CH_MODESWITCH); |
| 160,11 → 138,13 |
|---|
| int16_t channel = RCChannel(CH_THROTTLE); |
| |
| if (channel <= -TIME(0.55)) { |
| lastRCCommand = COMMAND_GYROCAL; |
| debugOut.analog[17] = 1; |
| int16_t aux = RCChannel(COMMAND_CHANNEL_HORIZONTAL); |
| if (abs(aux) >= TIME(0.3)) // If we pull on the stick, it is gyrocal. Else it is RC cal. |
| lastRCCommand = COMMAND_GYROCAL; |
| else |
| lastRCCommand = COMMAND_RCCAL; |
| } else { |
| lastRCCommand = COMMAND_NONE; |
| debugOut.analog[17] = 0; |
| } |
| return lastRCCommand; |
| } |
| 177,13 → 157,12 |
|---|
| * Get Pitch, Roll, Throttle, Yaw values |
| */ |
| void RC_periodicTaskAndPRYT(int16_t* PRYT) { |
| if (RCQuality) { |
| RCQuality--; |
| PRYT[CONTROL_ELEVATOR] = RCChannel(CH_ELEVATOR); |
| PRYT[CONTROL_AILERONS] = RCChannel(CH_AILERONS); |
| PRYT[CONTROL_RUDDER] = RCChannel(CH_RUDDER); |
| PRYT[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE); |
| } // if RCQuality is no good, we just do nothing. |
| RC_process(); |
| |
| PRYT[CONTROL_ELEVATOR] = RCChannel(CH_ELEVATOR) - rcTrim.trim[CH_ELEVATOR]; |
| PRYT[CONTROL_AILERONS] = RCChannel(CH_AILERONS) - rcTrim.trim[CH_AILERONS]; |
| PRYT[CONTROL_RUDDER] = RCChannel(CH_RUDDER) - rcTrim.trim[CH_RUDDER]; |
| PRYT[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE); // no trim on throttle! |
| } |
| |
| /* |
| 192,12 → 171,12 |
|---|
| int16_t RC_getVariable(uint8_t varNum) { |
| if (varNum < 4) |
| // 0th variable is 5th channel (1-based) etc. |
| return (RCChannel(varNum + CH_POTS) >> 2) + channelMap.variableOffset; |
| return (RCChannel(varNum + CH_POTS) >> 3) + channelMap.variableOffset; |
| /* |
| * Let's just say: |
| * The RC variable i is hardwired to channel i, i>=4 |
| */ |
| return (PPM_in[varNum] >> 2) + channelMap.variableOffset; |
| return (PPM_in[varNum] >> 3) + channelMap.variableOffset; |
| } |
| |
| uint8_t RC_getSignalQuality(void) { |
| 211,9 → 190,18 |
|---|
| } |
| |
| void RC_calibrate(void) { |
| // Do nothing. |
| rcTrim.trim[CH_ELEVATOR] = RCChannel(CH_ELEVATOR); |
| rcTrim.trim[CH_AILERONS] = RCChannel(CH_AILERONS); |
| rcTrim.trim[CH_RUDDER] = RCChannel(CH_RUDDER); |
| rcTrim.trim[CH_THROTTLE] = 0; |
| } |
| |
| int16_t RC_getZeroThrottle() { |
| int16_t RC_getZeroThrottle(void) { |
| return TIME (-0.5); |
| } |
| |
| void RC_setZeroTrim(void) { |
| for (uint8_t i=0; i<MAX_CHANNELS; i++) { |
| rcTrim.trim[i] = 0; |
| } |
| } |