| /branches/dongfang_FC_fixedwing/arduino_atmega328/README.txt |
|---|
| 5,7 → 5,8 |
| PB0/ICP1 PPM receiver signal in |
| PB1,2 Digital outputs (output.c) |
| PB3,4,5 Left free for SPI use |
| PB3,4 Left free for SPI use |
| PB5 Green Arduino LED (use as LED2). |
| PB6,7 Xtal |
| PC0,1,2,3 unused |
| 20,8 → 21,8 |
| PD3/OC2B: CLK of 4017 change B3 |
| PD4: RESET of 4017 |
| PD5 Beeper |
| PD6,7 LEDs |
| PD6 Red LED |
| PD7 unusd |
| ADC6 Battery voltage divider |
| ADC7 Airspeed sensor |
| /branches/dongfang_FC_fixedwing/arduino_atmega328/commands.h |
|---|
| 2,6 → 2,7 |
| #define _COMMANDS_H |
| #include <inttypes.h> |
| #define COMMAND_NONE 0 |
| #define COMMAND_GYROCAL 1 |
| #define COMMAND_CHMOD 2 |
| /branches/dongfang_FC_fixedwing/arduino_atmega328/controlMixer.c |
|---|
| 54,7 → 54,7 |
| int16_t targetvalue; |
| for (i=0; i < VARIABLE_COUNT; i++) { |
| targetvalue = RC_getVariable(i); |
| if (i<2) debugOut.analog[18+i] = targetvalue; |
| // if (i<2) debugOut.analog[18+i] = targetvalue; |
| if (targetvalue < 0) |
| targetvalue = 0; |
| if (variables[i] < targetvalue && variables[i] < 255) |
| /branches/dongfang_FC_fixedwing/arduino_atmega328/main.c |
|---|
| 114,7 → 114,7 |
| } else { |
| debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER; |
| } |
| J4HIGH; |
| PD2HIGH; |
| // This is probably the correct order: |
| // The attitude computation should not depend on anything from control (except maybe the estimation of control activity level) |
| // The control may depend on attitude - for example, attitude control uses pitch and roll angles, compass control uses yaw angle etc. |
| 123,7 → 123,7 |
| controlMixer_periodicTask(); |
| commands_handleCommands(); |
| flight_control(); |
| J4LOW; |
| PD2LOW; |
| // Allow Serial Data Transmit if motors must not updated or motors are not running |
| if (!runFlightControl || !isFlying) { |
| /branches/dongfang_FC_fixedwing/arduino_atmega328/output.h |
|---|
| 3,18 → 3,10 |
| #include <avr/io.h> |
| #define J3HIGH PORTD |= (1<<PORTD5) |
| #define J3LOW PORTD &= ~(1<<PORTD5) |
| #define J3TOGGLE PORTD ^= (1<<PORTD5) |
| #define PD2HIGH PORTD |= (1<<PORTD2) |
| #define PD2LOW PORTD &= ~(1<<PORTD2) |
| #define PD2TOGGLE PORTD ^= (1<<PORTD2) |
| #define J4HIGH PORTD |= (1<<PORTD2) |
| #define J4LOW PORTD &= ~(1<<PORTD2) |
| #define J4TOGGLE PORTD ^= (1<<PORTD2) |
| #define J5HIGH PORTD |= (1<<PORTD3) |
| #define J5LOW PORTD &= ~(1<<PORTD3) |
| #define J5TOGGLE PORTD ^= (1<<PORTD3) |
| // invert means: An "1" bit in digital debug data make a LOW on the output. |
| #define DIGITAL_DEBUG_INVERT 0 |
| /branches/dongfang_FC_fixedwing/arduino_atmega328/rc.c |
|---|
| 92,7 → 92,6 |
| //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 |
| /branches/dongfang_FC_fixedwing/arduino_atmega328/rc.h |
|---|
| 29,14 → 29,6 |
| // Set this for a full stick range of about -1024..1024. |
| #define RC_SCALING 1 |
| /* |
| int16_t RC_getPitch (void); |
| int16_t RC_getYaw (void); |
| int16_t RC_getRoll (void); |
| uint16_t RC_getThrottle (void); |
| uint8_t RC_hasNewRCData (void); |
| */ |
| // void RC_periodicTask(void); |
| void RC_periodicTaskAndPRYT(int16_t* PRYT); |
| uint8_t RC_getArgument(void); |