| 3,22 → 3,17 |
|---|
| #include <avr/interrupt.h> |
| |
| #include "rc.h" |
| #include "uart0.h" |
| #include "controlMixer.h" |
| #include "configuration.h" |
| #include "commands.h" |
| #include "output.h" |
| |
| // The channel array is 1-based. The 0th entry is not used. |
| // The channel array is 0-based! |
| volatile int16_t PPM_in[MAX_CHANNELS]; |
| volatile uint8_t NewPpmData = 1; |
| volatile int16_t RC_Quality = 0; |
| int16_t RC_PRTY[4]; |
| volatile uint8_t RCQuality; |
| uint8_t lastRCCommand = COMMAND_NONE; |
| uint8_t commandTimer = 0; |
| |
| // Useless. Just trim on the R/C instead. |
| // int16_t stickOffsetPitch = 0, stickOffsetRoll = 0; |
| |
| /*************************************************************** |
| * 16bit timer 1 is used to decode the PPM-Signal |
| ***************************************************************/ |
| 29,20 → 24,20 |
|---|
| cli(); |
| |
| // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
| DDRD &= ~(1 << DDD6); |
| PORTD |= (1 << PORTD6); |
| DDRD &= ~(1<<6); |
| PORTD |= (1<<PORTD6); |
| |
| // 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); |
| DDRD |= (1<<DDD5) | (1<<DDD4) | (1<<DDD3); |
| // low level |
| PORTD &= ~((1 << PORTD5) | (1 << PORTD4) | (1 << PORTD3)); |
| 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); |
| DDRD |= (1<<PORTD3); |
| PORTD &= ~(1<<PORTD3); |
| } |
| |
| // Timer/Counter1 Control Register A, B, C |
| 52,23 → 47,21 |
|---|
| // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
| // Enable input capture noise cancler (bit: ICNC1=1) |
| // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
| // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2µs |
| // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2�s |
| // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
| TCCR1A &= ~((1 << COM1A1) | (1 << COM1A0) | (1 << COM1B1) | (1 << COM1B0) |
| | (1 << WGM11) | (1 << WGM10)); |
| 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); |
| TCCR1C &= ~((1 << FOC1A) | (1 << FOC1B)); |
| |
| // Timer/Counter1 Interrupt Mask Register |
| |
| // Enable Input Capture Interrupt (bit: ICIE1=1) |
| // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
| // Enable Overflow Interrupt (bit: TOIE1=0) |
| TIMSK1 &= ~((1 << OCIE1B) | (1 << OCIE1A) | (1 << TOIE1)); |
| TIMSK1 |= (1 << ICIE1); |
| TIMSK1 &= ~((1<<OCIE1B) | (1<<OCIE1A) | (1<<TOIE1)); |
| TIMSK1 |= (1<<ICIE1); |
| |
| RC_Quality = 0; |
| RCQuality = 0; |
| |
| SREG = sreg; |
| } |
| 77,26 → 70,25 |
|---|
| /* Every time a positive edge is detected at PD6 */ |
| /********************************************************************/ |
| /* t-Frame |
| <-----------------------------------------------------------------------> |
| ____ ______ _____ ________ ______ sync gap ____ |
| | | | | | | | | | | | |
| | | | | | | | | | | | |
| <-----------------------------------------------------------------------> |
| ____ ______ _____ ________ ______ sync gap ____ |
| | | | | | | | | | | | |
| | | | | | | | | | | | |
| ___| |_| |_| |_| |_.............| |________________| |
| <-----><-------><------><--------> <------> <--- |
| <-----><-------><------><----------- <------> <--- |
| t0 t1 t2 t4 tn t0 |
| |
| The PPM-Frame length is 22.5 ms. |
| Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
| The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
| The maximum time delay of two events coding a chanel is ( 1.7 + 0.3) ms = 2 ms. |
| The maximum time delay of two events coding a channel is ( 1.7 + 0.3) ms = 2 ms. |
| The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
| The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
| 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 = 0; |
| ISR(TIMER1_CAPT_vect) { // typical rate of 1 ms to 2 ms |
| int16_t signal = 0, tmp; |
| static int16_t index; |
| static uint16_t oldICR1 = 0; |
| |
| 111,87 → 103,96 |
|---|
| |
| //sync gap? (3.52 ms < signal < 25.6 ms) |
| if ((signal > 1100) && (signal < 8000)) { |
| // if a sync gap happens and there where at least 4 channels decoded before |
| // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
| if (index >= 4) { |
| NewPpmData = 0; // Null means NewData for the first 4 channels |
| } |
| // synchronize channel index |
| index = 1; |
| index = 0; |
| } else { // within the PPM frame |
| if (index < MAX_CHANNELS - 1) { // PPM24 supports 12 channels |
| 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 = 312.5 to 2.0ms/3.2us = 625 |
| // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
| if ((signal > 250) && (signal < 687)) { |
| // shift signal to zero symmetric range -154 to 159 |
| signal -= 475; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
| // Signal is now in the +/- 156 range (nominally). |
| signal -= 475; // offset of 1.4912 ms ??? (469 * 3.2us = 1.5008 ms) |
| // check for stable signal |
| if (abs(signal - PPM_in[index]) < 6) { |
| if (RC_Quality < 200) |
| RC_Quality += 10; |
| if (RCQuality < 200) |
| RCQuality += 10; |
| else |
| RC_Quality = 200; |
| RCQuality = 200; |
| } |
| PPM_in[index] = signal; // update channel value |
| // 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 |
| } |
| 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[staticParams.ChannelAssignment[dimension]] |
| #define RCChannel(dimension) PPM_in[channelMap.channels[dimension]] |
| #define COMMAND_THRESHOLD 85 |
| #define COMMAND_CHANNEL_VERTICAL CH_THROTTLE |
| #define COMMAND_CHANNEL_HORIZONTAL CH_YAW |
| |
| /* |
| * This must be called (as the only thing) for each control loop cycle (488 Hz). |
| * Get Pitch, Roll, Throttle, Yaw values |
| */ |
| void RC_update() { |
| if (RC_Quality) { |
| RC_Quality--; |
| if (NewPpmData-- == 0) { |
| RC_PRTY[CONTROL_ELEVATOR] = RCChannel(CH_ELEVATOR) * staticParams.StickElevatorP * 2/ 10; |
| RC_PRTY[CONTROL_AILERONS] = RCChannel(CH_AILERONS) * staticParams.StickAileronsP * 2 / 10; |
| RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) * 2 + 310; |
| if (RC_PRTY[CONTROL_THROTTLE] < 0) |
| RC_PRTY[CONTROL_THROTTLE] = 0; // Throttle is non negative. |
| RC_PRTY[CONTROL_RUDDER] = RCChannel(CH_RUDDER) * staticParams.StickRudderP * 2 / 10; |
| void RC_periodicTaskAndPRTY(int16_t* PRTY) { |
| if (RCQuality) { |
| RCQuality--; |
| PRTY[CONTROL_ELEVATOR] = RCChannel(CH_ELEVATOR); |
| PRTY[CONTROL_AILERONS] = RCChannel(CH_AILERONS); |
| PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE); |
| PRTY[CONTROL_RUDDER] = RCChannel(CH_RUDDER); |
| |
| uint8_t command = COMMAND_NONE; //RC_getStickCommand(); |
| if (lastRCCommand == command) { |
| // Keep timer from overrunning. |
| if (commandTimer < COMMAND_TIMER) |
| commandTimer++; |
| } else { |
| // There was a change. |
| lastRCCommand = command; |
| commandTimer = 0; |
| } |
| } else { // Bad signal |
| RC_PRTY[CONTROL_ELEVATOR] = RC_PRTY[CONTROL_AILERONS] = RC_PRTY[CONTROL_THROTTLE] |
| = RC_PRTY[CONTROL_RUDDER] = 0; |
| } |
| } // if RCQuality is no good, we just do nothing. |
| } |
| |
| /* |
| * Get Pitch, Roll, Throttle, Yaw values |
| */ |
| int16_t* RC_getEATR(void) { |
| return RC_PRTY; |
| } |
| |
| /* |
| * Get other channel value |
| */ |
| int16_t RC_getVariable(uint8_t varNum) { |
| if (varNum < 4) |
| // 0th variable is 5th channel (1-based) etc. |
| return RCChannel(varNum + 4) + POT_OFFSET; |
| return RCChannel(varNum + CH_POTS) + POT_OFFSET; |
| /* |
| * Let's just say: |
| * The RC variable 4 is hardwired to channel 5 |
| * The RC variable 5 is hardwired to channel 6 |
| * The RC variable 6 is hardwired to channel 7 |
| * The RC variable 7 is hardwired to channel 8 |
| * Alternatively, one could bind them to channel (4 + varNum) - or whatever... |
| * The RC variable i is hardwired to channel i, i>=4 |
| */ |
| return PPM_in[varNum + 1] + POT_OFFSET; |
| return PPM_in[varNum] + POT_OFFSET; |
| } |
| |
| uint8_t RC_getSignalQuality(void) { |
| if (RC_Quality >= 160) |
| if (RCQuality >= 160) |
| return SIGNAL_GOOD; |
| if (RC_Quality >= 140) |
| if (RCQuality >= 140) |
| return SIGNAL_OK; |
| if (RC_Quality >= 120) |
| if (RCQuality >= 120) |
| return SIGNAL_BAD; |
| return SIGNAL_LOST; |
| } |
| 209,19 → 210,12 |
|---|
| // Do nothing. |
| } |
| |
| /* |
| if (staticParams.GlobalConfig & CFG_HEADING_HOLD) { |
| // In HH, it s OK to trim the R/C. The effect should not be conteracted here. |
| stickOffsetPitch = stickOffsetRoll = 0; |
| } else { |
| stickOffsetPitch = RCChannel(CH_PITCH) * staticParams.StickP; |
| stickOffsetRoll = RCChannel(CH_ROLL) * staticParams.StickP; |
| } |
| } |
| */ |
| |
| uint8_t RC_getCommand(void) { |
| // Noy impplemented - not from RC at least. |
| if (commandTimer == COMMAND_TIMER) { |
| // Stick has been held long enough; command committed. |
| return lastRCCommand; |
| } |
| // Not yet sure what the command is. |
| return COMMAND_NONE; |
| } |
| |
| 238,21 → 232,32 |
|---|
| * |
| * Not in any of these positions: 0 |
| */ |
| |
| #define ARGUMENT_THRESHOLD 70 |
| #define ARGUMENT_CHANNEL_VERTICAL CH_ELEVATOR |
| #define ARGUMENT_CHANNEL_HORIZONTAL CH_AILERONS |
| |
| uint8_t RC_getArgument(void) { |
| return 0; |
| if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) > ARGUMENT_THRESHOLD) { |
| // vertical is up |
| if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
| return 2; |
| if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
| return 4; |
| return 3; |
| } else if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) < -ARGUMENT_THRESHOLD) { |
| // vertical is down |
| if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
| return 8; |
| if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
| return 6; |
| return 7; |
| } else { |
| // vertical is around center |
| if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
| return 1; |
| if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
| return 5; |
| return 0; |
| } |
| } |
| |
| uint8_t RC_testCompassCalState(void) { |
| return 0; |
| } |
| /* |
| * Abstract controls are not used at the moment. |
| t_control rc_control = { |
| RC_getPitch, |
| RC_getRoll, |
| RC_getYaw, |
| RC_getThrottle, |
| RC_getSignalQuality, |
| RC_calibrate |
| }; |
| */ |