52,7 → 52,7 |
// The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
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); |
TCCR1B |= (1 << CS11) | (1 << ICES1) | (1 << ICNC1); |
TCCR1C &= ~((1 << FOC1A) | (1 << FOC1B)); |
|
// Timer/Counter1 Interrupt Mask Register |
102,18 → 102,18 |
signal = (uint16_t) ICR1 - oldICR1; |
oldICR1 = ICR1; |
|
//sync gap? (3.52 ms < signal < 25.6 ms) |
if ((signal > 1100) && (signal < 8000)) { |
//sync gap? (3.5 ms < signal < 25.6 ms) |
if (signal > 8750) { |
index = 0; |
} else { // within the PPM frame |
if (index < MAX_CHANNELS) { // PPM24 supports 12 channels |
// check for valid signal length (0.8 ms < signal < 2.1984 ms) |
// signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
if ((signal > 250) && (signal < 687)) { |
// check for valid signal length (0.8 ms < signal < 2.2 ms) |
if ((signal >= 2000) && (signal < 5500)) { |
// shift signal to zero symmetric range -154 to 159 |
signal -= 475; // offset of 1.4912 ms ??? (469 * 3.2us = 1.5008 ms) |
//signal -= 3750; // theoretical value |
signal -= (3750+56); // best value with my Futaba in zero trim. |
// check for stable signal |
if (abs(signal - PPM_in[index]) < 6) { |
if (abs(signal - PPM_in[index]) < 50) { |
if (RCQuality < 200) |
RCQuality += 10; |
else |
146,16 → 146,14 |
} |
|
#define RCChannel(dimension) PPM_in[channelMap.channels[dimension]] |
#define COMMAND_THRESHOLD 85 |
#define COMMAND_CHANNEL_VERTICAL CH_THROTTLE |
#define COMMAND_CHANNEL_HORIZONTAL CH_YAW |
|
#define RC_SCALING 4 |
#define RC_SCALING 2 |
|
uint8_t getControlModeSwitch(void) { |
int16_t channel = RCChannel(CH_MODESWITCH) + POT_OFFSET; |
uint8_t flightMode = channel < 256/3 ? FLIGHT_MODE_MANUAL : |
(channel > 256*2/3 ? FLIGHT_MODE_ANGLES : FLIGHT_MODE_RATE); |
int16_t channel = RCChannel(CH_MODESWITCH); |
uint8_t flightMode = channel < -330 ? FLIGHT_MODE_MANUAL : (channel > 330 ? FLIGHT_MODE_ANGLES : FLIGHT_MODE_RATE); |
return flightMode; |
} |
|
175,8 → 173,8 |
|
int16_t channel = RCChannel(CH_THROTTLE); |
|
if (channel <= -140) { // <= 900 us |
lastRCCommand = COMMAND_GYROCAL; |
if (channel <= -1400) { |
lastRCCommand = COMMAND_GYROCAL; |
} else { |
lastRCCommand = COMMAND_NONE; |
} |
199,10 → 197,10 |
debugOut.analog[22] = RCChannel(CH_RUDDER); |
debugOut.analog[23] = RCChannel(CH_THROTTLE); |
|
PRYT[CONTROL_ELEVATOR] = RCChannel(CH_ELEVATOR) * RC_SCALING; |
PRYT[CONTROL_AILERONS] = RCChannel(CH_AILERONS) * RC_SCALING; |
PRYT[CONTROL_RUDDER] = RCChannel(CH_RUDDER) * RC_SCALING; |
PRYT[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) * RC_SCALING; |
PRYT[CONTROL_ELEVATOR] = RCChannel(CH_ELEVATOR) / RC_SCALING; |
PRYT[CONTROL_AILERONS] = RCChannel(CH_AILERONS) / RC_SCALING; |
PRYT[CONTROL_RUDDER] = RCChannel(CH_RUDDER) / RC_SCALING; |
PRYT[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) / RC_SCALING; |
} // if RCQuality is no good, we just do nothing. |
} |
|
212,12 → 210,12 |
int16_t RC_getVariable(uint8_t varNum) { |
if (varNum < 4) |
// 0th variable is 5th channel (1-based) etc. |
return RCChannel(varNum + CH_POTS) + POT_OFFSET; |
return (RCChannel(varNum + CH_POTS) >> 3) + POT_OFFSET; |
/* |
* Let's just say: |
* The RC variable i is hardwired to channel i, i>=4 |
*/ |
return PPM_in[varNum] + POT_OFFSET; |
return (PPM_in[varNum] >> 3) + POT_OFFSET; |
} |
|
uint8_t RC_getSignalQuality(void) { |