74,54 → 74,54 |
* 16bit timer 1 is used to decode the PPM-Signal |
***************************************************************/ |
void RC_Init(void) { |
uint8_t sreg = SREG; |
uint8_t sreg = SREG; |
|
// disable all interrupts before reconfiguration |
cli(); |
// disable all interrupts before reconfiguration |
cli(); |
|
// PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
DDRD &= ~(1 << DDD6); |
PORTD |= (1 << PORTD6); |
// PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
DDRD &= ~(1 << DDD6); |
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); |
// low level |
PORTD &= ~((1 << PORTD5) | (1 << PORTD4) | (1 << PORTD3)); |
// 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); |
// low level |
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); |
} |
// 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); |
} |
|
// Timer/Counter1 Control Register A, B, C |
// Timer/Counter1 Control Register A, B, C |
|
// Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
// Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
// 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 |
// 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); |
TCCR1C &= ~((1 << FOC1A) | (1 << FOC1B)); |
// Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
// Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
// 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 |
// 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); |
TCCR1C &= ~((1 << FOC1A) | (1 << FOC1B)); |
|
// Timer/Counter1 Interrupt Mask Register |
// 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); |
// 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); |
|
RC_Quality = 0; |
RC_Quality = 0; |
|
SREG = sreg; |
SREG = sreg; |
} |
|
/********************************************************************/ |
129,11 → 129,11 |
/********************************************************************/ |
/* t-Frame |
<-----------------------------------------------------------------------> |
____ ______ _____ ________ ______ sync gap ____ |
| | | | | | | | | | | |
| | | | | | | | | | | |
___| |_| |_| |_| |_.............| |________________| |
<-----><-------><------><--------> <------> <--- |
____ ______ _____ ________ ______ sync gap ____ |
| | | | | | | | | | | |
| | | | | | | | | | | |
___| |_| |_| |_| |_.............| |________________| |
<-----><-------><------><--------> <------> <--- |
t0 t1 t2 t4 tn t0 |
|
The PPM-Frame length is 22.5 ms. |
147,71 → 147,71 |
*/ |
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; |
int16_t signal = 0, 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 |
// 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; |
// 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? (3.52 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; |
} else { // within the PPM frame |
if (index < MAX_CHANNELS - 1) { // 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)) { |
// shift signal to zero symmetric range -154 to 159 |
signal -= 470; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
// check for stable signal |
if (abs(signal - PPM_in[index]) < 6) { |
if (RC_Quality < 200) |
RC_Quality += 10; |
else |
RC_Quality = 200; |
} |
// If signal is the same as before +/- 1, just keep it there. |
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; |
// calculate signal difference on good signal level |
if (RC_Quality >= 195) |
PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
else |
PPM_diff[index] = 0; |
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; |
// } |
} |
} |
//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; |
} else { // within the PPM frame |
if (index < MAX_CHANNELS - 1) { // 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)) { |
// shift signal to zero symmetric range -154 to 159 |
signal -= 470; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
// check for stable signal |
if (abs(signal - PPM_in[index]) < 6) { |
if (RC_Quality < 200) |
RC_Quality += 10; |
else |
RC_Quality = 200; |
} |
// If signal is the same as before +/- 1, just keep it there. |
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; |
// calculate signal difference on good signal level |
if (RC_Quality >= 195) |
PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
else |
PPM_diff[index] = 0; |
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]] |
222,23 → 222,23 |
|
// Internal. |
uint8_t RC_getStickCommand(void) { |
if (RCChannel(COMMAND_CHANNEL_VERTICAL) > COMMAND_THRESHOLD) { |
// vertical is up |
if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
return COMMAND_GYROCAL; |
if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
return COMMAND_ACCCAL; |
return COMMAND_NONE; |
} else if (RCChannel(COMMAND_CHANNEL_VERTICAL) < -COMMAND_THRESHOLD) { |
// vertical is down |
if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
return COMMAND_STOP; |
if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
return COMMAND_START; |
return COMMAND_NONE; |
} |
// vertical is around center |
return COMMAND_NONE; |
if (RCChannel(COMMAND_CHANNEL_VERTICAL) > COMMAND_THRESHOLD) { |
// vertical is up |
if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
return COMMAND_GYROCAL; |
if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
return COMMAND_ACCCAL; |
return COMMAND_NONE; |
} else if (RCChannel(COMMAND_CHANNEL_VERTICAL) < -COMMAND_THRESHOLD) { |
// vertical is down |
if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
return COMMAND_STOP; |
if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
return COMMAND_START; |
return COMMAND_NONE; |
} |
// vertical is around center |
return COMMAND_NONE; |
} |
|
/* |
245,39 → 245,40 |
* This must be called (as the only thing) for each control loop cycle (488 Hz). |
*/ |
void RC_update() { |
int16_t tmp1, tmp2; |
if (RC_Quality) { |
RC_Quality--; |
if (NewPpmData-- == 0) { |
RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.StickP |
+ RCDiff(CH_PITCH) * staticParams.StickD; |
RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.StickP |
+ RCDiff(CH_ROLL) * staticParams.StickD; |
RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) |
* dynamicParams.UserParams[3] + 120; |
if (RC_PRTY[CONTROL_THROTTLE] < 0) |
RC_PRTY[CONTROL_THROTTLE] = 0; // Throttle is non negative. |
tmp1 = -RCChannel(CH_YAW) - RCDiff(CH_YAW); |
// exponential stick sensitivity in yawing rate |
tmp2 = (int32_t) staticParams.StickYawP * ((int32_t) tmp1 * abs(tmp1)) |
/ 512L; // expo y = ax + bx^2 |
tmp2 += (staticParams.StickYawP * tmp1) / 4; |
RC_PRTY[CONTROL_YAW] = tmp2; |
} |
uint8_t command = 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_PITCH] = RC_PRTY[CONTROL_ROLL] = RC_PRTY[CONTROL_THROTTLE] |
= RC_PRTY[CONTROL_YAW] = 0; |
} |
int16_t tmp1, tmp2; |
if (RC_Quality) { |
RC_Quality--; |
if (NewPpmData-- == 0) { |
RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.StickP |
+ RCDiff(CH_PITCH) * staticParams.StickD; |
RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.StickP |
+ RCDiff(CH_ROLL) * staticParams.StickD; |
RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) |
* dynamicParams.UserParams[3] + 120; |
if (RC_PRTY[CONTROL_THROTTLE] < 0) |
RC_PRTY[CONTROL_THROTTLE] = 0; // Throttle is non negative. |
tmp1 = -RCChannel(CH_YAW) - RCDiff(CH_YAW); |
// exponential stick sensitivity in yawing rate |
tmp2 = (int32_t) staticParams.StickYawP * ((int32_t) tmp1 * abs(tmp1)) |
/ 512L; // expo y = ax + bx^2 |
tmp2 += (staticParams.StickYawP * tmp1) >> 2; |
RC_PRTY[CONTROL_YAW] = tmp2; |
} |
uint8_t command = 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_PITCH] = RC_PRTY[CONTROL_ROLL] = RC_PRTY[CONTROL_THROTTLE] |
= RC_PRTY[CONTROL_YAW] = 0; |
} |
} |
|
/* |
284,7 → 285,7 |
* Get Pitch, Roll, Throttle, Yaw values |
*/ |
int16_t* RC_getPRTY(void) { |
return RC_PRTY; |
return RC_PRTY; |
} |
|
/* |
291,28 → 292,28 |
* 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; |
/* |
* 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... |
*/ |
return PPM_in[varNum + 1] + POT_OFFSET; |
if (varNum < 4) |
// 0th variable is 5th channel (1-based) etc. |
return RCChannel(varNum + 4) + 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... |
*/ |
return PPM_in[varNum + 1] + POT_OFFSET; |
} |
|
uint8_t RC_getSignalQuality(void) { |
if (RC_Quality >= 160) |
return SIGNAL_GOOD; |
if (RC_Quality >= 140) |
return SIGNAL_OK; |
if (RC_Quality >= 120) |
return SIGNAL_BAD; |
return SIGNAL_LOST; |
if (RC_Quality >= 160) |
return SIGNAL_GOOD; |
if (RC_Quality >= 140) |
return SIGNAL_OK; |
if (RC_Quality >= 120) |
return SIGNAL_BAD; |
return SIGNAL_LOST; |
} |
|
/* |
325,7 → 326,7 |
* of a stick, it may be useful. |
*/ |
void RC_calibrate(void) { |
// Do nothing. |
// Do nothing. |
} |
|
/* |
340,12 → 341,12 |
*/ |
|
uint8_t RC_getCommand(void) { |
if (commandTimer == COMMAND_TIMER) { |
// Stick has been held long enough; command committed. |
return lastRCCommand; |
} |
// Not yet sure what the command is. |
return COMMAND_NONE; |
if (commandTimer == COMMAND_TIMER) { |
// Stick has been held long enough; command committed. |
return lastRCCommand; |
} |
// Not yet sure what the command is. |
return COMMAND_NONE; |
} |
|
/* |
367,79 → 368,79 |
#define ARGUMENT_CHANNEL_HORIZONTAL CH_ROLL |
|
uint8_t RC_getArgument(void) { |
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; |
} |
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_getLooping(uint8_t looping) { |
// static uint8_t looping = 0; |
// static uint8_t looping = 0; |
|
if (RCChannel(CH_ROLL) > staticParams.LoopThreshold && staticParams.BitConfig |
& CFG_LOOP_LEFT) { |
looping |= (LOOPING_ROLL_AXIS | LOOPING_LEFT); |
} else if ((looping & LOOPING_LEFT) && RCChannel(CH_ROLL) |
< staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
looping &= (~(LOOPING_ROLL_AXIS | LOOPING_LEFT)); |
} |
if (RCChannel(CH_ROLL) > staticParams.LoopThreshold && staticParams.BitConfig |
& CFG_LOOP_LEFT) { |
looping |= (LOOPING_ROLL_AXIS | LOOPING_LEFT); |
} else if ((looping & LOOPING_LEFT) && RCChannel(CH_ROLL) |
< staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
looping &= (~(LOOPING_ROLL_AXIS | LOOPING_LEFT)); |
} |
|
if (RCChannel(CH_ROLL) < -staticParams.LoopThreshold |
&& staticParams.BitConfig & CFG_LOOP_RIGHT) { |
looping |= (LOOPING_ROLL_AXIS | LOOPING_RIGHT); |
} else if ((looping & LOOPING_RIGHT) && RCChannel(CH_ROLL) |
> -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
looping &= (~(LOOPING_ROLL_AXIS | LOOPING_RIGHT)); |
} |
if (RCChannel(CH_ROLL) < -staticParams.LoopThreshold |
&& staticParams.BitConfig & CFG_LOOP_RIGHT) { |
looping |= (LOOPING_ROLL_AXIS | LOOPING_RIGHT); |
} else if ((looping & LOOPING_RIGHT) && RCChannel(CH_ROLL) |
> -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
looping &= (~(LOOPING_ROLL_AXIS | LOOPING_RIGHT)); |
} |
|
if (RCChannel(CH_PITCH) > staticParams.LoopThreshold |
&& staticParams.BitConfig & CFG_LOOP_UP) { |
looping |= (LOOPING_PITCH_AXIS | LOOPING_UP); |
} else if ((looping & LOOPING_UP) && RCChannel(CH_PITCH) |
< staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
looping &= (~(LOOPING_PITCH_AXIS | LOOPING_UP)); |
} |
if (RCChannel(CH_PITCH) > staticParams.LoopThreshold |
&& staticParams.BitConfig & CFG_LOOP_UP) { |
looping |= (LOOPING_PITCH_AXIS | LOOPING_UP); |
} else if ((looping & LOOPING_UP) && RCChannel(CH_PITCH) |
< staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
looping &= (~(LOOPING_PITCH_AXIS | LOOPING_UP)); |
} |
|
if (RCChannel(CH_PITCH) < -staticParams.LoopThreshold |
&& staticParams.BitConfig & CFG_LOOP_DOWN) { |
looping |= (LOOPING_PITCH_AXIS | LOOPING_DOWN); |
} else if ((looping & LOOPING_DOWN) && RCChannel(CH_PITCH) |
> -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
looping &= (~(LOOPING_PITCH_AXIS | LOOPING_DOWN)); |
} |
if (RCChannel(CH_PITCH) < -staticParams.LoopThreshold |
&& staticParams.BitConfig & CFG_LOOP_DOWN) { |
looping |= (LOOPING_PITCH_AXIS | LOOPING_DOWN); |
} else if ((looping & LOOPING_DOWN) && RCChannel(CH_PITCH) |
> -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
looping &= (~(LOOPING_PITCH_AXIS | LOOPING_DOWN)); |
} |
|
return looping; |
return looping; |
} |
|
uint8_t RC_testCompassCalState(void) { |
static uint8_t stick = 1; |
// if pitch is centered or top set stick to zero |
if (RCChannel(CH_PITCH) > -20) |
stick = 0; |
// if pitch is down trigger to next cal state |
if ((RCChannel(CH_PITCH) < -70) && !stick) { |
stick = 1; |
return 1; |
} |
return 0; |
static uint8_t stick = 1; |
// if pitch is centered or top set stick to zero |
if (RCChannel(CH_PITCH) > -20) |
stick = 0; |
// if pitch is down trigger to next cal state |
if ((RCChannel(CH_PITCH) < -70) && !stick) { |
stick = 1; |
return 1; |
} |
return 0; |
} |
/* |
* Abstract controls are not used at the moment. |