WebSVN - FlightCtrl - Diff - Rev 1634 and 1635 - /branches/dongfang_FC


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + Nur für den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
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// +     from this software without specific prior written permission.
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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdlib.h>
#include <avr/io.h>
#include <avr/interrupt.h>
 
#include "rc.h"
#include "controlMixer.h"
#include "configuration.h"
 
// for DebugOut only.
#include "uart0.h"
 
 
// The channel array is 1-based. The 0th entry is not used.
volatile int16_t PPM_in[MAX_CHANNELS];
volatile int16_t PPM_diff[MAX_CHANNELS];
volatile uint8_t NewPpmData = 1;
volatile int16_t RC_Quality = 0;
int16_t RC_PRTY[4];
 
int16_t stickOffsetPitch = 0, stickOffsetRoll = 0;
 
/***************************************************************
 *  16bit timer 1 is used to decode the PPM-Signal            
 ***************************************************************/
void RC_Init (void) {
  uint8_t sreg = SREG;
 
  // 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);
 
  // 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);
  // low level
  PORTD &= ~(/*(1<<PORTD5)|*/(1<<PORTD4));
 
  // 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
 
  // 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
 
  // 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;
 
  SREG = sreg;
}
 
 
/********************************************************************/
/*         Every time a positive edge is detected at PD6            */
/********************************************************************/
/*                               t-Frame
                                 <----------------------------------------------------------------------->
                                 ____   ______   _____   ________                ______    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 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, 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? (3.52 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 -= 466; // 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;
            }
            // calculate exponential history for signal
            tmp = (3 * PPM_in[index] + signal) / 4;
            if(tmp > signal + 1) tmp--; else
              if(tmp < signal-1) tmp++;
            // 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]]
#define RCDiff(dimension) PPM_diff[staticParams.ChannelAssignment[dimension]]
 
/*
 * 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) - stickOffsetPitch) * staticParams.StickP + RCDiff(CH_PITCH) * staticParams.StickD;
      RC_PRTY[CONTROL_ROLL] =  (RCChannel(CH_ROLL) - stickOffsetRoll)   * staticParams.StickP + RCDiff(CH_ROLL)  * staticParams.StickD;
      RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + PPM_diff[staticParams.ChannelAssignment[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 yawring 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;
    }
  } else { // Bad signal
    RC_PRTY[CONTROL_PITCH] = RC_PRTY[CONTROL_ROLL] = RC_PRTY[CONTROL_THROTTLE] = RC_PRTY[CONTROL_YAW] = 0;
  }
}
 
/*
 * Get Pitch, Roll, Throttle, Yaw values
 */
int16_t* RC_getPRTY(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 + 5);
  /*
   * 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];
}
 
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;
}
 
/*
 * To should fired only when the right stick is in the center position.
 * This will cause the value of pitch and roll stick to be adjusted
 * to zero (not just to near zero, as per the assumption in rc.c
 * about the rc signal. I had values about 50..70 with a Futaba
 * R617 receiver.) This calibration is not strictly necessary, but
 * for control logic that depends on the exact (non)center position
 * of a stick, it may be useful.
 */
void RC_calibrate(void) {
  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);
    stickOffsetRoll = RCChannel(CH_ROLL);
  }
}
 
#define COMMAND_THRESHOLD 85
#define COMMAND_CHANNEL_VERTICAL CH_THROTTLE
#define COMMAND_CHANNEL_HORIZONTAL CH_YAW
 
uint8_t RC_getCommand(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;
  } else {
    // vertical is around center
    return COMMAND_NONE;
  }
}
 
/*
 * Command arguments on R/C:
 * 2--3--4
 * |     |  +
 * 1  0  5  ^ 0
 * |     |  |  
 * 8--7--6
 *    
 * + <--
 *    0
 *
 * Not in any of these positions: 0
 */
 
#define ARGUMENT_THRESHOLD 70
#define ARGUMENT_CHANNEL_VERTICAL CH_PITCH
#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;
  }
}
 
uint8_t RC_getLooping(uint8_t looping) {
  //  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_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_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;
}
 
/*
 * Abstract controls are not used at the moment.
 t_control rc_control = {
 RC_getPitch,
 RC_getRoll,
 RC_getYaw,
 RC_getThrottle,
 RC_getSignalQuality,
 RC_calibrate
 };
*/
 

Rev 1634	Rev 1635
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) 04.2007 Holger Buss	2	// + Copyright (c) 04.2007 Holger Buss
3	// + Nur für den privaten Gebrauch	3	// + Nur für den privaten Gebrauch
4	// + www.MikroKopter.com	4	// + www.MikroKopter.com
5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	6	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
7	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	7	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9	// + bzgl. der Nutzungsbedingungen aufzunehmen.	9	// + bzgl. der Nutzungsbedingungen aufzunehmen.
10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
11	// + Verkauf von Luftbildaufnahmen, usw.	11	// + Verkauf von Luftbildaufnahmen, usw.
12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
17	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	17	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18	// + eindeutig als Ursprung verlinkt werden	18	// + eindeutig als Ursprung verlinkt werden
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	20	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
21	// + Benutzung auf eigene Gefahr	21	// + Benutzung auf eigene Gefahr
22	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	22	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	24	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
25	// + mit unserer Zustimmung zulässig	25	// + mit unserer Zustimmung zulässig
26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
30	// + this list of conditions and the following disclaimer.	30	// + this list of conditions and the following disclaimer.
31	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	31	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
32	// + from this software without specific prior written permission.	32	// + from this software without specific prior written permission.
33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet	33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
34	// + for non-commercial use (directly or indirectly)	34	// + for non-commercial use (directly or indirectly)
35	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	35	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
36	// + with our written permission	36	// + with our written permission
37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
38	// + clearly linked as origin	38	// + clearly linked as origin
39	// + * porting to systems other than hardware from www.mikrokopter.de is not allowed	39	// + * porting to systems other than hardware from www.mikrokopter.de is not allowed
40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
48	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	48	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
49	// + POSSIBILITY OF SUCH DAMAGE.	49	// + POSSIBILITY OF SUCH DAMAGE.
50	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	50	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
51	#include <stdlib.h>	51	#include <stdlib.h>
52	#include <avr/io.h>	52	#include <avr/io.h>
53	#include <avr/interrupt.h>	53	#include <avr/interrupt.h>
54		54
55	#include "rc.h"	55	#include "rc.h"
56	#include "controlMixer.h"	56	#include "controlMixer.h"
57	#include "configuration.h"	57	#include "configuration.h"
58		58
59	// for DebugOut only.	59	// for DebugOut only.
60	#include "uart0.h"	60	#include "uart0.h"
61		61
62		62
63	// The channel array is 1-based. The 0th entry is not used.	63	// The channel array is 1-based. The 0th entry is not used.
64	volatile int16_t PPM_in[MAX_CHANNELS];	64	volatile int16_t PPM_in[MAX_CHANNELS];
65	volatile int16_t PPM_diff[MAX_CHANNELS];	65	volatile int16_t PPM_diff[MAX_CHANNELS];
66	volatile uint8_t NewPpmData = 1;	66	volatile uint8_t NewPpmData = 1;
67	volatile int16_t RC_Quality = 0;	67	volatile int16_t RC_Quality = 0;
68	int16_t RC_PRTY[4];	68	int16_t RC_PRTY[4];
69		69
70	int16_t stickOffsetPitch = 0, stickOffsetRoll = 0;	70	int16_t stickOffsetPitch = 0, stickOffsetRoll = 0;
71		71
72	/***************************************************************	72	/***************************************************************
73	* 16bit timer 1 is used to decode the PPM-Signal	73	* 16bit timer 1 is used to decode the PPM-Signal
74	***************************************************************/	74	***************************************************************/
75	void RC_Init (void) {	75	void RC_Init (void) {
76	uint8_t sreg = SREG;	76	uint8_t sreg = SREG;
77		77
78	// disable all interrupts before reconfiguration	78	// disable all interrupts before reconfiguration
79	cli();	79	cli();
80		80
81	// PPM-signal is connected to the Input Capture Pin (PD6) of timer 1	81	// PPM-signal is connected to the Input Capture Pin (PD6) of timer 1
82	DDRD &= ~(1<<DDD6);	82	DDRD &= ~(1<<DDD6);
83	PORTD \|= (1<<PORTD6);	83	PORTD \|= (1<<PORTD6);
84		84
85	// Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5)	85	// Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5)
86	// set as output	86	// set as output
87	DDRD \|= /(1<<DDD5)\|/(1<<DDD4);	87	DDRD \|= /(1<<DDD5)\|/(1<<DDD4);
88	// low level	88	// low level
89	PORTD &= ~(/(1<<PORTD5)\|/(1<<PORTD4));	89	PORTD &= ~(/(1<<PORTD5)\|/(1<<PORTD4));
90		90
91	// PD3 can't be used if 2nd UART is activated	91	// PD3 can't be used if 2nd UART is activated
92	// because TXD1 is at that port	92	// because TXD1 is at that port
93	if(CPUType != ATMEGA644P) {	93	if(CPUType != ATMEGA644P) {
94	DDRD \|= (1<<PORTD3);	94	DDRD \|= (1<<PORTD3);
95	PORTD &= ~(1<<PORTD3);	95	PORTD &= ~(1<<PORTD3);
96	}	96	}
97		97
98	// Timer/Counter1 Control Register A, B, C	98	// Timer/Counter1 Control Register A, B, C
99		99
100	// Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0)	100	// Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0)
101	// Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0)	101	// Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0)
102	// Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1)	102	// Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1)
103	// Enable input capture noise cancler (bit: ICNC1=1)	103	// Enable input capture noise cancler (bit: ICNC1=1)
104	// Trigger on positive edge of the input capture pin (bit: ICES1=1),	104	// Trigger on positive edge of the input capture pin (bit: ICES1=1),
105	// Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2µs	105	// Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2µs
106	// The longest period is 0xFFFF / 312.5 kHz = 0.209712 s.	106	// The longest period is 0xFFFF / 312.5 kHz = 0.209712 s.
107	TCCR1A &= ~((1<<COM1A1)\|(1<<COM1A0)\|(1<<COM1B1)\|(1<<COM1B0)\|(1<<WGM11)\|(1<<WGM10));	107	TCCR1A &= ~((1<<COM1A1)\|(1<<COM1A0)\|(1<<COM1B1)\|(1<<COM1B0)\|(1<<WGM11)\|(1<<WGM10));
108	TCCR1B &= ~((1<<WGM13)\|(1<<WGM12)\|(1<<CS12));	108	TCCR1B &= ~((1<<WGM13)\|(1<<WGM12)\|(1<<CS12));
109	TCCR1B \|= (1<<CS11)\|(1<<CS10)\|(1<<ICES1)\|(1<<ICNC1);	109	TCCR1B \|= (1<<CS11)\|(1<<CS10)\|(1<<ICES1)\|(1<<ICNC1);
110	TCCR1C &= ~((1<<FOC1A)\|(1<<FOC1B));	110	TCCR1C &= ~((1<<FOC1A)\|(1<<FOC1B));
111		111
112	// Timer/Counter1 Interrupt Mask Register	112	// Timer/Counter1 Interrupt Mask Register
113		113
114	// Enable Input Capture Interrupt (bit: ICIE1=1)	114	// Enable Input Capture Interrupt (bit: ICIE1=1)
115	// Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0)	115	// Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0)
116	// Enable Overflow Interrupt (bit: TOIE1=0)	116	// Enable Overflow Interrupt (bit: TOIE1=0)
117	TIMSK1 &= ~((1<<OCIE1B)\|(1<<OCIE1A)\|(1<<TOIE1));	117	TIMSK1 &= ~((1<<OCIE1B)\|(1<<OCIE1A)\|(1<<TOIE1));
118	TIMSK1 \|= (1<<ICIE1);	118	TIMSK1 \|= (1<<ICIE1);
119		119
120	RC_Quality = 0;	120	RC_Quality = 0;
121		121
122	SREG = sreg;	122	SREG = sreg;
123	}	123	}
124		124
125		125
126	/********************************************************************/	126	/********************************************************************/
127	/* Every time a positive edge is detected at PD6 */	127	/* Every time a positive edge is detected at PD6 */
128	/********************************************************************/	128	/********************************************************************/
129	/* t-Frame	129	/* t-Frame
130	<----------------------------------------------------------------------->	130	<----------------------------------------------------------------------->
131	____ ______ _____ ________ ______ sync gap ____	131	____ ______ _____ ________ ______ sync gap ____
132	\| \| \| \| \| \| \| \| \| \| \|	132	\| \| \| \| \| \| \| \| \| \| \|
133	\| \| \| \| \| \| \| \| \| \| \|	133	\| \| \| \| \| \| \| \| \| \| \|
134	___\| \|_\| \|_\| \|_\| \|_.............\| \|________________\|	134	___\| \|_\| \|_\| \|_\| \|_.............\| \|________________\|
135	<-----><-------><------><--------> <------> <---	135	<-----><-------><------><--------> <------> <---
136	t0 t1 t2 t4 tn t0	136	t0 t1 t2 t4 tn t0
137		137
138	The PPM-Frame length is 22.5 ms.	138	The PPM-Frame length is 22.5 ms.
139	Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse.	139	Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse.
140	The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms.	140	The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms.
141	The maximum time delay of two events coding a chanel is ( 1.7 + 0.3) ms = 2 ms.	141	The maximum time delay of two events coding a chanel is ( 1.7 + 0.3) ms = 2 ms.
142	The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms.	142	The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms.
143	The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms.	143	The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms.
144	The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is	144	The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is
145	the syncronization gap.	145	the syncronization gap.
146	*/	146	*/
147	ISR(TIMER1_CAPT_vect) { // typical rate of 1 ms to 2 ms	147	ISR(TIMER1_CAPT_vect) { // typical rate of 1 ms to 2 ms
148	int16_t signal = 0, tmp;	148	int16_t signal = 0, tmp;
149	static int16_t index;	149	static int16_t index;
150	static uint16_t oldICR1 = 0;	150	static uint16_t oldICR1 = 0;
151		151
152	// 16bit Input Capture Register ICR1 contains the timer value TCNT1	152	// 16bit Input Capture Register ICR1 contains the timer value TCNT1
153	// at the time the edge was detected	153	// at the time the edge was detected
154		154
155	// calculate the time delay to the previous event time which is stored in oldICR1	155	// calculate the time delay to the previous event time which is stored in oldICR1
156	// calculatiing the difference of the two uint16_t and converting the result to an int16_t	156	// calculatiing the difference of the two uint16_t and converting the result to an int16_t
157	// implicit handles a timer overflow 65535 -> 0 the right way.	157	// implicit handles a timer overflow 65535 -> 0 the right way.
158	signal = (uint16_t) ICR1 - oldICR1;	158	signal = (uint16_t) ICR1 - oldICR1;
159	oldICR1 = ICR1;	159	oldICR1 = ICR1;
160		160
161	//sync gap? (3.52 ms < signal < 25.6 ms)	161	//sync gap? (3.52 ms < signal < 25.6 ms)
162	if((signal > 1100) && (signal < 8000)) {	162	if((signal > 1100) && (signal < 8000)) {
163	// if a sync gap happens and there where at least 4 channels decoded before	163	// if a sync gap happens and there where at least 4 channels decoded before
164	// then the NewPpmData flag is reset indicating valid data in the PPM_in[] array.	164	// then the NewPpmData flag is reset indicating valid data in the PPM_in[] array.
165	if(index >= 4) {	165	if(index >= 4) {
166	NewPpmData = 0; // Null means NewData for the first 4 channels	166	NewPpmData = 0; // Null means NewData for the first 4 channels
167	}	167	}
168	// synchronize channel index	168	// synchronize channel index
169	index = 1;	169	index = 1;
170	} else { // within the PPM frame	170	} else { // within the PPM frame
171	if(index < MAX_CHANNELS-1) // PPM24 supports 12 channels	171	if(index < MAX_CHANNELS-1) // PPM24 supports 12 channels
172	{	172	{
173	// check for valid signal length (0.8 ms < signal < 2.1984 ms)	173	// check for valid signal length (0.8 ms < signal < 2.1984 ms)
174	// signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625	174	// signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625
175	if((signal > 250) && (signal < 687))	175	if((signal > 250) && (signal < 687))
176	{	176	{
177	// shift signal to zero symmetric range -154 to 159	177	// shift signal to zero symmetric range -154 to 159
178	signal -= 466; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms)	178	signal -= 466; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms)
179	// check for stable signal	179	// check for stable signal
180	if(abs(signal - PPM_in[index]) < 6) {	180	if(abs(signal - PPM_in[index]) < 6) {
181	if(RC_Quality < 200) RC_Quality +=10;	181	if(RC_Quality < 200) RC_Quality +=10;
182	else RC_Quality = 200;	182	else RC_Quality = 200;
183	}	183	}
184	// calculate exponential history for signal	184	// calculate exponential history for signal
185	tmp = (3 * PPM_in[index] + signal) / 4;	185	tmp = (3 * PPM_in[index] + signal) / 4;
186	if(tmp > signal + 1) tmp--; else	186	if(tmp > signal + 1) tmp--; else
187	if(tmp < signal-1) tmp++;	187	if(tmp < signal-1) tmp++;
188	// calculate signal difference on good signal level	188	// calculate signal difference on good signal level
189	if(RC_Quality >= 195)	189	if(RC_Quality >= 195)
190	PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction	190	PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction
191	else PPM_diff[index] = 0;	191	else PPM_diff[index] = 0;
192	PPM_in[index] = tmp; // update channel value	192	PPM_in[index] = tmp; // update channel value
193	}	193	}
194	index++; // next channel	194	index++; // next channel
195	// demux sum signal for channels 5 to 7 to J3, J4, J5	195	// demux sum signal for channels 5 to 7 to J3, J4, J5
196	// TODO: General configurability of this R/C channel forwarding. Or remove it completely - the	196	// TODO: General configurability of this R/C channel forwarding. Or remove it completely - the
197	// channels are usually available at the receiver anyway.	197	// channels are usually available at the receiver anyway.
198	// if(index == 5) J3HIGH; else J3LOW;	198	// if(index == 5) J3HIGH; else J3LOW;
199	// if(index == 6) J4HIGH; else J4LOW;	199	// if(index == 6) J4HIGH; else J4LOW;
200	// if(CPUType != ATMEGA644P) // not used as TXD1	200	// if(CPUType != ATMEGA644P) // not used as TXD1
201	// {	201	// {
202	// if(index == 7) J5HIGH; else J5LOW;	202	// if(index == 7) J5HIGH; else J5LOW;
203	// }	203	// }
204	}	204	}
205	}	205	}
206	}	206	}
207		207
208	#define RCChannel(dimension) PPM_in[staticParams.ChannelAssignment[dimension]]	208	#define RCChannel(dimension) PPM_in[staticParams.ChannelAssignment[dimension]]
209	#define RCDiff(dimension) PPM_diff[staticParams.ChannelAssignment[dimension]]	209	#define RCDiff(dimension) PPM_diff[staticParams.ChannelAssignment[dimension]]
210		210
211	/*	211	/*
212	* This must be called (as the only thing) for each control loop cycle (488 Hz).	212	* This must be called (as the only thing) for each control loop cycle (488 Hz).
213	*/	213	*/
214	void RC_update() {	214	void RC_update() {
215	int16_t tmp1, tmp2;	215	int16_t tmp1, tmp2;
216	if(RC_Quality) {	216	if(RC_Quality) {
217	RC_Quality--;	217	RC_Quality--;
218	if (NewPpmData-- == 0) {	218	if (NewPpmData-- == 0) {
219		-
220	DebugOut.Analog[12] = stickOffsetPitch;	-
221	DebugOut.Analog[13] = stickOffsetRoll;	-
222		-
223	RC_PRTY[CONTROL_PITCH] = (RCChannel(CH_PITCH) - stickOffsetPitch) * staticParams.StickP + RCDiff(CH_PITCH) * staticParams.StickD;	219	RC_PRTY[CONTROL_PITCH] = (RCChannel(CH_PITCH) - stickOffsetPitch) * staticParams.StickP + RCDiff(CH_PITCH) * staticParams.StickD;
224	RC_PRTY[CONTROL_ROLL] = (RCChannel(CH_ROLL) - stickOffsetRoll) * staticParams.StickP + RCDiff(CH_ROLL) * staticParams.StickD;	220	RC_PRTY[CONTROL_ROLL] = (RCChannel(CH_ROLL) - stickOffsetRoll) * staticParams.StickP + RCDiff(CH_ROLL) * staticParams.StickD;
225	RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + PPM_diff[staticParams.ChannelAssignment[CH_THROTTLE]] * dynamicParams.UserParams[6] + 120;	221	RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + PPM_diff[staticParams.ChannelAssignment[CH_THROTTLE]] * dynamicParams.UserParams[3] + 120;
226	if (RC_PRTY[CONTROL_THROTTLE] < 0) RC_PRTY[CONTROL_THROTTLE] = 0; // Throttle is non negative.	222	if (RC_PRTY[CONTROL_THROTTLE] < 0) RC_PRTY[CONTROL_THROTTLE] = 0; // Throttle is non negative.
227	tmp1 = -RCChannel(CH_YAW) - RCDiff(CH_YAW);	223	tmp1 = -RCChannel(CH_YAW) - RCDiff(CH_YAW);
228	// exponential stick sensitivity in yawring rate	224	// exponential stick sensitivity in yawring rate
229	tmp2 = (int32_t) staticParams.StickYawP * ((int32_t)tmp1 * abs(tmp1)) / 512L; // expo y = ax + bx^2	225	tmp2 = (int32_t) staticParams.StickYawP * ((int32_t)tmp1 * abs(tmp1)) / 512L; // expo y = ax + bx^2
230	tmp2 += (staticParams.StickYawP * tmp1) / 4;	226	tmp2 += (staticParams.StickYawP * tmp1) / 4;
231	RC_PRTY[CONTROL_YAW] = tmp2;	227	RC_PRTY[CONTROL_YAW] = tmp2;
232	}	228	}
233	} else { // Bad signal	229	} else { // Bad signal
234	RC_PRTY[CONTROL_PITCH] = RC_PRTY[CONTROL_ROLL] = RC_PRTY[CONTROL_THROTTLE] = RC_PRTY[CONTROL_YAW] = 0;	230	RC_PRTY[CONTROL_PITCH] = RC_PRTY[CONTROL_ROLL] = RC_PRTY[CONTROL_THROTTLE] = RC_PRTY[CONTROL_YAW] = 0;
235	}	231	}
236	}	232	}
237		233
238	/*	234	/*
239	* Get Pitch, Roll, Throttle, Yaw values	235	* Get Pitch, Roll, Throttle, Yaw values
240	*/	236	*/
241	int16_t* RC_getPRTY(void) {	237	int16_t* RC_getPRTY(void) {
242	return RC_PRTY;	238	return RC_PRTY;
243	}	239	}
244		240
245	/*	241	/*
246	* Get other channel value	242	* Get other channel value
247	*/	243	*/
248	int16_t RC_getVariable(uint8_t varNum) {	244	int16_t RC_getVariable(uint8_t varNum) {
249	if (varNum < 4)	245	if (varNum < 4)
250	// 0th variable is 5th channel (1-based) etc.	246	// 0th variable is 5th channel (1-based) etc.
251	return RCChannel(varNum + 5);	247	return RCChannel(varNum + 5);
252	/*	248	/*
253	* Let's just say:	249	* Let's just say:
254	* The RC variable 4 is hardwired to channel 5	250	* The RC variable 4 is hardwired to channel 5
255	* The RC variable 5 is hardwired to channel 6	251	* The RC variable 5 is hardwired to channel 6
256	* The RC variable 6 is hardwired to channel 7	252	* The RC variable 6 is hardwired to channel 7
257	* The RC variable 7 is hardwired to channel 8	253	* The RC variable 7 is hardwired to channel 8
258	* Alternatively, one could bind them to channel (4 + varNum) - or whatever...	254	* Alternatively, one could bind them to channel (4 + varNum) - or whatever...
259	*/	255	*/
260	return PPM_in[varNum + 1];	256	return PPM_in[varNum + 1];
261	}	257	}
262		258
263	uint8_t RC_getSignalQuality(void) {	259	uint8_t RC_getSignalQuality(void) {
264	if (RC_Quality >= 160)	260	if (RC_Quality >= 160)
265	return SIGNAL_GOOD;	261	return SIGNAL_GOOD;
266	if (RC_Quality >= 140)	262	if (RC_Quality >= 140)
267	return SIGNAL_OK;	263	return SIGNAL_OK;
268	if (RC_Quality >= 120)	264	if (RC_Quality >= 120)
269	return SIGNAL_BAD;	265	return SIGNAL_BAD;
270	return SIGNAL_LOST;	266	return SIGNAL_LOST;
271	}	267	}
272		268
273	/*	269	/*
274	* To should fired only when the right stick is in the center position.	270	* To should fired only when the right stick is in the center position.
275	* This will cause the value of pitch and roll stick to be adjusted	271	* This will cause the value of pitch and roll stick to be adjusted
276	* to zero (not just to near zero, as per the assumption in rc.c	272	* to zero (not just to near zero, as per the assumption in rc.c
277	* about the rc signal. I had values about 50..70 with a Futaba	273	* about the rc signal. I had values about 50..70 with a Futaba
278	* R617 receiver.) This calibration is not strictly necessary, but	274	* R617 receiver.) This calibration is not strictly necessary, but
279	* for control logic that depends on the exact (non)center position	275	* for control logic that depends on the exact (non)center position
280	* of a stick, it may be useful.	276	* of a stick, it may be useful.
281	*/	277	*/
282	void RC_calibrate(void) {	278	void RC_calibrate(void) {
283	if (staticParams.GlobalConfig & CFG_HEADING_HOLD) {	279	if (staticParams.GlobalConfig & CFG_HEADING_HOLD) {
284	// In HH, it s OK to trim the R/C. The effect should not be conteracted here.	280	// In HH, it s OK to trim the R/C. The effect should not be conteracted here.
285	stickOffsetPitch = stickOffsetRoll = 0;	281	stickOffsetPitch = stickOffsetRoll = 0;
286	} else {	282	} else {
287	stickOffsetPitch = RCChannel(CH_PITCH);	283	stickOffsetPitch = RCChannel(CH_PITCH);
288	stickOffsetRoll = RCChannel(CH_ROLL);	284	stickOffsetRoll = RCChannel(CH_ROLL);
289	}	285	}
290	}	286	}
291		287
292	#define COMMAND_THRESHOLD 85	288	#define COMMAND_THRESHOLD 85
-		289	#define COMMAND_CHANNEL_VERTICAL CH_THROTTLE
-		290	#define COMMAND_CHANNEL_HORIZONTAL CH_YAW
-		291
293	uint8_t RC_getCommand(void) {	292	uint8_t RC_getCommand(void) {
294	if(RCChannel(CH_THROTTLE) > COMMAND_THRESHOLD) {	293	if(RCChannel(COMMAND_CHANNEL_VERTICAL) > COMMAND_THRESHOLD) {
295	// throttle is up	294	// vertical is up
296	if(RCChannel(CH_YAW) > COMMAND_THRESHOLD)	295	if(RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD)
297	return COMMAND_GYROCAL;	296	return COMMAND_GYROCAL;
298	if(RCChannel(CH_YAW) < -COMMAND_THRESHOLD)	297	if(RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD)
299	return COMMAND_ACCCAL;	298	return COMMAND_ACCCAL;
300	return COMMAND_NONE;	299	return COMMAND_NONE;
301	} else if(RCChannel(CH_THROTTLE) < -COMMAND_THRESHOLD) {	300	} else if(RCChannel(COMMAND_CHANNEL_VERTICAL) < -COMMAND_THRESHOLD) {
302	// pitch is down	301	// vertical is down
303	if(RCChannel(CH_YAW) > COMMAND_THRESHOLD)	302	if(RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD)
304	return COMMAND_STOP;	303	return COMMAND_STOP;
305	if(RCChannel(CH_YAW) < -COMMAND_THRESHOLD)	304	if(RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD)
306	return COMMAND_START;	305	return COMMAND_START;
307	return COMMAND_NONE;	306	return COMMAND_NONE;
308	} else {	307	} else {
309	// pitch is around center	308	// vertical is around center
310	return COMMAND_NONE;	309	return COMMAND_NONE;
311	}	310	}
312	}	311	}
313		312
314	/*	313	/*
315	* Command arguments on R/C:	314	* Command arguments on R/C:
316	* 2--3--4	315	* 2--3--4
317	* \| \| +	316	* \| \| +
318	* 1 0 5 ^ 0	317	* 1 0 5 ^ 0
319	* \| \| \|	318	* \| \| \|
320	* 8--7--6	319	* 8--7--6
321	*	320	*
322	* + <--	321	* + <--
323	* 0	322	* 0
324	*	323	*
325	* Not in any of these positions: 0	324	* Not in any of these positions: 0
326	*/	325	*/
-		326
327	#define ARGUMENT_THRESHOLD 70	327	#define ARGUMENT_THRESHOLD 70
-		328	#define ARGUMENT_CHANNEL_VERTICAL CH_PITCH
-		329	#define ARGUMENT_CHANNEL_HORIZONTAL CH_ROLL
-		330
328	uint8_t RC_getArgument(void) {	331	uint8_t RC_getArgument(void) {
329	if(RCChannel(CH_PITCH) > ARGUMENT_THRESHOLD) {	332	if(RCChannel(ARGUMENT_CHANNEL_VERTICAL) > ARGUMENT_THRESHOLD) {
330	// pitch is up	333	// vertical is up
331	if(RCChannel(CH_ROLL) > ARGUMENT_THRESHOLD)	334	if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD)
332	return 2;	335	return 2;
333	if(RCChannel(CH_ROLL) < -ARGUMENT_THRESHOLD)	336	if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD)
334	return 4;	337	return 4;
335	return 3;	338	return 3;
336	} else if(RCChannel(CH_PITCH) < -ARGUMENT_THRESHOLD) {	339	} else if(RCChannel(ARGUMENT_CHANNEL_VERTICAL) < -ARGUMENT_THRESHOLD) {
337	// pitch is down	340	// vertical is down
338	if(RCChannel(CH_ROLL) > ARGUMENT_THRESHOLD)	341	if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD)
339	return 8;	342	return 8;
340	if(RCChannel(CH_ROLL) < -ARGUMENT_THRESHOLD)	343	if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD)
341	return 6;	344	return 6;
342	return 7;	345	return 7;
343	} else {	346	} else {
344	// pitch is around center	347	// vertical is around center
345	if(RCChannel(CH_ROLL) > ARGUMENT_THRESHOLD)	348	if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD)
346	return 1;	349	return 1;
347	if(RCChannel(CH_ROLL) < -ARGUMENT_THRESHOLD)	350	if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD)
348	return 5;	351	return 5;
349	return 0;	352	return 0;
350	}	353	}
351	}	354	}
352		355
353	uint8_t RC_getLooping(uint8_t looping) {	356	uint8_t RC_getLooping(uint8_t looping) {
354	// static uint8_t looping = 0;	357	// static uint8_t looping = 0;
355		358
356	if(RCChannel(CH_ROLL) > staticParams.LoopThreshold && staticParams.BitConfig & CFG_LOOP_LEFT) {	359	if(RCChannel(CH_ROLL) > staticParams.LoopThreshold && staticParams.BitConfig & CFG_LOOP_LEFT) {
357	looping \|= (LOOPING_ROLL_AXIS \| LOOPING_LEFT);	360	looping \|= (LOOPING_ROLL_AXIS \| LOOPING_LEFT);
358	} else if((looping & LOOPING_LEFT) && RCChannel(CH_ROLL) < staticParams.LoopThreshold - staticParams.LoopHysteresis) {	361	} else if((looping & LOOPING_LEFT) && RCChannel(CH_ROLL) < staticParams.LoopThreshold - staticParams.LoopHysteresis) {
359	looping &= (~(LOOPING_ROLL_AXIS \| LOOPING_LEFT));	362	looping &= (~(LOOPING_ROLL_AXIS \| LOOPING_LEFT));
360	}	363	}
361		364
362	if(RCChannel(CH_ROLL) < -staticParams.LoopThreshold && staticParams.BitConfig & CFG_LOOP_RIGHT) {	365	if(RCChannel(CH_ROLL) < -staticParams.LoopThreshold && staticParams.BitConfig & CFG_LOOP_RIGHT) {
363	looping \|= (LOOPING_ROLL_AXIS \| LOOPING_RIGHT);	366	looping \|= (LOOPING_ROLL_AXIS \| LOOPING_RIGHT);
364	} else if((looping & LOOPING_RIGHT) && RCChannel(CH_ROLL) > -staticParams.LoopThreshold - staticParams.LoopHysteresis) {	367	} else if((looping & LOOPING_RIGHT) && RCChannel(CH_ROLL) > -staticParams.LoopThreshold - staticParams.LoopHysteresis) {
365	looping &= (~(LOOPING_ROLL_AXIS \| LOOPING_RIGHT));	368	looping &= (~(LOOPING_ROLL_AXIS \| LOOPING_RIGHT));
366	}	369	}
367		370
368	if(RCChannel(CH_PITCH) > staticParams.LoopThreshold && staticParams.BitConfig & CFG_LOOP_UP) {	371	if(RCChannel(CH_PITCH) > staticParams.LoopThreshold && staticParams.BitConfig & CFG_LOOP_UP) {
369	looping \|= (LOOPING_PITCH_AXIS \| LOOPING_UP);	372	looping \|= (LOOPING_PITCH_AXIS \| LOOPING_UP);
370	} else if((looping & LOOPING_UP) && RCChannel(CH_PITCH) < staticParams.LoopThreshold - staticParams.LoopHysteresis) {	373	} else if((looping & LOOPING_UP) && RCChannel(CH_PITCH) < staticParams.LoopThreshold - staticParams.LoopHysteresis) {
371	looping &= (~(LOOPING_PITCH_AXIS \| LOOPING_UP));	374	looping &= (~(LOOPING_PITCH_AXIS \| LOOPING_UP));
372	}	375	}
373		376
374	if(RCChannel(CH_PITCH) < -staticParams.LoopThreshold && staticParams.BitConfig & CFG_LOOP_DOWN) {	377	if(RCChannel(CH_PITCH) < -staticParams.LoopThreshold && staticParams.BitConfig & CFG_LOOP_DOWN) {
375	looping \|= (LOOPING_PITCH_AXIS \| LOOPING_DOWN);	378	looping \|= (LOOPING_PITCH_AXIS \| LOOPING_DOWN);
376	} else if((looping & LOOPING_DOWN) && RCChannel(CH_PITCH) > -staticParams.LoopThreshold - staticParams.LoopHysteresis) {	379	} else if((looping & LOOPING_DOWN) && RCChannel(CH_PITCH) > -staticParams.LoopThreshold - staticParams.LoopHysteresis) {
377	looping &= (~(LOOPING_PITCH_AXIS \| LOOPING_DOWN));	380	looping &= (~(LOOPING_PITCH_AXIS \| LOOPING_DOWN));
378	}	381	}
379		382
380	return looping;	383	return looping;
381	}	384	}
382		385
383	/*	386	/*
384	* Abstract controls are not used at the moment.	387	* Abstract controls are not used at the moment.
385	t_control rc_control = {	388	t_control rc_control = {
386	RC_getPitch,	389	RC_getPitch,
387	RC_getRoll,	390	RC_getRoll,
388	RC_getYaw,	391	RC_getYaw,
389	RC_getThrottle,	392	RC_getThrottle,
390	RC_getSignalQuality,	393	RC_getSignalQuality,
391	RC_calibrate	394	RC_calibrate
392	};	395	};
393	*/	396	*/
394		397

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/rc.c @ 2055 - Rev 1634 → 1635