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1 | #include <stdlib.h> |
1 | #include <stdlib.h> |
2 | #include <avr/io.h> |
2 | #include <avr/io.h> |
3 | #include <avr/interrupt.h> |
3 | #include <avr/interrupt.h> |
4 | 4 | ||
5 | #include "rc.h" |
5 | #include "rc.h" |
6 | #include "controlMixer.h" |
6 | #include "controlMixer.h" |
7 | #include "configuration.h" |
7 | #include "configuration.h" |
8 | #include "commands.h" |
8 | #include "commands.h" |
9 | #include "output.h" |
9 | #include "output.h" |
10 | 10 | ||
11 | // The channel array is 0-based! |
11 | // The channel array is 0-based! |
12 | volatile int16_t PPM_in[MAX_CHANNELS]; |
12 | volatile int16_t PPM_in[MAX_CHANNELS]; |
13 | volatile uint8_t RCQuality; |
13 | volatile uint8_t RCQuality; |
- | 14 | ||
14 | uint8_t lastRCCommand = COMMAND_NONE; |
15 | uint8_t lastRCCommand = COMMAND_NONE; |
15 | uint8_t commandTimer = 0; |
16 | uint8_t commandTimer = 0; |
- | 17 | ||
- | 18 | uint8_t lastFlightMode = FLIGHT_MODE_NONE; |
|
16 | 19 | ||
17 | /*************************************************************** |
20 | /*************************************************************** |
18 | * 16bit timer 1 is used to decode the PPM-Signal |
21 | * 16bit timer 1 is used to decode the PPM-Signal |
19 | ***************************************************************/ |
22 | ***************************************************************/ |
20 | void RC_Init(void) { |
23 | void RC_Init(void) { |
21 | uint8_t sreg = SREG; |
24 | uint8_t sreg = SREG; |
22 | 25 | ||
23 | // disable all interrupts before reconfiguration |
26 | // disable all interrupts before reconfiguration |
24 | cli(); |
27 | cli(); |
25 | 28 | ||
26 | // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
29 | // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
27 | DDRD &= ~(1<<6); |
30 | DDRD &= ~(1<<6); |
28 | PORTD |= (1<<PORTD6); |
31 | PORTD |= (1<<PORTD6); |
29 | 32 | ||
30 | // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
33 | // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
31 | // set as output |
34 | // set as output |
32 | DDRD |= (1<<DDD5) | (1<<DDD4) | (1<<DDD3); |
35 | DDRD |= (1<<DDD5) | (1<<DDD4) | (1<<DDD3); |
33 | // low level |
36 | // low level |
34 | PORTD &= ~((1<<PORTD5) | (1<<PORTD4) | (1<<PORTD3)); |
37 | PORTD &= ~((1<<PORTD5) | (1<<PORTD4) | (1<<PORTD3)); |
35 | 38 | ||
36 | // PD3 can't be used if 2nd UART is activated |
39 | // PD3 can't be used if 2nd UART is activated |
37 | // because TXD1 is at that port |
40 | // because TXD1 is at that port |
38 | if (CPUType != ATMEGA644P) { |
41 | if (CPUType != ATMEGA644P) { |
39 | DDRD |= (1<<PORTD3); |
42 | DDRD |= (1<<PORTD3); |
40 | PORTD &= ~(1<<PORTD3); |
43 | PORTD &= ~(1<<PORTD3); |
41 | } |
44 | } |
42 | 45 | ||
43 | // Timer/Counter1 Control Register A, B, C |
46 | // Timer/Counter1 Control Register A, B, C |
44 | 47 | ||
45 | // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
48 | // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
46 | // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
49 | // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
47 | // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
50 | // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
48 | // Enable input capture noise cancler (bit: ICNC1=1) |
51 | // Enable input capture noise cancler (bit: ICNC1=1) |
49 | // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
52 | // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
50 | // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2�s |
53 | // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2�s |
51 | // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
54 | // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
52 | TCCR1A &= ~((1 << COM1A1) | (1 << COM1A0) | (1 << COM1B1) | (1 << COM1B0) | (1 << WGM11) | (1 << WGM10)); |
55 | TCCR1A &= ~((1 << COM1A1) | (1 << COM1A0) | (1 << COM1B1) | (1 << COM1B0) | (1 << WGM11) | (1 << WGM10)); |
53 | TCCR1B &= ~((1 << WGM13) | (1 << WGM12) | (1 << CS12)); |
56 | TCCR1B &= ~((1 << WGM13) | (1 << WGM12) | (1 << CS12)); |
54 | TCCR1B |= (1 << CS11) | (1 << CS10) | (1 << ICES1) | (1 << ICNC1); |
57 | TCCR1B |= (1 << CS11) | (1 << CS10) | (1 << ICES1) | (1 << ICNC1); |
55 | TCCR1C &= ~((1 << FOC1A) | (1 << FOC1B)); |
58 | TCCR1C &= ~((1 << FOC1A) | (1 << FOC1B)); |
56 | 59 | ||
57 | // Timer/Counter1 Interrupt Mask Register |
60 | // Timer/Counter1 Interrupt Mask Register |
58 | // Enable Input Capture Interrupt (bit: ICIE1=1) |
61 | // Enable Input Capture Interrupt (bit: ICIE1=1) |
59 | // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
62 | // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
60 | // Enable Overflow Interrupt (bit: TOIE1=0) |
63 | // Enable Overflow Interrupt (bit: TOIE1=0) |
61 | TIMSK1 &= ~((1<<OCIE1B) | (1<<OCIE1A) | (1<<TOIE1)); |
64 | TIMSK1 &= ~((1<<OCIE1B) | (1<<OCIE1A) | (1<<TOIE1)); |
62 | TIMSK1 |= (1<<ICIE1); |
65 | TIMSK1 |= (1<<ICIE1); |
63 | 66 | ||
64 | RCQuality = 0; |
67 | RCQuality = 0; |
65 | 68 | ||
66 | SREG = sreg; |
69 | SREG = sreg; |
67 | } |
70 | } |
68 | 71 | ||
69 | /********************************************************************/ |
72 | /********************************************************************/ |
70 | /* Every time a positive edge is detected at PD6 */ |
73 | /* Every time a positive edge is detected at PD6 */ |
71 | /********************************************************************/ |
74 | /********************************************************************/ |
72 | /* t-Frame |
75 | /* t-Frame |
73 | <-----------------------------------------------------------------------> |
76 | <-----------------------------------------------------------------------> |
74 | ____ ______ _____ ________ ______ sync gap ____ |
77 | ____ ______ _____ ________ ______ sync gap ____ |
75 | | | | | | | | | | | | |
78 | | | | | | | | | | | | |
76 | | | | | | | | | | | | |
79 | | | | | | | | | | | | |
77 | ___| |_| |_| |_| |_.............| |________________| |
80 | ___| |_| |_| |_| |_.............| |________________| |
78 | <-----><-------><------><----------- <------> <--- |
81 | <-----><-------><------><----------- <------> <--- |
79 | t0 t1 t2 t4 tn t0 |
82 | t0 t1 t2 t4 tn t0 |
80 | 83 | ||
81 | The PPM-Frame length is 22.5 ms. |
84 | The PPM-Frame length is 22.5 ms. |
82 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
85 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
83 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
86 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
84 | The maximum time delay of two events coding a channel is ( 1.7 + 0.3) ms = 2 ms. |
87 | The maximum time delay of two events coding a channel is ( 1.7 + 0.3) ms = 2 ms. |
85 | The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
88 | The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
86 | The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
89 | The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
87 | The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
90 | The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
88 | the syncronization gap. |
91 | the syncronization gap. |
89 | */ |
92 | */ |
90 | ISR(TIMER1_CAPT_vect) { // typical rate of 1 ms to 2 ms |
93 | ISR(TIMER1_CAPT_vect) { // typical rate of 1 ms to 2 ms |
91 | int16_t signal = 0, tmp; |
94 | int16_t signal = 0, tmp; |
92 | static int16_t index; |
95 | static int16_t index; |
93 | static uint16_t oldICR1 = 0; |
96 | static uint16_t oldICR1 = 0; |
94 | 97 | ||
95 | // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
98 | // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
96 | // at the time the edge was detected |
99 | // at the time the edge was detected |
97 | 100 | ||
98 | // calculate the time delay to the previous event time which is stored in oldICR1 |
101 | // calculate the time delay to the previous event time which is stored in oldICR1 |
99 | // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
102 | // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
100 | // implicit handles a timer overflow 65535 -> 0 the right way. |
103 | // implicit handles a timer overflow 65535 -> 0 the right way. |
101 | signal = (uint16_t) ICR1 - oldICR1; |
104 | signal = (uint16_t) ICR1 - oldICR1; |
102 | oldICR1 = ICR1; |
105 | oldICR1 = ICR1; |
103 | 106 | ||
104 | //sync gap? (3.52 ms < signal < 25.6 ms) |
107 | //sync gap? (3.52 ms < signal < 25.6 ms) |
105 | if ((signal > 1100) && (signal < 8000)) { |
108 | if ((signal > 1100) && (signal < 8000)) { |
106 | index = 0; |
109 | index = 0; |
107 | } else { // within the PPM frame |
110 | } else { // within the PPM frame |
108 | if (index < MAX_CHANNELS) { // PPM24 supports 12 channels |
111 | if (index < MAX_CHANNELS) { // PPM24 supports 12 channels |
109 | // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
112 | // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
110 | // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
113 | // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
111 | if ((signal > 250) && (signal < 687)) { |
114 | if ((signal > 250) && (signal < 687)) { |
112 | // shift signal to zero symmetric range -154 to 159 |
115 | // shift signal to zero symmetric range -154 to 159 |
113 | signal -= 475; // offset of 1.4912 ms ??? (469 * 3.2us = 1.5008 ms) |
116 | signal -= 475; // offset of 1.4912 ms ??? (469 * 3.2us = 1.5008 ms) |
114 | // check for stable signal |
117 | // check for stable signal |
115 | if (abs(signal - PPM_in[index]) < 6) { |
118 | if (abs(signal - PPM_in[index]) < 6) { |
116 | if (RCQuality < 200) |
119 | if (RCQuality < 200) |
117 | RCQuality += 10; |
120 | RCQuality += 10; |
118 | else |
121 | else |
119 | RCQuality = 200; |
122 | RCQuality = 200; |
120 | } |
123 | } |
121 | // If signal is the same as before +/- 1, just keep it there. Naah lets get rid of this slimy sticy stuff. |
124 | // If signal is the same as before +/- 1, just keep it there. Naah lets get rid of this slimy sticy stuff. |
122 | // if (signal >= PPM_in[index] - 1 && signal <= PPM_in[index] + 1) { |
125 | // if (signal >= PPM_in[index] - 1 && signal <= PPM_in[index] + 1) { |
123 | // In addition, if the signal is very close to 0, just set it to 0. |
126 | // In addition, if the signal is very close to 0, just set it to 0. |
124 | if (signal >= -1 && signal <= 1) { |
127 | if (signal >= -1 && signal <= 1) { |
125 | tmp = 0; |
128 | tmp = 0; |
126 | //} else { |
129 | //} else { |
127 | // tmp = PPM_in[index]; |
130 | // tmp = PPM_in[index]; |
128 | // } |
131 | // } |
129 | } else |
132 | } else |
130 | tmp = signal; |
133 | tmp = signal; |
131 | PPM_in[index] = tmp; // update channel value |
134 | PPM_in[index] = tmp; // update channel value |
132 | } |
135 | } |
133 | index++; // next channel |
136 | index++; // next channel |
134 | // demux sum signal for channels 5 to 7 to J3, J4, J5 |
137 | // demux sum signal for channels 5 to 7 to J3, J4, J5 |
135 | // TODO: General configurability of this R/C channel forwarding. Or remove it completely - the |
138 | // TODO: General configurability of this R/C channel forwarding. Or remove it completely - the |
136 | // channels are usually available at the receiver anyway. |
139 | // channels are usually available at the receiver anyway. |
137 | // if(index == 5) J3HIGH; else J3LOW; |
140 | // if(index == 5) J3HIGH; else J3LOW; |
138 | // if(index == 6) J4HIGH; else J4LOW; |
141 | // if(index == 6) J4HIGH; else J4LOW; |
139 | // if(CPUType != ATMEGA644P) // not used as TXD1 |
142 | // if(CPUType != ATMEGA644P) // not used as TXD1 |
140 | // { |
143 | // { |
141 | // if(index == 7) J5HIGH; else J5LOW; |
144 | // if(index == 7) J5HIGH; else J5LOW; |
142 | // } |
145 | // } |
143 | } |
146 | } |
144 | } |
147 | } |
145 | } |
148 | } |
146 | 149 | ||
147 | #define RCChannel(dimension) PPM_in[channelMap.channels[dimension]] |
150 | #define RCChannel(dimension) PPM_in[channelMap.channels[dimension]] |
148 | #define COMMAND_THRESHOLD 85 |
151 | #define COMMAND_THRESHOLD 85 |
149 | #define COMMAND_CHANNEL_VERTICAL CH_THROTTLE |
152 | #define COMMAND_CHANNEL_VERTICAL CH_THROTTLE |
150 | #define COMMAND_CHANNEL_HORIZONTAL CH_YAW |
153 | #define COMMAND_CHANNEL_HORIZONTAL CH_YAW |
- | 154 | ||
- | 155 | #define RC_SCALING 4 |
|
- | 156 | ||
- | 157 | uint8_t getControlModeSwitch() { |
|
- | 158 | int16_t channel = RCChannel(CH_MODESWITCH) + POT_OFFSET; |
|
- | 159 | uint8_t flightMode = channel < 256/3 ? FLIGHT_MODE_MANUAL : |
|
- | 160 | (channel > 256*2/3 ? FLIGHT_MODE_ANGLES : FLIGHT_MODE_RATE); |
|
- | 161 | return flightMode; |
|
- | 162 | } |
|
- | 163 | ||
- | 164 | // Gyro calibration is performed as.... well mode switch with no throttle and no airspeed would be nice. |
|
- | 165 | // Maybe simply: Very very low throttle. |
|
- | 166 | // Throttle xlow for COMMAND_TIMER: GYROCAL (once). |
|
- | 167 | // mode switched: CHMOD |
|
- | 168 | ||
- | 169 | uint8_t RC_getCommand(void) { |
|
- | 170 | uint8_t flightMode = getControlModeSwitch(); |
|
- | 171 | ||
- | 172 | if (lastFlightMode != flightMode) { |
|
- | 173 | lastFlightMode = flightMode; |
|
- | 174 | lastRCCommand = COMMAND_CHMOD; |
|
- | 175 | return lastRCCommand; |
|
- | 176 | } |
|
- | 177 | ||
- | 178 | int16_t channel = RCChannel(CH_MODESWITCH) + POT_OFFSET; |
|
- | 179 | if (channel <= -32) { // <= 900 us |
|
- | 180 | if (commandTimer == COMMAND_TIMER) { |
|
- | 181 | lastRCCommand = COMMAND_GYROCAL; |
|
- | 182 | } |
|
- | 183 | if (commandTimer <= COMMAND_TIMER) { |
|
- | 184 | commandTimer++; |
|
- | 185 | } |
|
- | 186 | } else commandTimer = 0; |
|
- | 187 | return lastRCCommand; |
|
- | 188 | } |
|
- | 189 | ||
- | 190 | uint8_t RC_getArgument(void) { |
|
- | 191 | return lastFlightMode; |
|
- | 192 | } |
|
151 | 193 | ||
152 | /* |
194 | /* |
153 | * Get Pitch, Roll, Throttle, Yaw values |
195 | * Get Pitch, Roll, Throttle, Yaw values |
154 | */ |
196 | */ |
155 | void RC_periodicTaskAndPRTY(int16_t* PRTY) { |
197 | void RC_periodicTaskAndPRTY(int16_t* PRTY) { |
156 | if (RCQuality) { |
198 | if (RCQuality) { |
157 | RCQuality--; |
199 | RCQuality--; |
158 | PRTY[CONTROL_ELEVATOR] = RCChannel(CH_ELEVATOR); |
200 | PRTY[CONTROL_ELEVATOR] = RCChannel(CH_ELEVATOR) * RC_SCALING; |
159 | PRTY[CONTROL_AILERONS] = RCChannel(CH_AILERONS); |
201 | PRTY[CONTROL_AILERONS] = RCChannel(CH_AILERONS) * RC_SCALING; |
160 | PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE); |
202 | PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) * RC_SCALING; |
161 | PRTY[CONTROL_RUDDER] = RCChannel(CH_RUDDER); |
203 | PRTY[CONTROL_RUDDER] = RCChannel(CH_RUDDER) * RC_SCALING; |
- | 204 | ||
- | 205 | debugOut.analog[16] = PRTY[CONTROL_ELEVATOR]; |
|
- | 206 | debugOut.analog[17] = PRTY[CONTROL_THROTTLE]; |
|
162 | 207 | ||
163 | uint8_t command = COMMAND_NONE; //RC_getStickCommand(); |
208 | uint8_t command = COMMAND_NONE; //RC_getStickCommand(); |
164 | if (lastRCCommand == command) { |
209 | if (lastRCCommand == command) { |
165 | // Keep timer from overrunning. |
210 | // Keep timer from overrunning. |
166 | if (commandTimer < COMMAND_TIMER) |
211 | if (commandTimer < COMMAND_TIMER) |
167 | commandTimer++; |
212 | commandTimer++; |
168 | } else { |
213 | } else { |
169 | // There was a change. |
214 | // There was a change. |
170 | lastRCCommand = command; |
215 | lastRCCommand = command; |
171 | commandTimer = 0; |
216 | commandTimer = 0; |
172 | } |
217 | } |
173 | } // if RCQuality is no good, we just do nothing. |
218 | } // if RCQuality is no good, we just do nothing. |
174 | } |
219 | } |
175 | 220 | ||
176 | /* |
221 | /* |
177 | * Get other channel value |
222 | * Get other channel value |
178 | */ |
223 | */ |
179 | int16_t RC_getVariable(uint8_t varNum) { |
224 | int16_t RC_getVariable(uint8_t varNum) { |
180 | if (varNum < 4) |
225 | if (varNum < 4) |
181 | // 0th variable is 5th channel (1-based) etc. |
226 | // 0th variable is 5th channel (1-based) etc. |
182 | return RCChannel(varNum + CH_POTS) + POT_OFFSET; |
227 | return RCChannel(varNum + CH_POTS) + POT_OFFSET; |
183 | /* |
228 | /* |
184 | * Let's just say: |
229 | * Let's just say: |
185 | * The RC variable i is hardwired to channel i, i>=4 |
230 | * The RC variable i is hardwired to channel i, i>=4 |
186 | */ |
231 | */ |
187 | return PPM_in[varNum] + POT_OFFSET; |
232 | return PPM_in[varNum] + POT_OFFSET; |
188 | } |
233 | } |
189 | 234 | ||
190 | uint8_t RC_getSignalQuality(void) { |
235 | uint8_t RC_getSignalQuality(void) { |
191 | if (RCQuality >= 160) |
236 | if (RCQuality >= 160) |
192 | return SIGNAL_GOOD; |
237 | return SIGNAL_GOOD; |
193 | if (RCQuality >= 140) |
238 | if (RCQuality >= 140) |
194 | return SIGNAL_OK; |
239 | return SIGNAL_OK; |
195 | if (RCQuality >= 120) |
240 | if (RCQuality >= 120) |
196 | return SIGNAL_BAD; |
241 | return SIGNAL_BAD; |
197 | return SIGNAL_LOST; |
242 | return SIGNAL_LOST; |
198 | } |
243 | } |
199 | 244 | ||
200 | /* |
245 | /* |
201 | * To should fired only when the right stick is in the center position. |
246 | * To should fired only when the right stick is in the center position. |
202 | * This will cause the value of pitch and roll stick to be adjusted |
247 | * This will cause the value of pitch and roll stick to be adjusted |
203 | * to zero (not just to near zero, as per the assumption in rc.c |
248 | * to zero (not just to near zero, as per the assumption in rc.c |
204 | * about the rc signal. I had values about 50..70 with a Futaba |
249 | * about the rc signal. I had values about 50..70 with a Futaba |
205 | * R617 receiver.) This calibration is not strictly necessary, but |
250 | * R617 receiver.) This calibration is not strictly necessary, but |
206 | * for control logic that depends on the exact (non)center position |
251 | * for control logic that depends on the exact (non)center position |
207 | * of a stick, it may be useful. |
252 | * of a stick, it may be useful. |
208 | */ |
253 | */ |
209 | void RC_calibrate(void) { |
254 | void RC_calibrate(void) { |
210 | // Do nothing. |
255 | // Do nothing. |
211 | } |
256 | } |
212 | - | ||
213 | uint8_t RC_getCommand(void) { |
- | |
214 | if (commandTimer == COMMAND_TIMER) { |
- | |
215 | // Stick has been held long enough; command committed. |
- | |
216 | return lastRCCommand; |
- | |
217 | } |
- | |
218 | // Not yet sure what the command is. |
- | |
219 | return COMMAND_NONE; |
- | |
220 | } |
- | |
221 | - | ||
222 | /* |
- | |
223 | * Command arguments on R/C: |
- | |
224 | * 2--3--4 |
- | |
225 | * | | + |
- | |
226 | * 1 0 5 ^ 0 |
- | |
227 | * | | | |
- | |
228 | * 8--7--6 |
- | |
229 | * |
- | |
230 | * + <-- |
- | |
231 | * 0 |
- | |
232 | * |
- | |
233 | * Not in any of these positions: 0 |
- | |
234 | */ |
- | |
235 | - | ||
236 | #define ARGUMENT_THRESHOLD 70 |
- | |
237 | #define ARGUMENT_CHANNEL_VERTICAL CH_ELEVATOR |
- | |
238 | #define ARGUMENT_CHANNEL_HORIZONTAL CH_AILERONS |
- | |
239 | - | ||
240 | uint8_t RC_getArgument(void) { |
- | |
241 | if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) > ARGUMENT_THRESHOLD) { |
- | |
242 | // vertical is up |
- | |
243 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
- | |
244 | return 2; |
- | |
245 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
- | |
246 | return 4; |
- | |
247 | return 3; |
- | |
248 | } else if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) < -ARGUMENT_THRESHOLD) { |
- | |
249 | // vertical is down |
- | |
250 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
- | |
251 | return 8; |
- | |
252 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
- | |
253 | return 6; |
- | |
254 | return 7; |
- | |
255 | } else { |
- | |
256 | // vertical is around center |
- | |
257 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
- | |
258 | return 1; |
- | |
259 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
- | |
260 | return 5; |
- | |
261 | return 0; |
- | |
262 | } |
- | |
263 | } |
- | |
264 | 257 |