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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 example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for example: 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 "uart0.h" |
56 | #include "uart0.h" |
57 | #include "controlMixer.h" |
57 | #include "controlMixer.h" |
58 | #include "configuration.h" |
58 | #include "configuration.h" |
59 | #include "commands.h" |
59 | #include "commands.h" |
60 | 60 | ||
61 | // The channel array is 1-based. The 0th entry is not used. |
61 | // The channel array is 1-based. The 0th entry is not used. |
62 | volatile int16_t PPM_in[MAX_CHANNELS]; |
62 | volatile int16_t PPM_in[MAX_CHANNELS]; |
63 | volatile int16_t PPM_diff[MAX_CHANNELS]; |
63 | volatile int16_t PPM_diff[MAX_CHANNELS]; |
64 | volatile uint8_t NewPpmData = 1; |
64 | volatile uint8_t NewPpmData = 1; |
65 | volatile int16_t RC_Quality = 0; |
65 | volatile int16_t RC_Quality = 0; |
66 | int16_t RC_PRTY[4]; |
66 | int16_t RC_PRTY[4]; |
67 | uint8_t lastRCCommand = COMMAND_NONE; |
67 | uint8_t lastRCCommand = COMMAND_NONE; |
68 | uint8_t commandTimer = 0; |
68 | uint8_t commandTimer = 0; |
69 | 69 | ||
70 | // Useless. Just trim on the R/C instead. |
70 | // Useless. Just trim on the R/C instead. |
71 | // int16_t stickOffsetPitch = 0, stickOffsetRoll = 0; |
71 | // int16_t stickOffsetPitch = 0, stickOffsetRoll = 0; |
72 | 72 | ||
73 | /*************************************************************** |
73 | /*************************************************************** |
74 | * 16bit timer 1 is used to decode the PPM-Signal |
74 | * 16bit timer 1 is used to decode the PPM-Signal |
75 | ***************************************************************/ |
75 | ***************************************************************/ |
76 | void RC_Init(void) { |
76 | void RC_Init(void) { |
77 | uint8_t sreg = SREG; |
77 | uint8_t sreg = SREG; |
78 | 78 | ||
79 | // disable all interrupts before reconfiguration |
79 | // disable all interrupts before reconfiguration |
80 | cli(); |
80 | cli(); |
81 | 81 | ||
82 | // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
82 | // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
83 | DDRD &= ~(1 << DDD6); |
83 | DDRD &= ~(1 << DDD6); |
84 | PORTD |= (1 << PORTD6); |
84 | PORTD |= (1 << PORTD6); |
85 | 85 | ||
86 | // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
86 | // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
87 | // set as output |
87 | // set as output |
88 | DDRD |= (1 << DDD5) | (1 << DDD4) | (1 << DDD3); |
88 | DDRD |= (1 << DDD5) | (1 << DDD4) | (1 << DDD3); |
89 | // low level |
89 | // low level |
90 | PORTD &= ~((1 << PORTD5) | (1 << PORTD4) | (1 << PORTD3)); |
90 | PORTD &= ~((1 << PORTD5) | (1 << PORTD4) | (1 << PORTD3)); |
91 | 91 | ||
92 | // PD3 can't be used if 2nd UART is activated |
92 | // PD3 can't be used if 2nd UART is activated |
93 | // because TXD1 is at that port |
93 | // because TXD1 is at that port |
94 | if (CPUType != ATMEGA644P) { |
94 | if (CPUType != ATMEGA644P) { |
95 | DDRD |= (1 << PORTD3); |
95 | DDRD |= (1 << PORTD3); |
96 | PORTD &= ~(1 << PORTD3); |
96 | PORTD &= ~(1 << PORTD3); |
97 | } |
97 | } |
98 | 98 | ||
99 | // Timer/Counter1 Control Register A, B, C |
99 | // Timer/Counter1 Control Register A, B, C |
100 | 100 | ||
101 | // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
101 | // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
102 | // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
102 | // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
103 | // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
103 | // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
104 | // Enable input capture noise cancler (bit: ICNC1=1) |
104 | // Enable input capture noise cancler (bit: ICNC1=1) |
105 | // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
105 | // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
106 | // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2µs |
106 | // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2µs |
107 | // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
107 | // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
108 | TCCR1A &= ~((1 << COM1A1) | (1 << COM1A0) | (1 << COM1B1) | (1 << COM1B0) |
108 | TCCR1A &= ~((1 << COM1A1) | (1 << COM1A0) | (1 << COM1B1) | (1 << COM1B0) |
109 | | (1 << WGM11) | (1 << WGM10)); |
109 | | (1 << WGM11) | (1 << WGM10)); |
110 | TCCR1B &= ~((1 << WGM13) | (1 << WGM12) | (1 << CS12)); |
110 | TCCR1B &= ~((1 << WGM13) | (1 << WGM12) | (1 << CS12)); |
111 | TCCR1B |= (1 << CS11) | (1 << CS10) | (1 << ICES1) | (1 << ICNC1); |
111 | TCCR1B |= (1 << CS11) | (1 << CS10) | (1 << ICES1) | (1 << ICNC1); |
112 | TCCR1C &= ~((1 << FOC1A) | (1 << FOC1B)); |
112 | TCCR1C &= ~((1 << FOC1A) | (1 << FOC1B)); |
113 | 113 | ||
114 | // Timer/Counter1 Interrupt Mask Register |
114 | // Timer/Counter1 Interrupt Mask Register |
115 | 115 | ||
116 | // Enable Input Capture Interrupt (bit: ICIE1=1) |
116 | // Enable Input Capture Interrupt (bit: ICIE1=1) |
117 | // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
117 | // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
118 | // Enable Overflow Interrupt (bit: TOIE1=0) |
118 | // Enable Overflow Interrupt (bit: TOIE1=0) |
119 | TIMSK1 &= ~((1 << OCIE1B) | (1 << OCIE1A) | (1 << TOIE1)); |
119 | TIMSK1 &= ~((1 << OCIE1B) | (1 << OCIE1A) | (1 << TOIE1)); |
120 | TIMSK1 |= (1 << ICIE1); |
120 | TIMSK1 |= (1 << ICIE1); |
121 | 121 | ||
122 | RC_Quality = 0; |
122 | RC_Quality = 0; |
123 | 123 | ||
124 | SREG = sreg; |
124 | SREG = sreg; |
125 | } |
125 | } |
126 | 126 | ||
127 | /********************************************************************/ |
127 | /********************************************************************/ |
128 | /* Every time a positive edge is detected at PD6 */ |
128 | /* Every time a positive edge is detected at PD6 */ |
129 | /********************************************************************/ |
129 | /********************************************************************/ |
130 | /* t-Frame |
130 | /* t-Frame |
131 | <-----------------------------------------------------------------------> |
131 | <-----------------------------------------------------------------------> |
132 | ____ ______ _____ ________ ______ sync gap ____ |
132 | ____ ______ _____ ________ ______ sync gap ____ |
133 | | | | | | | | | | | | |
133 | | | | | | | | | | | | |
134 | | | | | | | | | | | | |
134 | | | | | | | | | | | | |
135 | ___| |_| |_| |_| |_.............| |________________| |
135 | ___| |_| |_| |_| |_.............| |________________| |
136 | <-----><-------><------><--------> <------> <--- |
136 | <-----><-------><------><--------> <------> <--- |
137 | t0 t1 t2 t4 tn t0 |
137 | t0 t1 t2 t4 tn t0 |
138 | 138 | ||
139 | The PPM-Frame length is 22.5 ms. |
139 | The PPM-Frame length is 22.5 ms. |
140 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
140 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
141 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
141 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
142 | The maximum time delay of two events coding a chanel is ( 1.7 + 0.3) ms = 2 ms. |
142 | The maximum time delay of two events coding a chanel is ( 1.7 + 0.3) ms = 2 ms. |
143 | The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
143 | The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
144 | The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
144 | The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
145 | The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
145 | The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
146 | the syncronization gap. |
146 | the syncronization gap. |
147 | */ |
147 | */ |
148 | ISR(TIMER1_CAPT_vect) |
148 | ISR(TIMER1_CAPT_vect) |
149 | { // typical rate of 1 ms to 2 ms |
149 | { // typical rate of 1 ms to 2 ms |
150 | int16_t signal = 0, tmp; |
150 | int16_t signal = 0, tmp; |
151 | static int16_t index; |
151 | static int16_t index; |
152 | static uint16_t oldICR1 = 0; |
152 | static uint16_t oldICR1 = 0; |
153 | 153 | ||
154 | // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
154 | // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
155 | // at the time the edge was detected |
155 | // at the time the edge was detected |
156 | 156 | ||
157 | // calculate the time delay to the previous event time which is stored in oldICR1 |
157 | // calculate the time delay to the previous event time which is stored in oldICR1 |
158 | // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
158 | // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
159 | // implicit handles a timer overflow 65535 -> 0 the right way. |
159 | // implicit handles a timer overflow 65535 -> 0 the right way. |
160 | signal = (uint16_t) ICR1 - oldICR1; |
160 | signal = (uint16_t) ICR1 - oldICR1; |
161 | oldICR1 = ICR1; |
161 | oldICR1 = ICR1; |
162 | 162 | ||
163 | //sync gap? (3.52 ms < signal < 25.6 ms) |
163 | //sync gap? (3.52 ms < signal < 25.6 ms) |
164 | if ((signal > 1100) && (signal < 8000)) { |
164 | if ((signal > 1100) && (signal < 8000)) { |
165 | // if a sync gap happens and there where at least 4 channels decoded before |
165 | // if a sync gap happens and there where at least 4 channels decoded before |
166 | // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
166 | // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
167 | if (index >= 4) { |
167 | if (index >= 4) { |
168 | NewPpmData = 0; // Null means NewData for the first 4 channels |
168 | NewPpmData = 0; // Null means NewData for the first 4 channels |
169 | } |
169 | } |
170 | // synchronize channel index |
170 | // synchronize channel index |
171 | index = 1; |
171 | index = 1; |
172 | } else { // within the PPM frame |
172 | } else { // within the PPM frame |
173 | if (index < MAX_CHANNELS - 1) { // PPM24 supports 12 channels |
173 | if (index < MAX_CHANNELS - 1) { // PPM24 supports 12 channels |
174 | // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
174 | // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
175 | // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
175 | // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
176 | if ((signal > 250) && (signal < 687)) { |
176 | if ((signal > 250) && (signal < 687)) { |
177 | // shift signal to zero symmetric range -154 to 159 |
177 | // shift signal to zero symmetric range -154 to 159 |
178 | signal -= 470; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
178 | signal -= 470; // 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) |
181 | if (RC_Quality < 200) |
182 | RC_Quality += 10; |
182 | RC_Quality += 10; |
183 | else |
183 | else |
184 | RC_Quality = 200; |
184 | RC_Quality = 200; |
185 | } |
185 | } |
186 | // If signal is the same as before +/- 1, just keep it there. |
186 | // If signal is the same as before +/- 1, just keep it there. |
187 | if (signal >= PPM_in[index] - 1 && signal <= PPM_in[index] + 1) { |
187 | if (signal >= PPM_in[index] - 1 && signal <= PPM_in[index] + 1) { |
188 | // In addition, if the signal is very close to 0, just set it to 0. |
188 | // In addition, if the signal is very close to 0, just set it to 0. |
189 | if (signal >= -1 && signal <= 1) { |
189 | if (signal >= -1 && signal <= 1) { |
190 | tmp = 0; |
190 | tmp = 0; |
191 | } else { |
191 | } else { |
192 | tmp = PPM_in[index]; |
192 | tmp = PPM_in[index]; |
193 | } |
193 | } |
194 | } else |
194 | } else |
195 | tmp = signal; |
195 | tmp = signal; |
196 | // calculate signal difference on good signal level |
196 | // calculate signal difference on good signal level |
197 | if (RC_Quality >= 195) |
197 | if (RC_Quality >= 195) |
198 | PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
198 | PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
199 | else |
199 | else |
200 | PPM_diff[index] = 0; |
200 | PPM_diff[index] = 0; |
201 | PPM_in[index] = tmp; // update channel value |
201 | PPM_in[index] = tmp; // update channel value |
202 | } |
202 | } |
203 | index++; // next channel |
203 | index++; // next channel |
204 | // demux sum signal for channels 5 to 7 to J3, J4, J5 |
204 | // demux sum signal for channels 5 to 7 to J3, J4, J5 |
205 | // TODO: General configurability of this R/C channel forwarding. Or remove it completely - the |
205 | // TODO: General configurability of this R/C channel forwarding. Or remove it completely - the |
206 | // channels are usually available at the receiver anyway. |
206 | // channels are usually available at the receiver anyway. |
207 | // if(index == 5) J3HIGH; else J3LOW; |
207 | // if(index == 5) J3HIGH; else J3LOW; |
208 | // if(index == 6) J4HIGH; else J4LOW; |
208 | // if(index == 6) J4HIGH; else J4LOW; |
209 | // if(CPUType != ATMEGA644P) // not used as TXD1 |
209 | // if(CPUType != ATMEGA644P) // not used as TXD1 |
210 | // { |
210 | // { |
211 | // if(index == 7) J5HIGH; else J5LOW; |
211 | // if(index == 7) J5HIGH; else J5LOW; |
212 | // } |
212 | // } |
213 | } |
213 | } |
214 | } |
214 | } |
215 | } |
215 | } |
216 | 216 | ||
217 | #define RCChannel(dimension) PPM_in[staticParams.ChannelAssignment[dimension]] |
217 | #define RCChannel(dimension) PPM_in[staticParams.ChannelAssignment[dimension]] |
218 | #define RCDiff(dimension) PPM_diff[staticParams.ChannelAssignment[dimension]] |
218 | #define RCDiff(dimension) PPM_diff[staticParams.ChannelAssignment[dimension]] |
219 | #define COMMAND_THRESHOLD 85 |
219 | #define COMMAND_THRESHOLD 85 |
220 | #define COMMAND_CHANNEL_VERTICAL CH_THROTTLE |
220 | #define COMMAND_CHANNEL_VERTICAL CH_THROTTLE |
221 | #define COMMAND_CHANNEL_HORIZONTAL CH_YAW |
221 | #define COMMAND_CHANNEL_HORIZONTAL CH_YAW |
222 | 222 | ||
223 | // Internal. |
223 | // Internal. |
224 | uint8_t RC_getStickCommand(void) { |
224 | uint8_t RC_getStickCommand(void) { |
225 | if (RCChannel(COMMAND_CHANNEL_VERTICAL) > COMMAND_THRESHOLD) { |
225 | if (RCChannel(COMMAND_CHANNEL_VERTICAL) > COMMAND_THRESHOLD) { |
226 | // vertical is up |
226 | // vertical is up |
227 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
227 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
228 | return COMMAND_GYROCAL; |
228 | return COMMAND_GYROCAL; |
229 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
229 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
230 | return COMMAND_ACCCAL; |
230 | return COMMAND_ACCCAL; |
231 | return COMMAND_NONE; |
231 | return COMMAND_NONE; |
232 | } else if (RCChannel(COMMAND_CHANNEL_VERTICAL) < -COMMAND_THRESHOLD) { |
232 | } else if (RCChannel(COMMAND_CHANNEL_VERTICAL) < -COMMAND_THRESHOLD) { |
233 | // vertical is down |
233 | // vertical is down |
234 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
234 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
235 | return COMMAND_STOP; |
235 | return COMMAND_STOP; |
236 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
236 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
237 | return COMMAND_START; |
237 | return COMMAND_START; |
238 | return COMMAND_NONE; |
238 | return COMMAND_NONE; |
239 | } |
239 | } |
240 | // vertical is around center |
240 | // vertical is around center |
241 | return COMMAND_NONE; |
241 | return COMMAND_NONE; |
242 | } |
242 | } |
243 | 243 | ||
244 | /* |
244 | /* |
245 | * This must be called (as the only thing) for each control loop cycle (488 Hz). |
245 | * This must be called (as the only thing) for each control loop cycle (488 Hz). |
246 | */ |
246 | */ |
247 | void RC_update() { |
247 | void RC_update() { |
248 | int16_t tmp1, tmp2; |
248 | int16_t tmp1, tmp2; |
249 | if (RC_Quality) { |
249 | if (RC_Quality) { |
250 | RC_Quality--; |
250 | RC_Quality--; |
251 | if (NewPpmData-- == 0) { |
251 | if (NewPpmData-- == 0) { |
252 | RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.StickP |
252 | RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.StickP |
253 | + RCDiff(CH_PITCH) * staticParams.StickD; |
253 | + RCDiff(CH_PITCH) * staticParams.StickD; |
254 | RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.StickP |
254 | RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.StickP |
255 | + RCDiff(CH_ROLL) * staticParams.StickD; |
255 | + RCDiff(CH_ROLL) * staticParams.StickD; |
256 | RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) |
256 | RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) |
257 | * dynamicParams.UserParams[3] + 120; |
257 | * dynamicParams.UserParams[3] + 120; |
258 | if (RC_PRTY[CONTROL_THROTTLE] < 0) |
258 | if (RC_PRTY[CONTROL_THROTTLE] < 0) |
259 | RC_PRTY[CONTROL_THROTTLE] = 0; // Throttle is non negative. |
259 | RC_PRTY[CONTROL_THROTTLE] = 0; // Throttle is non negative. |
260 | tmp1 = -RCChannel(CH_YAW) - RCDiff(CH_YAW); |
260 | tmp1 = -RCChannel(CH_YAW) - RCDiff(CH_YAW); |
261 | // exponential stick sensitivity in yawing rate |
261 | // exponential stick sensitivity in yawing rate |
262 | tmp2 = (int32_t) staticParams.StickYawP * ((int32_t) tmp1 * abs(tmp1)) |
262 | tmp2 = (int32_t) staticParams.StickYawP * ((int32_t) tmp1 * abs(tmp1)) |
263 | / 512L; // expo y = ax + bx^2 |
263 | / 512L; // expo y = ax + bx^2 |
264 | tmp2 += (staticParams.StickYawP * tmp1) / 4; |
264 | tmp2 += (staticParams.StickYawP * tmp1) >> 2; |
265 | RC_PRTY[CONTROL_YAW] = tmp2; |
265 | RC_PRTY[CONTROL_YAW] = tmp2; |
266 | } |
266 | } |
267 | uint8_t command = RC_getStickCommand(); |
267 | uint8_t command = RC_getStickCommand(); |
- | 268 | ||
268 | if (lastRCCommand == command) { |
269 | if (lastRCCommand == command) { |
269 | // Keep timer from overrunning. |
270 | // Keep timer from overrunning. |
270 | if (commandTimer < COMMAND_TIMER) |
271 | if (commandTimer < COMMAND_TIMER) |
271 | commandTimer++; |
272 | commandTimer++; |
272 | } else { |
273 | } else { |
273 | // There was a change. |
274 | // There was a change. |
274 | lastRCCommand = command; |
275 | lastRCCommand = command; |
275 | commandTimer = 0; |
276 | commandTimer = 0; |
276 | } |
277 | } |
277 | } else { // Bad signal |
278 | } else { // Bad signal |
278 | RC_PRTY[CONTROL_PITCH] = RC_PRTY[CONTROL_ROLL] = RC_PRTY[CONTROL_THROTTLE] |
279 | RC_PRTY[CONTROL_PITCH] = RC_PRTY[CONTROL_ROLL] = RC_PRTY[CONTROL_THROTTLE] |
279 | = RC_PRTY[CONTROL_YAW] = 0; |
280 | = RC_PRTY[CONTROL_YAW] = 0; |
280 | } |
281 | } |
281 | } |
282 | } |
282 | 283 | ||
283 | /* |
284 | /* |
284 | * Get Pitch, Roll, Throttle, Yaw values |
285 | * Get Pitch, Roll, Throttle, Yaw values |
285 | */ |
286 | */ |
286 | int16_t* RC_getPRTY(void) { |
287 | int16_t* RC_getPRTY(void) { |
287 | return RC_PRTY; |
288 | return RC_PRTY; |
288 | } |
289 | } |
289 | 290 | ||
290 | /* |
291 | /* |
291 | * Get other channel value |
292 | * Get other channel value |
292 | */ |
293 | */ |
293 | int16_t RC_getVariable(uint8_t varNum) { |
294 | int16_t RC_getVariable(uint8_t varNum) { |
294 | if (varNum < 4) |
295 | if (varNum < 4) |
295 | // 0th variable is 5th channel (1-based) etc. |
296 | // 0th variable is 5th channel (1-based) etc. |
296 | return RCChannel(varNum + 4) + POT_OFFSET; |
297 | return RCChannel(varNum + 4) + POT_OFFSET; |
297 | /* |
298 | /* |
298 | * Let's just say: |
299 | * Let's just say: |
299 | * The RC variable 4 is hardwired to channel 5 |
300 | * The RC variable 4 is hardwired to channel 5 |
300 | * The RC variable 5 is hardwired to channel 6 |
301 | * The RC variable 5 is hardwired to channel 6 |
301 | * The RC variable 6 is hardwired to channel 7 |
302 | * The RC variable 6 is hardwired to channel 7 |
302 | * The RC variable 7 is hardwired to channel 8 |
303 | * The RC variable 7 is hardwired to channel 8 |
303 | * Alternatively, one could bind them to channel (4 + varNum) - or whatever... |
304 | * Alternatively, one could bind them to channel (4 + varNum) - or whatever... |
304 | */ |
305 | */ |
305 | return PPM_in[varNum + 1] + POT_OFFSET; |
306 | return PPM_in[varNum + 1] + POT_OFFSET; |
306 | } |
307 | } |
307 | 308 | ||
308 | uint8_t RC_getSignalQuality(void) { |
309 | uint8_t RC_getSignalQuality(void) { |
309 | if (RC_Quality >= 160) |
310 | if (RC_Quality >= 160) |
310 | return SIGNAL_GOOD; |
311 | return SIGNAL_GOOD; |
311 | if (RC_Quality >= 140) |
312 | if (RC_Quality >= 140) |
312 | return SIGNAL_OK; |
313 | return SIGNAL_OK; |
313 | if (RC_Quality >= 120) |
314 | if (RC_Quality >= 120) |
314 | return SIGNAL_BAD; |
315 | return SIGNAL_BAD; |
315 | return SIGNAL_LOST; |
316 | return SIGNAL_LOST; |
316 | } |
317 | } |
317 | 318 | ||
318 | /* |
319 | /* |
319 | * To should fired only when the right stick is in the center position. |
320 | * To should fired only when the right stick is in the center position. |
320 | * This will cause the value of pitch and roll stick to be adjusted |
321 | * This will cause the value of pitch and roll stick to be adjusted |
321 | * to zero (not just to near zero, as per the assumption in rc.c |
322 | * to zero (not just to near zero, as per the assumption in rc.c |
322 | * about the rc signal. I had values about 50..70 with a Futaba |
323 | * about the rc signal. I had values about 50..70 with a Futaba |
323 | * R617 receiver.) This calibration is not strictly necessary, but |
324 | * R617 receiver.) This calibration is not strictly necessary, but |
324 | * for control logic that depends on the exact (non)center position |
325 | * for control logic that depends on the exact (non)center position |
325 | * of a stick, it may be useful. |
326 | * of a stick, it may be useful. |
326 | */ |
327 | */ |
327 | void RC_calibrate(void) { |
328 | void RC_calibrate(void) { |
328 | // Do nothing. |
329 | // Do nothing. |
329 | } |
330 | } |
330 | 331 | ||
331 | /* |
332 | /* |
332 | if (staticParams.GlobalConfig & CFG_HEADING_HOLD) { |
333 | if (staticParams.GlobalConfig & CFG_HEADING_HOLD) { |
333 | // In HH, it s OK to trim the R/C. The effect should not be conteracted here. |
334 | // In HH, it s OK to trim the R/C. The effect should not be conteracted here. |
334 | stickOffsetPitch = stickOffsetRoll = 0; |
335 | stickOffsetPitch = stickOffsetRoll = 0; |
335 | } else { |
336 | } else { |
336 | stickOffsetPitch = RCChannel(CH_PITCH) * staticParams.StickP; |
337 | stickOffsetPitch = RCChannel(CH_PITCH) * staticParams.StickP; |
337 | stickOffsetRoll = RCChannel(CH_ROLL) * staticParams.StickP; |
338 | stickOffsetRoll = RCChannel(CH_ROLL) * staticParams.StickP; |
338 | } |
339 | } |
339 | } |
340 | } |
340 | */ |
341 | */ |
341 | 342 | ||
342 | uint8_t RC_getCommand(void) { |
343 | uint8_t RC_getCommand(void) { |
343 | if (commandTimer == COMMAND_TIMER) { |
344 | if (commandTimer == COMMAND_TIMER) { |
344 | // Stick has been held long enough; command committed. |
345 | // Stick has been held long enough; command committed. |
345 | return lastRCCommand; |
346 | return lastRCCommand; |
346 | } |
347 | } |
347 | // Not yet sure what the command is. |
348 | // Not yet sure what the command is. |
348 | return COMMAND_NONE; |
349 | return COMMAND_NONE; |
349 | } |
350 | } |
350 | 351 | ||
351 | /* |
352 | /* |
352 | * Command arguments on R/C: |
353 | * Command arguments on R/C: |
353 | * 2--3--4 |
354 | * 2--3--4 |
354 | * | | + |
355 | * | | + |
355 | * 1 0 5 ^ 0 |
356 | * 1 0 5 ^ 0 |
356 | * | | | |
357 | * | | | |
357 | * 8--7--6 |
358 | * 8--7--6 |
358 | * |
359 | * |
359 | * + <-- |
360 | * + <-- |
360 | * 0 |
361 | * 0 |
361 | * |
362 | * |
362 | * Not in any of these positions: 0 |
363 | * Not in any of these positions: 0 |
363 | */ |
364 | */ |
364 | 365 | ||
365 | #define ARGUMENT_THRESHOLD 70 |
366 | #define ARGUMENT_THRESHOLD 70 |
366 | #define ARGUMENT_CHANNEL_VERTICAL CH_PITCH |
367 | #define ARGUMENT_CHANNEL_VERTICAL CH_PITCH |
367 | #define ARGUMENT_CHANNEL_HORIZONTAL CH_ROLL |
368 | #define ARGUMENT_CHANNEL_HORIZONTAL CH_ROLL |
368 | 369 | ||
369 | uint8_t RC_getArgument(void) { |
370 | uint8_t RC_getArgument(void) { |
370 | if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) > ARGUMENT_THRESHOLD) { |
371 | if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) > ARGUMENT_THRESHOLD) { |
371 | // vertical is up |
372 | // vertical is up |
372 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
373 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
373 | return 2; |
374 | return 2; |
374 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
375 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
375 | return 4; |
376 | return 4; |
376 | return 3; |
377 | return 3; |
377 | } else if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) < -ARGUMENT_THRESHOLD) { |
378 | } else if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) < -ARGUMENT_THRESHOLD) { |
378 | // vertical is down |
379 | // vertical is down |
379 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
380 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
380 | return 8; |
381 | return 8; |
381 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
382 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
382 | return 6; |
383 | return 6; |
383 | return 7; |
384 | return 7; |
384 | } else { |
385 | } else { |
385 | // vertical is around center |
386 | // vertical is around center |
386 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
387 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
387 | return 1; |
388 | return 1; |
388 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
389 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
389 | return 5; |
390 | return 5; |
390 | return 0; |
391 | return 0; |
391 | } |
392 | } |
392 | } |
393 | } |
393 | 394 | ||
394 | uint8_t RC_getLooping(uint8_t looping) { |
395 | uint8_t RC_getLooping(uint8_t looping) { |
395 | // static uint8_t looping = 0; |
396 | // static uint8_t looping = 0; |
396 | 397 | ||
397 | if (RCChannel(CH_ROLL) > staticParams.LoopThreshold && staticParams.BitConfig |
398 | if (RCChannel(CH_ROLL) > staticParams.LoopThreshold && staticParams.BitConfig |
398 | & CFG_LOOP_LEFT) { |
399 | & CFG_LOOP_LEFT) { |
399 | looping |= (LOOPING_ROLL_AXIS | LOOPING_LEFT); |
400 | looping |= (LOOPING_ROLL_AXIS | LOOPING_LEFT); |
400 | } else if ((looping & LOOPING_LEFT) && RCChannel(CH_ROLL) |
401 | } else if ((looping & LOOPING_LEFT) && RCChannel(CH_ROLL) |
401 | < staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
402 | < staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
402 | looping &= (~(LOOPING_ROLL_AXIS | LOOPING_LEFT)); |
403 | looping &= (~(LOOPING_ROLL_AXIS | LOOPING_LEFT)); |
403 | } |
404 | } |
404 | 405 | ||
405 | if (RCChannel(CH_ROLL) < -staticParams.LoopThreshold |
406 | if (RCChannel(CH_ROLL) < -staticParams.LoopThreshold |
406 | && staticParams.BitConfig & CFG_LOOP_RIGHT) { |
407 | && staticParams.BitConfig & CFG_LOOP_RIGHT) { |
407 | looping |= (LOOPING_ROLL_AXIS | LOOPING_RIGHT); |
408 | looping |= (LOOPING_ROLL_AXIS | LOOPING_RIGHT); |
408 | } else if ((looping & LOOPING_RIGHT) && RCChannel(CH_ROLL) |
409 | } else if ((looping & LOOPING_RIGHT) && RCChannel(CH_ROLL) |
409 | > -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
410 | > -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
410 | looping &= (~(LOOPING_ROLL_AXIS | LOOPING_RIGHT)); |
411 | looping &= (~(LOOPING_ROLL_AXIS | LOOPING_RIGHT)); |
411 | } |
412 | } |
412 | 413 | ||
413 | if (RCChannel(CH_PITCH) > staticParams.LoopThreshold |
414 | if (RCChannel(CH_PITCH) > staticParams.LoopThreshold |
414 | && staticParams.BitConfig & CFG_LOOP_UP) { |
415 | && staticParams.BitConfig & CFG_LOOP_UP) { |
415 | looping |= (LOOPING_PITCH_AXIS | LOOPING_UP); |
416 | looping |= (LOOPING_PITCH_AXIS | LOOPING_UP); |
416 | } else if ((looping & LOOPING_UP) && RCChannel(CH_PITCH) |
417 | } else if ((looping & LOOPING_UP) && RCChannel(CH_PITCH) |
417 | < staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
418 | < staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
418 | looping &= (~(LOOPING_PITCH_AXIS | LOOPING_UP)); |
419 | looping &= (~(LOOPING_PITCH_AXIS | LOOPING_UP)); |
419 | } |
420 | } |
420 | 421 | ||
421 | if (RCChannel(CH_PITCH) < -staticParams.LoopThreshold |
422 | if (RCChannel(CH_PITCH) < -staticParams.LoopThreshold |
422 | && staticParams.BitConfig & CFG_LOOP_DOWN) { |
423 | && staticParams.BitConfig & CFG_LOOP_DOWN) { |
423 | looping |= (LOOPING_PITCH_AXIS | LOOPING_DOWN); |
424 | looping |= (LOOPING_PITCH_AXIS | LOOPING_DOWN); |
424 | } else if ((looping & LOOPING_DOWN) && RCChannel(CH_PITCH) |
425 | } else if ((looping & LOOPING_DOWN) && RCChannel(CH_PITCH) |
425 | > -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
426 | > -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
426 | looping &= (~(LOOPING_PITCH_AXIS | LOOPING_DOWN)); |
427 | looping &= (~(LOOPING_PITCH_AXIS | LOOPING_DOWN)); |
427 | } |
428 | } |
428 | 429 | ||
429 | return looping; |
430 | return looping; |
430 | } |
431 | } |
431 | 432 | ||
432 | uint8_t RC_testCompassCalState(void) { |
433 | uint8_t RC_testCompassCalState(void) { |
433 | static uint8_t stick = 1; |
434 | static uint8_t stick = 1; |
434 | // if pitch is centered or top set stick to zero |
435 | // if pitch is centered or top set stick to zero |
435 | if (RCChannel(CH_PITCH) > -20) |
436 | if (RCChannel(CH_PITCH) > -20) |
436 | stick = 0; |
437 | stick = 0; |
437 | // if pitch is down trigger to next cal state |
438 | // if pitch is down trigger to next cal state |
438 | if ((RCChannel(CH_PITCH) < -70) && !stick) { |
439 | if ((RCChannel(CH_PITCH) < -70) && !stick) { |
439 | stick = 1; |
440 | stick = 1; |
440 | return 1; |
441 | return 1; |
441 | } |
442 | } |
442 | return 0; |
443 | return 0; |
443 | } |
444 | } |
444 | /* |
445 | /* |
445 | * Abstract controls are not used at the moment. |
446 | * Abstract controls are not used at the moment. |
446 | t_control rc_control = { |
447 | t_control rc_control = { |
447 | RC_getPitch, |
448 | RC_getPitch, |
448 | RC_getRoll, |
449 | RC_getRoll, |
449 | RC_getYaw, |
450 | RC_getYaw, |
450 | RC_getThrottle, |
451 | RC_getThrottle, |
451 | RC_getSignalQuality, |
452 | RC_getSignalQuality, |
452 | RC_calibrate |
453 | RC_calibrate |
453 | }; |
454 | }; |
454 | */ |
455 | */ |
455 | 456 |