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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 int16_t PPM_diff[MAX_CHANNELS]; |
13 | volatile int16_t PPM_diff[MAX_CHANNELS]; |
- | 14 | volatile uint16_t RC_buffer[MAX_CHANNELS]; |
|
- | 15 | volatile uint8_t inBfrPnt = 0; |
|
- | 16 | ||
14 | volatile uint8_t RCQuality; |
17 | volatile uint8_t RCQuality; |
15 | uint8_t lastRCCommand = COMMAND_NONE; |
18 | uint8_t lastRCCommand = COMMAND_NONE; |
16 | uint8_t commandTimer = 0; |
19 | uint8_t commandTimer = 0; |
- | 20 | ||
- | 21 | #define TIME(s) ((int16_t)(((long)F_CPU/(long)64000)*(float)s + 0.5f)) |
|
17 | 22 | ||
18 | /*************************************************************** |
23 | /*************************************************************** |
19 | * 16bit timer 1 is used to decode the PPM-Signal |
24 | * 16bit timer 1 is used to decode the PPM-Signal |
20 | ***************************************************************/ |
25 | ***************************************************************/ |
21 | void RC_Init(void) { |
26 | void RC_Init(void) { |
22 | uint8_t sreg = SREG; |
27 | uint8_t sreg = SREG; |
23 | 28 | ||
24 | // disable all interrupts before reconfiguration |
29 | // disable all interrupts before reconfiguration |
25 | cli(); |
30 | cli(); |
26 | 31 | ||
27 | // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
32 | // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
28 | DDRD &= ~(1<<6); |
33 | DDRD &= ~(1<<6); |
29 | PORTD |= (1<<PORTD6); |
34 | PORTD |= (1<<PORTD6); |
30 | 35 | ||
31 | // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
36 | // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
32 | // set as output |
37 | // set as output |
33 | DDRD |= (1<<DDD5) | (1<<DDD4) | (1<<DDD3); |
38 | DDRD |= (1<<DDD5) | (1<<DDD4) | (1<<DDD3); |
34 | // low level |
39 | // low level |
35 | PORTD &= ~((1<<PORTD5) | (1<<PORTD4) | (1<<PORTD3)); |
40 | PORTD &= ~((1<<PORTD5) | (1<<PORTD4) | (1<<PORTD3)); |
36 | 41 | ||
37 | // PD3 can't be used if 2nd UART is activated |
42 | // PD3 can't be used if 2nd UART is activated |
38 | // because TXD1 is at that port |
43 | // because TXD1 is at that port |
39 | if (CPUType != ATMEGA644P) { |
44 | if (CPUType != ATMEGA644P) { |
40 | DDRD |= (1<<PORTD3); |
45 | DDRD |= (1<<PORTD3); |
41 | PORTD &= ~(1<<PORTD3); |
46 | PORTD &= ~(1<<PORTD3); |
42 | } |
47 | } |
43 | - | ||
44 | // Timer/Counter1 Control Register A, B, C |
- | |
45 | 48 | ||
46 | // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
49 | // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
47 | // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
50 | // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
48 | // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
51 | // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
49 | // Enable input capture noise cancler (bit: ICNC1=1) |
52 | // Enable input capture noise cancler (bit: ICNC1=1) |
50 | // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
- | |
51 | // 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 |
52 | // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
54 | // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
53 | 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)); |
54 | TCCR1B &= ~((1 << WGM13) | (1 << WGM12) | (1 << CS12)); |
56 | TCCR1B &= ~((1<<WGM13) | (1<<WGM12) | (1<<CS12)); |
55 | TCCR1B |= (1 << CS11) | (1 << CS10) | (1 << ICES1) | (1 << ICNC1); |
57 | TCCR1B |= (1<<CS11) | (1<<CS10) | (1<<ICNC1); |
- | 58 | TCCR1C &= ~((1<<FOC1A) | (1<<FOC1B)); |
|
- | 59 | ||
- | 60 | if (channelMap.RCPolarity) { |
|
- | 61 | TCCR1B |= (1<<ICES1); |
|
- | 62 | } else { |
|
- | 63 | TCCR1B &= ~(1<<ICES1); |
|
- | 64 | } |
|
- | 65 | ||
56 | TCCR1C &= ~((1 << FOC1A) | (1 << FOC1B)); |
66 | TCCR1C &= ~((1 << FOC1A) | (1 << FOC1B)); |
57 | 67 | ||
58 | // Timer/Counter1 Interrupt Mask Register |
68 | // Timer/Counter1 Interrupt Mask Register |
59 | // Enable Input Capture Interrupt (bit: ICIE1=1) |
69 | // Enable Input Capture Interrupt (bit: ICIE1=1) |
60 | // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
70 | // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
61 | // Enable Overflow Interrupt (bit: TOIE1=0) |
71 | // Enable Overflow Interrupt (bit: TOIE1=0) |
62 | TIMSK1 &= ~((1<<OCIE1B) | (1<<OCIE1A) | (1<<TOIE1)); |
72 | TIMSK1 &= ~((1<<OCIE1B) | (1<<OCIE1A) | (1<<TOIE1)); |
63 | TIMSK1 |= (1<<ICIE1); |
73 | TIMSK1 |= (1<<ICIE1); |
64 | 74 | ||
65 | RCQuality = 0; |
75 | RCQuality = 0; |
66 | 76 | ||
67 | SREG = sreg; |
77 | SREG = sreg; |
68 | } |
78 | } |
- | 79 | ||
- | 80 | /* |
|
- | 81 | * This new and much faster interrupt handler should reduce servo jolts. |
|
- | 82 | */ |
|
- | 83 | ISR(TIMER1_CAPT_vect) { |
|
- | 84 | static uint16_t oldICR1 = 0; |
|
- | 85 | uint16_t signal = (uint16_t)ICR1 - oldICR1; |
|
- | 86 | oldICR1 = ICR1; |
|
- | 87 | //sync gap? (3.5 ms < signal < 25.6 ms) |
|
- | 88 | if (signal > TIME(3.5)) { |
|
- | 89 | inBfrPnt = 0; |
|
- | 90 | } else if (inBfrPnt<MAX_CHANNELS) { |
|
- | 91 | RC_buffer[inBfrPnt++] = signal; |
|
- | 92 | if (RCQuality <= 200-4) RCQuality+=4; else RCQuality = 200; |
|
- | 93 | } |
|
- | 94 | } |
|
69 | 95 | ||
70 | /********************************************************************/ |
96 | /********************************************************************/ |
71 | /* Every time a positive edge is detected at PD6 */ |
97 | /* Every time a positive edge is detected at PD6 */ |
72 | /********************************************************************/ |
98 | /********************************************************************/ |
73 | /* t-Frame |
99 | /* t-Frame |
74 | <-----------------------------------------------------------------------> |
100 | <-----------------------------------------------------------------------> |
75 | ____ ______ _____ ________ ______ sync gap ____ |
101 | ____ ______ _____ ________ ______ sync gap ____ |
76 | | | | | | | | | | | | |
102 | | | | | | | | | | | | |
77 | | | | | | | | | | | | |
103 | | | | | | | | | | | | |
78 | ___| |_| |_| |_| |_.............| |________________| |
104 | ___| |_| |_| |_| |_.............| |________________| |
79 | <-----><-------><------><----------- <------> <--- |
105 | <-----><-------><------><----------- <------> <--- |
80 | t0 t1 t2 t4 tn t0 |
106 | t0 t1 t2 t4 tn t0 |
81 | 107 | ||
82 | The PPM-Frame length is 22.5 ms. |
108 | The PPM-Frame length is 22.5 ms. |
83 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
109 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
84 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
110 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
85 | The maximum time delay of two events coding a channel is ( 1.7 + 0.3) ms = 2 ms. |
111 | The maximum time delay of two events coding a channel is ( 1.7 + 0.3) ms = 2 ms. |
86 | The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
112 | The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
87 | The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
113 | The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
88 | The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
114 | The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
89 | the syncronization gap. |
115 | the syncronization gap. |
90 | */ |
116 | */ |
91 | ISR(TIMER1_CAPT_vect) { // typical rate of 1 ms to 2 ms |
- | |
92 | int16_t signal = 0, tmp; |
- | |
93 | static int16_t index; |
- | |
94 | static uint16_t oldICR1 = 0; |
- | |
95 | - | ||
96 | // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
- | |
97 | // at the time the edge was detected |
- | |
98 | - | ||
99 | // calculate the time delay to the previous event time which is stored in oldICR1 |
- | |
100 | // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
- | |
101 | // implicit handles a timer overflow 65535 -> 0 the right way. |
- | |
102 | signal = (uint16_t) ICR1 - oldICR1; |
- | |
103 | oldICR1 = ICR1; |
- | |
104 | - | ||
105 | //sync gap? (3.52 ms < signal < 25.6 ms) |
- | |
106 | if ((signal > 1100) && (signal < 8000)) { |
117 | |
107 | index = 0; |
118 | void RC_process(void) { |
108 | } else { // within the PPM frame |
119 | if (RCQuality) RCQuality--; |
109 | if (index < MAX_CHANNELS) { // PPM24 supports 12 channels |
- | |
110 | // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
- | |
111 | // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
- | |
112 | if ((signal > 250) && (signal < 687)) { |
- | |
113 | // shift signal to zero symmetric range -154 to 159 |
- | |
114 | signal -= 475; // offset of 1.4912 ms ??? (469 * 3.2us = 1.5008 ms) |
- | |
115 | // check for stable signal |
120 | for (uint8_t channel=0; channel<MAX_CHANNELS; channel++) { |
116 | if (abs(signal - PPM_in[index]) < 6) { |
- | |
117 | if (RCQuality < 200) |
- | |
118 | RCQuality += 10; |
121 | uint16_t signal = RC_buffer[channel]; |
119 | else |
- | |
120 | RCQuality = 200; |
- | |
121 | } |
- | |
122 | // If signal is the same as before +/- 1, just keep it there. Naah lets get rid of this slimy sticy stuff. |
122 | if (signal != 0) { |
123 | // if (signal >= PPM_in[index] - 1 && signal <= PPM_in[index] + 1) { |
- | |
124 | // In addition, if the signal is very close to 0, just set it to 0. |
123 | RC_buffer[channel] = 0; // reset to flag value already used. |
125 | if (signal >= -1 && signal <= 1) { |
124 | if ((signal >= TIME(0.8)) && (signal < TIME(2.2))) { |
126 | tmp = 0; |
- | |
127 | //} else { |
125 | signal -= TIME(1.5); |
128 | // tmp = PPM_in[index]; |
- | |
129 | // } |
- | |
130 | } else |
- | |
131 | tmp = signal; |
- | |
132 | // calculate signal difference on good signal level |
- | |
133 | if (RCQuality >= 195) |
- | |
134 | PPM_diff[index] = signal - PPM_in[index]; //((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
- | |
135 | else |
126 | PPM_diff[channel] = signal - PPM_in[channel]; |
136 | PPM_diff[index] = 0; |
- | |
137 | PPM_in[index] = tmp; // update channel value |
127 | PPM_in[channel] = signal; |
138 | } |
- | |
139 | index++; // next channel |
- | |
140 | // demux sum signal for channels 5 to 7 to J3, J4, J5 |
- | |
141 | // TODO: General configurability of this R/C channel forwarding. Or remove it completely - the |
- | |
142 | // channels are usually available at the receiver anyway. |
- | |
143 | // if(index == 5) J3HIGH; else J3LOW; |
- | |
144 | // if(index == 6) J4HIGH; else J4LOW; |
- | |
145 | // if(CPUType != ATMEGA644P) // not used as TXD1 |
- | |
146 | // { |
- | |
147 | // if(index == 7) J5HIGH; else J5LOW; |
- | |
148 | // } |
128 | } |
149 | } |
129 | } |
150 | } |
130 | } |
151 | } |
131 | } |
152 | 132 | ||
153 | #define RCChannel(dimension) PPM_in[channelMap.channels[dimension]] |
133 | #define RCChannel(dimension) PPM_in[channelMap.channels[dimension]] |
154 | #define RCDiff(dimension) PPM_diff[channelMap.channels[dimension]] |
134 | #define RCDiff(dimension) PPM_diff[channelMap.channels[dimension]] |
155 | #define COMMAND_THRESHOLD 85 |
135 | #define COMMAND_THRESHOLD 85 |
156 | #define COMMAND_CHANNEL_VERTICAL CH_THROTTLE |
136 | #define COMMAND_CHANNEL_VERTICAL CH_THROTTLE |
157 | #define COMMAND_CHANNEL_HORIZONTAL CH_YAW |
137 | #define COMMAND_CHANNEL_HORIZONTAL CH_YAW |
158 | 138 | ||
159 | // Internal. |
139 | // Internal. |
160 | uint8_t RC_getStickCommand(void) { |
140 | uint8_t RC_getStickCommand(void) { |
161 | if (RCChannel(COMMAND_CHANNEL_VERTICAL) > COMMAND_THRESHOLD) { |
141 | if (RCChannel(COMMAND_CHANNEL_VERTICAL) > COMMAND_THRESHOLD) { |
162 | // vertical is up |
142 | // vertical is up |
163 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
143 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
164 | return COMMAND_GYROCAL; |
144 | return COMMAND_GYROCAL; |
165 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
145 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
166 | return COMMAND_ACCCAL; |
146 | return COMMAND_ACCCAL; |
167 | return COMMAND_NONE; |
147 | return COMMAND_NONE; |
168 | } else if (RCChannel(COMMAND_CHANNEL_VERTICAL) < -COMMAND_THRESHOLD) { |
148 | } else if (RCChannel(COMMAND_CHANNEL_VERTICAL) < -COMMAND_THRESHOLD) { |
169 | // vertical is down |
149 | // vertical is down |
170 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
150 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
171 | return COMMAND_STOP; |
151 | return COMMAND_STOP; |
172 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
152 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
173 | return COMMAND_START; |
153 | return COMMAND_START; |
174 | return COMMAND_NONE; |
154 | return COMMAND_NONE; |
175 | } |
155 | } |
176 | // vertical is around center |
156 | // vertical is around center |
177 | return COMMAND_NONE; |
157 | return COMMAND_NONE; |
178 | } |
158 | } |
179 | 159 | ||
180 | /* |
160 | /* |
181 | * Get Pitch, Roll, Throttle, Yaw values |
161 | * Get Pitch, Roll, Throttle, Yaw values |
182 | */ |
162 | */ |
183 | void RC_periodicTaskAndPRTY(int16_t* PRTY) { |
163 | void RC_periodicTaskAndPRTY(int16_t* PRTY) { |
184 | int16_t tmp1, tmp2; |
164 | int16_t tmp1, tmp2; |
- | 165 | RC_process(); |
|
185 | if (RCQuality) { |
166 | if (RCQuality) { |
186 | RCQuality--; |
167 | RCQuality--; |
187 | PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.stickP + RCDiff(CH_PITCH) * staticParams.stickD; |
168 | PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.stickP + RCDiff(CH_PITCH) * staticParams.stickD; |
188 | PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.stickP + RCDiff(CH_ROLL) * staticParams.stickD; |
169 | PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.stickP + RCDiff(CH_ROLL) * staticParams.stickD; |
189 | int16_t throttle = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) * staticParams.stickThrottleD + 120; |
170 | int16_t throttle = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) * staticParams.stickThrottleD + 120; |
190 | // Negative throttle values are taken as zero. |
171 | // Negative throttle values are taken as zero. |
191 | if (throttle > 0) |
172 | if (throttle > 0) |
192 | PRTY[CONTROL_THROTTLE] = throttle; |
173 | PRTY[CONTROL_THROTTLE] = throttle; |
193 | tmp1 = -RCChannel(CH_YAW) - RCDiff(CH_YAW); |
174 | tmp1 = -RCChannel(CH_YAW) - RCDiff(CH_YAW); |
194 | // exponential stick sensitivity in yawing rate |
175 | // exponential stick sensitivity in yawing rate |
195 | tmp2 = (int32_t)staticParams.stickYawP * ((int32_t)tmp1 * abs(tmp1)) >> 9; // expo y = ax + bx^2 |
176 | tmp2 = (int32_t)staticParams.stickYawP * ((int32_t)tmp1 * abs(tmp1)) >> 9; // expo y = ax + bx^2 |
196 | tmp2 += (staticParams.stickYawP * tmp1) >> 2; |
177 | tmp2 += (staticParams.stickYawP * tmp1) >> 2; |
197 | PRTY[CONTROL_YAW] = tmp2; |
178 | PRTY[CONTROL_YAW] = tmp2; |
198 | 179 | ||
199 | uint8_t command = RC_getStickCommand(); |
180 | uint8_t command = RC_getStickCommand(); |
200 | if (lastRCCommand == command) { |
181 | if (lastRCCommand == command) { |
201 | // Keep timer from overrunning. |
182 | // Keep timer from overrunning. |
202 | if (commandTimer < COMMAND_TIMER) |
183 | if (commandTimer < COMMAND_TIMER) |
203 | commandTimer++; |
184 | commandTimer++; |
204 | } else { |
185 | } else { |
205 | // There was a change. |
186 | // There was a change. |
206 | lastRCCommand = command; |
187 | lastRCCommand = command; |
207 | commandTimer = 0; |
188 | commandTimer = 0; |
208 | } |
189 | } |
209 | } // if RCQuality is no good, we just do nothing. |
190 | } // if RCQuality is no good, we just do nothing. |
210 | } |
191 | } |
211 | 192 | ||
212 | /* |
193 | /* |
213 | * Get other channel value |
194 | * Get other channel value |
214 | */ |
195 | */ |
215 | int16_t RC_getVariable(uint8_t varNum) { |
196 | int16_t RC_getVariable(uint8_t varNum) { |
216 | if (varNum < 4) |
197 | if (varNum < 4) |
217 | // 0th variable is 5th channel (1-based) etc. |
198 | // 0th variable is 5th channel (1-based) etc. |
218 | return RCChannel(varNum + CH_POTS) + POT_OFFSET; |
199 | return RCChannel(varNum + CH_POTS) + POT_OFFSET; |
219 | /* |
200 | /* |
220 | * Let's just say: |
201 | * Let's just say: |
221 | * The RC variable i is hardwired to channel i, i>=4 |
202 | * The RC variable i is hardwired to channel i, i>=4 |
222 | */ |
203 | */ |
223 | return PPM_in[varNum] + POT_OFFSET; |
204 | return PPM_in[varNum] + POT_OFFSET; |
224 | } |
205 | } |
225 | 206 | ||
226 | uint8_t RC_getSignalQuality(void) { |
207 | uint8_t RC_getSignalQuality(void) { |
227 | if (RCQuality >= 160) |
208 | if (RCQuality >= 160) |
228 | return SIGNAL_GOOD; |
209 | return SIGNAL_GOOD; |
229 | if (RCQuality >= 140) |
210 | if (RCQuality >= 140) |
230 | return SIGNAL_OK; |
211 | return SIGNAL_OK; |
231 | if (RCQuality >= 120) |
212 | if (RCQuality >= 120) |
232 | return SIGNAL_BAD; |
213 | return SIGNAL_BAD; |
233 | return SIGNAL_LOST; |
214 | return SIGNAL_LOST; |
234 | } |
215 | } |
235 | 216 | ||
236 | /* |
217 | /* |
237 | * To should fired only when the right stick is in the center position. |
218 | * To should fired only when the right stick is in the center position. |
238 | * This will cause the value of pitch and roll stick to be adjusted |
219 | * This will cause the value of pitch and roll stick to be adjusted |
239 | * to zero (not just to near zero, as per the assumption in rc.c |
220 | * to zero (not just to near zero, as per the assumption in rc.c |
240 | * about the rc signal. I had values about 50..70 with a Futaba |
221 | * about the rc signal. I had values about 50..70 with a Futaba |
241 | * R617 receiver.) This calibration is not strictly necessary, but |
222 | * R617 receiver.) This calibration is not strictly necessary, but |
242 | * for control logic that depends on the exact (non)center position |
223 | * for control logic that depends on the exact (non)center position |
243 | * of a stick, it may be useful. |
224 | * of a stick, it may be useful. |
244 | */ |
225 | */ |
245 | void RC_calibrate(void) { |
226 | void RC_calibrate(void) { |
246 | // Do nothing. |
227 | // Do nothing. |
247 | } |
228 | } |
248 | 229 | ||
249 | /* |
230 | /* |
250 | if (staticParams.GlobalConfig & CFG_HEADING_HOLD) { |
231 | if (staticParams.GlobalConfig & CFG_HEADING_HOLD) { |
251 | // In HH, it s OK to trim the R/C. The effect should not be conteracted here. |
232 | // In HH, it s OK to trim the R/C. The effect should not be conteracted here. |
252 | stickOffsetPitch = stickOffsetRoll = 0; |
233 | stickOffsetPitch = stickOffsetRoll = 0; |
253 | } else { |
234 | } else { |
254 | stickOffsetPitch = RCChannel(CH_PITCH) * staticParams.StickP; |
235 | stickOffsetPitch = RCChannel(CH_PITCH) * staticParams.StickP; |
255 | stickOffsetRoll = RCChannel(CH_ROLL) * staticParams.StickP; |
236 | stickOffsetRoll = RCChannel(CH_ROLL) * staticParams.StickP; |
256 | } |
237 | } |
257 | } |
238 | } |
258 | */ |
239 | */ |
259 | 240 | ||
260 | uint8_t RC_getCommand(void) { |
241 | uint8_t RC_getCommand(void) { |
261 | if (commandTimer == COMMAND_TIMER) { |
242 | if (commandTimer == COMMAND_TIMER) { |
262 | // Stick has been held long enough; command committed. |
243 | // Stick has been held long enough; command committed. |
263 | return lastRCCommand; |
244 | return lastRCCommand; |
264 | } |
245 | } |
265 | // Not yet sure what the command is. |
246 | // Not yet sure what the command is. |
266 | return COMMAND_NONE; |
247 | return COMMAND_NONE; |
267 | } |
248 | } |
268 | 249 | ||
269 | /* |
250 | /* |
270 | * Command arguments on R/C: |
251 | * Command arguments on R/C: |
271 | * 2--3--4 |
252 | * 2--3--4 |
272 | * | | + |
253 | * | | + |
273 | * 1 0 5 ^ 0 |
254 | * 1 0 5 ^ 0 |
274 | * | | | |
255 | * | | | |
275 | * 8--7--6 |
256 | * 8--7--6 |
276 | * |
257 | * |
277 | * + <-- |
258 | * + <-- |
278 | * 0 |
259 | * 0 |
279 | * |
260 | * |
280 | * Not in any of these positions: 0 |
261 | * Not in any of these positions: 0 |
281 | */ |
262 | */ |
282 | 263 | ||
283 | #define ARGUMENT_THRESHOLD 70 |
264 | #define ARGUMENT_THRESHOLD 70 |
284 | #define ARGUMENT_CHANNEL_VERTICAL CH_PITCH |
265 | #define ARGUMENT_CHANNEL_VERTICAL CH_PITCH |
285 | #define ARGUMENT_CHANNEL_HORIZONTAL CH_ROLL |
266 | #define ARGUMENT_CHANNEL_HORIZONTAL CH_ROLL |
286 | 267 | ||
287 | uint8_t RC_getArgument(void) { |
268 | uint8_t RC_getArgument(void) { |
288 | if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) > ARGUMENT_THRESHOLD) { |
269 | if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) > ARGUMENT_THRESHOLD) { |
289 | // vertical is up |
270 | // vertical is up |
290 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
271 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
291 | return 2; |
272 | return 2; |
292 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
273 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
293 | return 4; |
274 | return 4; |
294 | return 3; |
275 | return 3; |
295 | } else if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) < -ARGUMENT_THRESHOLD) { |
276 | } else if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) < -ARGUMENT_THRESHOLD) { |
296 | // vertical is down |
277 | // vertical is down |
297 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
278 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
298 | return 8; |
279 | return 8; |
299 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
280 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
300 | return 6; |
281 | return 6; |
301 | return 7; |
282 | return 7; |
302 | } else { |
283 | } else { |
303 | // vertical is around center |
284 | // vertical is around center |
304 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
285 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
305 | return 1; |
286 | return 1; |
306 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
287 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
307 | return 5; |
288 | return 5; |
308 | return 0; |
289 | return 0; |
309 | } |
290 | } |
310 | } |
291 | } |
311 | 292 | ||
312 | #ifdef USE_MK3MAG |
293 | #ifdef USE_MK3MAG |
313 | /* |
294 | /* |
314 | * For each time the stick is pulled, returns true. |
295 | * For each time the stick is pulled, returns true. |
315 | */ |
296 | */ |
316 | uint8_t RC_testCompassCalState(void) { |
297 | uint8_t RC_testCompassCalState(void) { |
317 | static uint8_t stickPulled = 1; |
298 | static uint8_t stickPulled = 1; |
318 | // if pitch is centered or top set stick to zero |
299 | // if pitch is centered or top set stick to zero |
319 | if (RCChannel(CH_PITCH) > -20) |
300 | if (RCChannel(CH_PITCH) > -20) |
320 | stickPulled = 0; |
301 | stickPulled = 0; |
321 | // if pitch is down trigger to next cal state |
302 | // if pitch is down trigger to next cal state |
322 | if ((RCChannel(CH_PITCH) < -70) && !stickPulled) { |
303 | if ((RCChannel(CH_PITCH) < -70) && !stickPulled) { |
323 | stickPulled = 1; |
304 | stickPulled = 1; |
324 | return 1; |
305 | return 1; |
325 | } |
306 | } |
326 | return 0; |
307 | return 0; |
327 | } |
308 | } |
328 | #endif |
309 | #endif |
329 | 310 | ||
330 | /* |
311 | /* |
331 | * Abstract controls are not used at the moment. |
312 | * Abstract controls are not used at the moment. |
332 | t_control rc_control = { |
313 | t_control rc_control = { |
333 | RC_getPitch, |
314 | RC_getPitch, |
334 | RC_getRoll, |
315 | RC_getRoll, |
335 | RC_getYaw, |
316 | RC_getYaw, |
336 | RC_getThrottle, |
317 | RC_getThrottle, |
337 | RC_getSignalQuality, |
318 | RC_getSignalQuality, |
338 | RC_calibrate |
319 | RC_calibrate |
339 | }; |
320 | }; |
340 | */ |
321 | */ |
341 | 322 |