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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 "definitions.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_CONTROLCHANNELS]; |
13 | volatile int16_t PPM_diff[MAX_CHANNELS]; |
13 | volatile int16_t PPM_diff[MAX_CONTROLCHANNELS]; |
14 | volatile uint16_t RC_buffer[MAX_CHANNELS]; |
14 | volatile uint16_t RC_buffer[MAX_CONTROLCHANNELS]; |
15 | volatile uint8_t inBfrPnt = 0; |
15 | volatile uint8_t inBfrPnt; |
16 | 16 | ||
17 | volatile uint8_t RCQuality; |
17 | volatile uint8_t RCQuality; |
18 | uint8_t lastRCCommand = COMMAND_NONE; |
18 | uint8_t lastRCCommand; |
19 | uint8_t commandTimer = 0; |
19 | uint8_t commandTimer; |
20 | 20 | ||
21 | #define TIME(s) ((int16_t)(((long)F_CPU/(long)64000)*(float)s + 0.5f)) |
21 | #define TIME(s) ((int16_t)(((F_CPU/8000)*(float)s + 0.5f))) |
22 | 22 | ||
23 | /*************************************************************** |
23 | /*************************************************************** |
24 | * 16bit timer 1 is used to decode the PPM-Signal |
24 | * 16bit timer 1 is used to decode the PPM-Signal |
25 | ***************************************************************/ |
25 | ***************************************************************/ |
26 | void RC_Init(void) { |
26 | void RC_Init(void) { |
27 | uint8_t sreg = SREG; |
27 | uint8_t sreg = SREG; |
28 | 28 | ||
29 | // disable all interrupts before reconfiguration |
29 | // disable all interrupts before reconfiguration |
30 | cli(); |
30 | cli(); |
31 | 31 | ||
32 | // 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 |
33 | DDRD &= ~(1<<6); |
33 | DDRD &= ~(1<<6); |
34 | PORTD |= (1<<PORTD6); |
34 | PORTD |= (1<<PORTD6); |
35 | 35 | ||
36 | // 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) |
37 | // set as output |
37 | // set as output |
38 | DDRD |= (1<<DDD5) | (1<<DDD4) | (1<<DDD3); |
38 | DDRD |= (1<<DDD5) | (1<<DDD4) | (1<<DDD3); |
39 | // low level |
39 | // low level |
40 | PORTD &= ~((1<<PORTD5) | (1<<PORTD4) | (1<<PORTD3)); |
40 | PORTD &= ~((1<<PORTD5) | (1<<PORTD4) | (1<<PORTD3)); |
41 | 41 | ||
42 | // PD3 can't be used if 2nd UART is activated |
42 | // PD3 can't be used if 2nd UART is activated |
43 | // because TXD1 is at that port |
43 | // because TXD1 is at that port |
44 | if (CPUType != ATMEGA644P) { |
44 | if (CPUType != ATMEGA644P) { |
45 | DDRD |= (1<<PORTD3); |
45 | DDRD |= (1<<PORTD3); |
46 | PORTD &= ~(1<<PORTD3); |
46 | PORTD &= ~(1<<PORTD3); |
47 | } |
47 | } |
48 | 48 | ||
49 | // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
49 | // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
50 | // 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) |
51 | // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
51 | // Set clock source to SYSCLK/8 (bit: CS12=0, CS11=1, CS10=1) |
52 | // Enable input capture noise cancler (bit: ICNC1=1) |
52 | // Enable input capture noise canceler (bit: ICNC1=1) |
53 | // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2�s |
53 | // Therefore the counter increments at a clock of 20 MHz/64 = 312.5 kHz or 3.2�s |
54 | // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
54 | // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
55 | 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)); |
56 | TCCR1B &= ~((1<<WGM13) | (1<<WGM12) | (1<<CS12)); |
56 | TCCR1B &= ~((1<<WGM13) | (1<<WGM12) | (1<<CS12)); |
57 | TCCR1B |= (1<<CS11) | (1<<CS10) | (1<<ICNC1); |
57 | TCCR1B |= (1<<CS11) | (1<<ICNC1); |
58 | TCCR1C &= ~((1<<FOC1A) | (1<<FOC1B)); |
58 | TCCR1C &= ~((1<<FOC1A) | (1<<FOC1B)); |
59 | 59 | ||
60 | if (channelMap.RCPolarity) { |
60 | if (channelMap.RCPolarity) { |
61 | TCCR1B |= (1<<ICES1); |
61 | TCCR1B |= (1<<ICES1); |
62 | } else { |
62 | } else { |
63 | TCCR1B &= ~(1<<ICES1); |
63 | TCCR1B &= ~(1<<ICES1); |
64 | } |
64 | } |
65 | 65 | ||
66 | TCCR1C &= ~((1 << FOC1A) | (1 << FOC1B)); |
66 | TCCR1C &= ~((1 << FOC1A) | (1 << FOC1B)); |
67 | 67 | ||
68 | // Timer/Counter1 Interrupt Mask Register |
68 | // Timer/Counter1 Interrupt Mask Register |
69 | // Enable Input Capture Interrupt (bit: ICIE1=1) |
69 | // Enable Input Capture Interrupt (bit: ICIE1=1) |
70 | // 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) |
71 | // Enable Overflow Interrupt (bit: TOIE1=0) |
71 | // Enable Overflow Interrupt (bit: TOIE1=0) |
72 | TIMSK1 &= ~((1<<OCIE1B) | (1<<OCIE1A) | (1<<TOIE1)); |
72 | TIMSK1 &= ~((1<<OCIE1B) | (1<<OCIE1A) | (1<<TOIE1)); |
73 | TIMSK1 |= (1<<ICIE1); |
73 | TIMSK1 |= (1<<ICIE1); |
74 | - | ||
75 | RCQuality = 0; |
74 | RCQuality = 0; |
76 | - | ||
77 | SREG = sreg; |
75 | SREG = sreg; |
78 | } |
76 | } |
79 | 77 | ||
80 | /* |
78 | /* |
81 | * This new and much faster interrupt handler should reduce servo jolts. |
79 | * This new and much faster interrupt handler should reduce servo jolts. |
82 | */ |
80 | */ |
83 | ISR(TIMER1_CAPT_vect) { |
81 | ISR(TIMER1_CAPT_vect) { |
84 | static uint16_t oldICR1 = 0; |
82 | static uint16_t oldICR1 = 0; |
85 | uint16_t signal = (uint16_t)ICR1 - oldICR1; |
83 | uint16_t signal = (uint16_t)ICR1 - oldICR1; |
86 | oldICR1 = ICR1; |
84 | oldICR1 = ICR1; |
87 | //sync gap? (3.5 ms < signal < 25.6 ms) |
85 | //sync gap? (3.5 ms < signal < 25.6 ms) |
88 | if (signal > TIME(3.5)) { |
86 | if (signal > TIME(3.5)) { |
89 | inBfrPnt = 0; |
87 | inBfrPnt = 0; |
90 | } else if (inBfrPnt<MAX_CHANNELS) { |
88 | } else if (inBfrPnt<MAX_CONTROLCHANNELS) { |
91 | RC_buffer[inBfrPnt++] = signal; |
89 | RC_buffer[inBfrPnt++] = signal; |
92 | if (RCQuality <= 200-4) RCQuality+=4; else RCQuality = 200; |
90 | if (RCQuality <= 200-4) RCQuality+=4; else RCQuality = 200; |
93 | } |
91 | } |
94 | } |
92 | } |
95 | 93 | ||
96 | /********************************************************************/ |
94 | /********************************************************************/ |
97 | /* Every time a positive edge is detected at PD6 */ |
95 | /* Every time a positive edge is detected at PD6 */ |
98 | /********************************************************************/ |
96 | /********************************************************************/ |
99 | /* t-Frame |
97 | /* t-Frame |
100 | <-----------------------------------------------------------------------> |
98 | <-----------------------------------------------------------------------> |
101 | ____ ______ _____ ________ ______ sync gap ____ |
99 | ____ ______ _____ ________ ______ sync gap ____ |
102 | | | | | | | | | | | | |
100 | | | | | | | | | | | | |
103 | | | | | | | | | | | | |
101 | | | | | | | | | | | | |
104 | ___| |_| |_| |_| |_.............| |________________| |
102 | ___| |_| |_| |_| |_.............| |________________| |
105 | <-----><-------><------><----------- <------> <--- |
103 | <-----><-------><------><----------- <------> <--- |
106 | t0 t1 t2 t4 tn t0 |
104 | t0 t1 t2 t4 tn t0 |
107 | 105 | ||
108 | The PPM-Frame length is 22.5 ms. |
106 | The PPM-Frame length is 22.5 ms. |
109 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
107 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
110 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
108 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
111 | The maximum time delay of two events coding a channel is ( 1.7 + 0.3) ms = 2 ms. |
109 | The maximum time delay of two events coding a channel is ( 1.7 + 0.3) ms = 2 ms. |
112 | The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
110 | The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
113 | The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
111 | The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
114 | The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
112 | The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
115 | the syncronization gap. |
113 | the syncronization gap. |
116 | */ |
114 | */ |
117 | 115 | ||
118 | void RC_process(void) { |
116 | void RC_process(void) { |
119 | if (RCQuality) RCQuality--; |
117 | if (RCQuality) RCQuality--; |
120 | for (uint8_t channel=0; channel<MAX_CHANNELS; channel++) { |
118 | for (uint8_t channel=0; channel<MAX_CONTROLCHANNELS; channel++) { |
121 | uint16_t signal = RC_buffer[channel]; |
119 | uint16_t signal = RC_buffer[channel]; |
122 | if (signal != 0) { |
120 | if (signal != 0) { |
123 | RC_buffer[channel] = 0; // reset to flag value already used. |
121 | RC_buffer[channel] = 0; // reset to flag value already used. |
124 | if ((signal >= TIME(0.8)) && (signal < TIME(2.2))) { |
122 | if ((signal >= TIME(0.8)) && (signal < TIME(2.2))) { |
125 | signal -= TIME(1.5); |
123 | signal -= TIME(1.5) /* + channelMap.HWTrim */; |
126 | PPM_diff[channel] = signal - PPM_in[channel]; |
124 | PPM_diff[channel] = signal - PPM_in[channel]; |
127 | PPM_in[channel] = signal; |
125 | PPM_in[channel] = signal; |
128 | } |
126 | } |
129 | } |
127 | } |
130 | } |
128 | } |
131 | } |
129 | } |
132 | 130 | ||
133 | #define RCChannel(dimension) PPM_in[channelMap.channels[dimension]] |
131 | #define RCChannel(dimension) PPM_in[channelMap.channels[dimension]] |
134 | #define RCDiff(dimension) PPM_diff[channelMap.channels[dimension]] |
132 | #define RCDiff(dimension) PPM_diff[channelMap.channels[dimension]] |
135 | #define COMMAND_THRESHOLD 85 |
133 | #define COMMAND_THRESHOLD TIME(0.35f) |
136 | #define COMMAND_CHANNEL_VERTICAL CH_THROTTLE |
134 | #define COMMAND_CHANNEL_VERTICAL CH_THROTTLE |
137 | #define COMMAND_CHANNEL_HORIZONTAL CH_YAW |
135 | #define COMMAND_CHANNEL_HORIZONTAL CH_YAW |
138 | 136 | ||
139 | // Internal. |
137 | // Internal. |
140 | uint8_t RC_getStickCommand(void) { |
138 | uint8_t RC_getStickCommand(void) { |
141 | if (RCChannel(COMMAND_CHANNEL_VERTICAL) > COMMAND_THRESHOLD) { |
139 | if (RCChannel(COMMAND_CHANNEL_VERTICAL) > COMMAND_THRESHOLD) { |
142 | // vertical is up |
140 | // vertical is up |
143 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
141 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
144 | return COMMAND_GYROCAL; |
142 | return COMMAND_GYROCAL; |
145 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
143 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
146 | return COMMAND_ACCCAL; |
144 | return COMMAND_ACCCAL; |
147 | return COMMAND_NONE; |
145 | return COMMAND_NONE; |
148 | } else if (RCChannel(COMMAND_CHANNEL_VERTICAL) < -COMMAND_THRESHOLD) { |
146 | } else if (RCChannel(COMMAND_CHANNEL_VERTICAL) < -COMMAND_THRESHOLD) { |
149 | // vertical is down |
147 | // vertical is down |
150 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
148 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
151 | return COMMAND_STOP; |
149 | return COMMAND_STOP; |
152 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
150 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
153 | return COMMAND_START; |
151 | return COMMAND_START; |
154 | return COMMAND_NONE; |
152 | return COMMAND_NONE; |
155 | } |
153 | } |
156 | // vertical is around center |
154 | // vertical is around center |
157 | return COMMAND_NONE; |
155 | return COMMAND_NONE; |
158 | } |
156 | } |
159 | 157 | ||
160 | /* |
158 | /* |
161 | * Get Pitch, Roll, Throttle, Yaw values |
159 | * Get Pitch, Roll, Throttle, Yaw values |
162 | */ |
160 | */ |
163 | void RC_periodicTaskAndPRTY(int16_t* PRTY) { |
161 | void RC_periodicTaskAndRPTY(int16_t* RPTY) { |
164 | int16_t tmp1, tmp2; |
162 | int16_t tmp1, tmp2; |
165 | RC_process(); |
163 | RC_process(); |
166 | if (RCQuality) { |
164 | if (RCQuality) { |
167 | RCQuality--; |
165 | RCQuality--; |
168 | PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.stickP + RCDiff(CH_PITCH) * staticParams.stickD; |
166 | RPTY[CONTROL_ROLL] = ((RCChannel(CH_ROLL) * staticParams.stickP) >> 3) + RCDiff(CH_ROLL) * staticParams.stickD; |
169 | PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.stickP + RCDiff(CH_ROLL) * staticParams.stickD; |
167 | RPTY[CONTROL_PITCH] = ((RCChannel(CH_PITCH) * staticParams.stickP) >> 3) + RCDiff(CH_PITCH) * staticParams.stickD; |
170 | int16_t throttle = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) * staticParams.stickThrottleD + 120; |
168 | int16_t throttle = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) * staticParams.stickThrottleD + TIME(0.4); |
171 | // Negative throttle values are taken as zero. |
169 | // Negative throttle values are taken as zero. |
172 | if (throttle > 0) |
170 | if (throttle > 0) |
173 | PRTY[CONTROL_THROTTLE] = throttle; |
171 | RPTY[CONTROL_THROTTLE] = throttle; |
- | 172 | else |
|
- | 173 | RPTY[CONTROL_THROTTLE] = 0; |
|
- | 174 | ||
174 | tmp1 = -RCChannel(CH_YAW) - RCDiff(CH_YAW); |
175 | tmp1 = RCChannel(CH_YAW); // - RCDiff(CH_YAW); |
175 | // exponential stick sensitivity in yawing rate |
176 | // exponential stick sensitivity in yawing rate |
- | 177 | // |
|
176 | tmp2 = (int32_t)staticParams.stickYawP * ((int32_t)tmp1 * abs(tmp1)) >> 9; // expo y = ax + bx^2 |
178 | tmp2 = ((int32_t)staticParams.stickYawP * (int32_t)tmp1 * abs(tmp1)) >> 14; // expo y = ax + bx^2 |
177 | tmp2 += (staticParams.stickYawP * tmp1) >> 2; |
179 | tmp2 += (staticParams.stickYawP * tmp1) >> 3; |
- | 180 | ||
178 | PRTY[CONTROL_YAW] = tmp2; |
181 | RPTY[CONTROL_YAW] = (/*(RCChannel(CH_YAW) * staticParams.stickYawP) >> 3*/ tmp2); |
179 | 182 | ||
- | 183 | uint8_t command = RC_getStickCommand(); |
|
180 | uint8_t command = RC_getStickCommand(); |
184 | |
181 | if (lastRCCommand == command) { |
185 | if (lastRCCommand == command) { |
182 | // Keep timer from overrunning. |
186 | // Keep timer from overrunning. |
183 | if (commandTimer < COMMAND_TIMER) |
187 | if (commandTimer < COMMAND_TIMER) |
184 | commandTimer++; |
188 | commandTimer++; |
185 | } else { |
189 | } else { |
186 | // There was a change. |
190 | // There was a change. |
187 | lastRCCommand = command; |
191 | lastRCCommand = command; |
188 | commandTimer = 0; |
192 | commandTimer = 0; |
189 | } |
193 | } |
190 | } // if RCQuality is no good, we just do nothing. |
194 | } // if RCQuality is no good, we just do nothing. |
191 | } |
195 | } |
192 | 196 | ||
193 | /* |
197 | /* |
194 | * Get other channel value |
198 | * Get other channel value |
195 | */ |
199 | */ |
196 | int16_t RC_getVariable(uint8_t varNum) { |
200 | int16_t RC_getVariable(uint8_t varNum) { |
197 | if (varNum < 4) |
201 | if (varNum < 4) |
198 | // 0th variable is 5th channel (1-based) etc. |
202 | // 0th variable is 5th channel (1-based) etc. |
199 | return RCChannel(varNum + CH_POTS) + POT_OFFSET; |
203 | return (RCChannel(varNum + CH_VARIABLES) >> 3) + VARIABLES_OFFSET; |
200 | /* |
204 | /* |
201 | * Let's just say: |
205 | * Let's just say: |
202 | * The RC variable i is hardwired to channel i, i>=4 |
206 | * The RC variable i is hardwired to channel i, i>=4 |
203 | */ |
207 | */ |
204 | return PPM_in[varNum] + POT_OFFSET; |
208 | return (PPM_in[varNum] >> 3) + VARIABLES_OFFSET; |
205 | } |
209 | } |
206 | 210 | ||
207 | uint8_t RC_getSignalQuality(void) { |
211 | uint8_t RC_getSignalQuality(void) { |
208 | if (RCQuality >= 160) |
212 | if (RCQuality >= 160) |
209 | return SIGNAL_GOOD; |
213 | return SIGNAL_GOOD; |
210 | if (RCQuality >= 140) |
214 | if (RCQuality >= 140) |
211 | return SIGNAL_OK; |
215 | return SIGNAL_OK; |
212 | if (RCQuality >= 120) |
216 | if (RCQuality >= 120) |
213 | return SIGNAL_BAD; |
217 | return SIGNAL_BAD; |
214 | return SIGNAL_LOST; |
218 | return SIGNAL_LOST; |
215 | } |
219 | } |
216 | 220 | ||
217 | /* |
221 | /* |
218 | * To should fired only when the right stick is in the center position. |
222 | * To should fired only when the right stick is in the center position. |
219 | * This will cause the value of pitch and roll stick to be adjusted |
223 | * This will cause the value of pitch and roll stick to be adjusted |
220 | * to zero (not just to near zero, as per the assumption in rc.c |
224 | * to zero (not just to near zero, as per the assumption in rc.c |
221 | * about the rc signal. I had values about 50..70 with a Futaba |
225 | * about the rc signal. I had values about 50..70 with a Futaba |
222 | * R617 receiver.) This calibration is not strictly necessary, but |
226 | * R617 receiver.) This calibration is not strictly necessary, but |
223 | * for control logic that depends on the exact (non)center position |
227 | * for control logic that depends on the exact (non)center position |
224 | * of a stick, it may be useful. |
228 | * of a stick, it may be useful. |
225 | */ |
229 | */ |
226 | void RC_calibrate(void) { |
230 | void RC_calibrate(void) { |
227 | // Do nothing. |
231 | // Do nothing. |
228 | } |
232 | } |
229 | 233 | ||
230 | /* |
234 | /* |
231 | if (staticParams.GlobalConfig & CFG_HEADING_HOLD) { |
235 | if (staticParams.GlobalConfig & CFG_HEADING_HOLD) { |
232 | // In HH, it s OK to trim the R/C. The effect should not be conteracted here. |
236 | // In HH, it s OK to trim the R/C. The effect should not be conteracted here. |
233 | stickOffsetPitch = stickOffsetRoll = 0; |
237 | stickOffsetPitch = stickOffsetRoll = 0; |
234 | } else { |
238 | } else { |
235 | stickOffsetPitch = RCChannel(CH_PITCH) * staticParams.StickP; |
239 | stickOffsetPitch = RCChannel(CH_PITCH) * staticParams.StickP; |
236 | stickOffsetRoll = RCChannel(CH_ROLL) * staticParams.StickP; |
240 | stickOffsetRoll = RCChannel(CH_ROLL) * staticParams.StickP; |
237 | } |
241 | } |
238 | } |
242 | } |
239 | */ |
243 | */ |
240 | 244 | ||
241 | uint8_t RC_getCommand(void) { |
245 | uint8_t RC_getCommand(void) { |
242 | if (commandTimer == COMMAND_TIMER) { |
246 | if (commandTimer == COMMAND_TIMER) { |
243 | // Stick has been held long enough; command committed. |
247 | // Stick has been held long enough; command committed. |
244 | return lastRCCommand; |
248 | return lastRCCommand; |
245 | } |
249 | } |
246 | // Not yet sure what the command is. |
250 | // Not yet sure what the command is. |
247 | return COMMAND_NONE; |
251 | return COMMAND_NONE; |
248 | } |
252 | } |
249 | 253 | ||
250 | /* |
254 | /* |
251 | * Command arguments on R/C: |
255 | * Command arguments on R/C: |
252 | * 2--3--4 |
256 | * 2--3--4 |
253 | * | | + |
257 | * | | + |
254 | * 1 0 5 ^ 0 |
258 | * 1 0 5 ^ 0 |
255 | * | | | |
259 | * | | | |
256 | * 8--7--6 |
260 | * 8--7--6 |
257 | * |
261 | * |
258 | * + <-- |
262 | * + <-- |
259 | * 0 |
263 | * 0 |
260 | * |
264 | * |
261 | * Not in any of these positions: 0 |
265 | * Not in any of these positions: 0 |
262 | */ |
266 | */ |
263 | 267 | ||
264 | #define ARGUMENT_THRESHOLD 70 |
268 | #define ARGUMENT_THRESHOLD TIME(0.35f) |
265 | #define ARGUMENT_CHANNEL_VERTICAL CH_PITCH |
269 | #define ARGUMENT_CHANNEL_VERTICAL CH_PITCH |
266 | #define ARGUMENT_CHANNEL_HORIZONTAL CH_ROLL |
270 | #define ARGUMENT_CHANNEL_HORIZONTAL CH_ROLL |
267 | 271 | ||
268 | uint8_t RC_getArgument(void) { |
272 | uint8_t RC_getArgument(void) { |
269 | if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) > ARGUMENT_THRESHOLD) { |
273 | if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) > ARGUMENT_THRESHOLD) { |
270 | // vertical is up |
274 | // vertical is up |
271 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
275 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
272 | return 2; |
276 | return 2; |
273 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
277 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
274 | return 4; |
278 | return 4; |
275 | return 3; |
279 | return 3; |
276 | } else if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) < -ARGUMENT_THRESHOLD) { |
280 | } else if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) < -ARGUMENT_THRESHOLD) { |
277 | // vertical is down |
281 | // vertical is down |
278 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
282 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
279 | return 8; |
283 | return 8; |
280 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
284 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
281 | return 6; |
285 | return 6; |
282 | return 7; |
286 | return 7; |
283 | } else { |
287 | } else { |
284 | // vertical is around center |
288 | // vertical is around center |
285 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
289 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
286 | return 1; |
290 | return 1; |
287 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
291 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
288 | return 5; |
292 | return 5; |
289 | return 0; |
293 | return 0; |
290 | } |
294 | } |
291 | } |
295 | } |
292 | 296 | ||
293 | #ifdef USE_MK3MAG |
297 | #ifdef USE_MK3MAG |
294 | /* |
298 | /* |
295 | * For each time the stick is pulled, returns true. |
299 | * For each time the stick is pulled, returns true. |
296 | */ |
300 | */ |
297 | uint8_t RC_testCompassCalState(void) { |
301 | uint8_t RC_testCompassCalState(void) { |
298 | static uint8_t stickPulled = 1; |
302 | static uint8_t stickPulled = 1; |
299 | // if pitch is centered or top set stick to zero |
303 | // if pitch is centered or top set stick to zero |
300 | if (RCChannel(CH_PITCH) > -20) |
304 | if (RCChannel(CH_PITCH) > -20) |
301 | stickPulled = 0; |
305 | stickPulled = 0; |
302 | // if pitch is down trigger to next cal state |
306 | // if pitch is down trigger to next cal state |
303 | if ((RCChannel(CH_PITCH) < -70) && !stickPulled) { |
307 | if ((RCChannel(CH_PITCH) < -70) && !stickPulled) { |
304 | stickPulled = 1; |
308 | stickPulled = 1; |
305 | return 1; |
309 | return 1; |
306 | } |
310 | } |
307 | return 0; |
311 | return 0; |
308 | } |
312 | } |
309 | #endif |
313 | #endif |
310 | 314 | ||
311 | /* |
315 | /* |
312 | * Abstract controls are not used at the moment. |
316 | * Abstract controls are not used at the moment. |
313 | t_control rc_control = { |
317 | t_control rc_control = { |
314 | RC_getPitch, |
318 | RC_getPitch, |
315 | RC_getRoll, |
319 | RC_getRoll, |
316 | RC_getYaw, |
320 | RC_getYaw, |
317 | RC_getThrottle, |
321 | RC_getThrottle, |
318 | RC_getSignalQuality, |
322 | RC_getSignalQuality, |
319 | RC_calibrate |
323 | RC_calibrate |
320 | }; |
324 | }; |
321 | */ |
325 | */ |
322 | 326 |