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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + Nur f�r den privaten Gebrauch |
3 | // + Nur f�r den privaten Gebrauch |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig 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, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen 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 ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt werden |
18 | // + eindeutig als Ursprung verlinkt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion |
20 | // + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion |
21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
22 | // + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
22 | // + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
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 zul�ssig |
25 | // + mit unserer Zustimmung zul�ssig |
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 now 0-based. |
61 | // The channel array is now 0-based. |
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 uint8_t RCQuality; |
65 | volatile uint8_t RCQuality; |
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 | /*************************************************************** |
70 | /*************************************************************** |
71 | * 16bit timer 1 is used to decode the PPM-Signal |
71 | * 16bit timer 1 is used to decode the PPM-Signal |
72 | ***************************************************************/ |
72 | ***************************************************************/ |
73 | void RC_Init(void) { |
73 | void RC_Init(void) { |
74 | uint8_t sreg = SREG; |
74 | uint8_t sreg = SREG; |
75 | 75 | ||
76 | // disable all interrupts before reconfiguration |
76 | // disable all interrupts before reconfiguration |
77 | cli(); |
77 | cli(); |
78 | 78 | ||
79 | // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
79 | // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
80 | DDRD &= ~(1<<6); |
80 | DDRD &= ~(1<<6); |
81 | PORTD |= (1<<PORTD6); |
81 | PORTD |= (1<<PORTD6); |
82 | 82 | ||
83 | // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
83 | // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
84 | // set as output |
84 | // set as output |
85 | DDRD |= (1<<DDD5) | (1<<DDD4) | (1<<DDD3); |
85 | DDRD |= (1<<DDD5) | (1<<DDD4) | (1<<DDD3); |
86 | // low level |
86 | // low level |
87 | PORTD &= ~((1<<PORTD5) | (1<<PORTD4) | (1<<PORTD3)); |
87 | PORTD &= ~((1<<PORTD5) | (1<<PORTD4) | (1<<PORTD3)); |
88 | 88 | ||
89 | // PD3 can't be used if 2nd UART is activated |
89 | // PD3 can't be used if 2nd UART is activated |
90 | // because TXD1 is at that port |
90 | // because TXD1 is at that port |
91 | if (CPUType != ATMEGA644P) { |
91 | if (CPUType != ATMEGA644P) { |
92 | DDRD |= (1<<PORTD3); |
92 | DDRD |= (1<<PORTD3); |
93 | PORTD &= ~(1<<PORTD3); |
93 | PORTD &= ~(1<<PORTD3); |
94 | } |
94 | } |
95 | 95 | ||
96 | // Timer/Counter1 Control Register A, B, C |
96 | // Timer/Counter1 Control Register A, B, C |
97 | 97 | ||
98 | // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
98 | // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
99 | // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
99 | // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
100 | // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
100 | // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
101 | // Enable input capture noise cancler (bit: ICNC1=1) |
101 | // Enable input capture noise cancler (bit: ICNC1=1) |
102 | // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
102 | // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
103 | // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2�s |
103 | // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2�s |
104 | // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
104 | // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
105 | TCCR1A &= ~((1 << COM1A1) | (1 << COM1A0) | (1 << COM1B1) | (1 << COM1B0) | (1 << WGM11) | (1 << WGM10)); |
105 | TCCR1A &= ~((1 << COM1A1) | (1 << COM1A0) | (1 << COM1B1) | (1 << COM1B0) | (1 << WGM11) | (1 << WGM10)); |
106 | TCCR1B &= ~((1 << WGM13) | (1 << WGM12) | (1 << CS12)); |
106 | TCCR1B &= ~((1 << WGM13) | (1 << WGM12) | (1 << CS12)); |
107 | TCCR1B |= (1 << CS11) | (1 << CS10) | (1 << ICES1) | (1 << ICNC1); |
107 | TCCR1B |= (1 << CS11) | (1 << CS10) | (1 << ICES1) | (1 << ICNC1); |
108 | TCCR1C &= ~((1 << FOC1A) | (1 << FOC1B)); |
108 | TCCR1C &= ~((1 << FOC1A) | (1 << FOC1B)); |
109 | 109 | ||
110 | // Timer/Counter1 Interrupt Mask Register |
110 | // Timer/Counter1 Interrupt Mask Register |
111 | // Enable Input Capture Interrupt (bit: ICIE1=1) |
111 | // Enable Input Capture Interrupt (bit: ICIE1=1) |
112 | // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
112 | // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
113 | // Enable Overflow Interrupt (bit: TOIE1=0) |
113 | // Enable Overflow Interrupt (bit: TOIE1=0) |
114 | TIMSK1 &= ~((1<<OCIE1B) | (1<<OCIE1A) | (1<<TOIE1)); |
114 | TIMSK1 &= ~((1<<OCIE1B) | (1<<OCIE1A) | (1<<TOIE1)); |
115 | TIMSK1 |= (1<<ICIE1); |
115 | TIMSK1 |= (1<<ICIE1); |
116 | 116 | ||
117 | RCQuality = 0; |
117 | RCQuality = 0; |
118 | 118 | ||
119 | SREG = sreg; |
119 | SREG = sreg; |
120 | } |
120 | } |
121 | 121 | ||
122 | /********************************************************************/ |
122 | /********************************************************************/ |
123 | /* Every time a positive edge is detected at PD6 */ |
123 | /* Every time a positive edge is detected at PD6 */ |
124 | /********************************************************************/ |
124 | /********************************************************************/ |
125 | /* t-Frame |
125 | /* t-Frame |
126 | <-----------------------------------------------------------------------> |
126 | <-----------------------------------------------------------------------> |
127 | ____ ______ _____ ________ ______ sync gap ____ |
127 | ____ ______ _____ ________ ______ sync gap ____ |
128 | | | | | | | | | | | | |
128 | | | | | | | | | | | | |
129 | | | | | | | | | | | | |
129 | | | | | | | | | | | | |
130 | ___| |_| |_| |_| |_.............| |________________| |
130 | ___| |_| |_| |_| |_.............| |________________| |
131 | <-----><-------><------><----------- <------> <--- |
131 | <-----><-------><------><----------- <------> <--- |
132 | t0 t1 t2 t4 tn t0 |
132 | t0 t1 t2 t4 tn t0 |
133 | 133 | ||
134 | The PPM-Frame length is 22.5 ms. |
134 | The PPM-Frame length is 22.5 ms. |
135 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
135 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
136 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
136 | The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
137 | The maximum time delay of two events coding a channel is ( 1.7 + 0.3) ms = 2 ms. |
137 | The maximum time delay of two events coding a channel is ( 1.7 + 0.3) ms = 2 ms. |
138 | The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
138 | The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
139 | The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
139 | The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
140 | The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
140 | The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
141 | the syncronization gap. |
141 | the syncronization gap. |
142 | */ |
142 | */ |
143 | ISR(TIMER1_CAPT_vect) |
143 | ISR(TIMER1_CAPT_vect) |
144 | { // typical rate of 1 ms to 2 ms |
144 | { // typical rate of 1 ms to 2 ms |
145 | int16_t signal = 0, tmp; |
145 | int16_t signal = 0, tmp; |
146 | static int16_t index; |
146 | static int16_t index; |
147 | static uint16_t oldICR1 = 0; |
147 | static uint16_t oldICR1 = 0; |
148 | 148 | ||
149 | // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
149 | // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
150 | // at the time the edge was detected |
150 | // at the time the edge was detected |
151 | 151 | ||
152 | // calculate the time delay to the previous event time which is stored in oldICR1 |
152 | // calculate the time delay to the previous event time which is stored in oldICR1 |
153 | // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
153 | // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
154 | // implicit handles a timer overflow 65535 -> 0 the right way. |
154 | // implicit handles a timer overflow 65535 -> 0 the right way. |
155 | signal = (uint16_t) ICR1 - oldICR1; |
155 | signal = (uint16_t) ICR1 - oldICR1; |
156 | oldICR1 = ICR1; |
156 | oldICR1 = ICR1; |
157 | 157 | ||
158 | //sync gap? (3.52 ms < signal < 25.6 ms) |
158 | //sync gap? (3.52 ms < signal < 25.6 ms) |
159 | if ((signal > 1100) && (signal < 8000)) { |
159 | if ((signal > 1100) && (signal < 8000)) { |
160 | // if a sync gap happens and there where at least 4 channels decoded before |
160 | // if a sync gap happens and there where at least 4 channels decoded before |
161 | // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
161 | // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
162 | if (index >= 3) { |
162 | if (index >= 3) { |
163 | newPPMData = 0; // Null means NewData for the first 4 channels |
163 | newPPMData = 0; // Null means NewData for the first 4 channels |
164 | } |
164 | } |
165 | // synchronize channel index |
165 | // synchronize channel index |
166 | index = 0; |
166 | index = 0; |
167 | } else { // within the PPM frame |
167 | } else { // within the PPM frame |
168 | if (index < MAX_CHANNELS) { // PPM24 supports 12 channels |
168 | if (index < MAX_CHANNELS) { // PPM24 supports 12 channels |
169 | // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
169 | // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
170 | // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
170 | // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
171 | if ((signal > 250) && (signal < 687)) { |
171 | if ((signal > 250) && (signal < 687)) { |
172 | // shift signal to zero symmetric range -154 to 159 |
172 | // shift signal to zero symmetric range -154 to 159 |
173 | signal -= 470; // offset of 1.4912 ms ??? (469 * 3.2us = 1.5008 ms) |
173 | signal -= 470; // offset of 1.4912 ms ??? (469 * 3.2us = 1.5008 ms) |
174 | // check for stable signal |
174 | // check for stable signal |
175 | if (abs(signal - PPM_in[index]) < 6) { |
175 | if (abs(signal - PPM_in[index]) < 6) { |
176 | if (RCQuality < 200) |
176 | if (RCQuality < 200) |
177 | RCQuality += 10; |
177 | RCQuality += 10; |
178 | else |
178 | else |
179 | RCQuality = 200; |
179 | RCQuality = 200; |
180 | } |
180 | } |
181 | // If signal is the same as before +/- 1, just keep it there. |
181 | // If signal is the same as before +/- 1, just keep it there. |
182 | if (signal >= PPM_in[index] - 1 && signal <= PPM_in[index] + 1) { |
182 | if (signal >= PPM_in[index] - 1 && signal <= PPM_in[index] + 1) { |
183 | // In addition, if the signal is very close to 0, just set it to 0. |
183 | // In addition, if the signal is very close to 0, just set it to 0. |
184 | if (signal >= -1 && signal <= 1) { |
184 | if (signal >= -1 && signal <= 1) { |
185 | tmp = 0; |
185 | tmp = 0; |
186 | } else { |
186 | } else { |
187 | tmp = PPM_in[index]; |
187 | tmp = PPM_in[index]; |
188 | } |
188 | } |
189 | } else |
189 | } else |
190 | tmp = signal; |
190 | tmp = signal; |
191 | // calculate signal difference on good signal level |
191 | // calculate signal difference on good signal level |
192 | if (RCQuality >= 195) |
192 | if (RCQuality >= 195) |
193 | PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
193 | PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
194 | else |
194 | else |
195 | PPM_diff[index] = 0; |
195 | PPM_diff[index] = 0; |
196 | PPM_in[index] = tmp; // update channel value |
196 | PPM_in[index] = tmp; // update channel value |
197 | } |
197 | } |
198 | index++; // next channel |
198 | index++; // next channel |
199 | // demux sum signal for channels 5 to 7 to J3, J4, J5 |
199 | // demux sum signal for channels 5 to 7 to J3, J4, J5 |
200 | // TODO: General configurability of this R/C channel forwarding. Or remove it completely - the |
200 | // TODO: General configurability of this R/C channel forwarding. Or remove it completely - the |
201 | // channels are usually available at the receiver anyway. |
201 | // channels are usually available at the receiver anyway. |
202 | // if(index == 5) J3HIGH; else J3LOW; |
202 | // if(index == 5) J3HIGH; else J3LOW; |
203 | // if(index == 6) J4HIGH; else J4LOW; |
203 | // if(index == 6) J4HIGH; else J4LOW; |
204 | // if(CPUType != ATMEGA644P) // not used as TXD1 |
204 | // if(CPUType != ATMEGA644P) // not used as TXD1 |
205 | // { |
205 | // { |
206 | // if(index == 7) J5HIGH; else J5LOW; |
206 | // if(index == 7) J5HIGH; else J5LOW; |
207 | // } |
207 | // } |
208 | } |
208 | } |
209 | } |
209 | } |
210 | } |
210 | } |
211 | 211 | ||
212 | #define RCChannel(dimension) PPM_in[channelMap.channels[dimension]] |
212 | #define RCChannel(dimension) PPM_in[channelMap.channels[dimension]] |
213 | #define RCDiff(dimension) PPM_diff[channelMap.channels[dimension]] |
213 | #define RCDiff(dimension) PPM_diff[channelMap.channels[dimension]] |
214 | #define COMMAND_THRESHOLD 85 |
214 | #define COMMAND_THRESHOLD 85 |
215 | #define COMMAND_CHANNEL_VERTICAL CH_THROTTLE |
215 | #define COMMAND_CHANNEL_VERTICAL CH_THROTTLE |
216 | #define COMMAND_CHANNEL_HORIZONTAL CH_YAW |
216 | #define COMMAND_CHANNEL_HORIZONTAL CH_YAW |
217 | 217 | ||
218 | // Internal. |
218 | // Internal. |
219 | uint8_t RC_getStickCommand(void) { |
219 | uint8_t RC_getStickCommand(void) { |
220 | if (RCChannel(COMMAND_CHANNEL_VERTICAL) > COMMAND_THRESHOLD) { |
220 | if (RCChannel(COMMAND_CHANNEL_VERTICAL) > COMMAND_THRESHOLD) { |
221 | // vertical is up |
221 | // vertical is up |
222 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
222 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
223 | return COMMAND_GYROCAL; |
223 | return COMMAND_GYROCAL; |
224 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
224 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
225 | return COMMAND_ACCCAL; |
225 | return COMMAND_ACCCAL; |
226 | return COMMAND_NONE; |
226 | return COMMAND_NONE; |
227 | } else if (RCChannel(COMMAND_CHANNEL_VERTICAL) < -COMMAND_THRESHOLD) { |
227 | } else if (RCChannel(COMMAND_CHANNEL_VERTICAL) < -COMMAND_THRESHOLD) { |
228 | // vertical is down |
228 | // vertical is down |
229 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
229 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
230 | return COMMAND_STOP; |
230 | return COMMAND_STOP; |
231 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
231 | if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
232 | return COMMAND_START; |
232 | return COMMAND_START; |
233 | return COMMAND_NONE; |
233 | return COMMAND_NONE; |
234 | } |
234 | } |
235 | // vertical is around center |
235 | // vertical is around center |
236 | return COMMAND_NONE; |
236 | return COMMAND_NONE; |
237 | } |
237 | } |
238 | 238 | ||
239 | /* |
239 | /* |
240 | * This must be called (as the only thing) for each control loop cycle (488 Hz). |
240 | * This must be called (as the only thing) for each control loop cycle (488 Hz). |
241 | */ |
241 | */ |
242 | void RC_update() { |
242 | void RC_periodicTask() { |
243 | int16_t tmp1, tmp2; |
243 | int16_t tmp1, tmp2; |
244 | if (RCQuality) { |
244 | if (RCQuality) { |
245 | RCQuality--; |
245 | RCQuality--; |
246 | if (newPPMData-- == 0) { |
246 | if (newPPMData-- == 0) { |
247 | RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.stickP |
247 | RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.stickP |
248 | + RCDiff(CH_PITCH) * staticParams.stickD; |
248 | + RCDiff(CH_PITCH) * staticParams.stickD; |
249 | RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.stickP |
249 | RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.stickP |
250 | + RCDiff(CH_ROLL) * staticParams.stickD; |
250 | + RCDiff(CH_ROLL) * staticParams.stickD; |
251 | RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) |
251 | RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) |
252 | * staticParams.stickThrottleD + 120; |
252 | * staticParams.stickThrottleD + 120; |
253 | if (RC_PRTY[CONTROL_THROTTLE] < 0) |
253 | if (RC_PRTY[CONTROL_THROTTLE] < 0) |
254 | RC_PRTY[CONTROL_THROTTLE] = 0; // Throttle is non negative. |
254 | RC_PRTY[CONTROL_THROTTLE] = 0; // Throttle is non negative. |
255 | tmp1 = -RCChannel(CH_YAW) - RCDiff(CH_YAW); |
255 | tmp1 = -RCChannel(CH_YAW) - RCDiff(CH_YAW); |
256 | // exponential stick sensitivity in yawing rate |
256 | // exponential stick sensitivity in yawing rate |
257 | tmp2 = (int32_t) staticParams.stickYawP * ((int32_t) tmp1 * abs(tmp1)) |
257 | tmp2 = (int32_t) staticParams.stickYawP * ((int32_t) tmp1 * abs(tmp1)) |
258 | / 512L; // expo y = ax + bx^2 |
258 | / 512L; // expo y = ax + bx^2 |
259 | tmp2 += (staticParams.stickYawP * tmp1) >> 2; |
259 | tmp2 += (staticParams.stickYawP * tmp1) >> 2; |
260 | RC_PRTY[CONTROL_YAW] = tmp2; |
260 | RC_PRTY[CONTROL_YAW] = tmp2; |
261 | } |
261 | } |
262 | uint8_t command = RC_getStickCommand(); |
262 | uint8_t command = RC_getStickCommand(); |
263 | 263 | ||
264 | if (lastRCCommand == command) { |
264 | if (lastRCCommand == command) { |
265 | // Keep timer from overrunning. |
265 | // Keep timer from overrunning. |
266 | if (commandTimer < COMMAND_TIMER) |
266 | if (commandTimer < COMMAND_TIMER) |
267 | commandTimer++; |
267 | commandTimer++; |
268 | } else { |
268 | } else { |
269 | // There was a change. |
269 | // There was a change. |
270 | lastRCCommand = command; |
270 | lastRCCommand = command; |
271 | commandTimer = 0; |
271 | commandTimer = 0; |
272 | } |
272 | } |
273 | } else { // Bad signal |
273 | } else { // Bad signal |
274 | RC_PRTY[CONTROL_PITCH] = RC_PRTY[CONTROL_ROLL] = RC_PRTY[CONTROL_THROTTLE] |
274 | RC_PRTY[CONTROL_PITCH] = RC_PRTY[CONTROL_ROLL] = RC_PRTY[CONTROL_THROTTLE] |
275 | = RC_PRTY[CONTROL_YAW] = 0; |
275 | = RC_PRTY[CONTROL_YAW] = 0; |
276 | } |
276 | } |
277 | } |
277 | } |
278 | 278 | ||
279 | /* |
279 | /* |
280 | * Get Pitch, Roll, Throttle, Yaw values |
280 | * Get Pitch, Roll, Throttle, Yaw values |
281 | */ |
281 | */ |
282 | int16_t* RC_getPRTY(void) { |
282 | int16_t* RC_getPRTY(void) { |
283 | return RC_PRTY; |
283 | return RC_PRTY; |
284 | } |
284 | } |
285 | 285 | ||
286 | /* |
286 | /* |
287 | * Get other channel value |
287 | * Get other channel value |
288 | */ |
288 | */ |
289 | int16_t RC_getVariable(uint8_t varNum) { |
289 | int16_t RC_getVariable(uint8_t varNum) { |
290 | if (varNum < 4) |
290 | if (varNum < 4) |
291 | // 0th variable is 5th channel (1-based) etc. |
291 | // 0th variable is 5th channel (1-based) etc. |
292 | return RCChannel(varNum + CH_POTS) + POT_OFFSET; |
292 | return RCChannel(varNum + CH_POTS) + POT_OFFSET; |
293 | /* |
293 | /* |
294 | * Let's just say: |
294 | * Let's just say: |
295 | * The RC variable i is hardwired to channel i, i>=4 |
295 | * The RC variable i is hardwired to channel i, i>=4 |
296 | */ |
296 | */ |
297 | return PPM_in[varNum] + POT_OFFSET; |
297 | return PPM_in[varNum] + POT_OFFSET; |
298 | } |
298 | } |
299 | 299 | ||
300 | uint8_t RC_getSignalQuality(void) { |
300 | uint8_t RC_getSignalQuality(void) { |
301 | if (RCQuality >= 160) |
301 | if (RCQuality >= 160) |
302 | return SIGNAL_GOOD; |
302 | return SIGNAL_GOOD; |
303 | if (RCQuality >= 140) |
303 | if (RCQuality >= 140) |
304 | return SIGNAL_OK; |
304 | return SIGNAL_OK; |
305 | if (RCQuality >= 120) |
305 | if (RCQuality >= 120) |
306 | return SIGNAL_BAD; |
306 | return SIGNAL_BAD; |
307 | return SIGNAL_LOST; |
307 | return SIGNAL_LOST; |
308 | } |
308 | } |
309 | 309 | ||
310 | /* |
310 | /* |
311 | * To should fired only when the right stick is in the center position. |
311 | * To should fired only when the right stick is in the center position. |
312 | * This will cause the value of pitch and roll stick to be adjusted |
312 | * This will cause the value of pitch and roll stick to be adjusted |
313 | * to zero (not just to near zero, as per the assumption in rc.c |
313 | * to zero (not just to near zero, as per the assumption in rc.c |
314 | * about the rc signal. I had values about 50..70 with a Futaba |
314 | * about the rc signal. I had values about 50..70 with a Futaba |
315 | * R617 receiver.) This calibration is not strictly necessary, but |
315 | * R617 receiver.) This calibration is not strictly necessary, but |
316 | * for control logic that depends on the exact (non)center position |
316 | * for control logic that depends on the exact (non)center position |
317 | * of a stick, it may be useful. |
317 | * of a stick, it may be useful. |
318 | */ |
318 | */ |
319 | void RC_calibrate(void) { |
319 | void RC_calibrate(void) { |
320 | // Do nothing. |
320 | // Do nothing. |
321 | } |
321 | } |
322 | 322 | ||
323 | /* |
323 | /* |
324 | if (staticParams.GlobalConfig & CFG_HEADING_HOLD) { |
324 | if (staticParams.GlobalConfig & CFG_HEADING_HOLD) { |
325 | // In HH, it s OK to trim the R/C. The effect should not be conteracted here. |
325 | // In HH, it s OK to trim the R/C. The effect should not be conteracted here. |
326 | stickOffsetPitch = stickOffsetRoll = 0; |
326 | stickOffsetPitch = stickOffsetRoll = 0; |
327 | } else { |
327 | } else { |
328 | stickOffsetPitch = RCChannel(CH_PITCH) * staticParams.StickP; |
328 | stickOffsetPitch = RCChannel(CH_PITCH) * staticParams.StickP; |
329 | stickOffsetRoll = RCChannel(CH_ROLL) * staticParams.StickP; |
329 | stickOffsetRoll = RCChannel(CH_ROLL) * staticParams.StickP; |
330 | } |
330 | } |
331 | } |
331 | } |
332 | */ |
332 | */ |
333 | 333 | ||
334 | uint8_t RC_getCommand(void) { |
334 | uint8_t RC_getCommand(void) { |
335 | if (commandTimer == COMMAND_TIMER) { |
335 | if (commandTimer == COMMAND_TIMER) { |
336 | // Stick has been held long enough; command committed. |
336 | // Stick has been held long enough; command committed. |
337 | return lastRCCommand; |
337 | return lastRCCommand; |
338 | } |
338 | } |
339 | // Not yet sure what the command is. |
339 | // Not yet sure what the command is. |
340 | return COMMAND_NONE; |
340 | return COMMAND_NONE; |
341 | } |
341 | } |
342 | 342 | ||
343 | /* |
343 | /* |
344 | * Command arguments on R/C: |
344 | * Command arguments on R/C: |
345 | * 2--3--4 |
345 | * 2--3--4 |
346 | * | | + |
346 | * | | + |
347 | * 1 0 5 ^ 0 |
347 | * 1 0 5 ^ 0 |
348 | * | | | |
348 | * | | | |
349 | * 8--7--6 |
349 | * 8--7--6 |
350 | * |
350 | * |
351 | * + <-- |
351 | * + <-- |
352 | * 0 |
352 | * 0 |
353 | * |
353 | * |
354 | * Not in any of these positions: 0 |
354 | * Not in any of these positions: 0 |
355 | */ |
355 | */ |
356 | 356 | ||
357 | #define ARGUMENT_THRESHOLD 70 |
357 | #define ARGUMENT_THRESHOLD 70 |
358 | #define ARGUMENT_CHANNEL_VERTICAL CH_PITCH |
358 | #define ARGUMENT_CHANNEL_VERTICAL CH_PITCH |
359 | #define ARGUMENT_CHANNEL_HORIZONTAL CH_ROLL |
359 | #define ARGUMENT_CHANNEL_HORIZONTAL CH_ROLL |
360 | 360 | ||
361 | uint8_t RC_getArgument(void) { |
361 | uint8_t RC_getArgument(void) { |
362 | if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) > ARGUMENT_THRESHOLD) { |
362 | if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) > ARGUMENT_THRESHOLD) { |
363 | // vertical is up |
363 | // vertical is up |
364 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
364 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
365 | return 2; |
365 | return 2; |
366 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
366 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
367 | return 4; |
367 | return 4; |
368 | return 3; |
368 | return 3; |
369 | } else if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) < -ARGUMENT_THRESHOLD) { |
369 | } else if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) < -ARGUMENT_THRESHOLD) { |
370 | // vertical is down |
370 | // vertical is down |
371 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
371 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
372 | return 8; |
372 | return 8; |
373 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
373 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
374 | return 6; |
374 | return 6; |
375 | return 7; |
375 | return 7; |
376 | } else { |
376 | } else { |
377 | // vertical is around center |
377 | // vertical is around center |
378 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
378 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
379 | return 1; |
379 | return 1; |
380 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
380 | if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
381 | return 5; |
381 | return 5; |
382 | return 0; |
382 | return 0; |
383 | } |
383 | } |
384 | } |
384 | } |
385 | 385 | ||
386 | /* |
386 | /* |
387 | uint8_t RC_getLooping(uint8_t looping) { |
387 | uint8_t RC_getLooping(uint8_t looping) { |
388 | // static uint8_t looping = 0; |
388 | // static uint8_t looping = 0; |
389 | 389 | ||
390 | if (RCChannel(CH_ROLL) > staticParams.LoopThreshold && staticParams.BitConfig |
390 | if (RCChannel(CH_ROLL) > staticParams.LoopThreshold && staticParams.BitConfig |
391 | & CFG_LOOP_LEFT) { |
391 | & CFG_LOOP_LEFT) { |
392 | looping |= (LOOPING_ROLL_AXIS | LOOPING_LEFT); |
392 | looping |= (LOOPING_ROLL_AXIS | LOOPING_LEFT); |
393 | } else if ((looping & LOOPING_LEFT) && RCChannel(CH_ROLL) |
393 | } else if ((looping & LOOPING_LEFT) && RCChannel(CH_ROLL) |
394 | < staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
394 | < staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
395 | looping &= (~(LOOPING_ROLL_AXIS | LOOPING_LEFT)); |
395 | looping &= (~(LOOPING_ROLL_AXIS | LOOPING_LEFT)); |
396 | } |
396 | } |
397 | 397 | ||
398 | if (RCChannel(CH_ROLL) < -staticParams.LoopThreshold |
398 | if (RCChannel(CH_ROLL) < -staticParams.LoopThreshold |
399 | && staticParams.BitConfig & CFG_LOOP_RIGHT) { |
399 | && staticParams.BitConfig & CFG_LOOP_RIGHT) { |
400 | looping |= (LOOPING_ROLL_AXIS | LOOPING_RIGHT); |
400 | looping |= (LOOPING_ROLL_AXIS | LOOPING_RIGHT); |
401 | } else if ((looping & LOOPING_RIGHT) && RCChannel(CH_ROLL) |
401 | } else if ((looping & LOOPING_RIGHT) && RCChannel(CH_ROLL) |
402 | > -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
402 | > -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
403 | looping &= (~(LOOPING_ROLL_AXIS | LOOPING_RIGHT)); |
403 | looping &= (~(LOOPING_ROLL_AXIS | LOOPING_RIGHT)); |
404 | } |
404 | } |
405 | 405 | ||
406 | if (RCChannel(CH_PITCH) > staticParams.LoopThreshold |
406 | if (RCChannel(CH_PITCH) > staticParams.LoopThreshold |
407 | && staticParams.BitConfig & CFG_LOOP_UP) { |
407 | && staticParams.BitConfig & CFG_LOOP_UP) { |
408 | looping |= (LOOPING_PITCH_AXIS | LOOPING_UP); |
408 | looping |= (LOOPING_PITCH_AXIS | LOOPING_UP); |
409 | } else if ((looping & LOOPING_UP) && RCChannel(CH_PITCH) |
409 | } else if ((looping & LOOPING_UP) && RCChannel(CH_PITCH) |
410 | < staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
410 | < staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
411 | looping &= (~(LOOPING_PITCH_AXIS | LOOPING_UP)); |
411 | looping &= (~(LOOPING_PITCH_AXIS | LOOPING_UP)); |
412 | } |
412 | } |
413 | 413 | ||
414 | if (RCChannel(CH_PITCH) < -staticParams.LoopThreshold |
414 | if (RCChannel(CH_PITCH) < -staticParams.LoopThreshold |
415 | && staticParams.BitConfig & CFG_LOOP_DOWN) { |
415 | && staticParams.BitConfig & CFG_LOOP_DOWN) { |
416 | looping |= (LOOPING_PITCH_AXIS | LOOPING_DOWN); |
416 | looping |= (LOOPING_PITCH_AXIS | LOOPING_DOWN); |
417 | } else if ((looping & LOOPING_DOWN) && RCChannel(CH_PITCH) |
417 | } else if ((looping & LOOPING_DOWN) && RCChannel(CH_PITCH) |
418 | > -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
418 | > -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
419 | looping &= (~(LOOPING_PITCH_AXIS | LOOPING_DOWN)); |
419 | looping &= (~(LOOPING_PITCH_AXIS | LOOPING_DOWN)); |
420 | } |
420 | } |
421 | 421 | ||
422 | return looping; |
422 | return looping; |
423 | } |
423 | } |
424 | */ |
424 | */ |
425 | 425 | ||
426 | uint8_t RC_testCompassCalState(void) { |
426 | uint8_t RC_testCompassCalState(void) { |
427 | static uint8_t stick = 1; |
427 | static uint8_t stick = 1; |
428 | // if pitch is centered or top set stick to zero |
428 | // if pitch is centered or top set stick to zero |
429 | if (RCChannel(CH_PITCH) > -20) |
429 | if (RCChannel(CH_PITCH) > -20) |
430 | stick = 0; |
430 | stick = 0; |
431 | // if pitch is down trigger to next cal state |
431 | // if pitch is down trigger to next cal state |
432 | if ((RCChannel(CH_PITCH) < -70) && !stick) { |
432 | if ((RCChannel(CH_PITCH) < -70) && !stick) { |
433 | stick = 1; |
433 | stick = 1; |
434 | return 1; |
434 | return 1; |
435 | } |
435 | } |
436 | return 0; |
436 | return 0; |
437 | } |
437 | } |
438 | /* |
438 | /* |
439 | * Abstract controls are not used at the moment. |
439 | * Abstract controls are not used at the moment. |
440 | t_control rc_control = { |
440 | t_control rc_control = { |
441 | RC_getPitch, |
441 | RC_getPitch, |
442 | RC_getRoll, |
442 | RC_getRoll, |
443 | RC_getYaw, |
443 | RC_getYaw, |
444 | RC_getThrottle, |
444 | RC_getThrottle, |
445 | RC_getSignalQuality, |
445 | RC_getSignalQuality, |
446 | RC_calibrate |
446 | RC_calibrate |
447 | }; |
447 | }; |
448 | */ |
448 | */ |
449 | 449 |