ardupilot/Tools/PPM_decoding/PPM_decoding.pde

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2011-09-08 22:31:32 -03:00
#include <avr/interrupt.h>
volatile unsigned int Start_Pulse =0;
volatile unsigned int Stop_Pulse =0;
volatile unsigned int Pulse_Width =0;
volatile int Test=0;
volatile int Test2=0;
volatile int Temp=0;
volatile int Counter=0;
volatile byte PPM_Counter=0;
volatile int PWM_RAW[8] = {2400,2400,2400,2400,2400,2400,2400,2400};
int All_PWM=1500;
long timer=0;
long timer2=0;
void setup()
{
Init_PWM1(); //OUT2&3
Init_PWM3(); //OUT6&7
Init_PWM5(); //OUT0&1
Init_PPM_PWM4(); //OUT4&5
Serial.begin(57600);
}
void loop()
{
//Switch low, forward the PPM
if(InputCh(5) <= 1250)
{
OutputCh(0, InputCh(0));
OutputCh(1, InputCh(1));
OutputCh(2, InputCh(2));
OutputCh(3, InputCh(3));
OutputCh(4, InputCh(4));
OutputCh(5, InputCh(5));
OutputCh(6, InputCh(6));
OutputCh(7, InputCh(7));
}
else
{
//Switch High, Move servos
if(InputCh(5) >= 1750)
{
if((millis()- timer2) >= 20)
{
timer2=millis();
if(All_PWM >2100)
All_PWM=900;
else
All_PWM+=20;
}
}
//Switch in the midle, center all servos
else
{
All_PWM=1500;
}
OutputCh(0, All_PWM);
OutputCh(1, All_PWM);
OutputCh(2, All_PWM);
OutputCh(3, All_PWM);
OutputCh(4, All_PWM);
OutputCh(5, All_PWM);
OutputCh(6, All_PWM);
OutputCh(7, All_PWM);
}
//Printing all values.
if((millis()- timer) >= 250)
{
timer=millis();
Serial.print("Ch0:");
Serial.print(InputCh(0));
Serial.print(" Ch1:");
Serial.print(InputCh(1));
Serial.print(" Ch2:");
Serial.print(InputCh(2));
Serial.print(" Ch3:");
Serial.print(InputCh(3));
Serial.print(" Ch4:");
Serial.print(InputCh(4));
Serial.print(" Ch5:");
Serial.print(InputCh(5));
Serial.print(" Ch6:");
Serial.print(InputCh(6));
Serial.print(" Ch7:");
Serial.println(InputCh(7));
}
delay(20);
}
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