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Update Tools/ArduPPM/Libraries/PPM_Encoder.h 

- Small optimization
This commit is contained in:
John Arne 2013-02-27 13:58:19 +01:00 committed by rmackay9
parent a0b0df0252
commit 4f9b787e04
1 changed files with 18 additions and 15 deletions
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23
Tools/ArduPPM/Libraries/PPM_Encoder.h
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@ -1,5 +1,5 @@
// ------------------------------------------------------------- // -------------------------------------------------------------
// ArduPPM (PPM Encoder) V2.3.17pre // ArduPPM (PPM Encoder) V2.3.18pre
// ------------------------------------------------------------- // -------------------------------------------------------------
// Improved servo to ppm for ArduPilot MEGA v1.x (ATmega328p), // Improved servo to ppm for ArduPilot MEGA v1.x (ATmega328p),
// PhoneDrone and APM2.x (ATmega32u2) // PhoneDrone and APM2.x (ATmega32u2)
@ -147,6 +147,9 @@
// V2.3.17pre - set channel 1,2 and 4 to center, 3 to low and leave 5-8 at last value // V2.3.17pre - set channel 1,2 and 4 to center, 3 to low and leave 5-8 at last value
// - LED indication is only triggered when throttle is set low // - LED indication is only triggered when throttle is set low
// 27-02-2013
// V2.3.18pre - Small optimization
// ------------------------------------------------------------- // -------------------------------------------------------------
#ifndef _PPM_ENCODER_H_ #ifndef _PPM_ENCODER_H_
@ -188,7 +191,7 @@
#endif #endif
// Version stamp for firmware hex file ( decode hex file using <avr-objdump -s file.hex> and look for "ArduPPM" string ) // Version stamp for firmware hex file ( decode hex file using <avr-objdump -s file.hex> and look for "ArduPPM" string )
const char ver[15] = "ArduPPMv2.3.17pre"; const char ver[15] = "ArduPPMv2.3.18";
// ------------------------------------------------------------- // -------------------------------------------------------------
// INPUT MODE // INPUT MODE
@ -800,24 +803,24 @@ ISR( PPM_INT_VECTOR, ISR_NOBLOCK )
// Update timing for next compare toggle with either current ppm input value, or fail-safe value if there is a channel timeout. // Update timing for next compare toggle with either current ppm input value, or fail-safe value if there is a channel timeout.
if( ppm_timeout[ ppm_out_channel ] > PPM_TIMEOUT_VALUE ) if( ppm_timeout[ ppm_out_channel ] > PPM_TIMEOUT_VALUE )
{ {
// Use the ppm fail-safe value for throttle // Channel 1-4?
if( ppm_out_channel == 5 ) if( ppm_out_channel & 7 )
{ {
// Channel 1-4 - Use fail-safe value
cli(); cli();
PPM_COMPARE += failsafe_ppm[ ppm_out_channel ]; PPM_COMPARE += failsafe_ppm[ ppm_out_channel ];
sei(); sei();
// Channel 3
if( ppm_out_channel == 5 )
{
// report this to the LED indication // report this to the LED indication
servo_input_missing = true; servo_input_missing = true;
} }
// also use the fail-safe value for roll, pitch and yaw (but don't notify LED)
else if( ppm_out_channel == 1 || ppm_out_channel == 3 || ppm_out_channel == 7 )
{
cli();
PPM_COMPARE += failsafe_ppm[ ppm_out_channel ];
sei();
} }
else else
{ {
// Channel 5-8 - Use last known value
cli(); cli();
PPM_COMPARE += ppm[ ppm_out_channel ]; PPM_COMPARE += ppm[ ppm_out_channel ];
sei(); sei();