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AP_HAL_FLYMAPLE: RCInput detects stale input readings better. Update test

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code.
This commit is contained in:
Mike McCauley 2014-02-01 09:57:42 +10:00 committed by Andrew Tridgell
parent f1533aa350
commit 54a0b04c12
3 changed files with 18 additions and 10 deletions
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24
libraries/AP_HAL_FLYMAPLE/RCInput.cpp
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@ -35,6 +35,7 @@ extern const AP_HAL::HAL& hal;
/* private variables to communicate with input capture isr */
volatile uint16_t FLYMAPLERCInput::_pulse_capt[FLYMAPLE_RC_INPUT_NUM_CHANNELS] = {0};
volatile uint8_t FLYMAPLERCInput::_valid_channels = 0;
volatile uint32_t FLYMAPLERCInput::_last_input_interrupt_time = 0; // Last time the input interrupt ran
// Pin 6 is connected to timer 1 channel 1
#define FLYMAPLE_RC_INPUT_PIN 6
@ -50,9 +51,7 @@ FLYMAPLERCInput::FLYMAPLERCInput()
// This interrupt triggers on a negative transiution of the PPM-SIM pin
void FLYMAPLERCInput::_timer_capt_cb(void)
{
static int on = 0;
on = !on;
digitalWrite(13, on);
_last_input_interrupt_time = hal.scheduler->millis();
static uint16 previous_count;
static uint8 channel_ctr;
@ -78,7 +77,11 @@ void FLYMAPLERCInput::_timer_capt_cb(void)
pulse_width = current_count - previous_count;
}
if (pulse_width > 16000) { // 8ms
// Pulse sequence repetition rate is about 22ms.
// Longest servo pulse is about 1.8ms
// Shortest servo pulse is about 0.5ms
// Shortest possible PPM sync pulse with 10 channels is about 4ms = 22 - (10 channels * 1.8)
if (pulse_width > 8000) { // 4ms
// sync pulse detected. Pass through values if at least a minimum number of channels received
if( channel_ctr >= FLYMAPLE_RC_INPUT_MIN_CHANNELS ) {
_valid_channels = channel_ctr;
@ -88,6 +91,10 @@ void FLYMAPLERCInput::_timer_capt_cb(void)
}
channel_ctr = 0;
} else {
// if (channel_ctr == 0)
// hal.uartA->printf("ch 0 %d\n", pulse_width);
if (channel_ctr < FLYMAPLE_RC_INPUT_NUM_CHANNELS) {
_pulse_capt[channel_ctr] = pulse_width;
channel_ctr++;
@ -112,7 +119,7 @@ void FLYMAPLERCInput::init(void* machtnichts)
timer_pause(tdev); // disabled
timer_set_prescaler(tdev, (CYCLES_PER_MICROSECOND/2) - 1); // 2MHz = 0.5us timer ticks
timer_set_reload(tdev, FLYMAPLE_TIMER_RELOAD-1);
// Without a filter, can get triggering on the wrong edge and otehr problems.
// Without a filter, can get triggering on the wrong edge and other problems.
(tdev->regs).gen->CCMR1 = TIMER_CCMR1_CC1S_INPUT_TI1 | (3 << 4); // no prescaler, input from T1, filter internal clock, N=8
(tdev->regs).gen->CCER = TIMER_CCER_CC1P | TIMER_CCER_CC1E; // falling edge, enable capture
timer_attach_interrupt(tdev, timer_channel, _timer_capt_cb);
@ -121,6 +128,8 @@ void FLYMAPLERCInput::init(void* machtnichts)
}
uint8_t FLYMAPLERCInput::valid_channels() {
if ((hal.scheduler->millis() - _last_input_interrupt_time) > 50)
_valid_channels = 0; // Lost RC Input?
return _valid_channels;
}
@ -142,7 +151,6 @@ uint16_t FLYMAPLERCInput::read(uint8_t ch) {
timer_disable_irq(tdev, timer_channel);
uint16_t capt = _pulse_capt[ch];
timer_enable_irq(tdev, timer_channel);
_valid_channels = 0;
/* scale _pulse_capt from 0.5us units to 1us units. */
uint16_t pulse = constrain_pulse(capt >> 1);
/* Check for override */
@ -173,9 +181,7 @@ uint8_t FLYMAPLERCInput::read(uint16_t* periods, uint8_t len) {
periods[i] = _override[i];
}
}
uint8_t v = _valid_channels;
_valid_channels = 0;
return v;
return _valid_channels;
}
bool FLYMAPLERCInput::set_overrides(int16_t *overrides, uint8_t len) {

1
libraries/AP_HAL_FLYMAPLE/RCInput.h
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@ -44,6 +44,7 @@ private:
/* private variables to communicate with input capture isr */
static volatile uint16_t _pulse_capt[FLYMAPLE_RC_INPUT_NUM_CHANNELS];
static volatile uint8_t _valid_channels;
static volatile uint32_t _last_input_interrupt_time;
/* override state */
uint16_t _override[FLYMAPLE_RC_INPUT_NUM_CHANNELS];

3
libraries/AP_HAL_FLYMAPLE/examples/RCInput/RCInput.pde
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@ -12,7 +12,8 @@ const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
void multiread(AP_HAL::RCInput* in, uint16_t* channels) {
/* Multi-channel read method: */
uint8_t valid;
valid = in->read(channels, 8);
valid = in->valid_channels();
in->read(channels, 8);
hal.console->printf_P(
PSTR("multi read %d: %d %d %d %d %d %d %d %d\r\n"),
(int) valid,