fixed an overflow issue in AP_RC

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2074 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-05-03 04:32:37 +00:00
parent 85d006c290
commit 6d4b77340b
1 changed files with 40 additions and 34 deletions

View File

@ -1,7 +1,7 @@
/*
AP_RC.cpp - Radio library for Arduino
Code by Jason Short. DIYDrones.com
This library is free software; you can redistribute it and / or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
@ -36,10 +36,10 @@ volatile int16_t timer4diff = 1500 * 2;
#define CH_4 3
volatile int8_t _rc_ch_read;
volatile uint8_t _timer_out;
volatile uint8_t _timer_ovf_a;
volatile uint8_t _timer_ovf_b;
volatile uint8_t _timer_ovf;
volatile uint16_t _timer_out;
volatile uint16_t _timer_ovf_a;
volatile uint16_t _timer_ovf_b;
volatile uint16_t _timer_ovf;
AP_RC::AP_RC()
@ -66,7 +66,7 @@ AP_RC::init()
PCMSK0 = _BV(PCINT3) | _BV(PCINT5);
// enable pin change interrupt on PD2,PD3 (digital pin 2,3)
PCMSK2 = _BV(PCINT18) | _BV(PCINT19);
// Timer 1
TCCR1A = ((1 << WGM11) | (1 << COM1B1) | (1 << COM1A1));
TCCR1B = (1 << WGM13) | (1 << WGM12) | (1 << CS11);
@ -75,14 +75,14 @@ AP_RC::init()
// Throttle;
// Setting up the Timer 2 - 8 bit timer
TCCR2A = 0x0; // Normal Mode
TCCR2A = 0x0; // Normal Mode
TCCR2B = _BV(CS21) |_BV(CS20); //prescaler 32, at 16mhz (32/16) = 2, the counter will increment 1 every 2us
// enable throttle and Ch4 output
TIMSK1 |= _BV(ICIE1); // Timer / Counter1, Input Capture Interrupt Enable // PB0 - output throttle
TIMSK2 = _BV(TOIE1) | _BV(OCIE2A) | _BV(OCIE2B); // Timer / Counter2 Compare Match A
/*
/*
set_ch_pwm(0, 1500);
set_ch_pwm(1, 1500);
set_ch_pwm(2, 1500);
@ -90,22 +90,22 @@ AP_RC::init()
*/
}
uint16_t
uint16_t
AP_RC::input_ch(uint8_t ch)
{
switch(ch){
case CH_1:
return timer1diff;
break;
case CH_2:
return timer2diff;
break;
case CH_3:
return timer3diff;
break;
case CH_4:
return timer4diff;
break;
@ -117,29 +117,35 @@ AP_RC::output_ch_pwm(uint8_t ch, uint16_t pwm)
{
switch(ch){
case CH_1:
pwm <<= 1;
pwm <<= 1; // multiplies by 2
OCR1A = pwm;
break;
case CH_2:
pwm <<= 1;
OCR1B = pwm;
OCR1B = pwm; // multiplies by 2
break;
case CH_3:
_timer_out = pwm % 512;
_timer_out = pwm % 512;
_timer_ovf_a = pwm / 512;
_timer_out >>= 1;
OCR2A = _timer_out;
_timer_out >>= 1; // divides by 2
//OCR2A = _timer_out;
if(OCR2A != _timer_out)
OCR2A = _timer_out;
break;
case CH_4:
_timer_out = pwm % 512;
_timer_ovf_b = pwm / 512;
_timer_out >>= 1;
OCR2B = _timer_out;
_timer_out = pwm % 512;
_timer_ovf_b = pwm / 512;
_timer_out >>= 1; // divides by 2
//OCR2B = _timer_out;
if(OCR2B != _timer_out)
OCR2B = _timer_out;
break;
}
}
}
@ -159,7 +165,7 @@ ISR(PCINT2_vect) {
else
timer1diff = (cnt - timer1count) >> 1;
}
if(PIND & B00001000){ // ch 2 (pin 3) is high
if ((_rc_ch_read & CH2_READ) != CH2_READ){
_rc_ch_read |= CH2_READ;
@ -210,11 +216,11 @@ ISR(PCINT0_vect)
// ------------------------
ISR(TIMER1_CAPT_vect) // Timer/Counter1 Capture Event
{
//This is a timer 1 interrupts, executed every 20us
PORTB |= B00000001; //Putting the pin high!
PORTC |= B00010000; //Putting the pin high!
TCNT2 = 0; //restarting the counter of timer 2
_timer_ovf = 0;
//This is a timer 1 interrupts, executed every 20us
PORTB |= B00000001; //Putting the pin high!
PORTC |= B00010000; //Putting the pin high!
TCNT2 = 0; //restarting the counter of timer 2
_timer_ovf = 0;
}
ISR(TIMER2_OVF_vect)
@ -234,4 +240,4 @@ ISR(TIMER2_COMPB_vect) // Timer/Counter2 Compare Match B Rudder Servo
if(_timer_ovf == _timer_ovf_b){
PORTC &= B11101111; //Putting the pin low!
}
}
}