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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
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74
libraries/AP_RC/AP_RC.cpp
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@ -1,7 +1,7 @@
/* /*
AP_RC.cpp - Radio library for Arduino AP_RC.cpp - Radio library for Arduino
Code by Jason Short. DIYDrones.com Code by Jason Short. DIYDrones.com
This library is free software; you can redistribute it and / or This library is free software; you can redistribute it and / or
modify it under the terms of the GNU Lesser General Public modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either License as published by the Free Software Foundation; either
@ -36,10 +36,10 @@ volatile int16_t timer4diff = 1500 * 2;
#define CH_4 3 #define CH_4 3
volatile int8_t _rc_ch_read; volatile int8_t _rc_ch_read;
volatile uint8_t _timer_out; volatile uint16_t _timer_out;
volatile uint8_t _timer_ovf_a; volatile uint16_t _timer_ovf_a;
volatile uint8_t _timer_ovf_b; volatile uint16_t _timer_ovf_b;
volatile uint8_t _timer_ovf; volatile uint16_t _timer_ovf;
AP_RC::AP_RC() AP_RC::AP_RC()
@ -66,7 +66,7 @@ AP_RC::init()
PCMSK0 = _BV(PCINT3) | _BV(PCINT5); PCMSK0 = _BV(PCINT3) | _BV(PCINT5);
// enable pin change interrupt on PD2,PD3 (digital pin 2,3) // enable pin change interrupt on PD2,PD3 (digital pin 2,3)
PCMSK2 = _BV(PCINT18) | _BV(PCINT19); PCMSK2 = _BV(PCINT18) | _BV(PCINT19);
// Timer 1 // Timer 1
TCCR1A = ((1 << WGM11) | (1 << COM1B1) | (1 << COM1A1)); TCCR1A = ((1 << WGM11) | (1 << COM1B1) | (1 << COM1A1));
TCCR1B = (1 << WGM13) | (1 << WGM12) | (1 << CS11); TCCR1B = (1 << WGM13) | (1 << WGM12) | (1 << CS11);
@ -75,14 +75,14 @@ AP_RC::init()
// Throttle; // Throttle;
// Setting up the Timer 2 - 8 bit timer // 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 TCCR2B = _BV(CS21) |_BV(CS20); //prescaler 32, at 16mhz (32/16) = 2, the counter will increment 1 every 2us
// enable throttle and Ch4 output // enable throttle and Ch4 output
TIMSK1 |= _BV(ICIE1); // Timer / Counter1, Input Capture Interrupt Enable // PB0 - output throttle TIMSK1 |= _BV(ICIE1); // Timer / Counter1, Input Capture Interrupt Enable // PB0 - output throttle
TIMSK2 = _BV(TOIE1) | _BV(OCIE2A) | _BV(OCIE2B); // Timer / Counter2 Compare Match A TIMSK2 = _BV(TOIE1) | _BV(OCIE2A) | _BV(OCIE2B); // Timer / Counter2 Compare Match A
/* /*
set_ch_pwm(0, 1500); set_ch_pwm(0, 1500);
set_ch_pwm(1, 1500); set_ch_pwm(1, 1500);
set_ch_pwm(2, 1500); set_ch_pwm(2, 1500);
@ -90,22 +90,22 @@ AP_RC::init()
*/ */
} }
uint16_t uint16_t
AP_RC::input_ch(uint8_t ch) AP_RC::input_ch(uint8_t ch)
{ {
switch(ch){ switch(ch){
case CH_1: case CH_1:
return timer1diff; return timer1diff;
break; break;
case CH_2: case CH_2:
return timer2diff; return timer2diff;
break; break;
case CH_3: case CH_3:
return timer3diff; return timer3diff;
break; break;
case CH_4: case CH_4:
return timer4diff; return timer4diff;
break; break;
@ -117,29 +117,35 @@ AP_RC::output_ch_pwm(uint8_t ch, uint16_t pwm)
{ {
switch(ch){ switch(ch){
case CH_1: case CH_1:
pwm <<= 1; pwm <<= 1; // multiplies by 2
OCR1A = pwm; OCR1A = pwm;
break; break;
case CH_2: case CH_2:
pwm <<= 1; pwm <<= 1;
OCR1B = pwm; OCR1B = pwm; // multiplies by 2
break; break;
case CH_3: case CH_3:
_timer_out = pwm % 512; _timer_out = pwm % 512;
_timer_ovf_a = pwm / 512; _timer_ovf_a = pwm / 512;
_timer_out >>= 1; _timer_out >>= 1; // divides by 2
OCR2A = _timer_out; //OCR2A = _timer_out;
if(OCR2A != _timer_out)
OCR2A = _timer_out;
break; break;
case CH_4: case CH_4:
_timer_out = pwm % 512; _timer_out = pwm % 512;
_timer_ovf_b = pwm / 512; _timer_ovf_b = pwm / 512;
_timer_out >>= 1; _timer_out >>= 1; // divides by 2
OCR2B = _timer_out; //OCR2B = _timer_out;
if(OCR2B != _timer_out)
OCR2B = _timer_out;
break; break;
} }
} }
@ -159,7 +165,7 @@ ISR(PCINT2_vect) {
else else
timer1diff = (cnt - timer1count) >> 1; timer1diff = (cnt - timer1count) >> 1;
} }
if(PIND & B00001000){ // ch 2 (pin 3) is high if(PIND & B00001000){ // ch 2 (pin 3) is high
if ((_rc_ch_read & CH2_READ) != CH2_READ){ if ((_rc_ch_read & CH2_READ) != CH2_READ){
_rc_ch_read |= CH2_READ; _rc_ch_read |= CH2_READ;
@ -210,11 +216,11 @@ ISR(PCINT0_vect)
// ------------------------ // ------------------------
ISR(TIMER1_CAPT_vect) // Timer/Counter1 Capture Event ISR(TIMER1_CAPT_vect) // Timer/Counter1 Capture Event
{ {
//This is a timer 1 interrupts, executed every 20us //This is a timer 1 interrupts, executed every 20us
PORTB |= B00000001; //Putting the pin high! PORTB |= B00000001; //Putting the pin high!
PORTC |= B00010000; //Putting the pin high! PORTC |= B00010000; //Putting the pin high!
TCNT2 = 0; //restarting the counter of timer 2 TCNT2 = 0; //restarting the counter of timer 2
_timer_ovf = 0; _timer_ovf = 0;
} }
ISR(TIMER2_OVF_vect) 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){ if(_timer_ovf == _timer_ovf_b){
PORTC &= B11101111; //Putting the pin low! PORTC &= B11101111; //Putting the pin low!
} }
} }