From 6ee6000302aad2f703ded778ee6caee6d1000afb Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Sun, 27 Mar 2011 23:34:50 +0000
Subject: [PATCH] Temp revert to previous version, while I hunt down a bug.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1822 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 libraries/APM_RC/APM_RC.cpp | 188 ++++++++++++++++++------------------
 1 file changed, 94 insertions(+), 94 deletions(-)

diff --git a/libraries/APM_RC/APM_RC.cpp b/libraries/APM_RC/APM_RC.cpp
index 03a29168f3..deb36e87bf 100644
--- a/libraries/APM_RC/APM_RC.cpp
+++ b/libraries/APM_RC/APM_RC.cpp
@@ -3,9 +3,9 @@
 	Code by Jordi Muņoz and Jose Julio. 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
-	version 2.1 of the License, or (at your option) any later version.
+    modify it under the terms of the GNU Lesser General Public
+    License as published by the Free Software Foundation; either
+    version 2.1 of the License, or (at your option) any later version.
 
 	RC Input : PPM signal on IC4 pin
 	RC Output : 11 Servo outputs (standard 20ms frame)
@@ -15,7 +15,7 @@
 		OutpuCh(ch,pwm) : Output value to servos (range : 900-2100us) ch=0..10
 		InputCh(ch) : Read a channel input value.  ch=0..7
 		GetState() : Returns the state of the input. 1 => New radio frame to process
-					 Automatically resets when we call InputCh to read channels
+		             Automatically resets when we call InputCh to read channels
 
 */
 #include "APM_RC.h"
@@ -42,20 +42,20 @@ ISR(TIMER4_CAPT_vect)
   unsigned int Pulse_Width;
 
   Pulse=ICR4;
-  if (Pulse<ICR4_old)	  // Take care of the overflow of Timer4 (TOP=40000)
-	Pulse_Width=(Pulse + 40000)-ICR4_old;  //Calculating pulse
+  if (Pulse<ICR4_old)     // Take care of the overflow of Timer4 (TOP=40000)
+    Pulse_Width=(Pulse + 40000)-ICR4_old;  //Calculating pulse
   else
-	Pulse_Width=Pulse-ICR4_old;			   //Calculating pulse
-  if (Pulse_Width>8000)	  // SYNC pulse?
-	PPM_Counter=0;
+    Pulse_Width=Pulse-ICR4_old;            //Calculating pulse
+  if (Pulse_Width>8000)   // SYNC pulse?
+    PPM_Counter=0;
   else
-	{
-	  if (PPM_Counter < (sizeof(PWM_RAW) / sizeof(PWM_RAW[0]))) {
-	PWM_RAW[PPM_Counter++]=Pulse_Width;	 //Saving pulse.
+    {
+      if (PPM_Counter < (sizeof(PWM_RAW) / sizeof(PWM_RAW[0]))) {
+	PWM_RAW[PPM_Counter++]=Pulse_Width;  //Saving pulse.
 	if (PPM_Counter >= NUM_CHANNELS)
 	  radio_status = 1;
-	  }
-	}
+      }
+    }
   ICR4_old = Pulse;
 }
 
@@ -69,102 +69,102 @@ APM_RC_Class::APM_RC_Class()
 // Public Methods //////////////////////////////////////////////////////////////
 void APM_RC_Class::Init(void)
 {
-    // Init PPM input
-    pinMode(49, INPUT);     // ICP4 pin (PL0) (PPM input)
+  // Init PWM Timer 1
+  pinMode(11,OUTPUT); //     (PB5/OC1A)
+  pinMode(12,OUTPUT); //OUT2 (PB6/OC1B)
+  pinMode(13,OUTPUT); //OUT3 (PB7/OC1C)
 
-    // Init PWM Timer 1
-    pinMode(11,OUTPUT);     //	    (PB5/OC1A)
-    pinMode(12,OUTPUT);     // OUT3 (PB6/OC1B)
-    pinMode(13,OUTPUT);     // OUT4 (PB7/OC1C)
-    // Init PWM Timer 3
-    pinMode(2,OUTPUT);      // OUT8 (PE4/OC3B)
-    pinMode(3,OUTPUT);      // OUT7 (PE5/OC3C)
-    pinMode(4,OUTPUT);      //	    (PE3/OC3A)
-    // Init PWM Timer 4
-    // not avail            //      (PH3/OC4A)
-    pinMode(7,OUTPUT);      // OUT6 (PH4/OC4B)
-    pinMode(8,OUTPUT);      // OUT5 (PH5/OC4C)
+  //Remember the registers not declared here remains zero by default...
+  TCCR1A =((1<<WGM11)|(1<<COM1A1)|(1<<COM1B1)|(1<<COM1C1)); //Please read page 131 of DataSheet, we are changing the registers settings of WGM11,COM1B1,COM1A1 to 1 thats all...
+  TCCR1B = (1<<WGM13)|(1<<WGM12)|(1<<CS11); //Prescaler set to 8, that give us a resolution of 0.5us, read page 134 of data sheet
+  OCR1A = 3000; //PB5, none
+  //OCR1B = 3000; //PB6, OUT2
+  //OCR1C = 3000; //PB7  OUT3
+  ICR1 = 40000; //50hz freq...Datasheet says  (system_freq/prescaler)/target frequency. So (16000000hz/8)/50hz=40000,
 
-    // Init PWM Timer 5
-    pinMode(44,OUTPUT);     // OUT2 (PL5/OC5C)
-    pinMode(45,OUTPUT);     // OUT1 (PL4/OC5B)
-    pinMode(46,OUTPUT);     //	    (PL3/OC5A)
+  // Init PWM Timer 3
+  pinMode(2,OUTPUT); //OUT7 (PE4/OC3B)
+  pinMode(3,OUTPUT); //OUT6 (PE5/OC3C)
+  pinMode(4,OUTPUT); //     (PE3/OC3A)
+  TCCR3A =((1<<WGM31)|(1<<COM3A1)|(1<<COM3B1)|(1<<COM3C1));
+  TCCR3B = (1<<WGM33)|(1<<WGM32)|(1<<CS31);
+  OCR3A = 3000; //PE3, NONE
+  OCR3B = 3000; //PE4, OUT7
+  OCR3C = 3000; //PE5, OUT6
+  ICR3 = 40000; //50hz freq
 
+  // Init PWM Timer 5
+  pinMode(44,OUTPUT);  //OUT1 (PL5/OC5C)
+  pinMode(45,OUTPUT);  //OUT0 (PL4/OC5B)
+  pinMode(46,OUTPUT);  //     (PL3/OC5A)
 
-    TCCR1A =((1<<WGM11)|(1<<COM1A1)|(1<<COM1B1)|(1<<COM1C1));   // Please read page 131 of DataSheet, we are changing the registers settings of WGM11,COM1B1,COM1A1 to 1 thats all...
-    TCCR1B = (1<<WGM13)|(1<<WGM12)|(1<<CS11);                   // Prescaler set to 8, that give us a resolution of 0.5us, read page 134 of data sheet
-    ICR1 = 40000;       // 50hz freq...Datasheet says  (system_freq/prescaler)/target frequency. So (16000000hz/8)/50hz=40000,
-    OCR1A = 3000;       // PB5, none
-    OCR1B = 3000;     // PB6, OUT3
-    OCR1C = 3000;     // PB7, OUT4
+  TCCR5A =((1<<WGM51)|(1<<COM5A1)|(1<<COM5B1)|(1<<COM5C1));
+  TCCR5B = (1<<WGM53)|(1<<WGM52)|(1<<CS51);
+  OCR5A = 3000; //PL3,
+  //OCR5B = 3000; //PL4, OUT0
+  //OCR5C = 3000; //PL5, OUT1
+  ICR5 = 40000; //50hz freq
 
-    TCCR3A = ((1<<WGM31)|(1<<COM3A1)|(1<<COM3B1)|(1<<COM3C1));
-    TCCR3B =  (1<<WGM33)|(1<<WGM32)|(1<<CS31);
-    ICR3 = 40000;       // 50hz freq
-    OCR3A = 3000;       // PE3, NONE
-    OCR3B = 3000;       // PE4, OUT7
-    OCR3C = 3000;       // PE5, OUT7
+  // Init PPM input and PWM Timer 4
+  pinMode(49, INPUT);  // ICP4 pin (PL0) (PPM input)
+  pinMode(7,OUTPUT);   //OUT5 (PH4/OC4B)
+  pinMode(8,OUTPUT);   //OUT4 (PH5/OC4C)
 
-    TCCR5A = ((1<<WGM51)|(1<<COM5A1)|(1<<COM5B1)|(1<<COM5C1));
-    TCCR5B =  (1<<WGM53)|(1<<WGM52)|(1<<CS51);
-    ICR5 = 40000;       //50hz freq
-    OCR5A = 3000;       // PL3,
-    OCR5B = 3000;     // PL4, OUT1
-    OCR5C = 3000;     // PL5, OUT2
+  TCCR4A =((1<<WGM40)|(1<<WGM41)|(1<<COM4C1)|(1<<COM4B1)|(1<<COM4A1));
+  //Prescaler set to 8, that give us a resolution of 0.5us
+  // Input Capture rising edge
+  TCCR4B = ((1<<WGM43)|(1<<WGM42)|(1<<CS41)|(1<<ICES4));
 
-    TCCR4A = ((1<<WGM40)|(1<<WGM41)|(1<<COM4C1)|(1<<COM4B1)|(1<<COM4A1));//Prescaler set to 8, that give us a resolution of 0.5us
-    TCCR4B = ((1<<WGM43)|(1<<WGM42)|(1<<CS41)|(1<<ICES4));// Input Capture rising edge
-    OCR4A = 40000;      // 50hz freq.
-    OCR4B = 3000;     // PH4, OUT6
-    OCR4C = 3000;     // PH5, OUT5
+  OCR4A = 40000; ///50hz freq.
+  OCR4B = 3000; //PH4, OUT5
+  OCR4C = 3000; //PH5, OUT4
 
-    //TCCR4B |=(1<<ICES4); //Changing edge detector (rising edge).
-    //TCCR4B &=(~(1<<ICES4)); //Changing edge detector. (falling edge)
-
-    TIMSK4 |= (1<<ICIE4); // Enable Input Capture interrupt. Timer interrupt mask
+  //TCCR4B |=(1<<ICES4); //Changing edge detector (rising edge).
+  //TCCR4B &=(~(1<<ICES4)); //Changing edge detector. (falling edge)
+  TIMSK4 |= (1<<ICIE4); // Enable Input Capture interrupt. Timer interrupt mask
 }
 
 void APM_RC_Class::OutputCh(unsigned char ch, uint16_t pwm)
 {
-	pwm = constrain(pwm, MIN_PULSEWIDTH, MAX_PULSEWIDTH);
-	pwm <<= 1;	 // pwm * 2;
+  pwm=constrain(pwm,MIN_PULSEWIDTH,MAX_PULSEWIDTH);
+  pwm<<=1;   // pwm*2;
 
-    switch(ch){
-        case 0:	 OCR5B = pwm; break;	// ch1
-        case 1:	 OCR5C = pwm; break;	// ch2
-        case 2:	 OCR1B = pwm; break;	// ch3
-        case 3:	 OCR1C = pwm; break;	// ch4
-        case 4:	 OCR4C = pwm; break;	// ch5
-        case 5:	 OCR4B = pwm; break;	// ch6
-        case 6:	 OCR3C = pwm; break;	// ch7
-        case 7:	 OCR3B = pwm; break;	// ch8
-        case 8:	 OCR5A = pwm; break;	// ch9,	PL3
-        case 9:	 OCR1A = pwm; break;	// ch10,PB5
-        case 10: OCR3A = pwm; break;	// ch11, PE3
-    }
+ switch(ch)
+  {
+    case 0:  OCR5B=pwm; break;  //ch0
+    case 1:  OCR5C=pwm; break;  //ch1
+    case 2:  OCR1B=pwm; break;  //ch2
+    case 3:  OCR1C=pwm; break;  //ch3
+    case 4:  OCR4C=pwm; break;  //ch4
+    case 5:  OCR4B=pwm; break;  //ch5
+    case 6:  OCR3C=pwm; break;  //ch6
+    case 7:  OCR3B=pwm; break;  //ch7
+    case 8:  OCR5A=pwm; break;  //ch8,  PL3
+    case 9:  OCR1A=pwm; break;  //ch9,  PB5
+    case 10: OCR3A=pwm; break;  //ch10, PE3
+  }
 }
 
 uint16_t APM_RC_Class::InputCh(unsigned char ch)
 {
-	uint16_t result;
-	uint16_t result2;
+  uint16_t result;
+  uint16_t result2;
 
 	if (_HIL_override[ch] != 0) {
 		return _HIL_override[ch];
 	}
 
-    // Because servo pulse variables are 16 bits and the interrupts are running values could be corrupted.
-    // We dont want to stop interrupts to read radio channels so we have to do two readings to be sure that the value is correct...
-	result  = PWM_RAW[ch] >> 1;	 // Because timer runs at 0.5us we need to do value / 2
-	result2 = PWM_RAW[ch] >> 1;
+  // Because servo pulse variables are 16 bits and the interrupts are running values could be corrupted.
+  // We dont want to stop interrupts to read radio channels so we have to do two readings to be sure that the value is correct...
+  result =  PWM_RAW[ch]>>1;  // Because timer runs at 0.5us we need to do value/2
+  result2 =  PWM_RAW[ch]>>1;
+  if (result != result2)
+    result =  PWM_RAW[ch]>>1;   // if the results are different we make a third reading (this should be fine)
 
-	if (result != result2)
-    	result = PWM_RAW[ch] >> 1;	// if the results are different we make a third reading (this should be fine)
-
-    // Limit values to a valid range
-	result = constrain(result, MIN_PULSEWIDTH, MAX_PULSEWIDTH);
-	radio_status = 0; // Radio channel read
-	return(result);
+  // Limit values to a valid range
+  result = constrain(result,MIN_PULSEWIDTH,MAX_PULSEWIDTH);
+  radio_status=0; // Radio channel read
+  return(result);
 }
 
 unsigned char APM_RC_Class::GetState(void)
@@ -176,20 +176,20 @@ unsigned char APM_RC_Class::GetState(void)
 // This function forces the PWM output (reset PWM) on Out0 and Out1 (Timer5). For quadcopters use
 void APM_RC_Class::Force_Out0_Out1(void)
 {
-    if (TCNT5>5000)  // We take care that there are not a pulse in the output
-        TCNT5=39990;   // This forces the PWM output to reset in 5us (10 counts of 0.5us). The counter resets at 40000
+  if (TCNT5>5000)  // We take care that there are not a pulse in the output
+    TCNT5=39990;   // This forces the PWM output to reset in 5us (10 counts of 0.5us). The counter resets at 40000
 }
 // This function forces the PWM output (reset PWM) on Out2 and Out3 (Timer1). For quadcopters use
 void APM_RC_Class::Force_Out2_Out3(void)
 {
-    if (TCNT1>5000)
-        TCNT1=39990;
+  if (TCNT1>5000)
+    TCNT1=39990;
 }
 // This function forces the PWM output (reset PWM) on Out6 and Out7 (Timer3). For quadcopters use
 void APM_RC_Class::Force_Out6_Out7(void)
 {
-    if (TCNT3>5000)
-        TCNT3=39990;
+  if (TCNT3>5000)
+    TCNT3=39990;
 }
 
 // allow HIL override of RC values
@@ -199,7 +199,7 @@ void APM_RC_Class::setHIL(int16_t v[NUM_CHANNELS])
 {
 	for (unsigned char i=0; i<NUM_CHANNELS; i++) {
 		if (v[i] != -1) {
-		    _HIL_override[i] = v[i];
+			_HIL_override[i] = v[i];
 		}
 	}
 	radio_status = 1;