Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

APM_RC: Cosmetic changes to increase readability and some minor optimizations

Browse Source
This commit is contained in:
John Arne Birkeland 2011-10-02 18:05:00 +02:00
parent eb83070275
commit a621f5821f
2 changed files with 42 additions and 34 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

70
libraries/APM_RC/APM_RC.cpp
View File

@ -28,34 +28,42 @@
#else
// Variable definition for Input Capture interrupt
volatile unsigned int ICR4_old;
volatile unsigned char PPM_Counter=0;
volatile uint16_t PWM_RAW[8] = {2400,2400,2400,2400,2400,2400,2400,2400};
volatile unsigned char radio_status=0;
//volatile uint16_t ICR4_old;
//volatile uint8_t PPM_Counter=0;
volatile uint16_t PWM_RAW[NUM_CHANNELS] = {2400,2400,2400,2400,2400,2400,2400,2400};
volatile uint8_t radio_status=0;
/****************************************************
Input Capture Interrupt ICP4 => PPM signal read
****************************************************/
ISR(TIMER4_CAPT_vect)
{
unsigned int Pulse;
unsigned int Pulse_Width;
static uint16_t ICR4_old;
static uint8_t PPM_Counter=0;
uint16_t Pulse;
uint16_t 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
else
Pulse_Width=Pulse-ICR4_old; //Calculating pulse
if (Pulse_Width>8000) // SYNC 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;
else
{
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;
}
else {
if (PPM_Counter < NUM_CHANNELS) { // Valid pulse channel?
PWM_RAW[PPM_Counter++]=Pulse_Width; // Saving pulse.
if (PPM_Counter >= NUM_CHANNELS) {
radio_status = 1;
}
}
}
ICR4_old = Pulse;
}
@ -124,7 +132,7 @@ void APM_RC_Class::Init(void)
TIMSK4 |= (1<<ICIE4); // Enable Input Capture interrupt. Timer interrupt mask
}
void APM_RC_Class::OutputCh(unsigned char ch, uint16_t pwm)
void APM_RC_Class::OutputCh(uint8_t ch, uint16_t pwm)
{
pwm=constrain(pwm,MIN_PULSEWIDTH,MAX_PULSEWIDTH);
pwm<<=1; // pwm*2;
@ -145,29 +153,29 @@ void APM_RC_Class::OutputCh(unsigned char ch, uint16_t pwm)
}
}
uint16_t APM_RC_Class::InputCh(unsigned char ch)
uint16_t APM_RC_Class::InputCh(uint8_t ch)
{
uint16_t result;
uint16_t result2;
if (_HIL_override[ch] != 0) {
return _HIL_override[ch];
}
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;
if (result != result2)
result = PWM_RAW[ch]>>1; // if the results are different we make a third reading (this should be fine)
result = PWM_RAW[ch];
if (result != PWM_RAW[ch]) {
result = PWM_RAW[ch]; // if the results are different we make a third reading (this should be fine)
}
result >>= 1; // Because timer runs at 0.5us we need to do value/2
// 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)
uint8_t APM_RC_Class::GetState(void)
{
return(radio_status);
}
@ -198,7 +206,7 @@ void APM_RC_Class::Force_Out6_Out7(void)
bool APM_RC_Class::setHIL(int16_t v[NUM_CHANNELS])
{
uint8_t sum = 0;
for (unsigned char i=0; i<NUM_CHANNELS; i++) {
for (uint8_t i=0; i<NUM_CHANNELS; i++) {
if (v[i] != -1) {
_HIL_override[i] = v[i];
}
@ -216,7 +224,7 @@ bool APM_RC_Class::setHIL(int16_t v[NUM_CHANNELS])
void APM_RC_Class::clearOverride(void)
{
for (unsigned char i=0; i<NUM_CHANNELS; i++) {
for (uint8_t i=0; i<NUM_CHANNELS; i++) {
_HIL_override[i] = 0;
}
}

6
libraries/APM_RC/APM_RC.h
View File

@ -26,9 +26,9 @@ class APM_RC_Class
public:
APM_RC_Class();
void Init();
void OutputCh(unsigned char ch, uint16_t pwm);
uint16_t InputCh(unsigned char ch);
unsigned char GetState();
void OutputCh(uint8_t ch, uint16_t pwm);
uint16_t InputCh(uint8_t ch);
uint8_t GetState();
void Force_Out0_Out1(void);
void Force_Out2_Out3(void);
void Force_Out6_Out7(void);