From a65098f055768fb5d05676df907e2c653a226e6a Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Mon, 23 Aug 2010 21:41:08 +0000
Subject: [PATCH] git-svn-id: https://arducopter.googlecode.com/svn/trunk@281
 f9c3cf11-9bcb-44bc-f272-b75c42450872

---
 libraries/APM_RC/APM_RC.cpp   | 187 ----------------------------------
 libraries/APM_RC/APM_RC.h     |  24 -----
 libraries/APM_RC/keywords.txt |   8 --
 3 files changed, 219 deletions(-)
 delete mode 100644 libraries/APM_RC/APM_RC.cpp
 delete mode 100644 libraries/APM_RC/APM_RC.h
 delete mode 100644 libraries/APM_RC/keywords.txt

diff --git a/libraries/APM_RC/APM_RC.cpp b/libraries/APM_RC/APM_RC.cpp
deleted file mode 100644
index 9a85b33425..0000000000
--- a/libraries/APM_RC/APM_RC.cpp
+++ /dev/null
@@ -1,187 +0,0 @@
-/*
-	APM_RC.cpp - Radio Control Library for Ardupilot Mega. Arduino
-	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.
-
-	RC Input : PPM signal on IC4 pin
-	RC Output : 11 Servo outputs (standard 20ms frame)
-
-	Methods:
-		Init() : Initialization of interrupts an Timers
-		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
-		
-*/
-#include "APM_RC.h"
-
-#include <avr/interrupt.h>
-#include "WProgram.h"
-
-// Variable definition for Input Capture interrupt
-volatile unsigned int ICR4_old;
-volatile unsigned char PPM_Counter=0;
-volatile unsigned int PWM_RAW[8] = {2400,2400,2400,2400,2400,2400,2400,2400};
-volatile unsigned char radio_status=0;
-
-/****************************************************
-   Input Capture Interrupt ICP4 => PPM signal read
- ****************************************************/
-ISR(TIMER4_CAPT_vect)  
-{
-  unsigned int Pulse;
-  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 
-  else
-    Pulse_Width=Pulse-ICR4_old;            //Calculating pulse 
-  if (Pulse_Width>8000)   // SYNC pulse?
-    PPM_Counter=0;
-  else
-    {
-    PPM_Counter &= 0x07;  // For safety only (limit PPM_Counter to 7)
-    PWM_RAW[PPM_Counter++]=Pulse_Width;  //Saving pulse. 
-    if (PPM_Counter >= NUM_CHANNELS)
-      radio_status = 1;
-    }
-  ICR4_old = Pulse;
-}
-
-
-// Constructors ////////////////////////////////////////////////////////////////
-
-APM_RC_Class::APM_RC_Class()
-{
-}
-
-// Public Methods //////////////////////////////////////////////////////////////
-void APM_RC_Class::Init(void)
-{
-  // Init PWM Timer 1
-  pinMode(11,OUTPUT); //     (PB5/OC1A)
-  pinMode(12,OUTPUT); //OUT2 (PB6/OC1B)
-  pinMode(13,OUTPUT); //OUT3 (PB7/OC1C)
-
-  //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 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)
-  
-  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
-
-  // 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)
-      
-  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));
-  
-  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
-}
-
-void APM_RC_Class::OutputCh(unsigned char ch, int pwm)
-{
-  pwm=constrain(pwm,MIN_PULSEWIDTH,MAX_PULSEWIDTH);
-  pwm<<=1;   // pwm*2;
- 
- 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
-  } 
-}
-
-int APM_RC_Class::InputCh(unsigned char ch)
-{
-  int result;
-  int result2;
-  
-  // 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)
-  
-  // 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)
-{
-  return(radio_status);
-}
-
-// InstantPWM implementation
-// 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
-}
-// 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;
-}
-// 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;
-}
-
-// make one instance for the user to use
-APM_RC_Class APM_RC;
\ No newline at end of file
diff --git a/libraries/APM_RC/APM_RC.h b/libraries/APM_RC/APM_RC.h
deleted file mode 100644
index b3fa06da44..0000000000
--- a/libraries/APM_RC/APM_RC.h
+++ /dev/null
@@ -1,24 +0,0 @@
-#ifndef APM_RC_h
-#define APM_RC_h
-
-#define NUM_CHANNELS 8
-#define MIN_PULSEWIDTH 900
-#define MAX_PULSEWIDTH 2100
-
-class APM_RC_Class
-{
-  private:
-  public:
-	APM_RC_Class();
-	void Init();
-	void OutputCh(unsigned char ch, int pwm);
-	int InputCh(unsigned char ch);
-	unsigned char GetState();
-	void Force_Out0_Out1(void);
-	void Force_Out2_Out3(void);
-	void Force_Out6_Out7(void);
-};
-
-extern APM_RC_Class APM_RC;
-
-#endif
\ No newline at end of file
diff --git a/libraries/APM_RC/keywords.txt b/libraries/APM_RC/keywords.txt
deleted file mode 100644
index 3efcc0fa52..0000000000
--- a/libraries/APM_RC/keywords.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-APM_RC	KEYWORD1
-begin	KEYWORD2
-InputCh	KEYWORD2
-OutputCh	KEYWORD2
-GetState	KEYWORD2
-Force_Out0_Out1	KEYWORD2
-Force_Out2_Out3	KEYWORD2
-Force_Out6_Out7	KEYWORD2