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Switched APM_RC to uint16_t from int16_t for radio channels to fix servo bug in APM trunk.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@853 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2010-11-18 05:21:53 +00:00
parent 0e32cb34c5
commit 71076dad27
2 changed files with 10 additions and 8 deletions
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10
libraries/APM_RC/APM_RC.cpp
View File

@ -30,7 +30,7 @@
// 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 uint16_t PWM_RAW[8] = {2400,2400,2400,2400,2400,2400,2400,2400};
volatile unsigned char radio_status=0;
/****************************************************
@ -123,7 +123,7 @@ void APM_RC_Class::Init(void)
TIMSK4 |= (1<<ICIE4); // Enable Input Capture interrupt. Timer interrupt mask
}
void APM_RC_Class::OutputCh(unsigned char ch, int pwm)
void APM_RC_Class::OutputCh(unsigned char ch, uint16_t pwm)
{
pwm=constrain(pwm,MIN_PULSEWIDTH,MAX_PULSEWIDTH);
pwm<<=1; // pwm*2;
@ -144,10 +144,10 @@ void APM_RC_Class::OutputCh(unsigned char ch, int pwm)
}
}
int APM_RC_Class::InputCh(unsigned char ch)
uint16_t APM_RC_Class::InputCh(unsigned char ch)
{
int result;
int result2;
uint16_t result;
uint16_t 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...

8
libraries/APM_RC/APM_RC.h
View File

@ -5,14 +5,16 @@
#define MIN_PULSEWIDTH 900
#define MAX_PULSEWIDTH 2100
#include <inttypes.h>
class APM_RC_Class
{
private:
public:
APM_RC_Class();
void Init();
void OutputCh(unsigned char ch, int pwm);
int InputCh(unsigned char ch);
void OutputCh(unsigned char ch, uint16_t pwm);
uint16_t InputCh(unsigned char ch);
unsigned char GetState();
void Force_Out0_Out1(void);
void Force_Out2_Out3(void);
@ -21,4 +23,4 @@ class APM_RC_Class
extern APM_RC_Class APM_RC;
#endif
#endif