New RC lib for 328

git-svn-id: https://arducopter.googlecode.com/svn/trunk@284 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/AP_RC/AP_RC.cpp

@@ -0,0 +1,237 @@
+/*
+	AP_Radio.cpp - Radio library for Arduino
+	Code by Jason Short. 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.
+
+*/
+
+#include "AP_RC.h"
+
+#define CH1 0
+#define CH2 1
+#define CH3 2
+#define CH4 3
+#define THROTTLE_PIN 13
+#include <avr/interrupt.h>
+
+#define CH3TRIM 1100
+
+// Variable definition for interrupt
+volatile uint16_t timer1count	= 0;
+volatile uint16_t timer2count	= 0;
+volatile uint16_t timer3count	= 0;
+volatile uint16_t timer4count   = 0;
+
+volatile uint16_t timer1diff	= 1500 * 2;
+volatile uint16_t timer2diff	= 1500 * 2;
+volatile uint16_t timer3diff	= 1100 * 2;
+volatile uint16_t timer4diff	= 1500 * 2;
+
+
+#define CH1_READ 1
+#define CH2_READ 2
+#define CH3_READ 4
+#define CH4_READ 8
+
+volatile int8_t 	_rc_ch_read = 0;
+volatile uint8_t 	_timer_ovf_a	= 0;
+volatile uint8_t 	_timer_ovf_b	= 0;
+volatile uint8_t 	_timer_ovf		= 0;
+//volatile uint16_t ap_rc_input[4];
+
+
+AP_RC::AP_RC()
+{
+	pinMode(11,INPUT); 	// PB3 - MOSI/OC2	- Throttle in
+	pinMode(13,INPUT); 	// PB5 - SCK		- Rudder in
+	pinMode(8, OUTPUT); // PB0 - AIN1		- OUTPUT THROTTLE
+	pinMode(9, OUTPUT);	// PB1 - OC1A		- Elevator PWM out
+	pinMode(10,OUTPUT);	// PB2 - OC1B		- Aileron PWM out
+	// set Analog out 4 to output
+	DDRC |= B00010000;	
+}
+
+void
+AP_RC::read_pwm()
+{
+	input[CH1] = timer1diff;
+	input[CH2] = timer2diff;
+	input[CH3] = timer3diff;
+	input[CH4] = timer4diff;
+}
+
+void AP_RC::init(int trims[])
+{
+	// enable pin change interrupt 2 - PCINT23..16
+	PCICR = _BV(PCIE2);
+	// enable pin change interrupt 0 -  PCINT7..0
+	PCICR |= _BV(PCIE0);
+	// enable in change interrupt on PB5 (digital pin 13)
+	PCMSK0 = _BV(PCINT3) | _BV(PCINT5);
+	// enable pin change interrupt on PD2,PD3 (digital pin 2,3)
+	PCMSK2 = _BV(PCINT18) | _BV(PCINT19);
+	
+	// Timer 1
+	TCCR1A = ((1 << WGM11) | (1 << COM1B1) | (1 << COM1A1));
+	TCCR1B = (1 << WGM13) | (1 << WGM12) | (1 << CS11);
+	// apply initial values
+	set_ch_pwm(CH1, 1500);
+	set_ch_pwm(CH2, 1500);
+	ICR1 = 40000;
+
+	// Throttle;
+	// Setting up the Timer 2 - 8 bit timer
+	TCCR2A 	= 0x0; 			// Normal Mode						
+	TCCR2B 	= _BV(CS21) |_BV(CS20); //prescaler 32, at 16mhz (32/16) = 2, the counter will increment 1 every 2us
+	// apply initial values
+	//OCR2A = (trims[CH3]-1000) / 4;
+	//OCR2B = trims[CH4] / 4; // center the rudder
+	set_ch_pwm(CH3, CH3TRIM);
+	set_ch_pwm(CH4, 1500);
+
+	TIMSK1 |= _BV(ICIE1); 	// Timer / Counter1, Input Capture Interrupt Enable // PB0 - output throttle
+	TIMSK2 	= _BV(TOIE1) | _BV(OCIE2A) | _BV(OCIE2B);	// Timer / Counter2 Compare Match A	
+
+}
+
+void
+AP_RC::set_ch_pwm(uint8_t ch, uint16_t pwm)
+{	
+	switch(ch){
+		case CH1:
+			pwm <<= 1;
+			OCR1A = pwm;
+			break;
+
+		case CH2:
+			pwm <<= 1;
+			OCR1B = pwm;
+			break;
+
+		case CH3:
+			// Jason's fancy 2µs hack
+			_timer_out 			= pwm % 512; 
+			_timer_ovf_a 		= pwm / 512;
+			_timer_out >>= 1;
+			OCR2A = _timer_out;
+			break;
+
+		case CH4:
+			_timer_out 			= pwm % 512; 
+			_timer_ovf_b 		= pwm / 512;
+			_timer_out >>= 1;
+			OCR2B = _timer_out;
+			break;
+	} 
+}
+
+// radio PWM input timers
+ISR(PCINT2_vect) {
+	int cnt = TCNT1;
+	if(PIND & B00000100){ 		// ch 1 (pin 2) is high
+		if ((_rc_ch_read & CH1_READ) != CH1_READ){
+			_rc_ch_read |= CH1_READ;
+			timer1count = cnt;
+		}
+	}else if ((_rc_ch_read & CH1_READ) == CH1_READ){	// ch 1 (pin 2) is Low, and we were reading
+		_rc_ch_read &= B11111110;
+		if (cnt < timer1count)	 // Timer1 reset during the read of this pulse
+			 timer1diff = (cnt + 40000 - timer1count);		// Timer1 TOP = 40000
+		else
+			timer1diff = (cnt - timer1count);
+		timer1diff >>= 1;
+	}
+	
+	if(PIND & B00001000){ 		// ch 2 (pin 3) is high
+		if ((_rc_ch_read & CH2_READ) != CH2_READ){
+			_rc_ch_read |= CH2_READ;
+			timer2count = cnt;
+		}
+	}else if ((_rc_ch_read & CH2_READ) == CH2_READ){	// ch 1 (pin 2) is Low
+		_rc_ch_read &= B11111101;
+		if (cnt < timer2count)	 // Timer1 reset during the read of this pulse
+			 timer2diff = (cnt + 40000 - timer2count);		// Timer1 TOP = 40000
+		else
+			timer2diff = (cnt - timer2count);
+		timer2diff >>= 1;
+	}
+}
+
+ISR(PCINT0_vect)
+{
+	int cnt = TCNT1;
+	
+#if THROTTLE_PIN == 11
+	if(PINB & 8){	// pin 11
+#else
+	if(PINB & 32){	// pin 13
+#endif
+		if ((_rc_ch_read & CH3_READ) != CH3_READ){
+			_rc_ch_read |= CH3_READ;
+			timer3count = cnt;
+		}
+	}else if ((_rc_ch_read & CH3_READ) == CH3_READ){	// ch 1 (pin 2) is Low
+		_rc_ch_read &= B11111011;
+		if (cnt < timer3count)	 // Timer1 reset during the read of this pulse
+			timer3diff = (cnt + 40000 - timer3count);		// Timer1 TOP = 40000
+		else
+			timer3diff = (cnt - timer3count);
+		timer3diff >>= 1;
+
+	}
+
+#if THROTTLE_PIN == 11
+	if(PINB & 32){	// pin 13
+#else
+	if(PINB & 8){	// pin 11
+#endif
+		if ((_rc_ch_read & CH4_READ) != CH4_READ){
+			_rc_ch_read |= CH4_READ;
+			timer4count = cnt;
+		}
+	}else if ((_rc_ch_read & CH4_READ) == CH4_READ){	// ch 1 (pin 2) is Low
+		_rc_ch_read &= B11110111;
+		if (cnt < timer4count)	// Timer1 reset during the read of this pulse
+			timer4diff = (cnt + 40000 - timer4count);		// Timer1 TOP = 40000
+		else
+			timer4diff = (cnt - timer4count);
+		timer4diff >>= 1;
+	}
+}
+
+
+
+// Throttle Timer Interrupt
+// ------------------------
+ISR(TIMER1_CAPT_vect) // Timer/Counter1 Capture Event
+{
+	//This is a timer 1 interrupts, executed every 20us 
+	PORTB |= B00000001; //Putting the pin high!
+	PORTC |= B00010000; //Putting the pin high!	
+	TCNT2 = 0; //restarting the counter of timer 2
+	_timer_ovf = 0;
+}
+
+ISR(TIMER2_OVF_vect)
+{
+	_timer_ovf++;
+}
+
+ISR(TIMER2_COMPA_vect) // Timer/Counter2 Compare Match A
+{
+	if(_timer_ovf == _timer_ovf_a){
+		PORTB &= B11111110; //Putting the pin low
+	}
+}
+
+ISR(TIMER2_COMPB_vect) // Timer/Counter2 Compare Match B Rudder Servo
+{
+	if(_timer_ovf == _timer_ovf_b){
+		PORTC &= B11101111; //Putting the pin low!
+	}
+} 
+

libraries/AP_RC/AP_RC.h

@@ -0,0 +1,22 @@
+#ifndef AP_RC_h
+#define AP_RC_h
+
+#include <inttypes.h>
+#include "WProgram.h"
+
+class AP_RC 
+{
+  public:
+	AP_RC();
+	void set_ch_pwm(uint8_t ch, uint16_t pwm);
+	void init(int trims[]);
+	void read_pwm();
+	
+	uint16_t input[4];
+	
+  private:
+	uint16_t _timer_out;
+};
+
+#endif
+

libraries/AP_RC/examples/AP_radio/AP_radio.pde

@@ -0,0 +1,48 @@
+/*
+	Example of AP_RC library.
+	Code by Jordi MuÒoz and Jose Julio. DIYDrones.com
+
+	Print Input values and send Output to the servos
+	(Works with last PPM_encoder firmware)
+*/
+
+#include <AP_RC.h> // ArduPilot Mega RC Library
+AP_RC rc;
+
+#define CH_ROLL 0
+#define CH_PITCH 1
+#define CH_THROTTLE 2
+#define CH_RUDDER 3
+
+void setup()
+{
+	Serial.begin(38400);
+	Serial.println("ArduPilot RC library test");
+
+	int trims[] = {1500,1500,1200,1500};
+	rc.init(trims);
+
+	delay(1000);
+}
+void loop()
+{
+	delay(20);
+	rc.read_pwm();
+	for(int y=0; y<4; y++) { 
+		rc.set_ch_pwm(y, rc.input[y]); // send to Servos
+	}
+	print_pwm();
+}
+
+
+void print_pwm()
+{
+	Serial.print("ch1 ");
+	Serial.print(rc.input[CH_ROLL],DEC);
+	Serial.print("\tch2: ");
+	Serial.print(rc.input[CH_PITCH],DEC);
+	Serial.print("\tch3 :");
+	Serial.print(rc.input[CH_THROTTLE],DEC);
+	Serial.print("\tch4 :");
+	Serial.println(rc.input[CH_RUDDER],DEC);
+}

libraries/AP_RC/keywords.txt

@@ -0,0 +1,4 @@
+AP_RC	KEYWORD1
+init KEYWORD2
+set_ch_pwm	KEYWORD2
+read_pwm	KEYWORD2