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

@@ -69,58 +69,58 @@ 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);     // OUT3 (PB6/OC1B)
+  pinMode(12,OUTPUT); //OUT2 (PB6/OC1B)
-    pinMode(13,OUTPUT);     // OUT4 (PB7/OC1C)
+  pinMode(13,OUTPUT); //OUT3 (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)
-
-    // Init PWM Timer 5
-    pinMode(44,OUTPUT);     // OUT2 (PL5/OC5C)
-    pinMode(45,OUTPUT);     // OUT1 (PL4/OC5B)
-    pinMode(46,OUTPUT);     //	    (PL3/OC5A)
-
 
+  //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
-    ICR1 = 40000;       // 50hz freq...Datasheet says  (system_freq/prescaler)/target frequency. So (16000000hz/8)/50hz=40000,
   OCR1A = 3000; //PB5, none
-    OCR1B = 3000;     // PB6, OUT3
+  //OCR1B = 3000; //PB6, OUT2
-    OCR1C = 3000;     // PB7, OUT4
+  //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);
-    ICR3 = 40000;       // 50hz freq
   OCR3A = 3000; //PE3, NONE
   OCR3B = 3000; //PE4, OUT7
-    OCR3C = 3000;       // PE5, 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);
-    ICR5 = 40000;       //50hz freq
   OCR5A = 3000; //PL3,
-    OCR5B = 3000;     // PL4, OUT1
+  //OCR5B = 3000; //PL4, OUT0
-    OCR5C = 3000;     // PL5, OUT2
+  //OCR5C = 3000; //PL5, OUT1
+  ICR5 = 40000; //50hz freq
 
-    TCCR4A = ((1<<WGM40)|(1<<WGM41)|(1<<COM4C1)|(1<<COM4B1)|(1<<COM4A1));//Prescaler set to 8, that give us a resolution of 0.5us
+  // Init PPM input and PWM Timer 4
-    TCCR4B = ((1<<WGM43)|(1<<WGM42)|(1<<CS41)|(1<<ICES4));// Input Capture rising edge
+  pinMode(49, INPUT);  // ICP4 pin (PL0) (PPM input)
-    OCR4A = 40000;      // 50hz freq.
+  pinMode(7,OUTPUT);   //OUT5 (PH4/OC4B)
-    OCR4B = 3000;     // PH4, OUT6
+  pinMode(8,OUTPUT);   //OUT4 (PH5/OC4C)
-    OCR4C = 3000;     // PH5, OUT5
+
+  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
 }
 
@@ -129,18 +129,19 @@ void APM_RC_Class::OutputCh(unsigned char ch, uint16_t pwm)
   pwm=constrain(pwm,MIN_PULSEWIDTH,MAX_PULSEWIDTH);
   pwm<<=1;   // pwm*2;
 
-    switch(ch){
+ switch(ch)
-        case 0:	 OCR5B = pwm; break;	// ch1
+  {
-        case 1:	 OCR5C = pwm; break;	// ch2
+    case 0:  OCR5B=pwm; break;  //ch0
-        case 2:	 OCR1B = pwm; break;	// ch3
+    case 1:  OCR5C=pwm; break;  //ch1
-        case 3:	 OCR1C = pwm; break;	// ch4
+    case 2:  OCR1B=pwm; break;  //ch2
-        case 4:	 OCR4C = pwm; break;	// ch5
+    case 3:  OCR1C=pwm; break;  //ch3
-        case 5:	 OCR4B = pwm; break;	// ch6
+    case 4:  OCR4C=pwm; break;  //ch4
-        case 6:	 OCR3C = pwm; break;	// ch7
+    case 5:  OCR4B=pwm; break;  //ch5
-        case 7:	 OCR3B = pwm; break;	// ch8
+    case 6:  OCR3C=pwm; break;  //ch6
-        case 8:	 OCR5A = pwm; break;	// ch9,	PL3
+    case 7:  OCR3B=pwm; break;  //ch7
-        case 9:	 OCR1A = pwm; break;	// ch10,PB5
+    case 8:  OCR5A=pwm; break;  //ch8,  PL3
-        case 10: OCR3A = pwm; break;	// ch11, PE3
+    case 9:  OCR1A=pwm; break;  //ch9,  PB5
+    case 10: OCR3A=pwm; break;  //ch10, PE3
   }
 }
 
@@ -157,7 +158,6 @@ uint16_t APM_RC_Class::InputCh(unsigned char ch)
   // 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)