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outdated - replaced with better RC_Channel class 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@951 f9c3cf11-9bcb-44bc-f272-b75c42450872
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jasonshort 14 years ago
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11 changed files with 0 additions and 1076 deletions
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  1. 327
      libraries/RC/APM2_RC.cpp
  2. 38
      libraries/RC/APM2_RC.h
  3. 329
      libraries/RC/AP_RC.cpp
  4. 32
      libraries/RC/AP_RC.h
  5. 84
      libraries/RC/RC.cpp
  6. 46
      libraries/RC/RC.h
  7. 59
      libraries/RC/examples/APM_RC_elevons/APM_RC_elevons.pde
  8. 59
      libraries/RC/examples/APM_RC_test/APM_RC_test.pde
  9. 48
      libraries/RC/examples/AP_RC_elevons/AP_RC_elevons.pde
  10. 50
      libraries/RC/examples/AP_RC_test/AP_RC_test.pde
  11. 4
      libraries/RC/keywords.txt

327
libraries/RC/APM2_RC.cpp
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#ifdef __AVR_ATmega1280__
/*
APM2_RC.cpp - Radio Control Library for Ardupilot Mega. Arduino
Code by Jordi Muñoz 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 "APM2_RC.h"
#define REVERSE 3050
// Variable definition for Input Capture interrupt
volatile uint16_t ICR4_old;
volatile uint8_t PPM_Counter = 0;
volatile uint16_t raw[8] = {1200, 1200, 1200, 1200, 1200, 1200, 1200, 1200};
// Constructors ////////////////////////////////////////////////////////////////
APM2_RC::APM2_RC()
{
_direction_mask = 255; // move to super class
}
void
APM2_RC::init()
{
// Init PWM Timer 1
pinMode(11, OUTPUT); // (PB5 / OC1A)
pinMode(12, OUTPUT); // OUT2 (PB6 / OC1B)
pinMode(13, OUTPUT); // OUT3 (PB7 / OC1C)
// Timer 3
pinMode(2, OUTPUT); // OUT7 (PE4 / OC3B)
pinMode(3, OUTPUT); // OUT6 (PE5 / OC3C)
pinMode(4, OUTPUT); // (PE3 / OC3A)
// Timer 5
pinMode(44, OUTPUT); // OUT1 (PL5 / OC5C)
pinMode(45, OUTPUT); // OUT0 (PL4 / OC5B)
pinMode(46, OUTPUT); // (PL3 / OC5A)
// 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)
//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
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
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
TCCR4A = ((1 << WGM40) | (1 << WGM41) | (1 << COM4C1) | (1 << COM4B1) | (1 << COM4A1));
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
// trim out the radio
for(int c = 0; c < 50; c++){
delay(20);
read();
}
trim();
for(int y = 0; y < 8; y++) {
set_ch_pwm(y, radio_trim[y]);
}
}
void APM2_RC::read()
{
//Serial.print("ch1 in ");
//Serial.print(raw[CH1],DEC);
// reverse any incoming PWM if needed
for(int y = 0; y < 8; y++) {
if((_direction_mask & (1 << y)) == 0)
radio_in[y] = REVERSE - raw[y];
else
radio_in[y] = raw[y];
}
//Serial.print("\tch1 in ");
//Serial.print(radio_in[CH1],DEC);
if(_mix_mode == 1){
// elevons
int16_t ailerons = (float)(radio_in[CH1] - radio_trim[CH1]);
int16_t elevator = (float)(radio_in[CH2] - radio_trim[CH2]) * .7;
//Serial.print("\tailerons ");
//Serial.print(ailerons,DEC);
//Serial.print("\tradio_trim ");
//Serial.print(radio_trim[CH1],DEC);
radio_in[CH1] = (elevator - ailerons); // left
radio_in[CH2] = (elevator + ailerons); // right
radio_in[CH1] += radio_trim[CH1];
radio_in[CH2] += radio_trim[CH2];
//Serial.print("\tch1 in ");
//Serial.print(radio_in[CH1],DEC);
//Serial.print("\tch1 trim ");
//Serial.print(radio_trim[CH1],DEC);
//Serial.print("radio_in[CH1] ");
//Serial.print(radio_in[CH1],DEC);
//Serial.print(" \tradio_in[CH2] ");
//Serial.println(radio_in[CH2],DEC);
}
// output servos
for (uint8_t i = 0; i < 8; i++){
if (i == 3) continue;
if(radio_in[i] >= radio_trim[i])
servo_in[i] = (float)(radio_in[i] - radio_min[i]) / (float)(radio_max[i] - radio_min[i]) * 100.0;
else
servo_in[i] = (float)(radio_in[i] - radio_trim[i]) / (float)(radio_trim[i] - radio_min[i]) * 100.0;
}
servo_in[CH3] = (float)(radio_in[CH3] - radio_min[CH3]) / (float)(radio_max[CH3] - radio_min[CH3]) * 100.0;
servo_in[CH3] = constrain(servo_out[CH3], 0, 100);
}
void
APM2_RC::output()
{
uint16_t out;
for (uint8_t i = 0; i < 8; i++){
if (i == 3) continue;
if(radio_in[i] >= radio_trim[i])
out = ((servo_in[i] * (radio_max[i] - radio_trim[i])) / 100) + radio_trim[i];
else
out = ((servo_in[i] * (radio_max[i] - radio_trim[i])) / 100) + radio_trim[i];
set_ch_pwm(i, out);
}
out = (servo_out[CH3] * (float)(radio_max[CH3] - radio_min[CH3])) / 100.0;
out += radio_min[CH3];
set_ch_pwm(CH3, out);
}
void
APM2_RC::trim()
{
uint8_t temp = _mix_mode;
_mix_mode = 0;
read();
_mix_mode = temp;
// Store the trim values
// ---------------------
for (int y = 0; y < 8; y++)
radio_trim[y] = radio_in[y];
}
void
APM2_RC::twitch_servos(uint8_t times)
{
// todo
}
void
APM2_RC::set_ch_pwm(uint8_t ch, uint16_t pwm)
{
//pwm = constrain(pwm, MIN_PULSEWIDTH, MAX_PULSEWIDTH);
switch(ch){
case 0:
//Serial.print("\tpwm out ");
//Serial.print(pwm,DEC);
if((_direction_mask & 1) == 0 )
pwm = REVERSE - pwm;
//Serial.print("\tpwm out ");
//Serial.println(pwm,DEC);
OCR5B = pwm << 1;
break; // ch0
case 1:
if((_direction_mask & 2) == 0 )
pwm = REVERSE - pwm;
OCR5C = pwm << 1;
break; // ch0
case 2:
if((_direction_mask & 4) == 0 )
pwm = REVERSE - pwm;
OCR1B = pwm << 1;
break; // ch0
case 3:
if((_direction_mask & 8) == 0 )
pwm = REVERSE - pwm;
OCR1C = pwm << 1;
break; // ch0
case 4:
if((_direction_mask & 16) == 0 )
pwm = REVERSE - pwm;
OCR4C = pwm << 1;
break; // ch0
case 5:
if((_direction_mask & 32) == 0 )
pwm = REVERSE - pwm;
OCR4B = pwm << 1;
break; // ch0
case 6:
if((_direction_mask & 64) == 0 )
pwm = REVERSE - pwm;
OCR3C = pwm << 1;
break; // ch0
case 7:
if((_direction_mask & 128) == 0 )
pwm = REVERSE - pwm;
OCR3B = pwm << 1;
break; // ch0
case 8:
OCR5A = pwm << 1;
break; // ch0
case 9:
OCR1A = pwm << 1;
break; // ch0
case 10:
OCR3A = pwm << 1;
break; // ch0
}
}
/****************************************************
Input Capture Interrupt ICP4 => PPM signal read
****************************************************/
ISR(TIMER4_CAPT_vect)
{
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
}
ICR4_old = pulse;
if (pulse_width > 8000){ // SYNC pulse
PPM_Counter = 0;
} else {
//PPM_Counter &= 0x07; // For safety only (limit PPM_Counter to 7)
raw[PPM_Counter++] = pulse_width >> 1; // Saving pulse.
}
}
// InstantPWM implementation
// This function forces the PWM output (reset PWM) on Out0 and Out1 (Timer5). For quadcopters use
void APM2_RC::force_out_0_1(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 APM2_RC::force_out_2_3(void)
{
if (TCNT1 > 5000)
TCNT1 = 39990;
}
// This function forces the PWM output (reset PWM) on Out6 and Out7 (Timer3). For quadcopters use
void APM2_RC::force_out_6_7(void)
{
if (TCNT3 > 5000)
TCNT3 = 39990;
}
#endif

38
libraries/RC/APM2_RC.h
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#ifndef APM2_RC_h
#define APM2_RC_h
#include <inttypes.h>
#include "WProgram.h"
#include "RC.h"
class APM2_RC : public RC
{
public:
APM2_RC();
void init();
void read();
void output();
void set_ch_pwm(uint8_t ch, uint16_t pwm);
void trim();
void twitch_servos(uint8_t times);
void force_out_0_1(void);
void force_out_2_3(void);
void force_out_6_7(void);
int16_t radio_in[8];
int16_t radio_min[8];
int16_t radio_trim[8];
int16_t radio_max[8];
int16_t servo_in[8];
float servo_out[8];
private:
uint16_t _timer_out;
};
#endif
//volatile uint16_t raw[8] = {1200, 1200, 1200, 1200, 1200, 1200, 1200, 1200};

329
libraries/RC/AP_RC.cpp
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/*
AP_RC.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"
#include <avr/interrupt.h>
#define REVERSE 3050
// 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 int16_t timer1diff = 1500 * 2;
volatile int16_t timer2diff = 1500 * 2;
volatile int16_t timer3diff = 1100 * 2;
volatile int16_t timer4diff = 1500 * 2;
//volatile uint16_t raw[8];
#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;
AP_RC::AP_RC()
{
_direction_mask = 255; // move to super class
pinMode(2,INPUT); // PD2 - INT0 - CH 1 in
pinMode(3,INPUT); // PD3 - INT1 - CH 2 in
pinMode(11,INPUT); // PB3 - MOSI/OC2 - CH 3 in
pinMode(13,INPUT); // PB5 - SCK - CH 4 in
pinMode(10,OUTPUT); // PB2 - OC1B - CH 1 out
pinMode(8, OUTPUT); // PB0 - AIN1 - CH 3 out
pinMode(9, OUTPUT); // PB1 - OC1A - CH 2 out
DDRC |= B00010000; // PC4 - - CH 4 out
}
void
AP_RC::init()
{
// 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);
// Loop value
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
// trim out the radio
for(int c = 0; c < 50; c++){
delay(20);
read();
}
trim();
for(int y = 0; y < 4; y++) {
set_ch_pwm(y, radio_trim[y]);
}
// enable throttle and Ch4 output
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::read()
{
if((_direction_mask & 1) == 0 )
timer1diff = REVERSE - timer1diff;
if((_direction_mask & 2) == 0 )
timer2diff = REVERSE - timer2diff;
if((_direction_mask & 4) == 0 )
timer3diff = REVERSE - timer3diff;
if((_direction_mask & 8) == 0 )
timer4diff = REVERSE - timer4diff;
if(_mix_mode == 1){
// elevons
int16_t ailerons = (timer1diff - radio_trim[CH1]) * .3;
int16_t elevator = (timer2diff - radio_trim[CH2]) * .7;
radio_in[CH1] = (elevator - ailerons); // left
radio_in[CH2] = (elevator + ailerons); // right
radio_in[CH1] += radio_trim[CH1];
radio_in[CH2] += radio_trim[CH2];
//Serial.print("radio_in[CH1] ");
//Serial.print(radio_in[CH1],DEC);
//Serial.print(" \tradio_in[CH2] ");
//Serial.println(radio_in[CH2],DEC);
}else{
// normal
radio_in[CH1] = timer1diff;
radio_in[CH2] = timer2diff;
}
radio_in[CH3] = (float)radio_in[CH3] * .9 + timer3diff * .1;
radio_in[CH4] = timer4diff;
check_throttle_failsafe(radio_in[CH3]);
// output servos
for (uint8_t i = 0; i < 4; i++){
if (i == 3) continue;
if(radio_in[i] >= radio_trim[i])
servo_in[i] = (float)(radio_in[i] - radio_min[i]) / (float)(radio_max[i] - radio_min[i]) * 100.0;
else
servo_in[i] = (float)(radio_in[i] - radio_trim[i]) / (float)(radio_trim[i] - radio_min[i]) * 100.0;
}
servo_in[CH3] = (float)(radio_in[CH3] - radio_min[CH3]) / (float)(radio_max[CH3] - radio_min[CH3]) * 100.0;
servo_in[CH3] = constrain(servo_out[CH3], 0, 100);
}
void
AP_RC::output()
{
uint16_t out;
for (uint8_t i = 0; i < 4; i++){
if (i == 3) continue;
if(radio_in[i] >= radio_trim[i])
out = ((servo_in[i] * (radio_max[i] - radio_trim[i])) / 100) + radio_trim[i];
else
out = ((servo_in[i] * (radio_max[i] - radio_trim[i])) / 100) + radio_trim[i];
set_ch_pwm(i, out);
}
out = (servo_out[CH3] * (float)(radio_max[CH3] - radio_min[CH3])) / 100.0;
out += radio_min[CH3];
set_ch_pwm(CH3, out);
}
void
AP_RC::trim()
{
uint8_t temp = _mix_mode;
_mix_mode = 0;
read();
_mix_mode = temp;
radio_trim[CH1] = radio_in[CH1];
radio_trim[CH2] = radio_in[CH2];
radio_trim[CH3] = radio_in[CH3];
radio_trim[CH4] = radio_in[CH4];
//Serial.print("trim ");
//Serial.println(radio_trim[CH1], DEC);
}
void
AP_RC::twitch_servos(uint8_t times)
{
while (times > 0){
set_ch_pwm(CH1, radio_trim[CH1] + 100);
set_ch_pwm(CH2, radio_trim[CH2] + 100);
delay(400);
set_ch_pwm(CH1, radio_trim[CH1] - 100);
set_ch_pwm(CH2, radio_trim[CH2] - 100);
delay(200);
set_ch_pwm(CH1, radio_trim[CH1]);
set_ch_pwm(CH2, radio_trim[CH2]);
delay(30);
times--;
}
}
void
AP_RC::set_ch_pwm(uint8_t ch, uint16_t pwm)
{
switch(ch){
case CH1:
if((_direction_mask & 1) == 0 )
pwm = REVERSE - pwm;
pwm <<= 1;
OCR1A = pwm;
break;
case CH2:
if((_direction_mask & 2) == 0 )
pwm = REVERSE - pwm;
pwm <<= 1;
OCR1B = pwm;
break;
case CH3:
if((_direction_mask & 4) == 0 )
pwm = REVERSE - pwm;
// Jason's fancy 2µs hack
_timer_out = pwm % 512;
_timer_ovf_a = pwm / 512;
_timer_out >>= 1;
OCR2A = _timer_out;
break;
case CH4:
if((_direction_mask & 8) == 0 )
pwm = REVERSE - pwm;
_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) >> 1; // Timer1 TOP = 40000
else
timer1diff = (cnt - timer1count) >> 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) >> 1; // Timer1 TOP = 40000
else
timer2diff = (cnt - timer2count) >> 1;
}
}
ISR(PCINT0_vect)
{
int cnt = TCNT1;
if(PINB & 8){ // pin 11
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) >> 1; // Timer1 TOP = 40000
else
timer3diff = (cnt - timer3count) >> 1;
}
if(PINB & 32){ // pin 13
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) >> 1; // Timer1 TOP = 40000
else
timer4diff = (cnt - timer4count) >> 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!
}
}

32
libraries/RC/AP_RC.h
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#ifndef AP_RC_h
#define AP_RC_h
#include <inttypes.h>
#include "WProgram.h"
#include "RC.h"
class AP_RC : public RC
{
public:
AP_RC();
void init();
void read();
void output();
void set_ch_pwm(uint8_t ch, uint16_t pwm);
void trim();
void twitch_servos(uint8_t times);
int16_t radio_in[4];
int16_t radio_min[4];
int16_t radio_trim[4];
int16_t radio_max[4];
int16_t servo_in[4];
float servo_out[4];
private:
uint16_t _timer_out;
};
#endif

84
libraries/RC/RC.cpp
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/*
AP_RC.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 "RC.h"
/*
RC::RC()// :
_direction_mask(255)
{
}
*/
// direction mask: 0 = normal, 1 = reversed servos
void
RC::set_channel_direction(uint8_t ch, int8_t dir)
{
uint8_t bitflip = 1 << ch;
if(dir == 1){
_direction_mask |= bitflip;
}else{
_direction_mask &= ~bitflip;
}
}
void
RC::set_failsafe(uint16_t v)
{
_fs_value = v;
}
void
RC::set_mix_mode(uint8_t m)
{
_mix_mode = m;
}
void
RC::check_throttle_failsafe(uint16_t throttle)
{
//check for failsafe and debounce funky reads
// ------------------------------------------
if (throttle < _fs_value){
// we detect a failsafe from radio
// throttle has dropped below the mark
_fs_counter++;
if (_fs_counter == 9){
}else if(_fs_counter == 10) {
failsafe = 1;
}else if (_fs_counter > 10){
_fs_counter = 11;
}
}else if(_fs_counter > 0){
// we are no longer in failsafe condition
// but we need to recover quickly
_fs_counter--;
if (_fs_counter > 3){
_fs_counter = 3;
}
if (_fs_counter == 1){
}else if(_fs_counter == 0) {
failsafe = 0;
}else if (_fs_counter <0){
_fs_counter = -1;
}
}
}

46
libraries/RC/RC.h
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#ifndef RC_h
#define RC_h
#include <inttypes.h>
#include "WProgram.h"
#define CH1 0
#define CH2 1
#define CH3 2
#define CH4 3
#define CH5 4
#define CH6 5
#define CH7 6
#define CH8 7
#define MIN_PULSEWIDTH 900
#define MAX_PULSEWIDTH 2100
#define ELEVONS 1
class RC
{
public:
// RC();
virtual void init();
virtual void trim();
virtual void read();
virtual void output();
virtual void set_channel_direction(uint8_t ch, int8_t dir);
virtual void set_ch_pwm(uint8_t ch, uint16_t pwm);
virtual void twitch_servos(void);
void set_failsafe(uint16_t fs);
void set_mix_mode(uint8_t mode);
uint8_t failsafe;
protected:
void check_throttle_failsafe(uint16_t throttle);
uint8_t _fs_counter;
uint8_t _mix_mode; // 0 = normal, 1 = elevons
uint8_t _direction_mask;
uint16_t _fs_value; // PWM value to trigger failsafe flag
};
#endif

59
libraries/RC/examples/APM_RC_elevons/APM_RC_elevons.pde
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/*
Example of APM2_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 <APM2_RC.h> // ArduPilot Mega RC Library
APM2_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 Mega RC library test");
//rc.set_channel_direction(CH_ROLL, -1);
//rc.set_channel_direction(CH_PITCH, -1);
//rc.set_channel_direction(CH_THROTTLE, -1);
//rc.set_channel_direction(CH_RUDDER, -1);
rc.set_mix_mode(1); // 1 = elevons, 0 = normal
rc.init();
delay(1000);
}
void loop()
{
delay(20);
rc.read_pwm();
for(int y = 0; y < 8; y++) {
rc.set_ch_pwm(y, rc.radio_in[y]); // send to Servos
}
//print_pwm();
}
void print_pwm()
{
Serial.print("ch1 ");
Serial.print(rc.radio_in[CH_ROLL], DEC);
Serial.print("\tch2: ");
Serial.print(rc.radio_in[CH_PITCH], DEC);
Serial.print("\tch3 :");
Serial.print(rc.radio_in[CH_THROTTLE], DEC);
Serial.print("\tch4 :");
Serial.print(rc.radio_in[CH_RUDDER], DEC);
Serial.print("\tch5 ");
Serial.print(rc.radio_in[4], DEC);
Serial.print("\tch6: ");
Serial.print(rc.radio_in[5], DEC);
Serial.print("\tch7 :");
Serial.print(rc.radio_in[6], DEC);
Serial.print("\tch8 :");
Serial.println(rc.radio_in[7], DEC);
}

59
libraries/RC/examples/APM_RC_test/APM_RC_test.pde
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/*
Example of APM2_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 <APM2_RC.h> // ArduPilot Mega RC Library
APM2_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 Mega RC library test");
//rc.set_channel_direction(CH_ROLL, -1);
//rc.set_channel_direction(CH_PITCH, -1);
//rc.set_channel_direction(CH_THROTTLE, -1);
//rc.set_channel_direction(CH_RUDDER, -1);
rc.init();
delay(1000);
}
void loop()
{
delay(20);
rc.read_pwm();
for(int y = 0; y < 8; y++) {
rc.set_ch_pwm(y, rc.radio_in[y]); // send to Servos
}
//print_pwm();
}
void print_pwm()
{
Serial.print("ch1 ");
Serial.print(rc.radio_in[CH_ROLL], DEC);
Serial.print("\tch2: ");
Serial.print(rc.radio_in[CH_PITCH], DEC);
Serial.print("\tch3 :");
Serial.print(rc.radio_in[CH_THROTTLE], DEC);
Serial.print("\tch4 :");
Serial.print(rc.radio_in[CH_RUDDER], DEC);
Serial.print("\tch5 ");
Serial.print(rc.radio_in[4], DEC);
Serial.print("\tch6: ");
Serial.print(rc.radio_in[5], DEC);
Serial.print("\tch7 :");
Serial.print(rc.radio_in[6], DEC);
Serial.print("\tch8 :");
Serial.println(rc.radio_in[7], DEC);
}

48
libraries/RC/examples/AP_RC_elevons/AP_RC_elevons.pde
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/*
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 Elevon library test");
rc.set_mix_mode(1); // 1 = elevons, 0 = normal
rc.init();
delay(1000);
}
void loop()
{
delay(60);
rc.read_pwm();
for(int y = 0; y < 4; y++) {
rc.set_ch_pwm(y, rc.radio_in[y]); // send to Servos
}
print_pwm();
}
void print_pwm()
{
Serial.print("ch1 ");
Serial.print(rc.radio_in[CH_ROLL], DEC);
Serial.print("\tch2: ");
Serial.print(rc.radio_in[CH_PITCH], DEC);
Serial.print("\tch3 :");
Serial.print(rc.radio_in[CH_THROTTLE], DEC);
Serial.print("\tch4 :");
Serial.println(rc.radio_in[CH_RUDDER], DEC);
}

50
libraries/RC/examples/AP_RC_test/AP_RC_test.pde
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/*
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 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");
//rc.set_channel_direction(CH_ROLL, -1);
//rc.set_channel_direction(CH_PITCH, -1);
//rc.set_channel_direction(CH_THROTTLE, -1);
//rc.set_channel_direction(CH_RUDDER, -1);
rc.init();
delay(1000);
}
void loop()
{
delay(20);
rc.read_pwm();
for(int y = 0; y < 4; y++) {
rc.set_ch_pwm(y, rc.radio_in[y]); // send to Servos
}
print_pwm();
}
void print_pwm()
{
Serial.print("ch1 ");
Serial.print(rc.radio_in[CH_ROLL], DEC);
Serial.print("\tch2: ");
Serial.print(rc.radio_in[CH_PITCH], DEC);
Serial.print("\tch3 :");
Serial.print(rc.radio_in[CH_THROTTLE], DEC);
Serial.print("\tch4 :");
Serial.println(rc.radio_in[CH_RUDDER], DEC);
}

4
libraries/RC/keywords.txt
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AP_RC KEYWORD1
init KEYWORD2
set_ch_pwm KEYWORD2
read_pwm KEYWORD2
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