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296 lines
8.5 KiB
296 lines
8.5 KiB
/* |
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APM_RC_APM2.cpp - Radio Control Library for Ardupilot Mega 2.0. Arduino |
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Code by Jordi Muñoz and Jose Julio. DIYDrones.com |
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This library is free software; you can redistribute it and/or |
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modify it under the terms of the GNU Lesser General Public |
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License as published by the Free Software Foundation; either |
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version 2.1 of the License, or (at your option) any later version. |
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RC Input : PPM signal on IC4 pin |
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RC Output : 11 Servo outputs (standard 20ms frame) |
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Methods: |
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Init() : Initialization of interrupts an Timers |
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OutpuCh(ch,pwm) : Output value to servos (range : 900-2100us) ch=0..10 |
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InputCh(ch) : Read a channel input value. ch=0..7 |
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GetState() : Returns the state of the input. 1 => New radio frame to process |
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Automatically resets when we call InputCh to read channels |
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*/ |
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#include "APM_RC_APM2.h" |
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#include <avr/interrupt.h> |
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#if defined(ARDUINO) && ARDUINO >= 100 |
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#include "Arduino.h" |
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#else |
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#include "WProgram.h" |
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#endif |
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#if !defined(__AVR_ATmega1280__) && !defined(__AVR_ATmega2560__) |
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# error Please check the Tools/Board menu to ensure you have selected Arduino Mega as your target. |
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#else |
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// Variable definition for Input Capture interrupt |
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volatile uint16_t APM_RC_APM2::_PWM_RAW[NUM_CHANNELS] = {2400,2400,2400,2400,2400,2400,2400,2400}; |
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volatile uint8_t APM_RC_APM2::_radio_status=0; |
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/**************************************************** |
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Input Capture Interrupt ICP5 => PPM signal read |
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****************************************************/ |
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void APM_RC_APM2::_timer5_capt_cb(void) |
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{ |
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static uint16_t prev_icr; |
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static uint8_t frame_idx; |
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uint16_t icr; |
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uint16_t pwidth; |
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icr = ICR5; |
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// Calculate pulse width assuming timer overflow TOP = 40000 |
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if ( icr < prev_icr ) { |
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pwidth = ( icr + 40000 ) - prev_icr; |
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} else { |
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pwidth = icr - prev_icr; |
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} |
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// Was it a sync pulse? If so, reset frame. |
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if ( pwidth > 8000 ) { |
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frame_idx=0; |
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} else { |
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// Save pulse into _PWM_RAW array. |
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if ( frame_idx < NUM_CHANNELS ) { |
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_PWM_RAW[ frame_idx++ ] = pwidth; |
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// If this is the last pulse in a frame, set _radio_status. |
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if (frame_idx >= NUM_CHANNELS) { |
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_radio_status = 1; |
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} |
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} |
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} |
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// Save icr for next call. |
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prev_icr = icr; |
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} |
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// Constructors //////////////////////////////////////////////////////////////// |
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APM_RC_APM2::APM_RC_APM2() |
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{ |
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} |
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// Public Methods ////////////////////////////////////////////////////////////// |
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void APM_RC_APM2::Init( Arduino_Mega_ISR_Registry * isr_reg ) |
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{ |
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// --------------------- TIMER1: OUT1 and OUT2 ----------------------- |
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pinMode(12,OUTPUT); // OUT1 (PB6/OC1B) |
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pinMode(11,OUTPUT); // OUT2 (PB5/OC1A) |
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// WGM: 1 1 1 0. Clear Timer on Compare, TOP is ICR1. |
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// CS11: prescale by 8 => 0.5us tick |
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TCCR1A =((1<<WGM11)); |
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TCCR1B = (1<<WGM13)|(1<<WGM12)|(1<<CS11); |
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ICR1 = 40000; // 0.5us tick => 50hz freq |
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OCR1A = 0xFFFF; // Init OCR registers to nil output signal |
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OCR1B = 0xFFFF; |
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// --------------- TIMER4: OUT3, OUT4, and OUT5 --------------------- |
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pinMode(8,OUTPUT); // OUT3 (PH5/OC4C) |
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pinMode(7,OUTPUT); // OUT4 (PH4/OC4B) |
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pinMode(6,OUTPUT); // OUT5 (PH3/OC4A) |
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// WGM: 1 1 1 0. Clear Timer on Compare, TOP is ICR4. |
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// CS41: prescale by 8 => 0.5us tick |
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TCCR4A =((1<<WGM41)); |
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TCCR4B = (1<<WGM43)|(1<<WGM42)|(1<<CS41); |
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OCR4A = 0xFFFF; // Init OCR registers to nil output signal |
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OCR4B = 0xFFFF; |
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OCR4C = 0xFFFF; |
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ICR4 = 40000; // 0.5us tick => 50hz freq |
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//--------------- TIMER3: OUT6, OUT7, and OUT8 ---------------------- |
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pinMode(3,OUTPUT); // OUT6 (PE5/OC3C) |
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pinMode(2,OUTPUT); // OUT7 (PE4/OC3B) |
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pinMode(5,OUTPUT); // OUT8 (PE3/OC3A) |
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// WGM: 1 1 1 0. Clear timer on Compare, TOP is ICR3 |
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// CS31: prescale by 8 => 0.5us tick |
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TCCR3A =((1<<WGM31)); |
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TCCR3B = (1<<WGM33)|(1<<WGM32)|(1<<CS31); |
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OCR3A = 0xFFFF; // Init OCR registers to nil output signal |
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OCR3B = 0xFFFF; |
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OCR3C = 0xFFFF; |
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ICR3 = 40000; // 0.5us tick => 50hz freq |
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//--------------- TIMER5: PPM INPUT, OUT10, and OUT11 --------------- |
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// Init PPM input on Timer 5 |
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pinMode(48, INPUT); // PPM Input (PL1/ICP5) |
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pinMode(45, OUTPUT); // OUT10 (PL4/OC5B) |
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pinMode(44, OUTPUT); // OUT11 (PL5/OC5C) |
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// WGM: 1 1 1 1. Fast PWM, TOP is OCR5A |
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// COM all disabled. |
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// CS51: prescale by 8 => 0.5us tick |
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// ICES5: Input Capture on rising edge |
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TCCR5A =((1<<WGM50)|(1<<WGM51)); |
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// Input Capture rising edge |
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TCCR5B = ((1<<WGM53)|(1<<WGM52)|(1<<CS51)|(1<<ICES5)); |
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OCR5A = 40000; // 0.5us tick => 50hz freq. The input capture routine |
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// assumes this 40000 for TOP. |
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isr_reg->register_signal( ISR_REGISTRY_TIMER5_CAPT, _timer5_capt_cb ); |
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// Enable Input Capture interrupt |
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TIMSK5 |= (1<<ICIE5); |
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} |
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void APM_RC_APM2::OutputCh(unsigned char ch, uint16_t pwm) |
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{ |
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pwm=constrain(pwm,MIN_PULSEWIDTH,MAX_PULSEWIDTH); |
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pwm<<=1; // pwm*2; |
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switch(ch) |
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{ |
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case 0: OCR1B=pwm; break; // out1 |
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case 1: OCR1A=pwm; break; // out2 |
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case 2: OCR4C=pwm; break; // out3 |
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case 3: OCR4B=pwm; break; // out4 |
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case 4: OCR4A=pwm; break; // out5 |
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case 5: OCR3C=pwm; break; // out6 |
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case 6: OCR3B=pwm; break; // out7 |
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case 7: OCR3A=pwm; break; // out8 |
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case 9: OCR5B=pwm; break; // out10 |
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case 10: OCR5C=pwm; break; // out11 |
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} |
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} |
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uint16_t APM_RC_APM2::OutputCh_current(uint8_t ch) |
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{ |
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uint16_t pwm=0; |
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switch(ch){ |
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case 0: pwm=OCR1B; break; // out1 |
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case 1: pwm=OCR1A; break; // out2 |
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case 2: pwm=OCR4C; break; // out3 |
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case 3: pwm=OCR4B; break; // out4 |
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case 4: pwm=OCR4A; break; // out5 |
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case 5: pwm=OCR3C; break; // out6 |
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case 6: pwm=OCR3B; break; // out7 |
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case 7: pwm=OCR3A; break; // out8 |
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case 9: pwm=OCR5B; break; // out10 |
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case 10: pwm=OCR5C; break; // out11 |
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} |
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return pwm>>1; |
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} |
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void APM_RC_APM2::enable_out(uint8_t ch) |
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{ |
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switch(ch) { |
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case 0: TCCR1A |= (1<<COM1B1); break; // CH_1 : OC1B |
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case 1: TCCR1A |= (1<<COM1A1); break; // CH_2 : OC1A |
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case 2: TCCR4A |= (1<<COM4C1); break; // CH_3 : OC4C |
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case 3: TCCR4A |= (1<<COM4B1); break; // CH_4 : OC4B |
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case 4: TCCR4A |= (1<<COM4A1); break; // CH_5 : OC4A |
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case 5: TCCR3A |= (1<<COM3C1); break; // CH_6 : OC3C |
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case 6: TCCR3A |= (1<<COM3B1); break; // CH_7 : OC3B |
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case 7: TCCR3A |= (1<<COM3A1); break; // CH_8 : OC3A |
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case 9: TCCR5A |= (1<<COM5B1); break; // CH_10 : OC5B |
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case 10: TCCR5A |= (1<<COM5C1); break; // CH_11 : OC5C |
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} |
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} |
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void APM_RC_APM2::disable_out(uint8_t ch) |
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{ |
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switch(ch) { |
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case 0: TCCR1A &= ~(1<<COM1B1); break; // CH_1 : OC1B |
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case 1: TCCR1A &= ~(1<<COM1A1); break; // CH_2 : OC1A |
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case 2: TCCR4A &= ~(1<<COM4C1); break; // CH_3 : OC4C |
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case 3: TCCR4A &= ~(1<<COM4B1); break; // CH_4 : OC4B |
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case 4: TCCR4A &= ~(1<<COM4A1); break; // CH_5 : OC4A |
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case 5: TCCR3A &= ~(1<<COM3C1); break; // CH_6 : OC3C |
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case 6: TCCR3A &= ~(1<<COM3B1); break; // CH_7 : OC3B |
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case 7: TCCR3A &= ~(1<<COM3A1); break; // CH_8 : OC3A |
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case 9: TCCR5A &= ~(1<<COM5B1); break; // CH_10 : OC5B |
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case 10: TCCR5A &= ~(1<<COM5C1); break; // CH_11 : OC5C |
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} |
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} |
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uint16_t APM_RC_APM2::InputCh(unsigned char ch) |
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{ |
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uint16_t result; |
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if (_HIL_override[ch] != 0) { |
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return _HIL_override[ch]; |
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} |
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// we need to block interrupts during the read of a 16 bit |
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// value |
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cli(); |
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result = _PWM_RAW[ch]; |
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sei(); |
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// Because timer runs at 0.5us we need to do value/2 |
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result >>= 1; |
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// Limit values to a valid range |
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result = constrain(result,MIN_PULSEWIDTH,MAX_PULSEWIDTH); |
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_radio_status = 0; // Radio channel read |
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return result; |
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} |
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unsigned char APM_RC_APM2::GetState(void) |
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{ |
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return(_radio_status); |
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} |
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// InstantPWM is not implemented! |
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void APM_RC_APM2::Force_Out(void) { } |
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void APM_RC_APM2::Force_Out0_Out1(void) { } |
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void APM_RC_APM2::Force_Out2_Out3(void) { } |
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void APM_RC_APM2::Force_Out6_Out7(void) { } |
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/* ---------------- OUTPUT SPEED CONTROL ------------------ */ |
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void APM_RC_APM2::SetFastOutputChannels(uint32_t chmask, uint16_t speed_hz) |
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{ |
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uint16_t icr = _map_speed(speed_hz); |
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if ((chmask & ( _BV(CH_1) | _BV(CH_2))) != 0) { |
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ICR1 = icr; |
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} |
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if ((chmask & ( _BV(CH_3) | _BV(CH_4) | _BV(CH_5))) != 0) { |
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ICR4 = icr; |
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} |
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if ((chmask & ( _BV(CH_6) | _BV(CH_7) | _BV(CH_8))) != 0) { |
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ICR3 = icr; |
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} |
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} |
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// allow HIL override of RC values |
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// A value of -1 means no change |
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// A value of 0 means no override, use the real RC values |
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bool APM_RC_APM2::setHIL(int16_t v[NUM_CHANNELS]) |
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{ |
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uint8_t sum = 0; |
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for (unsigned char i=0; i<NUM_CHANNELS; i++) { |
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if (v[i] != -1) { |
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_HIL_override[i] = v[i]; |
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} |
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if (_HIL_override[i] != 0) { |
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sum++; |
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} |
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} |
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if (sum == 0) { |
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return 0; |
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} else { |
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return 1; |
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} |
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_radio_status = 1; |
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} |
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void APM_RC_APM2::clearOverride(void) |
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{ |
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for (unsigned char i=0; i<NUM_CHANNELS; i++) { |
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_HIL_override[i] = 0; |
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} |
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} |
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#endif
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