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76 lines
2.8 KiB
76 lines
2.8 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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static void read_control_switch() |
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{ |
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static bool switch_debouncer; |
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uint8_t switchPosition = readSwitch(); |
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// If switchPosition = 255 this indicates that the mode control channel input was out of range |
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// If we get this value we do not want to change modes. |
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if(switchPosition == 255) return; |
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if (failsafe.ch3_failsafe || failsafe.ch3_counter > 0) { |
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// when we are in ch3_failsafe mode then RC input is not |
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// working, and we need to ignore the mode switch channel |
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return; |
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} |
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// we look for changes in the switch position. If the |
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// RST_SWITCH_CH parameter is set, then it is a switch that can be |
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// used to force re-reading of the control switch. This is useful |
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// when returning to the previous mode after a failsafe or fence |
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// breach. This channel is best used on a momentary switch (such |
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// as a spring loaded trainer switch). |
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if (oldSwitchPosition != switchPosition || |
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(g.reset_switch_chan != 0 && |
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hal.rcin->read(g.reset_switch_chan-1) > RESET_SWITCH_CHAN_PWM)) { |
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if (switch_debouncer == false) { |
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// this ensures that mode switches only happen if the |
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// switch changes for 2 reads. This prevents momentary |
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// spikes in the mode control channel from causing a mode |
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// switch |
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switch_debouncer = true; |
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return; |
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} |
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set_mode((enum FlightMode)(flight_modes[switchPosition].get())); |
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oldSwitchPosition = switchPosition; |
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prev_WP = current_loc; |
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} |
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if (g.reset_mission_chan != 0 && |
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hal.rcin->read(g.reset_mission_chan-1) > RESET_SWITCH_CHAN_PWM) { |
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// reset to first waypoint in mission |
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prev_WP = current_loc; |
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change_command(0); |
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} |
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switch_debouncer = false; |
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if (g.inverted_flight_ch != 0) { |
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// if the user has configured an inverted flight channel, then |
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// fly upside down when that channel goes above INVERTED_FLIGHT_PWM |
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inverted_flight = (control_mode != MANUAL && hal.rcin->read(g.inverted_flight_ch-1) > INVERTED_FLIGHT_PWM); |
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} |
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} |
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static uint8_t readSwitch(void){ |
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uint16_t pulsewidth = hal.rcin->read(g.flight_mode_channel - 1); |
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if (pulsewidth <= 910 || pulsewidth >= 2090) return 255; // This is an error condition |
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if (pulsewidth > 1230 && pulsewidth <= 1360) return 1; |
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if (pulsewidth > 1360 && pulsewidth <= 1490) return 2; |
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if (pulsewidth > 1490 && pulsewidth <= 1620) return 3; |
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if (pulsewidth > 1620 && pulsewidth <= 1749) return 4; // Software Manual |
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if (pulsewidth >= 1750) return 5; // Hardware Manual |
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return 0; |
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} |
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static void reset_control_switch() |
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{ |
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oldSwitchPosition = 0; |
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read_control_switch(); |
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} |
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