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329 lines
9.6 KiB
329 lines
9.6 KiB
/* |
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APM_RC_APM1.cpp - Radio Control Library for Ardupilot Mega. 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_APM1.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_APM1::_PWM_RAW[NUM_CHANNELS] = {2400,2400,2400,2400,2400,2400,2400,2400}; |
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volatile uint8_t APM_RC_APM1::_radio_status=0; |
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/**************************************************** |
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Input Capture Interrupt ICP4 => PPM signal read |
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****************************************************/ |
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void APM_RC_APM1::_timer4_capt_cb(void) |
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{ |
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static uint16_t ICR4_old; |
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static uint8_t PPM_Counter=0; |
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uint16_t Pulse; |
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uint16_t Pulse_Width; |
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Pulse=ICR4; |
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if (Pulse<ICR4_old) { // Take care of the overflow of Timer4 (TOP=40000) |
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Pulse_Width=(Pulse + 40000)-ICR4_old; // Calculating pulse |
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} |
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else { |
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Pulse_Width=Pulse-ICR4_old; // Calculating pulse |
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} |
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if (Pulse_Width>8000) { // SYNC pulse? |
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PPM_Counter=0; |
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} |
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else { |
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if (PPM_Counter < NUM_CHANNELS) { // Valid pulse channel? |
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_PWM_RAW[PPM_Counter++]=Pulse_Width; // Saving pulse. |
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if (PPM_Counter >= 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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ICR4_old = Pulse; |
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} |
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// Constructors //////////////////////////////////////////////////////////////// |
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APM_RC_APM1::APM_RC_APM1() |
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{ |
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} |
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// Public Methods ////////////////////////////////////////////////////////////// |
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void APM_RC_APM1::Init( Arduino_Mega_ISR_Registry * isr_reg ) |
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{ |
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isr_reg->register_signal(ISR_REGISTRY_TIMER4_CAPT, _timer4_capt_cb ); |
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// Init PWM Timer 1 |
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pinMode(11,OUTPUT); //OUT9 (PB5/OC1A) |
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pinMode(12,OUTPUT); //OUT2 (PB6/OC1B) |
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pinMode(13,OUTPUT); //OUT3 (PB7/OC1C) |
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//Remember the registers not declared here remains zero by default... |
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TCCR1A =((1<<WGM11)); //Please read page 131 of DataSheet, we are changing the registers settings of WGM11,COM1B1,COM1A1 to 1 thats all... |
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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 |
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OCR1A = 0xFFFF; // Init ODR registers to nil output signal |
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OCR1B = 0xFFFF; |
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OCR1C = 0xFFFF; |
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ICR1 = 40000; //50hz freq...Datasheet says (system_freq/prescaler)/target frequency. So (16000000hz/8)/50hz=40000, |
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// Init PWM Timer 3 |
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pinMode(2,OUTPUT); //OUT7 (PE4/OC3B) |
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pinMode(3,OUTPUT); //OUT6 (PE5/OC3C) |
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pinMode(5,OUTPUT); //OUT10(PE3/OC3A) |
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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 ODR registers to nil output signal |
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OCR3B = 0xFFFF; |
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OCR3C = 0xFFFF; |
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ICR3 = 40000; //50hz freq |
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// Init PWM Timer 5 |
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pinMode(44,OUTPUT); //OUT1 (PL5/OC5C) |
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pinMode(45,OUTPUT); //OUT0 (PL4/OC5B) |
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pinMode(46,OUTPUT); //OUT8 (PL3/OC5A) |
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TCCR5A =((1<<WGM51)); |
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TCCR5B = (1<<WGM53)|(1<<WGM52)|(1<<CS51); |
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OCR5A = 0xFFFF; // Init ODR registers to nil output signal |
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OCR5B = 0xFFFF; |
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OCR5C = 0xFFFF; |
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ICR5 = 40000; //50hz freq |
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// Init PPM input and PWM Timer 4 |
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pinMode(49, INPUT); // ICP4 pin (PL0) (PPM input) |
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pinMode(7,OUTPUT); //OUT5 (PH4/OC4B) |
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pinMode(8,OUTPUT); //OUT4 (PH5/OC4C) |
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TCCR4A =((1<<WGM40)|(1<<WGM41)); |
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//Prescaler set to 8, that give us a resolution of 0.5us |
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// Input Capture rising edge |
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TCCR4B = ((1<<WGM43)|(1<<WGM42)|(1<<CS41)|(1<<ICES4)); |
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OCR4B = 0xFFFF; // Init OCR registers to nil output signal |
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OCR4C = 0xFFFF; |
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OCR4A = 40000; ///50hz freq. |
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//TCCR4B |=(1<<ICES4); //Changing edge detector (rising edge). |
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//TCCR4B &=(~(1<<ICES4)); //Changing edge detector. (falling edge) |
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TIMSK4 |= (1<<ICIE4); // Enable Input Capture interrupt. Timer interrupt mask |
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} |
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void APM_RC_APM1::OutputCh(uint8_t 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: OCR5B=pwm; break; //ch1 |
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case 1: OCR5C=pwm; break; //ch2 |
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case 2: OCR1B=pwm; break; //ch3 |
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case 3: OCR1C=pwm; break; //ch4 |
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case 4: OCR4C=pwm; break; //ch5 |
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case 5: OCR4B=pwm; break; //ch6 |
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case 6: OCR3C=pwm; break; //ch7 |
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case 7: OCR3B=pwm; break; //ch8 |
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case 8: OCR5A=pwm; break; //ch9, PL3 |
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case 9: OCR1A=pwm; break; //ch10, PB5 |
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case 10: OCR3A=pwm; break; //ch11, PE3 |
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} |
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} |
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uint16_t APM_RC_APM1::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=OCR5B; break; //ch1 |
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case 1: pwm=OCR5C; break; //ch2 |
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case 2: pwm=OCR1B; break; //ch3 |
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case 3: pwm=OCR1C; break; //ch4 |
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case 4: pwm=OCR4C; break; //ch5 |
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case 5: pwm=OCR4B; break; //ch6 |
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case 6: pwm=OCR3C; break; //ch7 |
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case 7: pwm=OCR3B; break; //ch8 |
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case 8: pwm=OCR5A; break; //ch9, PL3 |
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case 9: pwm=OCR1A; break; //ch10, PB5 |
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case 10: pwm=OCR3A; break; //ch11, PE3 |
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} |
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return pwm>>1; |
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} |
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void APM_RC_APM1::enable_out(uint8_t ch) |
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{ |
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switch(ch){ |
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case 0: TCCR5A |= (1<<COM5B1); break; // CH_1 : OC5B |
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case 1: TCCR5A |= (1<<COM5C1); break; // CH_2 : OC5C |
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case 2: TCCR1A |= (1<<COM1B1); break; // CH_3 : OC1B |
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case 3: TCCR1A |= (1<<COM1C1); break; // CH_4 : OC1C |
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case 4: TCCR4A |= (1<<COM4C1); break; // CH_5 : OC4C |
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case 5: TCCR4A |= (1<<COM4B1); break; // CH_6 : OC4B |
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case 6: TCCR3A |= (1<<COM3C1); break; // CH_7 : OC3C |
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case 7: TCCR3A |= (1<<COM3B1); break; // CH_8 : OC3B |
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case 8: TCCR5A |= (1<<COM5A1); break; // CH_9 : OC5A |
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case 9: TCCR1A |= (1<<COM1A1); break; // CH_10: OC1A |
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case 10: TCCR3A |= (1<<COM3A1); break; // CH_11: OC3A |
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} |
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} |
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void APM_RC_APM1::disable_out(uint8_t ch) |
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{ |
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switch(ch){ |
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case 0: TCCR5A &= ~(1<<COM5B1); break; // CH_1 : OC5B |
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case 1: TCCR5A &= ~(1<<COM5C1); break; // CH_2 : OC5C |
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case 2: TCCR1A &= ~(1<<COM1B1); break; // CH_3 : OC1B |
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case 3: TCCR1A &= ~(1<<COM1C1); break; // CH_4 : OC1C |
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case 4: TCCR4A &= ~(1<<COM4C1); break; // CH_5 : OC4C |
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case 5: TCCR4A &= ~(1<<COM4B1); break; // CH_6 : OC4B |
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case 6: TCCR3A &= ~(1<<COM3C1); break; // CH_7 : OC3C |
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case 7: TCCR3A &= ~(1<<COM3B1); break; // CH_8 : OC3B |
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case 8: TCCR5A &= ~(1<<COM5A1); break; // CH_9 : OC5A |
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case 9: TCCR1A &= ~(1<<COM1A1); break; // CH_10: OC1A |
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case 10: TCCR3A &= ~(1<<COM3A1); break; // CH_11: OC3A |
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} |
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} |
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uint16_t APM_RC_APM1::InputCh(uint8_t 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 stop interrupts to be sure we get a correct 16 bit 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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uint8_t APM_RC_APM1::GetState(void) |
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{ |
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return(_radio_status); |
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} |
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// InstantPWM implementation |
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void APM_RC_APM1::Force_Out(void) |
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{ |
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Force_Out0_Out1(); |
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Force_Out2_Out3(); |
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Force_Out6_Out7(); |
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} |
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// This function forces the PWM output (reset PWM) on Out0 and Out1 (Timer5). For quadcopters use |
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void APM_RC_APM1::Force_Out0_Out1(void) |
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{ |
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if (TCNT5>5000) // We take care that there are not a pulse in the output |
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TCNT5=39990; // This forces the PWM output to reset in 5us (10 counts of 0.5us). The counter resets at 40000 |
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} |
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// This function forces the PWM output (reset PWM) on Out2 and Out3 (Timer1). For quadcopters use |
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void APM_RC_APM1::Force_Out2_Out3(void) |
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{ |
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if (TCNT1>5000) |
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TCNT1=39990; |
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} |
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// This function forces the PWM output (reset PWM) on Out6 and Out7 (Timer3). For quadcopters use |
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void APM_RC_APM1::Force_Out6_Out7(void) |
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{ |
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if (TCNT3>5000) |
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TCNT3=39990; |
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} |
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/* --------------------- OUTPUT SPEED CONTROL --------------------- */ |
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void APM_RC_APM1::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) | _BV(CH_9))) != 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_10))) != 0) { |
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ICR5 = icr; |
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} |
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#if 0 |
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if ((chmask & ( _BV(CH_5) | _BV(CH_6))) != 0) { |
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/* These channels intentionally left blank: |
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* Can't change output speed of ch5 (OCR4B) and ch6 (OCR4C). |
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* Timer 4 period controlled by OCR4A, and used for input |
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* capture on ICR4. |
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* If the period of Timer 4 must be changed, the input capture |
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* code will have to be adjusted as well |
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*/ |
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} |
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#endif |
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if ((chmask & ( _BV(CH_7) | _BV(CH_8) | _BV(CH_11))) != 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_APM1::setHIL(int16_t v[NUM_CHANNELS]) |
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{ |
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uint8_t sum = 0; |
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for (uint8_t 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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_radio_status = 1; |
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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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} |
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void APM_RC_APM1::clearOverride(void) |
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{ |
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for (uint8_t 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 // defined(ATMega1280)
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