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changed to hardware interrupt for ppm input

This commit is contained in:
interfisch 2019-01-14 00:00:31 +01:00
parent f2e3d17bb6
commit e721d1e650
1 changed files with 171 additions and 17 deletions
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188
controller.ino
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@ -7,12 +7,14 @@
//to flash set boot0 (the one further away from reset button) to 1 and press reset, flash, program executes immediately
//set boot0 back to 0 to run program on powerup
//#define DEBUG
#define PIN_LED PC13
#define PIN_POTI1 PA7
#define PIN_POTI2 PA6
#define SENDPERIOD 50
#define SENDPERIOD 20
uint16_t poti1=0;
@ -24,17 +26,43 @@ long last_send=0;
int16_t out_steer=0;
int16_t out_speed=0;
volatile long t_raising1=0;
volatile long t_falling1=0;
volatile long t_raising2=0;
volatile long t_falling2=0;
volatile long t_raising3=0;
volatile long t_falling3=0;
volatile long t_raising4=0;
volatile long t_falling4=0;
long last_updated_ch1=0;
long last_updated_ch2=0;
long last_updated_ch3=0;
long last_updated_ch4=0;
long ppmlagmillis=0; //updated by ppmOK()
boolean flag_ppmupdated=false; //true if at least one ppm value (chx_in) updated
#define MAXPPMUPDATETIME 50 //max time it should take to update a ppm channel value (otherwise ppmOK() will return false)
uint16_t ch1_in;
uint16_t ch2_in;
uint16_t ch3_in;
uint16_t ch4_in;
//ch1 = steer (ail)
//ch2 = speed (ele)
//ch3 = speed multiplier (thr)
//RC Input Pins
#define PIN_CH1 PB9
#define PIN_CH2 PB8
#define PIN_CH3 PB7
#define PIN_CH4 PB6
#define PPM_TIME_MIN 900
#define PPM_TIME_MAX 2100
void setup() {
@ -51,22 +79,20 @@ void setup() {
pinMode(PIN_CH1, INPUT);
attachInterrupt(PIN_CH1, ppmchanged1, CHANGE); //see http://docs.leaflabs.com/static.leaflabs.com/pub/leaflabs/maple-docs/0.0.12/lang/api/attachinterrupt.html
pinMode(PIN_CH2, INPUT);
attachInterrupt(PIN_CH2, ppmchanged2, CHANGE);
pinMode(PIN_CH3, INPUT);
attachInterrupt(PIN_CH3, ppmchanged3, CHANGE);
pinMode(PIN_CH4, INPUT);
attachInterrupt(PIN_CH4, ppmchanged4, CHANGE);
}
void loop() {
//RC Input. chn_in between 0 and 1000
ch1_in = constrain(map(pulseIn(PIN_CH1, HIGH, 25000),1000,2000, 0,1000), 0,1000); //Read Pulse Width. (pulseIn values typically between 1000 and 2000). Map and constrain between 0 and 1000
ch2_in = constrain(map(pulseIn(PIN_CH2, HIGH, 25000),1000,2000, 0,1000), 0,1000);
//ch3_in = constrain(map(pulseIn(PIN_CH3, HIGH, 25000),1000,2000, 0,1000), 0,1000);
//ch4_in = constrain(map(pulseIn(PIN_CH4, HIGH, 25000),1000,2000, 0,1000), 0,1000);
//ch1 = steer (ail)
//ch2 = speed (ele)
//ch3 = speed multiplier (thr)
updateChannels(); //calculate chx_in times from ppm signals. 0 <= chx_in <= 1000
boolean _ppmOK=ppmOK();
//Potis
/*poti1=analogRead(PIN_POTI1);
@ -91,20 +117,148 @@ void loop() {
out_steer=0;
*/
//out_speed=(int16_t)( (ch2_in*2-1000)*(ch3_in/1000.0) );
out_speed=(int16_t)( (ch2_in*2-1000));
out_steer=ch1_in*2-1000;
if (_ppmOK){ //ppm check failed
//out_speed=(int16_t)( (ch2_in*2-1000)*(ch3_in/1000.0) );
out_speed=(int16_t)( (ch2_in*2-1000));
out_steer=ch1_in*2-1000;
}else{
//out_speed=(int16_t)( (ch2_in*2-1000)*(ch3_in/1000.0) );
out_speed=0; //stop
out_steer=0; //stop
}
if (flag_ppmupdated){
flag_ppmupdated=false; //clear flag
digitalWrite(PIN_LED,!digitalRead(PIN_LED)); //toggle led
}
if (millis()-last_send>SENDPERIOD){
Serial2.write((uint8_t *) &out_steer, sizeof(out_steer));
Serial2.write((uint8_t *) &out_speed, sizeof(out_speed));
last_send=millis();
Serial.print("Steer=");
Serial.println(out_steer);
Serial.print("Speed=");
Serial.println(out_speed);
#ifdef DEBUG
Serial.print("steer=");
Serial.print(out_steer);
Serial.print(" speed=");
Serial.print(out_speed);
/*
Serial.print(ch1_in);
Serial.print(",");
Serial.print(ch2_in);
Serial.print(",");
Serial.print(ch3_in);
Serial.print(",");
Serial.print(ch4_in);
*/
Serial.print(", ppmOK=");
Serial.print(_ppmOK);
Serial.print(", ppmlag=");
Serial.print(ppmlagmillis);
#endif
Serial.println();
}
}
void updateChannels(){
long funcmillis=millis();
//Calculate Pulse Width. (pulseIn values typically between 1000 and 2000). Map and constrain between 0 and 1000
long new_ch1_in=(t_falling1-t_raising1);
if (new_ch1_in>=PPM_TIME_MIN && new_ch1_in<=PPM_TIME_MAX){ //time valid and has changed
ch1_in=constrain(map(new_ch1_in,1000,2000, 0,1000), 0,1000);
last_updated_ch1=funcmillis;
flag_ppmupdated=true;
}
long new_ch2_in=(t_falling2-t_raising2);
if (new_ch2_in>=PPM_TIME_MIN && new_ch2_in<=PPM_TIME_MAX){ //time valid and has changed
ch2_in=constrain(map(new_ch2_in,1000,2000, 0,1000), 0,1000);
last_updated_ch2=funcmillis;
flag_ppmupdated=true;
}
long new_ch3_in=(t_falling3-t_raising3);
if (new_ch3_in>=PPM_TIME_MIN && new_ch3_in<=PPM_TIME_MAX){ //time valid and has changed
ch3_in=constrain(map(new_ch3_in,1000,2000, 0,1000), 0,1000);
last_updated_ch3=funcmillis;
flag_ppmupdated=true;
}
long new_ch4_in=(t_falling4-t_raising4);
if (new_ch4_in>=PPM_TIME_MIN && new_ch4_in<=PPM_TIME_MAX){ //time valid and has changed
ch4_in=constrain(map(new_ch4_in,1000,2000, 0,1000), 0,1000);
last_updated_ch4=funcmillis;
flag_ppmupdated=true;
}
}
boolean ppmOK(){
long m=millis();
boolean returnvalue=true;
ppmlagmillis=0;
long v;
v=m-last_updated_ch1;
if (v>ppmlagmillis){ ppmlagmillis=v; }
if (v>MAXPPMUPDATETIME){
returnvalue=false;
}
v=m-last_updated_ch2;
if (v>ppmlagmillis){ ppmlagmillis=v; }
if (v>MAXPPMUPDATETIME){
returnvalue=false;
}
v=m-last_updated_ch3;
if (v>ppmlagmillis){ ppmlagmillis=v; }
if (v>MAXPPMUPDATETIME){
returnvalue=false;
}
v=m-last_updated_ch4;
if (v>ppmlagmillis){ ppmlagmillis=v; }
if (v>MAXPPMUPDATETIME){
returnvalue=false;
}
return returnvalue;
}
void ppmchanged1(){
if (digitalRead(PIN_CH1)){
t_raising1=micros();
}else{
t_falling1=micros();
}
}
void ppmchanged2(){
if (digitalRead(PIN_CH2)){
t_raising2=micros();
}else{
t_falling2=micros();
}
}
void ppmchanged3(){
if (digitalRead(PIN_CH3)){
t_raising3=micros();
}else{
t_falling3=micros();
}
}
void ppmchanged4(){
if (digitalRead(PIN_CH4)){
t_raising4=micros();
}else{
t_falling4=micros();
}
}