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Revision e6c4b5e0

IDe6c4b5e0464ae55e912efb8ae7fa763deccaa108
Parent 0c80370b
Child eb7af729

Added by Matthew Sebek about 10 years ago

Fixed receiver int should've been u_long, and filtering over rc_avail, not results

View differences:

arduino/RadioBuggyMega/receiver.c
1 1 
/**
2 
 * @file receiver.cpp
2 
 * @file receiver.c
3 3 
 * @brief Contains Code for dealing with RC Receiver
4 4 
 * NOTE: AIL and THR are flipped.
5 5 
 * AIL is on pin 2
6 6 
 * THR is on pin 3
7 
 *
8 
 * @author Matt Sebek (msebek)
9 
 * @author Zach Dawson (zsd)
7 10 
 */
8 
//#include <stdint.h>
9 11 
#include <Arduino.h>
10 12 
#include "receiver.h"
11 13 

  		




  ......




  24
  26
  
    
#define THR_RECEIVER_PIN 2


  		




  25
  27
  
    
#define THR_RECEIVER_INT 0


  		




  26
  28
  
    

  		




  27
  
  
    
//#define THR_INDEX 0


  		




  28
  
  
    
//#define AIL_INDEX 1


  		




  
  29
  
    
// Defined in receiver.h


  		




  
  30
  
    
// #define THR_INDEX 0


  		




  
  31
  
    
// #define AIL_INDEX 1


  		




  29
  32
  
    

  		




  30
  33
  
    
// Note: arr[0] is thr, arr[1] is ail


  		




  31
  
  
    
static volatile int start_time[2];


  		




  32
  
  
    
static volatile int rc_value[2];


  		




  
  34
  
    
static volatile unsigned long start_time[2];


  		




  
  35
  
    
static volatile unsigned long rc_value[2];


  		




  33
  36
  
    

  		




  34
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  35
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// When our code gets really busy this will become inaccurate,


  		




  36
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// (i believe since micros gets shifted a bit) but for


  		




  37
  40
  
    
// the current application its easy to understand and works very well


  		




  38
  41
  
    
// TODO if things start twitching, move to using registers directly.


  		




  
  42
  
    
// TODO if this starts twitching, also micros has a resolution of 4us.


  		




  39
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static void receiver_on_ail_interrupt() {


  		




  40
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  if(digitalRead(AIL_RECEIVER_PIN) == HIGH) {


  		




  41
  45
  
    
    start_time[AIL_INDEX] = micros();


  		




  42
  46
  
    
  } else {


  		




  43
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    if(start_time[AIL_INDEX] && (rc_available[AIL_INDEX] == 0)) {


  		




  44
  
  
    
      rc_value[AIL_INDEX] = (int)(micros() - start_time[AIL_INDEX]);


  		




  
  48
  
    
      rc_value[AIL_INDEX] = (micros() - start_time[AIL_INDEX]);


  		




  45
  49
  
    
      start_time[AIL_INDEX] = 0;


  		




  46
  50
  
    
      rc_available[AIL_INDEX] = 1;


  		




  47
  51
  
    
    }


  		




  ......




  76
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  rc_available[index] = 0;


  		




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  return ret_val;


  		




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}


  		




  79
  
  
    

  		












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