Revision 0c873a67
Fixed up all the buggy code.
| arduino/InterruptSingleChannel/receiver.c | ||
|---|---|---|
| 21 | 21 |
#define THR_RECEIVER_PIN 2 |
| 22 | 22 |
#define THR_RECEIVER_INT 0 |
| 23 | 23 |
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| 24 |
//#define THR_INDEX 0 |
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| 25 |
//#define AIL_INDEX 1 |
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| 26 |
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| 24 | 27 |
// Note: arr[0] is thr, arr[1] is ail |
| 25 |
static volatile static int start_time[2]; |
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| 26 |
static volatile bool rc_available[2]; |
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| 28 |
static volatile int start_time[2]; |
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| 27 | 29 |
static volatile int rc_value[2]; |
| 28 |
static volatile bool rc_connected[2]; |
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| 29 | 30 |
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| 30 |
// Returns error code |
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| 31 |
int receiver_init() {
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attachInterrupt(THR_RECEIVER_INT, receiver_on_thr_interrupt, CHANGE); |
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| 33 |
attachInterrupt(AIL_RECEIVER_INT, receiver_on_ail_interrupt, CHANGE); |
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| 34 |
} |
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| 35 | 31 |
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| 36 | 32 |
// When our code gets really busy this will become inaccurate, |
| 37 | 33 |
// (i believe since micros gets shifted a bit) but for |
| 38 | 34 |
// the current application its easy to understand and works very well |
| 39 |
// Write code twice, look suspicious. Write code three times, refactor |
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| 40 |
// Aileron Interrupt |
|
| 41 | 35 |
// TODO if things start twitching, move to using registers directly. |
| 42 |
void receiver_on_ail_interrupt() {
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| 36 |
static void receiver_on_ail_interrupt() {
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| 43 | 37 |
if(digitalRead(AIL_RECEIVER_PIN) == HIGH) {
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| 44 |
start_time[1] = micros();
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| 38 |
start_time[AIL_INDEX] = micros();
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| 45 | 39 |
} else {
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if(start_time[1] && (rc_available[1] == 0)) {
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| 47 |
rc_value[1] = (int)(micros() - ulStartPeriod);
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start_time[1] = 0;
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rc_available[1] = 1;
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| 40 |
if(start_time[AIL_INDEX] && (rc_available[AIL_INDEX] == 0)) {
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rc_value[AIL_INDEX] = (int)(micros() - start_time[AIL_INDEX]);
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| 42 |
start_time[AIL_INDEX] = 0;
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| 43 |
rc_available[AIL_INDEX] = 1;
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| 50 | 44 |
} |
| 51 | 45 |
} |
| 52 | 46 |
} |
| 53 | 47 |
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| 54 |
void receiver_on_thr_interrupt() {
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| 48 |
static void receiver_on_thr_interrupt() {
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| 55 | 49 |
if(digitalRead(THR_RECEIVER_PIN) == HIGH) {
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start_time[0] = micros();
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| 50 |
start_time[THR_INDEX] = micros();
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| 57 | 51 |
} else {
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if(start_time[0] && (rc_available[0] == 0)) {
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rc_value[0] = (int)(micros() - ulStartPeriod);
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start_time[0] = 0;
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rc_available[0] = 1;
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| 52 |
if(start_time[THR_INDEX] && (rc_available[THR_INDEX] == 0)) {
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rc_value[THR_INDEX] = (int)(micros() - start_time[THR_INDEX]);
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start_time[THR_INDEX] = 0;
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rc_available[THR_INDEX] = 1;
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| 62 | 56 |
} |
| 63 | 57 |
} |
| 64 | 58 |
} |
| 65 | 59 |
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| 66 |
// Returns the value, bounded by proper limits |
|
| 67 |
int receiver_avail(int i) {
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| 68 |
return ; |
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// Returns error code |
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| 61 |
int receiver_init() {
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attachInterrupt(THR_RECEIVER_INT, receiver_on_thr_interrupt, CHANGE); |
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attachInterrupt(AIL_RECEIVER_INT, receiver_on_ail_interrupt, CHANGE); |
|
| 69 | 64 |
} |
| 70 | 65 |
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// Gets the angle without a dead zone |
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// Returns a value between 0 and 255, with no
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// movement being 128.
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| 74 |
// Maps this into ~0 to ~180, 90 being straight.
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int receiver_get_angle(int i) {
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// Index = 0 to check thr, index = 1 to check
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// Returns 0 to 180, with 90 being center.
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| 69 |
// TODO measure throttle positions.
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| 70 |
int receiver_get_angle(int index) {
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| 76 | 71 |
// Math to convert nThrottleIn to 0-180. |
| 77 |
bNewThrottleSignal = 0; |
|
| 78 |
return ((nThrottleIn-RIGHTMOST)*3)/17; |
|
| 72 |
int ret_val = (rc_value[index]-AIL_RIGHTMOST)*3/17; |
|
| 73 |
rc_available[index] = 0; |
|
| 74 |
return ret_val; |
|
| 79 | 75 |
} |
| 80 | 76 |
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