robobuggy / arduino / RadioBuggyMega / receiver.c @ eb7af729
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/**
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* @file receiver.c
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* @brief Contains Code for dealing with RC Receiver
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* NOTE: AIL and THR are flipped.
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* AIL is on pin 2
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* THR is on pin 3
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*
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* @author Matt Sebek (msebek)
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* @author Zach Dawson (zsd)
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*/
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#include <Arduino.h> |
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#include "receiver.h" |
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#define AIL_LEFTMOST 2000 |
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#define AIL_RIGHTMOST 980 |
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#define AIL_CENTERMOST 1480 |
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#define THR_LEFTMOST -1 |
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#define THR_RIGHTMOST -1 |
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#define THR_CENTERMOST -1 |
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#define AIL_RECEIVER_PIN 2 |
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#define AIL_RECEIVER_INT 0 |
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#define THR_RECEIVER_PIN 3 |
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#define THR_RECEIVER_INT 1 |
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#define PWM_TIME 21800 |
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#define PWM_THRESH 130 |
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// Defined in receiver.h
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// #define THR_INDEX 0
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// #define AIL_INDEX 1
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// Note: arr[0] is thr, arr[1] is ail
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static volatile unsigned long up_switch_time[2]; |
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static volatile unsigned long down_switch_time[2]; |
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static volatile unsigned long rc_value[2]; |
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// NOTE THAT WE ARE ASSUMING:
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// Main Loop-length is shorter than PWM pulse length.
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// Otherwise, you could recieve stale values in your main loop.
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// Loop reading rc_values must set rc_available false after reading
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// When our code gets really busy this will become inaccurate,
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// (i believe since micros gets shifted a bit) but for
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// the current application its easy to understand and works very well
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// TODO if things start twitching, move to using registers directly.
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// TODO if this starts twitching, also micros has a resolution of 4us.
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static void receiver_on_ail_interrupt() { |
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if(digitalRead(AIL_RECEIVER_PIN) == HIGH) {
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// High Received
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if((micros() - up_switch_time[AIL_INDEX] > PWM_TIME - PWM_THRESH) &&
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(micros() - up_switch_time[AIL_INDEX] < PWM_TIME + PWM_THRESH)) { |
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// TODO this prevent an instantaneous start-up error, where the
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// above condition is true, and up_switch_time
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if((down_switch_time[AIL_INDEX] > up_switch_time[AIL_INDEX]) &&
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(rc_available[AIL_INDEX] == 0)) {
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rc_value[AIL_INDEX] = (down_switch_time[AIL_INDEX] - |
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up_switch_time[AIL_INDEX]); |
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rc_available[AIL_INDEX] = 1;
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if(rc_value[AIL_INDEX]/(PWM_TIME/10) >= 1 || rc_value[AIL_INDEX]/(PWM_TIME/21) == 0) |
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rc_available[AIL_INDEX] == 0;
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} |
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} |
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up_switch_time[AIL_INDEX] = micros(); |
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} else {
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// Low received
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if(up_switch_time[AIL_INDEX]) {
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down_switch_time[AIL_INDEX] = micros(); |
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} |
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} |
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} |
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static void receiver_on_thr_interrupt() { |
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if(digitalRead(THR_RECEIVER_PIN) == HIGH) {
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// High Received
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if((micros() - up_switch_time[THR_INDEX] > PWM_TIME - PWM_THRESH) &&
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(micros() - up_switch_time[THR_INDEX] < PWM_TIME + PWM_THRESH)) { |
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// TODO this prevent an instantaneous start-up error, where the
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// above condition is true, and up_switch_time
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if((down_switch_time[THR_INDEX] > up_switch_time[THR_INDEX]) &&
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(rc_available[THR_INDEX] == 0)) {
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rc_value[THR_INDEX] = (down_switch_time[THR_INDEX] - |
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up_switch_time[THR_INDEX]); |
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rc_available[THR_INDEX] = 1;
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if(rc_value[THR_INDEX]/(PWM_TIME/10) >= 1 || rc_value[THR_INDEX]/(PWM_TIME/21) == 0) |
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rc_available[THR_INDEX] == 0;
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} |
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} |
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up_switch_time[THR_INDEX] = micros(); |
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} else {
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// Low received
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if(up_switch_time[THR_INDEX]) {
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down_switch_time[THR_INDEX] = micros(); |
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} |
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} |
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} |
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// Returns error code
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int receiver_init() {
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up_switch_time[0] = 0; |
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up_switch_time[1] = 0; |
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down_switch_time[0] = 0; |
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down_switch_time[1] = 0; |
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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); |
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} |
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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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// TODO measure throttle positions.
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int receiver_get_angle(int index) { |
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// Math to convert nThrottleIn to 0-180.
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int ret_val = (int)(rc_value[index]-AIL_RIGHTMOST)*3/17; |
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rc_available[index] = 0;
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return ret_val;
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} |
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