{
int channels; // How many channels should PPM generate for this model ...
float stick[8]; // The (potentially recalc'ed) value of stick/input channel.
+ int raw[8];
boolean rev[8];
int dr[8]; // The Dual-rate array uses magic numbers :P
/* dr[0] = Input channel #1 of 2 for D/R switch #1. 0 means off, 1-4 valid values.
// The timing here (and/or in the ISR) needs to be tweaked to provide valid
// RC PPM signals accepted by standard RC RX'es and the Microcopter...
-#define framelength 21500 // Max length of frame
-#define seplength 400 // Lenght of a channel separator
-#define chmax 1700 // Max lenght of channel pulse
-#define chmin 600 // Min length of channel
+#define framelength 21000 // Max length of frame
+#define seplength 300 // Lenght of a channel separator
+#define chmax 1550 // Max lenght of channel pulse
+#define chmin 620 // Min length of channel
#define chwidht (chmax - chmin)// Useable time of channel pulse
// ----------------- Menu/IU related stuffs --------------------
Serial.println("Starting....");
delay(500);
read_settings();
- scan_keys();
- if ( keys[KEY_UP])
- calibrate();
pinMode(A5, OUTPUT); // PPM output pin
do_channel = false;
// Unfortunately the interrupt mode is unusable in this scenario, but digital I/O works :P
pinMode(A2, INPUT);
digitalWrite(A2, HIGH);
+ scan_keys();
+ if ( !keys[KEY_UP])
+ calibrate();
// Debugging: how long does the main loop take on avg...
t = micros();
// and this "default model values" should probably be moved
// out to a section of read_settings when handling "new model", or
// to a separate model_defaults function...
- model.channels = 8;
+ model.channels = 6;
model.rev[0] = model.rev[1] = model.rev[2] = model.rev[3] =
model.rev[4] = model.rev[5] = model.rev[6] = model.rev[7] = false;
model.dr[0] = model.dr[1] = model.dr[2] = model.dr[3] = 0;
void calibrate()
{
int i, r0, r1, r2, adc_in;
- int calcount = 0;
int num_calibrations = 200;
lcd.clear();
lcd.print("their extremes..");
Serial.print("Calibration. Move all controls to their extremes.");
- for (i=0; i< MAX_INPUTS; i++) {
+ for (i=0; i<MAX_INPUTS; i++) {
input_cal.min[i] = 1024;
input_cal.max[i] = 0;
}
- while ( calcount <= num_calibrations )
+ while ( num_calibrations-- )
{
- for (i=0; i<=MAX_INPUTS; i++) {
+ for (i=0; i<MAX_INPUTS; i++) {
mplx_select(i);
adc_in = analogRead(0);
}
delay(10);
}
-
- calcount++;
}
// TODO: WILL need to do center-point calibration after min-max...
void process_inputs(void )
{
- int current_input, r0, r1, r2, adc_in;
- for (current_input=0; current_input<=7; current_input++) {
+ int current_input, adc_in, fact;
+ float min, max;
+
+ for (current_input=0; current_input<MAX_INPUTS; current_input++) {
mplx_select(current_input);
adc_in = analogRead(0);
- // TODO: New format on stick values
+ model.raw[current_input] = adc_in;
+ // New format on stick values
+ if ( adc_in < input_cal.center[current_input] )
+ {
+ max = input_cal.min[current_input];
+ min = input_cal.center[current_input];
+ fact = -100;
+ }
+ else
+ {
+ min = input_cal.center[current_input];
+ max = input_cal.max[current_input];
+ fact = 100;
+ }
+ model.stick[current_input] = fact * ((float)adc_in - min ) / (max - min);
+ if ( model.rev[current_input] ) model.stick[current_input] *= -1;
+
+ // Old format on stick values...
+ /*
model.stick[current_input] = ((float)adc_in - (float)input_cal.min[current_input]) / (float)(input_cal.max[current_input]-input_cal.min[current_input]);
if ( model.rev[current_input] ) model.stick[current_input] = 1.0f - model.stick[current_input];
+ */
+
+ // Dual-rate calculation :D
+ // This is very repetitive code. It should be fast, but it may waste code-space.
+ float dr_val;
+ // Test to see if dualrate-switch #1 applies to channel...
+ if ( ( current_input == ( model.dr[0]-1) ) || ( current_input == ( model.dr[1]-1) ) )
+ {
+ if ( !keys[KEY_DR1] )
+ dr_val = ((float)model.dr[4])/100.0;
+ else
+ dr_val = ((float)model.dr[5])/100.0;
+
+ model.stick[current_input] *= dr_val;
+ }
+ else
+ // Test to see if dualrate-switch #1 applies to channel...
+ if ( ( current_input == ( model.dr[2]-1) ) || ( current_input == ( model.dr[3]-1) ) )
+ {
+ if ( !keys[KEY_DR1] )
+ dr_val = ((float)model.dr[6])/100.0;
+ else
+ dr_val = ((float)model.dr[7])/100.0;
+
+ model.stick[current_input] *= dr_val;
+ }
}
}
if ( do_channel )
{
set_ppm_output( HIGH );
- // TODO: New format on stick values
- long next_timer = (( chwidht * model.stick[cchannel] ) + chmin);
+
+ // New format on stick values
+ // model.stick contains percentages, -100% to 100% in float. To make the timer-handling
+ // here as simple as possible. We want to calc the channel value as a "ratio-value",
+ // a float in the range 0..1.0. So, by moving the lower bound to 0, then cutting the
+ // range in half, and finally dividing by 100, we should get the ratio value.
+ // Some loss of presicion occurs, perhaps the algo' should be reconsidered :P
+ long next_timer = (( chwidht * ((model.stick[cchannel]+100)/200) ) + chmin);
// Do sanity-check of next_timer compared to chmax ...
while ( chmax < next_timer ) next_timer--;
+ while ( next_timer < chmin ) next_timer++;
sum += next_timer;
// Done with channel separator and value,
{
int current_input;
for (current_input=0; current_input<=7; current_input++) {
- // TODO: New format on stick values
- int v = (int)(model.stick[current_input] * 100);
Serial.print("Input #");
Serial.print(current_input);
- Serial.print(" value: ");
- Serial.print(model.stick[current_input]);
Serial.print(" pct: ");
- Serial.print(v);
+ Serial.print(model.stick[current_input]);
+ Serial.print(" raw value: ");
+ Serial.print(model.raw[current_input]);
Serial.print(" min: ");
Serial.print(input_cal.min[current_input]);
Serial.print(" max: ");
lcd.print(" ");
lcd.setCursor(col, row);
// Display uses percents, while PPM uses ratio....
- // TODO: New format on stick values
- int v = (int)(model.stick[current_input] * 100);
- lcd.print(v);
+ // New format on stick values
+ lcd.print( (int)model.stick[current_input] );
}
break;
git.defcon.no / rctxduino / commitdiff