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Temprary table used during PPM decoding

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This commit is contained in:
Pawel Spychalski
2017-10-05 09:43:59 +02:00
parent 6497845aec
commit 1632baccc8
2 changed files with 91 additions and 23 deletions
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104
crossbow.ino
View File

@@ -26,6 +26,8 @@ PPMReader ppmReader(PPM_INPUT_PIN, PPM_INPUT_INTERRUPT);
#define OLED_RESET 4
Adafruit_SSD1306 display(OLED_RESET);
int ppm[PPM_CHANNEL_COUNT] = {0};
#endif
/*
@@ -49,37 +51,43 @@ void qspClearPayload() {
qspPayloadLength = 0;
}
int ppmOutput[PPM_CHANNEL_COUNT] = {0};
void qspDecodeRcDataFrame() {
int temporaryPpmOutput[PPM_CHANNEL_COUNT] = {0};
//TODO fix it, baby :)
ppmOutput[0] = (uint16_t) (((uint16_t) qspPayload[0] << 2) & 0x3fc) | ((qspPayload[1] >> 6) & 0x03);
ppmOutput[1] = (uint16_t) (((uint16_t) qspPayload[1] << 4) & 0x3f0) | ((qspPayload[2] >> 4) & 0x0F);
ppmOutput[2] = (uint16_t) (((uint16_t) qspPayload[2] << 6) & 0x3c0) | ((qspPayload[3] >> 2) & 0x3F);
ppmOutput[3] = (uint16_t) (((uint16_t) qspPayload[3] << 8) & 0x300) | ((qspPayload[4] >> 2) & 0xFF);
ppmOutput[4] = qspPayload[5];
ppmOutput[5] = qspPayload[6];
ppmOutput[6] = (qspPayload[7] >> 4) & 0b00001111;
ppmOutput[7] = qspPayload[7] & 0b00001111;
ppmOutput[8] = (qspPayload[8] >> 4) & 0b00001111;
ppmOutput[9] = qspPayload[8] & 0b00001111;
temporaryPpmOutput[0] = (uint16_t) (((uint16_t) qspPayload[0] << 2) & 0x3fc) | ((qspPayload[1] >> 6) & 0x03);
temporaryPpmOutput[1] = (uint16_t) (((uint16_t) qspPayload[1] << 4) & 0x3f0) | ((qspPayload[2] >> 4) & 0x0F);
temporaryPpmOutput[2] = (uint16_t) (((uint16_t) qspPayload[2] << 6) & 0x3c0) | ((qspPayload[3] >> 2) & 0x3F);
temporaryPpmOutput[3] = (uint16_t) (((uint16_t) qspPayload[3] << 8) & 0x300) | ((qspPayload[4] >> 2) & 0xFF);
temporaryPpmOutput[4] = qspPayload[5];
temporaryPpmOutput[5] = qspPayload[6];
temporaryPpmOutput[6] = (qspPayload[7] >> 4) & 0b00001111;
temporaryPpmOutput[7] = qspPayload[7] & 0b00001111;
temporaryPpmOutput[8] = (qspPayload[8] >> 4) & 0b00001111;
temporaryPpmOutput[9] = qspPayload[8] & 0b00001111;
//10bit channels
ppmOutput[0] = map(ppmOutput[0], 0, 1000, 1000, 2000);
ppmOutput[1] = map(ppmOutput[1], 0, 1000, 1000, 2000);
ppmOutput[2] = map(ppmOutput[2], 0, 1000, 1000, 2000);
ppmOutput[3] = map(ppmOutput[3], 0, 1000, 1000, 2000);
temporaryPpmOutput[0] = map(temporaryPpmOutput[0], 0, 1000, 1000, 2000);
temporaryPpmOutput[1] = map(temporaryPpmOutput[1], 0, 1000, 1000, 2000);
temporaryPpmOutput[2] = map(temporaryPpmOutput[2], 0, 1000, 1000, 2000);
temporaryPpmOutput[3] = map(temporaryPpmOutput[3], 0, 1000, 1000, 2000);
//8bit channels
ppmOutput[4] = map(ppmOutput[4], 0, 0xff, 1000, 2000);
ppmOutput[5] = map(ppmOutput[5], 0, 0xff, 1000, 2000);
temporaryPpmOutput[4] = map(temporaryPpmOutput[4], 0, 0xff, 1000, 2000);
temporaryPpmOutput[5] = map(temporaryPpmOutput[5], 0, 0xff, 1000, 2000);
//4bit channels
ppmOutput[6] = map(ppmOutput[6], 0, 0x0f, 1000, 2000);
ppmOutput[7] = map(ppmOutput[7], 0, 0x0f, 1000, 2000);
ppmOutput[8] = map(ppmOutput[8], 0, 0x0f, 1000, 2000);
ppmOutput[9] = map(ppmOutput[9], 0, 0x0f, 1000, 2000);
temporaryPpmOutput[6] = map(temporaryPpmOutput[6], 0, 0x0f, 1000, 2000);
temporaryPpmOutput[7] = map(temporaryPpmOutput[7], 0, 0x0f, 1000, 2000);
temporaryPpmOutput[8] = map(temporaryPpmOutput[8], 0, 0x0f, 1000, 2000);
temporaryPpmOutput[9] = map(temporaryPpmOutput[9], 0, 0x0f, 1000, 2000);
/*
* Copy tremporary to real output
*/
for (uint8_t i = 0; i < PPM_CHANNEL_COUNT; i++) {
ppm[i] = temporaryPpmOutput[i];
}
}
void qspDecodeIncomingFrame(uint8_t incomingByte) {
@@ -230,6 +238,24 @@ void setup(void) {
display.clearDisplay();
display.display();
//initiallize default ppm values
for(int i=0; i<CHANNEL_NUMBER; i++){
ppm[i]= CHANNEL_DEFAULT_VALUE;
}
pinMode(sigPin, OUTPUT);
digitalWrite(sigPin, !onState); //set the PPM signal pin to the default state (off)
cli();
TCCR1A = 0; // set entire TCCR1 register to 0
TCCR1B = 0;
OCR1A = 100; // compare match register, change this
TCCR1B |= (1 << WGM12); // turn on CTC mode
TCCR1B |= (1 << CS11); // 8 prescaler: 0,5 microseconds at 16mhz
TIMSK1 |= (1 << OCIE1A); // enable timer compare interrupt
sei();
#endif
}
@@ -275,6 +301,40 @@ void encodeRcDataPayload(PPMReader* ppmSource, uint8_t noOfChannels) {
#endif
#ifdef DEVICE_MODE_RX
ISR(TIMER1_COMPA_vect){ //leave this alone
static boolean state = true;
TCNT1 = 0;
if (state) { //start pulse
digitalWrite(sigPin, onState);
OCR1A = PULSE_LENGTH * 2;
state = false;
} else{ //end pulse and calculate when to start the next pulse
static byte cur_chan_numb;
static unsigned int calc_rest;
digitalWrite(sigPin, !onState);
state = true;
if(cur_chan_numb >= CHANNEL_NUMBER){
cur_chan_numb = 0;
calc_rest = calc_rest + PULSE_LENGTH;//
OCR1A = (FRAME_LENGTH - calc_rest) * 2;
calc_rest = 0;
}
else{
OCR1A = (ppm[cur_chan_numb] - PULSE_LENGTH) * 2;
calc_rest = calc_rest + ppm[cur_chan_numb];
cur_chan_numb++;
}
}
}
#endif
void loop(void) {
bool transmitPayload = false;

8
variables.h
View File

@@ -26,3 +26,11 @@ enum dataStates {
PAYLOAD_RECEIVED,
CRC_RECEIVED
};
#define CHANNEL_NUMBER 12 //set the number of chanels
#define CHANNEL_DEFAULT_VALUE 1500 //set the default servo value
#define FRAME_LENGTH 22500 //set the PPM frame length in microseconds (1ms = 1000µs)
#define PULSE_LENGTH 300 //set the pulse length
#define onState 1 //set polarity of the pulses: 1 is positive, 0 is negative
#define sigPin 10 //set PPM signal output pin on the arduino