david.tahir/QuadMeUp_Crossbow
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Fixed missing constrain

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This commit is contained in:
Pawel Spychalski (DzikuVx)
2017-10-23 19:24:50 +02:00
parent 1d16fdd052
commit 974a31ad61
3 changed files with 30 additions and 18 deletions
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26
crossbow.ino
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@@ -1,8 +1,8 @@
// #define LORA_HARDWARE_SERIAL
#define LORA_HARDWARE_SPI
#define DEVICE_MODE_TX
// #define DEVICE_MODE_RX
// #define DEVICE_MODE_TX
#define DEVICE_MODE_RX
#define DEBUG_SERIAL
// #define DEBUG_PING_PONG
@@ -19,7 +19,7 @@
#define LORA32U4_RST_PIN 4
#define LORA32U4_DI0_PIN 7
int ppm[PPM_CHANNEL_COUNT] = {0};
int ppm[PPM_OUTPUT_CHANNEL_COUNT] = {0};
/*
* Main defines for device working in TX mode
@@ -207,7 +207,7 @@ void setup(void)
// display.display();
//initiallize default ppm values
for (int i = 0; i < PPM_CHANNEL_COUNT; i++)
for (int i = 0; i < PPM_OUTPUT_CHANNEL_COUNT; i++)
{
ppm[i] = PPM_CHANNEL_DEFAULT_VALUE;
}
@@ -267,7 +267,7 @@ ISR(TIMER1_COMPA_vect) { //leave this alone
if (state)
{ //start pulse
writePpmOutput(PPM_SIGNAL_POSITIVE_STATE);
OCR1A = PPM_PULSE_LENGTH * 2;
OCR1A = PPM_PULSE_LENGTH * PPM_OUTPUT_MULTIPLIER;
state = false;
}
else
@@ -278,16 +278,16 @@ ISR(TIMER1_COMPA_vect) { //leave this alone
writePpmOutput(!PPM_SIGNAL_POSITIVE_STATE);
state = true;
if (cur_chan_numb >= PPM_CHANNEL_COUNT)
if (cur_chan_numb >= PPM_OUTPUT_CHANNEL_COUNT)
{
cur_chan_numb = 0;
calc_rest = calc_rest + PPM_PULSE_LENGTH; //
OCR1A = (PPM_FRAME_LENGTH - calc_rest) * 2;
OCR1A = (PPM_FRAME_LENGTH - calc_rest) * PPM_OUTPUT_MULTIPLIER;
calc_rest = 0;
}
else
{
OCR1A = (ppm[cur_chan_numb] - PPM_PULSE_LENGTH) * 2;
OCR1A = (ppm[cur_chan_numb] - PPM_PULSE_LENGTH) * PPM_OUTPUT_MULTIPLIER;
calc_rest = calc_rest + ppm[cur_chan_numb];
cur_chan_numb++;
}
@@ -361,10 +361,18 @@ void loop(void)
qsp.protocolState == QSP_STATE_IDLE
)
{
// int count;
// while(ppmReader.get(count) != 0){ //print out the servo values
// Serial.print(ppmReader.get(count));
// Serial.print(" ");
// count++;
// }
// Serial.println("");
qsp.lastFrameTransmitedAt[QSP_FRAME_RC_DATA] = currentMillis;
qspClearPayload(&qsp);
encodeRcDataPayload(&qsp, &ppmReader, PPM_CHANNEL_COUNT);
encodeRcDataPayload(&qsp, &ppmReader, PPM_INPUT_CHANNEL_COUNT);
qsp.frameToSend = QSP_FRAME_RC_DATA;
transmitPayload = true;