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
View File

@@ -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;

12
qsp.cpp
View File

@@ -3,7 +3,7 @@
#include <PPMReader.h>
void qspDecodeRcDataFrame(QspConfiguration_t *qsp, int output[]) {
int temporaryPpmOutput[PPM_CHANNEL_COUNT] = {0};
int temporaryPpmOutput[PPM_OUTPUT_CHANNEL_COUNT] = {0};
//TODO fix it, baby :)
temporaryPpmOutput[0] = (uint16_t) (((uint16_t) qsp->payload[0] << 2) & 0x3fc) | ((qsp->payload[1] >> 6) & 0x03);
@@ -36,7 +36,7 @@ void qspDecodeRcDataFrame(QspConfiguration_t *qsp, int output[]) {
/*
* Copy tremporary to real output
*/
for (uint8_t i = 0; i < PPM_CHANNEL_COUNT; i++) {
for (uint8_t i = 0; i < PPM_OUTPUT_CHANNEL_COUNT; i++) {
output[i] = temporaryPpmOutput[i];
}
}
@@ -81,9 +81,11 @@ void encodeRcDataPayload(QspConfiguration_t *qsp, PPMReader *ppmSource, uint8_t
{
for (uint8_t i = 0; i < noOfChannels; i++)
{
uint16_t channelValue10 = map(ppmSource->get(i), 1000, 2000, 0, 1000) & 0x03ff;
uint8_t channelValue8 = map(ppmSource->get(i), 1000, 2000, 0, 255) & 0xff;
uint8_t channelValue4 = map(ppmSource->get(i), 1000, 2000, 0, 15) & 0x0f;
int cV = constrain(ppmSource->get(i), 1000, 2000);
uint16_t channelValue10 = map(cV, 1000, 2000, 0, 1000) & 0x03ff;
uint8_t channelValue8 = map(cV, 1000, 2000, 0, 255) & 0xff;
uint8_t channelValue4 = map(cV, 1000, 2000, 0, 15) & 0x0f;
if (i < 4)
{

10
variables.h
View File

@@ -4,10 +4,8 @@
#define UART_SPEED 57600
#define E45_TTL_100_UART_DOWNTIME 30
#define PPM_CHANNEL_COUNT 10
#define RX_RX_HEALTH_FRAME_RATE 2000
#define TX_RC_FRAME_RATE 50 //ms
#define TX_RC_FRAME_RATE 1000 //ms
#define RX_FAILSAFE_DELAY (TX_RC_FRAME_RATE * 4)
#define TX_PING_RATE 2000
@@ -54,9 +52,13 @@ enum debugConfigFlags {
#define PPM_INPUT_PIN 0 // Has to be one of Interrupt pins
#define PPM_INPUT_INTERRUPT 2 // For Pro Micro 1, For Pro Mini 0
#define PPM_INPUT_CHANNEL_COUNT 10
#define PPM_OUTPUT_CHANNEL_COUNT 10
#define PPM_CHANNEL_DEFAULT_VALUE 1500 //set the default servo value
#define PPM_FRAME_LENGTH 22500 //set the PPM frame length in microseconds (1ms = 1000µs)
#define PPM_FRAME_LENGTH 30500 //set the PPM frame length in microseconds (1ms = 1000µs)
#define PPM_PULSE_LENGTH 300 //set the pulse length
#define PPM_OUTPUT_MULTIPLIER 1 //1 for 8MHz RX, 2 for 16MHz RX
#define PPM_SIGNAL_POSITIVE_STATE 1 //set polarity of the pulses: 1 is positive, 0 is negative
#define PPM_OUTPUT_PIN 10 //set PPM signal output pin on the arduino