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Code Issues Wiki Activity

Merge remote-tracking branch 'multiwii/master'

Browse source 
Conflicts:
	src/board.h
	src/drivers/adc_common.c
	src/drivers/pwm_common.c
	src/drivers/pwm_common.h
	src/main.c
	src/mw.c
	src/mw.h
	src/sensors.c
	src/utils.h
This commit is contained in:
Dominic Clifton 2014-05-03 22:48:41 +01:00
commit ee2140d324
10 changed files with 179 additions and 85 deletions
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30
src/drivers/pwm_common.c
View file

@ -261,6 +261,18 @@ static pwmPortData_t *pwmInConfig(uint8_t port, timerCCCallbackPtr callback, uin
return p;
}
static void failsafeCheck(uint8_t channel, uint16_t pulse)
{
static uint8_t goodPulses;
if (channel < 4 && pulse > failsafeThreshold)
goodPulses |= (1 << channel); // if signal is valid - mark channel as OK
if (goodPulses == 0x0F) { // If first four chanells have good pulses, clear FailSafe counter
goodPulses = 0;
failsafe->vTable->validDataReceived();
}
}
static void ppmCallback(uint8_t port, captureCompare_t capture)
{
captureCompare_t diff;
@ -268,7 +280,6 @@ static void ppmCallback(uint8_t port, captureCompare_t capture)
static captureCompare_t last = 0;
static uint8_t chan = 0;
static uint8_t GoodPulses;
last = now;
now = capture;
@ -277,17 +288,11 @@ static void ppmCallback(uint8_t port, captureCompare_t capture)
if (diff > 2700) { // Per http://www.rcgroups.com/forums/showpost.php?p=21996147&postcount=3960 "So, if you use 2.5ms or higher as being the reset for the PPM stream start, you will be fine. I use 2.7ms just to be safe."
chan = 0;
} else {
if (diff > 750 && diff < 2250 && chan < MAX_PPM_AND_PWM_INPUTS) { // 750 to 2250 ms is our 'valid' channel range
if (diff > PULSE_MIN && diff < PULSE_MAX && chan < MAX_PPM_AND_PWM_INPUTS) { // 750 to 2250 ms is our 'valid' channel range
captures[chan] = diff;
if (chan < 4 && diff > failsafeThreshold)
GoodPulses |= (1 << chan); // if signal is valid - mark channel as OK
if (GoodPulses == 0x0F) { // If first four channels have good pulses, clear FailSafe counter
GoodPulses = 0;
failsafe->vTable->validDataReceived();
}
failsafeCheck(chan, diff);
}
chan++;
failsafe->vTable->reset();
}
}
@ -301,12 +306,13 @@ static void pwmCallback(uint8_t port, captureCompare_t capture)
pwmPorts[port].fall = capture;
// compute capture
pwmPorts[port].capture = pwmPorts[port].fall - pwmPorts[port].rise;
captures[pwmPorts[port].channel] = pwmPorts[port].capture;
if (pwmPorts[port].capture > PULSE_MIN && pwmPorts[port].capture < PULSE_MAX) { // valid pulse width
captures[pwmPorts[port].channel] = pwmPorts[port].capture;
failsafeCheck(pwmPorts[port].channel, pwmPorts[port].capture);
}
// switch state
pwmPorts[port].state = 0;
pwmICConfig(timerHardware[port].tim, timerHardware[port].channel, TIM_ICPolarity_Rising);
// reset failsafe
failsafe->vTable->reset();
}
}