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Code Issues Wiki Activity

Cleaned up RX initialisation. Updated Spektrum RX code to support 12

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channels when using Spektrum 2048 - untested.  Renamed and extracted
core_t.numRCChannels to rxConfig.channelCount so that future commits can
clean up core_t further since core_t contains completely unrelated
properties.
This commit is contained in:
Dominic Clifton 2014-04-18 17:25:53 +01:00
parent d777bac39d
commit f68fc17627
16 changed files with 137 additions and 74 deletions
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76
src/rx_common.c
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@ -9,47 +9,81 @@
#include "rx_common.h"
#include "config.h"
#include "drivers/pwm_common.h"
#include "rx_pwm.h"
#include "rx_sbus.h"
#include "rx_spektrum.h"
#include "rx_sumd.h"
const char rcChannelLetters[] = "AERT1234";
int16_t lookupPitchRollRC[PITCH_LOOKUP_LENGTH]; // lookup table for expo & RC rate PITCH+ROLL
int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH]; // lookup table for expo & mid THROTTLE
int16_t rcData[RC_CHANS]; // interval [1000;2000]
int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
#define PPM_AND_PWM_SAMPLE_COUNT 4
rcReadRawDataPtr rcReadRawFunc = NULL; // receive data from default (pwm/ppm) or additional (spek/sbus/?? receiver drivers)
uint16_t pwmReadRawRC(rxConfig_t *rxConfig, uint8_t chan)
rxRuntimeConfig_t rxRuntimeConfig;
void rxInit(rxConfig_t *rxConfig)
{
uint16_t data;
uint8_t i;
data = pwmRead(rxConfig->rcmap[chan]);
if (data < 750 || data > 2250)
data = rxConfig->midrc;
for (i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
rcData[i] = rxConfig->midrc;
}
return data;
if (feature(FEATURE_SERIALRX)) {
serialRxInit(rxConfig);
} else {
pwmRxInit(&rxRuntimeConfig, &rcReadRawFunc);
}
}
void serialRxInit(rxConfig_t *rxConfig)
{
switch (rxConfig->serialrx_type) {
case SERIALRX_SPEKTRUM1024:
case SERIALRX_SPEKTRUM2048:
spektrumInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
break;
case SERIALRX_SBUS:
sbusInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
break;
case SERIALRX_SUMD:
sumdInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
break;
}
}
void computeRC(rxConfig_t *rxConfig)
void computeRC(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
{
uint8_t chan;
if (feature(FEATURE_SERIALRX)) {
for (chan = 0; chan < 8; chan++)
rcData[chan] = rcReadRawFunc(rxConfig, chan);
for (chan = 0; chan < MAX_SUPPORTED_RC_PPM_AND_PWM_CHANNEL_COUNT; chan++)
rcData[chan] = rcReadRawFunc(rxConfig, rxRuntimeConfig, chan);
} else {
static int16_t rcData4Values[8][4], rcDataMean[8];
static uint8_t rc4ValuesIndex = 0;
static int16_t rcSamples[MAX_SUPPORTED_RC_PPM_AND_PWM_CHANNEL_COUNT][PPM_AND_PWM_SAMPLE_COUNT], rcDataMean[MAX_SUPPORTED_RC_PPM_AND_PWM_CHANNEL_COUNT];
static uint8_t rcSampleIndex = 0;
uint8_t a;
rc4ValuesIndex++;
for (chan = 0; chan < 8; chan++) {
rcData4Values[chan][rc4ValuesIndex % 4] = rcReadRawFunc(rxConfig, chan);
rcDataMean[chan] = 0;
for (a = 0; a < 4; a++)
rcDataMean[chan] += rcData4Values[chan][a];
rcSampleIndex++;
uint8_t currentSampleIndex = rcSampleIndex % PPM_AND_PWM_SAMPLE_COUNT;
for (chan = 0; chan < MAX_SUPPORTED_RC_PPM_AND_PWM_CHANNEL_COUNT; chan++) {
// sample the channel
rcSamples[chan][currentSampleIndex] = rcReadRawFunc(rxConfig, rxRuntimeConfig, chan);
// compute the average of recent samples
rcDataMean[chan] = 0;
for (a = 0; a < PPM_AND_PWM_SAMPLE_COUNT; a++)
rcDataMean[chan] += rcSamples[chan][a];
rcDataMean[chan] = (rcDataMean[chan] + 2) / PPM_AND_PWM_SAMPLE_COUNT;
rcDataMean[chan] = (rcDataMean[chan] + 2) / 4;
if (rcDataMean[chan] < rcData[chan] - 3)
rcData[chan] = rcDataMean[chan] + 2;
if (rcDataMean[chan] > rcData[chan] + 3)