From f39ed713cb7b8dc60942d158a5a0ff8f7637376a Mon Sep 17 00:00:00 2001 From: timecop Date: Fri, 23 Mar 2012 10:28:15 +0000 Subject: [PATCH] cancel throttle calibration if any RC signal is detected git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@124 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61 --- obj/baseflight.hex | 3378 ++++++++++++++++++++++---------------------- src/drv_pwm.c | 18 +- 2 files changed, 1704 insertions(+), 1692 deletions(-) diff --git a/obj/baseflight.hex b/obj/baseflight.hex index 66fc97d0f..b5769643e 100644 --- a/obj/baseflight.hex +++ b/obj/baseflight.hex @@ -1,20 +1,20 @@ :020000040800F2 -:10000000A0170020E5880008258900082789000836 -:10001000298900082B8900082D89000800000000AC -:100020000000000000000000000000002F89000810 -:100030003189000800000000338900080B5F0008C8 -:100040003789000837890008378900083789000890 -:100050003789000837890008378900083789000880 -:100060003789000837890008378900083789000870 -:100070003789000837890008D161000837890008EE 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--- a/src/drv_pwm.c +++ b/src/drv_pwm.c @@ -48,6 +48,7 @@ static struct PWM_State { static TIM_ICInitTypeDef TIM_ICInitStructure = { 0, }; static bool usePPMFlag = false; static uint8_t numOutputChannels = 0; +static volatile bool rcActive = false; void TIM2_IRQHandler(void) { @@ -72,6 +73,7 @@ static void ppmIRQHandler(TIM_TypeDef *tim) if (TIM_GetITStatus(TIM2, TIM_IT_CC1) == SET) { last = now; now = TIM_GetCapture1(TIM2); + rcActive = true; } TIM_ClearITPendingBit(TIM2, TIM_IT_CC1); @@ -103,6 +105,7 @@ static void pwmIRQHandler(TIM_TypeDef *tim) if (channel.tim == tim && (TIM_GetITStatus(tim, channel.cc) == SET)) { TIM_ClearITPendingBit(channel.tim, channel.cc); + rcActive = true; switch (channel.channel) { case TIM_Channel_1: @@ -151,14 +154,15 @@ static void pwmIRQHandler(TIM_TypeDef *tim) bool pwmInit(bool usePPM, bool useServos, bool useDigitalServos) { - uint8_t i, val; - uint16_t c; - bool throttleCal = true; GPIO_InitTypeDef GPIO_InitStructure; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_OCInitTypeDef TIM_OCInitStructure; NVIC_InitTypeDef NVIC_InitStructure; + uint8_t i, val; + uint16_t c; + bool throttleCal = true; + // Inputs // RX1 TIM2_CH1 PA0 [also PPM] [also used for throttle calibration] @@ -177,7 +181,7 @@ bool pwmInit(bool usePPM, bool useServos, bool useDigitalServos) // PWM4 TIM4_CH2 PB7 [also I2C1_SDA] // PWM5 TIM4_CH3 PB8 // PWM6 TIM4_CH4 PB9 - + // automatic throttle calibration detection: PA0 to ground via bindplug // Configure TIM2_CH1 for input GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; @@ -350,6 +354,12 @@ bool pwmInit(bool usePPM, bool useServos, bool useDigitalServos) TIM_Cmd(TIM3, ENABLE); TIM_CtrlPWMOutputs(TIM3, ENABLE); } + + // throttleCal check part 2: delay 50ms, check if any RC pulses have been received + delay(50); + // if rc is on, it was set, check if rc is alive. if it is, cancel. + if (rcActive) + throttleCal = false; return throttleCal; }