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Andrew Tridgell committed Sep 9, 2011
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72 changes: 72 additions & 0 deletions Tools/APM_radio_test/APM_radio_test.pde
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#include <avr/io.h>
#include <APM_RC.h> // ArduPilot Mega RC Library
/*
ArduPilotMega radio test tool
Authors: Doug Weibel, Jose Julio
*/


// GENERAL VARIABLE DECLARATIONS
// --------------------------------------------


/* Radio values
Channel assignments
1 Ailerons (rudder if no ailerons)
2 Elevator
3 Throttle
4 Rudder (if we have ailerons)
5 TBD
6 TBD
7 TBD
8 Mode
*/
int radio_in[8]; // current values from the transmitter - microseconds
float servo_out[] = {0,0,0,0,0,0,0};
unsigned long fast_loopTimer = 0; // current values to the servos - -45 to 45 degrees, except [3] is 0 to 100


void setup() {
Serial.begin(115200);
APM_RC.Init(); // APM Radio initialization
}


void loop()
{

// -----------------------------------------------------------------
if (millis()-fast_loopTimer > 199) {
fast_loopTimer = millis();

read_radio();

Serial.print("ch1: ");
Serial.print(radio_in[0]);
Serial.print(" ch2: ");
Serial.print(radio_in[1]);
Serial.print(" ch3: ");
Serial.print(radio_in[2]);
Serial.print(" ch4: ");
Serial.print(radio_in[3]);
Serial.print(" ch5: ");
Serial.print(radio_in[4]);
Serial.print(" ch6: ");
Serial.print(radio_in[5]);
Serial.print(" ch7: ");
Serial.print(radio_in[6]);
Serial.print(" ch8: ");
Serial.println(radio_in[7]);


}
}


void read_radio()
{

for (int y=0;y<8;y++) radio_in[y] = APM_RC.InputCh(y);

}
100 changes: 100 additions & 0 deletions Tools/ArduPilotMega_demo/ArduPilotMega_demo.pde
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//Realeased under really Creative Commons!
//This just a basic demo code...
//Reads and pulses the 8 channels...
//By Jordi Munoz
#include <avr/interrupt.h>

volatile unsigned int Start_Pulse =0;
volatile unsigned int Stop_Pulse =0;
volatile unsigned int Pulse_Width =0;

volatile int Test=0;
volatile int Test2=0;
volatile int Temp=0;
volatile int Counter=0;
volatile byte PPM_Counter=0;
volatile int PWM_RAW[8] = {2400,2400,2400,2400,2400,2400,2400,2400};
int All_PWM=1500;

long timer=0;
long timer2=0;

void setup()
{
Init_PWM1(); //OUT2&3
Init_PWM3(); //OUT6&7
Init_PWM5(); //OUT0&1
Init_PPM_PWM4(); //OUT4&5
Serial.begin(57600);

}
void loop()
{

//Switch low, forward the PPM
if(InputCh(5) <= 1250) //Reading channel 5 to change mode
{
OutputCh(0, InputCh(0));
OutputCh(1, InputCh(1));
OutputCh(2, InputCh(2));
OutputCh(3, InputCh(3));
OutputCh(4, InputCh(4));
OutputCh(5, InputCh(5));
OutputCh(6, InputCh(6));
OutputCh(7, InputCh(7));
}
else
{
//Switch High, Move servos
if(InputCh(5) >= 1750)
{
if((millis()- timer2) >= 20)
{
timer2=millis();
if(All_PWM >2100)
All_PWM=900;
else
All_PWM+=20;
}
}
//Switch in the midle, center all servos
else
{
All_PWM=1500;
}

OutputCh(0, All_PWM);
OutputCh(1, All_PWM);
OutputCh(2, All_PWM);
OutputCh(3, All_PWM);
OutputCh(4, All_PWM);
OutputCh(5, All_PWM);
OutputCh(6, All_PWM);
OutputCh(7, All_PWM);
}

//Printing all values.
if((millis()- timer) >= 250)
{
timer=millis();
Serial.print("Ch0:");
Serial.print(InputCh(0));
Serial.print(" Ch1:");
Serial.print(InputCh(1));
Serial.print(" Ch2:");
Serial.print(InputCh(2));
Serial.print(" Ch3:");
Serial.print(InputCh(3));
Serial.print(" Ch4:");
Serial.print(InputCh(4));
Serial.print(" Ch5:");
Serial.print(InputCh(5));
Serial.print(" Ch6:");
Serial.print(InputCh(6));
Serial.print(" Ch7:");
Serial.println(InputCh(7));
}
delay(20);
}


124 changes: 124 additions & 0 deletions Tools/ArduPilotMega_demo/Timers.pde
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void OutputCh(byte ch, int pwm)
{
pwm=constrain(pwm,900,2100);
pwm*=2;

switch(ch)
{
case 0: OCR5B=pwm; break; //ch0
case 1: OCR5C=pwm; break; //ch1
case 2: OCR1B=pwm; break; //ch2
case 3: OCR1C=pwm; break; //ch3
case 4: OCR4C=pwm; break; //ch4
case 5: OCR4B=pwm; break; //ch5
case 6: OCR3C=pwm; break; //ch6
case 7: OCR3B=pwm; break; //ch7
case 8: OCR5A=pwm; break; //ch8, PL3
case 9: OCR1A=pwm; break; //ch9, PB5
case 10: OCR3A=pwm; break; //ch10, PE3
}

}

int InputCh(byte ch)
{
return (PWM_RAW[ch]+600)/2;
}

void Init_PWM1(void)
{
pinMode(11,OUTPUT);
pinMode(12,OUTPUT);
pinMode(13,OUTPUT);

//Remember the registers not declared here remains zero by default...
TCCR1A =((1<<WGM11)|(1<<COM1A1)|(1<<COM1B1)|(1<<COM1C1)); //Please read page 131 of DataSheet, we are changing the registers settings of WGM11,COM1B1,COM1A1 to 1 thats all...
TCCR1B = (1<<WGM13)|(1<<WGM12)|(1<<CS11); //Prescaler set to 8, that give us a resolution of 2us, read page 134 of data sheet
OCR1A = 3000; //PB5, none
OCR1B = 3000; //PB6, OUT2
OCR1C = 3000; //PB7 OUT3
ICR1 = 40000; //50hz freq...Datasheet says (system_freq/prescaler)/target frequency. So (16000000hz/8)/50hz=40000,
}

void Init_PWM3(void)
{
pinMode(2,OUTPUT);
pinMode(3,OUTPUT);
pinMode(4,OUTPUT);

//Remember the registers not declared here remains zero by default...
TCCR3A =((1<<WGM31)|(1<<COM3A1)|(1<<COM3B1)|(1<<COM3C1)); //Please read page 131 of DataSheet, we are changing the registers settings of WGM11,COM1B1,COM1A1 to 1 thats all...
TCCR3B = (1<<WGM33)|(1<<WGM32)|(1<<CS31); //Prescaler set to 8, that give us a resolution of 2us, read page 134 of data sheet
OCR3A = 3000; //PE3, NONE
OCR3B = 3000; //PE4, OUT7
OCR3C = 3000; //PE5, OUT6
ICR3 = 40000; //50hz freq...Datasheet says (system_freq/prescaler)/target frequency. So (16000000hz/8)/50hz=40000,
}

void Init_PWM5(void)
{
pinMode(44,OUTPUT);
pinMode(45,OUTPUT);
pinMode(46,OUTPUT);

TCCR5A =((1<<WGM51)|(1<<COM5A1)|(1<<COM5B1)|(1<<COM5C1));
TCCR5B = (1<<WGM53)|(1<<WGM52)|(1<<CS51); //Prescaler set to 8
OCR5A = 3000; //PL3,
OCR5B = 3000; //PL4, OUT0
OCR5C = 3000; //PL5 OUT1
ICR5 = 40000;
//ICR5 = 43910; //So (16000000hz/8)/50hz=40000,
}

/*Note that timer4 is configured to used the Input capture for PPM decoding and to pulse two servos
OCR4A is used as the top counter*/
void Init_PPM_PWM4(void)
{
pinMode(49, INPUT);
pinMode(7,OUTPUT);
pinMode(8,OUTPUT);
//Remember the registers not declared here remains zero by default...
TCCR4A =((1<<WGM40)|(1<<WGM41)|(1<<COM4C1)|(1<<COM4B1)|(1<<COM4A1));
TCCR4B = ((1<<WGM43)|(1<<WGM42)|(1<<CS41)|(1<<ICES4)); //Prescaler set to 8, that give us a resolution of 2us, read page 134 of data sheet
OCR4A = 40000; ///50hz freq...Datasheet says (system_freq/prescaler)/target frequency. So (16000000hz/8)/50hz=40000,
//must be 50hz because is the servo standard (every 20 ms, and 1hz = 1sec) 1000ms/20ms=50hz, elementary school stuff...
OCR4B = 3000; //PH4, OUT5
OCR4C = 3000; //PH5, OUT4

TIMSK4 |= (1<<ICIE4); //Timer interrupt mask
sei();

}
/****************************************************
Interrupt Vector
****************************************************/
ISR(TIMER4_CAPT_vect)//interrupt.
{
if(((1<<ICES4)&TCCR4B) >= 0x01)
{
if(Start_Pulse>Stop_Pulse) //Checking if the Stop Pulse overflow the register, if yes i normalize it.
{
Stop_Pulse+=40000; //Nomarlizing the stop pulse.
}
Pulse_Width=Stop_Pulse-Start_Pulse; //Calculating pulse
if(Pulse_Width>5000) //Verify if this is the sync pulse
{
PPM_Counter=0; //If yes restart the counter
}
else
{
PWM_RAW[PPM_Counter]=Pulse_Width; //Saving pulse.
PPM_Counter++;
}
Start_Pulse=ICR4;
TCCR4B &=(~(1<<ICES4)); //Changing edge detector.
}
else
{
Stop_Pulse=ICR4; //Capturing time stop of the drop edge
TCCR4B |=(1<<ICES4); //Changing edge detector.
//TCCR4B &=(~(1<<ICES4));
}
//Counter++;
}
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