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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
This commit is contained in:
timecop 2012-03-23 10:28:15 +00:00
parent be56a148f6
commit f39ed713cb
2 changed files with 1704 additions and 1692 deletions
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3378
obj/baseflight.hex
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File diff suppressed because it is too large Load Diff

18
src/drv_pwm.c
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@ -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;
}