radio/src/trainer.h

   1 /*
   2  * Copyright (C) OpenTX
   3  *
   4  * Based on code named
   5  *   th9x - http://code.google.com/p/th9x
   6  *   er9x - http://code.google.com/p/er9x
   7  *   gruvin9x - http://code.google.com/p/gruvin9x
   8  *
   9  * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
  10  *
  11  * This program is free software; you can redistribute it and/or modify
  12  * it under the terms of the GNU General Public License version 2 as
  13  * published by the Free Software Foundation.
  14  *
  15  * This program is distributed in the hope that it will be useful,
  16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  18  * GNU General Public License for more details.
  19  */
  20
  21 #ifndef _TRAINER_H_
  22 #define _TRAINER_H_
  23
  24 #include "dataconstants.h"
  25
  26 // Trainer input channels
  27 extern int16_t ppmInput[MAX_TRAINER_CHANNELS];
  28
  29 // Timer gets decremented in per10ms()
  30 #define PPM_IN_VALID_TIMEOUT 100 // 1s
  31 extern uint8_t ppmInputValidityTimer;
  32
  33 extern uint8_t currentTrainerMode;
  34 #define IS_TRAINER_INPUT_VALID() (ppmInputValidityTimer != 0)
  35
  36 void checkTrainerSignalWarning();
  37 void checkTrainerSettings();
  38 void forceResetTrainerSettings();
  39
  40 // Needs to be inlined to avoid slow function calls in ISR routines
  41 inline void captureTrainerPulses(uint16_t capture)
  42 {
  43   static uint16_t lastCapt = 0;
  44   static int8_t channelNumber = -1;
  45
  46   uint16_t val = (uint16_t)(capture - lastCapt) / 2;
  47   lastCapt = capture;
  48
  49   // We process ppmInput right here to make servo movement as smooth as possible
  50   //    while under trainee control
  51   //
  52   // G: Prioritize reset pulse. (Needed when less than 16 incoming pulses)
  53   //
  54   if (val > 4000 && val < 19000) {
  55     channelNumber = 0; // triggered
  56   }
  57   else {
  58     if (channelNumber >= 0 && channelNumber < MAX_TRAINER_CHANNELS) {
  59       if (val > 800 && val < 2200) {
  60         ppmInputValidityTimer = PPM_IN_VALID_TIMEOUT;
  61         ppmInput[channelNumber++] =
  62           // +-500 != 512, but close enough.
  63           (int16_t)(val - 1500) * (g_eeGeneral.PPM_Multiplier+10) / 10;
  64       }
  65       else {
  66         channelNumber = -1; // not triggered
  67       }
  68     }
  69   }
  70 }
  71
  72 #endif // _TRAINER_H_