radio/src/trainer_input.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_INPUT_H_
  22 #define _TRAINER_INPUT_H_
  23
  24 #include "opentx.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 #define IS_TRAINER_INPUT_VALID() (ppmInputValidityTimer != 0)
  34
  35 #if defined(CPUARM)
  36 void checkTrainerSignalWarning();
  37 #else
  38 #define checkTrainerSignalWarning()
  39 #endif
  40
  41 // Needs to be inlined to avoid slow function calls in ISR routines
  42 inline void captureTrainerPulses(uint16_t capture)
  43 {
  44   static uint16_t lastCapt = 0;
  45   static int8_t channelNumber = -1;
  46
  47   uint16_t val = (uint16_t)(capture - lastCapt) / 2;
  48   lastCapt = capture;
  49
  50   // We process ppmInput right here to make servo movement as smooth as possible
  51   //    while under trainee control
  52   //
  53   // G: Prioritize reset pulse. (Needed when less than 16 incoming pulses)
  54   //
  55   if (val > 4000 && val < 19000) {
  56     channelNumber = 0; // triggered
  57   }
  58   else {
  59     if (channelNumber >= 0 && channelNumber < MAX_TRAINER_CHANNELS) {
  60       if (val > 800 && val < 2200) {
  61         ppmInputValidityTimer = PPM_IN_VALID_TIMEOUT;
  62         ppmInput[channelNumber++] =
  63           // +-500 != 512, but close enough.
  64           (int16_t)(val - 1500) * (g_eeGeneral.PPM_Multiplier+10) / 10;
  65       }
  66       else {
  67         channelNumber = -1; // not triggered
  68       }
  69     }
  70   }
  71 }
  72
  73 #endif // _TRAINER_INPUT_H_