121 lines
3.0 KiB
C++
121 lines
3.0 KiB
C++
#ifndef _RC_H_
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#define _RC_H_
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#define RC
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#include <PulsePosition.h>
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PulsePositionInput ppmIn;
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#define PPMREADPERIOD 20 //period for d4r-ii is 18ms
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static int count=0;
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#define PIN_PPM 9
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#define PPM_CHANNELS 8
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#define PPM_SAVE_MIN 950 //minimum allowed for valid data
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#define PPM_SAVE_MAX 2050 //maximum allowed for valid data
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#define PPM_MIN 1000
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#define PPM_MAX 2000
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#define PPM_MID 1500
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#define PPM_DEADBAND 5
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#define PPM_CHANNEL_THROTTLE 1
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#define PPM_CHANNEL_STEER 2
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#define PPM_CHANNEL_MODE 5
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float ppm[PPM_CHANNELS];
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unsigned long ppm_count_success=0;
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unsigned long ppm_count_fail=0;
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void initRC();
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void readPPM(unsigned long loopmillis);
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void printPPM();
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int16_t getRCThrottle();
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int16_t getRCSteer();
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uint8_t getRCMode(uint8_t modes);
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bool rc_fullcontrol_enabled=false; //full remote control. can be cancelled by button press
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bool rc_steer_enabled=false; //only rc steering
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void initRC() {
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ppmIn.begin(PIN_PPM);
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}
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void readPPM(unsigned long loopmillis) {
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int ppm_num = ppmIn.available();
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if (ppm_num > 0) {
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bool ppm_ok=true;
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float new_ppm[PPM_CHANNELS];
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if (ppm_num != PPM_CHANNELS) {
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ppm_ok=false;
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}else{
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for (int i=1; i <= ppm_num; i++) {
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float val=ppmIn.read(i);
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new_ppm[i-1]=val;
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if (val<PPM_SAVE_MIN || val>PPM_SAVE_MAX) {
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ppm_ok=false;
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}
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}
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}
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if (ppm_ok) {
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ppm_count_success+=1;
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std::copy(std::begin(new_ppm), std::end(new_ppm), std::begin(ppm));
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}else{
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ppm_count_fail+=1;
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}
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}
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}
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float getPPMSuccessrate() {
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float rate=ppm_count_success*1.0/(ppm_count_success+ppm_count_fail);
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if (ppm_count_success+ppm_count_fail>500) {
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ppm_count_success=0;
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ppm_count_fail=0;
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}
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return rate;
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}
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//Return value 0 - 1000
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int16_t getRCThrottle() {
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return constrain(map(ppm[PPM_CHANNEL_THROTTLE-1],PPM_MID+PPM_DEADBAND,PPM_MAX,0,1000), 0,1000);
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}
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int16_t getRCBrake() {
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return constrain(map(ppm[PPM_CHANNEL_THROTTLE-1],PPM_MID-PPM_DEADBAND,PPM_MIN,0,1000), 0,1000);
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}
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//Return value -1000 - 1000
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int16_t getRCSteer() {
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if (ppm[PPM_CHANNEL_STEER-1]>PPM_MID+PPM_DEADBAND){
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return constrain(map(ppm[PPM_CHANNEL_STEER-1],PPM_MID+PPM_DEADBAND,PPM_MAX,0,1000), 0,1000);
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}else if (ppm[PPM_CHANNEL_STEER-1]<PPM_MID-PPM_DEADBAND){
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return constrain(map(ppm[PPM_CHANNEL_STEER-1],PPM_MID-PPM_DEADBAND,PPM_MIN,0,-1000), -1000,0);
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}else{
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return 0;
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}
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}
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//Return descrete value for equidistant ranges. modes = number of ranges.
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uint8_t getRCMode(uint8_t modes) {
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float v=constrain(map(ppm[PPM_CHANNEL_MODE-1],PPM_MIN,PPM_MAX,0.0,1.0), 0.0,0.999);
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return uint8_t(v*modes);
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}
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void printPPM(unsigned long loopmillis){
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count = count + 1;
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Serial.print("ms :");
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Serial.print(count);
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Serial.print(" : ");
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for (int i=1; i <= PPM_CHANNELS; i++) {
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Serial.print(ppm[i-1]);
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Serial.print(" ");
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}
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Serial.println();
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}
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#endif |