void PPM_ISR() {
static unsigned int state = PPM_NB_CHANNEL;
static unsigned int last;
unsigned int now = T0CR2;
unsigned int length = now - last;
last = now;
watchdog_set_time(WATCHDOG_CHANNEL_PPM);
if (state == PPM_NB_CHANNEL) {
if (length > SYS_TICS_OF_USEC(PPM_SYNC_MIN_LEN) && length < SYS_TICS_OF_USEC(PPM_SYNC_MAX_LEN)) {
state = 0;
}
else{
ppm_valid = 0;
}
}
else {
if (length > SYS_TICS_OF_USEC(PPM_DATA_MIN_LEN) && length < SYS_TICS_OF_USEC(PPM_DATA_MAX_LEN)) {
ppm_pulses[state] = (int)length;
state++;
if (state == PPM_NB_CHANNEL) {
ppm_valid = 1;
}
}
else{
state = PPM_NB_CHANNEL;
ppm_valid = 0;
}
}
}
void ppm_init(void){
/* select pin for capture */
PINSEL0 |= 2 << 12;
/* enable capture 0.2 on falling edge + trigger interrupt */
T0CCR = TCCR_CR2_F | TCCR_CR2_I;
int i;
for(i=0;i<PPM_NB_CHANNEL;i++){
ppm_pulses[i]=SYS_TICS_OF_USEC(1500);
}
ppm_valid = 0;
}
#include "csc_servos.h"
#include "LPC21xx.h"
#include "std.h"
#include "sys_time.h"
#include "firmwares/rotorcraft/actuators.h"
#include "airframe.h"
#include ACTUATORS
#define CSC_SERVOS_NB 4
static uint32_t csc_servos_rng[] = {SYS_TICS_OF_USEC(SERVO_S1_MAX-SERVO_S1_MIN),
SYS_TICS_OF_USEC(SERVO_S2_MAX-SERVO_S2_MIN),
SYS_TICS_OF_USEC(SERVO_S3_MAX-SERVO_S3_MIN),
SYS_TICS_OF_USEC(SERVO_S4_MAX-SERVO_S4_MIN)};
static uint32_t csc_servos_min[] = {SYS_TICS_OF_USEC(SERVO_S1_MIN),
SYS_TICS_OF_USEC(SERVO_S2_MIN),
SYS_TICS_OF_USEC(SERVO_S3_MIN),
SYS_TICS_OF_USEC(SERVO_S4_MIN)};
void csc_servos_init(void)
{
actuators_init();
}
/* val == 0 literally mean off, otherwise, val 1-255 are continuous angle */
void csc_servo_normalized_set(uint8_t id, uint16_t val)
{
if(id > 3) return;
if(val == 0) csc_servo_set(id,0);
void sys_time_usleep(uint32_t us) {
uint32_t start = T0TC;
uint32_t ticks = SYS_TICS_OF_USEC(us);
while ((uint32_t)(T0TC-start) < ticks);
}
