Added channel translation layer

mattwilliamson · May 3, 2012 · e990287 · e990287
1 parent 7c53013
commit e990287
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Showing 2 changed files with 29 additions and 15 deletions.
diff --git a/joystick.py b/joystick.py
@@ -39,10 +39,10 @@
 AXIS_THROTTLE = 3
 AXIS_YAW = 2
 
-BUTTON_AUX1 = 0 # Trigger
-BUTTON_AUX2 = 1 # Button 2
-BUTTON_AUX3 = 2 # Button 3
-BUTTON_AUX4 = 3 # Button 4
+BUTTON_AUX1 = 1 # Button 2
+BUTTON_AUX2 = 2 # Button 2
+BUTTON_AUX3 = 3 # Button 3
+BUTTON_AUX4 = 0 # Trigger
 
 class ControllerState(object):
     throttle = MIN_PPM
@@ -55,14 +55,15 @@ class ControllerState(object):
     aux4     = MIN_PPM
 
     def __str__(self):
-        return 'Throttle:{0.throttle} Roll:{0.roll} Pitch:{0.pitch} Yaw:{0.yaw} A1:{0.aux1}'.format(self)
+        return 'Throttle:{0.throttle} Roll:{0.roll} Pitch:{0.pitch} Yaw:{0.yaw} A1:{0.aux1} A2:{0.aux2} A3:{0.aux3} A4:{0.aux4}'.format(self)
 
     def serial_format(self):
         #return 'Q' + chr(self.throttle) + chr(self.roll) + chr(self.pitch) + chr(self.yaw) + chr(self.aux1) + \
         #    chr(self.aux2) + chr(self.aux3) + chr(self.aux4)
         #return 'Q' + chr(self.throttle) + chr(self.roll) + chr(self.pitch) + chr(self.yaw) + chr(self.aux1)
-        return chr(self.throttle) + chr(self.roll) + chr(self.pitch) + chr(self.yaw) + chr(self.aux1) + \
-            chr(self.aux2) + chr(self.aux3) + chr(self.aux4) + chr(254)
+        return chr(self.throttle) + chr(self.roll) + chr(self.pitch) + chr(self.yaw) + \
+            chr(self.aux1) + chr(self.aux2) + chr(self.aux3) + chr(self.aux4) + \
+            chr(254) # sync byte
 
         # YAXIS,ZAXIS,THROTTLE,XAXIS,AUX1,AUX2,0,0
         # return chr(self.roll) + chr(self.yaw) + chr(self.throttle) + chr(self.pitch) + chr(self.aux1) + \

diff --git a/serial_ppm_rx_ino/serial_ppm_rx_ino.ino b/serial_ppm_rx_ino/serial_ppm_rx_ino.ino
@@ -20,7 +20,7 @@
 // For Aeroquad, this should disarm the quad when reception is lost
 // TODO: Need to match AQ's channels
 // YAXIS,ZAXIS,THROTTLE,XAXIS,AUX1,AUX2,0,0
-static unsigned int defaultPulseWidths[CHANNELS] = {
+const unsigned int defaultPulseWidths[CHANNELS] = {
   MIN_PULSE_TIME,      // Throttle
   HALF_PULSE_TIME,     // Roll
   HALF_PULSE_TIME,     // Pitch
@@ -33,6 +33,10 @@ static unsigned int defaultPulseWidths[CHANNELS] = {
 };
 
 
+// Inbound data is: [throttle, roll, pitch, yaw, aux1, aux2, aux3, aux4]
+// AeroQuad expects: [XAXIS,YAXIS,THROTTLE,ZAXIS,MODE,AUX1,AUX2,AUX3]
+// Make sure you define SERIAL_SUM_PPM_2 in AeroQuad!
+const int channelMap[CHANNELS] = {1, 2, 0, 3, 4, 5, 6, 7};
 
 unsigned int pulseWidths[CHANNELS];
 byte buffer[CHANNELS];
@@ -62,6 +66,12 @@ void setup() {
 }
 
 void loop() {
+  handleSerial();
+  checkArmed();
+  checkLostReception();
+} 
+
+void handleSerial() {
   // Handle Serial Data
   if (Serial.available()) {
     lastReceived = millis();
@@ -86,7 +96,9 @@ void loop() {
       }
     }
   }
+}
 
+void checkArmed() {
   if(!armed) {
     // Not Armed yet (no packets received) or lost reception, blink the LED
     // and set the dault positions
@@ -100,7 +112,9 @@ void loop() {
   } else {
     digitalWrite(PIN_LED, HIGH);
   }
-
+}
+
+void checkLostReception() {
   // Check if we lost reception
   if(armed && lastReceived > 0 &&  millis() - lastReceived > RECEIVER_TIMEOUT) {
     armed = false;
@@ -112,22 +126,21 @@ void loop() {
       delay(100);
     }
   }
-} 
+}
 
 // Sync pulse first
-volatile int currentChannel = CHANNELS - 1;
+volatile int currentChannel = 0;
 
 void isr_sendPulses() {
   digitalWrite(PIN_PPM, LOW);
 
-  currentChannel++;
-
   if (currentChannel == CHANNELS) {
     // After last channel
     Timer1.setPeriod(SYNC_PULSE_TIME);
-    currentChannel = -1; // Will be 0 on next interrupt
+    currentChannel = 0; // Will be 0 on next interrupt
   } else {
-    Timer1.setPeriod(pulseWidths[currentChannel]);
+    Timer1.setPeriod(pulseWidths[channelMap[currentChannel]]);
+    currentChannel++;
   }
 
   digitalWrite(PIN_PPM, HIGH);