Removed delay on startup of maple. Got rid of ppm_sync global, the rc…

… class has a sp member filling the same function. Changed the timer scale factor to 22 (for a 20ms period on the PWM outputs to the servo and esc's)

RC.cpp

@@ -42,7 +42,10 @@ void RC::update() {
 #endif
 
 	if(_sp == SP_INVALID)
+	{
+		_throttle=0.0;
 		return;
+	}
 
 	_yaw = _rcCmd[3];
 	_pitch = _rcCmd[1];

esc-control.cpp

@@ -18,7 +18,7 @@ void esc_init()
 	timer1.setMode(TIMER_CH1, TIMER_PWM);
 	timer1.setMode(TIMER_CH2, TIMER_PWM);
 	timer1.setMode(TIMER_CH3, TIMER_PWM);
-	timer1.setPrescaleFactor(21);
+	timer1.setPrescaleFactor(SERVO_PPM_TIMER_PRESCALE_FACTOR);
 
 	// Set throttle to minimum
 	for(int i=0;i<3;i++)
@@ -71,6 +71,7 @@ void set_rotor_throttle(int rotor, float rate)
 
 }
 
+#ifdef CLI_UTILS
 void esc_manual_control(void) {
     SerialUSB.println("Press \'j\' to lower speed.");
     SerialUSB.println("Press \'k\' to increase speed.");
@@ -115,4 +116,4 @@ void esc_manual_control(void) {
     set_rotor_throttle(3, 0.0);
 
 }
-
+#endif

main.cpp

@@ -58,18 +58,16 @@ __attribute__((constructor)) void premain() {
 int main(void) {
 	int fault=0;
 	uint32 t, t_prev, t_delta;
-	uint32 t_1Hz;
+	uint32 tick50hz=0;
 	RC rc;
 
     // init
     setup();
     rc.init();
 
     toggleLED();
-    delay(2000);
-    SerialUSB.println("Starting....");
 
-    t_prev = 0; t_1Hz = 0;
+    t_prev = 0;
     while (1) {
 
     	t = micros();
@@ -85,19 +83,24 @@ int main(void) {
 			set_rotor_throttle(2, rc.get_channel( CH_THROTTLE ));
 			set_rotor_throttle(3, rc.get_channel( CH_THROTTLE ));
 
+			// 10Hz loop
+			if(tick50hz %  10 == 0)
+			{
+				toggleLED();
+			}
+
 			// 1Hz loop
-			if(t_1Hz % 50 == 0)
+			if(tick50hz % 50 == 0)
 			{
 
-				toggleLED();
-				//printData();
 				SerialUSB.print("throttle:");
 				SerialUSB.println(rc.get_channel( CH_THROTTLE ));
 
 				SerialUSB.println("");
 
 			}
-			t_1Hz++;
+
+			tick50hz++;
     	}
     }
     return 0;

main.h

@@ -28,9 +28,23 @@
 /* 3_RX  (pin 0 on Maple Mini) */
 #define IMU_RX_PIN BOARD_USART3_RX_PIN
 
+/*
+ * The PPM signal frequency is 50 Hz.
+ * The max count in the timer's register
+ * is 65536 (16-bit register).
+ * The MCU's clock is 72 MHz.
+ * Therefore the prescale factor is:
+ * 1/(50 Hz) * (72 MHz) / (65536) = 21.97
+ */
+#define SERVO_PPM_TIMER_PRESCALE_FACTOR 22
+
+/* min: 1ms
+ *   (1 ms * 72 Mhz)/ (PRESCALE_FACTOR)
+ * = (1 ms * 72 Mhz)/ 22
+ * =  3272.72 ticks
+ */
+#define PPM_MIN 3273
 
-/* min: 1ms in tick counts */
-#define PPM_MIN 3430
-/* max: 2ms in tick counts */
-#define PPM_MAX 6855
+/* max: 2ms =  6545.45 */
+#define PPM_MAX 6545
 

ppm-decode.cpp

@@ -23,7 +23,7 @@ float rx_channels[TX_NUM_CHANNELS];
 uint16 delta=0;
 uint16 ppm_timeout=0;
 int do_print_timeout_once=1;
-int sync_pulse = -1;
+//int sync_pulse = -1;
 //rcCmd_t rcCmd;
 
 int rx_read(int *sp, float *rc)
@@ -32,22 +32,31 @@ int rx_read(int *sp, float *rc)
 	float duty;
 	int i,j;
 	uint16 delta;
+	int sync_pulse;
 
+	sync_pulse = *sp;
 
 	if(ppm_timeout == 1)
 	{
 		//TODO: On timeout, zero out commands
-		SerialUSB.println("ppm_timeout!");
-		sync_pulse == SP_INVALID;
+		if(do_print_timeout_once == 1)
+		{
+			SerialUSB.println("ppm_timeout!");
+			do_print_timeout_once=0;
+		}
+		*sp = SP_INVALID;
 		return 1;
 	}
 
 	if(sync_pulse == SP_INVALID)
 	{
-		ppm_sync();
+		ppm_sync(sp);
 		return 1;
 	}
 
+	// reset timeout print flag
+	do_print_timeout_once=1;
+
 	for(i=0;i<TX_NUM_CHANNELS;i++)
 	{
 		j = (sync_pulse+1+i)%NUM_TIMERS;
@@ -58,7 +67,7 @@ int rx_read(int *sp, float *rc)
 		if(delta > CHANNEL_MAX_TICKS)
 		{
 			SerialUSB.println("E!:MAX_TICKS!");
-			sync_pulse = SP_INVALID;
+			*sp = SP_INVALID;
 			return 1;
 		}
 
@@ -68,7 +77,6 @@ int rx_read(int *sp, float *rc)
 		duty = (duty-0.06)/(0.88-0.06);
 		if(duty < 0) duty = 0;
 		if(duty > 1) duty = 1;
-//		*(float *)(&rcCmd+i) = duty;
 		*(float *)(rc+i) = (float)duty;
 #ifdef VERBOSITY>3
 		SerialUSB.print("duty:"); SerialUSB.print(duty);
@@ -85,7 +93,7 @@ int rx_read(int *sp, float *rc)
 }
 
 
-
+#ifdef CLI_UTILS
 int rx_read_commands()
 {
 
@@ -118,8 +126,9 @@ int rx_read_commands()
 	return 0;
 
 }
+#endif
 
-void ppm_sync()
+void ppm_sync(int *sp)
 {
 //#define VERBOSITY 4
 	int i;
@@ -188,10 +197,11 @@ void ppm_sync()
 
 	// save temp sp to sync_pulse
 	if(sp_confidence >= SP_CONFIDENCE_MINIMUM)
-		sync_pulse = temp_sync_pulse;
+		*sp = temp_sync_pulse;
 
 }
 
+#ifdef CLI_UTILS
 //dump routine to show content of captured data.
 int printData(){
 	int i;
@@ -219,6 +229,7 @@ int printData(){
 
 	return 0;
 }
+#endif
 
 //invoked as configured by the DMA mode flags.
 void dma_isr()
@@ -382,6 +393,7 @@ void init_ppm_dma_transfer()
 
 }
 
+#ifdef CLI_UTILS
 void print_ppm_data()
 {
 	//busy wait on the dma_data_captured flag
@@ -398,6 +410,7 @@ void print_ppm_data()
 
 
 }
+#endif
 
 void ppm_decode_go()
 {
@@ -413,6 +426,7 @@ void ppm_decode_go()
 
 }
 
+#ifdef CLI_UTILS
 void ppm_decode(void){
     SerialUSB.println("Decoding DIY Drones PPM encoder on pin D27");
 
@@ -475,3 +489,5 @@ void ppm_decode(void){
     SerialUSB.println("Done!");
 
 }
+#endif
+

ppm-decode.h

@@ -45,7 +45,7 @@ int 	printData();
 
 int 	rx_read(int *sync_pulse, float *rc);
 int 	rx_read_commands();
-void 	ppm_sync();
+void 	ppm_sync(int *sp);
 
 void 	dma_isr();
 void 	ppm_timeout_isr();

yaw-servo.cpp

@@ -14,7 +14,7 @@ HardwareTimer timer2(2);
 void yaw_servo_init()
 {
 	timer2.setMode(TIMER_CH4, TIMER_PWM);
-	timer2.setPrescaleFactor(21);
+	timer2.setPrescaleFactor(SERVO_PPM_TIMER_PRESCALE_FACTOR);
 
 	set_servo_angle(0.0);