Subversion Repositories NaviCtrl

#include <stdio.h>

#include <string.h>

#include "91x_lib.h"

#include "CamCtrl.h"

#include "i2c.h"

#include "timer1.h"

#include "timer2.h"

#include "led.h"

#include "main.h"

#include "uart1.h"

#include "compass.h"

#include "spi_slave.h"

#include "triggerlog.h"

FromCamCtrl_t FromCamCtrl;

ToCamCtrl_t ToCamCtrl;

FromLaserCtrl_t FromLaserCtrl;

ToLaserCtrl_t ToLaserCtrl;

FromGimbalCtrl_t FromGimbalCtrl;

ToGimbalCtrl_t ToGimbalCtrl;

s32 FromMenuGimbalYaw = 0,FromMenuServoNickControl = 0, MenuNickGimbalOffset = 0;

u16 CamCtrlTimeout = 31000;

u16 LaserCtrlTimeout = 5000;

u16 GimbalCtrlTimeout = 8000;

u16 I2C0_Timeout = 0;

u8      ResetNickServoValue = 1;

void InitCamCtrl(void)

{

 ToCamCtrl.CamCommand = 0;

 ToCamCtrl.ZoomInput = 128; // Middle -> no zoom

}

void CamCtrl_UpdateData(u8* pRxBuffer, u8 RxBufferSize)

{       // if crc is ok and number of byte are matching

 static u8 speak_rec_on = 1;

 static u8 speak_rec_off = 0;

  memcpy((u8 *)&FromCamCtrl, pRxBuffer, sizeof(FromCamCtrl));

//if(FromCamCtrl.CamStatus & CAM_STATE_PIC_CAPTURED) 

        if(FromCamCtrl.CamStatus & CAM_STATE_REC_ACTIVE)                CamCtrlCharacter = 'R';

        else if(FromCamCtrl.CamStatus & CAM_STATE_PHOTO_MODE)   CamCtrlCharacter = 'P';

        else if(FromCamCtrl.CamStatus & CAM_STATE_CAM_DISCONN)  CamCtrlCharacter = '?';

        else if(FromCamCtrl.CamStatus & CAM_STATE_OFF)                  CamCtrlCharacter = '!';

        else if(TrigLogging.CountExternal)                                              CamCtrlCharacter = TrigLogging.CountExternal % 10 + '0';

        else if(FromCamCtrl.PhotoCount)                                                 CamCtrlCharacter = FromCamCtrl.PhotoCount % 10 + '0';

        else if(FromCamCtrl.CamStatus & CAM_STATE_RDY)                  CamCtrlCharacter = 'c';

        else  CamCtrlCharacter = ' ';

// c = camera is ready

// R = Record active

// P = Cam in Photo mode (LANC Camcorders)

// ! = Camera is off but connected

// ? = disconnected

// 0-9 = Photo releases

//+++++++++++++++++++++++++++++++++++++++++++++++++++

//+ Speak

//+++++++++++++++++++++++++++++++++++++++++++++++++++

 if(!SpeakHoTT)

  {

        if(FromCamCtrl.CamStatus & CAM_STATE_REC_ACTIVE)        

         {

          if(speak_rec_on) SpeakHoTT = SPEAK_REC_START;

          speak_rec_on = 0;

          speak_rec_off = 1;

         }

         else

         {

          if(speak_rec_off)  SpeakHoTT = SPEAK_REC_STOP;

          speak_rec_on = 1;

          speak_rec_off = 0;

         }

  }

//+++++++++++++++++++++++++++++++++++++++++++++++++++

  if(FromCamCtrl.CamStatus & CAM_STATE_I2C_OK) CamCtrlTimeout = 19000;

  I2C0_Timeout = 31000;

}

void CamCtrl_GetData(u8 timeout)

{

 static u8 timing = 250, p63 = 0;

 static u8 force1photo = 0, delay ;             // makes one photo when switching from Off to Photo

 if(timing)

   {

    timing--;

   }

   else

        // try to catch the I2C buffer within timeout ms

   if(I2CBus_LockBuffer(I2C0, timeout))

        {

                u8 RxBytes = sizeof(FromCamCtrl);

                // initiate transmission

                ToCamCtrl.ZoomInput = 128 + PPM_In[EE_Parameter.CamCtrlZoomChannel];

                if(EE_Parameter.CamCtrlModeChannel)

                 {

                        if(PPM_In[EE_Parameter.CamCtrlModeChannel] > 50)        // max

                           {

                        ToCamCtrl.CamCommand &= ~CAM_CMD_REC_OFF;

                            ToCamCtrl.CamCommand |= CAM_CMD_REC_ON;

                                force1photo = 0;

                           }

                        else

                        if(PPM_In[EE_Parameter.CamCtrlModeChannel] < -50)        // min

                           {

                        ToCamCtrl.CamCommand &= ~CAM_CMD_REC_ON;

                            ToCamCtrl.CamCommand |= CAM_CMD_REC_OFF;

                                force1photo = 1;

                                p63 = 0;

                                delay = 5;

                                }

                    else         // Middle

                          {

                           if(delay) delay--;

                                else

                           {

                        if(force1photo || ((UART_VersionInfo.HWMajor >= 30) && TRIGGER_PP_INTERN) || ((UART_VersionInfo.HWMajor < 30) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE))) // internal Portpin or Flag

                                 {

                                  if(!p63) ToCamCtrl.CamCommand |= CAM_CMD_SHUTTER; // combined with the FC trigger output

                                  p63 = 1;

                                  force1photo = 0;

                                 }

                                 else p63 = 0;

                           }

                          }

                }

        I2CBus_Transmission(I2C0, CAM_SLAVE_ADDRESS, &ToCamCtrl, sizeof(ToCamCtrl)+1, &CamCtrl_UpdateData, RxBytes);

        if(!EE_Parameter.CamCtrlModeChannel) ToCamCtrl.CamCommand = 0; // delete REC_OFF

        ToCamCtrl.CamCommand = CAM_CMD_SWITCH_ON | (ToCamCtrl.CamCommand & (CAM_CMD_REC_ON | CAM_CMD_REC_OFF));

        timing = 66; // 66ms = 15Hz

   }

   else timing = 11; // try again in 11ms

}

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

//+ Laser

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

void LaserCtrl_UpdateData(u8* pRxBuffer, u8 RxBufferSize)

{       // if crc is ok and number of byte are matching

  memcpy((u8 *)&FromLaserCtrl, pRxBuffer, sizeof(FromLaserCtrl));

  DebugOut.Analog[13] = FromLaserCtrl.Distance;

  if((FromLaserCtrl.LaserStatus & LASER_DATA_OK) && (FromLaserCtrl.Distance == 0)) FromLaserCtrl.Distance = 1; // just to mark that the value is active (0 -> not connected)

  LaserCtrlTimeout = 30000;

  I2C0_Timeout = 31000;

}

void LaserCtrl_GetData(u8 timeout)

{

 static u8 timing = 250;

 if(timing)

   {

    timing--;

   }

   else

        // try to catch the I2C buffer within timeout ms

   if(I2CBus_LockBuffer(I2C0, timeout))

        {

                u8 RxBytes = 3;//sizeof(FromLaserCtrl);

                // initiate transmission

        I2CBus_Transmission(I2C0, LASER_SLAVE_ADDRESS, &ToLaserCtrl, sizeof(ToLaserCtrl)+1, &LaserCtrl_UpdateData, RxBytes);

        timing = 66; // 66ms = 15Hz

   }

   else timing = 11; // try again in 11ms

}

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

//+ Gimbal

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

void GimbalCtrl_UpdateData(u8* pRxBuffer, u8 RxBufferSize)

{       // if crc is ok and number of byte are matching

  memcpy((u8 *)&FromGimbalCtrl, pRxBuffer, sizeof(FromGimbalCtrl));

  GimbalCtrlTimeout = 30000;

  I2C0_Timeout = 31000;

}

void GimbalCtrl_GetData(u8 timeout)

{

 static u32 timing = 500, start_idle = 4000;

 static s16 old_nick;

 s16 tmp, NickGimbal;

#define GIMBAL_DATARATE  66       // 66ms = 15Hz bzw. 30Hz 

 tmp = ((signed int)NickServoValue - 8192) / 7;

 if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) NickGimbal = -tmp; else NickGimbal = tmp;

 NickGimbal += CAM_Orientation.Elevation; // Add Poi Nick

 NickGimbal += MenuNickGimbalOffset / 50;

 if((old_nick != NickGimbal) && (timing < GIMBAL_DATARATE/2)) timing = 0;  // Schneller, wenn sich die Daten ändern

 if(timing)

   {

    timing--;

    if(start_idle) start_idle--;// nach dem Start einige Sekunden warten

   }

  else

  {

        // try to catch the I2C buffer within timeout ms

//DebugOut.Analog[]++;

   if(I2CBus_LockBuffer(I2C0, timeout))

        {

                u8 i, RxBytes = 1+6; // Status + 3 * Angle

                u8 *dat;

                s32 min_n, max_n, min_r, max_r;

                // initiate transmission

                tmp = (s16) (FromFC_ServoRollControl - 128) * 4;

                if(EE_Parameter.ServoCompInvert & SERVO_ROLL_INV) ToGimbalCtrl.Roll = tmp; else ToGimbalCtrl.Roll = -tmp;

//              ToGimbalCtrl.Yaw = (s32) SerialChannel.Ch[0] * 3;

                ToGimbalCtrl.Yaw = (s32) (PPM_In[EE_Parameter.GimbalYawChannel]) * -2;

// ++++++++++++++++++++++++++++++++++++++++++++++

// digital switching outputs 

            if(PPM_In[EE_Parameter.GimbalOut1Channel] > 10) ToGimbalCtrl.BitCmd |= GIMBAL_CMD_OUT1;

        if(PPM_In[EE_Parameter.GimbalOut2Channel] > 10) ToGimbalCtrl.BitCmd |= GIMBAL_CMD_OUT2;                

// flags will be reset after transmitting

// ++++++++++++++++++++++++++++++++++++++++++++++

                if(FromMenuGimbalYaw) ToGimbalCtrl.Yaw = FromMenuGimbalYaw;

                ToGimbalCtrl.NRY_Speed = 100;

                ToGimbalCtrl.Filter = 5;

                ToGimbalCtrl.Nick = NickGimbal;

// ++++++++++++++++++++++++++++++++++++++++++++++

// + limit angles (0 = -128°  255 = +127°)

// ++++++++++++++++++++++++++++++++++++++++++++++

                if(FC.RC_Quality < 50) // Failsafe-Positions

                 {

                  if(EE_Parameter.ServoFS_Pos[0]) (s32)((u32)EE_Parameter.ServoFS_Pos[0] * 10) - 1280; //else ToGimbalCtrl.Nick = 0;

                  if(EE_Parameter.ServoFS_Pos[1]) (s32)((u32)EE_Parameter.ServoFS_Pos[1] * 10) - 1280; //else ToGimbalCtrl.Roll = 0;

                 }

                min_n = (s32)((u32)EE_Parameter.ServoNickMin * 10) - 1280;

                max_n = (s32)((u32)EE_Parameter.ServoNickMax * 10) - 1280;

        if(ToGimbalCtrl.Nick > max_n) ToGimbalCtrl.Nick = max_n;

        if(ToGimbalCtrl.Nick < min_n) ToGimbalCtrl.Nick = min_n;

                min_r = (s32)((u32)EE_Parameter.ServoRollMin * 10) - 1280;

                max_r = (s32)((u32)EE_Parameter.ServoRollMax * 10) - 1280;

        if(ToGimbalCtrl.Roll > max_r) ToGimbalCtrl.Roll = max_r;

        if(ToGimbalCtrl.Roll < min_r) ToGimbalCtrl.Roll = min_r;

// ++++++++++++++++++++++++++++++++++++++++++++++

        if(start_idle) // nach dem Start einige Sekunden warten

          {

           ToGimbalCtrl.Nick = 0;

           ToGimbalCtrl.Roll = 0;

           ToGimbalCtrl.Yaw = 0;

          }

// ++++++++++++++++++++++++++++++++++++++++++++++

// + Crc

// ++++++++++++++++++++++++++++++++++++++++++++++

                ToGimbalCtrl.Crc = 0x55; // initialize 

                dat = &ToGimbalCtrl; // pointer 

                for(i=0; i< sizeof(ToGimbalCtrl) - 1; i++) ToGimbalCtrl.Crc += dat[i];

// ++++++++++++++++++++++++++++++++++++++++++++++

RxBytes = sizeof(FromGimbalCtrl);

                I2CBus_Transmission(I2C0, GIMBAL_SLAVE_ADDRESS, &ToGimbalCtrl, sizeof(ToGimbalCtrl)+1, &GimbalCtrl_UpdateData, RxBytes);

                timing = GIMBAL_DATARATE;

                ToGimbalCtrl.BitCmd = GIMBAL_CMD_SPEED; // reset the Flags

                old_nick = NickGimbal;

   }

   else  timing = 11; // try again in 11ms 

  }

}

void CalcNickServoValue(void)

{

 signed int max, min;

#define MULTIPLYER 4

 if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) // relative moving of the servo value

  {

        max = ((unsigned int) EE_Parameter.ServoNickMax * MULTIPLYER * 15);

        min = ((unsigned int) EE_Parameter.ServoNickMin * MULTIPLYER * 20);

        NickServoValue -= ((signed char) (FromFC_ServoNickControl - 128) / 4) * 2; // * 6

        if(ResetNickServoValue) NickServoValue = 8192; //  middle Position

        ResetNickServoValue = 0;

        LIMIT_MIN_MAX(NickServoValue,min, max);

  }

  else NickServoValue = (int16_t)FromFC_ServoNickControl * (MULTIPLYER*16);  // direct poti control

  MenuNickGimbalOffset += FromMenuServoNickControl;

  LIMIT_MIN_MAX(MenuNickGimbalOffset,-50000,50000);

}