| /branches/dongfang_FC_rewrite/sendOutData.c |
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| /branches/dongfang_FC_rewrite/- Copy (2).cproject |
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| </storageModule> |
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| /branches/dongfang_FC_rewrite/ADXRS610_FC2.0.c |
|---|
| 1,18 → 1,19 |
| #include "ADXRS610_FC2.0.h" |
| #include "configuration.h" |
| const uint8_t GYRO_REVERSED[3] = {0,0,0}; |
| const uint8_t ACC_REVERSED[3] = {0,1,0}; |
| const uint8_t GYRO_REVERSED[3] = { 0, 0, 0 }; |
| const uint8_t ACC_REVERSED[3] = { 0, 1, 0 }; |
| void gyro_calibrate(void) {} |
| void gyro_calibrate(void) { |
| } |
| void gyro_setDefaults(void) { |
| staticParams.GyroD = 5; |
| staticParams.DriftComp = 10; |
| staticParams.GyroAccFactor = 1; |
| staticParams.GyroAccTrim = 5; |
| staticParams.GyroD = 5; |
| staticParams.DriftComp = 10; |
| staticParams.GyroAccFactor = 1; |
| staticParams.GyroAccTrim = 5; |
| // Not used. |
| staticParams.AngleTurnOverPitch = 78; |
| staticParams.AngleTurnOverRoll = 78; |
| // Not used. |
| staticParams.AngleTurnOverPitch = 78; |
| staticParams.AngleTurnOverRoll = 78; |
| } |
| /branches/dongfang_FC_rewrite/ENC-03_FC1.3.c |
|---|
| 8,62 → 8,68 |
| #define PITCHROLL_MINLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 510 |
| #define PITCHROLL_MAXLIMIT GYRO_SUMMATION_FACTOR_PITCHROLL * 515 |
| const uint8_t GYRO_REVERSED[3] = {0,0,1}; |
| const uint8_t ACC_REVERSED[3] = {0,1,0}; |
| const uint8_t GYRO_REVERSED[3] = { 0, 0, 1 }; |
| const uint8_t ACC_REVERSED[3] = { 0, 1, 0 }; |
| // void gyro_init(void) {} |
| void gyro_calibrate(void) { |
| uint8_t i, axis, factor, numberOfAxesInRange = 0; |
| uint16_t timeout; |
| // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
| timeout = SetDelay(2000); |
| uint8_t i, axis, factor, numberOfAxesInRange = 0; |
| uint16_t timeout; |
| // GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
| timeout = SetDelay(2000); |
| for(i = 140; i != 0; i--) { |
| // If all 3 axis are in range, shorten the remaining number of iterations. |
| if(numberOfAxesInRange == 3 && i > 10) i = 9; |
| numberOfAxesInRange = 0; |
| for (axis=PITCH; axis<=YAW; axis++) { |
| if (axis==YAW) factor = GYRO_SUMMATION_FACTOR_YAW; |
| else factor = GYRO_SUMMATION_FACTOR_PITCHROLL; |
| if(rawGyroSum[axis] < 510 * factor) DACValues[axis]--; |
| else if(rawGyroSum[axis] > 515 * factor) DACValues[axis]++; |
| else numberOfAxesInRange++; |
| /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */ |
| if(DACValues[axis] < 10) { |
| DACValues[axis] = 10; |
| } else if(DACValues[axis] > 245) { |
| DACValues[axis] = 245; |
| for (i = 140; i != 0; i--) { |
| // If all 3 axis are in range, shorten the remaining number of iterations. |
| if (numberOfAxesInRange == 3 && i > 10) |
| i = 9; |
| numberOfAxesInRange = 0; |
| for (axis = PITCH; axis <= YAW; axis++) { |
| if (axis == YAW) |
| factor = GYRO_SUMMATION_FACTOR_YAW; |
| else |
| factor = GYRO_SUMMATION_FACTOR_PITCHROLL; |
| if (rawGyroSum[axis] < 510 * factor) |
| DACValues[axis]--; |
| else if (rawGyroSum[axis] > 515 * factor) |
| DACValues[axis]++; |
| else |
| numberOfAxesInRange++; |
| /* Gyro is defective. But do keep DAC within bounds (it's an op amp not a differential amp). */ |
| if (DACValues[axis] < 10) { |
| DACValues[axis] = 10; |
| } else if (DACValues[axis] > 245) { |
| DACValues[axis] = 245; |
| } |
| } |
| I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
| // Wait for I2C to finish transmission. |
| while (twi_state) { |
| // Did it take too long? |
| if (CheckDelay(timeout)) { |
| printf("\r\n DAC or I2C Error! check I2C, 3Vref, DAC, and BL-Ctrl"); |
| break; |
| } |
| } |
| analog_start(); |
| Delay_ms_Mess(i < 10 ? 10 : 2); |
| } |
| } |
| I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
| // Wait for I2C to finish transmission. |
| while(twi_state) { |
| // Did it take too long? |
| if(CheckDelay(timeout)) { |
| printf("\r\n DAC or I2C Error! check I2C, 3Vref, DAC, and BL-Ctrl"); |
| break; |
| } |
| } |
| analog_start(); |
| Delay_ms_Mess(i<10 ? 10 : 2); |
| } |
| Delay_ms_Mess(70); |
| Delay_ms_Mess(70); |
| } |
| void gyro_setDefaults(void) { |
| staticParams.GyroD = 3; |
| staticParams.DriftComp = 250; |
| staticParams.GyroAccFactor = 10; |
| staticParams.GyroAccTrim = 1; |
| staticParams.GyroD = 3; |
| staticParams.DriftComp = 250; |
| staticParams.GyroAccFactor = 10; |
| staticParams.GyroAccTrim = 1; |
| // Not used. |
| staticParams.AngleTurnOverPitch = 85; |
| staticParams.AngleTurnOverRoll = 85; |
| // Not used. |
| staticParams.AngleTurnOverPitch = 85; |
| staticParams.AngleTurnOverRoll = 85; |
| } |
| /branches/dongfang_FC_rewrite/ENC-03_FC1.3.h |
|---|
| 1,26 → 1,26 |
| /* |
| #ifndef _ENC03_FC13_H |
| #define _ENC03_FC13_H |
| #ifndef _ENC03_FC13_H |
| #define _ENC03_FC13_H |
| #include "sensors.h" |
| / * |
| #include "sensors.h" |
| / * |
| * Configuration for the ENC-03 gyros and oriented and wired on FC 1.3 (with DAC). |
| * / |
| #define GYRO_HW_NAME "ENC" |
| #define GYRO_HW_FACTOR 1.304f |
| #define GYRO_HW_NAME "ENC" |
| #define GYRO_HW_FACTOR 1.304f |
| / * |
| / * |
| * Correction factor - determined experimentally: Hold the copter in the hand, and turn it 90 degrees. |
| * If AnglePitch or AngleRoll in debug in MK-Tool changes by x degrees, multiply the value here by x/90. |
| * If the hardware related contants are set correctly, flight should be OK without bothering to |
| * make any adjustments here. It is only for luxury. |
| * / |
| #define GYRO_PITCHROLL_CORRECTION 1.11f |
| #define GYRO_PITCHROLL_CORRECTION 1.11f |
| / * |
| / * |
| * Same for yaw. |
| * / |
| #define GYRO_YAW_CORRECTION 1.28f |
| #endif |
| */ |
| #define GYRO_YAW_CORRECTION 1.28f |
| #endif |
| */ |
| /branches/dongfang_FC_rewrite/Flight-Ctrl_MEGA644p_MK3MAG__invenSense_V0_74df_SVN0001.hex |
|---|
| 0,0 → 1,2113 |
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| /branches/dongfang_FC_rewrite/GPSControl.c |
|---|
| 4,5 → 4,5 |
| int16_t GPSStickPitch, GPSStickRoll; |
| void GPS_setNeutral(void) { |
| GPSStickPitch = GPSStickRoll = 0; |
| GPSStickPitch = GPSStickRoll = 0; |
| } |
| /branches/dongfang_FC_rewrite/analog.c |
|---|
| 77,7 → 77,7 |
| */ |
| volatile int16_t rawGyroSum[3]; |
| volatile int16_t acc[3]; |
| volatile int16_t filteredAcc[2]={0,0}; |
| volatile int16_t filteredAcc[2] = { 0, 0 }; |
| /* |
| * These 4 exported variables are zero-offset. The "PID" ones are used |
| 94,17 → 94,11 |
| * standing still. They are used for adjusting the gyro and acc. meter values |
| * to be centered on zero. |
| */ |
| volatile int16_t gyroOffset[3] = { |
| 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, |
| 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, |
| 512 * GYRO_SUMMATION_FACTOR_YAW |
| }; |
| volatile int16_t gyroOffset[3] = { 512 * GYRO_SUMMATION_FACTOR_PITCHROLL, 512 |
| * GYRO_SUMMATION_FACTOR_PITCHROLL, 512 * GYRO_SUMMATION_FACTOR_YAW }; |
| volatile int16_t accOffset[3] = { |
| 512 * ACC_SUMMATION_FACTOR_PITCHROLL, |
| 512 * ACC_SUMMATION_FACTOR_PITCHROLL, |
| 512 * ACC_SUMMATION_FACTOR_Z |
| }; |
| volatile int16_t accOffset[3] = { 512 * ACC_SUMMATION_FACTOR_PITCHROLL, 512 |
| * ACC_SUMMATION_FACTOR_PITCHROLL, 512 * ACC_SUMMATION_FACTOR_Z }; |
| /* |
| * This allows some experimentation with the gyro filters. |
| 176,72 → 170,66 |
| * at all. The cost is not significant. |
| */ |
| const uint8_t channelsForStates[] PROGMEM = { |
| AD_GYRO_PITCH, |
| AD_GYRO_ROLL, |
| AD_GYRO_YAW, |
| const uint8_t channelsForStates[] PROGMEM = { AD_GYRO_PITCH, AD_GYRO_ROLL, |
| AD_GYRO_YAW, |
| AD_ACC_PITCH, |
| AD_ACC_ROLL, |
| AD_AIRPRESSURE, |
| AD_GYRO_PITCH, |
| AD_GYRO_ROLL, |
| AD_ACC_Z, // at 8, measure Z acc. |
| AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
| AD_GYRO_PITCH, |
| AD_GYRO_ROLL, |
| AD_GYRO_YAW, // at 11, finish yaw gyro |
| AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
| AD_ACC_PITCH, // at 12, finish pitch axis acc. |
| AD_ACC_ROLL, // at 13, finish roll axis acc. |
| AD_AIRPRESSURE, // at 14, finish air pressure. |
| AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
| AD_GYRO_PITCH, // at 15, finish pitch gyro |
| AD_GYRO_ROLL, // at 16, finish roll gyro |
| AD_UBAT // at 17, measure battery. |
| }; |
| AD_ACC_PITCH, // at 12, finish pitch axis acc. |
| AD_ACC_ROLL, // at 13, finish roll axis acc. |
| AD_AIRPRESSURE, // at 14, finish air pressure. |
| AD_GYRO_PITCH, // at 15, finish pitch gyro |
| AD_GYRO_ROLL, // at 16, finish roll gyro |
| AD_UBAT // at 17, measure battery. |
| }; |
| // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
| // uint8_t GyroDefectPitch = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
| void analog_init(void) { |
| uint8_t sreg = SREG; |
| // disable all interrupts before reconfiguration |
| cli(); |
| uint8_t sreg = SREG; |
| // disable all interrupts before reconfiguration |
| cli(); |
| //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
| DDRA = 0x00; |
| PORTA = 0x00; |
| // Digital Input Disable Register 0 |
| // Disable digital input buffer for analog adc_channel pins |
| DIDR0 = 0xFF; |
| // external reference, adjust data to the right |
| ADMUX &= ~((1 << REFS1)|(1 << REFS0)|(1 << ADLAR)); |
| // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
| ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH; |
| //Set ADC Control and Status Register A |
| //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
| ADCSRA = (0<<ADEN)|(0<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(0<<ADIE); |
| //Set ADC Control and Status Register B |
| //Trigger Source to Free Running Mode |
| ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0)); |
| // Start AD conversion |
| analog_start(); |
| // restore global interrupt flags |
| SREG = sreg; |
| //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
| DDRA = 0x00; |
| PORTA = 0x00; |
| // Digital Input Disable Register 0 |
| // Disable digital input buffer for analog adc_channel pins |
| DIDR0 = 0xFF; |
| // external reference, adjust data to the right |
| ADMUX &= ~((1 << REFS1) | (1 << REFS0) | (1 << ADLAR)); |
| // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
| ADMUX = (ADMUX & 0xE0) | AD_GYRO_PITCH; |
| //Set ADC Control and Status Register A |
| //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
| ADCSRA = (0 << ADEN) | (0 << ADSC) | (0 << ADATE) | (1 << ADPS2) | (1 |
| << ADPS1) | (1 << ADPS0) | (0 << ADIE); |
| //Set ADC Control and Status Register B |
| //Trigger Source to Free Running Mode |
| ADCSRB &= ~((1 << ADTS2) | (1 << ADTS1) | (1 << ADTS0)); |
| // Start AD conversion |
| analog_start(); |
| // restore global interrupt flags |
| SREG = sreg; |
| } |
| void measureNoise(const int16_t sensor, volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
| if (sensor > (int16_t)(*noiseMeasurement)) { |
| *noiseMeasurement = sensor; |
| } else if (-sensor > (int16_t)(*noiseMeasurement)) { |
| *noiseMeasurement = -sensor; |
| } else if (*noiseMeasurement > damping) { |
| *noiseMeasurement -= damping; |
| } else { |
| *noiseMeasurement = 0; |
| } |
| void measureNoise(const int16_t sensor, |
| volatile uint16_t* const noiseMeasurement, const uint8_t damping) { |
| if (sensor > (int16_t) (*noiseMeasurement)) { |
| *noiseMeasurement = sensor; |
| } else if (-sensor > (int16_t) (*noiseMeasurement)) { |
| *noiseMeasurement = -sensor; |
| } else if (*noiseMeasurement > damping) { |
| *noiseMeasurement -= damping; |
| } else { |
| *noiseMeasurement = 0; |
| } |
| } |
| /* |
| 249,7 → 237,7 |
| * Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type. |
| */ |
| uint16_t getSimplePressure(int advalue) { |
| return (uint16_t)OCR0A * (uint16_t)rangewidth + advalue; |
| return (uint16_t) OCR0A * (uint16_t) rangewidth + advalue; |
| } |
| /***************************************************** |
| 258,247 → 246,262 |
| * processed the interrupt is disabled and further |
| * AD conversions are stopped. |
| *****************************************************/ |
| ISR(ADC_vect) { |
| static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
| static uint16_t sensorInputs[8] = {0,0,0,0,0,0,0,0}; |
| static uint16_t pressureAutorangingWait = 25; |
| uint16_t rawAirPressure; |
| uint8_t i, axis; |
| int16_t newrange; |
| // for various filters... |
| int16_t tempOffsetGyro, tempGyro; |
| sensorInputs[ad_channel] += ADC; |
| ISR(ADC_vect) |
| { |
| static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
| static uint16_t sensorInputs[8] = { 0, 0, 0, 0, 0, 0, 0, 0 }; |
| static uint16_t pressureAutorangingWait = 25; |
| uint16_t rawAirPressure; |
| uint8_t i, axis; |
| int16_t newrange; |
| /* |
| * Actually we don't need this "switch". We could do all the sampling into the |
| * sensorInputs array first, and all the processing after the last sample. |
| */ |
| switch(state++) { |
| // for various filters... |
| int16_t tempOffsetGyro, tempGyro; |
| case 8: // Z acc |
| if (ACC_REVERSED[Z]) |
| acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z]; |
| else |
| acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z]; |
| break; |
| case 11: // yaw gyro |
| rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
| if (GYRO_REVERSED[YAW]) |
| yawGyro = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW]; |
| else |
| yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW]; |
| break; |
| case 12: // pitch axis acc. |
| if (ACC_REVERSED[PITCH]) |
| acc[PITCH] = accOffset[PITCH] - sensorInputs[AD_ACC_PITCH]; |
| else |
| acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH]; |
| sensorInputs[ad_channel] += ADC; |
| filteredAcc[PITCH] = (filteredAcc[PITCH] * (ACC_FILTER-1) + acc[PITCH]) / ACC_FILTER; |
| measureNoise(acc[PITCH], &accNoisePeak[PITCH], 1); |
| break; |
| case 13: // roll axis acc. |
| if (ACC_REVERSED[ROLL]) |
| acc[ROLL] = accOffset[ROLL] - sensorInputs[AD_ACC_ROLL]; |
| else |
| acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL]; |
| filteredAcc[ROLL] = (filteredAcc[ROLL] * (ACC_FILTER-1) + acc[ROLL]) / ACC_FILTER; |
| measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1); |
| break; |
| /* |
| * Actually we don't need this "switch". We could do all the sampling into the |
| * sensorInputs array first, and all the processing after the last sample. |
| */ |
| switch (state++) { |
| case 14: // air pressure |
| if (pressureAutorangingWait) { |
| //A range switch was done recently. Wait for steadying. |
| pressureAutorangingWait--; |
| DebugOut.Analog[27] = (uint16_t)OCR0A; |
| DebugOut.Analog[31] = simpleAirPressure; |
| break; |
| } |
| case 8: // Z acc |
| if (ACC_REVERSED[Z]) |
| acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z]; |
| else |
| acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z]; |
| break; |
| rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
| if (rawAirPressure < MIN_RAWPRESSURE) { |
| // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
| newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
| if (newrange > MIN_RANGES_EXTRAPOLATION) { |
| pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
| OCR0A = newrange; |
| } else { |
| if (OCR0A) { |
| OCR0A--; |
| pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
| } |
| } |
| } else if (rawAirPressure > MAX_RAWPRESSURE) { |
| // value is too high, so increase voltage on the op amp minus input, making the value lower. |
| // If near the end, make a limited increase |
| newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
| if (newrange < MAX_RANGES_EXTRAPOLATION) { |
| pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
| OCR0A = newrange; |
| } else { |
| if (OCR0A<254) { |
| OCR0A++; |
| pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
| } |
| } |
| } |
| case 11: // yaw gyro |
| rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
| if (GYRO_REVERSED[YAW]) |
| yawGyro = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW]; |
| else |
| yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW]; |
| break; |
| // Even if the sample is off-range, use it. |
| simpleAirPressure = getSimplePressure(rawAirPressure); |
| DebugOut.Analog[27] = (uint16_t)OCR0A; |
| DebugOut.Analog[31] = simpleAirPressure; |
| case 12: // pitch axis acc. |
| if (ACC_REVERSED[PITCH]) |
| acc[PITCH] = accOffset[PITCH] - sensorInputs[AD_ACC_PITCH]; |
| else |
| acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH]; |
| if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
| // Danger: pressure near lower end of range. If the measurement saturates, the |
| // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
| airPressureSum += (int16_t)MIN_RANGES_EXTRAPOLATION * rangewidth + (simpleAirPressure - (int16_t)MIN_RANGES_EXTRAPOLATION * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
| } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
| // Danger: pressure near upper end of range. If the measurement saturates, the |
| // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
| airPressureSum += (int16_t)MAX_RANGES_EXTRAPOLATION * rangewidth + (simpleAirPressure - (int16_t)MAX_RANGES_EXTRAPOLATION * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
| } else { |
| // normal case. |
| // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample. |
| // The 2 cases above (end of range) are ignored for this. |
| if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1) |
| airPressureSum += simpleAirPressure / 2; |
| else |
| airPressureSum += simpleAirPressure; |
| } |
| filteredAcc[PITCH] = (filteredAcc[PITCH] * (ACC_FILTER - 1) + acc[PITCH]) |
| / ACC_FILTER; |
| measureNoise(acc[PITCH], &accNoisePeak[PITCH], 1); |
| break; |
| // 2 samples were added. |
| pressureMeasurementCount += 2; |
| if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) { |
| filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER-1) + airPressureSum + AIRPRESSURE_FILTER/2) / AIRPRESSURE_FILTER; |
| pressureMeasurementCount = airPressureSum = 0; |
| } |
| case 13: // roll axis acc. |
| if (ACC_REVERSED[ROLL]) |
| acc[ROLL] = accOffset[ROLL] - sensorInputs[AD_ACC_ROLL]; |
| else |
| acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL]; |
| filteredAcc[ROLL] = (filteredAcc[ROLL] * (ACC_FILTER - 1) + acc[ROLL]) |
| / ACC_FILTER; |
| measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1); |
| break; |
| break; |
| case 14: // air pressure |
| if (pressureAutorangingWait) { |
| //A range switch was done recently. Wait for steadying. |
| pressureAutorangingWait--; |
| DebugOut.Analog[27] = (uint16_t) OCR0A; |
| DebugOut.Analog[31] = simpleAirPressure; |
| break; |
| } |
| case 15: |
| case 16: // pitch or roll gyro. |
| axis = state - 16; |
| tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH - axis]; |
| // DebugOut.Analog[6 + 3 * axis ] = tempGyro; |
| /* |
| * Process the gyro data for the PID controller. |
| */ |
| // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
| // gyro with a wider range, and helps counter saturation at full control. |
| rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
| if (rawAirPressure < MIN_RAWPRESSURE) { |
| // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
| newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1; |
| if (newrange > MIN_RANGES_EXTRAPOLATION) { |
| pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 + |
| OCR0A = newrange; |
| } else { |
| if (OCR0A) { |
| OCR0A--; |
| pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
| } |
| } |
| } else if (rawAirPressure > MAX_RAWPRESSURE) { |
| // value is too high, so increase voltage on the op amp minus input, making the value lower. |
| // If near the end, make a limited increase |
| newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1; |
| if (newrange < MAX_RANGES_EXTRAPOLATION) { |
| pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
| OCR0A = newrange; |
| } else { |
| if (OCR0A < 254) { |
| OCR0A++; |
| pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
| } |
| } |
| } |
| if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) { |
| if (tempGyro < SENSOR_MIN_PITCHROLL) { |
| tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
| } |
| else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
| tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE + SENSOR_MAX_PITCHROLL; |
| } |
| } |
| // Even if the sample is off-range, use it. |
| simpleAirPressure = getSimplePressure(rawAirPressure); |
| DebugOut.Analog[27] = (uint16_t) OCR0A; |
| DebugOut.Analog[31] = simpleAirPressure; |
| // 2) Apply sign and offset, scale before filtering. |
| if (GYRO_REVERSED[axis]) { |
| tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
| } else { |
| tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
| } |
| if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
| // Danger: pressure near lower end of range. If the measurement saturates, the |
| // copter may climb uncontrolledly... Simulate a drastic reduction in pressure. |
| airPressureSum += (int16_t) MIN_RANGES_EXTRAPOLATION * rangewidth |
| + (simpleAirPressure - (int16_t) MIN_RANGES_EXTRAPOLATION |
| * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
| } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
| // Danger: pressure near upper end of range. If the measurement saturates, the |
| // copter may descend uncontrolledly... Simulate a drastic increase in pressure. |
| airPressureSum += (int16_t) MAX_RANGES_EXTRAPOLATION * rangewidth |
| + (simpleAirPressure - (int16_t) MAX_RANGES_EXTRAPOLATION |
| * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
| } else { |
| // normal case. |
| // If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample. |
| // The 2 cases above (end of range) are ignored for this. |
| if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1) |
| airPressureSum += simpleAirPressure / 2; |
| else |
| airPressureSum += simpleAirPressure; |
| } |
| // 3) Scale and filter. |
| tempOffsetGyro = (gyro_PID[axis] * (GYROS_PID_FILTER-1) + tempOffsetGyro) / GYROS_PID_FILTER; |
| // 2 samples were added. |
| pressureMeasurementCount += 2; |
| if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) { |
| filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1) |
| + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER; |
| pressureMeasurementCount = airPressureSum = 0; |
| } |
| // 4) Measure noise. |
| measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], GYRO_NOISE_MEASUREMENT_DAMPING); |
| break; |
| // 5) Differential measurement. |
| gyroD[axis] = (gyroD[axis] * (GYROS_D_FILTER-1) + (tempOffsetGyro - gyro_PID[axis])) / GYROS_D_FILTER; |
| case 15: |
| case 16: // pitch or roll gyro. |
| axis = state - 16; |
| tempGyro = rawGyroSum[axis] = sensorInputs[AD_GYRO_PITCH - axis]; |
| // DebugOut.Analog[6 + 3 * axis ] = tempGyro; |
| /* |
| * Process the gyro data for the PID controller. |
| */ |
| // 1) Extrapolate: Near the ends of the range, we boost the input significantly. This simulates a |
| // gyro with a wider range, and helps counter saturation at full control. |
| // 6) Done. |
| gyro_PID[axis] = tempOffsetGyro; |
| if (staticParams.GlobalConfig & CFG_ROTARY_RATE_LIMITER) { |
| if (tempGyro < SENSOR_MIN_PITCHROLL) { |
| tempGyro = tempGyro * EXTRAPOLATION_SLOPE - EXTRAPOLATION_LIMIT; |
| } else if (tempGyro > SENSOR_MAX_PITCHROLL) { |
| tempGyro = (tempGyro - SENSOR_MAX_PITCHROLL) * EXTRAPOLATION_SLOPE |
| + SENSOR_MAX_PITCHROLL; |
| } |
| } |
| /* |
| * Now process the data for attitude angles. |
| */ |
| tempGyro = rawGyroSum[axis]; |
| // 1) Apply sign and offset, scale before filtering. |
| if (GYRO_REVERSED[axis]) { |
| tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
| } else { |
| tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
| } |
| // 2) Filter. |
| gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_ATT_FILTER-1) + tempOffsetGyro) / GYROS_ATT_FILTER; |
| break; |
| case 17: |
| // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
| // This is divided by 3 --> 10.34 counts per volt. |
| UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
| DebugOut.Analog[11] = UBat; |
| analogDataReady = 1; // mark |
| ADCycleCount++; |
| // Stop the sampling. Cycle is over. |
| state = 0; |
| for (i=0; i<8; i++) { |
| sensorInputs[i] = 0; |
| } |
| break; |
| default: {} // do nothing. |
| } |
| // 2) Apply sign and offset, scale before filtering. |
| if (GYRO_REVERSED[axis]) { |
| tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
| } else { |
| tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
| } |
| // set up for next state. |
| ad_channel = pgm_read_byte(&channelsForStates[state]); |
| // ad_channel = channelsForStates[state]; |
| // set adc muxer to next ad_channel |
| ADMUX = (ADMUX & 0xE0) | ad_channel; |
| // after full cycle stop further interrupts |
| if(state) analog_start(); |
| // 3) Scale and filter. |
| tempOffsetGyro = (gyro_PID[axis] * (GYROS_PID_FILTER - 1) + tempOffsetGyro) |
| / GYROS_PID_FILTER; |
| // 4) Measure noise. |
| measureNoise(tempOffsetGyro, &gyroNoisePeak[axis], |
| GYRO_NOISE_MEASUREMENT_DAMPING); |
| // 5) Differential measurement. |
| gyroD[axis] = (gyroD[axis] * (GYROS_D_FILTER - 1) + (tempOffsetGyro |
| - gyro_PID[axis])) / GYROS_D_FILTER; |
| // 6) Done. |
| gyro_PID[axis] = tempOffsetGyro; |
| /* |
| * Now process the data for attitude angles. |
| */ |
| tempGyro = rawGyroSum[axis]; |
| // 1) Apply sign and offset, scale before filtering. |
| if (GYRO_REVERSED[axis]) { |
| tempOffsetGyro = (gyroOffset[axis] - tempGyro) * GYRO_FACTOR_PITCHROLL; |
| } else { |
| tempOffsetGyro = (tempGyro - gyroOffset[axis]) * GYRO_FACTOR_PITCHROLL; |
| } |
| // 2) Filter. |
| gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_ATT_FILTER - 1) + tempOffsetGyro) |
| / GYROS_ATT_FILTER; |
| break; |
| case 17: |
| // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
| // This is divided by 3 --> 10.34 counts per volt. |
| UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
| DebugOut.Analog[11] = UBat; |
| analogDataReady = 1; // mark |
| ADCycleCount++; |
| // Stop the sampling. Cycle is over. |
| state = 0; |
| for (i = 0; i < 8; i++) { |
| sensorInputs[i] = 0; |
| } |
| break; |
| default: { |
| } // do nothing. |
| } |
| // set up for next state. |
| ad_channel = pgm_read_byte(&channelsForStates[state]); |
| // ad_channel = channelsForStates[state]; |
| // set adc muxer to next ad_channel |
| ADMUX = (ADMUX & 0xE0) | ad_channel; |
| // after full cycle stop further interrupts |
| if (state) |
| analog_start(); |
| } |
| void analog_calibrate(void) { |
| #define GYRO_OFFSET_CYCLES 32 |
| uint8_t i, axis; |
| int32_t deltaOffsets[3] = {0,0,0}; |
| uint8_t i, axis; |
| int32_t deltaOffsets[3] = { 0, 0, 0 }; |
| // Set the filters... to be removed again, once some good settings are found. |
| GYROS_PID_FILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1; |
| GYROS_ATT_FILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1; |
| GYROS_D_FILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1; |
| ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1; |
| // Set the filters... to be removed again, once some good settings are found. |
| GYROS_PID_FILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1; |
| GYROS_ATT_FILTER = ((dynamicParams.UserParams[4] & 0b00001100) >> 2) + 1; |
| GYROS_D_FILTER = ((dynamicParams.UserParams[4] & 0b00110000) >> 4) + 1; |
| ACC_FILTER = ((dynamicParams.UserParams[4] & 0b11000000) >> 6) + 1; |
| gyro_calibrate(); |
| gyro_calibrate(); |
| // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
| for(i=0; i < GYRO_OFFSET_CYCLES; i++) { |
| Delay_ms_Mess(20); |
| for (axis=PITCH; axis<=YAW; axis++) { |
| deltaOffsets[axis] += rawGyroSum[axis]; |
| } |
| } |
| // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
| for (i = 0; i < GYRO_OFFSET_CYCLES; i++) { |
| Delay_ms_Mess(20); |
| for (axis = PITCH; axis <= YAW; axis++) { |
| deltaOffsets[axis] += rawGyroSum[axis]; |
| } |
| } |
| for (axis=PITCH; axis<=YAW; axis++) { |
| gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES/2) / GYRO_OFFSET_CYCLES; |
| DebugOut.Analog[20+axis] = gyroOffset[axis]; |
| } |
| for (axis = PITCH; axis <= YAW; axis++) { |
| gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) |
| / GYRO_OFFSET_CYCLES; |
| DebugOut.Analog[20 + axis] = gyroOffset[axis]; |
| } |
| // Noise is relative to offset. So, reset noise measurements when changing offsets. |
| gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
| // Noise is relative to offset. So, reset noise measurements when changing offsets. |
| gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
| accOffset[PITCH] = GetParamWord(PID_ACC_PITCH); |
| accOffset[ROLL] = GetParamWord(PID_ACC_ROLL); |
| accOffset[Z] = GetParamWord(PID_ACC_Z); |
| accOffset[PITCH] = GetParamWord(PID_ACC_PITCH); |
| accOffset[ROLL] = GetParamWord(PID_ACC_ROLL); |
| accOffset[Z] = GetParamWord(PID_ACC_Z); |
| // Rough estimate. Hmm no nothing happens at calibration anyway. |
| // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2); |
| // pressureMeasurementCount = 0; |
| // Rough estimate. Hmm no nothing happens at calibration anyway. |
| // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2); |
| // pressureMeasurementCount = 0; |
| Delay_ms_Mess(100); |
| Delay_ms_Mess(100); |
| } |
| /* |
| 510,60 → 513,61 |
| */ |
| void analog_calibrateAcc(void) { |
| #define ACC_OFFSET_CYCLES 10 |
| uint8_t i, axis; |
| int32_t deltaOffset[3] = {0,0,0}; |
| int16_t filteredDelta; |
| // int16_t pressureDiff, savedRawAirPressure; |
| uint8_t i, axis; |
| int32_t deltaOffset[3] = { 0, 0, 0 }; |
| int16_t filteredDelta; |
| // int16_t pressureDiff, savedRawAirPressure; |
| for(i=0; i < ACC_OFFSET_CYCLES; i++) { |
| Delay_ms_Mess(10); |
| for (axis=PITCH; axis<=YAW; axis++) { |
| deltaOffset[axis] += acc[axis]; |
| } |
| } |
| for (i = 0; i < ACC_OFFSET_CYCLES; i++) { |
| Delay_ms_Mess(10); |
| for (axis = PITCH; axis <= YAW; axis++) { |
| deltaOffset[axis] += acc[axis]; |
| } |
| } |
| for (axis=PITCH; axis<=YAW; axis++) { |
| filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
| accOffset[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta; |
| } |
| for (axis = PITCH; axis <= YAW; axis++) { |
| filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) |
| / ACC_OFFSET_CYCLES; |
| accOffset[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta; |
| } |
| // Save ACC neutral settings to eeprom |
| SetParamWord(PID_ACC_PITCH, accOffset[PITCH]); |
| SetParamWord(PID_ACC_ROLL, accOffset[ROLL]); |
| SetParamWord(PID_ACC_Z, accOffset[Z]); |
| // Save ACC neutral settings to eeprom |
| SetParamWord(PID_ACC_PITCH, accOffset[PITCH]); |
| SetParamWord(PID_ACC_ROLL, accOffset[ROLL]); |
| SetParamWord(PID_ACC_Z, accOffset[Z]); |
| // Noise is relative to offset. So, reset noise measurements when |
| // changing offsets. |
| accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
| // Setting offset values has an influence in the analog.c ISR |
| // Therefore run measurement for 100ms to achive stable readings |
| Delay_ms_Mess(100); |
| // Set the feedback so that air pressure ends up in the middle of the range. |
| // (raw pressure high --> OCR0A also high...) |
| /* |
| OCR0A += ((rawAirPressure - 1024) / rangewidth) - 1; |
| Delay_ms_Mess(1000); |
| // Noise is relative to offset. So, reset noise measurements when |
| // changing offsets. |
| accNoisePeak[PITCH] = accNoisePeak[ROLL] = 0; |
| pressureDiff = 0; |
| // DebugOut.Analog[16] = rawAirPressure; |
| #define PRESSURE_CAL_CYCLE_COUNT 5 |
| for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) { |
| savedRawAirPressure = rawAirPressure; |
| OCR0A+=2; |
| Delay_ms_Mess(500); |
| // raw pressure will decrease. |
| pressureDiff += (savedRawAirPressure - rawAirPressure); |
| savedRawAirPressure = rawAirPressure; |
| OCR0A-=2; |
| Delay_ms_Mess(500); |
| // raw pressure will increase. |
| pressureDiff += (rawAirPressure - savedRawAirPressure); |
| } |
| rangewidth = (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2 * 2); |
| DebugOut.Analog[27] = rangewidth; |
| */ |
| // Setting offset values has an influence in the analog.c ISR |
| // Therefore run measurement for 100ms to achive stable readings |
| Delay_ms_Mess(100); |
| // Set the feedback so that air pressure ends up in the middle of the range. |
| // (raw pressure high --> OCR0A also high...) |
| /* |
| OCR0A += ((rawAirPressure - 1024) / rangewidth) - 1; |
| Delay_ms_Mess(1000); |
| pressureDiff = 0; |
| // DebugOut.Analog[16] = rawAirPressure; |
| #define PRESSURE_CAL_CYCLE_COUNT 5 |
| for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) { |
| savedRawAirPressure = rawAirPressure; |
| OCR0A+=2; |
| Delay_ms_Mess(500); |
| // raw pressure will decrease. |
| pressureDiff += (savedRawAirPressure - rawAirPressure); |
| savedRawAirPressure = rawAirPressure; |
| OCR0A-=2; |
| Delay_ms_Mess(500); |
| // raw pressure will increase. |
| pressureDiff += (rawAirPressure - savedRawAirPressure); |
| } |
| rangewidth = (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2 * 2); |
| DebugOut.Analog[27] = rangewidth; |
| */ |
| } |
| /branches/dongfang_FC_rewrite/analog.h |
|---|
| 24,66 → 24,66 |
| // #define ACC_FILTER 4 |
| /* |
| About setting constants for different gyros: |
| Main parameters are positive directions and voltage/angular speed gain. |
| The "Positive direction" is the rotation direction around an axis where |
| the corresponding gyro outputs a voltage > the no-rotation voltage. |
| A gyro is considered, in this code, to be "forward" if its positive |
| direction is: |
| - Nose down for pitch |
| - Left hand side down for roll |
| - Clockwise seen from above for yaw. |
| Declare the GYRO_REVERSE_YAW, GYRO_REVERSE_ROLL and |
| GYRO_REVERSE_PITCH #define's if the respective gyros are reverse. |
| About setting constants for different gyros: |
| Main parameters are positive directions and voltage/angular speed gain. |
| The "Positive direction" is the rotation direction around an axis where |
| the corresponding gyro outputs a voltage > the no-rotation voltage. |
| A gyro is considered, in this code, to be "forward" if its positive |
| direction is: |
| - Nose down for pitch |
| - Left hand side down for roll |
| - Clockwise seen from above for yaw. |
| Declare the GYRO_REVERSE_YAW, GYRO_REVERSE_ROLL and |
| GYRO_REVERSE_PITCH #define's if the respective gyros are reverse. |
| Setting gyro gain correctly: All sensor measurements in analog.c take |
| place in a cycle, each cycle comprising all sensors. Some sensors are |
| sampled more than ones, and the results added. The pitch and roll gyros |
| are sampled 4 times and the yaw gyro 2 times in the original H&I V0.74 |
| code. |
| In the H&I code, the results for pitch and roll are multiplied by 2 (FC1.0) |
| or 4 (other versions), offset to zero, low pass filtered and then assigned |
| to the "HiResXXXX" and "AdWertXXXXFilter" variables, where XXXX is nick or |
| roll. |
| So: |
| gyro = V * (ADCValue1 + ADCValue2 + ADCValue3 + ADCValue4), |
| where V is 2 for FC1.0 and 4 for all others. |
| Assuming constant ADCValue, in the H&I code: |
| Setting gyro gain correctly: All sensor measurements in analog.c take |
| place in a cycle, each cycle comprising all sensors. Some sensors are |
| sampled more than ones, and the results added. The pitch and roll gyros |
| are sampled 4 times and the yaw gyro 2 times in the original H&I V0.74 |
| code. |
| In the H&I code, the results for pitch and roll are multiplied by 2 (FC1.0) |
| or 4 (other versions), offset to zero, low pass filtered and then assigned |
| to the "HiResXXXX" and "AdWertXXXXFilter" variables, where XXXX is nick or |
| roll. |
| So: |
| gyro = V * (ADCValue1 + ADCValue2 + ADCValue3 + ADCValue4), |
| where V is 2 for FC1.0 and 4 for all others. |
| Assuming constant ADCValue, in the H&I code: |
| gyro = I * ADCValue. |
| gyro = I * ADCValue. |
| where I is 8 for FC1.0 and 16 for all others. |
| where I is 8 for FC1.0 and 16 for all others. |
| The relation between rotation rate and ADCValue: |
| ADCValue [units] = |
| rotational speed [deg/s] * |
| gyro sensitivity [V / deg/s] * |
| amplifier gain [units] * |
| 1024 [units] / |
| 3V full range [V] |
| The relation between rotation rate and ADCValue: |
| ADCValue [units] = |
| rotational speed [deg/s] * |
| gyro sensitivity [V / deg/s] * |
| amplifier gain [units] * |
| 1024 [units] / |
| 3V full range [V] |
| or: H is the number of steps the ADC value changes with, |
| for a 1 deg/s change in rotational velocity: |
| H = ADCValue [units] / rotation rate [deg/s] = |
| gyro sensitivity [V / deg/s] * |
| amplifier gain [units] * |
| 1024 [units] / |
| 3V full range [V] |
| or: H is the number of steps the ADC value changes with, |
| for a 1 deg/s change in rotational velocity: |
| H = ADCValue [units] / rotation rate [deg/s] = |
| gyro sensitivity [V / deg/s] * |
| amplifier gain [units] * |
| 1024 [units] / |
| 3V full range [V] |
| Examples: |
| FC1.3 has 0.67 mV/deg/s gyros and amplifiers with a gain of 5.7: |
| H = 0.00067 V / deg / s * 5.7 * 1024 / 3V = 1.304 units/(deg/s). |
| FC2.0 has 6*(3/5) mV/deg/s gyros (they are ratiometric) and no amplifiers: |
| H = 0.006 V / deg / s * 1 * 1024 * 3V / (3V * 5V) = 1.2288 units/(deg/s). |
| My InvenSense copter has 2mV/deg/s gyros and no amplifiers: |
| H = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s) |
| (only about half as sensitive as V1.3. But it will take about twice the |
| rotation rate!) |
| Examples: |
| FC1.3 has 0.67 mV/deg/s gyros and amplifiers with a gain of 5.7: |
| H = 0.00067 V / deg / s * 5.7 * 1024 / 3V = 1.304 units/(deg/s). |
| FC2.0 has 6*(3/5) mV/deg/s gyros (they are ratiometric) and no amplifiers: |
| H = 0.006 V / deg / s * 1 * 1024 * 3V / (3V * 5V) = 1.2288 units/(deg/s). |
| My InvenSense copter has 2mV/deg/s gyros and no amplifiers: |
| H = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s) |
| (only about half as sensitive as V1.3. But it will take about twice the |
| rotation rate!) |
| All together: gyro = I * H * rotation rate [units / (deg/s)]. |
| */ |
| All together: gyro = I * H * rotation rate [units / (deg/s)]. |
| */ |
| /* |
| * A factor that the raw gyro values are multiplied by, |
| 108,38 → 108,38 |
| #define ACC_SUMMATION_FACTOR_Z 1 |
| /* |
| Integration: |
| The HiResXXXX values are divided by 8 (in H&I firmware) before integration. |
| In the Killagreg rewrite of the H&I firmware, the factor 8 is called |
| HIRES_GYRO_AMPLIFY. In this code, it is called HIRES_GYRO_INTEGRATION_FACTOR, |
| and care has been taken that all other constants (gyro to degree factor, and |
| 180 degree flip-over detection limits) are corrected to it. Because the |
| division by the constant takes place in the flight attitude code, the |
| constant is there. |
| Integration: |
| The HiResXXXX values are divided by 8 (in H&I firmware) before integration. |
| In the Killagreg rewrite of the H&I firmware, the factor 8 is called |
| HIRES_GYRO_AMPLIFY. In this code, it is called HIRES_GYRO_INTEGRATION_FACTOR, |
| and care has been taken that all other constants (gyro to degree factor, and |
| 180 degree flip-over detection limits) are corrected to it. Because the |
| division by the constant takes place in the flight attitude code, the |
| constant is there. |
| The control loop executes every 2ms, and for each iteration |
| gyro_ATT[PITCH/ROLL] is added to gyroIntegral[PITCH/ROLL]. |
| Assuming a constant rotation rate v and a zero initial gyroIntegral |
| (for this explanation), we get: |
| gyroIntegral = |
| N * gyro / HIRES_GYRO_INTEGRATION_FACTOR = |
| N * I * H * v / HIRES_GYRO_INTEGRATION_FACTOR |
| where N is the number of summations; N = t/2ms. |
| The control loop executes every 2ms, and for each iteration |
| gyro_ATT[PITCH/ROLL] is added to gyroIntegral[PITCH/ROLL]. |
| Assuming a constant rotation rate v and a zero initial gyroIntegral |
| (for this explanation), we get: |
| For one degree of rotation: t*v = 1: |
| gyroIntegral = |
| N * gyro / HIRES_GYRO_INTEGRATION_FACTOR = |
| N * I * H * v / HIRES_GYRO_INTEGRATION_FACTOR |
| gyroIntegralXXXX = t/2ms * I * H * 1/t = INTEGRATION_FREQUENCY * I * H / HIRES_GYRO_INTEGRATION_FACTOR. |
| where N is the number of summations; N = t/2ms. |
| This number (INTEGRATION_FREQUENCY * I * H) is the integral-to-degree factor. |
| For one degree of rotation: t*v = 1: |
| Examples: |
| FC1.3: I=2, H=1.304, HIRES_GYRO_INTEGRATION_FACTOR=8 --> integralDegreeFactor = 1304 |
| FC2.0: I=2, H=2.048, HIRES_GYRO_INTEGRATION_FACTOR=13 --> integralDegreeFactor = 1260 |
| My InvenSense copter: HIRES_GYRO_INTEGRATION_FACTOR=4, H=0.6827 --> integralDegreeFactor = 1365 |
| */ |
| gyroIntegralXXXX = t/2ms * I * H * 1/t = INTEGRATION_FREQUENCY * I * H / HIRES_GYRO_INTEGRATION_FACTOR. |
| This number (INTEGRATION_FREQUENCY * I * H) is the integral-to-degree factor. |
| Examples: |
| FC1.3: I=2, H=1.304, HIRES_GYRO_INTEGRATION_FACTOR=8 --> integralDegreeFactor = 1304 |
| FC2.0: I=2, H=2.048, HIRES_GYRO_INTEGRATION_FACTOR=13 --> integralDegreeFactor = 1260 |
| My InvenSense copter: HIRES_GYRO_INTEGRATION_FACTOR=4, H=0.6827 --> integralDegreeFactor = 1365 |
| */ |
| /* |
| * The value of gyro[PITCH/ROLL] for one deg/s = The hardware factor H * the number of samples * multiplier factor. |
| * Will be about 10 or so for InvenSense, and about 33 for ADXRS610. |
| 239,7 → 239,6 |
| */ |
| extern volatile uint8_t analogDataReady; |
| void analog_init(void); |
| // clear ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
| /branches/dongfang_FC_rewrite/attitude.c |
|---|
| 239,9 → 239,8 |
| ACRate[PITCH] = ((int32_t) rate_ATT[PITCH] * cosroll - (int32_t) yawRate |
| * sinroll) / (int32_t) MATH_UNIT_FACTOR; |
| ACRate[ROLL] = rate_ATT[ROLL] + (((int32_t) rate_ATT[PITCH] * sinroll |
| / ANTIOVF * tanpitch + (int32_t) yawRate * int_cos(angle[ROLL]) |
| / ANTIOVF * tanpitch) / ((int32_t) MATH_UNIT_FACTOR / ANTIOVF |
| * MATH_UNIT_FACTOR)); |
| / ANTIOVF * tanpitch + (int32_t) yawRate * int_cos(angle[ROLL]) / ANTIOVF |
| * tanpitch) / ((int32_t) MATH_UNIT_FACTOR / ANTIOVF * MATH_UNIT_FACTOR)); |
| ACYawRate = ((int32_t) rate_ATT[PITCH] * sinroll) / cospitch |
| + ((int32_t) yawRate * cosroll) / cospitch; |
| } |
| 327,8 → 326,7 |
| */ |
| for (axis = PITCH; axis <= ROLL; axis++) { |
| accDerived = getAngleEstimateFromAcc(axis); |
| DebugOut.Analog[9 + axis] = (10 * accDerived) |
| / GYRO_DEG_FACTOR_PITCHROLL; |
| DebugOut.Analog[9 + axis] = (10 * accDerived) / GYRO_DEG_FACTOR_PITCHROLL; |
| // 1000 * the correction amount that will be added to the gyro angle in next line. |
| correction = angle[axis]; //(permilleAcc * (accDerived - angle[axis])) / 1000; |
| 370,16 → 368,14 |
| timer = DRIFTCORRECTION_TIME; |
| for (axis = PITCH; axis <= ROLL; axis++) { |
| // Take the sum of corrections applied, add it to delta |
| deltaCorrection = (correctionSum[axis] |
| * HIRES_GYRO_INTEGRATION_FACTOR + DRIFTCORRECTION_TIME / 2) |
| / DRIFTCORRECTION_TIME; |
| deltaCorrection = (correctionSum[axis] * HIRES_GYRO_INTEGRATION_FACTOR |
| + DRIFTCORRECTION_TIME / 2) / DRIFTCORRECTION_TIME; |
| // Add the delta to the compensation. So positive delta means, gyro should have higher value. |
| driftComp[axis] += deltaCorrection / staticParams.GyroAccTrim; |
| CHECK_MIN_MAX(driftComp[axis], -staticParams.DriftComp, staticParams.DriftComp); |
| // DebugOut.Analog[11 + axis] = correctionSum[axis]; |
| DebugOut.Analog[18 + axis] = deltaCorrection |
| / staticParams.GyroAccTrim; |
| DebugOut.Analog[18 + axis] = deltaCorrection / staticParams.GyroAccTrim; |
| DebugOut.Analog[28 + axis] = driftComp[axis]; |
| correctionSum[axis] = 0; |
| 432,16 → 428,16 |
| v = abs(angle[ROLL] / 512); |
| if (v > w) |
| w = v; |
| correction = w/8 + 1; |
| correction = w / 8 + 1; |
| // calculate the deviation of the yaw gyro heading and the compass heading |
| if (compassHeading < 0) |
| error = 0; // disable yaw drift compensation if compass heading is undefined |
| else |
| if (abs(yawRate) > 128) { // spinning fast |
| else if (abs(yawRate) > 128) { // spinning fast |
| error = 0; |
| } else { |
| // compassHeading - yawGyroHeading, on a -180..179 deg interval. |
| error = ((540 + compassHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW)) % 360) - 180; |
| error = ((540 + compassHeading - (yawGyroHeading / GYRO_DEG_FACTOR_YAW)) |
| % 360) - 180; |
| } |
| if (!ignoreCompassTimer && w < 25) { |
| yawGyroDrift += error; |
| 456,10 → 452,11 |
| yawGyroHeading += (error * 8) / correction; |
| /* |
| w = (w * dynamicParams.CompassYawEffect) / 32; |
| w = dynamicParams.CompassYawEffect - w; |
| */ |
| w = dynamicParams.CompassYawEffect - (w * dynamicParams.CompassYawEffect) / 32; |
| w = (w * dynamicParams.CompassYawEffect) / 32; |
| w = dynamicParams.CompassYawEffect - w; |
| */ |
| w = dynamicParams.CompassYawEffect - (w * dynamicParams.CompassYawEffect) |
| / 32; |
| // As readable formula: |
| // w = dynamicParams.CompassYawEffect * (1-w/32); |
| 468,7 → 465,9 |
| if (!ignoreCompassTimer) { |
| v = 64 + (maxControl[PITCH] + maxControl[ROLL]) / 8; |
| // yawGyroHeading - compassCourse on a -180..179 degree interval. |
| r = ((540 + yawGyroHeading / GYRO_DEG_FACTOR_YAW - compassCourse) % 360) - 180; |
| r |
| = ((540 + yawGyroHeading / GYRO_DEG_FACTOR_YAW - compassCourse) |
| % 360) - 180; |
| v = (r * w) / v; // align to compass course |
| // limit yaw rate |
| w = 3 * dynamicParams.CompassYawEffect; |
| /branches/dongfang_FC_rewrite/attitudeControl.c |
|---|
| 8,39 → 8,40 |
| #include "rc.h" |
| // = cos^2(45 degs). |
| const int32_t MINPROJECTION = (int32_t)MATH_UNIT_FACTOR * MATH_UNIT_FACTOR / 2; |
| const int32_t MINPROJECTION = (int32_t) MATH_UNIT_FACTOR * MATH_UNIT_FACTOR / 2; |
| // Takes 380 - 400 usec. Way too slow. |
| // With static MINPROJECTION: 220 usec. |
| uint16_t AC_getThrottle(uint16_t throttle) { |
| int32_t projection; |
| int32_t projection; |
| // part1 start: 150 usec |
| // It's factor (int32_t)MATH_UNIT_FACTOR^2 too high. |
| projection = (int32_t)int_cos(angle[PITCH]) * (int32_t)int_cos(angle[ROLL]); |
| // part1 end. |
| // part1 start: 150 usec |
| // It's factor (int32_t)MATH_UNIT_FACTOR^2 too high. |
| projection = (int32_t) int_cos(angle[PITCH]) * (int32_t) int_cos(angle[ROLL]); |
| // part1 end. |
| uint8_t effect = dynamicParams.UserParams[2]; // Userparam 3 |
| int16_t deltaThrottle; |
| uint8_t effect = dynamicParams.UserParams[2]; // Userparam 3 |
| int16_t deltaThrottle; |
| if (projection < MINPROJECTION && projection >= 0) { |
| // projection = MINPROJECTION; |
| deltaThrottle = 0; |
| } else if (projection >- MINPROJECTION && projection<0) { |
| // projection = -MINPROJECITON; |
| deltaThrottle = 0; |
| } else |
| /* |
| * We need delta throttle = constant/projection1 |
| * (constant * MATH_UNIT_FACTOR^2) / projection. |
| */ |
| deltaThrottle = ((int32_t)effect * (int32_t)MATH_UNIT_FACTOR * (int32_t)MATH_UNIT_FACTOR) / (projection / 10) - effect * 10; |
| // DebugOut.Analog[13] = deltaThrottle; |
| if (projection < MINPROJECTION && projection >= 0) { |
| // projection = MINPROJECTION; |
| deltaThrottle = 0; |
| } else if (projection > -MINPROJECTION && projection < 0) { |
| // projection = -MINPROJECITON; |
| deltaThrottle = 0; |
| } else |
| /* |
| * We need delta throttle = constant/projection1 |
| * (constant * MATH_UNIT_FACTOR^2) / projection. |
| */ |
| deltaThrottle = ((int32_t) effect * (int32_t) MATH_UNIT_FACTOR |
| * (int32_t) MATH_UNIT_FACTOR) / (projection / 10) - effect * 10; |
| // DebugOut.Analog[13] = deltaThrottle; |
| return throttle + deltaThrottle; |
| return throttle + deltaThrottle; |
| } |
| /* |
| har: R = e * k/p |
| vil R = e * ( 1 - k/p ) |
| = e - ek/p |
| */ |
| har: R = e * k/p |
| vil R = e * ( 1 - k/p ) |
| = e - ek/p |
| */ |
| /branches/dongfang_FC_rewrite/commands.c |
|---|
| 57,69 → 57,70 |
| #include "attitude.h" |
| void commands_handleCommands(void) { |
| /* |
| * Get the current command (start/stop motors, calibrate), if any. |
| */ |
| uint8_t command = controlMixer_getCommand(); |
| uint8_t repeated = controlMixer_isCommandRepeated(); |
| uint8_t argument = controlMixer_getArgument(); |
| /* |
| * Get the current command (start/stop motors, calibrate), if any. |
| */ |
| uint8_t command = controlMixer_getCommand(); |
| uint8_t repeated = controlMixer_isCommandRepeated(); |
| uint8_t argument = controlMixer_getArgument(); |
| if(!(MKFlags & MKFLAG_MOTOR_RUN)) { |
| if (command == COMMAND_GYROCAL && !repeated) { |
| // Run gyro calibration but do not repeat it. |
| GRN_OFF; |
| // TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough? |
| // isFlying = 0; |
| // check roll/pitch stick position |
| // if pitch stick is top or roll stick is left or right --> change parameter setting |
| // according to roll/pitch stick position |
| if (!(MKFlags & MKFLAG_MOTOR_RUN)) { |
| if (command == COMMAND_GYROCAL && !repeated) { |
| // Run gyro calibration but do not repeat it. |
| GRN_OFF; |
| if (argument < 6) { |
| // Gyro calinbration, with or without selecting a new parameter-set. |
| if(argument > 0 && argument < 6) { |
| // A valid parameter-set (1..5) was chosen - use it. |
| setActiveParamSet(argument); |
| } |
| ParamSet_ReadFromEEProm(getActiveParamSet()); |
| attitude_setNeutral(); |
| flight_setNeutral(); |
| controlMixer_setNeutral(); |
| beepNumber(getActiveParamSet()); |
| } else if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE) && argument == 7) { |
| // If right stick is centered and down |
| // TODO: Out of here! State machine instead. |
| compassCalState = 1; |
| beep(1000); |
| // TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough? |
| // isFlying = 0; |
| // check roll/pitch stick position |
| // if pitch stick is top or roll stick is left or right --> change parameter setting |
| // according to roll/pitch stick position |
| if (argument < 6) { |
| // Gyro calinbration, with or without selecting a new parameter-set. |
| if (argument > 0 && argument < 6) { |
| // A valid parameter-set (1..5) was chosen - use it. |
| setActiveParamSet(argument); |
| } |
| ParamSet_ReadFromEEProm(getActiveParamSet()); |
| attitude_setNeutral(); |
| flight_setNeutral(); |
| controlMixer_setNeutral(); |
| beepNumber(getActiveParamSet()); |
| } else if (staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE |
| | CFG_GPS_ACTIVE) && argument == 7) { |
| // If right stick is centered and down |
| // TODO: Out of here! State machine instead. |
| compassCalState = 1; |
| beep(1000); |
| } |
| } |
| // save the ACC neutral setting to eeprom |
| else { |
| if (command == COMMAND_ACCCAL && !repeated) { |
| // Run gyro and acc. meter calibration but do not repeat it. |
| GRN_OFF; |
| analog_calibrateAcc(); |
| attitude_setNeutral(); |
| flight_setNeutral(); |
| controlMixer_setNeutral(); |
| beepNumber(getActiveParamSet()); |
| } |
| } |
| } // end !MOTOR_RUN condition. |
| if (command == COMMAND_START) { |
| isFlying = 1; // TODO: Really???? |
| // if (!controlMixer_isCommandRepeated()) { |
| // attitude_startDynamicCalibration(); // Try sense the effect of the motors on sensors. |
| MKFlags |= (MKFLAG_MOTOR_RUN | MKFLAG_START); // set flag RUN and START. TODO: Is that START flag used at all??? |
| // } else { // Pilot is holding stick, ever after motor start. Continue to sense the effect of the motors on sensors. |
| // attitude_continueDynamicCalibration(); |
| // setPointYaw = 0; |
| // IPartPitch = 0; |
| // IPartRoll = 0; |
| // } |
| } else if (command == COMMAND_STOP) { |
| isFlying = 0; |
| MKFlags &= ~(MKFLAG_MOTOR_RUN); |
| } |
| } |
| // save the ACC neutral setting to eeprom |
| else { |
| if(command == COMMAND_ACCCAL && !repeated) { |
| // Run gyro and acc. meter calibration but do not repeat it. |
| GRN_OFF; |
| analog_calibrateAcc(); |
| attitude_setNeutral(); |
| flight_setNeutral(); |
| controlMixer_setNeutral(); |
| beepNumber(getActiveParamSet()); |
| } |
| } |
| } // end !MOTOR_RUN condition. |
| if (command == COMMAND_START) { |
| isFlying = 1; // TODO: Really???? |
| // if (!controlMixer_isCommandRepeated()) { |
| // attitude_startDynamicCalibration(); // Try sense the effect of the motors on sensors. |
| MKFlags |= (MKFLAG_MOTOR_RUN | MKFLAG_START); // set flag RUN and START. TODO: Is that START flag used at all??? |
| // } else { // Pilot is holding stick, ever after motor start. Continue to sense the effect of the motors on sensors. |
| // attitude_continueDynamicCalibration(); |
| // setPointYaw = 0; |
| // IPartPitch = 0; |
| // IPartRoll = 0; |
| // } |
| } else if (command == COMMAND_STOP) { |
| isFlying = 0; |
| MKFlags &= ~(MKFLAG_MOTOR_RUN); |
| } |
| } |
| /branches/dongfang_FC_rewrite/configuration.h |
|---|
| 5,129 → 5,129 |
| #include <avr/io.h> |
| typedef struct { |
| /*PMM*/ uint8_t HeightD; |
| /* P */ uint8_t MaxHeight; |
| /*PMM*/ uint8_t HeightP; |
| /* P */ uint8_t Height_ACC_Effect; |
| /* P */ uint8_t CompassYawEffect; |
| /* P */ uint8_t GyroD; |
| /*PMM*/ uint8_t GyroP; |
| /* P */ uint8_t GyroI; |
| /* Never used */ uint8_t StickYawP; |
| /* P */ uint8_t IFactor; |
| /* P */ uint8_t UserParams[8]; |
| /* P */ uint8_t ServoPitchControl; |
| /* P */ uint8_t LoopGasLimit; |
| /* P */ uint8_t AxisCoupling1; |
| /* P */ uint8_t AxisCoupling2; |
| /* P */ uint8_t AxisCouplingYawCorrection; |
| /* P */ uint8_t DynamicStability; |
| /* P */ uint8_t ExternalControl; |
| /*PMM*/ uint8_t J16Timing; |
| /*PMM*/ uint8_t J17Timing; |
| /* P */ uint8_t NaviGpsModeControl; |
| /* P */ uint8_t NaviGpsGain; |
| /* P */ uint8_t NaviGpsP; |
| /* P */ uint8_t NaviGpsI; |
| /* P */ uint8_t NaviGpsD; |
| /* P */ uint8_t NaviGpsACC; |
| /*PMM*/ uint8_t NaviOperatingRadius; |
| /* P */ uint8_t NaviWindCorrection; |
| /* P */ uint8_t NaviSpeedCompensation; |
| int8_t KalmanK; |
| int8_t KalmanMaxDrift; |
| int8_t KalmanMaxFusion; |
| /*PMM*/uint8_t HeightD; |
| /* P */uint8_t MaxHeight; |
| /*PMM*/uint8_t HeightP; |
| /* P */uint8_t Height_ACC_Effect; |
| /* P */uint8_t CompassYawEffect; |
| /* P */uint8_t GyroD; |
| /*PMM*/uint8_t GyroP; |
| /* P */uint8_t GyroI; |
| /* Never used */uint8_t StickYawP; |
| /* P */uint8_t IFactor; |
| /* P */uint8_t UserParams[8]; |
| /* P */uint8_t ServoPitchControl; |
| /* P */uint8_t LoopGasLimit; |
| /* P */uint8_t AxisCoupling1; |
| /* P */uint8_t AxisCoupling2; |
| /* P */uint8_t AxisCouplingYawCorrection; |
| /* P */uint8_t DynamicStability; |
| /* P */uint8_t ExternalControl; |
| /*PMM*/uint8_t J16Timing; |
| /*PMM*/uint8_t J17Timing; |
| /* P */uint8_t NaviGpsModeControl; |
| /* P */uint8_t NaviGpsGain; |
| /* P */uint8_t NaviGpsP; |
| /* P */uint8_t NaviGpsI; |
| /* P */uint8_t NaviGpsD; |
| /* P */uint8_t NaviGpsACC; |
| /*PMM*/uint8_t NaviOperatingRadius; |
| /* P */uint8_t NaviWindCorrection; |
| /* P */uint8_t NaviSpeedCompensation; |
| int8_t KalmanK; |
| int8_t KalmanMaxDrift; |
| int8_t KalmanMaxFusion; |
| } dynamicParam_t; |
| extern dynamicParam_t dynamicParams; |
| typedef struct { |
| uint8_t sourceIdx, targetIdx; |
| uint8_t min, max; |
| uint8_t sourceIdx, targetIdx; |
| uint8_t min, max; |
| } MMXLATION; |
| typedef struct { |
| uint8_t sourceIdx, targetIdx; |
| uint8_t sourceIdx, targetIdx; |
| } XLATION; |
| // values above 250 representing poti1 to poti4 |
| typedef struct { |
| uint8_t ChannelAssignment[8]; // see upper defines for details |
| uint8_t GlobalConfig; // see upper defines for bitcoding |
| uint8_t HeightMinGas; // Value : 0-100 |
| uint8_t HeightD; // Value : 0-250 |
| uint8_t MaxHeight; // Value : 0-32 |
| uint8_t HeightP; // Value : 0-32 |
| uint8_t Height_Gain; // Value : 0-50 |
| uint8_t Height_ACC_Effect; // Value : 0-250 |
| uint8_t StickP; // Value : 1-6 |
| uint8_t StickD; // Value : 0-64 |
| uint8_t StickYawP; // Value : 1-20 |
| uint8_t MinThrottle; // Value : 0-32 |
| uint8_t MaxThrottle; // Value : 33-250 |
| uint8_t GyroAccFactor; // Value : 1-64 |
| uint8_t CompassYawEffect; // Value : 0-32 |
| uint8_t GyroP; // Value : 10-250 |
| uint8_t GyroI; // Value : 0-250 |
| uint8_t GyroD; // Value : 0-250 |
| uint8_t LowVoltageWarning; // Value : 0-250 |
| uint8_t EmergencyGas; // Value : 0-250 //Gaswert bei Emp�ngsverlust |
| uint8_t EmergencyGasDuration; // Value : 0-250 // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen |
| uint8_t Unused0; // |
| uint8_t IFactor; // Value : 0-250 |
| uint8_t UserParams1[4]; // Value : 0-250 |
| /* |
| uint8_t UserParam2; // Value : 0-250 |
| uint8_t UserParam3; // Value : 0-250 |
| uint8_t UserParam4; // Value : 0-250 |
| */ |
| uint8_t ServoPitchControl; // Value : 0-250 // Stellung des Servos |
| uint8_t ServoPitchComp; // Value : 0-250 // Einfluss Gyro/Servo |
| uint8_t ServoPitchMin; // Value : 0-250 // Anschlag |
| uint8_t ServoPitchMax; // Value : 0-250 // Anschlag |
| uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output |
| uint8_t LoopGasLimit; // Value: 0-250 max. Gas w�hrend Looping |
| uint8_t LoopThreshold; // Value: 0-250 Schwelle f�r Stickausschlag |
| uint8_t LoopHysteresis; // Value: 0-250 Hysterese f�r Stickausschlag |
| uint8_t AxisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
| uint8_t AxisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| uint8_t ChannelAssignment[8]; // see upper defines for details |
| uint8_t GlobalConfig; // see upper defines for bitcoding |
| uint8_t HeightMinGas; // Value : 0-100 |
| uint8_t HeightD; // Value : 0-250 |
| uint8_t MaxHeight; // Value : 0-32 |
| uint8_t HeightP; // Value : 0-32 |
| uint8_t Height_Gain; // Value : 0-50 |
| uint8_t Height_ACC_Effect; // Value : 0-250 |
| uint8_t StickP; // Value : 1-6 |
| uint8_t StickD; // Value : 0-64 |
| uint8_t StickYawP; // Value : 1-20 |
| uint8_t MinThrottle; // Value : 0-32 |
| uint8_t MaxThrottle; // Value : 33-250 |
| uint8_t GyroAccFactor; // Value : 1-64 |
| uint8_t CompassYawEffect; // Value : 0-32 |
| uint8_t GyroP; // Value : 10-250 |
| uint8_t GyroI; // Value : 0-250 |
| uint8_t GyroD; // Value : 0-250 |
| uint8_t LowVoltageWarning; // Value : 0-250 |
| uint8_t EmergencyGas; // Value : 0-250 //Gaswert bei Emp�ngsverlust |
| uint8_t EmergencyGasDuration; // Value : 0-250 // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen |
| uint8_t Unused0; // |
| uint8_t IFactor; // Value : 0-250 |
| uint8_t UserParams1[4]; // Value : 0-250 |
| /* |
| uint8_t UserParam2; // Value : 0-250 |
| uint8_t UserParam3; // Value : 0-250 |
| uint8_t UserParam4; // Value : 0-250 |
| */ |
| uint8_t ServoPitchControl; // Value : 0-250 // Stellung des Servos |
| uint8_t ServoPitchComp; // Value : 0-250 // Einfluss Gyro/Servo |
| uint8_t ServoPitchMin; // Value : 0-250 // Anschlag |
| uint8_t ServoPitchMax; // Value : 0-250 // Anschlag |
| uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output |
| uint8_t LoopGasLimit; // Value: 0-250 max. Gas w�hrend Looping |
| uint8_t LoopThreshold; // Value: 0-250 Schwelle f�r Stickausschlag |
| uint8_t LoopHysteresis; // Value: 0-250 Hysterese f�r Stickausschlag |
| uint8_t AxisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
| uint8_t AxisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| uint8_t AxisCouplingYawCorrection;// Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| uint8_t AngleTurnOverPitch; // Value: 0-250 180�-Punkt |
| uint8_t AngleTurnOverRoll; // Value: 0-250 180�-Punkt |
| uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung) |
| uint8_t DriftComp; // limit for gyrodrift compensation |
| uint8_t DynamicStability; // PID limit for Attitude controller |
| uint8_t UserParams2[4]; // Value : 0-250 |
| /* |
| uint8_t UserParam6; // Value : 0-250 |
| uint8_t UserParam7; // Value : 0-250 |
| uint8_t UserParam8; // Value : 0-250 |
| */ |
| uint8_t J16Bitmask; // for the J16 Output |
| uint8_t J16Timing; // for the J16 Output |
| uint8_t J17Bitmask; // for the J17 Output |
| uint8_t J17Timing; // for the J17 Output |
| uint8_t NaviGpsModeControl; // Parameters for the Naviboard |
| uint8_t NaviGpsGain; // overall gain for GPS-PID controller |
| uint8_t NaviGpsP; // P gain for GPS-PID controller |
| uint8_t NaviGpsI; // I gain for GPS-PID controller |
| uint8_t NaviGpsD; // D gain for GPS-PID controller |
| uint8_t NaviGpsPLimit; // P limit for GPS-PID controller |
| uint8_t NaviGpsILimit; // I limit for GPS-PID controller |
| uint8_t NaviGpsDLimit; // D limit for GPS-PID controller |
| uint8_t NaviGpsACC; // ACC gain for GPS-PID controller |
| uint8_t NaviGpsMinSat; // number of sattelites neccesary for GPS functions |
| uint8_t NaviStickThreshold; // activation threshild for detection of manual stick movements |
| uint8_t NaviWindCorrection; // streng of wind course correction |
| uint8_t NaviSpeedCompensation; // D gain fefore position hold login |
| uint8_t NaviOperatingRadius; // Radius limit in m around start position for GPS flights |
| uint8_t NaviAngleLimitation; // limitation of attitude angle controlled by the gps algorithm |
| uint8_t NaviPHLoginTime; // position hold logintimeout |
| uint8_t ExternalControl; // for serial Control |
| uint8_t BitConfig; // see upper defines for bitcoding |
| uint8_t ServoPitchCompInvert; // Value : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
| uint8_t AngleTurnOverPitch; // Value: 0-250 180�-Punkt |
| uint8_t AngleTurnOverRoll; // Value: 0-250 180�-Punkt |
| uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung) |
| uint8_t DriftComp; // limit for gyrodrift compensation |
| uint8_t DynamicStability; // PID limit for Attitude controller |
| uint8_t UserParams2[4]; // Value : 0-250 |
| /* |
| uint8_t UserParam6; // Value : 0-250 |
| uint8_t UserParam7; // Value : 0-250 |
| uint8_t UserParam8; // Value : 0-250 |
| */ |
| uint8_t J16Bitmask; // for the J16 Output |
| uint8_t J16Timing; // for the J16 Output |
| uint8_t J17Bitmask; // for the J17 Output |
| uint8_t J17Timing; // for the J17 Output |
| uint8_t NaviGpsModeControl; // Parameters for the Naviboard |
| uint8_t NaviGpsGain; // overall gain for GPS-PID controller |
| uint8_t NaviGpsP; // P gain for GPS-PID controller |
| uint8_t NaviGpsI; // I gain for GPS-PID controller |
| uint8_t NaviGpsD; // D gain for GPS-PID controller |
| uint8_t NaviGpsPLimit; // P limit for GPS-PID controller |
| uint8_t NaviGpsILimit; // I limit for GPS-PID controller |
| uint8_t NaviGpsDLimit; // D limit for GPS-PID controller |
| uint8_t NaviGpsACC; // ACC gain for GPS-PID controller |
| uint8_t NaviGpsMinSat; // number of sattelites neccesary for GPS functions |
| uint8_t NaviStickThreshold; // activation threshild for detection of manual stick movements |
| uint8_t NaviWindCorrection; // streng of wind course correction |
| uint8_t NaviSpeedCompensation; // D gain fefore position hold login |
| uint8_t NaviOperatingRadius; // Radius limit in m around start position for GPS flights |
| uint8_t NaviAngleLimitation; // limitation of attitude angle controlled by the gps algorithm |
| uint8_t NaviPHLoginTime; // position hold logintimeout |
| uint8_t ExternalControl; // for serial Control |
| uint8_t BitConfig; // see upper defines for bitcoding |
| uint8_t ServoPitchCompInvert; // Value : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
| uint8_t Reserved[4]; |
| int8_t Name[12]; |
| } paramset_t; |
| } paramset_t; |
| #define PARAMSET_STRUCT_LEN sizeof(paramset_t) |
| 134,10 → 134,10 |
| extern paramset_t staticParams; |
| typedef struct { |
| uint8_t Revision; |
| int8_t Name[12]; |
| int8_t Motor[16][4]; |
| } __attribute__((packed)) MixerTable_t; |
| uint8_t Revision; |
| int8_t Name[12]; |
| int8_t Motor[16][4]; |
| }__attribute__((packed)) MixerTable_t; |
| extern MixerTable_t Mixer; |
| /branches/dongfang_FC_rewrite/controlMixer.c |
|---|
| 60,13 → 60,13 |
| #include "commands.h" |
| #include "output.h" |
| uint16_t maxControl[2] = {0,0}; |
| int16_t control[2] = {0,0}; |
| uint16_t maxControl[2] = { 0, 0 }; |
| int16_t control[2] = { 0, 0 }; |
| int16_t controlYaw = 0, controlThrottle = 0; |
| uint8_t looping = 0; |
| // Internal variables for reading commands made with an R/C stick. |
| uint8_t lastCommand = COMMAND_NONE; |
| uint8_t lastCommand = COMMAND_NONE; |
| uint8_t lastArgument; |
| uint8_t isCommandRepeated = 0; |
| 80,7 → 80,7 |
| * (read: Custom MK RC project) |
| */ |
| uint8_t controlMixer_getArgument(void) { |
| return lastArgument; |
| return lastArgument; |
| } |
| /* |
| 88,16 → 88,16 |
| * than the R/C (read: Custom MK R/C project) |
| */ |
| uint8_t controlMixer_getCommand(void) { |
| return lastCommand; |
| return lastCommand; |
| } |
| uint8_t controlMixer_isCommandRepeated(void) { |
| return isCommandRepeated; |
| return isCommandRepeated; |
| } |
| void controlMixer_setNeutral() { |
| EC_setNeutral(); |
| HC_setGround(); |
| EC_setNeutral(); |
| HC_setGround(); |
| } |
| /* |
| 105,10 → 105,10 |
| * No slew rate limitation. |
| */ |
| void controlMixer_initVariables(void) { |
| uint8_t i; |
| for (i=0; i<8; i++) { |
| variables[i] = RC_getVariable(i); |
| } |
| uint8_t i; |
| for (i = 0; i < 8; i++) { |
| variables[i] = RC_getVariable(i); |
| } |
| } |
| /* |
| 116,20 → 116,24 |
| * TODO: It assumes R/C as source. Not necessarily true. |
| */ |
| void controlMixer_updateVariables(void) { |
| uint8_t i; |
| int16_t targetvalue; |
| for (i=0; i<8; i++) { |
| targetvalue = RC_getVariable(i); |
| if (targetvalue < 0) targetvalue = 0; |
| if (variables[i] < targetvalue && variables[i] < 255) variables[i]++; else if(variables[i] > 0 && variables[i] > targetvalue) variables[i]--; |
| } |
| uint8_t i; |
| int16_t targetvalue; |
| for (i = 0; i < 8; i++) { |
| targetvalue = RC_getVariable(i); |
| if (targetvalue < 0) |
| targetvalue = 0; |
| if (variables[i] < targetvalue && variables[i] < 255) |
| variables[i]++; |
| else if (variables[i] > 0 && variables[i] > targetvalue) |
| variables[i]--; |
| } |
| } |
| uint8_t controlMixer_getSignalQuality(void) { |
| uint8_t rcQ = RC_getSignalQuality(); |
| uint8_t ecQ = EC_getSignalQuality(); |
| // This needs not be the only correct solution... |
| return rcQ > ecQ ? rcQ : ecQ; |
| uint8_t rcQ = RC_getSignalQuality(); |
| uint8_t ecQ = EC_getSignalQuality(); |
| // This needs not be the only correct solution... |
| return rcQ > ecQ ? rcQ : ecQ; |
| } |
| /* |
| 136,87 → 140,98 |
| * Update the variables indicating stick position from the sum of R/C, GPS and external control. |
| */ |
| void controlMixer_update(void) { |
| // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
| // TODO: If no signal --> zero. |
| uint8_t axis; |
| // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
| // TODO: If no signal --> zero. |
| uint8_t axis; |
| // takes almost no time... |
| RC_update(); |
| // takes almost no time... |
| EC_update(); |
| // takes almost no time... |
| RC_update(); |
| // takes about 80 usec. |
| HC_update(); |
| // takes almost no time... |
| EC_update(); |
| int16_t* RC_PRTY = RC_getPRTY(); |
| int16_t* EC_PRTY = EC_getPRTY(); |
| // takes about 80 usec. |
| HC_update(); |
| control[PITCH] = RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]; |
| control[ROLL] = RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]; |
| // This can be a CPU time killer if the function implementations are inefficient. |
| controlThrottle = HC_getThrottle(AC_getThrottle(RC_PRTY[CONTROL_THROTTLE] + EC_PRTY[CONTROL_THROTTLE])); |
| controlYaw = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]; |
| int16_t* RC_PRTY = RC_getPRTY(); |
| int16_t* EC_PRTY = EC_getPRTY(); |
| DebugOut.Analog[12] = control[PITCH]; |
| DebugOut.Analog[13] = control[ROLL]; |
| //DebugOut.Analog[26] = controlYaw; |
| control[PITCH] = RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]; |
| control[ROLL] = RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]; |
| // This can be a CPU time killer if the function implementations are inefficient. |
| controlThrottle = HC_getThrottle(AC_getThrottle(RC_PRTY[CONTROL_THROTTLE] |
| + EC_PRTY[CONTROL_THROTTLE])); |
| controlYaw = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]; |
| if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) { |
| controlMixer_updateVariables(); |
| configuration_applyVariablesToParams(); |
| looping = RC_getLooping(looping); |
| } else { // Signal is not OK |
| // Could handle switch to emergency flight here. |
| // throttle is handled elsewhere. |
| looping = 0; |
| } |
| DebugOut.Analog[12] = control[PITCH]; |
| DebugOut.Analog[13] = control[ROLL]; |
| //DebugOut.Analog[26] = controlYaw; |
| // part1a end. |
| if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) { |
| controlMixer_updateVariables(); |
| configuration_applyVariablesToParams(); |
| looping = RC_getLooping(looping); |
| } else { // Signal is not OK |
| // Could handle switch to emergency flight here. |
| // throttle is handled elsewhere. |
| looping = 0; |
| } |
| /* This is not really necessary with the dead-gap feature on all sticks (see rc.c) |
| if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
| if (controlYaw > 2) controlYaw-= 2; |
| else if (controlYaw< -2) controlYaw += 2; |
| else controlYaw = 0; |
| } |
| */ |
| // part1a end. |
| /* |
| * Record maxima |
| */ |
| for (axis=PITCH; axis<=ROLL; axis++) { |
| if(abs(control[axis] / CONTROL_SCALING) > maxControl[axis]) { |
| maxControl[axis] = abs(control[axis]) / CONTROL_SCALING; |
| if(maxControl[axis] > 100) maxControl[axis] = 100; |
| } else if (maxControl[axis]) maxControl[axis]--; |
| } |
| /* This is not really necessary with the dead-gap feature on all sticks (see rc.c) |
| if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
| if (controlYaw > 2) controlYaw-= 2; |
| else if (controlYaw< -2) controlYaw += 2; |
| else controlYaw = 0; |
| } |
| */ |
| uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand() : COMMAND_NONE; |
| uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand() : COMMAND_NONE; |
| if (rcCommand != COMMAND_NONE) { |
| isCommandRepeated = (lastCommand == rcCommand); |
| lastCommand = rcCommand; |
| lastArgument = RC_getArgument(); |
| } else if (ecCommand != COMMAND_NONE) { |
| isCommandRepeated = (lastCommand == ecCommand); |
| lastCommand = ecCommand; |
| lastArgument = EC_getArgument(); |
| } else { |
| // Both sources have no command, or one or both are out. |
| // Just set to false. There is no reason to check if the none-command was repeated anyway. |
| isCommandRepeated = 0; |
| lastCommand = COMMAND_NONE; |
| } |
| /* |
| * Record maxima |
| */ |
| for (axis = PITCH; axis <= ROLL; axis++) { |
| if (abs(control[axis] / CONTROL_SCALING) > maxControl[axis]) { |
| maxControl[axis] = abs(control[axis]) / CONTROL_SCALING; |
| if (maxControl[axis] > 100) |
| maxControl[axis] = 100; |
| } else if (maxControl[axis]) |
| maxControl[axis]--; |
| } |
| if (isCommandRepeated) DebugOut.Digital[0] |= DEBUG_COMMANDREPEATED; else DebugOut.Digital[0] &= ~DEBUG_COMMANDREPEATED; |
| if (rcCommand) DebugOut.Digital[1] |= DEBUG_COMMANDREPEATED; else DebugOut.Digital[1] &= ~DEBUG_COMMANDREPEATED; |
| uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand() |
| : COMMAND_NONE; |
| uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand() |
| : COMMAND_NONE; |
| // part1 end. |
| if (rcCommand != COMMAND_NONE) { |
| isCommandRepeated = (lastCommand == rcCommand); |
| lastCommand = rcCommand; |
| lastArgument = RC_getArgument(); |
| } else if (ecCommand != COMMAND_NONE) { |
| isCommandRepeated = (lastCommand == ecCommand); |
| lastCommand = ecCommand; |
| lastArgument = EC_getArgument(); |
| } else { |
| // Both sources have no command, or one or both are out. |
| // Just set to false. There is no reason to check if the none-command was repeated anyway. |
| isCommandRepeated = 0; |
| lastCommand = COMMAND_NONE; |
| } |
| if (isCommandRepeated) |
| DebugOut.Digital[0] |= DEBUG_COMMANDREPEATED; |
| else |
| DebugOut.Digital[0] &= ~DEBUG_COMMANDREPEATED; |
| if (rcCommand) |
| DebugOut.Digital[1] |= DEBUG_COMMANDREPEATED; |
| else |
| DebugOut.Digital[1] &= ~DEBUG_COMMANDREPEATED; |
| // part1 end. |
| } |
| // TODO: Integrate into command system. |
| uint8_t controlMixer_testCompassCalState(void) { |
| return RC_testCompassCalState(); |
| return RC_testCompassCalState(); |
| } |
| /branches/dongfang_FC_rewrite/controlMixer.h |
|---|
| 7,7 → 7,7 |
| * each other, the priorities between them and the behavior in case that one fails is simplified, |
| * and all in one place. |
| */ |
| /* |
| * Signal qualities, used to determine the availability of a control. |
| * NO_SIGNAL means there was never a signal. SIGNAL_LOST that there was a signal, but it was lost. |
| 47,25 → 47,25 |
| * same interface. This struct of code pointers is used like an abstract class |
| * definition from object-oriented languages, and all control input implementations |
| * will declare an instance of the stuct (=implementation of the abstract class). |
| */ |
| */ |
| typedef struct { |
| /* Get the pitch input in the nominal range [-STICK_RANGE, STICK_RANGE]. */ |
| int16_t(*getPitch)(void); |
| /* Get the pitch input in the nominal range [-STICK_RANGE, STICK_RANGE]. */ |
| int16_t(*getPitch)(void); |
| /* Get the roll input in the nominal range [-STICK_RANGE, STICK_RANGE]. */ |
| int16_t(*getRoll)(void); |
| /* Get the yaw input in the nominal range [-STICK_RANGE, STICK_RANGE]. */ |
| int16_t(*getYaw)(void); |
| /* Get the throttle input in the nominal range [0, THROTTLE_RANGE]. */ |
| uint16_t(*getThrottle)(void); |
| int16_t(*getRoll)(void); |
| /* Signal quality, by the above SIGNAL_... definitions. */ |
| uint8_t (*getSignalQuality)(void); |
| /* Get the yaw input in the nominal range [-STICK_RANGE, STICK_RANGE]. */ |
| int16_t(*getYaw)(void); |
| /* Calibrate sticks to their center positions (only relevant for R/C, really) */ |
| void (*calibrate)(void); |
| /* Get the throttle input in the nominal range [0, THROTTLE_RANGE]. */ |
| uint16_t(*getThrottle)(void); |
| /* Signal quality, by the above SIGNAL_... definitions. */ |
| uint8_t (*getSignalQuality)(void); |
| /* Calibrate sticks to their center positions (only relevant for R/C, really) */ |
| void (*calibrate)(void); |
| } t_control; |
| /* |
| /branches/dongfang_FC_rewrite/dongfangMath.c |
|---|
| 2,230 → 2,228 |
| #include <inttypes.h> |
| #include <avr/pgmspace.h> |
| const int16_t SIN_TABLE[] PROGMEM = { |
| (int16_t) (0.0 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.01745240643728351 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.03489949670250097 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.05233595624294383 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.0697564737441253 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.08715574274765817 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.10452846326765346 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.12186934340514748 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.13917310096006544 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.15643446504023087 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.17364817766693033 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.1908089953765448 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.20791169081775931 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.224951054343865 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.24192189559966773 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.25881904510252074 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.27563735581699916 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.29237170472273677 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.3090169943749474 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.32556815445715664 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.3420201433256687 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.35836794954530027 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.374606593415912 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.3907311284892737 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.40673664307580015 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.42261826174069944 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.4383711467890774 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.45399049973954675 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.4694715627858908 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.48480962024633706 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.49999999999999994 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.5150380749100542 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.5299192642332049 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.5446390350150271 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.5591929034707469 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.573576436351046 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.5877852522924731 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.6018150231520483 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.6156614753256582 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.6293203910498374 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.6427876096865393 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.6560590289905072 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.6691306063588582 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.6819983600624985 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.6946583704589973 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.7071067811865475 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.7193398003386511 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.7313537016191705 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.7431448254773942 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.754709580222772 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.766044443118978 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.7771459614569708 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.788010753606722 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.7986355100472928 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.8090169943749475 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.8191520442889918 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.8290375725550417 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.8386705679454239 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.8480480961564261 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.8571673007021122 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.8660254037844386 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.8746197071393957 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.8829475928589269 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.8910065241883678 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.898794046299167 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9063077870366499 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9135454576426009 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9205048534524403 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9271838545667874 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9335804264972017 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9396926207859083 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9455185755993167 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9510565162951535 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9563047559630354 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9612616959383189 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9659258262890683 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9702957262759965 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9743700647852352 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9781476007338056 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.981627183447664 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.984807753012208 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9876883405951378 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9902680687415703 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.992546151641322 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9945218953682733 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9961946980917455 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9975640502598242 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9986295347545738 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9993908270190958 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9998476951563913 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.0 * MATH_UNIT_FACTOR) }; |
| const int16_t SIN_TABLE[] PROGMEM = { (int16_t) (0.0 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.01745240643728351 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.03489949670250097 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.05233595624294383 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.0697564737441253 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.08715574274765817 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.10452846326765346 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.12186934340514748 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.13917310096006544 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.15643446504023087 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.17364817766693033 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.1908089953765448 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.20791169081775931 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.224951054343865 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.24192189559966773 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.25881904510252074 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.27563735581699916 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.29237170472273677 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.3090169943749474 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.32556815445715664 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.3420201433256687 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.35836794954530027 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.374606593415912 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.3907311284892737 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.40673664307580015 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.42261826174069944 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.4383711467890774 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.45399049973954675 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.4694715627858908 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.48480962024633706 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.49999999999999994 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.5150380749100542 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.5299192642332049 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.5446390350150271 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.5591929034707469 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.573576436351046 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.5877852522924731 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.6018150231520483 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.6156614753256582 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.6293203910498374 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.6427876096865393 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.6560590289905072 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.6691306063588582 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.6819983600624985 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.6946583704589973 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.7071067811865475 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.7193398003386511 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.7313537016191705 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.7431448254773942 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.754709580222772 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.766044443118978 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.7771459614569708 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.788010753606722 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.7986355100472928 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.8090169943749475 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.8191520442889918 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.8290375725550417 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.8386705679454239 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.8480480961564261 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.8571673007021122 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.8660254037844386 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.8746197071393957 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.8829475928589269 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.8910065241883678 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.898794046299167 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9063077870366499 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9135454576426009 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9205048534524403 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9271838545667874 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9335804264972017 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9396926207859083 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9455185755993167 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9510565162951535 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9563047559630354 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9612616959383189 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9659258262890683 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9702957262759965 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9743700647852352 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9781476007338056 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.981627183447664 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.984807753012208 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9876883405951378 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9902680687415703 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.992546151641322 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9945218953682733 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9961946980917455 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9975640502598242 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9986295347545738 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9993908270190958 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9998476951563913 * MATH_UNIT_FACTOR + 0.5), (int16_t) (1.0 |
| * MATH_UNIT_FACTOR) }; |
| const int16_t TAN_TABLE[] PROGMEM = { |
| (int16_t) (0.0 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.017455064928217585 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.03492076949174773 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.0524077792830412 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.06992681194351041 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.08748866352592401 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.10510423526567646 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.1227845609029046 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.14054083470239145 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.15838444032453627 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.17632698070846498 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.19438030913771848 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.2125565616700221 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.23086819112556312 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.24932800284318068 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.2679491924311227 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.2867453857588079 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.3057306814586604 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.3249196962329063 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.3443276132896652 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.36397023426620234 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.3838640350354158 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.4040262258351568 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.4244748162096047 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.4452286853085361 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.4663076581549986 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.48773258856586144 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.5095254494944288 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.5317094316614788 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.554309051452769 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.5773502691896257 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.6008606190275604 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.6248693519093275 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.6494075931975106 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.6745085168424267 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.7002075382097097 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.7265425280053608 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.7535540501027942 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.7812856265067173 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.809784033195007 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.8390996311772799 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.8692867378162265 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9004040442978399 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9325150861376615 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9656887748070739 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9999999999999999 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.0355303137905694 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.0723687100246826 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.1106125148291928 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.1503684072210094 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.19175359259421 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.234897156535051 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.2799416321930788 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.3270448216204098 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.3763819204711734 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.4281480067421144 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.4825609685127403 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.5398649638145825 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.6003345290410504 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.6642794823505174 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.7320508075688767 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.8040477552714236 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.8807264653463318 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.9626105055051504 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (2.050303841579296 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (2.1445069205095586 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (2.2460367739042164 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (2.355852365823752 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (2.4750868534162964 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (2.6050890646938005 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (2.7474774194546216 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (2.904210877675822 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (3.0776835371752527 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (3.2708526184841404 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (3.4874144438409087 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (3.7320508075688776 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (4.010780933535842 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (4.331475874284157 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (4.704630109478451 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (5.144554015970307 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (5.671281819617707 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (6.313751514675041 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (7.115369722384195 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (8.144346427974593 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (9.514364454222587 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (11.430052302761348 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (14.300666256711896 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (19.08113668772816 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (28.636253282915515 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (57.289961630759876 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (32767) |
| }; |
| const int16_t TAN_TABLE[] PROGMEM |
| = { (int16_t) (0.0 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.017455064928217585 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.03492076949174773 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.0524077792830412 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.06992681194351041 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.08748866352592401 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.10510423526567646 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.1227845609029046 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.14054083470239145 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.15838444032453627 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.17632698070846498 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.19438030913771848 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.2125565616700221 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.23086819112556312 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.24932800284318068 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.2679491924311227 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.2867453857588079 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.3057306814586604 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.3249196962329063 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.3443276132896652 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.36397023426620234 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.3838640350354158 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.4040262258351568 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.4244748162096047 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.4452286853085361 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.4663076581549986 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.48773258856586144 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.5095254494944288 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.5317094316614788 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.554309051452769 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.5773502691896257 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.6008606190275604 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.6248693519093275 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.6494075931975106 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.6745085168424267 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.7002075382097097 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.7265425280053608 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.7535540501027942 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.7812856265067173 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.809784033195007 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.8390996311772799 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.8692867378162265 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9004040442978399 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9325150861376615 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9656887748070739 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (0.9999999999999999 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.0355303137905694 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.0723687100246826 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.1106125148291928 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.1503684072210094 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.19175359259421 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.234897156535051 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.2799416321930788 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.3270448216204098 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.3763819204711734 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.4281480067421144 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.4825609685127403 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.5398649638145825 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.6003345290410504 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.6642794823505174 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.7320508075688767 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.8040477552714236 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.8807264653463318 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (1.9626105055051504 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (2.050303841579296 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (2.1445069205095586 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (2.2460367739042164 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (2.355852365823752 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (2.4750868534162964 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (2.6050890646938005 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (2.7474774194546216 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (2.904210877675822 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (3.0776835371752527 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (3.2708526184841404 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (3.4874144438409087 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (3.7320508075688776 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (4.010780933535842 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (4.331475874284157 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (4.704630109478451 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (5.144554015970307 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (5.671281819617707 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (6.313751514675041 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (7.115369722384195 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (8.144346427974593 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (9.514364454222587 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (11.430052302761348 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (14.300666256711896 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (19.08113668772816 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (28.636253282915515 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (57.289961630759876 * MATH_UNIT_FACTOR + 0.5), |
| (int16_t) (32767) }; |
| int16_t int_sin(int32_t arg) { |
| int8_t sign; |
| int16_t result; |
| arg /= MATH_DRG_FACTOR; |
| arg %= 360; |
| if (arg < 0) { |
| arg = -arg; |
| sign = -1; |
| } else { |
| sign = 1; |
| } |
| if (arg >= 90) { |
| arg = 180 - arg; |
| } |
| result = pgm_read_word(&SIN_TABLE[(uint8_t) arg]); |
| return (sign == 1) ? result : -result; |
| int8_t sign; |
| int16_t result; |
| arg /= MATH_DRG_FACTOR; |
| arg %= 360; |
| if (arg < 0) { |
| arg = -arg; |
| sign = -1; |
| } else { |
| sign = 1; |
| } |
| if (arg >= 90) { |
| arg = 180 - arg; |
| } |
| result = pgm_read_word(&SIN_TABLE[(uint8_t) arg]); |
| return (sign == 1) ? result : -result; |
| } |
| int16_t int_cos(int32_t arg) { |
| if (arg > 90L * MATH_DRG_FACTOR) |
| return int_sin(arg + (90L - 360L) * MATH_DRG_FACTOR); |
| return int_sin(arg + 90L * MATH_DRG_FACTOR); |
| if (arg > 90L * MATH_DRG_FACTOR) |
| return int_sin(arg + (90L - 360L) * MATH_DRG_FACTOR); |
| return int_sin(arg + 90L * MATH_DRG_FACTOR); |
| } |
| int16_t int_tan(int32_t arg) { |
| int8_t sign = 1; |
| int16_t result; |
| arg /= MATH_DRG_FACTOR; |
| if (arg >= 90) { |
| arg = 180 - arg; |
| sign = -1; |
| } else if (arg < -90) { |
| arg += 180; |
| } else if (arg < 0) { |
| arg =- arg; |
| sign = -1; |
| } |
| result = pgm_read_word(&TAN_TABLE[(uint8_t) arg]); |
| return (sign == 1) ? result : -result; |
| int8_t sign = 1; |
| int16_t result; |
| arg /= MATH_DRG_FACTOR; |
| if (arg >= 90) { |
| arg = 180 - arg; |
| sign = -1; |
| } else if (arg < -90) { |
| arg += 180; |
| } else if (arg < 0) { |
| arg = -arg; |
| sign = -1; |
| } |
| result = pgm_read_word(&TAN_TABLE[(uint8_t) arg]); |
| return (sign == 1) ? result : -result; |
| } |
| /branches/dongfang_FC_rewrite/dsl.c |
|---|
| 2,88 → 2,87 |
| // This code has been derived from the implementation of Stefan Engelke. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /* |
| Copyright (c) 2008 Stefan Engelke <stefan@tinkerer.eu> |
| Copyright (c) 2008 Stefan Engelke <stefan@tinkerer.eu> |
| Permission is hereby granted, free of charge, to any person |
| obtaining a copy of this software and associated documentation |
| files (the "Software"), to deal in the Software without |
| restriction, including without limitation the rights to use, copy, |
| modify, merge, publish, distribute, sublicense, and/or sell copies |
| of the Software, and to permit persons to whom the Software is |
| furnished to do so, subject to the following conditions: |
| Permission is hereby granted, free of charge, to any person |
| obtaining a copy of this software and associated documentation |
| files (the "Software"), to deal in the Software without |
| restriction, including without limitation the rights to use, copy, |
| modify, merge, publish, distribute, sublicense, and/or sell copies |
| of the Software, and to permit persons to whom the Software is |
| furnished to do so, subject to the following conditions: |
| The above copyright notice and this permission notice shall be |
| included in all copies or substantial portions of the Software. |
| The above copyright notice and this permission notice shall be |
| included in all copies or substantial portions of the Software. |
| THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
| EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF |
| MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
| NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
| HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
| WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER |
| DEALINGS IN THE SOFTWARE. |
| THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
| EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF |
| MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
| NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
| HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
| WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER |
| DEALINGS IN THE SOFTWARE. |
| $Id: rcdsl.c 60 2008-08-21 07:50:48Z taser $ |
| $Id: rcdsl.c 60 2008-08-21 07:50:48Z taser $ |
| RCDSL.H and RCDSL.C is an INOFFICIAL implementation of the |
| communication protocol used by DSL receivers of Act Europe. |
| The DSL receivers have a serial communication port to connect |
| two receivers in diversity mode. Each receiver is sending the |
| received servo signals periodically over this port. This fact |
| can be used to connect the receiver to the control unit of the |
| model via UART instead of evaluating the PPM signal. |
| RCDSL.H and RCDSL.C is an INOFFICIAL implementation of the |
| communication protocol used by DSL receivers of Act Europe. |
| The DSL receivers have a serial communication port to connect |
| two receivers in diversity mode. Each receiver is sending the |
| received servo signals periodically over this port. This fact |
| can be used to connect the receiver to the control unit of the |
| model via UART instead of evaluating the PPM signal. |
| If you have any questions, fell free to send me an e-mail. |
| If you have any questions, fell free to send me an e-mail. |
| */ |
| */ |
| /* |
| Connection of DSL to SV1 of FC: |
| ( DSL Pin1 is on side of channel 4 ) |
| Connection of DSL to SV1 of FC: |
| ( DSL Pin1 is on side of channel 4 ) |
| 1. GND <--> pin 7 (GND) |
| 2. TXD <--> pin 3 (RXD1 Atmega644p) |
| 3. RXD <--> pin 4 (TXD1 Atmega644p) optional |
| 4. 5V <--> pin 2 (5V) |
| 1. GND <--> pin 7 (GND) |
| 2. TXD <--> pin 3 (RXD1 Atmega644p) |
| 3. RXD <--> pin 4 (TXD1 Atmega644p) optional |
| 4. 5V <--> pin 2 (5V) |
| Do not connect the receiver via PPM-Sumsignal output the same time. |
| Do not connect the receiver via PPM-Sumsignal output the same time. |
| Data are send at every 20 ms @ 38400 Baud 8-N-1 |
| Data are send at every 20 ms @ 38400 Baud 8-N-1 |
| Data Frame: |0xFF|0xFF|0x1F|FREQALLOC|??|RSSI|VBAT|??|CRC|10|CH0D1|CH0D0|CH1D1|CH1D0|CRC| ...etc |
| Data Frame: |0xFF|0xFF|0x1F|FREQALLOC|??|RSSI|VBAT|??|CRC|10|CH0D1|CH0D0|CH1D1|CH1D0|CRC| ...etc |
| FREQALLOC = 35, 40, 72 |
| RSSI = 0.. 255 // Received signal strength indicator |
| VBAT = 0...255 // supply voltage (0.0V.. 7.8V) |
| FREQALLOC = 35, 40, 72 |
| RSSI = 0.. 255 // Received signal strength indicator |
| VBAT = 0...255 // supply voltage (0.0V.. 7.8V) |
| Servo Pair: |0x1X|CHXD1|CHXD0|CHX+1D1|CHX+1D0|CRC| |
| X is channel index of 1 servo value |
| D1D0 is servo value as u16 in range of 7373 (1ms) to 14745 (2ms) |
| there are 8 channels submitted, i.e 4 servo pairs |
| Servo Pair: |0x1X|CHXD1|CHXD0|CHX+1D1|CHX+1D0|CRC| |
| X is channel index of 1 servo value |
| D1D0 is servo value as u16 in range of 7373 (1ms) to 14745 (2ms) |
| there are 8 channels submitted, i.e 4 servo pairs |
| Frame examples with signel received |
| Frame examples with signel received |
| FFFF 1F23F079A304AD 1036012B1E6F 122AFB2AECB2 142B4D2B4404 1636872B33CE |
| FFFF 1F23F079A304AD 1036002B1F6F 122AFE2AEBB0 142B4B2B4406 1636872B33CE |
| FFFF 1F23F079A304AD 1035FF2B226E 122AFC2AEAB3 142B4E2B4304 1636882B33CD |
| FFFF 1F23F079A304AD 1036022B1E6E 122AFB2AEEB0 142B4A2B4506 1636872B33CE |
| FFFF 1F23F079A304AD 1036022B1E6E 122AFE2AEBB0 142B4B2B4406 1636882B33CD |
| FFFF 1F23F079A304AD 1036012B1E6F 122AFD2AEAB2 142B4E2B4403 1636862B33CF |
| FFFF 1F23F079A304AD 1036032B1D6E 122AFD2AEBB1 142B4C2B4504 1636862B33CF |
| FFFF 1F23F079A304AD 1036012B1E6F 122AFB2AECB2 142B4D2B4404 1636872B33CE |
| FFFF 1F23F079A304AD 1036002B1F6F 122AFE2AEBB0 142B4B2B4406 1636872B33CE |
| FFFF 1F23F079A304AD 1035FF2B226E 122AFC2AEAB3 142B4E2B4304 1636882B33CD |
| FFFF 1F23F079A304AD 1036022B1E6E 122AFB2AEEB0 142B4A2B4506 1636872B33CE |
| FFFF 1F23F079A304AD 1036022B1E6E 122AFE2AEBB0 142B4B2B4406 1636882B33CD |
| FFFF 1F23F079A304AD 1036012B1E6F 122AFD2AEAB2 142B4E2B4403 1636862B33CF |
| FFFF 1F23F079A304AD 1036032B1D6E 122AFD2AEBB1 142B4C2B4504 1636862B33CF |
| Frame examples with no signal received |
| Frame examples with no signal received |
| FFFF 1F23F000A30426 |
| FFFF 1F23F000A30426 |
| FFFF 1F23F000A30426 |
| FFFF 1F23F000A30426 |
| FFFF 1F23F000A30426 |
| FFFF 1F23F000A30426 |
| FFFF 1F23F000A30426 |
| */ |
| FFFF 1F23F000A30426 |
| FFFF 1F23F000A30426 |
| FFFF 1F23F000A30426 |
| FFFF 1F23F000A30426 |
| FFFF 1F23F000A30426 |
| FFFF 1F23F000A30426 |
| FFFF 1F23F000A30426 |
| */ |
| #include <stdlib.h> |
| #include "dsl.h" |
| 96,47 → 95,48 |
| uint8_t PacketBuffer[6]; |
| //uint8_t Jitter = 0; // same measurement as RC_Quality in rc.c |
| typedef union |
| { |
| typedef union { |
| int16_t Servo[2]; |
| uint8_t byte[4]; |
| uint8_t byte[4]; |
| } ChannelPair_t; |
| ChannelPair_t ChannelPair; |
| // This function is called, when a new servo signal is properly received. |
| // Parameters: servo - servo number (0-9) |
| // signal - servo signal between 7373 (1ms) and 14745 (2ms) |
| void dsl_new_signal(uint8_t channel, int16_t signal) |
| { |
| int16_t tmp; |
| uint8_t index = channel + 1; // mk channels start with 1 |
| void dsl_new_signal(uint8_t channel, int16_t signal) { |
| int16_t tmp; |
| uint8_t index = channel + 1; // mk channels start with 1 |
| //RC_Quality = (212 * (uint16_t)dsl_RSSI) / 128; // have to be scaled approx. by a factor of 1.66 to get 200 at full level |
| //if(RC_Quality > 255) RC_Quality = 255; |
| // signal from DSL-receiver is between 7373 (1ms) und 14745 (2ms). |
| signal-= 11059; // shift to neutral |
| signal/= 24; // scale to mk rc resolution |
| // signal from DSL-receiver is between 7373 (1ms) und 14745 (2ms). |
| signal -= 11059; // shift to neutral |
| signal /= 24; // scale to mk rc resolution |
| if(abs(signal-PPM_in[index]) < 6) |
| { |
| if(RC_Quality < 200) RC_Quality +=10; |
| else RC_Quality = 200; |
| if (abs(signal-PPM_in[index]) < 6) { |
| if (RC_Quality < 200) |
| RC_Quality += 10; |
| else |
| RC_Quality = 200; |
| } |
| // calculate exponential history for signal |
| // calculate exponential history for signal |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| if (tmp > signal + 1) |
| tmp--; |
| else if (tmp < signal - 1) |
| tmp++; |
| // calculate signal difference on good signal level |
| if(RC_Quality >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for noise reduction |
| else PPM_diff[index] = 0; |
| if (RC_Quality >= 195) |
| PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for noise reduction |
| else |
| PPM_diff[index] = 0; |
| PPM_in[index] = tmp; // update channel value |
| if(index == 4) |
| { |
| if (index == 4) { |
| NewPpmData = 0; |
| } |
| } |
| 143,34 → 143,29 |
| // This function is called within dsl_parser(), when a complete |
| // data packet with valid checksum has been received. |
| void dsl_decode_packet(void) |
| { |
| uint8_t i; |
| void dsl_decode_packet(void) { |
| uint8_t i; |
| // check for header condition |
| if((PacketBuffer[0] & 0xF0) == 0x10) |
| { |
| if(PacketBuffer[0] == 0x1F) // separate status frame |
| if ((PacketBuffer[0] & 0xF0) == 0x10) { |
| if (PacketBuffer[0] == 0x1F) // separate status frame |
| { |
| dsl_Allocation = PacketBuffer[1]; // Get frequency allocation |
| dsl_Allocation = PacketBuffer[1]; // Get frequency allocation |
| // ?? = PacketBuffer[2]; |
| dsl_RSSI = PacketBuffer[3]; // Get signal quality |
| dsl_Battery = PacketBuffer[4]; // Get voltage of battery supply |
| dsl_RSSI = PacketBuffer[3]; // Get signal quality |
| dsl_Battery = PacketBuffer[4]; // Get voltage of battery supply |
| // ?? = PacketBuffer[5]; |
| if(dsl_RSSI == 0) |
| { |
| if (dsl_RSSI == 0) { |
| RC_Quality = 0; |
| for (i = 0; i<5; i++) |
| { |
| for (i = 0; i < 5; i++) { |
| PPM_diff[i] = 0; |
| PPM_in[i] = 0; |
| } |
| } |
| } |
| else // probably a channel pair |
| } else // probably a channel pair |
| { |
| i = PacketBuffer[0] & 0x0F; // last 4 bits of the header indicates the channel pair |
| if(i < 10)// maximum 12 channels |
| i = PacketBuffer[0] & 0x0F; // last 4 bits of the header indicates the channel pair |
| if (i < 10)// maximum 12 channels |
| { |
| // big to little endian |
| ChannelPair.byte[1] = PacketBuffer[1]; |
| 177,47 → 172,47 |
| ChannelPair.byte[0] = PacketBuffer[2]; |
| ChannelPair.byte[3] = PacketBuffer[3]; |
| ChannelPair.byte[2] = PacketBuffer[4]; |
| dsl_new_signal(i, ChannelPair.Servo[0]); |
| dsl_new_signal(i+1,ChannelPair.Servo[1]); |
| dsl_new_signal(i, ChannelPair.Servo[0]); |
| dsl_new_signal(i + 1, ChannelPair.Servo[1]); |
| } |
| } |
| } // EOF header condition |
| } |
| // this function should be called within the UART RX ISR |
| void dsl_parser(uint8_t c) |
| { |
| void dsl_parser(uint8_t c) { |
| static uint8_t last_c = 0; |
| static uint8_t crc = 0; |
| static uint8_t crc = 0; |
| static uint8_t cnt = 0; |
| static uint8_t packet_len = 0; |
| // check for sync condition |
| if ((c==0xFF) && (last_c==0xFF)) |
| { |
| if ((c == 0xFF) && (last_c == 0xFF)) { |
| cnt = 0; // reset byte counter |
| crc = 0; // reset checksum |
| return; |
| } |
| } |
| if(cnt == 0) // begin of a packet |
| if (cnt == 0) // begin of a packet |
| { |
| if(c == 0x1F) packet_len = 5; // a status packet has 5 bytes + crc |
| else packet_len = 4; // a channel pair packet has 4 bytes + crc |
| if (c == 0x1F) |
| packet_len = 5; // a status packet has 5 bytes + crc |
| else |
| packet_len = 4; // a channel pair packet has 4 bytes + crc |
| } |
| if(cnt > packet_len) // packet complete, crc byte received |
| if (cnt > packet_len) // packet complete, crc byte received |
| { |
| // calculate checksum |
| crc = ~crc; |
| if (crc == 0xFF) crc = 0xFE; |
| if (crc == 0xFF) |
| crc = 0xFE; |
| // if crc matches decode the packet |
| if (c == crc) dsl_decode_packet(); |
| // handle next packet |
| cnt = 0; |
| crc = 0; |
| } |
| else // collect channel data bytes |
| if (c == crc) |
| dsl_decode_packet(); |
| // handle next packet |
| cnt = 0; |
| crc = 0; |
| } else // collect channel data bytes |
| { |
| PacketBuffer[cnt++] = c; |
| crc += c; |
| /branches/dongfang_FC_rewrite/dsl.h |
|---|
| 3,8 → 3,8 |
| #include <inttypes.h> |
| extern uint8_t dsl_RSSI; // Received signal strength indicator |
| extern uint8_t dsl_Battery; // Battery voltage (0-255 [0V - 8.2V]) |
| extern uint8_t dsl_RSSI; // Received signal strength indicator |
| extern uint8_t dsl_Battery; // Battery voltage (0-255 [0V - 8.2V]) |
| extern uint8_t dsl_Allocation; // Frequency allocation (35,40,72) |
| #define USART1_BAUD 38400 |
| 12,4 → 12,3 |
| extern void dsl_parser(uint8_t c); |
| #endif //_DSL_H |
| /branches/dongfang_FC_rewrite/eeprom.c |
|---|
| 74,10 → 74,10 |
| #include "sensors.h" |
| // byte array in eeprom |
| uint8_t EEPromArray[E2END+1] EEMEM; |
| uint8_t EEPromArray[E2END + 1] EEMEM; |
| paramset_t staticParams; |
| MixerTable_t Mixer; |
| paramset_t staticParams; |
| MixerTable_t Mixer; |
| /* |
| * Default for your own experiments here, so you don't have to reset them |
| 84,90 → 84,90 |
| * from MK-Tool all the time. |
| */ |
| void setDefaultUserParams(void) { |
| uint8_t i; |
| for (i=0; i<sizeof(staticParams.UserParams1); i++) { |
| staticParams.UserParams1[i] = 0; |
| } |
| for (i=0; i<sizeof(staticParams.UserParams2); i++) { |
| staticParams.UserParams2[i] = 0; |
| } |
| /* |
| * While we are still using userparams for flight parameters, do set |
| * some safe & meaningful default values. |
| */ |
| staticParams.UserParams1[3] = 8; // Throttle stick D=8 |
| staticParams.UserParams2[0] = 0b11010101; // All gyro filter constants 2; acc. 4 |
| staticParams.UserParams2[1] = 2; // H&I motor smoothing. |
| staticParams.UserParams2[2] = 120; // Yaw I factor |
| staticParams.UserParams2[3] = 10; // Max Z acceleration for acc. correction of angles. |
| uint8_t i; |
| for (i = 0; i < sizeof(staticParams.UserParams1); i++) { |
| staticParams.UserParams1[i] = 0; |
| } |
| for (i = 0; i < sizeof(staticParams.UserParams2); i++) { |
| staticParams.UserParams2[i] = 0; |
| } |
| /* |
| * While we are still using userparams for flight parameters, do set |
| * some safe & meaningful default values. |
| */ |
| staticParams.UserParams1[3] = 8; // Throttle stick D=8 |
| staticParams.UserParams2[0] = 0b11010101; // All gyro filter constants 2; acc. 4 |
| staticParams.UserParams2[1] = 2; // H&I motor smoothing. |
| staticParams.UserParams2[2] = 120; // Yaw I factor |
| staticParams.UserParams2[3] = 10; // Max Z acceleration for acc. correction of angles. |
| } |
| void setOtherDefaults(void) { |
| /* Channel assignments were changed to the normal: |
| * Aileron/roll=1, elevator/pitch=2, throttle=3, yaw/rudder=4 |
| */ |
| staticParams.ChannelAssignment[CH_PITCH] = 2; |
| staticParams.ChannelAssignment[CH_ROLL] = 1; |
| staticParams.ChannelAssignment[CH_THROTTLE] = 3; |
| staticParams.ChannelAssignment[CH_YAW] = 4; |
| staticParams.ChannelAssignment[CH_POTS+0] = 5; |
| staticParams.ChannelAssignment[CH_POTS+1] = 6; |
| staticParams.ChannelAssignment[CH_POTS+2] = 7; |
| staticParams.ChannelAssignment[CH_POTS+3] = 8; |
| staticParams.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_HEADING_HOLD; // CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
| staticParams.HeightMinGas = 30; |
| staticParams.MaxHeight = 251; |
| staticParams.HeightP = 10; |
| staticParams.HeightD = 30; |
| staticParams.Height_ACC_Effect = 30; |
| staticParams.Height_Gain = 4; |
| staticParams.StickP = 8; |
| staticParams.StickD = 12; |
| staticParams.StickYawP = 12; |
| staticParams.MinThrottle = 8; |
| staticParams.MaxThrottle = 230; |
| staticParams.CompassYawEffect = 128; |
| staticParams.GyroP = 80; |
| staticParams.GyroI = 100; |
| staticParams.LowVoltageWarning = 95; |
| staticParams.EmergencyGas = 35; |
| staticParams.EmergencyGasDuration = 30; |
| staticParams.Unused0 = 0; |
| staticParams.IFactor = 32; |
| staticParams.ServoPitchControl = 100; |
| staticParams.ServoPitchComp = 40; |
| staticParams.ServoPitchCompInvert = 0; |
| staticParams.ServoPitchMin = 50; |
| staticParams.ServoPitchMax = 150; |
| staticParams.ServoRefresh = 5; |
| staticParams.LoopGasLimit = 50; |
| staticParams.LoopThreshold = 90; |
| staticParams.LoopHysteresis = 50; |
| staticParams.BitConfig = 0; |
| staticParams.AxisCoupling1 = 90; |
| staticParams.AxisCoupling2 = 67; |
| staticParams.AxisCouplingYawCorrection = 0; |
| staticParams.DynamicStability = 50; |
| staticParams.J16Bitmask = 95; |
| staticParams.J17Bitmask = 243; |
| staticParams.J16Timing = 15; |
| staticParams.J17Timing = 15; |
| staticParams.NaviGpsModeControl = 253; |
| staticParams.NaviGpsGain = 100; |
| staticParams.NaviGpsP = 90; |
| staticParams.NaviGpsI = 90; |
| staticParams.NaviGpsD = 90; |
| staticParams.NaviGpsPLimit = 75; |
| staticParams.NaviGpsILimit = 75; |
| staticParams.NaviGpsDLimit = 75; |
| staticParams.NaviGpsACC = 0; |
| staticParams.NaviGpsMinSat = 6; |
| staticParams.NaviStickThreshold = 8; |
| staticParams.NaviWindCorrection = 90; |
| staticParams.NaviSpeedCompensation = 30; |
| staticParams.NaviOperatingRadius = 100; |
| staticParams.NaviAngleLimitation = 100; |
| staticParams.NaviPHLoginTime = 4; |
| /* Channel assignments were changed to the normal: |
| * Aileron/roll=1, elevator/pitch=2, throttle=3, yaw/rudder=4 |
| */ |
| staticParams.ChannelAssignment[CH_PITCH] = 2; |
| staticParams.ChannelAssignment[CH_ROLL] = 1; |
| staticParams.ChannelAssignment[CH_THROTTLE] = 3; |
| staticParams.ChannelAssignment[CH_YAW] = 4; |
| staticParams.ChannelAssignment[CH_POTS + 0] = 5; |
| staticParams.ChannelAssignment[CH_POTS + 1] = 6; |
| staticParams.ChannelAssignment[CH_POTS + 2] = 7; |
| staticParams.ChannelAssignment[CH_POTS + 3] = 8; |
| staticParams.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_HEADING_HOLD; // CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
| staticParams.HeightMinGas = 30; |
| staticParams.MaxHeight = 251; |
| staticParams.HeightP = 10; |
| staticParams.HeightD = 30; |
| staticParams.Height_ACC_Effect = 30; |
| staticParams.Height_Gain = 4; |
| staticParams.StickP = 8; |
| staticParams.StickD = 12; |
| staticParams.StickYawP = 12; |
| staticParams.MinThrottle = 8; |
| staticParams.MaxThrottle = 230; |
| staticParams.CompassYawEffect = 128; |
| staticParams.GyroP = 80; |
| staticParams.GyroI = 100; |
| staticParams.LowVoltageWarning = 95; |
| staticParams.EmergencyGas = 35; |
| staticParams.EmergencyGasDuration = 30; |
| staticParams.Unused0 = 0; |
| staticParams.IFactor = 32; |
| staticParams.ServoPitchControl = 100; |
| staticParams.ServoPitchComp = 40; |
| staticParams.ServoPitchCompInvert = 0; |
| staticParams.ServoPitchMin = 50; |
| staticParams.ServoPitchMax = 150; |
| staticParams.ServoRefresh = 5; |
| staticParams.LoopGasLimit = 50; |
| staticParams.LoopThreshold = 90; |
| staticParams.LoopHysteresis = 50; |
| staticParams.BitConfig = 0; |
| staticParams.AxisCoupling1 = 90; |
| staticParams.AxisCoupling2 = 67; |
| staticParams.AxisCouplingYawCorrection = 0; |
| staticParams.DynamicStability = 50; |
| staticParams.J16Bitmask = 95; |
| staticParams.J17Bitmask = 243; |
| staticParams.J16Timing = 15; |
| staticParams.J17Timing = 15; |
| staticParams.NaviGpsModeControl = 253; |
| staticParams.NaviGpsGain = 100; |
| staticParams.NaviGpsP = 90; |
| staticParams.NaviGpsI = 90; |
| staticParams.NaviGpsD = 90; |
| staticParams.NaviGpsPLimit = 75; |
| staticParams.NaviGpsILimit = 75; |
| staticParams.NaviGpsDLimit = 75; |
| staticParams.NaviGpsACC = 0; |
| staticParams.NaviGpsMinSat = 6; |
| staticParams.NaviStickThreshold = 8; |
| staticParams.NaviWindCorrection = 90; |
| staticParams.NaviSpeedCompensation = 30; |
| staticParams.NaviOperatingRadius = 100; |
| staticParams.NaviAngleLimitation = 100; |
| staticParams.NaviPHLoginTime = 4; |
| } |
| /***************************************************/ |
| 174,11 → 174,12 |
| /* Default Values for parameter set 1 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet1(void) { // sport |
| setOtherDefaults(); |
| gyro_setDefaults(); |
| setDefaultUserParams(); |
| staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE; |
| memcpy(staticParams.Name, "Sport\0",6); |
| setOtherDefaults(); |
| gyro_setDefaults(); |
| setDefaultUserParams(); |
| staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER |
| | CFG_AXIS_COUPLING_ACTIVE; |
| memcpy(staticParams.Name, "Sport\0", 6); |
| } |
| /***************************************************/ |
| 185,14 → 186,15 |
| /* Default Values for parameter set 2 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet2(void) { // normal |
| setOtherDefaults(); |
| gyro_setDefaults(); |
| setDefaultUserParams(); |
| staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE; |
| staticParams.Height_Gain = 3; |
| staticParams.J16Timing = 20; |
| staticParams.J17Timing = 20; |
| memcpy(staticParams.Name, "Normal\0", 7); |
| setOtherDefaults(); |
| gyro_setDefaults(); |
| setDefaultUserParams(); |
| staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER |
| | CFG_AXIS_COUPLING_ACTIVE; |
| staticParams.Height_Gain = 3; |
| staticParams.J16Timing = 20; |
| staticParams.J17Timing = 20; |
| memcpy(staticParams.Name, "Normal\0", 7); |
| } |
| /***************************************************/ |
| 199,16 → 201,17 |
| /* Default Values for parameter set 3 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet3(void) { // beginner |
| setOtherDefaults(); |
| gyro_setDefaults(); |
| setDefaultUserParams(); |
| staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE; |
| staticParams.Height_Gain = 3; |
| staticParams.EmergencyGasDuration = 20; |
| staticParams.AxisCouplingYawCorrection = 70; |
| staticParams.J16Timing = 30; |
| staticParams.J17Timing = 30; |
| memcpy(staticParams.Name, "Beginner\0", 9); |
| setOtherDefaults(); |
| gyro_setDefaults(); |
| setDefaultUserParams(); |
| staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER |
| | CFG_AXIS_COUPLING_ACTIVE; |
| staticParams.Height_Gain = 3; |
| staticParams.EmergencyGasDuration = 20; |
| staticParams.AxisCouplingYawCorrection = 70; |
| staticParams.J16Timing = 30; |
| staticParams.J17Timing = 30; |
| memcpy(staticParams.Name, "Beginner\0", 9); |
| } |
| /***************************************************/ |
| 215,7 → 218,7 |
| /* Read Parameter from EEPROM as byte */ |
| /***************************************************/ |
| uint8_t GetParamByte(uint16_t param_id) { |
| return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
| return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
| } |
| /***************************************************/ |
| 222,7 → 225,7 |
| /* Write Parameter to EEPROM as byte */ |
| /***************************************************/ |
| void SetParamByte(uint16_t param_id, uint8_t value) { |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
| } |
| /***************************************************/ |
| 229,7 → 232,8 |
| /* Read Parameter from EEPROM as word */ |
| /***************************************************/ |
| uint16_t GetParamWord(uint16_t param_id) { |
| return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
| return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN |
| + param_id]); |
| } |
| /***************************************************/ |
| 236,7 → 240,8 |
| /* Write Parameter to EEPROM as word */ |
| /***************************************************/ |
| void SetParamWord(uint16_t param_id, uint16_t value) { |
| eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
| eeprom_write_word( |
| (uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
| } |
| /***************************************************/ |
| 244,9 → 249,12 |
| /***************************************************/ |
| // number [1..5] |
| void ParamSet_ReadFromEEProm(uint8_t setnumber) { |
| if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
| eeprom_read_block((uint8_t *) &staticParams.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN); |
| output_init(); |
| if ((1 > setnumber) || (setnumber > 5)) |
| setnumber = 3; |
| eeprom_read_block((uint8_t *) &staticParams.ChannelAssignment[0], |
| &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber |
| - 1)], PARAMSET_STRUCT_LEN); |
| output_init(); |
| } |
| /***************************************************/ |
| 254,14 → 262,20 |
| /***************************************************/ |
| // number [1..5] |
| void ParamSet_WriteToEEProm(uint8_t setnumber) { |
| if(setnumber > 5) setnumber = 5; |
| if(setnumber < 1) return; |
| eeprom_write_block((uint8_t *) &staticParams.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN); |
| eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH], PARAMSET_STRUCT_LEN); |
| eeprom_write_block( &staticParams.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping |
| // set this parameter set to active set |
| setActiveParamSet(setnumber); |
| output_init(); |
| if (setnumber > 5) |
| setnumber = 5; |
| if (setnumber < 1) |
| return; |
| eeprom_write_block((uint8_t *) &staticParams.ChannelAssignment[0], |
| &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber |
| - 1)], PARAMSET_STRUCT_LEN); |
| eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH], |
| PARAMSET_STRUCT_LEN); |
| eeprom_write_block(&staticParams.ChannelAssignment[0], |
| &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping |
| // set this parameter set to active set |
| setActiveParamSet(setnumber); |
| output_init(); |
| } |
| /***************************************************/ |
| 268,13 → 282,13 |
| /* Get active parameter set */ |
| /***************************************************/ |
| uint8_t getActiveParamSet(void) { |
| uint8_t setnumber; |
| setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
| if(setnumber > 5) { |
| setnumber = 3; |
| eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
| } |
| return(setnumber); |
| uint8_t setnumber; |
| setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
| if (setnumber > 5) { |
| setnumber = 3; |
| eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
| } |
| return (setnumber); |
| } |
| /***************************************************/ |
| 281,9 → 295,11 |
| /* Set active parameter set */ |
| /***************************************************/ |
| void setActiveParamSet(uint8_t setnumber) { |
| if(setnumber > 5) setnumber = 5; |
| if(setnumber < 1) setnumber = 1; |
| eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
| if (setnumber > 5) |
| setnumber = 5; |
| if (setnumber < 1) |
| setnumber = 1; |
| eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
| } |
| /***************************************************/ |
| 290,11 → 306,13 |
| /* Read MixerTable from EEPROM */ |
| /***************************************************/ |
| uint8_t MixerTable_ReadFromEEProm(void) { |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == EEMIXER_REVISION) { |
| eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
| return 1; |
| } |
| else return 0; |
| if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) |
| == EEMIXER_REVISION) { |
| eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], |
| sizeof(Mixer)); |
| return 1; |
| } else |
| return 0; |
| } |
| /***************************************************/ |
| 301,11 → 319,12 |
| /* Write Mixer Table to EEPROM */ |
| /***************************************************/ |
| uint8_t MixerTable_WriteToEEProm(void) { |
| if(Mixer.Revision == EEMIXER_REVISION) { |
| eeprom_write_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
| return 1; |
| } |
| else return 0; |
| if (Mixer.Revision == EEMIXER_REVISION) { |
| eeprom_write_block((uint8_t *) &Mixer, |
| &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
| return 1; |
| } else |
| return 0; |
| } |
| /***************************************************/ |
| 312,21 → 331,25 |
| /* Default Values for Mixer Table */ |
| /***************************************************/ |
| void MixerTable_Default(void) { // Quadro |
| uint8_t i; |
| Mixer.Revision = EEMIXER_REVISION; |
| // clear mixer table (but preset throttle) |
| for(i = 0; i < 16; i++) { |
| Mixer.Motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
| Mixer.Motor[i][MIX_PITCH] = 0; |
| Mixer.Motor[i][MIX_ROLL] = 0; |
| Mixer.Motor[i][MIX_YAW] = 0; |
| } |
| // default = Quadro |
| Mixer.Motor[0][MIX_PITCH] = +64; Mixer.Motor[0][MIX_YAW] = +64; |
| Mixer.Motor[1][MIX_PITCH] = -64; Mixer.Motor[1][MIX_YAW] = +64; |
| Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
| Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
| memcpy(Mixer.Name, "Quadro\0", 7); |
| uint8_t i; |
| Mixer.Revision = EEMIXER_REVISION; |
| // clear mixer table (but preset throttle) |
| for (i = 0; i < 16; i++) { |
| Mixer.Motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
| Mixer.Motor[i][MIX_PITCH] = 0; |
| Mixer.Motor[i][MIX_ROLL] = 0; |
| Mixer.Motor[i][MIX_YAW] = 0; |
| } |
| // default = Quadro |
| Mixer.Motor[0][MIX_PITCH] = +64; |
| Mixer.Motor[0][MIX_YAW] = +64; |
| Mixer.Motor[1][MIX_PITCH] = -64; |
| Mixer.Motor[1][MIX_YAW] = +64; |
| Mixer.Motor[2][MIX_ROLL] = -64; |
| Mixer.Motor[2][MIX_YAW] = -64; |
| Mixer.Motor[3][MIX_ROLL] = +64; |
| Mixer.Motor[3][MIX_YAW] = -64; |
| memcpy(Mixer.Name, "Quadro\0", 7); |
| } |
| /***************************************************/ |
| 333,62 → 356,64 |
| /* Initialize EEPROM Parameter Sets */ |
| /***************************************************/ |
| void ParamSet_Init(void) { |
| uint8_t Channel_Backup=1, i, j; |
| // parameter version check |
| if(eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) { |
| // if version check faild |
| printf("\n\rInit Parameter in EEPROM"); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table |
| // check if channel mapping backup is valid |
| for (j=0; j<4 && Channel_Backup; j++) { |
| if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]) >= 12) |
| Channel_Backup = 0; |
| } |
| // fill all 5 parameter settings |
| for (i=1; i<6; i++) { |
| switch(i) { |
| case 1: |
| ParamSet_DefaultSet1(); // Fill staticParams Structure to default parameter set 1 (Sport) |
| break; |
| case 2: |
| ParamSet_DefaultSet2(); // Kamera |
| break; |
| case 3: |
| ParamSet_DefaultSet3(); // Beginner |
| break; |
| default: |
| ParamSet_DefaultSet2(); // Kamera |
| break; |
| } |
| if(Channel_Backup) { // if we have a rc channel mapping backup in eeprom |
| // restore it |
| for (j=0; j<8; j++) { |
| staticParams.ChannelAssignment[j] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+j]); |
| uint8_t Channel_Backup = 1, i, j; |
| // parameter version check |
| if (eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) { |
| // if version check faild |
| printf("\n\rInit Parameter in EEPROM"); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table |
| // check if channel mapping backup is valid |
| for (j = 0; j < 4 && Channel_Backup; j++) { |
| if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS + 0]) >= 12) |
| Channel_Backup = 0; |
| } |
| // fill all 5 parameter settings |
| for (i = 1; i < 6; i++) { |
| switch (i) { |
| case 1: |
| ParamSet_DefaultSet1(); // Fill staticParams Structure to default parameter set 1 (Sport) |
| break; |
| case 2: |
| ParamSet_DefaultSet2(); // Kamera |
| break; |
| case 3: |
| ParamSet_DefaultSet3(); // Beginner |
| break; |
| default: |
| ParamSet_DefaultSet2(); // Kamera |
| break; |
| } |
| if (Channel_Backup) { // if we have a rc channel mapping backup in eeprom |
| // restore it |
| for (j = 0; j < 8; j++) { |
| staticParams.ChannelAssignment[j] = eeprom_read_byte( |
| &EEPromArray[EEPROM_ADR_CHANNELS + j]); |
| } |
| } |
| ParamSet_WriteToEEProm(i); |
| } |
| // default-Setting is parameter set 3 |
| setActiveParamSet(1); |
| // update version info |
| SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION); |
| } |
| } |
| ParamSet_WriteToEEProm(i); |
| } |
| // default-Setting is parameter set 3 |
| setActiveParamSet(1); |
| // update version info |
| SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION); |
| } |
| // read active parameter set to staticParams stucture |
| ParamSet_ReadFromEEProm(getActiveParamSet()); |
| printf("\n\rUsing Parameter Set %d", getActiveParamSet()); |
| // load mixer table |
| if(!MixerTable_ReadFromEEProm()) { |
| printf("\n\rGenerating default Mixer Table"); |
| MixerTable_Default(); // Quadro |
| MixerTable_WriteToEEProm(); |
| } |
| // determine motornumber |
| RequiredMotors = 0; |
| for(i = 0; i < 16; i++) { |
| if(Mixer.Motor[i][MIX_THROTTLE] > 0) RequiredMotors++; |
| } |
| printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
| printf("\n\r=============================="); |
| // read active parameter set to staticParams stucture |
| ParamSet_ReadFromEEProm(getActiveParamSet()); |
| printf("\n\rUsing Parameter Set %d", getActiveParamSet()); |
| // load mixer table |
| if (!MixerTable_ReadFromEEProm()) { |
| printf("\n\rGenerating default Mixer Table"); |
| MixerTable_Default(); // Quadro |
| MixerTable_WriteToEEProm(); |
| } |
| // determine motornumber |
| RequiredMotors = 0; |
| for (i = 0; i < 16; i++) { |
| if (Mixer.Motor[i][MIX_THROTTLE] > 0) |
| RequiredMotors++; |
| } |
| printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
| printf("\n\r=============================="); |
| } |
| /branches/dongfang_FC_rewrite/eeprom.h |
|---|
| 11,16 → 11,12 |
| #define PID_ACC_PITCH 4 // word |
| #define PID_ACC_ROLL 6 // word |
| #define PID_ACC_Z 8 // word |
| #define EEPROM_ADR_CHANNELS 80 // 8 bytes |
| #define EEPROM_ADR_PARAMSET_LENGTH 98 // word |
| #define EEPROM_ADR_PARAMSET_BEGIN 100 |
| #define EEPROM_ADR_MIXER_TABLE 1000 // 1000 - 1076 |
| #define EEPARAM_REVISION 75 // is count up, if paramater stucture has changed (compatibility) |
| #define EEMIXER_REVISION 1 // is count up, if Mixer stucture has changed (compatibility) |
| extern void ParamSet_Init(void); |
| extern void ParamSet_ReadFromEEProm(uint8_t setnumber); |
| extern void ParamSet_WriteToEEProm(uint8_t setnumber); |
| /branches/dongfang_FC_rewrite/externalControl.c |
|---|
| 9,59 → 9,62 |
| // TODO: Who is going to call this |
| void EC_setNeutral(void) { |
| // if necessary. From main.c. |
| externalControl.config = 0; |
| externalControl.pitch = 0; |
| externalControl.roll = 0; |
| externalControl.yaw = 0; |
| externalControl.throttle = 0; |
| // From main.c. What does it do?? |
| externalControl.digital[0] = 0x55; |
| // if necessary. From main.c. |
| externalControl.config = 0; |
| externalControl.pitch = 0; |
| externalControl.roll = 0; |
| externalControl.yaw = 0; |
| externalControl.throttle = 0; |
| // From main.c. What does it do?? |
| externalControl.digital[0] = 0x55; |
| } |
| int16_t* EC_getPRTY(void) { |
| return EC_PRTY; |
| return EC_PRTY; |
| } |
| uint8_t EC_getArgument(void) { |
| return externalControl.config; |
| return externalControl.config; |
| } |
| uint8_t EC_getCommand(void) { |
| return externalControl.free; |
| return externalControl.free; |
| } |
| // not implemented. |
| int16_t EC_getVariable(uint8_t varNum) { |
| return 0; |
| return 0; |
| } |
| void EC_update() { |
| if (externalControlActive) { |
| externalControlActive--; |
| EC_PRTY[CONTROL_PITCH] = (int16_t) externalControl.pitch * (int16_t) staticParams.StickP; |
| EC_PRTY[CONTROL_ROLL] = externalControl.roll * (int16_t) staticParams.StickP; |
| EC_PRTY[CONTROL_THROTTLE] = externalControl.throttle; |
| EC_PRTY[CONTROL_YAW] = externalControl.yaw; // No stickP or similar?????? |
| } else { |
| EC_PRTY[CONTROL_PITCH] = EC_PRTY[CONTROL_ROLL] = EC_PRTY[CONTROL_THROTTLE] = EC_PRTY[CONTROL_YAW] = 0; |
| } |
| if (externalControlActive) { |
| externalControlActive--; |
| EC_PRTY[CONTROL_PITCH] = (int16_t) externalControl.pitch |
| * (int16_t) staticParams.StickP; |
| EC_PRTY[CONTROL_ROLL] = externalControl.roll |
| * (int16_t) staticParams.StickP; |
| EC_PRTY[CONTROL_THROTTLE] = externalControl.throttle; |
| EC_PRTY[CONTROL_YAW] = externalControl.yaw; // No stickP or similar?????? |
| } else { |
| EC_PRTY[CONTROL_PITCH] = EC_PRTY[CONTROL_ROLL] = EC_PRTY[CONTROL_THROTTLE] |
| = EC_PRTY[CONTROL_YAW] = 0; |
| } |
| } |
| uint8_t EC_getSignalQuality(void) { |
| if (externalControlActive > 80) |
| // Configured and heard from recently |
| return SIGNAL_GOOD; |
| if (externalControlActive > 80) |
| // Configured and heard from recently |
| return SIGNAL_GOOD; |
| if (externalControlActive) |
| // Configured and heard from |
| return SIGNAL_OK; |
| if (externalControlActive) |
| // Configured and heard from |
| return SIGNAL_OK; |
| if (!(externalControl.config & 0x01 && dynamicParams.ExternalControl > 128)) |
| // External control is not even configured. |
| return NO_SIGNAL; |
| if (!(externalControl.config & 0x01 && dynamicParams.ExternalControl > 128)) |
| // External control is not even configured. |
| return NO_SIGNAL; |
| // Configured but expired. |
| return SIGNAL_LOST; |
| // Configured but expired. |
| return SIGNAL_LOST; |
| } |
| /branches/dongfang_FC_rewrite/externalControl.h |
|---|
| 5,28 → 5,28 |
| #include<inttypes.h> |
| typedef struct { |
| uint8_t digital[2]; |
| uint8_t remoteButtons; |
| int8_t pitch; |
| int8_t roll; |
| int8_t yaw; |
| uint8_t throttle; |
| int8_t height; |
| uint8_t free; // Let's use that for commands now. |
| uint8_t frame; |
| uint8_t config; // Let's use that for arguemnts. |
| } __attribute__((packed)) ExternalControl_t; |
| uint8_t digital[2]; |
| uint8_t remoteButtons; |
| int8_t pitch; |
| int8_t roll; |
| int8_t yaw; |
| uint8_t throttle; |
| int8_t height; |
| uint8_t free; // Let's use that for commands now. |
| uint8_t frame; |
| uint8_t config; // Let's use that for arguemnts. |
| }__attribute__((packed)) ExternalControl_t; |
| extern ExternalControl_t externalControl; |
| extern uint8_t externalControlActive; |
| void EC_update(void); |
| int16_t* EC_getPRTY(void); |
| uint8_t EC_getArgument(void); |
| uint8_t EC_getCommand(void); |
| int16_t EC_getVariable(uint8_t varNum); |
| void EC_calibrate(void); |
| uint8_t EC_getSignalQuality (void); |
| void EC_setNeutral(void); |
| void EC_update(void); |
| int16_t* EC_getPRTY(void); |
| uint8_t EC_getArgument(void); |
| uint8_t EC_getCommand(void); |
| int16_t EC_getVariable(uint8_t varNum); |
| void EC_calibrate(void); |
| uint8_t EC_getSignalQuality(void); |
| void EC_setNeutral(void); |
| #endif |
| /branches/dongfang_FC_rewrite/flexcontrol.h |
|---|
| 1,8 → 1,8 |
| typedef struct { |
| int16_t(*getPitch)(void); |
| int16_t(*getRoll)(void); |
| int16_t(*getYaw)(void); |
| uint16_t(*getThrottle)(void); |
| uint8_t isSignalGood(void); |
| uint8_t isSignalUnreadable(void); |
| int16_t(*getPitch)(void); |
| int16_t(*getRoll)(void); |
| int16_t(*getYaw)(void); |
| uint16_t(*getThrottle)(void); |
| uint8_t isSignalGood(void); |
| uint8_t isSignalUnreadable(void); |
| } t_control; |
| /branches/dongfang_FC_rewrite/flight.c |
|---|
| 81,7 → 81,7 |
| */ |
| // int16_t naviAccPitch = 0, naviAccRoll = 0, naviCntAcc = 0; |
| uint8_t gyroPFactor, gyroIFactor; // the PD factors for the attitude control |
| uint8_t gyroPFactor, gyroIFactor; // the PD factors for the attitude control |
| uint8_t yawPFactor, yawIFactor; // the PD factors for the yaw control |
| // Some integral weight constant... |
| 95,23 → 95,24 |
| /* Filter for motor value smoothing (necessary???) */ |
| /************************************************************************/ |
| int16_t motorFilter(int16_t newvalue, int16_t oldvalue) { |
| switch(dynamicParams.UserParams[5]) { |
| case 0: |
| return newvalue; |
| case 1: |
| return (oldvalue + newvalue) / 2; |
| case 2: |
| if(newvalue > oldvalue) |
| return (1 * (int16_t)oldvalue + newvalue) / 2; //mean of old and new |
| else |
| return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
| case 3: |
| if(newvalue < oldvalue) |
| return (1 * (int16_t)oldvalue + newvalue) / 2; //mean of old and new |
| else |
| return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
| default: return newvalue; |
| } |
| switch (dynamicParams.UserParams[5]) { |
| case 0: |
| return newvalue; |
| case 1: |
| return (oldvalue + newvalue) / 2; |
| case 2: |
| if (newvalue > oldvalue) |
| return (1 * (int16_t) oldvalue + newvalue) / 2; //mean of old and new |
| else |
| return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
| case 3: |
| if (newvalue < oldvalue) |
| return (1 * (int16_t) oldvalue + newvalue) / 2; //mean of old and new |
| else |
| return newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
| default: |
| return newvalue; |
| } |
| } |
| /************************************************************************/ |
| 118,345 → 119,345 |
| /* Neutral Readings */ |
| /************************************************************************/ |
| void flight_setNeutral() { |
| MKFlags |= MKFLAG_CALIBRATE; |
| MKFlags |= MKFLAG_CALIBRATE; |
| // not really used here any more. |
| dynamicParams.KalmanK = -1; |
| dynamicParams.KalmanMaxDrift = 0; |
| dynamicParams.KalmanMaxFusion = 32; |
| // not really used here any more. |
| dynamicParams.KalmanK = -1; |
| dynamicParams.KalmanMaxDrift = 0; |
| dynamicParams.KalmanMaxFusion = 32; |
| controlMixer_initVariables(); |
| controlMixer_initVariables(); |
| } |
| void setFlightParameters(uint8_t _Ki, uint8_t _gyroPFactor, uint8_t _gyroIFactor, uint8_t _yawPFactor, uint8_t _yawIFactor) { |
| Ki = 10300 / _Ki; |
| gyroPFactor = _gyroPFactor; |
| gyroIFactor = _gyroIFactor; |
| yawPFactor = _yawPFactor; |
| yawIFactor = _yawIFactor; |
| void setFlightParameters(uint8_t _Ki, uint8_t _gyroPFactor, |
| uint8_t _gyroIFactor, uint8_t _yawPFactor, uint8_t _yawIFactor) { |
| Ki = 10300 / _Ki; |
| gyroPFactor = _gyroPFactor; |
| gyroIFactor = _gyroIFactor; |
| yawPFactor = _yawPFactor; |
| yawIFactor = _yawIFactor; |
| } |
| void setNormalFlightParameters(void) { |
| setFlightParameters(dynamicParams.IFactor + 1, |
| dynamicParams.GyroP + 10, |
| staticParams.GlobalConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.GyroI, |
| dynamicParams.GyroP + 10, |
| dynamicParams.UserParams[6] |
| ); |
| setFlightParameters(dynamicParams.IFactor + 1, dynamicParams.GyroP + 10, |
| staticParams.GlobalConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.GyroI, |
| dynamicParams.GyroP + 10, dynamicParams.UserParams[6]); |
| } |
| void setStableFlightParameters(void) { |
| setFlightParameters(33, 90, 120, 90, 120); |
| setFlightParameters(33, 90, 120, 90, 120); |
| } |
| /************************************************************************/ |
| /* Main Flight Control */ |
| /************************************************************************/ |
| void flight_control(void) { |
| int16_t tmp_int; |
| // Mixer Fractions that are combined for Motor Control |
| int16_t yawTerm, throttleTerm, term[2]; |
| int16_t tmp_int; |
| // Mixer Fractions that are combined for Motor Control |
| int16_t yawTerm, throttleTerm, term[2]; |
| // PID controller variables |
| int16_t PDPart[2], PDPartYaw, PPart[2]; |
| static int32_t IPart[2] = {0,0}; |
| // static int32_t yawControlRate = 0; |
| // PID controller variables |
| int16_t PDPart[2], PDPartYaw, PPart[2]; |
| static int32_t IPart[2] = { 0, 0 }; |
| // static int32_t yawControlRate = 0; |
| // Removed. Too complicated, and apparently not necessary with MEMS gyros anyway. |
| // static int32_t IntegralGyroPitchError = 0, IntegralGyroRollError = 0; |
| // static int32_t CorrectionPitch, CorrectionRoll; |
| // Removed. Too complicated, and apparently not necessary with MEMS gyros anyway. |
| // static int32_t IntegralGyroPitchError = 0, IntegralGyroRollError = 0; |
| // static int32_t CorrectionPitch, CorrectionRoll; |
| static uint16_t emergencyFlightTime; |
| static int8_t debugDataTimer = 1; |
| static uint16_t emergencyFlightTime; |
| static int8_t debugDataTimer = 1; |
| // High resolution motor values for smoothing of PID motor outputs |
| static int16_t motorFilters[MAX_MOTORS]; |
| // High resolution motor values for smoothing of PID motor outputs |
| static int16_t motorFilters[MAX_MOTORS]; |
| uint8_t i, axis; |
| uint8_t i, axis; |
| controlMixer_update(); |
| controlMixer_update(); |
| // Fire the main flight attitude calculation, including integration of angles. |
| calculateFlightAttitude(); |
| // Fire the main flight attitude calculation, including integration of angles. |
| calculateFlightAttitude(); |
| throttleTerm = controlThrottle; |
| // This check removed. Is done on a per-motor basis, after output matrix multiplication. |
| // if(throttleTerm < staticParams.MinThrottle + 10) throttleTerm = staticParams.MinThrottle + 10; |
| // else if(throttleTerm > staticParams.MaxThrottle - 20) throttleTerm = (staticParams.MaxThrottle - 20); |
| throttleTerm = controlThrottle; |
| // This check removed. Is done on a per-motor basis, after output matrix multiplication. |
| // if(throttleTerm < staticParams.MinThrottle + 10) throttleTerm = staticParams.MinThrottle + 10; |
| // else if(throttleTerm > staticParams.MaxThrottle - 20) throttleTerm = (staticParams.MaxThrottle - 20); |
| /************************************************************************/ |
| /* RC-signal is bad */ |
| /* This part could be abstracted, as having yet another control input */ |
| /* to the control mixer: An emergency autopilot control. */ |
| /************************************************************************/ |
| /************************************************************************/ |
| /* RC-signal is bad */ |
| /* This part could be abstracted, as having yet another control input */ |
| /* to the control mixer: An emergency autopilot control. */ |
| /************************************************************************/ |
| if(controlMixer_getSignalQuality() <= SIGNAL_BAD) { // the rc-frame signal is not reveived or noisy |
| RED_ON; |
| beepRCAlarm(); |
| if(emergencyFlightTime) { |
| // continue emergency flight |
| emergencyFlightTime--; |
| if(isFlying > 256) { |
| // We're probably still flying. Descend slowly. |
| throttleTerm = staticParams.EmergencyGas; // Set emergency throttle |
| MKFlags |= (MKFLAG_EMERGENCY_LANDING); // Set flag for emergency landing |
| setStableFlightParameters(); |
| } else { |
| MKFlags &= ~(MKFLAG_MOTOR_RUN); // Probably not flying, and bad R/C signal. Kill motors. |
| } |
| } else { |
| // end emergency flight (just cut the motors???) |
| MKFlags &= ~(MKFLAG_MOTOR_RUN | MKFLAG_EMERGENCY_LANDING); |
| } |
| } else { |
| // signal is acceptable |
| if(controlMixer_getSignalQuality() > SIGNAL_BAD) { |
| // Reset emergency landing control variables. |
| MKFlags &= ~(MKFLAG_EMERGENCY_LANDING); // clear flag for emergency landing |
| // The time is in whole seconds. |
| emergencyFlightTime = (uint16_t)staticParams.EmergencyGasDuration * 488; |
| } |
| if (controlMixer_getSignalQuality() <= SIGNAL_BAD) { // the rc-frame signal is not reveived or noisy |
| RED_ON; |
| beepRCAlarm(); |
| // If some throttle is given, and the motor-run flag is on, increase the probability that we are flying. |
| if(throttleTerm > 40 && (MKFlags & MKFLAG_MOTOR_RUN)) { |
| // increment flight-time counter until overflow. |
| if(isFlying != 0xFFFF) isFlying++; |
| } else |
| /* |
| * When standing on the ground, do not apply I controls and zero the yaw stick. |
| * Probably to avoid integration effects that will cause the copter to spin |
| * or flip when taking off. |
| */ |
| if(isFlying < 256) { |
| IPart[PITCH] = IPart[ROLL] = 0; |
| // TODO: Don't stomp on other modules' variables!!! |
| // controlYaw = 0; |
| PDPartYaw = 0; // instead. |
| if(isFlying == 250) { |
| // HC_setGround(); |
| updateCompassCourse = 1; |
| yawAngleDiff = 0; |
| } |
| } else { |
| // Set fly flag. TODO: Hmmm what can we trust - the isFlying counter or the flag? |
| // Answer: The counter. The flag is not read from anywhere anyway... except the NC maybe. |
| MKFlags |= (MKFLAG_FLY); |
| } |
| if (emergencyFlightTime) { |
| // continue emergency flight |
| emergencyFlightTime--; |
| if (isFlying > 256) { |
| // We're probably still flying. Descend slowly. |
| throttleTerm = staticParams.EmergencyGas; // Set emergency throttle |
| MKFlags |= (MKFLAG_EMERGENCY_LANDING); // Set flag for emergency landing |
| setStableFlightParameters(); |
| } else { |
| MKFlags &= ~(MKFLAG_MOTOR_RUN); // Probably not flying, and bad R/C signal. Kill motors. |
| } |
| } else { |
| // end emergency flight (just cut the motors???) |
| MKFlags &= ~(MKFLAG_MOTOR_RUN | MKFLAG_EMERGENCY_LANDING); |
| } |
| } else { |
| // signal is acceptable |
| if (controlMixer_getSignalQuality() > SIGNAL_BAD) { |
| // Reset emergency landing control variables. |
| MKFlags &= ~(MKFLAG_EMERGENCY_LANDING); // clear flag for emergency landing |
| // The time is in whole seconds. |
| emergencyFlightTime = (uint16_t) staticParams.EmergencyGasDuration * 488; |
| } |
| commands_handleCommands(); |
| // If some throttle is given, and the motor-run flag is on, increase the probability that we are flying. |
| if (throttleTerm > 40 && (MKFlags & MKFLAG_MOTOR_RUN)) { |
| // increment flight-time counter until overflow. |
| if (isFlying != 0xFFFF) |
| isFlying++; |
| } else |
| /* |
| * When standing on the ground, do not apply I controls and zero the yaw stick. |
| * Probably to avoid integration effects that will cause the copter to spin |
| * or flip when taking off. |
| */ |
| if (isFlying < 256) { |
| IPart[PITCH] = IPart[ROLL] = 0; |
| // TODO: Don't stomp on other modules' variables!!! |
| // controlYaw = 0; |
| PDPartYaw = 0; // instead. |
| if (isFlying == 250) { |
| // HC_setGround(); |
| updateCompassCourse = 1; |
| yawAngleDiff = 0; |
| } |
| } else { |
| // Set fly flag. TODO: Hmmm what can we trust - the isFlying counter or the flag? |
| // Answer: The counter. The flag is not read from anywhere anyway... except the NC maybe. |
| MKFlags |= (MKFLAG_FLY); |
| } |
| // if(controlMixer_getSignalQuality() >= SIGNAL_GOOD) { |
| setNormalFlightParameters(); |
| // } |
| } // end else (not bad signal case) |
| // end part1a: 750-800 usec. |
| /* |
| * Looping the H&I way basically is just a matter of turning off attitude angle measurement |
| * by integration (because 300 deg/s gyros are too slow) and turning down the throttle. |
| * This is the throttle part. |
| */ |
| if(looping) { |
| if(throttleTerm > staticParams.LoopGasLimit) throttleTerm = staticParams.LoopGasLimit; |
| } |
| /************************************************************************/ |
| /* Yawing */ |
| /************************************************************************/ |
| if(abs(controlYaw) > 4 * staticParams.StickYawP) { // yaw stick is activated |
| ignoreCompassTimer = 1000; |
| if(!(staticParams.GlobalConfig & CFG_COMPASS_FIX)) { |
| updateCompassCourse = 1; |
| } |
| } |
| // yawControlRate = controlYaw; |
| commands_handleCommands(); |
| // Trim drift of yawAngleDiff with controlYaw. |
| // TODO: We want NO feedback of control related stuff to the attitude related stuff. |
| // This seems to be used as: Difference desired <--> real heading. |
| yawAngleDiff -= controlYaw; |
| // limit the effect |
| CHECK_MIN_MAX(yawAngleDiff, -50000, 50000); |
| /************************************************************************/ |
| /* Compass is currently not supported. */ |
| /************************************************************************/ |
| if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) { |
| updateCompass(); |
| } |
| // if(controlMixer_getSignalQuality() >= SIGNAL_GOOD) { |
| setNormalFlightParameters(); |
| // } |
| } // end else (not bad signal case) |
| // end part1a: 750-800 usec. |
| /* |
| * Looping the H&I way basically is just a matter of turning off attitude angle measurement |
| * by integration (because 300 deg/s gyros are too slow) and turning down the throttle. |
| * This is the throttle part. |
| */ |
| if (looping) { |
| if (throttleTerm > staticParams.LoopGasLimit) |
| throttleTerm = staticParams.LoopGasLimit; |
| } |
| /************************************************************************/ |
| /* Yawing */ |
| /************************************************************************/ |
| if (abs(controlYaw) > 4 * staticParams.StickYawP) { // yaw stick is activated |
| ignoreCompassTimer = 1000; |
| if (!(staticParams.GlobalConfig & CFG_COMPASS_FIX)) { |
| updateCompassCourse = 1; |
| } |
| } |
| // yawControlRate = controlYaw; |
| // Trim drift of yawAngleDiff with controlYaw. |
| // TODO: We want NO feedback of control related stuff to the attitude related stuff. |
| // This seems to be used as: Difference desired <--> real heading. |
| yawAngleDiff -= controlYaw; |
| // limit the effect |
| CHECK_MIN_MAX(yawAngleDiff, -50000, 50000); |
| /************************************************************************/ |
| /* Compass is currently not supported. */ |
| /************************************************************************/ |
| if (staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
| updateCompass(); |
| } |
| #if defined (USE_NAVICTRL) |
| /************************************************************************/ |
| /* GPS is currently not supported. */ |
| /************************************************************************/ |
| if(staticParams.GlobalConfig & CFG_GPS_ACTIVE) { |
| GPS_Main(); |
| MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); |
| } else { |
| // GPSStickPitch = 0; |
| // GPSStickRoll = 0; |
| } |
| /************************************************************************/ |
| /* GPS is currently not supported. */ |
| /************************************************************************/ |
| if(staticParams.GlobalConfig & CFG_GPS_ACTIVE) { |
| GPS_Main(); |
| MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); |
| } else { |
| // GPSStickPitch = 0; |
| // GPSStickRoll = 0; |
| } |
| #endif |
| // end part 1: 750-800 usec. |
| // start part 3: 350 - 400 usec. |
| // end part 1: 750-800 usec. |
| // start part 3: 350 - 400 usec. |
| #define SENSOR_LIMIT (4096 * 4) |
| /************************************************************************/ |
| /************************************************************************/ |
| /* Calculate control feedback from angle (gyro integral) */ |
| /* and angular velocity (gyro signal) */ |
| /************************************************************************/ |
| // The P-part is the P of the PID controller. That's the angle integrals (not rates). |
| for (axis=PITCH; axis<=ROLL; axis++) { |
| if(looping & ((1<<4)<<axis)) { |
| PPart[axis] = 0; |
| } else { // TODO: Where do the 44000 come from??? |
| PPart[axis] = angle[axis] * gyroIFactor / (44000 / CONTROL_SCALING); // P-Part - Proportional to Integral |
| } |
| /* Calculate control feedback from angle (gyro integral) */ |
| /* and angular velocity (gyro signal) */ |
| /************************************************************************/ |
| // The P-part is the P of the PID controller. That's the angle integrals (not rates). |
| for (axis = PITCH; axis <= ROLL; axis++) { |
| if (looping & ((1 << 4) << axis)) { |
| PPart[axis] = 0; |
| } else { // TODO: Where do the 44000 come from??? |
| PPart[axis] = angle[axis] * gyroIFactor / (44000 / CONTROL_SCALING); // P-Part - Proportional to Integral |
| } |
| /* |
| * Now blend in the D-part - proportional to the Differential of the integral = the rate. |
| * Read this as: PDPart = PPart + rate_PID * pfactor * CONTROL_SCALING |
| * where pfactor is in [0..1]. |
| */ |
| PDPart[axis] = PPart[axis] + (int32_t)((int32_t)rate_PID[axis] * gyroPFactor / (256L / CONTROL_SCALING)) |
| + (differential[axis] * (int16_t)dynamicParams.GyroD) / 16; |
| /* |
| * Now blend in the D-part - proportional to the Differential of the integral = the rate. |
| * Read this as: PDPart = PPart + rate_PID * pfactor * CONTROL_SCALING |
| * where pfactor is in [0..1]. |
| */ |
| PDPart[axis] = PPart[axis] + (int32_t) ((int32_t) rate_PID[axis] |
| * gyroPFactor / (256L / CONTROL_SCALING)) + (differential[axis] |
| * (int16_t) dynamicParams.GyroD) / 16; |
| CHECK_MIN_MAX(PDPart[axis], -SENSOR_LIMIT, SENSOR_LIMIT); |
| } |
| CHECK_MIN_MAX(PDPart[axis], -SENSOR_LIMIT, SENSOR_LIMIT); |
| } |
| PDPartYaw = |
| (int32_t)(yawRate * 2 * (int32_t)yawPFactor) / (256L / CONTROL_SCALING) |
| + (int32_t)(yawAngleDiff * yawIFactor) / (2 * (44000 / CONTROL_SCALING)); |
| // limit control feedback |
| CHECK_MIN_MAX(PDPartYaw, -SENSOR_LIMIT, SENSOR_LIMIT); |
| /* |
| * Compose throttle term. |
| * If a Bl-Ctrl is missing, prevent takeoff. |
| */ |
| if(missingMotor) { |
| // if we are in the lift off condition. Hmmmmmm when is throttleTerm == 0 anyway??? |
| if(isFlying > 1 && isFlying < 50 && throttleTerm > 0) |
| isFlying = 1; // keep within lift off condition |
| throttleTerm = staticParams.MinThrottle; // reduce gas to min to avoid lift of |
| } |
| PDPartYaw = (int32_t) (yawRate * 2 * (int32_t) yawPFactor) / (256L |
| / CONTROL_SCALING) + (int32_t) (yawAngleDiff * yawIFactor) / (2 * (44000 |
| / CONTROL_SCALING)); |
| // Scale up to higher resolution. Hmm why is it not (from controlMixer and down) scaled already? |
| throttleTerm *= CONTROL_SCALING; |
| // limit control feedback |
| CHECK_MIN_MAX(PDPartYaw, -SENSOR_LIMIT, SENSOR_LIMIT); |
| /* |
| * Compose yaw term. |
| * The yaw term is limited: Absolute value is max. = the throttle term / 2. |
| * However, at low throttle the yaw term is limited to a fixed value, |
| * and at high throttle it is limited by the throttle reserve (the difference |
| * between current throttle and maximum throttle). |
| */ |
| /* |
| * Compose throttle term. |
| * If a Bl-Ctrl is missing, prevent takeoff. |
| */ |
| if (missingMotor) { |
| // if we are in the lift off condition. Hmmmmmm when is throttleTerm == 0 anyway??? |
| if (isFlying > 1 && isFlying < 50 && throttleTerm > 0) |
| isFlying = 1; // keep within lift off condition |
| throttleTerm = staticParams.MinThrottle; // reduce gas to min to avoid lift of |
| } |
| // Scale up to higher resolution. Hmm why is it not (from controlMixer and down) scaled already? |
| throttleTerm *= CONTROL_SCALING; |
| /* |
| * Compose yaw term. |
| * The yaw term is limited: Absolute value is max. = the throttle term / 2. |
| * However, at low throttle the yaw term is limited to a fixed value, |
| * and at high throttle it is limited by the throttle reserve (the difference |
| * between current throttle and maximum throttle). |
| */ |
| #define MIN_YAWGAS (40 * CONTROL_SCALING) // yaw also below this gas value |
| yawTerm = PDPartYaw - controlYaw * CONTROL_SCALING; |
| // Limit yawTerm |
| if(throttleTerm > MIN_YAWGAS) { |
| CHECK_MIN_MAX(yawTerm, - (throttleTerm / 2), (throttleTerm / 2)); |
| } else { |
| CHECK_MIN_MAX(yawTerm, - (MIN_YAWGAS / 2), (MIN_YAWGAS / 2)); |
| } |
| yawTerm = PDPartYaw - controlYaw * CONTROL_SCALING; |
| // Limit yawTerm |
| if (throttleTerm > MIN_YAWGAS) { |
| CHECK_MIN_MAX(yawTerm, - (throttleTerm / 2), (throttleTerm / 2)); |
| } else { |
| CHECK_MIN_MAX(yawTerm, - (MIN_YAWGAS / 2), (MIN_YAWGAS / 2)); |
| } |
| tmp_int = staticParams.MaxThrottle * CONTROL_SCALING; |
| CHECK_MIN_MAX(yawTerm, -(tmp_int - throttleTerm), (tmp_int - throttleTerm)); |
| tmp_int = staticParams.MaxThrottle * CONTROL_SCALING; |
| CHECK_MIN_MAX(yawTerm, -(tmp_int - throttleTerm), (tmp_int - throttleTerm)); |
| tmp_int = (int32_t)((int32_t)dynamicParams.DynamicStability * (int32_t)(throttleTerm + abs(yawTerm) / 2)) / 64; |
| tmp_int = (int32_t) ((int32_t) dynamicParams.DynamicStability |
| * (int32_t) (throttleTerm + abs(yawTerm) / 2)) / 64; |
| for (axis=PITCH; axis<=ROLL; axis++) { |
| /* |
| * Compose pitch and roll terms. This is finally where the sticks come into play. |
| */ |
| if(gyroIFactor) { |
| // Integration mode: Integrate (angle - stick) = the difference between angle and stick pos. |
| // That means: Holding the stick a little forward will, at constant flight attitude, cause this to grow (decline??) over time. |
| // TODO: Find out why this seems to be proportional to stick position - not integrating it at all. |
| IPart[axis] += PPart[axis] - control[axis]; // Integrate difference between P part (the angle) and the stick pos. |
| } else { |
| // "HH" mode: Integrate (rate - stick) = the difference between rotation rate and stick pos. |
| // To keep up with a full stick PDPart should be about 156... |
| IPart[axis] += PDPart[axis] - control[axis]; // With gyroIFactor == 0, PDPart is really just a D-part. Integrate D-part (the rot. rate) and the stick pos. |
| } |
| for (axis = PITCH; axis <= ROLL; axis++) { |
| /* |
| * Compose pitch and roll terms. This is finally where the sticks come into play. |
| */ |
| if (gyroIFactor) { |
| // Integration mode: Integrate (angle - stick) = the difference between angle and stick pos. |
| // That means: Holding the stick a little forward will, at constant flight attitude, cause this to grow (decline??) over time. |
| // TODO: Find out why this seems to be proportional to stick position - not integrating it at all. |
| IPart[axis] += PPart[axis] - control[axis]; // Integrate difference between P part (the angle) and the stick pos. |
| } else { |
| // "HH" mode: Integrate (rate - stick) = the difference between rotation rate and stick pos. |
| // To keep up with a full stick PDPart should be about 156... |
| IPart[axis] += PDPart[axis] - control[axis]; // With gyroIFactor == 0, PDPart is really just a D-part. Integrate D-part (the rot. rate) and the stick pos. |
| } |
| // TODO: From which planet comes the 16000? |
| CHECK_MIN_MAX(IPart[axis], -(CONTROL_SCALING * 16000L), (CONTROL_SCALING * 16000L)); |
| // Add (P, D) parts minus stick pos. to the scaled-down I part. |
| term[axis] = PDPart[axis] - control[axis] + IPart[axis] / Ki; // PID-controller for pitch |
| // TODO: From which planet comes the 16000? |
| CHECK_MIN_MAX(IPart[axis], -(CONTROL_SCALING * 16000L), (CONTROL_SCALING * 16000L)); |
| // Add (P, D) parts minus stick pos. to the scaled-down I part. |
| term[axis] = PDPart[axis] - control[axis] + IPart[axis] / Ki; // PID-controller for pitch |
| /* |
| * Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!). |
| * The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity |
| * (max. pitch or roll term is the throttle value). |
| * TODO: Why a growing function of yaw? |
| */ |
| CHECK_MIN_MAX(term[axis], -tmp_int, tmp_int); |
| } |
| // end part 3: 350 - 400 usec. |
| /* |
| * Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!). |
| * The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity |
| * (max. pitch or roll term is the throttle value). |
| * TODO: Why a growing function of yaw? |
| */ |
| CHECK_MIN_MAX(term[axis], -tmp_int, tmp_int); |
| } |
| // end part 3: 350 - 400 usec. |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Universal Mixer |
| // Each (pitch, roll, throttle, yaw) term is in the range [0..255 * CONTROL_SCALING]. |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Universal Mixer |
| // Each (pitch, roll, throttle, yaw) term is in the range [0..255 * CONTROL_SCALING]. |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DebugOut.Analog[12] = term[PITCH]; |
| DebugOut.Analog[13] = term[ROLL]; |
| DebugOut.Analog[14] = yawTerm; |
| DebugOut.Analog[15] = throttleTerm; |
| DebugOut.Analog[12] = term[PITCH]; |
| DebugOut.Analog[13] = term[ROLL]; |
| DebugOut.Analog[14] = yawTerm; |
| DebugOut.Analog[15] = throttleTerm; |
| for(i = 0; i < MAX_MOTORS; i++) { |
| int16_t tmp; |
| if (MKFlags & MKFLAG_MOTOR_RUN && Mixer.Motor[i][MIX_THROTTLE] > 0) { |
| tmp = ((int32_t)throttleTerm * Mixer.Motor[i][MIX_THROTTLE]) / 64L; |
| tmp += ((int32_t)term[PITCH] * Mixer.Motor[i][MIX_PITCH]) / 64L; |
| tmp += ((int32_t)term[ROLL] * Mixer.Motor[i][MIX_ROLL]) / 64L; |
| tmp += ((int32_t)yawTerm * Mixer.Motor[i][MIX_YAW]) / 64L; |
| motorFilters[i] = motorFilter(tmp, motorFilters[i]); |
| // Now we scale back down to a 0..255 range. |
| tmp = motorFilters[i] / CONTROL_SCALING; |
| // So this was the THIRD time a throttle was limited. But should the limitation |
| // apply to the common throttle signal (the one used for setting the "power" of |
| // all motors together) or should it limit the throttle set for each motor, |
| // including mix components of pitch, roll and yaw? I think only the common |
| // throttle should be limited. |
| // --> WRONG. This caused motors to stall completely in tight maneuvers. |
| // Apply to individual signals instead. |
| CHECK_MIN_MAX(tmp, staticParams.MinThrottle, staticParams.MaxThrottle); |
| CHECK_MIN_MAX(tmp, 1, 255); |
| motor[i].SetPoint = tmp; |
| } |
| else if (motorTestActive) { |
| motor[i].SetPoint = motorTest[i]; |
| } else { |
| motor[i].SetPoint = 0; |
| } |
| if (i < 4) |
| DebugOut.Analog[22+i] = motor[i].SetPoint; |
| } |
| I2C_Start(TWI_STATE_MOTOR_TX); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debugging |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!(--debugDataTimer)) { |
| debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
| DebugOut.Analog[0] = (10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
| DebugOut.Analog[1] = (10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
| DebugOut.Analog[2] = yawGyroHeading / GYRO_DEG_FACTOR_YAW; |
| for (i = 0; i < MAX_MOTORS; i++) { |
| int16_t tmp; |
| if (MKFlags & MKFLAG_MOTOR_RUN && Mixer.Motor[i][MIX_THROTTLE] > 0) { |
| tmp = ((int32_t) throttleTerm * Mixer.Motor[i][MIX_THROTTLE]) / 64L; |
| tmp += ((int32_t) term[PITCH] * Mixer.Motor[i][MIX_PITCH]) / 64L; |
| tmp += ((int32_t) term[ROLL] * Mixer.Motor[i][MIX_ROLL]) / 64L; |
| tmp += ((int32_t) yawTerm * Mixer.Motor[i][MIX_YAW]) / 64L; |
| motorFilters[i] = motorFilter(tmp, motorFilters[i]); |
| // Now we scale back down to a 0..255 range. |
| tmp = motorFilters[i] / CONTROL_SCALING; |
| // So this was the THIRD time a throttle was limited. But should the limitation |
| // apply to the common throttle signal (the one used for setting the "power" of |
| // all motors together) or should it limit the throttle set for each motor, |
| // including mix components of pitch, roll and yaw? I think only the common |
| // throttle should be limited. |
| // --> WRONG. This caused motors to stall completely in tight maneuvers. |
| // Apply to individual signals instead. |
| CHECK_MIN_MAX(tmp, staticParams.MinThrottle, staticParams.MaxThrottle); |
| CHECK_MIN_MAX(tmp, 1, 255); |
| motor[i].SetPoint = tmp; |
| } else if (motorTestActive) { |
| motor[i].SetPoint = motorTest[i]; |
| } else { |
| motor[i].SetPoint = 0; |
| } |
| if (i < 4) |
| DebugOut.Analog[22 + i] = motor[i].SetPoint; |
| } |
| I2C_Start(TWI_STATE_MOTOR_TX); |
| /* |
| DebugOut.Analog[23] = (yawRate * 2 * (int32_t)yawPFactor) / (256L / CONTROL_SCALING); |
| DebugOut.Analog[24] = controlYaw; |
| DebugOut.Analog[25] = yawAngleDiff / 100L; |
| DebugOut.Analog[26] = accNoisePeak[PITCH]; |
| DebugOut.Analog[27] = accNoisePeak[ROLL]; |
| DebugOut.Analog[30] = gyroNoisePeak[PITCH]; |
| DebugOut.Analog[31] = gyroNoisePeak[ROLL]; |
| */ |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debugging |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if (!(--debugDataTimer)) { |
| debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
| DebugOut.Analog[0] = (10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
| DebugOut.Analog[1] = (10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
| DebugOut.Analog[2] = yawGyroHeading / GYRO_DEG_FACTOR_YAW; |
| /* |
| DebugOut.Analog[23] = (yawRate * 2 * (int32_t)yawPFactor) / (256L / CONTROL_SCALING); |
| DebugOut.Analog[24] = controlYaw; |
| DebugOut.Analog[25] = yawAngleDiff / 100L; |
| DebugOut.Analog[26] = accNoisePeak[PITCH]; |
| DebugOut.Analog[27] = accNoisePeak[ROLL]; |
| DebugOut.Analog[30] = gyroNoisePeak[PITCH]; |
| DebugOut.Analog[31] = gyroNoisePeak[ROLL]; |
| */ |
| } |
| } |
| /branches/dongfang_FC_rewrite/gps.c |
|---|
| 202,8 → 202,7 |
| if (pTargetPos->Status != INVALID) // and the position data are valid |
| { |
| // if the target data are updated or the target pointer has changed |
| if ((pTargetPos->Status != PROCESSED) || (pTargetPos |
| != pLastTargetPos)) { |
| if ((pTargetPos->Status != PROCESSED) || (pTargetPos != pLastTargetPos)) { |
| // reset error integral |
| GPSPosDevIntegral_North = 0; |
| GPSPosDevIntegral_East = 0; |
| 251,8 → 250,7 |
| // I-Part |
| I_North = ((int32_t) dynamicParams.NaviGpsI * GPSPosDevIntegral_North) |
| / 8192; |
| I_East = ((int32_t) dynamicParams.NaviGpsI * GPSPosDevIntegral_East) |
| / 8192; |
| I_East = ((int32_t) dynamicParams.NaviGpsI * GPSPosDevIntegral_East) / 8192; |
| // combine P & I |
| PID_North = P_North + I_North; |
| 412,8 → 410,8 |
| // beep if signal is not sufficient |
| if (!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) |
| BeepTime = 100; |
| else if (GPSInfo.satnum < staticParams.NaviGpsMinSat |
| && !(beep_rythm % 5)) |
| else if (GPSInfo.satnum < staticParams.NaviGpsMinSat && !(beep_rythm |
| % 5)) |
| BeepTime = 10; |
| } |
| } |
| /branches/dongfang_FC_rewrite/gps.h |
|---|
| 6,4 → 6,3 |
| extern void GPS_Main(void); |
| #endif //_GPS_H |
| /branches/dongfang_FC_rewrite/heightControl.c |
|---|
| 13,11 → 13,11 |
| #define INTEGRAL_LIMIT 100000 |
| /* |
| #define DEBUGINTEGRAL 0 |
| #define DEBUGDIFFERENTIAL 0 |
| #define DEBUGHOVERTHROTTLE 0 |
| #define DEBUGHEIGHTSWITCH 0 |
| */ |
| #define DEBUGINTEGRAL 0 |
| #define DEBUGDIFFERENTIAL 0 |
| #define DEBUGHOVERTHROTTLE 0 |
| #define DEBUGHEIGHTSWITCH 0 |
| */ |
| #define LATCH_TIME 40 |
| 36,70 → 36,70 |
| int32_t maxHeight; |
| int32_t iHeight; |
| /* |
| These parameters are free to take: |
| uint8_t HeightMinGas; // Value : 0-100 |
| uint8_t HeightD; // Value : 0-250 |
| uint8_t MaxHeight; // Value : 0-32 |
| uint8_t HeightP; // Value : 0-32 |
| uint8_t Height_Gain; // Value : 0-50 |
| uint8_t Height_ACC_Effect; // Value : 0-250 |
| These parameters are free to take: |
| uint8_t HeightMinGas; // Value : 0-100 |
| uint8_t HeightD; // Value : 0-250 |
| uint8_t MaxHeight; // Value : 0-32 |
| uint8_t HeightP; // Value : 0-32 |
| uint8_t Height_Gain; // Value : 0-50 |
| uint8_t Height_ACC_Effect; // Value : 0-250 |
| */ |
| int32_t getHeight(void) { |
| return groundPressure - filteredAirPressure; |
| return groundPressure - filteredAirPressure; |
| } |
| void HC_setGround(void) { |
| groundPressure = filteredAirPressure; |
| // This should also happen when height control is enabled in-flight. |
| rampedTargetHeight = getHeight(); |
| maxHeight = 0; |
| iHeight = 0; |
| groundPressure = filteredAirPressure; |
| // This should also happen when height control is enabled in-flight. |
| rampedTargetHeight = getHeight(); |
| maxHeight = 0; |
| iHeight = 0; |
| } |
| void HC_update(void) { |
| int32_t height = getHeight(); |
| static uint8_t setHeightLatch = 0; |
| int32_t height = getHeight(); |
| static uint8_t setHeightLatch = 0; |
| if (height > maxHeight) |
| maxHeight = height; |
| if (height > maxHeight) |
| maxHeight = height; |
| if (staticParams.GlobalConfig & CFG_HEIGHT_SWITCH) { |
| // If switch is activated in config |
| DebugOut.Digital[0] |= DEBUG_HEIGHT_SWITCH; |
| if (dynamicParams.MaxHeight < 40 || dynamicParams.MaxHeight > 255-40) { |
| // Switch is ON |
| if (setHeightLatch <= LATCH_TIME) { |
| if (setHeightLatch == LATCH_TIME) { |
| // Freeze the height as target. We want to do this exactly once each time the switch is thrown ON. |
| targetHeight = height; |
| DebugOut.Digital[1] |= DEBUG_HEIGHT_SWITCH; |
| if (staticParams.GlobalConfig & CFG_HEIGHT_SWITCH) { |
| // If switch is activated in config |
| DebugOut.Digital[0] |= DEBUG_HEIGHT_SWITCH; |
| if (dynamicParams.MaxHeight < 40 || dynamicParams.MaxHeight > 255 - 40) { |
| // Switch is ON |
| if (setHeightLatch <= LATCH_TIME) { |
| if (setHeightLatch == LATCH_TIME) { |
| // Freeze the height as target. We want to do this exactly once each time the switch is thrown ON. |
| targetHeight = height; |
| DebugOut.Digital[1] |= DEBUG_HEIGHT_SWITCH; |
| } |
| // Time not yet reached. |
| setHeightLatch++; |
| } |
| } else { |
| // Switch is OFF. |
| setHeightLatch = 0; |
| DebugOut.Digital[1] &= ~DEBUG_HEIGHT_SWITCH; |
| } |
| } else { |
| // Switch is not activated; take the "max-height" as the target height. |
| DebugOut.Digital[0] &= ~DEBUG_HEIGHT_SWITCH; |
| targetHeight = (uint16_t) dynamicParams.MaxHeight * 100; //getHeight() + 10 * 100; |
| } |
| // Time not yet reached. |
| setHeightLatch++; |
| } |
| } else { |
| // Switch is OFF. |
| setHeightLatch = 0; |
| DebugOut.Digital[1] &= ~DEBUG_HEIGHT_SWITCH; |
| } |
| } else { |
| // Switch is not activated; take the "max-height" as the target height. |
| DebugOut.Digital[0] &= ~DEBUG_HEIGHT_SWITCH; |
| targetHeight = (uint16_t)dynamicParams.MaxHeight * 100; //getHeight() + 10 * 100; |
| } |
| if (++heightRampingTimer == INTEGRATION_FREQUENCY/10) { |
| heightRampingTimer = 0; |
| if (rampedTargetHeight + staticParams.Height_Gain <= targetHeight) { |
| rampedTargetHeight += staticParams.Height_Gain; |
| } else if (rampedTargetHeight - staticParams.Height_Gain >= targetHeight) { |
| rampedTargetHeight -= staticParams.Height_Gain; |
| } |
| } |
| // height, in meters (so the division factor is: 100) |
| DebugOut.Analog[30] = height / 100; |
| if (++heightRampingTimer == INTEGRATION_FREQUENCY / 10) { |
| heightRampingTimer = 0; |
| if (rampedTargetHeight + staticParams.Height_Gain <= targetHeight) { |
| rampedTargetHeight += staticParams.Height_Gain; |
| } else if (rampedTargetHeight - staticParams.Height_Gain >= targetHeight) { |
| rampedTargetHeight -= staticParams.Height_Gain; |
| } |
| } |
| // height, in meters (so the division factor is: 100) |
| DebugOut.Analog[30] = height / 100; |
| } |
| // ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
| 109,69 → 109,77 |
| // takes 180-200 usec (with integral term). That is too heavy!!! |
| // takes 100 usec without integral term. |
| uint16_t HC_getThrottle(uint16_t throttle) { |
| int32_t height = getHeight(); |
| int32_t heightError = rampedTargetHeight - height; |
| static int32_t lastHeight; |
| int32_t height = getHeight(); |
| int32_t heightError = rampedTargetHeight - height; |
| int16_t dHeight = height - lastHeight; |
| lastHeight = height; |
| static int32_t lastHeight; |
| // DebugOut.Analog[20] = dHeight; |
| // DebugOut.Analog[21] = dynamicParams.MaxHeight; |
| int16_t dHeight = height - lastHeight; |
| lastHeight = height; |
| // iHeight, at a difference of 5 meters and a freq. of 488 Hz, will grow with 244000 / sec.... |
| // iHeight += heightError; |
| // DebugOut.Analog[20] = dHeight; |
| // DebugOut.Analog[21] = dynamicParams.MaxHeight; |
| if (dHeight > 0) { |
| DebugOut.Digital[0] |= DEBUG_HEIGHT_DIFF; |
| DebugOut.Digital[1] &= ~DEBUG_HEIGHT_DIFF; |
| } else if (dHeight < 0) { |
| DebugOut.Digital[1] |= DEBUG_HEIGHT_DIFF; |
| DebugOut.Digital[0] &= ~DEBUG_HEIGHT_DIFF; |
| } |
| // iHeight, at a difference of 5 meters and a freq. of 488 Hz, will grow with 244000 / sec.... |
| // iHeight += heightError; |
| /* |
| if (iHeight > INTEGRAL_LIMIT) { iHeight = INTEGRAL_LIMIT; if (DEBUGINTEGRAL) {DebugOut.Digital[0] = 1; DebugOut.Digital[1] = 1;}} |
| else if (iHeight < -INTEGRAL_LIMIT) { iHeight = -INTEGRAL_LIMIT; if (DEBUGINTEGRAL) {DebugOut.Digital[0] = 0; DebugOut.Digital[1] = 0; }} |
| else if (iHeight > 0) { if (DEBUGINTEGRAL) DebugOut.Digital[0] = 1;} |
| else if (iHeight < 0) { if (DEBUGINTEGRAL) DebugOut.Digital[1] = 1;} |
| */ |
| if (dHeight > 0) { |
| DebugOut.Digital[0] |= DEBUG_HEIGHT_DIFF; |
| DebugOut.Digital[1] &= ~DEBUG_HEIGHT_DIFF; |
| } else if (dHeight < 0) { |
| DebugOut.Digital[1] |= DEBUG_HEIGHT_DIFF; |
| DebugOut.Digital[0] &= ~DEBUG_HEIGHT_DIFF; |
| } |
| int16_t dThrottle = heightError * staticParams.HeightP / 1000 /*+ iHeight / 10000L * staticParams.Height_ACC_Effect */ - dHeight * staticParams.HeightD; |
| /* |
| if (iHeight > INTEGRAL_LIMIT) { iHeight = INTEGRAL_LIMIT; if (DEBUGINTEGRAL) {DebugOut.Digital[0] = 1; DebugOut.Digital[1] = 1;}} |
| else if (iHeight < -INTEGRAL_LIMIT) { iHeight = -INTEGRAL_LIMIT; if (DEBUGINTEGRAL) {DebugOut.Digital[0] = 0; DebugOut.Digital[1] = 0; }} |
| else if (iHeight > 0) { if (DEBUGINTEGRAL) DebugOut.Digital[0] = 1;} |
| else if (iHeight < 0) { if (DEBUGINTEGRAL) DebugOut.Digital[1] = 1;} |
| */ |
| // the "minGas" is now a limit for how much up / down the throttle can be varied |
| if (dThrottle > staticParams.HeightMinGas) dThrottle = staticParams.HeightMinGas; |
| else if (dThrottle < -staticParams.HeightMinGas) dThrottle = -staticParams.HeightMinGas; |
| int16_t dThrottle = heightError * staticParams.HeightP / 1000 |
| /*+ iHeight / 10000L * staticParams.Height_ACC_Effect */- dHeight |
| * staticParams.HeightD; |
| //DebugOut.Analog[18] = dThrottle; |
| //DebugOut.Analog[19] = iHeight / 10000L; |
| // the "minGas" is now a limit for how much up / down the throttle can be varied |
| if (dThrottle > staticParams.HeightMinGas) |
| dThrottle = staticParams.HeightMinGas; |
| else if (dThrottle < -staticParams.HeightMinGas) |
| dThrottle = -staticParams.HeightMinGas; |
| // TODO: Eliminate repitition. |
| if (staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) { |
| if (!(staticParams.GlobalConfig & CFG_HEIGHT_SWITCH) || (dynamicParams.MaxHeight < 40 || dynamicParams.MaxHeight > 255-40)) { |
| // If switch is not in use --> Just apply height control. |
| // If switch is in use --> only apply height control when switch is also ON. |
| throttle += dThrottle; |
| } |
| } |
| /* Experiment: Find hover-throttle */ |
| stronglyFilteredHeightDiff = (stronglyFilteredHeightDiff * (HOVERTHROTTLEFILTER - 1) + dHeight) / HOVERTHROTTLEFILTER; |
| stronglyFilteredThrottle = (stronglyFilteredThrottle * (HOVERTHROTTLEFILTER - 1) + throttle) / HOVERTHROTTLEFILTER; |
| //DebugOut.Analog[18] = dThrottle; |
| //DebugOut.Analog[19] = iHeight / 10000L; |
| if (isFlying >= 1000 && stronglyFilteredHeightDiff < 3 && stronglyFilteredHeightDiff > -3) { |
| hoverThrottle = stronglyFilteredThrottle; |
| DebugOut.Digital[0] |= DEBUG_HOVERTHROTTLE; |
| // DebugOut.Analog[18] = hoverThrottle; |
| } else |
| DebugOut.Digital[0] &= ~DEBUG_HOVERTHROTTLE; |
| return throttle; |
| // TODO: Eliminate repitition. |
| if (staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) { |
| if (!(staticParams.GlobalConfig & CFG_HEIGHT_SWITCH) |
| || (dynamicParams.MaxHeight < 40 || dynamicParams.MaxHeight > 255 - 40)) { |
| // If switch is not in use --> Just apply height control. |
| // If switch is in use --> only apply height control when switch is also ON. |
| throttle += dThrottle; |
| } |
| } |
| /* Experiment: Find hover-throttle */ |
| stronglyFilteredHeightDiff = (stronglyFilteredHeightDiff |
| * (HOVERTHROTTLEFILTER - 1) + dHeight) / HOVERTHROTTLEFILTER; |
| stronglyFilteredThrottle = (stronglyFilteredThrottle * (HOVERTHROTTLEFILTER |
| - 1) + throttle) / HOVERTHROTTLEFILTER; |
| if (isFlying >= 1000 && stronglyFilteredHeightDiff < 3 |
| && stronglyFilteredHeightDiff > -3) { |
| hoverThrottle = stronglyFilteredThrottle; |
| DebugOut.Digital[0] |= DEBUG_HOVERTHROTTLE; |
| // DebugOut.Analog[18] = hoverThrottle; |
| } else |
| DebugOut.Digital[0] &= ~DEBUG_HOVERTHROTTLE; |
| return throttle; |
| } |
| /* |
| For a variometer thingy: |
| When switch is thrown on, freeze throttle (capture it into variable) |
| For each iter., add (throttle - frozen throttle) to target height. Maybe don't do ramping. |
| Output = frozen throttle + whatever is computed +/-. Integral? |
| */ |
| For a variometer thingy: |
| When switch is thrown on, freeze throttle (capture it into variable) |
| For each iter., add (throttle - frozen throttle) to target height. Maybe don't do ramping. |
| Output = frozen throttle + whatever is computed +/-. Integral? |
| */ |
| /branches/dongfang_FC_rewrite/heightControl.h |
|---|
| 1,4 → 1,3 |
| void HC_setGround(void); |
| void HC_update(void); |
| uint16_t HC_getThrottle(uint16_t throttle); |
| void HC_setGround(void); |
| void HC_update(void); |
| uint16_t HC_getThrottle(uint16_t throttle); |
| /branches/dongfang_FC_rewrite/invenSense.c |
|---|
| 8,8 → 8,8 |
| * Configuration for my prototype board with InvenSense gyros. |
| * The FC 1.3 board is installed upside down, therefore Z acc is reversed but not roll. |
| */ |
| const uint8_t GYRO_REVERSED[3] = {0,0,0}; |
| const uint8_t ACC_REVERSED[3] = {0,0,1}; |
| const uint8_t GYRO_REVERSED[3] = { 0, 0, 0 }; |
| const uint8_t ACC_REVERSED[3] = { 0, 0, 1 }; |
| #define AUTOZERO_PORT PORTD |
| #define AUTOZERO_DDR DDRD |
| 16,27 → 16,28 |
| #define AUTOZERO_BIT 5 |
| void gyro_calibrate() { |
| // If port not already set to output and high, do it. |
| if (!(AUTOZERO_DDR & (1<<AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1<<AUTOZERO_BIT))) { |
| AUTOZERO_PORT |= (1<<AUTOZERO_BIT); |
| AUTOZERO_DDR |= (1<<AUTOZERO_BIT); |
| Delay_ms(100); |
| } |
| // Make a pulse on the auto-zero output line. |
| AUTOZERO_PORT &= ~(1<<AUTOZERO_BIT); |
| Delay_ms(1); |
| AUTOZERO_PORT |= (1<<AUTOZERO_BIT); |
| // Delay_ms(10); |
| Delay_ms_Mess(100); |
| // If port not already set to output and high, do it. |
| if (!(AUTOZERO_DDR & (1 << AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1 |
| << AUTOZERO_BIT))) { |
| AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
| AUTOZERO_DDR |= (1 << AUTOZERO_BIT); |
| Delay_ms(100); |
| } |
| // Make a pulse on the auto-zero output line. |
| AUTOZERO_PORT &= ~(1 << AUTOZERO_BIT); |
| Delay_ms(1); |
| AUTOZERO_PORT |= (1 << AUTOZERO_BIT); |
| // Delay_ms(10); |
| Delay_ms_Mess(100); |
| } |
| void gyro_setDefaults(void) { |
| staticParams.GyroD = 3; |
| staticParams.GyroAccFactor = 1; |
| staticParams.DriftComp = 10; |
| staticParams.GyroD = 3; |
| staticParams.GyroAccFactor = 1; |
| staticParams.DriftComp = 10; |
| // Not used. |
| staticParams.AngleTurnOverPitch = 85; |
| staticParams.AngleTurnOverRoll = 85; |
| // Not used. |
| staticParams.AngleTurnOverPitch = 85; |
| staticParams.AngleTurnOverRoll = 85; |
| } |
| /branches/dongfang_FC_rewrite/invenSense.h |
|---|
| 1,30 → 1,30 |
| /* |
| #ifndef _INVENSENSE_H |
| #define _INVENSENSE_H |
| #ifndef _INVENSENSE_H |
| #define _INVENSENSE_H |
| #include "sensors.h" |
| #include "sensors.h" |
| #define GYRO_HW_NAME "ISens" |
| #define GYRO_HW_NAME "ISens" |
| / * |
| / * |
| * The InvenSense gyros have a lower sensitivity than for example the ADXRS610s on the FC 2.0 ME, |
| * but they have a wider range too. |
| * 2mV/deg/s gyros and no amplifiers: |
| * H = 0.002 V / deg / s * 1 * 1024 / 3V = 0.6827 units/(deg/s) |
| * / |
| #define GYRO_HW_FACTOR 0.6827f |
| #define GYRO_HW_FACTOR 0.6827f |
| / * |
| / * |
| * Correction factor - determined experimentally: Hold the copter in the hand, and turn it 90 degrees. |
| * If AnglePitch or AngleRoll in debug in MK-Tool changes by x degrees, multiply the value here by x/90. |
| * If the hardware related contants are set correctly, flight should be OK without bothering to |
| * make any adjustments here. It is only for luxury. |
| * / |
| #define GYRO_PITCHROLL_CORRECTION 0.93f |
| #define GYRO_PITCHROLL_CORRECTION 0.93f |
| / * |
| / * |
| * Same for yaw. |
| * / |
| #define GYRO_YAW_CORRECTION 0.97f |
| #endif |
| */ |
| #define GYRO_YAW_CORRECTION 0.97f |
| #endif |
| */ |
| /branches/dongfang_FC_rewrite/main.c |
|---|
| 77,229 → 77,234 |
| #endif |
| #include "eeprom.h" |
| int16_t main (void) { |
| uint16_t timer; |
| int16_t main(void) { |
| uint16_t timer; |
| // disable interrupts global |
| cli(); |
| // disable interrupts global |
| cli(); |
| // analyze hardware environment |
| CPUType = getCPUType(); |
| BoardRelease = getBoardRelease(); |
| // analyze hardware environment |
| CPUType = getCPUType(); |
| BoardRelease = getBoardRelease(); |
| // disable watchdog |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| // disable watchdog |
| MCUSR &= ~(1 << WDRF); |
| WDTCSR |= (1 << WDCE) | (1 << WDE); |
| WDTCSR = 0; |
| // PPM_in[CH_THROTTLE] = 0; |
| // Why??? They are already initialized to 0. |
| // stickPitch = stickRoll = stickYaw = 0; |
| // PPM_in[CH_THROTTLE] = 0; |
| // Why??? They are already initialized to 0. |
| // stickPitch = stickRoll = stickYaw = 0; |
| RED_OFF; |
| RED_OFF; |
| // initalize modules |
| output_init(); |
| timer0_init(); |
| timer2_init(); |
| usart0_Init(); |
| if(CPUType == ATMEGA644P) usart1_Init(); |
| RC_Init(); |
| analog_init(); |
| I2C_init(); |
| // initalize modules |
| output_init(); |
| timer0_init(); |
| timer2_init(); |
| usart0_Init(); |
| if (CPUType == ATMEGA644P) |
| usart1_Init(); |
| RC_Init(); |
| analog_init(); |
| I2C_init(); |
| #ifdef USE_NAVICTRL |
| SPI_MasterInit(); |
| SPI_MasterInit(); |
| #endif |
| #ifdef USE_MK3MAG |
| MK3MAG_Init(); |
| MK3MAG_Init(); |
| #endif |
| // enable interrupts global |
| sei(); |
| printf("\n\r==================================="); |
| printf("\n\rFlightControl"); |
| printf("\n\rHardware: Custom"); |
| printf("\r\n CPU: Atmega644"); |
| if(CPUType == ATMEGA644P) |
| printf("p"); |
| printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
| printf("\n\r==================================="); |
| // enable interrupts global |
| sei(); |
| // Parameter Set handling |
| ParamSet_Init(); |
| printf("\n\r==================================="); |
| printf("\n\rFlightControl"); |
| printf("\n\rHardware: Custom"); |
| printf("\r\n CPU: Atmega644"); |
| if (CPUType == ATMEGA644P) |
| printf("p"); |
| printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
| printf("\n\r==================================="); |
| // Wait for a short time (otherwise the RC channel check won't work below) |
| // timer = SetDelay(500); |
| // while(!CheckDelay(timer)); |
| // Parameter Set handling |
| ParamSet_Init(); |
| // Instead, while away the time by flashing the 2 outputs: |
| // First J16, then J17. Makes it easier to see which is which. |
| timer = SetDelay(200); |
| OUTPUT_SET(0,1); |
| GRN_OFF; |
| RED_ON; |
| while(!CheckDelay(timer)); |
| // Wait for a short time (otherwise the RC channel check won't work below) |
| // timer = SetDelay(500); |
| // while(!CheckDelay(timer)); |
| timer = SetDelay(200); |
| OUTPUT_SET(0,0); |
| OUTPUT_SET(1,1); |
| RED_OFF; |
| GRN_ON; |
| while(!CheckDelay(timer)); |
| // Instead, while away the time by flashing the 2 outputs: |
| // First J16, then J17. Makes it easier to see which is which. |
| timer = SetDelay(200); |
| OUTPUT_SET(0,1); |
| GRN_OFF; |
| RED_ON; |
| while (!CheckDelay(timer)) |
| ; |
| timer = SetDelay(200); |
| while(!CheckDelay(timer)); |
| OUTPUT_SET(1,0); |
| timer = SetDelay(200); |
| OUTPUT_SET(0,0); |
| OUTPUT_SET(1,1); |
| RED_OFF; |
| GRN_ON; |
| while (!CheckDelay(timer)) |
| ; |
| twi_diagnostics(); |
| timer = SetDelay(200); |
| while (!CheckDelay(timer)) |
| ; |
| OUTPUT_SET(1,0); |
| printf("\n\r==================================="); |
| twi_diagnostics(); |
| /* |
| if(staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) |
| { |
| printf("\n\rCalibrating air pressure sensor.."); |
| timer = SetDelay(1000); |
| SearchAirPressureOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| */ |
| printf("\n\r==================================="); |
| /* |
| if(staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) |
| { |
| printf("\n\rCalibrating air pressure sensor.."); |
| timer = SetDelay(1000); |
| SearchAirPressureOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| */ |
| #ifdef USE_NAVICTRL |
| printf("\n\rSupport for NaviCtrl"); |
| printf("\n\rSupport for NaviCtrl"); |
| #ifdef USE_RC_DSL |
| printf("\r\nSupport for DSL RC at 2nd UART"); |
| printf("\r\nSupport for DSL RC at 2nd UART"); |
| #endif |
| #ifdef USE_RC_SPECTRUM |
| printf("\r\nSupport for SPECTRUM RC at 2nd UART"); |
| printf("\r\nSupport for SPECTRUM RC at 2nd UART"); |
| #endif |
| #endif |
| #ifdef USE_MK3MAG |
| printf("\n\rSupport for MK3MAG Compass"); |
| printf("\n\rSupport for MK3MAG Compass"); |
| #endif |
| #if (defined (USE_MK3MAG)) |
| if(CPUType == ATMEGA644P) printf("\n\rSupport for GPS at 2nd UART"); |
| else printf("\n\rSupport for GPS at 1st UART"); |
| if(CPUType == ATMEGA644P) printf("\n\rSupport for GPS at 2nd UART"); |
| else printf("\n\rSupport for GPS at 1st UART"); |
| #endif |
| controlMixer_setNeutral(); |
| controlMixer_setNeutral(); |
| // Cal. attitude sensors and reset integrals. |
| attitude_setNeutral(); |
| // Cal. attitude sensors and reset integrals. |
| attitude_setNeutral(); |
| Servo_On(); |
| Servo_On(); |
| // Init flight parameters |
| flight_setNeutral(); |
| // Init flight parameters |
| flight_setNeutral(); |
| // RED_OFF; |
| // RED_OFF; |
| beep(2000); |
| printf("\n\rControl: "); |
| if (staticParams.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("Neutral (ACC-Mode)"); |
| beep(2000); |
| printf("\n\n\r"); |
| printf("\n\rControl: "); |
| if (staticParams.GlobalConfig & CFG_HEADING_HOLD) |
| printf("HeadingHold"); |
| else printf("Neutral (ACC-Mode)"); |
| LCD_Clear(); |
| printf("\n\n\r"); |
| I2CTimeout = 5000; |
| LCD_Clear(); |
| while (1) { |
| if(runFlightControl && analogDataReady) { // control interval |
| runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
| J4HIGH; |
| flight_control(); |
| J4LOW; |
| /* |
| * If the motors are running (MKFlags & MKFLAG_MOTOR_RUN in flight.c), transmit |
| * the throttle vector just computed. Otherwise, if motor test is engaged, transmit |
| * the test throttle vector. If no testing, stop all motors. |
| */ |
| // Obsoleted. |
| // transmitMotorThrottleData(); |
| RED_OFF; |
| /* |
| Does not belong here. Instead, external control should be ignored in |
| controlMixer if there was no new data from there for some time. |
| if(externalControlActive) externalControlActive--; |
| else { |
| externalControl.config = 0; |
| externalStickPitch = 0; |
| externalStickRoll = 0; |
| externalStickYaw = 0; |
| } |
| */ |
| /* |
| Does not belong here. |
| if(RC_Quality) RC_Quality--; |
| */ |
| /* Does not belong here. Well since we are not supporting navi right now anyway, leave out. |
| I2CTimeout = 5000; |
| while (1) { |
| if (runFlightControl && analogDataReady) { // control interval |
| runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
| J4HIGH; |
| flight_control(); |
| J4LOW; |
| /* |
| * If the motors are running (MKFlags & MKFLAG_MOTOR_RUN in flight.c), transmit |
| * the throttle vector just computed. Otherwise, if motor test is engaged, transmit |
| * the test throttle vector. If no testing, stop all motors. |
| */ |
| // Obsoleted. |
| // transmitMotorThrottleData(); |
| RED_OFF; |
| /* |
| Does not belong here. Instead, external control should be ignored in |
| controlMixer if there was no new data from there for some time. |
| if(externalControlActive) externalControlActive--; |
| else { |
| externalControl.config = 0; |
| externalStickPitch = 0; |
| externalStickRoll = 0; |
| externalStickYaw = 0; |
| } |
| */ |
| /* |
| Does not belong here. |
| if(RC_Quality) RC_Quality--; |
| */ |
| /* Does not belong here. Well since we are not supporting navi right now anyway, leave out. |
| #ifdef USE_NAVICTRL |
| if(NCDataOkay) { |
| if(--NCDataOkay == 0) // no data from NC |
| { // set gps control sticks neutral |
| GPSStickPitch = 0; |
| GPSStickRoll = 0; |
| NCSerialDataOkay = 0; |
| } |
| } |
| #endif |
| */ |
| if (!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing ot timeout |
| RED_ON; |
| if (!I2CTimeout) { |
| I2C_Reset(); |
| I2CTimeout = 5; |
| } |
| } else { |
| RED_OFF; |
| } |
| // Allow Serial Data Transmit if motors must not updated or motors are not running |
| if (!runFlightControl || !(MKFlags & MKFLAG_MOTOR_RUN)) { |
| usart0_TransmitTxData(); |
| } |
| usart0_ProcessRxData(); |
| if (CheckDelay(timer)) { |
| if (UBat <= UBAT_AT_5V) { |
| // Do nothing. The voltage on the input side of the regulator is <5V; |
| // we must be running off USB power. Keep it quiet. |
| } else if (UBat < staticParams.LowVoltageWarning) { |
| beepBatteryAlarm(); |
| } |
| #ifdef USE_NAVICTRL |
| if(NCDataOkay) { |
| if(--NCDataOkay == 0) // no data from NC |
| { // set gps control sticks neutral |
| GPSStickPitch = 0; |
| GPSStickRoll = 0; |
| NCSerialDataOkay = 0; |
| } |
| } |
| SPI_StartTransmitPacket(); |
| SendSPI = 4; |
| #endif |
| */ |
| if(!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing ot timeout |
| RED_ON; |
| if(!I2CTimeout) { |
| I2C_Reset(); |
| I2CTimeout = 5; |
| } |
| } else { |
| RED_OFF; |
| } |
| // Allow Serial Data Transmit if motors must not updated or motors are not running |
| if( !runFlightControl || !(MKFlags & MKFLAG_MOTOR_RUN)) { |
| usart0_TransmitTxData(); |
| } |
| usart0_ProcessRxData(); |
| if(CheckDelay(timer)) { |
| if (UBat <= UBAT_AT_5V) { |
| // Do nothing. The voltage on the input side of the regulator is <5V; |
| // we must be running off USB power. Keep it quiet. |
| } else if(UBat < staticParams.LowVoltageWarning) { |
| beepBatteryAlarm(); |
| } |
| timer = SetDelay(20); // every 20 ms |
| } |
| output_update(); |
| } |
| #ifdef USE_NAVICTRL |
| SPI_StartTransmitPacket(); |
| SendSPI = 4; |
| if(!SendSPI) { |
| // SendSPI is decremented in timer0.c with a rate of 9.765 kHz. |
| // within the SPI_TransmitByte() routine the value is set to 4. |
| // I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz, |
| // and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms. |
| SPI_TransmitByte(); |
| } |
| #endif |
| timer = SetDelay(20); // every 20 ms |
| } |
| output_update(); |
| } |
| #ifdef USE_NAVICTRL |
| if(!SendSPI) { |
| // SendSPI is decremented in timer0.c with a rate of 9.765 kHz. |
| // within the SPI_TransmitByte() routine the value is set to 4. |
| // I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz, |
| // and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms. |
| SPI_TransmitByte(); |
| } |
| #endif |
| } |
| return (1); |
| } |
| return (1); |
| } |
| /branches/dongfang_FC_rewrite/menu.c |
|---|
| 81,207 → 81,217 |
| int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
| uint8_t DispPtr = 0; |
| /************************************/ |
| /* Clear LCD Buffer */ |
| /************************************/ |
| void LCD_Clear(void) { |
| uint8_t i; |
| for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
| uint8_t i; |
| for (i = 0; i < DISPLAYBUFFSIZE; i++) |
| DisplayBuff[i] = ' '; |
| } |
| /************************************/ |
| /* Update Menu on LCD */ |
| /************************************/ |
| // Display with 20 characters in 4 lines |
| void LCD_PrintMenu(void) { |
| if(RemoteKeys & KEY1) { |
| if(MenuItem) MenuItem--; |
| else MenuItem = MaxMenuItem; |
| } |
| if (RemoteKeys & KEY1) { |
| if (MenuItem) |
| MenuItem--; |
| else |
| MenuItem = MaxMenuItem; |
| } |
| if(RemoteKeys & KEY2) { |
| if(MenuItem == MaxMenuItem) MenuItem = 0; |
| else MenuItem++; |
| } |
| if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuItem = 0; |
| LCD_Clear(); |
| if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
| // print menu item number in the upper right corner |
| if(MenuItem < 10) { |
| LCD_printfxy(17,0,"[%i]",MenuItem); |
| } else { |
| LCD_printfxy(16,0,"[%i]",MenuItem); |
| } |
| switch(MenuItem) { |
| case 0:// Version Info Menu Item |
| LCD_printfxy(0,0,"+ MikroKopter +"); |
| LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a'); |
| LCD_printfxy(0,2,"Setting: %d %s", getActiveParamSet(), Mixer.Name); |
| if(I2CTimeout < 6) { |
| LCD_printfxy(0,3,"I2C Error!!!"); |
| } else if (missingMotor) { |
| LCD_printfxy(0,3,"Missing BL-Ctrl:%d", missingMotor); |
| } |
| else LCD_printfxy(0,3,"(c) Holger Buss"); |
| break; |
| /* |
| case 1:// Height Control Menu Item |
| if(staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) { |
| LCD_printfxy(0,0,"Height: %5i",ReadingHeight); |
| LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight); |
| LCD_printfxy(0,2,"Air Press.:%5i",0); |
| LCD_printfxy(0,3,"Offset :%5i",0); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"No "); |
| LCD_printfxy(0,2,"Height Control"); |
| } |
| break; |
| */ |
| case 2:// Attitude Menu Item |
| LCD_printfxy(0,0,"Attitude"); |
| LCD_printfxy(0,1,"Nick: %5i", angle[PITCH] / GYRO_DEG_FACTOR_PITCHROLL); |
| LCD_printfxy(0,2,"Roll: %5i", angle[ROLL ] / GYRO_DEG_FACTOR_PITCHROLL); |
| LCD_printfxy(0,3,"Heading: %5i", compassHeading); |
| break; |
| case 3:// Remote Control Channel Menu Item |
| LCD_printfxy(0,0,"C1:%4i C2:%4i ",PPM_in[1],PPM_in[2]); |
| LCD_printfxy(0,1,"C3:%4i C4:%4i ",PPM_in[3],PPM_in[4]); |
| LCD_printfxy(0,2,"C5:%4i C6:%4i ",PPM_in[5],PPM_in[6]); |
| LCD_printfxy(0,3,"C7:%4i C8:%4i ",PPM_in[7],PPM_in[8]); |
| break; |
| case 4:// Remote Control Mapping Menu Item |
| LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[staticParams.ChannelAssignment[CH_PITCH]],PPM_in[staticParams.ChannelAssignment[CH_ROLL]]); |
| LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[staticParams.ChannelAssignment[CH_THROTTLE]],PPM_in[staticParams.ChannelAssignment[CH_YAW]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[staticParams.ChannelAssignment[CH_POTS]],PPM_in[staticParams.ChannelAssignment[CH_POTS+1]]); |
| LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[staticParams.ChannelAssignment[CH_POTS+2]],PPM_in[staticParams.ChannelAssignment[CH_POTS+3]]); |
| break; |
| /* |
| case 5:// Gyro Sensor Menu Item |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| switch(BoardRelease) { |
| case 10: |
| LCD_printfxy(0,1,"Nick %4i (%3i.%i)", AdValueGyroNick - HiResNickOffset / HIRES_GYRO_AMPLIFY, HiResNickOffset / HIRES_GYRO_AMPLIFY, HiResNickOffset % HIRES_GYRO_AMPLIFY); |
| LCD_printfxy(0,2,"Roll %4i (%3i.%i)", AdValueGyroRoll - HiResRollOffset / HIRES_GYRO_AMPLIFY, HiResRollOffset / HIRES_GYRO_AMPLIFY, HiResRollOffset % HIRES_GYRO_AMPLIFY); |
| LCD_printfxy(0,3,"Yaw %4i (%3i)", AdValueGyroYaw , YawOffset); |
| break; |
| case 11: |
| case 12: |
| case 20: // divice Offests by 2 becuse 2 samples are added in adc isr |
| LCD_printfxy(0,1,"Nick %4i (%3i.%i)",0, HiResNickOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResNickOffset % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7) |
| LCD_printfxy(0,2,"Roll %4i (%3i.%i)",0, HiResRollOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResRollOffset % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7) |
| LCD_printfxy(0,3,"Yaw %4i (%3i)",YawOffset - AdValueGyroYaw , YawOffset/2); |
| break; |
| case 13: |
| default: // divice Offests by 2 becuse 2 samples are added in adc isr |
| LCD_printfxy(0,1,"Nick %4i (%3i.%i)(%3i)",0, HiResNickOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResNickOffset % (HIRES_GYRO_AMPLIFY * 2))/2, 0); // division by 2 to push the reminder below 10 (15/2 = 7) |
| LCD_printfxy(0,2,"Roll %4i (%3i.%i)(%3i)",0, HiResRollOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResRollOffset % (HIRES_GYRO_AMPLIFY * 2))/2, 0); // division by 2 to push the reminder below 10 (15/2 = 7) |
| LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",YawOffset - AdValueGyroYaw , YawOffset/2, 0); |
| break; |
| } |
| break; |
| case 6:// Acceleration Sensor Menu Item |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",0,0); // factor 2 because of adding 2 samples in ADC ISR |
| LCD_printfxy(0,2,"Roll %4i (%3i)",0,0); // factor 2 because of adding 2 samples in ADC ISR |
| LCD_printfxy(0,3,"Height %4i (%3i)",0,0); |
| break; |
| */ |
| case 7:// Battery Voltage / Remote Control Level |
| LCD_printfxy(0,1,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
| LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality); |
| break; |
| case 8:// Compass Menu Item |
| LCD_printfxy(0,0,"Compass "); |
| LCD_printfxy(0,1,"Course: %5i", compassCourse); |
| LCD_printfxy(0,2,"Heading: %5i", compassHeading); |
| LCD_printfxy(0,3,"OffCourse: %5i", ((540 + compassHeading - compassCourse) % 360) - 180); |
| break; |
| case 9:// Poti Menu Item |
| LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,variables[0], variables[4]); //PPM24-Extesion |
| LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,variables[1], variables[5]); //PPM24-Extesion |
| LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,variables[2], variables[6]); //PPM24-Extesion |
| LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,variables[3], variables[7]); //PPM24-Extesion |
| break; |
| /* |
| case 10:// Servo Menu Item |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",dynamicParams.ServoNickControl); |
| LCD_printfxy(0,2,"Position: %3i",ServoNickValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",staticParams.ServoNickMin, staticParams.ServoNickMax); |
| break; |
| */ |
| case 11://Extern Control |
| LCD_printfxy(0,0,"ExternControl " ); |
| LCD_printfxy(0,1,"Ni:%4i Ro:%4i ", externalControl.pitch, externalControl.roll); |
| LCD_printfxy(0,2,"Gs:%4i Ya:%4i ", externalControl.throttle, externalControl.yaw); |
| LCD_printfxy(0,3,"Hi:%4i Cf:%4i ", externalControl.height, externalControl.config); |
| break; |
| case 12://BL Communication errors |
| LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
| LCD_printfxy(0,1," %3d %3d %3d %3d ",motor[0].Error,motor[1].Error,motor[2].Error,motor[3].Error); |
| LCD_printfxy(0,2," %3d %3d %3d %3d ",motor[4].Error,motor[5].Error,motor[6].Error,motor[7].Error); |
| LCD_printfxy(0,3," %3d %3d %3d %3d ",motor[8].Error,motor[9].Error,motor[10].Error,motor[11].Error); |
| break; |
| case 13://BL Overview |
| LCD_printfxy(0,0,"BL-Ctrl found " ); |
| LCD_printfxy(0,1," %c %c %c %c ",motor[0].Present + '-',motor[1].Present + '-',motor[2].Present + '-',motor[3].Present + '-'); |
| LCD_printfxy(0,2," %c %c %c %c ",motor[4].Present + '-',motor[5].Present + '-',motor[6].Present + '-',motor[7].Present + '-'); |
| LCD_printfxy(0,3," %c - - - ",motor[8].Present + '-'); |
| if(motor[9].Present) LCD_printfxy(4,3,"10"); |
| if(motor[10].Present) LCD_printfxy(8,3,"11"); |
| if(motor[11].Present) LCD_printfxy(12,3,"12"); |
| break; |
| if (RemoteKeys & KEY2) { |
| if (MenuItem == MaxMenuItem) |
| MenuItem = 0; |
| else |
| MenuItem++; |
| } |
| if ((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) |
| MenuItem = 0; |
| LCD_Clear(); |
| if (MenuItem > MaxMenuItem) |
| MenuItem = MaxMenuItem; |
| // print menu item number in the upper right corner |
| if (MenuItem < 10) { |
| LCD_printfxy(17,0,"[%i]",MenuItem); |
| } else { |
| LCD_printfxy(16,0,"[%i]",MenuItem); |
| } |
| switch (MenuItem) { |
| case 0:// Version Info Menu Item |
| LCD_printfxy(0,0,"+ MikroKopter +") |
| ; |
| LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a') |
| ; |
| LCD_printfxy(0,2,"Setting: %d %s", getActiveParamSet(), Mixer.Name) |
| ; |
| if (I2CTimeout < 6) { |
| LCD_printfxy(0,3,"I2C Error!!!"); |
| } else if (missingMotor) { |
| LCD_printfxy(0,3,"Missing BL-Ctrl:%d", missingMotor); |
| } else LCD_printfxy(0,3,"(c) Holger Buss"); |
| break; |
| /* |
| case 1:// Height Control Menu Item |
| if(staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) { |
| LCD_printfxy(0,0,"Height: %5i",ReadingHeight); |
| LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight); |
| LCD_printfxy(0,2,"Air Press.:%5i",0); |
| LCD_printfxy(0,3,"Offset :%5i",0); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"No "); |
| LCD_printfxy(0,2,"Height Control"); |
| } |
| break; |
| */ |
| case 2:// Attitude Menu Item |
| LCD_printfxy(0,0,"Attitude"); |
| LCD_printfxy(0,1,"Nick: %5i", angle[PITCH] / GYRO_DEG_FACTOR_PITCHROLL); |
| LCD_printfxy(0,2,"Roll: %5i", angle[ROLL ] / GYRO_DEG_FACTOR_PITCHROLL); |
| LCD_printfxy(0,3,"Heading: %5i", compassHeading); |
| break; |
| case 3:// Remote Control Channel Menu Item |
| LCD_printfxy(0,0,"C1:%4i C2:%4i ",PPM_in[1],PPM_in[2]); |
| LCD_printfxy(0,1,"C3:%4i C4:%4i ",PPM_in[3],PPM_in[4]); |
| LCD_printfxy(0,2,"C5:%4i C6:%4i ",PPM_in[5],PPM_in[6]); |
| LCD_printfxy(0,3,"C7:%4i C8:%4i ",PPM_in[7],PPM_in[8]); |
| break; |
| case 4:// Remote Control Mapping Menu Item |
| LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[staticParams.ChannelAssignment[CH_PITCH]],PPM_in[staticParams.ChannelAssignment[CH_ROLL]]); |
| LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[staticParams.ChannelAssignment[CH_THROTTLE]],PPM_in[staticParams.ChannelAssignment[CH_YAW]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[staticParams.ChannelAssignment[CH_POTS]],PPM_in[staticParams.ChannelAssignment[CH_POTS+1]]); |
| LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[staticParams.ChannelAssignment[CH_POTS+2]],PPM_in[staticParams.ChannelAssignment[CH_POTS+3]]); |
| break; |
| /* |
| case 5:// Gyro Sensor Menu Item |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| switch(BoardRelease) { |
| case 10: |
| LCD_printfxy(0,1,"Nick %4i (%3i.%i)", AdValueGyroNick - HiResNickOffset / HIRES_GYRO_AMPLIFY, HiResNickOffset / HIRES_GYRO_AMPLIFY, HiResNickOffset % HIRES_GYRO_AMPLIFY); |
| LCD_printfxy(0,2,"Roll %4i (%3i.%i)", AdValueGyroRoll - HiResRollOffset / HIRES_GYRO_AMPLIFY, HiResRollOffset / HIRES_GYRO_AMPLIFY, HiResRollOffset % HIRES_GYRO_AMPLIFY); |
| LCD_printfxy(0,3,"Yaw %4i (%3i)", AdValueGyroYaw , YawOffset); |
| break; |
| case 11: |
| case 12: |
| case 20: // divice Offests by 2 becuse 2 samples are added in adc isr |
| LCD_printfxy(0,1,"Nick %4i (%3i.%i)",0, HiResNickOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResNickOffset % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7) |
| LCD_printfxy(0,2,"Roll %4i (%3i.%i)",0, HiResRollOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResRollOffset % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7) |
| LCD_printfxy(0,3,"Yaw %4i (%3i)",YawOffset - AdValueGyroYaw , YawOffset/2); |
| break; |
| case 13: |
| default: // divice Offests by 2 becuse 2 samples are added in adc isr |
| LCD_printfxy(0,1,"Nick %4i (%3i.%i)(%3i)",0, HiResNickOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResNickOffset % (HIRES_GYRO_AMPLIFY * 2))/2, 0); // division by 2 to push the reminder below 10 (15/2 = 7) |
| LCD_printfxy(0,2,"Roll %4i (%3i.%i)(%3i)",0, HiResRollOffset / (HIRES_GYRO_AMPLIFY * 2), (HiResRollOffset % (HIRES_GYRO_AMPLIFY * 2))/2, 0); // division by 2 to push the reminder below 10 (15/2 = 7) |
| LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",YawOffset - AdValueGyroYaw , YawOffset/2, 0); |
| break; |
| } |
| break; |
| case 6:// Acceleration Sensor Menu Item |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",0,0); // factor 2 because of adding 2 samples in ADC ISR |
| LCD_printfxy(0,2,"Roll %4i (%3i)",0,0); // factor 2 because of adding 2 samples in ADC ISR |
| LCD_printfxy(0,3,"Height %4i (%3i)",0,0); |
| break; |
| */ |
| case 7:// Battery Voltage / Remote Control Level |
| LCD_printfxy(0,1,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
| LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality); |
| break; |
| case 8:// Compass Menu Item |
| LCD_printfxy(0,0,"Compass "); |
| LCD_printfxy(0,1,"Course: %5i", compassCourse); |
| LCD_printfxy(0,2,"Heading: %5i", compassHeading); |
| LCD_printfxy(0,3,"OffCourse: %5i", ((540 + compassHeading - compassCourse) % 360) - 180); |
| break; |
| case 9:// Poti Menu Item |
| LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,variables[0], variables[4]); //PPM24-Extesion |
| LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,variables[1], variables[5]); //PPM24-Extesion |
| LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,variables[2], variables[6]); //PPM24-Extesion |
| LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,variables[3], variables[7]); //PPM24-Extesion |
| break; |
| /* |
| case 10:// Servo Menu Item |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",dynamicParams.ServoNickControl); |
| LCD_printfxy(0,2,"Position: %3i",ServoNickValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",staticParams.ServoNickMin, staticParams.ServoNickMax); |
| break; |
| */ |
| case 11://Extern Control |
| LCD_printfxy(0,0,"ExternControl " ); |
| LCD_printfxy(0,1,"Ni:%4i Ro:%4i ", externalControl.pitch, externalControl.roll); |
| LCD_printfxy(0,2,"Gs:%4i Ya:%4i ", externalControl.throttle, externalControl.yaw); |
| LCD_printfxy(0,3,"Hi:%4i Cf:%4i ", externalControl.height, externalControl.config); |
| break; |
| case 12://BL Communication errors |
| LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
| LCD_printfxy(0,1," %3d %3d %3d %3d ",motor[0].Error,motor[1].Error,motor[2].Error,motor[3].Error); |
| LCD_printfxy(0,2," %3d %3d %3d %3d ",motor[4].Error,motor[5].Error,motor[6].Error,motor[7].Error); |
| LCD_printfxy(0,3," %3d %3d %3d %3d ",motor[8].Error,motor[9].Error,motor[10].Error,motor[11].Error); |
| break; |
| case 13://BL Overview |
| LCD_printfxy(0,0,"BL-Ctrl found " ); |
| LCD_printfxy(0,1," %c %c %c %c ",motor[0].Present + '-',motor[1].Present + '-',motor[2].Present + '-',motor[3].Present + '-'); |
| LCD_printfxy(0,2," %c %c %c %c ",motor[4].Present + '-',motor[5].Present + '-',motor[6].Present + '-',motor[7].Present + '-'); |
| LCD_printfxy(0,3," %c - - - ",motor[8].Present + '-'); |
| if (motor[9].Present) |
| LCD_printfxy(4,3,"10"); |
| if (motor[10].Present) |
| LCD_printfxy(8,3,"11"); |
| if (motor[11].Present) |
| LCD_printfxy(12,3,"12"); |
| break; |
| #if (defined (USE_NAVICTRL)) |
| case 14://GPS Lat/Lon coords |
| if (GPSInfo.status == INVALID) { |
| LCD_printfxy(0,0,"No GPS data!"); |
| } else { |
| switch (GPSInfo.satfix) |
| { |
| case SATFIX_NONE: |
| LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum); |
| break; |
| case SATFIX_2D: |
| LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum); |
| break; |
| case SATFIX_3D: |
| LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum); |
| break; |
| case 14://GPS Lat/Lon coords |
| if (GPSInfo.status == INVALID) { |
| LCD_printfxy(0,0,"No GPS data!"); |
| } else { |
| switch (GPSInfo.satfix) |
| { |
| case SATFIX_NONE: |
| LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum); |
| break; |
| case SATFIX_2D: |
| LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum); |
| break; |
| case SATFIX_3D: |
| LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum); |
| break; |
| default: |
| LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum); |
| break; |
| } |
| int16_t i1,i2,i3; |
| i1 = (int16_t)(GPSInfo.longitude/10000000L); |
| i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L)); |
| i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L)); |
| LCD_printfxy(0,1,"Lon: %d.%03d%03d deg",i1, i2, i3); |
| i1 = (int16_t)(GPSInfo.latitude/10000000L); |
| i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L)); |
| i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L)); |
| LCD_printfxy(0,2,"Lat: %d.%03d%03d deg",i1, i2, i3); |
| i1 = (int16_t)(GPSInfo.altitude/1000L); |
| i2 = abs((int16_t)(GPSInfo.altitude%1000L)); |
| LCD_printfxy(0,3,"Alt: %d.%03d m",i1, i2); |
| } |
| break; |
| #endif |
| default: |
| LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum); |
| break; |
| MaxMenuItem = MenuItem - 1; |
| MenuItem = 0; |
| break; |
| } |
| int16_t i1,i2,i3; |
| i1 = (int16_t)(GPSInfo.longitude/10000000L); |
| i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L)); |
| i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L)); |
| LCD_printfxy(0,1,"Lon: %d.%03d%03d deg",i1, i2, i3); |
| i1 = (int16_t)(GPSInfo.latitude/10000000L); |
| i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L)); |
| i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L)); |
| LCD_printfxy(0,2,"Lat: %d.%03d%03d deg",i1, i2, i3); |
| i1 = (int16_t)(GPSInfo.altitude/1000L); |
| i2 = abs((int16_t)(GPSInfo.altitude%1000L)); |
| LCD_printfxy(0,3,"Alt: %d.%03d m",i1, i2); |
| } |
| break; |
| #endif |
| default: |
| MaxMenuItem = MenuItem - 1; |
| MenuItem = 0; |
| break; |
| } |
| RemoteKeys = 0; |
| RemoteKeys = 0; |
| } |
| /branches/dongfang_FC_rewrite/mk3mag.c |
|---|
| 137,4 → 137,3 |
| } |
| } |
| /branches/dongfang_FC_rewrite/mk3mag.h |
|---|
| 2,10 → 2,10 |
| #define _MK3MAG_H |
| typedef struct { |
| int16_t Attitude[2]; |
| uint8_t UserParam[2]; |
| uint8_t CalState; |
| uint8_t Orientation; |
| int16_t Attitude[2]; |
| uint8_t UserParam[2]; |
| uint8_t CalState; |
| uint8_t Orientation; |
| } ToMk3Mag_t; |
| extern ToMk3Mag_t ToMk3Mag; |
| 17,4 → 17,3 |
| void MK3MAG_Update(void); |
| #endif //_MK3MAG_H |
| /branches/dongfang_FC_rewrite/output.c |
|---|
| 57,35 → 57,42 |
| uint8_t flashCnt[2], flashMask[2]; |
| // initializes the LED control outputs J16, J17 |
| void output_init(void) { |
| // set PC2 & PC3 as output (control of J16 & J17) |
| DDRC |= (1<<DDC2)|(1<<DDC3); |
| OUTPUT_SET(0,0); OUTPUT_SET(1,0); |
| flashCnt[0] = flashCnt[1] = 0; |
| flashMask[0] = flashMask[1] = 128; |
| // set PC2 & PC3 as output (control of J16 & J17) |
| DDRC |= (1 << DDC2) | (1 << DDC3); |
| OUTPUT_SET(0,0); |
| OUTPUT_SET(1,0); |
| flashCnt[0] = flashCnt[1] = 0; |
| flashMask[0] = flashMask[1] = 128; |
| } |
| void flashingLight(uint8_t port, uint8_t timing, uint8_t bitmask, uint8_t manual) { |
| if (timing > 250 && manual > 230) { |
| // "timing" is set to "manual" and the value is very high --> Set to the value in bitmask bit 7. |
| OUTPUT_SET(port, bitmask & 128); |
| } else if (timing > 250 && manual < 10) { |
| // "timing" is set to "manual" and the value is very low --> Set to the negated value in bitmask bit 7. |
| OUTPUT_SET(port, !(bitmask & 128)); |
| } else if(!flashCnt[port]--) { |
| // rotating mask over bitmask... |
| flashCnt[port] = timing - 1; |
| if(flashMask[port] == 1) flashMask[port] = 128; else flashMask[port] >>= 1; |
| OUTPUT_SET(port, flashMask[port] & bitmask); |
| } |
| void flashingLight(uint8_t port, uint8_t timing, uint8_t bitmask, |
| uint8_t manual) { |
| if (timing > 250 && manual > 230) { |
| // "timing" is set to "manual" and the value is very high --> Set to the value in bitmask bit 7. |
| OUTPUT_SET(port, bitmask & 128); |
| } else if (timing > 250 && manual < 10) { |
| // "timing" is set to "manual" and the value is very low --> Set to the negated value in bitmask bit 7. |
| OUTPUT_SET(port, !(bitmask & 128)); |
| } else if (!flashCnt[port]--) { |
| // rotating mask over bitmask... |
| flashCnt[port] = timing - 1; |
| if (flashMask[port] == 1) |
| flashMask[port] = 128; |
| else |
| flashMask[port] >>= 1; |
| OUTPUT_SET(port, flashMask[port] & bitmask); |
| } |
| } |
| void flashingLights(void) { |
| static int8_t delay = 0; |
| if(!delay--) { // 10 ms intervals |
| delay = 4; |
| flashingLight(0, staticParams.J16Timing, staticParams.J16Bitmask, dynamicParams.J16Timing); |
| flashingLight(1, staticParams.J17Timing, staticParams.J17Bitmask, dynamicParams.J17Timing); |
| } |
| static int8_t delay = 0; |
| if (!delay--) { // 10 ms intervals |
| delay = 4; |
| flashingLight(0, staticParams.J16Timing, staticParams.J16Bitmask, |
| dynamicParams.J16Timing); |
| flashingLight(1, staticParams.J17Timing, staticParams.J17Bitmask, |
| dynamicParams.J17Timing); |
| } |
| } |
| /* |
| 95,11 → 102,11 |
| #define DIGITAL_DEBUG_MASK DEBUG_MK3MAG |
| void output_update(void) { |
| uint8_t output0, output1; |
| if (!DIGITAL_DEBUG_MASK) |
| flashingLights(); |
| else { |
| OUTPUT_SET(0, DebugOut.Digital[0] & DIGITAL_DEBUG_MASK); |
| OUTPUT_SET(1, DebugOut.Digital[1] & DIGITAL_DEBUG_MASK); |
| } |
| uint8_t output0, output1; |
| if (!DIGITAL_DEBUG_MASK) |
| flashingLights(); |
| else { |
| OUTPUT_SET(0, DebugOut.Digital[0] & DIGITAL_DEBUG_MASK); |
| OUTPUT_SET(1, DebugOut.Digital[1] & DIGITAL_DEBUG_MASK); |
| } |
| } |
| /branches/dongfang_FC_rewrite/rc.c |
|---|
| 64,7 → 64,7 |
| volatile uint8_t NewPpmData = 1; |
| volatile int16_t RC_Quality = 0; |
| int16_t RC_PRTY[4]; |
| uint8_t lastRCCommand = COMMAND_NONE; |
| uint8_t lastRCCommand = COMMAND_NONE; |
| uint8_t commandTimer = 0; |
| // Useless. Just trim on the R/C instead. |
| 73,54 → 73,55 |
| /*************************************************************** |
| * 16bit timer 1 is used to decode the PPM-Signal |
| ***************************************************************/ |
| void RC_Init (void) { |
| uint8_t sreg = SREG; |
| void RC_Init(void) { |
| uint8_t sreg = SREG; |
| // disable all interrupts before reconfiguration |
| cli(); |
| // disable all interrupts before reconfiguration |
| cli(); |
| // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
| DDRD &= ~(1<<DDD6); |
| PORTD |= (1<<PORTD6); |
| // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
| DDRD &= ~(1 << DDD6); |
| PORTD |= (1 << PORTD6); |
| // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
| // set as output |
| DDRD |= (1<<DDD5)| (1<<DDD4) | (1<<DDD3); |
| // low level |
| PORTD &= ~((1<<PORTD5) | (1<<PORTD4) | (1<<PORTD3)); |
| // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
| // set as output |
| DDRD |= (1 << DDD5) | (1 << DDD4) | (1 << DDD3); |
| // low level |
| PORTD &= ~((1 << PORTD5) | (1 << PORTD4) | (1 << PORTD3)); |
| // PD3 can't be used if 2nd UART is activated |
| // because TXD1 is at that port |
| if(CPUType != ATMEGA644P) { |
| DDRD |= (1<<PORTD3); |
| PORTD &= ~(1<<PORTD3); |
| } |
| // PD3 can't be used if 2nd UART is activated |
| // because TXD1 is at that port |
| if (CPUType != ATMEGA644P) { |
| DDRD |= (1 << PORTD3); |
| PORTD &= ~(1 << PORTD3); |
| } |
| // Timer/Counter1 Control Register A, B, C |
| // Timer/Counter1 Control Register A, B, C |
| // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
| // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
| // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
| // Enable input capture noise cancler (bit: ICNC1=1) |
| // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
| // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2µs |
| // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
| TCCR1A &= ~((1<<COM1A1)|(1<<COM1A0)|(1<<COM1B1)|(1<<COM1B0)|(1<<WGM11)|(1<<WGM10)); |
| TCCR1B &= ~((1<<WGM13)|(1<<WGM12)|(1<<CS12)); |
| TCCR1B |= (1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1); |
| TCCR1C &= ~((1<<FOC1A)|(1<<FOC1B)); |
| // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
| // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
| // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
| // Enable input capture noise cancler (bit: ICNC1=1) |
| // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
| // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2µs |
| // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
| TCCR1A &= ~((1 << COM1A1) | (1 << COM1A0) | (1 << COM1B1) | (1 << COM1B0) |
| | (1 << WGM11) | (1 << WGM10)); |
| TCCR1B &= ~((1 << WGM13) | (1 << WGM12) | (1 << CS12)); |
| TCCR1B |= (1 << CS11) | (1 << CS10) | (1 << ICES1) | (1 << ICNC1); |
| TCCR1C &= ~((1 << FOC1A) | (1 << FOC1B)); |
| // Timer/Counter1 Interrupt Mask Register |
| // Timer/Counter1 Interrupt Mask Register |
| // Enable Input Capture Interrupt (bit: ICIE1=1) |
| // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
| // Enable Overflow Interrupt (bit: TOIE1=0) |
| TIMSK1 &= ~((1<<OCIE1B)|(1<<OCIE1A)|(1<<TOIE1)); |
| TIMSK1 |= (1<<ICIE1); |
| // Enable Input Capture Interrupt (bit: ICIE1=1) |
| // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
| // Enable Overflow Interrupt (bit: TOIE1=0) |
| TIMSK1 &= ~((1 << OCIE1B) | (1 << OCIE1A) | (1 << TOIE1)); |
| TIMSK1 |= (1 << ICIE1); |
| RC_Quality = 0; |
| RC_Quality = 0; |
| SREG = sreg; |
| SREG = sreg; |
| } |
| /********************************************************************/ |
| 127,87 → 128,90 |
| /* Every time a positive edge is detected at PD6 */ |
| /********************************************************************/ |
| /* t-Frame |
| <-----------------------------------------------------------------------> |
| ____ ______ _____ ________ ______ sync gap ____ |
| | | | | | | | | | | | |
| | | | | | | | | | | | |
| ___| |_| |_| |_| |_.............| |________________| |
| <-----><-------><------><--------> <------> <--- |
| t0 t1 t2 t4 tn t0 |
| <-----------------------------------------------------------------------> |
| ____ ______ _____ ________ ______ sync gap ____ |
| | | | | | | | | | | | |
| | | | | | | | | | | | |
| ___| |_| |_| |_| |_.............| |________________| |
| <-----><-------><------><--------> <------> <--- |
| t0 t1 t2 t4 tn t0 |
| The PPM-Frame length is 22.5 ms. |
| Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
| The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
| The maximum time delay of two events coding a chanel is ( 1.7 + 0.3) ms = 2 ms. |
| The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
| The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
| The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
| the syncronization gap. |
| */ |
| ISR(TIMER1_CAPT_vect) { // typical rate of 1 ms to 2 ms |
| int16_t signal = 0, tmp; |
| static int16_t index; |
| static uint16_t oldICR1 = 0; |
| // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
| // at the time the edge was detected |
| // calculate the time delay to the previous event time which is stored in oldICR1 |
| // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
| // implicit handles a timer overflow 65535 -> 0 the right way. |
| signal = (uint16_t) ICR1 - oldICR1; |
| oldICR1 = ICR1; |
| //sync gap? (3.52 ms < signal < 25.6 ms) |
| if((signal > 1100) && (signal < 8000)) { |
| // if a sync gap happens and there where at least 4 channels decoded before |
| // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
| if(index >= 4) { |
| NewPpmData = 0; // Null means NewData for the first 4 channels |
| } |
| // synchronize channel index |
| index = 1; |
| } else { // within the PPM frame |
| if(index < MAX_CHANNELS-1) { // PPM24 supports 12 channels |
| // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
| // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
| if((signal > 250) && (signal < 687)) { |
| // shift signal to zero symmetric range -154 to 159 |
| signal -= 470; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
| // check for stable signal |
| if(abs(signal - PPM_in[index]) < 6) { |
| if(RC_Quality < 200) RC_Quality +=10; |
| else RC_Quality = 200; |
| The PPM-Frame length is 22.5 ms. |
| Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
| The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
| The maximum time delay of two events coding a chanel is ( 1.7 + 0.3) ms = 2 ms. |
| The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
| The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
| The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
| the syncronization gap. |
| */ |
| ISR(TIMER1_CAPT_vect) |
| { // typical rate of 1 ms to 2 ms |
| int16_t signal = 0, tmp; |
| static int16_t index; |
| static uint16_t oldICR1 = 0; |
| // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
| // at the time the edge was detected |
| // calculate the time delay to the previous event time which is stored in oldICR1 |
| // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
| // implicit handles a timer overflow 65535 -> 0 the right way. |
| signal = (uint16_t) ICR1 - oldICR1; |
| oldICR1 = ICR1; |
| //sync gap? (3.52 ms < signal < 25.6 ms) |
| if ((signal > 1100) && (signal < 8000)) { |
| // if a sync gap happens and there where at least 4 channels decoded before |
| // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
| if (index >= 4) { |
| NewPpmData = 0; // Null means NewData for the first 4 channels |
| } |
| // synchronize channel index |
| index = 1; |
| } else { // within the PPM frame |
| if (index < MAX_CHANNELS - 1) { // PPM24 supports 12 channels |
| // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
| // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
| if ((signal > 250) && (signal < 687)) { |
| // shift signal to zero symmetric range -154 to 159 |
| signal -= 470; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
| // check for stable signal |
| if (abs(signal - PPM_in[index]) < 6) { |
| if (RC_Quality < 200) |
| RC_Quality += 10; |
| else |
| RC_Quality = 200; |
| } |
| // If signal is the same as before +/- 1, just keep it there. |
| if (signal >= PPM_in[index] - 1 && signal <= PPM_in[index] + 1) { |
| // In addition, if the signal is very close to 0, just set it to 0. |
| if (signal >= -1 && signal <= 1) { |
| tmp = 0; |
| } else { |
| tmp = PPM_in[index]; |
| } |
| } else |
| tmp = signal; |
| // calculate signal difference on good signal level |
| if (RC_Quality >= 195) |
| PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
| else |
| PPM_diff[index] = 0; |
| PPM_in[index] = tmp; // update channel value |
| } |
| index++; // next channel |
| // demux sum signal for channels 5 to 7 to J3, J4, J5 |
| // TODO: General configurability of this R/C channel forwarding. Or remove it completely - the |
| // channels are usually available at the receiver anyway. |
| // if(index == 5) J3HIGH; else J3LOW; |
| // if(index == 6) J4HIGH; else J4LOW; |
| // if(CPUType != ATMEGA644P) // not used as TXD1 |
| // { |
| // if(index == 7) J5HIGH; else J5LOW; |
| // } |
| } |
| } |
| // If signal is the same as before +/- 1, just keep it there. |
| if (signal>=PPM_in[index]-1 && signal<=PPM_in[index]+1) { |
| // In addition, if the signal is very close to 0, just set it to 0. |
| if (signal >=-1 && signal <= 1) { |
| tmp = 0; |
| } else { |
| tmp = PPM_in[index]; |
| } |
| } |
| else |
| tmp = signal; |
| // calculate signal difference on good signal level |
| if(RC_Quality >= 195) |
| PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
| else PPM_diff[index] = 0; |
| PPM_in[index] = tmp; // update channel value |
| } |
| index++; // next channel |
| // demux sum signal for channels 5 to 7 to J3, J4, J5 |
| // TODO: General configurability of this R/C channel forwarding. Or remove it completely - the |
| // channels are usually available at the receiver anyway. |
| // if(index == 5) J3HIGH; else J3LOW; |
| // if(index == 6) J4HIGH; else J4LOW; |
| // if(CPUType != ATMEGA644P) // not used as TXD1 |
| // { |
| // if(index == 7) J5HIGH; else J5LOW; |
| // } |
| } |
| } |
| } |
| #define RCChannel(dimension) PPM_in[staticParams.ChannelAssignment[dimension]] |
| 218,23 → 222,23 |
| // Internal. |
| uint8_t RC_getStickCommand(void) { |
| if(RCChannel(COMMAND_CHANNEL_VERTICAL) > COMMAND_THRESHOLD) { |
| // vertical is up |
| if(RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
| return COMMAND_GYROCAL; |
| if(RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
| return COMMAND_ACCCAL; |
| return COMMAND_NONE; |
| } else if(RCChannel(COMMAND_CHANNEL_VERTICAL) < -COMMAND_THRESHOLD) { |
| // vertical is down |
| if(RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
| return COMMAND_STOP; |
| if(RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
| return COMMAND_START; |
| return COMMAND_NONE; |
| } |
| // vertical is around center |
| return COMMAND_NONE; |
| if (RCChannel(COMMAND_CHANNEL_VERTICAL) > COMMAND_THRESHOLD) { |
| // vertical is up |
| if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
| return COMMAND_GYROCAL; |
| if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
| return COMMAND_ACCCAL; |
| return COMMAND_NONE; |
| } else if (RCChannel(COMMAND_CHANNEL_VERTICAL) < -COMMAND_THRESHOLD) { |
| // vertical is down |
| if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) > COMMAND_THRESHOLD) |
| return COMMAND_STOP; |
| if (RCChannel(COMMAND_CHANNEL_HORIZONTAL) < -COMMAND_THRESHOLD) |
| return COMMAND_START; |
| return COMMAND_NONE; |
| } |
| // vertical is around center |
| return COMMAND_NONE; |
| } |
| /* |
| 241,32 → 245,39 |
| * This must be called (as the only thing) for each control loop cycle (488 Hz). |
| */ |
| void RC_update() { |
| int16_t tmp1, tmp2; |
| if(RC_Quality) { |
| RC_Quality--; |
| if (NewPpmData-- == 0) { |
| RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.StickP + RCDiff(CH_PITCH) * staticParams.StickD; |
| RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.StickP + RCDiff(CH_ROLL) * staticParams.StickD; |
| RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) * dynamicParams.UserParams[3] + 120; |
| if (RC_PRTY[CONTROL_THROTTLE] < 0) RC_PRTY[CONTROL_THROTTLE] = 0; // Throttle is non negative. |
| tmp1 = -RCChannel(CH_YAW) - RCDiff(CH_YAW); |
| // exponential stick sensitivity in yawing rate |
| tmp2 = (int32_t) staticParams.StickYawP * ((int32_t)tmp1 * abs(tmp1)) / 512L; // expo y = ax + bx^2 |
| tmp2 += (staticParams.StickYawP * tmp1) / 4; |
| RC_PRTY[CONTROL_YAW] = tmp2; |
| } |
| uint8_t command = RC_getStickCommand(); |
| if (lastRCCommand == command) { |
| // Keep timer from overrunning. |
| if (commandTimer < COMMAND_TIMER) commandTimer++; |
| } else { |
| // There was a change. |
| lastRCCommand = command; |
| commandTimer = 0; |
| } |
| } else { // Bad signal |
| RC_PRTY[CONTROL_PITCH] = RC_PRTY[CONTROL_ROLL] = RC_PRTY[CONTROL_THROTTLE] = RC_PRTY[CONTROL_YAW] = 0; |
| } |
| int16_t tmp1, tmp2; |
| if (RC_Quality) { |
| RC_Quality--; |
| if (NewPpmData-- == 0) { |
| RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.StickP |
| + RCDiff(CH_PITCH) * staticParams.StickD; |
| RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.StickP |
| + RCDiff(CH_ROLL) * staticParams.StickD; |
| RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) |
| * dynamicParams.UserParams[3] + 120; |
| if (RC_PRTY[CONTROL_THROTTLE] < 0) |
| RC_PRTY[CONTROL_THROTTLE] = 0; // Throttle is non negative. |
| tmp1 = -RCChannel(CH_YAW) - RCDiff(CH_YAW); |
| // exponential stick sensitivity in yawing rate |
| tmp2 = (int32_t) staticParams.StickYawP * ((int32_t) tmp1 * abs(tmp1)) |
| / 512L; // expo y = ax + bx^2 |
| tmp2 += (staticParams.StickYawP * tmp1) / 4; |
| RC_PRTY[CONTROL_YAW] = tmp2; |
| } |
| uint8_t command = RC_getStickCommand(); |
| if (lastRCCommand == command) { |
| // Keep timer from overrunning. |
| if (commandTimer < COMMAND_TIMER) |
| commandTimer++; |
| } else { |
| // There was a change. |
| lastRCCommand = command; |
| commandTimer = 0; |
| } |
| } else { // Bad signal |
| RC_PRTY[CONTROL_PITCH] = RC_PRTY[CONTROL_ROLL] = RC_PRTY[CONTROL_THROTTLE] |
| = RC_PRTY[CONTROL_YAW] = 0; |
| } |
| } |
| /* |
| 273,35 → 284,35 |
| * Get Pitch, Roll, Throttle, Yaw values |
| */ |
| int16_t* RC_getPRTY(void) { |
| return RC_PRTY; |
| return RC_PRTY; |
| } |
| /* |
| * Get other channel value |
| */ |
| int16_t RC_getVariable (uint8_t varNum) { |
| if (varNum < 4) |
| // 0th variable is 5th channel (1-based) etc. |
| return RCChannel(varNum + 4) + POT_OFFSET; |
| /* |
| * Let's just say: |
| * The RC variable 4 is hardwired to channel 5 |
| * The RC variable 5 is hardwired to channel 6 |
| * The RC variable 6 is hardwired to channel 7 |
| * The RC variable 7 is hardwired to channel 8 |
| * Alternatively, one could bind them to channel (4 + varNum) - or whatever... |
| */ |
| return PPM_in[varNum + 1] + POT_OFFSET; |
| int16_t RC_getVariable(uint8_t varNum) { |
| if (varNum < 4) |
| // 0th variable is 5th channel (1-based) etc. |
| return RCChannel(varNum + 4) + POT_OFFSET; |
| /* |
| * Let's just say: |
| * The RC variable 4 is hardwired to channel 5 |
| * The RC variable 5 is hardwired to channel 6 |
| * The RC variable 6 is hardwired to channel 7 |
| * The RC variable 7 is hardwired to channel 8 |
| * Alternatively, one could bind them to channel (4 + varNum) - or whatever... |
| */ |
| return PPM_in[varNum + 1] + POT_OFFSET; |
| } |
| uint8_t RC_getSignalQuality(void) { |
| if (RC_Quality >= 160) |
| return SIGNAL_GOOD; |
| if (RC_Quality >= 140) |
| return SIGNAL_OK; |
| if (RC_Quality >= 120) |
| return SIGNAL_BAD; |
| return SIGNAL_LOST; |
| if (RC_Quality >= 160) |
| return SIGNAL_GOOD; |
| if (RC_Quality >= 140) |
| return SIGNAL_OK; |
| if (RC_Quality >= 120) |
| return SIGNAL_BAD; |
| return SIGNAL_LOST; |
| } |
| /* |
| 314,27 → 325,27 |
| * of a stick, it may be useful. |
| */ |
| void RC_calibrate(void) { |
| // Do nothing. |
| // Do nothing. |
| } |
| /* |
| if (staticParams.GlobalConfig & CFG_HEADING_HOLD) { |
| // In HH, it s OK to trim the R/C. The effect should not be conteracted here. |
| stickOffsetPitch = stickOffsetRoll = 0; |
| } else { |
| stickOffsetPitch = RCChannel(CH_PITCH) * staticParams.StickP; |
| stickOffsetRoll = RCChannel(CH_ROLL) * staticParams.StickP; |
| } |
| } |
| */ |
| if (staticParams.GlobalConfig & CFG_HEADING_HOLD) { |
| // In HH, it s OK to trim the R/C. The effect should not be conteracted here. |
| stickOffsetPitch = stickOffsetRoll = 0; |
| } else { |
| stickOffsetPitch = RCChannel(CH_PITCH) * staticParams.StickP; |
| stickOffsetRoll = RCChannel(CH_ROLL) * staticParams.StickP; |
| } |
| } |
| */ |
| uint8_t RC_getCommand(void) { |
| if (commandTimer == COMMAND_TIMER) { |
| // Stick has been held long enough; command committed. |
| return lastRCCommand; |
| } |
| // Not yet sure what the command is. |
| return COMMAND_NONE; |
| if (commandTimer == COMMAND_TIMER) { |
| // Stick has been held long enough; command committed. |
| return lastRCCommand; |
| } |
| // Not yet sure what the command is. |
| return COMMAND_NONE; |
| } |
| /* |
| 356,70 → 367,79 |
| #define ARGUMENT_CHANNEL_HORIZONTAL CH_ROLL |
| uint8_t RC_getArgument(void) { |
| if(RCChannel(ARGUMENT_CHANNEL_VERTICAL) > ARGUMENT_THRESHOLD) { |
| // vertical is up |
| if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
| return 2; |
| if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
| return 4; |
| return 3; |
| } else if(RCChannel(ARGUMENT_CHANNEL_VERTICAL) < -ARGUMENT_THRESHOLD) { |
| // vertical is down |
| if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
| return 8; |
| if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
| return 6; |
| return 7; |
| } else { |
| // vertical is around center |
| if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
| return 1; |
| if(RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
| return 5; |
| return 0; |
| } |
| if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) > ARGUMENT_THRESHOLD) { |
| // vertical is up |
| if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
| return 2; |
| if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
| return 4; |
| return 3; |
| } else if (RCChannel(ARGUMENT_CHANNEL_VERTICAL) < -ARGUMENT_THRESHOLD) { |
| // vertical is down |
| if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
| return 8; |
| if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
| return 6; |
| return 7; |
| } else { |
| // vertical is around center |
| if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) > ARGUMENT_THRESHOLD) |
| return 1; |
| if (RCChannel(ARGUMENT_CHANNEL_HORIZONTAL) < -ARGUMENT_THRESHOLD) |
| return 5; |
| return 0; |
| } |
| } |
| uint8_t RC_getLooping(uint8_t looping) { |
| // static uint8_t looping = 0; |
| // static uint8_t looping = 0; |
| if(RCChannel(CH_ROLL) > staticParams.LoopThreshold && staticParams.BitConfig & CFG_LOOP_LEFT) { |
| looping |= (LOOPING_ROLL_AXIS | LOOPING_LEFT); |
| } else if((looping & LOOPING_LEFT) && RCChannel(CH_ROLL) < staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
| looping &= (~(LOOPING_ROLL_AXIS | LOOPING_LEFT)); |
| } |
| if(RCChannel(CH_ROLL) < -staticParams.LoopThreshold && staticParams.BitConfig & CFG_LOOP_RIGHT) { |
| looping |= (LOOPING_ROLL_AXIS | LOOPING_RIGHT); |
| } else if((looping & LOOPING_RIGHT) && RCChannel(CH_ROLL) > -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
| looping &= (~(LOOPING_ROLL_AXIS | LOOPING_RIGHT)); |
| } |
| if(RCChannel(CH_PITCH) > staticParams.LoopThreshold && staticParams.BitConfig & CFG_LOOP_UP) { |
| looping |= (LOOPING_PITCH_AXIS | LOOPING_UP); |
| } else if((looping & LOOPING_UP) && RCChannel(CH_PITCH) < staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
| looping &= (~(LOOPING_PITCH_AXIS | LOOPING_UP)); |
| } |
| if(RCChannel(CH_PITCH) < -staticParams.LoopThreshold && staticParams.BitConfig & CFG_LOOP_DOWN) { |
| looping |= (LOOPING_PITCH_AXIS | LOOPING_DOWN); |
| } else if((looping & LOOPING_DOWN) && RCChannel(CH_PITCH) > -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
| looping &= (~(LOOPING_PITCH_AXIS | LOOPING_DOWN)); |
| } |
| if (RCChannel(CH_ROLL) > staticParams.LoopThreshold && staticParams.BitConfig |
| & CFG_LOOP_LEFT) { |
| looping |= (LOOPING_ROLL_AXIS | LOOPING_LEFT); |
| } else if ((looping & LOOPING_LEFT) && RCChannel(CH_ROLL) |
| < staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
| looping &= (~(LOOPING_ROLL_AXIS | LOOPING_LEFT)); |
| } |
| return looping; |
| if (RCChannel(CH_ROLL) < -staticParams.LoopThreshold |
| && staticParams.BitConfig & CFG_LOOP_RIGHT) { |
| looping |= (LOOPING_ROLL_AXIS | LOOPING_RIGHT); |
| } else if ((looping & LOOPING_RIGHT) && RCChannel(CH_ROLL) |
| > -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
| looping &= (~(LOOPING_ROLL_AXIS | LOOPING_RIGHT)); |
| } |
| if (RCChannel(CH_PITCH) > staticParams.LoopThreshold |
| && staticParams.BitConfig & CFG_LOOP_UP) { |
| looping |= (LOOPING_PITCH_AXIS | LOOPING_UP); |
| } else if ((looping & LOOPING_UP) && RCChannel(CH_PITCH) |
| < staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
| looping &= (~(LOOPING_PITCH_AXIS | LOOPING_UP)); |
| } |
| if (RCChannel(CH_PITCH) < -staticParams.LoopThreshold |
| && staticParams.BitConfig & CFG_LOOP_DOWN) { |
| looping |= (LOOPING_PITCH_AXIS | LOOPING_DOWN); |
| } else if ((looping & LOOPING_DOWN) && RCChannel(CH_PITCH) |
| > -staticParams.LoopThreshold - staticParams.LoopHysteresis) { |
| looping &= (~(LOOPING_PITCH_AXIS | LOOPING_DOWN)); |
| } |
| return looping; |
| } |
| uint8_t RC_testCompassCalState(void) { |
| static uint8_t stick = 1; |
| // if pitch is centered or top set stick to zero |
| if(RCChannel(CH_PITCH) > -20) stick = 0; |
| // if pitch is down trigger to next cal state |
| if((RCChannel(CH_PITCH) < -70) && !stick) { |
| stick = 1; |
| return 1; |
| } |
| return 0; |
| static uint8_t stick = 1; |
| // if pitch is centered or top set stick to zero |
| if (RCChannel(CH_PITCH) > -20) |
| stick = 0; |
| // if pitch is down trigger to next cal state |
| if ((RCChannel(CH_PITCH) < -70) && !stick) { |
| stick = 1; |
| return 1; |
| } |
| return 0; |
| } |
| /* |
| * Abstract controls are not used at the moment. |
| 431,4 → 451,4 |
| RC_getSignalQuality, |
| RC_calibrate |
| }; |
| */ |
| */ |
| /branches/dongfang_FC_rewrite/rc.h |
|---|
| 20,12 → 20,12 |
| // Number of cycles a command must be repeated before commit. |
| #define COMMAND_TIMER 200 |
| extern void RC_Init (void); |
| extern void RC_Init(void); |
| // the RC-Signal. todo: Not export any more. |
| extern volatile int16_t PPM_in[MAX_CHANNELS]; |
| // extern volatile int16_t PPM_diff[MAX_CHANNELS]; // the differentiated RC-Signal. Should that be exported?? |
| extern volatile uint8_t NewPpmData; // 0 indicates a new recieved PPM Frame |
| extern volatile int16_t RC_Quality; // rc signal quality indicator (0 to 200) |
| extern volatile uint8_t NewPpmData; // 0 indicates a new recieved PPM Frame |
| extern volatile int16_t RC_Quality; // rc signal quality indicator (0 to 200) |
| // defines for lookup staticParams.ChannelAssignment |
| #define CH_PITCH 0 |
| 36,20 → 36,20 |
| #define POT_OFFSET 115 |
| /* |
| int16_t RC_getPitch (void); |
| int16_t RC_getYaw (void); |
| int16_t RC_getRoll (void); |
| uint16_t RC_getThrottle (void); |
| uint8_t RC_hasNewRCData (void); |
| */ |
| int16_t RC_getPitch (void); |
| int16_t RC_getYaw (void); |
| int16_t RC_getRoll (void); |
| uint16_t RC_getThrottle (void); |
| uint8_t RC_hasNewRCData (void); |
| */ |
| void RC_update(void); |
| int16_t* RC_getPRTY(void); |
| uint8_t RC_getArgument(void); |
| uint8_t RC_getCommand(void); |
| int16_t RC_getVariable(uint8_t varNum); |
| void RC_calibrate(void); |
| uint8_t RC_getSignalQuality(void); |
| uint8_t RC_getLooping(uint8_t looping); |
| uint8_t RC_testCompassCalState(void); |
| void RC_update(void); |
| int16_t* RC_getPRTY(void); |
| uint8_t RC_getArgument(void); |
| uint8_t RC_getCommand(void); |
| int16_t RC_getVariable(uint8_t varNum); |
| void RC_calibrate(void); |
| uint8_t RC_getSignalQuality(void); |
| uint8_t RC_getLooping(uint8_t looping); |
| uint8_t RC_testCompassCalState(void); |
| #endif //_RC_H |
| /branches/dongfang_FC_rewrite/sod2 |
|---|
| 0,0 → 1,45 |
| void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ... |
| va_list ap; |
| uint16_t txd_bufferIndex = 0; |
| uint8_t *currentBuffer; |
| uint8_t currentBufferIndex; |
| uint16_t lengthOfCurrentBuffer; |
| uint8_t shift = 0; |
| txd_buffer[txd_bufferIndex++] = '#'; // Start character |
| txd_buffer[txd_bufferIndex++] = 'a' + addr; // Address (a=0; b=1,...) |
| txd_buffer[txd_bufferIndex++] = cmd; // Command |
| va_start(ap, numofbuffers); |
| while(numofbuffers) { |
| currentBuffer = va_arg(ap, uint8_t*); |
| lengthOfCurrentBuffer = va_arg(ap, int); |
| currentBufferIndex = 0; |
| // Encode data: 3 bytes of data are encoded into 4 bytes, |
| // where the 2 most significant bits are both 0. |
| while(currentBufferIndex != lengthOfCurrentBuffer) { |
| if (!shift) txd_buffer[txd_bufferIndex] = 0; |
| txd_buffer[txd_bufferIndex] |= currentBuffer[currentBufferIndex] >> (shift + 2); |
| txd_buffer[++txd_bufferIndex] = (currentBuffer[currentBufferIndex] << (4 - shift)) & 0b00111111; |
| shift += 2; |
| if (shift == 6) { shift=0; txd_bufferIndex++; } |
| currentBufferIndex++; |
| } |
| } |
| // If the number of data bytes was not divisible by 3, stuff |
| // with 0 pseudodata until length is again divisible by 3. |
| if (shift == 2) { |
| // We need to stuff with zero bytes at the end. |
| txd_buffer[txd_bufferIndex] &= 0b00110000; |
| txd_buffer[++txd_bufferIndex] = 0; |
| shift = 4; |
| } |
| if (shift == 4) { |
| // We need to stuff with zero bytes at the end. |
| txd_buffer[txd_bufferIndex++] &= 0b00111100; |
| txd_buffer[txd_bufferIndex] = 0; |
| } |
| va_end(ap); |
| AddCRC(pt); // add checksum after data block and initates the transmission |
| } |
| /branches/dongfang_FC_rewrite/spectrum.c |
|---|
| 1,6 → 1,6 |
| /*####################################################################################### |
| Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit |
| #######################################################################################*/ |
| Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit |
| #######################################################################################*/ |
| #include "Spectrum.h" |
| 7,58 → 7,71 |
| //--------------------------------------------------------------// |
| //--------------------------------------------------------------// |
| void SpektrumBinding(void) |
| { |
| unsigned int timerTimeout = SetDelay(10000); // Timeout 10 sec. |
| unsigned char connected = 0; |
| unsigned int delaycounter; |
| UCSR1B &= ~(1 << RXCIE1); // disable rx-interrupt |
| UCSR1B &= ~(1<<RXEN1); // disable Uart-Rx |
| PORTD &= ~(1 << PORTD2); // disable pull-up |
| printf("\n\rPlease connect Spektrum receiver for binding NOW..."); |
| while(!CheckDelay(timerTimeout)) |
| { |
| if (PIND & (1 << PORTD2)) { timerTimeout = SetDelay(90); connected = 1; break; } |
| } |
| if (connected) |
| { |
| printf("ok.\n\r"); |
| DDRD |= (1 << DDD2); // Rx as output |
| void SpektrumBinding(void) { |
| unsigned int timerTimeout = SetDelay(10000); // Timeout 10 sec. |
| unsigned char connected = 0; |
| unsigned int delaycounter; |
| while(!CheckDelay(timerTimeout)); // delay after startup of RX |
| for (delaycounter = 0; delaycounter < 100; delaycounter++) PORTD |= (1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
| UCSR1B &= ~(1 << RXCIE1); // disable rx-interrupt |
| UCSR1B &= ~(1 << RXEN1); // disable Uart-Rx |
| PORTD &= ~(1 << PORTD2); // disable pull-up |
| for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
| } |
| else |
| { printf("Timeout.\n\r"); |
| } |
| DDRD &= ~(1 << DDD2); // RX as input |
| PORTD &= ~(1 << PORTD2); |
| printf("\n\rPlease connect Spektrum receiver for binding NOW..."); |
| Uart1Init(); // init Uart again |
| while (!CheckDelay(timerTimeout)) { |
| if (PIND & (1 << PORTD2)) { |
| timerTimeout = SetDelay(90); |
| connected = 1; |
| break; |
| } |
| } |
| if (connected) { |
| printf("ok.\n\r"); |
| DDRD |= (1 << DDD2); // Rx as output |
| while (!CheckDelay(timerTimeout)) |
| ; // delay after startup of RX |
| for (delaycounter = 0; delaycounter < 100; delaycounter++) |
| PORTD |= (1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 400; delaycounter++) |
| PORTD &= ~(1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 10; delaycounter++) |
| PORTD |= (1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 10; delaycounter++) |
| PORTD &= ~(1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 400; delaycounter++) |
| PORTD |= (1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 400; delaycounter++) |
| PORTD &= ~(1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 10; delaycounter++) |
| PORTD |= (1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 10; delaycounter++) |
| PORTD &= ~(1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 400; delaycounter++) |
| PORTD |= (1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 400; delaycounter++) |
| PORTD &= ~(1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 10; delaycounter++) |
| PORTD |= (1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 10; delaycounter++) |
| PORTD &= ~(1 << PORTD2); |
| for (delaycounter = 0; delaycounter < 400; delaycounter++) |
| PORTD |= (1 << PORTD2); |
| } else { |
| printf("Timeout.\n\r"); |
| } |
| DDRD &= ~(1 << DDD2); // RX as input |
| PORTD &= ~(1 << PORTD2); |
| Uart1Init(); // init Uart again |
| } |
| //############################################################################ |
| 66,10 → 79,10 |
| // USART1 initialisation from killagreg |
| void Uart1Init(void) |
| //############################################################################ |
| { |
| { |
| // -- Start of USART1 initialisation for Spekturm seriell-mode |
| // USART1 Control and Status Register A, B, C and baud rate register |
| uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1); |
| uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK / (8 * 115200) - 1); |
| // disable RX-Interrupt |
| UCSR1B &= ~(1 << RXCIE1); |
| // disable TX-Interrupt |
| 82,9 → 95,9 |
| DDRD &= ~(1 << DDD2); |
| // USART0 Baud Rate Register |
| // set clock divider |
| UBRR1H = (uint8_t)(ubrr>>8); |
| UBRR1L = (uint8_t)ubrr; |
| UBRR1H = (uint8_t) (ubrr >> 8); |
| UBRR1L = (uint8_t) ubrr; |
| // enable double speed operation |
| UCSR1A |= (1 << U2X1); |
| // enable receiver and transmitter |
| 91,9 → 104,7 |
| //UCSR1B = (1<<RXEN1)|(1<<TXEN1); |
| UCSR1B = (1<<RXEN1); |
| UCSR1B = (1 << RXEN1); |
| // set asynchronous mode |
| UCSR1C &= ~(1 << UMSEL11); |
| UCSR1C &= ~(1 << UMSEL10); |
| 104,16 → 115,17 |
| UCSR1C &= ~(1 << USBS1); |
| // 8-bit |
| UCSR1B &= ~(1 << UCSZ12); |
| UCSR1C |= (1 << UCSZ11); |
| UCSR1C |= (1 << UCSZ10); |
| UCSR1C |= (1 << UCSZ11); |
| UCSR1C |= (1 << UCSZ10); |
| // flush receive buffer explicit |
| while(UCSR1A & (1<<RXC1)) UDR1; |
| while (UCSR1A & (1 << RXC1)) |
| UDR1; |
| // enable RX-interrupts at the end |
| UCSR1B |= (1 << RXCIE1); |
| // -- End of USART1 initialisation |
| return; |
| } |
| return; |
| } |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Rainer Walther |
| // + RC-routines from original MK rc.c (c) H&I |
| 186,124 → 198,113 |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den USART1 für seriellen Spektrum satellite reciever |
| SIGNAL(USART1_RX_vect) |
| SIGNAL( USART1_RX_vect) |
| //############################################################################ |
| { |
| static unsigned int Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0, FrameTimer; |
| static unsigned int Sync = 0, FrameCnt = 0, ByteHigh = 0, ReSync = 1, Frame2 = |
| 0, FrameTimer; |
| unsigned int Channel, index; |
| signed int signal, tmp; |
| int bCheckDelay; |
| uint8_t c; |
| c = UDR1; // get data byte |
| if (ReSync == 1) |
| { |
| if (ReSync == 1) { |
| // wait for beginning of new frame |
| ReSync = 0; |
| FrameTimer = SetDelay(7); // minimum 7ms zwischen den frames |
| FrameTimer = SetDelay(7); // minimum 7ms zwischen den frames |
| FrameCnt = 0; |
| Sync = 0; |
| ByteHigh = 0; |
| } |
| else |
| { |
| bCheckDelay = CheckDelay(FrameTimer); |
| if ( Sync == 0 ) |
| { |
| if(bCheckDelay) |
| { |
| // nach einer Pause von mind. 7ms erstes Sync-Character gefunden |
| // Zeichen ignorieren, da Bedeutung unbekannt |
| Sync = 1; |
| FrameCnt ++; |
| } else { |
| bCheckDelay = CheckDelay(FrameTimer); |
| if (Sync == 0) { |
| if (bCheckDelay) { |
| // nach einer Pause von mind. 7ms erstes Sync-Character gefunden |
| // Zeichen ignorieren, da Bedeutung unbekannt |
| Sync = 1; |
| FrameCnt++; |
| } else { |
| // Zeichen kam vor Ablauf der 7ms Sync-Pause |
| // warten auf erstes Sync-Zeichen |
| } |
| else |
| { |
| // Zeichen kam vor Ablauf der 7ms Sync-Pause |
| // warten auf erstes Sync-Zeichen |
| } else if ((Sync == 1) && !bCheckDelay) { |
| // zweites Sync-Character ignorieren, Bedeutung unbekannt |
| Sync = 2; |
| FrameCnt++; |
| } else if ((Sync == 2) && !bCheckDelay) { |
| // Datenbyte high |
| ByteHigh = c; |
| if (FrameCnt == 2) { |
| // is 1st Byte of Channel-data |
| // Frame 1 with Channel 1-7 comming next |
| Frame2 = 0; |
| if (ByteHigh & 0x80) { |
| // DS9: Frame 2 with Channel 8-9 comming next |
| Frame2 = 1; |
| } |
| } |
| } |
| else if((Sync == 1) && !bCheckDelay) |
| { |
| // zweites Sync-Character ignorieren, Bedeutung unbekannt |
| Sync = 2; |
| FrameCnt ++; |
| } |
| else if((Sync == 2) && !bCheckDelay) |
| { |
| // Datenbyte high |
| ByteHigh = c; |
| if (FrameCnt == 2) |
| { |
| // is 1st Byte of Channel-data |
| // Frame 1 with Channel 1-7 comming next |
| Frame2 = 0; |
| if(ByteHigh & 0x80) |
| { |
| // DS9: Frame 2 with Channel 8-9 comming next |
| Frame2 = 1; |
| Sync = 3; |
| FrameCnt++; |
| } else if ((Sync == 3) && !bCheckDelay) { |
| // Datenbyte low |
| // High-Byte for next channel comes next |
| Sync = 2; |
| FrameCnt++; |
| index = (ByteHigh >> 2) & 0x0f; |
| index++; |
| Channel = (ByteHigh << 8) | c; |
| signal = Channel & 0x3ff; |
| signal -= 0x200; // Offset, range 0x000..0x3ff? |
| signal = signal / 3; // scaling to fit PPM resolution |
| if (index >= 0 && index <= 10) { |
| // Stabiles Signal |
| if (abs(signal - PPM_in[index]) < 6) { |
| if (SenderOkay < 200) |
| SenderOkay += 10; |
| else |
| SenderOkay = 200; |
| } |
| } |
| Sync = 3; |
| FrameCnt ++; |
| } |
| else if((Sync == 3) && !bCheckDelay) |
| { |
| // Datenbyte low |
| // High-Byte for next channel comes next |
| Sync = 2; |
| FrameCnt ++; |
| index = (ByteHigh >> 2) & 0x0f; |
| index ++; |
| Channel = (ByteHigh << 8) | c; |
| signal = Channel & 0x3ff; |
| signal -= 0x200; // Offset, range 0x000..0x3ff? |
| signal = signal/3; // scaling to fit PPM resolution |
| if(index >= 0 && index <= 10) |
| { |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| else PPM_diff[index] = 0; |
| PPM_in[index] = tmp; |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| if (tmp > signal + 1) |
| tmp--; |
| else if (tmp < signal - 1) |
| tmp++; |
| if (SenderOkay >= 180) |
| PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| else |
| PPM_diff[index] = 0; |
| PPM_in[index] = tmp; |
| } |
| } else { |
| // hier stimmt was nicht: neu synchronisieren |
| ReSync = 1; |
| FrameCnt = 0; |
| Frame2 = 0; |
| } |
| else |
| { |
| // hier stimmt was nicht: neu synchronisieren |
| ReSync = 1; |
| FrameCnt = 0; |
| Frame2 = 0; |
| } |
| // 16 Bytes per frame |
| if(FrameCnt >= 16) |
| { |
| // Frame complete |
| if(Frame2 == 0) |
| { |
| // Null bedeutet: Neue Daten |
| // nur beim ersten Frame (CH 0-7) setzen |
| NewPpmData = 0; |
| // 16 Bytes per frame |
| if (FrameCnt >= 16) { |
| // Frame complete |
| if (Frame2 == 0) { |
| // Null bedeutet: Neue Daten |
| // nur beim ersten Frame (CH 0-7) setzen |
| NewPpmData = 0; |
| } |
| // new frame next, nach fruehestens 7ms erwartet |
| FrameCnt = 0; |
| Frame2 = 0; |
| Sync = 0; |
| // new frame next, nach fruehestens 7ms erwartet |
| FrameCnt = 0; |
| Frame2 = 0; |
| Sync = 0; |
| } |
| // Zeit bis zum nächsten Zeichen messen |
| FrameTimer = SetDelay(7); |
| } |
| } |
| // Zeit bis zum nächsten Zeichen messen |
| FrameTimer = SetDelay(7); |
| } |
| } |
| /branches/dongfang_FC_rewrite/spectrum.h |
|---|
| 1,6 → 1,6 |
| /*####################################################################################### |
| Dekodieren eines Spectrum Signals |
| #######################################################################################*/ |
| Dekodieren eines Spectrum Signals |
| #######################################################################################*/ |
| #ifndef _SPECTRUM_H |
| #define _SPECTRUM_H |
| /branches/dongfang_FC_rewrite/spi.c |
|---|
| 126,27 → 126,24 |
| #define SPI_RXSYNCBYTE2 0x55 |
| typedef enum { |
| SPI_SYNC1, |
| SPI_SYNC2, |
| SPI_DATA |
| SPI_SYNC1, SPI_SYNC2, SPI_DATA |
| } SPI_RXState_t; |
| // data exchange packets to and From NaviCtrl |
| ToNaviCtrl_t toNaviCtrl; |
| FromNaviCtrl_t fromNaviCtrl; |
| SPI_VersionInfo_t SPI_VersionInfo; |
| ToNaviCtrl_t toNaviCtrl; |
| FromNaviCtrl_t fromNaviCtrl; |
| SPI_VersionInfo_t SPI_VersionInfo; |
| // rx packet buffer |
| #define SPI_RXBUFFER_LEN sizeof(fromNaviCtrl) |
| uint8_t SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
| uint8_t SPI_RxBufferIndex = 0; |
| uint8_t SPI_RxBufferIndex = 0; |
| uint8_t SPI_RxBuffer_Request = 0; |
| // tx packet buffer |
| #define SPI_TXBUFFER_LEN sizeof(toNaviCtrl) |
| uint8_t *SPI_TxBuffer; |
| uint8_t SPI_TxBufferIndex = 0; |
| uint8_t SPI_TxBufferIndex = 0; |
| uint8_t SPITransferCompleted, SPI_ChkSum; |
| uint8_t SPI_RxDataValid = 0; |
| 153,7 → 150,8 |
| uint8_t NCDataOkay = 0; |
| uint8_t NCSerialDataOkay = 0; |
| uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION }; |
| uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, |
| SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION }; |
| uint8_t SPI_CommandCounter = 0; |
| /*********************************************/ |
| 160,32 → 158,32 |
| /* Initialize SPI interface to NaviCtrl */ |
| /*********************************************/ |
| void SPI_MasterInit(void) { |
| DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
| SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); // set Slave select port as output port |
| SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
| SPSR = 0;//(1<<SPI2X); |
| SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // Deselect Slave |
| SPI_TxBuffer = (uint8_t *) &toNaviCtrl; // set pointer to tx-buffer |
| SPITransferCompleted = 1; |
| // initialize data packet to NaviControl |
| toNaviCtrl.Sync1 = SPI_TXSYNCBYTE1; |
| toNaviCtrl.Sync2 = SPI_TXSYNCBYTE2; |
| toNaviCtrl.Command = SPI_CMD_USER; |
| toNaviCtrl.IntegralPitch = 0; |
| toNaviCtrl.IntegralRoll = 0; |
| NCSerialDataOkay = 0; |
| NCDataOkay = 0; |
| SPI_RxDataValid = 0; |
| SPI_VersionInfo.Major = VERSION_MAJOR; |
| SPI_VersionInfo.Minor = VERSION_MINOR; |
| SPI_VersionInfo.Patch = VERSION_PATCH; |
| SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE; |
| DDR_SPI |= (1 << DD_MOSI) | (1 << DD_SCK); // Set MOSI and SCK output, all others input |
| SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); // set Slave select port as output port |
| SPCR = (1 << SPE) | (1 << MSTR) | (1 << SPR1) | (0 << SPR0) | (0 << SPIE); // Enable SPI, Master, set clock rate fck/64 |
| SPSR = 0;//(1<<SPI2X); |
| SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // Deselect Slave |
| SPI_TxBuffer = (uint8_t *) &toNaviCtrl; // set pointer to tx-buffer |
| SPITransferCompleted = 1; |
| // initialize data packet to NaviControl |
| toNaviCtrl.Sync1 = SPI_TXSYNCBYTE1; |
| toNaviCtrl.Sync2 = SPI_TXSYNCBYTE2; |
| toNaviCtrl.Command = SPI_CMD_USER; |
| toNaviCtrl.IntegralPitch = 0; |
| toNaviCtrl.IntegralRoll = 0; |
| NCSerialDataOkay = 0; |
| NCDataOkay = 0; |
| SPI_RxDataValid = 0; |
| SPI_VersionInfo.Major = VERSION_MAJOR; |
| SPI_VersionInfo.Minor = VERSION_MINOR; |
| SPI_VersionInfo.Patch = VERSION_PATCH; |
| SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE; |
| } |
| /**********************************************************/ |
| 192,155 → 190,203 |
| /* Update Data transferd by the SPI from/to NaviCtrl */ |
| /**********************************************************/ |
| void UpdateSPI_Buffer(void) { |
| uint8_t i; |
| int16_t tmp; |
| cli(); // stop all interrupts to avoid writing of new data during update of that packet. |
| // update content of packet to NaviCtrl |
| toNaviCtrl.IntegralPitch = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
| toNaviCtrl.IntegralRoll = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
| toNaviCtrl.GyroHeading = (int16_t)((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1° |
| toNaviCtrl.GyroPitch = rate_ATT[PITCH]; |
| toNaviCtrl.GyroRoll = rate_ATT[ROLL]; |
| toNaviCtrl.GyroYaw = yawRate; |
| toNaviCtrl.AccPitch = (10 * getAngleEstimateFromAcc(PITCH)) / GYRO_DEG_FACTOR_PITCHROLL; // convert to multiple of 0.1° |
| toNaviCtrl.AccRoll = (10 * getAngleEstimateFromAcc(ROLL)) / GYRO_DEG_FACTOR_PITCHROLL; // convert to multiple of 0.1° |
| // TODO: What are these little bastards? |
| uint8_t i; |
| int16_t tmp; |
| cli(); |
| // stop all interrupts to avoid writing of new data during update of that packet. |
| averageAcc[PITCH] = averageAcc[ROLL] = averageAccCount = 0; |
| switch(toNaviCtrl.Command) { |
| case SPI_CMD_USER: |
| for (i=0; i<sizeof(dynamicParams.UserParams); i++) { |
| toNaviCtrl.Param.Byte[i] = dynamicParams.UserParams[i]; |
| } |
| toNaviCtrl.Param.Byte[8] = MKFlags; |
| MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); // calibrate and start are temporal states that are cleared immediately after transmitting |
| toNaviCtrl.Param.Byte[9] = (uint8_t)UBat; |
| toNaviCtrl.Param.Byte[10] = staticParams.LowVoltageWarning; |
| toNaviCtrl.Param.Byte[11] = getActiveParamSet(); |
| break; |
| // update content of packet to NaviCtrl |
| toNaviCtrl.IntegralPitch = (int16_t) ((10 * angle[PITCH]) |
| / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
| toNaviCtrl.IntegralRoll = (int16_t) ((10 * angle[ROLL]) |
| / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
| toNaviCtrl.GyroHeading = (int16_t) ((10 * yawGyroHeading) |
| / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1° |
| toNaviCtrl.GyroPitch = rate_ATT[PITCH]; |
| toNaviCtrl.GyroRoll = rate_ATT[ROLL]; |
| toNaviCtrl.GyroYaw = yawRate; |
| toNaviCtrl.AccPitch = (10 * getAngleEstimateFromAcc(PITCH)) |
| / GYRO_DEG_FACTOR_PITCHROLL; // convert to multiple of 0.1° |
| toNaviCtrl.AccRoll = (10 * getAngleEstimateFromAcc(ROLL)) |
| / GYRO_DEG_FACTOR_PITCHROLL; // convert to multiple of 0.1° |
| case SPI_CMD_PARAMETER1: |
| toNaviCtrl.Param.Byte[0] = staticParams.NaviGpsModeControl; // Parameters for the Naviboard |
| toNaviCtrl.Param.Byte[1] = staticParams.NaviGpsGain; |
| toNaviCtrl.Param.Byte[2] = staticParams.NaviGpsP; |
| toNaviCtrl.Param.Byte[3] = staticParams.NaviGpsI; |
| toNaviCtrl.Param.Byte[4] = staticParams.NaviGpsD; |
| toNaviCtrl.Param.Byte[5] = staticParams.NaviGpsACC; |
| toNaviCtrl.Param.Byte[6] = staticParams.NaviGpsMinSat; |
| toNaviCtrl.Param.Byte[7] = staticParams.NaviStickThreshold; |
| toNaviCtrl.Param.Byte[8] = staticParams.NaviOperatingRadius; |
| toNaviCtrl.Param.Byte[9] = staticParams.NaviWindCorrection; |
| toNaviCtrl.Param.Byte[10] = staticParams.NaviSpeedCompensation; |
| toNaviCtrl.Param.Byte[11] = staticParams.NaviAngleLimitation; |
| break; |
| case SPI_CMD_STICK: |
| tmp = PPM_in[staticParams.ChannelAssignment[CH_THROTTLE]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
| toNaviCtrl.Param.Byte[0] = (int8_t) tmp; |
| tmp = PPM_in[staticParams.ChannelAssignment[CH_YAW]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
| toNaviCtrl.Param.Byte[1] = (int8_t) tmp; |
| tmp = PPM_in[staticParams.ChannelAssignment[CH_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
| toNaviCtrl.Param.Byte[2] = (int8_t) tmp; |
| tmp = PPM_in[staticParams.ChannelAssignment[CH_PITCH]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
| toNaviCtrl.Param.Byte[3] = (int8_t) tmp; |
| toNaviCtrl.Param.Byte[4] = (uint8_t) variables[0]; |
| toNaviCtrl.Param.Byte[5] = (uint8_t) variables[1]; |
| toNaviCtrl.Param.Byte[6] = (uint8_t) variables[2]; |
| toNaviCtrl.Param.Byte[7] = (uint8_t) variables[3]; |
| toNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality; |
| break; |
| case SPI_CMD_MISC: |
| toNaviCtrl.Param.Byte[0] = compassCalState; |
| if(compassCalState > 4) { // jump from 5 to 0 |
| compassCalState = 0; |
| } |
| toNaviCtrl.Param.Byte[1] = staticParams.NaviPHLoginTime; |
| // TODO: Height and in the correct scaling... |
| toNaviCtrl.Param.Int[1] = 0; //readingHeight; // at address of Byte 2 and 3 |
| toNaviCtrl.Param.Byte[4] = staticParams.NaviGpsPLimit; |
| toNaviCtrl.Param.Byte[5] = staticParams.NaviGpsILimit; |
| toNaviCtrl.Param.Byte[6] = staticParams.NaviGpsDLimit; |
| break; |
| case SPI_CMD_VERSION: |
| toNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major; |
| toNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor; |
| toNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch; |
| toNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible; |
| toNaviCtrl.Param.Byte[4] = BoardRelease; |
| break; |
| default: |
| break; |
| } |
| sei(); // enable all interrupts |
| // analyze content of packet from NaviCtrl if valid |
| if (SPI_RxDataValid) { |
| // update gps controls |
| if(abs(fromNaviCtrl.GPSStickPitch) < 512 && abs(fromNaviCtrl.GPSStickRoll) < 512 && (staticParams.GlobalConfig & CFG_GPS_ACTIVE)) { |
| GPSStickPitch = fromNaviCtrl.GPSStickPitch; |
| GPSStickRoll = fromNaviCtrl.GPSStickRoll; |
| NCDataOkay = 250; |
| } |
| // update compass readings |
| if(fromNaviCtrl.CompassHeading <= 360) { |
| compassHeading = fromNaviCtrl.CompassHeading; |
| } |
| //if(compassHeading < 0) compassOffCourse = 0; |
| //else compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
| // NaviCtrl wants to beep? |
| if (fromNaviCtrl.BeepTime > BeepTime && !compassCalState) BeepTime = fromNaviCtrl.BeepTime; |
| switch (fromNaviCtrl.Command) { |
| case SPI_KALMAN: |
| dynamicParams.KalmanK = fromNaviCtrl.Param.Byte[0]; |
| dynamicParams.KalmanMaxFusion = fromNaviCtrl.Param.Byte[1]; |
| dynamicParams.KalmanMaxDrift = fromNaviCtrl.Param.Byte[2]; |
| NCSerialDataOkay = fromNaviCtrl.Param.Byte[3]; |
| break; |
| default: |
| break; |
| } |
| } else { // no valid data from NaviCtrl |
| // disable GPS control |
| GPSStickPitch = 0; |
| GPSStickRoll = 0; |
| } |
| // TODO: What are these little bastards? |
| averageAcc[PITCH] = averageAcc[ROLL] = averageAccCount = 0; |
| switch (toNaviCtrl.Command) { |
| case SPI_CMD_USER: |
| for (i = 0; i < sizeof(dynamicParams.UserParams); i++) { |
| toNaviCtrl.Param.Byte[i] = dynamicParams.UserParams[i]; |
| } |
| toNaviCtrl.Param.Byte[8] = MKFlags; |
| MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); // calibrate and start are temporal states that are cleared immediately after transmitting |
| toNaviCtrl.Param.Byte[9] = (uint8_t) UBat; |
| toNaviCtrl.Param.Byte[10] = staticParams.LowVoltageWarning; |
| toNaviCtrl.Param.Byte[11] = getActiveParamSet(); |
| break; |
| case SPI_CMD_PARAMETER1: |
| toNaviCtrl.Param.Byte[0] = staticParams.NaviGpsModeControl; // Parameters for the Naviboard |
| toNaviCtrl.Param.Byte[1] = staticParams.NaviGpsGain; |
| toNaviCtrl.Param.Byte[2] = staticParams.NaviGpsP; |
| toNaviCtrl.Param.Byte[3] = staticParams.NaviGpsI; |
| toNaviCtrl.Param.Byte[4] = staticParams.NaviGpsD; |
| toNaviCtrl.Param.Byte[5] = staticParams.NaviGpsACC; |
| toNaviCtrl.Param.Byte[6] = staticParams.NaviGpsMinSat; |
| toNaviCtrl.Param.Byte[7] = staticParams.NaviStickThreshold; |
| toNaviCtrl.Param.Byte[8] = staticParams.NaviOperatingRadius; |
| toNaviCtrl.Param.Byte[9] = staticParams.NaviWindCorrection; |
| toNaviCtrl.Param.Byte[10] = staticParams.NaviSpeedCompensation; |
| toNaviCtrl.Param.Byte[11] = staticParams.NaviAngleLimitation; |
| break; |
| case SPI_CMD_STICK: |
| tmp = PPM_in[staticParams.ChannelAssignment[CH_THROTTLE]]; |
| if (tmp > 127) |
| tmp = 127; |
| else if (tmp < -128) |
| tmp = -128; |
| toNaviCtrl.Param.Byte[0] = (int8_t) tmp; |
| tmp = PPM_in[staticParams.ChannelAssignment[CH_YAW]]; |
| if (tmp > 127) |
| tmp = 127; |
| else if (tmp < -128) |
| tmp = -128; |
| toNaviCtrl.Param.Byte[1] = (int8_t) tmp; |
| tmp = PPM_in[staticParams.ChannelAssignment[CH_ROLL]]; |
| if (tmp > 127) |
| tmp = 127; |
| else if (tmp < -128) |
| tmp = -128; |
| toNaviCtrl.Param.Byte[2] = (int8_t) tmp; |
| tmp = PPM_in[staticParams.ChannelAssignment[CH_PITCH]]; |
| if (tmp > 127) |
| tmp = 127; |
| else if (tmp < -128) |
| tmp = -128; |
| toNaviCtrl.Param.Byte[3] = (int8_t) tmp; |
| toNaviCtrl.Param.Byte[4] = (uint8_t) variables[0]; |
| toNaviCtrl.Param.Byte[5] = (uint8_t) variables[1]; |
| toNaviCtrl.Param.Byte[6] = (uint8_t) variables[2]; |
| toNaviCtrl.Param.Byte[7] = (uint8_t) variables[3]; |
| toNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality; |
| break; |
| case SPI_CMD_MISC: |
| toNaviCtrl.Param.Byte[0] = compassCalState; |
| if (compassCalState > 4) { // jump from 5 to 0 |
| compassCalState = 0; |
| } |
| toNaviCtrl.Param.Byte[1] = staticParams.NaviPHLoginTime; |
| // TODO: Height and in the correct scaling... |
| toNaviCtrl.Param.Int[1] = 0; //readingHeight; // at address of Byte 2 and 3 |
| toNaviCtrl.Param.Byte[4] = staticParams.NaviGpsPLimit; |
| toNaviCtrl.Param.Byte[5] = staticParams.NaviGpsILimit; |
| toNaviCtrl.Param.Byte[6] = staticParams.NaviGpsDLimit; |
| break; |
| case SPI_CMD_VERSION: |
| toNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major; |
| toNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor; |
| toNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch; |
| toNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible; |
| toNaviCtrl.Param.Byte[4] = BoardRelease; |
| break; |
| default: |
| break; |
| } |
| sei(); |
| // enable all interrupts |
| // analyze content of packet from NaviCtrl if valid |
| if (SPI_RxDataValid) { |
| // update gps controls |
| if (abs(fromNaviCtrl.GPSStickPitch) < 512 && abs(fromNaviCtrl.GPSStickRoll) |
| < 512 && (staticParams.GlobalConfig & CFG_GPS_ACTIVE)) { |
| GPSStickPitch = fromNaviCtrl.GPSStickPitch; |
| GPSStickRoll = fromNaviCtrl.GPSStickRoll; |
| NCDataOkay = 250; |
| } |
| // update compass readings |
| if (fromNaviCtrl.CompassHeading <= 360) { |
| compassHeading = fromNaviCtrl.CompassHeading; |
| } |
| //if(compassHeading < 0) compassOffCourse = 0; |
| //else compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
| // NaviCtrl wants to beep? |
| if (fromNaviCtrl.BeepTime > BeepTime && !compassCalState) |
| BeepTime = fromNaviCtrl.BeepTime; |
| switch (fromNaviCtrl.Command) { |
| case SPI_KALMAN: |
| dynamicParams.KalmanK = fromNaviCtrl.Param.Byte[0]; |
| dynamicParams.KalmanMaxFusion = fromNaviCtrl.Param.Byte[1]; |
| dynamicParams.KalmanMaxDrift = fromNaviCtrl.Param.Byte[2]; |
| NCSerialDataOkay = fromNaviCtrl.Param.Byte[3]; |
| break; |
| default: |
| break; |
| } |
| } else { // no valid data from NaviCtrl |
| // disable GPS control |
| GPSStickPitch = 0; |
| GPSStickRoll = 0; |
| } |
| } |
| /*********************************************/ |
| /* Start Transmission of packet to NaviCtrl */ |
| /*********************************************/ |
| void SPI_StartTransmitPacket(void){ |
| if (!SPITransferCompleted) return; // return immediately if transfer is in progress |
| else // transmission was completed |
| { |
| SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // Select slave |
| // cyclic commands |
| toNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| SPITransferCompleted = 0; // transfer is in progress |
| UpdateSPI_Buffer(); // update data in toNaviCtrl |
| SPI_TxBufferIndex = 1; //proceed with 2nd byte |
| // -- Debug-Output --- |
| //---- |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| toNaviCtrl.Chksum = toNaviCtrl.Sync1; // init checksum |
| SPDR = toNaviCtrl.Sync1; // send first byte |
| } |
| void SPI_StartTransmitPacket(void) { |
| if (!SPITransferCompleted) |
| return; // return immediately if transfer is in progress |
| else // transmission was completed |
| { |
| SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // Select slave |
| // cyclic commands |
| toNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) |
| SPI_CommandCounter = 0; |
| SPITransferCompleted = 0; // transfer is in progress |
| UpdateSPI_Buffer(); // update data in toNaviCtrl |
| SPI_TxBufferIndex = 1; //proceed with 2nd byte |
| // -- Debug-Output --- |
| //---- |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| toNaviCtrl.Chksum = toNaviCtrl.Sync1; // init checksum |
| SPDR = toNaviCtrl.Sync1; // send first byte |
| } |
| } |
| //------------------------------------------------------ |
| 349,73 → 395,93 |
| // the NaviCtrl and one byte of the packet from the NaviCtrl is possible transfered |
| void SPI_TransmitByte(void) { |
| static SPI_RXState_t SPI_RXState = SPI_SYNC1; |
| uint8_t rxdata; |
| static uint8_t rxchksum; |
| if (SPITransferCompleted) return; // return immediatly if transfer was completed |
| if (!(SPSR & (1 << SPIF))) return; // return if no SPI-IRQ pending |
| SendSPI = 4; // mait 4 * 0.102 ms for the next call of SPI_TransmitByte() in the main loop |
| SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| rxdata = SPDR; // save spi data register |
| switch (SPI_RXState) { |
| case SPI_SYNC1: // first sync byte |
| SPI_RxBufferIndex = 0; // set pointer to start of rx buffer |
| rxchksum = rxdata; // initialize checksum |
| if (rxdata == SPI_RXSYNCBYTE1 ) |
| { // 1st Syncbyte found |
| SPI_RXState = SPI_SYNC2; // trigger to state for second sync byte |
| } |
| break; |
| case SPI_SYNC2: // second sync byte |
| if (rxdata == SPI_RXSYNCBYTE2) |
| { // 2nd Syncbyte found |
| rxchksum += rxdata; // update checksum |
| SPI_RXState = SPI_DATA; // trigger to state for second sync byte |
| } |
| else // 2nd Syncbyte not found |
| { |
| SPI_RXState = SPI_SYNC1; // jump back to 1st sync byte |
| } |
| break; |
| case SPI_DATA: // data bytes |
| SPI_RxBuffer[SPI_RxBufferIndex++] = rxdata; // copy data byte to spi buffer |
| // if all bytes are received of a packet from the NaviCtrl |
| if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) { // last byte transfered is the checksum of the packet |
| if (rxdata == rxchksum) { // checksum matching? |
| // copy SPI_RxBuffer -> FromFlightCtrl |
| uint8_t *ptr = (uint8_t *)&fromNaviCtrl; |
| cli(); |
| memcpy(ptr, (uint8_t *) SPI_RxBuffer, sizeof(fromNaviCtrl)); |
| sei(); |
| SPI_RxDataValid = 1; |
| } else { // checksum does not match |
| SPI_RxDataValid = 0; // reset valid flag |
| } |
| SPI_RXState = SPI_SYNC1; // reset state sync |
| } else { // not all bytes transfered |
| rxchksum += rxdata; // update checksum |
| } |
| break; |
| }// eof switch(SPI_RXState) |
| // if still some bytes left for transmission to NaviCtrl |
| if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) { |
| SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| SPDR = SPI_TxBuffer[SPI_TxBufferIndex]; // transmit byte |
| toNaviCtrl.Chksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum for everey byte that was sent |
| SPI_TxBufferIndex++; |
| } else { |
| //Transfer of all bytes of the packet to NaviCtrl completed |
| SPITransferCompleted = 1; |
| } |
| static SPI_RXState_t SPI_RXState = SPI_SYNC1; |
| uint8_t rxdata; |
| static uint8_t rxchksum; |
| if (SPITransferCompleted) |
| return; // return immediatly if transfer was completed |
| if (!(SPSR & (1 << SPIF))) |
| return; // return if no SPI-IRQ pending |
| SendSPI = 4; // mait 4 * 0.102 ms for the next call of SPI_TransmitByte() in the main loop |
| SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| rxdata = SPDR; // save spi data register |
| switch (SPI_RXState) { |
| case SPI_SYNC1: // first sync byte |
| SPI_RxBufferIndex = 0; // set pointer to start of rx buffer |
| rxchksum = rxdata; // initialize checksum |
| if (rxdata == SPI_RXSYNCBYTE1) { // 1st Syncbyte found |
| SPI_RXState = SPI_SYNC2; // trigger to state for second sync byte |
| } |
| break; |
| case SPI_SYNC2: // second sync byte |
| if (rxdata == SPI_RXSYNCBYTE2) { // 2nd Syncbyte found |
| rxchksum += rxdata; // update checksum |
| SPI_RXState = SPI_DATA; // trigger to state for second sync byte |
| } else // 2nd Syncbyte not found |
| { |
| SPI_RXState = SPI_SYNC1; // jump back to 1st sync byte |
| } |
| break; |
| case SPI_DATA: // data bytes |
| SPI_RxBuffer[SPI_RxBufferIndex++] = rxdata; // copy data byte to spi buffer |
| // if all bytes are received of a packet from the NaviCtrl |
| if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) { // last byte transfered is the checksum of the packet |
| if (rxdata == rxchksum) { // checksum matching? |
| // copy SPI_RxBuffer -> FromFlightCtrl |
| uint8_t *ptr = (uint8_t *) &fromNaviCtrl; |
| cli(); |
| memcpy(ptr, (uint8_t *) SPI_RxBuffer, sizeof(fromNaviCtrl)); |
| sei(); |
| SPI_RxDataValid = 1; |
| } else { // checksum does not match |
| SPI_RxDataValid = 0; // reset valid flag |
| } |
| SPI_RXState = SPI_SYNC1; // reset state sync |
| } else { // not all bytes transfered |
| rxchksum += rxdata; // update checksum |
| } |
| break; |
| }// eof switch(SPI_RXState) |
| // if still some bytes left for transmission to NaviCtrl |
| if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) { |
| SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| asm volatile ("nop"); |
| SPDR = SPI_TxBuffer[SPI_TxBufferIndex]; // transmit byte |
| toNaviCtrl.Chksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum for everey byte that was sent |
| SPI_TxBufferIndex++; |
| } else { |
| //Transfer of all bytes of the packet to NaviCtrl completed |
| SPITransferCompleted = 1; |
| } |
| } |
| /branches/dongfang_FC_rewrite/spi.h |
|---|
| 13,26 → 13,26 |
| #define SPI_CMD_VERSION 14 |
| typedef struct { |
| uint8_t Sync1; |
| uint8_t Sync2; |
| uint8_t Command; |
| int16_t IntegralPitch; |
| int16_t IntegralRoll; |
| int16_t AccPitch; |
| int16_t AccRoll; |
| int16_t GyroHeading; |
| int16_t GyroPitch; |
| int16_t GyroRoll; |
| int16_t GyroYaw; |
| union { |
| int8_t sByte[12]; |
| uint8_t Byte[12]; |
| int16_t Int[6]; |
| int32_t Long[3]; |
| float Float[3]; |
| } Param; |
| uint8_t Chksum; |
| } __attribute__((packed)) ToNaviCtrl_t; |
| uint8_t Sync1; |
| uint8_t Sync2; |
| uint8_t Command; |
| int16_t IntegralPitch; |
| int16_t IntegralRoll; |
| int16_t AccPitch; |
| int16_t AccRoll; |
| int16_t GyroHeading; |
| int16_t GyroPitch; |
| int16_t GyroRoll; |
| int16_t GyroYaw; |
| union { |
| int8_t sByte[12]; |
| uint8_t Byte[12]; |
| int16_t Int[6]; |
| int32_t Long[3]; |
| float Float[3]; |
| } Param; |
| uint8_t Chksum; |
| }__attribute__((packed)) ToNaviCtrl_t; |
| #define SPI_CMD_OSD_DATA 100 |
| #define SPI_CMD_GPS_POS 101 |
| 40,39 → 40,39 |
| #define SPI_KALMAN 103 |
| typedef struct { |
| uint8_t Command; |
| int16_t GPSStickPitch; |
| int16_t GPSStickRoll; |
| int16_t GPS_Yaw; |
| int16_t CompassHeading; |
| int16_t Status; |
| uint16_t BeepTime; |
| union { |
| int8_t Byte[12]; |
| int16_t Int[6]; |
| int32_t Long[3]; |
| float Float[3]; |
| } Param; |
| uint8_t Chksum; |
| } __attribute__((packed)) FromNaviCtrl_t; |
| uint8_t Command; |
| int16_t GPSStickPitch; |
| int16_t GPSStickRoll; |
| int16_t GPS_Yaw; |
| int16_t CompassHeading; |
| int16_t Status; |
| uint16_t BeepTime; |
| union { |
| int8_t Byte[12]; |
| int16_t Int[6]; |
| int32_t Long[3]; |
| float Float[3]; |
| } Param; |
| uint8_t Chksum; |
| }__attribute__((packed)) FromNaviCtrl_t; |
| typedef struct { |
| uint8_t Major; |
| uint8_t Minor; |
| uint8_t Patch; |
| uint8_t Compatible; |
| // unsigned char Hardware; |
| } __attribute__((packed)) SPI_VersionInfo_t; |
| uint8_t Major; |
| uint8_t Minor; |
| uint8_t Patch; |
| uint8_t Compatible; |
| // unsigned char Hardware; |
| }__attribute__((packed)) SPI_VersionInfo_t; |
| extern ToNaviCtrl_t toNaviCtrl; |
| extern FromNaviCtrl_t fromNaviCtrl; |
| extern ToNaviCtrl_t toNaviCtrl; |
| extern FromNaviCtrl_t fromNaviCtrl; |
| typedef struct { |
| int8_t KalmanK; |
| int8_t KalmanMaxDrift; |
| int8_t KalmanMaxFusion; |
| uint8_t SerialDataOkay; |
| } __attribute__((packed)) NCData_t; |
| int8_t KalmanK; |
| int8_t KalmanMaxDrift; |
| int8_t KalmanMaxFusion; |
| uint8_t SerialDataOkay; |
| }__attribute__((packed)) NCData_t; |
| extern uint8_t NCDataOkay; |
| extern uint8_t NCSerialDataOkay; |
| /branches/dongfang_FC_rewrite/timer0.c |
|---|
| 77,134 → 77,141 |
| // timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor |
| // Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate |
| void timer0_init(void) { |
| uint8_t sreg = SREG; |
| uint8_t sreg = SREG; |
| // disable all interrupts before reconfiguration |
| cli(); |
| // disable all interrupts before reconfiguration |
| cli(); |
| // Configure speaker port as output. |
| if(BoardRelease == 10) { // Speaker at PD2 |
| DDRD |= (1<<DDD2); |
| PORTD &= ~(1<<PORTD2); |
| } else { // Speaker at PC7 |
| DDRC |= (1<<DDC7); |
| PORTC &= ~(1<<PORTC7); |
| } |
| // Configure speaker port as output. |
| // set PB3 and PB4 as output for the PWM used as offset for the pressure sensor |
| DDRB |= (1<<DDB4)|(1<<DDB3); |
| PORTB &= ~((1<<PORTB4)|(1<<PORTB3)); |
| if (BoardRelease == 10) { // Speaker at PD2 |
| DDRD |= (1 << DDD2); |
| PORTD &= ~(1 << PORTD2); |
| } else { // Speaker at PC7 |
| DDRC |= (1 << DDC7); |
| PORTC &= ~(1 << PORTC7); |
| } |
| // Timer/Counter 0 Control Register A |
| // set PB3 and PB4 as output for the PWM used as offset for the pressure sensor |
| DDRB |= (1 << DDB4) | (1 << DDB3); |
| PORTB &= ~((1 << PORTB4) | (1 << PORTB3)); |
| // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1) |
| // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0) |
| // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0) |
| TCCR0A &= ~((1<<COM0A0)|(1<<COM0B0)); |
| TCCR0A |= (1<<COM0A1)|(1<<COM0B1)|(1<<WGM01)|(1<<WGM00); |
| // Timer/Counter 0 Control Register A |
| // Timer/Counter 0 Control Register B |
| // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1) |
| // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0) |
| // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0) |
| TCCR0A &= ~((1 << COM0A0) | (1 << COM0B0)); |
| TCCR0A |= (1 << COM0A1) | (1 << COM0B1) | (1 << WGM01) | (1 << WGM00); |
| // set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz |
| // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
| // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
| // Timer/Counter 0 Control Register B |
| // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
| TCCR0B &= ~((1<<FOC0A)|(1<<FOC0B)|(1<<WGM02)); |
| TCCR0B = (TCCR0B & 0xF8)|(0<<CS02)|(1<<CS01)|(0<<CS00); |
| // set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz |
| // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
| // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
| // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4 |
| OCR0A = 0; // for PB3 |
| OCR0B = 120; // for PB4 |
| // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
| TCCR0B &= ~((1 << FOC0A) | (1 << FOC0B) | (1 << WGM02)); |
| TCCR0B = (TCCR0B & 0xF8) | (0 << CS02) | (1 << CS01) | (0 << CS00); |
| // init Timer/Counter 0 Register |
| TCNT0 = 0; |
| // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4 |
| OCR0A = 0; // for PB3 |
| OCR0B = 120; // for PB4 |
| // Timer/Counter 0 Interrupt Mask Register |
| // enable timer overflow interrupt only |
| TIMSK0 &= ~((1<<OCIE0B)|(1<<OCIE0A)); |
| TIMSK0 |= (1<<TOIE0); |
| // init Timer/Counter 0 Register |
| TCNT0 = 0; |
| SREG = sreg; |
| // Timer/Counter 0 Interrupt Mask Register |
| // enable timer overflow interrupt only |
| TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A)); |
| TIMSK0 |= (1 << TOIE0); |
| SREG = sreg; |
| } |
| /*****************************************************/ |
| /* Interrupt Routine of Timer 0 */ |
| /*****************************************************/ |
| ISR(TIMER0_OVF_vect) { // 9765.625 Hz |
| static uint8_t cnt_1ms = 1,cnt = 0; |
| uint8_t Beeper_On = 0; |
| ISR(TIMER0_OVF_vect) |
| { // 9765.625 Hz |
| static uint8_t cnt_1ms = 1, cnt = 0; |
| uint8_t Beeper_On = 0; |
| #ifdef USE_NAVICTRL |
| if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
| if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
| #endif |
| if(!cnt--) { // every 10th run (9.765kHz/10 = 976Hz) |
| cnt = 9; |
| cnt_1ms^=1; |
| if(!cnt_1ms) { |
| runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
| } |
| CountMilliseconds++; // increment millisecond counter |
| } |
| // beeper on if duration is not over |
| if(BeepTime) { |
| BeepTime--; // decrement BeepTime |
| if(BeepTime & BeepModulation) Beeper_On = 1; |
| else Beeper_On = 0; |
| } |
| else { // beeper off if duration is over |
| Beeper_On = 0; |
| BeepModulation = 0xFFFF; |
| } |
| // if beeper is on |
| if(Beeper_On) { |
| // set speaker port to high. |
| if(BoardRelease == 10) PORTD |= (1<<PORTD2); // Speaker at PD2 |
| else PORTC |= (1<<PORTC7); // Speaker at PC7 |
| } else { // beeper is off |
| // set speaker port to low |
| if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2 |
| else PORTC &= ~(1<<PORTC7);// Speaker at PC7 |
| } |
| if (!cnt--) { // every 10th run (9.765kHz/10 = 976Hz) |
| cnt = 9; |
| cnt_1ms ^= 1; |
| if (!cnt_1ms) { |
| runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
| } |
| CountMilliseconds++; // increment millisecond counter |
| } |
| // beeper on if duration is not over |
| if (BeepTime) { |
| BeepTime--; // decrement BeepTime |
| if (BeepTime & BeepModulation) |
| Beeper_On = 1; |
| else |
| Beeper_On = 0; |
| } else { // beeper off if duration is over |
| Beeper_On = 0; |
| BeepModulation = 0xFFFF; |
| } |
| // if beeper is on |
| if (Beeper_On) { |
| // set speaker port to high. |
| if (BoardRelease == 10) |
| PORTD |= (1 << PORTD2); // Speaker at PD2 |
| else |
| PORTC |= (1 << PORTC7); // Speaker at PC7 |
| } else { // beeper is off |
| // set speaker port to low |
| if (BoardRelease == 10) |
| PORTD &= ~(1 << PORTD2);// Speaker at PD2 |
| else |
| PORTC &= ~(1 << PORTC7);// Speaker at PC7 |
| } |
| #ifndef USE_NAVICTRL |
| // update compass value if this option is enabled in the settings |
| if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) { |
| // update compass value if this option is enabled in the settings |
| if (staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
| #ifdef USE_MK3MAG |
| MK3MAG_Update(); // read out mk3mag pwm |
| MK3MAG_Update(); // read out mk3mag pwm |
| #endif |
| } |
| } |
| #endif |
| } |
| // ----------------------------------------------------------------------- |
| uint16_t SetDelay (uint16_t t) { |
| return(CountMilliseconds + t - 1); |
| uint16_t SetDelay(uint16_t t) { |
| return (CountMilliseconds + t - 1); |
| } |
| // ----------------------------------------------------------------------- |
| int8_t CheckDelay(uint16_t t) { |
| return(((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit |
| return (((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit |
| } |
| // ----------------------------------------------------------------------- |
| void Delay_ms(uint16_t w) { |
| uint16_t t_stop = SetDelay(w); |
| while (!CheckDelay(t_stop)); |
| uint16_t t_stop = SetDelay(w); |
| while (!CheckDelay(t_stop)) |
| ; |
| } |
| // ----------------------------------------------------------------------- |
| void Delay_ms_Mess(uint16_t w) { |
| uint16_t t_stop; |
| t_stop = SetDelay(w); |
| while (!CheckDelay(t_stop)) { |
| if(analogDataReady) { |
| analogDataReady = 0; |
| analog_start(); |
| } |
| } |
| uint16_t t_stop; |
| t_stop = SetDelay(w); |
| while (!CheckDelay(t_stop)) { |
| if (analogDataReady) { |
| analogDataReady = 0; |
| analog_start(); |
| } |
| } |
| } |
| /branches/dongfang_FC_rewrite/timer0.h |
|---|
| 15,7 → 15,7 |
| extern void timer0_init(void); |
| extern void Delay_ms(uint16_t w); |
| extern void Delay_ms_Mess(uint16_t w); |
| extern uint16_t SetDelay (uint16_t t); |
| extern int8_t CheckDelay (uint16_t t); |
| extern uint16_t SetDelay(uint16_t t); |
| extern int8_t CheckDelay(uint16_t t); |
| #endif //_TIMER0_H |
| /branches/dongfang_FC_rewrite/timer2.c |
|---|
| 55,9 → 55,9 |
| #include "rc.h" |
| #include "attitude.h" |
| volatile int16_t ServoPitchValue = 0; |
| volatile int16_t ServoRollValue = 0; |
| volatile uint8_t ServoActive = 0; |
| volatile int16_t ServoPitchValue = 0; |
| volatile int16_t ServoRollValue = 0; |
| volatile uint8_t ServoActive = 0; |
| #define HEF4017R_ON PORTC |= (1<<PORTC6) |
| #define HEF4017R_OFF PORTC &= ~(1<<PORTC6) |
| 68,71 → 68,72 |
| // The timer 2 is used to generate the PWM at PD7 (J7) |
| // to control a camera servo for pitch compensation. |
| void timer2_init(void) { |
| uint8_t sreg = SREG; |
| uint8_t sreg = SREG; |
| // disable all interrupts before reconfiguration |
| cli(); |
| // disable all interrupts before reconfiguration |
| cli(); |
| // set PD7 as output of the PWM for pitch servo |
| DDRD |= (1<<DDD7); |
| PORTD &= ~(1<<PORTD7); // set PD7 to low |
| // set PD7 as output of the PWM for pitch servo |
| DDRD |= (1 << DDD7); |
| PORTD &= ~(1 << PORTD7); // set PD7 to low |
| DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
| //PORTC &= ~(1<<PORTC6); // set PC6 to low |
| HEF4017R_ON; // enable reset |
| DDRC |= (1 << DDC6); // set PC6 as output (Reset for HEF4017) |
| //PORTC &= ~(1<<PORTC6); // set PC6 to low |
| HEF4017R_ON; // enable reset |
| // Timer/Counter 2 Control Register A |
| // Timer/Counter 2 Control Register A |
| // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1) |
| // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
| // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
| TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0)); |
| TCCR2A |= (1<<WGM21)|(1<<WGM20); |
| // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1) |
| // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
| // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
| TCCR2A &= ~((1 << COM2A1) | (1 << COM2A0) | (1 << COM2B1) | (1 << COM2B0)); |
| TCCR2A |= (1 << WGM21) | (1 << WGM20); |
| // Timer/Counter 2 Control Register B |
| // Timer/Counter 2 Control Register B |
| // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz |
| // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us |
| // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms |
| // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz |
| // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us |
| // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms |
| // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1) |
| TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22)); |
| TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22); |
| // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1) |
| TCCR2B &= ~((1 << FOC2A) | (1 << FOC2B) | (1 << CS22)); |
| TCCR2B |= (1 << CS21) | (1 << CS20) | (1 << WGM22); |
| // Initialize the Timer/Counter 2 Register |
| TCNT2 = 0; |
| // Initialize the Timer/Counter 2 Register |
| TCNT2 = 0; |
| // Initialize the Output Compare Register A used for PWM generation on port PD7. |
| OCR2A = 255; |
| TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0 |
| // Initialize the Output Compare Register A used for PWM generation on port PD7. |
| OCR2A = 255; |
| TCCR2A |= (1 << COM2A1); // set or clear at compare match depends on value of COM2A0 |
| // Timer/Counter 2 Interrupt Mask Register |
| // Enable timer output compare match A Interrupt only |
| TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); |
| TIMSK2 |= (1<<OCIE2A); |
| // Timer/Counter 2 Interrupt Mask Register |
| // Enable timer output compare match A Interrupt only |
| TIMSK2 &= ~((1 << OCIE2B) | (1 << TOIE2)); |
| TIMSK2 |= (1 << OCIE2A); |
| SREG = sreg; |
| SREG = sreg; |
| } |
| void Servo_On(void) { |
| ServoActive = 1; |
| ServoActive = 1; |
| } |
| void Servo_Off(void) { |
| ServoActive = 0; |
| HEF4017R_ON; // enable reset |
| ServoActive = 0; |
| HEF4017R_ON; // enable reset |
| } |
| /***************************************************** |
| * Control Servo Position |
| *****************************************************/ |
| ISR(TIMER2_COMPA_vect) { |
| // frame len 22.5 ms = 14063 * 1.6 us |
| // stop pulse: 0.3 ms = 188 * 1.6 us |
| // min servo pulse: 0.6 ms = 375 * 1.6 us |
| // max servo pulse: 2.4 ms = 1500 * 1.6 us |
| // resolution: 1500 - 375 = 1125 steps |
| ISR(TIMER2_COMPA_vect) |
| { |
| // frame len 22.5 ms = 14063 * 1.6 us |
| // stop pulse: 0.3 ms = 188 * 1.6 us |
| // min servo pulse: 0.6 ms = 375 * 1.6 us |
| // max servo pulse: 2.4 ms = 1500 * 1.6 us |
| // resolution: 1500 - 375 = 1125 steps |
| #define PPM_STOPPULSE 188 |
| #define PPM_FRAMELEN (1757 * .ServoRefresh) // 22.5 ms / 8 Channels = 2.8125ms per Servo Channel |
| #define MINSERVOPULSE 375 |
| 140,157 → 141,157 |
| #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
| #if defined(USE_NON_4017_SERVO_OUTPUTS) || defined(USE_4017_SERVO_OUTPUTS) |
| static uint8_t isGeneratingPulse = 0; |
| static uint16_t remainingPulseLength = 0; |
| static uint16_t ServoFrameTime = 0; |
| static uint8_t ServoIndex = 0; |
| static uint8_t isGeneratingPulse = 0; |
| static uint16_t remainingPulseLength = 0; |
| static uint16_t ServoFrameTime = 0; |
| static uint8_t ServoIndex = 0; |
| #define MULTIPLIER 4 |
| static int16_t ServoPitchOffset = (255 / 2) * MULTIPLIER; // initial value near center position |
| static int16_t ServoRollOffset = (255 / 2) * MULTIPLIER; // initial value near center position |
| static int16_t ServoPitchOffset = (255 / 2) * MULTIPLIER; // initial value near center position |
| static int16_t ServoRollOffset = (255 / 2) * MULTIPLIER; // initial value near center position |
| #endif |
| #ifdef USE_NON_4017_SERVO_OUTPUTS |
| //--------------------------- |
| // Pitch servo state machine |
| //--------------------------- |
| if (!isGeneratingPulse) { // pulse output complete on _next_ interrupt |
| if(TCCR2A & (1<<COM2A0)) { // we are still outputting a high pulse |
| TCCR2A &= ~(1<<COM2A0); // make a low pulse on _next_ interrupt, and now |
| remainingPulseLength = MINSERVOPULSE + SERVORANGE / 2; // center position ~ 1.5ms |
| ServoPitchOffset = (ServoPitchOffset * 3 + (int16_t)dynamicParams.ServoPitchControl) / 4; // lowpass offset |
| if(staticParams.ServoPitchCompInvert & 0x01) { |
| // inverting movement of servo |
| // todo: function. |
| ServoPitchValue = ServoPitchOffset + (int16_t)(((int32_t)staticParams.ServoPitchComp (integralGyroPitch / 128L )) / (256L)); |
| } else { |
| // todo: function. |
| // non inverting movement of servo |
| ServoPitchValue = ServoPitchOffset - (int16_t)(((int32_t)staticParams.ServoPitchComp (integralGyroPitch / 128L )) / (256L)); |
| } |
| // limit servo value to its parameter range definition |
| if(ServoPitchValue < (int16_t)staticParams.ServoPitchMin) { |
| ServoPitchValue = (int16_t)staticParams.ServoPitchMin; |
| } else if(ServoPitchValue > (int16_t)staticParams.ServoPitchMax) { |
| ServoPitchValue = (int16_t)staticParams.ServoPitchMax; |
| } |
| remainingPulseLength = (ServoPitchValue - 256 / 2) * MULTIPLIER; // shift ServoPitchValue to center position |
| // range servo pulse width |
| if(remainingPulseLength > MAXSERVOPULSE ) remainingPulseLength = MAXSERVOPULSE; // upper servo pulse limit |
| else if(remainingPulseLength < MINSERVOPULSE) remainingPulseLength = MINSERVOPULSE; // lower servo pulse limit |
| //--------------------------- |
| // Pitch servo state machine |
| //--------------------------- |
| if (!isGeneratingPulse) { // pulse output complete on _next_ interrupt |
| if(TCCR2A & (1<<COM2A0)) { // we are still outputting a high pulse |
| TCCR2A &= ~(1<<COM2A0); // make a low pulse on _next_ interrupt, and now |
| remainingPulseLength = MINSERVOPULSE + SERVORANGE / 2; // center position ~ 1.5ms |
| ServoPitchOffset = (ServoPitchOffset * 3 + (int16_t)dynamicParams.ServoPitchControl) / 4; // lowpass offset |
| if(staticParams.ServoPitchCompInvert & 0x01) { |
| // inverting movement of servo |
| // todo: function. |
| ServoPitchValue = ServoPitchOffset + (int16_t)(((int32_t)staticParams.ServoPitchComp (integralGyroPitch / 128L )) / (256L)); |
| } else { |
| // todo: function. |
| // non inverting movement of servo |
| ServoPitchValue = ServoPitchOffset - (int16_t)(((int32_t)staticParams.ServoPitchComp (integralGyroPitch / 128L )) / (256L)); |
| } |
| // limit servo value to its parameter range definition |
| if(ServoPitchValue < (int16_t)staticParams.ServoPitchMin) { |
| ServoPitchValue = (int16_t)staticParams.ServoPitchMin; |
| } else if(ServoPitchValue > (int16_t)staticParams.ServoPitchMax) { |
| ServoPitchValue = (int16_t)staticParams.ServoPitchMax; |
| } |
| // accumulate time for correct update rate |
| ServoFrameTime = remainingPulseLength; |
| } else { // we had a high pulse |
| TCCR2A |= (1<<COM2A0); // make a low pulse |
| remainingPulseLength = PPM_FRAMELEN - ServoFrameTime; |
| } |
| // set pulse output active |
| isGeneratingPulse = 1; |
| } // EOF Pitch servo state machine |
| remainingPulseLength = (ServoPitchValue - 256 / 2) * MULTIPLIER; // shift ServoPitchValue to center position |
| // range servo pulse width |
| if(remainingPulseLength > MAXSERVOPULSE ) remainingPulseLength = MAXSERVOPULSE; // upper servo pulse limit |
| else if(remainingPulseLength < MINSERVOPULSE) remainingPulseLength = MINSERVOPULSE; // lower servo pulse limit |
| // accumulate time for correct update rate |
| ServoFrameTime = remainingPulseLength; |
| } else { // we had a high pulse |
| TCCR2A |= (1<<COM2A0); // make a low pulse |
| remainingPulseLength = PPM_FRAMELEN - ServoFrameTime; |
| } |
| // set pulse output active |
| isGeneratingPulse = 1; |
| } // EOF Pitch servo state machine |
| #elseif defined(USE_4017_SERVOS) |
| //----------------------------------------------------- |
| // PPM state machine, onboard demultiplexed by HEF4017 |
| //----------------------------------------------------- |
| if(!isGeneratingPulse) { // pulse output complete |
| if(TCCR2A & (1<<COM2A0)) { // we had a low pulse |
| TCCR2A &= ~(1<<COM2A0);// make a high pulse |
| if(ServoIndex == 0) { // if we are at the sync gap |
| remainingPulseLength = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
| ServoFrameTime = 0; // reset servo frame time |
| HEF4017R_ON; // enable HEF4017 reset |
| } else { // servo channels |
| remainingPulseLength = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
| switch(ServoIndex) { // map servo channels |
| case 1: // Pitch Compensation Servo |
| ServoPitchOffset = (ServoPitchOffset * 3 + (int16_t)dynamicParams.ServoPitchControl * MULTIPLIER) / 4; // lowpass offset |
| ServoPitchValue = ServoPitchOffset; // offset (Range from 0 to 255 * 3 = 765) |
| if(staticParams.ServoPitchCompInvert & 0x01) { |
| // inverting movement of servo |
| ServoPitchValue += (int16_t)( ( (int32_t)staticParams.ServoPitchComp * MULTIPLIER * (integralGyroPitch / 128L ) ) / (256L) ); |
| } else { // non inverting movement of servo |
| ServoPitchValue -= (int16_t)( ( (int32_t)staticParams.ServoPitchComp * MULTIPLIER * (integralGyroPitch / 128L ) ) / (256L) ); |
| //----------------------------------------------------- |
| // PPM state machine, onboard demultiplexed by HEF4017 |
| //----------------------------------------------------- |
| if(!isGeneratingPulse) { // pulse output complete |
| if(TCCR2A & (1<<COM2A0)) { // we had a low pulse |
| TCCR2A &= ~(1<<COM2A0);// make a high pulse |
| if(ServoIndex == 0) { // if we are at the sync gap |
| remainingPulseLength = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
| ServoFrameTime = 0; // reset servo frame time |
| HEF4017R_ON; // enable HEF4017 reset |
| } else { // servo channels |
| remainingPulseLength = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
| switch(ServoIndex) { // map servo channels |
| case 1: // Pitch Compensation Servo |
| ServoPitchOffset = (ServoPitchOffset * 3 + (int16_t)dynamicParams.ServoPitchControl * MULTIPLIER) / 4; // lowpass offset |
| ServoPitchValue = ServoPitchOffset; // offset (Range from 0 to 255 * 3 = 765) |
| if(staticParams.ServoPitchCompInvert & 0x01) { |
| // inverting movement of servo |
| ServoPitchValue += (int16_t)( ( (int32_t)staticParams.ServoPitchComp * MULTIPLIER * (integralGyroPitch / 128L ) ) / (256L) ); |
| } else { // non inverting movement of servo |
| ServoPitchValue -= (int16_t)( ( (int32_t)staticParams.ServoPitchComp * MULTIPLIER * (integralGyroPitch / 128L ) ) / (256L) ); |
| } |
| // limit servo value to its parameter range definition |
| if(ServoPitchValue < ((int16_t)staticParams.ServoPitchMin * MULTIPLIER)) { |
| ServoPitchValue = (int16_t)staticParams.ServoPitchMin * MULTIPLIER; |
| } else if(ServoPitchValue > ((int16_t)staticParams.ServoPitchMax * MULTIPLIER)) { |
| ServoPitchValue = (int16_t)staticParams.ServoPitchMax * MULTIPLIER; |
| } |
| remainingPulseLength += ServoPitchValue - (256 / 2) * MULTIPLIER; // shift ServoPitchValue to center position |
| ServoPitchValue /= MULTIPLIER; |
| break; |
| case 2: // Roll Compensation Servo |
| ServoRollOffset = (ServoRollOffset * 3 + (int16_t)80 * MULTIPLIER) / 4; // lowpass offset |
| ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765) |
| //if(staticParams.ServoRollCompInvert & 0x01) |
| { // inverting movement of servo |
| ServoRollValue += (int16_t)( ( (int32_t) 50 * MULTIPLIER * (integralGyroRoll / 128L ) ) / (256L) ); |
| } |
| /* else |
| { // non inverting movement of servo |
| ServoRollValue -= (int16_t)( ( (int32_t) 40 * MULTIPLIER * (IntegralGyroRoll / 128L ) ) / (256L) ); |
| } |
| */// limit servo value to its parameter range definition |
| if(ServoRollValue < ((int16_t)staticParams.ServoPitchMin * MULTIPLIER)) { |
| ServoRollValue = (int16_t)staticParams.ServoPitchMin * MULTIPLIER; |
| } else if(ServoRollValue > ((int16_t)staticParams.ServoPitchMax * MULTIPLIER)) { |
| ServoRollValue = (int16_t)staticParams.ServoPitchMax * MULTIPLIER; |
| } |
| remainingPulseLength += ServoRollValue - (256 / 2) * MULTIPLIER; // shift ServoRollValue to center position |
| ServoRollValue /= MULTIPLIER; |
| break; |
| default: // other servo channels |
| remainingPulseLength += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
| break; |
| } |
| // range servo pulse width |
| if(remainingPulseLength > MAXSERVOPULSE) remainingPulseLength = MAXSERVOPULSE; // upper servo pulse limit |
| else if(remainingPulseLength < MINSERVOPULSE) remainingPulseLength = MINSERVOPULSE; // lower servo pulse limit |
| // substract stop pulse width |
| remainingPulseLength -= PPM_STOPPULSE; |
| // accumulate time for correct sync gap |
| ServoFrameTime += remainingPulseLength; |
| } |
| } else { // we had a high pulse |
| TCCR2A |= (1<<COM2A0); // make a low pulse |
| // set pulsewidth to stop pulse width |
| remainingPulseLength = PPM_STOPPULSE; |
| // accumulate time for correct sync gap |
| ServoFrameTime += remainingPulseLength; |
| if(ServoActive && RC_Quality > 180) HEF4017R_OFF; // disable HEF4017 reset |
| ServoIndex++; // change to next servo channel |
| if(ServoIndex > staticParams.ServoRefresh) ServoIndex = 0; // reset to the sync gap |
| } |
| // set pulse output active |
| isGeneratingPulse = 1; |
| } |
| // limit servo value to its parameter range definition |
| if(ServoPitchValue < ((int16_t)staticParams.ServoPitchMin * MULTIPLIER)) { |
| ServoPitchValue = (int16_t)staticParams.ServoPitchMin * MULTIPLIER; |
| } else if(ServoPitchValue > ((int16_t)staticParams.ServoPitchMax * MULTIPLIER)) { |
| ServoPitchValue = (int16_t)staticParams.ServoPitchMax * MULTIPLIER; |
| } |
| remainingPulseLength += ServoPitchValue - (256 / 2) * MULTIPLIER; // shift ServoPitchValue to center position |
| ServoPitchValue /= MULTIPLIER; |
| break; |
| case 2: // Roll Compensation Servo |
| ServoRollOffset = (ServoRollOffset * 3 + (int16_t)80 * MULTIPLIER) / 4; // lowpass offset |
| ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765) |
| //if(staticParams.ServoRollCompInvert & 0x01) |
| { // inverting movement of servo |
| ServoRollValue += (int16_t)( ( (int32_t) 50 * MULTIPLIER * (integralGyroRoll / 128L ) ) / (256L) ); |
| } |
| /* else |
| { // non inverting movement of servo |
| ServoRollValue -= (int16_t)( ( (int32_t) 40 * MULTIPLIER * (IntegralGyroRoll / 128L ) ) / (256L) ); |
| } |
| */ // limit servo value to its parameter range definition |
| if(ServoRollValue < ((int16_t)staticParams.ServoPitchMin * MULTIPLIER)) { |
| ServoRollValue = (int16_t)staticParams.ServoPitchMin * MULTIPLIER; |
| } else if(ServoRollValue > ((int16_t)staticParams.ServoPitchMax * MULTIPLIER)) { |
| ServoRollValue = (int16_t)staticParams.ServoPitchMax * MULTIPLIER; |
| } |
| remainingPulseLength += ServoRollValue - (256 / 2) * MULTIPLIER; // shift ServoRollValue to center position |
| ServoRollValue /= MULTIPLIER; |
| break; |
| default: // other servo channels |
| remainingPulseLength += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
| break; |
| } |
| // range servo pulse width |
| if(remainingPulseLength > MAXSERVOPULSE) remainingPulseLength = MAXSERVOPULSE; // upper servo pulse limit |
| else if(remainingPulseLength < MINSERVOPULSE) remainingPulseLength = MINSERVOPULSE; // lower servo pulse limit |
| // substract stop pulse width |
| remainingPulseLength -= PPM_STOPPULSE; |
| // accumulate time for correct sync gap |
| ServoFrameTime += remainingPulseLength; |
| } |
| } else { // we had a high pulse |
| TCCR2A |= (1<<COM2A0); // make a low pulse |
| // set pulsewidth to stop pulse width |
| remainingPulseLength = PPM_STOPPULSE; |
| // accumulate time for correct sync gap |
| ServoFrameTime += remainingPulseLength; |
| if(ServoActive && RC_Quality > 180) HEF4017R_OFF; // disable HEF4017 reset |
| ServoIndex++; // change to next servo channel |
| if(ServoIndex > staticParams.ServoRefresh) ServoIndex = 0; // reset to the sync gap |
| } |
| // set pulse output active |
| isGeneratingPulse = 1; |
| } |
| #endif |
| /* |
| * Cases: |
| * 1) 255 + 128 <= remainingPulseLength --> delta = 255 |
| * 2) 255 <= remainingPulseLength < 255 + 128 --> delta = 255 - 128 |
| * this is to avoid a too short delta on the last cycle, which would cause |
| * an interupt-on-interrupt condition and the loss of the last interrupt. |
| * 3) remainingPulseLength < 255 --> delta = remainingPulseLength |
| */ |
| /* |
| * Cases: |
| * 1) 255 + 128 <= remainingPulseLength --> delta = 255 |
| * 2) 255 <= remainingPulseLength < 255 + 128 --> delta = 255 - 128 |
| * this is to avoid a too short delta on the last cycle, which would cause |
| * an interupt-on-interrupt condition and the loss of the last interrupt. |
| * 3) remainingPulseLength < 255 --> delta = remainingPulseLength |
| */ |
| #if defined(USE_NON_4017_SERVO_OUTPUTS) || defined(USE_4017_SERVO_OUTPUTS) |
| uint8_t delta; |
| if (remainingPulseLength >= (255 + 128)) { |
| delta = 255; |
| } else if (remainingPulseLength >= 255) { |
| delta = 255- 128; |
| } else { |
| delta = remainingPulseLength; |
| isGeneratingPulse = 0; // trigger to stop pulse |
| } |
| OCR2A = delta; |
| remainingPulseLength -= delta; |
| uint8_t delta; |
| if (remainingPulseLength >= (255 + 128)) { |
| delta = 255; |
| } else if (remainingPulseLength >= 255) { |
| delta = 255- 128; |
| } else { |
| delta = remainingPulseLength; |
| isGeneratingPulse = 0; // trigger to stop pulse |
| } |
| OCR2A = delta; |
| remainingPulseLength -= delta; |
| #endif |
| } |
| /branches/dongfang_FC_rewrite/twimaster.c |
|---|
| 59,12 → 59,12 |
| #include "configuration.h" |
| #include "printf_P.h" |
| volatile uint8_t twi_state = TWI_STATE_MOTOR_TX; |
| volatile uint8_t dac_channel = 0; |
| volatile uint8_t motor_write = 0; |
| volatile uint8_t motor_read = 0; |
| volatile uint16_t I2CTimeout = 100; |
| uint8_t missingMotor = 0; |
| volatile uint8_t twi_state = TWI_STATE_MOTOR_TX; |
| volatile uint8_t dac_channel = 0; |
| volatile uint8_t motor_write = 0; |
| volatile uint8_t motor_read = 0; |
| volatile uint16_t I2CTimeout = 100; |
| uint8_t missingMotor = 0; |
| MotorData_t motor[MAX_MOTORS]; |
| 78,36 → 78,36 |
| * Initialize I2C (TWI) |
| **************************************************/ |
| void I2C_init(void) { |
| uint8_t i; |
| uint8_t sreg = SREG; |
| cli(); |
| // SDA is INPUT |
| DDRC &= ~(1<<DDC1); |
| // SCL is output |
| DDRC |= (1<<DDC0); |
| // pull up SDA |
| PORTC |= (1<<PORTC0)|(1<<PORTC1); |
| // TWI Status Register |
| // prescaler 1 (TWPS1 = 0, TWPS0 = 0) |
| TWSR &= ~((1<<TWPS1)|(1<<TWPS0)); |
| // set TWI Bit Rate Register |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| twi_state = TWI_STATE_MOTOR_TX; |
| motor_write = 0; |
| motor_read = 0; |
| for(i=0; i < MAX_MOTORS; i++) { |
| motor[i].SetPoint = 0; |
| motor[i].Present = 0; |
| motor[i].Error = 0; |
| motor[i].MaxPWM = 0; |
| } |
| SREG = sreg; |
| uint8_t i; |
| uint8_t sreg = SREG; |
| cli(); |
| // SDA is INPUT |
| DDRC &= ~(1 << DDC1); |
| // SCL is output |
| DDRC |= (1 << DDC0); |
| // pull up SDA |
| PORTC |= (1 << PORTC0) | (1 << PORTC1); |
| // TWI Status Register |
| // prescaler 1 (TWPS1 = 0, TWPS0 = 0) |
| TWSR &= ~((1 << TWPS1) | (1 << TWPS0)); |
| // set TWI Bit Rate Register |
| TWBR = ((SYSCLK / SCL_CLOCK) - 16) / 2; |
| twi_state = TWI_STATE_MOTOR_TX; |
| motor_write = 0; |
| motor_read = 0; |
| for (i = 0; i < MAX_MOTORS; i++) { |
| motor[i].SetPoint = 0; |
| motor[i].Present = 0; |
| motor[i].Error = 0; |
| motor[i].MaxPWM = 0; |
| } |
| SREG = sreg; |
| } |
| /**************************************** |
| 114,16 → 114,16 |
| * Start I2C |
| ****************************************/ |
| void I2C_Start(uint8_t start_state) { |
| twi_state = start_state; |
| // TWI Control Register |
| // clear TWI interrupt flag (TWINT=1) |
| // disable TWI Acknowledge Bit (TWEA = 0) |
| // enable TWI START Condition Bit (TWSTA = 1), MASTER |
| // disable TWI STOP Condition Bit (TWSTO = 0) |
| // disable TWI Write Collision Flag (TWWC = 0) |
| // enable i2c (TWEN = 1) |
| // enable TWI Interrupt (TWIE = 1) |
| TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN) | (1<<TWIE); |
| twi_state = start_state; |
| // TWI Control Register |
| // clear TWI interrupt flag (TWINT=1) |
| // disable TWI Acknowledge Bit (TWEA = 0) |
| // enable TWI START Condition Bit (TWSTA = 1), MASTER |
| // disable TWI STOP Condition Bit (TWSTO = 0) |
| // disable TWI Write Collision Flag (TWWC = 0) |
| // enable i2c (TWEN = 1) |
| // enable TWI Interrupt (TWIE = 1) |
| TWCR = (1 << TWINT) | (1 << TWSTA) | (1 << TWEN) | (1 << TWIE); |
| } |
| /**************************************** |
| 130,16 → 130,16 |
| * Stop I2C |
| ****************************************/ |
| void I2C_Stop(uint8_t start_state) { |
| twi_state = start_state; |
| // TWI Control Register |
| // clear TWI interrupt flag (TWINT=1) |
| // disable TWI Acknowledge Bit (TWEA = 0) |
| // diable TWI START Condition Bit (TWSTA = 1), no MASTER |
| // enable TWI STOP Condition Bit (TWSTO = 1) |
| // disable TWI Write Collision Flag (TWWC = 0) |
| // enable i2c (TWEN = 1) |
| // disable TWI Interrupt (TWIE = 0) |
| TWCR = (1<<TWINT) | (1<<TWSTO) | (1<<TWEN); |
| twi_state = start_state; |
| // TWI Control Register |
| // clear TWI interrupt flag (TWINT=1) |
| // disable TWI Acknowledge Bit (TWEA = 0) |
| // diable TWI START Condition Bit (TWSTA = 1), no MASTER |
| // enable TWI STOP Condition Bit (TWSTO = 1) |
| // disable TWI Write Collision Flag (TWWC = 0) |
| // enable i2c (TWEN = 1) |
| // disable TWI Interrupt (TWIE = 0) |
| TWCR = (1 << TWINT) | (1 << TWSTO) | (1 << TWEN); |
| } |
| /**************************************** |
| 146,12 → 146,12 |
| * Write to I2C |
| ****************************************/ |
| void I2C_WriteByte(int8_t byte) { |
| // move byte to send into TWI Data Register |
| TWDR = byte; |
| // clear interrupt flag (TWINT = 1) |
| // enable i2c bus (TWEN = 1) |
| // enable interrupt (TWIE = 1) |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| // move byte to send into TWI Data Register |
| TWDR = byte; |
| // clear interrupt flag (TWINT = 1) |
| // enable i2c bus (TWEN = 1) |
| // enable interrupt (TWIE = 1) |
| TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWIE); |
| } |
| /**************************************** |
| 158,14 → 158,14 |
| * Receive byte and send ACK |
| ****************************************/ |
| void I2C_ReceiveByte(void) { |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
| TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWIE) | (1 << TWEA); |
| } |
| /**************************************** |
| * I2C receive last byte and send no ACK |
| ****************************************/ |
| void I2C_ReceiveLastByte(void){ |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| void I2C_ReceiveLastByte(void) { |
| TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWIE); |
| } |
| /**************************************** |
| 172,139 → 172,148 |
| * Reset I2C |
| ****************************************/ |
| void I2C_Reset(void) { |
| // stop i2c bus |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| twi_state = 0; |
| motor_write = TWDR; |
| motor_write = 0; |
| motor_read = 0; |
| TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset |
| TWAMR = 0; |
| TWAR = 0; |
| TWDR = 0; |
| TWSR = 0; |
| TWBR = 0; |
| I2C_init(); |
| I2C_Start(TWI_STATE_MOTOR_TX); |
| // stop i2c bus |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| twi_state = 0; |
| motor_write = TWDR; |
| motor_write = 0; |
| motor_read = 0; |
| TWCR = (1 << TWINT); // reset to original state incl. interrupt flag reset |
| TWAMR = 0; |
| TWAR = 0; |
| TWDR = 0; |
| TWSR = 0; |
| TWBR = 0; |
| I2C_init(); |
| I2C_Start(TWI_STATE_MOTOR_TX); |
| } |
| /**************************************** |
| * I2C ISR |
| ****************************************/ |
| ISR (TWI_vect) { |
| static uint8_t missing_motor = 0; |
| switch (twi_state++) { // First i2c_start from SendMotorData() |
| // Master Transmit |
| case 0: // TWI_STATE_MOTOR_TX |
| // skip motor if not used in mixer |
| while((Mixer.Motor[motor_write][MIX_THROTTLE] <= 0) && (motor_write < MAX_MOTORS)) motor_write++; |
| if(motor_write >= MAX_MOTORS) { // writing finished, read now |
| motor_write = 0; |
| twi_state = TWI_STATE_MOTOR_RX; |
| I2C_WriteByte(0x53 + (motor_read * 2)); // select slave adress in rx mode |
| } |
| else I2C_WriteByte(0x52 + (motor_write * 2)); // select slave adress in tx mode |
| break; |
| case 1: // Send Data to Slave |
| I2C_WriteByte(motor[motor_write].SetPoint); // transmit rotation rate setpoint |
| break; |
| case 2: // repeat case 0+1 for all motors |
| if(TWSR == TW_MT_DATA_NACK) { // Data transmitted, NACK received |
| if(!missing_motor) missing_motor = motor_write + 1; |
| if(++motor[motor_write].Error == 0) motor[motor_write].Error = 255; // increment error counter and handle overflow |
| } |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| I2CTimeout = 10; |
| motor_write++; // next motor |
| I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive |
| break; |
| // Master Receive Data |
| case 3: |
| if(TWSR != TW_MR_SLA_ACK) { // SLA+R transmitted, if not ACK received |
| // no response from the addressed slave received |
| motor[motor_read].Present = 0; |
| motor_read++; // next motor |
| if(motor_read >= MAX_MOTORS) motor_read = 0; // restart reading of first motor if we have reached the last one |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| } else { |
| motor[motor_read].Present = ('1' - '-') + motor_read; |
| I2C_ReceiveByte(); //Transmit 1st byte |
| } |
| missingMotor = missing_motor; |
| missing_motor = 0; |
| break; |
| case 4: //Read 1st byte and transmit 2nd Byte |
| motor[motor_read].Current = TWDR; |
| I2C_ReceiveLastByte(); // nack |
| break; |
| case 5: |
| //Read 2nd byte |
| motor[motor_read].MaxPWM = TWDR; |
| motor_read++; // next motor |
| if(motor_read >= MAX_MOTORS) motor_read = 0; // restart reading of first motor if we have reached the last one |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| break; |
| // Writing ADC values. |
| case 7: |
| I2C_WriteByte(0x98); // Address the DAC |
| break; |
| case 8: |
| I2C_WriteByte(0x10 + (DACChannel << 1)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C) |
| break; |
| case 9: |
| I2C_WriteByte(DACValues[DACChannel]); |
| break; |
| case 10: |
| I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80 |
| break; |
| case 11: |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| I2CTimeout = 10; |
| // repeat case 7...10 until all DAC Channels are updated |
| if(DACChannel < 2) { |
| DACChannel ++; // jump to next channel |
| I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel |
| } else { |
| DACChannel = 0; // reset dac channel counter |
| } |
| break; |
| default: |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| I2CTimeout = 10; |
| motor_write = 0; |
| motor_read = 0; |
| } |
| ISR (TWI_vect) |
| { |
| static uint8_t missing_motor = 0; |
| switch (twi_state++) { // First i2c_start from SendMotorData() |
| // Master Transmit |
| case 0: // TWI_STATE_MOTOR_TX |
| // skip motor if not used in mixer |
| while ((Mixer.Motor[motor_write][MIX_THROTTLE] <= 0) && (motor_write |
| < MAX_MOTORS)) |
| motor_write++; |
| if (motor_write >= MAX_MOTORS) { // writing finished, read now |
| motor_write = 0; |
| twi_state = TWI_STATE_MOTOR_RX; |
| I2C_WriteByte(0x53 + (motor_read * 2)); // select slave adress in rx mode |
| } else |
| I2C_WriteByte(0x52 + (motor_write * 2)); // select slave adress in tx mode |
| break; |
| case 1: // Send Data to Slave |
| I2C_WriteByte(motor[motor_write].SetPoint); // transmit rotation rate setpoint |
| break; |
| case 2: // repeat case 0+1 for all motors |
| if (TWSR == TW_MT_DATA_NACK) { // Data transmitted, NACK received |
| if (!missing_motor) |
| missing_motor = motor_write + 1; |
| if (++motor[motor_write].Error == 0) |
| motor[motor_write].Error = 255; // increment error counter and handle overflow |
| } |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| I2CTimeout = 10; |
| motor_write++; // next motor |
| I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive |
| break; |
| // Master Receive Data |
| case 3: |
| if (TWSR != TW_MR_SLA_ACK) { // SLA+R transmitted, if not ACK received |
| // no response from the addressed slave received |
| motor[motor_read].Present = 0; |
| motor_read++; // next motor |
| if (motor_read >= MAX_MOTORS) |
| motor_read = 0; // restart reading of first motor if we have reached the last one |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| } else { |
| motor[motor_read].Present = ('1' - '-') + motor_read; |
| I2C_ReceiveByte(); //Transmit 1st byte |
| } |
| missingMotor = missing_motor; |
| missing_motor = 0; |
| break; |
| case 4: //Read 1st byte and transmit 2nd Byte |
| motor[motor_read].Current = TWDR; |
| I2C_ReceiveLastByte(); // nack |
| break; |
| case 5: |
| //Read 2nd byte |
| motor[motor_read].MaxPWM = TWDR; |
| motor_read++; // next motor |
| if (motor_read >= MAX_MOTORS) |
| motor_read = 0; // restart reading of first motor if we have reached the last one |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| break; |
| // Writing ADC values. |
| case 7: |
| I2C_WriteByte(0x98); // Address the DAC |
| break; |
| case 8: |
| I2C_WriteByte(0x10 + (DACChannel << 1)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C) |
| break; |
| case 9: |
| I2C_WriteByte(DACValues[DACChannel]); |
| break; |
| case 10: |
| I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80 |
| break; |
| case 11: |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| I2CTimeout = 10; |
| // repeat case 7...10 until all DAC Channels are updated |
| if (DACChannel < 2) { |
| DACChannel++; // jump to next channel |
| I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel |
| } else { |
| DACChannel = 0; // reset dac channel counter |
| } |
| break; |
| default: |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| I2CTimeout = 10; |
| motor_write = 0; |
| motor_read = 0; |
| } |
| } |
| extern void twi_diagnostics(void) { |
| // Check connected BL-Ctrls |
| uint8_t i; |
| printf("\n\rFound BL-Ctrl: "); |
| for(i = 0; i < MAX_MOTORS; i++) { |
| motor[i].SetPoint = 0; |
| } |
| // Check connected BL-Ctrls |
| uint8_t i; |
| I2C_Start(TWI_STATE_MOTOR_TX); |
| _delay_ms(2); |
| motor_read = 0; // read the first I2C-Data |
| printf("\n\rFound BL-Ctrl: "); |
| for(i = 0; i < MAX_MOTORS; i++) { |
| I2C_Start(TWI_STATE_MOTOR_TX); |
| _delay_ms(2); |
| if(motor[i].Present) printf("%d ",i+1); |
| } |
| for (i = 0; i < MAX_MOTORS; i++) { |
| motor[i].SetPoint = 0; |
| } |
| for(i = 0; i < MAX_MOTORS; i++) { |
| if(!motor[i].Present && Mixer.Motor[i][MIX_THROTTLE] > 0) printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i + 1); |
| motor[i].Error = 0; |
| } |
| I2C_Start(TWI_STATE_MOTOR_TX); |
| _delay_ms(2); |
| motor_read = 0; // read the first I2C-Data |
| for (i = 0; i < MAX_MOTORS; i++) { |
| I2C_Start(TWI_STATE_MOTOR_TX); |
| _delay_ms(2); |
| if (motor[i].Present) |
| printf("%d ",i+1); |
| } |
| for (i = 0; i < MAX_MOTORS; i++) { |
| if (!motor[i].Present && Mixer.Motor[i][MIX_THROTTLE] > 0) |
| printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i + 1); |
| motor[i].Error = 0; |
| } |
| } |
| /branches/dongfang_FC_rewrite/twimaster.h |
|---|
| 14,12 → 14,12 |
| volatile extern uint8_t DACValues[4]; |
| typedef struct { |
| uint8_t SetPoint; // written by attitude controller |
| uint8_t Present; // 0 if BL was found |
| uint8_t Error; // I2C error counter |
| uint8_t Current; // read byck from BL |
| uint8_t MaxPWM; // read back from BL |
| } __attribute__((packed)) MotorData_t; |
| uint8_t SetPoint; // written by attitude controller |
| uint8_t Present; // 0 if BL was found |
| uint8_t Error; // I2C error counter |
| uint8_t Current; // read byck from BL |
| uint8_t MaxPWM; // read back from BL |
| }__attribute__((packed)) MotorData_t; |
| #define MAX_MOTORS 12 |
| extern MotorData_t motor[MAX_MOTORS]; |
| 26,9 → 26,9 |
| extern volatile uint16_t I2CTimeout; |
| extern void I2C_init (void); // Initialize I2C |
| extern void I2C_init(void); // Initialize I2C |
| extern void I2C_Start(uint8_t start_state); // Start I2C |
| extern void I2C_Stop (uint8_t start_state); // Stop I2C |
| extern void I2C_Stop(uint8_t start_state); // Stop I2C |
| extern void I2C_Reset(void); // Reset I2C |
| extern void twi_diagnostics(void); |
| /branches/dongfang_FC_rewrite/uart0.c |
|---|
| 77,16 → 77,16 |
| #define FALSE 0 |
| #define TRUE 1 |
| //int8_t test __attribute__ ((section (".noinit"))); |
| uint8_t request_VerInfo = FALSE; |
| uint8_t request_ExternalControl = FALSE; |
| uint8_t request_Display = FALSE; |
| uint8_t request_Display1 = FALSE; |
| uint8_t request_DebugData = FALSE; |
| uint8_t request_Data3D = FALSE; |
| uint8_t request_DebugLabel = 255; |
| uint8_t request_PPMChannels = FALSE; |
| uint8_t request_MotorTest = FALSE; |
| uint8_t request_variables = FALSE; |
| uint8_t request_VerInfo = FALSE; |
| uint8_t request_ExternalControl = FALSE; |
| uint8_t request_Display = FALSE; |
| uint8_t request_Display1 = FALSE; |
| uint8_t request_DebugData = FALSE; |
| uint8_t request_Data3D = FALSE; |
| uint8_t request_DebugLabel = 255; |
| uint8_t request_PPMChannels = FALSE; |
| uint8_t request_MotorTest = FALSE; |
| uint8_t request_variables = FALSE; |
| uint8_t DisplayLine = 0; |
| 98,17 → 98,17 |
| volatile uint8_t *pRxData = 0; |
| volatile uint8_t RxDataLen = 0; |
| uint8_t motorTestActive = 0; |
| uint8_t motorTest[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; |
| uint8_t motorTestActive = 0; |
| uint8_t motorTest[16] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; |
| uint8_t ConfirmFrame; |
| typedef struct { |
| int16_t Heading; |
| } __attribute__((packed)) Heading_t; |
| int16_t Heading; |
| }__attribute__((packed)) Heading_t; |
| DebugOut_t DebugOut; |
| Data3D_t Data3D; |
| UART_VersionInfo_t UART_VersionInfo; |
| DebugOut_t DebugOut; |
| Data3D_t Data3D; |
| UART_VersionInfo_t UART_VersionInfo; |
| uint16_t DebugData_Timer; |
| uint16_t Data3D_Timer; |
| 121,210 → 121,211 |
| // keep lables in flash to save 512 bytes of sram space |
| const prog_uint8_t ANALOG_LABEL[32][16] = { |
| //1234567890123456 |
| "AnglePitch ", //0 |
| "AngleRoll ", |
| "AngleYaw ", |
| "GyroPitch(PID) ", |
| "GyroRoll(PID) ", |
| "GyroYaw ", //5 |
| "GyroPitch(AC) ", |
| "GyroRoll(AC) ", |
| "GyroYaw(AC) ", |
| "AccPitch (angle)", |
| "AccRoll (angle) ", //10 |
| "UBat ", |
| "Pitch Term ", |
| "Roll Term ", |
| "Yaw Term ", |
| "Throttle Term ", //15 |
| "0th O Corr pitch", |
| "0th O Corr roll ", |
| "DriftCompDelta P", |
| "DriftCompDelta R", |
| "ADPitchGyroOffs ", //20 |
| "ADRollGyroOffs ", |
| "M1 ", |
| "M2 ", |
| "M3 ", |
| "M4 ", //25 |
| "ControlYaw ", |
| "Airpress. Range ", |
| "DriftCompPitch ", |
| "DriftCompRoll ", |
| "AirpressFiltered", //30 |
| "AirpressADC " |
| }; |
| //1234567890123456 |
| "AnglePitch ", //0 |
| "AngleRoll ", |
| "AngleYaw ", |
| "GyroPitch(PID) ", |
| "GyroRoll(PID) ", |
| "GyroYaw ", //5 |
| "GyroPitch(AC) ", |
| "GyroRoll(AC) ", |
| "GyroYaw(AC) ", |
| "AccPitch (angle)", |
| "AccRoll (angle) ", //10 |
| "UBat ", |
| "Pitch Term ", |
| "Roll Term ", |
| "Yaw Term ", |
| "Throttle Term ", //15 |
| "0th O Corr pitch", "0th O Corr roll ", |
| "DriftCompDelta P", |
| "DriftCompDelta R", |
| "ADPitchGyroOffs ", //20 |
| "ADRollGyroOffs ", "M1 ", "M2 ", |
| "M3 ", |
| "M4 ", //25 |
| "ControlYaw ", "Airpress. Range ", "DriftCompPitch ", |
| "DriftCompRoll ", "AirpressFiltered", //30 |
| "AirpressADC " }; |
| /****************************************************************/ |
| /* Initialization of the USART0 */ |
| /****************************************************************/ |
| void usart0_Init (void) { |
| uint8_t sreg = SREG; |
| uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1); |
| // disable all interrupts before configuration |
| cli(); |
| // disable RX-Interrupt |
| UCSR0B &= ~(1 << RXCIE0); |
| // disable TX-Interrupt |
| UCSR0B &= ~(1 << TXCIE0); |
| // set direction of RXD0 and TXD0 pins |
| // set RXD0 (PD0) as an input pin |
| PORTD |= (1 << PORTD0); |
| DDRD &= ~(1 << DDD0); |
| // set TXD0 (PD1) as an output pin |
| PORTD |= (1 << PORTD1); |
| DDRD |= (1 << DDD1); |
| // USART0 Baud Rate Register |
| // set clock divider |
| UBRR0H = (uint8_t)(ubrr >> 8); |
| UBRR0L = (uint8_t)ubrr; |
| // USART0 Control and Status Register A, B, C |
| // enable double speed operation in |
| UCSR0A |= (1 << U2X0); |
| // enable receiver and transmitter in |
| UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
| // set asynchronous mode |
| UCSR0C &= ~(1 << UMSEL01); |
| UCSR0C &= ~(1 << UMSEL00); |
| // no parity |
| UCSR0C &= ~(1 << UPM01); |
| UCSR0C &= ~(1 << UPM00); |
| // 1 stop bit |
| UCSR0C &= ~(1 << USBS0); |
| // 8-bit |
| UCSR0B &= ~(1 << UCSZ02); |
| UCSR0C |= (1 << UCSZ01); |
| UCSR0C |= (1 << UCSZ00); |
| // flush receive buffer |
| while ( UCSR0A & (1<<RXC0) ) UDR0; |
| // enable interrupts at the end |
| // enable RX-Interrupt |
| UCSR0B |= (1 << RXCIE0); |
| // enable TX-Interrupt |
| UCSR0B |= (1 << TXCIE0); |
| // initialize the debug timer |
| DebugData_Timer = SetDelay(DebugData_Interval); |
| // unlock rxd_buffer |
| rxd_buffer_locked = FALSE; |
| pRxData = 0; |
| RxDataLen = 0; |
| // no bytes to send |
| txd_complete = TRUE; |
| void usart0_Init(void) { |
| uint8_t sreg = SREG; |
| uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK / (8 * USART0_BAUD) - 1); |
| // disable all interrupts before configuration |
| cli(); |
| // disable RX-Interrupt |
| UCSR0B &= ~(1 << RXCIE0); |
| // disable TX-Interrupt |
| UCSR0B &= ~(1 << TXCIE0); |
| // set direction of RXD0 and TXD0 pins |
| // set RXD0 (PD0) as an input pin |
| PORTD |= (1 << PORTD0); |
| DDRD &= ~(1 << DDD0); |
| // set TXD0 (PD1) as an output pin |
| PORTD |= (1 << PORTD1); |
| DDRD |= (1 << DDD1); |
| // USART0 Baud Rate Register |
| // set clock divider |
| UBRR0H = (uint8_t) (ubrr >> 8); |
| UBRR0L = (uint8_t) ubrr; |
| // USART0 Control and Status Register A, B, C |
| // enable double speed operation in |
| UCSR0A |= (1 << U2X0); |
| // enable receiver and transmitter in |
| UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
| // set asynchronous mode |
| UCSR0C &= ~(1 << UMSEL01); |
| UCSR0C &= ~(1 << UMSEL00); |
| // no parity |
| UCSR0C &= ~(1 << UPM01); |
| UCSR0C &= ~(1 << UPM00); |
| // 1 stop bit |
| UCSR0C &= ~(1 << USBS0); |
| // 8-bit |
| UCSR0B &= ~(1 << UCSZ02); |
| UCSR0C |= (1 << UCSZ01); |
| UCSR0C |= (1 << UCSZ00); |
| // flush receive buffer |
| while (UCSR0A & (1 << RXC0)) |
| UDR0; |
| // enable interrupts at the end |
| // enable RX-Interrupt |
| UCSR0B |= (1 << RXCIE0); |
| // enable TX-Interrupt |
| UCSR0B |= (1 << TXCIE0); |
| // initialize the debug timer |
| DebugData_Timer = SetDelay(DebugData_Interval); |
| // unlock rxd_buffer |
| rxd_buffer_locked = FALSE; |
| pRxData = 0; |
| RxDataLen = 0; |
| // no bytes to send |
| txd_complete = TRUE; |
| #ifdef USE_MK3MAG |
| Compass_Timer = SetDelay(220); |
| Compass_Timer = SetDelay(220); |
| #endif |
| UART_VersionInfo.SWMajor = VERSION_MAJOR; |
| UART_VersionInfo.SWMinor = VERSION_MINOR; |
| UART_VersionInfo.SWPatch = VERSION_PATCH; |
| UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| // restore global interrupt flags |
| SREG = sreg; |
| UART_VersionInfo.SWMajor = VERSION_MAJOR; |
| UART_VersionInfo.SWMinor = VERSION_MINOR; |
| UART_VersionInfo.SWPatch = VERSION_PATCH; |
| UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| // restore global interrupt flags |
| SREG = sreg; |
| } |
| /****************************************************************/ |
| /* USART0 transmitter ISR */ |
| /****************************************************************/ |
| ISR(USART0_TX_vect) { |
| static uint16_t ptr_txd_buffer = 0; |
| uint8_t tmp_tx; |
| if(!txd_complete) { // transmission not completed |
| ptr_txd_buffer++; // die [0] wurde schon gesendet |
| tmp_tx = txd_buffer[ptr_txd_buffer]; |
| // if terminating character or end of txd buffer was reached |
| if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) { |
| ptr_txd_buffer = 0; // reset txd pointer |
| txd_complete = 1; // stop transmission |
| } |
| UDR0 = tmp_tx; // send current byte will trigger this ISR again |
| } |
| // transmission completed |
| else ptr_txd_buffer = 0; |
| ISR(USART0_TX_vect) |
| { |
| static uint16_t ptr_txd_buffer = 0; |
| uint8_t tmp_tx; |
| if (!txd_complete) { // transmission not completed |
| ptr_txd_buffer++; // die [0] wurde schon gesendet |
| tmp_tx = txd_buffer[ptr_txd_buffer]; |
| // if terminating character or end of txd buffer was reached |
| if ((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) { |
| ptr_txd_buffer = 0; // reset txd pointer |
| txd_complete = 1; // stop transmission |
| } |
| UDR0 = tmp_tx; // send current byte will trigger this ISR again |
| } |
| // transmission completed |
| else |
| ptr_txd_buffer = 0; |
| } |
| /****************************************************************/ |
| /* USART0 receiver ISR */ |
| /****************************************************************/ |
| ISR(USART0_RX_vect) { |
| static uint16_t crc; |
| static uint8_t ptr_rxd_buffer = 0; |
| uint8_t crc1, crc2; |
| uint8_t c; |
| ISR(USART0_RX_vect) |
| { |
| static uint16_t crc; |
| static uint8_t ptr_rxd_buffer = 0; |
| uint8_t crc1, crc2; |
| uint8_t c; |
| c = UDR0; // catch the received byte |
| c = UDR0; // catch the received byte |
| if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
| if (rxd_buffer_locked) |
| return; // if rxd buffer is locked immediately return |
| // the rxd buffer is unlocked |
| if((ptr_rxd_buffer == 0) && (c == '#')) { // if rxd buffer is empty and syncronisation character is received |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
| crc = c; // init crc |
| } |
| // the rxd buffer is unlocked |
| if ((ptr_rxd_buffer == 0) && (c == '#')) { // if rxd buffer is empty and syncronisation character is received |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
| crc = c; // init crc |
| } |
| #if 0 |
| else if (ptr_rxd_buffer == 1) { // handle address |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| crc += c; // update crc |
| } |
| else if (ptr_rxd_buffer == 1) { // handle address |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| crc += c; // update crc |
| } |
| #endif |
| else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes |
| if(c != '\r') { // no termination character |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| crc += c; // update crc |
| } else { // termination character was received |
| // the last 2 bytes are no subject for checksum calculation |
| // they are the checksum itself |
| crc -= rxd_buffer[ptr_rxd_buffer-2]; |
| crc -= rxd_buffer[ptr_rxd_buffer-1]; |
| // calculate checksum from transmitted data |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| // compare checksum to transmitted checksum bytes |
| if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) { |
| // checksum valid |
| rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
| ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
| rxd_buffer_locked = TRUE; // lock the rxd buffer |
| // if 2nd byte is an 'R' enable watchdog that will result in an reset |
| if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
| } else { // checksum invalid |
| rxd_buffer_locked = FALSE; // unlock rxd buffer |
| } |
| ptr_rxd_buffer = 0; // reset rxd buffer pointer |
| } |
| } else { // rxd buffer overrun |
| ptr_rxd_buffer = 0; // reset rxd buffer |
| rxd_buffer_locked = FALSE; // unlock rxd buffer |
| } |
| else if (ptr_rxd_buffer < RXD_BUFFER_LEN) { // collect incomming bytes |
| if (c != '\r') { // no termination character |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| crc += c; // update crc |
| } else { // termination character was received |
| // the last 2 bytes are no subject for checksum calculation |
| // they are the checksum itself |
| crc -= rxd_buffer[ptr_rxd_buffer - 2]; |
| crc -= rxd_buffer[ptr_rxd_buffer - 1]; |
| // calculate checksum from transmitted data |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| // compare checksum to transmitted checksum bytes |
| if ((crc1 == rxd_buffer[ptr_rxd_buffer - 2]) && (crc2 |
| == rxd_buffer[ptr_rxd_buffer - 1])) { |
| // checksum valid |
| rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
| ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
| rxd_buffer_locked = TRUE; // lock the rxd buffer |
| // if 2nd byte is an 'R' enable watchdog that will result in an reset |
| if (rxd_buffer[2] == 'R') { |
| wdt_enable(WDTO_250MS); |
| } // Reset-Commando |
| } else { // checksum invalid |
| rxd_buffer_locked = FALSE; // unlock rxd buffer |
| } |
| ptr_rxd_buffer = 0; // reset rxd buffer pointer |
| } |
| } else { // rxd buffer overrun |
| ptr_rxd_buffer = 0; // reset rxd buffer |
| rxd_buffer_locked = FALSE; // unlock rxd buffer |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(uint16_t datalen) { |
| uint16_t tmpCRC = 0, i; |
| for(i = 0; i < datalen; i++) { |
| tmpCRC += txd_buffer[i]; |
| } |
| tmpCRC %= 4096; |
| txd_buffer[i++] = '=' + tmpCRC / 64; |
| txd_buffer[i++] = '=' + tmpCRC % 64; |
| txd_buffer[i++] = '\r'; |
| txd_complete = FALSE; |
| UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
| uint16_t tmpCRC = 0, i; |
| for (i = 0; i < datalen; i++) { |
| tmpCRC += txd_buffer[i]; |
| } |
| tmpCRC %= 4096; |
| txd_buffer[i++] = '=' + tmpCRC / 64; |
| txd_buffer[i++] = '=' + tmpCRC % 64; |
| txd_buffer[i++] = '\r'; |
| txd_complete = FALSE; |
| UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
| } |
| // -------------------------------------------------------------------------- |
| 331,393 → 332,428 |
| // application example: |
| // SendOutData('A', FC_ADDRESS, 2, (uint8_t *)&request_DebugLabel, sizeof(request_DebugLabel), label, 16); |
| /* |
| void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ... |
| va_list ap; |
| uint16_t txd_bufferIndex = 0; |
| uint8_t *currentBuffer; |
| uint8_t currentBufferIndex; |
| uint16_t lengthOfCurrentBuffer; |
| uint8_t shift = 0; |
| txd_buffer[txd_bufferIndex++] = '#'; // Start character |
| txd_buffer[txd_bufferIndex++] = 'a' + addr; // Address (a=0; b=1,...) |
| txd_buffer[txd_bufferIndex++] = cmd; // Command |
| va_start(ap, numofbuffers); |
| void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ... |
| va_list ap; |
| uint16_t txd_bufferIndex = 0; |
| uint8_t *currentBuffer; |
| uint8_t currentBufferIndex; |
| uint16_t lengthOfCurrentBuffer; |
| uint8_t shift = 0; |
| while(numofbuffers) { |
| currentBuffer = va_arg(ap, uint8_t*); |
| lengthOfCurrentBuffer = va_arg(ap, int); |
| currentBufferIndex = 0; |
| // Encode data: 3 bytes of data are encoded into 4 bytes, |
| // where the 2 most significant bits are both 0. |
| while(currentBufferIndex != lengthOfCurrentBuffer) { |
| if (!shift) txd_buffer[txd_bufferIndex] = 0; |
| txd_buffer[txd_bufferIndex] |= currentBuffer[currentBufferIndex] >> (shift + 2); |
| txd_buffer[++txd_bufferIndex] = (currentBuffer[currentBufferIndex] << (4 - shift)) & 0b00111111; |
| shift += 2; |
| if (shift == 6) { shift=0; txd_bufferIndex++; } |
| currentBufferIndex++; |
| } |
| } |
| // If the number of data bytes was not divisible by 3, stuff |
| // with 0 pseudodata until length is again divisible by 3. |
| if (shift == 2) { |
| // We need to stuff with zero bytes at the end. |
| txd_buffer[txd_bufferIndex] &= 0b00110000; |
| txd_buffer[++txd_bufferIndex] = 0; |
| shift = 4; |
| } |
| if (shift == 4) { |
| // We need to stuff with zero bytes at the end. |
| txd_buffer[txd_bufferIndex++] &= 0b00111100; |
| txd_buffer[txd_bufferIndex] = 0; |
| } |
| va_end(ap); |
| AddCRC(pt); // add checksum after data block and initates the transmission |
| } |
| */ |
| txd_buffer[txd_bufferIndex++] = '#'; // Start character |
| txd_buffer[txd_bufferIndex++] = 'a' + addr; // Address (a=0; b=1,...) |
| txd_buffer[txd_bufferIndex++] = cmd; // Command |
| va_start(ap, numofbuffers); |
| while(numofbuffers) { |
| currentBuffer = va_arg(ap, uint8_t*); |
| lengthOfCurrentBuffer = va_arg(ap, int); |
| currentBufferIndex = 0; |
| // Encode data: 3 bytes of data are encoded into 4 bytes, |
| // where the 2 most significant bits are both 0. |
| while(currentBufferIndex != lengthOfCurrentBuffer) { |
| if (!shift) txd_buffer[txd_bufferIndex] = 0; |
| txd_buffer[txd_bufferIndex] |= currentBuffer[currentBufferIndex] >> (shift + 2); |
| txd_buffer[++txd_bufferIndex] = (currentBuffer[currentBufferIndex] << (4 - shift)) & 0b00111111; |
| shift += 2; |
| if (shift == 6) { shift=0; txd_bufferIndex++; } |
| currentBufferIndex++; |
| } |
| } |
| // If the number of data bytes was not divisible by 3, stuff |
| // with 0 pseudodata until length is again divisible by 3. |
| if (shift == 2) { |
| // We need to stuff with zero bytes at the end. |
| txd_buffer[txd_bufferIndex] &= 0b00110000; |
| txd_buffer[++txd_bufferIndex] = 0; |
| shift = 4; |
| } |
| if (shift == 4) { |
| // We need to stuff with zero bytes at the end. |
| txd_buffer[txd_bufferIndex++] &= 0b00111100; |
| txd_buffer[txd_bufferIndex] = 0; |
| } |
| va_end(ap); |
| AddCRC(pt); // add checksum after data block and initates the transmission |
| } |
| */ |
| void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) { // uint8_t *pdata, uint8_t len, ... |
| va_list ap; |
| uint16_t pt = 0; |
| uint8_t a,b,c; |
| uint8_t ptr = 0; |
| uint8_t *pdata = 0; |
| int len = 0; |
| txd_buffer[pt++] = '#'; // Start character |
| txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...) |
| txd_buffer[pt++] = cmd; // Command |
| va_start(ap, numofbuffers); |
| va_list ap; |
| uint16_t pt = 0; |
| uint8_t a, b, c; |
| uint8_t ptr = 0; |
| if(numofbuffers) { |
| pdata = va_arg(ap, uint8_t*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| numofbuffers--; |
| } |
| uint8_t *pdata = 0; |
| int len = 0; |
| while(len){ |
| if(len) { |
| a = pdata[ptr++]; |
| len--; |
| if((!len) && numofbuffers) { |
| pdata = va_arg(ap, uint8_t*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| numofbuffers--; |
| } |
| } |
| else a = 0; |
| if(len) { |
| b = pdata[ptr++]; |
| len--; |
| if((!len) && numofbuffers) { |
| pdata = va_arg(ap, uint8_t*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| numofbuffers--; |
| } |
| } else b = 0; |
| if(len) { |
| c = pdata[ptr++]; |
| len--; |
| if((!len) && numofbuffers) { |
| pdata = va_arg(ap, uint8_t*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| numofbuffers--; |
| } |
| } |
| else c = 0; |
| txd_buffer[pt++] = '=' + (a >> 2); |
| txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| txd_buffer[pt++] = '=' + ( c & 0x3f); |
| } |
| va_end(ap); |
| AddCRC(pt); // add checksum after data block and initates the transmission |
| txd_buffer[pt++] = '#'; // Start character |
| txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...) |
| txd_buffer[pt++] = cmd; // Command |
| va_start(ap, numofbuffers); |
| if (numofbuffers) { |
| pdata = va_arg(ap, uint8_t*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| numofbuffers--; |
| } |
| while (len) { |
| if (len) { |
| a = pdata[ptr++]; |
| len--; |
| if ((!len) && numofbuffers) { |
| pdata = va_arg(ap, uint8_t*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| numofbuffers--; |
| } |
| } else |
| a = 0; |
| if (len) { |
| b = pdata[ptr++]; |
| len--; |
| if ((!len) && numofbuffers) { |
| pdata = va_arg(ap, uint8_t*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| numofbuffers--; |
| } |
| } else |
| b = 0; |
| if (len) { |
| c = pdata[ptr++]; |
| len--; |
| if ((!len) && numofbuffers) { |
| pdata = va_arg(ap, uint8_t*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| numofbuffers--; |
| } |
| } else |
| c = 0; |
| txd_buffer[pt++] = '=' + (a >> 2); |
| txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| txd_buffer[pt++] = '=' + (c & 0x3f); |
| } |
| va_end(ap); |
| AddCRC(pt); // add checksum after data block and initates the transmission |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(void) { |
| uint8_t a,b,c,d; |
| uint8_t x,y,z; |
| uint8_t ptrIn = 3; |
| uint8_t ptrOut = 3; |
| uint8_t len = ReceivedBytes - 6; |
| while(len) { |
| a = rxd_buffer[ptrIn++] - '='; |
| b = rxd_buffer[ptrIn++] - '='; |
| c = rxd_buffer[ptrIn++] - '='; |
| d = rxd_buffer[ptrIn++] - '='; |
| //if(ptrIn > ReceivedBytes - 3) break; |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if(len--) rxd_buffer[ptrOut++] = x; else break; |
| if(len--) rxd_buffer[ptrOut++] = y; else break; |
| if(len--) rxd_buffer[ptrOut++] = z; else break; |
| } |
| pRxData = &rxd_buffer[3]; |
| RxDataLen = ptrOut - 3; |
| uint8_t a, b, c, d; |
| uint8_t x, y, z; |
| uint8_t ptrIn = 3; |
| uint8_t ptrOut = 3; |
| uint8_t len = ReceivedBytes - 6; |
| while (len) { |
| a = rxd_buffer[ptrIn++] - '='; |
| b = rxd_buffer[ptrIn++] - '='; |
| c = rxd_buffer[ptrIn++] - '='; |
| d = rxd_buffer[ptrIn++] - '='; |
| //if(ptrIn > ReceivedBytes - 3) break; |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if (len--) |
| rxd_buffer[ptrOut++] = x; |
| else |
| break; |
| if (len--) |
| rxd_buffer[ptrOut++] = y; |
| else |
| break; |
| if (len--) |
| rxd_buffer[ptrOut++] = z; |
| else |
| break; |
| } |
| pRxData = &rxd_buffer[3]; |
| RxDataLen = ptrOut - 3; |
| } |
| // -------------------------------------------------------------------------- |
| void usart0_ProcessRxData(void) { |
| // We control the motorTestActive var from here: Count it down. |
| if (motorTestActive) motorTestActive--; |
| // if data in the rxd buffer are not locked immediately return |
| if(!rxd_buffer_locked) return; |
| uint8_t tempchar1, tempchar2; |
| Decode64(); // decode data block in rxd_buffer |
| // We control the motorTestActive var from here: Count it down. |
| if (motorTestActive) |
| motorTestActive--; |
| // if data in the rxd buffer are not locked immediately return |
| if (!rxd_buffer_locked) |
| return; |
| uint8_t tempchar1, tempchar2; |
| Decode64(); // decode data block in rxd_buffer |
| switch(rxd_buffer[1] - 'a') { |
| switch (rxd_buffer[1] - 'a') { |
| case FC_ADDRESS: |
| switch(rxd_buffer[2]) { |
| case FC_ADDRESS: |
| switch (rxd_buffer[2]) { |
| #ifdef USE_MK3MAG |
| case 'K':// compass value |
| compassHeading = ((Heading_t *)pRxData)->Heading; |
| compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
| break; |
| case 'K':// compass value |
| compassHeading = ((Heading_t *)pRxData)->Heading; |
| // compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
| break; |
| #endif |
| case 't': // motor test |
| if(RxDataLen > 20) { |
| memcpy(&motorTest[0], (uint8_t*)pRxData, sizeof(motorTest)); |
| } else { |
| memcpy(&motorTest[0], (uint8_t*)pRxData, 4); |
| } |
| motorTestActive = 255; |
| externalControlActive = 255; |
| break; |
| case 'n':// "Get Mixer Table |
| while(!txd_complete); // wait for previous frame to be sent |
| SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &Mixer, sizeof(Mixer)); |
| break; |
| case 't': // motor test |
| if (RxDataLen > 20) { |
| memcpy(&motorTest[0], (uint8_t*) pRxData, sizeof(motorTest)); |
| } else { |
| memcpy(&motorTest[0], (uint8_t*) pRxData, 4); |
| } |
| motorTestActive = 255; |
| externalControlActive = 255; |
| break; |
| case 'm':// "Set Mixer Table |
| if(pRxData[0] == EEMIXER_REVISION) { |
| memcpy(&Mixer, (uint8_t*)pRxData, sizeof(Mixer)); |
| MixerTable_WriteToEEProm(); |
| while(!txd_complete); // wait for previous frame to be sent |
| tempchar1 = 1; |
| } else { |
| tempchar1 = 0; |
| } |
| SendOutData('M', FC_ADDRESS, 1, &tempchar1, 1); |
| break; |
| case 'n':// "Get Mixer Table |
| while (!txd_complete) |
| ; // wait for previous frame to be sent |
| SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &Mixer, sizeof(Mixer)); |
| break; |
| case 'p': // get PPM channels |
| request_PPMChannels = TRUE; |
| break; |
| case 'm':// "Set Mixer Table |
| if (pRxData[0] == EEMIXER_REVISION) { |
| memcpy(&Mixer, (uint8_t*) pRxData, sizeof(Mixer)); |
| MixerTable_WriteToEEProm(); |
| while (!txd_complete) |
| ; // wait for previous frame to be sent |
| tempchar1 = 1; |
| } else { |
| tempchar1 = 0; |
| } |
| SendOutData('M', FC_ADDRESS, 1, &tempchar1, 1); |
| break; |
| case 'q':// request settings |
| if(pRxData[0] == 0xFF) { |
| pRxData[0] = GetParamByte(PID_ACTIVE_SET); |
| } |
| // limit settings range |
| if(pRxData[0] < 1) pRxData[0] = 1; // limit to 1 |
| else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
| // load requested parameter set |
| ParamSet_ReadFromEEProm(pRxData[0]); |
| tempchar1 = pRxData[0]; |
| tempchar2 = EEPARAM_REVISION; |
| while(!txd_complete); // wait for previous frame to be sent |
| SendOutData('Q', FC_ADDRESS,3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (uint8_t *) &staticParams, sizeof(staticParams)); |
| break; |
| case 'p': // get PPM channels |
| request_PPMChannels = TRUE; |
| break; |
| case 's': // save settings |
| if(!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors ar off |
| { |
| if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range and version of settings |
| { |
| memcpy(&staticParams, (uint8_t*)&pRxData[2], sizeof(staticParams)); |
| ParamSet_WriteToEEProm(pRxData[0]); |
| /* |
| TODO: Remove this encapsulation breach |
| turnOver180Pitch = (int32_t) staticParams.AngleTurnOverPitch * 2500L; |
| turnOver180Roll = (int32_t) staticParams.AngleTurnOverRoll * 2500L; |
| */ |
| tempchar1 = getActiveParamSet(); |
| beepNumber(tempchar1); |
| } |
| else |
| { |
| tempchar1 = 0; //indicate bad data |
| } |
| while(!txd_complete); // wait for previous frame to be sent |
| SendOutData('S', FC_ADDRESS,1, &tempchar1, sizeof(tempchar1)); |
| } |
| break; |
| case 'q':// request settings |
| if (pRxData[0] == 0xFF) { |
| pRxData[0] = GetParamByte(PID_ACTIVE_SET); |
| } |
| // limit settings range |
| if (pRxData[0] < 1) |
| pRxData[0] = 1; // limit to 1 |
| else if (pRxData[0] > 5) |
| pRxData[0] = 5; // limit to 5 |
| // load requested parameter set |
| ParamSet_ReadFromEEProm(pRxData[0]); |
| tempchar1 = pRxData[0]; |
| tempchar2 = EEPARAM_REVISION; |
| while (!txd_complete) |
| ; // wait for previous frame to be sent |
| SendOutData('Q', FC_ADDRESS, 3, &tempchar1, sizeof(tempchar1), |
| &tempchar2, sizeof(tempchar2), (uint8_t *) &staticParams, |
| sizeof(staticParams)); |
| break; |
| default: |
| //unsupported command received |
| break; |
| } // case FC_ADDRESS: |
| case 's': // save settings |
| if (!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors are off |
| { |
| if ((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] |
| == EEPARAM_REVISION)) // check for setting to be in range and version of settings |
| { |
| memcpy(&staticParams, (uint8_t*) &pRxData[2], sizeof(staticParams)); |
| ParamSet_WriteToEEProm(pRxData[0]); |
| /* |
| TODO: Remove this encapsulation breach |
| turnOver180Pitch = (int32_t) staticParams.AngleTurnOverPitch * 2500L; |
| turnOver180Roll = (int32_t) staticParams.AngleTurnOverRoll * 2500L; |
| */ |
| tempchar1 = getActiveParamSet(); |
| beepNumber(tempchar1); |
| } else { |
| tempchar1 = 0; //indicate bad data |
| } |
| while (!txd_complete) |
| ; // wait for previous frame to be sent |
| SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| } |
| break; |
| default: // any Slave Address |
| switch(rxd_buffer[2]) { |
| case 'a':// request for labels of the analog debug outputs |
| request_DebugLabel = pRxData[0]; |
| if(request_DebugLabel > 31) request_DebugLabel = 31; |
| externalControlActive = 255; |
| break; |
| default: |
| //unsupported command received |
| break; |
| } // case FC_ADDRESS: |
| case 'b': // submit extern control |
| memcpy(&externalControl, (uint8_t*)pRxData, sizeof(externalControl)); |
| ConfirmFrame = externalControl.frame; |
| externalControlActive = 255; |
| break; |
| default: // any Slave Address |
| switch (rxd_buffer[2]) { |
| case 'a':// request for labels of the analog debug outputs |
| request_DebugLabel = pRxData[0]; |
| if (request_DebugLabel > 31) |
| request_DebugLabel = 31; |
| externalControlActive = 255; |
| break; |
| case 'h':// request for display columns |
| externalControlActive = 255; |
| RemoteKeys |= pRxData[0]; |
| if(RemoteKeys) DisplayLine = 0; |
| request_Display = TRUE; |
| break; |
| case 'b': // submit extern control |
| memcpy(&externalControl, (uint8_t*) pRxData, sizeof(externalControl)); |
| ConfirmFrame = externalControl.frame; |
| externalControlActive = 255; |
| break; |
| case 'l':// request for display columns |
| externalControlActive = 255; |
| MenuItem = pRxData[0]; |
| request_Display1 = TRUE; |
| break; |
| case 'h':// request for display columns |
| externalControlActive = 255; |
| RemoteKeys |= pRxData[0]; |
| if (RemoteKeys) |
| DisplayLine = 0; |
| request_Display = TRUE; |
| break; |
| case 'v': // request for version and board release |
| request_VerInfo = TRUE; |
| break; |
| case 'l':// request for display columns |
| externalControlActive = 255; |
| MenuItem = pRxData[0]; |
| request_Display1 = TRUE; |
| break; |
| case 'x': |
| request_variables = TRUE; |
| break; |
| case 'v': // request for version and board release |
| request_VerInfo = TRUE; |
| break; |
| case 'g':// get external control data |
| request_ExternalControl = TRUE; |
| break; |
| case 'x': |
| request_variables = TRUE; |
| break; |
| case 'd': // request for the debug data |
| DebugData_Interval = (uint16_t) pRxData[0] * 10; |
| if(DebugData_Interval > 0) request_DebugData = TRUE; |
| break; |
| case 'g':// get external control data |
| request_ExternalControl = TRUE; |
| break; |
| case 'c': // request for the 3D data |
| Data3D_Interval = (uint16_t) pRxData[0] * 10; |
| if(Data3D_Interval > 0) request_Data3D = TRUE; |
| break; |
| case 'd': // request for the debug data |
| DebugData_Interval = (uint16_t) pRxData[0] * 10; |
| if (DebugData_Interval > 0) |
| request_DebugData = TRUE; |
| break; |
| default: |
| //unsupported command received |
| break; |
| } |
| break; // default: |
| } |
| // unlock the rxd buffer after processing |
| pRxData = 0; |
| RxDataLen = 0; |
| rxd_buffer_locked = FALSE; |
| case 'c': // request for the 3D data |
| Data3D_Interval = (uint16_t) pRxData[0] * 10; |
| if (Data3D_Interval > 0) |
| request_Data3D = TRUE; |
| break; |
| default: |
| //unsupported command received |
| break; |
| } |
| break; // default: |
| } |
| // unlock the rxd buffer after processing |
| pRxData = 0; |
| RxDataLen = 0; |
| rxd_buffer_locked = FALSE; |
| } |
| /************************************************************************/ |
| /* Routine für die Serielle Ausgabe */ |
| /************************************************************************/ |
| int16_t uart_putchar (int8_t c) { |
| if (c == '\n') |
| uart_putchar('\r'); |
| // wait until previous character was send |
| loop_until_bit_is_set(UCSR0A, UDRE0); |
| // send character |
| UDR0 = c; |
| return (0); |
| int16_t uart_putchar(int8_t c) { |
| if (c == '\n') |
| uart_putchar('\r'); |
| // wait until previous character was send |
| loop_until_bit_is_set(UCSR0A, UDRE0); |
| // send character |
| UDR0 = c; |
| return (0); |
| } |
| //--------------------------------------------------------------------------------------------- |
| void usart0_TransmitTxData(void) { |
| if(!txd_complete) return; |
| if (!txd_complete) |
| return; |
| if(request_VerInfo && txd_complete) { |
| SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
| request_VerInfo = FALSE; |
| } |
| if(request_Display && txd_complete) { |
| LCD_PrintMenu(); |
| SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
| DisplayLine++; |
| if(DisplayLine >= 4) DisplayLine = 0; |
| request_Display = FALSE; |
| } |
| if(request_Display1 && txd_complete) { |
| LCD_PrintMenu(); |
| SendOutData('L', FC_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff)); |
| request_Display1 = FALSE; |
| } |
| if(request_DebugLabel != 0xFF) { // Texte für die Analogdaten |
| uint8_t label[16]; // local sram buffer |
| memcpy_P(label, ANALOG_LABEL[request_DebugLabel], 16); // read lable from flash to sram buffer |
| SendOutData('A', FC_ADDRESS, 2, (uint8_t *) &request_DebugLabel, sizeof(request_DebugLabel), label, 16); |
| request_DebugLabel = 0xFF; |
| } |
| if(ConfirmFrame && txd_complete) { // Datensatz ohne CRC bestätigen |
| SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| ConfirmFrame = 0; |
| } |
| if(((DebugData_Interval && CheckDelay(DebugData_Timer)) || request_DebugData) && txd_complete) { |
| SendOutData('D', FC_ADDRESS, 1,(uint8_t *) &DebugOut, sizeof(DebugOut)); |
| DebugData_Timer = SetDelay(DebugData_Interval); |
| request_DebugData = FALSE; |
| } |
| if( ((Data3D_Interval && CheckDelay(Data3D_Timer)) || request_Data3D) && txd_complete) { |
| SendOutData('C', FC_ADDRESS, 1,(uint8_t *) &Data3D, sizeof(Data3D)); |
| Data3D.AngleNick = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
| Data3D.AngleRoll = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
| Data3D.Heading = (int16_t)((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1° |
| Data3D_Timer = SetDelay(Data3D_Interval); |
| request_Data3D = FALSE; |
| } |
| if (request_VerInfo && txd_complete) { |
| SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, |
| sizeof(UART_VersionInfo)); |
| request_VerInfo = FALSE; |
| } |
| if(request_ExternalControl && txd_complete) { |
| SendOutData('G', FC_ADDRESS, 1,(uint8_t *) &externalControl, sizeof(externalControl)); |
| request_ExternalControl = FALSE; |
| } |
| if (request_Display && txd_complete) { |
| LCD_PrintMenu(); |
| SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), |
| &DisplayBuff[DisplayLine * 20], 20); |
| DisplayLine++; |
| if (DisplayLine >= 4) |
| DisplayLine = 0; |
| request_Display = FALSE; |
| } |
| if (request_Display1 && txd_complete) { |
| LCD_PrintMenu(); |
| SendOutData('L', FC_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, |
| sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff)); |
| request_Display1 = FALSE; |
| } |
| if (request_DebugLabel != 0xFF) { // Texte für die Analogdaten |
| uint8_t label[16]; // local sram buffer |
| memcpy_P(label, ANALOG_LABEL[request_DebugLabel], 16); // read lable from flash to sram buffer |
| SendOutData('A', FC_ADDRESS, 2, (uint8_t *) &request_DebugLabel, |
| sizeof(request_DebugLabel), label, 16); |
| request_DebugLabel = 0xFF; |
| } |
| if (ConfirmFrame && txd_complete) { // Datensatz ohne CRC bestätigen |
| SendOutData('B', FC_ADDRESS, 1, (uint8_t*) &ConfirmFrame, |
| sizeof(ConfirmFrame)); |
| ConfirmFrame = 0; |
| } |
| if (((DebugData_Interval && CheckDelay(DebugData_Timer)) || request_DebugData) |
| && txd_complete) { |
| SendOutData('D', FC_ADDRESS, 1, (uint8_t *) &DebugOut, sizeof(DebugOut)); |
| DebugData_Timer = SetDelay(DebugData_Interval); |
| request_DebugData = FALSE; |
| } |
| if (((Data3D_Interval && CheckDelay(Data3D_Timer)) || request_Data3D) |
| && txd_complete) { |
| SendOutData('C', FC_ADDRESS, 1, (uint8_t *) &Data3D, sizeof(Data3D)); |
| Data3D.AngleNick = (int16_t) ((10 * angle[PITCH]) |
| / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
| Data3D.AngleRoll = (int16_t) ((10 * angle[ROLL]) |
| / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1° |
| Data3D.Heading = (int16_t) ((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1° |
| Data3D_Timer = SetDelay(Data3D_Interval); |
| request_Data3D = FALSE; |
| } |
| if (request_ExternalControl && txd_complete) { |
| SendOutData('G', FC_ADDRESS, 1, (uint8_t *) &externalControl, |
| sizeof(externalControl)); |
| request_ExternalControl = FALSE; |
| } |
| #ifdef USE_MK3MAG |
| if((CheckDelay(Compass_Timer)) && txd_complete) { |
| ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
| ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
| ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0]; |
| ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1]; |
| ToMk3Mag.CalState = compassCalState; |
| SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag)); |
| // the last state is 5 and should be send only once to avoid multiple flash writing |
| if(compassCalState > 4) compassCalState = 0; |
| Compass_Timer = SetDelay(99); |
| } |
| if((CheckDelay(Compass_Timer)) && txd_complete) { |
| ToMk3Mag.Attitude[0] = (int16_t)((10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
| ToMk3Mag.Attitude[1] = (int16_t)((10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL); // approx. 0.1 deg |
| ToMk3Mag.UserParam[0] = dynamicParams.UserParams[0]; |
| ToMk3Mag.UserParam[1] = dynamicParams.UserParams[1]; |
| ToMk3Mag.CalState = compassCalState; |
| SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag)); |
| // the last state is 5 and should be send only once to avoid multiple flash writing |
| if(compassCalState > 4) compassCalState = 0; |
| Compass_Timer = SetDelay(99); |
| } |
| #endif |
| if(request_MotorTest && txd_complete) { |
| SendOutData('T', FC_ADDRESS, 0); |
| request_MotorTest = FALSE; |
| } |
| if(request_PPMChannels && txd_complete) { |
| SendOutData('P', FC_ADDRESS, 1, (uint8_t *)&PPM_in, sizeof(PPM_in)); |
| request_PPMChannels = FALSE; |
| } |
| if (request_MotorTest && txd_complete) { |
| SendOutData('T', FC_ADDRESS, 0); |
| request_MotorTest = FALSE; |
| } |
| if (request_variables && txd_complete) { |
| SendOutData('X', FC_ADDRESS, 1, (uint8_t *)&variables, sizeof(variables)); |
| request_variables = FALSE; |
| } |
| if (request_PPMChannels && txd_complete) { |
| SendOutData('P', FC_ADDRESS, 1, (uint8_t *) &PPM_in, sizeof(PPM_in)); |
| request_PPMChannels = FALSE; |
| } |
| if (request_variables && txd_complete) { |
| SendOutData('X', FC_ADDRESS, 1, (uint8_t *) &variables, sizeof(variables)); |
| request_variables = FALSE; |
| } |
| } |
| /branches/dongfang_FC_rewrite/uart0.h |
|---|
| 11,7 → 11,7 |
| //Baud rate of the USART |
| #define USART0_BAUD 57600 |
| extern void usart0_Init (void); |
| extern void usart0_Init(void); |
| extern void usart0_TransmitTxData(void); |
| extern void usart0_ProcessRxData(void); |
| extern int16_t uart_putchar(int8_t c); |
| 22,26 → 22,26 |
| extern uint8_t motorTest[16]; |
| typedef struct { |
| uint8_t Digital[2]; |
| uint16_t Analog[32]; // Debugvalues |
| } __attribute__((packed)) DebugOut_t; |
| uint8_t Digital[2]; |
| uint16_t Analog[32]; // Debugvalues |
| }__attribute__((packed)) DebugOut_t; |
| extern DebugOut_t DebugOut; |
| typedef struct { |
| int16_t AngleNick; // in 0.1 deg |
| int16_t AngleRoll; // in 0.1 deg |
| int16_t Heading; // in 0.1 deg |
| uint8_t reserve[8]; |
| } __attribute__((packed)) Data3D_t; |
| int16_t AngleNick; // in 0.1 deg |
| int16_t AngleRoll; // in 0.1 deg |
| int16_t Heading; // in 0.1 deg |
| uint8_t reserve[8]; |
| }__attribute__((packed)) Data3D_t; |
| typedef struct { |
| uint8_t SWMajor; |
| uint8_t SWMinor; |
| uint8_t ProtoMajor; |
| uint8_t ProtoMinor; |
| uint8_t SWPatch; |
| uint8_t Reserved[5]; |
| } __attribute__((packed)) UART_VersionInfo_t; |
| uint8_t SWMajor; |
| uint8_t SWMinor; |
| uint8_t ProtoMajor; |
| uint8_t ProtoMinor; |
| uint8_t SWPatch; |
| uint8_t Reserved[5]; |
| }__attribute__((packed)) UART_VersionInfo_t; |
| #endif //_UART0_H |
| /branches/dongfang_FC_rewrite/uart1.c |
|---|
| 69,10 → 69,10 |
| /****************************************************************/ |
| /* Initialization of the USART1 */ |
| /****************************************************************/ |
| void usart1_Init (void) { |
| void usart1_Init(void) { |
| // USART1 Control and Status Register A, B, C and baud rate register |
| uint8_t sreg = SREG; |
| uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART1_BAUD) - 1); |
| uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK / (8 * USART1_BAUD) - 1); |
| // disable all interrupts before reconfiguration |
| cli(); |
| 91,12 → 91,12 |
| // set TXD1 (PD3) as an output pin |
| PORTD |= (1 << PORTD3); |
| DDRD |= (1 << DDD3); |
| DDRD |= (1 << DDD3); |
| // USART0 Baud Rate Register |
| // set clock divider |
| UBRR1H = (uint8_t)(ubrr>>8); |
| UBRR1L = (uint8_t)ubrr; |
| UBRR1H = (uint8_t) (ubrr >> 8); |
| UBRR1L = (uint8_t) ubrr; |
| // enable double speed operation |
| UCSR1A |= (1 << U2X1); |
| 112,11 → 112,12 |
| UCSR1C &= ~(1 << USBS1); |
| // 8-bit |
| UCSR1B &= ~(1 << UCSZ12); |
| UCSR1C |= (1 << UCSZ11); |
| UCSR1C |= (1 << UCSZ10); |
| UCSR1C |= (1 << UCSZ11); |
| UCSR1C |= (1 << UCSZ10); |
| // flush receive buffer explicit |
| while ( UCSR1A & (1<<RXC1) ) UDR1; |
| while (UCSR1A & (1 << RXC1)) |
| UDR1; |
| // enable interrupts at the end |
| // enable RX-Interrupt |
| 127,7 → 128,7 |
| //UCSR1B |= (1 << UDRIE1); |
| // restore global interrupt flags |
| SREG = sreg; |
| SREG = sreg; |
| } |
| /****************************************************************/ |
| 134,25 → 135,26 |
| /* USART1 data register empty ISR */ |
| /****************************************************************/ |
| /*ISR(USART1_UDRE_vect) { |
| } |
| */ |
| } |
| */ |
| /****************************************************************/ |
| /* USART1 transmitter ISR */ |
| /****************************************************************/ |
| /*ISR(USART1_TX_vect) { |
| } |
| */ |
| } |
| */ |
| /****************************************************************/ |
| /* USART1 receiver ISR */ |
| /****************************************************************/ |
| ISR(USART1_RX_vect) { |
| ISR(USART1_RX_vect) |
| { |
| uint8_t c; |
| c = UDR1; // get data byte |
| #ifdef USE_RC_DSL |
| dsl_parser(c); // parse dsl data stream |
| #endif |
| #ifdef USE_RC_SPECTRUM |
| spectrum_parser(c); // parse spectrum data stream |
| #endif |
| #ifdef USE_RC_DSL |
| dsl_parser(c); // parse dsl data stream |
| #endif |
| #ifdef USE_RC_SPECTRUM |
| spectrum_parser(c); // parse spectrum data stream |
| #endif |
| } |
| /branches/dongfang_FC_rewrite/uart1.h |
|---|
| 1,6 → 1,6 |
| #ifndef _UART1_H |
| #define _UART1_H |
| extern void usart1_Init (void); |
| extern void usart1_Init(void); |
| #endif //_UART1_H |
| /branches/dongfang_FC_rewrite/. |
|---|
| Property changes: |
| Modified: svn:ignore |
| *.map |
| *.sym |
| .project |
| +.externalToolBuilders |
| +.settings |
| +.cproject |
| +old files.zip |