Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1775 | - | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
||
| 3 | // + Nur für den privaten Gebrauch |
||
| 4 | // + www.MikroKopter.com |
||
| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
||
| 7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
||
| 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
||
| 9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
||
| 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
||
| 11 | // + Verkauf von Luftbildaufnahmen, usw. |
||
| 12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
||
| 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
||
| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
||
| 17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
||
| 18 | // + eindeutig als Ursprung verlinkt werden |
||
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
||
| 21 | // + Benutzung auf eigene Gefahr |
||
| 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
||
| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
||
| 25 | // + mit unserer Zustimmung zulässig |
||
| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
||
| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
||
| 30 | // + this list of conditions and the following disclaimer. |
||
| 31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
||
| 32 | // + from this software without specific prior written permission. |
||
| 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
||
| 34 | // + for non-commercial use (directly or indirectly) |
||
| 35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
||
| 36 | // + with our written permission |
||
| 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
||
| 38 | // + clearly linked as origin |
||
| 39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
||
| 40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
||
| 41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
||
| 42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
||
| 43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
||
| 44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
||
| 45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
||
| 46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
||
| 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
||
| 48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||
| 49 | // + POSSIBILITY OF SUCH DAMAGE. |
||
| 50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 51 | |||
| 52 | #include <stdlib.h> |
||
| 53 | #include "controlMixer.h" |
||
| 54 | #include "rc.h" |
||
| 55 | #include "heightControl.h" |
||
| 56 | #include "attitudeControl.h" |
||
| 57 | #include "externalControl.h" |
||
| 58 | #include "configuration.h" |
||
| 59 | #include "attitude.h" |
||
| 60 | #include "commands.h" |
||
| 61 | //#include "eeprom.h" |
||
| 62 | //#include "flight.h" |
||
| 63 | |||
| 64 | uint16_t maxControl[2] = {0,0}; |
||
| 65 | int16_t control[2] = {0,0}, controlYaw = 0, controlThrottle = 0; |
||
| 66 | uint8_t looping = 0; |
||
| 67 | |||
| 68 | // Internal variables for reading commands made with an R/C stick. |
||
| 69 | uint8_t lastCommand = COMMAND_NONE; |
||
| 70 | uint8_t lastArgument; |
||
| 71 | |||
| 72 | uint8_t isCommandRepeated = 0; |
||
| 73 | |||
| 74 | // MK flags. TODO: Replace by enum. State machine. |
||
| 75 | uint16_t isFlying = 0; |
||
| 76 | volatile uint8_t MKFlags = 0; |
||
| 77 | |||
| 78 | /* |
||
| 79 | * This could be expanded to take arguments from ohter sources than the RC |
||
| 80 | * (read: Custom MK RC project) |
||
| 81 | */ |
||
| 82 | uint8_t controlMixer_getArgument(void) { |
||
| 83 | return lastArgument; |
||
| 84 | } |
||
| 85 | |||
| 86 | /* |
||
| 87 | * This could be expanded to take calibrate / start / stop commands from ohter sources |
||
| 88 | * than the R/C (read: Custom MK R/C project) |
||
| 89 | */ |
||
| 90 | uint8_t controlMixer_getCommand(void) { |
||
| 91 | return lastCommand; |
||
| 92 | } |
||
| 93 | |||
| 94 | uint8_t controlMixer_isCommandRepeated(void) { |
||
| 95 | return isCommandRepeated; |
||
| 96 | } |
||
| 97 | |||
| 98 | void controlMixer_setNeutral() { |
||
| 99 | EC_setNeutral(); |
||
| 100 | HC_setGround(); |
||
| 101 | } |
||
| 102 | |||
| 103 | /* |
||
| 104 | * Set the potientiometer values to the momentary values of the respective R/C channels. |
||
| 105 | * No slew rate limitation. |
||
| 106 | */ |
||
| 107 | void controlMixer_initVariables(void) { |
||
| 108 | uint8_t i; |
||
| 109 | for (i=0; i<8; i++) { |
||
| 110 | variables[i] = RC_getVariable(i); |
||
| 111 | } |
||
| 112 | } |
||
| 113 | |||
| 114 | /* |
||
| 115 | * Update potentiometer values with limited slew rate. Could be made faster if desired. |
||
| 116 | * TODO: It assumes R/C as source. Not necessarily true. |
||
| 117 | */ |
||
| 118 | void controlMixer_updateVariables(void) { |
||
| 119 | uint8_t i; |
||
| 120 | int16_t targetvalue; |
||
| 121 | for (i=0; i<8; i++) { |
||
| 122 | targetvalue = RC_getVariable(i); |
||
| 123 | if (targetvalue < 0) targetvalue = 0; |
||
| 124 | if (variables[i] < targetvalue && variables[i] < 255) variables[i]++; else if(variables[i] > 0 && variables[i] > targetvalue) variables[i]--; |
||
| 125 | } |
||
| 126 | } |
||
| 127 | |||
| 128 | uint8_t controlMixer_getSignalQuality(void) { |
||
| 129 | uint8_t rcQ = RC_getSignalQuality(); |
||
| 130 | uint8_t ecQ = EC_getSignalQuality(); |
||
| 131 | // This needs not be the only correct solution... |
||
| 132 | return rcQ > ecQ ? rcQ : ecQ; |
||
| 133 | } |
||
| 134 | |||
| 135 | /* |
||
| 136 | * Update the variables indicating stick position from the sum of R/C, GPS and external control. |
||
| 137 | */ |
||
| 138 | void controlMixer_update(void) { |
||
| 139 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
||
| 140 | // TODO: If no signal --> zero. |
||
| 141 | uint8_t axis; |
||
| 142 | |||
| 143 | // takes almost no time... |
||
| 144 | RC_update(); |
||
| 145 | |||
| 146 | // takes almost no time... |
||
| 147 | EC_update(); |
||
| 148 | |||
| 149 | // takes about 80 usec. |
||
| 150 | HC_update(); |
||
| 151 | |||
| 152 | int16_t* RC_PRTY = RC_getPRTY(); |
||
| 153 | int16_t* EC_PRTY = EC_getPRTY(); |
||
| 154 | |||
| 155 | control[PITCH] = RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]; |
||
| 156 | control[ROLL] = RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]; |
||
| 157 | // This can be a CPU time killer if the function implementations are inefficient. |
||
| 158 | controlThrottle = HC_getThrottle(AC_getThrottle(RC_PRTY[CONTROL_THROTTLE] + EC_PRTY[CONTROL_THROTTLE])); |
||
| 159 | controlYaw = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]; |
||
| 160 | |||
| 161 | if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) { |
||
| 162 | controlMixer_updateVariables(); |
||
| 163 | configuration_applyVariablesToParams(); |
||
| 164 | looping = RC_getLooping(looping); |
||
| 165 | } else { // Signal is not OK |
||
| 166 | // Could handle switch to emergency flight here. |
||
| 167 | // throttle is handled elsewhere. |
||
| 168 | looping = 0; |
||
| 169 | } |
||
| 170 | |||
| 171 | // part1a end. |
||
| 172 | |||
| 173 | /* This is not really necessary with the pull-towards-zero of all sticks (see rc.c) |
||
| 174 | if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
||
| 175 | if (controlYaw > 2) controlYaw-= 2; |
||
| 176 | else if (controlYaw< -2) controlYaw += 2; |
||
| 177 | else controlYaw = 0; |
||
| 178 | } |
||
| 179 | */ |
||
| 180 | |||
| 181 | /* |
||
| 182 | * Record maxima |
||
| 183 | */ |
||
| 184 | for (axis=PITCH; axis<=ROLL; axis++) { |
||
| 185 | if(abs(control[axis] / CONTROL_SCALING) > maxControl[axis]) { |
||
| 186 | maxControl[axis] = abs(control[axis]) / CONTROL_SCALING; |
||
| 187 | if(maxControl[axis] > 100) maxControl[axis] = 100; |
||
| 188 | } else if (maxControl[axis]) maxControl[axis]--; |
||
| 189 | } |
||
| 190 | |||
| 191 | uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand() : COMMAND_NONE; |
||
| 192 | uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand() : COMMAND_NONE; |
||
| 193 | |||
| 194 | if (rcCommand != COMMAND_NONE) { |
||
| 195 | isCommandRepeated = (lastCommand == rcCommand); |
||
| 196 | lastCommand = rcCommand; |
||
| 197 | lastArgument = RC_getArgument(); |
||
| 198 | } else if (ecCommand != COMMAND_NONE) { |
||
| 199 | isCommandRepeated = (lastCommand == ecCommand); |
||
| 200 | lastCommand = ecCommand; |
||
| 201 | lastArgument = EC_getArgument(); |
||
| 202 | } else { |
||
| 203 | // Both sources have no command, or one or both are out. |
||
| 204 | // Just set to false. There is no reason to check if the none-command was repeated anyway. |
||
| 205 | isCommandRepeated = 0; |
||
| 206 | lastCommand = COMMAND_NONE; |
||
| 207 | } |
||
| 208 | |||
| 209 | // part1 end. |
||
| 210 | } |
||
| 211 | |||
| 212 | // TODO: Integrate into command system. |
||
| 213 | uint8_t controlMixer_testCompassCalState(void) { |
||
| 214 | return RC_testCompassCalState(); |
||
| 215 | } |