Rev 866 | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
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728 | holgerb | 1 | #include <stdio.h> |
2 | #include <string.h> |
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3 | #include "91x_lib.h" |
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4 | #include "CamCtrl.h" |
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5 | #include "i2c.h" |
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6 | #include "timer1.h" |
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826 | holgerb | 7 | #include "timer2.h" |
728 | holgerb | 8 | #include "led.h" |
9 | #include "main.h" |
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10 | #include "uart1.h" |
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11 | #include "compass.h" |
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12 | #include "spi_slave.h" |
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13 | #include "triggerlog.h" |
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14 | |||
15 | FromCamCtrl_t FromCamCtrl; |
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16 | ToCamCtrl_t ToCamCtrl; |
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790 | holgerb | 17 | FromLaserCtrl_t FromLaserCtrl; |
18 | ToLaserCtrl_t ToLaserCtrl; |
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826 | holgerb | 19 | FromGimbalCtrl_t FromGimbalCtrl; |
20 | ToGimbalCtrl_t ToGimbalCtrl; |
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790 | holgerb | 21 | |
859 | holgerb | 22 | s32 FromMenuGimbalYaw = 0,FromMenuServoNickControl = 0, MenuNickGimbalOffset = 0; |
864 | holgerb | 23 | u16 CamCtrlTimeout = 31000; |
790 | holgerb | 24 | u16 LaserCtrlTimeout = 5000; |
845 | holgerb | 25 | u16 GimbalCtrlTimeout = 8000; |
864 | holgerb | 26 | u16 I2C0_Timeout = 0; |
845 | holgerb | 27 | u8 ResetNickServoValue = 1; |
728 | holgerb | 28 | |
29 | void InitCamCtrl(void) |
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30 | { |
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31 | ToCamCtrl.CamCommand = 0; |
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32 | ToCamCtrl.ZoomInput = 128; // Middle -> no zoom |
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33 | } |
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34 | |||
35 | void CamCtrl_UpdateData(u8* pRxBuffer, u8 RxBufferSize) |
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36 | { // if crc is ok and number of byte are matching |
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826 | holgerb | 37 | static u8 speak_rec_on = 1; |
38 | static u8 speak_rec_off = 0; |
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39 | |||
728 | holgerb | 40 | memcpy((u8 *)&FromCamCtrl, pRxBuffer, sizeof(FromCamCtrl)); |
41 | //if(FromCamCtrl.CamStatus & CAM_STATE_PIC_CAPTURED) |
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42 | if(FromCamCtrl.CamStatus & CAM_STATE_REC_ACTIVE) CamCtrlCharacter = 'R'; |
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43 | else if(FromCamCtrl.CamStatus & CAM_STATE_PHOTO_MODE) CamCtrlCharacter = 'P'; |
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732 | holgerb | 44 | else if(FromCamCtrl.CamStatus & CAM_STATE_CAM_DISCONN) CamCtrlCharacter = '?'; |
728 | holgerb | 45 | else if(FromCamCtrl.CamStatus & CAM_STATE_OFF) CamCtrlCharacter = '!'; |
46 | else if(TrigLogging.CountExternal) CamCtrlCharacter = TrigLogging.CountExternal % 10 + '0'; |
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47 | else if(FromCamCtrl.PhotoCount) CamCtrlCharacter = FromCamCtrl.PhotoCount % 10 + '0'; |
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48 | else if(FromCamCtrl.CamStatus & CAM_STATE_RDY) CamCtrlCharacter = 'c'; |
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49 | else CamCtrlCharacter = ' '; |
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50 | |||
51 | // c = camera is ready |
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52 | // R = Record active |
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53 | // P = Cam in Photo mode (LANC Camcorders) |
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54 | // ! = Camera is off but connected |
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55 | // ? = disconnected |
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56 | // 0-9 = Photo releases |
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57 | |||
826 | holgerb | 58 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
59 | //+ Speak |
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60 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
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61 | if(!SpeakHoTT) |
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62 | { |
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63 | if(FromCamCtrl.CamStatus & CAM_STATE_REC_ACTIVE) |
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64 | { |
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65 | if(speak_rec_on) SpeakHoTT = SPEAK_REC_START; |
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66 | speak_rec_on = 0; |
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67 | speak_rec_off = 1; |
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68 | } |
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69 | else |
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70 | { |
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71 | if(speak_rec_off) SpeakHoTT = SPEAK_REC_STOP; |
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72 | speak_rec_on = 1; |
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73 | speak_rec_off = 0; |
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74 | } |
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75 | } |
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76 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
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77 | |||
864 | holgerb | 78 | if(FromCamCtrl.CamStatus & CAM_STATE_I2C_OK) CamCtrlTimeout = 19000; |
79 | I2C0_Timeout = 31000; |
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728 | holgerb | 80 | } |
81 | |||
82 | void CamCtrl_GetData(u8 timeout) |
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83 | { |
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730 | holgerb | 84 | static u8 timing = 250, p63 = 0; |
732 | holgerb | 85 | static u8 force1photo = 0, delay ; // makes one photo when switching from Off to Photo |
728 | holgerb | 86 | |
87 | if(timing) |
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88 | { |
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89 | timing--; |
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90 | } |
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91 | else |
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92 | // try to catch the I2C buffer within timeout ms |
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93 | if(I2CBus_LockBuffer(I2C0, timeout)) |
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94 | { |
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733 | holgerb | 95 | u8 RxBytes = sizeof(FromCamCtrl); |
728 | holgerb | 96 | // initiate transmission |
97 | ToCamCtrl.ZoomInput = 128 + PPM_In[EE_Parameter.CamCtrlZoomChannel]; |
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98 | if(EE_Parameter.CamCtrlModeChannel) |
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99 | { |
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100 | if(PPM_In[EE_Parameter.CamCtrlModeChannel] > 50) // max |
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101 | { |
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102 | ToCamCtrl.CamCommand &= ~CAM_CMD_REC_OFF; |
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103 | ToCamCtrl.CamCommand |= CAM_CMD_REC_ON; |
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732 | holgerb | 104 | force1photo = 0; |
728 | holgerb | 105 | } |
106 | else |
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107 | if(PPM_In[EE_Parameter.CamCtrlModeChannel] < -50) // min |
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108 | { |
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109 | ToCamCtrl.CamCommand &= ~CAM_CMD_REC_ON; |
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110 | ToCamCtrl.CamCommand |= CAM_CMD_REC_OFF; |
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732 | holgerb | 111 | force1photo = 1; |
112 | p63 = 0; |
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113 | delay = 5; |
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728 | holgerb | 114 | } |
115 | else // Middle |
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732 | holgerb | 116 | { |
117 | if(delay) delay--; |
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118 | else |
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728 | holgerb | 119 | { |
732 | holgerb | 120 | if(force1photo || ((UART_VersionInfo.HWMajor >= 30) && TRIGGER_PP_INTERN) || ((UART_VersionInfo.HWMajor < 30) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE))) // internal Portpin or Flag |
728 | holgerb | 121 | { |
122 | if(!p63) ToCamCtrl.CamCommand |= CAM_CMD_SHUTTER; // combined with the FC trigger output |
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123 | p63 = 1; |
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732 | holgerb | 124 | force1photo = 0; |
728 | holgerb | 125 | } |
126 | else p63 = 0; |
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127 | } |
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732 | holgerb | 128 | } |
728 | holgerb | 129 | } |
130 | |||
826 | holgerb | 131 | I2CBus_Transmission(I2C0, CAM_SLAVE_ADDRESS, &ToCamCtrl, sizeof(ToCamCtrl)+1, &CamCtrl_UpdateData, RxBytes); |
728 | holgerb | 132 | |
133 | if(!EE_Parameter.CamCtrlModeChannel) ToCamCtrl.CamCommand = 0; // delete REC_OFF |
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134 | ToCamCtrl.CamCommand = CAM_CMD_SWITCH_ON | (ToCamCtrl.CamCommand & (CAM_CMD_REC_ON | CAM_CMD_REC_OFF)); |
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135 | timing = 66; // 66ms = 15Hz |
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136 | } |
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730 | holgerb | 137 | else timing = 11; // try again in 11ms |
728 | holgerb | 138 | } |
790 | holgerb | 139 | |
826 | holgerb | 140 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
141 | //+ Laser |
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142 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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790 | holgerb | 143 | void LaserCtrl_UpdateData(u8* pRxBuffer, u8 RxBufferSize) |
144 | { // if crc is ok and number of byte are matching |
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145 | memcpy((u8 *)&FromLaserCtrl, pRxBuffer, sizeof(FromLaserCtrl)); |
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146 | DebugOut.Analog[13] = FromLaserCtrl.Distance; |
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147 | if((FromLaserCtrl.LaserStatus & LASER_DATA_OK) && (FromLaserCtrl.Distance == 0)) FromLaserCtrl.Distance = 1; // just to mark that the value is active (0 -> not connected) |
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863 | holgerb | 148 | LaserCtrlTimeout = 30000; |
864 | holgerb | 149 | I2C0_Timeout = 31000; |
790 | holgerb | 150 | } |
151 | |||
152 | |||
153 | void LaserCtrl_GetData(u8 timeout) |
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154 | { |
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155 | static u8 timing = 250; |
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156 | |||
157 | if(timing) |
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158 | { |
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159 | timing--; |
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160 | } |
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161 | else |
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162 | // try to catch the I2C buffer within timeout ms |
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163 | if(I2CBus_LockBuffer(I2C0, timeout)) |
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164 | { |
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165 | u8 RxBytes = 3;//sizeof(FromLaserCtrl); |
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166 | // initiate transmission |
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826 | holgerb | 167 | I2CBus_Transmission(I2C0, LASER_SLAVE_ADDRESS, &ToLaserCtrl, sizeof(ToLaserCtrl)+1, &LaserCtrl_UpdateData, RxBytes); |
790 | holgerb | 168 | timing = 66; // 66ms = 15Hz |
169 | } |
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170 | else timing = 11; // try again in 11ms |
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171 | } |
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172 | |||
826 | holgerb | 173 | |
174 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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175 | //+ Gimbal |
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176 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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177 | |||
178 | void GimbalCtrl_UpdateData(u8* pRxBuffer, u8 RxBufferSize) |
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179 | { // if crc is ok and number of byte are matching |
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180 | memcpy((u8 *)&FromGimbalCtrl, pRxBuffer, sizeof(FromGimbalCtrl)); |
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863 | holgerb | 181 | GimbalCtrlTimeout = 30000; |
864 | holgerb | 182 | I2C0_Timeout = 31000; |
826 | holgerb | 183 | } |
184 | |||
185 | |||
186 | void GimbalCtrl_GetData(u8 timeout) |
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187 | { |
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865 | holgerb | 188 | static u32 timing = 500, start_idle = 4000; |
826 | holgerb | 189 | static s16 old_nick; |
190 | s16 tmp, NickGimbal; |
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191 | #define GIMBAL_DATARATE 66 // 66ms = 15Hz bzw. 30Hz |
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192 | |||
193 | tmp = ((signed int)NickServoValue - 8192) / 7; |
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194 | if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) NickGimbal = -tmp; else NickGimbal = tmp; |
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195 | NickGimbal += CAM_Orientation.Elevation; // Add Poi Nick |
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859 | holgerb | 196 | NickGimbal += MenuNickGimbalOffset / 50; |
826 | holgerb | 197 | if((old_nick != NickGimbal) && (timing < GIMBAL_DATARATE/2)) timing = 0; // Schneller, wenn sich die Daten ändern |
198 | |||
199 | if(timing) |
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200 | { |
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201 | timing--; |
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865 | holgerb | 202 | if(start_idle) start_idle--;// nach dem Start einige Sekunden warten |
826 | holgerb | 203 | } |
204 | else |
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205 | { |
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206 | // try to catch the I2C buffer within timeout ms |
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863 | holgerb | 207 | //DebugOut.Analog[]++; |
826 | holgerb | 208 | if(I2CBus_LockBuffer(I2C0, timeout)) |
209 | { |
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845 | holgerb | 210 | u8 i, RxBytes = 1+6; // Status + 3 * Angle |
211 | u8 *dat; |
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212 | s32 min_n, max_n, min_r, max_r; |
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826 | holgerb | 213 | // initiate transmission |
845 | holgerb | 214 | tmp = (s16) (FromFC_ServoRollControl - 128) * 4; |
863 | holgerb | 215 | if(EE_Parameter.ServoCompInvert & SERVO_ROLL_INV) ToGimbalCtrl.Roll = tmp; else ToGimbalCtrl.Roll = -tmp; |
853 | holgerb | 216 | // ToGimbalCtrl.Yaw = (s32) SerialChannel.Ch[0] * 3; |
863 | holgerb | 217 | ToGimbalCtrl.Yaw = (s32) (PPM_In[EE_Parameter.GimbalYawChannel]) * -2; |
866 | holgerb | 218 | |
219 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
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220 | // digital switching outputs |
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221 | if(PPM_In[EE_Parameter.GimbalOut1Channel] > 10) ToGimbalCtrl.BitCmd |= GIMBAL_CMD_OUT1; |
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222 | if(PPM_In[EE_Parameter.GimbalOut2Channel] > 10) ToGimbalCtrl.BitCmd |= GIMBAL_CMD_OUT2; |
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223 | // flags will be reset after transmitting |
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224 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
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225 | |||
859 | holgerb | 226 | if(FromMenuGimbalYaw) ToGimbalCtrl.Yaw = FromMenuGimbalYaw; |
826 | holgerb | 227 | ToGimbalCtrl.NRY_Speed = 100; |
228 | ToGimbalCtrl.Filter = 5; |
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229 | ToGimbalCtrl.Nick = NickGimbal; |
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845 | holgerb | 230 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
231 | // + limit angles (0 = -128° 255 = +127°) |
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232 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
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859 | holgerb | 233 | if(FC.RC_Quality < 50) // Failsafe-Positions |
845 | holgerb | 234 | { |
865 | holgerb | 235 | if(EE_Parameter.ServoFS_Pos[0]) (s32)((u32)EE_Parameter.ServoFS_Pos[0] * 10) - 1280; //else ToGimbalCtrl.Nick = 0; |
236 | if(EE_Parameter.ServoFS_Pos[1]) (s32)((u32)EE_Parameter.ServoFS_Pos[1] * 10) - 1280; //else ToGimbalCtrl.Roll = 0; |
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845 | holgerb | 237 | } |
865 | holgerb | 238 | |
845 | holgerb | 239 | min_n = (s32)((u32)EE_Parameter.ServoNickMin * 10) - 1280; |
240 | max_n = (s32)((u32)EE_Parameter.ServoNickMax * 10) - 1280; |
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241 | if(ToGimbalCtrl.Nick > max_n) ToGimbalCtrl.Nick = max_n; |
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242 | if(ToGimbalCtrl.Nick < min_n) ToGimbalCtrl.Nick = min_n; |
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243 | min_r = (s32)((u32)EE_Parameter.ServoRollMin * 10) - 1280; |
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244 | max_r = (s32)((u32)EE_Parameter.ServoRollMax * 10) - 1280; |
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245 | if(ToGimbalCtrl.Roll > max_r) ToGimbalCtrl.Roll = max_r; |
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246 | if(ToGimbalCtrl.Roll < min_r) ToGimbalCtrl.Roll = min_r; |
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247 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
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865 | holgerb | 248 | if(start_idle) // nach dem Start einige Sekunden warten |
249 | { |
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250 | ToGimbalCtrl.Nick = 0; |
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251 | ToGimbalCtrl.Roll = 0; |
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252 | ToGimbalCtrl.Yaw = 0; |
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253 | } |
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254 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
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845 | holgerb | 255 | // + Crc |
256 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
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257 | ToGimbalCtrl.Crc = 0x55; // initialize |
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258 | dat = &ToGimbalCtrl; // pointer |
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259 | for(i=0; i< sizeof(ToGimbalCtrl) - 1; i++) ToGimbalCtrl.Crc += dat[i]; |
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260 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
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261 | RxBytes = sizeof(FromGimbalCtrl); |
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826 | holgerb | 262 | |
263 | I2CBus_Transmission(I2C0, GIMBAL_SLAVE_ADDRESS, &ToGimbalCtrl, sizeof(ToGimbalCtrl)+1, &GimbalCtrl_UpdateData, RxBytes); |
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264 | timing = GIMBAL_DATARATE; |
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853 | holgerb | 265 | ToGimbalCtrl.BitCmd = GIMBAL_CMD_SPEED; // reset the Flags |
826 | holgerb | 266 | old_nick = NickGimbal; |
853 | holgerb | 267 | |
826 | holgerb | 268 | } |
863 | holgerb | 269 | else timing = 11; // try again in 11ms |
826 | holgerb | 270 | } |
271 | } |
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272 | |||
273 | void CalcNickServoValue(void) |
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274 | { |
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275 | signed int max, min; |
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276 | #define MULTIPLYER 4 |
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277 | if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) // relative moving of the servo value |
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278 | { |
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279 | max = ((unsigned int) EE_Parameter.ServoNickMax * MULTIPLYER * 15); |
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280 | min = ((unsigned int) EE_Parameter.ServoNickMin * MULTIPLYER * 20); |
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281 | NickServoValue -= ((signed char) (FromFC_ServoNickControl - 128) / 4) * 2; // * 6 |
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845 | holgerb | 282 | if(ResetNickServoValue) NickServoValue = 8192; // middle Position |
283 | ResetNickServoValue = 0; |
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826 | holgerb | 284 | LIMIT_MIN_MAX(NickServoValue,min, max); |
285 | } |
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286 | else NickServoValue = (int16_t)FromFC_ServoNickControl * (MULTIPLYER*16); // direct poti control |
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859 | holgerb | 287 | MenuNickGimbalOffset += FromMenuServoNickControl; |
288 | LIMIT_MIN_MAX(MenuNickGimbalOffset,-50000,50000); |
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826 | holgerb | 289 | } |
290 | |||
291 | |||
292 | |||
293 | |||
294 | |||
295 |