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| 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
| 3 | // + Nur für den privaten Gebrauch |
3 | // + Nur für den privaten Gebrauch |
| 4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
| 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| 9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
| 12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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 |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| 17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| 18 | // + eindeutig als Ursprung verlinkt und genannt werden |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| 21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
| 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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 |
25 | // + mit unserer Zustimmung zulässig |
| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 30 | // + this list of conditions and the following disclaimer. |
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 |
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. |
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 |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| 34 | // + for non-commercial use (directly or indirectly) |
34 | // + for non-commercial use (directly or indirectly) |
| 35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 36 | // + with our written permission |
36 | // + with our written permission |
| 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 38 | // + clearly linked as origin |
38 | // + clearly linked as origin |
| 39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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" |
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 |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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 |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 50 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
| 51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 52 | #include <stdlib.h> |
52 | #include <stdlib.h> |
| 53 | #include "commands.h" |
53 | #include "commands.h" |
| 54 | #include "controlMixer.h" |
54 | #include "controlMixer.h" |
| 55 | #include "flight.h" |
55 | #include "flight.h" |
| 56 | #include "eeprom.h" |
56 | #include "eeprom.h" |
| 57 | #include "attitude.h" |
57 | #include "attitude.h" |
| 58 | #include "output.h" |
58 | #include "output.h" |
| - | 59 | #include "rc.h" |
|
| - | 60 | ||
| - | 61 | #ifdef USE_MK3MAG |
|
| 59 | 62 | // TODO: Kick that all outa here! |
|
| - | 63 | uint8_t compassCalState = 0; |
|
| 60 | uint8_t compassCalState = 0; |
64 | #endif |
| 61 | 65 | ||
| 62 | void commands_handleCommands(void) { |
66 | void commands_handleCommands(void) { |
| 63 | /* |
67 | /* |
| 64 | * Get the current command (start/stop motors, calibrate), if any. |
68 | * Get the current command (start/stop motors, calibrate), if any. |
| 65 | */ |
69 | */ |
| 66 | uint8_t command = controlMixer_getCommand(); |
70 | uint8_t command = controlMixer_getCommand(); |
| 67 | uint8_t repeated = controlMixer_isCommandRepeated(); |
71 | uint8_t repeated = controlMixer_isCommandRepeated(); |
| 68 | uint8_t argument = controlMixer_getArgument(); |
72 | uint8_t argument = controlMixer_getArgument(); |
| 69 | 73 | ||
| 70 | if (!(MKFlags & MKFLAG_MOTOR_RUN)) { |
74 | if (!(MKFlags & MKFLAG_MOTOR_RUN)) { |
| 71 | if (command == COMMAND_GYROCAL && !repeated) { |
75 | if (command == COMMAND_GYROCAL && !repeated) { |
| 72 | // Run gyro calibration but do not repeat it. |
76 | // Run gyro calibration but do not repeat it. |
| 73 | // TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough? |
77 | // TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough? |
| 74 | // isFlying = 0; |
78 | // isFlying = 0; |
| 75 | // check roll/pitch stick position |
79 | // check roll/pitch stick position |
| 76 | // if pitch stick is top or roll stick is left or right --> change parameter setting |
80 | // if pitch stick is top or roll stick is left or right --> change parameter setting |
| 77 | // according to roll/pitch stick position |
81 | // according to roll/pitch stick position |
| 78 | 82 | ||
| 79 | if (argument < 6) { |
83 | if (argument < 6) { |
| 80 | // Gyro calinbration, with or without selecting a new parameter-set. |
84 | // Gyro calinbration, with or without selecting a new parameter-set. |
| 81 | if (argument > 0 && argument < 6) { |
85 | if (argument > 0 && argument < 6) { |
| 82 | // A valid parameter-set (1..5) was chosen - use it. |
86 | // A valid parameter-set (1..5) was chosen - use it. |
| 83 | setActiveParamSet(argument); |
87 | setActiveParamSet(argument); |
| 84 | } |
88 | } |
| 85 | paramSet_readFromEEProm(getActiveParamSet()); |
89 | paramSet_readFromEEProm(getActiveParamSet()); |
| 86 | analog_calibrateGyros(); |
90 | analog_calibrateGyros(); |
| 87 | attitude_setNeutral(); |
91 | attitude_setNeutral(); |
| 88 | flight_setNeutral(); |
92 | flight_setNeutral(); |
| 89 | controlMixer_setNeutral(); |
93 | controlMixer_setNeutral(); |
| 90 | beepNumber(getActiveParamSet()); |
94 | beepNumber(getActiveParamSet()); |
| - | 95 | } |
|
| - | 96 | #ifdef USE_MK3MAG |
|
| 91 | } else if (staticParams.bitConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE) && argument == 7) { |
97 | else if (staticParams.bitConfig & (CFG_COMPASS_ENABLED | CFG_GPS_ENABLED) && argument == 7) { |
| 92 | // If right stick is centered and down |
98 | // If right stick is centered and down |
| 93 | compassCalState = 1; |
99 | compassCalState = 1; |
| 94 | beep(1000); |
100 | beep(1000); |
| 95 | } |
101 | } |
| - | 102 | #endif |
|
| 96 | } |
103 | } |
| 97 | 104 | ||
| 98 | // save the ACC neutral setting to eeprom |
105 | // save the ACC neutral setting to eeprom |
| 99 | else { |
106 | else { |
| 100 | if (command == COMMAND_ACCCAL && !repeated) { |
107 | if (command == COMMAND_ACCCAL && !repeated) { |
| 101 | // Run gyro and acc. meter calibration but do not repeat it. |
108 | // Run gyro and acc. meter calibration but do not repeat it. |
| 102 | analog_calibrateAcc(); |
109 | analog_calibrateAcc(); |
| 103 | attitude_setNeutral(); |
110 | attitude_setNeutral(); |
| 104 | flight_setNeutral(); |
111 | flight_setNeutral(); |
| 105 | controlMixer_setNeutral(); |
112 | controlMixer_setNeutral(); |
| 106 | beepNumber(getActiveParamSet()); |
113 | beepNumber(getActiveParamSet()); |
| 107 | } |
114 | } |
| 108 | } |
115 | } |
| 109 | } // end !MOTOR_RUN condition. |
116 | } // end !MOTOR_RUN condition. |
| 110 | if (command == COMMAND_START) { |
117 | if (command == COMMAND_START) { |
| 111 | isFlying = 1; // TODO: Really???? |
118 | isFlying = 1; // TODO: Really???? |
| 112 | // if (!controlMixer_isCommandRepeated()) { |
119 | // if (!controlMixer_isCommandRepeated()) { |
| 113 | // attitude_startDynamicCalibration(); // Try sense the effect of the motors on sensors. |
120 | // attitude_startDynamicCalibration(); // Try sense the effect of the motors on sensors. |
| 114 | MKFlags |= (MKFLAG_MOTOR_RUN | MKFLAG_START); // set flag RUN and START. TODO: Is that START flag used at all??? |
121 | MKFlags |= (MKFLAG_MOTOR_RUN | MKFLAG_START); // set flag RUN and START. TODO: Is that START flag used at all??? |
| 115 | // } else { // Pilot is holding stick, ever after motor start. Continue to sense the effect of the motors on sensors. |
122 | // } else { // Pilot is holding stick, ever after motor start. Continue to sense the effect of the motors on sensors. |
| 116 | // attitude_continueDynamicCalibration(); |
123 | // attitude_continueDynamicCalibration(); |
| 117 | // setPointYaw = 0; |
124 | // setPointYaw = 0; |
| 118 | // IPartPitch = 0; |
125 | // IPartPitch = 0; |
| 119 | // IPartRoll = 0; |
126 | // IPartRoll = 0; |
| 120 | // } |
127 | // } |
| 121 | } else if (command == COMMAND_STOP) { |
128 | } else if (command == COMMAND_STOP) { |
| 122 | isFlying = 0; |
129 | isFlying = 0; |
| 123 | MKFlags &= ~(MKFLAG_MOTOR_RUN); |
130 | MKFlags &= ~(MKFLAG_MOTOR_RUN); |
| 124 | } |
131 | } |
| 125 | } |
132 | } |
| 126 | 133 | ||
| 127 | /* |
134 | /* |
| 128 | * if (controlMixer_testCompassCalState()) { |
135 | * if (controlMixer_testCompassCalState()) { |
| 129 | compassCalState++; |
136 | compassCalState++; |
| 130 | if (compassCalState < 5) |
137 | if (compassCalState < 5) |
| 131 | beepNumber(compassCalState); |
138 | beepNumber(compassCalState); |
| 132 | else |
139 | else |
| 133 | beep(1000); |
140 | beep(1000); |
| 134 | } |
141 | } |
| 135 | * |
142 | * |
| 136 | */ |
143 | */ |
| - | 144 | ||
| 137 | 145 | #ifdef USE_MK3MAG |
|
| 138 | uint8_t commands_isCalibratingCompass(void) { |
146 | uint8_t commands_isCalibratingCompass(void) { |
| 139 | return RC_testCompassCalState(); |
147 | return RC_testCompassCalState(); |
| 140 | } |
148 | } |
| - | 149 | #endif |
|
| 141 | 150 | ||