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atbetaflight
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This commit is contained in:
treymarc 2014-01-01 10:18:18 +01:00
parent 239120ba4e
commit 01f079c254
2 changed files with 574 additions and 569 deletions
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11
src/board.h
View File

@ -122,7 +122,8 @@ enum {
TEMP_UPDATED = 1 << 3 TEMP_UPDATED = 1 << 3
}; };
typedef struct sensor_data_t { typedef struct sensor_data_t
{
int16_t gyro[3]; int16_t gyro[3];
int16_t acc[3]; int16_t acc[3];
int16_t mag[3]; int16_t mag[3];
@ -138,14 +139,16 @@ typedef void (*serialReceiveCallbackPtr)(uint16_t data); // used by serial drive
typedef uint16_t (* rcReadRawDataPtr)(uint8_t chan); // used by receiver driver to return channel data typedef uint16_t (* rcReadRawDataPtr)(uint8_t chan); // used by receiver driver to return channel data
typedef void (* pidControllerFuncPtr)(void); // pid controller function prototype typedef void (* pidControllerFuncPtr)(void); // pid controller function prototype
typedef struct sensor_t { typedef struct sensor_t
{
sensorInitFuncPtr init; // initialize function sensorInitFuncPtr init; // initialize function
sensorReadFuncPtr read; // read 3 axis data function sensorReadFuncPtr read; // read 3 axis data function
sensorReadFuncPtr temperature; // read temperature if available sensorReadFuncPtr temperature; // read temperature if available
float scale; // scalefactor (currently used for gyro only, todo for accel) float scale; // scalefactor (currently used for gyro only, todo for accel)
} sensor_t; } sensor_t;
typedef struct baro_t { typedef struct baro_t
{
uint16_t ut_delay; uint16_t ut_delay;
uint16_t up_delay; uint16_t up_delay;
baroOpFuncPtr start_ut; baroOpFuncPtr start_ut;
@ -178,6 +181,7 @@ typedef struct baro_t {
#define LED0_PIN Pin_1 // D3, PA1/USART2_RTS/ADC1/TIM2_CH3 - "LED2" on silkscreen, Yellow #define LED0_PIN Pin_1 // D3, PA1/USART2_RTS/ADC1/TIM2_CH3 - "LED2" on silkscreen, Yellow
#define LED1_GPIO GPIOA #define LED1_GPIO GPIOA
#define LED1_PIN Pin_5 // D13, PA5/SPI1_SCK/ADC5 - "LED1" on silkscreen, Green #define LED1_PIN Pin_5 // D13, PA5/SPI1_SCK/ADC5 - "LED1" on silkscreen, Green
#define GYRO #define GYRO
#define ACC #define ACC
@ -227,6 +231,7 @@ typedef struct baro_t {
#endif #endif
#undef SOFT_I2C // enable to test software i2c #undef SOFT_I2C // enable to test software i2c
#include "utils.h" #include "utils.h"
#ifdef FY90Q #ifdef FY90Q

24
src/mixer.c
View File

@ -43,12 +43,12 @@ static const motorMixer_t mixerY6[] = {
}; };
static const motorMixer_t mixerHex6P[] = { static const motorMixer_t mixerHex6P[] = {
{ 1.0f, -0.866025f, 0.5f, 1.0f }, // REAR_R { 1.0f, -1.0f, 0.866025f, 1.0f }, // REAR_R
{ 1.0f, -0.866025f, -0.5f, -1.0f }, // FRONT_R { 1.0f, -1.0f, -0.866025f, -1.0f }, // FRONT_R
{ 1.0f, 0.866025f, 0.5f, 1.0f }, // REAR_L { 1.0f, 1.0f, 0.866025f, 1.0f }, // REAR_L
{ 1.0f, 0.866025f, -0.5f, -1.0f }, // FRONT_L { 1.0f, 1.0f, -0.866025f, -1.0f }, // FRONT_L
{ 1.0f, 0.0f, -1.0f, 1.0f }, // FRONT { 1.0f, 0.0f, -0.866025f, 1.0f }, // FRONT
{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR { 1.0f, 0.0f, 0.866025f, -1.0f }, // REAR
}; };
static const motorMixer_t mixerY4[] = { static const motorMixer_t mixerY4[] = {
@ -59,12 +59,12 @@ static const motorMixer_t mixerY4[] = {
}; };
static const motorMixer_t mixerHex6X[] = { static const motorMixer_t mixerHex6X[] = {
{ 1.0f, -0.5f, 0.866025f, 1.0f }, // REAR_R { 1.0f, -0.866025f, 1.0f, 1.0f }, // REAR_R
{ 1.0f, -0.5f, -0.866025f, 1.0f }, // FRONT_R { 1.0f, -0.866025f, -1.0f, 1.0f }, // FRONT_R
{ 1.0f, 0.5f, 0.866025f, -1.0f }, // REAR_L { 1.0f, 0.866025f, 1.0f, -1.0f }, // REAR_L
{ 1.0f, 0.5f, -0.866025f, -1.0f }, // FRONT_L { 1.0f, 0.866025f, -1.0f, -1.0f }, // FRONT_L
{ 1.0f, -1.0f, 0.0f, -1.0f }, // RIGHT { 1.0f, -0.866025f, 0.0f, -1.0f }, // RIGHT
{ 1.0f, 1.0f, 0.0f, 1.0f }, // LEFT { 1.0f, 0.866025f, 0.0f, 1.0f }, // LEFT
}; };
static const motorMixer_t mixerOctoX8[] = { static const motorMixer_t mixerOctoX8[] = {