rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

added dynamic mixer stuff 

moved around features/sensors setting stuff into config instead of drv_system
saving features to eeprom now to avoid stupid
added gcc crap for __nop and __dmb
added digital servo feature to pwm driver, used for tri or whatever
added just plain reboot option in addition to reboot to bootloader


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@93 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-02-24 03:42:07 +00:00
parent e1afcdca09
commit 13173a30dc
17 changed files with 1361 additions and 667 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1106
baseflight.uvgui.timecop
View File

File diff suppressed because it is too large Load Diff

215
baseflight.uvopt
View File

@ -112,7 +112,7 @@
<tRbox>1</tRbox>
<sRunDeb>0</sRunDeb>
<sLrtime>0</sLrtime>
<nTsel>7</nTsel>
<nTsel>1</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@ -123,7 +123,7 @@
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
<pMon>Segger\JL2CM3.dll</pMon>
<pMon>BIN\UL2CM3.DLL</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
@ -144,7 +144,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
<Name>(106=-1,-1,-1,-1,0)(107=-1,-1,-1,-1,0)</Name>
<Name>(105=-1,-1,-1,-1,0)(106=-1,-1,-1,-1,0)(107=-1,-1,-1,-1,0)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@ -154,77 +154,9 @@
<SetRegEntry>
<Number>0</Number>
<Key>UL2CM3</Key>
<Name>-O14 -S0 -C0 -N00("ARM Cortex-M3") -D00(1BA00477) -L00(4) -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL010000)</Name>
<Name>-UV0168AVR -O238 -S8 -C0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL010000</Name>
</SetRegEntry>
</TargetDriverDllRegistry>
<WatchWindow1>
<Ww>
<count>0</count>
<WinNumber>1</WinNumber>
<ItemText>gyroADC,0x0A</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
<ItemText>accADC,0x0A</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>currentTime,0x0A</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>previousTime,0x0A</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>cycleTime,0x0A</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>eep_entry</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>gyroData,0x0A</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>magADC,0x0A</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>maginv</ItemText>
</Ww>
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
<ItemText>magaxis</ItemText>
</Ww>
<Ww>
<count>10</count>
<WinNumber>1</WinNumber>
<ItemText>rawMagADC,0x0A</ItemText>
</Ww>
<Ww>
<count>11</count>
<WinNumber>1</WinNumber>
<ItemText>param_b5
</ItemText>
</Ww>
<Ww>
<count>12</count>
<WinNumber>1</WinNumber>
<ItemText>rawADC,0x0A</ItemText>
</Ww>
</WatchWindow1>
<MemoryWindow1>
<Mm>
<WinNumber>1</WinNumber>
@ -267,19 +199,6 @@
</DebugFlag>
<LintExecutable></LintExecutable>
<LintConfigFile></LintConfigFile>
<LogicAnalyzers>
<Wi>
<IntNumber>0</IntNumber>
<FirstString>cycleTime</FirstString>
<SecondString>00800000000000000000000000000000E0FFEF40000000000000000000000000000000006379636C6554696D650000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000010000000000000000000000000000000000000000000000000000000000000000000000CC010008</SecondString>
</Wi>
</LogicAnalyzers>
<SystemViewers>
<Entry>
<Name>System Viewer\I2C2</Name>
<WinId>35905</WinId>
</Entry>
</SystemViewers>
</TargetOption>
</Target>
@ -545,10 +464,10 @@
<FileType>1</FileType>
<tvExp>0</tvExp>
<Focus>0</Focus>
<ColumnNumber>32</ColumnNumber>
<ColumnNumber>37</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg>
<TopLine>1</TopLine>
<CurrentLine>23</CurrentLine>
<CurrentLine>26</CurrentLine>
<bDave2>0</bDave2>
<PathWithFileName>.\main.c</PathWithFileName>
<FilenameWithoutPath>main.c</FilenameWithoutPath>
@ -559,10 +478,10 @@
<FileType>5</FileType>
<tvExp>0</tvExp>
<Focus>0</Focus>
<ColumnNumber>14</ColumnNumber>
<ColumnNumber>25</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg>
<TopLine>22</TopLine>
<CurrentLine>28</CurrentLine>
<TopLine>0</TopLine>
<CurrentLine>0</CurrentLine>
<bDave2>0</bDave2>
<PathWithFileName>.\board.h</PathWithFileName>
<FilenameWithoutPath>board.h</FilenameWithoutPath>
@ -573,10 +492,10 @@
<FileType>1</FileType>
<tvExp>0</tvExp>
<Focus>0</Focus>
<ColumnNumber>0</ColumnNumber>
<ColumnNumber>26</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg>
<TopLine>27</TopLine>
<CurrentLine>27</CurrentLine>
<TopLine>0</TopLine>
<CurrentLine>0</CurrentLine>
<bDave2>0</bDave2>
<PathWithFileName>.\imu.c</PathWithFileName>
<FilenameWithoutPath>imu.c</FilenameWithoutPath>
@ -589,8 +508,8 @@
<Focus>0</Focus>
<ColumnNumber>0</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg>
<TopLine>624</TopLine>
<CurrentLine>631</CurrentLine>
<TopLine>0</TopLine>
<CurrentLine>0</CurrentLine>
<bDave2>0</bDave2>
<PathWithFileName>.\mw.c</PathWithFileName>
<FilenameWithoutPath>mw.c</FilenameWithoutPath>
@ -601,10 +520,10 @@
<FileType>5</FileType>
<tvExp>0</tvExp>
<Focus>0</Focus>
<ColumnNumber>0</ColumnNumber>
<ColumnNumber>27</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg>
<TopLine>154</TopLine>
<CurrentLine>167</CurrentLine>
<TopLine>115</TopLine>
<CurrentLine>124</CurrentLine>
<bDave2>0</bDave2>
<PathWithFileName>.\mw.h</PathWithFileName>
<FilenameWithoutPath>mw.h</FilenameWithoutPath>
@ -617,8 +536,8 @@
<Focus>0</Focus>
<ColumnNumber>0</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg>
<TopLine>187</TopLine>
<CurrentLine>212</CurrentLine>
<TopLine>0</TopLine>
<CurrentLine>0</CurrentLine>
<bDave2>0</bDave2>
<PathWithFileName>.\sensors.c</PathWithFileName>
<FilenameWithoutPath>sensors.c</FilenameWithoutPath>
@ -629,10 +548,10 @@
<FileType>1</FileType>
<tvExp>0</tvExp>
<Focus>0</Focus>
<ColumnNumber>26</ColumnNumber>
<ColumnNumber>0</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg>
<TopLine>0</TopLine>
<CurrentLine>0</CurrentLine>
<TopLine>1</TopLine>
<CurrentLine>11</CurrentLine>
<bDave2>0</bDave2>
<PathWithFileName>.\mixer.c</PathWithFileName>
<FilenameWithoutPath>mixer.c</FilenameWithoutPath>
@ -643,10 +562,10 @@
<FileType>1</FileType>
<tvExp>0</tvExp>
<Focus>0</Focus>
<ColumnNumber>12</ColumnNumber>
<ColumnNumber>26</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg>
<TopLine>162</TopLine>
<CurrentLine>181</CurrentLine>
<TopLine>200</TopLine>
<CurrentLine>215</CurrentLine>
<bDave2>0</bDave2>
<PathWithFileName>.\serial.c</PathWithFileName>
<FilenameWithoutPath>serial.c</FilenameWithoutPath>
@ -657,10 +576,10 @@
<FileType>1</FileType>
<tvExp>0</tvExp>
<Focus>0</Focus>
<ColumnNumber>0</ColumnNumber>
<ColumnNumber>4</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg>
<TopLine>0</TopLine>
<CurrentLine>0</CurrentLine>
<TopLine>107</TopLine>
<CurrentLine>120</CurrentLine>
<bDave2>0</bDave2>
<PathWithFileName>.\config.c</PathWithFileName>
<FilenameWithoutPath>config.c</FilenameWithoutPath>
@ -680,8 +599,8 @@
<Focus>0</Focus>
<ColumnNumber>0</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg>
<TopLine>283</TopLine>
<CurrentLine>300</CurrentLine>
<TopLine>0</TopLine>
<CurrentLine>0</CurrentLine>
<bDave2>0</bDave2>
<PathWithFileName>.\drv_i2c.c</PathWithFileName>
<FilenameWithoutPath>drv_i2c.c</FilenameWithoutPath>
@ -694,8 +613,8 @@
<Focus>0</Focus>
<ColumnNumber>0</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg>
<TopLine>1</TopLine>
<CurrentLine>1</CurrentLine>
<TopLine>0</TopLine>
<CurrentLine>0</CurrentLine>
<bDave2>0</bDave2>
<PathWithFileName>.\drv_pwm.c</PathWithFileName>
<FilenameWithoutPath>drv_pwm.c</FilenameWithoutPath>
@ -708,8 +627,8 @@
<Focus>0</Focus>
<ColumnNumber>6</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg>
<TopLine>18</TopLine>
<CurrentLine>18</CurrentLine>
<TopLine>0</TopLine>
<CurrentLine>0</CurrentLine>
<bDave2>0</bDave2>
<PathWithFileName>.\drv_adc.c</PathWithFileName>
<FilenameWithoutPath>drv_adc.c</FilenameWithoutPath>
@ -720,10 +639,10 @@
<FileType>1</FileType>
<tvExp>0</tvExp>
<Focus>0</Focus>
<ColumnNumber>0</ColumnNumber>
<ColumnNumber>8</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg>
<TopLine>213</TopLine>
<CurrentLine>232</CurrentLine>
<TopLine>0</TopLine>
<CurrentLine>0</CurrentLine>
<bDave2>0</bDave2>
<PathWithFileName>.\drv_bmp085.c</PathWithFileName>
<FilenameWithoutPath>drv_bmp085.c</FilenameWithoutPath>
@ -736,8 +655,8 @@
<Focus>0</Focus>
<ColumnNumber>0</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg>
<TopLine>32</TopLine>
<CurrentLine>56</CurrentLine>
<TopLine>0</TopLine>
<CurrentLine>0</CurrentLine>
<bDave2>0</bDave2>
<PathWithFileName>.\drv_adxl345.c</PathWithFileName>
<FilenameWithoutPath>drv_adxl345.c</FilenameWithoutPath>
@ -750,8 +669,8 @@
<Focus>0</Focus>
<ColumnNumber>13</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg>
<TopLine>13</TopLine>
<CurrentLine>28</CurrentLine>
<TopLine>0</TopLine>
<CurrentLine>0</CurrentLine>
<bDave2>0</bDave2>
<PathWithFileName>.\drv_mpu3050.c</PathWithFileName>
<FilenameWithoutPath>drv_mpu3050.c</FilenameWithoutPath>
@ -774,12 +693,12 @@
<GroupNumber>2</GroupNumber>
<FileNumber>17</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<Focus>0</Focus>
<ColumnNumber>115</ColumnNumber>
<ColumnNumber>22</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg>
<TopLine>55</TopLine>
<CurrentLine>60</CurrentLine>
<TopLine>139</TopLine>
<CurrentLine>169</CurrentLine>
<bDave2>0</bDave2>
<PathWithFileName>.\drv_system.c</PathWithFileName>
<FilenameWithoutPath>drv_system.c</FilenameWithoutPath>
@ -792,8 +711,8 @@
<Focus>0</Focus>
<ColumnNumber>42</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg>
<TopLine>20</TopLine>
<CurrentLine>45</CurrentLine>
<TopLine>0</TopLine>
<CurrentLine>0</CurrentLine>
<bDave2>0</bDave2>
<PathWithFileName>.\drv_hmc5883l.c</PathWithFileName>
<FilenameWithoutPath>drv_hmc5883l.c</FilenameWithoutPath>
@ -835,7 +754,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>22</FileNumber>
<FileNumber>21</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<Focus>0</Focus>
@ -849,7 +768,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>23</FileNumber>
<FileNumber>22</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<Focus>0</Focus>
@ -863,11 +782,11 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>24</FileNumber>
<FileNumber>23</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<Focus>0</Focus>
<ColumnNumber>26</ColumnNumber>
<ColumnNumber>0</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg>
<TopLine>0</TopLine>
<CurrentLine>0</CurrentLine>
@ -877,7 +796,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>25</FileNumber>
<FileNumber>24</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<Focus>0</Focus>
@ -891,11 +810,11 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>26</FileNumber>
<FileNumber>25</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<Focus>0</Focus>
<ColumnNumber>16</ColumnNumber>
<ColumnNumber>0</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg>
<TopLine>0</TopLine>
<CurrentLine>0</CurrentLine>
@ -905,21 +824,21 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>27</FileNumber>
<FileNumber>26</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<Focus>0</Focus>
<ColumnNumber>34</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg>
<TopLine>1095</TopLine>
<CurrentLine>1102</CurrentLine>
<TopLine>0</TopLine>
<CurrentLine>0</CurrentLine>
<bDave2>0</bDave2>
<PathWithFileName>.\lib\STM32F10x_StdPeriph_Driver\src\stm32f10x_rcc.c</PathWithFileName>
<FilenameWithoutPath>stm32f10x_rcc.c</FilenameWithoutPath>
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>28</FileNumber>
<FileNumber>27</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<Focus>0</Focus>
@ -933,7 +852,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>29</FileNumber>
<FileNumber>28</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<Focus>0</Focus>
@ -947,21 +866,21 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>30</FileNumber>
<FileNumber>29</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<Focus>0</Focus>
<ColumnNumber>0</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg>
<TopLine>576</TopLine>
<CurrentLine>591</CurrentLine>
<TopLine>0</TopLine>
<CurrentLine>0</CurrentLine>
<bDave2>0</bDave2>
<PathWithFileName>.\lib\STM32F10x_StdPeriph_Driver\src\stm32f10x_gpio.c</PathWithFileName>
<FilenameWithoutPath>stm32f10x_gpio.c</FilenameWithoutPath>
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>31</FileNumber>
<FileNumber>30</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<Focus>0</Focus>
@ -975,14 +894,14 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>0</FileNumber>
<FileNumber>31</FileNumber>
<FileType>2</FileType>
<tvExp>0</tvExp>
<Focus>0</Focus>
<ColumnNumber>21</ColumnNumber>
<ColumnNumber>0</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg>
<TopLine>133</TopLine>
<CurrentLine>143</CurrentLine>
<TopLine>0</TopLine>
<CurrentLine>0</CurrentLine>
<bDave2>0</bDave2>
<PathWithFileName>.\startup_stm32f10x_md.s</PathWithFileName>
<FilenameWithoutPath>startup_stm32f10x_md.s</FilenameWithoutPath>

49
baseflight.uvproj
View File

@ -136,7 +136,7 @@
<RestoreToolbox>1</RestoreToolbox>
</Target>
<RunDebugAfterBuild>0</RunDebugAfterBuild>
<TargetSelection>7</TargetSelection>
<TargetSelection>1</TargetSelection>
<SimDlls>
<CpuDll></CpuDll>
<CpuDllArguments></CpuDllArguments>
@ -150,7 +150,7 @@
<PeripheralDll></PeripheralDll>
<PeripheralDllArguments></PeripheralDllArguments>
<InitializationFile></InitializationFile>
<Driver>Segger\JL2CM3.dll</Driver>
<Driver>BIN\UL2CM3.DLL</Driver>
</TargetDlls>
</DebugOption>
<Utilities>
@ -160,9 +160,9 @@
<RunIndependent>0</RunIndependent>
<UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
<Capability>1</Capability>
<DriverSelection>4099</DriverSelection>
<DriverSelection>4096</DriverSelection>
</Flash1>
<Flash2>Segger\JL2CM3.dll</Flash2>
<Flash2>BIN\UL2CM3.DLL</Flash2>
<Flash3>"" ()</Flash3>
<Flash4></Flash4>
</Utilities>
@ -331,7 +331,7 @@
</ArmAdsMisc>
<Cads>
<interw>1</interw>
<Optim>1</Optim>
<Optim>4</Optim>
<oTime>0</oTime>
<SplitLS>0</SplitLS>
<OneElfS>0</OneElfS>
@ -390,45 +390,6 @@
<FileName>main.c</FileName>
<FileType>1</FileType>
<FilePath>.\main.c</FilePath>
<FileOption>
<CommonProperty>
<UseCPPCompiler>2</UseCPPCompiler>
<RVCTCodeConst>0</RVCTCodeConst>
<RVCTZI>0</RVCTZI>
<RVCTOtherData>0</RVCTOtherData>
<ModuleSelection>0</ModuleSelection>
<IncludeInBuild>2</IncludeInBuild>
<AlwaysBuild>2</AlwaysBuild>
<GenerateAssemblyFile>2</GenerateAssemblyFile>
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
</CommonProperty>
<FileArmAds>
<Cads>
<interw>2</interw>
<Optim>4</Optim>
<oTime>2</oTime>
<SplitLS>2</SplitLS>
<OneElfS>2</OneElfS>
<Strict>2</Strict>
<EnumInt>2</EnumInt>
<PlainCh>2</PlainCh>
<Ropi>2</Ropi>
<Rwpi>2</Rwpi>
<wLevel>0</wLevel>
<uThumb>2</uThumb>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
</File>
<File>
<FileName>board.h</FileName>

2
board.h
View File

@ -28,6 +28,8 @@ typedef enum {
typedef enum {
FEATURE_PPM = 1 << 0,
FEATURE_VBAT = 1 << 1,
FEATURE_SERVO = 1 << 2,
FEATURE_DIGITAL_SERVO = 1 << 3,
} AvailableFeatures;
#define digitalHi(p, i) { p->BSRR = i; }

85
config.c
View File

@ -5,7 +5,10 @@
#define FLASH_PAGE_SIZE ((uint16_t)0x400)
#define FLASH_WRITE_ADDR (0x08000000 + (uint32_t)FLASH_PAGE_SIZE * 63) // use the last KB for storage
static uint8_t checkNewConf = 151;
static uint32_t enabledSensors = 0;
static uint32_t enabledFeatures = 0;
static uint8_t checkNewConf = 152;
typedef struct eep_entry_t {
void *var;
@ -17,6 +20,8 @@ typedef struct eep_entry_t {
// ************************************************************************************************************
volatile eep_entry_t eep_entry[] = {
{&checkNewConf, sizeof(checkNewConf)}
, {&enabledFeatures, sizeof(enabledFeatures)}
, {&mixerConfiguration, sizeof(mixerConfiguration)}
, {&P8, sizeof(P8)}
, {&I8, sizeof(I8)}
, {&D8, sizeof(D8)}
@ -31,14 +36,9 @@ volatile eep_entry_t eep_entry[] = {
, {&activate1, sizeof(activate1)}
, {&activate2, sizeof(activate2)}
, {&powerTrigger1, sizeof(powerTrigger1)}
#ifdef FLYING_WING
, {&wing_left_mid, sizeof(wing_left_mid)}
, {&wing_right_mid, sizeof(wing_right_mid)}
#endif
#ifdef TRI
, {&tri_yaw_middle, sizeof(tri_yaw_middle)}
#endif
};
#define EEBLOCK_SIZE sizeof(eep_entry) / sizeof(eep_entry_t)
@ -56,15 +56,20 @@ void readEEPROM(void)
#if defined(POWERMETER)
pAlarm = (uint32_t) powerTrigger1 *(uint32_t) PLEVELSCALE *(uint32_t) PLEVELDIV; // need to cast before multiplying
#endif
for (i = 0; i < 7; i++)
lookupRX[i] = (2500 + rcExpo8 * (i * i - 25)) * i * (int32_t) rcRate8 / 1250;
#ifdef FLYING_WING
wing_left_mid = constrain(wing_left_mid, WING_LEFT_MIN, WING_LEFT_MAX); //LEFT
wing_right_mid = constrain(wing_right_mid, WING_RIGHT_MIN, WING_RIGHT_MAX); //RIGHT
#endif
#ifdef TRI
tri_yaw_middle = constrain(tri_yaw_middle, TRI_YAW_CONSTRAINT_MIN, TRI_YAW_CONSTRAINT_MAX); //REAR
#endif
switch (mixerConfiguration) {
case MULTITYPE_FLYING_WING:
wing_left_mid = constrain(wing_left_mid, WING_LEFT_MIN, WING_LEFT_MAX); //LEFT
wing_right_mid = constrain(wing_right_mid, WING_RIGHT_MIN, WING_RIGHT_MAX); //RIGHT
break;
case MULTITYPE_TRI:
tri_yaw_middle = constrain(tri_yaw_middle, TRI_YAW_CONSTRAINT_MIN, TRI_YAW_CONSTRAINT_MAX); //REAR
break;
}
}
void writeParams(void)
@ -80,7 +85,7 @@ void writeParams(void)
memcpy(p, eep_entry[i].var, eep_entry[i].size);
p += eep_entry[i].size;
}
p = conf;
FLASH_Unlock();
@ -112,6 +117,9 @@ void checkFirstTime(void)
return;
// Default settings
mixerConfiguration = MULTITYPE_QUADX;
featureSet(FEATURE_VBAT | FEATURE_PPM);
P8[ROLL] = 40;
I8[ROLL] = 30;
D8[ROLL] = 23;
@ -146,12 +154,47 @@ void checkFirstTime(void)
accTrim[0] = 0;
accTrim[1] = 0;
powerTrigger1 = 0;
#ifdef FLYING_WING
wing_left_mid = WING_LEFT_MID;
wing_right_mid = WING_RIGHT_MID;
#endif
#ifdef TRI
tri_yaw_middle = TRI_YAW_MIDDLE;
#endif
switch (mixerConfiguration) {
case MULTITYPE_FLYING_WING:
wing_left_mid = WING_LEFT_MID;
wing_right_mid = WING_RIGHT_MID;
break;
case MULTITYPE_TRI:
tri_yaw_middle = TRI_YAW_MIDDLE;
break;
}
writeParams();
}
bool sensors(uint32_t mask)
{
return enabledSensors & mask;
}
void sensorsSet(uint32_t mask)
{
enabledSensors |= mask;
}
void sensorsClear(uint32_t mask)
{
enabledSensors &= ~(mask);
}
bool feature(uint32_t mask)
{
return enabledFeatures & mask;
}
void featureSet(uint32_t mask)
{
enabledFeatures |= mask;
}
void featureClear(uint32_t mask)
{
enabledFeatures &= ~(mask);
}

4
drv_bmp085.c
View File

@ -224,6 +224,10 @@ void bmp085_start_ut(void)
i2cWrite(p_bmp085->dev_addr, BMP085_CTRL_MEAS_REG, BMP085_T_MEASURE);
}
#ifdef __GNUC__
#define __nop() asm("mov r0,r0");
#endif
uint16_t bmp085_get_ut(void)
{
uint16_t ut;

12
drv_i2c.c
View File

@ -4,10 +4,8 @@
// SCL PB10
// SDA PB11
#ifdef __gnuc__ // TODO check this
#define DMB() asm volatile ("dmb":::"memory")
#else
#define DMB() __DMB()
#ifdef __GNUC__ // TODO check this
#define __DMB() asm volatile ("dmb":::"memory")
#endif
static I2C_TypeDef *I2Cx;
@ -168,17 +166,17 @@ void i2c_ev_handler(void)
} else if (SReg_1 & 0x0002) { //we just sent the address - EV6 in ref manual
//Read SR1,2 to clear ADDR
volatile uint8_t a;
DMB(); // memory fence to control hardware
__DMB(); // memory fence to control hardware
if (bytes == 1 && reading && subaddress_sent) { //we are receiving 1 byte - EV6_3
I2C_AcknowledgeConfig(I2Cx, DISABLE); //turn off ACK
DMB();
__DMB();
a = I2Cx->SR2; //clear ADDR after ACK is turned off
I2C_GenerateSTOP(I2Cx, ENABLE); //program the stop
final_stop = 1;
I2C_ITConfig(I2Cx, I2C_IT_BUF, ENABLE); //allow us to have an EV7
} else { //EV6 and EV6_1
a = I2Cx->SR2; //clear the ADDR here
DMB();
__DMB();
if (bytes == 2 && reading && subaddress_sent) { //rx 2 bytes - EV6_1
I2C_AcknowledgeConfig(I2Cx, DISABLE); //turn off ACK
I2C_ITConfig(I2Cx, I2C_IT_BUF, DISABLE); //disable TXE to allow the buffer to fill

11
drv_pwm.c
View File

@ -144,7 +144,7 @@ static void pwmIRQHandler(TIM_TypeDef *tim)
}
}
void pwmInit(bool usePPM, bool useServos)
void pwmInit(bool usePPM, bool useServos, bool useDigitalServos)
{
uint8_t i;
GPIO_InitTypeDef GPIO_InitStructure = { 0, };
@ -268,8 +268,11 @@ void pwmInit(bool usePPM, bool useServos)
// Output timers
if (useServos) {
// 50Hz period on ch1, 2 for servo
TIM_TimeBaseStructure.TIM_Period = PULSE_PERIOD_SERVO_ANALOG - 1;
// 50Hz/200Hz period on ch1, 2 for servo
if (useDigitalServos)
TIM_TimeBaseStructure.TIM_Period = PULSE_PERIOD_SERVO_DIGITAL - 1;
else
TIM_TimeBaseStructure.TIM_Period = PULSE_PERIOD_SERVO_ANALOG - 1;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = PULSE_PERIOD - 1;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
@ -278,7 +281,7 @@ void pwmInit(bool usePPM, bool useServos)
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
}
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;

2
drv_pwm.h
View File

@ -1,5 +1,5 @@
#pragma once
void pwmInit(bool usePPM, bool useServos);
void pwmInit(bool usePPM, bool useServos, bool useDigitalServos);
void pwmWrite(uint8_t channel, uint16_t value);
uint16_t pwmRead(uint8_t channel);

43
drv_system.c
View File

@ -1,8 +1,5 @@
#include "board.h"
static uint32_t enabledSensors = 0;
static uint32_t enabledFeatures = 0;
// Cycle counter stuff - these should be defined by CMSIS, but they aren't
#define DWT_CTRL (*(volatile uint32_t *)0xE0001000)
#define DWT_CYCCNT ((volatile uint32_t *)0xE0001004)
@ -143,36 +140,6 @@ void delay(uint32_t ms)
delayMicroseconds(1000);
}
bool sensors(uint32_t mask)
{
return enabledSensors & mask;
}
void sensorsSet(uint32_t mask)
{
enabledSensors |= mask;
}
void sensorsClear(uint32_t mask)
{
enabledSensors &= ~(mask);
}
bool feature(uint32_t mask)
{
return enabledFeatures & mask;
}
void featureSet(uint32_t mask)
{
enabledFeatures |= mask;
}
void featureClear(uint32_t mask)
{
enabledFeatures &= ~(mask);
}
void failureMode(uint8_t mode)
{
LED1_ON;
@ -189,11 +156,13 @@ void failureMode(uint8_t mode)
#define AIRCR_VECTKEY_MASK ((uint32_t)0x05FA0000)
void systemResetToBootloader(void)
void systemReset(bool toBootloader)
{
// 1FFFF000 -> 20000200 -> SP
// 1FFFF004 -> 1FFFF021 -> PC
*((uint32_t *)0x20004FF0) = 0xDEADBEEF; // 20KB STM32F103
if (toBootloader) {
// 1FFFF000 -> 20000200 -> SP
// 1FFFF004 -> 1FFFF021 -> PC
*((uint32_t *)0x20004FF0) = 0xDEADBEEF; // 20KB STM32F103
}
// Generate system reset
SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;

11
drv_system.h
View File

@ -7,17 +7,8 @@ void delay(uint32_t ms);
uint32_t micros(void);
uint32_t millis(void);
// features
bool sensors(uint32_t mask);
void sensorsSet(uint32_t mask);
void sensorsClear(uint32_t mask);
bool feature(uint32_t mask);
void featureSet(uint32_t mask);
void featureClear(uint32_t mask);
// failure
void failureMode(uint8_t mode);
// bootloader/IAP
void systemResetToBootloader(void);
void systemReset(bool toBootloader);

40
imu.c
View File

@ -70,11 +70,11 @@ void computeIMU(void)
if (!sensors(SENSOR_ACC))
accADC[axis] = 0;
}
#if defined(TRI)
gyroData[YAW] = (gyroYawSmooth * 2 + gyroData[YAW] + 1) / 3;
gyroYawSmooth = gyroData[YAW];
#endif
if (mixerConfiguration == MULTITYPE_TRI) {
gyroData[YAW] = (gyroYawSmooth * 2 + gyroData[YAW] + 1) / 3;
gyroYawSmooth = gyroData[YAW];
}
}
// **************************************************
@ -152,37 +152,11 @@ void rotateV(struct fp_vector *v, float *delta)
v->Y += delta[PITCH] * v_tmp.Z + delta[YAW] * v_tmp.X;
}
#if 1
static int16_t _atan2f(float y, float x)
{
#define fp_is_neg(val) (val < 0 ? 1 : 0)
float z = y / x;
int16_t zi = abs((int16_t)(z * 100));
int8_t y_neg = fp_is_neg(y);
if (zi < 100) {
if (zi > 10)
z = z / (1.0f + 0.28f * z * z);
if (fp_is_neg(x)) {
if (y_neg)
z -= M_PI;
else
z += M_PI;
}
} else {
z = (M_PI / 2.0f) - z / (z * z + 0.28f);
if (y_neg)
z -= M_PI;
}
z *= (180.0f / M_PI * 10);
return z;
// no need for aidsy inaccurate shortcuts on a proper platform
return (int16_t)(atan2f(y, x) * (180.0f / M_PI * 10.0f));
}
#else
static int16_t _atan2f(float y, float x)
{
return (int16_t)atan2f(y, x) * (180.0f / M_PI * 10.0f);
}
#endif
static void getEstimatedAttitude(void)
{

6
main.c
View File

@ -6,6 +6,7 @@ int main(void)
uint8_t i;
#if 0
// using this to write asm for bootloader :)
RCC->APB2ENR |= RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO; // GPIOB + AFIO
AFIO->MAPR &= 0xF0FFFFFF;
AFIO->MAPR = 0x02000000;
@ -22,8 +23,9 @@ int main(void)
featureSet(FEATURE_VBAT | FEATURE_PPM);
sensorsSet(SENSOR_ACC | SENSOR_BARO | SENSOR_MAG);
pwmInit(feature(FEATURE_PPM), false);
mixerInit(); // this will configure FEATURE_SERVO depending on mixer type
pwmInit(feature(FEATURE_PPM), feature(FEATURE_SERVO), feature(FEATURE_DIGITAL_SERVO));
LED1_ON;
LED0_OFF;
for (i = 0; i < 10; i++) {

339
mixer.c
View File

@ -1,59 +1,96 @@
#include "board.h"
#include "mw.h"
#if defined(BI) || defined(TRI) || defined(SERVO_TILT) || defined(GIMBAL) || defined(FLYING_WING) || defined(CAMTRIG)
#define SERVO
#endif
static uint8_t numberMotor = 4;
int16_t motor[8];
int16_t servo[8] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 };
uint8_t mixerConfiguration = MULTITYPE_TRI;
uint16_t wing_left_mid = WING_LEFT_MID;
uint16_t wing_right_mid = WING_RIGHT_MID;
uint16_t tri_yaw_middle = TRI_YAW_MIDDLE;
#if defined(GIMBAL)
#define NUMBER_MOTOR 0
#define PRI_SERVO_FROM 1 // use servo from 1 to 2
#define PRI_SERVO_TO 2
#elif defined(FLYING_WING)
#define NUMBER_MOTOR 1
#define PRI_SERVO_FROM 1 // use servo from 1 to 2
#define PRI_SERVO_TO 2
#elif defined(BI)
#define NUMBER_MOTOR 2
#define PRI_SERVO_FROM 5 // use servo from 5 to 6
#define PRI_SERVO_TO 6
#elif defined(TRI)
#define NUMBER_MOTOR 3
#define PRI_SERVO_FROM 6 // use only servo 5
#define PRI_SERVO_TO 6
#elif defined(QUADP) || defined(QUADX) || defined(Y4)
#define NUMBER_MOTOR 4
#elif defined(Y6) || defined(HEX6) || defined(HEX6X)
#define NUMBER_MOTOR 6
#elif defined(OCTOX8) || defined(OCTOFLATP) || defined(OCTOFLATX)
#define NUMBER_MOTOR 8
#endif
void mixerInit(void)
{
if (mixerConfiguration == MULTITYPE_BI || mixerConfiguration == MULTITYPE_TRI || mixerConfiguration == MULTITYPE_GIMBAL || mixerConfiguration == MULTITYPE_FLYING_WING)
featureSet(FEATURE_SERVO);
switch (mixerConfiguration) {
case MULTITYPE_GIMBAL:
numberMotor = 0;
break;
case MULTITYPE_FLYING_WING:
numberMotor = 1;
break;
case MULTITYPE_BI:
numberMotor = 2;
break;
case MULTITYPE_TRI:
numberMotor = 3;
break;
case MULTITYPE_QUADP:
case MULTITYPE_QUADX:
case MULTITYPE_Y4:
case MULTITYPE_VTAIL4:
numberMotor = 4;
break;
case MULTITYPE_Y6:
case MULTITYPE_HEX6:
case MULTITYPE_HEX6X:
numberMotor = 6;
break;
case MULTITYPE_OCTOX8:
case MULTITYPE_OCTOFLATP:
case MULTITYPE_OCTOFLATX:
numberMotor = 8;
break;
}
}
void writeServos(void)
{
#if defined(SERVO)
if (!feature(FEATURE_SERVO))
return;
#endif
if (mixerConfiguration == MULTITYPE_TRI || mixerConfiguration == MULTITYPE_BI) {
/* One servo on Motor #4 */
pwmWrite(0, servo[4]);
if (mixerConfiguration == MULTITYPE_BI)
pwmWrite(1, servo[5]);
} else {
/* Two servos for camstab or FLYING_WING */
pwmWrite(0, servo[0]);
pwmWrite(1, servo[1]);
}
}
void writeMotors(void)
{
uint8_t i;
uint8_t offset = 0;
for (i = 0; i < NUMBER_MOTOR; i++)
pwmWrite(i, motor[i]);
// when servos are enabled, motor outputs 1..2 are for servos only
if (feature(FEATURE_SERVO))
offset = 2;
for (i = 0; i < numberMotor; i++)
pwmWrite(i + offset, motor[i]);
}
void writeAllMotors(int16_t mc)
{
uint8_t i;
// Sends commands to all motors
for (i = 0; i < NUMBER_MOTOR; i++)
for (i = 0; i < numberMotor; i++)
motor[i] = mc;
writeMotors();
}
#define PIDMIX(X,Y,Z) rcCommand[THROTTLE] + axisPID[ROLL] * X + axisPID[PITCH] * Y + YAW_DIRECTION * axisPID[YAW] * Z
void mixTable(void)
{
int16_t maxMotor;
@ -61,105 +98,133 @@ void mixTable(void)
static uint8_t camCycle = 0;
static uint8_t camState = 0;
static uint32_t camTime = 0;
if (numberMotor > 3) {
//prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -100 - abs(rcCommand[YAW]), +100 + abs(rcCommand[YAW]));
}
#define PIDMIX(X,Y,Z) rcCommand[THROTTLE] + axisPID[ROLL] * X + axisPID[PITCH] * Y + YAW_DIRECTION * axisPID[YAW] * Z
switch (mixerConfiguration) {
case MULTITYPE_BI:
motor[0] = PIDMIX(+1, 0, 0); //LEFT
motor[1] = PIDMIX(-1, 0, 0); //RIGHT
servo[4] = constrain(1500 + YAW_DIRECTION * (axisPID[YAW] + axisPID[PITCH]), 1020, 2000); //LEFT
servo[5] = constrain(1500 + YAW_DIRECTION * (axisPID[YAW] - axisPID[PITCH]), 1020, 2000); //RIGHT
break;
case MULTITYPE_TRI:
motor[0] = PIDMIX(0, +4 / 3, 0); //REAR
motor[1] = PIDMIX(-1, -2 / 3, 0); //RIGHT
motor[2] = PIDMIX(+1, -2 / 3, 0); //LEFT
servo[4] = constrain(tri_yaw_middle + YAW_DIRECTION * axisPID[YAW], TRI_YAW_CONSTRAINT_MIN, TRI_YAW_CONSTRAINT_MAX); //REAR
break;
#if NUMBER_MOTOR > 3
//prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -100 - abs(rcCommand[YAW]), +100 + abs(rcCommand[YAW]));
#endif
#ifdef BI
motor[0] = PIDMIX(+1, 0, 0); //LEFT
motor[1] = PIDMIX(-1, 0, 0); //RIGHT
servo[4] = constrain(1500 + YAW_DIRECTION * (axisPID[YAW] + axisPID[PITCH]), 1020, 2000); //LEFT
servo[5] = constrain(1500 + YAW_DIRECTION * (axisPID[YAW] - axisPID[PITCH]), 1020, 2000); //RIGHT
#endif
#ifdef TRI
motor[0] = PIDMIX(0, +4 / 3, 0); //REAR
motor[1] = PIDMIX(-1, -2 / 3, 0); //RIGHT
motor[2] = PIDMIX(+1, -2 / 3, 0); //LEFT
servo[5] = constrain(tri_yaw_middle + YAW_DIRECTION * axisPID[YAW], TRI_YAW_CONSTRAINT_MIN, TRI_YAW_CONSTRAINT_MAX); //REAR
case MULTITYPE_QUADP:
motor[0] = PIDMIX(0, +1, -1); //REAR
motor[1] = PIDMIX(-1, 0, +1); //RIGHT
motor[2] = PIDMIX(+1, 0, +1); //LEFT
motor[3] = PIDMIX(0, -1, -1); //FRONT
break;
#endif
#ifdef QUADP
motor[0] = PIDMIX(0, +1, -1); //REAR
motor[1] = PIDMIX(-1, 0, +1); //RIGHT
motor[2] = PIDMIX(+1, 0, +1); //LEFT
motor[3] = PIDMIX(0, -1, -1); //FRONT
#endif
#ifdef QUADX
motor[0] = PIDMIX(-1, +1, -1); //REAR_R
motor[1] = PIDMIX(-1, -1, +1); //FRONT_R
motor[2] = PIDMIX(+1, +1, +1); //REAR_L
motor[3] = PIDMIX(+1, -1, -1); //FRONT_L
#endif
#ifdef Y4
motor[0] = PIDMIX(+0, +1, -1); //REAR_1 CW
motor[1] = PIDMIX(-1, -1, 0); //FRONT_R CCW
motor[2] = PIDMIX(+0, +1, +1); //REAR_2 CCW
motor[3] = PIDMIX(+1, -1, 0); //FRONT_L CW
#endif
#ifdef Y6
motor[0] = PIDMIX(+0, +4 / 3, +1); //REAR
motor[1] = PIDMIX(-1, -2 / 3, -1); //RIGHT
motor[2] = PIDMIX(+1, -2 / 3, -1); //LEFT
motor[3] = PIDMIX(+0, +4 / 3, -1); //UNDER_REAR
motor[4] = PIDMIX(-1, -2 / 3, +1); //UNDER_RIGHT
motor[5] = PIDMIX(+1, -2 / 3, +1); //UNDER_LEFT
#endif
#ifdef HEX6
motor[0] = PIDMIX(-1 / 2, +1 / 2, +1); //REAR_R
motor[1] = PIDMIX(-1 / 2, -1 / 2, -1); //FRONT_R
motor[2] = PIDMIX(+1 / 2, +1 / 2, +1); //REAR_L
motor[3] = PIDMIX(+1 / 2, -1 / 2, -1); //FRONT_L
motor[4] = PIDMIX(+0, -1, +1); //FRONT
motor[5] = PIDMIX(+0, +1, -1); //REAR
#endif
#ifdef HEX6X
motor[0] = PIDMIX(-1 / 2, +1 / 2, +1); //REAR_R
motor[1] = PIDMIX(-1 / 2, -1 / 2, +1); //FRONT_R
motor[2] = PIDMIX(+1 / 2, +1 / 2, -1); //REAR_L
motor[3] = PIDMIX(+1 / 2, -1 / 2, -1); //FRONT_L
motor[4] = PIDMIX(-1, +0, -1); //RIGHT
motor[5] = PIDMIX(+1, +0, +1); //LEFT
#endif
#ifdef OCTOX8
motor[0] = PIDMIX(-1, +1, -1); //REAR_R
motor[1] = PIDMIX(-1, -1, +1); //FRONT_R
motor[2] = PIDMIX(+1, +1, +1); //REAR_L
motor[3] = PIDMIX(+1, -1, -1); //FRONT_L
motor[4] = PIDMIX(-1, +1, +1); //UNDER_REAR_R
motor[5] = PIDMIX(-1, -1, -1); //UNDER_FRONT_R
motor[6] = PIDMIX(+1, +1, -1); //UNDER_REAR_L
motor[7] = PIDMIX(+1, -1, +1); //UNDER_FRONT_L
#endif
#ifdef OCTOFLATP
motor[0] = PIDMIX(+7 / 10, -7 / 10, +1); //FRONT_L
motor[1] = PIDMIX(-7 / 10, -7 / 10, +1); //FRONT_R
motor[2] = PIDMIX(-7 / 10, +7 / 10, +1); //REAR_R
motor[3] = PIDMIX(+7 / 10, +7 / 10, +1); //REAR_L
motor[4] = PIDMIX(+0, -1, -1); //FRONT
motor[5] = PIDMIX(-1, +0, -1); //RIGHT
motor[6] = PIDMIX(+0, +1, -1); //REAR
motor[7] = PIDMIX(+1, +0, -1); //LEFT
#endif
#ifdef OCTOFLATX
motor[0] = PIDMIX(+1, -1 / 2, +1); //MIDFRONT_L
motor[1] = PIDMIX(-1 / 2, -1, +1); //FRONT_R
motor[2] = PIDMIX(-1, +1 / 2, +1); //MIDREAR_R
motor[3] = PIDMIX(+1 / 2, +1, +1); //REAR_L
motor[4] = PIDMIX(+1 / 2, -1, -1); //FRONT_L
motor[5] = PIDMIX(-1, -1 / 2, -1); //MIDFRONT_R
motor[6] = PIDMIX(-1 / 2, +1, -1); //REAR_R
motor[7] = PIDMIX(+1, +1 / 2, -1); //MIDREAR_L
#endif
#ifdef VTAIL4
motor[0] = PIDMIX(+0, +1, -1 / 2); //REAR_R
motor[1] = PIDMIX(-1, -1, +2 / 10); //FRONT_R
motor[2] = PIDMIX(+0, +1, +1 / 2); //REAR_L
motor[3] = PIDMIX(+1, -1, -2 / 10); //FRONT_L
#endif
case MULTITYPE_QUADX:
motor[0] = PIDMIX(-1, +1, -1); //REAR_R
motor[1] = PIDMIX(-1, -1, +1); //FRONT_R
motor[2] = PIDMIX(+1, +1, +1); //REAR_L
motor[3] = PIDMIX(+1, -1, -1); //FRONT_L
break;
case MULTITYPE_Y4:
motor[0] = PIDMIX(+0, +1, -1); //REAR_1 CW
motor[1] = PIDMIX(-1, -1, 0); //FRONT_R CCW
motor[2] = PIDMIX(+0, +1, +1); //REAR_2 CCW
motor[3] = PIDMIX(+1, -1, 0); //FRONT_L CW
break;
case MULTITYPE_Y6:
motor[0] = PIDMIX(+0, +4 / 3, +1); //REAR
motor[1] = PIDMIX(-1, -2 / 3, -1); //RIGHT
motor[2] = PIDMIX(+1, -2 / 3, -1); //LEFT
motor[3] = PIDMIX(+0, +4 / 3, -1); //UNDER_REAR
motor[4] = PIDMIX(-1, -2 / 3, +1); //UNDER_RIGHT
motor[5] = PIDMIX(+1, -2 / 3, +1); //UNDER_LEFT
break;
case MULTITYPE_HEX6:
motor[0] = PIDMIX(-1 / 2, +1 / 2, +1); //REAR_R
motor[1] = PIDMIX(-1 / 2, -1 / 2, -1); //FRONT_R
motor[2] = PIDMIX(+1 / 2, +1 / 2, +1); //REAR_L
motor[3] = PIDMIX(+1 / 2, -1 / 2, -1); //FRONT_L
motor[4] = PIDMIX(+0, -1, +1); //FRONT
motor[5] = PIDMIX(+0, +1, -1); //REAR
break;
case MULTITYPE_HEX6X:
motor[0] = PIDMIX(-1 / 2, +1 / 2, +1); //REAR_R
motor[1] = PIDMIX(-1 / 2, -1 / 2, +1); //FRONT_R
motor[2] = PIDMIX(+1 / 2, +1 / 2, -1); //REAR_L
motor[3] = PIDMIX(+1 / 2, -1 / 2, -1); //FRONT_L
motor[4] = PIDMIX(-1, +0, -1); //RIGHT
motor[5] = PIDMIX(+1, +0, +1); //LEFT
break;
case MULTITYPE_OCTOX8:
motor[0] = PIDMIX(-1, +1, -1); //REAR_R
motor[1] = PIDMIX(-1, -1, +1); //FRONT_R
motor[2] = PIDMIX(+1, +1, +1); //REAR_L
motor[3] = PIDMIX(+1, -1, -1); //FRONT_L
motor[4] = PIDMIX(-1, +1, +1); //UNDER_REAR_R
motor[5] = PIDMIX(-1, -1, -1); //UNDER_FRONT_R
motor[6] = PIDMIX(+1, +1, -1); //UNDER_REAR_L
motor[7] = PIDMIX(+1, -1, +1); //UNDER_FRONT_L
break;
case MULTITYPE_OCTOFLATP:
motor[0] = PIDMIX(+7 / 10, -7 / 10, +1); //FRONT_L
motor[1] = PIDMIX(-7 / 10, -7 / 10, +1); //FRONT_R
motor[2] = PIDMIX(-7 / 10, +7 / 10, +1); //REAR_R
motor[3] = PIDMIX(+7 / 10, +7 / 10, +1); //REAR_L
motor[4] = PIDMIX(+0, -1, -1); //FRONT
motor[5] = PIDMIX(-1, +0, -1); //RIGHT
motor[6] = PIDMIX(+0, +1, -1); //REAR
motor[7] = PIDMIX(+1, +0, -1); //LEFT
break;
case MULTITYPE_OCTOFLATX:
motor[0] = PIDMIX(+1, -1 / 2, +1); //MIDFRONT_L
motor[1] = PIDMIX(-1 / 2, -1, +1); //FRONT_R
motor[2] = PIDMIX(-1, +1 / 2, +1); //MIDREAR_R
motor[3] = PIDMIX(+1 / 2, +1, +1); //REAR_L
motor[4] = PIDMIX(+1 / 2, -1, -1); //FRONT_L
motor[5] = PIDMIX(-1, -1 / 2, -1); //MIDFRONT_R
motor[6] = PIDMIX(-1 / 2, +1, -1); //REAR_R
motor[7] = PIDMIX(+1, +1 / 2, -1); //MIDREAR_L
break;
case MULTITYPE_VTAIL4:
motor[0] = PIDMIX(+0, +1, -1 / 2); //REAR_R
motor[1] = PIDMIX(-1, -1, +2 / 10); //FRONT_R
motor[2] = PIDMIX(+0, +1, +1 / 2); //REAR_L
motor[3] = PIDMIX(+1, -1, -2 / 10); //FRONT_L
break;
case MULTITYPE_GIMBAL:
servo[0] = constrain(TILT_PITCH_MIDDLE + TILT_PITCH_PROP * angle[PITCH] / 16 + rcCommand[PITCH], TILT_PITCH_MIN, TILT_PITCH_MAX);
servo[1] = constrain(TILT_ROLL_MIDDLE + TILT_ROLL_PROP * angle[ROLL] / 16 + rcCommand[ROLL], TILT_ROLL_MIN, TILT_ROLL_MAX);
break;
case MULTITYPE_FLYING_WING:
motor[0] = rcCommand[THROTTLE];
if (passThruMode) { // do not use sensors for correction, simple 2 channel mixing
servo[0] = PITCH_DIRECTION_L * (rcData[PITCH] - MIDRC) + ROLL_DIRECTION_L * (rcData[ROLL] - MIDRC);
servo[1] = PITCH_DIRECTION_R * (rcData[PITCH] - MIDRC) + ROLL_DIRECTION_R * (rcData[ROLL] - MIDRC);
} else { // use sensors to correct (gyro only or gyro+acc according to aux1/aux2 configuration
servo[0] = PITCH_DIRECTION_L * axisPID[PITCH] + ROLL_DIRECTION_L * axisPID[ROLL];
servo[1] = PITCH_DIRECTION_R * axisPID[PITCH] + ROLL_DIRECTION_R * axisPID[ROLL];
}
servo[0] = constrain(servo[0] + wing_left_mid , WING_LEFT_MIN, WING_LEFT_MAX);
servo[1] = constrain(servo[1] + wing_right_mid, WING_RIGHT_MIN, WING_RIGHT_MAX);
break;
}
#ifdef SERVO_TILT
servo[0] = TILT_PITCH_MIDDLE + rcData[AUX3] - 1500;
@ -173,22 +238,6 @@ void mixTable(void)
servo[0] = constrain(servo[0], TILT_PITCH_MIN, TILT_PITCH_MAX);
servo[1] = constrain(servo[1], TILT_ROLL_MIN, TILT_ROLL_MAX);
#endif
#ifdef GIMBAL
servo[0] = constrain(TILT_PITCH_MIDDLE + TILT_PITCH_PROP * angle[PITCH] / 16 + rcCommand[PITCH], TILT_PITCH_MIN, TILT_PITCH_MAX);
servo[1] = constrain(TILT_ROLL_MIDDLE + TILT_ROLL_PROP * angle[ROLL] / 16 + rcCommand[ROLL], TILT_ROLL_MIN, TILT_ROLL_MAX);
#endif
#ifdef FLYING_WING
motor[0] = rcCommand[THROTTLE];
if (passThruMode) {// do not use sensors for correction, simple 2 channel mixing
servo[0] = PITCH_DIRECTION_L * (rcData[PITCH] - MIDRC) + ROLL_DIRECTION_L * (rcData[ROLL] - MIDRC);
servo[1] = PITCH_DIRECTION_R * (rcData[PITCH] - MIDRC) + ROLL_DIRECTION_R * (rcData[ROLL] - MIDRC);
} else { // use sensors to correct (gyro only or gyro+acc according to aux1/aux2 configuration
servo[0] = PITCH_DIRECTION_L * axisPID[PITCH] + ROLL_DIRECTION_L * axisPID[ROLL];
servo[1] = PITCH_DIRECTION_R * axisPID[PITCH] + ROLL_DIRECTION_R * axisPID[ROLL];
}
servo[0] = constrain(servo[0] + wing_left_mid , WING_LEFT_MIN, WING_LEFT_MAX);
servo[1] = constrain(servo[1] + wing_right_mid, WING_RIGHT_MIN, WING_RIGHT_MAX);
#endif
#if defined(CAMTRIG)
if (camCycle == 1) {
if (camState == 0) {
@ -213,10 +262,10 @@ void mixTable(void)
#endif
maxMotor = motor[0];
for (i = 1; i < NUMBER_MOTOR; i++)
for (i = 1; i < numberMotor; i++)
if (motor[i] > maxMotor)
maxMotor = motor[i];
for (i = 0; i < NUMBER_MOTOR; i++) {
for (i = 0; i < numberMotor; i++) {
if (maxMotor > MAXTHROTTLE) // this is a way to still have good gyro corrections if at least one motor reaches its max.
motor[i] -= maxMotor - MAXTHROTTLE;
motor[i] = constrain(motor[i], MINTHROTTLE, MAXTHROTTLE);

6
mw.c
View File

@ -42,12 +42,6 @@ uint8_t magMode = 0; // if compass heading hold is a activated
uint8_t baroMode = 0; // if altitude hold is activated
int16_t axisPID[3];
int16_t motor[8];
int16_t servo[8] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 };
uint16_t wing_left_mid = WING_LEFT_MID;
uint16_t wing_right_mid = WING_RIGHT_MID;
uint16_t tri_yaw_middle = TRI_YAW_MIDDLE;
volatile uint16_t rcValue[18] = { 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502 }; // interval [1000;2000]
uint8_t rcChannel[8] = { ROLL, PITCH, THROTTLE, YAW, AUX1, AUX2, AUX3, AUX4 };

77
mw.h
View File

@ -1,7 +1,5 @@
#pragma once
#define QUADX
#define MINCHECK 1100
#define MAXCHECK 1900
@ -59,6 +57,19 @@
#define WING_RIGHT_MIN 1020 // limit servo travel range must be inside [1020;2000]
#define WING_RIGHT_MAX 2000 // limit servo travel range must be inside [1020;2000]
/* The following lines apply only for a pitch/roll tilt stabilization system
On promini board, it is not compatible with config with 6 motors or more
Uncomment the first line to activate it */
//#define SERVO_TILT
#define TILT_PITCH_MIN 1020 //servo travel min, don't set it below 1020
#define TILT_PITCH_MAX 2000 //servo travel max, max value=2000
#define TILT_PITCH_MIDDLE 1500 //servo neutral value
#define TILT_PITCH_PROP 10 //servo proportional (tied to angle) ; can be negative to invert movement
#define TILT_ROLL_MIN 1020
#define TILT_ROLL_MAX 2000
#define TILT_ROLL_MIDDLE 1500
#define TILT_ROLL_PROP 10
/* for V BAT monitoring
after the resistor divisor we should get [0V;5V]->[0;1023] on analog V_BATPIN
with R1=33k and R2=51k
@ -70,38 +81,28 @@
#define VBATLEVEL3_3S 99 // 9.9V
#define NO_VBAT 16 // Avoid beeping without any battery
#define VERSION 19
#if defined(TRI)
#define MULTITYPE 1
#elif defined(QUADP)
#define MULTITYPE 2
#elif defined(QUADX)
#define MULTITYPE 3
#elif defined(BI)
#define MULTITYPE 4
#elif defined(GIMBAL)
#define MULTITYPE 5
#elif defined(Y6)
#define MULTITYPE 6
#elif defined(HEX6)
#define MULTITYPE 7
#elif defined(FLYING_WING)
#define MULTITYPE 8
#elif defined(Y4)
#define MULTITYPE 9
#elif defined(HEX6X)
#define MULTITYPE 10
#elif defined(OCTOX8)
#define MULTITYPE 11
#elif defined(OCTOFLATP)
#define MULTITYPE 11 //the GUI is the same for all 8 motor configs
#elif defined(OCTOFLATX)
#define MULTITYPE 11 //the GUI is the same for all 8 motor configs
#elif defined(VTAIL4)
#define MULTITYPE 15
#endif
// Syncronized with GUI. Only exception is mixer > 11, which is always returned as 11 during serialization.
typedef enum MultiType
{
MULTITYPE_TRI = 1, // XA
MULTITYPE_QUADP = 2, // XB
MULTITYPE_QUADX = 3, // XC
MULTITYPE_BI = 4, // XD
MULTITYPE_GIMBAL = 5, // XE
MULTITYPE_Y6 = 6, // XF
MULTITYPE_HEX6 = 7, // XG
MULTITYPE_FLYING_WING = 8, // XH
MULTITYPE_Y4 = 9, // XI
MULTITYPE_HEX6X = 10, // XJ
MULTITYPE_OCTOX8 = 11, // XK
MULTITYPE_OCTOFLATP = 12, // XL the GUI is the same for all 8 motor configs
MULTITYPE_OCTOFLATX = 13, // XM the GUI is the same for all 8 motor configs
// XN missing for some reason??
MULTITYPE_VTAIL4 = 15, // XO
MULTITYPE_LAST = 16
} MultiType;
/*********** RC alias *****************/
#define ROLL 0
@ -174,6 +175,7 @@ extern int32_t EstVelocity;
extern int16_t BaroPID;
extern uint8_t headFreeMode;
extern int16_t headFreeModeHold;
extern uint8_t passThruMode;
extern int8_t smallAngle25;
extern int16_t zVelocity;
extern int16_t heading, magHold;
@ -205,6 +207,10 @@ extern uint8_t GPSModeHold;
extern uint8_t vbat;
extern uint8_t powerTrigger1;
extern int16_t lookupRX[7]; // lookup table for expo & RC rate
extern uint8_t mixerConfiguration;
extern uint16_t wing_left_mid;
extern uint16_t wing_right_mid;
extern uint16_t tri_yaw_middle;
// main
void loop(void);
@ -225,6 +231,7 @@ void Mag_init(void);
void Mag_getADC(void);
// Output
void mixerInit(void);
void writeServos(void);
void writeMotors(void);
void mixTable(void);
@ -236,3 +243,9 @@ void serialCom(void);
void readEEPROM(void);
void writeParams(void);
void checkFirstTime(void);
bool sensors(uint32_t mask);
void sensorsSet(uint32_t mask);
void sensorsClear(uint32_t mask);
bool feature(uint32_t mask);
void featureSet(uint32_t mask);
void featureClear(uint32_t mask);

20
serial.c
View File

@ -155,7 +155,7 @@ void serialCom(void)
serialize16(i2cGetErrorCounter());
for (i = 0; i < 2; i++)
serialize16(angle[i]);
serialize8(MULTITYPE);
serialize8(mixerConfiguration);
for (i = 0; i < PIDITEMS; i++) {
serialize8(P8[i]);
serialize8(I8[i]);
@ -207,8 +207,22 @@ void serialCom(void)
serialize8('O'); //49
// UartSendData();
break;
case 'R': // reboot to bootloader
systemResetToBootloader();
case 'R': // reboot to bootloader (oops, apparently this w as used for other trash, fix later)
systemReset(true);
break;
case 'X': // dynamic mixer
i = uartReadPoll();
if (i > 64 && i < 64 + MULTITYPE_LAST) {
serialize8('O');
serialize8('K');
mixerConfiguration = i - '@'; // A..B..C.. index
writeParams();
systemReset(false);
break;
}
serialize8('N');
serialize8('G');
break;
case 'W': //GUI write params to eeprom @ arduino