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atbetaflight
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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
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1106
baseflight.uvgui.timecop
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File diff suppressed because it is too large Load Diff

215
baseflight.uvopt
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@ -112,7 +112,7 @@
<tRbox>1</tRbox> <tRbox>1</tRbox>
<sRunDeb>0</sRunDeb> <sRunDeb>0</sRunDeb>
<sLrtime>0</sLrtime> <sLrtime>0</sLrtime>
<nTsel>7</nTsel> <nTsel>1</nTsel>
<sDll></sDll> <sDll></sDll>
<sDllPa></sDllPa> <sDllPa></sDllPa>
<sDlgDll></sDlgDll> <sDlgDll></sDlgDll>
@ -123,7 +123,7 @@
<tDlgDll></tDlgDll> <tDlgDll></tDlgDll>
<tDlgPa></tDlgPa> <tDlgPa></tDlgPa>
<tIfile></tIfile> <tIfile></tIfile>
<pMon>Segger\JL2CM3.dll</pMon> <pMon>BIN\UL2CM3.DLL</pMon>
</DebugOpt> </DebugOpt>
<TargetDriverDllRegistry> <TargetDriverDllRegistry>
<SetRegEntry> <SetRegEntry>
@ -144,7 +144,7 @@
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>DLGUARM</Key> <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>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
@ -154,77 +154,9 @@
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>UL2CM3</Key> <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> </SetRegEntry>
</TargetDriverDllRegistry> </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> <MemoryWindow1>
<Mm> <Mm>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
@ -267,19 +199,6 @@
</DebugFlag> </DebugFlag>
<LintExecutable></LintExecutable> <LintExecutable></LintExecutable>
<LintConfigFile></LintConfigFile> <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> </TargetOption>
</Target> </Target>
@ -545,10 +464,10 @@
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<FilenameWithoutPath>main.c</FilenameWithoutPath> <FilenameWithoutPath>main.c</FilenameWithoutPath>
@ -559,10 +478,10 @@
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<FilenameWithoutPath>board.h</FilenameWithoutPath> <FilenameWithoutPath>board.h</FilenameWithoutPath>
@ -573,10 +492,10 @@
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@ -589,8 +508,8 @@
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@ -601,10 +520,10 @@
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@ -617,8 +536,8 @@
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<FilenameWithoutPath>sensors.c</FilenameWithoutPath> <FilenameWithoutPath>sensors.c</FilenameWithoutPath>
@ -629,10 +548,10 @@
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<FilenameWithoutPath>mixer.c</FilenameWithoutPath> <FilenameWithoutPath>mixer.c</FilenameWithoutPath>
@ -643,10 +562,10 @@
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@ -657,10 +576,10 @@
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<bDave2>0</bDave2> <bDave2>0</bDave2>
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@ -680,8 +599,8 @@
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<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>.\drv_i2c.c</PathWithFileName> <PathWithFileName>.\drv_i2c.c</PathWithFileName>
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@ -694,8 +613,8 @@
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<CurrentLine>1</CurrentLine> <CurrentLine>0</CurrentLine>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>.\drv_pwm.c</PathWithFileName> <PathWithFileName>.\drv_pwm.c</PathWithFileName>
<FilenameWithoutPath>drv_pwm.c</FilenameWithoutPath> <FilenameWithoutPath>drv_pwm.c</FilenameWithoutPath>
@ -708,8 +627,8 @@
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<FilenameWithoutPath>drv_adc.c</FilenameWithoutPath> <FilenameWithoutPath>drv_adc.c</FilenameWithoutPath>
@ -720,10 +639,10 @@
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<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>.\drv_bmp085.c</PathWithFileName> <PathWithFileName>.\drv_bmp085.c</PathWithFileName>
<FilenameWithoutPath>drv_bmp085.c</FilenameWithoutPath> <FilenameWithoutPath>drv_bmp085.c</FilenameWithoutPath>
@ -736,8 +655,8 @@
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<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>.\drv_adxl345.c</PathWithFileName> <PathWithFileName>.\drv_adxl345.c</PathWithFileName>
<FilenameWithoutPath>drv_adxl345.c</FilenameWithoutPath> <FilenameWithoutPath>drv_adxl345.c</FilenameWithoutPath>
@ -750,8 +669,8 @@
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<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>.\drv_mpu3050.c</PathWithFileName> <PathWithFileName>.\drv_mpu3050.c</PathWithFileName>
<FilenameWithoutPath>drv_mpu3050.c</FilenameWithoutPath> <FilenameWithoutPath>drv_mpu3050.c</FilenameWithoutPath>
@ -774,12 +693,12 @@
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@ -792,8 +711,8 @@
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<FilenameWithoutPath>drv_hmc5883l.c</FilenameWithoutPath> <FilenameWithoutPath>drv_hmc5883l.c</FilenameWithoutPath>
@ -835,7 +754,7 @@
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49
baseflight.uvproj
View File

@ -136,7 +136,7 @@
<RestoreToolbox>1</RestoreToolbox> <RestoreToolbox>1</RestoreToolbox>
</Target> </Target>
<RunDebugAfterBuild>0</RunDebugAfterBuild> <RunDebugAfterBuild>0</RunDebugAfterBuild>
<TargetSelection>7</TargetSelection> <TargetSelection>1</TargetSelection>
<SimDlls> <SimDlls>
<CpuDll></CpuDll> <CpuDll></CpuDll>
<CpuDllArguments></CpuDllArguments> <CpuDllArguments></CpuDllArguments>
@ -150,7 +150,7 @@
<PeripheralDll></PeripheralDll> <PeripheralDll></PeripheralDll>
<PeripheralDllArguments></PeripheralDllArguments> <PeripheralDllArguments></PeripheralDllArguments>
<InitializationFile></InitializationFile> <InitializationFile></InitializationFile>
<Driver>Segger\JL2CM3.dll</Driver> <Driver>BIN\UL2CM3.DLL</Driver>
</TargetDlls> </TargetDlls>
</DebugOption> </DebugOption>
<Utilities> <Utilities>
@ -160,9 +160,9 @@
<RunIndependent>0</RunIndependent> <RunIndependent>0</RunIndependent>
<UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging> <UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
<Capability>1</Capability> <Capability>1</Capability>
<DriverSelection>4099</DriverSelection> <DriverSelection>4096</DriverSelection>
</Flash1> </Flash1>
<Flash2>Segger\JL2CM3.dll</Flash2> <Flash2>BIN\UL2CM3.DLL</Flash2>
<Flash3>"" ()</Flash3> <Flash3>"" ()</Flash3>
<Flash4></Flash4> <Flash4></Flash4>
</Utilities> </Utilities>
@ -331,7 +331,7 @@
</ArmAdsMisc> </ArmAdsMisc>
<Cads> <Cads>
<interw>1</interw> <interw>1</interw>
<Optim>1</Optim> <Optim>4</Optim>
<oTime>0</oTime> <oTime>0</oTime>
<SplitLS>0</SplitLS> <SplitLS>0</SplitLS>
<OneElfS>0</OneElfS> <OneElfS>0</OneElfS>
@ -390,45 +390,6 @@
<FileName>main.c</FileName> <FileName>main.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>.\main.c</FilePath> <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>
<File> <File>
<FileName>board.h</FileName> <FileName>board.h</FileName>

2
board.h
View File

@ -28,6 +28,8 @@ typedef enum {
typedef enum { typedef enum {
FEATURE_PPM = 1 << 0, FEATURE_PPM = 1 << 0,
FEATURE_VBAT = 1 << 1, FEATURE_VBAT = 1 << 1,
FEATURE_SERVO = 1 << 2,
FEATURE_DIGITAL_SERVO = 1 << 3,
} AvailableFeatures; } AvailableFeatures;
#define digitalHi(p, i) { p->BSRR = i; } #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_PAGE_SIZE ((uint16_t)0x400)
#define FLASH_WRITE_ADDR (0x08000000 + (uint32_t)FLASH_PAGE_SIZE * 63) // use the last KB for storage #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 { typedef struct eep_entry_t {
void *var; void *var;
@ -17,6 +20,8 @@ typedef struct eep_entry_t {
// ************************************************************************************************************ // ************************************************************************************************************
volatile eep_entry_t eep_entry[] = { volatile eep_entry_t eep_entry[] = {
{&checkNewConf, sizeof(checkNewConf)} {&checkNewConf, sizeof(checkNewConf)}
, {&enabledFeatures, sizeof(enabledFeatures)}
, {&mixerConfiguration, sizeof(mixerConfiguration)}
, {&P8, sizeof(P8)} , {&P8, sizeof(P8)}
, {&I8, sizeof(I8)} , {&I8, sizeof(I8)}
, {&D8, sizeof(D8)} , {&D8, sizeof(D8)}
@ -31,14 +36,9 @@ volatile eep_entry_t eep_entry[] = {
, {&activate1, sizeof(activate1)} , {&activate1, sizeof(activate1)}
, {&activate2, sizeof(activate2)} , {&activate2, sizeof(activate2)}
, {&powerTrigger1, sizeof(powerTrigger1)} , {&powerTrigger1, sizeof(powerTrigger1)}
#ifdef FLYING_WING
, {&wing_left_mid, sizeof(wing_left_mid)} , {&wing_left_mid, sizeof(wing_left_mid)}
, {&wing_right_mid, sizeof(wing_right_mid)} , {&wing_right_mid, sizeof(wing_right_mid)}
#endif
#ifdef TRI
, {&tri_yaw_middle, sizeof(tri_yaw_middle)} , {&tri_yaw_middle, sizeof(tri_yaw_middle)}
#endif
}; };
#define EEBLOCK_SIZE sizeof(eep_entry) / sizeof(eep_entry_t) #define EEBLOCK_SIZE sizeof(eep_entry) / sizeof(eep_entry_t)
@ -56,15 +56,20 @@ void readEEPROM(void)
#if defined(POWERMETER) #if defined(POWERMETER)
pAlarm = (uint32_t) powerTrigger1 *(uint32_t) PLEVELSCALE *(uint32_t) PLEVELDIV; // need to cast before multiplying pAlarm = (uint32_t) powerTrigger1 *(uint32_t) PLEVELSCALE *(uint32_t) PLEVELDIV; // need to cast before multiplying
#endif #endif
for (i = 0; i < 7; i++) for (i = 0; i < 7; i++)
lookupRX[i] = (2500 + rcExpo8 * (i * i - 25)) * i * (int32_t) rcRate8 / 1250; 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 switch (mixerConfiguration) {
wing_right_mid = constrain(wing_right_mid, WING_RIGHT_MIN, WING_RIGHT_MAX); //RIGHT case MULTITYPE_FLYING_WING:
#endif wing_left_mid = constrain(wing_left_mid, WING_LEFT_MIN, WING_LEFT_MAX); //LEFT
#ifdef TRI wing_right_mid = constrain(wing_right_mid, WING_RIGHT_MIN, WING_RIGHT_MAX); //RIGHT
tri_yaw_middle = constrain(tri_yaw_middle, TRI_YAW_CONSTRAINT_MIN, TRI_YAW_CONSTRAINT_MAX); //REAR break;
#endif
case MULTITYPE_TRI:
tri_yaw_middle = constrain(tri_yaw_middle, TRI_YAW_CONSTRAINT_MIN, TRI_YAW_CONSTRAINT_MAX); //REAR
break;
}
} }
void writeParams(void) void writeParams(void)
@ -80,7 +85,7 @@ void writeParams(void)
memcpy(p, eep_entry[i].var, eep_entry[i].size); memcpy(p, eep_entry[i].var, eep_entry[i].size);
p += eep_entry[i].size; p += eep_entry[i].size;
} }
p = conf; p = conf;
FLASH_Unlock(); FLASH_Unlock();
@ -112,6 +117,9 @@ void checkFirstTime(void)
return; return;
// Default settings // Default settings
mixerConfiguration = MULTITYPE_QUADX;
featureSet(FEATURE_VBAT | FEATURE_PPM);
P8[ROLL] = 40; P8[ROLL] = 40;
I8[ROLL] = 30; I8[ROLL] = 30;
D8[ROLL] = 23; D8[ROLL] = 23;
@ -146,12 +154,47 @@ void checkFirstTime(void)
accTrim[0] = 0; accTrim[0] = 0;
accTrim[1] = 0; accTrim[1] = 0;
powerTrigger1 = 0; powerTrigger1 = 0;
#ifdef FLYING_WING
wing_left_mid = WING_LEFT_MID; switch (mixerConfiguration) {
wing_right_mid = WING_RIGHT_MID; case MULTITYPE_FLYING_WING:
#endif wing_left_mid = WING_LEFT_MID;
#ifdef TRI wing_right_mid = WING_RIGHT_MID;
tri_yaw_middle = TRI_YAW_MIDDLE; break;
#endif
case MULTITYPE_TRI:
tri_yaw_middle = TRI_YAW_MIDDLE;
break;
}
writeParams(); 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); 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 bmp085_get_ut(void)
{ {
uint16_t ut; uint16_t ut;

12
drv_i2c.c
View File

@ -4,10 +4,8 @@
// SCL PB10 // SCL PB10
// SDA PB11 // SDA PB11
#ifdef __gnuc__ // TODO check this #ifdef __GNUC__ // TODO check this
#define DMB() asm volatile ("dmb":::"memory") #define __DMB() asm volatile ("dmb":::"memory")
#else
#define DMB() __DMB()
#endif #endif
static I2C_TypeDef *I2Cx; 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 } else if (SReg_1 & 0x0002) { //we just sent the address - EV6 in ref manual
//Read SR1,2 to clear ADDR //Read SR1,2 to clear ADDR
volatile uint8_t a; 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 if (bytes == 1 && reading && subaddress_sent) { //we are receiving 1 byte - EV6_3
I2C_AcknowledgeConfig(I2Cx, DISABLE); //turn off ACK I2C_AcknowledgeConfig(I2Cx, DISABLE); //turn off ACK
DMB(); __DMB();
a = I2Cx->SR2; //clear ADDR after ACK is turned off a = I2Cx->SR2; //clear ADDR after ACK is turned off
I2C_GenerateSTOP(I2Cx, ENABLE); //program the stop I2C_GenerateSTOP(I2Cx, ENABLE); //program the stop
final_stop = 1; final_stop = 1;
I2C_ITConfig(I2Cx, I2C_IT_BUF, ENABLE); //allow us to have an EV7 I2C_ITConfig(I2Cx, I2C_IT_BUF, ENABLE); //allow us to have an EV7
} else { //EV6 and EV6_1 } else { //EV6 and EV6_1
a = I2Cx->SR2; //clear the ADDR here a = I2Cx->SR2; //clear the ADDR here
DMB(); __DMB();
if (bytes == 2 && reading && subaddress_sent) { //rx 2 bytes - EV6_1 if (bytes == 2 && reading && subaddress_sent) { //rx 2 bytes - EV6_1
I2C_AcknowledgeConfig(I2Cx, DISABLE); //turn off ACK I2C_AcknowledgeConfig(I2Cx, DISABLE); //turn off ACK
I2C_ITConfig(I2Cx, I2C_IT_BUF, DISABLE); //disable TXE to allow the buffer to fill 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; uint8_t i;
GPIO_InitTypeDef GPIO_InitStructure = { 0, }; GPIO_InitTypeDef GPIO_InitStructure = { 0, };
@ -268,8 +268,11 @@ void pwmInit(bool usePPM, bool useServos)
// Output timers // Output timers
if (useServos) { if (useServos) {
// 50Hz period on ch1, 2 for servo // 50Hz/200Hz period on ch1, 2 for servo
TIM_TimeBaseStructure.TIM_Period = PULSE_PERIOD_SERVO_ANALOG - 1; 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_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = PULSE_PERIOD - 1; TIM_TimeBaseStructure.TIM_Period = PULSE_PERIOD - 1;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
@ -278,7 +281,7 @@ void pwmInit(bool usePPM, bool useServos)
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure); TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
} }
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable; TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;

2
drv_pwm.h
View File

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

43
drv_system.c
View File

@ -1,8 +1,5 @@
#include "board.h" #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 // Cycle counter stuff - these should be defined by CMSIS, but they aren't
#define DWT_CTRL (*(volatile uint32_t *)0xE0001000) #define DWT_CTRL (*(volatile uint32_t *)0xE0001000)
#define DWT_CYCCNT ((volatile uint32_t *)0xE0001004) #define DWT_CYCCNT ((volatile uint32_t *)0xE0001004)
@ -143,36 +140,6 @@ void delay(uint32_t ms)
delayMicroseconds(1000); 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) void failureMode(uint8_t mode)
{ {
LED1_ON; LED1_ON;
@ -189,11 +156,13 @@ void failureMode(uint8_t mode)
#define AIRCR_VECTKEY_MASK ((uint32_t)0x05FA0000) #define AIRCR_VECTKEY_MASK ((uint32_t)0x05FA0000)
void systemResetToBootloader(void) void systemReset(bool toBootloader)
{ {
// 1FFFF000 -> 20000200 -> SP if (toBootloader) {
// 1FFFF004 -> 1FFFF021 -> PC // 1FFFF000 -> 20000200 -> SP
*((uint32_t *)0x20004FF0) = 0xDEADBEEF; // 20KB STM32F103 // 1FFFF004 -> 1FFFF021 -> PC
*((uint32_t *)0x20004FF0) = 0xDEADBEEF; // 20KB STM32F103
}
// Generate system reset // Generate system reset
SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04; 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 micros(void);
uint32_t millis(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 // failure
void failureMode(uint8_t mode); void failureMode(uint8_t mode);
// bootloader/IAP // 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)) if (!sensors(SENSOR_ACC))
accADC[axis] = 0; accADC[axis] = 0;
} }
#if defined(TRI) if (mixerConfiguration == MULTITYPE_TRI) {
gyroData[YAW] = (gyroYawSmooth * 2 + gyroData[YAW] + 1) / 3; gyroData[YAW] = (gyroYawSmooth * 2 + gyroData[YAW] + 1) / 3;
gyroYawSmooth = gyroData[YAW]; gyroYawSmooth = gyroData[YAW];
#endif }
} }
// ************************************************** // **************************************************
@ -152,37 +152,11 @@ void rotateV(struct fp_vector *v, float *delta)
v->Y += delta[PITCH] * v_tmp.Z + delta[YAW] * v_tmp.X; v->Y += delta[PITCH] * v_tmp.Z + delta[YAW] * v_tmp.X;
} }
#if 1
static int16_t _atan2f(float y, float x) static int16_t _atan2f(float y, float x)
{ {
#define fp_is_neg(val) (val < 0 ? 1 : 0) // no need for aidsy inaccurate shortcuts on a proper platform
return (int16_t)(atan2f(y, x) * (180.0f / M_PI * 10.0f));
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;
} }
#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) static void getEstimatedAttitude(void)
{ {

6
main.c
View File

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

339
mixer.c
View File

@ -1,59 +1,96 @@
#include "board.h" #include "board.h"
#include "mw.h" #include "mw.h"
#if defined(BI) || defined(TRI) || defined(SERVO_TILT) || defined(GIMBAL) || defined(FLYING_WING) || defined(CAMTRIG) static uint8_t numberMotor = 4;
#define SERVO int16_t motor[8];
#endif 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) void mixerInit(void)
#define NUMBER_MOTOR 0 {
#define PRI_SERVO_FROM 1 // use servo from 1 to 2 if (mixerConfiguration == MULTITYPE_BI || mixerConfiguration == MULTITYPE_TRI || mixerConfiguration == MULTITYPE_GIMBAL || mixerConfiguration == MULTITYPE_FLYING_WING)
#define PRI_SERVO_TO 2 featureSet(FEATURE_SERVO);
#elif defined(FLYING_WING)
#define NUMBER_MOTOR 1 switch (mixerConfiguration) {
#define PRI_SERVO_FROM 1 // use servo from 1 to 2 case MULTITYPE_GIMBAL:
#define PRI_SERVO_TO 2 numberMotor = 0;
#elif defined(BI) break;
#define NUMBER_MOTOR 2 case MULTITYPE_FLYING_WING:
#define PRI_SERVO_FROM 5 // use servo from 5 to 6 numberMotor = 1;
#define PRI_SERVO_TO 6 break;
#elif defined(TRI) case MULTITYPE_BI:
#define NUMBER_MOTOR 3 numberMotor = 2;
#define PRI_SERVO_FROM 6 // use only servo 5 break;
#define PRI_SERVO_TO 6 case MULTITYPE_TRI:
#elif defined(QUADP) || defined(QUADX) || defined(Y4) numberMotor = 3;
#define NUMBER_MOTOR 4 break;
#elif defined(Y6) || defined(HEX6) || defined(HEX6X)
#define NUMBER_MOTOR 6 case MULTITYPE_QUADP:
#elif defined(OCTOX8) || defined(OCTOFLATP) || defined(OCTOFLATX) case MULTITYPE_QUADX:
#define NUMBER_MOTOR 8 case MULTITYPE_Y4:
#endif 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) 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) void writeMotors(void)
{ {
uint8_t i; uint8_t i;
uint8_t offset = 0;
for (i = 0; i < NUMBER_MOTOR; i++) // when servos are enabled, motor outputs 1..2 are for servos only
pwmWrite(i, motor[i]); if (feature(FEATURE_SERVO))
offset = 2;
for (i = 0; i < numberMotor; i++)
pwmWrite(i + offset, motor[i]);
} }
void writeAllMotors(int16_t mc) void writeAllMotors(int16_t mc)
{ {
uint8_t i; uint8_t i;
// Sends commands to all motors // Sends commands to all motors
for (i = 0; i < NUMBER_MOTOR; i++) for (i = 0; i < numberMotor; i++)
motor[i] = mc; motor[i] = mc;
writeMotors(); writeMotors();
} }
#define PIDMIX(X,Y,Z) rcCommand[THROTTLE] + axisPID[ROLL] * X + axisPID[PITCH] * Y + YAW_DIRECTION * axisPID[YAW] * Z
void mixTable(void) void mixTable(void)
{ {
int16_t maxMotor; int16_t maxMotor;
@ -61,105 +98,133 @@ void mixTable(void)
static uint8_t camCycle = 0; static uint8_t camCycle = 0;
static uint8_t camState = 0; static uint8_t camState = 0;
static uint32_t camTime = 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 case MULTITYPE_QUADP:
//prevent "yaw jump" during yaw correction motor[0] = PIDMIX(0, +1, -1); //REAR
axisPID[YAW] = constrain(axisPID[YAW], -100 - abs(rcCommand[YAW]), +100 + abs(rcCommand[YAW])); motor[1] = PIDMIX(-1, 0, +1); //RIGHT
#endif motor[2] = PIDMIX(+1, 0, +1); //LEFT
#ifdef BI motor[3] = PIDMIX(0, -1, -1); //FRONT
motor[0] = PIDMIX(+1, 0, 0); //LEFT break;
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
#endif case MULTITYPE_QUADX:
#ifdef QUADP motor[0] = PIDMIX(-1, +1, -1); //REAR_R
motor[0] = PIDMIX(0, +1, -1); //REAR motor[1] = PIDMIX(-1, -1, +1); //FRONT_R
motor[1] = PIDMIX(-1, 0, +1); //RIGHT motor[2] = PIDMIX(+1, +1, +1); //REAR_L
motor[2] = PIDMIX(+1, 0, +1); //LEFT motor[3] = PIDMIX(+1, -1, -1); //FRONT_L
motor[3] = PIDMIX(0, -1, -1); //FRONT break;
#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_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 #ifdef SERVO_TILT
servo[0] = TILT_PITCH_MIDDLE + rcData[AUX3] - 1500; 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[0] = constrain(servo[0], TILT_PITCH_MIN, TILT_PITCH_MAX);
servo[1] = constrain(servo[1], TILT_ROLL_MIN, TILT_ROLL_MAX); servo[1] = constrain(servo[1], TILT_ROLL_MIN, TILT_ROLL_MAX);
#endif #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 defined(CAMTRIG)
if (camCycle == 1) { if (camCycle == 1) {
if (camState == 0) { if (camState == 0) {
@ -213,10 +262,10 @@ void mixTable(void)
#endif #endif
maxMotor = motor[0]; maxMotor = motor[0];
for (i = 1; i < NUMBER_MOTOR; i++) for (i = 1; i < numberMotor; i++)
if (motor[i] > maxMotor) if (motor[i] > maxMotor)
maxMotor = motor[i]; 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. 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] -= maxMotor - MAXTHROTTLE;
motor[i] = constrain(motor[i], MINTHROTTLE, 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 uint8_t baroMode = 0; // if altitude hold is activated
int16_t axisPID[3]; 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] 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 }; uint8_t rcChannel[8] = { ROLL, PITCH, THROTTLE, YAW, AUX1, AUX2, AUX3, AUX4 };

77
mw.h
View File

@ -1,7 +1,5 @@
#pragma once #pragma once
#define QUADX
#define MINCHECK 1100 #define MINCHECK 1100
#define MAXCHECK 1900 #define MAXCHECK 1900
@ -59,6 +57,19 @@
#define WING_RIGHT_MIN 1020 // limit servo travel range must be inside [1020;2000] #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] #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 /* for V BAT monitoring
after the resistor divisor we should get [0V;5V]->[0;1023] on analog V_BATPIN after the resistor divisor we should get [0V;5V]->[0;1023] on analog V_BATPIN
with R1=33k and R2=51k with R1=33k and R2=51k
@ -70,38 +81,28 @@
#define VBATLEVEL3_3S 99 // 9.9V #define VBATLEVEL3_3S 99 // 9.9V
#define NO_VBAT 16 // Avoid beeping without any battery #define NO_VBAT 16 // Avoid beeping without any battery
#define VERSION 19 #define VERSION 19
#if defined(TRI) // Syncronized with GUI. Only exception is mixer > 11, which is always returned as 11 during serialization.
#define MULTITYPE 1 typedef enum MultiType
#elif defined(QUADP) {
#define MULTITYPE 2 MULTITYPE_TRI = 1, // XA
#elif defined(QUADX) MULTITYPE_QUADP = 2, // XB
#define MULTITYPE 3 MULTITYPE_QUADX = 3, // XC
#elif defined(BI) MULTITYPE_BI = 4, // XD
#define MULTITYPE 4 MULTITYPE_GIMBAL = 5, // XE
#elif defined(GIMBAL) MULTITYPE_Y6 = 6, // XF
#define MULTITYPE 5 MULTITYPE_HEX6 = 7, // XG
#elif defined(Y6) MULTITYPE_FLYING_WING = 8, // XH
#define MULTITYPE 6 MULTITYPE_Y4 = 9, // XI
#elif defined(HEX6) MULTITYPE_HEX6X = 10, // XJ
#define MULTITYPE 7 MULTITYPE_OCTOX8 = 11, // XK
#elif defined(FLYING_WING) MULTITYPE_OCTOFLATP = 12, // XL the GUI is the same for all 8 motor configs
#define MULTITYPE 8 MULTITYPE_OCTOFLATX = 13, // XM the GUI is the same for all 8 motor configs
#elif defined(Y4) // XN missing for some reason??
#define MULTITYPE 9 MULTITYPE_VTAIL4 = 15, // XO
#elif defined(HEX6X) MULTITYPE_LAST = 16
#define MULTITYPE 10 } MultiType;
#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
/*********** RC alias *****************/ /*********** RC alias *****************/
#define ROLL 0 #define ROLL 0
@ -174,6 +175,7 @@ extern int32_t EstVelocity;
extern int16_t BaroPID; extern int16_t BaroPID;
extern uint8_t headFreeMode; extern uint8_t headFreeMode;
extern int16_t headFreeModeHold; extern int16_t headFreeModeHold;
extern uint8_t passThruMode;
extern int8_t smallAngle25; extern int8_t smallAngle25;
extern int16_t zVelocity; extern int16_t zVelocity;
extern int16_t heading, magHold; extern int16_t heading, magHold;
@ -205,6 +207,10 @@ extern uint8_t GPSModeHold;
extern uint8_t vbat; extern uint8_t vbat;
extern uint8_t powerTrigger1; extern uint8_t powerTrigger1;
extern int16_t lookupRX[7]; // lookup table for expo & RC rate 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 // main
void loop(void); void loop(void);
@ -225,6 +231,7 @@ void Mag_init(void);
void Mag_getADC(void); void Mag_getADC(void);
// Output // Output
void mixerInit(void);
void writeServos(void); void writeServos(void);
void writeMotors(void); void writeMotors(void);
void mixTable(void); void mixTable(void);
@ -236,3 +243,9 @@ void serialCom(void);
void readEEPROM(void); void readEEPROM(void);
void writeParams(void); void writeParams(void);
void checkFirstTime(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()); serialize16(i2cGetErrorCounter());
for (i = 0; i < 2; i++) for (i = 0; i < 2; i++)
serialize16(angle[i]); serialize16(angle[i]);
serialize8(MULTITYPE); serialize8(mixerConfiguration);
for (i = 0; i < PIDITEMS; i++) { for (i = 0; i < PIDITEMS; i++) {
serialize8(P8[i]); serialize8(P8[i]);
serialize8(I8[i]); serialize8(I8[i]);
@ -207,8 +207,22 @@ void serialCom(void)
serialize8('O'); //49 serialize8('O'); //49
// UartSendData(); // UartSendData();
break; break;
case 'R': // reboot to bootloader case 'R': // reboot to bootloader (oops, apparently this w as used for other trash, fix later)
systemResetToBootloader(); 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; break;
case 'W': //GUI write params to eeprom @ arduino case 'W': //GUI write params to eeprom @ arduino