From 23acf529d7acd1f206a3f3cc9e41d146fb9fd785 Mon Sep 17 00:00:00 2001 From: "timecop@gmail.com" Date: Fri, 19 Oct 2012 02:43:27 +0000 Subject: [PATCH] implemented using one of RC inputs as ADC channel for power meter. added MSP_ACC_TRIM stuff for android GUI. git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@231 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61 --- obj/baseflight.hex | 5798 ++++++++++++++++++++++---------------------- src/board.h | 1 + src/cli.c | 1 + src/config.c | 1 + src/drv_adc.c | 26 +- src/drv_adc.h | 12 +- src/drv_pwm.c | 32 +- src/drv_pwm.h | 29 + src/drv_system.c | 1 - src/main.c | 22 + src/mw.c | 2 +- src/mw.h | 3 +- src/sensors.c | 2 +- src/serial.c | 13 + 14 files changed, 3007 insertions(+), 2936 deletions(-) diff --git a/obj/baseflight.hex b/obj/baseflight.hex index a6717c848..740f761e3 100644 --- a/obj/baseflight.hex +++ b/obj/baseflight.hex @@ -1,20 +1,20 @@ :020000040800F2 -:10000000181E0020C187000801880008A31F0008EF 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= 1 << 10, FEATURE_TELEMETRY = 1 << 11, + FEATURE_POWERMETER = 1 << 12, } AvailableFeatures; typedef enum { diff --git a/src/cli.c b/src/cli.c index 7e11f1e80..0a1e5abcf 100644 --- a/src/cli.c +++ b/src/cli.c @@ -116,6 +116,7 @@ const clivalue_t valueTable[] = { { "vbatscale", VAR_UINT8, &cfg.vbatscale, 10, 200 }, { "vbatmaxcellvoltage", VAR_UINT8, &cfg.vbatmaxcellvoltage, 10, 50 }, { "vbatmincellvoltage", VAR_UINT8, &cfg.vbatmincellvoltage, 10, 50 }, + { "power_adc_channel", VAR_UINT8, &cfg.power_adc_channel, 0, 9 }, { "yaw_direction", VAR_INT8, &cfg.yaw_direction, -1, 1 }, { "tri_yaw_middle", VAR_UINT16, &cfg.tri_yaw_middle, 0, 2000 }, { "tri_yaw_min", VAR_UINT16, &cfg.tri_yaw_min, 0, 2000 }, diff --git a/src/config.c b/src/config.c index c26598314..fd25704fe 100755 --- a/src/config.c +++ b/src/config.c @@ -192,6 +192,7 @@ static void resetConf(void) cfg.vbatscale = 110; cfg.vbatmaxcellvoltage = 43; cfg.vbatmincellvoltage = 33; + // cfg.power_adc_channel = 0; // Radio parseRcChannels("AETR1234"); diff --git a/src/drv_adc.c b/src/drv_adc.c index f10a46ef2..022cc7461 100755 --- a/src/drv_adc.c +++ b/src/drv_adc.c @@ -1,21 +1,25 @@ #include "board.h" -static volatile uint16_t adc1Ch4Value = 0; +#define ADC_BATTERY 0 +#define ADC_CURRENT 1 -void adcInit(void) +// static volatile uint16_t adc1Ch4Value = 0; +static volatile uint16_t adcValues[2]; + +void adcInit(drv_adc_config_t *init) { ADC_InitTypeDef ADC_InitStructure; DMA_InitTypeDef DMA_InitStructure; + bool multiChannel = init->powerAdcChannel > 0; // ADC assumes all the GPIO was already placed in 'AIN' mode - DMA_DeInit(DMA1_Channel1); DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR; - DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)&adc1Ch4Value; + DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)adcValues; DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC; - DMA_InitStructure.DMA_BufferSize = 1; + DMA_InitStructure.DMA_BufferSize = multiChannel ? 2 : 1; DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; - DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Disable; + DMA_InitStructure.DMA_MemoryInc = multiChannel ? DMA_MemoryInc_Enable : DMA_MemoryInc_Disable; DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord; DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord; DMA_InitStructure.DMA_Mode = DMA_Mode_Circular; @@ -26,14 +30,16 @@ void adcInit(void) DMA_Cmd(DMA1_Channel1, ENABLE); ADC_InitStructure.ADC_Mode = ADC_Mode_Independent; - ADC_InitStructure.ADC_ScanConvMode = DISABLE; + ADC_InitStructure.ADC_ScanConvMode = multiChannel ? ENABLE : DISABLE; ADC_InitStructure.ADC_ContinuousConvMode = ENABLE; ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None; ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right; - ADC_InitStructure.ADC_NbrOfChannel = 1; + ADC_InitStructure.ADC_NbrOfChannel = multiChannel ? 2 : 1; ADC_Init(ADC1, &ADC_InitStructure); ADC_RegularChannelConfig(ADC1, ADC_Channel_4, 1, ADC_SampleTime_28Cycles5); + if (multiChannel) + ADC_RegularChannelConfig(ADC1, init->powerAdcChannel, 2, ADC_SampleTime_28Cycles5); ADC_DMACmd(ADC1, ENABLE); ADC_Cmd(ADC1, ENABLE); @@ -48,7 +54,7 @@ void adcInit(void) ADC_SoftwareStartConvCmd(ADC1, ENABLE); } -uint16_t adcGetBattery(void) +uint16_t adcGetChannel(uint8_t channel) { - return adc1Ch4Value; + return adcValues[channel]; } diff --git a/src/drv_adc.h b/src/drv_adc.h index 18d2feab2..e33d6923f 100755 --- a/src/drv_adc.h +++ b/src/drv_adc.h @@ -1,7 +1,15 @@ #pragma once -void adcInit(void); -uint16_t adcGetBattery(void); +#define ADC_BATTERY 0 +#define ADC_CURRENT 1 + +typedef struct drv_adc_config_t { + uint8_t powerAdcChannel; // which channel used for current monitor, allowed PA1, PB1 (ADC_Channel_1, ADC_Channel_9) +} drv_adc_config_t; + + +void adcInit(drv_adc_config_t *init); +uint16_t adcGetChannel(uint8_t channel); #ifdef FY90Q void adcSensorInit(sensor_t *acc, sensor_t *gyro); #endif diff --git a/src/drv_pwm.c b/src/drv_pwm.c index 07075d7f9..32f871057 100755 --- a/src/drv_pwm.c +++ b/src/drv_pwm.c @@ -74,34 +74,6 @@ typedef void pwmCallbackPtr(uint8_t port, uint16_t capture); -// This indexes into the read-only hardware definition structure below, as well as into pwmPorts[] structure with dynamic data. -enum { - PWM1 = 0, - PWM2, - PWM3, - PWM4, - PWM5, - PWM6, - PWM7, - PWM8, - PWM9, - PWM10, - PWM11, - PWM12, - PWM13, - PWM14, - MAX_PORTS -}; - -typedef struct { - TIM_TypeDef *tim; - GPIO_TypeDef *gpio; - uint32_t pin; - uint8_t channel; - uint8_t irq; - uint8_t outputEnable; -} pwmHardware_t; - static pwmHardware_t timerHardware[] = { { TIM2, GPIOA, GPIO_Pin_0, TIM_Channel_1, TIM2_IRQn, 0, }, // PWM1 { TIM2, GPIOA, GPIO_Pin_1, TIM_Channel_2, TIM2_IRQn, 0, }, // PWM2 @@ -481,6 +453,10 @@ bool pwmInit(drv_pwm_config_t *init) if (init->useUART && (port == PWM3 || port == PWM4)) continue; + // skip ADC for powerMeter if configured + if (init->adcChannel && (init->adcChannel == PWM2 || init->adcChannel == PWM8)) + continue; + // hacks to allow current functionality if (mask & (TYPE_IP | TYPE_IW) && !init->enableInput) mask = 0; diff --git a/src/drv_pwm.h b/src/drv_pwm.h index e62f36bf1..9994e7f92 100755 --- a/src/drv_pwm.h +++ b/src/drv_pwm.h @@ -11,10 +11,39 @@ typedef struct drv_pwm_config_t { bool useServos; bool extraServos; // configure additional 4 channels in PPM mode as servos, not motors bool airplane; // fixed wing hardware config, lots of servos etc + uint8_t adcChannel; // steal one RC input for current sensor uint16_t motorPwmRate; uint16_t servoPwmRate; } drv_pwm_config_t; +// This indexes into the read-only hardware definition structure in drv_pwm.c, as well as into pwmPorts[] structure with dynamic data. +enum { + PWM1 = 0, + PWM2, + PWM3, + PWM4, + PWM5, + PWM6, + PWM7, + PWM8, + PWM9, + PWM10, + PWM11, + PWM12, + PWM13, + PWM14, + MAX_PORTS +}; + +typedef struct { + TIM_TypeDef *tim; + GPIO_TypeDef *gpio; + uint32_t pin; + uint8_t channel; + uint8_t irq; + uint8_t outputEnable; +} pwmHardware_t; + bool pwmInit(drv_pwm_config_t *init); // returns whether driver is asking to calibrate throttle or not void pwmWriteMotor(uint8_t index, uint16_t value); void pwmWriteServo(uint8_t index, uint16_t value); diff --git a/src/drv_system.c b/src/drv_system.c index 7f6f4fffb..4a6b2000f 100755 --- a/src/drv_system.c +++ b/src/drv_system.c @@ -94,7 +94,6 @@ void systemInit(void) SysTick_Config(SystemCoreClock / 1000); // Configure the rest of the stuff - adcInit(); #ifndef FY90Q i2cInit(I2C2); #endif diff --git a/src/main.c b/src/main.c index de1a01706..7e796ffa7 100755 --- a/src/main.c +++ b/src/main.c @@ -18,6 +18,7 @@ int main(void) { uint8_t i; drv_pwm_config_t pwm_params; + drv_adc_config_t adc_params; #if 0 // PC12, PA15 @@ -46,6 +47,16 @@ int main(void) checkFirstTime(false); readEEPROM(); + // configure power ADC + if (cfg.power_adc_channel > 0 && (cfg.power_adc_channel == 1 || cfg.power_adc_channel == 9)) + adc_params.powerAdcChannel = cfg.power_adc_channel; + else { + adc_params.powerAdcChannel = 0; + cfg.power_adc_channel = 0; + } + + adcInit(&adc_params); + serialInit(cfg.serial_baudrate); // We have these sensors @@ -87,6 +98,17 @@ int main(void) pwm_params.extraServos = cfg.gimbal_flags & GIMBAL_FORWARDAUX; pwm_params.motorPwmRate = cfg.motor_pwm_rate; pwm_params.servoPwmRate = cfg.servo_pwm_rate; + switch (cfg.power_adc_channel) { + case 1: + pwm_params.adcChannel = PWM2; + break; + case 9: + pwm_params.adcChannel = PWM8; + break; + default: + pwm_params.adcChannel = 0; + break; + } pwmInit(&pwm_params); diff --git a/src/mw.c b/src/mw.c index 0470ef3c2..7330e2490 100755 --- a/src/mw.c +++ b/src/mw.c @@ -147,7 +147,7 @@ void annexCode(void) if (feature(FEATURE_VBAT)) { if (!(++vbatTimer % VBATFREQ)) { - vbatRawArray[(ind++) % 8] = adcGetBattery(); + vbatRawArray[(ind++) % 8] = adcGetChannel(ADC_BATTERY); for (i = 0; i < 8; i++) vbatRaw += vbatRawArray[i]; vbat = batteryAdcToVoltage(vbatRaw / 8); diff --git a/src/mw.h b/src/mw.h index ef8226efe..abc981acc 100755 --- a/src/mw.h +++ b/src/mw.h @@ -164,6 +164,7 @@ typedef struct config_t { uint8_t vbatscale; // adjust this to match battery voltage to reported value uint8_t vbatmaxcellvoltage; // maximum voltage per cell, used for auto-detecting battery voltage in 0.1V units, default is 43 (4.3V) uint8_t vbatmincellvoltage; // minimum voltage per cell, this triggers battery out alarms, in 0.1V units, default is 33 (3.3V) + uint8_t power_adc_channel; // which channel is used for current sensor. Right now, only 2 places are supported: RC_CH2 (unused when in CPPM mode, = 1), RC_CH8 (last channel in PWM mode, = 9) // Radio/ESC-related configuration uint8_t rcmap[8]; // mapping of radio channels to internal RPYTA+ order @@ -175,7 +176,7 @@ typedef struct config_t { uint16_t mincheck; // minimum rc end uint16_t maxcheck; // maximum rc end uint8_t retarded_arm; // allow disarsm/arm on throttle down + roll left/right - + // Failsafe related configuration uint8_t failsafe_delay; // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example (10) uint8_t failsafe_off_delay; // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example (200) diff --git a/src/sensors.c b/src/sensors.c index 2c8e69754..3e6078f52 100755 --- a/src/sensors.c +++ b/src/sensors.c @@ -137,7 +137,7 @@ void batteryInit(void) // average up some voltage readings for (i = 0; i < 32; i++) { - voltage += adcGetBattery(); + voltage += adcGetChannel(ADC_BATTERY); delay(10); } diff --git a/src/serial.c b/src/serial.c index 65f7e2b64..d609f5ba0 100755 --- a/src/serial.c +++ b/src/serial.c @@ -41,6 +41,9 @@ #define MSP_DEBUGMSG 253 //out message debug string buffer #define MSP_DEBUG 254 //out message debug1,debug2,debug3,debug4 +#define MSP_ACC_TRIM 240 //out message get acc angle trim values +#define MSP_SET_ACC_TRIM 239 //in message set acc angle trim values + #define INBUF_SIZE 64 static const char boxnames[] = @@ -179,6 +182,11 @@ static void evaluateCommand(void) rcData[i] = read16(); headSerialReply(0); break; + case MSP_SET_ACC_TRIM: + cfg.angleTrim[PITCH] = read16(); + cfg.angleTrim[ROLL] = read16(); + headSerialReply(0); + break; case MSP_SET_RAW_GPS: f.GPS_FIX = read8(); GPS_numSat = read8(); @@ -360,6 +368,11 @@ static void evaluateCommand(void) writeParams(0); headSerialReply(0); break; + case MSP_ACC_TRIM: + headSerialReply(4); + serialize16(cfg.angleTrim[PITCH]); + serialize16(cfg.angleTrim[ROLL]); + break; case MSP_DEBUG: headSerialReply(8); for (i = 0; i < 4; i++)