started adding ledring stuff (yawn). found out i2c was broken, stopped.
default rc input is now pwm (non-nerds won) added deadband to config git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@110 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop
parent
fa29022f21
commit
6e88b8ae30
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<Group>
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@ -15,6 +15,7 @@
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#include "drv_bmp085.h"
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#include "drv_hmc5883l.h"
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#include "drv_i2c.h"
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#include "drv_ledring.h"
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#include "drv_mpu3050.h"
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#include "drv_pwm.h"
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#include "drv_uart.h"
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@ -36,6 +37,7 @@ typedef enum {
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FEATURE_SERVO_TILT = 1 << 5,
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FEATURE_CAMTRIG = 1 << 6,
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FEATURE_GYRO_SMOOTHING = 1 << 7,
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FEATURE_LED_RING = 1 << 8,
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} AvailableFeatures;
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#define digitalHi(p, i) { p->BSRR = i; }
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@ -8,7 +8,7 @@
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config_t cfg;
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static uint32_t enabledSensors = 0;
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static uint8_t checkNewConf = 2;
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static uint8_t checkNewConf = 3;
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void readEEPROM(void)
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{
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@ -65,7 +65,7 @@ void checkFirstTime(void)
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cfg.version = checkNewConf;
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cfg.mixerConfiguration = MULTITYPE_QUADX;
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featureClearAll();
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featureSet(FEATURE_VBAT | FEATURE_PPM);
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featureSet(FEATURE_VBAT); // | FEATURE_PPM); // sadly, this is for hackers only
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cfg.P8[ROLL] = 40;
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cfg.I8[ROLL] = 30;
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@ -102,8 +102,9 @@ void checkFirstTime(void)
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cfg.accTrim[1] = 0;
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cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y
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cfg.powerTrigger1 = 0;
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// Radio/ESC
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cfg.deadband = 0;
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cfg.midrc = 1500;
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cfg.minthrottle = 1150;
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cfg.maxthrottle = 1850;
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@ -0,0 +1,53 @@
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#include "board.h"
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#include "mw.h"
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// Driver for DFRobot I2C Led Ring
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#define LED_RING_ADDRESS 0x6D
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bool ledringDetect(void)
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{
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bool ack = false;
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uint8_t sig = 'e';
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ack = 0; // i2cWrite(LED_RING_ADDRESS, 0xFF, 1, &sig);
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if (!ack)
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return false;
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return true;
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}
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void ledringState(void)
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{
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uint8_t b[10];
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static uint8_t state;
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if (state == 0) {
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b[0] = 'z';
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b[1] = (180 - heading) / 2; // 1 unit = 2 degrees;
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// i2cWrite(LED_RING_ADDRESS, 0xFF, 2, b);
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state = 1;
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} else if (state == 1) {
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b[0] = 'y';
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b[1] = constrain(angle[ROLL] / 10 + 90, 0, 180);
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b[2] = constrain(angle[PITCH] / 10 + 90, 0, 180);
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// i2cWrite(LED_RING_ADDRESS, 0xFF, 3, b);
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state = 2;
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} else if (state == 2) {
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b[0] = 'd'; // all unicolor GREEN
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b[1] = 1;
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if (armed)
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b[2] = 1;
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else
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b[2] = 0;
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// i2cWrite(LED_RING_ADDRESS, 0xFF, 3, b);
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state = 0;
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}
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}
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void ledringBlink(void)
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{
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uint8_t b[3];
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b[0] = 'k';
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b[1] = 10;
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b[2] = 10;
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// i2cWrite(LED_RING_ADDRESS, 0xFF, 3, b);
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}
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@ -0,0 +1,5 @@
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#pragma once
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bool ledringDetect(void);
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void ledringState(void);
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void ledringBlink(void);
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12
src/mw.c
12
src/mw.c
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@ -126,13 +126,13 @@ void annexCode(void)
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for (axis = 0; axis < 3; axis++) {
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uint16_t tmp = min(abs(rcData[axis] - cfg.midrc), 500);
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#if defined(DEADBAND)
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if (tmp > DEADBAND) {
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tmp -= DEADBAND;
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} else {
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tmp = 0;
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if (cfg.deadband > 0) {
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if (tmp > cfg.deadband) {
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tmp -= cfg.deadband;
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} else {
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tmp = 0;
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}
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}
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#endif
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if (axis != 2) { //ROLL & PITCH
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uint16_t tmp2 = tmp / 100;
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rcCommand[axis] = lookupRX[tmp2] + (tmp - tmp2 * 100) * (lookupRX[tmp2 + 1] - lookupRX[tmp2]) / 100;
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1
src/mw.h
1
src/mw.h
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@ -164,6 +164,7 @@ typedef struct config_t {
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uint8_t powerTrigger1; // trigger for alarm based on power consumption
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// Radio/ESC-related configuration
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uint8_t deadband; // introduce a deadband around the stick center. Must be greater than zero
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uint16_t midrc; // Some radios have not a neutral point centered on 1500. can be changed here
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uint16_t minthrottle; // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
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uint16_t maxthrottle; // This is the maximum value for the ESCs at full power this value can be increased up to 2000
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