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atbetaflight
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renamed orient to align for sensor orientation 

implemented battery cell count auto detect (DJI, you can steal this source from me for your next product). automatically finds 2S..6S battery, and sets warning voltage accordingly
added new battery config -related stuff in cli, min/max cell voltage for non-lipo users. Defaults for lipo are 4.3V/cell (max) and 3.3V/cell (min).
added pid setting stuff into cli from nicodh
added 'status' command to cli to print out system info.
added build date/time to 'version' in cli, to track down stupid users.
config version bumped, settings are cleared again.
refactored battery voltage stuff a bit, and got rid of 3 levels of warnings. don't see any benefit at all.


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@121 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-03-20 14:54:26 +00:00
parent 8bcbf5e41e
commit c526d2f3b9
13 changed files with 2612 additions and 2350 deletions
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160
baseflight.uvopt
View File

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10
baseflight.uvproj
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@ -496,11 +496,6 @@
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4643
obj/baseflight.hex
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File diff suppressed because it is too large Load Diff

2
src/board.h
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@ -37,7 +37,7 @@ typedef struct sensor_t
{
sensorInitFuncPtr init;
sensorReadFuncPtr read;
sensorReadFuncPtr orient;
sensorReadFuncPtr align;
} sensor_t;
#define digitalHi(p, i) { p->BSRR = i; }

47
src/cli.c
View File

@ -10,8 +10,12 @@ static void cliHelp(char *cmdline);
static void cliMixer(char *cmdline);
static void cliSave(char *cmdline);
static void cliSet(char *cmdline);
static void cliStatus(char *cmdline);
static void cliVersion(char *cmdline);
// from sensors.c
extern uint8_t batteryCellCount;
// buffer
static char cliBuffer[32];
static uint8_t bufferIndex = 0;
@ -46,6 +50,7 @@ const clicmd_t cmdTable[] = {
{ "mixer", "mixer name or list", cliMixer },
{ "save", "save and reboot", cliSave },
{ "set", "name=value or blank for list", cliSet },
{ "status", "show system status", cliStatus },
{ "version", "", cliVersion },
};
#define CMD_COUNT (sizeof(cmdTable) / sizeof(cmdTable[0]))
@ -74,6 +79,8 @@ const clivalue_t valueTable[] = {
{ "mincheck", VAR_UINT16, &cfg.mincheck, 0, 2000 },
{ "maxcheck", VAR_UINT16, &cfg.maxcheck, 0, 2000 },
{ "vbatscale", VAR_UINT8, &cfg.vbatscale, 10, 200 },
{ "vbatmaxcellvoltage", VAR_UINT8, &cfg.vbatmaxcellvoltage, 10, 50 },
{ "vbatmincellvoltage", VAR_UINT8, &cfg.vbatmincellvoltage, 10, 50 },
{ "yaw_direction", VAR_INT8, &cfg.yaw_direction, -1, 1 },
{ "wing_left_mid", VAR_UINT16, &cfg.wing_left_mid, 0, 2000 },
{ "wing_right_mid", VAR_UINT16, &cfg.wing_right_mid, 0, 2000 },
@ -82,6 +89,18 @@ const clivalue_t valueTable[] = {
{ "tri_yaw_max", VAR_UINT16, &cfg.tri_yaw_max, 0, 2000 },
{ "tilt_pitch_prop", VAR_INT8, &cfg.tilt_pitch_prop, -100, 100 },
{ "tilt_roll_prop", VAR_INT8, &cfg.tilt_roll_prop, -100, 100 },
{ "p_pitch", VAR_UINT8, &cfg.P8[PITCH], 0, 200},
{ "i_pitch", VAR_UINT8, &cfg.I8[PITCH], 0, 200},
{ "d_pitch", VAR_UINT8, &cfg.D8[PITCH], 0, 200},
{ "p_roll", VAR_UINT8, &cfg.P8[ROLL], 0, 200},
{ "i_roll", VAR_UINT8, &cfg.I8[ROLL], 0, 200},
{ "d_roll", VAR_UINT8, &cfg.D8[ROLL], 0, 200},
{ "p_yaw", VAR_UINT8, &cfg.P8[YAW], 0, 200},
{ "i_yaw", VAR_UINT8, &cfg.I8[YAW], 0, 200},
{ "d_yaw", VAR_UINT8, &cfg.D8[YAW], 0, 200},
{ "p_level", VAR_UINT8, &cfg.P8[PIDLEVEL], 0, 200},
{ "i_level", VAR_UINT8, &cfg.I8[PIDLEVEL], 0, 200},
{ "d_level", VAR_UINT8, &cfg.D8[PIDLEVEL], 0, 200},
};
#define VALUE_COUNT (sizeof(valueTable) / sizeof(valueTable[0]))
@ -365,9 +384,31 @@ static void cliSet(char *cmdline)
}
}
static void cliStatus(char *cmdline)
{
char buf[16];
uartPrint("System Uptime: ");
itoa(millis() / 1000, buf, 10);
uartPrint(buf);
uartPrint(" seconds, Voltage: ");
itoa(vbat, buf, 10);
uartPrint(buf);
uartPrint(" * 0.1V (");
itoa(batteryCellCount, buf, 10);
uartPrint(buf);
uartPrint("S battery)\r\n");
uartPrint("Cycle Time: ");
itoa(cycleTime, buf, 10);
uartPrint(buf);
uartPrint(", I2C Errors: ");
itoa(i2cGetErrorCounter(), buf, 10);
uartPrint(buf);
uartPrint("\r\n");
}
static void cliVersion(char *cmdline)
{
uartPrint("Afro32 CLI version 2.0-pre3");
uartPrint("Afro32 CLI version 2.0-pre3 " __DATE__ " / " __TIME__);
}
void cliProcess(void)
@ -380,8 +421,8 @@ void cliProcess(void)
while (uartAvailable()) {
uint8_t c = uartRead();
if (c == '\t' || c == '?') {
// do tab completion
const clicmd_t *cmd, *pstart = NULL, *pend = NULL;
int i = bufferIndex;
for (cmd = cmdTable; cmd < cmdTable + CMD_COUNT; cmd++) {
@ -406,7 +447,7 @@ void cliProcess(void)
if (!bufferIndex || pstart != pend) {
/* Print list of ambiguous matches */
uartPrint("\r\033[K");
for (cmd = pstart;cmd <= pend;cmd++) {
for (cmd = pstart; cmd <= pend; cmd++) {
uartPrint(cmd->name);
uartWrite('\t');
}

4
src/config.c
View File

@ -8,7 +8,7 @@
config_t cfg;
static uint32_t enabledSensors = 0;
static uint8_t checkNewConf = 5;
static uint8_t checkNewConf = 6;
void readEEPROM(void)
{
@ -103,6 +103,8 @@ void checkFirstTime(bool reset)
cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y
cfg.powerTrigger1 = 0;
cfg.vbatscale = 110;
cfg.vbatmaxcellvoltage = 43;
cfg.vbatmincellvoltage = 33;
// Radio/ESC
cfg.deadband = 0;

2
src/drv_adxl345.c
View File

@ -30,7 +30,7 @@ bool adxl345Detect(sensor_t *acc)
acc->init = adxl345Init;
acc->read = adxl345Read;
acc->orient = adxl345Align;
acc->align = adxl345Align;
return true;
}

2
src/drv_mpu3050.c
View File

@ -41,7 +41,7 @@ bool mpu3050Detect(sensor_t *gyro)
gyro->init = mpu3050Init;
gyro->read = mpu3050Read;
gyro->orient = mpu3050Align;
gyro->align = mpu3050Align;
return true;
}

6
src/drv_mpu6050.c
View File

@ -28,15 +28,15 @@ bool mpu6050Detect(sensor_t *acc, sensor_t *gyro)
if (!ack)
return false;
if (sig != 0x68)
if (sig != MPU6050_ADDRESS)
return false;
acc->init = mpu6050AccInit;
acc->read = mpu6050AccRead;
acc->orient = mpu6050AccAlign;
acc->align = mpu6050AccAlign;
gyro->init = mpu6050GyroInit;
gyro->read = mpu6050GyroRead;
gyro->orient = mpu6050GyroAlign;
gyro->align = mpu6050GyroAlign;
return true;
}

6
src/main.c
View File

@ -24,7 +24,7 @@ int main(void)
// We have these sensors
sensorsSet(SENSOR_ACC | SENSOR_BARO | SENSOR_MAG);
mixerInit(); // this will configure FEATURE_SERVO depending on mixer type
mixerInit(); // this will set useServo var depending on mixer type
pwmInit(feature(FEATURE_PPM), useServo, feature(FEATURE_DIGITAL_SERVO));
LED1_ON;
@ -44,6 +44,10 @@ int main(void)
sensorsAutodetect();
imuInit(); // Mag is initialized inside imuInit
// Check battery type/voltage
if (feature(FEATURE_VBAT))
batteryInit();
previousTime = micros();
calibratingG = 400;
#if defined(POWERMETER)

33
src/mw.c
View File

@ -79,6 +79,8 @@ uint32_t pAlarm; // we scale the eeprom value from [0:255] to this value
// uint8_t powerTrigger1 = 0;
uint16_t powerValue = 0; // last known current
uint16_t intPowerMeterSum, intPowerTrigger1;
uint8_t batteryCellCount = 3; // cell count
uint16_t batteryWarningVoltage; // annoying buzzer after this one, battery ready to be dead
void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat)
{
@ -159,6 +161,7 @@ void annexCode(void)
rcCommand[ROLL] = rcCommand[ROLL] * cosDiff - rcCommand[PITCH] * sinDiff;
rcCommand[PITCH] = rcCommand_PITCH;
}
#if defined(POWERMETER_HARD)
if (!(++psensorTimer % PSENSORFREQ)) {
pMeterRaw = analogRead(PSENSORPIN);
@ -180,15 +183,15 @@ void annexCode(void)
vbatRawArray[(ind++) % 8] = adcGetBattery();
for (i = 0; i < 8; i++)
vbatRaw += vbatRawArray[i];
vbat = (((vbatRaw / 8) * 3.3f) / 4095) * cfg.vbatscale; // result is Vbatt in 0.1V steps. 3.3V = ADC Vref, 4095 = 12bit adc, 110 = 11:1 voltage divider (10k:1k) * 10 for 0.1V
vbat = batteryAdcToVoltage(vbatRaw / 8);
}
if (rcOptions[BOXBEEPERON]) { // unconditional beeper on via AUXn switch
buzzerFreq = 7;
} else if (((vbat > VBATLEVEL1_3S)
} else if (((vbat > batteryWarningVoltage)
#if defined(POWERMETER)
&& ((pMeter[PMOTOR_SUM] < pAlarm) || (pAlarm == 0))
#endif
) || (NO_VBAT > vbat)) // ToLuSe
) || (vbat < cfg.vbatmincellvoltage))
{ //VBAT ok AND powermeter ok, buzzer off
buzzerFreq = 0;
buzzerState = 0;
@ -197,12 +200,8 @@ void annexCode(void)
} else if (pMeter[PMOTOR_SUM] > pAlarm) { // sound alarm for powermeter
buzzerFreq = 4;
#endif
} else if (vbat > VBATLEVEL2_3S)
buzzerFreq = 1;
else if (vbat > VBATLEVEL3_3S)
buzzerFreq = 2;
else
buzzerFreq = 4;
} else
buzzerFreq = 4; // low battery
if (buzzerFreq) {
if (buzzerState && (currentTime > buzzerTime + 250000)) {
buzzerState = 0;
@ -268,19 +267,19 @@ void annexCode(void)
}
#endif
#if GPS
static uint32_t GPSLEDTime;
if (currentTime > GPSLEDTime && (GPS_fix_home == 1)) {
GPSLEDTime = currentTime + 150000;
LEDPIN_TOGGLE;
if (sensors(SENSOR_GPS)) {
static uint32_t GPSLEDTime;
if (currentTime > GPSLEDTime && (GPS_fix_home == 1)) {
GPSLEDTime = currentTime + 150000;
LED1_TOGGLE;
}
}
#endif
}
uint16_t readRawRC(uint8_t chan)
{
uint16_t data;
failsafeCnt = 0;
data = pwmRead(rcChannel[chan]);
if (data < 750 || data > 2250)
@ -294,7 +293,7 @@ void computeRC(void)
static int16_t rcData4Values[8][4], rcDataMean[8];
static uint8_t rc4ValuesIndex = 0;
uint8_t chan, a;
#if defined(SBUS)
readSBus();
#endif

13
src/mw.h
View File

@ -50,15 +50,8 @@
#define CAM_TIME_HIGH 1000 // the duration of HIGH state servo expressed in ms
#define CAM_TIME_LOW 1000 // the duration of LOW state servo expressed in ms
/* 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
vbat = [0;1023]*16/VBATSCALE */
/* for VBAT monitoring frequency */
#define VBATFREQ 6 // to read battery voltage - keep equal to PSENSORFREQ (6) unless you know what you are doing
#define VBATLEVEL1_3S 107 // 10,7V
#define VBATLEVEL2_3S 103 // 10,3V
#define VBATLEVEL3_3S 99 // 9.9V
#define NO_VBAT 16 // Avoid beeping without any battery
// Moving Average Gyros by Magnetron1 (Michele Ardito) ########## beta
//#define MMGYRO // Active Moving Average Function for Gyros
@ -155,6 +148,8 @@ typedef struct config_t {
uint8_t activate2[CHECKBOXITEMS];
uint8_t powerTrigger1; // trigger for alarm based on power consumption
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)
// Radio/ESC-related configuration
uint8_t deadband; // introduce a deadband around the stick center. Must be greater than zero
@ -248,6 +243,8 @@ void getEstimatedAltitude(void);
// Sensors
void sensorsAutodetect(void);
void batteryInit(void);
uint16_t batteryAdcToVoltage(uint16_t src);
void ACC_getADC(void);
void Baro_update(void);
void Gyro_getADC(void);

34
src/sensors.c
View File

@ -13,6 +13,8 @@ extern int16_t AccInflightCalibrationArmed;
extern uint16_t AccInflightCalibrationMeasurementDone;
extern uint16_t AccInflightCalibrationSavetoEEProm;
extern uint16_t AccInflightCalibrationActive;
extern uint16_t batteryWarningVoltage;
extern uint8_t batteryCellCount;
sensor_t acc; // acc access functions
sensor_t gyro; // gyro access functions
@ -45,6 +47,34 @@ void sensorsAutodetect(void)
gyro.init();
}
uint16_t batteryAdcToVoltage(uint16_t src)
{
// calculate battery voltage based on ADC reading
// result is Vbatt in 0.1V steps. 3.3V = ADC Vref, 4095 = 12bit adc, 110 = 11:1 voltage divider (10k:1k) * 10 for 0.1V
return (((src) * 3.3f) / 4095) * cfg.vbatscale;
}
void batteryInit(void)
{
uint8_t i;
uint32_t voltage = 0;
for (i = 0; i < 32; i++) {
voltage += adcGetBattery();
delay(10);
}
voltage = batteryAdcToVoltage((uint16_t)(voltage / 32));
// autodetect cell count, going from 2S..6S
for (i = 2; i < 6; i++) {
if (voltage < i * cfg.vbatmaxcellvoltage)
break;
}
batteryCellCount = i;
batteryWarningVoltage = i * cfg.vbatmincellvoltage; // 3.3V per cell minimum, configurable in CLI
}
static void ACC_Common(void)
{
static int32_t a[3];
@ -132,7 +162,7 @@ static void ACC_Common(void)
void ACC_getADC(void)
{
acc.read(accADC);
acc.orient(accADC);
acc.align(accADC);
ACC_Common();
}
@ -237,7 +267,7 @@ void Gyro_getADC(void)
{
// range: +/- 8192; +/- 2000 deg/sec
gyro.read(gyroADC);
gyro.orient(gyroADC);
gyro.align(gyroADC);
GYRO_Common();
}