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MiniX1RC
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Added gimbal reading from ADS1115 and also speeding up the reading rate via using CPU_0

master
Englebert 1 year ago
parent
f0b0c2d8ee
commit
2a4e76d08e
2 changed files with 172 additions and 12 deletions
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  1. 156
      src/main.cpp
  2. 28
      src/main.h

156
src/main.cpp
View File

@ -33,6 +33,16 @@ void setup() {
Serial.println("ADS1115 ERROR!");
// delay(5000);
}
//// ADS.setWireClock(100000);
ADS.setGain(1); // +- 4.096V
ADS.setDataRate(7); // 7 = Fastest
// Initialize SBUSData
for(uint8_t i = 0; i < 16; i++)
sbusData.ch[i] = 0;
sbusData.failsafe = false;
sbusData.ch17 = false;
sbusData.ch18 = false;
// Setting WiFi
wifi_setup();
@ -70,6 +80,16 @@ void setup() {
NULL,
CPU_0
);
xTaskCreatePinnedToCore(
taskGimbal,
"TaskGimbal", // Name of the process
8192, // This stack size can be checked & adjusted by reading the Stack Highwater
NULL,
5, // Priority
NULL,
CPU_0
);
}
void ota_setup(void) {
@ -372,11 +392,27 @@ void parse_i2c_command(void) {
rubybutton_last[3] = millis();
}
// QA1
if((uint32_t)(millis() - rubybutton_last[4]) > rubybutton_delay) {
rubybutton[4] = button3;
// Reset after read
button3 = 0;
// digitalWrite(BUTTON_DOWN, rubybutton[3]);
rubybutton_last[4] = millis();
}
i2c_send[0] =
rubybutton[0] | // Menu/Ok button
rubybutton[1] << 1 | // Cancel button
rubybutton[2] << 2 | // Plus button
rubybutton[3] << 3 ; // Minus button
rubybutton[3] << 3 | // Minus button
rubybutton[4] << 4 | // QA1 button
rubybutton[5] << 5 | // QA2 button
rubybutton[6] << 6 | // QA3 button
rubybutton[7] << 7 ; // Action + button
i2c_send[1] = 0;
i2c_send[2] = 0;
i2c_send[3] = 0;
@ -425,8 +461,8 @@ void taskSystem(void *pvParameters) {
// frame_count = frame_count_raw;
// frame_count_raw = 0;
// profile_gimbal_rate = profile_gimbal_rate_raw;
// profile_gimbal_rate_raw = 0;
profile_gimbal_rate = profile_gimbal_rate_raw;
profile_gimbal_rate_raw = 0;
// if(counter == 0) {
/// signalNotOK = true;
@ -445,7 +481,7 @@ void taskDisplay(void *pvParameters) {
(void) pvParameters;
uint32_t last_update = 0;
uint8_t delay = 50; // Screen refreshing time. 50mS delay. Roughly 20Hz for display rate.
uint8_t delay = 20; // Screen refreshing time. 20mS delay. Roughly 50Hz for display rate.
for(;;) {
vTaskDelay(delay);
@ -511,6 +547,54 @@ void taskInput(void *pvParameters) {
}
void taskGimbal(void *pvParameters) {
(void) pvParameters;
uint32_t profiling_start = 0;
uint32_t profiling_end = 0;
profile_gimbal_rate_raw = 0;
for(;;) {
// /profiling_start = millis();
// raw_throttle = analogRead(THROTTLE_PIN);
// throttle_steps = median_throttle(raw_throttle);
// Sampling throttle
// throttle_steps = sampling(THROTTLE_POOL);
throttle_steps = ADS.readADC(1);
// raw_yaw = analogRead(YAW_PIN);
// yaw_steps = median_yaw(raw_yaw);
// Sampling yaw
// yaw_steps = sampling(YAW_POOL);
yaw_steps = ADS.readADC(0);
// raw_roll = analogRead(ROLL_PIN);
// roll_steps = median_roll(raw_roll);
// roll_steps = sampling(ROLL_POOL);
roll_steps = ADS.readADC(3);
// raw_pitch = analogRead(PITCH_PIN);
// $pitch_steps = median_pitch(raw_pitch);
// pitch_steps = sampling(PITCH_POOL);
pitch_steps = ADS.readADC(2);
// profiling_end = micros();
// uint32_t result = (uint32_t)(profiling_end - profiling_start);
// Serial.println(result);
throttle_val = map(throttle_steps, min_throttle, max_throttle, 1000, 2000);
yaw_val = map(yaw_steps, min_yaw, max_yaw, 1000, 2000);
pitch_val = map(pitch_steps, min_pitch, max_pitch, 1000, 2000);
roll_val = map(roll_steps, min_roll, max_roll, 1000, 2000);
profile_gimbal_rate_raw++;
vTaskDelay(1);
}
}
void draw_gimbal_huge(uint16_t x, uint16_t y) {
// Top
mainscreen_buffer.drawFastHLine(x, y, 120, TFT_DARKGREEN);
@ -541,11 +625,12 @@ void screen_rubytoggles(void) {
mainscreen_buffer.print("[RUBYFPV]"); // Title
mainscreen_buffer.drawRect(16, 32, 60, 60, TFT_WHITE);
mainscreen_buffer.drawRect(16, 122, 60, 60, TFT_WHITE);
mainscreen_buffer.drawRect(16, 32, 60, 60, TFT_WHITE); // MENU
mainscreen_buffer.drawRect(16, 122, 60, 60, TFT_WHITE); // CANCEL
mainscreen_buffer.drawRect(96, 32, 60, 60, TFT_WHITE); // QA1
mainscreen_buffer.drawRect(260, 32, 60, 60, TFT_WHITE);
mainscreen_buffer.drawRect(260, 122, 60, 60, TFT_WHITE);
mainscreen_buffer.drawRect(260, 32, 60, 60, TFT_WHITE); // UP
mainscreen_buffer.drawRect(260, 122, 60, 60, TFT_WHITE); // DOWN
footer();
mainscreen_buffer.pushSprite(0, 0); // Display it
@ -587,6 +672,7 @@ void screen_rubytoggles(void) {
if(e & E_TOUCH) {
// MENU
if(
e.to.x >= 16 &&
e.to.x <= 76 &&
@ -597,6 +683,7 @@ void screen_rubytoggles(void) {
button1 = true;
}
// CANCEL
if(
e.to.x >= 16 &&
e.to.x <= 76 &&
@ -607,6 +694,7 @@ void screen_rubytoggles(void) {
button2 = true;
}
// UP
if(
e.to.x >= 260 &&
e.to.x <= 320 &&
@ -617,6 +705,7 @@ void screen_rubytoggles(void) {
button6 = true;
}
// DOWN
if(
e.to.x >= 200 &&
e.to.x <= 320 &&
@ -627,6 +716,16 @@ void screen_rubytoggles(void) {
button7 = true;
}
// QA1
if(
e.to.x >= 96 &&
e.to.x <= 156 &&
e.to.y >= 32 &&
e.to.y <= 92
) {
if(DEBUG) Serial.printf("RUBY BUTTON 3\r\n");
button3 = true;
}
} // End of E_TOUCH
@ -647,6 +746,39 @@ void screen_controller(void) {
draw_gimbal_huge(39, 60);
draw_gimbal_huge(161, 60);
gimbal_left_x = map(yaw_val, 1000, 2000, 39, 159);
gimbal_left_y = map(throttle_val, 1000, 2000, 60, 180);
mainscreen_buffer.fillCircle(gimbal_left_x, gimbal_left_y, 3, TFT_WHITE);
gimbal_right_x = map(roll_val, 1000, 2000, 161, 281);
gimbal_right_y = map(pitch_val, 1000, 2000, 60, 180);
mainscreen_buffer.fillCircle(gimbal_right_x, gimbal_right_y, 3, TFT_WHITE);
if(throttle_steps > max_throttle) {
max_throttle = throttle_steps;
} else if(throttle_steps < min_throttle) {
min_throttle = throttle_steps;
}
if(yaw_steps > max_yaw) {
max_yaw = yaw_steps;
} else if(yaw_steps < min_yaw) {
min_yaw = yaw_steps;
}
if(pitch_steps > max_pitch) {
max_pitch = pitch_steps;
} else if(pitch_steps < min_pitch) {
min_pitch = pitch_steps;
}
if(roll_steps > max_roll) {
max_roll = roll_steps;
} else if(roll_steps < min_roll) {
min_roll = roll_steps;
}
footer();
mainscreen_buffer.pushSprite(0, 0); // Display it
@ -875,8 +1007,12 @@ void footer(void) {
mainscreen_buffer.print(uptime);
mainscreen_buffer.setTextColor(TFT_YELLOW);
mainscreen_buffer.setCursor(60, 226);
mainscreen_buffer.print(IP);
mainscreen_buffer.setCursor(70, 226);
// mainscreen_buffer.print(IP);
mainscreen_buffer.print(profile_gimbal_rate);
mainscreen_buffer.setCursor(120, 226);
mainscreen_buffer.print(pitch_val);
mainscreen_buffer.setTextColor(TFT_WHITE);
mainscreen_buffer.setCursor(200, 226);

28
src/main.h
View File

@ -66,6 +66,30 @@ bool header_detected = false;
// ADS1115
#define ADS1115_SDA 21
#define ADS1115_SCL 22
uint16_t profile_gimbal_rate;
uint16_t profile_gimbal_rate_raw;
int16_t throttle_steps = 0;
int16_t yaw_steps = 0;
int16_t roll_steps = 0;
int16_t pitch_steps = 0;
int16_t throttle_val = 0;
int16_t yaw_val = 0;
int16_t pitch_val = 0;
int16_t roll_val = 0;
int16_t gimbal_left_x = 0; // For Yaw
int16_t gimbal_left_y = 0; // For throttle
int16_t gimbal_right_x = 0; // For Roll
int16_t gimbal_right_y = 0; // For Pitch
// Active calibration
int16_t min_throttle = 32767;
int16_t max_throttle = 0;
int16_t min_yaw = 32767;
int16_t max_yaw = 0;
int16_t min_pitch = 32767;
int16_t max_pitch = 0;
int16_t min_roll = 32767;
int16_t max_roll = 0;
#define DIALOGBOX_FOREGROUND TFT_WHITE
#define DIALOGBOX_BACKGROUND TFT_NAVY
@ -115,7 +139,7 @@ uint8_t button10 = 0;
bool rubybutton[16];
uint32_t rubybutton_last[16];
uint16_t rubybutton_delay = 200;
uint16_t rubybutton_delay = 100;
struct_sbus sbusData;
uint8_t current_screen = SCREEN_INTRO;
@ -126,6 +150,7 @@ uint32_t last_scroll = 0;
void taskSystem(void *pvParameters);
void taskDisplay(void *pvParameters);
void taskInput(void *pvParameters);
void taskGimbal(void *pvParameters);
// Other Functions
void onI2C0Receive(int len);
@ -144,5 +169,4 @@ void touch_reader(void);
void footer(void);
void draw_gimbal_huge(uint16_t x, uint16_t y);
#endif
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