From 021b486916be96445893b5ef5ae17c54b6106c28 Mon Sep 17 00:00:00 2001 From: "timecop@gmail.com" Date: Sun, 7 Oct 2012 18:03:42 +0000 Subject: [PATCH] added ability to swap sensor axises dynamically. still needs a sane way to configire in CLI, though. adjusted all drivers for the new align stuff. commented out default config setting values to zero - memset already did that. git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@227 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61 --- obj/baseflight.hex | 6149 ++++++++++++++++++++++---------------------- src/config.c | 51 +- src/drv_l3g4200d.c | 12 +- src/drv_mma845x.c | 16 +- src/drv_mpu3050.c | 12 +- src/drv_mpu6050.c | 34 +- src/mw.h | 9 +- src/sensors.c | 45 +- 8 files changed, 3184 insertions(+), 3144 deletions(-) diff --git a/obj/baseflight.hex b/obj/baseflight.hex index c74185d1b..90bb4df6b 100644 --- a/obj/baseflight.hex +++ b/obj/baseflight.hex @@ -1,3092 +1,3095 @@ :020000040800F2 -:10000000081E00202D8700086D870008B31F000818 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+:10C10000083039602A1E454910396099102940AA23 +:10C11000081019611A0C1013E8B71B08DC0413038C +:10C12000B81B08F7080144B94584A24A04380C0139 +:10C13000020304060708090204062329106914C132 :04000005080000ED02 :00000001FF diff --git a/src/config.c b/src/config.c index 9190f172f..220b62128 100755 --- a/src/config.c +++ b/src/config.c @@ -12,7 +12,7 @@ config_t cfg; const char rcChannelLetters[] = "AERT1234"; -static uint8_t EEPROM_CONF_VERSION = 32; +static uint8_t EEPROM_CONF_VERSION = 33; static uint32_t enabledSensors = 0; static void resetConf(void); @@ -123,6 +123,8 @@ void checkFirstTime(bool reset) static void resetConf(void) { int i; + const int8_t default_align[3][3] = { /* GYRO */ { 0, 0, 0 }, /* ACC */ { 0, 0, 0 }, /* MAG */ { -2, -3, 1 } }; + memset(&cfg, 0, sizeof(config_t)); cfg.version = EEPROM_CONF_VERSION; @@ -130,7 +132,7 @@ static void resetConf(void) featureClearAll(); featureSet(FEATURE_VBAT); - cfg.looptime = 0; + // cfg.looptime = 0; cfg.P8[ROLL] = 40; cfg.I8[ROLL] = 30; cfg.D8[ROLL] = 23; @@ -139,13 +141,13 @@ static void resetConf(void) cfg.D8[PITCH] = 23; cfg.P8[YAW] = 85; cfg.I8[YAW] = 45; - cfg.D8[YAW] = 0; + // cfg.D8[YAW] = 0; cfg.P8[PIDALT] = 16; cfg.I8[PIDALT] = 15; cfg.D8[PIDALT] = 7; cfg.P8[PIDPOS] = 11; // POSHOLD_P * 100; - cfg.I8[PIDPOS] = 0; // POSHOLD_I * 100; - cfg.D8[PIDPOS] = 0; + // cfg.I8[PIDPOS] = 0; // POSHOLD_I * 100; + // cfg.D8[PIDPOS] = 0; cfg.P8[PIDPOSR] = 20; // POSHOLD_RATE_P * 10; cfg.I8[PIDPOSR] = 8; // POSHOLD_RATE_I * 100; cfg.D8[PIDPOSR] = 45; // POSHOLD_RATE_D * 1000; @@ -156,24 +158,25 @@ static void resetConf(void) cfg.I8[PIDLEVEL] = 10; cfg.D8[PIDLEVEL] = 20; cfg.P8[PIDMAG] = 40; - cfg.P8[PIDVEL] = 0; - cfg.I8[PIDVEL] = 0; - cfg.D8[PIDVEL] = 0; + // cfg.P8[PIDVEL] = 0; + // cfg.I8[PIDVEL] = 0; + // cfg.D8[PIDVEL] = 0; cfg.rcRate8 = 90; cfg.rcExpo8 = 65; - cfg.rollPitchRate = 0; - cfg.yawRate = 0; - cfg.dynThrPID = 0; + // cfg.rollPitchRate = 0; + // cfg.yawRate = 0; + // cfg.dynThrPID = 0; cfg.thrMid8 = 50; - cfg.thrExpo8 = 0; - for (i = 0; i < CHECKBOXITEMS; i++) - cfg.activate[i] = 0; - cfg.angleTrim[0] = 0; - cfg.angleTrim[1] = 0; - cfg.accZero[0] = 0; - cfg.accZero[1] = 0; - cfg.accZero[2] = 0; - cfg.mag_declination = 0; // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero. + // cfg.thrExpo8 = 0; + // for (i = 0; i < CHECKBOXITEMS; i++) + // cfg.activate[i] = 0; + // cfg.angleTrim[0] = 0; + // cfg.angleTrim[1] = 0; + // cfg.accZero[0] = 0; + // cfg.accZero[1] = 0; + // cfg.accZero[2] = 0; + // cfg.mag_declination = 0; // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero. + memcpy(&cfg.align, default_align, sizeof(cfg.align)); cfg.acc_hardware = ACC_DEFAULT; // default/autodetect cfg.acc_lpf_factor = 4; cfg.acc_lpf_for_velocity = 10; @@ -191,14 +194,14 @@ static void resetConf(void) // Radio parseRcChannels("AETR1234"); - cfg.deadband = 0; - cfg.yawdeadband = 0; + // cfg.deadband = 0; + // cfg.yawdeadband = 0; cfg.alt_hold_throttle_neutral = 20; - cfg.spektrum_hires = 0; + // cfg.spektrum_hires = 0; cfg.midrc = 1500; cfg.mincheck = 1100; cfg.maxcheck = 1900; - cfg.retarded_arm = 0; // disable arm/disarm on roll left/right + // cfg.retarded_arm = 0; // disable arm/disarm on roll left/right // Failsafe Variables cfg.failsafe_delay = 10; // 1sec diff --git a/src/drv_l3g4200d.c b/src/drv_l3g4200d.c index f701994e1..6cd09d01d 100644 --- a/src/drv_l3g4200d.c +++ b/src/drv_l3g4200d.c @@ -82,9 +82,9 @@ static void l3g4200dInit(void) static void l3g4200dAlign(int16_t *gyroData) { - gyroData[0] = -gyroData[0] / 4; - gyroData[1] = gyroData[1] / 4; - gyroData[2] = -gyroData[2] / 4; + gyroData[0] = -gyroData[0]; + gyroData[1] = gyroData[1]; + gyroData[2] = -gyroData[2]; } // Read 3 gyro values into user-provided buffer. No overrun checking is done. @@ -92,7 +92,7 @@ static void l3g4200dRead(int16_t *gyroData) { uint8_t buf[6]; i2cRead(L3G4200D_ADDRESS, L3G4200D_GYRO_OUT, 6, buf); - gyroData[1] = (buf[0] << 8) | buf[1]; - gyroData[0] = (buf[2] << 8) | buf[3]; - gyroData[2] = (buf[4] << 8) | buf[5]; + gyroData[1] = (int16_t)((buf[0] << 8) | buf[1]) / 4; + gyroData[0] = (int16_t)((buf[2] << 8) | buf[3]) / 4; + gyroData[2] = (int16_t)((buf[4] << 8) | buf[5]) / 4; } diff --git a/src/drv_mma845x.c b/src/drv_mma845x.c index f9e9bde21..6affd61d2 100644 --- a/src/drv_mma845x.c +++ b/src/drv_mma845x.c @@ -97,18 +97,14 @@ static void mma8452Read(int16_t *accelData) uint8_t buf[6]; i2cRead(MMA8452_ADDRESS, MMA8452_OUT_X_MSB, 6, buf); - accelData[0] = (buf[0] << 8) | buf[1]; - accelData[1] = (buf[2] << 8) | buf[3]; - accelData[2] = (buf[4] << 8) | buf[5]; - - accelData[0] >>= 2; - accelData[1] >>= 2; - accelData[2] >>= 2; + accelData[0] = ((int16_t)((buf[0] << 8) | buf[1]) >> 2) / 4; + accelData[1] = ((int16_t)((buf[2] << 8) | buf[3]) >> 2) / 4; + accelData[2] = ((int16_t)((buf[4] << 8) | buf[5]) >> 2) / 4; } static void mma8452Align(int16_t *accelData) { - accelData[0] = -accelData[0] / 4; - accelData[1] = -accelData[1] / 4; - accelData[2] = accelData[2] / 4; + accelData[0] = -accelData[0]; + accelData[1] = -accelData[1]; + accelData[2] = accelData[2]; } diff --git a/src/drv_mpu3050.c b/src/drv_mpu3050.c index 6451b91ed..8aca692c9 100755 --- a/src/drv_mpu3050.c +++ b/src/drv_mpu3050.c @@ -94,9 +94,9 @@ static void mpu3050Init(void) static void mpu3050Align(int16_t *gyroData) { // official direction is RPY - gyroData[0] = gyroData[0] / 4; - gyroData[1] = gyroData[1] / 4; - gyroData[2] = -gyroData[2] / 4; + gyroData[0] = gyroData[0]; + gyroData[1] = gyroData[1]; + gyroData[2] = -gyroData[2]; } // Read 3 gyro values into user-provided buffer. No overrun checking is done. @@ -104,9 +104,9 @@ static void mpu3050Read(int16_t *gyroData) { uint8_t buf[6]; i2cRead(MPU3050_ADDRESS, MPU3050_GYRO_OUT, 6, buf); - gyroData[0] = (buf[0] << 8) | buf[1]; - gyroData[1] = (buf[2] << 8) | buf[3]; - gyroData[2] = (buf[4] << 8) | buf[5]; + gyroData[0] = (int16_t)((buf[0] << 8) | buf[1]) / 4; + gyroData[1] = (int16_t)((buf[2] << 8) | buf[3]) / 4; + gyroData[2] = (int16_t)((buf[4] << 8) | buf[5]) / 4; } static void mpu3050ReadTemp(int16_t *tempData) diff --git a/src/drv_mpu6050.c b/src/drv_mpu6050.c index c04c9e6cb..d5b6383d0 100644 --- a/src/drv_mpu6050.c +++ b/src/drv_mpu6050.c @@ -189,30 +189,30 @@ static void mpu6050AccInit(void) acc_1G = 1023; } -static void mpu6050AccRead(int16_t * accData) +static void mpu6050AccRead(int16_t *accData) { uint8_t buf[6]; #ifndef MPU6050_DMP i2cRead(MPU6050_ADDRESS, MPU_RA_ACCEL_XOUT_H, 6, buf); - accData[0] = (buf[0] << 8) | buf[1]; - accData[1] = (buf[2] << 8) | buf[3]; - accData[2] = (buf[4] << 8) | buf[5]; + accData[0] = (int16_t)((buf[0] << 8) | buf[1]) / 8; + accData[1] = (int16_t)((buf[2] << 8) | buf[3]) / 8; + accData[2] = (int16_t)((buf[4] << 8) | buf[5]) / 8; #else accData[0] = accData[1] = accData[2] = 0; #endif } -static void mpu6050AccAlign(int16_t * accData) +static void mpu6050AccAlign(int16_t *accData) { int16_t temp[2]; temp[0] = accData[0]; temp[1] = accData[1]; // official direction is RPY - accData[0] = temp[1] / 8; - accData[1] = -temp[0] / 8; - accData[2] = accData[2] / 8; + accData[0] = temp[1]; + accData[1] = -temp[0]; + accData[2] = accData[2]; } static void mpu6050GyroInit(void) @@ -251,22 +251,22 @@ static void mpu6050GyroRead(int16_t * gyroData) uint8_t buf[6]; #ifndef MPU6050_DMP i2cRead(MPU6050_ADDRESS, MPU_RA_GYRO_XOUT_H, 6, buf); - gyroData[0] = (buf[0] << 8) | buf[1]; - gyroData[1] = (buf[2] << 8) | buf[3]; - gyroData[2] = (buf[4] << 8) | buf[5]; + gyroData[0] = (int16_t)((buf[0] << 8) | buf[1]) / 4; + gyroData[1] = (int16_t)((buf[2] << 8) | buf[3]) / 4; + gyroData[2] = (int16_t)((buf[4] << 8) | buf[5]) / 4; #else - gyroData[0] = dmpGyroData[0]; - gyroData[1] = dmpGyroData[1]; - gyroData[2] = dmpGyroData[2]; + gyroData[0] = dmpGyroData[0] / 4 ; + gyroData[1] = dmpGyroData[1] / 4; + gyroData[2] = dmpGyroData[2] / 4; #endif } static void mpu6050GyroAlign(int16_t * gyroData) { // official direction is RPY - gyroData[0] = gyroData[0] / 4; - gyroData[1] = gyroData[1] / 4; - gyroData[2] = -gyroData[2] / 4; + gyroData[0] = gyroData[0]; + gyroData[1] = gyroData[1]; + gyroData[2] = -gyroData[2]; } #ifdef MPU6050_DMP diff --git a/src/mw.h b/src/mw.h index 2e920140f..fc6a60cd2 100755 --- a/src/mw.h +++ b/src/mw.h @@ -113,6 +113,12 @@ typedef struct mixer_t { const motorMixer_t *motor; } mixer_t; +enum { + ALIGN_GYRO = 0, + ALIGN_ACCEL = 1, + ALIGN_MAG = 2 +}; + typedef struct config_t { uint8_t version; uint16_t size; @@ -141,11 +147,12 @@ typedef struct config_t { int16_t angleTrim[2]; // accelerometer trim // sensor-related stuff + int8_t align[3][3]; // acc, gyro, mag alignment (ex: with sensor output of X, Y, Z, align of 1 -3 2 would return X, -Z, Y) uint8_t acc_hardware; // Which acc hardware to use on boards with more than one device uint8_t acc_lpf_factor; // Set the Low Pass Filter factor for ACC. Increasing this value would reduce ACC noise (visible in GUI), but would increase ACC lag time. Zero = no filter uint8_t acc_lpf_for_velocity; // ACC lowpass for AccZ height hold uint8_t accz_deadband; // ?? - uint16_t gyro_lpf; // mpuX050 LPF setting + uint16_t gyro_lpf; // mpuX050 LPF setting (TODO make it work on L3GD as well) uint16_t gyro_cmpf_factor; // Set the Gyro Weight for Gyro/Acc complementary filter. Increasing this value would reduce and delay Acc influence on the output of the filter. uint32_t gyro_smoothing_factor; // How much to smoothen with per axis (32bit value with Roll, Pitch, Yaw in bits 24, 16, 8 respectively uint8_t mpu6050_scale; // seems es/non-es variance between MPU6050 sensors, half my boards are mpu6000ES, need this to be dynamic. fucking invenshit won't release chip IDs so I can't autodetect it. diff --git a/src/sensors.c b/src/sensors.c index bc012911e..6d8c3bd41 100755 --- a/src/sensors.c +++ b/src/sensors.c @@ -152,6 +152,28 @@ void batteryInit(void) batteryWarningVoltage = i * cfg.vbatmincellvoltage; // 3.3V per cell minimum, configurable in CLI } +// ALIGN_GYRO = 0, +// ALIGN_ACCEL = 1, +// ALIGN_MAG = 2 +static void alignSensors(uint8_t type, int16_t *data) +{ + int i; + int16_t tmp[3]; + + // make a copy :( + tmp[0] = data[0]; + tmp[1] = data[1]; + tmp[2] = data[2]; + + for (i = 0; i < 3; i++) { + int8_t axis = cfg.align[type][i]; + if (axis > 0) + data[axis - 1] = tmp[i]; + else + data[-axis - 1] = -tmp[i]; + } +} + static void ACC_Common(void) { static int32_t a[3]; @@ -237,7 +259,11 @@ static void ACC_Common(void) void ACC_getADC(void) { acc.read(accADC); - acc.align(accADC); + // if we have CUSTOM alignment configured, user is "assumed" to know what they're doing + if (cfg.align[ALIGN_ACCEL][0]) + alignSensors(ALIGN_ACCEL, accADC); + else + acc.align(accADC); ACC_Common(); } @@ -316,7 +342,11 @@ void Gyro_getADC(void) { // range: +/- 8192; +/- 2000 deg/sec gyro.read(gyroADC); - gyro.align(gyroADC); + // if we have CUSTOM alignment configured, user is "assumed" to know what they're doing + if (cfg.align[ALIGN_GYRO][0]) + alignSensors(ALIGN_GYRO, gyroADC); + else + gyro.align(gyroADC); GYRO_Common(); } @@ -327,13 +357,14 @@ static uint8_t magInit = 0; static void Mag_getRawADC(void) { - static int16_t rawADC[3]; - hmc5883lRead(rawADC); + hmc5883lRead(magADC); + // Default mag orientation is -2, -3, 1 or // no way? is THIS finally the proper orientation?? (by GrootWitBaas) - magADC[ROLL] = rawADC[2]; // X - magADC[PITCH] = -rawADC[0]; // Y - magADC[YAW] = -rawADC[1]; // Z + // magADC[ROLL] = rawADC[2]; // X + // magADC[PITCH] = -rawADC[0]; // Y + // magADC[YAW] = -rawADC[1]; // Z + alignSensors(ALIGN_MAG, magADC); } void Mag_init(void)