From 0534444b2d98753e74f31529143a469a5c181ddf Mon Sep 17 00:00:00 2001 From: timecop Date: Sat, 24 Mar 2012 07:10:17 +0000 Subject: [PATCH] temporarily removed throttle calibration. broken until further notice. implemented channel order selection (map in cli). example "map AETR1234" -> ail, ele, throttle, rudder, aux1234. thanks simon for all the halp on this one. truly a mindfuck. git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@126 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61 --- baseflight.uvopt | 59 +- obj/baseflight.hex | 5125 ++++++++++++++++++++------------------------ src/board.h | 1 + src/cli.c | 41 + src/config.c | 14 + src/drv_pwm.c | 18 +- src/mw.c | 5 +- src/mw.h | 2 + 8 files changed, 2421 insertions(+), 2844 deletions(-) diff --git a/baseflight.uvopt b/baseflight.uvopt index 594e017bd..976bf14b5 100755 --- a/baseflight.uvopt +++ b/baseflight.uvopt @@ -161,29 +161,24 @@ 0 1 - tri_yaw_middle + cycleTime,0x0A 1 1 - enabledFeatures + Inputs 2 1 - cmdline - - - 3 - 1 - buf + Inputs - 4 + 3 1 - cycleTime,0x0A + rcData,0x0A @@ -493,10 +488,10 @@ 1 0 0 - 22 + 0 0 - 61 - 90 + 1 + 1 0 .\src\cli.c cli.c @@ -507,10 +502,10 @@ 1 0 0 - 19 + 56 0 - 85 - 115 + 1 + 21 0 .\src\config.c config.c @@ -523,8 +518,8 @@ 0 0 0 - 182 - 191 + 50 + 56 0 .\src\imu.c imu.c @@ -535,10 +530,10 @@ 1 0 0 - 0 + 25 0 - 31 - 51 + 34 + 44 0 .\src\main.c main.c @@ -563,10 +558,10 @@ 1 0 0 - 9 + 0 0 - 571 - 583 + 39 + 46 0 .\src\mw.c mw.c @@ -621,8 +616,8 @@ 0 0 0 - 204 - 204 + 242 + 269 0 .\src\mw.h mw.h @@ -698,7 +693,7 @@ 0 0 0 - 134 + 137 143 0 .\src\drv_i2c.c @@ -724,10 +719,10 @@ 1 1 0 - 0 + 1 0 - 329 - 364 + 77 + 99 0 .\src\drv_pwm.c drv_pwm.c @@ -740,8 +735,8 @@ 0 0 0 - 124 - 150 + 42 + 43 0 .\src\drv_system.c drv_system.c diff --git a/obj/baseflight.hex b/obj/baseflight.hex index 669ec2771..521c0aadf 100644 --- a/obj/baseflight.hex +++ b/obj/baseflight.hex @@ -1,2807 +1,2324 @@ :020000040800F2 -:10000000A81700200D8900084D8900084F890008B5 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a/src/board.h +++ b/src/board.h @@ -4,6 +4,7 @@ #include #include #include +#include #include #include diff --git a/src/cli.c b/src/cli.c index 27e1e53a0..3a9f1c7ba 100644 --- a/src/cli.c +++ b/src/cli.c @@ -7,6 +7,7 @@ static void cliDefaults(char *cmdline); static void cliExit(char *cmdline); static void cliFeature(char *cmdline); static void cliHelp(char *cmdline); +static void cliMap(char *cmdline); static void cliMixer(char *cmdline); static void cliSave(char *cmdline); static void cliSet(char *cmdline); @@ -16,6 +17,9 @@ static void cliVersion(char *cmdline); // from sensors.c extern uint8_t batteryCellCount; +// from config.c RC Channel mapping +extern const char rcChannelLetters[]; + // buffer static char cliBuffer[32]; static uint8_t bufferIndex = 0; @@ -47,6 +51,7 @@ const clicmd_t cmdTable[] = { { "exit", "", cliExit }, { "feature", "list or -val or val", cliFeature }, { "help", "", cliHelp }, + { "map", "mapping of first 4 channels", cliMap }, { "mixer", "mixer name or list", cliMixer }, { "save", "save and reboot", cliSave }, { "set", "name=value or blank for list", cliSet }, @@ -245,6 +250,42 @@ static void cliHelp(char *cmdline) } } +static void cliMap(char *cmdline) +{ + uint8_t len; + uint8_t i; + char out[9]; + + len = strlen(cmdline); + + if (len == 0 || len != 8) { + uartPrint("Current assignment: "); + for (i = 0; i < 8; i++) + out[cfg.rcmap[i]] = rcChannelLetters[i]; + out[i] = '\0'; + uartPrint(out); + uartPrint("\r\n"); + return; + } else { + bool fail = false; + // uppercase it + for (i = 0; i < 8; i++) { + cmdline[i] = toupper(cmdline[i]); + if (!strchr(rcChannelLetters, cmdline[i])) { + fail = true; + break; + } + } + + if (fail) + uartPrint("Must be any order of AETR1234\r\n"); + else { + parseRcChannels(cmdline); + cliMap(""); + } + } +} + static void cliMixer(char *cmdline) { uint8_t i; diff --git a/src/config.c b/src/config.c index 7f9c37c75..902cedb31 100755 --- a/src/config.c +++ b/src/config.c @@ -6,10 +6,22 @@ #define FLASH_WRITE_ADDR (0x08000000 + (uint32_t)FLASH_PAGE_SIZE * 63) // use the last KB for storage config_t cfg; +const char rcChannelLetters[] = "AERT1234"; static uint32_t enabledSensors = 0; static uint8_t checkNewConf = 6; +void parseRcChannels(const char *input) +{ + const char *c, *s; + + for (c = input; *c; c++) { + s = strchr(rcChannelLetters, *c); + if (s) + cfg.rcmap[s - rcChannelLetters] = c - input; + } +} + void readEEPROM(void) { uint8_t i; @@ -107,6 +119,8 @@ void checkFirstTime(bool reset) cfg.vbatmincellvoltage = 33; // Radio/ESC + parseRcChannels("AETR1234"); + // parseRcChannels("ATER1234"); cfg.deadband = 0; cfg.midrc = 1500; cfg.mincheck = 1100; diff --git a/src/drv_pwm.c b/src/drv_pwm.c index 98e7b54f5..5193deaad 100755 --- a/src/drv_pwm.c +++ b/src/drv_pwm.c @@ -32,6 +32,7 @@ static volatile uint16_t *OutputChannels[] = { &(TIM4->CCR2), &(TIM4->CCR3), &(TIM4->CCR4), + // Extended use during CPPM input &(TIM3->CCR1), &(TIM3->CCR2), &(TIM3->CCR3), @@ -162,7 +163,7 @@ bool pwmInit(bool usePPM, bool useServos, bool useDigitalServos) uint8_t i, val; uint16_t c; - bool throttleCal = true; + bool throttleCal = false; // Inputs @@ -189,14 +190,19 @@ bool pwmInit(bool usePPM, bool useServos, bool useDigitalServos) GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA, &GPIO_InitStructure); + +#if 0 + // wait a while + delay(100); - for (c = 0; c < 10000; c++) { + for (c = 0; c < 50000; c++) { val = GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_0); if (val) { throttleCal = false; break; } - } + } +#endif // use PPM or PWM input usePPMFlag = usePPM; @@ -355,12 +361,14 @@ bool pwmInit(bool usePPM, bool useServos, bool useDigitalServos) TIM_Cmd(TIM3, ENABLE); TIM_CtrlPWMOutputs(TIM3, ENABLE); } - + +#if 0 // throttleCal check part 2: delay 50ms, check if any RC pulses have been received delay(50); // if rc is on, it was set, check if rc is alive. if it is, cancel. if (rcActive) throttleCal = false; +#endif return throttleCal; } @@ -379,4 +387,4 @@ uint16_t pwmRead(uint8_t channel) uint8_t pwmGetNumOutputChannels(void) { return numOutputChannels; -} \ No newline at end of file +} diff --git a/src/mw.c b/src/mw.c index 883302138..de623237f 100755 --- a/src/mw.c +++ b/src/mw.c @@ -43,7 +43,6 @@ uint8_t baroMode = 0; // if altitude hold is activated int16_t axisPID[3]; volatile uint16_t rcValue[18] = { 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502 }; // interval [1000;2000] -uint8_t rcChannel[8] = { ROLL, PITCH, THROTTLE, YAW, AUX1, AUX2, AUX3, AUX4 }; // ********************** // GPS @@ -281,7 +280,7 @@ uint16_t readRawRC(uint8_t chan) uint16_t data; failsafeCnt = 0; - data = pwmRead(rcChannel[chan]); + data = pwmRead(cfg.rcmap[chan]); if (data < 750 || data > 2250) data = 1500; @@ -293,7 +292,7 @@ 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 diff --git a/src/mw.h b/src/mw.h index df3cf07a1..898e042df 100755 --- a/src/mw.h +++ b/src/mw.h @@ -152,6 +152,7 @@ typedef struct config_t { 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 rcmap[8]; // mapping of radio channels to internal RPYTA+ order uint8_t deadband; // introduce a deadband around the stick center. Must be greater than zero uint16_t midrc; // Some radios have not a neutral point centered on 1500. can be changed here uint16_t mincheck; // minimum rc end @@ -262,6 +263,7 @@ void mixTable(void); void serialCom(void); // Config +void parseRcChannels(const char *input); void readEEPROM(void); void writeParams(void); void checkFirstTime(bool reset);