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inav-simplefc
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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
master
timecop 13 years ago
parent
fa29022f21
commit
6e88b8ae30
8 changed files with 109 additions and 23 deletions
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  1. 42
      baseflight.uvopt
  2. 10
      baseflight.uvproj
  3. 2
      src/board.h
  4. 7
      src/config.c
  5. 53
      src/drv_ledring.c
  6. 5
      src/drv_ledring.h
  7. 12
      src/mw.c
  8. 1
      src/mw.h

42
baseflight.uvopt
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@ -504,8 +504,8 @@
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@ -558,10 +558,10 @@
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@ -614,10 +614,10 @@
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@ -649,10 +649,10 @@
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@ -691,10 +691,10 @@
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@ -755,6 +755,20 @@
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10
baseflight.uvproj
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@ -486,6 +486,11 @@
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<FilePath>.\src\drv_uart.c</FilePath>
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@ -1040,6 +1045,11 @@
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2
src/board.h
View File

@ -15,6 +15,7 @@
#include "drv_bmp085.h"
#include "drv_hmc5883l.h"
#include "drv_i2c.h"
#include "drv_ledring.h"
#include "drv_mpu3050.h"
#include "drv_pwm.h"
#include "drv_uart.h"
@ -36,6 +37,7 @@ typedef enum {
FEATURE_SERVO_TILT = 1 << 5,
FEATURE_CAMTRIG = 1 << 6,
FEATURE_GYRO_SMOOTHING = 1 << 7,
FEATURE_LED_RING = 1 << 8,
} AvailableFeatures;
#define digitalHi(p, i) { p->BSRR = i; }

7
src/config.c
View File

@ -8,7 +8,7 @@
config_t cfg;
static uint32_t enabledSensors = 0;
static uint8_t checkNewConf = 2;
static uint8_t checkNewConf = 3;
void readEEPROM(void)
{
@ -65,7 +65,7 @@ void checkFirstTime(void)
cfg.version = checkNewConf;
cfg.mixerConfiguration = MULTITYPE_QUADX;
featureClearAll();
featureSet(FEATURE_VBAT | FEATURE_PPM);
featureSet(FEATURE_VBAT); // | FEATURE_PPM); // sadly, this is for hackers only
cfg.P8[ROLL] = 40;
cfg.I8[ROLL] = 30;
@ -102,8 +102,9 @@ void checkFirstTime(void)
cfg.accTrim[1] = 0;
cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y
cfg.powerTrigger1 = 0;
// Radio/ESC
cfg.deadband = 0;
cfg.midrc = 1500;
cfg.minthrottle = 1150;
cfg.maxthrottle = 1850;

53
src/drv_ledring.c
View File

@ -0,0 +1,53 @@
#include "board.h"
#include "mw.h"
// Driver for DFRobot I2C Led Ring
#define LED_RING_ADDRESS 0x6D
bool ledringDetect(void)
{
bool ack = false;
uint8_t sig = 'e';
ack = 0; // i2cWrite(LED_RING_ADDRESS, 0xFF, 1, &sig);
if (!ack)
return false;
return true;
}
void ledringState(void)
{
uint8_t b[10];
static uint8_t state;
if (state == 0) {
b[0] = 'z';
b[1] = (180 - heading) / 2; // 1 unit = 2 degrees;
// i2cWrite(LED_RING_ADDRESS, 0xFF, 2, b);
state = 1;
} else if (state == 1) {
b[0] = 'y';
b[1] = constrain(angle[ROLL] / 10 + 90, 0, 180);
b[2] = constrain(angle[PITCH] / 10 + 90, 0, 180);
// i2cWrite(LED_RING_ADDRESS, 0xFF, 3, b);
state = 2;
} else if (state == 2) {
b[0] = 'd'; // all unicolor GREEN
b[1] = 1;
if (armed)
b[2] = 1;
else
b[2] = 0;
// i2cWrite(LED_RING_ADDRESS, 0xFF, 3, b);
state = 0;
}
}
void ledringBlink(void)
{
uint8_t b[3];
b[0] = 'k';
b[1] = 10;
b[2] = 10;
// i2cWrite(LED_RING_ADDRESS, 0xFF, 3, b);
}

5
src/drv_ledring.h
View File

@ -0,0 +1,5 @@
#pragma once
bool ledringDetect(void);
void ledringState(void);
void ledringBlink(void);

12
src/mw.c
View File

@ -126,13 +126,13 @@ void annexCode(void)
for (axis = 0; axis < 3; axis++) {
uint16_t tmp = min(abs(rcData[axis] - cfg.midrc), 500);
#if defined(DEADBAND)
if (tmp > DEADBAND) {
tmp -= DEADBAND;
} else {
tmp = 0;
if (cfg.deadband > 0) {
if (tmp > cfg.deadband) {
tmp -= cfg.deadband;
} else {
tmp = 0;
}
}
#endif
if (axis != 2) { //ROLL & PITCH
uint16_t tmp2 = tmp / 100;
rcCommand[axis] = lookupRX[tmp2] + (tmp - tmp2 * 100) * (lookupRX[tmp2 + 1] - lookupRX[tmp2]) / 100;

1
src/mw.h
View File

@ -164,6 +164,7 @@ typedef struct config_t {
uint8_t powerTrigger1; // trigger for alarm based on power consumption
// Radio/ESC-related configuration
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 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.
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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