mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-12 19:10:32 +03:00
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
This commit is contained in:
timecop
parent
670390e7a6
commit
0534444b2d
8 changed files with 2421 additions and 2844 deletions
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@ -161,29 +161,24 @@
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@ -493,10 +488,10 @@
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@ -507,10 +502,10 @@
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@ -523,8 +518,8 @@
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@ -535,10 +530,10 @@
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@ -563,10 +558,10 @@
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<FilenameWithoutPath>mw.c</FilenameWithoutPath>
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@ -621,8 +616,8 @@
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<PathWithFileName>.\src\mw.h</PathWithFileName>
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<FilenameWithoutPath>mw.h</FilenameWithoutPath>
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@ -698,7 +693,7 @@
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<PathWithFileName>.\src\drv_i2c.c</PathWithFileName>
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@ -724,10 +719,10 @@
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@ -740,8 +735,8 @@
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<PathWithFileName>.\src\drv_system.c</PathWithFileName>
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<FilenameWithoutPath>drv_system.c</FilenameWithoutPath>
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5125
obj/baseflight.hex
5125
obj/baseflight.hex
File diff suppressed because it is too large
Load diff
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@ -4,6 +4,7 @@
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#include <stdlib.h>
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#include <stdint.h>
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#include <math.h>
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#include <ctype.h>
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#include <string.h>
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#include <stdio.h>
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41
src/cli.c
41
src/cli.c
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@ -7,6 +7,7 @@ static void cliDefaults(char *cmdline);
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static void cliExit(char *cmdline);
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static void cliFeature(char *cmdline);
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static void cliHelp(char *cmdline);
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static void cliMap(char *cmdline);
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static void cliMixer(char *cmdline);
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static void cliSave(char *cmdline);
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static void cliSet(char *cmdline);
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@ -16,6 +17,9 @@ static void cliVersion(char *cmdline);
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// from sensors.c
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extern uint8_t batteryCellCount;
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// from config.c RC Channel mapping
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extern const char rcChannelLetters[];
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// buffer
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static char cliBuffer[32];
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static uint8_t bufferIndex = 0;
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@ -47,6 +51,7 @@ const clicmd_t cmdTable[] = {
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{ "exit", "", cliExit },
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{ "feature", "list or -val or val", cliFeature },
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{ "help", "", cliHelp },
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{ "map", "mapping of first 4 channels", cliMap },
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{ "mixer", "mixer name or list", cliMixer },
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{ "save", "save and reboot", cliSave },
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{ "set", "name=value or blank for list", cliSet },
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}
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}
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static void cliMap(char *cmdline)
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{
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uint8_t len;
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uint8_t i;
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char out[9];
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len = strlen(cmdline);
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if (len == 0 || len != 8) {
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uartPrint("Current assignment: ");
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for (i = 0; i < 8; i++)
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out[cfg.rcmap[i]] = rcChannelLetters[i];
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out[i] = '\0';
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uartPrint(out);
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uartPrint("\r\n");
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return;
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} else {
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bool fail = false;
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// uppercase it
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for (i = 0; i < 8; i++) {
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cmdline[i] = toupper(cmdline[i]);
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if (!strchr(rcChannelLetters, cmdline[i])) {
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fail = true;
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break;
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}
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}
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if (fail)
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uartPrint("Must be any order of AETR1234\r\n");
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else {
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parseRcChannels(cmdline);
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cliMap("");
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}
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}
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}
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static void cliMixer(char *cmdline)
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{
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uint8_t i;
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14
src/config.c
14
src/config.c
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@ -6,10 +6,22 @@
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#define FLASH_WRITE_ADDR (0x08000000 + (uint32_t)FLASH_PAGE_SIZE * 63) // use the last KB for storage
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config_t cfg;
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const char rcChannelLetters[] = "AERT1234";
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static uint32_t enabledSensors = 0;
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static uint8_t checkNewConf = 6;
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void parseRcChannels(const char *input)
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{
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const char *c, *s;
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for (c = input; *c; c++) {
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s = strchr(rcChannelLetters, *c);
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if (s)
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cfg.rcmap[s - rcChannelLetters] = c - input;
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}
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}
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void readEEPROM(void)
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{
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uint8_t i;
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cfg.vbatmincellvoltage = 33;
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// Radio/ESC
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parseRcChannels("AETR1234");
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// parseRcChannels("ATER1234");
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cfg.deadband = 0;
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cfg.midrc = 1500;
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cfg.mincheck = 1100;
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&(TIM4->CCR2),
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&(TIM4->CCR3),
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&(TIM4->CCR4),
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// Extended use during CPPM input
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&(TIM3->CCR1),
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&(TIM3->CCR2),
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&(TIM3->CCR3),
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uint8_t i, val;
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uint16_t c;
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bool throttleCal = true;
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bool throttleCal = false;
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// Inputs
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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#if 0
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// wait a while
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delay(100);
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for (c = 0; c < 10000; c++) {
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for (c = 0; c < 50000; c++) {
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val = GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_0);
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if (val) {
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throttleCal = false;
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break;
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}
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}
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}
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#endif
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// use PPM or PWM input
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usePPMFlag = usePPM;
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TIM_Cmd(TIM3, ENABLE);
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TIM_CtrlPWMOutputs(TIM3, ENABLE);
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}
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#if 0
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// throttleCal check part 2: delay 50ms, check if any RC pulses have been received
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delay(50);
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// if rc is on, it was set, check if rc is alive. if it is, cancel.
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if (rcActive)
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throttleCal = false;
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#endif
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return throttleCal;
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}
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uint8_t pwmGetNumOutputChannels(void)
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{
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return numOutputChannels;
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}
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}
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5
src/mw.c
5
src/mw.c
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int16_t axisPID[3];
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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]
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uint8_t rcChannel[8] = { ROLL, PITCH, THROTTLE, YAW, AUX1, AUX2, AUX3, AUX4 };
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// **********************
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// GPS
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uint16_t data;
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failsafeCnt = 0;
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data = pwmRead(rcChannel[chan]);
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data = pwmRead(cfg.rcmap[chan]);
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if (data < 750 || data > 2250)
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data = 1500;
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@ -293,7 +292,7 @@ void computeRC(void)
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static int16_t rcData4Values[8][4], rcDataMean[8];
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static uint8_t rc4ValuesIndex = 0;
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uint8_t chan, a;
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#if defined(SBUS)
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readSBus();
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#endif
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2
src/mw.h
2
src/mw.h
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@ -152,6 +152,7 @@ typedef struct config_t {
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uint8_t vbatmincellvoltage; // minimum voltage per cell, this triggers battery out alarms, in 0.1V units, default is 33 (3.3V)
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// Radio/ESC-related configuration
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uint8_t rcmap[8]; // mapping of radio channels to internal RPYTA+ order
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uint8_t deadband; // introduce a deadband around the stick center. Must be greater than zero
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uint16_t midrc; // Some radios have not a neutral point centered on 1500. can be changed here
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uint16_t mincheck; // minimum rc end
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@ -262,6 +263,7 @@ void mixTable(void);
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void serialCom(void);
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// Config
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void parseRcChannels(const char *input);
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void readEEPROM(void);
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void writeParams(void);
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void checkFirstTime(bool reset);
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