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Code Issues Wiki Activity

Remove config.c's dependencies on the mw.h/board.h files. Moved some RX

Browse source 
code into rx_common.c. Moved some GPS code into gps_common.c.  Isolated
some GPS functions into gps_common.c that were called from mw.c/loop().
moved gimbal defines into gimbal.h.  Moved sound & light code into
statusindicator.c
This commit is contained in:
Dominic Clifton 2014-04-18 12:13:37 +01:00
parent 8477b45061
commit a85bfa51e3
20 changed files with 232 additions and 166 deletions
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41
src/rx_common.c
View file

@ -2,6 +2,8 @@
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include "platform.h"
#include "rx_common.h"
@ -9,7 +11,10 @@
#include "drivers/pwm_common.h"
const char rcChannelLetters[] = "AERT1234";
int16_t lookupPitchRollRC[PITCH_LOOKUP_LENGTH]; // lookup table for expo & RC rate PITCH+ROLL
int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH]; // lookup table for expo & mid THROTTLE
int16_t rcData[RC_CHANS]; // interval [1000;2000]
rcReadRawDataPtr rcReadRawFunc = NULL; // receive data from default (pwm/ppm) or additional (spek/sbus/?? receiver drivers)
@ -52,3 +57,39 @@ void computeRC(rxConfig_t *rxConfig)
}
}
}
void generatePitchCurve(controlRateConfig_t *controlRateConfig)
{
uint8_t i;
for (i = 0; i < PITCH_LOOKUP_LENGTH; i++)
lookupPitchRollRC[i] = (2500 + controlRateConfig->rcExpo8 * (i * i - 25)) * i * (int32_t) controlRateConfig->rcRate8 / 2500;
}
void generateThrottleCurve(controlRateConfig_t *controlRateConfig, uint16_t minThrottle, uint16_t maxThrottle)
{
uint8_t i;
for (i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) {
int16_t tmp = 10 * i - controlRateConfig->thrMid8;
uint8_t y = 1;
if (tmp > 0)
y = 100 - controlRateConfig->thrMid8;
if (tmp < 0)
y = controlRateConfig->thrMid8;
lookupThrottleRC[i] = 10 * controlRateConfig->thrMid8 + tmp * (100 - controlRateConfig->thrExpo8 + (int32_t) controlRateConfig->thrExpo8 * (tmp * tmp) / (y * y)) / 10;
lookupThrottleRC[i] = minThrottle + (int32_t) (maxThrottle - minThrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
}
}
void parseRcChannels(const char *input, rxConfig_t *rxConfig)
{
const char *c, *s;
for (c = input; *c; c++) {
s = strchr(rcChannelLetters, *c);
if (s)
rxConfig->rcmap[s - rcChannelLetters] = c - input;
}
}