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https://github.com/iNavFlight/inav.git
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b83b9040f9
Check if ADC current meter is enabled in sonarInit() and change sonar pins to pwm 5 and 6 if it is. Same as when RX_PARALLEL is enabled.
115 lines
3.6 KiB
C
115 lines
3.6 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include "platform.h"
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#include "common/maths.h"
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#include "common/axis.h"
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#include "drivers/sonar_hcsr04.h"
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#include "drivers/gpio.h"
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#include "config/runtime_config.h"
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#include "config/config.h"
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#include "sensors/sensors.h"
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#include "sensors/sonar.h"
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// in cm , -1 indicate sonar is not in range - inclination adjusted by imu
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#ifdef SONAR
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static int32_t calculatedAltitude;
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void sonarInit(batteryConfig_t *batteryConfig)
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{
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#if defined(NAZE) || defined(EUSTM32F103RC) || defined(PORT103R)
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static const sonarHardware_t const sonarPWM56 = {
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.trigger_pin = Pin_8, // PWM5 (PB8) - 5v tolerant
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.echo_pin = Pin_9, // PWM6 (PB9) - 5v tolerant
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.exti_line = EXTI_Line9,
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.exti_pin_source = GPIO_PinSource9,
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.exti_irqn = EXTI9_5_IRQn
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};
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static const sonarHardware_t const sonarRC78 = {
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.trigger_pin = Pin_0, // RX7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
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.echo_pin = Pin_1, // RX8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
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.exti_line = EXTI_Line1,
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.exti_pin_source = GPIO_PinSource1,
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.exti_irqn = EXTI1_IRQn
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};
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// If we are using parallel PWM for our receiver or ADC current sensor, then use motor pins 5 and 6 for sonar, otherwise use rc pins 7 and 8
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if (feature(FEATURE_RX_PARALLEL_PWM ) || (feature(FEATURE_CURRENT_METER) && batteryConfig->currentMeterType == CURRENT_SENSOR_ADC) ) {
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hcsr04_init(&sonarPWM56);
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} else {
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hcsr04_init(&sonarRC78);
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}
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#elif defined(OLIMEXINO)
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static const sonarHardware_t const sonarHardware = {
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.trigger_pin = Pin_0, // RX7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
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.echo_pin = Pin_1, // RX8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
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.exti_line = EXTI_Line1,
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.exti_pin_source = GPIO_PinSource1,
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.exti_irqn = EXTI1_IRQn
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};
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hcsr04_init(&sonarHardware);
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#elif defined(SPRACINGF3)
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static const sonarHardware_t const sonarHardware = {
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.trigger_pin = Pin_0, // RC_CH7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
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.echo_pin = Pin_1, // RC_CH8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
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.exti_line = EXTI_Line1,
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.exti_pin_source = EXTI_PinSource1,
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.exti_irqn = EXTI1_IRQn
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};
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hcsr04_init(&sonarHardware);
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#else
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#error Sonar not defined for target
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#endif
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sensorsSet(SENSOR_SONAR);
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calculatedAltitude = -1;
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}
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void sonarUpdate(void)
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{
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hcsr04_start_reading();
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}
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int32_t sonarRead(void)
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{
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return hcsr04_get_distance();
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}
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int32_t sonarCalculateAltitude(int32_t sonarAlt, int16_t tiltAngle)
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{
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// calculate sonar altitude only if the sonar is facing downwards(<25deg)
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if (tiltAngle > 250)
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calculatedAltitude = -1;
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else
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calculatedAltitude = sonarAlt * (900.0f - tiltAngle) / 900.0f;
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return calculatedAltitude;
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}
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int32_t sonarGetLatestAltitude(void)
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{
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return calculatedAltitude;
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}
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#endif
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