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wasmain.cpp
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wasmain.cpp
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/* Rev:$Revision: 1.2 $ */
/******************************************************************************
*
* Copyright 1998-2006 NetBurner, Inc. ALL RIGHTS RESERVED
* Permission is hereby granted to purchasers of NetBurner Hardware
* to use or modify this computer program for any use as long as the
* resultant program is only executed on NetBurner provided hardware.
*
* No other rights to use this program or it's derivitives in part or
* in whole are granted.
*
* It may be possible to license this or other NetBurner software for
* use on non NetBurner Hardware. Please contact [email protected]
* for more information.
*
* NetBurner makes no representation or warranties with respect to the
* performance of this computer program, and specifically disclaims any
* responsibility for any damages, special or consequential, connected
* with the use of this program.
*
* NetBurner, Inc
* 5405 Morehouse Drive
* San Diego Ca, 92121
* http://www.netburner.com
*
*****************************************************************************/
/******************************************************************************
Mod5213 I2C2Serial
This program will illustrate how to use the NetBurner I2C driver to transmit
multi-master or master-only I2C. This application should be used with multiple
NetBurner modules and at most 1 if any configured to be master-only.
Please note that jumpers 11 and 12 should be put on the MOD5213 developement
board to enable the I2C pull up resistors.
*****************************************************************************/
#include "predef.h"
#include <ctype.h>
#include <basictypes.h>
#include <system.h>
#include <constants.h>
#include <ucos.h>
#include <ucosmcfc.h>
#include <serialirq.h>
#include <stdio.h>
#include <smarttrap.h>
#include <serialupdate.h>
#include <string.h>
#include <Pins.h>
#include <sim.h>
#include <a2d.h>
#include <cfinter.h>
#include <math.h>
#include <bsp.h>
#include "filereporter.h"
REPORT_FILE
#include "pitr_sem.h"
#include "i2c_sub.h"
#include "spi_sub.h"
#include "a2d_sub.h"
#include "dsm2_sub.h"
#include "servo_drive.h"
#include "sensor_config.h"
#include "gps.h"
#include "log.h"
#include "prio.h"
#include "imu.h"
#include "exmath.h"
#define PITOT_A2D (4)
// Instruct the C++ compiler not to mangle the function name
extern "C"
{
void UserMain( void * pd);
void SetIntc( long func, int vector, int level, int prio );
}
void RawSetServo(int ch,float v);//Limits -1.0 to +1.0
#define SERVO_ALIERON (2)
#define SERVO_ELEVATOR (3)
#define SERVO_RUDDER (0)
#define SERVO_THROTTLE (1)
static IMU_Euler imu_state;
void SetServo(int ch, float v)
{
float f=0.0;
if(v<0.0)
{
f=(-v*(SensorConfig.servo_neg_lim[ch]-SensorConfig.servo_mid[ch]));
}
else
if(v>0.0)
{
f=(v*(SensorConfig.servo_pos_lim[ch]-SensorConfig.servo_mid[ch]));
}
RawSetServo(ch,SensorConfig.servo_mid[ch]+f);
}
OS_SEM Pit100Hz_Sem;
OS_SEM NewDataSem;
float GzerosF[3];
BOOL bStaticZero;
float gSlew;
void ImuTest();
void MagTest();
void AcelTest();
void GyroTest();
void ServoTest();
void QTest();
void RCTest();
void GPSTest();
void BaroTest();
// Name for development tools to identify this application
const char * AppName="MOD5213 AP";
extern volatile DWORD irq2_cnt;
void CommandParser()
{
while(1)
{
iprintf("\r\nCMD (Cap x,d,z,i,m,a,s,q,b,l,v>");
char c=sgetchar(0);
if(c=='X') return;
if(c=='D') LogDump();
if(c=='Z') LogErase();
if(c=='I') ImuTest();
if(c=='M') MagTest();
if(c=='A') AcelTest();
if(c=='G') GyroTest();
if(c=='S') ServoTest();
if(c=='Q') QTest();
if(c=='R') RCTest();
if(c=='N') GPSTest();
if(c=='B') BaroTest();
if(c=='L') {ForceReboot();}
if(c=='V') FileReporter::ShowList();
}
}
WORD gLastMagSerial;
void ImuTest()
{
WORD LastImuSerial =ImuResult.ReadingNum;
while(!charavail(0))
{
OSSemPend(&NewDataSem,0);
if(LastImuSerial !=ImuResult.ReadingNum)
{
LastImuSerial =ImuResult.ReadingNum;
iprintf("%+5d,%+5d %+5d %+5d %+5d %+5d\r\n",ImuResult.Ax,ImuResult.Ay,ImuResult.Az,ImuResult.Gx,ImuResult.Gy,ImuResult.Gz);
}
}
}
double cmag(double * pmags)
{
return sqrt((pmags[0]*pmags[0]+pmags[1]*pmags[1]+pmags[2]*pmags[2]));
}
double LimitTest(short & mv, short v, short & mav)
{
if(mav<v) mav=v;
if(mv>v) mv=v;
short avg=(mav+mv)/2;
short sv=(v-avg);
iprintf("[%5d,%5d,%5d,%5d]",mv,v,sv,mav);
if((mav-mv)>4)
{
return 2.0*(double(sv))/( ((double)mav)-((double)mv) ) ;
}
return 0.0;
}
void ProcessImu();
void ImuZero()
{
WORD LastImuSerial =ImuResult.ReadingNum;
DWORD ActiveTime=Secs;
iprintf("Starting IMU Zero \r\n");
bStaticZero=true;
bServoOff=true;
while(Secs<(ActiveTime+12))
{
OSSemPend(&NewDataSem,0);
if(LastImuSerial !=ImuResult.ReadingNum)
{
ProcessImu();
LastImuSerial =ImuResult.ReadingNum;
}
}
iprintf("AX avg = %ld \r\n",ImuZeros.Azerosx>>13);
iprintf("AY avg = %ld \r\n",ImuZeros.Azerosy>>13);
iprintf("AZ avg = %ld \r\n",ImuZeros.Azerosz>>13);
}
void EndStatic()
{
GzerosF[0]=ImuZeros.Gzerosx;
GzerosF[1]=ImuZeros.Gzerosy;
GzerosF[2]=ImuZeros.Gzerosz;
GzerosF[0]/=(float)(1<<13);
GzerosF[1]/=(float)(1<<13);
GzerosF[2]/=(float)(1<<13);
bStaticZero=false;
}
float MagScale(short rv, int index)
{
float v=rv;
float fmin=SensorConfig.mag_min[index];
float fmax=SensorConfig.mag_max[index];
v-=(fmin+fmax)*0.5;
v*=2.0/(fmax-fmin);
return v;
}
static float GYawL4[4];
static float GRollL4[4];
static float GPitchL4[4];
static float GYawX4;
static float GRollX4;
static float GPitchX4;
static float Ball;
void DoFourAverage(float & avg, float * Vals, float nv)
{
avg+=nv;
avg-=Vals[0];
Vals[0]=Vals[1];
Vals[1]=Vals[2];
Vals[2]=Vals[3];
Vals[3]=nv;
}
const float Kgx=1.0*(2.663161E-4); //32768 = 500 dps
const float Kgy=1.0*(2.663161E-4); //32768 = 500 DPS
const float Kgz=1.0*(2.663161E-4); //32768= 500 DPS
const float Ka= (1.0/2000.0);
// Need:
//+Gy = + pitch (Nose Up)
//+Gx = + roll (Right wing down)
//+Gz = + yaw (Nose right)
//
//
//AX=1.0 = -90 pitch
//AX=-1.0 = 90 pitch
//Ay=1.0 =+ 90 Roll
//Ay -1.0 = -90 Roll
//
//Az -1.0 = Inverted
//Az 1.0 = level
//
//
//Mx 0.5, My=0; Mz=-0.86 -> Heading ~ 0
//Mx 0, My =0.5, Mz=-0.86 ->Heading ~ -90
//Mx -0.5, My=0; Mz=-0.86 -> Heading ~ 180
//Mx 0, My =-0.5, Mz=-0.86 ->Heading ~ +90
void FillInValues(VehicleSense & vs, bool bFillMag )
{
// Need:
//+Gx = + roll (Right wing down)
//+Gy = + pitch (Nose Up)
//+Gz = + yaw (Nose right)
//
//Have
//Gx Pitch + for nose down
//Gy Roll + for roll left
//Gz Yaw + for yaw left
vs.Gx=-Kgy*(((float)ImuResult.Gy)-GzerosF[1]) ;
vs.Gy=-Kgx*(((float)ImuResult.Gx)-GzerosF[0]) ;
vs.Gz=-Kgz*(((float)ImuResult.Gz)-GzerosF[2]) ;
DoFourAverage(GYawX4,GYawL4,vs.Gz);
DoFourAverage(GRollX4,GRollL4,vs.Gx);
DoFourAverage(GPitchX4,GPitchL4,vs.Gy);
//Need:
//AX=1.0 = -90 pitch straight down
//AX=-1.0 = 90 pitch straight up
//Ay=1.0 =+ 90 Roll
//Ay -1.0 = -90 Roll
//Az -1.0 = Inverted
//Az 1.0 = level
//Have:
//Level Ax=0,Ay=0, Az=1
//Nose Down Ax=0 Ay=1 Az=0
//Right wing down Ax=1 Ay=0 Az=0
vs.Ax=(float)(ImuResult.Ay-SensorConfig.accel_zero[1])*Ka;
vs.Ay=(float)(ImuResult.Ax-SensorConfig.accel_zero[0])*Ka;
Ball=vs.Ay;
vs.Az=(float)(ImuResult.Az-SensorConfig.accel_zero[2])*Ka;
//Need
//Mx 0.5, My=0; Mz=-0.86 -> Heading ~ 0
//Mx 0, My =0.5, Mz=-0.86 ->Heading ~ -90/w/270
//Mx -0.5, My=0; Mz=-0.86 -> Heading ~ 180/s
//Mx 0, My =-0.5, Mz=-0.86 ->Heading ~ +90
//Have
//Level north(0) Ax=0.48 Ay=-0.06 Az=-0.85
//Level south(180) Ax=-0.51 Ay= 0.05 Az=-0.83
//Level West (270) Ax=-0.11 ay=-0.50 az=-0.82
//Level East(90) AX=-0.03 Ay=0.45 az=-0.82
if(bFillMag)
{
vs.Mx=MagScale(Compass_Result.Mag_X,0);
vs.My=-MagScale(Compass_Result.Mag_Y,1);
vs.Mz=MagScale(Compass_Result.Mag_Z,2);
}
else
{
vs.Mx=0;
vs.My=0;
vs.Mz=0;
}
}
void QTest()
{
WORD LastImuSerial =ImuResult.ReadingNum;
WORD lclLastMagSerial=Compass_Result.ReadingNum;
IMU_Init();
ImuZero();
EndStatic();
iprintf("Hit X to exit loop\r\n");
OSTimeDly(20);
DWORD sSec=Secs;
float Slew=100;
while(1)
{
while(!charavail(0))
{
OSSemPend(&NewDataSem,0);
if(LastImuSerial !=ImuResult.ReadingNum)
{
static VehicleSense vs;
if(lclLastMagSerial!=Compass_Result.ReadingNum)
{
lclLastMagSerial=Compass_Result.ReadingNum;
FillInValues(vs,true);
}
else
{
FillInValues(vs,false);
}
LastImuSerial =ImuResult.ReadingNum;
static IMU_Euler ie;
if((Secs-sSec)>100) Slew=1.0;
else
if((Secs-sSec)>10) Slew=10.0;
IMU_Step(vs,ie,Slew);
printf("R %6d,P %6d,Y%6d\r\n",(int)(57.295*ie.roll),(int)(57.295*ie.pitch),(int)(57.295*ie.yaw));
}
}
char c=sgetchar(0);
if(c=='X') break;
}
}
void GyroTest()
{
WORD LastImuSerial =ImuResult.ReadingNum;
iprintf("Hit X to exit loop\r\n");
while((!charavail(0)) || (sgetchar(0)!='X'))
{ int n=0;
int sax,say,saz;
sax=0;
say=0;
saz=0;
while(n<500)
{
OSSemPend(&NewDataSem,0);
if(LastImuSerial !=ImuResult.ReadingNum)
{
sax+=(short)ImuResult.Gx;
say+=(short)ImuResult.Gy;
saz+=(short)ImuResult.Gz;
n++;
LastImuSerial =ImuResult.ReadingNum;
}
}//Sample while
iprintf("Ax=%5d Ay=%5d Az=%5d\r\n",sax/500,say/500,saz/500);
}//Outer while
}
void AcelTest()
{
WORD LastImuSerial =ImuResult.ReadingNum;
static short minx,miny,minz;
static short maxx,maxy,maxz;
while(1)
{
iprintf("Accel subsystem Do you want Default,Recall,Cal,Save,Exit,Test?");
char c=sgetchar(0);
switch(c)
{
case 'E': return;
break;
case 'D':
minx=-511;
maxx=453;
miny=-580;
maxy=402;
minz=-446;
maxz=3635;
break;
case 'L':
while((!charavail(0)) || (sgetchar(0)!='X'))
{
OSSemPend(&NewDataSem,0);
if(LastImuSerial !=ImuResult.ReadingNum)
{
LastImuSerial =ImuResult.ReadingNum;
iprintf("Az=%d\r\n",ImuResult.Az);
}
LastImuSerial =ImuResult.ReadingNum;
}
break;
case 'C':
maxx=minx=ImuResult.Ax;
miny=maxy=ImuResult.Ay;
minz=maxz=ImuResult.Az;
case 'S':
{
iprintf("Ax,y,z zero?");
int i0,i1,i2;
iscanf("%d,%d,%d",&i0,&i1,&i2);
SensorConfig.accel_zero[0]=i0;
SensorConfig.accel_zero[1]=i1;
SensorConfig.accel_zero[2]=i2;
SaveSensorConfig();
}
case 'V':
iprintf("\r\nAX zeros:%d,%d,%d\r\n",SensorConfig.accel_zero[0],SensorConfig.accel_zero[1] ,SensorConfig.accel_zero[2]);
break;
case 'T':
iprintf("Hit X to exit loop\r\n");
while((!charavail(0)) || (sgetchar(0)!='X'))
{ int n=0;
int sax,say,saz;
sax=0;
say=0;
saz=0;
while(n<500)
{
OSSemPend(&NewDataSem,0);
if(LastImuSerial !=ImuResult.ReadingNum)
{
sax+=(short)ImuResult.Ax;
say+=(short)ImuResult.Ay;
saz+=(short)ImuResult.Az;
n++;
LastImuSerial =ImuResult.ReadingNum;
{//double mag[3];
//mag[0]=Limit(minx,ImuResult.Ax,maxx);
//mag[1]=Limit(miny,ImuResult.Ay,maxy);
//mag[2]=Limit(minz,ImuResult.Az,maxz);
//iprintf("Mag: %d\r\n",(int)(1000.0*cmag(mag)));
}
}
}
iprintf("Ax=%5d Ay=%5d Az=%5d\r\n",sax/500,say/500,saz/500);
}//Test loop
}//Switch
}//Outer while
}
void MagTest()
{
WORD LastImuSerial =ImuResult.ReadingNum;
WORD lclLastMagSerial = Compass_Result.ReadingNum;
static short minx,miny,minz;
static short maxx,maxy,maxz;
while(1)
{
iprintf("Mag subsystem Do you want Default,Float Test,Recall,Cal,Save,Exit,Test Vals?");
char c=sgetchar(0);
switch(c)
{
case 'E': return;
break;
case 'F':
iprintf("Hit X to exit loop\r\n");
while((!charavail(0)) || (sgetchar(0)!='X'))
{
OSSemPend(&NewDataSem,0);
if(lclLastMagSerial != Compass_Result.ReadingNum)
{
lclLastMagSerial = Compass_Result.ReadingNum;
float Mx=MagScale(Compass_Result.Mag_X,0);
float My=MagScale(Compass_Result.Mag_Y,1);
float Mz=MagScale(Compass_Result.Mag_Z,2);
printf("%d %d %d %5g %5g %5g Head=%g\r\n",Compass_Result.Mag_X,Compass_Result.Mag_Y,Compass_Result.Mag_Z,Mx,My,Mz, 57.295*atan2(Mx,My));
}
}
break;
case 'D':
minx=-612;
maxx=366;
miny=-591;
maxy=512;
minz=-400;
maxz=488;
break;
case 'C':
maxx=minx=Compass_Result.Mag_X;
miny=maxy=Compass_Result.Mag_Y;
minz=maxz=Compass_Result.Mag_Z;
case 'T':
iprintf("Hit X to exit loop\r\n");
while((!charavail(0)) || (sgetchar(0)!='X'))
{
OSSemPend(&NewDataSem,0);
if(LastImuSerial !=ImuResult.ReadingNum)
{
LastImuSerial =ImuResult.ReadingNum;
if(lclLastMagSerial != Compass_Result.ReadingNum)
{double mag[3];
lclLastMagSerial = Compass_Result.ReadingNum;
mag[0]=LimitTest(minx,Compass_Result.Mag_X,maxx);
mag[1]=LimitTest(miny,Compass_Result.Mag_Y,maxy);
mag[2]=LimitTest(minz,Compass_Result.Mag_Z,maxz);
iprintf("Mag: %d\r\n",(int)(1000.0*cmag(mag)));
//printf("(%6f,%6f,%6f:%6f\r\n",mag[0],mag[1],mag[2],cmag(mag));
//iprintf("[%5d,%5d,%5d][%5d,%5d,%5d][%5d,%5d,%5d] \r\n",minx,Compass_Result.Mag_X,maxx,miny,Compass_Result.Mag_Y,maxy,minz,Compass_Result.Mag_Z,maxz);
}
}
}//Test loop
iprintf("Results X: [%d,%d]\r\n",maxx,minx);
iprintf("Results Y: [%d,%d]\r\n",maxy,miny);
iprintf("Results Z: [%d,%d]\r\n",maxz,minz);
break;
case 'S':
iprintf("Save Cal...\r\n");
SensorConfig.mag_min[0]=minx;
SensorConfig.mag_min[1]=miny;
SensorConfig.mag_min[2]=minz;
SensorConfig.mag_max[0]=maxx;
SensorConfig.mag_max[1]=maxy;
SensorConfig.mag_max[2]=maxz;
SaveSensorConfig();
break;
case 'V':
iprintf("X max: %d Min :%d\r\n",SensorConfig.mag_max[0],SensorConfig.mag_min[0]);
iprintf("Y max: %d Min :%d\r\n",SensorConfig.mag_max[1],SensorConfig.mag_min[1]);
iprintf("Z max: %d Min :%d\r\n",SensorConfig.mag_max[2],SensorConfig.mag_min[2]);
break;
}//Switch
}//Outer while
}
void GPSTest()
{
WORD LastGPSFrame=GPS_Result.ReadingNum;
iprintf("RC Test Hit X to exit loop\r\n");
while((!charavail(0)) || (sgetchar(0)!='X'))
{
OSSemPend(&NewDataSem,0);
if(LastGPSFrame!=GPS_Result.ReadingNum)
{
LastGPSFrame=GPS_Result.ReadingNum;
iprintf("Sat=%d Fix = %d Lat=%d Lon =%d %d,%d\r\n",GPS_Result.numSV,GPS_Result.GPSfix ,GPS_Result.LAT,GPS_Result.LON,GPS_Result.week,GPS_Result.itow);
}
}
}
void RCTest()
{
WORD LastReadingNum=DSM2_Result.ReadingNum;
iprintf("RC Test Hit X to exit loop\r\n");
while((!charavail(0)) || (sgetchar(0)!='X'))
{
OSSemPend(&NewDataSem,0);
if(LastReadingNum !=DSM2_Result.ReadingNum)
{
LastReadingNum=DSM2_Result.ReadingNum;
// printf("%5d %5d %5d %5d %5d %5d %5d %5d\r\n",DSM2_Result.val[0],DSM2_Result.val[1],DSM2_Result.val[2],DSM2_Result.val[3],DSM2_Result.val[4],DSM2_Result.val[5],DSM2_Result.val[6],DSM2_Result.val[7]);
// iprintf("%4d,%4d,%4d,%4d %04X %04X %04X %04X %04X\r\n",Xbee_Result.nElevator,Xbee_Result.nAlieron ,Xbee_Result.nRudder,Xbee_Result.nThrottle,Xbee_Result.nN1,Xbee_Result.nN2,Xbee_Result.nN3,Xbee_Result.nN4,Xbee_Result.switches);
//printf("E:%5g,A:%5g,R:%5g,T:%5g\r\n",Scaled_DSM2_Result.fElevator,Scaled_DSM2_Result.fAlieron ,Scaled_DSM2_Result.fRudder,Scaled_DSM2_Result.fThrottle);
for(int i=0; i<8; i++) iprintf("%5d ",DSM2_Result.val[i]);
iprintf("\r\n");
}
}
}
void BaroTest()
{
while((!charavail(0)) || (sgetchar(0)!='X'))
{
OSTimeDly(5);
iprintf("Press %8ld Temp %8ld Pitot %5d\r\n",Alt_Result.dwPressure,Alt_Result.dwTemperature,ReadA2D(PITOT_A2D) );
}
}
void ProcessImu()
{
if((bStaticZero) && (ImuZeros.Azerosz==0))
{
ImuZeros.Gzerosx=ImuResult.Gx;
ImuZeros.Gzerosy=ImuResult.Gy;
ImuZeros.Gzerosz=ImuResult.Gz;
ImuZeros.Azerosx=ImuResult.Ax;
ImuZeros.Azerosy=ImuResult.Ay;
ImuZeros.Azerosz=ImuResult.Az;
ImuZeros.Gzerosx=ImuZeros.Gzerosx<<13;
ImuZeros.Gzerosy=ImuZeros.Gzerosy<<13;
ImuZeros.Gzerosz=ImuZeros.Gzerosz<<13;
ImuZeros.Azerosx=ImuZeros.Azerosx<<13;
ImuZeros.Azerosy=ImuZeros.Azerosy<<13;
ImuZeros.Azerosz=ImuZeros.Azerosz<<13;
}
if(bStaticZero)
{
ImuZeros.Gzerosx+=ImuResult.Gx;
ImuZeros.Gzerosy+=ImuResult.Gy;
ImuZeros.Gzerosz+=ImuResult.Gz;
ImuZeros.Azerosx+=ImuResult.Ax;
ImuZeros.Azerosy+=ImuResult.Ay;
ImuZeros.Azerosz+=ImuResult.Az;
ImuZeros.Gzerosx-=(ImuZeros.Gzerosx>>13);
ImuZeros.Gzerosy-=(ImuZeros.Gzerosy>>13);
ImuZeros.Gzerosz-=(ImuZeros.Gzerosz>>13);
ImuZeros.Azerosx-=(ImuZeros.Azerosx>>13);
ImuZeros.Azerosy-=(ImuZeros.Azerosy>>13);
ImuZeros.Azerosz-=(ImuZeros.Azerosz>>13);
}
else
{
static VehicleSense vs;
if(gLastMagSerial!=Compass_Result.ReadingNum)
{
gLastMagSerial=Compass_Result.ReadingNum;
FillInValues(vs,true);
IMU_Step(vs,imu_state,gSlew);
if(bLog)
{
static StateRec sr;
sr.Ax= vs.Ax;
sr.Ay= vs.Ay;
sr.Az= vs.Az;
sr.Gx= vs.Gx;
sr.Gy= vs.Gy;
sr.Gz= vs.Gz;
sr.Mag_X= vs.Mx;
sr.Mag_Z= vs.My;
sr.Mag_Y= vs.Mz;
sr.roll= imu_state.roll;
sr.pitch= imu_state.pitch;
sr.yaw= imu_state.yaw;
sr.dwPressure= Alt_Result.dwPressure;
sr.pitot=ReadA2D(PITOT_A2D);
LogState(sr);
}
}
else
{
FillInValues(vs,false);
IMU_Step(vs,imu_state,gSlew);
}
}
}
void ServoTest()
{
bServoOff=false;
double v=0.0;
int n=-1;
bool bRaw=false;
while(1)
{
iprintf("Z,h,H,f,F,X>");
char c=sgetchar(0);
if(c=='X') break;
if(c=='Z') v=0;
if(c=='h') v=-0.5;
if(c=='H') v=0.5;
if(c=='f') v=-1;
if(c=='F') v=1;
if(c=='R') bRaw=true;
if(c=='r') bRaw=false;
if(c=='.') v+=0.02;
if(c==',') v-=0.02;
if(c=='>') v+=0.005;
if(c=='<') c-=0.005;
if(c=='0') n=0;
if(c=='1') n=1;
if(c=='2') n=2;
if(c=='3') n=3;
if(c=='4') n=4;
if(c=='5') n=5;
if(c=='A') n=-1;
if(c=='a') n=-1;
if(bRaw) printf("Raw:"); else printf("Cal:");
printf("%d V=%g\r\n",n,v);
if(bRaw)
{
if((n==0) || (n==-1)) RawSetServo(0,v);
if((n==1) || (n==-1)) RawSetServo(1,v);
if((n==2) || (n==-1)) RawSetServo(2,v);
if((n==3) || (n==-1)) RawSetServo(3,v);
if((n==4) || (n==-1)) RawSetServo(4,v);
if((n==5) || (n==-1)) RawSetServo(5,v);
}
else
{
if((n==0) || (n==-1)) SetServo(0,v);
if((n==1) || (n==-1)) SetServo(1,v);
if((n==2) || (n==-1)) SetServo(2,v);
if((n==3) || (n==-1)) SetServo(3,v);
if((n==4) || (n==-1)) SetServo(4,v);
if((n==5) || (n==-1)) SetServo(5,v);
}
}
bServoOff=true;
}
const float RadX4toDps=(45/M_PI);
void NewSwitchState(WORD sw, WORD old)
{
}
inline void DoBipolarLimit(float & f, float lim)
{
if(f>lim) f=lim;
else
if(f<-lim) f=-lim;
}
const float KAlg = (0.75/30);
const float KHeadingCorrection = 1.0;
const float MaxTurnRate=30.0;
const float RudderGain=0.12;
const float KRollConstant =0.2;
static float CurGPSHead_deg;
static float CurGPSAlt_m;
static float CurGPSVV_mps;
static float CurGPSGS_mps;
static float PitchZeroElevator;
float AutoRudder()
{
return RudderGain*Ball;
}
float AutoAlieron(float target_head)
{
float herr=(target_head-CurGPSHead_deg);
while(herr>180) herr-=360.0;
while(herr<-180) herr+=360.0;
float cur_rate=(GYawX4+GRollX4*KRollConstant)*RadX4toDps; //Rate is deg per second of yaw added to roll rate
float target_rate=herr*KHeadingCorrection;
DoBipolarLimit(target_rate,MaxTurnRate);
//float target_roll=herr;
//if(target_roll>45.0) target_roll=45.0;
//if(target_roll<-45.0) target_roll=-45.0;
//return (target_roll-croll)*KAlg;
return (target_rate-cur_rate)*KAlg;
}
/*
const float KAltToVVGain =0.5;
const float MaxVV=(10.0);
const float PitchRateConstant = //Pitch rate is 4X Rad/sec to VV adjustment
const float ElevatorGain = 0.025;//From vvError in m/sec to pitch 10 = 0.25 pitch.
const float LevelPitch=5.0;
float AutoElevator(float target_alt)
{
float alt_err=(target_alt-CurGPSAlt_m);
float target_vv=(alt_err * KAltToVVGain);
DoBipolarLimit(target_vv,MaxVV);
float vvError=(target_vv-CurGPSVV_mps);
//vvError is positive if we want maore altitude...
float TargetPitch
vvError-=GPitchX4*PitchRateConstant; //Positive for nose up...pitch rate
return vvError*ElevatorGain+PitchZeroElevator;
}
*/
// Main task
void UserMain( void * pd)
{
DWORD cmd_t=0;
OSChangePrio( MAIN_PRIO );
EnableSmartTraps();
SimpleUart( 0, SystemBaud );
assign_stdio( 0 );
OSSemInit(&Pit100Hz_Sem,0);
OSSemInit(&NewDataSem,0);
LoadSensorConfig();
PiterSem(&Pit100Hz_Sem,200);
iprintf("Start servo..");
InitServoDrive();
SetServo(SERVO_THROTTLE,-1.0);
//iprintf("Xbeew...");
//InitIXbeeSubSystem(XBEE_PRIO, &NewDataSem); //0x32 - 4 = 2E
InitIDSM2SubSystem(XBEE_PRIO,&NewDataSem);
iprintf("I2C...");
InitI2CSubSystem(I2C_PRIO,&NewDataSem); //0x32 -1 = 31
iprintf("SPI...");
InitISpiSubSystem(SPI_PRIO,&NewDataSem); //0x32-3 = 2F
iprintf("A2D\r\n");
Inita2DSub();
iprintf("Init GPS\r\n");
InitGpsSubSystem(GPS_PRIO,&NewDataSem); //0x32-2 = 0x30
int state=0;
siprintf((char *)Screen[0],"Initialize");
Screen[1][0]='W';
while(charavail(0))
{
char c=sgetchar(0);
if ((c=='c') && (state==0)) state=1;
else
if ((c=='m') && (state==1)) state=2;
else
if ((c=='d') && (state==2))
{
bServoOff=true;
CommandParser();
bServoOff=false;
iprintf("CMD Done\r\n");
}
else
state=0;
}
Screen[1][0]='L';
iprintf("Starting up finding log start\r\n");
LogInit();
iprintf("Log init done (lower case C----M----D\r\n");
iprintf("Battery = %d\r\n",ReadBVx1000());
cmd_t=Secs;
while(Secs<(cmd_t+5))
{
if(charavail(0))
{
char c=sgetchar(0);
if ((c=='c') && (state==0)) state=1;
else
if ((c=='m') && (state==1)) state=2;
else
if ((c=='d') && (state==2))
{
bServoOff=true;
CommandParser();
bServoOff=false;
iprintf("CMD Done\r\n");
}
else
state=0;
}
}