Prof Greg Egan / Mbed 2 deprecated UAVXArm-GKE

UAVX Multicopter Flight Controller.

Dependencies:   mbed

utils.c@0:62a1c91a859a, 2011-02-18 (annotated)

Committer:
gke
Date:
Fri Feb 18 22:28:05 2011 +0000
Revision:
0:62a1c91a859a
Child:
2:90292f8bd179
First release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gke 0:62a1c91a859a 1 // ===============================================================================================
gke 0:62a1c91a859a 2 // = UAVXArm Quadrocopter Controller =
gke 0:62a1c91a859a 3 // = Copyright (c) 2008 by Prof. Greg Egan =
gke 0:62a1c91a859a 4 // = Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer =
gke 0:62a1c91a859a 5 // = http://code.google.com/p/uavp-mods/ http://uavp.ch =
gke 0:62a1c91a859a 6 // ===============================================================================================
gke 0:62a1c91a859a 7
gke 0:62a1c91a859a 8 // This is part of UAVXArm.
gke 0:62a1c91a859a 9
gke 0:62a1c91a859a 10 // UAVXArm is free software: you can redistribute it and/or modify it under the terms of the GNU
gke 0:62a1c91a859a 11 // General Public License as published by the Free Software Foundation, either version 3 of the
gke 0:62a1c91a859a 12 // License, or (at your option) any later version.
gke 0:62a1c91a859a 13
gke 0:62a1c91a859a 14 // UAVXArm is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without
gke 0:62a1c91a859a 15 // even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
gke 0:62a1c91a859a 16 // See the GNU General Public License for more details.
gke 0:62a1c91a859a 17
gke 0:62a1c91a859a 18 // You should have received a copy of the GNU General Public License along with this program.
gke 0:62a1c91a859a 19 // If not, see http://www.gnu.org/licenses/
gke 0:62a1c91a859a 20
gke 0:62a1c91a859a 21 #include "UAVXArm.h"
gke 0:62a1c91a859a 22
gke 0:62a1c91a859a 23 void InitMisc(void);
gke 0:62a1c91a859a 24 void Delay1mS(int16);
gke 0:62a1c91a859a 25 void Delay100mS(int16);
gke 0:62a1c91a859a 26 void DoBeep100mS(uint8, uint8);
gke 0:62a1c91a859a 27 void DoStartingBeeps(uint8);
gke 0:62a1c91a859a 28 void CheckAlarms(void);
gke 0:62a1c91a859a 29 real32 SlewLimit(real32, real32, real32);
gke 0:62a1c91a859a 30 real32 DecayX(real32, real32);
gke 0:62a1c91a859a 31 void LPFilter(real32*, real32*, real32, real32);
gke 0:62a1c91a859a 32 void Timing(uint8, uint32);
gke 0:62a1c91a859a 33
gke 0:62a1c91a859a 34 TimingRec Times[(UnknownT+1)];
gke 0:62a1c91a859a 35
gke 0:62a1c91a859a 36 void InitMisc(void) {
gke 0:62a1c91a859a 37 int8 i;
gke 0:62a1c91a859a 38
gke 0:62a1c91a859a 39 State = Starting; // For trace preconditions
gke 0:62a1c91a859a 40
gke 0:62a1c91a859a 41 for ( i = 0; i <= UnknownT; i++ )
gke 0:62a1c91a859a 42 Times[i].T = Times[i].Count = 0;
gke 0:62a1c91a859a 43
gke 0:62a1c91a859a 44 for ( i = 0; i < FLAG_BYTES ; i++ )
gke 0:62a1c91a859a 45 F.AllFlags[i] = false;
gke 0:62a1c91a859a 46
gke 0:62a1c91a859a 47 F.ParametersValid = F.AcquireNewPosition = F.AllowNavAltitudeHold = true;
gke 0:62a1c91a859a 48
gke 0:62a1c91a859a 49 #ifdef SIMULATE
gke 0:62a1c91a859a 50 F.Simulation = true;
gke 0:62a1c91a859a 51 #endif // SIMULATE
gke 0:62a1c91a859a 52
gke 0:62a1c91a859a 53 BatteryCharge = 0;
gke 0:62a1c91a859a 54
gke 0:62a1c91a859a 55 IdleThrottle = ((10L*OUT_MAXIMUM)/100);
gke 0:62a1c91a859a 56 InitialThrottle = RC_MAXIMUM;
gke 0:62a1c91a859a 57 ESCMin = OUT_MINIMUM;
gke 0:62a1c91a859a 58 ESCMax = OUT_MAXIMUM;
gke 0:62a1c91a859a 59
gke 0:62a1c91a859a 60 ALL_LEDS_OFF;
gke 0:62a1c91a859a 61 LEDRed_ON;
gke 0:62a1c91a859a 62 Beeper_OFF;
gke 0:62a1c91a859a 63 } // InitMisc
gke 0:62a1c91a859a 64
gke 0:62a1c91a859a 65 void Delay1mS(int16 d) {
gke 0:62a1c91a859a 66 static int32 Timeout;
gke 0:62a1c91a859a 67
gke 0:62a1c91a859a 68 Timeout = timer.read_us() + ((int32)d * 1000 );
gke 0:62a1c91a859a 69 while ( timer.read_us() < Timeout ) {};
gke 0:62a1c91a859a 70
gke 0:62a1c91a859a 71 } // Delay1mS
gke 0:62a1c91a859a 72
gke 0:62a1c91a859a 73 void Delay100mS(int16 d) {
gke 0:62a1c91a859a 74 Delay1mS( 100 * d );
gke 0:62a1c91a859a 75 } // Delay100mS
gke 0:62a1c91a859a 76
gke 0:62a1c91a859a 77 void DoBeep100mS(uint8 t, uint8 d) {
gke 0:62a1c91a859a 78 Beeper_ON;
gke 0:62a1c91a859a 79 Delay100mS(t);
gke 0:62a1c91a859a 80 Beeper_OFF;
gke 0:62a1c91a859a 81 Delay100mS(d);
gke 0:62a1c91a859a 82 } // DoBeep100mS
gke 0:62a1c91a859a 83
gke 0:62a1c91a859a 84 void DoStartingBeeps(uint8 b) {
gke 0:62a1c91a859a 85 uint8 i;
gke 0:62a1c91a859a 86
gke 0:62a1c91a859a 87 for ( i = 0; i < b; i++ )
gke 0:62a1c91a859a 88 DoBeep100mS(2, 8);
gke 0:62a1c91a859a 89
gke 0:62a1c91a859a 90 DoBeep100mS(8,0);
gke 0:62a1c91a859a 91 } // DoStartingBeeps
gke 0:62a1c91a859a 92
gke 0:62a1c91a859a 93 void CheckAlarms(void) {
gke 0:62a1c91a859a 94
gke 0:62a1c91a859a 95 static uint16 BeeperOnTime, BeeperOffTime;
gke 0:62a1c91a859a 96
gke 0:62a1c91a859a 97 F.BeeperInUse = F.LowBatt || F.LostModel || (State == Shutdown);
gke 0:62a1c91a859a 98
gke 0:62a1c91a859a 99 if ( F.BeeperInUse ) {
gke 0:62a1c91a859a 100 if ( F.LowBatt ) {
gke 0:62a1c91a859a 101 BeeperOffTime = 750;
gke 0:62a1c91a859a 102 BeeperOnTime = 250;
gke 0:62a1c91a859a 103 } else
gke 0:62a1c91a859a 104 if ( State == Shutdown ) {
gke 0:62a1c91a859a 105 BeeperOffTime = 4750;
gke 0:62a1c91a859a 106 BeeperOnTime = 250;
gke 0:62a1c91a859a 107 } else
gke 0:62a1c91a859a 108 if ( F.LostModel ) {
gke 0:62a1c91a859a 109 BeeperOffTime = 125;
gke 0:62a1c91a859a 110 BeeperOnTime = 125;
gke 0:62a1c91a859a 111 }
gke 0:62a1c91a859a 112
gke 0:62a1c91a859a 113 if ( (mSClock() > mS[BeeperUpdate]) && BEEPER_IS_ON ) {
gke 0:62a1c91a859a 114 mS[BeeperUpdate] = mSClock() + BeeperOffTime;
gke 0:62a1c91a859a 115 Beeper_OFF;
gke 0:62a1c91a859a 116 LEDRed_OFF;
gke 0:62a1c91a859a 117 } else
gke 0:62a1c91a859a 118 if ( (mSClock() > mS[BeeperUpdate]) && BEEPER_IS_OFF ) {
gke 0:62a1c91a859a 119 mS[BeeperUpdate] = mSClock() + BeeperOnTime;
gke 0:62a1c91a859a 120 Beeper_ON;
gke 0:62a1c91a859a 121 LEDRed_ON;
gke 0:62a1c91a859a 122 }
gke 0:62a1c91a859a 123 }
gke 0:62a1c91a859a 124 #ifdef NAV_ACQUIRE_BEEPER
gke 0:62a1c91a859a 125 else
gke 0:62a1c91a859a 126 if ( (State == InFlight) && (!F.AcquireNewPosition) && (mSClock() > mS[BeeperTimeout]) )
gke 0:62a1c91a859a 127 Beeper_OFF;
gke 0:62a1c91a859a 128 #endif // NAV_ACQUIRE_BEEPER
gke 0:62a1c91a859a 129
gke 0:62a1c91a859a 130 } // CheckAlarms
gke 0:62a1c91a859a 131
gke 0:62a1c91a859a 132 real32 DecayX(real32 i, real32 d) {
gke 0:62a1c91a859a 133 if ( i < 0 ) {
gke 0:62a1c91a859a 134 i += d;
gke 0:62a1c91a859a 135 if ( i >0 )
gke 0:62a1c91a859a 136 i = 0;
gke 0:62a1c91a859a 137 } else
gke 0:62a1c91a859a 138 if ( i > 0 ) {
gke 0:62a1c91a859a 139 i -= d;
gke 0:62a1c91a859a 140 if ( i < 0 )
gke 0:62a1c91a859a 141 i = 0;
gke 0:62a1c91a859a 142 }
gke 0:62a1c91a859a 143 return (i);
gke 0:62a1c91a859a 144 } // DecayX
gke 0:62a1c91a859a 145
gke 0:62a1c91a859a 146 void LPFilter(real32* i, real32* ip, real32 FilterF, real32 dT) {
gke 0:62a1c91a859a 147 static real32 FilterA;
gke 0:62a1c91a859a 148
gke 0:62a1c91a859a 149 FilterA = dT / ( FilterF + dT );
gke 0:62a1c91a859a 150
gke 0:62a1c91a859a 151 *i = *ip + (*i - *ip) * FilterA;
gke 0:62a1c91a859a 152 *ip = *i;
gke 0:62a1c91a859a 153
gke 0:62a1c91a859a 154 } // LPFilter
gke 0:62a1c91a859a 155
gke 0:62a1c91a859a 156 real32 SlewLimit(real32 Old, real32 New, real32 Slew) {
gke 0:62a1c91a859a 157 real32 Low, High;
gke 0:62a1c91a859a 158
gke 0:62a1c91a859a 159 Low = Old - Slew;
gke 0:62a1c91a859a 160 High = Old + Slew;
gke 0:62a1c91a859a 161 return(( New < Low ) ? Low : (( New > High ) ? High : New));
gke 0:62a1c91a859a 162 } // SlewLimit
gke 0:62a1c91a859a 163
gke 0:62a1c91a859a 164 void Timing(uint8 w, uint32 T) {
gke 0:62a1c91a859a 165
gke 0:62a1c91a859a 166 Times[w].T += timer.read_us() - T;
gke 0:62a1c91a859a 167 Times[w].Count++;
gke 0:62a1c91a859a 168
gke 0:62a1c91a859a 169 } // Timing
gke 0:62a1c91a859a 170