Prof Greg Egan
UAVX Multicopter Flight Controller.
Diff: UAVXArm.h
- Revision:
- 1:1e3318a30ddd
- Parent:
- 0:62a1c91a859a
- Child:
- 2:90292f8bd179
--- a/UAVXArm.h Fri Feb 18 22:28:05 2011 +0000
+++ b/UAVXArm.h Fri Feb 25 01:35:24 2011 +0000
@@ -1,25 +1,27 @@
// Commissioning defines
-#define I2C_MAX_RATE_HZ 400000
+#define SW_I2C // define for software I2C - TRAGICALLY SLOW
+
+#define MAGIC 1.0 // rescales the sensitivity of all PID loop params
-#define PWM_UPDATE_HZ 200 // MUST BE LESS THAN OR EAUAL TO 450HZ
+#define I2C_MAX_RATE_HZ 400000
-#define MCP4725_ID 0xc8 // or 0xcc
+#define PWM_UPDATE_HZ 200 // MUST BE LESS THAN OR EQUAL TO 450HZ
+#define DISABLE_EXTRAS // suppress altitude hold, position hold and inertial compensation
#define SUPPRESS_SDCARD // no logging to check if buffering backup is an issue
//BMP occasional returns bad results - changes outside this rate are deemed sensor/buss errors
#define BARO_SANITY_CHECK_MPS 10.0 // dm/S 20,40,60,80 or 100
-#define SIX_DOF // effects acc and gyro addresses
+#define SIX_DOF // effects acc and gyro addresses
#define SOFTWARE_CAM_PWM
-
+
#define BATTERY_VOLTS_SCALE 57.85 // 51.8144 // Volts scaling for internal divider
//#define DCM_YAW_COMP
-//#define DISABLE_EXTRAS
#define USING_MBED
@@ -593,7 +595,8 @@
#define ADXL345_ID 0x53
#endif // 6DOF
-#define ADXL345_W ADXL345_ID
+#define ADXL345_WR ADXL345_ID
+#define ADXL345_RD (ADXL345_ID+1)
extern const float GRAVITY_ADXL345;
@@ -647,6 +650,7 @@
// analog.c
+extern real32 ADC(uint8);
extern void GetBattery(void);
extern void BatteryTest(void);
extern void InitBattery(void);
@@ -766,14 +770,15 @@
#define ADS7823_TIME_MS 50 // 20Hz
#define ADS7823_MAX 4095 // 12 bits
#define ADS7823_ID 0x90 // ADS7823 ADC
-#define ADS7823_WR 0x90 // ADS7823 ADC
-#define ADS7823_RD 0x91 // ADS7823 ADC
+#define ADS7823_WR ADS7823_ID // ADS7823 ADC
+#define ADS7823_RD (ADS7823_ID+1) // ADS7823 ADC
#define ADS7823_CMD 0x00
+extern uint8 MCP4725_ID_Actual;
+
#define MCP4725_MAX 4095 // 12 bits
-//#define MCP4725_ID 0xC8
-#define MCP4725_WR MCP4725_ID
-#define MCP4725_RD (MCP4725_ID+1)
+#define MCP4725_ID_0xC8 0xc8
+#define MCP4725_ID_0xCC 0xcc
#define MCP4725_CMD 0x40 // write to DAC registor in next 2 bytes
#define MCP4725_EPROM 0x60 // write to DAC registor and eprom
@@ -783,10 +788,13 @@
extern real32 FreescaleToDM(int24);
extern void GetFreescaleBaroAltitude(void);
extern boolean IsFreescaleBaroActive(void);
+extern boolean IdentifyMCP4725(void);
extern void InitFreescaleBarometer(void);
#define BOSCH_ID_BMP085 0x55
#define BOSCH_ID 0xee
+#define BOSCH_WR BOSCH_ID_BMP085
+#define BOSCH_RD (BOSCH_ID_BMP085+1)
#define BOSCH_TEMP_BMP085 0x2e
#define BOSCH_TEMP_SMD500 0x6e
#define BOSCH_PRESS 0xf4
@@ -845,6 +853,8 @@
// HMC5843 Compass
#define HMC5843_ID 0x3C // 0x1E 9DOF
+#define HMC5843_WR HMC5843_ID
+#define HMC5843_RD (HMC5843_ID+1)
extern void ReadHMC5843(void);
extern void GetHMC5843Parameters(void);
@@ -855,7 +865,9 @@
// HMC6352
-#define HMC6352_ID 0x42
+#define HMC6352_ID 0x42
+#define HMC6352_WR HMC6352_ID
+#define HMC6352_RD (HMC6352_ID+1)
extern void ReadHMC6352(void);
extern uint8 WriteByteHMC6352(uint8);
@@ -865,7 +877,10 @@
extern void InitHMC6352(void);
extern boolean HMC6352Active(void);
-typedef struct { real32 V; real32 Offset; } MagStruct;
+typedef struct {
+ real32 V;
+ real32 Offset;
+} MagStruct;
extern MagStruct Mag[3];
extern real32 MagDeviation, CompassOffset;
extern real32 MagHeading, Heading, FakeHeading;
@@ -876,6 +891,8 @@
// control.c
+extern real32 PTerm, ITerm, DTerm; //zzz
+
extern void DoAltitudeHold(void);
extern void UpdateAltitudeSource(void);
extern void AltitudeHold(void);
@@ -898,6 +915,7 @@
extern int16 CruiseThrottle, MaxCruiseThrottle, DesiredThrottle, IdleThrottle, InitialThrottle, StickThrottle;
extern int16 DesiredRoll, DesiredPitch, DesiredYaw, DesiredHeading, DesiredCamPitchTrim;
extern real32 ControlRoll, ControlPitch, ControlRollP, ControlPitchP;
+extern real32 CameraRollAngle, CameraPitchAngle;
extern int16 CurrMaxRollPitch;
extern int16 AttitudeHoldResetCount;
@@ -1014,8 +1032,8 @@
#define ITG3200_ID 0xD2
#endif // 6DOF
-#define ITG3200_R (ITG3200_ID+1)
-#define ITG3200_W ITG3200_ID
+#define ITG3200_WR ITG3200_ID
+#define ITG3200_RD (ITG3200_ID+1)
extern void ReadITG3200Gyro(void);
extern uint8 ReadByteITG3200(uint8);
@@ -1032,7 +1050,6 @@
// harness.c
-
extern void UpdateRTC(void);
extern void InitHarness(void);
@@ -1061,6 +1078,8 @@
extern AnalogIn BatteryCurrentADC; // 19 AN4
extern AnalogIn BatteryVoltsADC; // 20 AN5
+enum ADCValues { ADCPitch, ADCRoll, ADCYaw, ADCRangefinder, ADCBatteryCurrent, ADCBatteryVolts };
+
extern PwmOut Out0; // 21
extern PwmOut Out1; // 22
extern PwmOut Out2; // 23
@@ -1068,9 +1087,37 @@
//extern PwmOut Out4; // 25
//extern PwmOut Out5; // 26
-extern DigitalOut DebugPin; // 25
+extern DigitalOut DebugPin; // 25
+
+#ifdef SW_I2C
+
+class MyI2C {
+
+private:
+
+ boolean waitclock(void);
+
+public:
+
+ void frequency(uint32 f);
+ void start(void);
+ void stop(void);
+ uint8 blockread(uint8 r, char* b, uint8);
+ uint8 read(uint8 r);
+ void blockwrite(uint8 a, const char* b, uint8 l);
+ uint8 write(uint8 d);
+};
+
+extern MyI2C I2C0; // 27, 28
+extern DigitalInOut I2C0SCL;
+extern DigitalInOut I2C0SDA;
+#else
extern I2C I2C0; // 27, 28
+#define blockread read
+#define blockwrite write
+
+#endif // SW_I2C
extern DigitalIn RCIn; // 29 CAN
extern DigitalOut PWMCamRoll; // 30 CAN
@@ -1094,9 +1141,13 @@
#define I2CTEMP I2C0
#define I2CBARO I2C0
+#define I2CBAROAddressResponds I2C0AddressResponds
#define I2CGYRO I2C0
+#define I2CGYROAddressResponds I2C0AddressResponds
#define I2CACC I2C0
+#define I2CACCAddressResponds I2C0AddressResponds
#define I2CCOMPASS I2C0
+#define I2CCOMPASSAddressResponds I2C0AddressResponds
#define I2CESC I2C0
#define I2CLED I2C0
@@ -1193,9 +1244,18 @@
// i2c.c
+#ifdef SW_I2C
+#define I2C_ACK 0
+#define I2C_NACK 1
+#else
#define I2C_ACK 1
#define I2C_NACK 0
+#endif // SW_I2C
+extern boolean I2C0AddressResponds(uint8);
+#ifdef HAVE_I2C1
+extern boolean I2C1AddressResponds(uint8);
+#endif // HAVE_I2C1
extern void TrackMinI2CRate(uint32);
extern void ShowI2CDeviceName(uint8);
extern uint8 ScanI2CBus(void);
@@ -1359,16 +1419,21 @@
extern void ExercisePWM(void);
extern void InitMotors(void);
+// Using clockwise numbering - NOT the same as UAVXPIC
enum PWMCamTags { CamRollC = 6, CamPitchC = 7 };
-enum PWMQuadTags {FrontC=0, BackC, RightC, LeftC }; // order is important for X3D & Holger ESCs
+enum PWMQuadTags {FrontC=0, RightC, BackC, LeftC }; // order is important for X3D & Holger ESCs
enum PWMConvTags {ThrottleC=0, AileronC, ElevatorC, RudderC, RTHC };
enum PWMWingTags3 {RightElevonC=1, LeftElevonC=2};
-enum PWMVTTags {FrontLeftC=0, FrontRightC};
-enum PWMY6Tags {FrontTC=0, LeftTC, RightTC, FrontBC, LeftBC, RightBC };
-enum PWMHexTags {FrontHC=0, FrontLeftHC, FrontRightHC, BackLeftHC, BackRightHC,BackHC };
+enum PWMVTTags {FrontRightC=0, FrontLeftC};
+enum PWMY6Tags {FrontTC=0, RightTC, LeftTC, FrontBC, RightBC, LeftBC };
+enum PWMHexTags {FrontHC=0, FrontRightHC, BackRightHC, BackHC, BackLeftHC,FrontLeftHC };
//#define NoOfPWMOutputs 4
+#ifdef HEXACOPTER
+#define NoOfI2CESCOutputs 6
+#else
#define NoOfI2CESCOutputs 4
+#endif // HEXACOPTER
extern const real32 PWMScale;
@@ -1593,7 +1658,8 @@
extern void SendNavPacket(void);
extern void SendControlPacket(void);
extern void SendStatsPacket(void);
-extern void SendParamPacket(uint8);
+extern void SendParamPacket(uint8, uint8);
+extern void SendParameters(uint8);
extern void SendMinPacket(void);
extern void SendArduStation(void);
extern void SendCustom(void);
@@ -1606,7 +1672,8 @@
enum PacketTags {UnknownPacketTag = 0, LevPacketTag, NavPacketTag, MicropilotPacketTag, WayPacketTag,
AirframePacketTag, NavUpdatePacketTag, BasicPacketTag, RestartPacketTag, TrimblePacketTag,
MessagePacketTag, EnvironmentPacketTag, BeaconPacketTag, UAVXFlightPacketTag,
- UAVXNavPacketTag, UAVXStatsPacketTag, UAVXControlPacketTag, UAVXParamsPacketTag, UAVXMinPacketTag, FrSkyPacketTag
+ UAVXNavPacketTag, UAVXStatsPacketTag, UAVXControlPacketTag, UAVXParamPacketTag, UAVXMinPacketTag,
+ UAVXArmParamPacketTag, UAVXStickPacketTag, FrSkyPacketTag = 99
};
enum TelemetryTypes { NoTelemetry, GPSTelemetry, UAVXTelemetry, UAVXControlTelemetry, UAVXMinTelemetry,