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Merge branch 'master' of https://code.google.com/p/ardupilot-mega

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Jason Short 2011-10-02 11:36:31 -07:00
commit e5b66c1c7c
13 changed files with 430 additions and 59 deletions
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46
ArduBoat/.cproject Normal file
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@ -0,0 +1,46 @@
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79
ArduBoat/.project Normal file
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7
ArduCopter/ArduCopter.pde
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@ -65,6 +65,7 @@ And much more so PLEASE PM me on DIYDRONES to add your contribution to the List
#include <AP_RangeFinder.h> // Range finder library #include <AP_RangeFinder.h> // Range finder library
#include <AP_OpticalFlow.h> // Optical Flow library #include <AP_OpticalFlow.h> // Optical Flow library
#include <ModeFilter.h> #include <ModeFilter.h>
#include <AP_Relay.h> // APM relay
#include <GCS_MAVLink.h> // MAVLink GCS definitions #include <GCS_MAVLink.h> // MAVLink GCS definitions
#include <memcheck.h> #include <memcheck.h>
@ -502,6 +503,8 @@ static byte counter_one_herz;
static bool GPS_enabled = false; static bool GPS_enabled = false;
static bool new_radio_frame; static bool new_radio_frame;
AP_Relay relay;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Top-level logic // Top-level logic
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
@ -1328,8 +1331,8 @@ static void tuning(){
case CH6_RELAY: case CH6_RELAY:
g.rc_6.set_range(0,1000); g.rc_6.set_range(0,1000);
if (g.rc_6.control_in > 525) relay_on(); if (g.rc_6.control_in > 525) relay.on();
if (g.rc_6.control_in < 475) relay_off(); if (g.rc_6.control_in < 475) relay.off();
break; break;
case CH6_TRAVERSE_SPEED: case CH6_TRAVERSE_SPEED:

6
ArduCopter/commands_logic.pde
View File

@ -693,11 +693,11 @@ static void do_set_servo()
static void do_set_relay() static void do_set_relay()
{ {
if (next_command.p1 == 1) { if (next_command.p1 == 1) {
relay_on(); relay.on();
} else if (next_command.p1 == 0) { } else if (next_command.p1 == 0) {
relay_off(); relay.off();
}else{ }else{
relay_toggle(); relay.toggle();
} }
} }

17
ArduCopter/events.pde
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@ -75,26 +75,11 @@ static void update_events() // Used for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_DO_R
} }
if (event_id == RELAY_TOGGLE) { if (event_id == RELAY_TOGGLE) {
relay_toggle(); relay.toggle();
} }
} }
} }
static void relay_on()
{
PORTL |= B00000100;
}
static void relay_off()
{
PORTL &= ~B00000100;
}
static void relay_toggle()
{
PORTL ^= B00000100;
}
#if PIEZO == ENABLED #if PIEZO == ENABLED
void piezo_on() void piezo_on()
{ {

4
ArduCopter/test.pde
View File

@ -712,14 +712,14 @@ test_relay(uint8_t argc, const Menu::arg *argv)
while(1){ while(1){
Serial.printf_P(PSTR("Relay on\n")); Serial.printf_P(PSTR("Relay on\n"));
relay_on(); relay.on();
delay(3000); delay(3000);
if(Serial.available() > 0){ if(Serial.available() > 0){
return (0); return (0);
} }
Serial.printf_P(PSTR("Relay off\n")); Serial.printf_P(PSTR("Relay off\n"));
relay_off(); relay.off();
delay(3000); delay(3000);
if(Serial.available() > 0){ if(Serial.available() > 0){
return (0); return (0);

4
ArduPlane/test.pde
View File

@ -279,14 +279,14 @@ test_relay(uint8_t argc, const Menu::arg *argv)
while(1){ while(1){
Serial.printf_P(PSTR("Relay on\n")); Serial.printf_P(PSTR("Relay on\n"));
relay_on(); relay.on();
delay(3000); delay(3000);
if(Serial.available() > 0){ if(Serial.available() > 0){
return (0); return (0);
} }
Serial.printf_P(PSTR("Relay off\n")); Serial.printf_P(PSTR("Relay off\n"));
relay_off(); relay.off();
delay(3000); delay(3000);
if(Serial.available() > 0){ if(Serial.available() > 0){
return (0); return (0);

46
ArduRover/.cproject Normal file
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79
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46
apo/.cproject Normal file
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apo/.project Normal file
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70
libraries/APM_RC/APM_RC.cpp
View File

@ -28,34 +28,42 @@
#else #else
// Variable definition for Input Capture interrupt // Variable definition for Input Capture interrupt
volatile unsigned int ICR4_old; //volatile uint16_t ICR4_old;
volatile unsigned char PPM_Counter=0; //volatile uint8_t PPM_Counter=0;
volatile uint16_t PWM_RAW[8] = {2400,2400,2400,2400,2400,2400,2400,2400}; volatile uint16_t PWM_RAW[NUM_CHANNELS] = {2400,2400,2400,2400,2400,2400,2400,2400};
volatile unsigned char radio_status=0; volatile uint8_t radio_status=0;
/**************************************************** /****************************************************
Input Capture Interrupt ICP4 => PPM signal read Input Capture Interrupt ICP4 => PPM signal read
****************************************************/ ****************************************************/
ISR(TIMER4_CAPT_vect) ISR(TIMER4_CAPT_vect)
{ {
unsigned int Pulse; static uint16_t ICR4_old;
unsigned int Pulse_Width; static uint8_t PPM_Counter=0;
uint16_t Pulse;
uint16_t Pulse_Width;
Pulse=ICR4; Pulse=ICR4;
if (Pulse<ICR4_old) // Take care of the overflow of Timer4 (TOP=40000) if (Pulse<ICR4_old) { // Take care of the overflow of Timer4 (TOP=40000)
Pulse_Width=(Pulse + 40000)-ICR4_old; //Calculating pulse Pulse_Width=(Pulse + 40000)-ICR4_old; // Calculating pulse
else }
Pulse_Width=Pulse-ICR4_old; //Calculating pulse else {
if (Pulse_Width>8000) // SYNC pulse? Pulse_Width=Pulse-ICR4_old; // Calculating pulse
}
if (Pulse_Width>8000) { // SYNC pulse?
PPM_Counter=0; PPM_Counter=0;
else }
{ else {
if (PPM_Counter < (sizeof(PWM_RAW) / sizeof(PWM_RAW[0]))) { if (PPM_Counter < NUM_CHANNELS) { // Valid pulse channel?
PWM_RAW[PPM_Counter++]=Pulse_Width; //Saving pulse. PWM_RAW[PPM_Counter++]=Pulse_Width; // Saving pulse.
if (PPM_Counter >= NUM_CHANNELS)
radio_status = 1; if (PPM_Counter >= NUM_CHANNELS) {
radio_status = 1;
} }
} }
}
ICR4_old = Pulse; ICR4_old = Pulse;
} }
@ -124,7 +132,7 @@ void APM_RC_Class::Init(void)
TIMSK4 |= (1<<ICIE4); // Enable Input Capture interrupt. Timer interrupt mask TIMSK4 |= (1<<ICIE4); // Enable Input Capture interrupt. Timer interrupt mask
} }
void APM_RC_Class::OutputCh(unsigned char ch, uint16_t pwm) void APM_RC_Class::OutputCh(uint8_t ch, uint16_t pwm)
{ {
pwm=constrain(pwm,MIN_PULSEWIDTH,MAX_PULSEWIDTH); pwm=constrain(pwm,MIN_PULSEWIDTH,MAX_PULSEWIDTH);
pwm<<=1; // pwm*2; pwm<<=1; // pwm*2;
@ -145,29 +153,29 @@ void APM_RC_Class::OutputCh(unsigned char ch, uint16_t pwm)
} }
} }
uint16_t APM_RC_Class::InputCh(unsigned char ch) uint16_t APM_RC_Class::InputCh(uint8_t ch)
{ {
uint16_t result; uint16_t result;
uint16_t result2;
if (_HIL_override[ch] != 0) { if (_HIL_override[ch] != 0) {
return _HIL_override[ch]; return _HIL_override[ch];
} }
// Because servo pulse variables are 16 bits and the interrupts are running values could be corrupted. // Because servo pulse variables are 16 bits and the interrupts are running values could be corrupted.
// We dont want to stop interrupts to read radio channels so we have to do two readings to be sure that the value is correct... // We dont want to stop interrupts to read radio channels so we have to do two readings to be sure that the value is correct...
result = PWM_RAW[ch]>>1; // Because timer runs at 0.5us we need to do value/2 result = PWM_RAW[ch];
result2 = PWM_RAW[ch]>>1; if (result != PWM_RAW[ch]) {
if (result != result2) result = PWM_RAW[ch]; // if the results are different we make a third reading (this should be fine)
result = PWM_RAW[ch]>>1; // if the results are different we make a third reading (this should be fine) }
result >>= 1; // Because timer runs at 0.5us we need to do value/2
// Limit values to a valid range // Limit values to a valid range
result = constrain(result,MIN_PULSEWIDTH,MAX_PULSEWIDTH); result = constrain(result,MIN_PULSEWIDTH,MAX_PULSEWIDTH);
radio_status=0; // Radio channel read radio_status=0; // Radio channel read
return(result); return(result);
} }
unsigned char APM_RC_Class::GetState(void) uint8_t APM_RC_Class::GetState(void)
{ {
return(radio_status); return(radio_status);
} }
@ -198,7 +206,7 @@ void APM_RC_Class::Force_Out6_Out7(void)
bool APM_RC_Class::setHIL(int16_t v[NUM_CHANNELS]) bool APM_RC_Class::setHIL(int16_t v[NUM_CHANNELS])
{ {
uint8_t sum = 0; uint8_t sum = 0;
for (unsigned char i=0; i<NUM_CHANNELS; i++) { for (uint8_t i=0; i<NUM_CHANNELS; i++) {
if (v[i] != -1) { if (v[i] != -1) {
_HIL_override[i] = v[i]; _HIL_override[i] = v[i];
} }
@ -216,7 +224,7 @@ bool APM_RC_Class::setHIL(int16_t v[NUM_CHANNELS])
void APM_RC_Class::clearOverride(void) void APM_RC_Class::clearOverride(void)
{ {
for (unsigned char i=0; i<NUM_CHANNELS; i++) { for (uint8_t i=0; i<NUM_CHANNELS; i++) {
_HIL_override[i] = 0; _HIL_override[i] = 0;
} }
} }

6
libraries/APM_RC/APM_RC.h
View File

@ -26,9 +26,9 @@ class APM_RC_Class
public: public:
APM_RC_Class(); APM_RC_Class();
void Init(); void Init();
void OutputCh(unsigned char ch, uint16_t pwm); void OutputCh(uint8_t ch, uint16_t pwm);
uint16_t InputCh(unsigned char ch); uint16_t InputCh(uint8_t ch);
unsigned char GetState(); uint8_t GetState();
void Force_Out0_Out1(void); void Force_Out0_Out1(void);
void Force_Out2_Out3(void); void Force_Out2_Out3(void);
void Force_Out6_Out7(void); void Force_Out6_Out7(void);