coolfactor/quadrotor
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Lots of development of new features. Radio input, motor output, PID control

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loops, boot-time initialisation, option to run without attached UART.

And.. it flies!
This commit is contained in:
Gavan Fantom
2012-08-30 12:42:38 +00:00
parent 2890007195
commit 3f12132231
18 changed files with 727 additions and 23 deletions
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87
main.c
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@@ -1,3 +1,4 @@
/* main.c */
#include "wmp.h"
#include "i2c.h"
@@ -5,8 +6,10 @@
#include "uart.h"
#include "interrupt.h"
#include "event.h"
#include "stick.h"
#define PINSEL0 (*((volatile unsigned char *) 0xE002C000))
#define PINSEL0 (*((volatile unsigned int *) 0xE002C000))
#define PINSEL1 (*((volatile unsigned int *) 0xE002C004))
#define FP0XDIR (*((volatile unsigned int *) 0x3FFFC000))
#define FP0XVAL (*((volatile unsigned int *) 0x3FFFC014))
@@ -15,18 +18,26 @@
void init_pins(void)
{
PINSEL0 = 0x00000055; /* P0.0 and P0.1 assigned to UART */
PINSEL0 = 0x00a88055; /* P0.0 and P0.1 assigned to UART */
/* P0.2 and P0.3 assigned to I2C */
/* P0.7 and P0.9 assigned to MAT2.[02] */
/* P0.10 and P0.11 assigned to CAP1.[01] */
PINSEL1 = 0x20000828; /* P0.21 and P0.30 assigned to MAT3.[03] */
/* P0.17 and P0.18 assigned to CAP1.[23] */
SCS = 1;
FP0XDIR = 0x04000000; /* P0.26 is an output */
FP0XVAL = 0x0;
}
#ifdef USE_UART
void reply(char *str)
{
putstr(str);
putstr("\r\n");
}
#else
#define reply(x) ((void)0)
#endif
unsigned int count = 0;
@@ -167,6 +178,8 @@ void timer_event_handler(void)
void menu_handler(void);
int main(void) {
armed = FALSE;
init_interrupt();
init_uart();
init_i2c();
@@ -183,6 +196,21 @@ int main(void) {
putstr("prompt> ");
FP0XVAL &= ~0x04000000;
timer_delay_ms(1000);
FP0XVAL |= 0x04000000;
timer_delay_ms(1000);
FP0XVAL &= ~0x04000000;
if (!wmp_init())
putstr("WMP initialisation failed\r\n");
/* Flight is potentially live after this. */
timer_set_period(5*TIMER_MS);
wmp_start_zero();
FP0XVAL |= 0x04000000;
/* Good luck! */
while (1) {
FP0XVAL ^= 0x04000000;
event_dispatch();
@@ -197,6 +225,9 @@ void menu_handler(void)
char c;
while (getch(&c)) {
#if 1
continue; /* Yes, let's just ignore UART input now. */
#endif
if (c == 0x0a)
continue;
putch(c);
@@ -283,6 +314,58 @@ void menu_handler(void)
reply("done");
wmp_start_zero();
break;
case 'W':
for (i = 0; i < 4; i++) {
putstr("Width ");
putint(i);
putstr(": ");
putint(timer_input(i));
if (!timer_valid(i))
putstr(" (invalid)");
putstr("\r\n");
}
if (!timer_allvalid()) {
putstr("ALL INVALID!\r\n");
}
break;
case '0' & 0xdf:
timer_set_pwm_value(0, 0);
timer_set_pwm_value(1, 0);
timer_set_pwm_value(2, 0);
timer_set_pwm_value(3, 0);
break;
#if 0
case '1' & 0xdf:
timer_set_pwm_value(0, PWM_MAX/2);
break;
case '2' & 0xdf:
timer_set_pwm_value(1, PWM_MAX/2);
break;
case '3' & 0xdf:
timer_set_pwm_value(2, PWM_MAX/2);
break;
case '4' & 0xdf:
timer_set_pwm_value(3, PWM_MAX/2);
break;
case '5' & 0xdf:
timer_set_pwm_value(0, PWM_MAX);
break;
case '6' & 0xdf:
timer_set_pwm_value(1, PWM_MAX);
break;
case '7' & 0xdf:
timer_set_pwm_value(2, PWM_MAX);
break;
case '8' & 0xdf:
timer_set_pwm_value(3, PWM_MAX);
break;
#endif
case '9' & 0xdf:
timer_set_pwm_invalid(0);
timer_set_pwm_invalid(1);
timer_set_pwm_invalid(2);
timer_set_pwm_invalid(3);
break;
default:
reply("Unrecognised command.");
break;