gavan
e8adff93c1
Bye bye Wii Motion Plus, hello MPU6050. Also, increase control loop
...
to 200Hz, add SD card logging, and a number of other changes.
2014-05-06 21:03:48 +00:00
gavan
b482b85ffd
Firmware changes to match rewired control board.
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This is a bit more difficult than just reassigning pins as the usage
of the timers has changed to the point of using 16 bit timers where 32 bit
timers would have been ideal. This makes the use of the prescaler necessary,
and we need to cope with a different prescaler value being used on different
timers.
2013-05-25 19:24:39 +00:00
gavan
b9c08d88b1
Implement CPPM reception. Keep it as an option for now.
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Recalibrate the radio, as the timings have changed.
And, it seems a couple of channels are now swapped with the new radio. Or
rather, unswapped. So fix the channel map to match.
2013-04-07 01:39:36 +00:00
gavan
2fa58944fa
New radio, new calibration values.
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Oh, and code to make the calibration easier/possible.
2013-04-07 00:17:31 +00:00
gavan
17a2289eff
Revert PID values. They were a bit too aggressive and unstable.
2013-02-04 15:32:29 +00:00
gavan
b7e7fea6ba
Add ESC calibration mode, activated by holding down the button at startup.
2012-12-10 23:20:14 +00:00
gavan
274805c2a0
Limit integral windup, some new PID values and linearise thrust.
2012-12-08 12:31:17 +00:00
gavan
999e129e2c
Improve handling of arming, providing LED blink codes if the arming fails.
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Also, implement a software watchdog to make sure that the main real-time
modules are actually being run. Provide a panic facility, also giving blink
codes to indicate the panic reason.
2012-09-22 12:08:07 +00:00
gavan
e36ec4d5b1
Let's have an LED driving module so that we can output different patterns for
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status indications etc.
2012-08-30 14:04:33 +00:00
gavan
3f12132231
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!
2012-08-30 12:42:38 +00:00
gavan
2890007195
Take interleaved accelerometer and gyro readings, and integrate them into
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a single attitude estimation.
A bunch of debug stuff, too.
2011-11-04 12:47:16 +00:00
gavan
62732758a8
Track gyro using a DCM.
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This brings in an implementation of some general matrix manipulation routines,
not all of which are used at teh moment.
Output the DCM on the UART at 50Hz for the host to display it usefully.
2011-10-07 23:39:28 +00:00
gavan
6a700d0dbe
No point in calling event_dispatch() from the menu any more.
2011-06-04 20:57:13 +00:00
gavan
65b11ff92e
Use the timer to kick off WMP readings regularly.
2011-06-04 20:56:20 +00:00
gavan
fda1b2a672
Use events to invoke menu handling on UART receive. We now have a basic
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main dispatch loop.
2011-06-04 19:41:12 +00:00
gavan
0562093ebb
Don't call event handlers for events which haven't been registered.
2011-06-04 19:31:24 +00:00
gavan
fa84a1b8bb
Change API for getch to make it the caller's responsibility to poll for
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input, allowing it to do other stuff if it wants to.
2011-06-04 19:28:59 +00:00
gavan
9f79b3d82e
* Make total stack size available as a symbol
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* Implement SWI handler to enable/disable interrupts
* Implement event system to deal with kicking non-interrupt code
2011-06-03 21:22:01 +00:00
gavan
0f508fb424
Offload I2C work onto interrupts. For now, we just spin while waiting
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for the I2C activity to complete.
2011-05-26 01:57:16 +00:00
gavan
6a3c096bc5
Tidy up #ifdeffery for i2c speed
2011-05-23 21:44:25 +00:00
gavan
f0efc593ea
Use interrupts and buffer the UART receive side too.
2011-05-23 21:41:17 +00:00
gavan
4eaff797c9
* Use interrupts and buffering for UART TX
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* Set up P0.26 as an output, driving the on-board LED
* Toggle the LED while waiting for UART input to demonstrate activity
2011-05-22 10:34:44 +00:00
gavan
e1b1b60a53
* Move UART code into its own file
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* Set up vectored interrupt controller
* Set up timer interrupt
2011-05-21 22:26:19 +00:00
gavan
91c1c7e6be
More warnings courtesy of -Wextra
2011-05-18 14:47:56 +00:00
gavan
6e7ef6488f
Add script to test the benefit of various -O flags
2011-05-18 09:55:39 +00:00
gavan
4d37c82b12
* Allow COPTIM to be set outside Makefile
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* Use -Wall -Werror
* Fix some warnings
2011-05-18 09:55:02 +00:00
gavan
b3f0bbf7c9
More hacking:
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* initial Wii Motion+ support
* initial timer support
2011-05-15 22:22:50 +00:00
gavan
52e1c59a2e
Some progress on i2c control.
2011-05-09 13:41:53 +00:00
gavan
85d33abdd9
Silly interactive loop to test things out.
2011-05-04 22:50:57 +00:00
gavan
b7cb6a5bce
Configure the UART sufficiently to actually get the message out.
2011-05-04 21:27:17 +00:00
gavan
51190c4949
Remove commented out line
2011-05-04 00:35:42 +00:00
gavan
f5159013b3
Initial checkin. Basic build and runtime environment, prior to first
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test on actual hardware.
2011-05-04 00:03:28 +00:00
gavan