/****************************************************************************
* channels_cal.c
*
* Copyright (C) 2012 Nils Wenzler. All rights reserved.
* Authors: Nils Wenzler <wenzlern@ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include "calibration.h"
/****************************************************************************
* Defines
****************************************************************************/
#define ABS(a) (((a) < 0) ? -(a) : (a))
#define MIN(a,b) (((a)<(b))?(a):(b))
#define MAX(a,b) (((a)>(b))?(a):(b))
/****************************************************************************
* Private Data
****************************************************************************/
//Store the values here before writing them to global_data_rc_channels
uint16_t old_values[NR_CHANNELS];
uint16_t cur_values[NR_CHANNELS];
uint8_t function_map[NR_CHANNELS];
char names[12][9];
/****************************************************************************
* Private Functions
****************************************************************************/
void press_enter_2(void)
{
int c;
printf("Press CTRL+ENTER to continue... \n");
fflush(stdout);
do c = getchar(); while ((c != '\n') && (c != EOF));
}
/**This gets all current values and writes them to min or max
*/
uint8_t get_val(uint16_t *buffer)
{
if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
uint8_t i;
for (i = 0; i < NR_CHANNELS; i++) {
printf("Channel: %i\t RAW Value: %i: \n", i, global_data_rc_channels->chan[i].raw);
buffer[i] = global_data_rc_channels->chan[i].raw;
}
global_data_unlock(&global_data_rc_channels->access_conf);
return 0;
} else
return -1;
}
void set_channel(void)
{
static uint8_t j = 0;
uint8_t i;
for (i = 0; i < NR_CHANNELS; i++) {
if (ABS(old_values - cur_values) > 50) {
function_map[j] = i;
strcpy(names[i], global_data_rc_channels->function_names[j]);
j++;
}
}
}
void write_dat(void)
{
global_data_lock(&global_data_rc_channels->access_conf);
uint8_t i;
for (i = 0; i < NR_CHANNELS; i++) {
global_data_rc_channels->function[i] = function_map[i];
strcpy(global_data_rc_channels->chan[i].name, names[i]);
printf("Channel %i\t Function %s\n", i,
global_data_rc_channels->chan[i].name);
}
global_data_unlock(&global_data_rc_channels->access_conf);
}
/****************************************************************************
* Public Functions
****************************************************************************/
int channels_cal(int argc, char *argv[])
{
printf("This routine maps the input functions on the remote control\n");
printf("to the corresponding function (Throttle, Roll,..)\n");
printf("Always move the stick all the way\n");
press_enter_2();
printf("Pull the THROTTLE stick down\n");
press_enter_2();
while (get_val(old_values));
printf("Move the THROTTLE stick up\n ");
press_enter_2();
while (get_val(cur_values));
set_channel();
printf("Pull the PITCH stick down\n");
press_enter_2();
while (get_val(old_values));
printf("Move the PITCH stick up\n ");
press_enter_2();
while (get_val(cur_values));
set_channel();
printf("Put the ROLL stick to the left\n");
press_enter_2();
while (get_val(old_values));
printf("Put the ROLL stick to the right\n ");
press_enter_2();
while (get_val(cur_values));
set_channel();
printf("Put the YAW stick to the left\n");
press_enter_2();
while (get_val(old_values));
printf("Put the YAW stick to the right\n ");
press_enter_2();
while (get_val(cur_values));
set_channel();
uint8_t k;
for (k = 5; k < NR_CHANNELS; k++) {
function_map[k] = k;
strcpy(names[k], global_data_rc_channels->function_names[k]);
}
//write the values to global_data_rc_channels
write_dat();
return 0;
}
