diff options
Diffstat (limited to 'apps/systemcmds/calibration/channels_cal.c')
| -rwxr-xr-x | apps/systemcmds/calibration/channels_cal.c | 196 |
1 files changed, 196 insertions, 0 deletions
diff --git a/apps/systemcmds/calibration/channels_cal.c b/apps/systemcmds/calibration/channels_cal.c new file mode 100755 index 000000000..575138b12 --- /dev/null +++ b/apps/systemcmds/calibration/channels_cal.c @@ -0,0 +1,196 @@ +/**************************************************************************** + * 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; + +} + |