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Diffstat (limited to 'apps/systemcmds/calibration/range_cal.c')
-rwxr-xr-x | apps/systemcmds/calibration/range_cal.c | 224 |
1 files changed, 224 insertions, 0 deletions
diff --git a/apps/systemcmds/calibration/range_cal.c b/apps/systemcmds/calibration/range_cal.c new file mode 100755 index 000000000..159a0d06b --- /dev/null +++ b/apps/systemcmds/calibration/range_cal.c @@ -0,0 +1,224 @@ +/**************************************************************************** + * range_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 <stdlib.h> +#include "calibration.h" + +/**************************************************************************** + * Defines + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ +//Store the values here before writing them to global_data_rc_channels +uint16_t max_values[NR_CHANNELS]; +uint16_t min_values[NR_CHANNELS]; +uint16_t mid_values[NR_CHANNELS]; + + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**This sets the middle values + */ +uint8_t set_mid(void) +{ + if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { + uint8_t i; + + for (i = 0; i < NR_CHANNELS; i++) { + if (i == global_data_rc_channels->function[ROLL] || + i == global_data_rc_channels->function[YAW] || + i == global_data_rc_channels->function[PITCH]) { + + mid_values[i] = global_data_rc_channels->chan[i].raw; + + } else { + mid_values[i] = (max_values[i] + min_values[i]) / 2; + } + + } + + global_data_unlock(&global_data_rc_channels->access_conf); + return 0; + + } else + return -1; +} + +/**This gets all current values and writes them to min or max + */ +uint8_t get_value(void) +{ + if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { + uint8_t i; + + for (i = 0; i < NR_CHANNELS; i++) { + //see if the value is bigger or smaller than 1500 (roughly neutral) + //and write to the appropriate array + if (global_data_rc_channels->chan[i].raw != 0 && + global_data_rc_channels->chan[i].raw < 1500) { + min_values[i] = global_data_rc_channels->chan[i].raw; + + } else if (global_data_rc_channels->chan[i].raw != 0 && + global_data_rc_channels->chan[i].raw > 1500) { + max_values[i] = global_data_rc_channels->chan[i].raw; + + } else { + max_values[i] = 0; + min_values[i] = 0; + } + } + + global_data_unlock(&global_data_rc_channels->access_conf); + return 0; + + } else + return -1; +} + + +void write_data(void) +{ + // global_data_lock(&global_data_rc_channels->access_conf); + // uint8_t i; + // for(i=0; i < NR_CHANNELS; i++){ + // //Write the data to global_data_rc_channels (if not 0) + // if(mid_values[i]!=0 && min_values[i]!=0 && max_values[i]!=0){ + // global_data_rc_channels->chan[i].scaling_factor = + // 10000/((max_values[i] - min_values[i])/2); + // + // global_data_rc_channels->chan[i].mid = mid_values[i]; + // } + // + // printf("Channel %i\t Function %s \t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n", + // i, + // global_data_rc_channels->function_name[global_data_rc_channels->function[i]], + // min_values[i], max_values[i], + // global_data_rc_channels->chan[i].scaling_factor, + // global_data_rc_channels->chan[i].mid); + // } + // global_data_unlock(&global_data_rc_channels->access_conf); + + //Write to the Parameter storage + + global_data_parameter_storage->pm.param_values[PARAM_RC1_MIN] = min_values[0]; + global_data_parameter_storage->pm.param_values[PARAM_RC2_MIN] = min_values[1]; + global_data_parameter_storage->pm.param_values[PARAM_RC3_MIN] = min_values[2]; + global_data_parameter_storage->pm.param_values[PARAM_RC4_MIN] = min_values[3]; + global_data_parameter_storage->pm.param_values[PARAM_RC5_MIN] = min_values[4]; + global_data_parameter_storage->pm.param_values[PARAM_RC6_MIN] = min_values[5]; + global_data_parameter_storage->pm.param_values[PARAM_RC7_MIN] = min_values[6]; + global_data_parameter_storage->pm.param_values[PARAM_RC8_MIN] = min_values[7]; + + + global_data_parameter_storage->pm.param_values[PARAM_RC1_MAX] = max_values[0]; + global_data_parameter_storage->pm.param_values[PARAM_RC2_MAX] = max_values[1]; + global_data_parameter_storage->pm.param_values[PARAM_RC3_MAX] = max_values[2]; + global_data_parameter_storage->pm.param_values[PARAM_RC4_MAX] = max_values[3]; + global_data_parameter_storage->pm.param_values[PARAM_RC5_MAX] = max_values[4]; + global_data_parameter_storage->pm.param_values[PARAM_RC6_MAX] = max_values[5]; + global_data_parameter_storage->pm.param_values[PARAM_RC7_MAX] = max_values[6]; + global_data_parameter_storage->pm.param_values[PARAM_RC8_MAX] = max_values[7]; + + + global_data_parameter_storage->pm.param_values[PARAM_RC1_TRIM] = mid_values[0]; + global_data_parameter_storage->pm.param_values[PARAM_RC2_TRIM] = mid_values[1]; + global_data_parameter_storage->pm.param_values[PARAM_RC3_TRIM] = mid_values[2]; + global_data_parameter_storage->pm.param_values[PARAM_RC4_TRIM] = mid_values[3]; + global_data_parameter_storage->pm.param_values[PARAM_RC5_TRIM] = mid_values[4]; + global_data_parameter_storage->pm.param_values[PARAM_RC6_TRIM] = mid_values[5]; + global_data_parameter_storage->pm.param_values[PARAM_RC7_TRIM] = mid_values[6]; + global_data_parameter_storage->pm.param_values[PARAM_RC8_TRIM] = mid_values[7]; + + usleep(3e6); + uint8_t i; + + for (i = 0; i < NR_CHANNELS; i++) { + printf("Channel %i:\t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n", + i, + min_values[i], max_values[i], + global_data_rc_channels->chan[i].scaling_factor, + global_data_rc_channels->chan[i].mid); + } + + +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ +int range_cal(int argc, char *argv[]) +{ + + printf("The range calibration routine assumes you already did the channel\n"); + printf("assignment\n"); + printf("This routine chooses the minimum, maximum and middle\n"); + printf("value for each channel separatly. The ROLL, PITCH and YAW function\n"); + printf("get their middle value from the RC direct, for the rest it is\n"); + printf("calculated out of the min and max values.\n"); + press_enter(); + + printf("Hold both sticks in lower left corner and continue\n "); + press_enter(); + usleep(500000); + + while (get_value()); + + printf("Hold both sticks in upper right corner and continue\n"); + press_enter(); + usleep(500000); + + while (get_value()); + + printf("Set the trim to 0 and leave the sticks in the neutral position\n"); + press_enter(); + + //Loop until successfull + while (set_mid()); + + //write the values to global_data_rc_channels + write_data(); + + return 0; + +} + |