Fiexed small errors and added more commands for RC things in CLI
Also added some statistical values that can be veiwed in CLI to see how they sytem performs.
This commit is contained in:
Jonas Holmberg
parent
09daa76d63
commit
2b05c843a1
@ -74,12 +74,25 @@ typedef struct
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uint32_t averageExecutionTime; // Moving average over 6 samples, used to calculate guard interval
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uint32_t taskLatestDeltaTime; //
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#ifndef SKIP_TASK_STATISTICS
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uint32_t taskAverageDeltaTime;
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uint32_t maxExecutionTime;
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uint32_t totalExecutionTime; // total time consumed by task since boot
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#endif
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}task_t;
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/* Struct used to store statistical data of the scheduler */
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typedef struct
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{
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uint32_t totalSystemRuntime;
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uint32_t totalTaskRuntime; //Total time spent for tasks running
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uint32_t totalOverHead; //Total overhead when selecting a task
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uint32_t averageOverHead;
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uint32_t totalMissedPeriods; //Number of time any task have missed a period
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uint32_t totalSchedulerCalls; //amount of times scheduler have been called
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uint32_t totalTasksScheduled; //the total amount of tasks schedulede
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}scheduler_statistics_t;
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/* Task counter, ToDo: If more tasks are needed add them here first, defines are used to make sure the task is somewhere in the system */
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/* Important: If a new define for a task is added here it MUST be added in the tasks.c */
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@ -129,6 +142,7 @@ typedef enum
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}taskId_t;
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/* Variables -------------------------------------------------------------*/
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extern scheduler_statistics_t systemSchedulerStatistics;
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extern task_t SystemTasks[TASK_COUNT]; /* All the tasks that exist in the system */
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extern uint16_t averageSystemLoadPercent; /* The average load on the system Todo */
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@ -175,13 +175,16 @@ typedef enum {
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EEPROM_PERIOD_BEEPER,
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#endif
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/* Motormix values */
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EEPROM_MOTORMIX_CONFIG,
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/* Flags eeprom values */
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EEPROM_FLAG_ARM,
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EEPROM_FLAG_FLIGHTMODE_ACCELEROMETER,
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EEPROM_FLAG_FLIGHTMODE_BAROMETER,
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EEPROM_FLAG_FLIGHTMODE_COMPASS,
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EEPROM_FLAG_FLIGHTMODE_GPS,
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EEPROM_FLAG_FLIGHTMODE_1,
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EEPROM_FLAG_AIRMODE,
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EEPROM_FLAG_FLIGHTMODE_2,
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EEPROM_FLAG_FLIGHTMODE_3,
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@ -27,7 +27,7 @@
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#define systemFlags_flightmode_barometer_id 2 + boolean_vals_offset
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#define systemFlags_flightmode_compass_id 3 + boolean_vals_offset
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#define systemFlags_flightmode_gps_id 4 + boolean_vals_offset
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#define systemFlags_flightMode_1_id 5 + boolean_vals_offset
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#define systemFlags_airmode_id 5 + boolean_vals_offset
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#define systemFlags_flightMode_2_id 6 + boolean_vals_offset
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#define systemFlags_flightMode_3_id 7 + boolean_vals_offset
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@ -43,7 +43,7 @@
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#define systemFlags_flightmode_barometer_mask getFlagMaskValue(systemFlags_flightmode_barometer_id)
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#define systemFlags_flightmode_compass_mask getFlagMaskValue(systemFlags_flightmode_compass_id)
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#define systemFlags_flightmode_gps_mask getFlagMaskValue(systemFlags_flightmode_gps_id)
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#define systemFlags_flightMode_1_mask getFlagMaskValue(systemFlags_flightMode_1_id)
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#define systemFlags_airmode_mask getFlagMaskValue(systemFlags_airmode_id)
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#define systemFlags_flightMode_2_mask getFlagMaskValue(systemFlags_flightMode_2_id)
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#define systemFlags_flightMode_3_mask getFlagMaskValue(systemFlags_flightMode_3_id)
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@ -67,7 +67,7 @@ typedef union bitSetRegion
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booleanValue_t barometer : 1;
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booleanValue_t compass : 1;
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booleanValue_t gps : 1;
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booleanValue_t flightMode_1 : 1;
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booleanValue_t airmode : 1;
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booleanValue_t flightMode_2 : 1;
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booleanValue_t flightMode_3 : 1;
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}bitField;
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@ -90,7 +90,7 @@ typedef enum
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FLAG_CONFIGURATION_FLIGHTMODE_BAROMETER,
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FLAG_CONFIGURATION_FLIGHTMODE_COMPASS,
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FLAG_CONFIGURATION_FLIGHTMODE_GPS,
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FLAG_CONFIGURATION_FLIGHTMODE_1,
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FLAG_CONFIGURATION_AIRMODE,
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FLAG_CONFIGURATION_FLIGHTMODE_2,
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FLAG_CONFIGURATION_FLIGHTMODE_3,
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@ -43,6 +43,7 @@ typedef struct {
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uint16_t minCommand; // Pulse when motors are running idle (Armed)
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uint16_t maxCommand; // Max throttle allowed. Mixer can go higher than this though.
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uint16_t minCheck; // In Non Airmode: If throttle is below minCheck we set motors to minCommand
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uint16_t padding;
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bool pid_at_min_throttle; // When enabled PIDs are used at minimum throttle
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bool motorstop; // If enabled motors will stop spinning at no throttle when Armed
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bool yaw_reverse_direction; // Default should be 1. Can be either -1 or 1
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@ -47,6 +47,7 @@ static uint32_t tasksExecutionTimeUs = 0; //Total execution time of the task
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//static uint32_t lastSystemLoadTimeValUs = 0; //Not used right now, would be used to calculate load with time vals
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uint32_t taskAgeCycleStatisitcs[taskAgeCycleCounterSize]; //Age cycle statistics array
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scheduler_statistics_t systemSchedulerStatistics = {0}; //Struct holding scheduler statisitcs
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/* Functions to operate on the task queue ------------------------------------------------------- */
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@ -451,7 +452,10 @@ void scheduler(void)
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#ifdef USE_TASK_AGE_CYCLE_STATISTICS
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if (taskToRun->taskAgeCycle > 1)
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{
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taskAgeCycleStatisitcs[taskToRun->taskAgeCycle] ++; //increment the statistic counter for age cycles if we miss period
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systemSchedulerStatistics.totalMissedPeriods ++;
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}
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#endif
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#ifdef USE_LED_WARNINGS_MISSED_PERIOD
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if (taskToRun->taskAgeCycle > 1)
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@ -514,6 +518,12 @@ void scheduler(void)
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//Assign the selected task to the pointer for the current task
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currentTask = selectedTask;
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//Calculate the overhead to select a new task
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uint32_t currentOverHead = (clock_get_us() - currentTime);
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systemSchedulerStatistics.totalOverHead += currentOverHead;
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systemSchedulerStatistics.averageOverHead = ((uint32_t)systemSchedulerStatistics.averageOverHead * 31 + currentOverHead) / 32;
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systemSchedulerStatistics.totalSchedulerCalls ++;
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//If we have found a task to run, execute the function that the task is responsible for
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if (selectedTask != NULL)
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{
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@ -530,11 +540,16 @@ void scheduler(void)
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tasksExecutionTimeUs += taskExecutionTime; //Add the task execution time for each task execution, will be used to
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//Save statistical values
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selectedTask->taskAverageDeltaTime = ((uint32_t)selectedTask->taskAverageDeltaTime * 31 + selectedTask->taskLatestDeltaTime) / 32;
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selectedTask->averageExecutionTime = ((uint32_t)selectedTask->averageExecutionTime * 31 + taskExecutionTime) / 32;
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selectedTask->totalExecutionTime += taskExecutionTime; // time consumed by scheduler + task
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selectedTask->maxExecutionTime = MAX(selectedTask->maxExecutionTime, taskExecutionTime);
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}
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//statistical values for the scheduler
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systemSchedulerStatistics.totalTaskRuntime += taskExecutionTime;
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systemSchedulerStatistics.totalTasksScheduled ++;
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}
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systemSchedulerStatistics.totalSystemRuntime = clock_get_us();
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}
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@ -22,6 +22,7 @@
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#include <stdio.h>
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#include <string.h>
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#include "utilities.h"
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#include "Scheduler/scheduler.h"
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#define cliActivateCharacter 35
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#define commandValueError 0xFFFFFFFFFFFFFFFF
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@ -69,6 +70,7 @@ typedef enum
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ACTION_EXIT, //Exists the cli
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ACTION_REBOOT, //Reboots the entire system
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ACTION_RESET, //Resets the entire eeprom
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ACTION_STATS, //gives statistics on the system
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//The number of actions
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ACTION_COUNT, //Count of the number of actions
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@ -88,7 +90,8 @@ const typeString commandAction_Strings[ACTION_COUNT] = {
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"profile",
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"exit",
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"reboot",
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"reset"
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"reset",
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"stats"
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};
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/* String values descrbing information of a certain action */
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@ -103,7 +106,8 @@ const typeString commandActionInformation_Strings[ACTION_COUNT] = {
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"| profile - Changes the active profile between the values (1-3).\n\r",
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"| exit - Exits the CLI mode.\n\r",
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"| reboot - Exit CLI and reboots the system.\n\r",
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"| reset - Restore all the values to its default values-\n\r"
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"| reset - Restore all the values to its default values.\n\r",
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"| stats - Gives some current stats of the system and tasks.\n\r"
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};
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/* String array containing all the signature examples for each action */
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@ -118,7 +122,8 @@ const typeString commandActionSignature_Strings[ACTION_COUNT] = {
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" profile number",
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" exit",
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" reboot",
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" reset"
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" reset",
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" stats"
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};
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/* Size values for the values a command will require */
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@ -131,7 +136,8 @@ typedef enum
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VAL_UINT_32,
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VAL_INT_32,
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VAL_UINT_64,
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VAL_INT_64
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VAL_INT_64,
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VAL_BOOL
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}valueTypes_t;
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/* ID values for individual command, all commands must have a uniqe ID value */
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@ -170,6 +176,18 @@ typedef enum
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COMMAND_ID_PERIOD_BEEPER,
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#endif
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/* Commands for chaning motormixer values */
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COMMAND_ID_MOTORMIX_MINTHROTTLE,
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COMMAND_ID_MOTORMIX_MAXTHROTTLE,
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COMMAND_ID_MOTORMIX_MINCOMMAND,
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COMMAND_ID_MOTORMIX_MAXCOMMAND,
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COMMAND_ID_MOTORMIX_MINCHECK,
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COMMAND_ID_MOTORMIX_PID_AT_MINTHROTTLE,
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COMMAND_ID_MOTORMIX_MOTORSTOP,
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COMMAND_ID_MOTORMIX_YAW_REVERSE_DIRECTION,
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/* Commands for changing flag toggles from RC */
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COMMAND_ID_FLAG_ARM_MINRANGE,
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COMMAND_ID_FLAG_ARM_MAXRANGE,
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@ -191,9 +209,9 @@ typedef enum
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COMMAND_ID_FLAG_FLIGHTMODE_GPS_MAXRANGE,
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COMMAND_ID_FLAG_FLIGHTMODE_GPS_CHANNEL,
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COMMAND_ID_FLAG_FLIGHTMODE_1_MINRANGE,
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COMMAND_ID_FLAG_FLIGHTMODE_1_MAXRANGE,
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COMMAND_ID_FLAG_FLIGHTMODE_1_CHANNEL,
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COMMAND_ID_FLAG_AIRMODE_MINRANGE,
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COMMAND_ID_FLAG_AIRMODE_MAXRANGE,
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COMMAND_ID_FLAG_AIRMODE_CHANNEL,
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COMMAND_ID_FLAG_FLIGHTMODE_2_MINRANGE,
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COMMAND_ID_FLAG_FLIGHTMODE_2_MAXRANGE,
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@ -203,8 +221,11 @@ typedef enum
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COMMAND_ID_FLAG_FLIGHTMODE_3_MAXRANGE,
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COMMAND_ID_FLAG_FLIGHTMODE_3_CHANNEL,
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/* Counter for the amount of commands */
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COMMAND_ID_COUNT,
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/* ID number for a non existing commands */
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COMMAND_ID_NO_COMMAND
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}command_Ids_t;
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@ -318,6 +339,41 @@ const cliCommandConfig_t commandTable[COMMAND_ID_COUNT] = {
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#endif
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/* Commands for chaning motormixer values */
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[COMMAND_ID_MOTORMIX_MINTHROTTLE] =
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{
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"motormix_minthrottle", COMMAND_ID_MOTORMIX_MINTHROTTLE, EEPROM_MOTORMIX_CONFIG, EEPROM_VALUE_TYPE_SYSTEM, 0, VAL_UINT_16, .valueRange = {0, 2500}
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},
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[COMMAND_ID_MOTORMIX_MAXTHROTTLE] =
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{
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"motormix_maxthrottle", COMMAND_ID_MOTORMIX_MAXTHROTTLE, EEPROM_MOTORMIX_CONFIG, EEPROM_VALUE_TYPE_SYSTEM, 2, VAL_UINT_16, .valueRange = {0, 2500}
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},
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[COMMAND_ID_MOTORMIX_MINCOMMAND] =
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{
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"motormix_mincommand", COMMAND_ID_MOTORMIX_MINCOMMAND, EEPROM_MOTORMIX_CONFIG, EEPROM_VALUE_TYPE_SYSTEM, 4, VAL_UINT_16, .valueRange = {0, 2500}
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},
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[COMMAND_ID_MOTORMIX_MAXCOMMAND] =
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{
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"motormix_maxcommand", COMMAND_ID_MOTORMIX_MAXCOMMAND, EEPROM_MOTORMIX_CONFIG, EEPROM_VALUE_TYPE_SYSTEM, 6, VAL_UINT_16, .valueRange = {0, 2500}
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},
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[COMMAND_ID_MOTORMIX_MINCHECK] =
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{
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"motormix_mincheck", COMMAND_ID_MOTORMIX_MINCHECK, EEPROM_MOTORMIX_CONFIG, EEPROM_VALUE_TYPE_SYSTEM, 8, VAL_UINT_16, .valueRange = {0, 2500}
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},
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[COMMAND_ID_MOTORMIX_PID_AT_MINTHROTTLE] =
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{
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"motormix_pid_at_minthrottle", COMMAND_ID_MOTORMIX_PID_AT_MINTHROTTLE, EEPROM_MOTORMIX_CONFIG, EEPROM_VALUE_TYPE_SYSTEM, 12, VAL_BOOL, .valueRange = {0, 1}
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},
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[COMMAND_ID_MOTORMIX_MOTORSTOP] =
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{
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"motormix_motorstop", COMMAND_ID_MOTORMIX_MOTORSTOP, EEPROM_MOTORMIX_CONFIG, EEPROM_VALUE_TYPE_SYSTEM, 16, VAL_BOOL, .valueRange = {0, 1}
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},
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[COMMAND_ID_MOTORMIX_YAW_REVERSE_DIRECTION] =
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{
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"motormix_yaw_reverse_direction", COMMAND_ID_MOTORMIX_YAW_REVERSE_DIRECTION, EEPROM_MOTORMIX_CONFIG, EEPROM_VALUE_TYPE_SYSTEM, 20, VAL_BOOL, .valueRange = {0, 1}
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},
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/* Commands for changing flag toggles from RC */
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[COMMAND_ID_FLAG_ARM_MINRANGE] =
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{
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@ -384,17 +440,17 @@ const cliCommandConfig_t commandTable[COMMAND_ID_COUNT] = {
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"flag_flightmode_gps_channel", COMMAND_ID_FLAG_FLIGHTMODE_GPS_CHANNEL, EEPROM_FLAG_FLIGHTMODE_GPS, EEPROM_VALUE_TYPE_SYSTEM, 4, VAL_UINT_8, .valueRange = {0, 18}
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},
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[COMMAND_ID_FLAG_FLIGHTMODE_1_MINRANGE] =
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[COMMAND_ID_FLAG_AIRMODE_MINRANGE] =
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{
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"flag_flightmode_1_minrange", COMMAND_ID_FLAG_FLIGHTMODE_1_MINRANGE, EEPROM_FLAG_FLIGHTMODE_1, EEPROM_VALUE_TYPE_SYSTEM, 0, VAL_UINT_16, .valueRange = {0, 2500}
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"flag_airmode_minrange", COMMAND_ID_FLAG_AIRMODE_MINRANGE, EEPROM_FLAG_AIRMODE, EEPROM_VALUE_TYPE_SYSTEM, 0, VAL_UINT_16, .valueRange = {0, 2500}
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},
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[COMMAND_ID_FLAG_FLIGHTMODE_1_MAXRANGE] =
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[COMMAND_ID_FLAG_AIRMODE_MAXRANGE] =
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{
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"flag_flightmode_1_maxrange", COMMAND_ID_FLAG_FLIGHTMODE_1_MAXRANGE, EEPROM_FLAG_FLIGHTMODE_1, EEPROM_VALUE_TYPE_SYSTEM, 2, VAL_UINT_16, .valueRange = {0, 2500}
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"flag_airmode_maxrange", COMMAND_ID_FLAG_AIRMODE_MAXRANGE, EEPROM_FLAG_AIRMODE, EEPROM_VALUE_TYPE_SYSTEM, 2, VAL_UINT_16, .valueRange = {0, 2500}
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},
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[COMMAND_ID_FLAG_FLIGHTMODE_1_CHANNEL] =
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[COMMAND_ID_FLAG_AIRMODE_CHANNEL] =
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{
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"flag_flightmode_1_channel", COMMAND_ID_FLAG_FLIGHTMODE_1_CHANNEL, EEPROM_FLAG_FLIGHTMODE_1, EEPROM_VALUE_TYPE_SYSTEM, 4, VAL_UINT_8, .valueRange = {0, 18}
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"flag_airmode_channel", COMMAND_ID_FLAG_AIRMODE_CHANNEL, EEPROM_FLAG_AIRMODE, EEPROM_VALUE_TYPE_SYSTEM, 4, VAL_UINT_8, .valueRange = {0, 18}
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},
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[COMMAND_ID_FLAG_FLIGHTMODE_2_MINRANGE] =
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@ -690,6 +746,9 @@ bool processCommand(uint8_t action, uint16_t id, uint64_t value)
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case VAL_INT_64:
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*((int64_t *)valuePointer) = value;
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break;
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case VAL_BOOL:
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*((bool *)valuePointer) = value;
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break;
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}
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return true;
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@ -723,6 +782,9 @@ void valuePointerToString(char * dst, uint16_t id, void * address)
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case VAL_INT_64:
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sprintf(dst,"%d", *((int64_t *)address));
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break;
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case VAL_BOOL:
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sprintf(dst,"%d", *((bool *)address));
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break;
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}
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}
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@ -921,7 +983,7 @@ void writeTaskInformation(uint16_t id)
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{
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//buffer
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char buffer[maxStringSize_CLI];
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char valBuffer[15];
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char valBuffer[16];
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//Get the correct pointer to the data
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void * valuePointer = getDataAddresFromID(commandTable[id].valueId, commandTable[id].valueIdLoc);
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@ -934,6 +996,61 @@ void writeTaskInformation(uint16_t id)
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TransmitBack("\n\r");
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}
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/***********************************************************************
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* BRIEF: Will transmit some system stats over the usart
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* INFORMATION: Will transmit some system stats, including scheduler
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* data, individial task data potentially more.
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***********************************************************************/
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void TransmitSystemStats()
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{
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char * buffer[maxStringSize_CLI*2];
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float taskExecEfficiency = ((float)systemSchedulerStatistics.totalTaskRuntime/(float)systemSchedulerStatistics.totalSystemRuntime)*100.f;
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float taskschedulingUptime = ((float)systemSchedulerStatistics.totalTasksScheduled/(float)systemSchedulerStatistics.totalSchedulerCalls)*100.f;
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float averageOverHead = ((float)systemSchedulerStatistics.totalOverHead/(float)systemSchedulerStatistics.totalSchedulerCalls)*100.f;
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//initial start message "
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TransmitBack("- System statistics\n\r-------------------\n\n\r- Scheduler stats: \n\r");
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TransmitBack("------------------------------------------------------\n\r");
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sprintf(buffer,"- %-35s%-16d ms\n\r", "System runtime:", systemSchedulerStatistics.totalSystemRuntime/1000);
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TransmitBack(buffer);
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sprintf(buffer,"- %-35s%-16d ms\n\r", "Tasks runtime:", systemSchedulerStatistics.totalTaskRuntime/1000);
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TransmitBack(buffer);
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sprintf(buffer,"- %-35s%-16d ms\n\r", "Overhead:", systemSchedulerStatistics.totalOverHead/1000);
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TransmitBack(buffer);
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sprintf(buffer,"- %-35s%-16d micro\n\r", "Average Overhead:", ((int)taskschedulingUptime));
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TransmitBack(buffer);
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sprintf(buffer,"- %-35s%-16d percent\n\r", "Task exec by runtime:", ((int)taskExecEfficiency));
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TransmitBack(buffer);
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sprintf(buffer,"- %-35s%-16d times\n\r", "Scheduler calls:", systemSchedulerStatistics.totalSchedulerCalls);
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TransmitBack(buffer);
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sprintf(buffer,"- %-35s%-16d times\n\r", "Task scheduled:", systemSchedulerStatistics.totalTasksScheduled);
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TransmitBack(buffer);
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sprintf(buffer,"- %-35s%-16d percent\n\r", "Task schedule load:", ((int)taskschedulingUptime));
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TransmitBack(buffer);
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sprintf(buffer,"- %-35s%-16d times\n\r", "Missed periods:", systemSchedulerStatistics.totalMissedPeriods);
|
||||
TransmitBack(buffer);
|
||||
|
||||
|
||||
TransmitBack("\n\n\r- Individual task stats: \n\r");
|
||||
TransmitBack("------------------------------------------------------\n\r");
|
||||
for (int i = 0; i < TASK_COUNT; i++)
|
||||
{
|
||||
sprintf(buffer,"- %-35s%s\n\r", "Task name: ", SystemTasks[i].taskName);
|
||||
TransmitBack(buffer);
|
||||
sprintf(buffer,"- %-35s%-16d ms\n\r", "Total execution time: ", SystemTasks[i].totalExecutionTime/1000);
|
||||
TransmitBack(buffer);
|
||||
sprintf(buffer,"- %-35s%-16d micro\n\r", "Max execution time: ", SystemTasks[i].maxExecutionTime);
|
||||
TransmitBack(buffer);
|
||||
sprintf(buffer,"- %-35s%-16d micro\n\r", "Average execution time: ", SystemTasks[i].averageExecutionTime);
|
||||
TransmitBack(buffer);
|
||||
sprintf(buffer,"- %-35s%-16d micro\n\r", "Average time between exec: ", SystemTasks[i].taskAverageDeltaTime);
|
||||
TransmitBack(buffer);
|
||||
|
||||
TransmitBack("\n\r");
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
/***********************************************************************
|
||||
* BRIEF: Will print informations of all the the commands
|
||||
* INFORMATION: Will loop through all the commands in the system and
|
||||
@ -1139,6 +1256,9 @@ void cliRun()
|
||||
TransmitBack("- Values unchanged...\n\n\r");
|
||||
}
|
||||
break;
|
||||
case commandMask(commandSize_1, ACTION_STATS):
|
||||
TransmitSystemStats();
|
||||
break;
|
||||
default:
|
||||
if (actionId != ACTION_NOACTION)
|
||||
TransmitCommandInstruction(actionId);
|
||||
|
||||
@ -22,6 +22,7 @@
|
||||
#include "stm32f4xx_revo.h"
|
||||
#include "Scheduler/scheduler.h"
|
||||
#include "drivers/failsafe_toggles.h"
|
||||
#include "drivers/motormix.h"
|
||||
|
||||
/* Reads the EEPROM version from EEPROM - Is compared to EEPROM_SYS_VERSION */
|
||||
uint8_t stored_eeprom_identifier;
|
||||
@ -186,6 +187,15 @@ EEPROM_DATA_t eeprom_sys_Arr[EEPROM_SYS_COUNT] = {
|
||||
},
|
||||
#endif
|
||||
|
||||
|
||||
/* Motormix values */
|
||||
[EEPROM_MOTORMIX_CONFIG] =
|
||||
{
|
||||
.size = sizeof(mixerConfig_s),
|
||||
.dataPtr = &(mixerConfig),
|
||||
},
|
||||
|
||||
|
||||
/* Flags eeprom values */
|
||||
[EEPROM_FLAG_ARM] =
|
||||
{
|
||||
@ -212,10 +222,10 @@ EEPROM_DATA_t eeprom_sys_Arr[EEPROM_SYS_COUNT] = {
|
||||
.size = sizeof(flags_Configuration_t),
|
||||
.dataPtr = &(flagConfigArr[FLAG_CONFIGURATION_FLIGHTMODE_GPS]),
|
||||
},
|
||||
[EEPROM_FLAG_FLIGHTMODE_1] =
|
||||
[EEPROM_FLAG_AIRMODE] =
|
||||
{
|
||||
.size = sizeof(flags_Configuration_t),
|
||||
.dataPtr = &(flagConfigArr[FLAG_CONFIGURATION_FLIGHTMODE_1]),
|
||||
.dataPtr = &(flagConfigArr[FLAG_CONFIGURATION_AIRMODE]),
|
||||
},
|
||||
[EEPROM_FLAG_FLIGHTMODE_2] =
|
||||
{
|
||||
|
||||
@ -42,11 +42,11 @@ flags_Configuration_t flagConfigArr[FLAG_CONFIGURATION_COUNT] = {
|
||||
.channelNumber = 0,
|
||||
.flagId = systemFlags_flightmode_gps_id,
|
||||
},
|
||||
[FLAG_CONFIGURATION_FLIGHTMODE_1] = {
|
||||
[FLAG_CONFIGURATION_AIRMODE] = {
|
||||
.minRange = 0,
|
||||
.maxRange = 0,
|
||||
.channelNumber = 0,
|
||||
.flagId = systemFlags_flightMode_1_id,
|
||||
.flagId = systemFlags_airmode_id,
|
||||
},
|
||||
[FLAG_CONFIGURATION_FLIGHTMODE_2] = {
|
||||
.minRange = 0,
|
||||
|
||||
@ -19,6 +19,7 @@
|
||||
#include "drivers/motors.h"
|
||||
#include "utilities.h"
|
||||
#include "drivers/sbus.h"
|
||||
#include "drivers/failsafe_toggles.h"
|
||||
|
||||
/* An illustration of the motor configuration
|
||||
|
||||
@ -35,7 +36,7 @@
|
||||
|
||||
/* Set by EEPROM - This variable decides whether the control
|
||||
* system should be active or not when throttle is below min_throttle */
|
||||
bool pid_at_min_throttle = true;
|
||||
//bool pid_at_min_throttle = true;
|
||||
|
||||
/* An array containing the calculated motor outputs */
|
||||
uint16_t motor_output[MOTOR_COUNT];
|
||||
@ -43,12 +44,14 @@ uint16_t motor_output[MOTOR_COUNT];
|
||||
/* Default values for the mixerConfig */
|
||||
// TODO: Implement in EEPROM
|
||||
mixerConfig_s mixerConfig = {
|
||||
.yaw_motor_direction = 1,
|
||||
.minThrottle = 1000,
|
||||
.maxThrottle = 2000,
|
||||
.minCommand = 1050,
|
||||
.maxCommand = 1950,
|
||||
.minCheck = 1010
|
||||
.minCheck = 1010,
|
||||
.pid_at_min_throttle = true,
|
||||
.motorstop = false,
|
||||
.yaw_reverse_direction = false
|
||||
};
|
||||
|
||||
/* Used in "mixerUAV" to create the dynamic model of the UAV */
|
||||
@ -101,7 +104,7 @@ void mix()
|
||||
// Might be used for some debug if necessary
|
||||
static bool motorLimitReached;
|
||||
|
||||
if (false) // TODO: replace with check for Airmode
|
||||
if (flags_IsSet_ID(systemFlags_airmode_id)) // TODO: replace with check for Airmode
|
||||
{
|
||||
for (int i = 0; i < MOTOR_COUNT; i++)
|
||||
{
|
||||
@ -206,7 +209,7 @@ void mix()
|
||||
for (int i = 0; i < MOTOR_COUNT; i++)
|
||||
{
|
||||
/* If engines are armed then give the output to the motors */
|
||||
if (true) // TODO: replace with check for armed (IF ARMED)
|
||||
if (flags_IsSet_ID(systemFlags_armed_id)) // TODO: replace with check for armed (IF ARMED)
|
||||
motor_output[i] = constrain(motor_output[i], mixerConfig.minCommand, mixerConfig.maxCommand);
|
||||
/* If not then stop motors */
|
||||
else
|
||||
|
||||
@ -25,6 +25,7 @@
|
||||
#include "config/eeprom.h"
|
||||
#include "drivers/failsafe_toggles.h"
|
||||
#include "drivers/sbus.h"
|
||||
#include "drivers/motormix.h"
|
||||
|
||||
/**************************************************************************
|
||||
* BRIEF: Should contain all the initializations of the system, needs to
|
||||
@ -47,10 +48,10 @@ void init_system()
|
||||
|
||||
|
||||
//initialize the CLI
|
||||
cliInit(USART6);
|
||||
cliInit(USART1);
|
||||
|
||||
//init sbus
|
||||
sbus_init();
|
||||
//sbus_init();
|
||||
|
||||
#ifdef USE_LEDS
|
||||
//Initialize the on board leds
|
||||
|
||||
@ -43,6 +43,10 @@
|
||||
void systemTaskGyroPid(void)
|
||||
{
|
||||
//Read gyro and update PID and finally update the motors. The most important task in the system
|
||||
|
||||
uint8_t c = 102;
|
||||
if (flags_IsSet_ID(systemFlags_Failsafe_noRcReceived_id))
|
||||
usart_transmit(&cliUsart, &c, 1, 1000000000);
|
||||
}
|
||||
|
||||
void systemTaskAccelerometer(void)
|
||||
@ -68,7 +72,7 @@ void systemTaskRx(void)
|
||||
sbusFrame_s frame = sbusChannelData;
|
||||
|
||||
/* Process channel data for switches and toggles on the controller, starts after "stick" channels */
|
||||
for (int i = STICK_CHANNEL_COUNT; i < STICK_CHANNEL_COUNT + AUX_CHANNEL_COUNT; i++) //ToDo: add define for the number of channels to process
|
||||
for (int i = 1; i < STICK_CHANNEL_COUNT + AUX_CHANNEL_COUNT; i++) //ToDo: add define for the number of channels to process, /if not work change i to start at numb of stick channels
|
||||
{
|
||||
flags_ProcessRcChannel(i+1, getChannelValue(frame, i+1));
|
||||
}
|
||||
@ -79,10 +83,29 @@ bool systemTaskRxCheck(uint32_t currentDeltaTime)
|
||||
{
|
||||
//This task is what is controlling the event activation of the systemTaskRx
|
||||
//check if there is anything that has be received.
|
||||
const uint32_t maxReceiveTrigger = 3000000; //3 seconds
|
||||
static uint32_t lastRecievedCommand = 0;
|
||||
|
||||
|
||||
|
||||
bool isReady = sbus_frame_available();
|
||||
if (isReady == true)
|
||||
{
|
||||
flags_Clear_ID(systemFlags_Failsafe_noRcReceived_id);
|
||||
lastRecievedCommand = clock_get_us();
|
||||
return isReady;
|
||||
}
|
||||
else
|
||||
{
|
||||
//check for failsafe
|
||||
if ((clock_get_us() - lastRecievedCommand) > maxReceiveTrigger)
|
||||
{
|
||||
flags_Set_ID(systemFlags_Failsafe_noRcReceived_id);
|
||||
}
|
||||
|
||||
return isReady;
|
||||
}
|
||||
|
||||
flags_Set_ID(systemFlags_Failsafe_noRcReceived_id);
|
||||
//ToDo: add failsafe for no command revieved
|
||||
return sbus_frame_available();
|
||||
}
|
||||
|
||||
void systemTaskRxCli(void)
|
||||
|
||||
Reference in New Issue
Block a user