philip/MDH-UAV-Control-System
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This commit is contained in:
Lennart Eriksson 2016-10-14 15:53:40 +02:00
parent a3fe614d3a
commit efd9f23f55
4 changed files with 109 additions and 20 deletions
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7
UAV-ControlSystem/inc/config/eeprom.h
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@ -204,6 +204,13 @@ typedef enum {
EEPROM_PID_GYRO_D_PITCH, EEPROM_PID_GYRO_D_PITCH,
EEPROM_PID_GYRO_D_YAW, EEPROM_PID_GYRO_D_YAW,
EEPROM_PID_ACCEL_P_ROLL,
EEPROM_PID_ACCEL_P_PITCH,
EEPROM_PID_ACCEL_I_ROLL,
EEPROM_PID_ACCEL_I_PITCH,
EEPROM_PID_ACCEL_D_ROLL,
EEPROM_PID_ACCEL_D_PITCH,
/* Counts the amount of settings in profile */ /* Counts the amount of settings in profile */
EEPROM_PROFILE_COUNT EEPROM_PROFILE_COUNT
} EEPROM_PROFILE_ID_t; } EEPROM_PROFILE_ID_t;

2
UAV-ControlSystem/inc/system_variables.h
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@ -14,7 +14,7 @@
#ifndef SYSTEM_VARIABLES_H_ #ifndef SYSTEM_VARIABLES_H_
#define SYSTEM_VARIABLES_H_ #define SYSTEM_VARIABLES_H_
#define EEPROM_SYS_VERSION 101 #define EEPROM_SYS_VERSION 102
#define ADC_STATE #define ADC_STATE
#include "stm32f4xx.h" #include "stm32f4xx.h"

65
UAV-ControlSystem/src/config/cli.c
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@ -225,6 +225,7 @@ typedef enum
/* Profile values */ /* Profile values */
/* PID value */ /* PID value */
//GYRO
COMMAND_ID_PID_GYRO_P_ROLL, COMMAND_ID_PID_GYRO_P_ROLL,
COMMAND_ID_PID_GYRO_P_PITCH, COMMAND_ID_PID_GYRO_P_PITCH,
COMMAND_ID_PID_GYRO_P_YAW, COMMAND_ID_PID_GYRO_P_YAW,
@ -237,6 +238,18 @@ typedef enum
COMMAND_ID_PID_GYRO_D_PITCH, COMMAND_ID_PID_GYRO_D_PITCH,
COMMAND_ID_PID_GYRO_D_YAW, COMMAND_ID_PID_GYRO_D_YAW,
//ACCEL
COMMAND_ID_PID_ACCEL_P_ROLL,
COMMAND_ID_PID_ACCEL_P_PITCH,
COMMAND_ID_PID_ACCEL_P_YAW,
COMMAND_ID_PID_ACCEL_I_ROLL,
COMMAND_ID_PID_ACCEL_I_PITCH,
COMMAND_ID_PID_ACCEL_I_YAW,
COMMAND_ID_PID_ACCEL_D_ROLL,
COMMAND_ID_PID_ACCEL_D_PITCH,
COMMAND_ID_PID_ACCEL_D_YAW,
/* Counter for the amount of commands */ /* Counter for the amount of commands */
COMMAND_ID_COUNT, COMMAND_ID_COUNT,
@ -494,44 +507,76 @@ const cliCommandConfig_t commandTable[COMMAND_ID_COUNT] = {
//PROFILE VALUES //PROFILE VALUES
//PID VALUES //PID VALUES
//GYRO P
[COMMAND_ID_PID_GYRO_P_ROLL] = [COMMAND_ID_PID_GYRO_P_ROLL] =
{ {
"pid_gyro_p_roll", COMMAND_ID_PID_GYRO_P_ROLL, EEPROM_PID_GYRO_P_ROLL, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 2000} "pid_gyro_p_roll", COMMAND_ID_PID_GYRO_P_ROLL, EEPROM_PID_GYRO_P_ROLL, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
}, },
[COMMAND_ID_PID_GYRO_P_PITCH] = [COMMAND_ID_PID_GYRO_P_PITCH] =
{ {
"pid_gyro_p_pitch", COMMAND_ID_PID_GYRO_P_PITCH, EEPROM_PID_GYRO_P_PITCH, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 2000} "pid_gyro_p_pitch", COMMAND_ID_PID_GYRO_P_PITCH, EEPROM_PID_GYRO_P_PITCH, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
}, },
[COMMAND_ID_PID_GYRO_P_YAW] = [COMMAND_ID_PID_GYRO_P_YAW] =
{ {
"pid_gyro_p_yaw", COMMAND_ID_PID_GYRO_P_YAW, EEPROM_PID_GYRO_P_YAW, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 2000} "pid_gyro_p_yaw", COMMAND_ID_PID_GYRO_P_YAW, EEPROM_PID_GYRO_P_YAW, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
}, },
//GYRO I
[COMMAND_ID_PID_GYRO_I_ROLL] = [COMMAND_ID_PID_GYRO_I_ROLL] =
{ {
"pid_gyro_i_roll", COMMAND_ID_PID_GYRO_I_ROLL, EEPROM_PID_GYRO_I_ROLL, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 2000} "pid_gyro_i_roll", COMMAND_ID_PID_GYRO_I_ROLL, EEPROM_PID_GYRO_I_ROLL, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
}, },
[COMMAND_ID_PID_GYRO_I_PITCH] = [COMMAND_ID_PID_GYRO_I_PITCH] =
{ {
"pid_gyro_i_pitch", COMMAND_ID_PID_GYRO_I_PITCH, EEPROM_PID_GYRO_I_PITCH, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 2000} "pid_gyro_i_pitch", COMMAND_ID_PID_GYRO_I_PITCH, EEPROM_PID_GYRO_I_PITCH, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
}, },
[COMMAND_ID_PID_GYRO_I_YAW] = [COMMAND_ID_PID_GYRO_I_YAW] =
{ {
"pid_gyro_i_yaw", COMMAND_ID_PID_GYRO_I_YAW, EEPROM_PID_GYRO_I_YAW, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 2000} "pid_gyro_i_yaw", COMMAND_ID_PID_GYRO_I_YAW, EEPROM_PID_GYRO_I_YAW, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
}, },
//GYRO D
[COMMAND_ID_PID_GYRO_D_ROLL] = [COMMAND_ID_PID_GYRO_D_ROLL] =
{ {
"pid_gyro_d_roll", COMMAND_ID_PID_GYRO_D_ROLL, EEPROM_PID_GYRO_D_ROLL, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 2000} "pid_gyro_d_roll", COMMAND_ID_PID_GYRO_D_ROLL, EEPROM_PID_GYRO_D_ROLL, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
}, },
[COMMAND_ID_PID_GYRO_D_PITCH] = [COMMAND_ID_PID_GYRO_D_PITCH] =
{ {
"pid_gyro_d_pitch", COMMAND_ID_PID_GYRO_D_PITCH, EEPROM_PID_GYRO_D_PITCH, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 2000} "pid_gyro_d_pitch", COMMAND_ID_PID_GYRO_D_PITCH, EEPROM_PID_GYRO_D_PITCH, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
}, },
[COMMAND_ID_PID_GYRO_D_YAW] = [COMMAND_ID_PID_GYRO_D_YAW] =
{ {
"pid_gyro_d_yaw", COMMAND_ID_PID_GYRO_D_YAW, EEPROM_PID_GYRO_D_YAW, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 2000} "pid_gyro_d_yaw", COMMAND_ID_PID_GYRO_D_YAW, EEPROM_PID_GYRO_D_YAW, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
},
//ACCEL P
[COMMAND_ID_PID_ACCEL_P_ROLL] =
{
"pid_accel_p_roll", COMMAND_ID_PID_ACCEL_P_ROLL, EEPROM_PID_ACCEL_P_ROLL, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
},
[COMMAND_ID_PID_ACCEL_P_PITCH] =
{
"pid_accel_p_pitch", COMMAND_ID_PID_ACCEL_P_PITCH, EEPROM_PID_ACCEL_P_PITCH, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
},
//ACCEL I
[COMMAND_ID_PID_ACCEL_I_ROLL] =
{
"pid_accel_i_roll", COMMAND_ID_PID_ACCEL_I_ROLL, EEPROM_PID_ACCEL_I_ROLL, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
},
[COMMAND_ID_PID_ACCEL_I_PITCH] =
{
"pid_accel_i_pitch", COMMAND_ID_PID_ACCEL_I_PITCH, EEPROM_PID_ACCEL_I_PITCH, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
},
//ACCEL D
[COMMAND_ID_PID_ACCEL_D_ROLL] =
{
"pid_accel_d_roll", COMMAND_ID_PID_ACCEL_D_ROLL, EEPROM_PID_ACCEL_D_ROLL, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
},
[COMMAND_ID_PID_ACCEL_D_PITCH] =
{
"pid_accel_d_pitch", COMMAND_ID_PID_ACCEL_D_PITCH, EEPROM_PID_ACCEL_D_PITCH, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_UINT_8, .valueRange = {0, 100}
}, },

55
UAV-ControlSystem/src/config/eeprom.c
View File

@ -249,53 +249,90 @@ EEPROM_DATA_t eeprom_profile_Arr[EEPROM_PROFILE_COUNT] = {
//GYRO P VAL //GYRO P VAL
[EEPROM_PID_GYRO_P_ROLL] = [EEPROM_PID_GYRO_P_ROLL] =
{ {
.size = sizeof(PidGyroProfile.P), .size = sizeof(PidGyroProfile.P[0]),
.dataPtr = &PidGyroProfile.P[0], .dataPtr = &PidGyroProfile.P[0],
}, },
[EEPROM_PID_GYRO_P_PITCH] = [EEPROM_PID_GYRO_P_PITCH] =
{ {
.size = sizeof(PidGyroProfile.P), .size = sizeof(PidGyroProfile.P[1]),
.dataPtr = &PidGyroProfile.P[1], .dataPtr = &PidGyroProfile.P[1],
}, },
[EEPROM_PID_GYRO_P_YAW] = [EEPROM_PID_GYRO_P_YAW] =
{ {
.size = sizeof(PidGyroProfile.P), .size = sizeof(PidGyroProfile.P[2]),
.dataPtr = &PidGyroProfile.P[2], .dataPtr = &PidGyroProfile.P[2],
}, },
//GYRO I VAL //GYRO I VAL
[EEPROM_PID_GYRO_I_ROLL] = [EEPROM_PID_GYRO_I_ROLL] =
{ {
.size = sizeof(PidGyroProfile.I), .size = sizeof(PidGyroProfile.I[0]),
.dataPtr = &PidGyroProfile.I[0], .dataPtr = &PidGyroProfile.I[0],
}, },
[EEPROM_PID_GYRO_I_PITCH] = [EEPROM_PID_GYRO_I_PITCH] =
{ {
.size = sizeof(PidGyroProfile.I), .size = sizeof(PidGyroProfile.I[1]),
.dataPtr = &PidGyroProfile.I[1], .dataPtr = &PidGyroProfile.I[1],
}, },
[EEPROM_PID_GYRO_I_YAW] = [EEPROM_PID_GYRO_I_YAW] =
{ {
.size = sizeof(PidGyroProfile.I), .size = sizeof(PidGyroProfile.I[2]),
.dataPtr = &PidGyroProfile.I[2], .dataPtr = &PidGyroProfile.I[2],
}, },
//GYRO D VAL //GYRO D VAL
[EEPROM_PID_GYRO_D_ROLL] = [EEPROM_PID_GYRO_D_ROLL] =
{ {
.size = sizeof(PidGyroProfile.D), .size = sizeof(PidGyroProfile.D[0]),
.dataPtr = &PidGyroProfile.D[0], .dataPtr = &PidGyroProfile.D[0],
}, },
[EEPROM_PID_GYRO_D_PITCH] = [EEPROM_PID_GYRO_D_PITCH] =
{ {
.size = sizeof(PidGyroProfile.D), .size = sizeof(PidGyroProfile.D[1]),
.dataPtr = &PidGyroProfile.D[1], .dataPtr = &PidGyroProfile.D[1],
}, },
[EEPROM_PID_GYRO_D_YAW] = [EEPROM_PID_GYRO_D_YAW] =
{ {
.size = sizeof(PidGyroProfile.D), .size = sizeof(PidGyroProfile.D[2]),
.dataPtr = &PidGyroProfile.D[2], .dataPtr = &PidGyroProfile.D[2],
}, },
//ACCEL P VAL
[EEPROM_PID_ACCEL_P_ROLL] =
{
.size = sizeof(PidAccelerometerProfile.P[0]),
.dataPtr = &PidAccelerometerProfile.P[0],
},
[EEPROM_PID_ACCEL_P_PITCH] =
{
.size = sizeof(PidAccelerometerProfile.P[1]),
.dataPtr = &PidAccelerometerProfile.P[1],
},
//ACCEL I VAL
[EEPROM_PID_ACCEL_I_ROLL] =
{
.size = sizeof(PidAccelerometerProfile.I[0]),
.dataPtr = &PidAccelerometerProfile.I[0],
},
[EEPROM_PID_ACCEL_I_PITCH] =
{
.size = sizeof(PidAccelerometerProfile.I[1]),
.dataPtr = &PidAccelerometerProfile.I[1],
},
//ACCEL_D_VAL
[EEPROM_PID_ACCEL_D_ROLL] =
{
.size = sizeof(PidAccelerometerProfile.D[0]),
.dataPtr = &PidAccelerometerProfile.D[0],
},
[EEPROM_PID_ACCEL_D_PITCH] =
{
.size = sizeof(PidAccelerometerProfile.D[1]),
.dataPtr = &PidAccelerometerProfile.D[1],
},
}; };
/* Data pointers and sizes for footer content */ /* Data pointers and sizes for footer content */