#include <LiquidCrystal.h>
#include <TimerOne.h>
+#include <EEPROM.h>
#define MAX_INPUTS 8
+// Update this _every_ time a change in datastructures that
+// can/will ber written to EEPROM is done. EEPROM data is
+// read/written torectly into/from the data structures using
+// pointers, so every time a data-set change occurs, the EEPROM
+// format changes as well..
+#define EEPROM_VERSION 7
+
+// Some data is stored in fixed locations, e.g.:
+// * The EEPROM version number for the stored data (loc 0)
+// * The selected model configuration number (loc 1)
+// * (add any other fixed-loc's here for doc-purpose)
+// This means that any pointer-math-operations need a BASE
+// adress to start calc'ing from. This is defined as:
+#define EE_BASE_ADDR 10
+
+// Having to repeat tedious base-address-calculations for the
+// start of model data should be unnessecary. Plus, updating
+// what data is stored before the models will mean that each
+// of those calculations must be updated. A better approach is
+// to define the calculation in a define!
+// NOTE: If new data is added in front of the model data,
+// this define must be updated!
+#define EE_MDL_BASE_ADDR (EE_BASE_ADDR+(sizeof(input_cal_t)+ 10))
+
+// Just as a safety-precaution, update/change this if a chip with
+// a different internal EEPROM size is used. Atmega328p has 1024 bytes.
+#define INT_EEPROM_SIZE 1024
+
+#define MAX_MODELS 4 // Nice and random number..
+
+
// --------------- ADC related stuffs.... --------------------
struct input_cal_t // Struct type for input calibration values
{
int channels; // How many channels should PPM generate for this model ...
float stick[8]; // The (potentially recalc'ed) value of stick/input channel.
+ int raw[8];
boolean rev[8];
int dr[8]; // The Dual-rate array uses magic numbers :P
/* dr[0] = Input channel #1 of 2 for D/R switch #1. 0 means off, 1-4 valid values.
*/
};
volatile model_t model;
+unsigned char current_model; // Using uchar to spend a single byte of mem..
// ----------------- Display related stuffs --------------------
LiquidCrystal lcd( 12, 11, 10, 6, 7, 8, 9);
// The PPM generation is handled by Timer0 interrupts, and needs
// all modifiable variables to be global and volatile...
-//int max_channels = 6; // How many channels should PPM generate ...
-// Moved to model_t struct...
-
volatile long sum = 0; // Frame-time spent so far
volatile int cchannel = 0; // Current channnel
volatile bool do_channel = true; // Is next operation a channel or a separator
// The timing here (and/or in the ISR) needs to be tweaked to provide valid
// RC PPM signals accepted by standard RC RX'es and the Microcopter...
-#define framelength 21500 // Max length of frame
-#define seplength 400 // Lenght of a channel separator
-#define chmax 1700 // Max lenght of channel pulse
-#define chmin 600 // Min length of channel
+#define framelength 21000 // Max length of frame
+#define seplength 300 // Lenght of a channel separator
+#define chmax 1550 // Max lenght of channel pulse
+#define chmin 620 // Min length of channel
#define chwidht (chmax - chmin)// Useable time of channel pulse
// ----------------- Menu/IU related stuffs --------------------
VALUES,
BATTERY,
TIMER,
+ CURMODEL,
MENU
}
displaystate;
Serial.begin(9600);
Serial.println("Starting....");
delay(500);
+
+ model_defaults();
read_settings();
- scan_keys();
- if ( keys[KEY_UP])
- calibrate();
-
- pinMode(A5, OUTPUT); // PPM output pin
- do_channel = false;
- set_timer( seplength );
- Timer1.initialize(framelength);
- Timer1.attachInterrupt(ISR_timer);
displaystate = VALUES;
// In reality they are tri-purpose; ADC, Digital, Digital Interrupts
// Unfortunately the interrupt mode is unusable in this scenario, but digital I/O works :P
pinMode(A2, INPUT);
+ digitalWrite(A2, HIGH);
+ scan_keys();
+ if ( !keys[KEY_UP])
+ calibrate();
// Debugging: how long does the main loop take on avg...
t = micros();
avg_loop_time = t;
prev_loop_time = t;
- // Setting this here to be sure I do not forget to init' it....
- // These initializations should be done by read_settings from eeprom,
- // and this "default model values" should probably be moved
- // out to a section of read_settings when handling "new model", or
- // to a separate model_defaults function...
- model.channels = 8;
+
+ // Initializing the stopwatch timer/clock values...
+ clock_timer = (clock_timer_t){0, 0, 0, false};
+
+ pinMode(A5, OUTPUT); // PPM output pin
+ do_channel = false;
+ set_timer( seplength );
+ Timer1.initialize(framelength);
+ Timer1.attachInterrupt(ISR_timer);
+
+}
+
+void model_defaults( void )
+{
+ // This function provides default values for model data
+ // that is not a result of stick input, or in other words:
+ // provides defautls for all user-configurable model options.
+
+ // Remember to update this when a new option/element is added
+ // to the model_t struct (preferably before implementing the
+ // menu code that sets those options ...)
+
+ // This is used when a user wants a new, blank model, a reset
+ // of a configured model, and (most important) when EEPROM
+ // data format changes.
+ // NOTE: This means that stored model conficuration is reset
+ // to defaults when the EEPROM version/format changes.
+ model.channels = 6;
model.rev[0] = model.rev[1] = model.rev[2] = model.rev[3] =
model.rev[4] = model.rev[5] = model.rev[6] = model.rev[7] = false;
model.dr[0] = model.dr[1] = model.dr[2] = model.dr[3] = 0;
model.dr[4] = model.dr[5] = model.dr[6] = model.dr[7] = 100;
- // Initializing the stopwatch timer/clock values...
- clock_timer = (clock_timer_t){0, 0, 0, false};
}
// ---------- Arduino main loop -----------------------
boolean check_key( int key)
{
- return ( keys[key] && !prev_keys[key] );
+ return ( !keys[key] && prev_keys[key] );
}
void mplx_select(int pin)
void calibrate()
{
int i, r0, r1, r2, adc_in;
- int calcount = 0;
int num_calibrations = 200;
lcd.clear();
lcd.print("their extremes..");
Serial.print("Calibration. Move all controls to their extremes.");
- for (i=0; i< MAX_INPUTS; i++) {
+ for (i=0; i<MAX_INPUTS; i++) {
input_cal.min[i] = 1024;
+ input_cal.center[i] = 512;
input_cal.max[i] = 0;
}
- while ( calcount <= num_calibrations )
+
+ while ( num_calibrations-- )
{
- for (i=0; i<=MAX_INPUTS; i++) {
+ for (i=0; i<MAX_INPUTS; i++) {
mplx_select(i);
adc_in = analogRead(0);
}
delay(10);
}
-
- calcount++;
}
// TODO: WILL need to do center-point calibration after min-max...
lcd.clear();
+ lcd.print("Saving to EEPROM");
+ write_calibration();
+ lcd.setCursor(0 , 1);
lcd.print("Done calibrating");
-
+
Serial.print("Done calibrating");
delay(2000);
}
+void write_calibration(void)
+{
+ int i;
+ unsigned char v;
+ const byte *p;
+
+ // Set p to be a pointer to the start of the input calibration struct.
+ p = (const byte*)(const void*)&input_cal;
+
+ // Iterate through the bytes of the struct...
+ for (i = 0; i < sizeof(input_cal_t); i++)
+ {
+ // Get a byte of data from the struct...
+ v = (unsigned char) *p;
+ // write it to EEPROM
+ EEPROM.write( EE_BASE_ADDR + i, v);
+ // and move the pointer to the next byte in the struct.
+ *p++;
+ }
+}
+
void read_settings(void)
{
- // Dummy. Will be modified to read model settings from EEPROM
- for (int i=0; i<=7; i++) {
- input_cal.min[i] = 0;
- input_cal.center[i] = 512;
- input_cal.max[i] = 1024;
+ int i;
+ unsigned char v;
+ byte *p;
+
+ v = EEPROM.read(0);
+ if ( v != EEPROM_VERSION )
+ {
+ // All models have been reset. Set the current model to 0
+ current_model = 0;
+ EEPROM.write(1, current_model);
+
+ calibrate();
+ model_defaults();
+ // The following does not yet work...
+ for ( i = 0; i < MAX_MODELS; i++)
+ write_model_settings(i);
+
+
+ // After saving calibration data and model defaults,
+ // update the saved version-identifier to the current ver.
+ EEPROM.write(0, EEPROM_VERSION);
}
+
+ // Read calibration values from EEPROM.
+ // This uses simple pointer-arithmetic and byte-by-byte
+ // to put bytes read from EEPROM to the data-struct.
+ p = (byte*)(void*)&input_cal;
+ for (i = 0; i < sizeof(input_cal_t); i++)
+ *p++ = EEPROM.read( EE_BASE_ADDR + i);
+
+ // Get the previously selected model from EEPROM.
+ current_model = EEPROM.read(1);
+ read_model_settings( current_model );
}
-void write_settings(void)
+void read_model_settings(unsigned char mod_no)
{
- // Dummy. Not used anywhere. Will be fleshed out to save settings to EEPROM.
+ int model_address;
+ int i;
+ unsigned char v;
+ byte *p;
+
+ // Calculate the EEPROM start adress for the given model (mod_no)
+ model_address = EE_MDL_BASE_ADDR + (mod_no * sizeof(model_t));
+
+ // Do not try to write the model to EEPROM if it won't fit.
+ if ( INT_EEPROM_SIZE < (model_address + sizeof(model_t)) )
+ {
+ lcd.clear();
+ lcd.print("Aborting READ");
+ lcd.setCursor(0 , 1);
+ lcd.print("Invalid location");
+ delay(2000);
+ return;
+ }
+
+ lcd.clear();
+ lcd.print("Reading model ");
+ lcd.print( (int)mod_no );
+
+ // Pointer to the start of the model_t data struct,
+ // used for byte-by-byte reading of data...
+ p = (byte*)(void*)&model;
+ for (i = 0; i < sizeof(model_t); i++)
+ *p++ = EEPROM.read( model_address++ );
+
+ serial_dump_model();
+
+ lcd.setCursor(0 , 1);
+ lcd.print("... Loaded.");
+ delay(1000);
+}
+
+void write_model_settings(unsigned char mod_no)
+{
+ int model_address;
+ int i;
+ unsigned char v;
+ byte *p;
+
+ // Calculate the EEPROM start adress for the given model (mod_no)
+ model_address = EE_MDL_BASE_ADDR + (mod_no * sizeof(model_t));
+
+ // Do not try to write the model to EEPROM if it won't fit.
+ if ( INT_EEPROM_SIZE < (model_address + sizeof(model_t)) )
+ {
+ lcd.clear();
+ lcd.print("Aborting SAVE");
+ lcd.setCursor(0 , 1);
+ lcd.print("No room for data");
+ delay(2000);
+ return;
+ }
+
+ lcd.clear();
+ lcd.print("Saving model ");
+ lcd.print( (int)mod_no);
+
+ // Pointer to the start of the model_t data struct,
+ // used for byte-by-byte reading of data...
+ p = (byte*)(void*)&model;
+
+ // Write/serialize the model data struct to EEPROM...
+ for (i = 0; i < sizeof(model_t); i++)
+ EEPROM.write( model_address++, *p++);
+
+ lcd.setCursor(0 , 1);
+ lcd.print(".. done saving.");
+ delay(200);
+}
+
+void serial_dump_model ( void )
+{
+ int i;
+ int model_address;
+ // Calculate the EEPROM start adress for the given model (mod_no)
+ model_address = EE_MDL_BASE_ADDR + (current_model * sizeof(model_t));
+ Serial.print("Current model: ");
+ Serial.println( (int)current_model );
+ Serial.print("Models base addr: ");
+ Serial.println( EE_MDL_BASE_ADDR );
+ Serial.print("Model no: ");
+ Serial.println( current_model, 10 );
+ Serial.print("Size of struct: ");
+ Serial.println( sizeof( model_t) );
+ Serial.print("Model address: ");
+ Serial.println( model_address );
+ Serial.print("End of model: ");
+ Serial.println( model_address + sizeof(model_t) );
+
+ Serial.println();
+
+ Serial.print("Channel reversions: ");
+ for ( i = 0; i<8; i++)
+ {
+ Serial.print(i);
+ Serial.print("=");
+ Serial.print(model.rev[i], 10);
+ Serial.print(" ");
+ }
+ Serial.println();
+
+ Serial.print("DR1 inp 0: ");
+ Serial.println(model.dr[0]);
+ Serial.print("DR1 inp 1: ");
+ Serial.println(model.dr[1]);
+ Serial.print("DR1 LO val: ");
+ Serial.println(model.dr[4]);
+ Serial.print("DR1 HI val: ");
+ Serial.println(model.dr[5]);
+ Serial.print("DR2 inp 0: ");
+ Serial.println(model.dr[2]);
+ Serial.print("DR2 inp 1: ");
+ Serial.println(model.dr[3]);
+ Serial.print("DR2 LO val: ");
+ Serial.println(model.dr[6]);
+ Serial.print("DR2 HI val: ");
+ Serial.println(model.dr[7]);
+
+ for (i=0; i<MAX_INPUTS; i++) {
+ Serial.print("Input #");
+ Serial.print(i);
+ Serial.print(" pct: ");
+ Serial.print(model.stick[i]);
+ Serial.print(" min: ");
+ Serial.print(input_cal.min[i]);
+ Serial.print(" max: ");
+ Serial.print(input_cal.max[i]);
+ Serial.println();
+ }
}
void scan_keys ( void )
void process_inputs(void )
{
- int current_input, r0, r1, r2, adc_in;
- for (current_input=0; current_input<=7; current_input++) {
+ int current_input, adc_in, fact;
+ float min, max;
+
+ for (current_input=0; current_input<MAX_INPUTS; current_input++) {
mplx_select(current_input);
adc_in = analogRead(0);
+ model.raw[current_input] = adc_in;
+ // New format on stick values
+ if ( adc_in < input_cal.center[current_input] )
+ {
+ max = input_cal.min[current_input];
+ min = input_cal.center[current_input];
+ fact = -100;
+ }
+ else
+ {
+ min = input_cal.center[current_input];
+ max = input_cal.max[current_input];
+ fact = 100;
+ }
+ model.stick[current_input] = fact * ((float)adc_in - min ) / (max - min);
+ if ( model.rev[current_input] ) model.stick[current_input] *= -1;
+
+ // Old format on stick values...
+ /*
model.stick[current_input] = ((float)adc_in - (float)input_cal.min[current_input]) / (float)(input_cal.max[current_input]-input_cal.min[current_input]);
if ( model.rev[current_input] ) model.stick[current_input] = 1.0f - model.stick[current_input];
+ */
+
+ // Dual-rate calculation :D
+ // This is very repetitive code. It should be fast, but it may waste code-space.
+ float dr_val;
+ // Test to see if dualrate-switch #1 applies to channel...
+ if ( ( current_input == ( model.dr[0]-1) ) || ( current_input == ( model.dr[1]-1) ) )
+ {
+ if ( !keys[KEY_DR1] )
+ dr_val = ((float)model.dr[4])/100.0;
+ else
+ dr_val = ((float)model.dr[5])/100.0;
+
+ model.stick[current_input] *= dr_val;
+ }
+ else
+ // Test to see if dualrate-switch #1 applies to channel...
+ if ( ( current_input == ( model.dr[2]-1) ) || ( current_input == ( model.dr[3]-1) ) )
+ {
+ if ( !keys[KEY_DR1] )
+ dr_val = ((float)model.dr[6])/100.0;
+ else
+ dr_val = ((float)model.dr[7])/100.0;
+
+ model.stick[current_input] *= dr_val;
+ }
}
}
if ( do_channel )
{
set_ppm_output( HIGH );
- long next_timer = (( chwidht * model.stick[cchannel] ) + chmin);
+
+ // New format on stick values
+ // model.stick contains percentages, -100% to 100% in float. To make the timer-handling
+ // here as simple as possible. We want to calc the channel value as a "ratio-value",
+ // a float in the range 0..1.0. So, by moving the lower bound to 0, then cutting the
+ // range in half, and finally dividing by 100, we should get the ratio value.
+ // Some loss of presicion occurs, perhaps the algo' should be reconsidered :P
+ long next_timer = (( chwidht * ((model.stick[cchannel]+100)/200) ) + chmin);
// Do sanity-check of next_timer compared to chmax ...
while ( chmax < next_timer ) next_timer--;
+ while ( next_timer < chmin ) next_timer++;
sum += next_timer;
// Done with channel separator and value,
{
int current_input;
for (current_input=0; current_input<=7; current_input++) {
- int v = (int)(model.stick[current_input] * 100);
Serial.print("Input #");
Serial.print(current_input);
- Serial.print(" value: ");
- Serial.print(model.stick[current_input]);
Serial.print(" pct: ");
- Serial.print(v);
+ Serial.print(model.stick[current_input]);
+ Serial.print(" raw value: ");
+ Serial.print(model.raw[current_input]);
Serial.print(" min: ");
Serial.print(input_cal.min[current_input]);
Serial.print(" max: ");
lcd.print( model.dr[pos] );
- if ( keys[KEY_INC] ) {
+ if ( !keys[KEY_INC] ) {
if ( model.dr[pos] < 100) model.dr[pos] += 5;
return;
}
- else if ( keys[KEY_DEC] ) {
+ else if ( !keys[KEY_DEC] ) {
if ( model.dr[pos] > -100) model.dr[pos] -= 5;
return;
}
return;
}
else if ( check_key(KEY_UP) && displaystate == TIMER ) {
+ displaystate = CURMODEL;
+ return;
+ }
+ else if ( check_key(KEY_UP) && displaystate == CURMODEL ) {
displaystate = VALUES;
return;
}
lcd.print(" ");
lcd.setCursor(col, row);
// Display uses percents, while PPM uses ratio....
- int v = (int)(model.stick[current_input] * 100);
- lcd.print(v);
+ // New format on stick values
+ lcd.print( (int)model.stick[current_input] );
}
break;
}
break;
+
+
+ case CURMODEL:
+ lcd.clear();
+ lcd.print("Model #: ");
+ lcd.print( (int)current_model );
+ lcd.setCursor(0 , 1);
+ lcd.print("NAME (not impl)");
+ break;
+
+
+
case MENU:
lcd.clear();
switch ( menu_mainstate )
-\r
+
git.defcon.no / rctxduino / blobdiff