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118 lines
4.0 KiB
118 lines
4.0 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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static void init_sonar(void) |
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{ |
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 |
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sonar.Init(&adc); |
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sonar2.Init(&adc); |
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#else |
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sonar.Init(NULL); |
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sonar2.Init(NULL); |
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#endif |
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} |
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/* |
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read and update the battery |
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*/ |
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static void read_battery(void) |
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{ |
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if(g.battery_monitoring == 0) { |
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battery_voltage1 = 0; |
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return; |
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} |
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if(g.battery_monitoring == 3 || g.battery_monitoring == 4) { |
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// this copes with changing the pin at runtime |
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batt_volt_pin->set_pin(g.battery_volt_pin); |
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battery_voltage1 = BATTERY_VOLTAGE(batt_volt_pin); |
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} |
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if (g.battery_monitoring == 4) { |
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static uint32_t last_time_ms; |
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uint32_t tnow = hal.scheduler->millis(); |
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float dt = tnow - last_time_ms; |
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if (last_time_ms != 0 && dt < 2000) { |
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// this copes with changing the pin at runtime |
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batt_curr_pin->set_pin(g.battery_curr_pin); |
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current_amps1 = CURRENT_AMPS(batt_curr_pin); |
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// .0002778 is 1/3600 (conversion to hours) |
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current_total1 += current_amps1 * dt * 0.0002778f; |
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} |
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last_time_ms = tnow; |
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} |
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} |
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// read the receiver RSSI as an 8 bit number for MAVLink |
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// RC_CHANNELS_SCALED message |
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void read_receiver_rssi(void) |
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{ |
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rssi_analog_source->set_pin(g.rssi_pin); |
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float ret = rssi_analog_source->voltage_average() * 50; |
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receiver_rssi = constrain_int16(ret, 0, 255); |
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} |
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// read the sonars |
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static void read_sonars(void) |
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{ |
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if (!sonar.enabled()) { |
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// this makes it possible to disable sonar at runtime |
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return; |
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} |
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if (sonar2.enabled()) { |
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// we have two sonars |
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obstacle.sonar1_distance_cm = sonar.distance_cm(); |
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obstacle.sonar2_distance_cm = sonar2.distance_cm(); |
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if (obstacle.sonar1_distance_cm <= (uint16_t)g.sonar_trigger_cm && |
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obstacle.sonar2_distance_cm <= (uint16_t)obstacle.sonar2_distance_cm) { |
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// we have an object on the left |
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if (obstacle.detected_count < 127) { |
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obstacle.detected_count++; |
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} |
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if (obstacle.detected_count == g.sonar_debounce) { |
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gcs_send_text_fmt(PSTR("Sonar1 obstacle %u cm"), |
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(unsigned)obstacle.sonar1_distance_cm); |
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} |
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obstacle.detected_time_ms = hal.scheduler->millis(); |
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obstacle.turn_angle = g.sonar_turn_angle; |
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} else if (obstacle.sonar2_distance_cm <= (uint16_t)g.sonar_trigger_cm) { |
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// we have an object on the right |
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if (obstacle.detected_count < 127) { |
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obstacle.detected_count++; |
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} |
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if (obstacle.detected_count == g.sonar_debounce) { |
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gcs_send_text_fmt(PSTR("Sonar2 obstacle %u cm"), |
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(unsigned)obstacle.sonar2_distance_cm); |
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} |
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obstacle.detected_time_ms = hal.scheduler->millis(); |
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obstacle.turn_angle = -g.sonar_turn_angle; |
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} |
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} else { |
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// we have a single sonar |
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obstacle.sonar1_distance_cm = sonar.distance_cm(); |
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obstacle.sonar2_distance_cm = 0; |
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if (obstacle.sonar1_distance_cm <= (uint16_t)g.sonar_trigger_cm) { |
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// obstacle detected in front |
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if (obstacle.detected_count < 127) { |
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obstacle.detected_count++; |
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} |
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if (obstacle.detected_count == g.sonar_debounce) { |
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gcs_send_text_fmt(PSTR("Sonar obstacle %u cm"), |
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(unsigned)obstacle.sonar1_distance_cm); |
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} |
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obstacle.detected_time_ms = hal.scheduler->millis(); |
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obstacle.turn_angle = g.sonar_turn_angle; |
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} |
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} |
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Log_Write_Sonar(); |
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// no object detected - reset after the turn time |
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if (obstacle.detected_count >= g.sonar_debounce && |
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hal.scheduler->millis() > obstacle.detected_time_ms + g.sonar_turn_time*1000) { |
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gcs_send_text_fmt(PSTR("Obstacle passed")); |
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obstacle.detected_count = 0; |
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obstacle.turn_angle = 0; |
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} |
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}
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