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improvement for averaged channels

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This commit is contained in:
Pascal Brisset
2006-07-11 22:02:09 +00:00
parent 430f40a87b
commit 2551ba1218
3 changed files with 18 additions and 15 deletions
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sw/airborne/radio_control.c
+1 -1
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@@ -26,7 +26,7 @@
pprz_t rc_values[PPM_NB_PULSES]; pprz_t rc_values[PPM_NB_PULSES];
uint8_t rc_status; uint8_t rc_status;
pprz_t avg_rc_values[PPM_NB_PULSES]; int32_t avg_rc_values[PPM_NB_PULSES];
uint8_t rc_values_contains_avg_channels = FALSE; uint8_t rc_values_contains_avg_channels = FALSE;
uint8_t time_since_last_ppm; uint8_t time_since_last_ppm;
uint8_t ppm_cpt, last_ppm_cpt; uint8_t ppm_cpt, last_ppm_cpt;
sw/airborne/radio_control.h
+1 -1
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@@ -44,7 +44,7 @@
extern pprz_t rc_values[PPM_NB_PULSES]; extern pprz_t rc_values[PPM_NB_PULSES];
extern uint8_t rc_status; extern uint8_t rc_status;
extern pprz_t avg_rc_values[PPM_NB_PULSES]; extern int32_t avg_rc_values[PPM_NB_PULSES];
extern uint8_t rc_values_contains_avg_channels; extern uint8_t rc_values_contains_avg_channels;
extern uint8_t time_since_last_ppm; extern uint8_t time_since_last_ppm;
extern uint8_t ppm_cpt, last_ppm_cpt; extern uint8_t ppm_cpt, last_ppm_cpt;
sw/tools/gen_radio.ml
+16 -13
View File
@@ -68,36 +68,39 @@ let parse_channel =
} }
let norm1_ppm = fun c ->
if c.neutral = c.min then
sprintf "tmp_radio * (MAX_PPRZ / (float)(SIGNED_SYS_TICS_OF_USEC(%d-%d)))" c.max c.min, "0"
else
sprintf "tmp_radio * (tmp_radio >=0 ? (MAX_PPRZ/(float)(SIGNED_SYS_TICS_OF_USEC(%d-%d))) : (MIN_PPRZ/(float)(SIGNED_SYS_TICS_OF_USEC(%d-%d))))" c.max c.neutral c.min c.neutral, "MIN_PPRZ"
let gen_normalize_ppm = fun channels -> let gen_normalize_ppm = fun channels ->
printf "#define NormalizePpm() {\\\n"; printf "#define NormalizePpm() {\\\n";
printf " static uint8_t avg_cpt = 0; /* Counter for averaging */\\\n"; printf " static uint8_t avg_cpt = 0; /* Counter for averaging */\\\n";
printf " int16_t tmp_radio;\\\n"; printf " int16_t tmp_radio;\\\n";
List.iter List.iter
(fun c -> (fun c ->
printf " tmp_radio = ppm_pulses[RADIO_%s] - SYS_TICS_OF_USEC(%d);\\\n" c.name c.neutral; let value, min_pprz = norm1_ppm c in
let period = if c.averaged then "RC_AVG_PERIOD" else "1" in
let value, min_pprz =
if c.neutral = c.min then
sprintf "tmp_radio * (MAX_PPRZ / %s / (float)(SIGNED_SYS_TICS_OF_USEC(%d-%d)))" period c.max c.min, "0"
else
sprintf "tmp_radio * (tmp_radio >=0 ? (MAX_PPRZ/%s/(float)(SIGNED_SYS_TICS_OF_USEC(%d-%d))) : (MIN_PPRZ/%s/(float)(SIGNED_SYS_TICS_OF_USEC(%d-%d))))" period c.max c.neutral period c.min c.neutral, "MIN_PPRZ" in
if c.averaged then begin if c.averaged then begin
printf " avg_rc_values[RADIO_%s] += %s;\\\n" c.name value printf " avg_rc_values[RADIO_%s] += ppm_pulses[RADIO_%s];\\\n" c.name c.name
end else begin end else begin
printf " tmp_radio = ppm_pulses[RADIO_%s] - SYS_TICS_OF_USEC(%d);\\\n" c.name c.neutral;
printf " rc_values[RADIO_%s] = %s;\\\n" c.name value; printf " rc_values[RADIO_%s] = %s;\\\n" c.name value;
printf " if (rc_values[RADIO_%s] > MAX_PPRZ) rc_values[RADIO_%s] = MAX_PPRZ;\\\n else if (rc_values[RADIO_%s] < %s) rc_values[RADIO_%s] = %s; \\\n\\\n" c.name c.name c.name min_pprz c.name min_pprz; printf " Bound(rc_values[RADIO_%s], %s, MAX_PPRZ); \\\n\\\n" c.name min_pprz;
end end
) )
channels; channels;
printf "avg_cpt++;\\\n"; printf " avg_cpt++;\\\n";
printf " if (avg_cpt == RC_AVG_PERIOD) {\\\n"; printf " if (avg_cpt == RC_AVG_PERIOD) {\\\n";
printf " avg_cpt = 0;\\\n"; printf " avg_cpt = 0;\\\n";
List.iter List.iter
(fun c -> (fun c ->
if c.averaged then begin if c.averaged then begin
printf " rc_values[RADIO_%s] = avg_rc_values[RADIO_%s];\\\n" c.name c.name; let value, min_pprz = norm1_ppm c in
printf " tmp_radio = avg_rc_values[RADIO_%s] / RC_AVG_PERIOD - SYS_TICS_OF_USEC(%d);\\\n" c.name c.neutral;
printf " rc_values[RADIO_%s] = %s;\\\n" c.name value;
printf " avg_rc_values[RADIO_%s] = 0;\\\n" c.name; printf " avg_rc_values[RADIO_%s] = 0;\\\n" c.name;
printf " if (rc_values[RADIO_%s] > MAX_PPRZ) rc_values[RADIO_%s] = MAX_PPRZ;\\\n else if (rc_values[RADIO_%s] < MIN_PPRZ) rc_values[RADIO_%s] = MIN_PPRZ; \\\n\\\n" c.name c.name c.name c.name; printf " Bound(rc_values[RADIO_%s], %s, MAX_PPRZ); \\\n\\\n" c.name min_pprz;
end end
) )
channels; channels;