Prof Greg Egan / Mbed 2 deprecated UAVXArm-GKE

UAVX Multicopter Flight Controller.

Dependencies:   mbed

stats.c@2:90292f8bd179, 2011-04-26 (annotated)

Committer:
gke
Date:
Tue Apr 26 12:12:29 2011 +0000
Revision:
2:90292f8bd179
Parent:
0:62a1c91a859a 
Not flightworthy. Posted for others to make use of the I2C SW code.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gke 0:62a1c91a859a 1 // ===============================================================================================
gke 0:62a1c91a859a 2 // = UAVXArm Quadrocopter Controller =
gke 0:62a1c91a859a 3 // = Copyright (c) 2008 by Prof. Greg Egan =
gke 0:62a1c91a859a 4 // = Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer =
gke 2:90292f8bd179 5 // = http://code.google.com/p/uavp-mods/ =
gke 0:62a1c91a859a 6 // ===============================================================================================
gke 0:62a1c91a859a 7
gke 0:62a1c91a859a 8 // This is part of UAVXArm.
gke 0:62a1c91a859a 9
gke 0:62a1c91a859a 10 // UAVXArm is free software: you can redistribute it and/or modify it under the terms of the GNU
gke 0:62a1c91a859a 11 // General Public License as published by the Free Software Foundation, either version 3 of the
gke 0:62a1c91a859a 12 // License, or (at your option) any later version.
gke 0:62a1c91a859a 13
gke 0:62a1c91a859a 14 // UAVXArm is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without
gke 0:62a1c91a859a 15 // even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
gke 0:62a1c91a859a 16 // See the GNU General Public License for more details.
gke 0:62a1c91a859a 17
gke 0:62a1c91a859a 18 // You should have received a copy of the GNU General Public License along with this program.
gke 0:62a1c91a859a 19 // If not, see http://www.gnu.org/licenses/
gke 0:62a1c91a859a 20
gke 0:62a1c91a859a 21 #include "UAVXArm.h"
gke 0:62a1c91a859a 22
gke 0:62a1c91a859a 23 void ZeroStats(void);
gke 0:62a1c91a859a 24 void ReadStatsPX(void);
gke 0:62a1c91a859a 25 void WriteStatsPX(void);
gke 0:62a1c91a859a 26 void ShowStats(void);
gke 0:62a1c91a859a 27
gke 0:62a1c91a859a 28 int16 Stats[MAX_STATS];
gke 0:62a1c91a859a 29
gke 0:62a1c91a859a 30 #define INIT_MIN 1000L
gke 0:62a1c91a859a 31
gke 0:62a1c91a859a 32 void ZeroStats(void)
gke 0:62a1c91a859a 33 {
gke 0:62a1c91a859a 34 int8 s;
gke 0:62a1c91a859a 35
gke 0:62a1c91a859a 36 for (s = 0 ; s < MAX_STATS ; s++ )
gke 0:62a1c91a859a 37 Stats[s] = 0;
gke 0:62a1c91a859a 38
gke 0:62a1c91a859a 39 Stats[MinHDiluteS] = INIT_MIN;
gke 0:62a1c91a859a 40 Stats[MaxHDiluteS] = 0;
gke 0:62a1c91a859a 41 Stats[MinROCS] = INIT_MIN;
gke 0:62a1c91a859a 42 Stats[MaxROCS] = 0;
gke 0:62a1c91a859a 43 Stats[GPSMinSatsS] = INIT_MIN;
gke 0:62a1c91a859a 44 Stats[GPSMaxSatsS] = 0;
gke 0:62a1c91a859a 45 Stats[MinTempS] = INIT_MIN;
gke 0:62a1c91a859a 46 Stats[MaxTempS] = 0;
gke 0:62a1c91a859a 47
gke 0:62a1c91a859a 48 } // ZeroStats
gke 0:62a1c91a859a 49
gke 0:62a1c91a859a 50 void ReadStatsPX(void)
gke 0:62a1c91a859a 51 {
gke 0:62a1c91a859a 52 int8 s;
gke 0:62a1c91a859a 53
gke 0:62a1c91a859a 54 for (s = 0 ; s < MAX_STATS ; s++ )
gke 0:62a1c91a859a 55 Stats[s] = Read16PX(STATS_ADDR_PX + s*2);
gke 0:62a1c91a859a 56 } // InitStats
gke 0:62a1c91a859a 57
gke 0:62a1c91a859a 58 void WriteStatsPX()
gke 0:62a1c91a859a 59 {
gke 0:62a1c91a859a 60 int8 s, i;
gke 0:62a1c91a859a 61 int16 Temp;
gke 0:62a1c91a859a 62
gke 0:62a1c91a859a 63 if ( P[ESCType] != ESCPPM )
gke 0:62a1c91a859a 64 for ( i = 0; i < NoOfI2CESCOutputs; i++ )
gke 0:62a1c91a859a 65 Stats[ESCI2CFailS] += ESCI2CFail[i];
gke 0:62a1c91a859a 66
gke 0:62a1c91a859a 67 for (s = 0 ; s < MAX_STATS ; s++ )
gke 0:62a1c91a859a 68 Write16PX(STATS_ADDR_PX + s*2, Stats[s]);
gke 0:62a1c91a859a 69
gke 0:62a1c91a859a 70 Temp = ToPercent(CruiseThrottle, OUT_MAXIMUM);
gke 0:62a1c91a859a 71 WritePX(PercentCruiseThr, Temp);
gke 0:62a1c91a859a 72
gke 0:62a1c91a859a 73 } // WriteStatsPX
gke 0:62a1c91a859a 74
gke 0:62a1c91a859a 75 void ShowStats(void)
gke 0:62a1c91a859a 76 {
gke 0:62a1c91a859a 77 TxString("\r\nFlight Statistics\r\n");
gke 0:62a1c91a859a 78
gke 0:62a1c91a859a 79 if ( Stats[BadS] != 0 )
gke 0:62a1c91a859a 80 {
gke 0:62a1c91a859a 81 TxString("Misc(gke): \t");TxVal32((int32)Stats[BadS],0,' '); TxVal32((int32)Stats[BadNumS],0,' ');TxNextLine();
gke 0:62a1c91a859a 82 }
gke 0:62a1c91a859a 83
gke 0:62a1c91a859a 84 TxString("\r\nSensor/Rx Failures (Count)\r\n");
gke 0:62a1c91a859a 85 TxString("I2CBus: \t");TxVal32((int32)Stats[I2CFailS],0,0); TxNextLine();
gke 0:62a1c91a859a 86 TxString("GPS: \t");TxVal32((int32)Stats[GPSInvalidS],0,0); TxNextLine();
gke 0:62a1c91a859a 87 TxString("Acc: \t");TxVal32((int32)Stats[AccFailS], 0, 0); TxNextLine();
gke 0:62a1c91a859a 88 TxString("Gyro: \t");TxVal32((int32)Stats[GyroFailS], 0, 0); TxNextLine();
gke 0:62a1c91a859a 89 TxString("Comp: \t");TxVal32((int32)Stats[CompassFailS], 0, 0); TxNextLine();
gke 0:62a1c91a859a 90 TxString("Baro: \t");TxVal32((int32)Stats[BaroFailS],0 , 0); TxNextLine();
gke 0:62a1c91a859a 91 if ( P[ESCType] != ESCPPM )
gke 0:62a1c91a859a 92 {
gke 0:62a1c91a859a 93 TxString("I2CESC: \t");TxVal32((int32)Stats[ESCI2CFailS],0 , 0); TxNextLine();
gke 0:62a1c91a859a 94 }
gke 0:62a1c91a859a 95 TxString("Rx: \t");TxVal32((int32)Stats[RCGlitchesS],0,' '); TxNextLine();
gke 0:62a1c91a859a 96 TxString("Failsafes:\t");TxVal32((int32)Stats[RCFailsafesS],0,' '); TxNextLine();
gke 0:62a1c91a859a 97
gke 0:62a1c91a859a 98 TxString("\r\nBaro\r\n"); // can only display to 3276M
gke 0:62a1c91a859a 99 TxString("Alt: \t");TxVal32((int32)Stats[BaroRelAltitudeS], 1, ' '); TxString("M \r\n");
gke 0:62a1c91a859a 100 if ( Stats[MinROCS] < INIT_MIN )
gke 0:62a1c91a859a 101 {
gke 0:62a1c91a859a 102 TxString("ROC: \t");TxVal32((int32)Stats[MinROCS], 1, ' ');
gke 0:62a1c91a859a 103 TxVal32((int32)Stats[MaxROCS], 1, ' '); TxString("M/S\r\n");
gke 0:62a1c91a859a 104 }
gke 0:62a1c91a859a 105
gke 0:62a1c91a859a 106 if ( Stats[MinTempS] < INIT_MIN )
gke 0:62a1c91a859a 107 {
gke 0:62a1c91a859a 108 TxString("Ambient: \t");TxVal32((int32)Stats[MinTempS], 1, ' ');
gke 0:62a1c91a859a 109 TxVal32((int32)Stats[MaxTempS], 1, ' '); TxString("C\r\n");
gke 0:62a1c91a859a 110 }
gke 0:62a1c91a859a 111
gke 0:62a1c91a859a 112 TxString("\r\nGPS\r\n");
gke 0:62a1c91a859a 113 TxString("Alt: \t");TxVal32((int32)Stats[GPSAltitudeS], 1, ' '); TxString("M\r\n");
gke 0:62a1c91a859a 114 #ifdef GPS_INC_GROUNDSPPXD
gke 0:62a1c91a859a 115 TxString("Vel: \t");TxVal32(ConvertGPSToM((int32)Stats[GPSVelS]), 1, ' '); TxString("M/S\r\n");
gke 0:62a1c91a859a 116 #endif // GPS_INC_GROUNDSPPXD
gke 0:62a1c91a859a 117
gke 0:62a1c91a859a 118 if ( Stats[GPSMinSatsS] < INIT_MIN )
gke 0:62a1c91a859a 119 {
gke 0:62a1c91a859a 120 TxString("Sats: \t");TxVal32((int32)Stats[GPSMinSatsS], 0, ' ');
gke 0:62a1c91a859a 121 TxVal32((int32)Stats[GPSMaxSatsS], 0, 0); TxNextLine();
gke 0:62a1c91a859a 122 }
gke 0:62a1c91a859a 123
gke 0:62a1c91a859a 124 if ( Stats[MinHDiluteS] < INIT_MIN )
gke 0:62a1c91a859a 125 {
gke 0:62a1c91a859a 126 TxString("HDilute: \t");TxVal32((int32)Stats[MinHDiluteS], 2, ' ');
gke 0:62a1c91a859a 127 TxVal32((int32)Stats[MaxHDiluteS], 2, 0); TxNextLine();
gke 0:62a1c91a859a 128 }
gke 0:62a1c91a859a 129
gke 0:62a1c91a859a 130 if ( Stats[NavValidS] )
gke 0:62a1c91a859a 131 TxString("Navigation ENABLED\r\n");
gke 0:62a1c91a859a 132 else
gke 0:62a1c91a859a 133 TxString("Navigation DISABLED (No fix at launch)\r\n");
gke 0:62a1c91a859a 134
gke 0:62a1c91a859a 135 } // ShowStats
gke 0:62a1c91a859a 136
gke 0:62a1c91a859a 137