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本帖最后由 t20109020 于 2018-8-9 02:18 编辑
相信已经没有人玩mwc了，但是我对她依然情有独钟。
未定稿，待更新
电压检测部分（25V量程）
Ra=30kΩ，Rb=7.5kΩ
信号由默认的A3引脚输入
config.h文件
#define VBAT //取消注释
#define VBATSCALE 131 //缩放系数，不同阻值的分压电路对应不同的值，在这里修改不起作用！！！应当在MultiWiiConf配置程序中修改。30kΩ+7.5kΩ分压电路对应的值为64，1s电池测试准确无误。
功率计部分（30A量程）
信号由默认的A2引脚输入。config.h文件
#define POWERMETER_HARD //取消注释，开启功率计
功率计用到下面两个参数
#define PSENSORNULL 510 //1/2 Vss
#define PINT2mA 132 //电流转换系数 30量程电流计对应5/1024/0.066*1000≈74
但是MultiWiiConf配置程序中没有找到设置的地方，于是直接在MultiWii.cpp中写死。如果有人知道在哪里修改，希望能留言告知，非常感谢。
powerValue = ( 510 > p ? 510 - p : p - 510);
analog.amperage = ((uint32_t)powerValue * 74) / 100;
pMeter[PMOTOR_SUM] += ((currentTime-lastRead) * (uint32_t)((uint32_t)powerValue*74))/100000;
SI4463部分
def.h文件修改内容
由于需要把2,4,5,6,7引脚解放出来，需要注释掉默认接收机，换行添加SI4463定义
//#define STANDARD_RX #define SI4463_RX
这里飞控计划只用作飞翼使用，将硬件spi接口d10,d11,d12,d13解放出来，需要把舵机修改成1to2，d13默认指示灯引脚改成d4。
飞翼的舵机定义
#define PRI_SERVO_FROM 1 //起始舵机默认是4
#define NUMBER_MOTOR 1 //电机数默认1
#define PRI_SERVO_TO 2 //结束舵机默认是5
改指示灯接口
#define LEDPIN_PINMODE pinMode (4, OUTPUT);
#define LEDPIN_TOGGLE PIND |= 1<<4; //默认(digital PIN 13)
#define LEDPIN_OFF PORTD &= ~(1<<4);
#define LEDPIN_ON PORTD |= (1<<4);
RX.h文件添加内容
文件结尾添加如下代码
#if defined(SI4463_RX)
#include <Si446x.h>
#define CHANNEL 20
#define MAX_PACKET_SIZE 16
#define PACKET_NONE 0
#define PACKET_OK 1
#define PACKET_INVALID 2
#define MAX_CHANNELS 7
typedef struct{
uint8_t ready;
int16_t rssi;
uint8_t length;
union {
struct {
byte checksum;
byte notused;
union {
short value;
struct {
byte msb;
byte lsb;
};
} channels[MAX_CHANNELS];
};
uint8_t buffer[MAX_PACKET_SIZE];
};
} pingInfo_t;
static volatile pingInfo_t pingInfo;
void Init_SI4463();
void Cycle_SI4463_RC();
void SI446X_CB_RXCOMPLETE(uint8_t length, int16_t rssi);
void SI446X_CB_RXINVALID(int16_t rssi);
#endif
RX.cpp文件修改内容
configureReceiver()函数内添加
#if defined(SI4463_RX)
Init_SI4463();
#endif
computeRC()函数修改，作用是不执行mwc自身支持的接收机的运算
#if !defined(OPENLRSv2MULTI) 修改为 #if !defined(OPENLRSv2MULTI) && !defined(SI4463_RX)
文件结尾添加代码
#if defined(SI4463_RX)
void Init_SI4463() {
Si446x_init();
Si446x_setTxPower(SI446X_MAX_TX_POWER);
Si446x_RX(CHANNEL);
}
void Cycle_SI4463_RC() {
static uint32_t pings;
static uint32_t invalids;
if(pingInfo.ready == PACKET_NONE) return;
if(pingInfo.ready != PACKET_OK)
{
invalids++;
pingInfo.ready = PACKET_NONE;
rcData[PITCH] = map(pingInfo.channels[0].value,0,1023,1000,2000);
rcData[ROLL] = map(pingInfo.channels[1].value,0,1023,1000,2000);
rcData[THROTTLE] = map(pingInfo.channels[2].value,0,1023,1000,2000);
rcData[YAW] = map(pingInfo.channels[3].value,0,1023,1000,2000);
rcData[AUX1] = map(pingInfo.channels[4].value,0,1023,1000,2000);
rcData[AUX2] = map(pingInfo.channels[5].value,0,1023,1000,2000);
rcData[AUX3] = map(pingInfo.channels[6].value,0,1023,1000,2000);
rcData[AUX4] = 1500;
Si446x_RX(CHANNEL);
}
else
{
pings++;
pingInfo.ready = PACKET_NONE;
// Send back the data, once the transmission has completed go into receive mode
Si446x_TX((uint8_t*)pingInfo.buffer, pingInfo.length, CHANNEL, SI446X_STATE_RX);
rcData[PITCH] = map(pingInfo.channels[0].value,0,1023,1000,2000);
rcData[ROLL] = map(pingInfo.channels[1].value,0,1023,1000,2000);
rcData[THROTTLE] = map(pingInfo.channels[2].value,0,1023,1000,2000);
rcData[YAW] = map(pingInfo.channels[3].value,0,1023,1000,2000);
rcData[AUX1] = map(pingInfo.channels[4].value,0,1023,1000,2000);
rcData[AUX2] = map(pingInfo.channels[5].value,0,1023,1000,2000);
rcData[AUX3] = map(pingInfo.channels[6].value,0,1023,1000,2000);
rcData[AUX4] = 1500;
}
}
void SI446X_CB_RXCOMPLETE(uint8_t length, int16_t rssi)
{
if(length > MAX_PACKET_SIZE)
length = MAX_PACKET_SIZE;
pingInfo.ready = PACKET_OK;
pingInfo.rssi = rssi;
pingInfo.length = length;
Si446x_read((uint8_t*)pingInfo.buffer, length);
// Radio will now be in idle mode
}
void SI446X_CB_RXINVALID(int16_t rssi)
{
pingInfo.ready = PACKET_INVALID;
pingInfo.rssi = rssi;
}
#endif
MultiWii.cpp文件修改
在
#if defined(OPENLRSv2MULTI)
Read_OpenLRS_RC();
#endif
下面添加
#if defined(SI4463_RX)
Cycle_SI4463_RC();
#endif
GY91部分
config.h文件添加BMP280定义
/* I2C barometer */
//#define BMP085
#define BMP280
//#define MS561101BA
def.h修改代码
把
#if defined(BMP085) || defined(MS561101BA)
#define BARO 1
#else
#define BARO 0
#endif
修改成
#if defined(BMP280) || defined(BMP085) || defined(MS561101BA)
#define BARO 1
#else
#define BARO 0
#endif
Sensors.cpp添加代码
// ************************************************************************************************************
// I2C Barometer BOSCH BMP280
// ************************************************************************************************************
// I2C adress: 0x76 (7bit)
// CHIPID 0x58
// ************************************************************************************************************
#if defined(BMP280)
#define BMP280_ADDRESS 0x76
static struct {
// sensor registers from the BOSCH BM280 datasheet
uint16_t dig_T1;
int16_t dig_T2,dig_T3;
uint16_t dig_P1;
int16_t dig_P2,dig_P3,dig_P4,dig_P5,dig_P6,dig_P7,dig_P8,dig_P9;
union {uint32_t val; uint8_t raw[3]; } ut; //uncompensated T
union {uint32_t val; uint8_t raw[3]; } up; //uncompensated P
uint8_t state;
uint32_t deadline;
} bmp280_ctx;
/* transform a series of bytes from big endian to little
endian and vice versa. */
void swap_endianness(void *buf, size_t size) {
/* we swap in-place, so we only have to
* place _one_ element on a temporary tray
*/
uint8_t tray;
uint8_t *from;
uint8_t *to;
/* keep swapping until the pointers have assed each other */
for (from = (uint8_t*)buf, to = &from[size-1]; from < to; from++, to--) {
tray = *from;
*from = *to;
*to = tray;
}
}
void i2c_BMP280_readCalibration(){
delay(10);
//read calibration data in one go
size_t s_bytes = (uint8_t*)&bmp280_ctx.dig_P9 - (uint8_t*)&bmp280_ctx.dig_T1 + sizeof(bmp280_ctx.dig_T1);
i2c_read_reg_to_buf(BMP280_ADDRESS, 0x88, (uint8_t*)&bmp280_ctx.dig_T1, s_bytes);
// now fix endianness
//int16_t *p;
//for (p = (int16_t*)&bmp280_ctx.dig_T1; p <= &bmp280_ctx.dig_P9; p++) {
// swap_endianness(p, sizeof(*p));
//}
}
// read uncompensated pressure value: read result bytes
// the datasheet suggests a delay of 25.5 ms (oversampling settings 3) after the send command
void i2c_BMP280_UP_Read () {
i2c_read_reg_to_buf(BMP280_ADDRESS, 0xF7, (uint8_t*)&bmp280_ctx.up.val, 3);
swap_endianness(&bmp280_ctx.up.val, 3);
bmp280_ctx.up.val >>= 4;
}
// read uncompensated temperature value: read result bytes
// the datasheet suggests a delay of 4.5 ms after the send command
void i2c_BMP280_UT_Read() {
i2c_read_reg_to_buf(BMP280_ADDRESS, 0xFA, (uint8_t*)&bmp280_ctx.ut.val, 3);
swap_endianness(&bmp280_ctx.ut.val, 3);
bmp280_ctx.ut.val >>= 4;
}
void i2c_BMP280_Calculate() {
int32_t var11,var22,t;
int64_t var1, var2, p;
//bmp280_ctx.ut.val >>= 4;
var11 = ((((bmp280_ctx.ut.val>>3) - ((int32_t)bmp280_ctx.dig_T1 <<1))) *
((int32_t)bmp280_ctx.dig_T2)) >> 11;
var22 = (((((bmp280_ctx.ut.val>>4) - ((int32_t)bmp280_ctx.dig_T1)) *
((bmp280_ctx.ut.val>>4) - ((int32_t)bmp280_ctx.dig_T1))) >> 12) *
((int32_t)bmp280_ctx.dig_T3)) >> 14;
t = var11 + var22;
baroTemperature = (t * 5 + 128) >> 8;
//baroTemperature /= 100;
//baroTemperature = (b5 * 10 + 8) >> 4; // in 0.01 degC (same as MS561101BA temperature)
//bmp280_ctx.up.val >>= 4;
var1 = ((int64_t)t) - 128000;
var2 = var1 * var1 * (int64_t)bmp280_ctx.dig_P6;
var2 = var2 + ((var1*(int64_t)bmp280_ctx.dig_P5)<<17);
var2 = var2 + (((int64_t)bmp280_ctx.dig_P4)<<35);
var1 = ((var1 * var1 * (int64_t)bmp280_ctx.dig_P3)>>8) +
((var1 * (int64_t)bmp280_ctx.dig_P2)<<12);
var1 = (((((int64_t)1)<<47)+var1))*((int64_t)bmp280_ctx.dig_P1)>>33;
if (var1 == 0) {
return; // avoid exception caused by division by zero
}
p = 1048576 - bmp280_ctx.up.val;
p = (((p<<31) - var2)*3125) / var1;
var1 = (((int64_t)bmp280_ctx.dig_P9) * (p>>13) * (p>>13)) >> 25;
var2 = (((int64_t)bmp280_ctx.dig_P8) * p) >> 19;
p = ((p + var1 + var2) >> 8) + (((int64_t)bmp280_ctx.dig_P7)<<4);
baroPressure = p;
//baroPressure = (int)p/256;
//baroPressure /= 100;
}
void Baro_init() {
delay(10);
i2c_BMP280_readCalibration();
delay(5);
i2c_writeReg(BMP280_ADDRESS,0xF4, 0x3F);
bmp280_ctx.deadline = currentTime+5000;
}
//return 0: no data available, no computation ; 1: new value available ; 2: no new value, but computation time
uint8_t Baro_update() { // first UT conversion is started in init procedure
if (currentTime < bmp280_ctx.deadline) return 0;
bmp280_ctx.deadline = currentTime+6000; // 1.5ms margin according to the spec (4.5ms T convetion time)
if (bmp280_ctx.state == 0) {
i2c_BMP280_UT_Read();
bmp280_ctx.state = 1;
Baro_Common();
bmp280_ctx.deadline += 21000; // 6000+21000=27000 1.5ms margin according to the spec (25.5ms P convetion time with OSS=3)
return 1;
} else {
i2c_BMP280_UP_Read();
i2c_BMP280_Calculate();
bmp280_ctx.state = 0;
return 2;
}
}
#endif
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发表于 2018-7-28 00:52
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