void writeMotors(void)
{
uint8_t i;
for (i = 0; i < numberMotor; i++)
pwmEscWrite(i, (uint16_t)motor[i]);
if (eepromConfig.mixerConfiguration == MIXERTYPE_TRI)
pwmEscWrite(7, (uint16_t)motor[7]);
}
void writeMotors(void)
{
uint8_t i;
for (i = 0; i < numberMotor; i++)
pwmEscWrite(i, (uint16_t)motor[i]);
}
void mixerCLI()
{
float tempFloat;
uint8_t index;
uint8_t rows, columns;
uint8_t mixerQuery = 'x';
uint8_t validQuery = false;
cliBusy = true;
cliPortPrint("\nEntering Mixer CLI....\n\n");
while(true)
{
cliPortPrint("Mixer CLI -> ");
while ((cliPortAvailable() == false) && (validQuery == false));
if (validQuery == false)
mixerQuery = cliPortRead();
cliPortPrint("\n");
switch(mixerQuery)
{
///////////////////////////
case 'a': // Mixer Configuration
cliPortPrint("\nMixer Configuration: ");
switch (eepromConfig.mixerConfiguration)
{
case MIXERTYPE_TRI:
cliPortPrint(" MIXERTYPE TRI\n");
break;
case MIXERTYPE_QUADX:
cliPortPrint("MIXERTYPE QUAD X\n");
break;
case MIXERTYPE_HEX6X:
cliPortPrint(" MIXERTYPE HEX X\n");
break;
case MIXERTYPE_FREE:
cliPortPrint(" MIXERTYPE FREE\n");
break;
}
cliPortPrintF("Number of Motors: %1d\n", numberMotor);
cliPortPrintF("ESC PWM Rate: %3ld\n", eepromConfig.escPwmRate);
cliPortPrintF("Servo PWM Rate: %3ld\n", eepromConfig.servoPwmRate);
if (eepromConfig.yawDirection == 1.0f)
cliPortPrintF("Yaw Direction: Normal\n\n");
else if (eepromConfig.yawDirection == -1.0f)
cliPortPrintF("Yaw Direction: Reverse\n\n");
else
cliPortPrintF("Yaw Direction: Undefined\n\n");
if (eepromConfig.mixerConfiguration == MIXERTYPE_TRI)
{
cliPortPrintF("TriCopter Yaw Servo PWM Rate: %3ld\n", eepromConfig.triYawServoPwmRate);
cliPortPrintF("TriCopter Yaw Servo Min PWM: %4ld\n", (uint16_t)eepromConfig.triYawServoMin);
cliPortPrintF("TriCopter Yaw Servo Mid PWM: %4ld\n", (uint16_t)eepromConfig.triYawServoMid);
cliPortPrintF("TriCopter Yaw Servo Max PWM: %4ld\n\n", (uint16_t)eepromConfig.triYawServoMax);
cliPortPrintF("Tricopter Yaw Cmd Time Constant: %5.3f\n\n", eepromConfig.triCopterYawCmd500HzLowPassTau);
}
if (eepromConfig.mixerConfiguration == MIXERTYPE_FREE)
{
cliPortPrintF("\nNumber of Free Mixer Motors: %1d\n Roll Pitch Yaw\n\n", eepromConfig.freeMixMotors);
for ( index = 0; index < eepromConfig.freeMixMotors; index++ )
{
cliPortPrintF("Motor%1d %6.3f %6.3f %6.3f\n", index,
eepromConfig.freeMix[index][ROLL ],
eepromConfig.freeMix[index][PITCH],
eepromConfig.freeMix[index][YAW ]);
}
cliPortPrint("\n");
}
validQuery = false;
break;
///////////////////////////
case 'x':
cliPortPrint("\nExiting Mixer CLI....\n\n");
cliBusy = false;
return;
break;
///////////////////////////
case 'A': // Read Mixer Configuration
eepromConfig.mixerConfiguration = (uint8_t)readFloatCLI();
initMixer();
pwmEscInit();
mixerQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'B': // Read ESC and Servo PWM Update Rates
eepromConfig.escPwmRate = (uint16_t)readFloatCLI();
eepromConfig.servoPwmRate = (uint16_t)readFloatCLI();
pwmEscInit();
pwmServoInit();
mixerQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'D': // Read yaw direction
tempFloat = readFloatCLI();
if (tempFloat >= 0.0)
tempFloat = 1.0;
else
tempFloat = -1.0;
eepromConfig.yawDirection = tempFloat;
mixerQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'E': // Read TriCopter Servo PWM Rate
if (eepromConfig.mixerConfiguration == MIXERTYPE_TRI)
{
eepromConfig.triYawServoPwmRate = (uint16_t)readFloatCLI();
pwmEscInit();
}
else
{
tempFloat = readFloatCLI();
cliPortPrintF("\nTriCopter Mixing not Selected....\n\n");
}
mixerQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'F': // Read TriCopter Servo Min Point
if (eepromConfig.mixerConfiguration == MIXERTYPE_TRI)
{
eepromConfig.triYawServoMin = readFloatCLI();
pwmEscWrite(7, (uint16_t)eepromConfig.triYawServoMin);
}
else
{
tempFloat = readFloatCLI();
cliPortPrintF("\nTriCopter Mixing not Selected....\n\n");
}
mixerQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'G': // Read TriCopter Servo Mid Point
if (eepromConfig.mixerConfiguration == MIXERTYPE_TRI)
{
eepromConfig.triYawServoMid = readFloatCLI();
pwmEscWrite(7, (uint16_t)eepromConfig.triYawServoMid);
}
else
{
tempFloat = readFloatCLI();
cliPortPrintF("\nTriCopter Mixing not Selected....\n\n");
}
mixerQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'H': // Read TriCopter Servo Max Point
if (eepromConfig.mixerConfiguration == MIXERTYPE_TRI)
{
eepromConfig.triYawServoMax = readFloatCLI();
pwmEscWrite(7, (uint16_t)eepromConfig.triYawServoMax);
}
else
{
tempFloat = readFloatCLI();
cliPortPrintF("\nTriCopter Mixing not Selected....\n\n");
}
mixerQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'I': // Read TriCopter Yaw Command Time Constant
if (eepromConfig.mixerConfiguration == MIXERTYPE_TRI)
{
eepromConfig.triCopterYawCmd500HzLowPassTau = readFloatCLI();
initFirstOrderFilter();
}
else
{
tempFloat = readFloatCLI();
cliPortPrintF("\nTriCopter Mixing not Selected....\n\n");
}
mixerQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'J': // Read Free Mix Motor Number
if (eepromConfig.mixerConfiguration == MIXERTYPE_FREE)
{
eepromConfig.freeMixMotors = (uint8_t)readFloatCLI();
initMixer();
}
else
{
tempFloat = readFloatCLI();
cliPortPrintF("\nFree Mix not Selected....\n\n");
}
mixerQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'K': // Read Free Mix Matrix Element
if (eepromConfig.mixerConfiguration == MIXERTYPE_FREE)
{
rows = (uint8_t)readFloatCLI() - 1;
columns = (uint8_t)readFloatCLI() - 1;
eepromConfig.freeMix[rows][columns] = readFloatCLI();
}
else
{
tempFloat = readFloatCLI();
tempFloat = readFloatCLI();
tempFloat = readFloatCLI();
cliPortPrintF("\nFree Mix not Selected....\n\n");
}
mixerQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'W': // Write EEPROM Parameters
cliPortPrint("\nWriting EEPROM Parameters....\n\n");
writeEEPROM();
validQuery = false;
break;
///////////////////////////
case '?':
cliPortPrint("\n");
cliPortPrint("'a' Mixer Configuration Data 'A' Set Mixer Configuration A0 thru 3, see aq32Plus.h\n");
cliPortPrint(" 'B' Set PWM Rates BESC;Servo\n");
cliPortPrint(" 'D' Set Yaw Direction D1 or D-1\n");
if (eepromConfig.mixerConfiguration == MIXERTYPE_TRI)
{
cliPortPrint(" 'E' Set TriCopter Servo PWM Rate ERate\n");
cliPortPrint(" 'F' Set TriCopter Servo Min Point FMin\n");
cliPortPrint(" 'G' Set TriCopter Servo Mid Point GMid\n");
cliPortPrint(" 'H' Set TriCopter Servo Max Point HMax\n");
cliPortPrint(" 'I' Set TriCopter Yaw Cmd Time Constant ITimeConstant\n");
}
if (eepromConfig.mixerConfiguration == MIXERTYPE_FREE)
{
cliPortPrint(" 'J' Set Number of FreeMix Motors JNumb\n");
cliPortPrint(" 'K' Set FreeMix Matrix Element KRow;Col;Value\n");
}
cliPortPrint(" 'W' Write EEPROM Parameters\n");
cliPortPrint("'x' Exit Mixer CLI '?' Command Summary\n\n");
break;
///////////////////////////
}
}
}
void escCalibration(void)
{
escCalibrating = true;
armed = false;
cliPrint("\nESC Calibration:\n\n");
cliPrint("!!!! CAUTION - Remove all propellers and disconnect !!!!\n");
cliPrint("!!!! flight battery before proceeding any further !!!!\n\n");
cliPrint("Type 'Y' to continue, anything other character exits\n\n");
while (cliAvailable() == false);
temp = cliRead();
if (temp != 'Y')
{
cliPrint("ESC Calibration Canceled!!\n\n");
escCalibrating = false;
return;
}
///////////////////////////////////
cliPrint("For ESC Calibration:\n");
cliPrint(" Enter 'h' for Max Command....\n");
cliPrint(" Enter 'm' for Mid Command....\n");
cliPrint(" Enter 'l' for Min Command....\n");
cliPrint(" Enter 'x' to exit....\n\n");
cliPrint("For Motor Order Verification:\n");
cliPrint(" Enter '0' to turn off all motors....\n");
cliPrint(" Enter '1' to turn on Motor1....\n");
cliPrint(" Enter '2' to turn on Motor2....\n");
cliPrint(" Enter '3' to turn on Motor3....\n");
cliPrint(" Enter '4' to turn on Motor4....\n");
cliPrint(" Enter '5' to turn on Motor5....\n");
cliPrint(" Enter '6' to turn on Motor6....\n");
cliPrint(" Enter '7' to turn on Motor7....\n");
cliPrint(" Enter '8' to turn on Motor8....\n\n");
///////////////////////////////////
while(true)
{
while (cliAvailable() == false);
temp = cliRead();
switch (temp)
{
case 'h':
cliPrint("Applying Max Command....\n\n");
writeAllMotors(eepromConfig.maxThrottle);
break;
case 'm':
cliPrint("Applying Mid Command....\n\n");
writeAllMotors(eepromConfig.midCommand);
break;
case 'l':
cliPrint("Applying Min Command....\n\n");
writeAllMotors(MINCOMMAND);
break;
case 'x':
cliPrint("Applying Min Command, Exiting Calibration....\n\n");
writeAllMotors(MINCOMMAND);
escCalibrating = false;
return;
break;
case '0':
cliPrint("Motors at Min Command....\n\n");
writeAllMotors(MINCOMMAND);
break;
case '1':
cliPrint("Motor1 at Min Throttle....\n\n");
pwmEscWrite(0, eepromConfig.minThrottle);
break;
case '2':
cliPrint("Motor2 at Min Throttle....\n\n");
pwmEscWrite(1, eepromConfig.minThrottle);
break;
case '3':
cliPrint("Motor3 at Min Throttle....\n\n");
pwmEscWrite(2, eepromConfig.minThrottle);
break;
case '4':
cliPrint("Motor4 at Min Throttle....\n\n");
pwmEscWrite(3, eepromConfig.minThrottle);
break;
case '5':
cliPrint("Motor5 at Min Throttle....\n\n");
pwmEscWrite(4, eepromConfig.minThrottle);
break;
case '6':
cliPrint("Motor6 at Min Throttle....\n\n");
pwmEscWrite(5, eepromConfig.minThrottle);
break;
case '7':
cliPrint("Motor7 at Min Throttle....\n\n");
pwmEscWrite(6, eepromConfig.minThrottle);
break;
case '8':
cliPrint("Motor8 at Min Throttle....\n\n");
pwmEscWrite(7, eepromConfig.minThrottle);
break;
case '?':
cliPrint("For ESC Calibration:\n");
cliPrint(" Enter 'h' for Max Command....\n");
cliPrint(" Enter 'm' for Mid Command....\n");
cliPrint(" Enter 'l' for Min Command....\n");
cliPrint(" Enter 'x' to exit....\n\n");
cliPrint("For Motor Order Verification:\n");
cliPrint(" Enter '0' to turn off all motors....\n");
cliPrint(" Enter '1' to turn on Motor1....\n");
cliPrint(" Enter '2' to turn on Motor2....\n");
cliPrint(" Enter '3' to turn on Motor3....\n");
cliPrint(" Enter '4' to turn on Motor4....\n");
cliPrint(" Enter '5' to turn on Motor5....\n");
cliPrint(" Enter '6' to turn on Motor6....\n");
cliPrint(" Enter '7' to turn on Motor7....\n");
cliPrint(" Enter '8' to turn on Motor8....\n\n");
break;
}
}
}
