Save center

config.h

@@ -9,6 +9,9 @@
 #include <util/delay.h>
 
 #include "typedefs.h"
+
+#define SAVE_CENTER
+
 #include "io_cfg.h"
 
 /* Multicopter Type */
@@ -22,4 +25,4 @@
 //#define HEX_COPTER
 //#define Y6_COPTER
 
-#endif
+#endif

kk.c

@@ -17,10 +17,10 @@ static void setup()
 {
   MCUCR = _BV(PUD);  // Disable hardware pull-up
 
+  settingsSetup();
   receiverSetup();
   gyrosSetup();
   motorsSetup();
-  settingsSetup();
 
   LED_DIR   = OUTPUT;
   LED    = 0;

receiver.c

@@ -1,4 +1,5 @@
 #include "receiver.h"
+#include "settings.h"
 
 /*** BEGIN VARIABLES ***/
 int16_t RxInRoll;
@@ -16,6 +17,11 @@ uint16_t RxChannel2;
 uint16_t RxChannel3;
 uint16_t RxChannel4;
 
+uint16_t CenterRollValue;
+uint16_t CenterPitchValue;
+uint16_t CenterCollValue;
+uint16_t CenterYawValue;
+
 #ifdef TWIN_COPTER
 int16_t RxInOrgPitch;
 #endif
@@ -126,6 +132,11 @@ void receiverSetup()
   RX_COLL   = 0;
   RX_YAW    = 0;
 
+  CenterRollValue = Config.CenterRollValue;
+  CenterPitchValue = Config.CenterPitchValue;
+  CenterCollValue = Config.CenterCollValue;
+  CenterYawValue = Config.CenterYawValue;
+
   /*
    * timer1 (16bit) - run at 8MHz, used to measure Rx pulses
    * and to control ESC/servo pulse
@@ -171,16 +182,17 @@ void RxGetChannels()
   uint8_t t = 0xff;
   do {
     asm volatile("mov %0, %1":"=r" (i_sreg),"=r" (t)::"memory");
-    RxInRoll = fastdiv8(RxChannel1 - 1520 * 8);
-    RxInPitch = fastdiv8(RxChannel2 - 1520 * 8);
+    RxInRoll = fastdiv8(RxChannel1 - CenterRollValue * 8);
+    RxInPitch = fastdiv8(RxChannel2 - CenterPitchValue * 8);
     RxInCollective = fastdiv8(RxChannel3 - 1120 * 8);
-    RxInYaw = fastdiv8(RxChannel4 - 1520 * 8);
+    RxInYaw = fastdiv8(RxChannel4 - CenterYawValue * 8);
   } while(i_sreg != t);
 #ifdef TWIN_COPTER
   RxInOrgPitch = RxInPitch;
 #endif
 }
 
+#ifndef SAVE_CENTER
 void receiverStickCenter()
 {
   uint8_t i;
@@ -193,4 +205,39 @@ void receiverStickCenter()
       i--;
     }
   }
-}
+}
+#else
+void receiverStickCenter()
+{
+  uint8_t i;
+  int16_t RawRoll  = 0;
+  int16_t RawColl  = 0;
+  int16_t RawYaw   = 0;
+  int16_t RawPitch = 0;
+
+  LED = 1;
+  _delay_ms( 500 );
+
+  for( i=0; i<8; i++ )
+  {
+      RxGetChannels();
+      LED ^= 1;
+      RawRoll  += RxChannel1/8;
+      RawPitch += RxChannel2/8;
+      RawColl  += RxChannel3/8;
+      RawYaw   += RxChannel4/8;
+      _delay_ms(100);
+  }
+
+  Config.CenterRollValue = RawRoll/8;
+  Config.CenterPitchValue = RawPitch/8;
+  Config.CenterCollValue = RawColl/8;
+  Config.CenterYawValue = RawYaw/8;
+  Save_Config_to_EEPROM();
+
+  while(1) {
+      LED ^= 1;
+      _delay_ms( 1000 );
+  }
+}
+#endif

receiver.h

@@ -14,6 +14,9 @@
 // limits the maximum stick collective (range 80->100  100=Off)
 // this allows gyros to stabilise better when full throttle applied
 #define MAX_COLLECTIVE 1000      // 95
+
+#define DEFAULT_CENTER 1520
+
 /*** END DEFINES ***/
 
 
@@ -52,4 +55,4 @@ void RxGetChannels(void);
 void receiverStickCenter(void);
 /*** END PROTOTYPES ***/
 
-#endif
+#endif

settings.c

@@ -2,6 +2,7 @@
 
 #include <avr/eeprom.h>
 #include "gyros.h"
+#include "receiver.h"
 
 struct config Config;
 
@@ -34,13 +35,17 @@ void Set_EEPROM_Default_Config()
   Config.RollGyroDirection  = GYRO_REVERSED;
   Config.PitchGyroDirection  = GYRO_REVERSED;
   Config.YawGyroDirection    = GYRO_NORMAL;
+  Config.CenterRollValue     = DEFAULT_CENTER;
+  Config.CenterPitchValue    = DEFAULT_CENTER;
+  Config.CenterCollValue     = DEFAULT_CENTER;
+  Config.CenterYawValue      = DEFAULT_CENTER;
 }
 
 void Initial_EEPROM_Config_Load()
 {
   // load up last settings from EEPROM
-  if(eeprom_read_byte((uint8_t *)EEPROM_DATA_START_POS) != 42) {
-    Config.setup = 42;
+  if(eeprom_read_byte((uint8_t *)EEPROM_DATA_START_POS) != CONFIG_VERSION) {
+    Config.setup = CONFIG_VERSION;
     Set_EEPROM_Default_Config();
     // write to eeProm
     Save_Config_to_EEPROM();
@@ -67,4 +72,4 @@ void settingsClearAll()
   Set_EEPROM_Default_Config();
   while(1)
           ;
-}
+}

settings.h

@@ -5,6 +5,11 @@
 
 /*** BEGIN DEFINITIONS ***/
 #define EEPROM_DATA_START_POS 0      // Settings save offset in eeprom
+#ifdef SAVE_CENTER
+#define CONFIG_VERSION        43
+#else
+#define CONFIG_VERSION        42
+#endif
 /*** END DEFINITIONS ***/
 
 /*** BEGIN TYPES ***/
@@ -14,6 +19,10 @@ struct config {
   uint8_t RollGyroDirection;
   uint8_t PitchGyroDirection;
   uint8_t YawGyroDirection;
+  uint16_t CenterRollValue;
+  uint16_t CenterPitchValue;
+  uint16_t CenterCollValue;
+  uint16_t CenterYawValue;
 };
 /*** END TYPES ***/
 
@@ -31,4 +40,4 @@ void settingsSetup(void);
 void settingsClearAll(void);
 /*** END PROTOTYPES ***/
 
-#endif
+#endif

typedefs.h

@@ -3,11 +3,6 @@
 
 #include <stdint.h>
 
-//set bit	or PORTB |= (1<<3); 
-//#define set_bit(port, bit) ((port) |= (uint8_t)(1 << bit))
-//clear bit
-//#define clr_bit(port, bit) ((port) &= (uint8_t)~(1 << bit))	
-
 #define INPUT 0
 #define OUTPUT 1
 
@@ -30,33 +25,4 @@ typedef struct
 
 #define REGISTER_BIT(rg,bt) ((volatile _io_reg*)&rg)->bit##bt
 
-
-/* Example:
-
-#define BUTTON_PIN  REGISTER_BIT(PINB,3)
-#define LED_PORT    REGISTER_BIT(PORTB,4)
-
-#define BUTTON_DIR  REGISTER_BIT(DDRB,3)
-#define LED_DIR     REGISTER_BIT(DDRB,4)
-
-main() 
-{
-	uint8_t is_button = BUTTON_PIN;
-	// this actually is expanded by the C preprocessor to:
-	// uint8_t is_button = ((volatile _io_reg*)&PINB)->bit3; 
-
-  LED_DIR = 1;
-	// which after the preprocessor looks like: 
-	// ((volatile _io_reg*)&DDRB)->bit4 = 1; 
-
-  BUTTON_DIR = 0;
-
-  while (1) {
-    LED_PORT = BUTTON_PIN;
-  }
-} 
-
-*/
-
-
 #endif