| 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | // created: 2013/04/29
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| 6 | // filename: BlCtrlV2_x4_speed.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: objet integrant les moteurs i2c, controle en vitesse
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "BlCtrlV2_x4_speed.h"
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| 19 | #include "I2cPort.h"
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| 20 | #include <TabWidget.h>
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| 21 | #include <Tab.h>
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| 22 | #include <GroupBox.h>
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| 23 | #include <SpinBox.h>
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| 24 | #include <DoubleSpinBox.h>
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| 25 | #include <ComboBox.h>
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| 26 | #include <PushButton.h>
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| 27 | #include <cvmatrix.h>
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| 28 | #include <Mutex.h>
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| 29 | #include <FrameworkManager.h>
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| 30 | #include <DataPlot1D.h>
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| 31 | #include <math.h>
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| 32 | #include <string.h>
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| 33 |
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| 34 | #define TAU_US 1000
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| 35 |
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| 36 | using std::string;
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| 37 | using namespace flair::core;
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| 38 | using namespace flair::gui;
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| 39 |
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| 40 | namespace flair {
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| 41 | namespace actuator {
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| 42 | BlCtrlV2_x4_speed::BlCtrlV2_x4_speed(string name,I2cPort *i2cport, uint8_t base_address,
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| 43 | uint8_t priority)
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| 44 | : Thread(getFrameworkManager(), name, priority), IODevice(getFrameworkManager(), name) {
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| 45 | this->i2cport = i2cport;
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| 46 | slave_address = base_address;
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| 47 | tested_motor = -1;
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| 48 | enabled = false;
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| 49 | int_av_g = 0;
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| 50 | int_av_d = 0;
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| 51 | int_ar_g = 0;
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| 52 | int_ar_d = 0;
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| 53 |
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| 54 | // flight time
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| 55 | FILE *file;
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| 56 | file = fopen("/etc/flight_time", "r");
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| 57 | if (file == NULL) {
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| 58 | Printf("fichier d'info de vol vide\n");
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| 59 | time_sec = 0;
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| 60 | } else {
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| 61 | char ligne[32];
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| 62 | fgets(ligne, 32, file);
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| 63 | time_sec = atoi(ligne);
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| 64 | Printf("temps de vol total: %is = %imin = %ih\n", time_sec, time_sec / 60,
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| 65 | time_sec / 3600);
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| 66 | fclose(file);
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| 67 | }
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| 68 |
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| 69 | // station sol
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| 70 | main_tab = new Tab(getFrameworkManager()->GetTabWidget(), name);
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| 71 | tab = new TabWidget(main_tab->NewRow(), name);
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| 72 | Tab *sensor_tab = new Tab(tab, "Reglages");
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| 73 | reglages_groupbox = new GroupBox(sensor_tab->NewRow(), name);
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| 74 | poles = new SpinBox(reglages_groupbox->NewRow(), "nb poles", 0, 255, 1);
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| 75 | kp = new DoubleSpinBox(reglages_groupbox->LastRowLastCol(), "kp", 0., 255,
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| 76 | 0.001, 4);
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| 77 | ki = new DoubleSpinBox(reglages_groupbox->LastRowLastCol(), "ki", 0., 255,
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| 78 | 0.001, 4);
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| 79 | min = new SpinBox(reglages_groupbox->NewRow(), "min pwm", 0., 2048, 1);
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| 80 | max =
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| 81 | new SpinBox(reglages_groupbox->LastRowLastCol(), "max pwm", 0., 2048, 1);
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| 82 | test = new SpinBox(reglages_groupbox->LastRowLastCol(), "test value", 0.,
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| 83 | 2048, 1);
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| 84 | start_value = new SpinBox(reglages_groupbox->NewRow(), "valeur demarrage", 0,
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| 85 | 10000, 10);
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| 86 | trim = new DoubleSpinBox(reglages_groupbox->LastRowLastCol(), "pas decollage",
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| 87 | 0, 1000, .1);
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| 88 |
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| 89 | av_g = new ComboBox(reglages_groupbox->NewRow(), "avant gauche");
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| 90 | av_g->AddItem("1");
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| 91 | av_g->AddItem("2");
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| 92 | av_g->AddItem("3");
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| 93 | av_g->AddItem("4");
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| 94 | button_avg = new PushButton(reglages_groupbox->LastRowLastCol(), "test avg");
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| 95 |
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| 96 | av_d = new ComboBox(reglages_groupbox->LastRowLastCol(), "avant droite:");
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| 97 | av_d->AddItem("1");
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| 98 | av_d->AddItem("2");
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| 99 | av_d->AddItem("3");
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| 100 | av_d->AddItem("4");
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| 101 | button_avd = new PushButton(reglages_groupbox->LastRowLastCol(), "test avd");
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| 102 |
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| 103 | ar_g = new ComboBox(reglages_groupbox->NewRow(), "arriere gauche:");
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| 104 | ar_g->AddItem("1");
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| 105 | ar_g->AddItem("2");
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| 106 | ar_g->AddItem("3");
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| 107 | ar_g->AddItem("4");
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| 108 | button_arg = new PushButton(reglages_groupbox->LastRowLastCol(), "test arg");
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| 109 |
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| 110 | ar_d = new ComboBox(reglages_groupbox->LastRowLastCol(), "arriere droite:");
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| 111 | ar_d->AddItem("1");
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| 112 | ar_d->AddItem("2");
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| 113 | ar_d->AddItem("3");
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| 114 | ar_d->AddItem("4");
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| 115 | button_ard = new PushButton(reglages_groupbox->LastRowLastCol(), "test ard");
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| 116 |
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| 117 | pas = new ComboBox(reglages_groupbox->NewRow(), "pas helice avant gauche:");
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| 118 | pas->AddItem("normal");
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| 119 | pas->AddItem("inverse");
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| 120 |
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| 121 | input = new cvmatrix((IODevice *)this, 8, 1, floatType);
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| 122 |
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| 123 | cvmatrix_descriptor *desc = new cvmatrix_descriptor(4, 2);
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| 124 | desc->SetElementName(0, 0, "avant gauche");
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| 125 | desc->SetElementName(1, 0, "arriere droite");
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| 126 | desc->SetElementName(2, 0, "avant droite");
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| 127 | desc->SetElementName(3, 0, "arriere gauche");
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| 128 |
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| 129 | desc->SetElementName(0, 1, "cons avant gauche");
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| 130 | desc->SetElementName(1, 1, "cons arriere droite");
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| 131 | desc->SetElementName(2, 1, "cons avant droite");
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| 132 | desc->SetElementName(3, 1, "cons arriere gauche");
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| 133 | output = new cvmatrix((IODevice *)this, desc, floatType);
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| 134 | delete desc;
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| 135 |
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| 136 | SetIsReady(true);
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| 137 |
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| 138 | /*
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| 139 |
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| 140 | //le 3ieme lu est la tension batteire
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| 141 | if(i2c_mutex!=NULL) i2c_mutex->GetMutex();
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| 142 | uint16_t pwm_moteur;
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| 143 | pwm_moteur=0;
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| 144 | ssize_t read;
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| 145 | uint8_t rx[8];
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| 146 | SetSlave(slave_address);
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| 147 |
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| 148 | for(int j=0;j<10;j++)
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| 149 | {
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| 150 |
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| 151 |
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| 152 | WriteValue(pwm_moteur);
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| 153 |
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| 154 |
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| 155 | read = rt_dev_read(i2c_fd, rx, sizeof(rx));
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| 156 |
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| 157 | if(read<0)
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| 158 | {
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| 159 | rt_printf("BlCtrlV2_x4_speed::BlCtrlV2_x4_speed: %s, erreur
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| 160 | rt_dev_read (%s)\n",IODevice::ObjectName().c_str(),strerror(-read));
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| 161 | }
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| 162 | else if (read != sizeof(rx))
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| 163 | {
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| 164 | rt_printf("BlCtrlV2_x4_speed::BlCtrlV2_x4_speed: %s, erreur
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| 165 | rt_dev_read %i/2\n",IODevice::ObjectName().c_str(),read);
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| 166 |
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| 167 | }
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| 168 | for(int i=0;i<sizeof(rx);i++) printf("%i ",rx[i]);
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| 169 |
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| 170 | printf("\n");
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| 171 |
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| 172 | }
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| 173 |
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| 174 | if(i2c_mutex!=NULL) i2c_mutex->ReleaseMutex();*/
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| 175 | }
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| 176 |
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| 177 | BlCtrlV2_x4_speed::~BlCtrlV2_x4_speed(void) {
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| 178 | SafeStop();
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| 179 | Join();
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| 180 | delete main_tab;
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| 181 | }
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| 182 |
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| 183 | void BlCtrlV2_x4_speed::UseDefaultPlot(void) {
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| 184 | Tab *plot_tab = new Tab(tab, "Mesures");
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| 185 | DataPlot1D *av_g_plot = new DataPlot1D(plot_tab->NewRow(), "avg", 0, 10000);
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| 186 | av_g_plot->AddCurve(output->Element(0, 0));
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| 187 | av_g_plot->AddCurve(output->Element(0, 1), DataPlot::Blue);
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| 188 | DataPlot1D *av_d_plot =
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| 189 | new DataPlot1D(plot_tab->LastRowLastCol(), "avd", 0, 10000);
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| 190 | av_d_plot->AddCurve(output->Element(2, 0));
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| 191 | av_d_plot->AddCurve(output->Element(2, 1), DataPlot::Blue);
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| 192 | DataPlot1D *ar_g_plot = new DataPlot1D(plot_tab->NewRow(), "arg", 0, 10000);
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| 193 | ar_g_plot->AddCurve(output->Element(3, 0));
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| 194 | ar_g_plot->AddCurve(output->Element(3, 1), DataPlot::Blue);
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| 195 | DataPlot1D *ar_d_plot =
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| 196 | new DataPlot1D(plot_tab->LastRowLastCol(), "ard", 0, 10000);
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| 197 | ar_d_plot->AddCurve(output->Element(1, 0));
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| 198 | ar_d_plot->AddCurve(output->Element(1, 1), DataPlot::Blue);
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| 199 | }
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| 200 |
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| 201 | float BlCtrlV2_x4_speed::TrimValue(void) { return (float)trim->Value(); }
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| 202 |
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| 203 | int BlCtrlV2_x4_speed::StartValue(void) { return start_value->Value(); }
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| 204 |
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| 205 | void BlCtrlV2_x4_speed::Run(void) {
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| 206 | WarnUponSwitches(true);
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| 207 |
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| 208 | SetPeriodUS(TAU_US);
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| 209 |
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| 210 | while (!ToBeStopped()) {
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| 211 | WaitPeriod();
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| 212 |
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| 213 | Update();
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| 214 | }
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| 215 |
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| 216 | WarnUponSwitches(false);
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| 217 | }
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| 218 |
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| 219 | void BlCtrlV2_x4_speed::Update(void) {
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| 220 | float u_roll, u_pitch, u_yaw, u_gaz;
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| 221 | float trim_roll, trim_pitch, trim_yaw;
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| 222 | float pwm[4];
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| 223 | uint16_t pwm_moteur[4];
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| 224 |
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| 225 | // on prend une fois pour toute le mutex et on fait des accès directs
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| 226 | input->GetMutex();
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| 227 |
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| 228 | u_roll = input->ValueNoMutex(0, 0);
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| 229 | u_pitch = input->ValueNoMutex(1, 0);
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| 230 | u_yaw = input->ValueNoMutex(2, 0);
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| 231 | u_gaz =
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| 232 | input->ValueNoMutex(3, 0) +
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| 233 | input->ValueNoMutex(7, 0) * input->ValueNoMutex(7, 0); // ugaz+trim*trim
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| 234 | trim_roll = input->ValueNoMutex(4, 0);
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| 235 | trim_pitch = input->ValueNoMutex(5, 0);
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| 236 | trim_yaw = input->ValueNoMutex(6, 0);
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| 237 |
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| 238 | input->ReleaseMutex();
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| 239 |
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| 240 | if (pas->CurrentIndex() == 1) {
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| 241 | trim_yaw = -trim_yaw;
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| 242 | u_yaw = -u_yaw;
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| 243 | }
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| 244 |
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| 245 | // rt_printf("%f %f %f %f\n",u_roll,u_pitch,u_yaw,u_gaz);
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| 246 | // if(u_gaz!=0) rt_printf("gaz: %f\n",u_gaz);
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| 247 |
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| 248 | // avant gauche
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| 249 | if (u_gaz + u_pitch + u_roll + u_yaw > 0) {
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| 250 | pwm[0] = trim_pitch + trim_roll + trim_yaw +
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| 251 | sqrtf(u_gaz + u_pitch + u_roll + u_yaw);
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| 252 | } else {
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| 253 | pwm[0] = trim_pitch + trim_roll + trim_yaw;
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| 254 | }
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| 255 |
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| 256 | // arriere gauche
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| 257 | if (u_gaz - u_pitch + u_roll - u_yaw > 0) {
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| 258 | pwm[3] = -trim_pitch + trim_roll - trim_yaw +
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| 259 | sqrtf(u_gaz - u_pitch + u_roll - u_yaw);
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| 260 | } else {
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| 261 | pwm[3] = -trim_pitch + trim_roll - trim_yaw;
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| 262 | }
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| 263 |
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| 264 | // arriere droit
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| 265 | if (u_gaz - u_pitch - u_roll + u_yaw > 0) {
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| 266 | pwm[1] = -trim_pitch - trim_roll + trim_yaw +
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| 267 | sqrtf(u_gaz - u_pitch - u_roll + u_yaw);
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| 268 | } else {
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| 269 | pwm[1] = -trim_pitch - trim_roll + trim_yaw;
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| 270 | }
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| 271 |
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| 272 | // avant droit
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| 273 | if (u_gaz + u_pitch - u_roll - u_yaw > 0) {
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| 274 | pwm[2] = trim_pitch - trim_roll - trim_yaw +
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| 275 | sqrtf(u_gaz + u_pitch - u_roll - u_yaw);
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| 276 | } else {
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| 277 | pwm[2] = trim_pitch - trim_roll - trim_yaw;
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| 278 | }
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| 279 |
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| 280 | int_av_g += ki->Value() * (pwm[0] - speed_av_g);
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| 281 | pwm[0] = kp->Value() * (pwm[0] - speed_av_g) + int_av_g;
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| 282 |
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| 283 | int_ar_g += ki->Value() * (pwm[3] - speed_ar_g);
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| 284 | pwm[3] = kp->Value() * (pwm[3] - speed_ar_g) + int_ar_g;
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| 285 |
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| 286 | int_ar_d += ki->Value() * (pwm[1] - speed_ar_d);
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| 287 | pwm[1] = kp->Value() * (pwm[1] - speed_ar_d) + int_ar_d;
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| 288 |
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| 289 | int_av_d += ki->Value() * (pwm[2] - speed_av_d);
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| 290 | pwm[2] = kp->Value() * (pwm[2] - speed_av_d) + int_av_d;
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| 291 |
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| 292 | // rt_printf("%f\n",pwm[0]);
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| 293 | for (int i = 0; i < 4; i++)
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| 294 | pwm_moteur[i] = SatPWM(pwm[i], min->Value(), max->Value());
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| 295 |
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| 296 | if (button_avg->Clicked() == true) {
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| 297 | tested_motor = 0;
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| 298 | StartTest();
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| 299 | }
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| 300 | if (button_avd->Clicked() == true) {
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| 301 | tested_motor = 2;
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| 302 | StartTest();
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| 303 | }
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| 304 | if (button_arg->Clicked() == true) {
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| 305 | tested_motor = 3;
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| 306 | StartTest();
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| 307 | }
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| 308 | if (button_ard->Clicked() == true) {
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| 309 | tested_motor = 1;
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| 310 | StartTest();
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| 311 | }
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| 312 |
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| 313 | if (tested_motor != -1) {
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| 314 | for (int i = 0; i < 4; i++) {
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| 315 | pwm_moteur[i] = 0;
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| 316 | }
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| 317 | pwm_moteur[tested_motor] = (uint16_t)test->Value();
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| 318 |
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| 319 | if (GetTime() > (start_time + 2 * 1000000000))
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| 320 | StopTest();
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| 321 | }
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| 322 |
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| 323 | i2cport->GetMutex();
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| 324 |
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| 325 | if (enabled == true) {
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| 326 | i2cport->SetSlave(slave_address + av_g->CurrentIndex());
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| 327 | WriteValue(pwm_moteur[0]);
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| 328 |
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| 329 | i2cport->SetSlave(slave_address + av_d->CurrentIndex());
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| 330 | WriteValue(pwm_moteur[2]);
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| 331 |
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| 332 | i2cport->SetSlave(slave_address + ar_g->CurrentIndex());
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| 333 | WriteValue(pwm_moteur[3]);
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| 334 |
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| 335 | i2cport->SetSlave(slave_address + ar_d->CurrentIndex());
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| 336 | WriteValue(pwm_moteur[1]);
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| 337 |
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| 338 | } else {
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| 339 | for (int i = 0; i < 4; i++) {
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| 340 | i2cport->SetSlave(slave_address + i);
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| 341 | WriteValue(0);
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| 342 | }
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| 343 | int_av_g = 0;
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| 344 | int_av_d = 0;
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| 345 | int_ar_g = 0;
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| 346 | int_ar_d = 0;
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| 347 | }
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| 348 |
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| 349 | i2cport->SetSlave(slave_address + av_g->CurrentIndex());
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| 350 | speed_av_g = GetSpeed();
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| 351 |
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| 352 | i2cport->SetSlave(slave_address + av_d->CurrentIndex());
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| 353 | speed_av_d = GetSpeed();
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| 354 |
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| 355 | i2cport->SetSlave(slave_address + ar_g->CurrentIndex());
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| 356 | speed_ar_g = GetSpeed();
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| 357 |
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| 358 | i2cport->SetSlave(slave_address + ar_d->CurrentIndex());
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| 359 | speed_ar_d = GetSpeed();
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| 360 |
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| 361 | i2cport->ReleaseMutex();
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| 362 |
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| 363 | // on prend une fois pour toute le mutex et on fait des accès directs
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| 364 | output->GetMutex();
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| 365 | output->SetValueNoMutex(0, 0, speed_av_g);
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| 366 | output->SetValueNoMutex(1, 0, speed_ar_d);
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| 367 | output->SetValueNoMutex(2, 0, speed_av_d);
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| 368 | output->SetValueNoMutex(3, 0, speed_ar_g);
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| 369 | // rt_printf("%i %i %i
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| 370 | // %i\n",pwm_moteur[0],pwm_moteur[1],pwm_moteur[2],pwm_moteur[3]);
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| 371 | output->ReleaseMutex();
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| 372 |
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| 373 | output->SetDataTime(GetTime());
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| 374 | ProcessUpdate(output);
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| 375 | }
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| 376 |
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| 377 | void BlCtrlV2_x4_speed::StartTest(void) {
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| 378 | start_time = GetTime();
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| 379 | SetEnabled(true);
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| 380 | }
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| 381 |
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| 382 | void BlCtrlV2_x4_speed::StopTest(void) {
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| 383 | SetEnabled(false);
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| 384 | tested_motor = -1;
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| 385 | }
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| 386 |
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| 387 | uint16_t BlCtrlV2_x4_speed::SatPWM(float vel_cons, uint16_t min, uint16_t max) {
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| 388 | uint16_t sat_value = (uint16_t)vel_cons;
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| 389 |
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| 390 | if (vel_cons > ((float)sat_value + 0.5))
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| 391 | sat_value++;
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| 392 |
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| 393 | if (vel_cons < (float)min)
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| 394 | sat_value = min;
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| 395 | if (vel_cons > (float)max)
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| 396 | sat_value = max;
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| 397 |
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| 398 | return sat_value;
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| 399 | }
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| 400 |
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| 401 | void BlCtrlV2_x4_speed::LockUserInterface(void) {
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| 402 | reglages_groupbox->setEnabled(false);
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| 403 | }
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| 404 |
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| 405 | void BlCtrlV2_x4_speed::UnlockUserInterface(void) {
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| 406 | reglages_groupbox->setEnabled(true);
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| 407 | }
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| 408 |
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| 409 | void BlCtrlV2_x4_speed::SetEnabled(bool status) {
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| 410 | enabled = status;
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| 411 | if (enabled == true) {
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| 412 | LockUserInterface();
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| 413 |
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| 414 | flight_start_time = GetTime();
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| 415 | } else {
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| 416 | UnlockUserInterface();
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| 417 |
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| 418 | Time now = GetTime();
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| 419 | int t_sec;
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| 420 | FILE *file;
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| 421 | char ligne[32];
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| 422 |
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| 423 | t_sec = (now - flight_start_time) / 1000000000;
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| 424 | time_sec += t_sec;
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| 425 |
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| 426 | Printf("temps de vol: %is = %imin\n", t_sec, t_sec / 60);
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| 427 | Printf("temps de vol total: %is = %imin = %ih\n", time_sec, time_sec / 60,
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| 428 | time_sec / 3600);
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| 429 |
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| 430 | file = fopen("/etc/flight_time", "w");
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| 431 | if (file == NULL) {
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| 432 | Thread::Err("Erreur a l'ouverture du fichier d'info vol\n");
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| 433 | } else {
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| 434 | sprintf(ligne, "%i", time_sec);
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| 435 | fputs(ligne, file);
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| 436 | fclose(file);
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| 437 | }
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| 438 | }
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| 439 | }
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| 440 |
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| 441 | void BlCtrlV2_x4_speed::SetUroll(float value) { input->SetValue(0, 0, value); }
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| 442 |
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| 443 | void BlCtrlV2_x4_speed::SetUpitch(float value) { input->SetValue(1, 0, value); }
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| 444 |
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| 445 | void BlCtrlV2_x4_speed::SetUyaw(float value) { input->SetValue(2, 0, value); }
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| 446 |
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| 447 | void BlCtrlV2_x4_speed::SetUgaz(float value) { input->SetValue(3, 0, value); }
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| 448 |
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| 449 | void BlCtrlV2_x4_speed::SetRollTrim(float value) {
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| 450 | input->SetValue(4, 0, value);
|
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| 451 | }
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| 452 |
|
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| 453 | void BlCtrlV2_x4_speed::SetPitchTrim(float value) {
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| 454 | input->SetValue(5, 0, value);
|
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| 455 | }
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| 456 |
|
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| 457 | void BlCtrlV2_x4_speed::SetYawTrim(float value) {
|
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| 458 | input->SetValue(6, 0, value);
|
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| 459 | }
|
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| 460 |
|
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| 461 | void BlCtrlV2_x4_speed::SetGazTrim(float value) {
|
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| 462 | input->SetValue(7, 0, value);
|
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| 463 | }
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| 464 |
|
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| 465 | void BlCtrlV2_x4_speed::WriteValue(uint16_t value) {
|
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| 466 | unsigned char tx[2];
|
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| 467 | ssize_t written;
|
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| 468 |
|
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| 469 | tx[0] = (unsigned char)(value >> 3); // msb
|
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| 470 | tx[1] = 16 + 8 + (value & 0x07); // 16+8 pour recuperer la vitesse
|
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| 471 | written = i2cport->Write(tx, 2);
|
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| 472 | if (written < 0) {
|
---|
| 473 | Thread::Err("erreur rt_dev_write (%s)\n", strerror(-written));
|
---|
| 474 | } else if (written != 2) {
|
---|
| 475 | Thread::Err("erreur rt_dev_write %i/2\n", written);
|
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| 476 | }
|
---|
| 477 | }
|
---|
| 478 |
|
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| 479 | float BlCtrlV2_x4_speed::GetSpeed(void) {
|
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| 480 | ssize_t read;
|
---|
| 481 | uint8_t value;
|
---|
| 482 | read = i2cport->Read(&value, 1);
|
---|
| 483 |
|
---|
| 484 | if (read < 0) {
|
---|
| 485 | Thread::Err("erreur rt_dev_read (%s)\n", strerror(-read));
|
---|
| 486 | } else if (read != 1) {
|
---|
| 487 | Thread::Err("erreur rt_dev_read %i/2\n", read);
|
---|
| 488 | }
|
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| 489 |
|
---|
| 490 | return value * 780. / poles->Value();
|
---|
| 491 | }
|
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| 492 |
|
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| 493 | } // end namespace actuator
|
---|
| 494 | } // end namespace flair
|
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