77 lines
2.1 KiB
C
77 lines
2.1 KiB
C
/*
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Paparazzi mcu0 $Id: infrared.c,v 1.2 2011-01-18 14:55:52 moellmer Exp $
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Copyright (C) 2003 Pascal Brisset, Antoine Drouin
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This file is part of paparazzi.
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paparazzi is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2, or (at your option)
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any later version.
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paparazzi is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with paparazzi; see the file COPYING. If not, write to
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the Free Software Foundation, 59 Temple Place - Suite 330,
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Boston, MA 02111-1307, USA.
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*/
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#include "adc.h"
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#include "infrared.h"
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#include "autopilot.h"
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#include "estimator.h"
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int16_t ir_roll;
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int16_t ir_pitch;
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int16_t ir_contrast = IR_DEFAULT_CONTRAST;
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int16_t ir_roll_neutral = IR_ROLL_NEUTRAL_DEFAULT;
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int16_t ir_pitch_neutral = IR_PITCH_NEUTRAL_DEFAULT;
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#define RadOfIrFromConstrast(c) ir_rad_of_ir = IR_RAD_OF_IR_CONTRAST / c;
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//float ir_rad_of_ir = IR_RAD_OF_IR_CONTRAST / IR_DEFAULT_CONTRAST;
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float ir_rad_of_ir = 0.00375;
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static struct adc_buf buf_ir1;
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static struct adc_buf buf_ir2;
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void ir_init( void )
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{
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RadOfIrFromConstrast( IR_DEFAULT_CONTRAST );
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adc_buf_channel( ADC_CHANNEL_IR1, &buf_ir1 );
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adc_buf_channel( ADC_CHANNEL_IR2, &buf_ir2 );
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}
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void ir_update( void )
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{
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#ifndef SIMUL
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int16_t x1_mean = buf_ir1.sum / AV_NB_SAMPLE;
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int16_t x2_mean = buf_ir2.sum / AV_NB_SAMPLE;
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ir_roll = IR_RollOfIrs( x1_mean, x2_mean ) - ir_roll_neutral;
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ir_pitch = IR_PitchOfIrs( x1_mean, x2_mean ) - ir_pitch_neutral;
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#else
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extern volatile int16_t simul_ir_roll, simul_ir_pitch;
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ir_roll = simul_ir_roll - ir_roll_neutral;
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ir_pitch = simul_ir_pitch - ir_pitch_neutral;
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#endif
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}
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/*
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Contrast measurement
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*/
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void ir_gain_calib( void ) // Plane nose down
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{
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/* plane nose down -> negativ value */
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ir_contrast = - ir_pitch;
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RadOfIrFromConstrast( ir_contrast );
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}
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