Commit Graph

159 Commits

Author SHA1 Message Date
Michael Hope 118373e53f Made link a bit more gothonic. 2014-01-14 21:17:34 +01:00
Michael Hope afa24fb872 Added mathex and testex packages.
Added a test target.
Switched the PID and anything else possible float32.
Changed TiLimit to be the total contribution.
Added a deadband.
2014-01-14 20:56:42 +01:00
Michael Hope dce5d5632b Re-worked the messages to match the interface board.
Turned the logging back on.
2014-01-14 19:59:29 +01:00
Michael Hope 0b4e52e848 Pushed the reference into the demands struct.
Added counters.
Hooked the link statistics into the counters.
2014-01-14 19:57:54 +01:00
Michael Hope 45c6e0613a Added a NOTES file with a bug list. 2014-01-14 19:57:18 +01:00
Michael Hope a7615a27e8 Added bugs and some golang notes. 2014-01-12 16:05:35 +01:00
Michael Hope 48544126cf Related tidy up to the top level bindings.
Added a 'push' target to the Makefile for copying the binary.
2014-01-12 15:58:57 +01:00
Michael Hope 6e461a552e Renamed supervisor to driver. 2014-01-12 15:58:10 +01:00
Michael Hope 9c97294431 Implemented the speed controller. 2014-01-12 15:57:55 +01:00
Michael Hope e1289d4655 Renamed supervisor to driver.
Split the GPS and Input status into their own structs.
Added demand output.
2014-01-12 15:57:34 +01:00
Michael Hope c05bcd5556 Pull the statistics out into a separate stuct so they'll work via
expvar.
Make link own the port so the caller doesn't need the port when
calling Write().
Switch back to reading up to 128 bytes at a time.  The previous one
was due to the port waiting for all 128 bytes.
2014-01-12 15:55:22 +01:00
Michael Hope 1b68507f13 Hooked in a basic PID controller. 2014-01-11 19:12:06 +01:00
Michael Hope ef7b65b0cd Started recording the incoming data.
Convert all GPS data to basic units.
2014-01-11 19:11:22 +01:00
Michael Hope 014a5bf85c gofmt and de-logging. 2014-01-11 19:09:28 +01:00
Michael Hope 2203989c64 Ran gofmt and de-logged link. 2014-01-11 19:08:52 +01:00
Michael Hope fc6de03937 Added routines to convert latitude and longitude to UTM eastings and
northings.
2014-01-11 19:03:56 +01:00
Michael Hope 7c8a54c018 Added a PID controller. Still missing the D... 2014-01-11 19:02:06 +01:00
Michael Hope 3149d8fb9e Add routines that calculate the width in metres of a degree of
latitude or longitude.
2014-01-11 19:00:45 +01:00
Michael Hope b07a2f29a7 Enable interrupts before running.
Add an encoded version of the CPU frequency as a reference.
Set the centre to 150 now that the CPU frequency is correct.
2014-01-07 22:34:54 +01:00
Michael Hope 247eac6bad Started the supervisor.
Switched the Link and GPS to send messages via channels.
2014-01-05 21:21:44 +01:00
Michael Hope c24ca4ea19 Added the missing main().
Fixed a overflow error due to the higher clock.
2014-01-05 19:31:36 +01:00
Michael Hope 670baf1b2a Added a top level Makefile to build all. 2014-01-05 19:30:59 +01:00
Michael Hope eef6a6e072 Started the rover side code.
Pulled in the Link and GPS experiments.
Added build rules.
Added expvar to export statistics.
2014-01-05 19:29:21 +01:00
Michael Hope 058e29080c Pruned obsolete files.
No automake as we're now AVR and Go based.
2014-01-05 16:24:58 +01:00
Michael Hope 93f6b12759 Set the servos based on what is in control. 2014-01-05 16:21:28 +01:00
Michael Hope 78b1b73398 Bump the CPU frequency to match the one and only board. 2014-01-05 16:20:17 +01:00
Michael Hope e8d06048d8 Hack: don't fail if we can't reset. 2014-01-05 16:19:49 +01:00
Michael Hope 843a5f1f0b Started a Go based Link experiment. 2014-01-05 14:33:17 +01:00
Michael Hope f3aa55e688 Started a golang GPS experiment. 2014-01-05 14:32:38 +01:00
Michael Hope f90a8ec73c Changed to a data register empty interrupt.
Shifted the first byte transmit to the interrupt handler.
2013-12-31 22:00:51 +01:00
Michael Hope 2e91637dec Did the bandwidth calculations, which look fine.
Only send the PWM inputs if they're being received.
Send PWM inputs at up to a 50 ms rate.
2013-12-30 19:40:11 +01:00
Michael Hope 493dd1efb0 Changed all timer ticks to milliseconds to make it more readable. 2013-12-30 19:20:56 +01:00
Michael Hope ad1b6fdd54 Watch the PWMIn and process when the input changes, instead of on a
timer.
Split the different poll()s out into their own functions.
Add a prescaler on the tick timer to reduce the CPU load.
2013-12-30 19:03:04 +01:00
Michael Hope 79ada60302 Fixed the build by removing the dependancy on the removed start.cc. 2013-12-30 19:02:14 +01:00
Michael Hope 4bef38a92a Dropped the configuration from PWMIn. Instead, use the whole of PORTB.
Added a counter that bumps when channel 0 changes.
2013-12-30 19:00:53 +01:00
Michael Hope 8dd0762b75 Made the input positions a bit less magic numberie. 2013-12-29 21:20:57 +01:00
Michael Hope 10ed26fa7b A round of linting. 2013-12-29 21:14:19 +01:00
Michael Hope 6d6bef2bb6 Reworked the supervisor. 2013-12-29 21:09:31 +01:00
Michael Hope 81394d340d Added many more fields to the state message.
Poll PWMIn and update supervisor.
Send state when it changes.
Update the flash patterns based on shutdown.
2013-12-29 21:08:31 +01:00
Michael Hope afb95d1721 Fixed the initilisation of the pin on PWMIn. 2013-12-29 21:07:58 +01:00
Michael Hope 866a73227e Drop the state from heartbeat and move to a new State message.
Add a Demand message and basic handling.
Add a helper to properly round tick counts.
2013-12-29 18:50:44 +01:00
Michael Hope 7a69136569 Change to an easier to understand 'Missing'. 2013-12-29 18:47:32 +01:00
Michael Hope e064b6931b Bump the RX buffer size to handle the 8 byte demand message. 2013-12-29 18:46:12 +01:00
Michael Hope 577c332af1 Add a helper to accuratly round a timer interval.
Switch to a request model for unusual messages.
Add reporting of the long version.
2013-12-28 21:19:24 +01:00
Michael Hope 662b71418a Split the link TX and RX buffer sizes.
Increase the TX buffer size to fit a long version.
2013-12-28 21:18:32 +01:00
Michael Hope a8309e8c42 Make version.h be built for main.cc. Also clean. 2013-12-28 21:17:29 +01:00
Michael Hope 1c629bf3c2 Added a tweak to calibrate the systick versus the RC oscillator. 2013-12-28 21:16:53 +01:00
Michael Hope 80f64db6a9 Generate a version number from git. 2013-12-28 20:19:42 +01:00
Michael Hope e29071ce35 Tidy up after linting. 2013-12-28 19:33:13 +01:00
Michael Hope bc13ffacc3 Merge branch 'master' of ssh://juju.net.nz/~/git/nppilot
Conflicts:
	roverif/pwmin.cc
2013-12-28 19:32:44 +01:00