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.
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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.
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Turned the logging back on.
2014-01-14 19:59:29 +01:00
Michael Hope
0b4e52e848
Pushed the reference into the demands struct.
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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.
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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.
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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
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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.
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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
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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
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latitude or longitude.
2014-01-11 19:00:45 +01:00
Michael Hope
b07a2f29a7
Enable interrupts before running.
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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.
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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().
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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.
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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.
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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.
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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.
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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
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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.
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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.
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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.
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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.
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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.
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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
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Conflicts:
roverif/pwmin.cc
2013-12-28 19:32:44 +01:00