glider

package
v0.0.0-...-691abe2 Latest Latest
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 Go to latest Published: May 16, 2021 License: MIT Imports: 23 Imported by: 0

Documentation

Overview

Control for the ailerons

Index

Constants

View Source 
const (
	ADXL345_RATE_1600HZ Adxl345Rate = 0x0F
	ADXL345_RATE_800HZ              = 0x0E
	ADXL345_RATE_400HZ              = 0x0D
	ADXL345_RATE_200HZ              = 0x0C
	ADXL345_RATE_100HZ              = 0x0B
	ADXL345_RATE_50HZ               = 0x0A
	ADXL345_RATE_25HZ               = 0x09
)
View Source 
const (
	ADXL345_RANGE_2G  Adxl345Range = 0x00
	ADXL345_RANGE_4G               = 0x01
	ADXL345_RANGE_8G               = 0x02
	ADXL345_RANGE_16G              = 0x03
)
View Source 
const (
	// Copied from the data sheet. Unused values are commented out.
	ADXL345_DEVID = 0x00 // Device ID.
	// 0x01 to 0x01C are reserved. Do not access.
	//ADXL345_THRESH_TAP = 0x1D // Tap threshold.
	//ADXL345_OFSX = 0x1E  // X-axis offset.
	//ADXL345_OFSY = 0x1F  // Y-axis offset.
	//ADXL345_OFSZ = 0x20  // Z-axis offset.
	//ADXL345_DUR = 0x21  // Tap duration.
	//ADXL345_Latent = 0x22  // Tap latency.
	//ADXL345_Window = 0x23  // Tap window.
	//ADXL345_THRESH_ACT = 0x24  // Activity threshold.
	//ADXL345_THRESH_INACT = 0x25  // Inactivity threshold.
	//ADXL345_TIME_INACT = 0x26  // Inactivity time.
	//ADXL345_ACT_INACT_CTL = 0x27  // Axis enable control for activity and inactivity detection.
	//ADXL345_THRESH_FF = 0x28  // Free-fall threshold.
	//ADXL345_TIME_FF = 0x29  // Free-fall time.
	//ADXL345_TAP_AXES = 0x2A  // Axis control for tap/double tap.
	//ADXL345_ACT_TAP_STATUS = 0x2B  // Source of tap/double tap.
	ADXL345_BW_RATE   = 0x2C // Data rate and power mode control.
	ADXL345_POWER_CTL = 0x2D // Power-saving features control.
	//ADXL345_INT_ENABLE = 0x2E  // Interrupt enable control.
	//ADXL345_INT_MAP = 0x2F  // Interrupt mapping control.
	//ADXL345_INT_SOURCE = 0x30  // Source of interrupts.
	ADXL345_DATA_FORMAT = 0x31 // Data format control.
	ADXL345_DATAX0      = 0x32 // X-Axis Data 0.
	ADXL345_DATAX1      = 0x33 // X-Axis Data 1.
	ADXL345_DATAY0      = 0x34 // Y-Axis Data 0.
	ADXL345_DATAY1      = 0x35 // Y-Axis Data 1.
	ADXL345_DATAZ0      = 0x36 // Z-Axis Data 0.
	ADXL345_DATAZ1      = 0x37 // Z-Axis Data 1.

)

ADXL345 registers

View Source 
const (
	HMC5883L_RATE_0_75_HZ Hmc5883LRate = 0x00
	HMC5883L_RATE_1_5HZ                = 0x01
	HMC5883L_RATE_3_HZ                 = 0x02
	HMC5883L_RATE_7_5_HZ               = 0x03
	HMC5883L_RATE_15_HZ                = 0x04
	HMC5883L_RATE_30_HZ                = 0x05
	HMC5883L_RATE_75_HZ                = 0x06
)
View Source 
const (
	HMC5883L_GAIN_0_88_GA Hmc5883LGain = 0b000
	HMC5883L_GAIN_1_3_GA               = 0b001
	HMC5883L_GAIN_1_9_GA               = 0b010
	HMC5883L_GAIN_2_5_GA               = 0b011
	HMC5883L_GAIN_4_0_GA               = 0b100
	HMC5883L_GAIN_4_7_GA               = 0b101
	HMC5883L_GAIN_5_6_GA               = 0b110
	HMC5883L_GAIN_8_1_GA               = 0b111
	// The physic package uses Tesla, and 1 Tesla = 10,000 Ga
	HMC5883L_GAIN_0_000088_T Hmc5883LGain = HMC5883L_GAIN_0_88_GA
	HMC5883L_GAIN_0_00013_T               = HMC5883L_GAIN_1_3_GA
	HMC5883L_GAIN_0_00019_T               = HMC5883L_GAIN_1_9_GA
	HMC5883L_GAIN_0_00025_T               = HMC5883L_GAIN_2_5_GA
	HMC5883L_GAIN_0_00040_T               = HMC5883L_GAIN_4_0_GA
	HMC5883L_GAIN_0_00047_T               = HMC5883L_GAIN_4_7_GA
	HMC5883L_GAIN_0_00056_T               = HMC5883L_GAIN_5_6_GA
	HMC5883L_GAIN_0_00081_T               = HMC5883L_GAIN_8_1_GA
)
View Source 
const (
	HMC5883L_MODE_CONTINUOUS Hmc5883LMeasurementMode = 0b00
	HMC5883L_MODE_SINGLE                             = 0b01
	HMC5883L_MODE_IDLE                               = 0b10
)
View Source 
const (
	HMC5883L_SAMPLES_1 Hmc5883LSampleAveraging = 0b00
	HMC5883L_SAMPLES_2                         = 0b01
	HMC5883L_SAMPLES_4                         = 0b10
	HMC5883L_SAMPLES_8                         = 0b11
)
View Source 
const (
	// Copied from the data sheet. Unused values are commented out.
	HMC5883L_CONFIGURATION_REGISTER_A  = 0
	HMC5883L_CONFIGURATION_REGISTER_B  = 1
	HMC5883L_MODE_REGISTER             = 2
	HMC5883L_DATA_OUTPUT_XMSB_REGISTER = 3
	HMC5883L_DATA_OUTPUT_XLSB_REGISTER = 4
	HMC5883L_DATA_OUTPUT_ZMSB_REGISTER = 5
	HMC5883L_DATA_OUTPUT_ZLSB_REGISTER = 6
	HMC5883L_DATA_OUTPUT_YMSB_REGISTER = 7
	HMC5883L_DATA_OUTPUT_YLSB_REGISTER = 8
	HMC5883L_STATUS_REGISTER           = 9
	HMC5883L_IDENTIFICATION_REGISTER_A = 10
	HMC5883L_IDENTIFICATION_REGISTER_B = 11
	HMC5883L_IDENTIFICATION_REGISTER_C = 12
)

HMC5883L registers

View Source 
const (
	DISTANCE_FORMULA_HAVERSINE distanceFormula_t = iota
	DISTANCE_FORMULA_SPHERICAL_LAW_OF_COSINES
	DISTANCE_FORMULA_EQUIRECTANGULAR
	DISTANCE_FORMULA_CACHED_EQUIRECTANGULAR
)
View Source 
const (
	BEARING_FORMULA_EQUIRECTANGULAR bearingFormula_t = iota
	BEARING_FORMULA_CACHED_EQUIRECTANGULAR
)
View Source 
const ADXL345_ADDRESS = 0x53
View Source 
const HERTZ = 50
View Source 
const HMC5883L_READ_ADDRESS = 0x1E
View Source 
const MULTIPLIER = 20000

Originally I had MULTIPLIER set to 100_000 but then my cycle wouldn't come out as 20 us, instead it was around 16? Checked with an oscilloscope. Maybe some overflow.

View Source 
const PI = 3.14159265358979
View Source 
const RADIUS_M = 6371e3
View Source 
const US_PER_CYCLE = (1000 * 1000) / HERTZ
View Source 
const US_PER_DEGREE = 800 / 90

Variables

View Source 
var Logger = newLogger()

Functions

func ConfigureLogger 

func ConfigureLogger(file *os.File)

func IsPi 

func IsPi() bool

func LoadConfiguration 

func LoadConfiguration(configurationReader io.Reader) error

func SetLed 

func SetLed(on bool) error

func ToCoordinateRadians 

func ToCoordinateRadians(coordinate Coordinate) float64

func ToggleLed 

func ToggleLed() error

Types

type Adxl345 

type Adxl345 struct {
	Mmr mmr.Dev8
}

func NewAdxl345 

func NewAdxl345(bus i2c.Bus) (*Adxl345, error)

func (*Adxl345) Sense 

func (a *Adxl345) Sense() (physic.Speed, physic.Speed, physic.Speed, error)

func (*Adxl345) SenseRaw 

func (a *Adxl345) SenseRaw() (int16, int16, int16, error)

func (*Adxl345) SetRange 

func (a *Adxl345) SetRange(newRange Adxl345Range) error

func (*Adxl345) SetRate 

func (a *Adxl345) SetRate(newRate Adxl345Rate) error

type Adxl345Range 

type Adxl345Range int

Measurement Range

type Adxl345Rate 

type Adxl345Rate int

Device bandwidth and output data rates

type Axes 

type Axes struct {
	Pitch Radians
	Roll  Radians
	Yaw   Radians
}

type Control 

type Control struct {
	// contains filtered or unexported fields
}

func NewControl 

func NewControl() *Control

func (*Control) SetLeft 

func (control *Control) SetLeft(angle_r Radians) error

func (*Control) SetRight 

func (control *Control) SetRight(angle_r Radians) error

type Coordinate 

type Coordinate = float64

type Degrees 

type Degrees = float64

Just use float64 because all of the math libraries use it

func ToDegrees 

func ToDegrees(radians Radians) Degrees

type Hmc5883L 

type Hmc5883L struct {
	Mmr mmr.Dev8
	// contains filtered or unexported fields
}

func NewHmc5883L 

func NewHmc5883L(bus i2c.Bus) (*Hmc5883L, error)

func (*Hmc5883L) Sense 

func (a *Hmc5883L) Sense() (physic.MagneticFluxDensity, physic.MagneticFluxDensity, physic.MagneticFluxDensity, error)

func (*Hmc5883L) SenseRaw 

func (a *Hmc5883L) SenseRaw() (int16, int16, int16, error)

func (*Hmc5883L) SenseRawSlow 

func (a *Hmc5883L) SenseRawSlow() (int16, int16, int16, error)

This method is disabled because it's probably slower than the above

func (*Hmc5883L) SetMeasurementMode 

func (a *Hmc5883L) SetMeasurementMode(newMode Hmc5883LMeasurementMode) error

func (*Hmc5883L) SetRange 

func (a *Hmc5883L) SetRange(newGain Hmc5883LGain) error

func (*Hmc5883L) SetRate 

func (a *Hmc5883L) SetRate(newRate Hmc5883LRate) error

func (*Hmc5883L) SetSampleAveraging 

func (a *Hmc5883L) SetSampleAveraging(newSample Hmc5883LSampleAveraging) error

type Hmc5883LGain 

type Hmc5883LGain int

Measurement gain

type Hmc5883LMeasurementMode 

type Hmc5883LMeasurementMode int

Measurement modes

type Hmc5883LRate 

type Hmc5883LRate int

Device bandwidth and output data rates

type Hmc5883LSampleAveraging 

type Hmc5883LSampleAveraging int

Sample averaging modes

type LedStatusIndicator 

type LedStatusIndicator struct {
	// contains filtered or unexported fields
}

func NewLedStatusIndicator 

func NewLedStatusIndicator(blinksToShow uint8) *LedStatusIndicator

func (*LedStatusIndicator) BlinkState 

func (statusIndicator *LedStatusIndicator) BlinkState(newBlinkCount uint8) bool

Continues blinking the state. If the blink finishes, it will start blinking the next state.

func (*LedStatusIndicator) Reset 

func (statusIndicator *LedStatusIndicator) Reset()

type Meters 

type Meters = float64

func Distance 

func Distance(p1, p2 Point) Meters

Calculate the distance between two points

type MetersPerSecond 

type MetersPerSecond = float64

type MultiLogger 

type MultiLogger struct {
	// contains filtered or unexported fields
}

func (*MultiLogger) Critical 

func (logger *MultiLogger) Critical(msg string)

func (*MultiLogger) Criticalf 

func (logger *MultiLogger) Criticalf(msg string, args ...interface{})

func (*MultiLogger) Debug 

func (*MultiLogger) Debug(msg string)

func (*MultiLogger) Debugf 

func (*MultiLogger) Debugf(msg string, args ...interface{})

func (*MultiLogger) Error 

func (logger *MultiLogger) Error(msg string)

func (*MultiLogger) Errorf 

func (logger *MultiLogger) Errorf(msg string, args ...interface{})

func (*MultiLogger) Info 

func (*MultiLogger) Info(msg string)

func (*MultiLogger) Infof 

func (*MultiLogger) Infof(msg string, args ...interface{})

func (*MultiLogger) Warning 

func (logger *MultiLogger) Warning(msg string)

func (*MultiLogger) Warningf 

func (logger *MultiLogger) Warningf(msg string, args ...interface{})

type Pilot 

type Pilot struct {
	// contains filtered or unexported fields
}

func NewPilot 

func NewPilot() (*Pilot, error)

func (*Pilot) RunGlideTestForever 

func (pilot *Pilot) RunGlideTestForever()

Run the local glide test, e.g. when throwing the plane down a hill

type PilotState 

type PilotState uint8

func (PilotState) String 

func (ps PilotState) String() string

type Point 

type Point struct {
	Latitude  Coordinate
	Longitude Coordinate
	Altitude  Meters
}

type Radians 

type Radians = float64

func Course 

func Course(p1, p2 Point) Radians

Returns the course from p1 to p2

func GetAngleTo 

func GetAngleTo(bearing_r, goal_r Radians) Radians

func ToRadians 

func ToRadians(degrees Degrees) Radians

type StringWriter 

type StringWriter struct {
	Line int
}

func (*StringWriter) IndentLine 

func (writer *StringWriter) IndentLine(str string)

func (*StringWriter) WriteLine 

func (writer *StringWriter) WriteLine(str string)

type Telemetry 

type Telemetry struct {
	HasGpsLock bool
	// contains filtered or unexported fields
}

func NewTelemetry 

func NewTelemetry() (*Telemetry, error)

func (*Telemetry) GetAxes 

func (telemetry *Telemetry) GetAxes() (Axes, error)

func (*Telemetry) GetFilteredAxes 

func (telemetry *Telemetry) GetFilteredAxes() (Axes, error)

func (*Telemetry) GetPosition 

func (telemetry *Telemetry) GetPosition() Point

func (*Telemetry) GetSpeed 

func (telemetry *Telemetry) GetSpeed() MetersPerSecond

func (*Telemetry) GetTimestamp 

func (telemetry *Telemetry) GetTimestamp() int64

func (*Telemetry) ParseQueuedMessage 

func (telemetry *Telemetry) ParseQueuedMessage() (bool, error)

Parse any waiting GPS messages. Users need not call this, but may.

type TurnDirection 

type TurnDirection uint8
const (
	Left TurnDirection = iota
	Right
	Straight
	UTurn
)

func GetTurnDirection 

func GetTurnDirection(bearing_r Radians, start, end Point) TurnDirection

Returns the direction needed to turn to get from start to end

func (TurnDirection) String 

func (td TurnDirection) String() string

type Waypoints 

type Waypoints struct {
	// contains filtered or unexported fields
}

Continues through several waypoints, then repeats the last few

func NewWaypoints 

func NewWaypoints() *Waypoints

func (*Waypoints) GetWaypoint 

func (waypoints *Waypoints) GetWaypoint() Point

func (*Waypoints) Next 

func (waypoints *Waypoints) Next()

func (*Waypoints) Reached 

func (waypoints *Waypoints) Reached(current Point) bool

Source Files

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