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merged changes from multiwii_dev 20120504. this means new serial protocol, new buzzer code 

fixed spacing in ledring.c
defaulted acc_lpf to 100
correction in vtail4 mix (from multiwii_dev)
trashed more unused LOG_VALUES crap
no binary build since this is untested / non-flight-tested.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@152 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-05-05 12:47:52 +00:00
parent 910df63a7f
commit 0d7460960e
13 changed files with 694 additions and 172 deletions
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169
baseflight.uvopt
View File

@ -134,7 +134,7 @@
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115
src/buzzer.c Normal file
View File

@ -0,0 +1,115 @@
#include "board.h"
#include "mw.h"
void buzzer(uint8_t warn_vbat)
{
static uint16_t ontime, offtime, beepcount, repeat, repeatcounter;
static uint32_t buzzerLastToggleTime;
static uint8_t buzzerIsOn = 0, activateBuzzer, beeperOnBox, i, last_rcOptions[CHECKBOXITEMS], warn_noGPSfix = 0, warn_failsafe = 0;
//===================== Beeps for changing rcOptions =====================
#if defined(RCOPTIONSBEEP)
if (last_rcOptions[i] != rcOptions[i]) {
toggleBeep = 1;
}
last_rcOptions[i] = rcOptions[i];
i++;
if (i >= CHECKBOXITEMS)
i = 0;
#endif
//===================== BeeperOn via rcOptions =====================
if (rcOptions[BOXBEEPERON]) { // unconditional beeper on via AUXn switch
beeperOnBox = 1;
} else {
beeperOnBox = 0;
}
//===================== Beeps for failsafe =====================
#if defined(FAILSAFE)
if (failsafeCnt > (5 * FAILSAVE_DELAY) && armed == 1) {
warn_failsafe = 1; //set failsafe warning level to 1 while landing
if (failsafeCnt > 5 * (FAILSAVE_DELAY + FAILSAVE_OFF_DELAY))
warn_failsafe = 2; //start "find me" signal after landing
}
if (failsafeCnt > (5 * FAILSAVE_DELAY) && armed == 0)
warn_failsafe = 2; // tx turned off while motors are off: start "find me" signal
if (failsafeCnt == 0)
warn_failsafe = 0; // turn off alarm if TX is okay
#endif
//===================== GPS fix notification handling =====================
if (sensors(SENSOR_GPS)) {
if ((GPSModeHome || GPSModeHold) && !GPS_fix) { //if no fix and gps funtion is activated: do warning beeps.
warn_noGPSfix = 1;
} else {
warn_noGPSfix = 0;
}
}
//===================== Main Handling Block =====================
repeat = 1; // set repeat to default
ontime = 100; // set offtime to default
//the order of the below is the priority from high to low, the last entry has the lowest priority, only one option can be active at the same time
if (warn_failsafe == 2) {
activateBuzzer = 1;
offtime = 2000;
ontime = 300;
repeat = 1;
} //failsafe "find me" signal
else if (warn_failsafe == 1) {
activateBuzzer = 1;
offtime = 50;
} //failsafe landing active
else if (warn_noGPSfix == 1) {
activateBuzzer = 1;
offtime = 10;
} else if (beeperOnBox == 1) {
activateBuzzer = 1;
offtime = 50;
} //beeperon
else if (warn_vbat == 4) {
activateBuzzer = 1;
offtime = 500;
repeat = 3;
} else if (warn_vbat == 2) {
activateBuzzer = 1;
offtime = 1000;
repeat = 2;
} else if (warn_vbat == 1) {
activateBuzzer = 1;
offtime = 2000;
} else if (toggleBeep > 0) {
activateBuzzer = 1;
ontime = 50;
offtime = 50;
} //fast confirmation beep
else {
activateBuzzer = 0;
}
if (activateBuzzer) {
if (repeatcounter > 1 && !buzzerIsOn && (millis() >= (buzzerLastToggleTime + 80))) { // if the buzzer is off and there is a short pause neccessary (multipe buzzes)
buzzerIsOn = 1;
BEEP_ON;
buzzerLastToggleTime = millis(); // save the time the buzer turned on
repeatcounter--;
} else if (!buzzerIsOn && (millis() >= (buzzerLastToggleTime + offtime))) { // Buzzer is off and long pause time is up -> turn it on
buzzerIsOn = 1;
BEEP_ON;
buzzerLastToggleTime = millis(); // save the time the buzer turned on
repeatcounter = repeat; //set the amount of repeats
} else if (buzzerIsOn && (millis() >= buzzerLastToggleTime + ontime)) { //Buzzer is on and time is up -> turn it off
buzzerIsOn = 0;
BEEP_OFF;
buzzerLastToggleTime = millis(); // save the time the buzer turned on
if (toggleBeep > 0)
beepcount++; // only increment if confirmation beep, the rest is endless while the condition is given
}
if (beepcount >= toggleBeep) { //confirmation flag is 0,1 or 2
beepcount = 0; //reset the counter for the next time
toggleBeep = 0; //reset the flag after all beeping is done
}
} else { //no beeping neccessary:reset everything (just in case)
beepcount = 0; //reset the counter for the next time
BEEP_OFF;
buzzerIsOn = 0;
}
}

2
src/cli.c
View File

@ -346,7 +346,7 @@ static void cliMixer(char *cmdline)
static void cliSave(char *cmdline) static void cliSave(char *cmdline)
{ {
uartPrint("Saving..."); uartPrint("Saving...");
writeParams(); writeParams(0);
uartPrint("\r\nRebooting..."); uartPrint("\r\nRebooting...");
delay(10); delay(10);
systemReset(false); systemReset(false);

42
src/config.c
View File

@ -13,7 +13,7 @@ config_t cfg;
const char rcChannelLetters[] = "AERT1234"; const char rcChannelLetters[] = "AERT1234";
static uint32_t enabledSensors = 0; static uint32_t enabledSensors = 0;
static uint8_t checkNewConf = 13; uint8_t checkNewConf = 14;
void parseRcChannels(const char *input) void parseRcChannels(const char *input)
{ {
@ -33,15 +33,26 @@ void readEEPROM(void)
// Read flash // Read flash
memcpy(&cfg, (char *)FLASH_WRITE_ADDR, sizeof(config_t)); memcpy(&cfg, (char *)FLASH_WRITE_ADDR, sizeof(config_t));
for (i = 0; i < 7; i++) for(i = 0; i < 6; i++)
lookupRX[i] = (2500 + cfg.rcExpo8 * (i * i - 25)) * i * (int32_t) cfg.rcRate8 / 1250; lookupPitchRollRC[i] = (2500 + cfg.rcExpo8 * (i * i - 25)) * i * (int32_t)cfg.rcRate8 / 2500;
for(i = 0; i < 11; i++) {
int16_t tmp = 10 * i - cfg.thrMid8;
uint8_t y = 1;
if (tmp > 0)
y = 100 - cfg.thrMid8;
if (tmp < 0)
y = cfg.thrMid8;
lookupThrottleRC[i] = 10 * cfg.thrMid8 + tmp * (100 - cfg.thrExpo8 + (int32_t)cfg.thrExpo8 * (tmp * tmp) / (y * y) ) / 10; // [0;1000]
lookupThrottleRC[i] = cfg.minthrottle + (int32_t)(cfg.maxthrottle - cfg.minthrottle)* lookupThrottleRC[i] / 1000; // [0;1000] -> [MINTHROTTLE;MAXTHROTTLE]
}
cfg.wing_left_mid = constrain(cfg.wing_left_mid, WING_LEFT_MIN, WING_LEFT_MAX); //LEFT cfg.wing_left_mid = constrain(cfg.wing_left_mid, WING_LEFT_MIN, WING_LEFT_MAX); //LEFT
cfg.wing_right_mid = constrain(cfg.wing_right_mid, WING_RIGHT_MIN, WING_RIGHT_MAX); //RIGHT cfg.wing_right_mid = constrain(cfg.wing_right_mid, WING_RIGHT_MIN, WING_RIGHT_MAX); //RIGHT
cfg.tri_yaw_middle = constrain(cfg.tri_yaw_middle, TRI_YAW_CONSTRAINT_MIN, TRI_YAW_CONSTRAINT_MAX); //REAR cfg.tri_yaw_middle = constrain(cfg.tri_yaw_middle, TRI_YAW_CONSTRAINT_MIN, TRI_YAW_CONSTRAINT_MAX); //REAR
} }
void writeParams(void) void writeParams(uint8_t b)
{ {
FLASH_Status status; FLASH_Status status;
uint32_t i; uint32_t i;
@ -61,7 +72,8 @@ void writeParams(void)
FLASH_Lock(); FLASH_Lock();
readEEPROM(); readEEPROM();
blinkLED(15, 20, 1); if (b)
blinkLED(15, 20, 1);
} }
void checkFirstTime(bool reset) void checkFirstTime(bool reset)
@ -86,7 +98,7 @@ void checkFirstTime(bool reset)
cfg.I8[PITCH] = 30; cfg.I8[PITCH] = 30;
cfg.D8[PITCH] = 23; cfg.D8[PITCH] = 23;
cfg.P8[YAW] = 85; cfg.P8[YAW] = 85;
cfg.I8[YAW] = 0; cfg.I8[YAW] = 45;
cfg.D8[YAW] = 0; cfg.D8[YAW] = 0;
cfg.P8[PIDALT] = 16; cfg.P8[PIDALT] = 16;
cfg.I8[PIDALT] = 15; cfg.I8[PIDALT] = 15;
@ -97,25 +109,25 @@ void checkFirstTime(bool reset)
cfg.P8[PIDVEL] = 0; cfg.P8[PIDVEL] = 0;
cfg.I8[PIDVEL] = 0; cfg.I8[PIDVEL] = 0;
cfg.D8[PIDVEL] = 0; cfg.D8[PIDVEL] = 0;
cfg.P8[PIDLEVEL] = 90; cfg.P8[PIDLEVEL] = 70;
cfg.I8[PIDLEVEL] = 45; cfg.I8[PIDLEVEL] = 10;
cfg.D8[PIDLEVEL] = 100; cfg.D8[PIDLEVEL] = 100;
cfg.P8[PIDMAG] = 40; cfg.P8[PIDMAG] = 40;
cfg.rcRate8 = 45; // = 0.9 in GUI cfg.rcRate8 = 90;
cfg.rcExpo8 = 65; cfg.rcExpo8 = 65;
cfg.rollPitchRate = 0; cfg.rollPitchRate = 0;
cfg.yawRate = 0; cfg.yawRate = 0;
cfg.dynThrPID = 0; cfg.dynThrPID = 0;
for (i = 0; i < CHECKBOXITEMS; i++) { cfg.thrMid8 = 50;
cfg.activate1[i] = 0; cfg.thrExpo8 = 0;
cfg.activate2[i] = 0; for (i = 0; i < CHECKBOXITEMS; i++)
} cfg.activate[i] = 0;
cfg.accTrim[0] = 0; cfg.accTrim[0] = 0;
cfg.accTrim[1] = 0; cfg.accTrim[1] = 0;
cfg.accZero[0] = 0; cfg.accZero[0] = 0;
cfg.accZero[1] = 0; cfg.accZero[1] = 0;
cfg.accZero[2] = 0; cfg.accZero[2] = 0;
cfg.acc_lpf_factor = 4; cfg.acc_lpf_factor = 100;
cfg.gyro_lpf = 42; cfg.gyro_lpf = 42;
cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y
cfg.vbatscale = 110; cfg.vbatscale = 110;
@ -163,7 +175,7 @@ void checkFirstTime(bool reset)
// serial(uart1) baudrate // serial(uart1) baudrate
cfg.serial_baudrate = 115200; cfg.serial_baudrate = 115200;
writeParams(); writeParams(0);
} }
bool sensors(uint32_t mask) bool sensors(uint32_t mask)

2
src/drv_adxl345.c
View File

@ -29,6 +29,7 @@
#define ADXL345_RANGE_16G 0x03 #define ADXL345_RANGE_16G 0x03
#define ADXL345_FIFO_STREAM 0x80 #define ADXL345_FIFO_STREAM 0x80
extern uint16_t acc_1G;
static void adxl345Init(void); static void adxl345Init(void);
static void adxl345Read(int16_t *accelData); static void adxl345Read(int16_t *accelData);
@ -67,6 +68,7 @@ static void adxl345Init(void)
i2cWrite(ADXL345_ADDRESS, ADXL345_DATA_FORMAT, ADXL345_FULL_RANGE | ADXL345_RANGE_8G); i2cWrite(ADXL345_ADDRESS, ADXL345_DATA_FORMAT, ADXL345_FULL_RANGE | ADXL345_RANGE_8G);
i2cWrite(ADXL345_ADDRESS, ADXL345_BW_RATE, ADXL345_RATE_100); i2cWrite(ADXL345_ADDRESS, ADXL345_BW_RATE, ADXL345_RATE_100);
} }
acc_1G = 265; // 3.3V operation
} }
uint8_t acc_samples = 0; uint8_t acc_samples = 0;

28
src/drv_ledring.c
View File

@ -21,25 +21,25 @@ void ledringState(void)
static uint8_t state; static uint8_t state;
if (state == 0) { if (state == 0) {
b[0] = 'z'; b[0] = 'z';
b[1] = (180 - heading) / 2; // 1 unit = 2 degrees; b[1] = (180 - heading) / 2; // 1 unit = 2 degrees;
i2cWriteBuffer(LED_RING_ADDRESS, 0xFF, 2, b); i2cWriteBuffer(LED_RING_ADDRESS, 0xFF, 2, b);
state = 1; state = 1;
} else if (state == 1) { } else if (state == 1) {
b[0] = 'y'; b[0] = 'y';
b[1] = constrain(angle[ROLL] / 10 + 90, 0, 180); b[1] = constrain(angle[ROLL] / 10 + 90, 0, 180);
b[2] = constrain(angle[PITCH] / 10 + 90, 0, 180); b[2] = constrain(angle[PITCH] / 10 + 90, 0, 180);
i2cWriteBuffer(LED_RING_ADDRESS, 0xFF, 3, b); i2cWriteBuffer(LED_RING_ADDRESS, 0xFF, 3, b);
state = 2; state = 2;
} else if (state == 2) { } else if (state == 2) {
b[0] = 'd'; // all unicolor GREEN b[0] = 'd'; // all unicolor GREEN
b[1] = 1; b[1] = 1;
if (armed) if (armed)
b[2] = 1; b[2] = 1;
else else
b[2] = 0; b[2] = 0;
i2cWriteBuffer(LED_RING_ADDRESS, 0xFF, 3, b); i2cWriteBuffer(LED_RING_ADDRESS, 0xFF, 3, b);
state = 0; state = 0;
} }
} }

6
src/gps.c
View File

@ -42,6 +42,12 @@ static void GPS_NewData(uint16_t c)
} }
} }
void GPS_reset_home_position(void)
{
GPS_latitude_home = GPS_latitude;
GPS_longitude_home = GPS_longitude;
}
/* this is an equirectangular approximation to calculate distance and bearing between 2 GPS points (lat/long) /* this is an equirectangular approximation to calculate distance and bearing between 2 GPS points (lat/long)
it's much more faster than an exact calculation it's much more faster than an exact calculation
the error is neglectible for few kilometers assuming a constant R for earth the error is neglectible for few kilometers assuming a constant R for earth

15
src/imu.c
View File

@ -4,6 +4,7 @@
int16_t gyroADC[3], accADC[3], accSmooth[3], magADC[3]; int16_t gyroADC[3], accADC[3], accSmooth[3], magADC[3];
int16_t acc_25deg = 0; int16_t acc_25deg = 0;
int32_t BaroAlt; int32_t BaroAlt;
int16_t sonarAlt; //to think about the unit
int32_t EstAlt; // in cm int32_t EstAlt; // in cm
int16_t BaroPID = 0; int16_t BaroPID = 0;
int32_t AltHold; int32_t AltHold;
@ -175,7 +176,7 @@ static void getEstimatedAttitude(void)
#if defined(MG_LPF_FACTOR) #if defined(MG_LPF_FACTOR)
static int16_t mgSmooth[3]; static int16_t mgSmooth[3];
#endif #endif
static float accTemp[3]; // projection of smoothed and normalized magnetic vector on x/y/z axis, as measured by magnetometer static float accLPF[3];
static uint32_t previousT; static uint32_t previousT;
uint32_t currentT = micros(); uint32_t currentT = micros();
float scale, deltaGyroAngle[3]; float scale, deltaGyroAngle[3];
@ -187,10 +188,8 @@ static void getEstimatedAttitude(void)
for (axis = 0; axis < 3; axis++) { for (axis = 0; axis < 3; axis++) {
deltaGyroAngle[axis] = gyroADC[axis] * scale; deltaGyroAngle[axis] = gyroADC[axis] * scale;
if (cfg.acc_lpf_factor > 0) { if (cfg.acc_lpf_factor > 0) {
accTemp[axis] = accTemp[axis] * (1.0f - (1.0f / cfg.acc_lpf_factor)) + accADC[axis] * (1.0f / cfg.acc_lpf_factor); accLPF[axis] = accLPF[axis] * (1.0f - (1.0f / cfg.acc_lpf_factor)) + accADC[axis] * (1.0f / cfg.acc_lpf_factor);
accSmooth[axis] = roundf(accTemp[axis]); accSmooth[axis] = accLPF[axis];
// accTemp[axis] = (accTemp[axis] - (accTemp[axis] >> cfg.acc_lpf_factor)) + accADC[axis];
// accSmooth[axis] = accTemp[axis] >> cfg.acc_lpf_factor;
} else { } else {
accSmooth[axis] = accADC[axis]; accSmooth[axis] = accADC[axis];
} }
@ -221,10 +220,8 @@ static void getEstimatedAttitude(void)
// If accel magnitude >1.4G or <0.6G and ACC vector outside of the limit range => we neutralize the effect of accelerometers in the angle estimation. // If accel magnitude >1.4G or <0.6G and ACC vector outside of the limit range => we neutralize the effect of accelerometers in the angle estimation.
// To do that, we just skip filter, as EstV already rotated by Gyro // To do that, we just skip filter, as EstV already rotated by Gyro
if ((36 < accMag && accMag < 196) || smallAngle25) { if ((36 < accMag && accMag < 196) || smallAngle25) {
for (axis = 0; axis < 3; axis++) { for (axis = 0; axis < 3; axis++)
// int16_t acc = accSmooth[axis]; EstG.A[axis] = (EstG.A[axis] * GYR_CMPF_FACTOR + accSmooth[axis]) * INV_GYR_CMPF_FACTOR;
EstG.A[axis] = (EstG.A[axis] * GYR_CMPF_FACTOR + accTemp[axis]) * INV_GYR_CMPF_FACTOR;
}
} }
if (sensors(SENSOR_MAG)) { if (sensors(SENSOR_MAG)) {

8
src/mixer.c
View File

@ -205,10 +205,10 @@ void mixTable(void)
break; break;
case MULTITYPE_VTAIL4: case MULTITYPE_VTAIL4:
motor[0] = PIDMIX(+0, +1, -1 / 2); //REAR_R motor[0] = PIDMIX(+0, +1, -1 / 2); //REAR_R
motor[1] = PIDMIX(-1, -1, +2 / 10); //FRONT_R motor[1] = PIDMIX(-1, -1, +0); //FRONT_R
motor[2] = PIDMIX(+0, +1, +1 / 2); //REAR_L motor[2] = PIDMIX(+0, +1, +1 / 2); //REAR_L
motor[3] = PIDMIX(+1, -1, -2 / 10); //FRONT_L motor[3] = PIDMIX(+1, -1, -0); //FRONT_L
break; break;
case MULTITYPE_GIMBAL: case MULTITYPE_GIMBAL:

84
src/mw.c
View File

@ -8,6 +8,7 @@
int16_t debug1, debug2, debug3, debug4; int16_t debug1, debug2, debug3, debug4;
uint8_t buzzerState = 0; uint8_t buzzerState = 0;
uint8_t toggleBeep = 0;
uint32_t currentTime = 0; uint32_t currentTime = 0;
uint32_t previousTime = 0; uint32_t previousTime = 0;
uint16_t cycleTime = 0; // this is the number in micro second to achieve a full loop, it can differ a little and is taken into account in the PID loop uint16_t cycleTime = 0; // this is the number in micro second to achieve a full loop, it can differ a little and is taken into account in the PID loop
@ -16,6 +17,7 @@ uint8_t GPSModeHold = 0; // if GPS PH is activated
uint8_t headFreeMode = 0; // if head free mode is a activated uint8_t headFreeMode = 0; // if head free mode is a activated
uint8_t passThruMode = 0; // if passthrough mode is activated uint8_t passThruMode = 0; // if passthrough mode is activated
int16_t headFreeModeHold; int16_t headFreeModeHold;
int16_t annex650_overrun_count = 0; int16_t annex650_overrun_count = 0;
uint8_t armed = 0; uint8_t armed = 0;
uint8_t vbat; // battery voltage in 0.1V steps uint8_t vbat; // battery voltage in 0.1V steps
@ -24,7 +26,8 @@ volatile int16_t failsafeCnt = 0;
int16_t failsafeEvents = 0; int16_t failsafeEvents = 0;
int16_t rcData[8] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 }; // interval [1000;2000] int16_t rcData[8] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 }; // interval [1000;2000]
int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
int16_t lookupRX[7]; // lookup table for expo & RC rate int16_t lookupPitchRollRC[6]; // lookup table for expo & RC rate PITCH+ROLL
int16_t lookupThrottleRC[11]; // lookup table for expo & mid THROTTLE
rcReadRawDataPtr rcReadRawFunc = NULL; // receive data from default (pwm/ppm) or additional (spek/sbus/?? receiver drivers) rcReadRawDataPtr rcReadRawFunc = NULL; // receive data from default (pwm/ppm) or additional (spek/sbus/?? receiver drivers)
uint8_t dynP8[3], dynI8[3], dynD8[3]; uint8_t dynP8[3], dynI8[3], dynD8[3];
@ -50,7 +53,8 @@ uint16_t GPS_distanceToHome, GPS_distanceToHold; // distance to home or h
int16_t GPS_directionToHome, GPS_directionToHold; // direction to home or hol point in degrees int16_t GPS_directionToHome, GPS_directionToHold; // direction to home or hol point in degrees
uint16_t GPS_altitude, GPS_speed; // altitude in 0.1m and speed in 0.1m/s - Added by Mis uint16_t GPS_altitude, GPS_speed; // altitude in 0.1m and speed in 0.1m/s - Added by Mis
uint8_t GPS_update = 0; // it's a binary toogle to distinct a GPS position update uint8_t GPS_update = 0; // it's a binary toogle to distinct a GPS position update
int16_t GPS_angle[2]; // it's the angles that must be applied for GPS correction int16_t GPS_angle[2] = { 0, 0 }; // it's the angles that must be applied for GPS correction
uint16_t GPS_ground_course = 0; // degrees*10
//Automatic ACC Offset Calibration //Automatic ACC Offset Calibration
// ********************** // **********************
@ -79,10 +83,13 @@ void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat)
} }
} }
#define BREAKPOINT 1500
// this code is executed at each loop and won't interfere with control loop if it lasts less than 650 microseconds // this code is executed at each loop and won't interfere with control loop if it lasts less than 650 microseconds
void annexCode(void) void annexCode(void)
{ {
static uint32_t buzzerTime, calibratedAccTime; static uint32_t buzzerTime, calibratedAccTime;
uint16_t tmp,tmp2;
static uint8_t vbatTimer = 0; static uint8_t vbatTimer = 0;
static uint8_t buzzerFreq; //delay between buzzer ring static uint8_t buzzerFreq; //delay between buzzer ring
uint8_t axis, prop1, prop2; uint8_t axis, prop1, prop2;
@ -92,18 +99,19 @@ void annexCode(void)
uint8_t i; uint8_t i;
// PITCH & ROLL only dynamic PID adjustemnt, depending on throttle value // PITCH & ROLL only dynamic PID adjustemnt, depending on throttle value
if (rcData[THROTTLE] < 1500) { if (rcData[THROTTLE] < BREAKPOINT) {
prop2 = 100; prop2 = 100;
} else if (rcData[THROTTLE] < 2000) {
prop2 = 100 - (uint16_t) cfg.dynThrPID * (rcData[THROTTLE] - 1500) / 500;
} else { } else {
prop2 = 100 - cfg.dynThrPID; if (rcData[THROTTLE] < 2000) {
prop2 = 100 - (uint16_t)cfg.dynThrPID * (rcData[THROTTLE] - BREAKPOINT) / (2000 - BREAKPOINT);
} else {
prop2 = 100 - cfg.dynThrPID;
}
} }
for (axis = 0; axis < 3; axis++) { for (axis = 0; axis < 3; axis++) {
uint16_t tmp = min(abs(rcData[axis] - cfg.midrc), 500); tmp = min(abs(rcData[axis] - cfg.midrc), 500);
if (axis != 2) { // ROLL & PITCH if (axis != 2) { // ROLL & PITCH
uint16_t tmp2;
if (cfg.deadband) { if (cfg.deadband) {
if (tmp > cfg.deadband) { if (tmp > cfg.deadband) {
tmp -= cfg.deadband; tmp -= cfg.deadband;
@ -111,8 +119,9 @@ void annexCode(void)
tmp = 0; tmp = 0;
} }
} }
tmp2 = tmp / 100; tmp2 = tmp / 100;
rcCommand[axis] = lookupRX[tmp2] + (tmp - tmp2 * 100) * (lookupRX[tmp2 + 1] - lookupRX[tmp2]) / 100; rcCommand[axis] = lookupPitchRollRC[tmp2] + (tmp - tmp2 * 100) * (lookupPitchRollRC[tmp2 + 1] - lookupPitchRollRC[tmp2]) / 100;
prop1 = 100 - (uint16_t) cfg.rollPitchRate * tmp / 500; prop1 = 100 - (uint16_t) cfg.rollPitchRate * tmp / 500;
prop1 = (uint16_t)prop1 * prop2 / 100; prop1 = (uint16_t)prop1 * prop2 / 100;
} else { // YAW } else { // YAW
@ -131,7 +140,12 @@ void annexCode(void)
if (rcData[axis] < cfg.midrc) if (rcData[axis] < cfg.midrc)
rcCommand[axis] = -rcCommand[axis]; rcCommand[axis] = -rcCommand[axis];
} }
rcCommand[THROTTLE] = cfg.minthrottle + (int32_t)(cfg.maxthrottle - cfg.minthrottle) * (rcData[THROTTLE] - cfg.mincheck) / (2000 - cfg.mincheck);
tmp = constrain(rcData[THROTTLE], cfg.mincheck, 2000);
tmp = (uint32_t)(tmp - cfg.mincheck) * 1000 / (2000 - cfg.mincheck); // [MINCHECK;2000] -> [0;1000]
tmp2 = tmp / 100;
rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100; // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]
// rcCommand[THROTTLE] = cfg.minthrottle + (int32_t)(cfg.maxthrottle - cfg.minthrottle) * (rcData[THROTTLE] - cfg.mincheck) / (2000 - cfg.mincheck);
if (headFreeMode) { if (headFreeMode) {
float radDiff = (heading - headFreeModeHold) * M_PI / 180.0f; float radDiff = (heading - headFreeModeHold) * M_PI / 180.0f;
@ -157,6 +171,8 @@ void annexCode(void)
BEEP_OFF; BEEP_OFF;
} else } else
buzzerFreq = 4; // low battery buzzerFreq = 4; // low battery
#if 0
if (buzzerFreq) { if (buzzerFreq) {
if (buzzerState && (currentTime > buzzerTime + 250000)) { if (buzzerState && (currentTime > buzzerTime + 250000)) {
buzzerState = 0; buzzerState = 0;
@ -168,8 +184,11 @@ void annexCode(void)
buzzerTime = currentTime; buzzerTime = currentTime;
} }
} }
#endif
} }
buzzer(buzzerFreq); // external buzzer routine that handles buzzer events globally now
if ((calibratingA > 0 && sensors(SENSOR_ACC)) || (calibratingG > 0)) { // Calibration phasis if ((calibratingA > 0 && sensors(SENSOR_ACC)) || (calibratingG > 0)) { // Calibration phasis
LED0_TOGGLE; LED0_TOGGLE;
} else { } else {
@ -290,8 +309,11 @@ void loop(void)
errorAngleI[PITCH] = 0; errorAngleI[PITCH] = 0;
rcDelayCommand++; rcDelayCommand++;
if (rcData[YAW] < cfg.mincheck && rcData[PITCH] < cfg.mincheck && armed == 0) { if (rcData[YAW] < cfg.mincheck && rcData[PITCH] < cfg.mincheck && armed == 0) {
if (rcDelayCommand == 20) if (rcDelayCommand == 20) {
calibratingG = 400; calibratingG = 400;
if (feature(FEATURE_GPS))
GPS_reset_home_position();
}
} else if (feature(FEATURE_INFLIGHT_ACC_CAL) && (armed == 0 && rcData[YAW] < cfg.mincheck && rcData[PITCH] > cfg.maxcheck && rcData[ROLL] > cfg.maxcheck)) { } else if (feature(FEATURE_INFLIGHT_ACC_CAL) && (armed == 0 && rcData[YAW] < cfg.mincheck && rcData[PITCH] > cfg.maxcheck && rcData[ROLL] > cfg.maxcheck)) {
if (rcDelayCommand == 20) { if (rcDelayCommand == 20) {
if (AccInflightCalibrationMeasurementDone) { // trigger saving into eeprom after landing if (AccInflightCalibrationMeasurementDone) { // trigger saving into eeprom after landing
@ -300,13 +322,13 @@ void loop(void)
} else { } else {
AccInflightCalibrationArmed = !AccInflightCalibrationArmed; AccInflightCalibrationArmed = !AccInflightCalibrationArmed;
if (AccInflightCalibrationArmed) { if (AccInflightCalibrationArmed) {
blinkLED(10, 1, 2); toggleBeep = 2;
} else { } else {
blinkLED(10, 10, 3); toggleBeep = 3;
} }
} }
} }
} else if ((cfg.activate1[BOXARM] > 0) || (cfg.activate2[BOXARM] > 0)) { } else if (cfg.activate[BOXARM] > 0) {
if (rcOptions[BOXARM] && okToArm) { if (rcOptions[BOXARM] && okToArm) {
armed = 1; armed = 1;
headFreeModeHold = heading; headFreeModeHold = heading;
@ -334,28 +356,28 @@ void loop(void)
rcDelayCommand++; rcDelayCommand++;
} else if (rcData[PITCH] > cfg.maxcheck) { } else if (rcData[PITCH] > cfg.maxcheck) {
cfg.accTrim[PITCH] += 2; cfg.accTrim[PITCH] += 2;
writeParams(); writeParams(1);
#ifdef LEDRING #ifdef LEDRING
if (feature(FEATURE_LED_RING)) if (feature(FEATURE_LED_RING))
ledringBlink(); ledringBlink();
#endif #endif
} else if (rcData[PITCH] < cfg.mincheck) { } else if (rcData[PITCH] < cfg.mincheck) {
cfg.accTrim[PITCH] -= 2; cfg.accTrim[PITCH] -= 2;
writeParams(); writeParams(1);
#ifdef LEDRING #ifdef LEDRING
if (feature(FEATURE_LED_RING)) if (feature(FEATURE_LED_RING))
ledringBlink(); ledringBlink();
#endif #endif
} else if (rcData[ROLL] > cfg.maxcheck) { } else if (rcData[ROLL] > cfg.maxcheck) {
cfg.accTrim[ROLL] += 2; cfg.accTrim[ROLL] += 2;
writeParams(); writeParams(1);
#ifdef LEDRING #ifdef LEDRING
if (feature(FEATURE_LED_RING)) if (feature(FEATURE_LED_RING))
ledringBlink(); ledringBlink();
#endif #endif
} else if (rcData[ROLL] < cfg.mincheck) { } else if (rcData[ROLL] < cfg.mincheck) {
cfg.accTrim[ROLL] -= 2; cfg.accTrim[ROLL] -= 2;
writeParams(); writeParams(1);
#ifdef LEDRING #ifdef LEDRING
if (feature(FEATURE_LED_RING)) if (feature(FEATURE_LED_RING))
ledringBlink(); ledringBlink();
@ -364,12 +386,6 @@ void loop(void)
rcDelayCommand = 0; rcDelayCommand = 0;
} }
} }
#ifdef LOG_VALUES
if (cycleTime > cycleTimeMax)
cycleTimeMax = cycleTime; // remember highscore
if (cycleTime < cycleTimeMin)
cycleTimeMin = cycleTime; // remember lowscore
#endif
if (feature(FEATURE_INFLIGHT_ACC_CAL)) { if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
if (AccInflightCalibrationArmed && armed == 1 && rcData[THROTTLE] > cfg.mincheck && !rcOptions[BOXARM]) { // Copter is airborne and you are turning it off via boxarm : start measurement if (AccInflightCalibrationArmed && armed == 1 && rcData[THROTTLE] > cfg.mincheck && !rcOptions[BOXARM]) { // Copter is airborne and you are turning it off via boxarm : start measurement
@ -389,8 +405,11 @@ void loop(void)
} }
for (i = 0; i < CHECKBOXITEMS; i++) { for (i = 0; i < CHECKBOXITEMS; i++) {
rcOptions[i] = (((rcData[AUX1] < 1300) | (1300 < rcData[AUX1] && rcData[AUX1] < 1700) << 1 | (rcData[AUX1] > 1700) << 2 | (rcData[AUX2] < 1300) << 3 | (1300 < rcData[AUX2] && rcData[AUX2] < 1700) << 4 | (rcData[AUX2] > 1700) << 5) & cfg.activate1[i]) rcOptions[i] = (
|| (((rcData[AUX3] < 1300) | (1300 < rcData[AUX3] && rcData[AUX3] < 1700) << 1 | (rcData[AUX3] > 1700) << 2 | (rcData[AUX4] < 1300) << 3 | (1300 < rcData[AUX4] && rcData[AUX4] < 1700) << 4 | (rcData[AUX4] > 1700) << 5) & cfg.activate2[i]); ((rcData[AUX1] < 1300) | (1300 < rcData[AUX1] && rcData[AUX1] < 1700) <<1 | (rcData[AUX1] > 1700) << 2
| (rcData[AUX2] < 1300) << 3 | (1300 < rcData[AUX2] && rcData[AUX2] < 1700) << 4 | (rcData[AUX2] > 1700) << 5
| (rcData[AUX3] < 1300) << 6 | (1300 < rcData[AUX3] && rcData[AUX3] < 1700) << 7 | (rcData[AUX3] > 1700) << 8
| (rcData[AUX4] < 1300) << 9 | (1300 < rcData[AUX4] && rcData[AUX4] < 1700) << 10| (rcData[AUX4] > 1700) << 11) & cfg.activate[i]) > 0;
} }
// note: if FAILSAFE is disable, failsafeCnt > 5*FAILSAVE_DELAY is always false // note: if FAILSAFE is disable, failsafeCnt > 5*FAILSAVE_DELAY is always false
@ -402,7 +421,7 @@ void loop(void)
accMode = 1; accMode = 1;
} }
} else } else
accMode = 0; // modified by MIS for failsave support accMode = 0; // failsave support
if ((rcOptions[BOXARM]) == 0) if ((rcOptions[BOXARM]) == 0)
okToArm = 1; okToArm = 1;
@ -467,32 +486,29 @@ void loop(void)
passThruMode = 0; passThruMode = 0;
} else { // not in rc loop } else { // not in rc loop
static int8_t taskOrder = 0; // never call all function in the same loop, to avoid high delay spikes static int8_t taskOrder = 0; // never call all function in the same loop, to avoid high delay spikes
switch (taskOrder) { switch (taskOrder++ % 4) {
case 0: case 0:
taskOrder++;
#ifdef MAG #ifdef MAG
if (sensors(SENSOR_MAG)) if (sensors(SENSOR_MAG))
Mag_getADC(); Mag_getADC();
#endif #endif
break; break;
case 1: case 1:
taskOrder++;
#ifdef BARO #ifdef BARO
if (sensors(SENSOR_BARO)) if (sensors(SENSOR_BARO))
Baro_update(); Baro_update();
#endif #endif
break; break;
case 2: case 2:
taskOrder++;
#ifdef BARO #ifdef BARO
if (sensors(SENSOR_BARO)) if (sensors(SENSOR_BARO))
getEstimatedAltitude(); getEstimatedAltitude();
#endif #endif
break; break;
case 3: case 3:
taskOrder++; #ifdef SONAR
#if 0 // GPS - not used as we read gps data in interrupt mode Sonar_update();
GPS_NewData(); debug3 = sonarAlt;
#endif #endif
break; break;
default: default:

27
src/mw.h
View File

@ -1,9 +1,5 @@
#pragma once #pragma once
/* This option should be uncommented if ACC Z is accurate enough when motors are running*/
/* should now be ok with BMA020 and BMA180 ACC */
#define TRUSTED_ACCZ
/* Failsave settings - added by MIS /* Failsave settings - added by MIS
Failsafe check pulse on THROTTLE channel. If the pulse is OFF (on only THROTTLE or on all channels) the failsafe procedure is initiated. Failsafe check pulse on THROTTLE channel. If the pulse is OFF (on only THROTTLE or on all channels) the failsafe procedure is initiated.
After FAILSAVE_DELAY time of pulse absence, the level mode is on (if ACC or nunchuk is avaliable), PITCH, ROLL and YAW is centered After FAILSAVE_DELAY time of pulse absence, the level mode is on (if ACC or nunchuk is avaliable), PITCH, ROLL and YAW is centered
@ -43,14 +39,7 @@
/* for VBAT monitoring frequency */ /* for VBAT monitoring frequency */
#define VBATFREQ 6 // to read battery voltage - keep equal to PSENSORFREQ (6) unless you know what you are doing #define VBATFREQ 6 // to read battery voltage - keep equal to PSENSORFREQ (6) unless you know what you are doing
// Moving Average Gyros by Magnetron1 (Michele Ardito) ########## beta #define VERSION 200
//#define MMGYRO // Active Moving Average Function for Gyros
//#define MMGYROVECTORLENGHT 10 // Lenght of Moving Average Vector
// Moving Average ServoGimbal Signal Output
//#define MMSERVOGIMBAL // Active Output Moving Average Function for Servos Gimbal
//#define MMSERVOGIMBALVECTORLENGHT 32 // Lenght of Moving Average Vector
#define VERSION 20
// Syncronized with GUI. Only exception is mixer > 11, which is always returned as 11 during serialization. // Syncronized with GUI. Only exception is mixer > 11, which is always returned as 11 during serialization.
typedef enum MultiType typedef enum MultiType
@ -128,6 +117,9 @@ typedef struct config_t {
uint8_t rcRate8; uint8_t rcRate8;
uint8_t rcExpo8; uint8_t rcExpo8;
uint8_t thrMid8;
uint8_t thrExpo8;
uint8_t rollPitchRate; uint8_t rollPitchRate;
uint8_t yawRate; uint8_t yawRate;
@ -141,8 +133,7 @@ typedef struct config_t {
uint16_t gyro_lpf; // mpuX050 LPF setting uint16_t gyro_lpf; // mpuX050 LPF setting
uint32_t gyro_smoothing_factor; // How much to smoothen with per axis (32bit value with Roll, Pitch, Yaw in bits 24, 16, 8 respectively uint32_t gyro_smoothing_factor; // How much to smoothen with per axis (32bit value with Roll, Pitch, Yaw in bits 24, 16, 8 respectively
uint8_t activate1[CHECKBOXITEMS]; uint16_t activate[CHECKBOXITEMS]; // activate switches
uint8_t activate2[CHECKBOXITEMS];
uint8_t vbatscale; // adjust this to match battery voltage to reported value uint8_t vbatscale; // adjust this to match battery voltage to reported value
uint8_t vbatmaxcellvoltage; // maximum voltage per cell, used for auto-detecting battery voltage in 0.1V units, default is 43 (4.3V) uint8_t vbatmaxcellvoltage; // maximum voltage per cell, used for auto-detecting battery voltage in 0.1V units, default is 43 (4.3V)
uint8_t vbatmincellvoltage; // minimum voltage per cell, this triggers battery out alarms, in 0.1V units, default is 33 (3.3V) uint8_t vbatmincellvoltage; // minimum voltage per cell, this triggers battery out alarms, in 0.1V units, default is 33 (3.3V)
@ -211,6 +202,7 @@ extern int16_t heading;
extern int16_t annex650_overrun_count; extern int16_t annex650_overrun_count;
extern int32_t pressure; extern int32_t pressure;
extern int32_t BaroAlt; extern int32_t BaroAlt;
extern int16_t sonarAlt;
extern int32_t EstAlt; extern int32_t EstAlt;
extern int32_t AltHold; extern int32_t AltHold;
extern int16_t errorAltitudeI; extern int16_t errorAltitudeI;
@ -240,7 +232,9 @@ extern uint8_t GPSModeHold;
extern uint16_t GPS_altitude; extern uint16_t GPS_altitude;
extern uint16_t GPS_speed; // altitude in 0.1m and speed in 0.1m/s - Added by Mis extern uint16_t GPS_speed; // altitude in 0.1m and speed in 0.1m/s - Added by Mis
extern uint8_t vbat; extern uint8_t vbat;
extern int16_t lookupRX[7]; // lookup table for expo & RC rate extern int16_t lookupPitchRollRC[6]; // lookup table for expo & RC rate PITCH+ROLL
extern int16_t lookupThrottleRC[11]; // lookup table for expo & mid THROTTLE
extern uint8_t toggleBeep;
extern config_t cfg; extern config_t cfg;
extern sensor_t acc; extern sensor_t acc;
@ -280,7 +274,7 @@ void serialCom(void);
// Config // Config
void parseRcChannels(const char *input); void parseRcChannels(const char *input);
void readEEPROM(void); void readEEPROM(void);
void writeParams(void); void writeParams(uint8_t b);
void checkFirstTime(bool reset); void checkFirstTime(bool reset);
bool sensors(uint32_t mask); bool sensors(uint32_t mask);
void sensorsSet(uint32_t mask); void sensorsSet(uint32_t mask);
@ -301,3 +295,4 @@ void cliProcess(void);
// gps // gps
void gpsInit(uint32_t baudrate); void gpsInit(uint32_t baudrate);
void GPS_reset_home_position(void);

10
src/sensors.c
View File

@ -5,7 +5,7 @@ uint8_t calibratedACC = 0;
uint16_t calibratingA = 0; // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode. uint16_t calibratingA = 0; // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
uint16_t calibratingG = 0; uint16_t calibratingG = 0;
uint8_t calibratingM = 0; uint8_t calibratingM = 0;
uint16_t acc_1G = 256; // this is the 1G measured acceleration uint16_t acc_1G = 256; // this is the 1G measured acceleration.
int16_t heading, magHold; int16_t heading, magHold;
extern uint16_t InflightcalibratingA; extern uint16_t InflightcalibratingA;
@ -116,7 +116,7 @@ static void ACC_Common(void)
cfg.accZero[YAW] = a[YAW] / 400 - acc_1G; // for nunchuk 200=1G cfg.accZero[YAW] = a[YAW] / 400 - acc_1G; // for nunchuk 200=1G
cfg.accTrim[ROLL] = 0; cfg.accTrim[ROLL] = 0;
cfg.accTrim[PITCH] = 0; cfg.accTrim[PITCH] = 0;
writeParams(); // write accZero in EEPROM writeParams(1); // write accZero in EEPROM
} }
calibratingA--; calibratingA--;
} }
@ -149,7 +149,7 @@ static void ACC_Common(void)
if (InflightcalibratingA == 1) { if (InflightcalibratingA == 1) {
AccInflightCalibrationActive = 0; AccInflightCalibrationActive = 0;
AccInflightCalibrationMeasurementDone = 1; AccInflightCalibrationMeasurementDone = 1;
blinkLED(10, 10, 2); //buzzer for indicatiing the start inflight toggleBeep = 2; //buzzer for indicatiing the end of calibration
// recover saved values to maintain current flight behavior until new values are transferred // recover saved values to maintain current flight behavior until new values are transferred
cfg.accZero[ROLL] = accZero_saved[ROLL]; cfg.accZero[ROLL] = accZero_saved[ROLL];
cfg.accZero[PITCH] = accZero_saved[PITCH]; cfg.accZero[PITCH] = accZero_saved[PITCH];
@ -167,7 +167,7 @@ static void ACC_Common(void)
cfg.accZero[YAW] = b[YAW] / 50 - acc_1G; // for nunchuk 200=1G cfg.accZero[YAW] = b[YAW] / 50 - acc_1G; // for nunchuk 200=1G
cfg.accTrim[ROLL] = 0; cfg.accTrim[ROLL] = 0;
cfg.accTrim[PITCH] = 0; cfg.accTrim[PITCH] = 0;
writeParams(); // write accZero in EEPROM writeParams(1); // write accZero in EEPROM
} }
} }
@ -367,7 +367,7 @@ void Mag_getADC(void)
tCal = 0; tCal = 0;
for (axis = 0; axis < 3; axis++) for (axis = 0; axis < 3; axis++)
cfg.magZero[axis] = (magZeroTempMin[axis] + magZeroTempMax[axis]) / 2; cfg.magZero[axis] = (magZeroTempMin[axis] + magZeroTempMax[axis]) / 2;
writeParams(); writeParams(1);
} }
} }
} }

358
src/serial.c
View File

@ -1,26 +1,361 @@
#include "board.h" #include "board.h"
#include "mw.h" #include "mw.h"
// signal that we're in cli mode #define MSP_IDENT 100 //out message multitype + version
uint8_t cliMode = 0; #define MSP_STATUS 101 //out message cycletime & errors_count & sensor present & box activation
#define MSP_RAW_IMU 102 //out message 9 DOF
#define MSP_SERVO 103 //out message 8 servos
#define MSP_MOTOR 104 //out message 8 motors
#define MSP_RC 105 //out message 8 rc chan
#define MSP_RAW_GPS 106 //out message fix, numsat, lat, lon, alt, speed
#define MSP_COMP_GPS 107 //out message distance home, direction home
#define MSP_ATTITUDE 108 //out message 2 angles 1 heading
#define MSP_ALTITUDE 109 //out message 1 altitude
#define MSP_BAT 110 //out message vbat, powermetersum
#define MSP_RC_TUNING 111 //out message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
#define MSP_PID 112 //out message up to 16 P I D (8 are used)
#define MSP_BOX 113 //out message up to 16 checkbox (11 are used)
#define MSP_MISC 114 //out message powermeter trig + 8 free for future use
#define MSP_SET_RAW_RC 200 //in message 8 rc chan
#define MSP_SET_RAW_GPS 201 //in message fix, numsat, lat, lon, alt, speed
#define MSP_SET_PID 202 //in message up to 16 P I D (8 are used)
#define MSP_SET_BOX 203 //in message up to 16 checkbox (11 are used)
#define MSP_SET_RC_TUNING 204 //in message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
#define MSP_ACC_CALIBRATION 205 //in message no param
#define MSP_MAG_CALIBRATION 206 //in message no param
#define MSP_SET_MISC 207 //in message powermeter trig + 8 free for future use
#define MSP_RESET_CONF 208 //in message no param
#define MSP_EEPROM_WRITE 250 //in message no param
#define MSP_DEBUG 254 //out message debug1,debug2,debug3,debug4
static uint8_t checksum, stateMSP, indRX, inBuf[64];
void serialize32(uint32_t a)
{
static uint8_t t;
t = a;
uartWrite(t);
checksum ^= t;
t = a >> 8;
uartWrite(t);
checksum ^= t;
t = a >> 16;
uartWrite(t);
checksum ^= t;
t = a >> 24;
uartWrite(t);
checksum ^= t;
}
void serialize16(int16_t a) void serialize16(int16_t a)
{ {
uartWrite(a); static uint8_t t;
uartWrite(a >> 8 & 0xff); t = a;
uartWrite(t);
checksum ^= t;
t = a >> 8 & 0xff;
uartWrite(t);
checksum ^= t;
} }
void serialize8(uint8_t a) void serialize8(uint8_t a)
{ {
uartWrite(a); uartWrite(a);
checksum ^= a;
} }
uint32_t read32(void)
{
uint32_t t = inBuf[indRX++];
t+= inBuf[indRX++] << 8;
t+= (uint32_t)inBuf[indRX++] << 16;
t+= (uint32_t)inBuf[indRX++] << 24;
return t;
}
uint16_t read16(void)
{
uint16_t t = inBuf[indRX++];
t+= inBuf[indRX++] << 8;
return t;
}
uint8_t read8(void)
{
return inBuf[indRX++] & 0xff;
}
void headSerialReply(uint8_t c, uint8_t s)
{
serialize8('$');
serialize8('M');
serialize8('>');
serialize8(s);
serialize8(c);
checksum = 0;
}
void tailSerialReply(void)
{
serialize8(checksum);
// no need to send
// UartSendData();
}
// signal that we're in cli mode
uint8_t cliMode = 0;
void serialInit(uint32_t baudrate) void serialInit(uint32_t baudrate)
{ {
uartInit(baudrate); uartInit(baudrate);
} }
void serialCom(void) void serialCom(void)
{
uint8_t i, c;
static uint8_t offset, dataSize;
// in cli mode, all uart stuff goes to here. enter cli mode by sending #
if (cliMode) {
cliProcess();
return;
}
while (uartAvailable()) {
c = uartRead();
if (stateMSP > 99) { // a message with a length indication, indicating a non null payload
if (offset <= dataSize) { // there are still some octets to read (including checksum) to complete a full message
if (offset < dataSize)
checksum ^= c; // the checksum is computed, except for the last octet
inBuf[offset++] = c;
} else { // we have read all the payload
if (checksum == inBuf[dataSize]) { // we check is the computed checksum is ok
switch (stateMSP) { // if yes, then we execute different code depending on the message code. read8/16/32 will look into the inBuf buffer
case MSP_SET_RAW_RC:
for (i = 0; i < 8; i++) {
rcData[i] = read16();
}
break;
case MSP_SET_RAW_GPS:
GPS_fix = read8();
GPS_numSat = read8();
GPS_latitude = read32();
GPS_longitude = read32();
GPS_altitude = read16();
GPS_speed = read16();
GPS_update = 1;
break;
case MSP_SET_PID:
for (i = 0; i < PIDITEMS; i++) {
cfg.P8[i] = read8();
cfg.I8[i] = read8();
cfg.D8[i] = read8();
}
break;
case MSP_SET_BOX:
for (i = 0; i < CHECKBOXITEMS; i++) {
cfg.activate[i] = read16();
}
break;
case MSP_SET_RC_TUNING:
cfg.rcRate8 = read8();
cfg.rcExpo8 = read8();
cfg.rollPitchRate = read8();
cfg.yawRate = read8();
cfg.dynThrPID = read8();
cfg.thrMid8 = read8();
cfg.thrExpo8 = read8();
break;
case MSP_SET_MISC:
break;
}
}
stateMSP = 0; // in any case we reset the MSP state
}
}
if (stateMSP < 5) {
if (stateMSP == 4) { // this protocol state indicates we have a message with a lenght indication, and we read here the message code (fifth octet)
if (c > 99) { // we check if it's a valid code (should be >99)
stateMSP = c; // the message code is then reuse to feed the protocol state
offset = 0;
checksum = 0;
indRX = 0; // and we init some values which will be used in the next loops to grasp the payload
} else {
stateMSP = 0; // the message code seems to be invalid. this should not happen => we reset the protocol state
}
}
if (stateMSP == 3) { // here, we need to check if the fourth octet indicates a code indication (>99) or a payload lenght indication (<100)
if (c < 100) { // a message with a length indication, indicating a non null payload
stateMSP++; // we update the protocol state to read the next octet
dataSize = c; // we store the payload lenght
if (dataSize > 63)
dataSize = 63; // in order to avoid overflow, we limit the size. this should not happen
} else {
switch (c) { // if we are here, the fourth octet indicates a code message
case MSP_IDENT: // and we check message code to execute the relative code
headSerialReply(c, 2); // we reply with an header indicating a payload lenght of 2 octets
serialize8(VERSION); // the first octet. serialize8/16/32 is used also to compute a checksum
serialize8(cfg.mixerConfiguration); // the second one
tailSerialReply();
break; // mainly to send the last octet which is the checksum
case MSP_STATUS:
headSerialReply(c, 8);
serialize16(cycleTime);
serialize16(i2cGetErrorCounter());
serialize16(sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
serialize16(accMode << BOXACC | baroMode << BOXBARO | magMode << BOXMAG | armed << BOXARM | GPSModeHome << BOXGPSHOME | GPSModeHold << BOXGPSHOLD | headFreeMode << BOXHEADFREE);
tailSerialReply();
break;
case MSP_RAW_IMU:
headSerialReply(c, 18);
for (i = 0; i < 3; i++)
serialize16(accSmooth[i]);
for (i = 0; i < 3; i++)
serialize16(gyroData[i]);
for (i = 0; i < 3; i++)
serialize16(magADC[i]);
tailSerialReply();
break;
case MSP_SERVO:
headSerialReply(c, 16);
for (i = 0; i < 8; i++)
serialize16(servo[i]);
tailSerialReply();
break;
case MSP_MOTOR:
headSerialReply(c, 16);
for (i = 0; i < 8; i++)
serialize16(motor[i]);
tailSerialReply();
break;
case MSP_RC:
headSerialReply(c, 16);
for (i = 0; i < 8; i++)
serialize16(rcData[i]);
tailSerialReply();
break;
case MSP_RAW_GPS:
headSerialReply(c, 14);
serialize8(GPS_fix);
serialize8(GPS_numSat);
serialize32(GPS_latitude);
serialize32(GPS_longitude);
serialize16(GPS_altitude);
serialize16(GPS_speed);
tailSerialReply();
break;
case MSP_COMP_GPS:
headSerialReply(c, 5);
serialize16(GPS_distanceToHome);
serialize16(GPS_directionToHome + 180);
serialize8(GPS_update);
tailSerialReply();
break;
case MSP_ATTITUDE:
headSerialReply(c, 6);
for (i = 0; i < 2; i++)
serialize16(angle[i]);
serialize16(heading);
tailSerialReply();
break;
case MSP_ALTITUDE:
headSerialReply(c, 4);
serialize32(EstAlt);
tailSerialReply();
break;
case MSP_BAT:
headSerialReply(c, 3);
serialize8(vbat);
serialize16(0);
tailSerialReply();
break;
case MSP_RC_TUNING:
headSerialReply(c, 7);
serialize8(cfg.rcRate8);
serialize8(cfg.rcExpo8);
serialize8(cfg.rollPitchRate);
serialize8(cfg.yawRate);
serialize8(cfg.dynThrPID);
serialize8(cfg.thrMid8);
serialize8(cfg.thrExpo8);
tailSerialReply();
break;
case MSP_PID:
headSerialReply(c, 3 * PIDITEMS);
for (i = 0; i < PIDITEMS; i++) {
serialize8(cfg.P8[i]);
serialize8(cfg.I8[i]);
serialize8(cfg.D8[i]);
}
tailSerialReply();
break;
case MSP_BOX:
headSerialReply(c, 2 * CHECKBOXITEMS);
for (i = 0; i < CHECKBOXITEMS; i++) {
serialize16(cfg.activate[i]);
}
tailSerialReply();
break;
case MSP_MISC:
headSerialReply(c, 2);
serialize16(0);
tailSerialReply();
break;
case MSP_RESET_CONF:
checkFirstTime(true);
break;
case MSP_ACC_CALIBRATION:
calibratingA = 400;
break;
case MSP_MAG_CALIBRATION:
calibratingM = 1;
break;
case MSP_EEPROM_WRITE:
writeParams(0);
break;
case MSP_DEBUG:
headSerialReply(c, 8);
serialize16(debug1); // 4 variables are here for general monitoring purpose
serialize16(debug2);
serialize16(debug3);
serialize16(debug4);
tailSerialReply();
break;
}
stateMSP = 0; // we reset the protocol state for the next loop
}
} else {
switch (c) { // header detection $MW<
case '$':
if (stateMSP == 0)
stateMSP++;
break; // first octet ok, no need to go further
case 'M':
if (stateMSP == 1)
stateMSP++;
break; // second octet ok, no need to go further
case '<':
if (stateMSP == 2)
stateMSP++;
break; // third octet ok, no need to go further
}
}
}
if (stateMSP == 0) { // still compliant with older single octet command
// enable CLI
if (c == '#')
cliProcess();
}
}
}
#if 0
void oldSserialCom(void)
{ {
uint8_t i; uint8_t i;
@ -83,10 +418,8 @@ void serialCom(void)
serialize8(cfg.rollPitchRate); serialize8(cfg.rollPitchRate);
serialize8(cfg.yawRate); serialize8(cfg.yawRate);
serialize8(cfg.dynThrPID); serialize8(cfg.dynThrPID);
for (i = 0; i < CHECKBOXITEMS; i++) { for (i = 0; i < CHECKBOXITEMS; i++)
serialize8(cfg.activate1[i]); serialize16(cfg.activate[i]);
serialize8(cfg.activate2[i] | (rcOptions[i] << 7)); // use highest bit to transport state in mwc
}
serialize16(GPS_distanceToHome); serialize16(GPS_distanceToHome);
serialize16(GPS_directionToHome + 180); serialize16(GPS_directionToHome + 180);
serialize8(GPS_numSat); serialize8(GPS_numSat);
@ -145,13 +478,11 @@ void serialCom(void)
cfg.rollPitchRate = uartReadPoll(); cfg.rollPitchRate = uartReadPoll();
cfg.yawRate = uartReadPoll(); //4 cfg.yawRate = uartReadPoll(); //4
cfg.dynThrPID = uartReadPoll(); //5 cfg.dynThrPID = uartReadPoll(); //5
for (i = 0; i < CHECKBOXITEMS; i++) { for (i = 0; i < CHECKBOXITEMS; i++)
cfg.activate1[i] = uartReadPoll(); cfg.activate[i] = uartReadPoll();
cfg.activate2[i] = uartReadPoll();
}
uartReadPoll(); // power meter crap, removed uartReadPoll(); // power meter crap, removed
uartReadPoll(); // power meter crap, removed uartReadPoll(); // power meter crap, removed
writeParams(); writeParams(0);
break; break;
case 'S': // GUI to arduino ACC calibration request case 'S': // GUI to arduino ACC calibration request
calibratingA = 400; calibratingA = 400;
@ -162,3 +493,4 @@ void serialCom(void)
} }
} }
} }
#endif