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
parent
910df63a7f
commit
0d7460960e
169
baseflight.uvopt
169
baseflight.uvopt
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||||
|
|
@ -1287,8 +1334,8 @@
|
|||
<Focus>0</Focus>
|
||||
<ColumnNumber>0</ColumnNumber>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<TopLine>146</TopLine>
|
||||
<CurrentLine>166</CurrentLine>
|
||||
<TopLine>0</TopLine>
|
||||
<CurrentLine>0</CurrentLine>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>.\src\baseflight_startups\startup_stm32f10x_md.s</PathWithFileName>
|
||||
<FilenameWithoutPath>startup_stm32f10x_md.s</FilenameWithoutPath>
|
||||
|
|
@ -1301,8 +1348,8 @@
|
|||
<Focus>0</Focus>
|
||||
<ColumnNumber>0</ColumnNumber>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<TopLine>125</TopLine>
|
||||
<CurrentLine>133</CurrentLine>
|
||||
<TopLine>0</TopLine>
|
||||
<CurrentLine>0</CurrentLine>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>.\src\baseflight_startups\startup_stm32f10x_md_fy90q.s</PathWithFileName>
|
||||
<FilenameWithoutPath>startup_stm32f10x_md_fy90q.s</FilenameWithoutPath>
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
}
|
||||
}
|
||||
|
|
@ -346,7 +346,7 @@ static void cliMixer(char *cmdline)
|
|||
static void cliSave(char *cmdline)
|
||||
{
|
||||
uartPrint("Saving...");
|
||||
writeParams();
|
||||
writeParams(0);
|
||||
uartPrint("\r\nRebooting...");
|
||||
delay(10);
|
||||
systemReset(false);
|
||||
|
|
|
|||
40
src/config.c
40
src/config.c
|
|
@ -13,7 +13,7 @@ config_t cfg;
|
|||
const char rcChannelLetters[] = "AERT1234";
|
||||
|
||||
static uint32_t enabledSensors = 0;
|
||||
static uint8_t checkNewConf = 13;
|
||||
uint8_t checkNewConf = 14;
|
||||
|
||||
void parseRcChannels(const char *input)
|
||||
{
|
||||
|
|
@ -33,15 +33,26 @@ void readEEPROM(void)
|
|||
// Read flash
|
||||
memcpy(&cfg, (char *)FLASH_WRITE_ADDR, sizeof(config_t));
|
||||
|
||||
for (i = 0; i < 7; i++)
|
||||
lookupRX[i] = (2500 + cfg.rcExpo8 * (i * i - 25)) * i * (int32_t) cfg.rcRate8 / 1250;
|
||||
for(i = 0; i < 6; i++)
|
||||
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_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
|
||||
}
|
||||
|
||||
void writeParams(void)
|
||||
void writeParams(uint8_t b)
|
||||
{
|
||||
FLASH_Status status;
|
||||
uint32_t i;
|
||||
|
|
@ -61,6 +72,7 @@ void writeParams(void)
|
|||
FLASH_Lock();
|
||||
|
||||
readEEPROM();
|
||||
if (b)
|
||||
blinkLED(15, 20, 1);
|
||||
}
|
||||
|
||||
|
|
@ -86,7 +98,7 @@ void checkFirstTime(bool reset)
|
|||
cfg.I8[PITCH] = 30;
|
||||
cfg.D8[PITCH] = 23;
|
||||
cfg.P8[YAW] = 85;
|
||||
cfg.I8[YAW] = 0;
|
||||
cfg.I8[YAW] = 45;
|
||||
cfg.D8[YAW] = 0;
|
||||
cfg.P8[PIDALT] = 16;
|
||||
cfg.I8[PIDALT] = 15;
|
||||
|
|
@ -97,25 +109,25 @@ void checkFirstTime(bool reset)
|
|||
cfg.P8[PIDVEL] = 0;
|
||||
cfg.I8[PIDVEL] = 0;
|
||||
cfg.D8[PIDVEL] = 0;
|
||||
cfg.P8[PIDLEVEL] = 90;
|
||||
cfg.I8[PIDLEVEL] = 45;
|
||||
cfg.P8[PIDLEVEL] = 70;
|
||||
cfg.I8[PIDLEVEL] = 10;
|
||||
cfg.D8[PIDLEVEL] = 100;
|
||||
cfg.P8[PIDMAG] = 40;
|
||||
cfg.rcRate8 = 45; // = 0.9 in GUI
|
||||
cfg.rcRate8 = 90;
|
||||
cfg.rcExpo8 = 65;
|
||||
cfg.rollPitchRate = 0;
|
||||
cfg.yawRate = 0;
|
||||
cfg.dynThrPID = 0;
|
||||
for (i = 0; i < CHECKBOXITEMS; i++) {
|
||||
cfg.activate1[i] = 0;
|
||||
cfg.activate2[i] = 0;
|
||||
}
|
||||
cfg.thrMid8 = 50;
|
||||
cfg.thrExpo8 = 0;
|
||||
for (i = 0; i < CHECKBOXITEMS; i++)
|
||||
cfg.activate[i] = 0;
|
||||
cfg.accTrim[0] = 0;
|
||||
cfg.accTrim[1] = 0;
|
||||
cfg.accZero[0] = 0;
|
||||
cfg.accZero[1] = 0;
|
||||
cfg.accZero[2] = 0;
|
||||
cfg.acc_lpf_factor = 4;
|
||||
cfg.acc_lpf_factor = 100;
|
||||
cfg.gyro_lpf = 42;
|
||||
cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y
|
||||
cfg.vbatscale = 110;
|
||||
|
|
@ -163,7 +175,7 @@ void checkFirstTime(bool reset)
|
|||
// serial(uart1) baudrate
|
||||
cfg.serial_baudrate = 115200;
|
||||
|
||||
writeParams();
|
||||
writeParams(0);
|
||||
}
|
||||
|
||||
bool sensors(uint32_t mask)
|
||||
|
|
|
|||
|
|
@ -29,6 +29,7 @@
|
|||
#define ADXL345_RANGE_16G 0x03
|
||||
#define ADXL345_FIFO_STREAM 0x80
|
||||
|
||||
extern uint16_t acc_1G;
|
||||
|
||||
static void adxl345Init(void);
|
||||
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_BW_RATE, ADXL345_RATE_100);
|
||||
}
|
||||
acc_1G = 265; // 3.3V operation
|
||||
}
|
||||
|
||||
uint8_t acc_samples = 0;
|
||||
|
|
|
|||
|
|
@ -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)
|
||||
it's much more faster than an exact calculation
|
||||
the error is neglectible for few kilometers assuming a constant R for earth
|
||||
|
|
|
|||
15
src/imu.c
15
src/imu.c
|
|
@ -4,6 +4,7 @@
|
|||
int16_t gyroADC[3], accADC[3], accSmooth[3], magADC[3];
|
||||
int16_t acc_25deg = 0;
|
||||
int32_t BaroAlt;
|
||||
int16_t sonarAlt; //to think about the unit
|
||||
int32_t EstAlt; // in cm
|
||||
int16_t BaroPID = 0;
|
||||
int32_t AltHold;
|
||||
|
|
@ -175,7 +176,7 @@ static void getEstimatedAttitude(void)
|
|||
#if defined(MG_LPF_FACTOR)
|
||||
static int16_t mgSmooth[3];
|
||||
#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;
|
||||
uint32_t currentT = micros();
|
||||
float scale, deltaGyroAngle[3];
|
||||
|
|
@ -187,10 +188,8 @@ static void getEstimatedAttitude(void)
|
|||
for (axis = 0; axis < 3; axis++) {
|
||||
deltaGyroAngle[axis] = gyroADC[axis] * scale;
|
||||
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);
|
||||
accSmooth[axis] = roundf(accTemp[axis]);
|
||||
// accTemp[axis] = (accTemp[axis] - (accTemp[axis] >> cfg.acc_lpf_factor)) + accADC[axis];
|
||||
// accSmooth[axis] = accTemp[axis] >> 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] = accLPF[axis];
|
||||
} else {
|
||||
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.
|
||||
// To do that, we just skip filter, as EstV already rotated by Gyro
|
||||
if ((36 < accMag && accMag < 196) || smallAngle25) {
|
||||
for (axis = 0; axis < 3; axis++) {
|
||||
// int16_t acc = accSmooth[axis];
|
||||
EstG.A[axis] = (EstG.A[axis] * GYR_CMPF_FACTOR + accTemp[axis]) * INV_GYR_CMPF_FACTOR;
|
||||
}
|
||||
for (axis = 0; axis < 3; axis++)
|
||||
EstG.A[axis] = (EstG.A[axis] * GYR_CMPF_FACTOR + accSmooth[axis]) * INV_GYR_CMPF_FACTOR;
|
||||
}
|
||||
|
||||
if (sensors(SENSOR_MAG)) {
|
||||
|
|
|
|||
|
|
@ -206,9 +206,9 @@ void mixTable(void)
|
|||
|
||||
case MULTITYPE_VTAIL4:
|
||||
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[3] = PIDMIX(+1, -1, -2 / 10); //FRONT_L
|
||||
motor[3] = PIDMIX(+1, -1, -0); //FRONT_L
|
||||
break;
|
||||
|
||||
case MULTITYPE_GIMBAL:
|
||||
|
|
|
|||
82
src/mw.c
82
src/mw.c
|
|
@ -8,6 +8,7 @@
|
|||
|
||||
int16_t debug1, debug2, debug3, debug4;
|
||||
uint8_t buzzerState = 0;
|
||||
uint8_t toggleBeep = 0;
|
||||
uint32_t currentTime = 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
|
||||
|
|
@ -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 passThruMode = 0; // if passthrough mode is activated
|
||||
int16_t headFreeModeHold;
|
||||
|
||||
int16_t annex650_overrun_count = 0;
|
||||
uint8_t armed = 0;
|
||||
uint8_t vbat; // battery voltage in 0.1V steps
|
||||
|
|
@ -24,7 +26,8 @@ volatile int16_t failsafeCnt = 0;
|
|||
int16_t failsafeEvents = 0;
|
||||
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 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)
|
||||
|
||||
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
|
||||
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
|
||||
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
|
||||
// **********************
|
||||
|
|
@ -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
|
||||
void annexCode(void)
|
||||
{
|
||||
static uint32_t buzzerTime, calibratedAccTime;
|
||||
uint16_t tmp,tmp2;
|
||||
static uint8_t vbatTimer = 0;
|
||||
static uint8_t buzzerFreq; //delay between buzzer ring
|
||||
uint8_t axis, prop1, prop2;
|
||||
|
|
@ -92,18 +99,19 @@ void annexCode(void)
|
|||
uint8_t i;
|
||||
|
||||
// PITCH & ROLL only dynamic PID adjustemnt, depending on throttle value
|
||||
if (rcData[THROTTLE] < 1500) {
|
||||
if (rcData[THROTTLE] < BREAKPOINT) {
|
||||
prop2 = 100;
|
||||
} else if (rcData[THROTTLE] < 2000) {
|
||||
prop2 = 100 - (uint16_t) cfg.dynThrPID * (rcData[THROTTLE] - 1500) / 500;
|
||||
} else {
|
||||
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++) {
|
||||
uint16_t tmp = min(abs(rcData[axis] - cfg.midrc), 500);
|
||||
tmp = min(abs(rcData[axis] - cfg.midrc), 500);
|
||||
if (axis != 2) { // ROLL & PITCH
|
||||
uint16_t tmp2;
|
||||
if (cfg.deadband) {
|
||||
if (tmp > cfg.deadband) {
|
||||
tmp -= cfg.deadband;
|
||||
|
|
@ -111,8 +119,9 @@ void annexCode(void)
|
|||
tmp = 0;
|
||||
}
|
||||
}
|
||||
|
||||
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 = (uint16_t)prop1 * prop2 / 100;
|
||||
} else { // YAW
|
||||
|
|
@ -131,7 +140,12 @@ void annexCode(void)
|
|||
if (rcData[axis] < cfg.midrc)
|
||||
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) {
|
||||
float radDiff = (heading - headFreeModeHold) * M_PI / 180.0f;
|
||||
|
|
@ -157,6 +171,8 @@ void annexCode(void)
|
|||
BEEP_OFF;
|
||||
} else
|
||||
buzzerFreq = 4; // low battery
|
||||
|
||||
#if 0
|
||||
if (buzzerFreq) {
|
||||
if (buzzerState && (currentTime > buzzerTime + 250000)) {
|
||||
buzzerState = 0;
|
||||
|
|
@ -168,8 +184,11 @@ void annexCode(void)
|
|||
buzzerTime = currentTime;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
buzzer(buzzerFreq); // external buzzer routine that handles buzzer events globally now
|
||||
|
||||
if ((calibratingA > 0 && sensors(SENSOR_ACC)) || (calibratingG > 0)) { // Calibration phasis
|
||||
LED0_TOGGLE;
|
||||
} else {
|
||||
|
|
@ -290,8 +309,11 @@ void loop(void)
|
|||
errorAngleI[PITCH] = 0;
|
||||
rcDelayCommand++;
|
||||
if (rcData[YAW] < cfg.mincheck && rcData[PITCH] < cfg.mincheck && armed == 0) {
|
||||
if (rcDelayCommand == 20)
|
||||
if (rcDelayCommand == 20) {
|
||||
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)) {
|
||||
if (rcDelayCommand == 20) {
|
||||
if (AccInflightCalibrationMeasurementDone) { // trigger saving into eeprom after landing
|
||||
|
|
@ -300,13 +322,13 @@ void loop(void)
|
|||
} else {
|
||||
AccInflightCalibrationArmed = !AccInflightCalibrationArmed;
|
||||
if (AccInflightCalibrationArmed) {
|
||||
blinkLED(10, 1, 2);
|
||||
toggleBeep = 2;
|
||||
} 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) {
|
||||
armed = 1;
|
||||
headFreeModeHold = heading;
|
||||
|
|
@ -334,28 +356,28 @@ void loop(void)
|
|||
rcDelayCommand++;
|
||||
} else if (rcData[PITCH] > cfg.maxcheck) {
|
||||
cfg.accTrim[PITCH] += 2;
|
||||
writeParams();
|
||||
writeParams(1);
|
||||
#ifdef LEDRING
|
||||
if (feature(FEATURE_LED_RING))
|
||||
ledringBlink();
|
||||
#endif
|
||||
} else if (rcData[PITCH] < cfg.mincheck) {
|
||||
cfg.accTrim[PITCH] -= 2;
|
||||
writeParams();
|
||||
writeParams(1);
|
||||
#ifdef LEDRING
|
||||
if (feature(FEATURE_LED_RING))
|
||||
ledringBlink();
|
||||
#endif
|
||||
} else if (rcData[ROLL] > cfg.maxcheck) {
|
||||
cfg.accTrim[ROLL] += 2;
|
||||
writeParams();
|
||||
writeParams(1);
|
||||
#ifdef LEDRING
|
||||
if (feature(FEATURE_LED_RING))
|
||||
ledringBlink();
|
||||
#endif
|
||||
} else if (rcData[ROLL] < cfg.mincheck) {
|
||||
cfg.accTrim[ROLL] -= 2;
|
||||
writeParams();
|
||||
writeParams(1);
|
||||
#ifdef LEDRING
|
||||
if (feature(FEATURE_LED_RING))
|
||||
ledringBlink();
|
||||
|
|
@ -364,12 +386,6 @@ void loop(void)
|
|||
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 (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++) {
|
||||
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])
|
||||
|| (((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]);
|
||||
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
|
||||
| (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
|
||||
|
|
@ -402,7 +421,7 @@ void loop(void)
|
|||
accMode = 1;
|
||||
}
|
||||
} else
|
||||
accMode = 0; // modified by MIS for failsave support
|
||||
accMode = 0; // failsave support
|
||||
|
||||
if ((rcOptions[BOXARM]) == 0)
|
||||
okToArm = 1;
|
||||
|
|
@ -467,32 +486,29 @@ void loop(void)
|
|||
passThruMode = 0;
|
||||
} else { // not in rc loop
|
||||
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:
|
||||
taskOrder++;
|
||||
#ifdef MAG
|
||||
if (sensors(SENSOR_MAG))
|
||||
Mag_getADC();
|
||||
#endif
|
||||
break;
|
||||
case 1:
|
||||
taskOrder++;
|
||||
#ifdef BARO
|
||||
if (sensors(SENSOR_BARO))
|
||||
Baro_update();
|
||||
#endif
|
||||
break;
|
||||
case 2:
|
||||
taskOrder++;
|
||||
#ifdef BARO
|
||||
if (sensors(SENSOR_BARO))
|
||||
getEstimatedAltitude();
|
||||
#endif
|
||||
break;
|
||||
case 3:
|
||||
taskOrder++;
|
||||
#if 0 // GPS - not used as we read gps data in interrupt mode
|
||||
GPS_NewData();
|
||||
#ifdef SONAR
|
||||
Sonar_update();
|
||||
debug3 = sonarAlt;
|
||||
#endif
|
||||
break;
|
||||
default:
|
||||
|
|
|
|||
27
src/mw.h
27
src/mw.h
|
|
@ -1,9 +1,5 @@
|
|||
#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
|
||||
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
|
||||
|
|
@ -43,14 +39,7 @@
|
|||
/* for VBAT monitoring frequency */
|
||||
#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 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
|
||||
#define VERSION 200
|
||||
|
||||
// Syncronized with GUI. Only exception is mixer > 11, which is always returned as 11 during serialization.
|
||||
typedef enum MultiType
|
||||
|
|
@ -128,6 +117,9 @@ typedef struct config_t {
|
|||
|
||||
uint8_t rcRate8;
|
||||
uint8_t rcExpo8;
|
||||
uint8_t thrMid8;
|
||||
uint8_t thrExpo8;
|
||||
|
||||
uint8_t rollPitchRate;
|
||||
uint8_t yawRate;
|
||||
|
||||
|
|
@ -141,8 +133,7 @@ typedef struct config_t {
|
|||
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
|
||||
|
||||
uint8_t activate1[CHECKBOXITEMS];
|
||||
uint8_t activate2[CHECKBOXITEMS];
|
||||
uint16_t activate[CHECKBOXITEMS]; // activate switches
|
||||
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 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 int32_t pressure;
|
||||
extern int32_t BaroAlt;
|
||||
extern int16_t sonarAlt;
|
||||
extern int32_t EstAlt;
|
||||
extern int32_t AltHold;
|
||||
extern int16_t errorAltitudeI;
|
||||
|
|
@ -240,7 +232,9 @@ extern uint8_t GPSModeHold;
|
|||
extern uint16_t GPS_altitude;
|
||||
extern uint16_t GPS_speed; // altitude in 0.1m and speed in 0.1m/s - Added by Mis
|
||||
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 sensor_t acc;
|
||||
|
|
@ -280,7 +274,7 @@ void serialCom(void);
|
|||
// Config
|
||||
void parseRcChannels(const char *input);
|
||||
void readEEPROM(void);
|
||||
void writeParams(void);
|
||||
void writeParams(uint8_t b);
|
||||
void checkFirstTime(bool reset);
|
||||
bool sensors(uint32_t mask);
|
||||
void sensorsSet(uint32_t mask);
|
||||
|
|
@ -301,3 +295,4 @@ void cliProcess(void);
|
|||
|
||||
// gps
|
||||
void gpsInit(uint32_t baudrate);
|
||||
void GPS_reset_home_position(void);
|
||||
|
|
|
|||
|
|
@ -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 calibratingG = 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;
|
||||
|
||||
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.accTrim[ROLL] = 0;
|
||||
cfg.accTrim[PITCH] = 0;
|
||||
writeParams(); // write accZero in EEPROM
|
||||
writeParams(1); // write accZero in EEPROM
|
||||
}
|
||||
calibratingA--;
|
||||
}
|
||||
|
|
@ -149,7 +149,7 @@ static void ACC_Common(void)
|
|||
if (InflightcalibratingA == 1) {
|
||||
AccInflightCalibrationActive = 0;
|
||||
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
|
||||
cfg.accZero[ROLL] = accZero_saved[ROLL];
|
||||
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.accTrim[ROLL] = 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;
|
||||
for (axis = 0; axis < 3; axis++)
|
||||
cfg.magZero[axis] = (magZeroTempMin[axis] + magZeroTempMax[axis]) / 2;
|
||||
writeParams();
|
||||
writeParams(1);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
358
src/serial.c
358
src/serial.c
|
|
@ -1,26 +1,361 @@
|
|||
#include "board.h"
|
||||
#include "mw.h"
|
||||
|
||||
// signal that we're in cli mode
|
||||
uint8_t cliMode = 0;
|
||||
#define MSP_IDENT 100 //out message multitype + version
|
||||
#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)
|
||||
{
|
||||
uartWrite(a);
|
||||
uartWrite(a >> 8 & 0xff);
|
||||
static uint8_t t;
|
||||
t = a;
|
||||
uartWrite(t);
|
||||
checksum ^= t;
|
||||
t = a >> 8 & 0xff;
|
||||
uartWrite(t);
|
||||
checksum ^= t;
|
||||
}
|
||||
|
||||
void serialize8(uint8_t 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)
|
||||
{
|
||||
uartInit(baudrate);
|
||||
}
|
||||
|
||||
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;
|
||||
|
||||
|
|
@ -83,10 +418,8 @@ void serialCom(void)
|
|||
serialize8(cfg.rollPitchRate);
|
||||
serialize8(cfg.yawRate);
|
||||
serialize8(cfg.dynThrPID);
|
||||
for (i = 0; i < CHECKBOXITEMS; i++) {
|
||||
serialize8(cfg.activate1[i]);
|
||||
serialize8(cfg.activate2[i] | (rcOptions[i] << 7)); // use highest bit to transport state in mwc
|
||||
}
|
||||
for (i = 0; i < CHECKBOXITEMS; i++)
|
||||
serialize16(cfg.activate[i]);
|
||||
serialize16(GPS_distanceToHome);
|
||||
serialize16(GPS_directionToHome + 180);
|
||||
serialize8(GPS_numSat);
|
||||
|
|
@ -145,13 +478,11 @@ void serialCom(void)
|
|||
cfg.rollPitchRate = uartReadPoll();
|
||||
cfg.yawRate = uartReadPoll(); //4
|
||||
cfg.dynThrPID = uartReadPoll(); //5
|
||||
for (i = 0; i < CHECKBOXITEMS; i++) {
|
||||
cfg.activate1[i] = uartReadPoll();
|
||||
cfg.activate2[i] = uartReadPoll();
|
||||
}
|
||||
for (i = 0; i < CHECKBOXITEMS; i++)
|
||||
cfg.activate[i] = uartReadPoll();
|
||||
uartReadPoll(); // power meter crap, removed
|
||||
uartReadPoll(); // power meter crap, removed
|
||||
writeParams();
|
||||
writeParams(0);
|
||||
break;
|
||||
case 'S': // GUI to arduino ACC calibration request
|
||||
calibratingA = 400;
|
||||
|
|
@ -162,3 +493,4 @@ void serialCom(void)
|
|||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Reference in New Issue