moved some readonly strings to flash, thanks zyp
cleaned up frsky telemetry a bit with verbose telemetry ID names, changed loop timing a bit, added output for heading and voltage (when vbat is enabled). telemetry stuff is untested, so someone try it out. git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@226 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
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parent
005308b430
commit
193902079c
4545
obj/baseflight.hex
4545
obj/baseflight.hex
File diff suppressed because it is too large
Load Diff
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@ -30,7 +30,7 @@ static float _atof(const char *p);
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static char *ftoa(float x, char *floatString);
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// sync this with MultiType enum from mw.h
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const char *mixerNames[] = {
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const char * const mixerNames[] = {
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"TRI", "QUADP", "QUADX", "BI",
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"GIMBAL", "Y6", "HEX6",
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"FLYING_WING", "Y4", "HEX6X", "OCTOX8", "OCTOFLATP", "OCTOFLATX",
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@ -38,7 +38,7 @@ const char *mixerNames[] = {
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};
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// sync this with AvailableFeatures enum from board.h
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const char *featureNames[] = {
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const char * const featureNames[] = {
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"PPM", "VBAT", "INFLIGHT_ACC_CAL", "SPEKTRUM", "MOTOR_STOP",
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"SERVO_TILT", "GYRO_SMOOTHING", "LED_RING", "GPS",
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"FAILSAFE", "SONAR", "TELEMETRY",
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@ -46,12 +46,12 @@ const char *featureNames[] = {
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};
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// sync this with AvailableSensors enum from board.h
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const char *sensorNames[] = {
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const char * const sensorNames[] = {
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"ACC", "BARO", "MAG", "SONAR", "GPS", NULL
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};
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//
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const char *accNames[] = {
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const char * const accNames[] = {
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"", "ADXL345", "MPU6050", "MMA845x", NULL
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};
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@ -5,13 +5,13 @@
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#define sq(x) ((x)*(x))
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#endif
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uint32_t init_speed[5] = { 9600, 19200, 38400, 57600, 115200 };
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const uint32_t init_speed[5] = { 9600, 19200, 38400, 57600, 115200 };
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static void GPS_NewData(uint16_t c);
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static void GPS_set_pids(void);
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static void gpsPrint(const char *str);
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static const char *gpsInitStrings[] = {
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static const char * const gpsInitStrings[] = {
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"$PUBX,41,1,0003,0001,19200,0*23\r\n", // UBX0..3
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"$PUBX,41,1,0003,0001,38400,0*26\r\n",
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"$PUBX,41,1,0003,0001,57600,0*2D\r\n",
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132
src/telemetry.c
132
src/telemetry.c
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@ -4,49 +4,101 @@
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#include "board.h"
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#include "mw.h"
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#define CYCLETIME 200
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#define CYCLETIME 125
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#define PROTOCOL_HEADER 0x5E
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#define PROTOCOL_TAIL 0x5E
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// Data Ids (bp = before decimal point; af = after decimal point)
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// Official data IDs
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#define ID_GPS_ALTIDUTE_BP 0x01
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#define ID_GPS_ALTIDUTE_AP 0x09
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#define ID_TEMPRATURE1 0x02
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#define ID_RPM 0x03
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#define ID_FUEL_LEVEL 0x04
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#define ID_TEMPRATURE2 0x05
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#define ID_VOLT 0x06
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#define ID_ALTITUDE_BP 0x10
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#define ID_ALTITUDE_AP 0x21
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#define ID_GPS_SPEED_BP 0x11
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#define ID_GPS_SPEED_AP 0x19
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#define ID_LONGITUDE_BP 0x12
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#define ID_LONGITUDE_AP 0x1A
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#define ID_E_W 0x22
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#define ID_LATITUDE_BP 0x13
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#define ID_LATITUDE_AP 0x1B
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#define ID_N_S 0x23
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#define ID_COURSE_BP 0x14
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#define ID_COURSE_AP 0x1C
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#define ID_DATE_MONTH 0x15
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#define ID_YEAR 0x16
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#define ID_HOUR_MINUTE 0x17
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#define ID_SECOND 0x18
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#define ID_ACC_X 0x24
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#define ID_ACC_Y 0x25
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#define ID_ACC_Z 0x26
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#define ID_VOLTAGE_AMP_BP 0x3A
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#define ID_VOLTAGE_AMP_AP 0x3B
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#define ID_CURRENT 0x28
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// User defined data IDs
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#define ID_GYRO_X 0x40
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#define ID_GYRO_Y 0x41
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#define ID_GYRO_Z 0x42
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static void sendDataHead(uint8_t id)
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{
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uartWrite(0x5E);
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uartWrite(PROTOCOL_HEADER);
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uartWrite(id);
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}
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static void sendTelemetryTail(void)
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{
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uartWrite(0x5E);
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uartWrite(PROTOCOL_TAIL);
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}
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static void serializeFrsky(uint8_t data)
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{
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// take care of byte stuffing
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if (data == 0x5e) {
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uartWrite(0x5d);
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uartWrite(0x3e);
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} else if (data == 0x5d) {
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uartWrite(0x5d);
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uartWrite(0x3d);
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} else
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uartWrite(data);
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}
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static void serialize16(int16_t a)
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{
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uint8_t t;
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t = a;
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uartWrite(t);
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serializeFrsky(t);
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t = a >> 8 & 0xff;
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uartWrite(t);
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serializeFrsky(t);
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}
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static void sendAccel(void)
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{
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uint8_t i;
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int i;
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for (i = 0; i < 3; i++) {
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sendDataHead(0x24 + i);
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sendDataHead(ID_ACC_X + i);
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serialize16(((float)accSmooth[i] / acc_1G) * 1000);
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}
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}
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static void sendBaro(void)
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{
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sendDataHead(0x10);
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sendDataHead(ID_ALTITUDE_BP);
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serialize16(EstAlt / 100);
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sendDataHead(0x21);
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sendDataHead(ID_ALTITUDE_AP);
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serialize16(EstAlt % 100);
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}
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static void sendTemperature1(void)
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{
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sendDataHead(0x02);
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sendDataHead(ID_TEMPRATURE1);
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serialize16(telemTemperature1 / 10);
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}
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uint8_t minutes = (seconds / 60) % 60;
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// if we fly for more than an hour, something's wrong anyway
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sendDataHead(0x17);
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sendDataHead(ID_HOUR_MINUTE);
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serialize16(minutes << 8);
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sendDataHead(0x18);
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sendDataHead(ID_SECOND);
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serialize16(seconds % 60);
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}
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static void sendGPS(void)
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{
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sendDataHead(0x13);
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sendDataHead(ID_LATITUDE_BP);
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serialize16(abs(GPS_coord[LAT]) / 100000);
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sendDataHead(0x13 + 8);
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sendDataHead(ID_LATITUDE_AP);
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serialize16((abs(GPS_coord[LAT]) / 100000) % 10000);
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sendDataHead(0x1B + 8);
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sendDataHead(ID_N_S);
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serialize16(GPS_coord[LAT] < 0 ? 'S' : 'N');
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sendDataHead(0x12);
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sendDataHead(ID_LONGITUDE_BP);
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serialize16(abs(GPS_coord[LON]) / 100000);
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sendDataHead(0x12 + 8);
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sendDataHead(ID_LONGITUDE_AP);
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serialize16((abs(GPS_coord[LON]) / 100000) % 10000);
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sendDataHead(0x1A + 8);
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sendDataHead(ID_E_W);
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serialize16(GPS_coord[LON] < 0 ? 'W' : 'E');
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}
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static void sendVoltage(void)
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{
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uint16_t voltage;
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voltage = (vbat * 110) / 21;
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sendDataHead(ID_VOLTAGE_AMP_BP);
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serialize16(voltage / 100);
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sendDataHead(ID_VOLTAGE_AMP_AP);
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serialize16(((voltage % 100) + 5) / 10);
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}
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static void sendHeading(void)
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{
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sendDataHead(ID_COURSE_BP);
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serialize16(heading);
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sendDataHead(ID_COURSE_AP);
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serialize16(0);
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}
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static bool telemetryEnabled = false;
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void initTelemetry(bool State)
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lastCycleTime = millis();
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cycleNum++;
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// Frame 1: sent every 200ms
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// Sent every 125ms
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sendAccel();
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sendBaro();
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sendTemperature1();
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sendTelemetryTail();
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if ((cycleNum % 5) == 0) { // Frame 2: Sent every 1s
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if (sensors(SENSOR_GPS)) {
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sendGPS();
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sendTelemetryTail();
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}
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if ((cycleNum % 4) == 0) { // Sent every 500ms
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sendBaro();
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sendHeading();
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sendTelemetryTail();
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}
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if (cycleNum == 25) { //Frame 3: Sent every 5s
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if ((cycleNum % 8) == 0) { // Sent every 1s
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sendTemperature1();
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if (feature(FEATURE_VBAT))
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sendVoltage();
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if (sensors(SENSOR_GPS))
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sendGPS();
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sendTelemetryTail();
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}
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if (cycleNum == 40) { //Frame 3: Sent every 5s
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cycleNum = 0;
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sendTime();
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sendTelemetryTail();
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