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atbetaflight
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Syncing with Cleanflight upstream

This commit is contained in:
Nicholas Sherlock 2014-12-22 23:23:26 +13:00
parent 9b9474250e bebf43d568
commit 1b1a285b4a
63 changed files with 632 additions and 20047 deletions
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2
Makefile
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@ -266,6 +266,7 @@ EUSTM32F103RC_SRC = startup_stm32f10x_hd_gcc.S \
drivers/barometer_ms5611.c \
drivers/bus_i2c_stm32f10x.c \
drivers/bus_spi.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/display_ug2864hsweg01.c \
drivers/gpio_stm32f10x.c \
@ -428,6 +429,7 @@ SPARKY_SRC = $(STM32F30x_COMMON_SRC) \
drivers/display_ug2864hsweg01.c \
drivers/accgyro_mpu9150.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8975.c \
$(HIGHEND_SRC) \
$(COMMON_SRC)

6
README.md
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@ -43,10 +43,14 @@ For a list of features, changes and some discussion please review the thread on
http://www.multiwii.com/forum/viewtopic.php?f=23&t=5149
## Installation
See: https://github.com/cleanflight/cleanflight/blob/master/docs/Installation.md
## Documentation
There is lots of documentation here: https://github.com/hydra/cleanflight/tree/master/docs
There is lots of documentation here: https://github.com/cleanflight/cleanflight/tree/master/docs
If what you need is not covered then refer to the baseflight documentation. If you still can't find what you need then visit the #cleanflight on the Freenode IRC network

31
docs/Board - Naze32.md
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@ -10,29 +10,34 @@ if found please report via the [github issue tracker](https://github.com/cleanfl
| ----- | ------------ | --------- | ------------------ | ------------------------------------------------------------------------------------------- |
| 1 | USART1 | RX / PA10 | TX / PA9 / TELEM | TELEM output is always inverted (for FrSky). Internally connected to USB port via CP2102 IC |
| 2 | USART2 | RC4 / PA3 | RC3 / PA2 | |
| 3 | SoftSerial 1 | RC5 / PA6 | RC6 / PA7 | |
| 4 | SoftSerial 2 | RC7 / PB0 | RC8 / PB1 | |
| 3 | SOFTSERIAL1 | RC5 / PA6 | RC6 / PA7 | |
| 4 | SOFTSERIAL2 | RC7 / PB0 | RC8 / PB1 | |
* You cannot use USART1/TX/TX/TELEM pins at the same time.
* You may encounter flashing problems if you have something connected to the RX/TX pins. Try disconnecting RX/TX.
# Pinouts
The 10 pin Input connector has the following pinouts when used in RX_PPM/RX_SERIAL mode
The 10 pin RC I/O connector has the following pinouts when used in RX_PPM/RX_SERIAL mode.
| Pin | Identifier | Function | Notes |
| --- | ---------- | -------------- | -------------------------------- |
| 1 | N/A | Ground | |
| 1 | | Ground | |
| 2 | Circle | +5V | |
| 3 | 1 | PPM Input | Enable `feature RX_PPM` |
| 3 | 1 | RX_PPM | Enable `feature RX_PPM` |
| 4 | 2 | RSSI_ADC | Enable `feature RSSI_ADC`. Connect to the output of a PWM-RSSI conditioner, 0v-3.3v input |
| 5 | 3 | Uart 2 TX | |
| 6 | 3 | Uart 2 RX | |
| 7 | 5 | Softserial1 TX | Enable `feature SOFTSERIAL` |
| | | Led Strip | Enable `feature LED_STRIP`. |
| 8 | 6 | Softserial1 RX | Enable `feature SOFTSERIAL` |
| 9 | 7 | Softserial2 TX | Enable `feature SOFTSERIAL` |
| 10 | 8 | Softserial2 RX | Enable `feature SOFTSERIAL` |
| | | Current | Enable `feature CURRENT_METER`. Connect to the output of a current sensor, 0v-3.3v input |
| 5 | 3 | USART2 TX | |
| 6 | 4 | USART2 RX | |
| 7 | 5 | LED_STRIP | Enable `feature LED_STRIP` |
| 8 | 6 | unused | |
| 9 | 7 | unused | |
| 10 | 8 | CURRENT | Enable `feature CURRENT_METER` Connect to the output of a current sensor, 0v-3.3v input |
When SOFTSERIAL is enabled, LED_STRIP and CURRENT_METER are unavailable, but two softserial ports are made available to use instead.
| Pin | Identifier | Function | Notes |
| --- | ---------- | -------------- | -------------------------------- |
| 7 | 5 | SOFTSERIAL1 TX | Enable `feature SOFTSERIAL` |
| 8 | 6 | SOFTSERIAL1 RX | |
| 9 | 7 | SOFTSERIAL2 TX | |
| 10 | 8 | SOFTSERIAL2 RX | |

59
docs/Installation.md Normal file
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@ -0,0 +1,59 @@
# Installation
## Using configurator
Use the firmware flasher in the cleanflight configurator.
## Manually
See the board specific flashing instructions.
# Upgrading
When upgrading be sure to backup / dump your existing settings. Some firmware releases are not backwards compatible and default settings are restored when the FC detects an out of date configuration.
## Backup process
disconnect main power, connect to cli via USB/FTDI.
dump using cli
`rate profile 0`
`profile 0`
`dump`
dump profiles using cli if you use them
`profile 1`
`dump profile`
`profile 2`
`dump profile`
dump rate profiles using cli if you use them
`rate profile 1`
`dump rates`
`rate profile 2`
`dump rates`
copy screen output to a file and save it.
## Restore process
Use the cli `defaults` command first.
When restoring from a backup it is a good idea to do a dump of the latest defaults so you know what has changed - if you do this each time a firmware release is created youwill be able to see the cli changes between firmware versions. For instance, in December 2014 the default GPS navigation PIDs changed. If you blindly restore your backup you would not benefit from these new defaults.
Use the CLI and send all the output from the saved from the backup commands.
Do not send the file too fast, if you do the FC might not be able to keep up when using USART adapters (including built in ones) since there is no hardware serial flow control.
You may find you have to copy/paste a few lines at a time.
Repeat the backup process again!
Compare the two backups to make sure you are happy with your restored settings.
Re-apply any new defaults as desired.

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obj/cleanflight_CC3D.bin
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obj/cleanflight_CC3D.hex
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obj/cleanflight_CJMCU.hex
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obj/cleanflight_NAZE.hex
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obj/cleanflight_SPARKY.hex
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9
src/main/config/config.c
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@ -27,7 +27,10 @@
#include "common/axis.h"
#include "flight/flight.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/compass.h"
#include "drivers/system.h"
#include "drivers/gpio.h"
#include "drivers/timer.h"
@ -35,6 +38,7 @@
#include "sensors/sensors.h"
#include "sensors/gyro.h"
#include "sensors/compass.h"
#include "io/statusindicator.h"
#include "sensors/acceleration.h"
@ -104,7 +108,7 @@ profile_t *currentProfile;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 86;
static const uint8_t EEPROM_CONF_VERSION = 88;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -216,6 +220,7 @@ void resetBatteryConfig(batteryConfig_t *batteryConfig)
batteryConfig->vbatscale = VBAT_SCALE_DEFAULT;
batteryConfig->vbatmaxcellvoltage = 43;
batteryConfig->vbatmincellvoltage = 33;
batteryConfig->vbatwarningcellvoltage = 35;
batteryConfig->currentMeterOffset = 0;
batteryConfig->currentMeterScale = 400; // for Allegro ACS758LCB-100U (40mV/A)
batteryConfig->batteryCapacity = 0;
@ -329,6 +334,8 @@ static void resetConf(void)
masterConfig.yaw_control_direction = 1;
masterConfig.gyroConfig.gyroMovementCalibrationThreshold = 32;
masterConfig.mag_hardware = MAG_DEFAULT; // default/autodetect
resetBatteryConfig(&masterConfig.batteryConfig);
resetTelemetryConfig(&masterConfig.telemetryConfig);

2
src/main/config/config_master.h
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@ -50,6 +50,8 @@ typedef struct master_t {
gyroConfig_t gyroConfig;
uint8_t mag_hardware; // Which mag hardware to use on boards with more than one device
uint16_t max_angle_inclination; // max inclination allowed in angle (level) mode. default 500 (50 degrees).
flightDynamicsTrims_t accZero;
flightDynamicsTrims_t magZero;

3
src/main/drivers/accgyro.h
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@ -19,9 +19,6 @@
extern uint16_t acc_1G;
typedef void (*sensorInitFuncPtr)(void); // sensor init prototype
typedef void (*sensorReadFuncPtr)(int16_t *data); // sensor read and align prototype
typedef struct gyro_s {
sensorInitFuncPtr init; // initialize function
sensorReadFuncPtr read; // read 3 axis data function

1
src/main/drivers/accgyro_adxl345.c
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@ -23,6 +23,7 @@
#include "system.h"
#include "bus_i2c.h"
#include "sensor.h"
#include "accgyro.h"
#include "accgyro_adxl345.h"

1
src/main/drivers/accgyro_bma280.c
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@ -22,6 +22,7 @@
#include "bus_i2c.h"
#include "sensor.h"
#include "accgyro.h"
#include "accgyro_bma280.h"

1
src/main/drivers/accgyro_l3g4200d.c
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@ -26,6 +26,7 @@
#include "common/maths.h"
#include "common/axis.h"
#include "sensor.h"
#include "accgyro.h"
#include "accgyro_l3g4200d.h"

1
src/main/drivers/accgyro_l3gd20.c
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@ -26,6 +26,7 @@
#include "gpio.h"
#include "bus_spi.h"
#include "sensor.h"
#include "accgyro.h"
#include "accgyro_l3gd20.h"

1
src/main/drivers/accgyro_lsm303dlhc.c
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@ -27,6 +27,7 @@
#include "gpio.h"
#include "bus_i2c.h"
#include "sensor.h"
#include "accgyro.h"
#include "accgyro_lsm303dlhc.h"

1
src/main/drivers/accgyro_mma845x.c
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@ -24,6 +24,7 @@
#include "gpio.h"
#include "bus_i2c.h"
#include "sensor.h"
#include "accgyro.h"
#include "accgyro_mma845x.h"

1
src/main/drivers/accgyro_mpu3050.c
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@ -25,6 +25,7 @@
#include "system.h"
#include "bus_i2c.h"
#include "sensor.h"
#include "accgyro.h"
#include "accgyro_mpu3050.h"

1
src/main/drivers/accgyro_mpu6050.c
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@ -27,6 +27,7 @@
#include "gpio.h"
#include "bus_i2c.h"
#include "sensor.h"
#include "accgyro.h"
#include "accgyro_mpu6050.h"

3
src/main/drivers/accgyro_mpu9150.c
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@ -30,10 +30,11 @@
#include "gpio.h"
#include "bus_i2c.h"
#include "sensor.h"
#include "accgyro.h"
#include "accgyro_mpu9150.h"
#define MPU9150_ADDRESS 0xD0
#define MPU9150_ADDRESS 0xD0 // (204) 1101000 // See http://www.invensense.com/mems/gyro/documents/PS-MPU-9150A-00v4_3.pdf, section 6.5.
#define DMP_MEM_START_ADDR 0x6E
#define DMP_MEM_R_W 0x6F

1
src/main/drivers/accgyro_spi_mpu6000.c
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@ -35,6 +35,7 @@
#include "gpio.h"
#include "bus_spi.h"
#include "sensor.h"
#include "accgyro.h"
#include "accgyro_spi_mpu6000.h"

1
src/main/drivers/accgyro_spi_mpu6500.c
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@ -28,6 +28,7 @@
#include "gpio.h"
#include "bus_spi.h"
#include "sensor.h"
#include "accgyro.h"
#include "accgyro_spi_mpu6500.h"

2
src/main/drivers/adc.c
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@ -21,8 +21,6 @@
#include "platform.h"
#include "system.h"
#include "accgyro.h"
#include "adc.h"
adc_config_t adcConfig[ADC_CHANNEL_COUNT];

1
src/main/drivers/adc_stm32f10x.c
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@ -27,6 +27,7 @@
#include "sensors/sensors.h" // FIXME dependency into the main code
#include "sensor.h"
#include "accgyro.h"
#include "adc.h"

3
src/main/drivers/adc_stm32f30x.c
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@ -24,8 +24,7 @@
#include "gpio.h"
#include "sensors/sensors.h" // FIXME dependency into the main code
#include "sensor.h"
#include "accgyro.h"
#include "adc.h"

23
src/main/drivers/compass.h Normal file
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@ -0,0 +1,23 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
typedef struct mag_s {
sensorInitFuncPtr init; // initialize function
sensorReadFuncPtr read; // read 3 axis data function
} mag_t;

90
src/main/drivers/compass_ak8975.c Normal file
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@ -0,0 +1,90 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <math.h>
#include "platform.h"
#include "common/axis.h"
#include "common/maths.h"
#include "system.h"
#include "gpio.h"
#include "bus_i2c.h"
#include "sensors/boardalignment.h"
#include "sensors/sensors.h"
#include "sensor.h"
#include "compass.h"
#include "compass_ak8975.h"
// This sensor is available in MPU-9150.
// AK8975, mag sensor address
#define AK8975_MAG_I2C_ADDRESS 0x0C
#define AK8975_MAG_ID_ADDRESS 0x00
#define AK8975_MAG_DATA_ADDRESS 0x03
#define AK8975_MAG_CONTROL_ADDRESS 0x0A
bool ak8975detect(mag_t *mag)
{
bool ack = false;
uint8_t sig = 0;
uint8_t ackCount = 0;
for (uint8_t address = 0; address < 0xff; address++) {
ack = i2cRead(address, AK8975_MAG_ID_ADDRESS, 1, &sig);
if (ack) {
ackCount++;
}
}
// device ID is in register 0 and is equal to 'H'
ack = i2cRead(AK8975_MAG_I2C_ADDRESS, AK8975_MAG_ID_ADDRESS, 1, &sig);
if (!ack || sig != 'H')
return false;
mag->init = ak8975Init;
mag->read = ak8975Read;
return true;
}
void ak8975Init()
{
i2cWrite(AK8975_MAG_I2C_ADDRESS, AK8975_MAG_CONTROL_ADDRESS, 0x01); // start reading
}
void ak8975Read(int16_t *magData)
{
uint8_t buf[6];
i2cRead(AK8975_MAG_I2C_ADDRESS, AK8975_MAG_DATA_ADDRESS, 6, buf);
// align sensors to match MPU6050:
// x -> y
// y -> x
// z-> -z
magData[X] = -(int16_t)(buf[3] << 8 | buf[2]) * 4;
magData[Y] = -(int16_t)(buf[1] << 8 | buf[0]) * 4;
magData[Z] = -(int16_t)(buf[5] << 8 | buf[4]) * 4;
i2cWrite(AK8975_MAG_I2C_ADDRESS, AK8975_MAG_CONTROL_ADDRESS, 0x01); // start reading again
}

22
src/main/drivers/compass_ak8975.h Normal file
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@ -0,0 +1,22 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
bool ak8975detect(mag_t *mag);
void ak8975Init(void);
void ak8975Read(int16_t *magData);

16
src/main/drivers/compass_hmc5883l.c
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@ -17,6 +17,7 @@
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <math.h>
@ -30,7 +31,9 @@
#include "bus_i2c.h"
#include "light_led.h"
#include "sensors/boardalignment.h"
#include "sensor.h"
#include "compass.h"
#include "sensors/sensors.h"
#include "compass_hmc5883l.h"
@ -110,19 +113,26 @@
static float magGain[3] = { 1.0f, 1.0f, 1.0f };
bool hmc5883lDetect(void)
static hmc5883Config_t *hmc5883Config = NULL;
bool hmc5883lDetect(mag_t* mag, hmc5883Config_t *hmc5883ConfigToUse)
{
bool ack = false;
uint8_t sig = 0;
hmc5883Config = hmc5883ConfigToUse;
ack = i2cRead(MAG_ADDRESS, 0x0A, 1, &sig);
if (!ack || sig != 'H')
return false;
mag->init = hmc5883lInit;
mag->read = hmc5883lRead;
return true;
}
void hmc5883lInit(hmc5883Config_t *hmc5883Config)
void hmc5883lInit(void)
{
int16_t magADC[3];
int i;

4
src/main/drivers/compass_hmc5883l.h
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@ -23,6 +23,6 @@ typedef struct hmc5883Config_s {
GPIO_TypeDef *gpioPort;
} hmc5883Config_t;
bool hmc5883lDetect(void);
void hmc5883lInit(hmc5883Config_t *hmc5883Config);
bool hmc5883lDetect(mag_t* mag, hmc5883Config_t *hmc5883ConfigToUse);
void hmc5883lInit(void);
void hmc5883lRead(int16_t *magData);

21
src/main/drivers/sensor.h Normal file
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@ -0,0 +1,21 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
typedef void (*sensorInitFuncPtr)(void); // sensor init prototype
typedef void (*sensorReadFuncPtr)(int16_t *data); // sensor read and align prototype

1
src/main/flight/altitudehold.c
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@ -27,6 +27,7 @@
#include "common/maths.h"
#include "common/axis.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "flight/flight.h"

3
src/main/flight/flight.c
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@ -29,9 +29,12 @@
#include "config/runtime_config.h"
#include "rx/rx.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "sensors/sensors.h"
#include "sensors/gyro.h"
#include "io/rc_controls.h"
#include "flight/flight.h"
#include "flight/navigation.h"

6
src/main/flight/imu.c
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@ -30,8 +30,12 @@
#include "drivers/system.h"
#include "sensors/sensors.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/compass.h"
#include "sensors/sensors.h"
#include "sensors/gyro.h"
#include "sensors/compass.h"
#include "sensors/acceleration.h"

56
src/main/flight/mixer.c
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@ -21,6 +21,8 @@
#include "platform.h"
#include "build_config.h"
#include "common/axis.h"
#include "common/maths.h"
@ -62,6 +64,14 @@ static gimbalConfig_t *gimbalConfig;
static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
static MultiType currentMixerConfiguration;
static const motorMixer_t mixerQuadX[] = {
{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
{ 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R
{ 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L
{ 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L
};
#ifndef CJMCU
static const motorMixer_t mixerTri[] = {
{ 1.0f, 0.0f, 1.333333f, 0.0f }, // REAR
{ 1.0f, -1.0f, -0.666667f, 0.0f }, // RIGHT
@ -75,13 +85,6 @@ static const motorMixer_t mixerQuadP[] = {
{ 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT
};
static const motorMixer_t mixerQuadX[] = {
{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
{ 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R
{ 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L
{ 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L
};
static const motorMixer_t mixerBi[] = {
{ 1.0f, 1.0f, 0.0f, 0.0f }, // LEFT
{ 1.0f, -1.0f, 0.0f, 0.0f }, // RIGHT
@ -161,6 +164,13 @@ static const motorMixer_t mixerVtail4[] = {
{ 1.0f, 1.0f, -1.0f, -0.0f }, // FRONT_L
};
static const motorMixer_t mixerAtail4[] = {
{ 1.0f, 0.0f, 1.0f, 1.0f }, // REAR_R
{ 1.0f, -1.0f, -1.0f, 0.0f }, // FRONT_R
{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR_L
{ 1.0f, 1.0f, -1.0f, -0.0f }, // FRONT_L
};
static const motorMixer_t mixerHex6H[] = {
{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
{ 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R
@ -200,8 +210,10 @@ const mixer_t mixers[] = {
{ 0, 1, NULL }, // * MULTITYPE_PPM_TO_SERVO
{ 2, 1, mixerDualcopter }, // MULTITYPE_DUALCOPTER
{ 1, 1, NULL }, // MULTITYPE_SINGLECOPTER
{ 4, 0, mixerAtail4 }, // MULTITYPE_ATAIL4
{ 0, 0, NULL }, // MULTITYPE_CUSTOM
};
#endif
void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DConfigToUse, escAndServoConfig_t *escAndServoConfigToUse, mixerConfig_t *mixerConfigToUse, airplaneConfig_t *airplaneConfigToUse, rxConfig_t *rxConfigToUse, gimbalConfig_t *gimbalConfigToUse)
{
@ -245,6 +257,8 @@ int servoDirection(int nr, int lr)
static motorMixer_t *customMixers;
#ifndef CJMCU
void mixerInit(MultiType mixerConfiguration, motorMixer_t *initialCustomMixers)
{
currentMixerConfiguration = mixerConfiguration;
@ -302,6 +316,32 @@ void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfigura
mixerResetMotors();
}
#else
void mixerInit(MultiType mixerConfiguration, motorMixer_t *initialCustomMixers)
{
currentMixerConfiguration = mixerConfiguration;
customMixers = initialCustomMixers;
useServo = false;
}
void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration)
{
UNUSED(pwmOutputConfiguration);
motorCount = 4;
servoCount = 0;
uint8_t i;
for (i = 0; i < motorCount; i++) {
currentMixer[i] = mixerQuadX[i];
}
mixerResetMotors();
}
#endif
void mixerResetMotors(void)
{
@ -311,6 +351,7 @@ void mixerResetMotors(void)
motor_disarmed[i] = feature(FEATURE_3D) ? flight3DConfig->neutral3d : escAndServoConfig->mincommand;
}
#ifndef CJMCU
void mixerLoadMix(int index, motorMixer_t *customMixers)
{
int i;
@ -327,6 +368,7 @@ void mixerLoadMix(int index, motorMixer_t *customMixers)
customMixers[i] = mixers[index].motor[i];
}
}
#endif
static void updateGimbalServos(void)
{

5
src/main/flight/mixer.h
View File

@ -44,8 +44,9 @@ typedef enum MultiType
MULTITYPE_PPM_TO_SERVO = 19, // PPM -> servo relay
MULTITYPE_DUALCOPTER = 20,
MULTITYPE_SINGLECOPTER = 21,
MULTITYPE_CUSTOM = 22, // no current GUI displays this
MULTITYPE_LAST = 23
MULTITYPE_ATAIL4 = 22,
MULTITYPE_CUSTOM = 23,
MULTITYPE_LAST = 24
} MultiType;
// Custom mixer data per motor

7
src/main/io/beeper.c
View File

@ -24,6 +24,7 @@
#include "drivers/sound_beeper.h"
#include "drivers/system.h"
#include "flight/failsafe.h"
#include "sensors/battery.h"
#include "sensors/sensors.h"
#include "rx/rx.h"
@ -60,7 +61,7 @@ void beepcodeInit(failsafe_t *initialFailsafe)
failsafe = initialFailsafe;
}
void beepcodeUpdateState(bool warn_vbat)
void beepcodeUpdateState(batteryState_e batteryState)
{
static uint8_t beeperOnBox;
#ifdef GPS
@ -117,7 +118,9 @@ void beepcodeUpdateState(bool warn_vbat)
#endif
else if (beeperOnBox == 1)
beep_code('S','S','S','M'); // beeperon
else if (warn_vbat)
else if (batteryState == BATTERY_CRITICAL)
beep_code('S','S','M','D');
else if (batteryState == BATTERY_WARNING)
beep_code('S','M','M','D');
else if (FLIGHT_MODE(AUTOTUNE_MODE))
beep_code('S','M','S','M');

2
src/main/io/beeper.h
View File

@ -17,5 +17,5 @@
#pragma once
void beepcodeUpdateState(bool warn_vbat);
void beepcodeUpdateState(batteryState_e batteryState);
void queueConfirmationBeep(uint8_t duration);

3
src/main/io/display.c
View File

@ -34,6 +34,9 @@
#include "drivers/system.h"
#include "drivers/display_ug2864hsweg01.h"
#include "drivers/sensor.h"
#include "drivers/compass.h"
#include "sensors/battery.h"
#include "common/axis.h"

2
src/main/io/ledstrip.c
View File

@ -570,7 +570,7 @@ void applyLedWarningLayer(uint8_t updateNow)
if (updateNow && warningFlashCounter == 0) {
warningFlags = WARNING_FLAG_NONE;
if (feature(FEATURE_VBAT) && shouldSoundBatteryAlarm()) {
if (feature(FEATURE_VBAT) && calculateBatteryState() != BATTERY_OK) {
warningFlags |= WARNING_FLAG_LOW_BATTERY;
}
if (failsafe->vTable->hasTimerElapsed()) {

12
src/main/io/rc_controls.c
View File

@ -31,8 +31,10 @@
#include "flight/flight.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "sensors/battery.h"
#include "sensors/sensors.h"
#include "sensors/gyro.h"
#include "sensors/acceleration.h"
@ -420,16 +422,22 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
void changeControlRateProfile(uint8_t profileIndex);
void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position) {
void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
{
bool applied = false;
queueConfirmationBeep(position + 1);
switch(adjustmentFunction) {
case ADJUSTMENT_RATE_PROFILE:
if (getCurrentControlRateProfile() != position) {
changeControlRateProfile(position);
applied = true;
}
break;
}
if (applied) {
queueConfirmationBeep(position + 1);
}
}
#define RESET_FREQUENCY_2HZ (1000 / 2)

19
src/main/io/serial_cli.c
View File

@ -34,7 +34,11 @@
#include "common/typeconversion.h"
#include "drivers/system.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/compass.h"
#include "drivers/serial.h"
#include "drivers/bus_i2c.h"
#include "drivers/gpio.h"
@ -57,6 +61,7 @@
#include "sensors/sensors.h"
#include "sensors/acceleration.h"
#include "sensors/gyro.h"
#include "sensors/compass.h"
#include "sensors/barometer.h"
#include "telemetry/telemetry.h"
@ -87,7 +92,9 @@ static void cliMap(char *cmdline);
static void cliLed(char *cmdline);
static void cliColor(char *cmdline);
#endif
#ifndef CJMCU
static void cliMixer(char *cmdline);
#endif
static void cliMotor(char *cmdline);
static void cliProfile(char *cmdline);
static void cliRateProfile(char *cmdline);
@ -116,7 +123,7 @@ static const char * const mixerNames[] = {
"FLYING_WING", "Y4", "HEX6X", "OCTOX8", "OCTOFLATP", "OCTOFLATX",
"AIRPLANE", "HELI_120_CCPM", "HELI_90_DEG", "VTAIL4",
"HEX6H", "PPM_TO_SERVO", "DUALCOPTER", "SINGLECOPTER",
"CUSTOM", NULL
"ATAIL4", "CUSTOM", NULL
};
// sync this with features_e
@ -164,7 +171,9 @@ const clicmd_t cmdTable[] = {
{ "led", "configure leds", cliLed },
#endif
{ "map", "mapping of rc channel order", cliMap },
#ifndef CJMCU
{ "mixer", "mixer name or list", cliMixer },
#endif
{ "motor", "get/set motor output value", cliMotor },
{ "profile", "index (0 to 2)", cliProfile },
{ "rateprofile", "index (0 to 2)", cliRateProfile },
@ -287,6 +296,7 @@ const clivalue_t valueTable[] = {
{ "vbat_scale", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.vbatscale, VBAT_SCALE_MIN, VBAT_SCALE_MAX },
{ "vbat_max_cell_voltage", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.vbatmaxcellvoltage, 10, 50 },
{ "vbat_min_cell_voltage", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.vbatmincellvoltage, 10, 50 },
{ "vbat_warning_cell_voltage", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.vbatwarningcellvoltage, 10, 50 },
{ "current_meter_scale", VAR_UINT16 | MASTER_VALUE, &masterConfig.batteryConfig.currentMeterScale, 1, 10000 },
{ "current_meter_offset", VAR_UINT16 | MASTER_VALUE, &masterConfig.batteryConfig.currentMeterOffset, 0, 1650 },
{ "multiwii_current_meter_output", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.multiwiiCurrentMeterOutput, 0, 1 },
@ -351,6 +361,7 @@ const clivalue_t valueTable[] = {
{ "baro_cf_vel", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_cf_vel, 0, 1 },
{ "baro_cf_alt", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_cf_alt, 0, 1 },
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.mag_hardware, 0, MAG_NONE },
{ "mag_declination", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].mag_declination, -18000, 18000 },
{ "pid_controller", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidController, 0, 2 },
@ -566,6 +577,9 @@ static void cliAdjustmentRange(char *cmdline)
static void cliCMix(char *cmdline)
{
#ifdef CJMCU
UNUSED(cmdline);
#else
int i, check = 0;
int num_motors = 0;
uint8_t len;
@ -652,6 +666,7 @@ static void cliCMix(char *cmdline)
printf("Motor number must be between 1 and %d\r\n", MAX_SUPPORTED_MOTORS);
}
}
#endif
}
#ifdef LED_STRIP
@ -1003,6 +1018,7 @@ static void cliMap(char *cmdline)
printf("%s\r\n", out);
}
#ifndef CJMCU
static void cliMixer(char *cmdline)
{
int i;
@ -1036,6 +1052,7 @@ static void cliMixer(char *cmdline)
}
}
}
#endif
static void cliMotor(char *cmdline)
{

123
src/main/io/serial_msp.c
View File

@ -30,7 +30,11 @@
#include "common/maths.h"
#include "drivers/system.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/compass.h"
#include "drivers/serial.h"
#include "drivers/bus_i2c.h"
#include "drivers/gpio.h"
@ -206,14 +210,15 @@ const char *boardIdentifier = TARGET_BOARD_IDENTIFIER;
#define MSP_RX_MAP 64 //out message get channel map (also returns number of channels total)
#define MSP_SET_RX_MAP 65 //in message set rx map, numchannels to set comes from MSP_RX_MAP
// DO NOT IMPLEMENT "MSP_CONFIG" and MSP_SET_CONFIG in Cleanflight, isolated commands already exist
//#define MSP_CONFIG 66 //out message baseflight-specific settings that aren't covered elsewhere
//#define MSP_SET_CONFIG 67 //in message baseflight-specific settings save
// FIXME - Provided for backwards compatibility with configurator code until configurator is updated.
// DEPRECATED - DO NOT USE "MSP_CONFIG" and MSP_SET_CONFIG. In Cleanflight, isolated commands already exist and should be used instead.
#define MSP_CONFIG 66 //out message baseflight-specific settings that aren't covered elsewhere
#define MSP_SET_CONFIG 67 //in message baseflight-specific settings save
#define MSP_REBOOT 68 //in message reboot settings
// DEPRECATED - Use MSP_API_VERSION instead
//#define MSP_BUILD_INFO 69 //out message build date as well as some space for future expansion
#define MSP_BUILD_INFO 69 //out message build date as well as some space for future expansion
//
// Multwii original MSP commands
@ -901,18 +906,33 @@ static bool processOutCommand(uint8_t cmdMSP)
break;
case MSP_MISC:
headSerialReply(2 * 6 + 4 + 2 + 4);
serialize16(0); // intPowerTrigger1 (aka useless trash)
serialize16(masterConfig.rxConfig.midrc);
serialize16(masterConfig.escAndServoConfig.minthrottle);
serialize16(masterConfig.escAndServoConfig.maxthrottle);
serialize16(masterConfig.escAndServoConfig.mincommand);
serialize16(currentProfile->failsafeConfig.failsafe_throttle);
serialize16(0); // plog useless shit
serialize32(0); // plog useless shit
serialize16(currentProfile->mag_declination / 10); // TODO check this shit
#ifdef GPS
serialize8(masterConfig.gpsConfig.provider); // gps_type
serialize8(0); // TODO gps_baudrate (an index, cleanflight uses a uint32_t
serialize8(masterConfig.gpsConfig.sbasMode); // gps_ubx_sbas
#else
serialize8(0); // gps_type
serialize8(0); // TODO gps_baudrate (an index, cleanflight uses a uint32_t
serialize8(0); // gps_ubx_sbas
#endif
serialize8(masterConfig.batteryConfig.multiwiiCurrentMeterOutput);
serialize8(masterConfig.rxConfig.rssi_channel);
serialize8(0);
serialize16(currentProfile->mag_declination / 10);
serialize8(masterConfig.batteryConfig.vbatscale);
serialize8(masterConfig.batteryConfig.vbatmincellvoltage);
serialize8(masterConfig.batteryConfig.vbatmaxcellvoltage);
serialize8(0);
serialize8(masterConfig.batteryConfig.vbatwarningcellvoltage);
break;
case MSP_MOTOR_PINS:
headSerialReply(8);
@ -1030,6 +1050,22 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(masterConfig.rxConfig.rcmap[i]);
break;
case MSP_CONFIG:
headSerialReply(1 + 4 + 1 + 2 + 2 + 2 + 2 + 2);
serialize8(masterConfig.mixerConfiguration);
serialize32(featureMask());
serialize8(masterConfig.rxConfig.serialrx_provider);
serialize16(masterConfig.boardAlignment.rollDegrees);
serialize16(masterConfig.boardAlignment.pitchDegrees);
serialize16(masterConfig.boardAlignment.yawDegrees);
serialize16(masterConfig.batteryConfig.currentMeterScale);
serialize16(masterConfig.batteryConfig.currentMeterOffset);
break;
#ifdef LED_STRIP
case MSP_LED_COLORS:
headSerialReply(CONFIGURABLE_COLOR_COUNT * 4);
@ -1052,6 +1088,13 @@ static bool processOutCommand(uint8_t cmdMSP)
}
break;
#endif
case MSP_BUILD_INFO:
headSerialReply(11 + 4 + 4);
for (i = 0; i < 11; i++)
serialize8(buildDate[i]); // MMM DD YYYY as ascii, MMM = Jan/Feb... etc
serialize32(0); // future exp
serialize32(0); // future exp
break;
default:
return false;
@ -1062,6 +1105,7 @@ static bool processOutCommand(uint8_t cmdMSP)
static bool processInCommand(void)
{
uint32_t i;
uint16_t tmp;
#ifdef GPS
uint8_t wp_no;
int32_t lat = 0, lon = 0, alt = 0;
@ -1165,18 +1209,35 @@ static bool processInCommand(void)
currentControlRateProfile->thrExpo8 = read8();
break;
case MSP_SET_MISC:
read16(); // powerfailmeter
tmp = read16();
if (tmp < 1600 && tmp > 1400)
masterConfig.rxConfig.midrc = tmp;
masterConfig.escAndServoConfig.minthrottle = read16();
masterConfig.escAndServoConfig.maxthrottle = read16();
masterConfig.escAndServoConfig.mincommand = read16();
currentProfile->failsafeConfig.failsafe_throttle = read16();
read16();
read32();
#ifdef GPS
masterConfig.gpsConfig.provider = read8(); // gps_type
read8(); // gps_baudrate
masterConfig.gpsConfig.sbasMode = read8(); // gps_ubx_sbas
#else
read8(); // gps_type
read8(); // gps_baudrate
read8(); // gps_ubx_sbas
#endif
masterConfig.batteryConfig.multiwiiCurrentMeterOutput = read8();
masterConfig.rxConfig.rssi_channel = read8();
read8();
currentProfile->mag_declination = read16() * 10;
masterConfig.batteryConfig.vbatscale = read8(); // actual vbatscale as intended
masterConfig.batteryConfig.vbatmincellvoltage = read8(); // vbatlevel_warn1 in MWC2.3 GUI
masterConfig.batteryConfig.vbatmaxcellvoltage = read8(); // vbatlevel_warn2 in MWC2.3 GUI
read8(); // vbatlevel_crit (unused)
masterConfig.batteryConfig.vbatwarningcellvoltage = read8(); // vbatlevel when buzzer starts to alert
break;
case MSP_SET_MOTOR:
for (i = 0; i < 8; i++) // FIXME should this use MAX_MOTORS or MAX_SUPPORTED_MOTORS instead of 8
@ -1264,31 +1325,26 @@ static bool processInCommand(void)
break;
#endif
case MSP_SET_FEATURE:
headSerialReply(0);
featureClearAll();
featureSet(read32()); // features bitmap
break;
case MSP_SET_BOARD_ALIGNMENT:
headSerialReply(0);
masterConfig.boardAlignment.rollDegrees = read16();
masterConfig.boardAlignment.pitchDegrees = read16();
masterConfig.boardAlignment.yawDegrees = read16();
break;
case MSP_SET_CURRENT_METER_CONFIG:
headSerialReply(0);
masterConfig.batteryConfig.currentMeterScale = read16();
masterConfig.batteryConfig.currentMeterOffset = read16();
break;
case MSP_SET_MIXER:
headSerialReply(0);
masterConfig.mixerConfiguration = read8();
break;
case MSP_SET_RX_CONFIG:
headSerialReply(0);
masterConfig.rxConfig.serialrx_provider = read8();
masterConfig.rxConfig.maxcheck = read16();
masterConfig.rxConfig.midrc = read16();
@ -1297,21 +1353,38 @@ static bool processInCommand(void)
break;
case MSP_SET_RSSI_CONFIG:
headSerialReply(0);
masterConfig.rxConfig.rssi_channel = read8();
break;
case MSP_SET_RX_MAP:
headSerialReply(0);
for (i = 0; i < MAX_MAPPABLE_RX_INPUTS; i++) {
masterConfig.rxConfig.rcmap[i] = read8();
}
break;
case MSP_SET_CONFIG:
#ifdef CJMCU
masterConfig.mixerConfiguration = read8(); // multitype
#else
read8(); // multitype
#endif
featureClearAll();
featureSet(read32()); // features bitmap
masterConfig.rxConfig.serialrx_provider = read8(); // serialrx_type
masterConfig.boardAlignment.rollDegrees = read16(); // board_align_roll
masterConfig.boardAlignment.pitchDegrees = read16(); // board_align_pitch
masterConfig.boardAlignment.yawDegrees = read16(); // board_align_yaw
masterConfig.batteryConfig.currentMeterScale = read16();
masterConfig.batteryConfig.currentMeterOffset = read16();
break;
#ifdef LED_STRIP
case MSP_SET_LED_COLORS:
headSerialReply(0);
for (i = 0; i < CONFIGURABLE_COLOR_COUNT; i++) {
hsvColor_t *color = &masterConfig.colors[i];
color->h = read16();
@ -1321,7 +1394,6 @@ static bool processInCommand(void)
break;
case MSP_SET_LED_STRIP_CONFIG:
headSerialReply(MAX_LED_STRIP_LENGTH * 6);
for (i = 0; i < MAX_LED_STRIP_LENGTH; i++) {
ledConfig_t *ledConfig = &masterConfig.ledConfigs[i];
uint16_t mask;
@ -1342,7 +1414,6 @@ static bool processInCommand(void)
break;
#endif
case MSP_REBOOT:
headSerialReply(0);
isRebootScheduled = true;
break;
@ -1421,6 +1492,10 @@ void mspProcess(void)
mspProcessPort();
if (isRebootScheduled) {
// pause a little while to allow response to be sent
while (!isSerialTransmitBufferEmpty(candidatePort->port)) {
delay(50);
}
systemReset();
}
}

9
src/main/main.c
View File

@ -27,6 +27,7 @@
#include "common/atomic.h"
#include "drivers/nvic.h"
#include "drivers/sensor.h"
#include "drivers/system.h"
#include "drivers/gpio.h"
#include "drivers/light_led.h"
@ -36,6 +37,7 @@
#include "drivers/serial_softserial.h"
#include "drivers/serial_uart.h"
#include "drivers/accgyro.h"
#include "drivers/compass.h"
#include "drivers/pwm_mapping.h"
#include "drivers/pwm_rx.h"
#include "drivers/adc.h"
@ -101,7 +103,7 @@ void rxInit(rxConfig_t *rxConfig, failsafe_t *failsafe);
void beepcodeInit(failsafe_t *initialFailsafe);
void gpsInit(serialConfig_t *serialConfig, gpsConfig_t *initialGpsConfig);
void navigationInit(gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig);
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int8_t magHardwareToUse, int16_t magDeclinationFromConfig);
void imuInit(void);
void displayInit(rxConfig_t *intialRxConfig);
void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse, failsafe_t* failsafeToUse);
@ -121,7 +123,6 @@ void init(void)
{
uint8_t i;
drv_pwm_config_t pwm_params;
drv_adc_config_t adc_params;
bool sensorsOK = false;
initPrintfSupport();
@ -216,6 +217,8 @@ void init(void)
#endif
#if !defined(SPARKY)
drv_adc_config_t adc_params;
adc_params.enableRSSI = feature(FEATURE_RSSI_ADC);
adc_params.enableCurrentMeter = feature(FEATURE_CURRENT_METER);
adc_params.enableExternal1 = false;
@ -242,7 +245,7 @@ void init(void)
// We have these sensors; SENSORS_SET defined in board.h depending on hardware platform
sensorsSet(SENSORS_SET);
// drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
sensorsOK = sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, currentProfile->mag_declination);
sensorsOK = sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, masterConfig.mag_hardware, currentProfile->mag_declination);
// if gyro was not detected due to whatever reason, we give up now.
if (!sensorsOK)

8
src/main/mw.c
View File

@ -26,7 +26,9 @@
#include "common/axis.h"
#include "common/color.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/compass.h"
#include "drivers/light_led.h"
#include "drivers/gpio.h"
@ -162,7 +164,7 @@ void annexCode(void)
int32_t tmp, tmp2;
int32_t axis, prop1 = 0, prop2;
static uint8_t batteryWarningEnabled = false;
static batteryState_e batteryState = BATTERY_OK;
static uint8_t vbatTimer = 0;
static int32_t vbatCycleTime = 0;
@ -232,7 +234,7 @@ void annexCode(void)
if (feature(FEATURE_VBAT)) {
updateBatteryVoltage();
batteryWarningEnabled = shouldSoundBatteryAlarm();
batteryState = calculateBatteryState();
}
if (feature(FEATURE_CURRENT_METER)) {
@ -242,7 +244,7 @@ void annexCode(void)
}
}
beepcodeUpdateState(batteryWarningEnabled);
beepcodeUpdateState(batteryState);
if (ARMING_FLAG(ARMED)) {
LED0_ON;

4
src/main/sensors/acceleration.c
View File

@ -22,8 +22,12 @@
#include "common/axis.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "flight/flight.h"
#include "sensors/battery.h"
#include "sensors/sensors.h"
#include "io/beeper.h"
#include "sensors/boardalignment.h"

2
src/main/sensors/acceleration.h
View File

@ -30,7 +30,7 @@ typedef enum AccelSensors {
ACC_MPU9150 = 8,
ACC_FAKE = 9,
ACC_NONE = 10
} AccelSensors;
} accelSensor_e;
extern uint8_t accHardware;
extern sensor_align_e accAlign;

16
src/main/sensors/battery.c
View File

@ -27,7 +27,8 @@
// Battery monitoring stuff
uint8_t batteryCellCount = 3; // cell count
uint16_t batteryWarningVoltage; // annoying beeper after this one, battery ready to be dead
uint16_t batteryWarningVoltage;
uint16_t batteryCriticalVoltage;
uint8_t vbat = 0; // battery voltage in 0.1V steps
@ -62,9 +63,15 @@ void updateBatteryVoltage(void)
vbat = batteryAdcToVoltage(vbatSampleTotal / BATTERY_SAMPLE_COUNT);
}
bool shouldSoundBatteryAlarm(void)
batteryState_e calculateBatteryState(void)
{
return !((vbat > batteryWarningVoltage) || (vbat < batteryConfig->vbatmincellvoltage));
if (vbat <= batteryCriticalVoltage) {
return BATTERY_CRITICAL;
}
if (vbat <= batteryWarningVoltage) {
return BATTERY_WARNING;
}
return BATTERY_OK;
}
void batteryInit(batteryConfig_t *initialBatteryConfig)
@ -85,7 +92,8 @@ void batteryInit(batteryConfig_t *initialBatteryConfig)
}
batteryCellCount = i;
batteryWarningVoltage = batteryCellCount * batteryConfig->vbatmincellvoltage; // 3.3V per cell minimum, configurable in CLI
batteryWarningVoltage = batteryCellCount * batteryConfig->vbatwarningcellvoltage;
batteryCriticalVoltage = batteryCellCount * batteryConfig->vbatmincellvoltage;
}
#define ADCVREF 33L

11
src/main/sensors/battery.h
View File

@ -24,7 +24,8 @@
typedef struct batteryConfig_s {
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)
uint8_t vbatmincellvoltage; // minimum voltage per cell, this triggers battery critical alarm, in 0.1V units, default is 33 (3.3V)
uint8_t vbatwarningcellvoltage; // warning voltage per cell, this triggers battery warning alarm, in 0.1V units, default is 35 (3.5V)
uint16_t currentMeterScale; // scale the current sensor output voltage to milliamps. Value in 1/10th mV/A
uint16_t currentMeterOffset; // offset of the current sensor in millivolt steps
@ -34,6 +35,12 @@ typedef struct batteryConfig_s {
uint16_t batteryCapacity; // mAh
} batteryConfig_t;
typedef enum {
BATTERY_OK = 0,
BATTERY_WARNING,
BATTERY_CRITICAL
} batteryState_e;
extern uint8_t vbat;
extern uint8_t batteryCellCount;
extern uint16_t batteryWarningVoltage;
@ -41,7 +48,7 @@ extern int32_t amperage;
extern int32_t mAhDrawn;
uint16_t batteryAdcToVoltage(uint16_t src);
bool shouldSoundBatteryAlarm(void);
batteryState_e calculateBatteryState(void);
void updateBatteryVoltage(void);
void batteryInit(batteryConfig_t *initialBatteryConfig);

29
src/main/sensors/compass.c
View File

@ -22,6 +22,8 @@
#include "common/axis.h"
#include "drivers/sensor.h"
#include "drivers/compass.h"
#include "drivers/compass_hmc5883l.h"
#include "drivers/gpio.h"
#include "drivers/light_led.h"
@ -38,6 +40,9 @@
#include "hardware_revision.h"
#endif
mag_t mag; // mag access functions
uint8_t magHardware = MAG_DEFAULT;
extern uint32_t currentTime; // FIXME dependency on global variable, pass it in instead.
int16_t magADC[XYZ_AXIS_COUNT];
@ -49,27 +54,7 @@ void compassInit(void)
{
// initialize and calibration. turn on led during mag calibration (calibration routine blinks it)
LED1_ON;
hmc5883Config_t *hmc5883Config = 0;
#ifdef NAZE
hmc5883Config_t nazeHmc5883Config;
if (hardwareRevision < NAZE32_REV5) {
nazeHmc5883Config.gpioAPB2Peripherals = RCC_APB2Periph_GPIOB;
nazeHmc5883Config.gpioPin = Pin_12;
nazeHmc5883Config.gpioPort = GPIOB;
} else {
nazeHmc5883Config.gpioAPB2Peripherals = RCC_APB2Periph_GPIOC;
nazeHmc5883Config.gpioPin = Pin_14;
nazeHmc5883Config.gpioPort = GPIOC;
}
hmc5883Config = &nazeHmc5883Config;
#endif
hmc5883lInit(hmc5883Config);
mag.init();
LED1_OFF;
magInit = 1;
}
@ -88,7 +73,7 @@ void updateCompass(flightDynamicsTrims_t *magZero)
nextUpdateAt = currentTime + COMPASS_UPDATE_FREQUENCY_10HZ;
hmc5883lRead(magADC);
mag.read(magADC);
alignSensors(magADC, magADC, magAlign);
if (STATE(CALIBRATE_MAG)) {

11
src/main/sensors/compass.h
View File

@ -17,10 +17,21 @@
#pragma once
// Type of accelerometer used/detected
typedef enum MagSensors {
MAG_DEFAULT = 0,
MAG_HMC5883 = 1,
MAG_AK8975 = 2,
MAG_NONE = 3
} magSensor_e;
#ifdef MAG
void compassInit(void);
void updateCompass(flightDynamicsTrims_t *magZero);
#endif
extern int16_t magADC[XYZ_AXIS_COUNT];
extern uint8_t magHardware;
extern sensor_align_e magAlign;
extern mag_t mag;

1
src/main/sensors/gyro.c
View File

@ -23,6 +23,7 @@
#include "common/axis.h"
#include "common/maths.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "flight/flight.h"
#include "sensors/sensors.h"

94
src/main/sensors/initialisation.c
View File

@ -24,8 +24,9 @@
#include "common/axis.h"
#include "drivers/accgyro.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/accgyro_adxl345.h"
#include "drivers/accgyro_bma280.h"
#include "drivers/accgyro_l3g4200d.h"
@ -43,8 +44,13 @@
#include "drivers/barometer.h"
#include "drivers/barometer_bmp085.h"
#include "drivers/barometer_ms5611.h"
#include "drivers/compass.h"
#include "drivers/compass_hmc5883l.h"
#include "drivers/compass_ak8975.h"
#include "drivers/sonar_hcsr04.h"
#include "drivers/gpio.h"
#include "drivers/system.h"
@ -330,7 +336,7 @@ retry:
// Found anything? Check if error or ACC is really missing.
if (accHardware == ACC_DEFAULT) {
if (accHardwareToUse > ACC_DEFAULT) {
if (accHardwareToUse > ACC_DEFAULT && accHardwareToUse < ACC_NONE) {
// Nothing was found and we have a forced sensor that isn't present.
accHardwareToUse = ACC_DEFAULT;
goto retry;
@ -384,6 +390,77 @@ static void detectBaro()
sensorsClear(SENSOR_BARO);
}
static void detectMag(uint8_t magHardwareToUse)
{
#ifdef USE_MAG_HMC5883
static hmc5883Config_t *hmc5883Config = 0;
#ifdef NAZE
hmc5883Config_t nazeHmc5883Config;
if (hardwareRevision < NAZE32_REV5) {
nazeHmc5883Config.gpioAPB2Peripherals = RCC_APB2Periph_GPIOB;
nazeHmc5883Config.gpioPin = Pin_12;
nazeHmc5883Config.gpioPort = GPIOB;
} else {
nazeHmc5883Config.gpioAPB2Peripherals = RCC_APB2Periph_GPIOC;
nazeHmc5883Config.gpioPin = Pin_14;
nazeHmc5883Config.gpioPort = GPIOC;
}
hmc5883Config = &nazeHmc5883Config;
#endif
#endif
retry:
magAlign = ALIGN_DEFAULT;
switch(magHardwareToUse) {
case MAG_NONE: // disable MAG
sensorsClear(SENSOR_MAG);
break;
case MAG_DEFAULT: // autodetect
#ifdef USE_MAG_HMC5883
case MAG_HMC5883:
if (hmc5883lDetect(&mag, hmc5883Config)) {
#ifdef NAZE
magAlign = CW180_DEG;
#endif
magHardware = MAG_HMC5883;
if (magHardwareToUse == MAG_HMC5883)
break;
}
; // fallthrough
#endif
#ifdef USE_MAG_AK8975
case MAG_AK8975:
if (ak8975detect(&mag)) {
magHardware = MAG_AK8975;
if (magHardwareToUse == MAG_AK8975)
break;
}
; // fallthrough
#endif
; // prevent compiler error.
}
if (magHardware == MAG_DEFAULT) {
if (magHardwareToUse > MAG_DEFAULT && magHardwareToUse < MAG_NONE) {
// Nothing was found and we have a forced sensor that isn't present.
magHardwareToUse = MAG_DEFAULT;
goto retry;
} else {
// No MAG was detected
sensorsClear(SENSOR_MAG);
}
}
}
void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
{
if (sensorAlignmentConfig->gyro_align != ALIGN_DEFAULT) {
@ -397,7 +474,7 @@ void reconfigureAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
}
}
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int16_t magDeclinationFromConfig)
bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, int16_t magDeclinationFromConfig)
{
int16_t deg, min;
memset(&acc, sizeof(acc), 0);
@ -409,16 +486,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t
sensorsSet(SENSOR_GYRO);
detectAcc(accHardwareToUse);
detectBaro();
#ifdef MAG
if (hmc5883lDetect()) {
#ifdef NAZE
magAlign = CW180_DEG;
#endif
} else {
sensorsClear(SENSOR_MAG);
}
#endif
detectMag(magHardwareToUse);
reconfigureAlignment(sensorAlignmentConfig);

1
src/main/target/CJMCU/target.h
View File

@ -43,6 +43,7 @@
#define USE_GYRO_MPU6050
#define MAG
#define USE_MAG_HMC5883
#define BRUSHED_MOTORS

4
src/main/target/EUSTM32F103RC/target.h
View File

@ -63,6 +63,10 @@
#define USE_BARO_BMP085
#define MAG
#define USE_MAG_HMC5883
#define USE_MAG_AK8975
#define SONAR
#define LED0
#define LED1

1
src/main/target/NAZE/hardware_revision.c
View File

@ -25,6 +25,7 @@
#include "drivers/system.h"
#include "drivers/bus_spi.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/accgyro_spi_mpu6500.h"

2
src/main/target/NAZE/target.h
View File

@ -74,6 +74,8 @@
#define USE_BARO_BMP085
#define MAG
#define USE_MAG_HMC5883
#define SONAR
#define BEEPER
#define LED0

2
src/main/target/OLIMEXINO/target.h
View File

@ -63,6 +63,8 @@
#define USE_BARO_BMP085
#define MAG
#define USE_MAG_HMC5883
#define SONAR
#define USE_USART1

5
src/main/target/SPARKY/target.h
View File

@ -36,6 +36,9 @@
#define BARO
#define USE_BARO_MS5611
#define MAG
#define USE_MAG_AK8975
#define LED0
#define LED1
@ -76,7 +79,7 @@
#define I2C2_SDA_CLK_SOURCE RCC_AHBPeriph_GPIOA
#define SENSORS_SET (SENSOR_ACC)
#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
#define SERIAL_RX
#define GPS

1
src/main/telemetry/frsky.c
View File

@ -31,6 +31,7 @@
#include "common/axis.h"
#include "drivers/system.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/gpio.h"
#include "drivers/timer.h"

2
src/main/telemetry/smartport.c
View File

@ -16,7 +16,9 @@
#include "common/maths.h"
#include "drivers/system.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/compass.h"
#include "drivers/serial.h"
#include "drivers/bus_i2c.h"
#include "drivers/gpio.h"

2
src/main/version.h
View File

@ -19,7 +19,7 @@
#define FC_VERSION_MINOR 0 // increment when a minor release is made (small new feature, change etc)
#define FC_VERSION_PATCH_LEVEL 0 // increment when a bug is fixed
#define MW_VERSION 230
#define MW_VERSION 231
extern char* targetName;