From c998f5ca67f08c6aecda699d6f848c6f272e4a5b Mon Sep 17 00:00:00 2001 From: timecop Date: Sun, 1 Jul 2012 15:32:45 +0000 Subject: [PATCH] added support for outputting FrSky telemetry by silpstream @ rcgroups feature TELEMETRY to enable it. when armed, telemetry is sent out the TX pin. It must be connected to 'Rx' pin of FrSky telemetry receiver via a level shifter. When disarmed, port goes back to 115200 bps for GUI. fixed a typo in imu.c introduced by GYRO_INTERLEAVE junk. todo: just switch serial speed instead of reinitializing everything. git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@173 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61 --- baseflight.uvproj | 15 + obj/baseflight.hex | 5201 +++++++++++++++++++------------------- obj/baseflight_fy90q.hex | 4414 ++++++++++++++++---------------- src/board.h | 2 + src/cli.c | 2 +- src/drv_mpu3050.c | 8 +- src/gps.c | 6 +- src/imu.c | 3 +- src/mw.c | 14 +- src/mw.h | 5 + src/serial.c | 6 + src/telemetry.c | 124 + 12 files changed, 5031 insertions(+), 4769 deletions(-) create mode 100644 src/telemetry.c diff --git a/baseflight.uvproj b/baseflight.uvproj index d9fe2836e..133a72d58 100755 --- a/baseflight.uvproj +++ b/baseflight.uvproj @@ -451,6 +451,11 @@ 1 .\src\buzzer.c + + telemetry.c + 1 + .\src\telemetry.c + @@ -1221,6 +1226,11 @@ 1 .\src\buzzer.c + + telemetry.c + 1 + .\src\telemetry.c + @@ -1937,6 +1947,11 @@ 1 .\src\buzzer.c + + telemetry.c + 1 + .\src\telemetry.c + diff --git a/obj/baseflight.hex b/obj/baseflight.hex index 4ac5f63ce..31660c993 100644 --- a/obj/baseflight.hex +++ b/obj/baseflight.hex @@ -1,81 +1,81 @@ :020000040800F2 -:10000000C8190020F172000831730008337300082A -:1000100035730008377300083973000800000000CA -:100020000000000000000000000000003B7300081A -:100030003D730008000000003F730008815A00086B -:1000400043730008437300084373000843730008B8 -:10005000437300084373000843730008DB62000821 -:100060004373000843730008437300084373000898 -:1000700043730008437300089B5C00084373000847 -:100080004373000843730008437300084373000878 -:10009000437300084373000843730008DD620008DF -:1000A0004373000843730008437300084373000858 -:1000B000F155000803560008437300083152000848 -:1000C0000F500008355200083352000843730008EF -:1000D0004373000843730008C75E000843730008B9 -:1000E000854B00084373000843730008DFF80CD009 -:1000F00007F066FE0048004709150008C8190020EF 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init; sensorReadFuncPtr read; sensorReadFuncPtr align; + sensorReadFuncPtr temperature; } sensor_t; #define digitalHi(p, i) { p->BSRR = i; } diff --git a/src/cli.c b/src/cli.c index 17a362aaa..ef96ea8cf 100644 --- a/src/cli.c +++ b/src/cli.c @@ -37,7 +37,7 @@ const char *mixerNames[] = { const char *featureNames[] = { "PPM", "VBAT", "INFLIGHT_ACC_CAL", "SPEKTRUM", "MOTOR_STOP", "SERVO_TILT", "CAMTRIG", "GYRO_SMOOTHING", "LED_RING", "GPS", - "FAILSAFE", "SONAR", + "FAILSAFE", "SONAR", "TELEMETRY", NULL }; diff --git a/src/drv_mpu3050.c b/src/drv_mpu3050.c index f48213a97..6451b91ed 100755 --- a/src/drv_mpu3050.c +++ b/src/drv_mpu3050.c @@ -29,6 +29,7 @@ static uint8_t mpuLowPassFilter = MPU3050_DLPF_42HZ; static void mpu3050Init(void); static void mpu3050Read(int16_t *gyroData); static void mpu3050Align(int16_t *gyroData); +static void mpu3050ReadTemp(int16_t *tempData); bool mpu3050Detect(sensor_t *gyro) { @@ -43,6 +44,7 @@ bool mpu3050Detect(sensor_t *gyro) gyro->init = mpu3050Init; gyro->read = mpu3050Read; gyro->align = mpu3050Align; + gyro->temperature = mpu3050ReadTemp; return true; } @@ -107,10 +109,10 @@ static void mpu3050Read(int16_t *gyroData) gyroData[2] = (buf[4] << 8) | buf[5]; } -static int16_t mpu3050ReadTemp(void) +static void mpu3050ReadTemp(int16_t *tempData) { uint8_t buf[2]; i2cRead(MPU3050_ADDRESS, MPU3050_TEMP_OUT, 2, buf); - - return 35 + ((int32_t)(buf[0] << 8 | buf[1]) + 13200) / 280; + + *tempData = 35 + ((int32_t)(buf[0] << 8 | buf[1]) + 13200) / 280; } diff --git a/src/gps.c b/src/gps.c index 1409a4f66..0f082d052 100644 --- a/src/gps.c +++ b/src/gps.c @@ -619,10 +619,10 @@ static uint32_t GPS_coord_to_degrees(char *s) } // helper functions -static uint16_t grab_fields(char *src, uint8_t mult) -{ // convert string to uint16 +static uint32_t grab_fields(char *src, uint8_t mult) +{ // convert string to uint32 uint8_t i; - uint16_t tmp = 0; + uint32_t tmp = 0; for (i = 0; src[i] != 0; i++) { if (src[i] == '.') { i++; diff --git a/src/imu.c b/src/imu.c index 006af20d4..623654930 100755 --- a/src/imu.c +++ b/src/imu.c @@ -50,7 +50,7 @@ void computeIMU(void) Gyro_getADC(); - for (axis = 0; axis < 3; axis++) + for (axis = 0; axis < 3; axis++) { #ifdef GYRO_INTERLEAVE gyroADCp[axis] = gyroADC[axis]; #else @@ -58,6 +58,7 @@ void computeIMU(void) #endif if (!sensors(SENSOR_ACC)) accADC[axis] = 0; + } timeInterleave = micros(); annexCode(); #ifdef GYRO_INTERLEAVE diff --git a/src/mw.c b/src/mw.c index 14fedc688..9ccc8734e 100755 --- a/src/mw.c +++ b/src/mw.c @@ -14,6 +14,7 @@ int16_t headFreeModeHold; int16_t annex650_overrun_count = 0; uint8_t vbat; // battery voltage in 0.1V steps +int16_t telemTemperature1; // gyro sensor temperature int16_t failsafeCnt = 0; int16_t failsafeEvents = 0; @@ -170,9 +171,11 @@ void annexCode(void) if (f.ACC_CALIBRATED) { LED0_OFF; } - if (f.ARMED) { + if (f.ARMED) LED0_ON; - } + // This will switch to/from 9600 or 115200 baud depending on state. Of course, it should only do it on changes. + if (feature(FEATURE_TELEMETRY)) + initTelemetry(f.ARMED); } #ifdef LEDRING @@ -204,6 +207,13 @@ void annexCode(void) LED1_TOGGLE; } } + + // Read out gyro temperature. can use it for something somewhere. maybe get MCU temperature instead? lots of fun possibilities. + if (gyro.temperature) + gyro.temperature(&telemTemperature1); + else { + // TODO MCU temp + } } uint16_t pwmReadRawRC(uint8_t chan) diff --git a/src/mw.h b/src/mw.h index f78b7c0a5..7c1610497 100755 --- a/src/mw.h +++ b/src/mw.h @@ -247,6 +247,7 @@ extern int16_t motor[8]; extern int16_t servo[8]; extern int16_t rcData[8]; extern uint8_t vbat; +extern int16_t telemTemperature1; // gyro sensor temperature 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; @@ -335,3 +336,7 @@ void gpsInit(uint32_t baudrate); void GPS_reset_home_position(void); void GPS_reset_nav(void); void GPS_set_next_wp(int32_t* lat, int32_t* lon); + +// telemetry +void initTelemetry(bool State); +void sendTelemetry(void); diff --git a/src/serial.c b/src/serial.c index 3515a2c6b..8a6533e44 100755 --- a/src/serial.c +++ b/src/serial.c @@ -70,6 +70,7 @@ static const char pidnames[] = static uint8_t checksum, indRX, inBuf[INBUF_SIZE]; static uint8_t cmdMSP; +static bool guiConnected = false; void serialize32(uint32_t a) { @@ -396,6 +397,7 @@ void serialCom(void) indRX = 0; checksum ^= c; c_state = HEADER_SIZE; // the command is to follow + guiConnected = true; } else if (c_state == HEADER_SIZE) { cmdMSP = c; checksum ^= c; @@ -410,4 +412,8 @@ void serialCom(void) c_state = IDLE; } } + if (!cliMode && !uartAvailable() && feature(FEATURE_TELEMETRY) && f.ARMED) { //The first 2 conditions should never evaluate to true but I'm putting it here anyway - silpstream + sendTelemetry(); + return; + } } diff --git a/src/telemetry.c b/src/telemetry.c new file mode 100644 index 000000000..5c9e502cf --- /dev/null +++ b/src/telemetry.c @@ -0,0 +1,124 @@ +/* + * FrSky Telemetry implementation by silpstream @ rcgroups + */ +#include "board.h" +#include "mw.h" + +#define CYCLETIME 200 + +static void sendDataHead(uint8_t id) +{ + uartWrite(0x5E); + uartWrite(id); +} + +static void sendTelemetryTail(void) +{ + uartWrite(0x5E); +} + +static void serialize16(int16_t a) +{ + uint8_t t; + t = a; + uartWrite(t); + t = a >> 8 & 0xff; + uartWrite(t); +} + +static void sendAccel(void) +{ + uint8_t i; + + for (i = 0; i < 3; i++) { + sendDataHead(0x24 + i); + serialize16(((float)accSmooth[i] / acc_1G) * 1000); + } +} + +static void sendBaro(void) +{ + sendDataHead(0x10); + serialize16(EstAlt / 100); + sendDataHead(0x21); + serialize16(EstAlt % 100); +} + +static void sendTemperature1(void) +{ + sendDataHead(0x02); + serialize16(telemTemperature1 / 10); +} + +static void sendTime(void) +{ + uint32_t seconds = millis() / 1000; + uint8_t minutes = (seconds / 60) % 60; + + // if we fly for more than an hour, something's wrong anyway + sendDataHead(0x17); + serialize16(minutes << 8); + sendDataHead(0x18); + serialize16(seconds % 60); +} + +static void sendGPS(void) +{ + sendDataHead(0x13); + serialize16(abs(GPS_coord[LAT]) / 100000); + sendDataHead(0x13 + 8); + serialize16((abs(GPS_coord[LAT]) / 100000) % 10000); + + sendDataHead(0x1B + 8); + serialize16(GPS_coord[LAT] < 0 ? 'S' : 'N'); + + sendDataHead(0x12); + serialize16(abs(GPS_coord[LON]) / 100000); + sendDataHead(0x12 + 8); + serialize16((abs(GPS_coord[LON]) / 100000) % 10000); + sendDataHead(0x1A + 8); + serialize16(GPS_coord[LON] < 0 ? 'W' : 'E'); +} + +static bool telemetryEnabled = false; + +void initTelemetry(bool State) +{ + if (State != telemetryEnabled) { + if (State) + serialInit(9600); + else + serialInit(cfg.serial_baudrate); + telemetryEnabled = State; + } +} + +static uint32_t lastCycleTime = 0; +static uint8_t cycleNum = 0; + +void sendTelemetry(void) +{ + if (millis() - lastCycleTime >= CYCLETIME) { + lastCycleTime = millis(); + cycleNum++; + + // Frame 1: sent every 200ms + sendAccel(); + sendBaro(); + sendTemperature1(); + sendTelemetryTail(); + + if ((cycleNum % 5) == 0) { // Frame 2: Sent every 1s + if (sensors(SENSOR_GPS)) { + sendGPS(); + sendTelemetryTail(); + } + } + + if (cycleNum == 25) { //Frame 3: Sent every 5s + cycleNum = 0; + sendTime(); + sendTelemetryTail(); + } + } +}