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Merge remote-tracking branch 'refs/remotes/upstream/master' into feature-timer

This commit is contained in:
Petr Ledvina 2014-11-08 14:25:28 +01:00
parent aa7f5c4a1e 28da97f894
commit cd88c561a6
7 changed files with 74 additions and 34 deletions
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11
src/main/io/serial.c
View File

@ -513,6 +513,17 @@ bool isSerialPortFunctionShared(serialPortFunction_e functionToUse, uint16_t fun
return result->portFunction->scenario & functionMask;
}
serialPort_t *findSharedSerialPort(serialPortFunction_e functionToUse, uint16_t functionMask)
{
functionConstraint_t *functionConstraint = getConfiguredFunctionConstraint(functionToUse);
serialPortSearchResult_t *result = findSerialPort(functionToUse, functionConstraint);
if (result->portFunction->scenario & functionMask) {
return result->portFunction->port;
}
return NULL;
}
void applySerialConfigToPortFunctions(serialConfig_t *serialConfig)
{
uint32_t portIndex = 0, serialPortIdentifier;

1
src/main/io/serial.h
View File

@ -161,6 +161,7 @@ void applySerialConfigToPortFunctions(serialConfig_t *serialConfig);
bool isSerialConfigValid(serialConfig_t *serialConfig);
bool doesConfigurationUsePort(serialPortIdentifier_e portIdentifier);
bool isSerialPortFunctionShared(serialPortFunction_e functionToUse, uint16_t functionMask);
serialPort_t *findSharedSerialPort(serialPortFunction_e functionToUse, uint16_t functionMask);
const serialPortFunctionList_t *getSerialPortFunctionList(void);

13
src/main/io/serial_cli.c
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@ -90,6 +90,7 @@ static void cliMixer(char *cmdline);
static void cliMotor(char *cmdline);
static void cliProfile(char *cmdline);
static void cliRateProfile(char *cmdline);
static void cliReboot(void);
static void cliSave(char *cmdline);
static void cliSet(char *cmdline);
static void cliGet(char *cmdline);
@ -332,7 +333,7 @@ const clivalue_t valueTable[] = {
{ "gimbal_flags", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].gimbalConfig.gimbal_flags, 0, 255},
{ "acc_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.acc_hardware, 0, 5 },
{ "acc_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.acc_hardware, 0, ACC_NONE },
{ "acc_lpf_factor", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].acc_lpf_factor, 0, 250 },
{ "accxy_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].accDeadband.xy, 0, 100 },
{ "accz_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].accDeadband.z, 0, 100 },
@ -858,18 +859,14 @@ static void cliEnter(void)
static void cliExit(char *cmdline)
{
cliPrint("\r\nLeaving CLI mode\r\n");
UNUSED(cmdline);
cliPrint("\r\nLeaving CLI mode, unsaved changes lost.\r\n");
*cliBuffer = '\0';
bufferIndex = 0;
cliMode = 0;
// incase a motor was left running during motortest, clear it here
mixerResetMotors();
// save and reboot... I think this makes the most sense - otherwise config changes can be out of sync, maybe just need to applyConfig and return?
#if 1
cliSave(cmdline);
#else
releaseSerialPort(cliPort, FUNCTION_CLI);
#endif
cliReboot();
}
static void cliFeature(char *cmdline)

41
src/main/io/serial_msp.c
View File

@ -525,12 +525,17 @@ static void resetMspPort(mspPort_t *mspPortToReset, serialPort_t *serialPort, ms
// This rate is chosen since softserial supports it.
#define MSP_FALLBACK_BAUDRATE 19200
static void openAllMSPSerialPorts(serialConfig_t *serialConfig)
void mspAllocateSerialPorts(serialConfig_t *serialConfig)
{
serialPort_t *port;
uint8_t portIndex = 0;
do {
uint8_t portIndex;
for (portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
mspPort_t *mspPort = &mspPorts[portIndex];
if (mspPort->mspPortUsage != UNUSED_PORT) {
continue;
}
uint32_t baudRate = serialConfig->msp_baudrate;
@ -549,18 +554,30 @@ static void openAllMSPSerialPorts(serialConfig_t *serialConfig)
} while (!port);
if (port && portIndex < MAX_MSP_PORT_COUNT) {
mspPort_t *newMspPort = &mspPorts[portIndex++];
resetMspPort(newMspPort, port, FOR_GENERAL_MSP);
resetMspPort(mspPort, port, FOR_GENERAL_MSP);
}
} while (port);
if (!port) {
break;
}
}
// XXX this function might help with adding support for MSP on more than one port, if not delete it.
const serialPortFunctionList_t *serialPortFunctionList = getSerialPortFunctionList();
UNUSED(serialPortFunctionList);
}
void mspReleasePortIfAllocated(serialPort_t *serialPort)
{
uint8_t portIndex;
for (portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
mspPort_t *candidateMspPort = &mspPorts[portIndex];
if (candidateMspPort->port == serialPort) {
endSerialPortFunction(serialPort, FUNCTION_MSP);
memset(candidateMspPort, 0, sizeof(mspPort_t));
}
}
}
void mspInit(serialConfig_t *serialConfig)
{
// calculate used boxes based on features and fill availableBoxes[] array
@ -615,14 +632,8 @@ void mspInit(serialConfig_t *serialConfig)
activeBoxIds[activeBoxIdCount++] = BOXSONAR;
}
mspReset(serialConfig);
}
void mspReset(serialConfig_t *serialConfig)
{
memset(mspPorts, 0x00, sizeof(mspPorts));
openAllMSPSerialPorts(serialConfig);
mspAllocateSerialPorts(serialConfig);
}
#define IS_ENABLED(mask) (mask == 0 ? 0 : 1)

3
src/main/io/serial_msp.h
View File

@ -23,4 +23,5 @@
void mspProcess(void);
void sendMspTelemetry(void);
void mspSetTelemetryPort(serialPort_t *mspTelemetryPort);
void mspReset(serialConfig_t *serialConfig);
void mspAllocateSerialPorts(serialConfig_t *serialConfig);
void mspReleasePortIfAllocated(serialPort_t *serialPort);

19
src/main/mw.c
View File

@ -299,10 +299,12 @@ void mwDisarm(void)
DISABLE_ARMING_FLAG(ARMED);
#ifdef TELEMETRY
// the telemetry state must be checked immediately so that shared serial ports are released.
checkTelemetryState();
if (isSerialPortFunctionShared(FUNCTION_TELEMETRY, FUNCTION_MSP)) {
mspReset(&masterConfig.serialConfig);
if (feature(FEATURE_TELEMETRY)) {
// the telemetry state must be checked immediately so that shared serial ports are released.
checkTelemetryState();
if (isSerialPortFunctionShared(FUNCTION_TELEMETRY, FUNCTION_MSP)) {
mspAllocateSerialPorts(&masterConfig.serialConfig);
}
}
#endif
}
@ -317,6 +319,15 @@ void mwArm(void)
if (!ARMING_FLAG(PREVENT_ARMING)) {
ENABLE_ARMING_FLAG(ARMED);
headFreeModeHold = heading;
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
serialPort_t *sharedTelemetryAndMspPort = findSharedSerialPort(FUNCTION_TELEMETRY, FUNCTION_MSP);
if (sharedTelemetryAndMspPort) {
mspReleasePortIfAllocated(sharedTelemetryAndMspPort);
}
}
#endif
return;
}
}

20
src/main/rx/sbus.c
View File

@ -35,10 +35,9 @@
#include "rx/rx.h"
#include "rx/sbus.h"
#define SBUS_MAX_CHANNEL 12
#define SBUS_MAX_CHANNEL 16
#define SBUS_FRAME_SIZE 25
#define SBUS_SYNCBYTE 0x0F
#define SBUS_OFFSET 988
#define SBUS_BAUDRATE 100000
@ -64,7 +63,7 @@ bool sbusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRa
sBusPort = openSerialPort(FUNCTION_SERIAL_RX, sbusDataReceive, SBUS_BAUDRATE, (portMode_t)(MODE_RX | MODE_SBUS), SERIAL_INVERTED);
for (b = 0; b < SBUS_MAX_CHANNEL; b++)
sbusChannelData[b] = 2 * (rxConfig->midrc - SBUS_OFFSET);
sbusChannelData[b] = (1.6f * rxConfig->midrc) - 1408;
if (callback)
*callback = sbusReadRawRC;
rxRuntimeConfig->channelCount = SBUS_MAX_CHANNEL;
@ -85,6 +84,10 @@ struct sbus_dat {
unsigned int chan9 : 11;
unsigned int chan10 : 11;
unsigned int chan11 : 11;
unsigned int chan12 : 11;
unsigned int chan13 : 11;
unsigned int chan14 : 11;
unsigned int chan15 : 11;
} __attribute__ ((__packed__));
typedef union {
@ -127,7 +130,7 @@ bool sbusFrameComplete(void)
return false;
}
sbusFrameDone = false;
if ((sbus.in[22] >> 3) & 0x0001) {
if ((sbus.in[SBUS_FRAME_SIZE - 3] >> 3) & 0x0001) {
// internal failsafe enabled and rx failsafe flag set
return false;
}
@ -143,12 +146,17 @@ bool sbusFrameComplete(void)
sbusChannelData[9] = sbus.msg.chan9;
sbusChannelData[10] = sbus.msg.chan10;
sbusChannelData[11] = sbus.msg.chan11;
sbusChannelData[12] = sbus.msg.chan12;
sbusChannelData[13] = sbus.msg.chan13;
sbusChannelData[14] = sbus.msg.chan14;
sbusChannelData[15] = sbus.msg.chan15;
return true;
}
static uint16_t sbusReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan)
{
UNUSED(rxRuntimeConfig);
return sbusChannelData[chan] / 2 + SBUS_OFFSET;
// Linear fitting values read from OpenTX-ppmus and comparing with values received by X4R
// http://www.wolframalpha.com/input/?i=linear+fit+%7B173%2C+988%7D%2C+%7B1812%2C+2012%7D%2C+%7B993%2C+1500%7D
return (0.625f * sbusChannelData[chan]) + 880;
}