mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-28 06:24:10 +01:00
Merge remote-tracking branch 'librepilot/next' into LP-609_Hott_menu
This commit is contained in:
Eric Price
commit
0e6e70e3e4
@ -1,11 +1,12 @@
|
||||
pipelines:
|
||||
default:
|
||||
- step:
|
||||
image: atlassian/default-image:3
|
||||
runs-on: self.hosted
|
||||
script:
|
||||
- add-apt-repository ppa:librepilot/tools -y
|
||||
- apt-get update -q
|
||||
- apt-get install -y libc6-i386 libudev-dev libusb-1.0-0-dev libsdl1.2-dev python libopenscenegraph-dev libosgearth-dev qt56-meta-minimal qt56svg qt56script qt56serialport qt56multimedia qt56translations qt56tools
|
||||
- DEBIAN_FRONTEND=noninteractive apt-get install -y build-essential qtbase5-dev git curl libc6-i386 python2 python2.7-dev libqt5svg5-dev qt5-qmltooling-plugins libqt5webview5-dev qtscript5-dev libqt5serialport5-dev qtmultimedia5-dev libusb-1.0-0-dev libudev-dev pkg-config libsdl-dev libosgearth-dev qttools5-dev-tools
|
||||
- make build_sdk_install
|
||||
- make all_flight
|
||||
- make all_flight --jobs=6
|
||||
- make fw_resource
|
||||
- make gcs
|
||||
- make gcs --jobs=6
|
||||
|
||||
@ -283,7 +283,7 @@ SystemAlarmsAlarmOptions AlarmsGetHighestSeverity()
|
||||
}
|
||||
|
||||
|
||||
static const char *const systemalarms_severity_names[] = {
|
||||
__attribute__((unused)) static const char *const systemalarms_severity_names[] = {
|
||||
[SYSTEMALARMS_ALARM_UNINITIALISED] = "UNINITIALISED",
|
||||
[SYSTEMALARMS_ALARM_OK] = "OK",
|
||||
[SYSTEMALARMS_ALARM_WARNING] = "WARNING",
|
||||
|
||||
673
flight/libraries/frsky_packing.c
Normal file
673
flight/libraries/frsky_packing.c
Normal file
@ -0,0 +1,673 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file frsky_packing.c
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017-2019
|
||||
* Tau Labs, http://taulabs.org, Copyright (C) 2015
|
||||
* @brief Packs UAVObjects into FrSKY Smart Port frames
|
||||
*
|
||||
* Since there is no public documentation of SmartPort protocol available,
|
||||
* this was put together by studying OpenTx source code, reading
|
||||
* tidbits of informations on the Internet and experimenting.
|
||||
* @see https://github.com/opentx/opentx/tree/next/radio/src/telemetry
|
||||
* @see https://code.google.com/p/telemetry-convert/wiki/FrSkySPortProtocol
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program 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.
|
||||
*
|
||||
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include "frsky_packing.h"
|
||||
#include "frskysporttelemetrysettings.h"
|
||||
#include "attitudestate.h"
|
||||
#include "barosensor.h"
|
||||
#include "positionstate.h"
|
||||
#include "velocitystate.h"
|
||||
#include "flightbatterystate.h"
|
||||
#include "flightbatterysettings.h"
|
||||
#include "gpstime.h"
|
||||
#include "homelocation.h"
|
||||
#include "accelstate.h"
|
||||
#include "flightstatus.h"
|
||||
#include "airspeedstate.h"
|
||||
#include "nedaccel.h"
|
||||
|
||||
#define GRAVITY 9.805f // [m/s^2]
|
||||
#define KNOTS2M_PER_SECOND 0.514444444f
|
||||
|
||||
|
||||
/**
|
||||
* Encode baro altitude value
|
||||
* @param[out] value encoded value
|
||||
* @param[in] test_presence_only true when function should only test for availability of this value
|
||||
* @param[in] arg argument specified in frsky_value_items[]
|
||||
* @returns true when value succesfully encoded or presence test passed
|
||||
*/
|
||||
bool frsky_encode_altitude(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, __attribute__((unused)) uint32_t arg)
|
||||
{
|
||||
if (!frsky->use_baro_sensor || (PositionStateHandle() == NULL)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
if (test_presence_only) {
|
||||
return true;
|
||||
}
|
||||
// instead of encoding baro altitude directly, we will use
|
||||
// more accurate estimation in PositionState UAVO
|
||||
float down = 0;
|
||||
PositionStateDownGet(&down);
|
||||
int32_t alt = (int32_t)(-down * 100.0f);
|
||||
*value = (uint32_t)alt;
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* Encode heading value
|
||||
* @param[out] value encoded value
|
||||
* @param[in] test_presence_only true when function should only test for availability of this value
|
||||
* @param[in] arg argument specified in frsky_value_items[]
|
||||
* @returns true when value succesfully encoded or presence test passed
|
||||
*/
|
||||
bool frsky_encode_gps_course(__attribute__((unused)) struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, __attribute__((unused)) uint32_t arg)
|
||||
{
|
||||
if (AttitudeStateHandle() == NULL) {
|
||||
return false;
|
||||
}
|
||||
|
||||
if (test_presence_only) {
|
||||
return true;
|
||||
}
|
||||
|
||||
AttitudeStateData attitude;
|
||||
AttitudeStateGet(&attitude);
|
||||
float hdg = (attitude.Yaw >= 0) ? attitude.Yaw : (attitude.Yaw + 360.0f);
|
||||
*value = (uint32_t)(hdg * 100.0f);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* Encode vertical speed value
|
||||
* @param[out] value encoded value
|
||||
* @param[in] test_presence_only true when function should only test for availability of this value
|
||||
* @param[in] arg argument specified in frsky_value_items[]
|
||||
* @returns true when value succesfully encoded or presence test passed
|
||||
*/
|
||||
bool frsky_encode_vario(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, __attribute__((unused)) uint32_t arg)
|
||||
{
|
||||
if (!frsky->use_baro_sensor || VelocityStateHandle() == NULL) {
|
||||
return false;
|
||||
}
|
||||
|
||||
if (test_presence_only) {
|
||||
return true;
|
||||
}
|
||||
|
||||
float down = 0;
|
||||
VelocityStateDownGet(&down);
|
||||
int32_t vspeed = (int32_t)(-down * 100.0f);
|
||||
*value = (uint32_t)vspeed;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* Encode battery current value
|
||||
* @param[out] value encoded value
|
||||
* @param[in] test_presence_only true when function should only test for availability of this value
|
||||
* @param[in] arg argument specified in frsky_value_items[]
|
||||
* @returns true when value succesfully encoded or presence test passed
|
||||
*/
|
||||
bool frsky_encode_current(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, __attribute__((unused)) uint32_t arg)
|
||||
{
|
||||
if (!frsky->use_current_sensor) {
|
||||
return false;
|
||||
}
|
||||
if (test_presence_only) {
|
||||
return true;
|
||||
}
|
||||
|
||||
float current = 0;
|
||||
FlightBatteryStateCurrentGet(¤t);
|
||||
int32_t current_frsky = (int32_t)(current * 10.0f);
|
||||
*value = (uint32_t)current_frsky;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* Encode battery cells voltage
|
||||
* @param[out] value encoded value
|
||||
* @param[in] test_presence_only true when function should only test for availability of this value
|
||||
* @param[in] arg argument specified in frsky_value_items[], index of battery cell pair
|
||||
* @returns true when value succesfully encoded or presence test passed
|
||||
*/
|
||||
bool frsky_encode_cells(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, uint32_t arg)
|
||||
{
|
||||
if ((frsky->batt_cell_count == 0) || (frsky->batt_cell_count - 1) < (int)(arg * 2)) {
|
||||
return false;
|
||||
}
|
||||
if (test_presence_only) {
|
||||
return true;
|
||||
}
|
||||
|
||||
float voltage = 0;
|
||||
FlightBatteryStateVoltageGet(&voltage);
|
||||
|
||||
uint32_t cell_voltage = (uint32_t)((voltage * 500.0f) / frsky->batt_cell_count);
|
||||
*value = ((cell_voltage & 0xfff) << 8) | ((arg * 2) & 0x0f) | ((frsky->batt_cell_count << 4) & 0xf0);
|
||||
if (((int16_t)frsky->batt_cell_count - 1) >= (int)(arg * 2 + 1)) {
|
||||
*value |= ((cell_voltage & 0xfff) << 20);
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* Encode GPS status as T1 value
|
||||
* Right-most two digits means visible satellite count, left-most digit has following meaning:
|
||||
* 1 - no GPS connected
|
||||
* 2 - no fix
|
||||
* 3 - 2D fix
|
||||
* 4 - 3D fix
|
||||
* 5 - 3D fix and HomeLocation is SET - should be safe for navigation
|
||||
* @param[out] value encoded value
|
||||
* @param[in] test_presence_only true when function should only test for availability of this value
|
||||
* @param[in] arg argument specified in frsky_value_items[]
|
||||
* @returns true when value successfully encoded or presence test passed
|
||||
*/
|
||||
bool frsky_encode_t1(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, __attribute__((unused)) uint32_t arg)
|
||||
{
|
||||
if (GPSPositionSensorHandle() == NULL) {
|
||||
return false;
|
||||
}
|
||||
|
||||
if (test_presence_only) {
|
||||
return true;
|
||||
}
|
||||
|
||||
uint8_t hl_set = HOMELOCATION_SET_FALSE;
|
||||
|
||||
if (HomeLocationHandle()) {
|
||||
HomeLocationSetGet(&hl_set);
|
||||
}
|
||||
|
||||
int32_t t1 = 0;
|
||||
switch (frsky->gps_position.Status) {
|
||||
case GPSPOSITIONSENSOR_STATUS_NOGPS:
|
||||
t1 = 100;
|
||||
break;
|
||||
case GPSPOSITIONSENSOR_STATUS_NOFIX:
|
||||
t1 = 200;
|
||||
break;
|
||||
case GPSPOSITIONSENSOR_STATUS_FIX2D:
|
||||
t1 = 300;
|
||||
break;
|
||||
case GPSPOSITIONSENSOR_STATUS_FIX3D:
|
||||
case GPSPOSITIONSENSOR_STATUS_FIX3DDGNSS:
|
||||
if (hl_set == HOMELOCATION_SET_TRUE) {
|
||||
t1 = 500;
|
||||
} else {
|
||||
t1 = 400;
|
||||
}
|
||||
break;
|
||||
}
|
||||
if (frsky->gps_position.Satellites > 0) {
|
||||
t1 += frsky->gps_position.Satellites;
|
||||
}
|
||||
|
||||
*value = (uint32_t)t1;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* Encode GPS hDop and vDop as T2
|
||||
* Bits 0-7 = hDop * 100, max 255 (hDop = 2.55)
|
||||
* Bits 8-15 = vDop * 100, max 255 (vDop = 2.55)
|
||||
* @param[out] value encoded value
|
||||
* @param[in] test_presence_only true when function should only test for availability of this value
|
||||
* @param[in] arg argument specified in frsky_value_items[]
|
||||
* @returns true when value successfully encoded or presence test passed
|
||||
*/
|
||||
bool frsky_encode_t2(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, __attribute__((unused)) uint32_t arg)
|
||||
{
|
||||
if (GPSPositionSensorHandle() == NULL) {
|
||||
return false;
|
||||
}
|
||||
|
||||
if (test_presence_only) {
|
||||
return true;
|
||||
}
|
||||
|
||||
uint32_t hdop = (uint32_t)(frsky->gps_position.HDOP * 100.0f);
|
||||
|
||||
if (hdop > 255) {
|
||||
hdop = 255;
|
||||
}
|
||||
|
||||
uint32_t vdop = (uint32_t)(frsky->gps_position.VDOP * 100.0f);
|
||||
|
||||
if (vdop > 255) {
|
||||
vdop = 255;
|
||||
}
|
||||
|
||||
*value = 256 * vdop + hdop;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* Encode consumed battery energy as fuel
|
||||
* @param[out] value encoded value
|
||||
* @param[in] test_presence_only true when function should only test for availability of this value
|
||||
* @param[in] arg argument specified in frsky_value_items[]
|
||||
* @returns true when value succesfully encoded or presence test passed
|
||||
*/
|
||||
bool frsky_encode_fuel(__attribute__((unused)) struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, __attribute__((unused)) uint32_t arg)
|
||||
{
|
||||
if (!frsky->use_current_sensor) {
|
||||
return false;
|
||||
}
|
||||
if (test_presence_only) {
|
||||
return true;
|
||||
}
|
||||
|
||||
uint32_t capacity = frsky->battery_settings.Capacity;
|
||||
float consumed_mahs = 0;
|
||||
FlightBatteryStateConsumedEnergyGet(&consumed_mahs);
|
||||
|
||||
float fuel = (uint32_t)(100.0f * (1.0f - consumed_mahs / capacity));
|
||||
fuel = boundf(fuel, 0.0f, 100.0f);
|
||||
*value = (uint32_t)fuel;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* Encode configured values
|
||||
* @param[out] value encoded value
|
||||
* @param[in] test_presence_only true when function should only test for availability of this value
|
||||
* @param[in] arg argument specified in frsky_value_items[]; 0=X, 1=Y, 2=Z
|
||||
* @returns true when value succesfully encoded or presence test passed
|
||||
*/
|
||||
bool frsky_encode_acc(__attribute__((unused)) struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, uint32_t arg)
|
||||
{
|
||||
uint8_t accelDataSettings;
|
||||
|
||||
FrSKYSPortTelemetrySettingsAccelDataGet(&accelDataSettings);
|
||||
|
||||
float acc = 0;
|
||||
switch (accelDataSettings) {
|
||||
case FRSKYSPORTTELEMETRYSETTINGS_ACCELDATA_ACCELS:
|
||||
{
|
||||
if (AccelStateHandle() == NULL) {
|
||||
return false;
|
||||
} else if (test_presence_only) {
|
||||
return true;
|
||||
}
|
||||
|
||||
switch (arg) {
|
||||
case 0:
|
||||
AccelStatexGet(&acc);
|
||||
break;
|
||||
case 1:
|
||||
AccelStateyGet(&acc);
|
||||
break;
|
||||
case 2:
|
||||
AccelStatezGet(&acc);
|
||||
break;
|
||||
}
|
||||
|
||||
acc /= GRAVITY;
|
||||
acc *= 100.0f;
|
||||
break;
|
||||
}
|
||||
|
||||
case FRSKYSPORTTELEMETRYSETTINGS_ACCELDATA_NEDACCELS:
|
||||
{
|
||||
if (NedAccelHandle() == NULL) {
|
||||
return false;
|
||||
} else if (test_presence_only) {
|
||||
return true;
|
||||
}
|
||||
|
||||
switch (arg) {
|
||||
case 0:
|
||||
NedAccelNorthGet(&acc);
|
||||
break;
|
||||
case 1:
|
||||
NedAccelEastGet(&acc);
|
||||
break;
|
||||
case 2:
|
||||
NedAccelDownGet(&acc);
|
||||
break;
|
||||
}
|
||||
|
||||
acc /= GRAVITY;
|
||||
acc *= 100.0f;
|
||||
break;
|
||||
}
|
||||
|
||||
case FRSKYSPORTTELEMETRYSETTINGS_ACCELDATA_NEDVELOCITY:
|
||||
{
|
||||
if (VelocityStateHandle() == NULL) {
|
||||
return false;
|
||||
} else if (test_presence_only) {
|
||||
return true;
|
||||
}
|
||||
|
||||
switch (arg) {
|
||||
case 0:
|
||||
VelocityStateNorthGet(&acc);
|
||||
break;
|
||||
case 1:
|
||||
VelocityStateEastGet(&acc);
|
||||
break;
|
||||
case 2:
|
||||
VelocityStateDownGet(&acc);
|
||||
break;
|
||||
}
|
||||
|
||||
acc *= 100.0f;
|
||||
break;
|
||||
}
|
||||
|
||||
case FRSKYSPORTTELEMETRYSETTINGS_ACCELDATA_ATTITUDEANGLES:
|
||||
{
|
||||
if (AttitudeStateHandle() == NULL) {
|
||||
return false;
|
||||
} else if (test_presence_only) {
|
||||
return true;
|
||||
}
|
||||
|
||||
switch (arg) {
|
||||
case 0:
|
||||
AttitudeStateRollGet(&acc);
|
||||
break;
|
||||
case 1:
|
||||
AttitudeStatePitchGet(&acc);
|
||||
break;
|
||||
case 2:
|
||||
AttitudeStateYawGet(&acc);
|
||||
break;
|
||||
}
|
||||
|
||||
acc *= 100.0f;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
int32_t frsky_acc = (int32_t)acc;
|
||||
*value = (uint32_t)frsky_acc;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* Encode gps coordinates
|
||||
* @param[out] value encoded value
|
||||
* @param[in] test_presence_only true when function should only test for availability of this value
|
||||
* @param[in] arg argument specified in frsky_value_items[]; 0=lattitude, 1=longitude
|
||||
* @returns true when value succesfully encoded or presence test passed
|
||||
*/
|
||||
bool frsky_encode_gps_coord(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, uint32_t arg)
|
||||
{
|
||||
if (GPSPositionSensorHandle() == NULL) {
|
||||
return false;
|
||||
}
|
||||
if (frsky->gps_position.Status == GPSPOSITIONSENSOR_STATUS_NOFIX
|
||||
|| frsky->gps_position.Status == GPSPOSITIONSENSOR_STATUS_NOGPS) {
|
||||
return false;
|
||||
}
|
||||
if (test_presence_only) {
|
||||
return true;
|
||||
}
|
||||
|
||||
uint32_t frsky_coord = 0;
|
||||
int32_t coord = 0;
|
||||
if (arg == 0) {
|
||||
// lattitude
|
||||
coord = frsky->gps_position.Latitude;
|
||||
if (coord >= 0) {
|
||||
frsky_coord = 0;
|
||||
} else {
|
||||
frsky_coord = 1 << 30;
|
||||
}
|
||||
} else {
|
||||
// longitude
|
||||
coord = frsky->gps_position.Longitude;
|
||||
if (coord >= 0) {
|
||||
frsky_coord = 2 << 30;
|
||||
} else {
|
||||
frsky_coord = 3 << 30;
|
||||
}
|
||||
}
|
||||
coord = abs(coord);
|
||||
frsky_coord |= (((uint64_t)coord * 6ull) / 100);
|
||||
|
||||
*value = frsky_coord;
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* Encode gps altitude
|
||||
* @param[out] value encoded value
|
||||
* @param[in] test_presence_only true when function should only test for availability of this value
|
||||
* @param[in] arg argument specified in frsky_value_items[]
|
||||
* @returns true when value succesfully encoded or presence test passed
|
||||
*/
|
||||
bool frsky_encode_gps_alt(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, __attribute__((unused)) uint32_t arg)
|
||||
{
|
||||
if (GPSPositionSensorHandle() == NULL) {
|
||||
return false;
|
||||
}
|
||||
if (frsky->gps_position.Status != GPSPOSITIONSENSOR_STATUS_FIX3D) {
|
||||
return false;
|
||||
}
|
||||
if (test_presence_only) {
|
||||
return true;
|
||||
}
|
||||
|
||||
int32_t frsky_gps_alt = (int32_t)(frsky->gps_position.Altitude * 100.0f);
|
||||
*value = (uint32_t)frsky_gps_alt;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* Encode gps speed
|
||||
* @param[out] value encoded value
|
||||
* @param[in] test_presence_only true when function should only test for availability of this value
|
||||
* @param[in] arg argument specified in frsky_value_items[]
|
||||
* @returns true when value succesfully encoded or presence test passed
|
||||
*/
|
||||
bool frsky_encode_gps_speed(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, __attribute__((unused)) uint32_t arg)
|
||||
{
|
||||
if (GPSPositionSensorHandle() == NULL) {
|
||||
return false;
|
||||
}
|
||||
if (frsky->gps_position.Status != GPSPOSITIONSENSOR_STATUS_FIX3D) {
|
||||
return false;
|
||||
}
|
||||
if (test_presence_only) {
|
||||
return true;
|
||||
}
|
||||
|
||||
int32_t frsky_speed = (int32_t)((frsky->gps_position.Groundspeed / KNOTS2M_PER_SECOND) * 1000);
|
||||
*value = frsky_speed;
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* Encode GPS UTC time
|
||||
* @param[out] value encoded value
|
||||
* @param[in] test_presence_only true when function should only test for availability of this value
|
||||
* @param[in] arg argument specified in frsky_value_items[]; 0=date, 1=time
|
||||
* @returns true when value succesfully encoded or presence test passed
|
||||
*/
|
||||
bool frsky_encode_gps_time(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, uint32_t arg)
|
||||
{
|
||||
if (GPSPositionSensorHandle() == NULL || GPSTimeHandle() == NULL) {
|
||||
return false;
|
||||
}
|
||||
if (frsky->gps_position.Status != GPSPOSITIONSENSOR_STATUS_FIX3D) {
|
||||
return false;
|
||||
}
|
||||
if (test_presence_only) {
|
||||
return true;
|
||||
}
|
||||
|
||||
GPSTimeData gps_time;
|
||||
GPSTimeGet(&gps_time);
|
||||
uint32_t frsky_time = 0;
|
||||
|
||||
if (arg == 0) {
|
||||
// encode date
|
||||
frsky_time = 0x000000ff;
|
||||
frsky_time |= gps_time.Day << 8;
|
||||
frsky_time |= gps_time.Month << 16;
|
||||
frsky_time |= (gps_time.Year % 100) << 24;
|
||||
} else {
|
||||
frsky_time = 0;
|
||||
frsky_time |= gps_time.Second << 8;
|
||||
frsky_time |= gps_time.Minute << 16;
|
||||
frsky_time |= gps_time.Hour << 24;
|
||||
}
|
||||
*value = frsky_time;
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* Encodes ARM status and flight mode number as RPM value
|
||||
* Since there is no RPM information in any UAVO available,
|
||||
* we will intentionaly misuse this item to encode another useful information.
|
||||
* It will encode flight status as three-digit number as follow:
|
||||
* most left digit encodes arm status (1=armed, 0=disarmed)
|
||||
* two most right digits encodes flight mode number (see FlightStatus UAVO FlightMode enum)
|
||||
* To work this propperly on Taranis, you have to set Blades to "1" in telemetry setting
|
||||
* @param[out] value encoded value
|
||||
* @param[in] test_presence_only true when function should only test for availability of this value
|
||||
* @param[in] arg argument specified in frsky_value_items[]
|
||||
* @returns true when value succesfully encoded or presence test passed
|
||||
*/
|
||||
bool frsky_encode_rpm(__attribute__((unused)) struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, __attribute__((unused)) uint32_t arg)
|
||||
{
|
||||
if (FlightStatusHandle() == NULL) {
|
||||
return false;
|
||||
}
|
||||
if (test_presence_only) {
|
||||
return true;
|
||||
}
|
||||
|
||||
FlightStatusData flight_status;
|
||||
FlightStatusGet(&flight_status);
|
||||
|
||||
*value = (flight_status.Armed == FLIGHTSTATUS_ARMED_ARMED) ? 200 : 100;
|
||||
*value += flight_status.FlightMode;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* Encode true airspeed(TAS)
|
||||
* @param[out] value encoded value
|
||||
* @param[in] test_presence_only true when function should only test for availability of this value
|
||||
* @param[in] arg argument specified in frsky_value_items[]
|
||||
* @returns true when value succesfully encoded or presence test passed
|
||||
*/
|
||||
bool frsky_encode_airspeed(__attribute__((unused)) struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, __attribute__((unused)) uint32_t arg)
|
||||
{
|
||||
if (AirspeedStateHandle() == NULL) {
|
||||
return false;
|
||||
}
|
||||
if (test_presence_only) {
|
||||
return true;
|
||||
}
|
||||
|
||||
AirspeedStateData airspeed;
|
||||
AirspeedStateGet(&airspeed);
|
||||
int32_t frsky_speed = (int32_t)((airspeed.TrueAirspeed / KNOTS2M_PER_SECOND) * 10);
|
||||
*value = (uint32_t)frsky_speed;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* Performs byte stuffing and checksum calculation
|
||||
* @param[out] obuff buffer where byte stuffed data will came in
|
||||
* @param[in,out] chk checksum byte to update
|
||||
* @param[in] byte
|
||||
* @returns count of bytes inserted to obuff (1 or 2)
|
||||
*/
|
||||
uint8_t frsky_insert_byte(uint8_t *obuff, uint16_t *chk, uint8_t byte)
|
||||
{
|
||||
/* checksum calculation is based on data before byte-stuffing */
|
||||
*chk += byte;
|
||||
*chk += (*chk) >> 8;
|
||||
*chk &= 0x00ff;
|
||||
*chk += (*chk) >> 8;
|
||||
*chk &= 0x00ff;
|
||||
|
||||
if (byte == 0x7e || byte == 0x7d) {
|
||||
obuff[0] = 0x7d;
|
||||
obuff[1] = byte &= ~0x20;
|
||||
return 2;
|
||||
}
|
||||
|
||||
obuff[0] = byte;
|
||||
return 1;
|
||||
}
|
||||
|
||||
/**
|
||||
* Send u32 value dataframe to FrSky SmartPort bus
|
||||
* @param[in] id FrSky value ID
|
||||
* @param[in] value value
|
||||
*/
|
||||
int32_t frsky_send_frame(uintptr_t com, enum frsky_value_id id, uint32_t value,
|
||||
bool send_prelude)
|
||||
{
|
||||
/* each call of frsky_insert_byte can add 2 bytes to the buffer at maximum
|
||||
* and therefore the worst-case is 17 bytes total (the first byte 0x10 won't be
|
||||
* escaped) */
|
||||
uint8_t tx_data[17];
|
||||
uint16_t chk = 0;
|
||||
uint8_t cnt = 0;
|
||||
|
||||
if (send_prelude) {
|
||||
tx_data[0] = 0x7e;
|
||||
tx_data[1] = 0x98;
|
||||
cnt = 2;
|
||||
}
|
||||
|
||||
cnt += frsky_insert_byte(&tx_data[cnt], &chk, 0x10);
|
||||
cnt += frsky_insert_byte(&tx_data[cnt], &chk, (uint16_t)id & 0xff);
|
||||
cnt += frsky_insert_byte(&tx_data[cnt], &chk, ((uint16_t)id >> 8) & 0xff);
|
||||
cnt += frsky_insert_byte(&tx_data[cnt], &chk, value & 0xff);
|
||||
cnt += frsky_insert_byte(&tx_data[cnt], &chk, (value >> 8) & 0xff);
|
||||
cnt += frsky_insert_byte(&tx_data[cnt], &chk, (value >> 16) & 0xff);
|
||||
cnt += frsky_insert_byte(&tx_data[cnt], &chk, (value >> 24) & 0xff);
|
||||
cnt += frsky_insert_byte(&tx_data[cnt], &chk, 0xff - chk);
|
||||
|
||||
PIOS_COM_SendBuffer(com, tx_data, cnt);
|
||||
|
||||
return cnt;
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
109
flight/libraries/inc/frsky_packing.h
Normal file
109
flight/libraries/inc/frsky_packing.h
Normal file
@ -0,0 +1,109 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file frsky_packing.h
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017-2019
|
||||
* Tau Labs, http://taulabs.org, Copyright (C) 2015
|
||||
* @brief Packs UAVObjects into FrSKY Smart Port frames
|
||||
*
|
||||
* Since there is no public documentation of SmartPort protocol available,
|
||||
* this was put together by studying OpenTx source code, reading
|
||||
* tidbits of informations on the Internet and experimenting.
|
||||
* @see https://github.com/opentx/opentx/tree/next/radio/src/telemetry
|
||||
* @see https://code.google.com/p/telemetry-convert/wiki/FrSkySPortProtocol
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program 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.
|
||||
*
|
||||
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef FRSKY_PACKING_H
|
||||
#define FRSKY_PACKING_H
|
||||
|
||||
#include "pios.h"
|
||||
#include "openpilot.h"
|
||||
|
||||
#include "flightbatterysettings.h"
|
||||
#include "gpspositionsensor.h"
|
||||
|
||||
struct frsky_settings {
|
||||
bool use_current_sensor;
|
||||
uint8_t batt_cell_count;
|
||||
bool use_baro_sensor;
|
||||
FlightBatterySettingsData battery_settings;
|
||||
GPSPositionSensorData gps_position;
|
||||
};
|
||||
|
||||
enum frsky_value_id {
|
||||
FRSKY_ALT_ID = 0x0100,
|
||||
FRSKY_VARIO_ID = 0x110,
|
||||
FRSKY_CURR_ID = 0x0200,
|
||||
FRSKY_VFAS_ID = 0x0210,
|
||||
FRSKY_CELLS_ID = 0x0300,
|
||||
FRSKY_T1_ID = 0x0400,
|
||||
FRSKY_T2_ID = 0x0410,
|
||||
FRSKY_RPM_ID = 0x0500,
|
||||
FRSKY_FUEL_ID = 0x0600,
|
||||
FRSKY_ACCX_ID = 0x0700,
|
||||
FRSKY_ACCY_ID = 0x0710,
|
||||
FRSKY_ACCZ_ID = 0x0720,
|
||||
FRSKY_GPS_LON_LAT_ID = 0x0800,
|
||||
FRSKY_GPS_ALT_ID = 0x0820,
|
||||
FRSKY_GPS_SPEED_ID = 0x0830,
|
||||
FRSKY_GPS_COURSE_ID = 0x0840,
|
||||
FRSKY_GPS_TIME_ID = 0x0850,
|
||||
FRSKY_ADC3_ID = 0x0900,
|
||||
FRSKY_ADC4_ID = 0x0910,
|
||||
FRSKY_AIR_SPEED_ID = 0x0a00,
|
||||
FRSKY_RSSI_ID = 0xf101,
|
||||
FRSKY_ADC1_ID = 0xf102,
|
||||
FRSKY_ADC2_ID = 0xf103,
|
||||
FRSKY_BATT_ID = 0xf104,
|
||||
FRSKY_SWR_ID = 0xf105,
|
||||
};
|
||||
|
||||
struct frsky_value_item {
|
||||
enum frsky_value_id id;
|
||||
uint16_t period_ms;
|
||||
bool (*encode_value)(struct frsky_settings *sport, uint32_t *value, bool test_presence_only, uint32_t arg);
|
||||
uint32_t fn_arg;
|
||||
};
|
||||
|
||||
bool frsky_encode_gps_course(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, uint32_t arg);
|
||||
bool frsky_encode_altitude(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, uint32_t arg);
|
||||
bool frsky_encode_vario(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, uint32_t arg);
|
||||
bool frsky_encode_current(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, uint32_t arg);
|
||||
bool frsky_encode_cells(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, uint32_t arg);
|
||||
bool frsky_encode_t1(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, uint32_t arg);
|
||||
bool frsky_encode_t2(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, uint32_t arg);
|
||||
bool frsky_encode_fuel(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, uint32_t arg);
|
||||
bool frsky_encode_acc(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, uint32_t arg);
|
||||
bool frsky_encode_gps_coord(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, uint32_t arg);
|
||||
bool frsky_encode_gps_alt(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, uint32_t arg);
|
||||
bool frsky_encode_gps_speed(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, uint32_t arg);
|
||||
bool frsky_encode_gps_time(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, uint32_t arg);
|
||||
bool frsky_encode_rpm(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, uint32_t arg);
|
||||
bool frsky_encode_airspeed(struct frsky_settings *frsky, uint32_t *value, bool test_presence_only, uint32_t arg);
|
||||
uint8_t frsky_insert_byte(uint8_t *obuff, uint16_t *chk, uint8_t byte);
|
||||
int32_t frsky_send_frame(uintptr_t com, enum frsky_value_id id, uint32_t value,
|
||||
bool send_prelude);
|
||||
|
||||
#endif /* FRSKY_PACKING_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -29,6 +29,7 @@
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include <pios_math.h>
|
||||
#include <mathmisc.h>
|
||||
|
||||
void pseudo_windowed_variance_init(pw_variance_t *variance, int32_t window_size)
|
||||
|
||||
@ -107,7 +107,7 @@ static inline void vector_normalizef(float *vector, const uint8_t dim)
|
||||
{
|
||||
float length = vector_lengthf(vector, dim);
|
||||
|
||||
if (length <= 0.0f || isnan(length)) {
|
||||
if (length <= 0.0f || !IS_REAL(length)) {
|
||||
return;
|
||||
}
|
||||
for (int t = 0; t < dim; t++) {
|
||||
|
||||
@ -148,6 +148,7 @@ int32_t configuration_check()
|
||||
{
|
||||
ADDSEVERITY(!gps_assisted);
|
||||
}
|
||||
// fall through
|
||||
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
|
||||
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_VELOCITYROAM:
|
||||
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_LAND:
|
||||
@ -195,11 +196,11 @@ int32_t configuration_check()
|
||||
ManualControlSettingsChannelMaxGet(&channelMax);
|
||||
switch (thrustType) {
|
||||
case SYSTEMSETTINGS_THRUSTCONTROL_THROTTLE:
|
||||
ADDSEVERITY(fabsf(channelMax.Throttle - channelMin.Throttle) > 300.0f);
|
||||
ADDSEVERITY(fabsf((float)(channelMax.Throttle - channelMin.Throttle)) > 300.0f);
|
||||
ADDEXTENDEDALARMSTATUS(SYSTEMALARMS_EXTENDEDALARMSTATUS_BADTHROTTLEORCOLLECTIVEINPUTRANGE, 0);
|
||||
break;
|
||||
case SYSTEMSETTINGS_THRUSTCONTROL_COLLECTIVE:
|
||||
ADDSEVERITY(fabsf(channelMax.Collective - channelMin.Collective) > 300.0f);
|
||||
ADDSEVERITY(fabsf((float)(channelMax.Collective - channelMin.Collective)) > 300.0f);
|
||||
ADDEXTENDEDALARMSTATUS(SYSTEMALARMS_EXTENDEDALARMSTATUS_BADTHROTTLEORCOLLECTIVEINPUTRANGE, 0);
|
||||
break;
|
||||
default:
|
||||
|
||||
@ -74,10 +74,12 @@ SRC += $(PIOSCOMMON)/pios_adxl345.c
|
||||
SRC += $(PIOSCOMMON)/pios_bma180.c
|
||||
SRC += $(PIOSCOMMON)/pios_bmp085.c
|
||||
SRC += $(PIOSCOMMON)/pios_etasv3.c
|
||||
SRC += $(PIOSCOMMON)/pios_sdp3x.c
|
||||
SRC += $(PIOSCOMMON)/pios_gcsrcvr.c
|
||||
SRC += $(PIOSCOMMON)/pios_hcsr04.c
|
||||
SRC += $(PIOSCOMMON)/pios_hmc5843.c
|
||||
SRC += $(PIOSCOMMON)/pios_hmc5x83.c
|
||||
SRC += $(PIOSCOMMON)/pios_qmc5883l.c
|
||||
SRC += $(PIOSCOMMON)/pios_i2c_esc.c
|
||||
SRC += $(PIOSCOMMON)/pios_l3gd20.c
|
||||
SRC += $(PIOSCOMMON)/pios_mpu6000.c
|
||||
|
||||
@ -128,7 +128,7 @@ CFLAGS += -fomit-frame-pointer
|
||||
CFLAGS += -Wall -Wextra
|
||||
CFLAGS += -Wfloat-equal -Wdouble-promotion
|
||||
CFLAGS += -Wshadow
|
||||
CFLAGS += -Werror
|
||||
CFLAGS += -Werror -Wno-address-of-packed-member
|
||||
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
|
||||
CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
|
||||
|
||||
|
||||
@ -43,6 +43,7 @@
|
||||
#include "airspeedsensor.h" // object that will be updated by the module
|
||||
#include "baro_airspeed_ms4525do.h"
|
||||
#include "baro_airspeed_etasv3.h"
|
||||
#include "baro_airspeed_sdp3x.h"
|
||||
#include "baro_airspeed_mpxv.h"
|
||||
#include "imu_airspeed.h"
|
||||
#include "airspeedalarm.h"
|
||||
@ -186,6 +187,12 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
|
||||
baro_airspeedGetETASV3(&airspeedData, &airspeedSettings);
|
||||
break;
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_SDP3X)
|
||||
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_SDP3X:
|
||||
// SDP3X
|
||||
baro_airspeedGetSDP3X(&airspeedData, &airspeedSettings);
|
||||
break;
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_MS4525DO)
|
||||
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_PIXHAWKAIRSPEEDMS4525DO:
|
||||
// PixHawk Airpeed based on MS4525DO
|
||||
|
||||
97
flight/modules/Airspeed/baro_airspeed_sdp3x.c
Normal file
97
flight/modules/Airspeed/baro_airspeed_sdp3x.c
Normal file
@ -0,0 +1,97 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotModules OpenPilot Modules
|
||||
* @{
|
||||
* @addtogroup AirspeedModule Airspeed Module
|
||||
* @brief Communicate with airspeed sensors and return values
|
||||
* @{
|
||||
*
|
||||
* @file baro_airspeed.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Airspeed module, handles temperature and pressure readings from BMP085
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program 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.
|
||||
*
|
||||
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
/**
|
||||
* Output object: BaroAirspeed
|
||||
*
|
||||
* This module will periodically update the value of the BaroAirspeed object.
|
||||
*
|
||||
*/
|
||||
|
||||
#include "openpilot.h"
|
||||
#include "hwsettings.h"
|
||||
#include "airspeedsettings.h"
|
||||
#include "airspeedsensor.h" // object that will be updated by the module
|
||||
#include "airspeedalarm.h"
|
||||
|
||||
#if defined(PIOS_INCLUDE_SDP3X)
|
||||
|
||||
#define CALIBRATION_IDLE_MS 2000 // Time to wait before calibrating, in [ms]
|
||||
#define CALIBRATION_COUNT_MS 2000 // Time to spend calibrating, in [ms]
|
||||
|
||||
#define P0 101325.0f // standard pressure
|
||||
#define CCEXPONENT 0.2857142857f // exponent of compressibility correction 2/7
|
||||
#define CASFACTOR 760.8802669f // sqrt(5) * speed of sound at standard
|
||||
#define TASFACTOR 0.05891022589f // 1/sqrt(T0)
|
||||
|
||||
// Private types
|
||||
|
||||
// Private variables
|
||||
|
||||
// Private functions
|
||||
|
||||
static volatile struct PIOS_SDP3X_STATE state = { .status = SDP3X_STATUS_NOTFOUND, .pressure = 0, .temperature = 0 };
|
||||
|
||||
void baro_airspeedGetSDP3X(AirspeedSensorData *airspeedSensor, AirspeedSettingsData *airspeedSettings)
|
||||
{
|
||||
// Check to see if airspeed sensor is returning airspeedSensor
|
||||
PIOS_SDP3X_ReadAirspeed(&state);
|
||||
airspeedSensor->SensorValue = state.pressure;
|
||||
airspeedSensor->SensorValueTemperature = state.temperature;
|
||||
|
||||
if (state.status != SDP3X_STATUS_READY) {
|
||||
airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
|
||||
airspeedSensor->CalibratedAirspeed = 0;
|
||||
AirspeedAlarm(SYSTEMALARMS_ALARM_ERROR);
|
||||
// At boot time, sensor needs time for self calibration during which it may not be disturbed. Wait 2 seconds before next attempt
|
||||
vTaskDelay(2000 / portTICK_RATE_MS);
|
||||
return;
|
||||
}
|
||||
|
||||
// No calibration, sensor comes factory calibrated!
|
||||
|
||||
// Compute airspeed
|
||||
airspeedSensor->Temperature = ((float)state.temperature / 200.0f) + 273.15f; // convert to kelvin
|
||||
airspeedSensor->DifferentialPressure = (1.0f / (((float)state.scale) + 1e-9f)) * ((float)(state.pressure) - (float)((int16_t)(airspeedSettings->ZeroPoint)));
|
||||
airspeedSensor->CalibratedAirspeed = airspeedSettings->Scale * CASFACTOR * sqrtf(powf(fabsf(airspeedSensor->DifferentialPressure) / P0 + 1.0f, CCEXPONENT) - 1.0f);
|
||||
airspeedSensor->TrueAirspeed = airspeedSensor->CalibratedAirspeed * TASFACTOR * sqrtf(airspeedSensor->Temperature);
|
||||
|
||||
airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_TRUE;
|
||||
AirspeedAlarm(SYSTEMALARMS_ALARM_OK);
|
||||
}
|
||||
|
||||
|
||||
#endif /* if defined(PIOS_INCLUDE_SDP3X) */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
43
flight/modules/Airspeed/inc/baro_airspeed_sdp3x.h
Normal file
43
flight/modules/Airspeed/inc/baro_airspeed_sdp3x.h
Normal file
@ -0,0 +1,43 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotModules OpenPilot Modules
|
||||
* @{
|
||||
* @addtogroup AirspeedModule Airspeed Module
|
||||
* @brief Calculate airspeed as a function of the difference between sequential GPS velocity and attitude measurements
|
||||
* @{
|
||||
*
|
||||
* @file baro_airspeed_etasv3.h
|
||||
* @author The LibrePilot Team, http://www.librepilot.org Copyright (C) 2021.
|
||||
* @brief Airspeed module, reads temperature and pressure from SDP3X
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program 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.
|
||||
*
|
||||
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
#ifndef BARO_AIRSPEED_SDP3X_H
|
||||
#define BARO_AIRSPEED_SDP3X_H
|
||||
#if defined(PIOS_INCLUDE_SDP3X)
|
||||
|
||||
void baro_airspeedGetSDP3X(AirspeedSensorData *airspeedSensor, AirspeedSettingsData *airspeedSettings);
|
||||
|
||||
#endif
|
||||
#endif // BARO_AIRSPEED_SDP3X_H
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -538,7 +538,7 @@ static int32_t updateSensorsCC3D(AccelStateData *accelStateData, GyroStateData *
|
||||
accels[2] *= accel_scale.Z * invcount;
|
||||
temp *= invcount;
|
||||
|
||||
if (isnan(temperature)) {
|
||||
if (!IS_REAL(temperature)) {
|
||||
temperature = temp;
|
||||
}
|
||||
temperature = temp_alpha * (temp - temperature) + temperature;
|
||||
@ -740,7 +740,7 @@ __attribute__((optimize("O3"))) static void updateAttitude(AccelStateData *accel
|
||||
|
||||
// If quaternion has become inappropriately short or is nan reinit.
|
||||
// THIS SHOULD NEVER ACTUALLY HAPPEN
|
||||
if ((fabsf(inv_qmag) > 1e3f) || isnan(inv_qmag)) {
|
||||
if ((fabsf(inv_qmag) > 1e3f) || !IS_REAL(inv_qmag)) {
|
||||
q[0] = 1;
|
||||
q[1] = 0;
|
||||
q[2] = 0;
|
||||
|
||||
@ -707,14 +707,14 @@ static void InitSystemIdent(bool loadDefaults)
|
||||
systemIdentSettings.Tau = u.systemIdentState.Tau;
|
||||
systemIdentSettings.GyroReadTimeAverage = u.systemIdentState.GyroReadTimeAverage;
|
||||
memcpy(&systemIdentSettings.Beta, &u.systemIdentState.Beta, sizeof(SystemIdentSettingsBetaData));
|
||||
systemIdentSettings.Complete = u.systemIdentState.Complete;
|
||||
systemIdentSettings.Complete = (SystemIdentSettingsCompleteOptions)u.systemIdentState.Complete;
|
||||
} else {
|
||||
// Tau, GyroReadTimeAverage, Beta, and the Complete flag get stored values
|
||||
// so the user can fly another battery to select and test PIDs with the slider/knob
|
||||
u.systemIdentState.Tau = systemIdentSettings.Tau;
|
||||
u.systemIdentState.GyroReadTimeAverage = systemIdentSettings.GyroReadTimeAverage;
|
||||
memcpy(&u.systemIdentState.Beta, &systemIdentSettings.Beta, sizeof(SystemIdentStateBetaData));
|
||||
u.systemIdentState.Complete = systemIdentSettings.Complete;
|
||||
u.systemIdentState.Complete = (SystemIdentStateCompleteOptions)systemIdentSettings.Complete;
|
||||
}
|
||||
SystemIdentStateSet(&u.systemIdentState);
|
||||
|
||||
|
||||
@ -382,6 +382,8 @@ uint32_t parse_dji_message(struct DJIPacket *dji, GPSPositionSensorData *gpsPosi
|
||||
gpsPosition->HDOP = 99.99f;
|
||||
gpsPosition->PDOP = 99.99f;
|
||||
gpsPosition->VDOP = 99.99f;
|
||||
// clear out satellite data because DJI doesn't provide it
|
||||
GPSSatellitesSetDefaults(GPSSatellitesHandle(), 0);
|
||||
djiInitialized = true;
|
||||
}
|
||||
|
||||
|
||||
@ -51,6 +51,9 @@
|
||||
#include "NMEA.h"
|
||||
#include "UBX.h"
|
||||
#include "DJI.h"
|
||||
#ifdef PIOS_INCLUDE_SENSORS_AUXMAG
|
||||
#include "sensors.h"
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
|
||||
#include "inc/ubx_autoconfig.h"
|
||||
#define FULL_UBX_PARSER
|
||||
@ -72,7 +75,7 @@ PERF_DEFINE_COUNTER(counterParse);
|
||||
#if defined(ANY_GPS_PARSER) && !defined(PIOS_GPS_MINIMAL)
|
||||
#define ANY_FULL_GPS_PARSER
|
||||
#endif
|
||||
#if (defined(PIOS_INCLUDE_HMC5X83) || defined(PIOS_INCLUDE_GPS_UBX_PARSER) || defined(PIOS_INCLUDE_GPS_DJI_PARSER)) && !defined(PIOS_GPS_MINIMAL)
|
||||
#if (defined(PIOS_INCLUDE_SENSORS_AUXMAG) || defined(PIOS_INCLUDE_GPS_UBX_PARSER) || defined(PIOS_INCLUDE_GPS_DJI_PARSER)) && !defined(PIOS_GPS_MINIMAL)
|
||||
#define ANY_FULL_MAG_PARSER
|
||||
#endif
|
||||
|
||||
@ -97,8 +100,9 @@ void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev);
|
||||
// ****************
|
||||
// Private constants
|
||||
|
||||
// GPS timeout is greater than 1000ms so that a stock GPS configuration can be used without timeout errors
|
||||
#define GPS_TIMEOUT_MS 1250
|
||||
// GPS timeout is greater than 1000ms so that a stock GPS configuration
|
||||
// or 2400bds can be used without timeout errors
|
||||
#define GPS_TIMEOUT_MS 1800
|
||||
|
||||
// delay from detecting HomeLocation.Set == False before setting new homelocation
|
||||
// this prevent that a save with homelocation.Set = false triggered by gps ends saving
|
||||
@ -126,7 +130,7 @@ void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev);
|
||||
// are run often enough.
|
||||
// GPS_LOOP_DELAY_MS on the other hand, should be less then 5.55 ms. A value set too high will cause data to be dropped.
|
||||
|
||||
#define GPS_LOOP_DELAY_MS 5
|
||||
#define GPS_LOOP_DELAY_MS 4
|
||||
#define GPS_BLOCK_ON_NO_DATA_MS 20
|
||||
|
||||
#ifdef PIOS_GPS_SETS_HOMELOCATION
|
||||
@ -552,11 +556,12 @@ void gps_set_fc_baud_from_arg(uint8_t baud)
|
||||
// can the code stand having two tasks/threads do an XyzSet() call at the same time?
|
||||
if (__sync_fetch_and_add(&mutex, 1) == 0) {
|
||||
// don't bother doing the baud change if it is actually the same
|
||||
// might drop less data
|
||||
if (previous_baud != baud) {
|
||||
previous_baud = baud;
|
||||
// Set Revo port hwsettings_baud
|
||||
PIOS_COM_ChangeBaud(PIOS_COM_GPS, hwsettings_gpsspeed_enum_to_baud(baud));
|
||||
// clear Rx buffer
|
||||
PIOS_COM_ClearRxBuffer(PIOS_COM_GPS);
|
||||
GPSPositionSensorBaudRateSet(&baud);
|
||||
}
|
||||
}
|
||||
@ -571,15 +576,14 @@ static void gps_set_fc_baud_from_settings()
|
||||
uint8_t speed;
|
||||
|
||||
// Retrieve settings
|
||||
HwSettingsGPSSpeedGet(&speed);
|
||||
|
||||
#if defined(PIOS_INCLUDE_GPS_DJI_PARSER) && !defined(PIOS_GPS_MINIMAL)
|
||||
if (gpsSettings.DataProtocol == GPSSETTINGS_DATAPROTOCOL_DJI) {
|
||||
speed = HWSETTINGS_GPSSPEED_115200;
|
||||
} else {
|
||||
#endif
|
||||
HwSettingsGPSSpeedGet(&speed);
|
||||
#if defined(PIOS_INCLUDE_GPS_DJI_PARSER) && !defined(PIOS_GPS_MINIMAL)
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
// set fc baud
|
||||
gps_set_fc_baud_from_arg(speed);
|
||||
}
|
||||
@ -653,8 +657,8 @@ void AuxMagSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
|
||||
#if defined(PIOS_INCLUDE_GPS_DJI_PARSER)
|
||||
dji_load_mag_settings();
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
aux_hmc5x83_load_mag_settings();
|
||||
#if defined(PIOS_INCLUDE_SENSORS_AUXMAG)
|
||||
sensors_auxmag_load_mag_settings();
|
||||
#endif
|
||||
}
|
||||
#endif /* defined(ANY_FULL_MAG_PARSER) */
|
||||
@ -663,16 +667,19 @@ void AuxMagSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
|
||||
#if defined(ANY_FULL_GPS_PARSER)
|
||||
void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
|
||||
{
|
||||
GPSSettingsDataProtocolOptions previous_data_protocol = gpsSettings.DataProtocol;
|
||||
ubx_autoconfig_settings_t newconfig;
|
||||
|
||||
GPSSettingsGet(&gpsSettings);
|
||||
|
||||
#if defined(PIOS_INCLUDE_GPS_DJI_PARSER)
|
||||
// each time there is a protocol change, set the baud rate
|
||||
// so that DJI can be forced to 115200, but changing to another protocol will change the baud rate to the user specified value
|
||||
// note that changes to HwSettings GPS baud rate are detected in the HwSettings callback,
|
||||
// but changing to/from DJI is effectively a baud rate change because DJI is forced to be 115200
|
||||
gps_set_fc_baud_from_settings(); // knows to force 115200 for DJI
|
||||
// but changing to/from DJI in GPSSettings is effectively a baud rate change because DJI is forced to be 115200
|
||||
if (((gpsSettings.DataProtocol == GPSSETTINGS_DATAPROTOCOL_DJI) && (previous_data_protocol != GPSSETTINGS_DATAPROTOCOL_DJI)) ||
|
||||
((gpsSettings.DataProtocol != GPSSETTINGS_DATAPROTOCOL_DJI) && (previous_data_protocol == GPSSETTINGS_DATAPROTOCOL_DJI))) {
|
||||
// knows to force 115200 for DJI
|
||||
gps_set_fc_baud_from_settings();
|
||||
}
|
||||
#endif
|
||||
|
||||
// it's OK that ubx auto config is inited and ready to go, when GPS is disabled or running another protocol
|
||||
@ -791,12 +798,6 @@ void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
|
||||
gps_ubx_autoconfig_set(&newconfig);
|
||||
}
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_GPS_DJI_PARSER)
|
||||
if (gpsSettings.DataProtocol == GPSSETTINGS_DATAPROTOCOL_DJI) {
|
||||
// clear out satellite data because DJI doesn't provide it
|
||||
GPSSatellitesSetDefaults(GPSSatellitesHandle(), 0);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
#endif /* defined(ANY_FULL_GPS_PARSER) */
|
||||
/**
|
||||
|
||||
@ -677,6 +677,5 @@ uint32_t parse_ubx_message(struct UBXPacket *, GPSPositionSensorData *);
|
||||
|
||||
int parse_ubx_stream(uint8_t *rx, uint16_t len, char *, GPSPositionSensorData *, struct GPS_RX_STATS *);
|
||||
void op_gpsv9_load_mag_settings();
|
||||
void aux_hmc5x83_load_mag_settings();
|
||||
|
||||
#endif /* UBX_H */
|
||||
|
||||
@ -57,7 +57,7 @@
|
||||
// timeout for a settings save, in case it has to erase flash?
|
||||
#define UBX_SAVE_WAIT_TIME (1000 * 1000)
|
||||
// max retries in case of timeout
|
||||
#define UBX_MAX_RETRIES 5
|
||||
#define UBX_MAX_RETRIES 10
|
||||
// max time for ubx parser to respond to MON_VER
|
||||
#define UBX_PARSER_TIMEOUT (950 * 1000)
|
||||
// pause between each unverifiable (no ack/nak) configuration step
|
||||
|
||||
@ -44,6 +44,8 @@ typedef enum {
|
||||
INIT_STEP_WAIT_MON_VER_ACK,
|
||||
INIT_STEP_RESET_GPS,
|
||||
INIT_STEP_REVO_9600_BAUD,
|
||||
INIT_STEP_SET_LOWRATE,
|
||||
INIT_STEP_SET_LOWRATE_WAIT_ACK,
|
||||
INIT_STEP_GPS_BAUD,
|
||||
INIT_STEP_REVO_BAUD,
|
||||
INIT_STEP_ENABLE_SENTENCES,
|
||||
@ -93,6 +95,7 @@ ubx_cfg_msg_t msg_config_ubx6[] = {
|
||||
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SBAS, .rate = 0 },
|
||||
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_TIMEGPS, .rate = 0 },
|
||||
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_VELECEF, .rate = 0 },
|
||||
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_STATUS, .rate = 0 },
|
||||
|
||||
{ .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_HW, .rate = 0 },
|
||||
{ .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_HW2, .rate = 0 },
|
||||
@ -104,11 +107,10 @@ ubx_cfg_msg_t msg_config_ubx6[] = {
|
||||
|
||||
{ .msgClass = UBX_CLASS_RXM, .msgID = UBX_ID_RXM_SVSI, .rate = 0 },
|
||||
|
||||
// message to enable
|
||||
// message to enable, keep SVINFO at end
|
||||
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_POSLLH, .rate = 1 },
|
||||
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_DOP, .rate = 1 },
|
||||
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SOL, .rate = 1 },
|
||||
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_STATUS, .rate = 1 },
|
||||
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_VELNED, .rate = 1 },
|
||||
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_TIMEUTC, .rate = 1 },
|
||||
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SVINFO, .rate = 10 },
|
||||
@ -139,12 +141,16 @@ ubx_cfg_msg_t msg_config_ubx7[] = {
|
||||
|
||||
{ .msgClass = UBX_CLASS_RXM, .msgID = UBX_ID_RXM_SVSI, .rate = 0 },
|
||||
|
||||
// message to enable
|
||||
// message to enable, keep SVINFO at end
|
||||
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_PVT, .rate = 1 },
|
||||
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_DOP, .rate = 1 },
|
||||
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SVINFO, .rate = 10 },
|
||||
};
|
||||
|
||||
ubx_cfg_msg_t msg_config_ubx_disable_svinfo[] = {
|
||||
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SVINFO, .rate = 0 },
|
||||
};
|
||||
|
||||
// private defines
|
||||
|
||||
#define LAST_CONFIG_SENT_START (-1)
|
||||
@ -169,7 +175,8 @@ static volatile bool current_step_touched = false;
|
||||
// both the pointer and what it points to are volatile. Yuk.
|
||||
static volatile status_t *volatile status = 0;
|
||||
static uint8_t hwsettings_baud;
|
||||
static uint8_t baud_to_try_index = 255;
|
||||
static uint8_t baud_to_try = 0;
|
||||
static uint8_t new_gps_speed = 255;
|
||||
|
||||
// functions
|
||||
|
||||
@ -238,14 +245,10 @@ void gps_ubx_reset_sensor_type()
|
||||
// is this needed?
|
||||
// what happens if two tasks / threads try to do an XyzSet() at the same time?
|
||||
if (__sync_fetch_and_add(&mutex, 1) == 0) {
|
||||
ubxHwVersion = -1;
|
||||
baud_to_try_index -= 1; // undo postincrement and start with the one that was most recently successful
|
||||
ubxSensorType = GPSPOSITIONSENSOR_SENSORTYPE_UNKNOWN;
|
||||
ubxHwVersion = -1;
|
||||
baud_to_try = new_gps_speed;
|
||||
ubxSensorType = GPSPOSITIONSENSOR_SENSORTYPE_UNKNOWN;
|
||||
GPSPositionSensorSensorTypeSet(&ubxSensorType);
|
||||
// make the sensor type / autobaud code time out immediately to send the request immediately
|
||||
if (status) {
|
||||
status->lastStepTimestampRaw += 0x8000000UL;
|
||||
}
|
||||
}
|
||||
--mutex;
|
||||
}
|
||||
@ -283,14 +286,18 @@ static void config_gps_baud(uint16_t *bytes_to_send)
|
||||
// Ask GPS to change it's speed
|
||||
status->working_packet.message.payload.cfg_prt.baudRate = hwsettings_gpsspeed_enum_to_baud(hwsettings_baud);
|
||||
*bytes_to_send = prepare_packet((UBXSentPacket_t *)&status->working_packet, UBX_CLASS_CFG, UBX_ID_CFG_PRT, sizeof(ubx_cfg_prt_t));
|
||||
|
||||
// GPS will be found later at this new_gps_speed
|
||||
new_gps_speed = hwsettings_baud;
|
||||
}
|
||||
|
||||
|
||||
static void config_rate(uint16_t *bytes_to_send)
|
||||
static void config_rate(uint16_t *bytes_to_send, bool min_rate)
|
||||
{
|
||||
memset((uint8_t *)status->working_packet.buffer, 0, sizeof(UBXSentHeader_t) + sizeof(ubx_cfg_rate_t));
|
||||
// if rate is less than 1 uses the highest rate for current hardware
|
||||
uint16_t rate = status->currentSettings.navRate > 0 ? status->currentSettings.navRate : 99;
|
||||
// force rate to 1Hz if min_rate = true
|
||||
uint16_t rate = (min_rate) ? 1 : (status->currentSettings.navRate > 0) ? status->currentSettings.navRate : 99;
|
||||
if (ubxHwVersion < UBX_HW_VERSION_7 && rate > UBX_MAX_RATE) {
|
||||
rate = UBX_MAX_RATE;
|
||||
} else if (ubxHwVersion < UBX_HW_VERSION_8 && rate > UBX_MAX_RATE_VER7) {
|
||||
@ -304,6 +311,11 @@ static void config_rate(uint16_t *bytes_to_send)
|
||||
status->working_packet.message.payload.cfg_rate.timeRef = 1; // 0 = UTC Time, 1 = GPS Time
|
||||
|
||||
*bytes_to_send = prepare_packet((UBXSentPacket_t *)&status->working_packet, UBX_CLASS_CFG, UBX_ID_CFG_RATE, sizeof(ubx_cfg_rate_t));
|
||||
|
||||
if (min_rate) {
|
||||
// used for INIT_STEP_SET_LOWRATE step
|
||||
status->lastConfigSent = LAST_CONFIG_SENT_COMPLETED;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -428,11 +440,16 @@ static void config_save(uint16_t *bytes_to_send)
|
||||
|
||||
static void configure(uint16_t *bytes_to_send)
|
||||
{
|
||||
// for low baudrates, keep rate to 1Hz and fall to config_nav
|
||||
// apply UbxRate from GPS settings for higher baudrates
|
||||
bool min_rate = (new_gps_speed <= HWSETTINGS_GPSSPEED_9600) ? true : false;
|
||||
|
||||
switch (status->lastConfigSent) {
|
||||
case LAST_CONFIG_SENT_START:
|
||||
// increase message rates to 5 fixes per second
|
||||
config_rate(bytes_to_send);
|
||||
break;
|
||||
if (!min_rate) {
|
||||
config_rate(bytes_to_send, min_rate);
|
||||
break;
|
||||
}
|
||||
|
||||
case LAST_CONFIG_SENT_START + 1:
|
||||
config_nav(bytes_to_send);
|
||||
@ -446,7 +463,7 @@ static void configure(uint16_t *bytes_to_send)
|
||||
// Skip and fall through to next step
|
||||
status->lastConfigSent++;
|
||||
}
|
||||
|
||||
// fall through
|
||||
case LAST_CONFIG_SENT_START + 3:
|
||||
if (status->currentSettings.enableGLONASS || status->currentSettings.enableGPS) {
|
||||
config_gnss(bytes_to_send);
|
||||
@ -456,7 +473,7 @@ static void configure(uint16_t *bytes_to_send)
|
||||
status->lastConfigSent++;
|
||||
}
|
||||
// in the else case we must fall through because we must send something each time because successful send is tested externally
|
||||
|
||||
// fall through
|
||||
case LAST_CONFIG_SENT_START + 4:
|
||||
config_sbas(bytes_to_send);
|
||||
break;
|
||||
@ -468,7 +485,7 @@ static void configure(uint16_t *bytes_to_send)
|
||||
}
|
||||
|
||||
|
||||
static void enable_sentences(__attribute__((unused)) uint16_t *bytes_to_send)
|
||||
static void enable_sentences(__attribute__((unused)) uint16_t *bytes_to_send, bool disable_svinfo)
|
||||
{
|
||||
int8_t msg = status->lastConfigSent + 1;
|
||||
uint8_t msg_count = (ubxHwVersion >= UBX_HW_VERSION_7) ?
|
||||
@ -477,17 +494,23 @@ static void enable_sentences(__attribute__((unused)) uint16_t *bytes_to_send)
|
||||
&msg_config_ubx7[0] : &msg_config_ubx6[0];
|
||||
|
||||
if (msg >= 0 && msg < msg_count) {
|
||||
status->working_packet.message.payload.cfg_msg = msg_config[msg];
|
||||
// last message is SVINFO, disable if needed
|
||||
status->working_packet.message.payload.cfg_msg = (msg == (msg_count - 1) && disable_svinfo) ? msg_config_ubx_disable_svinfo[0] : msg_config[msg];
|
||||
*bytes_to_send = prepare_packet((UBXSentPacket_t *)&status->working_packet, UBX_CLASS_CFG, UBX_ID_CFG_MSG, sizeof(ubx_cfg_msg_t));
|
||||
} else {
|
||||
status->lastConfigSent = LAST_CONFIG_SENT_COMPLETED;
|
||||
}
|
||||
|
||||
// Reset GPSSatellites UAVO
|
||||
if (disable_svinfo && (status->lastConfigSent == LAST_CONFIG_SENT_COMPLETED) && (GPSSatellitesHandle() != NULL)) {
|
||||
GPSSatellitesSetDefaults(GPSSatellitesHandle(), 0);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
#if defined(AUTOBAUD_CONFIGURE_STORE_AND_DISABLE)
|
||||
// permanently store our version of GPSSettings.UbxAutoConfig
|
||||
// we use this to disable after AbConfigStoreAndDisable is complete
|
||||
// we use this to disable after AutoBaudConfigureStoreAndDisable is complete
|
||||
static void setGpsSettings()
|
||||
{
|
||||
// trying to do this as perfectly as possible we must realize that they may have pressed Send on some fields
|
||||
@ -526,8 +549,6 @@ static void setGpsSettings()
|
||||
#endif /* if defined(AUTOBAUD_CONFIGURE_STORE_AND_DISABLE) */
|
||||
|
||||
|
||||
// 9600 baud and lower are not usable, and are best left at factory default
|
||||
// if the user selects 9600
|
||||
void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
{
|
||||
*bytes_to_send = 0;
|
||||
@ -548,55 +569,38 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
// at low baud rates and high data rates the ubx gps simply must drop some outgoing data
|
||||
// this isn't really an error
|
||||
// and when a lot of data is being dropped, the MON VER reply often gets dropped
|
||||
// on the other hand, uBlox documents that some versions discard data that is over 1 second old
|
||||
// implying a 1 second send buffer and that it could be over 1 second before a reply is received
|
||||
// later uBlox versions dropped this 1 second constraint and drop data when the send buffer is full
|
||||
// and that could be even longer than 1 second
|
||||
// send this more quickly and it will get a reply more quickly if a fixed percentage of replies are being dropped
|
||||
|
||||
uint32_t time_to_wait = UBX_PARSER_TIMEOUT;
|
||||
// Add extra time to detect ubxHwVersion in case detection
|
||||
// becomes more difficult due to a lower transmission rate
|
||||
if (baud_to_try < HWSETTINGS_GPSSPEED_9600) {
|
||||
time_to_wait += UBX_PARSER_TIMEOUT;
|
||||
}
|
||||
// wait for the normal reply timeout before sending it over and over
|
||||
if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) < UBX_PARSER_TIMEOUT) {
|
||||
if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) < time_to_wait) {
|
||||
return;
|
||||
}
|
||||
|
||||
// at this point we have already waited for the MON_VER reply to time out (except the first time where it times out without being sent)
|
||||
// at this point we have already waited for the MON_VER reply to time out
|
||||
// and the fact we are here says that ubxHwVersion has not been set (it is set externally)
|
||||
// so this try at this baud rate has failed
|
||||
// if we get here
|
||||
// select the next baud rate, skipping ahead if new baud rate is HwSettings.GPSSpeed
|
||||
// set Revo baud rate to current++ value (immediate change so we can send right after that) and send the MON_VER request
|
||||
// baud rate search order are most likely matches first
|
||||
// if we get here set Revo baud rate to the previous incremented value and send the MON_VER request
|
||||
|
||||
// if AutoBaud or higher, do AutoBaud
|
||||
if (status->currentSettings.UbxAutoConfig >= GPSSETTINGS_UBXAUTOCONFIG_AUTOBAUD) {
|
||||
uint8_t baud_to_try;
|
||||
static uint8_t baud_array[] = {
|
||||
HWSETTINGS_GPSSPEED_57600,
|
||||
HWSETTINGS_GPSSPEED_9600,
|
||||
HWSETTINGS_GPSSPEED_115200,
|
||||
HWSETTINGS_GPSSPEED_38400,
|
||||
HWSETTINGS_GPSSPEED_19200,
|
||||
HWSETTINGS_GPSSPEED_230400,
|
||||
HWSETTINGS_GPSSPEED_4800,
|
||||
HWSETTINGS_GPSSPEED_2400
|
||||
};
|
||||
|
||||
// first try HwSettings.GPSSpeed and then
|
||||
// get the next baud rate to try from the table, but skip over the value of HwSettings.GPSSpeed
|
||||
do {
|
||||
// index is inited to be out of bounds, which is interpreted as "currently defined baud rate" (= HwSettings.GPSSpeed)
|
||||
if (baud_to_try_index >= sizeof(baud_array) / sizeof(baud_array[0])) {
|
||||
HwSettingsGPSSpeedGet(&hwsettings_baud);
|
||||
baud_to_try = hwsettings_baud;
|
||||
baud_to_try_index = 0;
|
||||
break;
|
||||
} else {
|
||||
baud_to_try = baud_array[baud_to_try_index++];
|
||||
}
|
||||
// skip HwSettings.GPSSpeed when you run across it in the list
|
||||
} while (baud_to_try == hwsettings_baud);
|
||||
// at startup new_gps_speed is not initialized yet
|
||||
if (new_gps_speed > HWSETTINGS_GPSSPEED_230400) {
|
||||
// try current speed set in HwSettings.GPSSpeed
|
||||
HwSettingsGPSSpeedGet(&hwsettings_baud);
|
||||
baud_to_try = hwsettings_baud;
|
||||
new_gps_speed = baud_to_try;
|
||||
}
|
||||
// set the FC (Revo) baud rate
|
||||
gps_set_fc_baud_from_arg(baud_to_try);
|
||||
|
||||
// increase baud_to_try for next try, in case ubxHwVersion is not set
|
||||
baud_to_try = (baud_to_try < HWSETTINGS_GPSSPEED_230400) ? baud_to_try + 1 : HWSETTINGS_GPSSPEED_2400;
|
||||
}
|
||||
|
||||
// this code is executed even if ubxautoconfig is disabled
|
||||
@ -628,6 +632,7 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
// we can do that if we choose because we haven't sent any data in this state
|
||||
// break;
|
||||
|
||||
// fall through
|
||||
case INIT_STEP_SEND_MON_VER:
|
||||
build_request((UBXSentPacket_t *)&status->working_packet, UBX_CLASS_MON, UBX_ID_MON_VER, bytes_to_send);
|
||||
// keep timeouts running properly, we (will have) just sent a packet that generates a reply
|
||||
@ -649,6 +654,7 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
// break;
|
||||
|
||||
// if here, we have just verified that the baud rates are in sync (again)
|
||||
// fall through
|
||||
case INIT_STEP_RESET_GPS:
|
||||
// make sure we don't change the baud rate too soon and garble the packet being sent
|
||||
// even after pios says the buffer is empty, the serial port buffer still has data in it
|
||||
@ -686,8 +692,6 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
// GPS was just reset, so GPS is running 9600 baud, and Revo is running whatever baud it was before
|
||||
case INIT_STEP_REVO_9600_BAUD:
|
||||
#if !defined(ALWAYS_RESET)
|
||||
// if user requests a low baud rate then we just reset and leave it set to NMEA
|
||||
// because low baud and high OP data rate doesn't play nice
|
||||
// if user requests that settings be saved, we will reset here too
|
||||
// that makes sure that all strange settings are reset to factory default
|
||||
// else these strange settings may persist because we don't reset all settings by hand
|
||||
@ -711,12 +715,30 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
// at most, we just set Revo baud and that doesn't send any data
|
||||
// fall through to next state
|
||||
// we can do that if we choose because we haven't sent any data in this state
|
||||
// set_current_step_if_untouched(INIT_STEP_GPS_BAUD);
|
||||
// set_current_step_if_untouched(INIT_STEP_SET_LOWRATE);
|
||||
// allow it enter the next state immmediately by not setting status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
|
||||
// break;
|
||||
|
||||
case INIT_STEP_SET_LOWRATE:
|
||||
// Here we set minimal baudrate *before* changing gps baudrate
|
||||
config_rate(bytes_to_send, true);
|
||||
if (status->lastConfigSent == LAST_CONFIG_SENT_COMPLETED) {
|
||||
status->lastConfigSent = LAST_CONFIG_SENT_START;
|
||||
status->retryCount = 0;
|
||||
set_current_step_if_untouched(INIT_STEP_GPS_BAUD);
|
||||
} else {
|
||||
set_current_step_if_untouched(INIT_STEP_SET_LOWRATE_WAIT_ACK);
|
||||
status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
|
||||
}
|
||||
break;
|
||||
|
||||
// Revo and GPS are both at 9600 baud
|
||||
// fall through
|
||||
case INIT_STEP_GPS_BAUD:
|
||||
// wait for previous step (INIT_STEP_SET_LOWRATE)
|
||||
if (PIOS_DELAY_DiffuS(status->lastStepTimestampRaw) < UBX_UNVERIFIED_STEP_WAIT_TIME) {
|
||||
return;
|
||||
}
|
||||
// https://www.u-blox.com/images/downloads/Product_Docs/u-bloxM8_ReceiverDescriptionProtocolSpec_%28UBX-13003221%29_Public.pdf
|
||||
// It is possible to change the current communications port settings using a UBX-CFG-CFG message. This could
|
||||
// affect baud rate and other transmission parameters. Because there may be messages queued for transmission
|
||||
@ -745,51 +767,48 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
}
|
||||
// set the Revo GPS port baud rate to the (same) user configured value
|
||||
gps_set_fc_baud_from_arg(hwsettings_baud);
|
||||
status->lastConfigSent = LAST_CONFIG_SENT_START;
|
||||
// zero the retries for the first "enable sentence"
|
||||
status->retryCount = 0;
|
||||
// skip enabling UBX sentences for low baud rates
|
||||
// low baud rates are not usable, and higher data rates just makes it harder for this code to change the configuration
|
||||
if (hwsettings_baud <= HWSETTINGS_GPSSPEED_9600) {
|
||||
set_current_step_if_untouched(INIT_STEP_SAVE);
|
||||
} else {
|
||||
set_current_step_if_untouched(INIT_STEP_ENABLE_SENTENCES);
|
||||
}
|
||||
// enable UBX sentences
|
||||
set_current_step_if_untouched(INIT_STEP_ENABLE_SENTENCES);
|
||||
// allow it enter the next state immmediately by not setting status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
|
||||
break;
|
||||
|
||||
case INIT_STEP_ENABLE_SENTENCES:
|
||||
case INIT_STEP_CONFIGURE:
|
||||
{
|
||||
bool step_configure = (status->currentStep == INIT_STEP_CONFIGURE);
|
||||
if (step_configure) {
|
||||
configure(bytes_to_send);
|
||||
} else {
|
||||
enable_sentences(bytes_to_send);
|
||||
}
|
||||
|
||||
// for some branches, allow it enter the next state immmediately by not setting status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
|
||||
// for low baudrates, disable SVINFO
|
||||
bool disable_svinfo = (new_gps_speed <= HWSETTINGS_GPSSPEED_9600) ? true : false;
|
||||
enable_sentences(bytes_to_send, disable_svinfo);
|
||||
if (status->lastConfigSent == LAST_CONFIG_SENT_COMPLETED) {
|
||||
if (step_configure) {
|
||||
// zero retries for the next state that needs it (INIT_STEP_SAVE)
|
||||
status->retryCount = 0;
|
||||
set_current_step_if_untouched(INIT_STEP_SAVE);
|
||||
} else {
|
||||
// finished enabling sentences, now configure() needs to start at the beginning
|
||||
status->lastConfigSent = LAST_CONFIG_SENT_START;
|
||||
set_current_step_if_untouched(INIT_STEP_CONFIGURE);
|
||||
}
|
||||
// finished enabling sentences, now configure() needs to start at the beginning
|
||||
status->lastConfigSent = LAST_CONFIG_SENT_START;
|
||||
// zero the retries for the first "configure"
|
||||
status->retryCount = 0;
|
||||
set_current_step_if_untouched(INIT_STEP_CONFIGURE);
|
||||
} else {
|
||||
set_current_step_if_untouched(step_configure ? INIT_STEP_CONFIGURE_WAIT_ACK : INIT_STEP_ENABLE_SENTENCES_WAIT_ACK);
|
||||
set_current_step_if_untouched(INIT_STEP_ENABLE_SENTENCES_WAIT_ACK);
|
||||
status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case INIT_STEP_CONFIGURE:
|
||||
{
|
||||
configure(bytes_to_send);
|
||||
if (status->lastConfigSent == LAST_CONFIG_SENT_COMPLETED) {
|
||||
status->retryCount = 0;
|
||||
set_current_step_if_untouched(INIT_STEP_SAVE);
|
||||
} else {
|
||||
set_current_step_if_untouched(INIT_STEP_CONFIGURE_WAIT_ACK);
|
||||
status->lastStepTimestampRaw = PIOS_DELAY_GetRaw();
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case INIT_STEP_SET_LOWRATE_WAIT_ACK:
|
||||
case INIT_STEP_ENABLE_SENTENCES_WAIT_ACK:
|
||||
case INIT_STEP_CONFIGURE_WAIT_ACK: // Wait for an ack from GPS
|
||||
{
|
||||
bool step_configure = (status->currentStep == INIT_STEP_CONFIGURE_WAIT_ACK);
|
||||
bool step_setlowrate = (status->currentStep == INIT_STEP_SET_LOWRATE_WAIT_ACK);
|
||||
bool step_configure = (status->currentStep == INIT_STEP_CONFIGURE_WAIT_ACK);
|
||||
if (ubxLastAck.clsID == status->requiredAck.clsID && ubxLastAck.msgID == status->requiredAck.msgID) {
|
||||
// Continue with next configuration option
|
||||
// start retries over for the next setting to be sent
|
||||
@ -811,6 +830,8 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
// success or failure here, retries are handled elsewhere
|
||||
if (step_configure) {
|
||||
set_current_step_if_untouched(INIT_STEP_CONFIGURE);
|
||||
} else if (step_setlowrate) {
|
||||
set_current_step_if_untouched(INIT_STEP_SET_LOWRATE);
|
||||
} else {
|
||||
set_current_step_if_untouched(INIT_STEP_ENABLE_SENTENCES);
|
||||
}
|
||||
@ -847,6 +868,7 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
|
||||
// break;
|
||||
|
||||
// the autoconfig has completed normally
|
||||
// fall through
|
||||
case INIT_STEP_PRE_DONE:
|
||||
#if defined(AUTOBAUD_CONFIGURE_STORE_AND_DISABLE)
|
||||
// determine if we need to disable autoconfig via the autoconfig==AUTOBAUDCONFIGSTOREANDDISABLE setting
|
||||
|
||||
@ -597,6 +597,7 @@ void HandleBatteryFailsafe(uint8_t *position, FlightModeSettingsData *modeSettin
|
||||
*position = modeSettings->BatteryFailsafeSwitchPositions.Critical;
|
||||
break;
|
||||
}
|
||||
// fall through
|
||||
case BATTERYFAILSAFE_WARNING:
|
||||
if (modeSettings->BatteryFailsafeSwitchPositions.Warning != -1) {
|
||||
*position = modeSettings->BatteryFailsafeSwitchPositions.Warning;
|
||||
@ -646,37 +647,38 @@ static uint8_t isAssistedFlightMode(uint8_t position, uint8_t flightMode, Flight
|
||||
case STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_GPSASSIST:
|
||||
{
|
||||
// default to cruise control.
|
||||
FlightModeSettingsStabilization1SettingsOptions thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL;
|
||||
typedef FlightModeSettingsStabilization1SettingsOptions _tm;
|
||||
_tm thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL;
|
||||
|
||||
switch (flightMode) {
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
|
||||
thrustMode = modeSettings->Stabilization1Settings.Thrust;
|
||||
thrustMode = (_tm)modeSettings->Stabilization1Settings.Thrust;
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
|
||||
thrustMode = modeSettings->Stabilization2Settings.Thrust;
|
||||
thrustMode = (_tm)modeSettings->Stabilization2Settings.Thrust;
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
|
||||
thrustMode = modeSettings->Stabilization3Settings.Thrust;
|
||||
thrustMode = (_tm)modeSettings->Stabilization3Settings.Thrust;
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED4:
|
||||
thrustMode = modeSettings->Stabilization4Settings.Thrust;
|
||||
thrustMode = (_tm)modeSettings->Stabilization4Settings.Thrust;
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED5:
|
||||
thrustMode = modeSettings->Stabilization5Settings.Thrust;
|
||||
thrustMode = (_tm)modeSettings->Stabilization5Settings.Thrust;
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED6:
|
||||
thrustMode = modeSettings->Stabilization6Settings.Thrust;
|
||||
thrustMode = (_tm)modeSettings->Stabilization6Settings.Thrust;
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
|
||||
case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM:
|
||||
// we hard code the "GPS Assisted" PostionHold/Roam to use alt-vario which
|
||||
// is a more appropriate throttle mode. "GPSAssist" adds braking
|
||||
// and a better throttle management to the standard Position Hold.
|
||||
thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO;
|
||||
thrustMode = (_tm)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO;
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_LAND:
|
||||
case FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF:
|
||||
thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL;
|
||||
thrustMode = (_tm)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL;
|
||||
break;
|
||||
|
||||
// other modes will use cruisecontrol as default
|
||||
|
||||
@ -805,7 +805,7 @@ void write_circle_filled(uint8_t *buff, unsigned int cx, unsigned int cy, unsign
|
||||
void write_line(uint8_t *buff, unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, int mode)
|
||||
{
|
||||
// Based on http://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm
|
||||
unsigned int steep = abs(y1 - y0) > abs(x1 - x0);
|
||||
unsigned int steep = abs((int)(y1 - y0)) > abs((int)(x1 - x0));
|
||||
|
||||
if (steep) {
|
||||
SWAP(x0, y0);
|
||||
@ -816,7 +816,7 @@ void write_line(uint8_t *buff, unsigned int x0, unsigned int y0, unsigned int x1
|
||||
SWAP(y0, y1);
|
||||
}
|
||||
int deltax = x1 - x0;
|
||||
unsigned int deltay = abs(y1 - y0);
|
||||
unsigned int deltay = abs((int)(y1 - y0));
|
||||
int error = deltax / 2;
|
||||
int ystep;
|
||||
unsigned int y = y0;
|
||||
@ -884,7 +884,7 @@ void write_line_outlined(unsigned int x0, unsigned int y0, unsigned int x1, unsi
|
||||
omode = 1;
|
||||
imode = 0;
|
||||
}
|
||||
int steep = abs(y1 - y0) > abs(x1 - x0);
|
||||
int steep = abs((int)(y1 - y0)) > abs((int)(x1 - x0));
|
||||
if (steep) {
|
||||
SWAP(x0, y0);
|
||||
SWAP(x1, y1);
|
||||
@ -894,7 +894,7 @@ void write_line_outlined(unsigned int x0, unsigned int y0, unsigned int x1, unsi
|
||||
SWAP(y0, y1);
|
||||
}
|
||||
int deltax = x1 - x0;
|
||||
unsigned int deltay = abs(y1 - y0);
|
||||
unsigned int deltay = abs((int)(y1 - y0));
|
||||
int error = deltax / 2;
|
||||
int ystep;
|
||||
unsigned int y = y0;
|
||||
@ -1583,7 +1583,7 @@ void drawBattery(uint16_t x, uint16_t y, uint8_t battery, uint16_t size)
|
||||
|
||||
void printTime(uint16_t x, uint16_t y)
|
||||
{
|
||||
char temp[9] =
|
||||
char temp[12] =
|
||||
{ 0 };
|
||||
|
||||
sprintf(temp, "%02d:%02d:%02d", timex.hour, timex.min, timex.sec);
|
||||
|
||||
@ -51,7 +51,7 @@ public:
|
||||
static FixedWingFlyController *instance()
|
||||
{
|
||||
if (!p_inst) {
|
||||
p_inst = new FixedWingAutoTakeoffController();
|
||||
p_inst = new FixedWingAutoTakeoffController;
|
||||
}
|
||||
return p_inst;
|
||||
}
|
||||
|
||||
@ -94,14 +94,14 @@ void VtolAutoTakeoffController::Activate(void)
|
||||
autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED;
|
||||
// We only allow takeoff if the state transition of disarmed to armed occurs
|
||||
// whilst in the autotake flight mode
|
||||
FlightStatusData flightStatus;
|
||||
FlightStatusGet(&flightStatus);
|
||||
FlightStatusData _flightStatus;
|
||||
FlightStatusGet(&_flightStatus);
|
||||
StabilizationDesiredData stabiDesired;
|
||||
StabilizationDesiredGet(&stabiDesired);
|
||||
|
||||
if (flightStatus.Armed) {
|
||||
if (_flightStatus.Armed) {
|
||||
// Are we inflight?
|
||||
if (stabiDesired.Thrust > AUTOTAKEOFF_INFLIGHT_THROTTLE_CHECK_LIMIT || flightStatus.ControlChain.PathPlanner == FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
|
||||
if (stabiDesired.Thrust > AUTOTAKEOFF_INFLIGHT_THROTTLE_CHECK_LIMIT || _flightStatus.ControlChain.PathPlanner == FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
|
||||
// ok assume already in flight and just enter position hold
|
||||
// if we are not actually inflight this will just be a violent autotakeoff
|
||||
autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_POSITIONHOLD;
|
||||
@ -327,9 +327,9 @@ void VtolAutoTakeoffController::UpdateAutoPilot()
|
||||
switch (autotakeoffState) {
|
||||
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_REQUIREUNARMEDFIRST:
|
||||
{
|
||||
FlightStatusData flightStatus;
|
||||
FlightStatusGet(&flightStatus);
|
||||
if (!flightStatus.Armed) {
|
||||
FlightStatusData _flightStatus;
|
||||
FlightStatusGet(&_flightStatus);
|
||||
if (!_flightStatus.Armed) {
|
||||
autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED;
|
||||
fsm->setControlState(autotakeoffState);
|
||||
}
|
||||
@ -337,9 +337,9 @@ void VtolAutoTakeoffController::UpdateAutoPilot()
|
||||
break;
|
||||
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED:
|
||||
{
|
||||
FlightStatusData flightStatus;
|
||||
FlightStatusGet(&flightStatus);
|
||||
if (flightStatus.Armed) {
|
||||
FlightStatusData _flightStatus;
|
||||
FlightStatusGet(&_flightStatus);
|
||||
if (_flightStatus.Armed) {
|
||||
autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE;
|
||||
fsm->setControlState(autotakeoffState);
|
||||
}
|
||||
@ -360,11 +360,11 @@ void VtolAutoTakeoffController::UpdateAutoPilot()
|
||||
{
|
||||
ManualControlCommandData cmd;
|
||||
ManualControlCommandGet(&cmd);
|
||||
FlightStatusData flightStatus;
|
||||
FlightStatusGet(&flightStatus);
|
||||
FlightStatusData _flightStatus;
|
||||
FlightStatusGet(&_flightStatus);
|
||||
|
||||
// we do not do a takeoff abort in pathplanner mode
|
||||
if (flightStatus.ControlChain.PathPlanner != FLIGHTSTATUS_CONTROLCHAIN_TRUE &&
|
||||
if (_flightStatus.ControlChain.PathPlanner != FLIGHTSTATUS_CONTROLCHAIN_TRUE &&
|
||||
cmd.Throttle < AUTOTAKEOFF_THROTTLE_ABORT_LIMIT) {
|
||||
autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT;
|
||||
fsm->setControlState(autotakeoffState);
|
||||
@ -373,9 +373,9 @@ void VtolAutoTakeoffController::UpdateAutoPilot()
|
||||
break;
|
||||
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT:
|
||||
{
|
||||
FlightStatusData flightStatus;
|
||||
FlightStatusGet(&flightStatus);
|
||||
if (!flightStatus.Armed) {
|
||||
FlightStatusData _flightStatus;
|
||||
FlightStatusGet(&_flightStatus);
|
||||
if (!_flightStatus.Armed) {
|
||||
autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED;
|
||||
fsm->setControlState(autotakeoffState);
|
||||
}
|
||||
|
||||
@ -260,6 +260,7 @@ static void pathPlannerTask()
|
||||
switch (pathAction.Command) {
|
||||
case PATHACTION_COMMAND_ONNOTCONDITIONNEXTWAYPOINT:
|
||||
endCondition = !endCondition;
|
||||
// fall through
|
||||
case PATHACTION_COMMAND_ONCONDITIONNEXTWAYPOINT:
|
||||
if (endCondition) {
|
||||
setWaypoint(waypointActive.Index + 1);
|
||||
@ -267,6 +268,7 @@ static void pathPlannerTask()
|
||||
break;
|
||||
case PATHACTION_COMMAND_ONNOTCONDITIONJUMPWAYPOINT:
|
||||
endCondition = !endCondition;
|
||||
// fall through
|
||||
case PATHACTION_COMMAND_ONCONDITIONJUMPWAYPOINT:
|
||||
if (endCondition) {
|
||||
if (pathAction.JumpDestination < 0) {
|
||||
@ -312,7 +314,7 @@ void updatePathDesired()
|
||||
pathDesired.End.East = waypoint.Position.East;
|
||||
pathDesired.End.Down = waypoint.Position.Down;
|
||||
pathDesired.EndingVelocity = waypoint.Velocity;
|
||||
pathDesired.Mode = pathAction.Mode;
|
||||
pathDesired.Mode = (PathDesiredModeOptions)pathAction.Mode;
|
||||
pathDesired.ModeParameters[0] = pathAction.ModeParameters[0];
|
||||
pathDesired.ModeParameters[1] = pathAction.ModeParameters[1];
|
||||
pathDesired.ModeParameters[2] = pathAction.ModeParameters[2];
|
||||
@ -339,10 +341,23 @@ void updatePathDesired()
|
||||
WaypointData waypointPrev;
|
||||
WaypointInstGet(waypointActive.Index - 1, &waypointPrev);
|
||||
|
||||
pathDesired.Start.North = waypointPrev.Position.North;
|
||||
pathDesired.Start.East = waypointPrev.Position.East;
|
||||
pathDesired.Start.Down = waypointPrev.Position.Down;
|
||||
pathDesired.StartingVelocity = waypointPrev.Velocity;
|
||||
// When exiting CIRCLE, use current UAV position as a start point for PathDesired vector to the next waypoint
|
||||
// instead of previous waypoint location (that represents the center of the circle)
|
||||
PathActionData prevAction;
|
||||
PathActionInstGet(waypointPrev.Action, &prevAction);
|
||||
if ((prevAction.Mode == PATHACTION_MODE_CIRCLERIGHT) || (prevAction.Mode == PATHACTION_MODE_CIRCLELEFT)) {
|
||||
PositionStateData positionState;
|
||||
PositionStateGet(&positionState);
|
||||
pathDesired.Start.North = positionState.North;
|
||||
pathDesired.Start.East = positionState.East;
|
||||
pathDesired.Start.Down = positionState.Down;
|
||||
pathDesired.StartingVelocity = waypointPrev.Velocity;
|
||||
} else {
|
||||
pathDesired.Start.North = waypointPrev.Position.North;
|
||||
pathDesired.Start.East = waypointPrev.Position.East;
|
||||
pathDesired.Start.Down = waypointPrev.Position.Down;
|
||||
pathDesired.StartingVelocity = waypointPrev.Velocity;
|
||||
}
|
||||
}
|
||||
|
||||
PathDesiredSet(&pathDesired);
|
||||
@ -662,7 +677,15 @@ static uint8_t conditionPointingTowardsNext()
|
||||
WaypointData nextWaypoint;
|
||||
WaypointInstGet(nextWaypointId, &nextWaypoint);
|
||||
|
||||
float angle1 = atan2f((nextWaypoint.Position.North - waypoint.Position.North), (nextWaypoint.Position.East - waypoint.Position.East));
|
||||
PositionStateData positionState;
|
||||
PositionStateGet(&positionState);
|
||||
|
||||
// check if current position exactly matches nextWaipoint (in 2D space)
|
||||
if ((fabsf(nextWaypoint.Position.North - positionState.North) < 1e-6f) && (fabsf(nextWaypoint.Position.East - positionState.East) < 1e-6f)) {
|
||||
return true;
|
||||
}
|
||||
|
||||
float angle1 = atan2f((nextWaypoint.Position.North - positionState.North), (nextWaypoint.Position.East - positionState.East));
|
||||
|
||||
VelocityStateData velocity;
|
||||
VelocityStateGet(&velocity);
|
||||
|
||||
@ -914,6 +914,23 @@ static void applyLPF(float *value, ManualControlSettingsResponseTimeElem channel
|
||||
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
|
||||
static uint8_t isAssistedFlightMode(uint8_t position)
|
||||
{
|
||||
// Since VelocityRoam is by all means an "assisted" mode,
|
||||
// here we do explicitly recognize it as "assisted", no matter
|
||||
// if it has "GPSAssist" set in FlightModeAssistMap or not, thus
|
||||
// always applying the "Assisted Control stick deadband" when
|
||||
// VelocityRoam is active.
|
||||
FlightModeSettingsData modeSettings;
|
||||
FlightModeSettingsGet(&modeSettings);
|
||||
|
||||
uint8_t thisMode = FLIGHTSTATUS_FLIGHTMODE_MANUAL;
|
||||
if (position < FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM) {
|
||||
thisMode = modeSettings.FlightModePosition[position];
|
||||
}
|
||||
|
||||
if (thisMode == FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM) {
|
||||
return STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_GPSASSIST;
|
||||
}
|
||||
|
||||
uint8_t isAssistedFlag = STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NONE;
|
||||
uint8_t FlightModeAssistMap[STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NUMELEM];
|
||||
|
||||
|
||||
@ -34,5 +34,6 @@
|
||||
#include "openpilot.h"
|
||||
|
||||
int32_t SensorsInitialize(void);
|
||||
void sensors_auxmag_load_mag_settings(void);
|
||||
|
||||
#endif // SENSORS_H
|
||||
|
||||
@ -71,6 +71,7 @@
|
||||
#include <CoordinateConversions.h>
|
||||
#include <pios_board_info.h>
|
||||
#include <string.h>
|
||||
#include "sensors.h"
|
||||
|
||||
// Private constants
|
||||
#define STACK_SIZE_BYTES 1000
|
||||
@ -131,10 +132,6 @@ PERF_DEFINE_COUNTER(counterBaroPeriod);
|
||||
PERF_DEFINE_COUNTER(counterSensorPeriod);
|
||||
PERF_DEFINE_COUNTER(counterSensorResets);
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
void aux_hmc5x83_load_settings();
|
||||
#endif
|
||||
|
||||
// Private functions
|
||||
static void SensorsTask(void *parameters);
|
||||
static void settingsUpdatedCb(UAVObjEvent *objEv);
|
||||
@ -148,7 +145,7 @@ static void clearContext(sensor_fetch_context *sensor_context);
|
||||
static void handleAccel(float *samples, float temperature);
|
||||
static void handleGyro(float *samples, float temperature, uint32_t timestamp);
|
||||
static void handleMag(float *samples, float temperature);
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
#if defined(PIOS_INCLUDE_SENSORS_AUXMAG)
|
||||
static void handleAuxMag(float *samples);
|
||||
#endif
|
||||
static void handleBaro(float sample, float temperature);
|
||||
@ -193,7 +190,7 @@ static float baro_temp_bias = 0;
|
||||
static float baro_temperature = NAN;
|
||||
static uint8_t baro_temp_calibration_count = 0;
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
#if defined(PIOS_INCLUDE_SENSORS_AUXMAG)
|
||||
// Allow AuxMag to be disabled without reboot
|
||||
// because the other mags are that way
|
||||
static bool useAuxMag = false;
|
||||
@ -211,7 +208,7 @@ int32_t SensorsInitialize(void)
|
||||
MagSensorInitialize();
|
||||
BaroSensorInitialize();
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
#if defined(PIOS_INCLUDE_SENSORS_AUXMAG)
|
||||
// for auxmagsupport.c helpers
|
||||
AuxMagSensorInitialize();
|
||||
#endif
|
||||
@ -388,7 +385,7 @@ static void processSamples3d(sensor_fetch_context *sensor_context, const PIOS_SE
|
||||
float inv_count = 1.0f / (float)sensor_context->count;
|
||||
if ((sensor->type & PIOS_SENSORS_TYPE_3AXIS_ACCEL)
|
||||
|| (sensor->type == PIOS_SENSORS_TYPE_3AXIS_MAG)
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
#if defined(PIOS_INCLUDE_SENSORS_AUXMAG)
|
||||
|| (sensor->type == PIOS_SENSORS_TYPE_3AXIS_AUXMAG)
|
||||
#endif
|
||||
) {
|
||||
@ -403,7 +400,7 @@ static void processSamples3d(sensor_fetch_context *sensor_context, const PIOS_SE
|
||||
PERF_MEASURE_PERIOD(counterMagPeriod);
|
||||
return;
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
#if defined(PIOS_INCLUDE_SENSORS_AUXMAG)
|
||||
case PIOS_SENSORS_TYPE_3AXIS_AUXMAG:
|
||||
handleAuxMag(samples);
|
||||
PERF_MEASURE_PERIOD(counterMagPeriod);
|
||||
@ -502,7 +499,7 @@ static void handleMag(float *samples, float temperature)
|
||||
MagSensorSet(&mag);
|
||||
}
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
#if defined(PIOS_INCLUDE_SENSORS_AUXMAG)
|
||||
static void handleAuxMag(float *samples)
|
||||
{
|
||||
if (useAuxMag) {
|
||||
@ -518,7 +515,7 @@ static void handleBaro(float sample, float temperature)
|
||||
|
||||
float altitude = 44330.0f * (1.0f - powf((sample) / PIOS_CONST_MKS_STD_ATMOSPHERE_F, (1.0f / 5.255f)));
|
||||
|
||||
if (!isnan(altitude)) {
|
||||
if (IS_REAL(altitude)) {
|
||||
BaroSensorData data;
|
||||
data.Altitude = altitude;
|
||||
data.Temperature = temperature;
|
||||
@ -530,7 +527,7 @@ static void handleBaro(float sample, float temperature)
|
||||
|
||||
static void updateAccelTempBias(float temperature)
|
||||
{
|
||||
if (isnan(accel_temperature)) {
|
||||
if (!IS_REAL(accel_temperature)) {
|
||||
accel_temperature = temperature;
|
||||
}
|
||||
accel_temperature = temp_alpha_gyro_accel * (temperature - accel_temperature) + accel_temperature;
|
||||
@ -552,7 +549,7 @@ static void updateAccelTempBias(float temperature)
|
||||
|
||||
static void updateGyroTempBias(float temperature)
|
||||
{
|
||||
if (isnan(gyro_temperature)) {
|
||||
if (!IS_REAL(gyro_temperature)) {
|
||||
gyro_temperature = temperature;
|
||||
}
|
||||
|
||||
@ -573,7 +570,7 @@ static void updateGyroTempBias(float temperature)
|
||||
|
||||
static void updateBaroTempBias(float temperature)
|
||||
{
|
||||
if (isnan(baro_temperature)) {
|
||||
if (!IS_REAL(baro_temperature)) {
|
||||
baro_temperature = temperature;
|
||||
}
|
||||
|
||||
@ -641,8 +638,8 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
|
||||
fabsf(baroCorrection.d) > 1e-9f));
|
||||
}
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
void aux_hmc5x83_load_mag_settings()
|
||||
#if defined(PIOS_INCLUDE_SENSORS_AUXMAG)
|
||||
void sensors_auxmag_load_mag_settings()
|
||||
{
|
||||
uint8_t magType = auxmagsupport_get_type();
|
||||
|
||||
|
||||
@ -309,6 +309,7 @@ static void stabilizationInnerloopTask()
|
||||
}
|
||||
// IMPORTANT: deliberately no "break;" here, execution continues with regular RATE control loop to avoid code duplication!
|
||||
// keep order as it is, RATE must follow!
|
||||
// fall through
|
||||
case STABILIZATIONSTATUS_INNERLOOP_RATE:
|
||||
{
|
||||
// limit rate to maximum configured limits (once here instead of 5 times in outer loop)
|
||||
|
||||
@ -259,16 +259,10 @@ static filterResult complementaryFilter(struct data *this, float gyro[3], float
|
||||
|
||||
// During initialization and
|
||||
if (this->first_run) {
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
// wait until mags have been updated
|
||||
if (!this->magUpdated && this->useMag) {
|
||||
return FILTERRESULT_ERROR;
|
||||
}
|
||||
#else
|
||||
mag[0] = 100.0f;
|
||||
mag[1] = 0.0f;
|
||||
mag[2] = 0.0f;
|
||||
#endif
|
||||
|
||||
pseudo_windowed_variance_init(&this->gyro_var[0], VARIANCE_WINDOW_SIZE);
|
||||
pseudo_windowed_variance_init(&this->gyro_var[1], VARIANCE_WINDOW_SIZE);
|
||||
@ -535,7 +529,7 @@ static filterResult complementaryFilter(struct data *this, float gyro[3], float
|
||||
|
||||
// If quaternion has become inappropriately short or is nan reinit.
|
||||
// THIS SHOULD NEVER ACTUALLY HAPPEN
|
||||
if ((fabsf(inv_qmag) > 1e3f) || isnan(inv_qmag)) {
|
||||
if ((fabsf(inv_qmag) > 1e3f) || !IS_REAL(inv_qmag)) {
|
||||
this->first_run = 1;
|
||||
return FILTERRESULT_WARNING;
|
||||
}
|
||||
|
||||
@ -481,7 +481,7 @@ static filterResult filter(stateFilter *self, stateEstimation *state)
|
||||
// check for invalid variance values
|
||||
static inline bool invalid_var(float data)
|
||||
{
|
||||
if (isnan(data) || isinf(data)) {
|
||||
if (!IS_REAL(data)) {
|
||||
return true;
|
||||
}
|
||||
if (data < 1e-15f) { // var should not be close to zero. And not negative either.
|
||||
|
||||
@ -282,9 +282,9 @@ void magOffsetEstimation(struct data *this, float mag[3])
|
||||
delta[1] = -rate * (xy[1] / xy_norm * Rxy - xy[1]);
|
||||
delta[2] = -rate * (Rz - B_e[2]);
|
||||
|
||||
if (!isnan(delta[0]) && !isinf(delta[0]) &&
|
||||
!isnan(delta[1]) && !isinf(delta[1]) &&
|
||||
!isnan(delta[2]) && !isinf(delta[2])) {
|
||||
if (IS_REAL(delta[0]) &&
|
||||
IS_REAL(delta[1]) &&
|
||||
IS_REAL(delta[2])) {
|
||||
this->magBias[0] += delta[0];
|
||||
this->magBias[1] += delta[1];
|
||||
this->magBias[2] += delta[2];
|
||||
|
||||
357
flight/modules/UAVOFrSKYSPortBridge/UAVOFrSKYSPortBridge.c
Normal file
357
flight/modules/UAVOFrSKYSPortBridge/UAVOFrSKYSPortBridge.c
Normal file
@ -0,0 +1,357 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotModules OpenPilot Modules
|
||||
* @{
|
||||
* @addtogroup UAVOFrSKYSPortBridge UAVO to FrSKY S.PORT Bridge Module
|
||||
* @{
|
||||
*
|
||||
* @file uavofrskysportbridge.c
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017-2019
|
||||
* Tau Labs, http://taulabs.org, Copyright (C) 2014
|
||||
* @brief Bridges selected UAVObjects to FrSKY Smart Port bus
|
||||
*
|
||||
* Since there is no public documentation of SmartPort protocol available,
|
||||
* this was put together by studying OpenTx source code, reading
|
||||
* tidbits of informations on the Internet and experimenting.
|
||||
* @see https://github.com/opentx/opentx/tree/next/radio/src/telemetry
|
||||
* @see https://code.google.com/p/telemetry-convert/wiki/FrSkySPortProtocol
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program 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.
|
||||
*
|
||||
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include "frsky_packing.h"
|
||||
|
||||
#include "pios_board_io.h"
|
||||
|
||||
#include "barosensor.h"
|
||||
#include "flightbatterysettings.h"
|
||||
#include "flightbatterystate.h"
|
||||
#include "gpspositionsensor.h"
|
||||
#include "frskysporttelemetrysettings.h"
|
||||
#include "hwsettings.h"
|
||||
#include "taskinfo.h"
|
||||
|
||||
|
||||
#define FRSKY_POLL_REQUEST 0x7e
|
||||
#define FRSKY_MINIMUM_POLL_INTERVAL 10000
|
||||
|
||||
enum frsky_state {
|
||||
FRSKY_STATE_WAIT_POLL_REQUEST,
|
||||
FRSKY_STATE_WAIT_SENSOR_ID,
|
||||
FRSKY_STATE_WAIT_TX_DONE,
|
||||
};
|
||||
|
||||
// Set of objects sent by this module
|
||||
static const struct frsky_value_item frsky_value_items[] = {
|
||||
{ FRSKY_GPS_COURSE_ID, 100, frsky_encode_gps_course, 0 }, // attitude yaw estimate
|
||||
{ FRSKY_ALT_ID, 100, frsky_encode_altitude, 0 }, // altitude estimate
|
||||
{ FRSKY_VARIO_ID, 100, frsky_encode_vario, 0 }, // vertical speed
|
||||
{ FRSKY_CURR_ID, 300, frsky_encode_current, 0 }, // battery current
|
||||
{ FRSKY_CELLS_ID, 850, frsky_encode_cells, 0 }, // battery cells 1-2
|
||||
{ FRSKY_CELLS_ID, 850, frsky_encode_cells, 1 }, // battery cells 3-4
|
||||
{ FRSKY_CELLS_ID, 850, frsky_encode_cells, 2 }, // battery cells 5-6
|
||||
{ FRSKY_CELLS_ID, 850, frsky_encode_cells, 3 }, // battery cells 7-8
|
||||
{ FRSKY_CELLS_ID, 850, frsky_encode_cells, 4 }, // battery cells 9-10
|
||||
{ FRSKY_CELLS_ID, 850, frsky_encode_cells, 5 }, // battery cells 11-12
|
||||
{ FRSKY_T1_ID, 2000, frsky_encode_t1, 0 }, // baro temperature
|
||||
{ FRSKY_T2_ID, 1500, frsky_encode_t2, 0 }, // encodes GPS status!
|
||||
{ FRSKY_FUEL_ID, 600, frsky_encode_fuel, 0 }, // consumed battery energy
|
||||
{ FRSKY_ACCX_ID, 100, frsky_encode_acc, 0 }, // accX
|
||||
{ FRSKY_ACCY_ID, 100, frsky_encode_acc, 1 }, // accY
|
||||
{ FRSKY_ACCZ_ID, 100, frsky_encode_acc, 2 }, // accZ
|
||||
{ FRSKY_GPS_LON_LAT_ID, 100, frsky_encode_gps_coord, 0 }, // lattitude
|
||||
{ FRSKY_GPS_LON_LAT_ID, 100, frsky_encode_gps_coord, 1 }, // longitude
|
||||
{ FRSKY_GPS_ALT_ID, 750, frsky_encode_gps_alt, 0 }, // gps altitude
|
||||
{ FRSKY_GPS_SPEED_ID, 200, frsky_encode_gps_speed, 0 }, // gps speed
|
||||
{ FRSKY_GPS_TIME_ID, 8000, frsky_encode_gps_time, 0 }, // gps date
|
||||
{ FRSKY_GPS_TIME_ID, 2000, frsky_encode_gps_time, 1 }, // gps time
|
||||
{ FRSKY_RPM_ID, 1500, frsky_encode_rpm, 0 }, // encodes flight status!
|
||||
{ FRSKY_AIR_SPEED_ID, 100, frsky_encode_airspeed, 0 }, // airspeed
|
||||
};
|
||||
|
||||
struct frsky_sport_telemetry {
|
||||
enum frsky_state state;
|
||||
int32_t scheduled_item;
|
||||
uint32_t last_poll_time;
|
||||
uintptr_t com;
|
||||
bool ignore_echo;
|
||||
uint8_t ignore_rx_chars;
|
||||
struct frsky_settings frsky_settings;
|
||||
uint16_t schedule_nr;
|
||||
uint32_t item_last_triggered[NELEMENTS(frsky_value_items)];
|
||||
uint16_t item_schedule_nr[NELEMENTS(frsky_value_items)];
|
||||
};
|
||||
|
||||
static const uint8_t frsky_sensor_ids[] = { 0x1b };
|
||||
|
||||
#define FRSKY_SPORT_BAUDRATE 57600
|
||||
|
||||
#if defined(PIOS_FRSKY_SPORT_TELEMETRY_STACK_SIZE)
|
||||
#define STACK_SIZE_BYTES PIOS_FRSKY_SPORT_TELEMETRY_STACK_SIZE
|
||||
#else
|
||||
#define STACK_SIZE_BYTES 672
|
||||
#endif
|
||||
#define TASK_PRIORITY (tskIDLE_PRIORITY)
|
||||
|
||||
static struct frsky_sport_telemetry *frsky = 0;
|
||||
static int32_t uavoFrSKYSPortBridgeInitialize(void);
|
||||
static void uavoFrSKYSPortBridgeTask(void *parameters);
|
||||
|
||||
/**
|
||||
* Scan for value item with the longest expired time and schedule it to send in next poll turn
|
||||
*
|
||||
*/
|
||||
|
||||
static void frsky_schedule_next_item(void)
|
||||
{
|
||||
frsky->scheduled_item = -1;
|
||||
|
||||
for (uint32_t i = 0; i < NELEMENTS(frsky_value_items); i++) {
|
||||
if (frsky_value_items[i].encode_value(&frsky->frsky_settings, 0, true, frsky_value_items[i].fn_arg)) {
|
||||
if (frsky->item_schedule_nr[i] == frsky->schedule_nr) {
|
||||
continue;
|
||||
}
|
||||
if (PIOS_DELAY_GetuSSince(frsky->item_last_triggered[i]) > (frsky_value_items[i].period_ms * 1000)) {
|
||||
frsky->scheduled_item = i;
|
||||
frsky->item_schedule_nr[i] = frsky->schedule_nr;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (frsky->scheduled_item < 0) {
|
||||
frsky->schedule_nr++;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Send value item previously scheduled by frsky_schedule_next_itme()
|
||||
* @returns true when item value was sended
|
||||
*/
|
||||
static bool frsky_send_scheduled_item(void)
|
||||
{
|
||||
int32_t item = frsky->scheduled_item;
|
||||
|
||||
if ((item >= 0) && (item < (int32_t)NELEMENTS(frsky_value_items))) {
|
||||
frsky->item_last_triggered[item] = PIOS_DELAY_GetuS();
|
||||
uint32_t value = 0;
|
||||
if (frsky_value_items[item].encode_value(&frsky->frsky_settings, &value, false,
|
||||
frsky_value_items[item].fn_arg)) {
|
||||
frsky->ignore_rx_chars += frsky_send_frame(frsky->com, (uint16_t)(frsky_value_items[item].id), value, false);
|
||||
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
/**
|
||||
* Process incoming bytes from FrSky S.PORT bus
|
||||
* @param[in] b received byte
|
||||
*/
|
||||
static void frsky_receive_byte(uint8_t b)
|
||||
{
|
||||
uint32_t i = 0;
|
||||
|
||||
switch (frsky->state) {
|
||||
case FRSKY_STATE_WAIT_TX_DONE:
|
||||
// because RX and TX are connected, we need to ignore bytes
|
||||
// transmited by us
|
||||
if (--frsky->ignore_rx_chars == 0) {
|
||||
frsky->state = FRSKY_STATE_WAIT_POLL_REQUEST;
|
||||
}
|
||||
break;
|
||||
|
||||
case FRSKY_STATE_WAIT_POLL_REQUEST:
|
||||
if (b == FRSKY_POLL_REQUEST) {
|
||||
// X8R is polling us every 13ms
|
||||
if (PIOS_DELAY_GetuSSince(frsky->last_poll_time) > FRSKY_MINIMUM_POLL_INTERVAL) {
|
||||
frsky->last_poll_time = PIOS_DELAY_GetuS();
|
||||
frsky->state = FRSKY_STATE_WAIT_SENSOR_ID;
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case FRSKY_STATE_WAIT_SENSOR_ID:
|
||||
|
||||
frsky->state = FRSKY_STATE_WAIT_POLL_REQUEST;
|
||||
|
||||
for (i = 0; i < sizeof(frsky_sensor_ids); i++) {
|
||||
if (frsky_sensor_ids[i] == b) {
|
||||
// get GPSPositionData once here to be more efficient, since
|
||||
// GPS position data are very often used by encode() handlers
|
||||
if (GPSPositionSensorHandle() != NULL) {
|
||||
GPSPositionSensorGet(&frsky->frsky_settings.gps_position);
|
||||
}
|
||||
// send item previously scheduled
|
||||
frsky_send_scheduled_item();
|
||||
|
||||
if (frsky->ignore_echo && frsky->ignore_rx_chars) {
|
||||
frsky->state = FRSKY_STATE_WAIT_TX_DONE;
|
||||
}
|
||||
|
||||
// schedule item for next poll turn
|
||||
frsky_schedule_next_item();
|
||||
break;
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Module start routine automatically called after initialization routine
|
||||
* @return 0 when was successful
|
||||
*/
|
||||
static int32_t uavoFrSKYSPortBridgeStart(void)
|
||||
{
|
||||
if (!frsky) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (FlightBatterySettingsHandle() != NULL
|
||||
&& FlightBatteryStateHandle() != NULL) {
|
||||
// TODO: maybe get this setting from somewhere else?
|
||||
// uint8_t currentPin;
|
||||
// FlightBatterySettingsCurrentPinGet(¤tPin);
|
||||
// if (currentPin != FLIGHTBATTERYSETTINGS_CURRENTPIN_NONE)
|
||||
frsky->frsky_settings.use_current_sensor = true;
|
||||
FlightBatterySettingsGet(&frsky->frsky_settings.battery_settings);
|
||||
frsky->frsky_settings.batt_cell_count = frsky->frsky_settings.battery_settings.NbCells;
|
||||
}
|
||||
// This is just to check if barometer is enabled.
|
||||
// if (BaroSensorHandle() != NULL
|
||||
// && PIOS_SENSORS_GetQueue(PIOS_SENSOR_BARO) != NULL)
|
||||
frsky->frsky_settings.use_baro_sensor = true;
|
||||
|
||||
|
||||
xTaskHandle task;
|
||||
xTaskCreate(uavoFrSKYSPortBridgeTask, "FrSky SPort Telemetry", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &task);
|
||||
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_FRSKYSPORTTELEMETRY, task);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static void FrSKYSPortTelemetrySettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
|
||||
{
|
||||
FrSKYSPortTelemetrySettingsData settings;
|
||||
|
||||
FrSKYSPortTelemetrySettingsGet(&settings);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Module initialization routine
|
||||
* @return 0 when initialization was successful
|
||||
*/
|
||||
static int32_t uavoFrSKYSPortBridgeInitialize(void)
|
||||
{
|
||||
FrSKYSPortTelemetrySettingsInitialize();
|
||||
|
||||
if (PIOS_COM_FRSKY_SPORT) {
|
||||
frsky = pios_malloc(sizeof(struct frsky_sport_telemetry));
|
||||
|
||||
if (frsky != NULL) {
|
||||
memset(frsky, 0x00, sizeof(struct frsky_sport_telemetry));
|
||||
|
||||
frsky->frsky_settings.use_current_sensor = false;
|
||||
frsky->frsky_settings.batt_cell_count = 0;
|
||||
frsky->frsky_settings.use_baro_sensor = false;
|
||||
frsky->state = FRSKY_STATE_WAIT_POLL_REQUEST;
|
||||
frsky->last_poll_time = PIOS_DELAY_GetuS();
|
||||
frsky->scheduled_item = -1;
|
||||
frsky->com = PIOS_COM_FRSKY_SPORT;
|
||||
frsky->ignore_echo = true; // This has to be true when RX & TX hw serial lines are connected. Otherwise false. (enforced below by setting half duplex. this makes internal connection between rx and tx
|
||||
// connect TX pin of flight controller to UNINVERTED SPort
|
||||
// (F4 based controllers do not have TX inversion capability.
|
||||
// Use external inverter or solder to uninverted receiver pin)
|
||||
// TODO: Add code/PIOS driver to enable inversion for F3 based convertes
|
||||
// TODO: implement FPORT driver
|
||||
frsky->schedule_nr = 1;
|
||||
|
||||
uint8_t i;
|
||||
for (i = 0; i < NELEMENTS(frsky_value_items); i++) {
|
||||
frsky->item_last_triggered[i] = PIOS_DELAY_GetuS();
|
||||
}
|
||||
|
||||
// Set Port options:
|
||||
// BAUD rate
|
||||
PIOS_COM_ChangeBaud(frsky->com, FRSKY_SPORT_BAUDRATE);
|
||||
|
||||
HwSettingsSPortModeOptions options;
|
||||
HwSettingsSPortModeGet(&options);
|
||||
bool halfduplex;
|
||||
enum PIOS_USART_Inverted inverted;
|
||||
switch (options) {
|
||||
case HWSETTINGS_SPORTMODE_HALFDUPLEXNONINVERTED:
|
||||
halfduplex = true;
|
||||
inverted = PIOS_USART_Inverted_None;
|
||||
break;
|
||||
case HWSETTINGS_SPORTMODE_HALFDUPLEXINVERTED:
|
||||
halfduplex = true;
|
||||
inverted = PIOS_USART_Inverted_RxTx;
|
||||
break;
|
||||
case HWSETTINGS_SPORTMODE_FULLDUPLEXNONINVERTED:
|
||||
halfduplex = false;
|
||||
inverted = PIOS_USART_Inverted_None;
|
||||
break;
|
||||
case HWSETTINGS_SPORTMODE_FULLDUPLEXINVERTED:
|
||||
halfduplex = false;
|
||||
inverted = PIOS_USART_Inverted_RxTx;
|
||||
break;
|
||||
}
|
||||
|
||||
// Port Inversion (Not available on STM32F4, will have no effect)
|
||||
PIOS_COM_Ioctl(frsky->com, PIOS_IOCTL_USART_SET_INVERTED, &inverted);
|
||||
|
||||
// HalfDplex mode (Not available on STM32F0, will have no effect)
|
||||
PIOS_COM_Ioctl(frsky->com, PIOS_IOCTL_USART_SET_HALFDUPLEX, &halfduplex);
|
||||
|
||||
FrSKYSPortTelemetrySettingsConnectCallback(FrSKYSPortTelemetrySettingsUpdatedCb);
|
||||
|
||||
FrSKYSPortTelemetrySettingsUpdatedCb(0);
|
||||
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
return -1;
|
||||
}
|
||||
MODULE_INITCALL(uavoFrSKYSPortBridgeInitialize, uavoFrSKYSPortBridgeStart);
|
||||
|
||||
/**
|
||||
* Main task routine
|
||||
* @param[in] parameters parameter given by PIOS_Thread_Create()
|
||||
*/
|
||||
static void uavoFrSKYSPortBridgeTask(__attribute__((unused)) void *parameters)
|
||||
{
|
||||
while (1) {
|
||||
uint8_t b = 0;
|
||||
uint16_t count = PIOS_COM_ReceiveBuffer(frsky->com, &b, 1, 0xffffffff);
|
||||
if (count) {
|
||||
frsky_receive_byte(b);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -610,7 +610,7 @@ static uint16_t frsky_pack_fuel(
|
||||
{
|
||||
uint8_t index = 0;
|
||||
|
||||
uint16_t level = lroundf(abs(fuel_level * 100));
|
||||
uint16_t level = lroundf(fabsf(fuel_level * 100));
|
||||
|
||||
// Use fixed levels here because documentation says so.
|
||||
if (level > 94) {
|
||||
|
||||
@ -1944,7 +1944,7 @@ void update_telemetrydata()
|
||||
// use climbrate pointer for alternate display, without GPS every 5s or 3.3s with speed/dist msg
|
||||
uint8_t statusmsg_num = (telestate->Settings.Sensor.GPS == HOTTBRIDGESETTINGS_SENSOR_ENABLED) ? 3 : 2;
|
||||
if (telestate->climbrate_pointer < (climbratesize / statusmsg_num)) {
|
||||
snprintf(telestate->statusline, sizeof(telestate->statusline), "%12s,%8s", txt_flightmode, txt_armstate);
|
||||
snprintf(telestate->statusline, sizeof(telestate->statusline), "%12s,%7s", txt_flightmode, txt_armstate);
|
||||
} else if (telestate->climbrate_pointer < (climbratesize / statusmsg_num) * 2) {
|
||||
snprintf(telestate->statusline, sizeof(telestate->statusline), "MaxG %2d.%d MinG %2d.%d",
|
||||
(int8_t)(telestate->max_G), (int8_t)(telestate->max_G * 10) % 10,
|
||||
|
||||
@ -438,7 +438,7 @@ __attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_PSP(void)
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_PSP(uint32_t topOfProcStack)
|
||||
{
|
||||
__ASM volatile ("MSR psp, %0\n" : : "r" (topOfProcStack) : "sp");
|
||||
__ASM volatile ("MSR psp, %0\n" : : "r" (topOfProcStack) : );
|
||||
}
|
||||
|
||||
|
||||
@ -465,7 +465,7 @@ __attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_MSP(void)
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_MSP(uint32_t topOfMainStack)
|
||||
{
|
||||
__ASM volatile ("MSR msp, %0\n" : : "r" (topOfMainStack) : "sp");
|
||||
__ASM volatile ("MSR msp, %0\n" : : "r" (topOfMainStack) : );
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -355,7 +355,7 @@ int8_t PIOS_ADXL345_ReadAndAccumulateSamples(struct pios_adxl345_data *data, uin
|
||||
PIOS_Instrumentation_TimeStart(counterUpd);
|
||||
#endif
|
||||
for (uint8_t i = 0; i < samples; i++) {
|
||||
uint8_t buf[7] = { 0 };
|
||||
uint8_t buf[8] = { 0 };
|
||||
uint8_t *rec = &buf[1];
|
||||
PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 0);
|
||||
buf[0] = ADXL_X0_ADDR | ADXL_MULTI_BIT | ADXL_READ_BIT; // Multibyte read starting at X0
|
||||
|
||||
@ -108,6 +108,10 @@ uint32_t pios_com_debug_id; /* DebugConsole */
|
||||
uint32_t pios_com_hott_id;
|
||||
#endif
|
||||
|
||||
#ifdef PIOS_INCLUDE_FRSKY_SPORT
|
||||
uint32_t pios_com_frsky_sport_id;
|
||||
#endif
|
||||
|
||||
#ifdef PIOS_INCLUDE_USB
|
||||
|
||||
uint32_t pios_com_telem_usb_id; /* USB telemetry */
|
||||
@ -433,6 +437,13 @@ static const struct uart_function uart_function_map[] = {
|
||||
.rcvr_group = MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS,
|
||||
},
|
||||
# endif /* PIOS_INCLUDE_SBUS */
|
||||
# ifdef PIOS_INCLUDE_FRSKY_SPORT
|
||||
[PIOS_BOARD_IO_UART_FRSKY_SPORT] = {
|
||||
.com_id = &pios_com_frsky_sport_id,
|
||||
.com_rx_buf_len = PIOS_COM_FRSKY_SPORT_RX_BUF_LEN,
|
||||
.com_tx_buf_len = PIOS_COM_FRSKY_SPORT_TX_BUF_LEN,
|
||||
},
|
||||
# endif
|
||||
#endif /* PIOS_INCLUDE_RCVR */
|
||||
};
|
||||
|
||||
|
||||
@ -60,6 +60,10 @@ pios_hmc5x83_dev_t pios_hmc5x83_internal_id;
|
||||
# endif
|
||||
#endif
|
||||
|
||||
#ifdef PIOS_INCLUDE_QMC5883L
|
||||
# include "pios_qmc5883l.h"
|
||||
#endif
|
||||
|
||||
#ifdef PIOS_INCLUDE_L3GD20
|
||||
# include "pios_l3gd20.h"
|
||||
#endif
|
||||
@ -146,35 +150,36 @@ void PIOS_BOARD_Sensors_Configure()
|
||||
|
||||
# endif /* PIOS_INCLUDE_HMC5X83_INTERNAL */
|
||||
|
||||
# ifdef PIOS_INCLUDE_HMC5X83
|
||||
# ifdef PIOS_INCLUDE_SENSORS_AUXMAG
|
||||
AuxMagSettingsInitialize();
|
||||
|
||||
AuxMagSettingsTypeOptions option;
|
||||
AuxMagSettingsTypeGet(&option);
|
||||
|
||||
const struct pios_hmc5x83_cfg *hmc5x83_external_cfg = PIOS_BOARD_HW_DEFS_GetExternalHMC5x83Cfg(pios_board_info_blob.board_rev);
|
||||
uint32_t auxmag_i2c_id = 0;
|
||||
|
||||
if (hmc5x83_external_cfg) {
|
||||
uint32_t i2c_id = 0;
|
||||
|
||||
if (option == AUXMAGSETTINGS_TYPE_FLEXI) {
|
||||
// i2c_external
|
||||
if (option == AUXMAGSETTINGS_TYPE_FLEXI) {
|
||||
// i2c_external
|
||||
#ifdef PIOS_I2C_FLEXI_ADAPTER
|
||||
i2c_id = PIOS_I2C_FLEXI_ADAPTER;
|
||||
auxmag_i2c_id = PIOS_I2C_FLEXI_ADAPTER;
|
||||
#endif
|
||||
} else if (option == AUXMAGSETTINGS_TYPE_I2C) {
|
||||
// i2c_internal (or Sparky2/F3 dedicated I2C port)
|
||||
} else if (option == AUXMAGSETTINGS_TYPE_I2C) {
|
||||
// i2c_internal (or Sparky2/F3 dedicated I2C port)
|
||||
#ifdef PIOS_I2C_EXTERNAL_ADAPTER
|
||||
i2c_id = PIOS_I2C_EXTERNAL_ADAPTER;
|
||||
auxmag_i2c_id = PIOS_I2C_EXTERNAL_ADAPTER;
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
if (i2c_id) {
|
||||
uint32_t external_mag = PIOS_HMC5x83_Init(hmc5x83_external_cfg, i2c_id, 0);
|
||||
# ifdef PIOS_INCLUDE_WDG
|
||||
if (auxmag_i2c_id) {
|
||||
# ifdef PIOS_INCLUDE_HMC5X83
|
||||
const struct pios_hmc5x83_cfg *hmc5x83_external_cfg = PIOS_BOARD_HW_DEFS_GetExternalHMC5x83Cfg(pios_board_info_blob.board_rev);
|
||||
if (hmc5x83_external_cfg) {
|
||||
uint32_t external_mag = PIOS_HMC5x83_Init(hmc5x83_external_cfg, auxmag_i2c_id, 0);
|
||||
# ifdef PIOS_INCLUDE_WDG
|
||||
// give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
|
||||
// this is not in a loop, so it is safe
|
||||
PIOS_WDG_Clear();
|
||||
# endif /* PIOS_INCLUDE_WDG */
|
||||
# endif /* PIOS_INCLUDE_WDG */
|
||||
// add this sensor to the sensor task's list
|
||||
// be careful that you don't register a slow, unimportant sensor after registering the fastest sensor
|
||||
// and before registering some other fast and important sensor
|
||||
@ -183,8 +188,16 @@ void PIOS_BOARD_Sensors_Configure()
|
||||
// mag alarm is cleared later, so use I2C
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_I2C, (external_mag) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_WARNING);
|
||||
}
|
||||
# endif /* PIOS_INCLUDE_HMC5X83 */
|
||||
# ifdef PIOS_INCLUDE_QMC5883L
|
||||
pios_qmc5883l_dev_t qmc5883l_dev = PIOS_QMC5883L_Init(auxmag_i2c_id);
|
||||
# ifdef PIOS_INCLUDE_WDG
|
||||
PIOS_WDG_Clear();
|
||||
# endif /* PIOS_INCLUDE_WDG */
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_I2C, (qmc5883l_dev) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_WARNING);
|
||||
# endif /* PIOS_INCLUDE_QMC5883L */
|
||||
}
|
||||
# endif /* PIOS_INCLUDE_HMC5X83 */
|
||||
# endif /* PIOS_INCLUDE_SENSORS_AUXMAG */
|
||||
|
||||
// internal ms5611 baro
|
||||
#ifdef PIOS_INCLUDE_MS56XX
|
||||
|
||||
@ -295,6 +295,32 @@ int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud)
|
||||
|
||||
return 0;
|
||||
}
|
||||
void PIOS_COM_ChangeBaud_VoidWrapper(uint32_t com_id, uint32_t baud)
|
||||
{
|
||||
PIOS_COM_ChangeBaud(com_id, baud);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Clear Rx buffer
|
||||
* \param[in] port COM port
|
||||
* \return -1 if port not available
|
||||
* \return 0 on success
|
||||
*/
|
||||
int32_t PIOS_COM_ClearRxBuffer(uint32_t com_id)
|
||||
{
|
||||
struct pios_com_dev *com_dev = (struct pios_com_dev *)com_id;
|
||||
|
||||
if (!PIOS_COM_validate(com_dev)) {
|
||||
/* Undefined COM port for this board (see pios_board.c) */
|
||||
return -1;
|
||||
}
|
||||
|
||||
fifoBuf_clearData(&com_dev->rx);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int32_t PIOS_COM_ChangeConfig(uint32_t com_id, enum PIOS_COM_Word_Length word_len, enum PIOS_COM_Parity parity, enum PIOS_COM_StopBits stop_bits, uint32_t baud_rate)
|
||||
{
|
||||
@ -337,6 +363,10 @@ int32_t PIOS_COM_SetCtrlLine(uint32_t com_id, uint32_t mask, uint32_t state)
|
||||
|
||||
return 0;
|
||||
}
|
||||
void PIOS_COM_SetCtrlLine_VoidWrapper(uint32_t com_id, uint32_t mask, uint32_t state)
|
||||
{
|
||||
PIOS_COM_SetCtrlLine(com_id, mask, state);
|
||||
}
|
||||
|
||||
/**
|
||||
* Set control lines associated with the port
|
||||
@ -827,12 +857,12 @@ void PIOS_COM_LinkComPair(uint32_t com1_id, uint32_t com2_id, bool link_ctrl_lin
|
||||
PIOS_COM_ASYNC_RegisterRxCallback(com2_id, PIOS_COM_LinkComPairRxCallback, com1_id);
|
||||
// Optionally link the control like and baudrate changes between the two.
|
||||
if (link_ctrl_line) {
|
||||
PIOS_COM_RegisterCtrlLineCallback(com1_id, (pios_com_callback_ctrl_line)PIOS_COM_SetCtrlLine, com2_id);
|
||||
PIOS_COM_RegisterCtrlLineCallback(com2_id, (pios_com_callback_ctrl_line)PIOS_COM_SetCtrlLine, com1_id);
|
||||
PIOS_COM_RegisterCtrlLineCallback(com1_id, (pios_com_callback_ctrl_line)PIOS_COM_SetCtrlLine_VoidWrapper, com2_id);
|
||||
PIOS_COM_RegisterCtrlLineCallback(com2_id, (pios_com_callback_ctrl_line)PIOS_COM_SetCtrlLine_VoidWrapper, com1_id);
|
||||
}
|
||||
if (link_baud_rate) {
|
||||
PIOS_COM_RegisterBaudRateCallback(com1_id, (pios_com_callback_baud_rate)PIOS_COM_ChangeBaud, com2_id);
|
||||
PIOS_COM_RegisterBaudRateCallback(com2_id, (pios_com_callback_baud_rate)PIOS_COM_ChangeBaud, com1_id);
|
||||
PIOS_COM_RegisterBaudRateCallback(com1_id, (pios_com_callback_baud_rate)PIOS_COM_ChangeBaud_VoidWrapper, com2_id);
|
||||
PIOS_COM_RegisterBaudRateCallback(com2_id, (pios_com_callback_baud_rate)PIOS_COM_ChangeBaud_VoidWrapper, com1_id);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -474,7 +474,7 @@ bool PIOS_MS56xx_driver_poll(__attribute__((unused)) uintptr_t context)
|
||||
case MS56XX_FSM_CALIBRATION:
|
||||
PIOS_MS56xx_ReadCalibrationData();
|
||||
/* fall through to MS56XX_FSM_TEMPERATURE */
|
||||
|
||||
// fall through
|
||||
case MS56XX_FSM_TEMPERATURE:
|
||||
PIOS_MS56xx_StartADC(MS56XX_CONVERSION_TYPE_TemperatureConv);
|
||||
next_state = MS56XX_FSM_PRESSURE;
|
||||
|
||||
319
flight/pios/common/pios_qmc5883l.c
Normal file
319
flight/pios/common/pios_qmc5883l.c
Normal file
@ -0,0 +1,319 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_QMC5883L QMC5883L Functions
|
||||
* @brief Deals with the hardware interface to the QMC5883L magnetometer
|
||||
* @{
|
||||
*
|
||||
* @file pios_qmc5883l.c
|
||||
* @author The LibrePilot Project, http://www.librepilot.org, Copyright (C) 2018
|
||||
* @brief QMC5883L functions implementation.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program 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.
|
||||
*
|
||||
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
#include "pios.h"
|
||||
#ifdef PIOS_INCLUDE_QMC5883L
|
||||
|
||||
#include <pios_sensors.h>
|
||||
#include "pios_qmc5883l.h"
|
||||
|
||||
#define PIOS_QMC5883L_I2C_ADDR 0x0D
|
||||
#define PIOS_QMC5883L_CHIP_ID 0xFF
|
||||
|
||||
#define PIOS_QMC5883L_REG_DATA 0x00
|
||||
#define PIOS_QMC5883L_REG_STATUS 0x06
|
||||
#define PIOS_QMC5883L_REG_TEMPL 0x07
|
||||
#define PIOS_QMC5883L_REG_TEMPH 0x08
|
||||
#define PIOS_QMC5883L_REG_CTRL1 0x09
|
||||
#define PIOS_QMC5883L_REG_CTRL2 0x0A
|
||||
#define PIOS_QMC5883L_REG_FBR 0x0B
|
||||
#define PIOS_QMC5883L_REG_CHIP_ID 0x0D
|
||||
|
||||
|
||||
#define PIOS_QMC5883L_CTRL1_ODR_10HZ (0 << 2)
|
||||
#define PIOS_QMC5883L_CTRL1_ODR_50HZ (1 << 2)
|
||||
#define PIOS_QMC5883L_CTRL1_ODR_100HZ (2 << 2)
|
||||
#define PIOS_QMC5883L_CTRL1_ODR_200HZ (3 << 2)
|
||||
|
||||
#define PIOS_QMC5883L_CTRL1_OSR_512 (0 << 6)
|
||||
#define PIOS_QMC5883L_CTRL1_OSR_256 (1 << 6)
|
||||
#define PIOS_QMC5883L_CTRL1_OSR_128 (2 << 6)
|
||||
#define PIOS_QMC5883L_CTRL1_OSR_64 (3 << 6)
|
||||
|
||||
#define PIOS_QMC5883L_CTRL1_RNG_2G (0 << 4)
|
||||
#define PIOS_QMC5883L_CTRL1_RNG_8G (1 << 4)
|
||||
|
||||
#define PIOS_QMC5883L_CTRL1_MODE_STANDBY (0 << 0)
|
||||
#define PIOS_QMC5883L_CTRL1_MODE_CONTINUOUS (1 << 0)
|
||||
|
||||
#define PIOS_QMC5883L_CTRL2_INT_ENB (1 << 0)
|
||||
#define PIOS_QMC5883L_CTRL2_ROL_PNT (1 << 6)
|
||||
#define PIOS_QMC5883L_CTRL2_SOFT_RST (1 << 7)
|
||||
|
||||
#define PIOS_QMC5883L_FBR_RECOMMENDED 0x01
|
||||
|
||||
#define PIOS_QMC5883L_STATUS_DOR (1 << 2)
|
||||
#define PIOS_QMC5883L_STATUS_OVL (1 << 1)
|
||||
#define PIOS_QMC5883L_STATUS_DRDY (1 << 0)
|
||||
|
||||
|
||||
#define PIOS_QMC5883L_I2C_CONFIG_RETRY_DELAY 1000000
|
||||
#define PIOS_QMC5883L_I2C_CONFIG_DATA_DELAY 10000
|
||||
#define PIOS_QMC5883L_I2C_CONFIG_DATA_TIMEOUT (PIOS_QMC5883L_I2C_CONFIG_DATA_DELAY * 10)
|
||||
#define PIOS_QMC5883L_I2C_RETRIES 2
|
||||
|
||||
enum pios_qmc5883l_dev_magic {
|
||||
PIOS_QMC5883L_MAGIC = 0xF8D3262A
|
||||
};
|
||||
|
||||
struct pios_qmc5883l_dev {
|
||||
enum pios_qmc5883l_dev_magic magic;
|
||||
uint32_t i2c_id;
|
||||
|
||||
bool sensorIsAlive;
|
||||
uint32_t configTime;
|
||||
uint32_t readTime;
|
||||
|
||||
int16_t data_X, data_Y, data_Z;
|
||||
};
|
||||
|
||||
|
||||
static int32_t PIOS_QMC5883L_Read(uintptr_t i2c_id, uint8_t address, uint8_t *buffer, uint8_t len);
|
||||
static int32_t PIOS_QMC5883L_Write(uintptr_t i2c_id, uint8_t address, uint8_t buffer);
|
||||
static int32_t PIOS_QMC5883L_Configure(struct pios_qmc5883l_dev *dev);
|
||||
|
||||
// sensor driver interface
|
||||
static bool PIOS_QMC5883L_driver_Test(uintptr_t context);
|
||||
static void PIOS_QMC5883L_driver_Reset(uintptr_t context);
|
||||
static void PIOS_QMC5883L_driver_get_scale(float *scales, uint8_t size, uintptr_t context);
|
||||
static void PIOS_QMC5883L_driver_fetch(void *, uint8_t size, uintptr_t context);
|
||||
static bool PIOS_QMC5883L_driver_poll(uintptr_t context);
|
||||
|
||||
const PIOS_SENSORS_Driver PIOS_QMC5883L_Driver = {
|
||||
.test = PIOS_QMC5883L_driver_Test,
|
||||
.poll = PIOS_QMC5883L_driver_poll,
|
||||
.fetch = PIOS_QMC5883L_driver_fetch,
|
||||
.reset = PIOS_QMC5883L_driver_Reset,
|
||||
.get_queue = NULL,
|
||||
.get_scale = PIOS_QMC5883L_driver_get_scale,
|
||||
.is_polled = true,
|
||||
};
|
||||
|
||||
static bool PIOS_QMC5883L_Validate(struct pios_qmc5883l_dev *dev)
|
||||
{
|
||||
return dev && (dev->magic == PIOS_QMC5883L_MAGIC);
|
||||
}
|
||||
|
||||
pios_qmc5883l_dev_t PIOS_QMC5883L_Init(uint32_t i2c_device)
|
||||
{
|
||||
struct pios_qmc5883l_dev *dev = (struct pios_qmc5883l_dev *)pios_malloc(sizeof(*dev));
|
||||
|
||||
memset(dev, 0, sizeof(*dev));
|
||||
|
||||
dev->i2c_id = i2c_device;
|
||||
dev->magic = PIOS_QMC5883L_MAGIC;
|
||||
|
||||
PIOS_SENSORS_Register(&PIOS_QMC5883L_Driver, PIOS_SENSORS_TYPE_3AXIS_AUXMAG, (uintptr_t)dev);
|
||||
|
||||
return dev;
|
||||
}
|
||||
|
||||
static int32_t PIOS_QMC5883L_Configure(struct pios_qmc5883l_dev *dev)
|
||||
{
|
||||
// read chip id?
|
||||
uint8_t chip_id;
|
||||
|
||||
if (dev->sensorIsAlive) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (PIOS_DELAY_DiffuS(dev->configTime) < PIOS_QMC5883L_I2C_CONFIG_RETRY_DELAY) { // Do not reinitialize too often
|
||||
return -1;
|
||||
}
|
||||
|
||||
dev->configTime = PIOS_DELAY_GetRaw();
|
||||
// Reset chip
|
||||
dev->sensorIsAlive = (PIOS_QMC5883L_Write(dev->i2c_id, PIOS_QMC5883L_REG_CTRL2, PIOS_QMC5883L_CTRL2_SOFT_RST) == 0);
|
||||
if (!dev->sensorIsAlive) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
// Read ID
|
||||
dev->sensorIsAlive = (PIOS_QMC5883L_Read(dev->i2c_id, PIOS_QMC5883L_REG_CHIP_ID, &chip_id, sizeof(chip_id)) == 0);
|
||||
if (!dev->sensorIsAlive) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (chip_id != PIOS_QMC5883L_CHIP_ID) {
|
||||
return -2;
|
||||
}
|
||||
|
||||
// Set FBR
|
||||
dev->sensorIsAlive = (PIOS_QMC5883L_Write(dev->i2c_id, PIOS_QMC5883L_REG_FBR, PIOS_QMC5883L_FBR_RECOMMENDED) == 0);
|
||||
if (!dev->sensorIsAlive) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
// Set control registers
|
||||
dev->sensorIsAlive = (PIOS_QMC5883L_Write(dev->i2c_id, PIOS_QMC5883L_REG_CTRL1, PIOS_QMC5883L_CTRL1_MODE_CONTINUOUS | PIOS_QMC5883L_CTRL1_ODR_200HZ | PIOS_QMC5883L_CTRL1_OSR_512 | PIOS_QMC5883L_CTRL1_RNG_8G) == 0);
|
||||
if (!dev->sensorIsAlive) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Reads one or more bytes into a buffer
|
||||
* \param[in] the command indicating the address to read
|
||||
* \param[out] buffer destination buffer
|
||||
* \param[in] len number of bytes which should be read
|
||||
* \return 0 if operation was successful
|
||||
* \return -1 if error during I2C transfer
|
||||
*/
|
||||
static int32_t PIOS_QMC5883L_Read(uintptr_t i2c_id, uint8_t address, uint8_t *buffer, uint8_t len)
|
||||
{
|
||||
const struct pios_i2c_txn txn_list[] = {
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = PIOS_QMC5883L_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_WRITE,
|
||||
.len = 1,
|
||||
.buf = &address,
|
||||
}
|
||||
,
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = PIOS_QMC5883L_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_READ,
|
||||
.len = len,
|
||||
.buf = buffer,
|
||||
}
|
||||
};
|
||||
|
||||
for (uint8_t retry = PIOS_QMC5883L_I2C_RETRIES; retry > 0; --retry) {
|
||||
if (PIOS_I2C_Transfer(i2c_id, txn_list, NELEMENTS(txn_list)) == 0) {
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
return -1;
|
||||
}
|
||||
|
||||
static int32_t PIOS_QMC5883L_Write(uintptr_t i2c_id, uint8_t address, uint8_t value)
|
||||
{
|
||||
uint8_t data[] = { address, value };
|
||||
|
||||
const struct pios_i2c_txn txn_list[] = {
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = PIOS_QMC5883L_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_WRITE,
|
||||
.len = sizeof(data),
|
||||
.buf = data,
|
||||
}
|
||||
};
|
||||
|
||||
for (uint8_t retry = PIOS_QMC5883L_I2C_RETRIES; retry > 0; --retry) {
|
||||
if (PIOS_I2C_Transfer(i2c_id, txn_list, NELEMENTS(txn_list)) == 0) {
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
return -1;
|
||||
}
|
||||
|
||||
bool PIOS_QMC5883L_driver_Test(__attribute__((unused)) uintptr_t context)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
static void PIOS_QMC5883L_driver_Reset(__attribute__((unused)) uintptr_t context)
|
||||
{}
|
||||
|
||||
static void PIOS_QMC5883L_driver_get_scale(float *scales, uint8_t size, __attribute__((unused)) uintptr_t context)
|
||||
{
|
||||
PIOS_Assert(size > 0);
|
||||
scales[0] = 0.35f;
|
||||
}
|
||||
|
||||
static void PIOS_QMC5883L_driver_fetch(void *data, __attribute__((unused)) uint8_t size, uintptr_t context)
|
||||
{
|
||||
struct pios_qmc5883l_dev *dev = (struct pios_qmc5883l_dev *)context;
|
||||
|
||||
PIOS_Assert(PIOS_QMC5883L_Validate(dev));
|
||||
PIOS_Assert(data);
|
||||
|
||||
PIOS_SENSORS_3Axis_SensorsWithTemp *tmp = data;
|
||||
|
||||
tmp->count = 1;
|
||||
tmp->sample[0].x = dev->data_X;
|
||||
tmp->sample[0].y = dev->data_Y;
|
||||
tmp->sample[0].z = dev->data_Z;
|
||||
tmp->temperature = 0;
|
||||
}
|
||||
|
||||
static bool PIOS_QMC5883L_driver_poll(uintptr_t context)
|
||||
{
|
||||
struct pios_qmc5883l_dev *dev = (struct pios_qmc5883l_dev *)context;
|
||||
|
||||
PIOS_Assert(PIOS_QMC5883L_Validate(dev));
|
||||
|
||||
if (!dev->sensorIsAlive) {
|
||||
if (PIOS_QMC5883L_Configure(dev) < 0) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
if (PIOS_DELAY_DiffuS(dev->readTime) < PIOS_QMC5883L_I2C_CONFIG_DATA_DELAY) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// Read Status
|
||||
uint8_t status;
|
||||
dev->sensorIsAlive = (PIOS_QMC5883L_Read(dev->i2c_id, PIOS_QMC5883L_REG_STATUS, &status, sizeof(status)) == 0);
|
||||
if (!dev->sensorIsAlive) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// Is it ready?
|
||||
if (!(status & PIOS_QMC5883L_STATUS_DRDY)) {
|
||||
if (PIOS_DELAY_DiffuS(dev->readTime) > PIOS_QMC5883L_I2C_CONFIG_DATA_TIMEOUT) { // the sensor has reset and it is not in continuous mode anymore
|
||||
dev->sensorIsAlive = false;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
uint8_t data[6];
|
||||
dev->sensorIsAlive = (PIOS_QMC5883L_Read(dev->i2c_id, PIOS_QMC5883L_REG_DATA, data, sizeof(data)) == 0);
|
||||
if (!dev->sensorIsAlive) {
|
||||
return false;
|
||||
}
|
||||
|
||||
dev->readTime = PIOS_DELAY_GetRaw();
|
||||
|
||||
dev->data_X = (int16_t)(data[1] << 8 | data[0]);
|
||||
dev->data_Y = (int16_t)(data[3] << 8 | data[2]);
|
||||
dev->data_Z = (int16_t)(data[5] << 8 | data[4]);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
#endif /* PIOS_INCLUDE_QMC5883L */
|
||||
@ -139,7 +139,7 @@ struct pios_rfm22b_transition {
|
||||
};
|
||||
|
||||
// Must ensure these prefilled arrays match the define sizes
|
||||
static const uint8_t FULL_PREAMBLE[FIFO_SIZE] = {
|
||||
__attribute__((unused)) static const uint8_t FULL_PREAMBLE[FIFO_SIZE] = {
|
||||
PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE,
|
||||
PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE,
|
||||
@ -155,7 +155,7 @@ static const uint8_t FULL_PREAMBLE[FIFO_SIZE] = {
|
||||
PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE
|
||||
}; // 64 bytes
|
||||
|
||||
static const uint8_t HEADER[(TX_PREAMBLE_NIBBLES + 1) / 2 + 2] = {
|
||||
__attribute__((unused)) static const uint8_t HEADER[(TX_PREAMBLE_NIBBLES + 1) / 2 + 2] = {
|
||||
PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, SYNC_BYTE_1, SYNC_BYTE_2
|
||||
};
|
||||
|
||||
@ -388,7 +388,7 @@ static const uint8_t reg_72[] = { 0x30, 0x48, 0x48, 0x48, 0x48, 0x60, 0x90, 0xCD
|
||||
|
||||
static const uint8_t packet_time[] = { 80, 40, 25, 15, 13, 10, 8, 6, 5 };
|
||||
static const uint8_t packet_time_ppm[] = { 26, 25, 25, 15, 13, 10, 8, 6, 5 };
|
||||
static const uint8_t num_channels[] = { 32, 32, 32, 32, 32, 32, 32, 32, 32 };
|
||||
__attribute__((unused)) static const uint8_t num_channels[] = { 32, 32, 32, 32, 32, 32, 32, 32, 32 };
|
||||
|
||||
static struct pios_rfm22b_dev *g_rfm22b_dev = NULL;
|
||||
|
||||
|
||||
126
flight/pios/common/pios_sdp3x.c
Normal file
126
flight/pios/common/pios_sdp3x.c
Normal file
@ -0,0 +1,126 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_SDP3x SDP3x Differential pressure sensors
|
||||
* @brief Hardware functions to deal with the Eagle Tree Airspeed MicroSensor V3
|
||||
* @{
|
||||
*
|
||||
* @file pios_stp3x.c
|
||||
* @author The LibrePilot Team, http://www.librepilot.org Copyright (C) 2021.
|
||||
* @brief SDP3x Airspeed Sensor Driver
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
******************************************************************************/
|
||||
/*
|
||||
* This program 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.
|
||||
*
|
||||
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include "pios.h"
|
||||
|
||||
#ifdef PIOS_INCLUDE_SDP3X
|
||||
|
||||
static bool PIOS_SDP3X_WriteCommand(uint16_t command)
|
||||
{
|
||||
uint8_t commandbuffer[2];
|
||||
|
||||
commandbuffer[0] = (uint8_t)((uint16_t)(command >> 8));
|
||||
commandbuffer[1] = (uint8_t)((uint16_t)(command & 0xff));
|
||||
const struct pios_i2c_txn txn_list[] = {
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = SDP3X_I2C_ADDR1,
|
||||
.rw = PIOS_I2C_TXN_WRITE,
|
||||
.len = 2,
|
||||
.buf = commandbuffer,
|
||||
}
|
||||
};
|
||||
|
||||
return PIOS_I2C_Transfer(PIOS_I2C_SDP3X_ADAPTER, txn_list, NELEMENTS(txn_list));
|
||||
}
|
||||
|
||||
static bool PIOS_SDP3X_Read(uint8_t *buffer, uint8_t len)
|
||||
{
|
||||
const struct pios_i2c_txn txn_list[] = {
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = SDP3X_I2C_ADDR1,
|
||||
.rw = PIOS_I2C_TXN_READ,
|
||||
.len = len,
|
||||
.buf = buffer,
|
||||
}
|
||||
};
|
||||
|
||||
for (uint8_t retry = PIOS_SDP3X_RETRY_LIMIT; retry > 0; --retry) {
|
||||
if (PIOS_I2C_Transfer(PIOS_I2C_SDP3X_ADAPTER, txn_list, NELEMENTS(txn_list)) == 0) {
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
uint8_t PIOS_SDP3X_crc(const uint8_t buffer[], unsigned len, uint8_t crc)
|
||||
{
|
||||
uint8_t c = SDP3X_CRC_INIT;
|
||||
|
||||
for (uint8_t i = 0; i < len; i++) {
|
||||
c ^= buffer[i];
|
||||
for (uint8_t b = 8; b > 0; --b) {
|
||||
if (c & 0x80) {
|
||||
c = (c << 1) ^ SDP3X_CRC_POLY;
|
||||
} else {
|
||||
c = c << 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
return c == crc;
|
||||
}
|
||||
|
||||
void PIOS_SDP3X_ReadAirspeed(volatile struct PIOS_SDP3X_STATE *state)
|
||||
{
|
||||
PIOS_Assert(state);
|
||||
|
||||
if (state->status == SDP3X_STATUS_NOTFOUND) {
|
||||
if (PIOS_SDP3X_WriteCommand(SDP3X_CONT_MODE_STOP) == 0) {
|
||||
PIOS_DELAY_WaituS(500);
|
||||
if (PIOS_SDP3X_WriteCommand(SDP3X_CONT_MEAS_AVG_MODE) == 0) {
|
||||
state->status = SDP3X_STATUS_CONFIGURED;
|
||||
}
|
||||
}
|
||||
return;
|
||||
}
|
||||
if (state->status == SDP3X_STATUS_CONFIGURED || state->status == SDP3X_STATUS_READY) {
|
||||
state->status = SDP3X_STATUS_READY;
|
||||
uint8_t airspeed_raw[9];
|
||||
if (PIOS_SDP3X_Read(airspeed_raw, sizeof(airspeed_raw)) == 0) {
|
||||
// check checksum
|
||||
if (!PIOS_SDP3X_crc(&airspeed_raw[0], 2, airspeed_raw[2]) ||
|
||||
!PIOS_SDP3X_crc(&airspeed_raw[0], 2, airspeed_raw[2]) ||
|
||||
!PIOS_SDP3X_crc(&airspeed_raw[0], 2, airspeed_raw[2])) {
|
||||
// CRC error
|
||||
state->status = SDP3X_STATUS_CONFIGURED;
|
||||
return;
|
||||
}
|
||||
|
||||
state->pressure = (int16_t)((((uint16_t)airspeed_raw[0]) << 8) + (uint16_t)airspeed_raw[1]);
|
||||
state->temperature = (int16_t)((((uint16_t)airspeed_raw[3]) << 8) + (uint16_t)airspeed_raw[4]);
|
||||
state->scale = (int16_t)((((uint16_t)airspeed_raw[6]) << 8) + (uint16_t)airspeed_raw[7]);
|
||||
} else {
|
||||
state->status = SDP3X_STATUS_NOTFOUND;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* PIOS_INCLUDE_SDP3X */
|
||||
@ -292,48 +292,48 @@ void PIOS_Video_Init(const struct pios_video_cfg *cfg)
|
||||
GPIO_Init(GPIOC, &initStruct);
|
||||
|
||||
/* SPI3 - MASKBUFFER */
|
||||
GPIO_Init(cfg->mask.sclk.gpio, (GPIO_InitTypeDef *)&(cfg->mask.sclk.init));
|
||||
GPIO_Init(cfg->mask.miso.gpio, (GPIO_InitTypeDef *)&(cfg->mask.miso.init));
|
||||
GPIO_Init(cfg->mask->sclk.gpio, (GPIO_InitTypeDef *)&(cfg->mask->sclk.init));
|
||||
GPIO_Init(cfg->mask->miso.gpio, (GPIO_InitTypeDef *)&(cfg->mask->miso.init));
|
||||
|
||||
/* SPI1 SLAVE FRAMEBUFFER */
|
||||
GPIO_Init(cfg->level.sclk.gpio, (GPIO_InitTypeDef *)&(cfg->level.sclk.init));
|
||||
GPIO_Init(cfg->level.miso.gpio, (GPIO_InitTypeDef *)&(cfg->level.miso.init));
|
||||
GPIO_Init(cfg->level->sclk.gpio, (GPIO_InitTypeDef *)&(cfg->level->sclk.init));
|
||||
GPIO_Init(cfg->level->miso.gpio, (GPIO_InitTypeDef *)&(cfg->level->miso.init));
|
||||
|
||||
if (cfg->mask.remap) {
|
||||
GPIO_PinAFConfig(cfg->mask.sclk.gpio,
|
||||
__builtin_ctz(cfg->mask.sclk.init.GPIO_Pin),
|
||||
cfg->mask.remap);
|
||||
GPIO_PinAFConfig(cfg->mask.miso.gpio,
|
||||
__builtin_ctz(cfg->mask.miso.init.GPIO_Pin),
|
||||
cfg->mask.remap);
|
||||
if (cfg->mask->remap) {
|
||||
GPIO_PinAFConfig(cfg->mask->sclk.gpio,
|
||||
__builtin_ctz(cfg->mask->sclk.init.GPIO_Pin),
|
||||
cfg->mask->remap);
|
||||
GPIO_PinAFConfig(cfg->mask->miso.gpio,
|
||||
__builtin_ctz(cfg->mask->miso.init.GPIO_Pin),
|
||||
cfg->mask->remap);
|
||||
}
|
||||
if (cfg->level.remap) {
|
||||
GPIO_PinAFConfig(cfg->level.sclk.gpio,
|
||||
__builtin_ctz(cfg->level.sclk.init.GPIO_Pin),
|
||||
cfg->level.remap);
|
||||
GPIO_PinAFConfig(cfg->level.miso.gpio,
|
||||
__builtin_ctz(cfg->level.miso.init.GPIO_Pin),
|
||||
cfg->level.remap);
|
||||
if (cfg->level->remap) {
|
||||
GPIO_PinAFConfig(cfg->level->sclk.gpio,
|
||||
__builtin_ctz(cfg->level->sclk.init.GPIO_Pin),
|
||||
cfg->level->remap);
|
||||
GPIO_PinAFConfig(cfg->level->miso.gpio,
|
||||
__builtin_ctz(cfg->level->miso.init.GPIO_Pin),
|
||||
cfg->level->remap);
|
||||
}
|
||||
|
||||
/* Initialize the SPI block */
|
||||
SPI_Init(cfg->level.regs, (SPI_InitTypeDef *)&(cfg->level.init));
|
||||
SPI_Init(cfg->mask.regs, (SPI_InitTypeDef *)&(cfg->mask.init));
|
||||
SPI_Init(cfg->level->regs, (SPI_InitTypeDef *)&(cfg->level->init));
|
||||
SPI_Init(cfg->mask->regs, (SPI_InitTypeDef *)&(cfg->mask->init));
|
||||
|
||||
/* Enable SPI */
|
||||
SPI_Cmd(cfg->level.regs, ENABLE);
|
||||
SPI_Cmd(cfg->mask.regs, ENABLE);
|
||||
SPI_Cmd(cfg->level->regs, ENABLE);
|
||||
SPI_Cmd(cfg->mask->regs, ENABLE);
|
||||
|
||||
/* Configure DMA for SPI Tx SLAVE Maskbuffer */
|
||||
DMA_Cmd(cfg->mask.dma.tx.channel, DISABLE);
|
||||
DMA_Init(cfg->mask.dma.tx.channel, (DMA_InitTypeDef *)&(cfg->mask.dma.tx.init));
|
||||
DMA_Cmd(cfg->mask->dma.tx.channel, DISABLE);
|
||||
DMA_Init(cfg->mask->dma.tx.channel, (DMA_InitTypeDef *)&(cfg->mask->dma.tx.init));
|
||||
|
||||
/* Configure DMA for SPI Tx SLAVE Framebuffer*/
|
||||
DMA_Cmd(cfg->level.dma.tx.channel, DISABLE);
|
||||
DMA_Init(cfg->level.dma.tx.channel, (DMA_InitTypeDef *)&(cfg->level.dma.tx.init));
|
||||
DMA_Cmd(cfg->level->dma.tx.channel, DISABLE);
|
||||
DMA_Init(cfg->level->dma.tx.channel, (DMA_InitTypeDef *)&(cfg->level->dma.tx.init));
|
||||
|
||||
/* Trigger interrupt when for half conversions too to indicate double buffer */
|
||||
DMA_ITConfig(cfg->level.dma.tx.channel, DMA_IT_TC, ENABLE);
|
||||
DMA_ITConfig(cfg->level->dma.tx.channel, DMA_IT_TC, ENABLE);
|
||||
|
||||
/* Configure and clear buffers */
|
||||
draw_buffer_level = buffer0_level;
|
||||
@ -347,16 +347,16 @@ void PIOS_Video_Init(const struct pios_video_cfg *cfg)
|
||||
|
||||
/* Configure DMA interrupt */
|
||||
|
||||
NVIC_Init(&cfg->level.dma.irq.init);
|
||||
NVIC_Init(&cfg->level->dma.irq.init);
|
||||
|
||||
/* Enable SPI interrupts to DMA */
|
||||
SPI_I2S_DMACmd(cfg->mask.regs, SPI_I2S_DMAReq_Tx, ENABLE);
|
||||
SPI_I2S_DMACmd(cfg->level.regs, SPI_I2S_DMAReq_Tx, ENABLE);
|
||||
SPI_I2S_DMACmd(cfg->mask->regs, SPI_I2S_DMAReq_Tx, ENABLE);
|
||||
SPI_I2S_DMACmd(cfg->level->regs, SPI_I2S_DMAReq_Tx, ENABLE);
|
||||
|
||||
mask_dma = DMA1;
|
||||
main_dma = DMA2;
|
||||
main_stream = cfg->level.dma.tx.channel;
|
||||
mask_stream = cfg->mask.dma.tx.channel;
|
||||
main_stream = cfg->level->dma.tx.channel;
|
||||
mask_stream = cfg->mask->dma.tx.channel;
|
||||
/* Configure the Video Line interrupt */
|
||||
PIOS_EXTI_Init(cfg->hsync);
|
||||
PIOS_EXTI_Init(cfg->vsync);
|
||||
@ -377,26 +377,26 @@ static void prepare_line(uint32_t line_num)
|
||||
|
||||
dev_cfg->pixel_timer.timer->CNT = dc;
|
||||
|
||||
DMA_ClearFlag(dev_cfg->mask.dma.tx.channel, DMA_FLAG_TCIF7 | DMA_FLAG_HTIF7 | DMA_FLAG_FEIF7 | DMA_FLAG_TEIF7);
|
||||
DMA_ClearFlag(dev_cfg->level.dma.tx.channel, DMA_FLAG_FEIF5 | DMA_FLAG_TEIF5);
|
||||
DMA_ClearFlag(dev_cfg->mask->dma.tx.channel, DMA_FLAG_TCIF7 | DMA_FLAG_HTIF7 | DMA_FLAG_FEIF7 | DMA_FLAG_TEIF7);
|
||||
DMA_ClearFlag(dev_cfg->level->dma.tx.channel, DMA_FLAG_FEIF5 | DMA_FLAG_TEIF5);
|
||||
|
||||
// Load new line
|
||||
DMA_MemoryTargetConfig(dev_cfg->level.dma.tx.channel, (uint32_t)&disp_buffer_level[buf_offset], DMA_Memory_0);
|
||||
DMA_MemoryTargetConfig(dev_cfg->mask.dma.tx.channel, (uint32_t)&disp_buffer_mask[buf_offset], DMA_Memory_0);
|
||||
DMA_MemoryTargetConfig(dev_cfg->level->dma.tx.channel, (uint32_t)&disp_buffer_level[buf_offset], DMA_Memory_0);
|
||||
DMA_MemoryTargetConfig(dev_cfg->mask->dma.tx.channel, (uint32_t)&disp_buffer_mask[buf_offset], DMA_Memory_0);
|
||||
|
||||
// Enable DMA, Slave first
|
||||
DMA_SetCurrDataCounter(dev_cfg->level.dma.tx.channel, BUFFER_LINE_LENGTH);
|
||||
DMA_SetCurrDataCounter(dev_cfg->mask.dma.tx.channel, BUFFER_LINE_LENGTH);
|
||||
DMA_SetCurrDataCounter(dev_cfg->level->dma.tx.channel, BUFFER_LINE_LENGTH);
|
||||
DMA_SetCurrDataCounter(dev_cfg->mask->dma.tx.channel, BUFFER_LINE_LENGTH);
|
||||
|
||||
SPI_Cmd(dev_cfg->level.regs, ENABLE);
|
||||
SPI_Cmd(dev_cfg->mask.regs, ENABLE);
|
||||
SPI_Cmd(dev_cfg->level->regs, ENABLE);
|
||||
SPI_Cmd(dev_cfg->mask->regs, ENABLE);
|
||||
|
||||
/* Enable SPI interrupts to DMA */
|
||||
SPI_I2S_DMACmd(dev_cfg->mask.regs, SPI_I2S_DMAReq_Tx, ENABLE);
|
||||
SPI_I2S_DMACmd(dev_cfg->level.regs, SPI_I2S_DMAReq_Tx, ENABLE);
|
||||
SPI_I2S_DMACmd(dev_cfg->mask->regs, SPI_I2S_DMAReq_Tx, ENABLE);
|
||||
SPI_I2S_DMACmd(dev_cfg->level->regs, SPI_I2S_DMAReq_Tx, ENABLE);
|
||||
|
||||
DMA_Cmd(dev_cfg->level.dma.tx.channel, ENABLE);
|
||||
DMA_Cmd(dev_cfg->mask.dma.tx.channel, ENABLE);
|
||||
DMA_Cmd(dev_cfg->level->dma.tx.channel, ENABLE);
|
||||
DMA_Cmd(dev_cfg->mask->dma.tx.channel, ENABLE);
|
||||
}
|
||||
reset_hsync_timers();
|
||||
}
|
||||
@ -417,27 +417,27 @@ static void flush_spi()
|
||||
|
||||
// Can't flush if clock not running
|
||||
while ((dev_cfg->pixel_timer.timer->CR1 & 0x0001) && (!level_stopped | !mask_stopped)) {
|
||||
level_empty |= SPI_I2S_GetFlagStatus(dev_cfg->level.regs, SPI_I2S_FLAG_TXE) == SET;
|
||||
mask_empty |= SPI_I2S_GetFlagStatus(dev_cfg->mask.regs, SPI_I2S_FLAG_TXE) == SET;
|
||||
level_empty |= SPI_I2S_GetFlagStatus(dev_cfg->level->regs, SPI_I2S_FLAG_TXE) == SET;
|
||||
mask_empty |= SPI_I2S_GetFlagStatus(dev_cfg->mask->regs, SPI_I2S_FLAG_TXE) == SET;
|
||||
|
||||
if (level_empty && !level_stopped) { // && SPI_I2S_GetFlagStatus(dev_cfg->level.regs ,SPI_I2S_FLAG_BSY) == RESET) {
|
||||
SPI_Cmd(dev_cfg->level.regs, DISABLE);
|
||||
if (level_empty && !level_stopped) { // && SPI_I2S_GetFlagStatus(dev_cfg->level->regs ,SPI_I2S_FLAG_BSY) == RESET) {
|
||||
SPI_Cmd(dev_cfg->level->regs, DISABLE);
|
||||
level_stopped = true;
|
||||
}
|
||||
|
||||
if (mask_empty && !mask_stopped) { // && SPI_I2S_GetFlagStatus(dev_cfg->mask.regs ,SPI_I2S_FLAG_BSY) == RESET) {
|
||||
SPI_Cmd(dev_cfg->mask.regs, DISABLE);
|
||||
if (mask_empty && !mask_stopped) { // && SPI_I2S_GetFlagStatus(dev_cfg->mask->regs ,SPI_I2S_FLAG_BSY) == RESET) {
|
||||
SPI_Cmd(dev_cfg->mask->regs, DISABLE);
|
||||
mask_stopped = true;
|
||||
}
|
||||
}
|
||||
/*
|
||||
uint32_t i = 0;
|
||||
while(SPI_I2S_GetFlagStatus(dev_cfg->level.regs ,SPI_I2S_FLAG_TXE) == RESET && i < 30000) i++;
|
||||
while(SPI_I2S_GetFlagStatus(dev_cfg->mask.regs ,SPI_I2S_FLAG_TXE) == RESET && i < 30000) i++;
|
||||
while(SPI_I2S_GetFlagStatus(dev_cfg->level.regs ,SPI_I2S_FLAG_BSY) == SET && i < 30000) i++;
|
||||
while(SPI_I2S_GetFlagStatus(dev_cfg->mask.regs ,SPI_I2S_FLAG_BSY) == SET && i < 30000) i++;*/
|
||||
SPI_Cmd(dev_cfg->mask.regs, DISABLE);
|
||||
SPI_Cmd(dev_cfg->level.regs, DISABLE);
|
||||
while(SPI_I2S_GetFlagStatus(dev_cfg->level->regs ,SPI_I2S_FLAG_TXE) == RESET && i < 30000) i++;
|
||||
while(SPI_I2S_GetFlagStatus(dev_cfg->mask->regs ,SPI_I2S_FLAG_TXE) == RESET && i < 30000) i++;
|
||||
while(SPI_I2S_GetFlagStatus(dev_cfg->level->regs ,SPI_I2S_FLAG_BSY) == SET && i < 30000) i++;
|
||||
while(SPI_I2S_GetFlagStatus(dev_cfg->mask->regs ,SPI_I2S_FLAG_BSY) == SET && i < 30000) i++;*/
|
||||
SPI_Cmd(dev_cfg->mask->regs, DISABLE);
|
||||
SPI_Cmd(dev_cfg->level->regs, DISABLE);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -446,8 +446,8 @@ static void flush_spi()
|
||||
void PIOS_VIDEO_DMA_Handler(void)
|
||||
{
|
||||
// Handle flags from stream channel
|
||||
if (DMA_GetFlagStatus(dev_cfg->level.dma.tx.channel, DMA_FLAG_TCIF5)) { // whole double buffer filled
|
||||
DMA_ClearFlag(dev_cfg->level.dma.tx.channel, DMA_FLAG_TCIF5);
|
||||
if (DMA_GetFlagStatus(dev_cfg->level->dma.tx.channel, DMA_FLAG_TCIF5)) { // whole double buffer filled
|
||||
DMA_ClearFlag(dev_cfg->level->dma.tx.channel, DMA_FLAG_TCIF5);
|
||||
if (gActiveLine < GRAPHICS_HEIGHT) {
|
||||
flush_spi();
|
||||
stop_hsync_timers();
|
||||
@ -461,12 +461,12 @@ void PIOS_VIDEO_DMA_Handler(void)
|
||||
stop_hsync_timers();
|
||||
|
||||
// STOP DMA, master first
|
||||
DMA_Cmd(dev_cfg->mask.dma.tx.channel, DISABLE);
|
||||
DMA_Cmd(dev_cfg->level.dma.tx.channel, DISABLE);
|
||||
DMA_Cmd(dev_cfg->mask->dma.tx.channel, DISABLE);
|
||||
DMA_Cmd(dev_cfg->level->dma.tx.channel, DISABLE);
|
||||
}
|
||||
gActiveLine++;
|
||||
} else if (DMA_GetFlagStatus(dev_cfg->level.dma.tx.channel, DMA_FLAG_HTIF5)) {
|
||||
DMA_ClearFlag(dev_cfg->level.dma.tx.channel, DMA_FLAG_HTIF5);
|
||||
} else if (DMA_GetFlagStatus(dev_cfg->level->dma.tx.channel, DMA_FLAG_HTIF5)) {
|
||||
DMA_ClearFlag(dev_cfg->level->dma.tx.channel, DMA_FLAG_HTIF5);
|
||||
} else {}
|
||||
}
|
||||
|
||||
|
||||
@ -173,16 +173,28 @@ extern uint32_t pios_com_frsky_sensorhub_id;
|
||||
# define PIOS_COM_FRSKY_SENSORHUB_TX_BUF_LEN 128
|
||||
#endif
|
||||
|
||||
/* Frsky Sport */
|
||||
#ifdef PIOS_INCLUDE_FRSKY_SPORT
|
||||
extern uint32_t pios_com_frsky_sport_id;
|
||||
# define PIOS_COM_FRSKY_SPORT (pios_com_frsky_sport_id)
|
||||
# ifndef PIOS_COM_FRSKY_SPORT_RX_BUF_LEN
|
||||
# define PIOS_COM_FRSKY_SPORT_RX_BUF_LEN 16
|
||||
# endif
|
||||
# ifndef PIOS_COM_FRSKY_SPORT_TX_BUF_LEN
|
||||
# define PIOS_COM_FRSKY_SPORT_TX_BUF_LEN 16
|
||||
# endif
|
||||
#endif
|
||||
|
||||
/* USB VCP */
|
||||
extern uint32_t pios_com_vcp_id;
|
||||
#define PIOS_COM_VCP (pios_com_vcp_id)
|
||||
#define PIOS_COM_VCP (pios_com_vcp_id)
|
||||
|
||||
|
||||
#ifdef PIOS_INCLUDE_DEBUG_CONSOLE
|
||||
extern uint32_t pios_com_debug_id;
|
||||
#define PIOS_COM_DEBUG (pios_com_debug_id)
|
||||
#define PIOS_COM_DEBUG (pios_com_debug_id)
|
||||
#ifndef PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN
|
||||
# define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
|
||||
# define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
|
||||
#endif
|
||||
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
|
||||
|
||||
@ -215,9 +227,9 @@ typedef enum {
|
||||
PIOS_BOARD_IO_UART_SRXL, /* rcvr */
|
||||
PIOS_BOARD_IO_UART_IBUS, /* rcvr */
|
||||
PIOS_BOARD_IO_UART_EXBUS, /* rcvr */
|
||||
// PIOS_BOARD_IO_UART_FRSKY_SPORT_TELEMETRY, /* com */
|
||||
PIOS_BOARD_IO_UART_HOTT_BRIDGE, /* com */
|
||||
PIOS_BOARD_IO_UART_FRSKY_SENSORHUB, /* com */
|
||||
PIOS_BOARD_IO_UART_FRSKY_SPORT, /* com */
|
||||
} PIOS_BOARD_IO_UART_Function;
|
||||
|
||||
|
||||
|
||||
@ -84,6 +84,7 @@ struct pios_com_driver {
|
||||
/* Public Functions */
|
||||
extern int32_t PIOS_COM_Init(uint32_t *com_id, const struct pios_com_driver *driver, uint32_t lower_id, uint8_t *rx_buffer, uint16_t rx_buffer_len, uint8_t *tx_buffer, uint16_t tx_buffer_len);
|
||||
extern int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud);
|
||||
extern int32_t PIOS_COM_ClearRxBuffer(uint32_t com_id);
|
||||
extern int32_t PIOS_COM_ChangeConfig(uint32_t com_id, enum PIOS_COM_Word_Length word_len, enum PIOS_COM_Parity parity, enum PIOS_COM_StopBits stop_bits, uint32_t baud_rate);
|
||||
extern int32_t PIOS_COM_SetCtrlLine(uint32_t com_id, uint32_t mask, uint32_t state);
|
||||
extern int32_t PIOS_COM_RegisterCtrlLineCallback(uint32_t usart_id, pios_com_callback_ctrl_line ctrl_line_cb, uint32_t context);
|
||||
|
||||
@ -39,7 +39,7 @@ const struct pios_flash_jedec_cfg pios_flash_jedec_catalog[] =
|
||||
{ // m25p16
|
||||
.expect_manufacturer = JEDEC_MANUFACTURER_ST,
|
||||
.expect_memorytype = 0x20,
|
||||
.expect_capacity = 0x15,
|
||||
.expect_capacity = 0x15, // these chips all have 2^expect_capacity bytes
|
||||
.sector_erase = 0xD8,
|
||||
.chip_erase = 0xC7,
|
||||
.fast_read = 0x0B,
|
||||
@ -48,7 +48,7 @@ const struct pios_flash_jedec_cfg pios_flash_jedec_catalog[] =
|
||||
{ // m25px16
|
||||
.expect_manufacturer = JEDEC_MANUFACTURER_ST,
|
||||
.expect_memorytype = 0x71,
|
||||
.expect_capacity = 0x15,
|
||||
.expect_capacity = 0x15, // these chips all have 2^expect_capacity bytes
|
||||
.sector_erase = 0xD8,
|
||||
.chip_erase = 0xC7,
|
||||
.fast_read = 0x0B,
|
||||
@ -57,43 +57,43 @@ const struct pios_flash_jedec_cfg pios_flash_jedec_catalog[] =
|
||||
{ // w25x
|
||||
.expect_manufacturer = JEDEC_MANUFACTURER_WINBOND,
|
||||
.expect_memorytype = 0x30,
|
||||
.expect_capacity = 0x13,
|
||||
.sector_erase = 0x20,
|
||||
.chip_erase = 0x60,
|
||||
.expect_capacity = 0x13, // these chips all have 2^expect_capacity bytes
|
||||
.sector_erase = 0xD8, // 0xD8 is the 64k sector erase command, 0x20 erases 4k sectors, flashfs_m25p_cfg has fixed 64k sectors
|
||||
.chip_erase = 0x60, // chip_erase is 0x60 or 0xC7
|
||||
.fast_read = 0x0B,
|
||||
.fast_read_dummy_bytes = 1,
|
||||
},
|
||||
{ // 25q16
|
||||
.expect_manufacturer = JEDEC_MANUFACTURER_WINBOND,
|
||||
.expect_memorytype = 0x40,
|
||||
.expect_capacity = 0x15,
|
||||
.sector_erase = 0x20,
|
||||
.chip_erase = 0x60,
|
||||
.expect_capacity = 0x15, // these chips all have 2^expect_capacity bytes
|
||||
.sector_erase = 0xD8, // 0xD8 is the 64k sector erase command, 0x20 erases 4k sectors, flashfs_m25p_cfg has fixed 64k sectors
|
||||
.chip_erase = 0x60, // chip_erase is 0x60 or 0xC7
|
||||
.fast_read = 0x0B,
|
||||
.fast_read_dummy_bytes = 1,
|
||||
},
|
||||
{ // 25q64
|
||||
.expect_manufacturer = JEDEC_MANUFACTURER_WINBOND,
|
||||
.expect_memorytype = 0x40,
|
||||
.expect_capacity = 0x17,
|
||||
.sector_erase = 0x20,
|
||||
.chip_erase = 0x60,
|
||||
.expect_capacity = 0x17, // these chips all have 2^expect_capacity bytes
|
||||
.sector_erase = 0xD8, // 0xD8 is the 64k sector erase command, 0x20 erases 4k sectors, flashfs_m25p_cfg has fixed 64k sectors
|
||||
.chip_erase = 0x60, // chip_erase is 0x60 or 0xC7
|
||||
.fast_read = 0x0B,
|
||||
.fast_read_dummy_bytes = 1,
|
||||
},
|
||||
{ // 25q512
|
||||
{ // 25q512, note that devices over 128Mb=16MB probably require recoding to use 4 byte addresses
|
||||
.expect_manufacturer = JEDEC_MANUFACTURER_MICRON,
|
||||
.expect_memorytype = 0xBA,
|
||||
.expect_capacity = 0x20,
|
||||
.sector_erase = 0xD8,
|
||||
.expect_capacity = 0x1A, // pretty sure this should be 0x1A and not 0x20 (author counted 0x19 then 0x20, should have been 0x1A)
|
||||
.sector_erase = 0xD8, // (these chips all have 2^expect_capacity bytes)
|
||||
.chip_erase = 0xC7,
|
||||
.fast_read = 0x0B,
|
||||
.fast_read_dummy_bytes = 1,
|
||||
},
|
||||
{ // 25q256
|
||||
{ // 25q256, note that devices over 128Mb=16MB probably require recoding to use 4 byte addresses
|
||||
.expect_manufacturer = JEDEC_MANUFACTURER_NUMORIX,
|
||||
.expect_memorytype = 0xBA,
|
||||
.expect_capacity = 0x19,
|
||||
.expect_capacity = 0x19, // these chips all have 2^expect_capacity bytes
|
||||
.sector_erase = 0xD8,
|
||||
.chip_erase = 0xC7,
|
||||
.fast_read = 0x0B,
|
||||
@ -102,7 +102,7 @@ const struct pios_flash_jedec_cfg pios_flash_jedec_catalog[] =
|
||||
{ // 25q128
|
||||
.expect_manufacturer = JEDEC_MANUFACTURER_MICRON,
|
||||
.expect_memorytype = 0xBA,
|
||||
.expect_capacity = 0x18,
|
||||
.expect_capacity = 0x18, // these chips all have 2^expect_capacity bytes
|
||||
.sector_erase = 0xD8,
|
||||
.chip_erase = 0xC7,
|
||||
.fast_read = 0x0B,
|
||||
|
||||
@ -26,6 +26,9 @@
|
||||
|
||||
#ifndef PIOS_MATH_H
|
||||
#define PIOS_MATH_H
|
||||
|
||||
#include <math.h>
|
||||
|
||||
// Generic float math constants
|
||||
#define M_E_F 2.71828182845904523536028747135f /* e */
|
||||
#define M_LOG2E_F 1.44269504088896340735992468100f /* log_2 (e) */
|
||||
@ -66,20 +69,23 @@
|
||||
#define M_EULER_D 0.57721566490153286060651209008d /* Euler constant */
|
||||
|
||||
// Conversion macro
|
||||
#define RAD2DEG(rad) ((rad) * (180.0f / M_PI_F))
|
||||
#define DEG2RAD(deg) ((deg) * (M_PI_F / 180.0f))
|
||||
#define RAD2DEG(rad) ((rad) * (180.0f / M_PI_F))
|
||||
#define DEG2RAD(deg) ((deg) * (M_PI_F / 180.0f))
|
||||
|
||||
#define RAD2DEG_D(rad) ((rad) * (180.0d / M_PI_D))
|
||||
#define DEG2RAD_D(deg) ((deg) * (M_PI_D / 180.0d))
|
||||
#define RAD2DEG_D(rad) ((rad) * (180.0d / M_PI_D))
|
||||
#define DEG2RAD_D(deg) ((deg) * (M_PI_D / 180.0d))
|
||||
|
||||
// helper macros for LPFs
|
||||
#define LPF_ALPHA(dt, fc) (dt / (dt + 1.0f / (2.0f * M_PI_F * fc)))
|
||||
#define LPF_ALPHA(dt, fc) (dt / (dt + 1.0f / (2.0f * M_PI_F * fc)))
|
||||
|
||||
// Useful math macros
|
||||
#define MAX(a, b) ((a) > (b) ? (a) : (b))
|
||||
#define MIN(a, b) ((a) < (b) ? (a) : (b))
|
||||
#define MAX(a, b) ((a) > (b) ? (a) : (b))
|
||||
#define MIN(a, b) ((a) < (b) ? (a) : (b))
|
||||
|
||||
#define IS_REAL(f) (isfinite(f))
|
||||
__attribute__((optimize("no-fast-math"))) static inline int IS_REAL(float f)
|
||||
{
|
||||
return !(isnan(f) || isinf(f));
|
||||
}
|
||||
|
||||
// Bitfield access
|
||||
#define IS_SET(field, mask) (((field) & (mask)) == (mask))
|
||||
|
||||
40
flight/pios/inc/pios_qmc5883l.h
Normal file
40
flight/pios/inc/pios_qmc5883l.h
Normal file
@ -0,0 +1,40 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_QMC5883L QMC5883L Functions
|
||||
* @brief Deals with the hardware interface to the QMC5883L magnetometer
|
||||
* @{
|
||||
*
|
||||
* @file pios_qmc5883l.h
|
||||
* @author The LibrePilot Project, http://www.librepilot.org, Copyright (C) 2018
|
||||
* @brief QMC5883L functions header.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program 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.
|
||||
*
|
||||
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef PIOS_QMC5883L_H
|
||||
#define PIOS_QMC5883L_H
|
||||
|
||||
struct pios_qmc5883l_dev;
|
||||
typedef struct pios_qmc5883l_dev *pios_qmc5883l_dev_t;
|
||||
|
||||
extern pios_qmc5883l_dev_t PIOS_QMC5883L_Init(uint32_t i2c_device);
|
||||
|
||||
|
||||
#endif /* PIOS_QMC5883L_H */
|
||||
62
flight/pios/inc/pios_sdp3x.h
Normal file
62
flight/pios/inc/pios_sdp3x.h
Normal file
@ -0,0 +1,62 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_SDP3x SDP3x Differential pressure sensors
|
||||
* @brief Hardware functions to deal with the Eagle Tree Airspeed MicroSensor V3
|
||||
* @{
|
||||
*
|
||||
* @file pios_sdp3x.h
|
||||
* @author The LibrePilot Team, http://www.librepilot.org Copyright (C) 2021.
|
||||
* @brief SDP3x Airspeed Sensor Driver
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
******************************************************************************/
|
||||
/*
|
||||
* This program 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.
|
||||
*
|
||||
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef PIOS_SDP3X_H
|
||||
#define PIOS_SDP3X_H
|
||||
|
||||
#define SDP3X_I2C_ADDR1 0x21
|
||||
#define SDP3X_I2C_ADDR2 0x22
|
||||
#define SDP3X_I2C_ADDR3 0x23
|
||||
|
||||
#define SDP3X_SCALE_TEMPERATURE 200.0f
|
||||
#define SDP3X_RESET_ADDR 0x00
|
||||
#define SDP3X_RESET_CMD 0x06
|
||||
#define SDP3X_CONT_MEAS_AVG_MODE 0x3615
|
||||
#define SDP3X_CONT_MODE_STOP 0x3FF9
|
||||
|
||||
#define SDP3X_SCALE_PRESSURE_SDP31 60
|
||||
#define SDP3X_SCALE_PRESSURE_SDP32 240
|
||||
#define SDP3X_SCALE_PRESSURE_SDP33 20
|
||||
#define SDP3X_CRC_INIT 0xff
|
||||
#define SDP3X_CRC_POLY 0x31
|
||||
|
||||
#define SDP3X_CONVERSION_INTERVAL (1000000 / SDP3X_MEAS_RATE) /* microseconds */
|
||||
|
||||
#define PIOS_SDP3X_RETRY_LIMIT 3
|
||||
struct PIOS_SDP3X_STATE {
|
||||
enum { SDP3X_STATUS_NOTFOUND, SDP3X_STATUS_CONFIGURED, SDP3X_STATUS_READY } status;
|
||||
int16_t pressure;
|
||||
int16_t temperature;
|
||||
int16_t scale;
|
||||
};
|
||||
|
||||
void PIOS_SDP3X_ReadAirspeed(volatile struct PIOS_SDP3X_STATE *state);
|
||||
|
||||
#endif /* PIOS_SDP3X_H */
|
||||
@ -36,8 +36,8 @@
|
||||
#include <pios_spi_priv.h>
|
||||
|
||||
struct pios_video_cfg {
|
||||
const struct pios_spi_cfg mask;
|
||||
const struct pios_spi_cfg level;
|
||||
const struct pios_spi_cfg *mask;
|
||||
const struct pios_spi_cfg *level;
|
||||
|
||||
const struct pios_exti_cfg *hsync;
|
||||
const struct pios_exti_cfg *vsync;
|
||||
|
||||
@ -199,6 +199,11 @@ extern "C" {
|
||||
#include <pios_etasv3.h>
|
||||
#endif
|
||||
|
||||
#ifdef PIOS_INCLUDE_SDP3X
|
||||
/* SDP3X Airspeed MicroSensor*/
|
||||
#include <pios_sdp3x.h>
|
||||
#endif
|
||||
|
||||
#ifdef PIOS_INCLUDE_MS4525DO
|
||||
/* PixHawk Airspeed Sensor based on MS4525DO */
|
||||
#include <pios_ms4525do.h>
|
||||
@ -339,6 +344,10 @@ extern "C" {
|
||||
/* Performance counters */
|
||||
/* #define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 995998 */
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5X83) || defined(PIOS_INCLUDE_QMC5883L)
|
||||
#define PIOS_INCLUDE_SENSORS_AUXMAG
|
||||
#endif
|
||||
|
||||
#endif /* USE_SIM_POSIX */
|
||||
|
||||
|
||||
|
||||
@ -438,7 +438,7 @@ __attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_PSP(void)
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_PSP(uint32_t topOfProcStack)
|
||||
{
|
||||
__ASM volatile ("MSR psp, %0\n" : : "r" (topOfProcStack) : "sp");
|
||||
__ASM volatile ("MSR psp, %0\n" : : "r" (topOfProcStack) : );
|
||||
}
|
||||
|
||||
|
||||
@ -465,7 +465,7 @@ __attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_MSP(void)
|
||||
*/
|
||||
__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_MSP(uint32_t topOfMainStack)
|
||||
{
|
||||
__ASM volatile ("MSR msp, %0\n" : : "r" (topOfMainStack) : "sp");
|
||||
__ASM volatile ("MSR msp, %0\n" : : "r" (topOfMainStack) : );
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -539,6 +539,7 @@ static int32_t PIOS_USART_Ioctl(uint32_t usart_id, uint32_t ctl, void *param)
|
||||
return -2; /* do not allow dsm bind on port with inverter */
|
||||
}
|
||||
#endif /* otherwise, return RXGPIO */
|
||||
// fall through
|
||||
case PIOS_IOCTL_USART_GET_RXGPIO:
|
||||
*(struct stm32_gpio *)param = usart_dev->cfg->rx;
|
||||
break;
|
||||
|
||||
@ -2838,6 +2838,7 @@ void HRTIM_ADCTriggerConfig(HRTIM_TypeDef * HRTIMx,
|
||||
/* Set the ADC trigger 3 source */
|
||||
HRTIMx->HRTIM_COMMON.ADC3R = pADCTriggerCfg->Trigger;
|
||||
}
|
||||
break;
|
||||
case HRTIM_ADCTRIGGER_4:
|
||||
{
|
||||
HRTIM_cr1 &= ~(HRTIM_CR1_ADC4USRC);
|
||||
|
||||
@ -1386,8 +1386,10 @@ void RCC_TIMCLKConfig(uint32_t RCC_TIMCLK)
|
||||
break;
|
||||
case 0x05:
|
||||
RCC->CFGR3 &= ~RCC_CFGR3_TIM20SW;
|
||||
break;
|
||||
case 0x06:
|
||||
RCC->CFGR3 &= ~RCC_CFGR3_TIM2SW;
|
||||
break;
|
||||
case 0x07:
|
||||
RCC->CFGR3 &= ~RCC_CFGR3_TIM3SW;
|
||||
break;
|
||||
|
||||
@ -405,7 +405,7 @@ static void SetSysClock(void)
|
||||
RCC->CFGR |= RCC_CFGR_SW_PLL;
|
||||
|
||||
/* Wait till the main PLL is used as system clock source */
|
||||
while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL);
|
||||
while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
@ -405,7 +405,7 @@ static void SetSysClock(void)
|
||||
RCC->CFGR |= RCC_CFGR_SW_PLL;
|
||||
|
||||
/* Wait till the main PLL is used as system clock source */
|
||||
while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL);
|
||||
while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
@ -405,7 +405,7 @@ static void SetSysClock(void)
|
||||
RCC->CFGR |= RCC_CFGR_SW_PLL;
|
||||
|
||||
/* Wait till the main PLL is used as system clock source */
|
||||
while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL);
|
||||
while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
@ -404,7 +404,7 @@ static void SetSysClock(void)
|
||||
RCC->CFGR |= RCC_CFGR_SW_PLL;
|
||||
|
||||
/* Wait till the main PLL is used as system clock source */
|
||||
while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL);
|
||||
while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
@ -405,7 +405,7 @@ static void SetSysClock(void)
|
||||
RCC->CFGR |= RCC_CFGR_SW_PLL;
|
||||
|
||||
/* Wait till the main PLL is used as system clock source */
|
||||
while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL);
|
||||
while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
@ -405,7 +405,7 @@ static void SetSysClock(void)
|
||||
RCC->CFGR |= RCC_CFGR_SW_PLL;
|
||||
|
||||
/* Wait till the main PLL is used as system clock source */
|
||||
while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL);
|
||||
while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
@ -180,7 +180,7 @@ USB_OTG_STS USB_OTG_WritePacket(USB_OTG_CORE_HANDLE *pdev,
|
||||
fifo = pdev->regs.DFIFO[ch_ep_num];
|
||||
for (i = 0; i < count32b; i++, src+=4)
|
||||
{
|
||||
USB_OTG_WRITE_REG32( fifo, *((__packed uint32_t *)src) );
|
||||
USB_OTG_WRITE_REG32( fifo, *((uint32_t *)src) );
|
||||
}
|
||||
}
|
||||
return status;
|
||||
@ -205,7 +205,7 @@ void *USB_OTG_ReadPacket(USB_OTG_CORE_HANDLE *pdev,
|
||||
|
||||
for ( i = 0; i < count32b; i++, dest += 4 )
|
||||
{
|
||||
*(__packed uint32_t *)dest = USB_OTG_READ_REG32(fifo);
|
||||
*(uint32_t *)dest = USB_OTG_READ_REG32(fifo);
|
||||
|
||||
}
|
||||
return ((void *)dest);
|
||||
|
||||
@ -595,6 +595,7 @@ static int32_t PIOS_USART_Ioctl(uint32_t usart_id, uint32_t ctl, void *param)
|
||||
return -2; /* do not allow dsm bind on port with inverter */
|
||||
}
|
||||
#endif /* otherwise, return RXGPIO */
|
||||
// fall through
|
||||
case PIOS_IOCTL_USART_GET_RXGPIO:
|
||||
*(struct stm32_gpio *)param = usart_dev->cfg->rx;
|
||||
break;
|
||||
|
||||
@ -112,7 +112,7 @@ static void default_cpu_handler(void)
|
||||
}
|
||||
|
||||
/** Prototype for optional exception vector handlers */
|
||||
#define HANDLER(_name) extern vector _name __attribute__((weak, alias("default_cpu_handler")))
|
||||
#define HANDLER(_name) extern vector _name __attribute__((weak, alias("default_cpu_handler"), noreturn))
|
||||
|
||||
/* standard CMSIS vector names */
|
||||
HANDLER(NMI_Handler);
|
||||
|
||||
@ -251,7 +251,7 @@ extern uint32_t pios_ws2811_id;
|
||||
// Receiver FlySky IBus input
|
||||
// -------------------------
|
||||
#define PIOS_IBUS_MAX_DEVS 1
|
||||
#define PIOS_IBUS_NUM_INPUTS 10
|
||||
#define PIOS_IBUS_NUM_INPUTS 14
|
||||
|
||||
// -------------------------
|
||||
// Servo outputs
|
||||
|
||||
@ -275,7 +275,7 @@ extern uint32_t pios_spi_flash_accel_adapter_id;
|
||||
// Receiver FlySky IBus input
|
||||
// -------------------------
|
||||
#define PIOS_IBUS_MAX_DEVS 1
|
||||
#define PIOS_IBUS_NUM_INPUTS 10
|
||||
#define PIOS_IBUS_NUM_INPUTS 14
|
||||
|
||||
// -------------------------
|
||||
// Servo outputs
|
||||
|
||||
@ -87,6 +87,7 @@
|
||||
/* #define PIOS_INCLUDE_HMC5843 */
|
||||
#define PIOS_INCLUDE_HMC5X83
|
||||
#define PIOS_INCLUDE_HMC5X83_INTERNAL
|
||||
#define PIOS_INCLUDE_QMC5883L
|
||||
// #define PIOS_HMC5X83_HAS_GPIOS
|
||||
/* #define PIOS_INCLUDE_BMP085 */
|
||||
/* #define PIOS_INCLUDE_MS56XX */
|
||||
|
||||
@ -112,6 +112,7 @@ extern uint32_t pios_i2c_mag_pressure_adapter_id;
|
||||
extern uint32_t pios_i2c_flexiport_adapter_id;
|
||||
#define PIOS_I2C_FLEXI_ADAPTER (pios_i2c_flexiport_adapter_id)
|
||||
#define PIOS_I2C_ETASV3_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
|
||||
#define PIOS_I2C_SDP3X_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
|
||||
#define PIOS_I2C_EXTERNAL_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
|
||||
|
||||
// -------------------------
|
||||
|
||||
@ -86,6 +86,7 @@
|
||||
/* #define PIOS_MPU6000_ACCEL */
|
||||
/* #define PIOS_INCLUDE_HMC5843 */
|
||||
#define PIOS_INCLUDE_HMC5X83
|
||||
#define PIOS_INCLUDE_QMC5883L
|
||||
/* #define PIOS_HMC5883_HAS_GPIOS */
|
||||
/* #define PIOS_INCLUDE_MPU9250 */
|
||||
/* #define PIOS_MPU9250_ACCEL */
|
||||
|
||||
@ -210,7 +210,7 @@ extern uint32_t pios_i2c_id;
|
||||
// Receiver FlySky IBus input
|
||||
// -------------------------
|
||||
#define PIOS_IBUS_MAX_DEVS 1
|
||||
#define PIOS_IBUS_NUM_INPUTS 10
|
||||
#define PIOS_IBUS_NUM_INPUTS 14
|
||||
|
||||
// -------------------------
|
||||
// Servo outputs
|
||||
|
||||
@ -607,154 +607,157 @@ static const struct pios_exti_cfg pios_exti_vsync_cfg __exti_config = {
|
||||
},
|
||||
};
|
||||
|
||||
static const struct pios_spi_cfg mask = {
|
||||
.regs = SPI3,
|
||||
.remap = GPIO_AF_SPI3,
|
||||
.init = {
|
||||
.SPI_Mode = SPI_Mode_Slave,
|
||||
.SPI_Direction = SPI_Direction_1Line_Tx,
|
||||
.SPI_DataSize = SPI_DataSize_8b,
|
||||
.SPI_NSS = SPI_NSS_Soft,
|
||||
.SPI_FirstBit = SPI_FirstBit_MSB,
|
||||
.SPI_CRCPolynomial = 7,
|
||||
.SPI_CPOL = SPI_CPOL_Low,
|
||||
.SPI_CPHA = SPI_CPHA_2Edge,
|
||||
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
|
||||
},
|
||||
.use_crc = false,
|
||||
.dma = {
|
||||
.irq = {
|
||||
// Note this is the stream ID that triggers interrupts (in this case RX)
|
||||
.flags = (DMA_IT_TCIF7),
|
||||
.init = {
|
||||
.NVIC_IRQChannel = DMA1_Stream7_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
/*.rx = {},*/
|
||||
.tx = {
|
||||
.channel = DMA1_Stream7,
|
||||
.init = {
|
||||
.DMA_Channel = DMA_Channel_0,
|
||||
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI3->DR),
|
||||
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
|
||||
.DMA_BufferSize = BUFFER_LINE_LENGTH,
|
||||
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_Word,
|
||||
.DMA_Mode = DMA_Mode_Normal,
|
||||
.DMA_Priority = DMA_Priority_VeryHigh,
|
||||
.DMA_FIFOMode = DMA_FIFOMode_Enable,
|
||||
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
|
||||
.DMA_MemoryBurst = DMA_MemoryBurst_INC4,
|
||||
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
|
||||
},
|
||||
},
|
||||
},
|
||||
.sclk = {
|
||||
.gpio = GPIOC,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_10,
|
||||
.GPIO_Speed = GPIO_Speed_100MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF,
|
||||
.GPIO_OType = GPIO_OType_PP,
|
||||
.GPIO_PuPd = GPIO_PuPd_NOPULL
|
||||
},
|
||||
},
|
||||
.miso = {
|
||||
.gpio = GPIOC,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_11,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF,
|
||||
.GPIO_OType = GPIO_OType_PP,
|
||||
.GPIO_PuPd = GPIO_PuPd_NOPULL
|
||||
},
|
||||
},
|
||||
/*.mosi = {},*/
|
||||
.slave_count = 1,
|
||||
};
|
||||
|
||||
static const struct pios_spi_cfg level = {
|
||||
.regs = SPI1,
|
||||
.remap = GPIO_AF_SPI1,
|
||||
.init = {
|
||||
.SPI_Mode = SPI_Mode_Slave,
|
||||
.SPI_Direction = SPI_Direction_1Line_Tx,
|
||||
.SPI_DataSize = SPI_DataSize_8b,
|
||||
.SPI_NSS = SPI_NSS_Soft,
|
||||
.SPI_FirstBit = SPI_FirstBit_MSB,
|
||||
.SPI_CRCPolynomial = 7,
|
||||
.SPI_CPOL = SPI_CPOL_Low,
|
||||
.SPI_CPHA = SPI_CPHA_2Edge,
|
||||
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
|
||||
},
|
||||
.use_crc = false,
|
||||
.dma = {
|
||||
.irq = {
|
||||
.flags = (DMA_IT_TCIF5),
|
||||
.init = {
|
||||
.NVIC_IRQChannel = DMA2_Stream5_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = 0,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
/*.rx = {},*/
|
||||
.tx = {
|
||||
.channel = DMA2_Stream5,
|
||||
.init = {
|
||||
.DMA_Channel = DMA_Channel_3,
|
||||
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
|
||||
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
|
||||
.DMA_BufferSize = BUFFER_LINE_LENGTH,
|
||||
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_Word,
|
||||
.DMA_Mode = DMA_Mode_Normal,
|
||||
.DMA_Priority = DMA_Priority_VeryHigh,
|
||||
.DMA_FIFOMode = DMA_FIFOMode_Enable,
|
||||
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
|
||||
.DMA_MemoryBurst = DMA_MemoryBurst_INC4,
|
||||
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
|
||||
},
|
||||
},
|
||||
},
|
||||
.sclk = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_3,
|
||||
.GPIO_Speed = GPIO_Speed_100MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF,
|
||||
.GPIO_OType = GPIO_OType_PP,
|
||||
.GPIO_PuPd = GPIO_PuPd_UP
|
||||
},
|
||||
},
|
||||
.miso = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_4,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF,
|
||||
.GPIO_OType = GPIO_OType_PP,
|
||||
.GPIO_PuPd = GPIO_PuPd_UP
|
||||
},
|
||||
},
|
||||
/*.mosi = {},*/
|
||||
.slave_count = 1,
|
||||
};
|
||||
|
||||
static const struct pios_video_cfg pios_video_cfg = {
|
||||
.mask = {
|
||||
.regs = SPI3,
|
||||
.remap = GPIO_AF_SPI3,
|
||||
.init = {
|
||||
.SPI_Mode = SPI_Mode_Slave,
|
||||
.SPI_Direction = SPI_Direction_1Line_Tx,
|
||||
.SPI_DataSize = SPI_DataSize_8b,
|
||||
.SPI_NSS = SPI_NSS_Soft,
|
||||
.SPI_FirstBit = SPI_FirstBit_MSB,
|
||||
.SPI_CRCPolynomial = 7,
|
||||
.SPI_CPOL = SPI_CPOL_Low,
|
||||
.SPI_CPHA = SPI_CPHA_2Edge,
|
||||
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
|
||||
},
|
||||
.use_crc = false,
|
||||
.dma = {
|
||||
.irq = {
|
||||
// Note this is the stream ID that triggers interrupts (in this case RX)
|
||||
.flags = (DMA_IT_TCIF7),
|
||||
.init = {
|
||||
.NVIC_IRQChannel = DMA1_Stream7_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
/*.rx = {},*/
|
||||
.tx = {
|
||||
.channel = DMA1_Stream7,
|
||||
.init = {
|
||||
.DMA_Channel = DMA_Channel_0,
|
||||
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI3->DR),
|
||||
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
|
||||
.DMA_BufferSize = BUFFER_LINE_LENGTH,
|
||||
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_Word,
|
||||
.DMA_Mode = DMA_Mode_Normal,
|
||||
.DMA_Priority = DMA_Priority_VeryHigh,
|
||||
.DMA_FIFOMode = DMA_FIFOMode_Enable,
|
||||
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
|
||||
.DMA_MemoryBurst = DMA_MemoryBurst_INC4,
|
||||
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
|
||||
},
|
||||
},
|
||||
},
|
||||
.sclk = {
|
||||
.gpio = GPIOC,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_10,
|
||||
.GPIO_Speed = GPIO_Speed_100MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF,
|
||||
.GPIO_OType = GPIO_OType_PP,
|
||||
.GPIO_PuPd = GPIO_PuPd_NOPULL
|
||||
},
|
||||
},
|
||||
.miso = {
|
||||
.gpio = GPIOC,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_11,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF,
|
||||
.GPIO_OType = GPIO_OType_PP,
|
||||
.GPIO_PuPd = GPIO_PuPd_NOPULL
|
||||
},
|
||||
},
|
||||
/*.mosi = {},*/
|
||||
.slave_count = 1,
|
||||
},
|
||||
.level = {
|
||||
.regs = SPI1,
|
||||
.remap = GPIO_AF_SPI1,
|
||||
.init = {
|
||||
.SPI_Mode = SPI_Mode_Slave,
|
||||
.SPI_Direction = SPI_Direction_1Line_Tx,
|
||||
.SPI_DataSize = SPI_DataSize_8b,
|
||||
.SPI_NSS = SPI_NSS_Soft,
|
||||
.SPI_FirstBit = SPI_FirstBit_MSB,
|
||||
.SPI_CRCPolynomial = 7,
|
||||
.SPI_CPOL = SPI_CPOL_Low,
|
||||
.SPI_CPHA = SPI_CPHA_2Edge,
|
||||
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
|
||||
},
|
||||
.use_crc = false,
|
||||
.dma = {
|
||||
.irq = {
|
||||
.flags = (DMA_IT_TCIF5),
|
||||
.init = {
|
||||
.NVIC_IRQChannel = DMA2_Stream5_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = 0,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
/*.rx = {},*/
|
||||
.tx = {
|
||||
.channel = DMA2_Stream5,
|
||||
.init = {
|
||||
.DMA_Channel = DMA_Channel_3,
|
||||
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
|
||||
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
|
||||
.DMA_BufferSize = BUFFER_LINE_LENGTH,
|
||||
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_Word,
|
||||
.DMA_Mode = DMA_Mode_Normal,
|
||||
.DMA_Priority = DMA_Priority_VeryHigh,
|
||||
.DMA_FIFOMode = DMA_FIFOMode_Enable,
|
||||
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
|
||||
.DMA_MemoryBurst = DMA_MemoryBurst_INC4,
|
||||
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
|
||||
},
|
||||
},
|
||||
},
|
||||
.sclk = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_3,
|
||||
.GPIO_Speed = GPIO_Speed_100MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF,
|
||||
.GPIO_OType = GPIO_OType_PP,
|
||||
.GPIO_PuPd = GPIO_PuPd_UP
|
||||
},
|
||||
},
|
||||
.miso = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_4,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF,
|
||||
.GPIO_OType = GPIO_OType_PP,
|
||||
.GPIO_PuPd = GPIO_PuPd_UP
|
||||
},
|
||||
},
|
||||
/*.mosi = {},*/
|
||||
.slave_count = 1,
|
||||
},
|
||||
.mask = &mask,
|
||||
.level = &level,
|
||||
|
||||
.hsync = &pios_exti_hsync_cfg,
|
||||
.vsync = &pios_exti_vsync_cfg,
|
||||
|
||||
.pixel_timer = {
|
||||
.pixel_timer = {
|
||||
.timer = TIM4,
|
||||
.timer_chan = TIM_Channel_1,
|
||||
.timer_chan = TIM_Channel_1,
|
||||
.pin = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
@ -764,13 +767,13 @@ static const struct pios_video_cfg pios_video_cfg = {
|
||||
.GPIO_OType = GPIO_OType_PP,
|
||||
.GPIO_PuPd = GPIO_PuPd_UP
|
||||
},
|
||||
.pin_source = GPIO_PinSource6,
|
||||
.pin_source = GPIO_PinSource6,
|
||||
},
|
||||
.remap = GPIO_AF_TIM4,
|
||||
.remap = GPIO_AF_TIM4,
|
||||
},
|
||||
.hsync_capture = {
|
||||
.hsync_capture = {
|
||||
.timer = TIM4,
|
||||
.timer_chan = TIM_Channel_2,
|
||||
.timer_chan = TIM_Channel_2,
|
||||
.pin = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
@ -780,11 +783,11 @@ static const struct pios_video_cfg pios_video_cfg = {
|
||||
.GPIO_OType = GPIO_OType_PP,
|
||||
.GPIO_PuPd = GPIO_PuPd_UP
|
||||
},
|
||||
.pin_source = GPIO_PinSource7,
|
||||
.pin_source = GPIO_PinSource7,
|
||||
},
|
||||
.remap = GPIO_AF_TIM4,
|
||||
.remap = GPIO_AF_TIM4,
|
||||
},
|
||||
.tim_oc_init = {
|
||||
.tim_oc_init = {
|
||||
.TIM_OCMode = TIM_OCMode_PWM1,
|
||||
.TIM_OutputState = TIM_OutputState_Enable,
|
||||
.TIM_OutputNState = TIM_OutputNState_Disable,
|
||||
|
||||
@ -118,7 +118,7 @@ static const TIM_TimeBaseInitTypeDef tim_4_time_base = {
|
||||
.TIM_RepetitionCounter = 0x0000,
|
||||
};
|
||||
|
||||
static const struct pios_tim_clock_cfg pios_tim4_cfg = {
|
||||
__attribute__((unused)) static const struct pios_tim_clock_cfg pios_tim4_cfg = {
|
||||
.timer = TIM4,
|
||||
.time_base_init = &tim_4_time_base,
|
||||
.irq = {
|
||||
|
||||
@ -208,7 +208,7 @@ extern uint32_t pios_ws2811_id;
|
||||
// Receiver FlySky IBus input
|
||||
// -------------------------
|
||||
#define PIOS_IBUS_MAX_DEVS 1
|
||||
#define PIOS_IBUS_NUM_INPUTS 10
|
||||
#define PIOS_IBUS_NUM_INPUTS 14
|
||||
|
||||
// -------------------------
|
||||
// Servo outputs
|
||||
|
||||
@ -57,6 +57,7 @@ OPTMODULES += AutoTune
|
||||
OPTMODULES += Temperature
|
||||
OPTMODULES += ComUsbBridge
|
||||
OPTMODULES += UAVOHottBridge
|
||||
OPTMODULES += UAVOFrSKYSPortBridge
|
||||
OPTMODULES += UAVOMSPBridge
|
||||
OPTMODULES += UAVOMavlinkBridge
|
||||
OPTMODULES += UAVOFrSKYSensorHubBridge
|
||||
@ -97,6 +98,7 @@ ifndef TESTAPP
|
||||
SRC += $(FLIGHTLIB)/auxmagsupport.c
|
||||
SRC += $(FLIGHTLIB)/lednotification.c
|
||||
SRC += $(FLIGHTLIB)/sha1.c
|
||||
SRC += $(FLIGHTLIB)/frsky_packing.c
|
||||
|
||||
## UAVObjects
|
||||
include ./UAVObjects.inc
|
||||
|
||||
@ -130,6 +130,7 @@ UAVOBJSRCFILENAMES += hottbridgesettings
|
||||
UAVOBJSRCFILENAMES += hottbridgestatus
|
||||
UAVOBJSRCFILENAMES += takeofflocation
|
||||
UAVOBJSRCFILENAMES += perfcounter
|
||||
UAVOBJSRCFILENAMES += frskysporttelemetrysettings
|
||||
UAVOBJSRCFILENAMES += systemidentsettings
|
||||
UAVOBJSRCFILENAMES += systemidentstate
|
||||
|
||||
|
||||
@ -88,10 +88,12 @@
|
||||
#define PIOS_INCLUDE_HMC5X83
|
||||
#define PIOS_INCLUDE_HMC5X83_INTERNAL
|
||||
#define PIOS_HMC5X83_HAS_GPIOS
|
||||
#define PIOS_INCLUDE_QMC5883L
|
||||
/* #define PIOS_INCLUDE_BMP085 */
|
||||
#define PIOS_INCLUDE_MS56XX
|
||||
#define PIOS_INCLUDE_MPXV
|
||||
#define PIOS_INCLUDE_ETASV3
|
||||
#define PIOS_INCLUDE_SDP3X
|
||||
#define PIOS_INCLUDE_MS4525DO
|
||||
/* #define PIOS_INCLUDE_HCSR04 */
|
||||
|
||||
@ -162,6 +164,7 @@
|
||||
#define PIOS_INCLUDE_GPS_DJI_PARSER
|
||||
#define PIOS_GPS_SETS_HOMELOCATION
|
||||
#define PIOS_INCLUDE_FRSKY_SENSORHUB
|
||||
#define PIOS_INCLUDE_FRSKY_SPORT
|
||||
|
||||
/* Stabilization options */
|
||||
#define PIOS_QUATERNION_STABILIZATION
|
||||
|
||||
@ -66,6 +66,7 @@ static const PIOS_BOARD_IO_UART_Function flexiio_function_map[] = {
|
||||
[HWSETTINGS_RM_RCVRPORT_PPMMAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_RM_RCVRPORT_PPMGPS] = PIOS_BOARD_IO_UART_GPS,
|
||||
[HWSETTINGS_RM_RCVRPORT_PPMHOTTTELEMETRY] = PIOS_BOARD_IO_UART_HOTT_BRIDGE,
|
||||
[HWSETTINGS_RM_RCVRPORT_PPMFRSKYSPORT] = PIOS_BOARD_IO_UART_FRSKY_SPORT,
|
||||
[HWSETTINGS_RM_RCVRPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
|
||||
[HWSETTINGS_RM_RCVRPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
|
||||
[HWSETTINGS_RM_RCVRPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
|
||||
@ -75,6 +76,7 @@ static const PIOS_BOARD_IO_UART_Function flexiio_function_map[] = {
|
||||
[HWSETTINGS_RM_RCVRPORT_IBUS] = PIOS_BOARD_IO_UART_IBUS,
|
||||
[HWSETTINGS_RM_RCVRPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
|
||||
[HWSETTINGS_RM_RCVRPORT_HOTTTELEMETRY] = PIOS_BOARD_IO_UART_HOTT_BRIDGE,
|
||||
[HWSETTINGS_RM_RCVRPORT_FRSKYSPORT] = PIOS_BOARD_IO_UART_FRSKY_SPORT,
|
||||
};
|
||||
|
||||
static const PIOS_BOARD_IO_UART_Function main_function_map[] = {
|
||||
@ -89,6 +91,7 @@ static const PIOS_BOARD_IO_UART_Function main_function_map[] = {
|
||||
[HWSETTINGS_RM_MAINPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_RM_MAINPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
|
||||
[HWSETTINGS_RM_MAINPORT_HOTTTELEMETRY] = PIOS_BOARD_IO_UART_HOTT_BRIDGE,
|
||||
[HWSETTINGS_RM_MAINPORT_FRSKYSPORT] = PIOS_BOARD_IO_UART_FRSKY_SPORT,
|
||||
};
|
||||
|
||||
static const PIOS_BOARD_IO_UART_Function flexi_function_map[] = {
|
||||
@ -107,6 +110,7 @@ static const PIOS_BOARD_IO_UART_Function flexi_function_map[] = {
|
||||
[HWSETTINGS_RM_FLEXIPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
||||
[HWSETTINGS_RM_FLEXIPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
|
||||
[HWSETTINGS_RM_FLEXIPORT_HOTTTELEMETRY] = PIOS_BOARD_IO_UART_HOTT_BRIDGE,
|
||||
[HWSETTINGS_RM_FLEXIPORT_FRSKYSPORT] = PIOS_BOARD_IO_UART_FRSKY_SPORT,
|
||||
};
|
||||
|
||||
/**
|
||||
@ -295,6 +299,7 @@ void PIOS_Board_Init(void)
|
||||
case HWSETTINGS_RM_RCVRPORT_PPMMAVLINK:
|
||||
case HWSETTINGS_RM_RCVRPORT_PPMGPS:
|
||||
case HWSETTINGS_RM_RCVRPORT_PPMHOTTTELEMETRY:
|
||||
case HWSETTINGS_RM_RCVRPORT_PPMFRSKYSPORT:
|
||||
#if defined(PIOS_INCLUDE_PPM)
|
||||
PIOS_BOARD_IO_Configure_PPM_RCVR(&pios_ppm_cfg);
|
||||
|
||||
|
||||
@ -131,6 +131,7 @@ extern uint32_t pios_i2c_mag_pressure_adapter_id;
|
||||
extern uint32_t pios_i2c_flexiport_adapter_id;
|
||||
#define PIOS_I2C_FLEXI_ADAPTER (pios_i2c_flexiport_adapter_id)
|
||||
#define PIOS_I2C_ETASV3_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
|
||||
#define PIOS_I2C_SDP3X_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
|
||||
#define PIOS_I2C_MS4525DO_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
|
||||
#define PIOS_I2C_EXTERNAL_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
|
||||
|
||||
@ -276,7 +277,7 @@ extern uint32_t pios_packet_handler;
|
||||
// Receiver FlySky IBus input
|
||||
// -------------------------
|
||||
#define PIOS_IBUS_MAX_DEVS 1
|
||||
#define PIOS_IBUS_NUM_INPUTS 10
|
||||
#define PIOS_IBUS_NUM_INPUTS 14
|
||||
|
||||
// -------------------------
|
||||
// Servo outputs
|
||||
|
||||
@ -86,11 +86,13 @@
|
||||
// #define PIOS_MPU6000_ACCEL
|
||||
/* #define PIOS_INCLUDE_HMC5843 */
|
||||
#define PIOS_INCLUDE_HMC5X83
|
||||
#define PIOS_INCLUDE_QMC5883L
|
||||
// #define PIOS_HMC5X83_HAS_GPIOS
|
||||
/* #define PIOS_INCLUDE_BMP085 */
|
||||
#define PIOS_INCLUDE_MS56XX
|
||||
#define PIOS_INCLUDE_MPXV
|
||||
#define PIOS_INCLUDE_ETASV3
|
||||
#define PIOS_INCLUDE_SDP3X
|
||||
#define PIOS_INCLUDE_MS4525DO
|
||||
#define PIOS_INCLUDE_MPU9250
|
||||
#define PIOS_MPU9250_ACCEL
|
||||
|
||||
@ -127,6 +127,7 @@ extern uint32_t pios_i2c_eeprom_pressure_adapter_id;
|
||||
extern uint32_t pios_i2c_flexiport_adapter_id;
|
||||
#define PIOS_I2C_FLEXI_ADAPTER (pios_i2c_flexiport_adapter_id)
|
||||
#define PIOS_I2C_ETASV3_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
|
||||
#define PIOS_I2C_SDP3X_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
|
||||
#define PIOS_I2C_MS4525DO_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
|
||||
#define PIOS_I2C_EXTERNAL_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
|
||||
|
||||
@ -271,7 +272,7 @@ extern uint32_t pios_packet_handler;
|
||||
// Receiver FlySky IBus input
|
||||
// -------------------------
|
||||
#define PIOS_IBUS_MAX_DEVS 1
|
||||
#define PIOS_IBUS_NUM_INPUTS 10
|
||||
#define PIOS_IBUS_NUM_INPUTS 14
|
||||
|
||||
// -------------------------
|
||||
// Servo outputs
|
||||
|
||||
@ -85,10 +85,12 @@
|
||||
#define PIOS_INCLUDE_HMC5X83
|
||||
#define PIOS_INCLUDE_HMC5X83_INTERNAL
|
||||
#define PIOS_HMC5X83_HAS_GPIOS
|
||||
#define PIOS_INCLUDE_QMC5883L
|
||||
/* #define PIOS_INCLUDE_BMP085 */
|
||||
#define PIOS_INCLUDE_MS56XX
|
||||
#define PIOS_INCLUDE_MPXV
|
||||
#define PIOS_INCLUDE_ETASV3
|
||||
#define PIOS_INCLUDE_SDP3X
|
||||
/* #define PIOS_INCLUDE_HCSR04 */
|
||||
|
||||
#define PIOS_SENSOR_RATE 500.0f
|
||||
|
||||
@ -114,6 +114,7 @@ extern uint32_t pios_i2c_pressure_adapter_id;
|
||||
extern uint32_t pios_i2c_flexiport_adapter_id;
|
||||
#define PIOS_I2C_FLEXI_ADAPTER (pios_i2c_flexiport_adapter_id)
|
||||
#define PIOS_I2C_ETASV3_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
|
||||
#define PIOS_I2C_SDP3X_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
|
||||
#define PIOS_I2C_EXTERNAL_ADAPTER (pios_i2c_flexiport_adapter_id)
|
||||
|
||||
|
||||
|
||||
@ -86,11 +86,13 @@
|
||||
/* seems to be completely unused #define PIOS_MPU6000_ACCEL */
|
||||
/* #define PIOS_INCLUDE_HMC5843 */
|
||||
#define PIOS_INCLUDE_HMC5X83
|
||||
#define PIOS_INCLUDE_QMC5883L
|
||||
/* Sparky2 5X83s are all external and thus don't have GPIOs #define PIOS_HMC5X83_HAS_GPIOS */
|
||||
/* #define PIOS_INCLUDE_BMP085 */
|
||||
#define PIOS_INCLUDE_MS56XX
|
||||
#define PIOS_INCLUDE_MPXV
|
||||
#define PIOS_INCLUDE_ETASV3
|
||||
#define PIOS_INCLUDE_SDP3X
|
||||
#define PIOS_INCLUDE_MS4525DO
|
||||
#define PIOS_INCLUDE_MPU9250
|
||||
#define PIOS_MPU9250_ACCEL
|
||||
|
||||
@ -133,6 +133,7 @@ extern uint32_t pios_i2c_pressure_adapter_id;
|
||||
extern uint32_t pios_i2c_flexiport_adapter_id;
|
||||
#define PIOS_I2C_FLEXI_ADAPTER (pios_i2c_flexiport_adapter_id)
|
||||
#define PIOS_I2C_ETASV3_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
|
||||
#define PIOS_I2C_SDP3X_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
|
||||
#define PIOS_I2C_MS4525DO_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
|
||||
|
||||
// -------------------------
|
||||
@ -278,7 +279,7 @@ extern uint32_t pios_packet_handler;
|
||||
// Receiver FlySky IBus input
|
||||
// -------------------------
|
||||
#define PIOS_IBUS_MAX_DEVS 1
|
||||
#define PIOS_IBUS_NUM_INPUTS 10
|
||||
#define PIOS_IBUS_NUM_INPUTS 14
|
||||
|
||||
// -------------------------
|
||||
// Servo outputs
|
||||
|
||||
@ -88,6 +88,7 @@
|
||||
#define PIOS_INCLUDE_HMC5X83
|
||||
#define PIOS_INCLUDE_HMC5X83_INTERNAL
|
||||
#define PIOS_HMC5883_HAS_GPIOS
|
||||
#define PIOS_INCLUDE_QMC5883L
|
||||
/* #define PIOS_INCLUDE_BMP085 */
|
||||
#define PIOS_INCLUDE_MS56XX
|
||||
/* #define PIOS_INCLUDE_MPXV */
|
||||
|
||||
@ -214,7 +214,7 @@ extern uint32_t pios_ws2811_id;
|
||||
// Receiver FlySky IBus input
|
||||
// -------------------------
|
||||
#define PIOS_IBUS_MAX_DEVS 1
|
||||
#define PIOS_IBUS_NUM_INPUTS 10
|
||||
#define PIOS_IBUS_NUM_INPUTS 14
|
||||
|
||||
// -------------------------
|
||||
// Servo outputs
|
||||
|
||||
@ -86,6 +86,7 @@
|
||||
/* #define PIOS_MPU6000_ACCEL */
|
||||
/* #define PIOS_INCLUDE_HMC5843 */
|
||||
#define PIOS_INCLUDE_HMC5X83
|
||||
#define PIOS_INCLUDE_QMC5883L
|
||||
/* #define PIOS_HMC5883_HAS_GPIOS */
|
||||
#define PIOS_INCLUDE_MPU9250
|
||||
#define PIOS_MPU9250_ACCEL
|
||||
|
||||
@ -219,7 +219,7 @@ extern uint32_t pios_ws2811_id;
|
||||
// Receiver FlySky IBus input
|
||||
// -------------------------
|
||||
#define PIOS_IBUS_MAX_DEVS 1
|
||||
#define PIOS_IBUS_NUM_INPUTS 10
|
||||
#define PIOS_IBUS_NUM_INPUTS 14
|
||||
|
||||
// -------------------------
|
||||
// Servo outputs
|
||||
|
||||
@ -182,7 +182,7 @@ extern uint32_t pios_ws2811_id;
|
||||
// Receiver FlySky IBus input
|
||||
// -------------------------
|
||||
#define PIOS_IBUS_MAX_DEVS 1
|
||||
#define PIOS_IBUS_NUM_INPUTS 10
|
||||
#define PIOS_IBUS_NUM_INPUTS 14
|
||||
|
||||
// -------------------------
|
||||
// Servo outputs
|
||||
|
||||
@ -102,13 +102,13 @@ struct UAVOBase {
|
||||
bool isSettings : 1;
|
||||
bool isPriority : 1;
|
||||
} flags;
|
||||
} __attribute__((packed));
|
||||
} __attribute__((packed, aligned(4)));
|
||||
|
||||
/* Augmented type for Meta UAVO */
|
||||
struct UAVOMeta {
|
||||
struct UAVOBase base;
|
||||
UAVObjMetadata instance0;
|
||||
} __attribute__((packed));
|
||||
} __attribute__((packed, aligned(4)));
|
||||
|
||||
/* Shared data structure for all data-carrying UAVObjects (UAVOSingle and UAVOMulti) */
|
||||
struct UAVOData {
|
||||
@ -130,7 +130,7 @@ struct UAVOSingle {
|
||||
* Additional space will be malloc'd here to hold the
|
||||
* the data for this instance.
|
||||
*/
|
||||
} __attribute__((packed));
|
||||
} __attribute__((packed, aligned(4)));
|
||||
|
||||
/* Part of a linked list of instances chained off of a multi instance UAVO. */
|
||||
struct UAVOMultiInst {
|
||||
@ -151,7 +151,7 @@ struct UAVOMulti {
|
||||
* Additional space will be malloc'd here to hold the
|
||||
* the data for instance 0.
|
||||
*/
|
||||
} __attribute__((packed));
|
||||
} __attribute__((packed, aligned(4)));
|
||||
|
||||
/** all information about a metaobject are hardcoded constants **/
|
||||
#define MetaNumBytes sizeof(UAVObjMetadata)
|
||||
|
||||
@ -128,6 +128,8 @@ void ConfigCameraStabilizationWidget::refreshWidgetsValuesImpl(UAVObject *obj)
|
||||
&mixerSettingsData.Mixer8Type,
|
||||
&mixerSettingsData.Mixer9Type,
|
||||
&mixerSettingsData.Mixer10Type,
|
||||
&mixerSettingsData.Mixer11Type,
|
||||
&mixerSettingsData.Mixer12Type,
|
||||
};
|
||||
const int NUM_MIXERS = sizeof(mixerTypes) / sizeof(mixerTypes[0]);
|
||||
|
||||
@ -183,6 +185,8 @@ void ConfigCameraStabilizationWidget::updateObjectsFromWidgetsImpl()
|
||||
&mixerSettingsData.Mixer8Type,
|
||||
&mixerSettingsData.Mixer9Type,
|
||||
&mixerSettingsData.Mixer10Type,
|
||||
&mixerSettingsData.Mixer11Type,
|
||||
&mixerSettingsData.Mixer12Type,
|
||||
};
|
||||
const int NUM_MIXERS = sizeof(mixerTypes) / sizeof(mixerTypes[0]);
|
||||
|
||||
|
||||
@ -147,7 +147,7 @@ void InputChannelForm::groupUpdated()
|
||||
count = 8; // Need to make this 6 for CC
|
||||
break;
|
||||
case ManualControlSettings::CHANNELGROUPS_IBUS:
|
||||
count = 10;
|
||||
count = 14;
|
||||
break;
|
||||
case ManualControlSettings::CHANNELGROUPS_DSMMAINPORT:
|
||||
case ManualControlSettings::CHANNELGROUPS_DSMFLEXIPORT:
|
||||
|
||||
@ -229,13 +229,16 @@ void FlightLogManager::retrieveLogs(int flightToRetrieve)
|
||||
// cycle until there is space for another object
|
||||
while (start + header_len + 1 < data_len) {
|
||||
memset(&fields, 0xFF, total_len);
|
||||
memcpy(&fields, &logEntry->getData().Data[start], header_len);
|
||||
ExtendedDebugLogEntry::DataFields tmp = logEntry->getData();
|
||||
memcpy(&fields, &tmp.Data[start], header_len);
|
||||
|
||||
// check wether a packed object is found
|
||||
// note that empty data blocks are set as 0xFF in flight side to minimize flash wearing
|
||||
// thus as soon as this read outside of used area, the test will fail as lenght would be 0xFFFF
|
||||
quint32 toread = header_len + fields.Size;
|
||||
if (!(toread + start > data_len)) {
|
||||
memcpy(&fields, &logEntry->getData().Data[start], toread);
|
||||
tmp = logEntry->getData();
|
||||
memcpy(&fields, &tmp.Data[start], toread);
|
||||
ExtendedDebugLogEntry *subEntry = new ExtendedDebugLogEntry();
|
||||
subEntry->setData(fields, m_objectManager);
|
||||
m_logEntries << subEntry;
|
||||
|
||||
@ -81,6 +81,7 @@ UAVOBJS = \
|
||||
$${UAVOBJ_XML_DIR}/flightplanstatus.xml \
|
||||
$${UAVOBJ_XML_DIR}/flightstatus.xml \
|
||||
$${UAVOBJ_XML_DIR}/flighttelemetrystats.xml \
|
||||
$${UAVOBJ_XML_DIR}/frskysporttelemetrysettings.xml \
|
||||
$${UAVOBJ_XML_DIR}/gcsreceiver.xml \
|
||||
$${UAVOBJ_XML_DIR}/gcstelemetrystats.xml \
|
||||
$${UAVOBJ_XML_DIR}/gpsextendedstatus.xml \
|
||||
|
||||
@ -1,24 +1,26 @@
|
||||
if [ "$uname" = Linux ]
|
||||
then
|
||||
url_ext="linux.tar.bz2"
|
||||
url_ext="x86_64-linux.tar.bz2"
|
||||
tool_md5="2383e4eb4ea23f248d33adc70dc3227e"
|
||||
elif [ "$uname" = Darwin ]
|
||||
then
|
||||
url_ext="mac.tar.bz2"
|
||||
tool_md5="7f2a7b7b23797302a9d6182c6e482449"
|
||||
elif [ "$uname" = Windows ]
|
||||
then
|
||||
url_ext="win32.zip"
|
||||
tool_md5="2bc8f0c4c4659f8259c8176223eeafc1"
|
||||
depends=(7z)
|
||||
fi
|
||||
|
||||
pkgver=4.9_2015_q2_update
|
||||
pkgdate=20150609
|
||||
pkgver=10.3-2021.10
|
||||
_pkgver=${pkgver//_/-}
|
||||
_pkgvershort=${_pkgver%-*}
|
||||
_pkgvershort=${_pkgvershort/-q/q}
|
||||
|
||||
tool_url="https://launchpad.net/gcc-arm-embedded/${pkgver%%_*}/${_pkgver}/+download/${tool}-${_pkgvershort/./_}-${pkgdate}-${url_ext}"
|
||||
tool_md5_url="${tool_url}/+md5"
|
||||
tool_install_name="${tool}-${_pkgvershort/./_}"
|
||||
tool_url="https://developer.arm.com/-/media/Files/downloads/gnu-rm/${pkgver}/${tool}-${pkgver}-${url_ext}"
|
||||
#tool_install_name="${tool}-${_pkgvershort/./_}"
|
||||
tool_install_name="${tool}-${pkgver}"
|
||||
if [ "$uname" = Windows ]
|
||||
then
|
||||
tool_extract_dir=$tools_dir/$tool_install_name
|
||||
|
||||
@ -92,6 +92,7 @@ TOOLS_URL := http://librepilot.github.io/tools
|
||||
|
||||
QT_SHORT_VERSION := 5.9
|
||||
QT_VERSION := 5.9.0
|
||||
QT_FOLDER := archive
|
||||
|
||||
OSG_VERSION := 3.5.5
|
||||
OSGEARTH_VERSION := 2.8
|
||||
@ -99,8 +100,8 @@ OSGEARTH_VERSION := 2.8
|
||||
ifeq ($(UNAME), Linux)
|
||||
ifeq ($(ARCH), x86_64)
|
||||
QT_SDK_ARCH := gcc_64
|
||||
QT_SDK_URL := http://download.qt.io/official_releases/qt/$(QT_SHORT_VERSION)/$(QT_VERSION)/qt-opensource-linux-x64-$(QT_VERSION).run
|
||||
QT_SDK_MD5_URL := http://download.qt.io/official_releases/qt/$(QT_SHORT_VERSION)/$(QT_VERSION)/md5sums.txt
|
||||
QT_SDK_URL := http://download.qt.io/$(QT_FOLDER)/qt/$(QT_SHORT_VERSION)/$(QT_VERSION)/qt-opensource-linux-x64-$(QT_VERSION).run
|
||||
QT_SDK_MD5_URL := http://download.qt.io/$(QT_FOLDER)/qt/$(QT_SHORT_VERSION)/$(QT_VERSION)/md5sums.txt
|
||||
OSG_URL := $(TOOLS_URL)/osg-$(OSG_VERSION)-linux-x64.tar.gz
|
||||
OSGEARTH_URL := $(TOOLS_URL)/osgearth-$(OSGEARTH_VERSION)-linux-x64.tar.gz
|
||||
else
|
||||
@ -110,8 +111,8 @@ ifeq ($(UNAME), Linux)
|
||||
DOXYGEN_URL := $(TOOLS_URL)/doxygen-1.8.3.1.src.tar.gz
|
||||
else ifeq ($(UNAME), Darwin)
|
||||
QT_SDK_ARCH := clang_64
|
||||
QT_SDK_URL := http://download.qt.io/official_releases/qt/$(QT_SHORT_VERSION)/$(QT_VERSION)/qt-opensource-mac-x64-$(QT_VERSION).dmg
|
||||
QT_SDK_MD5_URL := http://download.qt.io/official_releases/qt/$(QT_SHORT_VERSION)/$(QT_VERSION)/md5sums.txt
|
||||
QT_SDK_URL := http://download.qt.io/$(QT_FOLDER)/qt/$(QT_SHORT_VERSION)/$(QT_VERSION)/qt-opensource-mac-x64-$(QT_VERSION).dmg
|
||||
QT_SDK_MD5_URL := http://download.qt.io/$(QT_FOLDER)/qt/$(QT_SHORT_VERSION)/$(QT_VERSION)/md5sums.txt
|
||||
QT_SDK_MOUNT_DIR := /Volumes/qt-opensource-mac-x64-$(QT_VERSION)
|
||||
QT_SDK_MAINTENANCE_TOOL := /Volumes/qt-opensource-mac-x64-$(QT_VERSION)/qt-opensource-mac-x64-$(QT_VERSION).app/Contents/MacOS/qt-opensource-mac-x64-$(QT_VERSION)
|
||||
UNCRUSTIFY_URL := $(TOOLS_URL)/uncrustify-0.60.tar.gz
|
||||
@ -120,8 +121,8 @@ else ifeq ($(UNAME), Darwin)
|
||||
OSGEARTH_URL := $(TOOLS_URL)/osgearth-$(OSGEARTH_VERSION)-clang_64.tar.gz
|
||||
else ifeq ($(UNAME), Windows)
|
||||
QT_SDK_ARCH := mingw53_32
|
||||
QT_SDK_URL := http://download.qt.io/official_releases/qt/$(QT_SHORT_VERSION)/$(QT_VERSION)/qt-opensource-windows-x86-mingw530-$(QT_VERSION).exe
|
||||
QT_SDK_MD5_URL := http://download.qt.io/official_releases/qt/$(QT_SHORT_VERSION)/$(QT_VERSION)/md5sums.txt
|
||||
QT_SDK_URL := http://download.qt.io/$(QT_FOLDER)/qt/$(QT_SHORT_VERSION)/$(QT_VERSION)/qt-opensource-windows-x86-mingw530-$(QT_VERSION).exe
|
||||
QT_SDK_MD5_URL := http://download.qt.io/$(QT_FOLDER)/qt/$(QT_SHORT_VERSION)/$(QT_VERSION)/md5sums.txt
|
||||
NSIS_URL := $(TOOLS_URL)/nsis-2.46-unicode.tar.bz2
|
||||
MESAWIN_URL := $(TOOLS_URL)/mesawin.tar.gz
|
||||
UNCRUSTIFY_URL := $(TOOLS_URL)/uncrustify-0.60-windows.tar.bz2
|
||||
|
||||
@ -4,7 +4,7 @@
|
||||
<field name="SamplePeriod" units="ms" type="uint8" elements="1" defaultvalue="100"/>
|
||||
<field name="ZeroPoint" units="raw" type="uint16" elements="1" defaultvalue="0"/>
|
||||
<field name="Scale" units="raw" type="float" elements="1" defaultvalue="1.0"/>
|
||||
<field name="AirspeedSensorType" units="" type="enum" elements="1" options="PixHawkAirspeedMS4525DO,EagleTreeAirspeedV3,DIYDronesMPXV5004,DIYDronesMPXV7002,GroundSpeedBasedWindEstimation,None" defaultvalue="None"/>
|
||||
<field name="AirspeedSensorType" units="" type="enum" elements="1" options="PixHawkAirspeedMS4525DO,EagleTreeAirspeedV3,SDP3x,DIYDronesMPXV5004,DIYDronesMPXV7002,GroundSpeedBasedWindEstimation,None" defaultvalue="None"/>
|
||||
<field name="IMUBasedEstimationLowPassPeriod1" units="s" type="float" elements="1" defaultvalue="0.5" />
|
||||
<field name="IMUBasedEstimationLowPassPeriod2" units="s" type="float" elements="1" defaultvalue="10" />
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
|
||||
12
shared/uavobjectdefinition/frskysporttelemetrysettings.xml
Normal file
12
shared/uavobjectdefinition/frskysporttelemetrysettings.xml
Normal file
@ -0,0 +1,12 @@
|
||||
<xml>
|
||||
<object name="FrSKYSPortTelemetrySettings" singleinstance="true" settings="true" category="System">
|
||||
<description>FrSKY S.Port Telemetry configuration.</description>
|
||||
|
||||
<field name="AccelData" units="" type="enum" elements="1" options="Accels,NEDAccels, NEDVelocity, AttitudeAngles" defaultvalue="Accels"/>
|
||||
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
<logging updatemode="manual" period="0"/>
|
||||
</object>
|
||||
</xml>
|
||||
@ -11,11 +11,11 @@
|
||||
<field name="RV_TelemetryPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,ComAux,ComBridge,MSP,MAVLink" defaultvalue="Telemetry"/>
|
||||
<field name="RV_GPSPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,ComAux,ComBridge,MSP,MAVLink" defaultvalue="GPS"/>
|
||||
|
||||
<field name="RM_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+PWM,PPM+Outputs,PPM+Telemetry,PPM+DebugConsole,PPM+ComBridge,PPM+MSP,PPM+MAVLink,PPM+GPS,PPM+HoTT Telemetry,Outputs,Telemetry,DebugConsole,ComBridge,MSP,MAVLink,GPS,HoTT Telemetry,IBus,FrskySensorHub"
|
||||
<field name="RM_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+PWM,PPM+Outputs,PPM+Telemetry,PPM+DebugConsole,PPM+ComBridge,PPM+MSP,PPM+MAVLink,PPM+GPS,PPM+HoTT Telemetry,PPM+FrSkySPort,Outputs,Telemetry,DebugConsole,ComBridge,MSP,MAVLink,GPS,HoTT Telemetry,IBus,FrskySensorHub,FrSkySPort"
|
||||
defaultvalue="PWM"
|
||||
limits="%0905NE:PPM+PWM:PPM+Telemetry:PPM+DebugConsole:PPM+ComBridge:PPM+MSP:PPM+MAVLink:PPM+GPS:PPM+HoTT Telemetry:Telemetry:DebugConsole:ComBridge:MSP:MAVLink:GPS:HoTT Telemetry:IBus;"/>
|
||||
<field name="RM_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM,HoTT Telemetry,DebugConsole,ComBridge,OsdHk,MSP,MAVLink,FrskySensorHub" defaultvalue="Disabled"/>
|
||||
<field name="RM_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM,EX.Bus,HoTT SUMD,HoTT SUMH,HoTT Telemetry,SRXL,IBus,DebugConsole,ComBridge,OsdHk,MSP,MAVLink,FrskySensorHub" defaultvalue="Disabled"/>
|
||||
limits="%0905NE:PPM+PWM:PPM+Telemetry:PPM+DebugConsole:PPM+ComBridge:PPM+MSP:PPM+MAVLink:PPM+GPS:PPM+HoTT Telemetry:PPM+FrSkySPort:Telemetry:DebugConsole:ComBridge:MSP:MAVLink:GPS:HoTT Telemetry:IBus:FrskySensorHub:FrSkySPort;"/>
|
||||
<field name="RM_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM,HoTT Telemetry,DebugConsole,ComBridge,OsdHk,MSP,MAVLink,FrskySensorHub,FrSkySPort" defaultvalue="Disabled"/>
|
||||
<field name="RM_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM,EX.Bus,HoTT SUMD,HoTT SUMH,HoTT Telemetry,SRXL,IBus,DebugConsole,ComBridge,OsdHk,MSP,MAVLink,FrskySensorHub,FrSkySPort" defaultvalue="Disabled"/>
|
||||
|
||||
<field name="SPK2_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PPM,S.Bus,DSM,SRXL,IBus,EX.Bus,HoTT SUMD,HoTT SUMH" defaultvalue="PPM"/>
|
||||
<field name="SPK2_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,DSM,DebugConsole,ComBridge,OsdHk,MSP,MAVLink,FrskySensorHub" defaultvalue="Disabled"/>
|
||||
@ -35,6 +35,7 @@
|
||||
<field name="ADCRouting" units="" type="enum" elementnames="adc0,adc1,adc2,adc3,adc4,adc5,adc6,adc7" options="Disabled,BatteryVoltage,BatteryCurrent,AnalogAirspeed,NTCTemperature,LM35Temperature,Generic" defaultvalue="Disabled"/>
|
||||
<field name="DSMxBind" units="" type="uint8" elements="1" defaultvalue="0"/>
|
||||
<field name="SBusMode" units="" type="enum" elements="1" options="Normal,Non Inverted" defaultvalue="Normal"/>
|
||||
<field name="SPortMode" units="" type="enum" elements="1" options="HalfDuplexNonInverted,HalfDuplexInverted,FullDuplexNonInverted,FullDuplexInverted" defaultvalue="HalfDuplexNonInverted"/>
|
||||
<field name="WS2811LED_Out" units="" type="enum" elements="1" options="ServoOut1,ServoOut2,ServoOut3,ServoOut4,ServoOut5,ServoOut6,FlexiIOPin3,FlexiIOPin4,Disabled" defaultvalue="Disabled"
|
||||
limits="%0905NE:ServoOut2:ServoOut3:ServoOut4:ServoOut5:ServoOut6:FlexiIOPin3:FlexiIOPin4;"
|
||||
/>
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue
Block a user