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LP-291 Initial port
This commit is contained in:
Vladimir Zidar
parent
137b3b24c1
commit
1e32ccb1d0
846
flight/modules/UAVOMSPBridge/UAVOMSPBridge.c
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846
flight/modules/UAVOMSPBridge/UAVOMSPBridge.c
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@ -0,0 +1,846 @@
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/**
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******************************************************************************
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* @addtogroup TauLabsModules TauLabs Modules
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* @{
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* @addtogroup UAVOMSPBridge UAVO to MSP Bridge Module
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* @{
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*
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* @file uavomspbridge.c
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* @author Tau Labs, http://taulabs.org, Copyright (C) 2015
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* @author dRonin, http://dronin.org Copyright (C) 2015-2016
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* @brief Bridges selected UAVObjects to MSP for MWOSD and the like.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*
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* Additional note on redistribution: The copyright and license notices above
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* must be maintained in each individual source file that is a derivative work
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* of this source file; otherwise redistribution is prohibited.
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*/
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#include "openpilot.h"
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//#include "physical_constants.h"
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#include "receiverstatus.h"
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#include "hwsettings.h"
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#include "flightbatterysettings.h"
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#include "flightbatterystate.h"
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#include "gpspositionsensor.h"
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#include "manualcontrolcommand.h"
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#include "accessorydesired.h"
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#include "attitudestate.h"
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#include "airspeedstate.h"
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#include "actuatorsettings.h"
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#include "actuatordesired.h"
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#include "flightstatus.h"
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#include "systemstats.h"
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#include "systemalarms.h"
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#include "homelocation.h"
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#include "barosensor.h"
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#include "stabilizationdesired.h"
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//#include "pios_thread.h"
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#include "pios_sensors.h"
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#define WGS84_RADIUS_EARTH_KM 6371.008f // Earth's radius in km
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#define PI 3.14159265358979323846f // [-]
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#define PIOS_INCLUDE_MSP_BRIDGE
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#if defined(PIOS_INCLUDE_MSP_BRIDGE)
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#define MSP_SENSOR_ACC (1 << 0)
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#define MSP_SENSOR_BARO (1 << 1)
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#define MSP_SENSOR_MAG (1 << 2)
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#define MSP_SENSOR_GPS (1 << 3)
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#define MSP_SENSOR_SONAR (1 << 4)
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// Magic numbers copied from mwosd
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#define MSP_IDENT 100 // multitype + multiwii version + protocol version + capability variable
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#define MSP_STATUS 101 // cycletime & errors_count & sensor present & box activation & current setting number
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#define MSP_RAW_IMU 102 // 9 DOF
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#define MSP_SERVO 103 // 8 servos
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#define MSP_MOTOR 104 // 8 motors
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#define MSP_RC 105 // 8 rc chan and more
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#define MSP_RAW_GPS 106 // fix, numsat, lat, lon, alt, speed, ground course
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#define MSP_COMP_GPS 107 // distance home, direction home
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#define MSP_ATTITUDE 108 // 2 angles 1 heading
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#define MSP_ALTITUDE 109 // altitude, variometer
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#define MSP_ANALOG 110 // vbat, powermetersum, rssi if available on RX
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#define MSP_RC_TUNING 111 // rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
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#define MSP_PID 112 // P I D coeff (9 are used currently)
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#define MSP_BOX 113 // BOX setup (number is dependant of your setup)
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#define MSP_MISC 114 // powermeter trig
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#define MSP_MOTOR_PINS 115 // which pins are in use for motors & servos, for GUI
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#define MSP_BOXNAMES 116 // the aux switch names
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#define MSP_PIDNAMES 117 // the PID names
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#define MSP_BOXIDS 119 // get the permanent IDs associated to BOXes
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#define MSP_NAV_STATUS 121 // Returns navigation status
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#define MSP_CELLS 130 // FrSky SPort Telemtry
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#define MSP_ALARMS 242 // Alarm request
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typedef enum {
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MSP_BOX_ARM,
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MSP_BOX_ANGLE,
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MSP_BOX_HORIZON,
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MSP_BOX_BARO,
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MSP_BOX_VARIO,
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MSP_BOX_MAG,
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MSP_BOX_GPSHOME,
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MSP_BOX_GPSHOLD,
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MSP_BOX_LAST,
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} msp_box_t;
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static const struct {
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msp_box_t mode;
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uint8_t mwboxid;
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FlightStatusFlightModeOptions flightMode;
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StabilizationDesiredStabilizationModeOptions thrustMode;
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} msp_boxes[] = {
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{ MSP_BOX_ARM, 0, 0, 0xff},
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{ MSP_BOX_ANGLE, 1, 0, 0xff},
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{ MSP_BOX_HORIZON, 2, 0, 0xff},
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{ MSP_BOX_BARO, 3, 0, STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD },
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{ MSP_BOX_VARIO, 4, 0, STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO },
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{ MSP_BOX_MAG, 5, 0, 0xff},
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{ MSP_BOX_GPSHOME, 10, FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE, 0xff},
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{ MSP_BOX_GPSHOLD, 11, FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD, 0xff},
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{ MSP_BOX_LAST, 0xff, 0, 0xff},
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};
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typedef enum {
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MSP_IDLE,
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MSP_HEADER_START,
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MSP_HEADER_M,
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MSP_HEADER_SIZE,
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MSP_HEADER_CMD,
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MSP_FILLBUF,
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MSP_CHECKSUM,
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MSP_DISCARD,
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MSP_MAYBE_UAVTALK2,
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MSP_MAYBE_UAVTALK3,
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MSP_MAYBE_UAVTALK4,
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MSP_MAYBE_UAVTALK_SLOW2,
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MSP_MAYBE_UAVTALK_SLOW3,
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MSP_MAYBE_UAVTALK_SLOW4,
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MSP_MAYBE_UAVTALK_SLOW5,
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MSP_MAYBE_UAVTALK_SLOW6
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} msp_state;
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#define MSP_ANALOG_VOLTAGE (1 << 0)
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#define MSP_ANALOG_CURRENT (1 << 1)
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struct msp_bridge {
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uintptr_t com;
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uint8_t sensors;
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uint8_t analog;
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msp_state state;
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uint8_t cmd_size;
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uint8_t cmd_id;
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uint8_t cmd_i;
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uint8_t checksum;
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union {
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uint8_t data[0];
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// Specific packed data structures go here.
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} cmd_data;
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};
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#if defined(PIOS_MSP_STACK_SIZE)
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#define STACK_SIZE_BYTES PIOS_MSP_STACK_SIZE
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#else
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#define STACK_SIZE_BYTES 768
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#endif
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#define TASK_PRIORITY (tskIDLE_PRIORITY)
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#define MAX_ALARM_LEN 30
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#define BOOT_DISPLAY_TIME_MS (10*1000)
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static bool module_enabled = false;
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static struct msp_bridge *msp;
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static int32_t uavoMSPBridgeInitialize(void);
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static void uavoMSPBridgeTask(void *parameters);
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static void msp_send(struct msp_bridge *m, uint8_t cmd, const uint8_t *data, size_t len)
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{
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uint8_t buf[5];
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uint8_t cs = (uint8_t)(len) ^ cmd;
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buf[0] = '$';
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buf[1] = 'M';
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buf[2] = '>';
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buf[3] = (uint8_t)(len);
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buf[4] = cmd;
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PIOS_COM_SendBuffer(m->com, buf, sizeof(buf));
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PIOS_COM_SendBuffer(m->com, data, len);
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for (unsigned i = 0; i < len; i++) {
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cs ^= data[i];
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}
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cs ^= 0;
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buf[0] = cs;
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PIOS_COM_SendBuffer(m->com, buf, 1);
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}
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static msp_state msp_state_size(struct msp_bridge *m, uint8_t b)
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{
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m->cmd_size = b;
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m->checksum = b;
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return MSP_HEADER_CMD;
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}
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static msp_state msp_state_cmd(struct msp_bridge *m, uint8_t b)
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{
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m->cmd_i = 0;
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m->cmd_id = b;
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m->checksum ^= m->cmd_id;
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if (m->cmd_size > sizeof(m->cmd_data)) {
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// Too large a body. Let's ignore it.
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return MSP_DISCARD;
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}
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return m->cmd_size == 0 ? MSP_CHECKSUM : MSP_FILLBUF;
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}
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static msp_state msp_state_fill_buf(struct msp_bridge *m, uint8_t b)
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{
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m->cmd_data.data[m->cmd_i++] = b;
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m->checksum ^= b;
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return m->cmd_i == m->cmd_size ? MSP_CHECKSUM : MSP_FILLBUF;
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}
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static void msp_send_attitude(struct msp_bridge *m)
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{
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union {
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uint8_t buf[0];
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struct {
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int16_t x;
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int16_t y;
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int16_t h;
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} att;
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} data;
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AttitudeStateData attState;
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AttitudeStateGet(&attState);
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// Roll and Pitch are in 10ths of a degree.
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data.att.x = attState.Roll * 10;
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data.att.y = attState.Pitch * -10;
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// Yaw is just -180 -> 180
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data.att.h = attState.Yaw;
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msp_send(m, MSP_ATTITUDE, data.buf, sizeof(data));
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}
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static void msp_send_status(struct msp_bridge *m)
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{
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union {
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uint8_t buf[0];
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struct {
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uint16_t cycleTime;
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uint16_t i2cErrors;
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uint16_t sensors;
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uint32_t flags;
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uint8_t setting;
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} __attribute__((packed)) status;
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} data;
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// TODO: https://github.com/TauLabs/TauLabs/blob/next/shared/uavobjectdefinition/actuatordesired.xml#L8
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data.status.cycleTime = 0;
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data.status.i2cErrors = 0;
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data.status.sensors = m->sensors;
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if(GPSPositionSensorHandle() != NULL)
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{
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GPSPositionSensorStatusOptions gpsStatus;
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GPSPositionSensorStatusGet(&gpsStatus);
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if(gpsStatus != GPSPOSITIONSENSOR_STATUS_NOGPS)
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{
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data.status.sensors |= MSP_SENSOR_GPS;
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}
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}
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data.status.flags = 0;
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data.status.setting = 0;
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FlightStatusData flightStatus;
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FlightStatusGet(&flightStatus);
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StabilizationDesiredStabilizationModeData stabModeData;
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StabilizationDesiredStabilizationModeGet(&stabModeData);
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data.status.flags = flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED; // activate "armed" box.
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for (int i = 1; msp_boxes[i].mode != MSP_BOX_LAST; i++) {
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if ( (flightStatus.FlightMode == msp_boxes[i].flightMode)
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|| (stabModeData.Thrust == msp_boxes[i].thrustMode) ) {
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data.status.flags |= (1 << i);
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}
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}
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msp_send(m, MSP_STATUS, data.buf, sizeof(data));
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}
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static void msp_send_analog(struct msp_bridge *m)
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{
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union {
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uint8_t buf[0];
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struct {
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uint8_t vbat;
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uint16_t powerMeterSum;
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uint16_t rssi;
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uint16_t current;
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} __attribute__((packed)) status;
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} data;
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data.status.powerMeterSum = 0;
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if(FlightBatteryStateHandle() != NULL) {
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FlightBatteryStateData batState;
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FlightBatteryStateGet(&batState);
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if(m->analog & MSP_ANALOG_VOLTAGE) {
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data.status.vbat = (uint8_t)lroundf(batState.Voltage * 10);
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}
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if(m->analog & MSP_ANALOG_CURRENT) {
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data.status.current = lroundf(batState.Current * 100);
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data.status.powerMeterSum = lroundf(batState.ConsumedEnergy);
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}
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}
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uint8_t quality;
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ReceiverStatusQualityGet(&quality);
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// MSP RSSI's range is 0-1023
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data.status.rssi = (quality * 1023) / 100;
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if(data.status.rssi > 1023) {
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data.status.rssi = 1023;
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}
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msp_send(m, MSP_ANALOG, data.buf, sizeof(data));
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}
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static void msp_send_ident(__attribute__((unused)) struct msp_bridge *m)
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{
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// TODO
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}
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static void msp_send_raw_gps(struct msp_bridge *m)
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{
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union {
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uint8_t buf[0];
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struct {
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uint8_t fix; // 0 or 1
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uint8_t num_sat;
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int32_t lat; // 1 / 10 000 000 deg
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int32_t lon; // 1 / 10 000 000 deg
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uint16_t alt; // meter
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uint16_t speed; // cm/s
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int16_t ground_course; // degree * 10
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} __attribute__((packed)) raw_gps;
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} data;
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GPSPositionSensorData gps_data;
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if (GPSPositionSensorHandle() != NULL)
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{
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GPSPositionSensorGet(&gps_data);
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data.raw_gps.fix = (gps_data.Status >= GPSPOSITIONSENSOR_STATUS_FIX2D ? 1 : 0); // Data will display on OSD if 2D fix or better
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data.raw_gps.num_sat = gps_data.Satellites;
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data.raw_gps.lat = gps_data.Latitude;
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data.raw_gps.lon = gps_data.Longitude;
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data.raw_gps.alt = (uint16_t)gps_data.Altitude;
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data.raw_gps.speed = (uint16_t)gps_data.Groundspeed;
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data.raw_gps.ground_course = (int16_t)(gps_data.Heading * 10.0f);
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msp_send(m, MSP_RAW_GPS, data.buf, sizeof(data));
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}
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}
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static void msp_send_comp_gps(struct msp_bridge *m)
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{
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union {
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uint8_t buf[0];
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struct {
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uint16_t distance_to_home; // meter
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int16_t direction_to_home; // degree [-180:180]
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uint8_t home_position_valid; // 0 = Invalid, Dronin MSP specific
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} __attribute__((packed)) comp_gps;
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} data;
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GPSPositionSensorData gps_data;
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HomeLocationData home_data;
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if ((GPSPositionSensorHandle() == NULL) || (HomeLocationHandle() == NULL))
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{
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data.comp_gps.distance_to_home = 0;
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data.comp_gps.direction_to_home = 0;
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data.comp_gps.home_position_valid = 0; // Home distance and direction will not display on OSD
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}
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else
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{
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GPSPositionSensorGet(&gps_data);
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HomeLocationGet(&home_data);
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if((gps_data.Status < GPSPOSITIONSENSOR_STATUS_FIX2D) || (home_data.Set == HOMELOCATION_SET_FALSE))
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{
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data.comp_gps.distance_to_home = 0;
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data.comp_gps.direction_to_home = 0;
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data.comp_gps.home_position_valid = 0; // Home distance and direction will not display on OSD
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}
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else
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{
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data.comp_gps.home_position_valid = 1; // Home distance and direction will display on OSD
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int32_t delta_lon = (home_data.Longitude - gps_data.Longitude); // degrees * 1e7
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int32_t delta_lat = (home_data.Latitude - gps_data.Latitude ); // degrees * 1e7
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float delta_y = DEG2RAD( (float)delta_lon * WGS84_RADIUS_EARTH_KM ); // KM * 1e7
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float delta_x = DEG2RAD( (float)delta_lat * WGS84_RADIUS_EARTH_KM ); // KM * 1e7
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delta_y *= cosf( DEG2RAD((float)home_data.Latitude * 1e-7f) ); // Latitude compression correction
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data.comp_gps.distance_to_home = (uint16_t)(sqrtf(delta_x * delta_x + delta_y * delta_y) * 1e-4f); // meters
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if ((delta_lon == 0) && (delta_lat == 0))
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data.comp_gps.direction_to_home = 0;
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else
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data.comp_gps.direction_to_home = RAD2DEG((int16_t)(atan2f(delta_y, delta_x))); // degrees;
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}
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msp_send(m, MSP_COMP_GPS, data.buf, sizeof(data));
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}
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}
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||||
|
||||
static void msp_send_altitude(struct msp_bridge *m)
|
||||
{
|
||||
union {
|
||||
uint8_t buf[0];
|
||||
struct {
|
||||
int32_t alt; // cm
|
||||
uint16_t vario; // cm/s
|
||||
} __attribute__((packed)) baro;
|
||||
} data;
|
||||
|
||||
|
||||
if (BaroSensorHandle() != NULL)
|
||||
{
|
||||
BaroSensorData baro;
|
||||
BaroSensorGet(&baro);
|
||||
|
||||
data.baro.alt = (int32_t)roundf(baro.Altitude * 100.0f);
|
||||
|
||||
msp_send(m, MSP_ALTITUDE, data.buf, sizeof(data));
|
||||
}
|
||||
}
|
||||
|
||||
// Scale stick values whose input range is -1 to 1 to MSP's expected
|
||||
// PWM range of 1000-2000.
|
||||
static uint16_t msp_scale_rc(float percent) {
|
||||
return percent*500 + 1500;
|
||||
}
|
||||
|
||||
// Throttle maps to 1100-1900 and a bit differently as -1 == 1000 and
|
||||
// then jumps immediately to 0 -> 1 for the rest of the range. MWOSD
|
||||
// can learn ranges as wide as they are sent, but defaults to
|
||||
// 1100-1900 so the throttle indicator will vary for the same stick
|
||||
// position unless we send it what it wants right away.
|
||||
static uint16_t msp_scale_rc_thr(float percent) {
|
||||
return percent <= 0 ? 1100 : percent*800 + 1100;
|
||||
}
|
||||
|
||||
// MSP RC order is Roll/Pitch/Yaw/Throttle/AUX1/AUX2/AUX3/AUX4
|
||||
static void msp_send_channels(struct msp_bridge *m)
|
||||
{
|
||||
AccessoryDesiredData acc0, acc1, acc2;
|
||||
ManualControlCommandData manualState;
|
||||
ManualControlCommandGet(&manualState);
|
||||
AccessoryDesiredInstGet(0, &acc0);
|
||||
AccessoryDesiredInstGet(1, &acc1);
|
||||
AccessoryDesiredInstGet(2, &acc2);
|
||||
|
||||
union {
|
||||
uint8_t buf[0];
|
||||
uint16_t channels[8];
|
||||
} data = {
|
||||
.channels = {
|
||||
msp_scale_rc(manualState.Roll),
|
||||
msp_scale_rc(manualState.Pitch * -1), // TL pitch is backwards
|
||||
msp_scale_rc(manualState.Yaw),
|
||||
msp_scale_rc_thr(manualState.Throttle),
|
||||
msp_scale_rc(acc0.AccessoryVal),
|
||||
msp_scale_rc(acc1.AccessoryVal),
|
||||
msp_scale_rc(acc2.AccessoryVal),
|
||||
1000, // no aux4
|
||||
}
|
||||
};
|
||||
|
||||
msp_send(m, MSP_RC, data.buf, sizeof(data));
|
||||
}
|
||||
|
||||
static void msp_send_boxids(struct msp_bridge *m) {
|
||||
uint8_t boxes[MSP_BOX_LAST];
|
||||
int len = 0;
|
||||
|
||||
for (int i = 0; msp_boxes[i].mode != MSP_BOX_LAST; i++) {
|
||||
boxes[len++] = msp_boxes[i].mwboxid;
|
||||
}
|
||||
msp_send(m, MSP_BOXIDS, boxes, len);
|
||||
}
|
||||
|
||||
#define ALARM_OK 0
|
||||
#define ALARM_WARN 1
|
||||
#define ALARM_ERROR 2
|
||||
#define ALARM_CRIT 3
|
||||
|
||||
#define MS2TICKS(m) ((m) / (portTICK_RATE_MS))
|
||||
|
||||
static void msp_send_alarms(__attribute__((unused)) struct msp_bridge *m) {
|
||||
#if 0
|
||||
union {
|
||||
uint8_t buf[0];
|
||||
struct {
|
||||
uint8_t state;
|
||||
char msg[MAX_ALARM_LEN];
|
||||
} __attribute__((packed)) alarm;
|
||||
} data;
|
||||
|
||||
SystemAlarmsData alarm;
|
||||
SystemAlarmsGet(&alarm);
|
||||
|
||||
// Special case early boot times -- just report boot reason
|
||||
|
||||
|
||||
if (xTaskGetTickCount() < MS2TICKS(10*1000)) {
|
||||
data.alarm.state = ALARM_CRIT;
|
||||
const char *boot_reason = AlarmBootReason(alarm.RebootCause);
|
||||
strncpy((char*)data.alarm.msg, boot_reason, MAX_ALARM_LEN);
|
||||
data.alarm.msg[MAX_ALARM_LEN-1] = '\0';
|
||||
msp_send(m, MSP_ALARMS, data.buf, strlen((char*)data.alarm.msg)+1);
|
||||
return;
|
||||
}
|
||||
|
||||
uint8_t state;
|
||||
data.alarm.state = ALARM_OK;
|
||||
int32_t len = AlarmString(&alarm, data.alarm.msg,
|
||||
sizeof(data.alarm.msg), false, &state);
|
||||
switch (state) {
|
||||
case SYSTEMALARMS_ALARM_WARNING:
|
||||
data.alarm.state = ALARM_WARN;
|
||||
break;
|
||||
case SYSTEMALARMS_ALARM_ERROR:
|
||||
break;
|
||||
case SYSTEMALARMS_ALARM_CRITICAL:
|
||||
data.alarm.state = ALARM_CRIT;;
|
||||
}
|
||||
|
||||
msp_send(m, MSP_ALARMS, data.buf, len+1);
|
||||
#endif
|
||||
}
|
||||
|
||||
static msp_state msp_state_checksum(struct msp_bridge *m, uint8_t b)
|
||||
{
|
||||
if ((m->checksum ^ b) != 0) {
|
||||
return MSP_IDLE;
|
||||
}
|
||||
|
||||
// Respond to interesting things.
|
||||
switch (m->cmd_id) {
|
||||
case MSP_IDENT:
|
||||
msp_send_ident(m);
|
||||
break;
|
||||
case MSP_RAW_GPS:
|
||||
msp_send_raw_gps(m);
|
||||
break;
|
||||
case MSP_COMP_GPS:
|
||||
msp_send_comp_gps(m);
|
||||
break;
|
||||
case MSP_ALTITUDE:
|
||||
msp_send_altitude(m);
|
||||
break;
|
||||
case MSP_ATTITUDE:
|
||||
msp_send_attitude(m);
|
||||
break;
|
||||
case MSP_STATUS:
|
||||
msp_send_status(m);
|
||||
break;
|
||||
case MSP_ANALOG:
|
||||
msp_send_analog(m);
|
||||
break;
|
||||
case MSP_RC:
|
||||
msp_send_channels(m);
|
||||
break;
|
||||
case MSP_BOXIDS:
|
||||
msp_send_boxids(m);
|
||||
break;
|
||||
case MSP_ALARMS:
|
||||
msp_send_alarms(m);
|
||||
break;
|
||||
}
|
||||
return MSP_IDLE;
|
||||
}
|
||||
|
||||
static msp_state msp_state_discard(struct msp_bridge *m, __attribute__((unused)) uint8_t b)
|
||||
{
|
||||
return m->cmd_i++ == m->cmd_size ? MSP_IDLE : MSP_DISCARD;
|
||||
}
|
||||
|
||||
/**
|
||||
* Process incoming bytes from an MSP query thing.
|
||||
* @param[in] b received byte
|
||||
* @return true if we should continue processing bytes
|
||||
*/
|
||||
static bool msp_receive_byte(struct msp_bridge *m, uint8_t b)
|
||||
{
|
||||
switch (m->state) {
|
||||
case MSP_IDLE:
|
||||
switch (b) {
|
||||
case 0xe0: // uavtalk matching first part of 0x3c @ 57600 baud
|
||||
m->state = MSP_MAYBE_UAVTALK_SLOW2;
|
||||
break;
|
||||
case '<': // uavtalk matching with 0x3c 0x2x 0xxx 0x0x
|
||||
m->state = MSP_MAYBE_UAVTALK2;
|
||||
break;
|
||||
case '$':
|
||||
m->state = MSP_HEADER_START;
|
||||
break;
|
||||
default:
|
||||
m->state = MSP_IDLE;
|
||||
}
|
||||
break;
|
||||
case MSP_HEADER_START:
|
||||
m->state = b == 'M' ? MSP_HEADER_M : MSP_IDLE;
|
||||
break;
|
||||
case MSP_HEADER_M:
|
||||
m->state = b == '<' ? MSP_HEADER_SIZE : MSP_IDLE;
|
||||
break;
|
||||
case MSP_HEADER_SIZE:
|
||||
m->state = msp_state_size(m, b);
|
||||
break;
|
||||
case MSP_HEADER_CMD:
|
||||
m->state = msp_state_cmd(m, b);
|
||||
break;
|
||||
case MSP_FILLBUF:
|
||||
m->state = msp_state_fill_buf(m, b);
|
||||
break;
|
||||
case MSP_CHECKSUM:
|
||||
m->state = msp_state_checksum(m, b);
|
||||
break;
|
||||
case MSP_DISCARD:
|
||||
m->state = msp_state_discard(m, b);
|
||||
break;
|
||||
case MSP_MAYBE_UAVTALK2:
|
||||
// e.g. 3c 20 1d 00
|
||||
// second possible uavtalk byte
|
||||
m->state = (b&0xf0) == 0x20 ? MSP_MAYBE_UAVTALK3 : MSP_IDLE;
|
||||
break;
|
||||
case MSP_MAYBE_UAVTALK3:
|
||||
// third possible uavtalk byte can be anything
|
||||
m->state = MSP_MAYBE_UAVTALK4;
|
||||
break;
|
||||
case MSP_MAYBE_UAVTALK4:
|
||||
m->state = MSP_IDLE;
|
||||
// If this looks like the fourth possible uavtalk byte, we're done
|
||||
if ((b & 0xf0) == 0) {
|
||||
PIOS_COM_TELEM_RF = m->com;
|
||||
return false;
|
||||
}
|
||||
break;
|
||||
case MSP_MAYBE_UAVTALK_SLOW2:
|
||||
m->state = b == 0x18 ? MSP_MAYBE_UAVTALK_SLOW3 : MSP_IDLE;
|
||||
break;
|
||||
case MSP_MAYBE_UAVTALK_SLOW3:
|
||||
m->state = b == 0x98 ? MSP_MAYBE_UAVTALK_SLOW4 : MSP_IDLE;
|
||||
break;
|
||||
case MSP_MAYBE_UAVTALK_SLOW4:
|
||||
m->state = b == 0x7e ? MSP_MAYBE_UAVTALK_SLOW5 : MSP_IDLE;
|
||||
break;
|
||||
case MSP_MAYBE_UAVTALK_SLOW5:
|
||||
m->state = b == 0x00 ? MSP_MAYBE_UAVTALK_SLOW6 : MSP_IDLE;
|
||||
break;
|
||||
case MSP_MAYBE_UAVTALK_SLOW6:
|
||||
m->state = MSP_IDLE;
|
||||
// If this looks like the sixth possible 57600 baud uavtalk byte, we're done
|
||||
if(b == 0x60) {
|
||||
PIOS_COM_ChangeBaud(m->com, 57600);
|
||||
PIOS_COM_TELEM_RF = m->com;
|
||||
return false;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* Module start routine automatically called after initialization routine
|
||||
* @return 0 when was successful
|
||||
*/
|
||||
static int32_t uavoMSPBridgeStart(void)
|
||||
{
|
||||
if (!module_enabled) {
|
||||
// give port to telemetry if it doesn't have one
|
||||
// stops board getting stuck in condition where it can't be connected to gcs
|
||||
if(!PIOS_COM_TELEM_RF)
|
||||
PIOS_COM_TELEM_RF = pios_com_msp_id;
|
||||
|
||||
return -1;
|
||||
}
|
||||
|
||||
xTaskHandle taskHandle;
|
||||
|
||||
xTaskCreate(uavoMSPBridgeTask, "uavoMSPBridge", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &taskHandle);
|
||||
// PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_UAVOMSPBRIDGE, taskHandle);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static uint32_t hwsettings_mspspeed_enum_to_baud(uint8_t baud)
|
||||
{
|
||||
switch (baud) {
|
||||
case HWSETTINGS_MSPSPEED_2400:
|
||||
return 2400;
|
||||
|
||||
case HWSETTINGS_MSPSPEED_4800:
|
||||
return 4800;
|
||||
|
||||
default:
|
||||
case HWSETTINGS_MSPSPEED_9600:
|
||||
return 9600;
|
||||
|
||||
case HWSETTINGS_MSPSPEED_19200:
|
||||
return 19200;
|
||||
|
||||
case HWSETTINGS_MSPSPEED_38400:
|
||||
return 38400;
|
||||
|
||||
case HWSETTINGS_MSPSPEED_57600:
|
||||
return 57600;
|
||||
|
||||
case HWSETTINGS_MSPSPEED_115200:
|
||||
return 115200;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Module initialization routine
|
||||
* @return 0 when initialization was successful
|
||||
*/
|
||||
static int32_t uavoMSPBridgeInitialize(void)
|
||||
{
|
||||
if (pios_com_msp_id) {
|
||||
msp = pios_malloc(sizeof(*msp));
|
||||
if (msp != NULL) {
|
||||
memset(msp, 0x00, sizeof(*msp));
|
||||
|
||||
msp->com = pios_com_msp_id;
|
||||
|
||||
// now figure out enabled features: registered sensors, ADC routing, GPS
|
||||
|
||||
if( PIOS_SENSORS_GetInstanceByType( 0, PIOS_SENSORS_TYPE_3AXIS_ACCEL ) )
|
||||
{
|
||||
msp->sensors |= MSP_SENSOR_ACC;
|
||||
}
|
||||
if( PIOS_SENSORS_GetInstanceByType( 0, PIOS_SENSORS_TYPE_1AXIS_BARO ) )
|
||||
{
|
||||
msp->sensors |= MSP_SENSOR_BARO;
|
||||
}
|
||||
if( PIOS_SENSORS_GetInstanceByType( 0, PIOS_SENSORS_TYPE_3AXIS_MAG|PIOS_SENSORS_TYPE_3AXIS_AUXMAG ) )
|
||||
{
|
||||
msp->sensors |= MSP_SENSOR_MAG;
|
||||
}
|
||||
#ifdef PIOS_SENSORS_TYPE_1AXIS_SONAR
|
||||
if( PIOS_SENSORS_GetInstanceByType( 0, PIOS_SENSORS_TYPE_1AXIS_SONAR ) )
|
||||
{
|
||||
msp->sensors |= MSP_SENSOR_SONAR;
|
||||
}
|
||||
#endif
|
||||
|
||||
// MAP_SENSOR_GPS is hot-pluggable type
|
||||
|
||||
HwSettingsADCRoutingDataArray adcRoutingDataArray;
|
||||
HwSettingsADCRoutingArrayGet(adcRoutingDataArray.array);
|
||||
|
||||
for(unsigned i = 0; i < sizeof(adcRoutingDataArray.array)/sizeof(adcRoutingDataArray.array[0]); ++i)
|
||||
{
|
||||
switch( adcRoutingDataArray.array[i] )
|
||||
{
|
||||
case HWSETTINGS_ADCROUTING_BATTERYVOLTAGE:
|
||||
msp->analog |= MSP_ANALOG_VOLTAGE;
|
||||
break;
|
||||
case HWSETTINGS_ADCROUTING_BATTERYCURRENT:
|
||||
msp->analog |= MSP_ANALOG_CURRENT;
|
||||
break;
|
||||
default:;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
HwSettingsMSPSpeedOptions mspSpeed;
|
||||
HwSettingsMSPSpeedGet(&mspSpeed);
|
||||
|
||||
PIOS_COM_ChangeBaud(pios_com_msp_id, hwsettings_mspspeed_enum_to_baud(mspSpeed));
|
||||
|
||||
module_enabled = true;
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
return -1;
|
||||
}
|
||||
MODULE_INITCALL(uavoMSPBridgeInitialize, uavoMSPBridgeStart);
|
||||
|
||||
/**
|
||||
* Main task routine
|
||||
* @param[in] parameters parameter given by PIOS_Thread_Create()
|
||||
*/
|
||||
static void uavoMSPBridgeTask(__attribute__((unused)) void *parameters)
|
||||
{
|
||||
while (1) {
|
||||
uint8_t b = 0;
|
||||
uint16_t count = PIOS_COM_ReceiveBuffer(msp->com, &b, 1, ~0);
|
||||
if (count) {
|
||||
if (!msp_receive_byte(msp, b)) {
|
||||
// Returning is considered risky here as
|
||||
// that's unusual and this is an edge case.
|
||||
while (1) {
|
||||
PIOS_DELAY_WaitmS(60*1000);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#endif //PIOS_INCLUDE_MSP_BRIDGE
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -53,6 +53,7 @@ MODULES += Telemetry
|
||||
MODULES += Notify
|
||||
|
||||
OPTMODULES += ComUsbBridge
|
||||
OPTMODULES += UAVOMSPBridge
|
||||
|
||||
SRC += $(FLIGHTLIB)/notification.c
|
||||
|
||||
|
||||
@ -255,6 +255,9 @@ uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
|
||||
#define PIOS_COM_HKOSD_RX_BUF_LEN 22
|
||||
#define PIOS_COM_HKOSD_TX_BUF_LEN 22
|
||||
|
||||
#define PIOS_COM_MSP_TX_BUF_LEN 128
|
||||
#define PIOS_COM_MSP_RX_BUF_LEN 64
|
||||
|
||||
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
|
||||
#define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
|
||||
uint32_t pios_com_debug_id;
|
||||
@ -268,6 +271,7 @@ uint32_t pios_com_bridge_id = 0;
|
||||
uint32_t pios_com_overo_id = 0;
|
||||
uint32_t pios_com_hkosd_id = 0;
|
||||
uint32_t pios_com_vcp_id = 0;
|
||||
uint32_t pios_com_msp_id = 0;
|
||||
|
||||
#if defined(PIOS_INCLUDE_RFM22B)
|
||||
uint32_t pios_rfm22b_id = 0;
|
||||
@ -547,6 +551,9 @@ void PIOS_Board_Init(void)
|
||||
case HWSETTINGS_RM_FLEXIPORT_COMBRIDGE:
|
||||
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
|
||||
break;
|
||||
case HWSETTINGS_RM_FLEXIPORT_MSP:
|
||||
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
|
||||
break;
|
||||
case HWSETTINGS_RM_FLEXIPORT_OSDHK:
|
||||
PIOS_Board_configure_com(&pios_usart_hkosd_flexi_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id);
|
||||
break;
|
||||
@ -811,6 +818,9 @@ void PIOS_Board_Init(void)
|
||||
case HWSETTINGS_RM_MAINPORT_COMBRIDGE:
|
||||
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
|
||||
break;
|
||||
case HWSETTINGS_RM_MAINPORT_MSP:
|
||||
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
|
||||
break;
|
||||
case HWSETTINGS_RM_MAINPORT_OSDHK:
|
||||
PIOS_Board_configure_com(&pios_usart_hkosd_main_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id);
|
||||
break;
|
||||
|
||||
@ -148,6 +148,7 @@ extern uint32_t pios_com_telem_usb_id;
|
||||
extern uint32_t pios_com_bridge_id;
|
||||
extern uint32_t pios_com_vcp_id;
|
||||
extern uint32_t pios_com_hkosd_id;
|
||||
extern uint32_t pios_com_msp_id;
|
||||
#define PIOS_COM_GPS (pios_com_gps_id)
|
||||
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
|
||||
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
|
||||
@ -155,6 +156,7 @@ extern uint32_t pios_com_hkosd_id;
|
||||
#define PIOS_COM_BRIDGE (pios_com_bridge_id)
|
||||
#define PIOS_COM_VCP (pios_com_vcp_id)
|
||||
#define PIOS_COM_OSDHK (pios_com_hkosd_id)
|
||||
#define PIOS_COM_MSP (pios_com_msp_id)
|
||||
|
||||
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
|
||||
extern uint32_t pios_com_debug_id;
|
||||
|
||||
@ -14,11 +14,12 @@
|
||||
<field name="RM_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+PWM,PPM+Telemetry,PPM+Outputs,Outputs,Telemetry,ComBridge"
|
||||
defaultvalue="PWM"
|
||||
limits="%0905NE:PPM+PWM:PPM+Telemetry:Telemetry:ComBridge;"/>
|
||||
<field name="RM_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM,DebugConsole,ComBridge,OsdHk" defaultvalue="Disabled"/>
|
||||
<field name="RM_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM,EX.Bus,HoTT SUMD,HoTT SUMH,SRXL,DebugConsole,ComBridge,OsdHk" defaultvalue="Disabled"/>
|
||||
<field name="RM_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM,DebugConsole,ComBridge,OsdHk,MSP" defaultvalue="Disabled"/>
|
||||
<field name="RM_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM,EX.Bus,HoTT SUMD,HoTT SUMH,SRXL,DebugConsole,ComBridge,OsdHk,MSP" defaultvalue="Disabled"/>
|
||||
<field name="TelemetrySpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
|
||||
<field name="GPSSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200,230400" defaultvalue="57600"/>
|
||||
<field name="ComUsbBridgeSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
|
||||
<field name="MSPSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
|
||||
<field name="USB_HIDPort" units="function" type="enum" elements="1" options="USBTelemetry,RCTransmitter,Disabled" defaultvalue="USBTelemetry"/>
|
||||
<field name="USB_VCPPort" units="function" type="enum" elements="1" options="USBTelemetry,ComBridge,DebugConsole,Disabled" defaultvalue="Disabled"/>
|
||||
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user