From cdf4d112ce79ac49136ac42246c460235a480a3f Mon Sep 17 00:00:00 2001 From: zedamota Date: Mon, 1 Aug 2011 13:28:58 +0100 Subject: [PATCH 01/57] Finished refactoring airframe config widget --- .../plugins/config/configairframewidget.cpp | 96 +++++++++++++++---- .../src/plugins/config/configairframewidget.h | 2 +- .../src/plugins/config/configccpmwidget.h | 2 + .../src/plugins/config/configtaskwidget.cpp | 1 + 4 files changed, 80 insertions(+), 21 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp b/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp index dcf743915..4c24bd1e0 100644 --- a/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp @@ -92,26 +92,7 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p m_aircraft->setupUi(this); setupButtons(m_aircraft->saveAircraftToRAM,m_aircraft->saveAircraftToSD); - addWidget(m_aircraft->customMixerTable); - addWidget(m_aircraft->customThrottle2Curve); - addWidget(m_aircraft->customThrottle1Curve); - addWidget(m_aircraft->multiThrottleCurve); - addWidget(m_aircraft->fixedWingThrottle); - addWidget(m_aircraft->fixedWingType); - addWidget(m_aircraft->feedForwardSlider); - addWidget(m_aircraft->accelTime); - addWidget(m_aircraft->decelTime); - addWidget(m_aircraft->maxAccelSlider); - addWidget(m_aircraft->multirotorFrameType); - addWidget(m_aircraft->multiMotor1); - addWidget(m_aircraft->multiMotor2); - addWidget(m_aircraft->multiMotor3); - addWidget(m_aircraft->multiMotor4); - addWidget(m_aircraft->multiMotor5); - addWidget(m_aircraft->multiMotor6); - addWidget(m_aircraft->multiMotor7); - addWidget(m_aircraft->multiMotor8); - addWidget(m_aircraft->triYawChannel); + addToDirtyMonitor(); addUAVObject("SystemSettings"); addUAVObject("MixerSettings"); addUAVObject("ActuatorSettings"); @@ -2139,3 +2120,78 @@ void ConfigAirframeWidget::openHelp() QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Airframe+configuration", QUrl::StrictMode) ); } +void ConfigAirframeWidget::addToDirtyMonitor() +{ + addWidget(m_aircraft->customMixerTable); + addWidget(m_aircraft->customThrottle2Curve); + addWidget(m_aircraft->customThrottle1Curve); + addWidget(m_aircraft->multiThrottleCurve); + addWidget(m_aircraft->fixedWingThrottle); + addWidget(m_aircraft->fixedWingType); + addWidget(m_aircraft->feedForwardSlider); + addWidget(m_aircraft->accelTime); + addWidget(m_aircraft->decelTime); + addWidget(m_aircraft->maxAccelSlider); + addWidget(m_aircraft->multirotorFrameType); + addWidget(m_aircraft->multiMotor1); + addWidget(m_aircraft->multiMotor2); + addWidget(m_aircraft->multiMotor3); + addWidget(m_aircraft->multiMotor4); + addWidget(m_aircraft->multiMotor5); + addWidget(m_aircraft->multiMotor6); + addWidget(m_aircraft->multiMotor7); + addWidget(m_aircraft->multiMotor8); + addWidget(m_aircraft->triYawChannel); + addWidget(m_aircraft->aircraftType); + addWidget(m_aircraft->fwEngineChannel); + addWidget(m_aircraft->fwAileron1Channel); + addWidget(m_aircraft->fwAileron2Channel); + addWidget(m_aircraft->fwElevator1Channel); + addWidget(m_aircraft->fwElevator2Channel); + addWidget(m_aircraft->fwRudder1Channel); + addWidget(m_aircraft->fwRudder2Channel); + addWidget(m_aircraft->elevonSlider1); + addWidget(m_aircraft->elevonSlider2); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmType); + addWidget(m_aircraft->widget_3->m_ccpm->TabObject); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmTailChannel); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmEngineChannel); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoWChannel); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoXChannel); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoYChannel); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmSingleServo); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoZChannel); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmAngleW); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmAngleX); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmCorrectionAngle); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmAngleZ); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmAngleY); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectivePassthrough); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmLinkRoll); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmLinkCyclic); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectiveChannel); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmRevoSlider); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmREVOspinBox); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectiveSlider); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectivespinBox); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectiveScale); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectiveScaleBox); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmCyclicScale); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmPitchScale); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmPitchScaleBox); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmRollScale); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmRollScaleBox); + addWidget(m_aircraft->widget_3->m_ccpm->SwashLvlPositionSlider); + addWidget(m_aircraft->widget_3->m_ccpm->SwashLvlPositionSpinBox); + addWidget(m_aircraft->widget_3->m_ccpm->CurveType); + addWidget(m_aircraft->widget_3->m_ccpm->NumCurvePoints); + addWidget(m_aircraft->widget_3->m_ccpm->CurveValue1); + addWidget(m_aircraft->widget_3->m_ccpm->CurveValue2); + addWidget(m_aircraft->widget_3->m_ccpm->CurveValue3); + addWidget(m_aircraft->widget_3->m_ccpm->CurveToGenerate); + addWidget(m_aircraft->widget_3->m_ccpm->CurveSettings); + addWidget(m_aircraft->widget_3->m_ccpm->ThrottleCurve); + addWidget(m_aircraft->widget_3->m_ccpm->PitchCurve); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmAdvancedSettingsTable); +} + diff --git a/ground/openpilotgcs/src/plugins/config/configairframewidget.h b/ground/openpilotgcs/src/plugins/config/configairframewidget.h index 234a114c1..1383350ee 100644 --- a/ground/openpilotgcs/src/plugins/config/configairframewidget.h +++ b/ground/openpilotgcs/src/plugins/config/configairframewidget.h @@ -58,7 +58,7 @@ private: void updateCustomAirframeUI(); bool setupMixer(double mixerFactors[8][3]); void setupMotors(QList motorList); - + void addToDirtyMonitor(); void resetField(UAVObjectField * field); void resetMixer (MixerCurveWidget *mixer, int numElements, double maxvalue); void resetActuators(); diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h index d07da53c8..ab5425229 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h @@ -82,6 +82,8 @@ public: ConfigccpmWidget(QWidget *parent = 0); ~ConfigccpmWidget(); + friend class ConfigAirframeWidget; + private: Ui_ccpmWidget *m_ccpm; QGraphicsSvgItem *SwashplateImg; diff --git a/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp b/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp index 8fd35c596..26524611f 100644 --- a/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp @@ -211,6 +211,7 @@ void ConfigTaskWidget::enableControls(bool enable) void ConfigTaskWidget::widgetsContentsChanged() { + qDebug()<<"dirty!!!"; dirty=true; } From 829b8b83f60cbc98d2d349fc40afe479e134854f Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Thu, 28 Jul 2011 08:22:47 -0400 Subject: [PATCH 02/57] rcvr: Add GCS receiver driver for rcvr via telemetry This allows the GCS to emulate a receiver device via the telemetry link. Select "GCS" as your input type in the manualcontrol config screen and calibrate it as normal. Note: The expected values for the channels are in microseconds just like a PWM or PPM input device. The channel values are validated against minimum/maximum pulse lengths just like normal receivers. --- flight/CopterControl/Makefile | 2 + flight/CopterControl/System/inc/pios_config.h | 1 + flight/CopterControl/System/pios_board.c | 20 +++++ flight/PiOS/Common/pios_gcsrcvr.c | 75 +++++++++++++++++++ flight/PiOS/inc/pios_gcsrcvr_priv.h | 47 ++++++++++++ flight/PiOS/inc/pios_spektrum_priv.h | 2 +- .../src/plugins/uavobjects/uavobjects.pro | 2 + shared/uavobjectdefinition/gcsreceiver.xml | 10 +++ .../manualcontrolsettings.xml | 2 +- 9 files changed, 159 insertions(+), 2 deletions(-) create mode 100644 flight/PiOS/Common/pios_gcsrcvr.c create mode 100644 flight/PiOS/inc/pios_gcsrcvr_priv.h create mode 100644 shared/uavobjectdefinition/gcsreceiver.xml diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index 78e62bb89..3ac59e59b 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -164,6 +164,7 @@ SRC += $(OPUAVSYNTHDIR)/mixerstatus.c SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c SRC += $(OPUAVSYNTHDIR)/attitudesettings.c SRC += $(OPUAVSYNTHDIR)/hwsettings.c +SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c #${wildcard ${OBJ}/$(shell echo $(VAR) | tr A-Z a-z)/*.c} #SRC += ${foreach OBJ, ${UAVOBJECTS}, $(UAVOBJECTS)/$(OBJ).c} # Cant use until i can automatically generate list of UAVObjects @@ -207,6 +208,7 @@ SRC += $(PIOSCOMMON)/pios_i2c_esc.c SRC += $(PIOSCOMMON)/pios_iap.c SRC += $(PIOSCOMMON)/pios_bl_helper.c SRC += $(PIOSCOMMON)/pios_rcvr.c +SRC += $(PIOSCOMMON)/pios_gcsrcvr.c SRC += $(PIOSCOMMON)/printf-stdarg.c ## Libraries for flight calculations SRC += $(FLIGHTLIB)/fifo_buffer.c diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h index 944fe38c8..c2d535709 100644 --- a/flight/CopterControl/System/inc/pios_config.h +++ b/flight/CopterControl/System/inc/pios_config.h @@ -50,6 +50,7 @@ #define PIOS_INCLUDE_SBUS //#define PIOS_INCLUDE_PPM #define PIOS_INCLUDE_PWM +#define PIOS_INCLUDE_GCSRCVR /* Supported USART-based PIOS modules */ #define PIOS_INCLUDE_TELEMETRY_RF diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index ee3deaf5c..50677de27 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -856,6 +856,10 @@ void PIOS_I2C_main_adapter_er_irq_handler(void) #endif /* PIOS_INCLUDE_I2C */ +#if defined(PIOS_INCLUDE_GCSRCVR) +#include "pios_gcsrcvr_priv.h" +#endif /* PIOS_INCLUDE_GCSRCVR */ + #if defined(PIOS_INCLUDE_RCVR) #include "pios_rcvr_priv.h" @@ -1142,6 +1146,22 @@ void PIOS_Board_Init(void) { } #endif /* PIOS_INCLUDE_SBUS */ break; + case MANUALCONTROLSETTINGS_INPUTMODE_GCS: +#if defined(PIOS_INCLUDE_GCSRCVR) + PIOS_GCSRCVR_Init(); + uint32_t pios_gcsrcvr_rcvr_id; + if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, 0)) { + PIOS_Assert(0); + } + for (uint8_t i = 0; + i < GCSRECEIVER_CHANNEL_NUMELEM && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map); + i++) { + pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_gcsrcvr_rcvr_id; + pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i; + pios_rcvr_max_channel++; + } +#endif /* PIOS_INCLUDE_GCSRCVR */ + break; } /* Remap AFIO pin */ diff --git a/flight/PiOS/Common/pios_gcsrcvr.c b/flight/PiOS/Common/pios_gcsrcvr.c new file mode 100644 index 000000000..18e6644a6 --- /dev/null +++ b/flight/PiOS/Common/pios_gcsrcvr.c @@ -0,0 +1,75 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_GCSRCVR GCS Receiver Input Functions + * @brief Code to read the channels within the GCS Receiver UAVObject + * @{ + * + * @file pios_gcsrcvr.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief GCS Input functions (STM32 dependent) + * @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 + */ + +/* Project Includes */ +#include "pios.h" + +#if defined(PIOS_INCLUDE_GCSRCVR) + +#include "pios_gcsrcvr_priv.h" + +static GCSReceiverData gcsreceiverdata; + +/* Provide a RCVR driver */ +static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel); + +const struct pios_rcvr_driver pios_gcsrcvr_rcvr_driver = { + .read = PIOS_GCSRCVR_Get, +}; + +static void gcsreceiver_updated(UAVObjEvent * ev) +{ + if (ev->obj == GCSReceiverHandle()) { + GCSReceiverGet(&gcsreceiverdata); + } +} + +void PIOS_GCSRCVR_Init(void) +{ + /* Register uavobj callback */ + GCSReceiverConnectCallback (gcsreceiver_updated); +} + +static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel) +{ + if (channel >= GCSRECEIVER_CHANNEL_NUMELEM) { + /* channel is out of range */ + return -1; + } + + return (gcsreceiverdata.Channel[channel]); +} + +#endif /* PIOS_INCLUDE_GCSRCVR */ + +/** + * @} + * @} + */ diff --git a/flight/PiOS/inc/pios_gcsrcvr_priv.h b/flight/PiOS/inc/pios_gcsrcvr_priv.h new file mode 100644 index 000000000..9a828cb95 --- /dev/null +++ b/flight/PiOS/inc/pios_gcsrcvr_priv.h @@ -0,0 +1,47 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_GCSRCVR GCS Receiver Functions + * @brief PIOS interface to read from GCS receiver port + * @{ + * + * @file pios_gcsrcvr_priv.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief GCS receiver private functions + * @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_GCSRCVR_PRIV_H +#define PIOS_GCSRCVR_PRIV_H + +#include + +#include "gcsreceiver.h" + +extern const struct pios_rcvr_driver pios_gcsrcvr_rcvr_driver; + +extern void PIOS_GCSRCVR_Init(void); + +#endif /* PIOS_GCSRCVR_PRIV_H */ + +/** + * @} + * @} + */ diff --git a/flight/PiOS/inc/pios_spektrum_priv.h b/flight/PiOS/inc/pios_spektrum_priv.h index 2d31a8027..eb82c4f44 100644 --- a/flight/PiOS/inc/pios_spektrum_priv.h +++ b/flight/PiOS/inc/pios_spektrum_priv.h @@ -44,7 +44,7 @@ extern const struct pios_rcvr_driver pios_spektrum_rcvr_driver; extern int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, bool bind); -#endif /* PIOS_PWM_PRIV_H */ +#endif /* PIOS_SPEKTRUM_PRIV_H */ /** * @} diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro index 9c6188fad..3831a4ec3 100644 --- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro +++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro @@ -69,6 +69,7 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \ $$UAVOBJECT_SYNTHETICS/sonaraltitude.h \ $$UAVOBJECT_SYNTHETICS/flightstatus.h \ $$UAVOBJECT_SYNTHETICS/hwsettings.h \ + $$UAVOBJECT_SYNTHETICS/gcsreceiver.h \ $$UAVOBJECT_SYNTHETICS/attitudesettings.h SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \ @@ -118,4 +119,5 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \ $$UAVOBJECT_SYNTHETICS/uavobjectsinit.cpp \ $$UAVOBJECT_SYNTHETICS/flightstatus.cpp \ $$UAVOBJECT_SYNTHETICS/hwsettings.cpp \ + $$UAVOBJECT_SYNTHETICS/gcsreceiver.cpp \ $$UAVOBJECT_SYNTHETICS/attitudesettings.cpp diff --git a/shared/uavobjectdefinition/gcsreceiver.xml b/shared/uavobjectdefinition/gcsreceiver.xml new file mode 100644 index 000000000..d21598e48 --- /dev/null +++ b/shared/uavobjectdefinition/gcsreceiver.xml @@ -0,0 +1,10 @@ + + + A receiver channel group carried over the telemetry link. + + + + + + + diff --git a/shared/uavobjectdefinition/manualcontrolsettings.xml b/shared/uavobjectdefinition/manualcontrolsettings.xml index bfd692f91..3b76d70f8 100644 --- a/shared/uavobjectdefinition/manualcontrolsettings.xml +++ b/shared/uavobjectdefinition/manualcontrolsettings.xml @@ -1,7 +1,7 @@ Settings to indicate how to decode receiver input by @ref ManualControlModule. - + From 06cdeb7b61dc83f9cf245e9851686013655bbc58 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sat, 30 Jul 2011 15:04:24 -0400 Subject: [PATCH 03/57] rcvr: support multiple simultaneous receivers Now also supports multiple instances of the Spektrum driver. These are configured as Spektrum1 and Spektrum2. --- flight/CopterControl/System/pios_board.c | 124 +++---- flight/Modules/ManualControl/manualcontrol.c | 63 ++-- flight/OpenPilot/System/pios_board.c | 219 ++++++------- flight/OpenPilot/UAVObjects.inc | 1 + flight/PiOS/Boards/STM32103CB_CC_Rev1.h | 3 +- flight/PiOS/Boards/STM3210E_OP.h | 1 + flight/PiOS/STM32F10x/pios_spektrum.c | 303 +++++++++++------- flight/PiOS/inc/pios_rcvr.h | 7 - shared/uavobjectdefinition/hwsettings.xml | 10 +- .../manualcontrolsettings.xml | 24 +- 10 files changed, 413 insertions(+), 342 deletions(-) diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index 50677de27..59b66ea3a 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -863,8 +863,12 @@ void PIOS_I2C_main_adapter_er_irq_handler(void) #if defined(PIOS_INCLUDE_RCVR) #include "pios_rcvr_priv.h" -struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS]; -uint32_t pios_rcvr_max_channel; +/* One slot per selectable receiver group. + * eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS + * NOTE: No slot in this map for NONE. + */ +uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE]; + #endif /* PIOS_INCLUDE_RCVR */ #if defined(PIOS_INCLUDE_USB_HID) @@ -984,7 +988,8 @@ void PIOS_Board_Init(void) { } #endif /* PIOS_INCLUDE_GPS */ break; - case HWSETTINGS_CC_MAINPORT_SPEKTRUM: + case HWSETTINGS_CC_MAINPORT_SPEKTRUM1: + case HWSETTINGS_CC_MAINPORT_SPEKTRUM2: #if defined(PIOS_INCLUDE_SPEKTRUM) { uint32_t pios_usart_spektrum_id; @@ -996,6 +1001,16 @@ void PIOS_Board_Init(void) { if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) { PIOS_Assert(0); } + + uint32_t pios_spektrum_rcvr_id; + if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) { + PIOS_Assert(0); + } + if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM1) { + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1] = pios_spektrum_rcvr_id; + } else { + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM2] = pios_spektrum_rcvr_id; + } } #endif /* PIOS_INCLUDE_SPEKTRUM */ break; @@ -1046,7 +1061,8 @@ void PIOS_Board_Init(void) { } #endif /* PIOS_INCLUDE_GPS */ break; - case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM: + case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM1: + case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM2: #if defined(PIOS_INCLUDE_SPEKTRUM) { uint32_t pios_usart_spektrum_id; @@ -1058,6 +1074,16 @@ void PIOS_Board_Init(void) { if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) { PIOS_Assert(0); } + + uint32_t pios_spektrum_rcvr_id; + if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) { + PIOS_Assert(0); + } + if (hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM1) { + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1] = pios_spektrum_rcvr_id; + } else { + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM2] = pios_spektrum_rcvr_id; + } } #endif /* PIOS_INCLUDE_SPEKTRUM */ break; @@ -1074,96 +1100,44 @@ void PIOS_Board_Init(void) { break; } - /* Configure the selected receiver */ - uint8_t manualcontrolsettings_inputmode; - ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode); + /* Configure the rcvr port */ + uint8_t hwsettings_rcvrport; + HwSettingsRcvrPortGet(&hwsettings_rcvrport); - switch (manualcontrolsettings_inputmode) { - case MANUALCONTROLSETTINGS_INPUTMODE_PWM: + switch (hwsettings_rcvrport) { + case HWSETTINGS_RCVRPORT_DISABLED: + break; + case HWSETTINGS_RCVRPORT_PWM: #if defined(PIOS_INCLUDE_PWM) PIOS_PWM_Init(); uint32_t pios_pwm_rcvr_id; if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) { PIOS_Assert(0); } - for (uint8_t i = 0; - i < PIOS_PWM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map); - i++) { - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_pwm_rcvr_id; - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i; - pios_rcvr_max_channel++; - } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id; #endif /* PIOS_INCLUDE_PWM */ break; - case MANUALCONTROLSETTINGS_INPUTMODE_PPM: + case HWSETTINGS_RCVRPORT_PPM: #if defined(PIOS_INCLUDE_PPM) PIOS_PPM_Init(); uint32_t pios_ppm_rcvr_id; if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) { PIOS_Assert(0); } - for (uint8_t i = 0; - i < PIOS_PPM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map); - i++) { - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_ppm_rcvr_id; - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i; - pios_rcvr_max_channel++; - } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id; #endif /* PIOS_INCLUDE_PPM */ break; - case MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM: -#if defined(PIOS_INCLUDE_SPEKTRUM) - if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM || - hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM) { - uint32_t pios_spektrum_rcvr_id; - if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, 0)) { - PIOS_Assert(0); - } - for (uint8_t i = 0; - i < PIOS_SPEKTRUM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map); - i++) { - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_spektrum_rcvr_id; - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i; - pios_rcvr_max_channel++; - } - } -#endif /* PIOS_INCLUDE_SPEKTRUM */ - break; - case MANUALCONTROLSETTINGS_INPUTMODE_SBUS: -#if defined(PIOS_INCLUDE_SBUS) - if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SBUS) { - uint32_t pios_sbus_rcvr_id; - if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, 0)) { - PIOS_Assert(0); - } - for (uint8_t i = 0; - i < SBUS_NUMBER_OF_CHANNELS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map); - i++) { - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_sbus_rcvr_id; - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i; - pios_rcvr_max_channel++; - } - } -#endif /* PIOS_INCLUDE_SBUS */ - break; - case MANUALCONTROLSETTINGS_INPUTMODE_GCS: -#if defined(PIOS_INCLUDE_GCSRCVR) - PIOS_GCSRCVR_Init(); - uint32_t pios_gcsrcvr_rcvr_id; - if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, 0)) { - PIOS_Assert(0); - } - for (uint8_t i = 0; - i < GCSRECEIVER_CHANNEL_NUMELEM && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map); - i++) { - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_gcsrcvr_rcvr_id; - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i; - pios_rcvr_max_channel++; - } -#endif /* PIOS_INCLUDE_GCSRCVR */ - break; } +#if defined(PIOS_INCLUDE_GCSRCVR) + PIOS_GCSRCVR_Init(); + uint32_t pios_gcsrcvr_rcvr_id; + if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, 0)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id; +#endif /* PIOS_INCLUDE_GCSRCVR */ + /* Remap AFIO pin */ GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE); PIOS_Servo_Init(); diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c index 19b6bc293..7c16ac172 100644 --- a/flight/Modules/ManualControl/manualcontrol.c +++ b/flight/Modules/ManualControl/manualcontrol.c @@ -141,7 +141,7 @@ static void manualControlTask(void *parameters) // Main task loop lastSysTime = xTaskGetTickCount(); while (1) { - float scaledChannel[MANUALCONTROLCOMMAND_CHANNEL_NUMELEM]; + float scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM]; // Wait until next update vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS); @@ -165,22 +165,28 @@ static void manualControlTask(void *parameters) if (!ManualControlCommandReadOnly(&cmd)) { // Read channel values in us - for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) { - if (pios_rcvr_channel_to_id_map[n].id) { - cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_channel_to_id_map[n].id, - pios_rcvr_channel_to_id_map[n].channel); - } else { + for (uint8_t n = 0; + n < MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM && n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; + ++n) { + extern uint32_t pios_rcvr_group_map[]; + + if (settings.ChannelGroups[n] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { cmd.Channel[n] = -1; + } else if (!pios_rcvr_group_map[settings.ChannelGroups[n]]) { + cmd.Channel[n] = -2; + } else { + cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_group_map[settings.ChannelGroups[n]], + settings.ChannelNumber[n]); } scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n]); } // Check settings, if error raise alarm - if (settings.Roll >= MANUALCONTROLSETTINGS_ROLL_NONE || - settings.Pitch >= MANUALCONTROLSETTINGS_PITCH_NONE || - settings.Yaw >= MANUALCONTROLSETTINGS_YAW_NONE || - settings.Throttle >= MANUALCONTROLSETTINGS_THROTTLE_NONE || - settings.FlightMode >= MANUALCONTROLSETTINGS_FLIGHTMODE_NONE) { + if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE || + settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE || + settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE || + settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE || + settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL); cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE; ManualControlCommandSet(&cmd); @@ -188,10 +194,10 @@ static void manualControlTask(void *parameters) } // decide if we have valid manual input or not - bool valid_input_detected = validInputRange(settings.ChannelMin[settings.Throttle], settings.ChannelMax[settings.Throttle], cmd.Channel[settings.Throttle]) && - validInputRange(settings.ChannelMin[settings.Roll], settings.ChannelMax[settings.Roll], cmd.Channel[settings.Roll]) && - validInputRange(settings.ChannelMin[settings.Yaw], settings.ChannelMax[settings.Yaw], cmd.Channel[settings.Yaw]) && - validInputRange(settings.ChannelMin[settings.Pitch], settings.ChannelMax[settings.Pitch], cmd.Channel[settings.Pitch]); + bool valid_input_detected = validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE]) && + validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL]) && + validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW]) && + validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH]); // Implement hysteresis loop on connection status if (valid_input_detected && (++connected_count > 10)) { @@ -218,28 +224,31 @@ static void manualControlTask(void *parameters) AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL); // Scale channels to -1 -> +1 range - cmd.Roll = scaledChannel[settings.Roll]; - cmd.Pitch = scaledChannel[settings.Pitch]; - cmd.Yaw = scaledChannel[settings.Yaw]; - cmd.Throttle = scaledChannel[settings.Throttle]; - flightMode = scaledChannel[settings.FlightMode]; + cmd.Roll = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL]; + cmd.Pitch = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH]; + cmd.Yaw = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW]; + cmd.Throttle = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE]; + flightMode = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE]; AccessoryDesiredData accessory; // Set Accessory 0 - if(settings.Accessory0 != MANUALCONTROLSETTINGS_ACCESSORY0_NONE) { - accessory.AccessoryVal = scaledChannel[settings.Accessory0]; + if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0] != + MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0]; if(AccessoryDesiredInstSet(0, &accessory) != 0) AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); } // Set Accessory 1 - if(settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE) { - accessory.AccessoryVal = scaledChannel[settings.Accessory1]; + if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1] != + MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1]; if(AccessoryDesiredInstSet(1, &accessory) != 0) AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); } - // Set Accsesory 2 - if(settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE) { - accessory.AccessoryVal = scaledChannel[settings.Accessory2]; + // Set Accessory 2 + if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2] != + MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2]; if(AccessoryDesiredInstSet(2, &accessory) != 0) AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); } diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c index 822b7a8ae..9a9397acb 100644 --- a/flight/OpenPilot/System/pios_board.c +++ b/flight/OpenPilot/System/pios_board.c @@ -30,6 +30,7 @@ #include #include #include +#include #include "manualcontrolsettings.h" //#define I2C_DEBUG_PIN 0 @@ -496,7 +497,6 @@ static const struct pios_usart_cfg pios_usart_spektrum_cfg = { }, }; -#include static const struct pios_spektrum_cfg pios_spektrum_cfg = { .bind = { .gpio = GPIOA, @@ -964,8 +964,12 @@ static const struct stm32_gpio pios_debug_pins[] = { #if defined(PIOS_INCLUDE_RCVR) #include "pios_rcvr_priv.h" -struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS]; -uint32_t pios_rcvr_max_channel; +/* One slot per selectable receiver group. + * eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS + * NOTE: No slot in this map for NONE. + */ +uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE]; + #endif /* PIOS_INCLUDE_RCVR */ #if defined(PIOS_INCLUDE_USB_HID) @@ -1047,126 +1051,125 @@ void PIOS_Board_Init(void) { /* Bind the AHRS comms layer to the AHRS SPI link */ AhrsConnect(pios_spi_ahrs_id); - /* Initialize the PiOS library */ -#if defined(PIOS_INCLUDE_COM) + /* Configure the main IO port */ + uint8_t hwsettings_op_mainport; + HwSettingsOP_MainPortGet(&hwsettings_op_mainport); + + switch (hwsettings_op_mainport) { + case HWSETTINGS_OP_MAINPORT_DISABLED: + break; + case HWSETTINGS_OP_MAINPORT_TELEMETRY: #if defined(PIOS_INCLUDE_TELEMETRY_RF) - { - uint32_t pios_usart_telem_rf_id; - if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) { - PIOS_Assert(0); - } + { + uint32_t pios_usart_telem_rf_id; + if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) { + PIOS_Assert(0); + } - uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN); - uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN); - PIOS_Assert(rx_buffer); - PIOS_Assert(tx_buffer); - if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id, - rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN, - tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) { - PIOS_Assert(0); + uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN); + uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN); + PIOS_Assert(rx_buffer); + PIOS_Assert(tx_buffer); + if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id, + rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN, + tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) { + PIOS_Assert(0); + } } - } #endif /* PIOS_INCLUDE_TELEMETRY_RF */ - -#if defined(PIOS_INCLUDE_GPS) - { - uint32_t pios_usart_gps_id; - if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) { - PIOS_Assert(0); - } - uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN); - PIOS_Assert(rx_buffer); - if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id, - rx_buffer, PIOS_COM_GPS_RX_BUF_LEN, - NULL, 0)) { - PIOS_Assert(0); - } + break; } + + /* Configure the flexi port */ + uint8_t hwsettings_op_flexiport; + HwSettingsOP_FlexiPortGet(&hwsettings_op_flexiport); + + switch (hwsettings_op_flexiport) { + case HWSETTINGS_OP_FLEXIPORT_DISABLED: + break; + case HWSETTINGS_OP_FLEXIPORT_GPS: +#if defined(PIOS_INCLUDE_GPS) + { + uint32_t pios_usart_gps_id; + if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) { + PIOS_Assert(0); + } + uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN); + PIOS_Assert(rx_buffer); + if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id, + rx_buffer, PIOS_COM_GPS_RX_BUF_LEN, + NULL, 0)) { + PIOS_Assert(0); + } + } #endif /* PIOS_INCLUDE_GPS */ -#endif + break; + } PIOS_Servo_Init(); PIOS_ADC_Init(); PIOS_GPIO_Init(); - /* Configure the selected receiver */ - uint8_t manualcontrolsettings_inputmode; - ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode); + /* Configure the aux port */ + uint8_t hwsettings_op_auxport; + HwSettingsOP_AuxPortGet(&hwsettings_op_auxport); - switch (manualcontrolsettings_inputmode) { - case MANUALCONTROLSETTINGS_INPUTMODE_PWM: -#if defined(PIOS_INCLUDE_PWM) -#if (PIOS_PWM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS) -#error More receiver inputs than available devices -#endif - PIOS_PWM_Init(); - uint32_t pios_pwm_rcvr_id; - if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) { - PIOS_Assert(0); - } - for (uint8_t i = 0; - i < PIOS_PWM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map); - i++) { - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_pwm_rcvr_id; - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i; - pios_rcvr_max_channel++; - } -#endif /* PIOS_INCLUDE_PWM */ - break; - case MANUALCONTROLSETTINGS_INPUTMODE_PPM: -#if defined(PIOS_INCLUDE_PPM) -#if (PIOS_PPM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS) -#error More receiver inputs than available devices -#endif - PIOS_PPM_Init(); - uint32_t pios_ppm_rcvr_id; - if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) { - PIOS_Assert(0); - } - for (uint8_t i = 0; - i < PIOS_PPM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map); - i++) { - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_ppm_rcvr_id; - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i; - pios_rcvr_max_channel++; - } -#endif /* PIOS_INCLUDE_PPM */ - break; - case MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM: + switch (hwsettings_op_auxport) { + case HWSETTINGS_OP_AUXPORT_DISABLED: + break; + case HWSETTINGS_OP_AUXPORT_DEBUG: + /* Not supported yet */ + break; + case HWSETTINGS_OP_AUXPORT_SPEKTRUM1: #if defined(PIOS_INCLUDE_SPEKTRUM) -#if (PIOS_SPEKTRUM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS) -#error More receiver inputs than available devices -#endif - { - uint32_t pios_usart_spektrum_id; - if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) { - PIOS_Assert(0); - } - - uint32_t pios_spektrum_id; - if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) { - PIOS_Assert(0); - } - - uint32_t pios_spektrum_rcvr_id; - if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, 0)) { - PIOS_Assert(0); - } - for (uint8_t i = 0; - i < PIOS_SPEKTRUM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map); - i++) { - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_spektrum_rcvr_id; - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i; - pios_rcvr_max_channel++; - } + { + uint32_t pios_usart_spektrum_id; + if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) { + PIOS_Assert(0); } + + uint32_t pios_spektrum_id; + if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) { + PIOS_Assert(0); + } + + uint32_t pios_spektrum_rcvr_id; + if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1] = pios_spektrum_rcvr_id; + } #endif - break; - case MANUALCONTROLSETTINGS_INPUTMODE_SBUS: -#if defined(PIOS_INCLUDE_SBUS) -#error SBUS NOT ON OP YET -#endif /* PIOS_INCLUDE_SBUS */ - break; + break; + } + + /* Configure the rcvr port */ + uint8_t hwsettings_rcvrport; + HwSettingsRcvrPortGet(&hwsettings_rcvrport); + + switch (hwsettings_rcvrport) { + case HWSETTINGS_RCVRPORT_DISABLED: + break; + case HWSETTINGS_RCVRPORT_PWM: +#if defined(PIOS_INCLUDE_PWM) + PIOS_PWM_Init(); + uint32_t pios_pwm_rcvr_id; + if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id; +#endif /* PIOS_INCLUDE_PWM */ + break; + case HWSETTINGS_RCVRPORT_PPM: +#if defined(PIOS_INCLUDE_PPM) + PIOS_PPM_Init(); + uint32_t pios_ppm_rcvr_id; + if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id; +#endif /* PIOS_INCLUDE_PPM */ + break; } #if defined(PIOS_INCLUDE_USB_HID) diff --git a/flight/OpenPilot/UAVObjects.inc b/flight/OpenPilot/UAVObjects.inc index 3eb2fa571..a30dcf540 100644 --- a/flight/OpenPilot/UAVObjects.inc +++ b/flight/OpenPilot/UAVObjects.inc @@ -69,6 +69,7 @@ UAVOBJSRCFILENAMES += velocityactual UAVOBJSRCFILENAMES += velocitydesired UAVOBJSRCFILENAMES += watchdogstatus UAVOBJSRCFILENAMES += flightstatus +UAVOBJSRCFILENAMES += hwsettings UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c ) UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) ) diff --git a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h index 18e0da624..8c1467b0d 100644 --- a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h +++ b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h @@ -206,7 +206,7 @@ extern uint32_t pios_com_telem_usb_id; // PIOS_RCVR // See also pios_board.c //------------------------ -#define PIOS_RCVR_MAX_DEVS 1 +#define PIOS_RCVR_MAX_DEVS 3 #define PIOS_RCVR_MAX_CHANNELS 12 //------------------------- @@ -222,6 +222,7 @@ extern uint32_t pios_com_telem_usb_id; //------------------------- // Receiver SPEKTRUM input //------------------------- +#define PIOS_SPEKTRUM_MAX_DEVS 2 #define PIOS_SPEKTRUM_NUM_INPUTS 12 //------------------------- diff --git a/flight/PiOS/Boards/STM3210E_OP.h b/flight/PiOS/Boards/STM3210E_OP.h index 3098ee259..159ebbd88 100644 --- a/flight/PiOS/Boards/STM3210E_OP.h +++ b/flight/PiOS/Boards/STM3210E_OP.h @@ -195,6 +195,7 @@ extern uint32_t pios_com_aux_id; //------------------------- // Receiver SPEKTRUM input //------------------------- +#define PIOS_SPEKTRUM_MAX_DEVS 1 #define PIOS_SPEKTRUM_NUM_INPUTS 12 //------------------------- diff --git a/flight/PiOS/STM32F10x/pios_spektrum.c b/flight/PiOS/STM32F10x/pios_spektrum.c index 8b0f38c6b..e062e6314 100644 --- a/flight/PiOS/STM32F10x/pios_spektrum.c +++ b/flight/PiOS/STM32F10x/pios_spektrum.c @@ -31,10 +31,11 @@ /* Project Includes */ #include "pios.h" -#include "pios_spektrum_priv.h" #if defined(PIOS_INCLUDE_SPEKTRUM) +#include "pios_spektrum_priv.h" + /** * @Note Framesyncing: * The code resets the watchdog timer whenever a single byte is received, so what watchdog code @@ -52,22 +53,80 @@ const struct pios_rcvr_driver pios_spektrum_rcvr_driver = { .read = PIOS_SPEKTRUM_Get, }; -/* Local Variables */ -static uint16_t CaptureValue[PIOS_SPEKTRUM_NUM_INPUTS],CaptureValueTemp[PIOS_SPEKTRUM_NUM_INPUTS]; -static uint8_t prev_byte = 0xFF, sync = 0, bytecount = 0, datalength=0, frame_error=0, byte_array[20] = { 0 }; -uint8_t sync_of = 0; -uint16_t supv_timer=0; +enum pios_spektrum_dev_magic { + PIOS_SPEKTRUM_DEV_MAGIC = 0xa9b9c9d9, +}; + +struct pios_spektrum_fsm { + uint16_t channel; + uint16_t CaptureValue[PIOS_SPEKTRUM_NUM_INPUTS]; + uint16_t CaptureValueTemp[PIOS_SPEKTRUM_NUM_INPUTS]; + uint8_t prev_byte; + uint8_t sync; + uint8_t bytecount; + uint8_t datalength; + uint8_t frame_error; + uint8_t sync_of; +}; + +struct pios_spektrum_dev { + enum pios_spektrum_dev_magic magic; + const struct pios_spektrum_cfg * cfg; + + struct pios_spektrum_fsm fsm; + + uint16_t supv_timer; +}; + +static bool PIOS_SPEKTRUM_validate(struct pios_spektrum_dev * spektrum_dev) +{ + return (spektrum_dev->magic == PIOS_SPEKTRUM_DEV_MAGIC); +} + +#if defined(PIOS_INCLUDE_FREERTOS) && 0 +static struct pios_spektrum_dev * PIOS_SPEKTRUM_alloc(void) +{ + struct pios_spektrum_dev * spektrum_dev; + + spektrum_dev = (struct pios_spektrum_dev *)malloc(sizeof(*spektrum_dev)); + if (!spektrum_dev) return(NULL); + + spektrum_dev->magic = PIOS_SPEKTRUM_DEV_MAGIC; + return(spektrum_dev); +} +#else +static struct pios_spektrum_dev pios_spektrum_devs[PIOS_SPEKTRUM_MAX_DEVS]; +static uint8_t pios_spektrum_num_devs; +static struct pios_spektrum_dev * PIOS_SPEKTRUM_alloc(void) +{ + struct pios_spektrum_dev * spektrum_dev; + + if (pios_spektrum_num_devs >= PIOS_SPEKTRUM_MAX_DEVS) { + return (NULL); + } + + spektrum_dev = &pios_spektrum_devs[pios_spektrum_num_devs++]; + spektrum_dev->magic = PIOS_SPEKTRUM_DEV_MAGIC; + + return (spektrum_dev); +} +#endif static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id); static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg); -static int32_t PIOS_SPEKTRUM_Decode(uint8_t b); +static int32_t PIOS_SPEKTRUM_UpdateFSM(struct pios_spektrum_fsm * fsm, uint8_t b); static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield) { + struct pios_spektrum_dev * spektrum_dev = (struct pios_spektrum_dev *)context; + + bool valid = PIOS_SPEKTRUM_validate(spektrum_dev); + PIOS_Assert(valid); + /* process byte(s) and clear receive timer */ for (uint8_t i = 0; i < buf_len; i++) { - PIOS_SPEKTRUM_Decode(buf[i]); - supv_timer = 0; + PIOS_SPEKTRUM_UpdateFSM(&(spektrum_dev->fsm), buf[i]); + spektrum_dev->supv_timer = 0; } /* Always signal that we can accept another byte */ @@ -82,23 +141,118 @@ static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint return (buf_len); } +static void PIOS_SPEKTRUM_ResetFSM(struct pios_spektrum_fsm * fsm) +{ + fsm->channel = 0; + fsm->prev_byte = 0xFF; + fsm->sync = 0; + fsm->bytecount = 0; + fsm->datalength = 0; + fsm->frame_error = 0; + fsm->sync_of = 0; +} + +/** +* Decodes a byte +* \param[in] b byte which should be spektrum decoded +* \return 0 if no error +* \return -1 if USART not available +* \return -2 if buffer full (retry) +*/ +static int32_t PIOS_SPEKTRUM_UpdateFSM(struct pios_spektrum_fsm * fsm, uint8_t b) +{ + fsm->bytecount++; + if (fsm->sync == 0) { + /* Known sync bytes, 0x01, 0x02, 0x12 */ + if (fsm->bytecount == 2) { + if (b == 0x01) { + fsm->datalength=0; // 10bit + fsm->sync = 1; + fsm->bytecount = 2; + } + else if(b == 0x02) { + fsm->datalength=0; // 10bit + fsm->sync = 1; + fsm->bytecount = 2; + } + else if(b == 0x12) { + fsm->datalength=1; // 11bit + fsm->sync = 1; + fsm->bytecount = 2; + } + else + { + fsm->bytecount = 0; + } + } + } else { + if ((fsm->bytecount % 2) == 0) { + uint16_t data; + uint8_t channeln; + + fsm->channel = (fsm->prev_byte << 8) + b; + channeln = (fsm->channel >> (10+fsm->datalength)) & 0x0F; + data = fsm->channel & (0x03FF+(0x0400*fsm->datalength)); + if(channeln==0 && data<10) // discard frame if throttle misbehaves + { + fsm->frame_error=1; + } + if (channeln < PIOS_SPEKTRUM_NUM_INPUTS && !fsm->frame_error) + fsm->CaptureValueTemp[channeln] = data; + } + } + if (fsm->bytecount == 16) { + fsm->bytecount = 0; + fsm->sync = 0; + fsm->sync_of = 0; + if (!fsm->frame_error) + { + for(int i=0;iCaptureValue[i] = fsm->CaptureValueTemp[i]; + } + } + fsm->frame_error=0; + } + fsm->prev_byte = b; + return 0; +} + /** * Bind and Initialise Spektrum satellite receiver */ int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, bool bind) { - // TODO: need setting flag for bind on next powerup + PIOS_DEBUG_Assert(spektrum_id); + PIOS_DEBUG_Assert(cfg); + PIOS_DEBUG_Assert(driver); + + struct pios_spektrum_dev * spektrum_dev; + + spektrum_dev = (struct pios_spektrum_dev *) PIOS_SPEKTRUM_alloc(); + if (!spektrum_dev) goto out_fail; + + /* Bind the configuration to the device instance */ + spektrum_dev->cfg = cfg; + if (bind) { PIOS_SPEKTRUM_Bind(cfg); } - (driver->bind_rx_cb)(lower_id, PIOS_SPEKTRUM_RxInCallback, 0); + PIOS_SPEKTRUM_ResetFSM(&(spektrum_dev->fsm)); - if (!PIOS_RTC_RegisterTickCallback(PIOS_SPEKTRUM_Supervisor, 0)) { + *spektrum_id = (uint32_t)spektrum_dev; + + (driver->bind_rx_cb)(lower_id, PIOS_SPEKTRUM_RxInCallback, *spektrum_id); + + if (!PIOS_RTC_RegisterTickCallback(PIOS_SPEKTRUM_Supervisor, *spektrum_id)) { PIOS_DEBUG_Assert(0); } return (0); + +out_fail: + return(-1); } /** @@ -109,11 +263,16 @@ int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cf */ static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel) { + struct pios_spektrum_dev * spektrum_dev = (struct pios_spektrum_dev *)rcvr_id; + + bool valid = PIOS_SPEKTRUM_validate(spektrum_dev); + PIOS_Assert(valid); + /* Return error if channel not available */ if (channel >= PIOS_SPEKTRUM_NUM_INPUTS) { return -1; } - return CaptureValue[channel]; + return spektrum_dev->fsm.CaptureValue[channel]; } /** @@ -145,114 +304,38 @@ static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg) return true; } -/** -* Decodes a byte -* \param[in] b byte which should be spektrum decoded -* \return 0 if no error -* \return -1 if USART not available -* \return -2 if buffer full (retry) -* \note Applications shouldn't call these functions directly -*/ -static int32_t PIOS_SPEKTRUM_Decode(uint8_t b) -{ - static uint16_t channel = 0; /*, sync_word = 0;*/ - uint8_t channeln = 0, frame = 0; - uint16_t data = 0; - byte_array[bytecount] = b; - bytecount++; - if (sync == 0) { - //sync_word = (prev_byte << 8) + b; -#if 0 - /* maybe create object to show this data */ - if(bytecount==1) - { - /* record losscounter into channel8 */ - CaptureValueTemp[7]=b; - /* instant write */ - CaptureValue[7]=b; - } -#endif - /* Known sync bytes, 0x01, 0x02, 0x12 */ - if (bytecount == 2) { - if (b == 0x01) { - datalength=0; // 10bit - //frames=1; - sync = 1; - bytecount = 2; - } - else if(b == 0x02) { - datalength=0; // 10bit - //frames=2; - sync = 1; - bytecount = 2; - } - else if(b == 0x12) { - datalength=1; // 11bit - //frames=2; - sync = 1; - bytecount = 2; - } - else - { - bytecount = 0; - } - } - } else { - if ((bytecount % 2) == 0) { - channel = (prev_byte << 8) + b; - frame = channel >> 15; - channeln = (channel >> (10+datalength)) & 0x0F; - data = channel & (0x03FF+(0x0400*datalength)); - if(channeln==0 && data<10) // discard frame if throttle misbehaves - { - frame_error=1; - } - if (channeln < PIOS_SPEKTRUM_NUM_INPUTS && !frame_error) - CaptureValueTemp[channeln] = data; - } - } - if (bytecount == 16) { - //PIOS_COM_SendBufferNonBlocking(PIOS_COM_TELEM_RF,byte_array,16); //00 2c 58 84 b0 dc ff - bytecount = 0; - sync = 0; - sync_of = 0; - if (!frame_error) - { - for(int i=0;i 5) { + spektrum_dev->supv_timer++; + if(spektrum_dev->supv_timer > 5) { /* sync between frames */ - sync = 0; - bytecount = 0; - prev_byte = 0xFF; - frame_error = 0; - sync_of++; + struct pios_spektrum_fsm * fsm = &(spektrum_dev->fsm); + + fsm->sync = 0; + fsm->bytecount = 0; + fsm->prev_byte = 0xFF; + fsm->frame_error = 0; + fsm->sync_of++; /* watchdog activated after 100ms silence */ - if (sync_of > 12) { + if (fsm->sync_of > 12) { /* signal lost */ - sync_of = 0; + fsm->sync_of = 0; for (int i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) { - CaptureValue[i] = 0; - CaptureValueTemp[i] = 0; + fsm->CaptureValue[i] = 0; + fsm->CaptureValueTemp[i] = 0; } } - supv_timer = 0; + spektrum_dev->supv_timer = 0; } } diff --git a/flight/PiOS/inc/pios_rcvr.h b/flight/PiOS/inc/pios_rcvr.h index dfec004f5..0f4e6a973 100644 --- a/flight/PiOS/inc/pios_rcvr.h +++ b/flight/PiOS/inc/pios_rcvr.h @@ -31,13 +31,6 @@ #ifndef PIOS_RCVR_H #define PIOS_RCVR_H -struct pios_rcvr_channel_map { - uint32_t id; - uint8_t channel; -}; - -extern struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[]; - struct pios_rcvr_driver { void (*init)(uint32_t id); int32_t (*read)(uint32_t id, uint8_t channel); diff --git a/shared/uavobjectdefinition/hwsettings.xml b/shared/uavobjectdefinition/hwsettings.xml index a3494f820..7b4ed7ec4 100644 --- a/shared/uavobjectdefinition/hwsettings.xml +++ b/shared/uavobjectdefinition/hwsettings.xml @@ -1,8 +1,14 @@ Selection of optional hardware configurations. - - + + + + + + + + diff --git a/shared/uavobjectdefinition/manualcontrolsettings.xml b/shared/uavobjectdefinition/manualcontrolsettings.xml index 3b76d70f8..d6d7b90a3 100644 --- a/shared/uavobjectdefinition/manualcontrolsettings.xml +++ b/shared/uavobjectdefinition/manualcontrolsettings.xml @@ -1,15 +1,18 @@ Settings to indicate how to decode receiver input by @ref ManualControlModule. - - - - - - - - - + + + + + + @@ -20,9 +23,6 @@ - - - From 1299e110c4e462d1d11e494a4eaea56a7c3cee53 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sun, 31 Jul 2011 19:17:28 -0400 Subject: [PATCH 04/57] gcs: update CC hw settings to use hwsettings RcvrPort field --- .../src/plugins/config/cc_hw_settings.ui | 4 ++-- .../src/plugins/config/config_cc_hw_widget.cpp | 18 +----------------- 2 files changed, 3 insertions(+), 19 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui index 29052623c..eed5fa232 100644 --- a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui +++ b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui @@ -87,7 +87,7 @@ - Receiver type + RcvrPort Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter @@ -95,7 +95,7 @@ - + diff --git a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp index 62e2d59e2..5c7a035b4 100644 --- a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp +++ b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp @@ -42,7 +42,7 @@ ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent) addUAVObjectToWidgetRelation("TelemetrySettings","Speed",m_telemetry->telemetrySpeed); addUAVObjectToWidgetRelation("HwSettings","CC_FlexiPort",m_telemetry->cbFlexi); addUAVObjectToWidgetRelation("HwSettings","CC_MainPort",m_telemetry->cbTele); - addUAVObjectToWidgetRelation("ManualControlSettings","InputMode",m_telemetry->receiverType); + addUAVObjectToWidgetRelation("HwSettings","RcvrPort",m_telemetry->cbRcvr); enableControls(false); populateWidgets(); refreshWidgetsValues(); @@ -65,22 +65,6 @@ void ConfigCCHWWidget::widgetsContentsChanged() { m_telemetry->problems->setText("Warning: you have configured the MainPort and the FlexiPort for the same function, this is currently not suported"); } - else if((m_telemetry->cbTele->currentText()=="Spektrum" ||m_telemetry->cbFlexi->currentText()=="Spektrum") && m_telemetry->receiverType->currentText()!="Spektrum") - { - m_telemetry->problems->setText("Warning: you have a port configured as 'Spektrum' however that is not your selected receiver type"); - } - else if(m_telemetry->cbTele->currentText()=="S.Bus" && m_telemetry->receiverType->currentText()!="S.Bus") - { - m_telemetry->problems->setText("Warning: you have a port configured as 'S.Bus' however that is not your selected receiver type"); - } - else if(m_telemetry->cbTele->currentText()!="S.Bus" && m_telemetry->receiverType->currentText()=="S.Bus") - { - m_telemetry->problems->setText("Warning: you have selected 'S.Bus' as your receiver type however you have no port configured for that protocol"); - } - else if((m_telemetry->cbTele->currentText()!="Spektrum" && m_telemetry->cbFlexi->currentText()!="Spektrum") && m_telemetry->receiverType->currentText()=="Spektrum") - { - m_telemetry->problems->setText("Warning: you have selected 'Spektrum' as your receiver type however you have no port configured for that protocol"); - } else { m_telemetry->problems->setText(""); From 90b2625debed95a1ffde3b04fd30eb159f397bed Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Tue, 2 Aug 2011 01:27:37 -0400 Subject: [PATCH 05/57] rcvractivity: Add tracking of Rx channel activity --- flight/CopterControl/Makefile | 1 + flight/Modules/ManualControl/manualcontrol.c | 146 +++++++++++++++++- flight/OpenPilot/UAVObjects.inc | 1 + .../src/plugins/uavobjects/uavobjects.pro | 2 + .../uavobjectdefinition/receiveractivity.xml | 14 ++ 5 files changed, 163 insertions(+), 1 deletion(-) create mode 100644 shared/uavobjectdefinition/receiveractivity.xml diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index 3ac59e59b..d437d567d 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -165,6 +165,7 @@ SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c SRC += $(OPUAVSYNTHDIR)/attitudesettings.c SRC += $(OPUAVSYNTHDIR)/hwsettings.c SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c +SRC += $(OPUAVSYNTHDIR)/receiveractivity.c #${wildcard ${OBJ}/$(shell echo $(VAR) | tr A-Z a-z)/*.c} #SRC += ${foreach OBJ, ${UAVOBJECTS}, $(UAVOBJECTS)/$(OBJ).c} # Cant use until i can automatically generate list of UAVObjects diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c index 7c16ac172..153738dc1 100644 --- a/flight/Modules/ManualControl/manualcontrol.c +++ b/flight/Modules/ManualControl/manualcontrol.c @@ -43,6 +43,7 @@ #include "flighttelemetrystats.h" #include "flightstatus.h" #include "accessorydesired.h" +#include "receiveractivity.h" // Private constants #if defined(PIOS_MANUAL_STACK_SIZE) @@ -87,6 +88,18 @@ static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time) static bool okToArm(void); static bool validInputRange(int16_t min, int16_t max, uint16_t value); +#define RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP 12 +#define RCVR_ACTIVITY_MONITOR_MIN_RANGE 5 +struct rcvr_activity_fsm { + ManualControlSettingsChannelGroupsOptions group; + uint16_t prev[RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP]; + uint8_t sample_count; +}; +static struct rcvr_activity_fsm activity_fsm; + +static void resetRcvrActivity(struct rcvr_activity_fsm * fsm); +static bool updateRcvrActivity(struct rcvr_activity_fsm * fsm); + #define assumptions (assumptions1 && assumptions3 && assumptions5 && assumptions7 && assumptions8 && assumptions_flightmode) /** @@ -138,6 +151,10 @@ static void manualControlTask(void *parameters) flightStatus.Armed = FLIGHTSTATUS_ARMED_DISARMED; armState = ARM_STATE_DISARMED; + /* Initialize the RcvrActivty FSM */ + portTickType lastActivityTime = xTaskGetTickCount(); + resetRcvrActivity(&activity_fsm); + // Main task loop lastSysTime = xTaskGetTickCount(); while (1) { @@ -150,6 +167,18 @@ static void manualControlTask(void *parameters) // Read settings ManualControlSettingsGet(&settings); + /* Update channel activity monitor */ + if (flightStatus.Armed == ARM_STATE_DISARMED) { + if (updateRcvrActivity(&activity_fsm)) { + /* Reset the aging timer because activity was detected */ + lastActivityTime = lastSysTime; + } + } + if (timeDifferenceMs(lastActivityTime, lastSysTime) > 5000) { + resetRcvrActivity(&activity_fsm); + lastActivityTime = lastSysTime; + } + if (ManualControlCommandReadOnly(&cmd)) { FlightTelemetryStatsData flightTelemStats; FlightTelemetryStatsGet(&flightTelemStats); @@ -266,7 +295,6 @@ static void manualControlTask(void *parameters) ManualControlCommandGet(&cmd); /* Under GCS control */ } - FlightStatusGet(&flightStatus); // Depending on the mode update the Stabilization or Actuator objects @@ -288,6 +316,122 @@ static void manualControlTask(void *parameters) } } +static void resetRcvrActivity(struct rcvr_activity_fsm * fsm) +{ + ReceiverActivityData data; + bool updated = false; + + /* Clear all channel activity flags */ + ReceiverActivityGet(&data); + if (data.ActiveGroup != RECEIVERACTIVITY_ACTIVEGROUP_NONE && + data.ActiveChannel != 255) { + data.ActiveGroup = RECEIVERACTIVITY_ACTIVEGROUP_NONE; + data.ActiveChannel = 255; + updated = true; + } + if (updated) { + ReceiverActivitySet(&data); + } + + /* Reset the FSM state */ + fsm->group = 0; + fsm->sample_count = 0; +} + +static bool updateRcvrActivity(struct rcvr_activity_fsm * fsm) +{ + bool activity_updated = false; + + if (fsm->group >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + /* We're out of range, reset things */ + resetRcvrActivity(fsm); + } + + extern uint32_t pios_rcvr_group_map[]; + if (!pios_rcvr_group_map[fsm->group]) { + /* Unbound group, skip it */ + goto group_completed; + } + + /* Sample the channel */ + for (uint8_t channel = 0; + channel < RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP; + channel++) { + if (fsm->sample_count == 0) { + fsm->prev[channel] = PIOS_RCVR_Read(pios_rcvr_group_map[fsm->group], channel); + } else { + uint16_t delta; + uint16_t prev = fsm->prev[channel]; + uint16_t curr = PIOS_RCVR_Read(pios_rcvr_group_map[fsm->group], channel); + if (curr > prev) { + delta = curr - prev; + } else { + delta = prev - curr; + } + + if (delta > RCVR_ACTIVITY_MONITOR_MIN_RANGE) { + /* Mark this channel as active */ + ReceiverActivityActiveGroupOptions group; + + /* Don't assume manualcontrolsettings and receiveractivity are in the same order. */ + switch (fsm->group) { + case MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM: + group = RECEIVERACTIVITY_ACTIVEGROUP_PWM; + break; + case MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM: + group = RECEIVERACTIVITY_ACTIVEGROUP_PPM; + break; + case MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1: + group = RECEIVERACTIVITY_ACTIVEGROUP_SPEKTRUM1; + break; + case MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM2: + group = RECEIVERACTIVITY_ACTIVEGROUP_SPEKTRUM2; + break; + case MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS: + group = RECEIVERACTIVITY_ACTIVEGROUP_SBUS; + break; + case MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS: + group = RECEIVERACTIVITY_ACTIVEGROUP_GCS; + break; + default: + PIOS_Assert(0); + break; + } + + ReceiverActivityActiveGroupSet(&group); + ReceiverActivityActiveChannelSet(&channel); + activity_updated = true; + } + } + } + + if (++fsm->sample_count < 2) { + return (activity_updated); + } + + /* Reset the sample counter */ + fsm->sample_count = 0; + + /* + * Group Completed + */ + +group_completed: + /* Start over at channel zero */ + if (++fsm->group < MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + return (activity_updated); + } + + /* + * All groups completed + */ + + /* Start over at group zero */ + fsm->group = 0; + + return (activity_updated); +} + static void updateActuatorDesired(ManualControlCommandData * cmd) { ActuatorDesiredData actuator; diff --git a/flight/OpenPilot/UAVObjects.inc b/flight/OpenPilot/UAVObjects.inc index a30dcf540..3bb868a7d 100644 --- a/flight/OpenPilot/UAVObjects.inc +++ b/flight/OpenPilot/UAVObjects.inc @@ -70,6 +70,7 @@ UAVOBJSRCFILENAMES += velocitydesired UAVOBJSRCFILENAMES += watchdogstatus UAVOBJSRCFILENAMES += flightstatus UAVOBJSRCFILENAMES += hwsettings +UAVOBJSRCFILENAMES += receiveractivity UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c ) UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) ) diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro index 3831a4ec3..f5e17d3ca 100644 --- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro +++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro @@ -70,6 +70,7 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \ $$UAVOBJECT_SYNTHETICS/flightstatus.h \ $$UAVOBJECT_SYNTHETICS/hwsettings.h \ $$UAVOBJECT_SYNTHETICS/gcsreceiver.h \ + $$UAVOBJECT_SYNTHETICS/receiveractivity.h \ $$UAVOBJECT_SYNTHETICS/attitudesettings.h SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \ @@ -120,4 +121,5 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \ $$UAVOBJECT_SYNTHETICS/flightstatus.cpp \ $$UAVOBJECT_SYNTHETICS/hwsettings.cpp \ $$UAVOBJECT_SYNTHETICS/gcsreceiver.cpp \ + $$UAVOBJECT_SYNTHETICS/receiveractivity.cpp \ $$UAVOBJECT_SYNTHETICS/attitudesettings.cpp diff --git a/shared/uavobjectdefinition/receiveractivity.xml b/shared/uavobjectdefinition/receiveractivity.xml new file mode 100644 index 000000000..2e98c1362 --- /dev/null +++ b/shared/uavobjectdefinition/receiveractivity.xml @@ -0,0 +1,14 @@ + + + Monitors which receiver channels have been active within the last second. + + + + + + + + From 1b34376797cb7b9cb776959d0c8adecf84e9a8f8 Mon Sep 17 00:00:00 2001 From: zedamota Date: Tue, 2 Aug 2011 17:06:17 +0100 Subject: [PATCH 06/57] Added "changes not saved" message warning to config gadget --- .../plugins/config/configairframewidget.cpp | 8 +- .../plugins/config/configccattitudewidget.cpp | 39 +++------ .../plugins/config/configccattitudewidget.h | 6 +- .../src/plugins/config/configgadgetwidget.cpp | 20 +++++ .../src/plugins/config/configgadgetwidget.h | 5 +- .../src/plugins/config/configoutputwidget.cpp | 85 ++++++++++--------- .../src/plugins/config/configoutputwidget.h | 6 +- .../config/configstabilizationwidget.cpp | 63 ++++++++------ .../config/configstabilizationwidget.h | 5 +- .../src/plugins/config/configtaskwidget.cpp | 27 ++++-- .../src/plugins/config/configtaskwidget.h | 4 + .../src/plugins/config/fancytabwidget.cpp | 9 +- .../src/plugins/config/fancytabwidget.h | 5 +- .../src/plugins/config/smartsavebutton.cpp | 1 + 14 files changed, 165 insertions(+), 118 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp b/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp index 4c24bd1e0..05eb98c4d 100644 --- a/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp @@ -92,7 +92,7 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p m_aircraft->setupUi(this); setupButtons(m_aircraft->saveAircraftToRAM,m_aircraft->saveAircraftToSD); - addToDirtyMonitor(); + addUAVObject("SystemSettings"); addUAVObject("MixerSettings"); addUAVObject("ActuatorSettings"); @@ -198,7 +198,7 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p // Connect the help button connect(m_aircraft->airframeHelp, SIGNAL(clicked()), this, SLOT(openHelp())); - + addToDirtyMonitor(); } ConfigAirframeWidget::~ConfigAirframeWidget() @@ -443,6 +443,7 @@ void ConfigAirframeWidget::updateCustomThrottle2CurveValue(QList list, d */ void ConfigAirframeWidget::refreshWidgetsValues() { + bool dirty=isDirty(); // Get the Airframe type from the system settings: UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("SystemSettings"))); Q_ASSERT(obj); @@ -894,6 +895,7 @@ void ConfigAirframeWidget::refreshWidgetsValues() } updateCustomAirframeUI(); + setDirty(dirty); } /** @@ -902,6 +904,7 @@ void ConfigAirframeWidget::refreshWidgetsValues() */ void ConfigAirframeWidget::setupAirframeUI(QString frameType) { + bool dirty=isDirty(); if (frameType == "FixedWing" || frameType == "Elevator aileron rudder") { // Setup the UI m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Fixed Wing")); @@ -1099,6 +1102,7 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType) } m_aircraft->quadShape->setSceneRect(quad->boundingRect()); m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio); + setDirty(dirty); } /** diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp index 51b63fadb..a88bcf2ac 100644 --- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp @@ -40,22 +40,21 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) : { ui->setupUi(this); connect(ui->zeroBias,SIGNAL(clicked()),this,SLOT(startAccelCalibration())); - connect(ui->saveButton,SIGNAL(clicked()),this,SLOT(saveAttitudeSettings())); - connect(ui->applyButton,SIGNAL(clicked()),this,SLOT(applyAttitudeSettings())); - // Make it smart: - connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect())); - connect(parent, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect())); - enableControls(true); - refreshValues(); // The 1st time this panel is instanciated, the autopilot is already connected. + setupButtons(ui->applyButton,ui->saveButton); + addUAVObject("AttitudeSettings"); + + refreshWidgetsValues(); // The 1st time this panel is instanciated, the autopilot is already connected. UAVObject * settings = AttitudeSettings::GetInstance(getObjectManager()); - connect(settings,SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshValues())); // Connect the help button connect(ui->ccAttitudeHelp, SIGNAL(clicked()), this, SLOT(openHelp())); - - + addWidget(ui->rollBias); + addWidget(ui->pitchBias); + addWidget(ui->yawBias); + addWidget(ui->zeroBias); + addWidget(ui->zeroGyroBiasOnArming); } ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget() @@ -63,12 +62,6 @@ ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget() delete ui; } -void ConfigCCAttitudeWidget::enableControls(bool enable) -{ - //ui->applyButton->setEnabled(enable); - ui->saveButton->setEnabled(enable); -} - void ConfigCCAttitudeWidget::attitudeRawUpdated(UAVObject * obj) { QMutexLocker locker(&startStop); @@ -130,7 +123,7 @@ void ConfigCCAttitudeWidget::timeout() { } -void ConfigCCAttitudeWidget::applyAttitudeSettings() { +void ConfigCCAttitudeWidget::updateObjectsFromWidgets() { AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData(); attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] = ui->rollBias->value(); attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = ui->pitchBias->value(); @@ -140,14 +133,15 @@ void ConfigCCAttitudeWidget::applyAttitudeSettings() { AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData); } -void ConfigCCAttitudeWidget::refreshValues() { +void ConfigCCAttitudeWidget::refreshWidgetsValues() { + bool dirty=isDirty(); AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData(); ui->rollBias->setValue(attitudeSettingsData.BoardRotation[0]); ui->pitchBias->setValue(attitudeSettingsData.BoardRotation[1]); ui->yawBias->setValue(attitudeSettingsData.BoardRotation[2]); ui->zeroGyroBiasOnArming->setChecked(attitudeSettingsData.ZeroDuringArming == AttitudeSettings::ZERODURINGARMING_TRUE); - + setDirty(dirty); } void ConfigCCAttitudeWidget::startAccelCalibration() { @@ -184,13 +178,6 @@ void ConfigCCAttitudeWidget::startAccelCalibration() { } -void ConfigCCAttitudeWidget::saveAttitudeSettings() { - applyAttitudeSettings(); - - UAVDataObject * obj = dynamic_cast(getObjectManager()->getObject(QString("AttitudeSettings"))); - saveObjectToSD(obj); -} - void ConfigCCAttitudeWidget::openHelp() { diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h index 27176b22f..209d7ed28 100644 --- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h +++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h @@ -50,9 +50,8 @@ private slots: void attitudeRawUpdated(UAVObject * obj); void timeout(); void startAccelCalibration(); - void saveAttitudeSettings(); - void applyAttitudeSettings(); - virtual void refreshValues(); + void updateObjectsFromWidgets(); + virtual void refreshWidgetsValues(); void openHelp(); private: @@ -69,7 +68,6 @@ private: static const int NUM_ACCEL_UPDATES = 60; static const float ACCEL_SCALE = 0.004f * 9.81f; - virtual void enableControls(bool enable); }; diff --git a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp index f1f93c9d7..31eaf966b 100644 --- a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp @@ -99,6 +99,8 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent) onAutopilotConnect(); help = 0; + connect(ftw->m_tabBar,SIGNAL(aboutToChange(bool*)),this,SLOT(tabAboutToChange(bool*)));//,Qt::BlockingQueuedConnection); + } ConfigGadgetWidget::~ConfigGadgetWidget() @@ -153,5 +155,23 @@ void ConfigGadgetWidget::onAutopilotConnect() { emit autopilotConnected(); } +void ConfigGadgetWidget::tabAboutToChange(bool * proceed) +{ + *proceed=true; + ConfigTaskWidget * wid=qobject_cast(ftw->currentWidget()); + if(!wid) + return; + if(wid->isDirty()) + { + int ans=QMessageBox::warning(this,tr("Unsaved changes"),tr("The tab you are leaving has unsaved changes," + "if you proceed they will be lost." + "Do you still want to proceed?"),QMessageBox::Yes,QMessageBox::No); + if(ans==QMessageBox::No) + *proceed=false; + else + wid->setDirty(false); + } +} + diff --git a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.h b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.h index 84d65b383..376d85c08 100644 --- a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.h @@ -37,9 +37,9 @@ //#include #include #include "utils/pathutils.h" - +#include #include "fancytabwidget.h" - +#include "configtaskwidget.h" class ConfigGadgetWidget: public QWidget { @@ -54,6 +54,7 @@ public: public slots: void onAutopilotConnect(); void onAutopilotDisconnect(); + void tabAboutToChange(bool *); signals: void autopilotConnected(); diff --git a/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp index 1a961805b..77138a5a0 100644 --- a/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp @@ -46,6 +46,8 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); + setupButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD); + addUAVObject("ActuatorSettings"); // First of all, put all the channel widgets into lists, so that we can // manipulate those: @@ -106,10 +108,7 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren << m_config->ch7Link; // Register for ActuatorSettings changes: - UAVDataObject * obj = dynamic_cast(objManager->getObject(QString("ActuatorSettings"))); - connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues())); - - for (int i = 0; i < 8; i++) { + for (int i = 0; i < 8; i++) { connect(outMin[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange())); connect(outMax[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange())); connect(reversals[i], SIGNAL(toggled(bool)), this, SLOT(reverseChannel(bool))); @@ -124,13 +123,8 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren for (int i = 0; i < links.count(); i++) connect(links[i], SIGNAL(toggled(bool)), this, SLOT(linkToggled(bool))); - connect(m_config->saveRCOutputToSD, SIGNAL(clicked()), this, SLOT(saveRCOutputObject())); - connect(m_config->saveRCOutputToRAM, SIGNAL(clicked()), this, SLOT(sendRCOutputUpdate())); - enableControls(false); - refreshValues(); - connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect())); - connect(parent, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect())); + refreshWidgetsValues(); firstUpdate = true; @@ -138,6 +132,43 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren // Connect the help button connect(m_config->outputHelp, SIGNAL(clicked()), this, SLOT(openHelp())); + addWidget(m_config->outputRate3); + addWidget(m_config->outputRate2); + addWidget(m_config->outputRate1); + addWidget(m_config->ch0OutMin); + addWidget(m_config->ch0OutSlider); + addWidget(m_config->ch0OutMax); + addWidget(m_config->ch0Rev); + addWidget(m_config->ch0Link); + addWidget(m_config->ch1OutMin); + addWidget(m_config->ch1OutSlider); + addWidget(m_config->ch1OutMax); + addWidget(m_config->ch1Rev); + addWidget(m_config->ch2OutMin); + addWidget(m_config->ch2OutSlider); + addWidget(m_config->ch2OutMax); + addWidget(m_config->ch2Rev); + addWidget(m_config->ch3OutMin); + addWidget(m_config->ch3OutSlider); + addWidget(m_config->ch3OutMax); + addWidget(m_config->ch3Rev); + addWidget(m_config->ch4OutMin); + addWidget(m_config->ch4OutSlider); + addWidget(m_config->ch4OutMax); + addWidget(m_config->ch4Rev); + addWidget(m_config->ch5OutMin); + addWidget(m_config->ch5OutSlider); + addWidget(m_config->ch5OutMax); + addWidget(m_config->ch5Rev); + addWidget(m_config->ch6OutMin); + addWidget(m_config->ch6OutSlider); + addWidget(m_config->ch6OutMax); + addWidget(m_config->ch6Rev); + addWidget(m_config->ch7OutMin); + addWidget(m_config->ch7OutSlider); + addWidget(m_config->ch7OutMax); + addWidget(m_config->ch7Rev); + addWidget(m_config->spinningArmed); } ConfigOutputWidget::~ConfigOutputWidget() @@ -146,14 +177,6 @@ ConfigOutputWidget::~ConfigOutputWidget() } -// ************************************ - -void ConfigOutputWidget::enableControls(bool enable) -{ - m_config->saveRCOutputToSD->setEnabled(enable); - //m_config->saveRCOutputToRAM->setEnabled(enable); -} - // ************************************ /** @@ -355,8 +378,9 @@ void ConfigOutputWidget::sendChannelTest(int value) /** Request the current config from the board (RC Output) */ -void ConfigOutputWidget::refreshValues() +void ConfigOutputWidget::refreshWidgetsValues() { + bool dirty=isDirty(); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); @@ -444,14 +468,14 @@ void ConfigOutputWidget::refreshValues() outSliders[i]->setValue(value); outLabels[i]->setText(QString::number(value)); } - + setDirty(dirty); } /** * Sends the config to the board, without saving to the SD card (RC Output) */ -void ConfigOutputWidget::sendRCOutputUpdate() +void ConfigOutputWidget::updateObjectsFromWidgets() { ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); @@ -479,27 +503,8 @@ void ConfigOutputWidget::sendRCOutputUpdate() field->setValue(m_config->outputRate2->value(),1); field->setValue(m_config->outputRate3->value(),2); field->setValue(m_config->outputRate4->value(),3); - - // ... and send to the OP Board - obj->updated(); - } - -/** - Sends the config to the board and request saving into the SD card (RC Output) - */ -void ConfigOutputWidget::saveRCOutputObject() -{ - // Send update so that the latest value is saved - sendRCOutputUpdate(); - UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("ActuatorSettings"))); - Q_ASSERT(obj); - saveObjectToSD(obj); - -} - - /** Sets the minimum/maximum value of the channel 0 to seven output sliders. Have to do it here because setMinimum is not a slot. diff --git a/ground/openpilotgcs/src/plugins/config/configoutputwidget.h b/ground/openpilotgcs/src/plugins/config/configoutputwidget.h index 2a197e3ac..492109df1 100644 --- a/ground/openpilotgcs/src/plugins/config/configoutputwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configoutputwidget.h @@ -69,12 +69,10 @@ private: bool firstUpdate; - virtual void enableControls(bool enable); private slots: - virtual void refreshValues(); - void sendRCOutputUpdate(); - void saveRCOutputObject(); + virtual void refreshWidgetsValues(); + void updateObjectsFromWidgets(); void runChannelTests(bool state); void sendChannelTest(int value); void setChOutRange(); diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp index 83ac65523..22ad60b0e 100644 --- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp @@ -43,21 +43,15 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa m_stabilization->setupUi(this); - connect(m_stabilization->saveStabilizationToSD, SIGNAL(clicked()), this, SLOT(saveStabilizationUpdate())); - connect(m_stabilization->saveStabilizationToRAM, SIGNAL(clicked()), this, SLOT(sendStabilizationUpdate())); + setupButtons(m_stabilization->saveStabilizationToRAM,m_stabilization->saveStabilizationToSD); - enableControls(false); - refreshValues(); - connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect())); - connect(parent, SIGNAL(autopilotDisconnected()),this, SLOT(onAutopilotDisconnect())); + addUAVObject("StabilizationSettings"); - // Now connect the widget to the StabilizationSettings object - UAVObject *obj = getObjectManager()->getObject(QString("StabilizationSettings")); - connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues())); + refreshWidgetsValues(); // Create a timer to regularly send the object update in case // we want realtime updates. - connect(&updateTimer, SIGNAL(timeout()), this, SLOT(sendStabilizationUpdate())); + connect(&updateTimer, SIGNAL(timeout()), this, SLOT(updateObjectsFromWidgets())); connect(m_stabilization->realTimeUpdates, SIGNAL(toggled(bool)), this, SLOT(realtimeUpdateToggle(bool))); // Connect the updates of the stab values @@ -79,6 +73,33 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa // Connect the help button connect(m_stabilization->stabilizationHelp, SIGNAL(clicked()), this, SLOT(openHelp())); + addWidget(m_stabilization->rateRollKp); + addWidget(m_stabilization->rateRollKi); + addWidget(m_stabilization->rateRollILimit); + addWidget(m_stabilization->ratePitchKp); + addWidget(m_stabilization->ratePitchKi); + addWidget(m_stabilization->ratePitchILimit); + addWidget(m_stabilization->rateYawKp); + addWidget(m_stabilization->rateYawKi); + addWidget(m_stabilization->rateYawILimit); + addWidget(m_stabilization->rollKp); + addWidget(m_stabilization->rollKi); + addWidget(m_stabilization->rollILimit); + addWidget(m_stabilization->yawILimit); + addWidget(m_stabilization->yawKi); + addWidget(m_stabilization->yawKp); + addWidget(m_stabilization->pitchKp); + addWidget(m_stabilization->pitchKi); + addWidget(m_stabilization->pitchILimit); + addWidget(m_stabilization->rollMax); + addWidget(m_stabilization->pitchMax); + addWidget(m_stabilization->yawMax); + addWidget(m_stabilization->manualRoll); + addWidget(m_stabilization->manualPitch); + addWidget(m_stabilization->manualYaw); + addWidget(m_stabilization->maximumRoll); + addWidget(m_stabilization->maximumPitch); + addWidget(m_stabilization->maximumYaw); } ConfigStabilizationWidget::~ConfigStabilizationWidget() @@ -187,8 +208,9 @@ void ConfigStabilizationWidget::updatePitchILimit(double val) /** Request stabilization settings from the board */ -void ConfigStabilizationWidget::refreshValues() +void ConfigStabilizationWidget::refreshWidgetsValues() { + bool dirty=isDirty(); // Not needed anymore as this slot is only called whenever we get // a signal that the object was just updated // stabSettings->requestUpdate(); @@ -229,7 +251,7 @@ void ConfigStabilizationWidget::refreshValues() m_stabilization->maximumRoll->setValue(stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_ROLL]); m_stabilization->maximumPitch->setValue(stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_PITCH]); m_stabilization->maximumYaw->setValue(stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_YAW]); - + setDirty(dirty); } @@ -237,7 +259,7 @@ void ConfigStabilizationWidget::refreshValues() Send telemetry settings to the board */ -void ConfigStabilizationWidget::sendStabilizationUpdate() +void ConfigStabilizationWidget::updateObjectsFromWidgets() { StabilizationSettings::DataFields stabData = stabSettings->getData(); @@ -280,21 +302,6 @@ void ConfigStabilizationWidget::sendStabilizationUpdate() stabSettings->setData(stabData); // this is atomic } - -/** - Send telemetry settings to the board and request saving to SD card - */ - -void ConfigStabilizationWidget::saveStabilizationUpdate() -{ - // Send update so that the latest value is saved - sendStabilizationUpdate(); - UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("StabilizationSettings"))); - Q_ASSERT(obj); - saveObjectToSD(obj); -} - - void ConfigStabilizationWidget::realtimeUpdateToggle(bool state) { if (state) { diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h index 98db5530f..f17ac593e 100644 --- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h @@ -52,9 +52,8 @@ private: virtual void enableControls(bool enable); private slots: - virtual void refreshValues(); - void sendStabilizationUpdate(); - void saveStabilizationUpdate(); + virtual void refreshWidgetsValues(); + void updateObjectsFromWidgets(); void realtimeUpdateToggle(bool); void openHelp(); diff --git a/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp b/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp index 26524611f..87309ca63 100644 --- a/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp @@ -88,6 +88,15 @@ void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString fiel { connect(cb,SIGNAL(valueChanged(double)),this,SLOT(widgetsContentsChanged())); } + else if(QCheckBox * cb=qobject_cast(widget)) + { + connect(cb,SIGNAL(clicked()),this,SLOT(widgetsContentsChanged())); + } + else if(QPushButton * cb=qobject_cast(widget)) + { + connect(cb,SIGNAL(clicked()),this,SLOT(widgetsContentsChanged())); + } + } @@ -137,6 +146,7 @@ void ConfigTaskWidget::onAutopilotConnect() void ConfigTaskWidget::populateWidgets() { + bool dirtyBack=dirty; foreach(objectToWidget * ow,objOfInterest) { if(ow->object==NULL || ow->field==NULL) @@ -153,11 +163,12 @@ void ConfigTaskWidget::populateWidgets() cb->setText(ow->field->getValue().toString()); } } - dirty=false; + setDirty(dirtyBack); } void ConfigTaskWidget::refreshWidgetsValues() { + bool dirtyBack=dirty; foreach(objectToWidget * ow,objOfInterest) { if(ow->object==NULL || ow->field==NULL) @@ -173,6 +184,7 @@ void ConfigTaskWidget::refreshWidgetsValues() cb->setText(ow->field->getValue().toString()); } } + setDirty(dirtyBack); } void ConfigTaskWidget::updateObjectsFromWidgets() @@ -197,7 +209,7 @@ void ConfigTaskWidget::updateObjectsFromWidgets() void ConfigTaskWidget::setupButtons(QPushButton *update, QPushButton *save) { smartsave=new smartSaveButton(update,save); - connect(smartsave, SIGNAL(preProcessOperations()), this, SLOT(updateObjectsFromWidgets())); + connect(smartsave,SIGNAL(preProcessOperations()), this, SLOT(updateObjectsFromWidgets())); connect(smartsave,SIGNAL(saveSuccessfull()),this,SLOT(clearDirty())); connect(smartsave,SIGNAL(beginOp()),this,SLOT(disableObjUpdates())); connect(smartsave,SIGNAL(endOp()),this,SLOT(enableObjUpdates())); @@ -211,15 +223,18 @@ void ConfigTaskWidget::enableControls(bool enable) void ConfigTaskWidget::widgetsContentsChanged() { - qDebug()<<"dirty!!!"; - dirty=true; + setDirty(true); } void ConfigTaskWidget::clearDirty() { - dirty=false; + setDirty(false); +} +void ConfigTaskWidget::setDirty(bool value) +{ + qDebug()<<"dirty="< #include #include +#include +#include + class ConfigTaskWidget: public QWidget { Q_OBJECT @@ -63,6 +66,7 @@ public: void addUAVObjectToWidgetRelation(QString object,QString field,QWidget * widget); void setupButtons(QPushButton * update,QPushButton * save); bool isDirty(); + void setDirty(bool value); public slots: void onAutopilotDisconnect(); void onAutopilotConnect(); diff --git a/ground/openpilotgcs/src/plugins/config/fancytabwidget.cpp b/ground/openpilotgcs/src/plugins/config/fancytabwidget.cpp index 97ae45303..bb0b65b09 100644 --- a/ground/openpilotgcs/src/plugins/config/fancytabwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/fancytabwidget.cpp @@ -284,6 +284,10 @@ void FancyTabBar::paintTab(QPainter *painter, int tabIndex) const } void FancyTabBar::setCurrentIndex(int index) { + bool proceed=true; + emit aboutToChange(&proceed); + if(!proceed) + return; m_currentIndex = index; update(); emit currentChanged(index); @@ -319,7 +323,6 @@ FancyTabWidget::FancyTabWidget(QWidget *parent, bool isVertical) : QWidget(parent) { m_tabBar = new FancyTabBar(this, isVertical); - m_selectionWidget = new QWidget(this); QBoxLayout *selectionLayout; if (isVertical) { @@ -477,3 +480,7 @@ void FancyTabWidget::setTabToolTip(int index, const QString &toolTip) { m_tabBar->setTabToolTip(index, toolTip); } +QWidget * FancyTabWidget::currentWidget() +{ + return m_modesStack->currentWidget(); +} diff --git a/ground/openpilotgcs/src/plugins/config/fancytabwidget.h b/ground/openpilotgcs/src/plugins/config/fancytabwidget.h index 47c7ddeb5..73da2aae8 100644 --- a/ground/openpilotgcs/src/plugins/config/fancytabwidget.h +++ b/ground/openpilotgcs/src/plugins/config/fancytabwidget.h @@ -91,6 +91,7 @@ public: signals: void currentChanged(int); + void aboutToChange(bool *); public slots: void updateHover(); @@ -116,7 +117,7 @@ class FancyTabWidget : public QWidget public: FancyTabWidget(QWidget *parent = 0, bool isVertical = false); - + FancyTabBar *m_tabBar; void insertTab(int index, QWidget *tab, const QIcon &icon, const QString &label); void removeTab(int index); void setBackgroundBrush(const QBrush &brush); @@ -132,6 +133,7 @@ public: int currentIndex() const; QStatusBar *statusBar() const; + QWidget * currentWidget(); signals: void currentAboutToShow(int index); void currentChanged(int index); @@ -143,7 +145,6 @@ private slots: void showWidget(int index); private: - FancyTabBar *m_tabBar; QWidget *m_cornerWidgetContainer; QStackedLayout *m_modesStack; QWidget *m_selectionWidget; diff --git a/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp b/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp index ed5abf2c7..708c1b5c1 100644 --- a/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp +++ b/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp @@ -111,6 +111,7 @@ void smartSaveButton::saving_finished(int id, bool result) if(id==current_objectID) { sv_result=result; + qDebug()<<"saving_finished result="< Date: Thu, 4 Aug 2011 16:58:41 +0100 Subject: [PATCH 07/57] Started working on the multi receiver support --- .../src/plugins/config/config.pro | 9 +- .../src/plugins/config/configinputwidget.cpp | 691 +------------ .../src/plugins/config/configinputwidget.h | 32 +- .../src/plugins/config/configtaskwidget.cpp | 41 +- .../src/plugins/config/configtaskwidget.h | 7 +- .../openpilotgcs/src/plugins/config/input.ui | 908 +----------------- .../src/plugins/config/inputchannelform.cpp | 29 + .../src/plugins/config/inputchannelform.h | 23 + .../src/plugins/config/inputchannelform.ui | 119 +++ .../src/plugins/config/smartsavebutton.cpp | 2 + 10 files changed, 260 insertions(+), 1601 deletions(-) create mode 100644 ground/openpilotgcs/src/plugins/config/inputchannelform.cpp create mode 100644 ground/openpilotgcs/src/plugins/config/inputchannelform.h create mode 100644 ground/openpilotgcs/src/plugins/config/inputchannelform.ui diff --git a/ground/openpilotgcs/src/plugins/config/config.pro b/ground/openpilotgcs/src/plugins/config/config.pro index 79ddea046..62bdc327e 100644 --- a/ground/openpilotgcs/src/plugins/config/config.pro +++ b/ground/openpilotgcs/src/plugins/config/config.pro @@ -37,7 +37,8 @@ HEADERS += configplugin.h \ calibration.h \ defaultattitudewidget.h \ smartsavebutton.h \ - defaulthwsettingswidget.h + defaulthwsettingswidget.h \ + inputchannelform.h SOURCES += configplugin.cpp \ configgadgetconfiguration.cpp \ @@ -65,7 +66,8 @@ SOURCES += configplugin.cpp \ alignment-calibration.cpp \ defaultattitudewidget.cpp \ smartsavebutton.cpp \ - defaulthwsettingswidget.cpp + defaulthwsettingswidget.cpp \ + inputchannelform.cpp FORMS += \ airframe.ui \ @@ -78,6 +80,7 @@ FORMS += \ output.ui \ ccattitude.ui \ defaultattitude.ui \ - defaulthwsettings.ui + defaulthwsettings.ui \ + inputchannelform.ui RESOURCES += configgadget.qrc diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp index 83e1a02ac..18841b9df 100644 --- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp @@ -46,606 +46,53 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent) m_config = new Ui_InputWidget(); m_config->setupUi(this); + setupButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD); + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); - - // First of all, put all the channel widgets into lists, so that we can - // manipulate those: - - - inMaxLabels << m_config->ch0Max - << m_config->ch1Max - << m_config->ch2Max - << m_config->ch3Max - << m_config->ch4Max - << m_config->ch5Max - << m_config->ch6Max - << m_config->ch7Max; - - inMinLabels << m_config->ch0Min - << m_config->ch1Min - << m_config->ch2Min - << m_config->ch3Min - << m_config->ch4Min - << m_config->ch5Min - << m_config->ch6Min - << m_config->ch7Min; - - inSliders << m_config->inSlider0 - << m_config->inSlider1 - << m_config->inSlider2 - << m_config->inSlider3 - << m_config->inSlider4 - << m_config->inSlider5 - << m_config->inSlider6 - << m_config->inSlider7; - - inRevCheckboxes << m_config->ch0Rev - << m_config->ch1Rev - << m_config->ch2Rev - << m_config->ch3Rev - << m_config->ch4Rev - << m_config->ch5Rev - << m_config->ch6Rev - << m_config->ch7Rev; - - inChannelAssign << m_config->ch0Assign - << m_config->ch1Assign - << m_config->ch2Assign - << m_config->ch3Assign - << m_config->ch4Assign - << m_config->ch5Assign - << m_config->ch6Assign - << m_config->ch7Assign; - - // Now connect the widget to the ManualControlCommand / Channel UAVObject - UAVDataObject* obj = dynamic_cast(objManager->getObject(QString("ManualControlCommand"))); - connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateChannels(UAVObject*))); - - // Register for ManualControlSettings changes: - obj = dynamic_cast(objManager->getObject(QString("ManualControlSettings"))); - connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues())); - - - // Get the receiver types supported by OpenPilot and fill the corresponding - // dropdown menu: - obj = dynamic_cast(objManager->getObject(QString("ManualControlSettings"))); - UAVObjectField * field; - // Fill in the dropdown menus for the channel RC Input assignement. - QStringList channelsList; - channelsList << "None"; - QList fieldList = obj->getFields(); - foreach (UAVObjectField* field, fieldList) { - if (field->getUnits().contains("channel")) { - channelsList.append(field->getName()); - } + UAVDataObject * obj = dynamic_cast(objManager->getObject(QString("ManualControlSettings"))); + UAVObjectField * field = obj->getField(QString("ChannelGroups")); + int index=0; + foreach(QString name,field->getElementNames()) + { + inputChannelForm * inp=new inputChannelForm(this,index==0); + m_config->advancedPage->layout()->addWidget(inp); + inp->ui->channelName->setText(name); + addUAVObjectToWidgetRelation("ManualControlSettings","ChannelGroups",inp->ui->channelGroup,index); + addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNumber",inp->ui->channelNumber,index); + addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMin",inp->ui->channelMin,index); + addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNeutral",inp->ui->channelNeutral,index); + addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMax",inp->ui->channelMax,index); + ++index; } - m_config->ch0Assign->addItems(channelsList); - m_config->ch1Assign->addItems(channelsList); - m_config->ch2Assign->addItems(channelsList); - m_config->ch3Assign->addItems(channelsList); - m_config->ch4Assign->addItems(channelsList); - m_config->ch5Assign->addItems(channelsList); - m_config->ch6Assign->addItems(channelsList); - m_config->ch7Assign->addItems(channelsList); + addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0); + addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1); + addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2); - // And the flight mode settings: - field = obj->getField(QString("FlightModePosition")); - m_config->fmsModePos1->addItems(field->getOptions()); - m_config->fmsModePos2->addItems(field->getOptions()); - m_config->fmsModePos3->addItems(field->getOptions()); - field = obj->getField(QString("Stabilization1Settings")); - channelsList.clear(); - channelsList.append(field->getOptions()); - m_config->fmsSsPos1Roll->addItems(channelsList); - m_config->fmsSsPos1Pitch->addItems(channelsList); - m_config->fmsSsPos1Yaw->addItems(channelsList); - m_config->fmsSsPos2Roll->addItems(channelsList); - m_config->fmsSsPos2Pitch->addItems(channelsList); - m_config->fmsSsPos2Yaw->addItems(channelsList); - m_config->fmsSsPos3Roll->addItems(channelsList); - m_config->fmsSsPos3Pitch->addItems(channelsList); - m_config->fmsSsPos3Yaw->addItems(channelsList); + addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll"); + addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Roll,"Roll"); + addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Roll,"Roll"); + addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Pitch,"Pitch"); + addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Pitch,"Pitch"); + addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Pitch,"Pitch"); + addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Yaw,"Yaw"); + addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Yaw,"Yaw"); + addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Yaw,"Yaw"); - // And the Armin configurations: - field = obj->getField(QString("Arming")); - m_config->armControl->clear(); - m_config->armControl->addItems(field->getOptions()); - - - connect(m_config->saveRCInputToSD, SIGNAL(clicked()), this, SLOT(saveRCInputObject())); - connect(m_config->saveRCInputToRAM, SIGNAL(clicked()), this, SLOT(sendRCInputUpdate())); - - enableControls(false); - refreshValues(); - connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect())); - connect(parent, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect())); - - connect(m_config->ch0Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); - connect(m_config->ch1Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); - connect(m_config->ch2Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); - connect(m_config->ch3Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); - connect(m_config->ch4Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); - connect(m_config->ch5Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); - connect(m_config->ch6Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); - connect(m_config->ch7Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); - connect(m_config->doRCInputCalibration,SIGNAL(stateChanged(int)),this,SLOT(updateTips(int))); - firstUpdate = true; + addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl); + addUAVObjectToWidgetRelation("ManualControlSettings","armTimeout",m_config->armTimeout,0,1000); + populateWidgets(); + refreshWidgetsValues(); // Connect the help button connect(m_config->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp())); - updateTips(Qt::Unchecked); } ConfigInputWidget::~ConfigInputWidget() { - // Do nothing -} - -/** - Slot called whenever we revert a signal - */ -void ConfigInputWidget::reverseCheckboxClicked(bool state) -{ - QObject* obj = sender(); - int i = inRevCheckboxes.indexOf((QCheckBox*)obj); - - inSliders[i]->setInvertedAppearance(state); - int max = inMaxLabels[i]->text().toInt(); - int min = inMinLabels[i]->text().toInt(); - if ((state && (max>min)) || - (!state && (max < min))) { - inMaxLabels[i]->setText(QString::number(min)); - inMinLabels[i]->setText(QString::number(max)); - } -} - - -// ************************************ - -/* - Enable or disable some controls depending on whether we are connected - or not to the board. Actually, this i mostly useless IMHO, I don't - know who added this into the code (Ed's note) - */ -void ConfigInputWidget::enableControls(bool enable) -{ - //m_config->saveRCInputToRAM->setEnabled(enable); - m_config->saveRCInputToSD->setEnabled(enable); - m_config->doRCInputCalibration->setEnabled(enable); -} - - -/******************************** - * Input settings - *******************************/ - -/** - Request the current config from the board - */ -void ConfigInputWidget::refreshValues() -{ - UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("ManualControlSettings"))); - Q_ASSERT(obj); - //obj->requestUpdate(); - UAVObjectField *field; - - // Now update all the slider values: - - UAVObjectField *field_max = obj->getField(QString("ChannelMax")); - UAVObjectField *field_min = obj->getField(QString("ChannelMin")); - UAVObjectField *field_neu = obj->getField(QString("ChannelNeutral")); - Q_ASSERT(field_max); - Q_ASSERT(field_min); - Q_ASSERT(field_neu); - for (int i = 0; i < 8; i++) { - QVariant max = field_max->getValue(i); - QVariant min = field_min->getValue(i); - QVariant neutral = field_neu->getValue(i); - inMaxLabels[i]->setText(max.toString()); - inMinLabels[i]->setText(min.toString()); - if (max.toInt()> min.toInt()) { - inRevCheckboxes[i]->setChecked(false); - inSliders[i]->setMaximum(max.toInt()); - inSliders[i]->setMinimum(min.toInt()); - } else { - inRevCheckboxes[i]->setChecked(true); - inSliders[i]->setMaximum(min.toInt()); - inSliders[i]->setMinimum(max.toInt()); - } - inSliders[i]->setValue(neutral.toInt()); - } - - // Update receiver type - field = obj->getField(QString("InputMode")); - m_config->receiverType->setText(field->getValue().toString()); - - // Reset all channel assignement dropdowns: - foreach (QComboBox *combo, inChannelAssign) { - combo->setCurrentIndex(0); - } - - // Update all channels assignements - QList fieldList = obj->getFields(); - foreach (UAVObjectField *field, fieldList) { - if (field->getUnits().contains("channel")) - assignChannel(obj, field->getName()); - } - - // Update all the flight mode settingsin the relevant tab - field = obj->getField(QString("FlightModePosition")); - m_config->fmsModePos1->setCurrentIndex((m_config->fmsModePos1->findText(field->getValue(0).toString()))); - m_config->fmsModePos2->setCurrentIndex((m_config->fmsModePos2->findText(field->getValue(1).toString()))); - m_config->fmsModePos3->setCurrentIndex((m_config->fmsModePos3->findText(field->getValue(2).toString()))); - - field = obj->getField(QString("Stabilization1Settings")); - m_config->fmsSsPos1Roll->setCurrentIndex(m_config->fmsSsPos1Roll->findText(field->getValue(field->getElementNames().indexOf("Roll")).toString())); - m_config->fmsSsPos1Pitch->setCurrentIndex(m_config->fmsSsPos1Pitch->findText(field->getValue(field->getElementNames().indexOf("Pitch")).toString())); - m_config->fmsSsPos1Yaw->setCurrentIndex(m_config->fmsSsPos1Yaw->findText(field->getValue(field->getElementNames().indexOf("Yaw")).toString())); - field = obj->getField(QString("Stabilization2Settings")); - m_config->fmsSsPos2Roll->setCurrentIndex(m_config->fmsSsPos2Roll->findText(field->getValue(field->getElementNames().indexOf("Roll")).toString())); - m_config->fmsSsPos2Pitch->setCurrentIndex(m_config->fmsSsPos2Pitch->findText(field->getValue(field->getElementNames().indexOf("Pitch")).toString())); - m_config->fmsSsPos2Yaw->setCurrentIndex(m_config->fmsSsPos2Yaw->findText(field->getValue(field->getElementNames().indexOf("Yaw")).toString())); - field = obj->getField(QString("Stabilization3Settings")); - m_config->fmsSsPos3Roll->setCurrentIndex(m_config->fmsSsPos3Roll->findText(field->getValue(field->getElementNames().indexOf("Roll")).toString())); - m_config->fmsSsPos3Pitch->setCurrentIndex(m_config->fmsSsPos3Pitch->findText(field->getValue(field->getElementNames().indexOf("Pitch")).toString())); - m_config->fmsSsPos3Yaw->setCurrentIndex(m_config->fmsSsPos3Yaw->findText(field->getValue(field->getElementNames().indexOf("Yaw")).toString())); - - // Load the arming settings - field = obj->getField(QString("Arming")); - m_config->armControl->setCurrentIndex(m_config->armControl->findText(field->getValue().toString())); - field = obj->getField(QString("ArmedTimeout")); - m_config->armTimeout->setValue(field->getValue().toInt()/1000); -} - - -/** - * Sends the config to the board, without saving to the SD card - */ -void ConfigInputWidget::sendRCInputUpdate() -{ - ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); - UAVObjectManager *objManager = pm->getObject(); - UAVDataObject* obj = dynamic_cast(objManager->getObject(QString("ManualControlSettings"))); - Q_ASSERT(obj); - // Now update all fields from the sliders: - QString fieldName = QString("ChannelMax"); - UAVObjectField * field = obj->getField(fieldName); - for (int i = 0; i < 8; i++) { - field->setValue(inMaxLabels[i]->text().toInt(), i); - } - - fieldName = QString("ChannelMin"); - field = obj->getField(fieldName); - for (int i = 0; i < 8; i++) { - field->setValue(inMinLabels[i]->text().toInt(), i); - } - - fieldName = QString("ChannelNeutral"); - field = obj->getField(fieldName); - for (int i = 0; i < 8; i++) - field->setValue(inSliders[i]->value(), i); - - // Set Roll/Pitch/Yaw/Etc assignement: - // Rule: if two channels have the same setting (which is wrong!) the higher channel - // will get the setting. - - // First, reset all channel assignements: - QList fieldList = obj->getFields(); - foreach (UAVObjectField* field, fieldList) { - if (field->getUnits().contains("channel")) { - field->setValue(field->getOptions().last()); - } - } - - // Then assign according to current GUI state: - if (m_config->ch0Assign->currentIndex() != 0) { - field = obj->getField(m_config->ch0Assign->currentText()); - field->setValue(field->getOptions().at(0)); // -> This way we don't depend on channel naming convention - } - if (m_config->ch1Assign->currentIndex() != 0) { - field = obj->getField(m_config->ch1Assign->currentText()); - field->setValue(field->getOptions().at(1)); - } - if (m_config->ch2Assign->currentIndex() != 0) { - field = obj->getField(m_config->ch2Assign->currentText()); - field->setValue(field->getOptions().at(2)); - } - if (m_config->ch3Assign->currentIndex() != 0) { - field = obj->getField(m_config->ch3Assign->currentText()); - field->setValue(field->getOptions().at(3)); - } - if (m_config->ch4Assign->currentIndex() != 0) { - field = obj->getField(m_config->ch4Assign->currentText()); - field->setValue(field->getOptions().at(4)); - } - if (m_config->ch5Assign->currentIndex() != 0) { - field = obj->getField(m_config->ch5Assign->currentText()); - field->setValue(field->getOptions().at(5)); - } - if (m_config->ch6Assign->currentIndex() != 0) { - field = obj->getField(m_config->ch6Assign->currentText()); - field->setValue(field->getOptions().at(6)); - } - if (m_config->ch7Assign->currentIndex() != 0) { - field = obj->getField(m_config->ch7Assign->currentText()); - field->setValue(field->getOptions().at(7)); - } - - // Send all the flight mode settings - field = obj->getField(QString("FlightModePosition")); - field->setValue(m_config->fmsModePos1->currentText(),0); - field->setValue(m_config->fmsModePos2->currentText(),1); - field->setValue(m_config->fmsModePos3->currentText(),2); - - field = obj->getField(QString("Stabilization1Settings")); - field->setValue(m_config->fmsSsPos1Roll->currentText(), field->getElementNames().indexOf("Roll")); - field->setValue(m_config->fmsSsPos1Pitch->currentText(), field->getElementNames().indexOf("Pitch")); - field->setValue(m_config->fmsSsPos1Yaw->currentText(), field->getElementNames().indexOf("Yaw")); - field = obj->getField(QString("Stabilization2Settings")); - field->setValue(m_config->fmsSsPos2Roll->currentText(), field->getElementNames().indexOf("Roll")); - field->setValue(m_config->fmsSsPos2Pitch->currentText(), field->getElementNames().indexOf("Pitch")); - field->setValue(m_config->fmsSsPos2Yaw->currentText(), field->getElementNames().indexOf("Yaw")); - field = obj->getField(QString("Stabilization3Settings")); - field->setValue(m_config->fmsSsPos3Roll->currentText(), field->getElementNames().indexOf("Roll")); - field->setValue(m_config->fmsSsPos3Pitch->currentText(), field->getElementNames().indexOf("Pitch")); - field->setValue(m_config->fmsSsPos3Yaw->currentText(), field->getElementNames().indexOf("Yaw")); - - // Save the arming settings - field = obj->getField(QString("Arming")); - field->setValue(m_config->armControl->currentText()); - field = obj->getField(QString("ArmedTimeout")); - field->setValue(m_config->armTimeout->value()*1000); - - // ... and send to the OP Board - obj->updated(); - -} - -/** - Sends the config to the board and request saving into the SD card - */ -void ConfigInputWidget::saveRCInputObject() -{ - // Send update so that the latest value is saved - sendRCInputUpdate(); - UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("ManualControlSettings"))); - Q_ASSERT(obj); - saveObjectToSD(obj); -} - - -/** - * Set the dropdown option for a channel Input assignement - */ -void ConfigInputWidget::assignChannel(UAVDataObject *obj, QString str) -{ - UAVObjectField* field = obj->getField(str); - QStringList options = field->getOptions(); - switch (options.indexOf(field->getValue().toString())) { - case 0: - m_config->ch0Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); - break; - case 1: - m_config->ch1Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); - break; - case 2: - m_config->ch2Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); - break; - case 3: - m_config->ch3Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); - break; - case 4: - m_config->ch4Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); - break; - case 5: - m_config->ch5Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); - break; - case 6: - m_config->ch6Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); - break; - case 7: - m_config->ch7Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); - break; - } -} - -/** - * Updates the slider positions and min/max values - * - */ -void ConfigInputWidget::updateChannels(UAVObject* controlCommand) -{ - - QString fieldName = QString("Connected"); - UAVObjectField *field = controlCommand->getField(fieldName); - if (field->getValue().toBool()) - { - m_config->RCInputConnected->setText("RC Receiver connected"); - m_config->lblMissingInputs->setText(""); - } - else - { - m_config->RCInputConnected->setText("RC Receiver not connected or invalid input configuration (missing channels)"); - receiverHelp(); - } - if (m_config->doRCInputCalibration->isChecked()) { - if (firstUpdate) { - // Increase the data rate from the board so that the sliders - // move faster - UAVObject::Metadata mdata = controlCommand->getMetadata(); - mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC; - mccDataRate = mdata.flightTelemetryUpdatePeriod; - mdata.flightTelemetryUpdatePeriod = 150; - controlCommand->setMetadata(mdata); - - // Also protect the user by setting all values to zero - // and making the ActuatorCommand object readonly - UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("ActuatorCommand"))); - mdata = obj->getMetadata(); - mdata.flightAccess = UAVObject::ACCESS_READONLY; - obj->setMetadata(mdata); - UAVObjectField *field = obj->getField("Channel"); - for (uint i=0; i< field->getNumElements(); i++) { - field->setValue(0,i); - } - obj->updated(); - - // OP-534: make sure the airframe can NEVER arm - obj = dynamic_cast(getObjectManager()->getObject(QString("ManualControlSettings"))); - field = obj->getField("Arming"); - field->setValue("Always Disarmed"); - obj->updated(); - - // Last, make sure the user won't apply/save during calibration - m_config->saveRCInputToRAM->setEnabled(false); - m_config->saveRCInputToSD->setEnabled(false); - - // Reset all slider values to zero - field = controlCommand->getField(QString("Channel")); - for (int i = 0; i < 8; i++) - updateChannelInSlider(inSliders[i], inMinLabels[i], inMaxLabels[i], field->getValue(i).toInt(),inRevCheckboxes[i]->isChecked()); - firstUpdate = false; - // Tell a few things to the user: - QMessageBox msgBox; - msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety.")); - msgBox.setDetailedText(tr("You will have to reconfigure arming settings yourself afterwards.")); - msgBox.setStandardButtons(QMessageBox::Ok); - msgBox.setDefaultButton(QMessageBox::Ok); - msgBox.exec(); - - } - - field = controlCommand->getField(QString("Channel")); - for (int i = 0; i < 8; i++) - updateChannelInSlider(inSliders[i], inMinLabels[i], inMaxLabels[i], field->getValue(i).toInt(),inRevCheckboxes[i]->isChecked()); - } - else { - if (!firstUpdate) { - // Restore original data rate from the board: - UAVObject::Metadata mdata = controlCommand->getMetadata(); - mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC; - mdata.flightTelemetryUpdatePeriod = mccDataRate; - controlCommand->setMetadata(mdata); - - UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("ActuatorCommand"))); - mdata = obj->getMetadata(); - mdata.flightAccess = UAVObject::ACCESS_READWRITE; - obj->setMetadata(mdata); - - // Set some slider values to better defaults - // Find some channels first - int throttleChannel = -1; - int fmChannel = -1; - for (int i=0; i < inChannelAssign.length(); i++) { - if (inChannelAssign.at(i)->currentText() == "Throttle") { - // TODO: this is very ugly, because this relies on the name of the - // channel input, everywhere else in the gadget we don't rely on the - // naming... - throttleChannel = i; - } - if (inChannelAssign.at(i)->currentText() == "FlightMode") { - // TODO: this is very ugly, because this relies on the name of the - // channel input, everywhere else in the gadget we don't rely on the - // naming... - fmChannel = i; - } - } - - // Throttle neutral defaults to 2% of range - if (throttleChannel > -1) { - inSliders.at(throttleChannel)->setValue( - inSliders.at(throttleChannel)->minimum() + - (inSliders.at(throttleChannel)->maximum()- - inSliders.at(throttleChannel)->minimum())*0.02); - } - - // Flight mode at 50% of range: - if (fmChannel > -1) { - inSliders.at(fmChannel)->setValue( - inSliders.at(fmChannel)->minimum()+ - (inSliders.at(fmChannel)->maximum()- - inSliders.at(fmChannel)->minimum())*0.5); - } - - m_config->saveRCInputToRAM->setEnabled(true); - m_config->saveRCInputToSD->setEnabled(true); - } - firstUpdate = true; - } - - //Update the Flight mode channel slider - ManualControlSettings * manualSettings = ManualControlSettings::GetInstance(getObjectManager()); - ManualControlSettings::DataFields manualSettingsData = manualSettings->getData(); - uint chIndex = manualSettingsData.FlightMode; - if (chIndex < manualSettings->FLIGHTMODE_NONE) { - float valueScaled; - - int chMin = manualSettingsData.ChannelMin[chIndex]; - int chMax = manualSettingsData.ChannelMax[chIndex]; - int chNeutral = manualSettingsData.ChannelNeutral[chIndex]; - - int value = controlCommand->getField("Channel")->getValue(chIndex).toInt(); - if ((chMax > chMin && value >= chNeutral) || (chMin > chMax && value <= chNeutral)) - { - if (chMax != chNeutral) - valueScaled = (float)(value - chNeutral) / (float)(chMax - chNeutral); - else - valueScaled = 0; - } - else - { - if (chMin != chNeutral) - valueScaled = (float)(value - chNeutral) / (float)(chNeutral - chMin); - else - valueScaled = 0; - } - - if(valueScaled < -(1.0 / 3.0)) - m_config->fmsSlider->setValue(-100); - else if (valueScaled > (1.0/3.0)) - m_config->fmsSlider->setValue(100); - else - m_config->fmsSlider->setValue(0); - - } -} - -void ConfigInputWidget::updateChannelInSlider(QSlider *slider, QLabel *min, QLabel *max, int value, bool reversed) -{ - if (!slider || !min || !max) - return; - - if (firstUpdate) { - // Reset all the min/max values of the progress bar since we are starting the calibration. - slider->setMaximum(value); - slider->setMinimum(value); - slider->setValue(value); - max->setText(QString::number(value)); - min->setText(QString::number(value)); - return; - } - - if (value > 0) { - // avoids glitches... - if (value > slider->maximum()) { - slider->setMaximum(value); - if (reversed) - min->setText(QString::number(value)); - else - max->setText(QString::number(value)); - } - if (value < slider->minimum()) { - slider->setMinimum(value); - if (reversed) - max->setText(QString::number(value)); - else - min->setText(QString::number(value)); - } - slider->setValue(value); - } + // Do nothing } void ConfigInputWidget::openHelp() @@ -653,77 +100,5 @@ void ConfigInputWidget::openHelp() QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Input+Configuration", QUrl::StrictMode) ); } -void ConfigInputWidget::receiverHelp() -{ - QString unassigned; - ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); - UAVObjectManager *objManager = pm->getObject(); - UAVDataObject* controlCommand = dynamic_cast(objManager->getObject(QString("ManualControlSettings"))); - UAVObjectField *field; - field= controlCommand->getField("Roll"); - if(field->getValue().toString()=="None") - unassigned.append("Roll"); - - field =controlCommand->getField("Pitch"); - if(field->getValue().toString()=="None") - { - if(unassigned.length()>0) - unassigned.append(", "); - unassigned.append("Pitch"); - } - - field =controlCommand->getField("Yaw"); - if(field->getValue().toString()=="None") - { - if(unassigned.length()>0) - unassigned.append(", "); - unassigned.append("Yaw"); - } - - field =controlCommand->getField("Throttle"); - if(field->getValue().toString()=="None") - { - if(unassigned.length()>0) - unassigned.append(", "); - unassigned.append("Throttle"); - } - - field =controlCommand->getField("FlightMode"); - if(field->getValue().toString()=="None") - { - if(unassigned.length()>0) - unassigned.append(", "); - unassigned.append("FlightMode"); - } - if(unassigned.length()>0) - m_config->lblMissingInputs->setText(QString("Channels left to assign: ")+unassigned); - else - m_config->lblMissingInputs->setText(""); -} -void ConfigInputWidget::updateTips(int value) -{ - if(value==Qt::Checked) - { - m_config->ch0Cur->setToolTip("Current channel value"); - m_config->ch1Cur->setToolTip("Current channel value"); - m_config->ch2Cur->setToolTip("Current channel value"); - m_config->ch3Cur->setToolTip("Current channel value"); - m_config->ch4Cur->setToolTip("Current channel value"); - m_config->ch5Cur->setToolTip("Current channel value"); - m_config->ch6Cur->setToolTip("Current channel value"); - m_config->ch7Cur->setToolTip("Current channel value"); - } - else - { - m_config->ch0Cur->setToolTip("Channel neutral point"); - m_config->ch1Cur->setToolTip("Channel neutral point"); - m_config->ch2Cur->setToolTip("Channel neutral point"); - m_config->ch3Cur->setToolTip("Channel neutral point"); - m_config->ch4Cur->setToolTip("Channel neutral point"); - m_config->ch5Cur->setToolTip("Channel neutral point"); - m_config->ch6Cur->setToolTip("Channel neutral point"); - m_config->ch7Cur->setToolTip("Channel neutral point"); - } -} diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.h b/ground/openpilotgcs/src/plugins/config/configinputwidget.h index 75f47cc8d..5897a6f05 100644 --- a/ground/openpilotgcs/src/plugins/config/configinputwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.h @@ -34,7 +34,8 @@ #include "uavobject.h" #include #include - +#include "inputchannelform.h" +#include "ui_inputchannelform.h" class Ui_InputWidget; class ConfigInputWidget: public ConfigTaskWidget @@ -50,36 +51,9 @@ public slots: private: Ui_InputWidget *m_config; - QList sliders; - - void updateChannelInSlider(QSlider *slider, QLabel *min, QLabel *max, int value, bool reversed); - - void assignChannel(UAVDataObject *obj, QString str); - void assignOutputChannel(UAVDataObject *obj, QString str); - - int mccDataRate; - - UAVObject::Metadata accInitialData; - - QList inSliders; - QList inMaxLabels; - QList inMinLabels; - QList inNeuLabels; - QList inRevCheckboxes; - QList inChannelAssign; - - bool firstUpdate; - - virtual void enableControls(bool enable); - void receiverHelp(); private slots: - void updateChannels(UAVObject* obj); - virtual void refreshValues(); - void sendRCInputUpdate(); - void saveRCInputObject(); - void reverseCheckboxClicked(bool state); + void openHelp(); - void updateTips(int); }; #endif diff --git a/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp b/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp index 87309ca63..90d21e494 100644 --- a/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp @@ -43,13 +43,24 @@ void ConfigTaskWidget::addUAVObject(QString objectName) { addUAVObjectToWidgetRelation(objectName,"",NULL); } -void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString field, QWidget * widget) +void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString field, QWidget * widget, QString index) +{ + UAVObject *obj=NULL; + UAVObjectField *_field=NULL; + obj = objManager->getObject(QString(object)); + _field = obj->getField(QString(field)); + addUAVObjectToWidgetRelation(object,field,widget,_field->getElementNames().indexOf(index)); +} + +void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString field, QWidget * widget, int index,int scale) { UAVObject *obj=NULL; UAVObjectField *_field=NULL; if(!object.isEmpty()) + { obj = objManager->getObject(QString(object)); - connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues())); + connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues())); + } //smartsave->addObject(obj); if(!field.isEmpty() && obj) _field = obj->getField(QString(field)); @@ -57,6 +68,8 @@ void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString fiel ow->field=_field; ow->object=obj; ow->widget=widget; + ow->index=index; + ow->scale=scale; objOfInterest.append(ow); if(obj) smartsave->addObject(obj); @@ -156,11 +169,15 @@ void ConfigTaskWidget::populateWidgets() else if(QComboBox * cb=qobject_cast(ow->widget)) { cb->addItems(ow->field->getOptions()); - cb->setCurrentIndex(cb->findText(ow->field->getValue().toString())); + cb->setCurrentIndex(cb->findText(ow->field->getValue(ow->index).toString())); } else if(QLabel * cb=qobject_cast(ow->widget)) { - cb->setText(ow->field->getValue().toString()); + cb->setText(ow->field->getValue(ow->index).toString()); + } + else if(QSpinBox * cb=qobject_cast(ow->widget)) + { + cb->setValue(ow->field->getValue(ow->index).toInt()/ow->scale); } } setDirty(dirtyBack); @@ -177,11 +194,15 @@ void ConfigTaskWidget::refreshWidgetsValues() } else if(QComboBox * cb=qobject_cast(ow->widget)) { - cb->setCurrentIndex(cb->findText(ow->field->getValue().toString())); + cb->setCurrentIndex(cb->findText(ow->field->getValue(ow->index).toString())); } else if(QLabel * cb=qobject_cast(ow->widget)) { - cb->setText(ow->field->getValue().toString()); + cb->setText(ow->field->getValue(ow->index).toString()); + } + else if(QSpinBox * cb=qobject_cast(ow->widget)) + { + cb->setValue(ow->field->getValue(ow->index).toInt()/ow->scale); } } setDirty(dirtyBack); @@ -197,11 +218,15 @@ void ConfigTaskWidget::updateObjectsFromWidgets() } else if(QComboBox * cb=qobject_cast(ow->widget)) { - ow->field->setValue(cb->currentText()); + ow->field->setValue(cb->currentText(),ow->index); } else if(QLabel * cb=qobject_cast(ow->widget)) { - ow->field->setValue(cb->text()); + ow->field->setValue(cb->text(),ow->index); + } + else if(QSpinBox * cb=qobject_cast(ow->widget)) + { + ow->field->setValue(cb->value()* ow->scale,ow->index); } } } diff --git a/ground/openpilotgcs/src/plugins/config/configtaskwidget.h b/ground/openpilotgcs/src/plugins/config/configtaskwidget.h index f5de26ed2..1db0dde9c 100644 --- a/ground/openpilotgcs/src/plugins/config/configtaskwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configtaskwidget.h @@ -54,6 +54,8 @@ public: UAVObject * object; UAVObjectField * field; QWidget * widget; + int index; + int scale; }; ConfigTaskWidget(QWidget *parent = 0); @@ -63,10 +65,12 @@ public: static double listMean(QList list); void addUAVObject(QString objectName); void addWidget(QWidget * widget); - void addUAVObjectToWidgetRelation(QString object,QString field,QWidget * widget); + void addUAVObjectToWidgetRelation(QString object,QString field,QWidget * widget,int index=0,int scale=1); + void setupButtons(QPushButton * update,QPushButton * save); bool isDirty(); void setDirty(bool value); + void addUAVObjectToWidgetRelation(QString object, QString field, QWidget *widget, QString index); public slots: void onAutopilotDisconnect(); void onAutopilotConnect(); @@ -75,6 +79,7 @@ private slots: virtual void refreshValues(); virtual void updateObjectsFromWidgets(); private: + QStringList objectsList; QList objOfInterest; ExtensionSystem::PluginManager *pm; UAVObjectManager *objManager; diff --git a/ground/openpilotgcs/src/plugins/config/input.ui b/ground/openpilotgcs/src/plugins/config/input.ui index e1eb0b435..065967c26 100644 --- a/ground/openpilotgcs/src/plugins/config/input.ui +++ b/ground/openpilotgcs/src/plugins/config/input.ui @@ -25,770 +25,11 @@ - - - - 75 - true - - - - Receiver Type: - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - - - - 234 - 54 - - - - - 75 - true - - - - Indicates whether OpenPilot is getting a signal from the RC receiver. - - - RC Receiver not connected or invalid input configuration (missing channels) - - - true - - - - - - - - - Rev. - - - Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft - - - - - - - - 16 - 16 - - - - true - - - - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - - Check this to reverse the channel. -(Useful for transmitters without channel -reversal capabilities). - - - - - - - - - - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - - Check this to reverse the channel. -(Useful for transmitters without channel -reversal capabilities). - - - - - - - - - - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - - Check this to reverse the channel. -(Useful for transmitters without channel -reversal capabilities). - - - - - - - - - - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - - Check this to reverse the channel. -(Useful for transmitters without channel -reversal capabilities). - - - - - - - - - - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - - Check this to reverse the channel. -(Useful for transmitters without channel -reversal capabilities). - - - - - - - - - - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - - Check this to reverse the channel. -(Useful for transmitters without channel -reversal capabilities). - - - - - - - - - - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - - Check this to reverse the channel. -(Useful for transmitters without channel -reversal capabilities). - - - - - - - - - - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - - Check this to reverse the channel. -(Useful for transmitters without channel -reversal capabilities). - - - - - - - - - - - 75 - true - - - - BEWARE: make sure your engines are not connected when running calibration! - - - - - - - - - 75 - true - - - - - - - - - - - - 50 - false - - - - Start calibrating the RC Inputs. -Uncheck/Check to restart calibration. -During calibration: move your RC controls over their whole range, -then leave them on Neutral, uncheck calibration and save. -Neutral should be put at the bottom of the slider for the throttle. - - - Run Calibration - - - - - - - - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - + + + + + @@ -1243,14 +484,6 @@ Applies and Saves all settings to SD - ch0Assign - ch1Assign - ch2Assign - ch3Assign - ch4Assign - ch5Assign - ch6Assign - ch7Assign fmsSlider fmsModePos3 fmsSsPos3Roll @@ -1268,134 +501,5 @@ Applies and Saves all settings to SD - - - inSlider0 - valueChanged(int) - ch0Cur - setNum(int) - - - 291 - 93 - - - 150 - 104 - - - - - inSlider1 - valueChanged(int) - ch1Cur - setNum(int) - - - 283 - 137 - - - 160 - 138 - - - - - inSlider2 - valueChanged(int) - ch2Cur - setNum(int) - - - 341 - 163 - - - 156 - 167 - - - - - inSlider3 - valueChanged(int) - ch3Cur - setNum(int) - - - 283 - 211 - - - 159 - 210 - - - - - inSlider4 - valueChanged(int) - ch4Cur - setNum(int) - - - 287 - 239 - - - 156 - 242 - - - - - inSlider5 - valueChanged(int) - ch5Cur - setNum(int) - - - 309 - 272 - - - 164 - 276 - - - - - inSlider6 - valueChanged(int) - ch6Cur - setNum(int) - - - 282 - 300 - - - 144 - 311 - - - - - inSlider7 - valueChanged(int) - ch7Cur - setNum(int) - - - 278 - 339 - - - 168 - 340 - - - - + diff --git a/ground/openpilotgcs/src/plugins/config/inputchannelform.cpp b/ground/openpilotgcs/src/plugins/config/inputchannelform.cpp new file mode 100644 index 000000000..904918a8e --- /dev/null +++ b/ground/openpilotgcs/src/plugins/config/inputchannelform.cpp @@ -0,0 +1,29 @@ +#include "inputchannelform.h" +#include "ui_inputchannelform.h" + +inputChannelForm::inputChannelForm(QWidget *parent,bool showlegend) : + QWidget(parent), + ui(new Ui::inputChannelForm) +{ + ui->setupUi(this); + if(!showlegend) + { + layout()->removeWidget(ui->legend0); + layout()->removeWidget(ui->legend1); + layout()->removeWidget(ui->legend2); + layout()->removeWidget(ui->legend3); + layout()->removeWidget(ui->legend4); + layout()->removeWidget(ui->legend5); + delete ui->legend0; + delete ui->legend1; + delete ui->legend2; + delete ui->legend3; + delete ui->legend4; + delete ui->legend5; + } +} + +inputChannelForm::~inputChannelForm() +{ + delete ui; +} diff --git a/ground/openpilotgcs/src/plugins/config/inputchannelform.h b/ground/openpilotgcs/src/plugins/config/inputchannelform.h new file mode 100644 index 000000000..50615cb2c --- /dev/null +++ b/ground/openpilotgcs/src/plugins/config/inputchannelform.h @@ -0,0 +1,23 @@ +#ifndef INPUTCHANNELFORM_H +#define INPUTCHANNELFORM_H + +#include +#include "configinputwidget.h" +namespace Ui { + class inputChannelForm; +} + +class inputChannelForm : public QWidget +{ + Q_OBJECT + +public: + explicit inputChannelForm(QWidget *parent = 0,bool showlegend=false); + ~inputChannelForm(); + friend class ConfigInputWidget; + +private: + Ui::inputChannelForm *ui; +}; + +#endif // INPUTCHANNELFORM_H diff --git a/ground/openpilotgcs/src/plugins/config/inputchannelform.ui b/ground/openpilotgcs/src/plugins/config/inputchannelform.ui new file mode 100644 index 000000000..0c602a21b --- /dev/null +++ b/ground/openpilotgcs/src/plugins/config/inputchannelform.ui @@ -0,0 +1,119 @@ + + + inputChannelForm + + + + 0 + 0 + 389 + 57 + + + + Form + + + + + + true + + + Number + + + + + + + true + + + Min + + + + + + + true + + + Function + + + + + + + true + + + Group + + + + + + + TextLabel + + + + + + + + + + 255 + + + + + + + true + + + Neutral + + + + + + + 9999 + + + + + + + 9999 + + + + + + + true + + + Max + + + + + + + 9999 + + + + + + + + diff --git a/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp b/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp index 708c1b5c1..dff4e409e 100644 --- a/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp +++ b/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp @@ -35,7 +35,9 @@ void smartSaveButton::processClick() connect(&timer,SIGNAL(timeout()),&loop,SLOT(quit())); obj->updated(); timer.start(1000); + qDebug()<<"begin loop"; loop.exec(); + qDebug()<<"end loop"; timer.stop(); disconnect(obj,SIGNAL(transactionCompleted(UAVObject*,bool)),this,SLOT(transaction_finished(UAVObject*, bool))); disconnect(&timer,SIGNAL(timeout()),&loop,SLOT(quit())); From a454cf844bfb8f39f9ad65e105b9ac42ff29da96 Mon Sep 17 00:00:00 2001 From: sambas Date: Thu, 4 Aug 2011 19:20:05 +0300 Subject: [PATCH 08/57] DX8 support, BIND3 only --- flight/PiOS/STM32F10x/pios_spektrum.c | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/flight/PiOS/STM32F10x/pios_spektrum.c b/flight/PiOS/STM32F10x/pios_spektrum.c index 8b0f38c6b..4206d80d7 100644 --- a/flight/PiOS/STM32F10x/pios_spektrum.c +++ b/flight/PiOS/STM32F10x/pios_spektrum.c @@ -8,7 +8,6 @@ * * @file pios_spektrum.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org) * @brief USART commands. Inits USARTs, controls USARTs & Interrupt handlers. (STM32 dependent) * @see The GNU Public License (GPL) Version 3 * @@ -172,9 +171,10 @@ static int32_t PIOS_SPEKTRUM_Decode(uint8_t b) CaptureValue[7]=b; } #endif - /* Known sync bytes, 0x01, 0x02, 0x12 */ + /* Known sync bytes, 0x01, 0x02, 0x12, 0xb2 */ + /* 0xb2 DX8 3bind pulses only */ if (bytecount == 2) { - if (b == 0x01) { + if ((b == 0x01) || (b == 0xb2)) { datalength=0; // 10bit //frames=1; sync = 1; @@ -234,17 +234,17 @@ static int32_t PIOS_SPEKTRUM_Decode(uint8_t b) *@brief clears the channel values */ static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id) { - /* 125hz */ + /* 625hz */ supv_timer++; - if(supv_timer > 5) { + if(supv_timer > 4) { /* sync between frames */ sync = 0; bytecount = 0; prev_byte = 0xFF; frame_error = 0; sync_of++; - /* watchdog activated after 100ms silence */ - if (sync_of > 12) { + /* watchdog activated after 200ms silence */ + if (sync_of > 30) { /* signal lost */ sync_of = 0; for (int i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) { From 1e67b5e3b5c2d7b07f40a8f74aceb3f8ea16477c Mon Sep 17 00:00:00 2001 From: sambas Date: Sat, 6 Aug 2011 22:16:47 +0300 Subject: [PATCH 09/57] DSMx_binder, hw setting 0 disabled, 1-10 bind pulses. Manual disable after successful bind. Only for flexiport. --- flight/CopterControl/System/pios_board.c | 6 ++++-- flight/PiOS/STM32F10x/pios_spektrum.c | 13 +++++++------ flight/PiOS/inc/pios_spektrum_priv.h | 2 +- shared/uavobjectdefinition/hwsettings.xml | 5 +++-- 4 files changed, 15 insertions(+), 11 deletions(-) diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index ee3deaf5c..d125e1cf6 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -921,6 +921,8 @@ void PIOS_Board_Init(void) { TaskMonitorInitialize(); /* Configure the main IO port */ + uint8_t hwsettings_DSMxBind; + HwSettingsDSMxBindGet(&hwsettings_DSMxBind); uint8_t hwsettings_cc_mainport; HwSettingsCC_MainPortGet(&hwsettings_cc_mainport); @@ -989,7 +991,7 @@ void PIOS_Board_Init(void) { } uint32_t pios_spektrum_id; - if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) { + if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, 0)) { PIOS_Assert(0); } } @@ -1051,7 +1053,7 @@ void PIOS_Board_Init(void) { } uint32_t pios_spektrum_id; - if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) { + if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, hwsettings_DSMxBind)) { PIOS_Assert(0); } } diff --git a/flight/PiOS/STM32F10x/pios_spektrum.c b/flight/PiOS/STM32F10x/pios_spektrum.c index 4206d80d7..9c81b6131 100644 --- a/flight/PiOS/STM32F10x/pios_spektrum.c +++ b/flight/PiOS/STM32F10x/pios_spektrum.c @@ -58,7 +58,7 @@ uint8_t sync_of = 0; uint16_t supv_timer=0; static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id); -static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg); +static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg, uint8_t bind); static int32_t PIOS_SPEKTRUM_Decode(uint8_t b); static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield) @@ -84,11 +84,11 @@ static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint /** * Bind and Initialise Spektrum satellite receiver */ -int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, bool bind) +int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t bind) { // TODO: need setting flag for bind on next powerup if (bind) { - PIOS_SPEKTRUM_Bind(cfg); + PIOS_SPEKTRUM_Bind(cfg,bind); } (driver->bind_rx_cb)(lower_id, PIOS_SPEKTRUM_RxInCallback, 0); @@ -120,9 +120,10 @@ static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel) * \output true Successful bind * \output false Bind failed */ -static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg) +static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg, uint8_t bind) { -#define BIND_PULSES 5 + /* just to limit bind pulses */ + bind=(bind<=10)?bind:10; GPIO_Init(cfg->bind.gpio, &cfg->bind.init); /* RX line, set high */ @@ -131,7 +132,7 @@ static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg) /* on CC works upto 140ms, I guess bind window is around 20-140ms after powerup */ PIOS_DELAY_WaitmS(60); - for (int i = 0; i < BIND_PULSES ; i++) { + for (int i = 0; i < bind ; i++) { /* RX line, drive low for 120us */ GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin); PIOS_DELAY_WaituS(120); diff --git a/flight/PiOS/inc/pios_spektrum_priv.h b/flight/PiOS/inc/pios_spektrum_priv.h index 2d31a8027..ffd224e40 100644 --- a/flight/PiOS/inc/pios_spektrum_priv.h +++ b/flight/PiOS/inc/pios_spektrum_priv.h @@ -42,7 +42,7 @@ struct pios_spektrum_cfg { extern const struct pios_rcvr_driver pios_spektrum_rcvr_driver; -extern int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, bool bind); +extern int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t bind); #endif /* PIOS_PWM_PRIV_H */ diff --git a/shared/uavobjectdefinition/hwsettings.xml b/shared/uavobjectdefinition/hwsettings.xml index a3494f820..d8facecd9 100644 --- a/shared/uavobjectdefinition/hwsettings.xml +++ b/shared/uavobjectdefinition/hwsettings.xml @@ -1,8 +1,9 @@ Selection of optional hardware configurations. - - + + + From 9f35b6939c86a7df2906afe70ba6d0429180cec7 Mon Sep 17 00:00:00 2001 From: sambas Date: Sun, 7 Aug 2011 10:10:52 +0300 Subject: [PATCH 10/57] Bind IO fix --- flight/PiOS/STM32F10x/pios_spektrum.c | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/flight/PiOS/STM32F10x/pios_spektrum.c b/flight/PiOS/STM32F10x/pios_spektrum.c index 9c81b6131..2d57d9900 100644 --- a/flight/PiOS/STM32F10x/pios_spektrum.c +++ b/flight/PiOS/STM32F10x/pios_spektrum.c @@ -122,6 +122,11 @@ static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel) */ static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg, uint8_t bind) { + GPIO_InitTypeDef GPIO_InitStructure; + GPIO_InitStructure.GPIO_Pin = cfg->bind.init.GPIO_Pin; + GPIO_InitStructure.GPIO_Speed = cfg->bind.init.GPIO_Speed; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; + /* just to limit bind pulses */ bind=(bind<=10)?bind:10; @@ -141,6 +146,7 @@ static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg, uint8_t bin PIOS_DELAY_WaituS(120); } /* RX line, set input and wait for data, PIOS_SPEKTRUM_Init */ + GPIO_Init(cfg->bind.gpio, &GPIO_InitStructure); return true; } From e221ecbaf41a9e88b0db640d666ff4c0d35a5652 Mon Sep 17 00:00:00 2001 From: zedamota Date: Wed, 10 Aug 2011 15:24:35 +0100 Subject: [PATCH 11/57] Finished coding part of new input calibration wizard. Waiting for some artwork to send it for review. --- .../src/plugins/config/configinputwidget.cpp | 291 +++++++++++++++++- .../src/plugins/config/configinputwidget.h | 49 ++- .../src/plugins/config/configtaskwidget.cpp | 1 - .../openpilotgcs/src/plugins/config/input.ui | 60 +++- .../src/plugins/config/inputchannelform.ui | 28 +- 5 files changed, 411 insertions(+), 18 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp index 18841b9df..8f9934ddd 100644 --- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp @@ -2,7 +2,7 @@ ****************************************************************************** * * @file configservowidget.cpp - * @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @addtogroup GCSPlugins GCS Plugins * @{ * @addtogroup ConfigPlugin Config Plugin @@ -39,21 +39,19 @@ #include #include -#include "manualcontrolsettings.h" -ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent) +ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardWelcome),skipflag(false),loop(NULL) { + manualCommandObj = ManualControlCommand::GetInstance(getObjectManager()); + manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager()); + receiverActivityObj=ReceiverActivity::GetInstance(getObjectManager()); m_config = new Ui_InputWidget(); m_config->setupUi(this); setupButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD); - ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); - UAVObjectManager *objManager = pm->getObject(); - UAVDataObject * obj = dynamic_cast(objManager->getObject(QString("ManualControlSettings"))); - UAVObjectField * field = obj->getField(QString("ChannelGroups")); int index=0; - foreach(QString name,field->getElementNames()) + foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames()) { inputChannelForm * inp=new inputChannelForm(this,index==0); m_config->advancedPage->layout()->addWidget(inp); @@ -65,7 +63,14 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent) addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMax",inp->ui->channelMax,index); ++index; } + QPushButton * goWizard=new QPushButton(tr("Start Wizard"),this); + m_config->advancedPage->layout()->addWidget(goWizard); + connect(goWizard,SIGNAL(clicked()),this,SLOT(goToWizard())); + connect(m_config->wzNext,SIGNAL(clicked()),this,SLOT(wzNext())); + connect(m_config->wzCancel,SIGNAL(clicked()),this,SLOT(wzCancel())); + connect(m_config->wzBack,SIGNAL(clicked()),this,SLOT(wzBack())); + m_config->stackedWidget->setCurrentIndex(0); addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0); addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1); addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2); @@ -82,17 +87,16 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent) addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl); addUAVObjectToWidgetRelation("ManualControlSettings","armTimeout",m_config->armTimeout,0,1000); - + enableControls(false); populateWidgets(); refreshWidgetsValues(); // Connect the help button connect(m_config->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp())); - } ConfigInputWidget::~ConfigInputWidget() { - // Do nothing + } void ConfigInputWidget::openHelp() @@ -101,4 +105,269 @@ void ConfigInputWidget::openHelp() QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Input+Configuration", QUrl::StrictMode) ); } +void ConfigInputWidget::goToWizard() +{ + setupWizardWidget(wizardWelcome); +} + +void ConfigInputWidget::wzCancel() +{ + m_config->stackedWidget->setCurrentIndex(0); + foreach (QWidget * wd, extraWidgets) + { + if(wd) + delete wd; + } + extraWidgets.clear(); + switch(wizardStep) + { + case wizardWelcome: + break; + case wizardChooseMode: + break; + case wizardIdentifySticks: + disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls())); + break; + case wizardIdentifyCenter: + break; + case wizardIdentifyLimits: + disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits())); + manualSettingsObj->setData(manualSettingsData); + manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata()); + break; + case wizardIdentifyInverted: + break; + case wizardFinish: + break; + default: + break; + } + wizardStep=wizardWelcome; +} + +void ConfigInputWidget::wzNext() +{ + setupWizardWidget(wizardStep+1); +} + +void ConfigInputWidget::wzBack() +{ + setupWizardWidget(wizardStep-1); +} + +void ConfigInputWidget::setupWizardWidget(int step) +{ + if(step==wizardWelcome) + { + if(wizardStep==wizardChooseMode) + { + delete extraWidgets.at(0); + delete extraWidgets.at(1); + extraWidgets.clear(); + } + manualSettingsData=manualSettingsObj->getData(); + manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED; + manualSettingsObj->setData(manualSettingsData); + m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n" + "Please follow the instruction on the screen and only move your controls when asked to.\n" + "At any time you can press 'back' to return to the previous screeen or 'Cancel' to cancel the wizard" + "For your safety your arming setting is now 'Always Disarmed' please reenable it after this wizard.")); + m_config->stackedWidget->setCurrentIndex(1); + m_config->wzBack->setEnabled(false); + wizardStep=wizardWelcome; + } + else if(step==wizardChooseMode) + { + if(wizardStep==wizardIdentifySticks) + { + disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls())); + m_config->wzNext->setEnabled(true); + } + m_config->wzText->setText(tr("Please choose your transmiter type.\n" + "Mode 1 means your throttle stick is on the right\n" + "Mode 2 means your throttle stick is on the left\n")); + m_config->wzBack->setEnabled(true); + QRadioButton * mode1=new QRadioButton(tr("Mode 1"),this); + QRadioButton * mode2=new QRadioButton(tr("Mode 2"),this); + mode2->setChecked(true); + extraWidgets.clear(); + extraWidgets.append(mode1); + extraWidgets.append(mode2); + m_config->checkBoxesLayout->layout()->addWidget(mode1); + m_config->checkBoxesLayout->layout()->addWidget(mode2); + wizardStep=wizardChooseMode; + } + else if(step==wizardIdentifySticks) + { + usedChannels.clear(); + if(wizardStep==wizardChooseMode) + { + QRadioButton * mode=qobject_cast(extraWidgets.at(0)); + if(mode->isChecked()) + transmitterMode=mode1; + else + transmitterMode=mode2; + delete extraWidgets.at(0); + delete extraWidgets.at(1); + extraWidgets.clear(); + } + wizardStep=wizardIdentifySticks; + currentCommand=0; + m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n" + "Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(currentCommand))); + manualSettingsData=manualSettingsObj->getData(); + connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls())); + m_config->wzNext->setEnabled(false); + } + else if(step==wizardIdentifyCenter) + { + if(wizardStep==wizardIdentifySticks) + disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls())); + else + { + disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits())); + manualSettingsObj->setData(manualSettingsData); + manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata()); + } + wizardStep=wizardIdentifyCenter; + m_config->wzText->setText(QString(tr("Please center all control controls and press next when ready"))); + } + else if(step==wizardIdentifyLimits) + { + if(wizardStep==wizardIdentifyCenter) + { + wizardStep=wizardIdentifyLimits; + manualCommandData=manualCommandObj->getData(); + manualSettingsData=manualSettingsObj->getData(); + for(int i=0;isetData(manualSettingsData); + } + wizardStep=wizardIdentifyLimits; + m_config->wzText->setText(QString(tr("Please move all controls to their maximum extends on both directions and press next when ready"))); + UAVObject::Metadata mdata= manualCommandObj->getMetadata(); + mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC; + mdata.flightTelemetryUpdatePeriod = 150; + manualCommandObj->setMetadata(mdata); + manualSettingsData=manualSettingsObj->getData(); + for(int i=0;isetData(manualSettingsData); + manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata()); + } + extraWidgets.clear(); + foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames()) + { + QCheckBox * cb=new QCheckBox(name,this); + extraWidgets.append(cb); + m_config->checkBoxesLayout->layout()->addWidget(cb); + } + wizardStep=wizardIdentifyInverted; + m_config->wzText->setText(QString(tr("Please check the picture below and check all controls which show an inverted movement and press next when ready"))); + } + else if(step==wizardFinish) + { + manualSettingsData=manualSettingsObj->getData(); + foreach(QWidget * wd,extraWidgets) + { + QCheckBox * cb=qobject_cast(wd); + if(cb) + { + if(cb->isChecked()) + { + int index=manualSettingsObj->getFields().at(0)->getElementNames().indexOf(cb->text()); + qint16 aux; + aux=manualSettingsData.ChannelMax[index]; + manualSettingsData.ChannelMax[index]=manualSettingsData.ChannelMin[index]; + manualSettingsData.ChannelMin[index]=aux; + } + } + delete cb; + } + wizardStep=wizardFinish; + manualSettingsObj->setData(manualSettingsData); + extraWidgets.clear(); + m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your controls movement.\n" + "This new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can do that."))); + + } + + else if(step==wizardFinish+1) + { + manualSettingsData=manualSettingsObj->getData(); + manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]= + manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+ + ((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]- + manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02); + manualSettingsObj->setData(manualSettingsData); + m_config->stackedWidget->setCurrentIndex(0); + wizardStep=wizardWelcome; + } + +} + +void ConfigInputWidget::identifyControls() +{ + static int debounce=0; + receiverActivityData=receiverActivityObj->getData(); + if(receiverActivityData.ActiveChannel==255) + return; + else + { + receiverActivityData=receiverActivityObj->getData(); + currentChannel.group=receiverActivityData.ActiveGroup; + currentChannel.number=receiverActivityData.ActiveChannel; + if(currentChannel==lastChannel) + ++debounce; + lastChannel.group= currentChannel.group; + lastChannel.number=currentChannel.number; + if(!usedChannels.contains(lastChannel) && debounce>5) + { + debounce=0; + usedChannels.append(lastChannel); + manualSettingsData=manualSettingsObj->getData(); + manualSettingsData.ChannelGroups[currentCommand]=currentChannel.group; + manualSettingsData.ChannelNumber[currentCommand]=currentChannel.number; + manualSettingsObj->setData(manualSettingsData); + } + else + return; + } + ++currentCommand; + if(currentCommand>ManualControlSettings::CHANNELGROUPS_NUMELEM-1) + { + disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls())); + m_config->wzNext->setEnabled(true); + } + m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n" + "Move the %1 stick")).arg(manualSettingsObj->getFields().at(0)->getElementNames().at(currentCommand))); + if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(currentCommand).contains("Accessory")) + { + m_config->wzNext->setEnabled(true); + } +} + +void ConfigInputWidget::identifyLimits() +{ + manualCommandData=manualCommandObj->getData(); + for(int i=0;imanualCommandData.Channel[i]) + manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i]; + if(manualSettingsData.ChannelMax[i] #include "inputchannelform.h" #include "ui_inputchannelform.h" +#include +#include "manualcontrolcommand.h" +#include "manualcontrolsettings.h" +#include "receiveractivity.h" class Ui_InputWidget; class ConfigInputWidget: public ConfigTaskWidget { Q_OBJECT - public: ConfigInputWidget(QWidget *parent = 0); ~ConfigInputWidget(); - + enum wizardSteps{wizardWelcome,wizardChooseMode,wizardIdentifySticks,wizardIdentifyCenter,wizardIdentifyLimits,wizardIdentifyInverted,wizardFinish}; + enum txMode{mode1,mode2}; public slots: private: Ui_InputWidget *m_config; + wizardSteps wizardStep; + void setupWizardWidget(int step); + QList extraWidgets; + txMode transmitterMode; + struct channelsStruct + { + bool operator ==(const channelsStruct& rhs) const + { + return((group==rhs.group) &&(number==rhs.number)); + } + int group; + int number; + }lastChannel; + channelsStruct currentChannel; + QList usedChannels; + QEventLoop * loop; + bool skipflag; + int currentCommand; + + ManualControlCommand * manualCommandObj; + ManualControlCommand::DataFields manualCommandData; + ManualControlSettings * manualSettingsObj; + ManualControlSettings::DataFields manualSettingsData; + ReceiverActivity * receiverActivityObj; + ReceiverActivity::DataFields receiverActivityData; + + /* + ManualControlCommand * manualCommandObj = ManualControlCommand::GetInstance(getObjectManager()); + ManualControlCommand::DataFields manualCommandData = manualCommandObj->getData(); + ManualControlSettings * manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager()); + ManualControlSettings::DataFields manualSettingsData; + ReceiverActivity * receiverActivityObj=ReceiverActivity::GetInstance(getObjectManager()); + ReceiverActivity::DataFields receiverActivityData =receiverActivityObj->getData(); +*/ private slots: - + void wzNext(); + void wzBack(); + void wzCancel(); + void goToWizard(); void openHelp(); + void identifyControls(); + void identifyLimits(); }; #endif diff --git a/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp b/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp index 90d21e494..8aa6a3f33 100644 --- a/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp @@ -257,7 +257,6 @@ void ConfigTaskWidget::clearDirty() } void ConfigTaskWidget::setDirty(bool value) { - qDebug()<<"dirty="< + + 1 + - + + + + + + + 10 + 75 + true + + + + TextLabel + + + true + + + + + + + + + + + + + + + + + + + Back + + + + + + + Next + + + + + + + Cancel + + + + + + + diff --git a/ground/openpilotgcs/src/plugins/config/inputchannelform.ui b/ground/openpilotgcs/src/plugins/config/inputchannelform.ui index 0c602a21b..4d7f07d9d 100644 --- a/ground/openpilotgcs/src/plugins/config/inputchannelform.ui +++ b/ground/openpilotgcs/src/plugins/config/inputchannelform.ui @@ -6,14 +6,26 @@ 0 0 - 389 - 57 + 404 + 43 Form + + 1 + + + 1 + + + 2 + + + 0 + @@ -56,6 +68,18 @@ + + + 0 + 0 + + + + + 66 + 0 + + TextLabel From 98f84e472bb6b7c53248ef20e37c9572feb09604 Mon Sep 17 00:00:00 2001 From: zedamota Date: Mon, 15 Aug 2011 14:12:54 +0100 Subject: [PATCH 12/57] Trying to get out of merge hell --- .../src/libs/utils/mytabbedstackwidget.cpp | 18 ++++++++--- .../src/libs/utils/mytabbedstackwidget.h | 3 +- .../plugins/config/configccattitudewidget.cpp | 31 +++---------------- .../plugins/config/configccattitudewidget.h | 2 -- .../src/plugins/config/configgadgetwidget.cpp | 4 +-- .../src/plugins/config/configgadgetwidget.h | 2 +- .../src/plugins/config/configoutputwidget.cpp | 1 - .../config/configstabilizationwidget.cpp | 14 ++++----- .../config/configstabilizationwidget.h | 1 - 9 files changed, 31 insertions(+), 45 deletions(-) diff --git a/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp index faf2c911e..c412a475c 100644 --- a/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp +++ b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp @@ -65,7 +65,7 @@ MyTabbedStackWidget::MyTabbedStackWidget(QWidget *parent, bool isVertical, bool m_stackWidget->setContentsMargins(0, 0, 0, 0); setLayout(toplevelLayout); - connect(m_listWidget, SIGNAL(currentRowChanged(int)), this, SLOT(showWidget(int))); + connect(m_listWidget, SIGNAL(currentRowChanged(int)), this, SLOT(showWidget(int)),Qt::QueuedConnection); } void MyTabbedStackWidget::insertTab(const int index, QWidget *tab, const QIcon &icon, const QString &label) @@ -97,9 +97,19 @@ void MyTabbedStackWidget::setCurrentIndex(int index) void MyTabbedStackWidget::showWidget(int index) { - emit currentAboutToShow(index); - m_stackWidget->setCurrentIndex(index); - emit currentChanged(index); + if(m_stackWidget->currentIndex()==index) + return; + bool proceed=false; + emit currentAboutToShow(index,&proceed); + if(proceed) + { + m_stackWidget->setCurrentIndex(index); + emit currentChanged(index); + } + else + { + m_listWidget->setCurrentRow(m_stackWidget->currentIndex(),QItemSelectionModel::ClearAndSelect); + } } void MyTabbedStackWidget::insertCornerWidget(int index, QWidget *widget) diff --git a/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.h b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.h index 428ed8646..f32524ce5 100644 --- a/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.h +++ b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.h @@ -51,9 +51,10 @@ public: void insertCornerWidget(int index, QWidget *widget); int cornerWidgetCount() { return m_cornerWidgetCount; } + QWidget * currentWidget(){return m_stackWidget->currentWidget();} signals: - void currentAboutToShow(int index); + void currentAboutToShow(int index,bool * proceed); void currentChanged(int index); public slots: diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp index a88bcf2ac..ae9eeeaf0 100644 --- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp @@ -45,16 +45,16 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) : setupButtons(ui->applyButton,ui->saveButton); addUAVObject("AttitudeSettings"); - refreshWidgetsValues(); // The 1st time this panel is instanciated, the autopilot is already connected. UAVObject * settings = AttitudeSettings::GetInstance(getObjectManager()); // Connect the help button connect(ui->ccAttitudeHelp, SIGNAL(clicked()), this, SLOT(openHelp())); - addWidget(ui->rollBias); - addWidget(ui->pitchBias); - addWidget(ui->yawBias); + addUAVObjectToWidgetRelation("AttitudeSettings","ZeroDuringArming",ui->zeroGyroBiasOnArming); + + addUAVObjectToWidgetRelation("AttitudeSettings","BoardRotation",ui->rollBias,AttitudeSettings::BOARDROTATION_ROLL); + addUAVObjectToWidgetRelation("AttitudeSettings","BoardRotation",ui->pitchBias,AttitudeSettings::BOARDROTATION_PITCH); + addUAVObjectToWidgetRelation("AttitudeSettings","BoardRotation",ui->yawBias,AttitudeSettings::BOARDROTATION_YAW); addWidget(ui->zeroBias); - addWidget(ui->zeroGyroBiasOnArming); } ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget() @@ -123,27 +123,6 @@ void ConfigCCAttitudeWidget::timeout() { } -void ConfigCCAttitudeWidget::updateObjectsFromWidgets() { - AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData(); - attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] = ui->rollBias->value(); - attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = ui->pitchBias->value(); - attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_YAW] = ui->yawBias->value(); - attitudeSettingsData.ZeroDuringArming = ui->zeroGyroBiasOnArming->isChecked() ? AttitudeSettings::ZERODURINGARMING_TRUE : - AttitudeSettings::ZERODURINGARMING_FALSE; - AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData); -} - -void ConfigCCAttitudeWidget::refreshWidgetsValues() { - bool dirty=isDirty(); - AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData(); - - ui->rollBias->setValue(attitudeSettingsData.BoardRotation[0]); - ui->pitchBias->setValue(attitudeSettingsData.BoardRotation[1]); - ui->yawBias->setValue(attitudeSettingsData.BoardRotation[2]); - ui->zeroGyroBiasOnArming->setChecked(attitudeSettingsData.ZeroDuringArming == AttitudeSettings::ZERODURINGARMING_TRUE); - setDirty(dirty); -} - void ConfigCCAttitudeWidget::startAccelCalibration() { QMutexLocker locker(&startStop); diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h index 209d7ed28..aa3b6cad7 100644 --- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h +++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h @@ -50,8 +50,6 @@ private slots: void attitudeRawUpdated(UAVObject * obj); void timeout(); void startAccelCalibration(); - void updateObjectsFromWidgets(); - virtual void refreshWidgetsValues(); void openHelp(); private: diff --git a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp index 5662bb3de..0078a1bf2 100644 --- a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp @@ -99,7 +99,7 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent) onAutopilotConnect(); help = 0; - connect(ftw->m_tabBar,SIGNAL(aboutToChange(bool*)),this,SLOT(tabAboutToChange(bool*)));//,Qt::BlockingQueuedConnection); + connect(ftw,SIGNAL(currentAboutToShow(int,bool*)),this,SLOT(tabAboutToChange(int,bool*)));//,Qt::BlockingQueuedConnection); } @@ -155,7 +155,7 @@ void ConfigGadgetWidget::onAutopilotConnect() { emit autopilotConnected(); } -void ConfigGadgetWidget::tabAboutToChange(bool * proceed) +void ConfigGadgetWidget::tabAboutToChange(int i,bool * proceed) { *proceed=true; ConfigTaskWidget * wid=qobject_cast(ftw->currentWidget()); diff --git a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.h b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.h index f84694642..356d11a74 100644 --- a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.h @@ -55,7 +55,7 @@ public: public slots: void onAutopilotConnect(); void onAutopilotDisconnect(); - void tabAboutToChange(bool *); + void tabAboutToChange(int i,bool *); signals: void autopilotConnected(); diff --git a/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp index 77138a5a0..0adc41e2c 100644 --- a/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp @@ -45,7 +45,6 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren m_config->setupUi(this); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); - UAVObjectManager *objManager = pm->getObject(); setupButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD); addUAVObject("ActuatorSettings"); diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp index 22ad60b0e..cbe554f4e 100644 --- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp @@ -100,6 +100,8 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa addWidget(m_stabilization->maximumRoll); addWidget(m_stabilization->maximumPitch); addWidget(m_stabilization->maximumYaw); + addWidget(m_stabilization->lowThrottleZeroIntegral); + } ConfigStabilizationWidget::~ConfigStabilizationWidget() @@ -107,13 +109,6 @@ ConfigStabilizationWidget::~ConfigStabilizationWidget() // Do nothing } - -void ConfigStabilizationWidget::enableControls(bool enable) -{ - //m_stabilization->saveStabilizationToRAM->setEnabled(enable); - m_stabilization->saveStabilizationToSD->setEnabled(enable); -} - void ConfigStabilizationWidget::updateRateRollKP(double val) { if (m_stabilization->linkRateRP->isChecked()) { @@ -251,6 +246,8 @@ void ConfigStabilizationWidget::refreshWidgetsValues() m_stabilization->maximumRoll->setValue(stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_ROLL]); m_stabilization->maximumPitch->setValue(stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_PITCH]); m_stabilization->maximumYaw->setValue(stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_YAW]); + m_stabilization->lowThrottleZeroIntegral->setChecked(stabData.LowThrottleZeroIntegral==StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_TRUE ? true : false); + setDirty(dirty); } @@ -299,6 +296,9 @@ void ConfigStabilizationWidget::updateObjectsFromWidgets() stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_PITCH] = m_stabilization->maximumPitch->value(); stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_YAW] = m_stabilization->maximumYaw->value(); + stabData.LowThrottleZeroIntegral = (m_stabilization->lowThrottleZeroIntegral->isChecked() ? StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_TRUE :StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_FALSE); + + stabSettings->setData(stabData); // this is atomic } diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h index f17ac593e..e512c5097 100644 --- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h @@ -49,7 +49,6 @@ private: Ui_StabilizationWidget *m_stabilization; StabilizationSettings* stabSettings; QTimer updateTimer; - virtual void enableControls(bool enable); private slots: virtual void refreshWidgetsValues(); From 6a103ed332b752d78aeded4b137ba2cf39e083c7 Mon Sep 17 00:00:00 2001 From: zedamota Date: Tue, 16 Aug 2011 16:06:18 +0100 Subject: [PATCH 13/57] Integrated artwork into the input config wizard. Some testing left to do before sending for review. --- .../src/plugins/config/configgadget.qrc | 1 + .../src/plugins/config/configinputwidget.cpp | 500 ++++++++++++++- .../src/plugins/config/configinputwidget.h | 48 +- .../src/plugins/config/images/TX.svg | 571 ++++++++++++++++++ 4 files changed, 1102 insertions(+), 18 deletions(-) create mode 100644 ground/openpilotgcs/src/plugins/config/images/TX.svg diff --git a/ground/openpilotgcs/src/plugins/config/configgadget.qrc b/ground/openpilotgcs/src/plugins/config/configgadget.qrc index 5f982053b..e157ee0ca 100644 --- a/ground/openpilotgcs/src/plugins/config/configgadget.qrc +++ b/ground/openpilotgcs/src/plugins/config/configgadget.qrc @@ -15,5 +15,6 @@ images/coptercontrol.svg images/hw_config.png images/gyroscope.png + images/TX.svg diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp index 8f9934ddd..d18976086 100644 --- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp @@ -38,9 +38,14 @@ #include #include #include +#include +#define ACCESS_MIN_MOVE -6 +#define ACCESS_MAX_MOVE 6 +#define STICK_MIN_MOVE -8 +#define STICK_MAX_MOVE 8 -ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardWelcome),skipflag(false),loop(NULL) +ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardWelcome),loop(NULL),skipflag(false) { manualCommandObj = ManualControlCommand::GetInstance(getObjectManager()); manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager()); @@ -88,10 +93,144 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent) addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl); addUAVObjectToWidgetRelation("ManualControlSettings","armTimeout",m_config->armTimeout,0,1000); enableControls(false); + populateWidgets(); refreshWidgetsValues(); // Connect the help button connect(m_config->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp())); + + m_config->graphicsView->setScene(new QGraphicsScene(this)); + m_config->graphicsView->setViewportUpdateMode(QGraphicsView::FullViewportUpdate); + m_renderer = new QSvgRenderer(); + QGraphicsScene *l_scene = m_config->graphicsView->scene(); + m_config->graphicsView->setBackgroundBrush(QBrush(Utils::StyleHelper::baseColor())); + if (QFile::exists(":/configgadget/images/TX.svg") && m_renderer->load(QString(":/configgadget/images/TX.svg")) && m_renderer->isValid()) + { + l_scene->clear(); // Deletes all items contained in the scene as well. + + m_txBackground = new QGraphicsSvgItem(); + // All other items will be clipped to the shape of the background + m_txBackground->setFlags(QGraphicsItem::ItemClipsChildrenToShape| + QGraphicsItem::ItemClipsToShape); + m_txBackground->setSharedRenderer(m_renderer); + m_txBackground->setElementId("background"); + l_scene->addItem(m_txBackground); + + m_txMainBody = new QGraphicsSvgItem(); + m_txMainBody->setParentItem(m_txBackground); + m_txMainBody->setSharedRenderer(m_renderer); + m_txMainBody->setElementId("body"); + l_scene->addItem(m_txMainBody); + + m_txLeftStick = new QGraphicsSvgItem(); + m_txLeftStick->setParentItem(m_txBackground); + m_txLeftStick->setSharedRenderer(m_renderer); + m_txLeftStick->setElementId("ljoy"); + + m_txRightStick = new QGraphicsSvgItem(); + m_txRightStick->setParentItem(m_txBackground); + m_txRightStick->setSharedRenderer(m_renderer); + m_txRightStick->setElementId("rjoy"); + + m_txAccess0 = new QGraphicsSvgItem(); + m_txAccess0->setParentItem(m_txBackground); + m_txAccess0->setSharedRenderer(m_renderer); + m_txAccess0->setElementId("access0"); + + m_txAccess1 = new QGraphicsSvgItem(); + m_txAccess1->setParentItem(m_txBackground); + m_txAccess1->setSharedRenderer(m_renderer); + m_txAccess1->setElementId("access1"); + + m_txAccess2 = new QGraphicsSvgItem(); + m_txAccess2->setParentItem(m_txBackground); + m_txAccess2->setSharedRenderer(m_renderer); + m_txAccess2->setElementId("access2"); + + m_txFlightMode = new QGraphicsSvgItem(); + m_txFlightMode->setParentItem(m_txBackground); + m_txFlightMode->setSharedRenderer(m_renderer); + m_txFlightMode->setElementId("flightModeCenter"); + m_txFlightMode->setZValue(-10); + + m_txArrows = new QGraphicsSvgItem(); + m_txArrows->setParentItem(m_txBackground); + m_txArrows->setSharedRenderer(m_renderer); + m_txArrows->setElementId("arrows"); + m_txArrows->setVisible(false); + + QRectF orig=m_renderer->boundsOnElement("ljoy"); + QMatrix Matrix = m_renderer->matrixForElement("ljoy"); + orig=Matrix.mapRect(orig); + m_txLeftStickOrig.translate(orig.x(),orig.y()); + m_txLeftStick->setTransform(m_txLeftStickOrig,false); + + orig=m_renderer->boundsOnElement("arrows"); + Matrix = m_renderer->matrixForElement("arrows"); + orig=Matrix.mapRect(orig); + m_txArrowsOrig.translate(orig.x(),orig.y()); + m_txArrows->setTransform(m_txArrowsOrig,false); + + orig=m_renderer->boundsOnElement("body"); + Matrix = m_renderer->matrixForElement("body"); + orig=Matrix.mapRect(orig); + m_txMainBodyOrig.translate(orig.x(),orig.y()); + m_txMainBody->setTransform(m_txMainBodyOrig,false); + + orig=m_renderer->boundsOnElement("flightModeCenter"); + Matrix = m_renderer->matrixForElement("flightModeCenter"); + orig=Matrix.mapRect(orig); + m_txFlightModeCOrig.translate(orig.x(),orig.y()); + m_txFlightMode->setTransform(m_txFlightModeCOrig,false); + + orig=m_renderer->boundsOnElement("flightModeLeft"); + Matrix = m_renderer->matrixForElement("flightModeLeft"); + orig=Matrix.mapRect(orig); + m_txFlightModeLOrig.translate(orig.x(),orig.y()); + orig=m_renderer->boundsOnElement("flightModeRight"); + Matrix = m_renderer->matrixForElement("flightModeRight"); + orig=Matrix.mapRect(orig); + m_txFlightModeROrig.translate(orig.x(),orig.y()); + + orig=m_renderer->boundsOnElement("rjoy"); + Matrix = m_renderer->matrixForElement("rjoy"); + orig=Matrix.mapRect(orig); + m_txRightStickOrig.translate(orig.x(),orig.y()); + m_txRightStick->setTransform(m_txRightStickOrig,false); + + orig=m_renderer->boundsOnElement("access0"); + Matrix = m_renderer->matrixForElement("access0"); + orig=Matrix.mapRect(orig); + m_txAccess0Orig.translate(orig.x(),orig.y()); + m_txAccess0->setTransform(m_txAccess0Orig,false); + + orig=m_renderer->boundsOnElement("access1"); + Matrix = m_renderer->matrixForElement("access1"); + orig=Matrix.mapRect(orig); + m_txAccess1Orig.translate(orig.x(),orig.y()); + m_txAccess1->setTransform(m_txAccess1Orig,false); + + orig=m_renderer->boundsOnElement("access2"); + Matrix = m_renderer->matrixForElement("access2"); + orig=Matrix.mapRect(orig); + m_txAccess2Orig.translate(orig.x(),orig.y()); + m_txAccess2->setTransform(m_txAccess2Orig,true); + } + m_config->graphicsView->fitInView(m_txMainBody, Qt::KeepAspectRatio ); + animate=new QTimer(this); + connect(animate,SIGNAL(timeout()),this,SLOT(moveTxControls())); +} +void ConfigInputWidget::resetTxControls() +{ + + m_txLeftStick->setTransform(m_txLeftStickOrig,false); + m_txRightStick->setTransform(m_txRightStickOrig,false); + m_txAccess0->setTransform(m_txAccess0Orig,false); + m_txAccess1->setTransform(m_txAccess1Orig,false); + m_txAccess2->setTransform(m_txAccess2Orig,false); + m_txFlightMode->setElementId("flightModeCenter"); + m_txFlightMode->setTransform(m_txFlightModeCOrig,false); + m_txArrows->setVisible(false); } ConfigInputWidget::~ConfigInputWidget() @@ -99,6 +238,12 @@ ConfigInputWidget::~ConfigInputWidget() } +void ConfigInputWidget::resizeEvent(QResizeEvent *event) +{ + QWidget::resizeEvent(event); + m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio ); +} + void ConfigInputWidget::openHelp() { @@ -108,10 +253,12 @@ void ConfigInputWidget::openHelp() void ConfigInputWidget::goToWizard() { setupWizardWidget(wizardWelcome); + m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio ); } void ConfigInputWidget::wzCancel() { + manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata()); m_config->stackedWidget->setCurrentIndex(0); foreach (QWidget * wd, extraWidgets) { @@ -133,7 +280,6 @@ void ConfigInputWidget::wzCancel() case wizardIdentifyLimits: disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits())); manualSettingsObj->setData(manualSettingsData); - manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata()); break; case wizardIdentifyInverted: break; @@ -159,6 +305,7 @@ void ConfigInputWidget::setupWizardWidget(int step) { if(step==wizardWelcome) { + setTxMovement(nothing); if(wizardStep==wizardChooseMode) { delete extraWidgets.at(0); @@ -178,6 +325,7 @@ void ConfigInputWidget::setupWizardWidget(int step) } else if(step==wizardChooseMode) { + setTxMovement(nothing); if(wizardStep==wizardIdentifySticks) { disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls())); @@ -213,6 +361,7 @@ void ConfigInputWidget::setupWizardWidget(int step) } wizardStep=wizardIdentifySticks; currentCommand=0; + setMoveFromCommand(currentCommand); m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n" "Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(currentCommand))); manualSettingsData=manualSettingsObj->getData(); @@ -221,6 +370,7 @@ void ConfigInputWidget::setupWizardWidget(int step) } else if(step==wizardIdentifyCenter) { + setTxMovement(centerAll); if(wizardStep==wizardIdentifySticks) disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls())); else @@ -234,12 +384,13 @@ void ConfigInputWidget::setupWizardWidget(int step) } else if(step==wizardIdentifyLimits) { + setTxMovement(moveAll); if(wizardStep==wizardIdentifyCenter) { wizardStep=wizardIdentifyLimits; manualCommandData=manualCommandObj->getData(); manualSettingsData=manualSettingsObj->getData(); - for(int i=0;isetData(manualSettingsData); - manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata()); } extraWidgets.clear(); foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames()) { - QCheckBox * cb=new QCheckBox(name,this); - extraWidgets.append(cb); - m_config->checkBoxesLayout->layout()->addWidget(cb); + if(!name.contains("Access") && !name.contains("Flight")) + { + QCheckBox * cb=new QCheckBox(name,this); + extraWidgets.append(cb); + m_config->checkBoxesLayout->layout()->addWidget(cb); + } } + connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks())); wizardStep=wizardIdentifyInverted; - m_config->wzText->setText(QString(tr("Please check the picture below and check all controls which show an inverted movement and press next when ready"))); + m_config->wzText->setText(QString(tr("Please check the picture below and check all the sticks which show an inverted movement and press next when ready"))); } else if(step==wizardFinish) { @@ -299,18 +454,21 @@ void ConfigInputWidget::setupWizardWidget(int step) wizardStep=wizardFinish; manualSettingsObj->setData(manualSettingsData); extraWidgets.clear(); - m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your controls movement.\n" + m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your sticks movement.\n" "This new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can do that."))); } else if(step==wizardFinish+1) { + setTxMovement(nothing); + manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata()); + disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks())); manualSettingsData=manualSettingsObj->getData(); manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]= manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+ ((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]- - manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02); + manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02); manualSettingsObj->setData(manualSettingsData); m_config->stackedWidget->setCurrentIndex(0); wizardStep=wizardWelcome; @@ -346,6 +504,7 @@ void ConfigInputWidget::identifyControls() return; } ++currentCommand; + setMoveFromCommand(currentCommand); if(currentCommand>ManualControlSettings::CHANNELGROUPS_NUMELEM-1) { disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls())); @@ -370,4 +529,325 @@ void ConfigInputWidget::identifyLimits() manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i]; } } +void ConfigInputWidget::setMoveFromCommand(int command) +{ + //CHANNELNUMBER_ROLL=0, CHANNELNUMBER_PITCH=1, CHANNELNUMBER_YAW=2, CHANNELNUMBER_THROTTLE=3, CHANNELNUMBER_FLIGHTMODE=4, CHANNELNUMBER_ACCESSORY0=5, CHANNELNUMBER_ACCESSORY1=6, CHANNELNUMBER_ACCESSORY2=7 } ChannelNumberElem; + if(command==ManualControlSettings::CHANNELNUMBER_ROLL) + { + if(transmitterMode==mode2) + setTxMovement(moveRightHorizontalStick); + else + setTxMovement(moveLeftHorizontalStick); + } + else if(command==ManualControlSettings::CHANNELNUMBER_PITCH) + { + if(transmitterMode==mode2) + setTxMovement(moveRightVerticalStick); + else + setTxMovement(moveLeftVerticalStick); + } + else if(command==ManualControlSettings::CHANNELNUMBER_YAW) + { + if(transmitterMode==mode2) + setTxMovement(moveLeftHorizontalStick); + else + setTxMovement(moveRightHorizontalStick); + } + else if(command==ManualControlSettings::CHANNELNUMBER_THROTTLE) + { + if(transmitterMode==mode2) + setTxMovement(moveLeftVerticalStick); + else + setTxMovement(moveRightVerticalStick); + } + else if(command==ManualControlSettings::CHANNELNUMBER_FLIGHTMODE) + { + setTxMovement(moveFlightMode); + } + else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY0) + { + setTxMovement(moveAccess0); + } + else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY1) + { + setTxMovement(moveAccess1); + } + else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY2) + { + setTxMovement(moveAccess2); + } + +} + +void ConfigInputWidget::setTxMovement(txMovements movement) +{ + resetTxControls(); + switch(movement) + { + case moveLeftVerticalStick: + movePos=0; + growing=true; + currentMovement=moveLeftVerticalStick; + animate->start(100); + break; + case moveRightVerticalStick: + movePos=0; + growing=true; + currentMovement=moveRightVerticalStick; + animate->start(100); + break; + case moveLeftHorizontalStick: + movePos=0; + growing=true; + currentMovement=moveLeftHorizontalStick; + animate->start(100); + break; + case moveRightHorizontalStick: + movePos=0; + growing=true; + currentMovement=moveRightHorizontalStick; + animate->start(100); + break; + case moveAccess0: + movePos=0; + growing=true; + currentMovement=moveAccess0; + animate->start(100); + break; + case moveAccess1: + movePos=0; + growing=true; + currentMovement=moveAccess1; + animate->start(100); + break; + case moveAccess2: + movePos=0; + growing=true; + currentMovement=moveAccess2; + animate->start(100); + break; + case moveFlightMode: + movePos=0; + growing=true; + currentMovement=moveFlightMode; + animate->start(1000); + break; + case centerAll: + movePos=0; + currentMovement=centerAll; + animate->start(1000); + break; + case moveAll: + movePos=0; + growing=true; + currentMovement=moveAll; + animate->start(50); + break; + case nothing: + animate->stop(); + break; + default: + break; + } +} + +void ConfigInputWidget::moveTxControls() +{ + QTransform trans; + QGraphicsItem * item; + txMovementType move; + int limitMax; + int limitMin; + static bool auxFlag=false; + switch(currentMovement) + { + case moveLeftVerticalStick: + item=m_txLeftStick; + trans=m_txLeftStickOrig; + limitMax=STICK_MAX_MOVE; + limitMin=STICK_MIN_MOVE; + move=vertical; + break; + case moveRightVerticalStick: + item=m_txRightStick; + trans=m_txRightStickOrig; + limitMax=STICK_MAX_MOVE; + limitMin=STICK_MIN_MOVE; + move=vertical; + break; + case moveLeftHorizontalStick: + item=m_txLeftStick; + trans=m_txLeftStickOrig; + limitMax=STICK_MAX_MOVE; + limitMin=STICK_MIN_MOVE; + move=horizontal; + break; + case moveRightHorizontalStick: + item=m_txRightStick; + trans=m_txRightStickOrig; + limitMax=STICK_MAX_MOVE; + limitMin=STICK_MIN_MOVE; + move=horizontal; + break; + case moveAccess0: + item=m_txAccess0; + trans=m_txAccess0Orig; + limitMax=ACCESS_MAX_MOVE; + limitMin=ACCESS_MIN_MOVE; + move=horizontal; + break; + case moveAccess1: + item=m_txAccess1; + trans=m_txAccess1Orig; + limitMax=ACCESS_MAX_MOVE; + limitMin=ACCESS_MIN_MOVE; + move=horizontal; + break; + case moveAccess2: + item=m_txAccess2; + trans=m_txAccess2Orig; + limitMax=ACCESS_MAX_MOVE; + limitMin=ACCESS_MIN_MOVE; + move=horizontal; + break; + case moveFlightMode: + item=m_txFlightMode; + move=jump; + break; + case centerAll: + item=m_txArrows; + move=jump; + break; + case moveAll: + limitMax=STICK_MAX_MOVE; + limitMin=STICK_MIN_MOVE; + move=mix; + break; + default: + break; + } + if(move==vertical) + item->setTransform(trans.translate(0,movePos*10),false); + else if(move==horizontal) + item->setTransform(trans.translate(movePos*10,0),false); + else if(move==jump) + { + if(item==m_txArrows) + { + m_txArrows->setVisible(!m_txArrows->isVisible()); + } + else if(item==m_txFlightMode) + { + QGraphicsSvgItem * svg; + svg=(QGraphicsSvgItem *)item; + if (svg) + { + if(svg->elementId()=="flightModeCenter") + { + if(growing) + { + svg->setElementId("flightModeRight"); + m_txFlightMode->setTransform(m_txFlightModeROrig,false); + } + else + { + svg->setElementId("flightModeLeft"); + m_txFlightMode->setTransform(m_txFlightModeLOrig,false); + } + } + else if(svg->elementId()=="flightModeRight") + { + growing=false; + svg->setElementId("flightModeCenter"); + m_txFlightMode->setTransform(m_txFlightModeCOrig,false); + } + else if(svg->elementId()=="flightModeLeft") + { + growing=true; + svg->setElementId("flightModeCenter"); + m_txFlightMode->setTransform(m_txFlightModeCOrig,false); + } + } + } + } + else if(move==mix) + { + trans=m_txAccess0Orig; + m_txAccess0->setTransform(trans.translate(movePos*10*ACCESS_MAX_MOVE/STICK_MAX_MOVE,0),false); + trans=m_txAccess1Orig; + m_txAccess1->setTransform(trans.translate(movePos*10*ACCESS_MAX_MOVE/STICK_MAX_MOVE,0),false); + trans=m_txAccess2Orig; + m_txAccess2->setTransform(trans.translate(movePos*10*ACCESS_MAX_MOVE/STICK_MAX_MOVE,0),false); + + if(auxFlag) + { + trans=m_txLeftStickOrig; + m_txLeftStick->setTransform(trans.translate(0,movePos*10),false); + trans=m_txRightStickOrig; + m_txRightStick->setTransform(trans.translate(0,movePos*10),false); + } + else + { + trans=m_txLeftStickOrig; + m_txLeftStick->setTransform(trans.translate(movePos*10,0),false); + trans=m_txRightStickOrig; + m_txRightStick->setTransform(trans.translate(movePos*10,0),false); + } + + if(movePos==0) + { + m_txFlightMode->setElementId("flightModeCenter"); + m_txFlightMode->setTransform(m_txFlightModeCOrig,false); + } + else if(movePos==ACCESS_MAX_MOVE/2) + { + m_txFlightMode->setElementId("flightModeRight"); + m_txFlightMode->setTransform(m_txFlightModeROrig,false); + } + else if(movePos==ACCESS_MIN_MOVE/2) + { + m_txFlightMode->setElementId("flightModeLeft"); + m_txFlightMode->setTransform(m_txFlightModeLOrig,false); + } + } + if(move==horizontal || move==vertical ||move==mix) + { + if(movePos==0 && growing) + auxFlag=!auxFlag; + if(growing) + ++movePos; + else + --movePos; + if(movePos>limitMax) + { + movePos=movePos-2; + growing=false; + } + if(movePosgetData(); + if(transmitterMode==mode2) + { + trans=m_txLeftStickOrig; + m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false); + trans=m_txRightStickOrig; + m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,-manualCommandData.Pitch*STICK_MAX_MOVE*10),false); + } + else + { + trans=m_txRightStickOrig; + m_txRightStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false); + trans=m_txLeftStickOrig; + m_txLeftStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,-manualCommandData.Pitch*STICK_MAX_MOVE*10),false); + } +} diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.h b/ground/openpilotgcs/src/plugins/config/configinputwidget.h index d2c4c2976..b1769026b 100644 --- a/ground/openpilotgcs/src/plugins/config/configinputwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.h @@ -40,6 +40,10 @@ #include "manualcontrolcommand.h" #include "manualcontrolsettings.h" #include "receiveractivity.h" +#include +#include +#include + class Ui_InputWidget; class ConfigInputWidget: public ConfigTaskWidget @@ -50,9 +54,15 @@ public: ~ConfigInputWidget(); enum wizardSteps{wizardWelcome,wizardChooseMode,wizardIdentifySticks,wizardIdentifyCenter,wizardIdentifyLimits,wizardIdentifyInverted,wizardFinish}; enum txMode{mode1,mode2}; + enum txMovements{moveLeftVerticalStick,moveRightVerticalStick,moveLeftHorizontalStick,moveRightHorizontalStick,moveAccess0,moveAccess1,moveAccess2,moveFlightMode,centerAll,moveAll,nothing}; + enum txMovementType{vertical,horizontal,jump,mix}; public slots: private: + bool growing; + txMovements currentMovement; + int movePos; + void setTxMovement(txMovements movement); Ui_InputWidget *m_config; wizardSteps wizardStep; void setupWizardWidget(int step); @@ -81,14 +91,31 @@ private: ReceiverActivity * receiverActivityObj; ReceiverActivity::DataFields receiverActivityData; - /* - ManualControlCommand * manualCommandObj = ManualControlCommand::GetInstance(getObjectManager()); - ManualControlCommand::DataFields manualCommandData = manualCommandObj->getData(); - ManualControlSettings * manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager()); - ManualControlSettings::DataFields manualSettingsData; - ReceiverActivity * receiverActivityObj=ReceiverActivity::GetInstance(getObjectManager()); - ReceiverActivity::DataFields receiverActivityData =receiverActivityObj->getData(); -*/ + QSvgRenderer *m_renderer; + + // Background: background + QGraphicsSvgItem *m_txMainBody; + QGraphicsSvgItem *m_txLeftStick; + QGraphicsSvgItem *m_txRightStick; + QGraphicsSvgItem *m_txAccess0; + QGraphicsSvgItem *m_txAccess1; + QGraphicsSvgItem *m_txAccess2; + QGraphicsSvgItem *m_txFlightMode; + QGraphicsSvgItem *m_txBackground; + QGraphicsSvgItem *m_txArrows; + QTransform m_txLeftStickOrig; + QTransform m_txRightStickOrig; + QTransform m_txAccess0Orig; + QTransform m_txAccess1Orig; + QTransform m_txAccess2Orig; + QTransform m_txFlightModeCOrig; + QTransform m_txFlightModeLOrig; + QTransform m_txFlightModeROrig; + QTransform m_txMainBodyOrig; + QTransform m_txArrowsOrig; + QTimer * animate; + void resetTxControls(); + void setMoveFromCommand(int command); private slots: void wzNext(); void wzBack(); @@ -97,6 +124,11 @@ private slots: void openHelp(); void identifyControls(); void identifyLimits(); + void moveTxControls(); + void moveSticks(); +protected: + void resizeEvent(QResizeEvent *event); + }; #endif diff --git a/ground/openpilotgcs/src/plugins/config/images/TX.svg b/ground/openpilotgcs/src/plugins/config/images/TX.svg new file mode 100644 index 000000000..ebfee4463 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/config/images/TX.svg @@ -0,0 +1,571 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Flight Mode + + Accessory2 + + + + Accessory1 + + + Accessory0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 0a0d405fc1fe52d6c2fb2ea52bba61f4d30d771a Mon Sep 17 00:00:00 2001 From: zedamota Date: Wed, 17 Aug 2011 12:43:08 +0100 Subject: [PATCH 14/57] Finished the new input configuration wizard. Fixed some bugs along the way. Sending it for review now. --- .../plugins/config/configccattitudewidget.cpp | 7 +++ .../plugins/config/configccattitudewidget.h | 2 + .../src/plugins/config/configgadgetwidget.cpp | 9 ++++ .../src/plugins/config/configinputwidget.cpp | 46 +++++++++++++++++-- .../src/plugins/config/configinputwidget.h | 5 +- .../src/plugins/config/configtaskwidget.cpp | 1 + .../openpilotgcs/src/plugins/config/input.ui | 12 +++++ .../src/plugins/config/smartsavebutton.cpp | 3 +- 8 files changed, 78 insertions(+), 7 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp index ae9eeeaf0..c2242f1ef 100644 --- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp @@ -163,3 +163,10 @@ void ConfigCCAttitudeWidget::openHelp() QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/CopterControl+Attitude+Configuration", QUrl::StrictMode) ); } +void ConfigCCAttitudeWidget::enableControls(bool enable) +{ + if(ui->zeroBias) + ui->zeroBias->setEnabled(enable); + ConfigTaskWidget::enableControls(enable); + +} diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h index aa3b6cad7..09dfdb222 100644 --- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h +++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h @@ -66,6 +66,8 @@ private: static const int NUM_ACCEL_UPDATES = 60; static const float ACCEL_SCALE = 0.004f * 9.81f; +protected: + virtual void enableControls(bool enable); }; diff --git a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp index 0078a1bf2..af8368c1f 100644 --- a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp @@ -117,6 +117,15 @@ void ConfigGadgetWidget::resizeEvent(QResizeEvent *event) } void ConfigGadgetWidget::onAutopilotDisconnect() { + ftw->setCurrentIndex(ConfigGadgetWidget::hardware); + ftw->removeTab(ConfigGadgetWidget::ins); + QWidget *qwd = new DefaultAttitudeWidget(this); + ftw->insertTab(ConfigGadgetWidget::ins, qwd, QIcon(":/configgadget/images/AHRS-v1.3.png"), QString("INS")); + ftw->removeTab(ConfigGadgetWidget::hardware); + qwd = new DefaultHwSettingsWidget(this); + ftw->insertTab(ConfigGadgetWidget::hardware, qwd, QIcon(":/configgadget/images/hw_config.png"), QString("HW Settings")); + ftw->setCurrentIndex(ConfigGadgetWidget::hardware); + emit autopilotDisconnected(); } diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp index d18976086..3fc4e8378 100644 --- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp @@ -45,7 +45,7 @@ #define STICK_MIN_MOVE -8 #define STICK_MAX_MOVE 8 -ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardWelcome),loop(NULL),skipflag(false) +ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardWelcome),loop(NULL),skipflag(false),goWizard(NULL) { manualCommandObj = ManualControlCommand::GetInstance(getObjectManager()); manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager()); @@ -68,7 +68,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent) addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMax",inp->ui->channelMax,index); ++index; } - QPushButton * goWizard=new QPushButton(tr("Start Wizard"),this); + goWizard=new QPushButton(tr("Start Wizard"),this); m_config->advancedPage->layout()->addWidget(goWizard); connect(goWizard,SIGNAL(clicked()),this,SLOT(goToWizard())); connect(m_config->wzNext,SIGNAL(clicked()),this,SLOT(wzNext())); @@ -92,6 +92,8 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent) addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl); addUAVObjectToWidgetRelation("ManualControlSettings","armTimeout",m_config->armTimeout,0,1000); + + addWidget(goWizard); enableControls(false); populateWidgets(); @@ -258,6 +260,7 @@ void ConfigInputWidget::goToWizard() void ConfigInputWidget::wzCancel() { + dimOtherControls(false); manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata()); m_config->stackedWidget->setCurrentIndex(0); foreach (QWidget * wd, extraWidgets) @@ -305,6 +308,7 @@ void ConfigInputWidget::setupWizardWidget(int step) { if(step==wizardWelcome) { + m_config->graphicsView->setVisible(false); setTxMovement(nothing); if(wizardStep==wizardChooseMode) { @@ -317,7 +321,8 @@ void ConfigInputWidget::setupWizardWidget(int step) manualSettingsObj->setData(manualSettingsData); m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n" "Please follow the instruction on the screen and only move your controls when asked to.\n" - "At any time you can press 'back' to return to the previous screeen or 'Cancel' to cancel the wizard" + "Make sure you already configured your hardware settings on the proper tab and restarted your board.\n" + "At any time you can press 'back' to return to the previous screeen or 'Cancel' to cancel the wizard \n" "For your safety your arming setting is now 'Always Disarmed' please reenable it after this wizard.")); m_config->stackedWidget->setCurrentIndex(1); m_config->wzBack->setEnabled(false); @@ -325,6 +330,7 @@ void ConfigInputWidget::setupWizardWidget(int step) } else if(step==wizardChooseMode) { + m_config->graphicsView->setVisible(true); setTxMovement(nothing); if(wizardStep==wizardIdentifySticks) { @@ -384,6 +390,7 @@ void ConfigInputWidget::setupWizardWidget(int step) } else if(step==wizardIdentifyLimits) { + dimOtherControls(false); setTxMovement(moveAll); if(wizardStep==wizardIdentifyCenter) { @@ -396,6 +403,13 @@ void ConfigInputWidget::setupWizardWidget(int step) } manualSettingsObj->setData(manualSettingsData); } + foreach (QWidget * wd, extraWidgets) + { + if(wd) + delete wd; + } + extraWidgets.clear(); + disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks())); wizardStep=wizardIdentifyLimits; m_config->wzText->setText(QString(tr("Please move all controls to their maximum extends on both directions and press next when ready"))); UAVObject::Metadata mdata= manualCommandObj->getMetadata(); @@ -412,6 +426,7 @@ void ConfigInputWidget::setupWizardWidget(int step) } else if(step==wizardIdentifyInverted) { + dimOtherControls(true); setTxMovement(nothing); if(wizardStep==wizardIdentifyLimits) { @@ -644,6 +659,7 @@ void ConfigInputWidget::setTxMovement(txMovements movement) animate->start(50); break; case nothing: + movePos=0; animate->stop(); break; default: @@ -840,14 +856,34 @@ void ConfigInputWidget::moveSticks() trans=m_txLeftStickOrig; m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false); trans=m_txRightStickOrig; - m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,-manualCommandData.Pitch*STICK_MAX_MOVE*10),false); + m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false); } else { trans=m_txRightStickOrig; m_txRightStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false); trans=m_txLeftStickOrig; - m_txLeftStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,-manualCommandData.Pitch*STICK_MAX_MOVE*10),false); + m_txLeftStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false); } } +void ConfigInputWidget::dimOtherControls(bool value) +{ + qreal opac; + if(value) + opac=0.1; + else + opac=1; + m_txAccess0->setOpacity(opac); + m_txAccess1->setOpacity(opac); + m_txAccess2->setOpacity(opac); + m_txFlightMode->setOpacity(opac); +} + +void ConfigInputWidget::enableControls(bool enable) +{ + if(goWizard) + goWizard->setEnabled(enable); + ConfigTaskWidget::enableControls(enable); + +} diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.h b/ground/openpilotgcs/src/plugins/config/configinputwidget.h index b1769026b..e3917bb85 100644 --- a/ground/openpilotgcs/src/plugins/config/configinputwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.h @@ -116,6 +116,7 @@ private: QTimer * animate; void resetTxControls(); void setMoveFromCommand(int command); + QPushButton * goWizard; private slots: void wzNext(); void wzBack(); @@ -125,9 +126,11 @@ private slots: void identifyControls(); void identifyLimits(); void moveTxControls(); - void moveSticks(); + void moveSticks(); + void dimOtherControls(bool value); protected: void resizeEvent(QResizeEvent *event); + virtual void enableControls(bool enable); }; diff --git a/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp b/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp index 8aa6a3f33..03b84804c 100644 --- a/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp @@ -238,6 +238,7 @@ void ConfigTaskWidget::setupButtons(QPushButton *update, QPushButton *save) connect(smartsave,SIGNAL(saveSuccessfull()),this,SLOT(clearDirty())); connect(smartsave,SIGNAL(beginOp()),this,SLOT(disableObjUpdates())); connect(smartsave,SIGNAL(endOp()),this,SLOT(enableObjUpdates())); + enableControls(false); } void ConfigTaskWidget::enableControls(bool enable) diff --git a/ground/openpilotgcs/src/plugins/config/input.ui b/ground/openpilotgcs/src/plugins/config/input.ui index 9849183d5..0ec15f063 100644 --- a/ground/openpilotgcs/src/plugins/config/input.ui +++ b/ground/openpilotgcs/src/plugins/config/input.ui @@ -36,6 +36,18 @@ + + + 0 + 0 + + + + + 0 + 70 + + 10 diff --git a/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp b/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp index dff4e409e..7335570eb 100644 --- a/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp +++ b/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp @@ -92,7 +92,8 @@ void smartSaveButton::setObjects(QList list) void smartSaveButton::addObject(UAVObject * obj) { - objects.append(obj); + if(!objects.contains(obj)) + objects.append(obj); } void smartSaveButton::clearObjects() From 7bf9f4e817c15d819e8b95bc6c39a655486ea471 Mon Sep 17 00:00:00 2001 From: zedamota Date: Sat, 20 Aug 2011 19:10:28 +0100 Subject: [PATCH 15/57] Untested changes, should fix: Spelling mistakes Show inverted movement as soon as checkbox is checked. Bring back flightmode change messagebox. Layout issues (this was not a issue on win so not sure its fixed). Support for flightmode binary switches neutral=min+(max-min)/2. Flightmode slider not changing according to command. Mode 1 roll on the right (still think it doesn't make sense :) ) --- .../plugins/config/config_cc_hw_widget.cpp | 2 +- .../plugins/config/config_pro_hw_widget.cpp | 2 +- .../src/plugins/config/configinputwidget.cpp | 111 +++++++++++++----- .../src/plugins/config/configinputwidget.h | 3 + .../src/plugins/config/inputchannelform.ui | 2 +- 5 files changed, 88 insertions(+), 32 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp index 382b074d5..1d98874ba 100644 --- a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp +++ b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp @@ -2,7 +2,7 @@ ****************************************************************************** * * @file configtelemetrywidget.h - * @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @addtogroup GCSPlugins GCS Plugins * @{ * @addtogroup ConfigPlugin Config Plugin diff --git a/ground/openpilotgcs/src/plugins/config/config_pro_hw_widget.cpp b/ground/openpilotgcs/src/plugins/config/config_pro_hw_widget.cpp index b3f562acd..e19be52ab 100644 --- a/ground/openpilotgcs/src/plugins/config/config_pro_hw_widget.cpp +++ b/ground/openpilotgcs/src/plugins/config/config_pro_hw_widget.cpp @@ -2,7 +2,7 @@ ****************************************************************************** * * @file configtelemetrywidget.h - * @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @addtogroup GCSPlugins GCS Plugins * @{ * @addtogroup ConfigPlugin Config Plugin diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp index 3fc4e8378..4544b4edd 100644 --- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp @@ -1,7 +1,7 @@ /** ****************************************************************************** * - * @file configservowidget.cpp + * @file configinputwidget.cpp * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @addtogroup GCSPlugins GCS Plugins * @{ @@ -39,6 +39,7 @@ #include #include #include +#include #define ACCESS_MIN_MOVE -6 #define ACCESS_MAX_MOVE 6 @@ -92,7 +93,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent) addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl); addUAVObjectToWidgetRelation("ManualControlSettings","armTimeout",m_config->armTimeout,0,1000); - + addUAVObject("ManualControlCommand"); addWidget(goWizard); enableControls(false); @@ -254,6 +255,12 @@ void ConfigInputWidget::openHelp() void ConfigInputWidget::goToWizard() { + QMessageBox msgBox; + msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety.")); + msgBox.setDetailedText(tr("You will have to reconfigure arming settings yourself afterwards.")); + msgBox.setStandardButtons(QMessageBox::Ok); + msgBox.setDefaultButton(QMessageBox::Ok); + msgBox.exec(); setupWizardWidget(wizardWelcome); m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio ); } @@ -320,10 +327,9 @@ void ConfigInputWidget::setupWizardWidget(int step) manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED; manualSettingsObj->setData(manualSettingsData); m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n" - "Please follow the instruction on the screen and only move your controls when asked to.\n" + "Please follow the instructions on the screen and only move your controls when asked to.\n" "Make sure you already configured your hardware settings on the proper tab and restarted your board.\n" - "At any time you can press 'back' to return to the previous screeen or 'Cancel' to cancel the wizard \n" - "For your safety your arming setting is now 'Always Disarmed' please reenable it after this wizard.")); + "At any time you can press 'back' to return to the previous screeen or 'Cancel' to cancel the wizard.\n")); m_config->stackedWidget->setCurrentIndex(1); m_config->wzBack->setEnabled(false); wizardStep=wizardWelcome; @@ -386,7 +392,7 @@ void ConfigInputWidget::setupWizardWidget(int step) manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata()); } wizardStep=wizardIdentifyCenter; - m_config->wzText->setText(QString(tr("Please center all control controls and press next when ready"))); + m_config->wzText->setText(QString(tr("Please center all control controls and press next when ready (if your FlightMode switch has only two positions, leave it on either position)"))); } else if(step==wizardIdentifyLimits) { @@ -411,7 +417,7 @@ void ConfigInputWidget::setupWizardWidget(int step) extraWidgets.clear(); disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks())); wizardStep=wizardIdentifyLimits; - m_config->wzText->setText(QString(tr("Please move all controls to their maximum extends on both directions and press next when ready"))); + m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready"))); UAVObject::Metadata mdata= manualCommandObj->getMetadata(); mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC; mdata.flightTelemetryUpdatePeriod = 150; @@ -441,33 +447,22 @@ void ConfigInputWidget::setupWizardWidget(int step) QCheckBox * cb=new QCheckBox(name,this); extraWidgets.append(cb); m_config->checkBoxesLayout->layout()->addWidget(cb); + connect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls())); } } connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks())); wizardStep=wizardIdentifyInverted; - m_config->wzText->setText(QString(tr("Please check the picture below and check all the sticks which show an inverted movement and press next when ready"))); + m_config->wzText->setText(QString(tr("Please check the picture below and check all the sticks which show an inverted movement and press next when ready"))); } else if(step==wizardFinish) { - manualSettingsData=manualSettingsObj->getData(); foreach(QWidget * wd,extraWidgets) { QCheckBox * cb=qobject_cast(wd); if(cb) - { - if(cb->isChecked()) - { - int index=manualSettingsObj->getFields().at(0)->getElementNames().indexOf(cb->text()); - qint16 aux; - aux=manualSettingsData.ChannelMax[index]; - manualSettingsData.ChannelMax[index]=manualSettingsData.ChannelMin[index]; - manualSettingsData.ChannelMin[index]=aux; - } - } - delete cb; + delete cb; } wizardStep=wizardFinish; - manualSettingsObj->setData(manualSettingsData); extraWidgets.clear(); m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your sticks movement.\n" "This new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can do that."))); @@ -484,6 +479,12 @@ void ConfigInputWidget::setupWizardWidget(int step) manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+ ((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]- manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02); + if((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100) || + (abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100)) + { + manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]=manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]+ + (manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE])/2; + } manualSettingsObj->setData(manualSettingsData); m_config->stackedWidget->setCurrentIndex(0); wizardStep=wizardWelcome; @@ -549,10 +550,7 @@ void ConfigInputWidget::setMoveFromCommand(int command) //CHANNELNUMBER_ROLL=0, CHANNELNUMBER_PITCH=1, CHANNELNUMBER_YAW=2, CHANNELNUMBER_THROTTLE=3, CHANNELNUMBER_FLIGHTMODE=4, CHANNELNUMBER_ACCESSORY0=5, CHANNELNUMBER_ACCESSORY1=6, CHANNELNUMBER_ACCESSORY2=7 } ChannelNumberElem; if(command==ManualControlSettings::CHANNELNUMBER_ROLL) { - if(transmitterMode==mode2) setTxMovement(moveRightHorizontalStick); - else - setTxMovement(moveLeftHorizontalStick); } else if(command==ManualControlSettings::CHANNELNUMBER_PITCH) { @@ -563,10 +561,7 @@ void ConfigInputWidget::setMoveFromCommand(int command) } else if(command==ManualControlSettings::CHANNELNUMBER_YAW) { - if(transmitterMode==mode2) setTxMovement(moveLeftHorizontalStick); - else - setTxMovement(moveRightHorizontalStick); } else if(command==ManualControlSettings::CHANNELNUMBER_THROTTLE) { @@ -861,9 +856,9 @@ void ConfigInputWidget::moveSticks() else { trans=m_txRightStickOrig; - m_txRightStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false); + m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false); trans=m_txLeftStickOrig; - m_txLeftStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false); + m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false); } } @@ -887,3 +882,61 @@ void ConfigInputWidget::enableControls(bool enable) ConfigTaskWidget::enableControls(enable); } + +void ConfigInputWidget::invertControls() +{ + manualSettingsData=manualSettingsObj->getData(); + foreach(QWidget * wd,extraWidgets) + { + QCheckBox * cb=qobject_cast(wd); + if(cb) + { + if(cb->isChecked()) + { + int index=manualSettingsObj->getFields().at(0)->getElementNames().indexOf(cb->text()); + qint16 aux; + aux=manualSettingsData.ChannelMax[index]; + manualSettingsData.ChannelMax[index]=manualSettingsData.ChannelMin[index]; + manualSettingsData.ChannelMin[index]=aux; + } + } + } + manualSettingsObj->setData(manualSettingsData); +} +void ConfigInputWidget::refreshWidgetsValues() +{ + ConfigTaskWidget::refreshWidgetsValues(); + manualSettingsData = manualSettingsObj->getData(); + manualCommandData=manualCommandObj->getData(); + uint chIndex = manualSettingsData.ChannelNumber[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE]; + if (chIndex < 8) { + float valueScaled; + + int chMin = manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]; + int chMax = manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]; + int chNeutral = manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]; + + int value = manualCommandData.Channel[chIndex]; + if ((chMax > chMin && value >= chNeutral) || (chMin > chMax && value <= chNeutral)) + { + if (chMax != chNeutral) + valueScaled = (float)(value - chNeutral) / (float)(chMax - chNeutral); + else + valueScaled = 0; + } + else + { + if (chMin != chNeutral) + valueScaled = (float)(value - chNeutral) / (float)(chNeutral - chMin); + else + valueScaled = 0; + } + + if(valueScaled < -(1.0 / 3.0)) + m_config->fmsSlider->setValue(-100); + else if (valueScaled > (1.0/3.0)) + m_config->fmsSlider->setValue(100); + else + m_config->fmsSlider->setValue(0); + } +} diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.h b/ground/openpilotgcs/src/plugins/config/configinputwidget.h index e3917bb85..7c90fef76 100644 --- a/ground/openpilotgcs/src/plugins/config/configinputwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.h @@ -128,9 +128,12 @@ private slots: void moveTxControls(); void moveSticks(); void dimOtherControls(bool value); + void invertControls(); protected: void resizeEvent(QResizeEvent *event); virtual void enableControls(bool enable); +protected slots: + virtual void refreshWidgetsValues(); }; diff --git a/ground/openpilotgcs/src/plugins/config/inputchannelform.ui b/ground/openpilotgcs/src/plugins/config/inputchannelform.ui index 4d7f07d9d..ac4c9e015 100644 --- a/ground/openpilotgcs/src/plugins/config/inputchannelform.ui +++ b/ground/openpilotgcs/src/plugins/config/inputchannelform.ui @@ -76,7 +76,7 @@ - 66 + 70 0 From e4e952f27004d2a393b61b32959cd44d93037e17 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sun, 21 Aug 2011 02:20:10 -0500 Subject: [PATCH 16/57] Manual control settings needs to be initialized in OpenPilot board file for spektrum to work --- flight/OpenPilot/System/pios_board.c | 1 + 1 file changed, 1 insertion(+) diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c index f4ac5c367..12d365b67 100644 --- a/flight/OpenPilot/System/pios_board.c +++ b/flight/OpenPilot/System/pios_board.c @@ -1093,6 +1093,7 @@ void PIOS_Board_Init(void) { /* Configure the selected receiver */ uint8_t manualcontrolsettings_inputmode; + ManualControlSettingsInitialize(); ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode); switch (manualcontrolsettings_inputmode) { From b6b0703c284caebf6b86953391eb806aea178028 Mon Sep 17 00:00:00 2001 From: Dmytro Poplavskiy Date: Sat, 20 Aug 2011 12:28:53 +1000 Subject: [PATCH 17/57] GCS: Fixed stabilization settings layout on a small screen. Put most of widgets into QScrollArea. It looks the same on large enough screen but scrollbars are added on netbook size screen. --- .../src/plugins/config/stabilization.ui | 1264 +++++++++-------- 1 file changed, 652 insertions(+), 612 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui index 96c414055..799c50880 100644 --- a/ground/openpilotgcs/src/plugins/config/stabilization.ui +++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui @@ -6,649 +6,689 @@ 0 0 - 639 - 611 + 683 + 685 Form - + - + - + 0 - 0 + 1 - - - 0 - 150 - + + QFrame::NoFrame - - Rate Stabilization Coefficients (Inner Loop) + + true - - - - - Kp - - - Qt::AlignCenter - - - - - - - Ki - - - Qt::AlignCenter - - - - - - - ILimit - - - Qt::AlignCenter - - - - - - - Roll - - - - - - - Slowly raise Kp until you start seeing clear oscillations when you fly. + + + + 0 + 0 + 665 + 627 + + + + + 0 + 0 + + + + + 0 + + + 0 + + + + + + 0 + 0 + + + + + 0 + 150 + + + + Rate Stabilization Coefficients (Inner Loop) + + + + + + Kp + + + Qt::AlignCenter + + + + + + + Ki + + + Qt::AlignCenter + + + + + + + ILimit + + + Qt::AlignCenter + + + + + + + Roll + + + + + + + Slowly raise Kp until you start seeing clear oscillations when you fly. Then lower the value by 20% or so. - - - 6 - - - 0.000100000000000 - - - - - - - I factor for rate stabilization is usually very low or even zero. - - - 6 - - - 0.000100000000000 - - - - - - - 6 - - - 0.000100000000000 - - - - - - - If checked, the Roll and Pitch factors will be identical. + + + 6 + + + 0.000100000000000 + + + + + + + I factor for rate stabilization is usually very low or even zero. + + + 6 + + + 0.000100000000000 + + + + + + + 6 + + + 0.000100000000000 + + + + + + + If checked, the Roll and Pitch factors will be identical. When you change one, the other is updated. - - - Link - - - - - - - Pitch - - - - - - - Slowly raise Kp until you start seeing clear oscillations when you fly. + + + Link + + + + + + + Pitch + + + + + + + Slowly raise Kp until you start seeing clear oscillations when you fly. Then lower the value by 20% or so. - - - 6 - - - 0.000100000000000 - - - - - - - I factor for rate stabilization is usually very low or even zero. - - - 6 - - - 0.000100000000000 - - - - - - - 6 - - - 0.000100000000000 - - - - - - - Yaw - - - - - - - Slowly raise Kp until you start seeing clear oscillations when you fly. + + + 6 + + + 0.000100000000000 + + + + + + + I factor for rate stabilization is usually very low or even zero. + + + 6 + + + 0.000100000000000 + + + + + + + 6 + + + 0.000100000000000 + + + + + + + Yaw + + + + + + + Slowly raise Kp until you start seeing clear oscillations when you fly. Then lower the value by 20% or so. You can usually go for higher values for Yaw factors. - - - 6 - - - 0.000100000000000 - - - - - - - As a rule of thumb, you can set YawRate Ki at roughly the same + + + 6 + + + 0.000100000000000 + + + + + + + As a rule of thumb, you can set YawRate Ki at roughly the same value as YawRate Kp. - - - 6 - - - 0.000100000000000 - - - - - - - 6 - - - 0.000100000000000 - - - - - - - - - - Qt::Vertical - - - QSizePolicy::Fixed - - - - 20 - 5 - - - - - - - - - 0 - 0 - - - - - 0 - 150 - - - - Attitude Stabization Coefficients (Outer Loop) - - - - - - Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so. + + + 6 + + + 0.000100000000000 + + + + + + + 6 + + + 0.000100000000000 + + + + + + + + + + Qt::Vertical + + + QSizePolicy::Fixed + + + + 20 + 13 + + + + + + + + + 0 + 0 + + + + + 0 + 150 + + + + Attitude Stabization Coefficients (Outer Loop) + + + + + + Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so. - - - 6 - - - 0.100000000000000 - - - - - - - Ki can usually be almost identical to Kp. - - - 6 - - - 0.100000000000000 - - - - - - - ILimit can be equal to three to four times Ki, but you can adjust + + + 6 + + + 0.100000000000000 + + + + + + + Ki can usually be almost identical to Kp. + + + 6 + + + 0.100000000000000 + + + + + + + ILimit can be equal to three to four times Ki, but you can adjust depending on whether your airframe is well balanced, and your flying style. - - - 6 - - - 0.100000000000000 - - - - - - - Kp - - - Qt::AlignCenter - - - - - - - Ki - - - Qt::AlignCenter - - - - - - - ILimit - - - Qt::AlignCenter - - - - - - - ILimit can be equal to three to four times Ki, but you can adjust + + + 6 + + + 0.100000000000000 + + + + + + + Kp + + + Qt::AlignCenter + + + + + + + Ki + + + Qt::AlignCenter + + + + + + + ILimit + + + Qt::AlignCenter + + + + + + + ILimit can be equal to three to four times Ki, but you can adjust depending on whether your airframe is well balanced, and your flying style. - - - 6 - - - 0.100000000000000 - - - - - - - Ki can usually be almost identical to Kp. - - - 6 - - - 0.100000000000000 - - - - - - - Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so. + + + 6 + + + 0.100000000000000 + + + + + + + Ki can usually be almost identical to Kp. + + + 6 + + + 0.100000000000000 + + + + + + + Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so. - - - 6 - - - 0.100000000000000 - - - - - - - Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so. + + + 6 + + + 0.100000000000000 + + + + + + + Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so. - - - 6 - - - 0.100000000000000 - - - - - - - Yaw - - - - - - - Pitch - - - - - - - Roll - - - - - - - Ki can usually be almost identical to Kp. - - - 6 - - - 0.100000000000000 - - - - - - - ILimit can be equal to three to four times Ki, but you can adjust + + + 6 + + + 0.100000000000000 + + + + + + + Yaw + + + + + + + Pitch + + + + + + + Roll + + + + + + + Ki can usually be almost identical to Kp. + + + 6 + + + 0.100000000000000 + + + + + + + ILimit can be equal to three to four times Ki, but you can adjust depending on whether your airframe is well balanced, and your flying style. - - - 6 - - - 0.100000000000000 - - - - - - - If checked, the Roll and Pitch factors will be identical. + + + 6 + + + 0.100000000000000 + + + + + + + If checked, the Roll and Pitch factors will be identical. When you change one, the other is updated. - - - Link - - - - + + + Link + + + + + + + + + + Qt::Vertical + + + QSizePolicy::Fixed + + + + 20 + 13 + + + + + + + + + 0 + 0 + + + + + 0 + 0 + + + + Stick range and limits + + + + QLayout::SetMinAndMaxSize + + + + + Roll + + + Qt::AlignCenter + + + + + + + Pitch + + + Qt::AlignCenter + + + + + + + Yaw + + + Qt::AlignCenter + + + + + + + 180 + + + + + + + 180 + + + + + + + 180 + + + + + + + + 150 + 0 + + + + + 50 + false + + + + Full stick angle (deg) + + + + + + + + 150 + 0 + + + + + 50 + false + + + + Full stick rate (deg/s) + + + + + + + 300 + + + + + + + 300 + + + + + + + 300 + + + + + + + + 150 + 0 + + + + + 50 + false + + + + + + + Maximum rate in attitude mode (deg/s) + + + + + + + 300 + + + + + + + 300 + + + + + + + 300 + + + + + + + + + + Zero the integral when throttle is low + + + + + + + Qt::Vertical + + + + 20 + 0 + + + + + + - - - - Qt::Vertical - - - QSizePolicy::Fixed - - - - 20 - 5 - - - - - - - - - 0 - 0 - - - - - 0 - 0 - - - - Stick range and limits - - - - QLayout::SetMinAndMaxSize - - - - - Roll - - - Qt::AlignCenter - - - - - - - Pitch - - - Qt::AlignCenter - - - - - - - Yaw - - - Qt::AlignCenter - - - - - - - 180 - - - - - - - 180 - - - - - - - 180 - - - - - - - - 150 - 0 - - - - - 50 - false - - - - Full stick angle (deg) - - - - - - - - 150 - 0 - - - - - 50 - false - - - - Full stick rate (deg/s) - - - - - - - 300 - - - - - - - 300 - - - - - - - 300 - - - - - - - - 150 - 0 - - - - - 50 - false - - - - - - - Maximum rate in attitude mode (deg/s) - - - - - - - 300 - - - - - - - 300 - - - - - - - 300 - - - - - - - - - - Zero the integral when throttle is low - - - - - - - Qt::Vertical - - - - 20 - 40 - - - - From bbc137eabe0dc5ac62afa682710e4b8535dd415d Mon Sep 17 00:00:00 2001 From: Dmytro Poplavskiy Date: Sun, 21 Aug 2011 21:36:41 +1000 Subject: [PATCH 18/57] Added initial CachedSvgItem implementation Texture is regenerated each time item is scaled but it's reused during rotation, unlike the default DeviceCoordinateCache mode. --- .../src/libs/utils/cachedsvgitem.cpp | 155 ++++++++++++++++++ .../src/libs/utils/cachedsvgitem.h | 52 ++++++ ground/openpilotgcs/src/libs/utils/utils.pro | 10 +- 3 files changed, 214 insertions(+), 3 deletions(-) create mode 100644 ground/openpilotgcs/src/libs/utils/cachedsvgitem.cpp create mode 100644 ground/openpilotgcs/src/libs/utils/cachedsvgitem.h diff --git a/ground/openpilotgcs/src/libs/utils/cachedsvgitem.cpp b/ground/openpilotgcs/src/libs/utils/cachedsvgitem.cpp new file mode 100644 index 000000000..4fc80e6d2 --- /dev/null +++ b/ground/openpilotgcs/src/libs/utils/cachedsvgitem.cpp @@ -0,0 +1,155 @@ +/** + ****************************************************************************** + * + * @file cachedsvgitem.h + * @author Dmytro Poplavskiy Copyright (C) 2011. + * @{ + * @brief OpenGL texture cached SVG item + *****************************************************************************/ +/* + * 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 "cachedsvgitem.h" +#include +#include + +CachedSvgItem::CachedSvgItem(QGraphicsItem * parent) : + QGraphicsSvgItem(parent), + m_context(0), + m_texture(0), + m_scale(1.0) +{ + setCacheMode(NoCache); +} + +CachedSvgItem::CachedSvgItem(const QString & fileName, QGraphicsItem * parent): + QGraphicsSvgItem(fileName, parent), + m_context(0), + m_texture(0), + m_scale(1.0) +{ + setCacheMode(NoCache); +} + +CachedSvgItem::~CachedSvgItem() +{ + if (m_context && m_texture) { + m_context->makeCurrent(); + glDeleteTextures(1, &m_texture); + } +} + +void CachedSvgItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget) +{ + + if (painter->paintEngine()->type() != QPaintEngine::OpenGL && + painter->paintEngine()->type() != QPaintEngine::OpenGL2) { + //Fallback to direct painting + QGraphicsSvgItem::paint(painter, option, widget); + return; + } + + QRectF br = boundingRect(); + QTransform transform = painter->worldTransform(); + qreal sceneScale = transform.map(QLineF(0,0,1,0)).length(); + + bool stencilTestEnabled = glIsEnabled(GL_STENCIL_TEST); + bool scissorTestEnabled = glIsEnabled(GL_SCISSOR_TEST); + + painter->beginNativePainting(); + + if (stencilTestEnabled) + glEnable(GL_STENCIL_TEST); + if (scissorTestEnabled) + glEnable(GL_SCISSOR_TEST); + + bool dirty = false; + if (!m_texture) { + glGenTextures(1, &m_texture); + m_context = const_cast(QGLContext::currentContext()); + + dirty = true; + } + + if (!qFuzzyCompare(sceneScale, m_scale)) { + m_scale = sceneScale; + dirty = true; + } + + int textureWidth = (int(br.width()*m_scale) + 3) & ~3; + int textureHeight = (int(br.height()*m_scale) + 3) & ~3; + + if (dirty) { + //qDebug() << "re-render image"; + + QImage img(textureWidth, textureHeight, QImage::Format_ARGB32); + { + img.fill(Qt::transparent); + QPainter p; + p.begin(&img); + p.setRenderHints(painter->renderHints()); + p.translate(br.topLeft()); + p.scale(m_scale, m_scale); + QGraphicsSvgItem::paint(&p, option, 0); + p.end(); + + img = img.rgbSwapped(); + } + + glEnable(GL_TEXTURE_2D); + + glBindTexture(GL_TEXTURE_2D, m_texture); + glTexImage2D( + GL_TEXTURE_2D, + 0, + GL_RGBA, + textureWidth, + textureHeight, + 0, + GL_RGBA, + GL_UNSIGNED_BYTE, + img.bits()); + + glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); + glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); + glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); + glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); + + glDisable(GL_TEXTURE_2D); + + dirty = false; + } + + glEnable(GL_BLEND); + glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + glEnable(GL_TEXTURE_2D); + + glBindTexture(GL_TEXTURE_2D, m_texture); + + //texture may be slightly large than svn image, ensure only used area is rendered + qreal tw = br.width()*m_scale/textureWidth; + qreal th = br.height()*m_scale/textureHeight; + + glBegin(GL_QUADS); + glTexCoord2d(0, 0 ); glVertex3d(br.left(), br.top(), -1); + glTexCoord2d(tw, 0 ); glVertex3d(br.right(), br.top(), -1); + glTexCoord2d(tw, th); glVertex3d(br.right(), br.bottom(), -1); + glTexCoord2d(0, th); glVertex3d(br.left(), br.bottom(), -1); + glEnd(); + glDisable(GL_TEXTURE_2D); + + painter->endNativePainting(); +} diff --git a/ground/openpilotgcs/src/libs/utils/cachedsvgitem.h b/ground/openpilotgcs/src/libs/utils/cachedsvgitem.h new file mode 100644 index 000000000..19f9fd4eb --- /dev/null +++ b/ground/openpilotgcs/src/libs/utils/cachedsvgitem.h @@ -0,0 +1,52 @@ +/** + ****************************************************************************** + * + * @file cachedsvgitem.h + * @author Dmytro Poplavskiy Copyright (C) 2011. + * @{ + * @brief OpenGL texture cached SVG item + *****************************************************************************/ +/* + * 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 CACHEDSVGITEM_H +#define CACHEDSVGITEM_H + +#include +#include + +class QGLContext; + +//Cache Svg item as GL Texture. +//Texture is regenerated each time item is scaled +//but it's reused during rotation, unlike DeviceCoordinateCache mode +class CachedSvgItem: public QGraphicsSvgItem +{ + Q_OBJECT +public: + CachedSvgItem(QGraphicsItem * parent = 0); + CachedSvgItem(const QString & fileName, QGraphicsItem * parent = 0); + ~CachedSvgItem(); + + void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget); + +private: + QGLContext *m_context; + GLuint m_texture; + qreal m_scale; +}; + +#endif diff --git a/ground/openpilotgcs/src/libs/utils/utils.pro b/ground/openpilotgcs/src/libs/utils/utils.pro index 804f7c813..003497b4d 100644 --- a/ground/openpilotgcs/src/libs/utils/utils.pro +++ b/ground/openpilotgcs/src/libs/utils/utils.pro @@ -3,7 +3,9 @@ TARGET = Utils QT += gui \ network \ - xml + xml \ + svg \ + opengl DEFINES += QTCREATOR_UTILS_LIB @@ -48,7 +50,8 @@ SOURCES += reloadpromptutils.cpp \ homelocationutil.cpp \ mytabbedstackwidget.cpp \ mytabwidget.cpp \ - mylistwidget.cpp + mylistwidget.cpp \ + cachedsvgitem.cpp SOURCES += xmlconfig.cpp win32 { @@ -102,7 +105,8 @@ HEADERS += utils_global.h \ homelocationutil.h \ mytabbedstackwidget.h \ mytabwidget.h \ - mylistwidget.h + mylistwidget.h \ + cachedsvgitem.h HEADERS += xmlconfig.h FORMS += filewizardpage.ui \ From 6b0da6bc72fc8ea5125a850dfe277e9a20856033 Mon Sep 17 00:00:00 2001 From: Dmytro Poplavskiy Date: Sun, 21 Aug 2011 21:38:58 +1000 Subject: [PATCH 19/57] Changed PFDGadgetWidget to use CachedSvgItem --- .../src/plugins/pfd/pfdgadgetwidget.cpp | 41 ++++++++++--------- 1 file changed, 21 insertions(+), 20 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/pfd/pfdgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/pfd/pfdgadgetwidget.cpp index 079a206b5..a38e943a3 100644 --- a/ground/openpilotgcs/src/plugins/pfd/pfdgadgetwidget.cpp +++ b/ground/openpilotgcs/src/plugins/pfd/pfdgadgetwidget.cpp @@ -27,6 +27,7 @@ #include "pfdgadgetwidget.h" #include +#include #include #include #include @@ -383,7 +384,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) - Battery stats: battery-txt */ l_scene->clear(); // Deletes all items contained in the scene as well. - m_background = new QGraphicsSvgItem(); + m_background = new CachedSvgItem(); // All other items will be clipped to the shape of the background m_background->setFlags(QGraphicsItem::ItemClipsChildrenToShape| QGraphicsItem::ItemClipsToShape); @@ -391,28 +392,28 @@ void PFDGadgetWidget::setDialFile(QString dfn) m_background->setElementId("background"); l_scene->addItem(m_background); - m_world = new QGraphicsSvgItem(); + m_world = new CachedSvgItem(); m_world->setParentItem(m_background); m_world->setSharedRenderer(m_renderer); m_world->setElementId("world"); l_scene->addItem(m_world); // red Roll scale: rollscale - m_rollscale = new QGraphicsSvgItem(); + m_rollscale = new CachedSvgItem(); m_rollscale->setSharedRenderer(m_renderer); m_rollscale->setElementId("rollscale"); l_scene->addItem(m_rollscale); // Home point: - m_homewaypoint = new QGraphicsSvgItem(); + m_homewaypoint = new CachedSvgItem(); // Next point: - m_nextwaypoint = new QGraphicsSvgItem(); + m_nextwaypoint = new CachedSvgItem(); // Home point bearing: - m_homepointbearing = new QGraphicsSvgItem(); + m_homepointbearing = new CachedSvgItem(); // Next point bearing: - m_nextpointbearing = new QGraphicsSvgItem(); + m_nextpointbearing = new CachedSvgItem(); - QGraphicsSvgItem *m_foreground = new QGraphicsSvgItem(); + QGraphicsSvgItem *m_foreground = new CachedSvgItem(); m_foreground->setParentItem(m_background); m_foreground->setSharedRenderer(m_renderer); m_foreground->setElementId("foreground"); @@ -429,7 +430,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) // into a QGraphicsSvgItem which we will display at the same // place: we do this so that the heading scale can be clipped to // the compass dial region. - m_compass = new QGraphicsSvgItem(); + m_compass = new CachedSvgItem(); m_compass->setSharedRenderer(m_renderer); m_compass->setElementId("compass"); m_compass->setFlags(QGraphicsItem::ItemClipsChildrenToShape| @@ -440,7 +441,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) m_compass->setTransform(matrix,false); // Now place the compass scale inside: - m_compassband = new QGraphicsSvgItem(); + m_compassband = new CachedSvgItem(); m_compassband->setSharedRenderer(m_renderer); m_compassband->setElementId("compass-band"); m_compassband->setParentItem(m_compass); @@ -462,7 +463,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) compassMatrix = m_renderer->matrixForElement("speed-bg"); startX = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-bg")).x(); startY = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-bg")).y(); - QGraphicsSvgItem *verticalbg = new QGraphicsSvgItem(); + QGraphicsSvgItem *verticalbg = new CachedSvgItem(); verticalbg->setSharedRenderer(m_renderer); verticalbg->setElementId("speed-bg"); verticalbg->setFlags(QGraphicsItem::ItemClipsChildrenToShape| @@ -477,7 +478,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) m_speedscale = new QGraphicsItemGroup(); m_speedscale->setParentItem(verticalbg); - QGraphicsSvgItem *speedscalelines = new QGraphicsSvgItem(); + QGraphicsSvgItem *speedscalelines = new CachedSvgItem(); speedscalelines->setSharedRenderer(m_renderer); speedscalelines->setElementId("speed-scale"); speedScaleHeight = m_renderer->matrixForElement("speed-scale").mapRect( @@ -523,7 +524,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) startX = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-window")).x(); startY = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-window")).y(); qreal speedWindowHeight = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-window")).height(); - QGraphicsSvgItem *speedwindow = new QGraphicsSvgItem(); + QGraphicsSvgItem *speedwindow = new CachedSvgItem(); speedwindow->setSharedRenderer(m_renderer); speedwindow->setElementId("speed-window"); speedwindow->setFlags(QGraphicsItem::ItemClipsChildrenToShape| @@ -548,7 +549,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) compassMatrix = m_renderer->matrixForElement("altitude-bg"); startX = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-bg")).x(); startY = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-bg")).y(); - verticalbg = new QGraphicsSvgItem(); + verticalbg = new CachedSvgItem(); verticalbg->setSharedRenderer(m_renderer); verticalbg->setElementId("altitude-bg"); verticalbg->setFlags(QGraphicsItem::ItemClipsChildrenToShape| @@ -563,7 +564,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) m_altitudescale = new QGraphicsItemGroup(); m_altitudescale->setParentItem(verticalbg); - QGraphicsSvgItem *altitudescalelines = new QGraphicsSvgItem(); + QGraphicsSvgItem *altitudescalelines = new CachedSvgItem(); altitudescalelines->setSharedRenderer(m_renderer); altitudescalelines->setElementId("altitude-scale"); altitudeScaleHeight = m_renderer->matrixForElement("altitude-scale").mapRect( @@ -604,7 +605,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) startX = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-window")).x(); startY = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-window")).y(); qreal altitudeWindowHeight = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-window")).height(); - QGraphicsSvgItem *altitudewindow = new QGraphicsSvgItem(); + QGraphicsSvgItem *altitudewindow = new CachedSvgItem(); altitudewindow->setSharedRenderer(m_renderer); altitudewindow->setElementId("altitude-window"); altitudewindow->setFlags(QGraphicsItem::ItemClipsChildrenToShape| @@ -633,7 +634,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) compassMatrix = m_renderer->matrixForElement("gcstelemetry-Disconnected"); startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).x(); startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).y(); - gcsTelemetryArrow = new QGraphicsSvgItem(); + gcsTelemetryArrow = new CachedSvgItem(); gcsTelemetryArrow->setSharedRenderer(m_renderer); gcsTelemetryArrow->setElementId("gcstelemetry-Disconnected"); l_scene->addItem(gcsTelemetryArrow); @@ -669,7 +670,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) compassMatrix = m_renderer->matrixForElement("gcstelemetry-Disconnected"); startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).x(); startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).y(); - gcsTelemetryArrow = new QGraphicsSvgItem(); + gcsTelemetryArrow = new CachedSvgItem(); gcsTelemetryArrow->setSharedRenderer(m_renderer); gcsTelemetryArrow->setElementId("gcstelemetry-Disconnected"); l_scene->addItem(gcsTelemetryArrow); @@ -702,7 +703,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) compassMatrix = m_renderer->matrixForElement("gcstelemetry-Disconnected"); startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).x(); startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).y(); - gcsTelemetryArrow = new QGraphicsSvgItem(); + gcsTelemetryArrow = new CachedSvgItem(); gcsTelemetryArrow->setSharedRenderer(m_renderer); gcsTelemetryArrow->setElementId("gcstelemetry-Disconnected"); l_scene->addItem(gcsTelemetryArrow); @@ -771,7 +772,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) { qDebug()<<"Error on PFD artwork file."; m_renderer->load(QString(":/pfd/images/pfd-default.svg")); l_scene->clear(); // This also deletes all items contained in the scene. - m_background = new QGraphicsSvgItem(); + m_background = new CachedSvgItem(); m_background->setSharedRenderer(m_renderer); l_scene->addItem(m_background); pfdError = true; From 69d5e7fe7e9d22ab62783c0065f549465101c247 Mon Sep 17 00:00:00 2001 From: Dmytro Poplavskiy Date: Sun, 21 Aug 2011 23:40:11 +1000 Subject: [PATCH 20/57] Added missing Q_DECL_EXPORT to CachedSvgItem --- ground/openpilotgcs/src/libs/utils/cachedsvgitem.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/ground/openpilotgcs/src/libs/utils/cachedsvgitem.h b/ground/openpilotgcs/src/libs/utils/cachedsvgitem.h index 19f9fd4eb..747ef391c 100644 --- a/ground/openpilotgcs/src/libs/utils/cachedsvgitem.h +++ b/ground/openpilotgcs/src/libs/utils/cachedsvgitem.h @@ -28,12 +28,14 @@ #include #include +#include "utils_global.h" + class QGLContext; //Cache Svg item as GL Texture. //Texture is regenerated each time item is scaled //but it's reused during rotation, unlike DeviceCoordinateCache mode -class CachedSvgItem: public QGraphicsSvgItem +class QTCREATOR_UTILS_EXPORT CachedSvgItem: public QGraphicsSvgItem { Q_OBJECT public: From 0ce337b42d44ff42602d67befdfd5a50b343f5ad Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Sun, 21 Aug 2011 18:15:10 +0200 Subject: [PATCH 21/57] UAVTalk: fix off by one error preventing the largest UAvObject (gpssatellites) from being sent. --- flight/UAVTalk/inc/uavtalk_priv.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flight/UAVTalk/inc/uavtalk_priv.h b/flight/UAVTalk/inc/uavtalk_priv.h index 1bcf01fd9..06f08b997 100644 --- a/flight/UAVTalk/inc/uavtalk_priv.h +++ b/flight/UAVTalk/inc/uavtalk_priv.h @@ -51,7 +51,7 @@ typedef struct { typedef uint8_t uavtalk_checksum; #define UAVTALK_CHECKSUM_LENGTH sizeof(uavtalk_checksum) -#define UAVTALK_MAX_PAYLOAD_LENGTH UAVOBJECTS_LARGEST +#define UAVTALK_MAX_PAYLOAD_LENGTH (UAVOBJECTS_LARGEST + 1) #define UAVTALK_MIN_PACKET_LENGTH UAVTALK_MAX_HEADER_LENGTH + UAVTALK_CHECKSUM_LENGTH #define UAVTALK_MAX_PACKET_LENGTH UAVTALK_MIN_PACKET_LENGTH + UAVTALK_MAX_PAYLOAD_LENGTH From 838149b53fcd19781723e94478549b52164a3e9e Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Sun, 21 Aug 2011 14:23:07 +0200 Subject: [PATCH 22/57] GPS: homelocation init is optional, satellites must be initialized --- flight/Modules/GPS/GPS.c | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/flight/Modules/GPS/GPS.c b/flight/Modules/GPS/GPS.c index 60ff80184..9bb873654 100644 --- a/flight/Modules/GPS/GPS.c +++ b/flight/Modules/GPS/GPS.c @@ -46,6 +46,7 @@ #include "gpsposition.h" #include "homelocation.h" #include "gpstime.h" +#include "gpssatellites.h" #include "WorldMagModel.h" #include "CoordinateConversions.h" @@ -126,7 +127,10 @@ int32_t GPSInitialize(void) { GPSPositionInitialize(); GPSTimeInitialize(); + GPSSatellitesInitialize(); +#ifdef PIOS_GPS_SETS_HOMELOCATION HomeLocationInitialize(); +#endif // TODO: Get gps settings object gpsPort = PIOS_COM_GPS; From 6e506161e0975915aaa536ff6ca4eb1410b27c9b Mon Sep 17 00:00:00 2001 From: Dmytro Poplavskiy Date: Mon, 22 Aug 2011 06:59:34 +1000 Subject: [PATCH 23/57] Compilation fix It's necessary to include GL/glext.h on windows for GL_CLAMP_TO_EDGE define. --- ground/openpilotgcs/src/libs/utils/cachedsvgitem.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/ground/openpilotgcs/src/libs/utils/cachedsvgitem.cpp b/ground/openpilotgcs/src/libs/utils/cachedsvgitem.cpp index 4fc80e6d2..93a38afb1 100644 --- a/ground/openpilotgcs/src/libs/utils/cachedsvgitem.cpp +++ b/ground/openpilotgcs/src/libs/utils/cachedsvgitem.cpp @@ -26,6 +26,8 @@ #include #include +#include + CachedSvgItem::CachedSvgItem(QGraphicsItem * parent) : QGraphicsSvgItem(parent), m_context(0), From ed51756191782579fd6811e986a74a61fe252ea2 Mon Sep 17 00:00:00 2001 From: Dmytro Poplavskiy Date: Mon, 22 Aug 2011 09:10:25 +1000 Subject: [PATCH 24/57] Compilation fix on mac It's safer to define GL_CLAMP_TO_EDGE if not available than to include GL/glext.h. --- ground/openpilotgcs/src/libs/utils/cachedsvgitem.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/ground/openpilotgcs/src/libs/utils/cachedsvgitem.cpp b/ground/openpilotgcs/src/libs/utils/cachedsvgitem.cpp index 93a38afb1..2edef8ddf 100644 --- a/ground/openpilotgcs/src/libs/utils/cachedsvgitem.cpp +++ b/ground/openpilotgcs/src/libs/utils/cachedsvgitem.cpp @@ -26,7 +26,9 @@ #include #include -#include +#ifndef GL_CLAMP_TO_EDGE +#define GL_CLAMP_TO_EDGE 0x812F +#endif CachedSvgItem::CachedSvgItem(QGraphicsItem * parent) : QGraphicsSvgItem(parent), From edc0caf5215f32bfc4ad69a56a391a7626f561a6 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sun, 21 Aug 2011 23:14:32 -0400 Subject: [PATCH 25/57] heap: set memory critical alarm on malloc failures Activate the FreeRTOS malloc failed hook and use it to set the memory critical alarm. --- .../CopterControl/System/inc/FreeRTOSConfig.h | 1 + flight/Modules/System/systemmod.c | 37 +++++++++++++++++-- 2 files changed, 34 insertions(+), 4 deletions(-) diff --git a/flight/CopterControl/System/inc/FreeRTOSConfig.h b/flight/CopterControl/System/inc/FreeRTOSConfig.h index 8da6a8667..994956008 100644 --- a/flight/CopterControl/System/inc/FreeRTOSConfig.h +++ b/flight/CopterControl/System/inc/FreeRTOSConfig.h @@ -26,6 +26,7 @@ #define configUSE_PREEMPTION 1 #define configUSE_IDLE_HOOK 1 #define configUSE_TICK_HOOK 0 +#define configUSE_MALLOC_FAILED_HOOK 1 #define configCPU_CLOCK_HZ ( ( unsigned long ) 72000000 ) #define configTICK_RATE_HZ ( ( portTickType ) 1000 ) #define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 5 ) diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c index b4f959f2c..168b46aa6 100644 --- a/flight/Modules/System/systemmod.c +++ b/flight/Modules/System/systemmod.c @@ -75,7 +75,8 @@ static uint32_t idleCounter; static uint32_t idleCounterClear; static xTaskHandle systemTaskHandle; -static int32_t stackOverflow; +static bool stackOverflow; +static bool mallocFailed; // Private functions static void objectUpdatedCb(UAVObjEvent * ev); @@ -93,7 +94,8 @@ static void updateWDGstats(); int32_t SystemModStart(void) { // Initialize vars - stackOverflow = 0; + stackOverflow = false; + mallocFailed = false; // Create system task xTaskCreate(systemTask, (signed char *)"System", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &systemTaskHandle); // Register task @@ -417,12 +419,19 @@ static void updateSystemAlarms() } // Check for stack overflow - if (stackOverflow == 1) { + if (stackOverflow) { AlarmsSet(SYSTEMALARMS_ALARM_STACKOVERFLOW, SYSTEMALARMS_ALARM_CRITICAL); } else { AlarmsClear(SYSTEMALARMS_ALARM_STACKOVERFLOW); } + // Check for malloc failures + if (mallocFailed) { + AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_CRITICAL); + } else { + AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY); + } + #if defined(PIOS_INCLUDE_SDCARD) // Check for SD card if (PIOS_SDCARD_IsMounted() == 0) { @@ -461,9 +470,29 @@ void vApplicationIdleHook(void) /** * Called by the RTOS when a stack overflow is detected. */ +#define DEBUG_STACK_OVERFLOW 0 void vApplicationStackOverflowHook(xTaskHandle * pxTask, signed portCHAR * pcTaskName) { - stackOverflow = 1; + stackOverflow = true; +#if DEBUG_STACK_OVERFLOW + static volatile bool wait_here = true; + while(wait_here); + wait_here = true; +#endif +} + +/** + * Called by the RTOS when a malloc call fails. + */ +#define DEBUG_MALLOC_FAILURES 0 +void vApplicationMallocFailedHook(void) +{ + mallocFailed = true; +#if DEBUG_MALLOC_FAILURES + static volatile bool wait_here = true; + while(wait_here); + wait_here = true; +#endif } /** From 0d92e00125ca62882e078db6d8143dad5fcee3f1 Mon Sep 17 00:00:00 2001 From: zedamota Date: Tue, 23 Aug 2011 11:25:28 +0100 Subject: [PATCH 26/57] Several bugfixes. Created "simple wizard" button witch bypasses the sticks identification screen. Small bugfix to fix GCS crashing if trying to upload a firmware bigger then the HW capacity. --- .../plugins/config/configccattitudewidget.cpp | 2 - .../src/plugins/config/configinputwidget.cpp | 82 ++++++++++++++----- .../src/plugins/config/configinputwidget.h | 12 ++- .../src/plugins/config/configtaskwidget.cpp | 18 ++-- .../src/plugins/config/configtaskwidget.h | 1 + .../src/plugins/config/smartsavebutton.cpp | 53 ++++++------ .../src/plugins/config/smartsavebutton.h | 8 +- .../src/plugins/uploader/devicewidget.cpp | 5 +- .../src/plugins/uploader/op_dfu.cpp | 2 +- 9 files changed, 119 insertions(+), 64 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp index c2242f1ef..c659180af 100644 --- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp @@ -45,8 +45,6 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) : setupButtons(ui->applyButton,ui->saveButton); addUAVObject("AttitudeSettings"); - UAVObject * settings = AttitudeSettings::GetInstance(getObjectManager()); - // Connect the help button connect(ui->ccAttitudeHelp, SIGNAL(clicked()), this, SLOT(openHelp())); addUAVObjectToWidgetRelation("AttitudeSettings","ZeroDuringArming",ui->zeroGyroBiasOnArming); diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp index 4544b4edd..6313c45b1 100644 --- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp @@ -71,7 +71,11 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent) } goWizard=new QPushButton(tr("Start Wizard"),this); m_config->advancedPage->layout()->addWidget(goWizard); - connect(goWizard,SIGNAL(clicked()),this,SLOT(goToWizard())); + connect(goWizard,SIGNAL(clicked()),this,SLOT(goToNormalWizard())); + goSimpleWizard=new QPushButton(tr("Start Simple Wizard"),this); + m_config->advancedPage->layout()->addWidget(goSimpleWizard); + connect(goSimpleWizard,SIGNAL(clicked()),this,SLOT(goToSimpleWizard())); + connect(m_config->wzNext,SIGNAL(clicked()),this,SLOT(wzNext())); connect(m_config->wzCancel,SIGNAL(clicked()),this,SLOT(wzCancel())); connect(m_config->wzBack,SIGNAL(clicked()),this,SLOT(wzBack())); @@ -92,9 +96,10 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent) addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Yaw,"Yaw"); addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl); - addUAVObjectToWidgetRelation("ManualControlSettings","armTimeout",m_config->armTimeout,0,1000); - addUAVObject("ManualControlCommand"); + addUAVObjectToWidgetRelation("ManualControlSettings","ArmedTimeout",m_config->armTimeout,0,1000); + connect( ManualControlCommand::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(moveFMSlider())); addWidget(goWizard); + addWidget(goSimpleWizard); enableControls(false); populateWidgets(); @@ -252,7 +257,16 @@ void ConfigInputWidget::openHelp() QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Input+Configuration", QUrl::StrictMode) ); } - +void ConfigInputWidget::goToSimpleWizard() +{ + isSimple=true; + goToWizard(); +} +void ConfigInputWidget::goToNormalWizard() +{ + isSimple=false; + goToWizard(); +} void ConfigInputWidget::goToWizard() { QMessageBox msgBox; @@ -357,7 +371,7 @@ void ConfigInputWidget::setupWizardWidget(int step) m_config->checkBoxesLayout->layout()->addWidget(mode2); wizardStep=wizardChooseMode; } - else if(step==wizardIdentifySticks) + else if(step==wizardIdentifySticks && !isSimple) { usedChannels.clear(); if(wizardStep==wizardChooseMode) @@ -380,8 +394,19 @@ void ConfigInputWidget::setupWizardWidget(int step) connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls())); m_config->wzNext->setEnabled(false); } - else if(step==wizardIdentifyCenter) + else if(step==wizardIdentifyCenter || (isSimple && step==wizardIdentifySticks)) { + if(wizardStep==wizardChooseMode) + { + QRadioButton * mode=qobject_cast(extraWidgets.at(0)); + if(mode->isChecked()) + transmitterMode=mode1; + else + transmitterMode=mode2; + delete extraWidgets.at(0); + delete extraWidgets.at(1); + extraWidgets.clear(); + } setTxMovement(centerAll); if(wizardStep==wizardIdentifySticks) disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls())); @@ -409,10 +434,17 @@ void ConfigInputWidget::setupWizardWidget(int step) } manualSettingsObj->setData(manualSettingsData); } - foreach (QWidget * wd, extraWidgets) + if(wizardStep==wizardIdentifyInverted) { - if(wd) - delete wd; + foreach(QWidget * wd,extraWidgets) + { + QCheckBox * cb=qobject_cast(wd); + if(cb) + { + disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls())); + delete cb; + } + } } extraWidgets.clear(); disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks())); @@ -423,7 +455,7 @@ void ConfigInputWidget::setupWizardWidget(int step) mdata.flightTelemetryUpdatePeriod = 150; manualCommandObj->setMetadata(mdata); manualSettingsData=manualSettingsObj->getData(); - for(int i=0;i(wd); if(cb) + { + disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls())); delete cb; + } } wizardStep=wizardFinish; extraWidgets.clear(); @@ -537,7 +572,7 @@ void ConfigInputWidget::identifyControls() void ConfigInputWidget::identifyLimits() { manualCommandData=manualCommandObj->getData(); - for(int i=0;imanualCommandData.Channel[i]) manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i]; @@ -878,7 +913,10 @@ void ConfigInputWidget::dimOtherControls(bool value) void ConfigInputWidget::enableControls(bool enable) { if(goWizard) + { goWizard->setEnabled(enable); + goSimpleWizard->setEnabled(enable); + } ConfigTaskWidget::enableControls(enable); } @@ -891,9 +929,10 @@ void ConfigInputWidget::invertControls() QCheckBox * cb=qobject_cast(wd); if(cb) { - if(cb->isChecked()) + int index=manualSettingsObj->getFields().at(0)->getElementNames().indexOf(cb->text()); + if((cb->isChecked() && (manualSettingsData.ChannelMax[index]>manualSettingsData.ChannelMin[index])) || + (!cb->isChecked() && (manualSettingsData.ChannelMax[index]getFields().at(0)->getElementNames().indexOf(cb->text()); qint16 aux; aux=manualSettingsData.ChannelMax[index]; manualSettingsData.ChannelMax[index]=manualSettingsData.ChannelMin[index]; @@ -903,20 +942,19 @@ void ConfigInputWidget::invertControls() } manualSettingsObj->setData(manualSettingsData); } -void ConfigInputWidget::refreshWidgetsValues() +void ConfigInputWidget::moveFMSlider() { - ConfigTaskWidget::refreshWidgetsValues(); - manualSettingsData = manualSettingsObj->getData(); - manualCommandData=manualCommandObj->getData(); - uint chIndex = manualSettingsData.ChannelNumber[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE]; + ManualControlSettings::DataFields manualSettingsDataPriv = manualSettingsObj->getData(); + ManualControlCommand::DataFields manualCommandDataPriv=manualCommandObj->getData(); + uint chIndex = manualSettingsDataPriv.ChannelNumber[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE]; if (chIndex < 8) { float valueScaled; - int chMin = manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]; - int chMax = manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]; - int chNeutral = manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]; + int chMin = manualSettingsDataPriv.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]; + int chMax = manualSettingsDataPriv.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]; + int chNeutral = manualSettingsDataPriv.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]; - int value = manualCommandData.Channel[chIndex]; + int value = manualCommandDataPriv.Channel[chIndex]; if ((chMax > chMin && value >= chNeutral) || (chMin > chMax && value <= chNeutral)) { if (chMax != chNeutral) diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.h b/ground/openpilotgcs/src/plugins/config/configinputwidget.h index 7c90fef76..2249528cb 100644 --- a/ground/openpilotgcs/src/plugins/config/configinputwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.h @@ -82,7 +82,7 @@ private: QEventLoop * loop; bool skipflag; - int currentCommand; + uint currentCommand; ManualControlCommand * manualCommandObj; ManualControlCommand::DataFields manualCommandData; @@ -117,23 +117,27 @@ private: void resetTxControls(); void setMoveFromCommand(int command); QPushButton * goWizard; + QPushButton * goSimpleWizard; + bool isSimple; + void goToWizard(); private slots: void wzNext(); void wzBack(); void wzCancel(); - void goToWizard(); + void goToNormalWizard(); + void goToSimpleWizard(); void openHelp(); void identifyControls(); void identifyLimits(); void moveTxControls(); void moveSticks(); void dimOtherControls(bool value); + void moveFMSlider(); void invertControls(); protected: void resizeEvent(QResizeEvent *event); virtual void enableControls(bool enable); -protected slots: - virtual void refreshWidgetsValues(); + }; diff --git a/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp b/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp index 03b84804c..eeb6c08aa 100644 --- a/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp @@ -28,7 +28,7 @@ #include -ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),smartsave(NULL),dirty(false) +ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnected(false),smartsave(NULL),dirty(false) { pm = ExtensionSystem::PluginManager::instance(); objManager = pm->getObject(); @@ -72,7 +72,7 @@ void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString fiel ow->scale=scale; objOfInterest.append(ow); if(obj) - smartsave->addObject(obj); + smartsave->addObject((UAVDataObject*)obj); if(widget==NULL) { // do nothing @@ -148,13 +148,16 @@ double ConfigTaskWidget::listMean(QList list) void ConfigTaskWidget::onAutopilotDisconnect() { - enableControls(false); + isConnected=false; + enableControls(false); } void ConfigTaskWidget::onAutopilotConnect() { - enableControls(true); - refreshWidgetsValues(); + dirty=false; + isConnected=true; + enableControls(true); + refreshWidgetsValues(); } void ConfigTaskWidget::populateWidgets() @@ -262,7 +265,10 @@ void ConfigTaskWidget::setDirty(bool value) } bool ConfigTaskWidget::isDirty() { - return dirty; + if(isConnected) + return dirty; + else + return false; } void ConfigTaskWidget::refreshValues() diff --git a/ground/openpilotgcs/src/plugins/config/configtaskwidget.h b/ground/openpilotgcs/src/plugins/config/configtaskwidget.h index 1db0dde9c..b2a72cbc6 100644 --- a/ground/openpilotgcs/src/plugins/config/configtaskwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configtaskwidget.h @@ -79,6 +79,7 @@ private slots: virtual void refreshValues(); virtual void updateObjectsFromWidgets(); private: + bool isConnected; QStringList objectsList; QList objOfInterest; ExtensionSystem::PluginManager *pm; diff --git a/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp b/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp index 7335570eb..c74f22691 100644 --- a/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp +++ b/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp @@ -24,8 +24,11 @@ void smartSaveButton::processClick() bool error=false; ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectUtilManager* utilMngr = pm->getObject(); - foreach(UAVObject * obj,objects) + foreach(UAVDataObject * obj,objects) { + UAVObject::Metadata mdata= obj->getMetadata(); + if(mdata.gcsAccess==UAVObject::ACCESS_READONLY) + continue; up_result=false; current_object=obj; for(int i=0;i<3;++i) @@ -35,9 +38,9 @@ void smartSaveButton::processClick() connect(&timer,SIGNAL(timeout()),&loop,SLOT(quit())); obj->updated(); timer.start(1000); - qDebug()<<"begin loop"; + //qDebug()<<"begin loop"; loop.exec(); - qDebug()<<"end loop"; + //qDebug()<<"end loop"; timer.stop(); disconnect(obj,SIGNAL(transactionCompleted(UAVObject*,bool)),this,SLOT(transaction_finished(UAVObject*, bool))); disconnect(&timer,SIGNAL(timeout()),&loop,SLOT(quit())); @@ -46,30 +49,32 @@ void smartSaveButton::processClick() } if(up_result==false) { + //qDebug()<<"Object upload error:"<getName(); error=true; continue; } sv_result=false; current_objectID=obj->getObjID(); - if(save) + if(save && (obj->isSettings())) { - for(int i=0;i<3;++i) - { - connect(utilMngr,SIGNAL(saveCompleted(int,bool)),this,SLOT(saving_finished(int,bool))); - connect(&timer,SIGNAL(timeout()),&loop,SLOT(quit())); - utilMngr->saveObjectToSD(obj); - timer.start(1000); - loop.exec(); - timer.stop(); - disconnect(utilMngr,SIGNAL(saveCompleted(int,bool)),this,SLOT(saving_finished(int,bool))); - disconnect(&timer,SIGNAL(timeout()),&loop,SLOT(quit())); - if(sv_result) - break; - } - if(sv_result==false) - { - error=true; - } + for(int i=0;i<3;++i) + { + //qDebug()<<"try to save:"<getName(); + connect(utilMngr,SIGNAL(saveCompleted(int,bool)),this,SLOT(saving_finished(int,bool))); + connect(&timer,SIGNAL(timeout()),&loop,SLOT(quit())); + utilMngr->saveObjectToSD(obj); + timer.start(1000); + loop.exec(); + timer.stop(); + disconnect(utilMngr,SIGNAL(saveCompleted(int,bool)),this,SLOT(saving_finished(int,bool))); + disconnect(&timer,SIGNAL(timeout()),&loop,SLOT(quit())); + if(sv_result) + break; + } + if(sv_result==false) + { + error=true; + } } } button->setEnabled(true); @@ -85,12 +90,12 @@ void smartSaveButton::processClick() emit endOp(); } -void smartSaveButton::setObjects(QList list) +void smartSaveButton::setObjects(QList list) { objects=list; } -void smartSaveButton::addObject(UAVObject * obj) +void smartSaveButton::addObject(UAVDataObject * obj) { if(!objects.contains(obj)) objects.append(obj); @@ -114,7 +119,7 @@ void smartSaveButton::saving_finished(int id, bool result) if(id==current_objectID) { sv_result=result; - qDebug()<<"saving_finished result="<lblCRCL->setText( QString::number(DFUObject::CRCFromQBArray(loadedFW,m_dfu->devices[deviceID].SizeOfCode))); //myDevice->lblFirmwareSizeL->setText(QString("Firmware size: ")+QVariant(loadedFW.length()).toString()+ QString(" bytes")); if (populateLoadedStructuredDescription(desc)) { diff --git a/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp b/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp index 8a9045233..b1e215f91 100644 --- a/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp @@ -956,7 +956,7 @@ quint32 DFUObject::CRC32WideFast(quint32 Crc, quint32 Size, quint32 *Buffer) */ quint32 DFUObject::CRCFromQBArray(QByteArray array, quint32 Size) { - int pad=Size-array.length(); + quint32 pad=Size-array.length(); array.append(QByteArray(pad,255)); quint32 t[Size/4]; for(int x=0;x Date: Thu, 25 Aug 2011 12:20:19 +0200 Subject: [PATCH 27/57] OP-567 Modules/GPS: Block in PIOS_COM, not in TaskDelay - or we will miss updates! --- flight/Modules/GPS/GPS.c | 12 +++--------- 1 file changed, 3 insertions(+), 9 deletions(-) diff --git a/flight/Modules/GPS/GPS.c b/flight/Modules/GPS/GPS.c index 9bb873654..d2ab2b3c5 100644 --- a/flight/Modules/GPS/GPS.c +++ b/flight/Modules/GPS/GPS.c @@ -199,14 +199,12 @@ static void gpsTask(void *parameters) // Loop forever while (1) { + uint8_t c; #ifdef ENABLE_GPS_BINARY_GTOP // GTOP BINARY GPS mode - while (PIOS_COM_ReceiveBufferUsed(gpsPort) > 0) + while (PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, xDelay) > 0) { - uint8_t c; - PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, 0); - if (GTOP_BIN_update_position(c, &numChecksumErrors, &numParsingErrors) >= 0) { numUpdates++; @@ -221,10 +219,8 @@ static void gpsTask(void *parameters) // NMEA or SINGLE-SENTENCE GPS mode // This blocks the task until there is something on the buffer - while (PIOS_COM_ReceiveBufferUsed(gpsPort) > 0) + while (PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, xDelay) > 0) { - uint8_t c; - PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, 0); // detect start while acquiring stream if (!start_flag && (c == '$')) @@ -362,8 +358,6 @@ static void gpsTask(void *parameters) AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL); } - // Block task until next update - vTaskDelay(xDelay); } } From dfdea1606576e7261ca4d8aca0a0b7d6d3d96281 Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Thu, 25 Aug 2011 14:46:30 +0200 Subject: [PATCH 28/57] Modules/GPS: Make GPS COM unidirectional (rx only) and use smaller, runtime allocated heap buffers --- flight/Modules/GPS/GPS.c | 252 +++++++------------- flight/Modules/GPS/GTOP_BIN.c | 262 --------------------- flight/Modules/GPS/NMEA.c | 171 +++----------- flight/Modules/GPS/inc/GPS.h | 2 - flight/Modules/GPS/inc/GTOP_BIN.h | 42 ---- flight/Modules/GPS/inc/NMEA.h | 7 +- flight/Modules/GPS/inc/gps_mode.h | 58 ----- flight/OpenPilot/System/pios_board.c | 5 +- flight/OpenPilot/System/pios_board_posix.c | 6 +- 9 files changed, 123 insertions(+), 682 deletions(-) delete mode 100644 flight/Modules/GPS/GTOP_BIN.c delete mode 100644 flight/Modules/GPS/inc/GTOP_BIN.h delete mode 100644 flight/Modules/GPS/inc/gps_mode.h diff --git a/flight/Modules/GPS/GPS.c b/flight/Modules/GPS/GPS.c index d2ab2b3c5..44b039eb1 100644 --- a/flight/Modules/GPS/GPS.c +++ b/flight/Modules/GPS/GPS.c @@ -35,13 +35,7 @@ #include -#ifdef ENABLE_GPS_BINARY_GTOP - #include "GTOP_BIN.h" -#endif - -#if defined(ENABLE_GPS_ONESENTENCE_GTOP) || defined(ENABLE_GPS_NMEA) - #include "NMEA.h" -#endif +#include "NMEA.h" #include "gpsposition.h" #include "homelocation.h" @@ -63,25 +57,16 @@ static float GravityAccel(float latitude, float longitude, float altitude); // **************** // Private constants -//#define FULL_COLD_RESTART // uncomment this to tell the GPS to do a FULL COLD restart -//#define DISABLE_GPS_THRESHOLD // - #define GPS_TIMEOUT_MS 500 -#define GPS_COMMAND_RESEND_TIMEOUT_MS 2000 +#define NMEA_MAX_PACKET_LENGTH 96 // 82 max NMEA msg size plus 12 margin (because some vendors add custom crap) plus CR plus Linefeed +// same as in COM buffer + #ifdef PIOS_GPS_SETS_HOMELOCATION // Unfortunately need a good size stack for the WMM calculation - #ifdef ENABLE_GPS_BINARY_GTOP - #define STACK_SIZE_BYTES 800 - #else - #define STACK_SIZE_BYTES 800 - #endif + #define STACK_SIZE_BYTES 800 #else - #ifdef ENABLE_GPS_BINARY_GTOP - #define STACK_SIZE_BYTES 440 - #else - #define STACK_SIZE_BYTES 440 - #endif + #define STACK_SIZE_BYTES 650 #endif #define TASK_PRIORITY (tskIDLE_PRIORITY + 1) @@ -93,9 +78,7 @@ static uint32_t gpsPort; static xTaskHandle gpsTaskHandle; -#ifndef ENABLE_GPS_BINARY_GTOP - static char gps_rx_buffer[128]; -#endif +static char* gps_rx_buffer; static uint32_t timeOfLastCommandMs; static uint32_t timeOfLastUpdateMs; @@ -135,6 +118,8 @@ int32_t GPSInitialize(void) // TODO: Get gps settings object gpsPort = PIOS_COM_GPS; + gps_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH); + return 0; } MODULE_INITCALL(GPSInitialize, GPSStart) @@ -150,45 +135,11 @@ static void gpsTask(void *parameters) uint32_t timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;; GPSPositionData GpsData; -#ifdef ENABLE_GPS_BINARY_GTOP - GTOP_BIN_init(); -#else uint8_t rx_count = 0; bool start_flag = false; bool found_cr = false; int32_t gpsRxOverflow = 0; -#endif -#ifdef FULL_COLD_RESTART - // tell the GPS to do a FULL COLD restart - PIOS_COM_SendStringNonBlocking(gpsPort, "$PMTK104*37\r\n"); - timeOfLastCommandMs = timeNowMs; - while (timeNowMs - timeOfLastCommandMs < 300) // delay for 300ms to let the GPS sort itself out - { - vTaskDelay(xDelay); // Block task until next update - timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;; - } -#endif - -#ifdef DISABLE_GPS_THRESHOLD - PIOS_COM_SendStringNonBlocking(gpsPort, "$PMTK397,0*23\r\n"); -#endif - -#ifdef ENABLE_GPS_BINARY_GTOP - // switch to GTOP binary mode - PIOS_COM_SendStringNonBlocking(gpsPort ,"$PGCMD,21,1*6F\r\n"); -#endif - -#ifdef ENABLE_GPS_ONESENTENCE_GTOP - // switch to single sentence mode - PIOS_COM_SendStringNonBlocking(gpsPort, "$PGCMD,21,2*6C\r\n"); -#endif - -#ifdef ENABLE_GPS_NMEA - // switch to NMEA mode - PIOS_COM_SendStringNonBlocking(gpsPort, "$PGCMD,21,3*6D\r\n"); -#endif - numUpdates = 0; numChecksumErrors = 0; numParsingErrors = 0; @@ -200,103 +151,86 @@ static void gpsTask(void *parameters) while (1) { uint8_t c; - #ifdef ENABLE_GPS_BINARY_GTOP - // GTOP BINARY GPS mode + // NMEA or SINGLE-SENTENCE GPS mode - while (PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, xDelay) > 0) + // This blocks the task until there is something on the buffer + while (PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, xDelay) > 0) + { + + // detect start while acquiring stream + if (!start_flag && (c == '$')) { - if (GTOP_BIN_update_position(c, &numChecksumErrors, &numParsingErrors) >= 0) - { - numUpdates++; + start_flag = true; + found_cr = false; + rx_count = 0; + } + else + if (!start_flag) + continue; + + if (rx_count >= NMEA_MAX_PACKET_LENGTH) + { + // The buffer is already full and we haven't found a valid NMEA sentence. + // Flush the buffer and note the overflow event. + gpsRxOverflow++; + start_flag = false; + found_cr = false; + rx_count = 0; + } + else + { + gps_rx_buffer[rx_count] = c; + rx_count++; + } + + // look for ending '\r\n' sequence + if (!found_cr && (c == '\r') ) + found_cr = true; + else + if (found_cr && (c != '\n') ) + found_cr = false; // false end flag + else + if (found_cr && (c == '\n') ) + { + // The NMEA functions require a zero-terminated string + // As we detected \r\n, the string as for sure 2 bytes long, we will also strip the \r\n + gps_rx_buffer[rx_count-2] = 0; + + // prepare to parse next sentence + start_flag = false; + found_cr = false; + rx_count = 0; + // Our rxBuffer must look like this now: + // [0] = '$' + // ... = zero or more bytes of sentence payload + // [end_pos - 1] = '\r' + // [end_pos] = '\n' + // + // Prepare to consume the sentence from the buffer + + // Validate the checksum over the sentence + if (!NMEA_checksum(&gps_rx_buffer[1])) + { // Invalid checksum. May indicate dropped characters on Rx. + //PIOS_DEBUG_PinHigh(2); + ++numChecksumErrors; + //PIOS_DEBUG_PinLow(2); + } + else + { // Valid checksum, use this packet to update the GPS position + if (!NMEA_update_position(&gps_rx_buffer[1])) { + //PIOS_DEBUG_PinHigh(2); + ++numParsingErrors; + //PIOS_DEBUG_PinLow(2); + } + else + ++numUpdates; timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS; timeOfLastUpdateMs = timeNowMs; timeOfLastCommandMs = timeNowMs; } } - - #else - // NMEA or SINGLE-SENTENCE GPS mode - - // This blocks the task until there is something on the buffer - while (PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, xDelay) > 0) - { - - // detect start while acquiring stream - if (!start_flag && (c == '$')) - { - start_flag = true; - found_cr = false; - rx_count = 0; - } - else - if (!start_flag) - continue; - - if (rx_count >= sizeof(gps_rx_buffer)) - { - // The buffer is already full and we haven't found a valid NMEA sentence. - // Flush the buffer and note the overflow event. - gpsRxOverflow++; - start_flag = false; - found_cr = false; - rx_count = 0; - } - else - { - gps_rx_buffer[rx_count] = c; - rx_count++; - } - - // look for ending '\r\n' sequence - if (!found_cr && (c == '\r') ) - found_cr = true; - else - if (found_cr && (c != '\n') ) - found_cr = false; // false end flag - else - if (found_cr && (c == '\n') ) - { - // The NMEA functions require a zero-terminated string - // As we detected \r\n, the string as for sure 2 bytes long, we will also strip the \r\n - gps_rx_buffer[rx_count-2] = 0; - - // prepare to parse next sentence - start_flag = false; - found_cr = false; - rx_count = 0; - // Our rxBuffer must look like this now: - // [0] = '$' - // ... = zero or more bytes of sentence payload - // [end_pos - 1] = '\r' - // [end_pos] = '\n' - // - // Prepare to consume the sentence from the buffer - - // Validate the checksum over the sentence - if (!NMEA_checksum(&gps_rx_buffer[1])) - { // Invalid checksum. May indicate dropped characters on Rx. - //PIOS_DEBUG_PinHigh(2); - ++numChecksumErrors; - //PIOS_DEBUG_PinLow(2); - } - else - { // Valid checksum, use this packet to update the GPS position - if (!NMEA_update_position(&gps_rx_buffer[1])) { - //PIOS_DEBUG_PinHigh(2); - ++numParsingErrors; - //PIOS_DEBUG_PinLow(2); - } - else - ++numUpdates; - - timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS; - timeOfLastUpdateMs = timeNowMs; - timeOfLastCommandMs = timeNowMs; - } - } - } - #endif + } // Check for GPS timeout timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS; @@ -309,30 +243,6 @@ static void gpsTask(void *parameters) GPSPositionSet(&GpsData); AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_ERROR); - if ((timeNowMs - timeOfLastCommandMs) >= GPS_COMMAND_RESEND_TIMEOUT_MS) - { // resend the command .. just incase the gps has only just been plugged in or the gps did not get our last command - timeOfLastCommandMs = timeNowMs; - - #ifdef ENABLE_GPS_BINARY_GTOP - GTOP_BIN_init(); - // switch to binary mode - PIOS_COM_SendStringNonBlocking(gpsPort,"$PGCMD,21,1*6F\r\n"); - #endif - - #ifdef ENABLE_GPS_ONESENTENCE_GTOP - // switch to single sentence mode - PIOS_COM_SendStringNonBlocking(gpsPort,"$PGCMD,21,2*6C\r\n"); - #endif - - #ifdef ENABLE_GPS_NMEA - // switch to NMEA mode - PIOS_COM_SendStringNonBlocking(gpsPort,"$PGCMD,21,3*6D\r\n"); - #endif - - #ifdef DISABLE_GPS_TRESHOLD - PIOS_COM_SendStringNonBlocking(gpsPort,"$PMTK397,0*23\r\n"); - #endif - } } else { // we appear to be receiving GPS sentences OK, we've had an update diff --git a/flight/Modules/GPS/GTOP_BIN.c b/flight/Modules/GPS/GTOP_BIN.c deleted file mode 100644 index 7bd2964d9..000000000 --- a/flight/Modules/GPS/GTOP_BIN.c +++ /dev/null @@ -1,262 +0,0 @@ -/** - ****************************************************************************** - * @addtogroup OpenPilotModules OpenPilot Modules - * @{ - * @addtogroup GSPModule GPS Module - * @brief Process GPS information - * @{ - * - * @file GTOP_BIN.c - * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * @brief GPS module, handles GPS and NMEA stream - * @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 "openpilot.h" -#include "pios.h" -#include "GTOP_BIN.h" -#include "gpsposition.h" -#include "gpstime.h" -#include "gpssatellites.h" - -#include // memmove - -#ifdef ENABLE_GPS_BINARY_GTOP - -// ************ -// the structure of the binary packet - -typedef struct -{ - uint32_t utc_time; - - int32_t latitude; - uint8_t ns_indicator; - - int32_t longitude; - uint8_t ew_indicator; - - uint8_t fix_quality; - - uint8_t satellites_used; - - uint16_t hdop; - - int32_t msl_altitude; - - int32_t geoidal_seperation; - - uint8_t fix_type; - - int32_t course_over_ground; - - int32_t speed_over_ground; - - uint8_t day; - uint8_t month; - uint16_t year; -} __attribute__((__packed__)) t_gps_bin_packet_data; - -typedef struct -{ - uint16_t header; - t_gps_bin_packet_data data; - uint8_t asterisk; - uint8_t checksum; - uint16_t end_word; -} __attribute__((__packed__)) t_gps_bin_packet; - -// ************ - -// buffer that holds the incoming binary packet -static uint8_t gps_rx_buffer[sizeof(t_gps_bin_packet)] __attribute__ ((aligned(4))); - -// number of bytes currently in the rx buffer -static int16_t gps_rx_buffer_wr = 0; - -// ************ -// endian swapping functions - -static uint16_t swap2Bytes(uint16_t data) -{ - return (((data >> 8) & 0x00ff) | - ((data << 8) & 0xff00)); -} - -static uint32_t swap4Bytes(uint32_t data) -{ - return (((data >> 24) & 0x000000ff) | - ((data >> 8) & 0x0000ff00) | - ((data << 8) & 0x00ff0000) | - ((data << 24) & 0xff000000)); -} - -// ************ -/** - * Parses a complete binary packet and update the GPSPosition and GPSTime UAVObjects - * - * param[in] .. b = a new received byte from the GPS - * - * return '0' if we have found a valid binary packet - * return <0 if any errors were encountered with the packet or no packet found - */ - -int GTOP_BIN_update_position(uint8_t b, volatile uint32_t *chksum_errors, volatile uint32_t *parsing_errors) -{ - if (gps_rx_buffer_wr >= sizeof(gps_rx_buffer)) - { // make room for the new byte .. this will actually never get executed, just here as a safe guard really - memmove(gps_rx_buffer, gps_rx_buffer + 1, sizeof(gps_rx_buffer) - 1); - gps_rx_buffer_wr = sizeof(gps_rx_buffer) - 1; - } - - // add the new byte into the buffer - gps_rx_buffer[gps_rx_buffer_wr++] = b; - - int16_t i = 0; - - while (gps_rx_buffer_wr > 0) - { - t_gps_bin_packet *rx_packet = (t_gps_bin_packet *)(gps_rx_buffer + i); - - // scan for the start of a binary packet (the header bytes) - while (gps_rx_buffer_wr - i >= sizeof(rx_packet->header)) - { - if (rx_packet->header == 0x2404) - break; // found a valid header marker - rx_packet = (t_gps_bin_packet *)(gps_rx_buffer + ++i); - } - - // remove unwanted bytes before the start of the packet header - if (i > 0) - { - gps_rx_buffer_wr -= i; - if (gps_rx_buffer_wr > 0) - memmove(gps_rx_buffer, gps_rx_buffer + i, gps_rx_buffer_wr); - i = 0; - } - - if (gps_rx_buffer_wr < sizeof(t_gps_bin_packet)) - break; // not yet enough bytes for a complete binary packet - - // we have enough bytes for a complete binary packet - - // check to see if certain parameters in the binary packet are valid - if (rx_packet->header != 0x2404 || - rx_packet->end_word != 0x0A0D || - rx_packet->asterisk != 0x2A || - (rx_packet->data.ns_indicator != 1 && rx_packet->data.ns_indicator != 2) || - (rx_packet->data.ew_indicator != 1 && rx_packet->data.ew_indicator != 2) || - (rx_packet->data.fix_quality > 2) || - (rx_packet->data.fix_type < 1 || rx_packet->data.fix_type > 3) ) - { // invalid packet - if (parsing_errors) *parsing_errors++; - i++; - continue; - } - - { // check the checksum is valid - uint8_t *p = (uint8_t *)&rx_packet->data; - uint8_t checksum = 0; - for (int i = 0; i < sizeof(t_gps_bin_packet_data); i++) - checksum ^= *p++; - - if (checksum != rx_packet->checksum) - { // checksum error - if (chksum_errors) *chksum_errors++; - i++; - continue; - } - } - - // we now have a valid complete binary packet, update the GpsData and GpsTime objects - - // correct the endian order of the parameters - rx_packet->data.utc_time = swap4Bytes(rx_packet->data.utc_time); - rx_packet->data.latitude = swap4Bytes(rx_packet->data.latitude); - rx_packet->data.longitude = swap4Bytes(rx_packet->data.longitude); - rx_packet->data.hdop = swap2Bytes(rx_packet->data.hdop); - rx_packet->data.msl_altitude = swap4Bytes(rx_packet->data.msl_altitude); - rx_packet->data.geoidal_seperation = swap4Bytes(rx_packet->data.geoidal_seperation); - rx_packet->data.course_over_ground = swap4Bytes(rx_packet->data.course_over_ground); - rx_packet->data.speed_over_ground = swap4Bytes(rx_packet->data.speed_over_ground); - rx_packet->data.year = swap2Bytes(rx_packet->data.year); - - // set the gps time object - GPSTimeData GpsTime; -// GPSTimeGet(&GpsTime); - uint32_t utc_time = rx_packet->data.utc_time / 1000; - GpsTime.Second = utc_time % 100; // seconds - GpsTime.Minute = (utc_time / 100) % 100; // minutes - GpsTime.Hour = utc_time / 10000; // hours - GpsTime.Day = rx_packet->data.day; // day - GpsTime.Month = rx_packet->data.month; // month - GpsTime.Year = rx_packet->data.year; // year - GPSTimeSet(&GpsTime); - - // set the gps position object - GPSPositionData GpsData; -// GPSPositionGet(&GpsData); - switch (rx_packet->data.fix_type) - { - case 1: GpsData.Status = GPSPOSITION_STATUS_NOFIX; break; - case 2: GpsData.Status = GPSPOSITION_STATUS_FIX2D; break; - case 3: GpsData.Status = GPSPOSITION_STATUS_FIX3D; break; - default: GpsData.Status = GPSPOSITION_STATUS_NOGPS; break; - } - GpsData.Latitude = rx_packet->data.latitude * (rx_packet->data.ns_indicator == 1 ? +1 : -1) * 10; // degrees * 10e6 - GpsData.Longitude = rx_packet->data.longitude * (rx_packet->data.ew_indicator == 1 ? +1 : -1) * 10; // degrees * 10e6 - GpsData.Altitude = (float)rx_packet->data.msl_altitude / 1000; // meters - GpsData.GeoidSeparation = (float)rx_packet->data.geoidal_seperation / 1000; // meters - GpsData.Heading = (float)rx_packet->data.course_over_ground / 1000; // degrees - GpsData.Groundspeed = (float)rx_packet->data.speed_over_ground / 3600; // m/s - GpsData.Satellites = rx_packet->data.satellites_used; // - GpsData.PDOP = 99.99; // not available in binary mode - GpsData.HDOP = (float)rx_packet->data.hdop / 100; // - GpsData.VDOP = 99.99; // not available in binary mode - GPSPositionSet(&GpsData); - - // set the number of satellites -// GPSSatellitesData SattelliteData; -//// GPSSatellitesGet(&SattelliteData); -// memset(&SattelliteData, 0, sizeof(SattelliteData)); -// SattelliteData.SatsInView = rx_packet->data.satellites_used; // -// GPSSatellitesSet(&SattelliteData); - - // remove the spent binary packet from the buffer - gps_rx_buffer_wr -= sizeof(t_gps_bin_packet); - if (gps_rx_buffer_wr > 0) - memmove(gps_rx_buffer, gps_rx_buffer + sizeof(t_gps_bin_packet), gps_rx_buffer_wr); - - return 0; // found a valid packet - } - - return -1; // no valid packet found -} - -// ************ - -void GTOP_BIN_init(void) -{ - gps_rx_buffer_wr = 0; -} - -// ************ - -#endif // ENABLE_GPS_BINARY_GTOP - diff --git a/flight/Modules/GPS/NMEA.c b/flight/Modules/GPS/NMEA.c index 3dfd98d40..adadc588a 100644 --- a/flight/Modules/GPS/NMEA.c +++ b/flight/Modules/GPS/NMEA.c @@ -40,8 +40,6 @@ -#if defined(ENABLE_GPS_NMEA) || defined(ENABLE_GPS_ONESENTENCE_GTOP) - // Debugging #ifdef ENABLE_DEBUG_MSG //#define DEBUG_MSG_IN ///< define to display the incoming NMEA messages @@ -54,7 +52,6 @@ //#define NMEA_DEBUG_GSA ///< define to enable debug of GSA messages //#define NMEA_DEBUG_GSV ///< define to enable debug of GSV messages //#define NMEA_DEBUG_ZDA ///< define to enable debug of ZDA messages -//#define NMEA_DEBUG_PGTOP ///< define to enable debug of PGTOP messages #define DEBUG_MSG(format, ...) PIOS_COM_SendFormattedString(DEBUG_PORT, format, ## __VA_ARGS__) #else #define DEBUG_MSG(format, ...) @@ -69,56 +66,45 @@ struct nmea_parser { uint32_t cnt; }; - #ifdef ENABLE_GPS_NMEA - static bool nmeaProcessGPGGA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); - static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); - static bool nmeaProcessGPVTG(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); - static bool nmeaProcessGPGSA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); - static bool nmeaProcessGPZDA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); - static bool nmeaProcessGPGSV(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); - #endif +static bool nmeaProcessGPGGA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); +static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); +static bool nmeaProcessGPVTG(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); +static bool nmeaProcessGPGSA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); +static bool nmeaProcessGPZDA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); +static bool nmeaProcessGPGSV(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); - static bool nmeaProcessPGTOP(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); - static struct nmea_parser nmea_parsers[] = { - - #ifdef ENABLE_GPS_NMEA - { - .prefix = "GPGGA", - .handler = nmeaProcessGPGGA, - .cnt = 0, - }, - { - .prefix = "GPVTG", - .handler = nmeaProcessGPVTG, - .cnt = 0, - }, - { - .prefix = "GPGSA", - .handler = nmeaProcessGPGSA, - .cnt = 0, - }, - { - .prefix = "GPRMC", - .handler = nmeaProcessGPRMC, - .cnt = 0, - }, - { - .prefix = "GPZDA", - .handler = nmeaProcessGPZDA, - .cnt = 0, - }, - { - .prefix = "GPGSV", - .handler = nmeaProcessGPGSV, - .cnt = 0, - }, - #endif - { - .prefix = "PGTOP", - .handler = nmeaProcessPGTOP, - .cnt = 0, - }, +static struct nmea_parser nmea_parsers[] = { + { + .prefix = "GPGGA", + .handler = nmeaProcessGPGGA, + .cnt = 0, + }, + { + .prefix = "GPVTG", + .handler = nmeaProcessGPVTG, + .cnt = 0, + }, + { + .prefix = "GPGSA", + .handler = nmeaProcessGPGSA, + .cnt = 0, + }, + { + .prefix = "GPRMC", + .handler = nmeaProcessGPRMC, + .cnt = 0, + }, + { + .prefix = "GPZDA", + .handler = nmeaProcessGPZDA, + .cnt = 0, + }, + { + .prefix = "GPGSV", + .handler = nmeaProcessGPGSV, + .cnt = 0, + }, }; static struct nmea_parser *NMEA_find_parser_by_prefix(const char *prefix) @@ -229,7 +215,6 @@ static float NMEA_real_to_float(char *nmea_real) return (((float)whole) + fract * pow(10, -fract_units)); } -#ifdef ENABLE_GPS_NMEA /* * Parse a field in the format: * DD[D]MM.mmmm[mm] @@ -287,7 +272,6 @@ static bool NMEA_latlon_to_fixed_point(int32_t * latlon, char *nmea_latlon, bool return true; } -#endif // ENABLE_GPS_NMEA /** @@ -376,7 +360,6 @@ bool NMEA_update_position(char *nmea_sentence) return true; } -#ifdef ENABLE_GPS_NMEA /** * Parse an NMEA GPGGA sentence and update the given UAVObject @@ -675,83 +658,3 @@ static bool nmeaProcessGPGSA(GPSPositionData * GpsData, bool* gpsDataUpdated, ch return true; } -#endif // ENABLE_GPS_NMEA - -/** - * Parse an NMEA PGTOP sentence and update the given UAVObject - * \param[in] A pointer to a GPSPosition UAVObject to be updated. - * \param[in] An NMEA sentence with a valid checksum - */ -static bool nmeaProcessPGTOP(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam) -{ - if (nbParam != 17) - return false; - - GPSTimeData gpst; - GPSTimeGet(&gpst); - - *gpsDataUpdated = true; - - // get UTC time [hhmmss.sss] - float hms = NMEA_real_to_float(param[1]); - gpst.Second = (int)hms % 100; - gpst.Minute = (((int)hms - gpst.Second) / 100) % 100; - gpst.Hour = (int)hms / 10000; - - // get latitude decimal degrees - GpsData->Latitude = NMEA_real_to_float(param[2])*1e7; - if (param[3][0] == 'S') - GpsData->Latitude = -GpsData->Latitude; - - - // get longitude decimal degrees - GpsData->Longitude = NMEA_real_to_float(param[4])*1e7; - if (param[5][0] == 'W') - GpsData->Longitude = -GpsData->Longitude; - - // get number of satellites used in GPS solution - GpsData->Satellites = atoi(param[7]); - - // next field: HDOP - GpsData->HDOP = NMEA_real_to_float(param[8]); - - // get altitude (in meters mm.m) - GpsData->Altitude = NMEA_real_to_float(param[9]); - - // next field: geoid separation - GpsData->GeoidSeparation = NMEA_real_to_float(param[10]); - - // Mode: 1=Fix not available, 2=2D, 3=3D - switch (atoi(param[11])) { - case 1: - GpsData->Status = GPSPOSITION_STATUS_NOFIX; - break; - case 2: - GpsData->Status = GPSPOSITION_STATUS_FIX2D; - break; - case 3: - GpsData->Status = GPSPOSITION_STATUS_FIX3D; - break; - default: - /* Unhandled */ - return false; - break; - } - - // get course over ground in degrees [ddd.dd] - GpsData->Heading = NMEA_real_to_float(param[12]); - - // get speed in km/h - GpsData->Groundspeed = NMEA_real_to_float(param[13]); - // to m/s - GpsData->Groundspeed /= 3.6; - - gpst.Day = atoi(param[14]); - gpst.Month = atoi(param[15]); - gpst.Year = atoi(param[16]); - GPSTimeSet(&gpst); - - return true; -} - -#endif // #if defined(ENABLE_GPS_NMEA) || defined(ENABLE_GPS_ONESENTENCE_GTOP) diff --git a/flight/Modules/GPS/inc/GPS.h b/flight/Modules/GPS/inc/GPS.h index 1ae683c9a..86a92d285 100644 --- a/flight/Modules/GPS/inc/GPS.h +++ b/flight/Modules/GPS/inc/GPS.h @@ -34,8 +34,6 @@ #ifndef GPS_H #define GPS_H -#include "gps_mode.h" - int32_t GPSInitialize(void); #endif // GPS_H diff --git a/flight/Modules/GPS/inc/GTOP_BIN.h b/flight/Modules/GPS/inc/GTOP_BIN.h deleted file mode 100644 index 6a5234430..000000000 --- a/flight/Modules/GPS/inc/GTOP_BIN.h +++ /dev/null @@ -1,42 +0,0 @@ -/** - ****************************************************************************** - * @addtogroup OpenPilotModules OpenPilot Modules - * @{ - * @addtogroup GSPModule GPS Module - * @brief Process GPS information - * @{ - * - * @file GTOP_BIN.h - * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * @brief GPS module, handles GPS and NMEA stream - * @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 GTOP_BIN_H -#define GTOP_BIN_H - -#include -#include "gps_mode.h" - -#ifdef ENABLE_GPS_BINARY_GTOP - extern int GTOP_BIN_update_position(uint8_t b, volatile uint32_t *chksum_errors, volatile uint32_t *parsing_errors); - extern void GTOP_BIN_init(void); -#endif - -#endif diff --git a/flight/Modules/GPS/inc/NMEA.h b/flight/Modules/GPS/inc/NMEA.h index 5c1b13f8b..6ff6b1195 100644 --- a/flight/Modules/GPS/inc/NMEA.h +++ b/flight/Modules/GPS/inc/NMEA.h @@ -33,11 +33,8 @@ #include #include -#include "gps_mode.h" -#if defined(ENABLE_GPS_NMEA) || defined(ENABLE_GPS_ONESENTENCE_GTOP) - extern bool NMEA_update_position(char *nmea_sentence); - extern bool NMEA_checksum(char *nmea_sentence); -#endif +extern bool NMEA_update_position(char *nmea_sentence); +extern bool NMEA_checksum(char *nmea_sentence); #endif /* NMEA_H */ diff --git a/flight/Modules/GPS/inc/gps_mode.h b/flight/Modules/GPS/inc/gps_mode.h deleted file mode 100644 index 43e5b0398..000000000 --- a/flight/Modules/GPS/inc/gps_mode.h +++ /dev/null @@ -1,58 +0,0 @@ -/** - ****************************************************************************** - * @addtogroup OpenPilotModules OpenPilot Modules - * @{ - * @addtogroup GSPModule GPS Module - * @brief Process GPS information - * @{ - * - * @file gps_mode.h - * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * @brief Include file of the GPS module. - * As with all modules only the initialize function is exposed all other - * interactions with the module take place through the event queue and - * objects. - * @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 GPS_MODE_H -#define GPS_MODE_H - -// **************** -// you MUST have one of these uncommented - and ONLY one - -//#define ENABLE_GPS_BINARY_GTOP // uncomment this if we are using GTOP BINARY mode -//#define ENABLE_GPS_ONESENTENCE_GTOP // uncomment this if we are using GTOP SINGLE SENTENCE mode -#define ENABLE_GPS_NMEA // uncomment this if we are using NMEA mode - -// **************** -// make sure they have defined a protocol to use - -#if !defined(ENABLE_GPS_BINARY_GTOP) && !defined(ENABLE_GPS_ONESENTENCE_GTOP) && !defined(ENABLE_GPS_NMEA) - #error YOU MUST SELECT THE DESIRED GPS PROTOCOL IN gps_mode.h! -#endif - -// **************** - -#endif - -/** - * @} - * @} - */ diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c index 12d365b67..150bfb938 100644 --- a/flight/OpenPilot/System/pios_board.c +++ b/flight/OpenPilot/System/pios_board.c @@ -525,7 +525,6 @@ static const struct pios_spektrum_cfg pios_spektrum_cfg = { #define PIOS_COM_TELEM_RF_TX_BUF_LEN 192 #define PIOS_COM_GPS_RX_BUF_LEN 96 -#define PIOS_COM_GPS_TX_BUF_LEN 96 #define PIOS_COM_TELEM_USB_RX_BUF_LEN 192 #define PIOS_COM_TELEM_USB_TX_BUF_LEN 192 @@ -1075,12 +1074,10 @@ void PIOS_Board_Init(void) { PIOS_Assert(0); } uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN); - uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_TX_BUF_LEN); PIOS_Assert(rx_buffer); - PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id, rx_buffer, PIOS_COM_GPS_RX_BUF_LEN, - tx_buffer, PIOS_COM_GPS_TX_BUF_LEN)) { + NULL, 0)) { PIOS_Assert(0); } } diff --git a/flight/OpenPilot/System/pios_board_posix.c b/flight/OpenPilot/System/pios_board_posix.c index e1e8dcc54..37fadd760 100644 --- a/flight/OpenPilot/System/pios_board_posix.c +++ b/flight/OpenPilot/System/pios_board_posix.c @@ -71,7 +71,7 @@ const struct pios_udp_cfg pios_udp_aux_cfg = { #define PIOS_COM_TELEM_RF_RX_BUF_LEN 192 #define PIOS_COM_TELEM_RF_TX_BUF_LEN 192 -#define PIOS_COM_GPS_RX_BUF_LEN 192 +#define PIOS_COM_GPS_RX_BUF_LEN 96 /* * Board specific number of devices. @@ -164,12 +164,10 @@ void PIOS_Board_Init(void) { PIOS_Assert(0); } uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN); - uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN); PIOS_Assert(rx_buffer); - PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_gps_id, &pios_udp_com_driver, pios_udp_gps_id, rx_buffer, PIOS_COM_GPS_RX_BUF_LEN, - tx_buffer, PIOS_COM_GPS_RX_BUF_LEN)) { + NULL, 0)) { PIOS_Assert(0); } } From 7e396efbbf90a133d50791427c04bd996e7d7cb2 Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Thu, 25 Aug 2011 15:11:29 +0200 Subject: [PATCH 29/57] Modules/GPS: Assert buffer creation --- flight/Modules/GPS/GPS.c | 1 + 1 file changed, 1 insertion(+) diff --git a/flight/Modules/GPS/GPS.c b/flight/Modules/GPS/GPS.c index 44b039eb1..3d9cd1b20 100644 --- a/flight/Modules/GPS/GPS.c +++ b/flight/Modules/GPS/GPS.c @@ -119,6 +119,7 @@ int32_t GPSInitialize(void) gpsPort = PIOS_COM_GPS; gps_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH); + PIOS_ASSERT(gps_rx_buffer); return 0; } From 54ecf233f31fc8cb812e0a7b9fde8ef6f344cf39 Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Thu, 25 Aug 2011 15:13:50 +0200 Subject: [PATCH 30/57] Modules/PS: typo fix --- flight/Modules/GPS/GPS.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flight/Modules/GPS/GPS.c b/flight/Modules/GPS/GPS.c index 3d9cd1b20..2e6b0901b 100644 --- a/flight/Modules/GPS/GPS.c +++ b/flight/Modules/GPS/GPS.c @@ -119,7 +119,7 @@ int32_t GPSInitialize(void) gpsPort = PIOS_COM_GPS; gps_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH); - PIOS_ASSERT(gps_rx_buffer); + PIOS_Assert(gps_rx_buffer); return 0; } From 55f64802d1b13c381c08d9c4b4849ea45187a63a Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sat, 27 Aug 2011 00:12:16 -0500 Subject: [PATCH 31/57] Also enable malloc error catching on OpenPilot --- flight/OpenPilot/System/inc/FreeRTOSConfig.h | 1 + 1 file changed, 1 insertion(+) diff --git a/flight/OpenPilot/System/inc/FreeRTOSConfig.h b/flight/OpenPilot/System/inc/FreeRTOSConfig.h index 48b7c1560..4b37f7e44 100644 --- a/flight/OpenPilot/System/inc/FreeRTOSConfig.h +++ b/flight/OpenPilot/System/inc/FreeRTOSConfig.h @@ -26,6 +26,7 @@ #define configUSE_PREEMPTION 1 #define configUSE_IDLE_HOOK 1 #define configUSE_TICK_HOOK 0 +#define configUSE_MALLOC_FAILED_HOOK 1 #define configCPU_CLOCK_HZ ( ( unsigned long ) 72000000 ) #define configTICK_RATE_HZ ( ( portTickType ) 1000 ) #define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 5 ) From c5746335c62b4d2da97ec61d9115a0223f01e835 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sat, 27 Aug 2011 15:57:09 -0500 Subject: [PATCH 32/57] Initialize GCSReceiver object if it is being used --- flight/CopterControl/System/pios_board.c | 2 ++ 1 file changed, 2 insertions(+) diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index 0fd7a6011..7108a94ff 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -32,6 +32,7 @@ #include #include #include +#include #if defined(PIOS_INCLUDE_SPI) @@ -1134,6 +1135,7 @@ void PIOS_Board_Init(void) { } #if defined(PIOS_INCLUDE_GCSRCVR) + GCSReceiverInitialize(); PIOS_GCSRCVR_Init(); uint32_t pios_gcsrcvr_rcvr_id; if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, 0)) { From 6514fd95c7b9ad2e7f5fa31d24810dda5675bcad Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sat, 27 Aug 2011 16:08:57 -0500 Subject: [PATCH 33/57] Also initialize the ReceiverActivity object in manual control --- flight/Modules/ManualControl/manualcontrol.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c index 3cc215de9..c528a599b 100644 --- a/flight/Modules/ManualControl/manualcontrol.c +++ b/flight/Modules/ManualControl/manualcontrol.c @@ -129,7 +129,7 @@ int32_t ManualControlInitialize() ManualControlCommandInitialize(); FlightStatusInitialize(); StabilizationDesiredInitialize(); - + ReceiverActivityInitialize(); ManualControlSettingsInitialize(); return 0; From a72c657e2109eebc8f5dc233d85750a068096dac Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Wed, 24 Aug 2011 08:49:34 -0400 Subject: [PATCH 34/57] rcvr activity: Speed up activity acquisition Activity detection logic can now move through the active receivers more quickly. --- flight/Modules/ManualControl/manualcontrol.c | 160 ++++++++++-------- .../src/plugins/config/configinputwidget.cpp | 2 +- 2 files changed, 92 insertions(+), 70 deletions(-) diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c index c528a599b..9165f06f8 100644 --- a/flight/Modules/ManualControl/manualcontrol.c +++ b/flight/Modules/ManualControl/manualcontrol.c @@ -89,7 +89,7 @@ static bool okToArm(void); static bool validInputRange(int16_t min, int16_t max, uint16_t value); #define RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP 12 -#define RCVR_ACTIVITY_MONITOR_MIN_RANGE 5 +#define RCVR_ACTIVITY_MONITOR_MIN_RANGE 10 struct rcvr_activity_fsm { ManualControlSettingsChannelGroupsOptions group; uint16_t prev[RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP]; @@ -347,6 +347,66 @@ static void resetRcvrActivity(struct rcvr_activity_fsm * fsm) fsm->sample_count = 0; } +static void updateRcvrActivitySample(uint32_t rcvr_id, uint16_t samples[], uint8_t max_channels) { + for (uint8_t channel = 0; channel < max_channels; channel++) { + samples[channel] = PIOS_RCVR_Read(rcvr_id, channel); + } +} + +static bool updateRcvrActivityCompare(uint32_t rcvr_id, struct rcvr_activity_fsm * fsm) +{ + bool activity_updated = false; + + /* Compare the current value to the previous sampled value */ + for (uint8_t channel = 0; + channel < RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP; + channel++) { + uint16_t delta; + uint16_t prev = fsm->prev[channel]; + uint16_t curr = PIOS_RCVR_Read(rcvr_id, channel); + if (curr > prev) { + delta = curr - prev; + } else { + delta = prev - curr; + } + + if (delta > RCVR_ACTIVITY_MONITOR_MIN_RANGE) { + /* Mark this channel as active */ + ReceiverActivityActiveGroupOptions group; + + /* Don't assume manualcontrolsettings and receiveractivity are in the same order. */ + switch (fsm->group) { + case MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM: + group = RECEIVERACTIVITY_ACTIVEGROUP_PWM; + break; + case MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM: + group = RECEIVERACTIVITY_ACTIVEGROUP_PPM; + break; + case MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1: + group = RECEIVERACTIVITY_ACTIVEGROUP_SPEKTRUM1; + break; + case MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM2: + group = RECEIVERACTIVITY_ACTIVEGROUP_SPEKTRUM2; + break; + case MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS: + group = RECEIVERACTIVITY_ACTIVEGROUP_SBUS; + break; + case MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS: + group = RECEIVERACTIVITY_ACTIVEGROUP_GCS; + break; + default: + PIOS_Assert(0); + break; + } + + ReceiverActivityActiveGroupSet(&group); + ReceiverActivityActiveChannelSet(&channel); + activity_updated = true; + } + } + return (activity_updated); +} + static bool updateRcvrActivity(struct rcvr_activity_fsm * fsm) { bool activity_updated = false; @@ -362,82 +422,44 @@ static bool updateRcvrActivity(struct rcvr_activity_fsm * fsm) goto group_completed; } - /* Sample the channel */ - for (uint8_t channel = 0; - channel < RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP; - channel++) { - if (fsm->sample_count == 0) { - fsm->prev[channel] = PIOS_RCVR_Read(pios_rcvr_group_map[fsm->group], channel); - } else { - uint16_t delta; - uint16_t prev = fsm->prev[channel]; - uint16_t curr = PIOS_RCVR_Read(pios_rcvr_group_map[fsm->group], channel); - if (curr > prev) { - delta = curr - prev; - } else { - delta = prev - curr; - } - - if (delta > RCVR_ACTIVITY_MONITOR_MIN_RANGE) { - /* Mark this channel as active */ - ReceiverActivityActiveGroupOptions group; - - /* Don't assume manualcontrolsettings and receiveractivity are in the same order. */ - switch (fsm->group) { - case MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM: - group = RECEIVERACTIVITY_ACTIVEGROUP_PWM; - break; - case MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM: - group = RECEIVERACTIVITY_ACTIVEGROUP_PPM; - break; - case MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1: - group = RECEIVERACTIVITY_ACTIVEGROUP_SPEKTRUM1; - break; - case MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM2: - group = RECEIVERACTIVITY_ACTIVEGROUP_SPEKTRUM2; - break; - case MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS: - group = RECEIVERACTIVITY_ACTIVEGROUP_SBUS; - break; - case MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS: - group = RECEIVERACTIVITY_ACTIVEGROUP_GCS; - break; - default: - PIOS_Assert(0); - break; - } - - ReceiverActivityActiveGroupSet(&group); - ReceiverActivityActiveChannelSet(&channel); - activity_updated = true; - } - } + if (fsm->sample_count == 0) { + /* Take a sample of each channel in this group */ + updateRcvrActivitySample(pios_rcvr_group_map[fsm->group], + fsm->prev, + NELEMENTS(fsm->prev)); + fsm->sample_count++; + return (false); } - if (++fsm->sample_count < 2) { - return (activity_updated); - } + /* Compare with previous sample */ + activity_updated = updateRcvrActivityCompare(pios_rcvr_group_map[fsm->group], fsm); +group_completed: /* Reset the sample counter */ fsm->sample_count = 0; - /* - * Group Completed - */ - -group_completed: - /* Start over at channel zero */ - if (++fsm->group < MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { - return (activity_updated); + /* Find the next active group, but limit search so we can't loop forever here */ + for (uint8_t i = 0; i < MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE; i++) { + /* Move to the next group */ + fsm->group++; + if (fsm->group >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + /* Wrap back to the first group */ + fsm->group = 0; + } + if (pios_rcvr_group_map[fsm->group]) { + /* + * Found an active group, take a sample here to avoid an + * extra 20ms delay in the main thread so we can speed up + * this algorithm. + */ + updateRcvrActivitySample(pios_rcvr_group_map[fsm->group], + fsm->prev, + NELEMENTS(fsm->prev)); + fsm->sample_count++; + break; + } } - /* - * All groups completed - */ - - /* Start over at group zero */ - fsm->group = 0; - return (activity_updated); } diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp index 6313c45b1..1590f52f0 100644 --- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp @@ -542,7 +542,7 @@ void ConfigInputWidget::identifyControls() ++debounce; lastChannel.group= currentChannel.group; lastChannel.number=currentChannel.number; - if(!usedChannels.contains(lastChannel) && debounce>5) + if(!usedChannels.contains(lastChannel) && debounce>1) { debounce=0; usedChannels.append(lastChannel); From b3c43da90acba6be89da00787b1d77a34a2babaa Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Fri, 12 Aug 2011 21:19:48 -0400 Subject: [PATCH 35/57] stdperiph: Make TIM related APIs use const pointers This allows the configuration parameters to be stored in flash instead of copied to RAM. --- .../STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h | 12 ++++++------ .../STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c | 12 ++++++------ 2 files changed, 12 insertions(+), 12 deletions(-) diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h index 6529c0b0a..388d276e4 100644 --- a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h +++ b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h @@ -1025,12 +1025,12 @@ typedef struct */ void TIM_DeInit(TIM_TypeDef* TIMx); -void TIM_TimeBaseInit(TIM_TypeDef* TIMx, TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct); -void TIM_OC1Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct); -void TIM_OC2Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct); -void TIM_OC3Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct); -void TIM_OC4Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct); -void TIM_ICInit(TIM_TypeDef* TIMx, TIM_ICInitTypeDef* TIM_ICInitStruct); +void TIM_TimeBaseInit(TIM_TypeDef* TIMx, const TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct); +void TIM_OC1Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct); +void TIM_OC2Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct); +void TIM_OC3Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct); +void TIM_OC4Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct); +void TIM_ICInit(TIM_TypeDef* TIMx, const TIM_ICInitTypeDef* TIM_ICInitStruct); void TIM_PWMIConfig(TIM_TypeDef* TIMx, TIM_ICInitTypeDef* TIM_ICInitStruct); void TIM_BDTRConfig(TIM_TypeDef* TIMx, TIM_BDTRInitTypeDef *TIM_BDTRInitStruct); void TIM_TimeBaseStructInit(TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct); diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c index 780105589..2f31c9a1a 100755 --- a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c +++ b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c @@ -221,7 +221,7 @@ void TIM_DeInit(TIM_TypeDef* TIMx) * structure that contains the configuration information for the specified TIM peripheral. * @retval None */ -void TIM_TimeBaseInit(TIM_TypeDef* TIMx, TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct) +void TIM_TimeBaseInit(TIM_TypeDef* TIMx, const TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct) { uint16_t tmpcr1 = 0; @@ -274,7 +274,7 @@ void TIM_TimeBaseInit(TIM_TypeDef* TIMx, TIM_TimeBaseInitTypeDef* TIM_TimeBaseIn * that contains the configuration information for the specified TIM peripheral. * @retval None */ -void TIM_OC1Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct) +void TIM_OC1Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct) { uint16_t tmpccmrx = 0, tmpccer = 0, tmpcr2 = 0; @@ -357,7 +357,7 @@ void TIM_OC1Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct) * that contains the configuration information for the specified TIM peripheral. * @retval None */ -void TIM_OC2Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct) +void TIM_OC2Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct) { uint16_t tmpccmrx = 0, tmpccer = 0, tmpcr2 = 0; @@ -439,7 +439,7 @@ void TIM_OC2Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct) * that contains the configuration information for the specified TIM peripheral. * @retval None */ -void TIM_OC3Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct) +void TIM_OC3Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct) { uint16_t tmpccmrx = 0, tmpccer = 0, tmpcr2 = 0; @@ -518,7 +518,7 @@ void TIM_OC3Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct) * that contains the configuration information for the specified TIM peripheral. * @retval None */ -void TIM_OC4Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct) +void TIM_OC4Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct) { uint16_t tmpccmrx = 0, tmpccer = 0, tmpcr2 = 0; @@ -582,7 +582,7 @@ void TIM_OC4Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct) * that contains the configuration information for the specified TIM peripheral. * @retval None */ -void TIM_ICInit(TIM_TypeDef* TIMx, TIM_ICInitTypeDef* TIM_ICInitStruct) +void TIM_ICInit(TIM_TypeDef* TIMx, const TIM_ICInitTypeDef* TIM_ICInitStruct) { /* Check the parameters */ assert_param(IS_TIM_CHANNEL(TIM_ICInitStruct->TIM_Channel)); From 2f86e4dd4f0654668989e71a6b4b8b3440a300da Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Fri, 12 Aug 2011 23:23:16 -0400 Subject: [PATCH 36/57] Make PWM/PPM and Servo drivers play nicely together PWM and PPM can now coexist in the same load and be selected at boot time via the hwsettings UAVObject. This is basically a complete restructuring of the way the drivers interact with the TIM peripheral in the STM32. As a side effect, the PWM and PPM drivers are now ready to support multiple instances of each. This also provides the first step toward being able to reassign some of the PWM input pins to be servo output pins. Still more work required, but this is a good start. --- flight/CopterControl/Makefile | 1 + flight/CopterControl/System/inc/pios_config.h | 2 +- flight/CopterControl/System/pios_board.c | 438 ++++++++++------- flight/Libraries/ahrs_comm_objects.c | 1 + flight/OpenPilot/Makefile | 1 + flight/OpenPilot/System/inc/pios_config.h | 2 +- flight/OpenPilot/System/pios_board.c | 454 +++++++++++------- flight/PiOS/Boards/STM32103CB_CC_Rev1.h | 7 + flight/PiOS/Boards/STM3210E_OP.h | 7 + .../link_STM32103CB_CC_Rev1_sections.ld | 2 +- flight/PiOS/STM32F10x/pios_debug.c | 105 ++-- flight/PiOS/STM32F10x/pios_ppm.c | 415 +++++++++------- flight/PiOS/STM32F10x/pios_pwm.c | 321 +++++++------ flight/PiOS/STM32F10x/pios_servo.c | 154 +++--- flight/PiOS/STM32F10x/pios_tim.c | 391 +++++++++++++++ flight/PiOS/inc/pios_debug.h | 4 +- flight/PiOS/inc/pios_ppm_priv.h | 16 +- flight/PiOS/inc/pios_pwm_priv.h | 21 +- flight/PiOS/inc/pios_servo.h | 1 - flight/PiOS/inc/pios_servo_priv.h | 13 +- flight/PiOS/inc/pios_tim.h | 4 + flight/PiOS/inc/pios_tim_priv.h | 28 ++ 22 files changed, 1511 insertions(+), 877 deletions(-) create mode 100644 flight/PiOS/STM32F10x/pios_tim.c create mode 100644 flight/PiOS/inc/pios_tim.h create mode 100644 flight/PiOS/inc/pios_tim_priv.h diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index 9485d03d9..6bfb6e5a6 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -194,6 +194,7 @@ SRC += $(PIOSSTM32F10X)/pios_gpio.c SRC += $(PIOSSTM32F10X)/pios_exti.c SRC += $(PIOSSTM32F10X)/pios_rtc.c SRC += $(PIOSSTM32F10X)/pios_wdg.c +SRC += $(PIOSSTM32F10X)/pios_tim.c # PIOS USB related files (seperated to make code maintenance more easy) diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h index e8fff8bbc..bab05551d 100644 --- a/flight/CopterControl/System/inc/pios_config.h +++ b/flight/CopterControl/System/inc/pios_config.h @@ -48,7 +48,7 @@ /* Supported receiver interfaces */ #define PIOS_INCLUDE_SPEKTRUM #define PIOS_INCLUDE_SBUS -//#define PIOS_INCLUDE_PPM +#define PIOS_INCLUDE_PPM #define PIOS_INCLUDE_PWM #define PIOS_INCLUDE_GCSRCVR diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index 7108a94ff..d9023ffb9 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -196,6 +196,220 @@ void PIOS_ADC_handler() { PIOS_ADC_DMA_Handler(); } +#include "pios_tim_priv.h" + +static const TIM_TimeBaseInitTypeDef tim_1_2_3_4_time_base = { + .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, + .TIM_ClockDivision = TIM_CKD_DIV1, + .TIM_CounterMode = TIM_CounterMode_Up, + .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1), + .TIM_RepetitionCounter = 0x0000, +}; + +static const struct pios_tim_clock_cfg tim_1_cfg = { + .timer = TIM1, + .time_base_init = &tim_1_2_3_4_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM1_CC_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_2_cfg = { + .timer = TIM2, + .time_base_init = &tim_1_2_3_4_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM2_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_3_cfg = { + .timer = TIM3, + .time_base_init = &tim_1_2_3_4_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM3_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_4_cfg = { + .timer = TIM4, + .time_base_init = &tim_1_2_3_4_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM4_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = { + { + .timer = TIM4, + .timer_chan = TIM_Channel_1, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_6, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + }, + { + .timer = TIM3, + .timer_chan = TIM_Channel_2, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_5, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + .remap = GPIO_PartialRemap_TIM3, + }, + { + .timer = TIM3, + .timer_chan = TIM_Channel_3, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_0, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + }, + { + .timer = TIM3, + .timer_chan = TIM_Channel_4, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_1, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + }, + { + .timer = TIM2, + .timer_chan = TIM_Channel_1, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_0, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + }, + { + .timer = TIM2, + .timer_chan = TIM_Channel_2, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_1, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + }, +}; + +static const struct pios_tim_channel pios_tim_servoport_all_pins[] = { + { + .timer = TIM4, + .timer_chan = TIM_Channel_4, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + }, + { + .timer = TIM4, + .timer_chan = TIM_Channel_3, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_8, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + }, + { + .timer = TIM4, + .timer_chan = TIM_Channel_2, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_7, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + }, + { + .timer = TIM1, + .timer_chan = TIM_Channel_1, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_8, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + }, + { + .timer = TIM3, + .timer_chan = TIM_Channel_1, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_4, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + .remap = GPIO_PartialRemap_TIM3, + }, + { + .timer = TIM2, + .timer_chan = TIM_Channel_3, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_2, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + }, +}; + #if defined(PIOS_INCLUDE_USART) #include "pios_usart_priv.h" @@ -565,121 +779,40 @@ void PIOS_RTC_IRQ_Handler (void) * Servo outputs */ #include -static const struct pios_servo_channel pios_servo_channels[] = { - { - .timer = TIM4, - .port = GPIOB, - .channel = TIM_Channel_4, - .pin = GPIO_Pin_9, - }, - { - .timer = TIM4, - .port = GPIOB, - .channel = TIM_Channel_3, - .pin = GPIO_Pin_8, - }, - { - .timer = TIM4, - .port = GPIOB, - .channel = TIM_Channel_2, - .pin = GPIO_Pin_7, - }, - { - .timer = TIM1, - .port = GPIOA, - .channel = TIM_Channel_1, - .pin = GPIO_Pin_8, - }, - { /* needs to remap to alternative function */ - .timer = TIM3, - .port = GPIOB, - .channel = TIM_Channel_1, - .pin = GPIO_Pin_4, - }, - { - .timer = TIM2, - .port = GPIOA, - .channel = TIM_Channel_3, - .pin = GPIO_Pin_2, - }, -}; const struct pios_servo_cfg pios_servo_cfg = { - .tim_base_init = { - .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, - .TIM_ClockDivision = TIM_CKD_DIV1, - .TIM_CounterMode = TIM_CounterMode_Up, - .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1), - .TIM_RepetitionCounter = 0x0000, - }, .tim_oc_init = { .TIM_OCMode = TIM_OCMode_PWM1, .TIM_OutputState = TIM_OutputState_Enable, .TIM_OutputNState = TIM_OutputNState_Disable, - .TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION, + .TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION, .TIM_OCPolarity = TIM_OCPolarity_High, .TIM_OCNPolarity = TIM_OCPolarity_High, .TIM_OCIdleState = TIM_OCIdleState_Reset, .TIM_OCNIdleState = TIM_OCNIdleState_Reset, }, - .gpio_init = { - .GPIO_Mode = GPIO_Mode_AF_PP, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - .remap = GPIO_PartialRemap_TIM3, - .channels = pios_servo_channels, - .num_channels = NELEMENTS(pios_servo_channels), + .channels = pios_tim_servoport_all_pins, + .num_channels = NELEMENTS(pios_tim_servoport_all_pins), }; -#if defined(PIOS_INCLUDE_PWM) && defined(PIOS_INCLUDE_PPM) -#error Cannot define both PIOS_INCLUDE_PWM and PIOS_INCLUDE_PPM at the same time (yet) -#endif - /* * PPM Inputs */ #if defined(PIOS_INCLUDE_PPM) #include -void TIM4_IRQHandler(); -void TIM4_IRQHandler() __attribute__ ((alias ("PIOS_TIM4_irq_handler"))); const struct pios_ppm_cfg pios_ppm_cfg = { - .tim_base_init = { - .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */ - .TIM_ClockDivision = TIM_CKD_DIV1, - .TIM_CounterMode = TIM_CounterMode_Up, - .TIM_Period = 0xFFFF, /* shared timer, make sure init correctly in outputs */ - .TIM_RepetitionCounter = 0x0000, - }, .tim_ic_init = { - .TIM_Channel = TIM_Channel_1, .TIM_ICPolarity = TIM_ICPolarity_Rising, .TIM_ICSelection = TIM_ICSelection_DirectTI, .TIM_ICPrescaler = TIM_ICPSC_DIV1, .TIM_ICFilter = 0x0, }, - .gpio_init = { - .GPIO_Pin = GPIO_Pin_6, - .GPIO_Mode = GPIO_Mode_IPD, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - .remap = 0, - .irq = { - .init = { - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, - .timer = TIM4, - .port = GPIOB, - .ccr = TIM_IT_CC1, + /* Use only the first channel for ppm */ + .channels = &pios_tim_rcvrport_all_channels[0], + .num_channels = 1, }; -void PIOS_TIM4_irq_handler() -{ - PIOS_PPM_irq_handler(); -} #endif /* PIOS_INCLUDE_PPM */ /* @@ -688,98 +821,16 @@ void PIOS_TIM4_irq_handler() #if defined(PIOS_INCLUDE_PWM) #include -static const struct pios_pwm_channel pios_pwm_channels[] = { - { - .timer = TIM4, - .port = GPIOB, - .ccr = TIM_IT_CC1, - .channel = TIM_Channel_1, - .pin = GPIO_Pin_6, - }, - { - .timer = TIM3, - .port = GPIOB, - .ccr = TIM_IT_CC2, - .channel = TIM_Channel_2, - .pin = GPIO_Pin_5, - }, - { - .timer = TIM3, - .port = GPIOB, - .ccr = TIM_IT_CC3, - .channel = TIM_Channel_3, - .pin = GPIO_Pin_0 - }, - { - .timer = TIM3, - .port = GPIOB, - .ccr = TIM_IT_CC4, - .channel = TIM_Channel_4, - .pin = GPIO_Pin_1, - }, - { - .timer = TIM2, - .port = GPIOA, - .ccr = TIM_IT_CC1, - .channel = TIM_Channel_1, - .pin = GPIO_Pin_0, - }, - { - .timer = TIM2, - .port = GPIOA, - .ccr = TIM_IT_CC2, - .channel = TIM_Channel_2, - .pin = GPIO_Pin_1, - }, -}; - -void TIM2_IRQHandler(); -void TIM3_IRQHandler(); -void TIM4_IRQHandler(); -void TIM2_IRQHandler() __attribute__ ((alias ("PIOS_TIM2_irq_handler"))); -void TIM3_IRQHandler() __attribute__ ((alias ("PIOS_TIM3_irq_handler"))); -void TIM4_IRQHandler() __attribute__ ((alias ("PIOS_TIM4_irq_handler"))); const struct pios_pwm_cfg pios_pwm_cfg = { - .tim_base_init = { - .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, - .TIM_ClockDivision = TIM_CKD_DIV1, - .TIM_CounterMode = TIM_CounterMode_Up, - .TIM_Period = 0xFFFF, - .TIM_RepetitionCounter = 0x0000, - }, .tim_ic_init = { .TIM_ICPolarity = TIM_ICPolarity_Rising, .TIM_ICSelection = TIM_ICSelection_DirectTI, .TIM_ICPrescaler = TIM_ICPSC_DIV1, - .TIM_ICFilter = 0x0, + .TIM_ICFilter = 0x0, }, - .gpio_init = { - .GPIO_Mode = GPIO_Mode_IPD, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - .remap = 0, - .irq = { - .init = { - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, - .channels = pios_pwm_channels, - .num_channels = NELEMENTS(pios_pwm_channels), + .channels = pios_tim_rcvrport_all_channels, + .num_channels = NELEMENTS(pios_tim_rcvrport_all_channels), }; -void PIOS_TIM2_irq_handler() -{ - PIOS_PWM_irq_handler(TIM2); -} -void PIOS_TIM3_irq_handler() -{ - PIOS_PWM_irq_handler(TIM3); -} -void PIOS_TIM4_irq_handler() -{ - PIOS_PWM_irq_handler(TIM4); -} #endif #if defined(PIOS_INCLUDE_I2C) @@ -931,6 +982,12 @@ void PIOS_Board_Init(void) { /* Initialize the task monitor library */ TaskMonitorInitialize(); + /* Set up pulse timers */ + PIOS_TIM_InitClock(&tim_1_cfg); + PIOS_TIM_InitClock(&tim_2_cfg); + PIOS_TIM_InitClock(&tim_3_cfg); + PIOS_TIM_InitClock(&tim_4_cfg); + /* Configure the main IO port */ uint8_t hwsettings_DSMxBind; HwSettingsDSMxBindGet(&hwsettings_DSMxBind); @@ -1114,22 +1171,30 @@ void PIOS_Board_Init(void) { break; case HWSETTINGS_RCVRPORT_PWM: #if defined(PIOS_INCLUDE_PWM) - PIOS_PWM_Init(); - uint32_t pios_pwm_rcvr_id; - if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) { - PIOS_Assert(0); + { + uint32_t pios_pwm_id; + PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg); + + uint32_t pios_pwm_rcvr_id; + if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id; } - pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id; #endif /* PIOS_INCLUDE_PWM */ break; case HWSETTINGS_RCVRPORT_PPM: #if defined(PIOS_INCLUDE_PPM) - PIOS_PPM_Init(); - uint32_t pios_ppm_rcvr_id; - if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) { - PIOS_Assert(0); + { + uint32_t pios_ppm_id; + PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg); + + uint32_t pios_ppm_rcvr_id; + if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id; } - pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id; #endif /* PIOS_INCLUDE_PPM */ break; } @@ -1139,14 +1204,19 @@ void PIOS_Board_Init(void) { PIOS_GCSRCVR_Init(); uint32_t pios_gcsrcvr_rcvr_id; if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, 0)) { - PIOS_Assert(0); + PIOS_Assert(0); } pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id; #endif /* PIOS_INCLUDE_GCSRCVR */ /* Remap AFIO pin */ GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE); - PIOS_Servo_Init(); + +#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS + PIOS_Servo_Init(&pios_servo_cfg); +#else + PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels)); +#endif /* PIOS_DEBUG_ENABLE_DEBUG_PINS */ PIOS_ADC_Init(); PIOS_GPIO_Init(); diff --git a/flight/Libraries/ahrs_comm_objects.c b/flight/Libraries/ahrs_comm_objects.c index 5fc4f1b20..0f98e6a6c 100644 --- a/flight/Libraries/ahrs_comm_objects.c +++ b/flight/Libraries/ahrs_comm_objects.c @@ -24,6 +24,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ +#include "pios.h" #include "ahrs_spi_comm.h" #include "pios_debug.h" diff --git a/flight/OpenPilot/Makefile b/flight/OpenPilot/Makefile index 7d3cdf514..5d7de094f 100644 --- a/flight/OpenPilot/Makefile +++ b/flight/OpenPilot/Makefile @@ -164,6 +164,7 @@ SRC += $(PIOSSTM32F10X)/pios_ppm.c SRC += $(PIOSSTM32F10X)/pios_pwm.c SRC += $(PIOSSTM32F10X)/pios_spektrum.c SRC += $(PIOSSTM32F10X)/pios_sbus.c +SRC += $(PIOSSTM32F10X)/pios_tim.c SRC += $(PIOSSTM32F10X)/pios_debug.c SRC += $(PIOSSTM32F10X)/pios_gpio.c SRC += $(PIOSSTM32F10X)/pios_exti.c diff --git a/flight/OpenPilot/System/inc/pios_config.h b/flight/OpenPilot/System/inc/pios_config.h index 4e6657cef..8e37dc95a 100644 --- a/flight/OpenPilot/System/inc/pios_config.h +++ b/flight/OpenPilot/System/inc/pios_config.h @@ -47,7 +47,7 @@ #define PIOS_INCLUDE_SPEKTRUM //#define PIOS_INCLUDE_SBUS #define PIOS_INCLUDE_PWM -//#define PIOS_INCLUDE_PPM +#define PIOS_INCLUDE_PPM #define PIOS_INCLUDE_TELEMETRY_RF diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c index 2905c500c..e17ad5653 100644 --- a/flight/OpenPilot/System/pios_board.c +++ b/flight/OpenPilot/System/pios_board.c @@ -302,6 +302,89 @@ void PIOS_ADC_handler() { PIOS_ADC_DMA_Handler(); } +#include "pios_tim_priv.h" + +static const TIM_TimeBaseInitTypeDef tim_4_8_time_base = { + .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, + .TIM_ClockDivision = TIM_CKD_DIV1, + .TIM_CounterMode = TIM_CounterMode_Up, + .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1), + .TIM_RepetitionCounter = 0x0000, +}; + +static const struct pios_tim_clock_cfg tim_4_cfg = { + .timer = TIM4, + .time_base_init = &tim_4_8_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM4_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_8_cfg = { + .timer = TIM8, + .time_base_init = &tim_4_8_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM8_CC_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const TIM_TimeBaseInitTypeDef tim_1_3_5_time_base = { + .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, + .TIM_ClockDivision = TIM_CKD_DIV1, + .TIM_CounterMode = TIM_CounterMode_Up, + .TIM_Period = 0xFFFF, + .TIM_RepetitionCounter = 0x0000, +}; + +static const struct pios_tim_clock_cfg tim_1_cfg = { + .timer = TIM1, + .time_base_init = &tim_1_3_5_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM1_CC_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_3_cfg = { + .timer = TIM3, + .time_base_init = &tim_1_3_5_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM3_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_5_cfg = { + .timer = TIM5, + .time_base_init = &tim_1_3_5_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM5_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + #if defined(PIOS_INCLUDE_USART) #include "pios_usart_priv.h" @@ -536,65 +619,106 @@ static const struct pios_spektrum_cfg pios_spektrum_cfg = { * Pios servo configuration structures */ #include -static const struct pios_servo_channel pios_servo_channels[] = { +static const struct pios_tim_channel pios_tim_servoport_all_pins[] = { { .timer = TIM4, - .port = GPIOB, - .channel = TIM_Channel_1, - .pin = GPIO_Pin_6, + .timer_chan = TIM_Channel_1, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_6, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, { .timer = TIM4, - .port = GPIOB, - .channel = TIM_Channel_2, - .pin = GPIO_Pin_7, + .timer_chan = TIM_Channel_2, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_7, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, { .timer = TIM4, - .port = GPIOB, - .channel = TIM_Channel_3, - .pin = GPIO_Pin_8, + .timer_chan = TIM_Channel_3, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_8, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, { .timer = TIM4, - .port = GPIOB, - .channel = TIM_Channel_4, - .pin = GPIO_Pin_9, + .timer_chan = TIM_Channel_4, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, { .timer = TIM8, - .port = GPIOC, - .channel = TIM_Channel_1, - .pin = GPIO_Pin_6, + .timer_chan = TIM_Channel_1, + .pin = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_6, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, { .timer = TIM8, - .port = GPIOC, - .channel = TIM_Channel_2, - .pin = GPIO_Pin_7, + .timer_chan = TIM_Channel_2, + .pin = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_7, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, { .timer = TIM8, - .port = GPIOC, - .channel = TIM_Channel_3, - .pin = GPIO_Pin_8, + .timer_chan = TIM_Channel_3, + .pin = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_8, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, { .timer = TIM8, - .port = GPIOC, - .channel = TIM_Channel_4, - .pin = GPIO_Pin_9, + .timer_chan = TIM_Channel_4, + .pin = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, }; const struct pios_servo_cfg pios_servo_cfg = { - .tim_base_init = { - .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, - .TIM_ClockDivision = TIM_CKD_DIV1, - .TIM_CounterMode = TIM_CounterMode_Up, - .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1), - .TIM_RepetitionCounter = 0x0000, - }, .tim_oc_init = { .TIM_OCMode = TIM_OCMode_PWM1, .TIM_OutputState = TIM_OutputState_Enable, @@ -605,13 +729,8 @@ const struct pios_servo_cfg pios_servo_cfg = { .TIM_OCIdleState = TIM_OCIdleState_Reset, .TIM_OCNIdleState = TIM_OCNIdleState_Reset, }, - .gpio_init = { - .GPIO_Mode = GPIO_Mode_AF_PP, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - .remap = 0, - .channels = pios_servo_channels, - .num_channels = NELEMENTS(pios_servo_channels), + .channels = pios_tim_servoport_all_pins, + .num_channels = NELEMENTS(pios_tim_servoport_all_pins), }; @@ -620,112 +739,117 @@ const struct pios_servo_cfg pios_servo_cfg = { */ #if defined(PIOS_INCLUDE_PWM) #include -static const struct pios_pwm_channel pios_pwm_channels[] = { +static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = { { .timer = TIM1, - .port = GPIOA, - .ccr = TIM_IT_CC2, - .channel = TIM_Channel_2, - .pin = GPIO_Pin_9, - }, + .timer_chan = TIM_Channel_2, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + }, { .timer = TIM1, - .port = GPIOA, - .ccr = TIM_IT_CC3, - .channel = TIM_Channel_3, - .pin = GPIO_Pin_10, + .timer_chan = TIM_Channel_3, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, { .timer = TIM5, - .port = GPIOA, - .ccr = TIM_IT_CC1, - .channel = TIM_Channel_1, - .pin = GPIO_Pin_0 + .timer_chan = TIM_Channel_1, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_0, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, { .timer = TIM1, - .port = GPIOA, - .ccr = TIM_IT_CC1, - .channel = TIM_Channel_1, - .pin = GPIO_Pin_8, + .timer_chan = TIM_Channel_1, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_8, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, { .timer = TIM3, - .port = GPIOB, - .ccr = TIM_IT_CC4, - .channel = TIM_Channel_4, - .pin = GPIO_Pin_1, + .timer_chan = TIM_Channel_4, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_1, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, { .timer = TIM3, - .port = GPIOB, - .ccr = TIM_IT_CC3, - .channel = TIM_Channel_3, - .pin = GPIO_Pin_0, + .timer_chan = TIM_Channel_3, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_0, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, { .timer = TIM3, - .port = GPIOB, - .ccr = TIM_IT_CC1, - .channel = TIM_Channel_1, - .pin = GPIO_Pin_4, + .timer_chan = TIM_Channel_1, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_4, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + .remap = GPIO_PartialRemap_TIM3, }, { .timer = TIM3, - .port = GPIOB, - .ccr = TIM_IT_CC2, - .channel = TIM_Channel_2, - .pin = GPIO_Pin_5, + .timer_chan = TIM_Channel_2, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_5, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + .remap = GPIO_PartialRemap_TIM3, }, }; -void TIM1_CC_IRQHandler(); -void TIM3_IRQHandler(); -void TIM5_IRQHandler(); -void TIM1_CC_IRQHandler() __attribute__ ((alias ("PIOS_TIM1_CC_irq_handler"))); -void TIM3_IRQHandler() __attribute__ ((alias ("PIOS_TIM3_irq_handler"))); -void TIM5_IRQHandler() __attribute__ ((alias ("PIOS_TIM5_irq_handler"))); const struct pios_pwm_cfg pios_pwm_cfg = { - .tim_base_init = { - .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, - .TIM_ClockDivision = TIM_CKD_DIV1, - .TIM_CounterMode = TIM_CounterMode_Up, - .TIM_Period = 0xFFFF, - .TIM_RepetitionCounter = 0x0000, - }, .tim_ic_init = { .TIM_ICPolarity = TIM_ICPolarity_Rising, .TIM_ICSelection = TIM_ICSelection_DirectTI, .TIM_ICPrescaler = TIM_ICPSC_DIV1, .TIM_ICFilter = 0x0, }, - .gpio_init = { - .GPIO_Mode = GPIO_Mode_IPD, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - .remap = GPIO_PartialRemap_TIM3, - .irq = { - .init = { - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, - .channels = pios_pwm_channels, - .num_channels = NELEMENTS(pios_pwm_channels), + .channels = pios_tim_rcvrport_all_channels, + .num_channels = NELEMENTS(pios_tim_rcvrport_all_channels), }; -void PIOS_TIM1_CC_irq_handler() -{ - PIOS_PWM_irq_handler(TIM1); -} -void PIOS_TIM3_irq_handler() -{ - PIOS_PWM_irq_handler(TIM3); -} -void PIOS_TIM5_irq_handler() -{ - PIOS_PWM_irq_handler(TIM5); -} #endif /* @@ -733,42 +857,7 @@ void PIOS_TIM5_irq_handler() */ #if defined(PIOS_INCLUDE_PPM) #include -void TIM6_IRQHandler(); -void TIM6_IRQHandler() __attribute__ ((alias ("PIOS_TIM6_irq_handler"))); -static const struct pios_ppmsv_cfg pios_ppmsv_cfg = { - .tim_base_init = { - .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */ - .TIM_ClockDivision = TIM_CKD_DIV1, - .TIM_CounterMode = TIM_CounterMode_Up, - .TIM_Period = ((1000000 / 25) - 1), /* 25 Hz */ - .TIM_RepetitionCounter = 0x0000, - }, - .irq = { - .init = { - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, - .timer = TIM6, - .ccr = TIM_IT_Update, -}; - -void PIOS_TIM6_irq_handler(void) -{ - PIOS_PPMSV_irq_handler(); -} - -void TIM1_CC_IRQHandler(); -void TIM1_CC_IRQHandler() __attribute__ ((alias ("PIOS_TIM1_CC_irq_handler"))); static const struct pios_ppm_cfg pios_ppm_cfg = { - .tim_base_init = { - .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */ - .TIM_ClockDivision = TIM_CKD_DIV1, - .TIM_CounterMode = TIM_CounterMode_Up, - .TIM_Period = 0xFFFF, - .TIM_RepetitionCounter = 0x0000, - }, .tim_ic_init = { .TIM_ICPolarity = TIM_ICPolarity_Rising, .TIM_ICSelection = TIM_ICSelection_DirectTI, @@ -776,30 +865,11 @@ static const struct pios_ppm_cfg pios_ppm_cfg = { .TIM_ICFilter = 0x0, .TIM_Channel = TIM_Channel_2, }, - .gpio_init = { - .GPIO_Mode = GPIO_Mode_IPD, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Pin = GPIO_Pin_9, - }, - .remap = 0, - .irq = { - .init = { - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - .NVIC_IRQChannel = TIM1_CC_IRQn, - }, - }, - .timer = TIM1, - .port = GPIOA, - .ccr = TIM_IT_CC2, + /* Use only the first channel for ppm */ + .channels = &pios_tim_rcvrport_all_channels[0], + .num_channels = 1, }; -void PIOS_TIM1_CC_irq_handler(void) -{ - PIOS_PPM_irq_handler(); -} - #endif //PPM #if defined(PIOS_INCLUDE_I2C) @@ -1008,8 +1078,9 @@ void PIOS_Board_Init(void) { /* Remap AFIO pin */ //GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE); - /* Debug services */ - PIOS_DEBUG_Init(); +#ifdef PIOS_DEBUG_ENABLE_DEBUG_PINS + PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels)); +#endif /* PIOS_DEBUG_ENABLE_DEBUG_PINS */ /* Delay system */ PIOS_DELAY_Init(); @@ -1040,6 +1111,14 @@ void PIOS_Board_Init(void) { /* Initialize the task monitor library */ TaskMonitorInitialize(); + /* Set up pulse timers */ + PIOS_TIM_InitClock(&tim_1_cfg); + PIOS_TIM_InitClock(&tim_3_cfg); + PIOS_TIM_InitClock(&tim_5_cfg); + + PIOS_TIM_InitClock(&tim_4_cfg); + PIOS_TIM_InitClock(&tim_8_cfg); + /* Prepare the AHRS Comms upper layer protocol */ AhrsInitComms(); @@ -1107,7 +1186,10 @@ void PIOS_Board_Init(void) { break; } - PIOS_Servo_Init(); +#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS + PIOS_Servo_Init(&pios_servo_cfg); +#endif /* PIOS_DEBUG_ENABLE_DEBUG_PINS */ + PIOS_ADC_Init(); PIOS_GPIO_Init(); @@ -1153,22 +1235,30 @@ void PIOS_Board_Init(void) { break; case HWSETTINGS_RCVRPORT_PWM: #if defined(PIOS_INCLUDE_PWM) - PIOS_PWM_Init(); - uint32_t pios_pwm_rcvr_id; - if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) { - PIOS_Assert(0); + { + uint32_t pios_pwm_id; + PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg); + + uint32_t pios_pwm_rcvr_id; + if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id; } - pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id; #endif /* PIOS_INCLUDE_PWM */ break; case HWSETTINGS_RCVRPORT_PPM: #if defined(PIOS_INCLUDE_PPM) - PIOS_PPM_Init(); - uint32_t pios_ppm_rcvr_id; - if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) { - PIOS_Assert(0); + { + uint32_t pios_ppm_id; + PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg); + + uint32_t pios_ppm_rcvr_id; + if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id; } - pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id; #endif /* PIOS_INCLUDE_PPM */ break; } diff --git a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h index 8c1467b0d..42b3a5e4d 100644 --- a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h +++ b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h @@ -212,11 +212,13 @@ extern uint32_t pios_com_telem_usb_id; //------------------------- // Receiver PPM input //------------------------- +#define PIOS_PPM_MAX_DEVS 1 #define PIOS_PPM_NUM_INPUTS 12 //------------------------- // Receiver PWM input //------------------------- +#define PIOS_PWM_MAX_DEVS 1 #define PIOS_PWM_NUM_INPUTS 6 //------------------------- @@ -231,6 +233,11 @@ extern uint32_t pios_com_telem_usb_id; #define PIOS_SERVO_UPDATE_HZ 50 #define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */ +//-------------------------- +// Timer controller settings +//-------------------------- +#define PIOS_TIM_MAX_DEVS 3 + //------------------------- // GPIO //------------------------- diff --git a/flight/PiOS/Boards/STM3210E_OP.h b/flight/PiOS/Boards/STM3210E_OP.h index 159ebbd88..ea925a271 100644 --- a/flight/PiOS/Boards/STM3210E_OP.h +++ b/flight/PiOS/Boards/STM3210E_OP.h @@ -185,11 +185,13 @@ extern uint32_t pios_com_aux_id; //------------------------- // Receiver PPM input //------------------------- +#define PIOS_PPM_MAX_DEVS 1 #define PIOS_PPM_NUM_INPUTS 12 //------------------------- // Receiver PWM input //------------------------- +#define PIOS_PWM_MAX_DEVS 1 #define PIOS_PWM_NUM_INPUTS 8 //------------------------- @@ -204,6 +206,11 @@ extern uint32_t pios_com_aux_id; #define PIOS_SERVO_UPDATE_HZ 50 #define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */ +//-------------------------- +// Timer controller settings +//-------------------------- +#define PIOS_TIM_MAX_DEVS 3 + //------------------------- // ADC // PIOS_ADC_PinGet(0) = Temperature Sensor (On-board) diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld index 57530d320..568dddffa 100644 --- a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld +++ b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld @@ -1,5 +1,5 @@ /* This is the size of the stack for all FreeRTOS IRQs */ -_irq_stack_size = 0x180; +_irq_stack_size = 0x1A0; /* This is the size of the stack for early init: life span is until scheduler starts */ _init_stack_size = 0x100; diff --git a/flight/PiOS/STM32F10x/pios_debug.c b/flight/PiOS/STM32F10x/pios_debug.c index ca4f67dc5..18ea0071b 100644 --- a/flight/PiOS/STM32F10x/pios_debug.c +++ b/flight/PiOS/STM32F10x/pios_debug.c @@ -34,39 +34,41 @@ // Global variables const char *PIOS_DEBUG_AssertMsg = "ASSERT FAILED"; -#include -extern const struct pios_servo_channel pios_servo_channels[]; -#define PIOS_SERVO_GPIO_PORT_1TO4 pios_servo_channels[0].port -#define PIOS_SERVO_GPIO_PORT_5TO8 pios_servo_channels[4].port -#define PIOS_SERVO_GPIO_PIN_1 pios_servo_channels[0].pin -#define PIOS_SERVO_GPIO_PIN_2 pios_servo_channels[1].pin -#define PIOS_SERVO_GPIO_PIN_3 pios_servo_channels[2].pin -#define PIOS_SERVO_GPIO_PIN_4 pios_servo_channels[3].pin -#define PIOS_SERVO_GPIO_PIN_5 pios_servo_channels[4].pin -#define PIOS_SERVO_GPIO_PIN_6 pios_servo_channels[5].pin -#define PIOS_SERVO_GPIO_PIN_7 pios_servo_channels[6].pin -#define PIOS_SERVO_GPIO_PIN_8 pios_servo_channels[7].pin -/* Private Function Prototypes */ +#ifdef PIOS_ENABLE_DEBUG_PINS +static const struct pios_tim_channel * debug_channels; +static uint8_t debug_num_channels; +#endif /* PIOS_ENABLE_DEBUG_PINS */ /** * Initialise Debug-features */ -void PIOS_DEBUG_Init(void) +void PIOS_DEBUG_Init(const struct pios_tim_channel * channels, uint8_t num_channels) { #ifdef PIOS_ENABLE_DEBUG_PINS - // Initialise Servo pins as standard output pins - GPIO_InitTypeDef GPIO_InitStructure; - GPIO_StructInit(&GPIO_InitStructure); - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; - GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; - GPIO_InitStructure.GPIO_Pin = PIOS_SERVO_GPIO_PIN_1 | PIOS_SERVO_GPIO_PIN_2 | PIOS_SERVO_GPIO_PIN_3 | PIOS_SERVO_GPIO_PIN_4; - GPIO_Init(PIOS_SERVO_GPIO_PORT_1TO4, &GPIO_InitStructure); - GPIO_InitStructure.GPIO_Pin = PIOS_SERVO_GPIO_PIN_5 | PIOS_SERVO_GPIO_PIN_6 | PIOS_SERVO_GPIO_PIN_7 | PIOS_SERVO_GPIO_PIN_8; - GPIO_Init(PIOS_SERVO_GPIO_PORT_5TO8, &GPIO_InitStructure); + PIOS_Assert(channels); + PIOS_Assert(num_channels); - // Drive all pins low - PIOS_SERVO_GPIO_PORT_1TO4->BRR = PIOS_SERVO_GPIO_PIN_1 | PIOS_SERVO_GPIO_PIN_2 | PIOS_SERVO_GPIO_PIN_3 | PIOS_SERVO_GPIO_PIN_4; - PIOS_SERVO_GPIO_PORT_5TO8->BRR = PIOS_SERVO_GPIO_PIN_5 | PIOS_SERVO_GPIO_PIN_6 | PIOS_SERVO_GPIO_PIN_7 | PIOS_SERVO_GPIO_PIN_8; + /* Store away the GPIOs we've been given */ + debug_channels = channels; + debug_num_channels = num_channels; + + /* Configure the GPIOs we've been given */ + for (uint8_t i = 0; i < num_channels; i++) { + const struct pios_tim_channel * chan = &channels[i]; + + // Initialise pins as standard output pins + GPIO_InitTypeDef GPIO_InitStructure; + GPIO_StructInit(&GPIO_InitStructure); + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; + GPIO_InitStructure.GPIO_Pin = chan->init->GPIO_Pin; + + /* Initialize the GPIO */ + GPIO_Init(chan->init->port, &GPIO_InitStructure); + + /* Set the pin low */ + GPIO_WriteBit(chan->init->port, chan->init->GPIO_Pin, Bit_RESET); + } #endif // PIOS_ENABLE_DEBUG_PINS } @@ -74,14 +76,17 @@ void PIOS_DEBUG_Init(void) * Set debug-pin high * \param pin 0 for S1 output */ -void PIOS_DEBUG_PinHigh(uint8_t Pin) +void PIOS_DEBUG_PinHigh(uint8_t pin) { #ifdef PIOS_ENABLE_DEBUG_PINS - if (Pin < 4) { - PIOS_SERVO_GPIO_PORT_1TO4->BSRR = (PIOS_SERVO_GPIO_PIN_1 << Pin); - } else if (Pin <= 7) { - PIOS_SERVO_GPIO_PORT_5TO8->BSRR = (PIOS_SERVO_GPIO_PIN_5 << (Pin - 4)); + if (!debug_channels || pin >= debug_num_channels) { + return; } + + const struct pios_tim_channel * chan = &debug_channels[pin]; + + GPIO_WriteBit(chan->init->port, chan->init->GPIO_Pin, Bit_Set); + #endif // PIOS_ENABLE_DEBUG_PINS } @@ -89,14 +94,17 @@ void PIOS_DEBUG_PinHigh(uint8_t Pin) * Set debug-pin low * \param pin 0 for S1 output */ -void PIOS_DEBUG_PinLow(uint8_t Pin) +void PIOS_DEBUG_PinLow(uint8_t pin) { #ifdef PIOS_ENABLE_DEBUG_PINS - if (Pin < 4) { - PIOS_SERVO_GPIO_PORT_1TO4->BRR = (PIOS_SERVO_GPIO_PIN_1 << Pin); - } else if (Pin <= 7) { - PIOS_SERVO_GPIO_PORT_5TO8->BRR = (PIOS_SERVO_GPIO_PIN_5 << (Pin - 4)); + if (!debug_channels || pin >= debug_num_channels) { + return; } + + const struct pios_tim_channel * chan = &debug_channels[pin]; + + GPIO_WriteBit(chan->init->port, chan->init->GPIO_Pin, Bit_RESET); + #endif // PIOS_ENABLE_DEBUG_PINS } @@ -104,11 +112,22 @@ void PIOS_DEBUG_PinLow(uint8_t Pin) void PIOS_DEBUG_PinValue8Bit(uint8_t value) { #ifdef PIOS_ENABLE_DEBUG_PINS + if (!debug_channels) { + return; + } + uint32_t bsrr_l = ( ((~value)&0x0F)<<(16+6) ) | ((value & 0x0F)<<6); uint32_t bsrr_h = ( ((~value)&0xF0)<<(16+6-4) ) | ((value & 0xF0)<<(6-4)); + PIOS_IRQ_Disable(); - PIOS_SERVO_GPIO_PORT_1TO4->BSRR = bsrr_l; - PIOS_SERVO_GPIO_PORT_5TO8->BSRR = bsrr_h; + + /* + * This is sketchy since it assumes a particular ordering + * and bitwise layout of the channels provided to the debug code. + */ + debug_channels[0].init.port->BSRR = bsrr_l; + debug_channels[4].init.port->BSRR = bsrr_h; + PIOS_IRQ_Enable(); #endif // PIOS_ENABLE_DEBUG_PINS } @@ -116,8 +135,16 @@ void PIOS_DEBUG_PinValue8Bit(uint8_t value) void PIOS_DEBUG_PinValue4BitL(uint8_t value) { #ifdef PIOS_ENABLE_DEBUG_PINS + if (!debug_channels) { + return; + } + + /* + * This is sketchy since it assumes a particular ordering + * and bitwise layout of the channels provided to the debug code. + */ uint32_t bsrr_l = ((~(value & 0x0F)<<(16+6))) | ((value & 0x0F)<<6); - PIOS_SERVO_GPIO_PORT_1TO4->BSRR = bsrr_l; + debug_channels[0].init.port->BSRR = bsrr_l; #endif // PIOS_ENABLE_DEBUG_PINS } diff --git a/flight/PiOS/STM32F10x/pios_ppm.c b/flight/PiOS/STM32F10x/pios_ppm.c index fe7421a17..0b7a1c5cd 100644 --- a/flight/PiOS/STM32F10x/pios_ppm.c +++ b/flight/PiOS/STM32F10x/pios_ppm.c @@ -51,104 +51,136 @@ const struct pios_rcvr_driver pios_ppm_rcvr_driver = { /* Local Variables */ static TIM_ICInitTypeDef TIM_ICInitStructure; -static uint8_t PulseIndex; -static uint32_t PreviousTime; -static uint32_t CurrentTime; -static uint32_t DeltaTime; -static uint32_t CaptureValue[PIOS_PPM_IN_MAX_NUM_CHANNELS]; -static uint32_t CaptureValueNewFrame[PIOS_PPM_IN_MAX_NUM_CHANNELS]; -static uint32_t LargeCounter; -static int8_t NumChannels; -static int8_t NumChannelsPrevFrame; -static uint8_t NumChannelCounter; - -static uint8_t supv_timer = 0; -static bool Tracking; -static bool Fresh; static void PIOS_PPM_Supervisor(uint32_t ppm_id); -void PIOS_PPM_Init(void) +enum pios_ppm_dev_magic { + PIOS_PPM_DEV_MAGIC = 0xee014d8b, +}; + +struct pios_ppm_dev { + enum pios_ppm_dev_magic magic; + const struct pios_ppm_cfg * cfg; + + uint8_t PulseIndex; + uint32_t PreviousTime; + uint32_t CurrentTime; + uint32_t DeltaTime; + uint32_t CaptureValue[PIOS_PPM_IN_MAX_NUM_CHANNELS]; + uint32_t CaptureValueNewFrame[PIOS_PPM_IN_MAX_NUM_CHANNELS]; + uint32_t LargeCounter; + int8_t NumChannels; + int8_t NumChannelsPrevFrame; + uint8_t NumChannelCounter; + + uint8_t supv_timer; + bool Tracking; + bool Fresh; +}; + +static bool PIOS_PPM_validate(struct pios_ppm_dev * ppm_dev) { - /* Flush counter variables */ - int32_t i; + return (ppm_dev->magic == PIOS_PPM_DEV_MAGIC); +} - PulseIndex = 0; - PreviousTime = 0; - CurrentTime = 0; - DeltaTime = 0; - LargeCounter = 0; - NumChannels = -1; - NumChannelsPrevFrame = -1; - NumChannelCounter = 0; - Tracking = FALSE; - Fresh = FALSE; +#if defined(PIOS_INCLUDE_FREERTOS) && 0 +static struct pios_ppm_dev * PIOS_PPM_alloc(void) +{ + struct pios_ppm_dev * ppm_dev; - for (i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) { - CaptureValue[i] = 0; - CaptureValueNewFrame[i] = 0; + ppm_dev = (struct pios_ppm_dev *)malloc(sizeof(*ppm_dev)); + if (!ppm_dev) return(NULL); + + ppm_dev->magic = PIOS_PPM_DEV_MAGIC; + return(ppm_dev); +} +#else +static struct pios_ppm_dev pios_ppm_devs[PIOS_PPM_MAX_DEVS]; +static uint8_t pios_ppm_num_devs; +static struct pios_ppm_dev * PIOS_PPM_alloc(void) +{ + struct pios_ppm_dev * ppm_dev; + + if (pios_ppm_num_devs >= PIOS_PPM_MAX_DEVS) { + return (NULL); } - NVIC_InitTypeDef NVIC_InitStructure = pios_ppm_cfg.irq.init; + ppm_dev = &pios_ppm_devs[pios_ppm_num_devs++]; + ppm_dev->magic = PIOS_PPM_DEV_MAGIC; - /* Enable appropriate clock to timer module */ - switch((int32_t) pios_ppm_cfg.timer) { - case (int32_t)TIM1: - NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn; - RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); - break; - case (int32_t)TIM2: - NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); - break; - case (int32_t)TIM3: - NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); - break; - case (int32_t)TIM4: - NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); - break; -#ifdef STM32F10X_HD - case (int32_t)TIM5: - NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE); - break; - case (int32_t)TIM6: - NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE); - break; - case (int32_t)TIM7: - NVIC_InitStructure.NVIC_IRQChannel = TIM7_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE); - break; - case (int32_t)TIM8: - NVIC_InitStructure.NVIC_IRQChannel = TIM8_CC_IRQn; - RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE); - break; + return (ppm_dev); +} #endif + +static void PIOS_PPM_tim_overflow_cb (uint32_t id, uint32_t context, uint8_t channel, uint16_t count); +static void PIOS_PPM_tim_edge_cb (uint32_t id, uint32_t context, uint8_t channel, uint16_t count); +const static struct pios_tim_callbacks tim_callbacks = { + .overflow = PIOS_PPM_tim_overflow_cb, + .edge = PIOS_PPM_tim_edge_cb, +}; + +extern int32_t PIOS_PPM_Init(uint32_t * ppm_id, const struct pios_ppm_cfg * cfg) +{ + PIOS_DEBUG_Assert(ppm_id); + PIOS_DEBUG_Assert(cfg); + + struct pios_ppm_dev * ppm_dev; + + ppm_dev = (struct pios_ppm_dev *) PIOS_PPM_alloc(); + if (!ppm_dev) goto out_fail; + + /* Bind the configuration to the device instance */ + ppm_dev->cfg = cfg; + + /* Set up the state variables */ + ppm_dev->PulseIndex = 0; + ppm_dev->PreviousTime = 0; + ppm_dev->CurrentTime = 0; + ppm_dev->DeltaTime = 0; + ppm_dev->LargeCounter = 0; + ppm_dev->NumChannels = -1; + ppm_dev->NumChannelsPrevFrame = -1; + ppm_dev->NumChannelCounter = 0; + ppm_dev->Tracking = FALSE; + ppm_dev->Fresh = FALSE; + + for (uint8_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) { + /* Flush counter variables */ + ppm_dev->CaptureValue[i] = 0; + ppm_dev->CaptureValueNewFrame[i] = 0; + } - /* Enable timer interrupts */ - NVIC_Init(&NVIC_InitStructure); - /* Configure input pins */ - GPIO_InitTypeDef GPIO_InitStructure = pios_ppm_cfg.gpio_init; - GPIO_Init(pios_ppm_cfg.port, &GPIO_InitStructure); + uint32_t tim_id; + if (PIOS_TIM_InitChannels(&tim_id, cfg->channels, cfg->num_channels, &tim_callbacks, (uint32_t)ppm_dev)) { + return -1; + } - /* Configure timer for input capture */ - TIM_ICInitStructure = pios_ppm_cfg.tim_ic_init; - TIM_ICInit(pios_ppm_cfg.timer, &TIM_ICInitStructure); + /* Configure the channels to be in capture/compare mode */ + for (uint8_t i = 0; i < cfg->num_channels; i++) { + const struct pios_tim_channel * chan = &cfg->channels[i]; - /* Configure timer clocks */ - TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_ppm_cfg.tim_base_init; - TIM_InternalClockConfig(pios_ppm_cfg.timer); - TIM_TimeBaseInit(pios_ppm_cfg.timer, &TIM_TimeBaseStructure); + /* Configure timer for input capture */ + TIM_ICInitTypeDef TIM_ICInitStructure = cfg->tim_ic_init; + TIM_ICInitStructure.TIM_Channel = chan->timer_chan; + TIM_ICInit(chan->timer, &TIM_ICInitStructure); - /* Enable the Capture Compare Interrupt Request */ - TIM_ITConfig(pios_ppm_cfg.timer, pios_ppm_cfg.ccr | TIM_IT_Update, ENABLE); - - /* Enable timers */ - TIM_Cmd(pios_ppm_cfg.timer, ENABLE); + /* Enable the Capture Compare Interrupt Request */ + switch (chan->timer_chan) { + case TIM_Channel_1: + TIM_ITConfig(chan->timer, TIM_IT_CC1 | TIM_IT_Update, ENABLE); + break; + case TIM_Channel_2: + TIM_ITConfig(chan->timer, TIM_IT_CC2 | TIM_IT_Update, ENABLE); + break; + case TIM_Channel_3: + TIM_ITConfig(chan->timer, TIM_IT_CC3 | TIM_IT_Update, ENABLE); + break; + case TIM_Channel_4: + TIM_ITConfig(chan->timer, TIM_IT_CC4 | TIM_IT_Update, ENABLE); + break; + } + } /* Setup local variable which stays in this scope */ /* Doing this here and using a local variable saves doing it in the ISR */ @@ -156,9 +188,16 @@ void PIOS_PPM_Init(void) TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; TIM_ICInitStructure.TIM_ICFilter = 0x0; - if (!PIOS_RTC_RegisterTickCallback(PIOS_PPM_Supervisor, 0)) { + if (!PIOS_RTC_RegisterTickCallback(PIOS_PPM_Supervisor, (uint32_t)ppm_dev)) { PIOS_DEBUG_Assert(0); } + + *ppm_id = (uint32_t)ppm_dev; + + return(0); + +out_fail: + return(-1); } /** @@ -169,142 +208,146 @@ void PIOS_PPM_Init(void) */ static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel) { - /* Return error if channel not available */ - if (channel >= PIOS_PPM_IN_MAX_NUM_CHANNELS) { + struct pios_ppm_dev * ppm_dev = (struct pios_ppm_dev *)rcvr_id; + + if (!PIOS_PPM_validate(ppm_dev)) { + /* Invalid device specified */ return -1; } - return CaptureValue[channel]; + + if (channel >= PIOS_PPM_IN_MAX_NUM_CHANNELS) { + /* Channel out of range */ + return -1; + } + return ppm_dev->CaptureValue[channel]; } -/** -* Handle TIMx global interrupt request -* Some work and testing still needed, need to detect start of frame and decode pulses -* -*/ -void PIOS_PPM_irq_handler(void) +static void PIOS_PPM_tim_overflow_cb (uint32_t tim_id, uint32_t context, uint8_t channel, uint16_t count) { - /* Timer Overflow Interrupt - * The time between timer overflows must be greater than the PPM - * frame period. If a full frame has not decoded in the between timer - * overflows then capture values should be cleared. - */ + struct pios_ppm_dev * ppm_dev = (struct pios_ppm_dev *)context; - if (TIM_GetITStatus(pios_ppm_cfg.timer, TIM_IT_Update) == SET) { - /* Clear TIMx overflow interrupt pending bit */ - TIM_ClearITPendingBit(pios_ppm_cfg.timer, TIM_IT_Update); - - /* If sharing a timer with a servo output the ARR register will - be set according to the PWM period. When timer reaches the - ARR value a timer overflow interrupt will fire. We use the - interrupt accumulate a 32-bit timer. */ - LargeCounter = LargeCounter + pios_ppm_cfg.timer->ARR; + if (!PIOS_PPM_validate(ppm_dev)) { + /* Invalid device specified */ + return; } - /* Signal edge interrupt */ - if (TIM_GetITStatus(pios_ppm_cfg.timer, pios_ppm_cfg.ccr) == SET) { - PreviousTime = CurrentTime; + ppm_dev->LargeCounter += count; - switch((int32_t) pios_ppm_cfg.ccr) { - case (int32_t)TIM_IT_CC1: - CurrentTime = TIM_GetCapture1(pios_ppm_cfg.timer); - break; - case (int32_t)TIM_IT_CC2: - CurrentTime = TIM_GetCapture2(pios_ppm_cfg.timer); - break; - case (int32_t)TIM_IT_CC3: - CurrentTime = TIM_GetCapture3(pios_ppm_cfg.timer); - break; - case (int32_t)TIM_IT_CC4: - CurrentTime = TIM_GetCapture4(pios_ppm_cfg.timer); - break; + return; +} + + +static void PIOS_PPM_tim_edge_cb (uint32_t tim_id, uint32_t context, uint8_t chan_idx, uint16_t count) +{ + /* Recover our device context */ + struct pios_ppm_dev * ppm_dev = (struct pios_ppm_dev *)context; + + if (!PIOS_PPM_validate(ppm_dev)) { + /* Invalid device specified */ + return; + } + + if (chan_idx >= ppm_dev->cfg->num_channels) { + /* Channel out of range */ + return; + } + + /* Shift the last measurement out */ + ppm_dev->PreviousTime = ppm_dev->CurrentTime; + + /* Grab the new count */ + ppm_dev->CurrentTime = count; + + /* Convert to 32-bit timer result */ + ppm_dev->CurrentTime += ppm_dev->LargeCounter; + + /* Capture computation */ + ppm_dev->DeltaTime = ppm_dev->CurrentTime - ppm_dev->PreviousTime; + + ppm_dev->PreviousTime = ppm_dev->CurrentTime; + + /* Sync pulse detection */ + if (ppm_dev->DeltaTime > PIOS_PPM_IN_MIN_SYNC_PULSE_US) { + if (ppm_dev->PulseIndex == ppm_dev->NumChannelsPrevFrame + && ppm_dev->PulseIndex >= PIOS_PPM_IN_MIN_NUM_CHANNELS + && ppm_dev->PulseIndex <= PIOS_PPM_IN_MAX_NUM_CHANNELS) + { + /* If we see n simultaneous frames of the same + number of channels we save it as our frame size */ + if (ppm_dev->NumChannelCounter < PIOS_PPM_STABLE_CHANNEL_COUNT) + ppm_dev->NumChannelCounter++; + else + ppm_dev->NumChannels = ppm_dev->PulseIndex; + } else { + ppm_dev->NumChannelCounter = 0; } - /* Clear TIMx Capture compare interrupt pending bit */ - TIM_ClearITPendingBit(pios_ppm_cfg.timer, pios_ppm_cfg.ccr); - - /* Convert to 32-bit timer result */ - CurrentTime = CurrentTime + LargeCounter; - - /* Capture computation */ - DeltaTime = CurrentTime - PreviousTime; - - PreviousTime = CurrentTime; - - /* Sync pulse detection */ - if (DeltaTime > PIOS_PPM_IN_MIN_SYNC_PULSE_US) { - if (PulseIndex == NumChannelsPrevFrame - && PulseIndex >= PIOS_PPM_IN_MIN_NUM_CHANNELS - && PulseIndex <= PIOS_PPM_IN_MAX_NUM_CHANNELS) - { - /* If we see n simultaneous frames of the same - number of channels we save it as our frame size */ - if (NumChannelCounter < PIOS_PPM_STABLE_CHANNEL_COUNT) - NumChannelCounter++; - else - NumChannels = PulseIndex; - } else { - NumChannelCounter = 0; + /* Check if the last frame was well formed */ + if (ppm_dev->PulseIndex == ppm_dev->NumChannels && ppm_dev->Tracking) { + /* The last frame was well formed */ + for (uint32_t i = 0; i < ppm_dev->NumChannels; i++) { + ppm_dev->CaptureValue[i] = ppm_dev->CaptureValueNewFrame[i]; } - - /* Check if the last frame was well formed */ - if (PulseIndex == NumChannels && Tracking) { - /* The last frame was well formed */ - for (uint32_t i = 0; i < NumChannels; i++) { - CaptureValue[i] = CaptureValueNewFrame[i]; - } - for (uint32_t i = NumChannels; - i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) { - CaptureValue[i] = PIOS_PPM_INPUT_INVALID; - } + for (uint32_t i = ppm_dev->NumChannels; + i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) { + ppm_dev->CaptureValue[i] = PIOS_PPM_INPUT_INVALID; } + } - Fresh = TRUE; - Tracking = TRUE; - NumChannelsPrevFrame = PulseIndex; - PulseIndex = 0; + ppm_dev->Fresh = TRUE; + ppm_dev->Tracking = TRUE; + ppm_dev->NumChannelsPrevFrame = ppm_dev->PulseIndex; + ppm_dev->PulseIndex = 0; - /* We rely on the supervisor to set CaptureValue to invalid - if no valid frame is found otherwise we ride over it */ + /* We rely on the supervisor to set CaptureValue to invalid + if no valid frame is found otherwise we ride over it */ - } else if (Tracking) { - /* Valid pulse duration 0.75 to 2.5 ms*/ - if (DeltaTime > PIOS_PPM_IN_MIN_CHANNEL_PULSE_US - && DeltaTime < PIOS_PPM_IN_MAX_CHANNEL_PULSE_US - && PulseIndex < PIOS_PPM_IN_MAX_NUM_CHANNELS) { - - CaptureValueNewFrame[PulseIndex] = DeltaTime; - PulseIndex++; - } else { - /* Not a valid pulse duration */ - Tracking = FALSE; - for (uint32_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS ; i++) { - CaptureValueNewFrame[i] = PIOS_PPM_INPUT_INVALID; - } + } else if (ppm_dev->Tracking) { + /* Valid pulse duration 0.75 to 2.5 ms*/ + if (ppm_dev->DeltaTime > PIOS_PPM_IN_MIN_CHANNEL_PULSE_US + && ppm_dev->DeltaTime < PIOS_PPM_IN_MAX_CHANNEL_PULSE_US + && ppm_dev->PulseIndex < PIOS_PPM_IN_MAX_NUM_CHANNELS) { + + ppm_dev->CaptureValueNewFrame[ppm_dev->PulseIndex] = ppm_dev->DeltaTime; + ppm_dev->PulseIndex++; + } else { + /* Not a valid pulse duration */ + ppm_dev->Tracking = FALSE; + for (uint32_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS ; i++) { + ppm_dev->CaptureValueNewFrame[i] = PIOS_PPM_INPUT_INVALID; } } } } static void PIOS_PPM_Supervisor(uint32_t ppm_id) { + /* Recover our device context */ + struct pios_ppm_dev * ppm_dev = (struct pios_ppm_dev *)ppm_id; + + if (!PIOS_PPM_validate(ppm_dev)) { + /* Invalid device specified */ + return; + } + /* * RTC runs at 625Hz so divide down the base rate so * that this loop runs at 25Hz. */ - if(++supv_timer < 25) { + if(++(ppm_dev->supv_timer) < 25) { return; } - supv_timer = 0; + ppm_dev->supv_timer = 0; - if (!Fresh) { - Tracking = FALSE; + if (!ppm_dev->Fresh) { + ppm_dev->Tracking = FALSE; for (int32_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS ; i++) { - CaptureValue[i] = PIOS_PPM_INPUT_INVALID; - CaptureValueNewFrame[i] = PIOS_PPM_INPUT_INVALID; + ppm_dev->CaptureValue[i] = PIOS_PPM_INPUT_INVALID; + ppm_dev->CaptureValueNewFrame[i] = PIOS_PPM_INPUT_INVALID; } } - Fresh = FALSE; + ppm_dev->Fresh = FALSE; } #endif diff --git a/flight/PiOS/STM32F10x/pios_pwm.c b/flight/PiOS/STM32F10x/pios_pwm.c index 433c272bb..9717f66fc 100644 --- a/flight/PiOS/STM32F10x/pios_pwm.c +++ b/flight/PiOS/STM32F10x/pios_pwm.c @@ -42,96 +42,124 @@ const struct pios_rcvr_driver pios_pwm_rcvr_driver = { }; /* Local Variables */ -static uint8_t CaptureState[PIOS_PWM_NUM_INPUTS]; -static uint16_t RiseValue[PIOS_PWM_NUM_INPUTS]; -static uint16_t FallValue[PIOS_PWM_NUM_INPUTS]; -static uint32_t CaptureValue[PIOS_PWM_NUM_INPUTS]; -static uint32_t CapCounter[PIOS_PWM_NUM_INPUTS]; +enum pios_pwm_dev_magic { + PIOS_PWM_DEV_MAGIC = 0xab30293c, +}; + +struct pios_pwm_dev { + enum pios_pwm_dev_magic magic; + const struct pios_pwm_cfg * cfg; + + uint8_t CaptureState[PIOS_PWM_NUM_INPUTS]; + uint16_t RiseValue[PIOS_PWM_NUM_INPUTS]; + uint16_t FallValue[PIOS_PWM_NUM_INPUTS]; + uint32_t CaptureValue[PIOS_PWM_NUM_INPUTS]; + uint32_t CapCounter[PIOS_PWM_NUM_INPUTS]; +}; + +static bool PIOS_PWM_validate(struct pios_pwm_dev * pwm_dev) +{ + return (pwm_dev->magic == PIOS_PWM_DEV_MAGIC); +} + +#if defined(PIOS_INCLUDE_FREERTOS) && 0 +static struct pios_pwm_dev * PIOS_PWM_alloc(void) +{ + struct pios_pwm_dev * pwm_dev; + + pwm_dev = (struct pios_pwm_dev *)malloc(sizeof(*pwm_dev)); + if (!pwm_dev) return(NULL); + + pwm_dev->magic = PIOS_PWM_DEV_MAGIC; + return(pwm_dev); +} +#else +static struct pios_pwm_dev pios_pwm_devs[PIOS_PWM_MAX_DEVS]; +static uint8_t pios_pwm_num_devs; +static struct pios_pwm_dev * PIOS_PWM_alloc(void) +{ + struct pios_pwm_dev * pwm_dev; + + if (pios_pwm_num_devs >= PIOS_PWM_MAX_DEVS) { + return (NULL); + } + + pwm_dev = &pios_pwm_devs[pios_pwm_num_devs++]; + pwm_dev->magic = PIOS_PWM_DEV_MAGIC; + + return (pwm_dev); +} +#endif + +static void PIOS_PWM_tim_overflow_cb (uint32_t id, uint32_t context, uint8_t channel, uint16_t count); +static void PIOS_PWM_tim_edge_cb (uint32_t id, uint32_t context, uint8_t channel, uint16_t count); +const static struct pios_tim_callbacks tim_callbacks = { + .overflow = PIOS_PWM_tim_overflow_cb, + .edge = PIOS_PWM_tim_edge_cb, +}; /** * Initialises all the pins */ -void PIOS_PWM_Init(void) +int32_t PIOS_PWM_Init(uint32_t * pwm_id, const struct pios_pwm_cfg * cfg) { - for (uint8_t i = 0; i < pios_pwm_cfg.num_channels; i++) { - /* Flush counter variables */ - CaptureState[i] = 0; - RiseValue[i] = 0; - FallValue[i] = 0; - CaptureValue[i] = 0; - - NVIC_InitTypeDef NVIC_InitStructure = pios_pwm_cfg.irq.init; - GPIO_InitTypeDef GPIO_InitStructure = pios_pwm_cfg.gpio_init; - TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_pwm_cfg.tim_base_init; - TIM_ICInitTypeDef TIM_ICInitStructure = pios_pwm_cfg.tim_ic_init; - - struct pios_pwm_channel channel = pios_pwm_cfg.channels[i]; - - /* Enable appropriate clock to timer module */ - switch((int32_t) channel.timer) { - case (int32_t)TIM1: - NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn; - RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); - break; - case (int32_t)TIM2: - NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); - break; - case (int32_t)TIM3: - NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); - break; - case (int32_t)TIM4: - NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); - break; -#ifdef STM32F10X_HD - - case (int32_t)TIM5: - NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE); - break; - case (int32_t)TIM6: - NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE); - break; - case (int32_t)TIM7: - NVIC_InitStructure.NVIC_IRQChannel = TIM7_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE); - break; - case (int32_t)TIM8: - NVIC_InitStructure.NVIC_IRQChannel = TIM8_CC_IRQn; - RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE); - break; -#endif - } - NVIC_Init(&NVIC_InitStructure); + PIOS_DEBUG_Assert(pwm_id); + PIOS_DEBUG_Assert(cfg); + + struct pios_pwm_dev * pwm_dev; + + pwm_dev = (struct pios_pwm_dev *) PIOS_PWM_alloc(); + if (!pwm_dev) goto out_fail; + + /* Bind the configuration to the device instance */ + pwm_dev->cfg = cfg; + + for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS; i++) { + /* Flush counter variables */ + pwm_dev->CaptureState[i] = 0; + pwm_dev->RiseValue[i] = 0; + pwm_dev->FallValue[i] = 0; + pwm_dev->CaptureValue[i] = 0; + } + + uint32_t tim_id; + if (PIOS_TIM_InitChannels(&tim_id, cfg->channels, cfg->num_channels, &tim_callbacks, (uint32_t)pwm_dev)) { + return -1; + } + + /* Configure the channels to be in capture/compare mode */ + for (uint8_t i = 0; i < cfg->num_channels; i++) { + const struct pios_tim_channel * chan = &cfg->channels[i]; - /* Enable GPIO */ - GPIO_InitStructure.GPIO_Pin = channel.pin; - GPIO_Init(channel.port, &GPIO_InitStructure); - /* Configure timer for input capture */ - TIM_ICInitStructure.TIM_Channel = channel.channel; - TIM_ICInit(channel.timer, &TIM_ICInitStructure); - - /* Configure timer clocks */ - TIM_InternalClockConfig(channel.timer); - if(channel.timer->PSC != ((PIOS_MASTER_CLOCK / 1000000) - 1)) - TIM_TimeBaseInit(channel.timer, &TIM_TimeBaseStructure); + TIM_ICInitTypeDef TIM_ICInitStructure = cfg->tim_ic_init; + TIM_ICInitStructure.TIM_Channel = chan->timer_chan; + TIM_ICInit(chan->timer, &TIM_ICInitStructure); /* Enable the Capture Compare Interrupt Request */ - TIM_ITConfig(channel.timer, channel.ccr, ENABLE); - - /* Enable timers */ - TIM_Cmd(channel.timer, ENABLE); + switch (chan->timer_chan) { + case TIM_Channel_1: + TIM_ITConfig(chan->timer, TIM_IT_CC1, ENABLE); + break; + case TIM_Channel_2: + TIM_ITConfig(chan->timer, TIM_IT_CC2, ENABLE); + break; + case TIM_Channel_3: + TIM_ITConfig(chan->timer, TIM_IT_CC3, ENABLE); + break; + case TIM_Channel_4: + TIM_ITConfig(chan->timer, TIM_IT_CC4, ENABLE); + break; + } } - if(pios_pwm_cfg.remap) { - /* Warning, I don't think this will work for multiple remaps at once */ - GPIO_PinRemapConfig(pios_pwm_cfg.remap, ENABLE); - } + *pwm_id = (uint32_t) pwm_dev; + + return (0); + +out_fail: + return (-1); } /** @@ -142,75 +170,86 @@ void PIOS_PWM_Init(void) */ static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t channel) { - /* Return error if channel not available */ - if (channel >= pios_pwm_cfg.num_channels) { + struct pios_pwm_dev * pwm_dev = (struct pios_pwm_dev *)rcvr_id; + + if (!PIOS_PWM_validate(pwm_dev)) { + /* Invalid device specified */ return -1; } - return CaptureValue[channel]; + + if (channel >= PIOS_PWM_NUM_INPUTS) { + /* Channel out of range */ + return -1; + } + return pwm_dev->CaptureValue[channel]; } -void PIOS_PWM_irq_handler(TIM_TypeDef * timer) +static void PIOS_PWM_tim_overflow_cb (uint32_t tim_id, uint32_t context, uint8_t channel, uint16_t count) { - uint16_t val = 0; - for(uint8_t i = 0; i < pios_pwm_cfg.num_channels; i++) { - struct pios_pwm_channel channel = pios_pwm_cfg.channels[i]; - if ((channel.timer == timer) && (TIM_GetITStatus(channel.timer, channel.ccr) == SET)) { - - TIM_ClearITPendingBit(channel.timer, channel.ccr); - - switch(channel.channel) { - case TIM_Channel_1: - val = TIM_GetCapture1(channel.timer); - break; - case TIM_Channel_2: - val = TIM_GetCapture2(channel.timer); - break; - case TIM_Channel_3: - val = TIM_GetCapture3(channel.timer); - break; - case TIM_Channel_4: - val = TIM_GetCapture4(channel.timer); - break; - } - - if (CaptureState[i] == 0) { - RiseValue[i] = val; - } else { - FallValue[i] = val; - } - - // flip state machine and capture value here - /* Simple rise or fall state machine */ - TIM_ICInitTypeDef TIM_ICInitStructure = pios_pwm_cfg.tim_ic_init; - if (CaptureState[i] == 0) { - /* Switch states */ - CaptureState[i] = 1; - - /* Switch polarity of input capture */ - TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling; - TIM_ICInitStructure.TIM_Channel = channel.channel; - TIM_ICInit(channel.timer, &TIM_ICInitStructure); - } else { - /* Capture computation */ - if (FallValue[i] > RiseValue[i]) { - CaptureValue[i] = (FallValue[i] - RiseValue[i]); - } else { - CaptureValue[i] = ((channel.timer->ARR - RiseValue[i]) + FallValue[i]); - } - - /* Switch states */ - CaptureState[i] = 0; - - /* Increase supervisor counter */ - CapCounter[i]++; - - /* Switch polarity of input capture */ - TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; - TIM_ICInitStructure.TIM_Channel = channel.channel; - TIM_ICInit(channel.timer, &TIM_ICInitStructure); - } - } + struct pios_pwm_dev * pwm_dev = (struct pios_pwm_dev *)context; + + if (!PIOS_PWM_validate(pwm_dev)) { + /* Invalid device specified */ + return; } + + return; +} + +static void PIOS_PWM_tim_edge_cb (uint32_t tim_id, uint32_t context, uint8_t chan_idx, uint16_t count) +{ + /* Recover our device context */ + struct pios_pwm_dev * pwm_dev = (struct pios_pwm_dev *)context; + + if (!PIOS_PWM_validate(pwm_dev)) { + /* Invalid device specified */ + return; + } + + if (chan_idx >= pwm_dev->cfg->num_channels) { + /* Channel out of range */ + return; + } + + const struct pios_tim_channel * chan = &pwm_dev->cfg->channels[chan_idx]; + + if (pwm_dev->CaptureState[chan_idx] == 0) { + pwm_dev->RiseValue[chan_idx] = count; + } else { + pwm_dev->FallValue[chan_idx] = count; + } + + // flip state machine and capture value here + /* Simple rise or fall state machine */ + TIM_ICInitTypeDef TIM_ICInitStructure = pwm_dev->cfg->tim_ic_init; + if (pwm_dev->CaptureState[chan_idx] == 0) { + /* Switch states */ + pwm_dev->CaptureState[chan_idx] = 1; + + /* Switch polarity of input capture */ + TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling; + TIM_ICInitStructure.TIM_Channel = chan->timer_chan; + TIM_ICInit(chan->timer, &TIM_ICInitStructure); + } else { + /* Capture computation */ + if (pwm_dev->FallValue[chan_idx] > pwm_dev->RiseValue[chan_idx]) { + pwm_dev->CaptureValue[chan_idx] = (pwm_dev->FallValue[chan_idx] - pwm_dev->RiseValue[chan_idx]); + } else { + pwm_dev->CaptureValue[chan_idx] = ((chan->timer->ARR - pwm_dev->RiseValue[chan_idx]) + pwm_dev->FallValue[chan_idx]); + } + + /* Switch states */ + pwm_dev->CaptureState[chan_idx] = 0; + + /* Increase supervisor counter */ + pwm_dev->CapCounter[chan_idx]++; + + /* Switch polarity of input capture */ + TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; + TIM_ICInitStructure.TIM_Channel = chan->timer_chan; + TIM_ICInit(chan->timer, &TIM_ICInitStructure); + } + } #endif diff --git a/flight/PiOS/STM32F10x/pios_servo.c b/flight/PiOS/STM32F10x/pios_servo.c index 229f371ce..cb7d98292 100644 --- a/flight/PiOS/STM32F10x/pios_servo.c +++ b/flight/PiOS/STM32F10x/pios_servo.c @@ -31,97 +31,55 @@ /* Project Includes */ #include "pios.h" #include "pios_servo_priv.h" +#include "pios_tim_priv.h" /* Private Function Prototypes */ +static const struct pios_servo_cfg * servo_cfg; + /** * Initialise Servos */ -void PIOS_Servo_Init(void) +int32_t PIOS_Servo_Init(const struct pios_servo_cfg * cfg) { -#ifndef PIOS_ENABLE_DEBUG_PINS -#if defined(PIOS_INCLUDE_SERVO) + uint32_t tim_id; + if (PIOS_TIM_InitChannels(&tim_id, cfg->channels, cfg->num_channels, NULL, 0)) { + return -1; + } + /* Store away the requested configuration */ + servo_cfg = cfg; - for (uint8_t i = 0; i < pios_servo_cfg.num_channels; i++) { - GPIO_InitTypeDef GPIO_InitStructure = pios_servo_cfg.gpio_init; - TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_servo_cfg.tim_base_init; - TIM_OCInitTypeDef TIM_OCInitStructure = pios_servo_cfg.tim_oc_init; - - struct pios_servo_channel channel = pios_servo_cfg.channels[i]; - - /* Enable appropriate clock to timer module */ - switch((int32_t) channel.timer) { - case (int32_t)TIM1: - RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); - break; - case (int32_t)TIM2: - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); - break; - case (int32_t)TIM3: - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); - break; - case (int32_t)TIM4: - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); - break; - case (int32_t)TIM5: - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE); - break; - case (int32_t)TIM6: - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE); - break; - case (int32_t)TIM7: - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE); - break; - case (int32_t)TIM8: - RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE); - break; - } - - /* Enable GPIO */ - GPIO_InitStructure.GPIO_Pin = channel.pin; - GPIO_Init(channel.port, &GPIO_InitStructure); - - /* Enable time base */ - TIM_TimeBaseInit(channel.timer, &TIM_TimeBaseStructure); - - channel.timer->PSC = (PIOS_MASTER_CLOCK / 1000000) - 1; + /* Configure the channels to be in output compare mode */ + for (uint8_t i = 0; i < cfg->num_channels; i++) { + const struct pios_tim_channel * chan = &cfg->channels[i]; /* Set up for output compare function */ - switch(channel.channel) { + switch(chan->timer_chan) { case TIM_Channel_1: - TIM_OC1Init(channel.timer, &TIM_OCInitStructure); - TIM_OC1PreloadConfig(channel.timer, TIM_OCPreload_Enable); + TIM_OC1Init(chan->timer, &cfg->tim_oc_init); + TIM_OC1PreloadConfig(chan->timer, TIM_OCPreload_Enable); break; case TIM_Channel_2: - TIM_OC2Init(channel.timer, &TIM_OCInitStructure); - TIM_OC2PreloadConfig(channel.timer, TIM_OCPreload_Enable); + TIM_OC2Init(chan->timer, &cfg->tim_oc_init); + TIM_OC2PreloadConfig(chan->timer, TIM_OCPreload_Enable); break; case TIM_Channel_3: - TIM_OC3Init(channel.timer, &TIM_OCInitStructure); - TIM_OC3PreloadConfig(channel.timer, TIM_OCPreload_Enable); + TIM_OC3Init(chan->timer, &cfg->tim_oc_init); + TIM_OC3PreloadConfig(chan->timer, TIM_OCPreload_Enable); break; case TIM_Channel_4: - TIM_OC4Init(channel.timer, &TIM_OCInitStructure); - TIM_OC4PreloadConfig(channel.timer, TIM_OCPreload_Enable); + TIM_OC4Init(chan->timer, &cfg->tim_oc_init); + TIM_OC4PreloadConfig(chan->timer, TIM_OCPreload_Enable); break; } - RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); - TIM_ARRPreloadConfig(channel.timer, ENABLE); - TIM_CtrlPWMOutputs(channel.timer, ENABLE); - TIM_Cmd(channel.timer, ENABLE); - + TIM_ARRPreloadConfig(chan->timer, ENABLE); + TIM_CtrlPWMOutputs(chan->timer, ENABLE); + TIM_Cmd(chan->timer, ENABLE); } - if(pios_servo_cfg.remap) { - /* Warning, I don't think this will work for multiple remaps at once */ - GPIO_PinRemapConfig(pios_servo_cfg.remap, ENABLE); - } - - -#endif // PIOS_INCLUDE_SERVO -#endif // PIOS_ENABLE_DEBUG_PINS + return 0; } /** @@ -131,31 +89,31 @@ void PIOS_Servo_Init(void) */ void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t banks) { -#ifndef PIOS_ENABLE_DEBUG_PINS -#if defined(PIOS_INCLUDE_SERVO) - TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_servo_cfg.tim_base_init; + if (!servo_cfg) { + return; + } + + TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = servo_cfg->tim_base_init; TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1; uint8_t set = 0; - for(uint8_t i = 0; (i < pios_servo_cfg.num_channels) && (set < banks); i++) { + for(uint8_t i = 0; (i < servo_cfg->num_channels) && (set < banks); i++) { bool new = true; - struct pios_servo_channel channel = pios_servo_cfg.channels[i]; + const struct pios_tim_channel * chan = &servo_cfg->channels[i]; /* See if any previous channels use that same timer */ for(uint8_t j = 0; (j < i) && new; j++) - new &= channel.timer != pios_servo_cfg.channels[j].timer; + new &= chan->timer != servo_cfg->channels[j].timer; if(new) { TIM_TimeBaseStructure.TIM_Period = ((1000000 / speeds[set]) - 1); - TIM_TimeBaseInit(channel.timer, &TIM_TimeBaseStructure); + TIM_TimeBaseInit(chan->timer, &TIM_TimeBaseStructure); set++; } } -#endif // PIOS_INCLUDE_SERVO -#endif // PIOS_ENABLE_DEBUG_PINS } /** @@ -163,29 +121,27 @@ void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t banks) * \param[in] Servo Servo number (0-7) * \param[in] Position Servo position in microseconds */ -void PIOS_Servo_Set(uint8_t Servo, uint16_t Position) +void PIOS_Servo_Set(uint8_t servo, uint16_t position) { -#ifndef PIOS_ENABLE_DEBUG_PINS -#if defined(PIOS_INCLUDE_SERVO) /* Make sure servo exists */ - if (Servo < pios_servo_cfg.num_channels && Servo >= 0) { - /* Update the position */ - - switch(pios_servo_cfg.channels[Servo].channel) { - case TIM_Channel_1: - TIM_SetCompare1(pios_servo_cfg.channels[Servo].timer, Position); - break; - case TIM_Channel_2: - TIM_SetCompare2(pios_servo_cfg.channels[Servo].timer, Position); - break; - case TIM_Channel_3: - TIM_SetCompare3(pios_servo_cfg.channels[Servo].timer, Position); - break; - case TIM_Channel_4: - TIM_SetCompare4(pios_servo_cfg.channels[Servo].timer, Position); - break; - } + if (!servo_cfg || servo >= servo_cfg->num_channels) { + return; + } + + /* Update the position */ + const struct pios_tim_channel * chan = &servo_cfg->channels[servo]; + switch(chan->timer_chan) { + case TIM_Channel_1: + TIM_SetCompare1(chan->timer, position); + break; + case TIM_Channel_2: + TIM_SetCompare2(chan->timer, position); + break; + case TIM_Channel_3: + TIM_SetCompare3(chan->timer, position); + break; + case TIM_Channel_4: + TIM_SetCompare4(chan->timer, position); + break; } -#endif // PIOS_INCLUDE_SERVO -#endif // PIOS_ENABLE_DEBUG_PINS } diff --git a/flight/PiOS/STM32F10x/pios_tim.c b/flight/PiOS/STM32F10x/pios_tim.c new file mode 100644 index 000000000..345c9e36e --- /dev/null +++ b/flight/PiOS/STM32F10x/pios_tim.c @@ -0,0 +1,391 @@ +#include "pios.h" + +#include "pios_tim.h" +#include "pios_tim_priv.h" + +enum pios_tim_dev_magic { + PIOS_TIM_DEV_MAGIC = 0x87654098, +}; + +struct pios_tim_dev { + enum pios_tim_dev_magic magic; + + const struct pios_tim_channel * channels; + uint8_t num_channels; + + const struct pios_tim_callbacks * callbacks; + uint32_t context; +}; + +#if 0 +static bool PIOS_TIM_validate(struct pios_tim_dev * tim_dev) +{ + return (tim_dev->magic == PIOS_TIM_DEV_MAGIC); +} +#endif + +#if defined(PIOS_INCLUDE_FREERTOS) && 0 +static struct pios_tim_dev * PIOS_TIM_alloc(void) +{ + struct pios_tim_dev * tim_dev; + + tim_dev = (struct pios_tim_dev *)malloc(sizeof(*tim_dev)); + if (!tim_dev) return(NULL); + + tim_dev->magic = PIOS_TIM_DEV_MAGIC; + return(tim_dev); +} +#else +static struct pios_tim_dev pios_tim_devs[PIOS_TIM_MAX_DEVS]; +static uint8_t pios_tim_num_devs; +static struct pios_tim_dev * PIOS_TIM_alloc(void) +{ + struct pios_tim_dev * tim_dev; + + if (pios_tim_num_devs >= PIOS_TIM_MAX_DEVS) { + return (NULL); + } + + tim_dev = &pios_tim_devs[pios_tim_num_devs++]; + tim_dev->magic = PIOS_TIM_DEV_MAGIC; + + return (tim_dev); +} +#endif + + + + +int32_t PIOS_TIM_InitClock(const struct pios_tim_clock_cfg * cfg) +{ + PIOS_DEBUG_Assert(cfg); + + /* Enable appropriate clock to timer module */ + switch((uint32_t) cfg->timer) { + case (uint32_t)TIM1: + RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); + break; + case (uint32_t)TIM2: + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); + break; + case (uint32_t)TIM3: + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); + break; + case (uint32_t)TIM4: + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); + break; +#ifdef STM32F10X_HD + case (uint32_t)TIM5: + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE); + break; + case (uint32_t)TIM6: + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE); + break; + case (uint32_t)TIM7: + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE); + break; + case (uint32_t)TIM8: + RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE); + break; +#endif + } + + /* Configure the dividers for this timer */ + TIM_TimeBaseInit(cfg->timer, cfg->time_base_init); + + /* Configure internal timer clocks */ + TIM_InternalClockConfig(cfg->timer); + + /* Enable timers */ + TIM_Cmd(cfg->timer, ENABLE); + + /* Enable Interrupts */ + NVIC_Init(&cfg->irq.init); + + return 0; +} + +int32_t PIOS_TIM_InitChannels(uint32_t * tim_id, const struct pios_tim_channel * channels, uint8_t num_channels, const struct pios_tim_callbacks * callbacks, uint32_t context) +{ + PIOS_Assert(channels); + PIOS_Assert(num_channels); + + struct pios_tim_dev * tim_dev; + tim_dev = (struct pios_tim_dev *) PIOS_TIM_alloc(); + if (!tim_dev) goto out_fail; + + /* Bind the configuration to the device instance */ + tim_dev->channels = channels; + tim_dev->num_channels = num_channels; + tim_dev->callbacks = callbacks; + tim_dev->context = context; + + /* Configure the pins */ + for (uint8_t i = 0; i < num_channels; i++) { + const struct pios_tim_channel * chan = &(channels[i]); + + /* Enable the peripheral clock for the GPIO */ + switch ((uint32_t)chan->pin.gpio) { + case (uint32_t) GPIOA: + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); + break; + case (uint32_t) GPIOB: + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); + break; + case (uint32_t) GPIOC: + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); + break; + default: + PIOS_Assert(0); + break; + } + GPIO_Init(chan->pin.gpio, &chan->pin.init); + + if (chan->remap) { + GPIO_PinRemapConfig(chan->remap, ENABLE); + } + } + + *tim_id = (uint32_t)tim_dev; + + return(0); + +out_fail: + return(-1); +} + +static void PIOS_TIM_generic_irq_handler(TIM_TypeDef * timer) +{ + /* Iterate over all registered clients of the TIM layer to find channels on this timer */ + for (uint8_t i = 0; i < pios_tim_num_devs; i++) { + const struct pios_tim_dev * tim_dev = &pios_tim_devs[i]; + + if (!tim_dev->channels || tim_dev->num_channels == 0) { + /* No channels to process on this client */ + continue; + } + + /* Check for an overflow event on this timer */ + bool overflow_event; + uint16_t overflow_count; + if (TIM_GetITStatus(timer, TIM_IT_Update) == SET) { + TIM_ClearITPendingBit(timer, TIM_IT_Update); + overflow_count = timer->ARR; + overflow_event = true; + } else { + overflow_count = 0; + overflow_event = false; + } + + for (uint8_t j = 0; j < tim_dev->num_channels; j++) { + const struct pios_tim_channel * chan = &tim_dev->channels[j]; + + if (chan->timer != timer) { + /* channel is not on this timer */ + continue; + } + + /* Figure out which interrupt bit we should be looking at */ + uint16_t timer_it; + switch (chan->timer_chan) { + case TIM_Channel_1: + timer_it = TIM_IT_CC1; + break; + case TIM_Channel_2: + timer_it = TIM_IT_CC2; + break; + case TIM_Channel_3: + timer_it = TIM_IT_CC3; + break; + case TIM_Channel_4: + timer_it = TIM_IT_CC4; + break; + default: + PIOS_Assert(0); + break; + } + + bool edge_event; + uint16_t edge_count; + if (TIM_GetITStatus(chan->timer, timer_it) == SET) { + TIM_ClearITPendingBit(chan->timer, timer_it); + + /* Read the current counter */ + switch(chan->timer_chan) { + case TIM_Channel_1: + edge_count = TIM_GetCapture1(chan->timer); + break; + case TIM_Channel_2: + edge_count = TIM_GetCapture2(chan->timer); + break; + case TIM_Channel_3: + edge_count = TIM_GetCapture3(chan->timer); + break; + case TIM_Channel_4: + edge_count = TIM_GetCapture4(chan->timer); + break; + default: + PIOS_Assert(0); + break; + } + edge_event = true; + } else { + edge_event = false; + edge_count = 0; + } + + if (!tim_dev->callbacks) { + /* No callbacks registered, we're done with this channel */ + continue; + } + + /* Generate the appropriate callbacks */ + if (overflow_event & edge_event) { + /* + * When both edge and overflow happen in the same interrupt, we + * need a heuristic to determine the order of the edge and overflow + * events so that the callbacks happen in the right order. If we + * get the order wrong, our pulse width calculations could be off by up + * to ARR ticks. That could be bad. + * + * Heuristic: If the edge_count is < 16 ticks above zero then we assume the + * edge happened just after the overflow. + */ + + if (edge_count < 16) { + /* Call the overflow callback first */ + if (tim_dev->callbacks->overflow) { + (*tim_dev->callbacks->overflow)((uint32_t)tim_dev, + tim_dev->context, + j, + overflow_count); + } + /* Call the edge callback second */ + if (tim_dev->callbacks->edge) { + (*tim_dev->callbacks->edge)((uint32_t)tim_dev, + tim_dev->context, + j, + edge_count); + } + } else { + /* Call the edge callback first */ + if (tim_dev->callbacks->edge) { + (*tim_dev->callbacks->edge)((uint32_t)tim_dev, + tim_dev->context, + j, + edge_count); + } + /* Call the overflow callback second */ + if (tim_dev->callbacks->overflow) { + (*tim_dev->callbacks->overflow)((uint32_t)tim_dev, + tim_dev->context, + j, + overflow_count); + } + } + } else if (overflow_event && tim_dev->callbacks->overflow) { + (*tim_dev->callbacks->overflow)((uint32_t)tim_dev, + tim_dev->context, + j, + overflow_count); + } else if (edge_event && tim_dev->callbacks->edge) { + (*tim_dev->callbacks->edge)((uint32_t)tim_dev, + tim_dev->context, + j, + edge_count); + } + } + } +} +#if 0 + uint16_t val = 0; + for(uint8_t i = 0; i < pios_pwm_cfg.num_channels; i++) { + struct pios_pwm_channel channel = pios_pwm_cfg.channels[i]; + if ((channel.timer == timer) && (TIM_GetITStatus(channel.timer, channel.ccr) == SET)) { + + TIM_ClearITPendingBit(channel.timer, channel.ccr); + + switch(channel.channel) { + case TIM_Channel_1: + val = TIM_GetCapture1(channel.timer); + break; + case TIM_Channel_2: + val = TIM_GetCapture2(channel.timer); + break; + case TIM_Channel_3: + val = TIM_GetCapture3(channel.timer); + break; + case TIM_Channel_4: + val = TIM_GetCapture4(channel.timer); + break; + } + + if (CaptureState[i] == 0) { + RiseValue[i] = val; + } else { + FallValue[i] = val; + } + + // flip state machine and capture value here + /* Simple rise or fall state machine */ + TIM_ICInitTypeDef TIM_ICInitStructure = pios_pwm_cfg.tim_ic_init; + if (CaptureState[i] == 0) { + /* Switch states */ + CaptureState[i] = 1; + + /* Switch polarity of input capture */ + TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling; + TIM_ICInitStructure.TIM_Channel = channel.channel; + TIM_ICInit(channel.timer, &TIM_ICInitStructure); + } else { + /* Capture computation */ + if (FallValue[i] > RiseValue[i]) { + CaptureValue[i] = (FallValue[i] - RiseValue[i]); + } else { + CaptureValue[i] = ((channel.timer->ARR - RiseValue[i]) + FallValue[i]); + } + + /* Switch states */ + CaptureState[i] = 0; + + /* Increase supervisor counter */ + CapCounter[i]++; + + /* Switch polarity of input capture */ + TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; + TIM_ICInitStructure.TIM_Channel = channel.channel; + TIM_ICInit(channel.timer, &TIM_ICInitStructure); + } + } + } +#endif + +/* Bind Interrupt Handlers + * + * Map all valid TIM IRQs to the common interrupt handler + * and give it enough context to properly demux the various timers + */ +static void PIOS_TIM_1_irq_handler (void) +{ + PIOS_TIM_generic_irq_handler (TIM1); +} +void TIM1_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_1_irq_handler"))); + +static void PIOS_TIM_2_irq_handler (void) +{ + PIOS_TIM_generic_irq_handler (TIM2); +} +void TIM2_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_2_irq_handler"))); + +void TIM3_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_3_irq_handler"))); +static void PIOS_TIM_3_irq_handler (void) +{ + PIOS_TIM_generic_irq_handler (TIM3); +} + +void TIM4_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_4_irq_handler"))); +static void PIOS_TIM_4_irq_handler (void) +{ + PIOS_TIM_generic_irq_handler (TIM4); +} + diff --git a/flight/PiOS/inc/pios_debug.h b/flight/PiOS/inc/pios_debug.h index e663d224e..4dc5f5b3e 100644 --- a/flight/PiOS/inc/pios_debug.h +++ b/flight/PiOS/inc/pios_debug.h @@ -33,7 +33,9 @@ extern const char *PIOS_DEBUG_AssertMsg; -void PIOS_DEBUG_Init(void); +#include + +void PIOS_DEBUG_Init(const struct pios_tim_channel * channels, uint8_t num_channels); void PIOS_DEBUG_PinHigh(uint8_t pin); void PIOS_DEBUG_PinLow(uint8_t pin); void PIOS_DEBUG_PinValue8Bit(uint8_t value); diff --git a/flight/PiOS/inc/pios_ppm_priv.h b/flight/PiOS/inc/pios_ppm_priv.h index fd863fc50..0facab9d5 100644 --- a/flight/PiOS/inc/pios_ppm_priv.h +++ b/flight/PiOS/inc/pios_ppm_priv.h @@ -35,24 +35,14 @@ #include struct pios_ppm_cfg { - TIM_TimeBaseInitTypeDef tim_base_init; TIM_ICInitTypeDef tim_ic_init; - GPIO_InitTypeDef gpio_init; - uint32_t remap; /* GPIO_Remap_* */ - struct stm32_irq irq; - TIM_TypeDef * timer; - GPIO_TypeDef * port; - uint16_t ccr; + const struct pios_tim_channel * channels; + uint8_t num_channels; }; -extern void PIOS_PPM_irq_handler(); - -extern uint8_t pios_ppm_num_channels; -extern const struct pios_ppm_cfg pios_ppm_cfg; - extern const struct pios_rcvr_driver pios_ppm_rcvr_driver; -extern void PIOS_PPM_Init(void); +extern int32_t PIOS_PPM_Init(uint32_t * ppm_id, const struct pios_ppm_cfg * cfg); #endif /* PIOS_PPM_PRIV_H */ diff --git a/flight/PiOS/inc/pios_pwm_priv.h b/flight/PiOS/inc/pios_pwm_priv.h index 23d7d4818..fe11b3d60 100644 --- a/flight/PiOS/inc/pios_pwm_priv.h +++ b/flight/PiOS/inc/pios_pwm_priv.h @@ -34,32 +34,17 @@ #include #include -struct pios_pwm_channel { - TIM_TypeDef * timer; - GPIO_TypeDef * port; - uint16_t ccr; - uint8_t channel; - uint16_t pin; -}; +#include struct pios_pwm_cfg { - TIM_TimeBaseInitTypeDef tim_base_init; TIM_ICInitTypeDef tim_ic_init; - GPIO_InitTypeDef gpio_init; - uint32_t remap; /* GPIO_Remap_* */ - struct stm32_irq irq; - const struct pios_pwm_channel *const channels; + const struct pios_tim_channel * channels; uint8_t num_channels; }; -extern void PIOS_PWM_irq_handler(TIM_TypeDef * timer); - -extern uint8_t pios_pwm_num_channels; -extern const struct pios_pwm_cfg pios_pwm_cfg; - extern const struct pios_rcvr_driver pios_pwm_rcvr_driver; -extern void PIOS_PWM_Init(void); +extern int32_t PIOS_PWM_Init(uint32_t * pwm_id, const struct pios_pwm_cfg * cfg); #endif /* PIOS_PWM_PRIV_H */ diff --git a/flight/PiOS/inc/pios_servo.h b/flight/PiOS/inc/pios_servo.h index 2d621cb25..043d656df 100644 --- a/flight/PiOS/inc/pios_servo.h +++ b/flight/PiOS/inc/pios_servo.h @@ -31,7 +31,6 @@ #define PIOS_SERVO_H /* Public Functions */ -extern void PIOS_Servo_Init(void); extern void PIOS_Servo_SetHz(uint16_t * update_rates, uint8_t channels); extern void PIOS_Servo_Set(uint8_t Servo, uint16_t Position); diff --git a/flight/PiOS/inc/pios_servo_priv.h b/flight/PiOS/inc/pios_servo_priv.h index a1136c46d..f5ed86e25 100644 --- a/flight/PiOS/inc/pios_servo_priv.h +++ b/flight/PiOS/inc/pios_servo_priv.h @@ -33,25 +33,18 @@ #include #include - -struct pios_servo_channel { - TIM_TypeDef * timer; - GPIO_TypeDef * port; - uint8_t channel; - uint16_t pin; -}; +#include struct pios_servo_cfg { TIM_TimeBaseInitTypeDef tim_base_init; TIM_OCInitTypeDef tim_oc_init; GPIO_InitTypeDef gpio_init; uint32_t remap; - const struct pios_servo_channel *const channels; + const struct pios_tim_channel * channels; uint8_t num_channels; }; - -extern const struct pios_servo_cfg pios_servo_cfg; +extern int32_t PIOS_Servo_Init(const struct pios_servo_cfg * cfg); #endif /* PIOS_SERVO_PRIV_H */ diff --git a/flight/PiOS/inc/pios_tim.h b/flight/PiOS/inc/pios_tim.h new file mode 100644 index 000000000..0bad07f41 --- /dev/null +++ b/flight/PiOS/inc/pios_tim.h @@ -0,0 +1,4 @@ +#ifndef PIOS_TIM_H +#define PIOS_TIM_H + +#endif /* PIOS_TIM_H */ diff --git a/flight/PiOS/inc/pios_tim_priv.h b/flight/PiOS/inc/pios_tim_priv.h new file mode 100644 index 000000000..7f05719f8 --- /dev/null +++ b/flight/PiOS/inc/pios_tim_priv.h @@ -0,0 +1,28 @@ +#ifndef PIOS_TIM_PRIV_H +#define PIOS_TIM_PRIV_H + +#include + +struct pios_tim_clock_cfg { + TIM_TypeDef * timer; + const TIM_TimeBaseInitTypeDef * time_base_init; + struct stm32_irq irq; +}; + +struct pios_tim_channel { + TIM_TypeDef * timer; + uint8_t timer_chan; + + struct stm32_gpio pin; + uint32_t remap; +}; + +struct pios_tim_callbacks { + void (*overflow)(uint32_t tim_id, uint32_t context, uint8_t chan_idx, uint16_t count); + void (*edge)(uint32_t tim_id, uint32_t context, uint8_t chan_idx, uint16_t count); +}; + +extern int32_t PIOS_TIM_InitClock(const struct pios_tim_clock_cfg * cfg); +extern int32_t PIOS_TIM_InitChannels(uint32_t * tim_id, const struct pios_tim_channel * channels, uint8_t num_channels, const struct pios_tim_callbacks * callbacks, uint32_t context); + +#endif /* PIOS_TIM_PRIV_H */ From 86ce79af1d1395fd1aec6e36a21926931f5c33cc Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Wed, 31 Aug 2011 21:43:57 -0400 Subject: [PATCH 37/57] openpilot: fix compile error on OP --- flight/OpenPilot/System/pios_board.c | 27 ++++++++++++++------------- 1 file changed, 14 insertions(+), 13 deletions(-) diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c index e17ad5653..7634f90e1 100644 --- a/flight/OpenPilot/System/pios_board.c +++ b/flight/OpenPilot/System/pios_board.c @@ -1168,19 +1168,20 @@ void PIOS_Board_Init(void) { break; case HWSETTINGS_OP_FLEXIPORT_GPS: #if defined(PIOS_INCLUDE_GPS) - { - uint32_t pios_usart_gps_id; - if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) { - PIOS_Assert(0); - } - uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN); - uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_TX_BUF_LEN); - PIOS_Assert(rx_buffer); - PIOS_Assert(tx_buffer); - if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id, - rx_buffer, PIOS_COM_GPS_RX_BUF_LEN, - tx_buffer, PIOS_COM_GPS_TX_BUF_LEN)) { - PIOS_Assert(0); + { + uint32_t pios_usart_gps_id; + if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) { + PIOS_Assert(0); + } + uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN); + uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_TX_BUF_LEN); + PIOS_Assert(rx_buffer); + PIOS_Assert(tx_buffer); + if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id, + rx_buffer, PIOS_COM_GPS_RX_BUF_LEN, + tx_buffer, PIOS_COM_GPS_TX_BUF_LEN)) { + PIOS_Assert(0); + } } #endif /* PIOS_INCLUDE_GPS */ break; From 43b31efb76d16dd7f23eef31926823bcaee75277 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Wed, 31 Aug 2011 22:35:03 -0400 Subject: [PATCH 38/57] pios: allocate driver instance data from heap Allocate per-instance data for drivers from the heap rather than as static variables from the .data segment. This converts > 800 bytes of RAM from being always consumed as static data into being allocated from the heap only when a particular feature is enabled in the hwsettings object. A minimal config (no receivers, flexi port disabled, main port disabled) leaves 2448 bytes of free heap. That's our new baseline. Approximate RAM (heap) costs of enabling various features: + 632 Serial Telemetry (includes 400 bytes of Rx/Tx buffers) + 108 PWM Rcvr + 152 PPM Rcvr + 112 Spektrum Rcvr + 24 S.Bus (Should be closer to 68 since driver is still using static memory) There are still some drivers that pre-allocate all of their memory as static data. It'll take some work to convert those over to dynamically allocating their instance data. --- flight/PiOS/Common/pios_com.c | 4 ++-- flight/PiOS/Common/pios_rcvr.c | 4 ++-- flight/PiOS/STM32F10x/pios_i2c.c | 8 ++++---- flight/PiOS/STM32F10x/pios_ppm.c | 4 ++-- flight/PiOS/STM32F10x/pios_pwm.c | 4 ++-- flight/PiOS/STM32F10x/pios_spektrum.c | 4 ++-- flight/PiOS/STM32F10x/pios_spi.c | 4 ++-- flight/PiOS/STM32F10x/pios_usart.c | 4 ++-- flight/PiOS/STM32F10x/pios_usb_hid.c | 4 ++-- 9 files changed, 20 insertions(+), 20 deletions(-) diff --git a/flight/PiOS/Common/pios_com.c b/flight/PiOS/Common/pios_com.c index b7a9a67e5..e7fba8867 100644 --- a/flight/PiOS/Common/pios_com.c +++ b/flight/PiOS/Common/pios_com.c @@ -67,12 +67,12 @@ static bool PIOS_COM_validate(struct pios_com_dev * com_dev) return (com_dev && (com_dev->magic == PIOS_COM_DEV_MAGIC)); } -#if defined(PIOS_INCLUDE_FREERTOS) && 0 +#if defined(PIOS_INCLUDE_FREERTOS) static struct pios_com_dev * PIOS_COM_alloc(void) { struct pios_com_dev * com_dev; - com_dev = (struct pios_com_dev *)malloc(sizeof(*com_dev)); + com_dev = (struct pios_com_dev *)pvPortMalloc(sizeof(*com_dev)); if (!com_dev) return (NULL); com_dev->magic = PIOS_COM_DEV_MAGIC; diff --git a/flight/PiOS/Common/pios_rcvr.c b/flight/PiOS/Common/pios_rcvr.c index 29acb2594..43275ba6b 100644 --- a/flight/PiOS/Common/pios_rcvr.c +++ b/flight/PiOS/Common/pios_rcvr.c @@ -20,12 +20,12 @@ static bool PIOS_RCVR_validate(struct pios_rcvr_dev * rcvr_dev) return (rcvr_dev->magic == PIOS_RCVR_DEV_MAGIC); } -#if defined(PIOS_INCLUDE_FREERTOS) && 0 +#if defined(PIOS_INCLUDE_FREERTOS) static struct pios_rcvr_dev * PIOS_RCVR_alloc(void) { struct pios_rcvr_dev * rcvr_dev; - rcvr_dev = (struct pios_rcvr_dev *)malloc(sizeof(*rcvr_dev)); + rcvr_dev = (struct pios_rcvr_dev *)pvPortMalloc(sizeof(*rcvr_dev)); if (!rcvr_dev) return (NULL); rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC; diff --git a/flight/PiOS/STM32F10x/pios_i2c.c b/flight/PiOS/STM32F10x/pios_i2c.c index 0d47fd117..6e623d597 100644 --- a/flight/PiOS/STM32F10x/pios_i2c.c +++ b/flight/PiOS/STM32F10x/pios_i2c.c @@ -823,12 +823,12 @@ static bool PIOS_I2C_validate(struct pios_i2c_adapter * i2c_adapter) return (i2c_adapter->magic == PIOS_I2C_DEV_MAGIC); } -#if defined(PIOS_INCLUDE_FREERTOS) && 0 -static struct pios_i2c_dev * PIOS_I2C_alloc(void) +#if defined(PIOS_INCLUDE_FREERTOS) +static struct pios_i2c_adapter * PIOS_I2C_alloc(void) { - struct pios_i2c_dev * i2c_adapter; + struct pios_i2c_adapter * i2c_adapter; - i2c_adapter = (struct pios_i2c_adapter *)malloc(sizeof(*i2c_adapter)); + i2c_adapter = (struct pios_i2c_adapter *)pvPortMalloc(sizeof(*i2c_adapter)); if (!i2c_adapter) return(NULL); i2c_adapter->magic = PIOS_I2C_DEV_MAGIC; diff --git a/flight/PiOS/STM32F10x/pios_ppm.c b/flight/PiOS/STM32F10x/pios_ppm.c index 0b7a1c5cd..d3ebeebf3 100644 --- a/flight/PiOS/STM32F10x/pios_ppm.c +++ b/flight/PiOS/STM32F10x/pios_ppm.c @@ -83,12 +83,12 @@ static bool PIOS_PPM_validate(struct pios_ppm_dev * ppm_dev) return (ppm_dev->magic == PIOS_PPM_DEV_MAGIC); } -#if defined(PIOS_INCLUDE_FREERTOS) && 0 +#if defined(PIOS_INCLUDE_FREERTOS) static struct pios_ppm_dev * PIOS_PPM_alloc(void) { struct pios_ppm_dev * ppm_dev; - ppm_dev = (struct pios_ppm_dev *)malloc(sizeof(*ppm_dev)); + ppm_dev = (struct pios_ppm_dev *)pvPortMalloc(sizeof(*ppm_dev)); if (!ppm_dev) return(NULL); ppm_dev->magic = PIOS_PPM_DEV_MAGIC; diff --git a/flight/PiOS/STM32F10x/pios_pwm.c b/flight/PiOS/STM32F10x/pios_pwm.c index 9717f66fc..a1276c88c 100644 --- a/flight/PiOS/STM32F10x/pios_pwm.c +++ b/flight/PiOS/STM32F10x/pios_pwm.c @@ -63,12 +63,12 @@ static bool PIOS_PWM_validate(struct pios_pwm_dev * pwm_dev) return (pwm_dev->magic == PIOS_PWM_DEV_MAGIC); } -#if defined(PIOS_INCLUDE_FREERTOS) && 0 +#if defined(PIOS_INCLUDE_FREERTOS) static struct pios_pwm_dev * PIOS_PWM_alloc(void) { struct pios_pwm_dev * pwm_dev; - pwm_dev = (struct pios_pwm_dev *)malloc(sizeof(*pwm_dev)); + pwm_dev = (struct pios_pwm_dev *)pvPortMalloc(sizeof(*pwm_dev)); if (!pwm_dev) return(NULL); pwm_dev->magic = PIOS_PWM_DEV_MAGIC; diff --git a/flight/PiOS/STM32F10x/pios_spektrum.c b/flight/PiOS/STM32F10x/pios_spektrum.c index dab724ef8..f0a611671 100644 --- a/flight/PiOS/STM32F10x/pios_spektrum.c +++ b/flight/PiOS/STM32F10x/pios_spektrum.c @@ -82,12 +82,12 @@ static bool PIOS_SPEKTRUM_validate(struct pios_spektrum_dev * spektrum_dev) return (spektrum_dev->magic == PIOS_SPEKTRUM_DEV_MAGIC); } -#if defined(PIOS_INCLUDE_FREERTOS) && 0 +#if defined(PIOS_INCLUDE_FREERTOS) static struct pios_spektrum_dev * PIOS_SPEKTRUM_alloc(void) { struct pios_spektrum_dev * spektrum_dev; - spektrum_dev = (struct pios_spektrum_dev *)malloc(sizeof(*spektrum_dev)); + spektrum_dev = (struct pios_spektrum_dev *)pvPortMalloc(sizeof(*spektrum_dev)); if (!spektrum_dev) return(NULL); spektrum_dev->magic = PIOS_SPEKTRUM_DEV_MAGIC; diff --git a/flight/PiOS/STM32F10x/pios_spi.c b/flight/PiOS/STM32F10x/pios_spi.c index 74a14afc0..a5e57335f 100644 --- a/flight/PiOS/STM32F10x/pios_spi.c +++ b/flight/PiOS/STM32F10x/pios_spi.c @@ -46,10 +46,10 @@ static bool PIOS_SPI_validate(struct pios_spi_dev * com_dev) return(true); } -#if defined(PIOS_INCLUDE_FREERTOS) && 0 +#if defined(PIOS_INCLUDE_FREERTOS) static struct pios_spi_dev * PIOS_SPI_alloc(void) { - return (malloc(sizeof(struct pios_spi_dev))); + return (pvPortMalloc(sizeof(struct pios_spi_dev))); } #else static struct pios_spi_dev pios_spi_devs[PIOS_SPI_MAX_DEVS]; diff --git a/flight/PiOS/STM32F10x/pios_usart.c b/flight/PiOS/STM32F10x/pios_usart.c index 8582344b5..68a9265ee 100644 --- a/flight/PiOS/STM32F10x/pios_usart.c +++ b/flight/PiOS/STM32F10x/pios_usart.c @@ -70,12 +70,12 @@ static bool PIOS_USART_validate(struct pios_usart_dev * usart_dev) return (usart_dev->magic == PIOS_USART_DEV_MAGIC); } -#if defined(PIOS_INCLUDE_FREERTOS) && 0 +#if defined(PIOS_INCLUDE_FREERTOS) static struct pios_usart_dev * PIOS_USART_alloc(void) { struct pios_usart_dev * usart_dev; - usart_dev = (struct pios_usart_dev *)malloc(sizeof(*usart_dev)); + usart_dev = (struct pios_usart_dev *)pvPortMalloc(sizeof(*usart_dev)); if (!usart_dev) return(NULL); usart_dev->magic = PIOS_USART_DEV_MAGIC; diff --git a/flight/PiOS/STM32F10x/pios_usb_hid.c b/flight/PiOS/STM32F10x/pios_usb_hid.c index 0ebca1320..8644dd517 100644 --- a/flight/PiOS/STM32F10x/pios_usb_hid.c +++ b/flight/PiOS/STM32F10x/pios_usb_hid.c @@ -75,12 +75,12 @@ static bool PIOS_USB_HID_validate(struct pios_usb_hid_dev * usb_hid_dev) return (usb_hid_dev->magic == PIOS_USB_HID_DEV_MAGIC); } -#if defined(PIOS_INCLUDE_FREERTOS) && 0 +#if defined(PIOS_INCLUDE_FREERTOS) static struct pios_usb_hid_dev * PIOS_USB_HID_alloc(void) { struct pios_usb_hid_dev * usb_hid_dev; - usb_hid_dev = (struct pios_usb_hid_dev *)malloc(sizeof(*usb_hid_dev)); + usb_hid_dev = (struct pios_usb_hid_dev *)pvPortMalloc(sizeof(*usb_hid_dev)); if (!usb_hid_dev) return(NULL); usb_hid_dev->magic = PIOS_USB_HID_DEV_MAGIC; From ae1dd945b131c344e23acd1f5b4e9c1e3afd7ad8 Mon Sep 17 00:00:00 2001 From: Mathieu Rondonneau Date: Thu, 1 Sep 2011 21:50:13 -0400 Subject: [PATCH 39/57] Fix win32 sim macro problem This is to get the macro in pios.win32 in sync with sim posix and real flight. --- flight/PiOS.win32/inc/pios_initcall.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flight/PiOS.win32/inc/pios_initcall.h b/flight/PiOS.win32/inc/pios_initcall.h index edd9ddc08..bdb47cc8e 100644 --- a/flight/PiOS.win32/inc/pios_initcall.h +++ b/flight/PiOS.win32/inc/pios_initcall.h @@ -38,7 +38,7 @@ * and we cannot define a linker script for each of them atm */ -#define MODULE_INITCALL(ifn, iparam, sfn, sparam, flags) +#define MODULE_INITCALL(ifn, sfn) #define MODULE_TASKCREATE_ALL From 1de58ebb875d13713df24a348cbda9c339efa829 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Mon, 29 Aug 2011 11:37:22 -0500 Subject: [PATCH 40/57] Make scope gadget check if object exists before using it. Avoids segfaults when scoped objects disappear. --- .../openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp b/ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp index fb2bbf796..dfbd9d614 100644 --- a/ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp +++ b/ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp @@ -385,8 +385,15 @@ void ScopeGadgetWidget::addCurvePlot(QString uavObject, QString uavFieldSubField ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); UAVDataObject* obj = dynamic_cast(objManager->getObject((plotData->uavObject))); - + if(!obj) { + qDebug() << "Object " << plotData->uavObject << " is missing"; + return; + } UAVObjectField* field = obj->getField(plotData->uavField); + if(!field) { + qDebug() << "Field " << plotData->uavField << " of object " << plotData->uavObject << " is missing"; + return; + } QString units = field->getUnits(); if(units == 0) From e18288085c7911d4394135b7913138d7595c0bd0 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Fri, 2 Sep 2011 13:26:28 -0500 Subject: [PATCH 41/57] OP-390 Make the object saving throw an error message on save failures. --- .../uavobjectutil/uavobjectutilmanager.cpp | 24 +++++++++++++++---- 1 file changed, 19 insertions(+), 5 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp index b5070c269..8caafca48 100644 --- a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp +++ b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp @@ -34,6 +34,8 @@ #include #include #include +#include +#include // ****************************** // constructor/destructor @@ -168,18 +170,30 @@ void UAVObjectUtilManager::objectPersistenceTransactionCompleted(UAVObject* obj, */ void UAVObjectUtilManager::objectPersistenceOperationFailed() { - qDebug() << "objectPersistenceOperationFailed"; if(saveState == AWAITING_COMPLETED) { //TODO: some warning that this operation failed somehow // We have to disconnect the object persistence 'updated' signal // and ask to save the next object: - UAVObject *obj = getObjectManager()->getObject(ObjectPersistence::NAME); - obj->disconnect(this); - queue.dequeue(); // We can now remove the object, it failed anyway. + + ObjectPersistence * objectPersistence = ObjectPersistence::GetInstance(getObjectManager()); + Q_ASSERT(objectPersistence); + + UAVObject* obj = queue.dequeue(); // We can now remove the object, it failed anyway. + Q_ASSERT(obj); + + objectPersistence->disconnect(this); + saveState = IDLE; - emit saveCompleted(obj->getField("ObjectID")->getValue().toInt(), false); + emit saveCompleted(obj->getObjID(), false); + + // For now cause error message here to make sure user knows + QErrorMessage err; + err.showMessage("Saving object " + obj->getName() + " failed. Please try again"); + err.exec(); + saveNextObject(); } + } From d28f0c4c7871a700af01730b7a965b655113a806 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sat, 3 Sep 2011 21:22:48 -0500 Subject: [PATCH 42/57] GCS Config Stabilization: Increase maximum rate that can be entered to 500 deg/s from 300 deg/s for heli people. --- .../openpilotgcs/src/plugins/config/stabilization.ui | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui index 799c50880..5c2de727e 100644 --- a/ground/openpilotgcs/src/plugins/config/stabilization.ui +++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui @@ -601,21 +601,21 @@ When you change one, the other is updated. - 300 + 500 - 300 + 500 - 300 + 500 @@ -644,21 +644,21 @@ When you change one, the other is updated. - 300 + 500 - 300 + 500 - 300 + 500 From 697dbf4f5f1bb860c693d5519bb12f7b364a36b5 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sat, 3 Sep 2011 23:47:56 -0500 Subject: [PATCH 43/57] OP-568 PIOS_RCVR: Standardize the values that are returned from the PIOS_RCVR and make them symbolic constants. - A timeout is 0 - A missing driver is 65534 - An invalid channel is 65535 ManualControl: Make it deal with the values explicitly. A timed out value should not be treated like a minimum duration signal. Instead it does not updated the scaled value but marks the data window as invalid to trigger the failsafe. --- flight/Modules/ManualControl/manualcontrol.c | 33 +++++++++++++++---- flight/PiOS/Common/pios_rcvr.c | 3 ++ flight/PiOS/STM32F10x/pios_ppm.c | 9 +++-- flight/PiOS/STM32F10x/pios_spektrum.c | 4 +-- flight/PiOS/inc/pios_rcvr.h | 4 +++ .../OpenPilotOSX.xcodeproj/project.pbxproj | 12 +++++++ 6 files changed, 52 insertions(+), 13 deletions(-) diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c index 9165f06f8..3e2662bce 100644 --- a/flight/Modules/ManualControl/manualcontrol.c +++ b/flight/Modules/ManualControl/manualcontrol.c @@ -202,6 +202,8 @@ static void manualControlTask(void *parameters) if (!ManualControlCommandReadOnly(&cmd)) { + bool valid_input_detected = true; + // Read channel values in us for (uint8_t n = 0; n < MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM && n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; @@ -209,14 +211,20 @@ static void manualControlTask(void *parameters) extern uint32_t pios_rcvr_group_map[]; if (settings.ChannelGroups[n] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { - cmd.Channel[n] = -1; - } else if (!pios_rcvr_group_map[settings.ChannelGroups[n]]) { - cmd.Channel[n] = -2; + cmd.Channel[n] = PIOS_RCVR_INVALID; } else { cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_group_map[settings.ChannelGroups[n]], settings.ChannelNumber[n]); } - scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n]); + + // If a channel has timed out this is not valid data and we shouldn't update anything + // until we decide to go to failsafe + if(cmd.Channel[n] == PIOS_RCVR_TIMEOUT) + valid_input_detected = false; + else if (cmd.Channel[n] == PIOS_RCVR_INVALID) + scaledChannel[n] = 0; + else + scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n]); } // Check settings, if error raise alarm @@ -224,7 +232,20 @@ static void manualControlTask(void *parameters) settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE || settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE || settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE || - settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE || + // Check all channel mappings are valid + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == PIOS_RCVR_INVALID || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] == PIOS_RCVR_INVALID || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] == PIOS_RCVR_INVALID || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] == PIOS_RCVR_INVALID || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == PIOS_RCVR_INVALID || + // Check the driver is exists + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == PIOS_RCVR_NODRIVER || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] == PIOS_RCVR_NODRIVER || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] == PIOS_RCVR_NODRIVER || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] == PIOS_RCVR_NODRIVER || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == PIOS_RCVR_NODRIVER) { + AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL); cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE; ManualControlCommandSet(&cmd); @@ -232,7 +253,7 @@ static void manualControlTask(void *parameters) } // decide if we have valid manual input or not - bool valid_input_detected = validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE]) && + valid_input_detected &= validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE]) && validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL]) && validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW]) && validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH]); diff --git a/flight/PiOS/Common/pios_rcvr.c b/flight/PiOS/Common/pios_rcvr.c index 29acb2594..b76e04a44 100644 --- a/flight/PiOS/Common/pios_rcvr.c +++ b/flight/PiOS/Common/pios_rcvr.c @@ -78,6 +78,9 @@ out_fail: int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel) { + if (rcvr_id == 0) + return PIOS_RCVR_NODRIVER; + struct pios_rcvr_dev * rcvr_dev = (struct pios_rcvr_dev *)rcvr_id; if (!PIOS_RCVR_validate(rcvr_dev)) { diff --git a/flight/PiOS/STM32F10x/pios_ppm.c b/flight/PiOS/STM32F10x/pios_ppm.c index 0b7a1c5cd..bee955861 100644 --- a/flight/PiOS/STM32F10x/pios_ppm.c +++ b/flight/PiOS/STM32F10x/pios_ppm.c @@ -47,7 +47,6 @@ const struct pios_rcvr_driver pios_ppm_rcvr_driver = { #define PIOS_PPM_IN_MIN_SYNC_PULSE_US 3800 // microseconds #define PIOS_PPM_IN_MIN_CHANNEL_PULSE_US 750 // microseconds #define PIOS_PPM_IN_MAX_CHANNEL_PULSE_US 2250 // microseconds -#define PIOS_PPM_INPUT_INVALID 0 /* Local Variables */ static TIM_ICInitTypeDef TIM_ICInitStructure; @@ -290,7 +289,7 @@ static void PIOS_PPM_tim_edge_cb (uint32_t tim_id, uint32_t context, uint8_t cha } for (uint32_t i = ppm_dev->NumChannels; i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) { - ppm_dev->CaptureValue[i] = PIOS_PPM_INPUT_INVALID; + ppm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT; } } @@ -314,7 +313,7 @@ static void PIOS_PPM_tim_edge_cb (uint32_t tim_id, uint32_t context, uint8_t cha /* Not a valid pulse duration */ ppm_dev->Tracking = FALSE; for (uint32_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS ; i++) { - ppm_dev->CaptureValueNewFrame[i] = PIOS_PPM_INPUT_INVALID; + ppm_dev->CaptureValueNewFrame[i] = PIOS_RCVR_TIMEOUT; } } } @@ -342,8 +341,8 @@ static void PIOS_PPM_Supervisor(uint32_t ppm_id) { ppm_dev->Tracking = FALSE; for (int32_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS ; i++) { - ppm_dev->CaptureValue[i] = PIOS_PPM_INPUT_INVALID; - ppm_dev->CaptureValueNewFrame[i] = PIOS_PPM_INPUT_INVALID; + ppm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT; + ppm_dev->CaptureValueNewFrame[i] = PIOS_RCVR_TIMEOUT; } } diff --git a/flight/PiOS/STM32F10x/pios_spektrum.c b/flight/PiOS/STM32F10x/pios_spektrum.c index dab724ef8..53142069a 100644 --- a/flight/PiOS/STM32F10x/pios_spektrum.c +++ b/flight/PiOS/STM32F10x/pios_spektrum.c @@ -338,8 +338,8 @@ static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id) /* signal lost */ fsm->sync_of = 0; for (int i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) { - fsm->CaptureValue[i] = 0; - fsm->CaptureValueTemp[i] = 0; + fsm->CaptureValue[i] = PIOS_RCVR_TIMEOUT; + fsm->CaptureValueTemp[i] = PIOS_RCVR_TIMEOUT; } } spektrum_dev->supv_timer = 0; diff --git a/flight/PiOS/inc/pios_rcvr.h b/flight/PiOS/inc/pios_rcvr.h index 0f4e6a973..ce28d37af 100644 --- a/flight/PiOS/inc/pios_rcvr.h +++ b/flight/PiOS/inc/pios_rcvr.h @@ -39,6 +39,10 @@ struct pios_rcvr_driver { /* Public Functions */ extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel); +#define PIOS_RCVR_TIMEOUT 0 +#define PIOS_RCVR_NODRIVER 65534 +#define PIOS_RCVR_INVALID 65535 + #endif /* PIOS_RCVR_H */ /** diff --git a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj index ceca7eafb..da0793b51 100644 --- a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj +++ b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj @@ -91,6 +91,12 @@ 65632DF51251650300469B77 /* pios_board.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_board.h; sourceTree = ""; }; 65632DF61251650300469B77 /* STM32103CB_AHRS.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM32103CB_AHRS.h; sourceTree = ""; }; 65632DF71251650300469B77 /* STM3210E_OP.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM3210E_OP.h; sourceTree = ""; }; + 65643CAB1413322000A32F59 /* pios_rcvr_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_rcvr_priv.h; sourceTree = ""; }; + 65643CAC1413322000A32F59 /* pios_rcvr.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_rcvr.h; sourceTree = ""; }; + 65643CAD1413322000A32F59 /* pios_rtc_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_rtc_priv.h; sourceTree = ""; }; + 65643CAE1413322000A32F59 /* pios_sbus_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_sbus_priv.h; sourceTree = ""; }; + 65643CAF1413322000A32F59 /* pios_sbus.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_sbus.h; sourceTree = ""; }; + 65643CB01413322000A32F59 /* pios_spektrum_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_spektrum_priv.h; sourceTree = ""; }; 6572CB1613D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_memory.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = link_STM32103CB_CC_Rev1_memory.ld; path = ../../PiOS/STM32F10x/link_STM32103CB_CC_Rev1_memory.ld; sourceTree = SOURCE_ROOT; }; 6572CB1713D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_sections.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = link_STM32103CB_CC_Rev1_sections.ld; path = ../../PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld; sourceTree = SOURCE_ROOT; }; 657CEEAD121DB6C8007A1FBE /* homelocation.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = homelocation.xml; sourceTree = ""; }; @@ -7724,11 +7730,17 @@ 65E8F04811EFF25C00BBF654 /* pios_ppm.h */, 65E8F04911EFF25C00BBF654 /* pios_pwm.h */, 657FF86A12EA8BFB00801617 /* pios_pwm_priv.h */, + 65643CAC1413322000A32F59 /* pios_rcvr.h */, + 65643CAB1413322000A32F59 /* pios_rcvr_priv.h */, 6589A9E2131DF1C7006BD67C /* pios_rtc.h */, + 65643CAD1413322000A32F59 /* pios_rtc_priv.h */, + 65643CAE1413322000A32F59 /* pios_sbus_priv.h */, + 65643CAF1413322000A32F59 /* pios_sbus.h */, 65E8F04A11EFF25C00BBF654 /* pios_sdcard.h */, 65E8F04B11EFF25C00BBF654 /* pios_servo.h */, 65FBE14412E7C98100176B5A /* pios_servo_priv.h */, 65E8F04C11EFF25C00BBF654 /* pios_spektrum.h */, + 65643CB01413322000A32F59 /* pios_spektrum_priv.h */, 65E8F04D11EFF25C00BBF654 /* pios_spi.h */, 65E8F04E11EFF25C00BBF654 /* pios_spi_priv.h */, 65E8F04F11EFF25C00BBF654 /* pios_stm32.h */, From d3de8ff0effe2616e837adc1ca4586ed91f2d085 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sat, 3 Sep 2011 23:57:51 -0500 Subject: [PATCH 44/57] OP-559: Process the arm status when disconnect and allow it to timeout and disarm --- flight/Modules/ManualControl/manualcontrol.c | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c index 3e2662bce..db9e75dc4 100644 --- a/flight/Modules/ManualControl/manualcontrol.c +++ b/flight/Modules/ManualControl/manualcontrol.c @@ -278,7 +278,6 @@ static void manualControlTask(void *parameters) // Important: Throttle < 0 will reset Stabilization coefficients among other things. Either change this, // or leave throttle at IDLE speed or above when going into AUTO-failsafe. AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); - ManualControlCommandSet(&cmd); } else { AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL); @@ -314,13 +313,15 @@ static void manualControlTask(void *parameters) processFlightMode(&settings, flightMode); - processArm(&cmd, &settings); - - // Update cmd object - ManualControlCommandSet(&cmd); } + // Process arming outside conditional so system will disarm when disconnected + processArm(&cmd, &settings); + + // Update cmd object + ManualControlCommandSet(&cmd); + } else { ManualControlCommandGet(&cmd); /* Under GCS control */ } @@ -645,7 +646,7 @@ static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData } else { // Not really needed since this function not called when disconnected if (cmd->Connected == MANUALCONTROLCOMMAND_CONNECTED_FALSE) - return; + lowThrottle = true; // The throttle is not low, in case we where arming or disarming, abort if (!lowThrottle) { From 20de0462924eb6c4c8ef22091a31ed663c816df4 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sun, 4 Sep 2011 00:07:34 -0500 Subject: [PATCH 45/57] Force system to be disarmed when a bad configuration is present --- flight/Modules/ManualControl/manualcontrol.c | 6 ++++++ .../OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj | 2 ++ 2 files changed, 8 insertions(+) diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c index db9e75dc4..de8937f92 100644 --- a/flight/Modules/ManualControl/manualcontrol.c +++ b/flight/Modules/ManualControl/manualcontrol.c @@ -81,6 +81,7 @@ static void updateActuatorDesired(ManualControlCommandData * cmd); static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings); static void processFlightMode(ManualControlSettingsData * settings, float flightMode); static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings); +static void setArmedIfChanged(uint8_t val); static void manualControlTask(void *parameters); static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral); @@ -249,6 +250,11 @@ static void manualControlTask(void *parameters) AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL); cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE; ManualControlCommandSet(&cmd); + + // Need to do this here since we don't process armed status. Since this shouldn't happen in flight (changed config) + // immediately disarm + setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED); + continue; } diff --git a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj index da0793b51..0a0834048 100644 --- a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj +++ b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj @@ -97,6 +97,7 @@ 65643CAE1413322000A32F59 /* pios_sbus_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_sbus_priv.h; sourceTree = ""; }; 65643CAF1413322000A32F59 /* pios_sbus.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_sbus.h; sourceTree = ""; }; 65643CB01413322000A32F59 /* pios_spektrum_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_spektrum_priv.h; sourceTree = ""; }; + 65643CB91413456D00A32F59 /* pios_tim.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_tim.c; sourceTree = ""; }; 6572CB1613D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_memory.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = link_STM32103CB_CC_Rev1_memory.ld; path = ../../PiOS/STM32F10x/link_STM32103CB_CC_Rev1_memory.ld; sourceTree = SOURCE_ROOT; }; 6572CB1713D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_sections.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = link_STM32103CB_CC_Rev1_sections.ld; path = ../../PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld; sourceTree = SOURCE_ROOT; }; 657CEEAD121DB6C8007A1FBE /* homelocation.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = homelocation.xml; sourceTree = ""; }; @@ -7782,6 +7783,7 @@ 65E8F0E711EFF25C00BBF654 /* pios_spektrum.c */, 65E8F0E811EFF25C00BBF654 /* pios_spi.c */, 65E8F0E911EFF25C00BBF654 /* pios_sys.c */, + 65643CB91413456D00A32F59 /* pios_tim.c */, 65E8F0EA11EFF25C00BBF654 /* pios_usart.c */, 65E8F0ED11EFF25C00BBF654 /* pios_usb_hid.c */, 651CF9E5120B5D8300EEFD70 /* pios_usb_hid_desc.c */, From 51967ae63f3c768f3afc56f5037d4cada88c5430 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sun, 4 Sep 2011 01:14:54 -0500 Subject: [PATCH 46/57] OP-571 PIOS_PWM: Add back the PWM supervisor --- flight/PiOS/STM32F10x/pios_pwm.c | 24 +++++++++++++++++++++++- 1 file changed, 23 insertions(+), 1 deletion(-) diff --git a/flight/PiOS/STM32F10x/pios_pwm.c b/flight/PiOS/STM32F10x/pios_pwm.c index 9717f66fc..392ab7f32 100644 --- a/flight/PiOS/STM32F10x/pios_pwm.c +++ b/flight/PiOS/STM32F10x/pios_pwm.c @@ -42,6 +42,8 @@ const struct pios_rcvr_driver pios_pwm_rcvr_driver = { }; /* Local Variables */ +/* 100 ms timeout without updates on channels */ +const static uint32_t PWM_SUPERVISOR_TIMEOUT = 100000; enum pios_pwm_dev_magic { PIOS_PWM_DEV_MAGIC = 0xab30293c, @@ -56,6 +58,7 @@ struct pios_pwm_dev { uint16_t FallValue[PIOS_PWM_NUM_INPUTS]; uint32_t CaptureValue[PIOS_PWM_NUM_INPUTS]; uint32_t CapCounter[PIOS_PWM_NUM_INPUTS]; + uint32_t us_since_update[PIOS_PWM_NUM_INPUTS]; }; static bool PIOS_PWM_validate(struct pios_pwm_dev * pwm_dev) @@ -120,7 +123,7 @@ int32_t PIOS_PWM_Init(uint32_t * pwm_id, const struct pios_pwm_cfg * cfg) pwm_dev->CaptureState[i] = 0; pwm_dev->RiseValue[i] = 0; pwm_dev->FallValue[i] = 0; - pwm_dev->CaptureValue[i] = 0; + pwm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT; } uint32_t tim_id; @@ -152,6 +155,10 @@ int32_t PIOS_PWM_Init(uint32_t * pwm_id, const struct pios_pwm_cfg * cfg) TIM_ITConfig(chan->timer, TIM_IT_CC4, ENABLE); break; } + + // Need the update event for that timer to detect timeouts + TIM_ITConfig(chan->timer, TIM_IT_Update, ENABLE); + } *pwm_id = (uint32_t) pwm_dev; @@ -193,6 +200,20 @@ static void PIOS_PWM_tim_overflow_cb (uint32_t tim_id, uint32_t context, uint8_t return; } + if (channel >= pwm_dev->cfg->num_channels) { + /* Channel out of range */ + return; + } + + pwm_dev->us_since_update[channel] += count; + if(pwm_dev->us_since_update[channel] >= PWM_SUPERVISOR_TIMEOUT) { + pwm_dev->CaptureState[channel] = 0; + pwm_dev->RiseValue[channel] = 0; + pwm_dev->FallValue[channel] = 0; + pwm_dev->CaptureValue[channel] = PIOS_RCVR_TIMEOUT; + pwm_dev->us_since_update[channel] = 0; + } + return; } @@ -215,6 +236,7 @@ static void PIOS_PWM_tim_edge_cb (uint32_t tim_id, uint32_t context, uint8_t cha if (pwm_dev->CaptureState[chan_idx] == 0) { pwm_dev->RiseValue[chan_idx] = count; + pwm_dev->us_since_update[chan_idx] = 0; } else { pwm_dev->FallValue[chan_idx] = count; } From 89e640ae7fcb5fb9ef22f51cde2accbecc7c8f83 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sun, 4 Sep 2011 01:23:59 -0500 Subject: [PATCH 47/57] Make sure all receiver drivers return correct constants for invalid channels. --- flight/Modules/ManualControl/manualcontrol.c | 22 +++++++++---------- flight/PiOS/STM32F10x/pios_ppm.c | 4 ++-- flight/PiOS/STM32F10x/pios_pwm.c | 4 ++-- flight/PiOS/STM32F10x/pios_sbus.c | 2 +- flight/PiOS/STM32F10x/pios_spektrum.c | 6 ++--- flight/PiOS/inc/pios_rcvr.h | 4 ++-- .../OpenPilotOSX.xcodeproj/project.pbxproj | 2 ++ 7 files changed, 22 insertions(+), 22 deletions(-) diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c index de8937f92..ef0719510 100644 --- a/flight/Modules/ManualControl/manualcontrol.c +++ b/flight/Modules/ManualControl/manualcontrol.c @@ -222,8 +222,6 @@ static void manualControlTask(void *parameters) // until we decide to go to failsafe if(cmd.Channel[n] == PIOS_RCVR_TIMEOUT) valid_input_detected = false; - else if (cmd.Channel[n] == PIOS_RCVR_INVALID) - scaledChannel[n] = 0; else scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n]); } @@ -235,17 +233,17 @@ static void manualControlTask(void *parameters) settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE || settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE || // Check all channel mappings are valid - cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == PIOS_RCVR_INVALID || - cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] == PIOS_RCVR_INVALID || - cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] == PIOS_RCVR_INVALID || - cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] == PIOS_RCVR_INVALID || - cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == PIOS_RCVR_INVALID || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == (uint16_t) PIOS_RCVR_INVALID || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] == (uint16_t) PIOS_RCVR_INVALID || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] == (uint16_t) PIOS_RCVR_INVALID || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] == (uint16_t) PIOS_RCVR_INVALID || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t) PIOS_RCVR_INVALID || // Check the driver is exists - cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == PIOS_RCVR_NODRIVER || - cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] == PIOS_RCVR_NODRIVER || - cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] == PIOS_RCVR_NODRIVER || - cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] == PIOS_RCVR_NODRIVER || - cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == PIOS_RCVR_NODRIVER) { + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == (uint16_t) PIOS_RCVR_NODRIVER || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] == (uint16_t) PIOS_RCVR_NODRIVER || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] == (uint16_t) PIOS_RCVR_NODRIVER || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] == (uint16_t) PIOS_RCVR_NODRIVER || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t) PIOS_RCVR_NODRIVER) { AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL); cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE; diff --git a/flight/PiOS/STM32F10x/pios_ppm.c b/flight/PiOS/STM32F10x/pios_ppm.c index bee955861..0dd9aabba 100644 --- a/flight/PiOS/STM32F10x/pios_ppm.c +++ b/flight/PiOS/STM32F10x/pios_ppm.c @@ -211,12 +211,12 @@ static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel) if (!PIOS_PPM_validate(ppm_dev)) { /* Invalid device specified */ - return -1; + return PIOS_RCVR_INVALID; } if (channel >= PIOS_PPM_IN_MAX_NUM_CHANNELS) { /* Channel out of range */ - return -1; + return PIOS_RCVR_INVALID; } return ppm_dev->CaptureValue[channel]; } diff --git a/flight/PiOS/STM32F10x/pios_pwm.c b/flight/PiOS/STM32F10x/pios_pwm.c index 392ab7f32..b49ce1abf 100644 --- a/flight/PiOS/STM32F10x/pios_pwm.c +++ b/flight/PiOS/STM32F10x/pios_pwm.c @@ -181,12 +181,12 @@ static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t channel) if (!PIOS_PWM_validate(pwm_dev)) { /* Invalid device specified */ - return -1; + return PIOS_RCVR_INVALID; } if (channel >= PIOS_PWM_NUM_INPUTS) { /* Channel out of range */ - return -1; + return PIOS_RCVR_INVALID; } return pwm_dev->CaptureValue[channel]; } diff --git a/flight/PiOS/STM32F10x/pios_sbus.c b/flight/PiOS/STM32F10x/pios_sbus.c index a80fe8fe3..4c1c90618 100644 --- a/flight/PiOS/STM32F10x/pios_sbus.c +++ b/flight/PiOS/STM32F10x/pios_sbus.c @@ -183,7 +183,7 @@ static int32_t PIOS_SBUS_Get(uint32_t rcvr_id, uint8_t channel) { /* return error if channel is not available */ if (channel >= SBUS_NUMBER_OF_CHANNELS) { - return -1; + return PIOS_RCVR_INVALID; } return channel_data[channel]; } diff --git a/flight/PiOS/STM32F10x/pios_spektrum.c b/flight/PiOS/STM32F10x/pios_spektrum.c index 53142069a..24c034e88 100644 --- a/flight/PiOS/STM32F10x/pios_spektrum.c +++ b/flight/PiOS/STM32F10x/pios_spektrum.c @@ -264,12 +264,12 @@ static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel) { struct pios_spektrum_dev * spektrum_dev = (struct pios_spektrum_dev *)rcvr_id; - bool valid = PIOS_SPEKTRUM_validate(spektrum_dev); - PIOS_Assert(valid); + if(!PIOS_SPEKTRUM_validate(spektrum_dev)) + return PIOS_RCVR_INVALID; /* Return error if channel not available */ if (channel >= PIOS_SPEKTRUM_NUM_INPUTS) { - return -1; + return PIOS_RCVR_INVALID; } return spektrum_dev->fsm.CaptureValue[channel]; } diff --git a/flight/PiOS/inc/pios_rcvr.h b/flight/PiOS/inc/pios_rcvr.h index ce28d37af..a61798d8c 100644 --- a/flight/PiOS/inc/pios_rcvr.h +++ b/flight/PiOS/inc/pios_rcvr.h @@ -40,8 +40,8 @@ struct pios_rcvr_driver { extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel); #define PIOS_RCVR_TIMEOUT 0 -#define PIOS_RCVR_NODRIVER 65534 -#define PIOS_RCVR_INVALID 65535 +#define PIOS_RCVR_NODRIVER -2 +#define PIOS_RCVR_INVALID -1 #endif /* PIOS_RCVR_H */ diff --git a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj index 0a0834048..a51d5a08d 100644 --- a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj +++ b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj @@ -98,6 +98,7 @@ 65643CAF1413322000A32F59 /* pios_sbus.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_sbus.h; sourceTree = ""; }; 65643CB01413322000A32F59 /* pios_spektrum_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_spektrum_priv.h; sourceTree = ""; }; 65643CB91413456D00A32F59 /* pios_tim.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_tim.c; sourceTree = ""; }; + 65643CBA141350C200A32F59 /* pios_sbus.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_sbus.c; sourceTree = ""; }; 6572CB1613D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_memory.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = link_STM32103CB_CC_Rev1_memory.ld; path = ../../PiOS/STM32F10x/link_STM32103CB_CC_Rev1_memory.ld; sourceTree = SOURCE_ROOT; }; 6572CB1713D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_sections.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = link_STM32103CB_CC_Rev1_sections.ld; path = ../../PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld; sourceTree = SOURCE_ROOT; }; 657CEEAD121DB6C8007A1FBE /* homelocation.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = homelocation.xml; sourceTree = ""; }; @@ -7779,6 +7780,7 @@ 65E8F0E411EFF25C00BBF654 /* pios_ppm.c */, 65E8F0E511EFF25C00BBF654 /* pios_pwm.c */, 6589A9DB131DEE76006BD67C /* pios_rtc.c */, + 65643CBA141350C200A32F59 /* pios_sbus.c */, 65E8F0E611EFF25C00BBF654 /* pios_servo.c */, 65E8F0E711EFF25C00BBF654 /* pios_spektrum.c */, 65E8F0E811EFF25C00BBF654 /* pios_spi.c */, From 510a1760caf0f348a79974b66176ba05133113de Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sun, 4 Sep 2011 03:45:36 -0500 Subject: [PATCH 48/57] When disconnected set any accessory channels to neutral. Otherwise the actuator module could keep the pitch at high. However the "right" thing to do seems very specific. For example negative pitch is probably preferable. --- flight/Modules/ManualControl/manualcontrol.c | 24 ++++++++++++++++++++ 1 file changed, 24 insertions(+) diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c index ef0719510..eab3605be 100644 --- a/flight/Modules/ManualControl/manualcontrol.c +++ b/flight/Modules/ManualControl/manualcontrol.c @@ -282,6 +282,30 @@ static void manualControlTask(void *parameters) // Important: Throttle < 0 will reset Stabilization coefficients among other things. Either change this, // or leave throttle at IDLE speed or above when going into AUTO-failsafe. AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); + + AccessoryDesiredData accessory; + // Set Accessory 0 + if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0] != + MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + accessory.AccessoryVal = 0; + if(AccessoryDesiredInstSet(0, &accessory) != 0) + AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); + } + // Set Accessory 1 + if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1] != + MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + accessory.AccessoryVal = 0; + if(AccessoryDesiredInstSet(1, &accessory) != 0) + AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); + } + // Set Accessory 2 + if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2] != + MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + accessory.AccessoryVal = 0; + if(AccessoryDesiredInstSet(2, &accessory) != 0) + AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); + } + } else { AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL); From 533ae9bb41600eff87396abaaff4baa6f30cd785 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sun, 4 Sep 2011 12:15:34 -0500 Subject: [PATCH 49/57] SBUS: Missed handling the S.Bus failsafe. Now returns PIOS_RVCR_TIMEOUT for either SBus failsafe mode or when no data for 100 ms. --- flight/PiOS/STM32F10x/pios_sbus.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flight/PiOS/STM32F10x/pios_sbus.c b/flight/PiOS/STM32F10x/pios_sbus.c index 4c1c90618..543da364b 100644 --- a/flight/PiOS/STM32F10x/pios_sbus.c +++ b/flight/PiOS/STM32F10x/pios_sbus.c @@ -59,7 +59,7 @@ static void PIOS_SBUS_Supervisor(uint32_t sbus_id); static void reset_channels(void) { for (int i = 0; i < SBUS_NUMBER_OF_CHANNELS; i++) { - channel_data[i] = 0; + channel_data[i] = PIOS_RCVR_TIMEOUT; } } From 82c5f9f0f4f3af0a0709b9022f48e0e760f60c15 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sun, 4 Sep 2011 12:37:39 -0500 Subject: [PATCH 50/57] PIOS_RCVR: Document return values better and use enum for them --- flight/PiOS/Common/pios_rcvr.c | 9 +++++++++ flight/PiOS/inc/pios_rcvr.h | 12 +++++++++--- 2 files changed, 18 insertions(+), 3 deletions(-) diff --git a/flight/PiOS/Common/pios_rcvr.c b/flight/PiOS/Common/pios_rcvr.c index b76e04a44..bd8cce3cd 100644 --- a/flight/PiOS/Common/pios_rcvr.c +++ b/flight/PiOS/Common/pios_rcvr.c @@ -76,6 +76,15 @@ out_fail: return(-1); } +/** + * @brief Reads an input channel from the appropriate driver + * @param[in] rcvr_id driver to read from + * @param[in] channel channel to read + * @returns Unitless input value + * @retval PIOS_RCVR_TIMEOUT indicates a failsafe or timeout from that channel + * @retval PIOS_RCVR_INVALID invalid channel for this driver (usually out of range supported) + * @retval PIOS_RCVR_NODRIVER driver was not initialized + */ int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel) { if (rcvr_id == 0) diff --git a/flight/PiOS/inc/pios_rcvr.h b/flight/PiOS/inc/pios_rcvr.h index a61798d8c..ab493cd35 100644 --- a/flight/PiOS/inc/pios_rcvr.h +++ b/flight/PiOS/inc/pios_rcvr.h @@ -39,9 +39,15 @@ struct pios_rcvr_driver { /* Public Functions */ extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel); -#define PIOS_RCVR_TIMEOUT 0 -#define PIOS_RCVR_NODRIVER -2 -#define PIOS_RCVR_INVALID -1 +/*! Define error codes for PIOS_RCVR_Get */ +enum PIOS_RCVR_errors { + /*! Indicates that a failsafe condition or missing receiver detected for that channel */ + PIOS_RCVR_TIMEOUT = 0, + /*! Channel is invalid for this driver (usually out of range supported) */ + PIOS_RCVR_INVALID = -1, + /*! Indicates that the driver for this channel has not been initialized */ + PIOS_RCVR_NODRIVER = -2 +}; #endif /* PIOS_RCVR_H */ From fa33c66f237ced555def3f1905cc39a02abfb6cb Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sun, 4 Sep 2011 13:34:49 -0500 Subject: [PATCH 51/57] OP-553 StabilizationSettings: Change default max roll/pitch to 55 degrees from 35 degrees. I hope this doesn't make it too sensitive for any of the beginngers. --- shared/uavobjectdefinition/stabilizationsettings.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/shared/uavobjectdefinition/stabilizationsettings.xml b/shared/uavobjectdefinition/stabilizationsettings.xml index 653c7cce8..e42f468bf 100644 --- a/shared/uavobjectdefinition/stabilizationsettings.xml +++ b/shared/uavobjectdefinition/stabilizationsettings.xml @@ -1,8 +1,8 @@ PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired - - + + From 1e9bcf8426edc3e7fbf4d6657671b3fc6667f9a8 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sun, 4 Sep 2011 23:22:29 -0400 Subject: [PATCH 52/57] openpilot: fix merge of unidirectional gps feature branch --- flight/OpenPilot/System/pios_board.c | 14 +------------- 1 file changed, 1 insertion(+), 13 deletions(-) diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c index 2334f7a33..22bf12cad 100644 --- a/flight/OpenPilot/System/pios_board.c +++ b/flight/OpenPilot/System/pios_board.c @@ -1176,21 +1176,9 @@ void PIOS_Board_Init(void) { PIOS_Assert(rx_buffer); if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id, rx_buffer, PIOS_COM_GPS_RX_BUF_LEN, - 0, 0)) { + NULL, 0)) { PIOS_Assert(0); } - { - uint32_t pios_usart_gps_id; - if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) { - PIOS_Assert(0); - } - uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN); - PIOS_Assert(rx_buffer); - if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id, - rx_buffer, PIOS_COM_GPS_RX_BUF_LEN, - NULL, 0)) { - PIOS_Assert(0); ->>>>>>> origin/CorvusCorax_unidirectional-GPS-com } #endif /* PIOS_INCLUDE_GPS */ break; From 6344bc8f83adb305f11641d9e490ec59fb37a60e Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sun, 4 Sep 2011 01:36:57 -0500 Subject: [PATCH 53/57] Fix encoding no configccpmwidget.cpp --- .../src/plugins/config/configccpmwidget.cpp | 20 +++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp index e53cbb70c..9df53e420 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp @@ -218,17 +218,17 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) m_ccpm->ccpmServoZChannel->setCurrentIndex(8); QStringList Types; - Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 90º" << "CCPM 4 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "FP 2 Servo 90º" << "Custom - User Angles" << "Custom - Advanced Settings" ; + Types << QString::fromUtf8("CCPM 2 Servo 90º") << QString::fromUtf8("CCPM 3 Servo 90º") << + QString::fromUtf8("CCPM 4 Servo 90º") << QString::fromUtf8("CCPM 3 Servo 120º") << + QString::fromUtf8("CCPM 3 Servo 140º") << QString::fromUtf8("FP 2 Servo 90º") << + QString::fromUtf8("Custom - User Angles") << QString::fromUtf8("Custom - Advanced Settings"); m_ccpm->ccpmType->addItems(Types); m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - 1); requestccpmUpdate(); UpdateCurveSettings(); - //disable changing number of points in curves until UAVObjects have more than 5 m_ccpm->NumCurvePoints->setEnabled(0); - - UpdateType(); @@ -332,7 +332,7 @@ void ConfigccpmWidget::UpdateType() NumServosDefined=4; //set values for pre defined heli types - if (TypeText.compare(QString("CCPM 2 Servo 90º"), Qt::CaseInsensitive)==0) + if (TypeText.compare(QString::fromUtf8("CCPM 2 Servo 90º"), Qt::CaseInsensitive)==0) { m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); @@ -348,7 +348,7 @@ void ConfigccpmWidget::UpdateType() NumServosDefined=2; } - if (TypeText.compare(QString("CCPM 3 Servo 90º"), Qt::CaseInsensitive)==0) + if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 90º"), Qt::CaseInsensitive)==0) { m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); @@ -361,7 +361,7 @@ void ConfigccpmWidget::UpdateType() NumServosDefined=3; } - if (TypeText.compare(QString("CCPM 4 Servo 90º"), Qt::CaseInsensitive)==0) + if (TypeText.compare(QString::fromUtf8("CCPM 4 Servo 90º"), Qt::CaseInsensitive)==0) { m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); @@ -373,7 +373,7 @@ void ConfigccpmWidget::UpdateType() NumServosDefined=4; } - if (TypeText.compare(QString("CCPM 3 Servo 120º"), Qt::CaseInsensitive)==0) + if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 120º"), Qt::CaseInsensitive)==0) { m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 120,360)); @@ -386,7 +386,7 @@ void ConfigccpmWidget::UpdateType() NumServosDefined=3; } - if (TypeText.compare(QString("CCPM 3 Servo 140º"), Qt::CaseInsensitive)==0) + if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 140º"), Qt::CaseInsensitive)==0) { m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 140,360)); @@ -399,7 +399,7 @@ void ConfigccpmWidget::UpdateType() NumServosDefined=3; } - if (TypeText.compare(QString("FP 2 Servo 90º"), Qt::CaseInsensitive)==0) + if (TypeText.compare(QString::fromUtf8("FP 2 Servo 90º"), Qt::CaseInsensitive)==0) { m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); From a81f14a5755c956962f25e2b729aa87c84128c5b Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sun, 4 Sep 2011 03:09:48 -0500 Subject: [PATCH 54/57] CCPM config: Fix the collective pass through mode for multi receiver support. Now the user must configure Accessory# in the input configuration section though. --- .../openpilotgcs/src/plugins/config/ccpm.ui | 2 +- .../src/plugins/config/configccpmwidget.cpp | 238 ++++++------------ .../src/plugins/config/configccpmwidget.h | 4 +- 3 files changed, 74 insertions(+), 170 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/ccpm.ui b/ground/openpilotgcs/src/plugins/config/ccpm.ui index 12d501f60..7730a7a29 100644 --- a/ground/openpilotgcs/src/plugins/config/ccpm.ui +++ b/ground/openpilotgcs/src/plugins/config/ccpm.ui @@ -70,7 +70,7 @@ - 2 + 0 diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp index 9df53e420..a6b343bea 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp @@ -70,8 +70,6 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) m_ccpm->SwashplateImage->setSceneRect(-50,-30,500,500); //m_ccpm->SwashplateImage->scale(.85,.85); - - QSvgRenderer *renderer = new QSvgRenderer(); renderer->load(QString(":/configgadget/images/ccpm_setup.svg")); @@ -142,68 +140,22 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) } - -/* - Servos[0] = new QGraphicsSvgItem(); - Servos[0]->setSharedRenderer(renderer); - Servos[0]->setElementId("ServoW"); - m_ccpm->SwashplateImage->scene()->addItem(Servos[0]); - - Servos[1] = new QGraphicsSvgItem(); - Servos[1]->setSharedRenderer(renderer); - Servos[1]->setElementId("ServoX"); - m_ccpm->SwashplateImage->scene()->addItem(Servos[1]); - - Servos[2] = new QGraphicsSvgItem(); - Servos[2]->setSharedRenderer(renderer); - Servos[2]->setElementId("ServoY"); - m_ccpm->SwashplateImage->scene()->addItem(Servos[2]); - - Servos[3] = new QGraphicsSvgItem(); - Servos[3]->setSharedRenderer(renderer); - Servos[3]->setElementId("ServoZ"); - m_ccpm->SwashplateImage->scene()->addItem(Servos[3]); - - - ServosText[0] = new QGraphicsTextItem(); - ServosText[0]->setDefaultTextColor(Qt::red); - ServosText[0]->setPlainText(QString("-")); - ServosText[0]->setFont(serifFont); - m_ccpm->SwashplateImage->scene()->addItem(ServosText[0]); - - ServosText[1] = new QGraphicsTextItem(); - ServosText[1]->setDefaultTextColor(Qt::red); - ServosText[1]->setPlainText(QString("-")); - ServosText[1]->setFont(serifFont); - m_ccpm->SwashplateImage->scene()->addItem(ServosText[1]); - - ServosText[2] = new QGraphicsTextItem(); - ServosText[2]->setDefaultTextColor(Qt::red); - ServosText[2]->setPlainText(QString("-")); - ServosText[2]->setFont(serifFont); - m_ccpm->SwashplateImage->scene()->addItem(ServosText[2]); - - ServosText[3] = new QGraphicsTextItem(); - ServosText[3]->setDefaultTextColor(Qt::red); - ServosText[3]->setPlainText(QString("-")); - ServosText[3]->setFont(serifFont); - m_ccpm->SwashplateImage->scene()->addItem(ServosText[3]); -*/ m_ccpm->PitchCurve->setMin(-1); resetMixer(m_ccpm->PitchCurve, 5); resetMixer(m_ccpm->ThrottleCurve, 5); + MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager()); + Q_ASSERT(mixerSettings); + UAVObjectField * curve2source = mixerSettings->getField("Curve2Source"); + Q_ASSERT(curve2source); - - + m_ccpm->ccpmCollectiveChannel->addItems(curve2source->getOptions()); + m_ccpm->ccpmCollectiveChannel->setCurrentIndex(0); QStringList channels; - channels << "Channel1" << "Channel2" << - "Channel3" << "Channel4" << "Channel5" << "Channel6" << "Channel7" << "Channel8" ; - m_ccpm->ccpmCollectiveChannel->addItems(channels); - m_ccpm->ccpmCollectiveChannel->setCurrentIndex(8); - channels << "None" ; + channels << "Channel1" << "Channel2" << "Channel3" << "Channel4" << + "Channel5" << "Channel6" << "Channel7" << "Channel8" << "None"; m_ccpm->ccpmEngineChannel->addItems(channels); m_ccpm->ccpmEngineChannel->setCurrentIndex(8); m_ccpm->ccpmTailChannel->addItems(channels); @@ -277,8 +229,6 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) ccpmSwashplateRedraw(); - // connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestccpmUpdate())); - } ConfigccpmWidget::~ConfigccpmWidget() @@ -292,7 +242,7 @@ void ConfigccpmWidget::UpdateType() QString TypeText; double AdjustmentAngle=0; - UpdatCCPMOptionsFromUI(); + UpdateCCPMOptionsFromUI(); SetUIComponentVisibilities(); TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; @@ -915,14 +865,10 @@ void ConfigccpmWidget::UpdateMixer() bool useCyclic; int i,j,ThisEnable[6]; float CollectiveConstant,PitchConstant,RollConstant,ThisAngle[6]; - //QTableWidgetItem *newItem;// = new QTableWidgetItem(); QString Channel; ccpmChannelCheck(); - //Type = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; - //CollectiveConstant=m_ccpm->ccpmCollectiveSlider->value()/100.0; - //CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value(); - UpdatCCPMOptionsFromUI(); + UpdateCCPMOptionsFromUI(); useCCPM = !(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState); useCyclic = GUIConfigData.heli.ccpmLinkRollState; @@ -978,15 +924,6 @@ void ConfigccpmWidget::UpdateMixer() //go through the user data and update the mixer matrix for (i=0;i<6;i++) { - /* - data.Mixer0Type = 0;//Disabled,Motor,Servo - data.Mixer0Vector[0] = 0;//ThrottleCurve1 - data.Mixer0Vector[1] = 0;//ThrottleCurve2 - data.Mixer0Vector[2] = 0;//Roll - data.Mixer0Vector[3] = 0;//Pitch - data.Mixer0Vector[4] = 0;//Yaw - - */ if ((MixerChannelData[i]<8)&&((ThisEnable[i])||(i<2))) { m_ccpm->ccpmAdvancedSettingsTable->item(i,0)->setText(QString("%1").arg( MixerChannelData[i]+1 )); @@ -1055,7 +992,7 @@ void ConfigccpmWidget::UpdateMixer() } __attribute__((packed)) heliGUISettingsStruct; */ -void ConfigccpmWidget::UpdatCCPMOptionsFromUI() +void ConfigccpmWidget::UpdateCCPMOptionsFromUI() { bool useCCPM; bool useCyclic; @@ -1097,7 +1034,6 @@ void ConfigccpmWidget::UpdatCCPMOptionsFromUI() GUIConfigData.heli.SliderValue1 = m_ccpm->ccpmPitchScale->value(); } GUIConfigData.heli.SliderValue2 = m_ccpm->ccpmRollScale->value(); - //GUIConfigData.heli.RevoSlider = m_ccpm->ccpmREVOScale->value(); //servo assignments GUIConfigData.heli.ServoIndexW = m_ccpm->ccpmServoWChannel->currentIndex(); @@ -1106,7 +1042,7 @@ void ConfigccpmWidget::UpdatCCPMOptionsFromUI() GUIConfigData.heli.ServoIndexZ = m_ccpm->ccpmServoZChannel->currentIndex(); } -void ConfigccpmWidget::UpdatCCPMUIFromOptions() +void ConfigccpmWidget::UpdateCCPMUIFromOptions() { //swashplate config m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - (GUIConfigData.heli.SwasplateType +1)); @@ -1134,7 +1070,6 @@ void ConfigccpmWidget::UpdatCCPMUIFromOptions() m_ccpm->ccpmRollScaleBox->setValue(GUIConfigData.heli.SliderValue2); m_ccpm->ccpmCollectiveSlider->setValue(GUIConfigData.heli.SliderValue0); m_ccpm->ccpmCollectivespinBox->setValue(GUIConfigData.heli.SliderValue0); - //m_ccpm->ccpmREVOScale->setValue(GUIConfigData.heli.RevoSlider); //servo assignments m_ccpm->ccpmServoWChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexW); @@ -1147,7 +1082,7 @@ void ConfigccpmWidget::UpdatCCPMUIFromOptions() void ConfigccpmWidget::SetUIComponentVisibilities() { - UpdatCCPMOptionsFromUI(); + UpdateCCPMOptionsFromUI(); //set which sliders are user... m_ccpm->ccpmRevoMixingBox->setVisible(0); @@ -1205,7 +1140,7 @@ void ConfigccpmWidget::requestccpmUpdate() for(i = 0; i < SystemSettings::GUICONFIGDATA_NUMELEM; i++) GUIConfigData.UAVObject[i]=systemSettingsData.GUIConfigData[i]; - UpdatCCPMUIFromOptions(); + UpdateCCPMUIFromOptions(); // Get existing mixer settings MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager()); @@ -1299,7 +1234,7 @@ void ConfigccpmWidget::requestccpmUpdate() } updatingFromHardware=FALSE; - UpdatCCPMUIFromOptions(); + UpdateCCPMUIFromOptions(); ccpmSwashplateUpdate(); } @@ -1317,109 +1252,78 @@ void ConfigccpmWidget::sendccpmUpdate() updatingToHardware=TRUE; //ShowDisclaimer(1); + UpdateCCPMOptionsFromUI(); + + // Store the data required to reconstruct + SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager()); + Q_ASSERT(systemSettings); + SystemSettings::DataFields systemSettingsData = systemSettings->getData(); + systemSettingsData.GUIConfigData[0] = GUIConfigData.UAVObject[0]; + systemSettingsData.GUIConfigData[1] = GUIConfigData.UAVObject[1]; + systemSettings->setData(systemSettingsData); + systemSettings->updated(); - ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); - UAVObjectManager *objManager = pm->getObject(); + MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager()); + Q_ASSERT(mixerSettings); + MixerSettings::DataFields mixerSettingsData = mixerSettings->getData(); - UpdatCCPMOptionsFromUI(); - obj = dynamic_cast(getObjectManager()->getObject(QString("SystemSettings"))); - field = obj->getField(QString("GUIConfigData")); - field->setValue(GUIConfigData.UAVObject[0],0); - field->setValue(GUIConfigData.UAVObject[1],1); - obj->updated(); - + UpdateMixer(); - - obj = dynamic_cast(objManager->getObject(QString("MixerSettings"))); - Q_ASSERT(obj); + // Set up some helper pointers + qint8 * mixers[8] = {mixerSettingsData.Mixer1Vector, + mixerSettingsData.Mixer2Vector, + mixerSettingsData.Mixer3Vector, + mixerSettingsData.Mixer4Vector, + mixerSettingsData.Mixer5Vector, + mixerSettingsData.Mixer6Vector, + mixerSettingsData.Mixer7Vector, + mixerSettingsData.Mixer8Vector + }; - UpdateMixer(); + quint8 * mixerTypes[8] = { + &mixerSettingsData.Mixer1Type, + &mixerSettingsData.Mixer2Type, + &mixerSettingsData.Mixer3Type, + &mixerSettingsData.Mixer4Type, + &mixerSettingsData.Mixer5Type, + &mixerSettingsData.Mixer6Type, + &mixerSettingsData.Mixer7Type, + &mixerSettingsData.Mixer8Type + }; - //clear the output types - for (i=0;i<8;i++) + //go through the user data and update the mixer matrix + for (i=0;i<6;i++) + { + if (MixerChannelData[i]<8) { - field = obj->getField( QString( "Mixer%1Type" ).arg( i+1 )); - //clear the mixer type - field->setValue("Disabled"); + //set the mixer type + *(mixerTypes[MixerChannelData[i]]) = i==0 ? + MixerSettings::MIXER1TYPE_MOTOR : + MixerSettings::MIXER1TYPE_SERVO; + + //config the vector + for (j=0;j<5;j++) + mixers[MixerChannelData[i]][j] = m_ccpm->ccpmAdvancedSettingsTable->item(i,j+1)->text().toInt(); } + } + //get the user data for the curve into the mixer settings + for (i=0;i<5;i++) + mixerSettingsData.ThrottleCurve1[i] = m_ccpm->CurveSettings->item(i, 0)->text().toDouble(); - //go through the user data and update the mixer matrix - for (i=0;i<6;i++) - { - /* - data.Mixer0Type = 0;//Disabled,Motor,Servo - data.Mixer0Vector[0] = 0;//ThrottleCurve1 - data.Mixer0Vector[1] = 0;//ThrottleCurve2 - data.Mixer0Vector[2] = 0;//Roll - data.Mixer0Vector[3] = 0;//Pitch - data.Mixer0Vector[4] = 0;//Yaw - - */ - if (MixerChannelData[i]<8) - { - //select the correct mixer for this config element - field = obj->getField(QString( "Mixer%1Type" ).arg( MixerChannelData[i]+1 )); - //set the mixer type - if (i==0) - { - field->setValue("Motor"); - } - else - { - field->setValue("Servo"); - } - - //select the correct mixer for this config element - field = obj->getField(QString( "Mixer%1Vector" ).arg( MixerChannelData[i]+1 )); - //config the vector - for (j=0;j<5;j++) - { - field->setValue(m_ccpm->ccpmAdvancedSettingsTable->item(i,j+1)->text().toInt(),j); - } - - } - - } - - - //get the user data for the curve into the mixer settings - field = obj->getField(QString("ThrottleCurve1")); - for (i=0;i<5;i++) - { - field->setValue(m_ccpm->CurveSettings->item(i, 0)->text().toDouble(),i); - } - field = obj->getField(QString("ThrottleCurve2")); - for (i=0;i<5;i++) - { - field->setValue(m_ccpm->CurveSettings->item(i, 1)->text().toDouble(),i); - } - - obj->updated(); - - field = obj->getField(QString("Curve2Source")); + for (i=0;i<5;i++) + mixerSettingsData.ThrottleCurve2[i] = m_ccpm->CurveSettings->item(i, 1)->text().toDouble(); //mapping of collective input to curve 2... //MixerSettings.Curve2Source = Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5 //check if we are using throttle or directly from a channel... if (GUIConfigData.heli.ccpmCollectivePassthroughState) - {// input channel - field->setValue("Accessory0"); - obj->updated(); - - obj = dynamic_cast(objManager->getObject(QString("ManualControlSettings"))); - Q_ASSERT(obj); - field = obj->getField(QString("Accessory0")); - field->setValue(tr( "Channel%1" ).arg(GUIConfigData.heli.CollectiveChannel+1)); - - } + mixerSettingsData.Curve2Source = GUIConfigData.heli.CollectiveChannel; else - {// throttle - - field->setValue("Throttle"); - } + mixerSettingsData.Curve2Source = MixerSettings::CURVE2SOURCE_THROTTLE; - obj->updated(); + mixerSettings->setData(mixerSettingsData); + mixerSettings->updated(); updatingToHardware=FALSE; } diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h index ab5425229..a3a4313f7 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h @@ -136,8 +136,8 @@ private: void SwashLvlCancelButtonPressed(); void SwashLvlFinishButtonPressed(); - void UpdatCCPMOptionsFromUI(); - void UpdatCCPMUIFromOptions(); + void UpdateCCPMOptionsFromUI(); + void UpdateCCPMUIFromOptions(); void SetUIComponentVisibilities(); void ccpmChannelCheck(); From acfb28b04bfa28f54183110764fd90505d7dbb02 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sun, 4 Sep 2011 14:51:02 -0500 Subject: [PATCH 55/57] Heli configuration: Make swashplate leveling routine using static accessor methods. Also got rid of incredibly annoying message when you tried to alt-tab out of GCS. --- .../src/plugins/config/configccpmwidget.cpp | 162 ++++++------------ .../src/plugins/config/configccpmwidget.h | 2 - 2 files changed, 53 insertions(+), 111 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp index a6b343bea..4a103987a 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp @@ -39,6 +39,7 @@ #include "mixersettings.h" #include "systemsettings.h" +#include "actuatorcommand.h" #define Pi 3.14159265358979323846 @@ -130,10 +131,6 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) SwashLvlSpinBoxes[i] = new QSpinBox(m_ccpm->SwashLvlSwashplateImage); // use QGraphicsView m_ccpm->SwashLvlSwashplateImage->scene()->addWidget(SwashLvlSpinBoxes[i]); - //SwashLvlSpinBoxes[i]->move(i*50+50,20); - //SwashLvlSpinBoxes[i]->resize(40,20); - //SwashLvlSpinBoxes[i]->heightForWidth() - SwashLvlSpinBoxes[i]->setFixedSize(50,20); SwashLvlSpinBoxes[i]->setMaximum(10000); SwashLvlSpinBoxes[i]->setMinimum(0); SwashLvlSpinBoxes[i]->setValue(0); @@ -455,6 +452,9 @@ void ConfigccpmWidget::UpdateCurveWidgets() void ConfigccpmWidget::updatePitchCurveValue(QList curveValues0,double Value0) { + Q_UNUSED(curveValues0); + Q_UNUSED(Value0); + int NumCurvePoints,i; double CurrentValue; QList internalCurveValues; @@ -476,6 +476,9 @@ void ConfigccpmWidget::updatePitchCurveValue(QList curveValues0,double V void ConfigccpmWidget::updateThrottleCurveValue(QList curveValues0,double Value0) { + Q_UNUSED(curveValues0); + Q_UNUSED(Value0); + int NumCurvePoints,i; double CurrentValue; QList internalCurveValues; @@ -1118,20 +1121,17 @@ void ConfigccpmWidget::requestccpmUpdate() #define MaxAngleError 2 int MixerDataFromHeli[8][5]; quint8 MixerOutputType[8]; - int EngineChannel,TailRotorChannel,ServoChannels[4],ServoAngles[4],SortAngles[4],CalcAngles[4],ServoCurve2[4]; + int EngineChannel,TailRotorChannel,ServoChannels[4],ServoAngles[4],SortAngles[4],ServoCurve2[4]; int NumServos=0; - double Collective=0.0; - double a1,a2; - int HeadRotation,temp; - int isCCPM=0; if (SwashLvlConfigurationInProgress)return; if (updatingToHardware)return; updatingFromHardware=TRUE; - int i,j; + unsigned int i,j; SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager()); + Q_ASSERT(systemSettings); SystemSettings::DataFields systemSettingsData = systemSettings->getData(); Q_ASSERT(SystemSettings::GUICONFIGDATA_NUMELEM == @@ -1245,8 +1245,6 @@ void ConfigccpmWidget::requestccpmUpdate() void ConfigccpmWidget::sendccpmUpdate() { int i,j; - UAVObjectField *field; - UAVDataObject* obj; if (SwashLvlConfigurationInProgress)return; updatingToHardware=TRUE; @@ -1724,7 +1722,6 @@ void ConfigccpmWidget::enableSwashplateLevellingControl(bool state) mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE; mdata.gcsTelemetryUpdatePeriod = 100; SwashLvlConfigurationInProgress=1; - connect(qApp, SIGNAL(focusChanged(QWidget*,QWidget*)),this, SLOT(FocusChanged(QWidget*,QWidget*))); m_ccpm->TabObject->setTabEnabled(0,0); m_ccpm->TabObject->setTabEnabled(2,0); m_ccpm->TabObject->setTabEnabled(3,0); @@ -1735,7 +1732,6 @@ void ConfigccpmWidget::enableSwashplateLevellingControl(bool state) mdata = SwashLvlaccInitialData; // Restore metadata SwashLvlConfigurationInProgress=0; - disconnect(qApp, SIGNAL(focusChanged(QWidget*,QWidget*)),this, SLOT(FocusChanged(QWidget*,QWidget*))); m_ccpm->TabObject->setTabEnabled(0,1); m_ccpm->TabObject->setTabEnabled(2,1); m_ccpm->TabObject->setTabEnabled(3,1); @@ -1761,41 +1757,24 @@ void ConfigccpmWidget::setSwashplateLevel(int percent) SwashLvlServoInterlock=1; - UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("ActuatorCommand"))); - UAVObjectField * channel = obj->getField("Channel"); + ActuatorCommand * actuatorCommand = ActuatorCommand::GetInstance(getObjectManager()); + ActuatorCommand::DataFields actuatorCommandData = actuatorCommand->getData(); - - - if (level==0) - { - for (i=0;isetValue(newSwashLvlConfiguration.Neutral[i],newSwashLvlConfiguration.ServoChannels[i]); - SwashLvlSpinBoxes[i]->setValue(newSwashLvlConfiguration.Neutral[i]); - } - - } - else if (level>0) - { - for (i=0;i 0) value = (newSwashLvlConfiguration.Max[i] - newSwashLvlConfiguration.Neutral[i])*level + newSwashLvlConfiguration.Neutral[i]; - channel->setValue(value,newSwashLvlConfiguration.ServoChannels[i]); - SwashLvlSpinBoxes[i]->setValue(value); - } - - } - else if (level<0) - { - for (i=0;isetValue(value,newSwashLvlConfiguration.ServoChannels[i]); - SwashLvlSpinBoxes[i]->setValue(value); - } + actuatorCommandData.Channel[newSwashLvlConfiguration.ServoChannels[i]] = value; + SwashLvlSpinBoxes[i]->setValue(value); } - obj->updated(); + + actuatorCommand->setData(actuatorCommandData); + actuatorCommand->updated(); + SwashLvlServoInterlock=0; return; @@ -1804,76 +1783,41 @@ return; void ConfigccpmWidget::SwashLvlSpinBoxChanged(int value) { + Q_UNUSED(value); int i; if (SwashLvlServoInterlock==1)return; - UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("ActuatorCommand"))); - UAVObjectField * channel = obj->getField("Channel"); - switch (SwashLvlState) - { - case 0: - break; - case 1: //Neutral levelling - for (i=0;igetData(); + + for (i = 0; i < CCPM_MAX_SWASH_SERVOS; i++) { + value = SwashLvlSpinBoxes[i]->value(); + + switch (SwashLvlState) { - newSwashLvlConfiguration.Neutral[i]=SwashLvlSpinBoxes[i]->value(); - channel->setValue(newSwashLvlConfiguration.Neutral[i],newSwashLvlConfiguration.ServoChannels[i]); + case 1: //Neutral levelling + newSwashLvlConfiguration.Neutral[i]=value; + break; + case 2: //Max levelling + newSwashLvlConfiguration.Max[i] = value; + break; + case 3: //Min levelling + newSwashLvlConfiguration.Min[i]= value; + break; + case 4: //levelling verification + break; + case 5: //levelling complete + break; + default: + break; } - obj->updated(); - break; - case 2: //Max levelling - for (i=0;ivalue(); - channel->setValue(newSwashLvlConfiguration.Max[i],newSwashLvlConfiguration.ServoChannels[i]); - } - obj->updated(); - break; - case 3: //Min levelling - for (i=0;ivalue(); - channel->setValue(newSwashLvlConfiguration.Min[i],newSwashLvlConfiguration.ServoChannels[i]); - } - obj->updated(); - break; - case 4: //levelling verification - break; - case 5: //levelling complete - break; - default: - break; + + actuatorCommandData.Channel[newSwashLvlConfiguration.ServoChannels[i]] = value; } + + + actuatorCommand->setData(actuatorCommandData); + actuatorCommand->updated(); + return; } - - -void ConfigccpmWidget::FocusChanged(QWidget *oldFocus, QWidget *newFocus) -{ - if (SwashLvlConfigurationInProgress!=1) return; - QMessageBox msgBox; - int ret; - msgBox.setText("

Warning!!!

"); - - if ((this->isAncestorOf(oldFocus))&&(!this->isAncestorOf(newFocus))) - { - msgBox.setInformativeText("You are in the middle of the levelling routine
Changing focus will cancel all levelling and return the OP hardware to the state it was in before levelling began.

Do you want to continue the levelling routine?"); - msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No); - msgBox.setDefaultButton(QMessageBox::Yes); - msgBox.setIcon(QMessageBox::Information); - ret = msgBox.exec(); - - if (ret == QMessageBox::Yes) - { - - //m_ccpm->TabObject->setCurrentIndex(1); - //m_ccpm->SwashPlateLevel->setFocus(Qt::MouseFocusReason); - //m_ccpm->SwashLvlInstructionsBox->setFocus(Qt::MouseFocusReason); - oldFocus->setFocus(Qt::MouseFocusReason); - } - if (ret == QMessageBox::No) - { - SwashLvlCancelButtonPressed(); - } - } -} diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h index a3a4313f7..56898f0fb 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h @@ -145,8 +145,6 @@ private: void enableSwashplateLevellingControl(bool state); void setSwashplateLevel(int percent); void SwashLvlSpinBoxChanged(int value); - void FocusChanged(QWidget *oldFocus, QWidget *newFocus); - virtual void refreshValues() {}; // Not used public slots: From a8ef57c6d667711dc4e041450d012e2e895e3711 Mon Sep 17 00:00:00 2001 From: Sambas Date: Tue, 6 Sep 2011 08:31:02 +0300 Subject: [PATCH 56/57] Redo DX8 changes --- flight/PiOS/STM32F10x/pios_spektrum.c | 18 +++++++----------- 1 file changed, 7 insertions(+), 11 deletions(-) diff --git a/flight/PiOS/STM32F10x/pios_spektrum.c b/flight/PiOS/STM32F10x/pios_spektrum.c index f0a611671..b2e26ad30 100644 --- a/flight/PiOS/STM32F10x/pios_spektrum.c +++ b/flight/PiOS/STM32F10x/pios_spektrum.c @@ -162,14 +162,10 @@ static int32_t PIOS_SPEKTRUM_UpdateFSM(struct pios_spektrum_fsm * fsm, uint8_t b { fsm->bytecount++; if (fsm->sync == 0) { - /* Known sync bytes, 0x01, 0x02, 0x12 */ + /* Known sync bytes, 0x01, 0x02, 0x12, 0xb2 */ + /* 0xb2 DX8 3bind pulses only */ if (fsm->bytecount == 2) { - if (b == 0x01) { - fsm->datalength=0; // 10bit - fsm->sync = 1; - fsm->bytecount = 2; - } - else if(b == 0x02) { + if ((b == 0x01) || (b == 0x02) || (b == 0xb2)) { fsm->datalength=0; // 10bit fsm->sync = 1; fsm->bytecount = 2; @@ -321,9 +317,9 @@ static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id) bool valid = PIOS_SPEKTRUM_validate(spektrum_dev); PIOS_Assert(valid); - /* 125hz */ + /* 625hz */ spektrum_dev->supv_timer++; - if(spektrum_dev->supv_timer > 5) { + if(spektrum_dev->supv_timer > 4) { /* sync between frames */ struct pios_spektrum_fsm * fsm = &(spektrum_dev->fsm); @@ -332,8 +328,8 @@ static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id) fsm->prev_byte = 0xFF; fsm->frame_error = 0; fsm->sync_of++; - /* watchdog activated after 100ms silence */ - if (fsm->sync_of > 12) { + /* watchdog activated after 200ms silence */ + if (fsm->sync_of > 30) { /* signal lost */ fsm->sync_of = 0; From a4dfe9ac4e46f2c516ba87f60de369161aea908b Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Tue, 6 Sep 2011 15:46:21 +0300 Subject: [PATCH 57/57] packaging: do not build not yet supported targets for package (save time) --- package/Makefile | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/package/Makefile b/package/Makefile index 0a197844a..5598be8c3 100644 --- a/package/Makefile +++ b/package/Makefile @@ -29,11 +29,11 @@ CLEAN_GROUND := YES CLEAN_FLIGHT := YES endif -# Set up targets (PPM target seems to be broken at the moment) -FW_TARGETS := $(addprefix fw_, ahrs pipxtreme coptercontrol openpilot) +# Set up targets +FW_TARGETS := $(addprefix fw_, coptercontrol) FW_TARGETS_TOOLS := $(addprefix fw_, coptercontrol) -BL_TARGETS := $(addprefix bl_, coptercontrol openpilot ahrs pipxtreme) -BU_TARGETS := $(addprefix bu_, coptercontrol openpilot ahrs pipxtreme) +BL_TARGETS := $(addprefix bl_, coptercontrol) +BU_TARGETS := $(addprefix bu_, coptercontrol) help: @echo