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Code Issues Releases Activity

Merge branch 'next' into os/GPS-on-CopterControl_next_v2

Browse Source 
Conflicts:
	flight/OpenPilot/System/pios_board.c
	flight/OpenPilot/UAVObjects.inc
	shared/uavobjectdefinition/hwsettings.xml
This commit is contained in:
Oleg Semyonov 2011-09-28 22:02:02 +03:00
commit 53c098dd08
124 changed files with 6864 additions and 3624 deletions
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15
HISTORY.txt
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@ -1,5 +1,20 @@
Short summary of changes. For a complete list see the git log.
2011-09-12
Max rate now ONLY applies to attitude and axis lock mode. Manual rate is the
only term that limits the rate mode now (and in axis lock when you push stick
only manual rate applies). Also integrals are reset when unused.
2011-09-09
Some large updates to the input system. Now multiple receivers can be
connected at once. A wizard was added for configuring the input channels. A
specific collective pitch channel was added.
2011-09-04
Improvements to the failsafe handling code for inputs. PWM power off is now
detected properly. Powering on transmitter for Spektrum Satellite no longer
causes a glitch on servos.
2011-08-10
Added Camera Stabilization and a gui to configure this. This is a software
selectable module from the GUI. However, a restart is required to make it

15
MILESTONES.txt
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@ -82,7 +82,7 @@ C: Sami Korhonen (Sambas)
D: February 2011
V: http://vimeo.com/20159015
M: First Position Hold on a Fixed Wing
M: First CopterControl Position Hold on a Fixed Wing
C: Eric Price (Corvus Corax)
D: March 2011
V: http://www.youtube.com/watch?v=QtaefhmGbio
@ -147,6 +147,12 @@ C: Sergey Solodennikov (alconaft43)
D: August 2011
V: http://www.youtube.com/watch?v=8SrfIS7OkB4
M: First CopterControl Return to Base Fixed Wing
C: Eric Price (Corvus Corax)
D: AUgust 2011
V: http://www.youtube.com/watch?v=CugI0oBSQn8
M: First Altitude Hold using Sonar
C:
D:
@ -170,11 +176,11 @@ V:
An incomplete list of some future Milestones is below:
* First Y6 CopterControl flight
* First Helicopter flight with OpenPilot
* First Helicopter flight with OpenPilot Pro
* First fixed wing navigation flight on CopterControl
* First successful flight using the GCS only and no RC TX
* First use of Magic Waypoint
* First Flybarless Helicopter flight with OpenPilot
* First Flybarless Helicopter flight with OpenPilot Pro
* First fixed wing navigation flight
* First Multirotor navigation flight
* First Helicopter navigation flight
@ -183,4 +189,3 @@ An incomplete list of some future Milestones is below:
* First "Follow Me" navigation flight
* First Channel Crossing with OpenPilot

12
Makefile
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@ -183,13 +183,13 @@ qt_sdk_clean:
ARM_SDK_DIR := $(TOOLS_DIR)/arm-2011.03
.PHONY: arm_sdk_install
arm_sdk_install: ARM_SDK_URL := http://www.codesourcery.com/sgpp/lite/arm/portal/package8734/public/arm-none-eabi/arm-2011.03-42-arm-none-eabi-i686-pc-linux-gnu.tar.bz2
arm_sdk_install: ARM_SDK_URL := https://sourcery.mentor.com/sgpp/lite/arm/portal/package8736/public/arm-none-eabi/arm-2011.03-42-arm-none-eabi-i686-pc-linux-gnu.tar.bz2
arm_sdk_install: ARM_SDK_FILE := $(notdir $(ARM_SDK_URL))
# order-only prereq on directory existance:
arm_sdk_install: | $(DL_DIR) $(TOOLS_DIR)
arm_sdk_install: arm_sdk_clean
# download the source only if it's newer than what we already have
$(V1) wget -N -P "$(DL_DIR)" "$(ARM_SDK_URL)"
$(V1) wget --no-check-certificate -N -P "$(DL_DIR)" "$(ARM_SDK_URL)"
# binary only release so just extract it
$(V1) tar -C $(TOOLS_DIR) -xjf "$(DL_DIR)/$(ARM_SDK_FILE)"
@ -202,8 +202,8 @@ arm_sdk_clean:
OPENOCD_DIR := $(TOOLS_DIR)/openocd
.PHONY: openocd_install
openocd_install: OPENOCD_URL := http://sourceforge.net/projects/openocd/files/openocd/0.4.0/openocd-0.4.0.tar.bz2/download
openocd_install: OPENOCD_FILE := openocd-0.4.0.tar.bz2
openocd_install: OPENOCD_URL := http://sourceforge.net/projects/openocd/files/openocd/0.5.0/openocd-0.5.0.tar.bz2/download
openocd_install: OPENOCD_FILE := openocd-0.5.0.tar.bz2
# order-only prereq on directory existance:
openocd_install: | $(DL_DIR) $(TOOLS_DIR)
openocd_install: openocd_clean
@ -218,8 +218,8 @@ openocd_install: openocd_clean
# build and install
$(V1) mkdir -p "$(OPENOCD_DIR)"
$(V1) ( \
cd $(DL_DIR)/openocd-build/openocd-0.4.0 ; \
./configure --prefix="$(OPENOCD_DIR)" --enable-ft2232_libftdi ; \
cd $(DL_DIR)/openocd-build/openocd-0.5.0 ; \
./configure --prefix="$(OPENOCD_DIR)" --enable-ft2232_libftdi --enable-buspirate; \
$(MAKE) ; \
$(MAKE) install ; \
)

BIN
artwork/Font/OpenPilot.ttf
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Binary file not shown.

2
flight/AHRS/Makefile
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@ -355,7 +355,7 @@ $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE)))
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG)))
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf

2
flight/Bootloaders/BootloaderUpdater/Makefile
View File

@ -258,7 +258,9 @@ CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame
CFLAGS += -fomit-frame-pointer
ifeq ($(CODE_SOURCERY), YES)
CFLAGS += -fpromote-loop-indices
endif
CFLAGS += -Wall
CFLAGS += -Werror

2
flight/Bootloaders/CopterControl/Makefile
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@ -300,7 +300,9 @@ CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame
CFLAGS += -fomit-frame-pointer
ifeq ($(CODE_SOURCERY), YES)
CFLAGS += -fpromote-loop-indices
endif
CFLAGS += -Wall
CFLAGS += -Werror

2
flight/Bootloaders/OpenPilot/Makefile
View File

@ -306,7 +306,9 @@ CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame
CFLAGS += -fomit-frame-pointer
ifeq ($(CODE_SOURCERY), YES)
CFLAGS += -fpromote-loop-indices
endif
CFLAGS += -Wall
CFLAGS += -Werror

2
flight/Bootloaders/PipXtreme/Makefile
View File

@ -301,7 +301,9 @@ CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame
CFLAGS += -fomit-frame-pointer
ifeq ($(CODE_SOURCERY), YES)
CFLAGS += -fpromote-loop-indices
endif
CFLAGS += -Wall
CFLAGS += -Werror

12
flight/CopterControl/Makefile
View File

@ -65,7 +65,8 @@ endif
FLASH_TOOL = OPENOCD
# List of modules to include
OPTMODULES = CameraStab GPS
OPTMODULES = CameraStab
OPTMODULES += GPS
MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP
# Telemetry must be last to grab the optional modules (why?)
MODULES += Telemetry
@ -170,7 +171,8 @@ SRC += $(OPUAVSYNTHDIR)/camerastabsettings.c
SRC += $(OPUAVSYNTHDIR)/cameradesired.c
SRC += $(OPUAVSYNTHDIR)/gpsposition.c
SRC += $(OPUAVSYNTHDIR)/hwsettings.c
SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c
SRC += $(OPUAVSYNTHDIR)/receiveractivity.c
SRC += $(OPUAVSYNTHDIR)/taskinfo.c
SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
SRC += $(OPUAVSYNTHDIR)/ratedesired.c
@ -196,6 +198,7 @@ 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)
@ -214,6 +217,7 @@ 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
@ -443,7 +447,9 @@ CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame
CFLAGS += -fomit-frame-pointer
ifeq ($(CODE_SOURCERY), YES)
CFLAGS += -fpromote-loop-indices
endif
CFLAGS += -Wall
CFLAGS += -Werror
@ -568,7 +574,7 @@ $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE)))
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG)))
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf

1
flight/CopterControl/System/inc/FreeRTOSConfig.h
View File

@ -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 )

3
flight/CopterControl/System/inc/pios_config.h
View File

@ -48,8 +48,9 @@
/* 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
/* Supported USART-based PIOS modules */
#define PIOS_INCLUDE_TELEMETRY_RF

550
flight/CopterControl/System/pios_board.c
View File

@ -32,6 +32,7 @@
#include <uavobjectsinit.h>
#include <hwsettings.h>
#include <manualcontrolsettings.h>
#include <gcsreceiver.h>
#if defined(PIOS_INCLUDE_SPI)
@ -195,6 +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"
@ -564,53 +779,8 @@ void PIOS_RTC_IRQ_Handler (void)
* Servo outputs
*/
#include <pios_servo_priv.h>
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,
@ -621,64 +791,28 @@ 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 = 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 <pios_ppm_priv.h>
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 */
/*
@ -687,98 +821,16 @@ void PIOS_TIM4_irq_handler()
#if defined(PIOS_INCLUDE_PWM)
#include <pios_pwm_priv.h>
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,
},
.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)
@ -856,11 +908,19 @@ 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"
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)
@ -909,7 +969,6 @@ void PIOS_Board_Init(void) {
UAVObjInitialize();
HwSettingsInitialize();
ManualControlSettingsInitialize();
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
@ -922,6 +981,12 @@ 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);
@ -963,6 +1028,13 @@ void PIOS_Board_Init(void) {
if (PIOS_SBUS_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_Assert(0);
}
uint32_t pios_sbus_rcvr_id;
if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
}
#endif /* PIOS_INCLUDE_SBUS */
break;
@ -984,7 +1056,8 @@ 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 +1069,16 @@ void PIOS_Board_Init(void) {
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, 0)) {
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 +1129,8 @@ 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 +1142,16 @@ void PIOS_Board_Init(void) {
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, hwsettings_DSMxBind)) {
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;
@ -1074,83 +1168,61 @@ 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;
HwSettingsCC_RcvrPortGet(&hwsettings_rcvrport);
switch (manualcontrolsettings_inputmode) {
case MANUALCONTROLSETTINGS_INPUTMODE_PWM:
switch (hwsettings_rcvrport) {
case HWSETTINGS_CC_RCVRPORT_DISABLED:
break;
case HWSETTINGS_CC_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++;
{
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;
}
#endif /* PIOS_INCLUDE_PWM */
break;
case MANUALCONTROLSETTINGS_INPUTMODE_PPM:
case HWSETTINGS_CC_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++;
{
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;
}
#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;
}
#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)) {
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();

2
flight/INS/Makefile
View File

@ -363,7 +363,7 @@ $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE)))
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG)))
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf

1
flight/Libraries/ahrs_comm_objects.c
View File

@ -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"

38
flight/Modules/Actuator/actuator.c
View File

@ -42,7 +42,7 @@
#include "mixersettings.h"
#include "mixerstatus.h"
#include "cameradesired.h"
#include "manualcontrolcommand.h"
// Private constants
#define MAX_QUEUE_SIZE 2
@ -74,7 +74,7 @@ static void actuatorTask(void* parameters);
static void actuator_update_rate(UAVObjEvent *);
static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutral);
static void setFailsafe();
static float MixerCurve(const float throttle, const float* curve);
static float MixerCurve(const float throttle, const float* curve, uint8_t elements);
static bool set_channel(uint8_t mixer_channel, uint16_t value);
float ProcessMixer(const int index, const float curve1, const float curve2,
MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
@ -219,22 +219,29 @@ static void actuatorTask(void* parameters)
bool positiveThrottle = desired.Throttle >= 0.00;
bool spinWhileArmed = MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE;
float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1);
float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1,MIXERSETTINGS_THROTTLECURVE1_NUMELEM);
//The source for the secondary curve is selectable
float curve2 = 0;
AccessoryDesiredData accessory;
switch(mixerSettings.Curve2Source) {
case MIXERSETTINGS_CURVE2SOURCE_THROTTLE:
curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2);
curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2,MIXERSETTINGS_THROTTLECURVE2_NUMELEM);
break;
case MIXERSETTINGS_CURVE2SOURCE_ROLL:
curve2 = MixerCurve(desired.Roll,mixerSettings.ThrottleCurve2);
curve2 = MixerCurve(desired.Roll,mixerSettings.ThrottleCurve2,MIXERSETTINGS_THROTTLECURVE2_NUMELEM);
break;
case MIXERSETTINGS_CURVE2SOURCE_PITCH:
curve2 = MixerCurve(desired.Pitch,mixerSettings.ThrottleCurve2);
curve2 = MixerCurve(desired.Pitch,mixerSettings.ThrottleCurve2,
MIXERSETTINGS_THROTTLECURVE2_NUMELEM);
break;
case MIXERSETTINGS_CURVE2SOURCE_YAW:
curve2 = MixerCurve(desired.Yaw,mixerSettings.ThrottleCurve2);
curve2 = MixerCurve(desired.Yaw,mixerSettings.ThrottleCurve2,MIXERSETTINGS_THROTTLECURVE2_NUMELEM);
break;
case MIXERSETTINGS_CURVE2SOURCE_COLLECTIVE:
ManualControlCommandCollectiveGet(&curve2);
curve2 = MixerCurve(curve2,mixerSettings.ThrottleCurve2,
MIXERSETTINGS_THROTTLECURVE2_NUMELEM);
break;
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY0:
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY1:
@ -243,7 +250,7 @@ static void actuatorTask(void* parameters)
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY4:
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY5:
if(AccessoryDesiredInstGet(mixerSettings.Curve2Source - MIXERSETTINGS_CURVE2SOURCE_ACCESSORY0,&accessory) == 0)
curve2 = MixerCurve(accessory.AccessoryVal,mixerSettings.ThrottleCurve2);
curve2 = MixerCurve(accessory.AccessoryVal,mixerSettings.ThrottleCurve2,MIXERSETTINGS_THROTTLECURVE2_NUMELEM);
else
curve2 = 0;
break;
@ -423,12 +430,9 @@ float ProcessMixer(const int index, const float curve1, const float curve2,
*Interpolate a throttle curve. Throttle input should be in the range 0 to 1.
*Output is in the range 0 to 1.
*/
#define MIXER_CURVE_ENTRIES 5
static float MixerCurve(const float throttle, const float* curve)
static float MixerCurve(const float throttle, const float* curve, uint8_t elements)
{
float scale = throttle * MIXER_CURVE_ENTRIES;
float scale = throttle * (elements - 1);
int idx1 = scale;
scale -= (float)idx1; //remainder
if(curve[0] < -1)
@ -441,12 +445,12 @@ static float MixerCurve(const float throttle, const float* curve)
scale = 0;
}
int idx2 = idx1 + 1;
if(idx2 >= MIXER_CURVE_ENTRIES)
if(idx2 >= elements)
{
idx2 = MIXER_CURVE_ENTRIES -1; //clamp to highest entry in table
if(idx1 >= MIXER_CURVE_ENTRIES)
idx2 = elements -1; //clamp to highest entry in table
if(idx1 >= elements)
{
idx1 = MIXER_CURVE_ENTRIES -1;
idx1 = elements -1;
}
}
return((curve[idx1] * (1 - scale)) + (curve[idx2] * scale));

7
flight/Modules/ManualControl/inc/manualcontrol.h
View File

@ -105,4 +105,11 @@ int32_t ManualControlInitialize();
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) \
)
#define assumptions_channelcount ( \
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM ) && \
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELNUMBER_NUMELEM ) && \
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELMIN_NUMELEM ) && \
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELMAX_NUMELEM ) && \
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELNEUTRAL_NUMELEM ) )
#endif // MANUALCONTROL_H

314
flight/Modules/ManualControl/manualcontrol.c
View File

@ -43,6 +43,7 @@
#include "flighttelemetrystats.h"
#include "flightstatus.h"
#include "accessorydesired.h"
#include "receiveractivity.h"
// Private constants
#if defined(PIOS_MANUAL_STACK_SIZE)
@ -80,6 +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);
@ -87,7 +89,19 @@ 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 assumptions (assumptions1 && assumptions3 && assumptions5 && assumptions7 && assumptions8 && assumptions_flightmode)
#define RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP 12
#define RCVR_ACTIVITY_MONITOR_MIN_RANGE 10
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 && assumptions_channelcount)
/**
* Module starting
@ -116,7 +130,7 @@ int32_t ManualControlInitialize()
ManualControlCommandInitialize();
FlightStatusInitialize();
StabilizationDesiredInitialize();
ReceiverActivityInitialize();
ManualControlSettingsInitialize();
return 0;
@ -147,10 +161,14 @@ 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) {
float scaledChannel[MANUALCONTROLCOMMAND_CHANNEL_NUMELEM];
float scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM];
// Wait until next update
vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS);
@ -159,6 +177,18 @@ 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);
@ -173,34 +203,64 @@ static void manualControlTask(void *parameters)
if (!ManualControlCommandReadOnly(&cmd)) {
bool valid_input_detected = true;
// 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);
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] = PIOS_RCVR_INVALID;
} else {
cmd.Channel[n] = -1;
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
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 ||
// Check all channel mappings are valid
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] == (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;
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;
}
// 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]);
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)) {
@ -218,55 +278,88 @@ static void manualControlTask(void *parameters)
cmd.Roll = 0;
cmd.Yaw = 0;
cmd.Pitch = 0;
cmd.Collective = 0;
//cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO; // don't do until AUTO implemented and functioning
// 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);
// 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];
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 = 0;
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 = 0;
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 = 0;
if(AccessoryDesiredInstSet(2, &accessory) != 0)
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
}
} else {
AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
// Scale channels to -1 -> +1 range
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];
if(cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_INVALID &&
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_NODRIVER &&
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_TIMEOUT)
cmd.Collective = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE];
AccessoryDesiredData accessory;
// Set Accessory 0
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.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 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);
}
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 */
}
FlightStatusGet(&flightStatus);
// Depending on the mode update the Stabilization or Actuator objects
@ -288,6 +381,145 @@ 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 void updateRcvrActivitySample(uint32_t rcvr_id, uint16_t samples[], uint8_t max_channels) {
for (uint8_t channel = 1; channel <= max_channels; channel++) {
// Subtract 1 because channels are 1 indexed
samples[channel - 1] = 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 = 1;
channel <= RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP;
channel++) {
uint16_t delta;
uint16_t prev = fsm->prev[channel - 1]; // Subtract 1 because channels are 1 indexed
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;
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;
}
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);
}
/* Compare with previous sample */
activity_updated = updateRcvrActivityCompare(pios_rcvr_group_map[fsm->group], fsm);
group_completed:
/* Reset the sample counter */
fsm->sample_count = 0;
/* 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;
}
}
return (activity_updated);
}
static void updateActuatorDesired(ManualControlCommandData * cmd)
{
ActuatorDesiredData actuator;
@ -449,7 +681,7 @@ 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) {

29
flight/Modules/Stabilization/stabilization.c
View File

@ -235,6 +235,9 @@ static void stabilizationTask(void* parameters)
{
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
rateDesiredAxis[i] = attitudeDesiredAxis[i];
// Zero attitude and axis lock accumulators
pids[PID_ROLL + i].iAccumulator = 0;
axis_lock_accum[i] = 0;
break;
@ -249,11 +252,20 @@ static void stabilizationTask(void* parameters)
rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling;
// Zero attitude and axis lock accumulators
pids[PID_ROLL + i].iAccumulator = 0;
axis_lock_accum[i] = 0;
break;
}
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i]);
if(rateDesiredAxis[i] > settings.MaximumRate[i])
rateDesiredAxis[i] = settings.MaximumRate[i];
else if(rateDesiredAxis[i] < -settings.MaximumRate[i])
rateDesiredAxis[i] = -settings.MaximumRate[i];
axis_lock_accum[i] = 0;
break;
@ -272,6 +284,12 @@ static void stabilizationTask(void* parameters)
rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], axis_lock_accum[i]);
}
if(rateDesiredAxis[i] > settings.MaximumRate[i])
rateDesiredAxis[i] = settings.MaximumRate[i];
else if(rateDesiredAxis[i] < -settings.MaximumRate[i])
rateDesiredAxis[i] = -settings.MaximumRate[i];
break;
}
}
@ -284,11 +302,6 @@ static void stabilizationTask(void* parameters)
//Calculate desired command
for(int8_t ct=0; ct< MAX_AXES; ct++)
{
if(rateDesiredAxis[ct] > settings.MaximumRate[ct])
rateDesiredAxis[ct] = settings.MaximumRate[ct];
else if(rateDesiredAxis[ct] < -settings.MaximumRate[ct])
rateDesiredAxis[ct] = -settings.MaximumRate[ct];
switch(stabDesired.StabilizationMode[ct])
{
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
@ -306,14 +319,20 @@ static void stabilizationTask(void* parameters)
case ROLL:
actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]);
shouldUpdate = 1;
pids[PID_RATE_ROLL].iAccumulator = 0;
pids[PID_ROLL].iAccumulator = 0;
break;
case PITCH:
actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]);
shouldUpdate = 1;
pids[PID_RATE_PITCH].iAccumulator = 0;
pids[PID_PITCH].iAccumulator = 0;
break;
case YAW:
actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]);
shouldUpdate = 1;
pids[PID_RATE_YAW].iAccumulator = 0;
pids[PID_YAW].iAccumulator = 0;
break;
}
break;

37
flight/Modules/System/systemmod.c
View File

@ -76,7 +76,8 @@
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);
@ -94,7 +95,8 @@ 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
@ -423,12 +425,19 @@ 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) {
@ -467,9 +476,29 @@ 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
}
/**

3
flight/OpenPilot/Makefile
View File

@ -171,6 +171,7 @@ 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
@ -535,7 +536,7 @@ $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE)))
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG)))
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf

1
flight/OpenPilot/System/inc/FreeRTOSConfig.h
View File

@ -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 )

2
flight/OpenPilot/System/inc/pios_config.h
View File

@ -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

652
flight/OpenPilot/System/pios_board.c
View File

@ -30,8 +30,8 @@
#include <pios.h>
#include <openpilot.h>
#include <uavobjectsinit.h>
#include "manualcontrolsettings.h"
#include "hwsettings.h"
#include <hwsettings.h>
#include <manualcontrolsettings.h>
//#define I2C_DEBUG_PIN 0
//#define USART_GPS_DEBUG_PIN 1
@ -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"
@ -497,7 +580,6 @@ static const struct pios_usart_cfg pios_usart_spektrum_cfg = {
},
};
#include <pios_spektrum_priv.h>
static const struct pios_spektrum_cfg pios_spektrum_cfg = {
.bind = {
.gpio = GPIOA,
@ -536,65 +618,106 @@ static const struct pios_spektrum_cfg pios_spektrum_cfg = {
* Pios servo configuration structures
*/
#include <pios_servo_priv.h>
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,
@ -605,127 +728,127 @@ 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),
};
/*
* PWM Inputs
*/
#if defined(PIOS_INCLUDE_PWM)
#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM)
#include <pios_pwm_priv.h>
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 +856,7 @@ void PIOS_TIM5_irq_handler()
*/
#if defined(PIOS_INCLUDE_PPM)
#include <pios_ppm_priv.h>
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 +864,11 @@ 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)
@ -965,8 +1034,12 @@ 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)
@ -1004,8 +1077,9 @@ 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();
@ -1026,7 +1100,6 @@ void PIOS_Board_Init(void) {
UAVObjInitialize();
HwSettingsInitialize();
ManualControlSettingsInitialize();
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
@ -1039,6 +1112,14 @@ 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();
@ -1050,127 +1131,128 @@ 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;
}
#endif /* PIOS_INCLUDE_GPS */
#endif
PIOS_Servo_Init();
/* 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 */
break;
}
#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
PIOS_Servo_Init(&pios_servo_cfg);
#endif /* PIOS_DEBUG_ENABLE_DEBUG_PINS */
PIOS_ADC_Init();
PIOS_GPIO_Init();
/* Configure the selected receiver */
uint8_t manualcontrolsettings_inputmode;
ManualControlSettingsInitialize();
ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode);
/* Configure the rcvr port */
uint8_t hwsettings_rcvrport;
HwSettingsOP_RcvrPortGet(&hwsettings_rcvrport);
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_rcvrport) {
case HWSETTINGS_OP_RCVRPORT_DISABLED:
break;
case HWSETTINGS_OP_RCVRPORT_DEBUG:
/* Not supported yet */
break;
case HWSETTINGS_OP_RCVRPORT_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;
case HWSETTINGS_OP_RCVRPORT_PWM:
#if defined(PIOS_INCLUDE_PWM)
{
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;
}
#endif /* PIOS_INCLUDE_PWM */
break;
case HWSETTINGS_OP_RCVRPORT_PPM:
#if defined(PIOS_INCLUDE_PPM)
{
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;
}
#endif /* PIOS_INCLUDE_PPM */
break;
}
#if defined(PIOS_INCLUDE_USB_HID)

1
flight/OpenPilot/UAVObjects.inc
View File

@ -70,6 +70,7 @@ UAVOBJSRCFILENAMES += velocitydesired
UAVOBJSRCFILENAMES += watchdogstatus
UAVOBJSRCFILENAMES += flightstatus
UAVOBJSRCFILENAMES += hwsettings
UAVOBJSRCFILENAMES += receiveractivity
UAVOBJSRCFILENAMES += cameradesired
UAVOBJSRCFILENAMES += camerastabsettings

2
flight/PiOS.win32/inc/pios_initcall.h
View File

@ -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

10
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
View File

@ -206,22 +206,25 @@ 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
//-------------------------
// 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
//-------------------------
// Receiver SPEKTRUM input
//-------------------------
#define PIOS_SPEKTRUM_MAX_DEVS 2
#define PIOS_SPEKTRUM_NUM_INPUTS 12
//-------------------------
@ -230,6 +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
//-------------------------

8
flight/PiOS/Boards/STM3210E_OP.h
View File

@ -185,16 +185,19 @@ 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
//-------------------------
// Receiver SPEKTRUM input
//-------------------------
#define PIOS_SPEKTRUM_MAX_DEVS 1
#define PIOS_SPEKTRUM_NUM_INPUTS 12
//-------------------------
@ -203,6 +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)

4
flight/PiOS/Common/pios_com.c
View File

@ -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;

75
flight/PiOS/Common/pios_gcsrcvr.c Normal file
View File

@ -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 */
/**
* @}
* @}
*/

22
flight/PiOS/Common/pios_rcvr.c
View File

@ -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;
@ -76,8 +76,26 @@ 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)
{
// Publicly facing API uses channel 1 for first channel
if(channel == 0)
return PIOS_RCVR_INVALID;
else
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)) {

12
flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h
View File

@ -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);

12
flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c
View File

@ -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));

2
flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld
View File

@ -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;

4
flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld
View File

@ -1,7 +1,7 @@
/* This is the size of the stack for early init and for all FreeRTOS IRQs */
_irq_stack_size = 0x400;
_irq_stack_size = 0x800;
/* This is the size of the stack for early init: life span is until scheduler starts */
_init_stack_size = 0x400;
_init_stack_size = 0x800;
/* Check valid alignment for VTOR */
ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");

105
flight/PiOS/STM32F10x/pios_debug.c
View File

@ -34,39 +34,41 @@
// Global variables
const char *PIOS_DEBUG_AssertMsg = "ASSERT FAILED";
#include <pios_servo_priv.h>
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
}

8
flight/PiOS/STM32F10x/pios_i2c.c
View File

@ -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;

416
flight/PiOS/STM32F10x/pios_ppm.c
View File

@ -47,108 +47,139 @@ 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;
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)
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 *)pvPortMalloc(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 +187,16 @@ 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 +207,146 @@ 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) {
return -1;
struct pios_ppm_dev * ppm_dev = (struct pios_ppm_dev *)rcvr_id;
if (!PIOS_PPM_validate(ppm_dev)) {
/* Invalid device specified */
return PIOS_RCVR_INVALID;
}
return CaptureValue[channel];
if (channel >= PIOS_PPM_IN_MAX_NUM_CHANNELS) {
/* Channel out of range */
return PIOS_RCVR_INVALID;
}
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_RCVR_TIMEOUT;
}
}
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) {
} 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) {
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;
}
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_RCVR_TIMEOUT;
}
}
}
}
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_RCVR_TIMEOUT;
ppm_dev->CaptureValueNewFrame[i] = PIOS_RCVR_TIMEOUT;
}
}
Fresh = FALSE;
ppm_dev->Fresh = FALSE;
}
#endif

335
flight/PiOS/STM32F10x/pios_pwm.c
View File

@ -42,96 +42,131 @@ 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];
/* 100 ms timeout without updates on channels */
const static uint32_t PWM_SUPERVISOR_TIMEOUT = 100000;
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];
uint32_t us_since_update[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)
static struct pios_pwm_dev * PIOS_PWM_alloc(void)
{
struct pios_pwm_dev * pwm_dev;
pwm_dev = (struct pios_pwm_dev *)pvPortMalloc(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++) {
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 */
CaptureState[i] = 0;
RiseValue[i] = 0;
FallValue[i] = 0;
CaptureValue[i] = 0;
pwm_dev->CaptureState[i] = 0;
pwm_dev->RiseValue[i] = 0;
pwm_dev->FallValue[i] = 0;
pwm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
}
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;
uint32_t tim_id;
if (PIOS_TIM_InitChannels(&tim_id, cfg->channels, cfg->num_channels, &tim_callbacks, (uint32_t)pwm_dev)) {
return -1;
}
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);
/* Enable GPIO */
GPIO_InitStructure.GPIO_Pin = channel.pin;
GPIO_Init(channel.port, &GPIO_InitStructure);
/* 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 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);
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;
}
// Need the update event for that timer to detect timeouts
TIM_ITConfig(chan->timer, TIM_IT_Update, ENABLE);
/* Enable timers */
TIM_Cmd(channel.timer, ENABLE);
}
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 +177,101 @@ 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) {
return -1;
struct pios_pwm_dev * pwm_dev = (struct pios_pwm_dev *)rcvr_id;
if (!PIOS_PWM_validate(pwm_dev)) {
/* Invalid device specified */
return PIOS_RCVR_INVALID;
}
return CaptureValue[channel];
if (channel >= PIOS_PWM_NUM_INPUTS) {
/* Channel out of range */
return PIOS_RCVR_INVALID;
}
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)) {
struct pios_pwm_dev * pwm_dev = (struct pios_pwm_dev *)context;
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);
}
}
if (!PIOS_PWM_validate(pwm_dev)) {
/* Invalid device specified */
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;
}
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;
pwm_dev->us_since_update[chan_idx] = 0;
} 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

32
flight/PiOS/STM32F10x/pios_sbus.c
View File

@ -34,8 +34,6 @@
#if defined(PIOS_INCLUDE_SBUS)
/* Global Variables */
/* Provide a RCVR driver */
static int32_t PIOS_SBUS_Get(uint32_t rcvr_id, uint8_t channel);
@ -59,27 +57,23 @@ 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;
}
}
/**
* unroll_channels() function computes channel_data[] from received_data[]
* For efficiency it unrolls first 8 channels without loops. If other
* 8 channels are needed they can be unrolled using the same code
* starting from s[11] instead of s[0]. Two extra digital channels are
* accessible using (s[22] & SBUS_FLAG_DGx) logical expressions.
* For efficiency it unrolls first 8 channels without loops and does the
* same for other 8 channels. Also 2 discrete channels will be set.
*/
static void unroll_channels(void)
{
uint8_t *s = received_data;
uint16_t *d = channel_data;
#if (SBUS_NUMBER_OF_CHANNELS != 8)
#error Current S.Bus code unrolls only first 8 channels
#endif
#define F(v,s) ((v) >> s) & 0x7ff
/* unroll channels 1-8 */
*d++ = F(s[0] | s[1] << 8, 0);
*d++ = F(s[1] | s[2] << 8, 3);
*d++ = F(s[2] | s[3] << 8 | s[4] << 16, 6);
@ -88,6 +82,20 @@ static void unroll_channels(void)
*d++ = F(s[6] | s[7] << 8 | s[8] << 16, 7);
*d++ = F(s[8] | s[9] << 8, 2);
*d++ = F(s[9] | s[10] << 8, 5);
/* unroll channels 9-16 */
*d++ = F(s[11] | s[12] << 8, 0);
*d++ = F(s[12] | s[13] << 8, 3);
*d++ = F(s[13] | s[14] << 8 | s[15] << 16, 6);
*d++ = F(s[15] | s[16] << 8, 1);
*d++ = F(s[16] | s[17] << 8, 4);
*d++ = F(s[17] | s[18] << 8 | s[19] << 16, 7);
*d++ = F(s[19] | s[20] << 8, 2);
*d++ = F(s[20] | s[21] << 8, 5);
/* unroll discrete channels 17 and 18 */
*d++ = (s[22] & SBUS_FLAG_DC1) ? SBUS_VALUE_MAX : SBUS_VALUE_MIN;
*d++ = (s[22] & SBUS_FLAG_DC2) ? SBUS_VALUE_MAX : SBUS_VALUE_MIN;
}
/**
@ -183,7 +191,7 @@ 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];
}

154
flight/PiOS/STM32F10x/pios_servo.c
View File

@ -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
}

303
flight/PiOS/STM32F10x/pios_spektrum.c
View File

@ -30,10 +30,11 @@
/* 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
@ -51,22 +52,80 @@ 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)
static struct pios_spektrum_dev * PIOS_SPEKTRUM_alloc(void)
{
struct pios_spektrum_dev * spektrum_dev;
spektrum_dev = (struct pios_spektrum_dev *)pvPortMalloc(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, uint8_t bind);
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 */
@ -81,23 +140,114 @@ 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, 0xb2 */
/* 0xb2 DX8 3bind pulses only */
if (fsm->bytecount == 2) {
if ((b == 0x01) || (b == 0x02) || (b == 0xb2)) {
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;i<PIOS_SPEKTRUM_NUM_INPUTS;i++)
{
fsm->CaptureValue[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, uint8_t 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,bind);
}
(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);
}
/**
@ -108,11 +258,16 @@ 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;
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 CaptureValue[channel];
return spektrum_dev->fsm.CaptureValue[channel];
}
/**
@ -151,115 +306,39 @@ static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg, uint8_t bin
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, 0xb2 */
/* 0xb2 DX8 3bind pulses only */
if (bytecount == 2) {
if ((b == 0x01) || (b == 0xb2)) {
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<PIOS_SPEKTRUM_NUM_INPUTS;i++)
{
CaptureValue[i] = CaptureValueTemp[i];
}
}
frame_error=0;
}
prev_byte = b;
return 0;
}
/**
*@brief This function is called between frames and when a spektrum word hasnt been decoded for too long
*@brief clears the channel values
*/
static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id) {
static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id)
{
struct pios_spektrum_dev * spektrum_dev = (struct pios_spektrum_dev *)spektrum_id;
bool valid = PIOS_SPEKTRUM_validate(spektrum_dev);
PIOS_Assert(valid);
/* 625hz */
supv_timer++;
if(supv_timer > 4) {
spektrum_dev->supv_timer++;
if(spektrum_dev->supv_timer > 4) {
/* 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 200ms silence */
if (sync_of > 30) {
if (fsm->sync_of > 30) {
/* 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] = PIOS_RCVR_TIMEOUT;
fsm->CaptureValueTemp[i] = PIOS_RCVR_TIMEOUT;
}
}
supv_timer = 0;
spektrum_dev->supv_timer = 0;
}
}

4
flight/PiOS/STM32F10x/pios_spi.c
View File

@ -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];

427
flight/PiOS/STM32F10x/pios_tim.c Normal file
View File

@ -0,0 +1,427 @@
#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
*/
void TIM1_UP_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_1_UP_irq_handler")));
static void PIOS_TIM_1_UP_irq_handler (void)
{
PIOS_TIM_generic_irq_handler (TIM1);
}
void TIM1_CC_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_1_CC_irq_handler")));
static void PIOS_TIM_1_CC_irq_handler (void)
{
PIOS_TIM_generic_irq_handler (TIM1);
}
void TIM2_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_2_irq_handler")));
static void PIOS_TIM_2_irq_handler (void)
{
PIOS_TIM_generic_irq_handler (TIM2);
}
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);
}
void TIM5_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_5_irq_handler")));
static void PIOS_TIM_5_irq_handler (void)
{
PIOS_TIM_generic_irq_handler (TIM5);
}
void TIM6_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_6_irq_handler")));
static void PIOS_TIM_6_irq_handler (void)
{
PIOS_TIM_generic_irq_handler (TIM6);
}
void TIM7_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_7_irq_handler")));
static void PIOS_TIM_7_irq_handler (void)
{
PIOS_TIM_generic_irq_handler (TIM7);
}
void TIM8_UP_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_8_UP_irq_handler")));
static void PIOS_TIM_8_UP_irq_handler (void)
{
PIOS_TIM_generic_irq_handler (TIM8);
}
void TIM8_CC_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_8_CC_irq_handler")));
static void PIOS_TIM_8_CC_irq_handler (void)
{
PIOS_TIM_generic_irq_handler (TIM8);
}

4
flight/PiOS/STM32F10x/pios_usart.c
View File

@ -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;

4
flight/PiOS/STM32F10x/pios_usb_hid.c
View File

@ -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;

4
flight/PiOS/inc/pios_debug.h
View File

@ -33,7 +33,9 @@
extern const char *PIOS_DEBUG_AssertMsg;
void PIOS_DEBUG_Init(void);
#include <pios_tim_priv.h>
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);

47
flight/PiOS/inc/pios_gcsrcvr_priv.h Normal file
View File

@ -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 <pios.h>
#include "gcsreceiver.h"
extern const struct pios_rcvr_driver pios_gcsrcvr_rcvr_driver;
extern void PIOS_GCSRCVR_Init(void);
#endif /* PIOS_GCSRCVR_PRIV_H */
/**
* @}
* @}
*/

16
flight/PiOS/inc/pios_ppm_priv.h
View File

@ -35,24 +35,14 @@
#include <pios_stm32.h>
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 */

21
flight/PiOS/inc/pios_pwm_priv.h
View File

@ -34,32 +34,17 @@
#include <pios.h>
#include <pios_stm32.h>
struct pios_pwm_channel {
TIM_TypeDef * timer;
GPIO_TypeDef * port;
uint16_t ccr;
uint8_t channel;
uint16_t pin;
};
#include <pios_tim_priv.h>
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 */

17
flight/PiOS/inc/pios_rcvr.h
View File

@ -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);
@ -46,6 +39,16 @@ struct pios_rcvr_driver {
/* Public Functions */
extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel);
/*! 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 */
/**

18
flight/PiOS/inc/pios_sbus_priv.h
View File

@ -44,8 +44,8 @@
* 1 byte - 0x0f (start of frame byte)
* 22 bytes - channel data (11 bit/channel, 16 channels, LSB first)
* 1 byte - bit flags:
* 0x01 - digital channel 1,
* 0x02 - digital channel 2,
* 0x01 - discrete channel 1,
* 0x02 - discrete channel 2,
* 0x04 - lost frame flag,
* 0x08 - failsafe flag,
* 0xf0 - reserved
@ -54,16 +54,20 @@
#define SBUS_FRAME_LENGTH (1+22+1+1)
#define SBUS_SOF_BYTE 0x0f
#define SBUS_EOF_BYTE 0x00
#define SBUS_FLAG_DG1 0x01
#define SBUS_FLAG_DG2 0x02
#define SBUS_FLAG_DC1 0x01
#define SBUS_FLAG_DC2 0x02
#define SBUS_FLAG_FL 0x04
#define SBUS_FLAG_FS 0x08
/*
* S.Bus protocol provides up to 16 analog and 2 digital channels.
* Only 8 channels are currently supported by the OpenPilot.
* S.Bus protocol provides 16 proportional and 2 discrete channels.
* Do not change unless driver code is updated accordingly.
*/
#define SBUS_NUMBER_OF_CHANNELS 8
#define SBUS_NUMBER_OF_CHANNELS (16 + 2)
/* Discrete channels represented as bits, provide values for them */
#define SBUS_VALUE_MIN 352
#define SBUS_VALUE_MAX 1696
/*
* S.Bus configuration programmable invertor

1
flight/PiOS/inc/pios_servo.h
View File

@ -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);

13
flight/PiOS/inc/pios_servo_priv.h
View File

@ -33,25 +33,18 @@
#include <pios.h>
#include <pios_stm32.h>
struct pios_servo_channel {
TIM_TypeDef * timer;
GPIO_TypeDef * port;
uint8_t channel;
uint16_t pin;
};
#include <pios_tim_priv.h>
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 */

2
flight/PiOS/inc/pios_spektrum_priv.h
View File

@ -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, uint8_t bind);
#endif /* PIOS_PWM_PRIV_H */
#endif /* PIOS_SPEKTRUM_PRIV_H */
/**
* @}

4
flight/PiOS/inc/pios_tim.h Normal file
View File

@ -0,0 +1,4 @@
#ifndef PIOS_TIM_H
#define PIOS_TIM_H
#endif /* PIOS_TIM_H */

28
flight/PiOS/inc/pios_tim_priv.h Normal file
View File

@ -0,0 +1,28 @@
#ifndef PIOS_TIM_PRIV_H
#define PIOS_TIM_PRIV_H
#include <pios_stm32.h>
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 */

2
flight/PipXtreme/Makefile
View File

@ -394,7 +394,7 @@ $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE)))
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG)))
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf

75
flight/Project/OpenOCD/stm32f1x.cfg Normal file
View File

@ -0,0 +1,75 @@
# script for stm32
if { [info exists CHIPNAME] } {
set _CHIPNAME $CHIPNAME
} else {
set _CHIPNAME stm32
}
if { [info exists ENDIAN] } {
set _ENDIAN $ENDIAN
} else {
set _ENDIAN little
}
# Work-area is a space in RAM used for flash programming
# By default use 16kB
if { [info exists WORKAREASIZE] } {
set _WORKAREASIZE $WORKAREASIZE
} else {
set _WORKAREASIZE 0x4000
}
# JTAG speed should be <= F_CPU/6. F_CPU after reset is 8MHz, so use F_JTAG = 1MHz
adapter_khz 1000
adapter_nsrst_delay 100
jtag_ntrst_delay 100
#jtag scan chain
if { [info exists CPUTAPID ] } {
set _CPUTAPID $CPUTAPID
} else {
# See STM Document RM0008
# Section 26.6.3
set _CPUTAPID 0x3ba00477
}
jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID
if { [info exists BSTAPID ] } {
# FIXME this never gets used to override defaults...
set _BSTAPID $BSTAPID
} else {
# See STM Document RM0008
# Section 29.6.2
# Low density devices, Rev A
set _BSTAPID1 0x06412041
# Medium density devices, Rev A
set _BSTAPID2 0x06410041
# Medium density devices, Rev B and Rev Z
set _BSTAPID3 0x16410041
set _BSTAPID4 0x06420041
# High density devices, Rev A
set _BSTAPID5 0x06414041
# Connectivity line devices, Rev A and Rev Z
set _BSTAPID6 0x06418041
# XL line devices, Rev A
set _BSTAPID7 0x06430041
}
jtag newtap $_CHIPNAME bs -irlen 5 -expected-id $_BSTAPID1 \
-expected-id $_BSTAPID2 -expected-id $_BSTAPID3 \
-expected-id $_BSTAPID4 -expected-id $_BSTAPID5 \
-expected-id $_BSTAPID6 -expected-id $_BSTAPID7
set _TARGETNAME $_CHIPNAME.cpu
target create $_TARGETNAME cortex_m3 -endian $_ENDIAN -chain-position $_TARGETNAME -rtos auto
$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
# flash size will be probed
set _FLASHNAME $_CHIPNAME.flash
flash bank $_FLASHNAME stm32f1x 0x08000000 0 0 0 $_TARGETNAME
# if srst is not fitted use SYSRESETREQ to
# perform a soft reset
cortex_m3 reset_config sysresetreq

61
flight/Project/OpenOCD/stm32f2x.cfg Normal file
View File

@ -0,0 +1,61 @@
# script for stm32f2xxx
if { [info exists CHIPNAME] } {
set _CHIPNAME $CHIPNAME
} else {
set _CHIPNAME stm32f2xxx
}
if { [info exists ENDIAN] } {
set _ENDIAN $ENDIAN
} else {
set _ENDIAN little
}
# Work-area is a space in RAM used for flash programming
# By default use 64kB
if { [info exists WORKAREASIZE] } {
set _WORKAREASIZE $WORKAREASIZE
} else {
set _WORKAREASIZE 0x10000
}
# JTAG speed should be <= F_CPU/6. F_CPU after reset is 8MHz, so use F_JTAG = 1MHz
#
# Since we may be running of an RC oscilator, we crank down the speed a
# bit more to be on the safe side. Perhaps superstition, but if are
# running off a crystal, we can run closer to the limit. Note
# that there can be a pretty wide band where things are more or less stable.
jtag_khz 1000
jtag_nsrst_delay 100
jtag_ntrst_delay 100
#jtag scan chain
if { [info exists CPUTAPID ] } {
set _CPUTAPID $CPUTAPID
} else {
# See STM Document RM0033
# Section 32.6.3 - corresponds to Cortex-M3 r2p0
set _CPUTAPID 0x4ba00477
}
jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID
if { [info exists BSTAPID ] } {
set _BSTAPID $BSTAPID
} else {
# See STM Document RM0033
# Section 32.6.2
#
set _BSTAPID 0x06411041
}
jtag newtap $_CHIPNAME bs -irlen 5 -expected-id $_BSTAPID
set _TARGETNAME $_CHIPNAME.cpu
target create $_TARGETNAME cortex_m3 -endian $_ENDIAN -chain-position $_TARGETNAME -rtos auto
$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
set _FLASHNAME $_CHIPNAME.flash
flash bank $_FLASHNAME stm32f2x 0 0 0 0 $_TARGETNAME

38
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -91,6 +91,16 @@
65632DF51251650300469B77 /* pios_board.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_board.h; sourceTree = "<group>"; };
65632DF61251650300469B77 /* STM32103CB_AHRS.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM32103CB_AHRS.h; sourceTree = "<group>"; };
65632DF71251650300469B77 /* STM3210E_OP.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM3210E_OP.h; sourceTree = "<group>"; };
65643CAB1413322000A32F59 /* pios_rcvr_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_rcvr_priv.h; sourceTree = "<group>"; };
65643CAC1413322000A32F59 /* pios_rcvr.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_rcvr.h; sourceTree = "<group>"; };
65643CAD1413322000A32F59 /* pios_rtc_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_rtc_priv.h; sourceTree = "<group>"; };
65643CAE1413322000A32F59 /* pios_sbus_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_sbus_priv.h; sourceTree = "<group>"; };
65643CAF1413322000A32F59 /* pios_sbus.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_sbus.h; sourceTree = "<group>"; };
65643CB01413322000A32F59 /* pios_spektrum_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_spektrum_priv.h; sourceTree = "<group>"; };
65643CB91413456D00A32F59 /* pios_tim.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_tim.c; sourceTree = "<group>"; };
65643CBA141350C200A32F59 /* pios_sbus.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_sbus.c; sourceTree = "<group>"; };
65643CEC141429A100A32F59 /* NMEA.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = NMEA.c; sourceTree = "<group>"; };
65643CEE141429AF00A32F59 /* NMEA.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = NMEA.h; sourceTree = "<group>"; };
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 = "<group>"; };
@ -7724,11 +7734,17 @@
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 */,
@ -7752,6 +7768,24 @@
65E8F05811EFF25C00BBF654 /* STM32F10x */ = {
isa = PBXGroup;
children = (
65D1FBD813F51865006374A6 /* pios_bmp085.c */,
6560A39D13EE277E00105DA5 /* pios_iap.c */,
6560A39E13EE277E00105DA5 /* pios_sbus.c */,
6560A38E13EE270C00105DA5 /* link_STM3210E_INS_BL_sections.ld */,
6560A38F13EE270C00105DA5 /* link_STM3210E_INS_memory.ld */,
6560A39013EE270C00105DA5 /* link_STM3210E_INS_sections.ld */,
6560A39113EE270C00105DA5 /* link_STM3210E_OP_BL_sections.ld */,
6560A39213EE270C00105DA5 /* link_STM3210E_OP_memory.ld */,
6560A39313EE270C00105DA5 /* link_STM3210E_OP_sections.ld */,
6560A39413EE270C00105DA5 /* link_STM32103CB_AHRS_BL_sections.ld */,
6560A39513EE270C00105DA5 /* link_STM32103CB_AHRS_memory.ld */,
6560A39613EE270C00105DA5 /* link_STM32103CB_AHRS_sections.ld */,
6560A39713EE270C00105DA5 /* link_STM32103CB_CC_Rev1_BL_sections.ld */,
6572CB1613D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_memory.ld */,
6572CB1713D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_sections.ld */,
6560A39813EE270C00105DA5 /* link_STM32103CB_PIPXTREME_BL_sections.ld */,
6560A39913EE270C00105DA5 /* link_STM32103CB_PIPXTREME_memory.ld */,
6560A39A13EE270C00105DA5 /* link_STM32103CB_PIPXTREME_sections.ld */,
65E8F05911EFF25C00BBF654 /* Libraries */,
65E8F0D811EFF25C00BBF654 /* link_stm32f10x_HD.ld */,
65E8F0DB11EFF25C00BBF654 /* link_stm32f10x_MD.ld */,
@ -7766,10 +7800,12 @@
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 */,
65E8F0E911EFF25C00BBF654 /* pios_sys.c */,
65643CB91413456D00A32F59 /* pios_tim.c */,
65E8F0EA11EFF25C00BBF654 /* pios_usart.c */,
65E8F0ED11EFF25C00BBF654 /* pios_usb_hid.c */,
651CF9E5120B5D8300EEFD70 /* pios_usb_hid_desc.c */,
@ -7787,8 +7823,6 @@
65E8F05911EFF25C00BBF654 /* Libraries */ = {
isa = PBXGroup;
children = (
6572CB1613D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_memory.ld */,
6572CB1713D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_sections.ld */,
65E8F05A11EFF25C00BBF654 /* CMSIS */,
65E8F06B11EFF25C00BBF654 /* dosfs */,
65E8F07111EFF25C00BBF654 /* FreeRTOS */,

99
flight/Project/versionblob.py
View File

@ -1,99 +0,0 @@
#!/usr/bin/env python
# Generate a version blob for
# the OpenPilot firmware.
#
# By E. Lafargue (c) 2011 E. Lafargue & the OpenPilot team
# Licence: GPLv3
#
###
# Usage:
# versionblob.py --append --firmware=<Firmware file name> --boardid=<Board code>
#
# append: if present, then append blob to firmware file directly, otherwise create "blob.bin"
# firmware: the filename of the firmware binary
# boardid: as a string, the board code, for example "0401" for CC board version 1.
# should match the codes in firmware description files.
#
# We have 100 bytes for the whole description.
#
# Only the first 40 are visible on the FirmwareIAP uavobject, the remaining
# 60 are ok to use for packaging and will be saved in the flash
#
# Structure is:
# 4 bytes: header: "OpFw"
# 4 bytes: GIT commit tag (short version of SHA1)
# 4 bytes: Unix timestamp of compile time
# 2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
# 26 bytes: commit tag if it is there, otherwise branch name. Zero-padded
# ---- 40 bytes limit ---
# 20 bytes: SHA1 sum of the firmware.
# 40 bytes: free for now.
import binascii
import os
from time import time
import argparse
# Do the argument parsing:
parser = argparse.ArgumentParser(description='Generate firmware desciption blob')
parser.add_argument('--append', action='store_true')
parser.add_argument('--firmware', help='name of firmware binary file' , required=True)
parser.add_argument('--boardid', help='ID of board model, for example 0401 for CopterControl', required=True)
args = parser.parse_args()
print args
if args.append == True:
print 'Appending description blob directly to ' + args.firmware
filename = args.firmware
file = open(filename,"ab")
else:
filename = 'blob.bin'
file = open(filename,"wb")
# Write the magic value:
file.write("OpFw")
# Get the short commit tag of the current git repository.
# Strip it to 8 characters for a 4 byte (int32) value.
# We have no full guarantee of unicity, but it is good enough
# with the rest of the information in the structure.
hs= os.popen('git rev-parse --short=8 HEAD').read().strip()
print "Version: " + hs
hb=binascii.a2b_hex(hs)
file.write(hb)
# Then the Unix time into a 32 bit integer:
print "Date: " + hex(int(time())).lstrip('0x')
hb = binascii.a2b_hex(hex(int(time())).lstrip('0x'))
file.write(hb)
# Then write board type and board revision
hb = binascii.a2b_hex(args.boardid)
file.write(hb)
# Last: a user-friendly description if it exists in GIT, otherwise
# just "unreleased"
hs = os.popen('git describe --exact-match').read()
if len(hs) == 0 :
print "Unreleased: get branch name instead"
hs = os.popen('git branch --contains HEAD').read()
file.write(hs[0:26])
file.write("\0"*(26-len(hs)))
## Now we are at the 40 bytes mark.
## Add the 20 byte SHA1 hash of the firmware:
import hashlib
sha1 = hashlib.sha1()
with open('build/coptercontrol/CopterControl.bin','rb') as f:
for chunk in iter(lambda: f.read(8192), ''):
sha1.update(chunk)
file.write(sha1.digest())
# Pad will null bytes:
file.write('\0'*40)
file.close()

18
ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp
View File

@ -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)

3
ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.h
View File

@ -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:

4
ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
View File

@ -87,7 +87,7 @@
<item row="0" column="1">
<widget class="QLabel" name="label_7">
<property name="text">
<string>Receiver type</string>
<string>RcvrPort</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@ -95,7 +95,7 @@
</widget>
</item>
<item row="0" column="2">
<widget class="QComboBox" name="receiverType"/>
<widget class="QComboBox" name="cbRcvr"/>
</item>
</layout>
</item>

80
ground/openpilotgcs/src/plugins/config/ccpm.ui
View File

@ -70,7 +70,7 @@
</size>
</property>
<property name="currentIndex">
<number>2</number>
<number>0</number>
</property>
<widget class="QWidget" name="BasicTab">
<attribute name="title">
@ -880,7 +880,7 @@
</property>
</widget>
</item>
<item row="4" column="0">
<item row="3" column="0">
<widget class="QCheckBox" name="ccpmLinkRoll">
<property name="text">
<string>Link Roll/Pitch</string>
@ -890,7 +890,7 @@
</property>
</widget>
</item>
<item row="3" column="0">
<item row="2" column="0">
<widget class="QCheckBox" name="ccpmLinkCyclic">
<property name="text">
<string>Link Cyclic/Collective</string>
@ -900,80 +900,6 @@
</property>
</widget>
</item>
<item row="2" column="0">
<layout class="QHBoxLayout" name="ccpmCollectiveChannelBox">
<property name="sizeConstraint">
<enum>QLayout::SetNoConstraint</enum>
</property>
<item>
<widget class="QLabel" name="ccpmCollectiveChLabel">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>80</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<pointsize>11</pointsize>
</font>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>Collective Ch</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="ccpmCollectiveChannel">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>90</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>

3
ground/openpilotgcs/src/plugins/config/config.pro
View File

@ -38,6 +38,7 @@ HEADERS += configplugin.h \
defaultattitudewidget.h \
smartsavebutton.h \
defaulthwsettingswidget.h \
inputchannelform.h \
configcamerastabilizationwidget.h
SOURCES += configplugin.cpp \
@ -67,6 +68,7 @@ SOURCES += configplugin.cpp \
defaultattitudewidget.cpp \
smartsavebutton.cpp \
defaulthwsettingswidget.cpp \
inputchannelform.cpp \
configcamerastabilizationwidget.cpp
FORMS += \
@ -81,6 +83,7 @@ FORMS += \
ccattitude.ui \
defaultattitude.ui \
defaulthwsettings.ui \
inputchannelform.ui \
camerastabilization.ui
RESOURCES += configgadget.qrc

20
ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
View File

@ -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
@ -43,7 +43,7 @@ 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","CC_RcvrPort",m_telemetry->cbRcvr);
connect(m_telemetry->cchwHelp,SIGNAL(clicked()),this,SLOT(openHelp()));
enableControls(false);
populateWidgets();
@ -67,22 +67,6 @@ 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("");

2
ground/openpilotgcs/src/plugins/config/config_pro_hw_widget.cpp
View File

@ -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

101
ground/openpilotgcs/src/plugins/config/configairframewidget.cpp
View File

@ -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);
addUAVObject("SystemSettings");
addUAVObject("MixerSettings");
addUAVObject("ActuatorSettings");
@ -217,7 +198,7 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p
// Connect the help button
connect(m_aircraft->airframeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
addToDirtyMonitor();
}
ConfigAirframeWidget::~ConfigAirframeWidget()
@ -462,6 +443,7 @@ void ConfigAirframeWidget::updateCustomThrottle2CurveValue(QList<double> list, d
*/
void ConfigAirframeWidget::refreshWidgetsValues()
{
bool dirty=isDirty();
// Get the Airframe type from the system settings:
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(obj);
@ -913,6 +895,7 @@ void ConfigAirframeWidget::refreshWidgetsValues()
}
updateCustomAirframeUI();
setDirty(dirty);
}
/**
@ -921,6 +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"));
@ -1118,6 +1102,7 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType)
}
m_aircraft->quadShape->setSceneRect(quad->boundingRect());
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
setDirty(dirty);
}
/**
@ -2139,3 +2124,77 @@ 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->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);
}

2
ground/openpilotgcs/src/plugins/config/configairframewidget.h
View File

@ -58,7 +58,7 @@ private:
void updateCustomAirframeUI();
bool setupMixer(double mixerFactors[8][3]);
void setupMotors(QList<QString> motorList);
void addToDirtyMonitor();
void resetField(UAVObjectField * field);
void resetMixer (MixerCurveWidget *mixer, int numElements, double maxvalue);
void resetActuators();

57
ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
View File

@ -40,22 +40,19 @@ 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.
UAVObject * settings = AttitudeSettings::GetInstance(getObjectManager());
connect(settings,SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshValues()));
setupButtons(ui->applyButton,ui->saveButton);
addUAVObject("AttitudeSettings");
// Connect the help button
connect(ui->ccAttitudeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
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);
}
ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget()
@ -63,12 +60,6 @@ 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);
@ -130,26 +121,6 @@ void ConfigCCAttitudeWidget::timeout() {
}
void ConfigCCAttitudeWidget::applyAttitudeSettings() {
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::refreshValues() {
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);
}
void ConfigCCAttitudeWidget::startAccelCalibration() {
QMutexLocker locker(&startStop);
@ -184,16 +155,16 @@ void ConfigCCAttitudeWidget::startAccelCalibration() {
}
void ConfigCCAttitudeWidget::saveAttitudeSettings() {
applyAttitudeSettings();
UAVDataObject * obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeSettings")));
saveObjectToSD(obj);
}
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);
}

4
ground/openpilotgcs/src/plugins/config/configccattitudewidget.h
View File

@ -50,9 +50,6 @@ private slots:
void attitudeRawUpdated(UAVObject * obj);
void timeout();
void startAccelCalibration();
void saveAttitudeSettings();
void applyAttitudeSettings();
virtual void refreshValues();
void openHelp();
private:
@ -69,6 +66,7 @@ private:
static const int NUM_ACCEL_UPDATES = 60;
static const float ACCEL_SCALE = 0.004f * 9.81f;
protected:
virtual void enableControls(bool enable);
};

427
ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp
View File

@ -39,6 +39,7 @@
#include "mixersettings.h"
#include "systemsettings.h"
#include "actuatorcommand.h"
#define Pi 3.14159265358979323846
@ -70,8 +71,6 @@ 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"));
@ -132,78 +131,25 @@ 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);
}
/*
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);
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);
@ -218,18 +164,18 @@ 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();
//connect(m_ccpm->saveccpmToSD, SIGNAL(clicked()), this, SLOT(saveccpmUpdate()));
@ -270,15 +216,12 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
connect(m_ccpm->SwashLvlCancelButton, SIGNAL(clicked()), this, SLOT(SwashLvlCancelButtonPressed()));
connect(m_ccpm->SwashLvlFinishButton, SIGNAL(clicked()), this, SLOT(SwashLvlFinishButtonPressed()));
connect(m_ccpm->ccpmCollectivePassthrough, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities()));
connect(m_ccpm->ccpmLinkCyclic, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities()));
connect(m_ccpm->ccpmLinkRoll, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities()));
ccpmSwashplateRedraw();
// connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestccpmUpdate()));
}
ConfigccpmWidget::~ConfigccpmWidget()
@ -292,7 +235,7 @@ void ConfigccpmWidget::UpdateType()
QString TypeText;
double AdjustmentAngle=0;
UpdatCCPMOptionsFromUI();
UpdateCCPMOptionsFromUI();
SetUIComponentVisibilities();
TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
@ -332,7 +275,7 @@ 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 +291,7 @@ 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 +304,7 @@ 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 +316,7 @@ 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 +329,7 @@ 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 +342,7 @@ 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));
@ -505,6 +448,9 @@ void ConfigccpmWidget::UpdateCurveWidgets()
void ConfigccpmWidget::updatePitchCurveValue(QList<double> curveValues0,double Value0)
{
Q_UNUSED(curveValues0);
Q_UNUSED(Value0);
int NumCurvePoints,i;
double CurrentValue;
QList<double> internalCurveValues;
@ -526,6 +472,9 @@ void ConfigccpmWidget::updatePitchCurveValue(QList<double> curveValues0,double V
void ConfigccpmWidget::updateThrottleCurveValue(QList<double> curveValues0,double Value0)
{
Q_UNUSED(curveValues0);
Q_UNUSED(Value0);
int NumCurvePoints,i;
double CurrentValue;
QList<double> internalCurveValues;
@ -915,14 +864,10 @@ 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 +923,6 @@ 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 +991,7 @@ void ConfigccpmWidget::UpdateMixer()
} __attribute__((packed)) heliGUISettingsStruct;
*/
void ConfigccpmWidget::UpdatCCPMOptionsFromUI()
void ConfigccpmWidget::UpdateCCPMOptionsFromUI()
{
bool useCCPM;
bool useCyclic;
@ -1076,9 +1012,6 @@ void ConfigccpmWidget::UpdatCCPMOptionsFromUI()
//correction angle
GUIConfigData.heli.CorrectionAngle = m_ccpm->ccpmCorrectionAngle->value();
//CollectiveChannel
GUIConfigData.heli.CollectiveChannel = m_ccpm->ccpmCollectiveChannel->currentIndex();
//update sliders
if (useCCPM)
{
@ -1097,7 +1030,6 @@ 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 +1038,7 @@ 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));
@ -1120,9 +1052,6 @@ void ConfigccpmWidget::UpdatCCPMUIFromOptions()
//correction angle
m_ccpm->ccpmCorrectionAngle->setValue(GUIConfigData.heli.CorrectionAngle);
//CollectiveChannel
m_ccpm->ccpmCollectiveChannel->setCurrentIndex(GUIConfigData.heli.CollectiveChannel);
//update sliders
m_ccpm->ccpmCollectiveScale->setValue(GUIConfigData.heli.SliderValue0);
m_ccpm->ccpmCollectiveScaleBox->setValue(GUIConfigData.heli.SliderValue0);
@ -1134,7 +1063,6 @@ 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);
@ -1147,16 +1075,13 @@ void ConfigccpmWidget::UpdatCCPMUIFromOptions()
void ConfigccpmWidget::SetUIComponentVisibilities()
{
UpdatCCPMOptionsFromUI();
UpdateCCPMOptionsFromUI();
//set which sliders are user...
m_ccpm->ccpmRevoMixingBox->setVisible(0);
m_ccpm->ccpmPitchMixingBox->setVisible(!GUIConfigData.heli.ccpmCollectivePassthroughState && GUIConfigData.heli.ccpmLinkCyclicState);
m_ccpm->ccpmCollectiveScalingBox->setVisible(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState);
m_ccpm->ccpmCollectiveChLabel->setVisible(GUIConfigData.heli.ccpmCollectivePassthroughState);
m_ccpm->ccpmCollectiveChannel->setVisible(GUIConfigData.heli.ccpmCollectivePassthroughState);
m_ccpm->ccpmLinkCyclic->setVisible(!GUIConfigData.heli.ccpmCollectivePassthroughState);
m_ccpm->ccpmCyclicScalingBox->setVisible((GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState) && GUIConfigData.heli.ccpmLinkRollState);
@ -1183,20 +1108,17 @@ 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 ==
@ -1205,7 +1127,7 @@ 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 +1221,7 @@ void ConfigccpmWidget::requestccpmUpdate()
}
updatingFromHardware=FALSE;
UpdatCCPMUIFromOptions();
UpdateCCPMUIFromOptions();
ccpmSwashplateUpdate();
}
@ -1310,116 +1232,83 @@ void ConfigccpmWidget::requestccpmUpdate()
void ConfigccpmWidget::sendccpmUpdate()
{
int i,j;
UAVObjectField *field;
UAVDataObject* obj;
if (SwashLvlConfigurationInProgress)return;
updatingToHardware=TRUE;
//ShowDisclaimer(1);
UpdateCCPMOptionsFromUI();
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
// 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();
UpdatCCPMOptionsFromUI();
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
field = obj->getField(QString("GUIConfigData"));
field->setValue(GUIConfigData.UAVObject[0],0);
field->setValue(GUIConfigData.UAVObject[1],1);
obj->updated();
MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
Q_ASSERT(mixerSettings);
MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();
UpdateMixer();
// Set up some helper pointers
qint8 * mixers[8] = {mixerSettingsData.Mixer1Vector,
mixerSettingsData.Mixer2Vector,
mixerSettingsData.Mixer3Vector,
mixerSettingsData.Mixer4Vector,
mixerSettingsData.Mixer5Vector,
mixerSettingsData.Mixer6Vector,
mixerSettingsData.Mixer7Vector,
mixerSettingsData.Mixer8Vector
};
obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
quint8 * mixerTypes[8] = {
&mixerSettingsData.Mixer1Type,
&mixerSettingsData.Mixer2Type,
&mixerSettingsData.Mixer3Type,
&mixerSettingsData.Mixer4Type,
&mixerSettingsData.Mixer5Type,
&mixerSettingsData.Mixer6Type,
&mixerSettingsData.Mixer7Type,
&mixerSettingsData.Mixer8Type
};
UpdateMixer();
//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<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
Q_ASSERT(obj);
field = obj->getField(QString("Accessory0"));
field->setValue(tr( "Channel%1" ).arg(GUIConfigData.heli.CollectiveChannel+1));
}
mixerSettingsData.Curve2Source = MixerSettings::CURVE2SOURCE_COLLECTIVE;
else
{// throttle
mixerSettingsData.Curve2Source = MixerSettings::CURVE2SOURCE_THROTTLE;
field->setValue("Throttle");
}
obj->updated();
mixerSettings->setData(mixerSettingsData);
mixerSettings->updated();
updatingToHardware=FALSE;
}
@ -1820,7 +1709,6 @@ 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);
@ -1831,7 +1719,6 @@ 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);
@ -1857,41 +1744,24 @@ void ConfigccpmWidget::setSwashplateLevel(int percent)
SwashLvlServoInterlock=1;
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(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;i<CCPM_MAX_SWASH_SERVOS;i++)
{
channel->setValue(newSwashLvlConfiguration.Neutral[i],newSwashLvlConfiguration.ServoChannels[i]);
SwashLvlSpinBoxes[i]->setValue(newSwashLvlConfiguration.Neutral[i]);
}
}
else if (level>0)
{
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++)
{
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++) {
if (level==0)
value = newSwashLvlConfiguration.Neutral[i];
else if (level > 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;i<CCPM_MAX_SWASH_SERVOS;i++)
{
else if (level < 0)
value = (newSwashLvlConfiguration.Neutral[i] - newSwashLvlConfiguration.Min[i])*level + newSwashLvlConfiguration.Neutral[i];
channel->setValue(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;
@ -1900,76 +1770,41 @@ return;
void ConfigccpmWidget::SwashLvlSpinBoxChanged(int value)
{
Q_UNUSED(value);
int i;
if (SwashLvlServoInterlock==1)return;
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorCommand")));
UAVObjectField * channel = obj->getField("Channel");
switch (SwashLvlState)
{
case 0:
break;
case 1: //Neutral levelling
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++)
ActuatorCommand * actuatorCommand = ActuatorCommand::GetInstance(getObjectManager());
ActuatorCommand::DataFields actuatorCommandData = actuatorCommand->getData();
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;i<CCPM_MAX_SWASH_SERVOS;i++)
{
newSwashLvlConfiguration.Max[i]=SwashLvlSpinBoxes[i]->value();
channel->setValue(newSwashLvlConfiguration.Max[i],newSwashLvlConfiguration.ServoChannels[i]);
}
obj->updated();
break;
case 3: //Min levelling
for (i=0;i<CCPM_MAX_SWASH_SERVOS;i++)
{
newSwashLvlConfiguration.Min[i]=SwashLvlSpinBoxes[i]->value();
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("<h1>Warning!!!</h1>");
if ((this->isAncestorOf(oldFocus))&&(!this->isAncestorOf(newFocus)))
{
msgBox.setInformativeText("<b>You are in the middle of the levelling routine</b><br>Changing focus will cancel all levelling and return the OP hardware to the state it was in before levelling began.<p>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();
}
}
}

9
ground/openpilotgcs/src/plugins/config/configccpmwidget.h
View File

@ -57,7 +57,6 @@ typedef struct {
uint ccpmCollectivePassthroughState:1;
uint ccpmLinkCyclicState:1;
uint ccpmLinkRollState:1;
uint CollectiveChannel:3;//20bits
uint SliderValue0:7;
uint SliderValue1:7;
uint SliderValue2:7;//41bits
@ -82,6 +81,8 @@ public:
ConfigccpmWidget(QWidget *parent = 0);
~ConfigccpmWidget();
friend class ConfigAirframeWidget;
private:
Ui_ccpmWidget *m_ccpm;
QGraphicsSvgItem *SwashplateImg;
@ -134,8 +135,8 @@ private:
void SwashLvlCancelButtonPressed();
void SwashLvlFinishButtonPressed();
void UpdatCCPMOptionsFromUI();
void UpdatCCPMUIFromOptions();
void UpdateCCPMOptionsFromUI();
void UpdateCCPMUIFromOptions();
void SetUIComponentVisibilities();
void ccpmChannelCheck();
@ -143,8 +144,6 @@ 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:

1
ground/openpilotgcs/src/plugins/config/configgadget.qrc
View File

@ -15,6 +15,7 @@
<file>images/coptercontrol.svg</file>
<file>images/hw_config.png</file>
<file>images/gyroscope.png</file>
<file>images/TX.svg</file>
<file>images/camera.png</file>
</qresource>
</RCC>

30
ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
View File

@ -102,6 +102,8 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
onAutopilotConnect();
help = 0;
connect(ftw,SIGNAL(currentAboutToShow(int,bool*)),this,SLOT(tabAboutToChange(int,bool*)));//,Qt::BlockingQueuedConnection);
}
ConfigGadgetWidget::~ConfigGadgetWidget()
@ -118,6 +120,15 @@ 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();
}
@ -156,5 +167,24 @@ void ConfigGadgetWidget::onAutopilotConnect() {
emit autopilotConnected();
}
void ConfigGadgetWidget::tabAboutToChange(int i,bool * proceed)
{
Q_UNUSED(i);
*proceed=true;
ConfigTaskWidget * wid=qobject_cast<ConfigTaskWidget *>(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);
}
}

5
ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
View File

@ -37,10 +37,10 @@
//#include <QtWebKit/QWebView>
#include <QTextBrowser>
#include "utils/pathutils.h"
#include <QMessageBox>
//#include "fancytabwidget.h"
#include "utils/mytabbedstackwidget.h"
#include "configtaskwidget.h"
class ConfigGadgetWidget: public QWidget
{
@ -55,6 +55,7 @@ public:
public slots:
void onAutopilotConnect();
void onAutopilotDisconnect();
void tabAboutToChange(int i,bool *);
signals:
void autopilotConnected();

1987
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -1,8 +1,8 @@
/**
******************************************************************************
*
* @file configservowidget.cpp
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @file configinputwidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
@ -38,614 +38,233 @@
#include <QDesktopServices>
#include <QUrl>
#include <QMessageBox>
#include <utils/stylehelper.h>
#include <QMessageBox>
#include "manualcontrolsettings.h"
#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)
ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardNone),loop(NULL),skipflag(false),transmitterType(heli)
{
manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());
receiverActivityObj=ReceiverActivity::GetInstance(getObjectManager());
m_config = new Ui_InputWidget();
m_config->setupUi(this);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
setupButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
// 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<UAVDataObject*>(objManager->getObject(QString("ManualControlCommand")));
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateChannels(UAVObject*)));
// Register for ManualControlSettings changes:
obj = dynamic_cast<UAVDataObject*>(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<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
UAVObjectField * field;
// Fill in the dropdown menus for the channel RC Input assignement.
QStringList channelsList;
channelsList << "None";
QList<UAVObjectField*> fieldList = obj->getFields();
foreach (UAVObjectField* field, fieldList) {
if (field->getUnits().contains("channel")) {
channelsList.append(field->getName());
}
unsigned int index=0;
foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
{
Q_ASSERT(index < ManualControlSettings::CHANNELGROUPS_NUMELEM);
inputChannelForm * inp=new inputChannelForm(this,index==0);
m_config->channelSettings->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);
connect(m_config->configurationWizard,SIGNAL(clicked()),this,SLOT(goToWizard()));
connect(m_config->runCalibration,SIGNAL(toggled(bool)),this, SLOT(simpleCalibration(bool)));
// 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);
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()));
// And the Armin configurations:
field = obj->getField(QString("Arming"));
m_config->armControl->clear();
m_config->armControl->addItems(field->getOptions());
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);
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");
connect(m_config->saveRCInputToSD, SIGNAL(clicked()), this, SLOT(saveRCInputObject()));
connect(m_config->saveRCInputToRAM, SIGNAL(clicked()), this, SLOT(sendRCInputUpdate()));
addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl);
addUAVObjectToWidgetRelation("ManualControlSettings","ArmedTimeout",m_config->armTimeout,0,1000);
connect( ManualControlCommand::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(moveFMSlider()));
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;
populateWidgets();
refreshWidgetsValues();
// Connect the help button
connect(m_config->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
updateTips(Qt::Unchecked);
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()));
heliChannelOrder << ManualControlSettings::CHANNELGROUPS_COLLECTIVE <<
ManualControlSettings::CHANNELGROUPS_THROTTLE <<
ManualControlSettings::CHANNELGROUPS_ROLL <<
ManualControlSettings::CHANNELGROUPS_PITCH <<
ManualControlSettings::CHANNELGROUPS_YAW <<
ManualControlSettings::CHANNELGROUPS_FLIGHTMODE <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY0 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY1 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY2;
acroChannelOrder << ManualControlSettings::CHANNELGROUPS_THROTTLE <<
ManualControlSettings::CHANNELGROUPS_ROLL <<
ManualControlSettings::CHANNELGROUPS_PITCH <<
ManualControlSettings::CHANNELGROUPS_YAW <<
ManualControlSettings::CHANNELGROUPS_FLIGHTMODE <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY0 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY1 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY2;
}
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()
{
// 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<UAVDataObject*>(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<UAVObjectField *> 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<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(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<UAVObjectField*> 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()
void ConfigInputWidget::resizeEvent(QResizeEvent *event)
{
// Send update so that the latest value is saved
sendRCInputUpdate();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(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<UAVDataObject*>(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<UAVDataObject*>(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<UAVDataObject*>(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);
}
QWidget::resizeEvent(event);
m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
}
void ConfigInputWidget::openHelp()
@ -653,77 +272,1147 @@ void ConfigInputWidget::openHelp()
QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Input+Configuration", QUrl::StrictMode) );
}
void ConfigInputWidget::receiverHelp()
void ConfigInputWidget::goToWizard()
{
QString unassigned;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* controlCommand = dynamic_cast<UAVDataObject*>(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("");
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();
wizardSetUpStep(wizardWelcome);
m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
}
void ConfigInputWidget::updateTips(int value)
void ConfigInputWidget::wzCancel()
{
if(value==Qt::Checked)
dimOtherControls(false);
manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
m_config->stackedWidget->setCurrentIndex(0);
if(wizardStep != wizardNone)
wizardTearDownStep(wizardStep);
wizardStep=wizardNone;
// Load settings back from beginning of wizard
manualSettingsObj->setData(previousManualSettingsData);
}
void ConfigInputWidget::wzNext()
{
// In identify sticks mode the next button can indicate
// channel advance
if(wizardStep != wizardNone &&
wizardStep != wizardIdentifySticks)
wizardTearDownStep(wizardStep);
// State transitions for next button
switch(wizardStep) {
case wizardWelcome:
wizardSetUpStep(wizardChooseMode);
break;
case wizardChooseMode:
wizardSetUpStep(wizardChooseType);
break;
case wizardChooseType:
wizardSetUpStep(wizardIdentifySticks);
break;
case wizardIdentifySticks:
nextChannel();
if(currentChannelNum==-1) { // Gone through all channels
wizardTearDownStep(wizardIdentifySticks);
wizardSetUpStep(wizardIdentifyCenter);
}
break;
case wizardIdentifyCenter:
wizardSetUpStep(wizardIdentifyLimits);
break;
case wizardIdentifyLimits:
wizardSetUpStep(wizardIdentifyInverted);
break;
case wizardIdentifyInverted:
wizardSetUpStep(wizardFinish);
break;
case wizardFinish:
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);
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=wizardNone;
break;
default:
Q_ASSERT(0);
}
}
void ConfigInputWidget::wzBack()
{
if(wizardStep != wizardNone &&
wizardStep != wizardIdentifySticks)
wizardTearDownStep(wizardStep);
// State transitions for next button
switch(wizardStep) {
case wizardChooseMode:
wizardSetUpStep(wizardWelcome);
break;
case wizardChooseType:
wizardSetUpStep(wizardChooseMode);
break;
case wizardIdentifySticks:
prevChannel();
if(currentChannelNum == -1) {
wizardTearDownStep(wizardIdentifySticks);
wizardSetUpStep(wizardChooseType);
}
break;
case wizardIdentifyCenter:
wizardSetUpStep(wizardIdentifySticks);
break;
case wizardIdentifyLimits:
wizardSetUpStep(wizardIdentifyCenter);
break;
case wizardIdentifyInverted:
wizardSetUpStep(wizardIdentifyLimits);
break;
case wizardFinish:
wizardSetUpStep(wizardIdentifyInverted);
break;
default:
Q_ASSERT(0);
}
}
void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
{
switch(step) {
case wizardWelcome:
m_config->graphicsView->setVisible(false);
setTxMovement(nothing);
manualSettingsData=manualSettingsObj->getData();
manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
previousManualSettingsData = manualSettingsData;
manualSettingsObj->setData(manualSettingsData);
m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\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"));
m_config->stackedWidget->setCurrentIndex(1);
m_config->wzBack->setEnabled(false);
break;
case wizardChooseMode:
{
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");
m_config->graphicsView->setVisible(true);
setTxMovement(nothing);
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);
}
break;
case wizardChooseType:
{
m_config->wzText->setText(tr("Please choose your transmiter mode.\n"
"Acro means normal transmitter\n"
"Heli means there is a collective pitch and throttle input\n"
"If you are using a heli transmitter please engage throttle hold now please.\n"));
m_config->wzBack->setEnabled(true);
QRadioButton * typeAcro=new QRadioButton(tr("Acro"),this);
QRadioButton * typeHeli=new QRadioButton(tr("Heli"),this);
typeAcro->setChecked(true);
typeHeli->setChecked(false);
extraWidgets.clear();
extraWidgets.append(typeAcro);
extraWidgets.append(typeHeli);
m_config->checkBoxesLayout->layout()->addWidget(typeAcro);
m_config->checkBoxesLayout->layout()->addWidget(typeHeli);
wizardStep=wizardChooseType;
}
break;
case wizardIdentifySticks:
usedChannels.clear();
currentChannelNum=-1;
nextChannel();
manualSettingsData=manualSettingsObj->getData();
connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
m_config->wzNext->setEnabled(false);
break;
case wizardIdentifyCenter:
setTxMovement(centerAll);
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)")));
break;
case wizardIdentifyLimits:
{
dimOtherControls(false);
setTxMovement(moveAll);
m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready")));
fastMdata();
manualSettingsData=manualSettingsObj->getData();
for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
{
manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
}
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
}
break;
case wizardIdentifyInverted:
dimOtherControls(true);
setTxMovement(nothing);
extraWidgets.clear();
foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
{
if(!name.contains("Access") && !name.contains("Flight"))
{
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()));
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")));
fastMdata();
break;
case wizardFinish:
foreach(QWidget * wd,extraWidgets)
{
QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
if(cb)
{
disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
delete cb;
}
}
extraWidgets.clear();
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
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.")));
fastMdata();
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
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);
break;
default:
Q_ASSERT(0);
}
wizardStep = step;
}
void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
{
QRadioButton * mode, * type;
Q_ASSERT(step == wizardStep);
switch(step) {
case wizardWelcome:
break;
case wizardChooseMode:
mode=qobject_cast<QRadioButton *>(extraWidgets.at(0));
if(mode->isChecked())
transmitterMode=mode1;
else
transmitterMode=mode2;
delete extraWidgets.at(0);
delete extraWidgets.at(1);
extraWidgets.clear();
break;
case wizardChooseType:
type=qobject_cast<QRadioButton *>(extraWidgets.at(0));
if(type->isChecked())
transmitterType=acro;
else
transmitterType=heli;
delete extraWidgets.at(0);
delete extraWidgets.at(1);
extraWidgets.clear();
break;
case wizardIdentifySticks:
disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
m_config->wzNext->setEnabled(true);
break;
case wizardIdentifyCenter:
manualCommandData=manualCommandObj->getData();
manualSettingsData=manualSettingsObj->getData();
for(unsigned int i=0;i<ManualControlCommand::CHANNEL_NUMELEM;++i)
{
manualSettingsData.ChannelNeutral[i]=manualCommandData.Channel[i];
}
manualSettingsObj->setData(manualSettingsData);
break;
case wizardIdentifyLimits:
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
manualSettingsObj->setData(manualSettingsData);
restoreMdata();
break;
case wizardIdentifyInverted:
foreach(QWidget * wd,extraWidgets)
{
QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
if(cb)
{
disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
delete cb;
}
}
extraWidgets.clear();
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
restoreMdata();
break;
case wizardFinish:
setTxMovement(nothing);
m_config->stackedWidget->setCurrentIndex(0);
disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
restoreMdata();
break;
default:
Q_ASSERT(0);
}
}
/**
* Set manual control command to fast updates
*/
void ConfigInputWidget::fastMdata()
{
manualControlMdata = manualCommandObj->getMetadata();
UAVObject::Metadata mdata = manualControlMdata;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
mdata.flightTelemetryUpdatePeriod = 150;
manualCommandObj->setMetadata(mdata);
}
/**
* Restore previous update settings for manual control data
*/
void ConfigInputWidget::restoreMdata()
{
manualCommandObj->setMetadata(manualControlMdata);
}
//void ConfigInputWidget::setupWizardWidget(int step)
//{
// if(step==wizardWelcome)
// {
// m_config->graphicsView->setVisible(false);
// setTxMovement(nothing);
// 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 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"));
// m_config->stackedWidget->setCurrentIndex(1);
// m_config->wzBack->setEnabled(false);
// wizardStep=wizardWelcome;
// }
// else if(step==wizardChooseMode)
// {
// m_config->graphicsView->setVisible(true);
// setTxMovement(nothing);
// 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==wizardChooseType)
// {
// if(wizardStep==wizardChooseMode)
// {
// QRadioButton * mode=qobject_cast<QRadioButton *>(extraWidgets.at(0));
// if(mode->isChecked())
// transmitterMode=mode1;
// else
// transmitterMode=mode2;
// delete extraWidgets.at(0);
// delete extraWidgets.at(1);
// extraWidgets.clear();
// }
// m_config->wzText->setText(tr("Please choose your transmiter mode.\n"
// "Acro means normal transmitter\n"
// "Heli means there is a collective pitch and throttle input\n"));
// m_config->wzBack->setEnabled(true);
// QRadioButton * typeAcro=new QRadioButton(tr("Acro"),this);
// QRadioButton * typeHeli=new QRadioButton(tr("Heli"),this);
// typeAcro->setChecked(true);
// typeHeli->setChecked(false);
// extraWidgets.clear();
// extraWidgets.append(typeAcro);
// extraWidgets.append(typeHeli);
// m_config->checkBoxesLayout->layout()->addWidget(typeAcro);
// m_config->checkBoxesLayout->layout()->addWidget(typeHeli);
// wizardStep=wizardChooseType;
// } else if(step==wizardIdentifySticks && !isSimple) {
// usedChannels.clear();
// if(wizardStep==wizardChooseType)
// {
// qDebug() << "Chosing type";
// QRadioButton * type=qobject_cast<QRadioButton *>(extraWidgets.at(0));
// if(type->isChecked())
// transmitterType=acro;
// else
// transmitterType=heli;
// qDebug() << "Checked: " << type->isChecked() << " " << "type is" << transmitterType;
// delete extraWidgets.at(0);
// delete extraWidgets.at(1);
// extraWidgets.clear();
// }
// wizardStep=wizardIdentifySticks;
// currentCommand=0;
// getChannelFromStep(currentCommand);
// manualSettingsData=manualSettingsObj->getData();
// connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
// m_config->wzNext->setEnabled(false);
// }
// else if(step==wizardIdentifyCenter || (isSimple && step==wizardIdentifySticks))
// {
// setTxMovement(centerAll);
// 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 (if your FlightMode switch has only two positions, leave it on either position)")));
// }
// else if(step==wizardIdentifyLimits)
// {
// dimOtherControls(false);
// setTxMovement(moveAll);
// if(wizardStep==wizardIdentifyCenter)
// {
// wizardStep=wizardIdentifyLimits;
// manualCommandData=manualCommandObj->getData();
// manualSettingsData=manualSettingsObj->getData();
// for(unsigned int i=0;i<ManualControlCommand::CHANNEL_NUMELEM;++i)
// {
// manualSettingsData.ChannelNeutral[i]=manualCommandData.Channel[i];
// }
// manualSettingsObj->setData(manualSettingsData);
// }
// if(wizardStep==wizardIdentifyInverted)
// {
// foreach(QWidget * wd,extraWidgets)
// {
// QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
// if(cb)
// {
// disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
// delete cb;
// }
// }
// }
// 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 extents 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(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
// {
// manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
// manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
// }
// connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
// }
// else if(step==wizardIdentifyInverted)
// {
// dimOtherControls(true);
// setTxMovement(nothing);
// if(wizardStep==wizardIdentifyLimits)
// {
// disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
// manualSettingsObj->setData(manualSettingsData);
// }
// extraWidgets.clear();
// foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
// {
// if(!name.contains("Access") && !name.contains("Flight"))
// {
// 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")));
// }
// else if(step==wizardFinish)
// {
// foreach(QWidget * wd,extraWidgets)
// {
// QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
// if(cb)
// {
// disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
// delete cb;
// }
// }
// wizardStep=wizardFinish;
// 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.")));
// }
// 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);
// 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;
// }
//}
/**
* Set the display to indicate which channel the person should move
*/
void ConfigInputWidget::setChannel(int newChan)
{
if(newChan == ManualControlSettings::CHANNELGROUPS_COLLECTIVE)
m_config->wzText->setText(QString(tr("Please enable throttle hold mode and move the collective pitch stick")));
else if (newChan == ManualControlSettings::CHANNELGROUPS_FLIGHTMODE)
m_config->wzText->setText(QString(tr("Please flick the flight mode switch. For switches you may have to repeat this rapidly.")));
else
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(newChan)));
if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("Accessory"))
m_config->wzNext->setEnabled(true);
setMoveFromCommand(newChan);
currentChannelNum = newChan;
}
/**
* Unfortunately order of channel should be different in different conditions. Selects
* next channel based on heli or acro mode
*/
void ConfigInputWidget::nextChannel()
{
QList <int> order = (transmitterType == heli) ? heliChannelOrder : acroChannelOrder;
if(currentChannelNum == -1) {
setChannel(order[0]);
return;
}
for (int i = 0; i < order.length() - 1; i++) {
if(order[i] == currentChannelNum) {
setChannel(order[i+1]);
return;
}
}
currentChannelNum = -1; // hit end of list
}
/**
* Unfortunately order of channel should be different in different conditions. Selects
* previous channel based on heli or acro mode
*/
void ConfigInputWidget::prevChannel()
{
QList <int> order = transmitterType == heli ? heliChannelOrder : acroChannelOrder;
// No previous from unset channel or next state
if(currentChannelNum == -1)
return;
for (int i = 1; i < order.length(); i++) {
if(order[i] == currentChannelNum) {
setChannel(order[i-1]);
usedChannels.removeLast();
return;
}
}
currentChannelNum = -1; // hit end of list
}
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>1)
{
debounce=0;
usedChannels.append(lastChannel);
manualSettingsData=manualSettingsObj->getData();
manualSettingsData.ChannelGroups[currentChannelNum]=currentChannel.group;
manualSettingsData.ChannelNumber[currentChannelNum]=currentChannel.number;
manualSettingsObj->setData(manualSettingsData);
}
else
return;
}
m_config->wzText->clear();
setTxMovement(nothing);
QTimer::singleShot(300, this, SLOT(wzNext()));
}
void ConfigInputWidget::identifyLimits()
{
manualCommandData=manualCommandObj->getData();
for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
{
if(manualSettingsData.ChannelMin[i]>manualCommandData.Channel[i])
manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
if(manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i])
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)
{
setTxMovement(moveRightHorizontalStick);
}
else if(command==ManualControlSettings::CHANNELNUMBER_PITCH)
{
if(transmitterMode==mode2)
setTxMovement(moveRightVerticalStick);
else
setTxMovement(moveLeftVerticalStick);
}
else if(command==ManualControlSettings::CHANNELNUMBER_YAW)
{
setTxMovement(moveLeftHorizontalStick);
}
else if(command==ManualControlSettings::CHANNELNUMBER_THROTTLE)
{
if(transmitterMode==mode2)
setTxMovement(moveLeftVerticalStick);
else
setTxMovement(moveRightVerticalStick);
}
else if(command==ManualControlSettings::CHANNELNUMBER_COLLECTIVE)
{
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:
movePos=0;
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(movePos<limitMin)
{
movePos=movePos+2;
growing=true;
}
}
}
void ConfigInputWidget::moveSticks()
{
QTransform trans;
manualCommandData=manualCommandObj->getData();
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
{
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");
trans=m_txRightStickOrig;
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.Yaw*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)
{
m_config->configurationWizard->setEnabled(enable);
m_config->runCalibration->setEnabled(enable);
ConfigTaskWidget::enableControls(enable);
}
void ConfigInputWidget::invertControls()
{
manualSettingsData=manualSettingsObj->getData();
foreach(QWidget * wd,extraWidgets)
{
QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
if(cb)
{
int index=manualSettingsObj->getFields().at(0)->getElementNames().indexOf(cb->text());
if((cb->isChecked() && (manualSettingsData.ChannelMax[index]>manualSettingsData.ChannelMin[index])) ||
(!cb->isChecked() && (manualSettingsData.ChannelMax[index]<manualSettingsData.ChannelMin[index])))
{
qint16 aux;
aux=manualSettingsData.ChannelMax[index];
manualSettingsData.ChannelMax[index]=manualSettingsData.ChannelMin[index];
manualSettingsData.ChannelMin[index]=aux;
}
}
}
manualSettingsObj->setData(manualSettingsData);
}
void ConfigInputWidget::moveFMSlider()
{
ManualControlSettings::DataFields manualSettingsDataPriv = manualSettingsObj->getData();
ManualControlCommand::DataFields manualCommandDataPriv=manualCommandObj->getData();
float valueScaled;
int chMin = manualSettingsDataPriv.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE];
int chMax = manualSettingsDataPriv.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE];
int chNeutral = manualSettingsDataPriv.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE];
int value = manualCommandDataPriv.Channel[ManualControlSettings::CHANNELMIN_FLIGHTMODE];
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::updateCalibration()
{
manualCommandData=manualCommandObj->getData();
for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
{
if((!reverse[i] && manualSettingsData.ChannelMin[i]>manualCommandData.Channel[i]) ||
(reverse[i] && manualSettingsData.ChannelMin[i]<manualCommandData.Channel[i]))
manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
if((!reverse[i] && manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i]) ||
(reverse[i] && manualSettingsData.ChannelMax[i]>manualCommandData.Channel[i]))
manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
}
manualSettingsObj->setData(manualSettingsData);
manualSettingsObj->updated();
}
void ConfigInputWidget::simpleCalibration(bool enable)
{
if (enable) {
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();
manualCommandData = manualCommandObj->getData();
manualSettingsData=manualSettingsObj->getData();
manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
manualSettingsObj->setData(manualSettingsData);
for (unsigned int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++) {
reverse[i] = manualSettingsData.ChannelMax[i] < manualSettingsData.ChannelMin[i];
manualSettingsData.ChannelMin[i] = manualCommandData.Channel[i];
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
manualSettingsData.ChannelMax[i] = manualCommandData.Channel[i];
}
fastMdata();
connect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(updateCalibration()));
} else {
manualCommandData = manualCommandObj->getData();
manualSettingsData = manualSettingsObj->getData();
restoreMdata();
for (int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++)
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
// Force flight mode neutral to middle
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] =
(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] +
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE]) / 2;
// Force throttle to be near min
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);
disconnect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(updateCalibration()));
}
}

121
ground/openpilotgcs/src/plugins/config/configinputwidget.h
View File

@ -34,52 +34,125 @@
#include "uavobject.h"
#include <QtGui/QWidget>
#include <QList>
#include "inputchannelform.h"
#include "ui_inputchannelform.h"
#include <QRadioButton>
#include "manualcontrolcommand.h"
#include "manualcontrolsettings.h"
#include "receiveractivity.h"
#include <QGraphicsView>
#include <QtSvg/QSvgRenderer>
#include <QtSvg/QGraphicsSvgItem>
class Ui_InputWidget;
class ConfigInputWidget: public ConfigTaskWidget
{
Q_OBJECT
public:
ConfigInputWidget(QWidget *parent = 0);
~ConfigInputWidget();
enum wizardSteps{wizardWelcome,wizardChooseMode,wizardChooseType,wizardIdentifySticks,wizardIdentifyCenter,wizardIdentifyLimits,wizardIdentifyInverted,wizardFinish,wizardNone};
enum txMode{mode1,mode2};
enum txMovements{moveLeftVerticalStick,moveRightVerticalStick,moveLeftHorizontalStick,moveRightHorizontalStick,moveAccess0,moveAccess1,moveAccess2,moveFlightMode,centerAll,moveAll,nothing};
enum txMovementType{vertical,horizontal,jump,mix};
enum txType {acro, heli};
public slots:
private:
bool growing;
bool reverse[ManualControlSettings::CHANNELNEUTRAL_NUMELEM];
txMovements currentMovement;
int movePos;
void setTxMovement(txMovements movement);
Ui_InputWidget *m_config;
wizardSteps wizardStep;
QList<QWidget*> extraWidgets;
txMode transmitterMode;
txType transmitterType;
struct channelsStruct
{
bool operator ==(const channelsStruct& rhs) const
{
return((group==rhs.group) &&(number==rhs.number));
}
int group;
int number;
}lastChannel;
channelsStruct currentChannel;
QList<channelsStruct> usedChannels;
QEventLoop * loop;
bool skipflag;
QList<QSlider> sliders;
int currentChannelNum;
QList<int> heliChannelOrder;
QList<int> acroChannelOrder;
void updateChannelInSlider(QSlider *slider, QLabel *min, QLabel *max, int value, bool reversed);
ManualControlCommand * manualCommandObj;
ManualControlCommand::DataFields manualCommandData;
UAVObject::Metadata manualControlMdata;
ManualControlSettings * manualSettingsObj;
ManualControlSettings::DataFields manualSettingsData;
ManualControlSettings::DataFields previousManualSettingsData;
ReceiverActivity * receiverActivityObj;
ReceiverActivity::DataFields receiverActivityData;
void assignChannel(UAVDataObject *obj, QString str);
void assignOutputChannel(UAVDataObject *obj, QString str);
QSvgRenderer *m_renderer;
int mccDataRate;
// 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);
UAVObject::Metadata accInitialData;
void fastMdata();
void restoreMdata();
QList<QSlider*> inSliders;
QList<QLabel*> inMaxLabels;
QList<QLabel*> inMinLabels;
QList<QLabel*> inNeuLabels;
QList<QCheckBox*> inRevCheckboxes;
QList<QComboBox*> inChannelAssign;
void setChannel(int);
void nextChannel();
void prevChannel();
bool firstUpdate;
virtual void enableControls(bool enable);
void receiverHelp();
void wizardSetUpStep(enum wizardSteps);
void wizardTearDownStep(enum wizardSteps);
private slots:
void updateChannels(UAVObject* obj);
virtual void refreshValues();
void sendRCInputUpdate();
void saveRCInputObject();
void reverseCheckboxClicked(bool state);
void wzNext();
void wzBack();
void wzCancel();
void goToWizard();
void openHelp();
void updateTips(int);
void identifyControls();
void identifyLimits();
void moveTxControls();
void moveSticks();
void dimOtherControls(bool value);
void moveFMSlider();
void invertControls();
void simpleCalibration(bool state);
void updateCalibration();
protected:
void resizeEvent(QResizeEvent *event);
virtual void enableControls(bool enable);
};
#endif

86
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
View File

@ -45,7 +45,8 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
m_config->setupUi(this);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
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 +107,7 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
<< m_config->ch7Link;
// Register for ActuatorSettings changes:
UAVDataObject * obj = dynamic_cast<UAVDataObject*>(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 +122,8 @@ 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 +131,43 @@ 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 +176,6 @@ ConfigOutputWidget::~ConfigOutputWidget()
}
// ************************************
void ConfigOutputWidget::enableControls(bool enable)
{
m_config->saveRCOutputToSD->setEnabled(enable);
//m_config->saveRCOutputToRAM->setEnabled(enable);
}
// ************************************
/**
@ -355,8 +377,9 @@ 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<UAVObjectManager>();
@ -444,14 +467,14 @@ 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<UAVObjectManager>();
@ -479,27 +502,8 @@ 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<UAVDataObject*>(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.

6
ground/openpilotgcs/src/plugins/config/configoutputwidget.h
View File

@ -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();

79
ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
View File

@ -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 +73,35 @@ 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);
addWidget(m_stabilization->lowThrottleZeroIntegral);
}
ConfigStabilizationWidget::~ConfigStabilizationWidget()
@ -86,13 +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()) {
@ -187,8 +203,9 @@ 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();
@ -229,9 +246,9 @@ 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]);
m_stabilization->lowThrottleZeroIntegral->setChecked(stabData.LowThrottleZeroIntegral==StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_TRUE ? true : false);
m_stabilization->lowThrottleZeroIntegral->setChecked(
stabData.LowThrottleZeroIntegral == StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_TRUE);
setDirty(dirty);
}
@ -239,7 +256,7 @@ void ConfigStabilizationWidget::refreshValues()
Send telemetry settings to the board
*/
void ConfigStabilizationWidget::sendStabilizationUpdate()
void ConfigStabilizationWidget::updateObjectsFromWidgets()
{
StabilizationSettings::DataFields stabData = stabSettings->getData();
@ -279,28 +296,12 @@ void ConfigStabilizationWidget::sendStabilizationUpdate()
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;
stabData.LowThrottleZeroIntegral = (m_stabilization->lowThrottleZeroIntegral->isChecked() ? StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_TRUE :StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_FALSE);
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<UAVDataObject*>(getObjectManager()->getObject(QString("StabilizationSettings")));
Q_ASSERT(obj);
saveObjectToSD(obj);
}
void ConfigStabilizationWidget::realtimeUpdateToggle(bool state)
{
if (state) {

6
ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h
View File

@ -49,12 +49,10 @@ private:
Ui_StabilizationWidget *m_stabilization;
StabilizationSettings* stabSettings;
QTimer updateTimer;
virtual void enableControls(bool enable);
private slots:
virtual void refreshValues();
void sendStabilizationUpdate();
void saveStabilizationUpdate();
virtual void refreshWidgetsValues();
void updateObjectsFromWidgets();
void realtimeUpdateToggle(bool);
void openHelp();

100
ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
View File

@ -28,7 +28,7 @@
#include <QtGui/QWidget>
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<UAVObjectManager>();
@ -43,13 +43,27 @@ 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));
Q_ASSERT(obj);
_field = obj->getField(QString(field));
Q_ASSERT(_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()));
Q_ASSERT(obj);
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues()));
}
//smartsave->addObject(obj);
if(!field.isEmpty() && obj)
_field = obj->getField(QString(field));
@ -57,9 +71,11 @@ 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);
smartsave->addObject((UAVDataObject*)obj);
if(widget==NULL)
{
// do nothing
@ -88,6 +104,15 @@ void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString fiel
{
connect(cb,SIGNAL(valueChanged(double)),this,SLOT(widgetsContentsChanged()));
}
else if(QCheckBox * cb=qobject_cast<QCheckBox *>(widget))
{
connect(cb,SIGNAL(clicked()),this,SLOT(widgetsContentsChanged()));
}
else if(QPushButton * cb=qobject_cast<QPushButton *>(widget))
{
connect(cb,SIGNAL(clicked()),this,SLOT(widgetsContentsChanged()));
}
}
@ -126,17 +151,21 @@ double ConfigTaskWidget::listMean(QList<double> 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()
{
bool dirtyBack=dirty;
foreach(objectToWidget * ow,objOfInterest)
{
if(ow->object==NULL || ow->field==NULL)
@ -146,18 +175,27 @@ void ConfigTaskWidget::populateWidgets()
else if(QComboBox * cb=qobject_cast<QComboBox *>(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<QLabel *>(ow->widget))
{
cb->setText(ow->field->getValue().toString());
cb->setText(ow->field->getValue(ow->index).toString());
}
else if(QSpinBox * cb=qobject_cast<QSpinBox *>(ow->widget))
{
cb->setValue(ow->field->getValue(ow->index).toInt()/ow->scale);
}
else if(QSlider * cb=qobject_cast<QSlider *>(ow->widget))
{
cb->setValue(ow->field->getValue(ow->index).toInt()/ow->scale);
}
}
dirty=false;
setDirty(dirtyBack);
}
void ConfigTaskWidget::refreshWidgetsValues()
{
bool dirtyBack=dirty;
foreach(objectToWidget * ow,objOfInterest)
{
if(ow->object==NULL || ow->field==NULL)
@ -166,13 +204,22 @@ void ConfigTaskWidget::refreshWidgetsValues()
}
else if(QComboBox * cb=qobject_cast<QComboBox *>(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<QLabel *>(ow->widget))
{
cb->setText(ow->field->getValue().toString());
cb->setText(ow->field->getValue(ow->index).toString());
}
else if(QSpinBox * cb=qobject_cast<QSpinBox *>(ow->widget))
{
cb->setValue(ow->field->getValue(ow->index).toInt()/ow->scale);
}
else if(QSlider * cb=qobject_cast<QSlider *>(ow->widget))
{
cb->setValue(ow->field->getValue(ow->index).toInt()/ow->scale);
}
}
setDirty(dirtyBack);
}
void ConfigTaskWidget::updateObjectsFromWidgets()
@ -185,11 +232,19 @@ void ConfigTaskWidget::updateObjectsFromWidgets()
}
else if(QComboBox * cb=qobject_cast<QComboBox *>(ow->widget))
{
ow->field->setValue(cb->currentText());
ow->field->setValue(cb->currentText(),ow->index);
}
else if(QLabel * cb=qobject_cast<QLabel *>(ow->widget))
{
ow->field->setValue(cb->text());
ow->field->setValue(cb->text(),ow->index);
}
else if(QSpinBox * cb=qobject_cast<QSpinBox *>(ow->widget))
{
ow->field->setValue(cb->value()* ow->scale,ow->index);
}
else if(QSlider * cb=qobject_cast<QSlider *>(ow->widget))
{
ow->field->setValue(cb->value()* ow->scale,ow->index);
}
}
}
@ -197,10 +252,11 @@ 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()));
enableControls(false);
}
void ConfigTaskWidget::enableControls(bool enable)
@ -211,17 +267,23 @@ void ConfigTaskWidget::enableControls(bool enable)
void ConfigTaskWidget::widgetsContentsChanged()
{
dirty=true;
setDirty(true);
}
void ConfigTaskWidget::clearDirty()
{
dirty=false;
setDirty(false);
}
void ConfigTaskWidget::setDirty(bool value)
{
dirty=value;
}
bool ConfigTaskWidget::isDirty()
{
return dirty;
if(isConnected)
return dirty;
else
return false;
}
void ConfigTaskWidget::refreshValues()

12
ground/openpilotgcs/src/plugins/config/configtaskwidget.h
View File

@ -41,6 +41,9 @@
#include <QTableWidget>
#include <QDoubleSpinBox>
#include <QSpinBox>
#include <QCheckBox>
#include <QPushButton>
class ConfigTaskWidget: public QWidget
{
Q_OBJECT
@ -51,6 +54,8 @@ public:
UAVObject * object;
UAVObjectField * field;
QWidget * widget;
int index;
int scale;
};
ConfigTaskWidget(QWidget *parent = 0);
@ -60,9 +65,12 @@ public:
static double listMean(QList<double> 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();
@ -71,6 +79,8 @@ private slots:
virtual void refreshValues();
virtual void updateObjectsFromWidgets();
private:
bool isConnected;
QStringList objectsList;
QList <objectToWidget*> objOfInterest;
ExtensionSystem::PluginManager *pm;
UAVObjectManager *objManager;

9
ground/openpilotgcs/src/plugins/config/fancytabwidget.cpp
View File

@ -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();
}

5
ground/openpilotgcs/src/plugins/config/fancytabwidget.h
View File

@ -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;

571
ground/openpilotgcs/src/plugins/config/images/TX.svg Normal file
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Width:  |  Height:  |  Size: 31 KiB

1002
ground/openpilotgcs/src/plugins/config/input.ui
View File

@ -25,770 +25,105 @@
</attribute>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<widget class="QLabel" name="label_2">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Receiver Type:</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="5">
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QLabel" name="RCInputConnected">
<property name="minimumSize">
<size>
<width>234</width>
<height>54</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string>Indicates whether OpenPilot is getting a signal from the RC receiver.</string>
</property>
<property name="text">
<string>RC Receiver not connected or invalid input configuration (missing channels)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item row="0" column="9">
<widget class="QLabel" name="label">
<property name="text">
<string>Rev.</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QComboBox" name="ch0Assign">
<property name="iconSize">
<size>
<width>16</width>
<height>16</height>
</size>
</property>
<property name="frame">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="5" colspan="3">
<widget class="QSlider" name="inSlider0">
<property name="mouseTracking">
<bool>true</bool>
</property>
<property name="minimum">
<number>1000</number>
</property>
<property name="maximum">
<number>2000</number>
</property>
<property name="value">
<number>1500</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="1" column="8">
<widget class="QLabel" name="ch0Max">
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>2000</string>
</property>
</widget>
</item>
<item row="1" column="9">
<widget class="QCheckBox" name="ch0Rev">
<property name="toolTip">
<string>Check this to reverse the channel.
(Useful for transmitters without channel
reversal capabilities).</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QComboBox" name="ch1Assign"/>
</item>
<item row="2" column="5" colspan="3">
<widget class="QSlider" name="inSlider1">
<property name="mouseTracking">
<bool>true</bool>
</property>
<property name="minimum">
<number>1000</number>
</property>
<property name="maximum">
<number>2000</number>
</property>
<property name="value">
<number>1500</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="2" column="8">
<widget class="QLabel" name="ch1Max">
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>2000</string>
</property>
</widget>
</item>
<item row="2" column="9">
<widget class="QCheckBox" name="ch1Rev">
<property name="toolTip">
<string>Check this to reverse the channel.
(Useful for transmitters without channel
reversal capabilities).</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QComboBox" name="ch2Assign"/>
</item>
<item row="3" column="5" colspan="3">
<widget class="QSlider" name="inSlider2">
<property name="mouseTracking">
<bool>true</bool>
</property>
<property name="minimum">
<number>1000</number>
</property>
<property name="maximum">
<number>2000</number>
</property>
<property name="value">
<number>1500</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="3" column="8">
<widget class="QLabel" name="ch2Max">
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>2000</string>
</property>
</widget>
</item>
<item row="3" column="9">
<widget class="QCheckBox" name="ch2Rev">
<property name="toolTip">
<string>Check this to reverse the channel.
(Useful for transmitters without channel
reversal capabilities).</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QComboBox" name="ch3Assign"/>
</item>
<item row="4" column="5" colspan="3">
<widget class="QSlider" name="inSlider3">
<property name="mouseTracking">
<bool>true</bool>
</property>
<property name="minimum">
<number>1000</number>
</property>
<property name="maximum">
<number>2000</number>
</property>
<property name="value">
<number>1500</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="4" column="8">
<widget class="QLabel" name="ch3Max">
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>2000</string>
</property>
</widget>
</item>
<item row="4" column="9">
<widget class="QCheckBox" name="ch3Rev">
<property name="toolTip">
<string>Check this to reverse the channel.
(Useful for transmitters without channel
reversal capabilities).</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QComboBox" name="ch4Assign"/>
</item>
<item row="5" column="5" colspan="3">
<widget class="QSlider" name="inSlider4">
<property name="mouseTracking">
<bool>true</bool>
</property>
<property name="minimum">
<number>1000</number>
</property>
<property name="maximum">
<number>2000</number>
</property>
<property name="value">
<number>1500</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="5" column="8">
<widget class="QLabel" name="ch4Max">
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>2000</string>
</property>
</widget>
</item>
<item row="5" column="9">
<widget class="QCheckBox" name="ch4Rev">
<property name="toolTip">
<string>Check this to reverse the channel.
(Useful for transmitters without channel
reversal capabilities).</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QComboBox" name="ch5Assign"/>
</item>
<item row="6" column="5" colspan="3">
<widget class="QSlider" name="inSlider5">
<property name="mouseTracking">
<bool>true</bool>
</property>
<property name="minimum">
<number>1000</number>
</property>
<property name="maximum">
<number>2000</number>
</property>
<property name="value">
<number>1500</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="6" column="8">
<widget class="QLabel" name="ch5Max">
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>2000</string>
</property>
</widget>
</item>
<item row="6" column="9">
<widget class="QCheckBox" name="ch5Rev">
<property name="toolTip">
<string>Check this to reverse the channel.
(Useful for transmitters without channel
reversal capabilities).</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QComboBox" name="ch6Assign"/>
</item>
<item row="7" column="5" colspan="3">
<widget class="QSlider" name="inSlider6">
<property name="mouseTracking">
<bool>true</bool>
</property>
<property name="minimum">
<number>1000</number>
</property>
<property name="maximum">
<number>2000</number>
</property>
<property name="value">
<number>1500</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="7" column="8">
<widget class="QLabel" name="ch6Max">
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>2000</string>
</property>
</widget>
</item>
<item row="7" column="9">
<widget class="QCheckBox" name="ch6Rev">
<property name="toolTip">
<string>Check this to reverse the channel.
(Useful for transmitters without channel
reversal capabilities).</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QComboBox" name="ch7Assign"/>
</item>
<item row="8" column="5" colspan="3">
<widget class="QSlider" name="inSlider7">
<property name="mouseTracking">
<bool>true</bool>
</property>
<property name="minimum">
<number>1000</number>
</property>
<property name="maximum">
<number>2000</number>
</property>
<property name="value">
<number>1500</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="8" column="8">
<widget class="QLabel" name="ch7Max">
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>2000</string>
</property>
</widget>
</item>
<item row="8" column="9">
<widget class="QCheckBox" name="ch7Rev">
<property name="toolTip">
<string>Check this to reverse the channel.
(Useful for transmitters without channel
reversal capabilities).</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="14" column="0" colspan="10">
<widget class="QLabel" name="label_20">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>BEWARE: make sure your engines are not connected when running calibration!
</string>
</property>
</widget>
</item>
<item row="11" column="0" colspan="10">
<widget class="QLabel" name="lblMissingInputs">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QCheckBox" name="doRCInputCalibration">
<property name="font">
<font>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="toolTip">
<string>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.</string>
</property>
<property name="text">
<string>Run Calibration</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="receiverType">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QLabel" name="ch0Min">
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum channel pulse width&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>1000</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QLabel" name="ch1Min">
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum channel pulse width&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>1000</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="3" column="4">
<widget class="QLabel" name="ch2Min">
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum channel pulse width&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>1000</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="4" column="4">
<widget class="QLabel" name="ch3Min">
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum channel pulse width&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>1000</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="5" column="4">
<widget class="QLabel" name="ch4Min">
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum channel pulse width&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>1000</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="6" column="4">
<widget class="QLabel" name="ch5Min">
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum channel pulse width&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>1000</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="7" column="4">
<widget class="QLabel" name="ch6Min">
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum channel pulse width&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>1000</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="8" column="4">
<widget class="QLabel" name="ch7Min">
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum channel pulse width&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>1000</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="ch0Cur">
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>1500</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="ch1Cur">
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>1500</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="ch2Cur">
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>1500</string>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="ch3Cur">
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>1500</string>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QLabel" name="ch4Cur">
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>1500</string>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="ch5Cur">
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>1500</string>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="ch6Cur">
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>1500</string>
</property>
</widget>
</item>
<item row="8" column="2">
<widget class="QLabel" name="ch7Cur">
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>1500</string>
</property>
<widget class="QStackedWidget" name="stackedWidget">
<property name="currentIndex">
<number>1</number>
</property>
<widget class="QWidget" name="advancedPage">
<layout class="QVBoxLayout" name="verticalLayout_4">
<item>
<layout class="QVBoxLayout" name="channelSettings"/>
</item>
<item>
<widget class="QPushButton" name="configurationWizard">
<property name="text">
<string>Start Configuration Wizard</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="runCalibration">
<property name="text">
<string>Run Calibration</string>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="wizard">
<layout class="QVBoxLayout" name="verticalLayout_5">
<item>
<widget class="QLabel" name="wzText">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>70</height>
</size>
</property>
<property name="text">
<string>TextLabel</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<widget class="QGraphicsView" name="graphicsView"/>
</item>
<item>
<layout class="QVBoxLayout" name="checkBoxesLayout"/>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QPushButton" name="wzBack">
<property name="text">
<string>Back</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="wzNext">
<property name="text">
<string>Next</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="wzCancel">
<property name="text">
<string>Cancel</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
@ -1243,14 +578,6 @@ Applies and Saves all settings to SD</string>
</layout>
</widget>
<tabstops>
<tabstop>ch0Assign</tabstop>
<tabstop>ch1Assign</tabstop>
<tabstop>ch2Assign</tabstop>
<tabstop>ch3Assign</tabstop>
<tabstop>ch4Assign</tabstop>
<tabstop>ch5Assign</tabstop>
<tabstop>ch6Assign</tabstop>
<tabstop>ch7Assign</tabstop>
<tabstop>fmsSlider</tabstop>
<tabstop>fmsModePos3</tabstop>
<tabstop>fmsSsPos3Roll</tabstop>
@ -1268,134 +595,5 @@ Applies and Saves all settings to SD</string>
<resources>
<include location="../coreplugin/core.qrc"/>
</resources>
<connections>
<connection>
<sender>inSlider0</sender>
<signal>valueChanged(int)</signal>
<receiver>ch0Cur</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>291</x>
<y>93</y>
</hint>
<hint type="destinationlabel">
<x>150</x>
<y>104</y>
</hint>
</hints>
</connection>
<connection>
<sender>inSlider1</sender>
<signal>valueChanged(int)</signal>
<receiver>ch1Cur</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>283</x>
<y>137</y>
</hint>
<hint type="destinationlabel">
<x>160</x>
<y>138</y>
</hint>
</hints>
</connection>
<connection>
<sender>inSlider2</sender>
<signal>valueChanged(int)</signal>
<receiver>ch2Cur</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>341</x>
<y>163</y>
</hint>
<hint type="destinationlabel">
<x>156</x>
<y>167</y>
</hint>
</hints>
</connection>
<connection>
<sender>inSlider3</sender>
<signal>valueChanged(int)</signal>
<receiver>ch3Cur</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>283</x>
<y>211</y>
</hint>
<hint type="destinationlabel">
<x>159</x>
<y>210</y>
</hint>
</hints>
</connection>
<connection>
<sender>inSlider4</sender>
<signal>valueChanged(int)</signal>
<receiver>ch4Cur</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>287</x>
<y>239</y>
</hint>
<hint type="destinationlabel">
<x>156</x>
<y>242</y>
</hint>
</hints>
</connection>
<connection>
<sender>inSlider5</sender>
<signal>valueChanged(int)</signal>
<receiver>ch5Cur</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>309</x>
<y>272</y>
</hint>
<hint type="destinationlabel">
<x>164</x>
<y>276</y>
</hint>
</hints>
</connection>
<connection>
<sender>inSlider6</sender>
<signal>valueChanged(int)</signal>
<receiver>ch6Cur</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>282</x>
<y>300</y>
</hint>
<hint type="destinationlabel">
<x>144</x>
<y>311</y>
</hint>
</hints>
</connection>
<connection>
<sender>inSlider7</sender>
<signal>valueChanged(int)</signal>
<receiver>ch7Cur</receiver>
<slot>setNum(int)</slot>
<hints>
<hint type="sourcelabel">
<x>278</x>
<y>339</y>
</hint>
<hint type="destinationlabel">
<x>168</x>
<y>340</y>
</hint>
</hints>
</connection>
</connections>
<connections/>
</ui>

125
ground/openpilotgcs/src/plugins/config/inputchannelform.cpp Normal file
View File

@ -0,0 +1,125 @@
#include "inputchannelform.h"
#include "ui_inputchannelform.h"
#include "manualcontrolsettings.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;
}
connect(ui->channelMin,SIGNAL(valueChanged(int)),this,SLOT(minMaxUpdated()));
connect(ui->channelMax,SIGNAL(valueChanged(int)),this,SLOT(minMaxUpdated()));
connect(ui->channelGroup,SIGNAL(currentIndexChanged(int)),this,SLOT(groupUpdated()));
connect(ui->channelNeutral,SIGNAL(valueChanged(int)), this, SLOT(neutralUpdated(int)));
// This is awkward but since we want the UI to be a dropdown but the field is not an enum
// it breaks the UAUVObject widget relation of the task gadget. Running the data through
// a spin box fixes this
connect(ui->channelNumberDropdown,SIGNAL(currentIndexChanged(int)),this,SLOT(channelDropdownUpdated(int)));
connect(ui->channelNumber,SIGNAL(valueChanged(int)),this,SLOT(channelNumberUpdated(int)));
}
inputChannelForm::~inputChannelForm()
{
delete ui;
}
/**
* Update the direction of the slider and boundaries
*/
void inputChannelForm::minMaxUpdated()
{
bool reverse = ui->channelMin->value() > ui->channelMax->value();
if(reverse) {
ui->channelNeutral->setMinimum(ui->channelMax->value());
ui->channelNeutral->setMaximum(ui->channelMin->value());
} else {
ui->channelNeutral->setMinimum(ui->channelMin->value());
ui->channelNeutral->setMaximum(ui->channelMax->value());
}
ui->channelRev->setChecked(reverse);
ui->channelNeutral->setInvertedAppearance(reverse);
ui->channelNeutral->setInvertedControls(reverse);
}
void inputChannelForm::neutralUpdated(int newval)
{
ui->neutral->setText(QString::number(newval));
}
/**
* Update the channel options based on the selected receiver type
*
* I fully admit this is terrible practice to embed data within UI
* like this. Open to suggestions. JC 2011-09-07
*/
void inputChannelForm::groupUpdated()
{
ui->channelNumberDropdown->clear();
ui->channelNumberDropdown->addItem("Disabled");
quint8 count = 0;
switch(ui->channelGroup->currentIndex()) {
case -1: // Nothing selected
count = 0;
break;
case ManualControlSettings::CHANNELGROUPS_PWM:
count = 8; // Need to make this 6 for CC
break;
case ManualControlSettings::CHANNELGROUPS_PPM:
case ManualControlSettings::CHANNELGROUPS_SPEKTRUM1:
case ManualControlSettings::CHANNELGROUPS_SPEKTRUM2:
count = 12;
break;
case ManualControlSettings::CHANNELGROUPS_SBUS:
count = 18;
break;
case ManualControlSettings::CHANNELGROUPS_GCS:
count = 5;
case ManualControlSettings::CHANNELGROUPS_NONE:
count = 0;
break;
default:
Q_ASSERT(0);
}
for (int i = 0; i < count; i++)
ui->channelNumberDropdown->addItem(QString(tr("Chan %1").arg(i+1)));
ui->channelNumber->setMaximum(count);
ui->channelNumber->setMinimum(0);
}
/**
* Update the dropdown from the hidden control
*/
void inputChannelForm::channelDropdownUpdated(int newval)
{
ui->channelNumber->setValue(newval);
}
/**
* Update the hidden control from the dropdown
*/
void inputChannelForm::channelNumberUpdated(int newval)
{
ui->channelNumberDropdown->setCurrentIndex(newval);
}

30
ground/openpilotgcs/src/plugins/config/inputchannelform.h Normal file
View File

@ -0,0 +1,30 @@
#ifndef INPUTCHANNELFORM_H
#define INPUTCHANNELFORM_H
#include <QWidget>
#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 slots:
void minMaxUpdated();
void neutralUpdated(int);
void groupUpdated();
void channelDropdownUpdated(int);
void channelNumberUpdated(int);
private:
Ui::inputChannelForm *ui;
};
#endif // INPUTCHANNELFORM_H

260
ground/openpilotgcs/src/plugins/config/inputchannelform.ui Normal file
View File

@ -0,0 +1,260 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>inputChannelForm</class>
<widget class="QWidget" name="inputChannelForm">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>543</width>
<height>49</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<property name="topMargin">
<number>1</number>
</property>
<property name="bottomMargin">
<number>1</number>
</property>
<property name="horizontalSpacing">
<number>2</number>
</property>
<property name="verticalSpacing">
<number>0</number>
</property>
<item row="2" column="1">
<widget class="QLabel" name="channelName">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>70</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QComboBox" name="channelGroup">
<property name="sizePolicy">
<sizepolicy hsizetype="Maximum" vsizetype="Fixed">
<horstretch>6</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QSpinBox" name="channelMin">
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>1000</number>
</property>
</widget>
</item>
<item row="2" column="8">
<widget class="QSpinBox" name="channelMax">
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>1000</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="legend0">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string>Function</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="legend2">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string>Number</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="legend1">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string>Type</string>
</property>
</widget>
</item>
<item row="0" column="8">
<widget class="QLabel" name="legend5">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string>Max</string>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="legend3">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string>Min</string>
</property>
</widget>
</item>
<item row="0" column="6">
<widget class="QLabel" name="legend4">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string>Neutral</string>
</property>
</widget>
</item>
<item row="2" column="6">
<widget class="QSlider" name="channelNeutral">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QComboBox" name="channelNumberDropdown">
<property name="sizePolicy">
<sizepolicy hsizetype="Maximum" vsizetype="Fixed">
<horstretch>4</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>16777215</height>
</size>
</property>
<property name="maxVisibleItems">
<number>7</number>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QSpinBox" name="channelNumber">
<property name="enabled">
<bool>true</bool>
</property>
<property name="maximumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item row="2" column="10">
<widget class="QCheckBox" name="channelRev">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Rev</string>
</property>
</widget>
</item>
<item row="2" column="9">
<widget class="QLabel" name="neutral">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>30</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>30</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="5">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>10</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="7">
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>10</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>

21
ground/openpilotgcs/src/plugins/config/output.ui
View File

@ -949,6 +949,27 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_5">
<property name="text">
<string>Min</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_6">
<property name="text">
<string>Neutral (slowest for motor)</string>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="label_7">
<property name="text">
<string>Max</string>
</property>
</widget>
</item>
</layout>
</item>
<item>

53
ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp
View File

@ -24,8 +24,11 @@ void smartSaveButton::processClick()
bool error=false;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
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)
@ -35,7 +38,9 @@ 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()));
@ -44,30 +49,32 @@ void smartSaveButton::processClick()
}
if(up_result==false)
{
//qDebug()<<"Object upload error:"<<obj->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:"<<obj->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);
@ -83,14 +90,15 @@ void smartSaveButton::processClick()
emit endOp();
}
void smartSaveButton::setObjects(QList<UAVObject *> list)
void smartSaveButton::setObjects(QList<UAVDataObject *> list)
{
objects=list;
}
void smartSaveButton::addObject(UAVObject * obj)
void smartSaveButton::addObject(UAVDataObject * obj)
{
objects.append(obj);
if(!objects.contains(obj))
objects.append(obj);
}
void smartSaveButton::clearObjects()
@ -111,6 +119,7 @@ void smartSaveButton::saving_finished(int id, bool result)
if(id==current_objectID)
{
sv_result=result;
//qDebug()<<"saving_finished result="<<result;
loop.quit();
}
}

8
ground/openpilotgcs/src/plugins/config/smartsavebutton.h
View File

@ -17,8 +17,8 @@ public:
Q_OBJECT
public:
smartSaveButton(QPushButton * update,QPushButton * save);
void setObjects(QList<UAVObject *>);
void addObject(UAVObject *);
void setObjects(QList<UAVDataObject *>);
void addObject(UAVDataObject *);
void clearObjects();
signals:
void preProcessOperations();
@ -34,11 +34,11 @@ private:
QPushButton *bupdate;
QPushButton *bsave;
quint32 current_objectID;
UAVObject * current_object;
UAVDataObject * current_object;
bool up_result;
bool sv_result;
QEventLoop loop;
QList<UAVObject *> objects;
QList<UAVDataObject *> objects;
protected:
public slots:
void enableControls(bool value);

12
ground/openpilotgcs/src/plugins/config/stabilization.ui
View File

@ -601,21 +601,21 @@ When you change one, the other is updated.</string>
<item row="2" column="1">
<widget class="QSpinBox" name="manualRoll">
<property name="maximum">
<number>300</number>
<number>500</number>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QSpinBox" name="manualPitch">
<property name="maximum">
<number>300</number>
<number>500</number>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QSpinBox" name="manualYaw">
<property name="maximum">
<number>300</number>
<number>500</number>
</property>
</widget>
</item>
@ -644,21 +644,21 @@ When you change one, the other is updated.</string>
<item row="3" column="1">
<widget class="QSpinBox" name="maximumRoll">
<property name="maximum">
<number>300</number>
<number>500</number>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QSpinBox" name="maximumPitch">
<property name="maximum">
<number>300</number>
<number>500</number>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QSpinBox" name="maximumYaw">
<property name="maximum">
<number>300</number>
<number>500</number>
</property>
</widget>
</item>

9
ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp
View File

@ -385,8 +385,15 @@ void ScopeGadgetWidget::addCurvePlot(QString uavObject, QString uavFieldSubField
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(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)

4
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
View File

@ -70,6 +70,8 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
$$UAVOBJECT_SYNTHETICS/sonaraltitude.h \
$$UAVOBJECT_SYNTHETICS/flightstatus.h \
$$UAVOBJECT_SYNTHETICS/hwsettings.h \
$$UAVOBJECT_SYNTHETICS/gcsreceiver.h \
$$UAVOBJECT_SYNTHETICS/receiveractivity.h \
$$UAVOBJECT_SYNTHETICS/attitudesettings.h \
$$UAVOBJECT_SYNTHETICS/cameradesired.h
@ -121,5 +123,7 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
$$UAVOBJECT_SYNTHETICS/uavobjectsinit.cpp \
$$UAVOBJECT_SYNTHETICS/flightstatus.cpp \
$$UAVOBJECT_SYNTHETICS/hwsettings.cpp \
$$UAVOBJECT_SYNTHETICS/gcsreceiver.cpp \
$$UAVOBJECT_SYNTHETICS/receiveractivity.cpp \
$$UAVOBJECT_SYNTHETICS/attitudesettings.cpp \
$$UAVOBJECT_SYNTHETICS/cameradesired.cpp

24
ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
View File

@ -34,6 +34,8 @@
#include <QDebug>
#include <QEventLoop>
#include <QTimer>
#include <QErrorMessage>
#include <objectpersistence.h>
// ******************************
// 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();
}
}

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