mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-20 10:54:14 +01:00
Merge remote-tracking branch 'upstream/next' into filnet/LP-29_osgearth_integration
Conflicts: ground/gcs/gcs.pri ground/gcs/gcs.pro ground/gcs/openpilotgcs.pri ground/gcs/openpilotgcs.pro ground/gcs/src/app/gcs.icns ground/gcs/src/app/gcs.ico ground/gcs/src/app/librepilotgcs.icns ground/gcs/src/app/librepilotgcs.ico ground/gcs/src/app/librepilotgcs.rc ground/gcs/src/app/openpilotgcs.icns ground/gcs/src/library.pri ground/gcs/src/openpilotgcslibrary.pri ground/gcs/src/openpilotgcsplugin.pri ground/gcs/src/plugin.pri ground/gcs/src/plugins/config/airframe.ui ground/gcs/src/plugins/config/images/calibration/board-dwn.png ground/gcs/src/plugins/config/images/calibration/board-enu.png ground/gcs/src/plugins/config/images/calibration/board-ned.png ground/gcs/src/plugins/config/images/calibration/board-suw.png ground/gcs/src/plugins/config/images/calibration/board-swd.png ground/gcs/src/plugins/config/images/calibration/board-use.png ground/gcs/src/plugins/config/images/calibration/board-wds.png ground/gcs/src/plugins/config/images/calibration/empty.png ground/gcs/src/plugins/config/images/calibration/plane-dwn.png ground/gcs/src/plugins/config/images/calibration/plane-enu.png ground/gcs/src/plugins/config/images/calibration/plane-horizontal-rotated.png ground/gcs/src/plugins/config/images/calibration/plane-ned.png ground/gcs/src/plugins/config/images/calibration/plane-suw.png ground/gcs/src/plugins/config/images/calibration/plane-swd.png ground/gcs/src/plugins/config/images/calibration/plane-use.png ground/gcs/src/plugins/config/images/calibration/plane-wds.png ground/gcs/src/plugins/setupwizard/vehicletemplateselectorwidget.ui ground/gcs/src/plugins/systemhealth/html/GPS-Error.html ground/gcs/src/plugins/systemhealth/html/fr/GPS-Error.html ground/gcs/src/share/cloudconfig/custom/whats_this.txt ground/gcs/src/share/cloudconfig/fixedwing/SoniModelMako-FixedWing-Elevon-7134e8ae5ce.optmpl ground/gcs/src/share/cloudconfig/fixedwing/Toro900-VoilureFixe-Elevon-d4a58d2cd50.optmpl ground/gcs/src/share/cloudconfig/fixedwing/whats_this.txt ground/gcs/src/share/cloudconfig/helicopter/whats_this.txt ground/gcs/src/share/cloudconfig/multirotor/(RACE)FPV260HobbyKin-Multirotor-QuadrocopterX-0482b7a25f7.optmpl ground/gcs/src/share/cloudconfig/multirotor/(STOCK)HobbyKingFPV2-Multirotor-QuadrocopterX-0bb44b68883.optmpl ground/gcs/src/share/cloudconfig/multirotor/ARRISX-SPEEDFPV250-Unsupported-2cbaaa14a01.optmpl ground/gcs/src/share/cloudconfig/multirotor/BlackOutB330-Multirotor-QuadrocopterX-e9980c55302.optmpl ground/gcs/src/share/cloudconfig/multirotor/BlackOutMiniH-Multirotor-QuadrocopterX-d415c242154.optmpl ground/gcs/src/share/cloudconfig/multirotor/DJIF450-Multirotor-QuadrocopterX-cfa8ec67993.optmpl ground/gcs/src/share/cloudconfig/multirotor/DroneframesDRQ250-cf-rc5 Multirotor-QuadrocopterX-425b90123f1.optmpl ground/gcs/src/share/cloudconfig/multirotor/DroneframesDRQ430G-revo-rc5Multirotor-QuadrocopterX-fae90503b3f.optmpl ground/gcs/src/share/cloudconfig/multirotor/EmaxNighthawk-Multirotor-QuadrocopterX-9a3aa9d9726.optmpl ground/gcs/src/share/cloudconfig/multirotor/FlipFPVPro-Multirotor-QuadrocopterX-9eb7b719244.optmpl ground/gcs/src/share/cloudconfig/multirotor/FlipFpvPro-Multirotor-QuadrocopterX-c117d151f95.optmpl ground/gcs/src/share/cloudconfig/multirotor/FlipSport-Multirotor-QuadrocopterX-c27ae7b79ca.optmpl ground/gcs/src/share/cloudconfig/multirotor/FlyingCinemaCinetan-Multirotor-QuadrocopterX-2c3f9181872.optmpl ground/gcs/src/share/cloudconfig/multirotor/FlyingCinemaTankitoM-Multirotor-QuadrocopterX-385d9ac9ae1.optmpl ground/gcs/src/share/cloudconfig/multirotor/GenericHexa-Multirotor-Hexacopter+-c50a904f4a3.optmpl ground/gcs/src/share/cloudconfig/multirotor/GenericHexaH-Multirotor-HexacopterH-6cc3fed9073.optmpl ground/gcs/src/share/cloudconfig/multirotor/GenericHexaX-Multirotor-HexacopterX-b3b8c1d2f3c.optmpl ground/gcs/src/share/cloudconfig/multirotor/GenericHexaY6-Multirotor-HexacopterY6-0b5dc6bae4f.optmpl ground/gcs/src/share/cloudconfig/multirotor/GenericQuad+-Multirotor-Quadrocopter+-a87a4226820.optmpl ground/gcs/src/share/cloudconfig/multirotor/GenericQuadX-Multirotor-QuadrocopterX-5fce7315a5b.optmpl ground/gcs/src/share/cloudconfig/multirotor/GenericTricopter-Multirotor-Tricopter-5f46bc37c31.optmpl ground/gcs/src/share/cloudconfig/multirotor/GuerrillaDronesToadQ-Multirotor-QuadrocopterX-8f838e43432.optmpl ground/gcs/src/share/cloudconfig/multirotor/HKingDYS250CarbonFib-Multirotor-QuadrocopterX-969354c51c1.optmpl ground/gcs/src/share/cloudconfig/multirotor/HKingDYS320CarbonFib-Multirotor-QuadrocopterX-0b41edda68f.optmpl ground/gcs/src/share/cloudconfig/multirotor/HoverThingsFLIPFPV-Multirotor-QuadrocopterX-32bf14a10fc.optmpl ground/gcs/src/share/cloudconfig/multirotor/InventorsSparrowRace-Multirotor-QuadrocopterX-314fff867fd.optmpl ground/gcs/src/share/cloudconfig/multirotor/QAV250-Multirotor-QuadrocopterX-181dab0df01.optmpl ground/gcs/src/share/cloudconfig/multirotor/QAV400-Multirotor-QuadrocopterX-90a90b9fb50.optmpl ground/gcs/src/share/cloudconfig/multirotor/QAV500-Multirotor-QuadrocopterX-6da440c4d7c.optmpl ground/gcs/src/share/cloudconfig/multirotor/QUADI250-Multirotor-QuadrocopterX-c6c6cfc4cf9.optmpl ground/gcs/src/share/cloudconfig/multirotor/RCExplorerV3Tricopte-Multirotor-Tricopter-dcbce3f069c.optmpl ground/gcs/src/share/cloudconfig/multirotor/RD290MiniHexfpv-Multirotor-HexacopterX-6587232be1a.optmpl ground/gcs/src/share/cloudconfig/multirotor/XhoverMXP230Elite-Multirotor-QuadrocopterX-3b169a4fd1b.optmpl ground/gcs/src/share/cloudconfig/multirotor/ZMR250( Attitude mode)-ChineseQAV250-Multirotor-QuadrocopterX-5d318c0526c (1).optmpl ground/gcs/src/share/cloudconfig/multirotor/ZMR250(4s race)-Multirotor-QuadrocopterX-fac61e7adb8.optmpl ground/gcs/src/share/cloudconfig/multirotor/ZMR250(Race acro +)-Multirotor-QuadrocopterX-895b222d670.optmpl ground/gcs/src/share/cloudconfig/multirotor/whats_this.txt ground/gcs/src/share/cloudconfig/surface/whats_this.txt ground/gcs/src/share/translations/gcs_de.ts ground/gcs/src/share/translations/gcs_es.ts ground/gcs/src/share/translations/gcs_fr.ts ground/gcs/src/share/translations/gcs_ru.ts ground/gcs/src/share/translations/gcs_zh_CN.ts ground/gcs/src/share/translations/openpilotgcs_de.ts ground/gcs/src/share/translations/openpilotgcs_es.ts ground/gcs/src/share/translations/openpilotgcs_fr.ts ground/gcs/src/share/translations/openpilotgcs_ru.ts ground/gcs/src/share/translations/openpilotgcs_zh_CN.ts ground/gcs/src/share/vehicletemplates/custom/whats_this.txt ground/gcs/src/share/vehicletemplates/fixedwing/SoniModelMako-FixedWing-Elevon-7134e8ae5ce.optmpl ground/gcs/src/share/vehicletemplates/fixedwing/Toro900-VoilureFixe-Elevon-d4a58d2cd50.optmpl ground/gcs/src/share/vehicletemplates/fixedwing/whats_this.txt ground/gcs/src/share/vehicletemplates/helicopter/whats_this.txt ground/gcs/src/share/vehicletemplates/multirotor/(RACE)FPV260HobbyKin-Multirotor-QuadrocopterX-0482b7a25f7.optmpl ground/gcs/src/share/vehicletemplates/multirotor/(STOCK)HobbyKingFPV2-Multirotor-QuadrocopterX-0bb44b68883.optmpl ground/gcs/src/share/vehicletemplates/multirotor/ARRISX-SPEEDFPV250-Unsupported-2cbaaa14a01.optmpl ground/gcs/src/share/vehicletemplates/multirotor/BlackOutB330-Multirotor-QuadrocopterX-e9980c55302.optmpl ground/gcs/src/share/vehicletemplates/multirotor/BlackOutMiniH-Multirotor-QuadrocopterX-d415c242154.optmpl ground/gcs/src/share/vehicletemplates/multirotor/DJIF450-Multirotor-QuadrocopterX-cfa8ec67993.optmpl ground/gcs/src/share/vehicletemplates/multirotor/DroneframesDRQ250-cf-rc5 Multirotor-QuadrocopterX-425b90123f1.optmpl ground/gcs/src/share/vehicletemplates/multirotor/DroneframesDRQ430G-revo-rc5Multirotor-QuadrocopterX-fae90503b3f.optmpl ground/gcs/src/share/vehicletemplates/multirotor/EmaxNighthawk-Multirotor-QuadrocopterX-9a3aa9d9726.optmpl ground/gcs/src/share/vehicletemplates/multirotor/FlipFPVPro-Multirotor-QuadrocopterX-9eb7b719244.optmpl ground/gcs/src/share/vehicletemplates/multirotor/FlipFpvPro-Multirotor-QuadrocopterX-c117d151f95.optmpl ground/gcs/src/share/vehicletemplates/multirotor/FlipSport-Multirotor-QuadrocopterX-c27ae7b79ca.optmpl ground/gcs/src/share/vehicletemplates/multirotor/FlyingCinemaCinetan-Multirotor-QuadrocopterX-2c3f9181872.optmpl ground/gcs/src/share/vehicletemplates/multirotor/FlyingCinemaTankitoM-Multirotor-QuadrocopterX-385d9ac9ae1.optmpl ground/gcs/src/share/vehicletemplates/multirotor/GenericHexa-Multirotor-Hexacopter+-c50a904f4a3.optmpl ground/gcs/src/share/vehicletemplates/multirotor/GenericHexaH-Multirotor-HexacopterH-6cc3fed9073.optmpl ground/gcs/src/share/vehicletemplates/multirotor/GenericHexaX-Multirotor-HexacopterX-b3b8c1d2f3c.optmpl ground/gcs/src/share/vehicletemplates/multirotor/GenericHexaY6-Multirotor-HexacopterY6-0b5dc6bae4f.optmpl ground/gcs/src/share/vehicletemplates/multirotor/GenericQuad+-Multirotor-Quadrocopter+-a87a4226820.optmpl ground/gcs/src/share/vehicletemplates/multirotor/GenericQuadX-Multirotor-QuadrocopterX-5fce7315a5b.optmpl ground/gcs/src/share/vehicletemplates/multirotor/GenericTricopter-Multirotor-Tricopter-5f46bc37c31.optmpl ground/gcs/src/share/vehicletemplates/multirotor/GuerrillaDronesToadQ-Multirotor-QuadrocopterX-8f838e43432.optmpl ground/gcs/src/share/vehicletemplates/multirotor/HKingDYS250CarbonFib-Multirotor-QuadrocopterX-969354c51c1.optmpl ground/gcs/src/share/vehicletemplates/multirotor/HKingDYS320CarbonFib-Multirotor-QuadrocopterX-0b41edda68f.optmpl ground/gcs/src/share/vehicletemplates/multirotor/HoverThingsFLIPFPV-Multirotor-QuadrocopterX-32bf14a10fc.optmpl ground/gcs/src/share/vehicletemplates/multirotor/InventorsSparrowRace-Multirotor-QuadrocopterX-314fff867fd.optmpl ground/gcs/src/share/vehicletemplates/multirotor/QAV250-Multirotor-QuadrocopterX-181dab0df01.optmpl ground/gcs/src/share/vehicletemplates/multirotor/QAV400-Multirotor-QuadrocopterX-90a90b9fb50.optmpl ground/gcs/src/share/vehicletemplates/multirotor/QAV500-Multirotor-QuadrocopterX-6da440c4d7c.optmpl ground/gcs/src/share/vehicletemplates/multirotor/QUADI250-Multirotor-QuadrocopterX-c6c6cfc4cf9.optmpl ground/gcs/src/share/vehicletemplates/multirotor/RCExplorerV3Tricopte-Multirotor-Tricopter-dcbce3f069c.optmpl ground/gcs/src/share/vehicletemplates/multirotor/RD290MiniHexfpv-Multirotor-HexacopterX-6587232be1a.optmpl ground/gcs/src/share/vehicletemplates/multirotor/XhoverMXP230Elite-Multirotor-QuadrocopterX-3b169a4fd1b.optmpl ground/gcs/src/share/vehicletemplates/multirotor/ZMR250( Attitude mode)-ChineseQAV250-Multirotor-QuadrocopterX-5d318c0526c (1).optmpl ground/gcs/src/share/vehicletemplates/multirotor/ZMR250(4s race)-Multirotor-QuadrocopterX-fac61e7adb8.optmpl ground/gcs/src/share/vehicletemplates/multirotor/ZMR250(Race acro +)-Multirotor-QuadrocopterX-895b222d670.optmpl ground/gcs/src/share/vehicletemplates/multirotor/whats_this.txt ground/openpilotgcs/openpilotgcs.pri ground/openpilotgcs/openpilotgcs.pro ground/openpilotgcs/src/app/librepilotgcs.icns ground/openpilotgcs/src/app/librepilotgcs.ico ground/openpilotgcs/src/openpilotgcslibrary.pri ground/openpilotgcs/src/openpilotgcsplugin.pri ground/openpilotgcs/src/share/cloudconfig/custom/whats_this.txt ground/openpilotgcs/src/share/cloudconfig/fixedwing/SoniModelMako-FixedWing-Elevon-7134e8ae5ce.optmpl ground/openpilotgcs/src/share/cloudconfig/fixedwing/Toro900-VoilureFixe-Elevon-d4a58d2cd50.optmpl ground/openpilotgcs/src/share/cloudconfig/fixedwing/whats_this.txt ground/openpilotgcs/src/share/cloudconfig/helicopter/whats_this.txt ground/openpilotgcs/src/share/cloudconfig/multirotor/(RACE)FPV260HobbyKin-Multirotor-QuadrocopterX-0482b7a25f7.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/(STOCK)HobbyKingFPV2-Multirotor-QuadrocopterX-0bb44b68883.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/ARRISX-SPEEDFPV250-Unsupported-2cbaaa14a01.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/BlackOutB330-Multirotor-QuadrocopterX-e9980c55302.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/BlackOutMiniH-Multirotor-QuadrocopterX-d415c242154.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/DJIF450-Multirotor-QuadrocopterX-cfa8ec67993.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/DroneframesDRQ250-cf-rc5 Multirotor-QuadrocopterX-425b90123f1.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/DroneframesDRQ430G-revo-rc5Multirotor-QuadrocopterX-fae90503b3f.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/EmaxNighthawk-Multirotor-QuadrocopterX-9a3aa9d9726.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/FlipFPVPro-Multirotor-QuadrocopterX-9eb7b719244.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/FlipFpvPro-Multirotor-QuadrocopterX-c117d151f95.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/FlipSport-Multirotor-QuadrocopterX-c27ae7b79ca.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/FlyingCinemaCinetan-Multirotor-QuadrocopterX-2c3f9181872.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/FlyingCinemaTankitoM-Multirotor-QuadrocopterX-385d9ac9ae1.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/GenericHexa-Multirotor-Hexacopter+-c50a904f4a3.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/GenericHexaH-Multirotor-HexacopterH-6cc3fed9073.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/GenericHexaX-Multirotor-HexacopterX-b3b8c1d2f3c.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/GenericHexaY6-Multirotor-HexacopterY6-0b5dc6bae4f.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/GenericQuad+-Multirotor-Quadrocopter+-a87a4226820.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/GenericQuadX-Multirotor-QuadrocopterX-5fce7315a5b.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/GenericTricopter-Multirotor-Tricopter-5f46bc37c31.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/GuerrillaDronesToadQ-Multirotor-QuadrocopterX-8f838e43432.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/HKingDYS250CarbonFib-Multirotor-QuadrocopterX-969354c51c1.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/HKingDYS320CarbonFib-Multirotor-QuadrocopterX-0b41edda68f.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/HoverThingsFLIPFPV-Multirotor-QuadrocopterX-32bf14a10fc.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/InventorsSparrowRace-Multirotor-QuadrocopterX-314fff867fd.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/QAV250-Multirotor-QuadrocopterX-181dab0df01.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/QAV400-Multirotor-QuadrocopterX-90a90b9fb50.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/QAV500-Multirotor-QuadrocopterX-6da440c4d7c.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/QUADI250-Multirotor-QuadrocopterX-c6c6cfc4cf9.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/RCExplorerV3Tricopte-Multirotor-Tricopter-dcbce3f069c.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/RD290MiniHexfpv-Multirotor-HexacopterX-6587232be1a.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/XhoverMXP230Elite-Multirotor-QuadrocopterX-3b169a4fd1b.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/ZMR250( Attitude mode)-ChineseQAV250-Multirotor-QuadrocopterX-5d318c0526c (1).optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/ZMR250(4s race)-Multirotor-QuadrocopterX-fac61e7adb8.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/ZMR250(Race acro +)-Multirotor-QuadrocopterX-895b222d670.optmpl ground/openpilotgcs/src/share/cloudconfig/multirotor/whats_this.txt ground/openpilotgcs/src/share/translations/openpilotgcs_de.ts ground/openpilotgcs/src/share/translations/openpilotgcs_es.ts ground/openpilotgcs/src/share/translations/openpilotgcs_fr.ts ground/openpilotgcs/src/share/translations/openpilotgcs_ru.ts ground/openpilotgcs/src/share/translations/openpilotgcs_zh_CN.ts make/tools.mk
This commit is contained in:
Philippe Renon
commit
955eecf33d
42
.gitignore
vendored
42
.gitignore
vendored
@ -4,6 +4,10 @@
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||||
/build
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||||
/3rdparty
|
||||
|
||||
# Ignore user config
|
||||
config
|
||||
|
||||
|
||||
# Exclude temporary and system files
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||||
Thumbs.db
|
||||
.DS_Store
|
||||
@ -12,7 +16,7 @@ GRTAGS
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||||
GSYMS
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||||
GTAGS
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||||
core
|
||||
*~
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||||
*~
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||||
|
||||
# flight
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/flight/*.pnproj
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||||
@ -25,29 +29,24 @@ core
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||||
/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/*.pbxuser
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||||
|
||||
# ground
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||||
openpilotgcs-build-desktop
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ground/openpilotgcs/.cproject
|
||||
ground/openpilotgcs/.project
|
||||
ground/openpilotgcs/.settings
|
||||
gcs-build-desktop
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ground/gcs/.cproject
|
||||
ground/gcs/.project
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||||
ground/gcs/.settings
|
||||
|
||||
# Ignore some of the .pro.user files
|
||||
# Ignore .pro.user files
|
||||
*.pro.user
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||||
/ground/openpilotgcs/openpilotgcs.pro.user
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||||
/ground/uavobjgenerator/uavobjgenerator.pro.user
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||||
/ground/uavobjects/uavobjects.pro.user
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||||
/ground/ground.pro.user
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||||
/ground/openpilotgcs/src/libs/sdlgamepad.pro.user
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||||
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||||
|
||||
# Misc artifacts
|
||||
/ground/openpilotgcs/share/openpilotgcs/sounds/normalize.exe
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/ground/openpilotgcs/share/openpilotgcs/sounds/default/normalize.exe
|
||||
/ground/openpilotgcs/share/openpilotgcs/translations/extract-mimetypes.xq
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/ground/openpilotgcs/src/experimental/tools/DocumentationHelper/ui_mainwindow.h
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||||
/ground/openpilotgcs/src/libs/qextserialport/.hg
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||||
/ground/openpilotgcs/src/libs/qextserialport/.hgtags
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||||
/ground/openpilotgcs/src/libs/qwt/qwt.prf
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/ground/openpilotgcs/src/libs/qwt/designer
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||||
/ground/openpilotgcs/src/plugins/ipconnection/ui_ipconnectionoptionspage.h
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*.exe
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||||
/ground/gcs/share/translations/extract-mimetypes.xq
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||||
/ground/gcs/src/experimental/tools/DocumentationHelper/ui_mainwindow.h
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/ground/gcs/src/libs/qextserialport/.hg
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/ground/gcs/src/libs/qextserialport/.hgtags
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||||
/ground/gcs/src/libs/qwt/qwt.prf
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/ground/gcs/src/libs/qwt/designer
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/ground/gcs/src/plugins/ipconnection/ui_ipconnectionoptionspage.h
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# Ignore intermediate files generated by command-line android builds
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# Couldn't figure out how to force these files into the ./build directory
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@ -74,3 +73,6 @@ RemoteSystemsTempFiles
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*.rej
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*.orig
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*.diff~
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||||
|
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# ignore ccache storage
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.ccache
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40
CONTRIBUTING.md
Normal file
40
CONTRIBUTING.md
Normal file
@ -0,0 +1,40 @@
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How to build from source?
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=========================
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Both development environment and GCS are supported on Windows, Linux and Mac OS X
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The first step is to Install all OS specific prerequisites.
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###Mac OS X
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Install XCode and its relatated command line tools (follow Apple documentation).
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Install git, curl and p7zip. You can use brew `brew install git curl p7zip` or macport: `sudo port install git curl p7zip`
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###Ubuntu
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sudo apt-get install git build-essentials curl gdb wget debhelper p7zip-full unzip flex bison libsdl1.2-dev libudev-dev libusb-1.0-0-dev libc6-i386 mesa-common-dev
|
||||
|
||||
|
||||
###Windows
|
||||
Install [msysGIT](https://msysgit.github.io/) under `C:\git`
|
||||
|
||||
Clone LibrePilot Git repository.
|
||||
Open Git Bash and run
|
||||
|
||||
cd /path/to/LibrePilot_root
|
||||
./make/scripts/win_sdk_install.sh
|
||||
|
||||
You can build using the `/path/to/LibrePilot_root/make/winx86/bin/make` wrapper to call `mingw32-make.exe` as:
|
||||
|
||||
./make/winx86/bin/make all_sdk_install
|
||||
or call `mingw32-make` directly
|
||||
|
||||
mingw32-make all_sdk_install
|
||||
|
||||
##Setup the build environment and build
|
||||
The `all_sdk_install` target will automatically retrieve and install all needed tools (qt, arm gcc etc.) in a local folder `/path/to/LibrePilot_root/tools`
|
||||
|
||||
|
||||
make all_sdk_install
|
||||
make package
|
||||
|
||||
The `package` target will build the complete installable package for the current platform.
|
||||
|
||||
Run make with no arguments to show the complete list of supported targets.
|
||||
186
Makefile
186
Makefile
@ -1,5 +1,6 @@
|
||||
#
|
||||
# Top level Makefile for the OpenPilot project build system.
|
||||
# Top level Makefile for the LibrePilot Project build system.
|
||||
# Copyright (c) 2015, The LibrePilot Project, http://www.librepilot.org
|
||||
# Copyright (c) 2010-2013, The OpenPilot Team, http://www.openpilot.org
|
||||
# Use 'make help' for instructions.
|
||||
#
|
||||
@ -25,44 +26,38 @@
|
||||
# existance by each sub-make.
|
||||
export TOP_LEVEL_MAKEFILE := TRUE
|
||||
|
||||
# It is possible to set OPENPILOT_DL_DIR and/or OPENPILOT_TOOLS_DIR environment
|
||||
# The root directory that this makefile resides in
|
||||
export ROOT_DIR := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
|
||||
|
||||
# Include some helper functions
|
||||
include $(ROOT_DIR)/make/functions.mk
|
||||
|
||||
# This file can be used to override default options using the "override" keyword
|
||||
CONFIG_FILE := config
|
||||
-include $(CONFIG_FILE)
|
||||
|
||||
##############################
|
||||
# It is possible to set DL_DIR and/or TOOLS_DIR environment
|
||||
# variables to override local tools download and installation directorys. So the
|
||||
# same toolchains can be used for all working copies. Particularly useful for CI
|
||||
# server build agents, but also for local installations.
|
||||
#
|
||||
# If no OPENPILOT_* variables found, makefile internal DL_DIR and TOOLS_DIR paths
|
||||
# will be used. They still can be overriden by the make command line parameters:
|
||||
# make DL_DIR=/path/to/download/directory TOOLS_DIR=/path/to/tools/directory targets...
|
||||
|
||||
# Function for converting Windows style slashes into Unix style
|
||||
slashfix = $(subst \,/,$(1))
|
||||
|
||||
# Function for converting an absolute path to one relative
|
||||
# to the top of the source tree
|
||||
toprel = $(subst $(realpath $(ROOT_DIR))/,,$(abspath $(1)))
|
||||
override DL_DIR := $(if $(DL_DIR),$(call slashfix,$(DL_DIR)),$(ROOT_DIR)/downloads)
|
||||
override TOOLS_DIR := $(if $(TOOLS_DIR),$(call slashfix,$(TOOLS_DIR)),$(ROOT_DIR)/tools)
|
||||
export DL_DIR
|
||||
export TOOLS_DIR
|
||||
|
||||
# Set up some macros for common directories within the tree
|
||||
export ROOT_DIR := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
|
||||
export DL_DIR := $(if $(OPENPILOT_DL_DIR),$(call slashfix,$(OPENPILOT_DL_DIR)),$(ROOT_DIR)/downloads)
|
||||
export TOOLS_DIR := $(if $(OPENPILOT_TOOLS_DIR),$(call slashfix,$(OPENPILOT_TOOLS_DIR)),$(ROOT_DIR)/tools)
|
||||
export BUILD_DIR := $(ROOT_DIR)/build
|
||||
export PACKAGE_DIR := $(ROOT_DIR)/build/package
|
||||
export DIST_DIR := $(ROOT_DIR)/build/dist
|
||||
export BUILD_DIR := $(CURDIR)/build
|
||||
export PACKAGE_DIR := $(BUILD_DIR)/package
|
||||
export DIST_DIR := $(BUILD_DIR)/dist
|
||||
|
||||
DIRS = $(DL_DIR) $(TOOLS_DIR) $(BUILD_DIR) $(PACKAGE_DIR) $(DIST_DIR)
|
||||
|
||||
# Function to convert to all lowercase
|
||||
lc = $(subst A,a,$(subst B,b,$(subst C,c,$(subst D,d,$(subst E,e,$(subst F,f,$(subst G,g,$(subst H,h,$(subst I,i,$(subst J,j,$(subst K,k,$(subst L,l,$(subst M,m,$(subst N,n,$(subst O,o,$(subst P,p,$(subst Q,q,$(subst R,r,$(subst S,s,$(subst T,t,$(subst U,u,$(subst V,v,$(subst W,w,$(subst X,x,$(subst Y,y,$(subst Z,z,$1))))))))))))))))))))))))))
|
||||
# Function to make all lowercase and replace spaces with -
|
||||
EMPTY :=
|
||||
SPACE := $(EMPTY) $(EMPTY)
|
||||
smallify = $(subst $(SPACE),-,$(call lc,$1))
|
||||
DIRS := $(DL_DIR) $(TOOLS_DIR) $(BUILD_DIR) $(PACKAGE_DIR) $(DIST_DIR)
|
||||
|
||||
# Naming for binaries and packaging etc,.
|
||||
ORG_BIG_NAME := LibrePilot
|
||||
export ORG_BIG_NAME := LibrePilot
|
||||
GCS_BIG_NAME := ${ORG_BIG_NAME} GCS
|
||||
# These should be lowercase with no spaces
|
||||
ORG_SMALL_NAME := $(call smallify,$(ORG_BIG_NAME))
|
||||
export ORG_SMALL_NAME := $(call smallify,$(ORG_BIG_NAME))
|
||||
GCS_SMALL_NAME := $(call smallify,$(GCS_BIG_NAME))
|
||||
|
||||
# Set up default build configurations (debug | release)
|
||||
@ -130,17 +125,16 @@ include $(ROOT_DIR)/make/tools.mk
|
||||
|
||||
# We almost need to consider autoconf/automake instead of this
|
||||
ifeq ($(UNAME), Linux)
|
||||
QT_SPEC = linux-g++
|
||||
UAVOBJGENERATOR = $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
|
||||
QT_SPEC := linux-g++
|
||||
UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
|
||||
else ifeq ($(UNAME), Darwin)
|
||||
QT_SPEC = macx-g++
|
||||
UAVOBJGENERATOR = $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
|
||||
QT_SPEC := macx-g++
|
||||
UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
|
||||
else ifeq ($(UNAME), Windows)
|
||||
QT_SPEC = win32-g++
|
||||
UAVOBJGENERATOR = $(BUILD_DIR)/uavobjgenerator/uavobjgenerator.exe
|
||||
QT_SPEC := win32-g++
|
||||
UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator.exe
|
||||
endif
|
||||
|
||||
##############################
|
||||
#
|
||||
# All targets
|
||||
#
|
||||
@ -154,7 +148,7 @@ all_clean:
|
||||
@$(ECHO) " CLEAN $(call toprel, $(BUILD_DIR))"
|
||||
$(V1) [ ! -d "$(BUILD_DIR)" ] || $(RM) -rf "$(BUILD_DIR)"
|
||||
|
||||
.PONY: clean
|
||||
.PHONY: clean
|
||||
clean: all_clean
|
||||
|
||||
|
||||
@ -164,7 +158,7 @@ clean: all_clean
|
||||
#
|
||||
##############################
|
||||
|
||||
UAVOBJGENERATOR_DIR = $(BUILD_DIR)/uavobjgenerator
|
||||
UAVOBJGENERATOR_DIR := $(BUILD_DIR)/uavobjgenerator
|
||||
DIRS += $(UAVOBJGENERATOR_DIR)
|
||||
|
||||
.PHONY: uavobjgenerator
|
||||
@ -209,14 +203,15 @@ export OPMODULEDIR := $(ROOT_DIR)/flight/modules
|
||||
export OPUAVOBJ := $(ROOT_DIR)/flight/uavobjects
|
||||
export OPUAVTALK := $(ROOT_DIR)/flight/uavtalk
|
||||
export OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
|
||||
export OPGCSSYNTHDIR := $(BUILD_DIR)/openpilotgcs-synthetics
|
||||
export OPGCSSYNTHDIR := $(BUILD_DIR)/gcs-synthetics
|
||||
|
||||
DIRS += $(OPGCSSYNTHDIR)
|
||||
|
||||
# Define supported board lists
|
||||
ALL_BOARDS := oplinkmini revolution osd revoproto simposix discoveryf4bare gpsplatinum revonano
|
||||
ALL_BOARDS := coptercontrol oplinkmini revolution osd revoproto simposix discoveryf4bare gpsplatinum revonano
|
||||
|
||||
# Short names of each board (used to display board name in parallel builds)
|
||||
coptercontrol_short := 'cc '
|
||||
oplinkmini_short := 'oplm'
|
||||
revolution_short := 'revo'
|
||||
osd_short := 'osd '
|
||||
@ -456,13 +451,7 @@ sim_osx_%: uavobjects_flight
|
||||
##############################
|
||||
|
||||
.PHONY: all_ground
|
||||
all_ground: openpilotgcs uploader
|
||||
|
||||
# Convenience target for the GCS
|
||||
.PHONY: gcs gcs_qmake gcs_clean
|
||||
gcs: openpilotgcs
|
||||
gcs_qmake: openpilotgcs_qmake
|
||||
gcs_clean: openpilotgcs_clean
|
||||
all_ground: gcs uploader
|
||||
|
||||
ifeq ($(V), 1)
|
||||
GCS_SILENT :=
|
||||
@ -470,28 +459,29 @@ else
|
||||
GCS_SILENT := silent
|
||||
endif
|
||||
|
||||
OPENPILOTGCS_DIR := $(BUILD_DIR)/$(GCS_SMALL_NAME)_$(GCS_BUILD_CONF)
|
||||
DIRS += $(OPENPILOTGCS_DIR)
|
||||
GCS_DIR := $(BUILD_DIR)/$(GCS_SMALL_NAME)_$(GCS_BUILD_CONF)
|
||||
DIRS += $(GCS_DIR)
|
||||
|
||||
OPENPILOTGCS_MAKEFILE := $(OPENPILOTGCS_DIR)/Makefile
|
||||
GCS_MAKEFILE := $(GCS_DIR)/Makefile
|
||||
|
||||
.PHONY: openpilotgcs_qmake
|
||||
openpilotgcs_qmake $(OPENPILOTGCS_MAKEFILE): | $(OPENPILOTGCS_DIR)
|
||||
$(V1) cd $(OPENPILOTGCS_DIR) && \
|
||||
$(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro \
|
||||
.PHONY: gcs_qmake
|
||||
gcs_qmake $(GCS_MAKEFILE): | $(GCS_DIR)
|
||||
$(V1) cd $(GCS_DIR) && \
|
||||
$(QMAKE) $(ROOT_DIR)/ground/gcs/gcs.pro \
|
||||
-spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) \
|
||||
'GCS_BIG_NAME="$(GCS_BIG_NAME)"' GCS_SMALL_NAME=$(GCS_SMALL_NAME) \
|
||||
'ORG_BIG_NAME="$(ORG_BIG_NAME)"' ORG_SMALL_NAME=$(ORG_SMALL_NAME) \
|
||||
'GCS_LIBRARY_BASENAME=$(libbasename)' \
|
||||
$(GCS_QMAKE_OPTS)
|
||||
|
||||
.PHONY: openpilotgcs
|
||||
openpilotgcs: uavobjgenerator $(OPENPILOTGCS_MAKEFILE)
|
||||
$(V1) $(MAKE) -w -C $(OPENPILOTGCS_DIR)/$(MAKE_DIR);
|
||||
.PHONY: gcs
|
||||
gcs: uavobjgenerator $(GCS_MAKEFILE)
|
||||
$(V1) $(MAKE) -w -C $(GCS_DIR)/$(MAKE_DIR);
|
||||
|
||||
.PHONY: openpilotgcs_clean
|
||||
openpilotgcs_clean:
|
||||
@$(ECHO) " CLEAN $(call toprel, $(OPENPILOTGCS_DIR))"
|
||||
$(V1) [ ! -d "$(OPENPILOTGCS_DIR)" ] || $(RM) -r "$(OPENPILOTGCS_DIR)"
|
||||
.PHONY: gcs_clean
|
||||
gcs_clean:
|
||||
@$(ECHO) " CLEAN $(call toprel, $(GCS_DIR))"
|
||||
$(V1) [ ! -d "$(GCS_DIR)" ] || $(RM) -r "$(GCS_DIR)"
|
||||
|
||||
|
||||
|
||||
@ -509,7 +499,7 @@ UPLOADER_MAKEFILE := $(UPLOADER_DIR)/Makefile
|
||||
.PHONY: uploader_qmake
|
||||
uploader_qmake $(UPLOADER_MAKEFILE): | $(UPLOADER_DIR)
|
||||
$(V1) cd $(UPLOADER_DIR) && \
|
||||
$(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/src/experimental/USB_UPLOAD_TOOL/upload.pro \
|
||||
$(QMAKE) $(ROOT_DIR)/ground/gcs/src/experimental/USB_UPLOAD_TOOL/upload.pro \
|
||||
-spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) $(GCS_QMAKE_OPTS)
|
||||
|
||||
.PHONY: uploader
|
||||
@ -724,7 +714,7 @@ $(OPFW_RESOURCE): $(FW_TARGETS) | $(OPGCSSYNTHDIR)
|
||||
|
||||
# If opfw_resource or all firmware are requested, GCS should depend on the resource
|
||||
ifneq ($(strip $(filter opfw_resource all all_fw all_flight package,$(MAKECMDGOALS))),)
|
||||
$(OPENPILOTGCS_MAKEFILE): $(OPFW_RESOURCE)
|
||||
$(GCS_MAKEFILE): $(OPFW_RESOURCE)
|
||||
endif
|
||||
|
||||
# Packaging targets: package
|
||||
@ -739,10 +729,40 @@ PACKAGE_SEP := -
|
||||
PACKAGE_FULL_NAME := $(PACKAGE_NAME)$(PACKAGE_SEP)$(PACKAGE_LBL)
|
||||
|
||||
# Source distribution is never dirty because it uses git archive
|
||||
DIST_NAME := $(DIST_DIR)/$(subst dirty-,,$(PACKAGE_FULL_NAME)).tar
|
||||
DIST_LBL := $(subst -dirty,,$(PACKAGE_LBL))
|
||||
DIST_NAME := $(PACKAGE_NAME)$(PACKAGE_SEP)$(DIST_LBL)
|
||||
DIST_TAR := $(DIST_DIR)/$(DIST_NAME).tar
|
||||
DIST_TAR_GZ := $(DIST_TAR).gz
|
||||
DIST_VER_INFO := $(DIST_DIR)/version-info.json
|
||||
|
||||
include $(ROOT_DIR)/package/$(UNAME).mk
|
||||
|
||||
##############################
|
||||
#
|
||||
# Source for distribution
|
||||
#
|
||||
##############################
|
||||
$(DIST_VER_INFO): .git/index | $(DIST_DIR)
|
||||
$(V1) $(VERSION_INFO) --jsonpath="$(DIST_DIR)"
|
||||
|
||||
$(DIST_TAR): $(DIST_VER_INFO) .git/index | $(DIST_DIR)
|
||||
@$(ECHO) " SOURCE FOR DISTRIBUTION $(call toprel, $(DIST_TAR))"
|
||||
$(V1) git archive --prefix="$(PACKAGE_NAME)/" -o "$(DIST_TAR)" HEAD
|
||||
$(V1) tar --append --file="$(DIST_TAR)" \
|
||||
--transform='s,.*version-info.json,$(PACKAGE_NAME)/version-info.json,' \
|
||||
$(call toprel, "$(DIST_VER_INFO)")
|
||||
|
||||
$(DIST_TAR_GZ): $(DIST_TAR)
|
||||
@$(ECHO) " SOURCE FOR DISTRIBUTION $(call toprel, $(DIST_TAR_GZ))"
|
||||
$(V1) gzip -kf "$(DIST_TAR)"
|
||||
|
||||
.PHONY: dist_tar_gz
|
||||
dist_tar_gz: $(DIST_TAR_GZ)
|
||||
|
||||
.PHONY: dist
|
||||
dist: dist_tar_gz
|
||||
|
||||
|
||||
##############################
|
||||
#
|
||||
# Source code formatting
|
||||
@ -819,26 +839,28 @@ build-info: | $(BUILD_DIR)
|
||||
|
||||
##############################
|
||||
#
|
||||
# Source for distribution
|
||||
# Config
|
||||
#
|
||||
##############################
|
||||
|
||||
DIST_VER_INFO := $(DIST_DIR)/version-info.json
|
||||
CONFIG_OPTS := $(addsuffix \n,$(MAKEOVERRIDES))
|
||||
CONFIG_OPTS := $(addprefix override$(SPACE),$(CONFIG_OPTS))
|
||||
|
||||
$(DIST_VER_INFO): .git/index | $(DIST_DIR)
|
||||
$(V1) $(VERSION_INFO) --jsonpath="$(DIST_DIR)"
|
||||
.PHONY: config_new
|
||||
config_new:
|
||||
@printf '$(CONFIG_OPTS)' > $(CONFIG_FILE)
|
||||
|
||||
.PHONY: config_append
|
||||
config_append:
|
||||
@printf '$(CONFIG_OPTS)' >> $(CONFIG_FILE)
|
||||
|
||||
$(DIST_NAME).gz: $(DIST_VER_INFO) .git/index | $(DIST_DIR)
|
||||
@$(ECHO) " SOURCE FOR DISTRIBUTION $(call toprel, $(DIST_NAME).gz)"
|
||||
$(V1) git archive --prefix="$(PACKAGE_NAME)/" -o "$(DIST_NAME)" HEAD
|
||||
$(V1) tar --append --file="$(DIST_NAME)" \
|
||||
--transform='s,.*version-info.json,$(PACKAGE_NAME)/version-info.json,' \
|
||||
$(call toprel, "$(DIST_VER_INFO)")
|
||||
$(V1) gzip -f "$(DIST_NAME)"
|
||||
.PHONY: config_show
|
||||
config_show:
|
||||
@cat $(CONFIG_FILE)
|
||||
|
||||
.PHONY: dist
|
||||
dist: $(DIST_NAME).gz
|
||||
.PHONY: config_clean
|
||||
config_clean:
|
||||
rm -f $(CONFIG_FILE)
|
||||
|
||||
|
||||
##############################
|
||||
@ -880,6 +902,7 @@ help:
|
||||
@$(ECHO) " uncrustify_install - Install the Uncrustify source code beautifier"
|
||||
@$(ECHO) " doxygen_install - Install the Doxygen documentation generator"
|
||||
@$(ECHO) " gtest_install - Install the GoogleTest framework"
|
||||
@$(ECHO) " ccache_install - Install ccache"
|
||||
@$(ECHO) " These targets are not updated yet and are probably broken:"
|
||||
@$(ECHO) " openocd_install - Install the OpenOCD JTAG daemon"
|
||||
@$(ECHO) " stm32flash_install - Install the stm32flash tool for unbricking F1-based boards"
|
||||
@ -992,6 +1015,11 @@ help:
|
||||
@$(ECHO) " docs_<source>_clean - Delete generated documentation for <source>"
|
||||
@$(ECHO) " docs_all_clean - Delete all generated documentation"
|
||||
@$(ECHO)
|
||||
@$(ECHO) " [Configuration]"
|
||||
@$(ECHO) " config_new - Place your make arguments in the config file"
|
||||
@$(ECHO) " config_append - Place your make arguments in the config file but append"
|
||||
@$(ECHO) " config_clean - Removes the config file"
|
||||
@$(ECHO)
|
||||
@$(ECHO) " Hint: Add V=1 to your command line to see verbose build output."
|
||||
@$(ECHO)
|
||||
@$(ECHO) " Notes: All tool distribution files will be downloaded into $(DL_DIR)"
|
||||
@ -999,7 +1027,7 @@ help:
|
||||
@$(ECHO) " All build output will be placed in $(BUILD_DIR)"
|
||||
@$(ECHO)
|
||||
@$(ECHO) " Tool download and install directories can be changed using environment variables:"
|
||||
@$(ECHO) " OPENPILOT_DL_DIR full path to downloads directory [downloads if not set]"
|
||||
@$(ECHO) " OPENPILOT_TOOLS_DIR full path to installed tools directory [tools if not set]"
|
||||
@$(ECHO) " DL_DIR full path to downloads directory [downloads if not set]"
|
||||
@$(ECHO) " TOOLS_DIR full path to installed tools directory [tools if not set]"
|
||||
@$(ECHO) " More info: http://wiki.openpilot.org/display/Doc/OpenPilot+Build+System+Overview"
|
||||
@$(ECHO)
|
||||
|
||||
@ -1,42 +1,38 @@
|
||||
About the LibrePilot Project
|
||||
----------------------------
|
||||
|
||||
Open - Collaborative - Free
|
||||
|
||||
The LibrePilot open source project was founded in July 2015. It focuses on
|
||||
research and development of software and hardware to be used in a variety of
|
||||
applications including vehicle control and stabilization, unmanned autonomous
|
||||
vehicles and robotics. One of the project’s primary goals is to provide an open
|
||||
and collaborative environment making it the ideal home for development of
|
||||
innovative ideas.
|
||||
|
||||
LibrePilot welcomes and encourages exchange and collaboration with other
|
||||
projects, like adding support for existing hardware or software in
|
||||
collaboration under the spirit of open source.
|
||||
|
||||
LibrePilot finds its roots in the OpenPilot project and the founding members
|
||||
are all long-standing contributors in that project.
|
||||
|
||||
The LibrePilot project will be governed by a board of members using consensual
|
||||
methods to make important decisions and to set the overall direction of the
|
||||
project.
|
||||
|
||||
The LibrePilot source code is released under the OSI approved GPL V3 license.
|
||||
Integral text of the license can be found at http://www.gnu.org/licenses/gpl-3.0.en.html
|
||||
|
||||
|
||||
Links for the LibrePilot Project
|
||||
--------------------------------
|
||||
|
||||
Main project web site: https://www.librepilot.org/
|
||||
Project forums: https://forum.librepilot.org/
|
||||
Source code repository: https://github.com/librepilot
|
||||
GitHub issue tracker: https://github.com/librepilot/LibrePilot/issues
|
||||
|
||||
How to build from source?
|
||||
-------------------------
|
||||
|
||||
make all_sdk_install
|
||||
make all
|
||||
|
||||
Both development environment and GCS are supported on Windows, Linux and Mac OS X
|
||||
About the LibrePilot Project
|
||||
============================
|
||||
|
||||
### Open - Collaborative - Free
|
||||
|
||||
The LibrePilot open source project was founded in July 2015. It focuses on
|
||||
research and development of software and hardware to be used in a variety of
|
||||
applications including vehicle control and stabilization, unmanned autonomous
|
||||
vehicles and robotics. One of the project’s primary goals is to provide an open
|
||||
and collaborative environment making it the ideal home for development of
|
||||
innovative ideas.
|
||||
|
||||
LibrePilot welcomes and encourages exchange and collaboration with other
|
||||
projects, like adding support for existing hardware or software in
|
||||
collaboration under the spirit of open source.
|
||||
|
||||
LibrePilot finds its roots in the OpenPilot project and the founding members
|
||||
are all long-standing contributors in that project.
|
||||
|
||||
The LibrePilot Project will be governed by a board of members using consensual
|
||||
methods to make important decisions and to set the overall direction of the
|
||||
project.
|
||||
|
||||
The LibrePilot source code is released under the OSI approved GPLv3 license.
|
||||
Integral text of the license can be found at [www.gnu.org](http://www.gnu.org/licenses/gpl-3.0.en.html)
|
||||
|
||||
|
||||
Links for the LibrePilot Project
|
||||
--------------------------------
|
||||
|
||||
- [Main project web site](https://www.librepilot.org)
|
||||
- [Project forums](https://forum.librepilot.org)
|
||||
- [Source code repository](https://bitbucket.org/librepilot)
|
||||
- [Mirror](https://github.com/librepilot)
|
||||
- [Issue tracker](https://librepilot.atlassian.net)
|
||||
- [Gitter Chat](https://gitter.im/librepilot/LibrePilot)
|
||||
- IRC: #LibrePilot on FreeNode
|
||||
|
||||
@ -8,7 +8,8 @@
|
||||
* @{
|
||||
*
|
||||
* @file actuator.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Actuator module. Drives the actuators (servos, motors etc).
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
@ -85,8 +86,6 @@ static xTaskHandle taskHandle;
|
||||
static FrameType_t frameType = FRAME_TYPE_MULTIROTOR;
|
||||
static SystemSettingsThrustControlOptions thrustType = SYSTEMSETTINGS_THRUSTCONTROL_THROTTLE;
|
||||
|
||||
static float lastResult[MAX_MIX_ACTUATORS] = { 0 };
|
||||
static float filterAccumulator[MAX_MIX_ACTUATORS] = { 0 };
|
||||
static uint8_t pinsMode[MAX_MIX_ACTUATORS];
|
||||
// used to inform the actuator thread that actuator update rate is changed
|
||||
static ActuatorSettingsData actuatorSettings;
|
||||
@ -110,7 +109,7 @@ static void ActuatorSettingsUpdatedCb(UAVObjEvent *ev);
|
||||
static void SettingsUpdatedCb(UAVObjEvent *ev);
|
||||
float ProcessMixer(const int index, const float curve1, const float curve2,
|
||||
ActuatorDesiredData *desired,
|
||||
const float period, bool multirotor);
|
||||
bool multirotor, bool fixedwing);
|
||||
|
||||
// this structure is equivalent to the UAVObjects for one mixer.
|
||||
typedef struct {
|
||||
@ -195,7 +194,6 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
|
||||
UAVObjEvent ev;
|
||||
portTickType lastSysTime;
|
||||
portTickType thisSysTime;
|
||||
float dTSeconds;
|
||||
uint32_t dTMilliseconds;
|
||||
|
||||
ActuatorCommandData command;
|
||||
@ -245,7 +243,6 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
|
||||
thisSysTime = xTaskGetTickCount();
|
||||
dTMilliseconds = (thisSysTime == lastSysTime) ? 1 : (thisSysTime - lastSysTime) * portTICK_RATE_MS;
|
||||
lastSysTime = thisSysTime;
|
||||
dTSeconds = dTMilliseconds * 0.001f;
|
||||
|
||||
FlightStatusGet(&flightStatus);
|
||||
FlightModeSettingsGet(&settings);
|
||||
@ -271,6 +268,7 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
|
||||
bool activeThrottle = (throttleDesired < -0.001f || throttleDesired > 0.001f); // for ground and reversible motors
|
||||
bool positiveThrottle = (throttleDesired > 0.00f);
|
||||
bool multirotor = (GetCurrentFrameType() == FRAME_TYPE_MULTIROTOR); // check if frame is a multirotor.
|
||||
bool fixedwing = (GetCurrentFrameType() == FRAME_TYPE_FIXED_WING); // check if frame is a fixedwing.
|
||||
bool alwaysArmed = settings.Arming == FLIGHTMODESETTINGS_ARMING_ALWAYSARMED;
|
||||
bool AlwaysStabilizeWhenArmed = settings.AlwaysStabilizeWhenArmed == FLIGHTMODESETTINGS_ALWAYSSTABILIZEWHENARMED_TRUE;
|
||||
|
||||
@ -406,12 +404,10 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
|
||||
nonreversible_curve2 = 0.0f;
|
||||
}
|
||||
}
|
||||
status[ct] = ProcessMixer(ct, nonreversible_curve1, nonreversible_curve2, &desired, dTSeconds, multirotor);
|
||||
status[ct] = ProcessMixer(ct, nonreversible_curve1, nonreversible_curve2, &desired, multirotor, fixedwing);
|
||||
// If not armed or motors aren't meant to spin all the time
|
||||
if (!armed ||
|
||||
(!spinWhileArmed && !positiveThrottle)) {
|
||||
filterAccumulator[ct] = 0;
|
||||
lastResult[ct] = 0;
|
||||
status[ct] = -1; // force min throttle
|
||||
}
|
||||
// If armed meant to keep spinning,
|
||||
@ -424,16 +420,14 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
|
||||
}
|
||||
}
|
||||
} else if (mixer_type == MIXERSETTINGS_MIXER1TYPE_REVERSABLEMOTOR) {
|
||||
status[ct] = ProcessMixer(ct, curve1, curve2, &desired, dTSeconds, multirotor);
|
||||
status[ct] = ProcessMixer(ct, curve1, curve2, &desired, multirotor, fixedwing);
|
||||
// Reversable Motors are like Motors but go to neutral instead of minimum
|
||||
// If not armed or motor is inactive - no "spinwhilearmed" for this engine type
|
||||
if (!armed || !activeThrottle) {
|
||||
filterAccumulator[ct] = 0;
|
||||
lastResult[ct] = 0;
|
||||
status[ct] = 0; // force neutral throttle
|
||||
}
|
||||
} else if (mixer_type == MIXERSETTINGS_MIXER1TYPE_SERVO) {
|
||||
status[ct] = ProcessMixer(ct, curve1, curve2, &desired, dTSeconds, multirotor);
|
||||
status[ct] = ProcessMixer(ct, curve1, curve2, &desired, multirotor, fixedwing);
|
||||
} else {
|
||||
status[ct] = -1;
|
||||
|
||||
@ -555,56 +549,44 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
|
||||
* Process mixing for one actuator
|
||||
*/
|
||||
float ProcessMixer(const int index, const float curve1, const float curve2,
|
||||
ActuatorDesiredData *desired, const float period, bool multirotor)
|
||||
ActuatorDesiredData *desired, bool multirotor, bool fixedwing)
|
||||
{
|
||||
static float lastFilteredResult[MAX_MIX_ACTUATORS];
|
||||
|
||||
const Mixer_t *mixers = (Mixer_t *)&mixerSettings.Mixer1Type; // pointer to array of mixers in UAVObjects
|
||||
const Mixer_t *mixer = &mixers[index];
|
||||
float differential = 1.0f;
|
||||
|
||||
// Apply differential only for fixedwing and Roll servos
|
||||
if (fixedwing && (mixerSettings.FirstRollServo > 0) &&
|
||||
(mixer->type == MIXERSETTINGS_MIXER1TYPE_SERVO) &&
|
||||
(mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_ROLL] != 0)) {
|
||||
// Positive differential
|
||||
if (mixerSettings.RollDifferential > 0) {
|
||||
// Check for first Roll servo (should be left aileron or elevon) and Roll desired (positive/negative)
|
||||
if (((index == mixerSettings.FirstRollServo - 1) && (desired->Roll > 0.0f))
|
||||
|| ((index != mixerSettings.FirstRollServo - 1) && (desired->Roll < 0.0f))) {
|
||||
differential -= (mixerSettings.RollDifferential * 0.01f);
|
||||
}
|
||||
} else if (mixerSettings.RollDifferential < 0) {
|
||||
if (((index == mixerSettings.FirstRollServo - 1) && (desired->Roll < 0.0f))
|
||||
|| ((index != mixerSettings.FirstRollServo - 1) && (desired->Roll > 0.0f))) {
|
||||
differential -= (-mixerSettings.RollDifferential * 0.01f);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
float result = ((((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_THROTTLECURVE1]) * curve1) +
|
||||
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_THROTTLECURVE2]) * curve2) +
|
||||
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_ROLL]) * desired->Roll) +
|
||||
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_ROLL]) * desired->Roll * differential) +
|
||||
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_PITCH]) * desired->Pitch) +
|
||||
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_YAW]) * desired->Yaw)) / 128.0f;
|
||||
|
||||
// note: no feedforward for reversable motors yet for safety reasons
|
||||
if (mixer->type == MIXERSETTINGS_MIXER1TYPE_MOTOR) {
|
||||
if (!multirotor) { // we allow negative throttle with a multirotor
|
||||
if (result < 0.0f) { // zero throttle
|
||||
result = 0.0f;
|
||||
}
|
||||
}
|
||||
|
||||
// feed forward
|
||||
float accumulator = filterAccumulator[index];
|
||||
accumulator += (result - lastResult[index]) * mixerSettings.FeedForward;
|
||||
lastResult[index] = result;
|
||||
result += accumulator;
|
||||
if (period > 0.0f) {
|
||||
if (accumulator > 0.0f) {
|
||||
float invFilter = period / mixerSettings.AccelTime;
|
||||
if (invFilter > 1) {
|
||||
invFilter = 1;
|
||||
}
|
||||
accumulator -= accumulator * invFilter;
|
||||
} else {
|
||||
float invFilter = period / mixerSettings.DecelTime;
|
||||
if (invFilter > 1) {
|
||||
invFilter = 1;
|
||||
}
|
||||
accumulator -= accumulator * invFilter;
|
||||
}
|
||||
}
|
||||
filterAccumulator[index] = accumulator;
|
||||
result += accumulator;
|
||||
|
||||
// acceleration limit
|
||||
float dt = result - lastFilteredResult[index];
|
||||
float maxDt = mixerSettings.MaxAccel * period;
|
||||
if (dt > maxDt) { // we are accelerating too hard
|
||||
result = lastFilteredResult[index] + maxDt;
|
||||
}
|
||||
lastFilteredResult[index] = result;
|
||||
}
|
||||
|
||||
return result;
|
||||
|
||||
@ -9,7 +9,8 @@
|
||||
* @{
|
||||
*
|
||||
* @file innerloop.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
|
||||
* @brief Attitude stabilization module.
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
@ -301,10 +302,15 @@ static void stabilizationInnerloopTask()
|
||||
-StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t],
|
||||
StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t]
|
||||
);
|
||||
const float acroFactors[] = {
|
||||
stabSettings.stabBank.AcroInsanityFactor.Roll,
|
||||
stabSettings.stabBank.AcroInsanityFactor.Pitch,
|
||||
stabSettings.stabBank.AcroInsanityFactor.Yaw
|
||||
};
|
||||
pid_scaler ascaler = create_pid_scaler(t);
|
||||
ascaler.i *= boundf(1.0f - (1.5f * fabsf(stickinput[t])), 0.0f, 1.0f); // this prevents Integral from getting too high while controlled manually
|
||||
float arate = pid_apply_setpoint(&stabSettings.innerPids[t], &ascaler, rate[t], gyro_filtered[t], dT);
|
||||
float factor = fabsf(stickinput[t]) * stabSettings.stabBank.AcroInsanityFactor;
|
||||
float factor = fabsf(stickinput[t]) * acroFactors[t];
|
||||
actuatorDesiredAxis[t] = factor * stickinput[t] + (1.0f - factor) * arate;
|
||||
}
|
||||
break;
|
||||
|
||||
@ -9,7 +9,8 @@
|
||||
* @{
|
||||
*
|
||||
* @file outerloop.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
|
||||
* @brief Attitude stabilization module.
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
@ -105,8 +106,9 @@ static void stabilizationOuterloopTask()
|
||||
int t;
|
||||
float dT = PIOS_DELTATIME_GetAverageSeconds(&timeval);
|
||||
StabilizationStatusOuterLoopOptions newThrustMode = StabilizationStatusOuterLoopToArray(enabled)[STABILIZATIONSTATUS_OUTERLOOP_THRUST];
|
||||
|
||||
bool reinit = (newThrustMode != previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST]);
|
||||
|
||||
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
|
||||
// Trigger a disable message to the alt hold on reinit to prevent that loop from running when not in use.
|
||||
if (reinit) {
|
||||
if (previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST] == STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE ||
|
||||
@ -117,17 +119,20 @@ static void stabilizationOuterloopTask()
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
// update previous mode
|
||||
previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST] = newThrustMode;
|
||||
|
||||
// calculate the thrust desired
|
||||
switch (newThrustMode) {
|
||||
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
|
||||
case STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE:
|
||||
rateDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST] = stabilizationAltitudeHold(stabilizationDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST], ALTITUDEHOLD, reinit);
|
||||
break;
|
||||
case STABILIZATIONSTATUS_OUTERLOOP_ALTITUDEVARIO:
|
||||
rateDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST] = stabilizationAltitudeHold(stabilizationDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST], ALTITUDEVARIO, reinit);
|
||||
break;
|
||||
#endif
|
||||
case STABILIZATIONSTATUS_OUTERLOOP_DIRECT:
|
||||
case STABILIZATIONSTATUS_OUTERLOOP_DIRECTWITHLIMITS:
|
||||
default:
|
||||
|
||||
@ -9,8 +9,10 @@
|
||||
* @{
|
||||
*
|
||||
* @file telemetry.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
|
||||
* @brief Telemetry module, handles telemetry and UAVObject updates
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
@ -95,6 +97,9 @@
|
||||
#define STATS_UPDATE_PERIOD_MS 4000
|
||||
#define CONNECTION_TIMEOUT_MS 8000
|
||||
|
||||
#ifdef PIOS_INCLUDE_RFM22B
|
||||
#define HAS_RADIO
|
||||
#endif
|
||||
// Private types
|
||||
typedef struct {
|
||||
// Determine port on which to communicate telemetry information
|
||||
@ -111,12 +116,14 @@ typedef struct {
|
||||
// Telemetry stream
|
||||
UAVTalkConnection uavTalkCon;
|
||||
} channelContext;
|
||||
|
||||
#ifdef HAS_RADIO
|
||||
// Main telemetry channel
|
||||
static channelContext localChannel;
|
||||
static int32_t transmitLocalData(uint8_t *data, int32_t length);
|
||||
static void registerLocalObject(UAVObjHandle obj);
|
||||
static uint32_t localPort();
|
||||
static void updateSettings(channelContext *channel);
|
||||
#endif
|
||||
|
||||
// OPLink telemetry channel
|
||||
static channelContext radioChannel;
|
||||
@ -150,7 +157,6 @@ static int32_t setLoggingPeriod(
|
||||
int32_t updatePeriodMs);
|
||||
static void updateTelemetryStats();
|
||||
static void gcsTelemetryStatsUpdated();
|
||||
static void updateSettings(channelContext *channel);
|
||||
|
||||
/**
|
||||
* Initialise the telemetry module
|
||||
@ -159,6 +165,7 @@ static void updateSettings(channelContext *channel);
|
||||
*/
|
||||
int32_t TelemetryStart(void)
|
||||
{
|
||||
#ifdef HAS_RADIO
|
||||
// Only start the local telemetry tasks if needed
|
||||
if (localPort()) {
|
||||
UAVObjIterate(®isterLocalObject);
|
||||
@ -187,8 +194,8 @@ int32_t TelemetryStart(void)
|
||||
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_TELEMETRYRX,
|
||||
localChannel.rxTaskHandle);
|
||||
}
|
||||
|
||||
// Start the telemetry tasks associated with Radio/USB
|
||||
#endif /* ifdef HAS_RADIO */
|
||||
// Start the telemetry tasks associated with Radio/USB
|
||||
UAVObjIterate(®isterRadioObject);
|
||||
|
||||
// Listen to objects of interest
|
||||
@ -229,9 +236,6 @@ void TelemetryInitializeChannel(channelContext *channel)
|
||||
sizeof(UAVObjEvent));
|
||||
#endif /* PIOS_TELEM_PRIORITY_QUEUE */
|
||||
|
||||
// Initialise UAVTalk
|
||||
channel->uavTalkCon = UAVTalkInitialize(&transmitLocalData);
|
||||
|
||||
// Create periodic event that will be used to update the telemetry stats
|
||||
UAVObjEvent ev;
|
||||
memset(&ev, 0, sizeof(UAVObjEvent));
|
||||
@ -267,7 +271,7 @@ int32_t TelemetryInitialize(void)
|
||||
radio_port = PIOS_COM_RF;
|
||||
}
|
||||
#else /* PIOS_INCLUDE_RFM22B */
|
||||
radio_port = 0;
|
||||
radio_port = PIOS_COM_TELEM_RF;
|
||||
#endif /* PIOS_INCLUDE_RFM22B */
|
||||
|
||||
FlightTelemetryStatsInitialize();
|
||||
@ -279,10 +283,9 @@ int32_t TelemetryInitialize(void)
|
||||
// Reset link stats
|
||||
txErrors = 0;
|
||||
txRetries = 0;
|
||||
|
||||
#ifdef HAS_RADIO
|
||||
// Set channel port handlers
|
||||
localChannel.getPort = localPort;
|
||||
radioChannel.getPort = radioPort;
|
||||
|
||||
// Set the local telemetry baud rate
|
||||
updateSettings(&localChannel);
|
||||
@ -295,6 +298,9 @@ int32_t TelemetryInitialize(void)
|
||||
localChannel.uavTalkCon = UAVTalkInitialize(&transmitLocalData);
|
||||
}
|
||||
|
||||
#endif
|
||||
// Set channel port handlers
|
||||
radioChannel.getPort = radioPort;
|
||||
// Initialise channel
|
||||
TelemetryInitializeChannel(&radioChannel);
|
||||
// Initialise UAVTalk
|
||||
@ -304,7 +310,7 @@ int32_t TelemetryInitialize(void)
|
||||
}
|
||||
|
||||
MODULE_INITCALL(TelemetryInitialize, TelemetryStart);
|
||||
|
||||
#ifdef HAS_RADIO
|
||||
/**
|
||||
* Register a new object, adds object to local list and connects the queue depending on the object's
|
||||
* telemetry settings.
|
||||
@ -327,7 +333,7 @@ static void registerLocalObject(UAVObjHandle obj)
|
||||
EV_NONE);
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
static void registerRadioObject(UAVObjHandle obj)
|
||||
{
|
||||
if (UAVObjIsMetaobject(obj)) {
|
||||
@ -635,7 +641,7 @@ static void telemetryRxTask(void *parameters)
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
#ifdef HAS_RADIO
|
||||
/**
|
||||
* Determine the port to be used for communication on the telemetry channel
|
||||
* \return com port number
|
||||
@ -644,7 +650,7 @@ static uint32_t localPort()
|
||||
{
|
||||
return PIOS_COM_TELEM_RF;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Determine the port to be used for communication on the radio channel
|
||||
@ -664,7 +670,7 @@ static uint32_t radioPort()
|
||||
return port;
|
||||
}
|
||||
|
||||
|
||||
#ifdef HAS_RADIO
|
||||
/**
|
||||
* Transmit data buffer to the modem or USB port.
|
||||
* \param[in] data Data buffer to send
|
||||
@ -682,7 +688,7 @@ static int32_t transmitLocalData(uint8_t *data, int32_t length)
|
||||
|
||||
return -1;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Transmit data buffer to the radioport.
|
||||
@ -804,9 +810,10 @@ static void updateTelemetryStats()
|
||||
uint32_t timeNow;
|
||||
|
||||
// Get stats
|
||||
UAVTalkGetStats(localChannel.uavTalkCon, &utalkStats, true);
|
||||
UAVTalkAddStats(radioChannel.uavTalkCon, &utalkStats, true);
|
||||
|
||||
UAVTalkGetStats(radioChannel.uavTalkCon, &utalkStats, true);
|
||||
#ifdef HAS_RADIO
|
||||
UAVTalkAddStats(localChannel.uavTalkCon, &utalkStats, true);
|
||||
#endif
|
||||
// Get object data
|
||||
FlightTelemetryStatsGet(&flightStats);
|
||||
GCSTelemetryStatsGet(&gcsStats);
|
||||
@ -888,6 +895,7 @@ static void updateTelemetryStats()
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef HAS_RADIO
|
||||
/**
|
||||
* Update the telemetry settings, called on startup.
|
||||
* FIXME: This should be in the TelemetrySettings object. But objects
|
||||
@ -931,7 +939,7 @@ static void updateSettings(channelContext *channel)
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
#endif /* ifdef HAS_RADIO */
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
|
||||
@ -8,7 +8,8 @@
|
||||
* @{
|
||||
*
|
||||
* @file txpid.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief Optional module to tune PID settings using R/C transmitter.
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
@ -252,6 +253,16 @@ static void updatePIDs(UAVObjEvent *ev)
|
||||
case TXPIDSETTINGS_PIDS_ROLLRATEKP:
|
||||
needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_ROLLRATEPID:
|
||||
needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
|
||||
needsUpdateBank |= update(&bank.RollRatePID.Ki, value * inst.PitchRollRateFactors.I);
|
||||
needsUpdateBank |= update(&bank.RollRatePID.Kd, value * inst.PitchRollRateFactors.D);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_PITCHRATEPID:
|
||||
needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
|
||||
needsUpdateBank |= update(&bank.PitchRatePID.Ki, value * inst.PitchRollRateFactors.I);
|
||||
needsUpdateBank |= update(&bank.PitchRatePID.Kd, value * inst.PitchRollRateFactors.D);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_ROLLRATEKI:
|
||||
needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
|
||||
break;
|
||||
@ -382,8 +393,15 @@ static void updatePIDs(UAVObjEvent *ev)
|
||||
case TXPIDSETTINGS_PIDS_GYROTAU:
|
||||
needsUpdateStab |= update(&stab.GyroTau, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_ACROPLUSFACTOR:
|
||||
needsUpdateBank |= update(&bank.AcroInsanityFactor, value);
|
||||
case TXPIDSETTINGS_PIDS_ACROROLLFACTOR:
|
||||
needsUpdateBank |= update(&bank.AcroInsanityFactor.Roll, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_ACROPITCHFACTOR:
|
||||
needsUpdateBank |= update(&bank.AcroInsanityFactor.Pitch, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_ACROROLLPITCHFACTOR:
|
||||
needsUpdateBank |= update(&bank.AcroInsanityFactor.Roll, value);
|
||||
needsUpdateBank |= update(&bank.AcroInsanityFactor.Pitch, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_ACCELTAU:
|
||||
needsUpdateAtt |= update(&att.AccelTau, value);
|
||||
@ -428,6 +446,12 @@ static void updatePIDs(UAVObjEvent *ev)
|
||||
AltitudeHoldSettingsSet(&altitude);
|
||||
}
|
||||
#endif
|
||||
if (inst.RatePIDRecalculateYaw != TXPIDSETTINGS_RATEPIDRECALCULATEYAW_FALSE) {
|
||||
float newKp = (bank.RollRatePID.Kp + bank.PitchRatePID.Kp) * .5f * inst.YawRateFactors.P;
|
||||
needsUpdateBank |= update(&bank.YawRatePID.Kp, newKp);
|
||||
needsUpdateBank |= update(&bank.YawRatePID.Ki, newKp * inst.YawRateFactors.I);
|
||||
needsUpdateBank |= update(&bank.YawRatePID.Kd, newKp * inst.YawRateFactors.D);
|
||||
}
|
||||
if (needsUpdateBank) {
|
||||
switch (inst.BankNumber) {
|
||||
case 0:
|
||||
|
||||
@ -103,7 +103,7 @@ static uint8_t *pucAlignedHeap = NULL;
|
||||
size_t mask = alignment - 1;
|
||||
/* Ensure that blocks are always aligned to the required number of bytes. */
|
||||
#if portBYTE_ALIGNMENT != 1
|
||||
if( xWantedSize & portBYTE_ALIGNMENT_MASK )
|
||||
if( xWantedSize & mask )
|
||||
{
|
||||
/* Byte alignment required. */
|
||||
xWantedSize += ( alignment - ( xWantedSize & mask ) );
|
||||
|
||||
@ -7,7 +7,8 @@
|
||||
* @{
|
||||
*
|
||||
* @file pios_usb_defs.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief USB Standard types and definitions
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
@ -353,6 +354,7 @@ enum usb_cdc_notification {
|
||||
|
||||
enum usb_product_ids {
|
||||
USB_PRODUCT_ID_OPENPILOT_MAIN = 0x415A,
|
||||
USB_PRODUCT_ID_COPTERCONTROL = 0x415B,
|
||||
USB_PRODUCT_ID_OPLINK = 0x415C,
|
||||
USB_PRODUCT_ID_CC3D = 0x415D,
|
||||
USB_PRODUCT_ID_REVOLUTION = 0x415E,
|
||||
@ -363,9 +365,9 @@ enum usb_product_ids {
|
||||
enum usb_op_board_ids {
|
||||
USB_OP_BOARD_ID_OPENPILOT_MAIN = 1,
|
||||
/* Board ID 2 may be unused or AHRS */
|
||||
USB_OP_BOARD_ID_OPLINK = 3,
|
||||
/* USB_OP_BOARD_ID_COPTERCONTROL = 4, */
|
||||
USB_OP_BOARD_ID_REVOLUTION = 5,
|
||||
USB_OP_BOARD_ID_OPLINK = 3,
|
||||
USB_OP_BOARD_ID_COPTERCONTROL = 4,
|
||||
USB_OP_BOARD_ID_REVOLUTION = 5,
|
||||
USB_OP_BOARD_ID_OSD = 6,
|
||||
} __attribute__((packed));
|
||||
|
||||
|
||||
23
flight/targets/boards/coptercontrol/board-info.mk
Normal file
23
flight/targets/boards/coptercontrol/board-info.mk
Normal file
@ -0,0 +1,23 @@
|
||||
BOARD_TYPE := 0x04
|
||||
BOARD_REVISION := 0x02
|
||||
BOOTLOADER_VERSION := 0x04
|
||||
HW_TYPE := 0x01
|
||||
|
||||
MCU := cortex-m3
|
||||
CHIP := STM32F103CBT
|
||||
BOARD := STM32103CB_CC_Rev1
|
||||
MODEL := MD
|
||||
MODEL_SUFFIX := _CC
|
||||
|
||||
OPENOCD_JTAG_CONFIG := foss-jtag.revb.cfg
|
||||
OPENOCD_CONFIG := stm32f1x.cfg
|
||||
|
||||
# Note: These must match the values in link_$(BOARD)_memory.ld
|
||||
BL_BANK_BASE := 0x08000000 # Start of bootloader flash
|
||||
BL_BANK_SIZE := 0x00003000 # Should include BD_INFO region
|
||||
FW_BANK_BASE := 0x08003000 # Start of firmware flash
|
||||
FW_BANK_SIZE := 0x0001D000 # Should include FW_DESC_SIZE
|
||||
|
||||
FW_DESC_SIZE := 0x00000064
|
||||
|
||||
OSCILLATOR_FREQ := 8000000
|
||||
1570
flight/targets/boards/coptercontrol/board_hw_defs.c
Normal file
1570
flight/targets/boards/coptercontrol/board_hw_defs.c
Normal file
@ -0,0 +1,1570 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file board_hw_defs.c
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
|
||||
*
|
||||
* @addtogroup OpenPilotSystem OpenPilot System
|
||||
* @{
|
||||
* @addtogroup OpenPilotCore OpenPilot Core
|
||||
* @{
|
||||
* @brief Defines board specific static initializers for hardware for the CopterControl board.
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* 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
|
||||
*/
|
||||
|
||||
#define BOARD_REVISION_CC 1
|
||||
#define BOARD_REVISION_CC3D 2
|
||||
|
||||
#if defined(PIOS_INCLUDE_LED)
|
||||
|
||||
#include <pios_led_priv.h>
|
||||
static const struct pios_gpio pios_leds_cc[] = {
|
||||
[PIOS_LED_HEARTBEAT] = {
|
||||
.pin = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_6,
|
||||
.GPIO_Mode = GPIO_Mode_Out_PP,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
},
|
||||
},
|
||||
.active_low = true
|
||||
},
|
||||
};
|
||||
|
||||
static const struct pios_gpio_cfg pios_led_cfg_cc = {
|
||||
.gpios = pios_leds_cc,
|
||||
.num_gpios = NELEMENTS(pios_leds_cc),
|
||||
};
|
||||
|
||||
static const struct pios_gpio pios_leds_cc3d[] = {
|
||||
[PIOS_LED_HEARTBEAT] = {
|
||||
.pin = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_3,
|
||||
.GPIO_Mode = GPIO_Mode_Out_PP,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
},
|
||||
},
|
||||
.remap = GPIO_Remap_SWJ_JTAGDisable,
|
||||
.active_low = true
|
||||
},
|
||||
};
|
||||
|
||||
static const struct pios_gpio_cfg pios_led_cfg_cc3d = {
|
||||
.gpios = pios_leds_cc3d,
|
||||
.num_gpios = NELEMENTS(pios_leds_cc3d),
|
||||
};
|
||||
|
||||
const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(uint32_t board_revision)
|
||||
{
|
||||
switch (board_revision) {
|
||||
case BOARD_REVISION_CC: return &pios_led_cfg_cc;
|
||||
|
||||
case BOARD_REVISION_CC3D: return &pios_led_cfg_cc3d;
|
||||
|
||||
default: return NULL;
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* PIOS_INCLUDE_LED */
|
||||
|
||||
#if defined(PIOS_INCLUDE_SPI)
|
||||
|
||||
#include <pios_spi_priv.h>
|
||||
|
||||
/* Gyro interface */
|
||||
void PIOS_SPI_gyro_irq_handler(void);
|
||||
void DMA1_Channel2_IRQHandler() __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
|
||||
void DMA1_Channel3_IRQHandler() __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
|
||||
static const struct pios_spi_cfg pios_spi_gyro_cfg = {
|
||||
.regs = SPI1,
|
||||
.init = {
|
||||
.SPI_Mode = SPI_Mode_Master,
|
||||
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
|
||||
.SPI_DataSize = SPI_DataSize_8b,
|
||||
.SPI_NSS = SPI_NSS_Soft,
|
||||
.SPI_FirstBit = SPI_FirstBit_MSB,
|
||||
.SPI_CRCPolynomial = 7,
|
||||
.SPI_CPOL = SPI_CPOL_High,
|
||||
.SPI_CPHA = SPI_CPHA_2Edge,
|
||||
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16, /* 10 Mhz */
|
||||
},
|
||||
.use_crc = false,
|
||||
.dma = {
|
||||
.ahb_clk = RCC_AHBPeriph_DMA1,
|
||||
|
||||
.irq = {
|
||||
.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
|
||||
.init = {
|
||||
.NVIC_IRQChannel = DMA1_Channel2_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
|
||||
.rx = {
|
||||
.channel = DMA1_Channel2,
|
||||
.init = {
|
||||
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
|
||||
.DMA_DIR = DMA_DIR_PeripheralSRC,
|
||||
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
||||
.DMA_Mode = DMA_Mode_Normal,
|
||||
.DMA_Priority = DMA_Priority_Medium,
|
||||
.DMA_M2M = DMA_M2M_Disable,
|
||||
},
|
||||
},
|
||||
.tx = {
|
||||
.channel = DMA1_Channel3,
|
||||
.init = {
|
||||
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
|
||||
.DMA_DIR = DMA_DIR_PeripheralDST,
|
||||
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
||||
.DMA_Mode = DMA_Mode_Normal,
|
||||
.DMA_Priority = DMA_Priority_Medium,
|
||||
.DMA_M2M = DMA_M2M_Disable,
|
||||
},
|
||||
},
|
||||
},
|
||||
.sclk = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_5,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_PP,
|
||||
},
|
||||
},
|
||||
.miso = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_6,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IPU,
|
||||
},
|
||||
},
|
||||
.mosi = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_7,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_PP,
|
||||
},
|
||||
},
|
||||
.slave_count = 1,
|
||||
.ssel = {
|
||||
{
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_4,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_Mode = GPIO_Mode_Out_PP,
|
||||
},
|
||||
}
|
||||
},
|
||||
};
|
||||
|
||||
static uint32_t pios_spi_gyro_id;
|
||||
void PIOS_SPI_gyro_irq_handler(void)
|
||||
{
|
||||
/* Call into the generic code to handle the IRQ for this specific device */
|
||||
PIOS_SPI_IRQ_Handler(pios_spi_gyro_id);
|
||||
}
|
||||
|
||||
|
||||
/* Flash/Accel Interface
|
||||
*
|
||||
* NOTE: Leave this declared as const data so that it ends up in the
|
||||
* .rodata section (ie. Flash) rather than in the .bss section (RAM).
|
||||
*/
|
||||
void PIOS_SPI_flash_accel_irq_handler(void);
|
||||
void DMA1_Channel4_IRQHandler() __attribute__((alias("PIOS_SPI_flash_accel_irq_handler")));
|
||||
void DMA1_Channel5_IRQHandler() __attribute__((alias("PIOS_SPI_flash_accel_irq_handler")));
|
||||
static const struct pios_spi_cfg pios_spi_flash_accel_cfg_cc3d = {
|
||||
.regs = SPI2,
|
||||
.init = {
|
||||
.SPI_Mode = SPI_Mode_Master,
|
||||
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
|
||||
.SPI_DataSize = SPI_DataSize_8b,
|
||||
.SPI_NSS = SPI_NSS_Soft,
|
||||
.SPI_FirstBit = SPI_FirstBit_MSB,
|
||||
.SPI_CRCPolynomial = 7,
|
||||
.SPI_CPOL = SPI_CPOL_High,
|
||||
.SPI_CPHA = SPI_CPHA_2Edge,
|
||||
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
|
||||
},
|
||||
.use_crc = false,
|
||||
.dma = {
|
||||
.ahb_clk = RCC_AHBPeriph_DMA1,
|
||||
|
||||
.irq = {
|
||||
.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
|
||||
.init = {
|
||||
.NVIC_IRQChannel = DMA1_Channel4_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
|
||||
.rx = {
|
||||
.channel = DMA1_Channel4,
|
||||
.init = {
|
||||
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
|
||||
.DMA_DIR = DMA_DIR_PeripheralSRC,
|
||||
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
||||
.DMA_Mode = DMA_Mode_Normal,
|
||||
.DMA_Priority = DMA_Priority_High,
|
||||
.DMA_M2M = DMA_M2M_Disable,
|
||||
},
|
||||
},
|
||||
.tx = {
|
||||
.channel = DMA1_Channel5,
|
||||
.init = {
|
||||
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
|
||||
.DMA_DIR = DMA_DIR_PeripheralDST,
|
||||
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
||||
.DMA_Mode = DMA_Mode_Normal,
|
||||
.DMA_Priority = DMA_Priority_High,
|
||||
.DMA_M2M = DMA_M2M_Disable,
|
||||
},
|
||||
},
|
||||
},
|
||||
.sclk = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_13,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_PP,
|
||||
},
|
||||
},
|
||||
.miso = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_14,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
|
||||
},
|
||||
},
|
||||
.mosi = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_15,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_PP,
|
||||
},
|
||||
},
|
||||
.slave_count = 2,
|
||||
.ssel = {
|
||||
{
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_12,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_Mode = GPIO_Mode_Out_PP,
|
||||
}
|
||||
},{
|
||||
.gpio = GPIOC,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_15,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_Mode = GPIO_Mode_Out_PP,
|
||||
},
|
||||
}
|
||||
},
|
||||
};
|
||||
|
||||
static const struct pios_spi_cfg pios_spi_flash_accel_cfg_cc = {
|
||||
.regs = SPI2,
|
||||
.init = {
|
||||
.SPI_Mode = SPI_Mode_Master,
|
||||
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
|
||||
.SPI_DataSize = SPI_DataSize_8b,
|
||||
.SPI_NSS = SPI_NSS_Soft,
|
||||
.SPI_FirstBit = SPI_FirstBit_MSB,
|
||||
.SPI_CRCPolynomial = 7,
|
||||
.SPI_CPOL = SPI_CPOL_High,
|
||||
.SPI_CPHA = SPI_CPHA_2Edge,
|
||||
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
|
||||
},
|
||||
.use_crc = false,
|
||||
.dma = {
|
||||
.ahb_clk = RCC_AHBPeriph_DMA1,
|
||||
|
||||
.irq = {
|
||||
.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
|
||||
.init = {
|
||||
.NVIC_IRQChannel = DMA1_Channel4_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
|
||||
.rx = {
|
||||
.channel = DMA1_Channel4,
|
||||
.init = {
|
||||
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
|
||||
.DMA_DIR = DMA_DIR_PeripheralSRC,
|
||||
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
||||
.DMA_Mode = DMA_Mode_Normal,
|
||||
.DMA_Priority = DMA_Priority_High,
|
||||
.DMA_M2M = DMA_M2M_Disable,
|
||||
},
|
||||
},
|
||||
.tx = {
|
||||
.channel = DMA1_Channel5,
|
||||
.init = {
|
||||
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
|
||||
.DMA_DIR = DMA_DIR_PeripheralDST,
|
||||
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
||||
.DMA_Mode = DMA_Mode_Normal,
|
||||
.DMA_Priority = DMA_Priority_High,
|
||||
.DMA_M2M = DMA_M2M_Disable,
|
||||
},
|
||||
},
|
||||
},
|
||||
.sclk = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_13,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_PP,
|
||||
},
|
||||
},
|
||||
.miso = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_14,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
|
||||
},
|
||||
},
|
||||
.mosi = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_15,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_PP,
|
||||
},
|
||||
},
|
||||
.slave_count = 2,
|
||||
.ssel = {
|
||||
{
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_12,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_Mode = GPIO_Mode_Out_PP,
|
||||
}
|
||||
},{
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_7,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_Mode = GPIO_Mode_Out_PP,
|
||||
},
|
||||
}
|
||||
},
|
||||
};
|
||||
|
||||
static uint32_t pios_spi_flash_accel_id;
|
||||
void PIOS_SPI_flash_accel_irq_handler(void)
|
||||
{
|
||||
/* Call into the generic code to handle the IRQ for this specific device */
|
||||
PIOS_SPI_IRQ_Handler(pios_spi_flash_accel_id);
|
||||
}
|
||||
|
||||
#endif /* PIOS_INCLUDE_SPI */
|
||||
|
||||
#if defined(PIOS_INCLUDE_FLASH)
|
||||
#include "pios_flashfs_logfs_priv.h"
|
||||
#include "pios_flash_jedec_priv.h"
|
||||
|
||||
static const struct flashfs_logfs_cfg flashfs_w25x_cfg = {
|
||||
.fs_magic = 0x99abcdef,
|
||||
.total_fs_size = 0x00080000, /* 512K bytes (128 sectors = entire chip) */
|
||||
.arena_size = 0x00010000, /* 256 * slot size */
|
||||
.slot_size = 0x00000100, /* 256 bytes */
|
||||
|
||||
.start_offset = 0, /* start at the beginning of the chip */
|
||||
.sector_size = 0x00001000, /* 4K bytes */
|
||||
.page_size = 0x00000100, /* 256 bytes */
|
||||
};
|
||||
|
||||
|
||||
static const struct flashfs_logfs_cfg flashfs_m25p_cfg = {
|
||||
.fs_magic = 0x99abceef,
|
||||
.total_fs_size = 0x00200000, /* 2M bytes (32 sectors = entire chip) */
|
||||
.arena_size = 0x00010000, /* 256 * slot size */
|
||||
.slot_size = 0x00000100, /* 256 bytes */
|
||||
|
||||
.start_offset = 0, /* start at the beginning of the chip */
|
||||
.sector_size = 0x00010000, /* 64K bytes */
|
||||
.page_size = 0x00000100, /* 256 bytes */
|
||||
};
|
||||
|
||||
#include "pios_flash.h"
|
||||
|
||||
#endif /* PIOS_INCLUDE_FLASH */
|
||||
|
||||
/*
|
||||
* ADC system
|
||||
*/
|
||||
#if defined(PIOS_INCLUDE_ADC)
|
||||
#include "pios_adc_priv.h"
|
||||
extern void PIOS_ADC_handler(void);
|
||||
void DMA1_Channel1_IRQHandler() __attribute__((alias("PIOS_ADC_handler")));
|
||||
// Remap the ADC DMA handler to this one
|
||||
static const struct pios_adc_cfg pios_adc_cfg = {
|
||||
.dma = {
|
||||
.ahb_clk = RCC_AHBPeriph_DMA1,
|
||||
.irq = {
|
||||
.flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
|
||||
.init = {
|
||||
.NVIC_IRQChannel = DMA1_Channel1_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.rx = {
|
||||
.channel = DMA1_Channel1,
|
||||
.init = {
|
||||
.DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR,
|
||||
.DMA_DIR = DMA_DIR_PeripheralSRC,
|
||||
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_Word,
|
||||
.DMA_Mode = DMA_Mode_Circular,
|
||||
.DMA_Priority = DMA_Priority_High,
|
||||
.DMA_M2M = DMA_M2M_Disable,
|
||||
},
|
||||
}
|
||||
},
|
||||
.half_flag = DMA1_IT_HT1,
|
||||
.full_flag = DMA1_IT_TC1,
|
||||
};
|
||||
|
||||
void PIOS_ADC_handler()
|
||||
{
|
||||
PIOS_ADC_DMA_Handler();
|
||||
}
|
||||
#endif /* if defined(PIOS_INCLUDE_ADC) */
|
||||
|
||||
#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,
|
||||
},
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
|
||||
static const struct pios_tim_channel pios_tim_servoport_rcvrport_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,
|
||||
},
|
||||
},
|
||||
},
|
||||
|
||||
// Receiver port pins
|
||||
// S3-S6 inputs are used as outputs in this case
|
||||
{
|
||||
.timer = TIM3,
|
||||
.timer_chan = TIM_Channel_3,
|
||||
.pin = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_0,
|
||||
.GPIO_Mode = GPIO_Mode_AF_PP,
|
||||
.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_AF_PP,
|
||||
.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_AF_PP,
|
||||
.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_AF_PP,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
},
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
static const struct pios_tim_channel pios_tim_ppm_flexi_port = {
|
||||
.timer = TIM2,
|
||||
.timer_chan = TIM_Channel_4,
|
||||
.pin = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_11,
|
||||
.GPIO_Mode = GPIO_Mode_IPD,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
},
|
||||
},
|
||||
.remap = GPIO_PartialRemap2_TIM2,
|
||||
};
|
||||
|
||||
#if defined(PIOS_INCLUDE_USART)
|
||||
|
||||
#include "pios_usart_priv.h"
|
||||
|
||||
static const struct pios_usart_cfg pios_usart_generic_main_cfg = {
|
||||
.regs = USART1,
|
||||
.init = {
|
||||
.USART_BaudRate = 57600,
|
||||
.USART_WordLength = USART_WordLength_8b,
|
||||
.USART_Parity = USART_Parity_No,
|
||||
.USART_StopBits = USART_StopBits_1,
|
||||
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
||||
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
|
||||
},
|
||||
.irq = {
|
||||
.init = {
|
||||
.NVIC_IRQChannel = USART1_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.rx = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_10,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IPU,
|
||||
},
|
||||
},
|
||||
.tx = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_9,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_PP,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
static const struct pios_usart_cfg pios_usart_generic_flexi_cfg = {
|
||||
.regs = USART3,
|
||||
.init = {
|
||||
.USART_BaudRate = 57600,
|
||||
.USART_WordLength = USART_WordLength_8b,
|
||||
.USART_Parity = USART_Parity_No,
|
||||
.USART_StopBits = USART_StopBits_1,
|
||||
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
||||
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
|
||||
},
|
||||
.irq = {
|
||||
.init = {
|
||||
.NVIC_IRQChannel = USART3_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.rx = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_11,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IPU,
|
||||
},
|
||||
},
|
||||
.tx = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_10,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_PP,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
#if defined(PIOS_INCLUDE_DSM)
|
||||
/*
|
||||
* Spektrum/JR DSM USART
|
||||
*/
|
||||
#include <pios_dsm_priv.h>
|
||||
|
||||
static const struct pios_usart_cfg pios_usart_dsm_main_cfg = {
|
||||
.regs = USART1,
|
||||
.init = {
|
||||
.USART_BaudRate = 115200,
|
||||
.USART_WordLength = USART_WordLength_8b,
|
||||
.USART_Parity = USART_Parity_No,
|
||||
.USART_StopBits = USART_StopBits_1,
|
||||
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
||||
.USART_Mode = USART_Mode_Rx,
|
||||
},
|
||||
.irq = {
|
||||
.init = {
|
||||
.NVIC_IRQChannel = USART1_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.rx = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_10,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IPU,
|
||||
},
|
||||
},
|
||||
.tx = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_9,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
static const struct pios_dsm_cfg pios_dsm_main_cfg = {
|
||||
.bind = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_10,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_Out_PP,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
static const struct pios_usart_cfg pios_usart_dsm_flexi_cfg = {
|
||||
.regs = USART3,
|
||||
.init = {
|
||||
.USART_BaudRate = 115200,
|
||||
.USART_WordLength = USART_WordLength_8b,
|
||||
.USART_Parity = USART_Parity_No,
|
||||
.USART_StopBits = USART_StopBits_1,
|
||||
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
||||
.USART_Mode = USART_Mode_Rx,
|
||||
},
|
||||
.irq = {
|
||||
.init = {
|
||||
.NVIC_IRQChannel = USART3_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.rx = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_11,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IPU,
|
||||
},
|
||||
},
|
||||
.tx = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_10,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
static const struct pios_dsm_cfg pios_dsm_flexi_cfg = {
|
||||
.bind = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_11,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_Out_PP,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
#endif /* PIOS_INCLUDE_DSM */
|
||||
|
||||
#if defined(PIOS_INCLUDE_SRXL)
|
||||
/*
|
||||
* SRXL USART
|
||||
*/
|
||||
#include <pios_srxl_priv.h>
|
||||
|
||||
static const struct pios_usart_cfg pios_usart_srxl_flexi_cfg = {
|
||||
.regs = USART3,
|
||||
.init = {
|
||||
.USART_BaudRate = 115200,
|
||||
.USART_WordLength = USART_WordLength_8b,
|
||||
.USART_Parity = USART_Parity_No,
|
||||
.USART_StopBits = USART_StopBits_1,
|
||||
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
||||
.USART_Mode = USART_Mode_Rx,
|
||||
},
|
||||
.irq = {
|
||||
.init = {
|
||||
.NVIC_IRQChannel = USART3_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.rx = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_11,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IPU,
|
||||
},
|
||||
},
|
||||
.tx = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_10,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
#endif /* PIOS_INCLUDE_SRXL */
|
||||
|
||||
#if defined(PIOS_INCLUDE_SBUS)
|
||||
/*
|
||||
* S.Bus USART
|
||||
*/
|
||||
#include <pios_sbus_priv.h>
|
||||
|
||||
static const struct pios_usart_cfg pios_usart_sbus_main_cfg = {
|
||||
.regs = USART1,
|
||||
.init = {
|
||||
.USART_BaudRate = 100000,
|
||||
.USART_WordLength = USART_WordLength_8b,
|
||||
.USART_Parity = USART_Parity_Even,
|
||||
.USART_StopBits = USART_StopBits_2,
|
||||
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
||||
.USART_Mode = USART_Mode_Rx,
|
||||
},
|
||||
.irq = {
|
||||
.init = {
|
||||
.NVIC_IRQChannel = USART1_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.rx = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_10,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IPU,
|
||||
},
|
||||
},
|
||||
.tx = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_9,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
static const struct pios_sbus_cfg pios_sbus_cfg = {
|
||||
/* Inverter configuration */
|
||||
.inv = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_2,
|
||||
.GPIO_Mode = GPIO_Mode_Out_PP,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
},
|
||||
},
|
||||
.gpio_clk_func = RCC_APB2PeriphClockCmd,
|
||||
.gpio_clk_periph = RCC_APB2Periph_GPIOB,
|
||||
.gpio_inv_enable = Bit_SET,
|
||||
};
|
||||
|
||||
#endif /* PIOS_INCLUDE_SBUS */
|
||||
|
||||
/*
|
||||
* HK OSD
|
||||
*/
|
||||
static const struct pios_usart_cfg pios_usart_hkosd_main_cfg = {
|
||||
.regs = USART1,
|
||||
.init = {
|
||||
.USART_BaudRate = 57600,
|
||||
.USART_WordLength = USART_WordLength_8b,
|
||||
.USART_Parity = USART_Parity_No,
|
||||
.USART_StopBits = USART_StopBits_1,
|
||||
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
||||
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
|
||||
},
|
||||
.irq = {
|
||||
.init = {
|
||||
.NVIC_IRQChannel = USART1_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.rx = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_10,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IPU,
|
||||
},
|
||||
},
|
||||
.tx = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_9,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_PP,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
static const struct pios_usart_cfg pios_usart_hkosd_flexi_cfg = {
|
||||
.regs = USART3,
|
||||
.init = {
|
||||
.USART_BaudRate = 57600,
|
||||
.USART_WordLength = USART_WordLength_8b,
|
||||
.USART_Parity = USART_Parity_No,
|
||||
.USART_StopBits = USART_StopBits_1,
|
||||
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
|
||||
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
|
||||
},
|
||||
.irq = {
|
||||
.init = {
|
||||
.NVIC_IRQChannel = USART3_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.rx = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_11,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IPU,
|
||||
},
|
||||
},
|
||||
.tx = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_10,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_PP,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
|
||||
#endif /* PIOS_INCLUDE_USART */
|
||||
|
||||
#if defined(PIOS_INCLUDE_COM)
|
||||
|
||||
#include "pios_com_priv.h"
|
||||
|
||||
#endif /* PIOS_INCLUDE_COM */
|
||||
|
||||
#if defined(PIOS_INCLUDE_RTC)
|
||||
/*
|
||||
* Realtime Clock (RTC)
|
||||
*/
|
||||
#include <pios_rtc_priv.h>
|
||||
|
||||
void PIOS_RTC_IRQ_Handler(void);
|
||||
void RTC_IRQHandler() __attribute__((alias("PIOS_RTC_IRQ_Handler")));
|
||||
static const struct pios_rtc_cfg pios_rtc_main_cfg = {
|
||||
.clksrc = RCC_RTCCLKSource_HSE_Div128,
|
||||
.prescaler = 100,
|
||||
.irq = {
|
||||
.init = {
|
||||
.NVIC_IRQChannel = RTC_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
void PIOS_RTC_IRQ_Handler(void)
|
||||
{
|
||||
PIOS_RTC_irq_handler();
|
||||
}
|
||||
|
||||
#endif /* if defined(PIOS_INCLUDE_RTC) */
|
||||
|
||||
#if defined(PIOS_INCLUDE_SERVO) && defined(PIOS_INCLUDE_TIM)
|
||||
/*
|
||||
* Servo outputs
|
||||
*/
|
||||
#include <pios_servo_priv.h>
|
||||
|
||||
const struct pios_servo_cfg pios_servo_cfg = {
|
||||
.tim_oc_init = {
|
||||
.TIM_OCMode = TIM_OCMode_PWM1,
|
||||
.TIM_OutputState = TIM_OutputState_Enable,
|
||||
.TIM_OutputNState = TIM_OutputNState_Disable,
|
||||
.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
|
||||
.TIM_OCPolarity = TIM_OCPolarity_High,
|
||||
.TIM_OCNPolarity = TIM_OCPolarity_High,
|
||||
.TIM_OCIdleState = TIM_OCIdleState_Reset,
|
||||
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
|
||||
},
|
||||
.channels = pios_tim_servoport_all_pins,
|
||||
.num_channels = NELEMENTS(pios_tim_servoport_all_pins),
|
||||
};
|
||||
|
||||
const struct pios_servo_cfg pios_servo_rcvr_cfg = {
|
||||
.tim_oc_init = {
|
||||
.TIM_OCMode = TIM_OCMode_PWM1,
|
||||
.TIM_OutputState = TIM_OutputState_Enable,
|
||||
.TIM_OutputNState = TIM_OutputNState_Disable,
|
||||
.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
|
||||
.TIM_OCPolarity = TIM_OCPolarity_High,
|
||||
.TIM_OCNPolarity = TIM_OCPolarity_High,
|
||||
.TIM_OCIdleState = TIM_OCIdleState_Reset,
|
||||
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
|
||||
},
|
||||
.channels = pios_tim_servoport_rcvrport_pins,
|
||||
.num_channels = NELEMENTS(pios_tim_servoport_rcvrport_pins),
|
||||
};
|
||||
|
||||
#endif /* PIOS_INCLUDE_SERVO && PIOS_INCLUDE_TIM */
|
||||
|
||||
/*
|
||||
* PPM Inputs
|
||||
*/
|
||||
#if defined(PIOS_INCLUDE_PPM)
|
||||
#include <pios_ppm_priv.h>
|
||||
|
||||
const struct pios_ppm_cfg pios_ppm_cfg = {
|
||||
.tim_ic_init = {
|
||||
.TIM_ICPolarity = TIM_ICPolarity_Rising,
|
||||
.TIM_ICSelection = TIM_ICSelection_DirectTI,
|
||||
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
|
||||
.TIM_ICFilter = 0x0,
|
||||
},
|
||||
/* Use only the first channel for ppm */
|
||||
.channels = &pios_tim_rcvrport_all_channels[0],
|
||||
.num_channels = 1,
|
||||
};
|
||||
|
||||
const struct pios_ppm_cfg pios_ppm_pin8_cfg = {
|
||||
.tim_ic_init = {
|
||||
.TIM_ICPolarity = TIM_ICPolarity_Rising,
|
||||
.TIM_ICSelection = TIM_ICSelection_DirectTI,
|
||||
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
|
||||
.TIM_ICFilter = 0x0,
|
||||
},
|
||||
/* Use only the first channel for ppm */
|
||||
.channels = &pios_tim_rcvrport_all_channels[5],
|
||||
.num_channels = 1,
|
||||
};
|
||||
|
||||
#endif /* PIOS_INCLUDE_PPM */
|
||||
|
||||
#if defined(PIOS_INCLUDE_PPM_FLEXI)
|
||||
#include <pios_ppm_priv.h>
|
||||
|
||||
const struct pios_ppm_cfg pios_ppm_flexi_cfg = {
|
||||
.tim_ic_init = {
|
||||
.TIM_ICPolarity = TIM_ICPolarity_Rising,
|
||||
.TIM_ICSelection = TIM_ICSelection_DirectTI,
|
||||
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
|
||||
.TIM_ICFilter = 0x0,
|
||||
},
|
||||
.channels = &pios_tim_ppm_flexi_port,
|
||||
.num_channels = 1,
|
||||
};
|
||||
|
||||
#endif /* PIOS_INCLUDE_PPM_FLEXI */
|
||||
|
||||
/*
|
||||
* PWM Inputs
|
||||
*/
|
||||
#if defined(PIOS_INCLUDE_PWM)
|
||||
#include <pios_pwm_priv.h>
|
||||
|
||||
const struct pios_pwm_cfg pios_pwm_cfg = {
|
||||
.tim_ic_init = {
|
||||
.TIM_ICPolarity = TIM_ICPolarity_Rising,
|
||||
.TIM_ICSelection = TIM_ICSelection_DirectTI,
|
||||
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
|
||||
.TIM_ICFilter = 0x0,
|
||||
},
|
||||
.channels = pios_tim_rcvrport_all_channels,
|
||||
.num_channels = NELEMENTS(pios_tim_rcvrport_all_channels),
|
||||
};
|
||||
|
||||
const struct pios_pwm_cfg pios_pwm_with_ppm_cfg = {
|
||||
.tim_ic_init = {
|
||||
.TIM_ICPolarity = TIM_ICPolarity_Rising,
|
||||
.TIM_ICSelection = TIM_ICSelection_DirectTI,
|
||||
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
|
||||
.TIM_ICFilter = 0x0,
|
||||
},
|
||||
/* Leave the first channel for PPM use and use the rest for PWM */
|
||||
.channels = &pios_tim_rcvrport_all_channels[1],
|
||||
.num_channels = NELEMENTS(pios_tim_rcvrport_all_channels) - 1,
|
||||
};
|
||||
|
||||
#endif /* if defined(PIOS_INCLUDE_PWM) */
|
||||
|
||||
|
||||
/*
|
||||
* SONAR Inputs
|
||||
*/
|
||||
#if defined(PIOS_INCLUDE_HCSR04)
|
||||
#include <pios_hcsr04_priv.h>
|
||||
|
||||
static const struct pios_tim_channel pios_tim_hcsr04_port_all_channels[] = {
|
||||
{
|
||||
.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,
|
||||
},
|
||||
};
|
||||
|
||||
const struct pios_hcsr04_cfg pios_hcsr04_cfg = {
|
||||
.tim_ic_init = {
|
||||
.TIM_ICPolarity = TIM_ICPolarity_Rising,
|
||||
.TIM_ICSelection = TIM_ICSelection_DirectTI,
|
||||
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
|
||||
.TIM_ICFilter = 0x0,
|
||||
},
|
||||
.channels = pios_tim_hcsr04_port_all_channels,
|
||||
.num_channels = NELEMENTS(pios_tim_hcsr04_port_all_channels),
|
||||
.trigger = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_6,
|
||||
.GPIO_Mode = GPIO_Mode_Out_PP,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
},
|
||||
},
|
||||
};
|
||||
#endif /* if defined(PIOS_INCLUDE_HCSR04) */
|
||||
|
||||
#if defined(PIOS_INCLUDE_I2C)
|
||||
|
||||
#include <pios_i2c_priv.h>
|
||||
|
||||
/*
|
||||
* I2C Adapters
|
||||
*/
|
||||
|
||||
void PIOS_I2C_flexi_adapter_ev_irq_handler(void);
|
||||
void PIOS_I2C_flexi_adapter_er_irq_handler(void);
|
||||
void I2C2_EV_IRQHandler() __attribute__((alias("PIOS_I2C_flexi_adapter_ev_irq_handler")));
|
||||
void I2C2_ER_IRQHandler() __attribute__((alias("PIOS_I2C_flexi_adapter_er_irq_handler")));
|
||||
|
||||
static const struct pios_i2c_adapter_cfg pios_i2c_flexi_adapter_cfg = {
|
||||
.regs = I2C2,
|
||||
.init = {
|
||||
.I2C_Mode = I2C_Mode_I2C,
|
||||
.I2C_OwnAddress1 = 0,
|
||||
.I2C_Ack = I2C_Ack_Enable,
|
||||
.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
|
||||
.I2C_DutyCycle = I2C_DutyCycle_2,
|
||||
.I2C_ClockSpeed = 400000, /* bits/s */
|
||||
},
|
||||
.transfer_timeout_ms = 50,
|
||||
.scl = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_10,
|
||||
.GPIO_Speed = GPIO_Speed_10MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_OD,
|
||||
},
|
||||
},
|
||||
.sda = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_11,
|
||||
.GPIO_Speed = GPIO_Speed_10MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_OD,
|
||||
},
|
||||
},
|
||||
.event = {
|
||||
.flags = 0, /* FIXME: check this */
|
||||
.init = {
|
||||
.NVIC_IRQChannel = I2C2_EV_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.error = {
|
||||
.flags = 0, /* FIXME: check this */
|
||||
.init = {
|
||||
.NVIC_IRQChannel = I2C2_ER_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
uint32_t pios_i2c_flexi_adapter_id;
|
||||
void PIOS_I2C_flexi_adapter_ev_irq_handler(void)
|
||||
{
|
||||
/* Call into the generic code to handle the IRQ for this specific device */
|
||||
PIOS_I2C_EV_IRQ_Handler(pios_i2c_flexi_adapter_id);
|
||||
}
|
||||
|
||||
void PIOS_I2C_flexi_adapter_er_irq_handler(void)
|
||||
{
|
||||
/* Call into the generic code to handle the IRQ for this specific device */
|
||||
PIOS_I2C_ER_IRQ_Handler(pios_i2c_flexi_adapter_id);
|
||||
}
|
||||
|
||||
#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"
|
||||
|
||||
#endif /* PIOS_INCLUDE_RCVR */
|
||||
|
||||
#if defined(PIOS_INCLUDE_USB)
|
||||
#include "pios_usb_priv.h"
|
||||
|
||||
static const struct pios_usb_cfg pios_usb_main_cfg_cc = {
|
||||
.irq = {
|
||||
.init = {
|
||||
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.vsense = {
|
||||
.gpio = GPIOC,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_15,
|
||||
.GPIO_Speed = GPIO_Speed_10MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_OD,
|
||||
},
|
||||
},
|
||||
.vsense_active_low = false
|
||||
};
|
||||
|
||||
static const struct pios_usb_cfg pios_usb_main_cfg_cc3d = {
|
||||
.irq = {
|
||||
.init = {
|
||||
.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.vsense = {
|
||||
.gpio = GPIOC,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_14,
|
||||
.GPIO_Speed = GPIO_Speed_10MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_OD,
|
||||
},
|
||||
},
|
||||
.vsense_active_low = false
|
||||
};
|
||||
|
||||
#include "pios_usb_board_data_priv.h"
|
||||
#include "pios_usb_desc_hid_cdc_priv.h"
|
||||
#include "pios_usb_desc_hid_only_priv.h"
|
||||
|
||||
#endif /* PIOS_INCLUDE_USB */
|
||||
|
||||
#if defined(PIOS_INCLUDE_COM_MSG)
|
||||
|
||||
#include <pios_com_msg_priv.h>
|
||||
|
||||
#endif /* PIOS_INCLUDE_COM_MSG */
|
||||
|
||||
#if defined(PIOS_INCLUDE_USB_HID)
|
||||
#include <pios_usb_hid_priv.h>
|
||||
|
||||
const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
|
||||
.data_if = 2,
|
||||
.data_rx_ep = 1,
|
||||
.data_tx_ep = 1,
|
||||
};
|
||||
|
||||
#endif /* PIOS_INCLUDE_USB_HID */
|
||||
|
||||
#if defined(PIOS_INCLUDE_USB_RCTX)
|
||||
#include <pios_usb_rctx_priv.h>
|
||||
|
||||
const struct pios_usb_rctx_cfg pios_usb_rctx_cfg = {
|
||||
.data_if = 2,
|
||||
.data_tx_ep = 1,
|
||||
};
|
||||
|
||||
#endif /* PIOS_INCLUDE_USB_RCTX */
|
||||
|
||||
#if defined(PIOS_INCLUDE_USB_CDC)
|
||||
#include <pios_usb_cdc_priv.h>
|
||||
|
||||
const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = {
|
||||
.ctrl_if = 0,
|
||||
.ctrl_tx_ep = 2,
|
||||
|
||||
.data_if = 1,
|
||||
.data_rx_ep = 3,
|
||||
.data_tx_ep = 3,
|
||||
};
|
||||
#endif /* PIOS_INCLUDE_USB_CDC */
|
||||
33
flight/targets/boards/coptercontrol/bootloader/Makefile
Normal file
33
flight/targets/boards/coptercontrol/bootloader/Makefile
Normal file
@ -0,0 +1,33 @@
|
||||
#
|
||||
# Copyright (c) 2015, The LibrePilot Project, http://www.librepilot.org
|
||||
# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
|
||||
#
|
||||
# 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 TOP_LEVEL_MAKEFILE
|
||||
$(error Top level Makefile must be used to build this target)
|
||||
endif
|
||||
|
||||
## The standard CMSIS startup
|
||||
SRC += $(CMSIS_DEVICEDIR)/system_stm32f10x.c
|
||||
|
||||
include ../board-info.mk
|
||||
include $(ROOT_DIR)/make/firmware-defs.mk
|
||||
include $(ROOT_DIR)/make/boot-defs.mk
|
||||
include $(ROOT_DIR)/make/common-defs.mk
|
||||
|
||||
$(info Making bootloader for CopterControl, board revision $(BOARD_REVISION))
|
||||
$(info Use BOARD_REVISION=1 for CC, BOARD_REVISION=2 for CC3D (default))
|
||||
115
flight/targets/boards/coptercontrol/bootloader/inc/common.h
Normal file
115
flight/targets/boards/coptercontrol/bootloader/inc/common.h
Normal file
@ -0,0 +1,115 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup CopterControlBL CopterControl BootLoader
|
||||
* @brief These files contain the code to the CopterControl Bootloader.
|
||||
*
|
||||
* @{
|
||||
* @file common.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief This file contains various common defines for the BootLoader
|
||||
* @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 COMMON_H_
|
||||
#define COMMON_H_
|
||||
|
||||
// #include "board.h"
|
||||
|
||||
typedef enum {
|
||||
start, keepgoing,
|
||||
} DownloadAction;
|
||||
|
||||
/**************************************************/
|
||||
/* OP_DFU states */
|
||||
/**************************************************/
|
||||
|
||||
typedef enum {
|
||||
DFUidle, // 0
|
||||
uploading, // 1
|
||||
wrong_packet_received, // 2
|
||||
too_many_packets, // 3
|
||||
too_few_packets, // 4
|
||||
Last_operation_Success, // 5
|
||||
downloading, // 6
|
||||
BLidle, // 7
|
||||
Last_operation_failed, // 8
|
||||
uploadingStarting, // 9
|
||||
outsideDevCapabilities, // 10
|
||||
CRC_Fail, // 11
|
||||
failed_jump,
|
||||
// 12
|
||||
} DFUStates;
|
||||
/**************************************************/
|
||||
/* OP_DFU commands */
|
||||
/**************************************************/
|
||||
typedef enum {
|
||||
Reserved, // 0
|
||||
Req_Capabilities, // 1
|
||||
Rep_Capabilities, // 2
|
||||
EnterDFU, // 3
|
||||
JumpFW, // 4
|
||||
Reset, // 5
|
||||
Abort_Operation, // 6
|
||||
Upload, // 7
|
||||
Op_END, // 8
|
||||
Download_Req, // 9
|
||||
Download, // 10
|
||||
Status_Request, // 11
|
||||
Status_Rep
|
||||
// 12
|
||||
} DFUCommands;
|
||||
|
||||
typedef enum {
|
||||
High_Density, Medium_Density
|
||||
} DeviceType;
|
||||
/**************************************************/
|
||||
/* OP_DFU transfer types */
|
||||
/**************************************************/
|
||||
typedef enum {
|
||||
FW, // 0
|
||||
Descript
|
||||
// 2
|
||||
} DFUTransfer;
|
||||
/**************************************************/
|
||||
/* OP_DFU transfer port */
|
||||
/**************************************************/
|
||||
typedef enum {
|
||||
Usb, // 0
|
||||
Serial
|
||||
// 2
|
||||
} DFUPort;
|
||||
/**************************************************/
|
||||
/* OP_DFU programable programable HW types */
|
||||
/**************************************************/
|
||||
typedef enum {
|
||||
Self_flash, // 0
|
||||
Remote_flash_via_spi
|
||||
// 1
|
||||
} DFUProgType;
|
||||
/**************************************************/
|
||||
/* OP_DFU programable sources */
|
||||
/**************************************************/
|
||||
#define USB 0
|
||||
#define SPI 1
|
||||
|
||||
#define DownloadDelay 100000
|
||||
|
||||
#define MAX_DEL_RETRYS 3
|
||||
#define MAX_WRI_RETRYS 3
|
||||
|
||||
#endif /* COMMON_H_ */
|
||||
@ -0,0 +1,53 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup CopterControlBL CopterControl BootLoader
|
||||
* @brief These files contain the code to the CopterControl Bootloader.
|
||||
* @{
|
||||
* @file pios_config.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief PiOS configuration header.
|
||||
* Central compile time config for the project.
|
||||
* In particular, pios_config.h is where you define which PiOS libraries
|
||||
* and features are included in the firmware.
|
||||
* @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_CONFIG_H
|
||||
#define PIOS_CONFIG_H
|
||||
|
||||
/* Enable/Disable PiOS modules */
|
||||
#define PIOS_INCLUDE_DELAY
|
||||
#define PIOS_INCLUDE_SYS
|
||||
#define PIOS_INCLUDE_IRQ
|
||||
#define PIOS_INCLUDE_GPIO
|
||||
#define PIOS_INCLUDE_USB
|
||||
#define PIOS_INCLUDE_USB_HID
|
||||
#define PIOS_INCLUDE_LED
|
||||
#define PIOS_INCLUDE_IAP
|
||||
#define PIOS_INCLUDE_COM
|
||||
#define PIOS_INCLUDE_COM_MSG
|
||||
#define PIOS_INCLUDE_BL_HELPER
|
||||
#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
|
||||
|
||||
#endif /* PIOS_CONFIG_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -0,0 +1,53 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_USB_BOARD Board specific USB definitions
|
||||
* @brief Board specific USB definitions
|
||||
* @{
|
||||
*
|
||||
* @file pios_usb_board_data.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Board specific USB definitions
|
||||
* @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_USB_BOARD_DATA_H
|
||||
#define PIOS_USB_BOARD_DATA_H
|
||||
|
||||
// Note : changing below length will require changes to the USB buffer setup
|
||||
#define PIOS_USB_BOARD_HID_DATA_LENGTH 64
|
||||
|
||||
#define PIOS_USB_BOARD_EP_NUM 2
|
||||
|
||||
#include <pios_usb_defs.h> /* struct usb_* */
|
||||
|
||||
#define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_COPTERCONTROL
|
||||
#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_COPTERCONTROL, USB_OP_BOARD_MODE_BL)
|
||||
#define PIOS_USB_BOARD_SN_SUFFIX "+BL"
|
||||
|
||||
/*
|
||||
* The bootloader uses a simplified report structure
|
||||
* BL: <REPORT_ID><DATA>...<DATA>
|
||||
* FW: <REPORT_ID><LENGTH><DATA>...<DATA>
|
||||
* This define changes the behaviour in pios_usb_hid.c
|
||||
*/
|
||||
#define PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE
|
||||
|
||||
#endif /* PIOS_USB_BOARD_DATA_H */
|
||||
223
flight/targets/boards/coptercontrol/bootloader/main.c
Normal file
223
flight/targets/boards/coptercontrol/bootloader/main.c
Normal file
@ -0,0 +1,223 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup CopterControlBL CopterControl BootLoader
|
||||
* @brief These files contain the code to the CopterControl Bootloader.
|
||||
*
|
||||
* @{
|
||||
* @file main.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief This is the file with the main function of the OpenPilot BootLoader
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include <pios.h>
|
||||
#include <pios_board_info.h>
|
||||
#include <op_dfu.h>
|
||||
#include <usb_lib.h>
|
||||
#include <pios_iap.h>
|
||||
#include <fifo_buffer.h>
|
||||
#include <pios_com_msg.h>
|
||||
|
||||
/* Prototype of PIOS_Board_Init() function */
|
||||
extern void PIOS_Board_Init(void);
|
||||
extern void FLASH_Download();
|
||||
#define BSL_HOLD_STATE ((PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) ? 0 : 1)
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
typedef void (*pFunction)(void);
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* Private macro -------------------------------------------------------------*/
|
||||
/* Private variables ---------------------------------------------------------*/
|
||||
pFunction Jump_To_Application;
|
||||
uint32_t JumpAddress;
|
||||
|
||||
/// LEDs PWM
|
||||
uint32_t period1 = 5000; // 5 mS
|
||||
uint32_t sweep_steps1 = 100; // * 5 mS -> 500 mS
|
||||
uint32_t period2 = 5000; // 5 mS
|
||||
uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
|
||||
|
||||
|
||||
////////////////////////////////////////
|
||||
uint8_t tempcount = 0;
|
||||
|
||||
/* Extern variables ----------------------------------------------------------*/
|
||||
DFUStates DeviceState;
|
||||
int16_t status = 0;
|
||||
uint8_t JumpToApp = FALSE;
|
||||
uint8_t GO_dfu = FALSE;
|
||||
uint8_t USB_connected = FALSE;
|
||||
uint8_t User_DFU_request = FALSE;
|
||||
static uint8_t mReceive_Buffer[63];
|
||||
/* Private function prototypes -----------------------------------------------*/
|
||||
uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
|
||||
uint8_t processRX();
|
||||
void jump_to_app();
|
||||
|
||||
int main()
|
||||
{
|
||||
PIOS_SYS_Init();
|
||||
PIOS_Board_Init();
|
||||
PIOS_IAP_Init();
|
||||
|
||||
USB_connected = PIOS_USB_CableConnected(0);
|
||||
|
||||
if (PIOS_IAP_CheckRequest() == TRUE) {
|
||||
PIOS_DELAY_WaitmS(1000);
|
||||
User_DFU_request = TRUE;
|
||||
PIOS_IAP_ClearRequest();
|
||||
}
|
||||
|
||||
GO_dfu = (USB_connected == TRUE) || (User_DFU_request == TRUE);
|
||||
|
||||
if (GO_dfu == TRUE) {
|
||||
PIOS_Board_Init();
|
||||
if (User_DFU_request == TRUE) {
|
||||
DeviceState = DFUidle;
|
||||
} else {
|
||||
DeviceState = BLidle;
|
||||
}
|
||||
} else {
|
||||
JumpToApp = TRUE;
|
||||
}
|
||||
|
||||
uint32_t stopwatch = 0;
|
||||
uint32_t prev_ticks = PIOS_DELAY_GetuS();
|
||||
while (TRUE) {
|
||||
/* Update the stopwatch */
|
||||
uint32_t elapsed_ticks = PIOS_DELAY_GetuSSince(prev_ticks);
|
||||
prev_ticks += elapsed_ticks;
|
||||
stopwatch += elapsed_ticks;
|
||||
|
||||
if (JumpToApp == TRUE) {
|
||||
jump_to_app();
|
||||
}
|
||||
|
||||
switch (DeviceState) {
|
||||
case Last_operation_Success:
|
||||
case uploadingStarting:
|
||||
case DFUidle:
|
||||
period1 = 5000;
|
||||
sweep_steps1 = 100;
|
||||
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
|
||||
period2 = 0;
|
||||
break;
|
||||
case uploading:
|
||||
period1 = 5000;
|
||||
sweep_steps1 = 100;
|
||||
period2 = 2500;
|
||||
sweep_steps2 = 50;
|
||||
break;
|
||||
case downloading:
|
||||
period1 = 2500;
|
||||
sweep_steps1 = 50;
|
||||
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
|
||||
period2 = 0;
|
||||
break;
|
||||
case BLidle:
|
||||
period1 = 0;
|
||||
PIOS_LED_On(PIOS_LED_HEARTBEAT);
|
||||
period2 = 0;
|
||||
break;
|
||||
default: // error
|
||||
period1 = 5000;
|
||||
sweep_steps1 = 100;
|
||||
period2 = 5000;
|
||||
sweep_steps2 = 100;
|
||||
}
|
||||
|
||||
if (period1 != 0) {
|
||||
if (LedPWM(period1, sweep_steps1, stopwatch)) {
|
||||
PIOS_LED_On(PIOS_LED_HEARTBEAT);
|
||||
} else {
|
||||
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
|
||||
}
|
||||
} else {
|
||||
PIOS_LED_On(PIOS_LED_HEARTBEAT);
|
||||
}
|
||||
|
||||
if (period2 != 0) {
|
||||
if (LedPWM(period2, sweep_steps2, stopwatch)) {
|
||||
PIOS_LED_On(PIOS_LED_HEARTBEAT);
|
||||
} else {
|
||||
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
|
||||
}
|
||||
} else {
|
||||
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
|
||||
}
|
||||
|
||||
if (stopwatch > 50 * 1000 * 1000) {
|
||||
stopwatch = 0;
|
||||
}
|
||||
if ((stopwatch > 6 * 1000 * 1000) && ((DeviceState == BLidle) || (DeviceState == DFUidle && !USB_connected))) {
|
||||
JumpToApp = TRUE;
|
||||
}
|
||||
|
||||
processRX();
|
||||
DataDownload(start);
|
||||
}
|
||||
}
|
||||
|
||||
void jump_to_app()
|
||||
{
|
||||
const struct pios_board_info *bdinfo = &pios_board_info_blob;
|
||||
|
||||
if (((*(__IO uint32_t *)bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
|
||||
FLASH_Lock();
|
||||
RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
|
||||
RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
|
||||
RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
|
||||
RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
|
||||
_SetCNTR(0); // clear interrupt mask
|
||||
_SetISTR(0); // clear all requests
|
||||
JumpAddress = *(__IO uint32_t *)(bdinfo->fw_base + 4);
|
||||
Jump_To_Application = (pFunction)JumpAddress;
|
||||
/* Initialize user application's Stack Pointer */
|
||||
__set_MSP(*(__IO uint32_t *)bdinfo->fw_base);
|
||||
Jump_To_Application();
|
||||
} else {
|
||||
DeviceState = failed_jump;
|
||||
return;
|
||||
}
|
||||
}
|
||||
uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count)
|
||||
{
|
||||
uint32_t curr_step = (count / pwm_period) % pwm_sweep_steps; /* 0 - pwm_sweep_steps */
|
||||
uint32_t pwm_duty = pwm_period * curr_step / pwm_sweep_steps; /* fraction of pwm_period */
|
||||
|
||||
uint32_t curr_sweep = (count / (pwm_period * pwm_sweep_steps)); /* ticks once per full sweep */
|
||||
|
||||
if (curr_sweep & 1) {
|
||||
pwm_duty = pwm_period - pwm_duty; /* reverse direction in odd sweeps */
|
||||
}
|
||||
return ((count % pwm_period) > pwm_duty) ? 1 : 0;
|
||||
}
|
||||
|
||||
uint8_t processRX()
|
||||
{
|
||||
if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) {
|
||||
processComand(mReceive_Buffer);
|
||||
}
|
||||
return TRUE;
|
||||
}
|
||||
|
||||
int32_t platform_senddata(const uint8_t *msg, uint16_t msg_len)
|
||||
{
|
||||
return PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, msg, msg_len);
|
||||
}
|
||||
106
flight/targets/boards/coptercontrol/bootloader/pios_board.c
Normal file
106
flight/targets/boards/coptercontrol/bootloader/pios_board.c
Normal file
@ -0,0 +1,106 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file pios_board.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Defines board specific static initializers for hardware for the CopterControl board.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include <pios.h>
|
||||
#include <pios_board_info.h>
|
||||
|
||||
/*
|
||||
* Pull in the board-specific static HW definitions.
|
||||
* Including .c files is a bit ugly but this allows all of
|
||||
* the HW definitions to be const and static to limit their
|
||||
* scope.
|
||||
*
|
||||
* NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
|
||||
*/
|
||||
#include "../board_hw_defs.c"
|
||||
|
||||
uint32_t pios_com_telem_usb_id;
|
||||
|
||||
/**
|
||||
* PIOS_Board_Init()
|
||||
* initializes all the core subsystems on this specific hardware
|
||||
* called from System/openpilot.c
|
||||
*/
|
||||
static bool board_init_complete = false;
|
||||
void PIOS_Board_Init(void)
|
||||
{
|
||||
if (board_init_complete) {
|
||||
return;
|
||||
}
|
||||
|
||||
/* Enable Prefetch Buffer */
|
||||
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
|
||||
|
||||
/* Flash 2 wait state */
|
||||
FLASH_SetLatency(FLASH_Latency_2);
|
||||
|
||||
/* Delay system */
|
||||
PIOS_DELAY_Init();
|
||||
|
||||
const struct pios_board_info *bdinfo = &pios_board_info_blob;
|
||||
|
||||
#if defined(PIOS_INCLUDE_LED)
|
||||
const struct pios_gpio_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
|
||||
PIOS_Assert(led_cfg);
|
||||
PIOS_LED_Init(led_cfg);
|
||||
#endif /* PIOS_INCLUDE_LED */
|
||||
|
||||
#if defined(PIOS_INCLUDE_USB)
|
||||
/* Initialize board specific USB data */
|
||||
PIOS_USB_BOARD_DATA_Init();
|
||||
|
||||
/* Activate the HID-only USB configuration */
|
||||
PIOS_USB_DESC_HID_ONLY_Init();
|
||||
|
||||
uint32_t pios_usb_id;
|
||||
switch (bdinfo->board_rev) {
|
||||
case BOARD_REVISION_CC:
|
||||
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc);
|
||||
break;
|
||||
case BOARD_REVISION_CC3D:
|
||||
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc3d);
|
||||
break;
|
||||
default:
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG)
|
||||
uint32_t pios_usb_hid_id;
|
||||
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */
|
||||
|
||||
#endif /* PIOS_INCLUDE_USB */
|
||||
|
||||
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE); // TODO Tirar
|
||||
|
||||
board_init_complete = true;
|
||||
}
|
||||
|
||||
void PIOS_ADC_DMA_Handler()
|
||||
{}
|
||||
153
flight/targets/boards/coptercontrol/firmware/Makefile
Normal file
153
flight/targets/boards/coptercontrol/firmware/Makefile
Normal file
@ -0,0 +1,153 @@
|
||||
#
|
||||
# Copyright (c) 2015, The LibrePilot Project, http://www.librepilot.org
|
||||
# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
|
||||
# Copyright (c) 2012, PhoenixPilot, http://github.com/PhoenixPilot
|
||||
#
|
||||
# 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 TOP_LEVEL_MAKEFILE
|
||||
$(error Top level Makefile must be used to build this target)
|
||||
endif
|
||||
|
||||
include ../board-info.mk
|
||||
include $(ROOT_DIR)/make/firmware-defs.mk
|
||||
|
||||
# ARM DSP library
|
||||
USE_DSP_LIB ?= NO
|
||||
|
||||
# Set to YES to build a FW version that will erase data flash memory
|
||||
ERASE_FLASH ?= NO
|
||||
|
||||
# Set to yes to include Gcsreceiver module
|
||||
GCSRECEIVER ?= NO
|
||||
|
||||
# Enable Diag tasks ?
|
||||
DIAG_TASKS ?= NO
|
||||
|
||||
# List of mandatory modules to include
|
||||
MODULES += Attitude
|
||||
MODULES += Stabilization
|
||||
MODULES += Actuator
|
||||
MODULES += Receiver
|
||||
MODULES += ManualControl
|
||||
MODULES += FirmwareIAP
|
||||
MODULES += Telemetry
|
||||
|
||||
# List of optional modules to include
|
||||
OPTMODULES += CameraStab
|
||||
OPTMODULES += ComUsbBridge
|
||||
OPTMODULES += GPS
|
||||
OPTMODULES += TxPID
|
||||
OPTMODULES += Osd/osdoutput
|
||||
#OPTMODULES += Altitude
|
||||
#OPTMODULES += Fault
|
||||
|
||||
SRC += $(FLIGHTLIB)/notification.c
|
||||
|
||||
# Include all camera options
|
||||
CDEFS += -DUSE_INPUT_LPF -DUSE_GIMBAL_LPF -DUSE_GIMBAL_FF
|
||||
|
||||
|
||||
|
||||
# Erase flash firmware should be buildable from command line
|
||||
ifeq ($(ERASE_FLASH), YES)
|
||||
CDEFS += -DERASE_FLASH
|
||||
endif
|
||||
|
||||
# List C source files here (C dependencies are automatically generated).
|
||||
# Use file-extension c for "c-only"-files
|
||||
ifndef TESTAPP
|
||||
## The standard CMSIS startup
|
||||
SRC += $(CMSIS_DEVICEDIR)/system_stm32f10x.c
|
||||
|
||||
## Application Core
|
||||
SRC += ../pios_usb_board_data.c
|
||||
SRC += $(OPMODULEDIR)/System/systemmod.c
|
||||
SRC += $(OPSYSTEM)/coptercontrol.c
|
||||
SRC += $(OPSYSTEM)/pios_board.c
|
||||
SRC += $(FLIGHTLIB)/alarms.c
|
||||
SRC += $(FLIGHTLIB)/instrumentation.c
|
||||
SRC += $(OPUAVTALK)/uavtalk.c
|
||||
SRC += $(OPUAVOBJ)/uavobjectmanager.c
|
||||
SRC += $(OPUAVOBJ)/uavobjectpersistence.c
|
||||
SRC += $(PIOSCOMMON)/pios_flashfs_logfs.c
|
||||
SRC += $(PIOSCOMMON)/pios_flash_jedec.c
|
||||
SRC += $(OPUAVOBJ)/eventdispatcher.c
|
||||
|
||||
## UAVObjects
|
||||
SRC += $(OPUAVSYNTHDIR)/accessorydesired.c
|
||||
SRC += $(OPUAVSYNTHDIR)/objectpersistence.c
|
||||
SRC += $(OPUAVSYNTHDIR)/gcstelemetrystats.c
|
||||
SRC += $(OPUAVSYNTHDIR)/flighttelemetrystats.c
|
||||
SRC += $(OPUAVSYNTHDIR)/faultsettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/flightstatus.c
|
||||
SRC += $(OPUAVSYNTHDIR)/systemstats.c
|
||||
SRC += $(OPUAVSYNTHDIR)/systemalarms.c
|
||||
SRC += $(OPUAVSYNTHDIR)/systemsettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/stabilizationdesired.c
|
||||
SRC += $(OPUAVSYNTHDIR)/stabilizationsettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/stabilizationsettingsbank1.c
|
||||
SRC += $(OPUAVSYNTHDIR)/stabilizationsettingsbank2.c
|
||||
SRC += $(OPUAVSYNTHDIR)/stabilizationsettingsbank3.c
|
||||
SRC += $(OPUAVSYNTHDIR)/stabilizationstatus.c
|
||||
SRC += $(OPUAVSYNTHDIR)/stabilizationbank.c
|
||||
SRC += $(OPUAVSYNTHDIR)/actuatorcommand.c
|
||||
SRC += $(OPUAVSYNTHDIR)/actuatordesired.c
|
||||
SRC += $(OPUAVSYNTHDIR)/actuatorsettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/accelstate.c
|
||||
SRC += $(OPUAVSYNTHDIR)/accelgyrosettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/gyrostate.c
|
||||
SRC += $(OPUAVSYNTHDIR)/attitudestate.c
|
||||
SRC += $(OPUAVSYNTHDIR)/manualcontrolcommand.c
|
||||
SRC += $(OPUAVSYNTHDIR)/watchdogstatus.c
|
||||
SRC += $(OPUAVSYNTHDIR)/manualcontrolsettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/flightmodesettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/mixersettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
|
||||
SRC += $(OPUAVSYNTHDIR)/attitudesettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/camerastabsettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/cameradesired.c
|
||||
SRC += $(OPUAVSYNTHDIR)/gpspositionsensor.c
|
||||
SRC += $(OPUAVSYNTHDIR)/gpsvelocitysensor.c
|
||||
SRC += $(OPUAVSYNTHDIR)/gpssettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/hwsettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/receiveractivity.c
|
||||
SRC += $(OPUAVSYNTHDIR)/receiverstatus.c
|
||||
SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
|
||||
SRC += $(OPUAVSYNTHDIR)/ratedesired.c
|
||||
SRC += $(OPUAVSYNTHDIR)/txpidsettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/txpidstatus.c
|
||||
SRC += $(OPUAVSYNTHDIR)/mpugyroaccelsettings.c
|
||||
# Command line option for Gcsreceiver module
|
||||
ifeq ($(GCSRECEIVER), YES)
|
||||
SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c
|
||||
endif
|
||||
# Enable Diag tasks and UAVOs needed
|
||||
ifeq ($(DIAG_TASKS), YES)
|
||||
CDEFS += -DDIAG_TASKS
|
||||
SRC += $(OPUAVSYNTHDIR)/taskinfo.c
|
||||
SRC += $(OPUAVSYNTHDIR)/callbackinfo.c
|
||||
SRC += $(OPUAVSYNTHDIR)/perfcounter.c
|
||||
SRC += $(OPUAVSYNTHDIR)/i2cstats.c
|
||||
endif
|
||||
else
|
||||
## Test Code
|
||||
SRC += $(OPTESTS)/test_common.c
|
||||
SRC += $(OPTESTS)/$(TESTAPP).c
|
||||
endif
|
||||
|
||||
include $(ROOT_DIR)/make/apps-defs.mk
|
||||
include $(ROOT_DIR)/make/common-defs.mk
|
||||
117
flight/targets/boards/coptercontrol/firmware/coptercontrol.c
Normal file
117
flight/targets/boards/coptercontrol/firmware/coptercontrol.c
Normal file
@ -0,0 +1,117 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotSystem OpenPilot System
|
||||
* @brief These files are the core system files of OpenPilot.
|
||||
* They are the ground layer just above PiOS. In practice, OpenPilot actually starts
|
||||
* in the main() function of openpilot.c
|
||||
* @{
|
||||
* @addtogroup OpenPilotCore OpenPilot Core
|
||||
* @brief This is where the OP firmware starts. Those files also define the compile-time
|
||||
* options of the firmware.
|
||||
* @{
|
||||
* @file openpilot.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Sets up and runs main OpenPilot tasks.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include "inc/openpilot.h"
|
||||
#include <uavobjectsinit.h>
|
||||
#include <hwsettings.h>
|
||||
|
||||
/* Task Priorities */
|
||||
#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
|
||||
|
||||
/* Global Variables */
|
||||
|
||||
/* Prototype of PIOS_Board_Init() function */
|
||||
extern void PIOS_Board_Init(void);
|
||||
extern void Stack_Change(void);
|
||||
|
||||
/**
|
||||
* OpenPilot Main function:
|
||||
*
|
||||
* Initialize PiOS<BR>
|
||||
* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
|
||||
* Start FreeRTOS Scheduler (vTaskStartScheduler) (Now handled by caller)
|
||||
* If something goes wrong, blink LED1 and LED2 every 100ms
|
||||
*
|
||||
*/
|
||||
int main()
|
||||
{
|
||||
/* NOTE: Do NOT modify the following start-up sequence */
|
||||
/* Any new initialization functions should be added in OpenPilotInit() */
|
||||
|
||||
/* Brings up System using CMSIS functions, enables the LEDs. */
|
||||
PIOS_SYS_Init();
|
||||
|
||||
/* Architecture dependant Hardware and
|
||||
* core subsystem initialisation
|
||||
* (see pios_board.c for your arch)
|
||||
* */
|
||||
PIOS_Board_Init();
|
||||
|
||||
#ifdef ERASE_FLASH
|
||||
PIOS_Flash_Jedec_EraseChip();
|
||||
#if defined(PIOS_LED_HEARTBEAT)
|
||||
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
|
||||
#endif /* PIOS_LED_HEARTBEAT */
|
||||
while (1) {
|
||||
;
|
||||
}
|
||||
#endif
|
||||
|
||||
/* Initialize modules */
|
||||
MODULE_INITIALISE_ALL
|
||||
/* swap the stack to use the IRQ stack */
|
||||
Stack_Change();
|
||||
|
||||
/* Start the FreeRTOS scheduler, which should never return.
|
||||
*
|
||||
* NOTE: OpenPilot runs an operating system (FreeRTOS), which constantly calls
|
||||
* (schedules) function files (modules). These functions never return from their
|
||||
* while loops, which explains why each module has a while(1){} segment. Thus,
|
||||
* the OpenPilot software actually starts at the vTaskStartScheduler() function,
|
||||
* even though this is somewhat obscure.
|
||||
*
|
||||
* In addition, there are many main() functions in the OpenPilot firmware source tree
|
||||
* This is because each main() refers to a separate hardware platform. Of course,
|
||||
* C only allows one main(), so only the relevant main() function is compiled when
|
||||
* making a specific firmware.
|
||||
*
|
||||
*/
|
||||
vTaskStartScheduler();
|
||||
|
||||
/* If all is well we will never reach here as the scheduler will now be running. */
|
||||
|
||||
/* Do some indication to user that something bad just happened */
|
||||
while (1) {
|
||||
#if defined(PIOS_LED_HEARTBEAT)
|
||||
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
|
||||
#endif /* PIOS_LED_HEARTBEAT */
|
||||
PIOS_DELAY_WaitmS(100);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -0,0 +1,99 @@
|
||||
#ifndef FREERTOS_CONFIG_H
|
||||
#define FREERTOS_CONFIG_H
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* Application specific definitions.
|
||||
*
|
||||
* These definitions should be adjusted for your particular hardware and
|
||||
* application requirements.
|
||||
*
|
||||
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
|
||||
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
|
||||
*
|
||||
* See http://www.freertos.org/a00110.html.
|
||||
*----------------------------------------------------------*/
|
||||
|
||||
/**
|
||||
* @addtogroup PIOS PIOS
|
||||
* @{
|
||||
* @addtogroup FreeRTOS FreeRTOS
|
||||
* @{
|
||||
*/
|
||||
|
||||
/* Notes: We use 5 task priorities */
|
||||
|
||||
#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)
|
||||
#define configMINIMAL_STACK_SIZE ((unsigned short)48)
|
||||
#define configTOTAL_HEAP_SIZE ((size_t)(53 * 256))
|
||||
#define configMAX_TASK_NAME_LEN (6)
|
||||
#define configUSE_TRACE_FACILITY 0
|
||||
#define configUSE_16_BIT_TICKS 0
|
||||
#define configIDLE_SHOULD_YIELD 0
|
||||
#define configUSE_MUTEXES 1
|
||||
#define configUSE_RECURSIVE_MUTEXES 1
|
||||
#define configUSE_COUNTING_SEMAPHORES 0
|
||||
#define configUSE_ALTERNATIVE_API 0
|
||||
#define configQUEUE_REGISTRY_SIZE 0
|
||||
|
||||
/* Co-routine definitions. */
|
||||
#define configUSE_CO_ROUTINES 0
|
||||
#define configMAX_CO_ROUTINE_PRIORITIES (2)
|
||||
|
||||
/* Set the following definitions to 1 to include the API function, or zero
|
||||
to exclude the API function. */
|
||||
|
||||
#define INCLUDE_vTaskPrioritySet 1
|
||||
#define INCLUDE_uxTaskPriorityGet 1
|
||||
#define INCLUDE_vTaskDelete 1
|
||||
#define INCLUDE_vTaskCleanUpResources 0
|
||||
#define INCLUDE_vTaskSuspend 1
|
||||
#define INCLUDE_vTaskDelayUntil 1
|
||||
#define INCLUDE_vTaskDelay 1
|
||||
#define INCLUDE_xTaskGetSchedulerState 0
|
||||
#define INCLUDE_xTaskGetCurrentTaskHandle 1
|
||||
#define INCLUDE_uxTaskGetStackHighWaterMark 1
|
||||
|
||||
/* This is the raw value as per the Cortex-M3 NVIC. Values can be 255
|
||||
(lowest) to 1 (highest maskable) to 0 (highest non-maskable). */
|
||||
#define configKERNEL_INTERRUPT_PRIORITY 15 << 4 /* equivalent to NVIC priority 15 */
|
||||
#define configMAX_SYSCALL_INTERRUPT_PRIORITY 3 << 4 /* equivalent to NVIC priority 3 */
|
||||
|
||||
/* This is the value being used as per the ST library which permits 16
|
||||
priority values, 0 to 15. This must correspond to the
|
||||
configKERNEL_INTERRUPT_PRIORITY setting. Here 15 corresponds to the lowest
|
||||
NVIC value of 255. */
|
||||
#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY 15
|
||||
|
||||
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32)
|
||||
#define CHECK_IRQ_STACK
|
||||
#endif
|
||||
|
||||
/* Enable run time stats collection */
|
||||
#define configGENERATE_RUN_TIME_STATS 1
|
||||
#define INCLUDE_uxTaskGetRunTime 1
|
||||
#define INCLUDE_xTaskGetIdleTaskHandle 1
|
||||
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() \
|
||||
do { \
|
||||
(*(unsigned long *)0xe000edfc) |= (1 << 24); /* DEMCR |= DEMCR_TRCENA */ \
|
||||
(*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */ \
|
||||
} \
|
||||
while (0)
|
||||
#define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004) /* DWT_CYCCNT */
|
||||
|
||||
#ifdef DIAG_TASKS
|
||||
#define configCHECK_FOR_STACK_OVERFLOW 2
|
||||
#else
|
||||
#define configCHECK_FOR_STACK_OVERFLOW 1
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
#endif /* FREERTOS_CONFIG_H */
|
||||
52
flight/targets/boards/coptercontrol/firmware/inc/openpilot.h
Normal file
52
flight/targets/boards/coptercontrol/firmware/inc/openpilot.h
Normal file
@ -0,0 +1,52 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotSystem OpenPilot System
|
||||
* @{
|
||||
* @addtogroup OpenPilotCore OpenPilot Core
|
||||
* @{
|
||||
* @file openpilot.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Main OpenPilot header.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef OPENPILOT_H
|
||||
#define OPENPILOT_H
|
||||
|
||||
/* PIOS Includes */
|
||||
#include <pios.h>
|
||||
|
||||
/* OpenPilot Libraries */
|
||||
#include <utlist.h>
|
||||
#include <uavobjectmanager.h>
|
||||
#include <eventdispatcher.h>
|
||||
#include <uavtalk.h>
|
||||
|
||||
#include "alarms.h"
|
||||
#include <mathmisc.h>
|
||||
|
||||
/* Global Functions */
|
||||
void OpenPilotInit(void);
|
||||
|
||||
#endif /* OPENPILOT_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -0,0 +1,81 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file pios_board.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Defines board hardware for the OpenPilot Version 1.1 hardware.
|
||||
* @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_BOARD_H
|
||||
#define PIOS_BOARD_H
|
||||
|
||||
|
||||
// ------------------------
|
||||
// PIOS_LED
|
||||
// ------------------------
|
||||
// #define PIOS_LED_LED1_GPIO_PORT GPIOC
|
||||
// #define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_12
|
||||
// #define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOC
|
||||
// #define PIOS_LED_LED2_GPIO_PORT GPIOC
|
||||
// #define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_13
|
||||
// #define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOC
|
||||
#define PIOS_LED_NUM 2
|
||||
// #define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
|
||||
// #define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
|
||||
// #define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
|
||||
|
||||
|
||||
// -------------------------
|
||||
// COM
|
||||
//
|
||||
// See also pios_board_posix.c
|
||||
// -------------------------
|
||||
// #define PIOS_USART_TX_BUFFER_SIZE 256
|
||||
#define PIOS_COM_BUFFER_SIZE 1024
|
||||
#define PIOS_UDP_RX_BUFFER_SIZE PIOS_COM_BUFFER_SIZE
|
||||
|
||||
#define PIOS_COM_TELEM_RF 0
|
||||
#define PIOS_COM_GPS 1
|
||||
#define PIOS_COM_TELEM_USB 2
|
||||
|
||||
#ifdef PIOS_ENABLE_AUX_UART
|
||||
#define PIOS_COM_AUX 3
|
||||
#define PIOS_COM_DEBUG PIOS_COM_AUX
|
||||
#endif
|
||||
|
||||
/**
|
||||
* glue macros for file IO
|
||||
* STM32 uses DOSFS for file IO
|
||||
*/
|
||||
#define PIOS_FOPEN_READ(filename, file) (file = fopen((char *)filename, "r")) == NULL
|
||||
|
||||
#define PIOS_FOPEN_WRITE(filename, file) (file = fopen((char *)filename, "w")) == NULL
|
||||
|
||||
#define PIOS_FREAD(file, bufferadr, length, resultadr) (*resultadr = fread((uint8_t *)bufferadr, 1, length, *file)) != length
|
||||
|
||||
#define PIOS_FWRITE(file, bufferadr, length, resultadr) *resultadr = fwrite((uint8_t *)bufferadr, 1, length, *file)
|
||||
|
||||
|
||||
#define PIOS_FCLOSE(file) fclose(file)
|
||||
|
||||
#define PIOS_FUNLINK(file) unlink((char *)filename)
|
||||
|
||||
#endif /* PIOS_BOARD_H */
|
||||
190
flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
Normal file
190
flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
Normal file
@ -0,0 +1,190 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotSystem OpenPilot System
|
||||
* @{
|
||||
* @addtogroup OpenPilotCore OpenPilot Core
|
||||
* @{
|
||||
* @file pios_config.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013.
|
||||
* @author LibrePilot, https://bitbucket.org/librepilot, Copyright (C) 2015
|
||||
* @brief PiOS configuration header, the compile time config file for the PIOS.
|
||||
* Defines which PiOS libraries and features are included in the firmware.
|
||||
* @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_CONFIG_H
|
||||
#define PIOS_CONFIG_H
|
||||
|
||||
/*
|
||||
* Below is a complete list of PIOS configurable options.
|
||||
* Please do not remove or rearrange them. Only comment out
|
||||
* unused options in the list. See main pios.h header for more
|
||||
* details.
|
||||
*/
|
||||
|
||||
/* #define PIOS_INCLUDE_DEBUG_CONSOLE */
|
||||
/* #define DEBUG_LEVEL 0 */
|
||||
/* #define PIOS_ENABLE_DEBUG_PINS */
|
||||
|
||||
/* PIOS FreeRTOS support */
|
||||
#define PIOS_INCLUDE_FREERTOS
|
||||
|
||||
|
||||
/* PIOS CallbackScheduler support */
|
||||
#define PIOS_INCLUDE_CALLBACKSCHEDULER
|
||||
|
||||
/* PIOS bootloader helper */
|
||||
#define PIOS_INCLUDE_BL_HELPER
|
||||
/* #define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT */
|
||||
|
||||
/* PIOS system functions */
|
||||
#define PIOS_INCLUDE_DELAY
|
||||
#define PIOS_INCLUDE_INITCALL
|
||||
#define PIOS_INCLUDE_SYS
|
||||
#define PIOS_INCLUDE_TASK_MONITOR
|
||||
// #define PIOS_INCLUDE_INSTRUMENTATION
|
||||
#define PIOS_INSTRUMENTATION_MAX_COUNTERS 5
|
||||
|
||||
/* PIOS hardware peripherals */
|
||||
#define PIOS_INCLUDE_IRQ
|
||||
#define PIOS_INCLUDE_RTC
|
||||
#define PIOS_INCLUDE_TIM
|
||||
#define PIOS_INCLUDE_USART
|
||||
#define PIOS_INCLUDE_ADC
|
||||
/* #define PIOS_INCLUDE_I2C */
|
||||
#define PIOS_INCLUDE_SPI
|
||||
#define PIOS_INCLUDE_GPIO
|
||||
#define PIOS_INCLUDE_EXTI
|
||||
#define PIOS_INCLUDE_WDG
|
||||
|
||||
/* PIOS USB functions */
|
||||
#define PIOS_INCLUDE_USB
|
||||
#define PIOS_INCLUDE_USB_HID
|
||||
#define PIOS_INCLUDE_USB_CDC
|
||||
#define PIOS_INCLUDE_USB_RCTX
|
||||
|
||||
/* PIOS sensor interfaces */
|
||||
#define PIOS_INCLUDE_ADXL345
|
||||
/* #define PIOS_INCLUDE_BMA180 */
|
||||
/* #define PIOS_INCLUDE_L3GD20 */
|
||||
#define PIOS_INCLUDE_MPU6000
|
||||
#define PIOS_MPU6000_ACCEL
|
||||
/* #define PIOS_INCLUDE_HMC5843 */
|
||||
/* #define PIOS_INCLUDE_HMC5X83 */
|
||||
/* #define PIOS_HMC5883_HAS_GPIOS */
|
||||
/* #define PIOS_INCLUDE_BMP085 */
|
||||
/* #define PIOS_INCLUDE_MS5611 */
|
||||
/* #define PIOS_INCLUDE_MPXV */
|
||||
/* #define PIOS_INCLUDE_ETASV3 */
|
||||
/* #define PIOS_INCLUDE_HCSR04 */
|
||||
|
||||
#define PIOS_SENSOR_RATE 500.0f
|
||||
|
||||
/* PIOS receiver drivers */
|
||||
#define PIOS_INCLUDE_PWM
|
||||
#define PIOS_INCLUDE_PPM
|
||||
#define PIOS_INCLUDE_PPM_FLEXI
|
||||
#define PIOS_INCLUDE_DSM
|
||||
#define PIOS_INCLUDE_SBUS
|
||||
#define PIOS_INCLUDE_SRXL
|
||||
/* #define PIOS_INCLUDE_GCSRCVR */
|
||||
/* #define PIOS_INCLUDE_OPLINKRCVR */
|
||||
|
||||
/* PIOS abstract receiver interface */
|
||||
#define PIOS_INCLUDE_RCVR
|
||||
|
||||
/* PIOS common peripherals */
|
||||
#define PIOS_INCLUDE_LED
|
||||
#define PIOS_INCLUDE_IAP
|
||||
#define PIOS_INCLUDE_SERVO
|
||||
/* #define PIOS_INCLUDE_I2C_ESC */
|
||||
/* #define PIOS_INCLUDE_OVERO */
|
||||
/* #define PIOS_OVERO_SPI */
|
||||
/* #define PIOS_INCLUDE_SDCARD */
|
||||
/* #define LOG_FILENAME "startup.log" */
|
||||
#define PIOS_INCLUDE_FLASH
|
||||
#define PIOS_INCLUDE_FLASH_LOGFS_SETTINGS
|
||||
/* #define FLASH_FREERTOS */
|
||||
/* #define PIOS_INCLUDE_FLASH_EEPROM */
|
||||
/* #define PIOS_INCLUDE_FLASH_INTERNAL */
|
||||
|
||||
/* PIOS radio modules */
|
||||
/* #define PIOS_INCLUDE_RFM22B */
|
||||
/* #define PIOS_INCLUDE_RFM22B_COM */
|
||||
/* #define PIOS_INCLUDE_PPM_OUT */
|
||||
/* #define PIOS_RFM22B_DEBUG_ON_TELEM */
|
||||
|
||||
/* PIOS misc peripherals */
|
||||
/* #define PIOS_INCLUDE_VIDEO */
|
||||
/* #define PIOS_INCLUDE_WAVE */
|
||||
/* #define PIOS_INCLUDE_UDP */
|
||||
|
||||
/* PIOS abstract comms interface with options */
|
||||
#define PIOS_INCLUDE_COM
|
||||
/* #define PIOS_INCLUDE_COM_MSG */
|
||||
#define PIOS_INCLUDE_TELEMETRY_RF
|
||||
/* #define PIOS_INCLUDE_COM_TELEM */
|
||||
/* #define PIOS_INCLUDE_COM_FLEXI */
|
||||
/* #define PIOS_INCLUDE_COM_AUX */
|
||||
/* #define PIOS_TELEM_PRIORITY_QUEUE */
|
||||
#define PIOS_INCLUDE_GPS
|
||||
#define PIOS_GPS_MINIMAL
|
||||
/* #define PIOS_INCLUDE_GPS_NMEA_PARSER */
|
||||
#define PIOS_INCLUDE_GPS_UBX_PARSER
|
||||
/* #define PIOS_GPS_SETS_HOMELOCATION */
|
||||
|
||||
/* Stabilization options */
|
||||
/* #define PIOS_QUATERNION_STABILIZATION */
|
||||
#define PIOS_EXCLUDE_ADVANCED_FEATURES
|
||||
/* Performance counters */
|
||||
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998
|
||||
|
||||
/* Alarm Thresholds */
|
||||
#define HEAP_LIMIT_WARNING 220
|
||||
#define HEAP_LIMIT_CRITICAL 40
|
||||
#define IRQSTACK_LIMIT_WARNING 100
|
||||
#define IRQSTACK_LIMIT_CRITICAL 60
|
||||
#define CPULOAD_LIMIT_WARNING 85
|
||||
#define CPULOAD_LIMIT_CRITICAL 95
|
||||
|
||||
/* Task stack sizes */
|
||||
#define PIOS_ACTUATOR_STACK_SIZE 700
|
||||
#define PIOS_MANUAL_STACK_SIZE 735
|
||||
#define PIOS_RECEIVER_STACK_SIZE 620
|
||||
#define PIOS_STABILIZATION_STACK_SIZE 400
|
||||
|
||||
#ifdef DIAG_TASKS
|
||||
#define PIOS_SYSTEM_STACK_SIZE 760
|
||||
#else
|
||||
#define PIOS_SYSTEM_STACK_SIZE 660
|
||||
#endif
|
||||
#define PIOS_TELEM_RX_STACK_SIZE 410
|
||||
#define PIOS_TELEM_TX_STACK_SIZE 560
|
||||
#define PIOS_EVENTDISPATCHER_STACK_SIZE 95
|
||||
|
||||
/* This can't be too high to stop eventdispatcher thread overflowing */
|
||||
#define PIOS_EVENTDISAPTCHER_QUEUE 10
|
||||
|
||||
/* Revolution series */
|
||||
/* #define REVOLUTION */
|
||||
|
||||
#endif /* PIOS_CONFIG_H */
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -0,0 +1,48 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file pios_config.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief PiOS configuration header.
|
||||
* Central compile time config for the project.
|
||||
* @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_CONFIG_POSIX_H
|
||||
#define PIOS_CONFIG_POSIX_H
|
||||
|
||||
|
||||
/* Enable/Disable PiOS Modules */
|
||||
#define PIOS_INCLUDE_SYS
|
||||
#define PIOS_INCLUDE_DELAY
|
||||
#define PIOS_INCLUDE_LED
|
||||
#define PIOS_INCLUDE_FREERTOS
|
||||
#define PIOS_INCLUDE_CALLBACKSCHEDULER
|
||||
#define PIOS_INCLUDE_TASK_MONITOR
|
||||
#define PIOS_INCLUDE_COM
|
||||
#define PIOS_INCLUDE_UDP
|
||||
#define PIOS_INCLUDE_SERVO
|
||||
|
||||
|
||||
/* Defaults for Logging */
|
||||
#define LOG_FILENAME "PIOS.LOG"
|
||||
#define STARTUP_LOG_ENABLED 1
|
||||
|
||||
#endif /* PIOS_CONFIG_POSIX_H */
|
||||
@ -0,0 +1,47 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_USB_BOARD Board specific USB definitions
|
||||
* @brief Board specific USB definitions
|
||||
* @{
|
||||
*
|
||||
* @file pios_usb_board_data.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Board specific USB definitions
|
||||
* @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_USB_BOARD_DATA_H
|
||||
#define PIOS_USB_BOARD_DATA_H
|
||||
|
||||
// Note : changing below length will require changes to the USB buffer setup
|
||||
#define PIOS_USB_BOARD_CDC_DATA_LENGTH 64
|
||||
#define PIOS_USB_BOARD_CDC_MGMT_LENGTH 32
|
||||
#define PIOS_USB_BOARD_HID_DATA_LENGTH 64
|
||||
|
||||
#define PIOS_USB_BOARD_EP_NUM 4
|
||||
|
||||
#include <pios_usb_defs.h> /* USB_* macros */
|
||||
|
||||
#define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_COPTERCONTROL
|
||||
#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_COPTERCONTROL, USB_OP_BOARD_MODE_FW)
|
||||
#define PIOS_USB_BOARD_SN_SUFFIX "+FW"
|
||||
|
||||
#endif /* PIOS_USB_BOARD_DATA_H */
|
||||
944
flight/targets/boards/coptercontrol/firmware/pios_board.c
Normal file
944
flight/targets/boards/coptercontrol/firmware/pios_board.c
Normal file
@ -0,0 +1,944 @@
|
||||
/**
|
||||
*****************************************************************************
|
||||
* @file pios_board.c
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
|
||||
*
|
||||
* @addtogroup OpenPilotSystem OpenPilot System
|
||||
* @{
|
||||
* @addtogroup OpenPilotCore OpenPilot Core
|
||||
* @{
|
||||
* @brief Defines board specific static initializers for hardware for the CopterControl board.
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include "inc/openpilot.h"
|
||||
#include <pios_board_info.h>
|
||||
#include <uavobjectsinit.h>
|
||||
#include <hwsettings.h>
|
||||
#include <manualcontrolsettings.h>
|
||||
#include <gcsreceiver.h>
|
||||
#include <taskinfo.h>
|
||||
#include <sanitycheck.h>
|
||||
#include <actuatorsettings.h>
|
||||
|
||||
#ifdef PIOS_INCLUDE_INSTRUMENTATION
|
||||
#include <pios_instrumentation.h>
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_ADXL345)
|
||||
#include <pios_adxl345.h>
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Pull in the board-specific static HW definitions.
|
||||
* Including .c files is a bit ugly but this allows all of
|
||||
* the HW definitions to be const and static to limit their
|
||||
* scope.
|
||||
*
|
||||
* NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
|
||||
*/
|
||||
#include "../board_hw_defs.c"
|
||||
|
||||
/* One slot per selectable receiver group.
|
||||
* eg. PWM, PPM, GCS, DSMMAINPORT, DSMFLEXIPORT, SBUS
|
||||
* NOTE: No slot in this map for NONE.
|
||||
*/
|
||||
uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
|
||||
|
||||
static SystemAlarmsExtendedAlarmStatusOptions CopterControlConfigHook();
|
||||
static void ActuatorSettingsUpdatedCb(UAVObjEvent *ev);
|
||||
|
||||
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 32
|
||||
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 12
|
||||
|
||||
#define PIOS_COM_GPS_RX_BUF_LEN 32
|
||||
|
||||
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 65
|
||||
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 65
|
||||
|
||||
#define PIOS_COM_BRIDGE_RX_BUF_LEN 65
|
||||
#define PIOS_COM_BRIDGE_TX_BUF_LEN 12
|
||||
|
||||
#define PIOS_COM_HKOSD_TX_BUF_LEN 22
|
||||
|
||||
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
|
||||
#define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
|
||||
uint32_t pios_com_debug_id;
|
||||
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
|
||||
|
||||
uint32_t pios_com_telem_rf_id;
|
||||
uint32_t pios_com_telem_usb_id;
|
||||
uint32_t pios_com_vcp_id;
|
||||
uint32_t pios_com_gps_id;
|
||||
uint32_t pios_com_bridge_id;
|
||||
uint32_t pios_com_hkosd_id;
|
||||
|
||||
uint32_t pios_usb_rctx_id;
|
||||
|
||||
uintptr_t pios_uavo_settings_fs_id;
|
||||
uintptr_t pios_user_fs_id = 0;
|
||||
/**
|
||||
* Configuration for MPU6000 chip
|
||||
*/
|
||||
#if defined(PIOS_INCLUDE_MPU6000)
|
||||
#include "pios_mpu6000.h"
|
||||
#include "pios_mpu6000_config.h"
|
||||
static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
|
||||
.vector = PIOS_MPU6000_IRQHandler,
|
||||
.line = EXTI_Line3,
|
||||
.pin = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_3,
|
||||
.GPIO_Speed = GPIO_Speed_10MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
|
||||
},
|
||||
},
|
||||
.irq = {
|
||||
.init = {
|
||||
.NVIC_IRQChannel = EXTI3_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.exti = {
|
||||
.init = {
|
||||
.EXTI_Line = EXTI_Line3, // matches above GPIO pin
|
||||
.EXTI_Mode = EXTI_Mode_Interrupt,
|
||||
.EXTI_Trigger = EXTI_Trigger_Rising,
|
||||
.EXTI_LineCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
|
||||
.exti_cfg = &pios_exti_mpu6000_cfg,
|
||||
.Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
|
||||
// Clock at 8 khz, downsampled by 8 for 1000 Hz
|
||||
.Smpl_rate_div_no_dlp = 7,
|
||||
// Clock at 1 khz, downsampled by 1 for 1000 Hz
|
||||
.Smpl_rate_div_dlp = 0,
|
||||
.interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD,
|
||||
.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
|
||||
.User_ctl = PIOS_MPU6000_USERCTL_DIS_I2C,
|
||||
.Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
|
||||
.accel_range = PIOS_MPU6000_ACCEL_8G,
|
||||
.gyro_range = PIOS_MPU6000_SCALE_2000_DEG,
|
||||
.filter = PIOS_MPU6000_LOWPASS_256_HZ,
|
||||
.orientation = PIOS_MPU6000_TOP_180DEG,
|
||||
.fast_prescaler = PIOS_SPI_PRESCALER_4,
|
||||
.std_prescaler = PIOS_SPI_PRESCALER_64,
|
||||
.max_downsample = 2
|
||||
};
|
||||
#endif /* PIOS_INCLUDE_MPU6000 */
|
||||
|
||||
/**
|
||||
* PIOS_Board_Init()
|
||||
* initializes all the core subsystems on this specific hardware
|
||||
* called from System/openpilot.c
|
||||
*/
|
||||
int32_t init_test;
|
||||
void PIOS_Board_Init(void)
|
||||
{
|
||||
/* Delay system */
|
||||
PIOS_DELAY_Init();
|
||||
|
||||
const struct pios_board_info *bdinfo = &pios_board_info_blob;
|
||||
|
||||
#if defined(PIOS_INCLUDE_LED)
|
||||
const struct pios_gpio_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
|
||||
PIOS_Assert(led_cfg);
|
||||
PIOS_LED_Init(led_cfg);
|
||||
#endif /* PIOS_INCLUDE_LED */
|
||||
|
||||
#ifdef PIOS_INCLUDE_INSTRUMENTATION
|
||||
PIOS_Instrumentation_Init(PIOS_INSTRUMENTATION_MAX_COUNTERS);
|
||||
#endif
|
||||
|
||||
#if defined(PIOS_INCLUDE_SPI)
|
||||
/* Set up the SPI interface to the serial flash */
|
||||
|
||||
switch (bdinfo->board_rev) {
|
||||
case BOARD_REVISION_CC:
|
||||
if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg_cc)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
break;
|
||||
case BOARD_REVISION_CC3D:
|
||||
if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg_cc3d)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
uintptr_t flash_id;
|
||||
switch (bdinfo->board_rev) {
|
||||
case BOARD_REVISION_CC:
|
||||
if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_flash_accel_id, 1)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_w25x_cfg, &pios_jedec_flash_driver, flash_id)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
break;
|
||||
case BOARD_REVISION_CC3D:
|
||||
if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_flash_accel_id, 0)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_m25p_cfg, &pios_jedec_flash_driver, flash_id)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
|
||||
/* Initialize the task monitor */
|
||||
if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
/* Initialize the delayed callback library */
|
||||
PIOS_CALLBACKSCHEDULER_Initialize();
|
||||
|
||||
/* Initialize UAVObject libraries */
|
||||
EventDispatcherInitialize();
|
||||
UAVObjInitialize();
|
||||
|
||||
#if defined(PIOS_INCLUDE_RTC)
|
||||
/* Initialize the real-time clock and its associated tick */
|
||||
PIOS_RTC_Init(&pios_rtc_main_cfg);
|
||||
#endif
|
||||
PIOS_IAP_Init();
|
||||
// check for safe mode commands from gcs
|
||||
if (PIOS_IAP_ReadBootCmd(0) == PIOS_IAP_CLEAR_FLASH_CMD_0 &&
|
||||
PIOS_IAP_ReadBootCmd(1) == PIOS_IAP_CLEAR_FLASH_CMD_1 &&
|
||||
PIOS_IAP_ReadBootCmd(2) == PIOS_IAP_CLEAR_FLASH_CMD_2) {
|
||||
PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
|
||||
PIOS_IAP_WriteBootCmd(0, 0);
|
||||
PIOS_IAP_WriteBootCmd(1, 0);
|
||||
PIOS_IAP_WriteBootCmd(2, 0);
|
||||
}
|
||||
|
||||
HwSettingsInitialize();
|
||||
|
||||
#ifndef ERASE_FLASH
|
||||
#ifdef PIOS_INCLUDE_WDG
|
||||
/* Initialize watchdog as early as possible to catch faults during init */
|
||||
PIOS_WDG_Init();
|
||||
#endif
|
||||
#endif
|
||||
|
||||
/* Initialize the alarms library */
|
||||
AlarmsInitialize();
|
||||
|
||||
/* Check for repeated boot failures */
|
||||
uint16_t boot_count = PIOS_IAP_ReadBootCount();
|
||||
if (boot_count < 3) {
|
||||
PIOS_IAP_WriteBootCount(++boot_count);
|
||||
AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
|
||||
} else {
|
||||
/* Too many failed boot attempts, force hwsettings to defaults */
|
||||
HwSettingsSetDefaults(HwSettingsHandle(), 0);
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
|
||||
}
|
||||
|
||||
/* 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);
|
||||
|
||||
#if defined(PIOS_INCLUDE_USB)
|
||||
/* Initialize board specific USB data */
|
||||
PIOS_USB_BOARD_DATA_Init();
|
||||
|
||||
|
||||
/* Flags to determine if various USB interfaces are advertised */
|
||||
bool usb_hid_present = false;
|
||||
bool usb_cdc_present = false;
|
||||
|
||||
#if defined(PIOS_INCLUDE_USB_CDC)
|
||||
if (PIOS_USB_DESC_HID_CDC_Init()) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
usb_hid_present = true;
|
||||
usb_cdc_present = true;
|
||||
#else
|
||||
if (PIOS_USB_DESC_HID_ONLY_Init()) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
usb_hid_present = true;
|
||||
#endif
|
||||
|
||||
uint32_t pios_usb_id;
|
||||
|
||||
switch (bdinfo->board_rev) {
|
||||
case BOARD_REVISION_CC:
|
||||
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc);
|
||||
break;
|
||||
case BOARD_REVISION_CC3D:
|
||||
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc3d);
|
||||
break;
|
||||
default:
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
#if defined(PIOS_INCLUDE_USB_CDC)
|
||||
|
||||
uint8_t hwsettings_usb_vcpport;
|
||||
/* Configure the USB VCP port */
|
||||
HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport);
|
||||
|
||||
if (!usb_cdc_present) {
|
||||
/* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
|
||||
hwsettings_usb_vcpport = HWSETTINGS_USB_VCPPORT_DISABLED;
|
||||
}
|
||||
|
||||
switch (hwsettings_usb_vcpport) {
|
||||
case HWSETTINGS_USB_VCPPORT_DISABLED:
|
||||
break;
|
||||
case HWSETTINGS_USB_VCPPORT_USBTELEMETRY:
|
||||
#if defined(PIOS_INCLUDE_COM)
|
||||
{
|
||||
uint32_t pios_usb_cdc_id;
|
||||
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
|
||||
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
|
||||
PIOS_Assert(rx_buffer);
|
||||
PIOS_Assert(tx_buffer);
|
||||
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
|
||||
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
|
||||
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_COM */
|
||||
break;
|
||||
case HWSETTINGS_USB_VCPPORT_COMBRIDGE:
|
||||
#if defined(PIOS_INCLUDE_COM)
|
||||
{
|
||||
uint32_t pios_usb_cdc_id;
|
||||
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
|
||||
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
|
||||
PIOS_Assert(rx_buffer);
|
||||
PIOS_Assert(tx_buffer);
|
||||
if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
|
||||
rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
|
||||
tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_COM */
|
||||
break;
|
||||
case HWSETTINGS_USB_VCPPORT_DEBUGCONSOLE:
|
||||
#if defined(PIOS_INCLUDE_COM)
|
||||
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
|
||||
{
|
||||
uint32_t pios_usb_cdc_id;
|
||||
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
|
||||
PIOS_Assert(tx_buffer);
|
||||
if (PIOS_COM_Init(&pios_com_debug_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
|
||||
NULL, 0,
|
||||
tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
|
||||
#endif /* PIOS_INCLUDE_COM */
|
||||
break;
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_USB_CDC */
|
||||
|
||||
#if defined(PIOS_INCLUDE_USB_HID)
|
||||
/* Configure the usb HID port */
|
||||
uint8_t hwsettings_usb_hidport;
|
||||
HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport);
|
||||
|
||||
if (!usb_hid_present) {
|
||||
/* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
|
||||
hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_DISABLED;
|
||||
}
|
||||
|
||||
switch (hwsettings_usb_hidport) {
|
||||
case HWSETTINGS_USB_HIDPORT_DISABLED:
|
||||
break;
|
||||
case HWSETTINGS_USB_HIDPORT_USBTELEMETRY:
|
||||
#if defined(PIOS_INCLUDE_COM)
|
||||
{
|
||||
uint32_t pios_usb_hid_id;
|
||||
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
|
||||
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
|
||||
PIOS_Assert(rx_buffer);
|
||||
PIOS_Assert(tx_buffer);
|
||||
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
|
||||
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
|
||||
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_COM */
|
||||
break;
|
||||
case HWSETTINGS_USB_HIDPORT_RCTRANSMITTER:
|
||||
#if defined(PIOS_INCLUDE_USB_RCTX)
|
||||
{
|
||||
if (PIOS_USB_RCTX_Init(&pios_usb_rctx_id, &pios_usb_rctx_cfg, pios_usb_id)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_USB_RCTX */
|
||||
break;
|
||||
}
|
||||
|
||||
#endif /* PIOS_INCLUDE_USB_HID */
|
||||
|
||||
#endif /* PIOS_INCLUDE_USB */
|
||||
|
||||
/* Configure the main IO port */
|
||||
uint8_t hwsettings_DSMxBind;
|
||||
HwSettingsDSMxBindGet(&hwsettings_DSMxBind);
|
||||
uint8_t hwsettings_cc_mainport;
|
||||
HwSettingsCC_MainPortGet(&hwsettings_cc_mainport);
|
||||
|
||||
switch (hwsettings_cc_mainport) {
|
||||
case HWSETTINGS_CC_MAINPORT_DISABLED:
|
||||
break;
|
||||
case HWSETTINGS_CC_MAINPORT_TELEMETRY:
|
||||
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
|
||||
{
|
||||
uint32_t pios_usart_generic_id;
|
||||
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
|
||||
uint8_t *tx_buffer = (uint8_t *)pios_malloc(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_generic_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 */
|
||||
break;
|
||||
case HWSETTINGS_CC_MAINPORT_SBUS:
|
||||
#if defined(PIOS_INCLUDE_SBUS)
|
||||
{
|
||||
uint32_t pios_usart_sbus_id;
|
||||
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
uint32_t pios_sbus_id;
|
||||
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;
|
||||
case HWSETTINGS_CC_MAINPORT_GPS:
|
||||
#if defined(PIOS_INCLUDE_GPS)
|
||||
{
|
||||
uint32_t pios_usart_generic_id;
|
||||
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_GPS_RX_BUF_LEN);
|
||||
PIOS_Assert(rx_buffer);
|
||||
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_generic_id,
|
||||
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
|
||||
NULL, 0)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_GPS */
|
||||
break;
|
||||
case HWSETTINGS_CC_MAINPORT_DSM:
|
||||
#if defined(PIOS_INCLUDE_DSM)
|
||||
{
|
||||
uint32_t pios_usart_dsm_id;
|
||||
if (PIOS_USART_Init(&pios_usart_dsm_id, &pios_usart_dsm_main_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
uint32_t pios_dsm_id;
|
||||
if (PIOS_DSM_Init(&pios_dsm_id,
|
||||
&pios_dsm_main_cfg,
|
||||
&pios_usart_com_driver,
|
||||
pios_usart_dsm_id,
|
||||
0)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
uint32_t pios_dsm_rcvr_id;
|
||||
if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT] = pios_dsm_rcvr_id;
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_DSM */
|
||||
break;
|
||||
case HWSETTINGS_CC_MAINPORT_DEBUGCONSOLE:
|
||||
#if defined(PIOS_INCLUDE_COM)
|
||||
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
|
||||
{
|
||||
uint32_t pios_usart_generic_id;
|
||||
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
|
||||
PIOS_Assert(tx_buffer);
|
||||
if (PIOS_COM_Init(&pios_com_debug_id, &pios_usart_com_driver, pios_usart_generic_id,
|
||||
NULL, 0,
|
||||
tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
|
||||
#endif /* PIOS_INCLUDE_COM */
|
||||
break;
|
||||
case HWSETTINGS_CC_MAINPORT_COMBRIDGE:
|
||||
{
|
||||
uint32_t pios_usart_generic_id;
|
||||
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
|
||||
PIOS_Assert(rx_buffer);
|
||||
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
|
||||
PIOS_Assert(tx_buffer);
|
||||
if (PIOS_COM_Init(&pios_com_bridge_id, &pios_usart_com_driver, pios_usart_generic_id,
|
||||
rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
|
||||
tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case HWSETTINGS_CC_MAINPORT_OSDHK:
|
||||
{
|
||||
uint32_t pios_usart_hkosd_id;
|
||||
if (PIOS_USART_Init(&pios_usart_hkosd_id, &pios_usart_hkosd_main_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_HKOSD_TX_BUF_LEN);
|
||||
PIOS_Assert(tx_buffer);
|
||||
if (PIOS_COM_Init(&pios_com_hkosd_id, &pios_usart_com_driver, pios_usart_hkosd_id,
|
||||
NULL, 0,
|
||||
tx_buffer, PIOS_COM_HKOSD_TX_BUF_LEN)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
/* Configure the flexi port */
|
||||
uint8_t hwsettings_cc_flexiport;
|
||||
HwSettingsCC_FlexiPortGet(&hwsettings_cc_flexiport);
|
||||
|
||||
switch (hwsettings_cc_flexiport) {
|
||||
case HWSETTINGS_CC_FLEXIPORT_DISABLED:
|
||||
break;
|
||||
case HWSETTINGS_CC_FLEXIPORT_TELEMETRY:
|
||||
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
|
||||
{
|
||||
uint32_t pios_usart_generic_id;
|
||||
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
|
||||
uint8_t *tx_buffer = (uint8_t *)pios_malloc(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_generic_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 */
|
||||
break;
|
||||
case HWSETTINGS_CC_FLEXIPORT_COMBRIDGE:
|
||||
{
|
||||
uint32_t pios_usart_generic_id;
|
||||
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
|
||||
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
|
||||
PIOS_Assert(rx_buffer);
|
||||
PIOS_Assert(tx_buffer);
|
||||
if (PIOS_COM_Init(&pios_com_bridge_id, &pios_usart_com_driver, pios_usart_generic_id,
|
||||
rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
|
||||
tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case HWSETTINGS_CC_FLEXIPORT_GPS:
|
||||
#if defined(PIOS_INCLUDE_GPS)
|
||||
{
|
||||
uint32_t pios_usart_generic_id;
|
||||
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_GPS_RX_BUF_LEN);
|
||||
PIOS_Assert(rx_buffer);
|
||||
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_generic_id,
|
||||
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
|
||||
NULL, 0)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_GPS */
|
||||
break;
|
||||
case HWSETTINGS_CC_FLEXIPORT_PPM:
|
||||
#if defined(PIOS_INCLUDE_PPM_FLEXI)
|
||||
{
|
||||
uint32_t pios_ppm_id;
|
||||
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_flexi_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_FLEXI */
|
||||
break;
|
||||
case HWSETTINGS_CC_FLEXIPORT_DSM:
|
||||
#if defined(PIOS_INCLUDE_DSM)
|
||||
{
|
||||
uint32_t pios_usart_dsm_id;
|
||||
if (PIOS_USART_Init(&pios_usart_dsm_id, &pios_usart_dsm_flexi_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
uint32_t pios_dsm_id;
|
||||
if (PIOS_DSM_Init(&pios_dsm_id,
|
||||
&pios_dsm_flexi_cfg,
|
||||
&pios_usart_com_driver,
|
||||
pios_usart_dsm_id,
|
||||
hwsettings_DSMxBind)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
uint32_t pios_dsm_rcvr_id;
|
||||
if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT] = pios_dsm_rcvr_id;
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_DSM */
|
||||
break;
|
||||
case HWSETTINGS_CC_FLEXIPORT_SRXL:
|
||||
#if defined(PIOS_INCLUDE_SRXL)
|
||||
{
|
||||
uint32_t pios_usart_srxl_id;
|
||||
if (PIOS_USART_Init(&pios_usart_srxl_id, &pios_usart_srxl_flexi_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
uint32_t pios_srxl_id;
|
||||
if (PIOS_SRXL_Init(&pios_srxl_id, &pios_usart_com_driver, pios_usart_srxl_id)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
uint32_t pios_srxl_rcvr_id;
|
||||
if (PIOS_RCVR_Init(&pios_srxl_rcvr_id, &pios_srxl_rcvr_driver, pios_srxl_id)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SRXL] = pios_srxl_rcvr_id;
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_SRXL */
|
||||
break;
|
||||
|
||||
case HWSETTINGS_CC_FLEXIPORT_DEBUGCONSOLE:
|
||||
#if defined(PIOS_INCLUDE_COM)
|
||||
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
|
||||
{
|
||||
uint32_t pios_usart_generic_id;
|
||||
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
|
||||
PIOS_Assert(tx_buffer);
|
||||
if (PIOS_COM_Init(&pios_com_debug_id, &pios_usart_com_driver, pios_usart_generic_id,
|
||||
NULL, 0,
|
||||
tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
|
||||
#endif /* PIOS_INCLUDE_COM */
|
||||
break;
|
||||
case HWSETTINGS_CC_FLEXIPORT_I2C:
|
||||
#if defined(PIOS_INCLUDE_I2C)
|
||||
{
|
||||
if (PIOS_I2C_Init(&pios_i2c_flexi_adapter_id, &pios_i2c_flexi_adapter_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_I2C */
|
||||
break;
|
||||
case HWSETTINGS_CC_FLEXIPORT_OSDHK:
|
||||
{
|
||||
uint32_t pios_usart_hkosd_id;
|
||||
if (PIOS_USART_Init(&pios_usart_hkosd_id, &pios_usart_hkosd_flexi_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_HKOSD_TX_BUF_LEN);
|
||||
PIOS_Assert(tx_buffer);
|
||||
if (PIOS_COM_Init(&pios_com_hkosd_id, &pios_usart_com_driver, pios_usart_hkosd_id,
|
||||
NULL, 0,
|
||||
tx_buffer, PIOS_COM_HKOSD_TX_BUF_LEN)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
/* Configure the rcvr port */
|
||||
uint8_t hwsettings_rcvrport;
|
||||
HwSettingsCC_RcvrPortGet(&hwsettings_rcvrport);
|
||||
|
||||
switch ((HwSettingsCC_RcvrPortOptions)hwsettings_rcvrport) {
|
||||
case HWSETTINGS_CC_RCVRPORT_DISABLEDONESHOT:
|
||||
#if defined(PIOS_INCLUDE_HCSR04)
|
||||
{
|
||||
uint32_t pios_hcsr04_id;
|
||||
PIOS_HCSR04_Init(&pios_hcsr04_id, &pios_hcsr04_cfg);
|
||||
}
|
||||
#endif
|
||||
break;
|
||||
case HWSETTINGS_CC_RCVRPORT_PWMNOONESHOT:
|
||||
#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_CC_RCVRPORT_PPMNOONESHOT:
|
||||
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTSNOONESHOT:
|
||||
case HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT:
|
||||
#if defined(PIOS_INCLUDE_PPM)
|
||||
{
|
||||
uint32_t pios_ppm_id;
|
||||
if (hwsettings_rcvrport == HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT) {
|
||||
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_pin8_cfg);
|
||||
} else {
|
||||
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 HWSETTINGS_CC_RCVRPORT_PPMPWMNOONESHOT:
|
||||
/* This is a combination of PPM and PWM inputs */
|
||||
#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 */
|
||||
#if defined(PIOS_INCLUDE_PWM)
|
||||
{
|
||||
uint32_t pios_pwm_id;
|
||||
PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_with_ppm_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_CC_RCVRPORT_OUTPUTSONESHOT:
|
||||
break;
|
||||
}
|
||||
|
||||
#if defined(PIOS_INCLUDE_GCSRCVR)
|
||||
GCSReceiverInitialize();
|
||||
uint32_t pios_gcsrcvr_id;
|
||||
PIOS_GCSRCVR_Init(&pios_gcsrcvr_id);
|
||||
uint32_t pios_gcsrcvr_rcvr_id;
|
||||
if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
|
||||
#endif /* PIOS_INCLUDE_GCSRCVR */
|
||||
|
||||
/* Remap AFIO pin for PB4 (Servo 5 Out)*/
|
||||
GPIO_PinRemapConfig(GPIO_Remap_SWJ_NoJTRST, ENABLE);
|
||||
|
||||
#ifndef PIOS_ENABLE_DEBUG_PINS
|
||||
switch ((HwSettingsCC_RcvrPortOptions)hwsettings_rcvrport) {
|
||||
case HWSETTINGS_CC_RCVRPORT_DISABLEDONESHOT:
|
||||
case HWSETTINGS_CC_RCVRPORT_PWMNOONESHOT:
|
||||
case HWSETTINGS_CC_RCVRPORT_PPMNOONESHOT:
|
||||
case HWSETTINGS_CC_RCVRPORT_PPMPWMNOONESHOT:
|
||||
case HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT:
|
||||
PIOS_Servo_Init(&pios_servo_cfg);
|
||||
break;
|
||||
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTSNOONESHOT:
|
||||
case HWSETTINGS_CC_RCVRPORT_OUTPUTSONESHOT:
|
||||
PIOS_Servo_Init(&pios_servo_rcvr_cfg);
|
||||
break;
|
||||
}
|
||||
#else
|
||||
PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins));
|
||||
#endif /* PIOS_ENABLE_DEBUG_PINS */
|
||||
|
||||
switch (bdinfo->board_rev) {
|
||||
case BOARD_REVISION_CC:
|
||||
// Revision 1 with invensense gyros, start the ADC
|
||||
#if defined(PIOS_INCLUDE_ADC)
|
||||
PIOS_ADC_Init(&pios_adc_cfg);
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_ADXL345)
|
||||
PIOS_ADXL345_Init(pios_spi_flash_accel_id, 0);
|
||||
#endif
|
||||
break;
|
||||
case BOARD_REVISION_CC3D:
|
||||
// Revision 2 with MPU6000 gyros, start a SPI interface and connect to it
|
||||
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
|
||||
|
||||
#if defined(PIOS_INCLUDE_MPU6000)
|
||||
// Set up the SPI interface to the serial flash
|
||||
if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
PIOS_MPU6000_Init(pios_spi_gyro_id, 0, &pios_mpu6000_cfg);
|
||||
PIOS_MPU6000_CONFIG_Configure();
|
||||
init_test = !PIOS_MPU6000_Driver.test(0);
|
||||
#endif /* PIOS_INCLUDE_MPU6000 */
|
||||
|
||||
break;
|
||||
default:
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
/* Make sure we have at least one telemetry link configured or else fail initialization */
|
||||
PIOS_Assert(pios_com_telem_rf_id || pios_com_telem_usb_id);
|
||||
|
||||
// Attach the board config check hook
|
||||
SANITYCHECK_AttachHook(&CopterControlConfigHook);
|
||||
// trigger a config check if actuatorsettings are updated
|
||||
ActuatorSettingsInitialize();
|
||||
ActuatorSettingsConnectCallback(ActuatorSettingsUpdatedCb);
|
||||
}
|
||||
|
||||
SystemAlarmsExtendedAlarmStatusOptions CopterControlConfigHook()
|
||||
{
|
||||
// inhibit usage of oneshot for non supported RECEIVER port modes
|
||||
uint8_t recmode;
|
||||
|
||||
HwSettingsCC_RcvrPortGet(&recmode);
|
||||
uint8_t flexiMode;
|
||||
uint8_t modes[ACTUATORSETTINGS_BANKMODE_NUMELEM];
|
||||
ActuatorSettingsBankModeGet(modes);
|
||||
HwSettingsCC_FlexiPortGet(&flexiMode);
|
||||
|
||||
switch ((HwSettingsCC_RcvrPortOptions)recmode) {
|
||||
// Those modes allows oneshot usage
|
||||
case HWSETTINGS_CC_RCVRPORT_DISABLEDONESHOT:
|
||||
case HWSETTINGS_CC_RCVRPORT_OUTPUTSONESHOT:
|
||||
case HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT:
|
||||
if ((recmode == HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT ||
|
||||
flexiMode == HWSETTINGS_CC_FLEXIPORT_PPM) &&
|
||||
(modes[3] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
|
||||
modes[3] == ACTUATORSETTINGS_BANKMODE_ONESHOT125)) {
|
||||
return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;
|
||||
} else {
|
||||
return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
|
||||
}
|
||||
|
||||
// inhibit oneshot for the following modes
|
||||
case HWSETTINGS_CC_RCVRPORT_PPMNOONESHOT:
|
||||
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTSNOONESHOT:
|
||||
case HWSETTINGS_CC_RCVRPORT_PPMPWMNOONESHOT:
|
||||
case HWSETTINGS_CC_RCVRPORT_PWMNOONESHOT:
|
||||
for (uint8_t i = 0; i < ACTUATORSETTINGS_BANKMODE_NUMELEM; i++) {
|
||||
if (modes[i] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
|
||||
modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT125) {
|
||||
return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
|
||||
}
|
||||
|
||||
return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
|
||||
}
|
||||
}
|
||||
return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
|
||||
}
|
||||
// trigger a configuration check if ActuatorSettings are changed.
|
||||
void ActuatorSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
|
||||
{
|
||||
configuration_check();
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
145
flight/targets/boards/coptercontrol/firmware/pios_board_posix.c
Normal file
145
flight/targets/boards/coptercontrol/firmware/pios_board_posix.c
Normal file
@ -0,0 +1,145 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file pios_board.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Defines board specific static initializers for hardware for the OpenPilot board.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include "inc/openpilot.h"
|
||||
#include <pios_udp_priv.h>
|
||||
#include <pios_com_priv.h>
|
||||
#include <uavobjectsinit.h>
|
||||
|
||||
/**
|
||||
* PIOS_Board_Init()
|
||||
* initializes all the core systems on this specific hardware
|
||||
* called from System/openpilot.c
|
||||
*/
|
||||
void PIOS_Board_Init(void)
|
||||
{
|
||||
/* Delay system */
|
||||
PIOS_DELAY_Init();
|
||||
|
||||
/* Initialize the delayed callback library */
|
||||
PIOS_CALLBACKSCHEDULER_Initialize();
|
||||
|
||||
/* Initialize UAVObject libraries */
|
||||
EventDispatcherInitialize();
|
||||
UAVObjInitialize();
|
||||
|
||||
/* Initialize the alarms library */
|
||||
AlarmsInitialize();
|
||||
|
||||
/* Initialize the task monitor */
|
||||
if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
/* Initialize the PiOS library */
|
||||
PIOS_COM_Init();
|
||||
}
|
||||
|
||||
|
||||
const struct pios_udp_cfg pios_udp0_cfg = {
|
||||
.ip = "0.0.0.0",
|
||||
.port = 9000,
|
||||
};
|
||||
const struct pios_udp_cfg pios_udp1_cfg = {
|
||||
.ip = "0.0.0.0",
|
||||
.port = 9001,
|
||||
};
|
||||
const struct pios_udp_cfg pios_udp2_cfg = {
|
||||
.ip = "0.0.0.0",
|
||||
.port = 9002,
|
||||
};
|
||||
|
||||
#ifdef PIOS_COM_AUX
|
||||
/*
|
||||
* AUX USART
|
||||
*/
|
||||
const struct pios_udp_cfg pios_udp3_cfg = {
|
||||
.ip = "0.0.0.0",
|
||||
.port = 9003,
|
||||
};
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Board specific number of devices.
|
||||
*/
|
||||
struct pios_udp_dev pios_udp_devs[] = {
|
||||
#define PIOS_UDP_TELEM 0
|
||||
{
|
||||
.cfg = &pios_udp0_cfg,
|
||||
},
|
||||
#define PIOS_UDP_GPS 1
|
||||
{
|
||||
.cfg = &pios_udp1_cfg,
|
||||
},
|
||||
#define PIOS_UDP_LOCAL 2
|
||||
{
|
||||
.cfg = &pios_udp2_cfg,
|
||||
},
|
||||
#ifdef PIOS_COM_AUX
|
||||
#define PIOS_UDP_AUX 3
|
||||
{
|
||||
.cfg = &pios_udp3_cfg,
|
||||
},
|
||||
#endif
|
||||
};
|
||||
|
||||
uint8_t pios_udp_num_devices = NELEMENTS(pios_udp_devs);
|
||||
|
||||
/*
|
||||
* COM devices
|
||||
*/
|
||||
|
||||
/*
|
||||
* Board specific number of devices.
|
||||
*/
|
||||
extern const struct pios_com_driver pios_serial_com_driver;
|
||||
extern const struct pios_com_driver pios_udp_com_driver;
|
||||
|
||||
struct pios_com_dev pios_com_devs[] = {
|
||||
{
|
||||
.id = PIOS_UDP_TELEM,
|
||||
.driver = &pios_udp_com_driver,
|
||||
},
|
||||
{
|
||||
.id = PIOS_UDP_GPS,
|
||||
.driver = &pios_udp_com_driver,
|
||||
},
|
||||
{
|
||||
.id = PIOS_UDP_LOCAL,
|
||||
.driver = &pios_udp_com_driver,
|
||||
},
|
||||
#ifdef PIOS_COM_AUX
|
||||
{
|
||||
.id = PIOS_UDP_AUX,
|
||||
.driver = &pios_udp_com_driver,
|
||||
},
|
||||
#endif
|
||||
};
|
||||
|
||||
const uint8_t pios_com_num_devices = NELEMENTS(pios_com_devs);
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
287
flight/targets/boards/coptercontrol/pios_board.h
Normal file
287
flight/targets/boards/coptercontrol/pios_board.h
Normal file
@ -0,0 +1,287 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file pios_board.h
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
*
|
||||
* @brief Defines board hardware for the OpenPilot Version 1.1 hardware.
|
||||
* @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_BOARD_H
|
||||
#define PIOS_BOARD_H
|
||||
// ------------------------
|
||||
// Timers and Channels Used
|
||||
// ------------------------
|
||||
/*
|
||||
Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
|
||||
------+-----------+-----------+-----------+----------
|
||||
TIM1 | Servo 4 | | |
|
||||
TIM2 | RC In 5 | RC In 6 | Servo 6 |
|
||||
TIM3 | Servo 5 | RC In 2 | RC In 3 | RC In 4
|
||||
TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
|
||||
------+-----------+-----------+-----------+----------
|
||||
*/
|
||||
|
||||
// ------------------------
|
||||
// DMA Channels Used
|
||||
// ------------------------
|
||||
/* Channel 1 - */
|
||||
/* Channel 2 - */
|
||||
/* Channel 3 - */
|
||||
/* Channel 4 - */
|
||||
/* Channel 5 - */
|
||||
/* Channel 6 - */
|
||||
/* Channel 7 - */
|
||||
/* Channel 8 - */
|
||||
/* Channel 9 - */
|
||||
/* Channel 10 - */
|
||||
/* Channel 11 - */
|
||||
/* Channel 12 - */
|
||||
|
||||
// ------------------------
|
||||
// BOOTLOADER_SETTINGS
|
||||
// ------------------------
|
||||
#define BOARD_READABLE TRUE
|
||||
#define BOARD_WRITABLE TRUE
|
||||
#define MAX_DEL_RETRYS 3
|
||||
|
||||
// ------------------------
|
||||
// WATCHDOG_SETTINGS
|
||||
// ------------------------
|
||||
#define PIOS_WATCHDOG_TIMEOUT 250
|
||||
#define PIOS_WDG_REGISTER BKP_DR4
|
||||
#define PIOS_WDG_ACTUATOR 0x0001
|
||||
#define PIOS_WDG_STABILIZATION 0x0002
|
||||
#define PIOS_WDG_ATTITUDE 0x0004
|
||||
#define PIOS_WDG_MANUAL 0x0008
|
||||
#define PIOS_WDG_AUTOTUNE 0x0010
|
||||
|
||||
// ------------------------
|
||||
// TELEMETRY
|
||||
// ------------------------
|
||||
#define TELEM_QUEUE_SIZE 10
|
||||
|
||||
// ------------------------
|
||||
// PIOS_LED
|
||||
// ------------------------
|
||||
#define PIOS_LED_HEARTBEAT 0
|
||||
|
||||
// -------------------------
|
||||
// System Settings
|
||||
// -------------------------
|
||||
#define PIOS_MASTER_CLOCK 72000000
|
||||
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
|
||||
|
||||
// -------------------------
|
||||
// Interrupt Priorities
|
||||
// -------------------------
|
||||
#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS
|
||||
#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS
|
||||
#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
|
||||
#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
|
||||
// ------------------------
|
||||
// PIOS_I2C
|
||||
// See also pios_board.c
|
||||
// ------------------------
|
||||
#define PIOS_I2C_MAX_DEVS 1
|
||||
extern uint32_t pios_i2c_flexi_adapter_id;
|
||||
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_flexi_adapter_id)
|
||||
#define PIOS_I2C_ESC_ADAPTER (pios_i2c_flexi_adapter_id)
|
||||
#define PIOS_I2C_BMP085_ADAPTER (pios_i2c_flexi_adapter_id)
|
||||
|
||||
// ------------------------
|
||||
// PIOS_BMP085
|
||||
// ------------------------
|
||||
#define PIOS_BMP085_OVERSAMPLING 3
|
||||
|
||||
// -------------------------
|
||||
// SPI
|
||||
//
|
||||
// See also pios_board.c
|
||||
// -------------------------
|
||||
#define PIOS_SPI_MAX_DEVS 2
|
||||
|
||||
// -------------------------
|
||||
// PIOS_USART
|
||||
// -------------------------
|
||||
#define PIOS_USART_MAX_DEVS 2
|
||||
|
||||
// -------------------------
|
||||
// PIOS_COM
|
||||
//
|
||||
// See also pios_board.c
|
||||
// -------------------------
|
||||
#define PIOS_COM_MAX_DEVS 3
|
||||
|
||||
extern uint32_t pios_com_telem_rf_id;
|
||||
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
|
||||
|
||||
#if defined(PIOS_INCLUDE_GPS)
|
||||
extern uint32_t pios_com_gps_id;
|
||||
#define PIOS_COM_GPS (pios_com_gps_id)
|
||||
#endif /* PIOS_INCLUDE_GPS */
|
||||
|
||||
extern uint32_t pios_com_bridge_id;
|
||||
#define PIOS_COM_BRIDGE (pios_com_bridge_id)
|
||||
|
||||
extern uint32_t pios_com_vcp_id;
|
||||
#define PIOS_COM_VCP (pios_com_vcp_id)
|
||||
|
||||
extern uint32_t pios_com_telem_usb_id;
|
||||
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
|
||||
|
||||
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
|
||||
extern uint32_t pios_com_debug_id;
|
||||
#define PIOS_COM_DEBUG (pios_com_debug_id)
|
||||
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
|
||||
|
||||
extern uint32_t pios_com_hkosd_id;
|
||||
#define PIOS_COM_OSDHK (pios_com_hkosd_id)
|
||||
|
||||
// -------------------------
|
||||
// ADC
|
||||
// PIOS_ADC_PinGet(0) = Gyro Z
|
||||
// PIOS_ADC_PinGet(1) = Gyro Y
|
||||
// PIOS_ADC_PinGet(2) = Gyro X
|
||||
// -------------------------
|
||||
// #define PIOS_ADC_OVERSAMPLING_RATE 1
|
||||
#define PIOS_ADC_USE_TEMP_SENSOR 1
|
||||
#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
|
||||
#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
|
||||
|
||||
#define PIOS_ADC_PIN1_GPIO_PORT GPIOA // PA4 (Gyro X)
|
||||
#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_4 // ADC12_IN4
|
||||
#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_4
|
||||
#define PIOS_ADC_PIN1_ADC ADC2
|
||||
#define PIOS_ADC_PIN1_ADC_NUMBER 1
|
||||
|
||||
#define PIOS_ADC_PIN2_GPIO_PORT GPIOA // PA5 (Gyro Y)
|
||||
#define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_5 // ADC123_IN5
|
||||
#define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_5
|
||||
#define PIOS_ADC_PIN2_ADC ADC1
|
||||
#define PIOS_ADC_PIN2_ADC_NUMBER 2
|
||||
|
||||
#define PIOS_ADC_PIN3_GPIO_PORT GPIOA // PA3 (Gyro Z)
|
||||
#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_3 // ADC12_IN3
|
||||
#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_3
|
||||
#define PIOS_ADC_PIN3_ADC ADC2
|
||||
#define PIOS_ADC_PIN3_ADC_NUMBER 2
|
||||
|
||||
#define PIOS_ADC_NUM_PINS 3
|
||||
|
||||
#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT }
|
||||
#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN }
|
||||
#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL }
|
||||
#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC }
|
||||
#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER }
|
||||
#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
|
||||
#define PIOS_ADC_NUM_ADC_CHANNELS 2
|
||||
#define PIOS_ADC_USE_ADC2 1
|
||||
#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
|
||||
#define PIOS_ADC_ADCCLK RCC_PCLK2_Div8
|
||||
/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
|
||||
/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
|
||||
/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
|
||||
/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
|
||||
#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
|
||||
/* Sample time: */
|
||||
/* With an ADCCLK = 14 MHz and a sampling time of 239.5 cycles: */
|
||||
/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
|
||||
/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
|
||||
#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_LOW
|
||||
|
||||
// Currently analog acquistion hard coded at 480 Hz
|
||||
// PCKL2 = HCLK / 16
|
||||
// ADCCLK = PCLK2 / 2
|
||||
#define PIOS_ADC_RATE (72.0e6f / 1.0f / 8.0f / 252.0f / (PIOS_ADC_NUM_CHANNELS >> PIOS_ADC_USE_ADC2))
|
||||
#define PIOS_ADC_MAX_OVERSAMPLING 48
|
||||
|
||||
#define PIOS_ADC_TEMPERATURE_PIN 0
|
||||
|
||||
// ------------------------
|
||||
// PIOS_RCVR
|
||||
// See also pios_board.c
|
||||
// ------------------------
|
||||
#define PIOS_RCVR_MAX_DEVS 3
|
||||
#define PIOS_RCVR_MAX_CHANNELS 12
|
||||
#define PIOS_GCSRCVR_TIMEOUT_MS 100
|
||||
|
||||
// -------------------------
|
||||
// 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 DSM input
|
||||
// -------------------------
|
||||
#define PIOS_DSM_MAX_DEVS 2
|
||||
#define PIOS_DSM_NUM_INPUTS 12
|
||||
|
||||
// -------------------------
|
||||
// Receiver S.Bus input
|
||||
// -------------------------
|
||||
#define PIOS_SBUS_MAX_DEVS 1
|
||||
#define PIOS_SBUS_NUM_INPUTS (16 + 2)
|
||||
|
||||
// -------------------------
|
||||
// Receiver Multiplex SRXL input
|
||||
// -------------------------
|
||||
#define PIOS_SRXL_MAX_DEVS 1
|
||||
#define PIOS_SRXL_NUM_INPUTS 16
|
||||
|
||||
// -------------------------
|
||||
// Servo outputs
|
||||
// -------------------------
|
||||
#define PIOS_SERVO_UPDATE_HZ 50
|
||||
#define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
|
||||
#define PIOS_SERVO_BANKS 6
|
||||
|
||||
// --------------------------
|
||||
// Timer controller settings
|
||||
// --------------------------
|
||||
#define PIOS_TIM_MAX_DEVS 3
|
||||
|
||||
// -------------------------
|
||||
// GPIO
|
||||
// -------------------------
|
||||
#define PIOS_GPIO_PORTS {}
|
||||
#define PIOS_GPIO_PINS {}
|
||||
#define PIOS_GPIO_CLKS {}
|
||||
#define PIOS_GPIO_NUM 0
|
||||
|
||||
// -------------------------
|
||||
// USB
|
||||
// -------------------------
|
||||
#define PIOS_USB_HID_MAX_DEVS 1
|
||||
|
||||
#define PIOS_USB_ENABLED 1
|
||||
#define PIOS_USB_DETECT_GPIO_PORT GPIOC
|
||||
#define PIOS_USB_MAX_DEVS 1
|
||||
#define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_15
|
||||
|
||||
#endif /* PIOS_BOARD_H */
|
||||
102
flight/targets/boards/coptercontrol/pios_usb_board_data.c
Normal file
102
flight/targets/boards/coptercontrol/pios_usb_board_data.c
Normal file
@ -0,0 +1,102 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_USB_BOARD Board specific USB definitions
|
||||
* @brief Board specific USB definitions
|
||||
* @{
|
||||
*
|
||||
* @file pios_usb_board_data.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Board specific USB definitions
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include "inc/pios_usb_board_data.h" /* struct usb_*, USB_* */
|
||||
#include <pios_sys.h> /* PIOS_SYS_SerialNumberGet */
|
||||
#include <pios_usbhook.h> /* PIOS_USBHOOK_* */
|
||||
#include <pios_usb_util.h> /* PIOS_USB_UTIL_AsciiToUtf8 */
|
||||
|
||||
static const uint8_t usb_product_id[28] = {
|
||||
sizeof(usb_product_id),
|
||||
USB_DESC_TYPE_STRING,
|
||||
'C', 0,
|
||||
'o', 0,
|
||||
'p', 0,
|
||||
't', 0,
|
||||
'e', 0,
|
||||
'r', 0,
|
||||
'C', 0,
|
||||
'o', 0,
|
||||
'n', 0,
|
||||
't', 0,
|
||||
'r', 0,
|
||||
'o', 0,
|
||||
'l', 0,
|
||||
};
|
||||
|
||||
static uint8_t usb_serial_number[2 + PIOS_SYS_SERIAL_NUM_ASCII_LEN * 2 + (sizeof(PIOS_USB_BOARD_SN_SUFFIX) - 1) * 2] = {
|
||||
sizeof(usb_serial_number),
|
||||
USB_DESC_TYPE_STRING,
|
||||
};
|
||||
|
||||
static const struct usb_string_langid usb_lang_id = {
|
||||
.bLength = sizeof(usb_lang_id),
|
||||
.bDescriptorType = USB_DESC_TYPE_STRING,
|
||||
.bLangID = htousbs(USB_LANGID_ENGLISH_US),
|
||||
};
|
||||
|
||||
static const uint8_t usb_vendor_id[28] = {
|
||||
sizeof(usb_vendor_id),
|
||||
USB_DESC_TYPE_STRING,
|
||||
'o', 0,
|
||||
'p', 0,
|
||||
'e', 0,
|
||||
'n', 0,
|
||||
'p', 0,
|
||||
'i', 0,
|
||||
'l', 0,
|
||||
'o', 0,
|
||||
't', 0,
|
||||
'.', 0,
|
||||
'o', 0,
|
||||
'r', 0,
|
||||
'g', 0
|
||||
};
|
||||
|
||||
int32_t PIOS_USB_BOARD_DATA_Init(void)
|
||||
{
|
||||
/* Load device serial number into serial number string */
|
||||
uint8_t sn[PIOS_SYS_SERIAL_NUM_ASCII_LEN + 1];
|
||||
|
||||
PIOS_SYS_SerialNumberGet((char *)sn);
|
||||
|
||||
/* Concatenate the device serial number and the appropriate suffix ("+BL" or "+FW") into the USB serial number */
|
||||
uint8_t *utf8 = &(usb_serial_number[2]);
|
||||
utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, sn, PIOS_SYS_SERIAL_NUM_ASCII_LEN);
|
||||
utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, (uint8_t *)PIOS_USB_BOARD_SN_SUFFIX, sizeof(PIOS_USB_BOARD_SN_SUFFIX) - 1);
|
||||
|
||||
PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id));
|
||||
PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number));
|
||||
|
||||
PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id));
|
||||
PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id));
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -1,4 +1,5 @@
|
||||
#
|
||||
# Copyright (c) 2015, The LibrePilot Project, http://www.librepilot.org
|
||||
# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or modify
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
#
|
||||
# Copyright (c) 2015, The LibrePilot Project, http://www.librepilot.org
|
||||
# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
|
||||
# Copyright (c) 2012, PhoenixPilot, http://github.com/PhoenixPilot
|
||||
#
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
#
|
||||
# Copyright (c) 2015, The LibrePilot Project, http://www.librepilot.org
|
||||
# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or modify
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
#
|
||||
# Copyright (c) 2015, The LibrePilot Project, http://www.librepilot.org
|
||||
# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
|
||||
# Copyright (c) 2012, PhoenixPilot, http://github.com/PhoenixPilot
|
||||
#
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
#
|
||||
# Copyright (c) 2015, The LibrePilot Project, http://www.librepilot.org
|
||||
# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or modify
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
#
|
||||
# Copyright (c) 2015, The LibrePilot Project, http://www.librepilot.org
|
||||
# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or modify
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
#
|
||||
# Copyright (c) 2015, The LibrePilot Project, http://www.librepilot.org
|
||||
# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or modify
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
#
|
||||
# Copyright (c) 2015, The LibrePilot Project, http://www.librepilot.org
|
||||
# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or modify
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
#
|
||||
# Copyright (c) 2015, The LibrePilot Project, http://www.librepilot.org
|
||||
# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or modify
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
#
|
||||
# Copyright (c) 2015, The LibrePilot Project, http://www.librepilot.org
|
||||
# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
|
||||
# Copyright (c) 2012, PhoenixPilot, http://github.com/PhoenixPilot
|
||||
#
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
#
|
||||
# Copyright (c) 2015, The LibrePilot Project, http://www.librepilot.org
|
||||
# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or modify
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
#
|
||||
# Copyright (c) 2015, The LibrePilot Project, http://www.librepilot.org
|
||||
# Copyright (c) 2009-2014, The OpenPilot Team, http://www.openpilot.org
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or modify
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
#
|
||||
# Copyright (c) 2015, The LibrePilot Project, http://www.librepilot.org
|
||||
# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or modify
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
#
|
||||
# Copyright (c) 2015, The LibrePilot Project, http://www.librepilot.org
|
||||
# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
|
||||
# Copyright (c) 2012, PhoenixPilot, http://github.com/PhoenixPilot
|
||||
#
|
||||
|
||||
@ -1,7 +1,9 @@
|
||||
###############################################################################
|
||||
# @file Makefile
|
||||
# @author PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
|
||||
# @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
# Copyright (c) 2013, The OpenPilot Team, http://www.openpilot.org
|
||||
# PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
|
||||
#
|
||||
# @addtogroup
|
||||
# @{
|
||||
# @addtogroup
|
||||
|
||||
@ -1,7 +1,8 @@
|
||||
###############################################################################
|
||||
# @file Makefile
|
||||
# @author PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
|
||||
# @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
# Copyright (c) 2013, The OpenPilot Team, http://www.openpilot.org
|
||||
# PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
|
||||
# @addtogroup
|
||||
# @{
|
||||
# @addtogroup
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
include(openpilotgcs.pri)
|
||||
include(gcs.pri)
|
||||
|
||||
TEMPLATE = aux
|
||||
|
||||
|
||||
@ -118,13 +118,8 @@ isEmpty(GCS_BUILD_TREE) {
|
||||
|
||||
# Find the tools directory,
|
||||
# try from Makefile (not run by Qt Creator),
|
||||
TOOLS_DIR = $$(TOOLS_DIR)
|
||||
isEmpty(TOOLS_DIR) {
|
||||
# check for custom enviroment variable,
|
||||
TOOLS_DIR = $$(OPENPILOT_TOOLS_DIR)
|
||||
# fallback to default location.
|
||||
isEmpty(TOOLS_DIR):TOOLS_DIR = $$clean_path($$ROOT_DIR/tools)
|
||||
}
|
||||
isEmpty(TOOLS_DIR):TOOLS_DIR = $$(TOOLS_DIR)
|
||||
isEmpty(TOOLS_DIR):TOOLS_DIR = $$clean_path($$ROOT_DIR/tools)
|
||||
|
||||
# Set the default name of the application
|
||||
isEmpty(GCS_SMALL_NAME):GCS_SMALL_NAME = gcs
|
||||
@ -145,6 +140,8 @@ isEmpty(ORG_BIG_NAME) {
|
||||
ORG_BIG_NAME = "$$ORG_BIG_NAME"
|
||||
}
|
||||
|
||||
isEmpty(GCS_LIBRARY_BASENAME):GCS_LIBRARY_BASENAME = lib
|
||||
|
||||
macx {
|
||||
GCS_APP_TARGET = $$GCS_BIG_NAME
|
||||
GCS_PATH = $$GCS_BUILD_TREE/$${GCS_APP_TARGET}.app/Contents
|
||||
@ -160,7 +157,7 @@ macx {
|
||||
GCS_APP_TARGET = $$GCS_SMALL_NAME
|
||||
GCS_PATH = $$GCS_BUILD_TREE
|
||||
GCS_APP_PATH = $$GCS_PATH/bin
|
||||
GCS_LIBRARY_PATH = $$GCS_PATH/lib/$$GCS_SMALL_NAME
|
||||
GCS_LIBRARY_PATH = $$GCS_PATH/$$GCS_LIBRARY_BASENAME/$$GCS_SMALL_NAME
|
||||
GCS_PLUGIN_PATH = $$GCS_LIBRARY_PATH/plugins
|
||||
GCS_DATA_PATH = $$GCS_PATH/share/$$GCS_SMALL_NAME
|
||||
GCS_DOC_PATH = $$GCS_PATH/share/doc
|
||||
@ -205,6 +202,11 @@ DEPENDPATH += \
|
||||
|
||||
LIBS += -L$$GCS_LIBRARY_PATH
|
||||
|
||||
DEFINES += ORG_BIG_NAME=$$shell_quote(\"$$ORG_BIG_NAME\")
|
||||
DEFINES += GCS_BIG_NAME=$$shell_quote(\"$$GCS_BIG_NAME\")
|
||||
DEFINES += ORG_SMALL_NAME=$$shell_quote(\"$$ORG_SMALL_NAME\")
|
||||
DEFINES += GCS_SMALL_NAME=$$shell_quote(\"$$GCS_SMALL_NAME\")
|
||||
|
||||
# DEFINES += QT_NO_CAST_FROM_ASCII
|
||||
DEFINES += QT_NO_CAST_TO_ASCII
|
||||
#DEFINES += QT_USE_FAST_OPERATOR_PLUS
|
||||
@ -243,3 +245,9 @@ macx {
|
||||
QMAKE_CXXFLAGS_WARN_ON += -Wno-gnu-static-float-init
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
# use ccache when available
|
||||
QMAKE_CC = $$(CCACHE) $$QMAKE_CC
|
||||
QMAKE_CXX = $$(CCACHE) $$QMAKE_CXX
|
||||
|
||||
@ -24,7 +24,7 @@ macx {
|
||||
QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.6
|
||||
}
|
||||
|
||||
include(openpilotgcs.pri)
|
||||
include(gcs.pri)
|
||||
|
||||
TEMPLATE = subdirs
|
||||
CONFIG += ordered
|
||||
@ -3,7 +3,7 @@
|
||||
<plist version="1.0">
|
||||
<dict>
|
||||
<key>CFBundleGetInfoString</key>
|
||||
<string>OpenPilot GCS; Copyright OpenPilot</string>
|
||||
<string>LibrePilot GCS; Copyright LibrePilot</string>
|
||||
<key>CFBundleIconFile</key>
|
||||
<string>@ICON@</string>
|
||||
<key>CFBundlePackageType</key>
|
||||
@ -13,7 +13,7 @@
|
||||
<key>CFBundleExecutable</key>
|
||||
<string>@EXECUTABLE@</string>
|
||||
<key>CFBundleIdentifier</key>
|
||||
<string>org.openpilot.openpilotgcs</string>
|
||||
<string>org.librepilot.gcs</string>
|
||||
<key>CFBundleVersion</key>
|
||||
<string>1.3.1</string>
|
||||
<key>CFBundleShortVersionString</key>
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
include(../../openpilotgcs.pri)
|
||||
include(../../gcs.pri)
|
||||
include(../shared/qtsingleapplication/qtsingleapplication.pri)
|
||||
|
||||
TEMPLATE = app
|
||||
@ -21,16 +21,14 @@ include(../libs/version_info/version_info.pri)
|
||||
LIBS *= -l$$qtLibraryName(ExtensionSystem) -l$$qtLibraryName(Aggregation)
|
||||
|
||||
DEFINES += PLUGIN_REL_PATH=$$shell_quote(\"$$relative_path($$GCS_PLUGIN_PATH, $$GCS_APP_PATH)\")
|
||||
DEFINES += GCS_NAME=$$shell_quote(\"$$GCS_BIG_NAME\")
|
||||
DEFINES += ORG_BIG_NAME=$$shell_quote(\"$$ORG_BIG_NAME\")
|
||||
|
||||
win32 {
|
||||
RC_FILE = librepilotgcs.rc
|
||||
RC_FILE = gcs.rc
|
||||
target.path = /bin
|
||||
INSTALLS += target
|
||||
} else:macx {
|
||||
LIBS += -framework CoreFoundation
|
||||
ICON = librepilotgcs.icns
|
||||
ICON = gcs.icns
|
||||
QMAKE_INFO_PLIST = Info.plist
|
||||
FILETYPES.files = profile.icns prifile.icns
|
||||
FILETYPES.path = Contents/Resources
|
||||
@ -53,7 +51,7 @@ win32 {
|
||||
}
|
||||
}
|
||||
|
||||
OTHER_FILES += librepilotgcs.rc
|
||||
OTHER_FILES += gcs.rc
|
||||
|
||||
RESOURCES += \
|
||||
appresources.qrc
|
||||
|
||||
|
Before Width: | Height: | Size: 26 KiB After Width: | Height: | Size: 26 KiB |
1
ground/gcs/src/app/gcs.rc
Normal file
1
ground/gcs/src/app/gcs.rc
Normal file
@ -0,0 +1 @@
|
||||
IDI_ICON1 ICON DISCARDABLE "gcs.ico"
|
||||
@ -2,7 +2,8 @@
|
||||
******************************************************************************
|
||||
*
|
||||
* @file gcssplashscreen.cpp
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @addtogroup [Group]
|
||||
* @{
|
||||
* @addtogroup GCSSplashScreen
|
||||
@ -28,6 +29,7 @@
|
||||
#include "gcssplashscreen.h"
|
||||
#include "version_info/version_info.h"
|
||||
#include <QDebug>
|
||||
#include <QApplication>
|
||||
|
||||
const QChar CopyrightSymbol(0x00a9);
|
||||
|
||||
@ -44,7 +46,7 @@ GCSSplashScreen::GCSSplashScreen() :
|
||||
|
||||
m_painter->drawText(405, 170, QString(CopyrightSymbol) +
|
||||
QString(" ") + VersionInfo::year() +
|
||||
QString(tr(" The LibrePilot Project - All Rights Reserved")));
|
||||
QString(tr(" The %1 Project - All Rights Reserved").arg(ORG_BIG_NAME)));
|
||||
|
||||
m_painter->drawText(405, 182, QString(CopyrightSymbol) +
|
||||
QString(tr(" 2010-2015 The OpenPilot Project - All Rights Reserved")));
|
||||
@ -74,4 +76,5 @@ void GCSSplashScreen::showPluginLoadingProgress(ExtensionSystem::PluginSpec *plu
|
||||
QString message(tr("Loading ") + pluginSpec->name() + " plugin...");
|
||||
|
||||
drawMessageText(message);
|
||||
qApp->processEvents();
|
||||
}
|
||||
|
||||
@ -1 +0,0 @@
|
||||
IDI_ICON1 ICON DISCARDABLE "librepilotgcs.ico"
|
||||
@ -29,7 +29,7 @@
|
||||
|
||||
/*
|
||||
The GCS application name is defined in the top level makefile - GCS_BIG_NAME / GCS_SMALL_NAME, and
|
||||
set for the build in ../../openpilotgcs.pri and ./app.pro
|
||||
set for the build in ../../gcs.pri and ./app.pro
|
||||
|
||||
The GCS locale is set to the system locale by default unless the "hidden" setting General/Locale has a value.
|
||||
The user can not change General/Locale from the Options dialog.
|
||||
@ -116,7 +116,7 @@ typedef QMap<QString, QString> AppOptionValues;
|
||||
const int OptionIndent = 4;
|
||||
const int DescriptionIndent = 24;
|
||||
|
||||
const QLatin1String APP_NAME(GCS_NAME);
|
||||
const QLatin1String APP_NAME(GCS_BIG_NAME);
|
||||
const QLatin1String ORG_NAME(ORG_BIG_NAME);
|
||||
|
||||
const QLatin1String CORE_PLUGIN_NAME("Core");
|
||||
@ -433,7 +433,7 @@ void loadTranslators(QString language, QTranslator &translator, QTranslator &qtT
|
||||
{
|
||||
const QString &creatorTrPath = Utils::GetDataPath() + QLatin1String("translations");
|
||||
|
||||
if (translator.load(QLatin1String("openpilotgcs_") + language, creatorTrPath)) {
|
||||
if (translator.load(QLatin1String("gcs_") + language, creatorTrPath)) {
|
||||
const QString &qtTrPath = QLibraryInfo::location(QLibraryInfo::TranslationsPath);
|
||||
const QString &qtTrFile = QLatin1String("qt_") + language;
|
||||
// Binary installer puts Qt tr files into creatorTrPath
|
||||
@ -606,7 +606,7 @@ int main(int argc, char * *argv)
|
||||
}
|
||||
if (!errors.isEmpty()) {
|
||||
QMessageBox::warning(0,
|
||||
QCoreApplication::translate("Application", "OpenPilot GCS - Plugin loader messages"),
|
||||
QCoreApplication::translate("Application", "%1 - Plugin loader messages").arg(GCS_BIG_NAME),
|
||||
errors.join(QString::fromLatin1("\n\n")));
|
||||
}
|
||||
}
|
||||
|
||||
Binary file not shown.
@ -1,4 +1,4 @@
|
||||
include(../openpilotgcs.pri)
|
||||
include(../gcs.pri)
|
||||
|
||||
win32 {
|
||||
DLLDESTDIR = $$GCS_APP_PATH
|
||||
@ -19,10 +19,9 @@ macx {
|
||||
} else {
|
||||
QMAKE_RPATHDIR = $$shell_quote(\$$ORIGIN)
|
||||
QMAKE_RPATHDIR += $$shell_quote(\$$ORIGIN/$$relative_path($$GCS_QT_LIBRARY_PATH, $$GCS_LIBRARY_PATH))
|
||||
QMAKE_RPATHDIR += $$shell_quote(\$$ORIGIN/$$relative_path($$GCS_LIBRARY_PATH/osg, $$GCS_LIBRARY_PATH))
|
||||
include(rpath.pri)
|
||||
|
||||
target.path = /$$GCS_LIBRARY_BASENAME/openpilotgcs
|
||||
target.path = /$$GCS_LIBRARY_BASENAME/gcs
|
||||
}
|
||||
INSTALLS += target
|
||||
}
|
||||
@ -1,7 +1,7 @@
|
||||
TEMPLATE = lib
|
||||
TARGET = Aggregation
|
||||
|
||||
include(../../openpilotgcslibrary.pri)
|
||||
include(../../library.pri)
|
||||
|
||||
DEFINES += AGGREGATION_LIBRARY
|
||||
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
TEMPLATE = lib
|
||||
TARGET = ExtensionSystem
|
||||
DEFINES += EXTENSIONSYSTEM_LIBRARY
|
||||
include(../../openpilotgcslibrary.pri)
|
||||
include(../../library.pri)
|
||||
include(extensionsystem_dependencies.pri)
|
||||
|
||||
unix:!macx:!freebsd*:LIBS += -ldl
|
||||
|
||||
@ -3,7 +3,7 @@ TARGET = GLC_lib
|
||||
#VERSION = 2.2.0
|
||||
|
||||
DEFINES += GLC_LIB_LIBRARY
|
||||
include(../../openpilotgcslibrary.pri)
|
||||
include(../../library.pri)
|
||||
|
||||
QT += core opengl
|
||||
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
TEMPLATE = lib
|
||||
TARGET = opmapwidget
|
||||
DEFINES += OPMAPWIDGET_LIBRARY
|
||||
include(../../../../openpilotgcslibrary.pri)
|
||||
include(../../../../library.pri)
|
||||
|
||||
# DESTDIR = ../build
|
||||
SOURCES += mapgraphicitem.cpp \
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
TEMPLATE = lib
|
||||
TARGET = QScienceSpinBox
|
||||
|
||||
include(../../openpilotgcslibrary.pri)
|
||||
include(../../library.pri)
|
||||
|
||||
QT += widgets
|
||||
|
||||
|
||||
@ -2,7 +2,7 @@ TEMPLATE = lib
|
||||
TARGET = QtConcurrent
|
||||
DEFINES += BUILD_QTCONCURRENT
|
||||
|
||||
include(../../openpilotgcslibrary.pri)
|
||||
include(../../library.pri)
|
||||
|
||||
HEADERS += \
|
||||
qtconcurrent_global.h \
|
||||
|
||||
@ -33,7 +33,7 @@ DEFINES += QWT_LIBRARY
|
||||
# defined. Otherwise the debug version of the library
|
||||
# will not have the 'd' suffix it needs.
|
||||
#
|
||||
include(../../../openpilotgcslibrary.pri)
|
||||
include(../../../library.pri)
|
||||
|
||||
# disable all warnings (no need for warnings as qwt sources are imported)
|
||||
CONFIG += warn_off
|
||||
|
||||
@ -22,7 +22,7 @@ TEMPLATE = lib
|
||||
TARGET = sdlgamepad
|
||||
DEFINES += SDLGAMEPAD_LIBRARY
|
||||
|
||||
include(../../openpilotgcslibrary.pri)
|
||||
include(../../library.pri)
|
||||
|
||||
macx {
|
||||
# Ensures that SDL framework and header files are found when compiled with Qt5.2.1
|
||||
|
||||
@ -5,7 +5,7 @@ QT += network xml svg opengl gui widgets qml quick quickwidgets
|
||||
|
||||
DEFINES += QTCREATOR_UTILS_LIB
|
||||
|
||||
include(../../openpilotgcslibrary.pri)
|
||||
include(../../library.pri)
|
||||
|
||||
DEFINES += DATA_REL_PATH=$$shell_quote(\"$$relative_path($$GCS_DATA_PATH, $$GCS_APP_PATH)\")
|
||||
DEFINES += LIB_REL_PATH=$$shell_quote(\"$$relative_path($$GCS_LIBRARY_PATH, $$GCS_PATH)\")
|
||||
|
||||
@ -36,6 +36,7 @@
|
||||
#include <QSettings>
|
||||
#include <QDomElement>
|
||||
#include <QObject>
|
||||
#include <QDataStream>
|
||||
|
||||
class XMLCONFIG_EXPORT XmlConfig : QObject {
|
||||
Q_OBJECT
|
||||
|
||||
@ -1,7 +1,8 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file version_info.cpp
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
|
||||
* @addtogroup VersionInfo
|
||||
* @{
|
||||
* @brief This file includes autogenerated version info data file.
|
||||
@ -24,4 +25,4 @@
|
||||
*/
|
||||
|
||||
#include "version_info.h"
|
||||
#include "../../../../build/openpilotgcs-synthetics/version_info.cpp"
|
||||
#include "../../../../build/gcs-synthetics/version_info.cpp"
|
||||
|
||||
@ -1,11 +1,12 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file version_info.cpp.template
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
|
||||
* @addtogroup VersionInfo
|
||||
* @{
|
||||
* @brief The template file used to generate the real source file called
|
||||
* build/openpilotgcs-synthetics/version_info.cpp
|
||||
* build/gcs-synthetics/version_info.cpp
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
TEMPLATE = lib
|
||||
TARGET = VersionInfo
|
||||
|
||||
include(../../openpilotgcslibrary.pri)
|
||||
include(../../library.pri)
|
||||
include(../../python.pri)
|
||||
|
||||
HEADERS = version_info.h
|
||||
@ -17,7 +17,7 @@ SOURCES = version_info.cpp
|
||||
# Since debug_and_release option is set, we need this
|
||||
!debug_and_release|build_pass {
|
||||
# Define other variables
|
||||
VERSION_INFO_DIR = $$GCS_BUILD_TREE/../openpilotgcs-synthetics
|
||||
VERSION_INFO_DIR = $$GCS_BUILD_TREE/../gcs-synthetics
|
||||
VERSION_INFO_SCRIPT = $$ROOT_DIR/make/scripts/version-info.py
|
||||
VERSION_INFO_COMMAND = $$PYTHON \"$$VERSION_INFO_SCRIPT\"
|
||||
VERSION_INFO_TEMPLATE = $$GCS_SOURCE_TREE/src/libs/version_info/version_info.cpp.template
|
||||
|
||||
@ -1,8 +1,6 @@
|
||||
include(../openpilotgcs.pri)
|
||||
include(../gcs.pri)
|
||||
|
||||
isEmpty(PROVIDER) {
|
||||
PROVIDER = OpenPilot
|
||||
}
|
||||
isEmpty(PROVIDER):PROVIDER = "$$ORG_BIG_NAME"
|
||||
|
||||
DESTDIR = $$GCS_PLUGIN_PATH/$$PROVIDER
|
||||
LIBS += -L$$DESTDIR
|
||||
@ -33,7 +31,6 @@ macx {
|
||||
QMAKE_RPATHDIR = $$shell_quote(\$$ORIGIN)
|
||||
QMAKE_RPATHDIR += $$shell_quote(\$$ORIGIN/$$relative_path($$GCS_LIBRARY_PATH, $$DESTDIR))
|
||||
QMAKE_RPATHDIR += $$shell_quote(\$$ORIGIN/$$relative_path($$GCS_QT_LIBRARY_PATH, $$DESTDIR))
|
||||
QMAKE_RPATHDIR += $$shell_quote(\$$ORIGIN/$$relative_path($$GCS_LIBRARY_PATH/osg, $$DESTDIR))
|
||||
include(rpath.pri)
|
||||
}
|
||||
|
||||
@ -43,8 +40,8 @@ contains(QT_CONFIG, reduce_exports):CONFIG += hGCS_symbols
|
||||
CONFIG += plugin plugin_with_soname
|
||||
|
||||
!macx {
|
||||
target.path = /$$GCS_LIBRARY_BASENAME/openpilotgcs/plugins/$$PROVIDER
|
||||
target.path = /$$GCS_LIBRARY_BASENAME/gcs/plugins/$$PROVIDER
|
||||
pluginspec.files += $${TARGET}.pluginspec
|
||||
pluginspec.path = /$$GCS_LIBRARY_BASENAME/openpilotgcs/plugins/$$PROVIDER
|
||||
pluginspec.path = /$$GCS_LIBRARY_BASENAME/gcs/plugins/$$PROVIDER
|
||||
INSTALLS += target pluginspec
|
||||
}
|
||||
@ -1,7 +1,7 @@
|
||||
TEMPLATE = lib
|
||||
TARGET = AntennaTrack
|
||||
QT += serialport
|
||||
include(../../openpilotgcsplugin.pri)
|
||||
include(../../plugin.pri)
|
||||
include(../../plugins/coreplugin/coreplugin.pri)
|
||||
include(antennatrack_dependencies.pri)
|
||||
include(../../libs/qwt/qwt.pri)
|
||||
|
||||
@ -1050,7 +1050,7 @@ margin:1px;
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>200</width>
|
||||
<width>220</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
@ -1098,13 +1098,13 @@ margin:1px;
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<width>100</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>100</width>
|
||||
<width>120</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
@ -1120,13 +1120,13 @@ margin:1px;
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<width>100</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>100</width>
|
||||
<width>120</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
@ -1195,7 +1195,7 @@ margin:1px;
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>200</width>
|
||||
<width>220</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
@ -1265,13 +1265,13 @@ margin:1px;
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<width>100</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>100</width>
|
||||
<width>120</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
@ -1287,13 +1287,13 @@ margin:1px;
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<width>100</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>100</width>
|
||||
<width>120</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
@ -1312,13 +1312,13 @@ margin:1px;
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<width>100</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>100</width>
|
||||
<width>120</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
@ -1359,13 +1359,13 @@ margin:1px;
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<width>100</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>100</width>
|
||||
<width>120</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
@ -1426,13 +1426,13 @@ margin:1px;
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>85</width>
|
||||
<width>100</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>100</width>
|
||||
<width>120</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
@ -1504,7 +1504,7 @@ margin:1px;
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>200</width>
|
||||
<width>220</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
@ -1844,7 +1844,7 @@ margin:1px;
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>200</width>
|
||||
<width>220</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
|
||||
@ -222,7 +222,7 @@ margin:1px;</string>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<width>65</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
@ -290,7 +290,7 @@ margin:1px;</string>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<width>65</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
@ -326,6 +326,77 @@ margin:1px;</string>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_3">
|
||||
<item>
|
||||
<widget class="QLabel" name="elevonLabel3">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
font: bold 12px;
|
||||
margin:1px;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string> Roll Diff</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QSlider" name="elevonSlider3">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>65</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Value of Roll differential in percent</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>-100</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>100</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="elevonSliderLabel3">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
@ -735,5 +806,21 @@ margin:1px;</string>
|
||||
</hint>
|
||||
</hints>
|
||||
</connection>
|
||||
<connection>
|
||||
<sender>elevonSlider3</sender>
|
||||
<signal>valueChanged(int)</signal>
|
||||
<receiver>elevonSliderLabel3</receiver>
|
||||
<slot>setNum(int)</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>511</x>
|
||||
<y>222</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>511</x>
|
||||
<y>378</y>
|
||||
</hint>
|
||||
</hints>
|
||||
</connection>
|
||||
</connections>
|
||||
</ui>
|
||||
|
||||
658
ground/gcs/src/plugins/config/cc_hw_settings.ui
Normal file
658
ground/gcs/src/plugins/config/cc_hw_settings.ui
Normal file
@ -0,0 +1,658 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<ui version="4.0">
|
||||
<class>CC_HW_Widget</class>
|
||||
<widget class="QWidget" name="CC_HW_Widget">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>646</width>
|
||||
<height>596</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="windowTitle">
|
||||
<string>Form</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout">
|
||||
<item>
|
||||
<widget class="QTabWidget" name="tabWidget">
|
||||
<property name="currentIndex">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="tab">
|
||||
<attribute name="title">
|
||||
<string>HW settings</string>
|
||||
</attribute>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_3">
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QScrollArea" name="scrollArea">
|
||||
<property name="palette">
|
||||
<palette>
|
||||
<active>
|
||||
<colorrole role="Base">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="255">
|
||||
<red>255</red>
|
||||
<green>255</green>
|
||||
<blue>255</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
<colorrole role="Window">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="0">
|
||||
<red>232</red>
|
||||
<green>232</green>
|
||||
<blue>232</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
</active>
|
||||
<inactive>
|
||||
<colorrole role="Base">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="255">
|
||||
<red>255</red>
|
||||
<green>255</green>
|
||||
<blue>255</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
<colorrole role="Window">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="0">
|
||||
<red>232</red>
|
||||
<green>232</green>
|
||||
<blue>232</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
</inactive>
|
||||
<disabled>
|
||||
<colorrole role="Base">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="0">
|
||||
<red>232</red>
|
||||
<green>232</green>
|
||||
<blue>232</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
<colorrole role="Window">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="0">
|
||||
<red>232</red>
|
||||
<green>232</green>
|
||||
<blue>232</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
</disabled>
|
||||
</palette>
|
||||
</property>
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::NoFrame</enum>
|
||||
</property>
|
||||
<property name="frameShadow">
|
||||
<enum>QFrame::Plain</enum>
|
||||
</property>
|
||||
<property name="widgetResizable">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<widget class="QWidget" name="scrollAreaWidgetContents">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>624</width>
|
||||
<height>510</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_3">
|
||||
<property name="leftMargin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<item row="6" column="0" colspan="3">
|
||||
<widget class="QGroupBox" name="groupBox_2">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Minimum">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>50</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Messages</string>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
||||
<item>
|
||||
<widget class="QLabel" name="problems">
|
||||
<property name="font">
|
||||
<font>
|
||||
<weight>75</weight>
|
||||
<bold>true</bold>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="textFormat">
|
||||
<enum>Qt::AutoText</enum>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_6">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>500</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>500</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<weight>75</weight>
|
||||
<bold>true</bold>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Changes on this page only take effect after board reset or power cycle</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<spacer name="verticalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout">
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_2">
|
||||
<item row="0" column="1">
|
||||
<widget class="QComboBox" name="telemetrySpeed">
|
||||
<property name="toolTip">
|
||||
<string>Select the speed here.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="GpsSpeedLabel">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>55</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>GPS speed:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QLabel" name="telemetrySpeedLabel">
|
||||
<property name="text">
|
||||
<string>Telemetry speed:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QComboBox" name="comUsbBridgeSpeed">
|
||||
<property name="toolTip">
|
||||
<string>Select the speed here.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QComboBox" name="gpsSpeed">
|
||||
<property name="toolTip">
|
||||
<string>Select the speed here.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="ComUsbBridgeSpeedLabel">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>55</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>ComUsbBridge speed:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QLabel" name="GpsProtocolLabel">
|
||||
<property name="text">
|
||||
<string>GPS protocol :</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QComboBox" name="gpsProtocol"/>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_3">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0,0,0">
|
||||
<item row="4" column="0">
|
||||
<widget class="QComboBox" name="cbFlexi"/>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QComboBox" name="cbTele"/>
|
||||
</item>
|
||||
<item row="3" column="3">
|
||||
<widget class="QLabel" name="label_8">
|
||||
<property name="text">
|
||||
<string>USB HID Port</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QLabel" name="label_4">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="3">
|
||||
<widget class="QLabel" name="label_9">
|
||||
<property name="text">
|
||||
<string>USB VCP Port</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1" rowspan="5" colspan="2">
|
||||
<widget class="QLabel" name="label_2">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="scaledContents">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QLabel" name="label_3">
|
||||
<property name="text">
|
||||
<string>Main Port</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QLabel" name="label_5">
|
||||
<property name="text">
|
||||
<string>Flexi Port</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="3">
|
||||
<widget class="QComboBox" name="cbUsbHid"/>
|
||||
</item>
|
||||
<item row="4" column="4">
|
||||
<spacer name="horizontalSpacer_2">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="6" column="3">
|
||||
<widget class="QComboBox" name="cbUsbVcp"/>
|
||||
</item>
|
||||
<item row="2" column="1" colspan="2" alignment="Qt::AlignLeft">
|
||||
<widget class="QComboBox" name="cbRcvr"/>
|
||||
</item>
|
||||
<item row="1" column="1" colspan="2" alignment="Qt::AlignLeft">
|
||||
<widget class="QLabel" name="label_7">
|
||||
<property name="text">
|
||||
<string>Receiver Port</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<spacer name="horizontalSpacer_4">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<spacer name="horizontalSpacer_5">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<spacer name="verticalSpacer_2">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Fixed</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>10</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_2">
|
||||
<property name="spacing">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>369</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="cchwHelp">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>25</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>25</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Takes you to the wiki page</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="icon">
|
||||
<iconset resource="../coreplugin/core.qrc">
|
||||
<normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
|
||||
</property>
|
||||
<property name="iconSize">
|
||||
<size>
|
||||
<width>25</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="flat">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="saveTelemetryToRAM">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="palette">
|
||||
<palette>
|
||||
<active>
|
||||
<colorrole role="Base">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="0">
|
||||
<red>255</red>
|
||||
<green>255</green>
|
||||
<blue>255</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
<colorrole role="Window">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="255">
|
||||
<red>232</red>
|
||||
<green>232</green>
|
||||
<blue>232</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
</active>
|
||||
<inactive>
|
||||
<colorrole role="Base">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="0">
|
||||
<red>255</red>
|
||||
<green>255</green>
|
||||
<blue>255</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
<colorrole role="Window">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="255">
|
||||
<red>232</red>
|
||||
<green>232</green>
|
||||
<blue>232</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
</inactive>
|
||||
<disabled>
|
||||
<colorrole role="Base">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="255">
|
||||
<red>232</red>
|
||||
<green>232</green>
|
||||
<blue>232</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
<colorrole role="Window">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="255">
|
||||
<red>232</red>
|
||||
<green>232</green>
|
||||
<blue>232</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
</disabled>
|
||||
</palette>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Send to board but don't write in SD.
|
||||
Beware of not locking yourself out!</string>
|
||||
</property>
|
||||
<property name="autoFillBackground">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true"/>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Apply</string>
|
||||
</property>
|
||||
<property name="iconSize">
|
||||
<size>
|
||||
<width>16</width>
|
||||
<height>16</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="checkable">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="saveTelemetryToSD">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Applies and Saves all settings to SD.
|
||||
Beware of not locking yourself out!</string>
|
||||
</property>
|
||||
<property name="autoFillBackground">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true"/>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Save</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<resources>
|
||||
<include location="../coreplugin/core.qrc"/>
|
||||
</resources>
|
||||
<connections/>
|
||||
</ui>
|
||||
597
ground/gcs/src/plugins/config/ccattitude.ui
Normal file
597
ground/gcs/src/plugins/config/ccattitude.ui
Normal file
@ -0,0 +1,597 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<ui version="4.0">
|
||||
<class>ccattitude</class>
|
||||
<widget class="QWidget" name="ccattitude">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>780</width>
|
||||
<height>566</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="windowTitle">
|
||||
<string>Form</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_5">
|
||||
<item>
|
||||
<widget class="QTabWidget" name="tabWidget">
|
||||
<property name="currentIndex">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="Attitude">
|
||||
<attribute name="title">
|
||||
<string>Attitude</string>
|
||||
</attribute>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_3">
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QScrollArea" name="scrollArea">
|
||||
<property name="palette">
|
||||
<palette>
|
||||
<active>
|
||||
<colorrole role="Base">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="255">
|
||||
<red>255</red>
|
||||
<green>255</green>
|
||||
<blue>255</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
<colorrole role="Window">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="0">
|
||||
<red>232</red>
|
||||
<green>232</green>
|
||||
<blue>232</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
</active>
|
||||
<inactive>
|
||||
<colorrole role="Base">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="255">
|
||||
<red>255</red>
|
||||
<green>255</green>
|
||||
<blue>255</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
<colorrole role="Window">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="0">
|
||||
<red>232</red>
|
||||
<green>232</green>
|
||||
<blue>232</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
</inactive>
|
||||
<disabled>
|
||||
<colorrole role="Base">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="0">
|
||||
<red>232</red>
|
||||
<green>232</green>
|
||||
<blue>232</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
<colorrole role="Window">
|
||||
<brush brushstyle="SolidPattern">
|
||||
<color alpha="0">
|
||||
<red>232</red>
|
||||
<green>232</green>
|
||||
<blue>232</blue>
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
</disabled>
|
||||
</palette>
|
||||
</property>
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::NoFrame</enum>
|
||||
</property>
|
||||
<property name="frameShadow">
|
||||
<enum>QFrame::Plain</enum>
|
||||
</property>
|
||||
<property name="widgetResizable">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<widget class="QWidget" name="scrollAreaWidgetContents">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>758</width>
|
||||
<height>486</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout">
|
||||
<property name="leftMargin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox">
|
||||
<property name="title">
|
||||
<string>Rotate virtual attitude relative to board</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1,0,1,0,1,0">
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_2">
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Roll</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QSpinBox" name="rollBias">
|
||||
<property name="minimum">
|
||||
<number>-180</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>180</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="4">
|
||||
<spacer name="horizontalSpacer_9">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="1" column="5">
|
||||
<widget class="QSpinBox" name="yawBias">
|
||||
<property name="minimum">
|
||||
<number>-180</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>180</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="5">
|
||||
<widget class="QLabel" name="label_4">
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Yaw</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<spacer name="horizontalSpacer_8">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="0" column="3">
|
||||
<widget class="QLabel" name="label_3">
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Pitch</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="3">
|
||||
<widget class="QSpinBox" name="pitchBias">
|
||||
<property name="minimum">
|
||||
<number>-90</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>90</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<spacer name="horizontalSpacer_7">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="1" column="6">
|
||||
<spacer name="horizontalSpacer_10">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_2">
|
||||
<property name="title">
|
||||
<string>Calibration</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_2">
|
||||
<item row="0" column="0" colspan="3">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_2">
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_2">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label">
|
||||
<property name="text">
|
||||
<string>Place aircraft very flat, and then click level to compute the accelerometer and gyro bias</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_3">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QPushButton" name="zeroBias">
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>500</width>
|
||||
<height>16777215</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Launch horizontal calibration.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Level</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<spacer name="horizontalSpacer_4">
|
||||
<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="1" column="2">
|
||||
<widget class="QProgressBar" name="zeroBiasProgress">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>300</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0" colspan="3">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
||||
<item>
|
||||
<widget class="QCheckBox" name="zeroGyroBiasOnArming">
|
||||
<property name="toolTip">
|
||||
<string>If enabled, a fast recalibration of gyro zero point will be done
|
||||
whenever the frame is armed. Do not move the airframe while
|
||||
arming it in that case!</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Zero gyros while arming aircraft</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_6">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_3">
|
||||
<property name="title">
|
||||
<string>Filtering</string>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_5">
|
||||
<item>
|
||||
<widget class="QLabel" name="label_5">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Accelerometers</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_12">
|
||||
<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>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QDoubleSpinBox" name="accelTauSpinbox">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>60</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Accelerometer filtering.
|
||||
|
||||
Sets the amount of lowpass filtering of accelerometer data
|
||||
for the attitude estimation. Higher values apply a stronger
|
||||
filter, which may help with drifting in attitude mode.
|
||||
|
||||
Range: 0.00 - 0.20, Good starting value: 0.05 - 0.10
|
||||
Start low and raise until drift stops.
|
||||
|
||||
A setting of 0.00 disables the filter.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>0.200000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_5">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</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>10</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout">
|
||||
<property name="spacing">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>380</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="ccAttitudeHelp">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>25</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Takes you to the wiki page</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="icon">
|
||||
<iconset resource="../coreplugin/core.qrc">
|
||||
<normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
|
||||
</property>
|
||||
<property name="iconSize">
|
||||
<size>
|
||||
<width>25</width>
|
||||
<height>25</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="flat">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="applyButton">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Apply</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="saveButton">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Click to permanently save the accel bias in the CopterControl Flash.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Save</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<resources>
|
||||
<include location="../coreplugin/core.qrc"/>
|
||||
</resources>
|
||||
<connections/>
|
||||
</ui>
|
||||
@ -2,7 +2,8 @@
|
||||
******************************************************************************
|
||||
*
|
||||
* @file configccpmwidget.cpp
|
||||
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
* E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup ConfigPlugin Config Plugin
|
||||
@ -254,7 +255,7 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) :
|
||||
connect(m_aircraft->ccpmCollectivespinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
|
||||
connect(m_aircraft->ccpmType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType()));
|
||||
connect(m_aircraft->ccpmSingleServo, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType()));
|
||||
connect(m_aircraft->TabObject, SIGNAL(currentChanged(QWidget *)), this, SLOT(UpdateType()));
|
||||
connect(m_aircraft->TabObject, SIGNAL(currentChanged(int)), this, SLOT(UpdateType()));
|
||||
|
||||
connect(m_aircraft->SwashLvlStartButton, SIGNAL(clicked()), this, SLOT(SwashLvlStartButtonPressed()));
|
||||
connect(m_aircraft->SwashLvlNextButton, SIGNAL(clicked()), this, SLOT(SwashLvlNextButtonPressed()));
|
||||
@ -384,49 +385,21 @@ QString ConfigCcpmWidget::updateConfigObjectsFromWidgets()
|
||||
|
||||
void ConfigCcpmWidget::UpdateType()
|
||||
{
|
||||
int TypeInt, SingleServoIndex, NumServosDefined;
|
||||
int SingleServoIndex, NumServosDefined;
|
||||
double AdjustmentAngle = 0;
|
||||
|
||||
SetUIComponentVisibilities();
|
||||
|
||||
TypeInt = m_aircraft->ccpmType->count() - m_aircraft->ccpmType->currentIndex() - 1;
|
||||
TypeText = m_aircraft->ccpmType->currentText();
|
||||
typeText = m_aircraft->ccpmType->currentText();
|
||||
SingleServoIndex = m_aircraft->ccpmSingleServo->currentIndex();
|
||||
|
||||
// set visibility of user settings (When Custom)
|
||||
m_aircraft->ccpmAdvancedSettingsTable->setEnabled(TypeInt == 0);
|
||||
|
||||
// Clear advanced settings table if not Custom selected (Keep previous settings)
|
||||
if (TypeText.compare(QString::fromUtf8("Custom - Advanced Settings"), Qt::CaseInsensitive) != 0) {
|
||||
m_aircraft->ccpmAdvancedSettingsTable->clearFocus();
|
||||
}
|
||||
|
||||
m_aircraft->ccpmAngleW->setEnabled(TypeInt == 1);
|
||||
m_aircraft->ccpmAngleX->setEnabled(TypeInt == 1);
|
||||
m_aircraft->ccpmAngleY->setEnabled(TypeInt == 1);
|
||||
m_aircraft->ccpmAngleZ->setEnabled(TypeInt == 1);
|
||||
m_aircraft->ccpmCorrectionAngle->setEnabled(TypeInt != 0);
|
||||
|
||||
m_aircraft->ccpmServoWChannel->setEnabled(TypeInt > 0);
|
||||
m_aircraft->ccpmServoXChannel->setEnabled(TypeInt > 0);
|
||||
m_aircraft->ccpmServoYChannel->setEnabled(TypeInt > 0);
|
||||
m_aircraft->ccpmServoZChannel->setEnabled(TypeInt > 0);
|
||||
m_aircraft->ccpmSingleServo->setEnabled(TypeInt > 1);
|
||||
|
||||
m_aircraft->ccpmEngineChannel->setEnabled(TypeInt > 0);
|
||||
m_aircraft->ccpmTailChannel->setEnabled(TypeInt > 0);
|
||||
m_aircraft->ccpmCollectiveSlider->setEnabled(TypeInt > 0);
|
||||
m_aircraft->ccpmCollectivespinBox->setEnabled(TypeInt > 0);
|
||||
m_aircraft->ccpmRevoSlider->setEnabled(TypeInt > 0);
|
||||
m_aircraft->ccpmREVOspinBox->setEnabled(TypeInt > 0);
|
||||
|
||||
AdjustmentAngle = SingleServoIndex * 90;
|
||||
AdjustmentAngle = SingleServoIndex * 90;
|
||||
|
||||
m_aircraft->PitchCurve->setVisible(1);
|
||||
|
||||
NumServosDefined = 4;
|
||||
// set values for pre defined heli types
|
||||
if (TypeText.compare(QString::fromUtf8("CCPM 2 Servo 90º"), Qt::CaseInsensitive) == 0) {
|
||||
if (typeText.compare(QString::fromUtf8("CCPM 2 Servo 90º"), Qt::CaseInsensitive) == 0) {
|
||||
m_aircraft->ccpmAngleW->setValue(AdjustmentAngle + 0);
|
||||
m_aircraft->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90, 360));
|
||||
m_aircraft->ccpmAngleY->setValue(0);
|
||||
@ -438,7 +411,7 @@ void ConfigCcpmWidget::UpdateType()
|
||||
m_aircraft->ccpmServoYChannel->setEnabled(0);
|
||||
m_aircraft->ccpmServoZChannel->setEnabled(0);
|
||||
NumServosDefined = 2;
|
||||
} else if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 90º"), Qt::CaseInsensitive) == 0) {
|
||||
} else if (typeText.compare(QString::fromUtf8("CCPM 3 Servo 90º"), Qt::CaseInsensitive) == 0) {
|
||||
m_aircraft->ccpmAngleW->setValue(AdjustmentAngle + 0);
|
||||
m_aircraft->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90, 360));
|
||||
m_aircraft->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180, 360));
|
||||
@ -447,7 +420,7 @@ void ConfigCcpmWidget::UpdateType()
|
||||
m_aircraft->ccpmServoZChannel->setCurrentIndex(0);
|
||||
m_aircraft->ccpmServoZChannel->setEnabled(0);
|
||||
NumServosDefined = 3;
|
||||
} else if (TypeText.compare(QString::fromUtf8("CCPM 4 Servo 90º"), Qt::CaseInsensitive) == 0) {
|
||||
} else if (typeText.compare(QString::fromUtf8("CCPM 4 Servo 90º"), Qt::CaseInsensitive) == 0) {
|
||||
m_aircraft->ccpmAngleW->setValue(AdjustmentAngle + 0);
|
||||
m_aircraft->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90, 360));
|
||||
m_aircraft->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180, 360));
|
||||
@ -455,7 +428,7 @@ void ConfigCcpmWidget::UpdateType()
|
||||
m_aircraft->ccpmSingleServo->setEnabled(0);
|
||||
m_aircraft->ccpmSingleServo->setCurrentIndex(0);
|
||||
NumServosDefined = 4;
|
||||
} else if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 120º"), Qt::CaseInsensitive) == 0) {
|
||||
} else if (typeText.compare(QString::fromUtf8("CCPM 3 Servo 120º"), Qt::CaseInsensitive) == 0) {
|
||||
m_aircraft->ccpmAngleW->setValue(AdjustmentAngle + 0);
|
||||
m_aircraft->ccpmAngleX->setValue(fmod(AdjustmentAngle + 120, 360));
|
||||
m_aircraft->ccpmAngleY->setValue(fmod(AdjustmentAngle + 240, 360));
|
||||
@ -464,7 +437,7 @@ void ConfigCcpmWidget::UpdateType()
|
||||
m_aircraft->ccpmServoZChannel->setCurrentIndex(0);
|
||||
m_aircraft->ccpmServoZChannel->setEnabled(0);
|
||||
NumServosDefined = 3;
|
||||
} else if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 140º"), Qt::CaseInsensitive) == 0) {
|
||||
} else if (typeText.compare(QString::fromUtf8("CCPM 3 Servo 140º"), Qt::CaseInsensitive) == 0) {
|
||||
m_aircraft->ccpmAngleW->setValue(AdjustmentAngle + 0);
|
||||
m_aircraft->ccpmAngleX->setValue(fmod(AdjustmentAngle + 140, 360));
|
||||
m_aircraft->ccpmAngleY->setValue(fmod(AdjustmentAngle + 220, 360));
|
||||
@ -473,7 +446,7 @@ void ConfigCcpmWidget::UpdateType()
|
||||
m_aircraft->ccpmServoZChannel->setCurrentIndex(0);
|
||||
m_aircraft->ccpmServoZChannel->setEnabled(0);
|
||||
NumServosDefined = 3;
|
||||
} else if (TypeText.compare(QString::fromUtf8("FP 2 Servo 90º"), Qt::CaseInsensitive) == 0) {
|
||||
} else if (typeText.compare(QString::fromUtf8("FP 2 Servo 90º"), Qt::CaseInsensitive) == 0) {
|
||||
m_aircraft->ccpmAngleW->setValue(AdjustmentAngle + 0);
|
||||
m_aircraft->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90, 360));
|
||||
m_aircraft->ccpmAngleY->setValue(0);
|
||||
@ -491,7 +464,7 @@ void ConfigCcpmWidget::UpdateType()
|
||||
m_aircraft->ccpmCollectiveSlider->setValue(0);
|
||||
m_aircraft->PitchCurve->setVisible(0);
|
||||
NumServosDefined = 2;
|
||||
} else if (TypeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive) == 0) {
|
||||
} else if (typeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive) == 0) {
|
||||
m_aircraft->ccpmAngleW->setValue(AdjustmentAngle + 0);
|
||||
m_aircraft->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90, 360));
|
||||
m_aircraft->ccpmAngleY->setValue(0);
|
||||
@ -512,7 +485,7 @@ void ConfigCcpmWidget::UpdateType()
|
||||
}
|
||||
|
||||
// Set the text of the motor boxes
|
||||
if (TypeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive) == 0) {
|
||||
if (typeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive) == 0) {
|
||||
m_aircraft->ccpmEngineLabel->setText("CW motor");
|
||||
m_aircraft->ccpmTailLabel->setText("CCW motor");
|
||||
} else {
|
||||
@ -671,9 +644,14 @@ void ConfigCcpmWidget::UpdateMixer()
|
||||
float ThisAngle[6];
|
||||
QString Channel;
|
||||
|
||||
if (throwConfigError(QString("HeliCP"))) {
|
||||
int typeInt = m_aircraft->ccpmType->count() - m_aircraft->ccpmType->currentIndex() - 1;
|
||||
|
||||
// Exit if currently updatingToHardware or ConfigError
|
||||
// Avoid mixer changes if something wrong in config
|
||||
if (throwConfigError(typeInt) || updatingToHardware) {
|
||||
return;
|
||||
}
|
||||
|
||||
GUIConfigDataUnion config = getConfigData();
|
||||
|
||||
useCCPM = !(config.heli.ccpmCollectivePassthroughState || !config.heli.ccpmLinkCyclicState);
|
||||
@ -694,16 +672,18 @@ void ConfigCcpmWidget::UpdateMixer()
|
||||
;
|
||||
}
|
||||
}
|
||||
int TypeInt = m_aircraft->ccpmType->count() - m_aircraft->ccpmType->currentIndex() - 1;
|
||||
if (TypeInt != 0) { // not advanced settings
|
||||
// get the channel data from the ui
|
||||
MixerChannelData[0] = m_aircraft->ccpmEngineChannel->currentIndex();
|
||||
MixerChannelData[1] = m_aircraft->ccpmTailChannel->currentIndex();
|
||||
MixerChannelData[2] = m_aircraft->ccpmServoWChannel->currentIndex();
|
||||
MixerChannelData[3] = m_aircraft->ccpmServoXChannel->currentIndex();
|
||||
MixerChannelData[4] = m_aircraft->ccpmServoYChannel->currentIndex();
|
||||
MixerChannelData[5] = m_aircraft->ccpmServoZChannel->currentIndex();
|
||||
|
||||
// get the channel data from the ui
|
||||
MixerChannelData[0] = m_aircraft->ccpmEngineChannel->currentIndex();
|
||||
MixerChannelData[1] = m_aircraft->ccpmTailChannel->currentIndex();
|
||||
MixerChannelData[2] = m_aircraft->ccpmServoWChannel->currentIndex();
|
||||
MixerChannelData[3] = m_aircraft->ccpmServoXChannel->currentIndex();
|
||||
MixerChannelData[4] = m_aircraft->ccpmServoYChannel->currentIndex();
|
||||
MixerChannelData[5] = m_aircraft->ccpmServoZChannel->currentIndex();
|
||||
|
||||
QTableWidget *table = m_aircraft->ccpmAdvancedSettingsTable;
|
||||
|
||||
if (typeInt != 0) { // not advanced settings
|
||||
// get the angle data from the ui
|
||||
ThisAngle[2] = m_aircraft->ccpmAngleW->value();
|
||||
ThisAngle[3] = m_aircraft->ccpmAngleX->value();
|
||||
@ -722,11 +702,9 @@ void ConfigCcpmWidget::UpdateMixer()
|
||||
ServosText[3]->setPlainText(QString("%1").arg(MixerChannelData[5]));
|
||||
|
||||
// go through the user data and update the mixer matrix
|
||||
QTableWidget *table = m_aircraft->ccpmAdvancedSettingsTable;
|
||||
for (int i = 0; i < 6; i++) {
|
||||
if ((MixerChannelData[i] > 0) && ((ThisEnable[i]) || (i < 2))) {
|
||||
if (((MixerChannelData[i] > 0) && ThisEnable[i]) || (i < 2)) {
|
||||
table->item(i, 0)->setText(QString("%1").arg(MixerChannelData[i]));
|
||||
|
||||
// Generate the mixer vector
|
||||
if (i == 0) { // main motor-engine
|
||||
table->item(i, 1)->setText(QString("%1").arg(127)); // ThrottleCurve1
|
||||
@ -734,7 +712,7 @@ void ConfigCcpmWidget::UpdateMixer()
|
||||
table->item(i, 3)->setText(QString("%1").arg(0)); // Roll
|
||||
table->item(i, 4)->setText(QString("%1").arg(0)); // Pitch
|
||||
|
||||
if (TypeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive) == 0) {
|
||||
if (typeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive) == 0) {
|
||||
// Yaw
|
||||
table->item(i, 5)->setText(QString("%1").arg(-127));
|
||||
} else {
|
||||
@ -744,7 +722,7 @@ void ConfigCcpmWidget::UpdateMixer()
|
||||
}
|
||||
if (i == 1) {
|
||||
// tailrotor --or-- counter-clockwise motor
|
||||
if (TypeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive) == 0) {
|
||||
if (typeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive) == 0) {
|
||||
// ThrottleCurve1
|
||||
table->item(i, 1)->setText(QString("%1").arg(127));
|
||||
// Yaw
|
||||
@ -787,14 +765,34 @@ void ConfigCcpmWidget::UpdateMixer()
|
||||
}
|
||||
} else {
|
||||
// advanced settings
|
||||
QTableWidget *table = m_aircraft->ccpmAdvancedSettingsTable;
|
||||
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
|
||||
Q_ASSERT(mixer);
|
||||
|
||||
// Populate custom mixer table from board values
|
||||
for (int i = 0; i < 6; i++) {
|
||||
Channel = table->item(i, 0)->text();
|
||||
if (Channel == "-") {
|
||||
Channel = QString((int)ConfigCcpmWidget::CHANNEL_NUMELEM + 1);
|
||||
if (MixerChannelData[i] > 0) {
|
||||
// Channel number
|
||||
table->item(i, 0)->setText(QString("%1").arg(MixerChannelData[i]));
|
||||
// Throttle1
|
||||
table->item(i, 1)->setText(QString("%1").arg(getMixerVectorValue(mixer, MixerChannelData[i] - 1,
|
||||
VehicleConfig::MIXERVECTOR_THROTTLECURVE1)));
|
||||
// Throttle2
|
||||
table->item(i, 2)->setText(QString("%1").arg(getMixerVectorValue(mixer, MixerChannelData[i] - 1,
|
||||
VehicleConfig::MIXERVECTOR_THROTTLECURVE2)));
|
||||
// Roll
|
||||
table->item(i, 3)->setText(QString("%1").arg(getMixerVectorValue(mixer, MixerChannelData[i] - 1,
|
||||
VehicleConfig::MIXERVECTOR_ROLL)));
|
||||
// Pitch
|
||||
table->item(i, 4)->setText(QString("%1").arg(getMixerVectorValue(mixer, MixerChannelData[i] - 1,
|
||||
VehicleConfig::MIXERVECTOR_PITCH)));
|
||||
// Yaw
|
||||
table->item(i, 5)->setText(QString("%1").arg(getMixerVectorValue(mixer, MixerChannelData[i] - 1,
|
||||
VehicleConfig::MIXERVECTOR_YAW)));
|
||||
} else {
|
||||
for (int j = 0; j < 6; j++) {
|
||||
table->item(i, j)->setText(QString("-"));
|
||||
}
|
||||
}
|
||||
MixerChannelData[i] = Channel.toInt();
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -893,6 +891,31 @@ void ConfigCcpmWidget::SetUIComponentVisibilities()
|
||||
m_aircraft->SwashLvlStepList->item(1)->setBackground(Qt::transparent);
|
||||
m_aircraft->SwashLvlStepList->item(2)->setBackground(Qt::transparent);
|
||||
m_aircraft->SwashLvlStepList->item(3)->setBackground(Qt::transparent);
|
||||
|
||||
// Enable / disable by typeInt : 0 is custom
|
||||
int typeInt = m_aircraft->ccpmType->count() - m_aircraft->ccpmType->currentIndex() - 1;
|
||||
|
||||
// set visibility of user settings (When Custom)
|
||||
m_aircraft->ccpmAdvancedSettingsTable->setEnabled(typeInt == 0);
|
||||
|
||||
m_aircraft->ccpmAngleW->setEnabled(typeInt == 1);
|
||||
m_aircraft->ccpmAngleX->setEnabled(typeInt == 1);
|
||||
m_aircraft->ccpmAngleY->setEnabled(typeInt == 1);
|
||||
m_aircraft->ccpmAngleZ->setEnabled(typeInt == 1);
|
||||
m_aircraft->ccpmCorrectionAngle->setEnabled(typeInt != 0);
|
||||
|
||||
m_aircraft->ccpmServoWChannel->setEnabled(typeInt > 0);
|
||||
m_aircraft->ccpmServoXChannel->setEnabled(typeInt > 0);
|
||||
m_aircraft->ccpmServoYChannel->setEnabled(typeInt > 0);
|
||||
m_aircraft->ccpmServoZChannel->setEnabled(typeInt > 0);
|
||||
m_aircraft->ccpmSingleServo->setEnabled(typeInt > 1);
|
||||
|
||||
m_aircraft->ccpmEngineChannel->setEnabled(typeInt > 0);
|
||||
m_aircraft->ccpmTailChannel->setEnabled(typeInt > 0);
|
||||
m_aircraft->ccpmCollectiveSlider->setEnabled(typeInt > 0);
|
||||
m_aircraft->ccpmCollectivespinBox->setEnabled(typeInt > 0);
|
||||
m_aircraft->ccpmRevoSlider->setEnabled(typeInt > 0);
|
||||
m_aircraft->ccpmREVOspinBox->setEnabled(typeInt > 0);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -942,6 +965,14 @@ void ConfigCcpmWidget::setMixer()
|
||||
{
|
||||
int i, j;
|
||||
|
||||
int typeInt = m_aircraft->ccpmType->count() - m_aircraft->ccpmType->currentIndex() - 1;
|
||||
|
||||
// Exit if currently updatingToHardware or ConfigError
|
||||
// Avoid mixer changes if something wrong in config
|
||||
if (throwConfigError(typeInt) || updatingToHardware) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (SwashLvlConfigurationInProgress) {
|
||||
return;
|
||||
}
|
||||
@ -986,15 +1017,16 @@ void ConfigCcpmWidget::setMixer()
|
||||
&mixerSettingsData.Mixer12Type
|
||||
};
|
||||
|
||||
// reset all to Disabled
|
||||
for (i = 0; i < 8; i++) {
|
||||
// reset all outputs to Disabled
|
||||
for (i = 0; i < (int)ConfigCcpmWidget::CHANNEL_NUMELEM; i++) {
|
||||
*mixerTypes[i] = 0;
|
||||
}
|
||||
|
||||
// go through the user data and update the mixer matrix
|
||||
for (i = 0; i < 6; i++) {
|
||||
if ((MixerChannelData[i] > 0) && (MixerChannelData[i] < (int)ConfigCcpmWidget::CHANNEL_NUMELEM + 1)) {
|
||||
// Set the mixer type. If Coax, then first two are motors. Otherwise, only first is motor
|
||||
if (TypeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive) == 0) {
|
||||
if (typeText.compare(QString::fromUtf8("Coax 2 Servo 90º"), Qt::CaseInsensitive) == 0) {
|
||||
*(mixerTypes[MixerChannelData[i] - 1]) = i > 1 ?
|
||||
MixerSettings::MIXER1TYPE_SERVO :
|
||||
MixerSettings::MIXER1TYPE_MOTOR;
|
||||
@ -1560,52 +1592,44 @@ void ConfigCcpmWidget::SwashLvlSpinBoxChanged(int value)
|
||||
/**
|
||||
This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
|
||||
*/
|
||||
bool ConfigCcpmWidget::throwConfigError(QString airframeType)
|
||||
bool ConfigCcpmWidget::throwConfigError(int typeInt)
|
||||
{
|
||||
Q_UNUSED(airframeType);
|
||||
|
||||
bool error = false;
|
||||
|
||||
if ((m_aircraft->ccpmServoWChannel->currentIndex() == 0) && (m_aircraft->ccpmServoWChannel->isVisible())) {
|
||||
m_aircraft->ccpmServoWLabel->setText("<font color=red>" + m_aircraft->ccpmServoWLabel->text() + "</font>");
|
||||
error = true;
|
||||
} else {
|
||||
m_aircraft->ccpmServoWLabel->setText(QTextEdit(m_aircraft->ccpmServoWLabel->text()).toPlainText());
|
||||
// Custom no need check, always return no error
|
||||
if (typeInt == 0) {
|
||||
return false;
|
||||
}
|
||||
|
||||
if ((m_aircraft->ccpmServoXChannel->currentIndex() == 0) && (m_aircraft->ccpmServoXChannel->isVisible())) {
|
||||
m_aircraft->ccpmServoXLabel->setText("<font color=red>" + m_aircraft->ccpmServoXLabel->text() + "</font>");
|
||||
error = true;
|
||||
} else {
|
||||
m_aircraft->ccpmServoXLabel->setText(QTextEdit(m_aircraft->ccpmServoXLabel->text()).toPlainText());
|
||||
}
|
||||
QList<QComboBox *> comboChannelsName;
|
||||
comboChannelsName << m_aircraft->ccpmEngineChannel << m_aircraft->ccpmTailChannel << m_aircraft->ccpmServoWChannel
|
||||
<< m_aircraft->ccpmServoXChannel << m_aircraft->ccpmServoYChannel << m_aircraft->ccpmServoZChannel;
|
||||
QString channelNames = "";
|
||||
|
||||
if ((m_aircraft->ccpmServoYChannel->currentIndex() == 0) && (m_aircraft->ccpmServoYChannel->isVisible())) {
|
||||
m_aircraft->ccpmServoYLabel->setText("<font color=red>" + m_aircraft->ccpmServoYLabel->text() + "</font>");
|
||||
error = true;
|
||||
} else {
|
||||
m_aircraft->ccpmServoYLabel->setText(QTextEdit(m_aircraft->ccpmServoYLabel->text()).toPlainText());
|
||||
for (int i = 0; i < 6; i++) {
|
||||
QComboBox *combobox = comboChannelsName[i];
|
||||
if (combobox && (combobox->isVisible())) {
|
||||
if (combobox->currentText() == "None") {
|
||||
int size = combobox->style()->pixelMetric(QStyle::PM_SmallIconSize);
|
||||
QPixmap pixmap(size, size);
|
||||
pixmap.fill(QColor("red"));
|
||||
combobox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
|
||||
error = true;
|
||||
} else if (channelNames.contains(combobox->currentText(), Qt::CaseInsensitive)) {
|
||||
int size = combobox->style()->pixelMetric(QStyle::PM_SmallIconSize);
|
||||
QPixmap pixmap(size, size);
|
||||
pixmap.fill(QColor("orange"));
|
||||
combobox->setItemData(combobox->currentIndex(), pixmap, Qt::DecorationRole); // Set color palettes
|
||||
combobox->setToolTip(tr("Channel already used"));
|
||||
error = true;
|
||||
} else {
|
||||
for (int index = 0; index < (int)ConfigCcpmWidget::CHANNEL_NUMELEM; index++) {
|
||||
combobox->setItemData(index, 0, Qt::DecorationRole); // Reset all color palettes
|
||||
combobox->setToolTip("");
|
||||
}
|
||||
}
|
||||
channelNames += (combobox->currentText() == "None") ? "" : combobox->currentText();
|
||||
}
|
||||
}
|
||||
|
||||
if ((m_aircraft->ccpmServoZChannel->currentIndex() == 0) && (m_aircraft->ccpmServoZChannel->isVisible())) {
|
||||
m_aircraft->ccpmServoZLabel->setText("<font color=red>" + m_aircraft->ccpmServoZLabel->text() + "</font>");
|
||||
error = true;
|
||||
} else {
|
||||
m_aircraft->ccpmServoZLabel->setText(QTextEdit(m_aircraft->ccpmServoZLabel->text()).toPlainText());
|
||||
}
|
||||
|
||||
if ((m_aircraft->ccpmEngineChannel->currentIndex() == 0) && (m_aircraft->ccpmEngineChannel->isEnabled())) {
|
||||
m_aircraft->ccpmEngineLabel->setText("<font color=red>" + m_aircraft->ccpmEngineLabel->text() + "</font>");
|
||||
} else {
|
||||
m_aircraft->ccpmEngineLabel->setText(QTextEdit(m_aircraft->ccpmEngineLabel->text()).toPlainText());
|
||||
}
|
||||
|
||||
if ((m_aircraft->ccpmTailChannel->currentIndex() == 0) && (m_aircraft->ccpmTailChannel->isEnabled())) {
|
||||
m_aircraft->ccpmTailLabel->setText("<font color=red>" + m_aircraft->ccpmTailLabel->text() + "</font>");
|
||||
error = true;
|
||||
} else {
|
||||
m_aircraft->ccpmTailLabel->setText(QTextEdit(m_aircraft->ccpmTailLabel->text()).toPlainText());
|
||||
}
|
||||
|
||||
return error;
|
||||
}
|
||||
|
||||
@ -2,7 +2,8 @@
|
||||
******************************************************************************
|
||||
*
|
||||
* @file configccpmtwidget.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup ConfigPlugin Config Plugin
|
||||
@ -84,7 +85,7 @@ private:
|
||||
QGraphicsEllipseItem *ServosTextCircles[CCPM_MAX_SWASH_SERVOS];
|
||||
QSpinBox *SwashLvlSpinBoxes[CCPM_MAX_SWASH_SERVOS];
|
||||
|
||||
QString TypeText;
|
||||
QString typeText;
|
||||
|
||||
bool SwashLvlConfigurationInProgress;
|
||||
UAVObject::Metadata SwashLvlaccInitialData;
|
||||
@ -112,7 +113,7 @@ private:
|
||||
|
||||
private slots:
|
||||
virtual void setupUI(QString airframeType);
|
||||
virtual bool throwConfigError(QString airframeType);
|
||||
virtual bool throwConfigError(int typeInt);
|
||||
|
||||
void ccpmSwashplateUpdate();
|
||||
void ccpmSwashplateRedraw();
|
||||
|
||||
@ -2,7 +2,8 @@
|
||||
******************************************************************************
|
||||
*
|
||||
* @file configfixedwingwidget.cpp
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup ConfigPlugin Config Plugin
|
||||
@ -136,9 +137,17 @@ void ConfigFixedWingWidget::setupUI(QString frameType)
|
||||
|
||||
m_aircraft->elevonSlider1->setEnabled(false);
|
||||
m_aircraft->elevonSlider2->setEnabled(false);
|
||||
m_aircraft->elevonSlider3->setEnabled(true);
|
||||
|
||||
m_aircraft->elevonSlider1->setValue(100);
|
||||
m_aircraft->elevonSlider2->setValue(100);
|
||||
|
||||
// Get values saved if frameType = current frameType set on board
|
||||
if (field->getValue().toString() == "FixedWing") {
|
||||
m_aircraft->elevonSlider3->setValue(getMixerValue(mixer, "RollDifferential"));
|
||||
} else {
|
||||
m_aircraft->elevonSlider3->setValue(0);
|
||||
}
|
||||
} else if (frameType == "FixedWingElevon" || frameType == "Elevon") {
|
||||
planeimg->setElementId("elevon");
|
||||
setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Elevon"));
|
||||
@ -157,22 +166,27 @@ void ConfigFixedWingWidget::setupUI(QString frameType)
|
||||
|
||||
m_aircraft->elevonSlider1->setEnabled(true);
|
||||
m_aircraft->elevonSlider2->setEnabled(true);
|
||||
m_aircraft->elevonSlider3->setEnabled(true);
|
||||
|
||||
// Get values saved if frameType = current frameType set on board
|
||||
if (field->getValue().toString() == "FixedWingElevon") {
|
||||
m_aircraft->elevonSlider1->setValue(getMixerValue(mixer, "MixerValueRoll"));
|
||||
m_aircraft->elevonSlider2->setValue(getMixerValue(mixer, "MixerValuePitch"));
|
||||
m_aircraft->elevonSlider3->setValue(getMixerValue(mixer, "RollDifferential"));
|
||||
} else {
|
||||
m_aircraft->elevonSlider1->setValue(100);
|
||||
m_aircraft->elevonSlider2->setValue(100);
|
||||
m_aircraft->elevonSlider3->setValue(0);
|
||||
}
|
||||
} else if (frameType == "FixedWingVtail" || frameType == "Vtail") {
|
||||
planeimg->setElementId("vtail");
|
||||
setComboCurrentIndex(m_aircraft->fixedWingType, m_aircraft->fixedWingType->findText("Vtail"));
|
||||
m_aircraft->fwRudder1ChannelBox->setEnabled(false);
|
||||
m_aircraft->fwRudder1ChannelBox->setCurrentText("None");
|
||||
m_aircraft->fwRudder1ChannelBox->setToolTip("");
|
||||
m_aircraft->fwRudder2ChannelBox->setEnabled(false);
|
||||
m_aircraft->fwRudder2ChannelBox->setCurrentText("None");
|
||||
m_aircraft->fwRudder2ChannelBox->setToolTip("");
|
||||
|
||||
m_aircraft->fwElevator1Label->setText("Vtail 1");
|
||||
m_aircraft->fwElevator1ChannelBox->setEnabled(true);
|
||||
@ -187,14 +201,17 @@ void ConfigFixedWingWidget::setupUI(QString frameType)
|
||||
|
||||
m_aircraft->elevonSlider1->setEnabled(true);
|
||||
m_aircraft->elevonSlider2->setEnabled(true);
|
||||
m_aircraft->elevonSlider3->setEnabled(true);
|
||||
|
||||
// Get values saved if frameType = current frameType set on board
|
||||
if (field->getValue().toString() == "FixedWingVtail") {
|
||||
m_aircraft->elevonSlider1->setValue(getMixerValue(mixer, "MixerValueYaw"));
|
||||
m_aircraft->elevonSlider2->setValue(getMixerValue(mixer, "MixerValuePitch"));
|
||||
m_aircraft->elevonSlider3->setValue(getMixerValue(mixer, "RollDifferential"));
|
||||
} else {
|
||||
m_aircraft->elevonSlider1->setValue(100);
|
||||
m_aircraft->elevonSlider2->setValue(100);
|
||||
m_aircraft->elevonSlider3->setValue(0);
|
||||
}
|
||||
}
|
||||
|
||||
@ -220,6 +237,7 @@ void ConfigFixedWingWidget::registerWidgets(ConfigTaskWidget &parent)
|
||||
parent.addWidget(m_aircraft->fwRudder2ChannelBox);
|
||||
parent.addWidget(m_aircraft->elevonSlider1);
|
||||
parent.addWidget(m_aircraft->elevonSlider2);
|
||||
parent.addWidget(m_aircraft->elevonSlider3);
|
||||
}
|
||||
|
||||
void ConfigFixedWingWidget::resetActuators(GUIConfigDataUnion *configData)
|
||||
@ -270,6 +288,7 @@ void ConfigFixedWingWidget::refreshWidgetsValues(QString frameType)
|
||||
setComboCurrentIndex(m_aircraft->fwRudder2ChannelBox, fixed.FixedWingYaw2);
|
||||
|
||||
// Get mixing values for GUI sliders (values stored onboard)
|
||||
m_aircraft->elevonSlider3->setValue(getMixerValue(mixer, "RollDifferential"));
|
||||
if (frameType == "FixedWingElevon" || frameType == "Elevon") {
|
||||
m_aircraft->elevonSlider1->setValue(getMixerValue(mixer, "MixerValueRoll"));
|
||||
m_aircraft->elevonSlider2->setValue(getMixerValue(mixer, "MixerValuePitch"));
|
||||
@ -291,9 +310,6 @@ QString ConfigFixedWingWidget::updateConfigObjectsFromWidgets()
|
||||
|
||||
Q_ASSERT(mixer);
|
||||
|
||||
// Remove Feed Forward, it is pointless on a plane:
|
||||
setMixerValue(mixer, "FeedForward", 0.0);
|
||||
|
||||
// Set the throttle curve
|
||||
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->fixedWingThrottle->getCurve());
|
||||
|
||||
@ -336,6 +352,7 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
|
||||
config.fixedwing.FixedWingRoll1 = m_aircraft->fwAileron1ChannelBox->currentIndex();
|
||||
config.fixedwing.FixedWingRoll2 = m_aircraft->fwAileron2ChannelBox->currentIndex();
|
||||
config.fixedwing.FixedWingYaw1 = m_aircraft->fwRudder1ChannelBox->currentIndex();
|
||||
config.fixedwing.FixedWingYaw2 = m_aircraft->fwRudder2ChannelBox->currentIndex();
|
||||
config.fixedwing.FixedWingThrottle = m_aircraft->fwEngineChannelBox->currentIndex();
|
||||
|
||||
setConfigData(config);
|
||||
@ -361,8 +378,12 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
|
||||
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -127);
|
||||
|
||||
// ailerons
|
||||
setMixerValue(mixer, "FirstRollServo", m_aircraft->fwAileron1ChannelBox->currentIndex());
|
||||
channel = m_aircraft->fwAileron1ChannelBox->currentIndex() - 1;
|
||||
if (channel > -1) {
|
||||
// Store differential value onboard
|
||||
setMixerValue(mixer, "RollDifferential", m_aircraft->elevonSlider3->value());
|
||||
|
||||
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
|
||||
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL, 127);
|
||||
|
||||
@ -442,6 +463,7 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
|
||||
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, -yaw);
|
||||
|
||||
// ailerons
|
||||
setMixerValue(mixer, "FirstRollServo", m_aircraft->fwAileron1ChannelBox->currentIndex());
|
||||
channel = m_aircraft->fwAileron1ChannelBox->currentIndex() - 1;
|
||||
if (channel > -1) {
|
||||
// Compute mixer absolute values
|
||||
@ -449,6 +471,7 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
|
||||
roll = (double)(m_aircraft->elevonSlider1->value() * 1.27);
|
||||
|
||||
// Store sliders values onboard
|
||||
setMixerValue(mixer, "RollDifferential", m_aircraft->elevonSlider3->value());
|
||||
setMixerValue(mixer, "MixerValuePitch", m_aircraft->elevonSlider2->value());
|
||||
setMixerValue(mixer, "MixerValueRoll", m_aircraft->elevonSlider1->value());
|
||||
|
||||
@ -511,12 +534,14 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
|
||||
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
|
||||
|
||||
// ailerons
|
||||
setMixerValue(mixer, "FirstRollServo", m_aircraft->fwAileron1ChannelBox->currentIndex());
|
||||
channel = m_aircraft->fwAileron1ChannelBox->currentIndex() - 1;
|
||||
if (channel > -1) {
|
||||
// Roll mixer value, currently no slider (should be added for Ailerons response ?)
|
||||
roll = 127;
|
||||
// Store Roll fixed value onboard
|
||||
// Store Roll fixed and RollDifferential values onboard
|
||||
setMixerValue(mixer, "MixerValueRoll", 100);
|
||||
setMixerValue(mixer, "RollDifferential", m_aircraft->elevonSlider3->value());
|
||||
|
||||
// First Aileron (left)
|
||||
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
|
||||
@ -572,85 +597,57 @@ bool ConfigFixedWingWidget::throwConfigError(QString airframeType)
|
||||
// Initialize configuration error flag
|
||||
bool error = false;
|
||||
|
||||
// Create a red block. All combo boxes are the same size, so any one should do as a model
|
||||
int size = m_aircraft->fwEngineChannelBox->style()->pixelMetric(QStyle::PM_SmallIconSize);
|
||||
QPixmap pixmap(size, size);
|
||||
QList<QComboBox *> comboChannelsName;
|
||||
comboChannelsName << m_aircraft->fwEngineChannelBox
|
||||
<< m_aircraft->fwAileron1ChannelBox << m_aircraft->fwAileron2ChannelBox
|
||||
<< m_aircraft->fwElevator1ChannelBox << m_aircraft->fwElevator2ChannelBox
|
||||
<< m_aircraft->fwRudder1ChannelBox << m_aircraft->fwRudder2ChannelBox;
|
||||
QString channelNames = "";
|
||||
|
||||
pixmap.fill(QColor("red"));
|
||||
|
||||
if (airframeType == "FixedWing") {
|
||||
if (m_aircraft->fwEngineChannelBox->currentText() == "None") {
|
||||
m_aircraft->fwEngineChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
|
||||
error = true;
|
||||
} else {
|
||||
m_aircraft->fwEngineChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
|
||||
}
|
||||
|
||||
if (m_aircraft->fwElevator1ChannelBox->currentText() == "None") {
|
||||
m_aircraft->fwElevator1ChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
|
||||
error = true;
|
||||
} else {
|
||||
m_aircraft->fwElevator1ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
|
||||
}
|
||||
|
||||
if ((m_aircraft->fwAileron1ChannelBox->currentText() == "None")
|
||||
&& (m_aircraft->fwRudder1ChannelBox->currentText() == "None")) {
|
||||
pixmap.fill(QColor("green"));
|
||||
m_aircraft->fwAileron1ChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
|
||||
m_aircraft->fwRudder1ChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
|
||||
error = true;
|
||||
} else {
|
||||
m_aircraft->fwAileron1ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
|
||||
m_aircraft->fwRudder1ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
|
||||
}
|
||||
} else if (airframeType == "FixedWingElevon") {
|
||||
if (m_aircraft->fwEngineChannelBox->currentText() == "None") {
|
||||
m_aircraft->fwEngineChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
|
||||
error = true;
|
||||
} else {
|
||||
m_aircraft->fwEngineChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
|
||||
}
|
||||
|
||||
if (m_aircraft->fwAileron1ChannelBox->currentText() == "None") {
|
||||
m_aircraft->fwAileron1ChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
|
||||
error = true;
|
||||
} else {
|
||||
m_aircraft->fwAileron1ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
|
||||
}
|
||||
|
||||
if (m_aircraft->fwAileron2ChannelBox->currentText() == "None") {
|
||||
m_aircraft->fwAileron2ChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
|
||||
error = true;
|
||||
} else {
|
||||
m_aircraft->fwAileron2ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
|
||||
}
|
||||
} else if (airframeType == "FixedWingVtail") {
|
||||
if (m_aircraft->fwEngineChannelBox->currentText() == "None") {
|
||||
m_aircraft->fwEngineChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
|
||||
error = true;
|
||||
} else {
|
||||
m_aircraft->fwEngineChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
|
||||
}
|
||||
|
||||
if (m_aircraft->fwElevator1ChannelBox->currentText() == "None") {
|
||||
m_aircraft->fwElevator1ChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
|
||||
error = true;
|
||||
} else {
|
||||
m_aircraft->fwElevator1ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
|
||||
}
|
||||
|
||||
if (m_aircraft->fwElevator2ChannelBox->currentText() == "None") {
|
||||
m_aircraft->fwElevator2ChannelBox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
|
||||
error = true;
|
||||
} else {
|
||||
m_aircraft->fwElevator2ChannelBox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
|
||||
for (int i = 0; i < 7; i++) {
|
||||
QComboBox *combobox = comboChannelsName[i];
|
||||
if (combobox && (combobox->isEnabled())) {
|
||||
if (combobox->currentText() == "None") {
|
||||
int size = combobox->style()->pixelMetric(QStyle::PM_SmallIconSize);
|
||||
QPixmap pixmap(size, size);
|
||||
if ((airframeType == "FixedWingElevon") && (i > 2)) {
|
||||
pixmap.fill(QColor("green"));
|
||||
// Rudders are optional for elevon frame
|
||||
combobox->setToolTip(tr("Rudders are optional for Elevon frame"));
|
||||
} else if (((airframeType == "FixedWing") || (airframeType == "FixedWingVtail")) && (i == 2)) {
|
||||
pixmap.fill(QColor("green"));
|
||||
// Second aileron servo is optional for FixedWing frame
|
||||
combobox->setToolTip(tr("Second aileron servo is optional"));
|
||||
} else if ((airframeType == "FixedWing") && (i > 3)) {
|
||||
pixmap.fill(QColor("green"));
|
||||
// Second elevator and rudders are optional for FixedWing frame
|
||||
combobox->setToolTip(tr("Second elevator servo is optional"));
|
||||
if (i > 4) {
|
||||
combobox->setToolTip(tr("Rudder is highly recommended for fixed wing."));
|
||||
}
|
||||
} else {
|
||||
pixmap.fill(QColor("red"));
|
||||
combobox->setToolTip(tr("Please assign Channel"));
|
||||
m_aircraft->fwStatusLabel->setText(tr("<font color='red'>ERROR: Assign all necessary channels</font>"));
|
||||
error = true;
|
||||
}
|
||||
combobox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
|
||||
} else if (channelNames.contains(combobox->currentText(), Qt::CaseInsensitive)) {
|
||||
int size = combobox->style()->pixelMetric(QStyle::PM_SmallIconSize);
|
||||
QPixmap pixmap(size, size);
|
||||
pixmap.fill(QColor("orange"));
|
||||
combobox->setItemData(combobox->currentIndex(), pixmap, Qt::DecorationRole); // Set color palettes
|
||||
combobox->setToolTip(tr("Channel already used"));
|
||||
error = true;
|
||||
} else {
|
||||
for (int index = 0; index < (int)ConfigFixedWingWidget::CHANNEL_NUMELEM; index++) {
|
||||
combobox->setItemData(index, 0, Qt::DecorationRole); // Reset all color palettes
|
||||
combobox->setToolTip("");
|
||||
}
|
||||
}
|
||||
channelNames += (combobox->currentText() == "None") ? "" : combobox->currentText();
|
||||
}
|
||||
}
|
||||
|
||||
if (error) {
|
||||
m_aircraft->fwStatusLabel->setText(QString("<font color='red'>ERROR: Assign all necessary channels</font>"));
|
||||
}
|
||||
|
||||
return error;
|
||||
}
|
||||
|
||||
|
||||
@ -2,6 +2,7 @@
|
||||
******************************************************************************
|
||||
*
|
||||
* @file configgroundvehiclemwidget.cpp
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
* @author K. Sebesta & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
@ -353,9 +354,6 @@ QString ConfigGroundVehicleWidget::updateConfigObjectsFromWidgets()
|
||||
// Save the curve (common to all ground vehicle frames)
|
||||
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
|
||||
|
||||
// Remove Feed Forward, it is pointless on a ground vehicle:
|
||||
setMixerValue(mixer, "FeedForward", 0.0);
|
||||
|
||||
// set the throttle curves
|
||||
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->groundVehicleThrottle1->getCurve());
|
||||
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->groundVehicleThrottle2->getCurve());
|
||||
|
||||
@ -2,7 +2,8 @@
|
||||
******************************************************************************
|
||||
*
|
||||
* @file vehicleconfig.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup ConfigPlugin Config Plugin
|
||||
@ -60,7 +61,7 @@ typedef struct {
|
||||
} __attribute__((packed)) multiGUISettingsStruct;
|
||||
|
||||
typedef struct {
|
||||
uint SwashplateType : 3;
|
||||
uint SwashplateType : 4;
|
||||
uint FirstServoIndex : 2;
|
||||
uint CorrectionAngle : 9;
|
||||
uint ccpmCollectivePassthroughState : 1;
|
||||
@ -75,7 +76,7 @@ typedef struct {
|
||||
uint ServoIndexZ : 4; // 57 bits
|
||||
uint Throttle : 4;
|
||||
uint Tail : 4; // 65bits
|
||||
quint32 padding : 31; // 96 bits
|
||||
quint32 padding : 30; // 96 bits
|
||||
quint32 padding1; // 128 bits
|
||||
} __attribute__((packed)) heliGUISettingsStruct;
|
||||
|
||||
|
||||
@ -21,6 +21,8 @@ HEADERS += \
|
||||
configinputwidget.h \
|
||||
configoutputwidget.h \
|
||||
configvehicletypewidget.h \
|
||||
config_cc_hw_widget.h \
|
||||
configccattitudewidget.h \
|
||||
configstabilizationwidget.h \
|
||||
assertions.h \
|
||||
defaultattitudewidget.h \
|
||||
@ -67,6 +69,8 @@ SOURCES += \
|
||||
configinputwidget.cpp \
|
||||
configoutputwidget.cpp \
|
||||
configvehicletypewidget.cpp \
|
||||
config_cc_hw_widget.cpp \
|
||||
configccattitudewidget.cpp \
|
||||
configstabilizationwidget.cpp \
|
||||
defaultattitudewidget.cpp \
|
||||
defaulthwsettingswidget.cpp \
|
||||
@ -104,10 +108,12 @@ FORMS += \
|
||||
airframe_ground.ui \
|
||||
airframe_multirotor.ui \
|
||||
airframe_custom.ui \
|
||||
cc_hw_settings.ui \
|
||||
stabilization.ui \
|
||||
input.ui \
|
||||
input_wizard.ui \
|
||||
output.ui \
|
||||
ccattitude.ui \
|
||||
defaultattitude.ui \
|
||||
defaulthwsettings.ui \
|
||||
inputchannelform.ui \
|
||||
|
||||
157
ground/gcs/src/plugins/config/config_cc_hw_widget.cpp
Normal file
157
ground/gcs/src/plugins/config/config_cc_hw_widget.cpp
Normal file
@ -0,0 +1,157 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file configtelemetrywidget.h
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup ConfigPlugin Config Plugin
|
||||
* @{
|
||||
* @brief The Configuration Gadget used to update settings in the firmware
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
#include "config_cc_hw_widget.h"
|
||||
#include "hwsettings.h"
|
||||
#include <QDebug>
|
||||
#include <QStringList>
|
||||
#include <QWidget>
|
||||
#include <QTextEdit>
|
||||
#include <QVBoxLayout>
|
||||
#include <QPushButton>
|
||||
#include <QDesktopServices>
|
||||
#include <QUrl>
|
||||
#include <extensionsystem/pluginmanager.h>
|
||||
#include <coreplugin/generalsettings.h>
|
||||
|
||||
|
||||
ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
|
||||
{
|
||||
m_telemetry = new Ui_CC_HW_Widget();
|
||||
m_telemetry->setupUi(this);
|
||||
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
|
||||
if (!settings->useExpertMode()) {
|
||||
m_telemetry->saveTelemetryToRAM->setVisible(false);
|
||||
}
|
||||
|
||||
|
||||
UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
|
||||
int id = utilMngr->getBoardModel();
|
||||
|
||||
switch (id) {
|
||||
case 0x0101:
|
||||
m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0101.svg"));
|
||||
break;
|
||||
case 0x0301:
|
||||
m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0301.svg"));
|
||||
break;
|
||||
case 0x0401:
|
||||
m_telemetry->label_2->setPixmap(QPixmap(":/configgadget/images/coptercontrol.svg"));
|
||||
break;
|
||||
case 0x0402:
|
||||
m_telemetry->label_2->setPixmap(QPixmap(":/configgadget/images/cc3d_top.png"));
|
||||
break;
|
||||
case 0x0201:
|
||||
m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0201.svg"));
|
||||
break;
|
||||
default:
|
||||
m_telemetry->label_2->setPixmap(QPixmap(":/configgadget/images/coptercontrol.svg"));
|
||||
break;
|
||||
}
|
||||
addApplySaveButtons(m_telemetry->saveTelemetryToRAM, m_telemetry->saveTelemetryToSD);
|
||||
addWidgetBinding("HwSettings", "CC_FlexiPort", m_telemetry->cbFlexi);
|
||||
addWidgetBinding("HwSettings", "CC_MainPort", m_telemetry->cbTele);
|
||||
addWidgetBinding("HwSettings", "CC_RcvrPort", m_telemetry->cbRcvr);
|
||||
addWidgetBinding("HwSettings", "USB_HIDPort", m_telemetry->cbUsbHid);
|
||||
addWidgetBinding("HwSettings", "USB_VCPPort", m_telemetry->cbUsbVcp);
|
||||
addWidgetBinding("HwSettings", "TelemetrySpeed", m_telemetry->telemetrySpeed);
|
||||
addWidgetBinding("HwSettings", "GPSSpeed", m_telemetry->gpsSpeed);
|
||||
// Add Gps protocol configuration
|
||||
|
||||
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
|
||||
HwSettings::DataFields hwSettingsData = hwSettings->getData();
|
||||
|
||||
if (hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_GPS] != HwSettings::OPTIONALMODULES_ENABLED) {
|
||||
m_telemetry->gpsProtocol->setEnabled(false);
|
||||
m_telemetry->gpsProtocol->setToolTip(tr("Enable GPS module and reboot the board to be able to select GPS protocol"));
|
||||
} else {
|
||||
addWidgetBinding("GPSSettings", "DataProtocol", m_telemetry->gpsProtocol);
|
||||
}
|
||||
|
||||
addWidgetBinding("HwSettings", "ComUsbBridgeSpeed", m_telemetry->comUsbBridgeSpeed);
|
||||
connect(m_telemetry->cchwHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
|
||||
enableSaveButtons(false);
|
||||
populateWidgets();
|
||||
refreshWidgetsValues();
|
||||
forceConnectedState();
|
||||
}
|
||||
|
||||
ConfigCCHWWidget::~ConfigCCHWWidget()
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
void ConfigCCHWWidget::refreshValues()
|
||||
{}
|
||||
|
||||
void ConfigCCHWWidget::widgetsContentsChanged()
|
||||
{
|
||||
ConfigTaskWidget::widgetsContentsChanged();
|
||||
|
||||
if (((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_DEBUGCONSOLE) &&
|
||||
(m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_DEBUGCONSOLE)) ||
|
||||
((m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_DEBUGCONSOLE) &&
|
||||
(m_telemetry->cbUsbVcp->currentIndex() == HwSettings::USB_VCPPORT_DEBUGCONSOLE)) ||
|
||||
((m_telemetry->cbUsbVcp->currentIndex() == HwSettings::USB_VCPPORT_DEBUGCONSOLE) &&
|
||||
(m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_DEBUGCONSOLE))) {
|
||||
enableSaveButtons(false);
|
||||
m_telemetry->problems->setText(tr("Warning: you have configured more than one DebugConsole, this currently is not supported"));
|
||||
} else if (((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_TELEMETRY) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_TELEMETRY)) ||
|
||||
((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_GPS) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_GPS)) ||
|
||||
((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_DEBUGCONSOLE) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_DEBUGCONSOLE)) ||
|
||||
((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_COMBRIDGE) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_COMBRIDGE))) {
|
||||
enableSaveButtons(false);
|
||||
m_telemetry->problems->setText(tr("Warning: you have configured both MainPort and FlexiPort for the same function, this currently is not supported"));
|
||||
} else if ((m_telemetry->cbUsbHid->currentIndex() == HwSettings::USB_HIDPORT_USBTELEMETRY) && (m_telemetry->cbUsbVcp->currentIndex() == HwSettings::USB_VCPPORT_USBTELEMETRY)) {
|
||||
enableSaveButtons(false);
|
||||
m_telemetry->problems->setText(tr("Warning: you have configured both USB HID Port and USB VCP Port for the same function, this currently is not supported"));
|
||||
} else if ((m_telemetry->cbUsbHid->currentIndex() != HwSettings::USB_HIDPORT_USBTELEMETRY) && (m_telemetry->cbUsbVcp->currentIndex() != HwSettings::USB_VCPPORT_USBTELEMETRY)) {
|
||||
enableSaveButtons(false);
|
||||
m_telemetry->problems->setText(tr("Warning: you have disabled USB Telemetry on both USB HID Port and USB VCP Port, this currently is not supported"));
|
||||
} else {
|
||||
m_telemetry->problems->setText("");
|
||||
enableSaveButtons(true);
|
||||
}
|
||||
}
|
||||
|
||||
void ConfigCCHWWidget::enableSaveButtons(bool enable)
|
||||
{
|
||||
m_telemetry->saveTelemetryToRAM->setEnabled(enable);
|
||||
m_telemetry->saveTelemetryToSD->setEnabled(enable);
|
||||
}
|
||||
|
||||
void ConfigCCHWWidget::openHelp()
|
||||
{
|
||||
QDesktopServices::openUrl(QUrl(tr("http://wiki.openpilot.org/x/D4AUAQ"), QUrl::StrictMode));
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
56
ground/gcs/src/plugins/config/config_cc_hw_widget.h
Normal file
56
ground/gcs/src/plugins/config/config_cc_hw_widget.h
Normal file
@ -0,0 +1,56 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file configtelemetrytwidget.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup ConfigPlugin Config Plugin
|
||||
* @{
|
||||
* @brief Telemetry configuration panel
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* 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 CONFIGCCHWWIDGET_H
|
||||
#define CONFIGCCHWWIDGET_H
|
||||
|
||||
#include "ui_cc_hw_settings.h"
|
||||
#include "../uavobjectwidgetutils/configtaskwidget.h"
|
||||
#include "extensionsystem/pluginmanager.h"
|
||||
#include "uavobjectmanager.h"
|
||||
#include "uavobject.h"
|
||||
#include <QWidget>
|
||||
#include <QList>
|
||||
#include "smartsavebutton.h"
|
||||
|
||||
class ConfigCCHWWidget : public ConfigTaskWidget {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
ConfigCCHWWidget(QWidget *parent = 0);
|
||||
~ConfigCCHWWidget();
|
||||
private slots:
|
||||
void openHelp();
|
||||
void refreshValues();
|
||||
void widgetsContentsChanged();
|
||||
void enableSaveButtons(bool enable);
|
||||
|
||||
private:
|
||||
Ui_CC_HW_Widget *m_telemetry;
|
||||
QSvgRenderer *m_renderer;
|
||||
};
|
||||
|
||||
#endif // CONFIGCCHWWIDGET_H
|
||||
@ -1,4 +1,4 @@
|
||||
include(../../openpilotgcsplugin.pri)
|
||||
include(../../plugin.pri)
|
||||
include(../../libs/utils/utils.pri)
|
||||
include(../../plugins/uavtalk/uavtalk.pri)
|
||||
include(../../plugins/coreplugin/coreplugin.pri)
|
||||
|
||||
239
ground/gcs/src/plugins/config/configccattitudewidget.cpp
Normal file
239
ground/gcs/src/plugins/config/configccattitudewidget.cpp
Normal file
@ -0,0 +1,239 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file configccattitudewidget.cpp
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup ConfigPlugin Config Plugin
|
||||
* @{
|
||||
* @brief Configure Attitude module on CopterControl
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
#include "configccattitudewidget.h"
|
||||
#include "ui_ccattitude.h"
|
||||
#include "utils/coordinateconversions.h"
|
||||
#include "attitudesettings.h"
|
||||
#include <QMutexLocker>
|
||||
#include <QMessageBox>
|
||||
#include <QDebug>
|
||||
#include <QDesktopServices>
|
||||
#include <QUrl>
|
||||
#include "accelstate.h"
|
||||
#include "accelgyrosettings.h"
|
||||
#include "gyrostate.h"
|
||||
#include <extensionsystem/pluginmanager.h>
|
||||
#include <coreplugin/generalsettings.h>
|
||||
#include <calibration/calibrationutils.h>
|
||||
ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
|
||||
ConfigTaskWidget(parent),
|
||||
ui(new Ui_ccattitude)
|
||||
{
|
||||
ui->setupUi(this);
|
||||
connect(ui->zeroBias, SIGNAL(clicked()), this, SLOT(startAccelCalibration()));
|
||||
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
|
||||
if (!settings->useExpertMode()) {
|
||||
ui->applyButton->setVisible(false);
|
||||
}
|
||||
|
||||
addApplySaveButtons(ui->applyButton, ui->saveButton);
|
||||
addUAVObject("AttitudeSettings");
|
||||
addUAVObject("AccelGyroSettings");
|
||||
|
||||
// Connect the help button
|
||||
connect(ui->ccAttitudeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
|
||||
|
||||
addWidgetBinding("AttitudeSettings", "ZeroDuringArming", ui->zeroGyroBiasOnArming);
|
||||
addWidgetBinding("AttitudeSettings", "AccelTau", ui->accelTauSpinbox);
|
||||
|
||||
addWidgetBinding("AttitudeSettings", "BoardRotation", ui->rollBias, AttitudeSettings::BOARDROTATION_ROLL);
|
||||
addWidgetBinding("AttitudeSettings", "BoardRotation", ui->pitchBias, AttitudeSettings::BOARDROTATION_PITCH);
|
||||
addWidgetBinding("AttitudeSettings", "BoardRotation", ui->yawBias, AttitudeSettings::BOARDROTATION_YAW);
|
||||
addWidget(ui->zeroBias);
|
||||
populateWidgets();
|
||||
refreshWidgetsValues();
|
||||
forceConnectedState();
|
||||
}
|
||||
|
||||
ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget()
|
||||
{
|
||||
delete ui;
|
||||
}
|
||||
|
||||
void ConfigCCAttitudeWidget::sensorsUpdated(UAVObject *obj)
|
||||
{
|
||||
if (!timer.isActive()) {
|
||||
// ignore updates that come in after the timer has expired
|
||||
return;
|
||||
}
|
||||
|
||||
AccelState *accelState = AccelState::GetInstance(getObjectManager());
|
||||
GyroState *gyroState = GyroState::GetInstance(getObjectManager());
|
||||
|
||||
// Accumulate samples until we have _at least_ NUM_SENSOR_UPDATES samples
|
||||
// for both gyros and accels.
|
||||
// Note that, at present, we stash the samples and then compute the bias
|
||||
// at the end, even though the mean could be accumulated as we go.
|
||||
// In future, a better algorithm could be used.
|
||||
if (obj->getObjID() == AccelState::OBJID) {
|
||||
accelUpdates++;
|
||||
AccelState::DataFields accelStateData = accelState->getData();
|
||||
x_accum.append(accelStateData.x);
|
||||
y_accum.append(accelStateData.y);
|
||||
z_accum.append(accelStateData.z);
|
||||
} else if (obj->getObjID() == GyroState::OBJID) {
|
||||
gyroUpdates++;
|
||||
GyroState::DataFields gyroStateData = gyroState->getData();
|
||||
x_gyro_accum.append(gyroStateData.x);
|
||||
y_gyro_accum.append(gyroStateData.y);
|
||||
z_gyro_accum.append(gyroStateData.z);
|
||||
}
|
||||
|
||||
// update the progress indicator
|
||||
ui->zeroBiasProgress->setValue((float)qMin(accelUpdates, gyroUpdates) / NUM_SENSOR_UPDATES * 100);
|
||||
|
||||
// If we have enough samples, then stop sampling and compute the biases
|
||||
if (accelUpdates >= NUM_SENSOR_UPDATES && gyroUpdates >= NUM_SENSOR_UPDATES) {
|
||||
timer.stop();
|
||||
disconnect(obj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(sensorsUpdated(UAVObject *)));
|
||||
disconnect(&timer, SIGNAL(timeout()), this, SLOT(timeout()));
|
||||
|
||||
float x_bias = OpenPilot::CalibrationUtils::listMean(x_accum);
|
||||
float y_bias = OpenPilot::CalibrationUtils::listMean(y_accum);
|
||||
float z_bias = OpenPilot::CalibrationUtils::listMean(z_accum) + 9.81;
|
||||
|
||||
float x_gyro_bias = OpenPilot::CalibrationUtils::listMean(x_gyro_accum);
|
||||
float y_gyro_bias = OpenPilot::CalibrationUtils::listMean(y_gyro_accum);
|
||||
float z_gyro_bias = OpenPilot::CalibrationUtils::listMean(z_gyro_accum);
|
||||
accelState->setMetadata(initialAccelStateMdata);
|
||||
gyroState->setMetadata(initialGyroStateMdata);
|
||||
|
||||
AccelGyroSettings::DataFields accelGyroSettingsData = AccelGyroSettings::GetInstance(getObjectManager())->getData();
|
||||
AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData();
|
||||
// We offset the gyro bias by current bias to help precision
|
||||
accelGyroSettingsData.accel_bias[0] += x_bias;
|
||||
accelGyroSettingsData.accel_bias[1] += y_bias;
|
||||
accelGyroSettingsData.accel_bias[2] += z_bias;
|
||||
accelGyroSettingsData.gyro_bias[0] = -x_gyro_bias;
|
||||
accelGyroSettingsData.gyro_bias[1] = -y_gyro_bias;
|
||||
accelGyroSettingsData.gyro_bias[2] = -z_gyro_bias;
|
||||
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_TRUE;
|
||||
AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData);
|
||||
AccelGyroSettings::GetInstance(getObjectManager())->setData(accelGyroSettingsData);
|
||||
this->setDirty(true);
|
||||
|
||||
// reenable controls
|
||||
enableControls(true);
|
||||
}
|
||||
}
|
||||
|
||||
void ConfigCCAttitudeWidget::timeout()
|
||||
{
|
||||
UAVDataObject *obj = AccelState::GetInstance(getObjectManager());
|
||||
|
||||
disconnect(obj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(sensorsUpdated(UAVObject *)));
|
||||
disconnect(&timer, SIGNAL(timeout()), this, SLOT(timeout()));
|
||||
|
||||
AccelState *accelState = AccelState::GetInstance(getObjectManager());
|
||||
GyroState *gyroState = GyroState::GetInstance(getObjectManager());
|
||||
accelState->setMetadata(initialAccelStateMdata);
|
||||
gyroState->setMetadata(initialGyroStateMdata);
|
||||
|
||||
QMessageBox msgBox;
|
||||
msgBox.setText(tr("Calibration timed out before receiving required updates."));
|
||||
msgBox.setStandardButtons(QMessageBox::Ok);
|
||||
msgBox.setDefaultButton(QMessageBox::Ok);
|
||||
msgBox.exec();
|
||||
|
||||
// reset progress indicator
|
||||
ui->zeroBiasProgress->setValue(0);
|
||||
// reenable controls
|
||||
enableControls(true);
|
||||
}
|
||||
|
||||
void ConfigCCAttitudeWidget::startAccelCalibration()
|
||||
{
|
||||
// disable controls during sampling
|
||||
enableControls(false);
|
||||
|
||||
accelUpdates = 0;
|
||||
gyroUpdates = 0;
|
||||
x_accum.clear();
|
||||
y_accum.clear();
|
||||
z_accum.clear();
|
||||
x_gyro_accum.clear();
|
||||
y_gyro_accum.clear();
|
||||
z_gyro_accum.clear();
|
||||
|
||||
// Disable gyro bias correction to see raw data
|
||||
AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData();
|
||||
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE;
|
||||
AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData);
|
||||
|
||||
// Set up to receive updates
|
||||
UAVDataObject *accelState = AccelState::GetInstance(getObjectManager());
|
||||
UAVDataObject *gyroState = GyroState::GetInstance(getObjectManager());
|
||||
connect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(sensorsUpdated(UAVObject *)));
|
||||
connect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(sensorsUpdated(UAVObject *)));
|
||||
|
||||
// Speed up updates
|
||||
initialAccelStateMdata = accelState->getMetadata();
|
||||
UAVObject::Metadata accelStateMdata = initialAccelStateMdata;
|
||||
UAVObject::SetFlightTelemetryUpdateMode(accelStateMdata, UAVObject::UPDATEMODE_PERIODIC);
|
||||
accelStateMdata.flightTelemetryUpdatePeriod = 30; // ms
|
||||
accelState->setMetadata(accelStateMdata);
|
||||
|
||||
initialGyroStateMdata = gyroState->getMetadata();
|
||||
UAVObject::Metadata gyroStateMdata = initialGyroStateMdata;
|
||||
UAVObject::SetFlightTelemetryUpdateMode(gyroStateMdata, UAVObject::UPDATEMODE_PERIODIC);
|
||||
gyroStateMdata.flightTelemetryUpdatePeriod = 30; // ms
|
||||
gyroState->setMetadata(gyroStateMdata);
|
||||
|
||||
// Set up timeout timer
|
||||
timer.setSingleShot(true);
|
||||
timer.start(5000 + (NUM_SENSOR_UPDATES * qMax(accelStateMdata.flightTelemetryUpdatePeriod,
|
||||
gyroStateMdata.flightTelemetryUpdatePeriod)));
|
||||
connect(&timer, SIGNAL(timeout()), this, SLOT(timeout()));
|
||||
}
|
||||
|
||||
void ConfigCCAttitudeWidget::openHelp()
|
||||
{
|
||||
QDesktopServices::openUrl(QUrl(tr("http://wiki.openpilot.org/x/44Cf"), QUrl::StrictMode));
|
||||
}
|
||||
|
||||
void ConfigCCAttitudeWidget::setAccelFiltering(bool active)
|
||||
{
|
||||
Q_UNUSED(active);
|
||||
setDirty(true);
|
||||
}
|
||||
|
||||
void ConfigCCAttitudeWidget::enableControls(bool enable)
|
||||
{
|
||||
ui->zeroBias->setEnabled(enable);
|
||||
ui->zeroGyroBiasOnArming->setEnabled(enable);
|
||||
ui->accelTauSpinbox->setEnabled(enable);
|
||||
ConfigTaskWidget::enableControls(enable);
|
||||
}
|
||||
|
||||
void ConfigCCAttitudeWidget::updateObjectsFromWidgets()
|
||||
{
|
||||
ConfigTaskWidget::updateObjectsFromWidgets();
|
||||
|
||||
ui->zeroBiasProgress->setValue(0);
|
||||
}
|
||||
74
ground/gcs/src/plugins/config/configccattitudewidget.h
Normal file
74
ground/gcs/src/plugins/config/configccattitudewidget.h
Normal file
@ -0,0 +1,74 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file configccattitudewidget.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup ConfigPlugin Config Plugin
|
||||
* @{
|
||||
* @brief Configure the properties of the attitude module in CopterControl
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* 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 CCATTITUDEWIDGET_H
|
||||
#define CCATTITUDEWIDGET_H
|
||||
|
||||
#include "ui_ccattitude.h"
|
||||
#include "../uavobjectwidgetutils/configtaskwidget.h"
|
||||
#include "extensionsystem/pluginmanager.h"
|
||||
#include "uavobjectmanager.h"
|
||||
#include "uavobject.h"
|
||||
#include <QWidget>
|
||||
#include <QTimer>
|
||||
|
||||
class Ui_Widget;
|
||||
|
||||
class ConfigCCAttitudeWidget : public ConfigTaskWidget {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit ConfigCCAttitudeWidget(QWidget *parent = 0);
|
||||
~ConfigCCAttitudeWidget();
|
||||
|
||||
virtual void updateObjectsFromWidgets();
|
||||
|
||||
private slots:
|
||||
void sensorsUpdated(UAVObject *obj);
|
||||
void timeout();
|
||||
void startAccelCalibration();
|
||||
void openHelp();
|
||||
void setAccelFiltering(bool active);
|
||||
|
||||
private:
|
||||
Ui_ccattitude *ui;
|
||||
QTimer timer;
|
||||
UAVObject::Metadata initialAccelStateMdata;
|
||||
UAVObject::Metadata initialGyroStateMdata;
|
||||
|
||||
int accelUpdates;
|
||||
int gyroUpdates;
|
||||
|
||||
QList<double> x_accum, y_accum, z_accum;
|
||||
QList<double> x_gyro_accum, y_gyro_accum, z_gyro_accum;
|
||||
|
||||
static const float DEFAULT_ENABLED_ACCEL_TAU = 0.1;
|
||||
static const int NUM_SENSOR_UPDATES = 300;
|
||||
protected:
|
||||
virtual void enableControls(bool enable);
|
||||
};
|
||||
|
||||
#endif // CCATTITUDEWIDGET_H
|
||||
@ -12,7 +12,9 @@
|
||||
<file>images/fixedwing-shapes.svg</file>
|
||||
<file>images/ground-shapes.svg</file>
|
||||
<file>images/ccpm_setup.svg</file>
|
||||
<file>images/PipXtreme.png</file>
|
||||
<file>images/help.png</file>
|
||||
<file>images/coptercontrol.svg</file>
|
||||
<file>images/TX2.svg</file>
|
||||
<file>images/output_selected.png</file>
|
||||
<file>images/output_normal.png</file>
|
||||
@ -54,5 +56,6 @@
|
||||
<file>images/gear.png</file>
|
||||
<file>images/error.svg</file>
|
||||
<file>images/nano_top.png</file>
|
||||
<file>images/cc3d_top.png</file>
|
||||
</qresource>
|
||||
</RCC>
|
||||
|
||||
@ -28,12 +28,14 @@
|
||||
#include "configgadgetwidget.h"
|
||||
|
||||
#include "configvehicletypewidget.h"
|
||||
#include "configccattitudewidget.h"
|
||||
#include "configinputwidget.h"
|
||||
#include "configoutputwidget.h"
|
||||
#include "configstabilizationwidget.h"
|
||||
#include "configcamerastabilizationwidget.h"
|
||||
#include "configtxpidwidget.h"
|
||||
#include "configrevohwwidget.h"
|
||||
#include "config_cc_hw_widget.h"
|
||||
#include "configoplinkwidget.h"
|
||||
#include "configrevowidget.h"
|
||||
#include "configrevonanohwwidget.h"
|
||||
@ -182,7 +184,13 @@ void ConfigGadgetWidget::onAutopilotConnect()
|
||||
UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
|
||||
if (utilMngr) {
|
||||
int board = utilMngr->getBoardModel();
|
||||
if ((board & 0xff00) == 0x0900) {
|
||||
if ((board & 0xff00) == 0x0400) {
|
||||
// CopterControl family
|
||||
QWidget *qwd = new ConfigCCAttitudeWidget(this);
|
||||
stackWidget->replaceTab(ConfigGadgetWidget::sensors, qwd);
|
||||
qwd = new ConfigCCHWWidget(this);
|
||||
stackWidget->replaceTab(ConfigGadgetWidget::hardware, qwd);
|
||||
} else if ((board & 0xff00) == 0x0900) {
|
||||
// Revolution family
|
||||
QWidget *qwd = new ConfigRevoWidget(this);
|
||||
stackWidget->replaceTab(ConfigGadgetWidget::sensors, qwd);
|
||||
|
||||
@ -354,7 +354,11 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject *obj)
|
||||
if (utilMngr) {
|
||||
int board = utilMngr->getBoardModel();
|
||||
// Setup labels and combos for banks according to board type
|
||||
if (board == 0x0903) {
|
||||
if ((board & 0xff00) == 0x0400) {
|
||||
// Coptercontrol family of boards 4 timer banks
|
||||
bankLabels << "1 (1-3)" << "2 (4)" << "3 (5,7-8)" << "4 (6,9-10)";
|
||||
channelBanks << 1 << 1 << 1 << 2 << 3 << 4 << 3 << 3 << 4 << 4;
|
||||
} else if (board == 0x0903) {
|
||||
// Revolution family of boards 6 timer banks
|
||||
bankLabels << "1 (1-2)" << "2 (3)" << "3 (4)" << "4 (5-6)" << "5 (7,12)" << "6 (8-11)";
|
||||
channelBanks << 1 << 1 << 2 << 3 << 4 << 4 << 5 << 6 << 6 << 6 << 6 << 5;
|
||||
@ -472,7 +476,10 @@ void ConfigOutputWidget::updateWarnings(UAVObject *)
|
||||
if (systemAlarms.Alarm[SystemAlarms::ALARM_SYSTEMCONFIGURATION] > SystemAlarms::ALARM_WARNING) {
|
||||
switch (systemAlarms.ExtendedAlarmStatus[SystemAlarms::EXTENDEDALARMSTATUS_SYSTEMCONFIGURATION]) {
|
||||
case SystemAlarms::EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT:
|
||||
setWarning(tr("OneShot and PWMSync output DO NOT work with Receiver Port is 'PWM'<br>"));
|
||||
setWarning(tr("OneShot and PWMSync output only works with Receiver Port settings marked with '+OneShot'<br>"
|
||||
"When using Receiver Port setting 'PPM_PIN8+OneShot' "
|
||||
"<b><font color='%1'>Bank %2</font></b> must be set to PWM")
|
||||
.arg(m_banks.at(3).color().name()).arg(m_banks.at(3).label()->text()));
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
@ -868,7 +868,7 @@
|
||||
</palette>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Send to OpenPilot but don't write in SD.
|
||||
<string>Send to board but don't write in SD.
|
||||
Beware of not locking yourself out!</string>
|
||||
</property>
|
||||
<property name="autoFillBackground">
|
||||
|
||||
@ -652,7 +652,7 @@
|
||||
</palette>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Send to OpenPilot but don't write in SD.
|
||||
<string>Send to board but don't write in SD.
|
||||
Beware of not locking yourself out!</string>
|
||||
</property>
|
||||
<property name="autoFillBackground">
|
||||
|
||||
@ -91,7 +91,7 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
|
||||
m_ui->calibrationVisualHelp->setScene(new QGraphicsScene(this));
|
||||
m_ui->calibrationVisualHelp->setRenderHint(QPainter::HighQualityAntialiasing, true);
|
||||
m_ui->calibrationVisualHelp->setRenderHint(QPainter::SmoothPixmapTransform, true);
|
||||
m_ui->calibrationVisualHelp->setBackgroundBrush(QBrush(QColor(51, 51, 51)));
|
||||
m_ui->calibrationVisualHelp->setBackgroundBrush(QBrush(QColor(200, 200, 200)));
|
||||
displayVisualHelp("empty");
|
||||
|
||||
// Must set up the UI (above) before setting up the UAVO mappings or refreshWidgetValues
|
||||
|
||||
@ -2,7 +2,8 @@
|
||||
******************************************************************************
|
||||
*
|
||||
* @file configstabilizationwidget.cpp
|
||||
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
* E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup ConfigPlugin Config Plugin
|
||||
@ -91,6 +92,9 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
|
||||
connect(ui->checkBox_3, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
|
||||
addWidget(ui->checkBox_3);
|
||||
|
||||
connect(ui->checkBoxLinkAcroFactors, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
|
||||
addWidget(ui->checkBoxLinkAcroFactors);
|
||||
|
||||
addWidget(ui->pushButton_2);
|
||||
addWidget(ui->pushButton_3);
|
||||
addWidget(ui->pushButton_4);
|
||||
@ -568,6 +572,8 @@ void ConfigStabilizationWidget::linkCheckBoxes(bool value)
|
||||
ui->basicResponsivenessCheckBox->setChecked(!value);
|
||||
ui->basicResponsivenessControls->setEnabled(!value);
|
||||
ui->advancedResponsivenessControls->setEnabled(value);
|
||||
} else if(sender() == ui->checkBoxLinkAcroFactors) {
|
||||
processLinkedWidgets(ui->AcroFactorRollSlider);
|
||||
}
|
||||
}
|
||||
|
||||
@ -608,6 +614,13 @@ void ConfigStabilizationWidget::processLinkedWidgets(QWidget *widget)
|
||||
ui->ratePitchKi_4->setValue(ui->RateResponsivenessSlider->value());
|
||||
}
|
||||
}
|
||||
if (ui->checkBoxLinkAcroFactors->isChecked()) {
|
||||
if (widget == ui->AcroFactorRollSlider) {
|
||||
ui->AcroFactorPitchSlider->setValue(ui->AcroFactorRollSlider->value());
|
||||
} else if (widget == ui->AcroFactorPitchSlider) {
|
||||
ui->AcroFactorRollSlider->setValue(ui->AcroFactorPitchSlider->value());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void ConfigStabilizationWidget::onBoardConnected()
|
||||
|
||||
@ -2,7 +2,8 @@
|
||||
******************************************************************************
|
||||
*
|
||||
* @file configtxpidswidget.cpp
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup ConfigPlugin Config Plugin
|
||||
@ -88,8 +89,10 @@ ConfigTxPIDWidget::ConfigTxPIDWidget(QWidget *parent) : ConfigTaskWidget(parent)
|
||||
|
||||
addWidgetBinding("TxPIDSettings", "UpdateMode", m_txpid->UpdateMode);
|
||||
|
||||
addWidget(m_txpid->TxPIDEnable);
|
||||
connect(this, SIGNAL(widgetContentsChanged(QWidget *)), this, SLOT(processLinkedWidgets(QWidget *)));
|
||||
|
||||
addWidget(m_txpid->TxPIDEnable);
|
||||
addWidget(m_txpid->enableAutoCalcYaw);
|
||||
enableControls(false);
|
||||
populateWidgets();
|
||||
refreshWidgetsValues();
|
||||
@ -160,9 +163,29 @@ static bool isExpoOption(int pidOption)
|
||||
}
|
||||
}
|
||||
|
||||
static bool isFullPIDOption(int pidOption)
|
||||
{
|
||||
switch (pidOption) {
|
||||
case TxPIDSettings::PIDS_ROLLRATEPID:
|
||||
case TxPIDSettings::PIDS_PITCHRATEPID:
|
||||
return true;
|
||||
|
||||
default:
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
static bool isAcroPlusFactorOption(int pidOption)
|
||||
{
|
||||
return pidOption == TxPIDSettings::PIDS_ACROPLUSFACTOR;
|
||||
switch (pidOption) {
|
||||
case TxPIDSettings::PIDS_ACROPITCHFACTOR:
|
||||
case TxPIDSettings::PIDS_ACROROLLFACTOR:
|
||||
case TxPIDSettings::PIDS_ACROROLLPITCHFACTOR:
|
||||
return true;
|
||||
|
||||
default:
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
template <class StabilizationSettingsBankX>
|
||||
@ -173,9 +196,11 @@ static float defaultValueForPidOption(const StabilizationSettingsBankX *bank, in
|
||||
return 0.0f;
|
||||
|
||||
case TxPIDSettings::PIDS_ROLLRATEKP:
|
||||
case TxPIDSettings::PIDS_ROLLRATEPID:
|
||||
return bank->getRollRatePID_Kp();
|
||||
|
||||
case TxPIDSettings::PIDS_PITCHRATEKP:
|
||||
case TxPIDSettings::PIDS_PITCHRATEPID:
|
||||
return bank->getPitchRatePID_Kp();
|
||||
|
||||
case TxPIDSettings::PIDS_ROLLPITCHRATEKP:
|
||||
@ -292,6 +317,13 @@ static float defaultValueForPidOption(const StabilizationSettingsBankX *bank, in
|
||||
case TxPIDSettings::PIDS_YAWEXPO:
|
||||
return bank->getStickExpo_Yaw();
|
||||
|
||||
case TxPIDSettings::PIDS_ACROROLLFACTOR:
|
||||
case TxPIDSettings::PIDS_ACROROLLPITCHFACTOR:
|
||||
return bank->getAcroInsanityFactor_Roll();
|
||||
|
||||
case TxPIDSettings::PIDS_ACROPITCHFACTOR:
|
||||
return bank->getAcroInsanityFactor_Pitch();
|
||||
|
||||
case -1: // The PID Option field was uninitialized.
|
||||
return 0.0f;
|
||||
|
||||
@ -432,3 +464,23 @@ void ConfigTxPIDWidget::saveSettings()
|
||||
UAVObject *obj = HwSettings::GetInstance(getObjectManager());
|
||||
saveObjectToSD(obj);
|
||||
}
|
||||
|
||||
void ConfigTxPIDWidget::processLinkedWidgets(QWidget *widget)
|
||||
{
|
||||
Q_UNUSED(widget);
|
||||
bool fullPidEnabled =
|
||||
isFullPIDOption(m_txpid->PID1->currentIndex()) ||
|
||||
isFullPIDOption(m_txpid->PID2->currentIndex()) ||
|
||||
isFullPIDOption(m_txpid->PID3->currentIndex());
|
||||
bool calcYawEnabled = fullPidEnabled && m_txpid->enableAutoCalcYaw->isChecked();
|
||||
|
||||
m_txpid->fullPID_Y_P_FactorSlider->setEnabled(calcYawEnabled);
|
||||
m_txpid->fullPID_Y_P_FactorSpinBox->setEnabled(calcYawEnabled);
|
||||
m_txpid->fullPID_Y_I_FactorSpinBox->setEnabled(calcYawEnabled);
|
||||
m_txpid->fullPID_Y_D_FactorSpinBox->setEnabled(calcYawEnabled);
|
||||
m_txpid->enableAutoCalcYaw->setEnabled(fullPidEnabled);
|
||||
m_txpid->fullPID_RP_I_FactorSlider->setEnabled(fullPidEnabled);
|
||||
m_txpid->fullPID_RP_I_FactorSpinBox->setEnabled(fullPidEnabled);
|
||||
m_txpid->fullPID_RP_D_FactorSpinBox->setEnabled(fullPidEnabled);
|
||||
m_txpid->groupBox_FullPids->setEnabled(fullPidEnabled);
|
||||
}
|
||||
|
||||
@ -38,8 +38,8 @@ public:
|
||||
~ConfigTxPIDWidget();
|
||||
private:
|
||||
Ui_TxPIDWidget *m_txpid;
|
||||
|
||||
private slots:
|
||||
void processLinkedWidgets(QWidget *widget);
|
||||
void updateSpinBoxProperties(int selectedPidOption);
|
||||
float getDefaultValueForPidOption(int pidOption);
|
||||
void refreshValues();
|
||||
|
||||
@ -135,9 +135,6 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
|
||||
addUAVObject("MixerSettings");
|
||||
addUAVObject("ActuatorSettings");
|
||||
|
||||
m_ffTuningInProgress = false;
|
||||
m_ffTuningPhase = false;
|
||||
|
||||
// The order of the tabs is important since they correspond with the AirframCategory enum
|
||||
m_aircraft->aircraftType->addTab(tr("Multirotor"));
|
||||
m_aircraft->aircraftType->addTab(tr("Fixed Wing"));
|
||||
@ -148,24 +145,11 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
|
||||
// Connect aircraft type selection dropbox to callback function
|
||||
connect(m_aircraft->aircraftType, SIGNAL(currentChanged(int)), this, SLOT(switchAirframeType(int)));
|
||||
|
||||
// Connect the three feed forward test checkboxes
|
||||
connect(m_aircraft->ffTestBox1, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
|
||||
connect(m_aircraft->ffTestBox2, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
|
||||
connect(m_aircraft->ffTestBox3, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
|
||||
|
||||
// Connect the help pushbutton
|
||||
connect(m_aircraft->airframeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
|
||||
|
||||
refreshWidgetsValues();
|
||||
|
||||
// register FF widgets for dirty state management
|
||||
addWidget(m_aircraft->feedForwardSlider);
|
||||
addWidget(m_aircraft->accelTime);
|
||||
addWidget(m_aircraft->decelTime);
|
||||
addWidget(m_aircraft->maxAccelSlider);
|
||||
addWidget(m_aircraft->ffTestBox1);
|
||||
addWidget(m_aircraft->ffTestBox2);
|
||||
addWidget(m_aircraft->ffTestBox3);
|
||||
addWidget(m_aircraft->nameEdit);
|
||||
|
||||
disableMouseWheelEvents();
|
||||
@ -183,7 +167,6 @@ ConfigVehicleTypeWidget::~ConfigVehicleTypeWidget()
|
||||
void ConfigVehicleTypeWidget::switchAirframeType(int index)
|
||||
{
|
||||
m_aircraft->airframesWidget->setCurrentWidget(getVehicleConfigWidget(index));
|
||||
m_aircraft->tabWidget->setTabEnabled(1, index != 1);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -247,7 +230,6 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *object)
|
||||
}
|
||||
m_aircraft->nameEdit->setText(name);
|
||||
|
||||
updateFeedForwardUI();
|
||||
setDirty(dirty);
|
||||
}
|
||||
|
||||
@ -281,17 +263,6 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
|
||||
field->setValue(airframeType);
|
||||
}
|
||||
|
||||
// Update feed forward settings
|
||||
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
|
||||
Q_ASSERT(mixer);
|
||||
|
||||
QPointer<VehicleConfig> vconfig = new VehicleConfig();
|
||||
|
||||
vconfig->setMixerValue(mixer, "FeedForward", m_aircraft->feedForwardSlider->value() / 100.0);
|
||||
vconfig->setMixerValue(mixer, "AccelTime", m_aircraft->accelTime->value());
|
||||
vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
|
||||
vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value());
|
||||
|
||||
field = system->getField(QString("VehicleName"));
|
||||
Q_ASSERT(field);
|
||||
QString name = m_aircraft->nameEdit->text();
|
||||
@ -306,7 +277,6 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
|
||||
// call refreshWidgetsValues() to reflect actual saved values
|
||||
refreshWidgetsValues();
|
||||
ConfigTaskWidget::updateObjectsFromWidgets();
|
||||
updateFeedForwardUI();
|
||||
}
|
||||
|
||||
int ConfigVehicleTypeWidget::frameCategory(QString frameType)
|
||||
@ -372,86 +342,6 @@ VehicleConfig *ConfigVehicleTypeWidget::createVehicleConfigWidget(int frameCateg
|
||||
return NULL;
|
||||
}
|
||||
|
||||
/**
|
||||
Enables and runs feed forward testing
|
||||
*/
|
||||
void ConfigVehicleTypeWidget::enableFFTest()
|
||||
{
|
||||
// Role:
|
||||
// - Check if all three checkboxes are checked
|
||||
// - Every other timer event: toggle engine from 45% to 55%
|
||||
// - Every other time event: send FF settings to flight FW
|
||||
if (m_aircraft->ffTestBox1->isChecked() && m_aircraft->ffTestBox2->isChecked()
|
||||
&& m_aircraft->ffTestBox3->isChecked()) {
|
||||
if (!m_ffTuningInProgress) {
|
||||
// Initiate tuning:
|
||||
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(
|
||||
QString("ManualControlCommand")));
|
||||
UAVObject::Metadata mdata = obj->getMetadata();
|
||||
m_accInitialData = mdata;
|
||||
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
|
||||
obj->setMetadata(mdata);
|
||||
}
|
||||
// Depending on phase, either move actuator or send FF settings:
|
||||
if (m_ffTuningPhase) {
|
||||
// Send FF settings to the board
|
||||
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
|
||||
Q_ASSERT(mixer);
|
||||
|
||||
QPointer<VehicleConfig> vconfig = new VehicleConfig();
|
||||
|
||||
// Update feed forward settings
|
||||
vconfig->setMixerValue(mixer, "FeedForward", m_aircraft->feedForwardSlider->value() / 100.0);
|
||||
vconfig->setMixerValue(mixer, "AccelTime", m_aircraft->accelTime->value());
|
||||
vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
|
||||
vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value());
|
||||
mixer->updated();
|
||||
} else {
|
||||
// Toggle motor state
|
||||
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(
|
||||
QString("ManualControlCommand")));
|
||||
double value = obj->getField("Throttle")->getDouble();
|
||||
double target = (value < 0.5) ? 0.55 : 0.45;
|
||||
obj->getField("Throttle")->setValue(target);
|
||||
obj->updated();
|
||||
}
|
||||
m_ffTuningPhase = !m_ffTuningPhase;
|
||||
m_ffTuningInProgress = true;
|
||||
QTimer::singleShot(1000, this, SLOT(enableFFTest()));
|
||||
} else {
|
||||
// - If no: disarm timer, restore actuatorcommand metadata
|
||||
// Disarm!
|
||||
if (m_ffTuningInProgress) {
|
||||
m_ffTuningInProgress = false;
|
||||
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(
|
||||
QString("ManualControlCommand")));
|
||||
UAVObject::Metadata mdata = obj->getMetadata();
|
||||
mdata = m_accInitialData; // Restore metadata
|
||||
obj->setMetadata(mdata);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
Updates the custom airframe settings based on the current airframe.
|
||||
|
||||
Note: does NOT ask for an object refresh itself!
|
||||
*/
|
||||
void ConfigVehicleTypeWidget::updateFeedForwardUI()
|
||||
{
|
||||
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
|
||||
|
||||
Q_ASSERT(mixer);
|
||||
|
||||
QPointer<VehicleConfig> vconfig = new VehicleConfig();
|
||||
|
||||
// Update feed forward settings
|
||||
m_aircraft->feedForwardSlider->setValue(vconfig->getMixerValue(mixer, "FeedForward") * 100);
|
||||
m_aircraft->accelTime->setValue(vconfig->getMixerValue(mixer, "AccelTime"));
|
||||
m_aircraft->decelTime->setValue(vconfig->getMixerValue(mixer, "DecelTime"));
|
||||
m_aircraft->maxAccelSlider->setValue(vconfig->getMixerValue(mixer, "MaxAccel"));
|
||||
}
|
||||
|
||||
/**
|
||||
Opens the wiki from the user's default browser
|
||||
*/
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
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Reference in New Issue
Block a user