diff --git a/HISTORY.txt b/HISTORY.txt index ac278b889..98193adce 100644 --- a/HISTORY.txt +++ b/HISTORY.txt @@ -1,5 +1,33 @@ Short summary of changes. For a complete list see the git log. +2011-09-12 +Max rate now ONLY applies to attitude and axis lock mode. Manual rate is the +only term that limits the rate mode now (and in axis lock when you push stick +only manual rate applies). Also integrals are reset when unused. + +2011-09-09 +Some large updates to the input system. Now multiple receivers can be +connected at once. A wizard was added for configuring the input channels. A +specific collective pitch channel was added. + +2011-09-04 +Improvements to the failsafe handling code for inputs. PWM power off is now +detected properly. Powering on transmitter for Spektrum Satellite no longer +causes a glitch on servos. + +2011-08-10 +Added Camera Stabilization and a gui to configure this. This is a software +selectable module from the GUI. However, a restart is required to make it +active. The GUI does not currently expose the configuration for using the +transmitter to change the view angle but this is supported by the hardware. + +2011-08-10 +By default a lot of diagnostic objects that were enabled by default are now +disabled in the build. This include TaskInfo (and all the FreeRTOS options +that provide that debugging information). Also MixerStatus, I2CStatus, +WatchdogStatus and RateDesired. These can be reenabled for debugging with +-DDIAGNOSTICS. + 2011-08-04 Fixed packaging aesthetic issues. Also avoid runtime issues on OSX Lion by disabling the ModelView and Notify plugins for now (sorry). diff --git a/MILESTONES.txt b/MILESTONES.txt index d2a0b33ed..7029e5c5a 100644 --- a/MILESTONES.txt +++ b/MILESTONES.txt @@ -137,6 +137,16 @@ C: Mat Wellington D: July 2011 V: http://www.youtube.com/watch?v=YE4Fd9vdg1I +M: First CopterControl Flybared Heli inverted flight (2:33) +C: Maxim Izergin (Maximus43) +D: August 2011 +V: http://www.youtube.com/watch?v=8SrfIS7OkB4 + +M: First CopterControl Flybared Heli funnel (4:18), loop (5:35) +C: Sergey Solodennikov (alconaft43) +D: August 2011 +V: http://www.youtube.com/watch?v=8SrfIS7OkB4 + M: First CopterControl Return to Base Fixed Wing C: Eric Price (Corvus Corax) D: AUgust 2011 diff --git a/Makefile b/Makefile index 18cdb3b2e..438f697a4 100644 --- a/Makefile +++ b/Makefile @@ -183,13 +183,13 @@ qt_sdk_clean: ARM_SDK_DIR := $(TOOLS_DIR)/arm-2011.03 .PHONY: arm_sdk_install -arm_sdk_install: ARM_SDK_URL := http://www.codesourcery.com/sgpp/lite/arm/portal/package8734/public/arm-none-eabi/arm-2011.03-42-arm-none-eabi-i686-pc-linux-gnu.tar.bz2 +arm_sdk_install: ARM_SDK_URL := https://sourcery.mentor.com/sgpp/lite/arm/portal/package8736/public/arm-none-eabi/arm-2011.03-42-arm-none-eabi-i686-pc-linux-gnu.tar.bz2 arm_sdk_install: ARM_SDK_FILE := $(notdir $(ARM_SDK_URL)) # order-only prereq on directory existance: arm_sdk_install: | $(DL_DIR) $(TOOLS_DIR) arm_sdk_install: arm_sdk_clean # download the source only if it's newer than what we already have - $(V1) wget -N -P "$(DL_DIR)" "$(ARM_SDK_URL)" + $(V1) wget --no-check-certificate -N -P "$(DL_DIR)" "$(ARM_SDK_URL)" # binary only release so just extract it $(V1) tar -C $(TOOLS_DIR) -xjf "$(DL_DIR)/$(ARM_SDK_FILE)" @@ -202,8 +202,8 @@ arm_sdk_clean: OPENOCD_DIR := $(TOOLS_DIR)/openocd .PHONY: openocd_install -openocd_install: OPENOCD_URL := http://sourceforge.net/projects/openocd/files/openocd/0.4.0/openocd-0.4.0.tar.bz2/download -openocd_install: OPENOCD_FILE := openocd-0.4.0.tar.bz2 +openocd_install: OPENOCD_URL := http://sourceforge.net/projects/openocd/files/openocd/0.5.0/openocd-0.5.0.tar.bz2/download +openocd_install: OPENOCD_FILE := openocd-0.5.0.tar.bz2 # order-only prereq on directory existance: openocd_install: | $(DL_DIR) $(TOOLS_DIR) openocd_install: openocd_clean @@ -218,8 +218,8 @@ openocd_install: openocd_clean # build and install $(V1) mkdir -p "$(OPENOCD_DIR)" $(V1) ( \ - cd $(DL_DIR)/openocd-build/openocd-0.4.0 ; \ - ./configure --prefix="$(OPENOCD_DIR)" --enable-ft2232_libftdi ; \ + cd $(DL_DIR)/openocd-build/openocd-0.5.0 ; \ + ./configure --prefix="$(OPENOCD_DIR)" --enable-ft2232_libftdi --enable-buspirate; \ $(MAKE) ; \ $(MAKE) install ; \ ) diff --git a/flight/AHRS/Makefile b/flight/AHRS/Makefile index 46405ca6c..1943cc3a6 100644 --- a/flight/AHRS/Makefile +++ b/flight/AHRS/Makefile @@ -355,7 +355,7 @@ $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin $(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION))) # Add jtag targets (program and wipe) -$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE))) +$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG))) .PHONY: elf lss sym hex bin bino opfw elf: $(OUTDIR)/$(TARGET).elf diff --git a/flight/Bootloaders/BootloaderUpdater/Makefile b/flight/Bootloaders/BootloaderUpdater/Makefile index 81aa163ec..aabfc88bf 100644 --- a/flight/Bootloaders/BootloaderUpdater/Makefile +++ b/flight/Bootloaders/BootloaderUpdater/Makefile @@ -258,7 +258,9 @@ CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I. CFLAGS += -mapcs-frame CFLAGS += -fomit-frame-pointer +ifeq ($(CODE_SOURCERY), YES) CFLAGS += -fpromote-loop-indices +endif CFLAGS += -Wall CFLAGS += -Werror diff --git a/flight/Bootloaders/CopterControl/Makefile b/flight/Bootloaders/CopterControl/Makefile index fe613f909..99521020d 100644 --- a/flight/Bootloaders/CopterControl/Makefile +++ b/flight/Bootloaders/CopterControl/Makefile @@ -300,7 +300,9 @@ CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I. CFLAGS += -mapcs-frame CFLAGS += -fomit-frame-pointer +ifeq ($(CODE_SOURCERY), YES) CFLAGS += -fpromote-loop-indices +endif CFLAGS += -Wall CFLAGS += -Werror diff --git a/flight/Bootloaders/OpenPilot/Makefile b/flight/Bootloaders/OpenPilot/Makefile index e4285f7e0..cad11dedf 100644 --- a/flight/Bootloaders/OpenPilot/Makefile +++ b/flight/Bootloaders/OpenPilot/Makefile @@ -306,7 +306,9 @@ CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I. CFLAGS += -mapcs-frame CFLAGS += -fomit-frame-pointer +ifeq ($(CODE_SOURCERY), YES) CFLAGS += -fpromote-loop-indices +endif CFLAGS += -Wall CFLAGS += -Werror diff --git a/flight/Bootloaders/PipXtreme/Makefile b/flight/Bootloaders/PipXtreme/Makefile index 64f13d0d2..19b651a5f 100644 --- a/flight/Bootloaders/PipXtreme/Makefile +++ b/flight/Bootloaders/PipXtreme/Makefile @@ -301,7 +301,9 @@ CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I. CFLAGS += -mapcs-frame CFLAGS += -fomit-frame-pointer +ifeq ($(CODE_SOURCERY), YES) CFLAGS += -fpromote-loop-indices +endif CFLAGS += -Wall CFLAGS += -Werror diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index 78e62bb89..d36c48fca 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -37,6 +37,9 @@ OUTDIR := $(TOP)/build/$(TARGET) # Set to YES to compile for debugging DEBUG ?= NO +# Include objects that are just nice information to show +DIAGNOSTICS ?= NO + # Set to YES to build a FW version that will erase all flash memory ERASE_FLASH ?= NO # Set to YES to use the Servo output pins for debugging via scope or logic analyser @@ -62,7 +65,9 @@ endif FLASH_TOOL = OPENOCD # List of modules to include -MODULES = Telemetry Attitude Stabilization Actuator ManualControl FirmwareIAP +MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP CameraStab +# Telemetry must be last to grab the optional modules +MODULES += Telemetry # Paths OPSYSTEM = ./System @@ -125,7 +130,6 @@ SRC += $(OPSYSTEM)/taskmonitor.c SRC += $(OPUAVTALK)/uavtalk.c SRC += $(OPUAVOBJ)/uavobjectmanager.c SRC += $(OPUAVOBJ)/eventdispatcher.c -SRC += $(OPUAVOBJ)/uavobjectsinit_linker.c SRC += $(OPSYSTEM)/pios_usb_hid_desc.c else ## TESTCODE @@ -153,21 +157,22 @@ SRC += $(OPUAVSYNTHDIR)/actuatorsettings.c SRC += $(OPUAVSYNTHDIR)/attituderaw.c SRC += $(OPUAVSYNTHDIR)/attitudeactual.c SRC += $(OPUAVSYNTHDIR)/manualcontrolcommand.c -SRC += $(OPUAVSYNTHDIR)/taskinfo.c SRC += $(OPUAVSYNTHDIR)/i2cstats.c SRC += $(OPUAVSYNTHDIR)/watchdogstatus.c SRC += $(OPUAVSYNTHDIR)/telemetrysettings.c -SRC += $(OPUAVSYNTHDIR)/ratedesired.c SRC += $(OPUAVSYNTHDIR)/manualcontrolsettings.c SRC += $(OPUAVSYNTHDIR)/mixersettings.c -SRC += $(OPUAVSYNTHDIR)/mixerstatus.c SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c SRC += $(OPUAVSYNTHDIR)/attitudesettings.c +SRC += $(OPUAVSYNTHDIR)/camerastabsettings.c +SRC += $(OPUAVSYNTHDIR)/cameradesired.c SRC += $(OPUAVSYNTHDIR)/hwsettings.c -#${wildcard ${OBJ}/$(shell echo $(VAR) | tr A-Z a-z)/*.c} -#SRC += ${foreach OBJ, ${UAVOBJECTS}, $(UAVOBJECTS)/$(OBJ).c} -# Cant use until i can automatically generate list of UAVObjects -#SRC += ${OUTDIR}/InitObjects.c +SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c +SRC += $(OPUAVSYNTHDIR)/receiveractivity.c +SRC += $(OPUAVSYNTHDIR)/taskinfo.c +SRC += $(OPUAVSYNTHDIR)/mixerstatus.c +SRC += $(OPUAVSYNTHDIR)/ratedesired.c + endif ## PIOS Hardware (STM32F10x) @@ -189,6 +194,7 @@ SRC += $(PIOSSTM32F10X)/pios_gpio.c SRC += $(PIOSSTM32F10X)/pios_exti.c SRC += $(PIOSSTM32F10X)/pios_rtc.c SRC += $(PIOSSTM32F10X)/pios_wdg.c +SRC += $(PIOSSTM32F10X)/pios_tim.c # PIOS USB related files (seperated to make code maintenance more easy) @@ -207,6 +213,7 @@ SRC += $(PIOSCOMMON)/pios_i2c_esc.c SRC += $(PIOSCOMMON)/pios_iap.c SRC += $(PIOSCOMMON)/pios_bl_helper.c SRC += $(PIOSCOMMON)/pios_rcvr.c +SRC += $(PIOSCOMMON)/pios_gcsrcvr.c SRC += $(PIOSCOMMON)/printf-stdarg.c ## Libraries for flight calculations SRC += $(FLIGHTLIB)/fifo_buffer.c @@ -417,6 +424,10 @@ ifeq ($(DEBUG),YES) CFLAGS = -DDEBUG endif +ifeq ($(DIAGNOSTICS),YES) +CFLAGS = -DDIAGNOSTICS +endif + CFLAGS += -g$(DEBUGF) CFLAGS += -O$(OPT) CFLAGS += -mcpu=$(MCU) @@ -425,14 +436,16 @@ CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I. #CFLAGS += -fno-cprop-registers -fno-defer-pop -fno-guess-branch-probability -fno-section-anchors #CFLAGS += -fno-if-conversion -fno-if-conversion2 -fno-ipa-pure-const -fno-ipa-reference -fno-merge-constants -#CFLAGS += -fno-split-wide-types -fno-tree-ccp -fno-tree-ch -fno-tree-copy-prop -fno-tree-copyrename +#CFLAGS += -fno-split-wide-types -fno-tree-ccp -fno-tree-ch -fno-tree-copy-prop -fno-tree-copyrename #CFLAGS += -fno-tree-dce -fno-tree-dominator-opts -fno-tree-dse -fno-tree-fre -fno-tree-sink -fno-tree-sra #CFLAGS += -fno-tree-ter #CFLAGS += -g$(DEBUGF) -DDEBUG CFLAGS += -mapcs-frame CFLAGS += -fomit-frame-pointer +ifeq ($(CODE_SOURCERY), YES) CFLAGS += -fpromote-loop-indices +endif CFLAGS += -Wall CFLAGS += -Werror @@ -504,7 +517,7 @@ endif endif # Generate code for PyMite -#$(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py) +#$(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py) # @echo $(MSG_PYMITEINIT) $(call toprel, $@) # @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py) # @$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h @@ -542,7 +555,7 @@ $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin $(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION))) # Add jtag targets (program and wipe) -$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE))) +$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG))) .PHONY: elf lss sym hex bin bino opfw elf: $(OUTDIR)/$(TARGET).elf diff --git a/flight/CopterControl/System/alarms.c b/flight/CopterControl/System/alarms.c index e899be779..01d79a1e5 100644 --- a/flight/CopterControl/System/alarms.c +++ b/flight/CopterControl/System/alarms.c @@ -41,10 +41,12 @@ static xSemaphoreHandle lock; static int32_t hasSeverity(SystemAlarmsAlarmOptions severity); /** - * Initialize the alarms library + * Initialize the alarms library */ int32_t AlarmsInitialize(void) { + SystemAlarmsInitialize(); + lock = xSemaphoreCreateRecursiveMutex(); //do not change the default states of the alarms, let the init code generated by the uavobjectgenerator handle that //AlarmsClearAll(); @@ -56,7 +58,7 @@ int32_t AlarmsInitialize(void) * Set an alarm * @param alarm The system alarm to be modified * @param severity The alarm severity - * @return 0 if success, -1 if an error + * @return 0 if success, -1 if an error */ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity) { @@ -151,7 +153,7 @@ void AlarmsClearAll() /** * Check if there are any alarms with the given or higher severity - * @return 0 if no alarms are found, 1 if at least one alarm is found + * @return 0 if no alarms are found, 1 if at least one alarm is found */ int32_t AlarmsHasWarnings() { @@ -208,5 +210,5 @@ static int32_t hasSeverity(SystemAlarmsAlarmOptions severity) /** * @} * @} - */ + */ diff --git a/flight/CopterControl/System/coptercontrol.c b/flight/CopterControl/System/coptercontrol.c index f66cf1cf5..33cb096c2 100644 --- a/flight/CopterControl/System/coptercontrol.c +++ b/flight/CopterControl/System/coptercontrol.c @@ -1,97 +1,107 @@ -/** - ****************************************************************************** - * @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 - */ - - -/* OpenPilot Includes */ -#include "openpilot.h" -#include "uavobjectsinit.h" -#include "systemmod.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
-* Create the "System" task (SystemModInitializein Modules/System/systemmod.c)
-* 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(); - - /* Initialize modules */ - MODULE_INITIALISE_ALL - - /* swap the stack to use the IRQ stack */ - Stack_Change(); - - /* Start the FreeRTOS scheduler which should never returns.*/ - 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 */ - PIOS_LED_Off(LED1); \ - for(;;) { \ - PIOS_LED_Toggle(LED1); \ - PIOS_DELAY_WaitmS(100); \ - }; - - return 0; -} - -/** - * @} - * @} - */ - +/** + ****************************************************************************** + * @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 + */ + + +/* OpenPilot Includes */ +#include "openpilot.h" +#include "uavobjectsinit.h" +#include "hwsettings.h" +#include "camerastab.h" +#include "systemmod.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
+* Create the "System" task (SystemModInitializein Modules/System/systemmod.c)
+* 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(); + + /* Initialize modules */ + MODULE_INITIALISE_ALL + + /* Optional module initialization. This code might want to go somewhere else as + * it grows */ + uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM]; + HwSettingsOptionalModulesGet(optionalModules); + if(optionalModules[HWSETTINGS_OPTIONALMODULES_CAMERASTABILIZATION] == HWSETTINGS_OPTIONALMODULES_ENABLED) { + CameraStabInitialize(); + } + + /* swap the stack to use the IRQ stack */ + Stack_Change(); + + /* Start the FreeRTOS scheduler which should never returns.*/ + 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 */ + PIOS_LED_Off(LED1); \ + for(;;) { \ + PIOS_LED_Toggle(LED1); \ + PIOS_DELAY_WaitmS(100); \ + }; + + return 0; +} + +/** + * @} + * @} + */ + diff --git a/flight/CopterControl/System/inc/FreeRTOSConfig.h b/flight/CopterControl/System/inc/FreeRTOSConfig.h index 45b0b8902..994956008 100644 --- a/flight/CopterControl/System/inc/FreeRTOSConfig.h +++ b/flight/CopterControl/System/inc/FreeRTOSConfig.h @@ -26,6 +26,7 @@ #define configUSE_PREEMPTION 1 #define configUSE_IDLE_HOOK 1 #define configUSE_TICK_HOOK 0 +#define configUSE_MALLOC_FAILED_HOOK 1 #define configCPU_CLOCK_HZ ( ( unsigned long ) 72000000 ) #define configTICK_RATE_HZ ( ( portTickType ) 1000 ) #define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 5 ) @@ -39,7 +40,6 @@ #define configUSE_RECURSIVE_MUTEXES 1 #define configUSE_COUNTING_SEMAPHORES 0 #define configUSE_ALTERNATIVE_API 0 -#define configCHECK_FOR_STACK_OVERFLOW 2 #define configQUEUE_REGISTRY_SIZE 10 /* Co-routine definitions. */ @@ -76,7 +76,9 @@ NVIC value of 255. */ #endif /* Enable run time stats collection */ -//#if defined(DEBUG) +#if defined(DIAGNOSTICS) +#define configCHECK_FOR_STACK_OVERFLOW 2 + #define configGENERATE_RUN_TIME_STATS 1 #define INCLUDE_uxTaskGetRunTime 1 #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()\ @@ -85,7 +87,9 @@ do {\ (*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */\ } while(0) #define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004)/* DWT_CYCCNT */ -//#endif +#else +#define configCHECK_FOR_STACK_OVERFLOW 1 +#endif /** diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h index 8e09d71ca..bab05551d 100644 --- a/flight/CopterControl/System/inc/pios_config.h +++ b/flight/CopterControl/System/inc/pios_config.h @@ -48,8 +48,9 @@ /* Supported receiver interfaces */ #define PIOS_INCLUDE_SPEKTRUM #define PIOS_INCLUDE_SBUS -//#define PIOS_INCLUDE_PPM +#define PIOS_INCLUDE_PPM #define PIOS_INCLUDE_PWM +#define PIOS_INCLUDE_GCSRCVR /* Supported USART-based PIOS modules */ #define PIOS_INCLUDE_TELEMETRY_RF diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index ee3deaf5c..1cf41e5bc 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -32,6 +32,7 @@ #include #include #include +#include #if defined(PIOS_INCLUDE_SPI) @@ -195,6 +196,220 @@ void PIOS_ADC_handler() { PIOS_ADC_DMA_Handler(); } +#include "pios_tim_priv.h" + +static const TIM_TimeBaseInitTypeDef tim_1_2_3_4_time_base = { + .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, + .TIM_ClockDivision = TIM_CKD_DIV1, + .TIM_CounterMode = TIM_CounterMode_Up, + .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1), + .TIM_RepetitionCounter = 0x0000, +}; + +static const struct pios_tim_clock_cfg tim_1_cfg = { + .timer = TIM1, + .time_base_init = &tim_1_2_3_4_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM1_CC_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_2_cfg = { + .timer = TIM2, + .time_base_init = &tim_1_2_3_4_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM2_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_3_cfg = { + .timer = TIM3, + .time_base_init = &tim_1_2_3_4_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM3_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_4_cfg = { + .timer = TIM4, + .time_base_init = &tim_1_2_3_4_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM4_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = { + { + .timer = TIM4, + .timer_chan = TIM_Channel_1, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_6, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + }, + { + .timer = TIM3, + .timer_chan = TIM_Channel_2, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_5, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + .remap = GPIO_PartialRemap_TIM3, + }, + { + .timer = TIM3, + .timer_chan = TIM_Channel_3, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_0, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + }, + { + .timer = TIM3, + .timer_chan = TIM_Channel_4, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_1, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + }, + { + .timer = TIM2, + .timer_chan = TIM_Channel_1, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_0, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + }, + { + .timer = TIM2, + .timer_chan = TIM_Channel_2, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_1, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + }, +}; + +static const struct pios_tim_channel pios_tim_servoport_all_pins[] = { + { + .timer = TIM4, + .timer_chan = TIM_Channel_4, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + }, + { + .timer = TIM4, + .timer_chan = TIM_Channel_3, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_8, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + }, + { + .timer = TIM4, + .timer_chan = TIM_Channel_2, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_7, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + }, + { + .timer = TIM1, + .timer_chan = TIM_Channel_1, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_8, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + }, + { + .timer = TIM3, + .timer_chan = TIM_Channel_1, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_4, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + .remap = GPIO_PartialRemap_TIM3, + }, + { + .timer = TIM2, + .timer_chan = TIM_Channel_3, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_2, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + }, +}; + #if defined(PIOS_INCLUDE_USART) #include "pios_usart_priv.h" @@ -564,121 +779,40 @@ void PIOS_RTC_IRQ_Handler (void) * Servo outputs */ #include -static const struct pios_servo_channel pios_servo_channels[] = { - { - .timer = TIM4, - .port = GPIOB, - .channel = TIM_Channel_4, - .pin = GPIO_Pin_9, - }, - { - .timer = TIM4, - .port = GPIOB, - .channel = TIM_Channel_3, - .pin = GPIO_Pin_8, - }, - { - .timer = TIM4, - .port = GPIOB, - .channel = TIM_Channel_2, - .pin = GPIO_Pin_7, - }, - { - .timer = TIM1, - .port = GPIOA, - .channel = TIM_Channel_1, - .pin = GPIO_Pin_8, - }, - { /* needs to remap to alternative function */ - .timer = TIM3, - .port = GPIOB, - .channel = TIM_Channel_1, - .pin = GPIO_Pin_4, - }, - { - .timer = TIM2, - .port = GPIOA, - .channel = TIM_Channel_3, - .pin = GPIO_Pin_2, - }, -}; const struct pios_servo_cfg pios_servo_cfg = { - .tim_base_init = { - .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, - .TIM_ClockDivision = TIM_CKD_DIV1, - .TIM_CounterMode = TIM_CounterMode_Up, - .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1), - .TIM_RepetitionCounter = 0x0000, - }, .tim_oc_init = { .TIM_OCMode = TIM_OCMode_PWM1, .TIM_OutputState = TIM_OutputState_Enable, .TIM_OutputNState = TIM_OutputNState_Disable, - .TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION, + .TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION, .TIM_OCPolarity = TIM_OCPolarity_High, .TIM_OCNPolarity = TIM_OCPolarity_High, .TIM_OCIdleState = TIM_OCIdleState_Reset, .TIM_OCNIdleState = TIM_OCNIdleState_Reset, }, - .gpio_init = { - .GPIO_Mode = GPIO_Mode_AF_PP, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - .remap = GPIO_PartialRemap_TIM3, - .channels = pios_servo_channels, - .num_channels = NELEMENTS(pios_servo_channels), + .channels = pios_tim_servoport_all_pins, + .num_channels = NELEMENTS(pios_tim_servoport_all_pins), }; -#if defined(PIOS_INCLUDE_PWM) && defined(PIOS_INCLUDE_PPM) -#error Cannot define both PIOS_INCLUDE_PWM and PIOS_INCLUDE_PPM at the same time (yet) -#endif - /* * PPM Inputs */ #if defined(PIOS_INCLUDE_PPM) #include -void TIM4_IRQHandler(); -void TIM4_IRQHandler() __attribute__ ((alias ("PIOS_TIM4_irq_handler"))); const struct pios_ppm_cfg pios_ppm_cfg = { - .tim_base_init = { - .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */ - .TIM_ClockDivision = TIM_CKD_DIV1, - .TIM_CounterMode = TIM_CounterMode_Up, - .TIM_Period = 0xFFFF, /* shared timer, make sure init correctly in outputs */ - .TIM_RepetitionCounter = 0x0000, - }, .tim_ic_init = { - .TIM_Channel = TIM_Channel_1, .TIM_ICPolarity = TIM_ICPolarity_Rising, .TIM_ICSelection = TIM_ICSelection_DirectTI, .TIM_ICPrescaler = TIM_ICPSC_DIV1, .TIM_ICFilter = 0x0, }, - .gpio_init = { - .GPIO_Pin = GPIO_Pin_6, - .GPIO_Mode = GPIO_Mode_IPD, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - .remap = 0, - .irq = { - .init = { - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, - .timer = TIM4, - .port = GPIOB, - .ccr = TIM_IT_CC1, + /* Use only the first channel for ppm */ + .channels = &pios_tim_rcvrport_all_channels[0], + .num_channels = 1, }; -void PIOS_TIM4_irq_handler() -{ - PIOS_PPM_irq_handler(); -} #endif /* PIOS_INCLUDE_PPM */ /* @@ -687,98 +821,16 @@ void PIOS_TIM4_irq_handler() #if defined(PIOS_INCLUDE_PWM) #include -static const struct pios_pwm_channel pios_pwm_channels[] = { - { - .timer = TIM4, - .port = GPIOB, - .ccr = TIM_IT_CC1, - .channel = TIM_Channel_1, - .pin = GPIO_Pin_6, - }, - { - .timer = TIM3, - .port = GPIOB, - .ccr = TIM_IT_CC2, - .channel = TIM_Channel_2, - .pin = GPIO_Pin_5, - }, - { - .timer = TIM3, - .port = GPIOB, - .ccr = TIM_IT_CC3, - .channel = TIM_Channel_3, - .pin = GPIO_Pin_0 - }, - { - .timer = TIM3, - .port = GPIOB, - .ccr = TIM_IT_CC4, - .channel = TIM_Channel_4, - .pin = GPIO_Pin_1, - }, - { - .timer = TIM2, - .port = GPIOA, - .ccr = TIM_IT_CC1, - .channel = TIM_Channel_1, - .pin = GPIO_Pin_0, - }, - { - .timer = TIM2, - .port = GPIOA, - .ccr = TIM_IT_CC2, - .channel = TIM_Channel_2, - .pin = GPIO_Pin_1, - }, -}; - -void TIM2_IRQHandler(); -void TIM3_IRQHandler(); -void TIM4_IRQHandler(); -void TIM2_IRQHandler() __attribute__ ((alias ("PIOS_TIM2_irq_handler"))); -void TIM3_IRQHandler() __attribute__ ((alias ("PIOS_TIM3_irq_handler"))); -void TIM4_IRQHandler() __attribute__ ((alias ("PIOS_TIM4_irq_handler"))); const struct pios_pwm_cfg pios_pwm_cfg = { - .tim_base_init = { - .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, - .TIM_ClockDivision = TIM_CKD_DIV1, - .TIM_CounterMode = TIM_CounterMode_Up, - .TIM_Period = 0xFFFF, - .TIM_RepetitionCounter = 0x0000, - }, .tim_ic_init = { .TIM_ICPolarity = TIM_ICPolarity_Rising, .TIM_ICSelection = TIM_ICSelection_DirectTI, .TIM_ICPrescaler = TIM_ICPSC_DIV1, - .TIM_ICFilter = 0x0, + .TIM_ICFilter = 0x0, }, - .gpio_init = { - .GPIO_Mode = GPIO_Mode_IPD, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - .remap = 0, - .irq = { - .init = { - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, - .channels = pios_pwm_channels, - .num_channels = NELEMENTS(pios_pwm_channels), + .channels = pios_tim_rcvrport_all_channels, + .num_channels = NELEMENTS(pios_tim_rcvrport_all_channels), }; -void PIOS_TIM2_irq_handler() -{ - PIOS_PWM_irq_handler(TIM2); -} -void PIOS_TIM3_irq_handler() -{ - PIOS_PWM_irq_handler(TIM3); -} -void PIOS_TIM4_irq_handler() -{ - PIOS_PWM_irq_handler(TIM4); -} #endif #if defined(PIOS_INCLUDE_I2C) @@ -856,11 +908,19 @@ void PIOS_I2C_main_adapter_er_irq_handler(void) #endif /* PIOS_INCLUDE_I2C */ +#if defined(PIOS_INCLUDE_GCSRCVR) +#include "pios_gcsrcvr_priv.h" +#endif /* PIOS_INCLUDE_GCSRCVR */ + #if defined(PIOS_INCLUDE_RCVR) #include "pios_rcvr_priv.h" -struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS]; -uint32_t pios_rcvr_max_channel; +/* One slot per selectable receiver group. + * eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS + * NOTE: No slot in this map for NONE. + */ +uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE]; + #endif /* PIOS_INCLUDE_RCVR */ #if defined(PIOS_INCLUDE_USB_HID) @@ -907,8 +967,9 @@ void PIOS_Board_Init(void) { /* Initialize UAVObject libraries */ EventDispatcherInitialize(); UAVObjInitialize(); - UAVObjectsInitializeAll(); + HwSettingsInitialize(); + #if defined(PIOS_INCLUDE_RTC) /* Initialize the real-time clock and its associated tick */ PIOS_RTC_Init(&pios_rtc_main_cfg); @@ -920,7 +981,15 @@ void PIOS_Board_Init(void) { /* Initialize the task monitor library */ TaskMonitorInitialize(); + /* Set up pulse timers */ + PIOS_TIM_InitClock(&tim_1_cfg); + PIOS_TIM_InitClock(&tim_2_cfg); + PIOS_TIM_InitClock(&tim_3_cfg); + PIOS_TIM_InitClock(&tim_4_cfg); + /* Configure the main IO port */ + uint8_t hwsettings_DSMxBind; + HwSettingsDSMxBindGet(&hwsettings_DSMxBind); uint8_t hwsettings_cc_mainport; HwSettingsCC_MainPortGet(&hwsettings_cc_mainport); @@ -959,6 +1028,13 @@ void PIOS_Board_Init(void) { if (PIOS_SBUS_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) { PIOS_Assert(0); } + + uint32_t pios_sbus_rcvr_id; + if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id; + } #endif /* PIOS_INCLUDE_SBUS */ break; @@ -980,7 +1056,8 @@ void PIOS_Board_Init(void) { } #endif /* PIOS_INCLUDE_GPS */ break; - case HWSETTINGS_CC_MAINPORT_SPEKTRUM: + case HWSETTINGS_CC_MAINPORT_SPEKTRUM1: + case HWSETTINGS_CC_MAINPORT_SPEKTRUM2: #if defined(PIOS_INCLUDE_SPEKTRUM) { uint32_t pios_usart_spektrum_id; @@ -989,9 +1066,19 @@ void PIOS_Board_Init(void) { } uint32_t pios_spektrum_id; - if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) { + if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, 0)) { PIOS_Assert(0); } + + uint32_t pios_spektrum_rcvr_id; + if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) { + PIOS_Assert(0); + } + if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM1) { + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1] = pios_spektrum_rcvr_id; + } else { + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM2] = pios_spektrum_rcvr_id; + } } #endif /* PIOS_INCLUDE_SPEKTRUM */ break; @@ -1042,7 +1129,8 @@ void PIOS_Board_Init(void) { } #endif /* PIOS_INCLUDE_GPS */ break; - case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM: + case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM1: + case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM2: #if defined(PIOS_INCLUDE_SPEKTRUM) { uint32_t pios_usart_spektrum_id; @@ -1051,9 +1139,19 @@ void PIOS_Board_Init(void) { } uint32_t pios_spektrum_id; - if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) { + if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, hwsettings_DSMxBind)) { PIOS_Assert(0); } + + uint32_t pios_spektrum_rcvr_id; + if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) { + PIOS_Assert(0); + } + if (hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM1) { + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1] = pios_spektrum_rcvr_id; + } else { + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM2] = pios_spektrum_rcvr_id; + } } #endif /* PIOS_INCLUDE_SPEKTRUM */ break; @@ -1070,83 +1168,61 @@ void PIOS_Board_Init(void) { break; } - /* Configure the selected receiver */ - uint8_t manualcontrolsettings_inputmode; - ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode); + /* Configure the rcvr port */ + uint8_t hwsettings_rcvrport; + HwSettingsCC_RcvrPortGet(&hwsettings_rcvrport); - switch (manualcontrolsettings_inputmode) { - case MANUALCONTROLSETTINGS_INPUTMODE_PWM: + switch (hwsettings_rcvrport) { + case HWSETTINGS_CC_RCVRPORT_DISABLED: + break; + case HWSETTINGS_CC_RCVRPORT_PWM: #if defined(PIOS_INCLUDE_PWM) - PIOS_PWM_Init(); - uint32_t pios_pwm_rcvr_id; - if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) { - PIOS_Assert(0); - } - for (uint8_t i = 0; - i < PIOS_PWM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map); - i++) { - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_pwm_rcvr_id; - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i; - pios_rcvr_max_channel++; + { + uint32_t pios_pwm_id; + PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg); + + uint32_t pios_pwm_rcvr_id; + if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id; } #endif /* PIOS_INCLUDE_PWM */ break; - case MANUALCONTROLSETTINGS_INPUTMODE_PPM: + case HWSETTINGS_CC_RCVRPORT_PPM: #if defined(PIOS_INCLUDE_PPM) - PIOS_PPM_Init(); - uint32_t pios_ppm_rcvr_id; - if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) { - PIOS_Assert(0); - } - for (uint8_t i = 0; - i < PIOS_PPM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map); - i++) { - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_ppm_rcvr_id; - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i; - pios_rcvr_max_channel++; + { + uint32_t pios_ppm_id; + PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg); + + uint32_t pios_ppm_rcvr_id; + if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id; } #endif /* PIOS_INCLUDE_PPM */ break; - case MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM: -#if defined(PIOS_INCLUDE_SPEKTRUM) - if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM || - hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM) { - uint32_t pios_spektrum_rcvr_id; - if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, 0)) { - PIOS_Assert(0); - } - for (uint8_t i = 0; - i < PIOS_SPEKTRUM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map); - i++) { - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_spektrum_rcvr_id; - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i; - pios_rcvr_max_channel++; - } - } -#endif /* PIOS_INCLUDE_SPEKTRUM */ - break; - case MANUALCONTROLSETTINGS_INPUTMODE_SBUS: -#if defined(PIOS_INCLUDE_SBUS) - if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SBUS) { - uint32_t pios_sbus_rcvr_id; - if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, 0)) { - PIOS_Assert(0); - } - for (uint8_t i = 0; - i < SBUS_NUMBER_OF_CHANNELS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map); - i++) { - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_sbus_rcvr_id; - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i; - pios_rcvr_max_channel++; - } - } -#endif /* PIOS_INCLUDE_SBUS */ - break; } +#if defined(PIOS_INCLUDE_GCSRCVR) + GCSReceiverInitialize(); + PIOS_GCSRCVR_Init(); + uint32_t pios_gcsrcvr_rcvr_id; + if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, 0)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id; +#endif /* PIOS_INCLUDE_GCSRCVR */ + /* Remap AFIO pin */ GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE); - PIOS_Servo_Init(); + +#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS + PIOS_Servo_Init(&pios_servo_cfg); +#else + PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels)); +#endif /* PIOS_DEBUG_ENABLE_DEBUG_PINS */ PIOS_ADC_Init(); PIOS_GPIO_Init(); diff --git a/flight/CopterControl/System/pios_board_posix.c b/flight/CopterControl/System/pios_board_posix.c index 87d8e7402..30f949830 100644 --- a/flight/CopterControl/System/pios_board_posix.c +++ b/flight/CopterControl/System/pios_board_posix.c @@ -42,7 +42,6 @@ void PIOS_Board_Init(void) { /* Initialize UAVObject libraries */ EventDispatcherInitialize(); UAVObjInitialize(); - UAVObjectsInitializeAll(); /* Initialize the alarms library */ AlarmsInitialize(); diff --git a/flight/CopterControl/System/taskmonitor.c b/flight/CopterControl/System/taskmonitor.c index 8941a616b..6ff6299d0 100644 --- a/flight/CopterControl/System/taskmonitor.c +++ b/flight/CopterControl/System/taskmonitor.c @@ -46,7 +46,10 @@ int32_t TaskMonitorInitialize(void) { lock = xSemaphoreCreateRecursiveMutex(); memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM); + lastMonitorTime = 0; +#if defined(DIAGNOSTICS) lastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE(); +#endif return 0; } @@ -73,6 +76,7 @@ int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle) */ void TaskMonitorUpdateAll(void) { +#if defined(DIAGNOSTICS) TaskInfoData data; int n; @@ -123,4 +127,5 @@ void TaskMonitorUpdateAll(void) // Done xSemaphoreGiveRecursive(lock); +#endif } diff --git a/flight/INS/Makefile b/flight/INS/Makefile index bd3bb52a9..4b39267f7 100644 --- a/flight/INS/Makefile +++ b/flight/INS/Makefile @@ -363,7 +363,7 @@ $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin $(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION))) # Add jtag targets (program and wipe) -$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE))) +$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG))) .PHONY: elf lss sym hex bin bino opfw elf: $(OUTDIR)/$(TARGET).elf diff --git a/flight/Libraries/ahrs_comm_objects.c b/flight/Libraries/ahrs_comm_objects.c index e43c380e4..0f98e6a6c 100644 --- a/flight/Libraries/ahrs_comm_objects.c +++ b/flight/Libraries/ahrs_comm_objects.c @@ -24,6 +24,7 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ +#include "pios.h" #include "ahrs_spi_comm.h" #include "pios_debug.h" @@ -79,6 +80,7 @@ CREATEHANDLE(10, FirmwareIAPObj); static void ObjectUpdatedCb(UAVObjEvent * ev); #define ADDHANDLE(idx,obj) {\ + obj##Initialize();\ int n = idx;\ objectHandles[n].data = &obj;\ objectHandles[n].uavHandle = obj##Handle();\ diff --git a/flight/Modules/AHRSComms/ahrs_comms.c b/flight/Modules/AHRSComms/ahrs_comms.c index 0c98969e3..c3fb45fae 100644 --- a/flight/Modules/AHRSComms/ahrs_comms.c +++ b/flight/Modules/AHRSComms/ahrs_comms.c @@ -52,6 +52,8 @@ #include "ahrs_comms.h" #include "ahrs_spi_comm.h" +#include "ahrsstatus.h" +#include "ahrscalibration.h" // Private constants #define STACK_SIZE configMINIMAL_STACK_SIZE-128 @@ -71,7 +73,7 @@ static void ahrscommsTask(void *parameters); */ int32_t AHRSCommsStart(void) { - // Start main task + // Start main task xTaskCreate(ahrscommsTask, (signed char *)"AHRSComms", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle); TaskMonitorAdd(TASKINFO_RUNNING_AHRSCOMMS, taskHandle); PIOS_WDG_RegisterFlag(PIOS_WDG_AHRS); @@ -85,6 +87,11 @@ int32_t AHRSCommsStart(void) */ int32_t AHRSCommsInitialize(void) { + AhrsStatusInitialize(); + AHRSCalibrationInitialize(); + AttitudeRawInitialize(); + VelocityActualInitialize(); + PositionActualInitialize(); return 0; } diff --git a/flight/Modules/Actuator/actuator.c b/flight/Modules/Actuator/actuator.c index 269b9dda6..f50848ddc 100644 --- a/flight/Modules/Actuator/actuator.c +++ b/flight/Modules/Actuator/actuator.c @@ -41,7 +41,8 @@ #include "flightstatus.h" #include "mixersettings.h" #include "mixerstatus.h" - +#include "cameradesired.h" +#include "manualcontrolcommand.h" // Private constants #define MAX_QUEUE_SIZE 2 @@ -73,7 +74,7 @@ static void actuatorTask(void* parameters); static void actuator_update_rate(UAVObjEvent *); static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutral); static void setFailsafe(); -static float MixerCurve(const float throttle, const float* curve); +static float MixerCurve(const float throttle, const float* curve, uint8_t elements); static bool set_channel(uint8_t mixer_channel, uint16_t value); float ProcessMixer(const int index, const float curve1, const float curve2, MixerSettingsData* mixerSettings, ActuatorDesiredData* desired, @@ -108,9 +109,17 @@ int32_t ActuatorInitialize() // Create object queue queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent)); + ActuatorSettingsInitialize(); + ActuatorDesiredInitialize(); + MixerSettingsInitialize(); + ActuatorCommandInitialize(); +#if defined(DIAGNOSTICS) + MixerStatusInitialize(); +#endif + // Listen for ExampleObject1 updates ActuatorDesiredConnectQueue(queue); - + // If settings change, update the output rate ActuatorSettingsConnectCallback(actuator_update_rate); @@ -160,7 +169,7 @@ static void actuatorTask(void* parameters) // Main task loop lastSysTime = xTaskGetTickCount(); while (1) - { + { PIOS_WDG_UpdateFlag(PIOS_WDG_ACTUATOR); // Wait until the ActuatorDesired object is updated, if a timeout then go to failsafe @@ -177,11 +186,13 @@ static void actuatorTask(void* parameters) lastSysTime = thisSysTime; FlightStatusGet(&flightStatus); - MixerStatusGet(&mixerStatus); MixerSettingsGet (&mixerSettings); ActuatorDesiredGet(&desired); ActuatorCommandGet(&command); +#if defined(DIAGNOSTICS) + MixerStatusGet(&mixerStatus); +#endif ActuatorSettingsMotorsSpinWhileArmedGet(&MotorsSpinWhileArmed); ActuatorSettingsChannelMaxGet(ChannelMax); ActuatorSettingsChannelMinGet(ChannelMin); @@ -196,7 +207,7 @@ static void actuatorTask(void* parameters) nMixers ++; } } - if((nMixers < 2) && !ActuatorCommandReadOnly(dummy)) //Nothing can fly with less than two mixers. + if((nMixers < 2) && !ActuatorCommandReadOnly(dummy)) //Nothing can fly with less than two mixers. { setFailsafe(); // So that channels like PWM buzzer keep working continue; @@ -207,23 +218,30 @@ static void actuatorTask(void* parameters) bool armed = flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED; bool positiveThrottle = desired.Throttle >= 0.00; bool spinWhileArmed = MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE; + + float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1,MIXERSETTINGS_THROTTLECURVE1_NUMELEM); - float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1); //The source for the secondary curve is selectable float curve2 = 0; AccessoryDesiredData accessory; switch(mixerSettings.Curve2Source) { case MIXERSETTINGS_CURVE2SOURCE_THROTTLE: - curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2); + curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2,MIXERSETTINGS_THROTTLECURVE2_NUMELEM); break; case MIXERSETTINGS_CURVE2SOURCE_ROLL: - curve2 = MixerCurve(desired.Roll,mixerSettings.ThrottleCurve2); + curve2 = MixerCurve(desired.Roll,mixerSettings.ThrottleCurve2,MIXERSETTINGS_THROTTLECURVE2_NUMELEM); break; case MIXERSETTINGS_CURVE2SOURCE_PITCH: - curve2 = MixerCurve(desired.Pitch,mixerSettings.ThrottleCurve2); + curve2 = MixerCurve(desired.Pitch,mixerSettings.ThrottleCurve2, + MIXERSETTINGS_THROTTLECURVE2_NUMELEM); break; case MIXERSETTINGS_CURVE2SOURCE_YAW: - curve2 = MixerCurve(desired.Yaw,mixerSettings.ThrottleCurve2); + curve2 = MixerCurve(desired.Yaw,mixerSettings.ThrottleCurve2,MIXERSETTINGS_THROTTLECURVE2_NUMELEM); + break; + case MIXERSETTINGS_CURVE2SOURCE_COLLECTIVE: + ManualControlCommandCollectiveGet(&curve2); + curve2 = MixerCurve(curve2,mixerSettings.ThrottleCurve2, + MIXERSETTINGS_THROTTLECURVE2_NUMELEM); break; case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY0: case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY1: @@ -232,12 +250,12 @@ static void actuatorTask(void* parameters) case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY4: case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY5: if(AccessoryDesiredInstGet(mixerSettings.Curve2Source - MIXERSETTINGS_CURVE2SOURCE_ACCESSORY0,&accessory) == 0) - curve2 = MixerCurve(accessory.AccessoryVal,mixerSettings.ThrottleCurve2); - else - curve2 = 0; + curve2 = MixerCurve(accessory.AccessoryVal,mixerSettings.ThrottleCurve2,MIXERSETTINGS_THROTTLECURVE2_NUMELEM); + else + curve2 = 0; break; } - + for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++) { if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_DISABLED) { @@ -246,53 +264,82 @@ static void actuatorTask(void* parameters) command.Channel[ct] = 0; continue; } - - status[ct] = ProcessMixer(ct, curve1, curve2, &mixerSettings, &desired, dT); - + + if((mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR) || (mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_SERVO)) + status[ct] = ProcessMixer(ct, curve1, curve2, &mixerSettings, &desired, dT); + else + status[ct] = -1; + + + // Motors have additional protection for when to be on - if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR) { + if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR) { // If not armed or motors aren't meant to spin all the time if( !armed || (!spinWhileArmed && !positiveThrottle)) { filterAccumulator[ct] = 0; - lastResult[ct] = 0; + lastResult[ct] = 0; status[ct] = -1; //force min throttle - } - // If armed meant to keep spinning, + } + // If armed meant to keep spinning, else if ((spinWhileArmed && !positiveThrottle) || (status[ct] < 0) ) - status[ct] = 0; + status[ct] = 0; } - + // If an accessory channel is selected for direct bypass mode // In this configuration the accessory channel is scaled and mapped // directly to output. Note: THERE IS NO SAFETY CHECK HERE FOR ARMING - // these also will not be updated in failsafe mode. I'm not sure what + // these also will not be updated in failsafe mode. I'm not sure what // the correct behavior is since it seems domain specific. I don't love // this code - if( (mixers[ct].type >= MIXERSETTINGS_MIXER1TYPE_ACCESSORY0) && - (mixers[ct].type <= MIXERSETTINGS_MIXER1TYPE_ACCESSORY2)) + if( (mixers[ct].type >= MIXERSETTINGS_MIXER1TYPE_ACCESSORY0) && + (mixers[ct].type <= MIXERSETTINGS_MIXER1TYPE_ACCESSORY5)) { if(AccessoryDesiredInstGet(mixers[ct].type - MIXERSETTINGS_MIXER1TYPE_ACCESSORY0,&accessory) == 0) status[ct] = accessory.AccessoryVal; else status[ct] = -1; } - + if( (mixers[ct].type >= MIXERSETTINGS_MIXER1TYPE_CAMERAROLL) && + (mixers[ct].type <= MIXERSETTINGS_MIXER1TYPE_CAMERAYAW)) + { + CameraDesiredData cameraDesired; + if( CameraDesiredGet(&cameraDesired) == 0 ) { + switch(mixers[ct].type) { + case MIXERSETTINGS_MIXER1TYPE_CAMERAROLL: + status[ct] = cameraDesired.Roll; + break; + case MIXERSETTINGS_MIXER1TYPE_CAMERAPITCH: + status[ct] = cameraDesired.Pitch; + break; + case MIXERSETTINGS_MIXER1TYPE_CAMERAYAW: + status[ct] = cameraDesired.Yaw; + break; + default: + break; + } + } + else + status[ct] = -1; + } + command.Channel[ct] = scaleChannel(status[ct], ChannelMax[ct], ChannelMin[ct], ChannelNeutral[ct]); } +#if defined(DIAGNOSTICS) MixerStatusSet(&mixerStatus); +#endif // Store update time command.UpdateTime = 1000*dT; if(1000*dT > command.MaxUpdateTime) command.MaxUpdateTime = 1000*dT; - + // Update output object ActuatorCommandSet(&command); // Update in case read only (eg. during servo configuration) @@ -300,7 +347,7 @@ static void actuatorTask(void* parameters) // Update servo outputs bool success = true; - + for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n) { success &= set_channel(n, command.Channel[n]); @@ -309,7 +356,7 @@ static void actuatorTask(void* parameters) if(!success) { command.NumFailedUpdates++; ActuatorCommandSet(&command); - AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL); + AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL); } } @@ -383,12 +430,9 @@ float ProcessMixer(const int index, const float curve1, const float curve2, *Interpolate a throttle curve. Throttle input should be in the range 0 to 1. *Output is in the range 0 to 1. */ - -#define MIXER_CURVE_ENTRIES 5 - -static float MixerCurve(const float throttle, const float* curve) +static float MixerCurve(const float throttle, const float* curve, uint8_t elements) { - float scale = throttle * MIXER_CURVE_ENTRIES; + float scale = throttle * (elements - 1); int idx1 = scale; scale -= (float)idx1; //remainder if(curve[0] < -1) @@ -401,12 +445,12 @@ static float MixerCurve(const float throttle, const float* curve) scale = 0; } int idx2 = idx1 + 1; - if(idx2 >= MIXER_CURVE_ENTRIES) + if(idx2 >= elements) { - idx2 = MIXER_CURVE_ENTRIES -1; //clamp to highest entry in table - if(idx1 >= MIXER_CURVE_ENTRIES) + idx2 = elements -1; //clamp to highest entry in table + if(idx1 >= elements) { - idx1 = MIXER_CURVE_ENTRIES -1; + idx1 = elements -1; } } return((curve[idx1] * (1 - scale)) + (curve[idx2] * scale)); @@ -463,7 +507,7 @@ static void setFailsafe() // Reset ActuatorCommand to safe values for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n) { - + if(mixers[n].type == MIXERSETTINGS_MIXER1TYPE_MOTOR) { Channel[n] = ChannelMin[n]; @@ -510,10 +554,10 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value) { } #else static bool set_channel(uint8_t mixer_channel, uint16_t value) { - + ActuatorSettingsData settings; ActuatorSettingsGet(&settings); - + switch(settings.ChannelType[mixer_channel]) { case ACTUATORSETTINGS_CHANNELTYPE_PWMALARMBUZZER: { // This is for buzzers that take a PWM input @@ -565,7 +609,7 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value) { PIOS_Servo_Set(settings.ChannelAddr[mixer_channel], value); return true; #if defined(PIOS_INCLUDE_I2C_ESC) - case ACTUATORSETTINGS_CHANNELTYPE_MK: + case ACTUATORSETTINGS_CHANNELTYPE_MK: return PIOS_SetMKSpeed(settings.ChannelAddr[mixer_channel],value); case ACTUATORSETTINGS_CHANNELTYPE_ASTEC4: return PIOS_SetAstec4Speed(settings.ChannelAddr[mixer_channel],value); @@ -573,10 +617,10 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value) { #endif default: return false; - } - + } + return false; - + } #endif diff --git a/flight/Modules/Altitude/altitude.c b/flight/Modules/Altitude/altitude.c index 363cba15f..d1655aaa8 100644 --- a/flight/Modules/Altitude/altitude.c +++ b/flight/Modules/Altitude/altitude.c @@ -69,6 +69,12 @@ static void altitudeTask(void *parameters); */ int32_t AltitudeStart() { + + BaroAltitudeInitialize(); +#if defined(PIOS_INCLUDE_HCSR04) + SonarAltitudeInitialze(); +#endif + // Start main task xTaskCreate(altitudeTask, (signed char *)"Altitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle); TaskMonitorAdd(TASKINFO_RUNNING_ALTITUDE, taskHandle); diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c index c70751fa6..b7b535f18 100644 --- a/flight/Modules/Attitude/attitude.c +++ b/flight/Modules/Attitude/attitude.c @@ -112,6 +112,10 @@ int32_t AttitudeStart(void) */ int32_t AttitudeInitialize(void) { + AttitudeActualInitialize(); + AttitudeRawInitialize(); + AttitudeSettingsInitialize(); + // Initialize quaternion AttitudeActualData attitude; AttitudeActualGet(&attitude); diff --git a/flight/Modules/Battery/battery.c b/flight/Modules/Battery/battery.c index fe36745bb..a57efd69a 100644 --- a/flight/Modules/Battery/battery.c +++ b/flight/Modules/Battery/battery.c @@ -79,6 +79,9 @@ MODULE_INITCALL(BatteryInitialize, 0) int32_t BatteryInitialize(void) { + BatteryStateInitialze(); + BatterySettingsInitialize(); + static UAVObjEvent ev; memset(&ev,0,sizeof(UAVObjEvent)); diff --git a/flight/Modules/CameraStab/camerastab.c b/flight/Modules/CameraStab/camerastab.c new file mode 100644 index 000000000..2e21b8e92 --- /dev/null +++ b/flight/Modules/CameraStab/camerastab.c @@ -0,0 +1,141 @@ +/** + ****************************************************************************** + * @addtogroup OpenPilotModules OpenPilot Modules + * @{ + * @addtogroup CameraStab Camera Stabilization Module + * @brief Camera stabilization module + * Updates accessory outputs with values appropriate for camera stabilization + * @{ + * + * @file camerastab.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Stabilize camera against the roll pitch and yaw of aircraft + * + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +/** + * Output object: Accessory + * + * This module will periodically calculate the output values for stabilizing the camera + * + * UAVObjects are automatically generated by the UAVObjectGenerator from + * the object definition XML file. + * + * Modules have no API, all communication to other modules is done through UAVObjects. + * However modules may use the API exposed by shared libraries. + * See the OpenPilot wiki for more details. + * http://www.openpilot.org/OpenPilot_Application_Architecture + * + */ + +#include "openpilot.h" + +#include "accessorydesired.h" +#include "attitudeactual.h" +#include "camerastabsettings.h" +#include "cameradesired.h" + +// +// Configuration +// +#define SAMPLE_PERIOD_MS 10 + +// Private types + +// Private variables + +// Private functions +static void attitudeUpdated(UAVObjEvent* ev); +static float bound(float val); + +/** + * Initialise the module, called on startup + * \returns 0 on success or -1 if initialisation failed + */ +int32_t CameraStabInitialize(void) +{ + static UAVObjEvent ev; + ev.obj = AttitudeActualHandle(); + ev.instId = 0; + ev.event = 0; + + CameraStabSettingsInitialize(); + CameraDesiredInitialize(); + + EventPeriodicCallbackCreate(&ev, attitudeUpdated, SAMPLE_PERIOD_MS / portTICK_RATE_MS); + + return 0; +} + +static void attitudeUpdated(UAVObjEvent* ev) +{ + if (ev->obj != AttitudeActualHandle()) + return; + + float attitude; + float output; + AccessoryDesiredData accessory; + + CameraStabSettingsData cameraStab; + CameraStabSettingsGet(&cameraStab); + + // Read any input channels + float inputs[3] = {0,0,0}; + if(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_ROLL] != CAMERASTABSETTINGS_INPUTS_NONE) { + if(AccessoryDesiredInstGet(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_ROLL] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0) + inputs[0] = accessory.AccessoryVal * cameraStab.InputRange[CAMERASTABSETTINGS_INPUTRANGE_ROLL]; + } + if(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_PITCH] != CAMERASTABSETTINGS_INPUTS_NONE) { + if(AccessoryDesiredInstGet(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_PITCH] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0) + inputs[1] = accessory.AccessoryVal * cameraStab.InputRange[CAMERASTABSETTINGS_INPUTRANGE_PITCH]; + } + if(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_YAW] != CAMERASTABSETTINGS_INPUTS_NONE) { + if(AccessoryDesiredInstGet(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_YAW] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0) + inputs[2] = accessory.AccessoryVal * cameraStab.InputRange[CAMERASTABSETTINGS_INPUTRANGE_YAW]; + } + + // Set output channels + AttitudeActualRollGet(&attitude); + output = bound((attitude + inputs[0]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL]); + CameraDesiredRollSet(&output); + + AttitudeActualPitchGet(&attitude); + output = bound((attitude + inputs[1]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH]); + CameraDesiredPitchSet(&output); + + AttitudeActualYawGet(&attitude); + output = bound((attitude + inputs[2]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_YAW]); + CameraDesiredYawSet(&output); + +} + +float bound(float val) +{ + return (val > 1) ? 1 : + (val < -1) ? -1 : + val; +} +/** + * @} + */ + +/** + * @} + */ diff --git a/flight/Modules/GPS/inc/GTOP_BIN.h b/flight/Modules/CameraStab/inc/camerastab.h similarity index 71% rename from flight/Modules/GPS/inc/GTOP_BIN.h rename to flight/Modules/CameraStab/inc/camerastab.h index 6a5234430..5d7bf9d06 100644 --- a/flight/Modules/GPS/inc/GTOP_BIN.h +++ b/flight/Modules/CameraStab/inc/camerastab.h @@ -1,14 +1,14 @@ /** ****************************************************************************** * @addtogroup OpenPilotModules OpenPilot Modules - * @{ - * @addtogroup GSPModule GPS Module - * @brief Process GPS information - * @{ + * @{ + * @addtogroup BatteryModule Battery Module + * @{ * - * @file GTOP_BIN.h + * @file battery.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * @brief GPS module, handles GPS and NMEA stream + * @brief Module to read the battery Voltage and Current periodically and set alarms appropriately. + * * @see The GNU Public License (GPL) Version 3 * *****************************************************************************/ @@ -27,16 +27,16 @@ * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ +#ifndef BATTERY_H +#define BATTERY_H -#ifndef GTOP_BIN_H -#define GTOP_BIN_H +#include "openpilot.h" -#include -#include "gps_mode.h" +int32_t CameraStabInitialize(void); -#ifdef ENABLE_GPS_BINARY_GTOP - extern int GTOP_BIN_update_position(uint8_t b, volatile uint32_t *chksum_errors, volatile uint32_t *parsing_errors); - extern void GTOP_BIN_init(void); -#endif +#endif // BATTERY_H -#endif +/** + * @} + * @} + */ diff --git a/flight/Modules/FirmwareIAP/firmwareiap.c b/flight/Modules/FirmwareIAP/firmwareiap.c index e3372019c..21678397e 100644 --- a/flight/Modules/FirmwareIAP/firmwareiap.c +++ b/flight/Modules/FirmwareIAP/firmwareiap.c @@ -91,6 +91,9 @@ static void resetTask(UAVObjEvent *); MODULE_INITCALL(FirmwareIAPInitialize, 0) int32_t FirmwareIAPInitialize() { + + FirmwareIAPObjInitialize(); + const struct pios_board_info * bdinfo = &pios_board_info_blob; data.BoardType= bdinfo->board_type; diff --git a/flight/Modules/FlightPlan/flightplan.c b/flight/Modules/FlightPlan/flightplan.c index 5537c8f15..e919dd41e 100644 --- a/flight/Modules/FlightPlan/flightplan.c +++ b/flight/Modules/FlightPlan/flightplan.c @@ -74,7 +74,11 @@ int32_t FlightPlanStart() int32_t FlightPlanInitialize() { taskHandle = NULL; - + + FlightPlanStatusInitialize(); + FlightPlanControlInitialize(); + FlightPlanSettingsInitialize(); + // Listen for object updates FlightPlanControlConnectCallback(&objectUpdatedCb); diff --git a/flight/Modules/GPS/GPS.c b/flight/Modules/GPS/GPS.c index dd0905257..2e6b0901b 100644 --- a/flight/Modules/GPS/GPS.c +++ b/flight/Modules/GPS/GPS.c @@ -35,17 +35,12 @@ #include -#ifdef ENABLE_GPS_BINARY_GTOP - #include "GTOP_BIN.h" -#endif - -#if defined(ENABLE_GPS_ONESENTENCE_GTOP) || defined(ENABLE_GPS_NMEA) - #include "NMEA.h" -#endif +#include "NMEA.h" #include "gpsposition.h" #include "homelocation.h" #include "gpstime.h" +#include "gpssatellites.h" #include "WorldMagModel.h" #include "CoordinateConversions.h" @@ -62,25 +57,16 @@ static float GravityAccel(float latitude, float longitude, float altitude); // **************** // Private constants -//#define FULL_COLD_RESTART // uncomment this to tell the GPS to do a FULL COLD restart -//#define DISABLE_GPS_THRESHOLD // - #define GPS_TIMEOUT_MS 500 -#define GPS_COMMAND_RESEND_TIMEOUT_MS 2000 +#define NMEA_MAX_PACKET_LENGTH 96 // 82 max NMEA msg size plus 12 margin (because some vendors add custom crap) plus CR plus Linefeed +// same as in COM buffer + #ifdef PIOS_GPS_SETS_HOMELOCATION // Unfortunately need a good size stack for the WMM calculation - #ifdef ENABLE_GPS_BINARY_GTOP - #define STACK_SIZE_BYTES 800 - #else - #define STACK_SIZE_BYTES 800 - #endif + #define STACK_SIZE_BYTES 800 #else - #ifdef ENABLE_GPS_BINARY_GTOP - #define STACK_SIZE_BYTES 440 - #else - #define STACK_SIZE_BYTES 440 - #endif + #define STACK_SIZE_BYTES 650 #endif #define TASK_PRIORITY (tskIDLE_PRIORITY + 1) @@ -92,9 +78,7 @@ static uint32_t gpsPort; static xTaskHandle gpsTaskHandle; -#ifndef ENABLE_GPS_BINARY_GTOP - static char gps_rx_buffer[128]; -#endif +static char* gps_rx_buffer; static uint32_t timeOfLastCommandMs; static uint32_t timeOfLastUpdateMs; @@ -124,9 +108,19 @@ int32_t GPSStart(void) */ int32_t GPSInitialize(void) { + GPSPositionInitialize(); + GPSTimeInitialize(); + GPSSatellitesInitialize(); +#ifdef PIOS_GPS_SETS_HOMELOCATION + HomeLocationInitialize(); +#endif + // TODO: Get gps settings object gpsPort = PIOS_COM_GPS; + gps_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH); + PIOS_Assert(gps_rx_buffer); + return 0; } MODULE_INITCALL(GPSInitialize, GPSStart) @@ -142,45 +136,11 @@ static void gpsTask(void *parameters) uint32_t timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;; GPSPositionData GpsData; -#ifdef ENABLE_GPS_BINARY_GTOP - GTOP_BIN_init(); -#else uint8_t rx_count = 0; bool start_flag = false; bool found_cr = false; int32_t gpsRxOverflow = 0; -#endif -#ifdef FULL_COLD_RESTART - // tell the GPS to do a FULL COLD restart - PIOS_COM_SendStringNonBlocking(gpsPort, "$PMTK104*37\r\n"); - timeOfLastCommandMs = timeNowMs; - while (timeNowMs - timeOfLastCommandMs < 300) // delay for 300ms to let the GPS sort itself out - { - vTaskDelay(xDelay); // Block task until next update - timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;; - } -#endif - -#ifdef DISABLE_GPS_THRESHOLD - PIOS_COM_SendStringNonBlocking(gpsPort, "$PMTK397,0*23\r\n"); -#endif - -#ifdef ENABLE_GPS_BINARY_GTOP - // switch to GTOP binary mode - PIOS_COM_SendStringNonBlocking(gpsPort ,"$PGCMD,21,1*6F\r\n"); -#endif - -#ifdef ENABLE_GPS_ONESENTENCE_GTOP - // switch to single sentence mode - PIOS_COM_SendStringNonBlocking(gpsPort, "$PGCMD,21,2*6C\r\n"); -#endif - -#ifdef ENABLE_GPS_NMEA - // switch to NMEA mode - PIOS_COM_SendStringNonBlocking(gpsPort, "$PGCMD,21,3*6D\r\n"); -#endif - numUpdates = 0; numChecksumErrors = 0; numParsingErrors = 0; @@ -191,108 +151,87 @@ static void gpsTask(void *parameters) // Loop forever while (1) { - #ifdef ENABLE_GPS_BINARY_GTOP - // GTOP BINARY GPS mode + uint8_t c; + // NMEA or SINGLE-SENTENCE GPS mode - while (PIOS_COM_ReceiveBufferUsed(gpsPort) > 0) + // This blocks the task until there is something on the buffer + while (PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, xDelay) > 0) + { + + // detect start while acquiring stream + if (!start_flag && (c == '$')) { - uint8_t c; - PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, 0); + start_flag = true; + found_cr = false; + rx_count = 0; + } + else + if (!start_flag) + continue; + + if (rx_count >= NMEA_MAX_PACKET_LENGTH) + { + // The buffer is already full and we haven't found a valid NMEA sentence. + // Flush the buffer and note the overflow event. + gpsRxOverflow++; + start_flag = false; + found_cr = false; + rx_count = 0; + } + else + { + gps_rx_buffer[rx_count] = c; + rx_count++; + } + + // look for ending '\r\n' sequence + if (!found_cr && (c == '\r') ) + found_cr = true; + else + if (found_cr && (c != '\n') ) + found_cr = false; // false end flag + else + if (found_cr && (c == '\n') ) + { + // The NMEA functions require a zero-terminated string + // As we detected \r\n, the string as for sure 2 bytes long, we will also strip the \r\n + gps_rx_buffer[rx_count-2] = 0; - if (GTOP_BIN_update_position(c, &numChecksumErrors, &numParsingErrors) >= 0) - { - numUpdates++; + // prepare to parse next sentence + start_flag = false; + found_cr = false; + rx_count = 0; + // Our rxBuffer must look like this now: + // [0] = '$' + // ... = zero or more bytes of sentence payload + // [end_pos - 1] = '\r' + // [end_pos] = '\n' + // + // Prepare to consume the sentence from the buffer + + // Validate the checksum over the sentence + if (!NMEA_checksum(&gps_rx_buffer[1])) + { // Invalid checksum. May indicate dropped characters on Rx. + //PIOS_DEBUG_PinHigh(2); + ++numChecksumErrors; + //PIOS_DEBUG_PinLow(2); + } + else + { // Valid checksum, use this packet to update the GPS position + if (!NMEA_update_position(&gps_rx_buffer[1])) { + //PIOS_DEBUG_PinHigh(2); + ++numParsingErrors; + //PIOS_DEBUG_PinLow(2); + } + else + ++numUpdates; timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS; timeOfLastUpdateMs = timeNowMs; timeOfLastCommandMs = timeNowMs; } } - - #else - // NMEA or SINGLE-SENTENCE GPS mode - - // This blocks the task until there is something on the buffer - while (PIOS_COM_ReceiveBufferUsed(gpsPort) > 0) - { - uint8_t c; - PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, 0); - - // detect start while acquiring stream - if (!start_flag && (c == '$')) - { - start_flag = true; - found_cr = false; - rx_count = 0; - } - else - if (!start_flag) - continue; - - if (rx_count >= sizeof(gps_rx_buffer)) - { - // The buffer is already full and we haven't found a valid NMEA sentence. - // Flush the buffer and note the overflow event. - gpsRxOverflow++; - start_flag = false; - found_cr = false; - rx_count = 0; - } - else - { - gps_rx_buffer[rx_count] = c; - rx_count++; - } - - // look for ending '\r\n' sequence - if (!found_cr && (c == '\r') ) - found_cr = true; - else - if (found_cr && (c != '\n') ) - found_cr = false; // false end flag - else - if (found_cr && (c == '\n') ) - { - // The NMEA functions require a zero-terminated string - // As we detected \r\n, the string as for sure 2 bytes long, we will also strip the \r\n - gps_rx_buffer[rx_count-2] = 0; - - // prepare to parse next sentence - start_flag = false; - found_cr = false; - rx_count = 0; - // Our rxBuffer must look like this now: - // [0] = '$' - // ... = zero or more bytes of sentence payload - // [end_pos - 1] = '\r' - // [end_pos] = '\n' - // - // Prepare to consume the sentence from the buffer - - // Validate the checksum over the sentence - if (!NMEA_checksum(&gps_rx_buffer[1])) - { // Invalid checksum. May indicate dropped characters on Rx. - //PIOS_DEBUG_PinHigh(2); - ++numChecksumErrors; - //PIOS_DEBUG_PinLow(2); - } - else - { // Valid checksum, use this packet to update the GPS position - if (!NMEA_update_position(&gps_rx_buffer[1])) { - //PIOS_DEBUG_PinHigh(2); - ++numParsingErrors; - //PIOS_DEBUG_PinLow(2); - } - else - ++numUpdates; - - timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS; - timeOfLastUpdateMs = timeNowMs; - timeOfLastCommandMs = timeNowMs; - } - } - } - #endif + } // Check for GPS timeout timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS; @@ -305,30 +244,6 @@ static void gpsTask(void *parameters) GPSPositionSet(&GpsData); AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_ERROR); - if ((timeNowMs - timeOfLastCommandMs) >= GPS_COMMAND_RESEND_TIMEOUT_MS) - { // resend the command .. just incase the gps has only just been plugged in or the gps did not get our last command - timeOfLastCommandMs = timeNowMs; - - #ifdef ENABLE_GPS_BINARY_GTOP - GTOP_BIN_init(); - // switch to binary mode - PIOS_COM_SendStringNonBlocking(gpsPort,"$PGCMD,21,1*6F\r\n"); - #endif - - #ifdef ENABLE_GPS_ONESENTENCE_GTOP - // switch to single sentence mode - PIOS_COM_SendStringNonBlocking(gpsPort,"$PGCMD,21,2*6C\r\n"); - #endif - - #ifdef ENABLE_GPS_NMEA - // switch to NMEA mode - PIOS_COM_SendStringNonBlocking(gpsPort,"$PGCMD,21,3*6D\r\n"); - #endif - - #ifdef DISABLE_GPS_TRESHOLD - PIOS_COM_SendStringNonBlocking(gpsPort,"$PMTK397,0*23\r\n"); - #endif - } } else { // we appear to be receiving GPS sentences OK, we've had an update @@ -354,8 +269,6 @@ static void gpsTask(void *parameters) AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL); } - // Block task until next update - vTaskDelay(xDelay); } } diff --git a/flight/Modules/GPS/GTOP_BIN.c b/flight/Modules/GPS/GTOP_BIN.c deleted file mode 100644 index 7bd2964d9..000000000 --- a/flight/Modules/GPS/GTOP_BIN.c +++ /dev/null @@ -1,262 +0,0 @@ -/** - ****************************************************************************** - * @addtogroup OpenPilotModules OpenPilot Modules - * @{ - * @addtogroup GSPModule GPS Module - * @brief Process GPS information - * @{ - * - * @file GTOP_BIN.c - * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * @brief GPS module, handles GPS and NMEA stream - * @see The GNU Public License (GPL) Version 3 - * - *****************************************************************************/ -/* - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY - * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License - * for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - */ - -#include "openpilot.h" -#include "pios.h" -#include "GTOP_BIN.h" -#include "gpsposition.h" -#include "gpstime.h" -#include "gpssatellites.h" - -#include // memmove - -#ifdef ENABLE_GPS_BINARY_GTOP - -// ************ -// the structure of the binary packet - -typedef struct -{ - uint32_t utc_time; - - int32_t latitude; - uint8_t ns_indicator; - - int32_t longitude; - uint8_t ew_indicator; - - uint8_t fix_quality; - - uint8_t satellites_used; - - uint16_t hdop; - - int32_t msl_altitude; - - int32_t geoidal_seperation; - - uint8_t fix_type; - - int32_t course_over_ground; - - int32_t speed_over_ground; - - uint8_t day; - uint8_t month; - uint16_t year; -} __attribute__((__packed__)) t_gps_bin_packet_data; - -typedef struct -{ - uint16_t header; - t_gps_bin_packet_data data; - uint8_t asterisk; - uint8_t checksum; - uint16_t end_word; -} __attribute__((__packed__)) t_gps_bin_packet; - -// ************ - -// buffer that holds the incoming binary packet -static uint8_t gps_rx_buffer[sizeof(t_gps_bin_packet)] __attribute__ ((aligned(4))); - -// number of bytes currently in the rx buffer -static int16_t gps_rx_buffer_wr = 0; - -// ************ -// endian swapping functions - -static uint16_t swap2Bytes(uint16_t data) -{ - return (((data >> 8) & 0x00ff) | - ((data << 8) & 0xff00)); -} - -static uint32_t swap4Bytes(uint32_t data) -{ - return (((data >> 24) & 0x000000ff) | - ((data >> 8) & 0x0000ff00) | - ((data << 8) & 0x00ff0000) | - ((data << 24) & 0xff000000)); -} - -// ************ -/** - * Parses a complete binary packet and update the GPSPosition and GPSTime UAVObjects - * - * param[in] .. b = a new received byte from the GPS - * - * return '0' if we have found a valid binary packet - * return <0 if any errors were encountered with the packet or no packet found - */ - -int GTOP_BIN_update_position(uint8_t b, volatile uint32_t *chksum_errors, volatile uint32_t *parsing_errors) -{ - if (gps_rx_buffer_wr >= sizeof(gps_rx_buffer)) - { // make room for the new byte .. this will actually never get executed, just here as a safe guard really - memmove(gps_rx_buffer, gps_rx_buffer + 1, sizeof(gps_rx_buffer) - 1); - gps_rx_buffer_wr = sizeof(gps_rx_buffer) - 1; - } - - // add the new byte into the buffer - gps_rx_buffer[gps_rx_buffer_wr++] = b; - - int16_t i = 0; - - while (gps_rx_buffer_wr > 0) - { - t_gps_bin_packet *rx_packet = (t_gps_bin_packet *)(gps_rx_buffer + i); - - // scan for the start of a binary packet (the header bytes) - while (gps_rx_buffer_wr - i >= sizeof(rx_packet->header)) - { - if (rx_packet->header == 0x2404) - break; // found a valid header marker - rx_packet = (t_gps_bin_packet *)(gps_rx_buffer + ++i); - } - - // remove unwanted bytes before the start of the packet header - if (i > 0) - { - gps_rx_buffer_wr -= i; - if (gps_rx_buffer_wr > 0) - memmove(gps_rx_buffer, gps_rx_buffer + i, gps_rx_buffer_wr); - i = 0; - } - - if (gps_rx_buffer_wr < sizeof(t_gps_bin_packet)) - break; // not yet enough bytes for a complete binary packet - - // we have enough bytes for a complete binary packet - - // check to see if certain parameters in the binary packet are valid - if (rx_packet->header != 0x2404 || - rx_packet->end_word != 0x0A0D || - rx_packet->asterisk != 0x2A || - (rx_packet->data.ns_indicator != 1 && rx_packet->data.ns_indicator != 2) || - (rx_packet->data.ew_indicator != 1 && rx_packet->data.ew_indicator != 2) || - (rx_packet->data.fix_quality > 2) || - (rx_packet->data.fix_type < 1 || rx_packet->data.fix_type > 3) ) - { // invalid packet - if (parsing_errors) *parsing_errors++; - i++; - continue; - } - - { // check the checksum is valid - uint8_t *p = (uint8_t *)&rx_packet->data; - uint8_t checksum = 0; - for (int i = 0; i < sizeof(t_gps_bin_packet_data); i++) - checksum ^= *p++; - - if (checksum != rx_packet->checksum) - { // checksum error - if (chksum_errors) *chksum_errors++; - i++; - continue; - } - } - - // we now have a valid complete binary packet, update the GpsData and GpsTime objects - - // correct the endian order of the parameters - rx_packet->data.utc_time = swap4Bytes(rx_packet->data.utc_time); - rx_packet->data.latitude = swap4Bytes(rx_packet->data.latitude); - rx_packet->data.longitude = swap4Bytes(rx_packet->data.longitude); - rx_packet->data.hdop = swap2Bytes(rx_packet->data.hdop); - rx_packet->data.msl_altitude = swap4Bytes(rx_packet->data.msl_altitude); - rx_packet->data.geoidal_seperation = swap4Bytes(rx_packet->data.geoidal_seperation); - rx_packet->data.course_over_ground = swap4Bytes(rx_packet->data.course_over_ground); - rx_packet->data.speed_over_ground = swap4Bytes(rx_packet->data.speed_over_ground); - rx_packet->data.year = swap2Bytes(rx_packet->data.year); - - // set the gps time object - GPSTimeData GpsTime; -// GPSTimeGet(&GpsTime); - uint32_t utc_time = rx_packet->data.utc_time / 1000; - GpsTime.Second = utc_time % 100; // seconds - GpsTime.Minute = (utc_time / 100) % 100; // minutes - GpsTime.Hour = utc_time / 10000; // hours - GpsTime.Day = rx_packet->data.day; // day - GpsTime.Month = rx_packet->data.month; // month - GpsTime.Year = rx_packet->data.year; // year - GPSTimeSet(&GpsTime); - - // set the gps position object - GPSPositionData GpsData; -// GPSPositionGet(&GpsData); - switch (rx_packet->data.fix_type) - { - case 1: GpsData.Status = GPSPOSITION_STATUS_NOFIX; break; - case 2: GpsData.Status = GPSPOSITION_STATUS_FIX2D; break; - case 3: GpsData.Status = GPSPOSITION_STATUS_FIX3D; break; - default: GpsData.Status = GPSPOSITION_STATUS_NOGPS; break; - } - GpsData.Latitude = rx_packet->data.latitude * (rx_packet->data.ns_indicator == 1 ? +1 : -1) * 10; // degrees * 10e6 - GpsData.Longitude = rx_packet->data.longitude * (rx_packet->data.ew_indicator == 1 ? +1 : -1) * 10; // degrees * 10e6 - GpsData.Altitude = (float)rx_packet->data.msl_altitude / 1000; // meters - GpsData.GeoidSeparation = (float)rx_packet->data.geoidal_seperation / 1000; // meters - GpsData.Heading = (float)rx_packet->data.course_over_ground / 1000; // degrees - GpsData.Groundspeed = (float)rx_packet->data.speed_over_ground / 3600; // m/s - GpsData.Satellites = rx_packet->data.satellites_used; // - GpsData.PDOP = 99.99; // not available in binary mode - GpsData.HDOP = (float)rx_packet->data.hdop / 100; // - GpsData.VDOP = 99.99; // not available in binary mode - GPSPositionSet(&GpsData); - - // set the number of satellites -// GPSSatellitesData SattelliteData; -//// GPSSatellitesGet(&SattelliteData); -// memset(&SattelliteData, 0, sizeof(SattelliteData)); -// SattelliteData.SatsInView = rx_packet->data.satellites_used; // -// GPSSatellitesSet(&SattelliteData); - - // remove the spent binary packet from the buffer - gps_rx_buffer_wr -= sizeof(t_gps_bin_packet); - if (gps_rx_buffer_wr > 0) - memmove(gps_rx_buffer, gps_rx_buffer + sizeof(t_gps_bin_packet), gps_rx_buffer_wr); - - return 0; // found a valid packet - } - - return -1; // no valid packet found -} - -// ************ - -void GTOP_BIN_init(void) -{ - gps_rx_buffer_wr = 0; -} - -// ************ - -#endif // ENABLE_GPS_BINARY_GTOP - diff --git a/flight/Modules/GPS/NMEA.c b/flight/Modules/GPS/NMEA.c index 3dfd98d40..adadc588a 100644 --- a/flight/Modules/GPS/NMEA.c +++ b/flight/Modules/GPS/NMEA.c @@ -40,8 +40,6 @@ -#if defined(ENABLE_GPS_NMEA) || defined(ENABLE_GPS_ONESENTENCE_GTOP) - // Debugging #ifdef ENABLE_DEBUG_MSG //#define DEBUG_MSG_IN ///< define to display the incoming NMEA messages @@ -54,7 +52,6 @@ //#define NMEA_DEBUG_GSA ///< define to enable debug of GSA messages //#define NMEA_DEBUG_GSV ///< define to enable debug of GSV messages //#define NMEA_DEBUG_ZDA ///< define to enable debug of ZDA messages -//#define NMEA_DEBUG_PGTOP ///< define to enable debug of PGTOP messages #define DEBUG_MSG(format, ...) PIOS_COM_SendFormattedString(DEBUG_PORT, format, ## __VA_ARGS__) #else #define DEBUG_MSG(format, ...) @@ -69,56 +66,45 @@ struct nmea_parser { uint32_t cnt; }; - #ifdef ENABLE_GPS_NMEA - static bool nmeaProcessGPGGA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); - static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); - static bool nmeaProcessGPVTG(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); - static bool nmeaProcessGPGSA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); - static bool nmeaProcessGPZDA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); - static bool nmeaProcessGPGSV(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); - #endif +static bool nmeaProcessGPGGA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); +static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); +static bool nmeaProcessGPVTG(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); +static bool nmeaProcessGPGSA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); +static bool nmeaProcessGPZDA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); +static bool nmeaProcessGPGSV(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); - static bool nmeaProcessPGTOP(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam); - static struct nmea_parser nmea_parsers[] = { - - #ifdef ENABLE_GPS_NMEA - { - .prefix = "GPGGA", - .handler = nmeaProcessGPGGA, - .cnt = 0, - }, - { - .prefix = "GPVTG", - .handler = nmeaProcessGPVTG, - .cnt = 0, - }, - { - .prefix = "GPGSA", - .handler = nmeaProcessGPGSA, - .cnt = 0, - }, - { - .prefix = "GPRMC", - .handler = nmeaProcessGPRMC, - .cnt = 0, - }, - { - .prefix = "GPZDA", - .handler = nmeaProcessGPZDA, - .cnt = 0, - }, - { - .prefix = "GPGSV", - .handler = nmeaProcessGPGSV, - .cnt = 0, - }, - #endif - { - .prefix = "PGTOP", - .handler = nmeaProcessPGTOP, - .cnt = 0, - }, +static struct nmea_parser nmea_parsers[] = { + { + .prefix = "GPGGA", + .handler = nmeaProcessGPGGA, + .cnt = 0, + }, + { + .prefix = "GPVTG", + .handler = nmeaProcessGPVTG, + .cnt = 0, + }, + { + .prefix = "GPGSA", + .handler = nmeaProcessGPGSA, + .cnt = 0, + }, + { + .prefix = "GPRMC", + .handler = nmeaProcessGPRMC, + .cnt = 0, + }, + { + .prefix = "GPZDA", + .handler = nmeaProcessGPZDA, + .cnt = 0, + }, + { + .prefix = "GPGSV", + .handler = nmeaProcessGPGSV, + .cnt = 0, + }, }; static struct nmea_parser *NMEA_find_parser_by_prefix(const char *prefix) @@ -229,7 +215,6 @@ static float NMEA_real_to_float(char *nmea_real) return (((float)whole) + fract * pow(10, -fract_units)); } -#ifdef ENABLE_GPS_NMEA /* * Parse a field in the format: * DD[D]MM.mmmm[mm] @@ -287,7 +272,6 @@ static bool NMEA_latlon_to_fixed_point(int32_t * latlon, char *nmea_latlon, bool return true; } -#endif // ENABLE_GPS_NMEA /** @@ -376,7 +360,6 @@ bool NMEA_update_position(char *nmea_sentence) return true; } -#ifdef ENABLE_GPS_NMEA /** * Parse an NMEA GPGGA sentence and update the given UAVObject @@ -675,83 +658,3 @@ static bool nmeaProcessGPGSA(GPSPositionData * GpsData, bool* gpsDataUpdated, ch return true; } -#endif // ENABLE_GPS_NMEA - -/** - * Parse an NMEA PGTOP sentence and update the given UAVObject - * \param[in] A pointer to a GPSPosition UAVObject to be updated. - * \param[in] An NMEA sentence with a valid checksum - */ -static bool nmeaProcessPGTOP(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam) -{ - if (nbParam != 17) - return false; - - GPSTimeData gpst; - GPSTimeGet(&gpst); - - *gpsDataUpdated = true; - - // get UTC time [hhmmss.sss] - float hms = NMEA_real_to_float(param[1]); - gpst.Second = (int)hms % 100; - gpst.Minute = (((int)hms - gpst.Second) / 100) % 100; - gpst.Hour = (int)hms / 10000; - - // get latitude decimal degrees - GpsData->Latitude = NMEA_real_to_float(param[2])*1e7; - if (param[3][0] == 'S') - GpsData->Latitude = -GpsData->Latitude; - - - // get longitude decimal degrees - GpsData->Longitude = NMEA_real_to_float(param[4])*1e7; - if (param[5][0] == 'W') - GpsData->Longitude = -GpsData->Longitude; - - // get number of satellites used in GPS solution - GpsData->Satellites = atoi(param[7]); - - // next field: HDOP - GpsData->HDOP = NMEA_real_to_float(param[8]); - - // get altitude (in meters mm.m) - GpsData->Altitude = NMEA_real_to_float(param[9]); - - // next field: geoid separation - GpsData->GeoidSeparation = NMEA_real_to_float(param[10]); - - // Mode: 1=Fix not available, 2=2D, 3=3D - switch (atoi(param[11])) { - case 1: - GpsData->Status = GPSPOSITION_STATUS_NOFIX; - break; - case 2: - GpsData->Status = GPSPOSITION_STATUS_FIX2D; - break; - case 3: - GpsData->Status = GPSPOSITION_STATUS_FIX3D; - break; - default: - /* Unhandled */ - return false; - break; - } - - // get course over ground in degrees [ddd.dd] - GpsData->Heading = NMEA_real_to_float(param[12]); - - // get speed in km/h - GpsData->Groundspeed = NMEA_real_to_float(param[13]); - // to m/s - GpsData->Groundspeed /= 3.6; - - gpst.Day = atoi(param[14]); - gpst.Month = atoi(param[15]); - gpst.Year = atoi(param[16]); - GPSTimeSet(&gpst); - - return true; -} - -#endif // #if defined(ENABLE_GPS_NMEA) || defined(ENABLE_GPS_ONESENTENCE_GTOP) diff --git a/flight/Modules/GPS/inc/GPS.h b/flight/Modules/GPS/inc/GPS.h index 1ae683c9a..86a92d285 100644 --- a/flight/Modules/GPS/inc/GPS.h +++ b/flight/Modules/GPS/inc/GPS.h @@ -34,8 +34,6 @@ #ifndef GPS_H #define GPS_H -#include "gps_mode.h" - int32_t GPSInitialize(void); #endif // GPS_H diff --git a/flight/Modules/GPS/inc/NMEA.h b/flight/Modules/GPS/inc/NMEA.h index 5c1b13f8b..6ff6b1195 100644 --- a/flight/Modules/GPS/inc/NMEA.h +++ b/flight/Modules/GPS/inc/NMEA.h @@ -33,11 +33,8 @@ #include #include -#include "gps_mode.h" -#if defined(ENABLE_GPS_NMEA) || defined(ENABLE_GPS_ONESENTENCE_GTOP) - extern bool NMEA_update_position(char *nmea_sentence); - extern bool NMEA_checksum(char *nmea_sentence); -#endif +extern bool NMEA_update_position(char *nmea_sentence); +extern bool NMEA_checksum(char *nmea_sentence); #endif /* NMEA_H */ diff --git a/flight/Modules/GPS/inc/gps_mode.h b/flight/Modules/GPS/inc/gps_mode.h deleted file mode 100644 index 43e5b0398..000000000 --- a/flight/Modules/GPS/inc/gps_mode.h +++ /dev/null @@ -1,58 +0,0 @@ -/** - ****************************************************************************** - * @addtogroup OpenPilotModules OpenPilot Modules - * @{ - * @addtogroup GSPModule GPS Module - * @brief Process GPS information - * @{ - * - * @file gps_mode.h - * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * @brief Include file of the GPS module. - * As with all modules only the initialize function is exposed all other - * interactions with the module take place through the event queue and - * objects. - * @see The GNU Public License (GPL) Version 3 - * - *****************************************************************************/ -/* - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY - * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License - * for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - */ - -#ifndef GPS_MODE_H -#define GPS_MODE_H - -// **************** -// you MUST have one of these uncommented - and ONLY one - -//#define ENABLE_GPS_BINARY_GTOP // uncomment this if we are using GTOP BINARY mode -//#define ENABLE_GPS_ONESENTENCE_GTOP // uncomment this if we are using GTOP SINGLE SENTENCE mode -#define ENABLE_GPS_NMEA // uncomment this if we are using NMEA mode - -// **************** -// make sure they have defined a protocol to use - -#if !defined(ENABLE_GPS_BINARY_GTOP) && !defined(ENABLE_GPS_ONESENTENCE_GTOP) && !defined(ENABLE_GPS_NMEA) - #error YOU MUST SELECT THE DESIRED GPS PROTOCOL IN gps_mode.h! -#endif - -// **************** - -#endif - -/** - * @} - * @} - */ diff --git a/flight/Modules/Guidance/guidance.c b/flight/Modules/Guidance/guidance.c index 348210675..b90303928 100644 --- a/flight/Modules/Guidance/guidance.c +++ b/flight/Modules/Guidance/guidance.c @@ -97,6 +97,12 @@ int32_t GuidanceStart() */ int32_t GuidanceInitialize() { + + GuidanceSettingsInitialize(); + PositionDesiredInitialize(); + NedAccelInitialize(); + VelocityDesiredInitialize(); + // Create object queue queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent)); diff --git a/flight/Modules/ManualControl/inc/manualcontrol.h b/flight/Modules/ManualControl/inc/manualcontrol.h index 5cca1a623..1215ca27d 100644 --- a/flight/Modules/ManualControl/inc/manualcontrol.h +++ b/flight/Modules/ManualControl/inc/manualcontrol.h @@ -105,4 +105,11 @@ int32_t ManualControlInitialize(); ( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) \ ) +#define assumptions_channelcount ( \ +( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM ) && \ +( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELNUMBER_NUMELEM ) && \ +( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELMIN_NUMELEM ) && \ +( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELMAX_NUMELEM ) && \ +( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELNEUTRAL_NUMELEM ) ) + #endif // MANUALCONTROL_H diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c index 19b6bc293..e8b18fefb 100644 --- a/flight/Modules/ManualControl/manualcontrol.c +++ b/flight/Modules/ManualControl/manualcontrol.c @@ -43,6 +43,7 @@ #include "flighttelemetrystats.h" #include "flightstatus.h" #include "accessorydesired.h" +#include "receiveractivity.h" // Private constants #if defined(PIOS_MANUAL_STACK_SIZE) @@ -80,6 +81,7 @@ static void updateActuatorDesired(ManualControlCommandData * cmd); static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings); static void processFlightMode(ManualControlSettingsData * settings, float flightMode); static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings); +static void setArmedIfChanged(uint8_t val); static void manualControlTask(void *parameters); static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral); @@ -87,20 +89,30 @@ static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time) static bool okToArm(void); static bool validInputRange(int16_t min, int16_t max, uint16_t value); -#define assumptions (assumptions1 && assumptions3 && assumptions5 && assumptions7 && assumptions8 && assumptions_flightmode) +#define RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP 12 +#define RCVR_ACTIVITY_MONITOR_MIN_RANGE 10 +struct rcvr_activity_fsm { + ManualControlSettingsChannelGroupsOptions group; + uint16_t prev[RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP]; + uint8_t sample_count; +}; +static struct rcvr_activity_fsm activity_fsm; + +static void resetRcvrActivity(struct rcvr_activity_fsm * fsm); +static bool updateRcvrActivity(struct rcvr_activity_fsm * fsm); + +#define assumptions (assumptions1 && assumptions3 && assumptions5 && assumptions7 && assumptions8 && assumptions_flightmode && assumptions_channelcount) /** - * Module initialization + * Module starting */ int32_t ManualControlStart() { - /* Check the assumptions about uavobject enum's are correct */ - if(!assumptions) - return -1; // Start main task xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle); TaskMonitorAdd(TASKINFO_RUNNING_MANUALCONTROL, taskHandle); PIOS_WDG_RegisterFlag(PIOS_WDG_MANUAL); + return 0; } @@ -110,6 +122,17 @@ int32_t ManualControlStart() int32_t ManualControlInitialize() { + /* Check the assumptions about uavobject enum's are correct */ + if(!assumptions) + return -1; + + AccessoryDesiredInitialize(); + ManualControlCommandInitialize(); + FlightStatusInitialize(); + StabilizationDesiredInitialize(); + ReceiverActivityInitialize(); + ManualControlSettingsInitialize(); + return 0; } MODULE_INITCALL(ManualControlInitialize, ManualControlStart) @@ -138,10 +161,14 @@ static void manualControlTask(void *parameters) flightStatus.Armed = FLIGHTSTATUS_ARMED_DISARMED; armState = ARM_STATE_DISARMED; + /* Initialize the RcvrActivty FSM */ + portTickType lastActivityTime = xTaskGetTickCount(); + resetRcvrActivity(&activity_fsm); + // Main task loop lastSysTime = xTaskGetTickCount(); while (1) { - float scaledChannel[MANUALCONTROLCOMMAND_CHANNEL_NUMELEM]; + float scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM]; // Wait until next update vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS); @@ -150,6 +177,18 @@ static void manualControlTask(void *parameters) // Read settings ManualControlSettingsGet(&settings); + /* Update channel activity monitor */ + if (flightStatus.Armed == ARM_STATE_DISARMED) { + if (updateRcvrActivity(&activity_fsm)) { + /* Reset the aging timer because activity was detected */ + lastActivityTime = lastSysTime; + } + } + if (timeDifferenceMs(lastActivityTime, lastSysTime) > 5000) { + resetRcvrActivity(&activity_fsm); + lastActivityTime = lastSysTime; + } + if (ManualControlCommandReadOnly(&cmd)) { FlightTelemetryStatsData flightTelemStats; FlightTelemetryStatsGet(&flightTelemStats); @@ -164,34 +203,64 @@ static void manualControlTask(void *parameters) if (!ManualControlCommandReadOnly(&cmd)) { + bool valid_input_detected = true; + // Read channel values in us - for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) { - if (pios_rcvr_channel_to_id_map[n].id) { - cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_channel_to_id_map[n].id, - pios_rcvr_channel_to_id_map[n].channel); + for (uint8_t n = 0; + n < MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM && n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; + ++n) { + extern uint32_t pios_rcvr_group_map[]; + + if (settings.ChannelGroups[n] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + cmd.Channel[n] = PIOS_RCVR_INVALID; } else { - cmd.Channel[n] = -1; + cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_group_map[settings.ChannelGroups[n]], + settings.ChannelNumber[n]); } - scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n]); + + // If a channel has timed out this is not valid data and we shouldn't update anything + // until we decide to go to failsafe + if(cmd.Channel[n] == PIOS_RCVR_TIMEOUT) + valid_input_detected = false; + else + scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n]); } // Check settings, if error raise alarm - if (settings.Roll >= MANUALCONTROLSETTINGS_ROLL_NONE || - settings.Pitch >= MANUALCONTROLSETTINGS_PITCH_NONE || - settings.Yaw >= MANUALCONTROLSETTINGS_YAW_NONE || - settings.Throttle >= MANUALCONTROLSETTINGS_THROTTLE_NONE || - settings.FlightMode >= MANUALCONTROLSETTINGS_FLIGHTMODE_NONE) { + if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE || + settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE || + settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE || + settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE || + settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE || + // Check all channel mappings are valid + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == (uint16_t) PIOS_RCVR_INVALID || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] == (uint16_t) PIOS_RCVR_INVALID || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] == (uint16_t) PIOS_RCVR_INVALID || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] == (uint16_t) PIOS_RCVR_INVALID || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t) PIOS_RCVR_INVALID || + // Check the driver is exists + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == (uint16_t) PIOS_RCVR_NODRIVER || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] == (uint16_t) PIOS_RCVR_NODRIVER || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] == (uint16_t) PIOS_RCVR_NODRIVER || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] == (uint16_t) PIOS_RCVR_NODRIVER || + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t) PIOS_RCVR_NODRIVER) { + AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL); cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE; ManualControlCommandSet(&cmd); + + // Need to do this here since we don't process armed status. Since this shouldn't happen in flight (changed config) + // immediately disarm + setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED); + continue; } // decide if we have valid manual input or not - bool valid_input_detected = validInputRange(settings.ChannelMin[settings.Throttle], settings.ChannelMax[settings.Throttle], cmd.Channel[settings.Throttle]) && - validInputRange(settings.ChannelMin[settings.Roll], settings.ChannelMax[settings.Roll], cmd.Channel[settings.Roll]) && - validInputRange(settings.ChannelMin[settings.Yaw], settings.ChannelMax[settings.Yaw], cmd.Channel[settings.Yaw]) && - validInputRange(settings.ChannelMin[settings.Pitch], settings.ChannelMax[settings.Pitch], cmd.Channel[settings.Pitch]); + valid_input_detected &= validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE]) && + validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL]) && + validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW]) && + validInputRange(settings.ChannelMin[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH], settings.ChannelMax[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH]); // Implement hysteresis loop on connection status if (valid_input_detected && (++connected_count > 10)) { @@ -209,55 +278,88 @@ static void manualControlTask(void *parameters) cmd.Roll = 0; cmd.Yaw = 0; cmd.Pitch = 0; + cmd.Collective = 0; //cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO; // don't do until AUTO implemented and functioning // Important: Throttle < 0 will reset Stabilization coefficients among other things. Either change this, // or leave throttle at IDLE speed or above when going into AUTO-failsafe. AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); - ManualControlCommandSet(&cmd); - } else { - AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL); - - // Scale channels to -1 -> +1 range - cmd.Roll = scaledChannel[settings.Roll]; - cmd.Pitch = scaledChannel[settings.Pitch]; - cmd.Yaw = scaledChannel[settings.Yaw]; - cmd.Throttle = scaledChannel[settings.Throttle]; - flightMode = scaledChannel[settings.FlightMode]; - + AccessoryDesiredData accessory; // Set Accessory 0 - if(settings.Accessory0 != MANUALCONTROLSETTINGS_ACCESSORY0_NONE) { - accessory.AccessoryVal = scaledChannel[settings.Accessory0]; + if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0] != + MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + accessory.AccessoryVal = 0; if(AccessoryDesiredInstSet(0, &accessory) != 0) AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); } // Set Accessory 1 - if(settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE) { - accessory.AccessoryVal = scaledChannel[settings.Accessory1]; + if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1] != + MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + accessory.AccessoryVal = 0; if(AccessoryDesiredInstSet(1, &accessory) != 0) AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); } - // Set Accsesory 2 - if(settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE) { - accessory.AccessoryVal = scaledChannel[settings.Accessory2]; + // Set Accessory 2 + if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2] != + MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + accessory.AccessoryVal = 0; + if(AccessoryDesiredInstSet(2, &accessory) != 0) + AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); + } + + } else { + AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL); + + // Scale channels to -1 -> +1 range + cmd.Roll = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL]; + cmd.Pitch = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH]; + cmd.Yaw = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW]; + cmd.Throttle = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE]; + flightMode = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE]; + + if(cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_INVALID && + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_NODRIVER && + cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_TIMEOUT) + cmd.Collective = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE]; + + AccessoryDesiredData accessory; + // Set Accessory 0 + if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0] != + MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0]; + if(AccessoryDesiredInstSet(0, &accessory) != 0) + AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); + } + // Set Accessory 1 + if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1] != + MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1]; + if(AccessoryDesiredInstSet(1, &accessory) != 0) + AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); + } + // Set Accessory 2 + if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2] != + MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2]; if(AccessoryDesiredInstSet(2, &accessory) != 0) AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); } processFlightMode(&settings, flightMode); - processArm(&cmd, &settings); - - // Update cmd object - ManualControlCommandSet(&cmd); } + // Process arming outside conditional so system will disarm when disconnected + processArm(&cmd, &settings); + + // Update cmd object + ManualControlCommandSet(&cmd); + } else { ManualControlCommandGet(&cmd); /* Under GCS control */ } - FlightStatusGet(&flightStatus); // Depending on the mode update the Stabilization or Actuator objects @@ -279,6 +381,145 @@ static void manualControlTask(void *parameters) } } +static void resetRcvrActivity(struct rcvr_activity_fsm * fsm) +{ + ReceiverActivityData data; + bool updated = false; + + /* Clear all channel activity flags */ + ReceiverActivityGet(&data); + if (data.ActiveGroup != RECEIVERACTIVITY_ACTIVEGROUP_NONE && + data.ActiveChannel != 255) { + data.ActiveGroup = RECEIVERACTIVITY_ACTIVEGROUP_NONE; + data.ActiveChannel = 255; + updated = true; + } + if (updated) { + ReceiverActivitySet(&data); + } + + /* Reset the FSM state */ + fsm->group = 0; + fsm->sample_count = 0; +} + +static void updateRcvrActivitySample(uint32_t rcvr_id, uint16_t samples[], uint8_t max_channels) { + for (uint8_t channel = 1; channel <= max_channels; channel++) { + // Subtract 1 because channels are 1 indexed + samples[channel - 1] = PIOS_RCVR_Read(rcvr_id, channel); + } +} + +static bool updateRcvrActivityCompare(uint32_t rcvr_id, struct rcvr_activity_fsm * fsm) +{ + bool activity_updated = false; + + /* Compare the current value to the previous sampled value */ + for (uint8_t channel = 1; + channel <= RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP; + channel++) { + uint16_t delta; + uint16_t prev = fsm->prev[channel - 1]; // Subtract 1 because channels are 1 indexed + uint16_t curr = PIOS_RCVR_Read(rcvr_id, channel); + if (curr > prev) { + delta = curr - prev; + } else { + delta = prev - curr; + } + + if (delta > RCVR_ACTIVITY_MONITOR_MIN_RANGE) { + /* Mark this channel as active */ + ReceiverActivityActiveGroupOptions group; + + /* Don't assume manualcontrolsettings and receiveractivity are in the same order. */ + switch (fsm->group) { + case MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM: + group = RECEIVERACTIVITY_ACTIVEGROUP_PWM; + break; + case MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM: + group = RECEIVERACTIVITY_ACTIVEGROUP_PPM; + break; + case MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1: + group = RECEIVERACTIVITY_ACTIVEGROUP_SPEKTRUM1; + break; + case MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM2: + group = RECEIVERACTIVITY_ACTIVEGROUP_SPEKTRUM2; + break; + case MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS: + group = RECEIVERACTIVITY_ACTIVEGROUP_SBUS; + break; + case MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS: + group = RECEIVERACTIVITY_ACTIVEGROUP_GCS; + break; + default: + PIOS_Assert(0); + break; + } + + ReceiverActivityActiveGroupSet(&group); + ReceiverActivityActiveChannelSet(&channel); + activity_updated = true; + } + } + return (activity_updated); +} + +static bool updateRcvrActivity(struct rcvr_activity_fsm * fsm) +{ + bool activity_updated = false; + + if (fsm->group >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + /* We're out of range, reset things */ + resetRcvrActivity(fsm); + } + + extern uint32_t pios_rcvr_group_map[]; + if (!pios_rcvr_group_map[fsm->group]) { + /* Unbound group, skip it */ + goto group_completed; + } + + if (fsm->sample_count == 0) { + /* Take a sample of each channel in this group */ + updateRcvrActivitySample(pios_rcvr_group_map[fsm->group], + fsm->prev, + NELEMENTS(fsm->prev)); + fsm->sample_count++; + return (false); + } + + /* Compare with previous sample */ + activity_updated = updateRcvrActivityCompare(pios_rcvr_group_map[fsm->group], fsm); + +group_completed: + /* Reset the sample counter */ + fsm->sample_count = 0; + + /* Find the next active group, but limit search so we can't loop forever here */ + for (uint8_t i = 0; i < MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE; i++) { + /* Move to the next group */ + fsm->group++; + if (fsm->group >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + /* Wrap back to the first group */ + fsm->group = 0; + } + if (pios_rcvr_group_map[fsm->group]) { + /* + * Found an active group, take a sample here to avoid an + * extra 20ms delay in the main thread so we can speed up + * this algorithm. + */ + updateRcvrActivitySample(pios_rcvr_group_map[fsm->group], + fsm->prev, + NELEMENTS(fsm->prev)); + fsm->sample_count++; + break; + } + } + + return (activity_updated); +} + static void updateActuatorDesired(ManualControlCommandData * cmd) { ActuatorDesiredData actuator; @@ -440,7 +681,7 @@ static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData } else { // Not really needed since this function not called when disconnected if (cmd->Connected == MANUALCONTROLCOMMAND_CONNECTED_FALSE) - return; + lowThrottle = true; // The throttle is not low, in case we where arming or disarming, abort if (!lowThrottle) { @@ -584,4 +825,3 @@ bool validInputRange(int16_t min, int16_t max, uint16_t value) * @} * @} */ - diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c index 9d3a538d0..ffc3c53be 100644 --- a/flight/Modules/Stabilization/stabilization.c +++ b/flight/Modules/Stabilization/stabilization.c @@ -40,8 +40,6 @@ #include "attitudeactual.h" #include "attituderaw.h" #include "flightstatus.h" -#include "systemsettings.h" -#include "ahrssettings.h" #include "manualcontrol.h" // Just to get a macro #include "CoordinateConversions.h" @@ -115,6 +113,11 @@ int32_t StabilizationStart() int32_t StabilizationInitialize() { // Initialize variables + StabilizationSettingsInitialize(); + ActuatorDesiredInitialize(); +#if defined(DIAGNOSTICS) + RateDesiredInitialize(); +#endif // Create object queue queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent)); @@ -147,7 +150,6 @@ static void stabilizationTask(void* parameters) RateDesiredData rateDesired; AttitudeActualData attitudeActual; AttitudeRawData attitudeRaw; - SystemSettingsData systemSettings; FlightStatusData flightStatus; SettingsUpdatedCb((UAVObjEvent *) NULL); @@ -175,8 +177,10 @@ static void stabilizationTask(void* parameters) StabilizationDesiredGet(&stabDesired); AttitudeActualGet(&attitudeActual); AttitudeRawGet(&attitudeRaw); + +#if defined(DIAGNOSTICS) RateDesiredGet(&rateDesired); - SystemSettingsGet(&systemSettings); +#endif #if defined(PIOS_QUATERNION_STABILIZATION) // Quaternion calculation of error in each axis. Uses more memory. @@ -231,6 +235,9 @@ static void stabilizationTask(void* parameters) { case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE: rateDesiredAxis[i] = attitudeDesiredAxis[i]; + + // Zero attitude and axis lock accumulators + pids[PID_ROLL + i].iAccumulator = 0; axis_lock_accum[i] = 0; break; @@ -245,11 +252,20 @@ static void stabilizationTask(void* parameters) rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling; + // Zero attitude and axis lock accumulators + pids[PID_ROLL + i].iAccumulator = 0; axis_lock_accum[i] = 0; break; } case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE: rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i]); + + if(rateDesiredAxis[i] > settings.MaximumRate[i]) + rateDesiredAxis[i] = settings.MaximumRate[i]; + else if(rateDesiredAxis[i] < -settings.MaximumRate[i]) + rateDesiredAxis[i] = -settings.MaximumRate[i]; + + axis_lock_accum[i] = 0; break; @@ -268,21 +284,24 @@ static void stabilizationTask(void* parameters) rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], axis_lock_accum[i]); } + + if(rateDesiredAxis[i] > settings.MaximumRate[i]) + rateDesiredAxis[i] = settings.MaximumRate[i]; + else if(rateDesiredAxis[i] < -settings.MaximumRate[i]) + rateDesiredAxis[i] = -settings.MaximumRate[i]; + break; } } uint8_t shouldUpdate = 1; +#if defined(DIAGNOSTICS) RateDesiredSet(&rateDesired); +#endif ActuatorDesiredGet(&actuatorDesired); //Calculate desired command for(int8_t ct=0; ct< MAX_AXES; ct++) { - if(rateDesiredAxis[ct] > settings.MaximumRate[ct]) - rateDesiredAxis[ct] = settings.MaximumRate[ct]; - else if(rateDesiredAxis[ct] < -settings.MaximumRate[ct]) - rateDesiredAxis[ct] = -settings.MaximumRate[ct]; - switch(stabDesired.StabilizationMode[ct]) { case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE: @@ -300,14 +319,20 @@ static void stabilizationTask(void* parameters) case ROLL: actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]); shouldUpdate = 1; + pids[PID_RATE_ROLL].iAccumulator = 0; + pids[PID_ROLL].iAccumulator = 0; break; case PITCH: actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]); shouldUpdate = 1; + pids[PID_RATE_PITCH].iAccumulator = 0; + pids[PID_PITCH].iAccumulator = 0; break; case YAW: actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]); shouldUpdate = 1; + pids[PID_RATE_YAW].iAccumulator = 0; + pids[PID_YAW].iAccumulator = 0; break; } break; diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c index f555d227f..168b46aa6 100644 --- a/flight/Modules/System/systemmod.c +++ b/flight/Modules/System/systemmod.c @@ -43,7 +43,9 @@ #include "objectpersistence.h" #include "flightstatus.h" #include "systemstats.h" +#include "systemsettings.h" #include "i2cstats.h" +#include "taskinfo.h" #include "watchdogstatus.h" #include "taskmonitor.h" #include "pios_config.h" @@ -73,16 +75,18 @@ static uint32_t idleCounter; static uint32_t idleCounterClear; static xTaskHandle systemTaskHandle; -static int32_t stackOverflow; +static bool stackOverflow; +static bool mallocFailed; // Private functions static void objectUpdatedCb(UAVObjEvent * ev); static void updateStats(); -static void updateI2Cstats(); -static void updateWDGstats(); static void updateSystemAlarms(); static void systemTask(void *parameters); - +#if defined(DIAGNOSTICS) +static void updateI2Cstats(); +static void updateWDGstats(); +#endif /** * Create the module task. * \returns 0 on success or -1 if initialization failed @@ -90,7 +94,8 @@ static void systemTask(void *parameters); int32_t SystemModStart(void) { // Initialize vars - stackOverflow = 0; + stackOverflow = false; + mallocFailed = false; // Create system task xTaskCreate(systemTask, (signed char *)"System", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &systemTaskHandle); // Register task @@ -106,6 +111,16 @@ int32_t SystemModStart(void) int32_t SystemModInitialize(void) { + // Must registers objects here for system thread because ObjectManager started in OpenPilotInit + SystemSettingsInitialize(); + SystemStatsInitialize(); + ObjectPersistenceInitialize(); +#if defined(DIAGNOSTICS) + TaskInfoInitialize(); + I2CStatsInitialize(); + WatchdogStatusInitialize(); +#endif + SystemModStart(); return 0; @@ -137,9 +152,10 @@ static void systemTask(void *parameters) // Update the system alarms updateSystemAlarms(); +#if defined(DIAGNOSTICS) updateI2Cstats(); updateWDGstats(); - +#endif // Update the task status object TaskMonitorUpdateAll(); @@ -230,6 +246,11 @@ static void objectUpdatedCb(UAVObjEvent * ev) || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) { retval = UAVObjDeleteMetaobjects(); } + } else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_FULLERASE) { + retval = -1; +#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS) + retval = PIOS_FLASHFS_Format(); +#endif } if(retval == 0) { objper.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED; @@ -241,9 +262,7 @@ static void objectUpdatedCb(UAVObjEvent * ev) /** * Called periodically to update the I2C statistics */ -#if defined(ARCH_POSIX) || defined(ARCH_WIN32) -static void updateI2Cstats() {} //Posix and win32 don't have I2C -#else +#if defined(DIAGNOSTICS) static void updateI2Cstats() { #if defined(PIOS_INCLUDE_I2C) @@ -263,7 +282,6 @@ static void updateI2Cstats() I2CStatsSet(&i2cStats); #endif } -#endif static void updateWDGstats() { @@ -272,6 +290,8 @@ static void updateWDGstats() watchdogStatus.ActiveFlags = PIOS_WDG_GetActiveFlags(); WatchdogStatusSet(&watchdogStatus); } +#endif + /** * Called periodically to update the system stats @@ -399,12 +419,19 @@ static void updateSystemAlarms() } // Check for stack overflow - if (stackOverflow == 1) { + if (stackOverflow) { AlarmsSet(SYSTEMALARMS_ALARM_STACKOVERFLOW, SYSTEMALARMS_ALARM_CRITICAL); } else { AlarmsClear(SYSTEMALARMS_ALARM_STACKOVERFLOW); } + // Check for malloc failures + if (mallocFailed) { + AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_CRITICAL); + } else { + AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY); + } + #if defined(PIOS_INCLUDE_SDCARD) // Check for SD card if (PIOS_SDCARD_IsMounted() == 0) { @@ -443,9 +470,29 @@ void vApplicationIdleHook(void) /** * Called by the RTOS when a stack overflow is detected. */ +#define DEBUG_STACK_OVERFLOW 0 void vApplicationStackOverflowHook(xTaskHandle * pxTask, signed portCHAR * pcTaskName) { - stackOverflow = 1; + stackOverflow = true; +#if DEBUG_STACK_OVERFLOW + static volatile bool wait_here = true; + while(wait_here); + wait_here = true; +#endif +} + +/** + * Called by the RTOS when a malloc call fails. + */ +#define DEBUG_MALLOC_FAILURES 0 +void vApplicationMallocFailedHook(void) +{ + mallocFailed = true; +#if DEBUG_MALLOC_FAILURES + static volatile bool wait_here = true; + while(wait_here); + wait_here = true; +#endif } /** diff --git a/flight/Modules/Telemetry/telemetry.c b/flight/Modules/Telemetry/telemetry.c index 06581fe1a..25abf2c3a 100644 --- a/flight/Modules/Telemetry/telemetry.c +++ b/flight/Modules/Telemetry/telemetry.c @@ -67,6 +67,7 @@ static uint32_t txErrors; static uint32_t txRetries; static TelemetrySettingsData settings; static uint32_t timeOfLastObjectUpdate; +static UAVTalkConnection uavTalkCon; // Private functions static void telemetryTxTask(void *parameters); @@ -88,7 +89,13 @@ static void updateSettings(); */ int32_t TelemetryStart(void) { - + // Process all registered objects and connect queue for updates + UAVObjIterate(®isterObject); + + // Listen to objects of interest + GCSTelemetryStatsConnectQueue(priorityQueue); + TelemetrySettingsConnectQueue(priorityQueue); + // Start telemetry tasks xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle); xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle); @@ -111,6 +118,10 @@ int32_t TelemetryStart(void) int32_t TelemetryInitialize(void) { UAVObjEvent ev; + + FlightTelemetryStatsInitialize(); + GCSTelemetryStatsInitialize(); + TelemetrySettingsInitialize(); // Initialize vars timeOfLastObjectUpdate = 0; @@ -120,25 +131,19 @@ int32_t TelemetryInitialize(void) #if defined(PIOS_TELEM_PRIORITY_QUEUE) priorityQueue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent)); #endif - - // Get telemetry settings object + + // Get telemetry settings object updateSettings(); - + // Initialise UAVTalk - UAVTalkInitialize(&transmitData); - - // Process all registered objects and connect queue for updates - UAVObjIterate(®isterObject); - + uavTalkCon = UAVTalkInitialize(&transmitData,256); + // Create periodic event that will be used to update the telemetry stats txErrors = 0; txRetries = 0; memset(&ev, 0, sizeof(UAVObjEvent)); EventPeriodicQueueCreate(&ev, priorityQueue, STATS_UPDATE_PERIOD_MS); - - // Listen to objects of interest - GCSTelemetryStatsConnectQueue(priorityQueue); - TelemetrySettingsConnectQueue(priorityQueue); + return 0; } @@ -235,7 +240,7 @@ static void processObjEvent(UAVObjEvent * ev) if (ev->event == EV_UPDATED || ev->event == EV_UPDATED_MANUAL) { // Send update to GCS (with retries) while (retries < MAX_RETRIES && success == -1) { - success = UAVTalkSendObject(ev->obj, ev->instId, metadata.telemetryAcked, REQ_TIMEOUT_MS); // call blocks until ack is received or timeout + success = UAVTalkSendObject(uavTalkCon, ev->obj, ev->instId, metadata.telemetryAcked, REQ_TIMEOUT_MS); // call blocks until ack is received or timeout ++retries; } // Update stats @@ -246,7 +251,7 @@ static void processObjEvent(UAVObjEvent * ev) } else if (ev->event == EV_UPDATE_REQ) { // Request object update from GCS (with retries) while (retries < MAX_RETRIES && success == -1) { - success = UAVTalkSendObjectRequest(ev->obj, ev->instId, REQ_TIMEOUT_MS); // call blocks until update is received or timeout + success = UAVTalkSendObjectRequest(uavTalkCon, ev->obj, ev->instId, REQ_TIMEOUT_MS); // call blocks until update is received or timeout ++retries; } // Update stats @@ -326,7 +331,7 @@ static void telemetryRxTask(void *parameters) bytes_to_process = PIOS_COM_ReceiveBuffer(inputPort, serial_data, sizeof(serial_data), 500); if (bytes_to_process > 0) { for (uint8_t i = 0; i < bytes_to_process; i++) { - UAVTalkProcessInputStream(serial_data[i]); + UAVTalkProcessInputStream(uavTalkCon,serial_data[i]); } } } else { @@ -426,8 +431,8 @@ static void updateTelemetryStats() uint32_t timeNow; // Get stats - UAVTalkGetStats(&utalkStats); - UAVTalkResetStats(); + UAVTalkGetStats(uavTalkCon, &utalkStats); + UAVTalkResetStats(uavTalkCon); // Get object data FlightTelemetryStatsGet(&flightStats); diff --git a/flight/OpenPilot/Makefile b/flight/OpenPilot/Makefile index 60f9d6d30..468a54f25 100644 --- a/flight/OpenPilot/Makefile +++ b/flight/OpenPilot/Makefile @@ -135,7 +135,6 @@ SRC += $(OPSYSTEM)/taskmonitor.c SRC += $(OPUAVTALK)/uavtalk.c SRC += $(OPUAVOBJ)/uavobjectmanager.c SRC += $(OPUAVOBJ)/eventdispatcher.c -SRC += $(OPUAVOBJ)/uavobjectsinit_linker.c else ## TESTCODE SRC += $(OPTESTS)/test_common.c @@ -165,6 +164,7 @@ SRC += $(PIOSSTM32F10X)/pios_ppm.c SRC += $(PIOSSTM32F10X)/pios_pwm.c SRC += $(PIOSSTM32F10X)/pios_spektrum.c SRC += $(PIOSSTM32F10X)/pios_sbus.c +SRC += $(PIOSSTM32F10X)/pios_tim.c SRC += $(PIOSSTM32F10X)/pios_debug.c SRC += $(PIOSSTM32F10X)/pios_gpio.c SRC += $(PIOSSTM32F10X)/pios_exti.c @@ -388,6 +388,9 @@ ifeq ($(DEBUG),YES) CFLAGS = -g$(DEBUGF) -DDEBUG endif +# OP has enough memory to always enable optional objects +CFLAGS += -DDIAGNOSTICS + CFLAGS += -O$(OPT) CFLAGS += -mcpu=$(MCU) CFLAGS += $(CDEFS) @@ -512,7 +515,7 @@ $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin $(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION))) # Add jtag targets (program and wipe) -$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE))) +$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG))) .PHONY: elf lss sym hex bin bino opfw elf: $(OUTDIR)/$(TARGET).elf diff --git a/flight/OpenPilot/System/alarms.c b/flight/OpenPilot/System/alarms.c index e899be779..e61c7c1ea 100644 --- a/flight/OpenPilot/System/alarms.c +++ b/flight/OpenPilot/System/alarms.c @@ -41,14 +41,12 @@ static xSemaphoreHandle lock; static int32_t hasSeverity(SystemAlarmsAlarmOptions severity); /** - * Initialize the alarms library + * Initialize the alarms library */ int32_t AlarmsInitialize(void) { + SystemAlarmsInitialize(); lock = xSemaphoreCreateRecursiveMutex(); - //do not change the default states of the alarms, let the init code generated by the uavobjectgenerator handle that - //AlarmsClearAll(); - //AlarmsDefaultAll(); return 0; } @@ -56,7 +54,7 @@ int32_t AlarmsInitialize(void) * Set an alarm * @param alarm The system alarm to be modified * @param severity The alarm severity - * @return 0 if success, -1 if an error + * @return 0 if success, -1 if an error */ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity) { @@ -151,7 +149,7 @@ void AlarmsClearAll() /** * Check if there are any alarms with the given or higher severity - * @return 0 if no alarms are found, 1 if at least one alarm is found + * @return 0 if no alarms are found, 1 if at least one alarm is found */ int32_t AlarmsHasWarnings() { @@ -208,5 +206,5 @@ static int32_t hasSeverity(SystemAlarmsAlarmOptions severity) /** * @} * @} - */ + */ diff --git a/flight/OpenPilot/System/inc/FreeRTOSConfig.h b/flight/OpenPilot/System/inc/FreeRTOSConfig.h index 75a14ea13..4b37f7e44 100644 --- a/flight/OpenPilot/System/inc/FreeRTOSConfig.h +++ b/flight/OpenPilot/System/inc/FreeRTOSConfig.h @@ -26,6 +26,7 @@ #define configUSE_PREEMPTION 1 #define configUSE_IDLE_HOOK 1 #define configUSE_TICK_HOOK 0 +#define configUSE_MALLOC_FAILED_HOOK 1 #define configCPU_CLOCK_HZ ( ( unsigned long ) 72000000 ) #define configTICK_RATE_HZ ( ( portTickType ) 1000 ) #define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 5 ) @@ -39,7 +40,7 @@ #define configUSE_RECURSIVE_MUTEXES 1 #define configUSE_COUNTING_SEMAPHORES 0 #define configUSE_ALTERNATIVE_API 0 -#define configCHECK_FOR_STACK_OVERFLOW 2 +//#define configCHECK_FOR_STACK_OVERFLOW 2 #define configQUEUE_REGISTRY_SIZE 10 /* Co-routine definitions. */ @@ -72,7 +73,9 @@ NVIC value of 255. */ #define configLIBRARY_KERNEL_INTERRUPT_PRIORITY 15 /* Enable run time stats collection */ -#if defined(DEBUG) +#if defined(DIAGNOSTICS) +#define configCHECK_FOR_STACK_OVERFLOW 2 + #define configGENERATE_RUN_TIME_STATS 1 #define INCLUDE_uxTaskGetRunTime 1 #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()\ @@ -81,6 +84,8 @@ do {\ (*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */\ } while(0) #define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004)/* DWT_CYCCNT */ +#else +#define configCHECK_FOR_STACK_OVERFLOW 1 #endif #if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) diff --git a/flight/OpenPilot/System/inc/pios_config.h b/flight/OpenPilot/System/inc/pios_config.h index 4d561382e..8e37dc95a 100644 --- a/flight/OpenPilot/System/inc/pios_config.h +++ b/flight/OpenPilot/System/inc/pios_config.h @@ -47,7 +47,7 @@ #define PIOS_INCLUDE_SPEKTRUM //#define PIOS_INCLUDE_SBUS #define PIOS_INCLUDE_PWM -//#define PIOS_INCLUDE_PPM +#define PIOS_INCLUDE_PPM #define PIOS_INCLUDE_TELEMETRY_RF @@ -60,6 +60,7 @@ //#define PIOS_INCLUDE_HCSR04 #define PIOS_INCLUDE_OPAHRS #define PIOS_INCLUDE_COM +#define PIOS_INCLUDE_GPS #define PIOS_INCLUDE_SDCARD #define PIOS_INCLUDE_SETTINGS #define PIOS_INCLUDE_FREERTOS diff --git a/flight/OpenPilot/System/inc/pios_config_posix.h b/flight/OpenPilot/System/inc/pios_config_posix.h index 4b779cc49..e8701be90 100644 --- a/flight/OpenPilot/System/inc/pios_config_posix.h +++ b/flight/OpenPilot/System/inc/pios_config_posix.h @@ -36,6 +36,7 @@ #define PIOS_INCLUDE_SDCARD #define PIOS_INCLUDE_FREERTOS #define PIOS_INCLUDE_COM +#define PIOS_INCLUDE_GPS #define PIOS_INCLUDE_IRQ #define PIOS_INCLUDE_TELEMETRY_RF #define PIOS_INCLUDE_UDP diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c index 822b7a8ae..d7c43f547 100644 --- a/flight/OpenPilot/System/pios_board.c +++ b/flight/OpenPilot/System/pios_board.c @@ -30,6 +30,7 @@ #include #include #include +#include #include "manualcontrolsettings.h" //#define I2C_DEBUG_PIN 0 @@ -301,6 +302,89 @@ void PIOS_ADC_handler() { PIOS_ADC_DMA_Handler(); } +#include "pios_tim_priv.h" + +static const TIM_TimeBaseInitTypeDef tim_4_8_time_base = { + .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, + .TIM_ClockDivision = TIM_CKD_DIV1, + .TIM_CounterMode = TIM_CounterMode_Up, + .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1), + .TIM_RepetitionCounter = 0x0000, +}; + +static const struct pios_tim_clock_cfg tim_4_cfg = { + .timer = TIM4, + .time_base_init = &tim_4_8_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM4_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_8_cfg = { + .timer = TIM8, + .time_base_init = &tim_4_8_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM8_CC_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const TIM_TimeBaseInitTypeDef tim_1_3_5_time_base = { + .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, + .TIM_ClockDivision = TIM_CKD_DIV1, + .TIM_CounterMode = TIM_CounterMode_Up, + .TIM_Period = 0xFFFF, + .TIM_RepetitionCounter = 0x0000, +}; + +static const struct pios_tim_clock_cfg tim_1_cfg = { + .timer = TIM1, + .time_base_init = &tim_1_3_5_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM1_CC_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_3_cfg = { + .timer = TIM3, + .time_base_init = &tim_1_3_5_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM3_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_5_cfg = { + .timer = TIM5, + .time_base_init = &tim_1_3_5_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM5_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + #if defined(PIOS_INCLUDE_USART) #include "pios_usart_priv.h" @@ -496,7 +580,6 @@ static const struct pios_usart_cfg pios_usart_spektrum_cfg = { }, }; -#include static const struct pios_spektrum_cfg pios_spektrum_cfg = { .bind = { .gpio = GPIOA, @@ -535,65 +618,106 @@ static const struct pios_spektrum_cfg pios_spektrum_cfg = { * Pios servo configuration structures */ #include -static const struct pios_servo_channel pios_servo_channels[] = { +static const struct pios_tim_channel pios_tim_servoport_all_pins[] = { { .timer = TIM4, - .port = GPIOB, - .channel = TIM_Channel_1, - .pin = GPIO_Pin_6, + .timer_chan = TIM_Channel_1, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_6, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, { .timer = TIM4, - .port = GPIOB, - .channel = TIM_Channel_2, - .pin = GPIO_Pin_7, + .timer_chan = TIM_Channel_2, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_7, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, { .timer = TIM4, - .port = GPIOB, - .channel = TIM_Channel_3, - .pin = GPIO_Pin_8, + .timer_chan = TIM_Channel_3, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_8, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, { .timer = TIM4, - .port = GPIOB, - .channel = TIM_Channel_4, - .pin = GPIO_Pin_9, + .timer_chan = TIM_Channel_4, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, { .timer = TIM8, - .port = GPIOC, - .channel = TIM_Channel_1, - .pin = GPIO_Pin_6, + .timer_chan = TIM_Channel_1, + .pin = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_6, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, { .timer = TIM8, - .port = GPIOC, - .channel = TIM_Channel_2, - .pin = GPIO_Pin_7, + .timer_chan = TIM_Channel_2, + .pin = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_7, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, { .timer = TIM8, - .port = GPIOC, - .channel = TIM_Channel_3, - .pin = GPIO_Pin_8, + .timer_chan = TIM_Channel_3, + .pin = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_8, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, { .timer = TIM8, - .port = GPIOC, - .channel = TIM_Channel_4, - .pin = GPIO_Pin_9, + .timer_chan = TIM_Channel_4, + .pin = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Mode = GPIO_Mode_AF_PP, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, }; const struct pios_servo_cfg pios_servo_cfg = { - .tim_base_init = { - .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, - .TIM_ClockDivision = TIM_CKD_DIV1, - .TIM_CounterMode = TIM_CounterMode_Up, - .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1), - .TIM_RepetitionCounter = 0x0000, - }, .tim_oc_init = { .TIM_OCMode = TIM_OCMode_PWM1, .TIM_OutputState = TIM_OutputState_Enable, @@ -604,127 +728,127 @@ const struct pios_servo_cfg pios_servo_cfg = { .TIM_OCIdleState = TIM_OCIdleState_Reset, .TIM_OCNIdleState = TIM_OCNIdleState_Reset, }, - .gpio_init = { - .GPIO_Mode = GPIO_Mode_AF_PP, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - .remap = 0, - .channels = pios_servo_channels, - .num_channels = NELEMENTS(pios_servo_channels), + .channels = pios_tim_servoport_all_pins, + .num_channels = NELEMENTS(pios_tim_servoport_all_pins), }; /* * PWM Inputs */ -#if defined(PIOS_INCLUDE_PWM) +#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM) #include -static const struct pios_pwm_channel pios_pwm_channels[] = { +static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = { { .timer = TIM1, - .port = GPIOA, - .ccr = TIM_IT_CC2, - .channel = TIM_Channel_2, - .pin = GPIO_Pin_9, - }, + .timer_chan = TIM_Channel_2, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + }, { .timer = TIM1, - .port = GPIOA, - .ccr = TIM_IT_CC3, - .channel = TIM_Channel_3, - .pin = GPIO_Pin_10, + .timer_chan = TIM_Channel_3, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, { .timer = TIM5, - .port = GPIOA, - .ccr = TIM_IT_CC1, - .channel = TIM_Channel_1, - .pin = GPIO_Pin_0 + .timer_chan = TIM_Channel_1, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_0, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, { .timer = TIM1, - .port = GPIOA, - .ccr = TIM_IT_CC1, - .channel = TIM_Channel_1, - .pin = GPIO_Pin_8, + .timer_chan = TIM_Channel_1, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_8, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, { .timer = TIM3, - .port = GPIOB, - .ccr = TIM_IT_CC4, - .channel = TIM_Channel_4, - .pin = GPIO_Pin_1, + .timer_chan = TIM_Channel_4, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_1, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, { .timer = TIM3, - .port = GPIOB, - .ccr = TIM_IT_CC3, - .channel = TIM_Channel_3, - .pin = GPIO_Pin_0, + .timer_chan = TIM_Channel_3, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_0, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, }, { .timer = TIM3, - .port = GPIOB, - .ccr = TIM_IT_CC1, - .channel = TIM_Channel_1, - .pin = GPIO_Pin_4, + .timer_chan = TIM_Channel_1, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_4, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + .remap = GPIO_PartialRemap_TIM3, }, { .timer = TIM3, - .port = GPIOB, - .ccr = TIM_IT_CC2, - .channel = TIM_Channel_2, - .pin = GPIO_Pin_5, + .timer_chan = TIM_Channel_2, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_5, + .GPIO_Mode = GPIO_Mode_IPD, + .GPIO_Speed = GPIO_Speed_2MHz, + }, + }, + .remap = GPIO_PartialRemap_TIM3, }, }; -void TIM1_CC_IRQHandler(); -void TIM3_IRQHandler(); -void TIM5_IRQHandler(); -void TIM1_CC_IRQHandler() __attribute__ ((alias ("PIOS_TIM1_CC_irq_handler"))); -void TIM3_IRQHandler() __attribute__ ((alias ("PIOS_TIM3_irq_handler"))); -void TIM5_IRQHandler() __attribute__ ((alias ("PIOS_TIM5_irq_handler"))); const struct pios_pwm_cfg pios_pwm_cfg = { - .tim_base_init = { - .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, - .TIM_ClockDivision = TIM_CKD_DIV1, - .TIM_CounterMode = TIM_CounterMode_Up, - .TIM_Period = 0xFFFF, - .TIM_RepetitionCounter = 0x0000, - }, .tim_ic_init = { .TIM_ICPolarity = TIM_ICPolarity_Rising, .TIM_ICSelection = TIM_ICSelection_DirectTI, .TIM_ICPrescaler = TIM_ICPSC_DIV1, .TIM_ICFilter = 0x0, }, - .gpio_init = { - .GPIO_Mode = GPIO_Mode_IPD, - .GPIO_Speed = GPIO_Speed_2MHz, - }, - .remap = GPIO_PartialRemap_TIM3, - .irq = { - .init = { - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, - .channels = pios_pwm_channels, - .num_channels = NELEMENTS(pios_pwm_channels), + .channels = pios_tim_rcvrport_all_channels, + .num_channels = NELEMENTS(pios_tim_rcvrport_all_channels), }; -void PIOS_TIM1_CC_irq_handler() -{ - PIOS_PWM_irq_handler(TIM1); -} -void PIOS_TIM3_irq_handler() -{ - PIOS_PWM_irq_handler(TIM3); -} -void PIOS_TIM5_irq_handler() -{ - PIOS_PWM_irq_handler(TIM5); -} #endif /* @@ -732,42 +856,7 @@ void PIOS_TIM5_irq_handler() */ #if defined(PIOS_INCLUDE_PPM) #include -void TIM6_IRQHandler(); -void TIM6_IRQHandler() __attribute__ ((alias ("PIOS_TIM6_irq_handler"))); -static const struct pios_ppmsv_cfg pios_ppmsv_cfg = { - .tim_base_init = { - .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */ - .TIM_ClockDivision = TIM_CKD_DIV1, - .TIM_CounterMode = TIM_CounterMode_Up, - .TIM_Period = ((1000000 / 25) - 1), /* 25 Hz */ - .TIM_RepetitionCounter = 0x0000, - }, - .irq = { - .init = { - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, - .timer = TIM6, - .ccr = TIM_IT_Update, -}; - -void PIOS_TIM6_irq_handler(void) -{ - PIOS_PPMSV_irq_handler(); -} - -void TIM1_CC_IRQHandler(); -void TIM1_CC_IRQHandler() __attribute__ ((alias ("PIOS_TIM1_CC_irq_handler"))); static const struct pios_ppm_cfg pios_ppm_cfg = { - .tim_base_init = { - .TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */ - .TIM_ClockDivision = TIM_CKD_DIV1, - .TIM_CounterMode = TIM_CounterMode_Up, - .TIM_Period = 0xFFFF, - .TIM_RepetitionCounter = 0x0000, - }, .tim_ic_init = { .TIM_ICPolarity = TIM_ICPolarity_Rising, .TIM_ICSelection = TIM_ICSelection_DirectTI, @@ -775,30 +864,11 @@ static const struct pios_ppm_cfg pios_ppm_cfg = { .TIM_ICFilter = 0x0, .TIM_Channel = TIM_Channel_2, }, - .gpio_init = { - .GPIO_Mode = GPIO_Mode_IPD, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Pin = GPIO_Pin_9, - }, - .remap = 0, - .irq = { - .init = { - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - .NVIC_IRQChannel = TIM1_CC_IRQn, - }, - }, - .timer = TIM1, - .port = GPIOA, - .ccr = TIM_IT_CC2, + /* Use only the first channel for ppm */ + .channels = &pios_tim_rcvrport_all_channels[0], + .num_channels = 1, }; -void PIOS_TIM1_CC_irq_handler(void) -{ - PIOS_PPM_irq_handler(); -} - #endif //PPM #if defined(PIOS_INCLUDE_I2C) @@ -964,8 +1034,12 @@ static const struct stm32_gpio pios_debug_pins[] = { #if defined(PIOS_INCLUDE_RCVR) #include "pios_rcvr_priv.h" -struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS]; -uint32_t pios_rcvr_max_channel; +/* One slot per selectable receiver group. + * eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS + * NOTE: No slot in this map for NONE. + */ +uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE]; + #endif /* PIOS_INCLUDE_RCVR */ #if defined(PIOS_INCLUDE_USB_HID) @@ -1003,8 +1077,9 @@ void PIOS_Board_Init(void) { /* Remap AFIO pin */ //GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE); - /* Debug services */ - PIOS_DEBUG_Init(); +#ifdef PIOS_DEBUG_ENABLE_DEBUG_PINS + PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels)); +#endif /* PIOS_DEBUG_ENABLE_DEBUG_PINS */ /* Delay system */ PIOS_DELAY_Init(); @@ -1023,7 +1098,8 @@ void PIOS_Board_Init(void) { /* Initialize UAVObject libraries */ EventDispatcherInitialize(); UAVObjInitialize(); - UAVObjectsInitializeAll(); + + HwSettingsInitialize(); #if defined(PIOS_INCLUDE_RTC) /* Initialize the real-time clock and its associated tick */ @@ -1036,6 +1112,14 @@ void PIOS_Board_Init(void) { /* Initialize the task monitor library */ TaskMonitorInitialize(); + /* Set up pulse timers */ + PIOS_TIM_InitClock(&tim_1_cfg); + PIOS_TIM_InitClock(&tim_3_cfg); + PIOS_TIM_InitClock(&tim_5_cfg); + + PIOS_TIM_InitClock(&tim_4_cfg); + PIOS_TIM_InitClock(&tim_8_cfg); + /* Prepare the AHRS Comms upper layer protocol */ AhrsInitComms(); @@ -1047,126 +1131,128 @@ void PIOS_Board_Init(void) { /* Bind the AHRS comms layer to the AHRS SPI link */ AhrsConnect(pios_spi_ahrs_id); - /* Initialize the PiOS library */ -#if defined(PIOS_INCLUDE_COM) + /* Configure the main IO port */ + uint8_t hwsettings_op_mainport; + HwSettingsOP_MainPortGet(&hwsettings_op_mainport); + + switch (hwsettings_op_mainport) { + case HWSETTINGS_OP_MAINPORT_DISABLED: + break; + case HWSETTINGS_OP_MAINPORT_TELEMETRY: #if defined(PIOS_INCLUDE_TELEMETRY_RF) - { - uint32_t pios_usart_telem_rf_id; - if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) { - PIOS_Assert(0); - } + { + uint32_t pios_usart_telem_rf_id; + if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) { + PIOS_Assert(0); + } - uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN); - uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN); - PIOS_Assert(rx_buffer); - PIOS_Assert(tx_buffer); - if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id, - rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN, - tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) { - PIOS_Assert(0); + uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN); + uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN); + PIOS_Assert(rx_buffer); + PIOS_Assert(tx_buffer); + if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id, + rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN, + tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) { + PIOS_Assert(0); + } } - } #endif /* PIOS_INCLUDE_TELEMETRY_RF */ - -#if defined(PIOS_INCLUDE_GPS) - { - uint32_t pios_usart_gps_id; - if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) { - PIOS_Assert(0); - } - uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN); - PIOS_Assert(rx_buffer); - if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id, - rx_buffer, PIOS_COM_GPS_RX_BUF_LEN, - NULL, 0)) { - PIOS_Assert(0); - } + break; } -#endif /* PIOS_INCLUDE_GPS */ -#endif - PIOS_Servo_Init(); + /* Configure the flexi port */ + uint8_t hwsettings_op_flexiport; + HwSettingsOP_FlexiPortGet(&hwsettings_op_flexiport); + + switch (hwsettings_op_flexiport) { + case HWSETTINGS_OP_FLEXIPORT_DISABLED: + break; + case HWSETTINGS_OP_FLEXIPORT_GPS: +#if defined(PIOS_INCLUDE_GPS) + { + uint32_t pios_usart_gps_id; + if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) { + PIOS_Assert(0); + } + uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN); + PIOS_Assert(rx_buffer); + if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id, + rx_buffer, PIOS_COM_GPS_RX_BUF_LEN, + NULL, 0)) { + PIOS_Assert(0); + } + } +#endif /* PIOS_INCLUDE_GPS */ + break; + } + +#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS + PIOS_Servo_Init(&pios_servo_cfg); +#endif /* PIOS_DEBUG_ENABLE_DEBUG_PINS */ + PIOS_ADC_Init(); PIOS_GPIO_Init(); - /* Configure the selected receiver */ - uint8_t manualcontrolsettings_inputmode; - ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode); + /* Configure the rcvr port */ + uint8_t hwsettings_rcvrport; + HwSettingsOP_RcvrPortGet(&hwsettings_rcvrport); - switch (manualcontrolsettings_inputmode) { - case MANUALCONTROLSETTINGS_INPUTMODE_PWM: -#if defined(PIOS_INCLUDE_PWM) -#if (PIOS_PWM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS) -#error More receiver inputs than available devices -#endif - PIOS_PWM_Init(); - uint32_t pios_pwm_rcvr_id; - if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) { - PIOS_Assert(0); - } - for (uint8_t i = 0; - i < PIOS_PWM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map); - i++) { - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_pwm_rcvr_id; - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i; - pios_rcvr_max_channel++; - } -#endif /* PIOS_INCLUDE_PWM */ - break; - case MANUALCONTROLSETTINGS_INPUTMODE_PPM: -#if defined(PIOS_INCLUDE_PPM) -#if (PIOS_PPM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS) -#error More receiver inputs than available devices -#endif - PIOS_PPM_Init(); - uint32_t pios_ppm_rcvr_id; - if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) { - PIOS_Assert(0); - } - for (uint8_t i = 0; - i < PIOS_PPM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map); - i++) { - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_ppm_rcvr_id; - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i; - pios_rcvr_max_channel++; - } -#endif /* PIOS_INCLUDE_PPM */ - break; - case MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM: + + switch (hwsettings_rcvrport) { + case HWSETTINGS_OP_RCVRPORT_DISABLED: + break; + case HWSETTINGS_OP_RCVRPORT_DEBUG: + /* Not supported yet */ + break; + case HWSETTINGS_OP_RCVRPORT_SPEKTRUM1: #if defined(PIOS_INCLUDE_SPEKTRUM) -#if (PIOS_SPEKTRUM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS) -#error More receiver inputs than available devices -#endif - { - uint32_t pios_usart_spektrum_id; - if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) { - PIOS_Assert(0); - } - - uint32_t pios_spektrum_id; - if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) { - PIOS_Assert(0); - } - - uint32_t pios_spektrum_rcvr_id; - if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, 0)) { - PIOS_Assert(0); - } - for (uint8_t i = 0; - i < PIOS_SPEKTRUM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map); - i++) { - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_spektrum_rcvr_id; - pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i; - pios_rcvr_max_channel++; - } + { + uint32_t pios_usart_spektrum_id; + if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) { + PIOS_Assert(0); } + + uint32_t pios_spektrum_id; + if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) { + PIOS_Assert(0); + } + + uint32_t pios_spektrum_rcvr_id; + if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, pios_spektrum_id)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SPEKTRUM1] = pios_spektrum_rcvr_id; + } #endif - break; - case MANUALCONTROLSETTINGS_INPUTMODE_SBUS: -#if defined(PIOS_INCLUDE_SBUS) -#error SBUS NOT ON OP YET -#endif /* PIOS_INCLUDE_SBUS */ - break; + break; + case HWSETTINGS_OP_RCVRPORT_PWM: +#if defined(PIOS_INCLUDE_PWM) + { + uint32_t pios_pwm_id; + PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg); + + uint32_t pios_pwm_rcvr_id; + if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id; + } +#endif /* PIOS_INCLUDE_PWM */ + break; + case HWSETTINGS_OP_RCVRPORT_PPM: +#if defined(PIOS_INCLUDE_PPM) + { + uint32_t pios_ppm_id; + PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg); + + uint32_t pios_ppm_rcvr_id; + if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id; + } +#endif /* PIOS_INCLUDE_PPM */ + break; } #if defined(PIOS_INCLUDE_USB_HID) diff --git a/flight/OpenPilot/System/pios_board_posix.c b/flight/OpenPilot/System/pios_board_posix.c index 2480d0730..37fadd760 100644 --- a/flight/OpenPilot/System/pios_board_posix.c +++ b/flight/OpenPilot/System/pios_board_posix.c @@ -29,6 +29,11 @@ #include #include +#include "attituderaw.h" +#include "attitudeactual.h" +#include "positionactual.h" +#include "velocityactual.h" + #include "pios_rcvr_priv.h" struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS]; @@ -66,6 +71,7 @@ const struct pios_udp_cfg pios_udp_aux_cfg = { #define PIOS_COM_TELEM_RF_RX_BUF_LEN 192 #define PIOS_COM_TELEM_RF_TX_BUF_LEN 192 +#define PIOS_COM_GPS_RX_BUF_LEN 96 /* * Board specific number of devices. @@ -154,7 +160,7 @@ void PIOS_Board_Init(void) { #if defined(PIOS_INCLUDE_GPS) { uint32_t pios_udp_gps_id; - if (PIOS_USART_Init(&pios_udp_gps_id, &pios_udp_gps_cfg)) { + if (PIOS_UDP_Init(&pios_udp_gps_id, &pios_udp_gps_cfg)) { PIOS_Assert(0); } uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN); @@ -168,6 +174,11 @@ void PIOS_Board_Init(void) { #endif /* PIOS_INCLUDE_GPS */ #endif + // Initialize these here as posix has no AHRSComms + AttitudeRawInitialize(); + AttitudeActualInitialize(); + VelocityActualInitialize(); + PositionActualInitialize(); } diff --git a/flight/OpenPilot/System/taskmonitor.c b/flight/OpenPilot/System/taskmonitor.c index d7fa3fde4..dcd08945c 100644 --- a/flight/OpenPilot/System/taskmonitor.c +++ b/flight/OpenPilot/System/taskmonitor.c @@ -46,7 +46,10 @@ int32_t TaskMonitorInitialize(void) { lock = xSemaphoreCreateRecursiveMutex(); memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM); + lastMonitorTime = 0; +#if defined(DIAGNOSTICS) lastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE(); +#endif return 0; } @@ -91,6 +94,7 @@ int32_t TaskMonitorRemove(TaskInfoRunningElem task) */ void TaskMonitorUpdateAll(void) { +#if defined(DIAGNOSTICS) TaskInfoData data; int n; @@ -142,4 +146,5 @@ void TaskMonitorUpdateAll(void) // Done xSemaphoreGiveRecursive(lock); +#endif } diff --git a/flight/OpenPilot/UAVObjects.inc b/flight/OpenPilot/UAVObjects.inc index 3eb2fa571..1b110e0e9 100644 --- a/flight/OpenPilot/UAVObjects.inc +++ b/flight/OpenPilot/UAVObjects.inc @@ -69,6 +69,10 @@ UAVOBJSRCFILENAMES += velocityactual UAVOBJSRCFILENAMES += velocitydesired UAVOBJSRCFILENAMES += watchdogstatus UAVOBJSRCFILENAMES += flightstatus +UAVOBJSRCFILENAMES += hwsettings +UAVOBJSRCFILENAMES += receiveractivity +UAVOBJSRCFILENAMES += cameradesired +UAVOBJSRCFILENAMES += camerastabsettings UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c ) UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) ) diff --git a/flight/PiOS.posix/inc/pios_initcall.h b/flight/PiOS.posix/inc/pios_initcall.h index deb6e0eb6..f88081c33 100644 --- a/flight/PiOS.posix/inc/pios_initcall.h +++ b/flight/PiOS.posix/inc/pios_initcall.h @@ -51,7 +51,6 @@ extern initmodule_t __module_initcall_start[], __module_initcall_end[]; extern void InitModules(); extern void StartModules(); -#define UAVOBJ_INITCALL(fn) #define MODULE_INITCALL(ifn, sfn) #define MODULE_TASKCREATE_ALL { \ diff --git a/flight/PiOS.posix/posix/pios_debug.c b/flight/PiOS.posix/posix/pios_debug.c index f79f2e730..5956a9d04 100644 --- a/flight/PiOS.posix/posix/pios_debug.c +++ b/flight/PiOS.posix/posix/pios_debug.c @@ -79,8 +79,15 @@ void PIOS_DEBUG_Panic(const char *msg) PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_DEBUG, "\r%s @0x%x\r", msg, lr); #endif - // Stay put - while (1) ; + // tell the user whats going on on commandline too + fprintf(stderr,"CRITICAL ERROR: %s\n",msg); + + // this helps debugging: causing a div by zero allows a backtrace + // and/or ends execution + int b = 0; + int a = (2/b); + b=a; + } /** diff --git a/flight/PiOS.posix/posix/pios_udp.c b/flight/PiOS.posix/posix/pios_udp.c index 39077b455..f7f91f620 100644 --- a/flight/PiOS.posix/posix/pios_udp.c +++ b/flight/PiOS.posix/posix/pios_udp.c @@ -64,6 +64,7 @@ static pios_udp_dev * find_udp_dev_by_id (uint8_t udp) { if (udp >= pios_udp_num_devices) { /* Undefined UDP port for this board (see pios_board.c) */ + PIOS_Assert(0); return NULL; } @@ -154,6 +155,8 @@ int32_t PIOS_UDP_Init(uint32_t * udp_id, const struct pios_udp_cfg * cfg) printf("udp dev %i - socket %i opened - result %i\n",pios_udp_num_devices-1,udp_dev->socket,res); + *udp_id = pios_udp_num_devices-1; + return res; } diff --git a/flight/PiOS.win32/inc/pios_initcall.h b/flight/PiOS.win32/inc/pios_initcall.h index f370f27ee..bdb47cc8e 100644 --- a/flight/PiOS.win32/inc/pios_initcall.h +++ b/flight/PiOS.win32/inc/pios_initcall.h @@ -38,8 +38,7 @@ * and we cannot define a linker script for each of them atm */ -#define UAVOBJ_INITCALL(fn) -#define MODULE_INITCALL(ifn, iparam, sfn, sparam, flags) +#define MODULE_INITCALL(ifn, sfn) #define MODULE_TASKCREATE_ALL diff --git a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h index 18e0da624..42b3a5e4d 100644 --- a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h +++ b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h @@ -206,22 +206,25 @@ extern uint32_t pios_com_telem_usb_id; // PIOS_RCVR // See also pios_board.c //------------------------ -#define PIOS_RCVR_MAX_DEVS 1 +#define PIOS_RCVR_MAX_DEVS 3 #define PIOS_RCVR_MAX_CHANNELS 12 //------------------------- // Receiver PPM input //------------------------- +#define PIOS_PPM_MAX_DEVS 1 #define PIOS_PPM_NUM_INPUTS 12 //------------------------- // Receiver PWM input //------------------------- +#define PIOS_PWM_MAX_DEVS 1 #define PIOS_PWM_NUM_INPUTS 6 //------------------------- // Receiver SPEKTRUM input //------------------------- +#define PIOS_SPEKTRUM_MAX_DEVS 2 #define PIOS_SPEKTRUM_NUM_INPUTS 12 //------------------------- @@ -230,6 +233,11 @@ extern uint32_t pios_com_telem_usb_id; #define PIOS_SERVO_UPDATE_HZ 50 #define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */ +//-------------------------- +// Timer controller settings +//-------------------------- +#define PIOS_TIM_MAX_DEVS 3 + //------------------------- // GPIO //------------------------- diff --git a/flight/PiOS/Boards/STM3210E_OP.h b/flight/PiOS/Boards/STM3210E_OP.h index 3098ee259..ea925a271 100644 --- a/flight/PiOS/Boards/STM3210E_OP.h +++ b/flight/PiOS/Boards/STM3210E_OP.h @@ -185,16 +185,19 @@ extern uint32_t pios_com_aux_id; //------------------------- // Receiver PPM input //------------------------- +#define PIOS_PPM_MAX_DEVS 1 #define PIOS_PPM_NUM_INPUTS 12 //------------------------- // Receiver PWM input //------------------------- +#define PIOS_PWM_MAX_DEVS 1 #define PIOS_PWM_NUM_INPUTS 8 //------------------------- // Receiver SPEKTRUM input //------------------------- +#define PIOS_SPEKTRUM_MAX_DEVS 1 #define PIOS_SPEKTRUM_NUM_INPUTS 12 //------------------------- @@ -203,6 +206,11 @@ extern uint32_t pios_com_aux_id; #define PIOS_SERVO_UPDATE_HZ 50 #define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */ +//-------------------------- +// Timer controller settings +//-------------------------- +#define PIOS_TIM_MAX_DEVS 3 + //------------------------- // ADC // PIOS_ADC_PinGet(0) = Temperature Sensor (On-board) diff --git a/flight/PiOS/Common/pios_com.c b/flight/PiOS/Common/pios_com.c index b7a9a67e5..e7fba8867 100644 --- a/flight/PiOS/Common/pios_com.c +++ b/flight/PiOS/Common/pios_com.c @@ -67,12 +67,12 @@ static bool PIOS_COM_validate(struct pios_com_dev * com_dev) return (com_dev && (com_dev->magic == PIOS_COM_DEV_MAGIC)); } -#if defined(PIOS_INCLUDE_FREERTOS) && 0 +#if defined(PIOS_INCLUDE_FREERTOS) static struct pios_com_dev * PIOS_COM_alloc(void) { struct pios_com_dev * com_dev; - com_dev = (struct pios_com_dev *)malloc(sizeof(*com_dev)); + com_dev = (struct pios_com_dev *)pvPortMalloc(sizeof(*com_dev)); if (!com_dev) return (NULL); com_dev->magic = PIOS_COM_DEV_MAGIC; diff --git a/flight/PiOS/Common/pios_flashfs_objlist.c b/flight/PiOS/Common/pios_flashfs_objlist.c index 08fe640c9..2b2fe06fa 100644 --- a/flight/PiOS/Common/pios_flashfs_objlist.c +++ b/flight/PiOS/Common/pios_flashfs_objlist.c @@ -116,6 +116,19 @@ int32_t PIOS_FLASHFS_Init() return 0; } +/** + * @brief Erase the whole flash chip and create the file system + * @return 0 if successful, -1 if not + */ +int32_t PIOS_FLASHFS_Format() +{ + if(PIOS_Flash_W25X_EraseChip() != 0) + return -1; + if(PIOS_FLASHFS_ClearObjectTableHeader() != 0) + return -1; + return 0; +} + /** * @brief Erase the headers for all objects in the flash chip * @return 0 if successful, -1 if not diff --git a/flight/PiOS/Common/pios_gcsrcvr.c b/flight/PiOS/Common/pios_gcsrcvr.c new file mode 100644 index 000000000..18e6644a6 --- /dev/null +++ b/flight/PiOS/Common/pios_gcsrcvr.c @@ -0,0 +1,75 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_GCSRCVR GCS Receiver Input Functions + * @brief Code to read the channels within the GCS Receiver UAVObject + * @{ + * + * @file pios_gcsrcvr.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief GCS Input functions (STM32 dependent) + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +/* Project Includes */ +#include "pios.h" + +#if defined(PIOS_INCLUDE_GCSRCVR) + +#include "pios_gcsrcvr_priv.h" + +static GCSReceiverData gcsreceiverdata; + +/* Provide a RCVR driver */ +static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel); + +const struct pios_rcvr_driver pios_gcsrcvr_rcvr_driver = { + .read = PIOS_GCSRCVR_Get, +}; + +static void gcsreceiver_updated(UAVObjEvent * ev) +{ + if (ev->obj == GCSReceiverHandle()) { + GCSReceiverGet(&gcsreceiverdata); + } +} + +void PIOS_GCSRCVR_Init(void) +{ + /* Register uavobj callback */ + GCSReceiverConnectCallback (gcsreceiver_updated); +} + +static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel) +{ + if (channel >= GCSRECEIVER_CHANNEL_NUMELEM) { + /* channel is out of range */ + return -1; + } + + return (gcsreceiverdata.Channel[channel]); +} + +#endif /* PIOS_INCLUDE_GCSRCVR */ + +/** + * @} + * @} + */ diff --git a/flight/PiOS/Common/pios_rcvr.c b/flight/PiOS/Common/pios_rcvr.c index 29acb2594..0f3988d7f 100644 --- a/flight/PiOS/Common/pios_rcvr.c +++ b/flight/PiOS/Common/pios_rcvr.c @@ -20,12 +20,12 @@ static bool PIOS_RCVR_validate(struct pios_rcvr_dev * rcvr_dev) return (rcvr_dev->magic == PIOS_RCVR_DEV_MAGIC); } -#if defined(PIOS_INCLUDE_FREERTOS) && 0 +#if defined(PIOS_INCLUDE_FREERTOS) static struct pios_rcvr_dev * PIOS_RCVR_alloc(void) { struct pios_rcvr_dev * rcvr_dev; - rcvr_dev = (struct pios_rcvr_dev *)malloc(sizeof(*rcvr_dev)); + rcvr_dev = (struct pios_rcvr_dev *)pvPortMalloc(sizeof(*rcvr_dev)); if (!rcvr_dev) return (NULL); rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC; @@ -76,8 +76,26 @@ out_fail: return(-1); } +/** + * @brief Reads an input channel from the appropriate driver + * @param[in] rcvr_id driver to read from + * @param[in] channel channel to read + * @returns Unitless input value + * @retval PIOS_RCVR_TIMEOUT indicates a failsafe or timeout from that channel + * @retval PIOS_RCVR_INVALID invalid channel for this driver (usually out of range supported) + * @retval PIOS_RCVR_NODRIVER driver was not initialized + */ int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel) { + // Publicly facing API uses channel 1 for first channel + if(channel == 0) + return PIOS_RCVR_INVALID; + else + channel--; + + if (rcvr_id == 0) + return PIOS_RCVR_NODRIVER; + struct pios_rcvr_dev * rcvr_dev = (struct pios_rcvr_dev *)rcvr_id; if (!PIOS_RCVR_validate(rcvr_dev)) { diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h index 6529c0b0a..388d276e4 100644 --- a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h +++ b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h @@ -1025,12 +1025,12 @@ typedef struct */ void TIM_DeInit(TIM_TypeDef* TIMx); -void TIM_TimeBaseInit(TIM_TypeDef* TIMx, TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct); -void TIM_OC1Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct); -void TIM_OC2Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct); -void TIM_OC3Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct); -void TIM_OC4Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct); -void TIM_ICInit(TIM_TypeDef* TIMx, TIM_ICInitTypeDef* TIM_ICInitStruct); +void TIM_TimeBaseInit(TIM_TypeDef* TIMx, const TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct); +void TIM_OC1Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct); +void TIM_OC2Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct); +void TIM_OC3Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct); +void TIM_OC4Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct); +void TIM_ICInit(TIM_TypeDef* TIMx, const TIM_ICInitTypeDef* TIM_ICInitStruct); void TIM_PWMIConfig(TIM_TypeDef* TIMx, TIM_ICInitTypeDef* TIM_ICInitStruct); void TIM_BDTRConfig(TIM_TypeDef* TIMx, TIM_BDTRInitTypeDef *TIM_BDTRInitStruct); void TIM_TimeBaseStructInit(TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct); diff --git a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c index 780105589..2f31c9a1a 100755 --- a/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c +++ b/flight/PiOS/STM32F10x/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c @@ -221,7 +221,7 @@ void TIM_DeInit(TIM_TypeDef* TIMx) * structure that contains the configuration information for the specified TIM peripheral. * @retval None */ -void TIM_TimeBaseInit(TIM_TypeDef* TIMx, TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct) +void TIM_TimeBaseInit(TIM_TypeDef* TIMx, const TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct) { uint16_t tmpcr1 = 0; @@ -274,7 +274,7 @@ void TIM_TimeBaseInit(TIM_TypeDef* TIMx, TIM_TimeBaseInitTypeDef* TIM_TimeBaseIn * that contains the configuration information for the specified TIM peripheral. * @retval None */ -void TIM_OC1Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct) +void TIM_OC1Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct) { uint16_t tmpccmrx = 0, tmpccer = 0, tmpcr2 = 0; @@ -357,7 +357,7 @@ void TIM_OC1Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct) * that contains the configuration information for the specified TIM peripheral. * @retval None */ -void TIM_OC2Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct) +void TIM_OC2Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct) { uint16_t tmpccmrx = 0, tmpccer = 0, tmpcr2 = 0; @@ -439,7 +439,7 @@ void TIM_OC2Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct) * that contains the configuration information for the specified TIM peripheral. * @retval None */ -void TIM_OC3Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct) +void TIM_OC3Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct) { uint16_t tmpccmrx = 0, tmpccer = 0, tmpcr2 = 0; @@ -518,7 +518,7 @@ void TIM_OC3Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct) * that contains the configuration information for the specified TIM peripheral. * @retval None */ -void TIM_OC4Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct) +void TIM_OC4Init(TIM_TypeDef* TIMx, const TIM_OCInitTypeDef* TIM_OCInitStruct) { uint16_t tmpccmrx = 0, tmpccer = 0, tmpcr2 = 0; @@ -582,7 +582,7 @@ void TIM_OC4Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct) * that contains the configuration information for the specified TIM peripheral. * @retval None */ -void TIM_ICInit(TIM_TypeDef* TIMx, TIM_ICInitTypeDef* TIM_ICInitStruct) +void TIM_ICInit(TIM_TypeDef* TIMx, const TIM_ICInitTypeDef* TIM_ICInitStruct) { /* Check the parameters */ assert_param(IS_TIM_CHANNEL(TIM_ICInitStruct->TIM_Channel)); diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_BL_sections.ld b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_BL_sections.ld index f818fff42..777e09aa6 100644 --- a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_BL_sections.ld +++ b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_BL_sections.ld @@ -18,16 +18,6 @@ SECTIONS *(.rodata .rodata* .gnu.linkonce.r.*) } > BL_FLASH - /* init sections */ - .initcalluavobj.init : - { - . = ALIGN(4); - __uavobj_initcall_start = .; - KEEP(*(.initcalluavobj.init)) - . = ALIGN(4); - __uavobj_initcall_end = .; - } > BL_FLASH - .ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld index d2c4abb17..568dddffa 100644 --- a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld +++ b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld @@ -1,5 +1,5 @@ /* This is the size of the stack for all FreeRTOS IRQs */ -_irq_stack_size = 0x180; +_irq_stack_size = 0x1A0; /* This is the size of the stack for early init: life span is until scheduler starts */ _init_stack_size = 0x100; @@ -22,16 +22,6 @@ SECTIONS *(.rodata .rodata* .gnu.linkonce.r.*) } > FLASH - /* init sections */ - .initcalluavobj.init : - { - . = ALIGN(4); - __uavobj_initcall_start = .; - KEEP(*(.initcalluavobj.init)) - . = ALIGN(4); - __uavobj_initcall_end = .; - } >FLASH - /* module sections */ .initcallmodule.init : { diff --git a/flight/PiOS/STM32F10x/link_STM3210E_INS_BL_sections.ld b/flight/PiOS/STM32F10x/link_STM3210E_INS_BL_sections.ld index 1b3c11e34..3420c385e 100644 --- a/flight/PiOS/STM32F10x/link_STM3210E_INS_BL_sections.ld +++ b/flight/PiOS/STM32F10x/link_STM3210E_INS_BL_sections.ld @@ -207,16 +207,6 @@ SECTIONS } > BL_FLASH - /* init sections */ - .initcalluavobj.init : - { - . = ALIGN(4); - __uavobj_initcall_start = .; - KEEP(*(.initcalluavobj.init)) - . = ALIGN(4); - __uavobj_initcall_end = .; - } > BL_FLASH - /* the program code is stored in the .text section, which goes to Flash */ .text : { diff --git a/flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld b/flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld index ef25c9344..bcf498dd0 100644 --- a/flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld +++ b/flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld @@ -206,16 +206,6 @@ SECTIONS . = ALIGN(4); } > FLASH - - /* init sections */ - .initcalluavobj.init : - { - . = ALIGN(4); - __uavobj_initcall_start = .; - KEEP(*(.initcalluavobj.init)) - . = ALIGN(4); - __uavobj_initcall_end = .; - } > FLASH /* the program code is stored in the .text section, which goes to Flash */ .text : diff --git a/flight/PiOS/STM32F10x/link_STM3210E_OP_BL_sections.ld b/flight/PiOS/STM32F10x/link_STM3210E_OP_BL_sections.ld index 7716ccbf2..9cd7c8b4b 100644 --- a/flight/PiOS/STM32F10x/link_STM3210E_OP_BL_sections.ld +++ b/flight/PiOS/STM32F10x/link_STM3210E_OP_BL_sections.ld @@ -179,17 +179,6 @@ SECTIONS . = ALIGN(4); } > BL_FLASH - - /* init sections */ - .initcalluavobj.init : - { - . = ALIGN(4); - __uavobj_initcall_start = .; - KEEP(*(.initcalluavobj.init)) - . = ALIGN(4); - __uavobj_initcall_end = .; - } > BL_FLASH - /* the program code is stored in the .text section, which goes to Flash */ .text : { diff --git a/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld b/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld index 87a65d7c1..066fa01ee 100644 --- a/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld +++ b/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld @@ -1,7 +1,7 @@ /* This is the size of the stack for early init and for all FreeRTOS IRQs */ -_irq_stack_size = 0x400; +_irq_stack_size = 0x800; /* This is the size of the stack for early init: life span is until scheduler starts */ -_init_stack_size = 0x400; +_init_stack_size = 0x800; /* Check valid alignment for VTOR */ ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table"); @@ -181,17 +181,6 @@ SECTIONS *(.flashtext) /* Startup code */ . = ALIGN(4); } >FLASH - - - /* init sections */ - .initcalluavobj.init : - { - . = ALIGN(4); - __uavobj_initcall_start = .; - KEEP(*(.initcalluavobj.init)) - . = ALIGN(4); - __uavobj_initcall_end = .; - } >FLASH /* module sections */ .initcallmodule.init : diff --git a/flight/PiOS/STM32F10x/pios_debug.c b/flight/PiOS/STM32F10x/pios_debug.c index ca4f67dc5..18ea0071b 100644 --- a/flight/PiOS/STM32F10x/pios_debug.c +++ b/flight/PiOS/STM32F10x/pios_debug.c @@ -34,39 +34,41 @@ // Global variables const char *PIOS_DEBUG_AssertMsg = "ASSERT FAILED"; -#include -extern const struct pios_servo_channel pios_servo_channels[]; -#define PIOS_SERVO_GPIO_PORT_1TO4 pios_servo_channels[0].port -#define PIOS_SERVO_GPIO_PORT_5TO8 pios_servo_channels[4].port -#define PIOS_SERVO_GPIO_PIN_1 pios_servo_channels[0].pin -#define PIOS_SERVO_GPIO_PIN_2 pios_servo_channels[1].pin -#define PIOS_SERVO_GPIO_PIN_3 pios_servo_channels[2].pin -#define PIOS_SERVO_GPIO_PIN_4 pios_servo_channels[3].pin -#define PIOS_SERVO_GPIO_PIN_5 pios_servo_channels[4].pin -#define PIOS_SERVO_GPIO_PIN_6 pios_servo_channels[5].pin -#define PIOS_SERVO_GPIO_PIN_7 pios_servo_channels[6].pin -#define PIOS_SERVO_GPIO_PIN_8 pios_servo_channels[7].pin -/* Private Function Prototypes */ +#ifdef PIOS_ENABLE_DEBUG_PINS +static const struct pios_tim_channel * debug_channels; +static uint8_t debug_num_channels; +#endif /* PIOS_ENABLE_DEBUG_PINS */ /** * Initialise Debug-features */ -void PIOS_DEBUG_Init(void) +void PIOS_DEBUG_Init(const struct pios_tim_channel * channels, uint8_t num_channels) { #ifdef PIOS_ENABLE_DEBUG_PINS - // Initialise Servo pins as standard output pins - GPIO_InitTypeDef GPIO_InitStructure; - GPIO_StructInit(&GPIO_InitStructure); - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; - GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; - GPIO_InitStructure.GPIO_Pin = PIOS_SERVO_GPIO_PIN_1 | PIOS_SERVO_GPIO_PIN_2 | PIOS_SERVO_GPIO_PIN_3 | PIOS_SERVO_GPIO_PIN_4; - GPIO_Init(PIOS_SERVO_GPIO_PORT_1TO4, &GPIO_InitStructure); - GPIO_InitStructure.GPIO_Pin = PIOS_SERVO_GPIO_PIN_5 | PIOS_SERVO_GPIO_PIN_6 | PIOS_SERVO_GPIO_PIN_7 | PIOS_SERVO_GPIO_PIN_8; - GPIO_Init(PIOS_SERVO_GPIO_PORT_5TO8, &GPIO_InitStructure); + PIOS_Assert(channels); + PIOS_Assert(num_channels); - // Drive all pins low - PIOS_SERVO_GPIO_PORT_1TO4->BRR = PIOS_SERVO_GPIO_PIN_1 | PIOS_SERVO_GPIO_PIN_2 | PIOS_SERVO_GPIO_PIN_3 | PIOS_SERVO_GPIO_PIN_4; - PIOS_SERVO_GPIO_PORT_5TO8->BRR = PIOS_SERVO_GPIO_PIN_5 | PIOS_SERVO_GPIO_PIN_6 | PIOS_SERVO_GPIO_PIN_7 | PIOS_SERVO_GPIO_PIN_8; + /* Store away the GPIOs we've been given */ + debug_channels = channels; + debug_num_channels = num_channels; + + /* Configure the GPIOs we've been given */ + for (uint8_t i = 0; i < num_channels; i++) { + const struct pios_tim_channel * chan = &channels[i]; + + // Initialise pins as standard output pins + GPIO_InitTypeDef GPIO_InitStructure; + GPIO_StructInit(&GPIO_InitStructure); + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; + GPIO_InitStructure.GPIO_Pin = chan->init->GPIO_Pin; + + /* Initialize the GPIO */ + GPIO_Init(chan->init->port, &GPIO_InitStructure); + + /* Set the pin low */ + GPIO_WriteBit(chan->init->port, chan->init->GPIO_Pin, Bit_RESET); + } #endif // PIOS_ENABLE_DEBUG_PINS } @@ -74,14 +76,17 @@ void PIOS_DEBUG_Init(void) * Set debug-pin high * \param pin 0 for S1 output */ -void PIOS_DEBUG_PinHigh(uint8_t Pin) +void PIOS_DEBUG_PinHigh(uint8_t pin) { #ifdef PIOS_ENABLE_DEBUG_PINS - if (Pin < 4) { - PIOS_SERVO_GPIO_PORT_1TO4->BSRR = (PIOS_SERVO_GPIO_PIN_1 << Pin); - } else if (Pin <= 7) { - PIOS_SERVO_GPIO_PORT_5TO8->BSRR = (PIOS_SERVO_GPIO_PIN_5 << (Pin - 4)); + if (!debug_channels || pin >= debug_num_channels) { + return; } + + const struct pios_tim_channel * chan = &debug_channels[pin]; + + GPIO_WriteBit(chan->init->port, chan->init->GPIO_Pin, Bit_Set); + #endif // PIOS_ENABLE_DEBUG_PINS } @@ -89,14 +94,17 @@ void PIOS_DEBUG_PinHigh(uint8_t Pin) * Set debug-pin low * \param pin 0 for S1 output */ -void PIOS_DEBUG_PinLow(uint8_t Pin) +void PIOS_DEBUG_PinLow(uint8_t pin) { #ifdef PIOS_ENABLE_DEBUG_PINS - if (Pin < 4) { - PIOS_SERVO_GPIO_PORT_1TO4->BRR = (PIOS_SERVO_GPIO_PIN_1 << Pin); - } else if (Pin <= 7) { - PIOS_SERVO_GPIO_PORT_5TO8->BRR = (PIOS_SERVO_GPIO_PIN_5 << (Pin - 4)); + if (!debug_channels || pin >= debug_num_channels) { + return; } + + const struct pios_tim_channel * chan = &debug_channels[pin]; + + GPIO_WriteBit(chan->init->port, chan->init->GPIO_Pin, Bit_RESET); + #endif // PIOS_ENABLE_DEBUG_PINS } @@ -104,11 +112,22 @@ void PIOS_DEBUG_PinLow(uint8_t Pin) void PIOS_DEBUG_PinValue8Bit(uint8_t value) { #ifdef PIOS_ENABLE_DEBUG_PINS + if (!debug_channels) { + return; + } + uint32_t bsrr_l = ( ((~value)&0x0F)<<(16+6) ) | ((value & 0x0F)<<6); uint32_t bsrr_h = ( ((~value)&0xF0)<<(16+6-4) ) | ((value & 0xF0)<<(6-4)); + PIOS_IRQ_Disable(); - PIOS_SERVO_GPIO_PORT_1TO4->BSRR = bsrr_l; - PIOS_SERVO_GPIO_PORT_5TO8->BSRR = bsrr_h; + + /* + * This is sketchy since it assumes a particular ordering + * and bitwise layout of the channels provided to the debug code. + */ + debug_channels[0].init.port->BSRR = bsrr_l; + debug_channels[4].init.port->BSRR = bsrr_h; + PIOS_IRQ_Enable(); #endif // PIOS_ENABLE_DEBUG_PINS } @@ -116,8 +135,16 @@ void PIOS_DEBUG_PinValue8Bit(uint8_t value) void PIOS_DEBUG_PinValue4BitL(uint8_t value) { #ifdef PIOS_ENABLE_DEBUG_PINS + if (!debug_channels) { + return; + } + + /* + * This is sketchy since it assumes a particular ordering + * and bitwise layout of the channels provided to the debug code. + */ uint32_t bsrr_l = ((~(value & 0x0F)<<(16+6))) | ((value & 0x0F)<<6); - PIOS_SERVO_GPIO_PORT_1TO4->BSRR = bsrr_l; + debug_channels[0].init.port->BSRR = bsrr_l; #endif // PIOS_ENABLE_DEBUG_PINS } diff --git a/flight/PiOS/STM32F10x/pios_i2c.c b/flight/PiOS/STM32F10x/pios_i2c.c index 0d47fd117..6e623d597 100644 --- a/flight/PiOS/STM32F10x/pios_i2c.c +++ b/flight/PiOS/STM32F10x/pios_i2c.c @@ -823,12 +823,12 @@ static bool PIOS_I2C_validate(struct pios_i2c_adapter * i2c_adapter) return (i2c_adapter->magic == PIOS_I2C_DEV_MAGIC); } -#if defined(PIOS_INCLUDE_FREERTOS) && 0 -static struct pios_i2c_dev * PIOS_I2C_alloc(void) +#if defined(PIOS_INCLUDE_FREERTOS) +static struct pios_i2c_adapter * PIOS_I2C_alloc(void) { - struct pios_i2c_dev * i2c_adapter; + struct pios_i2c_adapter * i2c_adapter; - i2c_adapter = (struct pios_i2c_adapter *)malloc(sizeof(*i2c_adapter)); + i2c_adapter = (struct pios_i2c_adapter *)pvPortMalloc(sizeof(*i2c_adapter)); if (!i2c_adapter) return(NULL); i2c_adapter->magic = PIOS_I2C_DEV_MAGIC; diff --git a/flight/PiOS/STM32F10x/pios_ppm.c b/flight/PiOS/STM32F10x/pios_ppm.c index fe7421a17..aea1016d3 100644 --- a/flight/PiOS/STM32F10x/pios_ppm.c +++ b/flight/PiOS/STM32F10x/pios_ppm.c @@ -47,108 +47,139 @@ const struct pios_rcvr_driver pios_ppm_rcvr_driver = { #define PIOS_PPM_IN_MIN_SYNC_PULSE_US 3800 // microseconds #define PIOS_PPM_IN_MIN_CHANNEL_PULSE_US 750 // microseconds #define PIOS_PPM_IN_MAX_CHANNEL_PULSE_US 2250 // microseconds -#define PIOS_PPM_INPUT_INVALID 0 /* Local Variables */ static TIM_ICInitTypeDef TIM_ICInitStructure; -static uint8_t PulseIndex; -static uint32_t PreviousTime; -static uint32_t CurrentTime; -static uint32_t DeltaTime; -static uint32_t CaptureValue[PIOS_PPM_IN_MAX_NUM_CHANNELS]; -static uint32_t CaptureValueNewFrame[PIOS_PPM_IN_MAX_NUM_CHANNELS]; -static uint32_t LargeCounter; -static int8_t NumChannels; -static int8_t NumChannelsPrevFrame; -static uint8_t NumChannelCounter; - -static uint8_t supv_timer = 0; -static bool Tracking; -static bool Fresh; static void PIOS_PPM_Supervisor(uint32_t ppm_id); -void PIOS_PPM_Init(void) +enum pios_ppm_dev_magic { + PIOS_PPM_DEV_MAGIC = 0xee014d8b, +}; + +struct pios_ppm_dev { + enum pios_ppm_dev_magic magic; + const struct pios_ppm_cfg * cfg; + + uint8_t PulseIndex; + uint32_t PreviousTime; + uint32_t CurrentTime; + uint32_t DeltaTime; + uint32_t CaptureValue[PIOS_PPM_IN_MAX_NUM_CHANNELS]; + uint32_t CaptureValueNewFrame[PIOS_PPM_IN_MAX_NUM_CHANNELS]; + uint32_t LargeCounter; + int8_t NumChannels; + int8_t NumChannelsPrevFrame; + uint8_t NumChannelCounter; + + uint8_t supv_timer; + bool Tracking; + bool Fresh; +}; + +static bool PIOS_PPM_validate(struct pios_ppm_dev * ppm_dev) { - /* Flush counter variables */ - int32_t i; + return (ppm_dev->magic == PIOS_PPM_DEV_MAGIC); +} - PulseIndex = 0; - PreviousTime = 0; - CurrentTime = 0; - DeltaTime = 0; - LargeCounter = 0; - NumChannels = -1; - NumChannelsPrevFrame = -1; - NumChannelCounter = 0; - Tracking = FALSE; - Fresh = FALSE; +#if defined(PIOS_INCLUDE_FREERTOS) +static struct pios_ppm_dev * PIOS_PPM_alloc(void) +{ + struct pios_ppm_dev * ppm_dev; - for (i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) { - CaptureValue[i] = 0; - CaptureValueNewFrame[i] = 0; + ppm_dev = (struct pios_ppm_dev *)pvPortMalloc(sizeof(*ppm_dev)); + if (!ppm_dev) return(NULL); + + ppm_dev->magic = PIOS_PPM_DEV_MAGIC; + return(ppm_dev); +} +#else +static struct pios_ppm_dev pios_ppm_devs[PIOS_PPM_MAX_DEVS]; +static uint8_t pios_ppm_num_devs; +static struct pios_ppm_dev * PIOS_PPM_alloc(void) +{ + struct pios_ppm_dev * ppm_dev; + + if (pios_ppm_num_devs >= PIOS_PPM_MAX_DEVS) { + return (NULL); } - NVIC_InitTypeDef NVIC_InitStructure = pios_ppm_cfg.irq.init; + ppm_dev = &pios_ppm_devs[pios_ppm_num_devs++]; + ppm_dev->magic = PIOS_PPM_DEV_MAGIC; - /* Enable appropriate clock to timer module */ - switch((int32_t) pios_ppm_cfg.timer) { - case (int32_t)TIM1: - NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn; - RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); - break; - case (int32_t)TIM2: - NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); - break; - case (int32_t)TIM3: - NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); - break; - case (int32_t)TIM4: - NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); - break; -#ifdef STM32F10X_HD - case (int32_t)TIM5: - NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE); - break; - case (int32_t)TIM6: - NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE); - break; - case (int32_t)TIM7: - NVIC_InitStructure.NVIC_IRQChannel = TIM7_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE); - break; - case (int32_t)TIM8: - NVIC_InitStructure.NVIC_IRQChannel = TIM8_CC_IRQn; - RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE); - break; + return (ppm_dev); +} #endif + +static void PIOS_PPM_tim_overflow_cb (uint32_t id, uint32_t context, uint8_t channel, uint16_t count); +static void PIOS_PPM_tim_edge_cb (uint32_t id, uint32_t context, uint8_t channel, uint16_t count); +const static struct pios_tim_callbacks tim_callbacks = { + .overflow = PIOS_PPM_tim_overflow_cb, + .edge = PIOS_PPM_tim_edge_cb, +}; + +extern int32_t PIOS_PPM_Init(uint32_t * ppm_id, const struct pios_ppm_cfg * cfg) +{ + PIOS_DEBUG_Assert(ppm_id); + PIOS_DEBUG_Assert(cfg); + + struct pios_ppm_dev * ppm_dev; + + ppm_dev = (struct pios_ppm_dev *) PIOS_PPM_alloc(); + if (!ppm_dev) goto out_fail; + + /* Bind the configuration to the device instance */ + ppm_dev->cfg = cfg; + + /* Set up the state variables */ + ppm_dev->PulseIndex = 0; + ppm_dev->PreviousTime = 0; + ppm_dev->CurrentTime = 0; + ppm_dev->DeltaTime = 0; + ppm_dev->LargeCounter = 0; + ppm_dev->NumChannels = -1; + ppm_dev->NumChannelsPrevFrame = -1; + ppm_dev->NumChannelCounter = 0; + ppm_dev->Tracking = FALSE; + ppm_dev->Fresh = FALSE; + + for (uint8_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) { + /* Flush counter variables */ + ppm_dev->CaptureValue[i] = 0; + ppm_dev->CaptureValueNewFrame[i] = 0; + } - /* Enable timer interrupts */ - NVIC_Init(&NVIC_InitStructure); - /* Configure input pins */ - GPIO_InitTypeDef GPIO_InitStructure = pios_ppm_cfg.gpio_init; - GPIO_Init(pios_ppm_cfg.port, &GPIO_InitStructure); + uint32_t tim_id; + if (PIOS_TIM_InitChannels(&tim_id, cfg->channels, cfg->num_channels, &tim_callbacks, (uint32_t)ppm_dev)) { + return -1; + } - /* Configure timer for input capture */ - TIM_ICInitStructure = pios_ppm_cfg.tim_ic_init; - TIM_ICInit(pios_ppm_cfg.timer, &TIM_ICInitStructure); + /* Configure the channels to be in capture/compare mode */ + for (uint8_t i = 0; i < cfg->num_channels; i++) { + const struct pios_tim_channel * chan = &cfg->channels[i]; - /* Configure timer clocks */ - TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_ppm_cfg.tim_base_init; - TIM_InternalClockConfig(pios_ppm_cfg.timer); - TIM_TimeBaseInit(pios_ppm_cfg.timer, &TIM_TimeBaseStructure); + /* Configure timer for input capture */ + TIM_ICInitTypeDef TIM_ICInitStructure = cfg->tim_ic_init; + TIM_ICInitStructure.TIM_Channel = chan->timer_chan; + TIM_ICInit(chan->timer, &TIM_ICInitStructure); - /* Enable the Capture Compare Interrupt Request */ - TIM_ITConfig(pios_ppm_cfg.timer, pios_ppm_cfg.ccr | TIM_IT_Update, ENABLE); - - /* Enable timers */ - TIM_Cmd(pios_ppm_cfg.timer, ENABLE); + /* Enable the Capture Compare Interrupt Request */ + switch (chan->timer_chan) { + case TIM_Channel_1: + TIM_ITConfig(chan->timer, TIM_IT_CC1 | TIM_IT_Update, ENABLE); + break; + case TIM_Channel_2: + TIM_ITConfig(chan->timer, TIM_IT_CC2 | TIM_IT_Update, ENABLE); + break; + case TIM_Channel_3: + TIM_ITConfig(chan->timer, TIM_IT_CC3 | TIM_IT_Update, ENABLE); + break; + case TIM_Channel_4: + TIM_ITConfig(chan->timer, TIM_IT_CC4 | TIM_IT_Update, ENABLE); + break; + } + } /* Setup local variable which stays in this scope */ /* Doing this here and using a local variable saves doing it in the ISR */ @@ -156,9 +187,16 @@ void PIOS_PPM_Init(void) TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; TIM_ICInitStructure.TIM_ICFilter = 0x0; - if (!PIOS_RTC_RegisterTickCallback(PIOS_PPM_Supervisor, 0)) { + if (!PIOS_RTC_RegisterTickCallback(PIOS_PPM_Supervisor, (uint32_t)ppm_dev)) { PIOS_DEBUG_Assert(0); } + + *ppm_id = (uint32_t)ppm_dev; + + return(0); + +out_fail: + return(-1); } /** @@ -169,142 +207,146 @@ void PIOS_PPM_Init(void) */ static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel) { - /* Return error if channel not available */ - if (channel >= PIOS_PPM_IN_MAX_NUM_CHANNELS) { - return -1; + struct pios_ppm_dev * ppm_dev = (struct pios_ppm_dev *)rcvr_id; + + if (!PIOS_PPM_validate(ppm_dev)) { + /* Invalid device specified */ + return PIOS_RCVR_INVALID; } - return CaptureValue[channel]; + + if (channel >= PIOS_PPM_IN_MAX_NUM_CHANNELS) { + /* Channel out of range */ + return PIOS_RCVR_INVALID; + } + return ppm_dev->CaptureValue[channel]; } -/** -* Handle TIMx global interrupt request -* Some work and testing still needed, need to detect start of frame and decode pulses -* -*/ -void PIOS_PPM_irq_handler(void) +static void PIOS_PPM_tim_overflow_cb (uint32_t tim_id, uint32_t context, uint8_t channel, uint16_t count) { - /* Timer Overflow Interrupt - * The time between timer overflows must be greater than the PPM - * frame period. If a full frame has not decoded in the between timer - * overflows then capture values should be cleared. - */ + struct pios_ppm_dev * ppm_dev = (struct pios_ppm_dev *)context; - if (TIM_GetITStatus(pios_ppm_cfg.timer, TIM_IT_Update) == SET) { - /* Clear TIMx overflow interrupt pending bit */ - TIM_ClearITPendingBit(pios_ppm_cfg.timer, TIM_IT_Update); - - /* If sharing a timer with a servo output the ARR register will - be set according to the PWM period. When timer reaches the - ARR value a timer overflow interrupt will fire. We use the - interrupt accumulate a 32-bit timer. */ - LargeCounter = LargeCounter + pios_ppm_cfg.timer->ARR; + if (!PIOS_PPM_validate(ppm_dev)) { + /* Invalid device specified */ + return; } - /* Signal edge interrupt */ - if (TIM_GetITStatus(pios_ppm_cfg.timer, pios_ppm_cfg.ccr) == SET) { - PreviousTime = CurrentTime; + ppm_dev->LargeCounter += count; - switch((int32_t) pios_ppm_cfg.ccr) { - case (int32_t)TIM_IT_CC1: - CurrentTime = TIM_GetCapture1(pios_ppm_cfg.timer); - break; - case (int32_t)TIM_IT_CC2: - CurrentTime = TIM_GetCapture2(pios_ppm_cfg.timer); - break; - case (int32_t)TIM_IT_CC3: - CurrentTime = TIM_GetCapture3(pios_ppm_cfg.timer); - break; - case (int32_t)TIM_IT_CC4: - CurrentTime = TIM_GetCapture4(pios_ppm_cfg.timer); - break; + return; +} + + +static void PIOS_PPM_tim_edge_cb (uint32_t tim_id, uint32_t context, uint8_t chan_idx, uint16_t count) +{ + /* Recover our device context */ + struct pios_ppm_dev * ppm_dev = (struct pios_ppm_dev *)context; + + if (!PIOS_PPM_validate(ppm_dev)) { + /* Invalid device specified */ + return; + } + + if (chan_idx >= ppm_dev->cfg->num_channels) { + /* Channel out of range */ + return; + } + + /* Shift the last measurement out */ + ppm_dev->PreviousTime = ppm_dev->CurrentTime; + + /* Grab the new count */ + ppm_dev->CurrentTime = count; + + /* Convert to 32-bit timer result */ + ppm_dev->CurrentTime += ppm_dev->LargeCounter; + + /* Capture computation */ + ppm_dev->DeltaTime = ppm_dev->CurrentTime - ppm_dev->PreviousTime; + + ppm_dev->PreviousTime = ppm_dev->CurrentTime; + + /* Sync pulse detection */ + if (ppm_dev->DeltaTime > PIOS_PPM_IN_MIN_SYNC_PULSE_US) { + if (ppm_dev->PulseIndex == ppm_dev->NumChannelsPrevFrame + && ppm_dev->PulseIndex >= PIOS_PPM_IN_MIN_NUM_CHANNELS + && ppm_dev->PulseIndex <= PIOS_PPM_IN_MAX_NUM_CHANNELS) + { + /* If we see n simultaneous frames of the same + number of channels we save it as our frame size */ + if (ppm_dev->NumChannelCounter < PIOS_PPM_STABLE_CHANNEL_COUNT) + ppm_dev->NumChannelCounter++; + else + ppm_dev->NumChannels = ppm_dev->PulseIndex; + } else { + ppm_dev->NumChannelCounter = 0; } - /* Clear TIMx Capture compare interrupt pending bit */ - TIM_ClearITPendingBit(pios_ppm_cfg.timer, pios_ppm_cfg.ccr); - - /* Convert to 32-bit timer result */ - CurrentTime = CurrentTime + LargeCounter; - - /* Capture computation */ - DeltaTime = CurrentTime - PreviousTime; - - PreviousTime = CurrentTime; - - /* Sync pulse detection */ - if (DeltaTime > PIOS_PPM_IN_MIN_SYNC_PULSE_US) { - if (PulseIndex == NumChannelsPrevFrame - && PulseIndex >= PIOS_PPM_IN_MIN_NUM_CHANNELS - && PulseIndex <= PIOS_PPM_IN_MAX_NUM_CHANNELS) - { - /* If we see n simultaneous frames of the same - number of channels we save it as our frame size */ - if (NumChannelCounter < PIOS_PPM_STABLE_CHANNEL_COUNT) - NumChannelCounter++; - else - NumChannels = PulseIndex; - } else { - NumChannelCounter = 0; + /* Check if the last frame was well formed */ + if (ppm_dev->PulseIndex == ppm_dev->NumChannels && ppm_dev->Tracking) { + /* The last frame was well formed */ + for (uint32_t i = 0; i < ppm_dev->NumChannels; i++) { + ppm_dev->CaptureValue[i] = ppm_dev->CaptureValueNewFrame[i]; } - - /* Check if the last frame was well formed */ - if (PulseIndex == NumChannels && Tracking) { - /* The last frame was well formed */ - for (uint32_t i = 0; i < NumChannels; i++) { - CaptureValue[i] = CaptureValueNewFrame[i]; - } - for (uint32_t i = NumChannels; - i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) { - CaptureValue[i] = PIOS_PPM_INPUT_INVALID; - } + for (uint32_t i = ppm_dev->NumChannels; + i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) { + ppm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT; } + } - Fresh = TRUE; - Tracking = TRUE; - NumChannelsPrevFrame = PulseIndex; - PulseIndex = 0; + ppm_dev->Fresh = TRUE; + ppm_dev->Tracking = TRUE; + ppm_dev->NumChannelsPrevFrame = ppm_dev->PulseIndex; + ppm_dev->PulseIndex = 0; - /* We rely on the supervisor to set CaptureValue to invalid - if no valid frame is found otherwise we ride over it */ + /* We rely on the supervisor to set CaptureValue to invalid + if no valid frame is found otherwise we ride over it */ - } else if (Tracking) { - /* Valid pulse duration 0.75 to 2.5 ms*/ - if (DeltaTime > PIOS_PPM_IN_MIN_CHANNEL_PULSE_US - && DeltaTime < PIOS_PPM_IN_MAX_CHANNEL_PULSE_US - && PulseIndex < PIOS_PPM_IN_MAX_NUM_CHANNELS) { - - CaptureValueNewFrame[PulseIndex] = DeltaTime; - PulseIndex++; - } else { - /* Not a valid pulse duration */ - Tracking = FALSE; - for (uint32_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS ; i++) { - CaptureValueNewFrame[i] = PIOS_PPM_INPUT_INVALID; - } + } else if (ppm_dev->Tracking) { + /* Valid pulse duration 0.75 to 2.5 ms*/ + if (ppm_dev->DeltaTime > PIOS_PPM_IN_MIN_CHANNEL_PULSE_US + && ppm_dev->DeltaTime < PIOS_PPM_IN_MAX_CHANNEL_PULSE_US + && ppm_dev->PulseIndex < PIOS_PPM_IN_MAX_NUM_CHANNELS) { + + ppm_dev->CaptureValueNewFrame[ppm_dev->PulseIndex] = ppm_dev->DeltaTime; + ppm_dev->PulseIndex++; + } else { + /* Not a valid pulse duration */ + ppm_dev->Tracking = FALSE; + for (uint32_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS ; i++) { + ppm_dev->CaptureValueNewFrame[i] = PIOS_RCVR_TIMEOUT; } } } } static void PIOS_PPM_Supervisor(uint32_t ppm_id) { + /* Recover our device context */ + struct pios_ppm_dev * ppm_dev = (struct pios_ppm_dev *)ppm_id; + + if (!PIOS_PPM_validate(ppm_dev)) { + /* Invalid device specified */ + return; + } + /* * RTC runs at 625Hz so divide down the base rate so * that this loop runs at 25Hz. */ - if(++supv_timer < 25) { + if(++(ppm_dev->supv_timer) < 25) { return; } - supv_timer = 0; + ppm_dev->supv_timer = 0; - if (!Fresh) { - Tracking = FALSE; + if (!ppm_dev->Fresh) { + ppm_dev->Tracking = FALSE; for (int32_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS ; i++) { - CaptureValue[i] = PIOS_PPM_INPUT_INVALID; - CaptureValueNewFrame[i] = PIOS_PPM_INPUT_INVALID; + ppm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT; + ppm_dev->CaptureValueNewFrame[i] = PIOS_RCVR_TIMEOUT; } } - Fresh = FALSE; + ppm_dev->Fresh = FALSE; } #endif diff --git a/flight/PiOS/STM32F10x/pios_pwm.c b/flight/PiOS/STM32F10x/pios_pwm.c index 433c272bb..4e7c98b14 100644 --- a/flight/PiOS/STM32F10x/pios_pwm.c +++ b/flight/PiOS/STM32F10x/pios_pwm.c @@ -42,96 +42,131 @@ const struct pios_rcvr_driver pios_pwm_rcvr_driver = { }; /* Local Variables */ -static uint8_t CaptureState[PIOS_PWM_NUM_INPUTS]; -static uint16_t RiseValue[PIOS_PWM_NUM_INPUTS]; -static uint16_t FallValue[PIOS_PWM_NUM_INPUTS]; -static uint32_t CaptureValue[PIOS_PWM_NUM_INPUTS]; +/* 100 ms timeout without updates on channels */ +const static uint32_t PWM_SUPERVISOR_TIMEOUT = 100000; -static uint32_t CapCounter[PIOS_PWM_NUM_INPUTS]; +enum pios_pwm_dev_magic { + PIOS_PWM_DEV_MAGIC = 0xab30293c, +}; + +struct pios_pwm_dev { + enum pios_pwm_dev_magic magic; + const struct pios_pwm_cfg * cfg; + + uint8_t CaptureState[PIOS_PWM_NUM_INPUTS]; + uint16_t RiseValue[PIOS_PWM_NUM_INPUTS]; + uint16_t FallValue[PIOS_PWM_NUM_INPUTS]; + uint32_t CaptureValue[PIOS_PWM_NUM_INPUTS]; + uint32_t CapCounter[PIOS_PWM_NUM_INPUTS]; + uint32_t us_since_update[PIOS_PWM_NUM_INPUTS]; +}; + +static bool PIOS_PWM_validate(struct pios_pwm_dev * pwm_dev) +{ + return (pwm_dev->magic == PIOS_PWM_DEV_MAGIC); +} + +#if defined(PIOS_INCLUDE_FREERTOS) +static struct pios_pwm_dev * PIOS_PWM_alloc(void) +{ + struct pios_pwm_dev * pwm_dev; + + pwm_dev = (struct pios_pwm_dev *)pvPortMalloc(sizeof(*pwm_dev)); + if (!pwm_dev) return(NULL); + + pwm_dev->magic = PIOS_PWM_DEV_MAGIC; + return(pwm_dev); +} +#else +static struct pios_pwm_dev pios_pwm_devs[PIOS_PWM_MAX_DEVS]; +static uint8_t pios_pwm_num_devs; +static struct pios_pwm_dev * PIOS_PWM_alloc(void) +{ + struct pios_pwm_dev * pwm_dev; + + if (pios_pwm_num_devs >= PIOS_PWM_MAX_DEVS) { + return (NULL); + } + + pwm_dev = &pios_pwm_devs[pios_pwm_num_devs++]; + pwm_dev->magic = PIOS_PWM_DEV_MAGIC; + + return (pwm_dev); +} +#endif + +static void PIOS_PWM_tim_overflow_cb (uint32_t id, uint32_t context, uint8_t channel, uint16_t count); +static void PIOS_PWM_tim_edge_cb (uint32_t id, uint32_t context, uint8_t channel, uint16_t count); +const static struct pios_tim_callbacks tim_callbacks = { + .overflow = PIOS_PWM_tim_overflow_cb, + .edge = PIOS_PWM_tim_edge_cb, +}; /** * Initialises all the pins */ -void PIOS_PWM_Init(void) +int32_t PIOS_PWM_Init(uint32_t * pwm_id, const struct pios_pwm_cfg * cfg) { - for (uint8_t i = 0; i < pios_pwm_cfg.num_channels; i++) { - /* Flush counter variables */ - CaptureState[i] = 0; - RiseValue[i] = 0; - FallValue[i] = 0; - CaptureValue[i] = 0; - - NVIC_InitTypeDef NVIC_InitStructure = pios_pwm_cfg.irq.init; - GPIO_InitTypeDef GPIO_InitStructure = pios_pwm_cfg.gpio_init; - TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_pwm_cfg.tim_base_init; - TIM_ICInitTypeDef TIM_ICInitStructure = pios_pwm_cfg.tim_ic_init; - - struct pios_pwm_channel channel = pios_pwm_cfg.channels[i]; - - /* Enable appropriate clock to timer module */ - switch((int32_t) channel.timer) { - case (int32_t)TIM1: - NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn; - RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); - break; - case (int32_t)TIM2: - NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); - break; - case (int32_t)TIM3: - NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); - break; - case (int32_t)TIM4: - NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); - break; -#ifdef STM32F10X_HD - - case (int32_t)TIM5: - NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE); - break; - case (int32_t)TIM6: - NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE); - break; - case (int32_t)TIM7: - NVIC_InitStructure.NVIC_IRQChannel = TIM7_IRQn; - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE); - break; - case (int32_t)TIM8: - NVIC_InitStructure.NVIC_IRQChannel = TIM8_CC_IRQn; - RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE); - break; -#endif - } - NVIC_Init(&NVIC_InitStructure); + PIOS_DEBUG_Assert(pwm_id); + PIOS_DEBUG_Assert(cfg); + + struct pios_pwm_dev * pwm_dev; + + pwm_dev = (struct pios_pwm_dev *) PIOS_PWM_alloc(); + if (!pwm_dev) goto out_fail; + + /* Bind the configuration to the device instance */ + pwm_dev->cfg = cfg; + + for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS; i++) { + /* Flush counter variables */ + pwm_dev->CaptureState[i] = 0; + pwm_dev->RiseValue[i] = 0; + pwm_dev->FallValue[i] = 0; + pwm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT; + } + + uint32_t tim_id; + if (PIOS_TIM_InitChannels(&tim_id, cfg->channels, cfg->num_channels, &tim_callbacks, (uint32_t)pwm_dev)) { + return -1; + } + + /* Configure the channels to be in capture/compare mode */ + for (uint8_t i = 0; i < cfg->num_channels; i++) { + const struct pios_tim_channel * chan = &cfg->channels[i]; - /* Enable GPIO */ - GPIO_InitStructure.GPIO_Pin = channel.pin; - GPIO_Init(channel.port, &GPIO_InitStructure); - /* Configure timer for input capture */ - TIM_ICInitStructure.TIM_Channel = channel.channel; - TIM_ICInit(channel.timer, &TIM_ICInitStructure); - - /* Configure timer clocks */ - TIM_InternalClockConfig(channel.timer); - if(channel.timer->PSC != ((PIOS_MASTER_CLOCK / 1000000) - 1)) - TIM_TimeBaseInit(channel.timer, &TIM_TimeBaseStructure); + TIM_ICInitTypeDef TIM_ICInitStructure = cfg->tim_ic_init; + TIM_ICInitStructure.TIM_Channel = chan->timer_chan; + TIM_ICInit(chan->timer, &TIM_ICInitStructure); /* Enable the Capture Compare Interrupt Request */ - TIM_ITConfig(channel.timer, channel.ccr, ENABLE); + switch (chan->timer_chan) { + case TIM_Channel_1: + TIM_ITConfig(chan->timer, TIM_IT_CC1, ENABLE); + break; + case TIM_Channel_2: + TIM_ITConfig(chan->timer, TIM_IT_CC2, ENABLE); + break; + case TIM_Channel_3: + TIM_ITConfig(chan->timer, TIM_IT_CC3, ENABLE); + break; + case TIM_Channel_4: + TIM_ITConfig(chan->timer, TIM_IT_CC4, ENABLE); + break; + } + + // Need the update event for that timer to detect timeouts + TIM_ITConfig(chan->timer, TIM_IT_Update, ENABLE); - /* Enable timers */ - TIM_Cmd(channel.timer, ENABLE); } - if(pios_pwm_cfg.remap) { - /* Warning, I don't think this will work for multiple remaps at once */ - GPIO_PinRemapConfig(pios_pwm_cfg.remap, ENABLE); - } + *pwm_id = (uint32_t) pwm_dev; + + return (0); + +out_fail: + return (-1); } /** @@ -142,75 +177,101 @@ void PIOS_PWM_Init(void) */ static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t channel) { - /* Return error if channel not available */ - if (channel >= pios_pwm_cfg.num_channels) { - return -1; + struct pios_pwm_dev * pwm_dev = (struct pios_pwm_dev *)rcvr_id; + + if (!PIOS_PWM_validate(pwm_dev)) { + /* Invalid device specified */ + return PIOS_RCVR_INVALID; } - return CaptureValue[channel]; + + if (channel >= PIOS_PWM_NUM_INPUTS) { + /* Channel out of range */ + return PIOS_RCVR_INVALID; + } + return pwm_dev->CaptureValue[channel]; } -void PIOS_PWM_irq_handler(TIM_TypeDef * timer) +static void PIOS_PWM_tim_overflow_cb (uint32_t tim_id, uint32_t context, uint8_t channel, uint16_t count) { - uint16_t val = 0; - for(uint8_t i = 0; i < pios_pwm_cfg.num_channels; i++) { - struct pios_pwm_channel channel = pios_pwm_cfg.channels[i]; - if ((channel.timer == timer) && (TIM_GetITStatus(channel.timer, channel.ccr) == SET)) { - - TIM_ClearITPendingBit(channel.timer, channel.ccr); - - switch(channel.channel) { - case TIM_Channel_1: - val = TIM_GetCapture1(channel.timer); - break; - case TIM_Channel_2: - val = TIM_GetCapture2(channel.timer); - break; - case TIM_Channel_3: - val = TIM_GetCapture3(channel.timer); - break; - case TIM_Channel_4: - val = TIM_GetCapture4(channel.timer); - break; - } - - if (CaptureState[i] == 0) { - RiseValue[i] = val; - } else { - FallValue[i] = val; - } - - // flip state machine and capture value here - /* Simple rise or fall state machine */ - TIM_ICInitTypeDef TIM_ICInitStructure = pios_pwm_cfg.tim_ic_init; - if (CaptureState[i] == 0) { - /* Switch states */ - CaptureState[i] = 1; - - /* Switch polarity of input capture */ - TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling; - TIM_ICInitStructure.TIM_Channel = channel.channel; - TIM_ICInit(channel.timer, &TIM_ICInitStructure); - } else { - /* Capture computation */ - if (FallValue[i] > RiseValue[i]) { - CaptureValue[i] = (FallValue[i] - RiseValue[i]); - } else { - CaptureValue[i] = ((channel.timer->ARR - RiseValue[i]) + FallValue[i]); - } - - /* Switch states */ - CaptureState[i] = 0; - - /* Increase supervisor counter */ - CapCounter[i]++; - - /* Switch polarity of input capture */ - TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; - TIM_ICInitStructure.TIM_Channel = channel.channel; - TIM_ICInit(channel.timer, &TIM_ICInitStructure); - } - } + struct pios_pwm_dev * pwm_dev = (struct pios_pwm_dev *)context; + + if (!PIOS_PWM_validate(pwm_dev)) { + /* Invalid device specified */ + return; } + + if (channel >= pwm_dev->cfg->num_channels) { + /* Channel out of range */ + return; + } + + pwm_dev->us_since_update[channel] += count; + if(pwm_dev->us_since_update[channel] >= PWM_SUPERVISOR_TIMEOUT) { + pwm_dev->CaptureState[channel] = 0; + pwm_dev->RiseValue[channel] = 0; + pwm_dev->FallValue[channel] = 0; + pwm_dev->CaptureValue[channel] = PIOS_RCVR_TIMEOUT; + pwm_dev->us_since_update[channel] = 0; + } + + return; +} + +static void PIOS_PWM_tim_edge_cb (uint32_t tim_id, uint32_t context, uint8_t chan_idx, uint16_t count) +{ + /* Recover our device context */ + struct pios_pwm_dev * pwm_dev = (struct pios_pwm_dev *)context; + + if (!PIOS_PWM_validate(pwm_dev)) { + /* Invalid device specified */ + return; + } + + if (chan_idx >= pwm_dev->cfg->num_channels) { + /* Channel out of range */ + return; + } + + const struct pios_tim_channel * chan = &pwm_dev->cfg->channels[chan_idx]; + + if (pwm_dev->CaptureState[chan_idx] == 0) { + pwm_dev->RiseValue[chan_idx] = count; + pwm_dev->us_since_update[chan_idx] = 0; + } else { + pwm_dev->FallValue[chan_idx] = count; + } + + // flip state machine and capture value here + /* Simple rise or fall state machine */ + TIM_ICInitTypeDef TIM_ICInitStructure = pwm_dev->cfg->tim_ic_init; + if (pwm_dev->CaptureState[chan_idx] == 0) { + /* Switch states */ + pwm_dev->CaptureState[chan_idx] = 1; + + /* Switch polarity of input capture */ + TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling; + TIM_ICInitStructure.TIM_Channel = chan->timer_chan; + TIM_ICInit(chan->timer, &TIM_ICInitStructure); + } else { + /* Capture computation */ + if (pwm_dev->FallValue[chan_idx] > pwm_dev->RiseValue[chan_idx]) { + pwm_dev->CaptureValue[chan_idx] = (pwm_dev->FallValue[chan_idx] - pwm_dev->RiseValue[chan_idx]); + } else { + pwm_dev->CaptureValue[chan_idx] = ((chan->timer->ARR - pwm_dev->RiseValue[chan_idx]) + pwm_dev->FallValue[chan_idx]); + } + + /* Switch states */ + pwm_dev->CaptureState[chan_idx] = 0; + + /* Increase supervisor counter */ + pwm_dev->CapCounter[chan_idx]++; + + /* Switch polarity of input capture */ + TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; + TIM_ICInitStructure.TIM_Channel = chan->timer_chan; + TIM_ICInit(chan->timer, &TIM_ICInitStructure); + } + } #endif diff --git a/flight/PiOS/STM32F10x/pios_sbus.c b/flight/PiOS/STM32F10x/pios_sbus.c index a80fe8fe3..319142dc6 100644 --- a/flight/PiOS/STM32F10x/pios_sbus.c +++ b/flight/PiOS/STM32F10x/pios_sbus.c @@ -34,8 +34,6 @@ #if defined(PIOS_INCLUDE_SBUS) -/* Global Variables */ - /* Provide a RCVR driver */ static int32_t PIOS_SBUS_Get(uint32_t rcvr_id, uint8_t channel); @@ -59,27 +57,23 @@ static void PIOS_SBUS_Supervisor(uint32_t sbus_id); static void reset_channels(void) { for (int i = 0; i < SBUS_NUMBER_OF_CHANNELS; i++) { - channel_data[i] = 0; + channel_data[i] = PIOS_RCVR_TIMEOUT; } } /** * unroll_channels() function computes channel_data[] from received_data[] - * For efficiency it unrolls first 8 channels without loops. If other - * 8 channels are needed they can be unrolled using the same code - * starting from s[11] instead of s[0]. Two extra digital channels are - * accessible using (s[22] & SBUS_FLAG_DGx) logical expressions. + * For efficiency it unrolls first 8 channels without loops and does the + * same for other 8 channels. Also 2 discrete channels will be set. */ static void unroll_channels(void) { uint8_t *s = received_data; uint16_t *d = channel_data; -#if (SBUS_NUMBER_OF_CHANNELS != 8) -#error Current S.Bus code unrolls only first 8 channels -#endif - #define F(v,s) ((v) >> s) & 0x7ff + + /* unroll channels 1-8 */ *d++ = F(s[0] | s[1] << 8, 0); *d++ = F(s[1] | s[2] << 8, 3); *d++ = F(s[2] | s[3] << 8 | s[4] << 16, 6); @@ -88,6 +82,20 @@ static void unroll_channels(void) *d++ = F(s[6] | s[7] << 8 | s[8] << 16, 7); *d++ = F(s[8] | s[9] << 8, 2); *d++ = F(s[9] | s[10] << 8, 5); + + /* unroll channels 9-16 */ + *d++ = F(s[11] | s[12] << 8, 0); + *d++ = F(s[12] | s[13] << 8, 3); + *d++ = F(s[13] | s[14] << 8 | s[15] << 16, 6); + *d++ = F(s[15] | s[16] << 8, 1); + *d++ = F(s[16] | s[17] << 8, 4); + *d++ = F(s[17] | s[18] << 8 | s[19] << 16, 7); + *d++ = F(s[19] | s[20] << 8, 2); + *d++ = F(s[20] | s[21] << 8, 5); + + /* unroll discrete channels 17 and 18 */ + *d++ = (s[22] & SBUS_FLAG_DC1) ? SBUS_VALUE_MAX : SBUS_VALUE_MIN; + *d++ = (s[22] & SBUS_FLAG_DC2) ? SBUS_VALUE_MAX : SBUS_VALUE_MIN; } /** @@ -183,7 +191,7 @@ static int32_t PIOS_SBUS_Get(uint32_t rcvr_id, uint8_t channel) { /* return error if channel is not available */ if (channel >= SBUS_NUMBER_OF_CHANNELS) { - return -1; + return PIOS_RCVR_INVALID; } return channel_data[channel]; } diff --git a/flight/PiOS/STM32F10x/pios_servo.c b/flight/PiOS/STM32F10x/pios_servo.c index 229f371ce..cb7d98292 100644 --- a/flight/PiOS/STM32F10x/pios_servo.c +++ b/flight/PiOS/STM32F10x/pios_servo.c @@ -31,97 +31,55 @@ /* Project Includes */ #include "pios.h" #include "pios_servo_priv.h" +#include "pios_tim_priv.h" /* Private Function Prototypes */ +static const struct pios_servo_cfg * servo_cfg; + /** * Initialise Servos */ -void PIOS_Servo_Init(void) +int32_t PIOS_Servo_Init(const struct pios_servo_cfg * cfg) { -#ifndef PIOS_ENABLE_DEBUG_PINS -#if defined(PIOS_INCLUDE_SERVO) + uint32_t tim_id; + if (PIOS_TIM_InitChannels(&tim_id, cfg->channels, cfg->num_channels, NULL, 0)) { + return -1; + } + /* Store away the requested configuration */ + servo_cfg = cfg; - for (uint8_t i = 0; i < pios_servo_cfg.num_channels; i++) { - GPIO_InitTypeDef GPIO_InitStructure = pios_servo_cfg.gpio_init; - TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_servo_cfg.tim_base_init; - TIM_OCInitTypeDef TIM_OCInitStructure = pios_servo_cfg.tim_oc_init; - - struct pios_servo_channel channel = pios_servo_cfg.channels[i]; - - /* Enable appropriate clock to timer module */ - switch((int32_t) channel.timer) { - case (int32_t)TIM1: - RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); - break; - case (int32_t)TIM2: - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); - break; - case (int32_t)TIM3: - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); - break; - case (int32_t)TIM4: - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); - break; - case (int32_t)TIM5: - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE); - break; - case (int32_t)TIM6: - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE); - break; - case (int32_t)TIM7: - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE); - break; - case (int32_t)TIM8: - RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE); - break; - } - - /* Enable GPIO */ - GPIO_InitStructure.GPIO_Pin = channel.pin; - GPIO_Init(channel.port, &GPIO_InitStructure); - - /* Enable time base */ - TIM_TimeBaseInit(channel.timer, &TIM_TimeBaseStructure); - - channel.timer->PSC = (PIOS_MASTER_CLOCK / 1000000) - 1; + /* Configure the channels to be in output compare mode */ + for (uint8_t i = 0; i < cfg->num_channels; i++) { + const struct pios_tim_channel * chan = &cfg->channels[i]; /* Set up for output compare function */ - switch(channel.channel) { + switch(chan->timer_chan) { case TIM_Channel_1: - TIM_OC1Init(channel.timer, &TIM_OCInitStructure); - TIM_OC1PreloadConfig(channel.timer, TIM_OCPreload_Enable); + TIM_OC1Init(chan->timer, &cfg->tim_oc_init); + TIM_OC1PreloadConfig(chan->timer, TIM_OCPreload_Enable); break; case TIM_Channel_2: - TIM_OC2Init(channel.timer, &TIM_OCInitStructure); - TIM_OC2PreloadConfig(channel.timer, TIM_OCPreload_Enable); + TIM_OC2Init(chan->timer, &cfg->tim_oc_init); + TIM_OC2PreloadConfig(chan->timer, TIM_OCPreload_Enable); break; case TIM_Channel_3: - TIM_OC3Init(channel.timer, &TIM_OCInitStructure); - TIM_OC3PreloadConfig(channel.timer, TIM_OCPreload_Enable); + TIM_OC3Init(chan->timer, &cfg->tim_oc_init); + TIM_OC3PreloadConfig(chan->timer, TIM_OCPreload_Enable); break; case TIM_Channel_4: - TIM_OC4Init(channel.timer, &TIM_OCInitStructure); - TIM_OC4PreloadConfig(channel.timer, TIM_OCPreload_Enable); + TIM_OC4Init(chan->timer, &cfg->tim_oc_init); + TIM_OC4PreloadConfig(chan->timer, TIM_OCPreload_Enable); break; } - RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); - TIM_ARRPreloadConfig(channel.timer, ENABLE); - TIM_CtrlPWMOutputs(channel.timer, ENABLE); - TIM_Cmd(channel.timer, ENABLE); - + TIM_ARRPreloadConfig(chan->timer, ENABLE); + TIM_CtrlPWMOutputs(chan->timer, ENABLE); + TIM_Cmd(chan->timer, ENABLE); } - if(pios_servo_cfg.remap) { - /* Warning, I don't think this will work for multiple remaps at once */ - GPIO_PinRemapConfig(pios_servo_cfg.remap, ENABLE); - } - - -#endif // PIOS_INCLUDE_SERVO -#endif // PIOS_ENABLE_DEBUG_PINS + return 0; } /** @@ -131,31 +89,31 @@ void PIOS_Servo_Init(void) */ void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t banks) { -#ifndef PIOS_ENABLE_DEBUG_PINS -#if defined(PIOS_INCLUDE_SERVO) - TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_servo_cfg.tim_base_init; + if (!servo_cfg) { + return; + } + + TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = servo_cfg->tim_base_init; TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1; uint8_t set = 0; - for(uint8_t i = 0; (i < pios_servo_cfg.num_channels) && (set < banks); i++) { + for(uint8_t i = 0; (i < servo_cfg->num_channels) && (set < banks); i++) { bool new = true; - struct pios_servo_channel channel = pios_servo_cfg.channels[i]; + const struct pios_tim_channel * chan = &servo_cfg->channels[i]; /* See if any previous channels use that same timer */ for(uint8_t j = 0; (j < i) && new; j++) - new &= channel.timer != pios_servo_cfg.channels[j].timer; + new &= chan->timer != servo_cfg->channels[j].timer; if(new) { TIM_TimeBaseStructure.TIM_Period = ((1000000 / speeds[set]) - 1); - TIM_TimeBaseInit(channel.timer, &TIM_TimeBaseStructure); + TIM_TimeBaseInit(chan->timer, &TIM_TimeBaseStructure); set++; } } -#endif // PIOS_INCLUDE_SERVO -#endif // PIOS_ENABLE_DEBUG_PINS } /** @@ -163,29 +121,27 @@ void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t banks) * \param[in] Servo Servo number (0-7) * \param[in] Position Servo position in microseconds */ -void PIOS_Servo_Set(uint8_t Servo, uint16_t Position) +void PIOS_Servo_Set(uint8_t servo, uint16_t position) { -#ifndef PIOS_ENABLE_DEBUG_PINS -#if defined(PIOS_INCLUDE_SERVO) /* Make sure servo exists */ - if (Servo < pios_servo_cfg.num_channels && Servo >= 0) { - /* Update the position */ - - switch(pios_servo_cfg.channels[Servo].channel) { - case TIM_Channel_1: - TIM_SetCompare1(pios_servo_cfg.channels[Servo].timer, Position); - break; - case TIM_Channel_2: - TIM_SetCompare2(pios_servo_cfg.channels[Servo].timer, Position); - break; - case TIM_Channel_3: - TIM_SetCompare3(pios_servo_cfg.channels[Servo].timer, Position); - break; - case TIM_Channel_4: - TIM_SetCompare4(pios_servo_cfg.channels[Servo].timer, Position); - break; - } + if (!servo_cfg || servo >= servo_cfg->num_channels) { + return; + } + + /* Update the position */ + const struct pios_tim_channel * chan = &servo_cfg->channels[servo]; + switch(chan->timer_chan) { + case TIM_Channel_1: + TIM_SetCompare1(chan->timer, position); + break; + case TIM_Channel_2: + TIM_SetCompare2(chan->timer, position); + break; + case TIM_Channel_3: + TIM_SetCompare3(chan->timer, position); + break; + case TIM_Channel_4: + TIM_SetCompare4(chan->timer, position); + break; } -#endif // PIOS_INCLUDE_SERVO -#endif // PIOS_ENABLE_DEBUG_PINS } diff --git a/flight/PiOS/STM32F10x/pios_spektrum.c b/flight/PiOS/STM32F10x/pios_spektrum.c index 8b0f38c6b..7ab8abcf3 100644 --- a/flight/PiOS/STM32F10x/pios_spektrum.c +++ b/flight/PiOS/STM32F10x/pios_spektrum.c @@ -8,7 +8,6 @@ * * @file pios_spektrum.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org) * @brief USART commands. Inits USARTs, controls USARTs & Interrupt handlers. (STM32 dependent) * @see The GNU Public License (GPL) Version 3 * @@ -31,10 +30,11 @@ /* Project Includes */ #include "pios.h" -#include "pios_spektrum_priv.h" #if defined(PIOS_INCLUDE_SPEKTRUM) +#include "pios_spektrum_priv.h" + /** * @Note Framesyncing: * The code resets the watchdog timer whenever a single byte is received, so what watchdog code @@ -52,22 +52,80 @@ const struct pios_rcvr_driver pios_spektrum_rcvr_driver = { .read = PIOS_SPEKTRUM_Get, }; -/* Local Variables */ -static uint16_t CaptureValue[PIOS_SPEKTRUM_NUM_INPUTS],CaptureValueTemp[PIOS_SPEKTRUM_NUM_INPUTS]; -static uint8_t prev_byte = 0xFF, sync = 0, bytecount = 0, datalength=0, frame_error=0, byte_array[20] = { 0 }; -uint8_t sync_of = 0; -uint16_t supv_timer=0; +enum pios_spektrum_dev_magic { + PIOS_SPEKTRUM_DEV_MAGIC = 0xa9b9c9d9, +}; + +struct pios_spektrum_fsm { + uint16_t channel; + uint16_t CaptureValue[PIOS_SPEKTRUM_NUM_INPUTS]; + uint16_t CaptureValueTemp[PIOS_SPEKTRUM_NUM_INPUTS]; + uint8_t prev_byte; + uint8_t sync; + uint8_t bytecount; + uint8_t datalength; + uint8_t frame_error; + uint8_t sync_of; +}; + +struct pios_spektrum_dev { + enum pios_spektrum_dev_magic magic; + const struct pios_spektrum_cfg * cfg; + + struct pios_spektrum_fsm fsm; + + uint16_t supv_timer; +}; + +static bool PIOS_SPEKTRUM_validate(struct pios_spektrum_dev * spektrum_dev) +{ + return (spektrum_dev->magic == PIOS_SPEKTRUM_DEV_MAGIC); +} + +#if defined(PIOS_INCLUDE_FREERTOS) +static struct pios_spektrum_dev * PIOS_SPEKTRUM_alloc(void) +{ + struct pios_spektrum_dev * spektrum_dev; + + spektrum_dev = (struct pios_spektrum_dev *)pvPortMalloc(sizeof(*spektrum_dev)); + if (!spektrum_dev) return(NULL); + + spektrum_dev->magic = PIOS_SPEKTRUM_DEV_MAGIC; + return(spektrum_dev); +} +#else +static struct pios_spektrum_dev pios_spektrum_devs[PIOS_SPEKTRUM_MAX_DEVS]; +static uint8_t pios_spektrum_num_devs; +static struct pios_spektrum_dev * PIOS_SPEKTRUM_alloc(void) +{ + struct pios_spektrum_dev * spektrum_dev; + + if (pios_spektrum_num_devs >= PIOS_SPEKTRUM_MAX_DEVS) { + return (NULL); + } + + spektrum_dev = &pios_spektrum_devs[pios_spektrum_num_devs++]; + spektrum_dev->magic = PIOS_SPEKTRUM_DEV_MAGIC; + + return (spektrum_dev); +} +#endif static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id); -static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg); -static int32_t PIOS_SPEKTRUM_Decode(uint8_t b); +static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg, uint8_t bind); +static int32_t PIOS_SPEKTRUM_UpdateFSM(struct pios_spektrum_fsm * fsm, uint8_t b); static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield) { + struct pios_spektrum_dev * spektrum_dev = (struct pios_spektrum_dev *)context; + + bool valid = PIOS_SPEKTRUM_validate(spektrum_dev); + PIOS_Assert(valid); + /* process byte(s) and clear receive timer */ for (uint8_t i = 0; i < buf_len; i++) { - PIOS_SPEKTRUM_Decode(buf[i]); - supv_timer = 0; + PIOS_SPEKTRUM_UpdateFSM(&(spektrum_dev->fsm), buf[i]); + spektrum_dev->supv_timer = 0; } /* Always signal that we can accept another byte */ @@ -82,23 +140,114 @@ static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint return (buf_len); } +static void PIOS_SPEKTRUM_ResetFSM(struct pios_spektrum_fsm * fsm) +{ + fsm->channel = 0; + fsm->prev_byte = 0xFF; + fsm->sync = 0; + fsm->bytecount = 0; + fsm->datalength = 0; + fsm->frame_error = 0; + fsm->sync_of = 0; +} + +/** +* Decodes a byte +* \param[in] b byte which should be spektrum decoded +* \return 0 if no error +* \return -1 if USART not available +* \return -2 if buffer full (retry) +*/ +static int32_t PIOS_SPEKTRUM_UpdateFSM(struct pios_spektrum_fsm * fsm, uint8_t b) +{ + fsm->bytecount++; + if (fsm->sync == 0) { + /* Known sync bytes, 0x01, 0x02, 0x12, 0xb2 */ + /* 0xb2 DX8 3bind pulses only */ + if (fsm->bytecount == 2) { + if ((b == 0x01) || (b == 0x02) || (b == 0xb2)) { + fsm->datalength=0; // 10bit + fsm->sync = 1; + fsm->bytecount = 2; + } + else if(b == 0x12) { + fsm->datalength=1; // 11bit + fsm->sync = 1; + fsm->bytecount = 2; + } + else + { + fsm->bytecount = 0; + } + } + } else { + if ((fsm->bytecount % 2) == 0) { + uint16_t data; + uint8_t channeln; + + fsm->channel = (fsm->prev_byte << 8) + b; + channeln = (fsm->channel >> (10+fsm->datalength)) & 0x0F; + data = fsm->channel & (0x03FF+(0x0400*fsm->datalength)); + if(channeln==0 && data<10) // discard frame if throttle misbehaves + { + fsm->frame_error=1; + } + if (channeln < PIOS_SPEKTRUM_NUM_INPUTS && !fsm->frame_error) + fsm->CaptureValueTemp[channeln] = data; + } + } + if (fsm->bytecount == 16) { + fsm->bytecount = 0; + fsm->sync = 0; + fsm->sync_of = 0; + if (!fsm->frame_error) + { + for(int i=0;iCaptureValue[i] = fsm->CaptureValueTemp[i]; + } + } + fsm->frame_error=0; + } + fsm->prev_byte = b; + return 0; +} + /** * Bind and Initialise Spektrum satellite receiver */ -int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, bool bind) +int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t bind) { - // TODO: need setting flag for bind on next powerup + PIOS_DEBUG_Assert(spektrum_id); + PIOS_DEBUG_Assert(cfg); + PIOS_DEBUG_Assert(driver); + + struct pios_spektrum_dev * spektrum_dev; + + spektrum_dev = (struct pios_spektrum_dev *) PIOS_SPEKTRUM_alloc(); + if (!spektrum_dev) goto out_fail; + + /* Bind the configuration to the device instance */ + spektrum_dev->cfg = cfg; + if (bind) { - PIOS_SPEKTRUM_Bind(cfg); + PIOS_SPEKTRUM_Bind(cfg,bind); } - (driver->bind_rx_cb)(lower_id, PIOS_SPEKTRUM_RxInCallback, 0); + PIOS_SPEKTRUM_ResetFSM(&(spektrum_dev->fsm)); - if (!PIOS_RTC_RegisterTickCallback(PIOS_SPEKTRUM_Supervisor, 0)) { + *spektrum_id = (uint32_t)spektrum_dev; + + (driver->bind_rx_cb)(lower_id, PIOS_SPEKTRUM_RxInCallback, *spektrum_id); + + if (!PIOS_RTC_RegisterTickCallback(PIOS_SPEKTRUM_Supervisor, *spektrum_id)) { PIOS_DEBUG_Assert(0); } return (0); + +out_fail: + return(-1); } /** @@ -109,11 +258,16 @@ int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cf */ static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel) { + struct pios_spektrum_dev * spektrum_dev = (struct pios_spektrum_dev *)rcvr_id; + + if(!PIOS_SPEKTRUM_validate(spektrum_dev)) + return PIOS_RCVR_INVALID; + /* Return error if channel not available */ if (channel >= PIOS_SPEKTRUM_NUM_INPUTS) { - return -1; + return PIOS_RCVR_INVALID; } - return CaptureValue[channel]; + return spektrum_dev->fsm.CaptureValue[channel]; } /** @@ -121,9 +275,15 @@ static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel) * \output true Successful bind * \output false Bind failed */ -static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg) +static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg, uint8_t bind) { -#define BIND_PULSES 5 + GPIO_InitTypeDef GPIO_InitStructure; + GPIO_InitStructure.GPIO_Pin = cfg->bind.init.GPIO_Pin; + GPIO_InitStructure.GPIO_Speed = cfg->bind.init.GPIO_Speed; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; + + /* just to limit bind pulses */ + bind=(bind<=10)?bind:10; GPIO_Init(cfg->bind.gpio, &cfg->bind.init); /* RX line, set high */ @@ -132,7 +292,7 @@ static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg) /* on CC works upto 140ms, I guess bind window is around 20-140ms after powerup */ PIOS_DELAY_WaitmS(60); - for (int i = 0; i < BIND_PULSES ; i++) { + for (int i = 0; i < bind ; i++) { /* RX line, drive low for 120us */ GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin); PIOS_DELAY_WaituS(120); @@ -141,118 +301,44 @@ static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg) PIOS_DELAY_WaituS(120); } /* RX line, set input and wait for data, PIOS_SPEKTRUM_Init */ + GPIO_Init(cfg->bind.gpio, &GPIO_InitStructure); return true; } -/** -* Decodes a byte -* \param[in] b byte which should be spektrum decoded -* \return 0 if no error -* \return -1 if USART not available -* \return -2 if buffer full (retry) -* \note Applications shouldn't call these functions directly -*/ -static int32_t PIOS_SPEKTRUM_Decode(uint8_t b) -{ - static uint16_t channel = 0; /*, sync_word = 0;*/ - uint8_t channeln = 0, frame = 0; - uint16_t data = 0; - byte_array[bytecount] = b; - bytecount++; - if (sync == 0) { - //sync_word = (prev_byte << 8) + b; -#if 0 - /* maybe create object to show this data */ - if(bytecount==1) - { - /* record losscounter into channel8 */ - CaptureValueTemp[7]=b; - /* instant write */ - CaptureValue[7]=b; - } -#endif - /* Known sync bytes, 0x01, 0x02, 0x12 */ - if (bytecount == 2) { - if (b == 0x01) { - datalength=0; // 10bit - //frames=1; - sync = 1; - bytecount = 2; - } - else if(b == 0x02) { - datalength=0; // 10bit - //frames=2; - sync = 1; - bytecount = 2; - } - else if(b == 0x12) { - datalength=1; // 11bit - //frames=2; - sync = 1; - bytecount = 2; - } - else - { - bytecount = 0; - } - } - } else { - if ((bytecount % 2) == 0) { - channel = (prev_byte << 8) + b; - frame = channel >> 15; - channeln = (channel >> (10+datalength)) & 0x0F; - data = channel & (0x03FF+(0x0400*datalength)); - if(channeln==0 && data<10) // discard frame if throttle misbehaves - { - frame_error=1; - } - if (channeln < PIOS_SPEKTRUM_NUM_INPUTS && !frame_error) - CaptureValueTemp[channeln] = data; - } - } - if (bytecount == 16) { - //PIOS_COM_SendBufferNonBlocking(PIOS_COM_TELEM_RF,byte_array,16); //00 2c 58 84 b0 dc ff - bytecount = 0; - sync = 0; - sync_of = 0; - if (!frame_error) - { - for(int i=0;i 5) { +static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id) +{ + struct pios_spektrum_dev * spektrum_dev = (struct pios_spektrum_dev *)spektrum_id; + + bool valid = PIOS_SPEKTRUM_validate(spektrum_dev); + PIOS_Assert(valid); + + /* 625hz */ + spektrum_dev->supv_timer++; + if(spektrum_dev->supv_timer > 4) { /* sync between frames */ - sync = 0; - bytecount = 0; - prev_byte = 0xFF; - frame_error = 0; - sync_of++; - /* watchdog activated after 100ms silence */ - if (sync_of > 12) { + struct pios_spektrum_fsm * fsm = &(spektrum_dev->fsm); + + fsm->sync = 0; + fsm->bytecount = 0; + fsm->prev_byte = 0xFF; + fsm->frame_error = 0; + fsm->sync_of++; + /* watchdog activated after 200ms silence */ + if (fsm->sync_of > 30) { + /* signal lost */ - sync_of = 0; + fsm->sync_of = 0; for (int i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) { - CaptureValue[i] = 0; - CaptureValueTemp[i] = 0; + fsm->CaptureValue[i] = PIOS_RCVR_TIMEOUT; + fsm->CaptureValueTemp[i] = PIOS_RCVR_TIMEOUT; } } - supv_timer = 0; + spektrum_dev->supv_timer = 0; } } diff --git a/flight/PiOS/STM32F10x/pios_spi.c b/flight/PiOS/STM32F10x/pios_spi.c index 74a14afc0..a5e57335f 100644 --- a/flight/PiOS/STM32F10x/pios_spi.c +++ b/flight/PiOS/STM32F10x/pios_spi.c @@ -46,10 +46,10 @@ static bool PIOS_SPI_validate(struct pios_spi_dev * com_dev) return(true); } -#if defined(PIOS_INCLUDE_FREERTOS) && 0 +#if defined(PIOS_INCLUDE_FREERTOS) static struct pios_spi_dev * PIOS_SPI_alloc(void) { - return (malloc(sizeof(struct pios_spi_dev))); + return (pvPortMalloc(sizeof(struct pios_spi_dev))); } #else static struct pios_spi_dev pios_spi_devs[PIOS_SPI_MAX_DEVS]; diff --git a/flight/PiOS/STM32F10x/pios_tim.c b/flight/PiOS/STM32F10x/pios_tim.c new file mode 100644 index 000000000..dcdd07670 --- /dev/null +++ b/flight/PiOS/STM32F10x/pios_tim.c @@ -0,0 +1,427 @@ +#include "pios.h" + +#include "pios_tim.h" +#include "pios_tim_priv.h" + +enum pios_tim_dev_magic { + PIOS_TIM_DEV_MAGIC = 0x87654098, +}; + +struct pios_tim_dev { + enum pios_tim_dev_magic magic; + + const struct pios_tim_channel * channels; + uint8_t num_channels; + + const struct pios_tim_callbacks * callbacks; + uint32_t context; +}; + +#if 0 +static bool PIOS_TIM_validate(struct pios_tim_dev * tim_dev) +{ + return (tim_dev->magic == PIOS_TIM_DEV_MAGIC); +} +#endif + +#if defined(PIOS_INCLUDE_FREERTOS) && 0 +static struct pios_tim_dev * PIOS_TIM_alloc(void) +{ + struct pios_tim_dev * tim_dev; + + tim_dev = (struct pios_tim_dev *)malloc(sizeof(*tim_dev)); + if (!tim_dev) return(NULL); + + tim_dev->magic = PIOS_TIM_DEV_MAGIC; + return(tim_dev); +} +#else +static struct pios_tim_dev pios_tim_devs[PIOS_TIM_MAX_DEVS]; +static uint8_t pios_tim_num_devs; +static struct pios_tim_dev * PIOS_TIM_alloc(void) +{ + struct pios_tim_dev * tim_dev; + + if (pios_tim_num_devs >= PIOS_TIM_MAX_DEVS) { + return (NULL); + } + + tim_dev = &pios_tim_devs[pios_tim_num_devs++]; + tim_dev->magic = PIOS_TIM_DEV_MAGIC; + + return (tim_dev); +} +#endif + + + + +int32_t PIOS_TIM_InitClock(const struct pios_tim_clock_cfg * cfg) +{ + PIOS_DEBUG_Assert(cfg); + + /* Enable appropriate clock to timer module */ + switch((uint32_t) cfg->timer) { + case (uint32_t)TIM1: + RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); + break; + case (uint32_t)TIM2: + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); + break; + case (uint32_t)TIM3: + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); + break; + case (uint32_t)TIM4: + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); + break; +#ifdef STM32F10X_HD + case (uint32_t)TIM5: + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE); + break; + case (uint32_t)TIM6: + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE); + break; + case (uint32_t)TIM7: + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE); + break; + case (uint32_t)TIM8: + RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE); + break; +#endif + } + + /* Configure the dividers for this timer */ + TIM_TimeBaseInit(cfg->timer, cfg->time_base_init); + + /* Configure internal timer clocks */ + TIM_InternalClockConfig(cfg->timer); + + /* Enable timers */ + TIM_Cmd(cfg->timer, ENABLE); + + /* Enable Interrupts */ + NVIC_Init(&cfg->irq.init); + + return 0; +} + +int32_t PIOS_TIM_InitChannels(uint32_t * tim_id, const struct pios_tim_channel * channels, uint8_t num_channels, const struct pios_tim_callbacks * callbacks, uint32_t context) +{ + PIOS_Assert(channels); + PIOS_Assert(num_channels); + + struct pios_tim_dev * tim_dev; + tim_dev = (struct pios_tim_dev *) PIOS_TIM_alloc(); + if (!tim_dev) goto out_fail; + + /* Bind the configuration to the device instance */ + tim_dev->channels = channels; + tim_dev->num_channels = num_channels; + tim_dev->callbacks = callbacks; + tim_dev->context = context; + + /* Configure the pins */ + for (uint8_t i = 0; i < num_channels; i++) { + const struct pios_tim_channel * chan = &(channels[i]); + + /* Enable the peripheral clock for the GPIO */ + switch ((uint32_t)chan->pin.gpio) { + case (uint32_t) GPIOA: + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); + break; + case (uint32_t) GPIOB: + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); + break; + case (uint32_t) GPIOC: + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); + break; + default: + PIOS_Assert(0); + break; + } + GPIO_Init(chan->pin.gpio, &chan->pin.init); + + if (chan->remap) { + GPIO_PinRemapConfig(chan->remap, ENABLE); + } + } + + *tim_id = (uint32_t)tim_dev; + + return(0); + +out_fail: + return(-1); +} + +static void PIOS_TIM_generic_irq_handler(TIM_TypeDef * timer) +{ + /* Iterate over all registered clients of the TIM layer to find channels on this timer */ + for (uint8_t i = 0; i < pios_tim_num_devs; i++) { + const struct pios_tim_dev * tim_dev = &pios_tim_devs[i]; + + if (!tim_dev->channels || tim_dev->num_channels == 0) { + /* No channels to process on this client */ + continue; + } + + /* Check for an overflow event on this timer */ + bool overflow_event; + uint16_t overflow_count; + if (TIM_GetITStatus(timer, TIM_IT_Update) == SET) { + TIM_ClearITPendingBit(timer, TIM_IT_Update); + overflow_count = timer->ARR; + overflow_event = true; + } else { + overflow_count = 0; + overflow_event = false; + } + + for (uint8_t j = 0; j < tim_dev->num_channels; j++) { + const struct pios_tim_channel * chan = &tim_dev->channels[j]; + + if (chan->timer != timer) { + /* channel is not on this timer */ + continue; + } + + /* Figure out which interrupt bit we should be looking at */ + uint16_t timer_it; + switch (chan->timer_chan) { + case TIM_Channel_1: + timer_it = TIM_IT_CC1; + break; + case TIM_Channel_2: + timer_it = TIM_IT_CC2; + break; + case TIM_Channel_3: + timer_it = TIM_IT_CC3; + break; + case TIM_Channel_4: + timer_it = TIM_IT_CC4; + break; + default: + PIOS_Assert(0); + break; + } + + bool edge_event; + uint16_t edge_count; + if (TIM_GetITStatus(chan->timer, timer_it) == SET) { + TIM_ClearITPendingBit(chan->timer, timer_it); + + /* Read the current counter */ + switch(chan->timer_chan) { + case TIM_Channel_1: + edge_count = TIM_GetCapture1(chan->timer); + break; + case TIM_Channel_2: + edge_count = TIM_GetCapture2(chan->timer); + break; + case TIM_Channel_3: + edge_count = TIM_GetCapture3(chan->timer); + break; + case TIM_Channel_4: + edge_count = TIM_GetCapture4(chan->timer); + break; + default: + PIOS_Assert(0); + break; + } + edge_event = true; + } else { + edge_event = false; + edge_count = 0; + } + + if (!tim_dev->callbacks) { + /* No callbacks registered, we're done with this channel */ + continue; + } + + /* Generate the appropriate callbacks */ + if (overflow_event & edge_event) { + /* + * When both edge and overflow happen in the same interrupt, we + * need a heuristic to determine the order of the edge and overflow + * events so that the callbacks happen in the right order. If we + * get the order wrong, our pulse width calculations could be off by up + * to ARR ticks. That could be bad. + * + * Heuristic: If the edge_count is < 16 ticks above zero then we assume the + * edge happened just after the overflow. + */ + + if (edge_count < 16) { + /* Call the overflow callback first */ + if (tim_dev->callbacks->overflow) { + (*tim_dev->callbacks->overflow)((uint32_t)tim_dev, + tim_dev->context, + j, + overflow_count); + } + /* Call the edge callback second */ + if (tim_dev->callbacks->edge) { + (*tim_dev->callbacks->edge)((uint32_t)tim_dev, + tim_dev->context, + j, + edge_count); + } + } else { + /* Call the edge callback first */ + if (tim_dev->callbacks->edge) { + (*tim_dev->callbacks->edge)((uint32_t)tim_dev, + tim_dev->context, + j, + edge_count); + } + /* Call the overflow callback second */ + if (tim_dev->callbacks->overflow) { + (*tim_dev->callbacks->overflow)((uint32_t)tim_dev, + tim_dev->context, + j, + overflow_count); + } + } + } else if (overflow_event && tim_dev->callbacks->overflow) { + (*tim_dev->callbacks->overflow)((uint32_t)tim_dev, + tim_dev->context, + j, + overflow_count); + } else if (edge_event && tim_dev->callbacks->edge) { + (*tim_dev->callbacks->edge)((uint32_t)tim_dev, + tim_dev->context, + j, + edge_count); + } + } + } +} +#if 0 + uint16_t val = 0; + for(uint8_t i = 0; i < pios_pwm_cfg.num_channels; i++) { + struct pios_pwm_channel channel = pios_pwm_cfg.channels[i]; + if ((channel.timer == timer) && (TIM_GetITStatus(channel.timer, channel.ccr) == SET)) { + + TIM_ClearITPendingBit(channel.timer, channel.ccr); + + switch(channel.channel) { + case TIM_Channel_1: + val = TIM_GetCapture1(channel.timer); + break; + case TIM_Channel_2: + val = TIM_GetCapture2(channel.timer); + break; + case TIM_Channel_3: + val = TIM_GetCapture3(channel.timer); + break; + case TIM_Channel_4: + val = TIM_GetCapture4(channel.timer); + break; + } + + if (CaptureState[i] == 0) { + RiseValue[i] = val; + } else { + FallValue[i] = val; + } + + // flip state machine and capture value here + /* Simple rise or fall state machine */ + TIM_ICInitTypeDef TIM_ICInitStructure = pios_pwm_cfg.tim_ic_init; + if (CaptureState[i] == 0) { + /* Switch states */ + CaptureState[i] = 1; + + /* Switch polarity of input capture */ + TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling; + TIM_ICInitStructure.TIM_Channel = channel.channel; + TIM_ICInit(channel.timer, &TIM_ICInitStructure); + } else { + /* Capture computation */ + if (FallValue[i] > RiseValue[i]) { + CaptureValue[i] = (FallValue[i] - RiseValue[i]); + } else { + CaptureValue[i] = ((channel.timer->ARR - RiseValue[i]) + FallValue[i]); + } + + /* Switch states */ + CaptureState[i] = 0; + + /* Increase supervisor counter */ + CapCounter[i]++; + + /* Switch polarity of input capture */ + TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; + TIM_ICInitStructure.TIM_Channel = channel.channel; + TIM_ICInit(channel.timer, &TIM_ICInitStructure); + } + } + } +#endif + +/* Bind Interrupt Handlers + * + * Map all valid TIM IRQs to the common interrupt handler + * and give it enough context to properly demux the various timers + */ +void TIM1_UP_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_1_UP_irq_handler"))); +static void PIOS_TIM_1_UP_irq_handler (void) +{ + PIOS_TIM_generic_irq_handler (TIM1); +} + +void TIM1_CC_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_1_CC_irq_handler"))); +static void PIOS_TIM_1_CC_irq_handler (void) +{ + PIOS_TIM_generic_irq_handler (TIM1); +} + +void TIM2_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_2_irq_handler"))); +static void PIOS_TIM_2_irq_handler (void) +{ + PIOS_TIM_generic_irq_handler (TIM2); +} + +void TIM3_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_3_irq_handler"))); +static void PIOS_TIM_3_irq_handler (void) +{ + PIOS_TIM_generic_irq_handler (TIM3); +} + +void TIM4_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_4_irq_handler"))); +static void PIOS_TIM_4_irq_handler (void) +{ + PIOS_TIM_generic_irq_handler (TIM4); +} + +void TIM5_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_5_irq_handler"))); +static void PIOS_TIM_5_irq_handler (void) +{ + PIOS_TIM_generic_irq_handler (TIM5); +} + +void TIM6_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_6_irq_handler"))); +static void PIOS_TIM_6_irq_handler (void) +{ + PIOS_TIM_generic_irq_handler (TIM6); +} + +void TIM7_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_7_irq_handler"))); +static void PIOS_TIM_7_irq_handler (void) +{ + PIOS_TIM_generic_irq_handler (TIM7); +} + +void TIM8_UP_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_8_UP_irq_handler"))); +static void PIOS_TIM_8_UP_irq_handler (void) +{ + PIOS_TIM_generic_irq_handler (TIM8); +} + +void TIM8_CC_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_8_CC_irq_handler"))); +static void PIOS_TIM_8_CC_irq_handler (void) +{ + PIOS_TIM_generic_irq_handler (TIM8); +} + diff --git a/flight/PiOS/STM32F10x/pios_usart.c b/flight/PiOS/STM32F10x/pios_usart.c index 8582344b5..68a9265ee 100644 --- a/flight/PiOS/STM32F10x/pios_usart.c +++ b/flight/PiOS/STM32F10x/pios_usart.c @@ -70,12 +70,12 @@ static bool PIOS_USART_validate(struct pios_usart_dev * usart_dev) return (usart_dev->magic == PIOS_USART_DEV_MAGIC); } -#if defined(PIOS_INCLUDE_FREERTOS) && 0 +#if defined(PIOS_INCLUDE_FREERTOS) static struct pios_usart_dev * PIOS_USART_alloc(void) { struct pios_usart_dev * usart_dev; - usart_dev = (struct pios_usart_dev *)malloc(sizeof(*usart_dev)); + usart_dev = (struct pios_usart_dev *)pvPortMalloc(sizeof(*usart_dev)); if (!usart_dev) return(NULL); usart_dev->magic = PIOS_USART_DEV_MAGIC; diff --git a/flight/PiOS/STM32F10x/pios_usb_hid.c b/flight/PiOS/STM32F10x/pios_usb_hid.c index 0ebca1320..8644dd517 100644 --- a/flight/PiOS/STM32F10x/pios_usb_hid.c +++ b/flight/PiOS/STM32F10x/pios_usb_hid.c @@ -75,12 +75,12 @@ static bool PIOS_USB_HID_validate(struct pios_usb_hid_dev * usb_hid_dev) return (usb_hid_dev->magic == PIOS_USB_HID_DEV_MAGIC); } -#if defined(PIOS_INCLUDE_FREERTOS) && 0 +#if defined(PIOS_INCLUDE_FREERTOS) static struct pios_usb_hid_dev * PIOS_USB_HID_alloc(void) { struct pios_usb_hid_dev * usb_hid_dev; - usb_hid_dev = (struct pios_usb_hid_dev *)malloc(sizeof(*usb_hid_dev)); + usb_hid_dev = (struct pios_usb_hid_dev *)pvPortMalloc(sizeof(*usb_hid_dev)); if (!usb_hid_dev) return(NULL); usb_hid_dev->magic = PIOS_USB_HID_DEV_MAGIC; diff --git a/flight/PiOS/inc/pios_debug.h b/flight/PiOS/inc/pios_debug.h index e663d224e..4dc5f5b3e 100644 --- a/flight/PiOS/inc/pios_debug.h +++ b/flight/PiOS/inc/pios_debug.h @@ -33,7 +33,9 @@ extern const char *PIOS_DEBUG_AssertMsg; -void PIOS_DEBUG_Init(void); +#include + +void PIOS_DEBUG_Init(const struct pios_tim_channel * channels, uint8_t num_channels); void PIOS_DEBUG_PinHigh(uint8_t pin); void PIOS_DEBUG_PinLow(uint8_t pin); void PIOS_DEBUG_PinValue8Bit(uint8_t value); diff --git a/flight/PiOS/inc/pios_flashfs_objlist.h b/flight/PiOS/inc/pios_flashfs_objlist.h index 945df4068..f5c22d973 100644 --- a/flight/PiOS/inc/pios_flashfs_objlist.h +++ b/flight/PiOS/inc/pios_flashfs_objlist.h @@ -32,6 +32,7 @@ #include "uavobjectmanager.h" int32_t PIOS_FLASHFS_Init(); +int32_t PIOS_FLASHFS_Format(); int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data); int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data); -int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId); \ No newline at end of file +int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId); diff --git a/flight/UAVObjects/uavobjectsinit_linker.c b/flight/PiOS/inc/pios_gcsrcvr_priv.h similarity index 61% rename from flight/UAVObjects/uavobjectsinit_linker.c rename to flight/PiOS/inc/pios_gcsrcvr_priv.h index 3d4abd7eb..9a828cb95 100644 --- a/flight/UAVObjects/uavobjectsinit_linker.c +++ b/flight/PiOS/inc/pios_gcsrcvr_priv.h @@ -1,45 +1,47 @@ -/** - ****************************************************************************** - * - * @file uavobjectsinit.c - * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * @brief Initialize all objects. - * Automatically generated by the UAVObjectGenerator. - * - * @note This is an automatically generated file. - * DO NOT modify manually. - * @see The GNU Public License (GPL) Version 3 - * - *****************************************************************************/ -/* - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY - * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License - * for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - */ - -#include "openpilot.h" - -/** - * Function used to initialize the first instance of each object. - * This file is automatically updated by the UAVObjectGenerator. - */ -extern initcall_t __uavobj_initcall_start[], __uavobj_initcall_end[]; - -void UAVObjectsInitializeAll() -{ - initcall_t *fn; - int32_t ret; - - for (fn = __uavobj_initcall_start; fn < __uavobj_initcall_end; fn++) - ret = (*fn)(); -} +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_GCSRCVR GCS Receiver Functions + * @brief PIOS interface to read from GCS receiver port + * @{ + * + * @file pios_gcsrcvr_priv.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief GCS receiver private functions + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_GCSRCVR_PRIV_H +#define PIOS_GCSRCVR_PRIV_H + +#include + +#include "gcsreceiver.h" + +extern const struct pios_rcvr_driver pios_gcsrcvr_rcvr_driver; + +extern void PIOS_GCSRCVR_Init(void); + +#endif /* PIOS_GCSRCVR_PRIV_H */ + +/** + * @} + * @} + */ diff --git a/flight/PiOS/inc/pios_initcall.h b/flight/PiOS/inc/pios_initcall.h index 68b9ef077..e242989c0 100644 --- a/flight/PiOS/inc/pios_initcall.h +++ b/flight/PiOS/inc/pios_initcall.h @@ -67,7 +67,6 @@ extern initmodule_t __module_initcall_start[], __module_initcall_end[]; static initmodule_t __initcall_##fn __attribute__((__used__)) \ __attribute__((__section__(".initcall" level ".init"))) = { .fn_minit = ifn, .fn_tinit = sfn }; -#define UAVOBJ_INITCALL(fn) __define_initcall("uavobj",fn,1) #define MODULE_INITCALL(ifn, sfn) __define_module_initcall("module", ifn, sfn) #define MODULE_INITIALISE_ALL { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \ diff --git a/flight/PiOS/inc/pios_ppm_priv.h b/flight/PiOS/inc/pios_ppm_priv.h index fd863fc50..0facab9d5 100644 --- a/flight/PiOS/inc/pios_ppm_priv.h +++ b/flight/PiOS/inc/pios_ppm_priv.h @@ -35,24 +35,14 @@ #include struct pios_ppm_cfg { - TIM_TimeBaseInitTypeDef tim_base_init; TIM_ICInitTypeDef tim_ic_init; - GPIO_InitTypeDef gpio_init; - uint32_t remap; /* GPIO_Remap_* */ - struct stm32_irq irq; - TIM_TypeDef * timer; - GPIO_TypeDef * port; - uint16_t ccr; + const struct pios_tim_channel * channels; + uint8_t num_channels; }; -extern void PIOS_PPM_irq_handler(); - -extern uint8_t pios_ppm_num_channels; -extern const struct pios_ppm_cfg pios_ppm_cfg; - extern const struct pios_rcvr_driver pios_ppm_rcvr_driver; -extern void PIOS_PPM_Init(void); +extern int32_t PIOS_PPM_Init(uint32_t * ppm_id, const struct pios_ppm_cfg * cfg); #endif /* PIOS_PPM_PRIV_H */ diff --git a/flight/PiOS/inc/pios_pwm_priv.h b/flight/PiOS/inc/pios_pwm_priv.h index 23d7d4818..fe11b3d60 100644 --- a/flight/PiOS/inc/pios_pwm_priv.h +++ b/flight/PiOS/inc/pios_pwm_priv.h @@ -34,32 +34,17 @@ #include #include -struct pios_pwm_channel { - TIM_TypeDef * timer; - GPIO_TypeDef * port; - uint16_t ccr; - uint8_t channel; - uint16_t pin; -}; +#include struct pios_pwm_cfg { - TIM_TimeBaseInitTypeDef tim_base_init; TIM_ICInitTypeDef tim_ic_init; - GPIO_InitTypeDef gpio_init; - uint32_t remap; /* GPIO_Remap_* */ - struct stm32_irq irq; - const struct pios_pwm_channel *const channels; + const struct pios_tim_channel * channels; uint8_t num_channels; }; -extern void PIOS_PWM_irq_handler(TIM_TypeDef * timer); - -extern uint8_t pios_pwm_num_channels; -extern const struct pios_pwm_cfg pios_pwm_cfg; - extern const struct pios_rcvr_driver pios_pwm_rcvr_driver; -extern void PIOS_PWM_Init(void); +extern int32_t PIOS_PWM_Init(uint32_t * pwm_id, const struct pios_pwm_cfg * cfg); #endif /* PIOS_PWM_PRIV_H */ diff --git a/flight/PiOS/inc/pios_rcvr.h b/flight/PiOS/inc/pios_rcvr.h index dfec004f5..ab493cd35 100644 --- a/flight/PiOS/inc/pios_rcvr.h +++ b/flight/PiOS/inc/pios_rcvr.h @@ -31,13 +31,6 @@ #ifndef PIOS_RCVR_H #define PIOS_RCVR_H -struct pios_rcvr_channel_map { - uint32_t id; - uint8_t channel; -}; - -extern struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[]; - struct pios_rcvr_driver { void (*init)(uint32_t id); int32_t (*read)(uint32_t id, uint8_t channel); @@ -46,6 +39,16 @@ struct pios_rcvr_driver { /* Public Functions */ extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel); +/*! Define error codes for PIOS_RCVR_Get */ +enum PIOS_RCVR_errors { + /*! Indicates that a failsafe condition or missing receiver detected for that channel */ + PIOS_RCVR_TIMEOUT = 0, + /*! Channel is invalid for this driver (usually out of range supported) */ + PIOS_RCVR_INVALID = -1, + /*! Indicates that the driver for this channel has not been initialized */ + PIOS_RCVR_NODRIVER = -2 +}; + #endif /* PIOS_RCVR_H */ /** diff --git a/flight/PiOS/inc/pios_sbus_priv.h b/flight/PiOS/inc/pios_sbus_priv.h index 4e46b2089..b7e441c30 100644 --- a/flight/PiOS/inc/pios_sbus_priv.h +++ b/flight/PiOS/inc/pios_sbus_priv.h @@ -44,8 +44,8 @@ * 1 byte - 0x0f (start of frame byte) * 22 bytes - channel data (11 bit/channel, 16 channels, LSB first) * 1 byte - bit flags: - * 0x01 - digital channel 1, - * 0x02 - digital channel 2, + * 0x01 - discrete channel 1, + * 0x02 - discrete channel 2, * 0x04 - lost frame flag, * 0x08 - failsafe flag, * 0xf0 - reserved @@ -54,16 +54,20 @@ #define SBUS_FRAME_LENGTH (1+22+1+1) #define SBUS_SOF_BYTE 0x0f #define SBUS_EOF_BYTE 0x00 -#define SBUS_FLAG_DG1 0x01 -#define SBUS_FLAG_DG2 0x02 +#define SBUS_FLAG_DC1 0x01 +#define SBUS_FLAG_DC2 0x02 #define SBUS_FLAG_FL 0x04 #define SBUS_FLAG_FS 0x08 /* - * S.Bus protocol provides up to 16 analog and 2 digital channels. - * Only 8 channels are currently supported by the OpenPilot. + * S.Bus protocol provides 16 proportional and 2 discrete channels. + * Do not change unless driver code is updated accordingly. */ -#define SBUS_NUMBER_OF_CHANNELS 8 +#define SBUS_NUMBER_OF_CHANNELS (16 + 2) + +/* Discrete channels represented as bits, provide values for them */ +#define SBUS_VALUE_MIN 352 +#define SBUS_VALUE_MAX 1696 /* * S.Bus configuration programmable invertor diff --git a/flight/PiOS/inc/pios_servo.h b/flight/PiOS/inc/pios_servo.h index 2d621cb25..043d656df 100644 --- a/flight/PiOS/inc/pios_servo.h +++ b/flight/PiOS/inc/pios_servo.h @@ -31,7 +31,6 @@ #define PIOS_SERVO_H /* Public Functions */ -extern void PIOS_Servo_Init(void); extern void PIOS_Servo_SetHz(uint16_t * update_rates, uint8_t channels); extern void PIOS_Servo_Set(uint8_t Servo, uint16_t Position); diff --git a/flight/PiOS/inc/pios_servo_priv.h b/flight/PiOS/inc/pios_servo_priv.h index a1136c46d..f5ed86e25 100644 --- a/flight/PiOS/inc/pios_servo_priv.h +++ b/flight/PiOS/inc/pios_servo_priv.h @@ -33,25 +33,18 @@ #include #include - -struct pios_servo_channel { - TIM_TypeDef * timer; - GPIO_TypeDef * port; - uint8_t channel; - uint16_t pin; -}; +#include struct pios_servo_cfg { TIM_TimeBaseInitTypeDef tim_base_init; TIM_OCInitTypeDef tim_oc_init; GPIO_InitTypeDef gpio_init; uint32_t remap; - const struct pios_servo_channel *const channels; + const struct pios_tim_channel * channels; uint8_t num_channels; }; - -extern const struct pios_servo_cfg pios_servo_cfg; +extern int32_t PIOS_Servo_Init(const struct pios_servo_cfg * cfg); #endif /* PIOS_SERVO_PRIV_H */ diff --git a/flight/PiOS/inc/pios_spektrum_priv.h b/flight/PiOS/inc/pios_spektrum_priv.h index 2d31a8027..17b330cae 100644 --- a/flight/PiOS/inc/pios_spektrum_priv.h +++ b/flight/PiOS/inc/pios_spektrum_priv.h @@ -42,9 +42,9 @@ struct pios_spektrum_cfg { extern const struct pios_rcvr_driver pios_spektrum_rcvr_driver; -extern int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, bool bind); +extern int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t bind); -#endif /* PIOS_PWM_PRIV_H */ +#endif /* PIOS_SPEKTRUM_PRIV_H */ /** * @} diff --git a/flight/PiOS/inc/pios_tim.h b/flight/PiOS/inc/pios_tim.h new file mode 100644 index 000000000..0bad07f41 --- /dev/null +++ b/flight/PiOS/inc/pios_tim.h @@ -0,0 +1,4 @@ +#ifndef PIOS_TIM_H +#define PIOS_TIM_H + +#endif /* PIOS_TIM_H */ diff --git a/flight/PiOS/inc/pios_tim_priv.h b/flight/PiOS/inc/pios_tim_priv.h new file mode 100644 index 000000000..7f05719f8 --- /dev/null +++ b/flight/PiOS/inc/pios_tim_priv.h @@ -0,0 +1,28 @@ +#ifndef PIOS_TIM_PRIV_H +#define PIOS_TIM_PRIV_H + +#include + +struct pios_tim_clock_cfg { + TIM_TypeDef * timer; + const TIM_TimeBaseInitTypeDef * time_base_init; + struct stm32_irq irq; +}; + +struct pios_tim_channel { + TIM_TypeDef * timer; + uint8_t timer_chan; + + struct stm32_gpio pin; + uint32_t remap; +}; + +struct pios_tim_callbacks { + void (*overflow)(uint32_t tim_id, uint32_t context, uint8_t chan_idx, uint16_t count); + void (*edge)(uint32_t tim_id, uint32_t context, uint8_t chan_idx, uint16_t count); +}; + +extern int32_t PIOS_TIM_InitClock(const struct pios_tim_clock_cfg * cfg); +extern int32_t PIOS_TIM_InitChannels(uint32_t * tim_id, const struct pios_tim_channel * channels, uint8_t num_channels, const struct pios_tim_callbacks * callbacks, uint32_t context); + +#endif /* PIOS_TIM_PRIV_H */ diff --git a/flight/PipXtreme/Makefile b/flight/PipXtreme/Makefile index 9a70ac417..8a939d411 100644 --- a/flight/PipXtreme/Makefile +++ b/flight/PipXtreme/Makefile @@ -394,7 +394,7 @@ $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin $(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION))) # Add jtag targets (program and wipe) -$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE))) +$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG))) .PHONY: elf lss sym hex bin bino opfw elf: $(OUTDIR)/$(TARGET).elf diff --git a/flight/Project/OpenOCD/stm32f1x.cfg b/flight/Project/OpenOCD/stm32f1x.cfg new file mode 100644 index 000000000..9047b5aff --- /dev/null +++ b/flight/Project/OpenOCD/stm32f1x.cfg @@ -0,0 +1,75 @@ +# script for stm32 + +if { [info exists CHIPNAME] } { + set _CHIPNAME $CHIPNAME +} else { + set _CHIPNAME stm32 +} + +if { [info exists ENDIAN] } { + set _ENDIAN $ENDIAN +} else { + set _ENDIAN little +} + +# Work-area is a space in RAM used for flash programming +# By default use 16kB +if { [info exists WORKAREASIZE] } { + set _WORKAREASIZE $WORKAREASIZE +} else { + set _WORKAREASIZE 0x4000 +} + +# JTAG speed should be <= F_CPU/6. F_CPU after reset is 8MHz, so use F_JTAG = 1MHz +adapter_khz 1000 + +adapter_nsrst_delay 100 +jtag_ntrst_delay 100 + +#jtag scan chain +if { [info exists CPUTAPID ] } { + set _CPUTAPID $CPUTAPID +} else { + # See STM Document RM0008 + # Section 26.6.3 + set _CPUTAPID 0x3ba00477 +} +jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID + +if { [info exists BSTAPID ] } { + # FIXME this never gets used to override defaults... + set _BSTAPID $BSTAPID +} else { + # See STM Document RM0008 + # Section 29.6.2 + # Low density devices, Rev A + set _BSTAPID1 0x06412041 + # Medium density devices, Rev A + set _BSTAPID2 0x06410041 + # Medium density devices, Rev B and Rev Z + set _BSTAPID3 0x16410041 + set _BSTAPID4 0x06420041 + # High density devices, Rev A + set _BSTAPID5 0x06414041 + # Connectivity line devices, Rev A and Rev Z + set _BSTAPID6 0x06418041 + # XL line devices, Rev A + set _BSTAPID7 0x06430041 +} +jtag newtap $_CHIPNAME bs -irlen 5 -expected-id $_BSTAPID1 \ + -expected-id $_BSTAPID2 -expected-id $_BSTAPID3 \ + -expected-id $_BSTAPID4 -expected-id $_BSTAPID5 \ + -expected-id $_BSTAPID6 -expected-id $_BSTAPID7 + +set _TARGETNAME $_CHIPNAME.cpu +target create $_TARGETNAME cortex_m3 -endian $_ENDIAN -chain-position $_TARGETNAME -rtos auto + +$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0 + +# flash size will be probed +set _FLASHNAME $_CHIPNAME.flash +flash bank $_FLASHNAME stm32f1x 0x08000000 0 0 0 $_TARGETNAME + +# if srst is not fitted use SYSRESETREQ to +# perform a soft reset +cortex_m3 reset_config sysresetreq diff --git a/flight/Project/OpenOCD/stm32f2x.cfg b/flight/Project/OpenOCD/stm32f2x.cfg new file mode 100644 index 000000000..b5cea55e5 --- /dev/null +++ b/flight/Project/OpenOCD/stm32f2x.cfg @@ -0,0 +1,61 @@ +# script for stm32f2xxx + +if { [info exists CHIPNAME] } { + set _CHIPNAME $CHIPNAME +} else { + set _CHIPNAME stm32f2xxx +} + +if { [info exists ENDIAN] } { + set _ENDIAN $ENDIAN +} else { + set _ENDIAN little +} + +# Work-area is a space in RAM used for flash programming +# By default use 64kB +if { [info exists WORKAREASIZE] } { + set _WORKAREASIZE $WORKAREASIZE +} else { + set _WORKAREASIZE 0x10000 +} + +# JTAG speed should be <= F_CPU/6. F_CPU after reset is 8MHz, so use F_JTAG = 1MHz +# +# Since we may be running of an RC oscilator, we crank down the speed a +# bit more to be on the safe side. Perhaps superstition, but if are +# running off a crystal, we can run closer to the limit. Note +# that there can be a pretty wide band where things are more or less stable. +jtag_khz 1000 + +jtag_nsrst_delay 100 +jtag_ntrst_delay 100 + +#jtag scan chain +if { [info exists CPUTAPID ] } { + set _CPUTAPID $CPUTAPID +} else { + # See STM Document RM0033 + # Section 32.6.3 - corresponds to Cortex-M3 r2p0 + set _CPUTAPID 0x4ba00477 +} +jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID + +if { [info exists BSTAPID ] } { + set _BSTAPID $BSTAPID +} else { + # See STM Document RM0033 + # Section 32.6.2 + # + set _BSTAPID 0x06411041 +} +jtag newtap $_CHIPNAME bs -irlen 5 -expected-id $_BSTAPID + +set _TARGETNAME $_CHIPNAME.cpu +target create $_TARGETNAME cortex_m3 -endian $_ENDIAN -chain-position $_TARGETNAME -rtos auto + +$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0 + +set _FLASHNAME $_CHIPNAME.flash +flash bank $_FLASHNAME stm32f2x 0 0 0 0 $_TARGETNAME + diff --git a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj index 3a0fc1dfa..b860e748c 100644 --- a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj +++ b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj @@ -85,11 +85,22 @@ 6549E0D21279B3C800C5476F /* fifo_buffer.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = fifo_buffer.c; sourceTree = ""; }; 6549E0D31279B3CF00C5476F /* fifo_buffer.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = fifo_buffer.h; sourceTree = ""; }; 655268BC121FBD2900410C6E /* ahrscalibration.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = ahrscalibration.xml; sourceTree = ""; }; + 655B1A8E13B2FC0900B0E48D /* camerastabsettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = camerastabsettings.xml; sourceTree = ""; }; 656268C612DC1923007B0A0F /* nedaccel.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = nedaccel.xml; sourceTree = ""; }; 6562BE1713CCAD0600C823E8 /* pios_rcvr.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_rcvr.c; sourceTree = ""; }; 65632DF51251650300469B77 /* pios_board.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_board.h; sourceTree = ""; }; 65632DF61251650300469B77 /* STM32103CB_AHRS.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM32103CB_AHRS.h; sourceTree = ""; }; 65632DF71251650300469B77 /* STM3210E_OP.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM3210E_OP.h; sourceTree = ""; }; + 65643CAB1413322000A32F59 /* pios_rcvr_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_rcvr_priv.h; sourceTree = ""; }; + 65643CAC1413322000A32F59 /* pios_rcvr.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_rcvr.h; sourceTree = ""; }; + 65643CAD1413322000A32F59 /* pios_rtc_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_rtc_priv.h; sourceTree = ""; }; + 65643CAE1413322000A32F59 /* pios_sbus_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_sbus_priv.h; sourceTree = ""; }; + 65643CAF1413322000A32F59 /* pios_sbus.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_sbus.h; sourceTree = ""; }; + 65643CB01413322000A32F59 /* pios_spektrum_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_spektrum_priv.h; sourceTree = ""; }; + 65643CB91413456D00A32F59 /* pios_tim.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_tim.c; sourceTree = ""; }; + 65643CBA141350C200A32F59 /* pios_sbus.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_sbus.c; sourceTree = ""; }; + 65643CEC141429A100A32F59 /* NMEA.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = NMEA.c; sourceTree = ""; }; + 65643CEE141429AF00A32F59 /* NMEA.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = NMEA.h; sourceTree = ""; }; 6572CB1613D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_memory.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = link_STM32103CB_CC_Rev1_memory.ld; path = ../../PiOS/STM32F10x/link_STM32103CB_CC_Rev1_memory.ld; sourceTree = SOURCE_ROOT; }; 6572CB1713D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_sections.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = link_STM32103CB_CC_Rev1_sections.ld; path = ../../PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld; sourceTree = SOURCE_ROOT; }; 657CEEAD121DB6C8007A1FBE /* homelocation.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = homelocation.xml; sourceTree = ""; }; @@ -2680,7 +2691,6 @@ 65C35E7912EFB2F3004811C2 /* watchdogstatus.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = watchdogstatus.xml; sourceTree = ""; }; 65C35E9E12F0A834004811C2 /* uavobjecttemplate.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavobjecttemplate.c; sourceTree = ""; }; 65C35E9F12F0A834004811C2 /* uavobjectsinittemplate.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavobjectsinittemplate.c; sourceTree = ""; }; - 65C35EA012F0A834004811C2 /* uavobjectsinit_cc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavobjectsinit_cc.c; sourceTree = ""; }; 65C35EA112F0A834004811C2 /* uavobjectmanager.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavobjectmanager.c; sourceTree = ""; }; 65C35EA312F0A834004811C2 /* eventdispatcher.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = eventdispatcher.h; sourceTree = ""; }; 65C35EA412F0A834004811C2 /* uavobjectmanager.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = uavobjectmanager.h; sourceTree = ""; }; @@ -2690,9 +2700,13 @@ 65C35EA812F0A834004811C2 /* eventdispatcher.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = eventdispatcher.c; sourceTree = ""; }; 65C35F6612F0DC2D004811C2 /* attitude.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = attitude.c; sourceTree = ""; }; 65C35F6812F0DC2D004811C2 /* attitude.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = attitude.h; sourceTree = ""; }; + 65C9903C13A871B90082BD60 /* camerastab.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = camerastab.c; sourceTree = ""; }; + 65C9903E13A871B90082BD60 /* camerastab.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = camerastab.h; sourceTree = ""; }; 65D2CA841248F9A400B1E7D6 /* mixersettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = mixersettings.xml; sourceTree = ""; }; 65D2CA851248F9A400B1E7D6 /* mixerstatus.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = mixerstatus.xml; sourceTree = ""; }; + 65DEA79113F2143B00095B06 /* cameradesired.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = cameradesired.xml; sourceTree = ""; }; 65E410AE12F65AEA00725888 /* attitudesettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = attitudesettings.xml; sourceTree = ""; }; + 65E6D80713E3A4D0002A557A /* hwsettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = hwsettings.xml; sourceTree = ""; }; 65E6DF7112E02E8E00058553 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; path = Makefile; sourceTree = ""; }; 65E6DF7312E02E8E00058553 /* alarms.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = alarms.c; sourceTree = ""; }; 65E6DF7412E02E8E00058553 /* coptercontrol.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = coptercontrol.c; sourceTree = ""; }; @@ -3208,6 +3222,7 @@ 650D8E2812DFE16400D05CC9 /* Altitude */, 65C35F6512F0DC2D004811C2 /* Attitude */, 650D8E2E12DFE16400D05CC9 /* Battery */, + 65C9903B13A871B90082BD60 /* CameraStab */, 650D8E3212DFE16400D05CC9 /* Example */, 650D8E3B12DFE16400D05CC9 /* FirmwareIAP */, 650D8E3F12DFE16400D05CC9 /* FlightPlan */, @@ -3517,7 +3532,6 @@ children = ( 65C35E9E12F0A834004811C2 /* uavobjecttemplate.c */, 65C35E9F12F0A834004811C2 /* uavobjectsinittemplate.c */, - 65C35EA012F0A834004811C2 /* uavobjectsinit_cc.c */, 65C35EA112F0A834004811C2 /* uavobjectmanager.c */, 65C35EA212F0A834004811C2 /* inc */, 65C35EA812F0A834004811C2 /* eventdispatcher.c */, @@ -7422,6 +7436,7 @@ 65C35E4F12EFB2F3004811C2 /* uavobjectdefinition */ = { isa = PBXGroup; children = ( + 65E6D80713E3A4D0002A557A /* hwsettings.xml */, 65E8C788139AA2A800E1F979 /* accessorydesired.xml */, 65C35E5012EFB2F3004811C2 /* actuatorcommand.xml */, 65C35E5112EFB2F3004811C2 /* actuatordesired.xml */, @@ -7434,6 +7449,7 @@ 65E410AE12F65AEA00725888 /* attitudesettings.xml */, 65C35E5912EFB2F3004811C2 /* baroaltitude.xml */, 65C35E5A12EFB2F3004811C2 /* batterysettings.xml */, + 655B1A8E13B2FC0900B0E48D /* camerastabsettings.xml */, 652C8568132B632A00BFCC70 /* firmwareiapobj.xml */, 65C35E5C12EFB2F3004811C2 /* flightbatterystate.xml */, 65C35E5D12EFB2F3004811C2 /* flightplancontrol.xml */, @@ -7468,6 +7484,7 @@ 65C35E7712EFB2F3004811C2 /* velocityactual.xml */, 65C35E7812EFB2F3004811C2 /* velocitydesired.xml */, 65C35E7912EFB2F3004811C2 /* watchdogstatus.xml */, + 65DEA79113F2143B00095B06 /* cameradesired.xml */, ); path = uavobjectdefinition; sourceTree = ""; @@ -7501,6 +7518,23 @@ path = inc; sourceTree = ""; }; + 65C9903B13A871B90082BD60 /* CameraStab */ = { + isa = PBXGroup; + children = ( + 65C9903C13A871B90082BD60 /* camerastab.c */, + 65C9903D13A871B90082BD60 /* inc */, + ); + path = CameraStab; + sourceTree = ""; + }; + 65C9903D13A871B90082BD60 /* inc */ = { + isa = PBXGroup; + children = ( + 65C9903E13A871B90082BD60 /* camerastab.h */, + ); + path = inc; + sourceTree = ""; + }; 65E6DF7012E02E8E00058553 /* CopterControl */ = { isa = PBXGroup; children = ( @@ -7700,11 +7734,17 @@ 65E8F04811EFF25C00BBF654 /* pios_ppm.h */, 65E8F04911EFF25C00BBF654 /* pios_pwm.h */, 657FF86A12EA8BFB00801617 /* pios_pwm_priv.h */, + 65643CAC1413322000A32F59 /* pios_rcvr.h */, + 65643CAB1413322000A32F59 /* pios_rcvr_priv.h */, 6589A9E2131DF1C7006BD67C /* pios_rtc.h */, + 65643CAD1413322000A32F59 /* pios_rtc_priv.h */, + 65643CAE1413322000A32F59 /* pios_sbus_priv.h */, + 65643CAF1413322000A32F59 /* pios_sbus.h */, 65E8F04A11EFF25C00BBF654 /* pios_sdcard.h */, 65E8F04B11EFF25C00BBF654 /* pios_servo.h */, 65FBE14412E7C98100176B5A /* pios_servo_priv.h */, 65E8F04C11EFF25C00BBF654 /* pios_spektrum.h */, + 65643CB01413322000A32F59 /* pios_spektrum_priv.h */, 65E8F04D11EFF25C00BBF654 /* pios_spi.h */, 65E8F04E11EFF25C00BBF654 /* pios_spi_priv.h */, 65E8F04F11EFF25C00BBF654 /* pios_stm32.h */, @@ -7728,6 +7768,24 @@ 65E8F05811EFF25C00BBF654 /* STM32F10x */ = { isa = PBXGroup; children = ( + 65D1FBD813F51865006374A6 /* pios_bmp085.c */, + 6560A39D13EE277E00105DA5 /* pios_iap.c */, + 6560A39E13EE277E00105DA5 /* pios_sbus.c */, + 6560A38E13EE270C00105DA5 /* link_STM3210E_INS_BL_sections.ld */, + 6560A38F13EE270C00105DA5 /* link_STM3210E_INS_memory.ld */, + 6560A39013EE270C00105DA5 /* link_STM3210E_INS_sections.ld */, + 6560A39113EE270C00105DA5 /* link_STM3210E_OP_BL_sections.ld */, + 6560A39213EE270C00105DA5 /* link_STM3210E_OP_memory.ld */, + 6560A39313EE270C00105DA5 /* link_STM3210E_OP_sections.ld */, + 6560A39413EE270C00105DA5 /* link_STM32103CB_AHRS_BL_sections.ld */, + 6560A39513EE270C00105DA5 /* link_STM32103CB_AHRS_memory.ld */, + 6560A39613EE270C00105DA5 /* link_STM32103CB_AHRS_sections.ld */, + 6560A39713EE270C00105DA5 /* link_STM32103CB_CC_Rev1_BL_sections.ld */, + 6572CB1613D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_memory.ld */, + 6572CB1713D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_sections.ld */, + 6560A39813EE270C00105DA5 /* link_STM32103CB_PIPXTREME_BL_sections.ld */, + 6560A39913EE270C00105DA5 /* link_STM32103CB_PIPXTREME_memory.ld */, + 6560A39A13EE270C00105DA5 /* link_STM32103CB_PIPXTREME_sections.ld */, 65E8F05911EFF25C00BBF654 /* Libraries */, 65E8F0D811EFF25C00BBF654 /* link_stm32f10x_HD.ld */, 65E8F0DB11EFF25C00BBF654 /* link_stm32f10x_MD.ld */, @@ -7742,10 +7800,12 @@ 65E8F0E411EFF25C00BBF654 /* pios_ppm.c */, 65E8F0E511EFF25C00BBF654 /* pios_pwm.c */, 6589A9DB131DEE76006BD67C /* pios_rtc.c */, + 65643CBA141350C200A32F59 /* pios_sbus.c */, 65E8F0E611EFF25C00BBF654 /* pios_servo.c */, 65E8F0E711EFF25C00BBF654 /* pios_spektrum.c */, 65E8F0E811EFF25C00BBF654 /* pios_spi.c */, 65E8F0E911EFF25C00BBF654 /* pios_sys.c */, + 65643CB91413456D00A32F59 /* pios_tim.c */, 65E8F0EA11EFF25C00BBF654 /* pios_usart.c */, 65E8F0ED11EFF25C00BBF654 /* pios_usb_hid.c */, 651CF9E5120B5D8300EEFD70 /* pios_usb_hid_desc.c */, @@ -7763,8 +7823,6 @@ 65E8F05911EFF25C00BBF654 /* Libraries */ = { isa = PBXGroup; children = ( - 6572CB1613D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_memory.ld */, - 6572CB1713D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_sections.ld */, 65E8F05A11EFF25C00BBF654 /* CMSIS */, 65E8F06B11EFF25C00BBF654 /* dosfs */, 65E8F07111EFF25C00BBF654 /* FreeRTOS */, diff --git a/flight/Project/versionblob.py b/flight/Project/versionblob.py deleted file mode 100755 index 82440a746..000000000 --- a/flight/Project/versionblob.py +++ /dev/null @@ -1,99 +0,0 @@ -#!/usr/bin/env python - -# Generate a version blob for -# the OpenPilot firmware. -# -# By E. Lafargue (c) 2011 E. Lafargue & the OpenPilot team -# Licence: GPLv3 -# -### -# Usage: -# versionblob.py --append --firmware= --boardid= -# -# append: if present, then append blob to firmware file directly, otherwise create "blob.bin" -# firmware: the filename of the firmware binary -# boardid: as a string, the board code, for example "0401" for CC board version 1. -# should match the codes in firmware description files. -# -# We have 100 bytes for the whole description. -# -# Only the first 40 are visible on the FirmwareIAP uavobject, the remaining -# 60 are ok to use for packaging and will be saved in the flash -# -# Structure is: -# 4 bytes: header: "OpFw" -# 4 bytes: GIT commit tag (short version of SHA1) -# 4 bytes: Unix timestamp of compile time -# 2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files. -# 26 bytes: commit tag if it is there, otherwise branch name. Zero-padded -# ---- 40 bytes limit --- -# 20 bytes: SHA1 sum of the firmware. -# 40 bytes: free for now. - -import binascii -import os -from time import time -import argparse - -# Do the argument parsing: -parser = argparse.ArgumentParser(description='Generate firmware desciption blob') -parser.add_argument('--append', action='store_true') -parser.add_argument('--firmware', help='name of firmware binary file' , required=True) -parser.add_argument('--boardid', help='ID of board model, for example 0401 for CopterControl', required=True) -args = parser.parse_args() -print args - -if args.append == True: - print 'Appending description blob directly to ' + args.firmware - filename = args.firmware - file = open(filename,"ab") -else: - filename = 'blob.bin' - file = open(filename,"wb") - - -# Write the magic value: -file.write("OpFw") -# Get the short commit tag of the current git repository. -# Strip it to 8 characters for a 4 byte (int32) value. -# We have no full guarantee of unicity, but it is good enough -# with the rest of the information in the structure. -hs= os.popen('git rev-parse --short=8 HEAD').read().strip() -print "Version: " + hs -hb=binascii.a2b_hex(hs) -file.write(hb) -# Then the Unix time into a 32 bit integer: -print "Date: " + hex(int(time())).lstrip('0x') -hb = binascii.a2b_hex(hex(int(time())).lstrip('0x')) -file.write(hb) - -# Then write board type and board revision -hb = binascii.a2b_hex(args.boardid) -file.write(hb) - -# Last: a user-friendly description if it exists in GIT, otherwise -# just "unreleased" -hs = os.popen('git describe --exact-match').read() -if len(hs) == 0 : - print "Unreleased: get branch name instead" - hs = os.popen('git branch --contains HEAD').read() - -file.write(hs[0:26]) -file.write("\0"*(26-len(hs))) - -## Now we are at the 40 bytes mark. - -## Add the 20 byte SHA1 hash of the firmware: -import hashlib -sha1 = hashlib.sha1() -with open('build/coptercontrol/CopterControl.bin','rb') as f: - for chunk in iter(lambda: f.read(8192), ''): - sha1.update(chunk) -file.write(sha1.digest()) - -# Pad will null bytes: -file.write('\0'*40) - - -file.close() - diff --git a/flight/UAVObjects/inc/uavobjectsinit.h b/flight/UAVObjects/inc/uavobjectsinittemplate.h similarity index 93% rename from flight/UAVObjects/inc/uavobjectsinit.h rename to flight/UAVObjects/inc/uavobjectsinittemplate.h index ec946ba92..ec11c47ad 100644 --- a/flight/UAVObjects/inc/uavobjectsinit.h +++ b/flight/UAVObjects/inc/uavobjectsinittemplate.h @@ -29,4 +29,6 @@ void UAVObjectsInitializeAll(); +#define UAVOBJECTS_LARGEST $(SIZECALCULATION) + #endif // UAVOBJECTSINIT_H diff --git a/flight/UAVObjects/uavobjectsinittemplate.c b/flight/UAVObjects/uavobjectsinittemplate.c index 75a104d18..97a1525a4 100644 --- a/flight/UAVObjects/uavobjectsinittemplate.c +++ b/flight/UAVObjects/uavobjectsinittemplate.c @@ -36,5 +36,7 @@ $(OBJINC) */ void UAVObjectsInitializeAll() { +return; +// This function is no longer used anyway $(OBJINIT) } diff --git a/flight/UAVObjects/uavobjecttemplate.c b/flight/UAVObjects/uavobjecttemplate.c index 9dd45b09f..6d572dbcb 100644 --- a/flight/UAVObjects/uavobjecttemplate.c +++ b/flight/UAVObjects/uavobjecttemplate.c @@ -40,15 +40,19 @@ #include "$(NAMELC).h" // Private variables -static UAVObjHandle handle; +static UAVObjHandle handle = NULL; /** * Initialize object. * \return 0 Success - * \return -1 Failure + * \return -1 Failure to initialize or -2 for already initialized */ int32_t $(NAME)Initialize(void) { + // Don't set the handle to null if already registered + if(UAVObjGetByID($(NAMEUC)_OBJID) != NULL) + return -2; + // Register object with the object manager handle = UAVObjRegister($(NAMEUC)_OBJID, $(NAMEUC)_NAME, $(NAMEUC)_METANAME, 0, $(NAMEUC)_ISSINGLEINST, $(NAMEUC)_ISSETTINGS, $(NAMEUC)_NUMBYTES, &$(NAME)SetDefaults); @@ -64,8 +68,6 @@ int32_t $(NAME)Initialize(void) } } -UAVOBJ_INITCALL($(NAME)Initialize); - /** * Initialize object fields and metadata with the default values. * If a default value is not specified the object fields diff --git a/flight/UAVTalk/inc/uavtalk.h b/flight/UAVTalk/inc/uavtalk.h index 7a257620d..71114ce74 100644 --- a/flight/UAVTalk/inc/uavtalk.h +++ b/flight/UAVTalk/inc/uavtalk.h @@ -29,10 +29,6 @@ #ifndef UAVTALK_H #define UAVTALK_H -// Public constants -#define UAVTALK_WAITFOREVER -1 -#define UAVTALK_NOWAIT 0 - // Public types typedef int32_t (*UAVTalkOutputStream)(uint8_t* data, int32_t length); @@ -47,14 +43,17 @@ typedef struct { uint32_t rxErrors; } UAVTalkStats; +typedef void* UAVTalkConnection; + // Public functions -int32_t UAVTalkInitialize(UAVTalkOutputStream outputStream); -int32_t UAVTalkSetOutputStream(UAVTalkOutputStream outputStream); -int32_t UAVTalkSendObject(UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs); -int32_t UAVTalkSendObjectRequest(UAVObjHandle obj, uint16_t instId, int32_t timeoutMs); -int32_t UAVTalkProcessInputStream(uint8_t rxbyte); -void UAVTalkGetStats(UAVTalkStats* stats); -void UAVTalkResetStats(); +UAVTalkConnection UAVTalkInitialize(UAVTalkOutputStream outputStream, uint32_t maxPacketSize); +int32_t UAVTalkSetOutputStream(UAVTalkConnection connection, UAVTalkOutputStream outputStream); +UAVTalkOutputStream UAVTalkGetOutputStream(UAVTalkConnection connection); +int32_t UAVTalkSendObject(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs); +int32_t UAVTalkSendObjectRequest(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, int32_t timeoutMs); +int32_t UAVTalkProcessInputStream(UAVTalkConnection connection, uint8_t rxbyte); +void UAVTalkGetStats(UAVTalkConnection connection, UAVTalkStats *stats); +void UAVTalkResetStats(UAVTalkConnection connection); #endif // UAVTALK_H /** diff --git a/flight/UAVTalk/inc/uavtalk_priv.h b/flight/UAVTalk/inc/uavtalk_priv.h new file mode 100644 index 000000000..06f08b997 --- /dev/null +++ b/flight/UAVTalk/inc/uavtalk_priv.h @@ -0,0 +1,111 @@ +/** + ****************************************************************************** + * @addtogroup OpenPilotSystem OpenPilot System + * @{ + * @addtogroup OpenPilotLibraries OpenPilot System Libraries + * @{ + * @file uavtalk.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Private include file of the UAVTalk library + * @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 UAVTALK_PRIV_H +#define UAVTALK_PRIV_H + +#include "uavobjectsinit.h" + +// Private types and constants +typedef struct { + uint8_t sync; + uint8_t type; + uint16_t size; + uint32_t objId; +} uavtalk_min_header; +#define UAVTALK_MIN_HEADER_LENGTH sizeof(uavtalk_min_header) + +typedef struct { + uint8_t sync; + uint8_t type; + uint16_t size; + uint32_t objId; + uint16_t instId; +} uavtalk_max_header; +#define UAVTALK_MAX_HEADER_LENGTH sizeof(uavtalk_max_header) + +typedef uint8_t uavtalk_checksum; +#define UAVTALK_CHECKSUM_LENGTH sizeof(uavtalk_checksum) +#define UAVTALK_MAX_PAYLOAD_LENGTH (UAVOBJECTS_LARGEST + 1) +#define UAVTALK_MIN_PACKET_LENGTH UAVTALK_MAX_HEADER_LENGTH + UAVTALK_CHECKSUM_LENGTH +#define UAVTALK_MAX_PACKET_LENGTH UAVTALK_MIN_PACKET_LENGTH + UAVTALK_MAX_PAYLOAD_LENGTH + +typedef enum {UAVTALK_STATE_SYNC, UAVTALK_STATE_TYPE, UAVTALK_STATE_SIZE, UAVTALK_STATE_OBJID, UAVTALK_STATE_INSTID, UAVTALK_STATE_DATA, UAVTALK_STATE_CS} UAVTalkRxState; + +typedef struct { + UAVObjHandle obj; + uint8_t type; + uint16_t packet_size; + uint32_t objId; + uint16_t instId; + uint32_t length; + uint8_t cs; + int32_t rxCount; + UAVTalkRxState state; + uint16_t rxPacketLength; +} UAVTalkInputProcessor; + +typedef struct { + uint8_t canari; + UAVTalkOutputStream outStream; + xSemaphoreHandle lock; + xSemaphoreHandle transLock; + xSemaphoreHandle respSema; + UAVObjHandle respObj; + uint16_t respInstId; + UAVTalkStats stats; + UAVTalkInputProcessor iproc; + uint8_t *rxBuffer; + uint32_t txSize; + uint8_t *txBuffer; +} UAVTalkConnectionData; + +#define UAVTALK_CANARI 0xCA +#define UAVTALK_WAITFOREVER -1 +#define UAVTALK_NOWAIT 0 +#define UAVTALK_SYNC_VAL 0x3C +#define UAVTALK_TYPE_MASK 0xF8 +#define UAVTALK_TYPE_VER 0x20 +#define UAVTALK_TYPE_OBJ (UAVTALK_TYPE_VER | 0x00) +#define UAVTALK_TYPE_OBJ_REQ (UAVTALK_TYPE_VER | 0x01) +#define UAVTALK_TYPE_OBJ_ACK (UAVTALK_TYPE_VER | 0x02) +#define UAVTALK_TYPE_ACK (UAVTALK_TYPE_VER | 0x03) +#define UAVTALK_TYPE_NACK (UAVTALK_TYPE_VER | 0x04) + +//macros +#define CHECKCONHANDLE(handle,variable,failcommand) \ + variable = (UAVTalkConnectionData*) handle; \ + if (variable == NULL || variable->canari != UAVTALK_CANARI) { \ + failcommand; \ + } + +#endif // UAVTALK__PRIV_H +/** + * @} + * @} + */ diff --git a/flight/UAVTalk/uavtalk.c b/flight/UAVTalk/uavtalk.c index 48ad03f53..236915b28 100644 --- a/flight/UAVTalk/uavtalk.c +++ b/flight/UAVTalk/uavtalk.c @@ -30,113 +30,145 @@ */ #include "openpilot.h" +#include "uavtalk_priv.h" -// Private constants -#define SYNC_VAL 0x3C -#define TYPE_MASK 0xF8 -#define TYPE_VER 0x20 -#define TYPE_OBJ (TYPE_VER | 0x00) -#define TYPE_OBJ_REQ (TYPE_VER | 0x01) -#define TYPE_OBJ_ACK (TYPE_VER | 0x02) -#define TYPE_ACK (TYPE_VER | 0x03) -#define TYPE_NACK (TYPE_VER | 0x04) - -#define MIN_HEADER_LENGTH 8 // sync(1), type (1), size (2), object ID (4) -#define MAX_HEADER_LENGTH 10 // sync(1), type (1), size (2), object ID (4), instance ID (2, not used in single objects) - -#define CHECKSUM_LENGTH 1 - -#define MAX_PAYLOAD_LENGTH 256 - -#define MAX_PACKET_LENGTH (MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH + CHECKSUM_LENGTH) - - -// Private types -typedef enum {STATE_SYNC, STATE_TYPE, STATE_SIZE, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS} RxState; - -// Private variables -static UAVTalkOutputStream outStream; -static xSemaphoreHandle lock; -static xSemaphoreHandle transLock; -static xSemaphoreHandle respSema; -static UAVObjHandle respObj; -static uint16_t respInstId; -static uint8_t rxBuffer[MAX_PACKET_LENGTH]; -static uint8_t txBuffer[MAX_PACKET_LENGTH]; -static UAVTalkStats stats; // Private functions -static int32_t objectTransaction(UAVObjHandle objectId, uint16_t instId, uint8_t type, int32_t timeout); -static int32_t sendObject(UAVObjHandle obj, uint16_t instId, uint8_t type); -static int32_t sendSingleObject(UAVObjHandle obj, uint16_t instId, uint8_t type); -static int32_t sendNack(uint32_t objId); -static int32_t receiveObject(uint8_t type, uint32_t objId, uint16_t instId, uint8_t* data, int32_t length); -static void updateAck(UAVObjHandle obj, uint16_t instId); +static int32_t objectTransaction(UAVTalkConnectionData *connection, UAVObjHandle objectId, uint16_t instId, uint8_t type, int32_t timeout); +static int32_t sendObject(UAVTalkConnectionData *connection, UAVObjHandle obj, uint16_t instId, uint8_t type); +static int32_t sendSingleObject(UAVTalkConnectionData *connection, UAVObjHandle obj, uint16_t instId, uint8_t type); +static int32_t sendNack(UAVTalkConnectionData *connection, uint32_t objId); +static int32_t receiveObject(UAVTalkConnectionData *connection, uint8_t type, uint32_t objId, uint16_t instId, uint8_t* data, int32_t length); +static void updateAck(UAVTalkConnectionData *connection, UAVObjHandle obj, uint16_t instId); /** * Initialize the UAVTalk library + * \param[in] connection UAVTalkConnection to be used * \param[in] outputStream Function pointer that is called to send a data buffer * \return 0 Success * \return -1 Failure */ -int32_t UAVTalkInitialize(UAVTalkOutputStream outputStream) +UAVTalkConnection UAVTalkInitialize(UAVTalkOutputStream outputStream, uint32_t maxPacketSize) { - outStream = outputStream; - lock = xSemaphoreCreateRecursiveMutex(); - transLock = xSemaphoreCreateRecursiveMutex(); - vSemaphoreCreateBinary(respSema); - xSemaphoreTake(respSema, 0); // reset to zero - UAVTalkResetStats(); + if (maxPacketSize<1) return 0; + // allocate object + UAVTalkConnectionData * connection = pvPortMalloc(sizeof(UAVTalkConnectionData)); + if (!connection) return 0; + connection->canari = UAVTALK_CANARI; + connection->iproc.rxPacketLength = 0; + connection->iproc.state = UAVTALK_STATE_SYNC; + connection->outStream = outputStream; + connection->lock = xSemaphoreCreateRecursiveMutex(); + connection->transLock = xSemaphoreCreateRecursiveMutex(); + connection->txSize = maxPacketSize; + // allocate buffers + connection->rxBuffer = pvPortMalloc(UAVTALK_MAX_PACKET_LENGTH); + if (!connection->rxBuffer) return 0; + connection->txBuffer = pvPortMalloc(UAVTALK_MAX_PACKET_LENGTH); + if (!connection->txBuffer) return 0; + vSemaphoreCreateBinary(connection->respSema); + xSemaphoreTake(connection->respSema, 0); // reset to zero + UAVTalkResetStats( (UAVTalkConnection) connection ); + return (UAVTalkConnection) connection; +} + +/** + * Set the communication output stream + * \param[in] connection UAVTalkConnection to be used + * \param[in] outputStream Function pointer that is called to send a data buffer + * \return 0 Success + * \return -1 Failure + */ +int32_t UAVTalkSetOutputStream(UAVTalkConnection connectionHandle, UAVTalkOutputStream outputStream) +{ + + UAVTalkConnectionData *connection; + CHECKCONHANDLE(connectionHandle,connection,return -1); + + // Lock + xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY); + + // set output stream + connection->outStream = outputStream; + + // Release lock + xSemaphoreGiveRecursive(connection->lock); + return 0; + +} + +/** + * Get current output stream + * \param[in] connection UAVTalkConnection to be used + * @return UAVTarlkOutputStream the output stream used + */ +UAVTalkOutputStream UAVTalkGetOutputStream(UAVTalkConnection connectionHandle) +{ + UAVTalkConnectionData *connection; + CHECKCONHANDLE(connectionHandle,connection,return NULL); + return connection->outStream; } /** * Get communication statistics counters + * \param[in] connection UAVTalkConnection to be used * @param[out] statsOut Statistics counters */ -void UAVTalkGetStats(UAVTalkStats* statsOut) +void UAVTalkGetStats(UAVTalkConnection connectionHandle, UAVTalkStats* statsOut) { + UAVTalkConnectionData *connection; + CHECKCONHANDLE(connectionHandle,connection,return ); + // Lock - xSemaphoreTakeRecursive(lock, portMAX_DELAY); + xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY); // Copy stats - memcpy(statsOut, &stats, sizeof(UAVTalkStats)); + memcpy(statsOut, &connection->stats, sizeof(UAVTalkStats)); // Release lock - xSemaphoreGiveRecursive(lock); + xSemaphoreGiveRecursive(connection->lock); } /** * Reset the statistics counters. + * \param[in] connection UAVTalkConnection to be used */ -void UAVTalkResetStats() +void UAVTalkResetStats(UAVTalkConnection connectionHandle) { + UAVTalkConnectionData *connection; + CHECKCONHANDLE(connectionHandle,connection,return); + // Lock - xSemaphoreTakeRecursive(lock, portMAX_DELAY); + xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY); // Clear stats - memset(&stats, 0, sizeof(UAVTalkStats)); + memset(&connection->stats, 0, sizeof(UAVTalkStats)); // Release lock - xSemaphoreGiveRecursive(lock); + xSemaphoreGiveRecursive(connection->lock); } /** * Request an update for the specified object, on success the object data would have been * updated by the GCS. + * \param[in] connection UAVTalkConnection to be used * \param[in] obj Object to update * \param[in] instId The instance ID or UAVOBJ_ALL_INSTANCES for all instances. * \param[in] timeout Time to wait for the response, when zero it will return immediately * \return 0 Success * \return -1 Failure */ -int32_t UAVTalkSendObjectRequest(UAVObjHandle obj, uint16_t instId, int32_t timeout) +int32_t UAVTalkSendObjectRequest(UAVTalkConnection connectionHandle, UAVObjHandle obj, uint16_t instId, int32_t timeout) { - return objectTransaction(obj, instId, TYPE_OBJ_REQ, timeout); + UAVTalkConnectionData *connection; + CHECKCONHANDLE(connectionHandle,connection,return -1); + return objectTransaction(connection, obj, instId, UAVTALK_TYPE_OBJ_REQ, timeout); } /** * Send the specified object through the telemetry link. + * \param[in] connection UAVTalkConnection to be used * \param[in] obj Object to send * \param[in] instId The instance ID or UAVOBJ_ALL_INSTANCES for all instances. * \param[in] acked Selects if an ack is required (1:ack required, 0: ack not required) @@ -144,69 +176,72 @@ int32_t UAVTalkSendObjectRequest(UAVObjHandle obj, uint16_t instId, int32_t time * \return 0 Success * \return -1 Failure */ -int32_t UAVTalkSendObject(UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs) +int32_t UAVTalkSendObject(UAVTalkConnection connectionHandle, UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs) { + UAVTalkConnectionData *connection; + CHECKCONHANDLE(connectionHandle,connection,return -1); // Send object if (acked == 1) { - return objectTransaction(obj, instId, TYPE_OBJ_ACK, timeoutMs); + return objectTransaction(connection, obj, instId, UAVTALK_TYPE_OBJ_ACK, timeoutMs); } else { - return objectTransaction(obj, instId, TYPE_OBJ, timeoutMs); + return objectTransaction(connection, obj, instId, UAVTALK_TYPE_OBJ, timeoutMs); } } /** * Execute the requested transaction on an object. + * \param[in] connection UAVTalkConnection to be used * \param[in] obj Object * \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES for all instances. * \param[in] type Transaction type - * TYPE_OBJ: send object, - * TYPE_OBJ_REQ: request object update - * TYPE_OBJ_ACK: send object with an ack + * UAVTALK_TYPE_OBJ: send object, + * UAVTALK_TYPE_OBJ_REQ: request object update + * UAVTALK_TYPE_OBJ_ACK: send object with an ack * \return 0 Success * \return -1 Failure */ -static int32_t objectTransaction(UAVObjHandle obj, uint16_t instId, uint8_t type, int32_t timeoutMs) +static int32_t objectTransaction(UAVTalkConnectionData *connection, UAVObjHandle obj, uint16_t instId, uint8_t type, int32_t timeoutMs) { int32_t respReceived; // Send object depending on if a response is needed - if (type == TYPE_OBJ_ACK || type == TYPE_OBJ_REQ) + if (type == UAVTALK_TYPE_OBJ_ACK || type == UAVTALK_TYPE_OBJ_REQ) { // Get transaction lock (will block if a transaction is pending) - xSemaphoreTakeRecursive(transLock, portMAX_DELAY); + xSemaphoreTakeRecursive(connection->transLock, portMAX_DELAY); // Send object - xSemaphoreTakeRecursive(lock, portMAX_DELAY); - respObj = obj; - respInstId = instId; - sendObject(obj, instId, type); - xSemaphoreGiveRecursive(lock); + xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY); + connection->respObj = obj; + connection->respInstId = instId; + sendObject(connection, obj, instId, type); + xSemaphoreGiveRecursive(connection->lock); // Wait for response (or timeout) - respReceived = xSemaphoreTake(respSema, timeoutMs/portTICK_RATE_MS); + respReceived = xSemaphoreTake(connection->respSema, timeoutMs/portTICK_RATE_MS); // Check if a response was received if (respReceived == pdFALSE) { // Cancel transaction - xSemaphoreTakeRecursive(lock, portMAX_DELAY); - xSemaphoreTake(respSema, 0); // non blocking call to make sure the value is reset to zero (binary sema) - respObj = 0; - xSemaphoreGiveRecursive(lock); - xSemaphoreGiveRecursive(transLock); + xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY); + xSemaphoreTake(connection->respSema, 0); // non blocking call to make sure the value is reset to zero (binary sema) + connection->respObj = 0; + xSemaphoreGiveRecursive(connection->lock); + xSemaphoreGiveRecursive(connection->transLock); return -1; } else { - xSemaphoreGiveRecursive(transLock); + xSemaphoreGiveRecursive(connection->transLock); return 0; } } - else if (type == TYPE_OBJ) + else if (type == UAVTALK_TYPE_OBJ) { - xSemaphoreTakeRecursive(lock, portMAX_DELAY); - sendObject(obj, instId, TYPE_OBJ); - xSemaphoreGiveRecursive(lock); + xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY); + sendObject(connection, obj, instId, UAVTALK_TYPE_OBJ); + xSemaphoreGiveRecursive(connection->lock); return 0; } else @@ -217,222 +252,214 @@ static int32_t objectTransaction(UAVObjHandle obj, uint16_t instId, uint8_t type /** * Process an byte from the telemetry stream. + * \param[in] connection UAVTalkConnection to be used * \param[in] rxbyte Received byte * \return 0 Success * \return -1 Failure */ -int32_t UAVTalkProcessInputStream(uint8_t rxbyte) +int32_t UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyte) { - static UAVObjHandle obj; - static uint8_t type; - static uint16_t packet_size; - static uint32_t objId; - static uint16_t instId; - static uint32_t length; - static uint8_t cs, csRx; - static int32_t rxCount; - static RxState state = STATE_SYNC; - static uint16_t rxPacketLength = 0; + UAVTalkConnectionData *connection; + CHECKCONHANDLE(connectionHandle,connection,return -1); + + UAVTalkInputProcessor *iproc = &connection->iproc; + ++connection->stats.rxBytes; - ++stats.rxBytes; - - if (rxPacketLength < 0xffff) - rxPacketLength++; // update packet byte count + if (iproc->rxPacketLength < 0xffff) + iproc->rxPacketLength++; // update packet byte count // Receive state machine - switch (state) + switch (iproc->state) { - case STATE_SYNC: - if (rxbyte != SYNC_VAL) + case UAVTALK_STATE_SYNC: + if (rxbyte != UAVTALK_SYNC_VAL) break; // Initialize and update the CRC - cs = PIOS_CRC_updateByte(0, rxbyte); + iproc->cs = PIOS_CRC_updateByte(0, rxbyte); - rxPacketLength = 1; + iproc->rxPacketLength = 1; - state = STATE_TYPE; + iproc->state = UAVTALK_STATE_TYPE; break; - case STATE_TYPE: + case UAVTALK_STATE_TYPE: // update the CRC - cs = PIOS_CRC_updateByte(cs, rxbyte); + iproc->cs = PIOS_CRC_updateByte(iproc->cs, rxbyte); - if ((rxbyte & TYPE_MASK) != TYPE_VER) + if ((rxbyte & UAVTALK_TYPE_MASK) != UAVTALK_TYPE_VER) { - state = STATE_SYNC; + iproc->state = UAVTALK_STATE_SYNC; break; } - type = rxbyte; + iproc->type = rxbyte; - packet_size = 0; + iproc->packet_size = 0; - state = STATE_SIZE; - rxCount = 0; + iproc->state = UAVTALK_STATE_SIZE; + iproc->rxCount = 0; break; - case STATE_SIZE: + case UAVTALK_STATE_SIZE: // update the CRC - cs = PIOS_CRC_updateByte(cs, rxbyte); + iproc->cs = PIOS_CRC_updateByte(iproc->cs, rxbyte); - if (rxCount == 0) + if (iproc->rxCount == 0) { - packet_size += rxbyte; - rxCount++; + iproc->packet_size += rxbyte; + iproc->rxCount++; break; } - packet_size += rxbyte << 8; + iproc->packet_size += rxbyte << 8; - if (packet_size < MIN_HEADER_LENGTH || packet_size > MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH) + if (iproc->packet_size < UAVTALK_MIN_HEADER_LENGTH || iproc->packet_size > UAVTALK_MAX_HEADER_LENGTH + UAVTALK_MAX_PAYLOAD_LENGTH) { // incorrect packet size - state = STATE_SYNC; + iproc->state = UAVTALK_STATE_SYNC; break; } - rxCount = 0; - objId = 0; - state = STATE_OBJID; + iproc->rxCount = 0; + iproc->objId = 0; + iproc->state = UAVTALK_STATE_OBJID; break; - case STATE_OBJID: + case UAVTALK_STATE_OBJID: // update the CRC - cs = PIOS_CRC_updateByte(cs, rxbyte); + iproc->cs = PIOS_CRC_updateByte(iproc->cs, rxbyte); - objId += rxbyte << (8*(rxCount++)); + iproc->objId += rxbyte << (8*(iproc->rxCount++)); - if (rxCount < 4) + if (iproc->rxCount < 4) break; // Search for object, if not found reset state machine // except if we got a OBJ_REQ for an object which does not // exist, in which case we'll send a NACK - obj = UAVObjGetByID(objId); - if (obj == 0 && type != TYPE_OBJ_REQ) + iproc->obj = UAVObjGetByID(iproc->objId); + if (iproc->obj == 0 && iproc->type != UAVTALK_TYPE_OBJ_REQ) { - stats.rxErrors++; - state = STATE_SYNC; + connection->stats.rxErrors++; + iproc->state = UAVTALK_STATE_SYNC; break; } // Determine data length - if (type == TYPE_OBJ_REQ || type == TYPE_ACK || type == TYPE_NACK) - length = 0; + if (iproc->type == UAVTALK_TYPE_OBJ_REQ || iproc->type == UAVTALK_TYPE_ACK || iproc->type == UAVTALK_TYPE_NACK) + iproc->length = 0; else - length = UAVObjGetNumBytes(obj); + iproc->length = UAVObjGetNumBytes(iproc->obj); // Check length and determine next state - if (length >= MAX_PAYLOAD_LENGTH) + if (iproc->length >= UAVTALK_MAX_PAYLOAD_LENGTH) { - stats.rxErrors++; - state = STATE_SYNC; + connection->stats.rxErrors++; + iproc->state = UAVTALK_STATE_SYNC; break; } // Check the lengths match - if ((rxPacketLength + length) != packet_size) + if ((iproc->rxPacketLength + iproc->length) != iproc->packet_size) { // packet error - mismatched packet size - stats.rxErrors++; - state = STATE_SYNC; + connection->stats.rxErrors++; + iproc->state = UAVTALK_STATE_SYNC; break; } - instId = 0; - if (obj == 0) + iproc->instId = 0; + if (iproc->obj == 0) { // If this is a NACK, we skip to Checksum - state = STATE_CS; - rxCount = 0; + iproc->state = UAVTALK_STATE_CS; + iproc->rxCount = 0; } // Check if this is a single instance object (i.e. if the instance ID field is coming next) - else if (UAVObjIsSingleInstance(obj)) + else if (UAVObjIsSingleInstance(iproc->obj)) { // If there is a payload get it, otherwise receive checksum - if (length > 0) - state = STATE_DATA; + if (iproc->length > 0) + iproc->state = UAVTALK_STATE_DATA; else - state = STATE_CS; + iproc->state = UAVTALK_STATE_CS; - rxCount = 0; + iproc->rxCount = 0; } else { - state = STATE_INSTID; - rxCount = 0; + iproc->state = UAVTALK_STATE_INSTID; + iproc->rxCount = 0; } break; - case STATE_INSTID: + case UAVTALK_STATE_INSTID: // update the CRC - cs = PIOS_CRC_updateByte(cs, rxbyte); + iproc->cs = PIOS_CRC_updateByte(iproc->cs, rxbyte); - instId += rxbyte << (8*(rxCount++)); + iproc->instId += rxbyte << (8*(iproc->rxCount++)); - if (rxCount < 2) + if (iproc->rxCount < 2) break; - rxCount = 0; + iproc->rxCount = 0; // If there is a payload get it, otherwise receive checksum - if (length > 0) - state = STATE_DATA; + if (iproc->length > 0) + iproc->state = UAVTALK_STATE_DATA; else - state = STATE_CS; + iproc->state = UAVTALK_STATE_CS; break; - case STATE_DATA: + case UAVTALK_STATE_DATA: // update the CRC - cs = PIOS_CRC_updateByte(cs, rxbyte); + iproc->cs = PIOS_CRC_updateByte(iproc->cs, rxbyte); - rxBuffer[rxCount++] = rxbyte; - if (rxCount < length) + connection->rxBuffer[iproc->rxCount++] = rxbyte; + if (iproc->rxCount < iproc->length) break; - state = STATE_CS; - rxCount = 0; + iproc->state = UAVTALK_STATE_CS; + iproc->rxCount = 0; break; - case STATE_CS: + case UAVTALK_STATE_CS: // the CRC byte - csRx = rxbyte; - - if (csRx != cs) + if (rxbyte != iproc->cs) { // packet error - faulty CRC - stats.rxErrors++; - state = STATE_SYNC; + connection->stats.rxErrors++; + iproc->state = UAVTALK_STATE_SYNC; break; } - if (rxPacketLength != (packet_size + 1)) + if (iproc->rxPacketLength != (iproc->packet_size + 1)) { // packet error - mismatched packet size - stats.rxErrors++; - state = STATE_SYNC; + connection->stats.rxErrors++; + iproc->state = UAVTALK_STATE_SYNC; break; } - xSemaphoreTakeRecursive(lock, portMAX_DELAY); - receiveObject(type, objId, instId, rxBuffer, length); - stats.rxObjectBytes += length; - stats.rxObjects++; - xSemaphoreGiveRecursive(lock); + xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY); + receiveObject(connection, iproc->type, iproc->objId, iproc->instId, connection->rxBuffer, iproc->length); + connection->stats.rxObjectBytes += iproc->length; + connection->stats.rxObjects++; + xSemaphoreGiveRecursive(connection->lock); - state = STATE_SYNC; + iproc->state = UAVTALK_STATE_SYNC; break; default: - stats.rxErrors++; - state = STATE_SYNC; + connection->stats.rxErrors++; + iproc->state = UAVTALK_STATE_SYNC; } // Done @@ -441,7 +468,8 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte) /** * Receive an object. This function process objects received through the telemetry stream. - * \param[in] type Type of received message (TYPE_OBJ, TYPE_OBJ_REQ, TYPE_OBJ_ACK, TYPE_ACK, TYPE_NACK) + * \param[in] connection UAVTalkConnection to be used + * \param[in] type Type of received message (UAVTALK_TYPE_OBJ, UAVTALK_TYPE_OBJ_REQ, UAVTALK_TYPE_OBJ_ACK, UAVTALK_TYPE_ACK, UAVTALK_TYPE_NACK) * \param[in] objId ID of the object to work on * \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES for all instances. * \param[in] data Data buffer @@ -449,9 +477,9 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte) * \return 0 Success * \return -1 Failure */ -static int32_t receiveObject(uint8_t type, uint32_t objId, uint16_t instId, uint8_t* data, int32_t length) +static int32_t receiveObject(UAVTalkConnectionData *connection, uint8_t type, uint32_t objId, uint16_t instId, uint8_t* data, int32_t length) { - static UAVObjHandle obj; + UAVObjHandle obj; int32_t ret = 0; // Get the handle to the Object. Will be zero @@ -460,21 +488,21 @@ static int32_t receiveObject(uint8_t type, uint32_t objId, uint16_t instId, uint // Process message type switch (type) { - case TYPE_OBJ: + case UAVTALK_TYPE_OBJ: // All instances, not allowed for OBJ messages if (instId != UAVOBJ_ALL_INSTANCES) { // Unpack object, if the instance does not exist it will be created! UAVObjUnpack(obj, instId, data); // Check if an ack is pending - updateAck(obj, instId); + updateAck(connection, obj, instId); } else { ret = -1; } break; - case TYPE_OBJ_ACK: + case UAVTALK_TYPE_OBJ_ACK: // All instances, not allowed for OBJ_ACK messages if (instId != UAVOBJ_ALL_INSTANCES) { @@ -482,7 +510,7 @@ static int32_t receiveObject(uint8_t type, uint32_t objId, uint16_t instId, uint if ( UAVObjUnpack(obj, instId, data) == 0 ) { // Transmit ACK - sendObject(obj, instId, TYPE_ACK); + sendObject(connection, obj, instId, UAVTALK_TYPE_ACK); } else { @@ -494,22 +522,22 @@ static int32_t receiveObject(uint8_t type, uint32_t objId, uint16_t instId, uint ret = -1; } break; - case TYPE_OBJ_REQ: + case UAVTALK_TYPE_OBJ_REQ: // Send requested object if message is of type OBJ_REQ if (obj == 0) - sendNack(objId); + sendNack(connection, objId); else - sendObject(obj, instId, TYPE_OBJ); + sendObject(connection, obj, instId, UAVTALK_TYPE_OBJ); break; - case TYPE_NACK: + case UAVTALK_TYPE_NACK: // Do nothing on flight side, let it time out. break; - case TYPE_ACK: + case UAVTALK_TYPE_ACK: // All instances, not allowed for ACK messages if (instId != UAVOBJ_ALL_INSTANCES) { // Check if an ack is pending - updateAck(obj, instId); + updateAck(connection, obj, instId); } else { @@ -525,25 +553,29 @@ static int32_t receiveObject(uint8_t type, uint32_t objId, uint16_t instId, uint /** * Check if an ack is pending on an object and give response semaphore + * \param[in] connection UAVTalkConnection to be used + * \param[in] obj Object + * \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES for all instances. */ -static void updateAck(UAVObjHandle obj, uint16_t instId) +static void updateAck(UAVTalkConnectionData *connection, UAVObjHandle obj, uint16_t instId) { - if (respObj == obj && (respInstId == instId || respInstId == UAVOBJ_ALL_INSTANCES)) + if (connection->respObj == obj && (connection->respInstId == instId || connection->respInstId == UAVOBJ_ALL_INSTANCES)) { - xSemaphoreGive(respSema); - respObj = 0; + xSemaphoreGive(connection->respSema); + connection->respObj = 0; } } /** * Send an object through the telemetry link. + * \param[in] connection UAVTalkConnection to be used * \param[in] obj Object handle to send * \param[in] instId The instance ID or UAVOBJ_ALL_INSTANCES for all instances * \param[in] type Transaction type * \return 0 Success * \return -1 Failure */ -static int32_t sendObject(UAVObjHandle obj, uint16_t instId, uint8_t type) +static int32_t sendObject(UAVTalkConnectionData *connection, UAVObjHandle obj, uint16_t instId, uint8_t type) { uint32_t numInst; uint32_t n; @@ -555,7 +587,7 @@ static int32_t sendObject(UAVObjHandle obj, uint16_t instId, uint8_t type) } // Process message type - if ( type == TYPE_OBJ || type == TYPE_OBJ_ACK ) + if ( type == UAVTALK_TYPE_OBJ || type == UAVTALK_TYPE_OBJ_ACK ) { if (instId == UAVOBJ_ALL_INSTANCES) { @@ -564,24 +596,24 @@ static int32_t sendObject(UAVObjHandle obj, uint16_t instId, uint8_t type) // Send all instances for (n = 0; n < numInst; ++n) { - sendSingleObject(obj, n, type); + sendSingleObject(connection, obj, n, type); } return 0; } else { - return sendSingleObject(obj, instId, type); + return sendSingleObject(connection, obj, instId, type); } } - else if (type == TYPE_OBJ_REQ) + else if (type == UAVTALK_TYPE_OBJ_REQ) { - return sendSingleObject(obj, instId, TYPE_OBJ_REQ); + return sendSingleObject(connection, obj, instId, UAVTALK_TYPE_OBJ_REQ); } - else if (type == TYPE_ACK) + else if (type == UAVTALK_TYPE_ACK) { if ( instId != UAVOBJ_ALL_INSTANCES ) { - return sendSingleObject(obj, instId, TYPE_ACK); + return sendSingleObject(connection, obj, instId, UAVTALK_TYPE_ACK); } else { @@ -596,13 +628,14 @@ static int32_t sendObject(UAVObjHandle obj, uint16_t instId, uint8_t type) /** * Send an object through the telemetry link. + * \param[in] connection UAVTalkConnection to be used * \param[in] obj Object handle to send * \param[in] instId The instance ID (can NOT be UAVOBJ_ALL_INSTANCES, use sendObject() instead) * \param[in] type Transaction type * \return 0 Success * \return -1 Failure */ -static int32_t sendSingleObject(UAVObjHandle obj, uint16_t instId, uint8_t type) +static int32_t sendSingleObject(UAVTalkConnectionData *connection, UAVObjHandle obj, uint16_t instId, uint8_t type) { int32_t length; int32_t dataOffset; @@ -610,13 +643,13 @@ static int32_t sendSingleObject(UAVObjHandle obj, uint16_t instId, uint8_t type) // Setup type and object id fields objId = UAVObjGetID(obj); - txBuffer[0] = SYNC_VAL; // sync byte - txBuffer[1] = type; + connection->txBuffer[0] = UAVTALK_SYNC_VAL; // sync byte + connection->txBuffer[1] = type; // data length inserted here below - txBuffer[4] = (uint8_t)(objId & 0xFF); - txBuffer[5] = (uint8_t)((objId >> 8) & 0xFF); - txBuffer[6] = (uint8_t)((objId >> 16) & 0xFF); - txBuffer[7] = (uint8_t)((objId >> 24) & 0xFF); + connection->txBuffer[4] = (uint8_t)(objId & 0xFF); + connection->txBuffer[5] = (uint8_t)((objId >> 8) & 0xFF); + connection->txBuffer[6] = (uint8_t)((objId >> 16) & 0xFF); + connection->txBuffer[7] = (uint8_t)((objId >> 24) & 0xFF); // Setup instance ID if one is required if (UAVObjIsSingleInstance(obj)) @@ -625,13 +658,13 @@ static int32_t sendSingleObject(UAVObjHandle obj, uint16_t instId, uint8_t type) } else { - txBuffer[8] = (uint8_t)(instId & 0xFF); - txBuffer[9] = (uint8_t)((instId >> 8) & 0xFF); + connection->txBuffer[8] = (uint8_t)(instId & 0xFF); + connection->txBuffer[9] = (uint8_t)((instId >> 8) & 0xFF); dataOffset = 10; } // Determine data length - if (type == TYPE_OBJ_REQ || type == TYPE_ACK) + if (type == UAVTALK_TYPE_OBJ_REQ || type == UAVTALK_TYPE_ACK) { length = 0; } @@ -641,7 +674,7 @@ static int32_t sendSingleObject(UAVObjHandle obj, uint16_t instId, uint8_t type) } // Check length - if (length >= MAX_PAYLOAD_LENGTH) + if (length >= UAVTALK_MAX_PAYLOAD_LENGTH) { return -1; } @@ -649,26 +682,34 @@ static int32_t sendSingleObject(UAVObjHandle obj, uint16_t instId, uint8_t type) // Copy data (if any) if (length > 0) { - if ( UAVObjPack(obj, instId, &txBuffer[dataOffset]) < 0 ) + if ( UAVObjPack(obj, instId, &connection->txBuffer[dataOffset]) < 0 ) { return -1; } } // Store the packet length - txBuffer[2] = (uint8_t)((dataOffset+length) & 0xFF); - txBuffer[3] = (uint8_t)(((dataOffset+length) >> 8) & 0xFF); + connection->txBuffer[2] = (uint8_t)((dataOffset+length) & 0xFF); + connection->txBuffer[3] = (uint8_t)(((dataOffset+length) >> 8) & 0xFF); // Calculate checksum - txBuffer[dataOffset+length] = PIOS_CRC_updateCRC(0, txBuffer, dataOffset+length); - - // Send buffer - if (outStream!=NULL) (*outStream)(txBuffer, dataOffset+length+CHECKSUM_LENGTH); + connection->txBuffer[dataOffset+length] = PIOS_CRC_updateCRC(0, connection->txBuffer, dataOffset+length); + + // Send buffer (partially if needed) + uint32_t sent=0; + while (sent < dataOffset+length+UAVTALK_CHECKSUM_LENGTH) { + uint32_t sending = dataOffset+length+UAVTALK_CHECKSUM_LENGTH - sent; + if ( sending > connection->txSize ) sending = connection->txSize; + if ( connection->outStream != NULL ) { + (*connection->outStream)(connection->txBuffer+sent, sending); + } + sent += sending; + } // Update stats - ++stats.txObjects; - stats.txBytes += dataOffset+length+CHECKSUM_LENGTH; - stats.txObjectBytes += length; + ++connection->stats.txObjects; + connection->stats.txBytes += dataOffset+length+UAVTALK_CHECKSUM_LENGTH; + connection->stats.txObjectBytes += length; // Done return 0; @@ -676,36 +717,37 @@ static int32_t sendSingleObject(UAVObjHandle obj, uint16_t instId, uint8_t type) /** * Send a NACK through the telemetry link. + * \param[in] connection UAVTalkConnection to be used * \param[in] objId Object ID to send a NACK for * \return 0 Success * \return -1 Failure */ -static int32_t sendNack(uint32_t objId) +static int32_t sendNack(UAVTalkConnectionData *connection, uint32_t objId) { int32_t dataOffset; - txBuffer[0] = SYNC_VAL; // sync byte - txBuffer[1] = TYPE_NACK; + connection->txBuffer[0] = UAVTALK_SYNC_VAL; // sync byte + connection->txBuffer[1] = UAVTALK_TYPE_NACK; // data length inserted here below - txBuffer[4] = (uint8_t)(objId & 0xFF); - txBuffer[5] = (uint8_t)((objId >> 8) & 0xFF); - txBuffer[6] = (uint8_t)((objId >> 16) & 0xFF); - txBuffer[7] = (uint8_t)((objId >> 24) & 0xFF); + connection->txBuffer[4] = (uint8_t)(objId & 0xFF); + connection->txBuffer[5] = (uint8_t)((objId >> 8) & 0xFF); + connection->txBuffer[6] = (uint8_t)((objId >> 16) & 0xFF); + connection->txBuffer[7] = (uint8_t)((objId >> 24) & 0xFF); dataOffset = 8; // Store the packet length - txBuffer[2] = (uint8_t)((dataOffset) & 0xFF); - txBuffer[3] = (uint8_t)(((dataOffset) >> 8) & 0xFF); + connection->txBuffer[2] = (uint8_t)((dataOffset) & 0xFF); + connection->txBuffer[3] = (uint8_t)(((dataOffset) >> 8) & 0xFF); // Calculate checksum - txBuffer[dataOffset] = PIOS_CRC_updateCRC(0, txBuffer, dataOffset); + connection->txBuffer[dataOffset] = PIOS_CRC_updateCRC(0, connection->txBuffer, dataOffset); // Send buffer - if (outStream!=NULL) (*outStream)(txBuffer, dataOffset+CHECKSUM_LENGTH); + if (connection->outStream!=NULL) (*connection->outStream)(connection->txBuffer, dataOffset+UAVTALK_CHECKSUM_LENGTH); // Update stats - stats.txBytes += dataOffset+CHECKSUM_LENGTH; + connection->stats.txBytes += dataOffset+UAVTALK_CHECKSUM_LENGTH; // Done return 0; diff --git a/ground/openpilotgcs/src/libs/utils/cachedsvgitem.cpp b/ground/openpilotgcs/src/libs/utils/cachedsvgitem.cpp new file mode 100644 index 000000000..2edef8ddf --- /dev/null +++ b/ground/openpilotgcs/src/libs/utils/cachedsvgitem.cpp @@ -0,0 +1,159 @@ +/** + ****************************************************************************** + * + * @file cachedsvgitem.h + * @author Dmytro Poplavskiy Copyright (C) 2011. + * @{ + * @brief OpenGL texture cached SVG item + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#include "cachedsvgitem.h" +#include +#include + +#ifndef GL_CLAMP_TO_EDGE +#define GL_CLAMP_TO_EDGE 0x812F +#endif + +CachedSvgItem::CachedSvgItem(QGraphicsItem * parent) : + QGraphicsSvgItem(parent), + m_context(0), + m_texture(0), + m_scale(1.0) +{ + setCacheMode(NoCache); +} + +CachedSvgItem::CachedSvgItem(const QString & fileName, QGraphicsItem * parent): + QGraphicsSvgItem(fileName, parent), + m_context(0), + m_texture(0), + m_scale(1.0) +{ + setCacheMode(NoCache); +} + +CachedSvgItem::~CachedSvgItem() +{ + if (m_context && m_texture) { + m_context->makeCurrent(); + glDeleteTextures(1, &m_texture); + } +} + +void CachedSvgItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget) +{ + + if (painter->paintEngine()->type() != QPaintEngine::OpenGL && + painter->paintEngine()->type() != QPaintEngine::OpenGL2) { + //Fallback to direct painting + QGraphicsSvgItem::paint(painter, option, widget); + return; + } + + QRectF br = boundingRect(); + QTransform transform = painter->worldTransform(); + qreal sceneScale = transform.map(QLineF(0,0,1,0)).length(); + + bool stencilTestEnabled = glIsEnabled(GL_STENCIL_TEST); + bool scissorTestEnabled = glIsEnabled(GL_SCISSOR_TEST); + + painter->beginNativePainting(); + + if (stencilTestEnabled) + glEnable(GL_STENCIL_TEST); + if (scissorTestEnabled) + glEnable(GL_SCISSOR_TEST); + + bool dirty = false; + if (!m_texture) { + glGenTextures(1, &m_texture); + m_context = const_cast(QGLContext::currentContext()); + + dirty = true; + } + + if (!qFuzzyCompare(sceneScale, m_scale)) { + m_scale = sceneScale; + dirty = true; + } + + int textureWidth = (int(br.width()*m_scale) + 3) & ~3; + int textureHeight = (int(br.height()*m_scale) + 3) & ~3; + + if (dirty) { + //qDebug() << "re-render image"; + + QImage img(textureWidth, textureHeight, QImage::Format_ARGB32); + { + img.fill(Qt::transparent); + QPainter p; + p.begin(&img); + p.setRenderHints(painter->renderHints()); + p.translate(br.topLeft()); + p.scale(m_scale, m_scale); + QGraphicsSvgItem::paint(&p, option, 0); + p.end(); + + img = img.rgbSwapped(); + } + + glEnable(GL_TEXTURE_2D); + + glBindTexture(GL_TEXTURE_2D, m_texture); + glTexImage2D( + GL_TEXTURE_2D, + 0, + GL_RGBA, + textureWidth, + textureHeight, + 0, + GL_RGBA, + GL_UNSIGNED_BYTE, + img.bits()); + + glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); + glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); + glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); + glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); + + glDisable(GL_TEXTURE_2D); + + dirty = false; + } + + glEnable(GL_BLEND); + glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + glEnable(GL_TEXTURE_2D); + + glBindTexture(GL_TEXTURE_2D, m_texture); + + //texture may be slightly large than svn image, ensure only used area is rendered + qreal tw = br.width()*m_scale/textureWidth; + qreal th = br.height()*m_scale/textureHeight; + + glBegin(GL_QUADS); + glTexCoord2d(0, 0 ); glVertex3d(br.left(), br.top(), -1); + glTexCoord2d(tw, 0 ); glVertex3d(br.right(), br.top(), -1); + glTexCoord2d(tw, th); glVertex3d(br.right(), br.bottom(), -1); + glTexCoord2d(0, th); glVertex3d(br.left(), br.bottom(), -1); + glEnd(); + glDisable(GL_TEXTURE_2D); + + painter->endNativePainting(); +} diff --git a/ground/openpilotgcs/src/libs/utils/cachedsvgitem.h b/ground/openpilotgcs/src/libs/utils/cachedsvgitem.h new file mode 100644 index 000000000..747ef391c --- /dev/null +++ b/ground/openpilotgcs/src/libs/utils/cachedsvgitem.h @@ -0,0 +1,54 @@ +/** + ****************************************************************************** + * + * @file cachedsvgitem.h + * @author Dmytro Poplavskiy Copyright (C) 2011. + * @{ + * @brief OpenGL texture cached SVG item + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef CACHEDSVGITEM_H +#define CACHEDSVGITEM_H + +#include +#include + +#include "utils_global.h" + +class QGLContext; + +//Cache Svg item as GL Texture. +//Texture is regenerated each time item is scaled +//but it's reused during rotation, unlike DeviceCoordinateCache mode +class QTCREATOR_UTILS_EXPORT CachedSvgItem: public QGraphicsSvgItem +{ + Q_OBJECT +public: + CachedSvgItem(QGraphicsItem * parent = 0); + CachedSvgItem(const QString & fileName, QGraphicsItem * parent = 0); + ~CachedSvgItem(); + + void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget); + +private: + QGLContext *m_context; + GLuint m_texture; + qreal m_scale; +}; + +#endif diff --git a/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp index faf2c911e..c412a475c 100644 --- a/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp +++ b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp @@ -65,7 +65,7 @@ MyTabbedStackWidget::MyTabbedStackWidget(QWidget *parent, bool isVertical, bool m_stackWidget->setContentsMargins(0, 0, 0, 0); setLayout(toplevelLayout); - connect(m_listWidget, SIGNAL(currentRowChanged(int)), this, SLOT(showWidget(int))); + connect(m_listWidget, SIGNAL(currentRowChanged(int)), this, SLOT(showWidget(int)),Qt::QueuedConnection); } void MyTabbedStackWidget::insertTab(const int index, QWidget *tab, const QIcon &icon, const QString &label) @@ -97,9 +97,19 @@ void MyTabbedStackWidget::setCurrentIndex(int index) void MyTabbedStackWidget::showWidget(int index) { - emit currentAboutToShow(index); - m_stackWidget->setCurrentIndex(index); - emit currentChanged(index); + if(m_stackWidget->currentIndex()==index) + return; + bool proceed=false; + emit currentAboutToShow(index,&proceed); + if(proceed) + { + m_stackWidget->setCurrentIndex(index); + emit currentChanged(index); + } + else + { + m_listWidget->setCurrentRow(m_stackWidget->currentIndex(),QItemSelectionModel::ClearAndSelect); + } } void MyTabbedStackWidget::insertCornerWidget(int index, QWidget *widget) diff --git a/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.h b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.h index 428ed8646..f32524ce5 100644 --- a/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.h +++ b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.h @@ -51,9 +51,10 @@ public: void insertCornerWidget(int index, QWidget *widget); int cornerWidgetCount() { return m_cornerWidgetCount; } + QWidget * currentWidget(){return m_stackWidget->currentWidget();} signals: - void currentAboutToShow(int index); + void currentAboutToShow(int index,bool * proceed); void currentChanged(int index); public slots: diff --git a/ground/openpilotgcs/src/libs/utils/utils.pro b/ground/openpilotgcs/src/libs/utils/utils.pro index 804f7c813..003497b4d 100644 --- a/ground/openpilotgcs/src/libs/utils/utils.pro +++ b/ground/openpilotgcs/src/libs/utils/utils.pro @@ -3,7 +3,9 @@ TARGET = Utils QT += gui \ network \ - xml + xml \ + svg \ + opengl DEFINES += QTCREATOR_UTILS_LIB @@ -48,7 +50,8 @@ SOURCES += reloadpromptutils.cpp \ homelocationutil.cpp \ mytabbedstackwidget.cpp \ mytabwidget.cpp \ - mylistwidget.cpp + mylistwidget.cpp \ + cachedsvgitem.cpp SOURCES += xmlconfig.cpp win32 { @@ -102,7 +105,8 @@ HEADERS += utils_global.h \ homelocationutil.h \ mytabbedstackwidget.h \ mytabwidget.h \ - mylistwidget.h + mylistwidget.h \ + cachedsvgitem.h HEADERS += xmlconfig.h FORMS += filewizardpage.ui \ diff --git a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui new file mode 100644 index 000000000..28e7740c1 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui @@ -0,0 +1,441 @@ + + + CameraStabilizationWidget + + + + 0 + 0 + 720 + 567 + + + + Form + + + + + + Enable CameraStabilization module + + + + + + + After enabling the module, you must power cycle before using and configuring. + + + + + + + Qt::Horizontal + + + + + + + Channel Ranges (number of degrees full range) + + + + + + + + Pitch + + + + + + + Yaw + + + + + + + Roll + + + + + + + 180 + + + + + + + 180 + + + + + + + 180 + + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + Qt::Horizontal + + + + 212 + 20 + + + + + + + + + + + Channel Mapping (select output channel or none to disable) + + + + + + + + Roll + + + + + + + + None + + + + + Channel 1 + + + + + Channel 2 + + + + + Channel 3 + + + + + Channel 4 + + + + + Channel 5 + + + + + Channel 6 + + + + + Channel 7 + + + + + Channel 8 + + + + + + + + + None + + + + + Channel 1 + + + + + Channel 2 + + + + + Channel 3 + + + + + Channel 4 + + + + + Channel 5 + + + + + Channel 6 + + + + + Channel 7 + + + + + Channel 8 + + + + + + + + Pitch + + + + + + + + None + + + + + Channel 1 + + + + + Channel 2 + + + + + Channel 3 + + + + + Channel 4 + + + + + Channel 5 + + + + + Channel 6 + + + + + Channel 7 + + + + + Channel 8 + + + + + + + + Yaw + + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + Qt::Horizontal + + + + 212 + 20 + + + + + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + + + QFrame::StyledPanel + + + QFrame::Raised + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + 0 + 0 + + + + + 32 + 32 + + + + + true + + + + + + + + :/core/images/helpicon.svg:/core/images/helpicon.svg + + + + 32 + 32 + + + + Ctrl+S + + + false + + + true + + + + + + + Save settings to the board (RAM only). + +This does not save the calibration settings, this is done using the +specific calibration button on top of the screen. + + + Apply + + + + + + + Send settings to the board, and save to the non-volatile memory. + + + Save + + + false + + + + + + + + + + + + diff --git a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui index a4a8586e5..2f849e66c 100644 --- a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui +++ b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui @@ -87,7 +87,7 @@ - Receiver type + RcvrPort Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter @@ -95,7 +95,7 @@ - + diff --git a/ground/openpilotgcs/src/plugins/config/ccpm.ui b/ground/openpilotgcs/src/plugins/config/ccpm.ui index 12d501f60..77e33e8ca 100644 --- a/ground/openpilotgcs/src/plugins/config/ccpm.ui +++ b/ground/openpilotgcs/src/plugins/config/ccpm.ui @@ -70,7 +70,7 @@ - 2 + 0 @@ -880,7 +880,7 @@ - + Link Roll/Pitch @@ -890,7 +890,7 @@ - + Link Cyclic/Collective @@ -900,80 +900,6 @@ - - - - QLayout::SetNoConstraint - - - - - true - - - - 0 - 0 - - - - - 80 - 0 - - - - - 80 - 16777215 - - - - - 11 - - - - Qt::LeftToRight - - - Collective Ch - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - true - - - - - - - true - - - - 0 - 0 - - - - - 90 - 0 - - - - - 100 - 16777215 - - - - - - diff --git a/ground/openpilotgcs/src/plugins/config/config.pro b/ground/openpilotgcs/src/plugins/config/config.pro index 79ddea046..29d872ec9 100644 --- a/ground/openpilotgcs/src/plugins/config/config.pro +++ b/ground/openpilotgcs/src/plugins/config/config.pro @@ -37,7 +37,9 @@ HEADERS += configplugin.h \ calibration.h \ defaultattitudewidget.h \ smartsavebutton.h \ - defaulthwsettingswidget.h + defaulthwsettingswidget.h \ + inputchannelform.h \ + configcamerastabilizationwidget.h SOURCES += configplugin.cpp \ configgadgetconfiguration.cpp \ @@ -65,7 +67,9 @@ SOURCES += configplugin.cpp \ alignment-calibration.cpp \ defaultattitudewidget.cpp \ smartsavebutton.cpp \ - defaulthwsettingswidget.cpp + defaulthwsettingswidget.cpp \ + inputchannelform.cpp \ + configcamerastabilizationwidget.cpp FORMS += \ airframe.ui \ @@ -78,6 +82,12 @@ FORMS += \ output.ui \ ccattitude.ui \ defaultattitude.ui \ - defaulthwsettings.ui + defaulthwsettings.ui \ + inputchannelform.ui \ + camerastabilization.ui RESOURCES += configgadget.qrc + + + + diff --git a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp index e5adf27f1..b6c543698 100644 --- a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp +++ b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp @@ -2,7 +2,7 @@ ****************************************************************************** * * @file configtelemetrywidget.h - * @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @addtogroup GCSPlugins GCS Plugins * @{ * @addtogroup ConfigPlugin Config Plugin @@ -43,7 +43,7 @@ ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent) addUAVObjectToWidgetRelation("TelemetrySettings","Speed",m_telemetry->telemetrySpeed); addUAVObjectToWidgetRelation("HwSettings","CC_FlexiPort",m_telemetry->cbFlexi); addUAVObjectToWidgetRelation("HwSettings","CC_MainPort",m_telemetry->cbTele); - addUAVObjectToWidgetRelation("ManualControlSettings","InputMode",m_telemetry->receiverType); + addUAVObjectToWidgetRelation("HwSettings","CC_RcvrPort",m_telemetry->cbRcvr); connect(m_telemetry->cchwHelp,SIGNAL(clicked()),this,SLOT(openHelp())); enableControls(false); populateWidgets(); @@ -67,22 +67,6 @@ void ConfigCCHWWidget::widgetsContentsChanged() { m_telemetry->problems->setText("Warning: you have configured the MainPort and the FlexiPort for the same function, this is currently not suported"); } - else if((m_telemetry->cbTele->currentText()=="Spektrum" ||m_telemetry->cbFlexi->currentText()=="Spektrum") && m_telemetry->receiverType->currentText()!="Spektrum") - { - m_telemetry->problems->setText("Warning: you have a port configured as 'Spektrum' however that is not your selected receiver type"); - } - else if(m_telemetry->cbTele->currentText()=="S.Bus" && m_telemetry->receiverType->currentText()!="S.Bus") - { - m_telemetry->problems->setText("Warning: you have a port configured as 'S.Bus' however that is not your selected receiver type"); - } - else if(m_telemetry->cbTele->currentText()!="S.Bus" && m_telemetry->receiverType->currentText()=="S.Bus") - { - m_telemetry->problems->setText("Warning: you have selected 'S.Bus' as your receiver type however you have no port configured for that protocol"); - } - else if((m_telemetry->cbTele->currentText()!="Spektrum" && m_telemetry->cbFlexi->currentText()!="Spektrum") && m_telemetry->receiverType->currentText()=="Spektrum") - { - m_telemetry->problems->setText("Warning: you have selected 'Spektrum' as your receiver type however you have no port configured for that protocol"); - } else { m_telemetry->problems->setText(""); diff --git a/ground/openpilotgcs/src/plugins/config/config_pro_hw_widget.cpp b/ground/openpilotgcs/src/plugins/config/config_pro_hw_widget.cpp index b3f562acd..e19be52ab 100644 --- a/ground/openpilotgcs/src/plugins/config/config_pro_hw_widget.cpp +++ b/ground/openpilotgcs/src/plugins/config/config_pro_hw_widget.cpp @@ -2,7 +2,7 @@ ****************************************************************************** * * @file configtelemetrywidget.h - * @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @addtogroup GCSPlugins GCS Plugins * @{ * @addtogroup ConfigPlugin Config Plugin diff --git a/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp b/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp index dcf743915..a12d34dca 100644 --- a/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp @@ -92,26 +92,7 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p m_aircraft->setupUi(this); setupButtons(m_aircraft->saveAircraftToRAM,m_aircraft->saveAircraftToSD); - addWidget(m_aircraft->customMixerTable); - addWidget(m_aircraft->customThrottle2Curve); - addWidget(m_aircraft->customThrottle1Curve); - addWidget(m_aircraft->multiThrottleCurve); - addWidget(m_aircraft->fixedWingThrottle); - addWidget(m_aircraft->fixedWingType); - addWidget(m_aircraft->feedForwardSlider); - addWidget(m_aircraft->accelTime); - addWidget(m_aircraft->decelTime); - addWidget(m_aircraft->maxAccelSlider); - addWidget(m_aircraft->multirotorFrameType); - addWidget(m_aircraft->multiMotor1); - addWidget(m_aircraft->multiMotor2); - addWidget(m_aircraft->multiMotor3); - addWidget(m_aircraft->multiMotor4); - addWidget(m_aircraft->multiMotor5); - addWidget(m_aircraft->multiMotor6); - addWidget(m_aircraft->multiMotor7); - addWidget(m_aircraft->multiMotor8); - addWidget(m_aircraft->triYawChannel); + addUAVObject("SystemSettings"); addUAVObject("MixerSettings"); addUAVObject("ActuatorSettings"); @@ -217,7 +198,7 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p // Connect the help button connect(m_aircraft->airframeHelp, SIGNAL(clicked()), this, SLOT(openHelp())); - + addToDirtyMonitor(); } ConfigAirframeWidget::~ConfigAirframeWidget() @@ -462,6 +443,7 @@ void ConfigAirframeWidget::updateCustomThrottle2CurveValue(QList list, d */ void ConfigAirframeWidget::refreshWidgetsValues() { + bool dirty=isDirty(); // Get the Airframe type from the system settings: UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("SystemSettings"))); Q_ASSERT(obj); @@ -913,6 +895,7 @@ void ConfigAirframeWidget::refreshWidgetsValues() } updateCustomAirframeUI(); + setDirty(dirty); } /** @@ -921,6 +904,7 @@ void ConfigAirframeWidget::refreshWidgetsValues() */ void ConfigAirframeWidget::setupAirframeUI(QString frameType) { + bool dirty=isDirty(); if (frameType == "FixedWing" || frameType == "Elevator aileron rudder") { // Setup the UI m_aircraft->aircraftType->setCurrentIndex(m_aircraft->aircraftType->findText("Fixed Wing")); @@ -1118,6 +1102,7 @@ void ConfigAirframeWidget::setupAirframeUI(QString frameType) } m_aircraft->quadShape->setSceneRect(quad->boundingRect()); m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio); + setDirty(dirty); } /** @@ -2139,3 +2124,77 @@ void ConfigAirframeWidget::openHelp() QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Airframe+configuration", QUrl::StrictMode) ); } +void ConfigAirframeWidget::addToDirtyMonitor() +{ + addWidget(m_aircraft->customMixerTable); + addWidget(m_aircraft->customThrottle2Curve); + addWidget(m_aircraft->customThrottle1Curve); + addWidget(m_aircraft->multiThrottleCurve); + addWidget(m_aircraft->fixedWingThrottle); + addWidget(m_aircraft->fixedWingType); + addWidget(m_aircraft->feedForwardSlider); + addWidget(m_aircraft->accelTime); + addWidget(m_aircraft->decelTime); + addWidget(m_aircraft->maxAccelSlider); + addWidget(m_aircraft->multirotorFrameType); + addWidget(m_aircraft->multiMotor1); + addWidget(m_aircraft->multiMotor2); + addWidget(m_aircraft->multiMotor3); + addWidget(m_aircraft->multiMotor4); + addWidget(m_aircraft->multiMotor5); + addWidget(m_aircraft->multiMotor6); + addWidget(m_aircraft->multiMotor7); + addWidget(m_aircraft->multiMotor8); + addWidget(m_aircraft->triYawChannel); + addWidget(m_aircraft->aircraftType); + addWidget(m_aircraft->fwEngineChannel); + addWidget(m_aircraft->fwAileron1Channel); + addWidget(m_aircraft->fwAileron2Channel); + addWidget(m_aircraft->fwElevator1Channel); + addWidget(m_aircraft->fwElevator2Channel); + addWidget(m_aircraft->fwRudder1Channel); + addWidget(m_aircraft->fwRudder2Channel); + addWidget(m_aircraft->elevonSlider1); + addWidget(m_aircraft->elevonSlider2); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmType); + addWidget(m_aircraft->widget_3->m_ccpm->TabObject); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmTailChannel); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmEngineChannel); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoWChannel); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoXChannel); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoYChannel); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmSingleServo); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmServoZChannel); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmAngleW); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmAngleX); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmCorrectionAngle); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmAngleZ); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmAngleY); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectivePassthrough); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmLinkRoll); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmLinkCyclic); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmRevoSlider); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmREVOspinBox); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectiveSlider); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectivespinBox); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectiveScale); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmCollectiveScaleBox); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmCyclicScale); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmPitchScale); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmPitchScaleBox); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmRollScale); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmRollScaleBox); + addWidget(m_aircraft->widget_3->m_ccpm->SwashLvlPositionSlider); + addWidget(m_aircraft->widget_3->m_ccpm->SwashLvlPositionSpinBox); + addWidget(m_aircraft->widget_3->m_ccpm->CurveType); + addWidget(m_aircraft->widget_3->m_ccpm->NumCurvePoints); + addWidget(m_aircraft->widget_3->m_ccpm->CurveValue1); + addWidget(m_aircraft->widget_3->m_ccpm->CurveValue2); + addWidget(m_aircraft->widget_3->m_ccpm->CurveValue3); + addWidget(m_aircraft->widget_3->m_ccpm->CurveToGenerate); + addWidget(m_aircraft->widget_3->m_ccpm->CurveSettings); + addWidget(m_aircraft->widget_3->m_ccpm->ThrottleCurve); + addWidget(m_aircraft->widget_3->m_ccpm->PitchCurve); + addWidget(m_aircraft->widget_3->m_ccpm->ccpmAdvancedSettingsTable); +} + diff --git a/ground/openpilotgcs/src/plugins/config/configairframewidget.h b/ground/openpilotgcs/src/plugins/config/configairframewidget.h index 234a114c1..1383350ee 100644 --- a/ground/openpilotgcs/src/plugins/config/configairframewidget.h +++ b/ground/openpilotgcs/src/plugins/config/configairframewidget.h @@ -58,7 +58,7 @@ private: void updateCustomAirframeUI(); bool setupMixer(double mixerFactors[8][3]); void setupMotors(QList motorList); - + void addToDirtyMonitor(); void resetField(UAVObjectField * field); void resetMixer (MixerCurveWidget *mixer, int numElements, double maxvalue); void resetActuators(); diff --git a/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp new file mode 100644 index 000000000..afbdae760 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp @@ -0,0 +1,237 @@ +/** + ****************************************************************************** + * + * @file configcamerastabilizationwidget.cpp + * @author 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 "configcamerastabilizationwidget.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "camerastabsettings.h" +#include "hwsettings.h" +#include "mixersettings.h" + +ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent) +{ + m_camerastabilization = new Ui_CameraStabilizationWidget(); + m_camerastabilization->setupUi(this); + + connectUpdates(); + + // Connect buttons + connect(m_camerastabilization->camerastabilizationSaveRAM,SIGNAL(clicked()),this,SLOT(applySettings())); + connect(m_camerastabilization->camerastabilizationSaveSD,SIGNAL(clicked()),this,SLOT(saveSettings())); + connect(m_camerastabilization->camerastabilizationHelp, SIGNAL(clicked()), this, SLOT(openHelp())); +} + +ConfigCameraStabilizationWidget::~ConfigCameraStabilizationWidget() +{ + // Do nothing +} + +void ConfigCameraStabilizationWidget::connectUpdates() +{ + // Now connect the widget to the StabilizationSettings object + connect(MixerSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues())); + connect(CameraStabSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues())); + // TODO: This will need to support both CC and OP later + connect(HwSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues())); +} + +void ConfigCameraStabilizationWidget::disconnectUpdates() +{ + // Now connect the widget to the StabilizationSettings object + disconnect(MixerSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues())); + disconnect(CameraStabSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues())); + // TODO: This will need to support both CC and OP later + disconnect(HwSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues())); +} + +/** + * @brief Populate the gui settings into the appropriate + * UAV structures + */ +void ConfigCameraStabilizationWidget::applySettings() +{ + // Enable or disable the settings + HwSettings * hwSettings = HwSettings::GetInstance(getObjectManager()); + HwSettings::DataFields hwSettingsData = hwSettings->getData(); + hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTABILIZATION] = + m_camerastabilization->enableCameraStabilization->isChecked() ? + HwSettings::OPTIONALMODULES_ENABLED : + HwSettings::OPTIONALMODULES_DISABLED; + + // Update the mixer settings + MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager()); + MixerSettings::DataFields mixerSettingsData = mixerSettings->getData(); + const int NUM_MIXERS = 8; + + QComboBox * selectors[3] = { + m_camerastabilization->rollChannel, + m_camerastabilization->pitchChannel, + m_camerastabilization->yawChannel + }; + + // TODO: Need to reformat object so types are an + // array themselves. This gets really awkward + quint8 * mixerTypes[NUM_MIXERS] = { + &mixerSettingsData.Mixer1Type, + &mixerSettingsData.Mixer2Type, + &mixerSettingsData.Mixer3Type, + &mixerSettingsData.Mixer4Type, + &mixerSettingsData.Mixer5Type, + &mixerSettingsData.Mixer6Type, + &mixerSettingsData.Mixer7Type, + &mixerSettingsData.Mixer8Type, + }; + + for (int i = 0; i < 3; i++) + { + // Channel 1 is second entry, so becomes zero + int mixerNum = selectors[i]->currentIndex() - 1; + + if ( mixerNum >= 0 && // Short circuit in case of none + *mixerTypes[mixerNum] != MixerSettings::MIXER1TYPE_DISABLED && + (*mixerTypes[mixerNum] != MixerSettings::MIXER1TYPE_CAMERAROLL + i) ) { + // If the mixer channel already to something that isn't what we are + // about to set it to reset to none + selectors[i]->setCurrentIndex(0); + } else { + // Make sure no other channels have this output set + for (int j = 0; j < NUM_MIXERS; j++) + if (*mixerTypes[j] == (MixerSettings::MIXER1TYPE_CAMERAROLL + i)) + *mixerTypes[j] = MixerSettings::MIXER1TYPE_DISABLED; + + // If this channel is assigned to one of the outputs that is not disabled + // set it + if(mixerNum >= 0 && mixerNum < NUM_MIXERS) + *mixerTypes[mixerNum] = MixerSettings::MIXER1TYPE_CAMERAROLL + i; + } + } + + // Update the ranges + CameraStabSettings * cameraStab = CameraStabSettings::GetInstance(getObjectManager()); + CameraStabSettings::DataFields cameraStabData = cameraStab->getData(); + cameraStabData.OutputRange[CameraStabSettings::OUTPUTRANGE_ROLL] = m_camerastabilization->rollOutputRange->value(); + cameraStabData.OutputRange[CameraStabSettings::OUTPUTRANGE_PITCH] = m_camerastabilization->pitchOutputRange->value(); + cameraStabData.OutputRange[CameraStabSettings::OUTPUTRANGE_YAW] = m_camerastabilization->yawOutputRange->value(); + + // Because multiple objects are updated, and all of them trigger the callback + // they must be done together (if update one then load settings from second + // the first update would wipe the UI controls). However to be extra cautious + // I'm also disabling updates during the setting to the UAVObjects + disconnectUpdates(); + hwSettings->setData(hwSettingsData); + mixerSettings->setData(mixerSettingsData); + cameraStab->setData(cameraStabData); + connectUpdates(); +} + +/** + * Push settings into UAV objects then save them + */ +void ConfigCameraStabilizationWidget::saveSettings() +{ + applySettings(); + UAVObject * obj = HwSettings::GetInstance(getObjectManager()); + saveObjectToSD(obj); + obj = MixerSettings::GetInstance(getObjectManager()); + saveObjectToSD(obj); + obj = CameraStabSettings::GetInstance(getObjectManager()); + saveObjectToSD(obj); +} + +void ConfigCameraStabilizationWidget::refreshValues() +{ + HwSettings * hwSettings = HwSettings::GetInstance(getObjectManager()); + HwSettings::DataFields hwSettingsData = hwSettings->getData(); + m_camerastabilization->enableCameraStabilization->setChecked( + hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTABILIZATION] == + HwSettings::OPTIONALMODULES_ENABLED); + + CameraStabSettings * cameraStabSettings = CameraStabSettings::GetInstance(getObjectManager()); + CameraStabSettings::DataFields cameraStab = cameraStabSettings->getData(); + m_camerastabilization->rollOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_ROLL]); + m_camerastabilization->pitchOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_PITCH]); + m_camerastabilization->yawOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_YAW]); + + MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager()); + MixerSettings::DataFields mixerSettingsData = mixerSettings->getData(); + const int NUM_MIXERS = 8; + QComboBox * selectors[3] = { + m_camerastabilization->rollChannel, + m_camerastabilization->pitchChannel, + m_camerastabilization->yawChannel + }; + + // TODO: Need to reformat object so types are an + // array themselves. This gets really awkward + quint8 * mixerTypes[NUM_MIXERS] = { + &mixerSettingsData.Mixer1Type, + &mixerSettingsData.Mixer2Type, + &mixerSettingsData.Mixer3Type, + &mixerSettingsData.Mixer4Type, + &mixerSettingsData.Mixer5Type, + &mixerSettingsData.Mixer6Type, + &mixerSettingsData.Mixer7Type, + &mixerSettingsData.Mixer8Type, + }; + + for (int i = 0; i < 3; i++) + { + // Default to none if not found. Then search for any mixer channels set to + // this + selectors[i]->setCurrentIndex(0); + for (int j = 0; j < NUM_MIXERS; j++) + if (*mixerTypes[j] == (MixerSettings::MIXER1TYPE_CAMERAROLL + i) && + selectors[i]->currentIndex() != (j + 1)) + selectors[i]->setCurrentIndex(j + 1); + } +} + +void ConfigCameraStabilizationWidget::openHelp() +{ + QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Camera+Stabilization", QUrl::StrictMode) ); +} + +void ConfigCameraStabilizationWidget::enableControls(bool enable) +{ + m_camerastabilization->camerastabilizationSaveSD->setEnabled(enable); + m_camerastabilization->camerastabilizationSaveRAM->setEnabled(enable); +} + +/** + @} + @} + */ diff --git a/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.h b/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.h new file mode 100644 index 000000000..f5440e360 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.h @@ -0,0 +1,68 @@ +/** + ****************************************************************************** + * + * @file configahrstwidget.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 CONFIGCAMERASTABILIZATIONWIDGET_H +#define CONFIGCAMERASTABILIZATIONWIDGET_H + +#include "ui_camerastabilization.h" +#include "configtaskwidget.h" +#include "extensionsystem/pluginmanager.h" +#include "uavobjectmanager.h" +#include "uavobject.h" +#include +#include +#include +#include +#include +#include + +#include "camerastabsettings.h" + +class ConfigCameraStabilizationWidget: public ConfigTaskWidget +{ + Q_OBJECT + +public: + ConfigCameraStabilizationWidget(QWidget *parent = 0); + ~ConfigCameraStabilizationWidget(); + +private: + virtual void enableControls(bool enable); + + Ui_CameraStabilizationWidget *m_camerastabilization; + +private slots: + void openHelp(); + void applySettings(); + void saveSettings(); + void refreshValues(); + +protected: + void connectUpdates(); + void disconnectUpdates(); +}; + +#endif // ConfigCameraStabilization_H diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp index 51b63fadb..c659180af 100644 --- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp @@ -40,22 +40,19 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) : { ui->setupUi(this); connect(ui->zeroBias,SIGNAL(clicked()),this,SLOT(startAccelCalibration())); - connect(ui->saveButton,SIGNAL(clicked()),this,SLOT(saveAttitudeSettings())); - connect(ui->applyButton,SIGNAL(clicked()),this,SLOT(applyAttitudeSettings())); - // Make it smart: - connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect())); - connect(parent, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect())); - enableControls(true); - refreshValues(); // The 1st time this panel is instanciated, the autopilot is already connected. - UAVObject * settings = AttitudeSettings::GetInstance(getObjectManager()); - connect(settings,SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshValues())); + setupButtons(ui->applyButton,ui->saveButton); + addUAVObject("AttitudeSettings"); // Connect the help button connect(ui->ccAttitudeHelp, SIGNAL(clicked()), this, SLOT(openHelp())); + addUAVObjectToWidgetRelation("AttitudeSettings","ZeroDuringArming",ui->zeroGyroBiasOnArming); - + addUAVObjectToWidgetRelation("AttitudeSettings","BoardRotation",ui->rollBias,AttitudeSettings::BOARDROTATION_ROLL); + addUAVObjectToWidgetRelation("AttitudeSettings","BoardRotation",ui->pitchBias,AttitudeSettings::BOARDROTATION_PITCH); + addUAVObjectToWidgetRelation("AttitudeSettings","BoardRotation",ui->yawBias,AttitudeSettings::BOARDROTATION_YAW); + addWidget(ui->zeroBias); } ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget() @@ -63,12 +60,6 @@ ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget() delete ui; } -void ConfigCCAttitudeWidget::enableControls(bool enable) -{ - //ui->applyButton->setEnabled(enable); - ui->saveButton->setEnabled(enable); -} - void ConfigCCAttitudeWidget::attitudeRawUpdated(UAVObject * obj) { QMutexLocker locker(&startStop); @@ -130,26 +121,6 @@ void ConfigCCAttitudeWidget::timeout() { } -void ConfigCCAttitudeWidget::applyAttitudeSettings() { - AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData(); - attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] = ui->rollBias->value(); - attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = ui->pitchBias->value(); - attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_YAW] = ui->yawBias->value(); - attitudeSettingsData.ZeroDuringArming = ui->zeroGyroBiasOnArming->isChecked() ? AttitudeSettings::ZERODURINGARMING_TRUE : - AttitudeSettings::ZERODURINGARMING_FALSE; - AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData); -} - -void ConfigCCAttitudeWidget::refreshValues() { - AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData(); - - ui->rollBias->setValue(attitudeSettingsData.BoardRotation[0]); - ui->pitchBias->setValue(attitudeSettingsData.BoardRotation[1]); - ui->yawBias->setValue(attitudeSettingsData.BoardRotation[2]); - ui->zeroGyroBiasOnArming->setChecked(attitudeSettingsData.ZeroDuringArming == AttitudeSettings::ZERODURINGARMING_TRUE); - -} - void ConfigCCAttitudeWidget::startAccelCalibration() { QMutexLocker locker(&startStop); @@ -184,16 +155,16 @@ void ConfigCCAttitudeWidget::startAccelCalibration() { } -void ConfigCCAttitudeWidget::saveAttitudeSettings() { - applyAttitudeSettings(); - - UAVDataObject * obj = dynamic_cast(getObjectManager()->getObject(QString("AttitudeSettings"))); - saveObjectToSD(obj); -} - void ConfigCCAttitudeWidget::openHelp() { QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/CopterControl+Attitude+Configuration", QUrl::StrictMode) ); } +void ConfigCCAttitudeWidget::enableControls(bool enable) +{ + if(ui->zeroBias) + ui->zeroBias->setEnabled(enable); + ConfigTaskWidget::enableControls(enable); + +} diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h index 27176b22f..09dfdb222 100644 --- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h +++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h @@ -50,9 +50,6 @@ private slots: void attitudeRawUpdated(UAVObject * obj); void timeout(); void startAccelCalibration(); - void saveAttitudeSettings(); - void applyAttitudeSettings(); - virtual void refreshValues(); void openHelp(); private: @@ -69,6 +66,7 @@ private: static const int NUM_ACCEL_UPDATES = 60; static const float ACCEL_SCALE = 0.004f * 9.81f; +protected: virtual void enableControls(bool enable); }; diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp index e53cbb70c..6d7a974c2 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp @@ -39,6 +39,7 @@ #include "mixersettings.h" #include "systemsettings.h" +#include "actuatorcommand.h" #define Pi 3.14159265358979323846 @@ -70,8 +71,6 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) m_ccpm->SwashplateImage->setSceneRect(-50,-30,500,500); //m_ccpm->SwashplateImage->scale(.85,.85); - - QSvgRenderer *renderer = new QSvgRenderer(); renderer->load(QString(":/configgadget/images/ccpm_setup.svg")); @@ -132,78 +131,25 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) SwashLvlSpinBoxes[i] = new QSpinBox(m_ccpm->SwashLvlSwashplateImage); // use QGraphicsView m_ccpm->SwashLvlSwashplateImage->scene()->addWidget(SwashLvlSpinBoxes[i]); - //SwashLvlSpinBoxes[i]->move(i*50+50,20); - //SwashLvlSpinBoxes[i]->resize(40,20); - //SwashLvlSpinBoxes[i]->heightForWidth() - SwashLvlSpinBoxes[i]->setFixedSize(50,20); SwashLvlSpinBoxes[i]->setMaximum(10000); SwashLvlSpinBoxes[i]->setMinimum(0); SwashLvlSpinBoxes[i]->setValue(0); } - -/* - Servos[0] = new QGraphicsSvgItem(); - Servos[0]->setSharedRenderer(renderer); - Servos[0]->setElementId("ServoW"); - m_ccpm->SwashplateImage->scene()->addItem(Servos[0]); - - Servos[1] = new QGraphicsSvgItem(); - Servos[1]->setSharedRenderer(renderer); - Servos[1]->setElementId("ServoX"); - m_ccpm->SwashplateImage->scene()->addItem(Servos[1]); - - Servos[2] = new QGraphicsSvgItem(); - Servos[2]->setSharedRenderer(renderer); - Servos[2]->setElementId("ServoY"); - m_ccpm->SwashplateImage->scene()->addItem(Servos[2]); - - Servos[3] = new QGraphicsSvgItem(); - Servos[3]->setSharedRenderer(renderer); - Servos[3]->setElementId("ServoZ"); - m_ccpm->SwashplateImage->scene()->addItem(Servos[3]); - - - ServosText[0] = new QGraphicsTextItem(); - ServosText[0]->setDefaultTextColor(Qt::red); - ServosText[0]->setPlainText(QString("-")); - ServosText[0]->setFont(serifFont); - m_ccpm->SwashplateImage->scene()->addItem(ServosText[0]); - - ServosText[1] = new QGraphicsTextItem(); - ServosText[1]->setDefaultTextColor(Qt::red); - ServosText[1]->setPlainText(QString("-")); - ServosText[1]->setFont(serifFont); - m_ccpm->SwashplateImage->scene()->addItem(ServosText[1]); - - ServosText[2] = new QGraphicsTextItem(); - ServosText[2]->setDefaultTextColor(Qt::red); - ServosText[2]->setPlainText(QString("-")); - ServosText[2]->setFont(serifFont); - m_ccpm->SwashplateImage->scene()->addItem(ServosText[2]); - - ServosText[3] = new QGraphicsTextItem(); - ServosText[3]->setDefaultTextColor(Qt::red); - ServosText[3]->setPlainText(QString("-")); - ServosText[3]->setFont(serifFont); - m_ccpm->SwashplateImage->scene()->addItem(ServosText[3]); -*/ m_ccpm->PitchCurve->setMin(-1); resetMixer(m_ccpm->PitchCurve, 5); resetMixer(m_ccpm->ThrottleCurve, 5); - - - + MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager()); + Q_ASSERT(mixerSettings); + UAVObjectField * curve2source = mixerSettings->getField("Curve2Source"); + Q_ASSERT(curve2source); QStringList channels; - channels << "Channel1" << "Channel2" << - "Channel3" << "Channel4" << "Channel5" << "Channel6" << "Channel7" << "Channel8" ; - m_ccpm->ccpmCollectiveChannel->addItems(channels); - m_ccpm->ccpmCollectiveChannel->setCurrentIndex(8); - channels << "None" ; + channels << "Channel1" << "Channel2" << "Channel3" << "Channel4" << + "Channel5" << "Channel6" << "Channel7" << "Channel8" << "None"; m_ccpm->ccpmEngineChannel->addItems(channels); m_ccpm->ccpmEngineChannel->setCurrentIndex(8); m_ccpm->ccpmTailChannel->addItems(channels); @@ -218,17 +164,17 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) m_ccpm->ccpmServoZChannel->setCurrentIndex(8); QStringList Types; - Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 90º" << "CCPM 4 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "FP 2 Servo 90º" << "Custom - User Angles" << "Custom - Advanced Settings" ; + Types << QString::fromUtf8("CCPM 2 Servo 90º") << QString::fromUtf8("CCPM 3 Servo 90º") << + QString::fromUtf8("CCPM 4 Servo 90º") << QString::fromUtf8("CCPM 3 Servo 120º") << + QString::fromUtf8("CCPM 3 Servo 140º") << QString::fromUtf8("FP 2 Servo 90º") << + QString::fromUtf8("Custom - User Angles") << QString::fromUtf8("Custom - Advanced Settings"); m_ccpm->ccpmType->addItems(Types); m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - 1); requestccpmUpdate(); UpdateCurveSettings(); - //disable changing number of points in curves until UAVObjects have more than 5 m_ccpm->NumCurvePoints->setEnabled(0); - - UpdateType(); @@ -270,15 +216,12 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent) connect(m_ccpm->SwashLvlCancelButton, SIGNAL(clicked()), this, SLOT(SwashLvlCancelButtonPressed())); connect(m_ccpm->SwashLvlFinishButton, SIGNAL(clicked()), this, SLOT(SwashLvlFinishButtonPressed())); - connect(m_ccpm->ccpmCollectivePassthrough, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities())); connect(m_ccpm->ccpmLinkCyclic, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities())); connect(m_ccpm->ccpmLinkRoll, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities())); ccpmSwashplateRedraw(); - // connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestccpmUpdate())); - } ConfigccpmWidget::~ConfigccpmWidget() @@ -292,7 +235,7 @@ void ConfigccpmWidget::UpdateType() QString TypeText; double AdjustmentAngle=0; - UpdatCCPMOptionsFromUI(); + UpdateCCPMOptionsFromUI(); SetUIComponentVisibilities(); TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; @@ -332,7 +275,7 @@ void ConfigccpmWidget::UpdateType() NumServosDefined=4; //set values for pre defined heli types - if (TypeText.compare(QString("CCPM 2 Servo 90º"), Qt::CaseInsensitive)==0) + if (TypeText.compare(QString::fromUtf8("CCPM 2 Servo 90º"), Qt::CaseInsensitive)==0) { m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); @@ -348,7 +291,7 @@ void ConfigccpmWidget::UpdateType() NumServosDefined=2; } - if (TypeText.compare(QString("CCPM 3 Servo 90º"), Qt::CaseInsensitive)==0) + if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 90º"), Qt::CaseInsensitive)==0) { m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); @@ -361,7 +304,7 @@ void ConfigccpmWidget::UpdateType() NumServosDefined=3; } - if (TypeText.compare(QString("CCPM 4 Servo 90º"), Qt::CaseInsensitive)==0) + if (TypeText.compare(QString::fromUtf8("CCPM 4 Servo 90º"), Qt::CaseInsensitive)==0) { m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); @@ -373,7 +316,7 @@ void ConfigccpmWidget::UpdateType() NumServosDefined=4; } - if (TypeText.compare(QString("CCPM 3 Servo 120º"), Qt::CaseInsensitive)==0) + if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 120º"), Qt::CaseInsensitive)==0) { m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 120,360)); @@ -386,7 +329,7 @@ void ConfigccpmWidget::UpdateType() NumServosDefined=3; } - if (TypeText.compare(QString("CCPM 3 Servo 140º"), Qt::CaseInsensitive)==0) + if (TypeText.compare(QString::fromUtf8("CCPM 3 Servo 140º"), Qt::CaseInsensitive)==0) { m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 140,360)); @@ -399,7 +342,7 @@ void ConfigccpmWidget::UpdateType() NumServosDefined=3; } - if (TypeText.compare(QString("FP 2 Servo 90º"), Qt::CaseInsensitive)==0) + if (TypeText.compare(QString::fromUtf8("FP 2 Servo 90º"), Qt::CaseInsensitive)==0) { m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0); m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360)); @@ -505,6 +448,9 @@ void ConfigccpmWidget::UpdateCurveWidgets() void ConfigccpmWidget::updatePitchCurveValue(QList curveValues0,double Value0) { + Q_UNUSED(curveValues0); + Q_UNUSED(Value0); + int NumCurvePoints,i; double CurrentValue; QList internalCurveValues; @@ -526,6 +472,9 @@ void ConfigccpmWidget::updatePitchCurveValue(QList curveValues0,double V void ConfigccpmWidget::updateThrottleCurveValue(QList curveValues0,double Value0) { + Q_UNUSED(curveValues0); + Q_UNUSED(Value0); + int NumCurvePoints,i; double CurrentValue; QList internalCurveValues; @@ -915,14 +864,10 @@ void ConfigccpmWidget::UpdateMixer() bool useCyclic; int i,j,ThisEnable[6]; float CollectiveConstant,PitchConstant,RollConstant,ThisAngle[6]; - //QTableWidgetItem *newItem;// = new QTableWidgetItem(); QString Channel; ccpmChannelCheck(); - //Type = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1; - //CollectiveConstant=m_ccpm->ccpmCollectiveSlider->value()/100.0; - //CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value(); - UpdatCCPMOptionsFromUI(); + UpdateCCPMOptionsFromUI(); useCCPM = !(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState); useCyclic = GUIConfigData.heli.ccpmLinkRollState; @@ -978,15 +923,6 @@ void ConfigccpmWidget::UpdateMixer() //go through the user data and update the mixer matrix for (i=0;i<6;i++) { - /* - data.Mixer0Type = 0;//Disabled,Motor,Servo - data.Mixer0Vector[0] = 0;//ThrottleCurve1 - data.Mixer0Vector[1] = 0;//ThrottleCurve2 - data.Mixer0Vector[2] = 0;//Roll - data.Mixer0Vector[3] = 0;//Pitch - data.Mixer0Vector[4] = 0;//Yaw - - */ if ((MixerChannelData[i]<8)&&((ThisEnable[i])||(i<2))) { m_ccpm->ccpmAdvancedSettingsTable->item(i,0)->setText(QString("%1").arg( MixerChannelData[i]+1 )); @@ -1055,7 +991,7 @@ void ConfigccpmWidget::UpdateMixer() } __attribute__((packed)) heliGUISettingsStruct; */ -void ConfigccpmWidget::UpdatCCPMOptionsFromUI() +void ConfigccpmWidget::UpdateCCPMOptionsFromUI() { bool useCCPM; bool useCyclic; @@ -1076,9 +1012,6 @@ void ConfigccpmWidget::UpdatCCPMOptionsFromUI() //correction angle GUIConfigData.heli.CorrectionAngle = m_ccpm->ccpmCorrectionAngle->value(); - //CollectiveChannel - GUIConfigData.heli.CollectiveChannel = m_ccpm->ccpmCollectiveChannel->currentIndex(); - //update sliders if (useCCPM) { @@ -1097,7 +1030,6 @@ void ConfigccpmWidget::UpdatCCPMOptionsFromUI() GUIConfigData.heli.SliderValue1 = m_ccpm->ccpmPitchScale->value(); } GUIConfigData.heli.SliderValue2 = m_ccpm->ccpmRollScale->value(); - //GUIConfigData.heli.RevoSlider = m_ccpm->ccpmREVOScale->value(); //servo assignments GUIConfigData.heli.ServoIndexW = m_ccpm->ccpmServoWChannel->currentIndex(); @@ -1106,7 +1038,7 @@ void ConfigccpmWidget::UpdatCCPMOptionsFromUI() GUIConfigData.heli.ServoIndexZ = m_ccpm->ccpmServoZChannel->currentIndex(); } -void ConfigccpmWidget::UpdatCCPMUIFromOptions() +void ConfigccpmWidget::UpdateCCPMUIFromOptions() { //swashplate config m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - (GUIConfigData.heli.SwasplateType +1)); @@ -1119,10 +1051,7 @@ void ConfigccpmWidget::UpdatCCPMUIFromOptions() //correction angle m_ccpm->ccpmCorrectionAngle->setValue(GUIConfigData.heli.CorrectionAngle); - - //CollectiveChannel - m_ccpm->ccpmCollectiveChannel->setCurrentIndex(GUIConfigData.heli.CollectiveChannel); - + //update sliders m_ccpm->ccpmCollectiveScale->setValue(GUIConfigData.heli.SliderValue0); m_ccpm->ccpmCollectiveScaleBox->setValue(GUIConfigData.heli.SliderValue0); @@ -1134,7 +1063,6 @@ void ConfigccpmWidget::UpdatCCPMUIFromOptions() m_ccpm->ccpmRollScaleBox->setValue(GUIConfigData.heli.SliderValue2); m_ccpm->ccpmCollectiveSlider->setValue(GUIConfigData.heli.SliderValue0); m_ccpm->ccpmCollectivespinBox->setValue(GUIConfigData.heli.SliderValue0); - //m_ccpm->ccpmREVOScale->setValue(GUIConfigData.heli.RevoSlider); //servo assignments m_ccpm->ccpmServoWChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexW); @@ -1147,16 +1075,13 @@ void ConfigccpmWidget::UpdatCCPMUIFromOptions() void ConfigccpmWidget::SetUIComponentVisibilities() { - UpdatCCPMOptionsFromUI(); + UpdateCCPMOptionsFromUI(); //set which sliders are user... m_ccpm->ccpmRevoMixingBox->setVisible(0); m_ccpm->ccpmPitchMixingBox->setVisible(!GUIConfigData.heli.ccpmCollectivePassthroughState && GUIConfigData.heli.ccpmLinkCyclicState); m_ccpm->ccpmCollectiveScalingBox->setVisible(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState); - m_ccpm->ccpmCollectiveChLabel->setVisible(GUIConfigData.heli.ccpmCollectivePassthroughState); - m_ccpm->ccpmCollectiveChannel->setVisible(GUIConfigData.heli.ccpmCollectivePassthroughState); - m_ccpm->ccpmLinkCyclic->setVisible(!GUIConfigData.heli.ccpmCollectivePassthroughState); m_ccpm->ccpmCyclicScalingBox->setVisible((GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState) && GUIConfigData.heli.ccpmLinkRollState); @@ -1183,20 +1108,17 @@ void ConfigccpmWidget::requestccpmUpdate() #define MaxAngleError 2 int MixerDataFromHeli[8][5]; quint8 MixerOutputType[8]; - int EngineChannel,TailRotorChannel,ServoChannels[4],ServoAngles[4],SortAngles[4],CalcAngles[4],ServoCurve2[4]; + int EngineChannel,TailRotorChannel,ServoChannels[4],ServoAngles[4],SortAngles[4],ServoCurve2[4]; int NumServos=0; - double Collective=0.0; - double a1,a2; - int HeadRotation,temp; - int isCCPM=0; if (SwashLvlConfigurationInProgress)return; if (updatingToHardware)return; updatingFromHardware=TRUE; - int i,j; + unsigned int i,j; SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager()); + Q_ASSERT(systemSettings); SystemSettings::DataFields systemSettingsData = systemSettings->getData(); Q_ASSERT(SystemSettings::GUICONFIGDATA_NUMELEM == @@ -1205,7 +1127,7 @@ void ConfigccpmWidget::requestccpmUpdate() for(i = 0; i < SystemSettings::GUICONFIGDATA_NUMELEM; i++) GUIConfigData.UAVObject[i]=systemSettingsData.GUIConfigData[i]; - UpdatCCPMUIFromOptions(); + UpdateCCPMUIFromOptions(); // Get existing mixer settings MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager()); @@ -1299,7 +1221,7 @@ void ConfigccpmWidget::requestccpmUpdate() } updatingFromHardware=FALSE; - UpdatCCPMUIFromOptions(); + UpdateCCPMUIFromOptions(); ccpmSwashplateUpdate(); } @@ -1310,116 +1232,83 @@ void ConfigccpmWidget::requestccpmUpdate() void ConfigccpmWidget::sendccpmUpdate() { int i,j; - UAVObjectField *field; - UAVDataObject* obj; if (SwashLvlConfigurationInProgress)return; updatingToHardware=TRUE; //ShowDisclaimer(1); + UpdateCCPMOptionsFromUI(); + + // Store the data required to reconstruct + SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager()); + Q_ASSERT(systemSettings); + SystemSettings::DataFields systemSettingsData = systemSettings->getData(); + systemSettingsData.GUIConfigData[0] = GUIConfigData.UAVObject[0]; + systemSettingsData.GUIConfigData[1] = GUIConfigData.UAVObject[1]; + systemSettings->setData(systemSettingsData); + systemSettings->updated(); - ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); - UAVObjectManager *objManager = pm->getObject(); + MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager()); + Q_ASSERT(mixerSettings); + MixerSettings::DataFields mixerSettingsData = mixerSettings->getData(); - UpdatCCPMOptionsFromUI(); - obj = dynamic_cast(getObjectManager()->getObject(QString("SystemSettings"))); - field = obj->getField(QString("GUIConfigData")); - field->setValue(GUIConfigData.UAVObject[0],0); - field->setValue(GUIConfigData.UAVObject[1],1); - obj->updated(); - + UpdateMixer(); - - obj = dynamic_cast(objManager->getObject(QString("MixerSettings"))); - Q_ASSERT(obj); + // Set up some helper pointers + qint8 * mixers[8] = {mixerSettingsData.Mixer1Vector, + mixerSettingsData.Mixer2Vector, + mixerSettingsData.Mixer3Vector, + mixerSettingsData.Mixer4Vector, + mixerSettingsData.Mixer5Vector, + mixerSettingsData.Mixer6Vector, + mixerSettingsData.Mixer7Vector, + mixerSettingsData.Mixer8Vector + }; - UpdateMixer(); + quint8 * mixerTypes[8] = { + &mixerSettingsData.Mixer1Type, + &mixerSettingsData.Mixer2Type, + &mixerSettingsData.Mixer3Type, + &mixerSettingsData.Mixer4Type, + &mixerSettingsData.Mixer5Type, + &mixerSettingsData.Mixer6Type, + &mixerSettingsData.Mixer7Type, + &mixerSettingsData.Mixer8Type + }; - //clear the output types - for (i=0;i<8;i++) + //go through the user data and update the mixer matrix + for (i=0;i<6;i++) + { + if (MixerChannelData[i]<8) { - field = obj->getField( QString( "Mixer%1Type" ).arg( i+1 )); - //clear the mixer type - field->setValue("Disabled"); + //set the mixer type + *(mixerTypes[MixerChannelData[i]]) = i==0 ? + MixerSettings::MIXER1TYPE_MOTOR : + MixerSettings::MIXER1TYPE_SERVO; + + //config the vector + for (j=0;j<5;j++) + mixers[MixerChannelData[i]][j] = m_ccpm->ccpmAdvancedSettingsTable->item(i,j+1)->text().toInt(); } + } + //get the user data for the curve into the mixer settings + for (i=0;i<5;i++) + mixerSettingsData.ThrottleCurve1[i] = m_ccpm->CurveSettings->item(i, 0)->text().toDouble(); - //go through the user data and update the mixer matrix - for (i=0;i<6;i++) - { - /* - data.Mixer0Type = 0;//Disabled,Motor,Servo - data.Mixer0Vector[0] = 0;//ThrottleCurve1 - data.Mixer0Vector[1] = 0;//ThrottleCurve2 - data.Mixer0Vector[2] = 0;//Roll - data.Mixer0Vector[3] = 0;//Pitch - data.Mixer0Vector[4] = 0;//Yaw - - */ - if (MixerChannelData[i]<8) - { - //select the correct mixer for this config element - field = obj->getField(QString( "Mixer%1Type" ).arg( MixerChannelData[i]+1 )); - //set the mixer type - if (i==0) - { - field->setValue("Motor"); - } - else - { - field->setValue("Servo"); - } - - //select the correct mixer for this config element - field = obj->getField(QString( "Mixer%1Vector" ).arg( MixerChannelData[i]+1 )); - //config the vector - for (j=0;j<5;j++) - { - field->setValue(m_ccpm->ccpmAdvancedSettingsTable->item(i,j+1)->text().toInt(),j); - } - - } - - } - - - //get the user data for the curve into the mixer settings - field = obj->getField(QString("ThrottleCurve1")); - for (i=0;i<5;i++) - { - field->setValue(m_ccpm->CurveSettings->item(i, 0)->text().toDouble(),i); - } - field = obj->getField(QString("ThrottleCurve2")); - for (i=0;i<5;i++) - { - field->setValue(m_ccpm->CurveSettings->item(i, 1)->text().toDouble(),i); - } - - obj->updated(); - - field = obj->getField(QString("Curve2Source")); + for (i=0;i<5;i++) + mixerSettingsData.ThrottleCurve2[i] = m_ccpm->CurveSettings->item(i, 1)->text().toDouble(); //mapping of collective input to curve 2... //MixerSettings.Curve2Source = Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5 //check if we are using throttle or directly from a channel... if (GUIConfigData.heli.ccpmCollectivePassthroughState) - {// input channel - field->setValue("Accessory0"); - obj->updated(); - - obj = dynamic_cast(objManager->getObject(QString("ManualControlSettings"))); - Q_ASSERT(obj); - field = obj->getField(QString("Accessory0")); - field->setValue(tr( "Channel%1" ).arg(GUIConfigData.heli.CollectiveChannel+1)); - - } + mixerSettingsData.Curve2Source = MixerSettings::CURVE2SOURCE_COLLECTIVE; else - {// throttle - - field->setValue("Throttle"); - } + mixerSettingsData.Curve2Source = MixerSettings::CURVE2SOURCE_THROTTLE; - obj->updated(); + mixerSettings->setData(mixerSettingsData); + mixerSettings->updated(); updatingToHardware=FALSE; } @@ -1820,7 +1709,6 @@ void ConfigccpmWidget::enableSwashplateLevellingControl(bool state) mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE; mdata.gcsTelemetryUpdatePeriod = 100; SwashLvlConfigurationInProgress=1; - connect(qApp, SIGNAL(focusChanged(QWidget*,QWidget*)),this, SLOT(FocusChanged(QWidget*,QWidget*))); m_ccpm->TabObject->setTabEnabled(0,0); m_ccpm->TabObject->setTabEnabled(2,0); m_ccpm->TabObject->setTabEnabled(3,0); @@ -1831,7 +1719,6 @@ void ConfigccpmWidget::enableSwashplateLevellingControl(bool state) mdata = SwashLvlaccInitialData; // Restore metadata SwashLvlConfigurationInProgress=0; - disconnect(qApp, SIGNAL(focusChanged(QWidget*,QWidget*)),this, SLOT(FocusChanged(QWidget*,QWidget*))); m_ccpm->TabObject->setTabEnabled(0,1); m_ccpm->TabObject->setTabEnabled(2,1); m_ccpm->TabObject->setTabEnabled(3,1); @@ -1857,41 +1744,24 @@ void ConfigccpmWidget::setSwashplateLevel(int percent) SwashLvlServoInterlock=1; - UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("ActuatorCommand"))); - UAVObjectField * channel = obj->getField("Channel"); + ActuatorCommand * actuatorCommand = ActuatorCommand::GetInstance(getObjectManager()); + ActuatorCommand::DataFields actuatorCommandData = actuatorCommand->getData(); - - - if (level==0) - { - for (i=0;isetValue(newSwashLvlConfiguration.Neutral[i],newSwashLvlConfiguration.ServoChannels[i]); - SwashLvlSpinBoxes[i]->setValue(newSwashLvlConfiguration.Neutral[i]); - } - - } - else if (level>0) - { - for (i=0;i 0) value = (newSwashLvlConfiguration.Max[i] - newSwashLvlConfiguration.Neutral[i])*level + newSwashLvlConfiguration.Neutral[i]; - channel->setValue(value,newSwashLvlConfiguration.ServoChannels[i]); - SwashLvlSpinBoxes[i]->setValue(value); - } - - } - else if (level<0) - { - for (i=0;isetValue(value,newSwashLvlConfiguration.ServoChannels[i]); - SwashLvlSpinBoxes[i]->setValue(value); - } + actuatorCommandData.Channel[newSwashLvlConfiguration.ServoChannels[i]] = value; + SwashLvlSpinBoxes[i]->setValue(value); } - obj->updated(); + + actuatorCommand->setData(actuatorCommandData); + actuatorCommand->updated(); + SwashLvlServoInterlock=0; return; @@ -1900,76 +1770,41 @@ return; void ConfigccpmWidget::SwashLvlSpinBoxChanged(int value) { + Q_UNUSED(value); int i; if (SwashLvlServoInterlock==1)return; - UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("ActuatorCommand"))); - UAVObjectField * channel = obj->getField("Channel"); - switch (SwashLvlState) - { - case 0: - break; - case 1: //Neutral levelling - for (i=0;igetData(); + + for (i = 0; i < CCPM_MAX_SWASH_SERVOS; i++) { + value = SwashLvlSpinBoxes[i]->value(); + + switch (SwashLvlState) { - newSwashLvlConfiguration.Neutral[i]=SwashLvlSpinBoxes[i]->value(); - channel->setValue(newSwashLvlConfiguration.Neutral[i],newSwashLvlConfiguration.ServoChannels[i]); + case 1: //Neutral levelling + newSwashLvlConfiguration.Neutral[i]=value; + break; + case 2: //Max levelling + newSwashLvlConfiguration.Max[i] = value; + break; + case 3: //Min levelling + newSwashLvlConfiguration.Min[i]= value; + break; + case 4: //levelling verification + break; + case 5: //levelling complete + break; + default: + break; } - obj->updated(); - break; - case 2: //Max levelling - for (i=0;ivalue(); - channel->setValue(newSwashLvlConfiguration.Max[i],newSwashLvlConfiguration.ServoChannels[i]); - } - obj->updated(); - break; - case 3: //Min levelling - for (i=0;ivalue(); - channel->setValue(newSwashLvlConfiguration.Min[i],newSwashLvlConfiguration.ServoChannels[i]); - } - obj->updated(); - break; - case 4: //levelling verification - break; - case 5: //levelling complete - break; - default: - break; + + actuatorCommandData.Channel[newSwashLvlConfiguration.ServoChannels[i]] = value; } + + + actuatorCommand->setData(actuatorCommandData); + actuatorCommand->updated(); + return; } - - -void ConfigccpmWidget::FocusChanged(QWidget *oldFocus, QWidget *newFocus) -{ - if (SwashLvlConfigurationInProgress!=1) return; - QMessageBox msgBox; - int ret; - msgBox.setText("

Warning!!!

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

Do you want to continue the levelling routine?"); - msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No); - msgBox.setDefaultButton(QMessageBox::Yes); - msgBox.setIcon(QMessageBox::Information); - ret = msgBox.exec(); - - if (ret == QMessageBox::Yes) - { - - //m_ccpm->TabObject->setCurrentIndex(1); - //m_ccpm->SwashPlateLevel->setFocus(Qt::MouseFocusReason); - //m_ccpm->SwashLvlInstructionsBox->setFocus(Qt::MouseFocusReason); - oldFocus->setFocus(Qt::MouseFocusReason); - } - if (ret == QMessageBox::No) - { - SwashLvlCancelButtonPressed(); - } - } -} diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h index d07da53c8..c6bc1b27b 100644 --- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h @@ -57,7 +57,6 @@ typedef struct { uint ccpmCollectivePassthroughState:1; uint ccpmLinkCyclicState:1; uint ccpmLinkRollState:1; - uint CollectiveChannel:3;//20bits uint SliderValue0:7; uint SliderValue1:7; uint SliderValue2:7;//41bits @@ -82,6 +81,8 @@ public: ConfigccpmWidget(QWidget *parent = 0); ~ConfigccpmWidget(); + friend class ConfigAirframeWidget; + private: Ui_ccpmWidget *m_ccpm; QGraphicsSvgItem *SwashplateImg; @@ -134,8 +135,8 @@ private: void SwashLvlCancelButtonPressed(); void SwashLvlFinishButtonPressed(); - void UpdatCCPMOptionsFromUI(); - void UpdatCCPMUIFromOptions(); + void UpdateCCPMOptionsFromUI(); + void UpdateCCPMUIFromOptions(); void SetUIComponentVisibilities(); void ccpmChannelCheck(); @@ -143,8 +144,6 @@ private: void enableSwashplateLevellingControl(bool state); void setSwashplateLevel(int percent); void SwashLvlSpinBoxChanged(int value); - void FocusChanged(QWidget *oldFocus, QWidget *newFocus); - virtual void refreshValues() {}; // Not used public slots: diff --git a/ground/openpilotgcs/src/plugins/config/configgadget.qrc b/ground/openpilotgcs/src/plugins/config/configgadget.qrc index 5f982053b..f24cb68b8 100644 --- a/ground/openpilotgcs/src/plugins/config/configgadget.qrc +++ b/ground/openpilotgcs/src/plugins/config/configgadget.qrc @@ -15,5 +15,7 @@ images/coptercontrol.svg images/hw_config.png images/gyroscope.png + images/TX.svg + images/camera.png diff --git a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp index 39acb5adf..4eca15bf9 100644 --- a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp @@ -33,6 +33,7 @@ #include "configinputwidget.h" #include "configoutputwidget.h" #include "configstabilizationwidget.h" +#include "configcamerastabilizationwidget.h" #include "config_pro_hw_widget.h" #include "config_cc_hw_widget.h" #include "defaultattitudewidget.h" @@ -81,6 +82,8 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent) qwd = new ConfigStabilizationWidget(this); ftw->insertTab(ConfigGadgetWidget::stabilization, qwd, QIcon(":/configgadget/images/gyroscope.png"), QString("Stabilization")); + qwd = new ConfigCameraStabilizationWidget(this); + ftw->insertTab(ConfigGadgetWidget::camerastabilization, qwd, QIcon(":/configgadget/images/camera.png"), QString("Camera Stab")); // qwd = new ConfigPipXtremeWidget(this); @@ -99,6 +102,8 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent) onAutopilotConnect(); help = 0; + connect(ftw,SIGNAL(currentAboutToShow(int,bool*)),this,SLOT(tabAboutToChange(int,bool*)));//,Qt::BlockingQueuedConnection); + } ConfigGadgetWidget::~ConfigGadgetWidget() @@ -115,6 +120,15 @@ void ConfigGadgetWidget::resizeEvent(QResizeEvent *event) } void ConfigGadgetWidget::onAutopilotDisconnect() { + ftw->setCurrentIndex(ConfigGadgetWidget::hardware); + ftw->removeTab(ConfigGadgetWidget::ins); + QWidget *qwd = new DefaultAttitudeWidget(this); + ftw->insertTab(ConfigGadgetWidget::ins, qwd, QIcon(":/configgadget/images/AHRS-v1.3.png"), QString("INS")); + ftw->removeTab(ConfigGadgetWidget::hardware); + qwd = new DefaultHwSettingsWidget(this); + ftw->insertTab(ConfigGadgetWidget::hardware, qwd, QIcon(":/configgadget/images/hw_config.png"), QString("HW Settings")); + ftw->setCurrentIndex(ConfigGadgetWidget::hardware); + emit autopilotDisconnected(); } @@ -153,5 +167,24 @@ void ConfigGadgetWidget::onAutopilotConnect() { emit autopilotConnected(); } +void ConfigGadgetWidget::tabAboutToChange(int i,bool * proceed) +{ + Q_UNUSED(i); + *proceed=true; + ConfigTaskWidget * wid=qobject_cast(ftw->currentWidget()); + if(!wid) + return; + if(wid->isDirty()) + { + int ans=QMessageBox::warning(this,tr("Unsaved changes"),tr("The tab you are leaving has unsaved changes," + "if you proceed they will be lost." + "Do you still want to proceed?"),QMessageBox::Yes,QMessageBox::No); + if(ans==QMessageBox::No) + *proceed=false; + else + wid->setDirty(false); + } +} + diff --git a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.h b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.h index df2f553a3..633253507 100644 --- a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.h @@ -37,10 +37,10 @@ //#include #include #include "utils/pathutils.h" - +#include //#include "fancytabwidget.h" #include "utils/mytabbedstackwidget.h" - +#include "configtaskwidget.h" class ConfigGadgetWidget: public QWidget { @@ -50,11 +50,12 @@ class ConfigGadgetWidget: public QWidget public: ConfigGadgetWidget(QWidget *parent = 0); ~ConfigGadgetWidget(); - enum widgetTabs {hardware=0, aircraft, input, output, ins, stabilization}; + enum widgetTabs {hardware=0, aircraft, input, output, ins, stabilization, camerastabilization}; public slots: void onAutopilotConnect(); void onAutopilotDisconnect(); + void tabAboutToChange(int i,bool *); signals: void autopilotConnected(); diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp index 83e1a02ac..9e7cfdd04 100644 --- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp @@ -1,8 +1,8 @@ /** ****************************************************************************** * - * @file configservowidget.cpp - * @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @file configinputwidget.cpp + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @addtogroup GCSPlugins GCS Plugins * @{ * @addtogroup ConfigPlugin Config Plugin @@ -38,614 +38,233 @@ #include #include #include +#include +#include -#include "manualcontrolsettings.h" +#define ACCESS_MIN_MOVE -6 +#define ACCESS_MAX_MOVE 6 +#define STICK_MIN_MOVE -8 +#define STICK_MAX_MOVE 8 -ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent) +ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardNone),loop(NULL),skipflag(false),transmitterType(heli) { + manualCommandObj = ManualControlCommand::GetInstance(getObjectManager()); + manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager()); + receiverActivityObj=ReceiverActivity::GetInstance(getObjectManager()); m_config = new Ui_InputWidget(); m_config->setupUi(this); - ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); - UAVObjectManager *objManager = pm->getObject(); + setupButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD); - // First of all, put all the channel widgets into lists, so that we can - // manipulate those: - - - inMaxLabels << m_config->ch0Max - << m_config->ch1Max - << m_config->ch2Max - << m_config->ch3Max - << m_config->ch4Max - << m_config->ch5Max - << m_config->ch6Max - << m_config->ch7Max; - - inMinLabels << m_config->ch0Min - << m_config->ch1Min - << m_config->ch2Min - << m_config->ch3Min - << m_config->ch4Min - << m_config->ch5Min - << m_config->ch6Min - << m_config->ch7Min; - - inSliders << m_config->inSlider0 - << m_config->inSlider1 - << m_config->inSlider2 - << m_config->inSlider3 - << m_config->inSlider4 - << m_config->inSlider5 - << m_config->inSlider6 - << m_config->inSlider7; - - inRevCheckboxes << m_config->ch0Rev - << m_config->ch1Rev - << m_config->ch2Rev - << m_config->ch3Rev - << m_config->ch4Rev - << m_config->ch5Rev - << m_config->ch6Rev - << m_config->ch7Rev; - - inChannelAssign << m_config->ch0Assign - << m_config->ch1Assign - << m_config->ch2Assign - << m_config->ch3Assign - << m_config->ch4Assign - << m_config->ch5Assign - << m_config->ch6Assign - << m_config->ch7Assign; - - // Now connect the widget to the ManualControlCommand / Channel UAVObject - UAVDataObject* obj = dynamic_cast(objManager->getObject(QString("ManualControlCommand"))); - connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateChannels(UAVObject*))); - - // Register for ManualControlSettings changes: - obj = dynamic_cast(objManager->getObject(QString("ManualControlSettings"))); - connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues())); - - - // Get the receiver types supported by OpenPilot and fill the corresponding - // dropdown menu: - obj = dynamic_cast(objManager->getObject(QString("ManualControlSettings"))); - UAVObjectField * field; - // Fill in the dropdown menus for the channel RC Input assignement. - QStringList channelsList; - channelsList << "None"; - QList fieldList = obj->getFields(); - foreach (UAVObjectField* field, fieldList) { - if (field->getUnits().contains("channel")) { - channelsList.append(field->getName()); - } + unsigned int index=0; + foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames()) + { + Q_ASSERT(index < ManualControlSettings::CHANNELGROUPS_NUMELEM); + inputChannelForm * inp=new inputChannelForm(this,index==0); + m_config->channelSettings->layout()->addWidget(inp); + inp->ui->channelName->setText(name); + addUAVObjectToWidgetRelation("ManualControlSettings","ChannelGroups",inp->ui->channelGroup,index); + addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNumber",inp->ui->channelNumber,index); + addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMin",inp->ui->channelMin,index); + addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNeutral",inp->ui->channelNeutral,index); + addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMax",inp->ui->channelMax,index); + ++index; } - m_config->ch0Assign->addItems(channelsList); - m_config->ch1Assign->addItems(channelsList); - m_config->ch2Assign->addItems(channelsList); - m_config->ch3Assign->addItems(channelsList); - m_config->ch4Assign->addItems(channelsList); - m_config->ch5Assign->addItems(channelsList); - m_config->ch6Assign->addItems(channelsList); - m_config->ch7Assign->addItems(channelsList); + connect(m_config->configurationWizard,SIGNAL(clicked()),this,SLOT(goToWizard())); + connect(m_config->runCalibration,SIGNAL(toggled(bool)),this, SLOT(simpleCalibration(bool))); - // And the flight mode settings: - field = obj->getField(QString("FlightModePosition")); - m_config->fmsModePos1->addItems(field->getOptions()); - m_config->fmsModePos2->addItems(field->getOptions()); - m_config->fmsModePos3->addItems(field->getOptions()); - field = obj->getField(QString("Stabilization1Settings")); - channelsList.clear(); - channelsList.append(field->getOptions()); - m_config->fmsSsPos1Roll->addItems(channelsList); - m_config->fmsSsPos1Pitch->addItems(channelsList); - m_config->fmsSsPos1Yaw->addItems(channelsList); - m_config->fmsSsPos2Roll->addItems(channelsList); - m_config->fmsSsPos2Pitch->addItems(channelsList); - m_config->fmsSsPos2Yaw->addItems(channelsList); - m_config->fmsSsPos3Roll->addItems(channelsList); - m_config->fmsSsPos3Pitch->addItems(channelsList); - m_config->fmsSsPos3Yaw->addItems(channelsList); + connect(m_config->wzNext,SIGNAL(clicked()),this,SLOT(wzNext())); + connect(m_config->wzCancel,SIGNAL(clicked()),this,SLOT(wzCancel())); + connect(m_config->wzBack,SIGNAL(clicked()),this,SLOT(wzBack())); - // And the Armin configurations: - field = obj->getField(QString("Arming")); - m_config->armControl->clear(); - m_config->armControl->addItems(field->getOptions()); + m_config->stackedWidget->setCurrentIndex(0); + addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0); + addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1); + addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2); + addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll"); + addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Roll,"Roll"); + addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Roll,"Roll"); + addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Pitch,"Pitch"); + addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Pitch,"Pitch"); + addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Pitch,"Pitch"); + addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Yaw,"Yaw"); + addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Yaw,"Yaw"); + addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Yaw,"Yaw"); - connect(m_config->saveRCInputToSD, SIGNAL(clicked()), this, SLOT(saveRCInputObject())); - connect(m_config->saveRCInputToRAM, SIGNAL(clicked()), this, SLOT(sendRCInputUpdate())); - + addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl); + addUAVObjectToWidgetRelation("ManualControlSettings","ArmedTimeout",m_config->armTimeout,0,1000); + connect( ManualControlCommand::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(moveFMSlider())); enableControls(false); - refreshValues(); - connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect())); - connect(parent, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect())); - - connect(m_config->ch0Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); - connect(m_config->ch1Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); - connect(m_config->ch2Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); - connect(m_config->ch3Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); - connect(m_config->ch4Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); - connect(m_config->ch5Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); - connect(m_config->ch6Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); - connect(m_config->ch7Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool))); - connect(m_config->doRCInputCalibration,SIGNAL(stateChanged(int)),this,SLOT(updateTips(int))); - firstUpdate = true; + populateWidgets(); + refreshWidgetsValues(); // Connect the help button connect(m_config->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp())); - updateTips(Qt::Unchecked); + m_config->graphicsView->setScene(new QGraphicsScene(this)); + m_config->graphicsView->setViewportUpdateMode(QGraphicsView::FullViewportUpdate); + m_renderer = new QSvgRenderer(); + QGraphicsScene *l_scene = m_config->graphicsView->scene(); + m_config->graphicsView->setBackgroundBrush(QBrush(Utils::StyleHelper::baseColor())); + if (QFile::exists(":/configgadget/images/TX.svg") && m_renderer->load(QString(":/configgadget/images/TX.svg")) && m_renderer->isValid()) + { + l_scene->clear(); // Deletes all items contained in the scene as well. + + m_txBackground = new QGraphicsSvgItem(); + // All other items will be clipped to the shape of the background + m_txBackground->setFlags(QGraphicsItem::ItemClipsChildrenToShape| + QGraphicsItem::ItemClipsToShape); + m_txBackground->setSharedRenderer(m_renderer); + m_txBackground->setElementId("background"); + l_scene->addItem(m_txBackground); + + m_txMainBody = new QGraphicsSvgItem(); + m_txMainBody->setParentItem(m_txBackground); + m_txMainBody->setSharedRenderer(m_renderer); + m_txMainBody->setElementId("body"); + l_scene->addItem(m_txMainBody); + + m_txLeftStick = new QGraphicsSvgItem(); + m_txLeftStick->setParentItem(m_txBackground); + m_txLeftStick->setSharedRenderer(m_renderer); + m_txLeftStick->setElementId("ljoy"); + + m_txRightStick = new QGraphicsSvgItem(); + m_txRightStick->setParentItem(m_txBackground); + m_txRightStick->setSharedRenderer(m_renderer); + m_txRightStick->setElementId("rjoy"); + + m_txAccess0 = new QGraphicsSvgItem(); + m_txAccess0->setParentItem(m_txBackground); + m_txAccess0->setSharedRenderer(m_renderer); + m_txAccess0->setElementId("access0"); + + m_txAccess1 = new QGraphicsSvgItem(); + m_txAccess1->setParentItem(m_txBackground); + m_txAccess1->setSharedRenderer(m_renderer); + m_txAccess1->setElementId("access1"); + + m_txAccess2 = new QGraphicsSvgItem(); + m_txAccess2->setParentItem(m_txBackground); + m_txAccess2->setSharedRenderer(m_renderer); + m_txAccess2->setElementId("access2"); + + m_txFlightMode = new QGraphicsSvgItem(); + m_txFlightMode->setParentItem(m_txBackground); + m_txFlightMode->setSharedRenderer(m_renderer); + m_txFlightMode->setElementId("flightModeCenter"); + m_txFlightMode->setZValue(-10); + + m_txArrows = new QGraphicsSvgItem(); + m_txArrows->setParentItem(m_txBackground); + m_txArrows->setSharedRenderer(m_renderer); + m_txArrows->setElementId("arrows"); + m_txArrows->setVisible(false); + + QRectF orig=m_renderer->boundsOnElement("ljoy"); + QMatrix Matrix = m_renderer->matrixForElement("ljoy"); + orig=Matrix.mapRect(orig); + m_txLeftStickOrig.translate(orig.x(),orig.y()); + m_txLeftStick->setTransform(m_txLeftStickOrig,false); + + orig=m_renderer->boundsOnElement("arrows"); + Matrix = m_renderer->matrixForElement("arrows"); + orig=Matrix.mapRect(orig); + m_txArrowsOrig.translate(orig.x(),orig.y()); + m_txArrows->setTransform(m_txArrowsOrig,false); + + orig=m_renderer->boundsOnElement("body"); + Matrix = m_renderer->matrixForElement("body"); + orig=Matrix.mapRect(orig); + m_txMainBodyOrig.translate(orig.x(),orig.y()); + m_txMainBody->setTransform(m_txMainBodyOrig,false); + + orig=m_renderer->boundsOnElement("flightModeCenter"); + Matrix = m_renderer->matrixForElement("flightModeCenter"); + orig=Matrix.mapRect(orig); + m_txFlightModeCOrig.translate(orig.x(),orig.y()); + m_txFlightMode->setTransform(m_txFlightModeCOrig,false); + + orig=m_renderer->boundsOnElement("flightModeLeft"); + Matrix = m_renderer->matrixForElement("flightModeLeft"); + orig=Matrix.mapRect(orig); + m_txFlightModeLOrig.translate(orig.x(),orig.y()); + orig=m_renderer->boundsOnElement("flightModeRight"); + Matrix = m_renderer->matrixForElement("flightModeRight"); + orig=Matrix.mapRect(orig); + m_txFlightModeROrig.translate(orig.x(),orig.y()); + + orig=m_renderer->boundsOnElement("rjoy"); + Matrix = m_renderer->matrixForElement("rjoy"); + orig=Matrix.mapRect(orig); + m_txRightStickOrig.translate(orig.x(),orig.y()); + m_txRightStick->setTransform(m_txRightStickOrig,false); + + orig=m_renderer->boundsOnElement("access0"); + Matrix = m_renderer->matrixForElement("access0"); + orig=Matrix.mapRect(orig); + m_txAccess0Orig.translate(orig.x(),orig.y()); + m_txAccess0->setTransform(m_txAccess0Orig,false); + + orig=m_renderer->boundsOnElement("access1"); + Matrix = m_renderer->matrixForElement("access1"); + orig=Matrix.mapRect(orig); + m_txAccess1Orig.translate(orig.x(),orig.y()); + m_txAccess1->setTransform(m_txAccess1Orig,false); + + orig=m_renderer->boundsOnElement("access2"); + Matrix = m_renderer->matrixForElement("access2"); + orig=Matrix.mapRect(orig); + m_txAccess2Orig.translate(orig.x(),orig.y()); + m_txAccess2->setTransform(m_txAccess2Orig,true); + } + m_config->graphicsView->fitInView(m_txMainBody, Qt::KeepAspectRatio ); + animate=new QTimer(this); + connect(animate,SIGNAL(timeout()),this,SLOT(moveTxControls())); + + heliChannelOrder << ManualControlSettings::CHANNELGROUPS_COLLECTIVE << + ManualControlSettings::CHANNELGROUPS_THROTTLE << + ManualControlSettings::CHANNELGROUPS_ROLL << + ManualControlSettings::CHANNELGROUPS_PITCH << + ManualControlSettings::CHANNELGROUPS_YAW << + ManualControlSettings::CHANNELGROUPS_FLIGHTMODE << + ManualControlSettings::CHANNELGROUPS_ACCESSORY0 << + ManualControlSettings::CHANNELGROUPS_ACCESSORY1 << + ManualControlSettings::CHANNELGROUPS_ACCESSORY2; + + acroChannelOrder << ManualControlSettings::CHANNELGROUPS_THROTTLE << + ManualControlSettings::CHANNELGROUPS_ROLL << + ManualControlSettings::CHANNELGROUPS_PITCH << + ManualControlSettings::CHANNELGROUPS_YAW << + ManualControlSettings::CHANNELGROUPS_FLIGHTMODE << + ManualControlSettings::CHANNELGROUPS_ACCESSORY0 << + ManualControlSettings::CHANNELGROUPS_ACCESSORY1 << + ManualControlSettings::CHANNELGROUPS_ACCESSORY2; +} +void ConfigInputWidget::resetTxControls() +{ + + m_txLeftStick->setTransform(m_txLeftStickOrig,false); + m_txRightStick->setTransform(m_txRightStickOrig,false); + m_txAccess0->setTransform(m_txAccess0Orig,false); + m_txAccess1->setTransform(m_txAccess1Orig,false); + m_txAccess2->setTransform(m_txAccess2Orig,false); + m_txFlightMode->setElementId("flightModeCenter"); + m_txFlightMode->setTransform(m_txFlightModeCOrig,false); + m_txArrows->setVisible(false); } ConfigInputWidget::~ConfigInputWidget() { - // Do nothing -} - -/** - Slot called whenever we revert a signal - */ -void ConfigInputWidget::reverseCheckboxClicked(bool state) -{ - QObject* obj = sender(); - int i = inRevCheckboxes.indexOf((QCheckBox*)obj); - - inSliders[i]->setInvertedAppearance(state); - int max = inMaxLabels[i]->text().toInt(); - int min = inMinLabels[i]->text().toInt(); - if ((state && (max>min)) || - (!state && (max < min))) { - inMaxLabels[i]->setText(QString::number(min)); - inMinLabels[i]->setText(QString::number(max)); - } -} - - -// ************************************ - -/* - Enable or disable some controls depending on whether we are connected - or not to the board. Actually, this i mostly useless IMHO, I don't - know who added this into the code (Ed's note) - */ -void ConfigInputWidget::enableControls(bool enable) -{ - //m_config->saveRCInputToRAM->setEnabled(enable); - m_config->saveRCInputToSD->setEnabled(enable); - m_config->doRCInputCalibration->setEnabled(enable); -} - - -/******************************** - * Input settings - *******************************/ - -/** - Request the current config from the board - */ -void ConfigInputWidget::refreshValues() -{ - UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("ManualControlSettings"))); - Q_ASSERT(obj); - //obj->requestUpdate(); - UAVObjectField *field; - - // Now update all the slider values: - - UAVObjectField *field_max = obj->getField(QString("ChannelMax")); - UAVObjectField *field_min = obj->getField(QString("ChannelMin")); - UAVObjectField *field_neu = obj->getField(QString("ChannelNeutral")); - Q_ASSERT(field_max); - Q_ASSERT(field_min); - Q_ASSERT(field_neu); - for (int i = 0; i < 8; i++) { - QVariant max = field_max->getValue(i); - QVariant min = field_min->getValue(i); - QVariant neutral = field_neu->getValue(i); - inMaxLabels[i]->setText(max.toString()); - inMinLabels[i]->setText(min.toString()); - if (max.toInt()> min.toInt()) { - inRevCheckboxes[i]->setChecked(false); - inSliders[i]->setMaximum(max.toInt()); - inSliders[i]->setMinimum(min.toInt()); - } else { - inRevCheckboxes[i]->setChecked(true); - inSliders[i]->setMaximum(min.toInt()); - inSliders[i]->setMinimum(max.toInt()); - } - inSliders[i]->setValue(neutral.toInt()); - } - - // Update receiver type - field = obj->getField(QString("InputMode")); - m_config->receiverType->setText(field->getValue().toString()); - - // Reset all channel assignement dropdowns: - foreach (QComboBox *combo, inChannelAssign) { - combo->setCurrentIndex(0); - } - - // Update all channels assignements - QList fieldList = obj->getFields(); - foreach (UAVObjectField *field, fieldList) { - if (field->getUnits().contains("channel")) - assignChannel(obj, field->getName()); - } - - // Update all the flight mode settingsin the relevant tab - field = obj->getField(QString("FlightModePosition")); - m_config->fmsModePos1->setCurrentIndex((m_config->fmsModePos1->findText(field->getValue(0).toString()))); - m_config->fmsModePos2->setCurrentIndex((m_config->fmsModePos2->findText(field->getValue(1).toString()))); - m_config->fmsModePos3->setCurrentIndex((m_config->fmsModePos3->findText(field->getValue(2).toString()))); - - field = obj->getField(QString("Stabilization1Settings")); - m_config->fmsSsPos1Roll->setCurrentIndex(m_config->fmsSsPos1Roll->findText(field->getValue(field->getElementNames().indexOf("Roll")).toString())); - m_config->fmsSsPos1Pitch->setCurrentIndex(m_config->fmsSsPos1Pitch->findText(field->getValue(field->getElementNames().indexOf("Pitch")).toString())); - m_config->fmsSsPos1Yaw->setCurrentIndex(m_config->fmsSsPos1Yaw->findText(field->getValue(field->getElementNames().indexOf("Yaw")).toString())); - field = obj->getField(QString("Stabilization2Settings")); - m_config->fmsSsPos2Roll->setCurrentIndex(m_config->fmsSsPos2Roll->findText(field->getValue(field->getElementNames().indexOf("Roll")).toString())); - m_config->fmsSsPos2Pitch->setCurrentIndex(m_config->fmsSsPos2Pitch->findText(field->getValue(field->getElementNames().indexOf("Pitch")).toString())); - m_config->fmsSsPos2Yaw->setCurrentIndex(m_config->fmsSsPos2Yaw->findText(field->getValue(field->getElementNames().indexOf("Yaw")).toString())); - field = obj->getField(QString("Stabilization3Settings")); - m_config->fmsSsPos3Roll->setCurrentIndex(m_config->fmsSsPos3Roll->findText(field->getValue(field->getElementNames().indexOf("Roll")).toString())); - m_config->fmsSsPos3Pitch->setCurrentIndex(m_config->fmsSsPos3Pitch->findText(field->getValue(field->getElementNames().indexOf("Pitch")).toString())); - m_config->fmsSsPos3Yaw->setCurrentIndex(m_config->fmsSsPos3Yaw->findText(field->getValue(field->getElementNames().indexOf("Yaw")).toString())); - - // Load the arming settings - field = obj->getField(QString("Arming")); - m_config->armControl->setCurrentIndex(m_config->armControl->findText(field->getValue().toString())); - field = obj->getField(QString("ArmedTimeout")); - m_config->armTimeout->setValue(field->getValue().toInt()/1000); -} - - -/** - * Sends the config to the board, without saving to the SD card - */ -void ConfigInputWidget::sendRCInputUpdate() -{ - ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); - UAVObjectManager *objManager = pm->getObject(); - UAVDataObject* obj = dynamic_cast(objManager->getObject(QString("ManualControlSettings"))); - Q_ASSERT(obj); - // Now update all fields from the sliders: - QString fieldName = QString("ChannelMax"); - UAVObjectField * field = obj->getField(fieldName); - for (int i = 0; i < 8; i++) { - field->setValue(inMaxLabels[i]->text().toInt(), i); - } - - fieldName = QString("ChannelMin"); - field = obj->getField(fieldName); - for (int i = 0; i < 8; i++) { - field->setValue(inMinLabels[i]->text().toInt(), i); - } - - fieldName = QString("ChannelNeutral"); - field = obj->getField(fieldName); - for (int i = 0; i < 8; i++) - field->setValue(inSliders[i]->value(), i); - - // Set Roll/Pitch/Yaw/Etc assignement: - // Rule: if two channels have the same setting (which is wrong!) the higher channel - // will get the setting. - - // First, reset all channel assignements: - QList fieldList = obj->getFields(); - foreach (UAVObjectField* field, fieldList) { - if (field->getUnits().contains("channel")) { - field->setValue(field->getOptions().last()); - } - } - - // Then assign according to current GUI state: - if (m_config->ch0Assign->currentIndex() != 0) { - field = obj->getField(m_config->ch0Assign->currentText()); - field->setValue(field->getOptions().at(0)); // -> This way we don't depend on channel naming convention - } - if (m_config->ch1Assign->currentIndex() != 0) { - field = obj->getField(m_config->ch1Assign->currentText()); - field->setValue(field->getOptions().at(1)); - } - if (m_config->ch2Assign->currentIndex() != 0) { - field = obj->getField(m_config->ch2Assign->currentText()); - field->setValue(field->getOptions().at(2)); - } - if (m_config->ch3Assign->currentIndex() != 0) { - field = obj->getField(m_config->ch3Assign->currentText()); - field->setValue(field->getOptions().at(3)); - } - if (m_config->ch4Assign->currentIndex() != 0) { - field = obj->getField(m_config->ch4Assign->currentText()); - field->setValue(field->getOptions().at(4)); - } - if (m_config->ch5Assign->currentIndex() != 0) { - field = obj->getField(m_config->ch5Assign->currentText()); - field->setValue(field->getOptions().at(5)); - } - if (m_config->ch6Assign->currentIndex() != 0) { - field = obj->getField(m_config->ch6Assign->currentText()); - field->setValue(field->getOptions().at(6)); - } - if (m_config->ch7Assign->currentIndex() != 0) { - field = obj->getField(m_config->ch7Assign->currentText()); - field->setValue(field->getOptions().at(7)); - } - - // Send all the flight mode settings - field = obj->getField(QString("FlightModePosition")); - field->setValue(m_config->fmsModePos1->currentText(),0); - field->setValue(m_config->fmsModePos2->currentText(),1); - field->setValue(m_config->fmsModePos3->currentText(),2); - - field = obj->getField(QString("Stabilization1Settings")); - field->setValue(m_config->fmsSsPos1Roll->currentText(), field->getElementNames().indexOf("Roll")); - field->setValue(m_config->fmsSsPos1Pitch->currentText(), field->getElementNames().indexOf("Pitch")); - field->setValue(m_config->fmsSsPos1Yaw->currentText(), field->getElementNames().indexOf("Yaw")); - field = obj->getField(QString("Stabilization2Settings")); - field->setValue(m_config->fmsSsPos2Roll->currentText(), field->getElementNames().indexOf("Roll")); - field->setValue(m_config->fmsSsPos2Pitch->currentText(), field->getElementNames().indexOf("Pitch")); - field->setValue(m_config->fmsSsPos2Yaw->currentText(), field->getElementNames().indexOf("Yaw")); - field = obj->getField(QString("Stabilization3Settings")); - field->setValue(m_config->fmsSsPos3Roll->currentText(), field->getElementNames().indexOf("Roll")); - field->setValue(m_config->fmsSsPos3Pitch->currentText(), field->getElementNames().indexOf("Pitch")); - field->setValue(m_config->fmsSsPos3Yaw->currentText(), field->getElementNames().indexOf("Yaw")); - - // Save the arming settings - field = obj->getField(QString("Arming")); - field->setValue(m_config->armControl->currentText()); - field = obj->getField(QString("ArmedTimeout")); - field->setValue(m_config->armTimeout->value()*1000); - - // ... and send to the OP Board - obj->updated(); } -/** - Sends the config to the board and request saving into the SD card - */ -void ConfigInputWidget::saveRCInputObject() +void ConfigInputWidget::resizeEvent(QResizeEvent *event) { - // Send update so that the latest value is saved - sendRCInputUpdate(); - UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("ManualControlSettings"))); - Q_ASSERT(obj); - saveObjectToSD(obj); -} - - -/** - * Set the dropdown option for a channel Input assignement - */ -void ConfigInputWidget::assignChannel(UAVDataObject *obj, QString str) -{ - UAVObjectField* field = obj->getField(str); - QStringList options = field->getOptions(); - switch (options.indexOf(field->getValue().toString())) { - case 0: - m_config->ch0Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); - break; - case 1: - m_config->ch1Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); - break; - case 2: - m_config->ch2Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); - break; - case 3: - m_config->ch3Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); - break; - case 4: - m_config->ch4Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); - break; - case 5: - m_config->ch5Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); - break; - case 6: - m_config->ch6Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); - break; - case 7: - m_config->ch7Assign->setCurrentIndex(m_config->ch0Assign->findText(str)); - break; - } -} - -/** - * Updates the slider positions and min/max values - * - */ -void ConfigInputWidget::updateChannels(UAVObject* controlCommand) -{ - - QString fieldName = QString("Connected"); - UAVObjectField *field = controlCommand->getField(fieldName); - if (field->getValue().toBool()) - { - m_config->RCInputConnected->setText("RC Receiver connected"); - m_config->lblMissingInputs->setText(""); - } - else - { - m_config->RCInputConnected->setText("RC Receiver not connected or invalid input configuration (missing channels)"); - receiverHelp(); - } - if (m_config->doRCInputCalibration->isChecked()) { - if (firstUpdate) { - // Increase the data rate from the board so that the sliders - // move faster - UAVObject::Metadata mdata = controlCommand->getMetadata(); - mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC; - mccDataRate = mdata.flightTelemetryUpdatePeriod; - mdata.flightTelemetryUpdatePeriod = 150; - controlCommand->setMetadata(mdata); - - // Also protect the user by setting all values to zero - // and making the ActuatorCommand object readonly - UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("ActuatorCommand"))); - mdata = obj->getMetadata(); - mdata.flightAccess = UAVObject::ACCESS_READONLY; - obj->setMetadata(mdata); - UAVObjectField *field = obj->getField("Channel"); - for (uint i=0; i< field->getNumElements(); i++) { - field->setValue(0,i); - } - obj->updated(); - - // OP-534: make sure the airframe can NEVER arm - obj = dynamic_cast(getObjectManager()->getObject(QString("ManualControlSettings"))); - field = obj->getField("Arming"); - field->setValue("Always Disarmed"); - obj->updated(); - - // Last, make sure the user won't apply/save during calibration - m_config->saveRCInputToRAM->setEnabled(false); - m_config->saveRCInputToSD->setEnabled(false); - - // Reset all slider values to zero - field = controlCommand->getField(QString("Channel")); - for (int i = 0; i < 8; i++) - updateChannelInSlider(inSliders[i], inMinLabels[i], inMaxLabels[i], field->getValue(i).toInt(),inRevCheckboxes[i]->isChecked()); - firstUpdate = false; - // Tell a few things to the user: - QMessageBox msgBox; - msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety.")); - msgBox.setDetailedText(tr("You will have to reconfigure arming settings yourself afterwards.")); - msgBox.setStandardButtons(QMessageBox::Ok); - msgBox.setDefaultButton(QMessageBox::Ok); - msgBox.exec(); - - } - - field = controlCommand->getField(QString("Channel")); - for (int i = 0; i < 8; i++) - updateChannelInSlider(inSliders[i], inMinLabels[i], inMaxLabels[i], field->getValue(i).toInt(),inRevCheckboxes[i]->isChecked()); - } - else { - if (!firstUpdate) { - // Restore original data rate from the board: - UAVObject::Metadata mdata = controlCommand->getMetadata(); - mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC; - mdata.flightTelemetryUpdatePeriod = mccDataRate; - controlCommand->setMetadata(mdata); - - UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("ActuatorCommand"))); - mdata = obj->getMetadata(); - mdata.flightAccess = UAVObject::ACCESS_READWRITE; - obj->setMetadata(mdata); - - // Set some slider values to better defaults - // Find some channels first - int throttleChannel = -1; - int fmChannel = -1; - for (int i=0; i < inChannelAssign.length(); i++) { - if (inChannelAssign.at(i)->currentText() == "Throttle") { - // TODO: this is very ugly, because this relies on the name of the - // channel input, everywhere else in the gadget we don't rely on the - // naming... - throttleChannel = i; - } - if (inChannelAssign.at(i)->currentText() == "FlightMode") { - // TODO: this is very ugly, because this relies on the name of the - // channel input, everywhere else in the gadget we don't rely on the - // naming... - fmChannel = i; - } - } - - // Throttle neutral defaults to 2% of range - if (throttleChannel > -1) { - inSliders.at(throttleChannel)->setValue( - inSliders.at(throttleChannel)->minimum() + - (inSliders.at(throttleChannel)->maximum()- - inSliders.at(throttleChannel)->minimum())*0.02); - } - - // Flight mode at 50% of range: - if (fmChannel > -1) { - inSliders.at(fmChannel)->setValue( - inSliders.at(fmChannel)->minimum()+ - (inSliders.at(fmChannel)->maximum()- - inSliders.at(fmChannel)->minimum())*0.5); - } - - m_config->saveRCInputToRAM->setEnabled(true); - m_config->saveRCInputToSD->setEnabled(true); - } - firstUpdate = true; - } - - //Update the Flight mode channel slider - ManualControlSettings * manualSettings = ManualControlSettings::GetInstance(getObjectManager()); - ManualControlSettings::DataFields manualSettingsData = manualSettings->getData(); - uint chIndex = manualSettingsData.FlightMode; - if (chIndex < manualSettings->FLIGHTMODE_NONE) { - float valueScaled; - - int chMin = manualSettingsData.ChannelMin[chIndex]; - int chMax = manualSettingsData.ChannelMax[chIndex]; - int chNeutral = manualSettingsData.ChannelNeutral[chIndex]; - - int value = controlCommand->getField("Channel")->getValue(chIndex).toInt(); - if ((chMax > chMin && value >= chNeutral) || (chMin > chMax && value <= chNeutral)) - { - if (chMax != chNeutral) - valueScaled = (float)(value - chNeutral) / (float)(chMax - chNeutral); - else - valueScaled = 0; - } - else - { - if (chMin != chNeutral) - valueScaled = (float)(value - chNeutral) / (float)(chNeutral - chMin); - else - valueScaled = 0; - } - - if(valueScaled < -(1.0 / 3.0)) - m_config->fmsSlider->setValue(-100); - else if (valueScaled > (1.0/3.0)) - m_config->fmsSlider->setValue(100); - else - m_config->fmsSlider->setValue(0); - - } -} - -void ConfigInputWidget::updateChannelInSlider(QSlider *slider, QLabel *min, QLabel *max, int value, bool reversed) -{ - if (!slider || !min || !max) - return; - - if (firstUpdate) { - // Reset all the min/max values of the progress bar since we are starting the calibration. - slider->setMaximum(value); - slider->setMinimum(value); - slider->setValue(value); - max->setText(QString::number(value)); - min->setText(QString::number(value)); - return; - } - - if (value > 0) { - // avoids glitches... - if (value > slider->maximum()) { - slider->setMaximum(value); - if (reversed) - min->setText(QString::number(value)); - else - max->setText(QString::number(value)); - } - if (value < slider->minimum()) { - slider->setMinimum(value); - if (reversed) - max->setText(QString::number(value)); - else - min->setText(QString::number(value)); - } - slider->setValue(value); - } + QWidget::resizeEvent(event); + m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio ); } void ConfigInputWidget::openHelp() @@ -653,77 +272,1147 @@ void ConfigInputWidget::openHelp() QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Input+Configuration", QUrl::StrictMode) ); } -void ConfigInputWidget::receiverHelp() +void ConfigInputWidget::goToWizard() { - QString unassigned; - ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); - UAVObjectManager *objManager = pm->getObject(); - UAVDataObject* controlCommand = dynamic_cast(objManager->getObject(QString("ManualControlSettings"))); - - UAVObjectField *field; - - field= controlCommand->getField("Roll"); - if(field->getValue().toString()=="None") - unassigned.append("Roll"); - - field =controlCommand->getField("Pitch"); - if(field->getValue().toString()=="None") - { - if(unassigned.length()>0) - unassigned.append(", "); - unassigned.append("Pitch"); - } - - field =controlCommand->getField("Yaw"); - if(field->getValue().toString()=="None") - { - if(unassigned.length()>0) - unassigned.append(", "); - unassigned.append("Yaw"); - } - - field =controlCommand->getField("Throttle"); - if(field->getValue().toString()=="None") - { - if(unassigned.length()>0) - unassigned.append(", "); - unassigned.append("Throttle"); - } - - field =controlCommand->getField("FlightMode"); - if(field->getValue().toString()=="None") - { - if(unassigned.length()>0) - unassigned.append(", "); - unassigned.append("FlightMode"); - } - if(unassigned.length()>0) - m_config->lblMissingInputs->setText(QString("Channels left to assign: ")+unassigned); - else - m_config->lblMissingInputs->setText(""); + QMessageBox msgBox; + msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety.")); + msgBox.setDetailedText(tr("You will have to reconfigure arming settings yourself afterwards.")); + msgBox.setStandardButtons(QMessageBox::Ok); + msgBox.setDefaultButton(QMessageBox::Ok); + msgBox.exec(); + wizardSetUpStep(wizardWelcome); + m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio ); } -void ConfigInputWidget::updateTips(int value) + +void ConfigInputWidget::wzCancel() { - if(value==Qt::Checked) + dimOtherControls(false); + manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata()); + m_config->stackedWidget->setCurrentIndex(0); + + if(wizardStep != wizardNone) + wizardTearDownStep(wizardStep); + wizardStep=wizardNone; + + // Load settings back from beginning of wizard + manualSettingsObj->setData(previousManualSettingsData); +} + +void ConfigInputWidget::wzNext() +{ + // In identify sticks mode the next button can indicate + // channel advance + if(wizardStep != wizardNone && + wizardStep != wizardIdentifySticks) + wizardTearDownStep(wizardStep); + + // State transitions for next button + switch(wizardStep) { + case wizardWelcome: + wizardSetUpStep(wizardChooseMode); + break; + case wizardChooseMode: + wizardSetUpStep(wizardChooseType); + break; + case wizardChooseType: + wizardSetUpStep(wizardIdentifySticks); + break; + case wizardIdentifySticks: + nextChannel(); + if(currentChannelNum==-1) { // Gone through all channels + wizardTearDownStep(wizardIdentifySticks); + wizardSetUpStep(wizardIdentifyCenter); + } + break; + case wizardIdentifyCenter: + wizardSetUpStep(wizardIdentifyLimits); + break; + case wizardIdentifyLimits: + wizardSetUpStep(wizardIdentifyInverted); + break; + case wizardIdentifyInverted: + wizardSetUpStep(wizardFinish); + break; + case wizardFinish: + setTxMovement(nothing); + manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata()); + disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks())); + manualSettingsData=manualSettingsObj->getData(); + manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]= + manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+ + ((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]- + manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02); + if((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100) || + (abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100)) + { + manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]=manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]+ + (manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE])/2; + } + manualSettingsObj->setData(manualSettingsData); + m_config->stackedWidget->setCurrentIndex(0); + wizardStep=wizardNone; + break; + default: + Q_ASSERT(0); + } +} + +void ConfigInputWidget::wzBack() +{ + if(wizardStep != wizardNone && + wizardStep != wizardIdentifySticks) + wizardTearDownStep(wizardStep); + + // State transitions for next button + switch(wizardStep) { + case wizardChooseMode: + wizardSetUpStep(wizardWelcome); + break; + case wizardChooseType: + wizardSetUpStep(wizardChooseMode); + break; + case wizardIdentifySticks: + prevChannel(); + if(currentChannelNum == -1) { + wizardTearDownStep(wizardIdentifySticks); + wizardSetUpStep(wizardChooseType); + } + break; + case wizardIdentifyCenter: + wizardSetUpStep(wizardIdentifySticks); + break; + case wizardIdentifyLimits: + wizardSetUpStep(wizardIdentifyCenter); + break; + case wizardIdentifyInverted: + wizardSetUpStep(wizardIdentifyLimits); + break; + case wizardFinish: + wizardSetUpStep(wizardIdentifyInverted); + break; + default: + Q_ASSERT(0); + } +} + +void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step) +{ + switch(step) { + case wizardWelcome: + m_config->graphicsView->setVisible(false); + setTxMovement(nothing); + manualSettingsData=manualSettingsObj->getData(); + manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED; + previousManualSettingsData = manualSettingsData; + manualSettingsObj->setData(manualSettingsData); + m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n" + "Please follow the instructions on the screen and only move your controls when asked to.\n" + "Make sure you already configured your hardware settings on the proper tab and restarted your board.\n" + "At any time you can press 'back' to return to the previous screeen or 'Cancel' to cancel the wizard.\n")); + m_config->stackedWidget->setCurrentIndex(1); + m_config->wzBack->setEnabled(false); + break; + case wizardChooseMode: { - m_config->ch0Cur->setToolTip("Current channel value"); - m_config->ch1Cur->setToolTip("Current channel value"); - m_config->ch2Cur->setToolTip("Current channel value"); - m_config->ch3Cur->setToolTip("Current channel value"); - m_config->ch4Cur->setToolTip("Current channel value"); - m_config->ch5Cur->setToolTip("Current channel value"); - m_config->ch6Cur->setToolTip("Current channel value"); - m_config->ch7Cur->setToolTip("Current channel value"); + m_config->graphicsView->setVisible(true); + setTxMovement(nothing); + m_config->wzText->setText(tr("Please choose your transmiter type.\n" + "Mode 1 means your throttle stick is on the right\n" + "Mode 2 means your throttle stick is on the left\n")); + m_config->wzBack->setEnabled(true); + QRadioButton * mode1=new QRadioButton(tr("Mode 1"),this); + QRadioButton * mode2=new QRadioButton(tr("Mode 2"),this); + mode2->setChecked(true); + extraWidgets.clear(); + extraWidgets.append(mode1); + extraWidgets.append(mode2); + m_config->checkBoxesLayout->layout()->addWidget(mode1); + m_config->checkBoxesLayout->layout()->addWidget(mode2); + } + break; + case wizardChooseType: + { + m_config->wzText->setText(tr("Please choose your transmiter mode.\n" + "Acro means normal transmitter\n" + "Heli means there is a collective pitch and throttle input\n" + "If you are using a heli transmitter please engage throttle hold now please.\n")); + m_config->wzBack->setEnabled(true); + QRadioButton * typeAcro=new QRadioButton(tr("Acro"),this); + QRadioButton * typeHeli=new QRadioButton(tr("Heli"),this); + typeAcro->setChecked(true); + typeHeli->setChecked(false); + extraWidgets.clear(); + extraWidgets.append(typeAcro); + extraWidgets.append(typeHeli); + m_config->checkBoxesLayout->layout()->addWidget(typeAcro); + m_config->checkBoxesLayout->layout()->addWidget(typeHeli); + wizardStep=wizardChooseType; + } + break; + case wizardIdentifySticks: + usedChannels.clear(); + currentChannelNum=-1; + nextChannel(); + manualSettingsData=manualSettingsObj->getData(); + connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls())); + m_config->wzNext->setEnabled(false); + break; + case wizardIdentifyCenter: + setTxMovement(centerAll); + m_config->wzText->setText(QString(tr("Please center all control controls and press next when ready (if your FlightMode switch has only two positions, leave it on either position)"))); + break; + case wizardIdentifyLimits: + { + dimOtherControls(false); + setTxMovement(moveAll); + m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready"))); + fastMdata(); + manualSettingsData=manualSettingsObj->getData(); + for(uint i=0;igetFields().at(0)->getElementNames()) + { + if(!name.contains("Access") && !name.contains("Flight")) + { + QCheckBox * cb=new QCheckBox(name,this); + extraWidgets.append(cb); + m_config->checkBoxesLayout->layout()->addWidget(cb); + connect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls())); + } + } + connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks())); + m_config->wzText->setText(QString(tr("Please check the picture below and check all the sticks which show an inverted movement and press next when ready"))); + fastMdata(); + break; + case wizardFinish: + foreach(QWidget * wd,extraWidgets) + { + QCheckBox * cb=qobject_cast(wd); + if(cb) + { + disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls())); + delete cb; + } + } + extraWidgets.clear(); + connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks())); + m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your sticks movement.\n" + "This new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can do that."))); + fastMdata(); + + manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]= + manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+ + ((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]- + manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02); + if((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100) || + (abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100)) + { + manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]=manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]+ + (manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE])/2; + } + manualSettingsObj->setData(manualSettingsData); + break; + default: + Q_ASSERT(0); + } + wizardStep = step; +} + +void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step) +{ + QRadioButton * mode, * type; + Q_ASSERT(step == wizardStep); + switch(step) { + case wizardWelcome: + break; + case wizardChooseMode: + mode=qobject_cast(extraWidgets.at(0)); + if(mode->isChecked()) + transmitterMode=mode1; + else + transmitterMode=mode2; + delete extraWidgets.at(0); + delete extraWidgets.at(1); + extraWidgets.clear(); + break; + case wizardChooseType: + type=qobject_cast(extraWidgets.at(0)); + if(type->isChecked()) + transmitterType=acro; + else + transmitterType=heli; + delete extraWidgets.at(0); + delete extraWidgets.at(1); + extraWidgets.clear(); + break; + case wizardIdentifySticks: + disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls())); + m_config->wzNext->setEnabled(true); + break; + case wizardIdentifyCenter: + manualCommandData=manualCommandObj->getData(); + manualSettingsData=manualSettingsObj->getData(); + for(unsigned int i=0;isetData(manualSettingsData); + break; + case wizardIdentifyLimits: + disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits())); + manualSettingsObj->setData(manualSettingsData); + restoreMdata(); + break; + case wizardIdentifyInverted: + foreach(QWidget * wd,extraWidgets) + { + QCheckBox * cb=qobject_cast(wd); + if(cb) + { + disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls())); + delete cb; + } + } + extraWidgets.clear(); + disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks())); + restoreMdata(); + break; + case wizardFinish: + setTxMovement(nothing); + m_config->stackedWidget->setCurrentIndex(0); + disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks())); + restoreMdata(); + break; + default: + Q_ASSERT(0); + } +} + +/** + * Set manual control command to fast updates + */ +void ConfigInputWidget::fastMdata() +{ + manualControlMdata = manualCommandObj->getMetadata(); + UAVObject::Metadata mdata = manualControlMdata; + mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC; + mdata.flightTelemetryUpdatePeriod = 150; + manualCommandObj->setMetadata(mdata); +} + +/** + * Restore previous update settings for manual control data + */ +void ConfigInputWidget::restoreMdata() +{ + manualCommandObj->setMetadata(manualControlMdata); +} + +//void ConfigInputWidget::setupWizardWidget(int step) +//{ +// if(step==wizardWelcome) +// { +// m_config->graphicsView->setVisible(false); +// setTxMovement(nothing); +// if(wizardStep==wizardChooseMode) +// { +// delete extraWidgets.at(0); +// delete extraWidgets.at(1); +// extraWidgets.clear(); +// } +// manualSettingsData=manualSettingsObj->getData(); +// manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED; +// manualSettingsObj->setData(manualSettingsData); +// m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n" +// "Please follow the instructions on the screen and only move your controls when asked to.\n" +// "Make sure you already configured your hardware settings on the proper tab and restarted your board.\n" +// "At any time you can press 'back' to return to the previous screeen or 'Cancel' to cancel the wizard.\n")); +// m_config->stackedWidget->setCurrentIndex(1); +// m_config->wzBack->setEnabled(false); +// wizardStep=wizardWelcome; +// } +// else if(step==wizardChooseMode) +// { +// m_config->graphicsView->setVisible(true); +// setTxMovement(nothing); +// if(wizardStep==wizardIdentifySticks) +// { +// disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls())); +// m_config->wzNext->setEnabled(true); +// } +// m_config->wzText->setText(tr("Please choose your transmiter type.\n" +// "Mode 1 means your throttle stick is on the right\n" +// "Mode 2 means your throttle stick is on the left\n")); +// m_config->wzBack->setEnabled(true); +// QRadioButton * mode1=new QRadioButton(tr("Mode 1"),this); +// QRadioButton * mode2=new QRadioButton(tr("Mode 2"),this); +// mode2->setChecked(true); +// extraWidgets.clear(); +// extraWidgets.append(mode1); +// extraWidgets.append(mode2); +// m_config->checkBoxesLayout->layout()->addWidget(mode1); +// m_config->checkBoxesLayout->layout()->addWidget(mode2); +// wizardStep=wizardChooseMode; +// } +// else if(step==wizardChooseType) +// { +// if(wizardStep==wizardChooseMode) +// { +// QRadioButton * mode=qobject_cast(extraWidgets.at(0)); +// if(mode->isChecked()) +// transmitterMode=mode1; +// else +// transmitterMode=mode2; +// delete extraWidgets.at(0); +// delete extraWidgets.at(1); +// extraWidgets.clear(); +// } + +// m_config->wzText->setText(tr("Please choose your transmiter mode.\n" +// "Acro means normal transmitter\n" +// "Heli means there is a collective pitch and throttle input\n")); +// m_config->wzBack->setEnabled(true); +// QRadioButton * typeAcro=new QRadioButton(tr("Acro"),this); +// QRadioButton * typeHeli=new QRadioButton(tr("Heli"),this); +// typeAcro->setChecked(true); +// typeHeli->setChecked(false); +// extraWidgets.clear(); +// extraWidgets.append(typeAcro); +// extraWidgets.append(typeHeli); +// m_config->checkBoxesLayout->layout()->addWidget(typeAcro); +// m_config->checkBoxesLayout->layout()->addWidget(typeHeli); +// wizardStep=wizardChooseType; +// } else if(step==wizardIdentifySticks && !isSimple) { +// usedChannels.clear(); +// if(wizardStep==wizardChooseType) +// { +// qDebug() << "Chosing type"; +// QRadioButton * type=qobject_cast(extraWidgets.at(0)); +// if(type->isChecked()) +// transmitterType=acro; +// else +// transmitterType=heli; +// qDebug() << "Checked: " << type->isChecked() << " " << "type is" << transmitterType; +// delete extraWidgets.at(0); +// delete extraWidgets.at(1); +// extraWidgets.clear(); +// } +// wizardStep=wizardIdentifySticks; +// currentCommand=0; +// getChannelFromStep(currentCommand); +// manualSettingsData=manualSettingsObj->getData(); +// connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls())); +// m_config->wzNext->setEnabled(false); +// } +// else if(step==wizardIdentifyCenter || (isSimple && step==wizardIdentifySticks)) +// { +// setTxMovement(centerAll); +// if(wizardStep==wizardIdentifySticks) +// disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls())); +// else +// { +// disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits())); +// manualSettingsObj->setData(manualSettingsData); +// manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata()); +// } +// wizardStep=wizardIdentifyCenter; +// m_config->wzText->setText(QString(tr("Please center all control controls and press next when ready (if your FlightMode switch has only two positions, leave it on either position)"))); +// } +// else if(step==wizardIdentifyLimits) +// { +// dimOtherControls(false); +// setTxMovement(moveAll); +// if(wizardStep==wizardIdentifyCenter) +// { +// wizardStep=wizardIdentifyLimits; +// manualCommandData=manualCommandObj->getData(); +// manualSettingsData=manualSettingsObj->getData(); +// for(unsigned int i=0;isetData(manualSettingsData); +// } +// if(wizardStep==wizardIdentifyInverted) +// { +// foreach(QWidget * wd,extraWidgets) +// { +// QCheckBox * cb=qobject_cast(wd); +// if(cb) +// { +// disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls())); +// delete cb; +// } +// } +// } +// extraWidgets.clear(); +// disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks())); +// wizardStep=wizardIdentifyLimits; +// m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready"))); +// UAVObject::Metadata mdata= manualCommandObj->getMetadata(); +// mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC; +// mdata.flightTelemetryUpdatePeriod = 150; +// manualCommandObj->setMetadata(mdata); +// manualSettingsData=manualSettingsObj->getData(); +// for(uint i=0;isetData(manualSettingsData); +// } +// extraWidgets.clear(); +// foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames()) +// { +// if(!name.contains("Access") && !name.contains("Flight")) +// { +// QCheckBox * cb=new QCheckBox(name,this); +// extraWidgets.append(cb); +// m_config->checkBoxesLayout->layout()->addWidget(cb); +// connect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls())); +// } +// } +// connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks())); +// wizardStep=wizardIdentifyInverted; +// m_config->wzText->setText(QString(tr("Please check the picture below and check all the sticks which show an inverted movement and press next when ready"))); +// } +// else if(step==wizardFinish) +// { +// foreach(QWidget * wd,extraWidgets) +// { +// QCheckBox * cb=qobject_cast(wd); +// if(cb) +// { +// disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls())); +// delete cb; +// } +// } +// wizardStep=wizardFinish; +// extraWidgets.clear(); +// m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your sticks movement.\n" +// "This new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can do that."))); + +// } + +// else if(step==wizardFinish+1) +// { +// setTxMovement(nothing); +// manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata()); +// disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks())); +// manualSettingsData=manualSettingsObj->getData(); +// manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]= +// manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+ +// ((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]- +// manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02); +// if((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100) || +// (abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100)) +// { +// manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]=manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]+ +// (manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE])/2; +// } +// manualSettingsObj->setData(manualSettingsData); +// m_config->stackedWidget->setCurrentIndex(0); +// wizardStep=wizardWelcome; +// } + +//} + +/** + * Set the display to indicate which channel the person should move + */ +void ConfigInputWidget::setChannel(int newChan) +{ + if(newChan == ManualControlSettings::CHANNELGROUPS_COLLECTIVE) + m_config->wzText->setText(QString(tr("Please enable throttle hold mode and move the collective pitch stick"))); + else if (newChan == ManualControlSettings::CHANNELGROUPS_FLIGHTMODE) + m_config->wzText->setText(QString(tr("Please flick the flight mode switch. For switches you may have to repeat this rapidly."))); + else + m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n" + "Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan))); + + if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("Accessory")) + m_config->wzNext->setEnabled(true); + + setMoveFromCommand(newChan); + + currentChannelNum = newChan; +} + +/** + * Unfortunately order of channel should be different in different conditions. Selects + * next channel based on heli or acro mode + */ +void ConfigInputWidget::nextChannel() +{ + QList order = (transmitterType == heli) ? heliChannelOrder : acroChannelOrder; + + if(currentChannelNum == -1) { + setChannel(order[0]); + return; + } + for (int i = 0; i < order.length() - 1; i++) { + if(order[i] == currentChannelNum) { + setChannel(order[i+1]); + return; + } + } + currentChannelNum = -1; // hit end of list +} + +/** + * Unfortunately order of channel should be different in different conditions. Selects + * previous channel based on heli or acro mode + */ +void ConfigInputWidget::prevChannel() +{ + QList order = transmitterType == heli ? heliChannelOrder : acroChannelOrder; + + // No previous from unset channel or next state + if(currentChannelNum == -1) + return; + + for (int i = 1; i < order.length(); i++) { + if(order[i] == currentChannelNum) { + setChannel(order[i-1]); + usedChannels.removeLast(); + return; + } + } + currentChannelNum = -1; // hit end of list +} + +void ConfigInputWidget::identifyControls() +{ + static int debounce=0; + + receiverActivityData=receiverActivityObj->getData(); + if(receiverActivityData.ActiveChannel==255) + return; + else + { + receiverActivityData=receiverActivityObj->getData(); + currentChannel.group=receiverActivityData.ActiveGroup; + currentChannel.number=receiverActivityData.ActiveChannel; + if(currentChannel==lastChannel) + ++debounce; + lastChannel.group= currentChannel.group; + lastChannel.number=currentChannel.number; + if(!usedChannels.contains(lastChannel) && debounce>1) + { + debounce=0; + usedChannels.append(lastChannel); + manualSettingsData=manualSettingsObj->getData(); + manualSettingsData.ChannelGroups[currentChannelNum]=currentChannel.group; + manualSettingsData.ChannelNumber[currentChannelNum]=currentChannel.number; + manualSettingsObj->setData(manualSettingsData); + } + else + return; + } + + m_config->wzText->clear(); + setTxMovement(nothing); + + QTimer::singleShot(300, this, SLOT(wzNext())); +} + +void ConfigInputWidget::identifyLimits() +{ + manualCommandData=manualCommandObj->getData(); + for(uint i=0;imanualCommandData.Channel[i]) + manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i]; + if(manualSettingsData.ChannelMax[i]start(100); + break; + case moveRightVerticalStick: + movePos=0; + growing=true; + currentMovement=moveRightVerticalStick; + animate->start(100); + break; + case moveLeftHorizontalStick: + movePos=0; + growing=true; + currentMovement=moveLeftHorizontalStick; + animate->start(100); + break; + case moveRightHorizontalStick: + movePos=0; + growing=true; + currentMovement=moveRightHorizontalStick; + animate->start(100); + break; + case moveAccess0: + movePos=0; + growing=true; + currentMovement=moveAccess0; + animate->start(100); + break; + case moveAccess1: + movePos=0; + growing=true; + currentMovement=moveAccess1; + animate->start(100); + break; + case moveAccess2: + movePos=0; + growing=true; + currentMovement=moveAccess2; + animate->start(100); + break; + case moveFlightMode: + movePos=0; + growing=true; + currentMovement=moveFlightMode; + animate->start(1000); + break; + case centerAll: + movePos=0; + currentMovement=centerAll; + animate->start(1000); + break; + case moveAll: + movePos=0; + growing=true; + currentMovement=moveAll; + animate->start(50); + break; + case nothing: + movePos=0; + animate->stop(); + break; + default: + break; + } +} + +void ConfigInputWidget::moveTxControls() +{ + QTransform trans; + QGraphicsItem * item; + txMovementType move; + int limitMax; + int limitMin; + static bool auxFlag=false; + switch(currentMovement) + { + case moveLeftVerticalStick: + item=m_txLeftStick; + trans=m_txLeftStickOrig; + limitMax=STICK_MAX_MOVE; + limitMin=STICK_MIN_MOVE; + move=vertical; + break; + case moveRightVerticalStick: + item=m_txRightStick; + trans=m_txRightStickOrig; + limitMax=STICK_MAX_MOVE; + limitMin=STICK_MIN_MOVE; + move=vertical; + break; + case moveLeftHorizontalStick: + item=m_txLeftStick; + trans=m_txLeftStickOrig; + limitMax=STICK_MAX_MOVE; + limitMin=STICK_MIN_MOVE; + move=horizontal; + break; + case moveRightHorizontalStick: + item=m_txRightStick; + trans=m_txRightStickOrig; + limitMax=STICK_MAX_MOVE; + limitMin=STICK_MIN_MOVE; + move=horizontal; + break; + case moveAccess0: + item=m_txAccess0; + trans=m_txAccess0Orig; + limitMax=ACCESS_MAX_MOVE; + limitMin=ACCESS_MIN_MOVE; + move=horizontal; + break; + case moveAccess1: + item=m_txAccess1; + trans=m_txAccess1Orig; + limitMax=ACCESS_MAX_MOVE; + limitMin=ACCESS_MIN_MOVE; + move=horizontal; + break; + case moveAccess2: + item=m_txAccess2; + trans=m_txAccess2Orig; + limitMax=ACCESS_MAX_MOVE; + limitMin=ACCESS_MIN_MOVE; + move=horizontal; + break; + case moveFlightMode: + item=m_txFlightMode; + move=jump; + break; + case centerAll: + item=m_txArrows; + move=jump; + break; + case moveAll: + limitMax=STICK_MAX_MOVE; + limitMin=STICK_MIN_MOVE; + move=mix; + break; + default: + break; + } + if(move==vertical) + item->setTransform(trans.translate(0,movePos*10),false); + else if(move==horizontal) + item->setTransform(trans.translate(movePos*10,0),false); + else if(move==jump) + { + if(item==m_txArrows) + { + m_txArrows->setVisible(!m_txArrows->isVisible()); + } + else if(item==m_txFlightMode) + { + QGraphicsSvgItem * svg; + svg=(QGraphicsSvgItem *)item; + if (svg) + { + if(svg->elementId()=="flightModeCenter") + { + if(growing) + { + svg->setElementId("flightModeRight"); + m_txFlightMode->setTransform(m_txFlightModeROrig,false); + } + else + { + svg->setElementId("flightModeLeft"); + m_txFlightMode->setTransform(m_txFlightModeLOrig,false); + } + } + else if(svg->elementId()=="flightModeRight") + { + growing=false; + svg->setElementId("flightModeCenter"); + m_txFlightMode->setTransform(m_txFlightModeCOrig,false); + } + else if(svg->elementId()=="flightModeLeft") + { + growing=true; + svg->setElementId("flightModeCenter"); + m_txFlightMode->setTransform(m_txFlightModeCOrig,false); + } + } + } + } + else if(move==mix) + { + trans=m_txAccess0Orig; + m_txAccess0->setTransform(trans.translate(movePos*10*ACCESS_MAX_MOVE/STICK_MAX_MOVE,0),false); + trans=m_txAccess1Orig; + m_txAccess1->setTransform(trans.translate(movePos*10*ACCESS_MAX_MOVE/STICK_MAX_MOVE,0),false); + trans=m_txAccess2Orig; + m_txAccess2->setTransform(trans.translate(movePos*10*ACCESS_MAX_MOVE/STICK_MAX_MOVE,0),false); + + if(auxFlag) + { + trans=m_txLeftStickOrig; + m_txLeftStick->setTransform(trans.translate(0,movePos*10),false); + trans=m_txRightStickOrig; + m_txRightStick->setTransform(trans.translate(0,movePos*10),false); + } + else + { + trans=m_txLeftStickOrig; + m_txLeftStick->setTransform(trans.translate(movePos*10,0),false); + trans=m_txRightStickOrig; + m_txRightStick->setTransform(trans.translate(movePos*10,0),false); + } + + if(movePos==0) + { + m_txFlightMode->setElementId("flightModeCenter"); + m_txFlightMode->setTransform(m_txFlightModeCOrig,false); + } + else if(movePos==ACCESS_MAX_MOVE/2) + { + m_txFlightMode->setElementId("flightModeRight"); + m_txFlightMode->setTransform(m_txFlightModeROrig,false); + } + else if(movePos==ACCESS_MIN_MOVE/2) + { + m_txFlightMode->setElementId("flightModeLeft"); + m_txFlightMode->setTransform(m_txFlightModeLOrig,false); + } + } + if(move==horizontal || move==vertical ||move==mix) + { + if(movePos==0 && growing) + auxFlag=!auxFlag; + if(growing) + ++movePos; + else + --movePos; + if(movePos>limitMax) + { + movePos=movePos-2; + growing=false; + } + if(movePosgetData(); + if(transmitterMode==mode2) + { + trans=m_txLeftStickOrig; + m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false); + trans=m_txRightStickOrig; + m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false); } else { - m_config->ch0Cur->setToolTip("Channel neutral point"); - m_config->ch1Cur->setToolTip("Channel neutral point"); - m_config->ch2Cur->setToolTip("Channel neutral point"); - m_config->ch3Cur->setToolTip("Channel neutral point"); - m_config->ch4Cur->setToolTip("Channel neutral point"); - m_config->ch5Cur->setToolTip("Channel neutral point"); - m_config->ch6Cur->setToolTip("Channel neutral point"); - m_config->ch7Cur->setToolTip("Channel neutral point"); + trans=m_txRightStickOrig; + m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false); + trans=m_txLeftStickOrig; + m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false); + } +} + +void ConfigInputWidget::dimOtherControls(bool value) +{ + qreal opac; + if(value) + opac=0.1; + else + opac=1; + m_txAccess0->setOpacity(opac); + m_txAccess1->setOpacity(opac); + m_txAccess2->setOpacity(opac); + m_txFlightMode->setOpacity(opac); +} + +void ConfigInputWidget::enableControls(bool enable) +{ + m_config->configurationWizard->setEnabled(enable); + m_config->runCalibration->setEnabled(enable); + + ConfigTaskWidget::enableControls(enable); + +} + +void ConfigInputWidget::invertControls() +{ + manualSettingsData=manualSettingsObj->getData(); + foreach(QWidget * wd,extraWidgets) + { + QCheckBox * cb=qobject_cast(wd); + if(cb) + { + int index=manualSettingsObj->getFields().at(0)->getElementNames().indexOf(cb->text()); + if((cb->isChecked() && (manualSettingsData.ChannelMax[index]>manualSettingsData.ChannelMin[index])) || + (!cb->isChecked() && (manualSettingsData.ChannelMax[index]setData(manualSettingsData); +} +void ConfigInputWidget::moveFMSlider() +{ + ManualControlSettings::DataFields manualSettingsDataPriv = manualSettingsObj->getData(); + ManualControlCommand::DataFields manualCommandDataPriv=manualCommandObj->getData(); + + float valueScaled; + int chMin = manualSettingsDataPriv.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]; + int chMax = manualSettingsDataPriv.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]; + int chNeutral = manualSettingsDataPriv.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]; + + int value = manualCommandDataPriv.Channel[ManualControlSettings::CHANNELMIN_FLIGHTMODE]; + if ((chMax > chMin && value >= chNeutral) || (chMin > chMax && value <= chNeutral)) + { + if (chMax != chNeutral) + valueScaled = (float)(value - chNeutral) / (float)(chMax - chNeutral); + else + valueScaled = 0; + } + else + { + if (chMin != chNeutral) + valueScaled = (float)(value - chNeutral) / (float)(chNeutral - chMin); + else + valueScaled = 0; + } + + if(valueScaled < -(1.0 / 3.0)) + m_config->fmsSlider->setValue(-100); + else if (valueScaled > (1.0/3.0)) + m_config->fmsSlider->setValue(100); + else + m_config->fmsSlider->setValue(0); +} + +void ConfigInputWidget::updateCalibration() +{ + manualCommandData=manualCommandObj->getData(); + for(uint i=0;imanualCommandData.Channel[i]) || + (reverse[i] && manualSettingsData.ChannelMin[i]manualCommandData.Channel[i])) + manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i]; + manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i]; + } + + manualSettingsObj->setData(manualSettingsData); + manualSettingsObj->updated(); +} + +void ConfigInputWidget::simpleCalibration(bool enable) +{ + if (enable) { + QMessageBox msgBox; + msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety.")); + msgBox.setDetailedText(tr("You will have to reconfigure arming settings yourself afterwards.")); + msgBox.setStandardButtons(QMessageBox::Ok); + msgBox.setDefaultButton(QMessageBox::Ok); + msgBox.exec(); + + manualCommandData = manualCommandObj->getData(); + + manualSettingsData=manualSettingsObj->getData(); + manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED; + manualSettingsObj->setData(manualSettingsData); + + for (unsigned int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++) { + reverse[i] = manualSettingsData.ChannelMax[i] < manualSettingsData.ChannelMin[i]; + manualSettingsData.ChannelMin[i] = manualCommandData.Channel[i]; + manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i]; + manualSettingsData.ChannelMax[i] = manualCommandData.Channel[i]; + } + + fastMdata(); + + connect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(updateCalibration())); + } else { + manualCommandData = manualCommandObj->getData(); + manualSettingsData = manualSettingsObj->getData(); + + restoreMdata(); + + for (int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++) + manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i]; + + // Force flight mode neutral to middle + manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] = + (manualSettingsData.ChannelMax[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] + + manualSettingsData.ChannelMin[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE]) / 2; + + // Force throttle to be near min + manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]= + manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+ + ((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]- + manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02); + + manualSettingsObj->setData(manualSettingsData); + + disconnect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(updateCalibration())); } } diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.h b/ground/openpilotgcs/src/plugins/config/configinputwidget.h index 75f47cc8d..4828c2a20 100644 --- a/ground/openpilotgcs/src/plugins/config/configinputwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.h @@ -34,52 +34,125 @@ #include "uavobject.h" #include #include +#include "inputchannelform.h" +#include "ui_inputchannelform.h" +#include +#include "manualcontrolcommand.h" +#include "manualcontrolsettings.h" +#include "receiveractivity.h" +#include +#include +#include class Ui_InputWidget; class ConfigInputWidget: public ConfigTaskWidget { Q_OBJECT - public: ConfigInputWidget(QWidget *parent = 0); ~ConfigInputWidget(); - + enum wizardSteps{wizardWelcome,wizardChooseMode,wizardChooseType,wizardIdentifySticks,wizardIdentifyCenter,wizardIdentifyLimits,wizardIdentifyInverted,wizardFinish,wizardNone}; + enum txMode{mode1,mode2}; + enum txMovements{moveLeftVerticalStick,moveRightVerticalStick,moveLeftHorizontalStick,moveRightHorizontalStick,moveAccess0,moveAccess1,moveAccess2,moveFlightMode,centerAll,moveAll,nothing}; + enum txMovementType{vertical,horizontal,jump,mix}; + enum txType {acro, heli}; public slots: private: + bool growing; + bool reverse[ManualControlSettings::CHANNELNEUTRAL_NUMELEM]; + txMovements currentMovement; + int movePos; + void setTxMovement(txMovements movement); Ui_InputWidget *m_config; + wizardSteps wizardStep; + QList extraWidgets; + txMode transmitterMode; + txType transmitterType; + struct channelsStruct + { + bool operator ==(const channelsStruct& rhs) const + { + return((group==rhs.group) &&(number==rhs.number)); + } + int group; + int number; + }lastChannel; + channelsStruct currentChannel; + QList usedChannels; + QEventLoop * loop; + bool skipflag; - QList sliders; + int currentChannelNum; + QList heliChannelOrder; + QList acroChannelOrder; - void updateChannelInSlider(QSlider *slider, QLabel *min, QLabel *max, int value, bool reversed); + ManualControlCommand * manualCommandObj; + ManualControlCommand::DataFields manualCommandData; + UAVObject::Metadata manualControlMdata; + ManualControlSettings * manualSettingsObj; + ManualControlSettings::DataFields manualSettingsData; + ManualControlSettings::DataFields previousManualSettingsData; + ReceiverActivity * receiverActivityObj; + ReceiverActivity::DataFields receiverActivityData; - void assignChannel(UAVDataObject *obj, QString str); - void assignOutputChannel(UAVDataObject *obj, QString str); + QSvgRenderer *m_renderer; - int mccDataRate; + // Background: background + QGraphicsSvgItem *m_txMainBody; + QGraphicsSvgItem *m_txLeftStick; + QGraphicsSvgItem *m_txRightStick; + QGraphicsSvgItem *m_txAccess0; + QGraphicsSvgItem *m_txAccess1; + QGraphicsSvgItem *m_txAccess2; + QGraphicsSvgItem *m_txFlightMode; + QGraphicsSvgItem *m_txBackground; + QGraphicsSvgItem *m_txArrows; + QTransform m_txLeftStickOrig; + QTransform m_txRightStickOrig; + QTransform m_txAccess0Orig; + QTransform m_txAccess1Orig; + QTransform m_txAccess2Orig; + QTransform m_txFlightModeCOrig; + QTransform m_txFlightModeLOrig; + QTransform m_txFlightModeROrig; + QTransform m_txMainBodyOrig; + QTransform m_txArrowsOrig; + QTimer * animate; + void resetTxControls(); + void setMoveFromCommand(int command); - UAVObject::Metadata accInitialData; + void fastMdata(); + void restoreMdata(); - QList inSliders; - QList inMaxLabels; - QList inMinLabels; - QList inNeuLabels; - QList inRevCheckboxes; - QList inChannelAssign; + void setChannel(int); + void nextChannel(); + void prevChannel(); - bool firstUpdate; - - virtual void enableControls(bool enable); - void receiverHelp(); + void wizardSetUpStep(enum wizardSteps); + void wizardTearDownStep(enum wizardSteps); private slots: - void updateChannels(UAVObject* obj); - virtual void refreshValues(); - void sendRCInputUpdate(); - void saveRCInputObject(); - void reverseCheckboxClicked(bool state); + void wzNext(); + void wzBack(); + void wzCancel(); + void goToWizard(); + void openHelp(); - void updateTips(int); + void identifyControls(); + void identifyLimits(); + void moveTxControls(); + void moveSticks(); + void dimOtherControls(bool value); + void moveFMSlider(); + void invertControls(); + void simpleCalibration(bool state); + void updateCalibration(); +protected: + void resizeEvent(QResizeEvent *event); + virtual void enableControls(bool enable); + + }; #endif diff --git a/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp index 1a961805b..0adc41e2c 100644 --- a/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp @@ -45,7 +45,8 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren m_config->setupUi(this); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); - UAVObjectManager *objManager = pm->getObject(); + setupButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD); + addUAVObject("ActuatorSettings"); // First of all, put all the channel widgets into lists, so that we can // manipulate those: @@ -106,10 +107,7 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren << m_config->ch7Link; // Register for ActuatorSettings changes: - UAVDataObject * obj = dynamic_cast(objManager->getObject(QString("ActuatorSettings"))); - connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues())); - - for (int i = 0; i < 8; i++) { + for (int i = 0; i < 8; i++) { connect(outMin[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange())); connect(outMax[i], SIGNAL(editingFinished()), this, SLOT(setChOutRange())); connect(reversals[i], SIGNAL(toggled(bool)), this, SLOT(reverseChannel(bool))); @@ -124,13 +122,8 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren for (int i = 0; i < links.count(); i++) connect(links[i], SIGNAL(toggled(bool)), this, SLOT(linkToggled(bool))); - connect(m_config->saveRCOutputToSD, SIGNAL(clicked()), this, SLOT(saveRCOutputObject())); - connect(m_config->saveRCOutputToRAM, SIGNAL(clicked()), this, SLOT(sendRCOutputUpdate())); - enableControls(false); - refreshValues(); - connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect())); - connect(parent, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect())); + refreshWidgetsValues(); firstUpdate = true; @@ -138,6 +131,43 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren // Connect the help button connect(m_config->outputHelp, SIGNAL(clicked()), this, SLOT(openHelp())); + addWidget(m_config->outputRate3); + addWidget(m_config->outputRate2); + addWidget(m_config->outputRate1); + addWidget(m_config->ch0OutMin); + addWidget(m_config->ch0OutSlider); + addWidget(m_config->ch0OutMax); + addWidget(m_config->ch0Rev); + addWidget(m_config->ch0Link); + addWidget(m_config->ch1OutMin); + addWidget(m_config->ch1OutSlider); + addWidget(m_config->ch1OutMax); + addWidget(m_config->ch1Rev); + addWidget(m_config->ch2OutMin); + addWidget(m_config->ch2OutSlider); + addWidget(m_config->ch2OutMax); + addWidget(m_config->ch2Rev); + addWidget(m_config->ch3OutMin); + addWidget(m_config->ch3OutSlider); + addWidget(m_config->ch3OutMax); + addWidget(m_config->ch3Rev); + addWidget(m_config->ch4OutMin); + addWidget(m_config->ch4OutSlider); + addWidget(m_config->ch4OutMax); + addWidget(m_config->ch4Rev); + addWidget(m_config->ch5OutMin); + addWidget(m_config->ch5OutSlider); + addWidget(m_config->ch5OutMax); + addWidget(m_config->ch5Rev); + addWidget(m_config->ch6OutMin); + addWidget(m_config->ch6OutSlider); + addWidget(m_config->ch6OutMax); + addWidget(m_config->ch6Rev); + addWidget(m_config->ch7OutMin); + addWidget(m_config->ch7OutSlider); + addWidget(m_config->ch7OutMax); + addWidget(m_config->ch7Rev); + addWidget(m_config->spinningArmed); } ConfigOutputWidget::~ConfigOutputWidget() @@ -146,14 +176,6 @@ ConfigOutputWidget::~ConfigOutputWidget() } -// ************************************ - -void ConfigOutputWidget::enableControls(bool enable) -{ - m_config->saveRCOutputToSD->setEnabled(enable); - //m_config->saveRCOutputToRAM->setEnabled(enable); -} - // ************************************ /** @@ -355,8 +377,9 @@ void ConfigOutputWidget::sendChannelTest(int value) /** Request the current config from the board (RC Output) */ -void ConfigOutputWidget::refreshValues() +void ConfigOutputWidget::refreshWidgetsValues() { + bool dirty=isDirty(); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); @@ -444,14 +467,14 @@ void ConfigOutputWidget::refreshValues() outSliders[i]->setValue(value); outLabels[i]->setText(QString::number(value)); } - + setDirty(dirty); } /** * Sends the config to the board, without saving to the SD card (RC Output) */ -void ConfigOutputWidget::sendRCOutputUpdate() +void ConfigOutputWidget::updateObjectsFromWidgets() { ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); @@ -479,27 +502,8 @@ void ConfigOutputWidget::sendRCOutputUpdate() field->setValue(m_config->outputRate2->value(),1); field->setValue(m_config->outputRate3->value(),2); field->setValue(m_config->outputRate4->value(),3); - - // ... and send to the OP Board - obj->updated(); - } - -/** - Sends the config to the board and request saving into the SD card (RC Output) - */ -void ConfigOutputWidget::saveRCOutputObject() -{ - // Send update so that the latest value is saved - sendRCOutputUpdate(); - UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("ActuatorSettings"))); - Q_ASSERT(obj); - saveObjectToSD(obj); - -} - - /** Sets the minimum/maximum value of the channel 0 to seven output sliders. Have to do it here because setMinimum is not a slot. diff --git a/ground/openpilotgcs/src/plugins/config/configoutputwidget.h b/ground/openpilotgcs/src/plugins/config/configoutputwidget.h index 2a197e3ac..492109df1 100644 --- a/ground/openpilotgcs/src/plugins/config/configoutputwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configoutputwidget.h @@ -69,12 +69,10 @@ private: bool firstUpdate; - virtual void enableControls(bool enable); private slots: - virtual void refreshValues(); - void sendRCOutputUpdate(); - void saveRCOutputObject(); + virtual void refreshWidgetsValues(); + void updateObjectsFromWidgets(); void runChannelTests(bool state); void sendChannelTest(int value); void setChOutRange(); diff --git a/ground/openpilotgcs/src/plugins/config/configplugin.cpp b/ground/openpilotgcs/src/plugins/config/configplugin.cpp index dced1c231..622b3db9b 100644 --- a/ground/openpilotgcs/src/plugins/config/configplugin.cpp +++ b/ground/openpilotgcs/src/plugins/config/configplugin.cpp @@ -30,7 +30,7 @@ #include #include #include - +#include "objectpersistence.h" ConfigPlugin::ConfigPlugin() { @@ -58,7 +58,7 @@ bool ConfigPlugin::initialize(const QStringList& args, QString *errMsg) "ConfigPlugin.EraseAll", QList() << Core::Constants::C_GLOBAL_ID); - cmd->action()->setText("Erase all settings from board..."); + cmd->action()->setText(tr("Erase all settings from board...")); ac->menu()->addSeparator(); ac->appendGroup("Utilities"); @@ -80,6 +80,17 @@ bool ConfigPlugin::initialize(const QStringList& args, QString *errMsg) return true; } +/** + * @brief Return handle to object manager + */ +UAVObjectManager * ConfigPlugin::getObjectManager() +{ + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); + UAVObjectManager * objMngr = pm->getObject(); + Q_ASSERT(objMngr); + return objMngr; +} + void ConfigPlugin::extensionsInitialized() { cmd->action()->setEnabled(false); @@ -122,18 +133,19 @@ void ConfigPlugin::eraseAllSettings() return; settingsErased = false; - ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); - UAVObjectManager * objMngr = pm->getObject(); - Q_ASSERT(objMngr); - ObjectPersistence* objper = dynamic_cast( objMngr->getObject(ObjectPersistence::NAME) ); + ObjectPersistence* objper = ObjectPersistence::GetInstance(getObjectManager()); Q_ASSERT(objper); + connect(objper, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(eraseDone(UAVObject *))); - ObjectPersistence::DataFields data; - data.Operation = ObjectPersistence::OPERATION_DELETE; - data.Selection = ObjectPersistence::SELECTION_ALLSETTINGS; + + ObjectPersistence::DataFields data = objper->getData(); + data.Operation = ObjectPersistence::OPERATION_FULLERASE; + + // No need for manual updated event, this is triggered by setData + // based on UAVO meta data objper->setData(data); objper->updated(); - QTimer::singleShot(1500,this,SLOT(eraseFailed())); + QTimer::singleShot(6000,this,SLOT(eraseFailed())); } @@ -141,37 +153,47 @@ void ConfigPlugin::eraseFailed() { if (settingsErased) return; - ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); - UAVObjectManager * objMngr = pm->getObject(); - Q_ASSERT(objMngr); - ObjectPersistence* objper = dynamic_cast( objMngr->getObject(ObjectPersistence::NAME)); - disconnect(objper, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(eraseDone(UAVObject *))); - QMessageBox msgBox; - msgBox.setText(tr("Error trying to erase settings.")); - msgBox.setInformativeText(tr("Power-cycle your board. Settings might be inconsistent.")); - msgBox.setStandardButtons(QMessageBox::Ok); - msgBox.setDefaultButton(QMessageBox::Ok); - msgBox.exec(); + + ObjectPersistence* objper = ObjectPersistence::GetInstance(getObjectManager()); + + ObjectPersistence::DataFields data = objper->getData(); + if(data.Operation == ObjectPersistence::OPERATION_FULLERASE) { + // First attempt via flash erase failed. Fall back on erase all settings + data.Operation = ObjectPersistence::OPERATION_DELETE; + data.Selection = ObjectPersistence::SELECTION_ALLSETTINGS; + objper->setData(data); + objper->updated(); + QTimer::singleShot(1500,this,SLOT(eraseFailed())); + } else { + disconnect(objper, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(eraseDone(UAVObject *))); + QMessageBox msgBox; + msgBox.setText(tr("Error trying to erase settings.")); + msgBox.setInformativeText(tr("Power-cycle your board after removing all blades. Settings might be inconsistent.")); + msgBox.setStandardButtons(QMessageBox::Ok); + msgBox.setDefaultButton(QMessageBox::Ok); + msgBox.exec(); + } } void ConfigPlugin::eraseDone(UAVObject * obj) { QMessageBox msgBox; - ObjectPersistence* objper = dynamic_cast(sender()); - Q_ASSERT(obj->getName().compare("ObjectPersistence") == 0); - QString tmp = obj->getField("Operation")->getValue().toString(); - if (obj->getField("Operation")->getValue().toString().compare(QString("Delete")) == 0 ) { + ObjectPersistence* objper = ObjectPersistence::GetInstance(getObjectManager()); + ObjectPersistence::DataFields data = objper->getData(); + Q_ASSERT(obj->getInstID() == objper->getInstID()); + + if(data.Operation != ObjectPersistence::OPERATION_COMPLETED) { return; } disconnect(objper, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(eraseDone(UAVObject *))); - if (obj->getField("Operation")->getValue().toString().compare(QString("Completed")) == 0) { + if (data.Operation == ObjectPersistence::OPERATION_COMPLETED) { settingsErased = true; msgBox.setText(tr("Settings are now erased.")); msgBox.setInformativeText(tr("Please now power-cycle your board to complete reset.")); } else { msgBox.setText(tr("Error trying to erase settings.")); - msgBox.setInformativeText(tr("Power-cycle your board. Settings might be inconsistent.")); + msgBox.setInformativeText(tr("Power-cycle your board after removing all blades. Settings might be inconsistent.")); } msgBox.setStandardButtons(QMessageBox::Ok); msgBox.setDefaultButton(QMessageBox::Ok); diff --git a/ground/openpilotgcs/src/plugins/config/configplugin.h b/ground/openpilotgcs/src/plugins/config/configplugin.h index f4fa677de..7091ad460 100644 --- a/ground/openpilotgcs/src/plugins/config/configplugin.h +++ b/ground/openpilotgcs/src/plugins/config/configplugin.h @@ -48,6 +48,7 @@ public: ConfigPlugin(); ~ConfigPlugin(); + UAVObjectManager * getObjectManager(); void extensionsInitialized(); bool initialize(const QStringList & arguments, QString * errorString); void shutdown(); diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp index 5cd0cfa04..cbe554f4e 100644 --- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp @@ -43,21 +43,15 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa m_stabilization->setupUi(this); - connect(m_stabilization->saveStabilizationToSD, SIGNAL(clicked()), this, SLOT(saveStabilizationUpdate())); - connect(m_stabilization->saveStabilizationToRAM, SIGNAL(clicked()), this, SLOT(sendStabilizationUpdate())); + setupButtons(m_stabilization->saveStabilizationToRAM,m_stabilization->saveStabilizationToSD); - enableControls(false); - refreshValues(); - connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect())); - connect(parent, SIGNAL(autopilotDisconnected()),this, SLOT(onAutopilotDisconnect())); + addUAVObject("StabilizationSettings"); - // Now connect the widget to the StabilizationSettings object - UAVObject *obj = getObjectManager()->getObject(QString("StabilizationSettings")); - connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues())); + refreshWidgetsValues(); // Create a timer to regularly send the object update in case // we want realtime updates. - connect(&updateTimer, SIGNAL(timeout()), this, SLOT(sendStabilizationUpdate())); + connect(&updateTimer, SIGNAL(timeout()), this, SLOT(updateObjectsFromWidgets())); connect(m_stabilization->realTimeUpdates, SIGNAL(toggled(bool)), this, SLOT(realtimeUpdateToggle(bool))); // Connect the updates of the stab values @@ -79,6 +73,35 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa // Connect the help button connect(m_stabilization->stabilizationHelp, SIGNAL(clicked()), this, SLOT(openHelp())); + addWidget(m_stabilization->rateRollKp); + addWidget(m_stabilization->rateRollKi); + addWidget(m_stabilization->rateRollILimit); + addWidget(m_stabilization->ratePitchKp); + addWidget(m_stabilization->ratePitchKi); + addWidget(m_stabilization->ratePitchILimit); + addWidget(m_stabilization->rateYawKp); + addWidget(m_stabilization->rateYawKi); + addWidget(m_stabilization->rateYawILimit); + addWidget(m_stabilization->rollKp); + addWidget(m_stabilization->rollKi); + addWidget(m_stabilization->rollILimit); + addWidget(m_stabilization->yawILimit); + addWidget(m_stabilization->yawKi); + addWidget(m_stabilization->yawKp); + addWidget(m_stabilization->pitchKp); + addWidget(m_stabilization->pitchKi); + addWidget(m_stabilization->pitchILimit); + addWidget(m_stabilization->rollMax); + addWidget(m_stabilization->pitchMax); + addWidget(m_stabilization->yawMax); + addWidget(m_stabilization->manualRoll); + addWidget(m_stabilization->manualPitch); + addWidget(m_stabilization->manualYaw); + addWidget(m_stabilization->maximumRoll); + addWidget(m_stabilization->maximumPitch); + addWidget(m_stabilization->maximumYaw); + addWidget(m_stabilization->lowThrottleZeroIntegral); + } ConfigStabilizationWidget::~ConfigStabilizationWidget() @@ -86,13 +109,6 @@ ConfigStabilizationWidget::~ConfigStabilizationWidget() // Do nothing } - -void ConfigStabilizationWidget::enableControls(bool enable) -{ - //m_stabilization->saveStabilizationToRAM->setEnabled(enable); - m_stabilization->saveStabilizationToSD->setEnabled(enable); -} - void ConfigStabilizationWidget::updateRateRollKP(double val) { if (m_stabilization->linkRateRP->isChecked()) { @@ -187,8 +203,9 @@ void ConfigStabilizationWidget::updatePitchILimit(double val) /** Request stabilization settings from the board */ -void ConfigStabilizationWidget::refreshValues() +void ConfigStabilizationWidget::refreshWidgetsValues() { + bool dirty=isDirty(); // Not needed anymore as this slot is only called whenever we get // a signal that the object was just updated // stabSettings->requestUpdate(); @@ -229,9 +246,9 @@ void ConfigStabilizationWidget::refreshValues() m_stabilization->maximumRoll->setValue(stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_ROLL]); m_stabilization->maximumPitch->setValue(stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_PITCH]); m_stabilization->maximumYaw->setValue(stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_YAW]); + m_stabilization->lowThrottleZeroIntegral->setChecked(stabData.LowThrottleZeroIntegral==StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_TRUE ? true : false); - m_stabilization->lowThrottleZeroIntegral->setChecked( - stabData.LowThrottleZeroIntegral == StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_TRUE); + setDirty(dirty); } @@ -239,7 +256,7 @@ void ConfigStabilizationWidget::refreshValues() Send telemetry settings to the board */ -void ConfigStabilizationWidget::sendStabilizationUpdate() +void ConfigStabilizationWidget::updateObjectsFromWidgets() { StabilizationSettings::DataFields stabData = stabSettings->getData(); @@ -279,28 +296,12 @@ void ConfigStabilizationWidget::sendStabilizationUpdate() stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_PITCH] = m_stabilization->maximumPitch->value(); stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_YAW] = m_stabilization->maximumYaw->value(); - stabData.LowThrottleZeroIntegral = m_stabilization->lowThrottleZeroIntegral->isChecked() ? - StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_TRUE : - StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_FALSE; + stabData.LowThrottleZeroIntegral = (m_stabilization->lowThrottleZeroIntegral->isChecked() ? StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_TRUE :StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_FALSE); + stabSettings->setData(stabData); // this is atomic } - -/** - Send telemetry settings to the board and request saving to SD card - */ - -void ConfigStabilizationWidget::saveStabilizationUpdate() -{ - // Send update so that the latest value is saved - sendStabilizationUpdate(); - UAVDataObject* obj = dynamic_cast(getObjectManager()->getObject(QString("StabilizationSettings"))); - Q_ASSERT(obj); - saveObjectToSD(obj); -} - - void ConfigStabilizationWidget::realtimeUpdateToggle(bool state) { if (state) { diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h index 98db5530f..e512c5097 100644 --- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h @@ -49,12 +49,10 @@ private: Ui_StabilizationWidget *m_stabilization; StabilizationSettings* stabSettings; QTimer updateTimer; - virtual void enableControls(bool enable); private slots: - virtual void refreshValues(); - void sendStabilizationUpdate(); - void saveStabilizationUpdate(); + virtual void refreshWidgetsValues(); + void updateObjectsFromWidgets(); void realtimeUpdateToggle(bool); void openHelp(); diff --git a/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp b/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp index 8fd35c596..98b10683c 100644 --- a/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp @@ -28,7 +28,7 @@ #include -ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),smartsave(NULL),dirty(false) +ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnected(false),smartsave(NULL),dirty(false) { pm = ExtensionSystem::PluginManager::instance(); objManager = pm->getObject(); @@ -43,13 +43,27 @@ void ConfigTaskWidget::addUAVObject(QString objectName) { addUAVObjectToWidgetRelation(objectName,"",NULL); } -void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString field, QWidget * widget) +void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString field, QWidget * widget, QString index) +{ + UAVObject *obj=NULL; + UAVObjectField *_field=NULL; + obj = objManager->getObject(QString(object)); + Q_ASSERT(obj); + _field = obj->getField(QString(field)); + Q_ASSERT(_field); + addUAVObjectToWidgetRelation(object,field,widget,_field->getElementNames().indexOf(index)); +} + +void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString field, QWidget * widget, int index,int scale) { UAVObject *obj=NULL; UAVObjectField *_field=NULL; if(!object.isEmpty()) + { obj = objManager->getObject(QString(object)); - connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues())); + Q_ASSERT(obj); + connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues())); + } //smartsave->addObject(obj); if(!field.isEmpty() && obj) _field = obj->getField(QString(field)); @@ -57,9 +71,11 @@ void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString fiel ow->field=_field; ow->object=obj; ow->widget=widget; + ow->index=index; + ow->scale=scale; objOfInterest.append(ow); if(obj) - smartsave->addObject(obj); + smartsave->addObject((UAVDataObject*)obj); if(widget==NULL) { // do nothing @@ -88,6 +104,15 @@ void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString fiel { connect(cb,SIGNAL(valueChanged(double)),this,SLOT(widgetsContentsChanged())); } + else if(QCheckBox * cb=qobject_cast(widget)) + { + connect(cb,SIGNAL(clicked()),this,SLOT(widgetsContentsChanged())); + } + else if(QPushButton * cb=qobject_cast(widget)) + { + connect(cb,SIGNAL(clicked()),this,SLOT(widgetsContentsChanged())); + } + } @@ -126,17 +151,21 @@ double ConfigTaskWidget::listMean(QList list) void ConfigTaskWidget::onAutopilotDisconnect() { - enableControls(false); + isConnected=false; + enableControls(false); } void ConfigTaskWidget::onAutopilotConnect() { - enableControls(true); - refreshWidgetsValues(); + dirty=false; + isConnected=true; + enableControls(true); + refreshWidgetsValues(); } void ConfigTaskWidget::populateWidgets() { + bool dirtyBack=dirty; foreach(objectToWidget * ow,objOfInterest) { if(ow->object==NULL || ow->field==NULL) @@ -146,18 +175,27 @@ void ConfigTaskWidget::populateWidgets() else if(QComboBox * cb=qobject_cast(ow->widget)) { cb->addItems(ow->field->getOptions()); - cb->setCurrentIndex(cb->findText(ow->field->getValue().toString())); + cb->setCurrentIndex(cb->findText(ow->field->getValue(ow->index).toString())); } else if(QLabel * cb=qobject_cast(ow->widget)) { - cb->setText(ow->field->getValue().toString()); + cb->setText(ow->field->getValue(ow->index).toString()); + } + else if(QSpinBox * cb=qobject_cast(ow->widget)) + { + cb->setValue(ow->field->getValue(ow->index).toInt()/ow->scale); + } + else if(QSlider * cb=qobject_cast(ow->widget)) + { + cb->setValue(ow->field->getValue(ow->index).toInt()/ow->scale); } } - dirty=false; + setDirty(dirtyBack); } void ConfigTaskWidget::refreshWidgetsValues() { + bool dirtyBack=dirty; foreach(objectToWidget * ow,objOfInterest) { if(ow->object==NULL || ow->field==NULL) @@ -166,13 +204,22 @@ void ConfigTaskWidget::refreshWidgetsValues() } else if(QComboBox * cb=qobject_cast(ow->widget)) { - cb->setCurrentIndex(cb->findText(ow->field->getValue().toString())); + cb->setCurrentIndex(cb->findText(ow->field->getValue(ow->index).toString())); } else if(QLabel * cb=qobject_cast(ow->widget)) { - cb->setText(ow->field->getValue().toString()); + cb->setText(ow->field->getValue(ow->index).toString()); + } + else if(QSpinBox * cb=qobject_cast(ow->widget)) + { + cb->setValue(ow->field->getValue(ow->index).toInt()/ow->scale); + } + else if(QSlider * cb=qobject_cast(ow->widget)) + { + cb->setValue(ow->field->getValue(ow->index).toInt()/ow->scale); } } + setDirty(dirtyBack); } void ConfigTaskWidget::updateObjectsFromWidgets() @@ -185,11 +232,19 @@ void ConfigTaskWidget::updateObjectsFromWidgets() } else if(QComboBox * cb=qobject_cast(ow->widget)) { - ow->field->setValue(cb->currentText()); + ow->field->setValue(cb->currentText(),ow->index); } else if(QLabel * cb=qobject_cast(ow->widget)) { - ow->field->setValue(cb->text()); + ow->field->setValue(cb->text(),ow->index); + } + else if(QSpinBox * cb=qobject_cast(ow->widget)) + { + ow->field->setValue(cb->value()* ow->scale,ow->index); + } + else if(QSlider * cb=qobject_cast(ow->widget)) + { + ow->field->setValue(cb->value()* ow->scale,ow->index); } } } @@ -197,10 +252,11 @@ void ConfigTaskWidget::updateObjectsFromWidgets() void ConfigTaskWidget::setupButtons(QPushButton *update, QPushButton *save) { smartsave=new smartSaveButton(update,save); - connect(smartsave, SIGNAL(preProcessOperations()), this, SLOT(updateObjectsFromWidgets())); + connect(smartsave,SIGNAL(preProcessOperations()), this, SLOT(updateObjectsFromWidgets())); connect(smartsave,SIGNAL(saveSuccessfull()),this,SLOT(clearDirty())); connect(smartsave,SIGNAL(beginOp()),this,SLOT(disableObjUpdates())); connect(smartsave,SIGNAL(endOp()),this,SLOT(enableObjUpdates())); + enableControls(false); } void ConfigTaskWidget::enableControls(bool enable) @@ -211,17 +267,23 @@ void ConfigTaskWidget::enableControls(bool enable) void ConfigTaskWidget::widgetsContentsChanged() { - dirty=true; + setDirty(true); } void ConfigTaskWidget::clearDirty() { - dirty=false; + setDirty(false); +} +void ConfigTaskWidget::setDirty(bool value) +{ + dirty=value; } - bool ConfigTaskWidget::isDirty() { - return dirty; + if(isConnected) + return dirty; + else + return false; } void ConfigTaskWidget::refreshValues() diff --git a/ground/openpilotgcs/src/plugins/config/configtaskwidget.h b/ground/openpilotgcs/src/plugins/config/configtaskwidget.h index bd293ce5f..b2a72cbc6 100644 --- a/ground/openpilotgcs/src/plugins/config/configtaskwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configtaskwidget.h @@ -41,6 +41,9 @@ #include #include #include +#include +#include + class ConfigTaskWidget: public QWidget { Q_OBJECT @@ -51,6 +54,8 @@ public: UAVObject * object; UAVObjectField * field; QWidget * widget; + int index; + int scale; }; ConfigTaskWidget(QWidget *parent = 0); @@ -60,9 +65,12 @@ public: static double listMean(QList list); void addUAVObject(QString objectName); void addWidget(QWidget * widget); - void addUAVObjectToWidgetRelation(QString object,QString field,QWidget * widget); + void addUAVObjectToWidgetRelation(QString object,QString field,QWidget * widget,int index=0,int scale=1); + void setupButtons(QPushButton * update,QPushButton * save); bool isDirty(); + void setDirty(bool value); + void addUAVObjectToWidgetRelation(QString object, QString field, QWidget *widget, QString index); public slots: void onAutopilotDisconnect(); void onAutopilotConnect(); @@ -71,6 +79,8 @@ private slots: virtual void refreshValues(); virtual void updateObjectsFromWidgets(); private: + bool isConnected; + QStringList objectsList; QList objOfInterest; ExtensionSystem::PluginManager *pm; UAVObjectManager *objManager; diff --git a/ground/openpilotgcs/src/plugins/config/fancytabwidget.cpp b/ground/openpilotgcs/src/plugins/config/fancytabwidget.cpp index 97ae45303..bb0b65b09 100644 --- a/ground/openpilotgcs/src/plugins/config/fancytabwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/fancytabwidget.cpp @@ -284,6 +284,10 @@ void FancyTabBar::paintTab(QPainter *painter, int tabIndex) const } void FancyTabBar::setCurrentIndex(int index) { + bool proceed=true; + emit aboutToChange(&proceed); + if(!proceed) + return; m_currentIndex = index; update(); emit currentChanged(index); @@ -319,7 +323,6 @@ FancyTabWidget::FancyTabWidget(QWidget *parent, bool isVertical) : QWidget(parent) { m_tabBar = new FancyTabBar(this, isVertical); - m_selectionWidget = new QWidget(this); QBoxLayout *selectionLayout; if (isVertical) { @@ -477,3 +480,7 @@ void FancyTabWidget::setTabToolTip(int index, const QString &toolTip) { m_tabBar->setTabToolTip(index, toolTip); } +QWidget * FancyTabWidget::currentWidget() +{ + return m_modesStack->currentWidget(); +} diff --git a/ground/openpilotgcs/src/plugins/config/fancytabwidget.h b/ground/openpilotgcs/src/plugins/config/fancytabwidget.h index 47c7ddeb5..73da2aae8 100644 --- a/ground/openpilotgcs/src/plugins/config/fancytabwidget.h +++ b/ground/openpilotgcs/src/plugins/config/fancytabwidget.h @@ -91,6 +91,7 @@ public: signals: void currentChanged(int); + void aboutToChange(bool *); public slots: void updateHover(); @@ -116,7 +117,7 @@ class FancyTabWidget : public QWidget public: FancyTabWidget(QWidget *parent = 0, bool isVertical = false); - + FancyTabBar *m_tabBar; void insertTab(int index, QWidget *tab, const QIcon &icon, const QString &label); void removeTab(int index); void setBackgroundBrush(const QBrush &brush); @@ -132,6 +133,7 @@ public: int currentIndex() const; QStatusBar *statusBar() const; + QWidget * currentWidget(); signals: void currentAboutToShow(int index); void currentChanged(int index); @@ -143,7 +145,6 @@ private slots: void showWidget(int index); private: - FancyTabBar *m_tabBar; QWidget *m_cornerWidgetContainer; QStackedLayout *m_modesStack; QWidget *m_selectionWidget; diff --git a/ground/openpilotgcs/src/plugins/config/images/TX.svg b/ground/openpilotgcs/src/plugins/config/images/TX.svg new file mode 100644 index 000000000..ebfee4463 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/config/images/TX.svg @@ -0,0 +1,571 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Flight Mode + + Accessory2 + + + + Accessory1 + + + Accessory0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ground/openpilotgcs/src/plugins/config/images/camera.png b/ground/openpilotgcs/src/plugins/config/images/camera.png new file mode 100644 index 000000000..50ee47904 Binary files /dev/null and b/ground/openpilotgcs/src/plugins/config/images/camera.png differ diff --git a/ground/openpilotgcs/src/plugins/config/input.ui b/ground/openpilotgcs/src/plugins/config/input.ui index e1eb0b435..2fac45ec9 100644 --- a/ground/openpilotgcs/src/plugins/config/input.ui +++ b/ground/openpilotgcs/src/plugins/config/input.ui @@ -25,770 +25,105 @@ - - - - 75 - true - - - - Receiver Type: - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - - - - 234 - 54 - - - - - 75 - true - - - - Indicates whether OpenPilot is getting a signal from the RC receiver. - - - RC Receiver not connected or invalid input configuration (missing channels) - - - true - - - - - - - - - Rev. - - - Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft - - - - - - - - 16 - 16 - - - - true - - - - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - - Check this to reverse the channel. -(Useful for transmitters without channel -reversal capabilities). - - - - - - - - - - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - - Check this to reverse the channel. -(Useful for transmitters without channel -reversal capabilities). - - - - - - - - - - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - - Check this to reverse the channel. -(Useful for transmitters without channel -reversal capabilities). - - - - - - - - - - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - - Check this to reverse the channel. -(Useful for transmitters without channel -reversal capabilities). - - - - - - - - - - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - - Check this to reverse the channel. -(Useful for transmitters without channel -reversal capabilities). - - - - - - - - - - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - - Check this to reverse the channel. -(Useful for transmitters without channel -reversal capabilities). - - - - - - - - - - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - - Check this to reverse the channel. -(Useful for transmitters without channel -reversal capabilities). - - - - - - - - - - - - - true - - - 1000 - - - 2000 - - - 1500 - - - Qt::Horizontal - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 2000 - - - - - - - Check this to reverse the channel. -(Useful for transmitters without channel -reversal capabilities). - - - - - - - - - - - 75 - true - - - - BEWARE: make sure your engines are not connected when running calibration! - - - - - - - - - 75 - true - - - - - - - - - - - - 50 - false - - - - Start calibrating the RC Inputs. -Uncheck/Check to restart calibration. -During calibration: move your RC controls over their whole range, -then leave them on Neutral, uncheck calibration and save. -Neutral should be put at the bottom of the slider for the throttle. - - - Run Calibration - - - - - - - - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel pulse width</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">(microseconds)</p></body></html> - - - 1000 - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - - - - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:9pt;">Current channel value.</span></p></body></html> - - - 1500 - + + + 1 + + + + + + + + + + Start Configuration Wizard + + + + + + + Run Calibration + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + + + + + + 0 + 0 + + + + + 0 + 70 + + + + TextLabel + + + true + + + + + + + + + + + + + + + + + + + Back + + + + + + + Next + + + + + + + Cancel + + + + + + + @@ -1243,14 +578,6 @@ Applies and Saves all settings to SD - ch0Assign - ch1Assign - ch2Assign - ch3Assign - ch4Assign - ch5Assign - ch6Assign - ch7Assign fmsSlider fmsModePos3 fmsSsPos3Roll @@ -1268,134 +595,5 @@ Applies and Saves all settings to SD - - - inSlider0 - valueChanged(int) - ch0Cur - setNum(int) - - - 291 - 93 - - - 150 - 104 - - - - - inSlider1 - valueChanged(int) - ch1Cur - setNum(int) - - - 283 - 137 - - - 160 - 138 - - - - - inSlider2 - valueChanged(int) - ch2Cur - setNum(int) - - - 341 - 163 - - - 156 - 167 - - - - - inSlider3 - valueChanged(int) - ch3Cur - setNum(int) - - - 283 - 211 - - - 159 - 210 - - - - - inSlider4 - valueChanged(int) - ch4Cur - setNum(int) - - - 287 - 239 - - - 156 - 242 - - - - - inSlider5 - valueChanged(int) - ch5Cur - setNum(int) - - - 309 - 272 - - - 164 - 276 - - - - - inSlider6 - valueChanged(int) - ch6Cur - setNum(int) - - - 282 - 300 - - - 144 - 311 - - - - - inSlider7 - valueChanged(int) - ch7Cur - setNum(int) - - - 278 - 339 - - - 168 - 340 - - - - + diff --git a/ground/openpilotgcs/src/plugins/config/inputchannelform.cpp b/ground/openpilotgcs/src/plugins/config/inputchannelform.cpp new file mode 100644 index 000000000..70223d57f --- /dev/null +++ b/ground/openpilotgcs/src/plugins/config/inputchannelform.cpp @@ -0,0 +1,125 @@ +#include "inputchannelform.h" +#include "ui_inputchannelform.h" + +#include "manualcontrolsettings.h" + +inputChannelForm::inputChannelForm(QWidget *parent,bool showlegend) : + QWidget(parent), + ui(new Ui::inputChannelForm) +{ + ui->setupUi(this); + if(!showlegend) + { + layout()->removeWidget(ui->legend0); + layout()->removeWidget(ui->legend1); + layout()->removeWidget(ui->legend2); + layout()->removeWidget(ui->legend3); + layout()->removeWidget(ui->legend4); + layout()->removeWidget(ui->legend5); + delete ui->legend0; + delete ui->legend1; + delete ui->legend2; + delete ui->legend3; + delete ui->legend4; + delete ui->legend5; + } + + connect(ui->channelMin,SIGNAL(valueChanged(int)),this,SLOT(minMaxUpdated())); + connect(ui->channelMax,SIGNAL(valueChanged(int)),this,SLOT(minMaxUpdated())); + connect(ui->channelGroup,SIGNAL(currentIndexChanged(int)),this,SLOT(groupUpdated())); + connect(ui->channelNeutral,SIGNAL(valueChanged(int)), this, SLOT(neutralUpdated(int))); + + // This is awkward but since we want the UI to be a dropdown but the field is not an enum + // it breaks the UAUVObject widget relation of the task gadget. Running the data through + // a spin box fixes this + connect(ui->channelNumberDropdown,SIGNAL(currentIndexChanged(int)),this,SLOT(channelDropdownUpdated(int))); + connect(ui->channelNumber,SIGNAL(valueChanged(int)),this,SLOT(channelNumberUpdated(int))); +} + +inputChannelForm::~inputChannelForm() +{ + delete ui; +} + +/** + * Update the direction of the slider and boundaries + */ +void inputChannelForm::minMaxUpdated() +{ + bool reverse = ui->channelMin->value() > ui->channelMax->value(); + if(reverse) { + ui->channelNeutral->setMinimum(ui->channelMax->value()); + ui->channelNeutral->setMaximum(ui->channelMin->value()); + } else { + ui->channelNeutral->setMinimum(ui->channelMin->value()); + ui->channelNeutral->setMaximum(ui->channelMax->value()); + } + ui->channelRev->setChecked(reverse); + ui->channelNeutral->setInvertedAppearance(reverse); + ui->channelNeutral->setInvertedControls(reverse); +} + +void inputChannelForm::neutralUpdated(int newval) +{ + ui->neutral->setText(QString::number(newval)); +} + +/** + * Update the channel options based on the selected receiver type + * + * I fully admit this is terrible practice to embed data within UI + * like this. Open to suggestions. JC 2011-09-07 + */ +void inputChannelForm::groupUpdated() +{ + ui->channelNumberDropdown->clear(); + ui->channelNumberDropdown->addItem("Disabled"); + + quint8 count = 0; + + switch(ui->channelGroup->currentIndex()) { + case -1: // Nothing selected + count = 0; + break; + case ManualControlSettings::CHANNELGROUPS_PWM: + count = 8; // Need to make this 6 for CC + break; + case ManualControlSettings::CHANNELGROUPS_PPM: + case ManualControlSettings::CHANNELGROUPS_SPEKTRUM1: + case ManualControlSettings::CHANNELGROUPS_SPEKTRUM2: + count = 12; + break; + case ManualControlSettings::CHANNELGROUPS_SBUS: + count = 18; + break; + case ManualControlSettings::CHANNELGROUPS_GCS: + count = 5; + case ManualControlSettings::CHANNELGROUPS_NONE: + count = 0; + break; + default: + Q_ASSERT(0); + } + + for (int i = 0; i < count; i++) + ui->channelNumberDropdown->addItem(QString(tr("Chan %1").arg(i+1))); + + ui->channelNumber->setMaximum(count); + ui->channelNumber->setMinimum(0); +} + +/** + * Update the dropdown from the hidden control + */ +void inputChannelForm::channelDropdownUpdated(int newval) +{ + ui->channelNumber->setValue(newval); +} + +/** + * Update the hidden control from the dropdown + */ +void inputChannelForm::channelNumberUpdated(int newval) +{ + ui->channelNumberDropdown->setCurrentIndex(newval); +} diff --git a/ground/openpilotgcs/src/plugins/config/inputchannelform.h b/ground/openpilotgcs/src/plugins/config/inputchannelform.h new file mode 100644 index 000000000..eb8ad7d18 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/config/inputchannelform.h @@ -0,0 +1,30 @@ +#ifndef INPUTCHANNELFORM_H +#define INPUTCHANNELFORM_H + +#include +#include "configinputwidget.h" +namespace Ui { + class inputChannelForm; +} + +class inputChannelForm : public QWidget +{ + Q_OBJECT + +public: + explicit inputChannelForm(QWidget *parent = 0,bool showlegend=false); + ~inputChannelForm(); + friend class ConfigInputWidget; + +private slots: + void minMaxUpdated(); + void neutralUpdated(int); + void groupUpdated(); + void channelDropdownUpdated(int); + void channelNumberUpdated(int); + +private: + Ui::inputChannelForm *ui; +}; + +#endif // INPUTCHANNELFORM_H diff --git a/ground/openpilotgcs/src/plugins/config/inputchannelform.ui b/ground/openpilotgcs/src/plugins/config/inputchannelform.ui new file mode 100644 index 000000000..b1b69c052 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/config/inputchannelform.ui @@ -0,0 +1,260 @@ + + + inputChannelForm + + + + 0 + 0 + 543 + 49 + + + + Form + + + + 1 + + + 1 + + + 2 + + + 0 + + + + + + 0 + 0 + + + + + 70 + 0 + + + + TextLabel + + + + + + + + 6 + 0 + + + + + 100 + 16777215 + + + + + + + + QAbstractSpinBox::NoButtons + + + 9999 + + + 1000 + + + + + + + QAbstractSpinBox::NoButtons + + + 9999 + + + 1000 + + + + + + + true + + + Function + + + + + + + true + + + Number + + + + + + + true + + + Type + + + + + + + true + + + Max + + + + + + + true + + + Min + + + + + + + true + + + Neutral + + + + + + + Qt::Horizontal + + + + + + + + 4 + 0 + + + + + 80 + 16777215 + + + + 7 + + + + + + + true + + + + 0 + 0 + + + + + + + + false + + + Rev + + + + + + + + 0 + 0 + + + + + 30 + 0 + + + + + 30 + 16777215 + + + + + + + + + + + Qt::Horizontal + + + QSizePolicy::Fixed + + + + 10 + 20 + + + + + + + + Qt::Horizontal + + + QSizePolicy::Fixed + + + + 10 + 20 + + + + + + + + + diff --git a/ground/openpilotgcs/src/plugins/config/output.ui b/ground/openpilotgcs/src/plugins/config/output.ui index 9c1fdacca..b7855221f 100644 --- a/ground/openpilotgcs/src/plugins/config/output.ui +++ b/ground/openpilotgcs/src/plugins/config/output.ui @@ -949,6 +949,27 @@ p, li { white-space: pre-wrap; } + + + + Min + + + + + + + Neutral (slowest for motor) + + + + + + + Max + + + diff --git a/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp b/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp index ed5abf2c7..c74f22691 100644 --- a/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp +++ b/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp @@ -24,8 +24,11 @@ void smartSaveButton::processClick() bool error=false; ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectUtilManager* utilMngr = pm->getObject(); - foreach(UAVObject * obj,objects) + foreach(UAVDataObject * obj,objects) { + UAVObject::Metadata mdata= obj->getMetadata(); + if(mdata.gcsAccess==UAVObject::ACCESS_READONLY) + continue; up_result=false; current_object=obj; for(int i=0;i<3;++i) @@ -35,7 +38,9 @@ void smartSaveButton::processClick() connect(&timer,SIGNAL(timeout()),&loop,SLOT(quit())); obj->updated(); timer.start(1000); + //qDebug()<<"begin loop"; loop.exec(); + //qDebug()<<"end loop"; timer.stop(); disconnect(obj,SIGNAL(transactionCompleted(UAVObject*,bool)),this,SLOT(transaction_finished(UAVObject*, bool))); disconnect(&timer,SIGNAL(timeout()),&loop,SLOT(quit())); @@ -44,30 +49,32 @@ void smartSaveButton::processClick() } if(up_result==false) { + //qDebug()<<"Object upload error:"<getName(); error=true; continue; } sv_result=false; current_objectID=obj->getObjID(); - if(save) + if(save && (obj->isSettings())) { - for(int i=0;i<3;++i) - { - connect(utilMngr,SIGNAL(saveCompleted(int,bool)),this,SLOT(saving_finished(int,bool))); - connect(&timer,SIGNAL(timeout()),&loop,SLOT(quit())); - utilMngr->saveObjectToSD(obj); - timer.start(1000); - loop.exec(); - timer.stop(); - disconnect(utilMngr,SIGNAL(saveCompleted(int,bool)),this,SLOT(saving_finished(int,bool))); - disconnect(&timer,SIGNAL(timeout()),&loop,SLOT(quit())); - if(sv_result) - break; - } - if(sv_result==false) - { - error=true; - } + for(int i=0;i<3;++i) + { + //qDebug()<<"try to save:"<getName(); + connect(utilMngr,SIGNAL(saveCompleted(int,bool)),this,SLOT(saving_finished(int,bool))); + connect(&timer,SIGNAL(timeout()),&loop,SLOT(quit())); + utilMngr->saveObjectToSD(obj); + timer.start(1000); + loop.exec(); + timer.stop(); + disconnect(utilMngr,SIGNAL(saveCompleted(int,bool)),this,SLOT(saving_finished(int,bool))); + disconnect(&timer,SIGNAL(timeout()),&loop,SLOT(quit())); + if(sv_result) + break; + } + if(sv_result==false) + { + error=true; + } } } button->setEnabled(true); @@ -83,14 +90,15 @@ void smartSaveButton::processClick() emit endOp(); } -void smartSaveButton::setObjects(QList list) +void smartSaveButton::setObjects(QList list) { objects=list; } -void smartSaveButton::addObject(UAVObject * obj) +void smartSaveButton::addObject(UAVDataObject * obj) { - objects.append(obj); + if(!objects.contains(obj)) + objects.append(obj); } void smartSaveButton::clearObjects() @@ -111,6 +119,7 @@ void smartSaveButton::saving_finished(int id, bool result) if(id==current_objectID) { sv_result=result; + //qDebug()<<"saving_finished result="<); - void addObject(UAVObject *); + void setObjects(QList); + void addObject(UAVDataObject *); void clearObjects(); signals: void preProcessOperations(); @@ -34,11 +34,11 @@ private: QPushButton *bupdate; QPushButton *bsave; quint32 current_objectID; - UAVObject * current_object; + UAVDataObject * current_object; bool up_result; bool sv_result; QEventLoop loop; - QList objects; + QList objects; protected: public slots: void enableControls(bool value); diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui index 96c414055..5c2de727e 100644 --- a/ground/openpilotgcs/src/plugins/config/stabilization.ui +++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui @@ -6,649 +6,689 @@ 0 0 - 639 - 611 + 683 + 685 Form - + - + - + 0 - 0 + 1 - - - 0 - 150 - + + QFrame::NoFrame - - Rate Stabilization Coefficients (Inner Loop) + + true - - - - - Kp - - - Qt::AlignCenter - - - - - - - Ki - - - Qt::AlignCenter - - - - - - - ILimit - - - Qt::AlignCenter - - - - - - - Roll - - - - - - - Slowly raise Kp until you start seeing clear oscillations when you fly. + + + + 0 + 0 + 665 + 627 + + + + + 0 + 0 + + + + + 0 + + + 0 + + + + + + 0 + 0 + + + + + 0 + 150 + + + + Rate Stabilization Coefficients (Inner Loop) + + + + + + Kp + + + Qt::AlignCenter + + + + + + + Ki + + + Qt::AlignCenter + + + + + + + ILimit + + + Qt::AlignCenter + + + + + + + Roll + + + + + + + Slowly raise Kp until you start seeing clear oscillations when you fly. Then lower the value by 20% or so. - - - 6 - - - 0.000100000000000 - - - - - - - I factor for rate stabilization is usually very low or even zero. - - - 6 - - - 0.000100000000000 - - - - - - - 6 - - - 0.000100000000000 - - - - - - - If checked, the Roll and Pitch factors will be identical. + + + 6 + + + 0.000100000000000 + + + + + + + I factor for rate stabilization is usually very low or even zero. + + + 6 + + + 0.000100000000000 + + + + + + + 6 + + + 0.000100000000000 + + + + + + + If checked, the Roll and Pitch factors will be identical. When you change one, the other is updated. - - - Link - - - - - - - Pitch - - - - - - - Slowly raise Kp until you start seeing clear oscillations when you fly. + + + Link + + + + + + + Pitch + + + + + + + Slowly raise Kp until you start seeing clear oscillations when you fly. Then lower the value by 20% or so. - - - 6 - - - 0.000100000000000 - - - - - - - I factor for rate stabilization is usually very low or even zero. - - - 6 - - - 0.000100000000000 - - - - - - - 6 - - - 0.000100000000000 - - - - - - - Yaw - - - - - - - Slowly raise Kp until you start seeing clear oscillations when you fly. + + + 6 + + + 0.000100000000000 + + + + + + + I factor for rate stabilization is usually very low or even zero. + + + 6 + + + 0.000100000000000 + + + + + + + 6 + + + 0.000100000000000 + + + + + + + Yaw + + + + + + + Slowly raise Kp until you start seeing clear oscillations when you fly. Then lower the value by 20% or so. You can usually go for higher values for Yaw factors. - - - 6 - - - 0.000100000000000 - - - - - - - As a rule of thumb, you can set YawRate Ki at roughly the same + + + 6 + + + 0.000100000000000 + + + + + + + As a rule of thumb, you can set YawRate Ki at roughly the same value as YawRate Kp. - - - 6 - - - 0.000100000000000 - - - - - - - 6 - - - 0.000100000000000 - - - - - - - - - - Qt::Vertical - - - QSizePolicy::Fixed - - - - 20 - 5 - - - - - - - - - 0 - 0 - - - - - 0 - 150 - - - - Attitude Stabization Coefficients (Outer Loop) - - - - - - Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so. + + + 6 + + + 0.000100000000000 + + + + + + + 6 + + + 0.000100000000000 + + + + + + + + + + Qt::Vertical + + + QSizePolicy::Fixed + + + + 20 + 13 + + + + + + + + + 0 + 0 + + + + + 0 + 150 + + + + Attitude Stabization Coefficients (Outer Loop) + + + + + + Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so. - - - 6 - - - 0.100000000000000 - - - - - - - Ki can usually be almost identical to Kp. - - - 6 - - - 0.100000000000000 - - - - - - - ILimit can be equal to three to four times Ki, but you can adjust + + + 6 + + + 0.100000000000000 + + + + + + + Ki can usually be almost identical to Kp. + + + 6 + + + 0.100000000000000 + + + + + + + ILimit can be equal to three to four times Ki, but you can adjust depending on whether your airframe is well balanced, and your flying style. - - - 6 - - - 0.100000000000000 - - - - - - - Kp - - - Qt::AlignCenter - - - - - - - Ki - - - Qt::AlignCenter - - - - - - - ILimit - - - Qt::AlignCenter - - - - - - - ILimit can be equal to three to four times Ki, but you can adjust + + + 6 + + + 0.100000000000000 + + + + + + + Kp + + + Qt::AlignCenter + + + + + + + Ki + + + Qt::AlignCenter + + + + + + + ILimit + + + Qt::AlignCenter + + + + + + + ILimit can be equal to three to four times Ki, but you can adjust depending on whether your airframe is well balanced, and your flying style. - - - 6 - - - 0.100000000000000 - - - - - - - Ki can usually be almost identical to Kp. - - - 6 - - - 0.100000000000000 - - - - - - - Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so. + + + 6 + + + 0.100000000000000 + + + + + + + Ki can usually be almost identical to Kp. + + + 6 + + + 0.100000000000000 + + + + + + + Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so. - - - 6 - - - 0.100000000000000 - - - - - - - Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so. + + + 6 + + + 0.100000000000000 + + + + + + + Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so. - - - 6 - - - 0.100000000000000 - - - - - - - Yaw - - - - - - - Pitch - - - - - - - Roll - - - - - - - Ki can usually be almost identical to Kp. - - - 6 - - - 0.100000000000000 - - - - - - - ILimit can be equal to three to four times Ki, but you can adjust + + + 6 + + + 0.100000000000000 + + + + + + + Yaw + + + + + + + Pitch + + + + + + + Roll + + + + + + + Ki can usually be almost identical to Kp. + + + 6 + + + 0.100000000000000 + + + + + + + ILimit can be equal to three to four times Ki, but you can adjust depending on whether your airframe is well balanced, and your flying style. - - - 6 - - - 0.100000000000000 - - - - - - - If checked, the Roll and Pitch factors will be identical. + + + 6 + + + 0.100000000000000 + + + + + + + If checked, the Roll and Pitch factors will be identical. When you change one, the other is updated. - - - Link - - - - + + + Link + + + + + + + + + + Qt::Vertical + + + QSizePolicy::Fixed + + + + 20 + 13 + + + + + + + + + 0 + 0 + + + + + 0 + 0 + + + + Stick range and limits + + + + QLayout::SetMinAndMaxSize + + + + + Roll + + + Qt::AlignCenter + + + + + + + Pitch + + + Qt::AlignCenter + + + + + + + Yaw + + + Qt::AlignCenter + + + + + + + 180 + + + + + + + 180 + + + + + + + 180 + + + + + + + + 150 + 0 + + + + + 50 + false + + + + Full stick angle (deg) + + + + + + + + 150 + 0 + + + + + 50 + false + + + + Full stick rate (deg/s) + + + + + + + 500 + + + + + + + 500 + + + + + + + 500 + + + + + + + + 150 + 0 + + + + + 50 + false + + + + + + + Maximum rate in attitude mode (deg/s) + + + + + + + 500 + + + + + + + 500 + + + + + + + 500 + + + + + + + + + + Zero the integral when throttle is low + + + + + + + Qt::Vertical + + + + 20 + 0 + + + + + + - - - - Qt::Vertical - - - QSizePolicy::Fixed - - - - 20 - 5 - - - - - - - - - 0 - 0 - - - - - 0 - 0 - - - - Stick range and limits - - - - QLayout::SetMinAndMaxSize - - - - - Roll - - - Qt::AlignCenter - - - - - - - Pitch - - - Qt::AlignCenter - - - - - - - Yaw - - - Qt::AlignCenter - - - - - - - 180 - - - - - - - 180 - - - - - - - 180 - - - - - - - - 150 - 0 - - - - - 50 - false - - - - Full stick angle (deg) - - - - - - - - 150 - 0 - - - - - 50 - false - - - - Full stick rate (deg/s) - - - - - - - 300 - - - - - - - 300 - - - - - - - 300 - - - - - - - - 150 - 0 - - - - - 50 - false - - - - - - - Maximum rate in attitude mode (deg/s) - - - - - - - 300 - - - - - - - 300 - - - - - - - 300 - - - - - - - - - - Zero the integral when throttle is low - - - - - - - Qt::Vertical - - - - 20 - 40 - - - - diff --git a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp index a2b8137f4..1849b4e8b 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp +++ b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp @@ -179,6 +179,8 @@ MainWindow::MainWindow() : m_modeStack->setIconSize(QSize(24,24)); m_modeStack->setTabPosition(QTabWidget::South); m_modeStack->setMovable(false); + m_modeStack->setMinimumWidth(512); + m_modeStack->setElideMode(Qt::ElideRight); #ifndef Q_WS_MAC m_modeStack->setDocumentMode(true); #endif diff --git a/ground/openpilotgcs/src/plugins/pfd/pfdgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/pfd/pfdgadgetwidget.cpp index 079a206b5..a38e943a3 100644 --- a/ground/openpilotgcs/src/plugins/pfd/pfdgadgetwidget.cpp +++ b/ground/openpilotgcs/src/plugins/pfd/pfdgadgetwidget.cpp @@ -27,6 +27,7 @@ #include "pfdgadgetwidget.h" #include +#include #include #include #include @@ -383,7 +384,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) - Battery stats: battery-txt */ l_scene->clear(); // Deletes all items contained in the scene as well. - m_background = new QGraphicsSvgItem(); + m_background = new CachedSvgItem(); // All other items will be clipped to the shape of the background m_background->setFlags(QGraphicsItem::ItemClipsChildrenToShape| QGraphicsItem::ItemClipsToShape); @@ -391,28 +392,28 @@ void PFDGadgetWidget::setDialFile(QString dfn) m_background->setElementId("background"); l_scene->addItem(m_background); - m_world = new QGraphicsSvgItem(); + m_world = new CachedSvgItem(); m_world->setParentItem(m_background); m_world->setSharedRenderer(m_renderer); m_world->setElementId("world"); l_scene->addItem(m_world); // red Roll scale: rollscale - m_rollscale = new QGraphicsSvgItem(); + m_rollscale = new CachedSvgItem(); m_rollscale->setSharedRenderer(m_renderer); m_rollscale->setElementId("rollscale"); l_scene->addItem(m_rollscale); // Home point: - m_homewaypoint = new QGraphicsSvgItem(); + m_homewaypoint = new CachedSvgItem(); // Next point: - m_nextwaypoint = new QGraphicsSvgItem(); + m_nextwaypoint = new CachedSvgItem(); // Home point bearing: - m_homepointbearing = new QGraphicsSvgItem(); + m_homepointbearing = new CachedSvgItem(); // Next point bearing: - m_nextpointbearing = new QGraphicsSvgItem(); + m_nextpointbearing = new CachedSvgItem(); - QGraphicsSvgItem *m_foreground = new QGraphicsSvgItem(); + QGraphicsSvgItem *m_foreground = new CachedSvgItem(); m_foreground->setParentItem(m_background); m_foreground->setSharedRenderer(m_renderer); m_foreground->setElementId("foreground"); @@ -429,7 +430,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) // into a QGraphicsSvgItem which we will display at the same // place: we do this so that the heading scale can be clipped to // the compass dial region. - m_compass = new QGraphicsSvgItem(); + m_compass = new CachedSvgItem(); m_compass->setSharedRenderer(m_renderer); m_compass->setElementId("compass"); m_compass->setFlags(QGraphicsItem::ItemClipsChildrenToShape| @@ -440,7 +441,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) m_compass->setTransform(matrix,false); // Now place the compass scale inside: - m_compassband = new QGraphicsSvgItem(); + m_compassband = new CachedSvgItem(); m_compassband->setSharedRenderer(m_renderer); m_compassband->setElementId("compass-band"); m_compassband->setParentItem(m_compass); @@ -462,7 +463,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) compassMatrix = m_renderer->matrixForElement("speed-bg"); startX = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-bg")).x(); startY = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-bg")).y(); - QGraphicsSvgItem *verticalbg = new QGraphicsSvgItem(); + QGraphicsSvgItem *verticalbg = new CachedSvgItem(); verticalbg->setSharedRenderer(m_renderer); verticalbg->setElementId("speed-bg"); verticalbg->setFlags(QGraphicsItem::ItemClipsChildrenToShape| @@ -477,7 +478,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) m_speedscale = new QGraphicsItemGroup(); m_speedscale->setParentItem(verticalbg); - QGraphicsSvgItem *speedscalelines = new QGraphicsSvgItem(); + QGraphicsSvgItem *speedscalelines = new CachedSvgItem(); speedscalelines->setSharedRenderer(m_renderer); speedscalelines->setElementId("speed-scale"); speedScaleHeight = m_renderer->matrixForElement("speed-scale").mapRect( @@ -523,7 +524,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) startX = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-window")).x(); startY = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-window")).y(); qreal speedWindowHeight = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-window")).height(); - QGraphicsSvgItem *speedwindow = new QGraphicsSvgItem(); + QGraphicsSvgItem *speedwindow = new CachedSvgItem(); speedwindow->setSharedRenderer(m_renderer); speedwindow->setElementId("speed-window"); speedwindow->setFlags(QGraphicsItem::ItemClipsChildrenToShape| @@ -548,7 +549,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) compassMatrix = m_renderer->matrixForElement("altitude-bg"); startX = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-bg")).x(); startY = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-bg")).y(); - verticalbg = new QGraphicsSvgItem(); + verticalbg = new CachedSvgItem(); verticalbg->setSharedRenderer(m_renderer); verticalbg->setElementId("altitude-bg"); verticalbg->setFlags(QGraphicsItem::ItemClipsChildrenToShape| @@ -563,7 +564,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) m_altitudescale = new QGraphicsItemGroup(); m_altitudescale->setParentItem(verticalbg); - QGraphicsSvgItem *altitudescalelines = new QGraphicsSvgItem(); + QGraphicsSvgItem *altitudescalelines = new CachedSvgItem(); altitudescalelines->setSharedRenderer(m_renderer); altitudescalelines->setElementId("altitude-scale"); altitudeScaleHeight = m_renderer->matrixForElement("altitude-scale").mapRect( @@ -604,7 +605,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) startX = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-window")).x(); startY = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-window")).y(); qreal altitudeWindowHeight = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-window")).height(); - QGraphicsSvgItem *altitudewindow = new QGraphicsSvgItem(); + QGraphicsSvgItem *altitudewindow = new CachedSvgItem(); altitudewindow->setSharedRenderer(m_renderer); altitudewindow->setElementId("altitude-window"); altitudewindow->setFlags(QGraphicsItem::ItemClipsChildrenToShape| @@ -633,7 +634,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) compassMatrix = m_renderer->matrixForElement("gcstelemetry-Disconnected"); startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).x(); startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).y(); - gcsTelemetryArrow = new QGraphicsSvgItem(); + gcsTelemetryArrow = new CachedSvgItem(); gcsTelemetryArrow->setSharedRenderer(m_renderer); gcsTelemetryArrow->setElementId("gcstelemetry-Disconnected"); l_scene->addItem(gcsTelemetryArrow); @@ -669,7 +670,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) compassMatrix = m_renderer->matrixForElement("gcstelemetry-Disconnected"); startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).x(); startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).y(); - gcsTelemetryArrow = new QGraphicsSvgItem(); + gcsTelemetryArrow = new CachedSvgItem(); gcsTelemetryArrow->setSharedRenderer(m_renderer); gcsTelemetryArrow->setElementId("gcstelemetry-Disconnected"); l_scene->addItem(gcsTelemetryArrow); @@ -702,7 +703,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) compassMatrix = m_renderer->matrixForElement("gcstelemetry-Disconnected"); startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).x(); startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).y(); - gcsTelemetryArrow = new QGraphicsSvgItem(); + gcsTelemetryArrow = new CachedSvgItem(); gcsTelemetryArrow->setSharedRenderer(m_renderer); gcsTelemetryArrow->setElementId("gcstelemetry-Disconnected"); l_scene->addItem(gcsTelemetryArrow); @@ -771,7 +772,7 @@ void PFDGadgetWidget::setDialFile(QString dfn) { qDebug()<<"Error on PFD artwork file."; m_renderer->load(QString(":/pfd/images/pfd-default.svg")); l_scene->clear(); // This also deletes all items contained in the scene. - m_background = new QGraphicsSvgItem(); + m_background = new CachedSvgItem(); m_background->setSharedRenderer(m_renderer); l_scene->addItem(m_background); pfdError = true; diff --git a/ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp b/ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp index fb2bbf796..dfbd9d614 100644 --- a/ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp +++ b/ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp @@ -385,8 +385,15 @@ void ScopeGadgetWidget::addCurvePlot(QString uavObject, QString uavFieldSubField ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); UAVDataObject* obj = dynamic_cast(objManager->getObject((plotData->uavObject))); - + if(!obj) { + qDebug() << "Object " << plotData->uavObject << " is missing"; + return; + } UAVObjectField* field = obj->getField(plotData->uavField); + if(!field) { + qDebug() << "Field " << plotData->uavField << " of object " << plotData->uavObject << " is missing"; + return; + } QString units = field->getUnits(); if(units == 0) diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro index 9c6188fad..63eefa5bf 100644 --- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro +++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro @@ -31,6 +31,7 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \ $$UAVOBJECT_SYNTHETICS/ahrssettings.h \ $$UAVOBJECT_SYNTHETICS/gcstelemetrystats.h \ $$UAVOBJECT_SYNTHETICS/attituderaw.h \ + $$UAVOBJECT_SYNTHETICS/camerastabsettings.h \ $$UAVOBJECT_SYNTHETICS/flighttelemetrystats.h \ $$UAVOBJECT_SYNTHETICS/systemstats.h \ $$UAVOBJECT_SYNTHETICS/systemalarms.h \ @@ -69,7 +70,10 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \ $$UAVOBJECT_SYNTHETICS/sonaraltitude.h \ $$UAVOBJECT_SYNTHETICS/flightstatus.h \ $$UAVOBJECT_SYNTHETICS/hwsettings.h \ - $$UAVOBJECT_SYNTHETICS/attitudesettings.h + $$UAVOBJECT_SYNTHETICS/gcsreceiver.h \ + $$UAVOBJECT_SYNTHETICS/receiveractivity.h \ + $$UAVOBJECT_SYNTHETICS/attitudesettings.h \ + $$UAVOBJECT_SYNTHETICS/cameradesired.h SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \ $$UAVOBJECT_SYNTHETICS/ahrsstatus.cpp \ @@ -79,6 +83,7 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \ $$UAVOBJECT_SYNTHETICS/ahrssettings.cpp \ $$UAVOBJECT_SYNTHETICS/gcstelemetrystats.cpp \ $$UAVOBJECT_SYNTHETICS/attituderaw.cpp \ + $$UAVOBJECT_SYNTHETICS/camerastabsettings.cpp \ $$UAVOBJECT_SYNTHETICS/flighttelemetrystats.cpp \ $$UAVOBJECT_SYNTHETICS/systemstats.cpp \ $$UAVOBJECT_SYNTHETICS/systemalarms.cpp \ @@ -118,4 +123,7 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \ $$UAVOBJECT_SYNTHETICS/uavobjectsinit.cpp \ $$UAVOBJECT_SYNTHETICS/flightstatus.cpp \ $$UAVOBJECT_SYNTHETICS/hwsettings.cpp \ - $$UAVOBJECT_SYNTHETICS/attitudesettings.cpp + $$UAVOBJECT_SYNTHETICS/gcsreceiver.cpp \ + $$UAVOBJECT_SYNTHETICS/receiveractivity.cpp \ + $$UAVOBJECT_SYNTHETICS/attitudesettings.cpp \ + $$UAVOBJECT_SYNTHETICS/cameradesired.cpp diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp index b5070c269..8caafca48 100644 --- a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp +++ b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp @@ -34,6 +34,8 @@ #include #include #include +#include +#include // ****************************** // constructor/destructor @@ -168,18 +170,30 @@ void UAVObjectUtilManager::objectPersistenceTransactionCompleted(UAVObject* obj, */ void UAVObjectUtilManager::objectPersistenceOperationFailed() { - qDebug() << "objectPersistenceOperationFailed"; if(saveState == AWAITING_COMPLETED) { //TODO: some warning that this operation failed somehow // We have to disconnect the object persistence 'updated' signal // and ask to save the next object: - UAVObject *obj = getObjectManager()->getObject(ObjectPersistence::NAME); - obj->disconnect(this); - queue.dequeue(); // We can now remove the object, it failed anyway. + + ObjectPersistence * objectPersistence = ObjectPersistence::GetInstance(getObjectManager()); + Q_ASSERT(objectPersistence); + + UAVObject* obj = queue.dequeue(); // We can now remove the object, it failed anyway. + Q_ASSERT(obj); + + objectPersistence->disconnect(this); + saveState = IDLE; - emit saveCompleted(obj->getField("ObjectID")->getValue().toInt(), false); + emit saveCompleted(obj->getObjID(), false); + + // For now cause error message here to make sure user knows + QErrorMessage err; + err.showMessage("Saving object " + obj->getName() + " failed. Please try again"); + err.exec(); + saveNextObject(); } + } diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp index e2300bdcd..6ef7850e0 100644 --- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp @@ -303,7 +303,10 @@ void deviceWidget::loadFirmware() myDevice->youdont->setChecked(false); QByteArray desc = loadedFW.right(100); QPixmap px; - myDevice->lblCRCL->setText( QString::number(DFUObject::CRCFromQBArray(loadedFW,m_dfu->devices[deviceID].SizeOfCode))); + if(loadedFW.length()>m_dfu->devices[deviceID].SizeOfCode) + myDevice->lblCRCL->setText(tr("Can't calculate, file too big for device")); + else + myDevice->lblCRCL->setText( QString::number(DFUObject::CRCFromQBArray(loadedFW,m_dfu->devices[deviceID].SizeOfCode))); //myDevice->lblFirmwareSizeL->setText(QString("Firmware size: ")+QVariant(loadedFW.length()).toString()+ QString(" bytes")); if (populateLoadedStructuredDescription(desc)) { diff --git a/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp b/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp index edd5dfb0b..db2c60782 100644 --- a/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp @@ -953,7 +953,7 @@ quint32 DFUObject::CRC32WideFast(quint32 Crc, quint32 Size, quint32 *Buffer) */ quint32 DFUObject::CRCFromQBArray(QByteArray array, quint32 Size) { - int pad=Size-array.length(); + quint32 pad=Size-array.length(); array.append(QByteArray(pad,255)); quint32 t[Size/4]; for(int x=0;xgetNumObjects(); ++objidx) { ObjectInfo* info=parser->getObjectByIndex(objidx); process_object(info); @@ -57,6 +60,9 @@ bool UAVObjectGeneratorFlight::generate(UAVObjectParser* parser,QString template objInc.append("#include \"" + info->namelc + ".h\"\r\n"); objFileNames.append(" " + info->namelc); objNames.append(" " + info->name); + if (parser->getNumBytes(objidx)>sizeCalc) { + sizeCalc = parser->getNumBytes(objidx); + } } // Write the flight object inialization files @@ -65,7 +71,16 @@ bool UAVObjectGeneratorFlight::generate(UAVObjectParser* parser,QString template bool res = writeFileIfDiffrent( flightOutputPath.absolutePath() + "/uavobjectsinit.c", flightInitTemplate ); if (!res) { - cout << "Error: Could not write flight object init files" << endl; + cout << "Error: Could not write flight object init file" << endl; + return false; + } + + // Write the flight object initialization header + flightInitIncludeTemplate.replace( QString("$(SIZECALCULATION)"), QString().setNum(sizeCalc)); + res = writeFileIfDiffrent( flightOutputPath.absolutePath() + "/uavobjectsinit.h", + flightInitIncludeTemplate ); + if (!res) { + cout << "Error: Could not write flight object init header file" << endl; return false; } diff --git a/ground/uavobjgenerator/generators/flight/uavobjectgeneratorflight.h b/ground/uavobjgenerator/generators/flight/uavobjectgeneratorflight.h index 1050b2943..db728374b 100644 --- a/ground/uavobjgenerator/generators/flight/uavobjectgeneratorflight.h +++ b/ground/uavobjgenerator/generators/flight/uavobjectgeneratorflight.h @@ -34,7 +34,7 @@ class UAVObjectGeneratorFlight public: bool generate(UAVObjectParser* gen,QString templatepath,QString outputpath); QStringList fieldTypeStrC; - QString flightCodeTemplate, flightIncludeTemplate, flightInitTemplate, flightMakeTemplate; + QString flightCodeTemplate, flightIncludeTemplate, flightInitTemplate, flightInitIncludeTemplate, flightMakeTemplate; QDir flightCodePath; QDir flightOutputPath; diff --git a/make/boards/ahrs/board-info.mk b/make/boards/ahrs/board-info.mk index 2103357ba..85135ea25 100644 --- a/make/boards/ahrs/board-info.mk +++ b/make/boards/ahrs/board-info.mk @@ -9,6 +9,8 @@ BOARD := STM32103CB_AHRS MODEL := MD MODEL_SUFFIX := +OPENOCD_CONFIG := stm32f1x.cfg + # Note: These must match the values in link_$(BOARD)_memory.ld BL_BANK_BASE := 0x08000000 # Start of bootloader flash BL_BANK_SIZE := 0x00002000 # Should include BD_INFO region diff --git a/make/boards/coptercontrol/board-info.mk b/make/boards/coptercontrol/board-info.mk index 012c6ef16..547692212 100644 --- a/make/boards/coptercontrol/board-info.mk +++ b/make/boards/coptercontrol/board-info.mk @@ -9,6 +9,8 @@ BOARD := STM32103CB_CC_Rev1 MODEL := MD MODEL_SUFFIX := _CC +OPENOCD_CONFIG := stm32f1x.cfg + # Note: These must match the values in link_$(BOARD)_memory.ld BL_BANK_BASE := 0x08000000 # Start of bootloader flash BL_BANK_SIZE := 0x00003000 # Should include BD_INFO region diff --git a/make/boards/ins/board-info.mk b/make/boards/ins/board-info.mk index 8a57661bf..a20bd606c 100644 --- a/make/boards/ins/board-info.mk +++ b/make/boards/ins/board-info.mk @@ -9,6 +9,8 @@ BOARD := STM3210E_INS MODEL := HD MODEL_SUFFIX := _OP +OPENOCD_CONFIG := stm32f1x.cfg + # Note: These must match the values in link_$(BOARD)_memory.ld BL_BANK_BASE := 0x08000000 # Start of bootloader flash BL_BANK_SIZE := 0x00002000 # Should include BD_INFO region diff --git a/make/boards/openpilot/board-info.mk b/make/boards/openpilot/board-info.mk index f1e35505c..d9cff166d 100644 --- a/make/boards/openpilot/board-info.mk +++ b/make/boards/openpilot/board-info.mk @@ -9,6 +9,8 @@ BOARD := STM3210E_OP MODEL := HD MODEL_SUFFIX := _OP +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 := 0x00005000 # Should include BD_INFO region diff --git a/make/firmware-defs.mk b/make/firmware-defs.mk index 901a6c454..b22a66639 100644 --- a/make/firmware-defs.mk +++ b/make/firmware-defs.mk @@ -201,6 +201,7 @@ endef # $(1) = Name of binary image to write # $(2) = Base of flash region to write/wipe # $(3) = Size of flash region to write/wipe +# $(4) = OpenOCD configuration file to use define JTAG_TEMPLATE # --------------------------------------------------------------------------- # Options for OpenOCD flash-programming @@ -213,7 +214,7 @@ OOCD_EXE ?= openocd OOCD_JTAG_SETUP = -d0 # interface and board/target settings (using the OOCD target-library here) OOCD_JTAG_SETUP += -s $(TOP)/flight/Project/OpenOCD -OOCD_JTAG_SETUP += -f foss-jtag.revb.cfg -f stm32.cfg +OOCD_JTAG_SETUP += -f foss-jtag.revb.cfg -f $(4) # initialize OOCD_BOARD_RESET = -c init @@ -242,4 +243,5 @@ wipe: -c "flash erase_address pad $(2) $(3)" \ -c "reset run" \ -c "shutdown" -endef \ No newline at end of file +endef + diff --git a/package/Makefile b/package/Makefile index 0a197844a..5598be8c3 100644 --- a/package/Makefile +++ b/package/Makefile @@ -29,11 +29,11 @@ CLEAN_GROUND := YES CLEAN_FLIGHT := YES endif -# Set up targets (PPM target seems to be broken at the moment) -FW_TARGETS := $(addprefix fw_, ahrs pipxtreme coptercontrol openpilot) +# Set up targets +FW_TARGETS := $(addprefix fw_, coptercontrol) FW_TARGETS_TOOLS := $(addprefix fw_, coptercontrol) -BL_TARGETS := $(addprefix bl_, coptercontrol openpilot ahrs pipxtreme) -BU_TARGETS := $(addprefix bu_, coptercontrol openpilot ahrs pipxtreme) +BL_TARGETS := $(addprefix bl_, coptercontrol) +BU_TARGETS := $(addprefix bu_, coptercontrol) help: @echo diff --git a/shared/uavobjectdefinition/attitudesettings.xml b/shared/uavobjectdefinition/attitudesettings.xml index 522fd6f3a..677493d68 100644 --- a/shared/uavobjectdefinition/attitudesettings.xml +++ b/shared/uavobjectdefinition/attitudesettings.xml @@ -5,7 +5,7 @@ - + diff --git a/shared/uavobjectdefinition/cameradesired.xml b/shared/uavobjectdefinition/cameradesired.xml new file mode 100644 index 000000000..022728f7e --- /dev/null +++ b/shared/uavobjectdefinition/cameradesired.xml @@ -0,0 +1,12 @@ + + + Desired camera outputs. Comes from @ref CameraStabilization module. + + + + + + + + + diff --git a/shared/uavobjectdefinition/camerastabsettings.xml b/shared/uavobjectdefinition/camerastabsettings.xml new file mode 100644 index 000000000..09199b77a --- /dev/null +++ b/shared/uavobjectdefinition/camerastabsettings.xml @@ -0,0 +1,12 @@ + + + Settings for the @ref CameraStab mmodule + + + + + + + + + diff --git a/shared/uavobjectdefinition/gcsreceiver.xml b/shared/uavobjectdefinition/gcsreceiver.xml new file mode 100644 index 000000000..d21598e48 --- /dev/null +++ b/shared/uavobjectdefinition/gcsreceiver.xml @@ -0,0 +1,10 @@ + + + A receiver channel group carried over the telemetry link. + + + + + + + diff --git a/shared/uavobjectdefinition/hwsettings.xml b/shared/uavobjectdefinition/hwsettings.xml index a3494f820..228d50b5e 100644 --- a/shared/uavobjectdefinition/hwsettings.xml +++ b/shared/uavobjectdefinition/hwsettings.xml @@ -1,11 +1,20 @@ - - Selection of optional hardware configurations. - - - - - - + + Selection of optional hardware configurations. + + + + + + + + + + + + + + + diff --git a/shared/uavobjectdefinition/manualcontrolcommand.xml b/shared/uavobjectdefinition/manualcontrolcommand.xml index ef74c2576..d8dba78d6 100644 --- a/shared/uavobjectdefinition/manualcontrolcommand.xml +++ b/shared/uavobjectdefinition/manualcontrolcommand.xml @@ -2,11 +2,12 @@ The output from the @ref ManualControlModule which descodes the receiver inputs. Overriden by GCS for fly-by-wire control. - + + - - + + diff --git a/shared/uavobjectdefinition/manualcontrolsettings.xml b/shared/uavobjectdefinition/manualcontrolsettings.xml index bfd692f91..ae7c9b24c 100644 --- a/shared/uavobjectdefinition/manualcontrolsettings.xml +++ b/shared/uavobjectdefinition/manualcontrolsettings.xml @@ -1,15 +1,18 @@ Settings to indicate how to decode receiver input by @ref ManualControlModule. - - - - - - - - - + + + + + + @@ -20,9 +23,6 @@ - - - diff --git a/shared/uavobjectdefinition/mixersettings.xml b/shared/uavobjectdefinition/mixersettings.xml index 02ff69013..64aa7604f 100644 --- a/shared/uavobjectdefinition/mixersettings.xml +++ b/shared/uavobjectdefinition/mixersettings.xml @@ -5,24 +5,24 @@ - - + + - + - + - + - + - + - + - + - + diff --git a/shared/uavobjectdefinition/objectpersistence.xml b/shared/uavobjectdefinition/objectpersistence.xml index 94076de9a..aa7a58e8c 100644 --- a/shared/uavobjectdefinition/objectpersistence.xml +++ b/shared/uavobjectdefinition/objectpersistence.xml @@ -1,7 +1,7 @@ Someone who knows please enter this - + diff --git a/shared/uavobjectdefinition/receiveractivity.xml b/shared/uavobjectdefinition/receiveractivity.xml new file mode 100644 index 000000000..2e98c1362 --- /dev/null +++ b/shared/uavobjectdefinition/receiveractivity.xml @@ -0,0 +1,14 @@ + + + Monitors which receiver channels have been active within the last second. + + + + + + + + diff --git a/shared/uavobjectdefinition/stabilizationsettings.xml b/shared/uavobjectdefinition/stabilizationsettings.xml index b6668350d..e42f468bf 100644 --- a/shared/uavobjectdefinition/stabilizationsettings.xml +++ b/shared/uavobjectdefinition/stabilizationsettings.xml @@ -1,8 +1,8 @@ PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired - - + + @@ -16,7 +16,7 @@ - +