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Code Issues Releases Activity

LP-291 Added MSP support to all boards (revolution, revonano, revoproto, discoveryf4bare and coptercontrol)

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This commit is contained in:
Vladimir Zidar 2016-04-22 03:19:51 +02:00
parent 365354ea74
commit f04d44de30
15 changed files with 822 additions and 760 deletions
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1466
flight/modules/UAVOMSPBridge/UAVOMSPBridge.c
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@ -6,6 +6,7 @@
* @{
*
* @file uavomspbridge.c
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* @author Tau Labs, http://taulabs.org, Copyright (C) 2015
* @author dRonin, http://dronin.org Copyright (C) 2015-2016
* @brief Bridges selected UAVObjects to MSP for MWOSD and the like.
@ -34,7 +35,6 @@
*/
#include "openpilot.h"
//#include "physical_constants.h"
#include "receiverstatus.h"
#include "hwsettings.h"
#include "flightmodesettings.h"
@ -61,136 +61,133 @@
#include "stabilizationsettingsbank3.h"
#include "magstate.h"
//#include "pios_thread.h"
#include "pios_sensors.h"
#define WGS84_RADIUS_EARTH_KM 6371.008f // Earth's radius in km
#define PI 3.14159265358979323846f // [-]
#define WGS84_RADIUS_EARTH_KM 6371.008f // Earth's radius in km
#define PI 3.14159265358979323846f // [-]
#define PIOS_INCLUDE_MSP_BRIDGE
#if defined(PIOS_INCLUDE_MSP_BRIDGE)
#define MSP_SENSOR_ACC (1 << 0)
#define MSP_SENSOR_BARO (1 << 1)
#define MSP_SENSOR_MAG (1 << 2)
#define MSP_SENSOR_GPS (1 << 3)
#define MSP_SENSOR_ACC (1 << 0)
#define MSP_SENSOR_BARO (1 << 1)
#define MSP_SENSOR_MAG (1 << 2)
#define MSP_SENSOR_GPS (1 << 3)
#define MSP_SENSOR_SONAR (1 << 4)
// Magic numbers copied from mwosd
#define MSP_IDENT 100 // multitype + multiwii version + protocol version + capability variable
#define MSP_STATUS 101 // cycletime & errors_count & sensor present & box activation & current setting number
#define MSP_RAW_IMU 102 // 9 DOF
#define MSP_SERVO 103 // 8 servos
#define MSP_MOTOR 104 // 8 motors
#define MSP_RC 105 // 8 rc chan and more
#define MSP_RAW_GPS 106 // fix, numsat, lat, lon, alt, speed, ground course
#define MSP_COMP_GPS 107 // distance home, direction home
#define MSP_ATTITUDE 108 // 2 angles 1 heading
#define MSP_ALTITUDE 109 // altitude, variometer
#define MSP_ANALOG 110 // vbat, powermetersum, rssi if available on RX
#define MSP_RC_TUNING 111 // rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
#define MSP_PID 112 // P I D coeff (10 are used currently)
#define MSP_BOX 113 // BOX setup (number is dependant of your setup)
#define MSP_MISC 114 // powermeter trig
#define MSP_MOTOR_PINS 115 // which pins are in use for motors & servos, for GUI
#define MSP_BOXNAMES 116 // the aux switch names
#define MSP_PIDNAMES 117 // the PID names
#define MSP_BOXIDS 119 // get the permanent IDs associated to BOXes
#define MSP_NAV_STATUS 121 // Returns navigation status
#define MSP_CELLS 130 // FrSky SPort Telemtry
#define MSP_ALARMS 242 // Alarm request
#define MSP_IDENT 100 // multitype + multiwii version + protocol version + capability variable
#define MSP_STATUS 101 // cycletime & errors_count & sensor present & box activation & current setting number
#define MSP_RAW_IMU 102 // 9 DOF
#define MSP_SERVO 103 // 8 servos
#define MSP_MOTOR 104 // 8 motors
#define MSP_RC 105 // 8 rc chan and more
#define MSP_RAW_GPS 106 // fix, numsat, lat, lon, alt, speed, ground course
#define MSP_COMP_GPS 107 // distance home, direction home
#define MSP_ATTITUDE 108 // 2 angles 1 heading
#define MSP_ALTITUDE 109 // altitude, variometer
#define MSP_ANALOG 110 // vbat, powermetersum, rssi if available on RX
#define MSP_RC_TUNING 111 // rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
#define MSP_PID 112 // P I D coeff (10 are used currently)
#define MSP_BOX 113 // BOX setup (number is dependant of your setup)
#define MSP_MISC 114 // powermeter trig
#define MSP_MOTOR_PINS 115 // which pins are in use for motors & servos, for GUI
#define MSP_BOXNAMES 116 // the aux switch names
#define MSP_PIDNAMES 117 // the PID names
#define MSP_BOXIDS 119 // get the permanent IDs associated to BOXes
#define MSP_NAV_STATUS 121 // Returns navigation status
#define MSP_CELLS 130 // FrSky SPort Telemtry
#define MSP_ALARMS 242 // Alarm request
#define MSP_SET_PID 202 // set P I D coeff
#define MSP_SET_PID 202 // set P I D coeff
typedef enum {
MSP_BOX_ID_ARM,
MSP_BOX_ID_ANGLE, // mode.stable (attitude??) - [sensor icon] [ fligth mode icon ]
MSP_BOX_ID_HORIZON, // [sensor icon] [ flight mode icon ]
MSP_BOX_ID_BARO, // [sensor icon]
MSP_BOX_ID_VARIO,
MSP_BOX_ID_MAG, // [sensor icon]
MSP_BOX_ID_HEADFREE,
MSP_BOX_ID_HEADADJ,
MSP_BOX_ID_CAMSTAB, // [gimbal icon]
MSP_BOX_ID_CAMTRIG,
MSP_BOX_ID_GPSHOME, // [ flight mode icon ]
MSP_BOX_ID_GPSHOLD, // [ flight mode icon ]
MSP_BOX_ID_PASSTHRU, // [ flight mode icon ]
MSP_BOX_ID_BEEPER,
MSP_BOX_ID_LEDMAX,
MSP_BOX_ID_LEDLOW,
MSP_BOX_ID_LLIGHTS, // landing lights
MSP_BOX_ID_CALIB,
MSP_BOX_ID_GOVERNOR,
MSP_BOX_ID_OSD_SWITCH, // OSD on or off, maybe.
MSP_BOX_ID_GPSMISSION, // [ flight mode icon ]
MSP_BOX_ID_GPSLAND, // [ flight mode icon ]
MSP_BOX_ID_AIR = 28, // this box will add AIRMODE icon to flight mode.
MSP_BOX_ID_ACROPLUS = 29, // this will add PLUS icon to ACRO. ACRO = !ANGLE && !HORIZON
MSP_BOX_ID_ARM,
MSP_BOX_ID_ANGLE, // mode.stable (attitude??) - [sensor icon] [ fligth mode icon ]
MSP_BOX_ID_HORIZON, // [sensor icon] [ flight mode icon ]
MSP_BOX_ID_BARO, // [sensor icon]
MSP_BOX_ID_VARIO,
MSP_BOX_ID_MAG, // [sensor icon]
MSP_BOX_ID_HEADFREE,
MSP_BOX_ID_HEADADJ,
MSP_BOX_ID_CAMSTAB, // [gimbal icon]
MSP_BOX_ID_CAMTRIG,
MSP_BOX_ID_GPSHOME, // [ flight mode icon ]
MSP_BOX_ID_GPSHOLD, // [ flight mode icon ]
MSP_BOX_ID_PASSTHRU, // [ flight mode icon ]
MSP_BOX_ID_BEEPER,
MSP_BOX_ID_LEDMAX,
MSP_BOX_ID_LEDLOW,
MSP_BOX_ID_LLIGHTS, // landing lights
MSP_BOX_ID_CALIB,
MSP_BOX_ID_GOVERNOR,
MSP_BOX_ID_OSD_SWITCH, // OSD on or off, maybe.
MSP_BOX_ID_GPSMISSION, // [ flight mode icon ]
MSP_BOX_ID_GPSLAND, // [ flight mode icon ]
MSP_BOX_ID_AIR = 28, // this box will add AIRMODE icon to flight mode.
MSP_BOX_ID_ACROPLUS = 29, // this will add PLUS icon to ACRO. ACRO = !ANGLE && !HORIZON
} msp_boxid_t;
enum
{
MSP_STATUS_ARMED,
MSP_STATUS_FLIGHTMODE_STABILIZED,
MSP_STATUS_FLIGHTMODE_HORIZON,
MSP_STATUS_SENSOR_BARO,
MSP_STATUS_SENSOR_MAG,
MSP_STATUS_MISC_GIMBAL,
MSP_STATUS_FLIGHTMODE_GPSHOME,
MSP_STATUS_FLIGHTMODE_GPSHOLD,
MSP_STATUS_FLIGHTMODE_GPSMISSION,
MSP_STATUS_FLIGHTMODE_GPSLAND,
MSP_STATUS_FLIGHTMODE_PASSTHRU,
MSP_STATUS_OSD_SWITCH,
MSP_STATUS_ICON_AIRMODE,
MSP_STATUS_ICON_ACROPLUS,
enum {
MSP_STATUS_ARMED,
MSP_STATUS_FLIGHTMODE_STABILIZED,
MSP_STATUS_FLIGHTMODE_HORIZON,
MSP_STATUS_SENSOR_BARO,
MSP_STATUS_SENSOR_MAG,
MSP_STATUS_MISC_GIMBAL,
MSP_STATUS_FLIGHTMODE_GPSHOME,
MSP_STATUS_FLIGHTMODE_GPSHOLD,
MSP_STATUS_FLIGHTMODE_GPSMISSION,
MSP_STATUS_FLIGHTMODE_GPSLAND,
MSP_STATUS_FLIGHTMODE_PASSTHRU,
MSP_STATUS_OSD_SWITCH,
MSP_STATUS_ICON_AIRMODE,
MSP_STATUS_ICON_ACROPLUS,
};
static const uint8_t msp_boxes[] =
{
[ MSP_STATUS_ARMED ] = MSP_BOX_ID_ARM,
[ MSP_STATUS_FLIGHTMODE_STABILIZED ] = MSP_BOX_ID_ANGLE, // flight mode
[ MSP_STATUS_FLIGHTMODE_HORIZON ] = MSP_BOX_ID_HORIZON, // flight mode
[ MSP_STATUS_SENSOR_BARO ] = MSP_BOX_ID_BARO, // sensor icon only
[ MSP_STATUS_SENSOR_MAG ] = MSP_BOX_ID_MAG, // sensor icon only
[ MSP_STATUS_MISC_GIMBAL ] = MSP_BOX_ID_CAMSTAB, // gimbal icon only
[ MSP_STATUS_FLIGHTMODE_GPSHOME ] = MSP_BOX_ID_GPSHOME, // flight mode
[ MSP_STATUS_FLIGHTMODE_GPSHOLD ] = MSP_BOX_ID_GPSHOLD, // flight mode
[ MSP_STATUS_FLIGHTMODE_GPSMISSION ] = MSP_BOX_ID_GPSMISSION, // flight mode
[ MSP_STATUS_FLIGHTMODE_GPSLAND ] = MSP_BOX_ID_GPSLAND, // flight mode
[ MSP_STATUS_FLIGHTMODE_PASSTHRU ] = MSP_BOX_ID_PASSTHRU, // flight mode
[ MSP_STATUS_OSD_SWITCH ] = MSP_BOX_ID_OSD_SWITCH, // switch OSD mode
[ MSP_STATUS_ICON_AIRMODE ] = MSP_BOX_ID_AIR,
[ MSP_STATUS_ICON_ACROPLUS ] = MSP_BOX_ID_ACROPLUS,
static const uint8_t msp_boxes[] = {
[MSP_STATUS_ARMED] = MSP_BOX_ID_ARM,
[MSP_STATUS_FLIGHTMODE_STABILIZED] = MSP_BOX_ID_ANGLE, // flight mode
[MSP_STATUS_FLIGHTMODE_HORIZON] = MSP_BOX_ID_HORIZON, // flight mode
[MSP_STATUS_SENSOR_BARO] = MSP_BOX_ID_BARO, // sensor icon only
[MSP_STATUS_SENSOR_MAG] = MSP_BOX_ID_MAG, // sensor icon only
[MSP_STATUS_MISC_GIMBAL] = MSP_BOX_ID_CAMSTAB, // gimbal icon only
[MSP_STATUS_FLIGHTMODE_GPSHOME] = MSP_BOX_ID_GPSHOME, // flight mode
[MSP_STATUS_FLIGHTMODE_GPSHOLD] = MSP_BOX_ID_GPSHOLD, // flight mode
[MSP_STATUS_FLIGHTMODE_GPSMISSION] = MSP_BOX_ID_GPSMISSION, // flight mode
[MSP_STATUS_FLIGHTMODE_GPSLAND] = MSP_BOX_ID_GPSLAND, // flight mode
[MSP_STATUS_FLIGHTMODE_PASSTHRU] = MSP_BOX_ID_PASSTHRU, // flight mode
[MSP_STATUS_OSD_SWITCH] = MSP_BOX_ID_OSD_SWITCH, // switch OSD mode
[MSP_STATUS_ICON_AIRMODE] = MSP_BOX_ID_AIR,
[MSP_STATUS_ICON_ACROPLUS] = MSP_BOX_ID_ACROPLUS,
};
typedef enum {
MSP_IDLE,
MSP_HEADER_START,
MSP_HEADER_M,
MSP_HEADER_SIZE,
MSP_HEADER_CMD,
MSP_FILLBUF,
MSP_CHECKSUM,
MSP_DISCARD,
MSP_MAYBE_UAVTALK2,
MSP_MAYBE_UAVTALK3,
MSP_MAYBE_UAVTALK4,
MSP_MAYBE_UAVTALK_SLOW2,
MSP_MAYBE_UAVTALK_SLOW3,
MSP_MAYBE_UAVTALK_SLOW4,
MSP_MAYBE_UAVTALK_SLOW5,
MSP_MAYBE_UAVTALK_SLOW6
MSP_IDLE,
MSP_HEADER_START,
MSP_HEADER_M,
MSP_HEADER_SIZE,
MSP_HEADER_CMD,
MSP_FILLBUF,
MSP_CHECKSUM,
MSP_DISCARD,
MSP_MAYBE_UAVTALK2,
MSP_MAYBE_UAVTALK3,
MSP_MAYBE_UAVTALK4,
MSP_MAYBE_UAVTALK_SLOW2,
MSP_MAYBE_UAVTALK_SLOW3,
MSP_MAYBE_UAVTALK_SLOW4,
MSP_MAYBE_UAVTALK_SLOW5,
MSP_MAYBE_UAVTALK_SLOW6
} msp_state;
typedef struct __attribute__((packed))
{
uint8_t P, I, D;
} msp_pid_t;
typedef struct __attribute__((packed)) {
uint8_t P, I, D;
}
msp_pid_t;
typedef enum {
PIDROLL,
@ -206,38 +203,38 @@ typedef enum {
PID_ITEM_COUNT
} pidIndex_e;
#define MSP_ANALOG_VOLTAGE (1 << 0)
#define MSP_ANALOG_CURRENT (1 << 1)
struct msp_bridge {
uintptr_t com;
uint8_t sensors;
uint8_t analog;
uintptr_t com;
msp_state state;
uint8_t cmd_size;
uint8_t cmd_id;
uint8_t cmd_i;
uint8_t checksum;
union {
uint8_t data[0];
// Specific packed data structures go here.
msp_pid_t piditems[PID_ITEM_COUNT];
} cmd_data;
uint8_t sensors;
uint8_t analog;
msp_state state;
uint8_t cmd_size;
uint8_t cmd_id;
uint8_t cmd_i;
uint8_t checksum;
union {
uint8_t data[0];
// Specific packed data structures go here.
msp_pid_t piditems[PID_ITEM_COUNT];
} cmd_data;
};
#if defined(PIOS_MSP_STACK_SIZE)
#define STACK_SIZE_BYTES PIOS_MSP_STACK_SIZE
#define STACK_SIZE_BYTES PIOS_MSP_STACK_SIZE
#else
#define STACK_SIZE_BYTES 768
#define STACK_SIZE_BYTES 768
#endif
#define TASK_PRIORITY (tskIDLE_PRIORITY)
#define TASK_PRIORITY (tskIDLE_PRIORITY)
#define MAX_ALARM_LEN 30
#define MAX_ALARM_LEN 30
#define BOOT_DISPLAY_TIME_MS (10*1000)
#define BOOT_DISPLAY_TIME_MS (10 * 1000)
static bool module_enabled = false;
static struct msp_bridge *msp;
@ -246,368 +243,339 @@ static void uavoMSPBridgeTask(void *parameters);
static void msp_send(struct msp_bridge *m, uint8_t cmd, const uint8_t *data, size_t len)
{
uint8_t buf[5];
uint8_t cs = (uint8_t)(len) ^ cmd;
uint8_t buf[5];
uint8_t cs = (uint8_t)(len) ^ cmd;
buf[0] = '$';
buf[1] = 'M';
buf[2] = '>';
buf[3] = (uint8_t)(len);
buf[4] = cmd;
buf[0] = '$';
buf[1] = 'M';
buf[2] = '>';
buf[3] = (uint8_t)(len);
buf[4] = cmd;
PIOS_COM_SendBuffer(m->com, buf, sizeof(buf));
if(len > 0)
{
PIOS_COM_SendBuffer(m->com, data, len);
PIOS_COM_SendBuffer(m->com, buf, sizeof(buf));
for (unsigned i = 0; i < len; i++) {
cs ^= data[i];
}
if (len > 0) {
PIOS_COM_SendBuffer(m->com, data, len);
for (unsigned i = 0; i < len; i++) {
cs ^= data[i];
}
}
cs ^= 0;
cs ^= 0;
buf[0] = cs;
PIOS_COM_SendBuffer(m->com, buf, 1);
buf[0] = cs;
PIOS_COM_SendBuffer(m->com, buf, 1);
}
static msp_state msp_state_size(struct msp_bridge *m, uint8_t b)
{
m->cmd_size = b;
m->checksum = b;
return MSP_HEADER_CMD;
m->cmd_size = b;
m->checksum = b;
return MSP_HEADER_CMD;
}
static msp_state msp_state_cmd(struct msp_bridge *m, uint8_t b)
{
m->cmd_i = 0;
m->cmd_id = b;
m->checksum ^= m->cmd_id;
m->cmd_i = 0;
m->cmd_id = b;
m->checksum ^= m->cmd_id;
if (m->cmd_size > sizeof(m->cmd_data)) {
// Too large a body. Let's ignore it.
return MSP_DISCARD;
}
if (m->cmd_size > sizeof(m->cmd_data)) {
// Too large a body. Let's ignore it.
return MSP_DISCARD;
}
return m->cmd_size == 0 ? MSP_CHECKSUM : MSP_FILLBUF;
return m->cmd_size == 0 ? MSP_CHECKSUM : MSP_FILLBUF;
}
static msp_state msp_state_fill_buf(struct msp_bridge *m, uint8_t b)
{
m->cmd_data.data[m->cmd_i++] = b;
m->checksum ^= b;
return m->cmd_i == m->cmd_size ? MSP_CHECKSUM : MSP_FILLBUF;
m->cmd_data.data[m->cmd_i++] = b;
m->checksum ^= b;
return m->cmd_i == m->cmd_size ? MSP_CHECKSUM : MSP_FILLBUF;
}
static void msp_send_attitude(struct msp_bridge *m)
{
union {
uint8_t buf[0];
struct {
int16_t x;
int16_t y;
int16_t h;
} att;
} data;
AttitudeStateData attState;
union {
uint8_t buf[0];
struct {
int16_t x;
int16_t y;
int16_t h;
} att;
} data;
AttitudeStateData attState;
AttitudeStateGet(&attState);
AttitudeStateGet(&attState);
// Roll and Pitch are in 10ths of a degree.
data.att.x = attState.Roll * 10;
data.att.y = attState.Pitch * -10;
// Yaw is just -180 -> 180
data.att.h = attState.Yaw;
// Roll and Pitch are in 10ths of a degree.
data.att.x = attState.Roll * 10;
data.att.y = attState.Pitch * -10;
// Yaw is just -180 -> 180
data.att.h = attState.Yaw;
msp_send(m, MSP_ATTITUDE, data.buf, sizeof(data));
msp_send(m, MSP_ATTITUDE, data.buf, sizeof(data));
}
#define IS_STAB_MODE(d,m) ( ( (d).Roll == (m)) && ((d).Pitch == (m)) )
#define IS_STAB_MODE(d, m) (((d).Roll == (m)) && ((d).Pitch == (m)))
static void msp_send_status(struct msp_bridge *m)
{
union {
uint8_t buf[0];
struct {
uint16_t cycleTime;
uint16_t i2cErrors;
uint16_t sensors;
uint32_t flags;
uint8_t setting;
} __attribute__((packed)) status;
} data;
// TODO: https://github.com/TauLabs/TauLabs/blob/next/shared/uavobjectdefinition/actuatordesired.xml#L8
data.status.cycleTime = 0;
data.status.i2cErrors = 0;
data.status.sensors = m->sensors;
if(GPSPositionSensorHandle() != NULL)
{
GPSPositionSensorStatusOptions gpsStatus;
GPSPositionSensorStatusGet(&gpsStatus);
if(gpsStatus != GPSPOSITIONSENSOR_STATUS_NOGPS)
{
data.status.sensors |= MSP_SENSOR_GPS;
}
}
union {
uint8_t buf[0];
struct {
uint16_t cycleTime;
uint16_t i2cErrors;
uint16_t sensors;
uint32_t flags;
uint8_t setting;
} __attribute__((packed)) status;
} data;
// TODO: https://github.com/TauLabs/TauLabs/blob/next/shared/uavobjectdefinition/actuatordesired.xml#L8
data.status.cycleTime = 0;
data.status.i2cErrors = 0;
data.status.flags = 0;
data.status.setting = 0;
data.status.sensors = m->sensors;
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
StabilizationDesiredStabilizationModeData stabModeData;
StabilizationDesiredStabilizationModeGet(&stabModeData);
if( flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED )
{
data.status.flags |= (1 << MSP_STATUS_ARMED);
}
// flightmode
if( flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD )
{
data.status.flags |= ( 1 << MSP_STATUS_FLIGHTMODE_GPSHOLD );
}
else if( flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE )
{
data.status.flags |= ( 1 << MSP_STATUS_FLIGHTMODE_GPSHOME );
}
else if( flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER )
{
data.status.flags |= (1 << MSP_STATUS_FLIGHTMODE_GPSMISSION);
}
else if( flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_LAND )
{
data.status.flags |= (1 << MSP_STATUS_FLIGHTMODE_GPSLAND);
}
else if( flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_MANUAL )
{
data.status.flags |= (1 << MSP_STATUS_FLIGHTMODE_PASSTHRU);
}
else
{ //
// if Roll(Rate) && Pitch(Rate) => Acro
// if Roll(Acro+) && Pitch(Acro+) => Acro+
// if Roll(Rattitude) && Pitch(Rattitude) => Horizon
// else => Stabilized
if( IS_STAB_MODE( stabModeData, STABILIZATIONDESIRED_STABILIZATIONMODE_RATE )
|| IS_STAB_MODE( stabModeData, STABILIZATIONDESIRED_STABILIZATIONMODE_RATETRAINER ) )
{
// data.status.flags should not set any mode flags
}
else if( IS_STAB_MODE( stabModeData, STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO ) ) // this is Acro+ mode
{
data.status.flags |= ( 1 << MSP_STATUS_ICON_ACROPLUS );
}
else if( IS_STAB_MODE( stabModeData, STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE ) )
{
data.status.flags |= ( 1 << MSP_STATUS_FLIGHTMODE_HORIZON );
}
else // looks like stabilized mode, whichever it is..
{
data.status.flags |= ( 1 << MSP_STATUS_FLIGHTMODE_STABILIZED );
}
}
// sensors in use?
// flight mode HORIZON or STABILIZED will turn on Accelerometer icon.
// Barometer?
if( ( stabModeData.Thrust == STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD )
|| ( stabModeData.Thrust == STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO ) )
{
data.status.flags |= ( 1 << MSP_STATUS_SENSOR_BARO );
}
if( MagStateHandle() != NULL )
{
MagStateSourceOptions magSource;
MagStateSourceGet(&magSource);
if(magSource != MAGSTATE_SOURCE_INVALID)
{
data.status.flags |= ( 1 << MSP_STATUS_SENSOR_MAG );
}
}
if( flightStatus.AlwaysStabilizeWhenArmed == FLIGHTSTATUS_ALWAYSSTABILIZEWHENARMED_TRUE )
{
data.status.flags |= ( 1 << MSP_STATUS_ICON_AIRMODE );
}
if (GPSPositionSensorHandle() != NULL) {
GPSPositionSensorStatusOptions gpsStatus;
GPSPositionSensorStatusGet(&gpsStatus);
msp_send(m, MSP_STATUS, data.buf, sizeof(data));
if (gpsStatus != GPSPOSITIONSENSOR_STATUS_NOGPS) {
data.status.sensors |= MSP_SENSOR_GPS;
}
}
data.status.flags = 0;
data.status.setting = 0;
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
StabilizationDesiredStabilizationModeData stabModeData;
StabilizationDesiredStabilizationModeGet(&stabModeData);
if (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) {
data.status.flags |= (1 << MSP_STATUS_ARMED);
}
// flightmode
if (flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) {
data.status.flags |= (1 << MSP_STATUS_FLIGHTMODE_GPSHOLD);
} else if (flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE) {
data.status.flags |= (1 << MSP_STATUS_FLIGHTMODE_GPSHOME);
} else if (flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER) {
data.status.flags |= (1 << MSP_STATUS_FLIGHTMODE_GPSMISSION);
} else if (flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_LAND) {
data.status.flags |= (1 << MSP_STATUS_FLIGHTMODE_GPSLAND);
} else if (flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_MANUAL) {
data.status.flags |= (1 << MSP_STATUS_FLIGHTMODE_PASSTHRU);
} else { //
// if Roll(Rate) && Pitch(Rate) => Acro
// if Roll(Acro+) && Pitch(Acro+) => Acro+
// if Roll(Rattitude) && Pitch(Rattitude) => Horizon
// else => Stabilized
if (IS_STAB_MODE(stabModeData, STABILIZATIONDESIRED_STABILIZATIONMODE_RATE)
|| IS_STAB_MODE(stabModeData, STABILIZATIONDESIRED_STABILIZATIONMODE_RATETRAINER)) {
// data.status.flags should not set any mode flags
} else if (IS_STAB_MODE(stabModeData, STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO)) { // this is Acro+ mode
data.status.flags |= (1 << MSP_STATUS_ICON_ACROPLUS);
} else if (IS_STAB_MODE(stabModeData, STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE)) {
data.status.flags |= (1 << MSP_STATUS_FLIGHTMODE_HORIZON);
} else { // looks like stabilized mode, whichever it is..
data.status.flags |= (1 << MSP_STATUS_FLIGHTMODE_STABILIZED);
}
}
// sensors in use?
// flight mode HORIZON or STABILIZED will turn on Accelerometer icon.
// Barometer?
if ((stabModeData.Thrust == STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD)
|| (stabModeData.Thrust == STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO)) {
data.status.flags |= (1 << MSP_STATUS_SENSOR_BARO);
}
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
if (MagStateHandle() != NULL) {
MagStateSourceOptions magSource;
MagStateSourceGet(&magSource);
if (magSource != MAGSTATE_SOURCE_INVALID) {
data.status.flags |= (1 << MSP_STATUS_SENSOR_MAG);
}
}
#endif /* PIOS_EXCLUDE_ADVANCED_FEATURES */
if (flightStatus.AlwaysStabilizeWhenArmed == FLIGHTSTATUS_ALWAYSSTABILIZEWHENARMED_TRUE) {
data.status.flags |= (1 << MSP_STATUS_ICON_AIRMODE);
}
msp_send(m, MSP_STATUS, data.buf, sizeof(data));
}
static void msp_send_analog(struct msp_bridge *m)
{
union {
uint8_t buf[0];
struct {
uint8_t vbat;
uint16_t powerMeterSum;
uint16_t rssi;
uint16_t current;
} __attribute__((packed)) status;
} data;
union {
uint8_t buf[0];
struct {
uint8_t vbat;
uint16_t powerMeterSum;
uint16_t rssi;
uint16_t current;
} __attribute__((packed)) status;
} data;
data.status.powerMeterSum = 0;
if(FlightBatteryStateHandle() != NULL) {
FlightBatteryStateData batState;
FlightBatteryStateGet(&batState);
memset(&data, 0, sizeof(data));
if(m->analog & MSP_ANALOG_VOLTAGE) {
data.status.vbat = (uint8_t)lroundf(batState.Voltage * 10);
}
if(m->analog & MSP_ANALOG_CURRENT) {
data.status.current = lroundf(batState.Current * 100);
data.status.powerMeterSum = lroundf(batState.ConsumedEnergy);
}
}
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
if (FlightBatteryStateHandle() != NULL) {
FlightBatteryStateData batState;
FlightBatteryStateGet(&batState);
uint8_t quality;
ReceiverStatusQualityGet(&quality);
// MSP RSSI's range is 0-1023
if (m->analog & MSP_ANALOG_VOLTAGE) {
data.status.vbat = (uint8_t)lroundf(batState.Voltage * 10);
}
if (m->analog & MSP_ANALOG_CURRENT) {
data.status.current = lroundf(batState.Current * 100);
data.status.powerMeterSum = lroundf(batState.ConsumedEnergy);
}
}
#endif
uint8_t quality;
ReceiverStatusQualityGet(&quality);
data.status.rssi = (quality * 1023) / 100;
if(data.status.rssi > 1023) {
data.status.rssi = 1023;
}
// MSP RSSI's range is 0-1023
msp_send(m, MSP_ANALOG, data.buf, sizeof(data));
data.status.rssi = (quality * 1023) / 100;
if (data.status.rssi > 1023) {
data.status.rssi = 1023;
}
msp_send(m, MSP_ANALOG, data.buf, sizeof(data));
}
static void msp_send_ident(__attribute__((unused)) struct msp_bridge *m)
{
// TODO
// TODO
}
static void msp_send_raw_gps(struct msp_bridge *m)
{
union {
uint8_t buf[0];
struct {
uint8_t fix; // 0 or 1
uint8_t num_sat;
int32_t lat; // 1 / 10 000 000 deg
int32_t lon; // 1 / 10 000 000 deg
uint16_t alt; // meter
uint16_t speed; // cm/s
int16_t ground_course; // degree * 10
} __attribute__((packed)) raw_gps;
} data;
GPSPositionSensorData gps_data;
if (GPSPositionSensorHandle() != NULL)
{
GPSPositionSensorGet(&gps_data);
union {
uint8_t buf[0];
struct {
uint8_t fix; // 0 or 1
uint8_t num_sat;
int32_t lat; // 1 / 10 000 000 deg
int32_t lon; // 1 / 10 000 000 deg
uint16_t alt; // meter
uint16_t speed; // cm/s
int16_t ground_course; // degree * 10
} __attribute__((packed)) raw_gps;
} data;
data.raw_gps.fix = (gps_data.Status >= GPSPOSITIONSENSOR_STATUS_FIX2D ? 1 : 0); // Data will display on OSD if 2D fix or better
data.raw_gps.num_sat = gps_data.Satellites;
data.raw_gps.lat = gps_data.Latitude;
data.raw_gps.lon = gps_data.Longitude;
data.raw_gps.alt = (uint16_t)gps_data.Altitude;
data.raw_gps.speed = (uint16_t)gps_data.Groundspeed;
data.raw_gps.ground_course = (int16_t)(gps_data.Heading * 10.0f);
msp_send(m, MSP_RAW_GPS, data.buf, sizeof(data));
}
GPSPositionSensorData gps_data;
if (GPSPositionSensorHandle() != NULL) {
GPSPositionSensorGet(&gps_data);
data.raw_gps.fix = (gps_data.Status >= GPSPOSITIONSENSOR_STATUS_FIX2D ? 1 : 0); // Data will display on OSD if 2D fix or better
data.raw_gps.num_sat = gps_data.Satellites;
data.raw_gps.lat = gps_data.Latitude;
data.raw_gps.lon = gps_data.Longitude;
data.raw_gps.alt = (uint16_t)gps_data.Altitude;
data.raw_gps.speed = (uint16_t)gps_data.Groundspeed;
data.raw_gps.ground_course = (int16_t)(gps_data.Heading * 10.0f);
msp_send(m, MSP_RAW_GPS, data.buf, sizeof(data));
}
}
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
static void msp_send_comp_gps(struct msp_bridge *m)
{
union {
uint8_t buf[0];
struct {
uint16_t distance_to_home; // meter
int16_t direction_to_home; // degree [-180:180]
uint8_t home_position_valid; // 0 = Invalid, Dronin MSP specific
} __attribute__((packed)) comp_gps;
} data;
GPSPositionSensorData gps_data;
HomeLocationData home_data;
if ((GPSPositionSensorHandle() == NULL) || (HomeLocationHandle() == NULL))
{
data.comp_gps.distance_to_home = 0;
data.comp_gps.direction_to_home = 0;
data.comp_gps.home_position_valid = 0; // Home distance and direction will not display on OSD
}
else
{
GPSPositionSensorGet(&gps_data);
HomeLocationGet(&home_data);
if((gps_data.Status < GPSPOSITIONSENSOR_STATUS_FIX2D) || (home_data.Set == HOMELOCATION_SET_FALSE))
{
data.comp_gps.distance_to_home = 0;
data.comp_gps.direction_to_home = 0;
data.comp_gps.home_position_valid = 0; // Home distance and direction will not display on OSD
}
else
{
data.comp_gps.home_position_valid = 1; // Home distance and direction will display on OSD
int32_t delta_lon = (home_data.Longitude - gps_data.Longitude); // degrees * 1e7
int32_t delta_lat = (home_data.Latitude - gps_data.Latitude ); // degrees * 1e7
float delta_y = DEG2RAD( (float)delta_lon * WGS84_RADIUS_EARTH_KM ); // KM * 1e7
float delta_x = DEG2RAD( (float)delta_lat * WGS84_RADIUS_EARTH_KM ); // KM * 1e7
delta_y *= cosf( DEG2RAD((float)home_data.Latitude * 1e-7f) ); // Latitude compression correction
data.comp_gps.distance_to_home = (uint16_t)(sqrtf(delta_x * delta_x + delta_y * delta_y) * 1e-4f); // meters
if ((delta_lon == 0) && (delta_lat == 0))
data.comp_gps.direction_to_home = 0;
else
data.comp_gps.direction_to_home = RAD2DEG((int16_t)(atan2f(delta_y, delta_x))); // degrees;
}
union {
uint8_t buf[0];
struct {
uint16_t distance_to_home; // meter
int16_t direction_to_home; // degree [-180:180]
uint8_t home_position_valid; // 0 = Invalid, Dronin MSP specific
} __attribute__((packed)) comp_gps;
} data;
msp_send(m, MSP_COMP_GPS, data.buf, sizeof(data));
}
GPSPositionSensorData gps_data;
HomeLocationData home_data;
if ((GPSPositionSensorHandle() == NULL) || (HomeLocationHandle() == NULL)) {
data.comp_gps.distance_to_home = 0;
data.comp_gps.direction_to_home = 0;
data.comp_gps.home_position_valid = 0; // Home distance and direction will not display on OSD
} else {
GPSPositionSensorGet(&gps_data);
HomeLocationGet(&home_data);
if ((gps_data.Status < GPSPOSITIONSENSOR_STATUS_FIX2D) || (home_data.Set == HOMELOCATION_SET_FALSE)) {
data.comp_gps.distance_to_home = 0;
data.comp_gps.direction_to_home = 0;
data.comp_gps.home_position_valid = 0; // Home distance and direction will not display on OSD
} else {
data.comp_gps.home_position_valid = 1; // Home distance and direction will display on OSD
int32_t delta_lon = (home_data.Longitude - gps_data.Longitude); // degrees * 1e7
int32_t delta_lat = (home_data.Latitude - gps_data.Latitude); // degrees * 1e7
float delta_y = DEG2RAD((float)delta_lon * WGS84_RADIUS_EARTH_KM); // KM * 1e7
float delta_x = DEG2RAD((float)delta_lat * WGS84_RADIUS_EARTH_KM); // KM * 1e7
delta_y *= cosf(DEG2RAD((float)home_data.Latitude * 1e-7f)); // Latitude compression correction
data.comp_gps.distance_to_home = (uint16_t)(sqrtf(delta_x * delta_x + delta_y * delta_y) * 1e-4f); // meters
if ((delta_lon == 0) && (delta_lat == 0)) {
data.comp_gps.direction_to_home = 0;
} else {
data.comp_gps.direction_to_home = RAD2DEG((int16_t)(atan2f(delta_y, delta_x))); // degrees;
}
}
msp_send(m, MSP_COMP_GPS, data.buf, sizeof(data));
}
}
static void msp_send_altitude(struct msp_bridge *m)
{
union {
uint8_t buf[0];
struct {
int32_t alt; // cm
uint16_t vario; // cm/s
} __attribute__((packed)) baro;
} data;
union {
uint8_t buf[0];
struct {
int32_t alt; // cm
uint16_t vario; // cm/s
} __attribute__((packed)) baro;
} data;
if (BaroSensorHandle() != NULL)
{
BaroSensorData baro;
BaroSensorGet(&baro);
if (BaroSensorHandle() != NULL) {
BaroSensorData baro;
BaroSensorGet(&baro);
data.baro.alt = (int32_t)roundf(baro.Altitude * 100.0f);
data.baro.alt = (int32_t)roundf(baro.Altitude * 100.0f);
msp_send(m, MSP_ALTITUDE, data.buf, sizeof(data));
}
msp_send(m, MSP_ALTITUDE, data.buf, sizeof(data));
}
}
#endif /* PIOS_EXCLUDE_ADVANCED_FEATURES */
// Scale stick values whose input range is -1 to 1 to MSP's expected
// PWM range of 1000-2000.
static uint16_t msp_scale_rc(float percent) {
return percent*500 + 1500;
static uint16_t msp_scale_rc(float percent)
{
return percent * 500 + 1500;
}
// Throttle maps to 1100-1900 and a bit differently as -1 == 1000 and
@ -615,241 +583,245 @@ static uint16_t msp_scale_rc(float percent) {
// can learn ranges as wide as they are sent, but defaults to
// 1100-1900 so the throttle indicator will vary for the same stick
// position unless we send it what it wants right away.
static uint16_t msp_scale_rc_thr(float percent) {
return percent <= 0 ? 1100 : percent*800 + 1100;
static uint16_t msp_scale_rc_thr(float percent)
{
return percent <= 0 ? 1100 : percent *800 + 1100;
}
// MSP RC order is Roll/Pitch/Yaw/Throttle/AUX1/AUX2/AUX3/AUX4
static void msp_send_channels(struct msp_bridge *m)
{
AccessoryDesiredData acc0, acc1, acc2;
ManualControlCommandData manualState;
ManualControlCommandGet(&manualState);
AccessoryDesiredInstGet(0, &acc0);
AccessoryDesiredInstGet(1, &acc1);
AccessoryDesiredInstGet(2, &acc2);
AccessoryDesiredData acc0, acc1, acc2;
ManualControlCommandData manualState;
union {
uint8_t buf[0];
uint16_t channels[8];
} data = {
.channels = {
msp_scale_rc(manualState.Roll),
msp_scale_rc(manualState.Pitch * -1), // TL pitch is backwards
msp_scale_rc(manualState.Yaw),
msp_scale_rc_thr(manualState.Throttle),
msp_scale_rc(acc0.AccessoryVal),
msp_scale_rc(acc1.AccessoryVal),
msp_scale_rc(acc2.AccessoryVal),
1000, // no aux4
}
};
ManualControlCommandGet(&manualState);
AccessoryDesiredInstGet(0, &acc0);
AccessoryDesiredInstGet(1, &acc1);
AccessoryDesiredInstGet(2, &acc2);
msp_send(m, MSP_RC, data.buf, sizeof(data));
union {
uint8_t buf[0];
uint16_t channels[8];
} data = {
.channels = {
msp_scale_rc(manualState.Roll),
msp_scale_rc(manualState.Pitch * -1), // TL pitch is backwards
msp_scale_rc(manualState.Yaw),
msp_scale_rc_thr(manualState.Throttle),
msp_scale_rc(acc0.AccessoryVal),
msp_scale_rc(acc1.AccessoryVal),
msp_scale_rc(acc2.AccessoryVal),
1000, // no aux4
}
};
msp_send(m, MSP_RC, data.buf, sizeof(data));
}
static void msp_send_boxids(struct msp_bridge *m) { // This is actually sending a map of MSP_STATUS.flag bits to BOX ids.
msp_send( m, MSP_BOXIDS, msp_boxes, sizeof( msp_boxes ) );
static void msp_send_boxids(struct msp_bridge *m) // This is actually sending a map of MSP_STATUS.flag bits to BOX ids.
{
msp_send(m, MSP_BOXIDS, msp_boxes, sizeof(msp_boxes));
}
static StabilizationSettingsFlightModeMapOptions get_current_stabilization_bank()
{
uint8_t fm;
ManualControlCommandFlightModeSwitchPositionGet(&fm);
uint8_t fm;
if( fm >= FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM )
{
return STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK1;
}
StabilizationSettingsFlightModeMapOptions flightModeMap[STABILIZATIONSETTINGS_FLIGHTMODEMAP_NUMELEM];
StabilizationSettingsFlightModeMapGet(flightModeMap);
return flightModeMap[fm];
ManualControlCommandFlightModeSwitchPositionGet(&fm);
if (fm >= FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM) {
return STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK1;
}
StabilizationSettingsFlightModeMapOptions flightModeMap[STABILIZATIONSETTINGS_FLIGHTMODEMAP_NUMELEM];
StabilizationSettingsFlightModeMapGet(flightModeMap);
return flightModeMap[fm];
}
static void get_current_stabilizationbankdata( StabilizationBankData *bankData )
static void get_current_stabilizationbankdata(StabilizationBankData *bankData)
{
switch( get_current_stabilization_bank() )
{
switch (get_current_stabilization_bank()) {
case STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK1:
StabilizationSettingsBank1Get( (StabilizationSettingsBank1Data *) bankData );
break;
StabilizationSettingsBank1Get((StabilizationSettingsBank1Data *)bankData);
break;
case STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK2:
StabilizationSettingsBank2Get( (StabilizationSettingsBank2Data *) bankData );
break;
StabilizationSettingsBank2Get((StabilizationSettingsBank2Data *)bankData);
break;
case STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK3:
StabilizationSettingsBank3Get( (StabilizationSettingsBank3Data *) bankData );
break;
}
StabilizationSettingsBank3Get((StabilizationSettingsBank3Data *)bankData);
break;
}
}
static void set_current_stabilizationbankdata( const StabilizationBankData *bankData )
static void set_current_stabilizationbankdata(const StabilizationBankData *bankData)
{
// update just relevant parts. or not.
switch( get_current_stabilization_bank() )
{
// update just relevant parts. or not.
switch (get_current_stabilization_bank()) {
case STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK1:
StabilizationSettingsBank1Set( (const StabilizationSettingsBank1Data *) bankData );
break;
StabilizationSettingsBank1Set((const StabilizationSettingsBank1Data *)bankData);
break;
case STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK2:
StabilizationSettingsBank2Set( (const StabilizationSettingsBank2Data *) bankData );
break;
StabilizationSettingsBank2Set((const StabilizationSettingsBank2Data *)bankData);
break;
case STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK3:
StabilizationSettingsBank3Set( (const StabilizationSettingsBank3Data *) bankData );
break;
}
StabilizationSettingsBank3Set((const StabilizationSettingsBank3Data *)bankData);
break;
}
}
static void pid_native2msp( const float *native, msp_pid_t *piditem )
static void pid_native2msp(const float *native, msp_pid_t *piditem)
{
piditem->P = lroundf(native[0] * 10000);
piditem->I = lroundf(native[1] * 10000);
piditem->D = lroundf(native[2] * 10000);
piditem->P = lroundf(native[0] * 10000);
piditem->I = lroundf(native[1] * 10000);
piditem->D = lroundf(native[2] * 10000);
}
static void pid_msp2native( const msp_pid_t *piditem, float *native )
static void pid_msp2native(const msp_pid_t *piditem, float *native)
{
native[0] = (float)piditem->P / 10000;
native[1] = (float)piditem->I / 10000;
native[2] = (float)piditem->D / 10000;
native[0] = (float)piditem->P / 10000;
native[1] = (float)piditem->I / 10000;
native[2] = (float)piditem->D / 10000;
}
static void msp_send_pid(struct msp_bridge *m)
{
StabilizationBankData bankData;
get_current_stabilizationbankdata( &bankData );
msp_pid_t piditems[ PID_ITEM_COUNT ];
StabilizationBankData bankData;
memset(piditems, 0, sizeof( piditems ) );
pid_native2msp( (float *) &bankData.RollRatePID, &piditems[ PIDROLL ] );
pid_native2msp( (float *) &bankData.PitchRatePID, &piditems[ PIDPITCH ] );
pid_native2msp( (float *) &bankData.YawRatePID, &piditems[ PIDYAW ] );
msp_send( m, MSP_PID, (const uint8_t *) piditems, sizeof( piditems ) );
get_current_stabilizationbankdata(&bankData);
msp_pid_t piditems[PID_ITEM_COUNT];
memset(piditems, 0, sizeof(piditems));
pid_native2msp((float *)&bankData.RollRatePID, &piditems[PIDROLL]);
pid_native2msp((float *)&bankData.PitchRatePID, &piditems[PIDPITCH]);
pid_native2msp((float *)&bankData.YawRatePID, &piditems[PIDYAW]);
msp_send(m, MSP_PID, (const uint8_t *)piditems, sizeof(piditems));
}
static void msp_set_pid(struct msp_bridge *m)
{
StabilizationBankData bankData;
get_current_stabilizationbankdata( &bankData );
pid_msp2native( &m->cmd_data.piditems[ PIDROLL ], (float *) &bankData.RollRatePID );
pid_msp2native( &m->cmd_data.piditems[ PIDPITCH ], (float *) &bankData.PitchRatePID );
pid_msp2native( &m->cmd_data.piditems[ PIDYAW ], (float *) &bankData.YawRatePID );
set_current_stabilizationbankdata( &bankData );
msp_send( m, MSP_SET_PID, 0, 0 ); // send ack.
StabilizationBankData bankData;
get_current_stabilizationbankdata(&bankData);
pid_msp2native(&m->cmd_data.piditems[PIDROLL], (float *)&bankData.RollRatePID);
pid_msp2native(&m->cmd_data.piditems[PIDPITCH], (float *)&bankData.PitchRatePID);
pid_msp2native(&m->cmd_data.piditems[PIDYAW], (float *)&bankData.YawRatePID);
set_current_stabilizationbankdata(&bankData);
msp_send(m, MSP_SET_PID, 0, 0); // send ack.
}
#define ALARM_OK 0
#define ALARM_WARN 1
#define ALARM_OK 0
#define ALARM_WARN 1
#define ALARM_ERROR 2
#define ALARM_CRIT 3
#define ALARM_CRIT 3
#define MS2TICKS(m) ((m) / (portTICK_RATE_MS))
static void msp_send_alarms(__attribute__((unused)) struct msp_bridge *m) {
static void msp_send_alarms(__attribute__((unused)) struct msp_bridge *m)
{
#if 0
union {
uint8_t buf[0];
struct {
uint8_t state;
char msg[MAX_ALARM_LEN];
} __attribute__((packed)) alarm;
} data;
union {
uint8_t buf[0];
struct {
uint8_t state;
char msg[MAX_ALARM_LEN];
} __attribute__((packed)) alarm;
} data;
SystemAlarmsData alarm;
SystemAlarmsGet(&alarm);
SystemAlarmsData alarm;
SystemAlarmsGet(&alarm);
// Special case early boot times -- just report boot reason
// Special case early boot times -- just report boot reason
#if 0
if (xTaskGetTickCount() < MS2TICKS(10*1000)) {
data.alarm.state = ALARM_CRIT;
const char *boot_reason = AlarmBootReason(alarm.RebootCause);
strncpy((char*)data.alarm.msg, boot_reason, MAX_ALARM_LEN);
data.alarm.msg[MAX_ALARM_LEN-1] = '\0';
msp_send(m, MSP_ALARMS, data.buf, strlen((char*)data.alarm.msg)+1);
return;
}
if (xTaskGetTickCount() < MS2TICKS(10 * 1000)) {
data.alarm.state = ALARM_CRIT;
const char *boot_reason = AlarmBootReason(alarm.RebootCause);
strncpy((char *)data.alarm.msg, boot_reason, MAX_ALARM_LEN);
data.alarm.msg[MAX_ALARM_LEN - 1] = '\0';
msp_send(m, MSP_ALARMS, data.buf, strlen((char *)data.alarm.msg) + 1);
return;
}
#endif
uint8_t state;
data.alarm.state = ALARM_OK;
int32_t len = AlarmString(&alarm, data.alarm.msg,
sizeof(data.alarm.msg), SYSTEMALARMS_ALARM_CRITICAL, &state); // Include only CRITICAL and ERROR
switch (state) {
case SYSTEMALARMS_ALARM_WARNING:
data.alarm.state = ALARM_WARN;
break;
case SYSTEMALARMS_ALARM_ERROR:
break;
case SYSTEMALARMS_ALARM_CRITICAL:
data.alarm.state = ALARM_CRIT;;
}
uint8_t state;
data.alarm.state = ALARM_OK;
int32_t len = AlarmString(&alarm, data.alarm.msg,
sizeof(data.alarm.msg), SYSTEMALARMS_ALARM_CRITICAL, &state); // Include only CRITICAL and ERROR
switch (state) {
case SYSTEMALARMS_ALARM_WARNING:
data.alarm.state = ALARM_WARN;
break;
case SYSTEMALARMS_ALARM_ERROR:
break;
case SYSTEMALARMS_ALARM_CRITICAL:
data.alarm.state = ALARM_CRIT;;
}
msp_send(m, MSP_ALARMS, data.buf, len+1);
#endif
msp_send(m, MSP_ALARMS, data.buf, len + 1);
#endif /* if 0 */
}
static msp_state msp_state_checksum(struct msp_bridge *m, uint8_t b)
{
if ((m->checksum ^ b) != 0) {
return MSP_IDLE;
}
if ((m->checksum ^ b) != 0) {
return MSP_IDLE;
}
// Respond to interesting things.
switch (m->cmd_id) {
case MSP_IDENT:
msp_send_ident(m);
break;
case MSP_RAW_GPS:
msp_send_raw_gps(m);
break;
case MSP_COMP_GPS:
msp_send_comp_gps(m);
break;
case MSP_ALTITUDE:
msp_send_altitude(m);
break;
case MSP_ATTITUDE:
msp_send_attitude(m);
break;
case MSP_STATUS:
msp_send_status(m);
break;
case MSP_ANALOG:
msp_send_analog(m);
break;
case MSP_RC:
msp_send_channels(m);
break;
case MSP_BOXIDS:
msp_send_boxids(m);
break;
case MSP_ALARMS:
msp_send_alarms(m);
break;
case MSP_PID:
msp_send_pid(m);
break;
case MSP_SET_PID:
msp_set_pid(m);
break;
}
return MSP_IDLE;
// Respond to interesting things.
switch (m->cmd_id) {
case MSP_IDENT:
msp_send_ident(m);
break;
case MSP_RAW_GPS:
msp_send_raw_gps(m);
break;
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
case MSP_COMP_GPS:
msp_send_comp_gps(m);
break;
case MSP_ALTITUDE:
msp_send_altitude(m);
break;
#endif /* PIOS_EXCLUDE_ADVANCED_FEATURES */
case MSP_ATTITUDE:
msp_send_attitude(m);
break;
case MSP_STATUS:
msp_send_status(m);
break;
case MSP_ANALOG:
msp_send_analog(m);
break;
case MSP_RC:
msp_send_channels(m);
break;
case MSP_BOXIDS:
msp_send_boxids(m);
break;
case MSP_ALARMS:
msp_send_alarms(m);
break;
case MSP_PID:
msp_send_pid(m);
break;
case MSP_SET_PID:
msp_set_pid(m);
break;
}
return MSP_IDLE;
}
static msp_state msp_state_discard(struct msp_bridge *m, __attribute__((unused)) uint8_t b)
{
return m->cmd_i++ == m->cmd_size ? MSP_IDLE : MSP_DISCARD;
return m->cmd_i++ == m->cmd_size ? MSP_IDLE : MSP_DISCARD;
}
/**
@ -859,84 +831,84 @@ static msp_state msp_state_discard(struct msp_bridge *m, __attribute__((unused))
*/
static bool msp_receive_byte(struct msp_bridge *m, uint8_t b)
{
switch (m->state) {
case MSP_IDLE:
switch (b) {
case 0xe0: // uavtalk matching first part of 0x3c @ 57600 baud
m->state = MSP_MAYBE_UAVTALK_SLOW2;
break;
case '<': // uavtalk matching with 0x3c 0x2x 0xxx 0x0x
m->state = MSP_MAYBE_UAVTALK2;
break;
case '$':
m->state = MSP_HEADER_START;
break;
default:
m->state = MSP_IDLE;
}
break;
case MSP_HEADER_START:
m->state = b == 'M' ? MSP_HEADER_M : MSP_IDLE;
break;
case MSP_HEADER_M:
m->state = b == '<' ? MSP_HEADER_SIZE : MSP_IDLE;
break;
case MSP_HEADER_SIZE:
m->state = msp_state_size(m, b);
break;
case MSP_HEADER_CMD:
m->state = msp_state_cmd(m, b);
break;
case MSP_FILLBUF:
m->state = msp_state_fill_buf(m, b);
break;
case MSP_CHECKSUM:
m->state = msp_state_checksum(m, b);
break;
case MSP_DISCARD:
m->state = msp_state_discard(m, b);
break;
case MSP_MAYBE_UAVTALK2:
// e.g. 3c 20 1d 00
// second possible uavtalk byte
m->state = (b&0xf0) == 0x20 ? MSP_MAYBE_UAVTALK3 : MSP_IDLE;
break;
case MSP_MAYBE_UAVTALK3:
// third possible uavtalk byte can be anything
m->state = MSP_MAYBE_UAVTALK4;
break;
case MSP_MAYBE_UAVTALK4:
m->state = MSP_IDLE;
// If this looks like the fourth possible uavtalk byte, we're done
if ((b & 0xf0) == 0) {
PIOS_COM_TELEM_RF = m->com;
return false;
}
break;
case MSP_MAYBE_UAVTALK_SLOW2:
m->state = b == 0x18 ? MSP_MAYBE_UAVTALK_SLOW3 : MSP_IDLE;
break;
case MSP_MAYBE_UAVTALK_SLOW3:
m->state = b == 0x98 ? MSP_MAYBE_UAVTALK_SLOW4 : MSP_IDLE;
break;
case MSP_MAYBE_UAVTALK_SLOW4:
m->state = b == 0x7e ? MSP_MAYBE_UAVTALK_SLOW5 : MSP_IDLE;
break;
case MSP_MAYBE_UAVTALK_SLOW5:
m->state = b == 0x00 ? MSP_MAYBE_UAVTALK_SLOW6 : MSP_IDLE;
break;
case MSP_MAYBE_UAVTALK_SLOW6:
m->state = MSP_IDLE;
// If this looks like the sixth possible 57600 baud uavtalk byte, we're done
if(b == 0x60) {
PIOS_COM_ChangeBaud(m->com, 57600);
PIOS_COM_TELEM_RF = m->com;
return false;
}
break;
}
switch (m->state) {
case MSP_IDLE:
switch (b) {
case 0xe0: // uavtalk matching first part of 0x3c @ 57600 baud
m->state = MSP_MAYBE_UAVTALK_SLOW2;
break;
case '<': // uavtalk matching with 0x3c 0x2x 0xxx 0x0x
m->state = MSP_MAYBE_UAVTALK2;
break;
case '$':
m->state = MSP_HEADER_START;
break;
default:
m->state = MSP_IDLE;
}
break;
case MSP_HEADER_START:
m->state = b == 'M' ? MSP_HEADER_M : MSP_IDLE;
break;
case MSP_HEADER_M:
m->state = b == '<' ? MSP_HEADER_SIZE : MSP_IDLE;
break;
case MSP_HEADER_SIZE:
m->state = msp_state_size(m, b);
break;
case MSP_HEADER_CMD:
m->state = msp_state_cmd(m, b);
break;
case MSP_FILLBUF:
m->state = msp_state_fill_buf(m, b);
break;
case MSP_CHECKSUM:
m->state = msp_state_checksum(m, b);
break;
case MSP_DISCARD:
m->state = msp_state_discard(m, b);
break;
case MSP_MAYBE_UAVTALK2:
// e.g. 3c 20 1d 00
// second possible uavtalk byte
m->state = (b & 0xf0) == 0x20 ? MSP_MAYBE_UAVTALK3 : MSP_IDLE;
break;
case MSP_MAYBE_UAVTALK3:
// third possible uavtalk byte can be anything
m->state = MSP_MAYBE_UAVTALK4;
break;
case MSP_MAYBE_UAVTALK4:
m->state = MSP_IDLE;
// If this looks like the fourth possible uavtalk byte, we're done
if ((b & 0xf0) == 0) {
PIOS_COM_TELEM_RF = m->com;
return false;
}
break;
case MSP_MAYBE_UAVTALK_SLOW2:
m->state = b == 0x18 ? MSP_MAYBE_UAVTALK_SLOW3 : MSP_IDLE;
break;
case MSP_MAYBE_UAVTALK_SLOW3:
m->state = b == 0x98 ? MSP_MAYBE_UAVTALK_SLOW4 : MSP_IDLE;
break;
case MSP_MAYBE_UAVTALK_SLOW4:
m->state = b == 0x7e ? MSP_MAYBE_UAVTALK_SLOW5 : MSP_IDLE;
break;
case MSP_MAYBE_UAVTALK_SLOW5:
m->state = b == 0x00 ? MSP_MAYBE_UAVTALK_SLOW6 : MSP_IDLE;
break;
case MSP_MAYBE_UAVTALK_SLOW6:
m->state = MSP_IDLE;
// If this looks like the sixth possible 57600 baud uavtalk byte, we're done
if (b == 0x60) {
PIOS_COM_ChangeBaud(m->com, 57600);
PIOS_COM_TELEM_RF = m->com;
return false;
}
break;
}
return true;
return true;
}
/**
@ -945,21 +917,22 @@ static bool msp_receive_byte(struct msp_bridge *m, uint8_t b)
*/
static int32_t uavoMSPBridgeStart(void)
{
if (!module_enabled) {
// give port to telemetry if it doesn't have one
// stops board getting stuck in condition where it can't be connected to gcs
if(!PIOS_COM_TELEM_RF)
PIOS_COM_TELEM_RF = pios_com_msp_id;
if (!module_enabled) {
// give port to telemetry if it doesn't have one
// stops board getting stuck in condition where it can't be connected to gcs
if (!PIOS_COM_TELEM_RF) {
PIOS_COM_TELEM_RF = pios_com_msp_id;
}
return -1;
}
return -1;
}
xTaskHandle taskHandle;
xTaskCreate(uavoMSPBridgeTask, "uavoMSPBridge", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &taskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_UAVOMSPBRIDGE, taskHandle);
xTaskHandle taskHandle;
return 0;
xTaskCreate(uavoMSPBridgeTask, "uavoMSPBridge", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &taskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_UAVOMSPBRIDGE, taskHandle);
return 0;
}
static uint32_t hwsettings_mspspeed_enum_to_baud(uint8_t baud)
@ -996,65 +969,64 @@ static uint32_t hwsettings_mspspeed_enum_to_baud(uint8_t baud)
*/
static int32_t uavoMSPBridgeInitialize(void)
{
if (pios_com_msp_id) {
msp = pios_malloc(sizeof(*msp));
if (msp != NULL) {
memset(msp, 0x00, sizeof(*msp));
if (pios_com_msp_id) {
msp = pios_malloc(sizeof(*msp));
if (msp != NULL) {
memset(msp, 0x00, sizeof(*msp));
msp->com = pios_com_msp_id;
// now figure out enabled features: registered sensors, ADC routing, GPS
if( PIOS_SENSORS_GetInstanceByType( 0, PIOS_SENSORS_TYPE_3AXIS_ACCEL ) )
{
msp->sensors |= MSP_SENSOR_ACC;
}
if( PIOS_SENSORS_GetInstanceByType( 0, PIOS_SENSORS_TYPE_1AXIS_BARO ) )
{
msp->sensors |= MSP_SENSOR_BARO;
}
if( PIOS_SENSORS_GetInstanceByType( 0, PIOS_SENSORS_TYPE_3AXIS_MAG|PIOS_SENSORS_TYPE_3AXIS_AUXMAG ) )
{
msp->sensors |= MSP_SENSOR_MAG;
}
msp->com = pios_com_msp_id;
// now figure out enabled features: registered sensors, ADC routing, GPS
#ifdef PIOS_EXCLUDE_ADVANCED_FEATURES
msp->sensors |= MSP_SENSOR_ACC;
#else
if (PIOS_SENSORS_GetInstanceByType(0, PIOS_SENSORS_TYPE_3AXIS_ACCEL)) {
msp->sensors |= MSP_SENSOR_ACC;
}
if (PIOS_SENSORS_GetInstanceByType(0, PIOS_SENSORS_TYPE_1AXIS_BARO)) {
msp->sensors |= MSP_SENSOR_BARO;
}
if (PIOS_SENSORS_GetInstanceByType(0, PIOS_SENSORS_TYPE_3AXIS_MAG | PIOS_SENSORS_TYPE_3AXIS_AUXMAG)) {
msp->sensors |= MSP_SENSOR_MAG;
}
#ifdef PIOS_SENSORS_TYPE_1AXIS_SONAR
if( PIOS_SENSORS_GetInstanceByType( 0, PIOS_SENSORS_TYPE_1AXIS_SONAR ) )
{
msp->sensors |= MSP_SENSOR_SONAR;
}
#endif
// MAP_SENSOR_GPS is hot-pluggable type
HwSettingsADCRoutingDataArray adcRoutingDataArray;
HwSettingsADCRoutingArrayGet(adcRoutingDataArray.array);
if (PIOS_SENSORS_GetInstanceByType(0, PIOS_SENSORS_TYPE_1AXIS_SONAR)) {
msp->sensors |= MSP_SENSOR_SONAR;
}
#endif /* PIOS_SENSORS_TYPE_1AXIS_SONAR */
#endif /* PIOS_EXCLUDE_ADVANCED_FEATURES */
for(unsigned i = 0; i < sizeof(adcRoutingDataArray.array)/sizeof(adcRoutingDataArray.array[0]); ++i)
{
switch( adcRoutingDataArray.array[i] )
{
case HWSETTINGS_ADCROUTING_BATTERYVOLTAGE:
msp->analog |= MSP_ANALOG_VOLTAGE;
break;
case HWSETTINGS_ADCROUTING_BATTERYCURRENT:
msp->analog |= MSP_ANALOG_CURRENT;
break;
default:;
}
}
HwSettingsMSPSpeedOptions mspSpeed;
HwSettingsMSPSpeedGet(&mspSpeed);
PIOS_COM_ChangeBaud(pios_com_msp_id, hwsettings_mspspeed_enum_to_baud(mspSpeed));
module_enabled = true;
return 0;
}
}
// MAP_SENSOR_GPS is hot-pluggable type
return -1;
HwSettingsADCRoutingDataArray adcRoutingDataArray;
HwSettingsADCRoutingArrayGet(adcRoutingDataArray.array);
for (unsigned i = 0; i < sizeof(adcRoutingDataArray.array) / sizeof(adcRoutingDataArray.array[0]); ++i) {
switch (adcRoutingDataArray.array[i]) {
case HWSETTINGS_ADCROUTING_BATTERYVOLTAGE:
msp->analog |= MSP_ANALOG_VOLTAGE;
break;
case HWSETTINGS_ADCROUTING_BATTERYCURRENT:
msp->analog |= MSP_ANALOG_CURRENT;
break;
default:;
}
}
HwSettingsMSPSpeedOptions mspSpeed;
HwSettingsMSPSpeedGet(&mspSpeed);
PIOS_COM_ChangeBaud(pios_com_msp_id, hwsettings_mspspeed_enum_to_baud(mspSpeed));
module_enabled = true;
return 0;
}
}
return -1;
}
MODULE_INITCALL(uavoMSPBridgeInitialize, uavoMSPBridgeStart);
@ -1064,22 +1036,22 @@ MODULE_INITCALL(uavoMSPBridgeInitialize, uavoMSPBridgeStart);
*/
static void uavoMSPBridgeTask(__attribute__((unused)) void *parameters)
{
while (1) {
uint8_t b = 0;
uint16_t count = PIOS_COM_ReceiveBuffer(msp->com, &b, 1, ~0);
if (count) {
if (!msp_receive_byte(msp, b)) {
// Returning is considered risky here as
// that's unusual and this is an edge case.
while (1) {
PIOS_DELAY_WaitmS(60*1000);
}
}
}
}
while (1) {
uint8_t b = 0;
uint16_t count = PIOS_COM_ReceiveBuffer(msp->com, &b, 1, ~0);
if (count) {
if (!msp_receive_byte(msp, b)) {
// Returning is considered risky here as
// that's unusual and this is an edge case.
while (1) {
PIOS_DELAY_WaitmS(60 * 1000);
}
}
}
}
}
#endif //PIOS_INCLUDE_MSP_BRIDGE
#endif // PIOS_INCLUDE_MSP_BRIDGE
/**
* @}
* @}

1
flight/targets/boards/coptercontrol/firmware/Makefile
View File

@ -54,6 +54,7 @@ OPTMODULES += TxPID
OPTMODULES += Osd/osdoutput
#OPTMODULES += Altitude
#OPTMODULES += Fault
OPTMODULES += UAVOMSPBridge
SRC += $(FLIGHTLIB)/notification.c

40
flight/targets/boards/coptercontrol/firmware/pios_board.c
View File

@ -75,6 +75,9 @@ static void ActuatorSettingsUpdatedCb(UAVObjEvent *ev);
#define PIOS_COM_HKOSD_TX_BUF_LEN 22
#define PIOS_COM_MSP_TX_BUF_LEN 128
#define PIOS_COM_MSP_RX_BUF_LEN 64
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
#define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
uint32_t pios_com_debug_id;
@ -86,7 +89,7 @@ uint32_t pios_com_vcp_id;
uint32_t pios_com_gps_id;
uint32_t pios_com_bridge_id;
uint32_t pios_com_hkosd_id;
uint32_t pios_com_msp_id;
uint32_t pios_usb_rctx_id;
uintptr_t pios_uavo_settings_fs_id;
@ -551,6 +554,23 @@ void PIOS_Board_Init(void)
PIOS_Assert(0);
}
}
case HWSETTINGS_CC_MAINPORT_MSP:
{
uint32_t pios_usart_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
PIOS_Assert(0);
}
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_MSP_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_MSP_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_msp_id, &pios_usart_com_driver, pios_usart_generic_id,
rx_buffer, PIOS_COM_MSP_RX_BUF_LEN,
tx_buffer, PIOS_COM_MSP_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
break;
case HWSETTINGS_CC_MAINPORT_OSDHK:
{
@ -614,6 +634,24 @@ void PIOS_Board_Init(void)
}
}
break;
case HWSETTINGS_CC_FLEXIPORT_MSP:
{
uint32_t pios_usart_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
PIOS_Assert(0);
}
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_MSP_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_MSP_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_msp_id, &pios_usart_com_driver, pios_usart_generic_id,
rx_buffer, PIOS_COM_MSP_RX_BUF_LEN,
tx_buffer, PIOS_COM_MSP_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
break;
case HWSETTINGS_CC_FLEXIPORT_GPS:
#if defined(PIOS_INCLUDE_GPS)
{

3
flight/targets/boards/coptercontrol/pios_board.h
View File

@ -156,6 +156,9 @@ extern uint32_t pios_com_debug_id;
extern uint32_t pios_com_hkosd_id;
#define PIOS_COM_OSDHK (pios_com_hkosd_id)
extern uint32_t pios_com_msp_id;
#define PIOS_COM_MSP (pios_com_msp_id)
// -------------------------
// ADC
// PIOS_ADC_PinGet(0) = Gyro Z

1
flight/targets/boards/discoveryf4bare/firmware/Makefile
View File

@ -56,6 +56,7 @@ MODULES += Logging
MODULES += Telemetry
OPTMODULES += ComUsbBridge
OPTMODULES += UAVOMSPBridge
SRC += $(FLIGHTLIB)/notification.c

11
flight/targets/boards/discoveryf4bare/firmware/pios_board.c
View File

@ -248,6 +248,9 @@ uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
#define PIOS_COM_HKOSD_RX_BUF_LEN 22
#define PIOS_COM_HKOSD_TX_BUF_LEN 22
#define PIOS_COM_MSP_TX_BUF_LEN 128
#define PIOS_COM_MSP_RX_BUF_LEN 64
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
#define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
uint32_t pios_com_debug_id;
@ -259,7 +262,7 @@ uint32_t pios_com_telem_rf_id = 0;
uint32_t pios_com_bridge_id = 0;
uint32_t pios_com_overo_id = 0;
uint32_t pios_com_hkosd_id = 0;
uint32_t pios_com_msp_id = 0;
uint32_t pios_com_vcp_id = 0;
#if defined(PIOS_INCLUDE_RFM22B)
@ -660,6 +663,9 @@ void PIOS_Board_Init(void)
case HWSETTINGS_RM_MAINPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
case HWSETTINGS_RM_MAINPORT_MSP:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
case HWSETTINGS_RM_MAINPORT_OSDHK:
PIOS_Board_configure_com(&pios_usart_hkosd_main_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id);
break;
@ -735,6 +741,9 @@ void PIOS_Board_Init(void)
case HWSETTINGS_RM_FLEXIPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
case HWSETTINGS_RM_FLEXIPORT_MSP:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
case HWSETTINGS_RM_FLEXIPORT_OSDHK:
PIOS_Board_configure_com(&pios_usart_hkosd_flexi_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id);
break;

2
flight/targets/boards/discoveryf4bare/pios_board.h
View File

@ -128,12 +128,14 @@ extern uint32_t pios_com_telem_usb_id;
extern uint32_t pios_com_bridge_id;
extern uint32_t pios_com_vcp_id;
extern uint32_t pios_com_hkosd_id;
extern uint32_t pios_com_msp_id;
#define PIOS_COM_GPS (pios_com_gps_id)
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
#define PIOS_COM_BRIDGE (pios_com_bridge_id)
#define PIOS_COM_VCP (pios_com_vcp_id)
#define PIOS_COM_OSDHK (pios_com_hkosd_id)
#define PIOS_COM_MSP (pios_com_msp_id)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
extern uint32_t pios_com_debug_id;

7
flight/targets/boards/revolution/firmware/pios_board.c
View File

@ -255,8 +255,8 @@ uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
#define PIOS_COM_HKOSD_RX_BUF_LEN 22
#define PIOS_COM_HKOSD_TX_BUF_LEN 22
#define PIOS_COM_MSP_TX_BUF_LEN 128
#define PIOS_COM_MSP_RX_BUF_LEN 64
#define PIOS_COM_MSP_TX_BUF_LEN 128
#define PIOS_COM_MSP_RX_BUF_LEN 64
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
#define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
@ -995,6 +995,9 @@ void PIOS_Board_Init(void)
case HWSETTINGS_RM_RCVRPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_rcvrport_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
case HWSETTINGS_RM_RCVRPORT_MSP:
PIOS_Board_configure_com(&pios_usart_rcvrport_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
}
#if defined(PIOS_INCLUDE_GCSRCVR)

1
flight/targets/boards/revonano/firmware/Makefile
View File

@ -52,6 +52,7 @@ MODULES += Telemetry
MODULES += Notify
OPTMODULES += ComUsbBridge
OPTMODULES += UAVOMSPBridge
SRC += $(FLIGHTLIB)/notification.c

11
flight/targets/boards/revonano/firmware/pios_board.c
View File

@ -207,6 +207,9 @@ uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
#define PIOS_COM_HKOSD_RX_BUF_LEN 22
#define PIOS_COM_HKOSD_TX_BUF_LEN 22
#define PIOS_COM_MSP_TX_BUF_LEN 128
#define PIOS_COM_MSP_RX_BUF_LEN 64
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
#define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
uint32_t pios_com_debug_id;
@ -219,7 +222,7 @@ uint32_t pios_com_rf_id = 0;
uint32_t pios_com_bridge_id = 0;
uint32_t pios_com_overo_id = 0;
uint32_t pios_com_hkosd_id = 0;
uint32_t pios_com_msp_id = 0;
uint32_t pios_com_vcp_id = 0;
uintptr_t pios_uavo_settings_fs_id;
@ -618,6 +621,9 @@ void PIOS_Board_Init(void)
case HWSETTINGS_RM_MAINPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
case HWSETTINGS_RM_MAINPORT_MSP:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
case HWSETTINGS_RM_MAINPORT_OSDHK:
PIOS_Board_configure_com(&pios_usart_hkosd_main_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id);
break;
@ -693,6 +699,9 @@ void PIOS_Board_Init(void)
case HWSETTINGS_RM_FLEXIPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
case HWSETTINGS_RM_FLEXIPORT_MSP:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
case HWSETTINGS_RM_FLEXIPORT_OSDHK:
PIOS_Board_configure_com(&pios_usart_hkosd_flexi_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id);
break;

2
flight/targets/boards/revonano/pios_board.h
View File

@ -148,6 +148,7 @@ extern uint32_t pios_com_telem_usb_id;
extern uint32_t pios_com_bridge_id;
extern uint32_t pios_com_vcp_id;
extern uint32_t pios_com_hkosd_id;
extern uint32_t pios_com_msp_id;
#define PIOS_COM_GPS (pios_com_gps_id)
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
@ -155,6 +156,7 @@ extern uint32_t pios_com_hkosd_id;
#define PIOS_COM_BRIDGE (pios_com_bridge_id)
#define PIOS_COM_VCP (pios_com_vcp_id)
#define PIOS_COM_OSDHK (pios_com_hkosd_id)
#define PIOS_COM_MSP (pios_com_msp_id)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
extern uint32_t pios_com_debug_id;

1
flight/targets/boards/revoproto/firmware/Makefile
View File

@ -53,6 +53,7 @@ MODULES += Telemetry
SRC += $(FLIGHTLIB)/notification.c
OPTMODULES += ComUsbBridge
OPTMODULES += UAVOMSPBridge
# Include all camera options
CDEFS += -DUSE_INPUT_LPF -DUSE_GIMBAL_LPF -DUSE_GIMBAL_FF

18
flight/targets/boards/revoproto/firmware/pios_board.c
View File

@ -327,6 +327,8 @@ uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
#define PIOS_COM_HKOSD_RX_BUF_LEN 22
#define PIOS_COM_HKOSD_TX_BUF_LEN 22
#define PIOS_COM_MSP_TX_BUF_LEN 128
#define PIOS_COM_MSP_RX_BUF_LEN 64
uint32_t pios_com_aux_id = 0;
uint32_t pios_com_gps_id = 0;
@ -335,6 +337,7 @@ uint32_t pios_com_telem_rf_id = 0;
uint32_t pios_com_bridge_id = 0;
uint32_t pios_com_overo_id = 0;
uint32_t pios_com_hkosd_id = 0;
uint32_t pios_com_msp_id = 0;
uintptr_t pios_uavo_settings_fs_id;
uintptr_t pios_user_fs_id;
@ -664,6 +667,9 @@ void PIOS_Board_Init(void)
case HWSETTINGS_RV_TELEMETRYPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_telem_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
case HWSETTINGS_RV_TELEMETRYPORT_MSP:
PIOS_Board_configure_com(&pios_usart_telem_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
} /* hwsettings_rv_telemetryport */
/* Configure GPS port */
@ -688,6 +694,9 @@ void PIOS_Board_Init(void)
case HWSETTINGS_RV_GPSPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_gps_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
case HWSETTINGS_RV_GPSPORT_MSP:
PIOS_Board_configure_com(&pios_usart_gps_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
} /* hwsettings_rv_gpsport */
/* Configure AUXPort */
@ -713,6 +722,9 @@ void PIOS_Board_Init(void)
case HWSETTINGS_RV_AUXPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_aux_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
case HWSETTINGS_RV_AUXPORT_MSP:
PIOS_Board_configure_com(&pios_usart_aux_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
case HWSETTINGS_RV_AUXPORT_OSDHK:
PIOS_Board_configure_com(&pios_usart_hkosd_aux_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id);
break;
@ -758,6 +770,9 @@ void PIOS_Board_Init(void)
case HWSETTINGS_RV_AUXSBUSPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_auxsbus_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
case HWSETTINGS_RV_AUXSBUSPORT_MSP:
PIOS_Board_configure_com(&pios_usart_auxsbus_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
case HWSETTINGS_RV_AUXSBUSPORT_OSDHK:
PIOS_Board_configure_com(&pios_usart_hkosd_auxsbus_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id);
break;
@ -817,6 +832,9 @@ void PIOS_Board_Init(void)
case HWSETTINGS_RV_FLEXIPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
case HWSETTINGS_RV_FLEXIPORT_MSP:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_MSP_RX_BUF_LEN, PIOS_COM_MSP_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_msp_id);
break;
} /* hwsettings_rv_flexiport */

2
flight/targets/boards/revoproto/pios_board.h
View File

@ -126,6 +126,7 @@ extern uint32_t pios_com_telem_usb_id;
extern uint32_t pios_com_bridge_id;
extern uint32_t pios_com_vcp_id;
extern uint32_t pios_com_hkosd_id;
extern uint32_t pios_com_msp_id;
#define PIOS_COM_AUX (pios_com_aux_id)
#define PIOS_COM_GPS (pios_com_gps_id)
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
@ -134,6 +135,7 @@ extern uint32_t pios_com_hkosd_id;
#define PIOS_COM_VCP (pios_com_vcp_id)
#define PIOS_COM_DEBUG PIOS_COM_AUX
#define PIOS_COM_OSDHK (pios_com_hkosd_id)
#define PIOS_COM_MSP (pios_com_msp_id)
// ------------------------
// TELEMETRY

16
shared/uavobjectdefinition/hwsettings.xml
View File

@ -2,16 +2,16 @@
<object name="HwSettings" singleinstance="true" settings="true" category="System">
<description>Selection of optional hardware configurations.</description>
<field name="CC_RcvrPort" units="function" type="enum" elements="1" options="Disabled+OneShot,PWM+NoOneShot,PPM+NoOneShot,PPM+PWM+NoOneShot,PPM+Outputs+NoOneShot,PPM_PIN8+OneShot, Outputs+OneShot" defaultvalue="PWM+NoOneShot"/>
<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM,DebugConsole,ComBridge,OsdHk" defaultvalue="Telemetry"/>
<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,PPM,DSM,EX.Bus,HoTT SUMD,HoTT SUMH,SRXL,DebugConsole,ComBridge,OsdHk" defaultvalue="Disabled"/>
<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM,DebugConsole,ComBridge,OsdHk,MSP" defaultvalue="Telemetry"/>
<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,PPM,DSM,EX.Bus,HoTT SUMD,HoTT SUMH,SRXL,DebugConsole,ComBridge,OsdHk,MSP" defaultvalue="Disabled"/>
<field name="RV_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+Outputs,Outputs" defaultvalue="PWM"/>
<field name="RV_AuxPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,DSM,ComAux,ComBridge,OsdHk" defaultvalue="Disabled"/>
<field name="RV_AuxSBusPort" units="function" type="enum" elements="1" options="Disabled,S.Bus,DSM,ComAux,ComBridge,OsdHk" defaultvalue="Disabled"/>
<field name="RV_FlexiPort" units="function" type="enum" elements="1" options="Disabled,I2C,DSM,ComAux,ComBridge" defaultvalue="Disabled"/>
<field name="RV_TelemetryPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,ComAux,ComBridge" defaultvalue="Telemetry"/>
<field name="RV_GPSPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,ComAux,ComBridge" defaultvalue="GPS"/>
<field name="RV_AuxPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,DSM,ComAux,ComBridge,OsdHk,MSP" defaultvalue="Disabled"/>
<field name="RV_AuxSBusPort" units="function" type="enum" elements="1" options="Disabled,S.Bus,DSM,ComAux,ComBridge,OsdHk,MSP" defaultvalue="Disabled"/>
<field name="RV_FlexiPort" units="function" type="enum" elements="1" options="Disabled,I2C,DSM,ComAux,ComBridge,MSP" defaultvalue="Disabled"/>
<field name="RV_TelemetryPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,ComAux,ComBridge,MSP" defaultvalue="Telemetry"/>
<field name="RV_GPSPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,ComAux,ComBridge,MSP" defaultvalue="GPS"/>
<field name="RM_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+PWM,PPM+Telemetry,PPM+Outputs,Outputs,Telemetry,ComBridge"
<field name="RM_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+PWM,PPM+Telemetry,PPM+Outputs,Outputs,Telemetry,ComBridge,MSP"
defaultvalue="PWM"
limits="%0905NE:PPM+PWM:PPM+Telemetry:Telemetry:ComBridge;"/>
<field name="RM_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM,DebugConsole,ComBridge,OsdHk,MSP" defaultvalue="Disabled"/>