rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-01 09:24:10 +01:00
Code Issues Releases Activity
b0dd2649bc
LibrePilot/flight/modules/UAVOMSPBridge/UAVOMSPBridge.c
Laurent Lalanne afb32d3090 LP-72 Uncrustify after rebase
2016-05-25 13:51:40 +02:00

1117 lines
35 KiB
C
Raw Blame History

/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup UAVOMSPBridge UAVO to MSP Bridge Module
* @{
*
* @file uavomspbridge.c
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* Tau Labs, http://taulabs.org, Copyright (C) 2015
* dRonin, http://dronin.org Copyright (C) 2015-2016
* @brief Bridges selected UAVObjects to MSP for MWOSD and the like.
*
* @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
*
* Additional note on redistribution: The copyright and license notices above
* must be maintained in each individual source file that is a derivative work
* of this source file; otherwise redistribution is prohibited.
*/
#include "openpilot.h"
#include "receiverstatus.h"
#include "hwsettings.h"
#include "flightmodesettings.h"
#include "flightbatterysettings.h"
#include "flightbatterystate.h"
#include "gpspositionsensor.h"
#include "manualcontrolcommand.h"
#include "manualcontrolsettings.h"
#include "oplinkstatus.h"
#include "accessorydesired.h"
#include "attitudestate.h"
#include "airspeedstate.h"
#include "actuatorsettings.h"
#include "actuatordesired.h"
#include "flightstatus.h"
#include "systemstats.h"
#include "systemalarms.h"
#include "takeofflocation.h"
#include "homelocation.h"
#include "positionstate.h"
#include "velocitystate.h"
#include "stabilizationdesired.h"
#include "taskinfo.h"
#include "stabilizationsettings.h"
#include "stabilizationbank.h"
#include "stabilizationsettingsbank1.h"
#include "stabilizationsettingsbank2.h"
#include "stabilizationsettingsbank3.h"
#include "magstate.h"
#include "pios_sensors.h"
#define PIOS_INCLUDE_MSP_BRIDGE
#if defined(PIOS_INCLUDE_MSP_BRIDGE)
// oplink rssi - absolute low : -127 dBm noise floor (set by software when link is completely lost)
// in reality : around -110 dBm
// max: various articles found on web quote -10 dBm as maximum received signal power.
#define OPLINK_LOW_RSSI -110
#define OPLINK_HIGH_RSSI -10
#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_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_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,
};
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_state;
typedef struct __attribute__((packed)) {
uint8_t values[3];
}
msp_pid_t;
typedef enum {
PIDROLL,
PIDPITCH,
PIDYAW,
PIDAROLL, // (PIDALT) use this for Attitude ROLL
PIDAPITCH, // (PIDPOS) use this for Attitude PITCH
PIDPOSR, // skipped by MWOSD
PIDNAVR, // skipped by MWOSD
PIDAYAW, // (PIDLEVEL) use this for Attitude YAW
PIDMAG, // unused for now
PIDVEL, // skipped by MWOSD
PID_ITEM_COUNT
} pidIndex_e;
static const char msp_pidnames[] = "ROLL;"
"PITCH;"
"YAW;"
"A.ROLL;"
"A.PITCH;"
"PosR;"
"NavR;"
"A.YAW;"
"MAG;"
"VEL;";
#define MSP_ANALOG_VOLTAGE (1 << 0)
#define MSP_ANALOG_CURRENT (1 << 1)
struct msp_bridge {
uintptr_t com;
uint8_t sensors;
uint8_t analog;
UAVObjHandle current_pid_bank;
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
#else
#define STACK_SIZE_BYTES 768
#endif
#define TASK_PRIORITY (tskIDLE_PRIORITY)
#define MAX_ALARM_LEN 30
#define BOOT_DISPLAY_TIME_MS (10 * 1000)
static bool module_enabled = false;
static struct msp_bridge *msp;
static int32_t uavoMSPBridgeInitialize(void);
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;
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);
for (unsigned i = 0; i < len; i++) {
cs ^= data[i];
}
}
cs ^= 0;
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;
}
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;
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;
}
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;
}
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;
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;
msp_send(m, MSP_ATTITUDE, data.buf, sizeof(data));
}
#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;
}
}
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;
memset(&data, 0, sizeof(data));
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
if (FlightBatteryStateHandle() != NULL) {
FlightBatteryStateData batState;
FlightBatteryStateGet(&batState);
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
// OPLink supports RSSI reported in dBm, but updates different value in ReceiverStatus.Quality (link_quality - function of lost, repaired and good packet count).
// We use same method as in Receiver module to decide if oplink is used for control:
// Check for Throttle channel group, if this belongs to oplink, we will use oplink rssi instead of ReceiverStatus.Quality.
ManualControlSettingsChannelGroupsData channelGroups;
ManualControlSettingsChannelGroupsGet(&channelGroups);
#ifdef PIOS_INCLUDE_OPLINKRCVR
if (channelGroups.Throttle == MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK) {
int8_t rssi;
OPLinkStatusRSSIGet(&rssi);
// MSP values have no units, and OSD rssi display requires calibration anyway, so we will translate OPLINK_LOW_RSSI to OPLINK_HIGH_RSSI -> 0-1023
if (rssi < OPLINK_LOW_RSSI) {
rssi = OPLINK_LOW_RSSI;
} else if (rssi > OPLINK_HIGH_RSSI) {
rssi = OPLINK_HIGH_RSSI;
}
data.status.rssi = ((rssi - OPLINK_LOW_RSSI) * 1023) / (OPLINK_HIGH_RSSI - OPLINK_LOW_RSSI);
} else {
#endif /* PIOS_INCLUDE_OPLINKRCVR */
uint8_t quality;
ReceiverStatusQualityGet(&quality);
// MSP RSSI's range is 0-1023
data.status.rssi = (quality * 1023) / 100;
#ifdef PIOS_INCLUDE_OPLINKRCVR
}
#endif /* PIOS_INCLUDE_OPLINKRCVR */
if (data.status.rssi > 1023) {
data.status.rssi = 1023;
}
msp_send(m, MSP_ANALOG, data.buf, sizeof(data));
}
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);
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 inline float Sq(float x)
{
return x * x;
}
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;
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
if (PositionStateHandle() && TakeOffLocationHandle()) {
TakeOffLocationData takeOffLocation;
TakeOffLocationGet(&takeOffLocation);
if (takeOffLocation.Status == TAKEOFFLOCATION_STATUS_VALID) {
PositionStateData positionState;
PositionStateGet(&positionState);
data.comp_gps.distance_to_home = (uint16_t)sqrtf(Sq(takeOffLocation.East - positionState.East) + Sq(takeOffLocation.North - positionState.North));
data.comp_gps.direction_to_home = RAD2DEG(atan2f(takeOffLocation.East - positionState.East, takeOffLocation.North - positionState.North));
data.comp_gps.home_position_valid = 1;
}
}
// here, CC3D implementation could use raw gps data (GPSPositionSensorData) and locally cached GPSPositionSensorData at arming time as TakeOffLocation.
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 estimatedAltitude; // cm
int16_t vario; // cm/s
} __attribute__((packed)) altitude;
} data;
if (PositionStateHandle() != NULL) {
PositionStateData positionState;
PositionStateGet(&positionState);
data.altitude.estimatedAltitude = (int32_t)roundf(positionState.Down * -100.0f);
} else {
data.altitude.estimatedAltitude = 0;
}
if (VelocityStateHandle() != NULL) {
VelocityStateData velocityState;
VelocityStateGet(&velocityState);
data.altitude.vario = (int16_t)roundf(velocityState.Down * -100.0f);
} else {
data.altitude.vario = 0;
}
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;
}
// Throttle maps to 1100-1900 and a bit differently as -1 == 1000 and
// then jumps immediately to 0 -> 1 for the rest of the range. MWOSD
// 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;
}
// 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, acc3;
ManualControlCommandData manualState;
ManualControlCommandGet(&manualState);
AccessoryDesiredInstGet(0, &acc0);
AccessoryDesiredInstGet(1, &acc1);
AccessoryDesiredInstGet(2, &acc2);
AccessoryDesiredInstGet(3, &acc3);
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),
msp_scale_rc(acc3.AccessoryVal),
}
};
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_pidnames(struct msp_bridge *m)
{
msp_send(m, MSP_PIDNAMES, (const uint8_t *)msp_pidnames, sizeof(msp_pidnames) - 1); // without terminating 0
}
static void pid_native2msp(const float *native, msp_pid_t *piditem, float scale, unsigned numelem)
{
for (unsigned i = 0; i < numelem; ++i) {
piditem->values[i] = lroundf(native[i] * scale);
}
}
static void pid_msp2native(const msp_pid_t *piditem, float *native, float scale, unsigned numelem)
{
for (unsigned i = 0; i < numelem; ++i) {
native[i] = (float)piditem->values[i] / scale;
}
}
static UAVObjHandle get_current_pid_bank_handle()
{
uint8_t fm;
ManualControlCommandFlightModeSwitchPositionGet(&fm);
if (fm >= FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM) {
return STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK1;
}
StabilizationSettingsFlightModeMapOptions flightModeMap[STABILIZATIONSETTINGS_FLIGHTMODEMAP_NUMELEM];
StabilizationSettingsFlightModeMapGet(flightModeMap);
switch (flightModeMap[fm]) {
case STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK1:
return StabilizationSettingsBank1Handle();
case STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK2:
return StabilizationSettingsBank2Handle();
case STABILIZATIONSETTINGS_FLIGHTMODEMAP_BANK3:
return StabilizationSettingsBank3Handle();
}
return 0;
}
static void msp_send_pid(struct msp_bridge *m)
{
m->current_pid_bank = get_current_pid_bank_handle();
StabilizationBankData bankData;
UAVObjGetData(m->current_pid_bank, &bankData);
msp_pid_t piditems[PID_ITEM_COUNT];
memset(piditems, 0, sizeof(piditems));
pid_native2msp((float *)&bankData.RollRatePID, &piditems[PIDROLL], 10000, 3);
pid_native2msp((float *)&bankData.PitchRatePID, &piditems[PIDPITCH], 10000, 3);
pid_native2msp((float *)&bankData.YawRatePID, &piditems[PIDYAW], 10000, 3);
pid_native2msp((float *)&bankData.RollPI, &piditems[PIDAROLL], 10, 2);
pid_native2msp((float *)&bankData.PitchPI, &piditems[PIDAPITCH], 10, 2);
pid_native2msp((float *)&bankData.YawPI, &piditems[PIDAYAW], 10, 2);
msp_send(m, MSP_PID, (const uint8_t *)piditems, sizeof(piditems));
}
static void msp_set_pid(struct msp_bridge *m)
{
if (m->current_pid_bank == 0) {
return;
}
StabilizationBankData bankData;
UAVObjGetData(m->current_pid_bank, &bankData);
pid_msp2native(&m->cmd_data.piditems[PIDROLL], (float *)&bankData.RollRatePID, 10000, 3);
pid_msp2native(&m->cmd_data.piditems[PIDPITCH], (float *)&bankData.PitchRatePID, 10000, 3);
pid_msp2native(&m->cmd_data.piditems[PIDYAW], (float *)&bankData.YawRatePID, 10000, 3);
pid_msp2native(&m->cmd_data.piditems[PIDAROLL], (float *)&bankData.RollPI, 10, 2);
pid_msp2native(&m->cmd_data.piditems[PIDAPITCH], (float *)&bankData.PitchPI, 10, 2);
pid_msp2native(&m->cmd_data.piditems[PIDAYAW], (float *)&bankData.YawPI, 10, 2);
UAVObjSetData(m->current_pid_bank, &bankData);
bool needSave = true;
if (needSave) {
FlightStatusArmedOptions armed;
FlightStatusArmedGet(&armed);
if (armed == FLIGHTSTATUS_ARMED_DISARMED) {
UAVObjSave(m->current_pid_bank, 0);
}
}
msp_send(m, MSP_SET_PID, 0, 0); // send ack.
}
#define ALARM_OK 0
#define ALARM_WARN 1
#define ALARM_ERROR 2
#define ALARM_CRIT 3
#define MS2TICKS(m) ((m) / (portTICK_RATE_MS))
static void msp_send_alarms(__attribute__((unused)) struct msp_bridge *m)
{
union {
uint8_t buf[0];
struct {
uint8_t state;
char msg[MAX_ALARM_LEN];
} __attribute__((packed)) alarm;
} data;
SystemAlarmsData alarm;
SystemAlarmsGet(&alarm);
// 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;
}
#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
// NOTE: LP alarm severity levels and MSP levels do not match. ERROR and CRITICAL are swapped.
// So far, MW-OSD code (MSP consumer) does not make difference between ALARM_ERROR and ALARM_CRITICAL.
// ALARM_WARN should be blinking if thats the highest severity level at the moment.
// There might be other types of MSP consumers.
switch (state) {
case SYSTEMALARMS_ALARM_WARNING:
data.alarm.state = ALARM_WARN;
break;
case SYSTEMALARMS_ALARM_ERROR:
data.alarm.state = ALARM_CRIT;
break;
case SYSTEMALARMS_ALARM_CRITICAL:
data.alarm.state = ALARM_ERROR;
break;
}
msp_send(m, MSP_ALARMS, data.buf, len + 1);
}
static msp_state msp_state_checksum(struct msp_bridge *m, uint8_t b)
{
if ((m->checksum ^ b) != 0) {
return MSP_IDLE;
}
// Respond to interesting things.
switch (m->cmd_id) {
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;
case MSP_PIDNAMES:
msp_send_pidnames(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;
}
/**
* Process incoming bytes from an MSP query thing.
* @param[in] b received byte
* @return true if we should continue processing bytes
*/
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;
}
return true;
}
/**
* Module start routine automatically called after initialization routine
* @return 0 when was successful
*/
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;
}
return -1;
}
xTaskHandle taskHandle;
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)
{
switch (baud) {
case HWSETTINGS_MSPSPEED_2400:
return 2400;
case HWSETTINGS_MSPSPEED_4800:
return 4800;
case HWSETTINGS_MSPSPEED_9600:
return 9600;
case HWSETTINGS_MSPSPEED_19200:
return 19200;
case HWSETTINGS_MSPSPEED_38400:
return 38400;
case HWSETTINGS_MSPSPEED_57600:
return 57600;
default:
case HWSETTINGS_MSPSPEED_115200:
return 115200;
}
}
/**
* Module initialization routine
* @return 0 when initialization was successful
*/
static int32_t uavoMSPBridgeInitialize(void)
{
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
#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 /* PIOS_SENSORS_TYPE_1AXIS_SONAR */
#endif /* PIOS_EXCLUDE_ADVANCED_FEATURES */
// MAP_SENSOR_GPS is hot-pluggable type
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);
/**
* Main task routine
* @param[in] parameters parameter given by PIOS_Thread_Create()
*/
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);
}
}
}
}
}
#endif // PIOS_INCLUDE_MSP_BRIDGE
/**
* @}
* @}
*/
Reference in New Issue View Git Blame Copy Permalink