From 51b8a9e36593f3ef8f4f95687f666050c5a632ba Mon Sep 17 00:00:00 2001 From: Kemal Hadimli Date: Tue, 24 Dec 2013 01:48:11 +0200 Subject: [PATCH 01/28] gps autoconfigure: wait 100ms between baud changes --- src/gps.c | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/src/gps.c b/src/gps.c index 4df644d506..95ce7bab08 100644 --- a/src/gps.c +++ b/src/gps.c @@ -9,6 +9,7 @@ #define GPS_TIMEOUT (2500) // How many entries in gpsInitData array below #define GPS_INIT_ENTRIES (5) +#define GPS_BAUD_DELAY (100) typedef struct gpsInitData_t { uint32_t baudrate; @@ -70,6 +71,7 @@ typedef struct gpsData_t { uint32_t lastLastMessage; // last-last valid GPS message. Used to calculate delta. uint32_t state_position; // incremental variable for loops + uint32_t state_ts; // timestamp for last state_position increment } gpsData_t; @@ -83,6 +85,7 @@ static void gpsSetState(uint8_t state) { gpsData.state = state; gpsData.state_position = 0; + gpsData.state_ts = millis(); } void gpsInit(uint8_t baudrate) @@ -124,6 +127,9 @@ void gpsInitHardware(void) break; if (gpsData.state == GPS_INITIALIZING) { + uint32_t m = millis(); + if (m - gpsData.state_ts < GPS_BAUD_DELAY) return; + if (gpsData.state_position < GPS_INIT_ENTRIES) { // try different speed to INIT serialSetBaudRate(core.gpsport, gpsInitData[gpsData.state_position].baudrate); @@ -131,6 +137,7 @@ void gpsInitHardware(void) serialPrint(core.gpsport, gpsInitData[mcfg.gps_baudrate].ubx); gpsData.state_position++; + gpsData.state_ts = m; } else { // we're now (hopefully) at the correct rate, next state will switch to it gpsData.baudrateIndex = mcfg.gps_baudrate; From 11abec88edfe8134b4bcbb2ecaca770c8a275c9d Mon Sep 17 00:00:00 2001 From: Kemal Hadimli Date: Tue, 24 Dec 2013 01:48:51 +0200 Subject: [PATCH 02/28] gps nmea: reset error counter on init hardware --- src/gps.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/gps.c b/src/gps.c index 95ce7bab08..84a3c0b22b 100644 --- a/src/gps.c +++ b/src/gps.c @@ -117,7 +117,7 @@ void gpsInitHardware(void) // nothing to do, just set baud rate and try receiving some stuff and see if it parses serialSetBaudRate(core.gpsport, gpsInitData[gpsData.baudrateIndex].baudrate); gpsSetState(GPS_RECEIVINGDATA); - return; + break; case GPS_UBLOX: // UBX will run at mcfg.baudrate, it shouldn't be "autodetected". So here we force it to that rate From ab49f4efd2582ea461f1f08ba7d7e5a14477ab05 Mon Sep 17 00:00:00 2001 From: Kemal Hadimli Date: Tue, 24 Dec 2013 02:20:17 +0200 Subject: [PATCH 03/28] fix formatting --- src/gps.c | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/gps.c b/src/gps.c index 84a3c0b22b..0288543dee 100644 --- a/src/gps.c +++ b/src/gps.c @@ -123,12 +123,13 @@ void gpsInitHardware(void) // UBX will run at mcfg.baudrate, it shouldn't be "autodetected". So here we force it to that rate // Wait until GPS transmit buffer is empty - if (!isSerialTransmitBufferEmpty(core.gpsport)) - break; + if (!isSerialTransmitBufferEmpty(core.gpsport)) + break; if (gpsData.state == GPS_INITIALIZING) { uint32_t m = millis(); - if (m - gpsData.state_ts < GPS_BAUD_DELAY) return; + if (m - gpsData.state_ts < GPS_BAUD_DELAY) + return; if (gpsData.state_position < GPS_INIT_ENTRIES) { // try different speed to INIT From d9c9cbfb9f3c370a46c14deab2d4ba2777e1d420 Mon Sep 17 00:00:00 2001 From: Kemal Hadimli Date: Tue, 24 Dec 2013 16:15:08 +0200 Subject: [PATCH 04/28] another formatting fix --- src/gps.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/gps.c b/src/gps.c index 0288543dee..a3f6f9c25c 100644 --- a/src/gps.c +++ b/src/gps.c @@ -122,7 +122,7 @@ void gpsInitHardware(void) case GPS_UBLOX: // UBX will run at mcfg.baudrate, it shouldn't be "autodetected". So here we force it to that rate - // Wait until GPS transmit buffer is empty + // Wait until GPS transmit buffer is empty if (!isSerialTransmitBufferEmpty(core.gpsport)) break; From 44adda8b3b9fdcf6413f3d70022315651bcfd74e Mon Sep 17 00:00:00 2001 From: dongie Date: Tue, 24 Dec 2013 23:46:18 +0900 Subject: [PATCH 05/28] gps fix build --- obj/baseflight.hex | 5051 ++++++++++++++++++++++---------------------- 1 file changed, 2526 insertions(+), 2525 deletions(-) diff --git a/obj/baseflight.hex b/obj/baseflight.hex index 9eacc8022f..9d8722bb8d 100644 --- a/obj/baseflight.hex +++ b/obj/baseflight.hex @@ -1,20 +1,20 @@ :020000040800F2 -:10000000902900205DA800089DA800081F2700086F -:10001000A1A80008A3A80008A5A8000800000000E7 -:10002000000000000000000000000000A7A8000879 -:10003000A9A8000800000000ABA80008BD800008C7 -:10004000AFA80008AFA80008AFA80008AFA8000834 -:10005000AFA80008AFA80008AFA80008078C0008E8 -:10006000AFA80008AFA80008AFA80008AFA8000814 -:10007000AFA80008AFA800087D860008AFA8000858 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+:10E04000193A405B14A24A048B127A33380B02034C +:10E0500004060708090204063B29106914C10000E0 :04000005080000ED02 :00000001FF From b74b9f182b661e808c2f8d7b080357340ec5d1bc Mon Sep 17 00:00:00 2001 From: Kemal Hadimli Date: Thu, 26 Dec 2013 22:17:05 +0200 Subject: [PATCH 06/28] gps: use gpsData.baudrateIndex all around --- src/gps.c | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/gps.c b/src/gps.c index a3f6f9c25c..b2e7d77593 100644 --- a/src/gps.c +++ b/src/gps.c @@ -120,7 +120,7 @@ void gpsInitHardware(void) break; case GPS_UBLOX: - // UBX will run at mcfg.baudrate, it shouldn't be "autodetected". So here we force it to that rate + // UBX will run at mcfg.gps_baudrate, it shouldn't be "autodetected". So here we force it to that rate // Wait until GPS transmit buffer is empty if (!isSerialTransmitBufferEmpty(core.gpsport)) @@ -135,13 +135,12 @@ void gpsInitHardware(void) // try different speed to INIT serialSetBaudRate(core.gpsport, gpsInitData[gpsData.state_position].baudrate); // but print our FIXED init string for the baudrate we want to be at - serialPrint(core.gpsport, gpsInitData[mcfg.gps_baudrate].ubx); + serialPrint(core.gpsport, gpsInitData[gpsData.baudrateIndex].ubx); gpsData.state_position++; gpsData.state_ts = m; } else { // we're now (hopefully) at the correct rate, next state will switch to it - gpsData.baudrateIndex = mcfg.gps_baudrate; gpsSetState(GPS_INITDONE); } } else { From 13324c9f88bdc1fe40dbbbfcec4b7355bcac0c6d Mon Sep 17 00:00:00 2001 From: dongie Date: Fri, 27 Dec 2013 08:37:17 +0900 Subject: [PATCH 07/28] build binary for the previous GPS baud rate index fix --- obj/baseflight.hex | 4982 ++++++++++++++++++++++---------------------- src/gps.c | 1 - 2 files changed, 2491 insertions(+), 2492 deletions(-) diff --git a/obj/baseflight.hex b/obj/baseflight.hex index 9d8722bb8d..a55630c039 100644 --- a/obj/baseflight.hex +++ b/obj/baseflight.hex @@ -1,20 +1,20 @@ :020000040800F2 -:100000009029002075A80008B5A800081F2700083F -:10001000B9A80008BBA80008BDA80008000000009F -:10002000000000000000000000000000BFA8000861 -:10003000C1A8000800000000C3A80008D58000087F -:10004000C7A80008C7A80008C7A80008C7A80008D4 -:10005000C7A80008C7A80008C7A800081F8C000888 -:10006000C7A80008C7A80008C7A80008C7A80008B4 -:10007000C7A80008C7A8000895860008C7A80008F8 -:10008000C7A80008C7A80008C7A80008C7A8000894 -:10009000C7A80008C7A80008C7A80008218C000846 -:1000A000C7A80008C7A80008C7A80008A5940008AA -:1000B000A9940008AF940008B3940008457A00089A -:1000C00023780008497A0008477A0008C7A8000882 -:1000D000C7A80008C1860008F5860008C7A8000860 -:1000E00061710008C7A80008C7A80008DFF80CD095 -:1000F0000BF02CF800480047E1240008902900206C +:10000000902900206DA80008ADA800081F2700084F 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+:10DFC0002A096419182908320A1AF2182908320B8A +:10DFD0001AD70C2908320C1A49242908320D1A2E96 +:10DFE0000C2908320E1A630C2908320F1A530C2917 +:10DFF0000832101A400C290832111AD04829083268 +:10E00000121A3618290832131A5B0C2908721402E6 +:10E01000A7FF021001E20452038B803F0401165A4D +:10E0200003494AD931E91D12010A1C0285C208348C +:10E030002C01401A408C1A40193A405B14A24A0441 +:10E040008B127A33380B0203040607080902040610 +:08E050003B29106914C1000016 :04000005080000ED02 :00000001FF diff --git a/src/gps.c b/src/gps.c index b2e7d77593..9cc5c4870d 100644 --- a/src/gps.c +++ b/src/gps.c @@ -145,7 +145,6 @@ void gpsInitHardware(void) } } else { // GPS_INITDONE, set our real baud rate and push some ublox config strings - if (gpsData.state_position == 0) serialSetBaudRate(core.gpsport, gpsInitData[gpsData.baudrateIndex].baudrate); From 033a8fbe3ffffc8cd554f25cc83f54acebc7728e Mon Sep 17 00:00:00 2001 From: treymarc Date: Wed, 1 Jan 2014 09:16:41 +0100 Subject: [PATCH 08/28] ident/format --- src/board.h | 147 +++++++++++++++++++++++++--------------------------- 1 file changed, 71 insertions(+), 76 deletions(-) diff --git a/src/board.h b/src/board.h index 47bc77d770..0c6b540453 100755 --- a/src/board.h +++ b/src/board.h @@ -40,42 +40,42 @@ #define U_ID_2 (*(uint32_t*)0x1FFFF7F0) typedef enum { - SENSOR_GYRO = 1 << 0, // always present - SENSOR_ACC = 1 << 1, - SENSOR_BARO = 1 << 2, - SENSOR_MAG = 1 << 3, - SENSOR_SONAR = 1 << 4, - SENSOR_GPS = 1 << 5, - SENSOR_GPSMAG = 1 << 6, + SENSOR_GYRO = 1 << 0, // always present + SENSOR_ACC = 1 << 1, + SENSOR_BARO = 1 << 2, + SENSOR_MAG = 1 << 3, + SENSOR_SONAR = 1 << 4, + SENSOR_GPS = 1 << 5, + SENSOR_GPSMAG = 1 << 6, } AvailableSensors; // Type of accelerometer used/detected typedef enum AccelSensors { - ACC_DEFAULT = 0, - ACC_ADXL345 = 1, - ACC_MPU6050 = 2, - ACC_MMA8452 = 3, - ACC_BMA280 = 4, - ACC_NONE = 5 + ACC_DEFAULT = 0, + ACC_ADXL345 = 1, + ACC_MPU6050 = 2, + ACC_MMA8452 = 3, + ACC_BMA280 = 4, + ACC_NONE = 5 } AccelSensors; typedef enum { - FEATURE_PPM = 1 << 0, - FEATURE_VBAT = 1 << 1, - FEATURE_INFLIGHT_ACC_CAL = 1 << 2, - FEATURE_SERIALRX = 1 << 3, - FEATURE_MOTOR_STOP = 1 << 4, - FEATURE_SERVO_TILT = 1 << 5, - FEATURE_GYRO_SMOOTHING = 1 << 6, - FEATURE_LED_RING = 1 << 7, - FEATURE_GPS = 1 << 8, - FEATURE_FAILSAFE = 1 << 9, - FEATURE_SONAR = 1 << 10, - FEATURE_TELEMETRY = 1 << 11, - FEATURE_POWERMETER = 1 << 12, - FEATURE_VARIO = 1 << 13, - FEATURE_3D = 1 << 14, - FEATURE_SOFTSERIAL = 1 << 15, + FEATURE_PPM = 1 << 0, + FEATURE_VBAT = 1 << 1, + FEATURE_INFLIGHT_ACC_CAL = 1 << 2, + FEATURE_SERIALRX = 1 << 3, + FEATURE_MOTOR_STOP = 1 << 4, + FEATURE_SERVO_TILT = 1 << 5, + FEATURE_GYRO_SMOOTHING = 1 << 6, + FEATURE_LED_RING = 1 << 7, + FEATURE_GPS = 1 << 8, + FEATURE_FAILSAFE = 1 << 9, + FEATURE_SONAR = 1 << 10, + FEATURE_TELEMETRY = 1 << 11, + FEATURE_POWERMETER = 1 << 12, + FEATURE_VARIO = 1 << 13, + FEATURE_3D = 1 << 14, + FEATURE_SOFTSERIAL = 1 << 15, } AvailableFeatures; typedef enum { @@ -104,63 +104,60 @@ typedef enum { } sensor_axis_e; typedef enum { - ALIGN_DEFAULT = 0, // driver-provided alignment - CW0_DEG = 1, - CW90_DEG = 2, - CW180_DEG = 3, - CW270_DEG = 4, - CW0_DEG_FLIP = 5, - CW90_DEG_FLIP = 6, - CW180_DEG_FLIP = 7, - CW270_DEG_FLIP = 8 + ALIGN_DEFAULT = 0, // driver-provided alignment + CW0_DEG = 1, + CW90_DEG = 2, + CW180_DEG = 3, + CW270_DEG = 4, + CW0_DEG_FLIP = 5, + CW90_DEG_FLIP = 6, + CW180_DEG_FLIP = 7, + CW270_DEG_FLIP = 8 } sensor_align_e; enum { - GYRO_UPDATED = 1 << 0, - ACC_UPDATED = 1 << 1, - MAG_UPDATED = 1 << 2, - TEMP_UPDATED = 1 << 3 + GYRO_UPDATED = 1 << 0, + ACC_UPDATED = 1 << 1, + MAG_UPDATED = 1 << 2, + TEMP_UPDATED = 1 << 3 }; -typedef struct sensor_data_t -{ - int16_t gyro[3]; - int16_t acc[3]; - int16_t mag[3]; - float temperature; - int updated; +typedef struct sensor_data_t { + int16_t gyro[3]; + int16_t acc[3]; + int16_t mag[3]; + float temperature; + int updated; } sensor_data_t; -typedef void (* sensorInitFuncPtr)(sensor_align_e align); // sensor init prototype -typedef void (* sensorReadFuncPtr)(int16_t *data); // sensor read and align prototype -typedef void (* baroOpFuncPtr)(void); // baro start operation -typedef void (* baroCalculateFuncPtr)(int32_t *pressure, int32_t *temperature); // baro calculation (filled params are pressure and temperature) -typedef void (* serialReceiveCallbackPtr)(uint16_t data); // used by serial drivers to return frames to app -typedef uint16_t (* rcReadRawDataPtr)(uint8_t chan); // used by receiver driver to return channel data -typedef void (* pidControllerFuncPtr)(void); // pid controller function prototype +typedef void (*sensorInitFuncPtr)(sensor_align_e align); // sensor init prototype +typedef void (*sensorReadFuncPtr)(int16_t *data); // sensor read and align prototype +typedef void (*baroOpFuncPtr)(void); // baro start operation +typedef void (*baroCalculateFuncPtr)(int32_t *pressure, int32_t *temperature); // baro calculation (filled params are pressure and temperature) +typedef void (*serialReceiveCallbackPtr)(uint16_t data); // used by serial drivers to return frames to app +typedef uint16_t (*rcReadRawDataPtr)(uint8_t chan); // used by receiver driver to return channel data +typedef void (*pidControllerFuncPtr)(void); // pid controller function prototype -typedef struct sensor_t -{ - sensorInitFuncPtr init; // initialize function - sensorReadFuncPtr read; // read 3 axis data function - sensorReadFuncPtr temperature; // read temperature if available - float scale; // scalefactor (currently used for gyro only, todo for accel) +typedef struct sensor_t { + sensorInitFuncPtr init; // initialize function + sensorReadFuncPtr read; // read 3 axis data function + sensorReadFuncPtr temperature; // read temperature if available + float scale; // scalefactor (currently used for gyro only, todo for accel) } sensor_t; -typedef struct baro_t -{ - uint16_t ut_delay; - uint16_t up_delay; - baroOpFuncPtr start_ut; - baroOpFuncPtr get_ut; - baroOpFuncPtr start_up; - baroOpFuncPtr get_up; - baroCalculateFuncPtr calculate; +typedef struct baro_t { + uint16_t ut_delay; + uint16_t up_delay; + baroOpFuncPtr start_ut; + baroOpFuncPtr get_ut; + baroOpFuncPtr start_up; + baroOpFuncPtr get_up; + baroCalculateFuncPtr calculate; } baro_t; // Hardware definitions and GPIO #ifdef FY90Q - // FY90Q +// FY90Q #define LED0_GPIO GPIOC #define LED0_PIN Pin_12 #define LED1_GPIO GPIOA @@ -181,7 +178,6 @@ typedef struct baro_t #define LED0_PIN Pin_1 // D3, PA1/USART2_RTS/ADC1/TIM2_CH3 - "LED2" on silkscreen, Yellow #define LED1_GPIO GPIOA #define LED1_PIN Pin_5 // D13, PA5/SPI1_SCK/ADC5 - "LED1" on silkscreen, Green - #define GYRO #define ACC @@ -231,11 +227,10 @@ typedef struct baro_t #endif #undef SOFT_I2C // enable to test software i2c - #include "utils.h" #ifdef FY90Q - // FY90Q +// FY90Q #include "drv_adc.h" #include "drv_i2c.h" #include "drv_pwm.h" @@ -258,7 +253,7 @@ typedef struct baro_t #include "drv_softserial.h" #else - // AfroFlight32 +// AfroFlight32 #include "drv_adc.h" #include "drv_adxl345.h" #include "drv_bma280.h" From c76a9669f65d099365ddc631d10bff63c0fe4821 Mon Sep 17 00:00:00 2001 From: treymarc Date: Wed, 1 Jan 2014 09:17:13 +0100 Subject: [PATCH 09/28] mixer coorection for hexa6x and hexa6p --- src/mixer.c | 978 ++++++++++++++++++++++++++-------------------------- 1 file changed, 489 insertions(+), 489 deletions(-) diff --git a/src/mixer.c b/src/mixer.c index f0c0ecf2c5..0cb5ee31e7 100755 --- a/src/mixer.c +++ b/src/mixer.c @@ -1,498 +1,498 @@ -#include "board.h" -#include "mw.h" - -static uint8_t numberMotor = 0; -int16_t motor[MAX_MOTORS]; -int16_t motor_disarmed[MAX_MOTORS]; -int16_t servo[MAX_SERVOS] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 }; - -static motorMixer_t currentMixer[MAX_MOTORS]; - -static const motorMixer_t mixerTri[] = { +#include "board.h" +#include "mw.h" + +static uint8_t numberMotor = 0; +int16_t motor[MAX_MOTORS]; +int16_t motor_disarmed[MAX_MOTORS]; +int16_t servo[MAX_SERVOS] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 }; + +static motorMixer_t currentMixer[MAX_MOTORS]; + +static const motorMixer_t mixerTri[] = { { 1.0f, 0.0f, 1.333333f, 0.0f }, // REAR { 1.0f, -1.0f, -0.666667f, 0.0f }, // RIGHT { 1.0f, 1.0f, -0.666667f, 0.0f }, // LEFT -}; - -static const motorMixer_t mixerQuadP[] = { - { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR - { 1.0f, -1.0f, 0.0f, 1.0f }, // RIGHT - { 1.0f, 1.0f, 0.0f, 1.0f }, // LEFT - { 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT -}; - -static const motorMixer_t mixerQuadX[] = { - { 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R - { 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R - { 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L - { 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L -}; - -static const motorMixer_t mixerBi[] = { - { 1.0f, 1.0f, 0.0f, 0.0f }, // LEFT - { 1.0f, -1.0f, 0.0f, 0.0f }, // RIGHT -}; - -static const motorMixer_t mixerY6[] = { +}; + +static const motorMixer_t mixerQuadP[] = { + { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR + { 1.0f, -1.0f, 0.0f, 1.0f }, // RIGHT + { 1.0f, 1.0f, 0.0f, 1.0f }, // LEFT + { 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT +}; + +static const motorMixer_t mixerQuadX[] = { + { 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R + { 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R + { 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L + { 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L +}; + +static const motorMixer_t mixerBi[] = { + { 1.0f, 1.0f, 0.0f, 0.0f }, // LEFT + { 1.0f, -1.0f, 0.0f, 0.0f }, // RIGHT +}; + +static const motorMixer_t mixerY6[] = { { 1.0f, 0.0f, 1.333333f, 1.0f }, // REAR { 1.0f, -1.0f, -0.666667f, -1.0f }, // RIGHT { 1.0f, 1.0f, -0.666667f, -1.0f }, // LEFT { 1.0f, 0.0f, 1.333333f, -1.0f }, // UNDER_REAR { 1.0f, -1.0f, -0.666667f, 1.0f }, // UNDER_RIGHT { 1.0f, 1.0f, -0.666667f, 1.0f }, // UNDER_LEFT -}; - -static const motorMixer_t mixerHex6P[] = { - { 1.0f, -1.0f, 0.866025f, 1.0f }, // REAR_R - { 1.0f, -1.0f, -0.866025f, -1.0f }, // FRONT_R - { 1.0f, 1.0f, 0.866025f, 1.0f }, // REAR_L - { 1.0f, 1.0f, -0.866025f, -1.0f }, // FRONT_L - { 1.0f, 0.0f, -0.866025f, 1.0f }, // FRONT - { 1.0f, 0.0f, 0.866025f, -1.0f }, // REAR -}; - -static const motorMixer_t mixerY4[] = { - { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR_TOP CW - { 1.0f, -1.0f, -1.0f, 0.0f }, // FRONT_R CCW - { 1.0f, 0.0f, 1.0f, 1.0f }, // REAR_BOTTOM CCW - { 1.0f, 1.0f, -1.0f, 0.0f }, // FRONT_L CW -}; - -static const motorMixer_t mixerHex6X[] = { - { 1.0f, -0.866025f, 1.0f, 1.0f }, // REAR_R - { 1.0f, -0.866025f, -1.0f, 1.0f }, // FRONT_R - { 1.0f, 0.866025f, 1.0f, -1.0f }, // REAR_L - { 1.0f, 0.866025f, -1.0f, -1.0f }, // FRONT_L - { 1.0f, -0.866025f, 0.0f, -1.0f }, // RIGHT - { 1.0f, 0.866025f, 0.0f, 1.0f }, // LEFT -}; - -static const motorMixer_t mixerOctoX8[] = { - { 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R - { 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R - { 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L - { 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L - { 1.0f, -1.0f, 1.0f, 1.0f }, // UNDER_REAR_R - { 1.0f, -1.0f, -1.0f, -1.0f }, // UNDER_FRONT_R - { 1.0f, 1.0f, 1.0f, -1.0f }, // UNDER_REAR_L - { 1.0f, 1.0f, -1.0f, 1.0f }, // UNDER_FRONT_L -}; - -static const motorMixer_t mixerOctoFlatP[] = { - { 1.0f, 0.707107f, -0.707107f, 1.0f }, // FRONT_L - { 1.0f, -0.707107f, -0.707107f, 1.0f }, // FRONT_R - { 1.0f, -0.707107f, 0.707107f, 1.0f }, // REAR_R - { 1.0f, 0.707107f, 0.707107f, 1.0f }, // REAR_L - { 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT - { 1.0f, -1.0f, 0.0f, -1.0f }, // RIGHT - { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR - { 1.0f, 1.0f, 0.0f, -1.0f }, // LEFT -}; - -static const motorMixer_t mixerOctoFlatX[] = { - { 1.0f, 1.0f, -0.5f, 1.0f }, // MIDFRONT_L - { 1.0f, -0.5f, -1.0f, 1.0f }, // FRONT_R - { 1.0f, -1.0f, 0.5f, 1.0f }, // MIDREAR_R - { 1.0f, 0.5f, 1.0f, 1.0f }, // REAR_L - { 1.0f, 0.5f, -1.0f, -1.0f }, // FRONT_L - { 1.0f, -1.0f, -0.5f, -1.0f }, // MIDFRONT_R - { 1.0f, -0.5f, 1.0f, -1.0f }, // REAR_R - { 1.0f, 1.0f, 0.5f, -1.0f }, // MIDREAR_L -}; - -static const motorMixer_t mixerVtail4[] = { - { 1.0f, 0.0f, 1.0f, 1.0f }, // REAR_R - { 1.0f, -1.0f, -1.0f, 0.0f }, // FRONT_R - { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR_L - { 1.0f, 1.0f, -1.0f, -0.0f }, // FRONT_L -}; - -static const motorMixer_t mixerHex6H[] = { - { 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R - { 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R - { 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L - { 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L - { 1.0f, 0.0f, 0.0f, 0.0f }, // RIGHT - { 1.0f, 0.0f, 0.0f, 0.0f }, // LEFT -}; - -static const motorMixer_t mixerDualcopter[] = { - { 1.0f, 0.0f, 0.0f, -1.0f }, // LEFT - { 1.0f, 0.0f, 0.0f, 1.0f }, // RIGHT -}; - -// Keep this synced with MultiType struct in mw.h! -const mixer_t mixers[] = { -// Mo Se Mixtable - { 0, 0, NULL }, // entry 0 - { 3, 1, mixerTri }, // MULTITYPE_TRI - { 4, 0, mixerQuadP }, // MULTITYPE_QUADP - { 4, 0, mixerQuadX }, // MULTITYPE_QUADX - { 2, 1, mixerBi }, // MULTITYPE_BI - { 0, 1, NULL }, // * MULTITYPE_GIMBAL - { 6, 0, mixerY6 }, // MULTITYPE_Y6 - { 6, 0, mixerHex6P }, // MULTITYPE_HEX6 - { 1, 1, NULL }, // * MULTITYPE_FLYING_WING - { 4, 0, mixerY4 }, // MULTITYPE_Y4 - { 6, 0, mixerHex6X }, // MULTITYPE_HEX6X - { 8, 0, mixerOctoX8 }, // MULTITYPE_OCTOX8 - { 8, 0, mixerOctoFlatP }, // MULTITYPE_OCTOFLATP - { 8, 0, mixerOctoFlatX }, // MULTITYPE_OCTOFLATX - { 1, 1, NULL }, // * MULTITYPE_AIRPLANE - { 0, 1, NULL }, // * MULTITYPE_HELI_120_CCPM - { 0, 1, NULL }, // * MULTITYPE_HELI_90_DEG - { 4, 0, mixerVtail4 }, // MULTITYPE_VTAIL4 - { 6, 0, mixerHex6H }, // MULTITYPE_HEX6H - { 0, 1, NULL }, // * MULTITYPE_PPM_TO_SERVO - { 2, 1, mixerDualcopter }, // MULTITYPE_DUALCOPTER - { 1, 1, NULL }, // MULTITYPE_SINGLECOPTER - { 0, 0, NULL }, // MULTITYPE_CUSTOM -}; - -int16_t servoMiddle(int nr) -{ - // Normally, servo.middle is a value between 1000..2000, but for the purposes of stupid, if it's less than - // the number of RC channels, it means the center value is taken FROM that RC channel (by its index) - if (cfg.servoConf[nr].middle < RC_CHANS && nr < MAX_SERVOS) - return rcData[cfg.servoConf[nr].middle]; - else - return cfg.servoConf[nr].middle; -} - -int servoDirection(int nr, int lr) -{ - // servo.rate is overloaded for servos that don't have a rate, but only need direction - // bit set = negative, clear = positive - // rate[2] = ???_direction - // rate[1] = roll_direction - // rate[0] = pitch_direction - // servo.rate is also used as gimbal gain multiplier (yeah) - if (cfg.servoConf[nr].rate & lr) - return -1; - else - return 1; -} - -void mixerInit(void) -{ - int i; - - // enable servos for mixes that require them. note, this shifts motor counts. - core.useServo = mixers[mcfg.mixerConfiguration].useServo; - // if we want camstab/trig, that also enables servos, even if mixer doesn't - if (feature(FEATURE_SERVO_TILT)) - core.useServo = 1; - - if (mcfg.mixerConfiguration == MULTITYPE_CUSTOM) { - // load custom mixer into currentMixer - for (i = 0; i < MAX_MOTORS; i++) { - // check if done - if (mcfg.customMixer[i].throttle == 0.0f) - break; - currentMixer[i] = mcfg.customMixer[i]; - numberMotor++; - } - } else { - numberMotor = mixers[mcfg.mixerConfiguration].numberMotor; - // copy motor-based mixers - if (mixers[mcfg.mixerConfiguration].motor) { - for (i = 0; i < numberMotor; i++) - currentMixer[i] = mixers[mcfg.mixerConfiguration].motor[i]; - } - } - - // in 3D mode, mixer gain has to be halved - if (feature(FEATURE_3D)) { - if (numberMotor > 1) { - for (i = 0; i < numberMotor; i++) { - currentMixer[i].pitch *= 0.5f; - currentMixer[i].roll *= 0.5f; - currentMixer[i].yaw *= 0.5f; - } - } - } - mixerResetMotors(); -} - -void mixerResetMotors(void) -{ - int i; - // set disarmed motor values - for (i = 0; i < MAX_MOTORS; i++) - motor_disarmed[i] = feature(FEATURE_3D) ? mcfg.neutral3d : mcfg.mincommand; -} - -void mixerLoadMix(int index) -{ - int i; - - // we're 1-based - index++; - // clear existing - for (i = 0; i < MAX_MOTORS; i++) - mcfg.customMixer[i].throttle = 0.0f; - - // do we have anything here to begin with? - if (mixers[index].motor != NULL) { - for (i = 0; i < mixers[index].numberMotor; i++) - mcfg.customMixer[i] = mixers[index].motor[i]; - } -} - -void writeServos(void) -{ - if (!core.useServo) - return; - - switch (mcfg.mixerConfiguration) { - case MULTITYPE_BI: - pwmWriteServo(0, servo[4]); - pwmWriteServo(1, servo[5]); - break; - - case MULTITYPE_TRI: - if (cfg.tri_unarmed_servo) { - // if unarmed flag set, we always move servo - pwmWriteServo(0, servo[5]); - } else { - // otherwise, only move servo when copter is armed - if (f.ARMED) - pwmWriteServo(0, servo[5]); - else - pwmWriteServo(0, 0); // kill servo signal completely. - } - break; - - case MULTITYPE_FLYING_WING: - pwmWriteServo(0, servo[3]); - pwmWriteServo(1, servo[4]); - break; - - case MULTITYPE_GIMBAL: - pwmWriteServo(0, servo[0]); - pwmWriteServo(1, servo[1]); - break; - - case MULTITYPE_DUALCOPTER: - pwmWriteServo(0, servo[4]); - pwmWriteServo(1, servo[5]); - break; - - case MULTITYPE_AIRPLANE: - case MULTITYPE_SINGLECOPTER: - pwmWriteServo(0, servo[3]); - pwmWriteServo(1, servo[4]); - pwmWriteServo(2, servo[5]); - pwmWriteServo(3, servo[6]); - break; - - default: - // Two servos for SERVO_TILT, if enabled - if (feature(FEATURE_SERVO_TILT)) { - pwmWriteServo(0, servo[0]); - pwmWriteServo(1, servo[1]); - } - break; - } -} - -extern uint8_t cliMode; - -void writeMotors(void) -{ - uint8_t i; - - for (i = 0; i < numberMotor; i++) - pwmWriteMotor(i, motor[i]); -} - -void writeAllMotors(int16_t mc) -{ - uint8_t i; - - // Sends commands to all motors - for (i = 0; i < numberMotor; i++) - motor[i] = mc; - writeMotors(); -} - -static void airplaneMixer(void) -{ - int16_t flapperons[2] = { 0, 0 }; - int i; - - if (!f.ARMED) - servo[7] = mcfg.mincommand; // Kill throttle when disarmed - else - servo[7] = constrain(rcCommand[THROTTLE], mcfg.minthrottle, mcfg.maxthrottle); - motor[0] = servo[7]; - -#if 0 - if (cfg.flaperons) { - - - } -#endif - - if (mcfg.flaps_speed) { - // configure SERVO3 middle point in GUI to using an AUX channel for FLAPS control - // use servo min, servo max and servo rate for proper endpoints adjust - static int16_t slow_LFlaps; - int16_t lFlap = servoMiddle(2); - - lFlap = constrain(lFlap, cfg.servoConf[2].min, cfg.servoConf[2].max); - lFlap = mcfg.midrc - lFlap; // shouldn't this be servoConf[2].middle? - if (slow_LFlaps < lFlap) - slow_LFlaps += mcfg.flaps_speed; - else if (slow_LFlaps > lFlap) - slow_LFlaps -= mcfg.flaps_speed; - - servo[2] = ((int32_t)cfg.servoConf[2].rate * slow_LFlaps) / 100L; - servo[2] += mcfg.midrc; - } - - if (f.PASSTHRU_MODE) { // Direct passthru from RX - servo[3] = rcCommand[ROLL] + flapperons[0]; // Wing 1 - servo[4] = rcCommand[ROLL] + flapperons[1]; // Wing 2 - servo[5] = rcCommand[YAW]; // Rudder - servo[6] = rcCommand[PITCH]; // Elevator - } else { - // Assisted modes (gyro only or gyro+acc according to AUX configuration in Gui - servo[3] = axisPID[ROLL] + flapperons[0]; // Wing 1 - servo[4] = axisPID[ROLL] + flapperons[1]; // Wing 2 - servo[5] = axisPID[YAW]; // Rudder - servo[6] = axisPID[PITCH]; // Elevator - } - for (i = 3; i < 7; i++) { - servo[i] = ((int32_t)cfg.servoConf[i].rate * servo[i]) / 100L; // servo rates - servo[i] += servoMiddle(i); - } -} - -void mixTable(void) -{ - int16_t maxMotor; - uint32_t i; - - if (numberMotor > 3) { - // prevent "yaw jump" during yaw correction - axisPID[YAW] = constrain(axisPID[YAW], -100 - abs(rcCommand[YAW]), +100 + abs(rcCommand[YAW])); - } - - // motors for non-servo mixes - if (numberMotor > 1) - for (i = 0; i < numberMotor; i++) - motor[i] = rcCommand[THROTTLE] * currentMixer[i].throttle + axisPID[PITCH] * currentMixer[i].pitch + axisPID[ROLL] * currentMixer[i].roll + -cfg.yaw_direction * axisPID[YAW] * currentMixer[i].yaw; - - // airplane / servo mixes - switch (mcfg.mixerConfiguration) { - case MULTITYPE_BI: - servo[4] = (servoDirection(4, 2) * axisPID[YAW]) + (servoDirection(4, 1) * axisPID[PITCH]) + servoMiddle(4); // LEFT - servo[5] = (servoDirection(5, 2) * axisPID[YAW]) + (servoDirection(5, 1) * axisPID[PITCH]) + servoMiddle(5); // RIGHT - break; - - case MULTITYPE_TRI: - servo[5] = (servoDirection(5, 1) * axisPID[YAW]) + servoMiddle(5); // REAR - break; - - case MULTITYPE_GIMBAL: - servo[0] = (((int32_t)cfg.servoConf[0].rate * angle[PITCH]) / 50) + servoMiddle(0); - servo[1] = (((int32_t)cfg.servoConf[1].rate * angle[ROLL]) / 50) + servoMiddle(1); - break; - - case MULTITYPE_AIRPLANE: - airplaneMixer(); - break; - - case MULTITYPE_FLYING_WING: - if (!f.ARMED) - servo[7] = mcfg.mincommand; - else - servo[7] = constrain(rcCommand[THROTTLE], mcfg.minthrottle, mcfg.maxthrottle); - motor[0] = servo[7]; - if (f.PASSTHRU_MODE) { - // do not use sensors for correction, simple 2 channel mixing - servo[3] = (servoDirection(3, 1) * rcCommand[PITCH]) + (servoDirection(3, 2) * rcCommand[ROLL]); - servo[4] = (servoDirection(4, 1) * rcCommand[PITCH]) + (servoDirection(4, 2) * rcCommand[ROLL]); - } else { - // use sensors to correct (gyro only or gyro + acc) - servo[3] = (servoDirection(3, 1) * axisPID[PITCH]) + (servoDirection(3, 2) * axisPID[ROLL]); - servo[4] = (servoDirection(4, 1) * axisPID[PITCH]) + (servoDirection(4, 2) * axisPID[ROLL]); - } - servo[3] += servoMiddle(3); - servo[4] += servoMiddle(4); - break; - - case MULTITYPE_DUALCOPTER: - for (i = 4; i < 6; i++ ) { - servo[i] = axisPID[5 - i] * servoDirection(i, 1); // mix and setup direction - servo[i] += servoMiddle(i); - } - break; - - case MULTITYPE_SINGLECOPTER: - for (i = 3; i < 7; i++) { - servo[i] = (axisPID[YAW] * servoDirection(i, 2)) + (axisPID[(6 - i) >> 1] * servoDirection(i, 1)); // mix and setup direction - servo[i] += servoMiddle(i); - } - motor[0] = rcCommand[THROTTLE]; - break; - } - - // do camstab - if (feature(FEATURE_SERVO_TILT)) { - // center at fixed position, or vary either pitch or roll by RC channel - servo[0] = servoMiddle(0); - servo[1] = servoMiddle(1); - - if (rcOptions[BOXCAMSTAB]) { - if (cfg.gimbal_flags & GIMBAL_MIXTILT) { - servo[0] -= (-(int32_t)cfg.servoConf[0].rate) * angle[PITCH] / 50 - (int32_t)cfg.servoConf[1].rate * angle[ROLL] / 50; - servo[1] += (-(int32_t)cfg.servoConf[0].rate) * angle[PITCH] / 50 + (int32_t)cfg.servoConf[1].rate * angle[ROLL] / 50; - } else { - servo[0] += (int32_t)cfg.servoConf[0].rate * angle[PITCH] / 50; - servo[1] += (int32_t)cfg.servoConf[0].rate * angle[ROLL] / 50; - } - } - } - - // constrain servos - for (i = 0; i < MAX_SERVOS; i++) - servo[i] = constrain(servo[i], cfg.servoConf[i].min, cfg.servoConf[i].max); // limit the values - - // forward AUX1-4 to servo outputs (not constrained) - if (cfg.gimbal_flags & GIMBAL_FORWARDAUX) { - int offset = 0; - if (feature(FEATURE_SERVO_TILT)) - offset = 2; - for (i = 0; i < 4; i++) - pwmWriteServo(i + offset, rcData[AUX1 + i]); - } - - maxMotor = motor[0]; - for (i = 1; i < numberMotor; i++) - if (motor[i] > maxMotor) - maxMotor = motor[i]; - for (i = 0; i < numberMotor; i++) { - if (maxMotor > mcfg.maxthrottle) // this is a way to still have good gyro corrections if at least one motor reaches its max. - motor[i] -= maxMotor - mcfg.maxthrottle; - if (feature(FEATURE_3D)) { - if ((rcData[THROTTLE]) > 1500) { - motor[i] = constrain(motor[i], mcfg.deadband3d_high, mcfg.maxthrottle); - } else { - motor[i] = constrain(motor[i], mcfg.mincommand, mcfg.deadband3d_low); - } - } else { - motor[i] = constrain(motor[i], mcfg.minthrottle, mcfg.maxthrottle); - if ((rcData[THROTTLE]) < mcfg.mincheck) { - if (!feature(FEATURE_MOTOR_STOP)) - motor[i] = mcfg.minthrottle; - else - motor[i] = mcfg.mincommand; - } - } - if (!f.ARMED) { - motor[i] = motor_disarmed[i]; - } - } -} +}; + +static const motorMixer_t mixerHex6P[] = { + { 1.0f, -0.866025f, 0.5f, 1.0f }, // REAR_R + { 1.0f, -0.866025f, -0.5f, -1.0f }, // FRONT_R + { 1.0f, 0.866025f, 0.5f, 1.0f }, // REAR_L + { 1.0f, 0.866025f, -0.5f, -1.0f }, // FRONT_L + { 1.0f, 0.0f, -1.0f, 1.0f }, // FRONT + { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR +}; + +static const motorMixer_t mixerY4[] = { + { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR_TOP CW + { 1.0f, -1.0f, -1.0f, 0.0f }, // FRONT_R CCW + { 1.0f, 0.0f, 1.0f, 1.0f }, // REAR_BOTTOM CCW + { 1.0f, 1.0f, -1.0f, 0.0f }, // FRONT_L CW +}; + +static const motorMixer_t mixerHex6X[] = { + { 1.0f, -0.5f, 0.866025f, 1.0f }, // REAR_R + { 1.0f, -0.5f, -0.866025f, 1.0f }, // FRONT_R + { 1.0f, 0.5f, 0.866025f, -1.0f }, // REAR_L + { 1.0f, 0.5f, -0.866025f, -1.0f }, // FRONT_L + { 1.0f, -1f, 0.0f, -1.0f }, // RIGHT + { 1.0f, 1f, 0.0f, 1.0f }, // LEFT +}; + +static const motorMixer_t mixerOctoX8[] = { + { 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R + { 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R + { 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L + { 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L + { 1.0f, -1.0f, 1.0f, 1.0f }, // UNDER_REAR_R + { 1.0f, -1.0f, -1.0f, -1.0f }, // UNDER_FRONT_R + { 1.0f, 1.0f, 1.0f, -1.0f }, // UNDER_REAR_L + { 1.0f, 1.0f, -1.0f, 1.0f }, // UNDER_FRONT_L +}; + +static const motorMixer_t mixerOctoFlatP[] = { + { 1.0f, 0.707107f, -0.707107f, 1.0f }, // FRONT_L + { 1.0f, -0.707107f, -0.707107f, 1.0f }, // FRONT_R + { 1.0f, -0.707107f, 0.707107f, 1.0f }, // REAR_R + { 1.0f, 0.707107f, 0.707107f, 1.0f }, // REAR_L + { 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT + { 1.0f, -1.0f, 0.0f, -1.0f }, // RIGHT + { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR + { 1.0f, 1.0f, 0.0f, -1.0f }, // LEFT +}; + +static const motorMixer_t mixerOctoFlatX[] = { + { 1.0f, 1.0f, -0.5f, 1.0f }, // MIDFRONT_L + { 1.0f, -0.5f, -1.0f, 1.0f }, // FRONT_R + { 1.0f, -1.0f, 0.5f, 1.0f }, // MIDREAR_R + { 1.0f, 0.5f, 1.0f, 1.0f }, // REAR_L + { 1.0f, 0.5f, -1.0f, -1.0f }, // FRONT_L + { 1.0f, -1.0f, -0.5f, -1.0f }, // MIDFRONT_R + { 1.0f, -0.5f, 1.0f, -1.0f }, // REAR_R + { 1.0f, 1.0f, 0.5f, -1.0f }, // MIDREAR_L +}; + +static const motorMixer_t mixerVtail4[] = { + { 1.0f, 0.0f, 1.0f, 1.0f }, // REAR_R + { 1.0f, -1.0f, -1.0f, 0.0f }, // FRONT_R + { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR_L + { 1.0f, 1.0f, -1.0f, -0.0f }, // FRONT_L +}; + +static const motorMixer_t mixerHex6H[] = { + { 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R + { 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R + { 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L + { 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L + { 1.0f, 0.0f, 0.0f, 0.0f }, // RIGHT + { 1.0f, 0.0f, 0.0f, 0.0f }, // LEFT +}; + +static const motorMixer_t mixerDualcopter[] = { + { 1.0f, 0.0f, 0.0f, -1.0f }, // LEFT + { 1.0f, 0.0f, 0.0f, 1.0f }, // RIGHT +}; + +// Keep this synced with MultiType struct in mw.h! +const mixer_t mixers[] = { +// Mo Se Mixtable + { 0, 0, NULL }, // entry 0 + { 3, 1, mixerTri }, // MULTITYPE_TRI + { 4, 0, mixerQuadP }, // MULTITYPE_QUADP + { 4, 0, mixerQuadX }, // MULTITYPE_QUADX + { 2, 1, mixerBi }, // MULTITYPE_BI + { 0, 1, NULL }, // * MULTITYPE_GIMBAL + { 6, 0, mixerY6 }, // MULTITYPE_Y6 + { 6, 0, mixerHex6P }, // MULTITYPE_HEX6 + { 1, 1, NULL }, // * MULTITYPE_FLYING_WING + { 4, 0, mixerY4 }, // MULTITYPE_Y4 + { 6, 0, mixerHex6X }, // MULTITYPE_HEX6X + { 8, 0, mixerOctoX8 }, // MULTITYPE_OCTOX8 + { 8, 0, mixerOctoFlatP }, // MULTITYPE_OCTOFLATP + { 8, 0, mixerOctoFlatX }, // MULTITYPE_OCTOFLATX + { 1, 1, NULL }, // * MULTITYPE_AIRPLANE + { 0, 1, NULL }, // * MULTITYPE_HELI_120_CCPM + { 0, 1, NULL }, // * MULTITYPE_HELI_90_DEG + { 4, 0, mixerVtail4 }, // MULTITYPE_VTAIL4 + { 6, 0, mixerHex6H }, // MULTITYPE_HEX6H + { 0, 1, NULL }, // * MULTITYPE_PPM_TO_SERVO + { 2, 1, mixerDualcopter }, // MULTITYPE_DUALCOPTER + { 1, 1, NULL }, // MULTITYPE_SINGLECOPTER + { 0, 0, NULL }, // MULTITYPE_CUSTOM +}; + +int16_t servoMiddle(int nr) +{ + // Normally, servo.middle is a value between 1000..2000, but for the purposes of stupid, if it's less than + // the number of RC channels, it means the center value is taken FROM that RC channel (by its index) + if (cfg.servoConf[nr].middle < RC_CHANS && nr < MAX_SERVOS) + return rcData[cfg.servoConf[nr].middle]; + else + return cfg.servoConf[nr].middle; +} + +int servoDirection(int nr, int lr) +{ + // servo.rate is overloaded for servos that don't have a rate, but only need direction + // bit set = negative, clear = positive + // rate[2] = ???_direction + // rate[1] = roll_direction + // rate[0] = pitch_direction + // servo.rate is also used as gimbal gain multiplier (yeah) + if (cfg.servoConf[nr].rate & lr) + return -1; + else + return 1; +} + +void mixerInit(void) +{ + int i; + + // enable servos for mixes that require them. note, this shifts motor counts. + core.useServo = mixers[mcfg.mixerConfiguration].useServo; + // if we want camstab/trig, that also enables servos, even if mixer doesn't + if (feature(FEATURE_SERVO_TILT)) + core.useServo = 1; + + if (mcfg.mixerConfiguration == MULTITYPE_CUSTOM) { + // load custom mixer into currentMixer + for (i = 0; i < MAX_MOTORS; i++) { + // check if done + if (mcfg.customMixer[i].throttle == 0.0f) + break; + currentMixer[i] = mcfg.customMixer[i]; + numberMotor++; + } + } else { + numberMotor = mixers[mcfg.mixerConfiguration].numberMotor; + // copy motor-based mixers + if (mixers[mcfg.mixerConfiguration].motor) { + for (i = 0; i < numberMotor; i++) + currentMixer[i] = mixers[mcfg.mixerConfiguration].motor[i]; + } + } + + // in 3D mode, mixer gain has to be halved + if (feature(FEATURE_3D)) { + if (numberMotor > 1) { + for (i = 0; i < numberMotor; i++) { + currentMixer[i].pitch *= 0.5f; + currentMixer[i].roll *= 0.5f; + currentMixer[i].yaw *= 0.5f; + } + } + } + mixerResetMotors(); +} + +void mixerResetMotors(void) +{ + int i; + // set disarmed motor values + for (i = 0; i < MAX_MOTORS; i++) + motor_disarmed[i] = feature(FEATURE_3D) ? mcfg.neutral3d : mcfg.mincommand; +} + +void mixerLoadMix(int index) +{ + int i; + + // we're 1-based + index++; + // clear existing + for (i = 0; i < MAX_MOTORS; i++) + mcfg.customMixer[i].throttle = 0.0f; + + // do we have anything here to begin with? + if (mixers[index].motor != NULL) { + for (i = 0; i < mixers[index].numberMotor; i++) + mcfg.customMixer[i] = mixers[index].motor[i]; + } +} + +void writeServos(void) +{ + if (!core.useServo) + return; + + switch (mcfg.mixerConfiguration) { + case MULTITYPE_BI: + pwmWriteServo(0, servo[4]); + pwmWriteServo(1, servo[5]); + break; + + case MULTITYPE_TRI: + if (cfg.tri_unarmed_servo) { + // if unarmed flag set, we always move servo + pwmWriteServo(0, servo[5]); + } else { + // otherwise, only move servo when copter is armed + if (f.ARMED) + pwmWriteServo(0, servo[5]); + else + pwmWriteServo(0, 0); // kill servo signal completely. + } + break; + + case MULTITYPE_FLYING_WING: + pwmWriteServo(0, servo[3]); + pwmWriteServo(1, servo[4]); + break; + + case MULTITYPE_GIMBAL: + pwmWriteServo(0, servo[0]); + pwmWriteServo(1, servo[1]); + break; + + case MULTITYPE_DUALCOPTER: + pwmWriteServo(0, servo[4]); + pwmWriteServo(1, servo[5]); + break; + + case MULTITYPE_AIRPLANE: + case MULTITYPE_SINGLECOPTER: + pwmWriteServo(0, servo[3]); + pwmWriteServo(1, servo[4]); + pwmWriteServo(2, servo[5]); + pwmWriteServo(3, servo[6]); + break; + + default: + // Two servos for SERVO_TILT, if enabled + if (feature(FEATURE_SERVO_TILT)) { + pwmWriteServo(0, servo[0]); + pwmWriteServo(1, servo[1]); + } + break; + } +} + +extern uint8_t cliMode; + +void writeMotors(void) +{ + uint8_t i; + + for (i = 0; i < numberMotor; i++) + pwmWriteMotor(i, motor[i]); +} + +void writeAllMotors(int16_t mc) +{ + uint8_t i; + + // Sends commands to all motors + for (i = 0; i < numberMotor; i++) + motor[i] = mc; + writeMotors(); +} + +static void airplaneMixer(void) +{ + int16_t flapperons[2] = { 0, 0 }; + int i; + + if (!f.ARMED) + servo[7] = mcfg.mincommand; // Kill throttle when disarmed + else + servo[7] = constrain(rcCommand[THROTTLE], mcfg.minthrottle, mcfg.maxthrottle); + motor[0] = servo[7]; + +#if 0 + if (cfg.flaperons) { + + + } +#endif + + if (mcfg.flaps_speed) { + // configure SERVO3 middle point in GUI to using an AUX channel for FLAPS control + // use servo min, servo max and servo rate for proper endpoints adjust + static int16_t slow_LFlaps; + int16_t lFlap = servoMiddle(2); + + lFlap = constrain(lFlap, cfg.servoConf[2].min, cfg.servoConf[2].max); + lFlap = mcfg.midrc - lFlap; // shouldn't this be servoConf[2].middle? + if (slow_LFlaps < lFlap) + slow_LFlaps += mcfg.flaps_speed; + else if (slow_LFlaps > lFlap) + slow_LFlaps -= mcfg.flaps_speed; + + servo[2] = ((int32_t)cfg.servoConf[2].rate * slow_LFlaps) / 100L; + servo[2] += mcfg.midrc; + } + + if (f.PASSTHRU_MODE) { // Direct passthru from RX + servo[3] = rcCommand[ROLL] + flapperons[0]; // Wing 1 + servo[4] = rcCommand[ROLL] + flapperons[1]; // Wing 2 + servo[5] = rcCommand[YAW]; // Rudder + servo[6] = rcCommand[PITCH]; // Elevator + } else { + // Assisted modes (gyro only or gyro+acc according to AUX configuration in Gui + servo[3] = axisPID[ROLL] + flapperons[0]; // Wing 1 + servo[4] = axisPID[ROLL] + flapperons[1]; // Wing 2 + servo[5] = axisPID[YAW]; // Rudder + servo[6] = axisPID[PITCH]; // Elevator + } + for (i = 3; i < 7; i++) { + servo[i] = ((int32_t)cfg.servoConf[i].rate * servo[i]) / 100L; // servo rates + servo[i] += servoMiddle(i); + } +} + +void mixTable(void) +{ + int16_t maxMotor; + uint32_t i; + + if (numberMotor > 3) { + // prevent "yaw jump" during yaw correction + axisPID[YAW] = constrain(axisPID[YAW], -100 - abs(rcCommand[YAW]), +100 + abs(rcCommand[YAW])); + } + + // motors for non-servo mixes + if (numberMotor > 1) + for (i = 0; i < numberMotor; i++) + motor[i] = rcCommand[THROTTLE] * currentMixer[i].throttle + axisPID[PITCH] * currentMixer[i].pitch + axisPID[ROLL] * currentMixer[i].roll + -cfg.yaw_direction * axisPID[YAW] * currentMixer[i].yaw; + + // airplane / servo mixes + switch (mcfg.mixerConfiguration) { + case MULTITYPE_BI: + servo[4] = (servoDirection(4, 2) * axisPID[YAW]) + (servoDirection(4, 1) * axisPID[PITCH]) + servoMiddle(4); // LEFT + servo[5] = (servoDirection(5, 2) * axisPID[YAW]) + (servoDirection(5, 1) * axisPID[PITCH]) + servoMiddle(5); // RIGHT + break; + + case MULTITYPE_TRI: + servo[5] = (servoDirection(5, 1) * axisPID[YAW]) + servoMiddle(5); // REAR + break; + + case MULTITYPE_GIMBAL: + servo[0] = (((int32_t)cfg.servoConf[0].rate * angle[PITCH]) / 50) + servoMiddle(0); + servo[1] = (((int32_t)cfg.servoConf[1].rate * angle[ROLL]) / 50) + servoMiddle(1); + break; + + case MULTITYPE_AIRPLANE: + airplaneMixer(); + break; + + case MULTITYPE_FLYING_WING: + if (!f.ARMED) + servo[7] = mcfg.mincommand; + else + servo[7] = constrain(rcCommand[THROTTLE], mcfg.minthrottle, mcfg.maxthrottle); + motor[0] = servo[7]; + if (f.PASSTHRU_MODE) { + // do not use sensors for correction, simple 2 channel mixing + servo[3] = (servoDirection(3, 1) * rcCommand[PITCH]) + (servoDirection(3, 2) * rcCommand[ROLL]); + servo[4] = (servoDirection(4, 1) * rcCommand[PITCH]) + (servoDirection(4, 2) * rcCommand[ROLL]); + } else { + // use sensors to correct (gyro only or gyro + acc) + servo[3] = (servoDirection(3, 1) * axisPID[PITCH]) + (servoDirection(3, 2) * axisPID[ROLL]); + servo[4] = (servoDirection(4, 1) * axisPID[PITCH]) + (servoDirection(4, 2) * axisPID[ROLL]); + } + servo[3] += servoMiddle(3); + servo[4] += servoMiddle(4); + break; + + case MULTITYPE_DUALCOPTER: + for (i = 4; i < 6; i++ ) { + servo[i] = axisPID[5 - i] * servoDirection(i, 1); // mix and setup direction + servo[i] += servoMiddle(i); + } + break; + + case MULTITYPE_SINGLECOPTER: + for (i = 3; i < 7; i++) { + servo[i] = (axisPID[YAW] * servoDirection(i, 2)) + (axisPID[(6 - i) >> 1] * servoDirection(i, 1)); // mix and setup direction + servo[i] += servoMiddle(i); + } + motor[0] = rcCommand[THROTTLE]; + break; + } + + // do camstab + if (feature(FEATURE_SERVO_TILT)) { + // center at fixed position, or vary either pitch or roll by RC channel + servo[0] = servoMiddle(0); + servo[1] = servoMiddle(1); + + if (rcOptions[BOXCAMSTAB]) { + if (cfg.gimbal_flags & GIMBAL_MIXTILT) { + servo[0] -= (-(int32_t)cfg.servoConf[0].rate) * angle[PITCH] / 50 - (int32_t)cfg.servoConf[1].rate * angle[ROLL] / 50; + servo[1] += (-(int32_t)cfg.servoConf[0].rate) * angle[PITCH] / 50 + (int32_t)cfg.servoConf[1].rate * angle[ROLL] / 50; + } else { + servo[0] += (int32_t)cfg.servoConf[0].rate * angle[PITCH] / 50; + servo[1] += (int32_t)cfg.servoConf[0].rate * angle[ROLL] / 50; + } + } + } + + // constrain servos + for (i = 0; i < MAX_SERVOS; i++) + servo[i] = constrain(servo[i], cfg.servoConf[i].min, cfg.servoConf[i].max); // limit the values + + // forward AUX1-4 to servo outputs (not constrained) + if (cfg.gimbal_flags & GIMBAL_FORWARDAUX) { + int offset = 0; + if (feature(FEATURE_SERVO_TILT)) + offset = 2; + for (i = 0; i < 4; i++) + pwmWriteServo(i + offset, rcData[AUX1 + i]); + } + + maxMotor = motor[0]; + for (i = 1; i < numberMotor; i++) + if (motor[i] > maxMotor) + maxMotor = motor[i]; + for (i = 0; i < numberMotor; i++) { + if (maxMotor > mcfg.maxthrottle) // this is a way to still have good gyro corrections if at least one motor reaches its max. + motor[i] -= maxMotor - mcfg.maxthrottle; + if (feature(FEATURE_3D)) { + if ((rcData[THROTTLE]) > 1500) { + motor[i] = constrain(motor[i], mcfg.deadband3d_high, mcfg.maxthrottle); + } else { + motor[i] = constrain(motor[i], mcfg.mincommand, mcfg.deadband3d_low); + } + } else { + motor[i] = constrain(motor[i], mcfg.minthrottle, mcfg.maxthrottle); + if ((rcData[THROTTLE]) < mcfg.mincheck) { + if (!feature(FEATURE_MOTOR_STOP)) + motor[i] = mcfg.minthrottle; + else + motor[i] = mcfg.mincommand; + } + } + if (!f.ARMED) { + motor[i] = motor_disarmed[i]; + } + } +} From d885e39a9056e8daaf34f569e789c72b9be169b1 Mon Sep 17 00:00:00 2001 From: treymarc Date: Wed, 1 Jan 2014 09:24:12 +0100 Subject: [PATCH 10/28] type float --- src/mixer.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/mixer.c b/src/mixer.c index 0cb5ee31e7..f64493845e 100755 --- a/src/mixer.c +++ b/src/mixer.c @@ -63,8 +63,8 @@ static const motorMixer_t mixerHex6X[] = { { 1.0f, -0.5f, -0.866025f, 1.0f }, // FRONT_R { 1.0f, 0.5f, 0.866025f, -1.0f }, // REAR_L { 1.0f, 0.5f, -0.866025f, -1.0f }, // FRONT_L - { 1.0f, -1f, 0.0f, -1.0f }, // RIGHT - { 1.0f, 1f, 0.0f, 1.0f }, // LEFT + { 1.0f, -1.0f, 0.0f, -1.0f }, // RIGHT + { 1.0f, 1.0f, 0.0f, 1.0f }, // LEFT }; static const motorMixer_t mixerOctoX8[] = { From 2caa1fbb207084e62f39a4f5b623e940d28fce3a Mon Sep 17 00:00:00 2001 From: treymarc Date: Wed, 1 Jan 2014 09:42:14 +0100 Subject: [PATCH 11/28] add newlib stubs --- Makefile | 1 + src/newlib_stubs.c | 278 +++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 279 insertions(+) create mode 100644 src/newlib_stubs.c diff --git a/Makefile b/Makefile index 174a62fe4f..34e8c1458a 100644 --- a/Makefile +++ b/Makefile @@ -42,6 +42,7 @@ BIN_DIR = $(ROOT)/obj # Source files common to all targets COMMON_SRC = startup_stm32f10x_md_gcc.S \ + newlib_stubs.c \ buzzer.c \ cli.c \ config.c \ diff --git a/src/newlib_stubs.c b/src/newlib_stubs.c new file mode 100644 index 0000000000..706e893fee --- /dev/null +++ b/src/newlib_stubs.c @@ -0,0 +1,278 @@ + +/* + * newlib_stubs.c + * + * Created on: 2 Nov 2010 + * Author: nanoage.co.uk + */ +#include +#include +#include +#include +#include "stm32f10x_usart.h" + + +#ifndef STDOUT_USART +#define STDOUT_USART 2 +#endif + +#ifndef STDERR_USART +#define STDERR_USART 2 +#endif + +#ifndef STDIN_USART +#define STDIN_USART 2 +#endif + +#undef errno +extern int errno; + +/* + environ + A pointer to a list of environment variables and their values. + For a minimal environment, this empty list is adequate: + */ +char *__env[1] = { 0 }; +char **environ = __env; + +int _write(int file, char *ptr, int len); + +void _exit(int status) { + _write(1, "exit", 4); + while (1) { + ; + } +} + +int _close(int file) { + return -1; +} +/* + execve + Transfer control to a new process. Minimal implementation (for a system without processes): + */ +int _execve(char *name, char **argv, char **env) { + errno = ENOMEM; + return -1; +} +/* + fork + Create a new process. Minimal implementation (for a system without processes): + */ + +int _fork() { + errno = EAGAIN; + return -1; +} +/* + fstat + Status of an open file. For consistency with other minimal implementations in these examples, + all files are regarded as character special devices. + The `sys/stat.h' header file required is distributed in the `include' subdirectory for this C library. + */ +int _fstat(int file, struct stat *st) { + st->st_mode = S_IFCHR; + return 0; +} + +/* + getpid + Process-ID; this is sometimes used to generate strings unlikely to conflict with other processes. Minimal implementation, for a system without processes: + */ + +int _getpid() { + return 1; +} + +/* + isatty + Query whether output stream is a terminal. For consistency with the other minimal implementations, + */ +int _isatty(int file) { + switch (file){ + case STDOUT_FILENO: + case STDERR_FILENO: + case STDIN_FILENO: + return 1; + default: + //errno = ENOTTY; + errno = EBADF; + return 0; + } +} + + +/* + kill + Send a signal. Minimal implementation: + */ +int _kill(int pid, int sig) { + errno = EINVAL; + return (-1); +} + +/* + link + Establish a new name for an existing file. Minimal implementation: + */ + +int _link(char *old, char *new) { + errno = EMLINK; + return -1; +} + +/* + lseek + Set position in a file. Minimal implementation: + */ +int _lseek(int file, int ptr, int dir) { + return 0; +} + +/* + sbrk + Increase program data space. + Malloc and related functions depend on this + */ +caddr_t _sbrk(int incr) { + + extern char _ebss; // Defined by the linker + static char *heap_end; + char *prev_heap_end; + + if (heap_end == 0) { + heap_end = &_ebss; + } + prev_heap_end = heap_end; + +char * stack = (char*) __get_MSP(); + if (heap_end + incr > stack) + { + _write (STDERR_FILENO, "Heap and stack collision\n", 25); + errno = ENOMEM; + return (caddr_t) -1; + //abort (); + } + + heap_end += incr; + return (caddr_t) prev_heap_end; + +} + +/* + read + Read a character to a file. `libc' subroutines will use this system routine for input from all files, including stdin + Returns -1 on error or blocks until the number of characters have been read. + */ + + +int _read(int file, char *ptr, int len) { + int n; + int num = 0; + switch (file) { + case STDIN_FILENO: + for (n = 0; n < len; n++) { +#if STDIN_USART == 1 + while ((USART1->SR & USART_FLAG_RXNE) == (uint16_t)RESET) {} + char c = (char)(USART1->DR & (uint16_t)0x01FF); +#elif STDIN_USART == 2 + while ((USART2->SR & USART_FLAG_RXNE) == (uint16_t) RESET) {} + char c = (char) (USART2->DR & (uint16_t) 0x01FF); +#elif STDIN_USART == 3 + while ((USART3->SR & USART_FLAG_RXNE) == (uint16_t)RESET) {} + char c = (char)(USART3->DR & (uint16_t)0x01FF); +#endif + *ptr++ = c; + num++; + } + break; + default: + errno = EBADF; + return -1; + } + return num; +} + +/* + stat + Status of a file (by name). Minimal implementation: + int _EXFUN(stat,( const char *__path, struct stat *__sbuf )); + */ + +int _stat(const char *filepath, struct stat *st) { + st->st_mode = S_IFCHR; + return 0; +} + +/* + times + Timing information for current process. Minimal implementation: + */ + +clock_t _times(struct tms *buf) { + return -1; +} + +/* + unlink + Remove a file's directory entry. Minimal implementation: + */ +int _unlink(char *name) { + errno = ENOENT; + return -1; +} + +/* + wait + Wait for a child process. Minimal implementation: + */ +int _wait(int *status) { + errno = ECHILD; + return -1; +} + +/* + write + Write a character to a file. `libc' subroutines will use this system routine for output to all files, including stdout + Returns -1 on error or number of bytes sent + */ +int _write(int file, char *ptr, int len) { + int n; + switch (file) { + case STDOUT_FILENO: /*stdout*/ + for (n = 0; n < len; n++) { +#if STDOUT_USART == 1 + while ((USART1->SR & USART_FLAG_TC) == (uint16_t)RESET) {} + USART1->DR = (*ptr++ & (uint16_t)0x01FF); +#elif STDOUT_USART == 2 + while ((USART2->SR & USART_FLAG_TC) == (uint16_t) RESET) { + } + USART2->DR = (*ptr++ & (uint16_t) 0x01FF); +#elif STDOUT_USART == 3 + while ((USART3->SR & USART_FLAG_TC) == (uint16_t)RESET) {} + USART3->DR = (*ptr++ & (uint16_t)0x01FF); +#endif + } + break; + case STDERR_FILENO: /* stderr */ + for (n = 0; n < len; n++) { +#if STDERR_USART == 1 + while ((USART1->SR & USART_FLAG_TC) == (uint16_t)RESET) {} + USART1->DR = (*ptr++ & (uint16_t)0x01FF); +#elif STDERR_USART == 2 + while ((USART2->SR & USART_FLAG_TC) == (uint16_t) RESET) { + } + USART2->DR = (*ptr++ & (uint16_t) 0x01FF); +#elif STDERR_USART == 3 + while ((USART3->SR & USART_FLAG_TC) == (uint16_t)RESET) {} + USART3->DR = (*ptr++ & (uint16_t)0x01FF); +#endif + } + break; + default: + errno = EBADF; + return -1; + } + return len; +} + From 239120ba4e59e4b269a9b342660618c5875923a2 Mon Sep 17 00:00:00 2001 From: treymarc Date: Wed, 1 Jan 2014 10:14:23 +0100 Subject: [PATCH 12/28] ignore white space --- src/mixer.c | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/src/mixer.c b/src/mixer.c index f64493845e..44939ed7e1 100755 --- a/src/mixer.c +++ b/src/mixer.c @@ -9,9 +9,9 @@ int16_t servo[MAX_SERVOS] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 }; static motorMixer_t currentMixer[MAX_MOTORS]; static const motorMixer_t mixerTri[] = { - { 1.0f, 0.0f, 1.333333f, 0.0f }, // REAR - { 1.0f, -1.0f, -0.666667f, 0.0f }, // RIGHT - { 1.0f, 1.0f, -0.666667f, 0.0f }, // LEFT + { 1.0f, 0.0f, 1.333333f, 0.0f }, // REAR + { 1.0f, -1.0f, -0.666667f, 0.0f }, // RIGHT + { 1.0f, 1.0f, -0.666667f, 0.0f }, // LEFT }; static const motorMixer_t mixerQuadP[] = { @@ -34,12 +34,12 @@ static const motorMixer_t mixerBi[] = { }; static const motorMixer_t mixerY6[] = { - { 1.0f, 0.0f, 1.333333f, 1.0f }, // REAR - { 1.0f, -1.0f, -0.666667f, -1.0f }, // RIGHT - { 1.0f, 1.0f, -0.666667f, -1.0f }, // LEFT - { 1.0f, 0.0f, 1.333333f, -1.0f }, // UNDER_REAR - { 1.0f, -1.0f, -0.666667f, 1.0f }, // UNDER_RIGHT - { 1.0f, 1.0f, -0.666667f, 1.0f }, // UNDER_LEFT + { 1.0f, 0.0f, 1.333333f, 1.0f }, // REAR + { 1.0f, -1.0f, -0.666667f, -1.0f }, // RIGHT + { 1.0f, 1.0f, -0.666667f, -1.0f }, // LEFT + { 1.0f, 0.0f, 1.333333f, -1.0f }, // UNDER_REAR + { 1.0f, -1.0f, -0.666667f, 1.0f }, // UNDER_RIGHT + { 1.0f, 1.0f, -0.666667f, 1.0f }, // UNDER_LEFT }; static const motorMixer_t mixerHex6P[] = { From 01f079c25478d3cf69c9358530280cba8bcc0ee8 Mon Sep 17 00:00:00 2001 From: treymarc Date: Wed, 1 Jan 2014 10:18:18 +0100 Subject: [PATCH 13/28] ed --- src/board.h | 147 ++++---- src/mixer.c | 996 ++++++++++++++++++++++++++-------------------------- 2 files changed, 574 insertions(+), 569 deletions(-) diff --git a/src/board.h b/src/board.h index 0c6b540453..47bc77d770 100755 --- a/src/board.h +++ b/src/board.h @@ -40,42 +40,42 @@ #define U_ID_2 (*(uint32_t*)0x1FFFF7F0) typedef enum { - SENSOR_GYRO = 1 << 0, // always present - SENSOR_ACC = 1 << 1, - SENSOR_BARO = 1 << 2, - SENSOR_MAG = 1 << 3, - SENSOR_SONAR = 1 << 4, - SENSOR_GPS = 1 << 5, - SENSOR_GPSMAG = 1 << 6, + SENSOR_GYRO = 1 << 0, // always present + SENSOR_ACC = 1 << 1, + SENSOR_BARO = 1 << 2, + SENSOR_MAG = 1 << 3, + SENSOR_SONAR = 1 << 4, + SENSOR_GPS = 1 << 5, + SENSOR_GPSMAG = 1 << 6, } AvailableSensors; // Type of accelerometer used/detected typedef enum AccelSensors { - ACC_DEFAULT = 0, - ACC_ADXL345 = 1, - ACC_MPU6050 = 2, - ACC_MMA8452 = 3, - ACC_BMA280 = 4, - ACC_NONE = 5 + ACC_DEFAULT = 0, + ACC_ADXL345 = 1, + ACC_MPU6050 = 2, + ACC_MMA8452 = 3, + ACC_BMA280 = 4, + ACC_NONE = 5 } AccelSensors; typedef enum { - FEATURE_PPM = 1 << 0, - FEATURE_VBAT = 1 << 1, - FEATURE_INFLIGHT_ACC_CAL = 1 << 2, - FEATURE_SERIALRX = 1 << 3, - FEATURE_MOTOR_STOP = 1 << 4, - FEATURE_SERVO_TILT = 1 << 5, - FEATURE_GYRO_SMOOTHING = 1 << 6, - FEATURE_LED_RING = 1 << 7, - FEATURE_GPS = 1 << 8, - FEATURE_FAILSAFE = 1 << 9, - FEATURE_SONAR = 1 << 10, - FEATURE_TELEMETRY = 1 << 11, - FEATURE_POWERMETER = 1 << 12, - FEATURE_VARIO = 1 << 13, - FEATURE_3D = 1 << 14, - FEATURE_SOFTSERIAL = 1 << 15, + FEATURE_PPM = 1 << 0, + FEATURE_VBAT = 1 << 1, + FEATURE_INFLIGHT_ACC_CAL = 1 << 2, + FEATURE_SERIALRX = 1 << 3, + FEATURE_MOTOR_STOP = 1 << 4, + FEATURE_SERVO_TILT = 1 << 5, + FEATURE_GYRO_SMOOTHING = 1 << 6, + FEATURE_LED_RING = 1 << 7, + FEATURE_GPS = 1 << 8, + FEATURE_FAILSAFE = 1 << 9, + FEATURE_SONAR = 1 << 10, + FEATURE_TELEMETRY = 1 << 11, + FEATURE_POWERMETER = 1 << 12, + FEATURE_VARIO = 1 << 13, + FEATURE_3D = 1 << 14, + FEATURE_SOFTSERIAL = 1 << 15, } AvailableFeatures; typedef enum { @@ -104,60 +104,63 @@ typedef enum { } sensor_axis_e; typedef enum { - ALIGN_DEFAULT = 0, // driver-provided alignment - CW0_DEG = 1, - CW90_DEG = 2, - CW180_DEG = 3, - CW270_DEG = 4, - CW0_DEG_FLIP = 5, - CW90_DEG_FLIP = 6, - CW180_DEG_FLIP = 7, - CW270_DEG_FLIP = 8 + ALIGN_DEFAULT = 0, // driver-provided alignment + CW0_DEG = 1, + CW90_DEG = 2, + CW180_DEG = 3, + CW270_DEG = 4, + CW0_DEG_FLIP = 5, + CW90_DEG_FLIP = 6, + CW180_DEG_FLIP = 7, + CW270_DEG_FLIP = 8 } sensor_align_e; enum { - GYRO_UPDATED = 1 << 0, - ACC_UPDATED = 1 << 1, - MAG_UPDATED = 1 << 2, - TEMP_UPDATED = 1 << 3 + GYRO_UPDATED = 1 << 0, + ACC_UPDATED = 1 << 1, + MAG_UPDATED = 1 << 2, + TEMP_UPDATED = 1 << 3 }; -typedef struct sensor_data_t { - int16_t gyro[3]; - int16_t acc[3]; - int16_t mag[3]; - float temperature; - int updated; +typedef struct sensor_data_t +{ + int16_t gyro[3]; + int16_t acc[3]; + int16_t mag[3]; + float temperature; + int updated; } sensor_data_t; -typedef void (*sensorInitFuncPtr)(sensor_align_e align); // sensor init prototype -typedef void (*sensorReadFuncPtr)(int16_t *data); // sensor read and align prototype -typedef void (*baroOpFuncPtr)(void); // baro start operation -typedef void (*baroCalculateFuncPtr)(int32_t *pressure, int32_t *temperature); // baro calculation (filled params are pressure and temperature) -typedef void (*serialReceiveCallbackPtr)(uint16_t data); // used by serial drivers to return frames to app -typedef uint16_t (*rcReadRawDataPtr)(uint8_t chan); // used by receiver driver to return channel data -typedef void (*pidControllerFuncPtr)(void); // pid controller function prototype +typedef void (* sensorInitFuncPtr)(sensor_align_e align); // sensor init prototype +typedef void (* sensorReadFuncPtr)(int16_t *data); // sensor read and align prototype +typedef void (* baroOpFuncPtr)(void); // baro start operation +typedef void (* baroCalculateFuncPtr)(int32_t *pressure, int32_t *temperature); // baro calculation (filled params are pressure and temperature) +typedef void (* serialReceiveCallbackPtr)(uint16_t data); // used by serial drivers to return frames to app +typedef uint16_t (* rcReadRawDataPtr)(uint8_t chan); // used by receiver driver to return channel data +typedef void (* pidControllerFuncPtr)(void); // pid controller function prototype -typedef struct sensor_t { - sensorInitFuncPtr init; // initialize function - sensorReadFuncPtr read; // read 3 axis data function - sensorReadFuncPtr temperature; // read temperature if available - float scale; // scalefactor (currently used for gyro only, todo for accel) +typedef struct sensor_t +{ + sensorInitFuncPtr init; // initialize function + sensorReadFuncPtr read; // read 3 axis data function + sensorReadFuncPtr temperature; // read temperature if available + float scale; // scalefactor (currently used for gyro only, todo for accel) } sensor_t; -typedef struct baro_t { - uint16_t ut_delay; - uint16_t up_delay; - baroOpFuncPtr start_ut; - baroOpFuncPtr get_ut; - baroOpFuncPtr start_up; - baroOpFuncPtr get_up; - baroCalculateFuncPtr calculate; +typedef struct baro_t +{ + uint16_t ut_delay; + uint16_t up_delay; + baroOpFuncPtr start_ut; + baroOpFuncPtr get_ut; + baroOpFuncPtr start_up; + baroOpFuncPtr get_up; + baroCalculateFuncPtr calculate; } baro_t; // Hardware definitions and GPIO #ifdef FY90Q -// FY90Q + // FY90Q #define LED0_GPIO GPIOC #define LED0_PIN Pin_12 #define LED1_GPIO GPIOA @@ -178,6 +181,7 @@ typedef struct baro_t { #define LED0_PIN Pin_1 // D3, PA1/USART2_RTS/ADC1/TIM2_CH3 - "LED2" on silkscreen, Yellow #define LED1_GPIO GPIOA #define LED1_PIN Pin_5 // D13, PA5/SPI1_SCK/ADC5 - "LED1" on silkscreen, Green + #define GYRO #define ACC @@ -227,10 +231,11 @@ typedef struct baro_t { #endif #undef SOFT_I2C // enable to test software i2c + #include "utils.h" #ifdef FY90Q -// FY90Q + // FY90Q #include "drv_adc.h" #include "drv_i2c.h" #include "drv_pwm.h" @@ -253,7 +258,7 @@ typedef struct baro_t { #include "drv_softserial.h" #else -// AfroFlight32 + // AfroFlight32 #include "drv_adc.h" #include "drv_adxl345.h" #include "drv_bma280.h" diff --git a/src/mixer.c b/src/mixer.c index 44939ed7e1..f0c0ecf2c5 100755 --- a/src/mixer.c +++ b/src/mixer.c @@ -1,498 +1,498 @@ -#include "board.h" -#include "mw.h" - -static uint8_t numberMotor = 0; -int16_t motor[MAX_MOTORS]; -int16_t motor_disarmed[MAX_MOTORS]; -int16_t servo[MAX_SERVOS] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 }; - -static motorMixer_t currentMixer[MAX_MOTORS]; - -static const motorMixer_t mixerTri[] = { - { 1.0f, 0.0f, 1.333333f, 0.0f }, // REAR - { 1.0f, -1.0f, -0.666667f, 0.0f }, // RIGHT - { 1.0f, 1.0f, -0.666667f, 0.0f }, // LEFT -}; - -static const motorMixer_t mixerQuadP[] = { - { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR - { 1.0f, -1.0f, 0.0f, 1.0f }, // RIGHT - { 1.0f, 1.0f, 0.0f, 1.0f }, // LEFT - { 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT -}; - -static const motorMixer_t mixerQuadX[] = { - { 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R - { 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R - { 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L - { 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L -}; - -static const motorMixer_t mixerBi[] = { - { 1.0f, 1.0f, 0.0f, 0.0f }, // LEFT - { 1.0f, -1.0f, 0.0f, 0.0f }, // RIGHT -}; - -static const motorMixer_t mixerY6[] = { - { 1.0f, 0.0f, 1.333333f, 1.0f }, // REAR - { 1.0f, -1.0f, -0.666667f, -1.0f }, // RIGHT - { 1.0f, 1.0f, -0.666667f, -1.0f }, // LEFT - { 1.0f, 0.0f, 1.333333f, -1.0f }, // UNDER_REAR - { 1.0f, -1.0f, -0.666667f, 1.0f }, // UNDER_RIGHT - { 1.0f, 1.0f, -0.666667f, 1.0f }, // UNDER_LEFT -}; - -static const motorMixer_t mixerHex6P[] = { - { 1.0f, -0.866025f, 0.5f, 1.0f }, // REAR_R - { 1.0f, -0.866025f, -0.5f, -1.0f }, // FRONT_R - { 1.0f, 0.866025f, 0.5f, 1.0f }, // REAR_L - { 1.0f, 0.866025f, -0.5f, -1.0f }, // FRONT_L - { 1.0f, 0.0f, -1.0f, 1.0f }, // FRONT - { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR -}; - -static const motorMixer_t mixerY4[] = { - { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR_TOP CW - { 1.0f, -1.0f, -1.0f, 0.0f }, // FRONT_R CCW - { 1.0f, 0.0f, 1.0f, 1.0f }, // REAR_BOTTOM CCW - { 1.0f, 1.0f, -1.0f, 0.0f }, // FRONT_L CW -}; - -static const motorMixer_t mixerHex6X[] = { - { 1.0f, -0.5f, 0.866025f, 1.0f }, // REAR_R - { 1.0f, -0.5f, -0.866025f, 1.0f }, // FRONT_R - { 1.0f, 0.5f, 0.866025f, -1.0f }, // REAR_L - { 1.0f, 0.5f, -0.866025f, -1.0f }, // FRONT_L - { 1.0f, -1.0f, 0.0f, -1.0f }, // RIGHT - { 1.0f, 1.0f, 0.0f, 1.0f }, // LEFT -}; - -static const motorMixer_t mixerOctoX8[] = { - { 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R - { 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R - { 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L - { 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L - { 1.0f, -1.0f, 1.0f, 1.0f }, // UNDER_REAR_R - { 1.0f, -1.0f, -1.0f, -1.0f }, // UNDER_FRONT_R - { 1.0f, 1.0f, 1.0f, -1.0f }, // UNDER_REAR_L - { 1.0f, 1.0f, -1.0f, 1.0f }, // UNDER_FRONT_L -}; - -static const motorMixer_t mixerOctoFlatP[] = { - { 1.0f, 0.707107f, -0.707107f, 1.0f }, // FRONT_L - { 1.0f, -0.707107f, -0.707107f, 1.0f }, // FRONT_R - { 1.0f, -0.707107f, 0.707107f, 1.0f }, // REAR_R - { 1.0f, 0.707107f, 0.707107f, 1.0f }, // REAR_L - { 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT - { 1.0f, -1.0f, 0.0f, -1.0f }, // RIGHT - { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR - { 1.0f, 1.0f, 0.0f, -1.0f }, // LEFT -}; - -static const motorMixer_t mixerOctoFlatX[] = { - { 1.0f, 1.0f, -0.5f, 1.0f }, // MIDFRONT_L - { 1.0f, -0.5f, -1.0f, 1.0f }, // FRONT_R - { 1.0f, -1.0f, 0.5f, 1.0f }, // MIDREAR_R - { 1.0f, 0.5f, 1.0f, 1.0f }, // REAR_L - { 1.0f, 0.5f, -1.0f, -1.0f }, // FRONT_L - { 1.0f, -1.0f, -0.5f, -1.0f }, // MIDFRONT_R - { 1.0f, -0.5f, 1.0f, -1.0f }, // REAR_R - { 1.0f, 1.0f, 0.5f, -1.0f }, // MIDREAR_L -}; - -static const motorMixer_t mixerVtail4[] = { - { 1.0f, 0.0f, 1.0f, 1.0f }, // REAR_R - { 1.0f, -1.0f, -1.0f, 0.0f }, // FRONT_R - { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR_L - { 1.0f, 1.0f, -1.0f, -0.0f }, // FRONT_L -}; - -static const motorMixer_t mixerHex6H[] = { - { 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R - { 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R - { 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L - { 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L - { 1.0f, 0.0f, 0.0f, 0.0f }, // RIGHT - { 1.0f, 0.0f, 0.0f, 0.0f }, // LEFT -}; - -static const motorMixer_t mixerDualcopter[] = { - { 1.0f, 0.0f, 0.0f, -1.0f }, // LEFT - { 1.0f, 0.0f, 0.0f, 1.0f }, // RIGHT -}; - -// Keep this synced with MultiType struct in mw.h! -const mixer_t mixers[] = { -// Mo Se Mixtable - { 0, 0, NULL }, // entry 0 - { 3, 1, mixerTri }, // MULTITYPE_TRI - { 4, 0, mixerQuadP }, // MULTITYPE_QUADP - { 4, 0, mixerQuadX }, // MULTITYPE_QUADX - { 2, 1, mixerBi }, // MULTITYPE_BI - { 0, 1, NULL }, // * MULTITYPE_GIMBAL - { 6, 0, mixerY6 }, // MULTITYPE_Y6 - { 6, 0, mixerHex6P }, // MULTITYPE_HEX6 - { 1, 1, NULL }, // * MULTITYPE_FLYING_WING - { 4, 0, mixerY4 }, // MULTITYPE_Y4 - { 6, 0, mixerHex6X }, // MULTITYPE_HEX6X - { 8, 0, mixerOctoX8 }, // MULTITYPE_OCTOX8 - { 8, 0, mixerOctoFlatP }, // MULTITYPE_OCTOFLATP - { 8, 0, mixerOctoFlatX }, // MULTITYPE_OCTOFLATX - { 1, 1, NULL }, // * MULTITYPE_AIRPLANE - { 0, 1, NULL }, // * MULTITYPE_HELI_120_CCPM - { 0, 1, NULL }, // * MULTITYPE_HELI_90_DEG - { 4, 0, mixerVtail4 }, // MULTITYPE_VTAIL4 - { 6, 0, mixerHex6H }, // MULTITYPE_HEX6H - { 0, 1, NULL }, // * MULTITYPE_PPM_TO_SERVO - { 2, 1, mixerDualcopter }, // MULTITYPE_DUALCOPTER - { 1, 1, NULL }, // MULTITYPE_SINGLECOPTER - { 0, 0, NULL }, // MULTITYPE_CUSTOM -}; - -int16_t servoMiddle(int nr) -{ - // Normally, servo.middle is a value between 1000..2000, but for the purposes of stupid, if it's less than - // the number of RC channels, it means the center value is taken FROM that RC channel (by its index) - if (cfg.servoConf[nr].middle < RC_CHANS && nr < MAX_SERVOS) - return rcData[cfg.servoConf[nr].middle]; - else - return cfg.servoConf[nr].middle; -} - -int servoDirection(int nr, int lr) -{ - // servo.rate is overloaded for servos that don't have a rate, but only need direction - // bit set = negative, clear = positive - // rate[2] = ???_direction - // rate[1] = roll_direction - // rate[0] = pitch_direction - // servo.rate is also used as gimbal gain multiplier (yeah) - if (cfg.servoConf[nr].rate & lr) - return -1; - else - return 1; -} - -void mixerInit(void) -{ - int i; - - // enable servos for mixes that require them. note, this shifts motor counts. - core.useServo = mixers[mcfg.mixerConfiguration].useServo; - // if we want camstab/trig, that also enables servos, even if mixer doesn't - if (feature(FEATURE_SERVO_TILT)) - core.useServo = 1; - - if (mcfg.mixerConfiguration == MULTITYPE_CUSTOM) { - // load custom mixer into currentMixer - for (i = 0; i < MAX_MOTORS; i++) { - // check if done - if (mcfg.customMixer[i].throttle == 0.0f) - break; - currentMixer[i] = mcfg.customMixer[i]; - numberMotor++; - } - } else { - numberMotor = mixers[mcfg.mixerConfiguration].numberMotor; - // copy motor-based mixers - if (mixers[mcfg.mixerConfiguration].motor) { - for (i = 0; i < numberMotor; i++) - currentMixer[i] = mixers[mcfg.mixerConfiguration].motor[i]; - } - } - - // in 3D mode, mixer gain has to be halved - if (feature(FEATURE_3D)) { - if (numberMotor > 1) { - for (i = 0; i < numberMotor; i++) { - currentMixer[i].pitch *= 0.5f; - currentMixer[i].roll *= 0.5f; - currentMixer[i].yaw *= 0.5f; - } - } - } - mixerResetMotors(); -} - -void mixerResetMotors(void) -{ - int i; - // set disarmed motor values - for (i = 0; i < MAX_MOTORS; i++) - motor_disarmed[i] = feature(FEATURE_3D) ? mcfg.neutral3d : mcfg.mincommand; -} - -void mixerLoadMix(int index) -{ - int i; - - // we're 1-based - index++; - // clear existing - for (i = 0; i < MAX_MOTORS; i++) - mcfg.customMixer[i].throttle = 0.0f; - - // do we have anything here to begin with? - if (mixers[index].motor != NULL) { - for (i = 0; i < mixers[index].numberMotor; i++) - mcfg.customMixer[i] = mixers[index].motor[i]; - } -} - -void writeServos(void) -{ - if (!core.useServo) - return; - - switch (mcfg.mixerConfiguration) { - case MULTITYPE_BI: - pwmWriteServo(0, servo[4]); - pwmWriteServo(1, servo[5]); - break; - - case MULTITYPE_TRI: - if (cfg.tri_unarmed_servo) { - // if unarmed flag set, we always move servo - pwmWriteServo(0, servo[5]); - } else { - // otherwise, only move servo when copter is armed - if (f.ARMED) - pwmWriteServo(0, servo[5]); - else - pwmWriteServo(0, 0); // kill servo signal completely. - } - break; - - case MULTITYPE_FLYING_WING: - pwmWriteServo(0, servo[3]); - pwmWriteServo(1, servo[4]); - break; - - case MULTITYPE_GIMBAL: - pwmWriteServo(0, servo[0]); - pwmWriteServo(1, servo[1]); - break; - - case MULTITYPE_DUALCOPTER: - pwmWriteServo(0, servo[4]); - pwmWriteServo(1, servo[5]); - break; - - case MULTITYPE_AIRPLANE: - case MULTITYPE_SINGLECOPTER: - pwmWriteServo(0, servo[3]); - pwmWriteServo(1, servo[4]); - pwmWriteServo(2, servo[5]); - pwmWriteServo(3, servo[6]); - break; - - default: - // Two servos for SERVO_TILT, if enabled - if (feature(FEATURE_SERVO_TILT)) { - pwmWriteServo(0, servo[0]); - pwmWriteServo(1, servo[1]); - } - break; - } -} - -extern uint8_t cliMode; - -void writeMotors(void) -{ - uint8_t i; - - for (i = 0; i < numberMotor; i++) - pwmWriteMotor(i, motor[i]); -} - -void writeAllMotors(int16_t mc) -{ - uint8_t i; - - // Sends commands to all motors - for (i = 0; i < numberMotor; i++) - motor[i] = mc; - writeMotors(); -} - -static void airplaneMixer(void) -{ - int16_t flapperons[2] = { 0, 0 }; - int i; - - if (!f.ARMED) - servo[7] = mcfg.mincommand; // Kill throttle when disarmed - else - servo[7] = constrain(rcCommand[THROTTLE], mcfg.minthrottle, mcfg.maxthrottle); - motor[0] = servo[7]; - -#if 0 - if (cfg.flaperons) { - - - } -#endif - - if (mcfg.flaps_speed) { - // configure SERVO3 middle point in GUI to using an AUX channel for FLAPS control - // use servo min, servo max and servo rate for proper endpoints adjust - static int16_t slow_LFlaps; - int16_t lFlap = servoMiddle(2); - - lFlap = constrain(lFlap, cfg.servoConf[2].min, cfg.servoConf[2].max); - lFlap = mcfg.midrc - lFlap; // shouldn't this be servoConf[2].middle? - if (slow_LFlaps < lFlap) - slow_LFlaps += mcfg.flaps_speed; - else if (slow_LFlaps > lFlap) - slow_LFlaps -= mcfg.flaps_speed; - - servo[2] = ((int32_t)cfg.servoConf[2].rate * slow_LFlaps) / 100L; - servo[2] += mcfg.midrc; - } - - if (f.PASSTHRU_MODE) { // Direct passthru from RX - servo[3] = rcCommand[ROLL] + flapperons[0]; // Wing 1 - servo[4] = rcCommand[ROLL] + flapperons[1]; // Wing 2 - servo[5] = rcCommand[YAW]; // Rudder - servo[6] = rcCommand[PITCH]; // Elevator - } else { - // Assisted modes (gyro only or gyro+acc according to AUX configuration in Gui - servo[3] = axisPID[ROLL] + flapperons[0]; // Wing 1 - servo[4] = axisPID[ROLL] + flapperons[1]; // Wing 2 - servo[5] = axisPID[YAW]; // Rudder - servo[6] = axisPID[PITCH]; // Elevator - } - for (i = 3; i < 7; i++) { - servo[i] = ((int32_t)cfg.servoConf[i].rate * servo[i]) / 100L; // servo rates - servo[i] += servoMiddle(i); - } -} - -void mixTable(void) -{ - int16_t maxMotor; - uint32_t i; - - if (numberMotor > 3) { - // prevent "yaw jump" during yaw correction - axisPID[YAW] = constrain(axisPID[YAW], -100 - abs(rcCommand[YAW]), +100 + abs(rcCommand[YAW])); - } - - // motors for non-servo mixes - if (numberMotor > 1) - for (i = 0; i < numberMotor; i++) - motor[i] = rcCommand[THROTTLE] * currentMixer[i].throttle + axisPID[PITCH] * currentMixer[i].pitch + axisPID[ROLL] * currentMixer[i].roll + -cfg.yaw_direction * axisPID[YAW] * currentMixer[i].yaw; - - // airplane / servo mixes - switch (mcfg.mixerConfiguration) { - case MULTITYPE_BI: - servo[4] = (servoDirection(4, 2) * axisPID[YAW]) + (servoDirection(4, 1) * axisPID[PITCH]) + servoMiddle(4); // LEFT - servo[5] = (servoDirection(5, 2) * axisPID[YAW]) + (servoDirection(5, 1) * axisPID[PITCH]) + servoMiddle(5); // RIGHT - break; - - case MULTITYPE_TRI: - servo[5] = (servoDirection(5, 1) * axisPID[YAW]) + servoMiddle(5); // REAR - break; - - case MULTITYPE_GIMBAL: - servo[0] = (((int32_t)cfg.servoConf[0].rate * angle[PITCH]) / 50) + servoMiddle(0); - servo[1] = (((int32_t)cfg.servoConf[1].rate * angle[ROLL]) / 50) + servoMiddle(1); - break; - - case MULTITYPE_AIRPLANE: - airplaneMixer(); - break; - - case MULTITYPE_FLYING_WING: - if (!f.ARMED) - servo[7] = mcfg.mincommand; - else - servo[7] = constrain(rcCommand[THROTTLE], mcfg.minthrottle, mcfg.maxthrottle); - motor[0] = servo[7]; - if (f.PASSTHRU_MODE) { - // do not use sensors for correction, simple 2 channel mixing - servo[3] = (servoDirection(3, 1) * rcCommand[PITCH]) + (servoDirection(3, 2) * rcCommand[ROLL]); - servo[4] = (servoDirection(4, 1) * rcCommand[PITCH]) + (servoDirection(4, 2) * rcCommand[ROLL]); - } else { - // use sensors to correct (gyro only or gyro + acc) - servo[3] = (servoDirection(3, 1) * axisPID[PITCH]) + (servoDirection(3, 2) * axisPID[ROLL]); - servo[4] = (servoDirection(4, 1) * axisPID[PITCH]) + (servoDirection(4, 2) * axisPID[ROLL]); - } - servo[3] += servoMiddle(3); - servo[4] += servoMiddle(4); - break; - - case MULTITYPE_DUALCOPTER: - for (i = 4; i < 6; i++ ) { - servo[i] = axisPID[5 - i] * servoDirection(i, 1); // mix and setup direction - servo[i] += servoMiddle(i); - } - break; - - case MULTITYPE_SINGLECOPTER: - for (i = 3; i < 7; i++) { - servo[i] = (axisPID[YAW] * servoDirection(i, 2)) + (axisPID[(6 - i) >> 1] * servoDirection(i, 1)); // mix and setup direction - servo[i] += servoMiddle(i); - } - motor[0] = rcCommand[THROTTLE]; - break; - } - - // do camstab - if (feature(FEATURE_SERVO_TILT)) { - // center at fixed position, or vary either pitch or roll by RC channel - servo[0] = servoMiddle(0); - servo[1] = servoMiddle(1); - - if (rcOptions[BOXCAMSTAB]) { - if (cfg.gimbal_flags & GIMBAL_MIXTILT) { - servo[0] -= (-(int32_t)cfg.servoConf[0].rate) * angle[PITCH] / 50 - (int32_t)cfg.servoConf[1].rate * angle[ROLL] / 50; - servo[1] += (-(int32_t)cfg.servoConf[0].rate) * angle[PITCH] / 50 + (int32_t)cfg.servoConf[1].rate * angle[ROLL] / 50; - } else { - servo[0] += (int32_t)cfg.servoConf[0].rate * angle[PITCH] / 50; - servo[1] += (int32_t)cfg.servoConf[0].rate * angle[ROLL] / 50; - } - } - } - - // constrain servos - for (i = 0; i < MAX_SERVOS; i++) - servo[i] = constrain(servo[i], cfg.servoConf[i].min, cfg.servoConf[i].max); // limit the values - - // forward AUX1-4 to servo outputs (not constrained) - if (cfg.gimbal_flags & GIMBAL_FORWARDAUX) { - int offset = 0; - if (feature(FEATURE_SERVO_TILT)) - offset = 2; - for (i = 0; i < 4; i++) - pwmWriteServo(i + offset, rcData[AUX1 + i]); - } - - maxMotor = motor[0]; - for (i = 1; i < numberMotor; i++) - if (motor[i] > maxMotor) - maxMotor = motor[i]; - for (i = 0; i < numberMotor; i++) { - if (maxMotor > mcfg.maxthrottle) // this is a way to still have good gyro corrections if at least one motor reaches its max. - motor[i] -= maxMotor - mcfg.maxthrottle; - if (feature(FEATURE_3D)) { - if ((rcData[THROTTLE]) > 1500) { - motor[i] = constrain(motor[i], mcfg.deadband3d_high, mcfg.maxthrottle); - } else { - motor[i] = constrain(motor[i], mcfg.mincommand, mcfg.deadband3d_low); - } - } else { - motor[i] = constrain(motor[i], mcfg.minthrottle, mcfg.maxthrottle); - if ((rcData[THROTTLE]) < mcfg.mincheck) { - if (!feature(FEATURE_MOTOR_STOP)) - motor[i] = mcfg.minthrottle; - else - motor[i] = mcfg.mincommand; - } - } - if (!f.ARMED) { - motor[i] = motor_disarmed[i]; - } - } -} +#include "board.h" +#include "mw.h" + +static uint8_t numberMotor = 0; +int16_t motor[MAX_MOTORS]; +int16_t motor_disarmed[MAX_MOTORS]; +int16_t servo[MAX_SERVOS] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 }; + +static motorMixer_t currentMixer[MAX_MOTORS]; + +static const motorMixer_t mixerTri[] = { + { 1.0f, 0.0f, 1.333333f, 0.0f }, // REAR + { 1.0f, -1.0f, -0.666667f, 0.0f }, // RIGHT + { 1.0f, 1.0f, -0.666667f, 0.0f }, // LEFT +}; + +static const motorMixer_t mixerQuadP[] = { + { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR + { 1.0f, -1.0f, 0.0f, 1.0f }, // RIGHT + { 1.0f, 1.0f, 0.0f, 1.0f }, // LEFT + { 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT +}; + +static const motorMixer_t mixerQuadX[] = { + { 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R + { 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R + { 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L + { 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L +}; + +static const motorMixer_t mixerBi[] = { + { 1.0f, 1.0f, 0.0f, 0.0f }, // LEFT + { 1.0f, -1.0f, 0.0f, 0.0f }, // RIGHT +}; + +static const motorMixer_t mixerY6[] = { + { 1.0f, 0.0f, 1.333333f, 1.0f }, // REAR + { 1.0f, -1.0f, -0.666667f, -1.0f }, // RIGHT + { 1.0f, 1.0f, -0.666667f, -1.0f }, // LEFT + { 1.0f, 0.0f, 1.333333f, -1.0f }, // UNDER_REAR + { 1.0f, -1.0f, -0.666667f, 1.0f }, // UNDER_RIGHT + { 1.0f, 1.0f, -0.666667f, 1.0f }, // UNDER_LEFT +}; + +static const motorMixer_t mixerHex6P[] = { + { 1.0f, -1.0f, 0.866025f, 1.0f }, // REAR_R + { 1.0f, -1.0f, -0.866025f, -1.0f }, // FRONT_R + { 1.0f, 1.0f, 0.866025f, 1.0f }, // REAR_L + { 1.0f, 1.0f, -0.866025f, -1.0f }, // FRONT_L + { 1.0f, 0.0f, -0.866025f, 1.0f }, // FRONT + { 1.0f, 0.0f, 0.866025f, -1.0f }, // REAR +}; + +static const motorMixer_t mixerY4[] = { + { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR_TOP CW + { 1.0f, -1.0f, -1.0f, 0.0f }, // FRONT_R CCW + { 1.0f, 0.0f, 1.0f, 1.0f }, // REAR_BOTTOM CCW + { 1.0f, 1.0f, -1.0f, 0.0f }, // FRONT_L CW +}; + +static const motorMixer_t mixerHex6X[] = { + { 1.0f, -0.866025f, 1.0f, 1.0f }, // REAR_R + { 1.0f, -0.866025f, -1.0f, 1.0f }, // FRONT_R + { 1.0f, 0.866025f, 1.0f, -1.0f }, // REAR_L + { 1.0f, 0.866025f, -1.0f, -1.0f }, // FRONT_L + { 1.0f, -0.866025f, 0.0f, -1.0f }, // RIGHT + { 1.0f, 0.866025f, 0.0f, 1.0f }, // LEFT +}; + +static const motorMixer_t mixerOctoX8[] = { + { 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R + { 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R + { 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L + { 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L + { 1.0f, -1.0f, 1.0f, 1.0f }, // UNDER_REAR_R + { 1.0f, -1.0f, -1.0f, -1.0f }, // UNDER_FRONT_R + { 1.0f, 1.0f, 1.0f, -1.0f }, // UNDER_REAR_L + { 1.0f, 1.0f, -1.0f, 1.0f }, // UNDER_FRONT_L +}; + +static const motorMixer_t mixerOctoFlatP[] = { + { 1.0f, 0.707107f, -0.707107f, 1.0f }, // FRONT_L + { 1.0f, -0.707107f, -0.707107f, 1.0f }, // FRONT_R + { 1.0f, -0.707107f, 0.707107f, 1.0f }, // REAR_R + { 1.0f, 0.707107f, 0.707107f, 1.0f }, // REAR_L + { 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT + { 1.0f, -1.0f, 0.0f, -1.0f }, // RIGHT + { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR + { 1.0f, 1.0f, 0.0f, -1.0f }, // LEFT +}; + +static const motorMixer_t mixerOctoFlatX[] = { + { 1.0f, 1.0f, -0.5f, 1.0f }, // MIDFRONT_L + { 1.0f, -0.5f, -1.0f, 1.0f }, // FRONT_R + { 1.0f, -1.0f, 0.5f, 1.0f }, // MIDREAR_R + { 1.0f, 0.5f, 1.0f, 1.0f }, // REAR_L + { 1.0f, 0.5f, -1.0f, -1.0f }, // FRONT_L + { 1.0f, -1.0f, -0.5f, -1.0f }, // MIDFRONT_R + { 1.0f, -0.5f, 1.0f, -1.0f }, // REAR_R + { 1.0f, 1.0f, 0.5f, -1.0f }, // MIDREAR_L +}; + +static const motorMixer_t mixerVtail4[] = { + { 1.0f, 0.0f, 1.0f, 1.0f }, // REAR_R + { 1.0f, -1.0f, -1.0f, 0.0f }, // FRONT_R + { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR_L + { 1.0f, 1.0f, -1.0f, -0.0f }, // FRONT_L +}; + +static const motorMixer_t mixerHex6H[] = { + { 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R + { 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R + { 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L + { 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L + { 1.0f, 0.0f, 0.0f, 0.0f }, // RIGHT + { 1.0f, 0.0f, 0.0f, 0.0f }, // LEFT +}; + +static const motorMixer_t mixerDualcopter[] = { + { 1.0f, 0.0f, 0.0f, -1.0f }, // LEFT + { 1.0f, 0.0f, 0.0f, 1.0f }, // RIGHT +}; + +// Keep this synced with MultiType struct in mw.h! +const mixer_t mixers[] = { +// Mo Se Mixtable + { 0, 0, NULL }, // entry 0 + { 3, 1, mixerTri }, // MULTITYPE_TRI + { 4, 0, mixerQuadP }, // MULTITYPE_QUADP + { 4, 0, mixerQuadX }, // MULTITYPE_QUADX + { 2, 1, mixerBi }, // MULTITYPE_BI + { 0, 1, NULL }, // * MULTITYPE_GIMBAL + { 6, 0, mixerY6 }, // MULTITYPE_Y6 + { 6, 0, mixerHex6P }, // MULTITYPE_HEX6 + { 1, 1, NULL }, // * MULTITYPE_FLYING_WING + { 4, 0, mixerY4 }, // MULTITYPE_Y4 + { 6, 0, mixerHex6X }, // MULTITYPE_HEX6X + { 8, 0, mixerOctoX8 }, // MULTITYPE_OCTOX8 + { 8, 0, mixerOctoFlatP }, // MULTITYPE_OCTOFLATP + { 8, 0, mixerOctoFlatX }, // MULTITYPE_OCTOFLATX + { 1, 1, NULL }, // * MULTITYPE_AIRPLANE + { 0, 1, NULL }, // * MULTITYPE_HELI_120_CCPM + { 0, 1, NULL }, // * MULTITYPE_HELI_90_DEG + { 4, 0, mixerVtail4 }, // MULTITYPE_VTAIL4 + { 6, 0, mixerHex6H }, // MULTITYPE_HEX6H + { 0, 1, NULL }, // * MULTITYPE_PPM_TO_SERVO + { 2, 1, mixerDualcopter }, // MULTITYPE_DUALCOPTER + { 1, 1, NULL }, // MULTITYPE_SINGLECOPTER + { 0, 0, NULL }, // MULTITYPE_CUSTOM +}; + +int16_t servoMiddle(int nr) +{ + // Normally, servo.middle is a value between 1000..2000, but for the purposes of stupid, if it's less than + // the number of RC channels, it means the center value is taken FROM that RC channel (by its index) + if (cfg.servoConf[nr].middle < RC_CHANS && nr < MAX_SERVOS) + return rcData[cfg.servoConf[nr].middle]; + else + return cfg.servoConf[nr].middle; +} + +int servoDirection(int nr, int lr) +{ + // servo.rate is overloaded for servos that don't have a rate, but only need direction + // bit set = negative, clear = positive + // rate[2] = ???_direction + // rate[1] = roll_direction + // rate[0] = pitch_direction + // servo.rate is also used as gimbal gain multiplier (yeah) + if (cfg.servoConf[nr].rate & lr) + return -1; + else + return 1; +} + +void mixerInit(void) +{ + int i; + + // enable servos for mixes that require them. note, this shifts motor counts. + core.useServo = mixers[mcfg.mixerConfiguration].useServo; + // if we want camstab/trig, that also enables servos, even if mixer doesn't + if (feature(FEATURE_SERVO_TILT)) + core.useServo = 1; + + if (mcfg.mixerConfiguration == MULTITYPE_CUSTOM) { + // load custom mixer into currentMixer + for (i = 0; i < MAX_MOTORS; i++) { + // check if done + if (mcfg.customMixer[i].throttle == 0.0f) + break; + currentMixer[i] = mcfg.customMixer[i]; + numberMotor++; + } + } else { + numberMotor = mixers[mcfg.mixerConfiguration].numberMotor; + // copy motor-based mixers + if (mixers[mcfg.mixerConfiguration].motor) { + for (i = 0; i < numberMotor; i++) + currentMixer[i] = mixers[mcfg.mixerConfiguration].motor[i]; + } + } + + // in 3D mode, mixer gain has to be halved + if (feature(FEATURE_3D)) { + if (numberMotor > 1) { + for (i = 0; i < numberMotor; i++) { + currentMixer[i].pitch *= 0.5f; + currentMixer[i].roll *= 0.5f; + currentMixer[i].yaw *= 0.5f; + } + } + } + mixerResetMotors(); +} + +void mixerResetMotors(void) +{ + int i; + // set disarmed motor values + for (i = 0; i < MAX_MOTORS; i++) + motor_disarmed[i] = feature(FEATURE_3D) ? mcfg.neutral3d : mcfg.mincommand; +} + +void mixerLoadMix(int index) +{ + int i; + + // we're 1-based + index++; + // clear existing + for (i = 0; i < MAX_MOTORS; i++) + mcfg.customMixer[i].throttle = 0.0f; + + // do we have anything here to begin with? + if (mixers[index].motor != NULL) { + for (i = 0; i < mixers[index].numberMotor; i++) + mcfg.customMixer[i] = mixers[index].motor[i]; + } +} + +void writeServos(void) +{ + if (!core.useServo) + return; + + switch (mcfg.mixerConfiguration) { + case MULTITYPE_BI: + pwmWriteServo(0, servo[4]); + pwmWriteServo(1, servo[5]); + break; + + case MULTITYPE_TRI: + if (cfg.tri_unarmed_servo) { + // if unarmed flag set, we always move servo + pwmWriteServo(0, servo[5]); + } else { + // otherwise, only move servo when copter is armed + if (f.ARMED) + pwmWriteServo(0, servo[5]); + else + pwmWriteServo(0, 0); // kill servo signal completely. + } + break; + + case MULTITYPE_FLYING_WING: + pwmWriteServo(0, servo[3]); + pwmWriteServo(1, servo[4]); + break; + + case MULTITYPE_GIMBAL: + pwmWriteServo(0, servo[0]); + pwmWriteServo(1, servo[1]); + break; + + case MULTITYPE_DUALCOPTER: + pwmWriteServo(0, servo[4]); + pwmWriteServo(1, servo[5]); + break; + + case MULTITYPE_AIRPLANE: + case MULTITYPE_SINGLECOPTER: + pwmWriteServo(0, servo[3]); + pwmWriteServo(1, servo[4]); + pwmWriteServo(2, servo[5]); + pwmWriteServo(3, servo[6]); + break; + + default: + // Two servos for SERVO_TILT, if enabled + if (feature(FEATURE_SERVO_TILT)) { + pwmWriteServo(0, servo[0]); + pwmWriteServo(1, servo[1]); + } + break; + } +} + +extern uint8_t cliMode; + +void writeMotors(void) +{ + uint8_t i; + + for (i = 0; i < numberMotor; i++) + pwmWriteMotor(i, motor[i]); +} + +void writeAllMotors(int16_t mc) +{ + uint8_t i; + + // Sends commands to all motors + for (i = 0; i < numberMotor; i++) + motor[i] = mc; + writeMotors(); +} + +static void airplaneMixer(void) +{ + int16_t flapperons[2] = { 0, 0 }; + int i; + + if (!f.ARMED) + servo[7] = mcfg.mincommand; // Kill throttle when disarmed + else + servo[7] = constrain(rcCommand[THROTTLE], mcfg.minthrottle, mcfg.maxthrottle); + motor[0] = servo[7]; + +#if 0 + if (cfg.flaperons) { + + + } +#endif + + if (mcfg.flaps_speed) { + // configure SERVO3 middle point in GUI to using an AUX channel for FLAPS control + // use servo min, servo max and servo rate for proper endpoints adjust + static int16_t slow_LFlaps; + int16_t lFlap = servoMiddle(2); + + lFlap = constrain(lFlap, cfg.servoConf[2].min, cfg.servoConf[2].max); + lFlap = mcfg.midrc - lFlap; // shouldn't this be servoConf[2].middle? + if (slow_LFlaps < lFlap) + slow_LFlaps += mcfg.flaps_speed; + else if (slow_LFlaps > lFlap) + slow_LFlaps -= mcfg.flaps_speed; + + servo[2] = ((int32_t)cfg.servoConf[2].rate * slow_LFlaps) / 100L; + servo[2] += mcfg.midrc; + } + + if (f.PASSTHRU_MODE) { // Direct passthru from RX + servo[3] = rcCommand[ROLL] + flapperons[0]; // Wing 1 + servo[4] = rcCommand[ROLL] + flapperons[1]; // Wing 2 + servo[5] = rcCommand[YAW]; // Rudder + servo[6] = rcCommand[PITCH]; // Elevator + } else { + // Assisted modes (gyro only or gyro+acc according to AUX configuration in Gui + servo[3] = axisPID[ROLL] + flapperons[0]; // Wing 1 + servo[4] = axisPID[ROLL] + flapperons[1]; // Wing 2 + servo[5] = axisPID[YAW]; // Rudder + servo[6] = axisPID[PITCH]; // Elevator + } + for (i = 3; i < 7; i++) { + servo[i] = ((int32_t)cfg.servoConf[i].rate * servo[i]) / 100L; // servo rates + servo[i] += servoMiddle(i); + } +} + +void mixTable(void) +{ + int16_t maxMotor; + uint32_t i; + + if (numberMotor > 3) { + // prevent "yaw jump" during yaw correction + axisPID[YAW] = constrain(axisPID[YAW], -100 - abs(rcCommand[YAW]), +100 + abs(rcCommand[YAW])); + } + + // motors for non-servo mixes + if (numberMotor > 1) + for (i = 0; i < numberMotor; i++) + motor[i] = rcCommand[THROTTLE] * currentMixer[i].throttle + axisPID[PITCH] * currentMixer[i].pitch + axisPID[ROLL] * currentMixer[i].roll + -cfg.yaw_direction * axisPID[YAW] * currentMixer[i].yaw; + + // airplane / servo mixes + switch (mcfg.mixerConfiguration) { + case MULTITYPE_BI: + servo[4] = (servoDirection(4, 2) * axisPID[YAW]) + (servoDirection(4, 1) * axisPID[PITCH]) + servoMiddle(4); // LEFT + servo[5] = (servoDirection(5, 2) * axisPID[YAW]) + (servoDirection(5, 1) * axisPID[PITCH]) + servoMiddle(5); // RIGHT + break; + + case MULTITYPE_TRI: + servo[5] = (servoDirection(5, 1) * axisPID[YAW]) + servoMiddle(5); // REAR + break; + + case MULTITYPE_GIMBAL: + servo[0] = (((int32_t)cfg.servoConf[0].rate * angle[PITCH]) / 50) + servoMiddle(0); + servo[1] = (((int32_t)cfg.servoConf[1].rate * angle[ROLL]) / 50) + servoMiddle(1); + break; + + case MULTITYPE_AIRPLANE: + airplaneMixer(); + break; + + case MULTITYPE_FLYING_WING: + if (!f.ARMED) + servo[7] = mcfg.mincommand; + else + servo[7] = constrain(rcCommand[THROTTLE], mcfg.minthrottle, mcfg.maxthrottle); + motor[0] = servo[7]; + if (f.PASSTHRU_MODE) { + // do not use sensors for correction, simple 2 channel mixing + servo[3] = (servoDirection(3, 1) * rcCommand[PITCH]) + (servoDirection(3, 2) * rcCommand[ROLL]); + servo[4] = (servoDirection(4, 1) * rcCommand[PITCH]) + (servoDirection(4, 2) * rcCommand[ROLL]); + } else { + // use sensors to correct (gyro only or gyro + acc) + servo[3] = (servoDirection(3, 1) * axisPID[PITCH]) + (servoDirection(3, 2) * axisPID[ROLL]); + servo[4] = (servoDirection(4, 1) * axisPID[PITCH]) + (servoDirection(4, 2) * axisPID[ROLL]); + } + servo[3] += servoMiddle(3); + servo[4] += servoMiddle(4); + break; + + case MULTITYPE_DUALCOPTER: + for (i = 4; i < 6; i++ ) { + servo[i] = axisPID[5 - i] * servoDirection(i, 1); // mix and setup direction + servo[i] += servoMiddle(i); + } + break; + + case MULTITYPE_SINGLECOPTER: + for (i = 3; i < 7; i++) { + servo[i] = (axisPID[YAW] * servoDirection(i, 2)) + (axisPID[(6 - i) >> 1] * servoDirection(i, 1)); // mix and setup direction + servo[i] += servoMiddle(i); + } + motor[0] = rcCommand[THROTTLE]; + break; + } + + // do camstab + if (feature(FEATURE_SERVO_TILT)) { + // center at fixed position, or vary either pitch or roll by RC channel + servo[0] = servoMiddle(0); + servo[1] = servoMiddle(1); + + if (rcOptions[BOXCAMSTAB]) { + if (cfg.gimbal_flags & GIMBAL_MIXTILT) { + servo[0] -= (-(int32_t)cfg.servoConf[0].rate) * angle[PITCH] / 50 - (int32_t)cfg.servoConf[1].rate * angle[ROLL] / 50; + servo[1] += (-(int32_t)cfg.servoConf[0].rate) * angle[PITCH] / 50 + (int32_t)cfg.servoConf[1].rate * angle[ROLL] / 50; + } else { + servo[0] += (int32_t)cfg.servoConf[0].rate * angle[PITCH] / 50; + servo[1] += (int32_t)cfg.servoConf[0].rate * angle[ROLL] / 50; + } + } + } + + // constrain servos + for (i = 0; i < MAX_SERVOS; i++) + servo[i] = constrain(servo[i], cfg.servoConf[i].min, cfg.servoConf[i].max); // limit the values + + // forward AUX1-4 to servo outputs (not constrained) + if (cfg.gimbal_flags & GIMBAL_FORWARDAUX) { + int offset = 0; + if (feature(FEATURE_SERVO_TILT)) + offset = 2; + for (i = 0; i < 4; i++) + pwmWriteServo(i + offset, rcData[AUX1 + i]); + } + + maxMotor = motor[0]; + for (i = 1; i < numberMotor; i++) + if (motor[i] > maxMotor) + maxMotor = motor[i]; + for (i = 0; i < numberMotor; i++) { + if (maxMotor > mcfg.maxthrottle) // this is a way to still have good gyro corrections if at least one motor reaches its max. + motor[i] -= maxMotor - mcfg.maxthrottle; + if (feature(FEATURE_3D)) { + if ((rcData[THROTTLE]) > 1500) { + motor[i] = constrain(motor[i], mcfg.deadband3d_high, mcfg.maxthrottle); + } else { + motor[i] = constrain(motor[i], mcfg.mincommand, mcfg.deadband3d_low); + } + } else { + motor[i] = constrain(motor[i], mcfg.minthrottle, mcfg.maxthrottle); + if ((rcData[THROTTLE]) < mcfg.mincheck) { + if (!feature(FEATURE_MOTOR_STOP)) + motor[i] = mcfg.minthrottle; + else + motor[i] = mcfg.mincommand; + } + } + if (!f.ARMED) { + motor[i] = motor_disarmed[i]; + } + } +} From bf5b70f4e2f2b65006bb4630097fb0ce18395fa7 Mon Sep 17 00:00:00 2001 From: treymarc Date: Wed, 1 Jan 2014 10:23:48 +0100 Subject: [PATCH 14/28] remove newlib stub , add mixer correction --- Makefile | 1 - src/mixer.c | 24 ++-- src/newlib_stubs.c | 278 --------------------------------------------- 3 files changed, 12 insertions(+), 291 deletions(-) delete mode 100644 src/newlib_stubs.c diff --git a/Makefile b/Makefile index 34e8c1458a..174a62fe4f 100644 --- a/Makefile +++ b/Makefile @@ -42,7 +42,6 @@ BIN_DIR = $(ROOT)/obj # Source files common to all targets COMMON_SRC = startup_stm32f10x_md_gcc.S \ - newlib_stubs.c \ buzzer.c \ cli.c \ config.c \ diff --git a/src/mixer.c b/src/mixer.c index f0c0ecf2c5..8c71a44c3a 100755 --- a/src/mixer.c +++ b/src/mixer.c @@ -43,12 +43,12 @@ static const motorMixer_t mixerY6[] = { }; static const motorMixer_t mixerHex6P[] = { - { 1.0f, -1.0f, 0.866025f, 1.0f }, // REAR_R - { 1.0f, -1.0f, -0.866025f, -1.0f }, // FRONT_R - { 1.0f, 1.0f, 0.866025f, 1.0f }, // REAR_L - { 1.0f, 1.0f, -0.866025f, -1.0f }, // FRONT_L - { 1.0f, 0.0f, -0.866025f, 1.0f }, // FRONT - { 1.0f, 0.0f, 0.866025f, -1.0f }, // REAR + { 1.0f, -0.866025f, 0.5f, 1.0f }, // REAR_R + { 1.0f, -0.866025f, -0.5f, -1.0f }, // FRONT_R + { 1.0f, 0.866025f, 0.5f, 1.0f }, // REAR_L + { 1.0f, 0.866025f, -0.5f, -1.0f }, // FRONT_L + { 1.0f, 0.0f, -1.0f, 1.0f }, // FRONT + { 1.0f, 0.0f, 1.0f, -1.0f }, // REAR }; static const motorMixer_t mixerY4[] = { @@ -59,12 +59,12 @@ static const motorMixer_t mixerY4[] = { }; static const motorMixer_t mixerHex6X[] = { - { 1.0f, -0.866025f, 1.0f, 1.0f }, // REAR_R - { 1.0f, -0.866025f, -1.0f, 1.0f }, // FRONT_R - { 1.0f, 0.866025f, 1.0f, -1.0f }, // REAR_L - { 1.0f, 0.866025f, -1.0f, -1.0f }, // FRONT_L - { 1.0f, -0.866025f, 0.0f, -1.0f }, // RIGHT - { 1.0f, 0.866025f, 0.0f, 1.0f }, // LEFT + { 1.0f, -0.5f, 0.866025f, 1.0f }, // REAR_R + { 1.0f, -0.5f, -0.866025f, 1.0f }, // FRONT_R + { 1.0f, 0.5f, 0.866025f, -1.0f }, // REAR_L + { 1.0f, 0.5f, -0.866025f, -1.0f }, // FRONT_L + { 1.0f, -1.0f, 0.0f, -1.0f }, // RIGHT + { 1.0f, 1.0f, 0.0f, 1.0f }, // LEFT }; static const motorMixer_t mixerOctoX8[] = { diff --git a/src/newlib_stubs.c b/src/newlib_stubs.c deleted file mode 100644 index 706e893fee..0000000000 --- a/src/newlib_stubs.c +++ /dev/null @@ -1,278 +0,0 @@ - -/* - * newlib_stubs.c - * - * Created on: 2 Nov 2010 - * Author: nanoage.co.uk - */ -#include -#include -#include -#include -#include "stm32f10x_usart.h" - - -#ifndef STDOUT_USART -#define STDOUT_USART 2 -#endif - -#ifndef STDERR_USART -#define STDERR_USART 2 -#endif - -#ifndef STDIN_USART -#define STDIN_USART 2 -#endif - -#undef errno -extern int errno; - -/* - environ - A pointer to a list of environment variables and their values. - For a minimal environment, this empty list is adequate: - */ -char *__env[1] = { 0 }; -char **environ = __env; - -int _write(int file, char *ptr, int len); - -void _exit(int status) { - _write(1, "exit", 4); - while (1) { - ; - } -} - -int _close(int file) { - return -1; -} -/* - execve - Transfer control to a new process. Minimal implementation (for a system without processes): - */ -int _execve(char *name, char **argv, char **env) { - errno = ENOMEM; - return -1; -} -/* - fork - Create a new process. Minimal implementation (for a system without processes): - */ - -int _fork() { - errno = EAGAIN; - return -1; -} -/* - fstat - Status of an open file. For consistency with other minimal implementations in these examples, - all files are regarded as character special devices. - The `sys/stat.h' header file required is distributed in the `include' subdirectory for this C library. - */ -int _fstat(int file, struct stat *st) { - st->st_mode = S_IFCHR; - return 0; -} - -/* - getpid - Process-ID; this is sometimes used to generate strings unlikely to conflict with other processes. Minimal implementation, for a system without processes: - */ - -int _getpid() { - return 1; -} - -/* - isatty - Query whether output stream is a terminal. For consistency with the other minimal implementations, - */ -int _isatty(int file) { - switch (file){ - case STDOUT_FILENO: - case STDERR_FILENO: - case STDIN_FILENO: - return 1; - default: - //errno = ENOTTY; - errno = EBADF; - return 0; - } -} - - -/* - kill - Send a signal. Minimal implementation: - */ -int _kill(int pid, int sig) { - errno = EINVAL; - return (-1); -} - -/* - link - Establish a new name for an existing file. Minimal implementation: - */ - -int _link(char *old, char *new) { - errno = EMLINK; - return -1; -} - -/* - lseek - Set position in a file. Minimal implementation: - */ -int _lseek(int file, int ptr, int dir) { - return 0; -} - -/* - sbrk - Increase program data space. - Malloc and related functions depend on this - */ -caddr_t _sbrk(int incr) { - - extern char _ebss; // Defined by the linker - static char *heap_end; - char *prev_heap_end; - - if (heap_end == 0) { - heap_end = &_ebss; - } - prev_heap_end = heap_end; - -char * stack = (char*) __get_MSP(); - if (heap_end + incr > stack) - { - _write (STDERR_FILENO, "Heap and stack collision\n", 25); - errno = ENOMEM; - return (caddr_t) -1; - //abort (); - } - - heap_end += incr; - return (caddr_t) prev_heap_end; - -} - -/* - read - Read a character to a file. `libc' subroutines will use this system routine for input from all files, including stdin - Returns -1 on error or blocks until the number of characters have been read. - */ - - -int _read(int file, char *ptr, int len) { - int n; - int num = 0; - switch (file) { - case STDIN_FILENO: - for (n = 0; n < len; n++) { -#if STDIN_USART == 1 - while ((USART1->SR & USART_FLAG_RXNE) == (uint16_t)RESET) {} - char c = (char)(USART1->DR & (uint16_t)0x01FF); -#elif STDIN_USART == 2 - while ((USART2->SR & USART_FLAG_RXNE) == (uint16_t) RESET) {} - char c = (char) (USART2->DR & (uint16_t) 0x01FF); -#elif STDIN_USART == 3 - while ((USART3->SR & USART_FLAG_RXNE) == (uint16_t)RESET) {} - char c = (char)(USART3->DR & (uint16_t)0x01FF); -#endif - *ptr++ = c; - num++; - } - break; - default: - errno = EBADF; - return -1; - } - return num; -} - -/* - stat - Status of a file (by name). Minimal implementation: - int _EXFUN(stat,( const char *__path, struct stat *__sbuf )); - */ - -int _stat(const char *filepath, struct stat *st) { - st->st_mode = S_IFCHR; - return 0; -} - -/* - times - Timing information for current process. Minimal implementation: - */ - -clock_t _times(struct tms *buf) { - return -1; -} - -/* - unlink - Remove a file's directory entry. Minimal implementation: - */ -int _unlink(char *name) { - errno = ENOENT; - return -1; -} - -/* - wait - Wait for a child process. Minimal implementation: - */ -int _wait(int *status) { - errno = ECHILD; - return -1; -} - -/* - write - Write a character to a file. `libc' subroutines will use this system routine for output to all files, including stdout - Returns -1 on error or number of bytes sent - */ -int _write(int file, char *ptr, int len) { - int n; - switch (file) { - case STDOUT_FILENO: /*stdout*/ - for (n = 0; n < len; n++) { -#if STDOUT_USART == 1 - while ((USART1->SR & USART_FLAG_TC) == (uint16_t)RESET) {} - USART1->DR = (*ptr++ & (uint16_t)0x01FF); -#elif STDOUT_USART == 2 - while ((USART2->SR & USART_FLAG_TC) == (uint16_t) RESET) { - } - USART2->DR = (*ptr++ & (uint16_t) 0x01FF); -#elif STDOUT_USART == 3 - while ((USART3->SR & USART_FLAG_TC) == (uint16_t)RESET) {} - USART3->DR = (*ptr++ & (uint16_t)0x01FF); -#endif - } - break; - case STDERR_FILENO: /* stderr */ - for (n = 0; n < len; n++) { -#if STDERR_USART == 1 - while ((USART1->SR & USART_FLAG_TC) == (uint16_t)RESET) {} - USART1->DR = (*ptr++ & (uint16_t)0x01FF); -#elif STDERR_USART == 2 - while ((USART2->SR & USART_FLAG_TC) == (uint16_t) RESET) { - } - USART2->DR = (*ptr++ & (uint16_t) 0x01FF); -#elif STDERR_USART == 3 - while ((USART3->SR & USART_FLAG_TC) == (uint16_t)RESET) {} - USART3->DR = (*ptr++ & (uint16_t)0x01FF); -#endif - } - break; - default: - errno = EBADF; - return -1; - } - return len; -} - From f29405ffb0234974fdd1387015dfab956cc098ef Mon Sep 17 00:00:00 2001 From: dongie Date: Wed, 1 Jan 2014 19:19:10 +0900 Subject: [PATCH 15/28] whitespace fixes in Makefile --- Makefile | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/Makefile b/Makefile index 174a62fe4f..f27ba72ea4 100644 --- a/Makefile +++ b/Makefile @@ -68,8 +68,7 @@ COMMON_SRC = startup_stm32f10x_md_gcc.S \ $(STDPERIPH_SRC) # Source files for the NAZE target -NAZE_SRC = drv_spi.c \ - drv_adc.c \ +NAZE_SRC = drv_adc.c \ drv_adxl345.c \ drv_bma280.c \ drv_bmp085.c \ @@ -82,6 +81,7 @@ NAZE_SRC = drv_spi.c \ drv_mpu6050.c \ drv_l3g4200d.c \ drv_pwm.c \ + drv_spi.c \ drv_timer.c \ $(COMMON_SRC) @@ -134,7 +134,7 @@ INCLUDE_DIRS = $(SRC_DIR) \ $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \ ARCH_FLAGS = -mthumb -mcpu=cortex-m3 -BASE_CFLAGS = $(ARCH_FLAGS) \ +BASE_CFLAGS = $(ARCH_FLAGS) \ $(addprefix -D,$(OPTIONS)) \ $(addprefix -I,$(INCLUDE_DIRS)) \ -Wall \ From 1dea496fd5c08daa56414fa6f6c922a8f875195a Mon Sep 17 00:00:00 2001 From: dongie Date: Wed, 1 Jan 2014 19:44:33 +0900 Subject: [PATCH 16/28] build for mixer update --- obj/baseflight.hex | 30 +++++++++++++++--------------- 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/obj/baseflight.hex b/obj/baseflight.hex index a55630c039..b8c7eb563e 100644 --- a/obj/baseflight.hex +++ b/obj/baseflight.hex @@ -303,9 +303,9 @@ :1012D00025642C20493243204572726F72733A2084 :1012E00025642C20636F6E6669672073697A653A9E :1012F0002025640D0A0000004166726F33322043DE -:101300004C492076657273696F6E20322E3220440C -:1013100065632032372032303133202F2030383A85 -:1013200033353A3139000000B50100200D0A456E11 +:101300004C492076657273696F6E20322E32204A06 +:10131000616E2020312032303134202F2031393A93 +:1013200034333A3236000000B50100200D0A456E14 :10133000746572696E6720434C49204D6F64652C5B :1013400020747970652027657869742720746F2070 :1013500072657475726E2C206F72202768656C70D0 @@ -3288,22 +3288,22 @@ :10CD60000000803F00000000A8AAAA3F000080BF8A :10CD70000000803F000080BFB0AA2ABF0000803FB3 :10CD80000000803F0000803FB0AA2ABF0000803F23 -:10CD90000000803F000080BFD0B35D3F0000803FB7 -:10CDA0000000803F000080BFD0B35DBF000080BFA7 -:10CDB0000000803F0000803FD0B35D3F0000803F17 -:10CDC0000000803F0000803FD0B35DBF000080BF07 -:10CDD0000000803F00000000D0B35DBF0000803F36 -:10CDE0000000803F00000000D0B35D3F000080BF26 +:10CD90000000803FD0B35DBF0000003F0000803F37 +:10CDA0000000803FD0B35DBF000000BF000080BF27 +:10CDB0000000803FD0B35D3F0000003F0000803F97 +:10CDC0000000803FD0B35D3F000000BF000080BF87 +:10CDD0000000803F00000000000080BF0000803F96 +:10CDE0000000803F000000000000803F000080BF86 :10CDF0000000803F000000000000803F000080BF76 :10CE00000000803F000080BF000080BF00000000E5 :10CE10000000803F000000000000803F0000803FD5 :10CE20000000803F0000803F000080BF0000000045 -:10CE30000000803FD0B35DBF0000803F0000803F16 -:10CE40000000803FD0B35DBF000080BF0000803F86 -:10CE50000000803FD0B35D3F0000803F000080BFF6 -:10CE60000000803FD0B35D3F000080BF000080BF66 -:10CE70000000803FD0B35DBF00000000000080BF15 -:10CE80000000803FD0B35D3F000000000000803F05 +:10CE30000000803F000000BFD0B35D3F0000803F96 +:10CE40000000803F000000BFD0B35DBF0000803F06 +:10CE50000000803F0000003FD0B35D3F000080BF76 +:10CE60000000803F0000003FD0B35DBF000080BFE6 +:10CE70000000803F000080BF00000000000080BF75 +:10CE80000000803F0000803F000000000000803F65 :10CE90000000803F000080BF0000803F000080BF96 :10CEA0000000803F000080BF000080BF0000803F86 :10CEB0000000803F0000803F0000803F0000803F76 From b2e7c8d8fcef3aa9c57331b17dacdb4720500df0 Mon Sep 17 00:00:00 2001 From: treymarc Date: Sat, 4 Jan 2014 22:19:51 +0100 Subject: [PATCH 17/28] THROTTLE ANGLE CORRECTION , "*" "/" operator priority bug http://www.multiwii.com/forum/viewtopic.php?f=8&t=4433 --- src/imu.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/imu.c b/src/imu.c index e14fb32808..deddd360a3 100755 --- a/src/imu.c +++ b/src/imu.c @@ -315,7 +315,7 @@ static void getEstimatedAttitude(void) acc_calc(deltaT); // rotate acc vector into earth frame if (cfg.throttle_angle_correction) { - int cosZ = EstG.V.Z / (acc_1G * 100.0f); + int cosZ = ((int32_t)(EstG.V.Z * 100.0f)) / acc_1G; throttleAngleCorrection = cfg.throttle_angle_correction * constrain(100 - cosZ, 0, 100) / 8; } } From 9a7ff04422e0d3419364c429c7713c18f0a18f02 Mon Sep 17 00:00:00 2001 From: dongie Date: Mon, 6 Jan 2014 21:38:36 +0900 Subject: [PATCH 18/28] adding untested (and needing work) fixedwing althold implementation. see comments in code for things to fix. added new variable to cli, fixedwing_althold_dir (though its value isn't really clear, I think it should always be positive since servo direction mix is done later). --- src/cli.c | 1 + src/config.c | 4 +++- src/mixer.c | 8 ++++++++ src/mw.c | 50 +++++++++++++++++++++++++++++--------------------- src/mw.h | 2 ++ 5 files changed, 43 insertions(+), 22 deletions(-) diff --git a/src/cli.c b/src/cli.c index 535d413114..a2fe7b357b 100644 --- a/src/cli.c +++ b/src/cli.c @@ -124,6 +124,7 @@ const clivalue_t valueTable[] = { { "servo_pwm_rate", VAR_UINT16, &mcfg.servo_pwm_rate, 50, 498 }, { "retarded_arm", VAR_UINT8, &mcfg.retarded_arm, 0, 1 }, { "flaps_speed", VAR_UINT8, &mcfg.flaps_speed, 0, 100 }, + { "fixedwing_althold_dir", VAR_INT8, &mcfg.fixedwing_althold_dir, -1, 1 }, { "serial_baudrate", VAR_UINT32, &mcfg.serial_baudrate, 1200, 115200 }, { "softserial_baudrate", VAR_UINT32, &mcfg.softserial_baudrate, 9600, 19200 }, { "softserial_inverted", VAR_UINT8, &mcfg.softserial_inverted, 0, 1 }, diff --git a/src/config.c b/src/config.c index 3be24b835e..0fbcf4f241 100755 --- a/src/config.c +++ b/src/config.c @@ -13,7 +13,7 @@ master_t mcfg; // master config struct with data independent from profiles config_t cfg; // profile config struct const char rcChannelLetters[] = "AERT1234"; -static const uint8_t EEPROM_CONF_VERSION = 55; +static const uint8_t EEPROM_CONF_VERSION = 56; static uint32_t enabledSensors = 0; static void resetConf(void); @@ -197,6 +197,8 @@ static void resetConf(void) mcfg.mincheck = 1100; mcfg.maxcheck = 1900; mcfg.retarded_arm = 0; // disable arm/disarm on roll left/right + mcfg.flaps_speed = 0; + mcfg.fixedwing_althold_dir = 1; // Motor/ESC/Servo mcfg.minthrottle = 1150; mcfg.maxthrottle = 1850; diff --git a/src/mixer.c b/src/mixer.c index 8c71a44c3a..5402ad0b7d 100755 --- a/src/mixer.c +++ b/src/mixer.c @@ -211,6 +211,14 @@ void mixerInit(void) } } } + + // set flag that we're on something with wings + if (mcfg.mixerConfiguration == MULTITYPE_FLYING_WING || + mcfg.mixerConfiguration == MULTITYPE_AIRPLANE) + f.FIXED_WING = 1; + else + f.FIXED_WING = 0; + mixerResetMotors(); } diff --git a/src/mw.c b/src/mw.c index 1248bff6c6..eb0cc37ea8 100755 --- a/src/mw.c +++ b/src/mw.c @@ -831,34 +831,42 @@ void loop(void) if (f.BARO_MODE) { static uint8_t isAltHoldChanged = 0; static int16_t AltHoldCorr = 0; - if (cfg.alt_hold_fast_change) { - // rapid alt changes - if (abs(rcCommand[THROTTLE] - initialThrottleHold) > cfg.alt_hold_throttle_neutral) { - errorAltitudeI = 0; - isAltHoldChanged = 1; - rcCommand[THROTTLE] += (rcCommand[THROTTLE] > initialThrottleHold) ? -cfg.alt_hold_throttle_neutral : cfg.alt_hold_throttle_neutral; + if (!f.FIXED_WING) { + // multirotor alt hold + if (cfg.alt_hold_fast_change) { + // rapid alt changes + if (abs(rcCommand[THROTTLE] - initialThrottleHold) > cfg.alt_hold_throttle_neutral) { + errorAltitudeI = 0; + isAltHoldChanged = 1; + rcCommand[THROTTLE] += (rcCommand[THROTTLE] > initialThrottleHold) ? -cfg.alt_hold_throttle_neutral : cfg.alt_hold_throttle_neutral; + } else { + if (isAltHoldChanged) { + AltHold = EstAlt; + isAltHoldChanged = 0; + } + rcCommand[THROTTLE] = initialThrottleHold + BaroPID; + } } else { - if (isAltHoldChanged) { + // slow alt changes for apfags + if (abs(rcCommand[THROTTLE] - initialThrottleHold) > cfg.alt_hold_throttle_neutral) { + // Slowly increase/decrease AltHold proportional to stick movement ( +100 throttle gives ~ +50 cm in 1 second with cycle time about 3-4ms) + AltHoldCorr += rcCommand[THROTTLE] - initialThrottleHold; + AltHold += AltHoldCorr / 2000; + AltHoldCorr %= 2000; + isAltHoldChanged = 1; + } else if (isAltHoldChanged) { AltHold = EstAlt; + AltHoldCorr = 0; isAltHoldChanged = 0; } rcCommand[THROTTLE] = initialThrottleHold + BaroPID; + rcCommand[THROTTLE] = constrain(rcCommand[THROTTLE], mcfg.minthrottle + 150, mcfg.maxthrottle); } } else { - // slow alt changes for apfags - if (abs(rcCommand[THROTTLE] - initialThrottleHold) > cfg.alt_hold_throttle_neutral) { - // Slowly increase/decrease AltHold proportional to stick movement ( +100 throttle gives ~ +50 cm in 1 second with cycle time about 3-4ms) - AltHoldCorr += rcCommand[THROTTLE] - initialThrottleHold; - AltHold += AltHoldCorr / 2000; - AltHoldCorr %= 2000; - isAltHoldChanged = 1; - } else if (isAltHoldChanged) { - AltHold = EstAlt; - AltHoldCorr = 0; - isAltHoldChanged = 0; - } - rcCommand[THROTTLE] = initialThrottleHold + BaroPID; - rcCommand[THROTTLE] = constrain(rcCommand[THROTTLE], mcfg.minthrottle + 150, mcfg.maxthrottle); + // handle fixedwing-related althold. UNTESTED! and probably wrong + // most likely need to check changes on pitch channel and 'reset' althold similar to + // how throttle does it on multirotor + rcCommand[PITCH] += BaroPID * mcfg.fixedwing_althold_dir; } } } diff --git a/src/mw.h b/src/mw.h index eb1dbbb08d..75578a84eb 100755 --- a/src/mw.h +++ b/src/mw.h @@ -265,6 +265,7 @@ typedef struct master_t { uint16_t maxcheck; // maximum rc end uint8_t retarded_arm; // allow disarsm/arm on throttle down + roll left/right uint8_t flaps_speed; // airplane mode flaps, 0 = no flaps, > 0 = flap speed, larger = faster + int8_t fixedwing_althold_dir; // +1 or -1 for pitch/althold gain. later check if need more than just sign uint8_t rssi_aux_channel; // Read rssi from channel. 1+ = AUX1+, 0 to disable. @@ -314,6 +315,7 @@ typedef struct flags_t { uint8_t SMALL_ANGLES_25; uint8_t CALIBRATE_MAG; uint8_t VARIO_MODE; + uint8_t FIXED_WING; // set when in flying_wing or airplane mode. currently used by althold selection code } flags_t; extern int16_t gyroZero[3]; From a20696585454798c74810e470b40642cb60bb40b Mon Sep 17 00:00:00 2001 From: dongie Date: Wed, 15 Jan 2014 19:37:31 +0900 Subject: [PATCH 19/28] adding support for maxthrottle and mincommand in MSP_SET_MISC now that all the tools can use it. --- obj/baseflight.hex | 6754 ++++++++++++++++++++++---------------------- src/serial.c | 3 +- 2 files changed, 3384 insertions(+), 3373 deletions(-) diff --git a/obj/baseflight.hex b/obj/baseflight.hex index b8c7eb563e..634fb76766 100644 --- a/obj/baseflight.hex +++ b/obj/baseflight.hex @@ -1,20 +1,20 @@ :020000040800F2 -:10000000902900206DA80008ADA800081F2700084F -:10001000B1A80008B3A80008B5A8000800000000B7 -:10002000000000000000000000000000B7A8000869 -:10003000B9A8000800000000BBA80008CD80000897 -:10004000BFA80008BFA80008BFA80008BFA80008F4 -:10005000BFA80008BFA80008BFA80008178C0008A8 -:10006000BFA80008BFA80008BFA80008BFA80008D4 -:10007000BFA80008BFA800088D860008BFA8000818 -:10008000BFA80008BFA80008BFA80008BFA80008B4 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+:10E0D000010A1C0285C208342C01401A408C1A40E7 +:10E0E000193A405B14A24A048B127A33380B0203AC +:10E0F00004060708090204063B29106914C1000040 :04000005080000ED02 :00000001FF diff --git a/src/serial.c b/src/serial.c index 55553000ba..e63fd46a95 100755 --- a/src/serial.c +++ b/src/serial.c @@ -321,7 +321,8 @@ static void evaluateCommand(void) case MSP_SET_MISC: read16(); // powerfailmeter mcfg.minthrottle = read16(); - read32(); // mcfg.maxthrottle, mcfg.mincommand + mcfg.maxthrottle = read16(); + mcfg.mincommand = read16(); cfg.failsafe_throttle = read16(); read16(); read32(); From 8c4a59480815ebc2e2039b73d372b36f19f1706e Mon Sep 17 00:00:00 2001 From: dongie Date: Wed, 15 Jan 2014 22:06:31 +0900 Subject: [PATCH 20/28] build for throttle angle correction --- obj/baseflight.hex | 6606 ++++++++++++++++++++++---------------------- 1 file changed, 3303 insertions(+), 3303 deletions(-) diff --git a/obj/baseflight.hex b/obj/baseflight.hex index 634fb76766..346c4d4a18 100644 --- a/obj/baseflight.hex 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+:10DF30002C303030312C31393230302C302A3233E1 +:10DF40000D0A0024505542582C34312C312C3030DD +:10DF500030332C303030312C33383430302C302AC0 +:10DF600032360D0A0024504D544B3235312C3338A3 +:10DF70003430302A32370D0A0024504D544B32359C +:10DF8000312C35373630302A32430D0A00245055B3 +:10DF900042582C34312C312C303030332C3030304E +:10DFA000312C35373630302C302A32440D0A0024DB +:10DFB000505542582C34312C312C303030332C30E9 +:10DFC0003030312C3131353230302C302A31450D62 +:10DFD0000A0024504D544B3235312C31313532301A +:10DFE000302A31460D0A000008E000080000002039 +:10DFF00040040000BAB30008F8E000084004002024 +:10E0000050250000DCB50008019603207A44CBDCE3 +:10E01000050281023701138534025C08021A0309E4 +:10E0200036B3914BB5DEBC29491A8D0C2908320252 +:10E030001ABA0C2908297C1ACA0C290832041AC3F6 +:10E040000C290832051A9E0C290832061A830C295D +:10E050000832071AAC0C290829591A690C29083208 +:10E06000091AA30C2908320A1A940C2908320B1A2F +:10E07000790C2908320C1AEB0C2908320D1AD00C35 +:10E0800029082A0E7012DF2A0808320F1AF51829FB +:10E090000832101AE20C290832111A720C290832BF +:10E0A000121AD80C290832131AFD0C29087214020E +:10E0B000A7FF021001E20452038B803F0401165AAD +:10E0C00003494AD931E91D12010A1C0285C20834EC +:10E0D0002C01401A408C1A40193A405B14A24A04A1 +:10E0E0008B127A33380B0203040607080902040670 +:08E0F0003B29106914C1000076 :04000005080000ED02 :00000001FF From e6889aea1270c6f1a71c72cde72cc7cde74bebda Mon Sep 17 00:00:00 2001 From: KipK Date: Wed, 15 Jan 2014 14:53:03 +0100 Subject: [PATCH 21/28] Start Frsky telemetry using a switch without beeing armed. This adds a Telemetry checkbox in the gui. --- src/mw.h | 1 + src/serial.c | 4 ++++ src/telemetry.c | 4 ++-- 3 files changed, 7 insertions(+), 2 deletions(-) diff --git a/src/mw.h b/src/mw.h index 75578a84eb..c3de4bd9cc 100755 --- a/src/mw.h +++ b/src/mw.h @@ -101,6 +101,7 @@ enum { BOXCALIB, BOXGOV, BOXOSD, + BOXTELEMETRY, CHECKBOXITEMS }; diff --git a/src/serial.c b/src/serial.c index e63fd46a95..a116101894 100755 --- a/src/serial.c +++ b/src/serial.c @@ -84,6 +84,7 @@ struct box_t { { BOXCALIB, "CALIB;", 17 }, { BOXGOV, "GOVERNOR;", 18 }, { BOXOSD, "OSD SW;", 19 }, + { BOXTELEMETRY, "TELEMETRY;", 20 }, { CHECKBOXITEMS, NULL, 0xFF } }; @@ -265,6 +266,8 @@ void serialInit(uint32_t baudrate) if (feature(FEATURE_INFLIGHT_ACC_CAL)) availableBoxes[idx++] = BOXCALIB; availableBoxes[idx++] = BOXOSD; + if (feature(FEATURE_TELEMETRY)) + availableBoxes[idx++] = BOXTELEMETRY; numberBoxItems = idx; } @@ -379,6 +382,7 @@ static void evaluateCommand(void) rcOptions[BOXCALIB] << BOXCALIB | rcOptions[BOXGOV] << BOXGOV | rcOptions[BOXOSD] << BOXOSD | + rcOptions[BOXTELEMETRY] << BOXTELEMETRY | f.ARMED << BOXARM; for (i = 0; i < numberBoxItems; i++) { int flag = (tmp & (1 << availableBoxes[i])); diff --git a/src/telemetry.c b/src/telemetry.c index 39c251539d..9b8e2599fd 100644 --- a/src/telemetry.c +++ b/src/telemetry.c @@ -228,7 +228,7 @@ void initTelemetry(void) void updateTelemetryState(void) { - bool State = mcfg.telemetry_softserial != TELEMETRY_UART ? true : f.ARMED; + bool State = mcfg.telemetry_softserial != TELEMETRY_UART ? true : (f.ARMED || rcOptions[BOXTELEMETRY]); if (State != telemetryEnabled) { if (mcfg.telemetry_softserial == TELEMETRY_UART) { @@ -246,7 +246,7 @@ static uint8_t cycleNum = 0; void sendTelemetry(void) { - if (mcfg.telemetry_softserial == TELEMETRY_UART && !f.ARMED) + if (mcfg.telemetry_softserial == TELEMETRY_UART && !f.ARMED && !rcOptions[BOXTELEMETRY]) return; if (serialTotalBytesWaiting(core.telemport) != 0) From b55496b13ff91d6250b65ed72ced762ba217a521 Mon Sep 17 00:00:00 2001 From: KipK Date: Thu, 16 Jan 2014 16:18:36 +0100 Subject: [PATCH 22/28] Telemetry switch: fix stupid mistake --- src/telemetry.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/telemetry.c b/src/telemetry.c index 9b8e2599fd..8beaf1e2f5 100644 --- a/src/telemetry.c +++ b/src/telemetry.c @@ -246,7 +246,7 @@ static uint8_t cycleNum = 0; void sendTelemetry(void) { - if (mcfg.telemetry_softserial == TELEMETRY_UART && !f.ARMED && !rcOptions[BOXTELEMETRY]) + if (mcfg.telemetry_softserial == TELEMETRY_UART && (!f.ARMED || !rcOptions[BOXTELEMETRY])) return; if (serialTotalBytesWaiting(core.telemport) != 0) From 0d974e288210e899ae6b0dc82b524801ea45372f Mon Sep 17 00:00:00 2001 From: KipK Date: Thu, 16 Jan 2014 17:18:43 +0100 Subject: [PATCH 23/28] reverting previous fix. This doesn't solve all conditions. I need to add a telemetry_switch conf or feature to solve enabling MSP over FRSKy with switch not activated when armed ( i.e. using bt serial for tuning sessions ), but it will break when not using telemetry switch. Better to keep it like this for now. --- src/telemetry.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/telemetry.c b/src/telemetry.c index 8beaf1e2f5..9b8e2599fd 100644 --- a/src/telemetry.c +++ b/src/telemetry.c @@ -246,7 +246,7 @@ static uint8_t cycleNum = 0; void sendTelemetry(void) { - if (mcfg.telemetry_softserial == TELEMETRY_UART && (!f.ARMED || !rcOptions[BOXTELEMETRY])) + if (mcfg.telemetry_softserial == TELEMETRY_UART && !f.ARMED && !rcOptions[BOXTELEMETRY]) return; if (serialTotalBytesWaiting(core.telemport) != 0) From 7bd2db04be786cf75646ba5dd9cf70d3a5fe2bdd Mon Sep 17 00:00:00 2001 From: KipK Date: Thu, 16 Jan 2014 19:36:54 +0100 Subject: [PATCH 24/28] Added a mcfg.telemetry_switch for CLI If telemetry_switch=1 it change baudrate and protocol using aux channel, either it switch when armed/disarmed. This allows to keep MSP serial while armed for BT dongle if needed. --- src/cli.c | 1 + src/config.c | 1 + src/mw.h | 6 +++--- src/serial.c | 2 +- src/telemetry.c | 8 ++++++-- 5 files changed, 12 insertions(+), 6 deletions(-) diff --git a/src/cli.c b/src/cli.c index a2fe7b357b..0f11e3d343 100644 --- a/src/cli.c +++ b/src/cli.c @@ -132,6 +132,7 @@ const clivalue_t valueTable[] = { { "gps_baudrate", VAR_INT8, &mcfg.gps_baudrate, -1, 4 }, { "serialrx_type", VAR_UINT8, &mcfg.serialrx_type, 0, 2 }, { "telemetry_softserial", VAR_UINT8, &mcfg.telemetry_softserial, 0, 1 }, + { "telemetry_switch", VAR_UINT8, &mcfg.telemetry_switch, 0, 1 }, { "vbatscale", VAR_UINT8, &mcfg.vbatscale, 10, 200 }, { "vbatmaxcellvoltage", VAR_UINT8, &mcfg.vbatmaxcellvoltage, 10, 50 }, { "vbatmincellvoltage", VAR_UINT8, &mcfg.vbatmincellvoltage, 10, 50 }, diff --git a/src/config.c b/src/config.c index 0fbcf4f241..f6854788c5 100755 --- a/src/config.c +++ b/src/config.c @@ -193,6 +193,7 @@ static void resetConf(void) mcfg.power_adc_channel = 0; mcfg.serialrx_type = 0; mcfg.telemetry_softserial = 0; + mcfg.telemetry_switch = 0; mcfg.midrc = 1500; mcfg.mincheck = 1100; mcfg.maxcheck = 1900; diff --git a/src/mw.h b/src/mw.h index c3de4bd9cc..006a8d69cd 100755 --- a/src/mw.h +++ b/src/mw.h @@ -277,10 +277,10 @@ typedef struct master_t { uint32_t serial_baudrate; uint32_t softserial_baudrate; - uint8_t softserial_inverted; // use inverted softserial input and output signals - - uint8_t telemetry_softserial; // Serial to use for Telemetry. 0:USART1, 1:SoftSerial1 (Enable FEATURE_SOFTSERIAL first) + uint8_t softserial_inverted; // use inverted softserial input and output signals + uint8_t telemetry_softserial; // Serial to use for Telemetry. 0:USART1, 1:SoftSerial1 (Enable FEATURE_SOFTSERIAL first) + uint8_t telemetry_switch; // Use aux channel to change serial output & baudrate( MSP / Telemetry ). It disables automatic switching to Telemetry when armed. config_t profile[3]; // 3 separate profiles uint8_t current_profile; // currently loaded profile diff --git a/src/serial.c b/src/serial.c index a116101894..7bd00a815f 100755 --- a/src/serial.c +++ b/src/serial.c @@ -266,7 +266,7 @@ void serialInit(uint32_t baudrate) if (feature(FEATURE_INFLIGHT_ACC_CAL)) availableBoxes[idx++] = BOXCALIB; availableBoxes[idx++] = BOXOSD; - if (feature(FEATURE_TELEMETRY)) + if (feature(FEATURE_TELEMETRY && mcfg.telemetry_switch)) availableBoxes[idx++] = BOXTELEMETRY; numberBoxItems = idx; } diff --git a/src/telemetry.c b/src/telemetry.c index 9b8e2599fd..4803cadd02 100644 --- a/src/telemetry.c +++ b/src/telemetry.c @@ -228,7 +228,11 @@ void initTelemetry(void) void updateTelemetryState(void) { - bool State = mcfg.telemetry_softserial != TELEMETRY_UART ? true : (f.ARMED || rcOptions[BOXTELEMETRY]); + bool State; + if (!mcfg.telemetry_switch) + State = mcfg.telemetry_softserial != TELEMETRY_UART ? true : f.ARMED; + else + State = mcfg.telemetry_softserial != TELEMETRY_UART ? true : rcOptions[BOXTELEMETRY]; if (State != telemetryEnabled) { if (mcfg.telemetry_softserial == TELEMETRY_UART) { @@ -246,7 +250,7 @@ static uint8_t cycleNum = 0; void sendTelemetry(void) { - if (mcfg.telemetry_softserial == TELEMETRY_UART && !f.ARMED && !rcOptions[BOXTELEMETRY]) + if ((mcfg.telemetry_softserial == TELEMETRY_UART && !f.ARMED && !mcfg.telemetry_switch) || ( mcfg.telemetry_switch && !rcOptions[BOXTELEMETRY])) return; if (serialTotalBytesWaiting(core.telemport) != 0) From e198f1727b753a783172441a1d061333738a80fa Mon Sep 17 00:00:00 2001 From: KipK Date: Fri, 17 Jan 2014 11:07:59 +0100 Subject: [PATCH 25/28] telemetry_switch: fixed condition when using softserial --- src/telemetry.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/telemetry.c b/src/telemetry.c index 4803cadd02..d835c470fe 100644 --- a/src/telemetry.c +++ b/src/telemetry.c @@ -250,7 +250,7 @@ static uint8_t cycleNum = 0; void sendTelemetry(void) { - if ((mcfg.telemetry_softserial == TELEMETRY_UART && !f.ARMED && !mcfg.telemetry_switch) || ( mcfg.telemetry_switch && !rcOptions[BOXTELEMETRY])) + if (mcfg.telemetry_softserial == TELEMETRY_UART && ((!f.ARMED && !mcfg.telemetry_switch) || ( mcfg.telemetry_switch && !rcOptions[BOXTELEMETRY]))) return; if (serialTotalBytesWaiting(core.telemport) != 0) From 6ee98fed9054bafc784cb44684e1ce9ccb82c935 Mon Sep 17 00:00:00 2001 From: KipK Date: Fri, 17 Jan 2014 17:02:48 +0100 Subject: [PATCH 26/28] indents --- src/config.c | 2 +- src/telemetry.c | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/config.c b/src/config.c index f6854788c5..1a865330ab 100755 --- a/src/config.c +++ b/src/config.c @@ -193,7 +193,7 @@ static void resetConf(void) mcfg.power_adc_channel = 0; mcfg.serialrx_type = 0; mcfg.telemetry_softserial = 0; - mcfg.telemetry_switch = 0; + mcfg.telemetry_switch = 0; mcfg.midrc = 1500; mcfg.mincheck = 1100; mcfg.maxcheck = 1900; diff --git a/src/telemetry.c b/src/telemetry.c index d835c470fe..2be8629072 100644 --- a/src/telemetry.c +++ b/src/telemetry.c @@ -250,7 +250,7 @@ static uint8_t cycleNum = 0; void sendTelemetry(void) { - if (mcfg.telemetry_softserial == TELEMETRY_UART && ((!f.ARMED && !mcfg.telemetry_switch) || ( mcfg.telemetry_switch && !rcOptions[BOXTELEMETRY]))) + if (mcfg.telemetry_softserial == TELEMETRY_UART && ((!f.ARMED && !mcfg.telemetry_switch) || (mcfg.telemetry_switch && !rcOptions[BOXTELEMETRY]))) return; if (serialTotalBytesWaiting(core.telemport) != 0) From d0a5a66b62eec11c7c245c635cbd545f5f2b13f6 Mon Sep 17 00:00:00 2001 From: DTF UHF Date: Thu, 23 Jan 2014 17:48:27 -0500 Subject: [PATCH 27/28] Enable gimbal_flags servo passthru in airplane modes and other mixer modes that use servos --- src/mixer.c | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/mixer.c b/src/mixer.c index 5402ad0b7d..da22f6c616 100755 --- a/src/mixer.c +++ b/src/mixer.c @@ -471,7 +471,11 @@ void mixTable(void) // forward AUX1-4 to servo outputs (not constrained) if (cfg.gimbal_flags & GIMBAL_FORWARDAUX) { int offset = 0; - if (feature(FEATURE_SERVO_TILT)) + //offset servos based off number already used in mixer types + //airplane and servo_tilt together can't be used + if (mcfg.mixerConfiguration == MULTITYPE_AIRPLANE || mcfg.mixerConfiguration == MULTITYPE_FLYING_WING) + offset = 4; + else if (mixers[mcfg.mixerConfiguration].useServo) offset = 2; for (i = 0; i < 4; i++) pwmWriteServo(i + offset, rcData[AUX1 + i]); From 1cb905b7c23bd84a266d83b0d8c43c922cd2c19c Mon Sep 17 00:00:00 2001 From: DTF UHF Date: Thu, 23 Jan 2014 17:52:04 -0500 Subject: [PATCH 28/28] fix spacing --- src/mixer.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/mixer.c b/src/mixer.c index da22f6c616..254d71f161 100755 --- a/src/mixer.c +++ b/src/mixer.c @@ -471,8 +471,8 @@ void mixTable(void) // forward AUX1-4 to servo outputs (not constrained) if (cfg.gimbal_flags & GIMBAL_FORWARDAUX) { int offset = 0; - //offset servos based off number already used in mixer types - //airplane and servo_tilt together can't be used + // offset servos based off number already used in mixer types + // airplane and servo_tilt together can't be used if (mcfg.mixerConfiguration == MULTITYPE_AIRPLANE || mcfg.mixerConfiguration == MULTITYPE_FLYING_WING) offset = 4; else if (mixers[mcfg.mixerConfiguration].useServo)