mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-17 13:25:30 +03:00
begin initial merge of 2.2 features
mw2.2-merged stuff: * implemented profiles 0-2 (called 'setting' in mwiigui) * merged in MSP changes including profile switch * cleaned up rc / aux switch stuff in mw.c based on 2.2 rewrite * main loop switch for baro/sonar shit adjusted todo: basically the rest of 2.2 changes (i think some minor imu/gps/baro updates) baseflight-specific stuff: * made boxitems transmission dynamic, based on enabled features. no more GPS / camstab trash if it's not enabled * cleaned up gyro drivers to return scale factor to imu code * set gyro_lpf now controls every supported gyro - not all take same values, see driver files for allowed ranges, in case of invalid lpf, defaults to something reasonable (around 30-40hz) maybe couple other things I forgot. this is all 100% experimental, untested, and not even flown. thats why there's no hex. merge is still ongoing. git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@294 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com
parent
bba9bc291f
commit
491b3627f6
20 changed files with 1009 additions and 559 deletions
303
src/serial.c
303
src/serial.c
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@ -3,68 +3,133 @@
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// Multiwii Serial Protocol 0
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#define MSP_VERSION 0
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#define PLATFORM_32BIT 0x80000000
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#define PLATFORM_32BIT ((uint32_t)1 << 31)
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#define MSP_IDENT 100 //out message multitype + version
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#define MSP_STATUS 101 //out message cycletime & errors_count & sensor present & box activation
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#define MSP_IDENT 100 //out message multitype + multiwii version + protocol version + capability variable
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#define MSP_STATUS 101 //out message cycletime & errors_count & sensor present & box activation & current setting number
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#define MSP_RAW_IMU 102 //out message 9 DOF
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#define MSP_SERVO 103 //out message 8 servos
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#define MSP_MOTOR 104 //out message 8 motors
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#define MSP_RC 105 //out message 8 rc chan
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#define MSP_RAW_GPS 106 //out message fix, numsat, lat, lon, alt, speed
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#define MSP_RC 105 //out message 8 rc chan and more
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#define MSP_RAW_GPS 106 //out message fix, numsat, lat, lon, alt, speed, ground course
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#define MSP_COMP_GPS 107 //out message distance home, direction home
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#define MSP_ATTITUDE 108 //out message 2 angles 1 heading
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#define MSP_ALTITUDE 109 //out message 1 altitude
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#define MSP_BAT 110 //out message vbat, powermetersum
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#define MSP_ALTITUDE 109 //out message altitude, variometer
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#define MSP_ANALOG 110 //out message vbat, powermetersum, rssi if available on RX
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#define MSP_RC_TUNING 111 //out message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
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#define MSP_PID 112 //out message up to 16 P I D (8 are used)
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#define MSP_BOX 113 //out message up to 16 checkbox (11 are used)
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#define MSP_MISC 114 //out message powermeter trig + 8 free for future use
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#define MSP_PID 112 //out message P I D coeff (9 are used currently)
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#define MSP_BOX 113 //out message BOX setup (number is dependant of your setup)
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#define MSP_MISC 114 //out message powermeter trig
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#define MSP_MOTOR_PINS 115 //out message which pins are in use for motors & servos, for GUI
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#define MSP_BOXNAMES 116 //out message the aux switch names
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#define MSP_PIDNAMES 117 //out message the PID names
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#define MSP_WP 118 //out message get a WP, WP# is in the payload, returns (WP#, lat, lon, alt, flags) WP#0-home, WP#16-poshold
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#define MSP_BOXIDS 119 //out message get the permanent IDs associated to BOXes
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#define MSP_SET_RAW_RC 200 //in message 8 rc chan
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#define MSP_SET_RAW_GPS 201 //in message fix, numsat, lat, lon, alt, speed
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#define MSP_SET_PID 202 //in message up to 16 P I D (8 are used)
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#define MSP_SET_BOX 203 //in message up to 16 checkbox (11 are used)
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#define MSP_SET_PID 202 //in message P I D coeff (9 are used currently)
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#define MSP_SET_BOX 203 //in message BOX setup (number is dependant of your setup)
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#define MSP_SET_RC_TUNING 204 //in message rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
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#define MSP_ACC_CALIBRATION 205 //in message no param
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#define MSP_MAG_CALIBRATION 206 //in message no param
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#define MSP_SET_MISC 207 //in message powermeter trig + 8 free for future use
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#define MSP_RESET_CONF 208 //in message no param
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#define MSP_WP_SET 209 //in message sets a given WP (WP#,lat, lon, alt, flags)
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#define MSP_SET_WP 209 //in message sets a given WP (WP#,lat, lon, alt, flags)
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#define MSP_SELECT_SETTING 210 //in message Select Setting Number (0-2)
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#define MSP_SET_HEAD 211 //in message define a new heading hold direction
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// #define MSP_BIND 240 //in message no param
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#define MSP_EEPROM_WRITE 250 //in message no param
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#define MSP_DEBUGMSG 253 //out message debug string buffer
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#define MSP_DEBUG 254 //out message debug1,debug2,debug3,debug4
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// Additional commands that are not compatible with MultiWii
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#define MSP_UID 160 //out message Unique device ID
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#define MSP_ACC_TRIM 240 //out message get acc angle trim values
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#define MSP_SET_ACC_TRIM 239 //in message set acc angle trim values
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// Additional commands that are not compatible with MultiWii
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#define MSP_UID 160 //out message Unique device ID
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#define INBUF_SIZE 64
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struct box_t {
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const uint8_t boxIndex; // this is from boxnames enum
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const char *boxName; // GUI-readable box name
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const uint8_t permanentId; //
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} boxes[] = {
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{ BOXARM, "ARM;", 0 },
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{ BOXANGLE, "ANGLE;", 1 },
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{ BOXHORIZON, "HORIZON;", 2 },
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{ BOXBARO, "BARO;", 3 },
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{ BOXVARIO, "VARIO;", 4 },
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{ BOXMAG, "MAG;", 5 },
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{ BOXHEADFREE, "HEADFREE;", 6 },
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{ BOXHEADADJ, "HEADADJ;", 7 },
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{ BOXCAMSTAB, "CAMSTAB;", 8 },
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{ BOXCAMTRIG, "CAMTRIG;", 9 },
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{ BOXGPSHOME, "GPS HOME;", 10 },
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{ BOXGPSHOLD, "GPS HOLD;", 11 },
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{ BOXPASSTHRU, "PASSTHRU;", 12 },
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{ BOXBEEPERON, "BEEPER;", 13 },
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{ BOXLEDMAX, "LEDMAX;", 14 },
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{ BOXLEDLOW, "LEDLOW;", 15 },
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{ BOXLLIGHTS, "LLIGHTS;", 16 },
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{ BOXCALIB, "CALIB;", 17 },
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{ BOXGOV, "GOVERNOR;", 18 },
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{ BOXOSD, "OSD SW;", 19 },
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{ CHECKBOXITEMS, NULL, 0xFF }
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};
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// this is calculated at startup based on enabled features.
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static uint8_t availableBoxes[CHECKBOXITEMS];
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// this is the number of filled indexes in above array
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static uint8_t numberBoxItems = 0;
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static const char boxnames[] =
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"ARM;"
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"ANGLE;"
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"HORIZON;"
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"BARO;"
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"VARIO;"
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"MAG;"
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"HEADFREE;"
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"HEADADJ;"
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"CAMSTAB;"
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"CAMTRIG;"
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"ARM;"
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"GPS HOME;"
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"GPS HOLD;"
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"PASSTHRU;"
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"HEADFREE;"
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"BEEPER;"
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"LEDMAX;"
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"LEDLOW;"
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"LLIGHTS;"
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"HEADADJ;";
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"CALIB;"
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"GOVERNOR;"
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"OSD SW;";
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const uint8_t boxids[] = { // permanent IDs associated to boxes. This way, you can rely on an ID number to identify a BOX function.
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0, // "ARM;"
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1, // "ANGLE;"
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2, // "HORIZON;"
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3, // "BARO;"
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4, // "VARIO;"
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5, // "MAG;"
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6, // "HEADFREE;"
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7, // "HEADADJ;"
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8, // "CAMSTAB;"
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9, // "CAMTRIG;"
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10, // "GPS HOME;"
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11, // "GPS HOLD;"
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12, // "PASSTHRU;"
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13, // "BEEPER;"
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14, // "LEDMAX;"
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15, // "LEDLOW;"
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16, // "LLIGHTS;"
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17, // "CALIB;"
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18, // "GOVERNOR;"
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19, // "OSD_SWITCH;"
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};
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static const char pidnames[] =
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"ROLL;"
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@ -169,15 +234,68 @@ void serializeNames(const char *s)
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serialize8(*c);
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}
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void serializeBoxNamesReply(void)
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{
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char buf[256]; // no fucking idea
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char *c;
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int i, j;
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memset(buf, 0, sizeof(buf));
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for (i = 0; i < CHECKBOXITEMS; i++) {
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for (j = 0; j < numberBoxItems; j++) {
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if (boxes[i].boxIndex == availableBoxes[j])
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strcat(buf, boxes[i].boxName);
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}
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}
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headSerialReply(strlen(buf));
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for (c = buf; *c; c++)
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serialize8(*c);
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}
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void serialInit(uint32_t baudrate)
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{
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int idx;
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uartInit(baudrate);
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// calculate used boxes based on features and fill availableBoxes[] array
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memset(availableBoxes, 0xFF, sizeof(availableBoxes));
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idx = 0;
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availableBoxes[idx++] = BOXARM;
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if (sensors(SENSOR_ACC)) {
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availableBoxes[idx++] = BOXANGLE;
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availableBoxes[idx++] = BOXHORIZON;
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}
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if (sensors(SENSOR_BARO)) {
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availableBoxes[idx++] = BOXBARO;
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if (feature(FEATURE_VARIO))
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availableBoxes[idx++] = BOXVARIO;
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}
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if (sensors(SENSOR_MAG)) {
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availableBoxes[idx++] = BOXMAG;
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availableBoxes[idx++] = BOXHEADFREE;
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availableBoxes[idx++] = BOXHEADADJ;
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}
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if (feature(FEATURE_SERVO_TILT))
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availableBoxes[idx++] = BOXCAMSTAB;
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if (feature(FEATURE_GPS) && sensors(SENSOR_GPS)) {
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availableBoxes[idx++] = BOXGPSHOME;
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availableBoxes[idx++] = BOXGPSHOLD;
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}
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if (mcfg.mixerConfiguration == MULTITYPE_FLYING_WING || mcfg.mixerConfiguration == MULTITYPE_AIRPLANE)
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availableBoxes[idx++] = BOXPASSTHRU;
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availableBoxes[idx++] = BOXBEEPERON;
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if (feature(FEATURE_INFLIGHT_ACC_CAL))
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availableBoxes[idx++] = BOXCALIB;
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numberBoxItems = idx;
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}
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static void evaluateCommand(void)
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{
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uint32_t i;
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uint8_t wp_no;
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int32_t lat = 0, lon = 0, alt = 0;
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switch (cmdMSP) {
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case MSP_SET_RAW_RC:
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headSerialReply(0);
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break;
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case MSP_SET_BOX:
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for (i = 0; i < CHECKBOXITEMS; i++)
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cfg.activate[i] = read16();
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for (i = 0; i < numberBoxItems; i++)
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cfg.activate[availableBoxes[i]] = read16();
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headSerialReply(0);
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break;
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case MSP_SET_RC_TUNING:
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case MSP_SET_MISC:
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headSerialReply(0);
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break;
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case MSP_SELECT_SETTING:
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if (!f.ARMED) {
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mcfg.current_profile = read8();
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if (mcfg.current_profile > 2)
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mcfg.current_profile = 0;
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// this writes new profile index and re-reads it
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writeEEPROM(0, false);
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}
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headSerialReply(0);
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break;
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case MSP_SET_HEAD:
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magHold = read16();
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headSerialReply(0);
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break;
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case MSP_IDENT:
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headSerialReply(7);
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serialize8(VERSION); // multiwii version
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serialize8(cfg.mixerConfiguration); // type of multicopter
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serialize8(mcfg.mixerConfiguration); // type of multicopter
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serialize8(MSP_VERSION); // MultiWii Serial Protocol Version
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serialize32(PLATFORM_32BIT); // "capability"
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break;
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case MSP_STATUS:
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headSerialReply(10);
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headSerialReply(11);
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serialize16(cycleTime);
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serialize16(i2cGetErrorCounter());
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serialize16(sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
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serialize32(f.ANGLE_MODE << BOXANGLE | f.HORIZON_MODE << BOXHORIZON | f.BARO_MODE << BOXBARO | f.MAG_MODE << BOXMAG | f.ARMED << BOXARM |
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rcOptions[BOXCAMSTAB] << BOXCAMSTAB | rcOptions[BOXCAMTRIG] << BOXCAMTRIG |
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f.GPS_HOME_MODE << BOXGPSHOME | f.GPS_HOLD_MODE << BOXGPSHOLD | f.HEADFREE_MODE << BOXHEADFREE | f.PASSTHRU_MODE << BOXPASSTHRU |
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rcOptions[BOXBEEPERON] << BOXBEEPERON | rcOptions[BOXLEDMAX] << BOXLEDMAX | rcOptions[BOXLLIGHTS] << BOXLLIGHTS | rcOptions[BOXHEADADJ] << BOXHEADADJ);
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serialize32(f.ANGLE_MODE << BOXANGLE | f.HORIZON_MODE << BOXHORIZON |
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f.BARO_MODE << BOXBARO | f.MAG_MODE << BOXMAG | f.HEADFREE_MODE << BOXHEADFREE | rcOptions[BOXHEADADJ] << BOXHEADADJ |
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rcOptions[BOXCAMSTAB] << BOXCAMSTAB | rcOptions[BOXCAMTRIG] << BOXCAMTRIG |
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f.GPS_HOME_MODE << BOXGPSHOME | f.GPS_HOLD_MODE << BOXGPSHOLD |
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f.PASSTHRU_MODE << BOXPASSTHRU |
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rcOptions[BOXBEEPERON] << BOXBEEPERON |
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rcOptions[BOXLEDMAX] << BOXLEDMAX |
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rcOptions[BOXLLIGHTS] << BOXLLIGHTS |
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rcOptions[BOXVARIO] << BOXVARIO |
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rcOptions[BOXCALIB] << BOXCALIB |
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rcOptions[BOXGOV] << BOXGOV |
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rcOptions[BOXOSD] << BOXOSD |
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f.ARMED << BOXARM);
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serialize8(mcfg.current_profile);
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break;
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case MSP_RAW_IMU:
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headSerialReply(18);
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@ -268,13 +410,14 @@ static void evaluateCommand(void)
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serialize16(rcData[i]);
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break;
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case MSP_RAW_GPS:
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headSerialReply(14);
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headSerialReply(16);
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serialize8(f.GPS_FIX);
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serialize8(GPS_numSat);
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serialize32(GPS_coord[LAT]);
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serialize32(GPS_coord[LON]);
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serialize16(GPS_altitude);
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serialize16(GPS_speed);
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serialize16(GPS_ground_course);
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break;
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case MSP_COMP_GPS:
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headSerialReply(5);
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@ -290,13 +433,15 @@ static void evaluateCommand(void)
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serialize16(headFreeModeHold);
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break;
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case MSP_ALTITUDE:
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headSerialReply(4);
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headSerialReply(6);
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serialize32(EstAlt);
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serialize16(vario);
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break;
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case MSP_BAT:
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headSerialReply(3);
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case MSP_ANALOG:
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headSerialReply(5);
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serialize8(vbat);
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serialize16(0); // power meter trash
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serialize16(rssi);
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break;
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case MSP_RC_TUNING:
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headSerialReply(7);
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@ -316,19 +461,24 @@ static void evaluateCommand(void)
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serialize8(cfg.D8[i]);
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}
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break;
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case MSP_BOX:
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headSerialReply(2 * CHECKBOXITEMS);
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for (i = 0; i < CHECKBOXITEMS; i++)
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serialize16(cfg.activate[i]);
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break;
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case MSP_BOXNAMES:
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headSerialReply(sizeof(boxnames) - 1);
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serializeNames(boxnames);
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break;
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case MSP_PIDNAMES:
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headSerialReply(sizeof(pidnames) - 1);
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serializeNames(pidnames);
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break;
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case MSP_BOX:
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headSerialReply(2 * numberBoxItems);
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for (i = 0; i < numberBoxItems; i++)
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serialize16(cfg.activate[availableBoxes[i]]);
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break;
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case MSP_BOXNAMES:
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// headSerialReply(sizeof(boxnames) - 1);
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serializeBoxNamesReply();
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break;
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case MSP_BOXIDS:
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headSerialReply(numberBoxItems);
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for (i = 0; i < numberBoxItems; i++)
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serialize8(availableBoxes[i]);
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break;
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case MSP_MISC:
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headSerialReply(2);
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serialize16(0); // intPowerTrigger1
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@ -340,54 +490,85 @@ static void evaluateCommand(void)
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break;
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case MSP_WP:
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wp_no = read8(); // get the wp number
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headSerialReply(12);
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headSerialReply(18);
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if (wp_no == 0) {
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serialize8(0); // wp0
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serialize32(GPS_home[LAT]);
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serialize32(GPS_home[LON]);
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serialize16(0); // altitude will come here
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serialize8(0); // nav flag will come here
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lat = GPS_home[LAT];
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lon = GPS_home[LON];
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} else if (wp_no == 16) {
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serialize8(16); // wp16
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serialize32(GPS_hold[LAT]);
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serialize32(GPS_hold[LON]);
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serialize16(0); // altitude will come here
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serialize8(0); // nav flag will come here
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lat = GPS_hold[LAT];
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lon = GPS_hold[LON];
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}
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serialize8(wp_no);
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serialize32(lat);
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serialize32(lon);
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serialize32(AltHold); // altitude (cm) will come here -- temporary implementation to test feature with apps
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serialize16(0); // heading will come here (deg)
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serialize16(0); // time to stay (ms) will come here
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serialize8(0); // nav flag will come here
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break;
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case MSP_SET_WP:
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wp_no = read8(); //get the wp number
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lat = read32();
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lon = read32();
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alt = read32(); // to set altitude (cm)
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read16(); // future: to set heading (deg)
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read16(); // future: to set time to stay (ms)
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read8(); // future: to set nav flag
|
||||
if (wp_no == 0) {
|
||||
GPS_home[LAT] = lat;
|
||||
GPS_home[LON] = lon;
|
||||
f.GPS_HOME_MODE = 0; // with this flag, GPS_set_next_wp will be called in the next loop -- OK with SERIAL GPS / OK with I2C GPS
|
||||
f.GPS_FIX_HOME = 1;
|
||||
if (alt != 0)
|
||||
AltHold = alt; // temporary implementation to test feature with apps
|
||||
} else if (wp_no == 16) { // OK with SERIAL GPS -- NOK for I2C GPS / needs more code dev in order to inject GPS coord inside I2C GPS
|
||||
GPS_hold[LAT] = lat;
|
||||
GPS_hold[LON] = lon;
|
||||
if (alt != 0)
|
||||
AltHold = alt; // temporary implementation to test feature with apps
|
||||
nav_mode = NAV_MODE_WP;
|
||||
GPS_set_next_wp(&GPS_hold[LAT], &GPS_hold[LON]);
|
||||
}
|
||||
headSerialReply(0);
|
||||
break;
|
||||
case MSP_RESET_CONF:
|
||||
checkFirstTime(true);
|
||||
if (!f.ARMED)
|
||||
checkFirstTime(true);
|
||||
headSerialReply(0);
|
||||
break;
|
||||
case MSP_ACC_CALIBRATION:
|
||||
calibratingA = 400;
|
||||
if (!f.ARMED)
|
||||
calibratingA = 400;
|
||||
headSerialReply(0);
|
||||
break;
|
||||
case MSP_MAG_CALIBRATION:
|
||||
f.CALIBRATE_MAG = 1;
|
||||
if (!f.ARMED)
|
||||
f.CALIBRATE_MAG = 1;
|
||||
headSerialReply(0);
|
||||
break;
|
||||
case MSP_EEPROM_WRITE:
|
||||
writeParams(0);
|
||||
writeEEPROM(0, true);
|
||||
headSerialReply(0);
|
||||
break;
|
||||
case MSP_ACC_TRIM:
|
||||
headSerialReply(4);
|
||||
serialize16(cfg.angleTrim[PITCH]);
|
||||
serialize16(cfg.angleTrim[ROLL]);
|
||||
break;
|
||||
case MSP_DEBUG:
|
||||
headSerialReply(8);
|
||||
for (i = 0; i < 4; i++)
|
||||
serialize16(debug[i]); // 4 variables are here for general monitoring purpose
|
||||
break;
|
||||
// Additional commands that are not compatible with MultiWii
|
||||
|
||||
// Additional commands that are not compatible with MultiWii
|
||||
case MSP_ACC_TRIM:
|
||||
headSerialReply(4);
|
||||
serialize16(cfg.angleTrim[PITCH]);
|
||||
serialize16(cfg.angleTrim[ROLL]);
|
||||
break;
|
||||
case MSP_UID:
|
||||
headSerialReply(12);
|
||||
serialize32(U_ID_0);
|
||||
serialize32(U_ID_1);
|
||||
serialize32(U_ID_2);
|
||||
break;
|
||||
|
||||
default: // we do not know how to handle the (valid) message, indicate error MSP $M!
|
||||
headSerialError(0);
|
||||
break;
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue