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Code Issues Wiki Activity

Remove config.c's dependencies on the mw.h/board.h files. Moved some RX

Browse source 
code into rx_common.c. Moved some GPS code into gps_common.c.  Isolated
some GPS functions into gps_common.c that were called from mw.c/loop().
moved gimbal defines into gimbal.h.  Moved sound & light code into
statusindicator.c
This commit is contained in:
Dominic Clifton 2014-04-18 12:13:37 +01:00
parent 8477b45061
commit a85bfa51e3
20 changed files with 232 additions and 166 deletions
Download patch file Download diff file Expand all files Collapse all files

1
Makefile
View file

@ -80,6 +80,7 @@ COMMON_SRC = startup_stm32f10x_md_gcc.S \
typeconversion.c \
serial_cli.c \
serial_msp.c \
statusindicator.c \
$(CMSIS_SRC) \
$(STDPERIPH_SRC)

76
src/config.c
View file

@ -1,16 +1,33 @@
#include "board.h"
#include "flight_common.h"
#include "mw.h"
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include "platform.h"
#include "common/axis.h"
#include "flight_common.h"
#include "drivers/system_common.h"
#include "statusindicator.h"
#include "sensors_acceleration.h"
#include "telemetry_common.h"
#include "gps_common.h"
#include "config_storage.h"
#include "config.h"
#include "drivers/serial_common.h"
#include "flight_mixer.h"
#include "sensors_common.h"
#include "boardalignment.h"
#include "battery.h"
#include "gimbal.h"
#include "rx_common.h"
#include "gps_common.h"
#include "runtime_config.h"
#include "config.h"
#include "config_storage.h"
void setPIDController(int type); // FIXME PID code needs to be in flight_pid.c/h
#ifndef FLASH_PAGE_COUNT
#define FLASH_PAGE_COUNT 128
@ -21,22 +38,10 @@
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 = 62;
static void resetConf(void);
void parseRcChannels(const char *input)
{
const char *c, *s;
for (c = input; *c; c++) {
s = strchr(rcChannelLetters, *c);
if (s)
mcfg.rxConfig.rcmap[s - rcChannelLetters] = c - input;
}
}
static uint8_t validEEPROM(void)
{
const master_t *temp = (const master_t *)FLASH_WRITE_ADDR;
@ -65,8 +70,6 @@ static uint8_t validEEPROM(void)
void readEEPROM(void)
{
uint8_t i;
// Sanity check
if (!validEEPROM())
failureMode(10);
@ -78,19 +81,8 @@ void readEEPROM(void)
mcfg.current_profile = 0;
memcpy(&cfg, &mcfg.profile[mcfg.current_profile], sizeof(config_t));
for (i = 0; i < PITCH_LOOKUP_LENGTH; i++)
lookupPitchRollRC[i] = (2500 + cfg.rcExpo8 * (i * i - 25)) * i * (int32_t) cfg.rcRate8 / 2500;
for (i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) {
int16_t tmp = 10 * i - cfg.thrMid8;
uint8_t y = 1;
if (tmp > 0)
y = 100 - cfg.thrMid8;
if (tmp < 0)
y = cfg.thrMid8;
lookupThrottleRC[i] = 10 * cfg.thrMid8 + tmp * (100 - cfg.thrExpo8 + (int32_t) cfg.thrExpo8 * (tmp * tmp) / (y * y)) / 10;
lookupThrottleRC[i] = mcfg.minthrottle + (int32_t) (mcfg.maxthrottle - mcfg.minthrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
}
generatePitchCurve(&cfg.controlRateConfig);
generateThrottleCurve(&cfg.controlRateConfig, mcfg.minthrottle, mcfg.maxthrottle);
setPIDController(cfg.pidController);
gpsSetPIDs();
@ -150,7 +142,7 @@ retry:
// re-read written data
readEEPROM();
if (b)
blinkLED(15, 20, 1);
blinkLedAndSoundBeeper(15, 20, 1);
}
void checkFirstTime(bool reset)
@ -260,14 +252,14 @@ static void resetConf(void)
cfg.P8[PIDVEL] = 120;
cfg.I8[PIDVEL] = 45;
cfg.D8[PIDVEL] = 1;
cfg.rcRate8 = 90;
cfg.rcExpo8 = 65;
cfg.rollPitchRate = 0;
cfg.yawRate = 0;
cfg.controlRateConfig.rcRate8 = 90;
cfg.controlRateConfig.rcExpo8 = 65;
cfg.controlRateConfig.rollPitchRate = 0;
cfg.controlRateConfig.yawRate = 0;
cfg.dynThrPID = 0;
cfg.tpaBreakPoint = 1500;
cfg.thrMid8 = 50;
cfg.thrExpo8 = 0;
cfg.controlRateConfig.thrMid8 = 50;
cfg.controlRateConfig.thrExpo8 = 0;
// for (i = 0; i < CHECKBOXITEMS; i++)
// cfg.activate[i] = 0;
cfg.angleTrim[0] = 0;
@ -283,7 +275,7 @@ static void resetConf(void)
cfg.acc_unarmedcal = 1;
// Radio
parseRcChannels("AETR1234");
parseRcChannels("AETR1234", &mcfg.rxConfig);
cfg.deadband = 0;
cfg.yawdeadband = 0;
cfg.alt_hold_throttle_neutral = 40;
@ -324,7 +316,7 @@ static void resetConf(void)
mcfg.reboot_character = 'R';
// custom mixer. clear by defaults.
for (i = 0; i < MAX_MOTORS; i++)
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
mcfg.customMixer[i].throttle = 0.0f;
// copy default config into all 3 profiles

3
src/config.h
View file

@ -41,3 +41,6 @@ void featureClear(uint32_t mask);
void featureClearAll(void);
uint32_t featureMask(void);
void readEEPROM(void);
void writeEEPROM(uint8_t b, uint8_t updateProfile);
void checkFirstTime(bool reset);

9
src/config_storage.h
View file

@ -6,13 +6,7 @@ typedef struct config_t {
uint8_t I8[PID_ITEM_COUNT];
uint8_t D8[PID_ITEM_COUNT];
uint8_t rcRate8;
uint8_t rcExpo8;
uint8_t thrMid8;
uint8_t thrExpo8;
uint8_t rollPitchRate;
uint8_t yawRate;
controlRateConfig_t controlRateConfig;
uint8_t dynThrPID;
uint16_t tpaBreakPoint; // Breakpoint where TPA is activated
@ -85,6 +79,7 @@ typedef struct master_t {
uint16_t deadband3d_high; // max 3d value
uint16_t neutral3d; // center 3d value
uint16_t deadband3d_throttle; // default throttle deadband from MIDRC
uint16_t motor_pwm_rate; // The update rate of motor outputs (50-498Hz)
uint16_t servo_pwm_rate; // The update rate of servo outputs (50-498Hz)

28
src/flight_mixer.h
View file

@ -1,5 +1,33 @@
#pragma once
// Syncronized with GUI. Only exception is mixer > 11, which is always returned as 11 during serialization.
typedef enum MultiType
{
MULTITYPE_TRI = 1,
MULTITYPE_QUADP = 2,
MULTITYPE_QUADX = 3,
MULTITYPE_BI = 4,
MULTITYPE_GIMBAL = 5,
MULTITYPE_Y6 = 6,
MULTITYPE_HEX6 = 7,
MULTITYPE_FLYING_WING = 8,
MULTITYPE_Y4 = 9,
MULTITYPE_HEX6X = 10,
MULTITYPE_OCTOX8 = 11, // Java GUI is same for the next 3 configs
MULTITYPE_OCTOFLATP = 12, // MultiWinGui shows this differently
MULTITYPE_OCTOFLATX = 13, // MultiWinGui shows this differently
MULTITYPE_AIRPLANE = 14, // airplane / singlecopter / dualcopter (not yet properly supported)
MULTITYPE_HELI_120_CCPM = 15,
MULTITYPE_HELI_90_DEG = 16,
MULTITYPE_VTAIL4 = 17,
MULTITYPE_HEX6H = 18,
MULTITYPE_PPM_TO_SERVO = 19, // PPM -> servo relay
MULTITYPE_DUALCOPTER = 20,
MULTITYPE_SINGLECOPTER = 21,
MULTITYPE_CUSTOM = 22, // no current GUI displays this
MULTITYPE_LAST = 23
} MultiType;
// Custom mixer data per motor
typedef struct motorMixer_t {
float throttle;

7
src/gimbal.h Normal file
View file

@ -0,0 +1,7 @@
#pragma once
typedef enum GimbalFlags {
GIMBAL_NORMAL = 1 << 0,
GIMBAL_MIXTILT = 1 << 1,
GIMBAL_FORWARDAUX = 1 << 2,
} GimbalFlags;

20
src/gps_common.c
View file

@ -243,7 +243,8 @@ static void GPS_calc_nav_rate(int max_speed);
static void GPS_update_crosstrack(void);
static bool UBLOX_parse_gps(void);
static int16_t GPS_calc_desired_speed(int16_t max_speed, bool _slow);
int32_t wrap_18000(int32_t error);
static int32_t wrap_18000(int32_t error);
static int32_t wrap_36000(int32_t angle);
typedef struct {
@ -785,7 +786,7 @@ static int16_t GPS_calc_desired_speed(int16_t max_speed, bool _slow)
////////////////////////////////////////////////////////////////////////////////////
// Utilities
//
int32_t wrap_18000(int32_t error)
static int32_t wrap_18000(int32_t error)
{
if (error > 18000)
error -= 36000;
@ -1265,3 +1266,18 @@ static bool UBLOX_parse_gps(void)
}
return false;
}
void updateGpsState(void)
{
float sin_yaw_y = sinf(heading * 0.0174532925f);
float cos_yaw_x = cosf(heading * 0.0174532925f);
if (cfg.nav_slew_rate) {
nav_rated[LON] += constrain(wrap_18000(nav[LON] - nav_rated[LON]), -cfg.nav_slew_rate, cfg.nav_slew_rate); // TODO check this on uint8
nav_rated[LAT] += constrain(wrap_18000(nav[LAT] - nav_rated[LAT]), -cfg.nav_slew_rate, cfg.nav_slew_rate);
GPS_angle[ROLL] = (nav_rated[LON] * cos_yaw_x - nav_rated[LAT] * sin_yaw_y) / 10;
GPS_angle[PITCH] = (nav_rated[LON] * sin_yaw_y + nav_rated[LAT] * cos_yaw_x) / 10;
} else {
GPS_angle[ROLL] = (nav[LON] * cos_yaw_x - nav[LAT] * sin_yaw_y) / 10;
GPS_angle[PITCH] = (nav[LON] * sin_yaw_y + nav[LAT] * cos_yaw_x) / 10;
}
}

13
src/gps_common.h
View file

@ -1,5 +1,8 @@
#pragma once
#define LAT 0
#define LON 1
typedef enum {
GPS_NMEA = 0,
GPS_UBLOX,
@ -17,3 +20,13 @@ typedef enum {
GPS_BAUD_9600,
GPS_BAUD_MAX = GPS_BAUD_9600
} GPSBaudRates;
// gps
void gpsInit(uint8_t baudrate);
void gpsThread(void);
int8_t gpsSetPassthrough(void);
void GPS_reset_home_position(void);
void GPS_reset_nav(void);
void GPS_set_next_wp(int32_t* lat, int32_t* lon);
void gpsSetPIDs(void);
void updateGpsState(void);

1
src/main.c
View file

@ -2,6 +2,7 @@
#include "flight_common.h"
#include "mw.h"
#include "gps_common.h"
#include "rx_sbus.h"
#include "rx_sumd.h"
#include "rx_spektrum.h"

43
src/mw.c
View file

@ -7,11 +7,13 @@
#include "serial_cli.h"
#include "telemetry_common.h"
#include "typeconversion.h"
#include "gps_common.h"
#include "rx_common.h"
#include "rx_sbus.h"
#include "rx_sumd.h"
#include "rx_spektrum.h"
#include "failsafe.h"
#include "statusindicator.h"
// June 2013 V2.2-dev
@ -24,8 +26,6 @@ int16_t headFreeModeHold;
int16_t telemTemperature1; // gyro sensor temperature
int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
int16_t lookupPitchRollRC[PITCH_LOOKUP_LENGTH]; // lookup table for expo & RC rate PITCH+ROLL
int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH]; // lookup table for expo & mid THROTTLE
uint16_t rssi; // range: [0;1023]
static void pidMultiWii(void);
@ -65,21 +65,6 @@ bool AccInflightCalibrationSavetoEEProm = false;
bool AccInflightCalibrationActive = false;
uint16_t InflightcalibratingA = 0;
void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat)
{
uint8_t i, r;
for (r = 0; r < repeat; r++) {
for (i = 0; i < num; i++) {
LED0_TOGGLE; // switch LEDPIN state
BEEP_ON;
delay(wait);
BEEP_OFF;
}
delay(60);
}
}
void annexCode(void)
{
static uint32_t calibratedAccTime;
@ -114,7 +99,7 @@ void annexCode(void)
tmp2 = tmp / 100;
rcCommand[axis] = lookupPitchRollRC[tmp2] + (tmp - tmp2 * 100) * (lookupPitchRollRC[tmp2 + 1] - lookupPitchRollRC[tmp2]) / 100;
prop1 = 100 - (uint16_t)cfg.rollPitchRate * tmp / 500;
prop1 = 100 - (uint16_t)cfg.controlRateConfig.rollPitchRate * tmp / 500;
prop1 = (uint16_t)prop1 * prop2 / 100;
} else { // YAW
if (cfg.yawdeadband) {
@ -125,7 +110,7 @@ void annexCode(void)
}
}
rcCommand[axis] = tmp * -mcfg.yaw_control_direction;
prop1 = 100 - (uint16_t)cfg.yawRate * abs(tmp) / 500;
prop1 = 100 - (uint16_t)cfg.controlRateConfig.yawRate * abs(tmp) / 500;
}
dynP8[axis] = (uint16_t)cfg.P8[axis] * prop1 / 100;
dynI8[axis] = (uint16_t)cfg.I8[axis] * prop1 / 100;
@ -222,7 +207,7 @@ static void mwArm(void)
headFreeModeHold = heading;
}
} else if (!f.ARMED) {
blinkLED(2, 255, 1);
blinkLedAndSoundBeeper(2, 255, 1);
}
}
@ -311,10 +296,10 @@ static void pidRewrite(void)
errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -((int)mcfg.max_angle_inclination), +mcfg.max_angle_inclination) - angle[axis] + cfg.angleTrim[axis]; // 16 bits is ok here
}
if (axis == 2) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
AngleRateTmp = (((int32_t)(cfg.yawRate + 27) * rcCommand[2]) >> 5);
AngleRateTmp = (((int32_t)(cfg.controlRateConfig.yawRate + 27) * rcCommand[2]) >> 5);
} else {
if (!f.ANGLE_MODE) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
AngleRateTmp = ((int32_t) (cfg.rollPitchRate + 27) * rcCommand[axis]) >> 4;
AngleRateTmp = ((int32_t) (cfg.controlRateConfig.rollPitchRate + 27) * rcCommand[axis]) >> 4;
if (f.HORIZON_MODE) {
// mix up angle error to desired AngleRateTmp to add a little auto-level feel
AngleRateTmp += (errorAngle * cfg.I8[PIDLEVEL]) >> 8;
@ -507,7 +492,7 @@ void loop(void)
if (i) {
mcfg.current_profile = i - 1;
writeEEPROM(0, false);
blinkLED(2, 40, i);
blinkLedAndSoundBeeper(2, 40, i);
// TODO alarmArray[0] = i;
}
@ -816,17 +801,7 @@ void loop(void)
if (sensors(SENSOR_GPS)) {
if ((f.GPS_HOME_MODE || f.GPS_HOLD_MODE) && f.GPS_FIX_HOME) {
float sin_yaw_y = sinf(heading * 0.0174532925f);
float cos_yaw_x = cosf(heading * 0.0174532925f);
if (cfg.nav_slew_rate) {
nav_rated[LON] += constrain(wrap_18000(nav[LON] - nav_rated[LON]), -cfg.nav_slew_rate, cfg.nav_slew_rate); // TODO check this on uint8
nav_rated[LAT] += constrain(wrap_18000(nav[LAT] - nav_rated[LAT]), -cfg.nav_slew_rate, cfg.nav_slew_rate);
GPS_angle[ROLL] = (nav_rated[LON] * cos_yaw_x - nav_rated[LAT] * sin_yaw_y) / 10;
GPS_angle[PITCH] = (nav_rated[LON] * sin_yaw_y + nav_rated[LAT] * cos_yaw_x) / 10;
} else {
GPS_angle[ROLL] = (nav[LON] * cos_yaw_x - nav[LAT] * sin_yaw_y) / 10;
GPS_angle[PITCH] = (nav[LON] * sin_yaw_y + nav[LAT] * cos_yaw_x) / 10;
}
updateGpsState();
}
}

61
src/mw.h
View file

@ -9,9 +9,6 @@
#define VERSION 230
#define LAT 0
#define LON 1
// Serial GPS only variables
// navigation mode
typedef enum NavigationMode
@ -21,40 +18,7 @@ typedef enum NavigationMode
NAV_MODE_WP
} NavigationMode;
// Syncronized with GUI. Only exception is mixer > 11, which is always returned as 11 during serialization.
typedef enum MultiType
{
MULTITYPE_TRI = 1,
MULTITYPE_QUADP = 2,
MULTITYPE_QUADX = 3,
MULTITYPE_BI = 4,
MULTITYPE_GIMBAL = 5,
MULTITYPE_Y6 = 6,
MULTITYPE_HEX6 = 7,
MULTITYPE_FLYING_WING = 8,
MULTITYPE_Y4 = 9,
MULTITYPE_HEX6X = 10,
MULTITYPE_OCTOX8 = 11, // Java GUI is same for the next 3 configs
MULTITYPE_OCTOFLATP = 12, // MultiWinGui shows this differently
MULTITYPE_OCTOFLATX = 13, // MultiWinGui shows this differently
MULTITYPE_AIRPLANE = 14, // airplane / singlecopter / dualcopter (not yet properly supported)
MULTITYPE_HELI_120_CCPM = 15,
MULTITYPE_HELI_90_DEG = 16,
MULTITYPE_VTAIL4 = 17,
MULTITYPE_HEX6H = 18,
MULTITYPE_PPM_TO_SERVO = 19, // PPM -> servo relay
MULTITYPE_DUALCOPTER = 20,
MULTITYPE_SINGLECOPTER = 21,
MULTITYPE_CUSTOM = 22, // no current GUI displays this
MULTITYPE_LAST = 23
} MultiType;
typedef enum GimbalFlags {
GIMBAL_NORMAL = 1 << 0,
GIMBAL_MIXTILT = 1 << 1,
GIMBAL_FORWARDAUX = 1 << 2,
} GimbalFlags;
#include "gimbal.h"
#include "flight_mixer.h"
enum {
@ -105,11 +69,6 @@ extern uint8_t vbat;
extern int16_t telemTemperature1; // gyro sensor temperature
extern uint8_t toggleBeep;
#define PITCH_LOOKUP_LENGTH 7
#define THROTTLE_LOOKUP_LENGTH 12
extern int16_t lookupPitchRollRC[PITCH_LOOKUP_LENGTH]; // lookup table for expo & RC rate PITCH+ROLL
extern int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH]; // lookup table for expo & mid THROTTLE
// GPS stuff
extern int32_t GPS_coord[2];
extern int32_t GPS_home[2];
@ -143,7 +102,6 @@ void loop(void);
void imuInit(void);
void annexCode(void);
void computeIMU(void);
void blinkLED(uint8_t num, uint8_t wait, uint8_t repeat);
int getEstimatedAltitude(void);
// Sensors
@ -169,26 +127,9 @@ void mixTable(void);
void serialInit(uint32_t baudrate);
void serialCom(void);
// Config
void parseRcChannels(const char *input);
void readEEPROM(void);
void writeEEPROM(uint8_t b, uint8_t updateProfile);
void checkFirstTime(bool reset);
// buzzer
void buzzer(bool warn_vbat);
void systemBeep(bool onoff);
// cli
void cliProcess(void);
// gps
void gpsInit(uint8_t baudrate);
void gpsThread(void);
void gpsSetPIDs(void);
int8_t gpsSetPassthrough(void);
void GPS_reset_home_position(void);
void GPS_reset_nav(void);
void GPS_set_next_wp(int32_t* lat, int32_t* lon);
int32_t wrap_18000(int32_t error);

41
src/rx_common.c
View file

@ -2,6 +2,8 @@
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include "platform.h"
#include "rx_common.h"
@ -9,7 +11,10 @@
#include "drivers/pwm_common.h"
const char rcChannelLetters[] = "AERT1234";
int16_t lookupPitchRollRC[PITCH_LOOKUP_LENGTH]; // lookup table for expo & RC rate PITCH+ROLL
int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH]; // lookup table for expo & mid THROTTLE
int16_t rcData[RC_CHANS]; // interval [1000;2000]
rcReadRawDataPtr rcReadRawFunc = NULL; // receive data from default (pwm/ppm) or additional (spek/sbus/?? receiver drivers)
@ -52,3 +57,39 @@ void computeRC(rxConfig_t *rxConfig)
}
}
}
void generatePitchCurve(controlRateConfig_t *controlRateConfig)
{
uint8_t i;
for (i = 0; i < PITCH_LOOKUP_LENGTH; i++)
lookupPitchRollRC[i] = (2500 + controlRateConfig->rcExpo8 * (i * i - 25)) * i * (int32_t) controlRateConfig->rcRate8 / 2500;
}
void generateThrottleCurve(controlRateConfig_t *controlRateConfig, uint16_t minThrottle, uint16_t maxThrottle)
{
uint8_t i;
for (i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) {
int16_t tmp = 10 * i - controlRateConfig->thrMid8;
uint8_t y = 1;
if (tmp > 0)
y = 100 - controlRateConfig->thrMid8;
if (tmp < 0)
y = controlRateConfig->thrMid8;
lookupThrottleRC[i] = 10 * controlRateConfig->thrMid8 + tmp * (100 - controlRateConfig->thrExpo8 + (int32_t) controlRateConfig->thrExpo8 * (tmp * tmp) / (y * y)) / 10;
lookupThrottleRC[i] = minThrottle + (int32_t) (maxThrottle - minThrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
}
}
void parseRcChannels(const char *input, rxConfig_t *rxConfig)
{
const char *c, *s;
for (c = input; *c; c++) {
s = strchr(rcChannelLetters, *c);
if (s)
rxConfig->rcmap[s - rcChannelLetters] = c - input;
}
}

19
src/rx_common.h
View file

@ -43,8 +43,27 @@ typedef struct rxConfig_s {
uint16_t maxcheck; // maximum rc end
} rxConfig_t;
typedef struct controlRateConfig_s {
uint8_t rcRate8;
uint8_t rcExpo8;
uint8_t thrMid8;
uint8_t thrExpo8;
uint8_t rollPitchRate;
uint8_t yawRate;
} controlRateConfig_t;
#define PITCH_LOOKUP_LENGTH 7
#define THROTTLE_LOOKUP_LENGTH 12
extern int16_t lookupPitchRollRC[PITCH_LOOKUP_LENGTH]; // lookup table for expo & RC rate PITCH+ROLL
extern int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH]; // lookup table for expo & mid THROTTLE
typedef uint16_t (* rcReadRawDataPtr)(rxConfig_t *rxConfig, uint8_t chan); // used by receiver driver to return channel data
uint16_t pwmReadRawRC(rxConfig_t *rxConfig, uint8_t chan);
void computeRC(rxConfig_t *rxConfig);
void generatePitchCurve(controlRateConfig_t *controlRateConfig);
void generateThrottleCurve(controlRateConfig_t *controlRateConfig, uint16_t minThrottle, uint16_t maxThrottle);
void parseRcChannels(const char *input, rxConfig_t *rxConfig);

4
src/sensors_gyro.c
View file

@ -4,7 +4,7 @@
#include "common/maths.h"
#include "flight_common.h"
#include "statusindicator.h"
void GYRO_Common(void)
{
@ -37,7 +37,7 @@ void GYRO_Common(void)
continue;
}
gyroZero[axis] = (g[axis] + (CALIBRATING_GYRO_CYCLES / 2)) / CALIBRATING_GYRO_CYCLES;
blinkLED(10, 15, 1);
blinkLedAndSoundBeeper(10, 15, 1);
}
}
calibratingG--;

14
src/serial_cli.c
View file

@ -171,12 +171,12 @@ const clivalue_t valueTable[] = {
{ "alt_hold_fast_change", VAR_UINT8, &cfg.alt_hold_fast_change, 0, 1 },
{ "throttle_correction_value", VAR_UINT8, &cfg.throttle_correction_value, 0, 150 },
{ "throttle_correction_angle", VAR_UINT16, &cfg.throttle_correction_angle, 1, 900 },
{ "rc_rate", VAR_UINT8, &cfg.rcRate8, 0, 250 },
{ "rc_expo", VAR_UINT8, &cfg.rcExpo8, 0, 100 },
{ "thr_mid", VAR_UINT8, &cfg.thrMid8, 0, 100 },
{ "thr_expo", VAR_UINT8, &cfg.thrExpo8, 0, 100 },
{ "roll_pitch_rate", VAR_UINT8, &cfg.rollPitchRate, 0, 100 },
{ "yawrate", VAR_UINT8, &cfg.yawRate, 0, 100 },
{ "rc_rate", VAR_UINT8, &cfg.controlRateConfig.rcRate8, 0, 250 },
{ "rc_expo", VAR_UINT8, &cfg.controlRateConfig.rcExpo8, 0, 100 },
{ "thr_mid", VAR_UINT8, &cfg.controlRateConfig.thrMid8, 0, 100 },
{ "thr_expo", VAR_UINT8, &cfg.controlRateConfig.thrExpo8, 0, 100 },
{ "roll_pitch_rate", VAR_UINT8, &cfg.controlRateConfig.rollPitchRate, 0, 100 },
{ "yawrate", VAR_UINT8, &cfg.controlRateConfig.yawRate, 0, 100 },
{ "tparate", VAR_UINT8, &cfg.dynThrPID, 0, 100},
{ "tpa_breakpoint", VAR_UINT16, &cfg.tpaBreakPoint, 1000, 2000},
{ "failsafe_delay", VAR_UINT8, &cfg.failsafe_delay, 0, 200 },
@ -731,7 +731,7 @@ static void cliMap(char *cmdline)
cliPrint("Must be any order of AETR1234\r\n");
return;
}
parseRcChannels(cmdline);
parseRcChannels(cmdline, &mcfg.rxConfig);
}
cliPrint("Current assignment: ");
for (i = 0; i < 8; i++)

25
src/serial_msp.c
View file

@ -1,6 +1,7 @@
#include "board.h"
#include "mw.h"
#include "gps_common.h"
#include "serial_cli.h"
#include "telemetry_common.h"
#include "flight_common.h"
@ -318,13 +319,13 @@ static void evaluateCommand(void)
headSerialReply(0);
break;
case MSP_SET_RC_TUNING:
cfg.rcRate8 = read8();
cfg.rcExpo8 = read8();
cfg.rollPitchRate = read8();
cfg.yawRate = read8();
cfg.controlRateConfig.rcRate8 = read8();
cfg.controlRateConfig.rcExpo8 = read8();
cfg.controlRateConfig.rollPitchRate = read8();
cfg.controlRateConfig.yawRate = read8();
cfg.dynThrPID = read8();
cfg.thrMid8 = read8();
cfg.thrExpo8 = read8();
cfg.controlRateConfig.thrMid8 = read8();
cfg.controlRateConfig.thrExpo8 = read8();
headSerialReply(0);
break;
case MSP_SET_MISC:
@ -479,13 +480,13 @@ static void evaluateCommand(void)
break;
case MSP_RC_TUNING:
headSerialReply(7);
serialize8(cfg.rcRate8);
serialize8(cfg.rcExpo8);
serialize8(cfg.rollPitchRate);
serialize8(cfg.yawRate);
serialize8(cfg.controlRateConfig.rcRate8);
serialize8(cfg.controlRateConfig.rcExpo8);
serialize8(cfg.controlRateConfig.rollPitchRate);
serialize8(cfg.controlRateConfig.yawRate);
serialize8(cfg.dynThrPID);
serialize8(cfg.thrMid8);
serialize8(cfg.thrExpo8);
serialize8(cfg.controlRateConfig.thrMid8);
serialize8(cfg.controlRateConfig.thrExpo8);
break;
case MSP_PID:
headSerialReply(3 * PID_ITEM_COUNT);

27
src/statusindicator.c Normal file
View file

@ -0,0 +1,27 @@
#include <stdbool.h>
#include <stdint.h>
#include "platform.h"
#include "drivers/system_common.h"
#include "drivers/gpio_common.h"
#include "drivers/light_led.h"
#include "drivers/sound_beeper.h"
#include "statusindicator.h"
void blinkLedAndSoundBeeper(uint8_t num, uint8_t wait, uint8_t repeat)
{
uint8_t i, r;
for (r = 0; r < repeat; r++) {
for (i = 0; i < num; i++) {
LED0_TOGGLE; // switch LEDPIN state
BEEP_ON;
delay(wait);
BEEP_OFF;
}
delay(60);
}
}

3
src/statusindicator.h Normal file
View file

@ -0,0 +1,3 @@
#pragma once
void blinkLedAndSoundBeeper(uint8_t num, uint8_t wait, uint8_t repeat);

2
src/telemetry_frsky.c
View file

@ -6,6 +6,8 @@
#include "flight_common.h"
#include "gps_common.h"
#include "telemetry_common.h"
#include "telemetry_frsky.h"

1
src/telemetry_hott.c
View file

@ -44,6 +44,7 @@
#include "board.h"
#include "mw.h"
#include "gps_common.h"
#include "telemetry_hott.h"