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mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 12:55:19 +03:00
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synced with mwc 2.1. it's suprising how many "new" things in 2.1 didn't actually matter on a real platform.

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removed camtrig stuff since it wasnt possible. somewhat replaced with aux forwarding (see below)
2.1 buzzer code changed, untested.
removed flying wing mixer. nobody used that. 
added alt_hold_throttle_neutral, nav_slew_rate and looptime configuration to cli. default looptime set to 3000. changed default gyro_cmpf to 400 to sync with 2.1.
increased bmp085 oversampling
added gimbal_flags (bit 4 set) flag which, in PPM mode, forwards AUX1..4 to the lower 4 PWM outputs instead of using them as motors. set gimbal_flags=8 to test it out. output is fixed to 50Hz.
merged 2.1 gps changes (not many)
casting in gyro smoothing (nobody uses that anyway)
calibrate accel in gimbal mode, set smallangle in gyro-only mode
vtail4 mixer fix
flight tested on quadx w/ppm.


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@182 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-07-20 14:53:15 +00:00
parent e70d7b5d16
commit c98113b82c
19 changed files with 5363 additions and 5696 deletions
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55
src/serial.c
View file

@ -23,6 +23,7 @@
#define MSP_MOTOR_PINS 115 //out message which pins are in use for motors & servos, for GUI
#define MSP_BOXNAMES 116 //out message the aux switch names
#define MSP_PIDNAMES 117 //out message the PID names
#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
#define MSP_SET_RAW_RC 200 //in message 8 rc chan
#define MSP_SET_RAW_GPS 201 //in message fix, numsat, lat, lon, alt, speed
@ -33,6 +34,7 @@
#define MSP_MAG_CALIBRATION 206 //in message no param
#define MSP_SET_MISC 207 //in message powermeter trig + 8 free for future use
#define MSP_RESET_CONF 208 //in message no param
#define MSP_WP_SET 209 //in message sets a given WP (WP#,lat, lon, alt, flags)
#define MSP_EEPROM_WRITE 250 //in message no param
@ -71,6 +73,8 @@ static const char pidnames[] =
static uint8_t checksum, indRX, inBuf[INBUF_SIZE];
static uint8_t cmdMSP;
static bool guiConnected = false;
// signal that we're in cli mode
uint8_t cliMode = 0;
void serialize32(uint32_t a)
{
@ -148,8 +152,6 @@ void headSerialError(uint8_t s)
void tailSerialReply(void)
{
serialize8(checksum);
// no need to send
// UartSendData();
}
void serializeNames(const char *s)
@ -159,9 +161,6 @@ void serializeNames(const char *s)
serialize8(*c);
}
// signal that we're in cli mode
uint8_t cliMode = 0;
void serialInit(uint32_t baudrate)
{
uartInit(baudrate);
@ -170,7 +169,8 @@ void serialInit(uint32_t baudrate)
static void evaluateCommand(void)
{
uint32_t i;
uint8_t wp_no;
switch (cmdMSP) {
case MSP_SET_RAW_RC:
for (i = 0; i < 8; i++)
@ -225,7 +225,9 @@ static void evaluateCommand(void)
serialize16(cycleTime);
serialize16(i2cGetErrorCounter());
serialize16(sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
serialize32(f.ACC_MODE << BOXACC | f.BARO_MODE << BOXBARO | f.MAG_MODE << BOXMAG | f.ARMED << BOXARM | rcOptions[BOXCAMSTAB] << BOXCAMSTAB | rcOptions[BOXCAMTRIG] << BOXCAMTRIG | f.GPS_HOME_MODE << BOXGPSHOME | f.GPS_HOLD_MODE << BOXGPSHOLD | f.HEADFREE_MODE << BOXHEADFREE | f.PASSTHRU_MODE << BOXPASSTHRU | rcOptions[BOXBEEPERON] << BOXBEEPERON | rcOptions[BOXLEDMAX] << BOXLEDMAX | rcOptions[BOXLLIGHTS] << BOXLLIGHTS | rcOptions[BOXHEADADJ] << BOXHEADADJ);
serialize32(f.ACC_MODE << BOXACC | f.BARO_MODE << BOXBARO | f.MAG_MODE << BOXMAG | f.ARMED << BOXARM | rcOptions[BOXCAMSTAB] << BOXCAMSTAB | rcOptions[BOXCAMTRIG] << BOXCAMTRIG |
f.GPS_HOME_MODE << BOXGPSHOME | f.GPS_HOLD_MODE << BOXGPSHOLD | f.HEADFREE_MODE << BOXHEADFREE | f.PASSTHRU_MODE << BOXPASSTHRU |
rcOptions[BOXBEEPERON] << BOXBEEPERON | rcOptions[BOXLEDMAX] << BOXLEDMAX | rcOptions[BOXLLIGHTS] << BOXLLIGHTS | rcOptions[BOXHEADADJ] << BOXHEADADJ);
break;
case MSP_RAW_IMU:
headSerialReply(18);
@ -322,6 +324,23 @@ static void evaluateCommand(void)
for (i = 0; i < 8; i++)
serialize8(i + 1);
break;
case MSP_WP:
wp_no = read8(); // get the wp number
headSerialReply(12);
if (wp_no == 0) {
serialize8(0); // wp0
serialize32(GPS_home[LAT]);
serialize32(GPS_home[LON]);
serialize16(0); // altitude will come here
serialize8(0); // nav flag will come here
} else if (wp_no == 16) {
serialize8(16); // wp16
serialize32(GPS_hold[LAT]);
serialize32(GPS_hold[LON]);
serialize16(0); // altitude will come here
serialize8(0); // nav flag will come here
}
break;
case MSP_RESET_CONF:
checkFirstTime(true);
headSerialReply(0);
@ -350,6 +369,18 @@ static void evaluateCommand(void)
tailSerialReply();
}
// evaluate all other incoming serial data
static void evaluateOtherData(uint8_t sr)
{
switch (sr) {
case '#':
cliProcess();
break;
case 'R':
systemReset(true); // reboot to bootloader
break;
}
}
void serialCom(void)
{
@ -375,13 +406,9 @@ void serialCom(void)
c = uartRead();
if (c_state == IDLE) {
// still compliant with older single octet command
// enable CLI
if (c == '#')
cliProcess();
else if (c == 'R')
systemReset(true); // reboot to bootloader
c_state = (c == '$') ? HEADER_START : IDLE;
if (c_state == IDLE)
evaluateOtherData(c); // evaluate all other incoming serial data
} else if (c_state == HEADER_START) {
c_state = (c == 'M') ? HEADER_M : IDLE;
} else if (c_state == HEADER_M) {
@ -412,7 +439,7 @@ void serialCom(void)
c_state = IDLE;
}
}
if (!cliMode && !uartAvailable() && feature(FEATURE_TELEMETRY) && f.ARMED) { //The first 2 conditions should never evaluate to true but I'm putting it here anyway - silpstream
if (!cliMode && !uartAvailable() && feature(FEATURE_TELEMETRY) && f.ARMED) { // The first 2 conditions should never evaluate to true but I'm putting it here anyway - silpstream
sendTelemetry();
return;
}