First cut at polymorphic serial port implementation. Split serialPort_t into uartPort_t and serialPort_t. Calls to uartWrite() can now be replaced with calls to serialWrite().
Replacing calls to serialWriteByte(softSerial_t*, char) with calls to serialWrite(serialPort_t*, char). This completes the proof of concept for polymorphic serial port implementations (uartPort and softSerialPort).
Renaming isSerialAvailable to uartTotalBytesWaiting. Renaming serialAvailable to softSerialTotalBytesWaiting. Adding serialTotalBytesWaiting to serial API and updating calls to the former methods to use the serial API.
Renaming serialRead to softSerialRead. Adding serialRead to serial API and updating calls to uartRead and softSerialRead to use the serial API. Renamed uartPrint to serialPrint which now works on any serialPort implementation.
Replacing calls to isUartTransmitEmpty with isSoftSerialTransmitBufferEmpty. Replacing remaing calls to uartWrite with serialWrite. Adding isSoftSerialTransmitBufferEmpty to the serial API. Adding serialSet/GetBaudRate to the serial API. Since softSerial does not implement serialSetBaudRate some GPS serial initialisation code has been updated.
At this point it is probably possible to switch around all the ports and use a software serial implementation if desired.
By Dominic Clifton / https://github.com/hydra/baseflight/
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@423 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
tri_unarmed_servo to 1 (default) always updates tri servo whether armed or not.
tri_unarmed_servo to 0 will only send servo signal to tail servo when armed.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@392 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
added and began work on integrating failsafe_detect_threshold
got rid of acc_lpf_for_velocity since that seemed no longer used.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@317 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
PWM and ADC configuration is the same as the naze32 for now. Requires an accelerometer is connected via I2C2.
I2C signals SDA2 and SCL2 are on the UEXT header (Pins 6 and 5 respectively)
USART signals TX and RX are on the CON3/CON4 headers (TX = D7, RX = D8)
Onboard LEDs (LED1/LED2) working.
Buzzer support removed for now as it conflicted with PWM map and LEDs.
mma845x support disabled as it conflicted with an LED.
Relocated some NAZE specific comments.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@302 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
status in cli now prints cpu MHz, 72 when running off crystal, 64 when running off intrc.
corrected WHO_AM_I check for mpu6050 when it's used on alternate address (AD0 high).
corrected PWM driver to consider CPU clock for timer prescalers - now things properly work below 72MHz
added a neat hack for pitch angle calculation so that it's not affected when roll reaches 90deg
added proper math for vector rotation instead of small-angle approximation
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@225 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
fixed pwm init for airplane mode mistakenly deleting motors from the mix. flyingwing should really work now.
removed led debug from althold
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@223 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
added VAR_FLOAT to cli - now allows setting/printing float vars
fixed newlines in pwm driver
exported new althold tunables to cli (some are floats) - still not enabled by default until I know it works
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@219 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
I heard thats not a problem since tarduino only allows 4RC+2AUX channels anyway! If you want more, upgrade to PPM.
So you use RC3/4 for GPS, and connect the rest of the channels as usual. Channels used for GPS uart are
skipped, so no changes to 'map' are necessary. Simply connect in order.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@212 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
added ms5611 driver
refactored pressure sensor subsystem to allow multiple sensors
couple changes in PWM driver to make motor/servo arrangement for airplane mode more intuitive
moved MAX_MOTORS/MAX_SERVOS etc into drv_pwm.h
staring to merge back in airplane/flyingwing mixes
fix for tri servo display - mwc moved it to servo[5] again, gui was broken, function not.
will probably implement custom mixer soon (motors only, no servos)
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@198 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
this has been hover-tested.
all current functionality *should* work even though the driver has been rewritten.
please test carefully, especially servo configurations!
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@197 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
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
added a modifier for set (type "set *") to see min/max values for each parameter. this is for gui stuff
bumped config VERSION
fixed 0xffff - now stuff in drv_pwm, after it was mentioned to me for the 3rd time :p
replaced some uint8_t -> uint32_t for loop counters - saving 4 to 8 bytes of flash each time. thanks goes to thee 35+ years of C experience kicad guy.
turned bitfiends into a regular struct - instant 100byte flash size reduction
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@174 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
new config ooptions for failsafe, so current settings are cleared
fixed mistake where yaw servo stuff for tri was still hardcoded even though it had configurable values in cli
reduced level default D to 20 from 100 (dunno what effect this has, shrug)
untested, enable feature FAILSAFE at your own risk.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@155 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
added fifo mode to adxl345 driver, currently disabled. work in progress.
fixed output for PWM 5-8 when used with PPM + camstab + abovequad configs.
fixed baro, now alt-hold actually works. silly copypaste typo.
trashed all remaining parts of power meter and lcd configuration stuff. useless.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@145 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
removed feature digital_servo since its now set by cli instead.
added proper tx end check into uart, to remove delay inside printing out set values and tx buffer overrun during help()
instead of passing a bunch of params to pwm driver, made a config struct
fixed a bug in gps baudrate
fixed typo in stmloader.c
whitespace / indentation cleanups in various drivers
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@137 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
renamed gcc startup file to .S (breaks some lunix dudes apparently)
ppm sum handler waws hardcoded to TIM2 instead of using passed parameter. fixed. (thanks sbaron)
invalid data from pwm/ppm read are returned as midrc, not 1500. (robert_b)
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@133 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
split uart2 initialization inside drv_uart. added receive data callback to use either with GPS or spektrum satellite
added spektrum satellite support, also freeing up 4 motor outputs for hexa/octo/camstab
configurable acc lpf and gyro lpf via cli
configurable (build-time) temperature lpf on baro. seems mostly useless.
fixed a nice boner bug in mag code which ended up multiplying magADC twice with magCal data.
fixed mpu3050 driver to allow configurable lpf, also broke other stuff in the process. considering moving this sort of stuff to "init" struct for sensor.
pwm driver rewritten to fully disable pwm/ppm inputs (such as using spektrum satellite case)
cleaned up double math in gps.c to use sinf/cosf etc
removed TRUSTED_ACCZ since its useless anyway
whitespace cleanup
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@130 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
implemented channel order selection (map in cli). example "map AETR1234" -> ail, ele, throttle, rudder, aux1234. thanks simon for all the halp on this one. truly a mindfuck.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@126 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
added (untested) support for additional PWM output channels incase of PPM input - 4 more, so total of 10 outputs in this mode.
added (mostly untested) support for throttle calibration - short out PPM input connector with a bind plug and power up.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@122 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
