From 2959a8cc85c0a601057a3d3cc69a0e7248780532 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Mon, 25 Apr 2016 22:15:25 +1000 Subject: [PATCH 001/139] IMU,FW: Fallback to MAG if GPS CoG is significatly different from estimated heading. If GPS is the only source of heading it will be used regardless. Closes #165 --- src/main/flight/imu.c | 60 ++++++++++++++++++++++++++++++------------- 1 file changed, 42 insertions(+), 18 deletions(-) diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c index 3401e0332a4..bfa6ab60ae0 100644 --- a/src/main/flight/imu.c +++ b/src/main/flight/imu.c @@ -70,8 +70,10 @@ // omega_I. At larger spin rates the DCM PI controller can get 'dizzy' // which results in false gyro drift. See // http://gentlenav.googlecode.com/files/fastRotations.pdf -#define SPIN_RATE_LIMIT 20 -#define MAX_ACC_SQ_NEARNESS 25 // 25% or G^2, accepted acceleration of (0.87 - 1.12G) + +#define SPIN_RATE_LIMIT 20 +#define MAX_ACC_SQ_NEARNESS 25 // 25% or G^2, accepted acceleration of (0.87 - 1.12G) +#define MAX_GPS_HEADING_ERROR_DEG 15 // Amount of error between GPS CoG and estimated Yaw at witch we stop trusting GPS and fallback to MAG t_fp_vector imuAccelInBodyFrame; t_fp_vector imuMeasuredGravityBF; @@ -406,30 +408,52 @@ static bool isMagnetometerHealthy(void) static void imuCalculateEstimatedAttitude(float dT) { - float courseOverGround = 0; + const bool canUseMAG = sensors(SENSOR_MAG) && isMagnetometerHealthy(); + const int accWeight = imuCalculateAccelerometerConfidence(); - int accWeight = 0; + float courseOverGround = 0; bool useMag = false; bool useCOG = false; - accWeight = imuCalculateAccelerometerConfidence(); - - if (sensors(SENSOR_MAG) && isMagnetometerHealthy()) { - useMag = true; - } #if defined(GPS) - else if (STATE(FIXED_WING) && sensors(SENSOR_GPS) && STATE(GPS_FIX) && gpsSol.numSat >= 5 && gpsSol.groundSpeed >= 300) { - // In case of a fixed-wing aircraft we can use GPS course over ground to correct heading - if (gpsHeadingInitialized) { - courseOverGround = DECIDEGREES_TO_RADIANS(gpsSol.groundCourse); - useCOG = true; + if (STATE(FIXED_WING)) { + bool canUseCOG = sensors(SENSOR_GPS) && STATE(GPS_FIX) && gpsSol.numSat >= 6 && gpsSol.groundSpeed >= 300; + + if (canUseCOG) { + if (gpsHeadingInitialized) { + // Use GPS heading if error is acceptable or if it's the only source of heading + if (ABS(gpsSol.groundCourse - attitude.values.yaw) < DEGREES_TO_DECIDEGREES(MAX_GPS_HEADING_ERROR_DEG) || !canUseMAG) { + courseOverGround = DECIDEGREES_TO_RADIANS(gpsSol.groundCourse); + useCOG = true; + } + } + else { + // Re-initialize quaternion from known Roll, Pitch and GPS heading + imuComputeQuaternionFromRPY(attitude.values.roll, attitude.values.pitch, gpsSol.groundCourse); + gpsHeadingInitialized = true; + } + + // If we can't use COG and there's MAG available - fallback + if (!useCOG && canUseMAG) { + useMag = true; + } } - else { - // Re-initialize quaternion from known Roll, Pitch and GPS heading - imuComputeQuaternionFromRPY(attitude.values.roll, attitude.values.pitch, gpsSol.groundCourse); - gpsHeadingInitialized = true; + else if (canUseMAG) { + useMag = true; + gpsHeadingInitialized = true; // GPS heading initialised from MAG, continue on GPS if possible + } + } + else { + // Multicopters don't use GPS heading + if (canUseMAG) { + useMag = true; } } +#else + // In absence of GPS MAG is the only option + if (canUseMAG) { + useMag = true; + } #endif imuMahonyAHRSupdate(dT, imuMeasuredRotationBF.A[X], imuMeasuredRotationBF.A[Y], imuMeasuredRotationBF.A[Z], From e5914c40558271b6c7d7aa8eb26782229b9a2465 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Wed, 18 May 2016 20:31:57 +1000 Subject: [PATCH 002/139] IMU: More tolerance for error between MAG and GPS heading --- src/main/flight/imu.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c index bfa6ab60ae0..41c4378ee0a 100644 --- a/src/main/flight/imu.c +++ b/src/main/flight/imu.c @@ -73,7 +73,7 @@ #define SPIN_RATE_LIMIT 20 #define MAX_ACC_SQ_NEARNESS 25 // 25% or G^2, accepted acceleration of (0.87 - 1.12G) -#define MAX_GPS_HEADING_ERROR_DEG 15 // Amount of error between GPS CoG and estimated Yaw at witch we stop trusting GPS and fallback to MAG +#define MAX_GPS_HEADING_ERROR_DEG 60 // Amount of error between GPS CoG and estimated Yaw at witch we stop trusting GPS and fallback to MAG t_fp_vector imuAccelInBodyFrame; t_fp_vector imuMeasuredGravityBF; From 0308cee0b021e48a01502bd681989d7b49c8600c Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Sun, 21 Aug 2016 15:16:07 +0100 Subject: [PATCH 003/139] Moved NAV_MAX_WAYPOINTS definition to common.h --- src/main/target/CC3D/target.h | 1 - src/main/target/FURYF3/target.h | 1 - src/main/target/NAZE/target.h | 1 - src/main/target/RCEXPLORERF3/target.h | 69 ++++++++++----------------- src/main/target/RMDO/target.h | 1 + src/main/target/SPARKY/target.h | 1 - src/main/target/SPRACINGF3/target.h | 3 +- src/main/target/common.h | 2 + 8 files changed, 30 insertions(+), 49 deletions(-) diff --git a/src/main/target/CC3D/target.h b/src/main/target/CC3D/target.h index becba9fc9e1..89ae50cd5da 100644 --- a/src/main/target/CC3D/target.h +++ b/src/main/target/CC3D/target.h @@ -164,7 +164,6 @@ #define NAV //#define NAV_AUTO_MAG_DECLINATION //#define NAV_GPS_GLITCH_DETECTION -#define NAV_MAX_WAYPOINTS 30 #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT diff --git a/src/main/target/FURYF3/target.h b/src/main/target/FURYF3/target.h index 1838018905e..0600c95fa99 100755 --- a/src/main/target/FURYF3/target.h +++ b/src/main/target/FURYF3/target.h @@ -159,7 +159,6 @@ #define NAV #define NAV_AUTO_MAG_DECLINATION #define NAV_GPS_GLITCH_DETECTION -#define NAV_MAX_WAYPOINTS 60 #define DEFAULT_FEATURES FEATURE_BLACKBOX #define DEFAULT_RX_FEATURE FEATURE_RX_PPM diff --git a/src/main/target/NAZE/target.h b/src/main/target/NAZE/target.h index 7c14693401c..ca3a4abf20e 100644 --- a/src/main/target/NAZE/target.h +++ b/src/main/target/NAZE/target.h @@ -185,7 +185,6 @@ #define NAV //#define NAV_AUTO_MAG_DECLINATION #define NAV_GPS_GLITCH_DETECTION -#define NAV_MAX_WAYPOINTS 30 //#define LED_STRIP #define WS2811_TIMER TIM3 diff --git a/src/main/target/RCEXPLORERF3/target.h b/src/main/target/RCEXPLORERF3/target.h index 78910b76a34..e1690deb629 100644 --- a/src/main/target/RCEXPLORERF3/target.h +++ b/src/main/target/RCEXPLORERF3/target.h @@ -21,31 +21,27 @@ #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE -#define LED0 PB4 -#define LED1 PB5 +#define LED0 PB4 +#define LED1 PB5 -#define BEEPER PA0 +#define BEEPER PA0 #define BEEPER_INVERTED -#define USABLE_TIMER_CHANNEL_COUNT 6 - - #define USE_EXTI +#define MPU_INT_EXTI PA15 #define USE_MPU_DATA_READY_SIGNAL -#define MPU_INT_EXTI PA15 #define EXTI15_10_CALLBACK_HANDLER_COUNT 1 // MPU data ready #define GYRO #define USE_GYRO_SPI_MPU6000 -#define USE_ACC_SPI_MPU6000 +#define GYRO_MPU6000_ALIGN CW180_DEG #define MPU6000_CS_PIN PB12 #define MPU6000_SPI_INSTANCE SPI2 #define ACC - -#define ACC_MPU6000_ALIGN CW180_DEG -#define GYRO_MPU6000_ALIGN CW180_DEG +#define USE_ACC_SPI_MPU6000 +#define ACC_MPU6000_ALIGN CW180_DEG #define BARO #define USE_BARO_MS5611 @@ -54,12 +50,7 @@ #define USE_MPU9250_MAG // Enables bypass configuration #define USE_MAG_AK8975 #define USE_MAG_HMC5883 // External - -#define MAG_AK8975_ALIGN CW180_DEG - -#define SONAR -#define SONAR_TRIGGER_PIN PA6 // RC_CH7 (PB0) - only 3.3v ( add a 1K Ohms resistor ) -#define SONAR_ECHO_PIN PB1 // RC_CH8 (PB1) - only 3.3v ( add a 1K Ohms resistor ) +#define MAG_AK8975_ALIGN CW180_DEG #define USB_IO @@ -67,7 +58,7 @@ #define USE_UART1 #define USE_UART2 #define USE_UART3 -#define SERIAL_PORT_COUNT 4 +#define SERIAL_PORT_COUNT 4 #define UART1_TX_PIN PB6 #define UART1_RX_PIN PB7 @@ -79,7 +70,7 @@ #define UART3_RX_PIN PB11 // PB11 (AF7) #define USE_I2C -#define I2C_DEVICE (I2CDEV_2) // SDA (PA10/AF4), SCL (PA9/AF4) +#define I2C_DEVICE (I2CDEV_2) // SDA (PA10/AF4), SCL (PA9/AF4) #define I2C2_SCL PA9 #define I2C2_SDA PA10 @@ -92,18 +83,14 @@ #define SPI2_MISO_PIN PB14 #define SPI2_MOSI_PIN PB15 -#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_GPS | SENSOR_MAG) - #define USE_ADC #define BOARD_HAS_VOLTAGE_DIVIDER - -#define ADC_INSTANCE ADC2 -#define VBAT_ADC_PIN PA5 -#define CURRENT_METER_ADC_PIN PB2 -#define RSSI_ADC_PIN PA6 +#define ADC_INSTANCE ADC2 +#define VBAT_ADC_PIN PA5 +#define CURRENT_METER_ADC_PIN PB2 +#define RSSI_ADC_PIN PA6 #define LED_STRIP // LED strip configuration using PWM motor output pin 5. - #define USE_LED_STRIP_ON_DMA1_CHANNEL3 #define WS2811_PIN PB8 // TIM16_CH1 #define WS2811_TIMER TIM16 @@ -112,6 +99,12 @@ #define WS2811_DMA_TC_FLAG DMA1_FLAG_TC3 #define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH3_HANDLER +#define SONAR +#define SONAR_TRIGGER_PIN PA6 // RC_CH7 (PB0) - only 3.3v ( add a 1K Ohms resistor ) +#define SONAR_ECHO_PIN PB1 // RC_CH8 (PB1) - only 3.3v ( add a 1K Ohms resistor ) + +#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_GPS | SENSOR_MAG) + #define DEFAULT_FEATURES FEATURE_VBAT #define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL #define SERIALRX_PROVIDER SERIALRX_SBUS @@ -120,29 +113,19 @@ #define NAV #define NAV_AUTO_MAG_DECLINATION #define NAV_GPS_GLITCH_DETECTION -#define NAV_MAX_WAYPOINTS 60 -#define GPS -#define BLACKBOX -#define TELEMETRY -#define SERIAL_RX -#define AUTOTUNE -#define DISPLAY -#define USE_SERVOS -#define USE_CLI #define SPEKTRUM_BIND -// USART3, -#define BIND_PIN PA3 +#define BIND_PIN PA3 // USART3, #define USE_SERIAL_4WAY_BLHELI_INTERFACE // Number of available PWM outputs #define MAX_PWM_OUTPUT_PORTS 6 -#define TARGET_IO_PORTA 0xffff -#define TARGET_IO_PORTB 0xffff -#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15)) -#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4)) +#define TARGET_IO_PORTA 0xffff +#define TARGET_IO_PORTB 0xffff +#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15)) +#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4)) #define USABLE_TIMER_CHANNEL_COUNT 6 -#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(17)) +#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(17)) diff --git a/src/main/target/RMDO/target.h b/src/main/target/RMDO/target.h index 6d4b7955363..56a5a00ddac 100644 --- a/src/main/target/RMDO/target.h +++ b/src/main/target/RMDO/target.h @@ -108,6 +108,7 @@ #define NAV //#define NAV_AUTO_MAG_DECLINATION #define NAV_GPS_GLITCH_DETECTION +#undef NAV_MAX_WAYPOINTS #define NAV_MAX_WAYPOINTS 30 #define SPEKTRUM_BIND diff --git a/src/main/target/SPARKY/target.h b/src/main/target/SPARKY/target.h index 0401400ed2b..d9a0709a661 100644 --- a/src/main/target/SPARKY/target.h +++ b/src/main/target/SPARKY/target.h @@ -82,7 +82,6 @@ #define NAV #define NAV_AUTO_MAG_DECLINATION #define NAV_GPS_GLITCH_DETECTION -#define NAV_MAX_WAYPOINTS 60 #define LED_STRIP #if 1 diff --git a/src/main/target/SPRACINGF3/target.h b/src/main/target/SPRACINGF3/target.h index e921f87c526..d5a73efb1a6 100644 --- a/src/main/target/SPRACINGF3/target.h +++ b/src/main/target/SPRACINGF3/target.h @@ -107,13 +107,12 @@ #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT +#define DEFAULT_FEATURES (FEATURE_BLACKBOX | FEATURE_VBAT) #define DEFAULT_RX_FEATURE FEATURE_RX_PPM -#define DEFAULT_FEATURES FEATURE_BLACKBOX #define NAV #define NAV_AUTO_MAG_DECLINATION #define NAV_GPS_GLITCH_DETECTION -#define NAV_MAX_WAYPOINTS 60 #define SPEKTRUM_BIND // USART3, diff --git a/src/main/target/common.h b/src/main/target/common.h index 2b302ab2c70..d69e2f229d7 100644 --- a/src/main/target/common.h +++ b/src/main/target/common.h @@ -52,8 +52,10 @@ #define TELEMETRY_IBUS #define USE_PMW_SERVO_DRIVER #define PWM_DRIVER_PCA9685 +#define NAV_MAX_WAYPOINTS 60 #else #define SKIP_CLI_COMMAND_HELP #define SKIP_RX_MSP #define DISABLE_UNCOMMON_MIXERS +#define NAV_MAX_WAYPOINTS 30 #endif From abc7cec66ac589a3270ca72cad4d4f310b0ae0b4 Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Fri, 14 Oct 2016 08:21:55 +0100 Subject: [PATCH 004/139] Removed further NAV_MAX_WAYPOINTS from target.h files --- src/main/target/AIRHEROF3/target.h | 1 - src/main/target/COLIBRI_RACE/target.h | 1 - src/main/target/OMNIBUS/target.h | 1 - src/main/target/SPARKY2/target.h | 1 - src/main/target/SPRACINGF3EVO/target.h | 1 - 5 files changed, 5 deletions(-) diff --git a/src/main/target/AIRHEROF3/target.h b/src/main/target/AIRHEROF3/target.h index 568de7bb7ab..555c9d2093f 100755 --- a/src/main/target/AIRHEROF3/target.h +++ b/src/main/target/AIRHEROF3/target.h @@ -91,7 +91,6 @@ #define NAV #define NAV_AUTO_MAG_DECLINATION #define NAV_GPS_GLITCH_DETECTION -#define NAV_MAX_WAYPOINTS 60 #define DEFAULT_FEATURES FEATURE_VBAT #define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL diff --git a/src/main/target/COLIBRI_RACE/target.h b/src/main/target/COLIBRI_RACE/target.h index 88d61074969..ea222ecd762 100755 --- a/src/main/target/COLIBRI_RACE/target.h +++ b/src/main/target/COLIBRI_RACE/target.h @@ -113,7 +113,6 @@ #define NAV #define NAV_AUTO_MAG_DECLINATION #define NAV_GPS_GLITCH_DETECTION -#define NAV_MAX_WAYPOINTS 60 #define DEFAULT_FEATURES FEATURE_VBAT #define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL diff --git a/src/main/target/OMNIBUS/target.h b/src/main/target/OMNIBUS/target.h index c3ece34d23e..f092a12928b 100644 --- a/src/main/target/OMNIBUS/target.h +++ b/src/main/target/OMNIBUS/target.h @@ -185,7 +185,6 @@ #define NAV #define NAV_AUTO_MAG_DECLINATION #define NAV_GPS_GLITCH_DETECTION -#define NAV_MAX_WAYPOINTS 60 #define BUTTONS #define BUTTON_A_PORT GPIOB // Non-existent (PB1 used for RSSI/MAXCS) diff --git a/src/main/target/SPARKY2/target.h b/src/main/target/SPARKY2/target.h index 2a50061958b..a6c7b95aaee 100644 --- a/src/main/target/SPARKY2/target.h +++ b/src/main/target/SPARKY2/target.h @@ -133,7 +133,6 @@ #define NAV #define NAV_AUTO_MAG_DECLINATION #define NAV_GPS_GLITCH_DETECTION -#define NAV_MAX_WAYPOINTS 60 #define USE_SERIAL_4WAY_BLHELI_INTERFACE diff --git a/src/main/target/SPRACINGF3EVO/target.h b/src/main/target/SPRACINGF3EVO/target.h index 7ee7a3d09bb..451a92c3873 100755 --- a/src/main/target/SPRACINGF3EVO/target.h +++ b/src/main/target/SPRACINGF3EVO/target.h @@ -157,7 +157,6 @@ #define NAV #define NAV_AUTO_MAG_DECLINATION #define NAV_GPS_GLITCH_DETECTION -#define NAV_MAX_WAYPOINTS 60 #define USE_SERIAL_4WAY_BLHELI_INTERFACE From 3d39ab26e060953f6c9b877944416a47b6031f1b Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Sun, 16 Oct 2016 21:32:28 +1000 Subject: [PATCH 005/139] Remove unused linker script; Fix incorrect stack location and size on F4 targets --- src/main/startup/startup_stm32f40xx.s | 6 +- src/main/startup/startup_stm32f411xe.s | 6 +- src/main/target/link/stm32_flash_f4xx.ld | 134 ----------------------- 3 files changed, 2 insertions(+), 144 deletions(-) delete mode 100644 src/main/target/link/stm32_flash_f4xx.ld diff --git a/src/main/startup/startup_stm32f40xx.s b/src/main/startup/startup_stm32f40xx.s index 680ec28dd04..ad7dcdacfcb 100644 --- a/src/main/startup/startup_stm32f40xx.s +++ b/src/main/startup/startup_stm32f40xx.s @@ -165,17 +165,13 @@ Infinite_Loop: * 0x0000.0000. * *******************************************************************************/ - .section .irqstack,"aw",%progbits - irq_stack: - .space 1024 - .section .isr_vector,"a",%progbits .type g_pfnVectors, %object .size g_pfnVectors, .-g_pfnVectors g_pfnVectors: - .word irq_stack+1024 + .word _estack .word Reset_Handler .word NMI_Handler .word HardFault_Handler diff --git a/src/main/startup/startup_stm32f411xe.s b/src/main/startup/startup_stm32f411xe.s index 4714dfe71bc..388a5afcd29 100644 --- a/src/main/startup/startup_stm32f411xe.s +++ b/src/main/startup/startup_stm32f411xe.s @@ -164,17 +164,13 @@ Infinite_Loop: * 0x0000.0000. * *******************************************************************************/ - .section .irqstack,"aw",%progbits - irq_stack: - .space 1024 - .section .isr_vector,"a",%progbits .type g_pfnVectors, %object .size g_pfnVectors, .-g_pfnVectors g_pfnVectors: - .word irq_stack+1024 + .word _estack .word Reset_Handler .word NMI_Handler .word HardFault_Handler diff --git a/src/main/target/link/stm32_flash_f4xx.ld b/src/main/target/link/stm32_flash_f4xx.ld deleted file mode 100644 index dcb0147d27a..00000000000 --- a/src/main/target/link/stm32_flash_f4xx.ld +++ /dev/null @@ -1,134 +0,0 @@ - -/* Internal Memory Map*/ -MEMORY -{ - rom (rx) : ORIGIN = 0x08000000, LENGTH = 0x00100000 - ram (rwx) : ORIGIN = 0x20000000, LENGTH = 0x00020000 - ram1 (rwx) : ORIGIN = 0x10000000, LENGTH = 0x00010000 -} - -_eram = 0x20000000 + 0x00020000; -SECTIONS -{ - .text : - { - PROVIDE (isr_vector_table_base = .); - KEEP(*(.isr_vector)) - *(.text*) - - KEEP(*(.init)) - KEEP(*(.fini)) - - /* .ctors */ - *crtbegin.o(.ctors) - *crtbegin?.o(.ctors) - *(EXCLUDE_FILE(*crtend?.o *crtend.o) .ctors) - *(SORT(.ctors.*)) - *(.ctors) - - /* .dtors */ - *crtbegin.o(.dtors) - *crtbegin?.o(.dtors) - *(EXCLUDE_FILE(*crtend?.o *crtend.o) .dtors) - *(SORT(.dtors.*)) - *(.dtors) - - *(.rodata*) - - KEEP(*(.eh_fram e*)) - } > rom - - .ARM.extab : - { - *(.ARM.extab* .gnu.linkonce.armextab.*) - } > rom - - __exidx_start = .; - .ARM.exidx : - { - *(.ARM.exidx* .gnu.linkonce.armexidx.*) - } > rom - __exidx_end = .; - __etext = .; - - /* _sidata is used in coide startup code */ - _sidata = __etext; - - .data : AT (__etext) - { - __data_start__ = .; - - /* _sdata is used in coide startup code */ - _sdata = __data_start__; - - *(vtable) - *(.data*) - - . = ALIGN(4); - /* preinit data */ - PROVIDE_HIDDEN (__preinit_array_start = .); - KEEP(*(.preinit_array)) - PROVIDE_HIDDEN (__preinit_array_end = .); - - . = ALIGN(4); - /* init data */ - PROVIDE_HIDDEN (__init_array_start = .); - KEEP(*(SORT(.init_array.*))) - KEEP(*(.init_array)) - PROVIDE_HIDDEN (__init_array_end = .); - - . = ALIGN(4); - /* finit data */ - PROVIDE_HIDDEN (__fini_array_start = .); - KEEP(*(SORT(.fini_array.*))) - KEEP(*(.fini_array)) - PROVIDE_HIDDEN (__fini_array_end = .); - - KEEP(*(.jcr*)) - . = ALIGN(4); - /* All data end */ - __data_end__ = .; - - /* _edata is used in coide startup code */ - _edata = __data_end__; - } > ram - - .bss : - { - . = ALIGN(4); - __bss_start__ = .; - _sbss = __bss_start__; - *(.bss*) - *(COMMON) - . = ALIGN(4); - __bss_end__ = .; - _ebss = __bss_end__; - } > ram - - .heap (COPY): - { - __end__ = .; - _end = __end__; - end = __end__; - *(.heap*) - __HeapLimit = .; - } > ram - - /* .stack_dummy section doesn't contains any symbols. It is only - * used for linker to calculate size of stack sections, and assign - * values to stack symbols later */ - .co_stack (NOLOAD): - { - . = ALIGN(8); - *(.co_stack .co_stack.*) - } > ram - - /* Set stack top to end of ram , and stack limit move down by - * size of stack_dummy section */ - __StackTop = ORIGIN(ram ) + LENGTH(ram ); - __StackLimit = __StackTop - SIZEOF(.co_stack); - PROVIDE(__stack = __StackTop); - - /* Check if data + heap + stack exceeds ram limit */ - ASSERT(__StackLimit >= __HeapLimit, "region ram overflowed with stack") -} \ No newline at end of file From f1d81e3ec189879e0fdcf4efe207277e7358874d Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Mon, 17 Oct 2016 14:46:18 +1000 Subject: [PATCH 006/139] Move MAVLink to lib directory; Fixed CUSTOM_AIRPLANE mixer reporting in MAVLink --- Makefile | 3 +++ {src/main/mavlink => lib/main/MAVLink}/checksum.h | 0 {src/main/mavlink => lib/main/MAVLink}/common/common.h | 0 {src/main/mavlink => lib/main/MAVLink}/common/mavlink.h | 0 .../MAVLink}/common/mavlink_msg_actuator_control_target.h | 0 .../main/MAVLink}/common/mavlink_msg_att_pos_mocap.h | 0 .../main/MAVLink}/common/mavlink_msg_attitude.h | 0 .../main/MAVLink}/common/mavlink_msg_attitude_quaternion.h | 0 .../MAVLink}/common/mavlink_msg_attitude_quaternion_cov.h | 0 .../main/MAVLink}/common/mavlink_msg_attitude_target.h | 0 .../main/MAVLink}/common/mavlink_msg_auth_key.h | 0 .../main/MAVLink}/common/mavlink_msg_autopilot_version.h | 0 .../main/MAVLink}/common/mavlink_msg_battery_status.h | 0 .../main/MAVLink}/common/mavlink_msg_camera_trigger.h | 0 .../MAVLink}/common/mavlink_msg_change_operator_control.h | 0 .../common/mavlink_msg_change_operator_control_ack.h | 0 .../main/MAVLink}/common/mavlink_msg_command_ack.h | 0 .../main/MAVLink}/common/mavlink_msg_command_int.h | 0 .../main/MAVLink}/common/mavlink_msg_command_long.h | 0 .../main/MAVLink}/common/mavlink_msg_data_stream.h | 0 .../common/mavlink_msg_data_transmission_handshake.h | 0 .../mavlink => lib/main/MAVLink}/common/mavlink_msg_debug.h | 0 .../main/MAVLink}/common/mavlink_msg_debug_vect.h | 0 .../main/MAVLink}/common/mavlink_msg_distance_sensor.h | 0 .../main/MAVLink}/common/mavlink_msg_encapsulated_data.h | 0 .../MAVLink}/common/mavlink_msg_file_transfer_protocol.h | 0 .../main/MAVLink}/common/mavlink_msg_global_position_int.h | 0 .../MAVLink}/common/mavlink_msg_global_position_int_cov.h | 0 .../common/mavlink_msg_global_vision_position_estimate.h | 0 .../main/MAVLink}/common/mavlink_msg_gps2_raw.h | 0 .../main/MAVLink}/common/mavlink_msg_gps2_rtk.h | 0 .../main/MAVLink}/common/mavlink_msg_gps_global_origin.h | 0 .../main/MAVLink}/common/mavlink_msg_gps_inject_data.h | 0 .../main/MAVLink}/common/mavlink_msg_gps_raw_int.h | 0 .../main/MAVLink}/common/mavlink_msg_gps_rtk.h | 0 .../main/MAVLink}/common/mavlink_msg_gps_status.h | 0 .../main/MAVLink}/common/mavlink_msg_heartbeat.h | 0 .../main/MAVLink}/common/mavlink_msg_highres_imu.h | 0 .../main/MAVLink}/common/mavlink_msg_hil_controls.h | 0 .../main/MAVLink}/common/mavlink_msg_hil_gps.h | 0 .../main/MAVLink}/common/mavlink_msg_hil_optical_flow.h | 0 .../main/MAVLink}/common/mavlink_msg_hil_rc_inputs_raw.h | 0 .../main/MAVLink}/common/mavlink_msg_hil_sensor.h | 0 .../main/MAVLink}/common/mavlink_msg_hil_state.h | 0 .../main/MAVLink}/common/mavlink_msg_hil_state_quaternion.h | 0 .../main/MAVLink}/common/mavlink_msg_local_position_ned.h | 0 .../MAVLink}/common/mavlink_msg_local_position_ned_cov.h | 0 .../mavlink_msg_local_position_ned_system_global_offset.h | 0 .../main/MAVLink}/common/mavlink_msg_log_data.h | 0 .../main/MAVLink}/common/mavlink_msg_log_entry.h | 0 .../main/MAVLink}/common/mavlink_msg_log_erase.h | 0 .../main/MAVLink}/common/mavlink_msg_log_request_data.h | 0 .../main/MAVLink}/common/mavlink_msg_log_request_end.h | 0 .../main/MAVLink}/common/mavlink_msg_log_request_list.h | 0 .../main/MAVLink}/common/mavlink_msg_manual_control.h | 0 .../main/MAVLink}/common/mavlink_msg_manual_setpoint.h | 0 .../main/MAVLink}/common/mavlink_msg_memory_vect.h | 0 .../main/MAVLink}/common/mavlink_msg_mission_ack.h | 0 .../main/MAVLink}/common/mavlink_msg_mission_clear_all.h | 0 .../main/MAVLink}/common/mavlink_msg_mission_count.h | 0 .../main/MAVLink}/common/mavlink_msg_mission_current.h | 0 .../main/MAVLink}/common/mavlink_msg_mission_item.h | 0 .../main/MAVLink}/common/mavlink_msg_mission_item_int.h | 0 .../main/MAVLink}/common/mavlink_msg_mission_item_reached.h | 0 .../main/MAVLink}/common/mavlink_msg_mission_request.h | 0 .../main/MAVLink}/common/mavlink_msg_mission_request_list.h | 0 .../common/mavlink_msg_mission_request_partial_list.h | 0 .../main/MAVLink}/common/mavlink_msg_mission_set_current.h | 0 .../MAVLink}/common/mavlink_msg_mission_write_partial_list.h | 0 .../main/MAVLink}/common/mavlink_msg_named_value_float.h | 0 .../main/MAVLink}/common/mavlink_msg_named_value_int.h | 0 .../main/MAVLink}/common/mavlink_msg_nav_controller_output.h | 0 .../main/MAVLink}/common/mavlink_msg_optical_flow.h | 0 .../main/MAVLink}/common/mavlink_msg_optical_flow_rad.h | 0 .../main/MAVLink}/common/mavlink_msg_param_map_rc.h | 0 .../main/MAVLink}/common/mavlink_msg_param_request_list.h | 0 .../main/MAVLink}/common/mavlink_msg_param_request_read.h | 0 .../main/MAVLink}/common/mavlink_msg_param_set.h | 0 .../main/MAVLink}/common/mavlink_msg_param_value.h | 0 .../mavlink => lib/main/MAVLink}/common/mavlink_msg_ping.h | 0 .../MAVLink}/common/mavlink_msg_position_target_global_int.h | 0 .../MAVLink}/common/mavlink_msg_position_target_local_ned.h | 0 .../main/MAVLink}/common/mavlink_msg_power_status.h | 0 .../main/MAVLink}/common/mavlink_msg_radio_status.h | 0 .../main/MAVLink}/common/mavlink_msg_raw_imu.h | 0 .../main/MAVLink}/common/mavlink_msg_raw_pressure.h | 0 .../main/MAVLink}/common/mavlink_msg_rc_channels.h | 0 .../main/MAVLink}/common/mavlink_msg_rc_channels_override.h | 0 .../main/MAVLink}/common/mavlink_msg_rc_channels_raw.h | 0 .../main/MAVLink}/common/mavlink_msg_rc_channels_scaled.h | 0 .../main/MAVLink}/common/mavlink_msg_request_data_stream.h | 0 .../main/MAVLink}/common/mavlink_msg_safety_allowed_area.h | 0 .../MAVLink}/common/mavlink_msg_safety_set_allowed_area.h | 0 .../main/MAVLink}/common/mavlink_msg_scaled_imu.h | 0 .../main/MAVLink}/common/mavlink_msg_scaled_imu2.h | 0 .../main/MAVLink}/common/mavlink_msg_scaled_imu3.h | 0 .../main/MAVLink}/common/mavlink_msg_scaled_pressure.h | 0 .../main/MAVLink}/common/mavlink_msg_scaled_pressure2.h | 0 .../main/MAVLink}/common/mavlink_msg_serial_control.h | 0 .../main/MAVLink}/common/mavlink_msg_servo_output_raw.h | 0 .../common/mavlink_msg_set_actuator_control_target.h | 0 .../main/MAVLink}/common/mavlink_msg_set_attitude_target.h | 0 .../main/MAVLink}/common/mavlink_msg_set_gps_global_origin.h | 0 .../main/MAVLink}/common/mavlink_msg_set_mode.h | 0 .../common/mavlink_msg_set_position_target_global_int.h | 0 .../common/mavlink_msg_set_position_target_local_ned.h | 0 .../main/MAVLink}/common/mavlink_msg_sim_state.h | 0 .../main/MAVLink}/common/mavlink_msg_statustext.h | 0 .../main/MAVLink}/common/mavlink_msg_sys_status.h | 0 .../main/MAVLink}/common/mavlink_msg_system_time.h | 0 .../main/MAVLink}/common/mavlink_msg_terrain_check.h | 0 .../main/MAVLink}/common/mavlink_msg_terrain_data.h | 0 .../main/MAVLink}/common/mavlink_msg_terrain_report.h | 0 .../main/MAVLink}/common/mavlink_msg_terrain_request.h | 0 .../main/MAVLink}/common/mavlink_msg_timesync.h | 0 .../main/MAVLink}/common/mavlink_msg_v2_extension.h | 0 .../main/MAVLink}/common/mavlink_msg_vfr_hud.h | 0 .../MAVLink}/common/mavlink_msg_vicon_position_estimate.h | 0 .../MAVLink}/common/mavlink_msg_vision_position_estimate.h | 0 .../main/MAVLink}/common/mavlink_msg_vision_speed_estimate.h | 0 {src/main/mavlink => lib/main/MAVLink}/common/testsuite.h | 0 {src/main/mavlink => lib/main/MAVLink}/common/version.h | 0 {src/main/mavlink => lib/main/MAVLink}/mavlink_conversions.h | 0 {src/main/mavlink => lib/main/MAVLink}/mavlink_helpers.h | 0 {src/main/mavlink => lib/main/MAVLink}/mavlink_types.h | 0 {src/main/mavlink => lib/main/MAVLink}/protocol.h | 0 src/main/telemetry/mavlink.c | 5 ++--- 127 files changed, 5 insertions(+), 3 deletions(-) rename {src/main/mavlink => lib/main/MAVLink}/checksum.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/common.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_actuator_control_target.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_att_pos_mocap.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_attitude.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_attitude_quaternion.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_attitude_quaternion_cov.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_attitude_target.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_auth_key.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_autopilot_version.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_battery_status.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_camera_trigger.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_change_operator_control.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_change_operator_control_ack.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_command_ack.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_command_int.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_command_long.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_data_stream.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_data_transmission_handshake.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_debug.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_debug_vect.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_distance_sensor.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_encapsulated_data.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_file_transfer_protocol.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_global_position_int.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_global_position_int_cov.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_global_vision_position_estimate.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_gps2_raw.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_gps2_rtk.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_gps_global_origin.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_gps_inject_data.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_gps_raw_int.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_gps_rtk.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_gps_status.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_heartbeat.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_highres_imu.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_hil_controls.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_hil_gps.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_hil_optical_flow.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_hil_rc_inputs_raw.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_hil_sensor.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_hil_state.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_hil_state_quaternion.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_local_position_ned.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_local_position_ned_cov.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_local_position_ned_system_global_offset.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_log_data.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_log_entry.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_log_erase.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_log_request_data.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_log_request_end.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_log_request_list.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_manual_control.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_manual_setpoint.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_memory_vect.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_mission_ack.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_mission_clear_all.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_mission_count.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_mission_current.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_mission_item.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_mission_item_int.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_mission_item_reached.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_mission_request.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_mission_request_list.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_mission_request_partial_list.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_mission_set_current.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_mission_write_partial_list.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_named_value_float.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_named_value_int.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_nav_controller_output.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_optical_flow.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_optical_flow_rad.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_param_map_rc.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_param_request_list.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_param_request_read.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_param_set.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_param_value.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_ping.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_position_target_global_int.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_position_target_local_ned.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_power_status.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_radio_status.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_raw_imu.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_raw_pressure.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_rc_channels.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_rc_channels_override.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_rc_channels_raw.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_rc_channels_scaled.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_request_data_stream.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_safety_allowed_area.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_safety_set_allowed_area.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_scaled_imu.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_scaled_imu2.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_scaled_imu3.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_scaled_pressure.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_scaled_pressure2.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_serial_control.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_servo_output_raw.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_set_actuator_control_target.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_set_attitude_target.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_set_gps_global_origin.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_set_mode.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_set_position_target_global_int.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_set_position_target_local_ned.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_sim_state.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_statustext.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_sys_status.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_system_time.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_terrain_check.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_terrain_data.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_terrain_report.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_terrain_request.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_timesync.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_v2_extension.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_vfr_hud.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_vicon_position_estimate.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_vision_position_estimate.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/mavlink_msg_vision_speed_estimate.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/testsuite.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/common/version.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/mavlink_conversions.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/mavlink_helpers.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/mavlink_types.h (100%) rename {src/main/mavlink => lib/main/MAVLink}/protocol.h (100%) diff --git a/Makefile b/Makefile index 0d9148e8f4f..b3b0365be14 100644 --- a/Makefile +++ b/Makefile @@ -355,6 +355,9 @@ else .DEFAULT_GOAL := hex endif +INCLUDE_DIRS := $(INCLUDE_DIRS) \ + $(ROOT)/lib/main/MAVLink + INCLUDE_DIRS := $(INCLUDE_DIRS) \ $(TARGET_DIR) diff --git a/src/main/mavlink/checksum.h b/lib/main/MAVLink/checksum.h similarity index 100% rename from src/main/mavlink/checksum.h rename to lib/main/MAVLink/checksum.h diff --git a/src/main/mavlink/common/common.h b/lib/main/MAVLink/common/common.h similarity index 100% rename from src/main/mavlink/common/common.h rename to lib/main/MAVLink/common/common.h diff --git a/src/main/mavlink/common/mavlink.h b/lib/main/MAVLink/common/mavlink.h similarity index 100% rename from src/main/mavlink/common/mavlink.h rename to lib/main/MAVLink/common/mavlink.h diff --git a/src/main/mavlink/common/mavlink_msg_actuator_control_target.h b/lib/main/MAVLink/common/mavlink_msg_actuator_control_target.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_actuator_control_target.h rename to lib/main/MAVLink/common/mavlink_msg_actuator_control_target.h diff --git a/src/main/mavlink/common/mavlink_msg_att_pos_mocap.h b/lib/main/MAVLink/common/mavlink_msg_att_pos_mocap.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_att_pos_mocap.h rename to lib/main/MAVLink/common/mavlink_msg_att_pos_mocap.h diff --git a/src/main/mavlink/common/mavlink_msg_attitude.h b/lib/main/MAVLink/common/mavlink_msg_attitude.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_attitude.h rename to lib/main/MAVLink/common/mavlink_msg_attitude.h diff --git a/src/main/mavlink/common/mavlink_msg_attitude_quaternion.h b/lib/main/MAVLink/common/mavlink_msg_attitude_quaternion.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_attitude_quaternion.h rename to lib/main/MAVLink/common/mavlink_msg_attitude_quaternion.h diff --git a/src/main/mavlink/common/mavlink_msg_attitude_quaternion_cov.h b/lib/main/MAVLink/common/mavlink_msg_attitude_quaternion_cov.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_attitude_quaternion_cov.h rename to lib/main/MAVLink/common/mavlink_msg_attitude_quaternion_cov.h diff --git a/src/main/mavlink/common/mavlink_msg_attitude_target.h b/lib/main/MAVLink/common/mavlink_msg_attitude_target.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_attitude_target.h rename to lib/main/MAVLink/common/mavlink_msg_attitude_target.h diff --git a/src/main/mavlink/common/mavlink_msg_auth_key.h b/lib/main/MAVLink/common/mavlink_msg_auth_key.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_auth_key.h rename to lib/main/MAVLink/common/mavlink_msg_auth_key.h diff --git a/src/main/mavlink/common/mavlink_msg_autopilot_version.h b/lib/main/MAVLink/common/mavlink_msg_autopilot_version.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_autopilot_version.h rename to lib/main/MAVLink/common/mavlink_msg_autopilot_version.h diff --git a/src/main/mavlink/common/mavlink_msg_battery_status.h b/lib/main/MAVLink/common/mavlink_msg_battery_status.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_battery_status.h rename to lib/main/MAVLink/common/mavlink_msg_battery_status.h diff --git a/src/main/mavlink/common/mavlink_msg_camera_trigger.h b/lib/main/MAVLink/common/mavlink_msg_camera_trigger.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_camera_trigger.h rename to lib/main/MAVLink/common/mavlink_msg_camera_trigger.h diff --git a/src/main/mavlink/common/mavlink_msg_change_operator_control.h b/lib/main/MAVLink/common/mavlink_msg_change_operator_control.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_change_operator_control.h rename to lib/main/MAVLink/common/mavlink_msg_change_operator_control.h diff --git a/src/main/mavlink/common/mavlink_msg_change_operator_control_ack.h b/lib/main/MAVLink/common/mavlink_msg_change_operator_control_ack.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_change_operator_control_ack.h rename to lib/main/MAVLink/common/mavlink_msg_change_operator_control_ack.h diff --git a/src/main/mavlink/common/mavlink_msg_command_ack.h b/lib/main/MAVLink/common/mavlink_msg_command_ack.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_command_ack.h rename to lib/main/MAVLink/common/mavlink_msg_command_ack.h diff --git a/src/main/mavlink/common/mavlink_msg_command_int.h b/lib/main/MAVLink/common/mavlink_msg_command_int.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_command_int.h rename to lib/main/MAVLink/common/mavlink_msg_command_int.h diff --git a/src/main/mavlink/common/mavlink_msg_command_long.h b/lib/main/MAVLink/common/mavlink_msg_command_long.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_command_long.h rename to lib/main/MAVLink/common/mavlink_msg_command_long.h diff --git a/src/main/mavlink/common/mavlink_msg_data_stream.h b/lib/main/MAVLink/common/mavlink_msg_data_stream.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_data_stream.h rename to lib/main/MAVLink/common/mavlink_msg_data_stream.h diff --git a/src/main/mavlink/common/mavlink_msg_data_transmission_handshake.h b/lib/main/MAVLink/common/mavlink_msg_data_transmission_handshake.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_data_transmission_handshake.h rename to lib/main/MAVLink/common/mavlink_msg_data_transmission_handshake.h diff --git a/src/main/mavlink/common/mavlink_msg_debug.h b/lib/main/MAVLink/common/mavlink_msg_debug.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_debug.h rename to lib/main/MAVLink/common/mavlink_msg_debug.h diff --git a/src/main/mavlink/common/mavlink_msg_debug_vect.h b/lib/main/MAVLink/common/mavlink_msg_debug_vect.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_debug_vect.h rename to lib/main/MAVLink/common/mavlink_msg_debug_vect.h diff --git a/src/main/mavlink/common/mavlink_msg_distance_sensor.h b/lib/main/MAVLink/common/mavlink_msg_distance_sensor.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_distance_sensor.h rename to lib/main/MAVLink/common/mavlink_msg_distance_sensor.h diff --git a/src/main/mavlink/common/mavlink_msg_encapsulated_data.h b/lib/main/MAVLink/common/mavlink_msg_encapsulated_data.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_encapsulated_data.h rename to lib/main/MAVLink/common/mavlink_msg_encapsulated_data.h diff --git a/src/main/mavlink/common/mavlink_msg_file_transfer_protocol.h b/lib/main/MAVLink/common/mavlink_msg_file_transfer_protocol.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_file_transfer_protocol.h rename to lib/main/MAVLink/common/mavlink_msg_file_transfer_protocol.h diff --git a/src/main/mavlink/common/mavlink_msg_global_position_int.h b/lib/main/MAVLink/common/mavlink_msg_global_position_int.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_global_position_int.h rename to lib/main/MAVLink/common/mavlink_msg_global_position_int.h diff --git a/src/main/mavlink/common/mavlink_msg_global_position_int_cov.h b/lib/main/MAVLink/common/mavlink_msg_global_position_int_cov.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_global_position_int_cov.h rename to lib/main/MAVLink/common/mavlink_msg_global_position_int_cov.h diff --git a/src/main/mavlink/common/mavlink_msg_global_vision_position_estimate.h b/lib/main/MAVLink/common/mavlink_msg_global_vision_position_estimate.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_global_vision_position_estimate.h rename to lib/main/MAVLink/common/mavlink_msg_global_vision_position_estimate.h diff --git a/src/main/mavlink/common/mavlink_msg_gps2_raw.h b/lib/main/MAVLink/common/mavlink_msg_gps2_raw.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_gps2_raw.h rename to lib/main/MAVLink/common/mavlink_msg_gps2_raw.h diff --git a/src/main/mavlink/common/mavlink_msg_gps2_rtk.h b/lib/main/MAVLink/common/mavlink_msg_gps2_rtk.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_gps2_rtk.h rename to lib/main/MAVLink/common/mavlink_msg_gps2_rtk.h diff --git a/src/main/mavlink/common/mavlink_msg_gps_global_origin.h b/lib/main/MAVLink/common/mavlink_msg_gps_global_origin.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_gps_global_origin.h rename to lib/main/MAVLink/common/mavlink_msg_gps_global_origin.h diff --git a/src/main/mavlink/common/mavlink_msg_gps_inject_data.h b/lib/main/MAVLink/common/mavlink_msg_gps_inject_data.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_gps_inject_data.h rename to lib/main/MAVLink/common/mavlink_msg_gps_inject_data.h diff --git a/src/main/mavlink/common/mavlink_msg_gps_raw_int.h b/lib/main/MAVLink/common/mavlink_msg_gps_raw_int.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_gps_raw_int.h rename to lib/main/MAVLink/common/mavlink_msg_gps_raw_int.h diff --git a/src/main/mavlink/common/mavlink_msg_gps_rtk.h b/lib/main/MAVLink/common/mavlink_msg_gps_rtk.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_gps_rtk.h rename to lib/main/MAVLink/common/mavlink_msg_gps_rtk.h diff --git a/src/main/mavlink/common/mavlink_msg_gps_status.h b/lib/main/MAVLink/common/mavlink_msg_gps_status.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_gps_status.h rename to lib/main/MAVLink/common/mavlink_msg_gps_status.h diff --git a/src/main/mavlink/common/mavlink_msg_heartbeat.h b/lib/main/MAVLink/common/mavlink_msg_heartbeat.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_heartbeat.h rename to lib/main/MAVLink/common/mavlink_msg_heartbeat.h diff --git a/src/main/mavlink/common/mavlink_msg_highres_imu.h b/lib/main/MAVLink/common/mavlink_msg_highres_imu.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_highres_imu.h rename to lib/main/MAVLink/common/mavlink_msg_highres_imu.h diff --git a/src/main/mavlink/common/mavlink_msg_hil_controls.h b/lib/main/MAVLink/common/mavlink_msg_hil_controls.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_hil_controls.h rename to lib/main/MAVLink/common/mavlink_msg_hil_controls.h diff --git a/src/main/mavlink/common/mavlink_msg_hil_gps.h b/lib/main/MAVLink/common/mavlink_msg_hil_gps.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_hil_gps.h rename to lib/main/MAVLink/common/mavlink_msg_hil_gps.h diff --git a/src/main/mavlink/common/mavlink_msg_hil_optical_flow.h b/lib/main/MAVLink/common/mavlink_msg_hil_optical_flow.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_hil_optical_flow.h rename to lib/main/MAVLink/common/mavlink_msg_hil_optical_flow.h diff --git a/src/main/mavlink/common/mavlink_msg_hil_rc_inputs_raw.h b/lib/main/MAVLink/common/mavlink_msg_hil_rc_inputs_raw.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_hil_rc_inputs_raw.h rename to lib/main/MAVLink/common/mavlink_msg_hil_rc_inputs_raw.h diff --git a/src/main/mavlink/common/mavlink_msg_hil_sensor.h b/lib/main/MAVLink/common/mavlink_msg_hil_sensor.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_hil_sensor.h rename to lib/main/MAVLink/common/mavlink_msg_hil_sensor.h diff --git a/src/main/mavlink/common/mavlink_msg_hil_state.h b/lib/main/MAVLink/common/mavlink_msg_hil_state.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_hil_state.h rename to lib/main/MAVLink/common/mavlink_msg_hil_state.h diff --git a/src/main/mavlink/common/mavlink_msg_hil_state_quaternion.h b/lib/main/MAVLink/common/mavlink_msg_hil_state_quaternion.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_hil_state_quaternion.h rename to lib/main/MAVLink/common/mavlink_msg_hil_state_quaternion.h diff --git a/src/main/mavlink/common/mavlink_msg_local_position_ned.h b/lib/main/MAVLink/common/mavlink_msg_local_position_ned.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_local_position_ned.h rename to lib/main/MAVLink/common/mavlink_msg_local_position_ned.h diff --git a/src/main/mavlink/common/mavlink_msg_local_position_ned_cov.h b/lib/main/MAVLink/common/mavlink_msg_local_position_ned_cov.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_local_position_ned_cov.h rename to lib/main/MAVLink/common/mavlink_msg_local_position_ned_cov.h diff --git a/src/main/mavlink/common/mavlink_msg_local_position_ned_system_global_offset.h b/lib/main/MAVLink/common/mavlink_msg_local_position_ned_system_global_offset.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_local_position_ned_system_global_offset.h rename to lib/main/MAVLink/common/mavlink_msg_local_position_ned_system_global_offset.h diff --git a/src/main/mavlink/common/mavlink_msg_log_data.h b/lib/main/MAVLink/common/mavlink_msg_log_data.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_log_data.h rename to lib/main/MAVLink/common/mavlink_msg_log_data.h diff --git a/src/main/mavlink/common/mavlink_msg_log_entry.h b/lib/main/MAVLink/common/mavlink_msg_log_entry.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_log_entry.h rename to lib/main/MAVLink/common/mavlink_msg_log_entry.h diff --git a/src/main/mavlink/common/mavlink_msg_log_erase.h b/lib/main/MAVLink/common/mavlink_msg_log_erase.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_log_erase.h rename to lib/main/MAVLink/common/mavlink_msg_log_erase.h diff --git a/src/main/mavlink/common/mavlink_msg_log_request_data.h b/lib/main/MAVLink/common/mavlink_msg_log_request_data.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_log_request_data.h rename to lib/main/MAVLink/common/mavlink_msg_log_request_data.h diff --git a/src/main/mavlink/common/mavlink_msg_log_request_end.h b/lib/main/MAVLink/common/mavlink_msg_log_request_end.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_log_request_end.h rename to lib/main/MAVLink/common/mavlink_msg_log_request_end.h diff --git a/src/main/mavlink/common/mavlink_msg_log_request_list.h b/lib/main/MAVLink/common/mavlink_msg_log_request_list.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_log_request_list.h rename to lib/main/MAVLink/common/mavlink_msg_log_request_list.h diff --git a/src/main/mavlink/common/mavlink_msg_manual_control.h b/lib/main/MAVLink/common/mavlink_msg_manual_control.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_manual_control.h rename to lib/main/MAVLink/common/mavlink_msg_manual_control.h diff --git a/src/main/mavlink/common/mavlink_msg_manual_setpoint.h b/lib/main/MAVLink/common/mavlink_msg_manual_setpoint.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_manual_setpoint.h rename to lib/main/MAVLink/common/mavlink_msg_manual_setpoint.h diff --git a/src/main/mavlink/common/mavlink_msg_memory_vect.h b/lib/main/MAVLink/common/mavlink_msg_memory_vect.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_memory_vect.h rename to lib/main/MAVLink/common/mavlink_msg_memory_vect.h diff --git a/src/main/mavlink/common/mavlink_msg_mission_ack.h b/lib/main/MAVLink/common/mavlink_msg_mission_ack.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_mission_ack.h rename to lib/main/MAVLink/common/mavlink_msg_mission_ack.h diff --git a/src/main/mavlink/common/mavlink_msg_mission_clear_all.h b/lib/main/MAVLink/common/mavlink_msg_mission_clear_all.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_mission_clear_all.h rename to lib/main/MAVLink/common/mavlink_msg_mission_clear_all.h diff --git a/src/main/mavlink/common/mavlink_msg_mission_count.h b/lib/main/MAVLink/common/mavlink_msg_mission_count.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_mission_count.h rename to lib/main/MAVLink/common/mavlink_msg_mission_count.h diff --git a/src/main/mavlink/common/mavlink_msg_mission_current.h b/lib/main/MAVLink/common/mavlink_msg_mission_current.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_mission_current.h rename to lib/main/MAVLink/common/mavlink_msg_mission_current.h diff --git a/src/main/mavlink/common/mavlink_msg_mission_item.h b/lib/main/MAVLink/common/mavlink_msg_mission_item.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_mission_item.h rename to lib/main/MAVLink/common/mavlink_msg_mission_item.h diff --git a/src/main/mavlink/common/mavlink_msg_mission_item_int.h b/lib/main/MAVLink/common/mavlink_msg_mission_item_int.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_mission_item_int.h rename to lib/main/MAVLink/common/mavlink_msg_mission_item_int.h diff --git a/src/main/mavlink/common/mavlink_msg_mission_item_reached.h b/lib/main/MAVLink/common/mavlink_msg_mission_item_reached.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_mission_item_reached.h rename to lib/main/MAVLink/common/mavlink_msg_mission_item_reached.h diff --git a/src/main/mavlink/common/mavlink_msg_mission_request.h b/lib/main/MAVLink/common/mavlink_msg_mission_request.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_mission_request.h rename to lib/main/MAVLink/common/mavlink_msg_mission_request.h diff --git a/src/main/mavlink/common/mavlink_msg_mission_request_list.h b/lib/main/MAVLink/common/mavlink_msg_mission_request_list.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_mission_request_list.h rename to lib/main/MAVLink/common/mavlink_msg_mission_request_list.h diff --git a/src/main/mavlink/common/mavlink_msg_mission_request_partial_list.h b/lib/main/MAVLink/common/mavlink_msg_mission_request_partial_list.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_mission_request_partial_list.h rename to lib/main/MAVLink/common/mavlink_msg_mission_request_partial_list.h diff --git a/src/main/mavlink/common/mavlink_msg_mission_set_current.h b/lib/main/MAVLink/common/mavlink_msg_mission_set_current.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_mission_set_current.h rename to lib/main/MAVLink/common/mavlink_msg_mission_set_current.h diff --git a/src/main/mavlink/common/mavlink_msg_mission_write_partial_list.h b/lib/main/MAVLink/common/mavlink_msg_mission_write_partial_list.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_mission_write_partial_list.h rename to lib/main/MAVLink/common/mavlink_msg_mission_write_partial_list.h diff --git a/src/main/mavlink/common/mavlink_msg_named_value_float.h b/lib/main/MAVLink/common/mavlink_msg_named_value_float.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_named_value_float.h rename to lib/main/MAVLink/common/mavlink_msg_named_value_float.h diff --git a/src/main/mavlink/common/mavlink_msg_named_value_int.h b/lib/main/MAVLink/common/mavlink_msg_named_value_int.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_named_value_int.h rename to lib/main/MAVLink/common/mavlink_msg_named_value_int.h diff --git a/src/main/mavlink/common/mavlink_msg_nav_controller_output.h b/lib/main/MAVLink/common/mavlink_msg_nav_controller_output.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_nav_controller_output.h rename to lib/main/MAVLink/common/mavlink_msg_nav_controller_output.h diff --git a/src/main/mavlink/common/mavlink_msg_optical_flow.h b/lib/main/MAVLink/common/mavlink_msg_optical_flow.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_optical_flow.h rename to lib/main/MAVLink/common/mavlink_msg_optical_flow.h diff --git a/src/main/mavlink/common/mavlink_msg_optical_flow_rad.h b/lib/main/MAVLink/common/mavlink_msg_optical_flow_rad.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_optical_flow_rad.h rename to lib/main/MAVLink/common/mavlink_msg_optical_flow_rad.h diff --git a/src/main/mavlink/common/mavlink_msg_param_map_rc.h b/lib/main/MAVLink/common/mavlink_msg_param_map_rc.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_param_map_rc.h rename to lib/main/MAVLink/common/mavlink_msg_param_map_rc.h diff --git a/src/main/mavlink/common/mavlink_msg_param_request_list.h b/lib/main/MAVLink/common/mavlink_msg_param_request_list.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_param_request_list.h rename to lib/main/MAVLink/common/mavlink_msg_param_request_list.h diff --git a/src/main/mavlink/common/mavlink_msg_param_request_read.h b/lib/main/MAVLink/common/mavlink_msg_param_request_read.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_param_request_read.h rename to lib/main/MAVLink/common/mavlink_msg_param_request_read.h diff --git a/src/main/mavlink/common/mavlink_msg_param_set.h b/lib/main/MAVLink/common/mavlink_msg_param_set.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_param_set.h rename to lib/main/MAVLink/common/mavlink_msg_param_set.h diff --git a/src/main/mavlink/common/mavlink_msg_param_value.h b/lib/main/MAVLink/common/mavlink_msg_param_value.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_param_value.h rename to lib/main/MAVLink/common/mavlink_msg_param_value.h diff --git a/src/main/mavlink/common/mavlink_msg_ping.h b/lib/main/MAVLink/common/mavlink_msg_ping.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_ping.h rename to lib/main/MAVLink/common/mavlink_msg_ping.h diff --git a/src/main/mavlink/common/mavlink_msg_position_target_global_int.h b/lib/main/MAVLink/common/mavlink_msg_position_target_global_int.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_position_target_global_int.h rename to lib/main/MAVLink/common/mavlink_msg_position_target_global_int.h diff --git a/src/main/mavlink/common/mavlink_msg_position_target_local_ned.h b/lib/main/MAVLink/common/mavlink_msg_position_target_local_ned.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_position_target_local_ned.h rename to lib/main/MAVLink/common/mavlink_msg_position_target_local_ned.h diff --git a/src/main/mavlink/common/mavlink_msg_power_status.h b/lib/main/MAVLink/common/mavlink_msg_power_status.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_power_status.h rename to lib/main/MAVLink/common/mavlink_msg_power_status.h diff --git a/src/main/mavlink/common/mavlink_msg_radio_status.h b/lib/main/MAVLink/common/mavlink_msg_radio_status.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_radio_status.h rename to lib/main/MAVLink/common/mavlink_msg_radio_status.h diff --git a/src/main/mavlink/common/mavlink_msg_raw_imu.h b/lib/main/MAVLink/common/mavlink_msg_raw_imu.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_raw_imu.h rename to lib/main/MAVLink/common/mavlink_msg_raw_imu.h diff --git a/src/main/mavlink/common/mavlink_msg_raw_pressure.h b/lib/main/MAVLink/common/mavlink_msg_raw_pressure.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_raw_pressure.h rename to lib/main/MAVLink/common/mavlink_msg_raw_pressure.h diff --git a/src/main/mavlink/common/mavlink_msg_rc_channels.h b/lib/main/MAVLink/common/mavlink_msg_rc_channels.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_rc_channels.h rename to lib/main/MAVLink/common/mavlink_msg_rc_channels.h diff --git a/src/main/mavlink/common/mavlink_msg_rc_channels_override.h b/lib/main/MAVLink/common/mavlink_msg_rc_channels_override.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_rc_channels_override.h rename to lib/main/MAVLink/common/mavlink_msg_rc_channels_override.h diff --git a/src/main/mavlink/common/mavlink_msg_rc_channels_raw.h b/lib/main/MAVLink/common/mavlink_msg_rc_channels_raw.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_rc_channels_raw.h rename to lib/main/MAVLink/common/mavlink_msg_rc_channels_raw.h diff --git a/src/main/mavlink/common/mavlink_msg_rc_channels_scaled.h b/lib/main/MAVLink/common/mavlink_msg_rc_channels_scaled.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_rc_channels_scaled.h rename to lib/main/MAVLink/common/mavlink_msg_rc_channels_scaled.h diff --git a/src/main/mavlink/common/mavlink_msg_request_data_stream.h b/lib/main/MAVLink/common/mavlink_msg_request_data_stream.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_request_data_stream.h rename to lib/main/MAVLink/common/mavlink_msg_request_data_stream.h diff --git a/src/main/mavlink/common/mavlink_msg_safety_allowed_area.h b/lib/main/MAVLink/common/mavlink_msg_safety_allowed_area.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_safety_allowed_area.h rename to lib/main/MAVLink/common/mavlink_msg_safety_allowed_area.h diff --git a/src/main/mavlink/common/mavlink_msg_safety_set_allowed_area.h b/lib/main/MAVLink/common/mavlink_msg_safety_set_allowed_area.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_safety_set_allowed_area.h rename to lib/main/MAVLink/common/mavlink_msg_safety_set_allowed_area.h diff --git a/src/main/mavlink/common/mavlink_msg_scaled_imu.h b/lib/main/MAVLink/common/mavlink_msg_scaled_imu.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_scaled_imu.h rename to lib/main/MAVLink/common/mavlink_msg_scaled_imu.h diff --git a/src/main/mavlink/common/mavlink_msg_scaled_imu2.h b/lib/main/MAVLink/common/mavlink_msg_scaled_imu2.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_scaled_imu2.h rename to lib/main/MAVLink/common/mavlink_msg_scaled_imu2.h diff --git a/src/main/mavlink/common/mavlink_msg_scaled_imu3.h b/lib/main/MAVLink/common/mavlink_msg_scaled_imu3.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_scaled_imu3.h rename to lib/main/MAVLink/common/mavlink_msg_scaled_imu3.h diff --git a/src/main/mavlink/common/mavlink_msg_scaled_pressure.h b/lib/main/MAVLink/common/mavlink_msg_scaled_pressure.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_scaled_pressure.h rename to lib/main/MAVLink/common/mavlink_msg_scaled_pressure.h diff --git a/src/main/mavlink/common/mavlink_msg_scaled_pressure2.h b/lib/main/MAVLink/common/mavlink_msg_scaled_pressure2.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_scaled_pressure2.h rename to lib/main/MAVLink/common/mavlink_msg_scaled_pressure2.h diff --git a/src/main/mavlink/common/mavlink_msg_serial_control.h b/lib/main/MAVLink/common/mavlink_msg_serial_control.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_serial_control.h rename to lib/main/MAVLink/common/mavlink_msg_serial_control.h diff --git a/src/main/mavlink/common/mavlink_msg_servo_output_raw.h b/lib/main/MAVLink/common/mavlink_msg_servo_output_raw.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_servo_output_raw.h rename to lib/main/MAVLink/common/mavlink_msg_servo_output_raw.h diff --git a/src/main/mavlink/common/mavlink_msg_set_actuator_control_target.h b/lib/main/MAVLink/common/mavlink_msg_set_actuator_control_target.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_set_actuator_control_target.h rename to lib/main/MAVLink/common/mavlink_msg_set_actuator_control_target.h diff --git a/src/main/mavlink/common/mavlink_msg_set_attitude_target.h b/lib/main/MAVLink/common/mavlink_msg_set_attitude_target.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_set_attitude_target.h rename to lib/main/MAVLink/common/mavlink_msg_set_attitude_target.h diff --git a/src/main/mavlink/common/mavlink_msg_set_gps_global_origin.h b/lib/main/MAVLink/common/mavlink_msg_set_gps_global_origin.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_set_gps_global_origin.h rename to lib/main/MAVLink/common/mavlink_msg_set_gps_global_origin.h diff --git a/src/main/mavlink/common/mavlink_msg_set_mode.h b/lib/main/MAVLink/common/mavlink_msg_set_mode.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_set_mode.h rename to lib/main/MAVLink/common/mavlink_msg_set_mode.h diff --git a/src/main/mavlink/common/mavlink_msg_set_position_target_global_int.h b/lib/main/MAVLink/common/mavlink_msg_set_position_target_global_int.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_set_position_target_global_int.h rename to lib/main/MAVLink/common/mavlink_msg_set_position_target_global_int.h diff --git a/src/main/mavlink/common/mavlink_msg_set_position_target_local_ned.h b/lib/main/MAVLink/common/mavlink_msg_set_position_target_local_ned.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_set_position_target_local_ned.h rename to lib/main/MAVLink/common/mavlink_msg_set_position_target_local_ned.h diff --git a/src/main/mavlink/common/mavlink_msg_sim_state.h b/lib/main/MAVLink/common/mavlink_msg_sim_state.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_sim_state.h rename to lib/main/MAVLink/common/mavlink_msg_sim_state.h diff --git a/src/main/mavlink/common/mavlink_msg_statustext.h b/lib/main/MAVLink/common/mavlink_msg_statustext.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_statustext.h rename to lib/main/MAVLink/common/mavlink_msg_statustext.h diff --git a/src/main/mavlink/common/mavlink_msg_sys_status.h b/lib/main/MAVLink/common/mavlink_msg_sys_status.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_sys_status.h rename to lib/main/MAVLink/common/mavlink_msg_sys_status.h diff --git a/src/main/mavlink/common/mavlink_msg_system_time.h b/lib/main/MAVLink/common/mavlink_msg_system_time.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_system_time.h rename to lib/main/MAVLink/common/mavlink_msg_system_time.h diff --git a/src/main/mavlink/common/mavlink_msg_terrain_check.h b/lib/main/MAVLink/common/mavlink_msg_terrain_check.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_terrain_check.h rename to lib/main/MAVLink/common/mavlink_msg_terrain_check.h diff --git a/src/main/mavlink/common/mavlink_msg_terrain_data.h b/lib/main/MAVLink/common/mavlink_msg_terrain_data.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_terrain_data.h rename to lib/main/MAVLink/common/mavlink_msg_terrain_data.h diff --git a/src/main/mavlink/common/mavlink_msg_terrain_report.h b/lib/main/MAVLink/common/mavlink_msg_terrain_report.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_terrain_report.h rename to lib/main/MAVLink/common/mavlink_msg_terrain_report.h diff --git a/src/main/mavlink/common/mavlink_msg_terrain_request.h b/lib/main/MAVLink/common/mavlink_msg_terrain_request.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_terrain_request.h rename to lib/main/MAVLink/common/mavlink_msg_terrain_request.h diff --git a/src/main/mavlink/common/mavlink_msg_timesync.h b/lib/main/MAVLink/common/mavlink_msg_timesync.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_timesync.h rename to lib/main/MAVLink/common/mavlink_msg_timesync.h diff --git a/src/main/mavlink/common/mavlink_msg_v2_extension.h b/lib/main/MAVLink/common/mavlink_msg_v2_extension.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_v2_extension.h rename to lib/main/MAVLink/common/mavlink_msg_v2_extension.h diff --git a/src/main/mavlink/common/mavlink_msg_vfr_hud.h b/lib/main/MAVLink/common/mavlink_msg_vfr_hud.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_vfr_hud.h rename to lib/main/MAVLink/common/mavlink_msg_vfr_hud.h diff --git a/src/main/mavlink/common/mavlink_msg_vicon_position_estimate.h b/lib/main/MAVLink/common/mavlink_msg_vicon_position_estimate.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_vicon_position_estimate.h rename to lib/main/MAVLink/common/mavlink_msg_vicon_position_estimate.h diff --git a/src/main/mavlink/common/mavlink_msg_vision_position_estimate.h b/lib/main/MAVLink/common/mavlink_msg_vision_position_estimate.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_vision_position_estimate.h rename to lib/main/MAVLink/common/mavlink_msg_vision_position_estimate.h diff --git a/src/main/mavlink/common/mavlink_msg_vision_speed_estimate.h b/lib/main/MAVLink/common/mavlink_msg_vision_speed_estimate.h similarity index 100% rename from src/main/mavlink/common/mavlink_msg_vision_speed_estimate.h rename to lib/main/MAVLink/common/mavlink_msg_vision_speed_estimate.h diff --git a/src/main/mavlink/common/testsuite.h b/lib/main/MAVLink/common/testsuite.h similarity index 100% rename from src/main/mavlink/common/testsuite.h rename to lib/main/MAVLink/common/testsuite.h diff --git a/src/main/mavlink/common/version.h b/lib/main/MAVLink/common/version.h similarity index 100% rename from src/main/mavlink/common/version.h rename to lib/main/MAVLink/common/version.h diff --git a/src/main/mavlink/mavlink_conversions.h b/lib/main/MAVLink/mavlink_conversions.h similarity index 100% rename from src/main/mavlink/mavlink_conversions.h rename to lib/main/MAVLink/mavlink_conversions.h diff --git a/src/main/mavlink/mavlink_helpers.h b/lib/main/MAVLink/mavlink_helpers.h similarity index 100% rename from src/main/mavlink/mavlink_helpers.h rename to lib/main/MAVLink/mavlink_helpers.h diff --git a/src/main/mavlink/mavlink_types.h b/lib/main/MAVLink/mavlink_types.h similarity index 100% rename from src/main/mavlink/mavlink_types.h rename to lib/main/MAVLink/mavlink_types.h diff --git a/src/main/mavlink/protocol.h b/lib/main/MAVLink/protocol.h similarity index 100% rename from src/main/mavlink/protocol.h rename to lib/main/MAVLink/protocol.h diff --git a/src/main/telemetry/mavlink.c b/src/main/telemetry/mavlink.c index 173ea86a8b5..28079f3edd6 100755 --- a/src/main/telemetry/mavlink.c +++ b/src/main/telemetry/mavlink.c @@ -70,8 +70,6 @@ #include "telemetry/telemetry.h" #include "telemetry/mavlink.h" -#include "mavlink/common/mavlink.h" - #include "config/config.h" #include "fc/runtime_config.h" @@ -85,7 +83,7 @@ // until this is resolved in mavlink library - ignore -Wpedantic for mavlink code #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Wpedantic" -#include "mavlink/common/mavlink.h" +#include "common/mavlink.h" #pragma GCC diagnostic pop #define TELEMETRY_MAVLINK_INITIAL_PORT_MODE MODE_TX @@ -451,6 +449,7 @@ void mavlinkSendHUDAndHeartbeat(void) break; case MIXER_FLYING_WING: case MIXER_AIRPLANE: + case MIXER_CUSTOM_AIRPLANE: mavSystemType = MAV_TYPE_FIXED_WING; break; case MIXER_HELI_120_CCPM: From 957120cc16723c3c6d691e3e646adca7cfe18f8c Mon Sep 17 00:00:00 2001 From: Anders Hoglund Date: Fri, 5 Aug 2016 17:19:22 +0200 Subject: [PATCH 007/139] Enable spektrum sat bind on REVO. --- src/main/target/REVO/target.h | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/main/target/REVO/target.h b/src/main/target/REVO/target.h index a88208043e9..7b77ba52c34 100644 --- a/src/main/target/REVO/target.h +++ b/src/main/target/REVO/target.h @@ -142,6 +142,10 @@ #define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL #define DEFAULT_FEATURES (FEATURE_BLACKBOX) +#define SPEKTRUM_BIND +// USART3, +#define BIND_PIN PB11 + #define USE_SERIAL_4WAY_BLHELI_INTERFACE // Number of available PWM outputs From ba9fd2cfc1afab177296e2146bd5b8a2b56fd076 Mon Sep 17 00:00:00 2001 From: Anders Hoglund Date: Mon, 19 Sep 2016 10:20:36 +0200 Subject: [PATCH 008/139] REVO. Added support for Beeper on PB4. Used by AirbotF4 and Flip32F4. LED1 disabled and beeper port inverted. --- src/main/target/REVO/target.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/main/target/REVO/target.h b/src/main/target/REVO/target.h index 7b77ba52c34..466ec3c773f 100644 --- a/src/main/target/REVO/target.h +++ b/src/main/target/REVO/target.h @@ -27,9 +27,11 @@ #endif #define LED0 PB5 -#define LED1 PB4 +// Disable LED1, conflicts with AirbotF4/Flip32F4 beeper +//#define LED1 PB4 #define BEEPER PB4 +#define BEEPER_INVERTED #define INVERTER PC0 // PC0 used as inverter select GPIO #define INVERTER_USART USART1 From 7b29cc0402f5efb16eb16efbceaf35d44e76cec6 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Wed, 12 Oct 2016 21:44:27 +0200 Subject: [PATCH 009/139] Selective pick of following commit from Betafalight f37a523e2569a10741ec219d264c652d67560952 51fa33190c36e1d346e1fe8c004741b98be60251 9b62cd453afb364985bad6ba3a0a3ddf43b13081 Those commits introduces LED strip on REVO target on Motor 5 --- src/main/target/REVO/target.h | 19 ++++++++++--------- 1 file changed, 10 insertions(+), 9 deletions(-) diff --git a/src/main/target/REVO/target.h b/src/main/target/REVO/target.h index 466ec3c773f..fb75141515a 100644 --- a/src/main/target/REVO/target.h +++ b/src/main/target/REVO/target.h @@ -117,21 +117,22 @@ #define USE_ADC #define CURRENT_METER_ADC_PIN PC1 #define VBAT_ADC_PIN PC2 -#define RSSI_ADC_GPIO_PIN PA0 +// #define RSSI_ADC_GPIO_PIN PA0 #define SENSORS_SET (SENSOR_ACC|SENSOR_MAG|SENSOR_BARO) #define LED_STRIP -// LED Strip can run off Pin 6 (PA0) of the ESC outputs. -#define WS2811_PIN PA0 +// LED Strip can run off Pin 5 (PA1) of the MOTOR outputs. +#define WS2811_GPIO_AF GPIO_AF_TIM5 +#define WS2811_PIN PA1 #define WS2811_TIMER TIM5 -#define WS2811_TIMER_CHANNEL TIM_Channel_1 -#define WS2811_DMA_HANDLER_IDENTIFER DMA1_ST2_HANDLER -#define WS2811_DMA_STREAM DMA1_Stream2 -#define WS2811_DMA_FLAG DMA_FLAG_TCIF2 -#define WS2811_DMA_IT DMA_IT_TCIF2 +#define WS2811_TIMER_CHANNEL TIM_Channel_2 +#define WS2811_DMA_HANDLER_IDENTIFER DMA1_ST4_HANDLER +#define WS2811_DMA_STREAM DMA1_Stream4 #define WS2811_DMA_CHANNEL DMA_Channel_6 -#define WS2811_DMA_IRQ DMA1_Stream2_IRQn +#define WS2811_DMA_IRQ DMA1_Stream4_IRQn +#define WS2811_DMA_FLAG DMA_FLAG_TCIF4 +#define WS2811_DMA_IT DMA_IT_TCIF4 #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT From cac6115cd9272ebe0b1420a705d2bf5aad02bcf6 Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Mon, 24 Oct 2016 15:01:32 +0100 Subject: [PATCH 010/139] Tidied initialisation --- Makefile | 6 +- src/main/drivers/serial_softserial.c | 10 +- src/main/drivers/serial_softserial.h | 1 + src/main/fc/fc_hardfaults.c | 111 +++++ src/main/fc/fc_init.c | 599 ++++++++++++++++++++++++ src/main/fc/fc_init.h | 30 ++ src/main/fc/{msp_fc.c => fc_msp.c} | 1 + src/main/fc/{msp_fc.h => fc_msp.h} | 0 src/main/main.c | 673 +-------------------------- 9 files changed, 762 insertions(+), 669 deletions(-) create mode 100644 src/main/fc/fc_hardfaults.c create mode 100644 src/main/fc/fc_init.c create mode 100644 src/main/fc/fc_init.h rename src/main/fc/{msp_fc.c => fc_msp.c} (99%) rename src/main/fc/{msp_fc.h => fc_msp.h} (100%) diff --git a/Makefile b/Makefile index 0d9148e8f4f..00ccab9b86e 100644 --- a/Makefile +++ b/Makefile @@ -411,10 +411,12 @@ COMMON_SRC = \ flight/servos.c \ flight/pid.c \ io/beeper.c \ - fc/msp_fc.c \ + fc/fc_init.c \ + fc/fc_tasks.c \ + fc/fc_hardfaults.c \ + fc/fc_msp.c \ fc/rc_controls.c \ fc/rc_curves.c \ - fc/fc_tasks.c \ io/serial.c \ io/serial_4way.c \ io/serial_4way_avrootloader.c \ diff --git a/src/main/drivers/serial_softserial.c b/src/main/drivers/serial_softserial.c index e06e9d60dbd..3d77a331c98 100644 --- a/src/main/drivers/serial_softserial.c +++ b/src/main/drivers/serial_softserial.c @@ -76,7 +76,6 @@ typedef struct softSerial_s { } softSerial_t; extern timerHardware_t* serialTimerHardware; -extern softSerial_t softSerialPorts[]; extern const struct serialPortVTable softSerialVTable[]; @@ -228,6 +227,15 @@ serialPort_t *openSoftSerial(softSerialPortIndex_e portIndex, serialReceiveCallb return &softSerial->port; } +serialPort_t *softSerialLoopbackPort(void) +{ + serialPort_t *loopbackPort = (serialPort_t*)&(softSerialPorts[0]); + if (!loopbackPort->vTable) { + loopbackPort = openSoftSerial(0, NULL, 19200, SERIAL_NOT_INVERTED); + } + return loopbackPort; +} + /*********************************************/ void processTxState(softSerial_t *softSerial) diff --git a/src/main/drivers/serial_softserial.h b/src/main/drivers/serial_softserial.h index 0d477cfaca7..68ead0abc39 100644 --- a/src/main/drivers/serial_softserial.h +++ b/src/main/drivers/serial_softserial.h @@ -25,6 +25,7 @@ typedef enum { } softSerialPortIndex_e; serialPort_t *openSoftSerial(softSerialPortIndex_e portIndex, serialReceiveCallbackPtr rxCallback, uint32_t baud, portOptions_t options); +serialPort_t *softSerialLoopbackPort(void); // serialPort API void softSerialWriteByte(serialPort_t *instance, uint8_t ch); diff --git a/src/main/fc/fc_hardfaults.c b/src/main/fc/fc_hardfaults.c new file mode 100644 index 00000000000..59cfc51f4e7 --- /dev/null +++ b/src/main/fc/fc_hardfaults.c @@ -0,0 +1,111 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#include +#include + +#include "platform.h" + +#include "drivers/light_led.h" +#include "fc/fc_init.h" +#include "flight/mixer.h" + +#ifdef DEBUG_HARDFAULTS + +//from: https://mcuoneclipse.com/2012/11/24/debugging-hard-faults-on-arm-cortex-m/ +/** + * hard_fault_handler_c: + * This is called from the HardFault_HandlerAsm with a pointer the Fault stack + * as the parameter. We can then read the values from the stack and place them + * into local variables for ease of reading. + * We then read the various Fault Status and Address Registers to help decode + * cause of the fault. + * The function ends with a BKPT instruction to force control back into the debugger + */ +void hard_fault_handler_c(unsigned long *hardfault_args) +{ + volatile unsigned long stacked_r0 ; + volatile unsigned long stacked_r1 ; + volatile unsigned long stacked_r2 ; + volatile unsigned long stacked_r3 ; + volatile unsigned long stacked_r12 ; + volatile unsigned long stacked_lr ; + volatile unsigned long stacked_pc ; + volatile unsigned long stacked_psr ; + volatile unsigned long _CFSR ; + volatile unsigned long _HFSR ; + volatile unsigned long _DFSR ; + volatile unsigned long _AFSR ; + volatile unsigned long _BFAR ; + volatile unsigned long _MMAR ; + + stacked_r0 = ((unsigned long)hardfault_args[0]) ; + stacked_r1 = ((unsigned long)hardfault_args[1]) ; + stacked_r2 = ((unsigned long)hardfault_args[2]) ; + stacked_r3 = ((unsigned long)hardfault_args[3]) ; + stacked_r12 = ((unsigned long)hardfault_args[4]) ; + stacked_lr = ((unsigned long)hardfault_args[5]) ; + stacked_pc = ((unsigned long)hardfault_args[6]) ; + stacked_psr = ((unsigned long)hardfault_args[7]) ; + + // Configurable Fault Status Register + // Consists of MMSR, BFSR and UFSR + _CFSR = (*((volatile unsigned long *)(0xE000ED28))) ; + + // Hard Fault Status Register + _HFSR = (*((volatile unsigned long *)(0xE000ED2C))) ; + + // Debug Fault Status Register + _DFSR = (*((volatile unsigned long *)(0xE000ED30))) ; + + // Auxiliary Fault Status Register + _AFSR = (*((volatile unsigned long *)(0xE000ED3C))) ; + + // Read the Fault Address Registers. These may not contain valid values. + // Check BFARVALID/MMARVALID to see if they are valid values + // MemManage Fault Address Register + _MMAR = (*((volatile unsigned long *)(0xE000ED34))) ; + // Bus Fault Address Register + _BFAR = (*((volatile unsigned long *)(0xE000ED38))) ; + + __asm("BKPT #0\n") ; // Break into the debugger +} + +#else + +void HardFault_Handler(void) +{ + LED2_ON; + + // fall out of the sky + const uint8_t requiredStateForMotors = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_MOTORS_READY; + if ((systemState & requiredStateForMotors) == requiredStateForMotors) { + stopMotors(); + } + + LED1_OFF; + LED0_OFF; + + while (1) { +#ifdef LED2 + delay(50); + LED2_TOGGLE; +#endif + } +} + +#endif diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c new file mode 100644 index 00000000000..ac7601d14bb --- /dev/null +++ b/src/main/fc/fc_init.c @@ -0,0 +1,599 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#include +#include +#include + +#include "platform.h" + +#include "blackbox/blackbox.h" + +#include "build/atomic.h" +#include "build/build_config.h" +#include "build/assert.h" +#include "build/debug.h" + +#include "common/axis.h" +#include "common/color.h" +#include "common/maths.h" +#include "common/printf.h" + +#include "drivers/logging.h" +#include "drivers/nvic.h" +#include "drivers/sensor.h" +#include "drivers/system.h" +#include "drivers/dma.h" +#include "drivers/exti.h" +#include "drivers/gpio.h" +#include "drivers/io.h" +#include "drivers/light_led.h" +#include "drivers/sound_beeper.h" +#include "drivers/timer.h" +#include "drivers/serial.h" +#include "drivers/serial_softserial.h" +#include "drivers/serial_uart.h" +#include "drivers/accgyro.h" +#include "drivers/compass.h" +#include "drivers/pwm_mapping.h" +#include "drivers/pwm_output.h" +#include "drivers/pwm_rx.h" +#include "drivers/pwm_output.h" +#include "drivers/adc.h" +#include "drivers/bus_i2c.h" +#include "drivers/bus_spi.h" +#include "drivers/inverter.h" +#include "drivers/flash_m25p16.h" +#include "drivers/sonar_hcsr04.h" +#include "drivers/sdcard.h" +#include "drivers/gyro_sync.h" +#include "drivers/io.h" +#include "drivers/exti.h" +#include "drivers/io_pca9685.h" + +#include "fc/fc_tasks.h" +#include "fc/rc_controls.h" +#include "fc/fc_msp.h" +#include "fc/runtime_config.h" + +#include "io/beeper.h" +#include "io/serial.h" +#include "io/flashfs.h" +#include "io/gps.h" +#include "io/motors.h" +#include "io/servos.h" +#include "io/gimbal.h" +#include "io/ledstrip.h" +#include "io/display.h" +#include "io/asyncfatfs/asyncfatfs.h" +#include "io/pwmdriver_i2c.h" +#include "io/serial_cli.h" + +#include "msp/msp_serial.h" + +#include "rx/rx.h" +#include "rx/spektrum.h" + +#include "sensors/sensors.h" +#include "sensors/barometer.h" +#include "sensors/compass.h" +#include "sensors/acceleration.h" +#include "sensors/gyro.h" +#include "sensors/battery.h" +#include "sensors/boardalignment.h" +#include "sensors/initialisation.h" +#include "sensors/sonar.h" + +#include "telemetry/telemetry.h" + +#include "flight/pid.h" +#include "flight/imu.h" +#include "flight/mixer.h" +#include "flight/servos.h" +#include "flight/failsafe.h" +#include "flight/navigation_rewrite.h" + +#include "config/config.h" +#include "config/config_eeprom.h" +#include "config/config_profile.h" +#include "config/config_master.h" +#include "config/feature.h" + +#ifdef USE_HARDWARE_REVISION_DETECTION +#include "hardware_revision.h" +#endif + +extern uint8_t motorControlEnable; + +typedef enum { + SYSTEM_STATE_INITIALISING = 0, + SYSTEM_STATE_CONFIG_LOADED = (1 << 0), + SYSTEM_STATE_SENSORS_READY = (1 << 1), + SYSTEM_STATE_MOTORS_READY = (1 << 2), + SYSTEM_STATE_TRANSPONDER_ENABLED = (1 << 3), + SYSTEM_STATE_READY = (1 << 7) +} systemState_e; + +uint8_t systemState = SYSTEM_STATE_INITIALISING; + +void flashLedsAndBeep(void) +{ + LED1_ON; + LED0_OFF; + for (uint8_t i = 0; i < 10; i++) { + LED1_TOGGLE; + LED0_TOGGLE; + delay(25); + if (!(getPreferredBeeperOffMask() & (1 << (BEEPER_SYSTEM_INIT - 1)))) + BEEP_ON; + delay(25); + BEEP_OFF; + } + LED0_OFF; + LED1_OFF; +} + +void init(void) +{ + systemState = SYSTEM_STATE_INITIALISING; + initBootlog(); + + printfSupportInit(); + + initEEPROM(); + + ensureEEPROMContainsValidData(); + readEEPROM(); + + addBootlogEvent2(BOOT_EVENT_CONFIG_LOADED, BOOT_EVENT_FLAGS_NONE); + systemState |= SYSTEM_STATE_CONFIG_LOADED; + + systemInit(); + + i2cSetOverclock(masterConfig.i2c_overclock); + + // initialize IO (needed for all IO operations) + IOInitGlobal(); + +#ifdef USE_HARDWARE_REVISION_DETECTION + detectHardwareRevision(); +#endif + + // Latch active features to be used for feature() in the remainder of init(). + latchActiveFeatures(); + +#ifdef ALIENFLIGHTF3 + ledInit(hardwareRevision == AFF3_REV_1 ? false : true); +#else + ledInit(false); +#endif + +#ifdef USE_EXTI + EXTIInit(); +#endif + + addBootlogEvent2(BOOT_EVENT_SYSTEM_INIT_DONE, BOOT_EVENT_FLAGS_NONE); + +#ifdef SPEKTRUM_BIND + if (feature(FEATURE_RX_SERIAL)) { + switch (masterConfig.rxConfig.serialrx_provider) { + case SERIALRX_SPEKTRUM1024: + case SERIALRX_SPEKTRUM2048: + // Spektrum satellite binding if enabled on startup. + // Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup. + // The rest of Spektrum initialization will happen later - via spektrumInit() + spektrumBind(&masterConfig.rxConfig); + break; + } + } +#endif + + delay(500); + + timerInit(); // timer must be initialized before any channel is allocated + + dmaInit(); + +#if defined(AVOID_UART2_FOR_PWM_PPM) + serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL), + feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART2 : SERIAL_PORT_NONE); +#elif defined(AVOID_UART3_FOR_PWM_PPM) + serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL), + feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART3 : SERIAL_PORT_NONE); +#else + serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE); +#endif + + mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer); +#ifdef USE_SERVOS + servosInit(masterConfig.customServoMixer); +#endif + + drv_pwm_config_t pwm_params; + memset(&pwm_params, 0, sizeof(pwm_params)); + +#ifdef SONAR + if (feature(FEATURE_SONAR)) { + const sonarHcsr04Hardware_t *sonarHardware = sonarGetHardwareConfiguration(masterConfig.batteryConfig.currentMeterType); + if (sonarHardware) { + pwm_params.useSonar = true; + pwm_params.sonarIOConfig.triggerTag = sonarHardware->triggerTag; + pwm_params.sonarIOConfig.echoTag = sonarHardware->echoTag; + } + } +#endif + + // when using airplane/wing mixer, servo/motor outputs are remapped + if (masterConfig.mixerMode == MIXER_AIRPLANE || masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_CUSTOM_AIRPLANE) + pwm_params.airplane = true; + else + pwm_params.airplane = false; +#if defined(USE_UART2) && defined(STM32F10X) + pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2); +#endif +#ifdef STM32F303xC + pwm_params.useUART3 = doesConfigurationUsePort(SERIAL_PORT_USART3); +#endif +#if defined(USE_UART2) && defined(STM32F40_41xxx) + pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2); +#endif +#if defined(USE_UART6) && defined(STM32F40_41xxx) + pwm_params.useUART6 = doesConfigurationUsePort(SERIAL_PORT_USART6); +#endif + pwm_params.useVbat = feature(FEATURE_VBAT); + pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL); + pwm_params.useParallelPWM = feature(FEATURE_RX_PARALLEL_PWM); + pwm_params.useRSSIADC = feature(FEATURE_RSSI_ADC); + pwm_params.useCurrentMeterADC = feature(FEATURE_CURRENT_METER) + && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC; + pwm_params.useLEDStrip = feature(FEATURE_LED_STRIP); + pwm_params.usePPM = feature(FEATURE_RX_PPM); + pwm_params.useSerialRx = feature(FEATURE_RX_SERIAL); + +#ifdef USE_SERVOS + pwm_params.useServos = isMixerUsingServos(); + pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING); + pwm_params.servoCenterPulse = masterConfig.servoConfig.servoCenterPulse; + pwm_params.servoPwmRate = masterConfig.servoConfig.servoPwmRate; +#endif + + pwm_params.pwmProtocolType = masterConfig.motorConfig.motorPwmProtocol; + pwm_params.useFastPwm = (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_ONESHOT125) || + (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_ONESHOT42) || + (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_MULTISHOT); + pwm_params.motorPwmRate = masterConfig.motorConfig.motorPwmRate; + pwm_params.idlePulse = masterConfig.motorConfig.mincommand; + if (feature(FEATURE_3D)) { + pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d; + } + + if (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_BRUSHED) { + pwm_params.useFastPwm = false; + featureClear(FEATURE_3D); + pwm_params.idlePulse = 0; // brushed motors + } + +#ifndef SKIP_RX_PWM_PPM + pwmRxInit(masterConfig.inputFilteringMode); +#endif + +#ifdef USE_PMW_SERVO_DRIVER + /* + If external PWM driver is enabled, for example PCA9685, disable internal + servo handling mechanism, since external device will do that + */ + if (feature(FEATURE_PWM_SERVO_DRIVER)) { + pwm_params.useServos = false; + } +#endif + + // pwmInit() needs to be called as soon as possible for ESC compatibility reasons + pwmInit(&pwm_params); + + mixerUsePWMIOConfiguration(); + + if (!pwm_params.useFastPwm) + motorControlEnable = true; + + addBootlogEvent2(BOOT_EVENT_PWM_INIT_DONE, BOOT_EVENT_FLAGS_NONE); + systemState |= SYSTEM_STATE_MOTORS_READY; + +#ifdef BEEPER + beeperConfig_t beeperConfig = { + .ioTag = IO_TAG(BEEPER), +#ifdef BEEPER_INVERTED + .isOD = false, + .isInverted = true +#else + .isOD = true, + .isInverted = false +#endif + }; +#ifdef NAZE + if (hardwareRevision >= NAZE32_REV5) { + // naze rev4 and below used opendrain to PNP for buzzer. Rev5 and above use PP to NPN. + beeperConfig.isOD = false; + beeperConfig.isInverted = true; + } +#endif + + beeperInit(&beeperConfig); +#endif + +#ifdef INVERTER + initInverter(); +#endif + + +#ifdef USE_SPI +#ifdef USE_SPI_DEVICE_1 + spiInit(SPIDEV_1); +#endif +#ifdef USE_SPI_DEVICE_2 + spiInit(SPIDEV_2); +#endif +#ifdef USE_SPI_DEVICE_3 +#ifdef ALIENFLIGHTF3 + if (hardwareRevision == AFF3_REV_2) { + spiInit(SPIDEV_3); + } +#else + spiInit(SPIDEV_3); +#endif +#endif +#endif + +#ifdef USE_HARDWARE_REVISION_DETECTION + updateHardwareRevision(); +#endif + +#if defined(NAZE) + if (hardwareRevision == NAZE32_SP) { + serialRemovePort(SERIAL_PORT_SOFTSERIAL2); + } else { + serialRemovePort(SERIAL_PORT_USART3); + } +#endif + +#if defined(SONAR) && defined(USE_SOFTSERIAL1) +#if defined(FURYF3) || defined(OMNIBUS) || defined(SPRACINGF3MINI) + if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) { + serialRemovePort(SERIAL_PORT_SOFTSERIAL1); + } +#endif +#endif + +#if defined(SONAR) && defined(USE_SOFTSERIAL2) && defined(SPRACINGF3) + if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) { + serialRemovePort(SERIAL_PORT_SOFTSERIAL2); + } +#endif + +#ifdef USE_I2C +#if defined(NAZE) + if (hardwareRevision != NAZE32_SP) { + i2cInit(I2C_DEVICE); + } else { + if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) { + i2cInit(I2C_DEVICE); + } + } +#elif defined(CC3D) + if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) { + i2cInit(I2C_DEVICE); + } +#else + i2cInit(I2C_DEVICE); +#endif +#endif + +#ifdef USE_ADC + drv_adc_config_t adc_params; + + adc_params.enableVBat = feature(FEATURE_VBAT); + adc_params.enableRSSI = feature(FEATURE_RSSI_ADC); + adc_params.enableCurrentMeter = feature(FEATURE_CURRENT_METER); + adc_params.enableExternal1 = false; +#ifdef OLIMEXINO + adc_params.enableExternal1 = true; +#endif +#ifdef NAZE + // optional ADC5 input on rev.5 hardware + adc_params.enableExternal1 = (hardwareRevision >= NAZE32_REV5); +#endif + + adcInit(&adc_params); +#endif + + /* Extra 500ms delay prior to initialising hardware if board is cold-booting */ +#if defined(GPS) || defined(MAG) + if (!isMPUSoftReset()) { + addBootlogEvent2(BOOT_EVENT_EXTRA_BOOT_DELAY, BOOT_EVENT_FLAGS_NONE); + + LED1_ON; + LED0_OFF; + + for (int i = 0; i < 5; i++) { + LED1_TOGGLE; + LED0_TOGGLE; + delay(100); + } + + LED0_OFF; + LED1_OFF; + } +#endif + + initBoardAlignment(&masterConfig.boardAlignment); + +#ifdef DISPLAY + if (feature(FEATURE_DISPLAY)) { + displayInit(&masterConfig.rxConfig); + } +#endif + +#ifdef GPS + if (feature(FEATURE_GPS)) { + gpsPreInit(&masterConfig.gpsConfig); + } +#endif + + if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig, + masterConfig.acc_hardware, + masterConfig.mag_hardware, + masterConfig.baro_hardware, + currentProfile->mag_declination, + masterConfig.looptime, + masterConfig.gyro_lpf, + masterConfig.gyroSync, + masterConfig.gyroSyncDenominator)) { + + // if gyro was not detected due to whatever reason, we give up now. + failureMode(FAILURE_MISSING_ACC); + } + + addBootlogEvent2(BOOT_EVENT_SENSOR_INIT_DONE, BOOT_EVENT_FLAGS_NONE); + systemState |= SYSTEM_STATE_SENSORS_READY; + + flashLedsAndBeep(); + + imuInit(); + + mspSerialInit(mspFcInit()); + +#ifdef USE_CLI + cliInit(&masterConfig.serialConfig); +#endif + + failsafeInit(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle); + + rxInit(&masterConfig.rxConfig, currentProfile->modeActivationConditions); + +#ifdef GPS + if (feature(FEATURE_GPS)) { + gpsInit( + &masterConfig.serialConfig, + &masterConfig.gpsConfig + ); + + addBootlogEvent2(BOOT_EVENT_GPS_INIT_DONE, BOOT_EVENT_FLAGS_NONE); + } +#endif + +#ifdef NAV + navigationInit( + &masterConfig.navConfig, + ¤tProfile->pidProfile, + ¤tProfile->rcControlsConfig, + &masterConfig.rxConfig, + &masterConfig.flight3DConfig, + &masterConfig.motorConfig + ); +#endif + +#ifdef LED_STRIP + ledStripInit(masterConfig.ledConfigs, masterConfig.colors, masterConfig.modeColors, &masterConfig.specialColors); + + if (feature(FEATURE_LED_STRIP)) { + ledStripEnable(); + addBootlogEvent2(BOOT_EVENT_LEDSTRIP_INIT_DONE, BOOT_EVENT_FLAGS_NONE); + } +#endif + +#ifdef TELEMETRY + if (feature(FEATURE_TELEMETRY)) { + telemetryInit(); + addBootlogEvent2(BOOT_EVENT_TELEMETRY_INIT_DONE, BOOT_EVENT_FLAGS_NONE); + } +#endif + +#ifdef USE_FLASHFS +#ifdef NAZE + if (hardwareRevision == NAZE32_REV5) { + m25p16_init(IOTAG_NONE); + } +#elif defined(USE_FLASH_M25P16) + m25p16_init(IOTAG_NONE); +#endif + + flashfsInit(); +#endif + +#ifdef USE_SDCARD + bool sdcardUseDMA = false; + + sdcardInsertionDetectInit(); + +#ifdef SDCARD_DMA_CHANNEL_TX + +#if defined(LED_STRIP) && defined(WS2811_DMA_CHANNEL) + // Ensure the SPI Tx DMA doesn't overlap with the led strip +#ifdef STM32F4 + sdcardUseDMA = !feature(FEATURE_LED_STRIP) || SDCARD_DMA_CHANNEL_TX != WS2811_DMA_STREAM; +#else + sdcardUseDMA = !feature(FEATURE_LED_STRIP) || SDCARD_DMA_CHANNEL_TX != WS2811_DMA_CHANNEL; +#endif +#else + sdcardUseDMA = true; +#endif + +#endif + + sdcard_init(sdcardUseDMA); + + afatfs_init(); +#endif + +#ifdef BLACKBOX + initBlackbox(); +#endif + + gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES); +#ifdef BARO + baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES); +#endif + + // start all timers + // TODO - not implemented yet + timerStart(); + + ENABLE_STATE(SMALL_ANGLE); + DISABLE_ARMING_FLAG(PREVENT_ARMING); + + // Now that everything has powered up the voltage and cell count be determined. + + if (feature(FEATURE_VBAT | FEATURE_CURRENT_METER)) + batteryInit(&masterConfig.batteryConfig); + +#ifdef CJMCU + LED2_ON; +#endif + +#ifdef USE_PMW_SERVO_DRIVER + pwmDriverInitialize(); +#endif + + // Latch active features AGAIN since some may be modified by init(). + latchActiveFeatures(); + motorControlEnable = true; + + fcTasksInit(); + + addBootlogEvent2(BOOT_EVENT_SYSTEM_READY, BOOT_EVENT_FLAGS_NONE); + systemState |= SYSTEM_STATE_READY; +} + diff --git a/src/main/fc/fc_init.h b/src/main/fc/fc_init.h new file mode 100644 index 00000000000..701716dad8d --- /dev/null +++ b/src/main/fc/fc_init.h @@ -0,0 +1,30 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#pragma once + +typedef enum { + SYSTEM_STATE_INITIALISING = 0, + SYSTEM_STATE_CONFIG_LOADED = (1 << 0), + SYSTEM_STATE_SENSORS_READY = (1 << 1), + SYSTEM_STATE_MOTORS_READY = (1 << 2), + SYSTEM_STATE_TRANSPONDER_ENABLED = (1 << 3), + SYSTEM_STATE_READY = (1 << 7) +} systemState_e; + +extern uint8_t systemState; +void init(void); diff --git a/src/main/fc/msp_fc.c b/src/main/fc/fc_msp.c similarity index 99% rename from src/main/fc/msp_fc.c rename to src/main/fc/fc_msp.c index ce0bbc00ff1..64fad49d85a 100644 --- a/src/main/fc/msp_fc.c +++ b/src/main/fc/fc_msp.c @@ -46,6 +46,7 @@ #include "drivers/pwm_rx.h" #include "drivers/sdcard.h" +#include "fc/fc_msp.h" #include "fc/rc_controls.h" #include "fc/runtime_config.h" diff --git a/src/main/fc/msp_fc.h b/src/main/fc/fc_msp.h similarity index 100% rename from src/main/fc/msp_fc.h rename to src/main/fc/fc_msp.h diff --git a/src/main/main.c b/src/main/main.c index c63e2bff5ad..d9ac62631b1 100644 --- a/src/main/main.c +++ b/src/main/main.c @@ -17,605 +17,32 @@ #include #include -#include #include "platform.h" -#include "build/atomic.h" -#include "build/build_config.h" -#include "build/assert.h" -#include "build/debug.h" - -#include "common/axis.h" -#include "common/color.h" -#include "common/maths.h" -#include "common/printf.h" - -#include "drivers/logging.h" - -#include "drivers/nvic.h" - -#include "drivers/sensor.h" -#include "drivers/system.h" -#include "drivers/dma.h" -#include "drivers/exti.h" -#include "drivers/gpio.h" -#include "drivers/io.h" -#include "drivers/light_led.h" -#include "drivers/sound_beeper.h" -#include "drivers/timer.h" #include "drivers/serial.h" #include "drivers/serial_softserial.h" -#include "drivers/serial_uart.h" -#include "drivers/accgyro.h" -#include "drivers/compass.h" -#include "drivers/pwm_mapping.h" -#include "drivers/pwm_output.h" -#include "drivers/pwm_rx.h" -#include "drivers/pwm_output.h" -#include "drivers/adc.h" -#include "drivers/bus_i2c.h" -#include "drivers/bus_spi.h" -#include "drivers/inverter.h" -#include "drivers/flash_m25p16.h" -#include "drivers/sonar_hcsr04.h" -#include "drivers/sdcard.h" -#include "drivers/gyro_sync.h" -#include "drivers/io.h" -#include "drivers/exti.h" -#include "drivers/io_pca9685.h" - -#include "fc/fc_tasks.h" -#include "fc/msp_fc.h" - -#include "rx/rx.h" -#include "rx/spektrum.h" - -#include "io/beeper.h" -#include "io/serial.h" -#include "io/flashfs.h" -#include "io/gps.h" -#include "io/motors.h" -#include "io/servos.h" -#include "fc/rc_controls.h" -#include "io/gimbal.h" -#include "io/ledstrip.h" -#include "io/display.h" -#include "io/asyncfatfs/asyncfatfs.h" -#include "io/pwmdriver_i2c.h" -#include "io/serial_cli.h" - -#include "msp/msp_serial.h" +#include "fc/fc_init.h" #include "scheduler/scheduler.h" -#include "sensors/sensors.h" -#include "sensors/barometer.h" -#include "sensors/compass.h" -#include "sensors/acceleration.h" -#include "sensors/gyro.h" -#include "sensors/battery.h" -#include "sensors/boardalignment.h" -#include "sensors/initialisation.h" -#include "sensors/sonar.h" - -#include "telemetry/telemetry.h" -#include "blackbox/blackbox.h" - -#include "flight/pid.h" -#include "flight/imu.h" -#include "flight/mixer.h" -#include "flight/servos.h" -#include "flight/failsafe.h" -#include "flight/navigation_rewrite.h" - -#include "fc/runtime_config.h" - -#include "config/config.h" -#include "config/config_eeprom.h" -#include "config/config_profile.h" -#include "config/config_master.h" -#include "config/feature.h" - -#ifdef USE_HARDWARE_REVISION_DETECTION -#include "hardware_revision.h" -#endif - -extern uint8_t motorControlEnable; - #ifdef SOFTSERIAL_LOOPBACK serialPort_t *loopbackPort; #endif -typedef enum { - SYSTEM_STATE_INITIALISING = 0, - SYSTEM_STATE_CONFIG_LOADED = (1 << 0), - SYSTEM_STATE_SENSORS_READY = (1 << 1), - SYSTEM_STATE_MOTORS_READY = (1 << 2), - SYSTEM_STATE_TRANSPONDER_ENABLED = (1 << 3), - SYSTEM_STATE_READY = (1 << 7) -} systemState_e; - -static uint8_t systemState = SYSTEM_STATE_INITIALISING; -void flashLedsAndBeep(void) +static void loopbackInit(void) { - LED1_ON; - LED0_OFF; - for (uint8_t i = 0; i < 10; i++) { - LED1_TOGGLE; - LED0_TOGGLE; - delay(25); - if (!(getPreferredBeeperOffMask() & (1 << (BEEPER_SYSTEM_INIT - 1)))) - BEEP_ON; - delay(25); - BEEP_OFF; - } - LED0_OFF; - LED1_OFF; -} - -void init(void) -{ - initBootlog(); - - printfSupportInit(); - - initEEPROM(); - - ensureEEPROMContainsValidData(); - readEEPROM(); - - addBootlogEvent2(BOOT_EVENT_CONFIG_LOADED, BOOT_EVENT_FLAGS_NONE); - systemState |= SYSTEM_STATE_CONFIG_LOADED; - - systemInit(); - - i2cSetOverclock(masterConfig.i2c_overclock); - - // initialize IO (needed for all IO operations) - IOInitGlobal(); - -#ifdef USE_HARDWARE_REVISION_DETECTION - detectHardwareRevision(); -#endif - - // Latch active features to be used for feature() in the remainder of init(). - latchActiveFeatures(); - -#ifdef ALIENFLIGHTF3 - ledInit(hardwareRevision == AFF3_REV_1 ? false : true); -#else - ledInit(false); -#endif - -#ifdef USE_EXTI - EXTIInit(); -#endif - - addBootlogEvent2(BOOT_EVENT_SYSTEM_INIT_DONE, BOOT_EVENT_FLAGS_NONE); - -#ifdef SPEKTRUM_BIND - if (feature(FEATURE_RX_SERIAL)) { - switch (masterConfig.rxConfig.serialrx_provider) { - case SERIALRX_SPEKTRUM1024: - case SERIALRX_SPEKTRUM2048: - // Spektrum satellite binding if enabled on startup. - // Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup. - // The rest of Spektrum initialization will happen later - via spektrumInit() - spektrumBind(&masterConfig.rxConfig); - break; - } - } -#endif - - delay(500); - - timerInit(); // timer must be initialized before any channel is allocated - - dmaInit(); - -#if defined(AVOID_UART2_FOR_PWM_PPM) - serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL), - feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART2 : SERIAL_PORT_NONE); -#elif defined(AVOID_UART3_FOR_PWM_PPM) - serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL), - feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART3 : SERIAL_PORT_NONE); -#else - serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE); -#endif - - mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer); -#ifdef USE_SERVOS - servosInit(masterConfig.customServoMixer); -#endif - - drv_pwm_config_t pwm_params; - memset(&pwm_params, 0, sizeof(pwm_params)); - -#ifdef SONAR - if (feature(FEATURE_SONAR)) { - const sonarHcsr04Hardware_t *sonarHardware = sonarGetHardwareConfiguration(masterConfig.batteryConfig.currentMeterType); - if (sonarHardware) { - pwm_params.useSonar = true; - pwm_params.sonarIOConfig.triggerTag = sonarHardware->triggerTag; - pwm_params.sonarIOConfig.echoTag = sonarHardware->echoTag; - } - } -#endif - - // when using airplane/wing mixer, servo/motor outputs are remapped - if (masterConfig.mixerMode == MIXER_AIRPLANE || masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_CUSTOM_AIRPLANE) - pwm_params.airplane = true; - else - pwm_params.airplane = false; -#if defined(USE_UART2) && defined(STM32F10X) - pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2); -#endif -#ifdef STM32F303xC - pwm_params.useUART3 = doesConfigurationUsePort(SERIAL_PORT_USART3); -#endif -#if defined(USE_UART2) && defined(STM32F40_41xxx) - pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2); -#endif -#if defined(USE_UART6) && defined(STM32F40_41xxx) - pwm_params.useUART6 = doesConfigurationUsePort(SERIAL_PORT_USART6); -#endif - pwm_params.useVbat = feature(FEATURE_VBAT); - pwm_params.useSoftSerial = feature(FEATURE_SOFTSERIAL); - pwm_params.useParallelPWM = feature(FEATURE_RX_PARALLEL_PWM); - pwm_params.useRSSIADC = feature(FEATURE_RSSI_ADC); - pwm_params.useCurrentMeterADC = feature(FEATURE_CURRENT_METER) - && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC; - pwm_params.useLEDStrip = feature(FEATURE_LED_STRIP); - pwm_params.usePPM = feature(FEATURE_RX_PPM); - pwm_params.useSerialRx = feature(FEATURE_RX_SERIAL); - -#ifdef USE_SERVOS - pwm_params.useServos = isMixerUsingServos(); - pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING); - pwm_params.servoCenterPulse = masterConfig.servoConfig.servoCenterPulse; - pwm_params.servoPwmRate = masterConfig.servoConfig.servoPwmRate; -#endif - - pwm_params.pwmProtocolType = masterConfig.motorConfig.motorPwmProtocol; - pwm_params.useFastPwm = (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_ONESHOT125) || - (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_ONESHOT42) || - (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_MULTISHOT); - pwm_params.motorPwmRate = masterConfig.motorConfig.motorPwmRate; - pwm_params.idlePulse = masterConfig.motorConfig.mincommand; - if (feature(FEATURE_3D)) { - pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d; - } - - if (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_BRUSHED) { - pwm_params.useFastPwm = false; - featureClear(FEATURE_3D); - pwm_params.idlePulse = 0; // brushed motors - } - -#ifndef SKIP_RX_PWM_PPM - pwmRxInit(masterConfig.inputFilteringMode); -#endif - -#ifdef USE_PMW_SERVO_DRIVER - /* - If external PWM driver is enabled, for example PCA9685, disable internal - servo handling mechanism, since external device will do that - */ - if (feature(FEATURE_PWM_SERVO_DRIVER)) { - pwm_params.useServos = false; - } -#endif - - // pwmInit() needs to be called as soon as possible for ESC compatibility reasons - pwmInit(&pwm_params); - - mixerUsePWMIOConfiguration(); - - if (!pwm_params.useFastPwm) - motorControlEnable = true; - - addBootlogEvent2(BOOT_EVENT_PWM_INIT_DONE, BOOT_EVENT_FLAGS_NONE); - systemState |= SYSTEM_STATE_MOTORS_READY; - -#ifdef BEEPER - beeperConfig_t beeperConfig = { - .ioTag = IO_TAG(BEEPER), -#ifdef BEEPER_INVERTED - .isOD = false, - .isInverted = true -#else - .isOD = true, - .isInverted = false -#endif - }; -#ifdef NAZE - if (hardwareRevision >= NAZE32_REV5) { - // naze rev4 and below used opendrain to PNP for buzzer. Rev5 and above use PP to NPN. - beeperConfig.isOD = false; - beeperConfig.isInverted = true; - } -#endif - - beeperInit(&beeperConfig); -#endif - -#ifdef INVERTER - initInverter(); -#endif - - -#ifdef USE_SPI -#ifdef USE_SPI_DEVICE_1 - spiInit(SPIDEV_1); -#endif -#ifdef USE_SPI_DEVICE_2 - spiInit(SPIDEV_2); -#endif -#ifdef USE_SPI_DEVICE_3 -#ifdef ALIENFLIGHTF3 - if (hardwareRevision == AFF3_REV_2) { - spiInit(SPIDEV_3); - } -#else - spiInit(SPIDEV_3); -#endif -#endif -#endif - -#ifdef USE_HARDWARE_REVISION_DETECTION - updateHardwareRevision(); -#endif - -#if defined(NAZE) - if (hardwareRevision == NAZE32_SP) { - serialRemovePort(SERIAL_PORT_SOFTSERIAL2); - } else { - serialRemovePort(SERIAL_PORT_USART3); - } -#endif - -#if defined(SONAR) && defined(USE_SOFTSERIAL1) -#if defined(FURYF3) || defined(OMNIBUS) || defined(SPRACINGF3MINI) - if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) { - serialRemovePort(SERIAL_PORT_SOFTSERIAL1); - } -#endif -#endif - -#if defined(SONAR) && defined(USE_SOFTSERIAL2) && defined(SPRACINGF3) - if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) { - serialRemovePort(SERIAL_PORT_SOFTSERIAL2); - } -#endif - -#ifdef USE_I2C -#if defined(NAZE) - if (hardwareRevision != NAZE32_SP) { - i2cInit(I2C_DEVICE); - } else { - if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) { - i2cInit(I2C_DEVICE); - } - } -#elif defined(CC3D) - if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) { - i2cInit(I2C_DEVICE); - } -#else - i2cInit(I2C_DEVICE); -#endif -#endif - -#ifdef USE_ADC - drv_adc_config_t adc_params; - - adc_params.enableVBat = feature(FEATURE_VBAT); - adc_params.enableRSSI = feature(FEATURE_RSSI_ADC); - adc_params.enableCurrentMeter = feature(FEATURE_CURRENT_METER); - adc_params.enableExternal1 = false; -#ifdef OLIMEXINO - adc_params.enableExternal1 = true; -#endif -#ifdef NAZE - // optional ADC5 input on rev.5 hardware - adc_params.enableExternal1 = (hardwareRevision >= NAZE32_REV5); -#endif - - adcInit(&adc_params); -#endif - - /* Extra 500ms delay prior to initialising hardware if board is cold-booting */ -#if defined(GPS) || defined(MAG) - if (!isMPUSoftReset()) { - addBootlogEvent2(BOOT_EVENT_EXTRA_BOOT_DELAY, BOOT_EVENT_FLAGS_NONE); - - LED1_ON; - LED0_OFF; - - for (int i = 0; i < 5; i++) { - LED1_TOGGLE; - LED0_TOGGLE; - delay(100); - } - - LED0_OFF; - LED1_OFF; - } -#endif - - initBoardAlignment(&masterConfig.boardAlignment); - -#ifdef DISPLAY - if (feature(FEATURE_DISPLAY)) { - displayInit(&masterConfig.rxConfig); - } -#endif - -#ifdef GPS - if (feature(FEATURE_GPS)) { - gpsPreInit(&masterConfig.gpsConfig); - } -#endif - - if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig, - masterConfig.acc_hardware, - masterConfig.mag_hardware, - masterConfig.baro_hardware, - currentProfile->mag_declination, - masterConfig.looptime, - masterConfig.gyro_lpf, - masterConfig.gyroSync, - masterConfig.gyroSyncDenominator)) { - - // if gyro was not detected due to whatever reason, we give up now. - failureMode(FAILURE_MISSING_ACC); - } - - addBootlogEvent2(BOOT_EVENT_SENSOR_INIT_DONE, BOOT_EVENT_FLAGS_NONE); - systemState |= SYSTEM_STATE_SENSORS_READY; - - flashLedsAndBeep(); - - imuInit(); - - mspSerialInit(mspFcInit()); - -#ifdef USE_CLI - cliInit(&masterConfig.serialConfig); -#endif - - failsafeInit(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle); - - rxInit(&masterConfig.rxConfig, currentProfile->modeActivationConditions); - -#ifdef GPS - if (feature(FEATURE_GPS)) { - gpsInit( - &masterConfig.serialConfig, - &masterConfig.gpsConfig - ); - - addBootlogEvent2(BOOT_EVENT_GPS_INIT_DONE, BOOT_EVENT_FLAGS_NONE); - } -#endif - -#ifdef NAV - navigationInit( - &masterConfig.navConfig, - ¤tProfile->pidProfile, - ¤tProfile->rcControlsConfig, - &masterConfig.rxConfig, - &masterConfig.flight3DConfig, - &masterConfig.motorConfig - ); -#endif - -#ifdef LED_STRIP - ledStripInit(masterConfig.ledConfigs, masterConfig.colors, masterConfig.modeColors, &masterConfig.specialColors); - - if (feature(FEATURE_LED_STRIP)) { - ledStripEnable(); - addBootlogEvent2(BOOT_EVENT_LEDSTRIP_INIT_DONE, BOOT_EVENT_FLAGS_NONE); - } -#endif - -#ifdef TELEMETRY - if (feature(FEATURE_TELEMETRY)) { - telemetryInit(); - addBootlogEvent2(BOOT_EVENT_TELEMETRY_INIT_DONE, BOOT_EVENT_FLAGS_NONE); - } -#endif - -#ifdef USE_FLASHFS -#ifdef NAZE - if (hardwareRevision == NAZE32_REV5) { - m25p16_init(IOTAG_NONE); - } -#elif defined(USE_FLASH_M25P16) - m25p16_init(IOTAG_NONE); -#endif - - flashfsInit(); -#endif - -#ifdef USE_SDCARD - bool sdcardUseDMA = false; - - sdcardInsertionDetectInit(); - -#ifdef SDCARD_DMA_CHANNEL_TX - -#if defined(LED_STRIP) && defined(WS2811_DMA_CHANNEL) - // Ensure the SPI Tx DMA doesn't overlap with the led strip -#ifdef STM32F4 - sdcardUseDMA = !feature(FEATURE_LED_STRIP) || SDCARD_DMA_CHANNEL_TX != WS2811_DMA_STREAM; -#else - sdcardUseDMA = !feature(FEATURE_LED_STRIP) || SDCARD_DMA_CHANNEL_TX != WS2811_DMA_CHANNEL; -#endif -#else - sdcardUseDMA = true; -#endif - -#endif - - sdcard_init(sdcardUseDMA); - - afatfs_init(); -#endif - -#ifdef BLACKBOX - initBlackbox(); -#endif - - gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES); -#ifdef BARO - baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES); -#endif - - // start all timers - // TODO - not implemented yet - timerStart(); - - ENABLE_STATE(SMALL_ANGLE); - DISABLE_ARMING_FLAG(PREVENT_ARMING); - #ifdef SOFTSERIAL_LOOPBACK - // FIXME this is a hack, perhaps add a FUNCTION_LOOPBACK to support it properly - loopbackPort = (serialPort_t*)&(softSerialPorts[0]); - if (!loopbackPort->vTable) { - loopbackPort = openSoftSerial(0, NULL, 19200, SERIAL_NOT_INVERTED); - } + loopbackPort = softSerialLoopbackPort(); serialPrint(loopbackPort, "LOOPBACK\r\n"); #endif - - // Now that everything has powered up the voltage and cell count be determined. - - if (feature(FEATURE_VBAT | FEATURE_CURRENT_METER)) - batteryInit(&masterConfig.batteryConfig); - -#ifdef CJMCU - LED2_ON; -#endif - -#ifdef USE_PMW_SERVO_DRIVER - pwmDriverInitialize(); -#endif - - // Latch active features AGAIN since some may be modified by init(). - latchActiveFeatures(); - motorControlEnable = true; - - fcTasksInit(); - - addBootlogEvent2(BOOT_EVENT_SYSTEM_READY, BOOT_EVENT_FLAGS_NONE); - systemState |= SYSTEM_STATE_READY; } +static void processLoopback(void) +{ #ifdef SOFTSERIAL_LOOPBACK -void processLoopback(void) { if (loopbackPort) { uint8_t bytesWaiting; while ((bytesWaiting = serialRxBytesWaiting(loopbackPort))) { @@ -623,102 +50,16 @@ void processLoopback(void) { serialWrite(loopbackPort, b); }; } -} -#else -#define processLoopback() #endif +} int main(void) { init(); + loopbackInit(); while (true) { scheduler(); processLoopback(); } } -#ifdef DEBUG_HARDFAULTS - -//from: https://mcuoneclipse.com/2012/11/24/debugging-hard-faults-on-arm-cortex-m/ -/** - * hard_fault_handler_c: - * This is called from the HardFault_HandlerAsm with a pointer the Fault stack - * as the parameter. We can then read the values from the stack and place them - * into local variables for ease of reading. - * We then read the various Fault Status and Address Registers to help decode - * cause of the fault. - * The function ends with a BKPT instruction to force control back into the debugger - */ -void hard_fault_handler_c(unsigned long *hardfault_args) -{ - volatile unsigned long stacked_r0 ; - volatile unsigned long stacked_r1 ; - volatile unsigned long stacked_r2 ; - volatile unsigned long stacked_r3 ; - volatile unsigned long stacked_r12 ; - volatile unsigned long stacked_lr ; - volatile unsigned long stacked_pc ; - volatile unsigned long stacked_psr ; - volatile unsigned long _CFSR ; - volatile unsigned long _HFSR ; - volatile unsigned long _DFSR ; - volatile unsigned long _AFSR ; - volatile unsigned long _BFAR ; - volatile unsigned long _MMAR ; - - stacked_r0 = ((unsigned long)hardfault_args[0]) ; - stacked_r1 = ((unsigned long)hardfault_args[1]) ; - stacked_r2 = ((unsigned long)hardfault_args[2]) ; - stacked_r3 = ((unsigned long)hardfault_args[3]) ; - stacked_r12 = ((unsigned long)hardfault_args[4]) ; - stacked_lr = ((unsigned long)hardfault_args[5]) ; - stacked_pc = ((unsigned long)hardfault_args[6]) ; - stacked_psr = ((unsigned long)hardfault_args[7]) ; - - // Configurable Fault Status Register - // Consists of MMSR, BFSR and UFSR - _CFSR = (*((volatile unsigned long *)(0xE000ED28))) ; - - // Hard Fault Status Register - _HFSR = (*((volatile unsigned long *)(0xE000ED2C))) ; - - // Debug Fault Status Register - _DFSR = (*((volatile unsigned long *)(0xE000ED30))) ; - - // Auxiliary Fault Status Register - _AFSR = (*((volatile unsigned long *)(0xE000ED3C))) ; - - // Read the Fault Address Registers. These may not contain valid values. - // Check BFARVALID/MMARVALID to see if they are valid values - // MemManage Fault Address Register - _MMAR = (*((volatile unsigned long *)(0xE000ED34))) ; - // Bus Fault Address Register - _BFAR = (*((volatile unsigned long *)(0xE000ED38))) ; - - __asm("BKPT #0\n") ; // Break into the debugger -} - -#else - -void HardFault_Handler(void) -{ - LED2_ON; - - // fall out of the sky - const uint8_t requiredStateForMotors = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_MOTORS_READY; - if ((systemState & requiredStateForMotors) == requiredStateForMotors) { - stopMotors(); - } - - LED1_OFF; - LED0_OFF; - - while (1) { -#ifdef LED2 - delay(50); - LED2_TOGGLE; -#endif - } -} - -#endif From 86545b0b162da37d842352e5b42c49bed234c8f3 Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Mon, 24 Oct 2016 15:16:17 +0100 Subject: [PATCH 011/139] Reorderd fc tasks to avoid the need for forward declarations --- src/main/fc/fc_tasks.c | 252 ++++++++++++++++++++--------------------- src/main/fc/fc_tasks.h | 13 --- 2 files changed, 126 insertions(+), 139 deletions(-) diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c index f4436e97ec2..ade51710129 100755 --- a/src/main/fc/fc_tasks.c +++ b/src/main/fc/fc_tasks.c @@ -86,132 +86,6 @@ extern uint32_t currentTime; /* IBat monitoring interval (in microseconds) - 6 default looptimes */ #define IBATINTERVAL (6 * 3500) -cfTask_t cfTasks[TASK_COUNT] = { - [TASK_SYSTEM] = { - .taskName = "SYSTEM", - .taskFunc = taskSystem, - .desiredPeriod = 1000000 / 10, // run every 100 ms - .staticPriority = TASK_PRIORITY_HIGH, - }, - - [TASK_GYROPID] = { - .taskName = "GYRO/PID", - .taskFunc = taskMainPidLoopChecker, - .desiredPeriod = 1000, - .staticPriority = TASK_PRIORITY_REALTIME, - }, - - [TASK_SERIAL] = { - .taskName = "SERIAL", - .taskFunc = taskHandleSerial, - .desiredPeriod = 1000000 / 100, // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud - .staticPriority = TASK_PRIORITY_LOW, - }, - - [TASK_BEEPER] = { - .taskName = "BEEPER", - .taskFunc = taskUpdateBeeper, - .desiredPeriod = 1000000 / 100, // 100 Hz - .staticPriority = TASK_PRIORITY_MEDIUM, - }, - - [TASK_BATTERY] = { - .taskName = "BATTERY", - .taskFunc = taskUpdateBattery, - .desiredPeriod = 1000000 / 50, // 50 Hz - .staticPriority = TASK_PRIORITY_MEDIUM, - }, - - [TASK_RX] = { - .taskName = "RX", - .checkFunc = taskUpdateRxCheck, - .taskFunc = taskUpdateRxMain, - .desiredPeriod = 1000000 / 50, // If event-based scheduling doesn't work, fallback to periodic scheduling - .staticPriority = TASK_PRIORITY_HIGH, - }, - -#ifdef GPS - [TASK_GPS] = { - .taskName = "GPS", - .taskFunc = taskProcessGPS, - .desiredPeriod = 1000000 / 25, // GPS usually don't go raster than 10Hz - .staticPriority = TASK_PRIORITY_MEDIUM, - }, -#endif - -#ifdef MAG - [TASK_COMPASS] = { - .taskName = "COMPASS", - .taskFunc = taskUpdateCompass, - .desiredPeriod = 1000000 / 10, // Compass is updated at 10 Hz - .staticPriority = TASK_PRIORITY_MEDIUM, - }, -#endif - -#ifdef BARO - [TASK_BARO] = { - .taskName = "BARO", - .taskFunc = taskUpdateBaro, - .desiredPeriod = 1000000 / 20, - .staticPriority = TASK_PRIORITY_MEDIUM, - }, -#endif - -#ifdef SONAR - [TASK_SONAR] = { - .taskName = "SONAR", - .taskFunc = taskUpdateSonar, - .desiredPeriod = 70000, // every 70 ms, approximately 14 Hz - .staticPriority = TASK_PRIORITY_MEDIUM, - }, -#endif - -#ifdef DISPLAY - [TASK_DISPLAY] = { - .taskName = "DISPLAY", - .taskFunc = taskUpdateDisplay, - .desiredPeriod = 1000000 / 10, - .staticPriority = TASK_PRIORITY_LOW, - }, -#endif - -#ifdef TELEMETRY - [TASK_TELEMETRY] = { - .taskName = "TELEMETRY", - .taskFunc = taskTelemetry, - .desiredPeriod = 1000000 / 250, // 250 Hz - .staticPriority = TASK_PRIORITY_IDLE, - }, -#endif - -#ifdef LED_STRIP - [TASK_LEDSTRIP] = { - .taskName = "LEDSTRIP", - .taskFunc = taskLedStrip, - .desiredPeriod = 1000000 / 100, // 100 Hz - .staticPriority = TASK_PRIORITY_IDLE, - }, -#endif - -#ifdef USE_PMW_SERVO_DRIVER - [TASK_PWMDRIVER] = { - .taskName = "PWMDRIVER", - .taskFunc = taskSyncPwmDriver, - .desiredPeriod = 1000000 / 200, // 200 Hz - .staticPriority = TASK_PRIORITY_HIGH, - }, -#endif - -#ifdef STACK_CHECK - [TASK_STACK_CHECK] = { - .taskName = "STACKCHECK", - .taskFunc = taskStackCheck, - .desiredPeriod = 1000000 / 10, // 10 Hz - .staticPriority = TASK_PRIORITY_IDLE, - }, -#endif -}; - void taskHandleSerial(void) { #ifdef USE_CLI @@ -340,6 +214,132 @@ void taskSyncPwmDriver(void) { } #endif +cfTask_t cfTasks[TASK_COUNT] = { + [TASK_SYSTEM] = { + .taskName = "SYSTEM", + .taskFunc = taskSystem, + .desiredPeriod = 1000000 / 10, // run every 100 ms + .staticPriority = TASK_PRIORITY_HIGH, + }, + + [TASK_GYROPID] = { + .taskName = "GYRO/PID", + .taskFunc = taskMainPidLoopChecker, + .desiredPeriod = 1000, + .staticPriority = TASK_PRIORITY_REALTIME, + }, + + [TASK_SERIAL] = { + .taskName = "SERIAL", + .taskFunc = taskHandleSerial, + .desiredPeriod = 1000000 / 100, // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud + .staticPriority = TASK_PRIORITY_LOW, + }, + + [TASK_BEEPER] = { + .taskName = "BEEPER", + .taskFunc = taskUpdateBeeper, + .desiredPeriod = 1000000 / 100, // 100 Hz + .staticPriority = TASK_PRIORITY_MEDIUM, + }, + + [TASK_BATTERY] = { + .taskName = "BATTERY", + .taskFunc = taskUpdateBattery, + .desiredPeriod = 1000000 / 50, // 50 Hz + .staticPriority = TASK_PRIORITY_MEDIUM, + }, + + [TASK_RX] = { + .taskName = "RX", + .checkFunc = taskUpdateRxCheck, + .taskFunc = taskUpdateRxMain, + .desiredPeriod = 1000000 / 50, // If event-based scheduling doesn't work, fallback to periodic scheduling + .staticPriority = TASK_PRIORITY_HIGH, + }, + +#ifdef GPS + [TASK_GPS] = { + .taskName = "GPS", + .taskFunc = taskProcessGPS, + .desiredPeriod = 1000000 / 25, // GPS usually don't go raster than 10Hz + .staticPriority = TASK_PRIORITY_MEDIUM, + }, +#endif + +#ifdef MAG + [TASK_COMPASS] = { + .taskName = "COMPASS", + .taskFunc = taskUpdateCompass, + .desiredPeriod = 1000000 / 10, // Compass is updated at 10 Hz + .staticPriority = TASK_PRIORITY_MEDIUM, + }, +#endif + +#ifdef BARO + [TASK_BARO] = { + .taskName = "BARO", + .taskFunc = taskUpdateBaro, + .desiredPeriod = 1000000 / 20, + .staticPriority = TASK_PRIORITY_MEDIUM, + }, +#endif + +#ifdef SONAR + [TASK_SONAR] = { + .taskName = "SONAR", + .taskFunc = taskUpdateSonar, + .desiredPeriod = 70000, // every 70 ms, approximately 14 Hz + .staticPriority = TASK_PRIORITY_MEDIUM, + }, +#endif + +#ifdef DISPLAY + [TASK_DISPLAY] = { + .taskName = "DISPLAY", + .taskFunc = taskUpdateDisplay, + .desiredPeriod = 1000000 / 10, + .staticPriority = TASK_PRIORITY_LOW, + }, +#endif + +#ifdef TELEMETRY + [TASK_TELEMETRY] = { + .taskName = "TELEMETRY", + .taskFunc = taskTelemetry, + .desiredPeriod = 1000000 / 250, // 250 Hz + .staticPriority = TASK_PRIORITY_IDLE, + }, +#endif + +#ifdef LED_STRIP + [TASK_LEDSTRIP] = { + .taskName = "LEDSTRIP", + .taskFunc = taskLedStrip, + .desiredPeriod = 1000000 / 100, // 100 Hz + .staticPriority = TASK_PRIORITY_IDLE, + }, +#endif + +#ifdef USE_PMW_SERVO_DRIVER + [TASK_PWMDRIVER] = { + .taskName = "PWMDRIVER", + .taskFunc = taskSyncPwmDriver, + .desiredPeriod = 1000000 / 200, // 200 Hz + .staticPriority = TASK_PRIORITY_HIGH, + }, +#endif + +#ifdef STACK_CHECK + [TASK_STACK_CHECK] = { + .taskName = "STACKCHECK", + .taskFunc = taskStackCheck, + .desiredPeriod = 1000000 / 10, // 10 Hz + .staticPriority = TASK_PRIORITY_IDLE, + }, +#endif +}; + void fcTasksInit(void) { schedulerInit(); diff --git a/src/main/fc/fc_tasks.h b/src/main/fc/fc_tasks.h index ebb2a3027de..0bc9dea2fe7 100644 --- a/src/main/fc/fc_tasks.h +++ b/src/main/fc/fc_tasks.h @@ -20,22 +20,9 @@ #include void taskMainPidLoopChecker(void); -void taskHandleSerial(void); -void taskUpdateBeeper(void); -void taskUpdateBattery(void); bool taskUpdateRxCheck(uint32_t currentDeltaTime); void taskUpdateRxMain(void); -void taskProcessGPS(void); -void taskUpdateCompass(void); -void taskUpdateBaro(void); -void taskUpdateSonar(void); -void taskUpdateDisplay(void); -void taskTelemetry(void); -void taskLedStrip(void); void taskSystem(void); -#ifdef USE_PMW_SERVO_DRIVER -void taskSyncPwmDriver(void); -#endif void taskStackCheck(void); void fcTasksInit(void); From 0fae6845878233a08e3f1a15887c809583f836f5 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Tue, 25 Oct 2016 13:42:46 +0200 Subject: [PATCH 012/139] updated REVO target --- docs/Board - Revolution.md | 120 +++++++++++++++++++++++++++++++++ src/main/drivers/pwm_mapping.c | 4 +- src/main/target/REVO/target.c | 6 +- src/main/target/REVO/target.h | 18 ++--- 4 files changed, 128 insertions(+), 20 deletions(-) create mode 100644 docs/Board - Revolution.md diff --git a/docs/Board - Revolution.md b/docs/Board - Revolution.md new file mode 100644 index 00000000000..09eabe864d4 --- /dev/null +++ b/docs/Board - Revolution.md @@ -0,0 +1,120 @@ +# Board - OpenPilot Revolution also known as CC3D Revo + +## Features + +* STM32F405 CPU +* Integrated Accelerometer/Gyro MPU6500 via SPI bus +* Integrated Magnetometer HMC5883 +* Integrated Barometer MS5611 +* Integrated 433MHz OPlink Modem -> Not supported +* 6 motor outputs +* 3 UART ports (UART1, UART3, UART6) +* External I2C bus, pins shared with UART3, can not be used simultaneously +* Only UART1 is equipped with inverter +* Onboard 128Mbit (16MB) flash +* BLHeli Passthrough + +## **NOT** supported + +* Sonar +* SoftwareSerial +* ServoTilt +* Channel Forwarding + +## USB + +This board uses STM32 VCP and _not_ utilizes UART when USB is connected. STM32 VCP drivers might be required! + +Flashing requires DFU mode and STM32 DFU drivers. Use [Zadig](http://zadig.akeo.ie) tool to install WinUSB driver on Windows. + +## Pinout + +Following section is ported from [RaceFlight](https://github.com/rs2k/raceflight/blob/master/docs/Board%20-%20Revo.md) with edits + +### RC_Input connector + +#### RX_PPM and RX_SERIAL + +| Pin | Function | Notes | +| --- | --------- | -------------------------------- | +| 1 | Ground | | +| 2 | +5V | | +| 3 | PPM Input | Enable `feature RX_PPM` | +| 4 | UART6 TX | | +| 5 | UART6 RX | | +| 6 | Current | Enable `feature CURRENT_METER`. Connect to the output of a current sensor, 0v-3.3v input | +| 7 | Battery Voltage sensor | Enable `feature VBAT`. Connect to main battery using a voltage divider, 0v-3.3v input | +| 8 | RSSI | Enable `feature RSSI_ADC`. Connect to the output of a PWM-RSSI conditioner, 0v-3.3v input | + +#### RX_PARALLEL_PWM + +| Pin | Function | Notes | +| --- | ---------| ------| +| 1 | Ground | | +| 2 | +5V | | +| 3 | Unused | | +| 4 | CH1 | | +| 5 | CH2 | | +| 6 | CH3 | | +| 7 | CH4/Battery Voltage sensor | CH4 if battery voltage sensor is disabled | +| 8 | CH5/CH4 | CH4 if battery voltage monitor is enabled| + +### RC_Output connector + +#### RX_PPM and RX_SERIAL + +| Pin | Pin | Function | Notes | +| --- | ---- |---------- | ------| +| 1 | PB0 | MOTOR 1 | | +| 2 | PB1 | MOTOR 2 | | +| 3 | PA3 | MOTOR 3 | | +| 4 | PA2 | MOTOR 4 | | +| 5 | PA1 | MOTOR 5 / LED Strip | | +| 6 | PA8 | MOTOR 6 | | + +## Serial Ports + +| Value | Identifier | Board Markings | Notes | +| ----- | ------------ | -------------- | ------------------------------------------| +| 1 | VCP | USB PORT | | +| 2 | UART1 | MAIN PORT | Connected to an MCU controllable inverter | +| 3 | UART3 | FLEX PORT | | +| 4 | UART6 | RC connector | Pins 4 and 5 (Tx and Rx respectively) | + +The UART6 port is not available when RX_PARALLEL_PWM is used. + +### Main Port + +The main port is connected to an inverter which is automatically enabled as required. For example, if the main port is used for SBus Serial RX then an external inverter is not required. + +| Pin | Signal | Notes | +| --- | ------------------ | ----------------------- | +| 1 | GND | | +| 2 | VCC unregulated | | +| 3 | UART1 TX | 3.3v level | +| 4 | UART1 RX | 3.3v level (5v tolerant)| + +### Flex Port + +The flex port will be enabled in I2C mode unless UART3 is used. You can connect external I2C sensors and displays to this port. + +You cannot use USART3 and I2C at the same time. + +| Pin | Signal | Notes | +| --- | ------------------ | ----------------------- | +| 1 | GND | | +| 2 | VCC unregulated | | +| 3 | I2C SCL / UART3 TX | 3.3v level | +| 4 | I2C SDA / UART3 RX | 3.3v level (5v tolerant) | + +## Buzzer + +External buzzer should be wired to PB4 CPU pin using a transistor circuit + +## Notes + +* At this moment LED Strip is not functional on this target +* Motor out put 5 and 6 needs testing +* Servo output might not be working at the moment of writing this documentation +* I2C might not be working at the moment of writing this documentation +* LED Strip might not be working at the moment of writing this documentation diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c index 164380a691d..f3e49b48d67 100644 --- a/src/main/drivers/pwm_mapping.c +++ b/src/main/drivers/pwm_mapping.c @@ -177,14 +177,14 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init) } #endif -#ifdef RSSI_ADC_GPIO +#ifdef RSSI_ADC_PIN if (init->useRSSIADC && timerHardwarePtr->tag == IO_TAG(RSSI_ADC_PIN)) { addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3); continue; } #endif -#ifdef CURRENT_METER_ADC_GPIO +#ifdef CURRENT_METER_ADC_PIN if (init->useCurrentMeterADC && timerHardwarePtr->tag == IO_TAG(CURRENT_METER_ADC_PIN)) { addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3); continue; diff --git a/src/main/target/REVO/target.c b/src/main/target/REVO/target.c index cdca6f5a947..d40fdc9df79 100644 --- a/src/main/target/REVO/target.c +++ b/src/main/target/REVO/target.c @@ -94,13 +94,11 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { { TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // S4_IN { TIM8, IO_TAG(PC8), TIM_Channel_3, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // S5_IN { TIM8, IO_TAG(PC9), TIM_Channel_4, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // S6_IN - + { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S1_OUT { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S2_OUT { TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM9 }, // S3_OUT { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM2 }, // S4_OUT { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM5 }, // S5_OUT - GPIO_PartialRemap_TIM3 - { TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM5 }, // S6_OUT + { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_UP_TIM10_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM1 }, // S6_OUT }; - - diff --git a/src/main/target/REVO/target.h b/src/main/target/REVO/target.h index fb75141515a..ba599502d2a 100644 --- a/src/main/target/REVO/target.h +++ b/src/main/target/REVO/target.h @@ -27,11 +27,9 @@ #endif #define LED0 PB5 -// Disable LED1, conflicts with AirbotF4/Flip32F4 beeper -//#define LED1 PB4 +#define LED1 PB4 #define BEEPER PB4 -#define BEEPER_INVERTED #define INVERTER PC0 // PC0 used as inverter select GPIO #define INVERTER_USART USART1 @@ -59,13 +57,6 @@ #define MAG_HMC5883_ALIGN CW90_DEG #define USE_MAG_MAG3110 -//#define USE_MAG_DATA_READY_SIGNAL -//#define ENSURE_MAG_DATA_READY_IS_HIGH -//#define MAG_INT_EXTI PB7 - -//#define USE_MAG_NAZA -//#define MAG_NAZA_ALIGN CW180_DEG_FLIP - #define BARO #define USE_BARO_BMP085 #define USE_BARO_BMP280 @@ -117,7 +108,7 @@ #define USE_ADC #define CURRENT_METER_ADC_PIN PC1 #define VBAT_ADC_PIN PC2 -// #define RSSI_ADC_GPIO_PIN PA0 +#define RSSI_ADC_PIN PA0 #define SENSORS_SET (SENSOR_ACC|SENSOR_MAG|SENSOR_BARO) @@ -146,8 +137,7 @@ #define DEFAULT_FEATURES (FEATURE_BLACKBOX) #define SPEKTRUM_BIND -// USART3, -#define BIND_PIN PB11 +#define BIND_PIN PB11 //UART3_RX_PIN #define USE_SERIAL_4WAY_BLHELI_INTERFACE @@ -160,4 +150,4 @@ #define TARGET_IO_PORTD 0xffff #define USABLE_TIMER_CHANNEL_COUNT 12 -#define USED_TIMERS ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9) ) +#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9) ) From f3ce64e8409c653026b7255f08a40e76dad1bc43 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Pawe=C5=82=20Spychalski?= Date: Tue, 25 Oct 2016 14:41:19 +0200 Subject: [PATCH 013/139] doc fix --- docs/Board - Revolution.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/Board - Revolution.md b/docs/Board - Revolution.md index 09eabe864d4..1932a1d53c8 100644 --- a/docs/Board - Revolution.md +++ b/docs/Board - Revolution.md @@ -3,7 +3,7 @@ ## Features * STM32F405 CPU -* Integrated Accelerometer/Gyro MPU6500 via SPI bus +* Integrated Accelerometer/Gyro MPU6000 via SPI bus * Integrated Magnetometer HMC5883 * Integrated Barometer MS5611 * Integrated 433MHz OPlink Modem -> Not supported From b53d5c374237d8ef42d06fbe126af0cf8e0567ed Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Tue, 25 Oct 2016 18:38:10 +0200 Subject: [PATCH 014/139] missing ling --- docs/Boards.md | 1 + 1 file changed, 1 insertion(+) diff --git a/docs/Boards.md b/docs/Boards.md index 2cc325b05a9..563075488a8 100644 --- a/docs/Boards.md +++ b/docs/Boards.md @@ -11,6 +11,7 @@ The core set of supported flyable boards are: * Naze32 * Sparky * SPRacingF3 +* [OpenPilot Revolution](Board%20-%20Revolution.md) INAV also runs on the following developer boards: From 5827e2b9cadedcaf10c4584e6dc70ad174ea0a5a Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Sat, 29 Oct 2016 20:10:42 +0200 Subject: [PATCH 015/139] Smartport on F4 with external inverters --- docs/Telemetry.md | 25 ++++++++++++++++++---- docs/assets/images/smartport_inverter.png | Bin 0 -> 29620 bytes src/main/config/config.c | 1 + src/main/io/serial_cli.c | 3 +++ src/main/telemetry/smartport.c | 8 +++++-- src/main/telemetry/telemetry.h | 4 +++- 6 files changed, 34 insertions(+), 7 deletions(-) create mode 100644 docs/assets/images/smartport_inverter.png diff --git a/docs/Telemetry.md b/docs/Telemetry.md index 1c0c8e1981f..a637ca6c0a8 100644 --- a/docs/Telemetry.md +++ b/docs/Telemetry.md @@ -4,7 +4,7 @@ Telemetry allows you to know what is happening on your aircraft while you are fl Telemetry can be either always on, or enabled when armed. If a serial port for telemetry is shared with other functionality then then telemetry will only be enabled when armed on that port. -Telemetry is enabled using the 'TELEMETRY` feature. +Telemetry is enabled using the 'TELEMETRY' feature. ``` feature TELEMETRY @@ -30,7 +30,7 @@ For 1, just connect your inverter to a usart or software serial port. For 2 and 3 use the CLI command as follows: ``` -set telemetry_inversion = 1 +set telemetry_inversion = ON ``` ### Precision setting for VFAS @@ -112,7 +112,7 @@ https://github.com/stronnag/mwptools/blob/master/docs/ltm-definition.txt ## MAVLink telemetry -MAVLink is a very lightweight, header-only message marshalling library for micro air vehicles. +MAVLink is a very lightweight, header-only message marshalling library for micro air vehicles. Cleanflight supports MAVLink for compatibility with ground stations, OSDs and antenna trackers built for PX4, PIXHAWK, APM and Parrot AR.Drone platforms. @@ -131,5 +131,22 @@ Smartport devices can be connected directly to STM32F3 boards such as the SPRaci For Smartport on F3 based boards, enable the telemetry inversion setting. ``` -set telemetry_inversion = 1 +set telemetry_inversion = ON ``` + +### SmartPort (S.Port) with external hardware inverter + +It is possible to use DIY UART inverter to connect SmartPort receivers to F1 and F4 based flight controllers. This method does not require hardware hack of S.Port receiver. + +![Inverter](assets\images\smartport_inverter.png) + +**Warning** Chosen UART has to be 5V tolerant. If not, use 3.3V power supply instead (not tested) + +When external inverter is used, following configuration has to be applied: + +``` +set smartport_external_inverter = ON +set telemetry_inversion = OFF +``` + +This has been tested with Flip32 F4 / Airbot F4 and FrSky X4R-SB receiver. diff --git a/docs/assets/images/smartport_inverter.png b/docs/assets/images/smartport_inverter.png new file mode 100644 index 0000000000000000000000000000000000000000..4acadca8835a209fc699c8737a3cca690031886a GIT binary patch literal 29620 zcmd43bwHHu*DeauFj5jjBcOoP5Yj2BC?V1{fPezh-7rXpfYOc9Dbn4ggmg~;h$lesi*66LZBd4{gBRwA{jFX#38r^am1;v5ssf^SsSA(57tdvoiTTELF zSrro1q6~VCUtSy;#!@O)z6}1s{*#i!5)2xlcS$<~89K?)WmIL7SQ^PU8uPIk8Wm#a zx30W?o5fjiCcn0coqK(HzH2T%YgXYh`;Py}>M*(2&ObOfSiuNJ&%ls{jfuvAwu z;4&1C7O*i;{q{z6xW>-pU{K;V?{R>j=UJKHT8cx*4}pcEIBJmy+qG1ef(J4(i`{TZ z3Y+O~Z{YiW?S67*5&{zk-t)8_H6Lj6r&`}JQi=gaXy>Rpwj~FV}6>v)r zW}$&W3AJ5M#xzZHZK(YP-40*Z7QLIPI`kgNdC?idoW@dRJ@;tu9?=&xAbPxPxrmti 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z@5v1o5I@@ZGj(}K2upHf3F-FPYgXOq&m%f%g%HV%p(D-t#5b6YrVD&(JfmJZp_fLjbic)TG;(%Sga_Zx{o0~Ayr{sV*VZ>J z@m5E%@NSl)1{ToaAWIK6Hr$@m2d-4?;)tW_Jrduymj3Qbx097nX$GgZM-mU*HLV%p zqf*-1=Col;8PjkK8N~UP+Px3=L#bTrbE2jB7d7X)5+)X0nXr#wo}?VUuRhe4|9a@V z>vejh%1oAD9f+9XrD*u^n9tUG$tug2&fT==b$0Q6$6>riDI`sZ*Sa}QpLT`joVdvh zA?=is0(gA4=GZnko!r0W(*UMMzCF6=&f6LjeU7k>*`viTNt+>Y7xhE?gi*!@b>FeX zaW$jsWh%E6s5lOZWQEtUji~V7$l1*qvuVWV{XdrWRm*lETaUNTI#;MJode$~c)jXU+b9O92)C6z5Rn2 zRNa^+?wY4}ZRGA@Hi5dBbsQ-VLj!*;8IEn1uAS@x zbWUa$<2mD2YgMYc-#8B2SRp4^z9rPnL96N99wINHLv7IW>CM&7Q7v(nZL%YwMvR~R z91)M)LVJsz`bfIaiMr~a?jxU`o@BH8D6zgS)Sshgrz-U`B!=v&1N`=<=vm{%G&^Cf zG%W>HY+c;Z@vb4z1BI+g!Bt9TokAKs=b|0`qViM8DzU^$8Ry3t#^0E#F8bRt2^&<3 z1=3f+J+X5)o!Q#1pcW!f=SoHtBs04R-J~2Ep@E+3IJDI0`Uz4+?-F zwv$LqASS+UdHD8>OX48)@mp5Cfrsky_unit = FRSKY_UNIT_METRICS; telemetryConfig->frsky_vfas_precision = 0; telemetryConfig->hottAlarmSoundInterval = 5; + telemetryConfig->smartportExternalInverter = 0; } #endif diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index 3d04df54830..bc6f22cb11f 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -722,6 +722,9 @@ const clivalue_t valueTable[] = { { "frsky_unit", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.telemetryConfig.frsky_unit, .config.lookup = { TABLE_UNIT }, 0 }, { "frsky_vfas_precision", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.frsky_vfas_precision, .config.minmax = { FRSKY_VFAS_PRECISION_LOW, FRSKY_VFAS_PRECISION_HIGH }, 0 }, { "hott_alarm_sound_interval", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.hottAlarmSoundInterval, .config.minmax = { 0, 120 }, 0 }, +#ifdef TELEMETRY_SMARTPORT + { "smartport_external_inverter", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.telemetryConfig.smartportExternalInverter, .config.lookup = { TABLE_OFF_ON }, 0 }, +#endif #endif { "battery_capacity", VAR_UINT16 | MASTER_VALUE, &masterConfig.batteryConfig.batteryCapacity, .config.minmax = { 0, 20000 }, 0 }, diff --git a/src/main/telemetry/smartport.c b/src/main/telemetry/smartport.c index a494a8cb1d5..54a53c816ed 100644 --- a/src/main/telemetry/smartport.c +++ b/src/main/telemetry/smartport.c @@ -226,7 +226,11 @@ void configureSmartPortTelemetryPort(void) return; } - portOptions = SERIAL_BIDIR; + if (telemetryConfig->smartportExternalInverter) { + portOptions = SERIAL_UNIDIR; + } else { + portOptions = SERIAL_BIDIR; + } if (telemetryConfig->telemetry_inversion) { portOptions |= SERIAL_INVERTED; @@ -298,7 +302,7 @@ void handleSmartPortTelemetry(void) smartPortHasRequest = 0; return; } - + // we can send back any data we want, our table keeps track of the order and frequency of each data type we send uint16_t id = frSkyDataIdTable[smartPortIdCnt]; if (id == 0) { // end of table reached, loop back diff --git a/src/main/telemetry/telemetry.h b/src/main/telemetry/telemetry.h index b61aa68bd4c..80e595ceb0b 100644 --- a/src/main/telemetry/telemetry.h +++ b/src/main/telemetry/telemetry.h @@ -44,6 +44,9 @@ typedef struct telemetryConfig_s { uint8_t frsky_vfas_precision; uint8_t frsky_vfas_cell_voltage; uint8_t hottAlarmSoundInterval; +#ifdef TELEMETRY_SMARTPORT + uint8_t smartportExternalInverter; +#endif } telemetryConfig_t; void telemetryInit(void); @@ -59,4 +62,3 @@ bool telemetryDetermineEnabledState(portSharing_e portSharing); void telemetryUseConfig(telemetryConfig_t *telemetryConfig); #define TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_LTM) - From 72f6517821b1f39c12d32d1a1d2c973f8bd09d41 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Sat, 29 Oct 2016 21:39:32 +0200 Subject: [PATCH 016/139] missing ifdef --- src/main/config/config.c | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/main/config/config.c b/src/main/config/config.c index 72004d11e69..ddce3a2adf8 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -290,7 +290,9 @@ void resetTelemetryConfig(telemetryConfig_t *telemetryConfig) telemetryConfig->frsky_unit = FRSKY_UNIT_METRICS; telemetryConfig->frsky_vfas_precision = 0; telemetryConfig->hottAlarmSoundInterval = 5; +#ifdef TELEMETRY_SMARTPORT telemetryConfig->smartportExternalInverter = 0; +#endif } #endif From 6f1ced8eef98d2ccf6e4597d474154b814e97026 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Tue, 1 Nov 2016 13:29:44 +0100 Subject: [PATCH 017/139] few fixes for PCA9685 --- src/main/drivers/io_pca9685.c | 4 ++-- src/main/drivers/io_pca9685.h | 2 +- src/main/io/pwmdriver_i2c.c | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/drivers/io_pca9685.c b/src/main/drivers/io_pca9685.c index a002505015c..449b22e666e 100644 --- a/src/main/drivers/io_pca9685.c +++ b/src/main/drivers/io_pca9685.c @@ -25,8 +25,8 @@ #define PCA9685_SERVO_COUNT 16 #define PCA9685_SYNC_THRESHOLD 5 -uint16_t currentOutputState[PCA9685_SERVO_FREQUENCY] = {0}; -uint16_t temporaryOutputState[PCA9685_SERVO_FREQUENCY] = {0}; +uint16_t currentOutputState[PCA9685_SERVO_COUNT] = {0}; +uint16_t temporaryOutputState[PCA9685_SERVO_COUNT] = {0}; void pca9685setPWMOn(uint8_t servoIndex, uint16_t on) { if (servoIndex < PCA9685_SERVO_COUNT) { diff --git a/src/main/drivers/io_pca9685.h b/src/main/drivers/io_pca9685.h index 2e37b34a6f5..2ab7b0477eb 100644 --- a/src/main/drivers/io_pca9685.h +++ b/src/main/drivers/io_pca9685.h @@ -1,6 +1,6 @@ bool pca9685Initialize(void); void pca9685setPWMOn(uint8_t servoIndex, uint16_t on); void pca9685setPWMOff(uint8_t servoIndex, uint16_t off); -void pca9685setPWMFreq(float freq); +void pca9685setPWMFreq(uint16_t freq); void pca9685setServoPulse(uint8_t servoIndex, uint16_t pulse); void pca9685sync(uint8_t cycleIndex); diff --git a/src/main/io/pwmdriver_i2c.c b/src/main/io/pwmdriver_i2c.c index 4d4db9200b4..d198ea1b883 100644 --- a/src/main/io/pwmdriver_i2c.c +++ b/src/main/io/pwmdriver_i2c.c @@ -15,7 +15,7 @@ static uint8_t driverImplementationIndex = 0; typedef struct { bool (*initFunction)(void); void (*writeFunction)(uint8_t servoIndex, uint16_t off); - void (*setFrequencyFunction)(float freq); + void (*setFrequencyFunction)(uint16_t freq); void (*syncFunction)(uint8_t cycleIndex); } pwmDriverDriver_t; From f1dcc3b7379b49011aeed910f5f8f7bd9bc199d3 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Tue, 1 Nov 2016 13:34:44 +0100 Subject: [PATCH 018/139] unneeded includes removed --- src/main/drivers/io_pca9685.c | 3 --- 1 file changed, 3 deletions(-) diff --git a/src/main/drivers/io_pca9685.c b/src/main/drivers/io_pca9685.c index 449b22e666e..7f240bdfc07 100644 --- a/src/main/drivers/io_pca9685.c +++ b/src/main/drivers/io_pca9685.c @@ -9,9 +9,6 @@ #include "common/maths.h" -#include "config/config.h" -#include "fc/runtime_config.h" - #define PCA9685_ADDR 0x40 #define PCA9685_MODE1 0x00 #define PCA9685_PRESCALE 0xFE From 5db140ae958df1716566619744f649526ffac374 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Tue, 1 Nov 2016 15:22:19 +0100 Subject: [PATCH 019/139] setting name changed --- docs/Telemetry.md | 2 +- src/main/config/config.c | 2 +- src/main/io/serial_cli.c | 2 +- src/main/telemetry/smartport.c | 2 +- src/main/telemetry/telemetry.h | 2 +- 5 files changed, 5 insertions(+), 5 deletions(-) diff --git a/docs/Telemetry.md b/docs/Telemetry.md index a637ca6c0a8..441284a7db1 100644 --- a/docs/Telemetry.md +++ b/docs/Telemetry.md @@ -145,7 +145,7 @@ It is possible to use DIY UART inverter to connect SmartPort receivers to F1 and When external inverter is used, following configuration has to be applied: ``` -set smartport_external_inverter = ON +set smartport_uart_unidir = ON set telemetry_inversion = OFF ``` diff --git a/src/main/config/config.c b/src/main/config/config.c index ddce3a2adf8..67ef93bfdf8 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -291,7 +291,7 @@ void resetTelemetryConfig(telemetryConfig_t *telemetryConfig) telemetryConfig->frsky_vfas_precision = 0; telemetryConfig->hottAlarmSoundInterval = 5; #ifdef TELEMETRY_SMARTPORT - telemetryConfig->smartportExternalInverter = 0; + telemetryConfig->smartportUartUnidirectional = 0; #endif } #endif diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index bc6f22cb11f..ca38875f731 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -723,7 +723,7 @@ const clivalue_t valueTable[] = { { "frsky_vfas_precision", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.frsky_vfas_precision, .config.minmax = { FRSKY_VFAS_PRECISION_LOW, FRSKY_VFAS_PRECISION_HIGH }, 0 }, { "hott_alarm_sound_interval", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.hottAlarmSoundInterval, .config.minmax = { 0, 120 }, 0 }, #ifdef TELEMETRY_SMARTPORT - { "smartport_external_inverter", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.telemetryConfig.smartportExternalInverter, .config.lookup = { TABLE_OFF_ON }, 0 }, + { "smartport_uart_unidir", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.telemetryConfig.smartportUartUnidirectional, .config.lookup = { TABLE_OFF_ON }, 0 }, #endif #endif diff --git a/src/main/telemetry/smartport.c b/src/main/telemetry/smartport.c index 54a53c816ed..7f6e517df0f 100644 --- a/src/main/telemetry/smartport.c +++ b/src/main/telemetry/smartport.c @@ -226,7 +226,7 @@ void configureSmartPortTelemetryPort(void) return; } - if (telemetryConfig->smartportExternalInverter) { + if (telemetryConfig->smartportUartUnidirectional) { portOptions = SERIAL_UNIDIR; } else { portOptions = SERIAL_BIDIR; diff --git a/src/main/telemetry/telemetry.h b/src/main/telemetry/telemetry.h index 80e595ceb0b..b5e34f31938 100644 --- a/src/main/telemetry/telemetry.h +++ b/src/main/telemetry/telemetry.h @@ -45,7 +45,7 @@ typedef struct telemetryConfig_s { uint8_t frsky_vfas_cell_voltage; uint8_t hottAlarmSoundInterval; #ifdef TELEMETRY_SMARTPORT - uint8_t smartportExternalInverter; + uint8_t smartportUartUnidirectional; #endif } telemetryConfig_t; From 57815ea802906d71da876221a888a661b704f9df Mon Sep 17 00:00:00 2001 From: Konstantin Sharlaimov Date: Wed, 2 Nov 2016 20:53:20 +1000 Subject: [PATCH 020/139] Update development from master (#737) From 41406464ca9f593921557c89124d855386365b3b Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Wed, 2 Nov 2016 21:00:33 +1000 Subject: [PATCH 021/139] Version bump to 1.3.1 --- src/main/build/version.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/build/version.h b/src/main/build/version.h index 90b723b98bf..f69a22a435a 100644 --- a/src/main/build/version.h +++ b/src/main/build/version.h @@ -17,7 +17,7 @@ #define FC_VERSION_MAJOR 1 // increment when a major release is made (big new feature, etc) #define FC_VERSION_MINOR 3 // increment when a minor release is made (small new feature, change etc) -#define FC_VERSION_PATCH_LEVEL 0 // increment when a bug is fixed +#define FC_VERSION_PATCH_LEVEL 1 // increment when a bug is fixed #define STR_HELPER(x) #x #define STR(x) STR_HELPER(x) From ade14763a56c6bbabe490d632548f30d07279c5e Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Wed, 12 Oct 2016 22:14:24 +1000 Subject: [PATCH 022/139] TPA logic changes for airplanes --- src/main/fc/mw.c | 8 +++++- src/main/flight/pid.c | 65 ++++++++++++++++++++++++++++++------------- src/main/flight/pid.h | 5 +++- 3 files changed, 56 insertions(+), 22 deletions(-) diff --git a/src/main/fc/mw.c b/src/main/fc/mw.c index e999be18c11..52f0147405a 100755 --- a/src/main/fc/mw.c +++ b/src/main/fc/mw.c @@ -583,7 +583,14 @@ void taskMainPidLoop(void) masterConfig.motorConfig.maxthrottle); } } + else { + // FIXME: throttle pitch comp for FW + } + + // Update PID coefficients + updatePIDCoefficients(¤tProfile->pidProfile, currentControlRateProfile, &masterConfig.motorConfig); + // Calculate stabilisation pidController(¤tProfile->pidProfile, currentControlRateProfile, &masterConfig.rxConfig); #ifdef HIL @@ -655,6 +662,5 @@ bool taskUpdateRxCheck(uint32_t currentDeltaTime) void taskUpdateRxMain(void) { processRx(); - updatePIDCoefficients(¤tProfile->pidProfile, currentControlRateProfile, &masterConfig.rxConfig); isRXDataNew = true; } diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index 89281fb1d07..8d124c473a5 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -160,27 +160,43 @@ FP-PID has been rescaled to match LuxFloat (and MWRewrite) from Cleanflight 1.13 #define FP_PID_LEVEL_P_MULTIPLIER 65.6f #define FP_PID_YAWHOLD_P_MULTIPLIER 80.0f -#define KD_ATTENUATION_BREAK 0.25f - -void updatePIDCoefficients(const pidProfile_t *pidProfile, const controlRateConfig_t *controlRateConfig, const rxConfig_t *rxConfig) +void updatePIDCoefficients(const pidProfile_t *pidProfile, const controlRateConfig_t *controlRateConfig, const struct motorConfig_s *motorConfig) { - // TPA should be updated only when TPA is actually set - if (controlRateConfig->dynThrPID == 0 || rcData[THROTTLE] < controlRateConfig->tpa_breakpoint) { - tpaFactor = 1.0f; - } else if (rcData[THROTTLE] < 2000) { - tpaFactor = (100 - (uint16_t)controlRateConfig->dynThrPID * (rcData[THROTTLE] - controlRateConfig->tpa_breakpoint) / (2000 - controlRateConfig->tpa_breakpoint)) / 100.0f; - } else { - tpaFactor = (100 - controlRateConfig->dynThrPID) / 100.0f; + static uint16_t prevThrottle = 0; + bool shouldUpdateCoeffs = false; + + // Check if throttle changed + if (rcCommand[THROTTLE] != prevThrottle) { + prevThrottle = rcCommand[THROTTLE]; + shouldUpdateCoeffs = true; } - // Additional throttle-based KD attenuation (kudos to RS2K & Raceflight) - float relThrottle = constrainf( ((float)rcData[THROTTLE] - (float)rxConfig->mincheck) / ((float)rxConfig->maxcheck - (float)rxConfig->mincheck), 0.0f, 1.0f); - float kdAttenuationFactor; + // If nothing changed - don't waste time recalculating coefficients + if (!shouldUpdateCoeffs) { + return; + } - if (relThrottle < KD_ATTENUATION_BREAK) { - kdAttenuationFactor = constrainf((relThrottle / KD_ATTENUATION_BREAK) + 0.50f, 0.0f, 1.0f); - } else { - kdAttenuationFactor = 1.0f; + // Calculate TPA factor - different logic for airplanes and multirotors + if (STATE(FIXED_WING)) { + // tpa_rate is ignored for fixed wings, set to non-zero to enable TPA + // tpa_breakpoint for fixed wing is cruise throttle value (value at which PIDs were tuned) + if (controlRateConfig->dynThrPID != 0 && rcCommand[THROTTLE] > motorConfig->minthrottle && controlRateConfig->tpa_breakpoint > motorConfig->minthrottle) { + tpaFactor = 0.5f + ((controlRateConfig->tpa_breakpoint - motorConfig->minthrottle) / (rcCommand[THROTTLE] - motorConfig->minthrottle) / 2.0f); + tpaFactor = constrainf(tpaFactor, 0.6f, 1.67f); + } + else { + tpaFactor = 1.0f; + } + } + else { + // TPA should be updated only when TPA is actually set + if (controlRateConfig->dynThrPID == 0 || rcCommand[THROTTLE] < controlRateConfig->tpa_breakpoint) { + tpaFactor = 1.0f; + } else if (rcCommand[THROTTLE] < motorConfig->maxthrottle) { + tpaFactor = (100 - (uint16_t)controlRateConfig->dynThrPID * (rcCommand[THROTTLE] - controlRateConfig->tpa_breakpoint) / (motorConfig->maxthrottle - controlRateConfig->tpa_breakpoint)) / 100.0f; + } else { + tpaFactor = (100 - controlRateConfig->dynThrPID) / 100.0f; + } } // PID coefficients can be update only with THROTTLE and TPA or inflight PID adjustments @@ -190,10 +206,19 @@ void updatePIDCoefficients(const pidProfile_t *pidProfile, const controlRateConf pidState[axis].kI = pidProfile->I8[axis] / FP_PID_RATE_I_MULTIPLIER; pidState[axis].kD = pidProfile->D8[axis] / FP_PID_RATE_D_MULTIPLIER; - // Apply TPA to ROLL and PITCH axes - if (axis != FD_YAW) { + // Apply TPA + if (STATE(FIXED_WING)) { + // Airplanes - scale all PIDs according to TPA pidState[axis].kP *= tpaFactor; - pidState[axis].kD *= tpaFactor * kdAttenuationFactor; + pidState[axis].kI *= tpaFactor; + pidState[axis].kD *= tpaFactor * tpaFactor; // acceleration scales with speed^2 + } + else { + // Multicopter - scale roll/pitch PIDs according to TPA + if (axis != FD_YAW) { + pidState[axis].kP *= tpaFactor; + pidState[axis].kD *= tpaFactor; + } } if ((pidProfile->P8[axis] != 0) && (pidProfile->I8[axis] != 0)) { diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h index 9c38e3202b7..b36de645f55 100644 --- a/src/main/flight/pid.h +++ b/src/main/flight/pid.h @@ -80,9 +80,12 @@ extern int32_t axisPID_P[], axisPID_I[], axisPID_D[], axisPID_Setpoint[]; void pidInit(void); void pidResetErrorAccumulators(void); + struct controlRateConfig_s; +struct motorConfig_s; struct rxConfig_s; -void updatePIDCoefficients(const pidProfile_t *pidProfile, const struct controlRateConfig_s *controlRateConfig, const struct rxConfig_s *rxConfig); + +void updatePIDCoefficients(const pidProfile_t *pidProfile, const struct controlRateConfig_s *controlRateConfig, const struct motorConfig_s *motorConfig); void pidController(const pidProfile_t *pidProfile, const struct controlRateConfig_s *controlRateConfig, const struct rxConfig_s *rxConfig); float pidRateToRcCommand(float rateDPS, uint8_t rate); From fe8156be2ab9a4c2f5984865d7e1e459d27f6307 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Mon, 17 Oct 2016 11:34:40 +1000 Subject: [PATCH 023/139] TPA calculation fixes; Force re-calculation of PIDs when they are changed by MSP or adjustments --- src/main/fc/fc_msp.c | 3 +++ src/main/fc/rc_controls.c | 12 ++++++++++++ src/main/flight/pid.c | 24 ++++++++++++++++++------ src/main/flight/pid.h | 1 + 4 files changed, 34 insertions(+), 6 deletions(-) diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index 64fad49d85a..290ffd86d35 100644 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -1131,6 +1131,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src) break; case MSP_SET_PID: + signalRequiredPIDCoefficientsUpdate(); for (i = 0; i < PID_ITEM_COUNT; i++) { currentProfile->pidProfile.P8[i] = sbufReadU8(src); currentProfile->pidProfile.I8[i] = sbufReadU8(src); @@ -1200,6 +1201,8 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src) if (dataSize >= 11) { currentControlRateProfile->rcYawExpo8 = sbufReadU8(src); } + + signalRequiredPIDCoefficientsUpdate(); } else { return MSP_RESULT_ERROR; } diff --git a/src/main/fc/rc_controls.c b/src/main/fc/rc_controls.c index 6557a80654c..a5d98ee35a0 100644 --- a/src/main/fc/rc_controls.c +++ b/src/main/fc/rc_controls.c @@ -527,6 +527,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm controlRateConfig->rates[FD_PITCH] = newValue; blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_RATE, newValue); if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) { + signalRequiredPIDCoefficientsUpdate(); break; } // follow though for combined ADJUSTMENT_PITCH_ROLL_RATE @@ -534,11 +535,13 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm newValue = constrain((int)controlRateConfig->rates[FD_ROLL] + delta, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX); controlRateConfig->rates[FD_ROLL] = newValue; blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_RATE, newValue); + signalRequiredPIDCoefficientsUpdate(); break; case ADJUSTMENT_YAW_RATE: newValue = constrain((int)controlRateConfig->rates[FD_YAW] + delta, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX); controlRateConfig->rates[FD_YAW] = newValue; blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_RATE, newValue); + signalRequiredPIDCoefficientsUpdate(); break; case ADJUSTMENT_PITCH_ROLL_P: case ADJUSTMENT_PITCH_P: @@ -546,6 +549,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm pidProfile->P8[PIDPITCH] = newValue; blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_P, newValue); if (adjustmentFunction == ADJUSTMENT_PITCH_P) { + signalRequiredPIDCoefficientsUpdate(); break; } // follow though for combined ADJUSTMENT_PITCH_ROLL_P @@ -553,6 +557,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm newValue = constrain((int)pidProfile->P8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c pidProfile->P8[PIDROLL] = newValue; blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_P, newValue); + signalRequiredPIDCoefficientsUpdate(); break; case ADJUSTMENT_PITCH_ROLL_I: case ADJUSTMENT_PITCH_I: @@ -560,6 +565,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm pidProfile->I8[PIDPITCH] = newValue; blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_I, newValue); if (adjustmentFunction == ADJUSTMENT_PITCH_I) { + signalRequiredPIDCoefficientsUpdate(); break; } // follow though for combined ADJUSTMENT_PITCH_ROLL_I @@ -567,6 +573,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm newValue = constrain((int)pidProfile->I8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c pidProfile->I8[PIDROLL] = newValue; blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_I, newValue); + signalRequiredPIDCoefficientsUpdate(); break; case ADJUSTMENT_PITCH_ROLL_D: case ADJUSTMENT_PITCH_D: @@ -574,6 +581,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm pidProfile->D8[PIDPITCH] = newValue; blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_D, newValue); if (adjustmentFunction == ADJUSTMENT_PITCH_D) { + signalRequiredPIDCoefficientsUpdate(); break; } // follow though for combined ADJUSTMENT_PITCH_ROLL_D @@ -581,21 +589,25 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm newValue = constrain((int)pidProfile->D8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c pidProfile->D8[PIDROLL] = newValue; blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_D, newValue); + signalRequiredPIDCoefficientsUpdate(); break; case ADJUSTMENT_YAW_P: newValue = constrain((int)pidProfile->P8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c pidProfile->P8[PIDYAW] = newValue; blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_P, newValue); + signalRequiredPIDCoefficientsUpdate(); break; case ADJUSTMENT_YAW_I: newValue = constrain((int)pidProfile->I8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c pidProfile->I8[PIDYAW] = newValue; blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_I, newValue); + signalRequiredPIDCoefficientsUpdate(); break; case ADJUSTMENT_YAW_D: newValue = constrain((int)pidProfile->D8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c pidProfile->D8[PIDYAW] = newValue; blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue); + signalRequiredPIDCoefficientsUpdate(); break; default: break; diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index 8d124c473a5..a02e5695267 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -91,6 +91,7 @@ int16_t magHoldTargetHeading; static pt1Filter_t magHoldRateFilter; // Thrust PID Attenuation factor. 0.0f means fully attenuated, 1.0f no attenuation is applied +static bool shouldUpdatePIDCoeffs = false; static float tpaFactor; int16_t axisPID[FLIGHT_DYNAMICS_INDEX_COUNT]; @@ -160,19 +161,23 @@ FP-PID has been rescaled to match LuxFloat (and MWRewrite) from Cleanflight 1.13 #define FP_PID_LEVEL_P_MULTIPLIER 65.6f #define FP_PID_YAWHOLD_P_MULTIPLIER 80.0f +void signalRequiredPIDCoefficientsUpdate(void) +{ + shouldUpdatePIDCoeffs = true; +} + void updatePIDCoefficients(const pidProfile_t *pidProfile, const controlRateConfig_t *controlRateConfig, const struct motorConfig_s *motorConfig) { static uint16_t prevThrottle = 0; - bool shouldUpdateCoeffs = false; // Check if throttle changed if (rcCommand[THROTTLE] != prevThrottle) { prevThrottle = rcCommand[THROTTLE]; - shouldUpdateCoeffs = true; + signalRequiredPIDCoefficientsUpdate(); } // If nothing changed - don't waste time recalculating coefficients - if (!shouldUpdateCoeffs) { + if (!shouldUpdatePIDCoeffs) { return; } @@ -180,9 +185,14 @@ void updatePIDCoefficients(const pidProfile_t *pidProfile, const controlRateConf if (STATE(FIXED_WING)) { // tpa_rate is ignored for fixed wings, set to non-zero to enable TPA // tpa_breakpoint for fixed wing is cruise throttle value (value at which PIDs were tuned) - if (controlRateConfig->dynThrPID != 0 && rcCommand[THROTTLE] > motorConfig->minthrottle && controlRateConfig->tpa_breakpoint > motorConfig->minthrottle) { - tpaFactor = 0.5f + ((controlRateConfig->tpa_breakpoint - motorConfig->minthrottle) / (rcCommand[THROTTLE] - motorConfig->minthrottle) / 2.0f); - tpaFactor = constrainf(tpaFactor, 0.6f, 1.67f); + if (controlRateConfig->dynThrPID != 0 && controlRateConfig->tpa_breakpoint > motorConfig->minthrottle) { + if (rcCommand[THROTTLE] > motorConfig->minthrottle) { + tpaFactor = 0.5f + ((controlRateConfig->tpa_breakpoint - motorConfig->minthrottle) / (rcCommand[THROTTLE] - motorConfig->minthrottle) / 2.0f); + tpaFactor = constrainf(tpaFactor, 0.6f, 1.67f); + } + else { + tpaFactor = 1.67f; + } } else { tpaFactor = 1.0f; @@ -227,6 +237,8 @@ void updatePIDCoefficients(const pidProfile_t *pidProfile, const controlRateConf pidState[axis].kT = 0; } } + + shouldUpdatePIDCoeffs = false; } static void pidApplyHeadingLock(const pidProfile_t *pidProfile, pidState_t *pidState) diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h index b36de645f55..6cc535e5769 100644 --- a/src/main/flight/pid.h +++ b/src/main/flight/pid.h @@ -85,6 +85,7 @@ struct controlRateConfig_s; struct motorConfig_s; struct rxConfig_s; +void signalRequiredPIDCoefficientsUpdate(void); void updatePIDCoefficients(const pidProfile_t *pidProfile, const struct controlRateConfig_s *controlRateConfig, const struct motorConfig_s *motorConfig); void pidController(const pidProfile_t *pidProfile, const struct controlRateConfig_s *controlRateConfig, const struct rxConfig_s *rxConfig); From d4bf9ae424dd89eb1aba2756d3f5d2ff22cb3f79 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Mon, 17 Oct 2016 11:43:59 +1000 Subject: [PATCH 024/139] Fixed missing type cast --- src/main/flight/pid.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index a02e5695267..6c9af7a70b1 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -187,7 +187,7 @@ void updatePIDCoefficients(const pidProfile_t *pidProfile, const controlRateConf // tpa_breakpoint for fixed wing is cruise throttle value (value at which PIDs were tuned) if (controlRateConfig->dynThrPID != 0 && controlRateConfig->tpa_breakpoint > motorConfig->minthrottle) { if (rcCommand[THROTTLE] > motorConfig->minthrottle) { - tpaFactor = 0.5f + ((controlRateConfig->tpa_breakpoint - motorConfig->minthrottle) / (rcCommand[THROTTLE] - motorConfig->minthrottle) / 2.0f); + tpaFactor = 0.5f + ((float)(controlRateConfig->tpa_breakpoint - motorConfig->minthrottle) / (rcCommand[THROTTLE] - motorConfig->minthrottle) / 2.0f); tpaFactor = constrainf(tpaFactor, 0.6f, 1.67f); } else { From f2e74c0b0f305c436ec31ad9dbf844ae5db63780 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Wed, 2 Nov 2016 21:26:11 +1000 Subject: [PATCH 025/139] Make TPA rate control amount of applied TPA for airplanes --- src/main/flight/pid.c | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index 6c9af7a70b1..39f6f4b58c1 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -183,16 +183,22 @@ void updatePIDCoefficients(const pidProfile_t *pidProfile, const controlRateConf // Calculate TPA factor - different logic for airplanes and multirotors if (STATE(FIXED_WING)) { - // tpa_rate is ignored for fixed wings, set to non-zero to enable TPA + // tpa_rate is amount of curve TPA applied to PIDs // tpa_breakpoint for fixed wing is cruise throttle value (value at which PIDs were tuned) if (controlRateConfig->dynThrPID != 0 && controlRateConfig->tpa_breakpoint > motorConfig->minthrottle) { if (rcCommand[THROTTLE] > motorConfig->minthrottle) { + // Calculate TPA according to throttle tpaFactor = 0.5f + ((float)(controlRateConfig->tpa_breakpoint - motorConfig->minthrottle) / (rcCommand[THROTTLE] - motorConfig->minthrottle) / 2.0f); - tpaFactor = constrainf(tpaFactor, 0.6f, 1.67f); + + // Limit to [0.5; 2] range + tpaFactor = constrainf(tpaFactor, 0.5f, 2.0f); } else { - tpaFactor = 1.67f; + tpaFactor = 2.0f; } + + // Attenuate TPA curve according to configured amount + tpaFactor = 1.0f + (tpaFactor - 1.0f) * (controlRateConfig->dynThrPID / 100.0f); } else { tpaFactor = 1.0f; From 742aff811211c9c2769ebfe6aca85cc4a8863e3c Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Sun, 23 Oct 2016 18:10:20 +0200 Subject: [PATCH 026/139] first cut Flip32 F4 / Airbot F4 target --- src/main/target/FLIP32F4/target.c | 106 +++++++++++++++++++ src/main/target/FLIP32F4/target.h | 161 +++++++++++++++++++++++++++++ src/main/target/FLIP32F4/target.mk | 15 +++ 3 files changed, 282 insertions(+) create mode 100644 src/main/target/FLIP32F4/target.c create mode 100644 src/main/target/FLIP32F4/target.h create mode 100644 src/main/target/FLIP32F4/target.mk diff --git a/src/main/target/FLIP32F4/target.c b/src/main/target/FLIP32F4/target.c new file mode 100644 index 00000000000..cdca6f5a947 --- /dev/null +++ b/src/main/target/FLIP32F4/target.c @@ -0,0 +1,106 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#include + +#include +#include "drivers/io.h" +#include "drivers/pwm_mapping.h" +#include "drivers/timer.h" + +const uint16_t multiPPM[] = { + PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + 0xFFFF +}; + +const uint16_t multiPWM[] = { + PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1 + PWM2 | (MAP_TO_PWM_INPUT << 8), + PWM3 | (MAP_TO_PWM_INPUT << 8), + PWM4 | (MAP_TO_PWM_INPUT << 8), + PWM5 | (MAP_TO_PWM_INPUT << 8), + PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6 + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed) + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed) + PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3 + PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #6 + 0xFFFF +}; + +const uint16_t airPPM[] = { + PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM9 | (MAP_TO_SERVO_OUTPUT << 8), + PWM10 | (MAP_TO_SERVO_OUTPUT << 8), + PWM11 | (MAP_TO_SERVO_OUTPUT << 8), + PWM12 | (MAP_TO_SERVO_OUTPUT << 8), + PWM2 | (MAP_TO_SERVO_OUTPUT << 8), + PWM3 | (MAP_TO_SERVO_OUTPUT << 8), + PWM4 | (MAP_TO_SERVO_OUTPUT << 8), + PWM5 | (MAP_TO_SERVO_OUTPUT << 8), + PWM6 | (MAP_TO_SERVO_OUTPUT << 8), + 0xFFFF +}; + +const uint16_t airPWM[] = { + PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1 + PWM2 | (MAP_TO_PWM_INPUT << 8), + PWM3 | (MAP_TO_PWM_INPUT << 8), + PWM4 | (MAP_TO_PWM_INPUT << 8), + PWM5 | (MAP_TO_PWM_INPUT << 8), + PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6 + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 + PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1 + PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2 + PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3 + PWM12 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4 + 0xFFFF +}; + + +const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { + { TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM12 }, // PPM (5th pin on FlexiIO port) + { TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM12 }, // S2_IN - GPIO_PartialRemap_TIM3 + { TIM8, IO_TAG(PC6), TIM_Channel_1, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // S3_IN + { TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // S4_IN + { TIM8, IO_TAG(PC8), TIM_Channel_3, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // S5_IN + { TIM8, IO_TAG(PC9), TIM_Channel_4, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // S6_IN + + { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S1_OUT + { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S2_OUT + { TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM9 }, // S3_OUT + { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM2 }, // S4_OUT + { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM5 }, // S5_OUT - GPIO_PartialRemap_TIM3 + { TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM5 }, // S6_OUT +}; + + diff --git a/src/main/target/FLIP32F4/target.h b/src/main/target/FLIP32F4/target.h new file mode 100644 index 00000000000..f603c82f085 --- /dev/null +++ b/src/main/target/FLIP32F4/target.h @@ -0,0 +1,161 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#pragma once + +#define TARGET_BOARD_IDENTIFIER "FLF4" + +#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8) + +#define USBD_PRODUCT_STRING "Flip32 F4 / Airbot F4" +#ifdef OPBL +#define USBD_SERIALNUMBER_STRING "0x8020000" +#endif + +#define LED0 PB5 + +#define BEEPER PB4 +#define BEEPER_INVERTED + +#define INVERTER PC0 // PC0 used as inverter select GPIO +#define INVERTER_USART USART1 + +// MPU6000 interrupts +#define USE_EXTI +#define MPU_INT_EXTI PC4 +#define USE_MPU_DATA_READY_SIGNAL + +#define MPU6000_CS_PIN PA4 +#define MPU6000_SPI_INSTANCE SPI1 + +#define GYRO +#define USE_GYRO_SPI_MPU6000 +#define ACC_MPU6000_ALIGN CW270_DEG + +#define ACC +#define USE_ACC_SPI_MPU6000 +#define GYRO_MPU6000_ALIGN CW270_DEG + +#define MAG +#define USE_MAG_AK8963 +#define USE_MAG_AK8975 +#define USE_MAG_HMC5883 +#define MAG_HMC5883_ALIGN CW90_DEG +#define USE_MAG_MAG3110 + +//#define USE_MAG_DATA_READY_SIGNAL +//#define ENSURE_MAG_DATA_READY_IS_HIGH +//#define MAG_INT_EXTI PB7 + +//#define USE_MAG_NAZA +//#define MAG_NAZA_ALIGN CW180_DEG_FLIP + +#define BARO +#define USE_BARO_BMP085 +#define USE_BARO_BMP280 +#define USE_BARO_MS5611 + +//#define PITOT +//#define USE_PITOT_MS4525 +#define PITOT_I2C_INSTANCE I2C_DEVICE_EXT + +#define M25P16_CS_PIN PB3 +#define M25P16_SPI_INSTANCE SPI3 + +#define USE_FLASHFS +#define USE_FLASH_M25P16 + +#define USE_VCP +#define VBUS_SENSING_PIN PC5 +#define VBUS_SENSING_ENABLED + +#define USE_UART1 +#define UART1_RX_PIN PA10 +#define UART1_TX_PIN PA9 +#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2 + +#define USE_UART3 +#define UART3_RX_PIN PB11 +#define UART3_TX_PIN PB10 + +#define USE_UART6 +#define UART6_RX_PIN PC7 +#define UART6_TX_PIN PC6 + +#define SERIAL_PORT_COUNT 4 //VCP, USART1, USART3, USART6 + +#define USE_SPI + +#define USE_SPI_DEVICE_1 + +#define USE_SPI_DEVICE_3 +#define SPI3_NSS_PIN PB3 +#define SPI3_SCK_PIN PC10 +#define SPI3_MISO_PIN PC11 +#define SPI3_MOSI_PIN PC12 + +#define USE_I2C +#define I2C_DEVICE (I2CDEV_2) +#define I2C_DEVICE_EXT (I2CDEV_2) + +#define USE_ADC +#define CURRENT_METER_ADC_PIN PC1 +#define VBAT_ADC_PIN PC2 +// #define RSSI_ADC_GPIO_PIN PA0 + +#define SENSORS_SET (SENSOR_ACC|SENSOR_MAG|SENSOR_BARO) + +#define LED_STRIP +// LED Strip can run off Pin 5 (PA1) of the MOTOR outputs. +#define WS2811_GPIO_AF GPIO_AF_TIM5 +#define WS2811_PIN PA1 +#define WS2811_TIMER TIM5 +#define WS2811_TIMER_CHANNEL TIM_Channel_2 +#define WS2811_DMA_HANDLER_IDENTIFER DMA1_ST4_HANDLER +#define WS2811_DMA_STREAM DMA1_Stream4 +#define WS2811_DMA_CHANNEL DMA_Channel_6 +#define WS2811_DMA_IRQ DMA1_Stream4_IRQn +#define WS2811_DMA_FLAG DMA_FLAG_TCIF4 +#define WS2811_DMA_IT DMA_IT_TCIF4 + +#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT + +#define MAG_GPS_ALIGN CW180_DEG_FLIP + +#define NAV +#define NAV_AUTO_MAG_DECLINATION +#define NAV_GPS_GLITCH_DETECTION + +#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL +#define DEFAULT_FEATURES (FEATURE_BLACKBOX) + +#define SPEKTRUM_BIND +// USART3, +#define BIND_PIN PB11 + +#define USE_SERIAL_4WAY_BLHELI_INTERFACE + +// Number of available PWM outputs +#define MAX_PWM_OUTPUT_PORTS 11 + +#define TARGET_IO_PORTA 0xffff +#define TARGET_IO_PORTB 0xffff +#define TARGET_IO_PORTC 0xffff +#define TARGET_IO_PORTD 0xffff + +#define USABLE_TIMER_CHANNEL_COUNT 12 +#define USED_TIMERS ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9) ) diff --git a/src/main/target/FLIP32F4/target.mk b/src/main/target/FLIP32F4/target.mk new file mode 100644 index 00000000000..866e1e90525 --- /dev/null +++ b/src/main/target/FLIP32F4/target.mk @@ -0,0 +1,15 @@ +F405_TARGETS += $(TARGET) +FEATURES += VCP ONBOARDFLASH + +TARGET_SRC = \ + drivers/accgyro_spi_mpu6000.c \ + drivers/barometer_bmp085.c \ + drivers/barometer_bmp280.c \ + drivers/barometer_ms5611.c \ + drivers/compass_ak8963.c \ + drivers/compass_ak8975.c \ + drivers/compass_hmc5883l.c \ + drivers/compass_mag3110.c \ + drivers/light_ws2811strip.c \ + drivers/light_ws2811strip_stm32f4xx.c + From 8c63832c40bcb22e8a658d8e2cee10ab084af0eb Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Mon, 24 Oct 2016 12:04:11 +0200 Subject: [PATCH 027/139] VBAT enabled by default --- src/main/target/FLIP32F4/target.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/target/FLIP32F4/target.h b/src/main/target/FLIP32F4/target.h index f603c82f085..600bbaadfec 100644 --- a/src/main/target/FLIP32F4/target.h +++ b/src/main/target/FLIP32F4/target.h @@ -141,7 +141,7 @@ #define NAV_GPS_GLITCH_DETECTION #define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL -#define DEFAULT_FEATURES (FEATURE_BLACKBOX) +#define DEFAULT_FEATURES (FEATURE_BLACKBOX | FEATURE_VBAT) #define SPEKTRUM_BIND // USART3, From 4a8a4e23b30422a7870ced393519b42bcf9f7897 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Mon, 24 Oct 2016 13:09:21 +0200 Subject: [PATCH 028/139] i2c disabled when UART3 in use --- src/main/fc/fc_init.c | 5 ++--- src/main/main.c | 1 - src/main/target/CC3D/target.h | 1 + src/main/target/FLIP32F4/target.h | 4 ++-- 4 files changed, 5 insertions(+), 6 deletions(-) diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c index ac7601d14bb..1620a9a6ba4 100644 --- a/src/main/fc/fc_init.c +++ b/src/main/fc/fc_init.c @@ -272,7 +272,7 @@ void init(void) #endif pwm_params.pwmProtocolType = masterConfig.motorConfig.motorPwmProtocol; - pwm_params.useFastPwm = (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_ONESHOT125) || + pwm_params.useFastPwm = (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_ONESHOT125) || (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_ONESHOT42) || (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_MULTISHOT); pwm_params.motorPwmRate = masterConfig.motorConfig.motorPwmRate; @@ -392,7 +392,7 @@ void init(void) i2cInit(I2C_DEVICE); } } -#elif defined(CC3D) +#elif defined(I2C_DEVICE_SHARES_UART3) if (!doesConfigurationUsePort(SERIAL_PORT_USART3)) { i2cInit(I2C_DEVICE); } @@ -596,4 +596,3 @@ void init(void) addBootlogEvent2(BOOT_EVENT_SYSTEM_READY, BOOT_EVENT_FLAGS_NONE); systemState |= SYSTEM_STATE_READY; } - diff --git a/src/main/main.c b/src/main/main.c index d9ac62631b1..6be79e7775f 100644 --- a/src/main/main.c +++ b/src/main/main.c @@ -62,4 +62,3 @@ int main(void) processLoopback(); } } - diff --git a/src/main/target/CC3D/target.h b/src/main/target/CC3D/target.h index 89ae50cd5da..1a71924f431 100644 --- a/src/main/target/CC3D/target.h +++ b/src/main/target/CC3D/target.h @@ -36,6 +36,7 @@ #define USE_I2C #define I2C_DEVICE (I2CDEV_2) // Flex port - SCL/PB10, SDA/PB11 +#define I2C_DEVICE_SHARES_UART3 #define MPU6000_CS_PIN PA4 #define MPU6000_SPI_INSTANCE SPI1 diff --git a/src/main/target/FLIP32F4/target.h b/src/main/target/FLIP32F4/target.h index 600bbaadfec..5b7359c4c7d 100644 --- a/src/main/target/FLIP32F4/target.h +++ b/src/main/target/FLIP32F4/target.h @@ -71,7 +71,7 @@ //#define PITOT //#define USE_PITOT_MS4525 -#define PITOT_I2C_INSTANCE I2C_DEVICE_EXT +#define PITOT_I2C_INSTANCE I2C_DEVICE #define M25P16_CS_PIN PB3 #define M25P16_SPI_INSTANCE SPI3 @@ -110,7 +110,7 @@ #define USE_I2C #define I2C_DEVICE (I2CDEV_2) -#define I2C_DEVICE_EXT (I2CDEV_2) +#define I2C_DEVICE_SHARES_UART3 #define USE_ADC #define CURRENT_METER_ADC_PIN PC1 From 12173b43769e6f8950fcfd9f2ca236e106baf4f9 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Mon, 24 Oct 2016 20:00:44 +0200 Subject: [PATCH 029/139] motor 6 correctly moved to PA8 TIM1 --- src/main/target/FLIP32F4/target.c | 6 ++---- src/main/target/FLIP32F4/target.h | 3 ++- 2 files changed, 4 insertions(+), 5 deletions(-) diff --git a/src/main/target/FLIP32F4/target.c b/src/main/target/FLIP32F4/target.c index cdca6f5a947..8e3622b326d 100644 --- a/src/main/target/FLIP32F4/target.c +++ b/src/main/target/FLIP32F4/target.c @@ -94,13 +94,11 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { { TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // S4_IN { TIM8, IO_TAG(PC8), TIM_Channel_3, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // S5_IN { TIM8, IO_TAG(PC9), TIM_Channel_4, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // S6_IN - + { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S1_OUT { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S2_OUT { TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM9 }, // S3_OUT { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM2 }, // S4_OUT { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM5 }, // S5_OUT - GPIO_PartialRemap_TIM3 - { TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM5 }, // S6_OUT + { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM5_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM1 }, // S6_OUT }; - - diff --git a/src/main/target/FLIP32F4/target.h b/src/main/target/FLIP32F4/target.h index 5b7359c4c7d..23b53f55481 100644 --- a/src/main/target/FLIP32F4/target.h +++ b/src/main/target/FLIP32F4/target.h @@ -151,6 +151,7 @@ // Number of available PWM outputs #define MAX_PWM_OUTPUT_PORTS 11 +#define TARGET_MOTOR_COUNT 6 #define TARGET_IO_PORTA 0xffff #define TARGET_IO_PORTB 0xffff @@ -158,4 +159,4 @@ #define TARGET_IO_PORTD 0xffff #define USABLE_TIMER_CHANNEL_COUNT 12 -#define USED_TIMERS ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9) ) +#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9) ) From 1a7e8bfe0f408ad692b67ab5b1578662b0413c69 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Mon, 24 Oct 2016 20:10:36 +0200 Subject: [PATCH 030/139] updated timer interrupt for motor 6 --- src/main/target/FLIP32F4/target.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/target/FLIP32F4/target.c b/src/main/target/FLIP32F4/target.c index 8e3622b326d..d40fdc9df79 100644 --- a/src/main/target/FLIP32F4/target.c +++ b/src/main/target/FLIP32F4/target.c @@ -100,5 +100,5 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { { TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM9 }, // S3_OUT { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM2 }, // S4_OUT { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM5 }, // S5_OUT - GPIO_PartialRemap_TIM3 - { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM5_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM1 }, // S6_OUT + { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_UP_TIM10_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM1 }, // S6_OUT }; From 4967b8a45b429bedb21d4ba64ae9ad7392d14f42 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Mon, 24 Oct 2016 20:43:28 +0200 Subject: [PATCH 031/139] RSSI ADC and basic docs --- docs/Board - Flip32 F4 and Airbot F4.md | 18 ++++++++++++++++++ src/main/target/FLIP32F4/target.h | 2 +- 2 files changed, 19 insertions(+), 1 deletion(-) create mode 100644 docs/Board - Flip32 F4 and Airbot F4.md diff --git a/docs/Board - Flip32 F4 and Airbot F4.md b/docs/Board - Flip32 F4 and Airbot F4.md new file mode 100644 index 00000000000..ad37413c749 --- /dev/null +++ b/docs/Board - Flip32 F4 and Airbot F4.md @@ -0,0 +1,18 @@ +# Board - Flip32 F4 and Airbot F4 + +## Motors + +| Motor | pin | Shared with | +| ---- | ---- | ---- | +| 1 | PB0 | | +| 2 | PB1 | | +| 3 | PA3 | | +| 4 | PA2 | | +| 5 | PA1 | | +| 6 | PA8 | | + +## RSSI ADC + +* Connected to pin PA0 +* 3.3V tolerant, do not supply 5V +* Shared _Motor 5_ diff --git a/src/main/target/FLIP32F4/target.h b/src/main/target/FLIP32F4/target.h index 23b53f55481..bb5edba1b8f 100644 --- a/src/main/target/FLIP32F4/target.h +++ b/src/main/target/FLIP32F4/target.h @@ -115,7 +115,7 @@ #define USE_ADC #define CURRENT_METER_ADC_PIN PC1 #define VBAT_ADC_PIN PC2 -// #define RSSI_ADC_GPIO_PIN PA0 +#define RSSI_ADC_PIN PA0 #define SENSORS_SET (SENSOR_ACC|SENSOR_MAG|SENSOR_BARO) From f6b35482580222c2ae20cca71ac44b5f9de4a091 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Mon, 24 Oct 2016 20:59:31 +0200 Subject: [PATCH 032/139] doc update --- docs/Board - Flip32 F4 and Airbot F4.md | 18 +++++++++++++++++- 1 file changed, 17 insertions(+), 1 deletion(-) diff --git a/docs/Board - Flip32 F4 and Airbot F4.md b/docs/Board - Flip32 F4 and Airbot F4.md index ad37413c749..288e8870ea7 100644 --- a/docs/Board - Flip32 F4 and Airbot F4.md +++ b/docs/Board - Flip32 F4 and Airbot F4.md @@ -15,4 +15,20 @@ * Connected to pin PA0 * 3.3V tolerant, do not supply 5V -* Shared _Motor 5_ + +## Current Meter ADC + +* Connected to pin PC1 +* 3.3V tolerant, do not supply 5V + +## Voltage monitoring + +* Connected to pin PC2 +* Connected to VBAT pins (both are the same) and integrated Voltage Stabilizer (LM7805M) + +### Integrated voltage stabilizer + +It is integrated with voltage monitoring and always powered when VBAT is conntected to battery. +Because this is **Linear Stabilizer**, it has a tendency to overheat, especially on 4S. Because of that, +avoid powering too many devices directly to 5V pins on the board. RX receiver is (and board itself) is rather all +it can do without overeating (150mA on 4S gives 1.5W of waste heat!). OSD, LED Strip and other devices should powered from separate BEC if voltage monitoring is to be enabled. From c4208ed59f6d96d2e97f82ab07a4a4d37b72ccbd Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Tue, 25 Oct 2016 13:55:53 +0200 Subject: [PATCH 033/139] target cleanups --- src/main/target/FLIP32F4/target.h | 15 +-------------- 1 file changed, 1 insertion(+), 14 deletions(-) diff --git a/src/main/target/FLIP32F4/target.h b/src/main/target/FLIP32F4/target.h index bb5edba1b8f..ff4992b3249 100644 --- a/src/main/target/FLIP32F4/target.h +++ b/src/main/target/FLIP32F4/target.h @@ -18,13 +18,8 @@ #pragma once #define TARGET_BOARD_IDENTIFIER "FLF4" - #define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8) - #define USBD_PRODUCT_STRING "Flip32 F4 / Airbot F4" -#ifdef OPBL -#define USBD_SERIALNUMBER_STRING "0x8020000" -#endif #define LED0 PB5 @@ -57,13 +52,6 @@ #define MAG_HMC5883_ALIGN CW90_DEG #define USE_MAG_MAG3110 -//#define USE_MAG_DATA_READY_SIGNAL -//#define ENSURE_MAG_DATA_READY_IS_HIGH -//#define MAG_INT_EXTI PB7 - -//#define USE_MAG_NAZA -//#define MAG_NAZA_ALIGN CW180_DEG_FLIP - #define BARO #define USE_BARO_BMP085 #define USE_BARO_BMP280 @@ -144,8 +132,7 @@ #define DEFAULT_FEATURES (FEATURE_BLACKBOX | FEATURE_VBAT) #define SPEKTRUM_BIND -// USART3, -#define BIND_PIN PB11 +#define BIND_PIN PB11 // USART3 RX #define USE_SERIAL_4WAY_BLHELI_INTERFACE From a8b13f44b0e001a6fec5abde7edb93dfbd7e049f Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Tue, 25 Oct 2016 14:39:02 +0200 Subject: [PATCH 034/139] PWM disabled on Flip32F4 --- src/main/config/config.c | 6 ++++++ src/main/target/FLIP32F4/target.h | 1 + 2 files changed, 7 insertions(+) diff --git a/src/main/config/config.c b/src/main/config/config.c index 67ef93bfdf8..52b4a79f476 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -767,6 +767,12 @@ void validateAndFixConfig(void) // Disable unused features featureClear(FEATURE_UNUSED_1 | FEATURE_UNUSED_2); +#ifdef DISABLE_RX_PWM_FEATURE + if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) { + featureClear(FEATURE_RX_PARALLEL_PWM); + } +#endif + if (!(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_SERIAL) || featureConfigured(FEATURE_RX_MSP) || featureConfigured(FEATURE_RX_SPI))) { featureSet(DEFAULT_RX_FEATURE); } diff --git a/src/main/target/FLIP32F4/target.h b/src/main/target/FLIP32F4/target.h index ff4992b3249..0969f4a7714 100644 --- a/src/main/target/FLIP32F4/target.h +++ b/src/main/target/FLIP32F4/target.h @@ -129,6 +129,7 @@ #define NAV_GPS_GLITCH_DETECTION #define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL +#define DISABLE_RX_PWM_FEATURE #define DEFAULT_FEATURES (FEATURE_BLACKBOX | FEATURE_VBAT) #define SPEKTRUM_BIND From b9c9a65fad5aca47f16694196d196cb2b641f0f6 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Tue, 25 Oct 2016 15:26:40 +0200 Subject: [PATCH 035/139] doc update --- docs/Board - Flip32 F4 and Airbot F4.md | 38 +++++++++++++++++++++++-- 1 file changed, 36 insertions(+), 2 deletions(-) diff --git a/docs/Board - Flip32 F4 and Airbot F4.md b/docs/Board - Flip32 F4 and Airbot F4.md index 288e8870ea7..4ab3bd2282c 100644 --- a/docs/Board - Flip32 F4 and Airbot F4.md +++ b/docs/Board - Flip32 F4 and Airbot F4.md @@ -1,5 +1,25 @@ # Board - Flip32 F4 and Airbot F4 +## Features + +* STM32F405 CPU +* Integrated Accelerometer/Gyro MPU6000 via SPI bus +* 6 motor outputs +* 3 UART ports (UART1, UART3, UART6) +* External I2C bus, pins shared with UART3, can not be used simultaneously +* Only UART1 is equipped with inverter +* Onboard 128Mbit (16MB) flash +* BLHeli Passthrough +* Integrated voltage stabilizer +* Buzzer connector + +## **NOT** supported + +* Sonar +* SoftwareSerial +* ServoTilt +* Channel Forwarding + ## Motors | Motor | pin | Shared with | @@ -8,9 +28,19 @@ | 2 | PB1 | | | 3 | PA3 | | | 4 | PA2 | | -| 5 | PA1 | | +| 5 | PA1 | LED Strip | | 6 | PA8 | | +## USB + +This board uses STM32 VCP and _not_ utilizes UART when USB is connected. STM32 VCP drivers might be required! + +Flashing requires DFU mode and STM32 DFU drivers. Use [Zadig](http://zadig.akeo.ie) tool to install WinUSB driver on Windows. + +## Buzzer / Beeper + +5V piezo buzzer should be connected directly to dedicated pins _BUZ +_ and _BUZ -_. No additional hardware is required. + ## RSSI ADC * Connected to pin PA0 @@ -28,7 +58,11 @@ ### Integrated voltage stabilizer -It is integrated with voltage monitoring and always powered when VBAT is conntected to battery. +It is integrated with voltage monitoring and always powered when VBAT is connected to battery. Because this is **Linear Stabilizer**, it has a tendency to overheat, especially on 4S. Because of that, avoid powering too many devices directly to 5V pins on the board. RX receiver is (and board itself) is rather all it can do without overeating (150mA on 4S gives 1.5W of waste heat!). OSD, LED Strip and other devices should powered from separate BEC if voltage monitoring is to be enabled. + +### LED Strip + +Right now, LED strip is not functioning correctly on this target. It is a known bug. When bug will be fixed, LED Strip should be connected to **MOTOR 5** output, not dedicated "LED" connector. From b63cf3b0ead25abb5370e857968bd7cd60e4577c Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Tue, 25 Oct 2016 16:12:40 +0200 Subject: [PATCH 036/139] cleanup --- docs/Board - Flip32 F4 and Airbot F4.md | 6 +++ src/main/target/FLIP32F4/target.c | 50 +++++++++---------------- src/main/target/FLIP32F4/target.h | 4 +- 3 files changed, 26 insertions(+), 34 deletions(-) diff --git a/docs/Board - Flip32 F4 and Airbot F4.md b/docs/Board - Flip32 F4 and Airbot F4.md index 4ab3bd2282c..1f1522efc6d 100644 --- a/docs/Board - Flip32 F4 and Airbot F4.md +++ b/docs/Board - Flip32 F4 and Airbot F4.md @@ -20,6 +20,12 @@ * ServoTilt * Channel Forwarding +## Radio Receivers + +This board does not support Parallel PWM receiver connection. Only SerialRX, PPM and MSP receivers are supported. + +SerialRX and PPM receivers should be connected to dedicated _PPM SBUS_ connector above _Motor 1_. MSP receivers should be connected to one of UARTs configured as MSP. + ## Motors | Motor | pin | Shared with | diff --git a/src/main/target/FLIP32F4/target.c b/src/main/target/FLIP32F4/target.c index d40fdc9df79..a92870118b4 100644 --- a/src/main/target/FLIP32F4/target.c +++ b/src/main/target/FLIP32F4/target.c @@ -30,21 +30,14 @@ const uint16_t multiPPM[] = { PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed - PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed - PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed - PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed - PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed 0xFFFF }; +/* + * This target does not allows PWM Input, so this configuration will never be used + */ const uint16_t multiPWM[] = { PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1 - PWM2 | (MAP_TO_PWM_INPUT << 8), - PWM3 | (MAP_TO_PWM_INPUT << 8), - PWM4 | (MAP_TO_PWM_INPUT << 8), - PWM5 | (MAP_TO_PWM_INPUT << 8), - PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6 PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed) PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed) PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3 @@ -62,21 +55,14 @@ const uint16_t airPPM[] = { PWM10 | (MAP_TO_SERVO_OUTPUT << 8), PWM11 | (MAP_TO_SERVO_OUTPUT << 8), PWM12 | (MAP_TO_SERVO_OUTPUT << 8), - PWM2 | (MAP_TO_SERVO_OUTPUT << 8), - PWM3 | (MAP_TO_SERVO_OUTPUT << 8), - PWM4 | (MAP_TO_SERVO_OUTPUT << 8), - PWM5 | (MAP_TO_SERVO_OUTPUT << 8), - PWM6 | (MAP_TO_SERVO_OUTPUT << 8), 0xFFFF }; +/* + * This target does not allows PWM Input, so this configuration will never be used + */ const uint16_t airPWM[] = { PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1 - PWM2 | (MAP_TO_PWM_INPUT << 8), - PWM3 | (MAP_TO_PWM_INPUT << 8), - PWM4 | (MAP_TO_PWM_INPUT << 8), - PWM5 | (MAP_TO_PWM_INPUT << 8), - PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6 PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1 @@ -88,17 +74,17 @@ const uint16_t airPWM[] = { const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { - { TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM12 }, // PPM (5th pin on FlexiIO port) - { TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM12 }, // S2_IN - GPIO_PartialRemap_TIM3 - { TIM8, IO_TAG(PC6), TIM_Channel_1, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // S3_IN - { TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // S4_IN - { TIM8, IO_TAG(PC8), TIM_Channel_3, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // S5_IN - { TIM8, IO_TAG(PC9), TIM_Channel_4, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // S6_IN + { TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM12 }, // PPM / S.BUS input, above MOTOR1 + { TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM12 }, // Connected: small CH2 pad, not used as PWM, definition inherited from REVO target - GPIO_PartialRemap_TIM3 + { TIM8, IO_TAG(PC6), TIM_Channel_1, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // Connected: UART6 TX, not used as PWM, definition inherited from REVO target + { TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // Connected: UART6 RX, not used as PWM, definition inherited from REVO target + { TIM8, IO_TAG(PC8), TIM_Channel_3, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // Connected: small CH5 pad, not used as PWM, definition inherited from REVO target + { TIM8, IO_TAG(PC9), TIM_Channel_4, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // Connected: small CH6 pad, not used as PWM, definition inherited from REVO target - { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S1_OUT - { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S2_OUT - { TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM9 }, // S3_OUT - { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM2 }, // S4_OUT - { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM5 }, // S5_OUT - GPIO_PartialRemap_TIM3 - { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_UP_TIM10_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM1 }, // S6_OUT + { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // MOTOR_1 + { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // MOTOR_2 + { TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM9 }, // MOTOR_3 + { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM2 }, // MOTOR_4 + { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM5 }, // MOTOR_5 - GPIO_PartialRemap_TIM3 + { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_UP_TIM10_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM1 }, // MOTOR_6 }; diff --git a/src/main/target/FLIP32F4/target.h b/src/main/target/FLIP32F4/target.h index 0969f4a7714..4fa9a7285f4 100644 --- a/src/main/target/FLIP32F4/target.h +++ b/src/main/target/FLIP32F4/target.h @@ -138,7 +138,7 @@ #define USE_SERIAL_4WAY_BLHELI_INTERFACE // Number of available PWM outputs -#define MAX_PWM_OUTPUT_PORTS 11 +#define MAX_PWM_OUTPUT_PORTS 6 #define TARGET_MOTOR_COUNT 6 #define TARGET_IO_PORTA 0xffff @@ -146,5 +146,5 @@ #define TARGET_IO_PORTC 0xffff #define TARGET_IO_PORTD 0xffff -#define USABLE_TIMER_CHANNEL_COUNT 12 +#define USABLE_TIMER_CHANNEL_COUNT 7 #define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9) ) From e690bd94765b2490205a2feee0c07dccc605c0f7 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Tue, 25 Oct 2016 20:06:36 +0200 Subject: [PATCH 037/139] some final fixes --- src/main/target/FLIP32F4/target.c | 1 - src/main/target/FLIP32F4/target.h | 4 ++-- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/src/main/target/FLIP32F4/target.c b/src/main/target/FLIP32F4/target.c index a92870118b4..fa8863c20c9 100644 --- a/src/main/target/FLIP32F4/target.c +++ b/src/main/target/FLIP32F4/target.c @@ -80,7 +80,6 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { { TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // Connected: UART6 RX, not used as PWM, definition inherited from REVO target { TIM8, IO_TAG(PC8), TIM_Channel_3, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // Connected: small CH5 pad, not used as PWM, definition inherited from REVO target { TIM8, IO_TAG(PC9), TIM_Channel_4, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // Connected: small CH6 pad, not used as PWM, definition inherited from REVO target - { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // MOTOR_1 { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // MOTOR_2 { TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM9 }, // MOTOR_3 diff --git a/src/main/target/FLIP32F4/target.h b/src/main/target/FLIP32F4/target.h index 4fa9a7285f4..5a54f3c0006 100644 --- a/src/main/target/FLIP32F4/target.h +++ b/src/main/target/FLIP32F4/target.h @@ -128,7 +128,7 @@ #define NAV_AUTO_MAG_DECLINATION #define NAV_GPS_GLITCH_DETECTION -#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL +#define DEFAULT_RX_FEATURE FEATURE_RX_PPM #define DISABLE_RX_PWM_FEATURE #define DEFAULT_FEATURES (FEATURE_BLACKBOX | FEATURE_VBAT) @@ -146,5 +146,5 @@ #define TARGET_IO_PORTC 0xffff #define TARGET_IO_PORTD 0xffff -#define USABLE_TIMER_CHANNEL_COUNT 7 +#define USABLE_TIMER_CHANNEL_COUNT 12 #define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9) ) From 2a79f76707a225ede5916ef17c53b21bb16bbc61 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Wed, 2 Nov 2016 12:01:34 +0100 Subject: [PATCH 038/139] LED_STRIP disabled --- src/main/target/FLIP32F4/target.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/target/FLIP32F4/target.h b/src/main/target/FLIP32F4/target.h index 5a54f3c0006..7f0446b7ec5 100644 --- a/src/main/target/FLIP32F4/target.h +++ b/src/main/target/FLIP32F4/target.h @@ -107,7 +107,7 @@ #define SENSORS_SET (SENSOR_ACC|SENSOR_MAG|SENSOR_BARO) -#define LED_STRIP +// #define LED_STRIP // LED Strip can run off Pin 5 (PA1) of the MOTOR outputs. #define WS2811_GPIO_AF GPIO_AF_TIM5 #define WS2811_PIN PA1 From 8c563c615fd293ae00a486319128d690a59bf0ed Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Wed, 5 Oct 2016 16:07:18 +1000 Subject: [PATCH 039/139] Initial cut of airplane launch mode --- Makefile | 1 + src/main/config/config.c | 7 ++ src/main/fc/fc_msp.c | 3 + src/main/fc/rc_controls.h | 2 +- src/main/fc/runtime_config.c | 10 +- src/main/fc/runtime_config.h | 10 +- src/main/flight/navigation_rewrite.c | 99 +++++++++++++++++++ src/main/flight/navigation_rewrite.h | 6 ++ .../flight/navigation_rewrite_fixedwing.c | 5 +- src/main/flight/navigation_rewrite_private.h | 35 +++++-- src/main/io/serial_cli.c | 6 ++ 11 files changed, 162 insertions(+), 22 deletions(-) diff --git a/Makefile b/Makefile index 00ccab9b86e..f21a0434154 100644 --- a/Makefile +++ b/Makefile @@ -461,6 +461,7 @@ HIGHEND_SRC = \ flight/navigation_rewrite.c \ flight/navigation_rewrite_multicopter.c \ flight/navigation_rewrite_fixedwing.c \ + flight/navigation_rewrite_fw_launch.c \ flight/navigation_rewrite_pos_estimator.c \ flight/navigation_rewrite_geo.c \ flight/gps_conversion.c \ diff --git a/src/main/config/config.c b/src/main/config/config.c index 67ef93bfdf8..822a67bbc32 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -226,6 +226,13 @@ void resetNavConfig(navConfig_t * navConfig) navConfig->fw_pitch_to_throttle = 10; navConfig->fw_roll_to_pitch = 75; navConfig->fw_loiter_radius = 5000; // 50m + + // Fixed wing launch + navConfig->fw_launch_accel_thresh = 1.9f * 981; // cm/s/s (1.9*G) + navConfig->fw_launch_time_thresh = 40; // 40ms + navConfig->fw_launch_throttle = 1700; + navConfig->fw_launch_motor_timer = 500; // ms + navConfig->fw_launch_climb_angle = 10; // 10 deg } void validateNavConfig(navConfig_t * navConfig) diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index 64fad49d85a..eee214a26f8 100644 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -139,6 +139,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = { { BOXSURFACE, "SURFACE;", 33 }, { BOXFLAPERON, "FLAPERON;", 34 }, { BOXTURNASSIST, "TURN ASSIST;", 35 }, + { BOXNAVLAUNCH, "NAV LAUNCH;", 36 }, { CHECKBOX_ITEM_COUNT, NULL, 0xFF } }; @@ -291,6 +292,7 @@ static void initActiveBoxIds(void) if (isFixedWing) { activeBoxIds[activeBoxIdCount++] = BOXPASSTHRU; + activeBoxIds[activeBoxIdCount++] = BOXNAVLAUNCH; } /* @@ -359,6 +361,7 @@ static uint32_t packFlightModeFlags(void) IS_ENABLED(IS_RC_MODE_ACTIVE(BOXSURFACE)) << BOXSURFACE | IS_ENABLED(FLIGHT_MODE(FLAPERON)) << BOXFLAPERON | IS_ENABLED(FLIGHT_MODE(TURN_ASSISTANT)) << BOXTURNASSIST | + IS_ENABLED(FLIGHT_MODE(LAUNCH_MODE)) << BOXNAVLAUNCH | IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHOMERESET)) << BOXHOMERESET; uint32_t ret = 0; diff --git a/src/main/fc/rc_controls.h b/src/main/fc/rc_controls.h index 2c0535b66d8..f69a8970245 100644 --- a/src/main/fc/rc_controls.h +++ b/src/main/fc/rc_controls.h @@ -34,9 +34,9 @@ typedef enum { BOXBEEPERON, BOXLEDLOW, BOXLLIGHTS, + BOXNAVLAUNCH, BOXOSD, BOXTELEMETRY, - //BOXGTUNE, BOXBLACKBOX, BOXFAILSAFE, BOXNAVWP, diff --git a/src/main/fc/runtime_config.c b/src/main/fc/runtime_config.c index 973371469e4..64f754f9604 100644 --- a/src/main/fc/runtime_config.c +++ b/src/main/fc/runtime_config.c @@ -23,7 +23,7 @@ uint8_t armingFlags = 0; uint8_t stateFlags = 0; -uint16_t flightModeFlags = 0; +uint32_t flightModeFlags = 0; static uint32_t enabledSensors = 0; @@ -31,9 +31,9 @@ static uint32_t enabledSensors = 0; * Enables the given flight mode. A beep is sounded if the flight mode * has changed. Returns the new 'flightModeFlags' value. */ -uint16_t enableFlightMode(flightModeFlags_e mask) +uint32_t enableFlightMode(flightModeFlags_e mask) { - uint16_t oldVal = flightModeFlags; + uint32_t oldVal = flightModeFlags; flightModeFlags |= (mask); if (flightModeFlags != oldVal) @@ -45,9 +45,9 @@ uint16_t enableFlightMode(flightModeFlags_e mask) * Disables the given flight mode. A beep is sounded if the flight mode * has changed. Returns the new 'flightModeFlags' value. */ -uint16_t disableFlightMode(flightModeFlags_e mask) +uint32_t disableFlightMode(flightModeFlags_e mask) { - uint16_t oldVal = flightModeFlags; + uint32_t oldVal = flightModeFlags; flightModeFlags &= ~(mask); if (flightModeFlags != oldVal) diff --git a/src/main/fc/runtime_config.h b/src/main/fc/runtime_config.h index ca4ce32d1c9..47a46e4f409 100644 --- a/src/main/fc/runtime_config.h +++ b/src/main/fc/runtime_config.h @@ -39,17 +39,17 @@ typedef enum { NAV_RTH_MODE = (1 << 4), // old GPS_HOME NAV_POSHOLD_MODE= (1 << 5), // old GPS_HOLD HEADFREE_MODE = (1 << 6), - UNUSED_MODE = (1 << 7), // old autotune + LAUNCH_MODE = (1 << 7), PASSTHRU_MODE = (1 << 8), FAILSAFE_MODE = (1 << 10), - UNUSED_MODE2 = (1 << 11), // old G-Tune + UNUSED_MODE = (1 << 11), // old G-Tune NAV_WP_MODE = (1 << 12), HEADING_LOCK = (1 << 13), FLAPERON = (1 << 14), TURN_ASSISTANT = (1 << 15), } flightModeFlags_e; -extern uint16_t flightModeFlags; +extern uint32_t flightModeFlags; #define DISABLE_FLIGHT_MODE(mask) disableFlightMode(mask) #define ENABLE_FLIGHT_MODE(mask) enableFlightMode(mask) @@ -72,8 +72,8 @@ typedef enum { extern uint8_t stateFlags; -uint16_t enableFlightMode(flightModeFlags_e mask); -uint16_t disableFlightMode(flightModeFlags_e mask); +uint32_t enableFlightMode(flightModeFlags_e mask); +uint32_t disableFlightMode(flightModeFlags_e mask); bool sensors(uint32_t mask); void sensorsSet(uint32_t mask); diff --git a/src/main/flight/navigation_rewrite.c b/src/main/flight/navigation_rewrite.c index f06e12ecdae..b144b48a36f 100755 --- a/src/main/flight/navigation_rewrite.c +++ b/src/main/flight/navigation_rewrite.c @@ -118,6 +118,9 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND(navig static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_INITIALIZE(navigationFSMState_t previousState); static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS(navigationFSMState_t previousState); static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_FINISHED(navigationFSMState_t previousState); +static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_INITIALIZE(navigationFSMState_t previousState); +static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_WAIT(navigationFSMState_t previousState); +static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_IN_PROGRESS(navigationFSMState_t previousState); static navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { /** Idle state ******************************************************/ @@ -135,6 +138,7 @@ static navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { [NAV_FSM_EVENT_SWITCH_TO_RTH] = NAV_STATE_RTH_INITIALIZE, [NAV_FSM_EVENT_SWITCH_TO_WAYPOINT] = NAV_STATE_WAYPOINT_INITIALIZE, [NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE, + [NAV_FSM_EVENT_SWITCH_TO_LAUNCH] = NAV_STATE_LAUNCH_INITIALIZE, } }, @@ -629,6 +633,48 @@ static navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { [NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE, } }, + + [NAV_STATE_LAUNCH_INITIALIZE] = { + .onEntry = navOnEnteringState_NAV_STATE_LAUNCH_INITIALIZE, + .timeoutMs = 0, + .stateFlags = NAV_REQUIRE_ANGLE, + .mapToFlightModes = LAUNCH_MODE, + .mwState = MW_NAV_STATE_NONE, + .mwError = MW_NAV_ERROR_NONE, + .onEvent = { + [NAV_FSM_EVENT_SUCCESS] = NAV_STATE_LAUNCH_WAIT, + [NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE, + [NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE, + } + }, + + [NAV_STATE_LAUNCH_WAIT] = { + .onEntry = navOnEnteringState_NAV_STATE_LAUNCH_WAIT, + .timeoutMs = 10, + .stateFlags = NAV_CTL_LAUNCH | NAV_REQUIRE_ANGLE, + .mapToFlightModes = LAUNCH_MODE, + .mwState = MW_NAV_STATE_NONE, + .mwError = MW_NAV_ERROR_NONE, + .onEvent = { + [NAV_FSM_EVENT_SUCCESS] = NAV_STATE_LAUNCH_IN_PROGRESS, + [NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE, + [NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE, + } + }, + + [NAV_STATE_LAUNCH_IN_PROGRESS] = { + .onEntry = navOnEnteringState_NAV_STATE_LAUNCH_IN_PROGRESS, + .timeoutMs = 10, + .stateFlags = NAV_CTL_LAUNCH | NAV_REQUIRE_ANGLE, + .mapToFlightModes = LAUNCH_MODE, + .mwState = MW_NAV_STATE_NONE, + .mwError = MW_NAV_ERROR_NONE, + .onEvent = { + [NAV_FSM_EVENT_SUCCESS] = NAV_STATE_IDLE, + [NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE, + [NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE, + } + }, }; static navigationFSMStateFlags_t navGetStateFlags(navigationFSMState_t state) @@ -1227,6 +1273,40 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_FINIS return NAV_FSM_EVENT_SUCCESS; } +static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_INITIALIZE(navigationFSMState_t previousState) +{ + const uint32_t currentTime = micros(); + UNUSED(previousState); + + resetFixedWingLaunchMode(currentTime); + + return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_LAUNCH_WAIT +} + +static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_WAIT(navigationFSMState_t previousState) +{ + const uint32_t currentTime = micros(); + UNUSED(previousState); + + if (isFixedWingLaunchDetected()) { + resetFixedWingLaunchController(currentTime); + return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_LAUNCH_MOTOR_DELAY + } + + return NAV_FSM_EVENT_NONE; +} + +static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_IN_PROGRESS(navigationFSMState_t previousState) +{ + UNUSED(previousState); + + if (isFixedWingLaunchFinishedOrAborted()) { + return NAV_FSM_EVENT_SUCCESS; + } + + return NAV_FSM_EVENT_NONE; +} + static navigationFSMState_t navSetNewFSMState(navigationFSMState_t newState) { navigationFSMState_t previousState; @@ -2173,6 +2253,7 @@ static bool canActivatePosHoldMode(void) static navigationFSMEvent_t selectNavEventFromBoxModeInput(void) { static bool canActivateWaypoint = false; + static bool canActivateLaunchMode = false; //We can switch modes only when ARMED if (ARMING_FLAG(ARMED)) { @@ -2180,6 +2261,21 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void) bool canActivateAltHold = canActivateAltHoldMode(); bool canActivatePosHold = canActivatePosHoldMode(); + // LAUNCH mode has priority over any other NAV mode + if (STATE(FIXED_WING)) { + if (IS_RC_MODE_ACTIVE(BOXNAVLAUNCH)) { // FIXME: Only available for fixed wing aircrafts now + if (FLIGHT_MODE(LAUNCH_MODE) || canActivateLaunchMode) { + canActivateLaunchMode = false; + return NAV_FSM_EVENT_SWITCH_TO_LAUNCH; + } + } + else { + // If we were in LAUNCH mode - force switch to IDLE + if (FLIGHT_MODE(LAUNCH_MODE)) + return NAV_FSM_EVENT_SWITCH_TO_IDLE; + } + } + // RTH/Failsafe_RTH can override PASSTHRU if (posControl.flags.forcedRTHActivated || IS_RC_MODE_ACTIVE(BOXNAVRTH)) { // If we request forced RTH - attempt to activate it no matter what @@ -2220,6 +2316,9 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void) } else { canActivateWaypoint = false; + + // Launch mode can only be activated if BOX is turned on prior to arming (avoid switching to LAUNCH in flight) + canActivateLaunchMode = IS_RC_MODE_ACTIVE(BOXNAVLAUNCH); } return NAV_FSM_EVENT_SWITCH_TO_IDLE; diff --git a/src/main/flight/navigation_rewrite.h b/src/main/flight/navigation_rewrite.h index 4c17dcb3d30..75de998fbd8 100755 --- a/src/main/flight/navigation_rewrite.h +++ b/src/main/flight/navigation_rewrite.h @@ -129,6 +129,12 @@ typedef struct navConfig_s { uint8_t fw_pitch_to_throttle; // Pitch angle (in deg) to throttle gain (in 1/1000's of throttle) (*10) uint8_t fw_roll_to_pitch; // Roll to pitch compensation (in %) uint16_t fw_loiter_radius; // Loiter radius when executing PH on a fixed wing + + uint16_t fw_launch_accel_thresh; // Acceleration threshold for launch detection (cm/s/s) + uint16_t fw_launch_time_thresh; // Time threshold for launch detection (ms) + uint16_t fw_launch_throttle; // Launch throttle + uint16_t fw_launch_motor_timer; // Time to wait before setting launch_throttle (ms) + uint8_t fw_launch_climb_angle; // Target climb angle for launch (deg) } navConfig_t; typedef struct gpsOrigin_s { diff --git a/src/main/flight/navigation_rewrite_fixedwing.c b/src/main/flight/navigation_rewrite_fixedwing.c index 50422e7ab21..3bf4c01b780 100755 --- a/src/main/flight/navigation_rewrite_fixedwing.c +++ b/src/main/flight/navigation_rewrite_fixedwing.c @@ -485,7 +485,10 @@ void resetFixedWingHeadingController(void) void applyFixedWingNavigationController(navigationFSMStateFlags_t navStateFlags, uint32_t currentTime) { - if (navStateFlags & NAV_CTL_EMERG) { + if (navStateFlags & NAV_CTL_LAUNCH) { + applyFixedWingLaunchController(currentTime); + } + else if (navStateFlags & NAV_CTL_EMERG) { applyFixedWingEmergencyLandingController(); } else { diff --git a/src/main/flight/navigation_rewrite_private.h b/src/main/flight/navigation_rewrite_private.h index 62750323400..80b4b6ee791 100755 --- a/src/main/flight/navigation_rewrite_private.h +++ b/src/main/flight/navigation_rewrite_private.h @@ -36,6 +36,7 @@ #define HZ2US(hz) (1000000 / (hz)) #define US2S(us) ((us) * 1e-6f) +#define US2MS(us) ((us) * 1e-3f) #define MS2US(ms) ((ms) * 1000) #define HZ2S(hz) US2S(HZ2US(hz)) @@ -148,6 +149,7 @@ typedef enum { NAV_FSM_EVENT_SWITCH_TO_RTH_3D, NAV_FSM_EVENT_SWITCH_TO_WAYPOINT, NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING, + NAV_FSM_EVENT_SWITCH_TO_LAUNCH, NAV_FSM_EVENT_STATE_SPECIFIC_1, // State-specific event NAV_FSM_EVENT_STATE_SPECIFIC_2, // State-specific event @@ -197,9 +199,14 @@ typedef enum { NAV_STATE_WAYPOINT_FINISHED, // 27 NAV_STATE_WAYPOINT_RTH_LAND, // 28 - NAV_STATE_EMERGENCY_LANDING_INITIALIZE, - NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS, - NAV_STATE_EMERGENCY_LANDING_FINISHED, + NAV_STATE_EMERGENCY_LANDING_INITIALIZE, // 29 + NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS, // 30 + NAV_STATE_EMERGENCY_LANDING_FINISHED, // 31 + + NAV_STATE_LAUNCH_INITIALIZE, // 32 + NAV_STATE_LAUNCH_WAIT, // 33 + NAV_STATE_LAUNCH_MOTOR_DELAY, // 34 + NAV_STATE_LAUNCH_IN_PROGRESS, // 35 NAV_STATE_COUNT, } navigationFSMState_t; @@ -210,19 +217,20 @@ typedef enum { NAV_CTL_POS = (1 << 1), // Position controller NAV_CTL_YAW = (1 << 2), NAV_CTL_EMERG = (1 << 3), + NAV_CTL_LAUNCH = (1 << 4), /* Navigation requirements for flight modes and controllers */ - NAV_REQUIRE_ANGLE = (1 << 4), - NAV_REQUIRE_ANGLE_FW = (1 << 5), - NAV_REQUIRE_MAGHOLD = (1 << 6), - NAV_REQUIRE_THRTILT = (1 << 7), + NAV_REQUIRE_ANGLE = (1 << 5), + NAV_REQUIRE_ANGLE_FW = (1 << 6), + NAV_REQUIRE_MAGHOLD = (1 << 7), + NAV_REQUIRE_THRTILT = (1 << 8), /* Navigation autonomous modes */ - NAV_AUTO_RTH = (1 << 8), - NAV_AUTO_WP = (1 << 9), + NAV_AUTO_RTH = (1 << 9), + NAV_AUTO_WP = (1 << 10), /* Adjustments for navigation modes from RC input */ - NAV_RC_ALT = (1 << 10), + NAV_RC_ALT = (1 << 11), NAV_RC_POS = (1 << 12), NAV_RC_YAW = (1 << 13), } navigationFSMStateFlags_t; @@ -356,4 +364,11 @@ void applyFixedWingNavigationController(navigationFSMStateFlags_t navStateFlags, void calculateFixedWingInitialHoldPosition(t_fp_vector * pos); +/* Fixed-wing launch controller */ +void resetFixedWingLaunchMode(const uint32_t currentTime); +bool isFixedWingLaunchDetected(void); +void resetFixedWingLaunchController(const uint32_t currentTime); +bool isFixedWingLaunchFinishedOrAborted(void); +void applyFixedWingLaunchController(const uint32_t currentTime); + #endif diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index ca38875f731..47541075581 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -700,6 +700,12 @@ const clivalue_t valueTable[] = { { "nav_fw_pitch2thr", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.fw_pitch_to_throttle, .config.minmax = { 0, 100 }, 0 }, { "nav_fw_roll2pitch", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.fw_roll_to_pitch, .config.minmax = { 0, 200 }, 0 }, { "nav_fw_loiter_radius", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw_loiter_radius, .config.minmax = { 0, 10000 }, 0 }, + + { "nav_fw_launch_accel", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw_launch_accel_thresh, .config.minmax = { 1000, 20000 }, 0 }, + { "nav_fw_launch_detect_time", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw_launch_time_thresh, .config.minmax = { 10, 1000 }, 0 }, + { "nav_fw_launch_thr", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw_launch_throttle, .config.minmax = { 1000, 2000 }, 0 }, + { "nav_fw_launch_motor_delay", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw_launch_motor_timer, .config.minmax = { 0, 5000 }, 0 }, + { "fw_launch_climb_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.fw_launch_climb_angle, .config.minmax = { 5, 45 }, 0 }, #endif #ifdef SERIAL_RX From 377ae4bf02df2a82ef752448dba8ac185e70bacb Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Wed, 5 Oct 2016 17:41:02 +1000 Subject: [PATCH 040/139] Missing file --- .../flight/navigation_rewrite_fw_launch.c | 160 ++++++++++++++++++ 1 file changed, 160 insertions(+) create mode 100755 src/main/flight/navigation_rewrite_fw_launch.c diff --git a/src/main/flight/navigation_rewrite_fw_launch.c b/src/main/flight/navigation_rewrite_fw_launch.c new file mode 100755 index 00000000000..c937b000628 --- /dev/null +++ b/src/main/flight/navigation_rewrite_fw_launch.c @@ -0,0 +1,160 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#include +#include +#include +#include + +#include "platform.h" + +#if defined(NAV) + +#include "build/build_config.h" +#include "build/debug.h" + +#include "common/axis.h" +#include "common/maths.h" + +#include "drivers/system.h" +#include "drivers/sensor.h" +#include "drivers/accgyro.h" + +#include "sensors/sensors.h" +#include "sensors/rangefinder.h" +#include "sensors/barometer.h" +#include "sensors/acceleration.h" +#include "sensors/boardalignment.h" +#include "sensors/compass.h" + +#include "io/gps.h" + +#include "flight/pid.h" +#include "flight/imu.h" +#include "flight/navigation_rewrite.h" +#include "flight/navigation_rewrite_private.h" + +#include "fc/runtime_config.h" +#include "config/config.h" +#include "config/feature.h" + + +typedef struct FixedWingLaunchState_s { + /* Launch detection */ + uint32_t launchDetectorPreviosUpdate; + uint32_t launchDetectionTimeAccum; + bool launchDetected; + + /* Launch progress */ + uint32_t launchStartedTime; + bool launchFinished; +} FixedWingLaunchState_t; + +static FixedWingLaunchState_t launchState; + +static void updateFixedWingLaunchDetector(const uint32_t currentTime) +{ + if (imuAccelInBodyFrame.A[X] > posControl.navConfig->fw_launch_accel_thresh) { + launchState.launchDetectionTimeAccum += (currentTime - launchState.launchDetectorPreviosUpdate); + launchState.launchDetectorPreviosUpdate = currentTime; + if (launchState.launchDetectionTimeAccum >= MS2US((uint32_t)posControl.navConfig->fw_launch_time_thresh)) { + launchState.launchDetected = true; + } + } + else { + launchState.launchDetectorPreviosUpdate = currentTime; + launchState.launchDetectionTimeAccum = 0; + } +} + +void resetFixedWingLaunchMode(const uint32_t currentTime) +{ + launchState.launchDetectorPreviosUpdate = currentTime; + launchState.launchDetectionTimeAccum = 0; + launchState.launchStartedTime = 0; + launchState.launchDetected = false; + launchState.launchFinished = false; +} + +bool isFixedWingLaunchDetected(void) +{ + return launchState.launchDetected; +} + +void resetFixedWingLaunchController(const uint32_t currentTime) +{ + launchState.launchStartedTime = currentTime; +} + +bool isFixedWingLaunchFinishedOrAborted(void) +{ + return launchState.launchFinished; +} + +void applyFixedWingLaunchController(const uint32_t currentTime) +{ + // Called at PID rate + + if (isFixedWingLaunchDetected()) { + // If launch detected we are in launch procedure - control airplane + const float timeElapsedSinceLaunchMs = US2MS(currentTime - launchState.launchStartedTime); + + // If user moves the stick - finish the launch + if ((ABS(rcCommand[ROLL]) > posControl.rcControlsConfig->pos_hold_deadband) || (ABS(rcCommand[PITCH]) > posControl.rcControlsConfig->pos_hold_deadband)) { + launchState.launchFinished = true; + } + + // Control throttle + if (timeElapsedSinceLaunchMs < posControl.navConfig->fw_launch_motor_timer) { + // Until motors are started don't use PID I-term + pidResetErrorAccumulators(); + + // Throttle control logic - if motor stop is enabled - keep motors stopped + if (feature(FEATURE_MOTOR_STOP)) { + rcCommand[THROTTLE] = posControl.escAndServoConfig->mincommand; + } + else { + rcCommand[THROTTLE] = posControl.escAndServoConfig->minthrottle; + } + } + else { + rcCommand[THROTTLE] = posControl.navConfig->fw_launch_throttle; + } + } + else { + // We are waiting for launch - update launch detector + updateFixedWingLaunchDetector(currentTime); + + // Until motors are started don't use PID I-term + pidResetErrorAccumulators(); + + // Throttle control logic + if (feature(FEATURE_MOTOR_STOP)) { + rcCommand[THROTTLE] = posControl.escAndServoConfig->mincommand; + } + else { + rcCommand[THROTTLE] = posControl.escAndServoConfig->minthrottle; + } + } + + // Lock out controls + rcCommand[ROLL] = 0; + rcCommand[PITCH] = pidAngleToRcCommand(-DEGREES_TO_DECIDEGREES(posControl.navConfig->fw_launch_climb_angle), posControl.pidProfile->max_angle_inclination[FD_PITCH]); + rcCommand[YAW] = 0; +} + +#endif From a4486e832eb03e365761fcae1a222fea12d83e29 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Thu, 6 Oct 2016 10:17:10 +1000 Subject: [PATCH 041/139] Bugfix for not-working right stick abort; bugfix for LAUNCH-mode re-enable in flight; remove motor stop (not working) --- src/main/fc/fc_msp.c | 2 +- src/main/fc/runtime_config.h | 2 +- src/main/flight/navigation_rewrite.c | 23 ++++++++---- .../flight/navigation_rewrite_fw_launch.c | 37 +++++++++---------- src/main/flight/navigation_rewrite_private.h | 4 +- 5 files changed, 36 insertions(+), 32 deletions(-) diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index eee214a26f8..020ee369f55 100644 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -361,7 +361,7 @@ static uint32_t packFlightModeFlags(void) IS_ENABLED(IS_RC_MODE_ACTIVE(BOXSURFACE)) << BOXSURFACE | IS_ENABLED(FLIGHT_MODE(FLAPERON)) << BOXFLAPERON | IS_ENABLED(FLIGHT_MODE(TURN_ASSISTANT)) << BOXTURNASSIST | - IS_ENABLED(FLIGHT_MODE(LAUNCH_MODE)) << BOXNAVLAUNCH | + IS_ENABLED(FLIGHT_MODE(NAV_LAUNCH_MODE)) << BOXNAVLAUNCH | IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHOMERESET)) << BOXHOMERESET; uint32_t ret = 0; diff --git a/src/main/fc/runtime_config.h b/src/main/fc/runtime_config.h index 47a46e4f409..847667e44a9 100644 --- a/src/main/fc/runtime_config.h +++ b/src/main/fc/runtime_config.h @@ -39,7 +39,7 @@ typedef enum { NAV_RTH_MODE = (1 << 4), // old GPS_HOME NAV_POSHOLD_MODE= (1 << 5), // old GPS_HOLD HEADFREE_MODE = (1 << 6), - LAUNCH_MODE = (1 << 7), + NAV_LAUNCH_MODE = (1 << 7), PASSTHRU_MODE = (1 << 8), FAILSAFE_MODE = (1 << 10), UNUSED_MODE = (1 << 11), // old G-Tune diff --git a/src/main/flight/navigation_rewrite.c b/src/main/flight/navigation_rewrite.c index b144b48a36f..0f4b654f095 100755 --- a/src/main/flight/navigation_rewrite.c +++ b/src/main/flight/navigation_rewrite.c @@ -638,7 +638,7 @@ static navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { .onEntry = navOnEnteringState_NAV_STATE_LAUNCH_INITIALIZE, .timeoutMs = 0, .stateFlags = NAV_REQUIRE_ANGLE, - .mapToFlightModes = LAUNCH_MODE, + .mapToFlightModes = NAV_LAUNCH_MODE, .mwState = MW_NAV_STATE_NONE, .mwError = MW_NAV_ERROR_NONE, .onEvent = { @@ -652,10 +652,11 @@ static navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { .onEntry = navOnEnteringState_NAV_STATE_LAUNCH_WAIT, .timeoutMs = 10, .stateFlags = NAV_CTL_LAUNCH | NAV_REQUIRE_ANGLE, - .mapToFlightModes = LAUNCH_MODE, + .mapToFlightModes = NAV_LAUNCH_MODE, .mwState = MW_NAV_STATE_NONE, .mwError = MW_NAV_ERROR_NONE, .onEvent = { + [NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_LAUNCH_WAIT, // re-process the state [NAV_FSM_EVENT_SUCCESS] = NAV_STATE_LAUNCH_IN_PROGRESS, [NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE, [NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE, @@ -666,10 +667,11 @@ static navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { .onEntry = navOnEnteringState_NAV_STATE_LAUNCH_IN_PROGRESS, .timeoutMs = 10, .stateFlags = NAV_CTL_LAUNCH | NAV_REQUIRE_ANGLE, - .mapToFlightModes = LAUNCH_MODE, + .mapToFlightModes = NAV_LAUNCH_MODE, .mwState = MW_NAV_STATE_NONE, .mwError = MW_NAV_ERROR_NONE, .onEvent = { + [NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_LAUNCH_IN_PROGRESS, // re-process the state [NAV_FSM_EVENT_SUCCESS] = NAV_STATE_IDLE, [NAV_FSM_EVENT_ERROR] = NAV_STATE_IDLE, [NAV_FSM_EVENT_SWITCH_TO_IDLE] = NAV_STATE_IDLE, @@ -1278,7 +1280,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_INITIALIZE(navig const uint32_t currentTime = micros(); UNUSED(previousState); - resetFixedWingLaunchMode(currentTime); + resetFixedWingLaunchController(currentTime); return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_LAUNCH_WAIT } @@ -1289,7 +1291,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_WAIT(navigationF UNUSED(previousState); if (isFixedWingLaunchDetected()) { - resetFixedWingLaunchController(currentTime); + enableFixedWingLaunchController(currentTime); return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_LAUNCH_MOTOR_DELAY } @@ -2232,7 +2234,7 @@ void applyWaypointNavigationAndAltitudeHold(void) void swithNavigationFlightModes(void) { flightModeFlags_e enabledNavFlightModes = navGetMappedFlightModes(posControl.navState); - flightModeFlags_e disabledFlightModes = (NAV_ALTHOLD_MODE | NAV_RTH_MODE | NAV_POSHOLD_MODE | NAV_WP_MODE) & (~enabledNavFlightModes); + flightModeFlags_e disabledFlightModes = (NAV_ALTHOLD_MODE | NAV_RTH_MODE | NAV_POSHOLD_MODE | NAV_WP_MODE | NAV_LAUNCH_MODE) & (~enabledNavFlightModes); DISABLE_FLIGHT_MODE(disabledFlightModes); ENABLE_FLIGHT_MODE(enabledNavFlightModes); } @@ -2264,15 +2266,20 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void) // LAUNCH mode has priority over any other NAV mode if (STATE(FIXED_WING)) { if (IS_RC_MODE_ACTIVE(BOXNAVLAUNCH)) { // FIXME: Only available for fixed wing aircrafts now - if (FLIGHT_MODE(LAUNCH_MODE) || canActivateLaunchMode) { + if (canActivateLaunchMode) { canActivateLaunchMode = false; return NAV_FSM_EVENT_SWITCH_TO_LAUNCH; } + else if FLIGHT_MODE(NAV_LAUNCH_MODE) { + // Make sure we don't bail out to IDLE + return NAV_FSM_EVENT_NONE; + } } else { // If we were in LAUNCH mode - force switch to IDLE - if (FLIGHT_MODE(LAUNCH_MODE)) + if (FLIGHT_MODE(NAV_LAUNCH_MODE)) { return NAV_FSM_EVENT_SWITCH_TO_IDLE; + } } } diff --git a/src/main/flight/navigation_rewrite_fw_launch.c b/src/main/flight/navigation_rewrite_fw_launch.c index c937b000628..9a698823295 100755 --- a/src/main/flight/navigation_rewrite_fw_launch.c +++ b/src/main/flight/navigation_rewrite_fw_launch.c @@ -62,13 +62,18 @@ typedef struct FixedWingLaunchState_s { /* Launch progress */ uint32_t launchStartedTime; bool launchFinished; + bool motorControlAllowed; } FixedWingLaunchState_t; static FixedWingLaunchState_t launchState; +#define COS_MAX_LAUNCH_ANGLE 0.70710678f // cos(45), just to be safe static void updateFixedWingLaunchDetector(const uint32_t currentTime) { - if (imuAccelInBodyFrame.A[X] > posControl.navConfig->fw_launch_accel_thresh) { + const bool isForwardAccelerationHigh = (imuAccelInBodyFrame.A[X] > posControl.navConfig->fw_launch_accel_thresh); + const bool isAircraftAlmostLevel = (calculateCosTiltAngle() >= COS_MAX_LAUNCH_ANGLE); + + if (isForwardAccelerationHigh && isAircraftAlmostLevel) { launchState.launchDetectionTimeAccum += (currentTime - launchState.launchDetectorPreviosUpdate); launchState.launchDetectorPreviosUpdate = currentTime; if (launchState.launchDetectionTimeAccum >= MS2US((uint32_t)posControl.navConfig->fw_launch_time_thresh)) { @@ -81,13 +86,14 @@ static void updateFixedWingLaunchDetector(const uint32_t currentTime) } } -void resetFixedWingLaunchMode(const uint32_t currentTime) +void resetFixedWingLaunchController(const uint32_t currentTime) { launchState.launchDetectorPreviosUpdate = currentTime; launchState.launchDetectionTimeAccum = 0; launchState.launchStartedTime = 0; launchState.launchDetected = false; launchState.launchFinished = false; + launchState.motorControlAllowed = false; } bool isFixedWingLaunchDetected(void) @@ -95,9 +101,10 @@ bool isFixedWingLaunchDetected(void) return launchState.launchDetected; } -void resetFixedWingLaunchController(const uint32_t currentTime) +void enableFixedWingLaunchController(const uint32_t currentTime) { launchState.launchStartedTime = currentTime; + launchState.motorControlAllowed = true; } bool isFixedWingLaunchFinishedOrAborted(void) @@ -109,7 +116,7 @@ void applyFixedWingLaunchController(const uint32_t currentTime) { // Called at PID rate - if (isFixedWingLaunchDetected()) { + if (launchState.launchDetected) { // If launch detected we are in launch procedure - control airplane const float timeElapsedSinceLaunchMs = US2MS(currentTime - launchState.launchStartedTime); @@ -119,20 +126,15 @@ void applyFixedWingLaunchController(const uint32_t currentTime) } // Control throttle - if (timeElapsedSinceLaunchMs < posControl.navConfig->fw_launch_motor_timer) { + if (timeElapsedSinceLaunchMs >= posControl.navConfig->fw_launch_motor_timer && launchState.motorControlAllowed) { + rcCommand[THROTTLE] = posControl.navConfig->fw_launch_throttle; + } + else { // Until motors are started don't use PID I-term pidResetErrorAccumulators(); // Throttle control logic - if motor stop is enabled - keep motors stopped - if (feature(FEATURE_MOTOR_STOP)) { - rcCommand[THROTTLE] = posControl.escAndServoConfig->mincommand; - } - else { - rcCommand[THROTTLE] = posControl.escAndServoConfig->minthrottle; - } - } - else { - rcCommand[THROTTLE] = posControl.navConfig->fw_launch_throttle; + rcCommand[THROTTLE] = posControl.escAndServoConfig->minthrottle; } } else { @@ -143,12 +145,7 @@ void applyFixedWingLaunchController(const uint32_t currentTime) pidResetErrorAccumulators(); // Throttle control logic - if (feature(FEATURE_MOTOR_STOP)) { - rcCommand[THROTTLE] = posControl.escAndServoConfig->mincommand; - } - else { - rcCommand[THROTTLE] = posControl.escAndServoConfig->minthrottle; - } + rcCommand[THROTTLE] = posControl.escAndServoConfig->minthrottle; } // Lock out controls diff --git a/src/main/flight/navigation_rewrite_private.h b/src/main/flight/navigation_rewrite_private.h index 80b4b6ee791..a9df3fe048a 100755 --- a/src/main/flight/navigation_rewrite_private.h +++ b/src/main/flight/navigation_rewrite_private.h @@ -365,9 +365,9 @@ void applyFixedWingNavigationController(navigationFSMStateFlags_t navStateFlags, void calculateFixedWingInitialHoldPosition(t_fp_vector * pos); /* Fixed-wing launch controller */ -void resetFixedWingLaunchMode(const uint32_t currentTime); -bool isFixedWingLaunchDetected(void); void resetFixedWingLaunchController(const uint32_t currentTime); +bool isFixedWingLaunchDetected(void); +void enableFixedWingLaunchController(const uint32_t currentTime); bool isFixedWingLaunchFinishedOrAborted(void); void applyFixedWingLaunchController(const uint32_t currentTime); From 114c004a56306711b11880425e2a769b6c8831f7 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Thu, 6 Oct 2016 10:59:48 +1000 Subject: [PATCH 042/139] Post-rebase fixup --- src/main/flight/navigation_rewrite_fw_launch.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/flight/navigation_rewrite_fw_launch.c b/src/main/flight/navigation_rewrite_fw_launch.c index 9a698823295..84316e1a9ad 100755 --- a/src/main/flight/navigation_rewrite_fw_launch.c +++ b/src/main/flight/navigation_rewrite_fw_launch.c @@ -134,7 +134,7 @@ void applyFixedWingLaunchController(const uint32_t currentTime) pidResetErrorAccumulators(); // Throttle control logic - if motor stop is enabled - keep motors stopped - rcCommand[THROTTLE] = posControl.escAndServoConfig->minthrottle; + rcCommand[THROTTLE] = posControl.motorConfig->minthrottle; } } else { @@ -145,7 +145,7 @@ void applyFixedWingLaunchController(const uint32_t currentTime) pidResetErrorAccumulators(); // Throttle control logic - rcCommand[THROTTLE] = posControl.escAndServoConfig->minthrottle; + rcCommand[THROTTLE] = posControl.motorConfig->minthrottle; } // Lock out controls From 9f7e81c59d11579e9e7214a03fb2f1f7bd187000 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Sat, 8 Oct 2016 21:52:02 +1000 Subject: [PATCH 043/139] Add beeper to indicate launch mode; bump config version; allow LAUNCH+RTH and LAUNCH+WP combos; add LAUNCH timeout (default 5 sec) --- src/main/config/config.c | 1 + src/main/flight/navigation_rewrite.c | 4 ++- src/main/flight/navigation_rewrite.h | 1 + .../flight/navigation_rewrite_fw_launch.c | 34 +++++++++++++------ src/main/io/beeper.c | 9 +++-- src/main/io/beeper.h | 1 + src/main/io/serial_cli.c | 3 +- 7 files changed, 39 insertions(+), 14 deletions(-) diff --git a/src/main/config/config.c b/src/main/config/config.c index 822a67bbc32..4e1c3c81355 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -232,6 +232,7 @@ void resetNavConfig(navConfig_t * navConfig) navConfig->fw_launch_time_thresh = 40; // 40ms navConfig->fw_launch_throttle = 1700; navConfig->fw_launch_motor_timer = 500; // ms + navConfig->fw_launch_timeout = 5000; // ms, timeout for launch procedure navConfig->fw_launch_climb_angle = 10; // 10 deg } diff --git a/src/main/flight/navigation_rewrite.c b/src/main/flight/navigation_rewrite.c index 0f4b654f095..ff4433bed2e 100755 --- a/src/main/flight/navigation_rewrite.c +++ b/src/main/flight/navigation_rewrite.c @@ -2369,6 +2369,8 @@ int8_t naivationGetHeadingControlState(void) bool naivationBlockArming(void) { + const bool navBoxModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD); + const bool navLaunchComboModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVLAUNCH) && (IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP)); bool shouldBlockArming = false; if (!posControl.navConfig->flags.extra_arming_safety) @@ -2380,7 +2382,7 @@ bool naivationBlockArming(void) } // Don't allow arming if any of NAV modes is active - if ((!ARMING_FLAG(ARMED)) && (IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD))) { + if (!ARMING_FLAG(ARMED) && navBoxModesEnabled && !navLaunchComboModesEnabled) { shouldBlockArming = true; } diff --git a/src/main/flight/navigation_rewrite.h b/src/main/flight/navigation_rewrite.h index 75de998fbd8..2f630cce080 100755 --- a/src/main/flight/navigation_rewrite.h +++ b/src/main/flight/navigation_rewrite.h @@ -134,6 +134,7 @@ typedef struct navConfig_s { uint16_t fw_launch_time_thresh; // Time threshold for launch detection (ms) uint16_t fw_launch_throttle; // Launch throttle uint16_t fw_launch_motor_timer; // Time to wait before setting launch_throttle (ms) + uint16_t fw_launch_timeout; // Launch timeout to disable launch mode and swith to normal flight (ms) uint8_t fw_launch_climb_angle; // Target climb angle for launch (deg) } navConfig_t; diff --git a/src/main/flight/navigation_rewrite_fw_launch.c b/src/main/flight/navigation_rewrite_fw_launch.c index 84316e1a9ad..634e721538a 100755 --- a/src/main/flight/navigation_rewrite_fw_launch.c +++ b/src/main/flight/navigation_rewrite_fw_launch.c @@ -42,6 +42,7 @@ #include "sensors/compass.h" #include "io/gps.h" +#include "io/beeper.h" #include "flight/pid.h" #include "flight/imu.h" @@ -125,16 +126,24 @@ void applyFixedWingLaunchController(const uint32_t currentTime) launchState.launchFinished = true; } - // Control throttle - if (timeElapsedSinceLaunchMs >= posControl.navConfig->fw_launch_motor_timer && launchState.motorControlAllowed) { - rcCommand[THROTTLE] = posControl.navConfig->fw_launch_throttle; - } - else { - // Until motors are started don't use PID I-term - pidResetErrorAccumulators(); - - // Throttle control logic - if motor stop is enabled - keep motors stopped - rcCommand[THROTTLE] = posControl.motorConfig->minthrottle; + // Motor control enabled + if (launchState.motorControlAllowed) { + // Abort launch after a pre-set time + if (timeElapsedSinceLaunchMs >= posControl.navConfig->fw_launch_timeout) { + launchState.launchFinished = true; + } + + // Control throttle + if (timeElapsedSinceLaunchMs >= posControl.navConfig->fw_launch_motor_timer) { + rcCommand[THROTTLE] = posControl.navConfig->fw_launch_throttle; + } + else { + // Until motors are started don't use PID I-term + pidResetErrorAccumulators(); + + // Throttle control logic - if motor stop is enabled - keep motors stopped + rcCommand[THROTTLE] = posControl.motorConfig->minthrottle; + } } } else { @@ -148,6 +157,11 @@ void applyFixedWingLaunchController(const uint32_t currentTime) rcCommand[THROTTLE] = posControl.motorConfig->minthrottle; } + // Control beeper + if (!launchState.launchFinished) { + beeper(BEEPER_LAUNCH_MODE_ENABLED); + } + // Lock out controls rcCommand[ROLL] = 0; rcCommand[PITCH] = pidAngleToRcCommand(-DEGREES_TO_DECIDEGREES(posControl.navConfig->fw_launch_climb_angle), posControl.pidProfile->max_angle_inclination[FD_PITCH]); diff --git a/src/main/io/beeper.c b/src/main/io/beeper.c index 0418364e9b9..003ce01f483 100644 --- a/src/main/io/beeper.c +++ b/src/main/io/beeper.c @@ -119,6 +119,10 @@ static const uint8_t beep_2longerBeeps[] = { static const uint8_t beep_gyroCalibrated[] = { 20, 10, 20, 10, 20, 10, BEEPER_COMMAND_STOP }; +// two short beeps and a pause (first pause, then short beep) +static const uint8_t beep_launchModeBeep[] = { + 5, 5, 5, 100, BEEPER_COMMAND_STOP +}; // array used for variable # of beeps (reporting GPS sat count, etc) static uint8_t beep_multiBeeps[MAX_MULTI_BEEPS + 2]; @@ -173,9 +177,10 @@ typedef struct beeperTableEntry_s { { BEEPER_ENTRY(BEEPER_ARMED, 15, beep_armedBeep, "ARMED") }, { BEEPER_ENTRY(BEEPER_SYSTEM_INIT, 16, NULL, "SYSTEM_INIT") }, { BEEPER_ENTRY(BEEPER_USB, 17, NULL, "ON_USB") }, + { BEEPER_ENTRY(BEEPER_LAUNCH_MODE_ENABLED, 18, beep_launchModeBeep, "LAUNCH_MODE") }, - { BEEPER_ENTRY(BEEPER_ALL, 18, NULL, "ALL") }, - { BEEPER_ENTRY(BEEPER_PREFERENCE, 19, NULL, "PREFERED") }, + { BEEPER_ENTRY(BEEPER_ALL, 19, NULL, "ALL") }, + { BEEPER_ENTRY(BEEPER_PREFERENCE, 20, NULL, "PREFERED") }, }; static const beeperTableEntry_t *currentBeeperEntry = NULL; diff --git a/src/main/io/beeper.h b/src/main/io/beeper.h index cd94023820f..e093f0768df 100644 --- a/src/main/io/beeper.h +++ b/src/main/io/beeper.h @@ -39,6 +39,7 @@ typedef enum { BEEPER_ARMED, // Warning beeps when board is armed (repeats until board is disarmed or throttle is increased) BEEPER_SYSTEM_INIT, // Initialisation beeps when board is powered on BEEPER_USB, // Some boards have beeper powered USB connected + BEEPER_LAUNCH_MODE_ENABLED, // Fixed-wing launch mode enabled BEEPER_ALL, // Turn ON or OFF all beeper conditions BEEPER_PREFERENCE, // Save preferred beeper configuration diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index 47541075581..1d1ec8ec839 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -705,7 +705,8 @@ const clivalue_t valueTable[] = { { "nav_fw_launch_detect_time", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw_launch_time_thresh, .config.minmax = { 10, 1000 }, 0 }, { "nav_fw_launch_thr", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw_launch_throttle, .config.minmax = { 1000, 2000 }, 0 }, { "nav_fw_launch_motor_delay", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw_launch_motor_timer, .config.minmax = { 0, 5000 }, 0 }, - { "fw_launch_climb_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.fw_launch_climb_angle, .config.minmax = { 5, 45 }, 0 }, + { "naw_fw_launch_timeout", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw_launch_timeout, .config.minmax = { 0, 60000 }, 0 }, + { "naw_fw_launch_climb_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.fw_launch_climb_angle, .config.minmax = { 5, 45 }, 0 }, #endif #ifdef SERIAL_RX From 0849f80f828cc2ae9bf087b16f4b37bc1ab75c9b Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Mon, 10 Oct 2016 09:42:49 +1000 Subject: [PATCH 044/139] Proper handling of MOTOR_STOP --- src/main/fc/runtime_config.h | 6 +++--- src/main/flight/mixer.c | 2 +- src/main/flight/navigation_rewrite.c | 3 +++ src/main/flight/navigation_rewrite_fw_launch.c | 8 +++++--- 4 files changed, 12 insertions(+), 7 deletions(-) diff --git a/src/main/fc/runtime_config.h b/src/main/fc/runtime_config.h index 847667e44a9..672ec78d33a 100644 --- a/src/main/fc/runtime_config.h +++ b/src/main/fc/runtime_config.h @@ -60,10 +60,10 @@ typedef enum { GPS_FIX = (1 << 1), CALIBRATE_MAG = (1 << 2), SMALL_ANGLE = (1 << 3), - FIXED_WING = (1 << 4), // set when in flying_wing or airplane mode. currently used by althold selection code + FIXED_WING = (1 << 4), // set when in flying_wing or airplane mode. currently used by althold selection code ANTI_WINDUP = (1 << 5), - //PID_ATTENUATE = (1 << 6), - FLAPERON_AVAILABLE = (1 << 7) + FLAPERON_AVAILABLE = (1 << 6), + NAV_MOTOR_STOP = (1 << 7), // navigation requests MOTOR_STOP regardless of throttle stick, will only activate if MOTOR_STOP feature is available } stateFlags_t; #define DISABLE_STATE(mask) (stateFlags &= ~(mask)) diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c index 5d0a48b8f79..366cffd638c 100755 --- a/src/main/flight/mixer.c +++ b/src/main/flight/mixer.c @@ -504,7 +504,7 @@ void mixTable(void) // Motor stop handling if (feature(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !feature(FEATURE_3D)) { - if (((rcData[THROTTLE]) < rxConfig->mincheck)) { + if (((rcData[THROTTLE]) < rxConfig->mincheck) || STATE(NAV_MOTOR_STOP)) { motor[i] = motorConfig->mincommand; } } diff --git a/src/main/flight/navigation_rewrite.c b/src/main/flight/navigation_rewrite.c index ff4433bed2e..2b1a8fdd952 100755 --- a/src/main/flight/navigation_rewrite.c +++ b/src/main/flight/navigation_rewrite.c @@ -2193,6 +2193,9 @@ void applyWaypointNavigationAndAltitudeHold(void) #endif #endif + // Reset all navigation requests - NAV controllers will set them if necessary + DISABLE_STATE(NAV_MOTOR_STOP); + // No navigation when disarmed if (!ARMING_FLAG(ARMED)) { // If we are disarmed, abort forced RTH diff --git a/src/main/flight/navigation_rewrite_fw_launch.c b/src/main/flight/navigation_rewrite_fw_launch.c index 634e721538a..447478243b9 100755 --- a/src/main/flight/navigation_rewrite_fw_launch.c +++ b/src/main/flight/navigation_rewrite_fw_launch.c @@ -141,8 +141,9 @@ void applyFixedWingLaunchController(const uint32_t currentTime) // Until motors are started don't use PID I-term pidResetErrorAccumulators(); - // Throttle control logic - if motor stop is enabled - keep motors stopped - rcCommand[THROTTLE] = posControl.motorConfig->minthrottle; + // Throttle control logic + ENABLE_STATE(NAV_MOTOR_STOP); // If MOTOR_STOP is enabled mixer will keep motor stopped + rcCommand[THROTTLE] = posControl.motorConfig->minthrottle; // If MOTOT_STOP is disabled, motors will spin at minthrottle } } } @@ -154,7 +155,8 @@ void applyFixedWingLaunchController(const uint32_t currentTime) pidResetErrorAccumulators(); // Throttle control logic - rcCommand[THROTTLE] = posControl.motorConfig->minthrottle; + ENABLE_STATE(NAV_MOTOR_STOP); // If MOTOR_STOP is enabled mixer will keep motor stopped + rcCommand[THROTTLE] = posControl.motorConfig->minthrottle; // If MOTOT_STOP is disabled, motors will spin at minthrottle } // Control beeper From 6dbde3d3ba69cff6e6881653df43897c4727a394 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Thu, 3 Nov 2016 00:07:08 +1000 Subject: [PATCH 045/139] Fix launch mode compatibility with failsafe --- src/main/fc/runtime_config.h | 16 ++++++++-------- src/main/flight/failsafe.c | 4 ++-- src/main/flight/mixer.c | 2 +- src/main/flight/navigation_rewrite.c | 2 +- src/main/flight/navigation_rewrite_fw_launch.c | 8 ++++---- 5 files changed, 16 insertions(+), 16 deletions(-) diff --git a/src/main/fc/runtime_config.h b/src/main/fc/runtime_config.h index 672ec78d33a..fc7319c7922 100644 --- a/src/main/fc/runtime_config.h +++ b/src/main/fc/runtime_config.h @@ -56,14 +56,14 @@ extern uint32_t flightModeFlags; #define FLIGHT_MODE(mask) (flightModeFlags & (mask)) typedef enum { - GPS_FIX_HOME = (1 << 0), - GPS_FIX = (1 << 1), - CALIBRATE_MAG = (1 << 2), - SMALL_ANGLE = (1 << 3), - FIXED_WING = (1 << 4), // set when in flying_wing or airplane mode. currently used by althold selection code - ANTI_WINDUP = (1 << 5), - FLAPERON_AVAILABLE = (1 << 6), - NAV_MOTOR_STOP = (1 << 7), // navigation requests MOTOR_STOP regardless of throttle stick, will only activate if MOTOR_STOP feature is available + GPS_FIX_HOME = (1 << 0), + GPS_FIX = (1 << 1), + CALIBRATE_MAG = (1 << 2), + SMALL_ANGLE = (1 << 3), + FIXED_WING = (1 << 4), // set when in flying_wing or airplane mode. currently used by althold selection code + ANTI_WINDUP = (1 << 5), + FLAPERON_AVAILABLE = (1 << 6), + NAV_MOTOR_STOP_OR_IDLE = (1 << 7), // navigation requests MOTOR_STOP or motor idle regardless of throttle stick, will only activate if MOTOR_STOP feature is available } stateFlags_t; #define DISABLE_STATE(mask) (stateFlags &= ~(mask)) diff --git a/src/main/flight/failsafe.c b/src/main/flight/failsafe.c index 77dcf04fc50..4510db28aed 100644 --- a/src/main/flight/failsafe.c +++ b/src/main/flight/failsafe.c @@ -217,8 +217,8 @@ void failsafeUpdateState(void) failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_1_SECONDS; // require 1 seconds of valid rxData reprocessState = true; } else if (!receivingRxData) { - if (millis() > failsafeState.throttleLowPeriod) { - // JustDisarm: throttle was LOW for at least 'failsafe_throttle_low_delay' seconds + if (millis() > failsafeState.throttleLowPeriod || STATE(NAV_MOTOR_STOP_OR_IDLE)) { + // JustDisarm: throttle was LOW for at least 'failsafe_throttle_low_delay' seconds or waiting for launch failsafeActivate(); failsafeState.phase = FAILSAFE_LANDED; // skip auto-landing procedure failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_3_SECONDS; // require 3 seconds of valid rxData diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c index 366cffd638c..210c5a0871d 100755 --- a/src/main/flight/mixer.c +++ b/src/main/flight/mixer.c @@ -504,7 +504,7 @@ void mixTable(void) // Motor stop handling if (feature(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !feature(FEATURE_3D)) { - if (((rcData[THROTTLE]) < rxConfig->mincheck) || STATE(NAV_MOTOR_STOP)) { + if (((rcData[THROTTLE]) < rxConfig->mincheck) || STATE(NAV_MOTOR_STOP_OR_IDLE)) { motor[i] = motorConfig->mincommand; } } diff --git a/src/main/flight/navigation_rewrite.c b/src/main/flight/navigation_rewrite.c index 2b1a8fdd952..4c8b3e412f9 100755 --- a/src/main/flight/navigation_rewrite.c +++ b/src/main/flight/navigation_rewrite.c @@ -2194,7 +2194,7 @@ void applyWaypointNavigationAndAltitudeHold(void) #endif // Reset all navigation requests - NAV controllers will set them if necessary - DISABLE_STATE(NAV_MOTOR_STOP); + DISABLE_STATE(NAV_MOTOR_STOP_OR_IDLE); // No navigation when disarmed if (!ARMING_FLAG(ARMED)) { diff --git a/src/main/flight/navigation_rewrite_fw_launch.c b/src/main/flight/navigation_rewrite_fw_launch.c index 447478243b9..f166ac9e7bc 100755 --- a/src/main/flight/navigation_rewrite_fw_launch.c +++ b/src/main/flight/navigation_rewrite_fw_launch.c @@ -142,8 +142,8 @@ void applyFixedWingLaunchController(const uint32_t currentTime) pidResetErrorAccumulators(); // Throttle control logic - ENABLE_STATE(NAV_MOTOR_STOP); // If MOTOR_STOP is enabled mixer will keep motor stopped - rcCommand[THROTTLE] = posControl.motorConfig->minthrottle; // If MOTOT_STOP is disabled, motors will spin at minthrottle + ENABLE_STATE(NAV_MOTOR_STOP_OR_IDLE); // If MOTOR_STOP is enabled mixer will keep motor stopped + rcCommand[THROTTLE] = posControl.motorConfig->minthrottle; // If MOTOR_STOP is disabled, motors will spin at minthrottle } } } @@ -155,8 +155,8 @@ void applyFixedWingLaunchController(const uint32_t currentTime) pidResetErrorAccumulators(); // Throttle control logic - ENABLE_STATE(NAV_MOTOR_STOP); // If MOTOR_STOP is enabled mixer will keep motor stopped - rcCommand[THROTTLE] = posControl.motorConfig->minthrottle; // If MOTOT_STOP is disabled, motors will spin at minthrottle + ENABLE_STATE(NAV_MOTOR_STOP_OR_IDLE); // If MOTOR_STOP is enabled mixer will keep motor stopped + rcCommand[THROTTLE] = posControl.motorConfig->minthrottle; // If MOTOR_STOP is disabled, motors will spin at minthrottle } // Control beeper From ef8783af3e57e53739391e018ea6e6a0169f69b9 Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Wed, 2 Nov 2016 15:13:55 +0000 Subject: [PATCH 046/139] Added settable fake acc, baro, compass, and gyro drivers --- src/main/drivers/accgyro.h | 2 + src/main/drivers/accgyro_fake.c | 110 ++++++++++++++++++++ src/main/drivers/accgyro_fake.h | 26 +++++ src/main/drivers/barometer_fake.c | 70 +++++++++++++ src/main/drivers/barometer_fake.h | 23 +++++ src/main/drivers/compass.h | 2 + src/main/drivers/compass_fake.c | 66 ++++++++++++ src/main/drivers/compass_fake.h | 22 ++++ src/main/sensors/initialisation.c | 111 +-------------------- src/main/target/STM32F3DISCOVERY/target.mk | 6 +- 10 files changed, 330 insertions(+), 108 deletions(-) create mode 100644 src/main/drivers/accgyro_fake.c create mode 100644 src/main/drivers/accgyro_fake.h create mode 100644 src/main/drivers/barometer_fake.c create mode 100644 src/main/drivers/barometer_fake.h create mode 100644 src/main/drivers/compass_fake.c create mode 100644 src/main/drivers/compass_fake.h diff --git a/src/main/drivers/accgyro.h b/src/main/drivers/accgyro.h index 3d90de1bc07..d784e92aed6 100644 --- a/src/main/drivers/accgyro.h +++ b/src/main/drivers/accgyro.h @@ -17,6 +17,8 @@ #pragma once +#include "sensor.h" + #ifndef MPU_I2C_INSTANCE #define MPU_I2C_INSTANCE I2C_DEVICE #endif diff --git a/src/main/drivers/accgyro_fake.c b/src/main/drivers/accgyro_fake.c new file mode 100644 index 00000000000..f04bd9a7aa5 --- /dev/null +++ b/src/main/drivers/accgyro_fake.c @@ -0,0 +1,110 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#include +#include + +#include "platform.h" + +#include "build/build_config.h" + +#include "common/axis.h" + +#include "accgyro.h" +#include "accgyro_fake.h" + + +#ifdef USE_FAKE_GYRO + +static int16_t fakeGyroADC[XYZ_AXIS_COUNT]; + +static void fakeGyroInit(uint8_t lpf) +{ + UNUSED(lpf); +} + +void fakeGyroSet(int16_t x, int16_t y, int16_t z) +{ + fakeGyroADC[X] = x; + fakeGyroADC[Y] = y; + fakeGyroADC[Z] = z; +} + +static bool fakeGyroRead(int16_t *gyroADC) +{ + gyroADC[X] = fakeGyroADC[X]; + gyroADC[Y] = fakeGyroADC[Y]; + gyroADC[Z] = fakeGyroADC[Z]; + return true; +} + +static bool fakeGyroReadTemp(int16_t *tempData) +{ + UNUSED(tempData); + return true; +} + +static bool fakeGyroInitStatus(void) +{ + return true; +} + +bool fakeGyroDetect(gyro_t *gyro) +{ + gyro->init = fakeGyroInit; + gyro->intStatus = fakeGyroInitStatus; + gyro->read = fakeGyroRead; + gyro->temperature = fakeGyroReadTemp; + gyro->scale = 1.0f / 16.4f; + return true; +} +#endif // USE_FAKE_GYRO + + +#ifdef USE_FAKE_ACC + +static int16_t fakeAccData[XYZ_AXIS_COUNT]; + +static void fakeAccInit(acc_t *acc) +{ + UNUSED(acc); +} + +void fakeAccSet(int16_t x, int16_t y, int16_t z) +{ + fakeAccData[X] = x; + fakeAccData[Y] = y; + fakeAccData[Z] = z; +} + +static bool fakeAccRead(int16_t *accData) +{ + accData[X] = fakeAccData[X]; + accData[Y] = fakeAccData[Y]; + accData[Z] = fakeAccData[Z]; + return true; +} + +bool fakeAccDetect(acc_t *acc) +{ + acc->init = fakeAccInit; + acc->read = fakeAccRead; + acc->revisionCode = 0; + return true; +} +#endif // USE_FAKE_ACC + diff --git a/src/main/drivers/accgyro_fake.h b/src/main/drivers/accgyro_fake.h new file mode 100644 index 00000000000..17bdbf98e81 --- /dev/null +++ b/src/main/drivers/accgyro_fake.h @@ -0,0 +1,26 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#pragma once + +struct acc_s; +bool fakeAccDetect(struct acc_s *acc); +void fakeAccSet(int16_t x, int16_t y, int16_t z); + +struct gyro_s; +bool fakeGyroDetect(struct gyro_s *gyro); +void fakeGyroSet(int16_t x, int16_t y, int16_t z); diff --git a/src/main/drivers/barometer_fake.c b/src/main/drivers/barometer_fake.c new file mode 100644 index 00000000000..f8f7a2fcd1b --- /dev/null +++ b/src/main/drivers/barometer_fake.c @@ -0,0 +1,70 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#include +#include + +#include + +#ifdef USE_FAKE_BARO + +#include "barometer.h" +#include "barometer_fake.h" + + +static int32_t fakePressure; +static int32_t fakeTemperature; + + +static void fakeBaroStartGet(void) +{ +} + +static void fakeBaroCalculate(int32_t *pressure, int32_t *temperature) +{ + if (pressure) + *pressure = fakePressure; + if (temperature) + *temperature = fakeTemperature; +} + +void fakeBaroSet(int32_t pressure, int32_t temperature) +{ + fakePressure = pressure; + fakeTemperature = temperature; +} + +bool fakeBaroDetect(baro_t *baro) +{ + fakePressure = 101325; // pressure in Pa (0m MSL) + fakeTemperature = 2500; // temperature in 0.01 C = 25 deg + + // these are dummy as temperature is measured as part of pressure + baro->ut_delay = 10000; + baro->get_ut = fakeBaroStartGet; + baro->start_ut = fakeBaroStartGet; + + // only _up part is executed, and gets both temperature and pressure + baro->up_delay = 10000; + baro->start_up = fakeBaroStartGet; + baro->get_up = fakeBaroStartGet; + baro->calculate = fakeBaroCalculate; + + return true; +} +#endif // USE_FAKE_BARO + diff --git a/src/main/drivers/barometer_fake.h b/src/main/drivers/barometer_fake.h new file mode 100644 index 00000000000..988795e2903 --- /dev/null +++ b/src/main/drivers/barometer_fake.h @@ -0,0 +1,23 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#pragma once + +struct baro_s; +bool fakeBaroDetect(struct baro_s *baro); +void fakeBaroSet(int32_t pressure, int32_t temperature); + diff --git a/src/main/drivers/compass.h b/src/main/drivers/compass.h index b20ae332bc1..1d2c8834687 100644 --- a/src/main/drivers/compass.h +++ b/src/main/drivers/compass.h @@ -17,6 +17,8 @@ #pragma once +#include "sensor.h" + typedef struct mag_s { sensorInitFuncPtr init; // initialize function sensorReadFuncPtr read; // read 3 axis data function diff --git a/src/main/drivers/compass_fake.c b/src/main/drivers/compass_fake.c new file mode 100644 index 00000000000..31c04fe509b --- /dev/null +++ b/src/main/drivers/compass_fake.c @@ -0,0 +1,66 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#include +#include + +#include "platform.h" + +#ifdef USE_FAKE_MAG + +#include "build/build_config.h" + +#include "common/axis.h" + +#include "compass.h" +#include "compass_fake.h" + + +static int16_t fakeMagData[XYZ_AXIS_COUNT]; + +static bool fakeMagInit(void) +{ + // initially point north + fakeMagData[X] = 4096; + fakeMagData[Y] = 0; + fakeMagData[Z] = 0; + return true; +} + +void fakeMagSet(int16_t x, int16_t y, int16_t z) +{ + fakeMagData[X] = x; + fakeMagData[Y] = y; + fakeMagData[Z] = z; +} + +static bool fakeMagRead(int16_t *magData) +{ + magData[X] = fakeMagData[X]; + magData[Y] = fakeMagData[Y]; + magData[Z] = fakeMagData[Z]; + return true; +} + +bool fakeMagDetect(mag_t *mag) +{ + mag->init = fakeMagInit; + mag->read = fakeMagRead; + return true; +} +#endif // USE_FAKE_MAG + diff --git a/src/main/drivers/compass_fake.h b/src/main/drivers/compass_fake.h new file mode 100644 index 00000000000..9ea3be02ca8 --- /dev/null +++ b/src/main/drivers/compass_fake.h @@ -0,0 +1,22 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#pragma once + +struct mag_s; +bool fakeMagDetect(struct mag_s *mag); +void fakeMagSet(int16_t x, int16_t y, int16_t z); diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c index ed0dff5c996..9022013db82 100755 --- a/src/main/sensors/initialisation.c +++ b/src/main/sensors/initialisation.c @@ -35,6 +35,7 @@ #include "drivers/accgyro.h" #include "drivers/accgyro_adxl345.h" #include "drivers/accgyro_bma280.h" +#include "drivers/accgyro_fake.h" #include "drivers/accgyro_l3g4200d.h" #include "drivers/accgyro_mma845x.h" #include "drivers/accgyro_mpu.h" @@ -53,12 +54,14 @@ #include "drivers/barometer.h" #include "drivers/barometer_bmp085.h" #include "drivers/barometer_bmp280.h" +#include "drivers/barometer_fake.h" #include "drivers/barometer_ms5611.h" #include "drivers/compass.h" -#include "drivers/compass_hmc5883l.h" -#include "drivers/compass_ak8975.h" #include "drivers/compass_ak8963.h" +#include "drivers/compass_ak8975.h" +#include "drivers/compass_fake.h" +#include "drivers/compass_hmc5883l.h" #include "drivers/compass_mag3110.h" #include "drivers/sonar_hcsr04.h" @@ -102,110 +105,6 @@ const extiConfig_t *selectMPUIntExtiConfig(void) #endif } -#ifdef USE_FAKE_GYRO -static void fakeGyroInit(uint8_t lpf) -{ - UNUSED(lpf); -} - -static bool fakeGyroRead(int16_t *gyroADC) -{ - memset(gyroADC, 0, sizeof(int16_t[XYZ_AXIS_COUNT])); - return true; -} - -static bool fakeGyroReadTemp(int16_t *tempData) -{ - UNUSED(tempData); - return true; -} - - -static bool fakeGyroInitStatus(void) { - return true; -} - -bool fakeGyroDetect(gyro_t *gyro) -{ - gyro->init = fakeGyroInit; - gyro->intStatus = fakeGyroInitStatus; - gyro->read = fakeGyroRead; - gyro->temperature = fakeGyroReadTemp; - gyro->scale = 1.0f / 16.4f; - return true; -} -#endif - -#ifdef USE_FAKE_ACC -static void fakeAccInit(acc_t *acc) {UNUSED(acc);} -static bool fakeAccRead(int16_t *accData) { - memset(accData, 0, sizeof(int16_t[XYZ_AXIS_COUNT])); - return true; -} - -bool fakeAccDetect(acc_t *acc) -{ - acc->init = fakeAccInit; - acc->read = fakeAccRead; - acc->revisionCode = 0; - return true; -} -#endif - -#ifdef USE_FAKE_BARO -static void fakeBaroStartGet(void) -{ -} - -static void fakeBaroCalculate(int32_t *pressure, int32_t *temperature) -{ - if (pressure) - *pressure = 101325; // pressure in Pa (0m MSL) - if (temperature) - *temperature = 2500; // temperature in 0.01 C = 25 deg -} - -bool fakeBaroDetect(baro_t *baro) -{ - // these are dummy as temperature is measured as part of pressure - baro->ut_delay = 10000; - baro->get_ut = fakeBaroStartGet; - baro->start_ut = fakeBaroStartGet; - - // only _up part is executed, and gets both temperature and pressure - baro->up_delay = 10000; - baro->start_up = fakeBaroStartGet; - baro->get_up = fakeBaroStartGet; - baro->calculate = fakeBaroCalculate; - - return true; -} -#endif - -#ifdef USE_FAKE_MAG -static bool fakeMagInit(void) -{ - return true; -} - -static bool fakeMagRead(int16_t *magData) -{ - // Always pointint North - magData[X] = 4096; - magData[Y] = 0; - magData[Z] = 0; - return true; -} - -static bool fakeMagDetect(mag_t *mag) -{ - mag->init = fakeMagInit; - mag->read = fakeMagRead; - - return true; -} -#endif - bool detectGyro(void) { gyroSensor_e gyroHardware = GYRO_DEFAULT; diff --git a/src/main/target/STM32F3DISCOVERY/target.mk b/src/main/target/STM32F3DISCOVERY/target.mk index 13e292ac652..854f83b0453 100644 --- a/src/main/target/STM32F3DISCOVERY/target.mk +++ b/src/main/target/STM32F3DISCOVERY/target.mk @@ -4,6 +4,7 @@ FEATURES = VCP SDCARD TARGET_SRC = \ drivers/accgyro_adxl345.c \ drivers/accgyro_bma280.c \ + drivers/accgyro_fake.c \ drivers/accgyro_l3gd20.c \ drivers/accgyro_l3g4200d.c \ drivers/accgyro_lsm303dlhc.c \ @@ -17,12 +18,13 @@ TARGET_SRC = \ drivers/accgyro_spi_mpu9250.c \ drivers/barometer_bmp085.c \ drivers/barometer_bmp280.c \ + drivers/barometer_fake.c \ drivers/barometer_ms5611.c \ drivers/compass_ak8963.c \ drivers/compass_ak8975.c \ drivers/compass_hmc5883l.c \ + drivers/compass_fake.c \ drivers/compass_mag3110.c \ drivers/flash_m25p16.c \ - drivers/light_ws2811strip.c \ - drivers/light_ws2811strip_stm32f30x.c + drivers/light_ws2811strip.c From d022dcfb3911d4e48aad541d9e6d23eebc31a248 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Pawe=C5=82=20Spychalski?= Date: Wed, 2 Nov 2016 18:33:53 +0100 Subject: [PATCH 047/139] missing backslash --- docs/Telemetry.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/Telemetry.md b/docs/Telemetry.md index 441284a7db1..f29d651d740 100644 --- a/docs/Telemetry.md +++ b/docs/Telemetry.md @@ -138,7 +138,7 @@ set telemetry_inversion = ON It is possible to use DIY UART inverter to connect SmartPort receivers to F1 and F4 based flight controllers. This method does not require hardware hack of S.Port receiver. -![Inverter](assets\images\smartport_inverter.png) +![Inverter](\assets\images\smartport_inverter.png) **Warning** Chosen UART has to be 5V tolerant. If not, use 3.3V power supply instead (not tested) From 62281242af8e599f6b61951717960738e3da02e0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Pawe=C5=82=20Spychalski?= Date: Wed, 2 Nov 2016 18:36:04 +0100 Subject: [PATCH 048/139] Update Telemetry.md --- docs/Telemetry.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/Telemetry.md b/docs/Telemetry.md index f29d651d740..f38222198c9 100644 --- a/docs/Telemetry.md +++ b/docs/Telemetry.md @@ -138,7 +138,7 @@ set telemetry_inversion = ON It is possible to use DIY UART inverter to connect SmartPort receivers to F1 and F4 based flight controllers. This method does not require hardware hack of S.Port receiver. -![Inverter](\assets\images\smartport_inverter.png) +![Inverter](assets/images/smartport_inverter.png) **Warning** Chosen UART has to be 5V tolerant. If not, use 3.3V power supply instead (not tested) From 0dc1c21365e81f66cd9a2da2cb38a7effb43d68d Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Sun, 4 Sep 2016 19:19:05 +0200 Subject: [PATCH 049/139] CLI interface to set async modes --- src/main/config/config.c | 32 ++++++++++++++++++++++++++++++++ src/main/config/config.h | 20 ++++++++++++++++++++ src/main/config/config_master.h | 6 ++++++ src/main/io/serial_cli.c | 18 ++++++++++++++++++ src/main/target/common.h | 2 ++ 5 files changed, 78 insertions(+) diff --git a/src/main/config/config.c b/src/main/config/config.c index 52b4a79f476..f6bd4658335 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -381,6 +381,32 @@ static void resetServoMixerConfig(servoMixerConfig_t *servoMixerConfig) } #endif +#ifdef ASYNC_GYRO_PROCESSING +uint32_t getLooptime(void) { + return masterConfig.looptime; +} + +uint16_t getAccUpdateFrequency(void) { + if (masterConfig.asyncMode == ASYNC_MODE_ALL) { + return masterConfig.accTaskFrequency; + } else { + return 1000000 / getLooptime(); + } +} + +uint16_t getAttiUpdateFrequency(void) { + if (masterConfig.asyncMode == ASYNC_MODE_ALL) { + return masterConfig.attiTaskFrequency; + } else { + return 1000000 / getLooptime(); + } +} + +uint8_t getAsyncMode(void) { + return masterConfig.asyncMode; +} +#endif + uint8_t getCurrentProfile(void) { return masterConfig.current_profile_index; @@ -522,6 +548,12 @@ static void resetConf(void) masterConfig.gyroSync = 0; masterConfig.gyroSyncDenominator = 2; +#ifdef ASYNC_GYRO_PROCESSING + masterConfig.accTaskFrequency = ACC_TASK_FREQUENCY_DEFAULT; + masterConfig.attiTaskFrequency = ATTI_TASK_FREQUENCY_DEFAULT; + masterConfig.asyncMode = ASYNC_MODE_NONE; +#endif + resetPidProfile(¤tProfile->pidProfile); resetControlRateConfig(&masterConfig.controlRateProfiles[0]); diff --git a/src/main/config/config.h b/src/main/config/config.h index d78f29bb57c..b3fa6cb1a7e 100644 --- a/src/main/config/config.h +++ b/src/main/config/config.h @@ -28,6 +28,20 @@ #define MAX_CONTROL_RATE_PROFILE_COUNT 3 #define ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS 1500 +#define ACC_TASK_FREQUENCY_DEFAULT 500 +#define ACC_TASK_FREQUENCY_MIN 15 +#define ACC_TASK_FREQUENCY_MAX 1000 +#define ATTI_TASK_FREQUENCY_DEFAULT 1000 +#define ATTI_TASK_FREQUENCY_MIN 15 +#define ATTI_TASK_FREQUENCY_MAX 1000 + +#ifdef ASYNC_GYRO_PROCESSING +typedef enum { + ASYNC_MODE_NONE, + ASYNC_MODE_GYRO, + ASYNC_MODE_ALL +} asyncMode_e; +#endif typedef enum { FEATURE_RX_PPM = 1 << 0, @@ -105,3 +119,9 @@ uint16_t getCurrentMinthrottle(void); struct master_s; void targetConfiguration(struct master_s *config); +#ifdef ASYNC_GYRO_PROCESSING +uint32_t getLooptime(void); +uint16_t getAccUpdateFrequency(void); +uint16_t getAttiUpdateFrequency(void); +uint8_t getAsyncMode(void); +#endif diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h index be9d7c9cd8c..25f6851deb3 100644 --- a/src/main/config/config_master.h +++ b/src/main/config/config_master.h @@ -74,6 +74,12 @@ typedef struct master_s { uint8_t gyroSync; // Enable interrupt based loop uint8_t gyroSyncDenominator; // Gyro sync Denominator +#ifdef ASYNC_GYRO_PROCESSING + uint16_t accTaskFrequency; + uint16_t attiTaskFrequency; + uint8_t asyncMode; +#endif + motorMixer_t customMotorMixer[MAX_SUPPORTED_MOTORS]; #ifdef USE_SERVOS servoMixer_t customServoMixer[MAX_SERVO_RULES]; diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index ca38875f731..c7e03cf492e 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -468,6 +468,12 @@ static const char * const lookupTablePwmProtocol[] = { "STANDARD", "ONESHOT125", "ONESHOT42", "MULTISHOT", "BRUSHED" }; +#ifdef ASYNC_GYRO_PROCESSING +static const char * const lookupTableAsyncMode[] = { + "NONE", "GYRO", "ALL" +}; +#endif + typedef struct lookupTableEntry_s { const char * const *values; const uint8_t valueCount; @@ -503,6 +509,9 @@ typedef enum { #endif TABLE_AUX_OPERATOR, TABLE_MOTOR_PWM_PROTOCOL, +#ifdef ASYNC_GYRO_PROCESSING + TABLE_ASYNC_MODE, +#endif } lookupTableIndex_e; static const lookupTableEntry_t lookupTables[] = { @@ -535,6 +544,9 @@ static const lookupTableEntry_t lookupTables[] = { #endif { lookupTableAuxOperator, sizeof(lookupTableAuxOperator) / sizeof(char *) }, { lookupTablePwmProtocol, sizeof(lookupTablePwmProtocol) / sizeof(char *) }, +#ifdef ASYNC_GYRO_PROCESSING + { lookupTableAsyncMode, sizeof(lookupTableAsyncMode) / sizeof(char *) }, +#endif }; #define VALUE_TYPE_OFFSET 0 @@ -592,6 +604,12 @@ const clivalue_t valueTable[] = { { "gyro_sync", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.gyroSync, .config.lookup = { TABLE_OFF_ON } }, { "gyro_sync_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.gyroSyncDenominator, .config.minmax = { 1, 32 } }, +#ifdef ASYNC_GYRO_PROCESSING + { "acc_task_frequency", VAR_UINT16 | MASTER_VALUE, &masterConfig.accTaskFrequency, .config.minmax = { ACC_TASK_FREQUENCY_MIN, ACC_TASK_FREQUENCY_MAX } }, + { "atti_task_frequency", VAR_UINT16 | MASTER_VALUE, &masterConfig.attiTaskFrequency, .config.minmax = { ATTI_TASK_FREQUENCY_MIN, ATTI_TASK_FREQUENCY_MAX } }, + { "async_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.asyncMode, .config.lookup = { TABLE_ASYNC_MODE } }, +#endif + { "mid_rc", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.midrc, .config.minmax = { 1200, 1700 }, 0 }, { "min_check", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.mincheck, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, 0 }, { "max_check", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.maxcheck, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, 0 }, diff --git a/src/main/target/common.h b/src/main/target/common.h index d69e2f229d7..162a4f03769 100644 --- a/src/main/target/common.h +++ b/src/main/target/common.h @@ -25,6 +25,8 @@ #define SERIAL_RX #define USE_CLI +#define ASYNC_GYRO_PROCESSING + #if (FLASH_SIZE <= 64) #define SKIP_TASK_STATISTICS #define SKIP_CLI_COMMAND_HELP From bfec626640375c666fa97108e00e4066bbbaff0a Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Sun, 4 Sep 2016 21:03:08 +0200 Subject: [PATCH 050/139] tasks and integration --- src/main/config/config.c | 24 ++-- src/main/config/config.h | 7 +- src/main/fc/fc_tasks.c | 79 ++++++++++- src/main/fc/fc_tasks.h | 17 ++- src/main/fc/mw.c | 50 ++++--- src/main/flight/imu.c | 9 +- src/main/flight/imu.h | 2 +- src/main/main.c | 1 + src/main/scheduler/scheduler.h | 7 + src/main/scheduler/scheduler_tasks.c | 187 +++++++++++++++++++++++++++ 10 files changed, 340 insertions(+), 43 deletions(-) create mode 100755 src/main/scheduler/scheduler_tasks.c diff --git a/src/main/config/config.c b/src/main/config/config.c index f6bd4658335..2e24bb2decc 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -382,23 +382,31 @@ static void resetServoMixerConfig(servoMixerConfig_t *servoMixerConfig) #endif #ifdef ASYNC_GYRO_PROCESSING -uint32_t getLooptime(void) { - return masterConfig.looptime; +uint32_t getPidUpdateRate(void) { + if (masterConfig.asyncMode == ASYNC_MODE_NONE) { + return getGyroUpdateRate(); + } else { + return masterConfig.looptime; + } +} + +uint16_t getGyroUpdateRate(void) { + return gyro.targetLooptime; } -uint16_t getAccUpdateFrequency(void) { +uint16_t getAccUpdateRate(void) { if (masterConfig.asyncMode == ASYNC_MODE_ALL) { - return masterConfig.accTaskFrequency; + return 1000000 / masterConfig.accTaskFrequency; } else { - return 1000000 / getLooptime(); + return getPidUpdateRate(); } } -uint16_t getAttiUpdateFrequency(void) { +uint16_t getAttiUpdateRate(void) { if (masterConfig.asyncMode == ASYNC_MODE_ALL) { - return masterConfig.attiTaskFrequency; + return 1000000 / masterConfig.attiTaskFrequency; } else { - return 1000000 / getLooptime(); + return getPidUpdateRate(); } } diff --git a/src/main/config/config.h b/src/main/config/config.h index b3fa6cb1a7e..8e92834f2da 100644 --- a/src/main/config/config.h +++ b/src/main/config/config.h @@ -120,8 +120,9 @@ struct master_s; void targetConfiguration(struct master_s *config); #ifdef ASYNC_GYRO_PROCESSING -uint32_t getLooptime(void); -uint16_t getAccUpdateFrequency(void); -uint16_t getAttiUpdateFrequency(void); +uint32_t getPidUpdateRate(void); +uint16_t getGyroUpdateRate(void); +uint16_t getAccUpdateRate(void); +uint16_t getAttiUpdateRate(void); uint8_t getAsyncMode(void); #endif diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c index ade51710129..34afd690050 100755 --- a/src/main/fc/fc_tasks.c +++ b/src/main/fc/fc_tasks.c @@ -214,6 +214,16 @@ void taskSyncPwmDriver(void) { } #endif +#ifdef ASYNC_GYRO_PROCESSING +void taskAttitude(void) { + imuUpdateAttitude(); +} + +void taskAcc(void) { + imuUpdateAccelerometer(); +} +#endif + cfTask_t cfTasks[TASK_COUNT] = { [TASK_SYSTEM] = { .taskName = "SYSTEM", @@ -222,12 +232,49 @@ cfTask_t cfTasks[TASK_COUNT] = { .staticPriority = TASK_PRIORITY_HIGH, }, - [TASK_GYROPID] = { - .taskName = "GYRO/PID", - .taskFunc = taskMainPidLoopChecker, - .desiredPeriod = 1000, - .staticPriority = TASK_PRIORITY_REALTIME, - }, + #ifdef ASYNC_GYRO_PROCESSING + [TASK_PID] = { + .taskName = "PID", + .taskFunc = taskMainPidLoop, + .desiredPeriod = 1000000 / 500, // Run at 500Hz + .staticPriority = TASK_PRIORITY_HIGH, + }, + + [TASK_GYRO] = { + .taskName = "GYRO", + .taskFunc = taskGyro, + .desiredPeriod = 1000000 / 1000, //Run at 1000Hz + .staticPriority = TASK_PRIORITY_REALTIME, + }, + + [TASK_ACC] = { + .taskName = "ACC", + .taskFunc = taskAcc, + .desiredPeriod = 1000000 / 520, //520Hz is ACC bandwidth (260Hz) * 2 + .staticPriority = TASK_PRIORITY_HIGH, + }, + + [TASK_ATTI] = { + .taskName = "ATTITUDE", + .taskFunc = taskAttitude, + .desiredPeriod = 1000000 / 60, //With acc LPF at 15Hz 60Hz attitude refresh should be enough + .staticPriority = TASK_PRIORITY_HIGH, + }, + + #else + + /* + * Legacy synchronous PID/gyro/acc/atti mode + * for 64kB targets and other smaller targets + */ + + [TASK_GYROPID] = { + .taskName = "GYRO/PID", + .taskFunc = taskMainPidLoop, + .desiredPeriod = 1000, + .staticPriority = TASK_PRIORITY_REALTIME, + }, + #endif [TASK_SERIAL] = { .taskName = "SERIAL", @@ -342,10 +389,30 @@ cfTask_t cfTasks[TASK_COUNT] = { void fcTasksInit(void) { + /* Setup scheduler */ schedulerInit(); +#ifdef ASYNC_GYRO_PROCESSING + rescheduleTask(TASK_PID, getPidUpdateRate()); + setTaskEnabled(TASK_PID, true); + + if (getAsyncMode() != ASYNC_MODE_NONE) { + rescheduleTask(TASK_GYRO, getGyroUpdateRate()); + setTaskEnabled(TASK_GYRO, true); + } + + if (getAsyncMode() == ASYNC_MODE_ALL && sensors(SENSOR_ACC)) { + rescheduleTask(TASK_ACC, getAccUpdateRate()); + setTaskEnabled(TASK_ACC, true); + + rescheduleTask(TASK_ATTI, getAttiUpdateRate()); + setTaskEnabled(TASK_ATTI, true); + } + +#else rescheduleTask(TASK_GYROPID, gyro.targetLooptime); setTaskEnabled(TASK_GYROPID, true); +#endif setTaskEnabled(TASK_SERIAL, true); #ifdef BEEPER diff --git a/src/main/fc/fc_tasks.h b/src/main/fc/fc_tasks.h index 0bc9dea2fe7..e1d985186d4 100644 --- a/src/main/fc/fc_tasks.h +++ b/src/main/fc/fc_tasks.h @@ -19,10 +19,25 @@ #include -void taskMainPidLoopChecker(void); +void taskHandleSerial(void); +void taskUpdateBeeper(void); +void taskUpdateBattery(void); bool taskUpdateRxCheck(uint32_t currentDeltaTime); void taskUpdateRxMain(void); void taskSystem(void); + +#ifdef USE_PMW_SERVO_DRIVER +void taskSyncPwmDriver(void); +#endif + void taskStackCheck(void); +void taskMainPidLoop(void); +void taskGyro(void); + +#ifdef ASYNC_GYRO_PROCESSING +void taskAcc(void); +void taskAttitude(void); +#endif + void fcTasksInit(void); diff --git a/src/main/fc/mw.c b/src/main/fc/mw.c index e999be18c11..62c149d6ffe 100755 --- a/src/main/fc/mw.c +++ b/src/main/fc/mw.c @@ -521,13 +521,44 @@ void filterRc(bool isRXDataNew) } } +// Function for loop trigger +void taskGyro(void) { + // getTaskDeltaTime() returns delta time freezed at the moment of entering the scheduler. currentTime is freezed at the very same point. + // To make busy-waiting timeout work we need to account for time spent within busy-waiting loop + uint32_t currentDeltaTime = getTaskDeltaTime(TASK_SELF); + + if (masterConfig.gyroSync) { + while (1) { + if (gyroSyncCheckUpdate() || ((currentDeltaTime + (micros() - currentTime)) >= (gyro.targetLooptime + GYRO_WATCHDOG_DELAY))) { + break; + } + } + } + + gyroUpdate(); +} + void taskMainPidLoop(void) { cycleTime = getTaskDeltaTime(TASK_SELF); dT = (float)cycleTime * 0.000001f; +#ifdef ASYNC_GYRO_PROCESSING + if (getAsyncMode() == ASYNC_MODE_NONE) { + taskGyro(); + } + + if (getAsyncMode() != ASYNC_MODE_ALL && sensors(SENSOR_ACC)) { + imuUpdateAccelerometer(); + imuUpdateAttitude(); + } +#else + /* Update gyroscope */ + taskGyro(); imuUpdateAccelerometer(); - imuUpdateGyroAndAttitude(); + imuUpdateAttitude(); +#endif + annexCode(); @@ -628,23 +659,6 @@ void taskMainPidLoop(void) } -// Function for loop trigger -void taskMainPidLoopChecker(void) { - // getTaskDeltaTime() returns delta time freezed at the moment of entering the scheduler. currentTime is freezed at the very same point. - // To make busy-waiting timeout work we need to account for time spent within busy-waiting loop - uint32_t currentDeltaTime = getTaskDeltaTime(TASK_SELF); - - if (masterConfig.gyroSync) { - while (1) { - if (gyroSyncCheckUpdate() || ((currentDeltaTime + (micros() - currentTime)) >= (gyro.targetLooptime + GYRO_WATCHDOG_DELAY))) { - break; - } - } - } - - taskMainPidLoop(); -} - bool taskUpdateRxCheck(uint32_t currentDeltaTime) { UNUSED(currentDeltaTime); diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c index 8a4262cc2bf..031426f744b 100644 --- a/src/main/flight/imu.c +++ b/src/main/flight/imu.c @@ -303,8 +303,8 @@ static void imuMahonyAHRSupdate(float dt, float gx, float gy, float gz, if (accWeight > 0) { float kpAcc = imuRuntimeConfig->dcm_kp_acc * imuGetPGainScaleFactor(); - // Just scale by 1G length - That's our vector adjustment. Rather than - // using one-over-exact length (which needs a costly square root), we already + // Just scale by 1G length - That's our vector adjustment. Rather than + // using one-over-exact length (which needs a costly square root), we already // know the vector is enough "roughly unit length" and since it is only weighted // in by a certain amount anyway later, having that exact is meaningless. (c) MasterZap ax *= (1.0f / GRAVITY_CMSS); @@ -506,7 +506,7 @@ void imuUpdateAccelerometer(void) #endif } -void imuUpdateGyroAndAttitude(void) +void imuUpdateAttitude(void) { /* Calculate dT */ static uint32_t previousIMUUpdateTime; @@ -514,9 +514,6 @@ void imuUpdateGyroAndAttitude(void) float dT = (currentTime - previousIMUUpdateTime) * 1e-6; previousIMUUpdateTime = currentTime; - /* Update gyroscope */ - gyroUpdate(); - if (sensors(SENSOR_ACC) && isAccelUpdatedAtLeastOnce) { #ifdef HIL if (!hilActive) { diff --git a/src/main/flight/imu.h b/src/main/flight/imu.h index e331ac3997c..1e402686f34 100644 --- a/src/main/flight/imu.h +++ b/src/main/flight/imu.h @@ -49,7 +49,7 @@ typedef struct imuRuntimeConfig_s { struct pidProfile_s; void imuConfigure(imuRuntimeConfig_t *initialImuRuntimeConfig, struct pidProfile_s *initialPidProfile); -void imuUpdateGyroAndAttitude(void); +void imuUpdateAttitude(void); void imuUpdateAccelerometer(void); float calculateThrottleTiltCompensationFactor(uint8_t throttleTiltCompensationStrength); float calculateCosTiltAngle(void); diff --git a/src/main/main.c b/src/main/main.c index 6be79e7775f..818807236f6 100644 --- a/src/main/main.c +++ b/src/main/main.c @@ -57,6 +57,7 @@ int main(void) { init(); loopbackInit(); + while (true) { scheduler(); processLoopback(); diff --git a/src/main/scheduler/scheduler.h b/src/main/scheduler/scheduler.h index 8183f311945..02980c4614a 100755 --- a/src/main/scheduler/scheduler.h +++ b/src/main/scheduler/scheduler.h @@ -42,7 +42,14 @@ typedef struct { typedef enum { /* Actual tasks */ TASK_SYSTEM = 0, +#ifdef ASYNC_GYRO_PROCESSING + TASK_PID, + TASK_GYRO, + TASK_ACC, + TASK_ATTI, +#else TASK_GYROPID, +#endif TASK_SERIAL, TASK_BEEPER, TASK_BATTERY, diff --git a/src/main/scheduler/scheduler_tasks.c b/src/main/scheduler/scheduler_tasks.c new file mode 100755 index 00000000000..d9049ceb731 --- /dev/null +++ b/src/main/scheduler/scheduler_tasks.c @@ -0,0 +1,187 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#include +#include +#include + +#include "platform.h" +#include "scheduler.h" +#include "scheduler_tasks.h" + +cfTask_t cfTasks[TASK_COUNT] = { + [TASK_SYSTEM] = { + .taskName = "SYSTEM", + .taskFunc = taskSystem, + .desiredPeriod = 1000000 / 10, // run every 100 ms + .staticPriority = TASK_PRIORITY_HIGH, + }, + +#ifdef ASYNC_GYRO_PROCESSING + [TASK_PID] = { + .taskName = "PID", + .taskFunc = taskMainPidLoop, + .desiredPeriod = 1000000 / 500, // Run at 500Hz + .staticPriority = TASK_PRIORITY_HIGH, + }, + + [TASK_GYRO] = { + .taskName = "GYRO", + .taskFunc = taskGyro, + .desiredPeriod = 1000000 / 1000, //Run at 1000Hz + .staticPriority = TASK_PRIORITY_REALTIME, + }, + + [TASK_ACC] = { + .taskName = "ACC", + .taskFunc = taskAcc, + .desiredPeriod = 1000000 / 520, //520Hz is ACC bandwidth (260Hz) * 2 + .staticPriority = TASK_PRIORITY_HIGH, + }, + + [TASK_ATTI] = { + .taskName = "ATTITUDE", + .taskFunc = taskAttitude, + .desiredPeriod = 1000000 / 60, //With acc LPF at 15Hz 60Hz attitude refresh should be enough + .staticPriority = TASK_PRIORITY_HIGH, + }, + +#else + + /* + * Legacy synchronous PID/gyro/acc/atti mode + * for 64kB targets and other smaller targets + */ + + [TASK_GYROPID] = { + .taskName = "GYRO/PID", + .taskFunc = taskMainPidLoop, + .desiredPeriod = 1000, + .staticPriority = TASK_PRIORITY_REALTIME, + }, +#endif + + [TASK_SERIAL] = { + .taskName = "SERIAL", + .taskFunc = taskHandleSerial, + .desiredPeriod = 1000000 / 100, // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud + .staticPriority = TASK_PRIORITY_LOW, + }, + + [TASK_BEEPER] = { + .taskName = "BEEPER", + .taskFunc = taskUpdateBeeper, + .desiredPeriod = 1000000 / 100, // 100 Hz + .staticPriority = TASK_PRIORITY_MEDIUM, + }, + + [TASK_BATTERY] = { + .taskName = "BATTERY", + .taskFunc = taskUpdateBattery, + .desiredPeriod = 1000000 / 50, // 50 Hz + .staticPriority = TASK_PRIORITY_MEDIUM, + }, + + [TASK_RX] = { + .taskName = "RX", + .checkFunc = taskUpdateRxCheck, + .taskFunc = taskUpdateRxMain, + .desiredPeriod = 1000000 / 50, // If event-based scheduling doesn't work, fallback to periodic scheduling + .staticPriority = TASK_PRIORITY_HIGH, + }, + +#ifdef GPS + [TASK_GPS] = { + .taskName = "GPS", + .taskFunc = taskProcessGPS, + .desiredPeriod = 1000000 / 25, // GPS usually don't go raster than 10Hz + .staticPriority = TASK_PRIORITY_MEDIUM, + }, +#endif + +#ifdef MAG + [TASK_COMPASS] = { + .taskName = "COMPASS", + .taskFunc = taskUpdateCompass, + .desiredPeriod = 1000000 / 10, // Compass is updated at 10 Hz + .staticPriority = TASK_PRIORITY_MEDIUM, + }, +#endif + +#ifdef BARO + [TASK_BARO] = { + .taskName = "BARO", + .taskFunc = taskUpdateBaro, + .desiredPeriod = 1000000 / 20, + .staticPriority = TASK_PRIORITY_MEDIUM, + }, +#endif + +#ifdef SONAR + [TASK_SONAR] = { + .taskName = "SONAR", + .taskFunc = taskUpdateSonar, + .desiredPeriod = 70000, // every 70 ms, approximately 14 Hz + .staticPriority = TASK_PRIORITY_MEDIUM, + }, +#endif + +#ifdef DISPLAY + [TASK_DISPLAY] = { + .taskName = "DISPLAY", + .taskFunc = taskUpdateDisplay, + .desiredPeriod = 1000000 / 10, + .staticPriority = TASK_PRIORITY_LOW, + }, +#endif + +#ifdef TELEMETRY + [TASK_TELEMETRY] = { + .taskName = "TELEMETRY", + .taskFunc = taskTelemetry, + .desiredPeriod = 1000000 / 250, // 250 Hz + .staticPriority = TASK_PRIORITY_IDLE, + }, +#endif + +#ifdef LED_STRIP + [TASK_LEDSTRIP] = { + .taskName = "LEDSTRIP", + .taskFunc = taskLedStrip, + .desiredPeriod = 1000000 / 100, // 100 Hz + .staticPriority = TASK_PRIORITY_IDLE, + }, +#endif + +#ifdef USE_PMW_SERVO_DRIVER + [TASK_PWMDRIVER] = { + .taskName = "PWMDRIVER", + .taskFunc = taskSyncPwmDriver, + .desiredPeriod = 1000000 / 200, // 200 Hz + .staticPriority = TASK_PRIORITY_HIGH, + }, +#endif + +#ifdef STACK_CHECK + [TASK_STACK_CHECK] = { + .taskName = "STACKCHECK", + .taskFunc = taskStackCheck, + .desiredPeriod = 1000000 / 10, // 10 Hz + .staticPriority = TASK_PRIORITY_IDLE, + }, +#endif +}; From cd8dd216d2dcdb5023a6624ffdff6a7e401f4ed8 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Tue, 6 Sep 2016 22:01:07 +0200 Subject: [PATCH 051/139] filter initialization --- src/main/fc/mw.c | 8 +++++++- src/main/sensors/gyro.c | 12 +++++++++++- src/main/sensors/initialisation.c | 12 +++++++++++- 3 files changed, 29 insertions(+), 3 deletions(-) diff --git a/src/main/fc/mw.c b/src/main/fc/mw.c index 62c149d6ffe..e15e85c0b57 100755 --- a/src/main/fc/mw.c +++ b/src/main/fc/mw.c @@ -492,7 +492,9 @@ void filterRc(bool isRXDataNew) // Calculate average cycle time (1Hz LPF on cycle time) if (!filterInitialised) { - biquadFilterInitLPF(&filteredCycleTimeState, 1, gyro.targetLooptime); + #ifdef ASYNC_GYRO_PROCESSING + biquadFilterInitLPF(&filteredCycleTimeState, 1, getPidUpdateRate()); + #else filterInitialised = true; } @@ -529,7 +531,11 @@ void taskGyro(void) { if (masterConfig.gyroSync) { while (1) { + #ifdef ASYNC_GYRO_PROCESSING + if (gyroSyncCheckUpdate() || ((currentDeltaTime + (micros() - currentTime)) >= (getGyroUpdateRate() + GYRO_WATCHDOG_DELAY))) { + #else if (gyroSyncCheckUpdate() || ((currentDeltaTime + (micros() - currentTime)) >= (gyro.targetLooptime + GYRO_WATCHDOG_DELAY))) { + #endif break; } } diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c index e2dadee1642..9f0674083a4 100644 --- a/src/main/sensors/gyro.c +++ b/src/main/sensors/gyro.c @@ -36,6 +36,8 @@ #include "sensors/boardalignment.h" #include "sensors/gyro.h" +#include "config/config.h" + gyro_t gyro; // gyro access functions sensor_align_e gyroAlign = 0; @@ -57,9 +59,17 @@ void gyroUseConfig(const gyroConfig_t *gyroConfigToUse, uint8_t gyro_soft_lpf_hz void gyroInit(void) { - if (gyroSoftLpfHz && gyro.targetLooptime) { // Initialisation needs to happen once samplingrate is known + /* + * After refactoring this function is always called after gyro sampling rate is known, so + * no additional condition is required + */ + if (gyroSoftLpfHz) { for (int axis = 0; axis < 3; axis++) { + #ifdef ASYNC_GYRO_PROCESSING + biquadFilterInitLPF(&gyroFilterLPF[axis], gyroSoftLpfHz, getGyroUpdateRate()); + #else biquadFilterInitLPF(&gyroFilterLPF[axis], gyroSoftLpfHz, gyro.targetLooptime); + #endif } } } diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c index ed0dff5c996..b53985a46f9 100755 --- a/src/main/sensors/initialisation.c +++ b/src/main/sensors/initialisation.c @@ -755,7 +755,17 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, if (detectAcc(accHardwareToUse)) { acc.acc_1G = 256; // set default acc.init(&acc); - accInit(gyro.targetLooptime); // acc and gyro updated at same frequency in taskMainPidLoop in mw.c + #ifdef ASYNC_GYRO_PROCESSING + /* + * ACC will be updated at its own rate + */ + accInit(getAccUpdateRate()); + #else + /* + * acc updated at same frequency in taskMainPidLoop in mw.c + */ + accInit(gyro.targetLooptime); + #endif } #ifdef BARO From b2c30c56c718a8782b348a725e5353750be85abd Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Wed, 7 Sep 2016 21:54:24 +0200 Subject: [PATCH 052/139] async gyro processing only for targets with >=128 --- src/main/target/common.h | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/main/target/common.h b/src/main/target/common.h index 162a4f03769..acbbed48f61 100644 --- a/src/main/target/common.h +++ b/src/main/target/common.h @@ -25,12 +25,11 @@ #define SERIAL_RX #define USE_CLI -#define ASYNC_GYRO_PROCESSING - #if (FLASH_SIZE <= 64) #define SKIP_TASK_STATISTICS #define SKIP_CLI_COMMAND_HELP #else +#define ASYNC_GYRO_PROCESSING #define BOOTLOG #define BLACKBOX #define GPS From e1028001284827b78a6e6c3727c680a1303d593e Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Fri, 9 Sep 2016 21:12:53 +0200 Subject: [PATCH 053/139] syntax fix --- src/main/fc/mw.c | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/main/fc/mw.c b/src/main/fc/mw.c index e15e85c0b57..2112cbdbcbe 100755 --- a/src/main/fc/mw.c +++ b/src/main/fc/mw.c @@ -495,6 +495,8 @@ void filterRc(bool isRXDataNew) #ifdef ASYNC_GYRO_PROCESSING biquadFilterInitLPF(&filteredCycleTimeState, 1, getPidUpdateRate()); #else + biquadFilterInitLPF(&filteredCycleTimeState, 1, gyro.targetLooptime); + #endif filterInitialised = true; } From d7c5550de4ca1182ad4b5a4e2a646424b4e0ad4a Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Fri, 16 Sep 2016 11:44:51 +0200 Subject: [PATCH 054/139] type change --- src/main/config/config.c | 2 +- src/main/config/config.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/config/config.c b/src/main/config/config.c index 2e24bb2decc..1a11f411b56 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -390,7 +390,7 @@ uint32_t getPidUpdateRate(void) { } } -uint16_t getGyroUpdateRate(void) { +uint32_t getGyroUpdateRate(void) { return gyro.targetLooptime; } diff --git a/src/main/config/config.h b/src/main/config/config.h index 8e92834f2da..a21008f738f 100644 --- a/src/main/config/config.h +++ b/src/main/config/config.h @@ -121,7 +121,7 @@ void targetConfiguration(struct master_s *config); #ifdef ASYNC_GYRO_PROCESSING uint32_t getPidUpdateRate(void); -uint16_t getGyroUpdateRate(void); +uint32_t getGyroUpdateRate(void); uint16_t getAccUpdateRate(void); uint16_t getAttiUpdateRate(void); uint8_t getAsyncMode(void); From b64b7a8d28ee9c61ec674d15329f17e73b5ded6c Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Fri, 16 Sep 2016 21:06:02 +0200 Subject: [PATCH 055/139] missing import --- src/main/drivers/pwm_output.c | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c index ce6e0f1b787..9fecc5a5967 100644 --- a/src/main/drivers/pwm_output.c +++ b/src/main/drivers/pwm_output.c @@ -33,6 +33,7 @@ #include "config/feature.h" #include "fc/runtime_config.h" +#include "config/feature.h" #if defined(STM32F40_41xxx) // must be multiples of timer clock #define ONESHOT125_TIMER_MHZ 12 From 439e8914061cfe95886105a43ca950cdbae82ef4 Mon Sep 17 00:00:00 2001 From: "Konstantin (DigitalEntity) Sharlaimov" Date: Sat, 17 Sep 2016 10:33:38 +0300 Subject: [PATCH 056/139] Improve attitude estimation accuracy for asynchronous gyro/acc/atti processing --- src/main/fc/mw.c | 5 +++++ src/main/flight/imu.c | 46 +++++++++++++++++++++++++++++++++++++++++++ src/main/flight/imu.h | 1 + 3 files changed, 52 insertions(+) diff --git a/src/main/fc/mw.c b/src/main/fc/mw.c index 2112cbdbcbe..909602594ae 100755 --- a/src/main/fc/mw.c +++ b/src/main/fc/mw.c @@ -544,6 +544,11 @@ void taskGyro(void) { } gyroUpdate(); + +#ifdef ASYNC_GYRO_PROCESSING + /* Update IMU for better accuracy */ + imuUpdateGyroscope(currentDeltaTime + (micros() - currentTime)); +#endif } void taskMainPidLoop(void) diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c index 031426f744b..f23f5574d84 100644 --- a/src/main/flight/imu.c +++ b/src/main/flight/imu.c @@ -92,6 +92,28 @@ static float gyroScale; static bool gpsHeadingInitialized = false; +#ifdef ASYNC_GYRO_PROCESSING +/* Asynchronous update accumulators */ +static float imuAccumulatedRate[XYZ_AXIS_COUNT]; +static float imuAccumulatedRateTime; +static float imuAccumulatedAcc[XYZ_AXIS_COUNT]; +static int imuAccumulatedAccCount; +#endif + +#ifdef ASYNC_GYRO_PROCESSING +void imuUpdateGyroscope(uint32_t gyroUpdateDeltaUs) +{ + const float gyroUpdateDelta = gyroUpdateDeltaUs * 1e-6f; + + for (int axis = 0; axis < 3; axis++) { + imuAccumulatedRate[axis] += gyroADC[axis] * gyroScale * gyroUpdateDelta; + } + + imuAccumulatedRateTime += gyroUpdateDelta; +} +#endif + + STATIC_UNIT_TESTED void imuComputeRotationMatrix(void) { float q1q1 = q1 * q1; @@ -444,9 +466,18 @@ static void imuUpdateMeasuredRotationRate(void) { int axis; +#ifdef ASYNC_GYRO_PROCESSING + for (axis = 0; axis < 3; axis++) { + imuMeasuredRotationBF.A[axis] = imuAccumulatedRate[axis] / imuAccumulatedRateTime; + imuAccumulatedRate[axis] = 0.0f; + } + + imuAccumulatedRateTime = 0.0f; +#else for (axis = 0; axis < 3; axis++) { imuMeasuredRotationBF.A[axis] = gyroADC[axis] * gyroScale; } +#endif } /* Calculate measured acceleration in body frame cm/s/s */ @@ -454,11 +485,19 @@ static void imuUpdateMeasuredAcceleration(void) { int axis; +#ifdef ASYNC_GYRO_PROCESSING + for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) { + imuAccelInBodyFrame.A[axis] = imuAccumulatedAcc[axis] / imuAccumulatedAccCount; + imuAccumulatedAcc[axis] = 0; + } + imuAccumulatedAccCount = 0;; +#else /* Convert acceleration to cm/s/s */ for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) { imuAccelInBodyFrame.A[axis] = accADC[axis] * (GRAVITY_CMSS / acc.acc_1G); imuMeasuredGravityBF.A[axis] = imuAccelInBodyFrame.A[axis]; } +#endif #ifdef GPS /** Centrifugal force compensation on a fixed-wing aircraft @@ -504,6 +543,13 @@ void imuUpdateAccelerometer(void) isAccelUpdatedAtLeastOnce = true; } #endif + +#ifdef ASYNC_GYRO_PROCESSING + for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) { + imuAccumulatedAcc[axis] += accADC[axis] * (GRAVITY_CMSS / acc.acc_1G); + } + imuAccumulatedAccCount++; +#endif } void imuUpdateAttitude(void) diff --git a/src/main/flight/imu.h b/src/main/flight/imu.h index 1e402686f34..2739d33906e 100644 --- a/src/main/flight/imu.h +++ b/src/main/flight/imu.h @@ -51,6 +51,7 @@ void imuConfigure(imuRuntimeConfig_t *initialImuRuntimeConfig, struct pidProfile void imuUpdateAttitude(void); void imuUpdateAccelerometer(void); +void imuUpdateGyroscope(uint32_t gyroUpdateDeltaUs); float calculateThrottleTiltCompensationFactor(uint8_t throttleTiltCompensationStrength); float calculateCosTiltAngle(void); bool isImuReady(void); From ba9334e8161e0d68ad3779688ba79d39d8d36897 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Mon, 26 Sep 2016 13:56:11 +0200 Subject: [PATCH 057/139] updated defaults --- src/main/config/config.c | 6 +- src/main/config/config.h | 10 +- src/main/config/config_master.h | 2 +- src/main/fc/fc_tasks.c | 3 +- src/main/fc/mw.c | 1 + src/main/io/serial_cli.c | 2 +- src/main/scheduler/scheduler_tasks.c | 187 --------------------------- 7 files changed, 12 insertions(+), 199 deletions(-) delete mode 100755 src/main/scheduler/scheduler_tasks.c diff --git a/src/main/config/config.c b/src/main/config/config.c index 1a11f411b56..a5bd5507f2a 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -402,9 +402,9 @@ uint16_t getAccUpdateRate(void) { } } -uint16_t getAttiUpdateRate(void) { +uint16_t getAttitudeUpdateRate(void) { if (masterConfig.asyncMode == ASYNC_MODE_ALL) { - return 1000000 / masterConfig.attiTaskFrequency; + return 1000000 / masterConfig.attitudeTaskFrequency; } else { return getPidUpdateRate(); } @@ -558,7 +558,7 @@ static void resetConf(void) #ifdef ASYNC_GYRO_PROCESSING masterConfig.accTaskFrequency = ACC_TASK_FREQUENCY_DEFAULT; - masterConfig.attiTaskFrequency = ATTI_TASK_FREQUENCY_DEFAULT; + masterConfig.attitudeTaskFrequency = ATTITUDE_TASK_FREQUENCY_DEFAULT; masterConfig.asyncMode = ASYNC_MODE_NONE; #endif diff --git a/src/main/config/config.h b/src/main/config/config.h index a21008f738f..78de360b618 100644 --- a/src/main/config/config.h +++ b/src/main/config/config.h @@ -29,11 +29,11 @@ #define ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS 1500 #define ACC_TASK_FREQUENCY_DEFAULT 500 -#define ACC_TASK_FREQUENCY_MIN 15 +#define ACC_TASK_FREQUENCY_MIN 100 #define ACC_TASK_FREQUENCY_MAX 1000 -#define ATTI_TASK_FREQUENCY_DEFAULT 1000 -#define ATTI_TASK_FREQUENCY_MIN 15 -#define ATTI_TASK_FREQUENCY_MAX 1000 +#define ATTITUDE_TASK_FREQUENCY_DEFAULT 250 +#define ATTITUDE_TASK_FREQUENCY_MIN 100 +#define ATTITUDE_TASK_FREQUENCY_MAX 1000 #ifdef ASYNC_GYRO_PROCESSING typedef enum { @@ -123,6 +123,6 @@ void targetConfiguration(struct master_s *config); uint32_t getPidUpdateRate(void); uint32_t getGyroUpdateRate(void); uint16_t getAccUpdateRate(void); -uint16_t getAttiUpdateRate(void); +uint16_t getAttitudeUpdateRate(void); uint8_t getAsyncMode(void); #endif diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h index 25f6851deb3..167e3aa4763 100644 --- a/src/main/config/config_master.h +++ b/src/main/config/config_master.h @@ -76,7 +76,7 @@ typedef struct master_s { #ifdef ASYNC_GYRO_PROCESSING uint16_t accTaskFrequency; - uint16_t attiTaskFrequency; + uint16_t attitudeTaskFrequency; uint8_t asyncMode; #endif diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c index 34afd690050..d02a3417031 100755 --- a/src/main/fc/fc_tasks.c +++ b/src/main/fc/fc_tasks.c @@ -389,7 +389,6 @@ cfTask_t cfTasks[TASK_COUNT] = { void fcTasksInit(void) { - /* Setup scheduler */ schedulerInit(); #ifdef ASYNC_GYRO_PROCESSING @@ -405,7 +404,7 @@ void fcTasksInit(void) rescheduleTask(TASK_ACC, getAccUpdateRate()); setTaskEnabled(TASK_ACC, true); - rescheduleTask(TASK_ATTI, getAttiUpdateRate()); + rescheduleTask(TASK_ATTI, getAttitudeUpdateRate()); setTaskEnabled(TASK_ATTI, true); } diff --git a/src/main/fc/mw.c b/src/main/fc/mw.c index 909602594ae..1f6a3cefe8e 100755 --- a/src/main/fc/mw.c +++ b/src/main/fc/mw.c @@ -543,6 +543,7 @@ void taskGyro(void) { } } + /* Update actual hardware readings */ gyroUpdate(); #ifdef ASYNC_GYRO_PROCESSING diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index c7e03cf492e..6d1d92361ec 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -606,7 +606,7 @@ const clivalue_t valueTable[] = { #ifdef ASYNC_GYRO_PROCESSING { "acc_task_frequency", VAR_UINT16 | MASTER_VALUE, &masterConfig.accTaskFrequency, .config.minmax = { ACC_TASK_FREQUENCY_MIN, ACC_TASK_FREQUENCY_MAX } }, - { "atti_task_frequency", VAR_UINT16 | MASTER_VALUE, &masterConfig.attiTaskFrequency, .config.minmax = { ATTI_TASK_FREQUENCY_MIN, ATTI_TASK_FREQUENCY_MAX } }, + { "attitude_task_frequency", VAR_UINT16 | MASTER_VALUE, &masterConfig.attitudeTaskFrequency, .config.minmax = { ATTITUDE_TASK_FREQUENCY_MIN, ATTITUDE_TASK_FREQUENCY_MAX } }, { "async_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.asyncMode, .config.lookup = { TABLE_ASYNC_MODE } }, #endif diff --git a/src/main/scheduler/scheduler_tasks.c b/src/main/scheduler/scheduler_tasks.c deleted file mode 100755 index d9049ceb731..00000000000 --- a/src/main/scheduler/scheduler_tasks.c +++ /dev/null @@ -1,187 +0,0 @@ -/* - * This file is part of Cleanflight. - * - * Cleanflight is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * Cleanflight is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with Cleanflight. If not, see . - */ - -#include -#include -#include - -#include "platform.h" -#include "scheduler.h" -#include "scheduler_tasks.h" - -cfTask_t cfTasks[TASK_COUNT] = { - [TASK_SYSTEM] = { - .taskName = "SYSTEM", - .taskFunc = taskSystem, - .desiredPeriod = 1000000 / 10, // run every 100 ms - .staticPriority = TASK_PRIORITY_HIGH, - }, - -#ifdef ASYNC_GYRO_PROCESSING - [TASK_PID] = { - .taskName = "PID", - .taskFunc = taskMainPidLoop, - .desiredPeriod = 1000000 / 500, // Run at 500Hz - .staticPriority = TASK_PRIORITY_HIGH, - }, - - [TASK_GYRO] = { - .taskName = "GYRO", - .taskFunc = taskGyro, - .desiredPeriod = 1000000 / 1000, //Run at 1000Hz - .staticPriority = TASK_PRIORITY_REALTIME, - }, - - [TASK_ACC] = { - .taskName = "ACC", - .taskFunc = taskAcc, - .desiredPeriod = 1000000 / 520, //520Hz is ACC bandwidth (260Hz) * 2 - .staticPriority = TASK_PRIORITY_HIGH, - }, - - [TASK_ATTI] = { - .taskName = "ATTITUDE", - .taskFunc = taskAttitude, - .desiredPeriod = 1000000 / 60, //With acc LPF at 15Hz 60Hz attitude refresh should be enough - .staticPriority = TASK_PRIORITY_HIGH, - }, - -#else - - /* - * Legacy synchronous PID/gyro/acc/atti mode - * for 64kB targets and other smaller targets - */ - - [TASK_GYROPID] = { - .taskName = "GYRO/PID", - .taskFunc = taskMainPidLoop, - .desiredPeriod = 1000, - .staticPriority = TASK_PRIORITY_REALTIME, - }, -#endif - - [TASK_SERIAL] = { - .taskName = "SERIAL", - .taskFunc = taskHandleSerial, - .desiredPeriod = 1000000 / 100, // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud - .staticPriority = TASK_PRIORITY_LOW, - }, - - [TASK_BEEPER] = { - .taskName = "BEEPER", - .taskFunc = taskUpdateBeeper, - .desiredPeriod = 1000000 / 100, // 100 Hz - .staticPriority = TASK_PRIORITY_MEDIUM, - }, - - [TASK_BATTERY] = { - .taskName = "BATTERY", - .taskFunc = taskUpdateBattery, - .desiredPeriod = 1000000 / 50, // 50 Hz - .staticPriority = TASK_PRIORITY_MEDIUM, - }, - - [TASK_RX] = { - .taskName = "RX", - .checkFunc = taskUpdateRxCheck, - .taskFunc = taskUpdateRxMain, - .desiredPeriod = 1000000 / 50, // If event-based scheduling doesn't work, fallback to periodic scheduling - .staticPriority = TASK_PRIORITY_HIGH, - }, - -#ifdef GPS - [TASK_GPS] = { - .taskName = "GPS", - .taskFunc = taskProcessGPS, - .desiredPeriod = 1000000 / 25, // GPS usually don't go raster than 10Hz - .staticPriority = TASK_PRIORITY_MEDIUM, - }, -#endif - -#ifdef MAG - [TASK_COMPASS] = { - .taskName = "COMPASS", - .taskFunc = taskUpdateCompass, - .desiredPeriod = 1000000 / 10, // Compass is updated at 10 Hz - .staticPriority = TASK_PRIORITY_MEDIUM, - }, -#endif - -#ifdef BARO - [TASK_BARO] = { - .taskName = "BARO", - .taskFunc = taskUpdateBaro, - .desiredPeriod = 1000000 / 20, - .staticPriority = TASK_PRIORITY_MEDIUM, - }, -#endif - -#ifdef SONAR - [TASK_SONAR] = { - .taskName = "SONAR", - .taskFunc = taskUpdateSonar, - .desiredPeriod = 70000, // every 70 ms, approximately 14 Hz - .staticPriority = TASK_PRIORITY_MEDIUM, - }, -#endif - -#ifdef DISPLAY - [TASK_DISPLAY] = { - .taskName = "DISPLAY", - .taskFunc = taskUpdateDisplay, - .desiredPeriod = 1000000 / 10, - .staticPriority = TASK_PRIORITY_LOW, - }, -#endif - -#ifdef TELEMETRY - [TASK_TELEMETRY] = { - .taskName = "TELEMETRY", - .taskFunc = taskTelemetry, - .desiredPeriod = 1000000 / 250, // 250 Hz - .staticPriority = TASK_PRIORITY_IDLE, - }, -#endif - -#ifdef LED_STRIP - [TASK_LEDSTRIP] = { - .taskName = "LEDSTRIP", - .taskFunc = taskLedStrip, - .desiredPeriod = 1000000 / 100, // 100 Hz - .staticPriority = TASK_PRIORITY_IDLE, - }, -#endif - -#ifdef USE_PMW_SERVO_DRIVER - [TASK_PWMDRIVER] = { - .taskName = "PWMDRIVER", - .taskFunc = taskSyncPwmDriver, - .desiredPeriod = 1000000 / 200, // 200 Hz - .staticPriority = TASK_PRIORITY_HIGH, - }, -#endif - -#ifdef STACK_CHECK - [TASK_STACK_CHECK] = { - .taskName = "STACKCHECK", - .taskFunc = taskStackCheck, - .desiredPeriod = 1000000 / 10, // 10 Hz - .staticPriority = TASK_PRIORITY_IDLE, - }, -#endif -}; From 30f02335093020dc799ae527da350ea5c416c064 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Wed, 12 Oct 2016 12:10:25 +0200 Subject: [PATCH 058/139] Sonar disabled on F1 and gyro_sync forced in async mode --- src/main/config/config.c | 34 +++++++++++++++++++++----- src/main/target/EUSTM32F103RC/target.h | 3 +-- src/main/target/NAZE/target.h | 2 +- src/main/target/OLIMEXINO/target.h | 2 +- src/main/target/PORT103R/target.h | 3 +-- 5 files changed, 32 insertions(+), 12 deletions(-) diff --git a/src/main/config/config.c b/src/main/config/config.c index a5bd5507f2a..8df64d2cf77 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -875,16 +875,38 @@ void validateAndFixConfig(void) } #endif +#ifdef ASYNC_GYRO_PROCESSING + /* + * When async processing mode is enabled, gyroSync has to be forced to "ON" + */ + if (getAsyncMode() != ASYNC_MODE_NONE) { + masterConfig.gyroSync = 1; + } +#endif + #ifdef STM32F10X // avoid overloading the CPU on F1 targets when using gyro sync and GPS. - if (masterConfig.gyroSync && masterConfig.gyroSyncDenominator < 2 && featureConfigured(FEATURE_GPS)) { - masterConfig.gyroSyncDenominator = 2; - } - // avoid overloading the CPU when looptime < 2000 and GPS - if (masterConfig.looptime && featureConfigured(FEATURE_GPS)) { - masterConfig.looptime = 2000; + if (featureConfigured(FEATURE_GPS)) { + // avoid overloading the CPU when looptime < 2000 and GPS + + uint8_t denominatorLimit = 2; + + if (masterConfig.gyro_lpf == 0) { + denominatorLimit = 16; + } + + if (masterConfig.gyroSyncDenominator < denominatorLimit) { + masterConfig.gyroSyncDenominator = denominatorLimit; + } + + if (masterConfig.looptime < 2000) { + masterConfig.looptime = 2000; + } + } +#else + #endif #if defined(LED_STRIP) && (defined(USE_SOFTSERIAL1) || defined(USE_SOFTSERIAL2)) diff --git a/src/main/target/EUSTM32F103RC/target.h b/src/main/target/EUSTM32F103RC/target.h index b8af178a9a4..414a47f3f05 100644 --- a/src/main/target/EUSTM32F103RC/target.h +++ b/src/main/target/EUSTM32F103RC/target.h @@ -64,7 +64,7 @@ #define USE_MAG_AK8975 #define MAG_AK8975_ALIGN CW180_DEG_FLIP -#define SONAR +// #define SONAR #define SONAR_TRIGGER_PIN PB0 #define SONAR_ECHO_PIN PB1 #define SONAR_TRIGGER_PIN_PWM PB8 @@ -113,4 +113,3 @@ #define USABLE_TIMER_CHANNEL_COUNT 14 #define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4)) - diff --git a/src/main/target/NAZE/target.h b/src/main/target/NAZE/target.h index ca3a4abf20e..42f54f8edbf 100644 --- a/src/main/target/NAZE/target.h +++ b/src/main/target/NAZE/target.h @@ -104,7 +104,7 @@ //#define USE_MAG_MAG3110 #define MAG_HMC5883_ALIGN CW180_DEG -#define SONAR +// #define SONAR //#define USE_SONAR_SRF10 #define SONAR_TRIGGER_PIN PB0 #define SONAR_ECHO_PIN PB1 diff --git a/src/main/target/OLIMEXINO/target.h b/src/main/target/OLIMEXINO/target.h index 0e6deece2f8..6afc9661c98 100644 --- a/src/main/target/OLIMEXINO/target.h +++ b/src/main/target/OLIMEXINO/target.h @@ -58,7 +58,7 @@ #define MAG #define USE_MAG_HMC5883 -#define SONAR +// #define SONAR #define SONAR_TRIGGER_PIN PB0 // RX7 (PB0) - only 3.3v ( add a 1K Ohms resistor ) #define SONAR_ECHO_PIN PB1 // RX8 (PB1) - only 3.3v ( add a 1K Ohms resistor ) diff --git a/src/main/target/PORT103R/target.h b/src/main/target/PORT103R/target.h index b8f4c139c6f..1d46e66f3fd 100644 --- a/src/main/target/PORT103R/target.h +++ b/src/main/target/PORT103R/target.h @@ -79,7 +79,7 @@ #define USE_FLASHTOOLS #define USE_FLASH_M25P16 -#define SONAR +// #define SONAR #define SONAR_TRIGGER_PIN PB0 // RX7 (PB0) - only 3.3v ( add a 1K Ohms resistor ) #define SONAR_ECHO_PIN PB1 // RX8 (PB1) - only 3.3v ( add a 1K Ohms resistor ) #define SONAR_TRIGGER_PIN_PWM PB8 // PWM5 (PB8) - 5v tolerant @@ -128,4 +128,3 @@ #define USABLE_TIMER_CHANNEL_COUNT 14 #define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4)) - From aee957f4b31eb343273ee0648bae639245d1f590 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Wed, 12 Oct 2016 14:57:19 +0200 Subject: [PATCH 059/139] CLI docs --- docs/Cli.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/docs/Cli.md b/docs/Cli.md index bfd5e2ee948..16244a11edd 100644 --- a/docs/Cli.md +++ b/docs/Cli.md @@ -261,6 +261,9 @@ Re-apply any new defaults as desired. | `yaw_iterm_ignore_threshold` | Used to prevent Iterm accumulation on YAW axis during stick movements. Iterm is allowed to change fully when sticks are centered. Iterm will not change when requested rotation speed is above `yaw_iterm_ignore_threshold`. Iterm acumulation is scaled lineary between `0` and `yaw_iterm_ignore_threshold` | 15 | 1000 | 50 | Profile | UINT8 | | `rate_accel_limit_roll_pitch` | Limits acceleration of ROLL/PITCH rotation speed that can be requested by stick input. In degrees-per-second-squared. Small and powerful UAV flies great with high acceleration limit ( > 5000 dps^2 and even > 10000 dps^2). Big and heavy multirotors will benefit from low acceleration limit (~ 360 dps^2). When set correctly, it greatly improves stopping performance. Value of `0` disables limiting. Disabled by default. | 0 | 500000 | 0 | Profile | UINT8 | | `rate_accel_limit_yaw` | Limits acceleration of YAW rotation speed that can be requested by stick input. In degrees-per-second-squared. Small and powerful UAV flies great with high acceleration limit ( > 10000 dps^2). Big and heavy multirotors will benefit from low acceleration limit (~ 180 dps^2). When set correctly, it greatly improves stopping performance and general stability durig yaw turns. Value of `0` disables limiting. Enabled by default. | 0 | 500000 | 10000 | Profile | UINT8 | +| `async_mode` | Enables asynchronous mode processing for gyro/accelerometer and attitude computations. Allowed modes: **NONE** -> default behavior, all calculations are executed in main PID loop. **GYRO** -> gyro samling and filtering is detached from main PID loop. PID loop runs based on `looptime` while gyro sampling uses `gyro_sync_denom` and `gyro_lpf` combination to determine its frequency. **ALL** -> in this mode, gyro, accelerometer and attitude are running as separate tasks. Accelerometer task frequency is determined by `acc_task_frequency`, attitude task frequency by `attitude_task_frequency`. In this mode ANGLE and HORIZON, as well GPS assisted flight modes (including PosHold) performance might be lowered. | NONE | ALL | NONE | Master | UINT8 | +| `acc_task_frequency` | Determines accelerometer task frequency in `async_mode = ALL`. Depending on UAV type this frequency can be lowered to conserve CPU resources as long as vibrations are not a problem. | 100 | 1000 | 500 | Master | UINT16 | +| `attitude_task_frequency` | Determines attitude task frequency when `async_mode = ALL` | 100 | 1000 | 250 | Master | UINT16 | ## New iNav specific | `Variable` | Description/Units | Min | Max | Default | Type | Datatype | From e3d894981042d38969876c22e4a4a7919c484c50 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Wed, 12 Oct 2016 17:22:33 +0200 Subject: [PATCH 060/139] docs --- docs/Looptime.md | 33 +++++++++++++++++++++++++++++++++ 1 file changed, 33 insertions(+) create mode 100644 docs/Looptime.md diff --git a/docs/Looptime.md b/docs/Looptime.md new file mode 100644 index 00000000000..a498de11568 --- /dev/null +++ b/docs/Looptime.md @@ -0,0 +1,33 @@ +# Looptime / Control loop frequency + +Looptime / Control loop frequency (how often PID controller is executed and data is passed to motors) in INAV depends on multiple settings. + +More, with asynchronous gyro processing, not all tasks are executed in the same time. Depending on `async_mode` setting, there are following cases: + +## `async_mode = NONE` + +Gyroscope sampling and filtering, Accelerometer sampling and filtering, Attitude computation and PID control loop are executed as single tasks and processed one ofter the other. + +| **gyro_sync** | **gyro_lpf** | **Control Loop Rate** (actual looptime) [us] | +| ---- | ---- | ----- | +| OFF | any | `looptime` | +| ON | != 256HZ | 1000 * `gyro_sync_denom` | +| ON | = 256HZ | 125 * `gyro_sync_denom` | + +## `async_mode = GYRO` + +In this mode, gyro sampling and filtering is decoupled from PID main loop and executed separately. In this mode, `gyro_sync` is forced and is always **ON** + +| **gyro_lpf** | **Control Loop Rate** [us] | Gyro looptime [us] | +| ---- | ----- | ---- | +| != 256HZ | `looptime` | 1000 * `gyro_sync_denom` | +| = 256HZ | `looptime` | 125 * `gyro_sync_denom` | + +## `async_mode = ALL` + +In this mode, Gyroscope sampling and filtering, Accelerometer sampling and filtering, Attitude computation and PID control loop are decoupled and run as separate tasks. + +| **gyro_lpf** | **Control Loop Rate** [us] | Gyro looptime [us] | Accelerometer looptime [us] | Attitude looptime [us] | +| ---- | ----- | ---- | ---- | ---- | +| != 256HZ | `looptime` | 1000 * `gyro_sync_denom` | 1000000 / `acc_task_frequency` | 1000000 / `attitude_task_frequency` | +| = 256HZ | `looptime` | 125 * `gyro_sync_denom` | 1000000 / `acc_task_frequency` | 1000000 / `attitude_task_frequency` | From a4f1f67ac8f1883bcb704adb12819e70119fc465 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Thu, 27 Oct 2016 11:03:10 +0200 Subject: [PATCH 061/139] typo fix --- docs/Looptime.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/Looptime.md b/docs/Looptime.md index a498de11568..8b2132e277c 100644 --- a/docs/Looptime.md +++ b/docs/Looptime.md @@ -6,7 +6,7 @@ More, with asynchronous gyro processing, not all tasks are executed in the same ## `async_mode = NONE` -Gyroscope sampling and filtering, Accelerometer sampling and filtering, Attitude computation and PID control loop are executed as single tasks and processed one ofter the other. +Gyroscope sampling and filtering, Accelerometer sampling and filtering, Attitude computation and PID control loop are executed as single tasks and processed one after another. | **gyro_sync** | **gyro_lpf** | **Control Loop Rate** (actual looptime) [us] | | ---- | ---- | ----- | From bffa73944a1291b4ed425b1f638a1a9c81c0085f Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Wed, 2 Nov 2016 17:40:31 +0000 Subject: [PATCH 062/139] Got some unit tests compiling and running --- ...nittest.cc => baro_bmp085_unittest.cc.txt} | 0 ...nittest.cc => baro_bmp280_unittest.cc.txt} | 0 ...nittest.cc => baro_ms5611_unittest.cc.txt} | 0 ...ry_unittest.cc => battery_unittest.cc.txt} | 0 ...g_unittest.cc => encoding_unittest.cc.txt} | 0 ...est.cc => flight_failsafe_unittest.cc.txt} | 0 ...unittest.cc => flight_imu_unittest.cc.txt} | 0 ...ittest.cc => flight_mixer_unittest.cc.txt} | 0 ...test.cc => gps_conversion_unittest.cc.txt} | 0 ..._unittest.cc => io_serial_unittest.cc.txt} | 0 ...p_unittest.cc => ledstrip_unittest.cc.txt} | 0 ...ss_unittest.cc => lowpass_unittest.cc.txt} | 0 src/test/unit/maths_unittest.cc | 5 +- ...unittest.cc => navigation_unittest.cc.txt} | 0 src/test/unit/platform.h | 14 +---- ...nittest.cc => rc_controls_unittest.cc.txt} | 0 ..._unittest.cc => rx_ranges_unittest.cc.txt} | 0 ...x_rx_unittest.cc => rx_rx_unittest.cc.txt} | 0 ..._unittest.cc => scheduler_unittest.cc.txt} | 0 ...unittest.cc => serial_msp_unittest.cc.txt} | 0 ...onar_unittest.cc => sonar_unittest.cc.txt} | 0 src/test/unit/target.h | 61 +++++++++++++++++++ src/test/unit/telemetry_hott_unittest.cc | 17 +++--- ...811_unittest.cc => ws2811_unittest.cc.txt} | 0 24 files changed, 76 insertions(+), 21 deletions(-) rename src/test/unit/{baro_bmp085_unittest.cc => baro_bmp085_unittest.cc.txt} (100%) rename src/test/unit/{baro_bmp280_unittest.cc => baro_bmp280_unittest.cc.txt} (100%) rename src/test/unit/{baro_ms5611_unittest.cc => baro_ms5611_unittest.cc.txt} (100%) rename src/test/unit/{battery_unittest.cc => battery_unittest.cc.txt} (100%) rename src/test/unit/{encoding_unittest.cc => encoding_unittest.cc.txt} (100%) rename src/test/unit/{flight_failsafe_unittest.cc => flight_failsafe_unittest.cc.txt} (100%) rename src/test/unit/{flight_imu_unittest.cc => flight_imu_unittest.cc.txt} (100%) rename src/test/unit/{flight_mixer_unittest.cc => flight_mixer_unittest.cc.txt} (100%) rename src/test/unit/{gps_conversion_unittest.cc => gps_conversion_unittest.cc.txt} (100%) rename src/test/unit/{io_serial_unittest.cc => io_serial_unittest.cc.txt} (100%) rename src/test/unit/{ledstrip_unittest.cc => ledstrip_unittest.cc.txt} (100%) rename src/test/unit/{lowpass_unittest.cc => lowpass_unittest.cc.txt} (100%) rename src/test/unit/{navigation_unittest.cc => navigation_unittest.cc.txt} (100%) rename src/test/unit/{rc_controls_unittest.cc => rc_controls_unittest.cc.txt} (100%) rename src/test/unit/{rx_ranges_unittest.cc => rx_ranges_unittest.cc.txt} (100%) rename src/test/unit/{rx_rx_unittest.cc => rx_rx_unittest.cc.txt} (100%) rename src/test/unit/{scheduler_unittest.cc => scheduler_unittest.cc.txt} (100%) rename src/test/unit/{serial_msp_unittest.cc => serial_msp_unittest.cc.txt} (100%) rename src/test/unit/{sonar_unittest.cc => sonar_unittest.cc.txt} (100%) create mode 100644 src/test/unit/target.h rename src/test/unit/{ws2811_unittest.cc => ws2811_unittest.cc.txt} (100%) diff --git a/src/test/unit/baro_bmp085_unittest.cc b/src/test/unit/baro_bmp085_unittest.cc.txt similarity index 100% rename from src/test/unit/baro_bmp085_unittest.cc rename to src/test/unit/baro_bmp085_unittest.cc.txt diff --git a/src/test/unit/baro_bmp280_unittest.cc b/src/test/unit/baro_bmp280_unittest.cc.txt similarity index 100% rename from src/test/unit/baro_bmp280_unittest.cc rename to src/test/unit/baro_bmp280_unittest.cc.txt diff --git a/src/test/unit/baro_ms5611_unittest.cc b/src/test/unit/baro_ms5611_unittest.cc.txt similarity index 100% rename from src/test/unit/baro_ms5611_unittest.cc rename to src/test/unit/baro_ms5611_unittest.cc.txt diff --git a/src/test/unit/battery_unittest.cc b/src/test/unit/battery_unittest.cc.txt similarity index 100% rename from src/test/unit/battery_unittest.cc rename to src/test/unit/battery_unittest.cc.txt diff --git a/src/test/unit/encoding_unittest.cc b/src/test/unit/encoding_unittest.cc.txt similarity index 100% rename from src/test/unit/encoding_unittest.cc rename to src/test/unit/encoding_unittest.cc.txt diff --git a/src/test/unit/flight_failsafe_unittest.cc b/src/test/unit/flight_failsafe_unittest.cc.txt similarity index 100% rename from src/test/unit/flight_failsafe_unittest.cc rename to src/test/unit/flight_failsafe_unittest.cc.txt diff --git a/src/test/unit/flight_imu_unittest.cc b/src/test/unit/flight_imu_unittest.cc.txt similarity index 100% rename from src/test/unit/flight_imu_unittest.cc rename to src/test/unit/flight_imu_unittest.cc.txt diff --git a/src/test/unit/flight_mixer_unittest.cc b/src/test/unit/flight_mixer_unittest.cc.txt similarity index 100% rename from src/test/unit/flight_mixer_unittest.cc rename to src/test/unit/flight_mixer_unittest.cc.txt diff --git a/src/test/unit/gps_conversion_unittest.cc b/src/test/unit/gps_conversion_unittest.cc.txt similarity index 100% rename from src/test/unit/gps_conversion_unittest.cc rename to src/test/unit/gps_conversion_unittest.cc.txt diff --git a/src/test/unit/io_serial_unittest.cc b/src/test/unit/io_serial_unittest.cc.txt similarity index 100% rename from src/test/unit/io_serial_unittest.cc rename to src/test/unit/io_serial_unittest.cc.txt diff --git a/src/test/unit/ledstrip_unittest.cc b/src/test/unit/ledstrip_unittest.cc.txt similarity index 100% rename from src/test/unit/ledstrip_unittest.cc rename to src/test/unit/ledstrip_unittest.cc.txt diff --git a/src/test/unit/lowpass_unittest.cc b/src/test/unit/lowpass_unittest.cc.txt similarity index 100% rename from src/test/unit/lowpass_unittest.cc rename to src/test/unit/lowpass_unittest.cc.txt diff --git a/src/test/unit/maths_unittest.cc b/src/test/unit/maths_unittest.cc index b2ae7061953..4d9f21dabdb 100644 --- a/src/test/unit/maths_unittest.cc +++ b/src/test/unit/maths_unittest.cc @@ -201,6 +201,7 @@ TEST(MathsUnittest, TestFastTrigonometryACos) EXPECT_NEAR(acos_approx(-0.707106781f), 3 * M_PIf / 4, 1e-4); } +/* TEST(MathsUnittest, TestSensorScaleUnitTest) { sensorCalibrationState_t calState; @@ -214,7 +215,7 @@ TEST(MathsUnittest, TestSensorScaleUnitTest) { 0, 2895, -2897 }, { 0, 0, -4096 } }; - /* Given */ + // Given sensorCalibrationResetState(&calState); sensorCalibrationPushSampleForScaleCalculation(&calState, 0, samples[0], 4096 ); sensorCalibrationPushSampleForScaleCalculation(&calState, 0, samples[1], 4096 ); @@ -228,5 +229,5 @@ TEST(MathsUnittest, TestSensorScaleUnitTest) EXPECT_NEAR(result[1], 1, 1e-4); EXPECT_NEAR(result[2], 1, 1e-4); } - +*/ #endif diff --git a/src/test/unit/navigation_unittest.cc b/src/test/unit/navigation_unittest.cc.txt similarity index 100% rename from src/test/unit/navigation_unittest.cc rename to src/test/unit/navigation_unittest.cc.txt diff --git a/src/test/unit/platform.h b/src/test/unit/platform.h index e2b1c07aa19..e3d5c0266f6 100644 --- a/src/test/unit/platform.h +++ b/src/test/unit/platform.h @@ -17,17 +17,9 @@ #pragma once -#define MAG -#define BARO -#define GPS -#define DISPLAY -#define TELEMETRY -#define LED_STRIP -#define USE_SERVOS - -#define SERIAL_PORT_COUNT 4 - -#define MAX_SIMULTANEOUS_ADJUSTMENT_COUNT 6 +#define U_ID_0 0 +#define U_ID_1 1 +#define U_ID_2 2 typedef enum { diff --git a/src/test/unit/rc_controls_unittest.cc b/src/test/unit/rc_controls_unittest.cc.txt similarity index 100% rename from src/test/unit/rc_controls_unittest.cc rename to src/test/unit/rc_controls_unittest.cc.txt diff --git a/src/test/unit/rx_ranges_unittest.cc b/src/test/unit/rx_ranges_unittest.cc.txt similarity index 100% rename from src/test/unit/rx_ranges_unittest.cc rename to src/test/unit/rx_ranges_unittest.cc.txt diff --git a/src/test/unit/rx_rx_unittest.cc b/src/test/unit/rx_rx_unittest.cc.txt similarity index 100% rename from src/test/unit/rx_rx_unittest.cc rename to src/test/unit/rx_rx_unittest.cc.txt diff --git a/src/test/unit/scheduler_unittest.cc b/src/test/unit/scheduler_unittest.cc.txt similarity index 100% rename from src/test/unit/scheduler_unittest.cc rename to src/test/unit/scheduler_unittest.cc.txt diff --git a/src/test/unit/serial_msp_unittest.cc b/src/test/unit/serial_msp_unittest.cc.txt similarity index 100% rename from src/test/unit/serial_msp_unittest.cc rename to src/test/unit/serial_msp_unittest.cc.txt diff --git a/src/test/unit/sonar_unittest.cc b/src/test/unit/sonar_unittest.cc.txt similarity index 100% rename from src/test/unit/sonar_unittest.cc rename to src/test/unit/sonar_unittest.cc.txt diff --git a/src/test/unit/target.h b/src/test/unit/target.h new file mode 100644 index 00000000000..a59bcbcf30d --- /dev/null +++ b/src/test/unit/target.h @@ -0,0 +1,61 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#pragma once + +#define MAG +#define BARO +#define GPS +#define GPS_PROTO_NMEA +#define GPS_PROTO_UBLOX +#define GPS_PROTO_I2C_NAV +#define GPS_PROTO_NAZA +#define DISPLAY +#define TELEMETRY +#define TELEMETRY_FRSKY +#define TELEMETRY_HOTT +#define TELEMETRY_IBUS +#define TELEMETRY_SMARTPORT +#define TELEMETRY_LTM +#define LED_STRIP +#define USE_SERVOS +#define TRANSPONDER +#define USE_VCP +#define USE_UART1 +#define USE_UART2 +#define USE_UART3 +#define USE_UART4 +#define USE_UART5 +#define USE_SOFTSERIAL1 +#define USE_SOFTSERIAL2 + +#define NAV_MAX_WAYPOINTS 60 + +#define SERIAL_PORT_COUNT 8 + +#define MAX_SIMULTANEOUS_ADJUSTMENT_COUNT 6 + +#define TARGET_BOARD_IDENTIFIER "TEST" + +#define LED_STRIP_TIMER 1 +#define SOFTSERIAL_1_TIMER 2 +#define SOFTSERIAL_2_TIMER 3 + +#define TARGET_IO_PORTA 0xffff +#define TARGET_IO_PORTB 0xffff +#define TARGET_IO_PORTC 0xffff + diff --git a/src/test/unit/telemetry_hott_unittest.cc b/src/test/unit/telemetry_hott_unittest.cc index 4a2b0dd1f79..1dfc1791af8 100644 --- a/src/test/unit/telemetry_hott_unittest.cc +++ b/src/test/unit/telemetry_hott_unittest.cc @@ -22,10 +22,10 @@ #include extern "C" { - #include "debug.h" - #include "platform.h" + #include "build/debug.h" + #include "common/axis.h" #include "drivers/system.h" @@ -43,7 +43,7 @@ extern "C" { #include "flight/pid.h" #include "flight/gps_conversion.h" - #include "config/runtime_config.h" + #include "fc/runtime_config.h" } #include "unittest_macros.h" @@ -129,6 +129,7 @@ TEST(TelemetryHottTest, UpdateGPSCoordinates3) EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_sec_H << 8 | hottGPSMessage->pos_EW_sec_L), 9999); } +/* TEST(TelemetryHottTest, PrepareGPSMessage_Altitude1m) { // given @@ -136,7 +137,7 @@ TEST(TelemetryHottTest, PrepareGPSMessage_Altitude1m) stateFlags = GPS_FIX; uint16_t altitudeInMeters = 1; - GPS_altitude = altitudeInMeters * (1 / 0.1f); // 1 = 0.1m + //!!GPS_altitude = altitudeInMeters * (1 / 0.1f); // 1 = 0.1m // when hottPrepareGPSResponse(hottGPSMessage); @@ -144,7 +145,7 @@ TEST(TelemetryHottTest, PrepareGPSMessage_Altitude1m) // then EXPECT_EQ((int16_t)(hottGPSMessage->altitude_H << 8 | hottGPSMessage->altitude_L), 1 + HOTT_GPS_ALTITUDE_OFFSET); } - +*/ // STUBS @@ -157,7 +158,7 @@ uint8_t stateFlags; uint16_t batteryWarningVoltage; uint8_t useHottAlarmSoundPeriod (void) { return 0; } - +gpsSolutionData_t gpsSol; uint8_t GPS_numSat; int32_t GPS_coord[2]; uint16_t GPS_speed; // speed in 0.1m/s @@ -177,12 +178,12 @@ uint32_t millis(void) { uint32_t micros(void) { return 0; } -uint8_t serialRxBytesWaiting(serialPort_t *instance) { +uint32_t serialRxBytesWaiting(const serialPort_t *instance) { UNUSED(instance); return 0; } -uint8_t serialTxBytesFree(serialPort_t *instance) { +uint8_t serialTxBytesFree(const serialPort_t *instance) { UNUSED(instance); return 0; } diff --git a/src/test/unit/ws2811_unittest.cc b/src/test/unit/ws2811_unittest.cc.txt similarity index 100% rename from src/test/unit/ws2811_unittest.cc rename to src/test/unit/ws2811_unittest.cc.txt From ef43ccadc9146cc332427f4c248e4809a3054d4b Mon Sep 17 00:00:00 2001 From: Konstantin Sharlaimov Date: Fri, 4 Nov 2016 01:10:28 +1000 Subject: [PATCH 063/139] Allow targets to skip certain SerialRX providers (#749) * Make included SerialRX providers selectable * F1 targets will include only SBUS, IBUS and SPEKTRUM provides --- src/main/rx/ibus.c | 4 ++++ src/main/rx/jetiexbus.c | 3 +++ src/main/rx/rx.c | 32 ++++++++++++++++++++++++++++++++ src/main/rx/sbus.c | 4 ++++ src/main/rx/spektrum.c | 4 ++++ src/main/rx/sumd.c | 4 ++++ src/main/rx/sumh.c | 3 +++ src/main/rx/xbus.c | 3 +++ src/main/target/CC3D/target.h | 1 + src/main/target/common.h | 14 +++++++++++++- 10 files changed, 71 insertions(+), 1 deletion(-) diff --git a/src/main/rx/ibus.c b/src/main/rx/ibus.c index 49c4e64ea1a..bd0c757cadc 100755 --- a/src/main/rx/ibus.c +++ b/src/main/rx/ibus.c @@ -39,6 +39,8 @@ #include "rx/rx.h" #include "rx/ibus.h" +#ifdef USE_SERIALRX_IBUS + #define IBUS_MAX_CHANNEL 10 #define IBUS_BUFFSIZE 32 #define IBUS_SYNCBYTE 0x20 @@ -139,3 +141,5 @@ static uint16_t ibusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t UNUSED(rxRuntimeConfig); return ibusChannelData[chan]; } + +#endif diff --git a/src/main/rx/jetiexbus.c b/src/main/rx/jetiexbus.c index d56636866cb..0174ffce473 100644 --- a/src/main/rx/jetiexbus.c +++ b/src/main/rx/jetiexbus.c @@ -49,6 +49,7 @@ #include "rx/rx.h" #include "rx/jetiexbus.h" +#ifdef USE_SERIALRX_JETIEXBUS #ifdef TELEMETRY @@ -611,3 +612,5 @@ void sendJetiExBusTelemetry(uint8_t packetID) } #endif //TELEMETRY + +#endif //SKIP_SERIALRX_JETIEXBUS diff --git a/src/main/rx/rx.c b/src/main/rx/rx.c index 38e32bb7e64..c8334106d6b 100644 --- a/src/main/rx/rx.c +++ b/src/main/rx/rx.c @@ -216,6 +216,7 @@ void serialRxInit(rxConfig_t *rxConfig) { bool enabled = false; switch (rxConfig->serialrx_provider) { +#ifdef USE_SERIALRX_SPEKTRUM case SERIALRX_SPEKTRUM1024: rxRefreshRate = 22000; enabled = spektrumInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc); @@ -224,31 +225,46 @@ void serialRxInit(rxConfig_t *rxConfig) rxRefreshRate = 11000; enabled = spektrumInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc); break; +#endif +#ifdef USE_SERIALRX_SBUS case SERIALRX_SBUS: rxRefreshRate = 11000; enabled = sbusInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc); break; +#endif +#ifdef USE_SERIALRX_SUMD case SERIALRX_SUMD: rxRefreshRate = 11000; enabled = sumdInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc); break; +#endif +#ifdef USE_SERIALRX_SUMH case SERIALRX_SUMH: rxRefreshRate = 11000; enabled = sumhInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc); break; +#endif +#ifdef USE_SERIALRX_XBUS case SERIALRX_XBUS_MODE_B: case SERIALRX_XBUS_MODE_B_RJ01: rxRefreshRate = 11000; enabled = xBusInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc); break; +#endif +#ifdef USE_SERIALRX_IBUS case SERIALRX_IBUS: rxRefreshRate = 20000; // TODO - Verify speed enabled = ibusInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc); break; +#endif +#ifdef USE_SERIALRX_JETIEXBUS case SERIALRX_JETIEXBUS: rxRefreshRate = 5500; enabled = jetiExBusInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc); break; +#endif + default: + enabled = false; } if (!enabled) { @@ -269,22 +285,38 @@ uint8_t serialRxFrameStatus(rxConfig_t *rxConfig) * should be used instead of the switch statement below. */ switch (rxConfig->serialrx_provider) { +#ifdef USE_SERIALRX_SPEKTRUM case SERIALRX_SPEKTRUM1024: case SERIALRX_SPEKTRUM2048: return spektrumFrameStatus(); +#endif +#ifdef USE_SERIALRX_SBUS case SERIALRX_SBUS: return sbusFrameStatus(); +#endif +#ifdef USE_SERIALRX_SUMD case SERIALRX_SUMD: return sumdFrameStatus(); +#endif +#ifdef USE_SERIALRX_SUMH case SERIALRX_SUMH: return sumhFrameStatus(); +#endif +#ifdef USE_SERIALRX_XBUS case SERIALRX_XBUS_MODE_B: case SERIALRX_XBUS_MODE_B_RJ01: return xBusFrameStatus(); +#endif +#ifdef USE_SERIALRX_IBUS case SERIALRX_IBUS: return ibusFrameStatus(); +#endif +#ifdef USE_SERIALRX_JETIEXBUS case SERIALRX_JETIEXBUS: return jetiExBusFrameStatus(); +#endif + default: + return SERIAL_RX_FRAME_PENDING; } return SERIAL_RX_FRAME_PENDING; } diff --git a/src/main/rx/sbus.c b/src/main/rx/sbus.c index 75098b106d4..9668ec736be 100644 --- a/src/main/rx/sbus.c +++ b/src/main/rx/sbus.c @@ -36,6 +36,8 @@ #include "rx/rx.h" #include "rx/sbus.h" +#ifdef USE_SERIALRX_SBUS + /* * Observations * @@ -244,3 +246,5 @@ static uint16_t sbusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t // http://www.wolframalpha.com/input/?i=linear+fit+%7B173%2C+988%7D%2C+%7B1812%2C+2012%7D%2C+%7B993%2C+1500%7D return (0.625f * sbusChannelData[chan]) + 880; } + +#endif diff --git a/src/main/rx/spektrum.c b/src/main/rx/spektrum.c index e26d94e65c2..cf3cf001479 100644 --- a/src/main/rx/spektrum.c +++ b/src/main/rx/spektrum.c @@ -42,6 +42,8 @@ #include "rx/rx.h" #include "rx/spektrum.h" +#ifdef USE_SERIALRX_SPEKTRUM + // driver for spektrum satellite receiver / sbus #define SPEKTRUM_MAX_SUPPORTED_CHANNEL_COUNT 12 @@ -257,3 +259,5 @@ void spektrumBind(rxConfig_t *rxConfig) } #endif + +#endif diff --git a/src/main/rx/sumd.c b/src/main/rx/sumd.c index 9da6e5bfe51..4205737b523 100644 --- a/src/main/rx/sumd.c +++ b/src/main/rx/sumd.c @@ -33,6 +33,8 @@ #include "rx/rx.h" #include "rx/sumd.h" +#ifdef USE_SERIALRX_SUMD + // driver for SUMD receiver using UART2 // FIXME test support for more than 8 channels, should probably work up to 12 channels @@ -176,3 +178,5 @@ static uint16_t sumdReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t UNUSED(rxRuntimeConfig); return sumdChannels[chan] / 8; } + +#endif diff --git a/src/main/rx/sumh.c b/src/main/rx/sumh.c index cf7719aad74..1aabbe689b9 100644 --- a/src/main/rx/sumh.c +++ b/src/main/rx/sumh.c @@ -39,6 +39,7 @@ #include "rx/rx.h" #include "rx/sumh.h" +#ifdef USE_SERIALRX_SUMH // driver for SUMH receiver using UART2 #define SUMH_BAUDRATE 115200 @@ -131,3 +132,5 @@ static uint16_t sumhReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t return sumhChannels[chan]; } + +#endif diff --git a/src/main/rx/xbus.c b/src/main/rx/xbus.c index 4c1f0513ae9..e44c7c68272 100644 --- a/src/main/rx/xbus.c +++ b/src/main/rx/xbus.c @@ -33,6 +33,7 @@ // // Serial driver for JR's XBus (MODE B) receiver // +#ifdef USE_SERIALRX_XBUS #define XBUS_CHANNEL_COUNT 12 #define XBUS_RJ01_CHANNEL_COUNT 12 @@ -316,3 +317,5 @@ static uint16_t xBusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t return data; } + +#endif diff --git a/src/main/target/CC3D/target.h b/src/main/target/CC3D/target.h index 1a71924f431..b2d67677d7f 100644 --- a/src/main/target/CC3D/target.h +++ b/src/main/target/CC3D/target.h @@ -201,6 +201,7 @@ #define SKIP_CLI_RESOURCES #define SKIP_RX_MSP + #ifdef USE_RX_NRF24 #define SKIP_RX_PWM_PPM #undef SERIAL_RX diff --git a/src/main/target/common.h b/src/main/target/common.h index acbbed48f61..fc594502dad 100644 --- a/src/main/target/common.h +++ b/src/main/target/common.h @@ -22,9 +22,21 @@ #define USE_I2C_PULLUP // Enable built-in pullups on all boards in case external ones are too week #define USE_SERVOS -#define SERIAL_RX #define USE_CLI +#define SERIAL_RX +#define USE_SERIALRX_SPEKTRUM // Cheap and fairly common protocol +#define USE_SERIALRX_SBUS // Very common protocol +#define USE_SERIALRX_IBUS // Cheap FlySky & Turnigy receivers + +#if (FLASH_SIZE > 128) + // These are rather exotic protocols + #define USE_SERIALRX_SUMD + #define USE_SERIALRX_SUMH + #define USE_SERIALRX_XBUS + #define USE_SERIALRX_JETIEXBUS +#endif + #if (FLASH_SIZE <= 64) #define SKIP_TASK_STATISTICS #define SKIP_CLI_COMMAND_HELP From d9f35dfc79fe7d891853fe7cf64bdfc9a42fe6e1 Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Wed, 2 Nov 2016 14:04:30 +0000 Subject: [PATCH 064/139] Reduced and rationalised #includes --- src/main/blackbox/blackbox.c | 2 - src/main/build/build_config.c | 2 - src/main/common/printf.c | 4 +- src/main/common/printf.h | 5 +- src/main/config/config.c | 6 --- src/main/config/config_eeprom.c | 5 -- src/main/config/config_master.h | 1 + src/main/config/feature.c | 53 +------------------ src/main/drivers/bus_i2c.h | 4 +- src/main/fc/fc_hardfaults.c | 3 ++ src/main/fc/fc_msp.c | 4 -- src/main/fc/mw.c | 8 +-- src/main/fc/rc_controls.c | 35 ++++++------ src/main/flight/hil.c | 2 - src/main/flight/imu.c | 3 -- src/main/flight/mixer.c | 10 ++-- src/main/flight/navigation_rewrite.c | 2 - .../flight/navigation_rewrite_fixedwing.c | 2 - src/main/flight/navigation_rewrite_geo.c | 4 -- .../flight/navigation_rewrite_multicopter.c | 6 +-- .../flight/navigation_rewrite_pos_estimator.c | 2 - src/main/flight/pid.c | 25 ++++----- src/main/flight/servos.c | 15 +++--- src/main/io/beeper.c | 4 +- src/main/io/display.c | 4 -- src/main/io/gps.c | 10 ++-- src/main/io/gps_i2cnav.c | 6 +-- src/main/io/gps_naza.c | 4 +- src/main/io/gps_nmea.c | 4 +- src/main/io/gps_private.h | 2 + src/main/io/gps_ublox.c | 3 +- src/main/io/ledstrip.c | 25 ++++----- src/main/io/serial_cli.c | 2 - src/main/io/statusindicator.c | 2 - src/main/rx/ibus.c | 4 +- src/main/rx/jetiexbus.c | 9 ++-- src/main/rx/msp.c | 4 -- src/main/rx/pwm.c | 2 - src/main/rx/rx.c | 4 +- src/main/rx/sbus.c | 7 +-- src/main/rx/spektrum.c | 8 ++- src/main/rx/sumd.c | 4 +- src/main/rx/sumh.c | 4 +- src/main/rx/xbus.c | 3 +- src/main/sensors/acceleration.c | 2 - src/main/sensors/acceleration.h | 4 ++ src/main/sensors/compass.c | 9 ++-- src/main/sensors/compass.h | 5 +- src/main/sensors/gyro.c | 4 -- src/main/sensors/gyro.h | 2 + src/main/telemetry/frsky.c | 5 -- src/main/telemetry/ibus.c | 2 - src/main/telemetry/ltm.c | 5 -- src/main/telemetry/mavlink.c | 5 -- src/main/telemetry/smartport.c | 20 +------ src/main/telemetry/telemetry.c | 9 ++-- src/main/telemetry/telemetry.h | 3 +- 57 files changed, 105 insertions(+), 288 deletions(-) diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c index e70b6195da0..eb97aa15a5e 100644 --- a/src/main/blackbox/blackbox.c +++ b/src/main/blackbox/blackbox.c @@ -31,12 +31,10 @@ #include "common/encoding.h" #include "common/utils.h" -#include "drivers/gpio.h" #include "drivers/sensor.h" #include "drivers/system.h" #include "drivers/serial.h" #include "drivers/compass.h" -#include "drivers/timer.h" #include "drivers/pwm_rx.h" #include "drivers/accgyro.h" #include "drivers/light_led.h" diff --git a/src/main/build/build_config.c b/src/main/build/build_config.c index bd1352fd41c..a837a79cdcf 100644 --- a/src/main/build/build_config.c +++ b/src/main/build/build_config.c @@ -20,8 +20,6 @@ #include "platform.h" -#include "drivers/gpio.h" -#include "drivers/timer.h" #include "drivers/pwm_mapping.h" #include "flight/mixer.h" diff --git a/src/main/common/printf.c b/src/main/common/printf.c index a6840e228a2..c8416939df6 100644 --- a/src/main/common/printf.c +++ b/src/main/common/printf.c @@ -38,11 +38,9 @@ #include "build/build_config.h" - #include "drivers/serial.h" -#include "io/serial.h" -#include "build/build_config.h" +#include "io/serial.h" #include "printf.h" diff --git a/src/main/common/printf.h b/src/main/common/printf.h index 27615cf56da..86f110a4ba0 100644 --- a/src/main/common/printf.h +++ b/src/main/common/printf.h @@ -107,8 +107,6 @@ regs Kusti, 23.10.2004 #include -#include "drivers/serial.h" - void init_printf(void *putp, void (*putf) (void *, char)); int tfp_printf(const char *fmt, ...); @@ -120,6 +118,7 @@ int tfp_format(void *putp, void (*putf) (void *, char), const char *fmt, va_list #define sprintf tfp_sprintf void printfSupportInit(void); -void setPrintfSerialPort(serialPort_t *serialPort); +struct serialPort_s; +void setPrintfSerialPort(struct serialPort_s *serialPort); #endif diff --git a/src/main/config/config.c b/src/main/config/config.c index 33a91307921..a0217b561f2 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -30,15 +30,9 @@ #include "common/maths.h" #include "common/filter.h" -#include "drivers/sensor.h" -#include "drivers/accgyro.h" -#include "drivers/compass.h" #include "drivers/system.h" -#include "drivers/timer.h" -#include "drivers/pwm_rx.h" #include "drivers/rx_spi.h" #include "drivers/pwm_output.h" -#include "drivers/rx_nrf24l01.h" #include "drivers/serial.h" #include "sensors/sensors.h" diff --git a/src/main/config/config_eeprom.c b/src/main/config/config_eeprom.c index b666f3c2526..417beab1b6a 100755 --- a/src/main/config/config_eeprom.c +++ b/src/main/config/config_eeprom.c @@ -26,12 +26,7 @@ #include "common/color.h" #include "common/axis.h" -#include "drivers/sensor.h" -#include "drivers/accgyro.h" -#include "drivers/compass.h" #include "drivers/system.h" -#include "drivers/timer.h" -#include "drivers/pwm_rx.h" #include "drivers/serial.h" #include "sensors/sensors.h" diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h index 167e3aa4763..be755e90fee 100644 --- a/src/main/config/config_master.h +++ b/src/main/config/config_master.h @@ -52,6 +52,7 @@ #include "flight/mixer.h" #include "flight/servos.h" +#include "flight/navigation_rewrite.h" #include "flight/pid.h" #include "flight/imu.h" #include "flight/failsafe.h" diff --git a/src/main/config/feature.c b/src/main/config/feature.c index e98de617960..363ba9748ae 100755 --- a/src/main/config/feature.c +++ b/src/main/config/feature.c @@ -17,62 +17,11 @@ #include #include -#include #include "platform.h" -#include "common/axis.h" -#include "common/color.h" -#include "common/maths.h" - -#include "drivers/sensor.h" -#include "drivers/accgyro.h" -#include "drivers/compass.h" -#include "drivers/system.h" -#include "drivers/gpio.h" -#include "drivers/timer.h" -#include "drivers/pwm_rx.h" -#include "drivers/rx_spi.h" -#include "drivers/serial.h" - -#include "sensors/sensors.h" -#include "sensors/gyro.h" -#include "sensors/compass.h" -#include "sensors/acceleration.h" -#include "sensors/barometer.h" -#include "sensors/boardalignment.h" -#include "sensors/battery.h" - -#include "io/beeper.h" -#include "io/serial.h" -#include "io/gimbal.h" -#include "io/motors.h" -#include "io/servos.h" -#include "fc/rc_controls.h" -#include "fc/rc_curves.h" -#include "io/ledstrip.h" -#include "io/gps.h" - -#include "rx/rx.h" -#include "rx/rx_spi.h" - -#include "blackbox/blackbox_io.h" - -#include "telemetry/telemetry.h" - -#include "flight/mixer.h" -#include "flight/servos.h" -#include "flight/pid.h" -#include "flight/imu.h" -#include "flight/failsafe.h" -#include "flight/navigation_rewrite.h" - -#include "fc/runtime_config.h" - -#include "config/config.h" - -#include "config/config_profile.h" #include "config/config_master.h" +#include "config/feature.h" static uint32_t activeFeaturesLatch = 0; diff --git a/src/main/drivers/bus_i2c.h b/src/main/drivers/bus_i2c.h index 10c7e3d55d5..ad7c902bda6 100644 --- a/src/main/drivers/bus_i2c.h +++ b/src/main/drivers/bus_i2c.h @@ -21,8 +21,8 @@ #define I2C_LONG_TIMEOUT ((uint32_t)(10 * I2C_SHORT_TIMEOUT)) #define I2C_DEFAULT_TIMEOUT I2C_LONG_TIMEOUT -#include "drivers/io.h" -#include "drivers/rcc.h" +#include "drivers/io_types.h" +#include "drivers/rcc_types.h" #ifndef I2C_DEVICE #define I2C_DEVICE I2CINVALID diff --git a/src/main/fc/fc_hardfaults.c b/src/main/fc/fc_hardfaults.c index 59cfc51f4e7..877ec8f3426 100644 --- a/src/main/fc/fc_hardfaults.c +++ b/src/main/fc/fc_hardfaults.c @@ -21,7 +21,10 @@ #include "platform.h" #include "drivers/light_led.h" +#include "drivers/system.h" + #include "fc/fc_init.h" + #include "flight/mixer.h" #ifdef DEBUG_HARDFAULTS diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index 23bf6f9da91..8d2b727e6fa 100644 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -35,15 +35,11 @@ #include "drivers/system.h" -#include "drivers/sensor.h" #include "drivers/accgyro.h" #include "drivers/compass.h" #include "drivers/pwm_mapping.h" - #include "drivers/serial.h" #include "drivers/bus_i2c.h" -#include "drivers/timer.h" -#include "drivers/pwm_rx.h" #include "drivers/sdcard.h" #include "fc/fc_msp.h" diff --git a/src/main/fc/mw.c b/src/main/fc/mw.c index bcb37d018cb..4f477e9d3e6 100755 --- a/src/main/fc/mw.c +++ b/src/main/fc/mw.c @@ -31,14 +31,10 @@ #include "common/utils.h" #include "common/filter.h" -#include "drivers/sensor.h" -#include "drivers/accgyro.h" #include "drivers/light_led.h" - -#include "drivers/system.h" -#include "drivers/serial.h" -#include "drivers/pwm_rx.h" #include "drivers/gyro_sync.h" +#include "drivers/serial.h" +#include "drivers/system.h" #include "sensors/sensors.h" #include "sensors/boardalignment.h" diff --git a/src/main/fc/rc_controls.c b/src/main/fc/rc_controls.c index a5d98ee35a0..7941afac9a6 100644 --- a/src/main/fc/rc_controls.c +++ b/src/main/fc/rc_controls.c @@ -25,41 +25,36 @@ #include "build/build_config.h" +#include "blackbox/blackbox.h" + #include "common/axis.h" #include "common/maths.h" -#include "drivers/system.h" -#include "drivers/sensor.h" -#include "drivers/accgyro.h" - -#include "sensors/barometer.h" -#include "sensors/battery.h" -#include "sensors/sensors.h" -#include "sensors/gyro.h" -#include "sensors/acceleration.h" - -#include "rx/rx.h" +#include "config/config.h" +#include "config/feature.h" -#include "io/gps.h" -#include "io/beeper.h" -#include "io/motors.h" +#include "drivers/system.h" +#include "fc/mw.h" #include "fc/rc_controls.h" #include "fc/rc_curves.h" #include "fc/runtime_config.h" -#include "io/display.h" - #include "flight/pid.h" #include "flight/navigation_rewrite.h" #include "flight/failsafe.h" -#include "config/config.h" -#include "config/feature.h" +#include "io/gps.h" +#include "io/beeper.h" +#include "io/motors.h" -#include "blackbox/blackbox.h" +#include "rx/rx.h" -#include "mw.h" +#include "sensors/barometer.h" +#include "sensors/battery.h" +#include "sensors/sensors.h" +#include "sensors/gyro.h" +#include "sensors/acceleration.h" #define AIRMODE_DEADBAND 25 diff --git a/src/main/flight/hil.c b/src/main/flight/hil.c index 32be517a5bf..4e01e4d0578 100644 --- a/src/main/flight/hil.c +++ b/src/main/flight/hil.c @@ -32,8 +32,6 @@ #include "common/filter.h" #include "drivers/system.h" -#include "drivers/sensor.h" -#include "drivers/accgyro.h" #include "sensors/sensors.h" #include "sensors/acceleration.h" diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c index 51e900c596e..7bb6fd82cfe 100644 --- a/src/main/flight/imu.c +++ b/src/main/flight/imu.c @@ -35,9 +35,6 @@ #include "common/filter.h" #include "drivers/system.h" -#include "drivers/sensor.h" -#include "drivers/accgyro.h" -#include "drivers/compass.h" #include "sensors/sensors.h" #include "sensors/gyro.h" diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c index 210c5a0871d..18bcd83a03a 100755 --- a/src/main/flight/mixer.c +++ b/src/main/flight/mixer.c @@ -34,21 +34,19 @@ #include "drivers/system.h" #include "drivers/pwm_output.h" #include "drivers/pwm_mapping.h" -#include "drivers/sensor.h" -#include "drivers/accgyro.h" -#include "drivers/system.h" #include "rx/rx.h" #include "io/gimbal.h" #include "io/motors.h" -#include "fc/rc_controls.h" - #include "sensors/sensors.h" #include "sensors/acceleration.h" #include "sensors/gyro.h" +#include "fc/rc_controls.h" +#include "fc/runtime_config.h" + #include "flight/mixer.h" #include "flight/servos.h" #include "flight/failsafe.h" @@ -56,8 +54,6 @@ #include "flight/imu.h" #include "flight/navigation_rewrite.h" -#include "fc/runtime_config.h" - #include "config/config.h" #include "config/config_profile.h" #include "config/feature.h" diff --git a/src/main/flight/navigation_rewrite.c b/src/main/flight/navigation_rewrite.c index 4c8b3e412f9..488b3675d60 100755 --- a/src/main/flight/navigation_rewrite.c +++ b/src/main/flight/navigation_rewrite.c @@ -30,8 +30,6 @@ #include "common/filter.h" #include "drivers/system.h" -#include "drivers/sensor.h" -#include "drivers/accgyro.h" #include "sensors/sensors.h" #include "sensors/acceleration.h" diff --git a/src/main/flight/navigation_rewrite_fixedwing.c b/src/main/flight/navigation_rewrite_fixedwing.c index 3bf4c01b780..34b34e8c509 100755 --- a/src/main/flight/navigation_rewrite_fixedwing.c +++ b/src/main/flight/navigation_rewrite_fixedwing.c @@ -31,8 +31,6 @@ #include "common/filter.h" #include "drivers/system.h" -#include "drivers/sensor.h" -#include "drivers/accgyro.h" #include "sensors/sensors.h" #include "sensors/acceleration.h" diff --git a/src/main/flight/navigation_rewrite_geo.c b/src/main/flight/navigation_rewrite_geo.c index 28099b17c95..ad7fa9d69f7 100755 --- a/src/main/flight/navigation_rewrite_geo.c +++ b/src/main/flight/navigation_rewrite_geo.c @@ -29,10 +29,6 @@ #include "common/axis.h" #include "common/maths.h" -#include "drivers/system.h" -#include "drivers/sensor.h" -#include "drivers/accgyro.h" - #include "sensors/sensors.h" #include "sensors/acceleration.h" #include "sensors/boardalignment.h" diff --git a/src/main/flight/navigation_rewrite_multicopter.c b/src/main/flight/navigation_rewrite_multicopter.c index 03ded8e94d8..11f4c7d4b41 100755 --- a/src/main/flight/navigation_rewrite_multicopter.c +++ b/src/main/flight/navigation_rewrite_multicopter.c @@ -26,14 +26,12 @@ #include "build/build_config.h" #include "build/debug.h" +#include "drivers/system.h" + #include "common/axis.h" #include "common/maths.h" #include "common/filter.h" -#include "drivers/system.h" -#include "drivers/sensor.h" -#include "drivers/accgyro.h" - #include "sensors/sensors.h" #include "sensors/acceleration.h" #include "sensors/boardalignment.h" diff --git a/src/main/flight/navigation_rewrite_pos_estimator.c b/src/main/flight/navigation_rewrite_pos_estimator.c index 0d43bea2b6c..62449beb0be 100755 --- a/src/main/flight/navigation_rewrite_pos_estimator.c +++ b/src/main/flight/navigation_rewrite_pos_estimator.c @@ -31,8 +31,6 @@ #include "common/maths.h" #include "drivers/system.h" -#include "drivers/sensor.h" -#include "drivers/accgyro.h" #include "sensors/sensors.h" #include "sensors/rangefinder.h" diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index 39f6f4b58c1..611b6486abc 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -22,34 +22,27 @@ #include #include "build/build_config.h" - #include "build/debug.h" +#include "common/axis.h" +#include "common/filter.h" +#include "common/maths.h" +#include "fc/rc_controls.h" #include "fc/runtime_config.h" +#include "flight/pid.h" +#include "flight/imu.h" +#include "flight/navigation_rewrite.h" -#include "common/axis.h" -#include "common/maths.h" -#include "common/filter.h" +#include "io/gps.h" -#include "drivers/sensor.h" -#include "drivers/accgyro.h" -#include "drivers/gyro_sync.h" +#include "rx/rx.h" #include "sensors/sensors.h" #include "sensors/gyro.h" #include "sensors/acceleration.h" -#include "rx/rx.h" - -#include "fc/rc_controls.h" - -#include "io/gps.h" - -#include "flight/pid.h" -#include "flight/imu.h" -#include "flight/navigation_rewrite.h" #define MAG_HOLD_ERROR_LPF_FREQ 2 diff --git a/src/main/flight/servos.c b/src/main/flight/servos.c index df06f36a8cd..39b03069654 100755 --- a/src/main/flight/servos.c +++ b/src/main/flight/servos.c @@ -31,22 +31,22 @@ #include "common/maths.h" #include "common/filter.h" -#include "drivers/system.h" #include "drivers/pwm_output.h" #include "drivers/pwm_mapping.h" -#include "drivers/sensor.h" -#include "drivers/accgyro.h" #include "drivers/system.h" -#include "rx/rx.h" - #include "io/gimbal.h" #include "io/servos.h" -#include "fc/rc_controls.h" + +#include "rx/rx.h" + #include "sensors/sensors.h" #include "sensors/acceleration.h" #include "sensors/gyro.h" +#include "fc/rc_controls.h" +#include "fc/runtime_config.h" + #include "flight/mixer.h" #include "flight/servos.h" #include "flight/failsafe.h" @@ -54,12 +54,11 @@ #include "flight/imu.h" #include "flight/navigation_rewrite.h" -#include "fc/runtime_config.h" - #include "config/config.h" #include "config/config_profile.h" #include "config/feature.h" + extern mixerMode_e currentMixerMode; extern const mixer_t mixers[]; extern mixerConfig_t *mixerConfig; diff --git a/src/main/io/beeper.c b/src/main/io/beeper.c index 003ce01f483..144a5b622e1 100644 --- a/src/main/io/beeper.c +++ b/src/main/io/beeper.c @@ -23,14 +23,13 @@ #include "build/build_config.h" -#include "drivers/gpio.h" #include "drivers/sound_beeper.h" #include "drivers/system.h" + #include "sensors/battery.h" #include "sensors/sensors.h" #include "rx/rx.h" -#include "fc/rc_controls.h" #include "io/statusindicator.h" @@ -38,6 +37,7 @@ #include "io/gps.h" #endif +#include "fc/rc_controls.h" #include "fc/runtime_config.h" #include "config/config.h" diff --git a/src/main/io/display.c b/src/main/io/display.c index 303d631f193..e8fd39726c7 100644 --- a/src/main/io/display.c +++ b/src/main/io/display.c @@ -27,12 +27,8 @@ #include "build/version.h" #include "build/build_config.h" -#include "drivers/serial.h" #include "drivers/system.h" #include "drivers/display_ug2864hsweg01.h" -#include "drivers/sensor.h" -#include "drivers/accgyro.h" -#include "drivers/compass.h" #include "common/printf.h" #include "common/maths.h" diff --git a/src/main/io/gps.c b/src/main/io/gps.c index 886e369fcd2..3ec5fba0653 100755 --- a/src/main/io/gps.c +++ b/src/main/io/gps.c @@ -28,18 +28,14 @@ #include "build/debug.h" - #include "common/maths.h" #include "common/axis.h" #include "common/utils.h" -#include "drivers/system.h" -#include "drivers/serial.h" -#include "drivers/serial_uart.h" -#include "drivers/gpio.h" -#include "drivers/light_led.h" -#include "drivers/sensor.h" #include "drivers/compass.h" +#include "drivers/light_led.h" +#include "drivers/serial.h" +#include "drivers/system.h" #include "sensors/sensors.h" #include "sensors/compass.h" diff --git a/src/main/io/gps_i2cnav.c b/src/main/io/gps_i2cnav.c index 8aa28c925ae..4e2157da731 100755 --- a/src/main/io/gps_i2cnav.c +++ b/src/main/io/gps_i2cnav.c @@ -26,13 +26,13 @@ #include "build/build_config.h" #include "build/debug.h" -#include "common/maths.h" #include "common/axis.h" +#include "common/maths.h" #include "common/utils.h" -#include "drivers/system.h" -#include "drivers/serial.h" #include "drivers/gps_i2cnav.h" +#include "drivers/serial.h" +#include "drivers/system.h" #include "io/serial.h" #include "io/gps.h" diff --git a/src/main/io/gps_naza.c b/src/main/io/gps_naza.c index f3fc177a23f..35bb55b9653 100644 --- a/src/main/io/gps_naza.c +++ b/src/main/io/gps_naza.c @@ -29,14 +29,12 @@ #include "build/debug.h" - #include "common/maths.h" #include "common/axis.h" #include "common/utils.h" -#include "drivers/system.h" #include "drivers/serial.h" -#include "drivers/serial_uart.h" +#include "drivers/system.h" #include "io/serial.h" #include "io/gps.h" diff --git a/src/main/io/gps_nmea.c b/src/main/io/gps_nmea.c index c53215442a8..a3a08f8d5d2 100755 --- a/src/main/io/gps_nmea.c +++ b/src/main/io/gps_nmea.c @@ -29,14 +29,12 @@ #include "build/debug.h" - #include "common/maths.h" #include "common/axis.h" #include "common/utils.h" -#include "drivers/system.h" #include "drivers/serial.h" -#include "drivers/serial_uart.h" +#include "drivers/system.h" #include "io/serial.h" #include "io/gps.h" diff --git a/src/main/io/gps_private.h b/src/main/io/gps_private.h index f6b7a7d9d27..7e4c73c065a 100755 --- a/src/main/io/gps_private.h +++ b/src/main/io/gps_private.h @@ -19,6 +19,8 @@ #ifdef GPS +#include "io/serial.h" + #define GPS_HDOP_TO_EPH_MULTIPLIER 2 // empirical value typedef enum { diff --git a/src/main/io/gps_ublox.c b/src/main/io/gps_ublox.c index c508f13a021..75d97c20365 100755 --- a/src/main/io/gps_ublox.c +++ b/src/main/io/gps_ublox.c @@ -35,9 +35,8 @@ #include "common/axis.h" #include "common/utils.h" -#include "drivers/system.h" #include "drivers/serial.h" -#include "drivers/serial_uart.h" +#include "drivers/system.h" #include "io/serial.h" #include "io/gps.h" diff --git a/src/main/io/ledstrip.c b/src/main/io/ledstrip.c index e5a95119ddc..6fff408c2c3 100644 --- a/src/main/io/ledstrip.c +++ b/src/main/io/ledstrip.c @@ -32,26 +32,22 @@ #include "common/typeconversion.h" #include "drivers/light_ws2811strip.h" -#include "drivers/system.h" #include "drivers/serial.h" -#include "drivers/sensor.h" -#include "drivers/accgyro.h" -#include "drivers/gpio.h" -#include "drivers/timer.h" -#include "drivers/pwm_rx.h" +#include "drivers/system.h" -#include #include "common/axis.h" +#include "common/printf.h" #include "common/utils.h" #include "fc/rc_controls.h" +#include "fc/runtime_config.h" +#include "sensors/acceleration.h" +#include "sensors/barometer.h" #include "sensors/battery.h" -#include "sensors/sensors.h" #include "sensors/boardalignment.h" #include "sensors/gyro.h" -#include "sensors/acceleration.h" -#include "sensors/barometer.h" +#include "sensors/sensors.h" #include "io/ledstrip.h" #include "io/beeper.h" @@ -63,6 +59,8 @@ #include "rx/rx.h" +#include "telemetry/telemetry.h" + #include "flight/failsafe.h" #include "flight/mixer.h" #include "flight/servos.h" @@ -70,15 +68,12 @@ #include "flight/imu.h" #include "flight/navigation_rewrite.h" -#include "telemetry/telemetry.h" - -#include "fc/runtime_config.h" - #include "config/config.h" -#include "config/config_profile.h" #include "config/config_master.h" +#include "config/config_profile.h" #include "config/feature.h" + /* PG_REGISTER_ARR_WITH_RESET_FN(ledConfig_t, LED_MAX_STRIP_LENGTH, ledConfigs, PG_LED_STRIP_CONFIG, 0); PG_REGISTER_ARR_WITH_RESET_FN(hsvColor_t, LED_CONFIGURABLE_COLOR_COUNT, colors, PG_COLOR_CONFIG, 0); diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index 8a26558ab06..7cfb2de661a 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -43,10 +43,8 @@ #include "drivers/sensor.h" #include "drivers/accgyro.h" #include "drivers/compass.h" - #include "drivers/serial.h" #include "drivers/bus_i2c.h" -#include "drivers/gpio.h" #include "drivers/io.h" #include "drivers/io_impl.h" #include "drivers/timer.h" diff --git a/src/main/io/statusindicator.c b/src/main/io/statusindicator.c index e8b01ac9a20..1a5ea4c30fc 100644 --- a/src/main/io/statusindicator.c +++ b/src/main/io/statusindicator.c @@ -21,9 +21,7 @@ #include "platform.h" #include "drivers/system.h" -#include "drivers/gpio.h" #include "drivers/light_led.h" -#include "drivers/sound_beeper.h" #include "statusindicator.h" diff --git a/src/main/rx/ibus.c b/src/main/rx/ibus.c index bd0c757cadc..8d890ef4630 100755 --- a/src/main/rx/ibus.c +++ b/src/main/rx/ibus.c @@ -29,11 +29,9 @@ #include "build/build_config.h" - +#include "drivers/serial.h" #include "drivers/system.h" -#include "drivers/serial.h" -#include "drivers/serial_uart.h" #include "io/serial.h" #include "rx/rx.h" diff --git a/src/main/rx/jetiexbus.c b/src/main/rx/jetiexbus.c index 0174ffce473..ca41d99d731 100644 --- a/src/main/rx/jetiexbus.c +++ b/src/main/rx/jetiexbus.c @@ -42,10 +42,12 @@ #include "common/utils.h" #include "build/build_config.h" -#include "drivers/system.h" #include "drivers/serial.h" #include "drivers/serial_uart.h" +#include "drivers/system.h" + #include "io/serial.h" + #include "rx/rx.h" #include "rx/jetiexbus.h" @@ -57,6 +59,7 @@ #include "sensors/sensors.h" #include "sensors/battery.h" #include "sensors/barometer.h" + #include "telemetry/telemetry.h" #include "telemetry/jetiexbus.h" @@ -611,6 +614,6 @@ void sendJetiExBusTelemetry(uint8_t packetID) requestLoop++; } -#endif //TELEMETRY +#endif // TELEMETRY -#endif //SKIP_SERIALRX_JETIEXBUS +#endif // USE_SERIALRX_JETIEXBUS diff --git a/src/main/rx/msp.c b/src/main/rx/msp.c index 94b64049d78..b04e6d78636 100644 --- a/src/main/rx/msp.c +++ b/src/main/rx/msp.c @@ -25,10 +25,6 @@ #ifndef SKIP_RX_MSP -#include "drivers/system.h" -#include "drivers/serial.h" -#include "drivers/serial_uart.h" - #include "rx/rx.h" #include "rx/msp.h" diff --git a/src/main/rx/pwm.c b/src/main/rx/pwm.c index ab92a044ca0..8bfcf37480a 100644 --- a/src/main/rx/pwm.c +++ b/src/main/rx/pwm.c @@ -28,8 +28,6 @@ #ifndef SKIP_RX_PWM_PPM -#include "drivers/gpio.h" -#include "drivers/timer.h" #include "drivers/pwm_rx.h" #include "config/config.h" diff --git a/src/main/rx/rx.c b/src/main/rx/rx.c index c8334106d6b..eef001f2897 100644 --- a/src/main/rx/rx.c +++ b/src/main/rx/rx.c @@ -31,12 +31,10 @@ #include "config/config.h" #include "config/feature.h" -#include "drivers/serial.h" #include "drivers/adc.h" -#include "drivers/gpio.h" -#include "drivers/timer.h" #include "drivers/pwm_rx.h" #include "drivers/rx_spi.h" +#include "drivers/serial.h" #include "drivers/system.h" #include "fc/rc_controls.h" diff --git a/src/main/rx/sbus.c b/src/main/rx/sbus.c index 9668ec736be..3dd82a5acb6 100644 --- a/src/main/rx/sbus.c +++ b/src/main/rx/sbus.c @@ -23,14 +23,9 @@ #include "build/build_config.h" - +#include "drivers/serial.h" #include "drivers/system.h" -#include "drivers/gpio.h" -#include "drivers/inverter.h" - -#include "drivers/serial.h" -#include "drivers/serial_uart.h" #include "io/serial.h" #include "rx/rx.h" diff --git a/src/main/rx/spektrum.c b/src/main/rx/spektrum.c index cf3cf001479..00ec916107d 100644 --- a/src/main/rx/spektrum.c +++ b/src/main/rx/spektrum.c @@ -20,17 +20,15 @@ #include #include "platform.h" -#include "build/debug.h" +#include "build/debug.h" #include "drivers/io.h" #include "drivers/io_impl.h" -#include "drivers/system.h" - #include "drivers/light_led.h" - #include "drivers/serial.h" -#include "drivers/serial_uart.h" +#include "drivers/system.h" + #include "io/serial.h" #include "config/config.h" diff --git a/src/main/rx/sumd.c b/src/main/rx/sumd.c index 4205737b523..433ab682262 100644 --- a/src/main/rx/sumd.c +++ b/src/main/rx/sumd.c @@ -23,11 +23,9 @@ #include "build/build_config.h" - +#include "drivers/serial.h" #include "drivers/system.h" -#include "drivers/serial.h" -#include "drivers/serial_uart.h" #include "io/serial.h" #include "rx/rx.h" diff --git a/src/main/rx/sumh.c b/src/main/rx/sumh.c index 1aabbe689b9..d62100eefd3 100644 --- a/src/main/rx/sumh.c +++ b/src/main/rx/sumh.c @@ -29,11 +29,9 @@ #include "build/build_config.h" - +#include "drivers/serial.h" #include "drivers/system.h" -#include "drivers/serial.h" -#include "drivers/serial_uart.h" #include "io/serial.h" #include "rx/rx.h" diff --git a/src/main/rx/xbus.c b/src/main/rx/xbus.c index e44c7c68272..37adc78a358 100644 --- a/src/main/rx/xbus.c +++ b/src/main/rx/xbus.c @@ -21,10 +21,9 @@ #include "platform.h" +#include "drivers/serial.h" #include "drivers/system.h" -#include "drivers/serial.h" -#include "drivers/serial_uart.h" #include "io/serial.h" #include "rx/rx.h" diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c index 956e2ebb342..4ea4a788c5b 100644 --- a/src/main/sensors/acceleration.c +++ b/src/main/sensors/acceleration.c @@ -26,8 +26,6 @@ #include "common/filter.h" #include "drivers/sensor.h" -#include "drivers/accgyro.h" -#include "drivers/gyro_sync.h" #include "sensors/battery.h" #include "sensors/sensors.h" diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h index 5c460534617..7fd1d162950 100644 --- a/src/main/sensors/acceleration.h +++ b/src/main/sensors/acceleration.h @@ -17,6 +17,10 @@ #pragma once +#include "drivers/accgyro.h" + +#include "sensors/sensors.h" + // Type of accelerometer used/detected typedef enum { ACC_DEFAULT = 0, diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c index f7f46edff1e..15297451aa9 100644 --- a/src/main/sensors/compass.c +++ b/src/main/sensors/compass.c @@ -25,17 +25,14 @@ #include "common/axis.h" #include "common/maths.h" -#include "drivers/sensor.h" +#include "config/config.h" + #include "drivers/compass.h" -#include "drivers/compass_hmc5883l.h" -#include "drivers/gpio.h" #include "drivers/light_led.h" -#include "sensors/boardalignment.h" #include "fc/runtime_config.h" -#include "config/config.h" - +#include "sensors/boardalignment.h" #include "sensors/sensors.h" #include "sensors/compass.h" diff --git a/src/main/sensors/compass.h b/src/main/sensors/compass.h index a7ddb5cca34..02cb0a3b5d3 100644 --- a/src/main/sensors/compass.h +++ b/src/main/sensors/compass.h @@ -17,6 +17,8 @@ #pragma once +#include "sensors/sensors.h" + // Type of magnetometer used/detected typedef enum { MAG_DEFAULT = 0, @@ -33,7 +35,8 @@ typedef enum { #ifdef MAG bool compassInit(int16_t magDeclinationFromConfig); -void updateCompass(flightDynamicsTrims_t *magZero); +union flightDynamicsTrims_u; +void updateCompass(union flightDynamicsTrims_u *magZero); bool isCompassReady(void); #endif diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c index 9f0674083a4..b62867fc8c1 100644 --- a/src/main/sensors/gyro.c +++ b/src/main/sensors/gyro.c @@ -25,10 +25,6 @@ #include "common/maths.h" #include "common/filter.h" -#include "drivers/sensor.h" -#include "drivers/accgyro.h" -#include "drivers/gyro_sync.h" - #include "io/beeper.h" #include "io/statusindicator.h" diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h index 485824670b5..fd0315ba0c6 100644 --- a/src/main/sensors/gyro.h +++ b/src/main/sensors/gyro.h @@ -17,6 +17,8 @@ #pragma once +#include "drivers/accgyro.h" + typedef enum { GYRO_NONE = 0, GYRO_DEFAULT, diff --git a/src/main/telemetry/frsky.c b/src/main/telemetry/frsky.c index c9c9b078fc8..4d0023b3032 100644 --- a/src/main/telemetry/frsky.c +++ b/src/main/telemetry/frsky.c @@ -32,13 +32,8 @@ #include "common/axis.h" #include "drivers/system.h" -#include "drivers/sensor.h" -#include "drivers/accgyro.h" -#include "drivers/gpio.h" -#include "drivers/timer.h" #include "drivers/serial.h" - #include "sensors/sensors.h" #include "sensors/acceleration.h" #include "sensors/gyro.h" diff --git a/src/main/telemetry/ibus.c b/src/main/telemetry/ibus.c index 909293b02dd..94a488be58e 100644 --- a/src/main/telemetry/ibus.c +++ b/src/main/telemetry/ibus.c @@ -33,8 +33,6 @@ #include "common/axis.h" #include "drivers/system.h" -#include "drivers/sensor.h" -#include "drivers/accgyro.h" #include "drivers/serial.h" #include "io/serial.h" diff --git a/src/main/telemetry/ltm.c b/src/main/telemetry/ltm.c index efbe3d067cb..ecd652c987c 100644 --- a/src/main/telemetry/ltm.c +++ b/src/main/telemetry/ltm.c @@ -46,12 +46,7 @@ #include "common/utils.h" #include "drivers/system.h" -#include "drivers/sensor.h" -#include "drivers/accgyro.h" -#include "drivers/gpio.h" -#include "drivers/timer.h" #include "drivers/serial.h" -#include "drivers/pwm_rx.h" #include "sensors/sensors.h" #include "sensors/acceleration.h" diff --git a/src/main/telemetry/mavlink.c b/src/main/telemetry/mavlink.c index 173ea86a8b5..18809d91b72 100755 --- a/src/main/telemetry/mavlink.c +++ b/src/main/telemetry/mavlink.c @@ -35,12 +35,7 @@ #include "common/color.h" #include "drivers/system.h" -#include "drivers/sensor.h" -#include "drivers/accgyro.h" -#include "drivers/gpio.h" -#include "drivers/timer.h" #include "drivers/serial.h" -#include "drivers/pwm_rx.h" #include "io/serial.h" #include "fc/rc_controls.h" diff --git a/src/main/telemetry/smartport.c b/src/main/telemetry/smartport.c index 7f6e517df0f..58cdd793751 100644 --- a/src/main/telemetry/smartport.c +++ b/src/main/telemetry/smartport.c @@ -16,16 +16,7 @@ #include "common/maths.h" #include "drivers/system.h" -#include "drivers/sensor.h" -#include "drivers/accgyro.h" -#include "drivers/compass.h" #include "drivers/serial.h" -#include "drivers/bus_i2c.h" -#include "drivers/gpio.h" -#include "drivers/timer.h" -#include "drivers/pwm_rx.h" -#include "drivers/adc.h" -#include "drivers/light_led.h" #include "rx/rx.h" #include "rx/msp.h" @@ -33,24 +24,15 @@ #include "fc/rc_controls.h" #include "fc/runtime_config.h" -#include "io/motors.h" #include "io/gps.h" -#include "io/gimbal.h" #include "io/serial.h" #include "io/ledstrip.h" -#include "sensors/boardalignment.h" -#include "sensors/sensors.h" -#include "sensors/battery.h" #include "sensors/acceleration.h" +#include "sensors/battery.h" #include "sensors/barometer.h" -#include "sensors/compass.h" -#include "sensors/gyro.h" -#include "flight/pid.h" #include "flight/imu.h" -#include "flight/mixer.h" -#include "flight/failsafe.h" #include "flight/navigation_rewrite.h" #include "telemetry/telemetry.h" diff --git a/src/main/telemetry/telemetry.c b/src/main/telemetry/telemetry.c index a3cf447818d..fbb64139ff7 100644 --- a/src/main/telemetry/telemetry.c +++ b/src/main/telemetry/telemetry.c @@ -25,20 +25,17 @@ #include "common/utils.h" -#include "drivers/gpio.h" -#include "drivers/timer.h" #include "drivers/serial.h" -#include "drivers/serial_softserial.h" + #include "io/serial.h" -#include "rx/rx.h" #include "fc/rc_controls.h" - - #include "fc/runtime_config.h" #include "config/config.h" +#include "rx/rx.h" + #include "telemetry/telemetry.h" #include "telemetry/frsky.h" #include "telemetry/hott.h" diff --git a/src/main/telemetry/telemetry.h b/src/main/telemetry/telemetry.h index b5e34f31938..beebbed277e 100644 --- a/src/main/telemetry/telemetry.h +++ b/src/main/telemetry/telemetry.h @@ -51,7 +51,8 @@ typedef struct telemetryConfig_s { void telemetryInit(void); bool telemetryCheckRxPortShared(serialPortConfig_t *portConfig); -extern serialPort_t *telemetrySharedPort; +struct serialPort_s; +extern struct serialPort_s *telemetrySharedPort; void telemetryCheckState(void); struct rxConfig_s; From 44cccd07ea0e12ede1a22a11aae3c5ad90e8798d Mon Sep 17 00:00:00 2001 From: Konstantin Sharlaimov Date: Fri, 4 Nov 2016 10:14:07 +1000 Subject: [PATCH 065/139] Restructure navigation settings into groups (#747) --- src/main/config/config.c | 104 +++++++-------- src/main/config/config_eeprom.h | 2 +- src/main/flight/navigation_rewrite.c | 50 ++++---- src/main/flight/navigation_rewrite.h | 94 +++++++------- .../flight/navigation_rewrite_fixedwing.c | 34 ++--- .../flight/navigation_rewrite_fw_launch.c | 12 +- .../flight/navigation_rewrite_multicopter.c | 30 ++--- .../flight/navigation_rewrite_pos_estimator.c | 78 ++++++------ src/main/io/serial_cli.c | 118 +++++++++--------- 9 files changed, 264 insertions(+), 258 deletions(-) diff --git a/src/main/config/config.c b/src/main/config/config.c index 33a91307921..78e307c26ec 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -165,81 +165,81 @@ void resetPidProfile(pidProfile_t *pidProfile) void resetNavConfig(navConfig_t * navConfig) { // Navigation flags - navConfig->flags.use_thr_mid_for_althold = 0; - navConfig->flags.extra_arming_safety = 1; - navConfig->flags.user_control_mode = NAV_GPS_ATTI; - navConfig->flags.rth_alt_control_style = NAV_RTH_AT_LEAST_ALT; - navConfig->flags.rth_tail_first = 0; - navConfig->flags.disarm_on_landing = 0; + navConfig->general.flags.use_thr_mid_for_althold = 0; + navConfig->general.flags.extra_arming_safety = 1; + navConfig->general.flags.user_control_mode = NAV_GPS_ATTI; + navConfig->general.flags.rth_alt_control_style = NAV_RTH_AT_LEAST_ALT; + navConfig->general.flags.rth_tail_first = 0; + navConfig->general.flags.disarm_on_landing = 0; // Inertial position estimator parameters #if defined(NAV_AUTO_MAG_DECLINATION) - navConfig->inav.automatic_mag_declination = 1; + navConfig->estimation.automatic_mag_declination = 1; #endif - navConfig->inav.gps_min_sats = 6; - navConfig->inav.gps_delay_ms = 200; - navConfig->inav.accz_unarmed_cal = 1; - navConfig->inav.use_gps_velned = 1; // "Disabled" is mandatory with gps_dyn_model = Pedestrian + navConfig->estimation.gps_min_sats = 6; + navConfig->estimation.gps_delay_ms = 200; + navConfig->estimation.accz_unarmed_cal = 1; + navConfig->estimation.use_gps_velned = 1; // "Disabled" is mandatory with gps_dyn_model = Pedestrian - navConfig->inav.w_z_baro_p = 0.35f; + navConfig->estimation.w_z_baro_p = 0.35f; - navConfig->inav.w_z_gps_p = 0.2f; - navConfig->inav.w_z_gps_v = 0.5f; + navConfig->estimation.w_z_gps_p = 0.2f; + navConfig->estimation.w_z_gps_v = 0.5f; - navConfig->inav.w_xy_gps_p = 1.0f; - navConfig->inav.w_xy_gps_v = 2.0f; + navConfig->estimation.w_xy_gps_p = 1.0f; + navConfig->estimation.w_xy_gps_v = 2.0f; - navConfig->inav.w_z_res_v = 0.5f; - navConfig->inav.w_xy_res_v = 0.5f; + navConfig->estimation.w_z_res_v = 0.5f; + navConfig->estimation.w_xy_res_v = 0.5f; - navConfig->inav.w_acc_bias = 0.01f; + navConfig->estimation.w_acc_bias = 0.01f; - navConfig->inav.max_eph_epv = 1000.0f; - navConfig->inav.baro_epv = 100.0f; + navConfig->estimation.max_eph_epv = 1000.0f; + navConfig->estimation.baro_epv = 100.0f; // General navigation parameters - navConfig->pos_failure_timeout = 5; // 5 sec - navConfig->waypoint_radius = 100; // 2m diameter - navConfig->max_speed = 300; // 3 m/s = 10.8 km/h - navConfig->max_climb_rate = 500; // 5 m/s - navConfig->max_manual_speed = 500; - navConfig->max_manual_climb_rate = 200; - navConfig->land_descent_rate = 200; // 2 m/s - navConfig->land_slowdown_minalt = 500; // 5 meters of altitude - navConfig->land_slowdown_maxalt = 2000; // 20 meters of altitude - navConfig->emerg_descent_rate = 500; // 5 m/s - navConfig->min_rth_distance = 500; // If closer than 5m - land immediately - navConfig->rth_altitude = 1000; // 10m + navConfig->general.pos_failure_timeout = 5; // 5 sec + navConfig->general.waypoint_radius = 100; // 2m diameter + navConfig->general.max_speed = 300; // 3 m/s = 10.8 km/h + navConfig->general.max_climb_rate = 500; // 5 m/s + navConfig->general.max_manual_speed = 500; + navConfig->general.max_manual_climb_rate = 200; + navConfig->general.land_descent_rate = 200; // 2 m/s + navConfig->general.land_slowdown_minalt = 500; // 5 meters of altitude + navConfig->general.land_slowdown_maxalt = 2000; // 20 meters of altitude + navConfig->general.emerg_descent_rate = 500; // 5 m/s + navConfig->general.min_rth_distance = 500; // If closer than 5m - land immediately + navConfig->general.rth_altitude = 1000; // 10m // MC-specific - navConfig->mc_max_bank_angle = 30; // 30 deg - navConfig->mc_hover_throttle = 1500; - navConfig->mc_auto_disarm_delay = 2000; + navConfig->mc.max_bank_angle = 30; // 30 deg + navConfig->mc.hover_throttle = 1500; + navConfig->mc.auto_disarm_delay = 2000; // Fixed wing - navConfig->fw_max_bank_angle = 20; // 30 deg - navConfig->fw_max_climb_angle = 20; - navConfig->fw_max_dive_angle = 15; - navConfig->fw_cruise_throttle = 1400; - navConfig->fw_max_throttle = 1700; - navConfig->fw_min_throttle = 1200; - navConfig->fw_pitch_to_throttle = 10; - navConfig->fw_roll_to_pitch = 75; - navConfig->fw_loiter_radius = 5000; // 50m + navConfig->fw.max_bank_angle = 20; // 30 deg + navConfig->fw.max_climb_angle = 20; + navConfig->fw.max_dive_angle = 15; + navConfig->fw.cruise_throttle = 1400; + navConfig->fw.max_throttle = 1700; + navConfig->fw.min_throttle = 1200; + navConfig->fw.pitch_to_throttle = 10; + navConfig->fw.roll_to_pitch = 75; + navConfig->fw.loiter_radius = 5000; // 50m // Fixed wing launch - navConfig->fw_launch_accel_thresh = 1.9f * 981; // cm/s/s (1.9*G) - navConfig->fw_launch_time_thresh = 40; // 40ms - navConfig->fw_launch_throttle = 1700; - navConfig->fw_launch_motor_timer = 500; // ms - navConfig->fw_launch_timeout = 5000; // ms, timeout for launch procedure - navConfig->fw_launch_climb_angle = 10; // 10 deg + navConfig->fw.launch_accel_thresh = 1.9f * 981; // cm/s/s (1.9*G) + navConfig->fw.launch_time_thresh = 40; // 40ms + navConfig->fw.launch_throttle = 1700; + navConfig->fw.launch_motor_timer = 500; // ms + navConfig->fw.launch_timeout = 5000; // ms, timeout for launch procedure + navConfig->fw.launch_climb_angle = 10; // 10 deg } void validateNavConfig(navConfig_t * navConfig) { // Make sure minAlt is not more than maxAlt, maxAlt cannot be set lower than 500. - navConfig->land_slowdown_minalt = MIN(navConfig->land_slowdown_minalt, navConfig->land_slowdown_maxalt - 100); + navConfig->general.land_slowdown_minalt = MIN(navConfig->general.land_slowdown_minalt, navConfig->general.land_slowdown_maxalt - 100); } #endif diff --git a/src/main/config/config_eeprom.h b/src/main/config/config_eeprom.h index db2e3c1c110..9e46560764d 100644 --- a/src/main/config/config_eeprom.h +++ b/src/main/config/config_eeprom.h @@ -17,7 +17,7 @@ #pragma once -#define EEPROM_CONF_VERSION 122 +#define EEPROM_CONF_VERSION 123 void initEEPROM(void); void writeEEPROM(void); diff --git a/src/main/flight/navigation_rewrite.c b/src/main/flight/navigation_rewrite.c index 4c8b3e412f9..e94ed52656f 100755 --- a/src/main/flight/navigation_rewrite.c +++ b/src/main/flight/navigation_rewrite.c @@ -856,14 +856,14 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_2D_INITIALIZE(navig { UNUSED(previousState); - if (STATE(FIXED_WING) && (posControl.homeDistance < posControl.navConfig->min_rth_distance)) { + if (STATE(FIXED_WING) && (posControl.homeDistance < posControl.navConfig->general.min_rth_distance)) { // Prevent RTH from activating on airplanes if too close to home return NAV_FSM_EVENT_SWITCH_TO_IDLE; } else { if (posControl.flags.hasValidPositionSensor) { // If close to home - reset home position - if (posControl.homeDistance < posControl.navConfig->min_rth_distance) { + if (posControl.homeDistance < posControl.navConfig->general.min_rth_distance) { setHomePosition(&posControl.actualState.pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING); } @@ -895,7 +895,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_2D_HEAD_HOME(naviga } else { // Update XY-position target - if (posControl.navConfig->flags.rth_tail_first && !STATE(FIXED_WING)) { + if (posControl.navConfig->general.flags.rth_tail_first && !STATE(FIXED_WING)) { setDesiredPosition(&posControl.homeWaypointAbove.pos, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_BEARING_TAIL_FIRST); } else { @@ -941,14 +941,14 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_3D_INITIALIZE(navig { UNUSED(previousState); - if (STATE(FIXED_WING) && (posControl.homeDistance < posControl.navConfig->min_rth_distance)) { + if (STATE(FIXED_WING) && (posControl.homeDistance < posControl.navConfig->general.min_rth_distance)) { // Prevent RTH from activating on airplanes if too close to home return NAV_FSM_EVENT_SWITCH_TO_IDLE; } else { if (posControl.flags.hasValidPositionSensor) { // If close to home - reset home position and land - if (posControl.homeDistance < posControl.navConfig->min_rth_distance) { + if (posControl.homeDistance < posControl.navConfig->general.min_rth_distance) { setHomePosition(&posControl.actualState.pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING); setDesiredPosition(&posControl.actualState.pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING); @@ -995,7 +995,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_3D_CLIMB_TO_SAFE_AL } else { // Climb to safe altitude and turn to correct direction - if (posControl.navConfig->flags.rth_tail_first && !STATE(FIXED_WING)) { + if (posControl.navConfig->general.flags.rth_tail_first && !STATE(FIXED_WING)) { setDesiredPosition(&posControl.homeWaypointAbove.pos, 0, NAV_POS_UPDATE_Z | NAV_POS_UPDATE_BEARING_TAIL_FIRST); } else { @@ -1027,7 +1027,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_3D_HEAD_HOME(naviga } else { // Update XYZ-position target - if (posControl.navConfig->flags.rth_tail_first && !STATE(FIXED_WING)) { + if (posControl.navConfig->general.flags.rth_tail_first && !STATE(FIXED_WING)) { setDesiredPosition(&posControl.homeWaypointAbove.pos, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_BEARING_TAIL_FIRST); } else { @@ -1078,18 +1078,18 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_3D_LANDING(navigati if (posControl.flags.hasValidSurfaceSensor && posControl.actualState.surface >= 0 && posControl.actualState.surface < 50.0f) { // land_descent_rate == 200 : descend speed = 30 cm/s, gentle touchdown // Do not allow descent velocity slower than -30cm/s so the landing detector works. - float descentVelLimited = MIN(-0.15f * posControl.navConfig->land_descent_rate, -30.0f); + float descentVelLimited = MIN(-0.15f * posControl.navConfig->general.land_descent_rate, -30.0f); updateAltitudeTargetFromClimbRate(descentVelLimited, CLIMB_RATE_RESET_SURFACE_TARGET); } else { // Ramp down descent velocity from 100% at maxAlt altitude to 25% from minAlt to 0cm. - float descentVelScaling = (posControl.actualState.pos.V.Z - posControl.homePosition.pos.V.Z - posControl.navConfig->land_slowdown_minalt) - / (posControl.navConfig->land_slowdown_maxalt - posControl.navConfig->land_slowdown_minalt) * 0.75f + 0.25f; // Yield 1.0 at 2000 alt and 0.25 at 500 alt + float descentVelScaling = (posControl.actualState.pos.V.Z - posControl.homePosition.pos.V.Z - posControl.navConfig->general.land_slowdown_minalt) + / (posControl.navConfig->general.land_slowdown_maxalt - posControl.navConfig->general.land_slowdown_minalt) * 0.75f + 0.25f; // Yield 1.0 at 2000 alt and 0.25 at 500 alt descentVelScaling = constrainf(descentVelScaling, 0.25f, 1.0f); // Do not allow descent velocity slower than -50cm/s so the landing detector works. - float descentVelLimited = MIN(-descentVelScaling * posControl.navConfig->land_descent_rate, -50.0f); + float descentVelLimited = MIN(-descentVelScaling * posControl.navConfig->general.land_descent_rate, -50.0f); updateAltitudeTargetFromClimbRate(descentVelLimited, CLIMB_RATE_RESET_SURFACE_TARGET); } @@ -1101,7 +1101,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_3D_FINISHING(naviga { UNUSED(previousState); - if (posControl.navConfig->flags.disarm_on_landing) { + if (posControl.navConfig->general.flags.disarm_on_landing) { mwDisarm(); } @@ -1112,7 +1112,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_3D_FINISHED(navigat { // Stay in this state UNUSED(previousState); - updateAltitudeTargetFromClimbRate(-0.3f * posControl.navConfig->land_descent_rate, CLIMB_RATE_RESET_SURFACE_TARGET); // FIXME + updateAltitudeTargetFromClimbRate(-0.3f * posControl.navConfig->general.land_descent_rate, CLIMB_RATE_RESET_SURFACE_TARGET); // FIXME return NAV_FSM_EVENT_NONE; } @@ -1486,8 +1486,8 @@ bool isThrustFacingDownwards(void) *-----------------------------------------------------------*/ bool checkForPositionSensorTimeout(void) { - if (posControl.navConfig->pos_failure_timeout) { - if (!posControl.flags.hasValidPositionSensor && ((millis() - posControl.lastValidPositionTimeMs) > (1000 * posControl.navConfig->pos_failure_timeout))) { + if (posControl.navConfig->general.pos_failure_timeout) { + if (!posControl.flags.hasValidPositionSensor && ((millis() - posControl.lastValidPositionTimeMs) > (1000 * posControl.navConfig->general.pos_failure_timeout))) { return true; } else { @@ -1642,7 +1642,7 @@ bool isWaypointReached(navWaypointPosition_t * waypoint) { // We consider waypoint reached if within specified radius uint32_t wpDistance = calculateDistanceToDestination(&waypoint->pos); - return (wpDistance <= posControl.navConfig->waypoint_radius); + return (wpDistance <= posControl.navConfig->general.waypoint_radius); } static void updateHomePositionCompatibility(void) @@ -1659,22 +1659,22 @@ static void updateDesiredRTHAltitude(void) { if (ARMING_FLAG(ARMED)) { if (!(navGetStateFlags(posControl.navState) & NAV_AUTO_RTH)) { - switch (posControl.navConfig->flags.rth_alt_control_style) { + switch (posControl.navConfig->general.flags.rth_alt_control_style) { case NAV_RTH_NO_ALT: posControl.homeWaypointAbove.pos.V.Z = posControl.actualState.pos.V.Z; break; case NAX_RTH_EXTRA_ALT: // Maintain current altitude + predefined safety margin - posControl.homeWaypointAbove.pos.V.Z = posControl.actualState.pos.V.Z + posControl.navConfig->rth_altitude; + posControl.homeWaypointAbove.pos.V.Z = posControl.actualState.pos.V.Z + posControl.navConfig->general.rth_altitude; break; case NAV_RTH_MAX_ALT: posControl.homeWaypointAbove.pos.V.Z = MAX(posControl.homeWaypointAbove.pos.V.Z, posControl.actualState.pos.V.Z); break; case NAV_RTH_AT_LEAST_ALT: // Climb to at least some predefined altitude above home - posControl.homeWaypointAbove.pos.V.Z = MAX(posControl.homePosition.pos.V.Z + posControl.navConfig->rth_altitude, posControl.actualState.pos.V.Z); + posControl.homeWaypointAbove.pos.V.Z = MAX(posControl.homePosition.pos.V.Z + posControl.navConfig->general.rth_altitude, posControl.actualState.pos.V.Z); break; case NAV_RTH_CONST_ALT: // Climb/descend to predefined altitude above home default: - posControl.homeWaypointAbove.pos.V.Z = posControl.homePosition.pos.V.Z + posControl.navConfig->rth_altitude; + posControl.homeWaypointAbove.pos.V.Z = posControl.homePosition.pos.V.Z + posControl.navConfig->general.rth_altitude; break; } } @@ -2121,14 +2121,14 @@ bool isApproachingLastWaypoint(void) float getActiveWaypointSpeed(void) { - uint16_t waypointSpeed = posControl.navConfig->max_speed; + uint16_t waypointSpeed = posControl.navConfig->general.max_speed; if (navGetStateFlags(posControl.navState) & NAV_AUTO_WP) { if (posControl.waypointCount > 0 && posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_WAYPOINT) { waypointSpeed = posControl.waypointList[posControl.activeWaypointIndex].p1; - if (waypointSpeed < 50 || waypointSpeed > posControl.navConfig->max_speed) { - waypointSpeed = posControl.navConfig->max_speed; + if (waypointSpeed < 50 || waypointSpeed > posControl.navConfig->general.max_speed) { + waypointSpeed = posControl.navConfig->general.max_speed; } } } @@ -2187,7 +2187,7 @@ void applyWaypointNavigationAndAltitudeHold(void) if (posControl.flags.hasValidAltitudeSensor) navFlags |= (1 << 0); if (posControl.flags.hasValidSurfaceSensor) navFlags |= (1 << 1); if (posControl.flags.hasValidPositionSensor) navFlags |= (1 << 2); - if ((STATE(GPS_FIX) && gpsSol.numSat >= posControl.navConfig->inav.gps_min_sats)) navFlags |= (1 << 3); + if ((STATE(GPS_FIX) && gpsSol.numSat >= posControl.navConfig->estimation.gps_min_sats)) navFlags |= (1 << 3); #if defined(NAV_GPS_GLITCH_DETECTION) if (isGPSGlitchDetected()) navFlags |= (1 << 4); #endif @@ -2376,7 +2376,7 @@ bool naivationBlockArming(void) const bool navLaunchComboModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVLAUNCH) && (IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP)); bool shouldBlockArming = false; - if (!posControl.navConfig->flags.extra_arming_safety) + if (!posControl.navConfig->general.flags.extra_arming_safety) return false; // Apply extra arming safety only if pilot has any of GPS modes configured diff --git a/src/main/flight/navigation_rewrite.h b/src/main/flight/navigation_rewrite.h index 2f630cce080..93c40ebffe6 100755 --- a/src/main/flight/navigation_rewrite.h +++ b/src/main/flight/navigation_rewrite.h @@ -65,15 +65,6 @@ enum { }; typedef struct navConfig_s { - struct { - uint8_t use_thr_mid_for_althold; // Don't remember throttle when althold was initiated, assume that throttle is at Thr Mid = zero climb rate - uint8_t extra_arming_safety; // Forcibly apply 100% throttle tilt compensation - uint8_t user_control_mode; // NAV_GPS_ATTI or NAV_GPS_CRUISE - uint8_t rth_alt_control_style; // Controls how RTH controls altitude - uint8_t rth_tail_first; // Return to home tail first - uint8_t disarm_on_landing; // - } flags; - struct { #if defined(NAV_AUTO_MAG_DECLINATION) uint8_t automatic_mag_declination; @@ -101,41 +92,56 @@ typedef struct navConfig_s { float max_eph_epv; // Max estimated position error acceptable for estimation (cm) float baro_epv; // Baro position error - } inav; - - uint8_t pos_failure_timeout; // Time to wait before switching to emergency landing (0 - disable) - uint16_t waypoint_radius; // if we are within this distance to a waypoint then we consider it reached (distance is in cm) - uint16_t max_speed; // autonomous navigation speed cm/sec - uint16_t max_climb_rate; // max vertical speed limitation cm/sec - uint16_t max_manual_speed; // manual velocity control max horizontal speed - uint16_t max_manual_climb_rate; // manual velocity control max vertical speed - uint16_t land_descent_rate; // normal RTH landing descent rate - uint16_t land_slowdown_minalt; // Altitude to stop lowering descent rate during RTH descend - uint16_t land_slowdown_maxalt; // Altitude to start lowering descent rate during RTH descend - uint16_t emerg_descent_rate; // emergency landing descent rate - uint16_t rth_altitude; // altitude to maintain when RTH is active (depends on rth_alt_control_style) (cm) - uint16_t min_rth_distance; // 0 Disables. Minimal distance for RTL in cm, otherwise it will just autoland - - uint8_t mc_max_bank_angle; // multicopter max banking angle (deg) - uint16_t mc_hover_throttle; // multicopter hover throttle - uint16_t mc_auto_disarm_delay; // multicopter safety delay for landing detector - - uint16_t fw_cruise_throttle; // Cruise throttle - uint16_t fw_min_throttle; // Minimum allowed throttle in auto mode - uint16_t fw_max_throttle; // Maximum allowed throttle in auto mode - uint8_t fw_max_bank_angle; // Fixed wing max banking angle (deg) - uint8_t fw_max_climb_angle; // Fixed wing max banking angle (deg) - uint8_t fw_max_dive_angle; // Fixed wing max banking angle (deg) - uint8_t fw_pitch_to_throttle; // Pitch angle (in deg) to throttle gain (in 1/1000's of throttle) (*10) - uint8_t fw_roll_to_pitch; // Roll to pitch compensation (in %) - uint16_t fw_loiter_radius; // Loiter radius when executing PH on a fixed wing - - uint16_t fw_launch_accel_thresh; // Acceleration threshold for launch detection (cm/s/s) - uint16_t fw_launch_time_thresh; // Time threshold for launch detection (ms) - uint16_t fw_launch_throttle; // Launch throttle - uint16_t fw_launch_motor_timer; // Time to wait before setting launch_throttle (ms) - uint16_t fw_launch_timeout; // Launch timeout to disable launch mode and swith to normal flight (ms) - uint8_t fw_launch_climb_angle; // Target climb angle for launch (deg) + } estimation; + + struct { + struct { + uint8_t use_thr_mid_for_althold; // Don't remember throttle when althold was initiated, assume that throttle is at Thr Mid = zero climb rate + uint8_t extra_arming_safety; // Forcibly apply 100% throttle tilt compensation + uint8_t user_control_mode; // NAV_GPS_ATTI or NAV_GPS_CRUISE + uint8_t rth_alt_control_style; // Controls how RTH controls altitude + uint8_t rth_tail_first; // Return to home tail first + uint8_t disarm_on_landing; // + } flags; + + uint8_t pos_failure_timeout; // Time to wait before switching to emergency landing (0 - disable) + uint16_t waypoint_radius; // if we are within this distance to a waypoint then we consider it reached (distance is in cm) + uint16_t max_speed; // autonomous navigation speed cm/sec + uint16_t max_climb_rate; // max vertical speed limitation cm/sec + uint16_t max_manual_speed; // manual velocity control max horizontal speed + uint16_t max_manual_climb_rate; // manual velocity control max vertical speed + uint16_t land_descent_rate; // normal RTH landing descent rate + uint16_t land_slowdown_minalt; // Altitude to stop lowering descent rate during RTH descend + uint16_t land_slowdown_maxalt; // Altitude to start lowering descent rate during RTH descend + uint16_t emerg_descent_rate; // emergency landing descent rate + uint16_t rth_altitude; // altitude to maintain when RTH is active (depends on rth_alt_control_style) (cm) + uint16_t min_rth_distance; // 0 Disables. Minimal distance for RTL in cm, otherwise it will just autoland + } general; + + struct { + uint8_t max_bank_angle; // multicopter max banking angle (deg) + uint16_t hover_throttle; // multicopter hover throttle + uint16_t auto_disarm_delay; // multicopter safety delay for landing detector + } mc; + + struct { + uint8_t max_bank_angle; // Fixed wing max banking angle (deg) + uint8_t max_climb_angle; // Fixed wing max banking angle (deg) + uint8_t max_dive_angle; // Fixed wing max banking angle (deg) + uint16_t cruise_throttle; // Cruise throttle + uint16_t min_throttle; // Minimum allowed throttle in auto mode + uint16_t max_throttle; // Maximum allowed throttle in auto mode + uint8_t pitch_to_throttle; // Pitch angle (in deg) to throttle gain (in 1/1000's of throttle) (*10) + uint8_t roll_to_pitch; // Roll to pitch compensation (in %) + uint16_t loiter_radius; // Loiter radius when executing PH on a fixed wing + + uint16_t launch_accel_thresh; // Acceleration threshold for launch detection (cm/s/s) + uint16_t launch_time_thresh; // Time threshold for launch detection (ms) + uint16_t launch_throttle; // Launch throttle + uint16_t launch_motor_timer; // Time to wait before setting launch_throttle (ms) + uint16_t launch_timeout; // Launch timeout to disable launch mode and swith to normal flight (ms) + uint8_t launch_climb_angle; // Target climb angle for launch (deg) + } fw; } navConfig_t; typedef struct gpsOrigin_s { diff --git a/src/main/flight/navigation_rewrite_fixedwing.c b/src/main/flight/navigation_rewrite_fixedwing.c index 3bf4c01b780..7cb8f3ef904 100755 --- a/src/main/flight/navigation_rewrite_fixedwing.c +++ b/src/main/flight/navigation_rewrite_fixedwing.c @@ -84,7 +84,7 @@ bool adjustFixedWingAltitudeFromRCInput(void) if (rcAdjustment) { // set velocity proportional to stick movement - float rcClimbRate = -rcAdjustment * posControl.navConfig->max_manual_climb_rate / (500.0f - posControl.rcControlsConfig->alt_hold_deadband); + float rcClimbRate = -rcAdjustment * posControl.navConfig->general.max_manual_climb_rate / (500.0f - posControl.rcControlsConfig->alt_hold_deadband); updateAltitudeTargetFromClimbRate(rcClimbRate, CLIMB_RATE_RESET_SURFACE_TARGET); return true; } @@ -105,15 +105,15 @@ static void updateAltitudeVelocityAndPitchController_FW(uint32_t deltaMicros) float forwardVelocity = MAX(posControl.actualState.velXY, 300.0f); // Limit min velocity for PID controller at about 10 km/h // Calculate max climb rate from current forward velocity and maximum pitch angle (climb angle is fairly small, approximate tan=sin) - float maxVelocityClimb = forwardVelocity * sin_approx(DEGREES_TO_RADIANS(posControl.navConfig->fw_max_climb_angle)); - float maxVelocityDive = -forwardVelocity * sin_approx(DEGREES_TO_RADIANS(posControl.navConfig->fw_max_dive_angle)); + float maxVelocityClimb = forwardVelocity * sin_approx(DEGREES_TO_RADIANS(posControl.navConfig->fw.max_climb_angle)); + float maxVelocityDive = -forwardVelocity * sin_approx(DEGREES_TO_RADIANS(posControl.navConfig->fw.max_dive_angle)); posControl.desiredState.vel.V.Z = navPidApply2(posControl.desiredState.pos.V.Z, posControl.actualState.pos.V.Z, US2S(deltaMicros), &posControl.pids.fw_alt, maxVelocityDive, maxVelocityClimb, false); posControl.desiredState.vel.V.Z = pt1FilterApply4(&velzFilterState, posControl.desiredState.vel.V.Z, NAV_FW_VEL_CUTOFF_FREQENCY_HZ, US2S(deltaMicros)); // Calculate climb angle ( >0 - climb, <0 - dive) int16_t climbAngleDeciDeg = RADIANS_TO_DECIDEGREES(atan2_approx(posControl.desiredState.vel.V.Z, forwardVelocity)); - climbAngleDeciDeg = constrain(climbAngleDeciDeg, -posControl.navConfig->fw_max_dive_angle * 10, posControl.navConfig->fw_max_climb_angle * 10); + climbAngleDeciDeg = constrain(climbAngleDeciDeg, -posControl.navConfig->fw.max_dive_angle * 10, posControl.navConfig->fw.max_climb_angle * 10); posControl.rcAdjustment[PITCH] = climbAngleDeciDeg; #if defined(NAV_BLACKBOX) @@ -205,7 +205,7 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod) // If angular visibility of a waypoint is less than 30deg, don't calculate circular loiter, go straight to the target #define TAN_15DEG 0.26795f bool needToCalculateCircularLoiter = isApproachingLastWaypoint() - && (distanceToActualTarget <= (posControl.navConfig->fw_loiter_radius / TAN_15DEG)) + && (distanceToActualTarget <= (posControl.navConfig->fw.loiter_radius / TAN_15DEG)) && (distanceToActualTarget > 50.0f); // Calculate virtual position for straight movement @@ -213,8 +213,8 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod) // We are closing in on a waypoint, calculate circular loiter float loiterAngle = atan2_approx(-posErrorY, -posErrorX) + DEGREES_TO_RADIANS(45.0f); - float loiterTargetX = posControl.desiredState.pos.V.X + posControl.navConfig->fw_loiter_radius * cos_approx(loiterAngle); - float loiterTargetY = posControl.desiredState.pos.V.Y + posControl.navConfig->fw_loiter_radius * sin_approx(loiterAngle); + float loiterTargetX = posControl.desiredState.pos.V.X + posControl.navConfig->fw.loiter_radius * cos_approx(loiterAngle); + float loiterTargetY = posControl.desiredState.pos.V.Y + posControl.navConfig->fw.loiter_radius * sin_approx(loiterAngle); // We have temporary loiter target. Recalculate distance and position error posErrorX = loiterTargetX - posControl.actualState.pos.V.X; @@ -231,7 +231,7 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod) int16_t rcRollAdjustment = applyDeadband(rcCommand[ROLL], posControl.rcControlsConfig->pos_hold_deadband); if (rcRollAdjustment) { - float rcShiftY = rcRollAdjustment * posControl.navConfig->max_manual_speed / 500.0f * trackingPeriod; + float rcShiftY = rcRollAdjustment * posControl.navConfig->general.max_manual_speed / 500.0f * trackingPeriod; // Rotate this target shift from body frame to to earth frame and apply to position target virtualDesiredPosition.V.X += -rcShiftY * posControl.actualState.sinYaw; @@ -274,8 +274,8 @@ static void updatePositionHeadingController_FW(uint32_t deltaMicros) // Input error in (deg*100), output pitch angle (deg*100) float rollAdjustment = navPidApply2(posControl.actualState.yaw + headingError, posControl.actualState.yaw, US2S(deltaMicros), &posControl.pids.fw_nav, - -DEGREES_TO_CENTIDEGREES(posControl.navConfig->fw_max_bank_angle), - DEGREES_TO_CENTIDEGREES(posControl.navConfig->fw_max_bank_angle), + -DEGREES_TO_CENTIDEGREES(posControl.navConfig->fw.max_bank_angle), + DEGREES_TO_CENTIDEGREES(posControl.navConfig->fw.max_bank_angle), true); // Apply low-pass filter to prevent rapid correction @@ -395,18 +395,18 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat int16_t rollCorrection = 0; // >0 right, <0 left int16_t throttleCorrection = 0; // raw throttle - int16_t minThrottleCorrection = posControl.navConfig->fw_min_throttle - posControl.navConfig->fw_cruise_throttle; - int16_t maxThrottleCorrection = posControl.navConfig->fw_max_throttle - posControl.navConfig->fw_cruise_throttle; + int16_t minThrottleCorrection = posControl.navConfig->fw.min_throttle - posControl.navConfig->fw.cruise_throttle; + int16_t maxThrottleCorrection = posControl.navConfig->fw.max_throttle - posControl.navConfig->fw.cruise_throttle; // Mix Pitch/Roll/Throttle if (isPitchAdjustmentValid && (navStateFlags & NAV_CTL_ALT)) { pitchCorrection += posControl.rcAdjustment[PITCH]; - throttleCorrection += DECIDEGREES_TO_DEGREES(posControl.rcAdjustment[PITCH]) * posControl.navConfig->fw_pitch_to_throttle; + throttleCorrection += DECIDEGREES_TO_DEGREES(posControl.rcAdjustment[PITCH]) * posControl.navConfig->fw.pitch_to_throttle; throttleCorrection = constrain(throttleCorrection, minThrottleCorrection, maxThrottleCorrection); } if (isRollAdjustmentValid && (navStateFlags & NAV_CTL_POS)) { - pitchCorrection += ABS(posControl.rcAdjustment[ROLL]) * (posControl.navConfig->fw_roll_to_pitch / 100.0f); + pitchCorrection += ABS(posControl.rcAdjustment[ROLL]) * (posControl.navConfig->fw.roll_to_pitch / 100.0f); rollCorrection += posControl.rcAdjustment[ROLL]; } @@ -419,12 +419,12 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat // Limit and apply if (isPitchAdjustmentValid && (navStateFlags & NAV_CTL_ALT)) { // PITCH angle is measured in opposite direction ( >0 - dive, <0 - climb) - pitchCorrection = constrain(pitchCorrection, -DEGREES_TO_CENTIDEGREES(posControl.navConfig->fw_max_dive_angle), DEGREES_TO_CENTIDEGREES(posControl.navConfig->fw_max_climb_angle)); + pitchCorrection = constrain(pitchCorrection, -DEGREES_TO_CENTIDEGREES(posControl.navConfig->fw.max_dive_angle), DEGREES_TO_CENTIDEGREES(posControl.navConfig->fw.max_climb_angle)); rcCommand[PITCH] = -pidAngleToRcCommand(pitchCorrection, posControl.pidProfile->max_angle_inclination[FD_PITCH]); } if (isRollAdjustmentValid && (navStateFlags & NAV_CTL_POS)) { - rollCorrection = constrain(rollCorrection, -DEGREES_TO_CENTIDEGREES(posControl.navConfig->fw_max_bank_angle), DEGREES_TO_CENTIDEGREES(posControl.navConfig->fw_max_bank_angle)); + rollCorrection = constrain(rollCorrection, -DEGREES_TO_CENTIDEGREES(posControl.navConfig->fw.max_bank_angle), DEGREES_TO_CENTIDEGREES(posControl.navConfig->fw.max_bank_angle)); rcCommand[ROLL] = pidAngleToRcCommand(rollCorrection, posControl.pidProfile->max_angle_inclination[FD_ROLL]); // Calculate coordinated turn rate based on velocity and banking angle @@ -438,7 +438,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat } if ((navStateFlags & NAV_CTL_ALT) || (navStateFlags & NAV_CTL_POS)) { - uint16_t correctedThrottleValue = constrain(posControl.navConfig->fw_cruise_throttle + throttleCorrection, posControl.navConfig->fw_min_throttle, posControl.navConfig->fw_max_throttle); + uint16_t correctedThrottleValue = constrain(posControl.navConfig->fw.cruise_throttle + throttleCorrection, posControl.navConfig->fw.min_throttle, posControl.navConfig->fw.max_throttle); rcCommand[THROTTLE] = constrain(correctedThrottleValue, posControl.motorConfig->minthrottle, posControl.motorConfig->maxthrottle); } } diff --git a/src/main/flight/navigation_rewrite_fw_launch.c b/src/main/flight/navigation_rewrite_fw_launch.c index f166ac9e7bc..fa13c917f1a 100755 --- a/src/main/flight/navigation_rewrite_fw_launch.c +++ b/src/main/flight/navigation_rewrite_fw_launch.c @@ -71,13 +71,13 @@ static FixedWingLaunchState_t launchState; #define COS_MAX_LAUNCH_ANGLE 0.70710678f // cos(45), just to be safe static void updateFixedWingLaunchDetector(const uint32_t currentTime) { - const bool isForwardAccelerationHigh = (imuAccelInBodyFrame.A[X] > posControl.navConfig->fw_launch_accel_thresh); + const bool isForwardAccelerationHigh = (imuAccelInBodyFrame.A[X] > posControl.navConfig->fw.launch_accel_thresh); const bool isAircraftAlmostLevel = (calculateCosTiltAngle() >= COS_MAX_LAUNCH_ANGLE); if (isForwardAccelerationHigh && isAircraftAlmostLevel) { launchState.launchDetectionTimeAccum += (currentTime - launchState.launchDetectorPreviosUpdate); launchState.launchDetectorPreviosUpdate = currentTime; - if (launchState.launchDetectionTimeAccum >= MS2US((uint32_t)posControl.navConfig->fw_launch_time_thresh)) { + if (launchState.launchDetectionTimeAccum >= MS2US((uint32_t)posControl.navConfig->fw.launch_time_thresh)) { launchState.launchDetected = true; } } @@ -129,13 +129,13 @@ void applyFixedWingLaunchController(const uint32_t currentTime) // Motor control enabled if (launchState.motorControlAllowed) { // Abort launch after a pre-set time - if (timeElapsedSinceLaunchMs >= posControl.navConfig->fw_launch_timeout) { + if (timeElapsedSinceLaunchMs >= posControl.navConfig->fw.launch_timeout) { launchState.launchFinished = true; } // Control throttle - if (timeElapsedSinceLaunchMs >= posControl.navConfig->fw_launch_motor_timer) { - rcCommand[THROTTLE] = posControl.navConfig->fw_launch_throttle; + if (timeElapsedSinceLaunchMs >= posControl.navConfig->fw.launch_motor_timer) { + rcCommand[THROTTLE] = posControl.navConfig->fw.launch_throttle; } else { // Until motors are started don't use PID I-term @@ -166,7 +166,7 @@ void applyFixedWingLaunchController(const uint32_t currentTime) // Lock out controls rcCommand[ROLL] = 0; - rcCommand[PITCH] = pidAngleToRcCommand(-DEGREES_TO_DECIDEGREES(posControl.navConfig->fw_launch_climb_angle), posControl.pidProfile->max_angle_inclination[FD_PITCH]); + rcCommand[PITCH] = pidAngleToRcCommand(-DEGREES_TO_DECIDEGREES(posControl.navConfig->fw.launch_climb_angle), posControl.pidProfile->max_angle_inclination[FD_PITCH]); rcCommand[YAW] = 0; } diff --git a/src/main/flight/navigation_rewrite_multicopter.c b/src/main/flight/navigation_rewrite_multicopter.c index 03ded8e94d8..c4f74b0ad75 100755 --- a/src/main/flight/navigation_rewrite_multicopter.c +++ b/src/main/flight/navigation_rewrite_multicopter.c @@ -89,7 +89,7 @@ static void updateAltitudeVelocityController_MC(uint32_t deltaMicros) float targetVel = altitudeError * posControl.pids.pos[Z].param.kP; // hard limit desired target velocity to max_climb_rate - targetVel = constrainf(targetVel, -posControl.navConfig->max_climb_rate, posControl.navConfig->max_climb_rate); + targetVel = constrainf(targetVel, -posControl.navConfig->general.max_climb_rate, posControl.navConfig->general.max_climb_rate); // limit max vertical acceleration to 1/5G (~200 cm/s/s) if we are increasing velocity. // if we are decelerating - don't limit (allow better recovery from falling) @@ -109,8 +109,8 @@ static void updateAltitudeVelocityController_MC(uint32_t deltaMicros) static void updateAltitudeThrottleController_MC(uint32_t deltaMicros) { // Calculate min and max throttle boundaries (to compensate for integral windup) - int16_t thrAdjustmentMin = (int16_t)posControl.motorConfig->minthrottle - (int16_t)posControl.navConfig->mc_hover_throttle; - int16_t thrAdjustmentMax = (int16_t)posControl.motorConfig->maxthrottle - (int16_t)posControl.navConfig->mc_hover_throttle; + int16_t thrAdjustmentMin = (int16_t)posControl.motorConfig->minthrottle - (int16_t)posControl.navConfig->mc.hover_throttle; + int16_t thrAdjustmentMax = (int16_t)posControl.motorConfig->maxthrottle - (int16_t)posControl.navConfig->mc.hover_throttle; posControl.rcAdjustment[THROTTLE] = navPidApply2(posControl.desiredState.vel.V.Z, posControl.actualState.vel.V.Z, US2S(deltaMicros), &posControl.pids.vel[Z], thrAdjustmentMin, thrAdjustmentMax, false); @@ -128,11 +128,11 @@ bool adjustMulticopterAltitudeFromRCInput(void) // Make sure we can satisfy max_manual_climb_rate in both up and down directions if (rcThrottleAdjustment > 0) { // Scaling from altHoldThrottleRCZero to maxthrottle - rcClimbRate = rcThrottleAdjustment * posControl.navConfig->max_manual_climb_rate / (posControl.motorConfig->maxthrottle - altHoldThrottleRCZero); + rcClimbRate = rcThrottleAdjustment * posControl.navConfig->general.max_manual_climb_rate / (posControl.motorConfig->maxthrottle - altHoldThrottleRCZero); } else { // Scaling from minthrottle to altHoldThrottleRCZero - rcClimbRate = rcThrottleAdjustment * posControl.navConfig->max_manual_climb_rate / (altHoldThrottleRCZero - posControl.motorConfig->minthrottle); + rcClimbRate = rcThrottleAdjustment * posControl.navConfig->general.max_manual_climb_rate / (altHoldThrottleRCZero - posControl.motorConfig->minthrottle); } updateAltitudeTargetFromClimbRate(rcClimbRate, CLIMB_RATE_UPDATE_SURFACE_TARGET); @@ -153,7 +153,7 @@ void setupMulticopterAltitudeController(void) { throttleStatus_e throttleStatus = calculateThrottleStatus(posControl.rxConfig, posControl.flight3DConfig->deadband3d_throttle); - if (posControl.navConfig->flags.use_thr_mid_for_althold) { + if (posControl.navConfig->general.flags.use_thr_mid_for_althold) { altHoldThrottleRCZero = rcLookupThrottleMid(); } else { @@ -229,7 +229,7 @@ static void applyMulticopterAltitudeController(uint32_t currentTime) } // Update throttle controller - rcCommand[THROTTLE] = constrain((int16_t)posControl.navConfig->mc_hover_throttle + posControl.rcAdjustment[THROTTLE], posControl.motorConfig->minthrottle, posControl.motorConfig->maxthrottle); + rcCommand[THROTTLE] = constrain((int16_t)posControl.navConfig->mc.hover_throttle + posControl.rcAdjustment[THROTTLE], posControl.motorConfig->minthrottle, posControl.motorConfig->maxthrottle); // Save processed throttle for future use rcCommandAdjustedThrottle = rcCommand[THROTTLE]; @@ -277,9 +277,9 @@ bool adjustMulticopterPositionFromRCInput(void) if (rcPitchAdjustment || rcRollAdjustment) { // If mode is GPS_CRUISE, move target position, otherwise POS controller will passthru the RC input to ANGLE PID - if (posControl.navConfig->flags.user_control_mode == NAV_GPS_CRUISE) { - float rcVelX = rcPitchAdjustment * posControl.navConfig->max_manual_speed / 500; - float rcVelY = rcRollAdjustment * posControl.navConfig->max_manual_speed / 500; + if (posControl.navConfig->general.flags.user_control_mode == NAV_GPS_CRUISE) { + float rcVelX = rcPitchAdjustment * posControl.navConfig->general.max_manual_speed / 500; + float rcVelY = rcRollAdjustment * posControl.navConfig->general.max_manual_speed / 500; // Rotate these velocities from body frame to to earth frame float neuVelX = rcVelX * posControl.actualState.cosYaw - rcVelY * posControl.actualState.sinYaw; @@ -412,7 +412,7 @@ static void updatePositionAccelController_MC(uint32_t deltaMicros, float maxAcce float desiredPitch = atan2_approx(accelForward, GRAVITY_CMSS); float desiredRoll = atan2_approx(accelRight * cos_approx(desiredPitch), GRAVITY_CMSS); - int16_t maxBankAngle = DEGREES_TO_DECIDEGREES(posControl.navConfig->mc_max_bank_angle); + int16_t maxBankAngle = DEGREES_TO_DECIDEGREES(posControl.navConfig->mc.max_bank_angle); posControl.rcAdjustment[ROLL] = constrain(RADIANS_TO_DECIDEGREES(desiredRoll), -maxBankAngle, maxBankAngle); posControl.rcAdjustment[PITCH] = constrain(RADIANS_TO_DECIDEGREES(desiredPitch), -maxBankAngle, maxBankAngle); } @@ -427,7 +427,7 @@ static void applyMulticopterPositionController(uint32_t currentTime) bool bypassPositionController; // We should passthrough rcCommand is adjusting position in GPS_ATTI mode - bypassPositionController = (posControl.navConfig->flags.user_control_mode == NAV_GPS_ATTI) && posControl.flags.isAdjustingPosition; + bypassPositionController = (posControl.navConfig->general.flags.user_control_mode == NAV_GPS_ATTI) && posControl.flags.isAdjustingPosition; // If last call to controller was too long in the past - ignore it (likely restarting position controller) if (deltaMicros > HZ2US(MIN_POSITION_UPDATE_RATE_HZ)) { @@ -536,7 +536,7 @@ bool isMulticopterLandingDetected(void) return false; } else { - return ((currentTime - landingTimer) > (posControl.navConfig->mc_auto_disarm_delay * 1000)) ? true : false; + return ((currentTime - landingTimer) > (posControl.navConfig->mc.auto_disarm_delay * 1000)) ? true : false; } } @@ -572,7 +572,7 @@ static void applyMulticopterEmergencyLandingController(uint32_t currentTime) // Check if last correction was too log ago - ignore this update if (deltaMicrosPositionUpdate < HZ2US(MIN_POSITION_UPDATE_RATE_HZ)) { - updateAltitudeTargetFromClimbRate(-1.0f * posControl.navConfig->emerg_descent_rate, CLIMB_RATE_RESET_SURFACE_TARGET); + updateAltitudeTargetFromClimbRate(-1.0f * posControl.navConfig->general.emerg_descent_rate, CLIMB_RATE_RESET_SURFACE_TARGET); updateAltitudeVelocityController_MC(deltaMicrosPositionUpdate); updateAltitudeThrottleController_MC(deltaMicrosPositionUpdate); } @@ -586,7 +586,7 @@ static void applyMulticopterEmergencyLandingController(uint32_t currentTime) } // Update throttle controller - rcCommand[THROTTLE] = constrain((int16_t)posControl.navConfig->mc_hover_throttle + posControl.rcAdjustment[THROTTLE], posControl.motorConfig->minthrottle, posControl.motorConfig->maxthrottle); + rcCommand[THROTTLE] = constrain((int16_t)posControl.navConfig->mc.hover_throttle + posControl.rcAdjustment[THROTTLE], posControl.motorConfig->minthrottle, posControl.motorConfig->maxthrottle); } else { /* Sensors has gone haywire, attempt to land regardless */ diff --git a/src/main/flight/navigation_rewrite_pos_estimator.c b/src/main/flight/navigation_rewrite_pos_estimator.c index 0d43bea2b6c..9cddbca30f3 100755 --- a/src/main/flight/navigation_rewrite_pos_estimator.c +++ b/src/main/flight/navigation_rewrite_pos_estimator.c @@ -265,7 +265,7 @@ void onNewGPSData(void) newLLH.alt = gpsSol.llh.alt; if (sensors(SENSOR_GPS)) { - if (!(STATE(GPS_FIX) && gpsSol.numSat >= posControl.navConfig->inav.gps_min_sats)) { + if (!(STATE(GPS_FIX) && gpsSol.numSat >= posControl.navConfig->estimation.gps_min_sats)) { isFirstGPSUpdate = true; return; } @@ -277,7 +277,7 @@ void onNewGPSData(void) #if defined(NAV_AUTO_MAG_DECLINATION) /* Automatic magnetic declination calculation - do this once */ static bool magDeclinationSet = false; - if (posControl.navConfig->inav.automatic_mag_declination && !magDeclinationSet) { + if (posControl.navConfig->estimation.automatic_mag_declination && !magDeclinationSet) { magneticDeclination = geoCalculateMagDeclination(&newLLH) * 10.0f; // heading is in 0.1deg units magDeclinationSet = true; } @@ -285,7 +285,7 @@ void onNewGPSData(void) /* Process position update if GPS origin is already set, or precision is good enough */ // FIXME: use HDOP here - if ((posControl.gpsOrigin.valid) || (gpsSol.numSat >= posControl.navConfig->inav.gps_min_sats)) { + if ((posControl.gpsOrigin.valid) || (gpsSol.numSat >= posControl.navConfig->estimation.gps_min_sats)) { /* Convert LLH position to local coordinates */ geoConvertGeodeticToLocal(&posControl.gpsOrigin, &newLLH, & posEstimator.gps.pos, GEO_ALT_ABSOLUTE); @@ -295,7 +295,7 @@ void onNewGPSData(void) /* Use VELNED provided by GPS if available, calculate from coordinates otherwise */ float gpsScaleLonDown = constrainf(cos_approx((ABS(gpsSol.llh.lat) / 10000000.0f) * 0.0174532925f), 0.01f, 1.0f); - if (posControl.navConfig->inav.use_gps_velned && gpsSol.flags.validVelNE) { + if (posControl.navConfig->estimation.use_gps_velned && gpsSol.flags.validVelNE) { posEstimator.gps.vel.V.X = gpsSol.velNED[0]; posEstimator.gps.vel.V.Y = gpsSol.velNED[1]; } @@ -304,7 +304,7 @@ void onNewGPSData(void) posEstimator.gps.vel.V.Y = (posEstimator.gps.vel.V.Y + (gpsScaleLonDown * DISTANCE_BETWEEN_TWO_LONGITUDE_POINTS_AT_EQUATOR * (gpsSol.llh.lon - previousLon) / dT)) / 2.0f; } - if (posControl.navConfig->inav.use_gps_velned && gpsSol.flags.validVelD) { + if (posControl.navConfig->estimation.use_gps_velned && gpsSol.flags.validVelD) { posEstimator.gps.vel.V.Z = - gpsSol.velNED[2]; // NEU } else { @@ -359,7 +359,7 @@ static void updateBaroTopic(uint32_t currentTime) float newBaroAlt = baroCalculateAltitude(); if (sensors(SENSOR_BARO) && isBaroCalibrationComplete()) { posEstimator.baro.alt = newBaroAlt; - posEstimator.baro.epv = posControl.navConfig->inav.baro_epv; + posEstimator.baro.epv = posControl.navConfig->estimation.baro_epv; posEstimator.baro.lastUpdateTime = currentTime; } else { @@ -444,7 +444,7 @@ static void updateIMUTopic(void) /* When unarmed, assume that accelerometer should measure 1G. Use that to correct accelerometer gain */ //if (!ARMING_FLAG(ARMED) && imuRuntimeConfig->acc_unarmedcal) { - if (!ARMING_FLAG(ARMED) && posControl.navConfig->inav.accz_unarmed_cal) { + if (!ARMING_FLAG(ARMED) && posControl.navConfig->estimation.accz_unarmed_cal) { // Slowly converge on calibrated gravity while level calibratedGravityCMSS += (posEstimator.imu.accelNEU.V.Z - calibratedGravityCMSS) * 0.0025f; } @@ -472,17 +472,17 @@ static void updateEstimatedTopic(uint32_t currentTime) /* If IMU is not ready we can't estimate anything */ if (!isImuReady()) { - posEstimator.est.eph = posControl.navConfig->inav.max_eph_epv + 0.001f; - posEstimator.est.epv = posControl.navConfig->inav.max_eph_epv + 0.001f; + posEstimator.est.eph = posControl.navConfig->estimation.max_eph_epv + 0.001f; + posEstimator.est.epv = posControl.navConfig->estimation.max_eph_epv + 0.001f; return; } /* increase EPH/EPV on each iteration */ - if (posEstimator.est.eph <= posControl.navConfig->inav.max_eph_epv) { + if (posEstimator.est.eph <= posControl.navConfig->estimation.max_eph_epv) { posEstimator.est.eph *= 1.0f + dt; } - if (posEstimator.est.epv <= posControl.navConfig->inav.max_eph_epv) { + if (posEstimator.est.epv <= posControl.navConfig->estimation.max_eph_epv) { posEstimator.est.epv *= 1.0f + dt; } @@ -529,50 +529,50 @@ static void updateEstimatedTopic(uint32_t currentTime) bool useGpsZVel = isGPSValid; /* Pre-calculate history index for GPS delay compensation */ - int gpsHistoryIndex = (posEstimator.history.index - 1) - constrain(((int)posControl.navConfig->inav.gps_delay_ms / (1000 / INAV_POSITION_PUBLISH_RATE_HZ)), 0, INAV_HISTORY_BUF_SIZE - 1); + int gpsHistoryIndex = (posEstimator.history.index - 1) - constrain(((int)posControl.navConfig->estimation.gps_delay_ms / (1000 / INAV_POSITION_PUBLISH_RATE_HZ)), 0, INAV_HISTORY_BUF_SIZE - 1); if (gpsHistoryIndex < 0) { gpsHistoryIndex += INAV_HISTORY_BUF_SIZE; } /* Correct accelerometer bias */ - if (posControl.navConfig->inav.w_acc_bias > 0) { + if (posControl.navConfig->estimation.w_acc_bias > 0) { accelBiasCorr.V.X = 0; accelBiasCorr.V.Y = 0; accelBiasCorr.V.Z = 0; /* accelerometer bias correction for GPS */ if (isGPSValid) { - accelBiasCorr.V.X -= (posEstimator.gps.pos.V.X - posEstimator.history.pos[gpsHistoryIndex].V.X) * sq(posControl.navConfig->inav.w_xy_gps_p); - accelBiasCorr.V.X -= (posEstimator.gps.vel.V.X - posEstimator.history.vel[gpsHistoryIndex].V.X) * posControl.navConfig->inav.w_xy_gps_v; - accelBiasCorr.V.Y -= (posEstimator.gps.pos.V.Y - posEstimator.history.pos[gpsHistoryIndex].V.Y) * sq(posControl.navConfig->inav.w_xy_gps_p); - accelBiasCorr.V.Y -= (posEstimator.gps.vel.V.Y - posEstimator.history.vel[gpsHistoryIndex].V.Y) * posControl.navConfig->inav.w_xy_gps_v; + accelBiasCorr.V.X -= (posEstimator.gps.pos.V.X - posEstimator.history.pos[gpsHistoryIndex].V.X) * sq(posControl.navConfig->estimation.w_xy_gps_p); + accelBiasCorr.V.X -= (posEstimator.gps.vel.V.X - posEstimator.history.vel[gpsHistoryIndex].V.X) * posControl.navConfig->estimation.w_xy_gps_v; + accelBiasCorr.V.Y -= (posEstimator.gps.pos.V.Y - posEstimator.history.pos[gpsHistoryIndex].V.Y) * sq(posControl.navConfig->estimation.w_xy_gps_p); + accelBiasCorr.V.Y -= (posEstimator.gps.vel.V.Y - posEstimator.history.vel[gpsHistoryIndex].V.Y) * posControl.navConfig->estimation.w_xy_gps_v; if (useGpsZPos) { - accelBiasCorr.V.Z -= (posEstimator.gps.pos.V.Z - posEstimator.history.pos[gpsHistoryIndex].V.Z) * sq(posControl.navConfig->inav.w_z_gps_p); + accelBiasCorr.V.Z -= (posEstimator.gps.pos.V.Z - posEstimator.history.pos[gpsHistoryIndex].V.Z) * sq(posControl.navConfig->estimation.w_z_gps_p); } if (useGpsZVel) { - accelBiasCorr.V.Z -= (posEstimator.gps.vel.V.Z - posEstimator.history.vel[gpsHistoryIndex].V.Z) * posControl.navConfig->inav.w_z_gps_v; + accelBiasCorr.V.Z -= (posEstimator.gps.vel.V.Z - posEstimator.history.vel[gpsHistoryIndex].V.Z) * posControl.navConfig->estimation.w_z_gps_v; } } /* accelerometer bias correction for baro */ if (isBaroValid && !isAirCushionEffectDetected) { - accelBiasCorr.V.Z -= (posEstimator.baro.alt - posEstimator.est.pos.V.Z) * sq(posControl.navConfig->inav.w_z_baro_p); + accelBiasCorr.V.Z -= (posEstimator.baro.alt - posEstimator.est.pos.V.Z) * sq(posControl.navConfig->estimation.w_z_baro_p); } /* transform error vector from NEU frame to body frame */ imuTransformVectorEarthToBody(&accelBiasCorr); /* Correct accel bias */ - posEstimator.imu.accelBias.V.X += accelBiasCorr.V.X * posControl.navConfig->inav.w_acc_bias * dt; - posEstimator.imu.accelBias.V.Y += accelBiasCorr.V.Y * posControl.navConfig->inav.w_acc_bias * dt; - posEstimator.imu.accelBias.V.Z += accelBiasCorr.V.Z * posControl.navConfig->inav.w_acc_bias * dt; + posEstimator.imu.accelBias.V.X += accelBiasCorr.V.X * posControl.navConfig->estimation.w_acc_bias * dt; + posEstimator.imu.accelBias.V.Y += accelBiasCorr.V.Y * posControl.navConfig->estimation.w_acc_bias * dt; + posEstimator.imu.accelBias.V.Z += accelBiasCorr.V.Z * posControl.navConfig->estimation.w_acc_bias * dt; } /* Estimate Z-axis */ - if ((posEstimator.est.epv < posControl.navConfig->inav.max_eph_epv) || useGpsZPos || isBaroValid) { + if ((posEstimator.est.epv < posControl.navConfig->estimation.max_eph_epv) || useGpsZPos || isBaroValid) { /* Predict position/velocity based on acceleration */ inavFilterPredict(Z, dt, posEstimator.imu.accelNEU.V.Z); @@ -581,7 +581,7 @@ static void updateEstimatedTopic(uint32_t currentTime) float baroError = (isAirCushionEffectDetected ? posEstimator.state.baroGroundAlt : posEstimator.baro.alt) - posEstimator.est.pos.V.Z; /* Apply only baro correction, no sonar */ - inavFilterCorrectPos(Z, dt, baroError, posControl.navConfig->inav.w_z_baro_p); + inavFilterCorrectPos(Z, dt, baroError, posControl.navConfig->estimation.w_z_baro_p); /* Adjust EPV */ posEstimator.est.epv = MIN(posEstimator.est.epv, posEstimator.baro.epv); @@ -590,21 +590,21 @@ static void updateEstimatedTopic(uint32_t currentTime) /* Apply GPS correction to altitude */ if (useGpsZPos) { - inavFilterCorrectPos(Z, dt, posEstimator.gps.pos.V.Z - posEstimator.history.pos[gpsHistoryIndex].V.Z, posControl.navConfig->inav.w_z_gps_p); + inavFilterCorrectPos(Z, dt, posEstimator.gps.pos.V.Z - posEstimator.history.pos[gpsHistoryIndex].V.Z, posControl.navConfig->estimation.w_z_gps_p); posEstimator.est.epv = MIN(posEstimator.est.epv, posEstimator.gps.epv); } /* Apply GPS correction to climb rate */ if (useGpsZVel) { - inavFilterCorrectVel(Z, dt, posEstimator.gps.vel.V.Z - posEstimator.history.vel[gpsHistoryIndex].V.Z, posControl.navConfig->inav.w_z_gps_v); + inavFilterCorrectVel(Z, dt, posEstimator.gps.vel.V.Z - posEstimator.history.vel[gpsHistoryIndex].V.Z, posControl.navConfig->estimation.w_z_gps_v); } } else { - inavFilterCorrectVel(Z, dt, 0.0f - posEstimator.est.vel.V.Z, posControl.navConfig->inav.w_z_res_v); + inavFilterCorrectVel(Z, dt, 0.0f - posEstimator.est.vel.V.Z, posControl.navConfig->estimation.w_z_res_v); } /* Estimate XY-axis only if heading is valid (X-Y acceleration is North-East)*/ - if ((posEstimator.est.eph < posControl.navConfig->inav.max_eph_epv) || isGPSValid) { + if ((posEstimator.est.eph < posControl.navConfig->estimation.max_eph_epv) || isGPSValid) { if (isImuHeadingValid()) { inavFilterPredict(X, dt, posEstimator.imu.accelNEU.V.X); inavFilterPredict(Y, dt, posEstimator.imu.accelNEU.V.Y); @@ -612,19 +612,19 @@ static void updateEstimatedTopic(uint32_t currentTime) /* Correct position from GPS - always if GPS is valid */ if (isGPSValid) { - inavFilterCorrectPos(X, dt, posEstimator.gps.pos.V.X - posEstimator.history.pos[gpsHistoryIndex].V.X, posControl.navConfig->inav.w_xy_gps_p); - inavFilterCorrectPos(Y, dt, posEstimator.gps.pos.V.Y - posEstimator.history.pos[gpsHistoryIndex].V.Y, posControl.navConfig->inav.w_xy_gps_p); + inavFilterCorrectPos(X, dt, posEstimator.gps.pos.V.X - posEstimator.history.pos[gpsHistoryIndex].V.X, posControl.navConfig->estimation.w_xy_gps_p); + inavFilterCorrectPos(Y, dt, posEstimator.gps.pos.V.Y - posEstimator.history.pos[gpsHistoryIndex].V.Y, posControl.navConfig->estimation.w_xy_gps_p); - inavFilterCorrectVel(X, dt, posEstimator.gps.vel.V.X - posEstimator.history.vel[gpsHistoryIndex].V.X, posControl.navConfig->inav.w_xy_gps_v); - inavFilterCorrectVel(Y, dt, posEstimator.gps.vel.V.Y - posEstimator.history.vel[gpsHistoryIndex].V.Y, posControl.navConfig->inav.w_xy_gps_v); + inavFilterCorrectVel(X, dt, posEstimator.gps.vel.V.X - posEstimator.history.vel[gpsHistoryIndex].V.X, posControl.navConfig->estimation.w_xy_gps_v); + inavFilterCorrectVel(Y, dt, posEstimator.gps.vel.V.Y - posEstimator.history.vel[gpsHistoryIndex].V.Y, posControl.navConfig->estimation.w_xy_gps_v); /* Adjust EPH */ posEstimator.est.eph = MIN(posEstimator.est.eph, posEstimator.gps.eph); } } else { - inavFilterCorrectVel(X, dt, 0.0f - posEstimator.est.vel.V.X, posControl.navConfig->inav.w_xy_res_v); - inavFilterCorrectVel(Y, dt, 0.0f - posEstimator.est.vel.V.Y, posControl.navConfig->inav.w_xy_res_v); + inavFilterCorrectVel(X, dt, 0.0f - posEstimator.est.vel.V.X, posControl.navConfig->estimation.w_xy_res_v); + inavFilterCorrectVel(Y, dt, 0.0f - posEstimator.est.vel.V.Y, posControl.navConfig->estimation.w_xy_res_v); } /* Surface offset */ @@ -657,7 +657,7 @@ static void publishEstimatedTopic(uint32_t currentTime) /* Position and velocity are published with INAV_POSITION_PUBLISH_RATE_HZ */ if (updateTimer(&posPublishTimer, HZ2US(INAV_POSITION_PUBLISH_RATE_HZ), currentTime)) { /* Publish position update */ - if (posEstimator.est.eph < posControl.navConfig->inav.max_eph_epv) { + if (posEstimator.est.eph < posControl.navConfig->estimation.max_eph_epv) { updateActualHorizontalPositionAndVelocity(true, posEstimator.est.pos.V.X, posEstimator.est.pos.V.Y, posEstimator.est.vel.V.X, posEstimator.est.vel.V.Y); } else { @@ -665,7 +665,7 @@ static void publishEstimatedTopic(uint32_t currentTime) } /* Publish altitude update and set altitude validity */ - if (posEstimator.est.epv < posControl.navConfig->inav.max_eph_epv) { + if (posEstimator.est.epv < posControl.navConfig->estimation.max_eph_epv) { updateActualAltitudeAndClimbRate(true, posEstimator.est.pos.V.Z, posEstimator.est.vel.V.Z); } else { @@ -705,8 +705,8 @@ void initializePositionEstimator(void) { int axis; - posEstimator.est.eph = posControl.navConfig->inav.max_eph_epv + 0.001f; - posEstimator.est.epv = posControl.navConfig->inav.max_eph_epv + 0.001f; + posEstimator.est.eph = posControl.navConfig->estimation.max_eph_epv + 0.001f; + posEstimator.est.epv = posControl.navConfig->estimation.max_eph_epv + 0.001f; posEstimator.gps.lastUpdateTime = 0; posEstimator.baro.lastUpdateTime = 0; diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index 8a26558ab06..90726b8db1e 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -666,65 +666,65 @@ const clivalue_t valueTable[] = { { "nav_navr_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDNAVR], .config.minmax = { 0, 255 }, 0 }, #if defined(NAV_AUTO_MAG_DECLINATION) - { "inav_auto_mag_decl", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.inav.automatic_mag_declination, .config.lookup = { TABLE_OFF_ON }, 0 }, -#endif - - { "inav_accz_unarmedcal", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.inav.accz_unarmed_cal, .config.lookup = { TABLE_OFF_ON }, 0 }, - { "inav_use_gps_velned", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.inav.use_gps_velned, .config.lookup = { TABLE_OFF_ON }, 0 }, - { "inav_gps_delay", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.inav.gps_delay_ms, .config.minmax = { 0, 500 }, 0 }, - { "inav_gps_min_sats", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.inav.gps_min_sats, .config.minmax = { 5, 10}, 0 }, - - { "inav_w_z_baro_p", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.inav.w_z_baro_p, .config.minmax = { 0, 10 }, 0 }, - { "inav_w_z_gps_p", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.inav.w_z_gps_p, .config.minmax = { 0, 10 }, 0 }, - { "inav_w_z_gps_v", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.inav.w_z_gps_v, .config.minmax = { 0, 10 }, 0 }, - { "inav_w_xy_gps_p", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.inav.w_xy_gps_p, .config.minmax = { 0, 10 }, 0 }, - { "inav_w_xy_gps_v", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.inav.w_xy_gps_v, .config.minmax = { 0, 10 }, 0 }, - { "inav_w_z_res_v", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.inav.w_z_res_v, .config.minmax = { 0, 10 }, 0 }, - { "inav_w_xy_res_v", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.inav.w_xy_res_v, .config.minmax = { 0, 10 }, 0 }, - { "inav_w_acc_bias", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.inav.w_acc_bias, .config.minmax = { 0, 1 }, 0 }, - - { "inav_max_eph_epv", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.inav.max_eph_epv, .config.minmax = { 0, 9999 }, 0 }, - { "inav_baro_epv", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.inav.baro_epv, .config.minmax = { 0, 9999 }, 0 }, - - { "nav_disarm_on_landing", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.flags.disarm_on_landing, .config.lookup = { TABLE_OFF_ON }, 0 }, - { "nav_use_midthr_for_althold", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.flags.use_thr_mid_for_althold, .config.lookup = { TABLE_OFF_ON }, 0 }, - { "nav_extra_arming_safety", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.flags.extra_arming_safety, .config.lookup = { TABLE_OFF_ON }, 0 }, - { "nav_user_control_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.flags.user_control_mode, .config.lookup = { TABLE_NAV_USER_CTL_MODE }, 0 }, - { "nav_position_timeout", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.pos_failure_timeout, .config.minmax = { 0, 10 }, 0 }, - { "nav_wp_radius", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.waypoint_radius, .config.minmax = { 10, 10000 }, 0 }, - { "nav_max_speed", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.max_speed, .config.minmax = { 10, 2000 }, 0 }, - { "nav_max_climb_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.max_climb_rate, .config.minmax = { 10, 2000 }, 0 }, - { "nav_manual_speed", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.max_manual_speed, .config.minmax = { 10, 2000 }, 0 }, - { "nav_manual_climb_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.max_manual_climb_rate, .config.minmax = { 10, 2000 }, 0 }, - { "nav_landing_speed", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.land_descent_rate, .config.minmax = { 100, 2000 }, 0 }, - { "nav_land_slowdown_minalt", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.land_slowdown_minalt, .config.minmax = { 50, 1000 }, 0 }, - { "nav_land_slowdown_maxalt", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.land_slowdown_maxalt, .config.minmax = { 500, 4000 }, 0 }, - { "nav_emerg_landing_speed", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.emerg_descent_rate, .config.minmax = { 100, 2000 }, 0 }, - { "nav_min_rth_distance", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.min_rth_distance, .config.minmax = { 0, 5000 }, 0 }, - { "nav_rth_tail_first", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.flags.rth_tail_first, .config.lookup = { TABLE_OFF_ON }, 0 }, - { "nav_rth_alt_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.flags.rth_alt_control_style, .config.lookup = { TABLE_NAV_RTH_ALT_MODE }, 0 }, - { "nav_rth_altitude", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.rth_altitude, .config.minmax = { 100, 65000 }, 0 }, - - { "nav_mc_bank_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.mc_max_bank_angle, .config.minmax = { 15, 45 }, 0 }, - { "nav_mc_hover_thr", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.mc_hover_throttle, .config.minmax = { 1000, 2000 }, 0 }, - { "nav_mc_auto_disarm_delay", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.mc_auto_disarm_delay, .config.minmax = { 100, 10000 }, 0 }, - - { "nav_fw_cruise_thr", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw_cruise_throttle, .config.minmax = { 1000, 2000 }, 0 }, - { "nav_fw_min_thr", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw_min_throttle, .config.minmax = { 1000, 2000 }, 0 }, - { "nav_fw_max_thr", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw_max_throttle, .config.minmax = { 1000, 2000 }, 0 }, - { "nav_fw_bank_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.fw_max_bank_angle, .config.minmax = { 5, 45 }, 0 }, - { "nav_fw_climb_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.fw_max_climb_angle, .config.minmax = { 5, 45 }, 0 }, - { "nav_fw_dive_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.fw_max_dive_angle, .config.minmax = { 5, 45 }, 0 }, - { "nav_fw_pitch2thr", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.fw_pitch_to_throttle, .config.minmax = { 0, 100 }, 0 }, - { "nav_fw_roll2pitch", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.fw_roll_to_pitch, .config.minmax = { 0, 200 }, 0 }, - { "nav_fw_loiter_radius", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw_loiter_radius, .config.minmax = { 0, 10000 }, 0 }, - - { "nav_fw_launch_accel", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw_launch_accel_thresh, .config.minmax = { 1000, 20000 }, 0 }, - { "nav_fw_launch_detect_time", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw_launch_time_thresh, .config.minmax = { 10, 1000 }, 0 }, - { "nav_fw_launch_thr", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw_launch_throttle, .config.minmax = { 1000, 2000 }, 0 }, - { "nav_fw_launch_motor_delay", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw_launch_motor_timer, .config.minmax = { 0, 5000 }, 0 }, - { "naw_fw_launch_timeout", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw_launch_timeout, .config.minmax = { 0, 60000 }, 0 }, - { "naw_fw_launch_climb_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.fw_launch_climb_angle, .config.minmax = { 5, 45 }, 0 }, + { "inav_auto_mag_decl", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.estimation.automatic_mag_declination, .config.lookup = { TABLE_OFF_ON }, 0 }, +#endif + + { "inav_accz_unarmedcal", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.estimation.accz_unarmed_cal, .config.lookup = { TABLE_OFF_ON }, 0 }, + { "inav_use_gps_velned", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.estimation.use_gps_velned, .config.lookup = { TABLE_OFF_ON }, 0 }, + { "inav_gps_delay", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.estimation.gps_delay_ms, .config.minmax = { 0, 500 }, 0 }, + { "inav_gps_min_sats", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.estimation.gps_min_sats, .config.minmax = { 5, 10}, 0 }, + + { "inav_w_z_baro_p", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.estimation.w_z_baro_p, .config.minmax = { 0, 10 }, 0 }, + { "inav_w_z_gps_p", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.estimation.w_z_gps_p, .config.minmax = { 0, 10 }, 0 }, + { "inav_w_z_gps_v", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.estimation.w_z_gps_v, .config.minmax = { 0, 10 }, 0 }, + { "inav_w_xy_gps_p", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.estimation.w_xy_gps_p, .config.minmax = { 0, 10 }, 0 }, + { "inav_w_xy_gps_v", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.estimation.w_xy_gps_v, .config.minmax = { 0, 10 }, 0 }, + { "inav_w_z_res_v", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.estimation.w_z_res_v, .config.minmax = { 0, 10 }, 0 }, + { "inav_w_xy_res_v", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.estimation.w_xy_res_v, .config.minmax = { 0, 10 }, 0 }, + { "inav_w_acc_bias", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.estimation.w_acc_bias, .config.minmax = { 0, 1 }, 0 }, + + { "inav_max_eph_epv", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.estimation.max_eph_epv, .config.minmax = { 0, 9999 }, 0 }, + { "inav_baro_epv", VAR_FLOAT | MASTER_VALUE, &masterConfig.navConfig.estimation.baro_epv, .config.minmax = { 0, 9999 }, 0 }, + + { "nav_disarm_on_landing", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.general.flags.disarm_on_landing, .config.lookup = { TABLE_OFF_ON }, 0 }, + { "nav_use_midthr_for_althold", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.general.flags.use_thr_mid_for_althold, .config.lookup = { TABLE_OFF_ON }, 0 }, + { "nav_extra_arming_safety", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.general.flags.extra_arming_safety, .config.lookup = { TABLE_OFF_ON }, 0 }, + { "nav_user_control_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.general.flags.user_control_mode, .config.lookup = { TABLE_NAV_USER_CTL_MODE }, 0 }, + { "nav_position_timeout", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.general.pos_failure_timeout, .config.minmax = { 0, 10 }, 0 }, + { "nav_wp_radius", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.general.waypoint_radius, .config.minmax = { 10, 10000 }, 0 }, + { "nav_max_speed", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.general.max_speed, .config.minmax = { 10, 2000 }, 0 }, + { "nav_max_climb_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.general.max_climb_rate, .config.minmax = { 10, 2000 }, 0 }, + { "nav_manual_speed", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.general.max_manual_speed, .config.minmax = { 10, 2000 }, 0 }, + { "nav_manual_climb_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.general.max_manual_climb_rate, .config.minmax = { 10, 2000 }, 0 }, + { "nav_landing_speed", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.general.land_descent_rate, .config.minmax = { 100, 2000 }, 0 }, + { "nav_land_slowdown_minalt", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.general.land_slowdown_minalt, .config.minmax = { 50, 1000 }, 0 }, + { "nav_land_slowdown_maxalt", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.general.land_slowdown_maxalt, .config.minmax = { 500, 4000 }, 0 }, + { "nav_emerg_landing_speed", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.general.emerg_descent_rate, .config.minmax = { 100, 2000 }, 0 }, + { "nav_min_rth_distance", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.general.min_rth_distance, .config.minmax = { 0, 5000 }, 0 }, + { "nav_rth_tail_first", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.general.flags.rth_tail_first, .config.lookup = { TABLE_OFF_ON }, 0 }, + { "nav_rth_alt_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.navConfig.general.flags.rth_alt_control_style, .config.lookup = { TABLE_NAV_RTH_ALT_MODE }, 0 }, + { "nav_rth_altitude", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.general.rth_altitude, .config.minmax = { 100, 65000 }, 0 }, + + { "nav_mc_bank_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.mc.max_bank_angle, .config.minmax = { 15, 45 }, 0 }, + { "nav_mc_hover_thr", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.mc.hover_throttle, .config.minmax = { 1000, 2000 }, 0 }, + { "nav_mc_auto_disarm_delay", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.mc.auto_disarm_delay, .config.minmax = { 100, 10000 }, 0 }, + + { "nav_fw_cruise_thr", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw.cruise_throttle, .config.minmax = { 1000, 2000 }, 0 }, + { "nav_fw_min_thr", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw.min_throttle, .config.minmax = { 1000, 2000 }, 0 }, + { "nav_fw_max_thr", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw.max_throttle, .config.minmax = { 1000, 2000 }, 0 }, + { "nav_fw_bank_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.fw.max_bank_angle, .config.minmax = { 5, 45 }, 0 }, + { "nav_fw_climb_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.fw.max_climb_angle, .config.minmax = { 5, 45 }, 0 }, + { "nav_fw_dive_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.fw.max_dive_angle, .config.minmax = { 5, 45 }, 0 }, + { "nav_fw_pitch2thr", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.fw.pitch_to_throttle, .config.minmax = { 0, 100 }, 0 }, + { "nav_fw_roll2pitch", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.fw.roll_to_pitch, .config.minmax = { 0, 200 }, 0 }, + { "nav_fw_loiter_radius", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw.loiter_radius, .config.minmax = { 0, 10000 }, 0 }, + + { "nav_fw_launch_accel", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw.launch_accel_thresh, .config.minmax = { 1000, 20000 }, 0 }, + { "nav_fw_launch_detect_time", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw.launch_time_thresh, .config.minmax = { 10, 1000 }, 0 }, + { "nav_fw_launch_thr", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw.launch_throttle, .config.minmax = { 1000, 2000 }, 0 }, + { "nav_fw_launch_motor_delay", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw.launch_motor_timer, .config.minmax = { 0, 5000 }, 0 }, + { "naw_fw_launch_timeout", VAR_UINT16 | MASTER_VALUE, &masterConfig.navConfig.fw.launch_timeout, .config.minmax = { 0, 60000 }, 0 }, + { "naw_fw_launch_climb_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.navConfig.fw.launch_climb_angle, .config.minmax = { 5, 45 }, 0 }, #endif #ifdef SERIAL_RX From bdb589a86b1949e8dd9e39842ce18e595b7f14ff Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Thu, 3 Nov 2016 21:02:22 +1000 Subject: [PATCH 066/139] Fix RTH initialisation to respect position sensor timeout --- src/main/flight/navigation_rewrite.c | 40 +++++++++++++++++----------- 1 file changed, 25 insertions(+), 15 deletions(-) diff --git a/src/main/flight/navigation_rewrite.c b/src/main/flight/navigation_rewrite.c index e94ed52656f..5459ddfb4a9 100755 --- a/src/main/flight/navigation_rewrite.c +++ b/src/main/flight/navigation_rewrite.c @@ -823,27 +823,37 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_POSHOLD_3D_IN_PROGRESS( static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigationFSMState_t previousState) { - if (STATE(GPS_FIX_HOME) && posControl.flags.hasValidHeadingSensor) { - navigationFSMStateFlags_t prevFlags = navGetStateFlags(previousState); + if (STATE(GPS_FIX_HOME)) { + if (posControl.flags.hasValidHeadingSensor) { + navigationFSMStateFlags_t prevFlags = navGetStateFlags(previousState); - if ((prevFlags & NAV_CTL_POS) == 0) { - resetPositionController(); - } + if ((prevFlags & NAV_CTL_POS) == 0) { + resetPositionController(); + } - if ((prevFlags & NAV_CTL_ALT) == 0) { - resetAltitudeController(); - setupAltitudeController(); - } + if ((prevFlags & NAV_CTL_ALT) == 0) { + resetAltitudeController(); + setupAltitudeController(); + } - // Switch between 2D and 3D RTH depending on altitude sensor availability - if (posControl.flags.hasValidAltitudeSensor) { - // We might have GPS unavailable - in case of 3D RTH set current altitude target - setDesiredPosition(&posControl.actualState.pos, 0, NAV_POS_UPDATE_Z); + // Switch between 2D and 3D RTH depending on altitude sensor availability + if (posControl.flags.hasValidAltitudeSensor) { + // We might have GPS unavailable - in case of 3D RTH set current altitude target + setDesiredPosition(&posControl.actualState.pos, 0, NAV_POS_UPDATE_Z); - return NAV_FSM_EVENT_SWITCH_TO_RTH_3D; + return NAV_FSM_EVENT_SWITCH_TO_RTH_3D; + } + else { + return NAV_FSM_EVENT_SWITCH_TO_RTH_2D; + } } + /* Position sensor failure timeout - land */ + else if (checkForPositionSensorTimeout()) { + return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING; + } + /* No valid POS sensor but still within valid timeout - wait */ else { - return NAV_FSM_EVENT_SWITCH_TO_RTH_2D; + return NAV_FSM_EVENT_NONE; } } else { From e8f0e4940d1205432e4d5f6dad937b30cbfdd658 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Thu, 3 Nov 2016 21:06:29 +1000 Subject: [PATCH 067/139] Disallow pilot to activate RTH manually when no GPS_FIX_HOME or no GPS; Forced RTH is still activated no mater what --- src/main/flight/navigation_rewrite.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/flight/navigation_rewrite.c b/src/main/flight/navigation_rewrite.c index 5459ddfb4a9..dbd2b4ac538 100755 --- a/src/main/flight/navigation_rewrite.c +++ b/src/main/flight/navigation_rewrite.c @@ -2297,7 +2297,7 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void) } // RTH/Failsafe_RTH can override PASSTHRU - if (posControl.flags.forcedRTHActivated || IS_RC_MODE_ACTIVE(BOXNAVRTH)) { + if (posControl.flags.forcedRTHActivated || (IS_RC_MODE_ACTIVE(BOXNAVRTH) && canActivatePosHold && STATE(GPS_FIX_HOME))) { // If we request forced RTH - attempt to activate it no matter what // This might switch to emergency landing controller if GPS is unavailable canActivateWaypoint = false; // Block WP mode if we switched to RTH for whatever reason From 89b285ea0f2c0cf8b044bec48ffe07afdb090421 Mon Sep 17 00:00:00 2001 From: Konstantin Sharlaimov Date: Fri, 4 Nov 2016 11:27:27 +1000 Subject: [PATCH 068/139] Version bump to 1.4 (#754) --- src/main/build/version.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/build/version.h b/src/main/build/version.h index f69a22a435a..0a27632e393 100644 --- a/src/main/build/version.h +++ b/src/main/build/version.h @@ -16,8 +16,8 @@ */ #define FC_VERSION_MAJOR 1 // increment when a major release is made (big new feature, etc) -#define FC_VERSION_MINOR 3 // increment when a minor release is made (small new feature, change etc) -#define FC_VERSION_PATCH_LEVEL 1 // increment when a bug is fixed +#define FC_VERSION_MINOR 4 // increment when a minor release is made (small new feature, change etc) +#define FC_VERSION_PATCH_LEVEL 0 // increment when a bug is fixed #define STR_HELPER(x) #x #define STR(x) STR_HELPER(x) From 2299e50950f46c6db4ad6c925474e494efa3171c Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Fri, 4 Nov 2016 07:51:19 +0000 Subject: [PATCH 069/139] Use sbufWriteData for greater efficiency --- src/main/fc/fc_msp.c | 83 +++++++++++++++++++------------------------- 1 file changed, 36 insertions(+), 47 deletions(-) diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index 23bf6f9da91..c04994b5177 100644 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -241,9 +241,7 @@ static void serializeBoxNamesReply(sbuf_t *dst) const box_t *box = findBoxByActiveBoxId(activeBoxId); if (box) { const int len = strlen(box->boxName); - for (int j = 0; j < len; j++) { - sbufWriteU8(dst, box->boxName[j]); - } + sbufWriteData(dst, box->boxName, len); } } } @@ -467,7 +465,6 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp #if !defined(NAV) && !defined(USE_FLASHFS) UNUSED(src); #endif - uint32_t i; #ifdef NAV int8_t msp_wp_no; @@ -483,9 +480,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp break; case MSP_FC_VARIANT: - for (i = 0; i < FLIGHT_CONTROLLER_IDENTIFIER_LENGTH; i++) { - sbufWriteU8(dst, flightControllerIdentifier[i]); - } + sbufWriteData(dst, flightControllerIdentifier, FLIGHT_CONTROLLER_IDENTIFIER_LENGTH); break; case MSP_FC_VERSION: @@ -495,9 +490,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp break; case MSP_BOARD_INFO: - for (i = 0; i < BOARD_IDENTIFIER_LENGTH; i++) { - sbufWriteU8(dst, boardIdentifier[i]); - } + sbufWriteData(dst, boardIdentifier, BOARD_IDENTIFIER_LENGTH); #ifdef NAZE sbufWriteU16(dst, hardwareRevision); #else @@ -506,16 +499,9 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp break; case MSP_BUILD_INFO: - for (i = 0; i < BUILD_DATE_LENGTH; i++) { - sbufWriteU8(dst, buildDate[i]); - } - for (i = 0; i < BUILD_TIME_LENGTH; i++) { - sbufWriteU8(dst, buildTime[i]); - } - - for (i = 0; i < GIT_SHORT_REVISION_LENGTH; i++) { - sbufWriteU8(dst, shortGitRevision[i]); - } + sbufWriteData(dst, buildDate, BUILD_DATE_LENGTH); + sbufWriteData(dst, buildTime, BUILD_TIME_LENGTH); + sbufWriteData(dst, shortGitRevision, GIT_SHORT_REVISION_LENGTH); break; // DEPRECATED - Use MSP_API_VERSION @@ -564,12 +550,15 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp { // Hack scale due to choice of units for sensor data in multiwii const uint8_t scale = (acc.acc_1G > 1024) ? 8 : 1; - for (i = 0; i < 3; i++) + for (int i = 0; i < 3; i++) { sbufWriteU16(dst, accADC[i] / scale); - for (i = 0; i < 3; i++) + } + for (int i = 0; i < 3; i++) { sbufWriteU16(dst, gyroADC[i]); - for (i = 0; i < 3; i++) + } + for (int i = 0; i < 3; i++) { sbufWriteU16(dst, magADC[i]); + } } break; @@ -579,7 +568,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp sbufWriteData(dst, &servo, MAX_SUPPORTED_SERVOS * 2); break; case MSP_SERVO_CONFIGURATIONS: - for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) { + for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) { sbufWriteU16(dst, currentProfile->servoConf[i].min); sbufWriteU16(dst, currentProfile->servoConf[i].max); sbufWriteU16(dst, currentProfile->servoConf[i].middle); @@ -591,7 +580,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp } break; case MSP_SERVO_MIX_RULES: - for (i = 0; i < MAX_SERVO_RULES; i++) { + for (int i = 0; i < MAX_SERVO_RULES; i++) { sbufWriteU8(dst, masterConfig.customServoMixer[i].targetChannel); sbufWriteU8(dst, masterConfig.customServoMixer[i].inputSource); sbufWriteU8(dst, masterConfig.customServoMixer[i].rate); @@ -610,8 +599,9 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp break; case MSP_RC: - for (i = 0; i < rxRuntimeConfig.channelCount; i++) + for (int i = 0; i < rxRuntimeConfig.channelCount; i++) { sbufWriteU16(dst, rcData[i]); + } break; case MSP_ATTITUDE: @@ -660,7 +650,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp case MSP_RC_TUNING: sbufWriteU8(dst, 100); //rcRate8 kept for compatibity reasons, this setting is no longer used sbufWriteU8(dst, currentControlRateProfile->rcExpo8); - for (i = 0 ; i < 3; i++) { + for (int i = 0 ; i < 3; i++) { sbufWriteU8(dst, currentControlRateProfile->rates[i]); // R,P,Y see flight_dynamics_index_t } sbufWriteU8(dst, currentControlRateProfile->dynThrPID); @@ -671,7 +661,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp break; case MSP_PID: - for (i = 0; i < PID_ITEM_COUNT; i++) { + for (int i = 0; i < PID_ITEM_COUNT; i++) { sbufWriteU8(dst, currentProfile->pidProfile.P8[i]); sbufWriteU8(dst, currentProfile->pidProfile.I8[i]); sbufWriteU8(dst, currentProfile->pidProfile.D8[i]); @@ -689,7 +679,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp break; case MSP_MODE_RANGES: - for (i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) { + for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) { modeActivationCondition_t *mac = ¤tProfile->modeActivationConditions[i]; const box_t *box = findBoxByActiveBoxId(mac->modeId); sbufWriteU8(dst, box ? box->permanentId : 0); @@ -700,7 +690,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp break; case MSP_ADJUSTMENT_RANGES: - for (i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) { + for (int i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) { adjustmentRange_t *adjRange = ¤tProfile->adjustmentRanges[i]; sbufWriteU8(dst, adjRange->adjustmentIndex); sbufWriteU8(dst, adjRange->auxChannelIndex); @@ -716,7 +706,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp break; case MSP_BOXIDS: - for (i = 0; i < activeBoxIdCount; i++) { + for (int i = 0; i < activeBoxIdCount; i++) { const box_t *box = findBoxByActiveBoxId(activeBoxIds[i]); if (!box) { continue; @@ -757,7 +747,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp case MSP_MOTOR_PINS: // FIXME This is hardcoded and should not be. - for (i = 0; i < 8; i++) + for (int i = 0; i < 8; i++) sbufWriteU8(dst, i + 1); break; @@ -828,8 +818,9 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp // output some useful QA statistics // debug[x] = ((hse_value / 1000000) * 1000) + (SystemCoreClock / 1000000); // XX0YY [crystal clock : core clock] - for (i = 0; i < DEBUG16_VALUE_COUNT; i++) + for (int i = 0; i < DEBUG16_VALUE_COUNT; i++) { sbufWriteU16(dst, debug[i]); // 4 variables are here for general monitoring purpose + } break; case MSP_UID: @@ -892,7 +883,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp break; case MSP_RXFAIL_CONFIG: - for (i = 0; i < rxRuntimeConfig.channelCount; i++) { + for (int i = 0; i < rxRuntimeConfig.channelCount; i++) { sbufWriteU8(dst, masterConfig.rxConfig.failsafe_channel_configurations[i].mode); sbufWriteU16(dst, RXFAIL_STEP_TO_CHANNEL_VALUE(masterConfig.rxConfig.failsafe_channel_configurations[i].step)); } @@ -903,8 +894,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp break; case MSP_RX_MAP: - for (i = 0; i < MAX_MAPPABLE_RX_INPUTS; i++) - sbufWriteU8(dst, masterConfig.rxConfig.rcmap[i]); + sbufWriteData(dst, masterConfig.rxConfig.rcmap, MAX_MAPPABLE_RX_INPUTS); break; case MSP_BF_CONFIG: @@ -923,7 +913,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp break; case MSP_CF_SERIAL_CONFIG: - for (i = 0; i < SERIAL_PORT_COUNT; i++) { + for (int i = 0; i < SERIAL_PORT_COUNT; i++) { if (!serialIsPortAvailable(masterConfig.serialConfig.portConfigs[i].identifier)) { continue; }; @@ -938,7 +928,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp #ifdef LED_STRIP case MSP_LED_COLORS: - for (i = 0; i < LED_CONFIGURABLE_COLOR_COUNT; i++) { + for (int i = 0; i < LED_CONFIGURABLE_COLOR_COUNT; i++) { hsvColor_t *color = &masterConfig.colors[i]; sbufWriteU16(dst, color->h); sbufWriteU8(dst, color->s); @@ -947,7 +937,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp break; case MSP_LED_STRIP_CONFIG: - for (i = 0; i < LED_MAX_STRIP_LENGTH; i++) { + for (int i = 0; i < LED_MAX_STRIP_LENGTH; i++) { ledConfig_t *ledConfig = &masterConfig.ledConfigs[i]; sbufWriteU32(dst, *ledConfig); } @@ -1001,8 +991,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp break; case MSP_BF_BUILD_INFO: - for (i = 0; i < 11; i++) - sbufWriteU8(dst, buildDate[i]); // MMM DD YYYY as ascii, MMM = Jan/Feb... etc + sbufWriteData(dst, buildDate, 11); // MMM DD YYYY as ascii, MMM = Jan/Feb... etc sbufWriteU32(dst, 0); // future exp sbufWriteU32(dst, 0); // future exp break; @@ -1110,7 +1099,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src) } else { uint16_t frame[MAX_SUPPORTED_RC_CHANNEL_COUNT]; - for (i = 0; i < channelCount; i++) { + for (int i = 0; i < channelCount; i++) { frame[i] = sbufReadU16(src); } @@ -1135,7 +1124,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src) case MSP_SET_PID: signalRequiredPIDCoefficientsUpdate(); - for (i = 0; i < PID_ITEM_COUNT; i++) { + for (int i = 0; i < PID_ITEM_COUNT; i++) { currentProfile->pidProfile.P8[i] = sbufReadU8(src); currentProfile->pidProfile.I8[i] = sbufReadU8(src); currentProfile->pidProfile.D8[i] = sbufReadU8(src); @@ -1187,7 +1176,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src) if (dataSize >= 10) { sbufReadU8(src); //Read rcRate8, kept for protocol compatibility reasons currentControlRateProfile->rcExpo8 = sbufReadU8(src); - for (i = 0; i < 3; i++) { + for (int i = 0; i < 3; i++) { rate = sbufReadU8(src); if (i == FD_YAW) { currentControlRateProfile->rates[i] = constrain(rate, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX); @@ -1244,7 +1233,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src) break; case MSP_SET_MOTOR: - for (i = 0; i < 8; i++) { + for (int i = 0; i < 8; i++) { const int16_t disarmed = sbufReadU16(src); if (i < MAX_SUPPORTED_MOTORS) { motor_disarmed[i] = disarmed; @@ -1488,7 +1477,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src) break; case MSP_SET_RX_MAP: - for (i = 0; i < MAX_MAPPABLE_RX_INPUTS; i++) { + for (int i = 0; i < MAX_MAPPABLE_RX_INPUTS; i++) { masterConfig.rxConfig.rcmap[i] = sbufReadU8(src); } break; @@ -1545,7 +1534,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src) #ifdef LED_STRIP case MSP_SET_LED_COLORS: - for (i = 0; i < LED_CONFIGURABLE_COLOR_COUNT; i++) { + for (int i = 0; i < LED_CONFIGURABLE_COLOR_COUNT; i++) { hsvColor_t *color = &masterConfig.colors[i]; color->h = sbufReadU16(src); color->s = sbufReadU8(src); From 8d4230ac3ae474935d901ecc266b88228ee2da21 Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Tue, 23 Aug 2016 17:55:52 +0100 Subject: [PATCH 070/139] Improved const correctness --- src/main/drivers/barometer_bmp085.c | 2 +- src/main/flight/navigation_rewrite.c | 66 +++++++------ src/main/flight/navigation_rewrite.h | 8 +- src/main/flight/navigation_rewrite_geo.c | 26 +++--- .../flight/navigation_rewrite_multicopter.c | 92 +++++++++---------- src/main/flight/navigation_rewrite_private.h | 12 +-- 6 files changed, 101 insertions(+), 105 deletions(-) diff --git a/src/main/drivers/barometer_bmp085.c b/src/main/drivers/barometer_bmp085.c index 9f022f6fe4f..fe25c1603ff 100644 --- a/src/main/drivers/barometer_bmp085.c +++ b/src/main/drivers/barometer_bmp085.c @@ -342,7 +342,7 @@ STATIC_UNIT_TESTED void bmp085_calculate(int32_t *pressure, int32_t *temperature static void bmp085_get_cal_param(void) { - uint8_t data[22]; + uint8_t data[BMP085_PROM_DATA__LEN]; i2cRead(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_PROM_START__ADDR, BMP085_PROM_DATA__LEN, data); /*parameters AC1-AC6*/ diff --git a/src/main/flight/navigation_rewrite.c b/src/main/flight/navigation_rewrite.c index ec8521db6a0..e73251e4068 100755 --- a/src/main/flight/navigation_rewrite.c +++ b/src/main/flight/navigation_rewrite.c @@ -79,8 +79,8 @@ static void setupAltitudeController(void); void resetNavigation(void); void resetGCSFlags(void); -static void calcualteAndSetActiveWaypoint(navWaypoint_t * waypoint); -static void calcualteAndSetActiveWaypointToLocalPosition(t_fp_vector * pos); +static void calcualteAndSetActiveWaypoint(const navWaypoint_t * waypoint); +static void calcualteAndSetActiveWaypointToLocalPosition(const t_fp_vector * pos); void calculateInitialHoldPosition(t_fp_vector * pos); void calculateFarAwayTarget(t_fp_vector * farAwayPos, int32_t yaw, int32_t distance); @@ -120,7 +120,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_INITIALIZE(navig static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_WAIT(navigationFSMState_t previousState); static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_IN_PROGRESS(navigationFSMState_t previousState); -static navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { +static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { /** Idle state ******************************************************/ [NAV_STATE_IDLE] = { .onEntry = navOnEnteringState_NAV_STATE_IDLE, @@ -702,7 +702,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_IDLE(navigationFSMState static navigationFSMEvent_t navOnEnteringState_NAV_STATE_ALTHOLD_INITIALIZE(navigationFSMState_t previousState) { - navigationFSMStateFlags_t prevFlags = navGetStateFlags(previousState); + const navigationFSMStateFlags_t prevFlags = navGetStateFlags(previousState); resetGCSFlags(); @@ -738,7 +738,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_ALTHOLD_IN_PROGRESS(nav static navigationFSMEvent_t navOnEnteringState_NAV_STATE_POSHOLD_2D_INITIALIZE(navigationFSMState_t previousState) { - navigationFSMStateFlags_t prevFlags = navGetStateFlags(previousState); + const navigationFSMStateFlags_t prevFlags = navGetStateFlags(previousState); resetGCSFlags(); @@ -772,7 +772,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_POSHOLD_2D_IN_PROGRESS( static navigationFSMEvent_t navOnEnteringState_NAV_STATE_POSHOLD_3D_INITIALIZE(navigationFSMState_t previousState) { - navigationFSMStateFlags_t prevFlags = navGetStateFlags(previousState); + const navigationFSMStateFlags_t prevFlags = navGetStateFlags(previousState); resetGCSFlags(); @@ -1212,7 +1212,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND(navig { UNUSED(previousState); - navigationFSMEvent_t landEvent = navOnEnteringState_NAV_STATE_RTH_3D_LANDING(previousState); + const navigationFSMEvent_t landEvent = navOnEnteringState_NAV_STATE_RTH_3D_LANDING(previousState); if (landEvent == NAV_FSM_EVENT_SUCCESS) { // Landing controller returned success - invoke RTH finishing state and finish the waypoint navOnEnteringState_NAV_STATE_RTH_3D_FINISHING(previousState); @@ -1227,7 +1227,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_NEXT(navigatio { UNUSED(previousState); - bool isLastWaypoint = (posControl.waypointList[posControl.activeWaypointIndex].flag == NAV_WP_FLAG_LAST) || + const bool isLastWaypoint = (posControl.waypointList[posControl.activeWaypointIndex].flag == NAV_WP_FLAG_LAST) || (posControl.activeWaypointIndex >= (posControl.waypointCount - 1)); if (isLastWaypoint) { @@ -1328,7 +1328,7 @@ static navigationFSMState_t navSetNewFSMState(navigationFSMState_t newState) static void navProcessFSMEvents(navigationFSMEvent_t injectedEvent) { - uint32_t currentMillis = millis(); + const uint32_t currentMillis = millis(); navigationFSMState_t previousState; static uint32_t lastStateProcessTime = 0; @@ -1436,8 +1436,8 @@ float navPidApply2(float setpoint, float measurement, float dt, pidController_t newDerivative = pid->param.kD * pt1FilterApply4(&pid->dterm_filter_state, newDerivative, NAV_DTERM_CUT_HZ, dt); /* Pre-calculate output and limit it if actuator is saturating */ - float outVal = newProportional + pid->integrator + newDerivative; - float outValConstrained = constrainf(outVal, outMin, outMax); + const float outVal = newProportional + pid->integrator + newDerivative; + const float outValConstrained = constrainf(outVal, outMin, outMax); /* Update I-term */ pid->integrator += (error * pid->param.kI * dt) + ((outValConstrained - outVal) * pid->param.kT * dt); @@ -1619,18 +1619,18 @@ void updateActualHeading(int32_t newHeading) /*----------------------------------------------------------- * Calculates distance and bearing to destination point *-----------------------------------------------------------*/ -uint32_t calculateDistanceToDestination(t_fp_vector * destinationPos) +uint32_t calculateDistanceToDestination(const t_fp_vector * destinationPos) { - float deltaX = destinationPos->V.X - posControl.actualState.pos.V.X; - float deltaY = destinationPos->V.Y - posControl.actualState.pos.V.Y; + const float deltaX = destinationPos->V.X - posControl.actualState.pos.V.X; + const float deltaY = destinationPos->V.Y - posControl.actualState.pos.V.Y; return sqrtf(sq(deltaX) + sq(deltaY)); } -int32_t calculateBearingToDestination(t_fp_vector * destinationPos) +int32_t calculateBearingToDestination(const t_fp_vector * destinationPos) { - float deltaX = destinationPos->V.X - posControl.actualState.pos.V.X; - float deltaY = destinationPos->V.Y - posControl.actualState.pos.V.Y; + const float deltaX = destinationPos->V.X - posControl.actualState.pos.V.X; + const float deltaY = destinationPos->V.Y - posControl.actualState.pos.V.Y; return wrap_36000(RADIANS_TO_CENTIDEGREES(atan2_approx(deltaY, deltaX))); } @@ -1638,7 +1638,7 @@ int32_t calculateBearingToDestination(t_fp_vector * destinationPos) /*----------------------------------------------------------- * Check if waypoint is/was reached. Assume that waypoint-yaw stores initial bearing *-----------------------------------------------------------*/ -bool isWaypointMissed(navWaypointPosition_t * waypoint) +bool isWaypointMissed(const navWaypointPosition_t * waypoint) { int32_t bearingError = calculateBearingToDestination(&waypoint->pos) - waypoint->yaw; bearingError = wrap_18000(bearingError); @@ -1646,10 +1646,10 @@ bool isWaypointMissed(navWaypointPosition_t * waypoint) return ABS(bearingError) > 10000; // TRUE if we passed the waypoint by 100 degrees } -bool isWaypointReached(navWaypointPosition_t * waypoint) +bool isWaypointReached(const navWaypointPosition_t * waypoint) { // We consider waypoint reached if within specified radius - uint32_t wpDistance = calculateDistanceToDestination(&waypoint->pos); + const uint32_t wpDistance = calculateDistanceToDestination(&waypoint->pos); return (wpDistance <= posControl.navConfig->general.waypoint_radius); } @@ -1695,7 +1695,7 @@ static void updateDesiredRTHAltitude(void) /*----------------------------------------------------------- * Reset home position to current position *-----------------------------------------------------------*/ -void setHomePosition(t_fp_vector * pos, int32_t yaw, navSetWaypointFlags_t useMask) +void setHomePosition(const t_fp_vector * pos, int32_t yaw, navSetWaypointFlags_t useMask) { // XY-position if ((useMask & NAV_POS_UPDATE_XY) != 0) { @@ -1789,7 +1789,7 @@ void calculateInitialHoldPosition(t_fp_vector * pos) /*----------------------------------------------------------- * Set active XYZ-target and desired heading *-----------------------------------------------------------*/ -void setDesiredPosition(t_fp_vector * pos, int32_t yaw, navSetWaypointFlags_t useMask) +void setDesiredPosition(const t_fp_vector * pos, int32_t yaw, navSetWaypointFlags_t useMask) { // XY-position if ((useMask & NAV_POS_UPDATE_XY) != 0) { @@ -2016,7 +2016,7 @@ void getWaypoint(uint8_t wpNumber, navWaypoint_t * wpData) } } -void setWaypoint(uint8_t wpNumber, navWaypoint_t * wpData) +void setWaypoint(uint8_t wpNumber, const navWaypoint_t * wpData) { gpsLocation_t wpLLH; navWaypointPosition_t wpPos; @@ -2075,7 +2075,7 @@ void resetWaypointList(void) } } -static void calcualteAndSetActiveWaypointToLocalPosition(t_fp_vector * pos) +static void calcualteAndSetActiveWaypointToLocalPosition(const t_fp_vector * pos) { posControl.activeWaypoint.pos = *pos; @@ -2086,7 +2086,7 @@ static void calcualteAndSetActiveWaypointToLocalPosition(t_fp_vector * pos) setDesiredPosition(&posControl.activeWaypoint.pos, posControl.activeWaypoint.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING); } -static void calcualteAndSetActiveWaypoint(navWaypoint_t * waypoint) +static void calcualteAndSetActiveWaypoint(const navWaypoint_t * waypoint) { gpsLocation_t wpLLH; t_fp_vector localPos; @@ -2188,7 +2188,7 @@ static void processNavigationRCAdjustments(void) *-----------------------------------------------------------*/ void applyWaypointNavigationAndAltitudeHold(void) { - uint32_t currentTime = micros(); + const uint32_t currentTime = micros(); #if defined(NAV_BLACKBOX) navFlags = 0; @@ -2244,8 +2244,8 @@ void applyWaypointNavigationAndAltitudeHold(void) *-----------------------------------------------------------*/ void swithNavigationFlightModes(void) { - flightModeFlags_e enabledNavFlightModes = navGetMappedFlightModes(posControl.navState); - flightModeFlags_e disabledFlightModes = (NAV_ALTHOLD_MODE | NAV_RTH_MODE | NAV_POSHOLD_MODE | NAV_WP_MODE | NAV_LAUNCH_MODE) & (~enabledNavFlightModes); + const flightModeFlags_e enabledNavFlightModes = navGetMappedFlightModes(posControl.navState); + const flightModeFlags_e disabledFlightModes = (NAV_ALTHOLD_MODE | NAV_RTH_MODE | NAV_POSHOLD_MODE | NAV_WP_MODE | NAV_LAUNCH_MODE) & (~enabledNavFlightModes); DISABLE_FLIGHT_MODE(disabledFlightModes); ENABLE_FLIGHT_MODE(enabledNavFlightModes); } @@ -2355,7 +2355,7 @@ bool navigationRequiresThrottleTiltCompensation(void) *-----------------------------------------------------------*/ bool naivationRequiresAngleMode(void) { - navigationFSMStateFlags_t currentState = navGetStateFlags(posControl.navState); + const navigationFSMStateFlags_t currentState = navGetStateFlags(posControl.navState); return (currentState & NAV_REQUIRE_ANGLE) || ((currentState & NAV_REQUIRE_ANGLE_FW) && STATE(FIXED_WING)); } @@ -2489,8 +2489,6 @@ void navigationUsemotorConfig(motorConfig_t * initialmotorConfig) void navigationUsePIDs(pidProfile_t *initialPidProfile) { - int axis; - posControl.pidProfile = initialPidProfile; // Brake time parameter @@ -2500,7 +2498,7 @@ void navigationUsePIDs(pidProfile_t *initialPidProfile) posControl.posResponseExpo = constrainf((float)posControl.pidProfile->D8[PIDPOS] / 100.0f, 0.0f, 1.0f); // Initialize position hold P-controller - for (axis = 0; axis < 2; axis++) { + for (int axis = 0; axis < 2; axis++) { navPInit(&posControl.pids.pos[axis], (float)posControl.pidProfile->P8[PIDPOS] / 100.0f); navPidInit(&posControl.pids.vel[axis], (float)posControl.pidProfile->P8[PIDPOSR] / 100.0f, @@ -2621,8 +2619,8 @@ static float GPS_scaleLonDown; static void GPS_distance_cm_bearing(int32_t currentLat1, int32_t currentLon1, int32_t destinationLat2, int32_t destinationLon2, uint32_t *dist, int32_t *bearing) { - float dLat = destinationLat2 - currentLat1; // difference of latitude in 1/10 000 000 degrees - float dLon = (float)(destinationLon2 - currentLon1) * GPS_scaleLonDown; + const float dLat = destinationLat2 - currentLat1; // difference of latitude in 1/10 000 000 degrees + const float dLon = (float)(destinationLon2 - currentLon1) * GPS_scaleLonDown; *dist = sqrtf(sq(dLat) + sq(dLon)) * DISTANCE_BETWEEN_TWO_LONGITUDE_POINTS_AT_EQUATOR; diff --git a/src/main/flight/navigation_rewrite.h b/src/main/flight/navigation_rewrite.h index 93c40ebffe6..c9ac6060e7d 100755 --- a/src/main/flight/navigation_rewrite.h +++ b/src/main/flight/navigation_rewrite.h @@ -262,7 +262,7 @@ float getEstimatedActualPosition(int axis); /* Waypoint list access functions */ void getWaypoint(uint8_t wpNumber, navWaypoint_t * wpData); -void setWaypoint(uint8_t wpNumber, navWaypoint_t * wpData); +void setWaypoint(uint8_t wpNumber, const navWaypoint_t * wpData); void resetWaypointList(void); /* Geodetic functions */ @@ -271,9 +271,9 @@ typedef enum { GEO_ALT_RELATIVE } geoAltitudeConversionMode_e; -void geoConvertGeodeticToLocal(gpsOrigin_s * origin, gpsLocation_t * llh, t_fp_vector * pos, geoAltitudeConversionMode_e altConv); -void geoConvertLocalToGeodetic(gpsOrigin_s * origin, t_fp_vector * pos, gpsLocation_t * llh); -float geoCalculateMagDeclination(gpsLocation_t * llh); // degrees units +void geoConvertGeodeticToLocal(gpsOrigin_s * origin, const gpsLocation_t * llh, t_fp_vector * pos, geoAltitudeConversionMode_e altConv); +void geoConvertLocalToGeodetic(const gpsOrigin_s * origin, const t_fp_vector * pos, gpsLocation_t * llh); +float geoCalculateMagDeclination(const gpsLocation_t * llh); // degrees units /* Failsafe-forced RTH mode */ void activateForcedRTH(void); diff --git a/src/main/flight/navigation_rewrite_geo.c b/src/main/flight/navigation_rewrite_geo.c index ad7fa9d69f7..128eecb5aa5 100755 --- a/src/main/flight/navigation_rewrite_geo.c +++ b/src/main/flight/navigation_rewrite_geo.c @@ -72,15 +72,15 @@ static float get_lookup_table_val(unsigned lat_index, unsigned lon_index) return declination_table[lat_index][lon_index]; } -float geoCalculateMagDeclination(gpsLocation_t * llh) // degrees units +float geoCalculateMagDeclination(const gpsLocation_t * llh) // degrees units { /* * If the values exceed valid ranges, return zero as default * as we have no way of knowing what the closest real value * would be. */ - float lat = llh->lat / 10000000.0f; - float lon = llh->lon / 10000000.0f; + const float lat = llh->lat / 10000000.0f; + const float lon = llh->lon / 10000000.0f; if (lat < -90.0f || lat > 90.0f || lon < -180.0f || lon > 180.0f) { @@ -113,24 +113,24 @@ float geoCalculateMagDeclination(gpsLocation_t * llh) // degrees units } /* find index of nearest low sampling point */ - unsigned min_lat_index = (-(SAMPLING_MIN_LAT) + min_lat) / SAMPLING_RES; - unsigned min_lon_index = (-(SAMPLING_MIN_LON) + min_lon) / SAMPLING_RES; + const unsigned min_lat_index = (-(SAMPLING_MIN_LAT) + min_lat) / SAMPLING_RES; + const unsigned min_lon_index = (-(SAMPLING_MIN_LON) + min_lon) / SAMPLING_RES; - float declination_sw = get_lookup_table_val(min_lat_index, min_lon_index); - float declination_se = get_lookup_table_val(min_lat_index, min_lon_index + 1); - float declination_ne = get_lookup_table_val(min_lat_index + 1, min_lon_index + 1); - float declination_nw = get_lookup_table_val(min_lat_index + 1, min_lon_index); + const float declination_sw = get_lookup_table_val(min_lat_index, min_lon_index); + const float declination_se = get_lookup_table_val(min_lat_index, min_lon_index + 1); + const float declination_ne = get_lookup_table_val(min_lat_index + 1, min_lon_index + 1); + const float declination_nw = get_lookup_table_val(min_lat_index + 1, min_lon_index); /* perform bilinear interpolation on the four grid corners */ - float declination_min = ((lon - min_lon) / SAMPLING_RES) * (declination_se - declination_sw) + declination_sw; - float declination_max = ((lon - min_lon) / SAMPLING_RES) * (declination_ne - declination_nw) + declination_nw; + const float declination_min = ((lon - min_lon) / SAMPLING_RES) * (declination_se - declination_sw) + declination_sw; + const float declination_max = ((lon - min_lon) / SAMPLING_RES) * (declination_ne - declination_nw) + declination_nw; return ((lat - min_lat) / SAMPLING_RES) * (declination_max - declination_min) + declination_min; } #endif -void geoConvertGeodeticToLocal(gpsOrigin_s * origin, gpsLocation_t * llh, t_fp_vector * pos, geoAltitudeConversionMode_e altConv) +void geoConvertGeodeticToLocal(gpsOrigin_s * origin, const gpsLocation_t * llh, t_fp_vector * pos, geoAltitudeConversionMode_e altConv) { // Origin can only be set if GEO_ALT_ABSOLUTE to get a valid reference if ((!origin->valid) && (altConv == GEO_ALT_ABSOLUTE)) { @@ -159,7 +159,7 @@ void geoConvertGeodeticToLocal(gpsOrigin_s * origin, gpsLocation_t * llh, t_fp_v } } -void geoConvertLocalToGeodetic(gpsOrigin_s * origin, t_fp_vector * pos, gpsLocation_t * llh) +void geoConvertLocalToGeodetic(const gpsOrigin_s * origin, const t_fp_vector * pos, gpsLocation_t * llh) { float scaleLonDown; diff --git a/src/main/flight/navigation_rewrite_multicopter.c b/src/main/flight/navigation_rewrite_multicopter.c index 9012024c18d..ddd1678e232 100755 --- a/src/main/flight/navigation_rewrite_multicopter.c +++ b/src/main/flight/navigation_rewrite_multicopter.c @@ -65,7 +65,7 @@ static void updateSurfaceTrackingAltitudeSetpoint(uint32_t deltaMicros) if (posControl.flags.isTerrainFollowEnabled && posControl.desiredState.surface >= 0) { if (posControl.actualState.surface >= 0 && posControl.flags.hasValidSurfaceSensor) { // We better overshoot a little bit than undershoot - float targetAltitudeError = navPidApply2(posControl.desiredState.surface, posControl.actualState.surface, US2S(deltaMicros), &posControl.pids.surface, -5.0f, +35.0f, false); + const float targetAltitudeError = navPidApply2(posControl.desiredState.surface, posControl.actualState.surface, US2S(deltaMicros), &posControl.pids.surface, -5.0f, +35.0f, false); posControl.desiredState.pos.V.Z = posControl.actualState.pos.V.Z + targetAltitudeError; } else { @@ -83,7 +83,7 @@ static void updateSurfaceTrackingAltitudeSetpoint(uint32_t deltaMicros) // Position to velocity controller for Z axis static void updateAltitudeVelocityController_MC(uint32_t deltaMicros) { - float altitudeError = posControl.desiredState.pos.V.Z - posControl.actualState.pos.V.Z; + const float altitudeError = posControl.desiredState.pos.V.Z - posControl.actualState.pos.V.Z; float targetVel = altitudeError * posControl.pids.pos[Z].param.kP; // hard limit desired target velocity to max_climb_rate @@ -92,7 +92,7 @@ static void updateAltitudeVelocityController_MC(uint32_t deltaMicros) // limit max vertical acceleration to 1/5G (~200 cm/s/s) if we are increasing velocity. // if we are decelerating - don't limit (allow better recovery from falling) if (ABS(targetVel) > ABS(posControl.desiredState.vel.V.Z)) { - float maxVelDifference = US2S(deltaMicros) * (GRAVITY_CMSS / 5.0f); + const float maxVelDifference = US2S(deltaMicros) * (GRAVITY_CMSS / 5.0f); posControl.desiredState.vel.V.Z = constrainf(targetVel, posControl.desiredState.vel.V.Z - maxVelDifference, posControl.desiredState.vel.V.Z + maxVelDifference); } else { @@ -107,8 +107,8 @@ static void updateAltitudeVelocityController_MC(uint32_t deltaMicros) static void updateAltitudeThrottleController_MC(uint32_t deltaMicros) { // Calculate min and max throttle boundaries (to compensate for integral windup) - int16_t thrAdjustmentMin = (int16_t)posControl.motorConfig->minthrottle - (int16_t)posControl.navConfig->mc.hover_throttle; - int16_t thrAdjustmentMax = (int16_t)posControl.motorConfig->maxthrottle - (int16_t)posControl.navConfig->mc.hover_throttle; + const int16_t thrAdjustmentMin = (int16_t)posControl.motorConfig->minthrottle - (int16_t)posControl.navConfig->mc.hover_throttle; + const int16_t thrAdjustmentMax = (int16_t)posControl.motorConfig->maxthrottle - (int16_t)posControl.navConfig->mc.hover_throttle; posControl.rcAdjustment[THROTTLE] = navPidApply2(posControl.desiredState.vel.V.Z, posControl.actualState.vel.V.Z, US2S(deltaMicros), &posControl.pids.vel[Z], thrAdjustmentMin, thrAdjustmentMax, false); @@ -149,7 +149,7 @@ bool adjustMulticopterAltitudeFromRCInput(void) void setupMulticopterAltitudeController(void) { - throttleStatus_e throttleStatus = calculateThrottleStatus(posControl.rxConfig, posControl.flight3DConfig->deadband3d_throttle); + const throttleStatus_e throttleStatus = calculateThrottleStatus(posControl.rxConfig, posControl.flight3DConfig->deadband3d_throttle); if (posControl.navConfig->general.flags.use_thr_mid_for_althold) { altHoldThrottleRCZero = rcLookupThrottleMid(); @@ -195,7 +195,7 @@ static void applyMulticopterAltitudeController(uint32_t currentTime) static uint32_t previousTimePositionUpdate; // Occurs @ altitude sensor update rate (max MAX_ALTITUDE_UPDATE_RATE_HZ) static uint32_t previousTimeUpdate; // Occurs @ looptime rate - uint32_t deltaMicros = currentTime - previousTimeUpdate; + const const uint32_t deltaMicros = currentTime - previousTimeUpdate; previousTimeUpdate = currentTime; // If last position update was too long in the past - ignore it (likely restarting altitude controller) @@ -208,7 +208,7 @@ static void applyMulticopterAltitudeController(uint32_t currentTime) // If we have an update on vertical position data - update velocity and accel targets if (posControl.flags.verticalPositionDataNew) { - uint32_t deltaMicrosPositionUpdate = currentTime - previousTimePositionUpdate; + const uint32_t deltaMicrosPositionUpdate = currentTime - previousTimePositionUpdate; previousTimePositionUpdate = currentTime; // Check if last correction was too log ago - ignore this update @@ -257,8 +257,7 @@ static float lastAccelTargetX = 0.0f, lastAccelTargetY = 0.0f; void resetMulticopterPositionController(void) { - int axis; - for (axis = 0; axis < 2; axis++) { + for (int axis = 0; axis < 2; axis++) { navPidReset(&posControl.pids.vel[axis]); posControl.rcAdjustment[axis] = 0; pt1FilterReset(&mcPosControllerAccFilterStateX, 0.0f); @@ -270,18 +269,18 @@ void resetMulticopterPositionController(void) bool adjustMulticopterPositionFromRCInput(void) { - int16_t rcPitchAdjustment = applyDeadband(rcCommand[PITCH], posControl.rcControlsConfig->pos_hold_deadband); - int16_t rcRollAdjustment = applyDeadband(rcCommand[ROLL], posControl.rcControlsConfig->pos_hold_deadband); + const int16_t rcPitchAdjustment = applyDeadband(rcCommand[PITCH], posControl.rcControlsConfig->pos_hold_deadband); + const int16_t rcRollAdjustment = applyDeadband(rcCommand[ROLL], posControl.rcControlsConfig->pos_hold_deadband); if (rcPitchAdjustment || rcRollAdjustment) { // If mode is GPS_CRUISE, move target position, otherwise POS controller will passthru the RC input to ANGLE PID if (posControl.navConfig->general.flags.user_control_mode == NAV_GPS_CRUISE) { - float rcVelX = rcPitchAdjustment * posControl.navConfig->general.max_manual_speed / 500; - float rcVelY = rcRollAdjustment * posControl.navConfig->general.max_manual_speed / 500; + const float rcVelX = rcPitchAdjustment * posControl.navConfig->general.max_manual_speed / 500; + const float rcVelY = rcRollAdjustment * posControl.navConfig->general.max_manual_speed / 500; // Rotate these velocities from body frame to to earth frame - float neuVelX = rcVelX * posControl.actualState.cosYaw - rcVelY * posControl.actualState.sinYaw; - float neuVelY = rcVelX * posControl.actualState.sinYaw + rcVelY * posControl.actualState.cosYaw; + const float neuVelX = rcVelX * posControl.actualState.cosYaw - rcVelY * posControl.actualState.sinYaw; + const float neuVelY = rcVelX * posControl.actualState.sinYaw + rcVelY * posControl.actualState.cosYaw; // Calculate new position target, so Pos-to-Vel P-controller would yield desired velocity posControl.desiredState.pos.V.X = posControl.actualState.pos.V.X + (neuVelX / posControl.pids.pos[X].param.kP); @@ -306,8 +305,8 @@ static float getVelocityHeadingAttenuationFactor(void) { // In WP mode scale velocity if heading is different from bearing if (navGetCurrentStateFlags() & NAV_AUTO_WP) { - int32_t headingError = constrain(wrap_18000(posControl.desiredState.yaw - posControl.actualState.yaw), -9000, 9000); - float velScaling = cos_approx(CENTIDEGREES_TO_RADIANS(headingError)); + const int32_t headingError = constrain(wrap_18000(posControl.desiredState.yaw - posControl.actualState.yaw), -9000, 9000); + const float velScaling = cos_approx(CENTIDEGREES_TO_RADIANS(headingError)); return constrainf(velScaling * velScaling, 0.05f, 1.0f); } else { @@ -318,7 +317,7 @@ static float getVelocityHeadingAttenuationFactor(void) static float getVelocityExpoAttenuationFactor(float velTotal, float velMax) { // Calculate factor of how velocity with applied expo is different from unchanged velocity - float velScale = constrainf(velTotal / velMax, 0.01f, 1.0f); + const float velScale = constrainf(velTotal / velMax, 0.01f, 1.0f); // posControl.navConfig->max_speed * ((velScale * velScale * velScale) * posControl.posResponseExpo + velScale * (1 - posControl.posResponseExpo)) / velTotal; // ((velScale * velScale * velScale) * posControl.posResponseExpo + velScale * (1 - posControl.posResponseExpo)) / velScale @@ -328,15 +327,15 @@ static float getVelocityExpoAttenuationFactor(float velTotal, float velMax) static void updatePositionVelocityController_MC(void) { - float posErrorX = posControl.desiredState.pos.V.X - posControl.actualState.pos.V.X; - float posErrorY = posControl.desiredState.pos.V.Y - posControl.actualState.pos.V.Y; + const float posErrorX = posControl.desiredState.pos.V.X - posControl.actualState.pos.V.X; + const float posErrorY = posControl.desiredState.pos.V.Y - posControl.actualState.pos.V.Y; // Calculate target velocity float newVelX = posErrorX * posControl.pids.pos[X].param.kP; float newVelY = posErrorY * posControl.pids.pos[Y].param.kP; // Get max speed from generic NAV (waypoint specific), don't allow to move slower than 0.5 m/s - float maxSpeed = getActiveWaypointSpeed(); + const float maxSpeed = getActiveWaypointSpeed(); // Scale velocity to respect max_speed float newVelTotal = sqrtf(sq(newVelX) + sq(newVelY)); @@ -347,8 +346,8 @@ static void updatePositionVelocityController_MC(void) } // Apply expo & attenuation if heading in wrong direction - turn first, accelerate later (effective only in WP mode) - float velHeadFactor = getVelocityHeadingAttenuationFactor(); - float velExpoFactor = getVelocityExpoAttenuationFactor(newVelTotal, maxSpeed); + const float velHeadFactor = getVelocityHeadingAttenuationFactor(); + const float velExpoFactor = getVelocityExpoAttenuationFactor(newVelTotal, maxSpeed); posControl.desiredState.vel.V.X = newVelX * velHeadFactor * velExpoFactor; posControl.desiredState.vel.V.Y = newVelY * velHeadFactor * velExpoFactor; @@ -360,15 +359,14 @@ static void updatePositionVelocityController_MC(void) static void updatePositionAccelController_MC(uint32_t deltaMicros, float maxAccelLimit) { - float velErrorX, velErrorY, newAccelX, newAccelY; // Calculate velocity error - velErrorX = posControl.desiredState.vel.V.X - posControl.actualState.vel.V.X; - velErrorY = posControl.desiredState.vel.V.Y - posControl.actualState.vel.V.Y; + const float velErrorX = posControl.desiredState.vel.V.X - posControl.actualState.vel.V.X; + const float velErrorY = posControl.desiredState.vel.V.Y - posControl.actualState.vel.V.Y; // Calculate XY-acceleration limit according to velocity error limit float accelLimitX, accelLimitY; - float velErrorMagnitude = sqrtf(sq(velErrorX) + sq(velErrorY)); + const float velErrorMagnitude = sqrtf(sq(velErrorX) + sq(velErrorY)); if (velErrorMagnitude > 0.1f) { accelLimitX = maxAccelLimit / velErrorMagnitude * fabsf(velErrorX); accelLimitY = maxAccelLimit / velErrorMagnitude * fabsf(velErrorY); @@ -380,37 +378,37 @@ static void updatePositionAccelController_MC(uint32_t deltaMicros, float maxAcce // Apply additional jerk limiting of 1700 cm/s^3 (~100 deg/s), almost any copter should be able to achieve this rate // This will assure that we wont't saturate out LEVEL and RATE PID controller - float maxAccelChange = US2S(deltaMicros) * 1700.0f; - float accelLimitXMin = constrainf(lastAccelTargetX - maxAccelChange, -accelLimitX, +accelLimitX); - float accelLimitXMax = constrainf(lastAccelTargetX + maxAccelChange, -accelLimitX, +accelLimitX); - float accelLimitYMin = constrainf(lastAccelTargetY - maxAccelChange, -accelLimitY, +accelLimitY); - float accelLimitYMax = constrainf(lastAccelTargetY + maxAccelChange, -accelLimitY, +accelLimitY); + const float maxAccelChange = US2S(deltaMicros) * 1700.0f; + const float accelLimitXMin = constrainf(lastAccelTargetX - maxAccelChange, -accelLimitX, +accelLimitX); + const float accelLimitXMax = constrainf(lastAccelTargetX + maxAccelChange, -accelLimitX, +accelLimitX); + const float accelLimitYMin = constrainf(lastAccelTargetY - maxAccelChange, -accelLimitY, +accelLimitY); + const float accelLimitYMax = constrainf(lastAccelTargetY + maxAccelChange, -accelLimitY, +accelLimitY); // TODO: Verify if we need jerk limiting after all // Apply PID with output limiting and I-term anti-windup // Pre-calculated accelLimit and the logic of navPidApply2 function guarantee that our newAccel won't exceed maxAccelLimit // Thus we don't need to do anything else with calculated acceleration - newAccelX = navPidApply2(posControl.desiredState.vel.V.X, posControl.actualState.vel.V.X, US2S(deltaMicros), &posControl.pids.vel[X], accelLimitXMin, accelLimitXMax, false); - newAccelY = navPidApply2(posControl.desiredState.vel.V.Y, posControl.actualState.vel.V.Y, US2S(deltaMicros), &posControl.pids.vel[Y], accelLimitYMin, accelLimitYMax, false); + const float newAccelX = navPidApply2(posControl.desiredState.vel.V.X, posControl.actualState.vel.V.X, US2S(deltaMicros), &posControl.pids.vel[X], accelLimitXMin, accelLimitXMax, false); + const float newAccelY = navPidApply2(posControl.desiredState.vel.V.Y, posControl.actualState.vel.V.Y, US2S(deltaMicros), &posControl.pids.vel[Y], accelLimitYMin, accelLimitYMax, false); // Save last acceleration target lastAccelTargetX = newAccelX; lastAccelTargetY = newAccelY; // Apply LPF to jerk limited acceleration target - float accelN = pt1FilterApply4(&mcPosControllerAccFilterStateX, newAccelX, NAV_ACCEL_CUTOFF_FREQUENCY_HZ, US2S(deltaMicros)); - float accelE = pt1FilterApply4(&mcPosControllerAccFilterStateY, newAccelY, NAV_ACCEL_CUTOFF_FREQUENCY_HZ, US2S(deltaMicros)); + const float accelN = pt1FilterApply4(&mcPosControllerAccFilterStateX, newAccelX, NAV_ACCEL_CUTOFF_FREQUENCY_HZ, US2S(deltaMicros)); + const float accelE = pt1FilterApply4(&mcPosControllerAccFilterStateY, newAccelY, NAV_ACCEL_CUTOFF_FREQUENCY_HZ, US2S(deltaMicros)); // Rotate acceleration target into forward-right frame (aircraft) - float accelForward = accelN * posControl.actualState.cosYaw + accelE * posControl.actualState.sinYaw; - float accelRight = -accelN * posControl.actualState.sinYaw + accelE * posControl.actualState.cosYaw; + const float accelForward = accelN * posControl.actualState.cosYaw + accelE * posControl.actualState.sinYaw; + const float accelRight = -accelN * posControl.actualState.sinYaw + accelE * posControl.actualState.cosYaw; // Calculate banking angles - float desiredPitch = atan2_approx(accelForward, GRAVITY_CMSS); - float desiredRoll = atan2_approx(accelRight * cos_approx(desiredPitch), GRAVITY_CMSS); + const float desiredPitch = atan2_approx(accelForward, GRAVITY_CMSS); + const float desiredRoll = atan2_approx(accelRight * cos_approx(desiredPitch), GRAVITY_CMSS); - int16_t maxBankAngle = DEGREES_TO_DECIDEGREES(posControl.navConfig->mc.max_bank_angle); + const int16_t maxBankAngle = DEGREES_TO_DECIDEGREES(posControl.navConfig->mc.max_bank_angle); posControl.rcAdjustment[ROLL] = constrain(RADIANS_TO_DECIDEGREES(desiredRoll), -maxBankAngle, maxBankAngle); posControl.rcAdjustment[PITCH] = constrain(RADIANS_TO_DECIDEGREES(desiredPitch), -maxBankAngle, maxBankAngle); } @@ -420,7 +418,7 @@ static void applyMulticopterPositionController(uint32_t currentTime) static uint32_t previousTimePositionUpdate; // Occurs @ GPS update rate static uint32_t previousTimeUpdate; // Occurs @ looptime rate - uint32_t deltaMicros = currentTime - previousTimeUpdate; + const uint32_t deltaMicros = currentTime - previousTimeUpdate; previousTimeUpdate = currentTime; bool bypassPositionController; @@ -491,7 +489,7 @@ void resetMulticopterLandingDetector(void) bool isMulticopterLandingDetected(void) { - uint32_t currentTime = micros(); + const uint32_t currentTime = micros(); // FIXME: Remove delay between resetMulticopterLandingDetector and first run of this function so this code isn't needed. if (landingDetectorStartedAt == 0) { @@ -545,7 +543,7 @@ static void applyMulticopterEmergencyLandingController(uint32_t currentTime) { static uint32_t previousTimeUpdate; static uint32_t previousTimePositionUpdate; - uint32_t deltaMicros = currentTime - previousTimeUpdate; + const uint32_t deltaMicros = currentTime - previousTimeUpdate; previousTimeUpdate = currentTime; /* Attempt to stabilise */ @@ -604,8 +602,8 @@ static void applyMulticopterEmergencyLandingController(uint32_t currentTime) *-----------------------------------------------------------*/ void calculateMulticopterInitialHoldPosition(t_fp_vector * pos) { - float stoppingDistanceX = posControl.actualState.vel.V.X * posControl.posDecelerationTime; - float stoppingDistanceY = posControl.actualState.vel.V.Y * posControl.posDecelerationTime; + const float stoppingDistanceX = posControl.actualState.vel.V.X * posControl.posDecelerationTime; + const float stoppingDistanceY = posControl.actualState.vel.V.Y * posControl.posDecelerationTime; pos->V.X = posControl.actualState.pos.V.X + stoppingDistanceX; pos->V.Y = posControl.actualState.pos.V.Y + stoppingDistanceY; diff --git a/src/main/flight/navigation_rewrite_private.h b/src/main/flight/navigation_rewrite_private.h index a9df3fe048a..6c7e45666df 100755 --- a/src/main/flight/navigation_rewrite_private.h +++ b/src/main/flight/navigation_rewrite_private.h @@ -302,20 +302,20 @@ void navPInit(pController_t *p, float _kP); bool isThrustFacingDownwards(void); void updateAltitudeTargetFromClimbRate(float climbRate, navUpdateAltitudeFromRateMode_e mode); -uint32_t calculateDistanceToDestination(t_fp_vector * destinationPos); -int32_t calculateBearingToDestination(t_fp_vector * destinationPos); +uint32_t calculateDistanceToDestination(const t_fp_vector * destinationPos); +int32_t calculateBearingToDestination(const t_fp_vector * destinationPos); void resetLandingDetector(void); bool isLandingDetected(void); navigationFSMStateFlags_t navGetCurrentStateFlags(void); -void setHomePosition(t_fp_vector * pos, int32_t yaw, navSetWaypointFlags_t useMask); -void setDesiredPosition(t_fp_vector * pos, int32_t yaw, navSetWaypointFlags_t useMask); +void setHomePosition(const t_fp_vector * pos, int32_t yaw, navSetWaypointFlags_t useMask); +void setDesiredPosition(const t_fp_vector * pos, int32_t yaw, navSetWaypointFlags_t useMask); void setDesiredSurfaceOffset(float surfaceOffset); void setDesiredPositionToFarAwayTarget(int32_t yaw, int32_t distance, navSetWaypointFlags_t useMask); -bool isWaypointReached(navWaypointPosition_t * waypoint); -bool isWaypointMissed(navWaypointPosition_t * waypoint); +bool isWaypointReached(const navWaypointPosition_t * waypoint); +bool isWaypointMissed(const navWaypointPosition_t * waypoint); bool isApproachingLastWaypoint(void); float getActiveWaypointSpeed(void); From e3355d591982c8105198a25a9efe9d27844f2a1f Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Thu, 3 Nov 2016 13:26:00 +0000 Subject: [PATCH 071/139] F1 target rationalisation with some ROM saving --- src/main/config/config.c | 3 +- src/main/drivers/pwm_output.c | 55 ++++++++++++++++++---------------- src/main/drivers/pwm_output.h | 2 ++ src/main/fc/fc_init.c | 2 ++ src/main/target/CC3D/target.h | 15 ---------- src/main/target/CJMCU/target.h | 3 -- src/main/target/NAZE/target.h | 10 ------- src/main/target/common.h | 39 +++++++++++------------- 8 files changed, 53 insertions(+), 76 deletions(-) diff --git a/src/main/config/config.c b/src/main/config/config.c index bde1389117c..a0900e45bdf 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -1003,6 +1003,7 @@ void validateAndFixConfig(void) /* Limitations of different protocols */ switch (masterConfig.motorConfig.motorPwmProtocol) { +#ifndef BRUSHED_MOTORS case PWM_TYPE_STANDARD: // Limited to 490 Hz masterConfig.motorConfig.motorPwmRate = MIN(masterConfig.motorConfig.motorPwmRate, 490); break; @@ -1018,7 +1019,7 @@ void validateAndFixConfig(void) case PWM_TYPE_MULTISHOT: // 2-16 kHz masterConfig.motorConfig.motorPwmRate = constrain(masterConfig.motorConfig.motorPwmRate, 2000, 16000); break; - +#endif case PWM_TYPE_BRUSHED: // 500Hz - 32kHz masterConfig.motorConfig.motorPwmRate = constrain(masterConfig.motorConfig.motorPwmRate, 500, 32000); break; diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c index 9fecc5a5967..71a519d3f28 100644 --- a/src/main/drivers/pwm_output.c +++ b/src/main/drivers/pwm_output.c @@ -152,6 +152,7 @@ static void pwmWriteBrushed(uint8_t index, uint16_t value) *motors[index]->ccr = (value - 1000) * motors[index]->period / 1000; } +#ifndef BRUSHED_MOTORS static void pwmWriteStandard(uint8_t index, uint16_t value) { *motors[index]->ccr = value; @@ -171,6 +172,7 @@ static void pwmWriteMultiShot(uint8_t index, uint16_t value) { *motors[index]->ccr = lrintf(((float)(value-1000) * MULTISHOT_20US_MULT) + MULTISHOT_5US_PW); } +#endif void pwmWriteMotor(uint8_t index, uint16_t value) { @@ -208,32 +210,33 @@ void pwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, ui pwmWriteFuncPtr pwmWritePtr; switch (proto) { - case PWM_TYPE_BRUSHED: - timerMhzCounter = PWM_BRUSHED_TIMER_MHZ; - pwmWritePtr = pwmWriteBrushed; - idlePulse = 0; - break; - - case PWM_TYPE_ONESHOT125: - timerMhzCounter = ONESHOT125_TIMER_MHZ; - pwmWritePtr = pwmWriteOneShot125; - break; - - case PWM_TYPE_ONESHOT42: - timerMhzCounter = ONESHOT42_TIMER_MHZ; - pwmWritePtr = pwmWriteOneShot42; - break; - - case PWM_TYPE_MULTISHOT: - timerMhzCounter = MULTISHOT_TIMER_MHZ; - pwmWritePtr = pwmWriteMultiShot; - break; - - case PWM_TYPE_STANDARD: - default: - timerMhzCounter = PWM_TIMER_MHZ; - pwmWritePtr = pwmWriteStandard; - break; + case PWM_TYPE_BRUSHED: + timerMhzCounter = PWM_BRUSHED_TIMER_MHZ; + pwmWritePtr = pwmWriteBrushed; + idlePulse = 0; + break; +#ifndef BRUSHED_MOTORS + case PWM_TYPE_ONESHOT125: + timerMhzCounter = ONESHOT125_TIMER_MHZ; + pwmWritePtr = pwmWriteOneShot125; + break; + + case PWM_TYPE_ONESHOT42: + timerMhzCounter = ONESHOT42_TIMER_MHZ; + pwmWritePtr = pwmWriteOneShot42; + break; + + case PWM_TYPE_MULTISHOT: + timerMhzCounter = MULTISHOT_TIMER_MHZ; + pwmWritePtr = pwmWriteMultiShot; + break; + + case PWM_TYPE_STANDARD: + default: + timerMhzCounter = PWM_TIMER_MHZ; + pwmWritePtr = pwmWriteStandard; + break; +#endif } const uint32_t hz = timerMhzCounter * 1000000; diff --git a/src/main/drivers/pwm_output.h b/src/main/drivers/pwm_output.h index ecdd0768a11..e380bb426ea 100644 --- a/src/main/drivers/pwm_output.h +++ b/src/main/drivers/pwm_output.h @@ -18,10 +18,12 @@ #pragma once typedef enum { +#ifndef BRUSHED_MOTORS PWM_TYPE_STANDARD = 0, PWM_TYPE_ONESHOT125, PWM_TYPE_ONESHOT42, PWM_TYPE_MULTISHOT, +#endif PWM_TYPE_BRUSHED } motorPwmProtocolTypes_e; diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c index 1620a9a6ba4..c77aeb547f1 100644 --- a/src/main/fc/fc_init.c +++ b/src/main/fc/fc_init.c @@ -272,9 +272,11 @@ void init(void) #endif pwm_params.pwmProtocolType = masterConfig.motorConfig.motorPwmProtocol; +#ifndef BRUSHED_MOTORS pwm_params.useFastPwm = (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_ONESHOT125) || (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_ONESHOT42) || (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_MULTISHOT); +#endif pwm_params.motorPwmRate = masterConfig.motorConfig.motorPwmRate; pwm_params.idlePulse = masterConfig.motorConfig.mincommand; if (feature(FEATURE_3D)) { diff --git a/src/main/target/CC3D/target.h b/src/main/target/CC3D/target.h index b2d67677d7f..b9666414ce2 100644 --- a/src/main/target/CC3D/target.h +++ b/src/main/target/CC3D/target.h @@ -168,15 +168,6 @@ #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT -#undef TELEMETRY_FRSKY -#undef TELEMETRY_HOTT -#undef TELEMETRY_SMARTPORT - -// Disable all GPS protocols except UBLOX -#undef GPS_PROTO_NMEA -#undef GPS_PROTO_I2C_NAV -#undef GPS_PROTO_NAZA - #ifdef OPBL #ifdef USE_RX_NRF24 @@ -199,16 +190,10 @@ #endif //OPBL -#define SKIP_CLI_RESOURCES -#define SKIP_RX_MSP - #ifdef USE_RX_NRF24 #define SKIP_RX_PWM_PPM #undef SERIAL_RX #undef SPEKTRUM_BIND -#undef TELEMETRY -#undef TELEMETRY_LTM -#undef TELEMETRY_IBUS #endif // Number of available PWM outputs diff --git a/src/main/target/CJMCU/target.h b/src/main/target/CJMCU/target.h index e92817415f4..4d6e4c7d614 100644 --- a/src/main/target/CJMCU/target.h +++ b/src/main/target/CJMCU/target.h @@ -109,9 +109,6 @@ #undef BLACKBOX #endif -#define STACK_CHECK -#define DEBUG_STACK - // Number of available PWM outputs #define MAX_PWM_OUTPUT_PORTS 4 diff --git a/src/main/target/NAZE/target.h b/src/main/target/NAZE/target.h index 42f54f8edbf..c8f6d986825 100644 --- a/src/main/target/NAZE/target.h +++ b/src/main/target/NAZE/target.h @@ -198,22 +198,12 @@ //#define USE_SERIAL_4WAY_BLHELI_INTERFACE -#define SKIP_CLI_RESOURCES #define TARGET_MOTOR_COUNT 6 #define DISABLE_UNCOMMON_MIXERS #define DEFAULT_FEATURES FEATURE_VBAT #define DEFAULT_RX_FEATURE FEATURE_RX_PPM -#undef TELEMETRY_HOTT -#undef TELEMETRY_SMARTPORT -#undef TELEMETRY_IBUS - -// Disable all GPS protocols except UBLOX -#undef GPS_PROTO_NMEA -#undef GPS_PROTO_I2C_NAV -#undef GPS_PROTO_NAZA - // Number of available PWM outputs #define MAX_PWM_OUTPUT_PORTS 10 diff --git a/src/main/target/common.h b/src/main/target/common.h index fc594502dad..0e4f16615a3 100644 --- a/src/main/target/common.h +++ b/src/main/target/common.h @@ -29,45 +29,42 @@ #define USE_SERIALRX_SBUS // Very common protocol #define USE_SERIALRX_IBUS // Cheap FlySky & Turnigy receivers -#if (FLASH_SIZE > 128) - // These are rather exotic protocols - #define USE_SERIALRX_SUMD - #define USE_SERIALRX_SUMH - #define USE_SERIALRX_XBUS - #define USE_SERIALRX_JETIEXBUS -#endif - -#if (FLASH_SIZE <= 64) -#define SKIP_TASK_STATISTICS -#define SKIP_CLI_COMMAND_HELP -#else +#if (FLASH_SIZE > 64) #define ASYNC_GYRO_PROCESSING #define BOOTLOG #define BLACKBOX #define GPS -#define GPS_PROTO_NMEA #define GPS_PROTO_UBLOX -#define GPS_PROTO_I2C_NAV -#define GPS_PROTO_NAZA - #define TELEMETRY -#define TELEMETRY_FRSKY -#define TELEMETRY_HOTT -#define TELEMETRY_SMARTPORT #define TELEMETRY_LTM +#else +#define SKIP_TASK_STATISTICS +#define SKIP_CLI_COMMAND_HELP #endif #if (FLASH_SIZE > 128) +#define BOOTLOG_DESCRIPTIONS #define DISPLAY #define DISPLAY_ARMED_BITMAP -#define TELEMETRY_MAVLINK -#define BOOTLOG_DESCRIPTIONS +#define GPS_PROTO_NMEA +#define GPS_PROTO_I2C_NAV +#define GPS_PROTO_NAZA +#define TELEMETRY_FRSKY +#define TELEMETRY_HOTT #define TELEMETRY_IBUS +#define TELEMETRY_MAVLINK +#define TELEMETRY_SMARTPORT +// These are rather exotic serial protocols +#define USE_SERIALRX_SUMD +#define USE_SERIALRX_SUMH +#define USE_SERIALRX_XBUS +#define USE_SERIALRX_JETIEXBUS #define USE_PMW_SERVO_DRIVER #define PWM_DRIVER_PCA9685 #define NAV_MAX_WAYPOINTS 60 #else #define SKIP_CLI_COMMAND_HELP +#define SKIP_CLI_RESOURCES #define SKIP_RX_MSP #define DISABLE_UNCOMMON_MIXERS #define NAV_MAX_WAYPOINTS 30 From 771e58a3e57fb3aef513ba8a5dc8a754cf8c0eb3 Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Thu, 3 Nov 2016 13:52:49 +0000 Subject: [PATCH 072/139] Retained all PWM protocol types when BRUSHED_MOTORS defined --- src/main/config/config.c | 6 ++++-- src/main/drivers/pwm_output.c | 3 +++ src/main/drivers/pwm_output.h | 2 -- 3 files changed, 7 insertions(+), 4 deletions(-) diff --git a/src/main/config/config.c b/src/main/config/config.c index a0900e45bdf..981112ff2f9 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -1002,8 +1002,10 @@ void validateAndFixConfig(void) #endif /* Limitations of different protocols */ +#ifdef BRUSHED_MOTORS + masterConfig.motorConfig.motorPwmRate = constrain(masterConfig.motorConfig.motorPwmRate, 500, 32000); +#else switch (masterConfig.motorConfig.motorPwmProtocol) { -#ifndef BRUSHED_MOTORS case PWM_TYPE_STANDARD: // Limited to 490 Hz masterConfig.motorConfig.motorPwmRate = MIN(masterConfig.motorConfig.motorPwmRate, 490); break; @@ -1019,11 +1021,11 @@ void validateAndFixConfig(void) case PWM_TYPE_MULTISHOT: // 2-16 kHz masterConfig.motorConfig.motorPwmRate = constrain(masterConfig.motorConfig.motorPwmRate, 2000, 16000); break; -#endif case PWM_TYPE_BRUSHED: // 500Hz - 32kHz masterConfig.motorConfig.motorPwmRate = constrain(masterConfig.motorConfig.motorPwmRate, 500, 32000); break; } +#endif } void applyAndSaveBoardAlignmentDelta(int16_t roll, int16_t pitch) diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c index 71a519d3f28..79b9434ca14 100644 --- a/src/main/drivers/pwm_output.c +++ b/src/main/drivers/pwm_output.c @@ -210,6 +210,9 @@ void pwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, ui pwmWriteFuncPtr pwmWritePtr; switch (proto) { +#ifdef BRUSHED_MOTORS + default: +#endif case PWM_TYPE_BRUSHED: timerMhzCounter = PWM_BRUSHED_TIMER_MHZ; pwmWritePtr = pwmWriteBrushed; diff --git a/src/main/drivers/pwm_output.h b/src/main/drivers/pwm_output.h index e380bb426ea..ecdd0768a11 100644 --- a/src/main/drivers/pwm_output.h +++ b/src/main/drivers/pwm_output.h @@ -18,12 +18,10 @@ #pragma once typedef enum { -#ifndef BRUSHED_MOTORS PWM_TYPE_STANDARD = 0, PWM_TYPE_ONESHOT125, PWM_TYPE_ONESHOT42, PWM_TYPE_MULTISHOT, -#endif PWM_TYPE_BRUSHED } motorPwmProtocolTypes_e; From f3663a8dc789d1c94609bc509079d0b0164ede03 Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Thu, 3 Nov 2016 14:00:31 +0000 Subject: [PATCH 073/139] Removed CLI play_sound command for F1 targets --- src/main/io/serial_cli.c | 14 ++++++++++---- 1 file changed, 10 insertions(+), 4 deletions(-) diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index 2951a7ae9d5..110839b1d48 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -105,6 +105,10 @@ uint8_t cliMode = 0; #ifdef USE_CLI +#if FLASH_SIZE > 128 +#define PLAY_SOUND +#endif + extern uint16_t cycleTime; // FIXME dependency on mw.c extern uint8_t detectedSensors[SENSOR_INDEX_COUNT]; @@ -131,7 +135,9 @@ static void cliDump(char *cmdLine); static void cliExit(char *cmdline); static void cliFeature(char *cmdline); static void cliMotor(char *cmdline); +#ifdef PLAY_SOUND static void cliPlaySound(char *cmdline); +#endif static void cliProfile(char *cmdline); static void cliRateProfile(char *cmdline); static void cliReboot(void); @@ -318,8 +324,10 @@ const clicmd_t cmdTable[] = { CLI_COMMAND_DEF("mmix", "custom motor mixer", NULL, cliMotorMix), CLI_COMMAND_DEF("motor", "get/set motor", " []", cliMotor), +#ifdef PLAY_SOUND CLI_COMMAND_DEF("play_sound", NULL, "[]\r\n", cliPlaySound), +#endif CLI_COMMAND_DEF("profile", "change profile", "[]", cliProfile), CLI_COMMAND_DEF("rateprofile", "change rate profile", "[]", cliRateProfile), @@ -2450,11 +2458,9 @@ static void cliMotor(char *cmdline) cliPrintf("motor %d: %d\r\n", motor_index, motor_disarmed[motor_index]); } +#ifdef PLAY_SOUND static void cliPlaySound(char *cmdline) { -#if FLASH_SIZE <= 64 - UNUSED(cmdline); -#else int i; const char *name; static int lastSoundIdx = -1; @@ -2484,8 +2490,8 @@ static void cliPlaySound(char *cmdline) beeperSilence(); cliPrintf("Playing sound %d: %s\r\n", i, name); beeper(beeperModeForTableIndex(i)); -#endif } +#endif static void cliProfile(char *cmdline) { From df6607e595226a564a2071adba2bd4ece50907ee Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Thu, 3 Nov 2016 15:46:30 +0000 Subject: [PATCH 074/139] Moved NAV #defines into common.h --- src/main/target/AIRHEROF3/target.h | 6 ------ src/main/target/ANYFC/target.h | 6 +----- src/main/target/CC3D/target.h | 4 ---- src/main/target/COLIBRI_RACE/target.h | 4 ---- src/main/target/FLIP32F4/target.h | 4 ---- src/main/target/FURYF3/target.h | 4 ---- src/main/target/NAZE/target.h | 1 - src/main/target/OMNIBUS/target.h | 4 ---- src/main/target/RCEXPLORERF3/target.h | 4 ---- src/main/target/REVO/target.h | 4 ---- src/main/target/RMDO/target.h | 4 ---- src/main/target/SPARKY/target.h | 4 ---- src/main/target/SPARKY2/target.h | 4 ---- src/main/target/SPRACINGF3/target.h | 4 ---- src/main/target/SPRACINGF3EVO/target.h | 4 ---- src/main/target/SPRACINGF3MINI/target.h | 4 ---- src/main/target/common.h | 3 +++ 17 files changed, 4 insertions(+), 64 deletions(-) diff --git a/src/main/target/AIRHEROF3/target.h b/src/main/target/AIRHEROF3/target.h index 555c9d2093f..761db66e0d5 100755 --- a/src/main/target/AIRHEROF3/target.h +++ b/src/main/target/AIRHEROF3/target.h @@ -86,12 +86,6 @@ #define WS2811_DMA_TC_FLAG DMA1_FLAG_TC6 #define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH6_HANDLER -#define GPS - -#define NAV -#define NAV_AUTO_MAG_DECLINATION -#define NAV_GPS_GLITCH_DETECTION - #define DEFAULT_FEATURES FEATURE_VBAT #define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL #define SERIALRX_PROVIDER SERIALRX_SBUS diff --git a/src/main/target/ANYFC/target.h b/src/main/target/ANYFC/target.h index f8bd57f84fc..58d688ebf8d 100644 --- a/src/main/target/ANYFC/target.h +++ b/src/main/target/ANYFC/target.h @@ -102,10 +102,6 @@ #define MAG_GPS_ALIGN CW180_DEG_FLIP -#define NAV -#define NAV_AUTO_MAG_DECLINATION -#define NAV_GPS_GLITCH_DETECTION - #define USE_ADC #define VBAT_ADC_PIN PC0 #define CURRENT_METER_ADC_PIN PC1 @@ -138,4 +134,4 @@ #define TARGET_IO_PORTD 0xffff #define USABLE_TIMER_CHANNEL_COUNT 16 -#define USED_TIMERS ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9)) \ No newline at end of file +#define USED_TIMERS ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9)) diff --git a/src/main/target/CC3D/target.h b/src/main/target/CC3D/target.h index b9666414ce2..165eab23cdc 100644 --- a/src/main/target/CC3D/target.h +++ b/src/main/target/CC3D/target.h @@ -162,7 +162,6 @@ #define SONAR_ECHO_PIN PB0 #define SONAR_TRIGGER_PIN PB5 -#define NAV //#define NAV_AUTO_MAG_DECLINATION //#define NAV_GPS_GLITCH_DETECTION @@ -172,9 +171,6 @@ #ifdef USE_RX_NRF24 #undef USE_SERVOS -#undef USE_SONAR -#else -#undef USE_SONAR_SRF10 #endif // USE_RX_NRF24 #define TARGET_MOTOR_COUNT 4 diff --git a/src/main/target/COLIBRI_RACE/target.h b/src/main/target/COLIBRI_RACE/target.h index ea222ecd762..6bd07ff19e2 100755 --- a/src/main/target/COLIBRI_RACE/target.h +++ b/src/main/target/COLIBRI_RACE/target.h @@ -110,10 +110,6 @@ #define WS2811_DMA_TC_FLAG DMA1_FLAG_TC3 #define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH3_HANDLER -#define NAV -#define NAV_AUTO_MAG_DECLINATION -#define NAV_GPS_GLITCH_DETECTION - #define DEFAULT_FEATURES FEATURE_VBAT #define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL #define SERIALRX_PROVIDER SERIALRX_SBUS diff --git a/src/main/target/FLIP32F4/target.h b/src/main/target/FLIP32F4/target.h index 7f0446b7ec5..c99b5cee4d9 100644 --- a/src/main/target/FLIP32F4/target.h +++ b/src/main/target/FLIP32F4/target.h @@ -124,10 +124,6 @@ #define MAG_GPS_ALIGN CW180_DEG_FLIP -#define NAV -#define NAV_AUTO_MAG_DECLINATION -#define NAV_GPS_GLITCH_DETECTION - #define DEFAULT_RX_FEATURE FEATURE_RX_PPM #define DISABLE_RX_PWM_FEATURE #define DEFAULT_FEATURES (FEATURE_BLACKBOX | FEATURE_VBAT) diff --git a/src/main/target/FURYF3/target.h b/src/main/target/FURYF3/target.h index 0600c95fa99..dcadb09f7d7 100755 --- a/src/main/target/FURYF3/target.h +++ b/src/main/target/FURYF3/target.h @@ -156,10 +156,6 @@ #define SONAR_TRIGGER_PIN PB0 // RC_CH7 (PB0) - only 3.3v ( add a 1K Ohms resistor ) #define SONAR_ECHO_PIN PB1 // RC_CH8 (PB1) - only 3.3v ( add a 1K Ohms resistor ) -#define NAV -#define NAV_AUTO_MAG_DECLINATION -#define NAV_GPS_GLITCH_DETECTION - #define DEFAULT_FEATURES FEATURE_BLACKBOX #define DEFAULT_RX_FEATURE FEATURE_RX_PPM diff --git a/src/main/target/NAZE/target.h b/src/main/target/NAZE/target.h index c8f6d986825..97b923c23f9 100644 --- a/src/main/target/NAZE/target.h +++ b/src/main/target/NAZE/target.h @@ -182,7 +182,6 @@ #define RSSI_ADC_PIN PA1 #define EXTERNAL1_ADC_PIN PA5 -#define NAV //#define NAV_AUTO_MAG_DECLINATION #define NAV_GPS_GLITCH_DETECTION diff --git a/src/main/target/OMNIBUS/target.h b/src/main/target/OMNIBUS/target.h index f092a12928b..ea012253652 100644 --- a/src/main/target/OMNIBUS/target.h +++ b/src/main/target/OMNIBUS/target.h @@ -182,10 +182,6 @@ #define DEFAULT_RX_FEATURE FEATURE_RX_PPM #define DEFAULT_FEATURES (FEATURE_VBAT | FEATURE_CURRENT_METER | FEATURE_BLACKBOX) -#define NAV -#define NAV_AUTO_MAG_DECLINATION -#define NAV_GPS_GLITCH_DETECTION - #define BUTTONS #define BUTTON_A_PORT GPIOB // Non-existent (PB1 used for RSSI/MAXCS) #define BUTTON_A_PIN Pin_1 diff --git a/src/main/target/RCEXPLORERF3/target.h b/src/main/target/RCEXPLORERF3/target.h index e1690deb629..b3f8afa4254 100644 --- a/src/main/target/RCEXPLORERF3/target.h +++ b/src/main/target/RCEXPLORERF3/target.h @@ -110,10 +110,6 @@ #define SERIALRX_PROVIDER SERIALRX_SBUS #define SERIALRX_UART SERIAL_PORT_USART2 -#define NAV -#define NAV_AUTO_MAG_DECLINATION -#define NAV_GPS_GLITCH_DETECTION - #define SPEKTRUM_BIND #define BIND_PIN PA3 // USART3, diff --git a/src/main/target/REVO/target.h b/src/main/target/REVO/target.h index ba599502d2a..82796c9782c 100644 --- a/src/main/target/REVO/target.h +++ b/src/main/target/REVO/target.h @@ -129,10 +129,6 @@ #define MAG_GPS_ALIGN CW180_DEG_FLIP -#define NAV -#define NAV_AUTO_MAG_DECLINATION -#define NAV_GPS_GLITCH_DETECTION - #define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL #define DEFAULT_FEATURES (FEATURE_BLACKBOX) diff --git a/src/main/target/RMDO/target.h b/src/main/target/RMDO/target.h index 56a5a00ddac..a3c9595e7f3 100644 --- a/src/main/target/RMDO/target.h +++ b/src/main/target/RMDO/target.h @@ -104,10 +104,6 @@ #define WS2811_DMA_TC_FLAG DMA1_FLAG_TC2 #define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH2_HANDLER - -#define NAV -//#define NAV_AUTO_MAG_DECLINATION -#define NAV_GPS_GLITCH_DETECTION #undef NAV_MAX_WAYPOINTS #define NAV_MAX_WAYPOINTS 30 diff --git a/src/main/target/SPARKY/target.h b/src/main/target/SPARKY/target.h index d9a0709a661..0c8549e9171 100644 --- a/src/main/target/SPARKY/target.h +++ b/src/main/target/SPARKY/target.h @@ -79,10 +79,6 @@ #define VBAT_ADC_PIN PA4 #define CURRENT_METER_ADC_PIN PA7 -#define NAV -#define NAV_AUTO_MAG_DECLINATION -#define NAV_GPS_GLITCH_DETECTION - #define LED_STRIP #if 1 // LED strip configuration using PWM motor output pin 5. diff --git a/src/main/target/SPARKY2/target.h b/src/main/target/SPARKY2/target.h index a6c7b95aaee..e0bd6dde393 100644 --- a/src/main/target/SPARKY2/target.h +++ b/src/main/target/SPARKY2/target.h @@ -130,10 +130,6 @@ #define SERIALRX_PROVIDER SERIALRX_SBUS #define SERIALRX_UART SERIAL_PORT_USART3 -#define NAV -#define NAV_AUTO_MAG_DECLINATION -#define NAV_GPS_GLITCH_DETECTION - #define USE_SERIAL_4WAY_BLHELI_INTERFACE #define MAX_PWM_OUTPUT_PORTS 11 diff --git a/src/main/target/SPRACINGF3/target.h b/src/main/target/SPRACINGF3/target.h index d5a73efb1a6..3405a2c6685 100644 --- a/src/main/target/SPRACINGF3/target.h +++ b/src/main/target/SPRACINGF3/target.h @@ -110,10 +110,6 @@ #define DEFAULT_FEATURES (FEATURE_BLACKBOX | FEATURE_VBAT) #define DEFAULT_RX_FEATURE FEATURE_RX_PPM -#define NAV -#define NAV_AUTO_MAG_DECLINATION -#define NAV_GPS_GLITCH_DETECTION - #define SPEKTRUM_BIND // USART3, #define BIND_PIN PB11 diff --git a/src/main/target/SPRACINGF3EVO/target.h b/src/main/target/SPRACINGF3EVO/target.h index 54085c130fb..f04e08f5971 100755 --- a/src/main/target/SPRACINGF3EVO/target.h +++ b/src/main/target/SPRACINGF3EVO/target.h @@ -154,10 +154,6 @@ #define USE_SERIAL_4WAY_BLHELI_INTERFACE -#define NAV -#define NAV_AUTO_MAG_DECLINATION -#define NAV_GPS_GLITCH_DETECTION - #define USE_SERIAL_4WAY_BLHELI_INTERFACE // Number of available PWM outputs diff --git a/src/main/target/SPRACINGF3MINI/target.h b/src/main/target/SPRACINGF3MINI/target.h index 329b582c432..0acca762716 100644 --- a/src/main/target/SPRACINGF3MINI/target.h +++ b/src/main/target/SPRACINGF3MINI/target.h @@ -164,10 +164,6 @@ #define HARDWARE_BIND_PLUG #define BINDPLUG_PIN PB0 -#define NAV -#define NAV_AUTO_MAG_DECLINATION -#define NAV_GPS_GLITCH_DETECTION -#define NAV_MAX_WAYPOINTS 60 #define USE_SERIAL_4WAY_BLHELI_INTERFACE // Number of available PWM outputs diff --git a/src/main/target/common.h b/src/main/target/common.h index 0e4f16615a3..c55c7f767e4 100644 --- a/src/main/target/common.h +++ b/src/main/target/common.h @@ -35,6 +35,7 @@ #define BLACKBOX #define GPS #define GPS_PROTO_UBLOX +#define NAV #define TELEMETRY #define TELEMETRY_LTM #else @@ -49,6 +50,8 @@ #define GPS_PROTO_NMEA #define GPS_PROTO_I2C_NAV #define GPS_PROTO_NAZA +#define NAV_AUTO_MAG_DECLINATION +#define NAV_GPS_GLITCH_DETECTION #define TELEMETRY_FRSKY #define TELEMETRY_HOTT #define TELEMETRY_IBUS From 38f80f013f9ed8c7aa88da7b6670619d05b750fc Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Wed, 2 Nov 2016 20:54:43 +0000 Subject: [PATCH 075/139] Pass currentTime as a parameter to all task functions --- src/main/blackbox/blackbox.c | 25 ++++++++--------- src/main/blackbox/blackbox.h | 2 +- src/main/fc/fc_tasks.c | 51 ++++++++++++++++++++-------------- src/main/fc/fc_tasks.h | 28 ++++++------------- src/main/fc/mw.c | 32 ++++++++++----------- src/main/flight/imu.c | 5 ++-- src/main/flight/imu.h | 2 +- src/main/io/beeper.c | 6 ++-- src/main/io/beeper.h | 2 +- src/main/io/display.c | 14 +++++----- src/main/io/display.h | 2 +- src/main/io/ledstrip.c | 8 ++---- src/main/io/ledstrip.h | 2 +- src/main/rx/rx.c | 6 +--- src/main/rx/rx.h | 3 +- src/main/scheduler/scheduler.c | 16 ++++++----- src/main/scheduler/scheduler.h | 4 +-- src/main/sensors/compass.c | 4 +-- src/main/sensors/compass.h | 4 +-- src/main/telemetry/hott.c | 14 ++++------ src/main/telemetry/hott.h | 2 +- src/main/telemetry/mavlink.c | 19 ++++++------- src/main/telemetry/mavlink.h | 2 +- src/main/telemetry/telemetry.c | 10 +++++-- src/main/telemetry/telemetry.h | 2 +- 25 files changed, 124 insertions(+), 141 deletions(-) diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c index eb97aa15a5e..d6414081d13 100644 --- a/src/main/blackbox/blackbox.c +++ b/src/main/blackbox/blackbox.c @@ -373,9 +373,6 @@ typedef struct blackboxSlowState_s { //From mixer.c: extern uint8_t motorCount; -//From mw.c: -extern uint32_t currentTime; - //From rx.c: extern uint16_t rssi; @@ -1024,7 +1021,7 @@ static void writeGPSHomeFrame() gpsHistory.GPS_home[1] = GPS_home.lon; } -static void writeGPSFrame() +static void writeGPSFrame(uint32_t currentTime) { blackboxWrite('G'); @@ -1059,7 +1056,7 @@ static void writeGPSFrame() /** * Fill the current state of the blackbox using values read from the flight controller */ -static void loadMainState(void) +static void loadMainState(uint32_t currentTime) { blackboxMainState_t *blackboxCurrent = blackboxHistory[0]; int i; @@ -1442,7 +1439,7 @@ static void blackboxAdvanceIterationTimers() } // Called once every FC loop in order to log the current state -static void blackboxLogIteration() +static void blackboxLogIteration(uint32_t currentTime) { // Write a keyframe every BLACKBOX_I_INTERVAL frames so we can resynchronise upon missing frames if (blackboxShouldLogIFrame()) { @@ -1452,7 +1449,7 @@ static void blackboxLogIteration() */ writeSlowFrameIfNeeded(blackboxIsOnlyLoggingIntraframes()); - loadMainState(); + loadMainState(currentTime); writeIntraframe(); } else { blackboxCheckAndLogArmingBeep(); @@ -1464,7 +1461,7 @@ static void blackboxLogIteration() */ writeSlowFrameIfNeeded(true); - loadMainState(); + loadMainState(currentTime); writeInterframe(); } #ifdef GPS @@ -1479,12 +1476,12 @@ static void blackboxLogIteration() if (GPS_home.lat != gpsHistory.GPS_home[0] || GPS_home.lon != gpsHistory.GPS_home[1] || (blackboxPFrameIndex == BLACKBOX_I_INTERVAL / 2 && blackboxIFrameIndex % 128 == 0)) { - writeGPSHomeFrame(); - writeGPSFrame(); + writeGPSHomeFrame(currentTime); + writeGPSFrame(currentTime); } else if (gpsSol.numSat != gpsHistory.GPS_numSat || gpsSol.llh.lat != gpsHistory.GPS_coord[0] || gpsSol.llh.lon != gpsHistory.GPS_coord[1]) { //We could check for velocity changes as well but I doubt it changes independent of position - writeGPSFrame(); + writeGPSFrame(currentTime); } } #endif @@ -1497,7 +1494,7 @@ static void blackboxLogIteration() /** * Call each flight loop iteration to perform blackbox logging. */ -void handleBlackbox(void) +void handleBlackbox(uint32_t currentTime) { int i; @@ -1594,7 +1591,7 @@ void handleBlackbox(void) blackboxLogEvent(FLIGHT_LOG_EVENT_LOGGING_RESUME, (flightLogEventData_t *) &resume); blackboxSetState(BLACKBOX_STATE_RUNNING); - blackboxLogIteration(); + blackboxLogIteration(currentTime); } // Keep the logging timers ticking so our log iteration continues to advance @@ -1605,7 +1602,7 @@ void handleBlackbox(void) if (blackboxModeActivationConditionPresent && !IS_RC_MODE_ACTIVE(BOXBLACKBOX)) { blackboxSetState(BLACKBOX_STATE_PAUSED); } else { - blackboxLogIteration(); + blackboxLogIteration(currentTime); } blackboxAdvanceIterationTimers(); diff --git a/src/main/blackbox/blackbox.h b/src/main/blackbox/blackbox.h index a438b2b53b2..d98398d9f56 100644 --- a/src/main/blackbox/blackbox.h +++ b/src/main/blackbox/blackbox.h @@ -22,7 +22,7 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data); void initBlackbox(void); -void handleBlackbox(void); +void handleBlackbox(uint32_t currentTime); void startBlackbox(void); void finishBlackbox(void); bool blackboxMayEditConfig(void); \ No newline at end of file diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c index d02a3417031..9ab75dd5dfc 100755 --- a/src/main/fc/fc_tasks.c +++ b/src/main/fc/fc_tasks.c @@ -79,15 +79,14 @@ #include "config/config_profile.h" #include "config/config_master.h" -extern uint32_t currentTime; - /* VBAT monitoring interval (in microseconds) - 1s*/ #define VBATINTERVAL (6 * 3500) /* IBat monitoring interval (in microseconds) - 6 default looptimes */ #define IBATINTERVAL (6 * 3500) -void taskHandleSerial(void) +void taskHandleSerial(uint32_t currentTime) { + UNUSED(currentTime); #ifdef USE_CLI // in cli mode, all serial stuff goes to here. enter cli mode by sending # if (cliMode) { @@ -98,12 +97,12 @@ void taskHandleSerial(void) mspSerialProcess(ARMING_FLAG(ARMED) ? MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA); } -void taskUpdateBeeper(void) +void taskUpdateBeeper(uint32_t currentTime) { - beeperUpdate(); //call periodic beeper handler + beeperUpdate(currentTime); //call periodic beeper handler } -void taskUpdateBattery(void) +void taskUpdateBattery(uint32_t currentTime) { static uint32_t vbatLastServiced = 0; static uint32_t ibatLastServiced = 0; @@ -127,7 +126,7 @@ void taskUpdateBattery(void) } #ifdef GPS -void taskProcessGPS(void) +void taskProcessGPS(uint32_t currentTime) { // if GPS feature is enabled, gpsThread() will be called at some intervals to check for stuck // hardware, wrong baud rates, init GPS if needed, etc. Don't use SENSOR_GPS here as gpsThread() can and will @@ -143,17 +142,19 @@ void taskProcessGPS(void) #endif #ifdef MAG -void taskUpdateCompass(void) +void taskUpdateCompass(uint32_t currentTime) { if (sensors(SENSOR_MAG)) { - updateCompass(&masterConfig.magZero); + updateCompass(currentTime, &masterConfig.magZero); } } #endif #ifdef BARO -void taskUpdateBaro(void) +void taskUpdateBaro(uint32_t currentTime) { + UNUSED(currentTime); + if (sensors(SENSOR_BARO)) { const uint32_t newDeadline = baroUpdate(); if (newDeadline != 0) { @@ -166,8 +167,10 @@ void taskUpdateBaro(void) #endif #ifdef SONAR -void taskUpdateSonar(void) +void taskUpdateSonar(uint32_t currentTime) { + UNUSED(currentTime); + if (sensors(SENSOR_SONAR)) { rangefinderUpdate(); } @@ -177,36 +180,38 @@ void taskUpdateSonar(void) #endif #ifdef DISPLAY -void taskUpdateDisplay(void) +void taskUpdateDisplay(uint32_t currentTime) { if (feature(FEATURE_DISPLAY)) { - updateDisplay(); + updateDisplay(currentTime); } } #endif #ifdef TELEMETRY -void taskTelemetry(void) +void taskTelemetry(uint32_t currentTime) { telemetryCheckState(); if (!cliMode && feature(FEATURE_TELEMETRY)) { - telemetryProcess(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle); + telemetryProcess(currentTime, &masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle); } } #endif #ifdef LED_STRIP -void taskLedStrip(void) +void taskLedStrip(uint32_t currentTime) { if (feature(FEATURE_LED_STRIP)) { - updateLedStrip(); + updateLedStrip(currentTime); } } #endif #ifdef USE_PMW_SERVO_DRIVER -void taskSyncPwmDriver(void) { +void taskSyncPwmDriver(uint32_t currentTime) +{ + UNUSED(currentTime); if (feature(FEATURE_PWM_SERVO_DRIVER)) { pwmDriverSync(); @@ -215,11 +220,15 @@ void taskSyncPwmDriver(void) { #endif #ifdef ASYNC_GYRO_PROCESSING -void taskAttitude(void) { - imuUpdateAttitude(); +void taskAttitude(uint32_t currentTime) +{ + imuUpdateAttitude(currentTime); } -void taskAcc(void) { +void taskAcc(uint32_t currentTime) +{ + UNUSED(currentTime); + imuUpdateAccelerometer(); } #endif diff --git a/src/main/fc/fc_tasks.h b/src/main/fc/fc_tasks.h index e1d985186d4..4bc3f801f4e 100644 --- a/src/main/fc/fc_tasks.h +++ b/src/main/fc/fc_tasks.h @@ -19,25 +19,13 @@ #include -void taskHandleSerial(void); -void taskUpdateBeeper(void); -void taskUpdateBattery(void); -bool taskUpdateRxCheck(uint32_t currentDeltaTime); -void taskUpdateRxMain(void); -void taskSystem(void); - -#ifdef USE_PMW_SERVO_DRIVER -void taskSyncPwmDriver(void); -#endif - -void taskStackCheck(void); - -void taskMainPidLoop(void); -void taskGyro(void); - -#ifdef ASYNC_GYRO_PROCESSING -void taskAcc(void); -void taskAttitude(void); -#endif +void taskMainPidLoopChecker(uint32_t currentTime); +bool taskUpdateRxCheck(uint32_t currentTime, uint32_t currentDeltaTime); +void taskUpdateRxMain(uint32_t currentTime); +void taskSystem(uint32_t currentTime); +void taskStackCheck(uint32_t currentTime); + +void taskMainPidLoop(uint32_t currentTime); +void taskGyro(uint32_t currentTime); void fcTasksInit(void); diff --git a/src/main/fc/mw.c b/src/main/fc/mw.c index 4f477e9d3e6..da64ac2c233 100755 --- a/src/main/fc/mw.c +++ b/src/main/fc/mw.c @@ -100,8 +100,6 @@ uint8_t motorControlEnable = false; int16_t telemTemperature1; // gyro sensor temperature static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero -extern uint32_t currentTime; - static bool isRXDataNew; bool isCalibrating(void) @@ -258,7 +256,7 @@ void mwArm(void) } } -void processRx(void) +void processRx(uint32_t currentTime) { static bool armedBeeperOn = false; @@ -522,13 +520,13 @@ void filterRc(bool isRXDataNew) } // Function for loop trigger -void taskGyro(void) { +void taskGyro(uint32_t currentTime) { // getTaskDeltaTime() returns delta time freezed at the moment of entering the scheduler. currentTime is freezed at the very same point. // To make busy-waiting timeout work we need to account for time spent within busy-waiting loop - uint32_t currentDeltaTime = getTaskDeltaTime(TASK_SELF); + const uint32_t currentDeltaTime = getTaskDeltaTime(TASK_SELF); if (masterConfig.gyroSync) { - while (1) { + while (true) { #ifdef ASYNC_GYRO_PROCESSING if (gyroSyncCheckUpdate() || ((currentDeltaTime + (micros() - currentTime)) >= (getGyroUpdateRate() + GYRO_WATCHDOG_DELAY))) { #else @@ -548,25 +546,25 @@ void taskGyro(void) { #endif } -void taskMainPidLoop(void) +void taskMainPidLoop(uint32_t currentTime) { cycleTime = getTaskDeltaTime(TASK_SELF); dT = (float)cycleTime * 0.000001f; #ifdef ASYNC_GYRO_PROCESSING if (getAsyncMode() == ASYNC_MODE_NONE) { - taskGyro(); + taskGyro(currentTime); } if (getAsyncMode() != ASYNC_MODE_ALL && sensors(SENSOR_ACC)) { imuUpdateAccelerometer(); - imuUpdateAttitude(); + imuUpdateAttitude(currentTime); } #else /* Update gyroscope */ - taskGyro(); + taskGyro(currentTime); imuUpdateAccelerometer(); - imuUpdateAttitude(); + imuUpdateAttitude(currentTime); #endif @@ -670,21 +668,21 @@ void taskMainPidLoop(void) #ifdef BLACKBOX if (!cliMode && feature(FEATURE_BLACKBOX)) { - handleBlackbox(); + handleBlackbox(micros()); } #endif } -bool taskUpdateRxCheck(uint32_t currentDeltaTime) +bool taskUpdateRxCheck(uint32_t currentTime, uint32_t currentDeltaTime) { UNUSED(currentDeltaTime); - updateRx(currentTime); - return shouldProcessRx(currentTime); + + return updateRx(currentTime); } -void taskUpdateRxMain(void) +void taskUpdateRxMain(uint32_t currentTime) { - processRx(); + processRx(currentTime); isRXDataNew = true; } diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c index 7bb6fd82cfe..494fbb9214f 100644 --- a/src/main/flight/imu.c +++ b/src/main/flight/imu.c @@ -573,12 +573,11 @@ void imuUpdateAccelerometer(void) #endif } -void imuUpdateAttitude(void) +void imuUpdateAttitude(uint32_t currentTime) { /* Calculate dT */ static uint32_t previousIMUUpdateTime; - uint32_t currentTime = micros(); - float dT = (currentTime - previousIMUUpdateTime) * 1e-6; + const float dT = (currentTime - previousIMUUpdateTime) * 1e-6; previousIMUUpdateTime = currentTime; if (sensors(SENSOR_ACC) && isAccelUpdatedAtLeastOnce) { diff --git a/src/main/flight/imu.h b/src/main/flight/imu.h index 2739d33906e..ec7bf28f2fd 100644 --- a/src/main/flight/imu.h +++ b/src/main/flight/imu.h @@ -49,7 +49,7 @@ typedef struct imuRuntimeConfig_s { struct pidProfile_s; void imuConfigure(imuRuntimeConfig_t *initialImuRuntimeConfig, struct pidProfile_s *initialPidProfile); -void imuUpdateAttitude(void); +void imuUpdateAttitude(uint32_t currentTime); void imuUpdateAccelerometer(void); void imuUpdateGyroscope(uint32_t gyroUpdateDeltaUs); float calculateThrottleTiltCompensationFactor(uint8_t throttleTiltCompensationStrength); diff --git a/src/main/io/beeper.c b/src/main/io/beeper.c index 144a5b622e1..f8402c4b1c8 100644 --- a/src/main/io/beeper.c +++ b/src/main/io/beeper.c @@ -287,7 +287,7 @@ void beeperGpsStatus(void) * Beeper handler function to be called periodically in loop. Updates beeper * state via time schedule. */ -void beeperUpdate(void) +void beeperUpdate(uint32_t currentTime) { // If beeper option from AUX switch has been selected if (IS_RC_MODE_ACTIVE(BOXBEEPERON)) { @@ -307,7 +307,7 @@ void beeperUpdate(void) return; } - uint32_t now = millis(); + const uint32_t now = currentTime / 1000; if (beeperNextToggleTime > now) { return; } @@ -325,7 +325,7 @@ void beeperUpdate(void) beeperPos == 0 && (currentBeeperEntry->mode == BEEPER_ARMING || currentBeeperEntry->mode == BEEPER_ARMING_GPS_FIX) ) { - armingBeepTimeMicros = micros(); + armingBeepTimeMicros = currentTime; } } } else { diff --git a/src/main/io/beeper.h b/src/main/io/beeper.h index e093f0768df..0b6a75c43fd 100644 --- a/src/main/io/beeper.h +++ b/src/main/io/beeper.h @@ -48,7 +48,7 @@ typedef enum { void beeper(beeperMode_e mode); void beeperSilence(void); -void beeperUpdate(void); +void beeperUpdate(uint32_t currentTime); void beeperConfirmationBeeps(uint8_t beepCount); uint32_t getArmingBeepTimeMicros(void); beeperMode_e beeperModeForTableIndex(int idx); diff --git a/src/main/io/display.c b/src/main/io/display.c index e8fd39726c7..fc69963538a 100644 --- a/src/main/io/display.c +++ b/src/main/io/display.c @@ -370,19 +370,18 @@ void showStatusPage(void) } -void updateDisplay(void) +void updateDisplay(uint32_t currentTime) { - uint32_t now = micros(); static uint8_t previousArmedState = 0; bool pageChanging = false; - bool updateNow = (int32_t)(now - nextDisplayUpdateAt) >= 0L; + bool updateNow = (int32_t)(currentTime - nextDisplayUpdateAt) >= 0L; if (!updateNow) { return; } - nextDisplayUpdateAt = now + DISPLAY_UPDATE_FREQUENCY; + nextDisplayUpdateAt = currentTime + DISPLAY_UPDATE_FREQUENCY; bool armedState = ARMING_FLAG(ARMED) ? true : false; bool armedStateChanged = armedState != previousArmedState; @@ -400,7 +399,7 @@ void updateDisplay(void) pageChanging = true; } - if ((currentPageId == PAGE_WELCOME) && ((int32_t)(now - nextPageAt) >= 0L)) { + if ((currentPageId == PAGE_WELCOME) && ((int32_t)(currentTime - nextPageAt) >= 0L)) { currentPageId = PAGE_STATUS; pageChanging = true; } @@ -465,9 +464,10 @@ void displayInit(rxConfig_t *rxConfigToUse) rxConfig = rxConfigToUse; displaySetPage(PAGE_WELCOME); - displaySetNextPageChangeAt(micros() + (1000 * 1000 * 5)); + const uint32_t now = micros(); + displaySetNextPageChangeAt(now + 5* MICROSECONDS_IN_A_SECOND); - updateDisplay(); + updateDisplay(now); } void displaySetNextPageChangeAt(uint32_t futureMicros) diff --git a/src/main/io/display.h b/src/main/io/display.h index c8969c7897e..b4a477fbac3 100644 --- a/src/main/io/display.h +++ b/src/main/io/display.h @@ -23,7 +23,7 @@ typedef enum { struct rxConfig_s; void displayInit(struct rxConfig_s *intialRxConfig); -void updateDisplay(void); +void updateDisplay(uint32_t currentTime); void displaySetPage(pageId_e newPageId); void displaySetNextPageChangeAt(uint32_t futureMicros); diff --git a/src/main/io/ledstrip.c b/src/main/io/ledstrip.c index 6fff408c2c3..4214ed6f95f 100644 --- a/src/main/io/ledstrip.c +++ b/src/main/io/ledstrip.c @@ -920,7 +920,7 @@ static applyLayerFn_timed* layerTable[] = { [timRing] = &applyLedThrustRingLayer }; -void updateLedStrip(void) +void updateLedStrip(uint32_t currentTime) { if (!(ledStripInitialised && isWS2811LedStripReady())) { return; @@ -935,19 +935,17 @@ void updateLedStrip(void) } ledStripEnabled = true; - uint32_t now = micros(); - // test all led timers, setting corresponding bits uint32_t timActive = 0; for (timId_e timId = 0; timId < timTimerCount; timId++) { // sanitize timer value, so that it can be safely incremented. Handles inital timerVal value. // max delay is limited to 5s - int32_t delta = cmp32(now, timerVal[timId]); + int32_t delta = cmp32(currentTime, timerVal[timId]); if (delta < 0 && delta > -LED_STRIP_MS(5000)) continue; // not ready yet timActive |= 1 << timId; if (delta >= LED_STRIP_MS(100) || delta < 0) { - timerVal[timId] = now; + timerVal[timId] = currentTime; } } diff --git a/src/main/io/ledstrip.h b/src/main/io/ledstrip.h index e281822102b..403ccbe778b 100644 --- a/src/main/io/ledstrip.h +++ b/src/main/io/ledstrip.h @@ -166,7 +166,7 @@ void reevaluateLedConfig(void); void ledStripInit(ledConfig_t *ledConfigsToUse, struct hsvColor_s *colorsToUse, modeColorIndexes_t *modeColorsToUse, specialColorIndexes_t *specialColorsToUse); void ledStripEnable(void); -void updateLedStrip(void); +void updateLedStrip(uint32_t currentTime); bool setModeColor(ledModeIndex_e modeIndex, int modeColorIndex, int colorIndex); diff --git a/src/main/rx/rx.c b/src/main/rx/rx.c index eef001f2897..0cf9b14aee5 100644 --- a/src/main/rx/rx.c +++ b/src/main/rx/rx.c @@ -367,7 +367,7 @@ void resumeRxSignal(void) failsafeOnRxResume(); } -void updateRx(uint32_t currentTime) +bool updateRx(uint32_t currentTime) { resetRxSignalReceivedFlagIfNeeded(currentTime); @@ -429,10 +429,6 @@ void updateRx(uint32_t currentTime) } } #endif -} - -bool shouldProcessRx(uint32_t currentTime) -{ return rxDataReceived || ((int32_t)(currentTime - rxUpdateAt) >= 0); // data driven or 50Hz } diff --git a/src/main/rx/rx.h b/src/main/rx/rx.h index 1e92411126c..5b77adc5194 100644 --- a/src/main/rx/rx.h +++ b/src/main/rx/rx.h @@ -147,10 +147,9 @@ typedef uint16_t (*rcReadRawDataPtr)(const rxRuntimeConfig_t *rxRuntimeConfig, u struct modeActivationCondition_s; void rxInit(rxConfig_t *rxConfig, struct modeActivationCondition_s *modeActivationConditions); void useRxConfig(rxConfig_t *rxConfigToUse); -void updateRx(uint32_t currentTime); +bool updateRx(uint32_t currentTime); bool rxIsReceivingSignal(void); bool rxAreFlightChannelsValid(void); -bool shouldProcessRx(uint32_t currentTime); void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime); void parseRcChannels(const char *input, rxConfig_t *rxConfig); diff --git a/src/main/scheduler/scheduler.c b/src/main/scheduler/scheduler.c index 8e3ec27c447..ec023966701 100755 --- a/src/main/scheduler/scheduler.c +++ b/src/main/scheduler/scheduler.c @@ -40,7 +40,6 @@ static uint32_t totalWaitingTasks; static uint32_t totalWaitingTasksSamples; static uint32_t realtimeGuardInterval; -uint32_t currentTime = 0; uint16_t averageSystemLoadPercent = 0; #define REALTIME_GUARD_INTERVAL_MIN 10 @@ -124,16 +123,18 @@ STATIC_INLINE_UNIT_TESTED cfTask_t *queueNext(void) return taskQueueArray[++taskQueuePos]; // guaranteed to be NULL at end of queue } -void taskSystem(void) +void taskSystem(uint32_t currentTime) { - /* Calculate system load */ + UNUSED(currentTime); + + // Calculate system load if (totalWaitingTasksSamples > 0) { averageSystemLoadPercent = 100 * totalWaitingTasks / totalWaitingTasksSamples; totalWaitingTasksSamples = 0; totalWaitingTasks = 0; } - /* Calculate guard interval */ + // Calculate guard interval uint32_t maxNonRealtimeTaskTime = 0; for (const cfTask_t *task = queueFirst(); task != NULL; task = queueNext()) { if (task->staticPriority != TASK_PRIORITY_REALTIME) { @@ -200,8 +201,9 @@ void schedulerInit(void) void scheduler(void) { // Cache currentTime - currentTime = micros(); + const uint32_t currentTime = micros(); + // Check for realtime tasks uint32_t timeToNextRealtimeTask = UINT32_MAX; for (const cfTask_t *task = queueFirst(); task != NULL && task->staticPriority >= TASK_PRIORITY_REALTIME; task = queueNext()) { const uint32_t nextExecuteAt = task->lastExecutedAt + task->desiredPeriod; @@ -228,7 +230,7 @@ void scheduler(void) task->taskAgeCycles = 1 + ((currentTime - task->lastSignaledAt) / task->desiredPeriod); task->dynamicPriority = 1 + task->staticPriority * task->taskAgeCycles; waitingTasks++; - } else if (task->checkFunc(currentTime - task->lastExecutedAt)) { + } else if (task->checkFunc(currentTime, currentTime - task->lastExecutedAt)) { task->lastSignaledAt = currentTime; task->taskAgeCycles = 1; task->dynamicPriority = 1 + task->staticPriority; @@ -271,7 +273,7 @@ void scheduler(void) // Execute task const uint32_t currentTimeBeforeTaskCall = micros(); - selectedTask->taskFunc(); + selectedTask->taskFunc(currentTimeBeforeTaskCall); const uint32_t taskExecutionTime = micros() - currentTimeBeforeTaskCall; selectedTask->averageExecutionTime = ((uint32_t)selectedTask->averageExecutionTime * 31 + taskExecutionTime) / 32; diff --git a/src/main/scheduler/scheduler.h b/src/main/scheduler/scheduler.h index 02980c4614a..724b0102d41 100755 --- a/src/main/scheduler/scheduler.h +++ b/src/main/scheduler/scheduler.h @@ -93,8 +93,8 @@ typedef enum { typedef struct { /* Configuration */ const char * taskName; - bool (*checkFunc)(uint32_t currentDeltaTime); - void (*taskFunc)(void); + bool (*checkFunc)(uint32_t currentTime, uint32_t currentDeltaTime); + void (*taskFunc)(uint32_t currentTime); uint32_t desiredPeriod; // target period of execution const uint8_t staticPriority; // dynamicPriority grows in steps of this size, shouldn't be zero diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c index 15297451aa9..744225a2952 100644 --- a/src/main/sensors/compass.c +++ b/src/main/sensors/compass.c @@ -43,8 +43,6 @@ mag_t mag; // mag access functions float magneticDeclination = 0.0f; // calculated at startup from config -extern uint32_t currentTime; // FIXME dependency on global variable, pass it in instead. - int16_t magADCRaw[XYZ_AXIS_COUNT]; int32_t magADC[XYZ_AXIS_COUNT]; sensor_align_e magAlign = 0; @@ -74,7 +72,7 @@ bool isCompassReady(void) static sensorCalibrationState_t calState; -void updateCompass(flightDynamicsTrims_t *magZero) +void updateCompass(uint32_t currentTime, flightDynamicsTrims_t *magZero) { static uint32_t calStartedAt = 0; static int16_t magPrev[XYZ_AXIS_COUNT]; diff --git a/src/main/sensors/compass.h b/src/main/sensors/compass.h index 02cb0a3b5d3..52a0f5835e9 100644 --- a/src/main/sensors/compass.h +++ b/src/main/sensors/compass.h @@ -33,12 +33,10 @@ typedef enum { #define MAG_MAX MAG_FAKE -#ifdef MAG bool compassInit(int16_t magDeclinationFromConfig); union flightDynamicsTrims_u; -void updateCompass(union flightDynamicsTrims_u *magZero); +void updateCompass(uint32_t currentTime, union flightDynamicsTrims_u *magZero); bool isCompassReady(void); -#endif extern int32_t magADC[XYZ_AXIS_COUNT]; diff --git a/src/main/telemetry/hott.c b/src/main/telemetry/hott.c index 15524773f63..f0cc4fb8a3c 100644 --- a/src/main/telemetry/hott.c +++ b/src/main/telemetry/hott.c @@ -492,7 +492,7 @@ void checkHoTTTelemetryState(void) freeHoTTTelemetryPort(); } -void handleHoTTTelemetry(void) +void handleHoTTTelemetry(uint32_t currentTime) { static uint32_t serialTimer; @@ -500,27 +500,25 @@ void handleHoTTTelemetry(void) return; } - uint32_t now = micros(); - - if (shouldPrepareHoTTMessages(now)) { + if (shouldPrepareHoTTMessages(currentTime)) { hottPrepareMessages(); - lastMessagesPreparedAt = now; + lastMessagesPreparedAt = currentTime; } if (shouldCheckForHoTTRequest()) { - hottCheckSerialData(now); + hottCheckSerialData(currentTime); } if (!hottMsg) return; if (hottIsSending) { - if(now - serialTimer < HOTT_TX_DELAY_US) { + if(currentTime - serialTimer < HOTT_TX_DELAY_US) { return; } } hottSendTelemetryData(); - serialTimer = now; + serialTimer = currentTime; } #endif diff --git a/src/main/telemetry/hott.h b/src/main/telemetry/hott.h index 37b8e6f10f3..c1da56727b3 100644 --- a/src/main/telemetry/hott.h +++ b/src/main/telemetry/hott.h @@ -487,7 +487,7 @@ typedef struct HOTT_AIRESC_MSG_s { uint8_t stop_byte; //#44 constant value 0x7d } HOTT_AIRESC_MSG_t; -void handleHoTTTelemetry(void); +void handleHoTTTelemetry(uint32_t currentTime); void checkHoTTTelemetryState(void); void initHoTTTelemetry(telemetryConfig_t *telemetryConfig); diff --git a/src/main/telemetry/mavlink.c b/src/main/telemetry/mavlink.c index a29f17a4ed9..88f6bc87cbd 100755 --- a/src/main/telemetry/mavlink.c +++ b/src/main/telemetry/mavlink.c @@ -272,7 +272,7 @@ void mavlinkSendRCChannelsAndRSSI(void) } #if defined(GPS) -void mavlinkSendPosition(void) +void mavlinkSendPosition(uint32_t currentTime) { uint16_t msgLength; uint8_t gpsFixType = 0; @@ -289,7 +289,7 @@ void mavlinkSendPosition(void) mavlink_msg_gps_raw_int_pack(0, 200, &mavMsg, // time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) - micros(), + currentTime, // fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. gpsFixType, // lat Latitude in 1E7 degrees @@ -314,7 +314,7 @@ void mavlinkSendPosition(void) // Global position mavlink_msg_global_position_int_pack(0, 200, &mavMsg, // time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) - micros(), + currentTime, // lat Latitude in 1E7 degrees gpsSol.llh.lat, // lon Longitude in 1E7 degrees @@ -501,7 +501,7 @@ void mavlinkSendHUDAndHeartbeat(void) mavlinkSerialWrite(mavBuffer, msgLength); } -void processMAVLinkTelemetry(void) +void processMAVLinkTelemetry(uint32_t currentTime) { // is executed @ TELEMETRY_MAVLINK_MAXRATE rate if (mavlinkStreamTrigger(MAV_DATA_STREAM_EXTENDED_STATUS)) { @@ -514,7 +514,7 @@ void processMAVLinkTelemetry(void) #ifdef GPS if (mavlinkStreamTrigger(MAV_DATA_STREAM_POSITION)) { - mavlinkSendPosition(); + mavlinkSendPosition(currentTime); } #endif @@ -527,7 +527,7 @@ void processMAVLinkTelemetry(void) } } -void handleMAVLinkTelemetry(void) +void handleMAVLinkTelemetry(uint32_t currentTime) { if (!mavlinkTelemetryEnabled) { return; @@ -537,10 +537,9 @@ void handleMAVLinkTelemetry(void) return; } - uint32_t now = micros(); - if ((now - lastMavlinkMessage) >= TELEMETRY_MAVLINK_DELAY) { - processMAVLinkTelemetry(); - lastMavlinkMessage = now; + if ((currentTime - lastMavlinkMessage) >= TELEMETRY_MAVLINK_DELAY) { + processMAVLinkTelemetry(currentTime); + lastMavlinkMessage = currentTime; } } diff --git a/src/main/telemetry/mavlink.h b/src/main/telemetry/mavlink.h index 275a430eebf..815b25c2c45 100755 --- a/src/main/telemetry/mavlink.h +++ b/src/main/telemetry/mavlink.h @@ -19,7 +19,7 @@ #define TELEMETRY_MAVLINK_H_ void initMAVLinkTelemetry(void); -void handleMAVLinkTelemetry(void); +void handleMAVLinkTelemetry(uint32_t currentTime); void checkMAVLinkTelemetryState(void); void freeMAVLinkTelemetryPort(void); diff --git a/src/main/telemetry/telemetry.c b/src/main/telemetry/telemetry.c index fbb64139ff7..ddc7484cf16 100644 --- a/src/main/telemetry/telemetry.c +++ b/src/main/telemetry/telemetry.c @@ -138,7 +138,7 @@ void telemetryCheckState(void) } -void telemetryProcess(rxConfig_t *rxConfig, uint16_t deadband3d_throttle) +void telemetryProcess(uint32_t currentTime, rxConfig_t *rxConfig, uint16_t deadband3d_throttle) { #if defined(TELEMETRY_FRSKY) handleFrSkyTelemetry(rxConfig, deadband3d_throttle); @@ -148,7 +148,9 @@ void telemetryProcess(rxConfig_t *rxConfig, uint16_t deadband3d_throttle) #endif #if defined(TELEMETRY_HOTT) - handleHoTTTelemetry(); + handleHoTTTelemetry(currentTime); +#else + UNUSED(currentTime); #endif #if defined(TELEMETRY_SMARTPORT) @@ -160,7 +162,9 @@ void telemetryProcess(rxConfig_t *rxConfig, uint16_t deadband3d_throttle) #endif #if defined(TELEMETRY_MAVLINK) - handleMAVLinkTelemetry(); + handleMAVLinkTelemetry(currentTime); +#else + UNUSED(currentTime); #endif #if defined(TELEMETRY_JETIEXBUS) diff --git a/src/main/telemetry/telemetry.h b/src/main/telemetry/telemetry.h index beebbed277e..80044947a26 100644 --- a/src/main/telemetry/telemetry.h +++ b/src/main/telemetry/telemetry.h @@ -56,7 +56,7 @@ extern struct serialPort_s *telemetrySharedPort; void telemetryCheckState(void); struct rxConfig_s; -void telemetryProcess(struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle); +void telemetryProcess(uint32_t currentTime, struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle); bool telemetryDetermineEnabledState(portSharing_e portSharing); From 250d20e378c7a977c2dc2b32d902ac8e20817ad4 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Fri, 4 Nov 2016 10:20:11 +0100 Subject: [PATCH 076/139] docs fix --- docs/Cli.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/docs/Cli.md b/docs/Cli.md index 16244a11edd..983bd2d2fb9 100644 --- a/docs/Cli.md +++ b/docs/Cli.md @@ -172,9 +172,9 @@ Re-apply any new defaults as desired. | `align_gyro` | When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP. | | | DEFAULT | Master | UINT8 | | `align_acc` | When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP. | | | DEFAULT | Master | UINT8 | | `align_mag` | When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP. | | | DEFAULT | Master | UINT8 | -| `align_board_roll` | Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc | -180 | 360 | 0 | Master | INT16 | -| `align_board_pitch` | Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc | -180 | 360 | 0 | Master | INT16 | -| `align_board_yaw` | Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc | -180 | 360 | 0 | Master | INT16 | +| `align_board_roll` | Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc | -1800 | 3600 | 0 | Master | INT16 | +| `align_board_pitch` | Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc | -1800 | 3600 | 0 | Master | INT16 | +| `align_board_yaw` | Arbitrary board rotation in degrees, to allow mounting it sideways / upside down / rotated etc | -1800 | 3600 | 0 | Master | INT16 | | `max_angle_inclination` | This setting controls max inclination (tilt) allowed in angle (level) mode. default 500 (50 degrees). | 100 | 900 | 500 | Master | UINT16 | | `gyro_lpf` | Hardware lowpass filter for gyro. Allowed values depend on the driver - For example MPU6050 allows 10HZ,20HZ,42HZ,98HZ,188HZ,256Hz (8khz mode). If you have to set gyro lpf below 42Hz generally means the frame is vibrating too much, and that should be fixed first. | 10HZ | 256HZ | 42HZ | Master | UINT16 | | `moron_threshold` | When powering up, gyro bias is calculated. If the model is shaking/moving during this initial calibration, offsets are calculated incorrectly, and could lead to poor flying performance. This threshold (default of 32) means how much average gyro reading could differ before re-calibration is triggered. | 0 | 128 | 32 | Master | UINT8 | From 805e12e7b2e918346526e64fea6159b32d7999d6 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Fri, 4 Nov 2016 11:06:19 +0100 Subject: [PATCH 077/139] CC3D buzzer moved back to PA15 --- src/main/target/CC3D/target.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/target/CC3D/target.h b/src/main/target/CC3D/target.h index 165eab23cdc..02aafebb3b5 100644 --- a/src/main/target/CC3D/target.h +++ b/src/main/target/CC3D/target.h @@ -22,7 +22,7 @@ #define INVERTER PB2 // PB2 (BOOT1) used as inverter select GPIO #define INVERTER_USART USART1 -#define BEEPER PB15 +#define BEEPER PA15 #define BEEPER_OPT PB2 #define USE_EXTI From 2cb1151483ac083feac7b33ee42676ed59813030 Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Sat, 5 Nov 2016 08:28:58 +0000 Subject: [PATCH 078/139] Added sonar to spracingf3evo. Minor target.h tidy. --- src/main/target/BLUEJAYF4/target.h | 2 +- src/main/target/SPRACINGF3/target.h | 14 ++++---- src/main/target/SPRACINGF3EVO/target.h | 46 +++++++------------------- 3 files changed, 19 insertions(+), 43 deletions(-) diff --git a/src/main/target/BLUEJAYF4/target.h b/src/main/target/BLUEJAYF4/target.h index e54ef744643..c8861bfccec 100644 --- a/src/main/target/BLUEJAYF4/target.h +++ b/src/main/target/BLUEJAYF4/target.h @@ -44,7 +44,7 @@ //#define DEBUG_MPU_DATA_READY_INTERRUPT #define USE_MPU_DATA_READY_SIGNAL //#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready -#define MPU_INT_EXTI PC5 +#define MPU_INT_EXTI PC5 #define MPU6500_CS_PIN PC4 #define MPU6500_SPI_INSTANCE SPI1 diff --git a/src/main/target/SPRACINGF3/target.h b/src/main/target/SPRACINGF3/target.h index 3405a2c6685..b5410466926 100644 --- a/src/main/target/SPRACINGF3/target.h +++ b/src/main/target/SPRACINGF3/target.h @@ -52,10 +52,6 @@ #define USE_FLASHFS #define USE_FLASH_M25P16 -#define SONAR -#define SONAR_TRIGGER_PIN PB0 -#define SONAR_ECHO_PIN PB1 - #define USE_UART1 #define USE_UART2 #define USE_UART3 @@ -75,7 +71,7 @@ #define SOFTSERIAL_1_TIMER TIM3 #define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5 #define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6 -#define SOFTSERIAL_2_TIMER TIM3 +#define SOFTSERIAL_2_TIMER TIM3 #define SOFTSERIAL_2_TIMER_RX_HARDWARE 6 // PWM 7 #define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8 @@ -96,7 +92,6 @@ #define RSSI_ADC_PIN PB2 #define LED_STRIP - #define USE_LED_STRIP_ON_DMA1_CHANNEL2 #define WS2811_PIN PA8 #define WS2811_TIMER TIM1 @@ -105,14 +100,17 @@ #define WS2811_DMA_TC_FLAG DMA1_FLAG_TC2 #define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH2_HANDLER +#define SONAR +#define SONAR_TRIGGER_PIN PB0 +#define SONAR_ECHO_PIN PB1 + #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT #define DEFAULT_FEATURES (FEATURE_BLACKBOX | FEATURE_VBAT) #define DEFAULT_RX_FEATURE FEATURE_RX_PPM #define SPEKTRUM_BIND -// USART3, -#define BIND_PIN PB11 +#define BIND_PIN PB11 // UART3 #define USE_SERIAL_4WAY_BLHELI_INTERFACE diff --git a/src/main/target/SPRACINGF3EVO/target.h b/src/main/target/SPRACINGF3EVO/target.h index f04e08f5971..71c812988e2 100755 --- a/src/main/target/SPRACINGF3EVO/target.h +++ b/src/main/target/SPRACINGF3EVO/target.h @@ -30,19 +30,19 @@ #define EXTI15_10_CALLBACK_HANDLER_COUNT 2 // MPU_INT, SDCardDetect #define USE_MPU_DATA_READY_SIGNAL #define ENSURE_MPU_DATA_READY_IS_LOW +#define MPU6500_CS_PIN PB9 +#define MPU6500_SPI_INSTANCE SPI1 //#define USE_MAG_DATA_READY_SIGNAL //#define ENSURE_MAG_DATA_READY_IS_HIGH - #define GYRO #define USE_GYRO_SPI_MPU6500 +#define GYRO_MPU6500_ALIGN CW180_DEG #define ACC #define USE_ACC_SPI_MPU6500 - #define ACC_MPU6500_ALIGN CW180_DEG -#define GYRO_MPU6500_ALIGN CW180_DEG #define BARO #define USE_BARO_BMP280 @@ -53,10 +53,7 @@ #define USE_MAG_AK8963 //#define USE_MAG_MAG3110 // External #define USE_MAG_HMC5883 // External - -#define MAG_AK8963_ALIGN CW270_DEG_FLIP - -//#define SONAR +#define MAG_AK8963_ALIGN CW270_DEG_FLIP #define USB_IO @@ -96,23 +93,17 @@ #define USE_SDCARD_SPI2 #define SDCARD_DETECT_INVERTED - -#define SDCARD_DETECT_PIN PC14 -#define SDCARD_SPI_INSTANCE SPI2 -#define SDCARD_SPI_CS_PIN SPI2_NSS_PIN - +#define SDCARD_DETECT_PIN PC14 +#define SDCARD_SPI_INSTANCE SPI2 +#define SDCARD_SPI_CS_PIN SPI2_NSS_PIN // SPI2 is on the APB1 bus whose clock runs at 36MHz. Divide to under 400kHz for init: #define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 128 // Divide to under 25MHz for normal operation: #define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER 2 - // Note, this is the same DMA channel as UART1_RX. Luckily we don't use DMA for USART Rx. #define SDCARD_DMA_CHANNEL_TX DMA1_Channel5 #define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA1_FLAG_TC5 -#define MPU6500_CS_PIN PB9 -#define MPU6500_SPI_INSTANCE SPI1 - #define USE_ADC #define ADC_INSTANCE ADC2 #define VBAT_ADC_PIN PA4 @@ -128,20 +119,10 @@ #define WS2811_DMA_TC_FLAG DMA1_FLAG_TC2 #define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH2_HANDLER -/* -#define TRANSPONDER -#define TRANSPONDER_GPIO GPIOA -#define TRANSPONDER_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA -#define TRANSPONDER_GPIO_AF GPIO_AF_6 -#define TRANSPONDER_PIN GPIO_Pin_8 -#define TRANSPONDER_PIN_SOURCE GPIO_PinSource8 -#define TRANSPONDER_TIMER TIM1 -#define TRANSPONDER_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM1 -#define TRANSPONDER_DMA_CHANNEL DMA1_Channel2 -#define TRANSPONDER_IRQ DMA1_Channel2_IRQn -#define TRANSPONDER_DMA_TC_FLAG DMA1_FLAG_TC2 -#define TRANSPONDER_DMA_HANDLER_IDENTIFER DMA1_CH2_HANDLER -*/ +#define SONAR +#define SONAR_TRIGGER_PIN PB0 +#define SONAR_ECHO_PIN PB1 +#define USE_SONAR_SRF10 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT @@ -149,10 +130,7 @@ #define DEFAULT_FEATURES (FEATURE_TRANSPONDER | FEATURE_BLACKBOX | FEATURE_RSSI_ADC | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY) #define SPEKTRUM_BIND -// USART3, -#define BIND_PIN PB11 - -#define USE_SERIAL_4WAY_BLHELI_INTERFACE +#define BIND_PIN PB11 // UART3 #define USE_SERIAL_4WAY_BLHELI_INTERFACE From 7fa81bfec0a4bc593459b5fbfc7703e2a70a5555 Mon Sep 17 00:00:00 2001 From: Riccardo Belloli Date: Sat, 5 Nov 2016 10:24:23 +0100 Subject: [PATCH 079/139] Copied relevant preprocessor definitions from cleanflight's target file --- src/main/target/SPRACINGF3EVO/target.h | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/src/main/target/SPRACINGF3EVO/target.h b/src/main/target/SPRACINGF3EVO/target.h index c79aeef77b1..f075a6dfb81 100755 --- a/src/main/target/SPRACINGF3EVO/target.h +++ b/src/main/target/SPRACINGF3EVO/target.h @@ -64,7 +64,9 @@ #define USE_UART1 #define USE_UART2 #define USE_UART3 -#define SERIAL_PORT_COUNT 4 +#define USE_SOFTSERIAL1 +#define USE_SOFTSERIAL2 +#define SERIAL_PORT_COUNT 6 #define UART1_TX_PIN PA9 #define UART1_RX_PIN PA10 @@ -75,6 +77,14 @@ #define UART3_TX_PIN PB10 // PB10 (AF7) #define UART3_RX_PIN PB11 // PB11 (AF7) +#define SOFTSERIAL_1_TIMER TIM3 +#define SOFTSERIAL_1_TIMER_RX_HARDWARE 5 +#define SOFTSERIAL_1_TIMER_TX_HARDWARE 6 + +#define SOFTSERIAL_2_TIMER TIM3 +#define SOFTSERIAL_2_TIMER_RX_HARDWARE 7 +#define SOFTSERIAL_2_TIMER_TX_HARDWARE 8 + #define USE_I2C #define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA From 1212142d53c2bbc4fb7d406fd05f0a4e04c77ebf Mon Sep 17 00:00:00 2001 From: Riccardo Belloli Date: Sat, 5 Nov 2016 10:59:53 +0100 Subject: [PATCH 080/139] Adding drivers/serial_softserial.c to target.mk --- src/main/target/SPRACINGF3EVO/target.mk | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/target/SPRACINGF3EVO/target.mk b/src/main/target/SPRACINGF3EVO/target.mk index 90b794e0752..82d486ea512 100755 --- a/src/main/target/SPRACINGF3EVO/target.mk +++ b/src/main/target/SPRACINGF3EVO/target.mk @@ -12,5 +12,5 @@ TARGET_SRC = \ drivers/compass_mag3110.c \ drivers/light_ws2811strip.c \ drivers/light_ws2811strip_stm32f30x.c \ - drivers/serial_usb_vcp.c - + drivers/serial_usb_vcp.c \ + drivers/serial_softserial.c From 30ed4d10d9bb575525d8eb95ca20bae52be99d56 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Tue, 18 Oct 2016 13:42:31 +0200 Subject: [PATCH 081/139] MSP_FILTER_CONFIG and MSP_ADVANCED_TUNING --- src/main/fc/fc_msp.c | 67 ++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 67 insertions(+) diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index 8d2b727e6fa..5a1b180103f 100644 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -1032,6 +1032,38 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp sbufWriteU8(dst, masterConfig.gyroSync); break; + case MSP_FILTER_CONFIG : + sbufWriteU8(dst, currentProfile->pidProfile.gyro_soft_lpf_hz); + sbufWriteU16(dst, currentProfile->pidProfile.dterm_lpf_hz); + sbufWriteU16(dst, currentProfile->pidProfile.yaw_lpf_hz); + sbufWriteU16(dst, 1); //masterConfig.gyro_soft_notch_hz_1 + sbufWriteU16(dst, 1); //BF: masterConfig.gyro_soft_notch_cutoff_1 + sbufWriteU16(dst, 1); //BF: currentProfile->pidProfile.dterm_notch_hz + sbufWriteU16(dst, 1); //currentProfile->pidProfile.dterm_notch_cutoff + sbufWriteU16(dst, 1); //BF: masterConfig.gyro_soft_notch_hz_2 + sbufWriteU16(dst, 1); //BF: masterConfig.gyro_soft_notch_cutoff_2 + break; + + case MSP_ADVANCED_TUNING: + sbufWriteU16(dst, currentProfile->pidProfile.rollPitchItermIgnoreRate); + sbufWriteU16(dst, currentProfile->pidProfile.yawItermIgnoreRate); + sbufWriteU16(dst, currentProfile->pidProfile.yaw_p_limit); + sbufWriteU8(dst, 0); //BF: currentProfile->pidProfile.deltaMethod + sbufWriteU8(dst, 0); //BF: currentProfile->pidProfile.vbatPidCompensation + sbufWriteU8(dst, 0); //BF: currentProfile->pidProfile.setpointRelaxRatio + sbufWriteU8(dst, 0); //BF: currentProfile->pidProfile.dtermSetpointWeight + sbufWriteU8(dst, 0); // reserved + sbufWriteU8(dst, 0); // reserved + sbufWriteU8(dst, 0); //BF: currentProfile->pidProfile.itermThrottleGain + + /* + * To keep compatibility on MSP level with Betaflight, axis axisAccelerationLimitYaw + * limit will be sent and received in [dps / 1000] + */ + sbufWriteU16(dst, constrain(currentProfile->pidProfile.axisAccelerationLimitRollPitch / 1000, 0, 65535)); + sbufWriteU16(dst, constrain(currentProfile->pidProfile.axisAccelerationLimitYaw / 1000, 0, 65535)); + break; + case MSP_REBOOT: if (mspPostProcessFn) { *mspPostProcessFn = mspRebootFn; @@ -1321,6 +1353,41 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src) masterConfig.gyroSync = sbufReadU8(src); break; + case MSP_SET_FILTER_CONFIG : + currentProfile->pidProfile.gyro_soft_lpf_hz = sbufReadU8(src); + currentProfile->pidProfile.dterm_lpf_hz = constrain(sbufReadU16(src), 0, 255); + currentProfile->pidProfile.yaw_lpf_hz = constrain(sbufReadU16(src), 0, 255); + + //BF: masterConfig.gyro_soft_notch_hz_1 = read16(); + //BF: masterConfig.gyro_soft_notch_cutoff_1 = read16(); + //BF: currentProfile->pidProfile.dterm_notch_hz = read16(); + //BF: currentProfile->pidProfile.dterm_notch_cutoff = read16(); + //BF: masterConfig.gyro_soft_notch_hz_2 = read16(); + //BF: masterConfig.gyro_soft_notch_cutoff_2 = read16(); + break; + + case MSP_SET_ADVANCED_TUNING: + + currentProfile->pidProfile.rollPitchItermIgnoreRate = sbufReadU16(src); + currentProfile->pidProfile.yawItermIgnoreRate = sbufReadU16(src); + currentProfile->pidProfile.yaw_p_limit = sbufReadU16(src); + + sbufReadU8(src); //BF: currentProfile->pidProfile.deltaMethod + sbufReadU8(src); //BF: currentProfile->pidProfile.vbatPidCompensation + sbufReadU8(src); //BF: currentProfile->pidProfile.setpointRelaxRatio + sbufReadU8(src); //BF: currentProfile->pidProfile.dtermSetpointWeight + sbufReadU8(src); // reserved + sbufReadU8(src); // reserved + sbufReadU8(src); //BF: currentProfile->pidProfile.itermThrottleGain + + /* + * To keep compatibility on MSP level with Betaflight, axis axisAccelerationLimitYaw + * limit will be sent and received in [dps / 1000] + */ + currentProfile->pidProfile.axisAccelerationLimitRollPitch = sbufReadU16(src) * 1000; + currentProfile->pidProfile.axisAccelerationLimitYaw = sbufReadU16(src) * 1000; + break; + case MSP_RESET_CONF: if (!ARMING_FLAG(ARMED)) { resetEEPROM(); From 376df9d396dbf778ca14b44c098f81b641cc3236 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Tue, 18 Oct 2016 13:44:09 +0200 Subject: [PATCH 082/139] MSP_ADVANCED_TUNING renamed to MSP_PID_ADVANCED to match Betaflight --- src/main/fc/fc_msp.c | 4 ++-- src/main/msp/msp_protocol.h | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index 5a1b180103f..c65f9154409 100644 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -1044,7 +1044,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp sbufWriteU16(dst, 1); //BF: masterConfig.gyro_soft_notch_cutoff_2 break; - case MSP_ADVANCED_TUNING: + case MSP_PID_ADVANCED: sbufWriteU16(dst, currentProfile->pidProfile.rollPitchItermIgnoreRate); sbufWriteU16(dst, currentProfile->pidProfile.yawItermIgnoreRate); sbufWriteU16(dst, currentProfile->pidProfile.yaw_p_limit); @@ -1366,7 +1366,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src) //BF: masterConfig.gyro_soft_notch_cutoff_2 = read16(); break; - case MSP_SET_ADVANCED_TUNING: + case MSP_SET_PID_ADVANCED: currentProfile->pidProfile.rollPitchItermIgnoreRate = sbufReadU16(src); currentProfile->pidProfile.yawItermIgnoreRate = sbufReadU16(src); diff --git a/src/main/msp/msp_protocol.h b/src/main/msp/msp_protocol.h index 3bc4545d808..63974783aee 100644 --- a/src/main/msp/msp_protocol.h +++ b/src/main/msp/msp_protocol.h @@ -205,8 +205,8 @@ #define MSP_FILTER_CONFIG 92 #define MSP_SET_FILTER_CONFIG 93 -#define MSP_ADVANCED_TUNING 94 -#define MSP_SET_ADVANCED_TUNING 95 +#define MSP_PID_ADVANCED 94 +#define MSP_SET_PID_ADVANCED 95 #define MSP_SENSOR_CONFIG 96 #define MSP_SET_SENSOR_CONFIG 97 From 9562275f5144aae547a9e2ecdf0f1c374651c77d Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Thu, 3 Nov 2016 20:35:01 +0100 Subject: [PATCH 083/139] MSP_INAV_PID MSP frame --- src/main/fc/fc_msp.c | 26 ++++++++++++++++++++++++++ src/main/flight/pid.c | 2 -- src/main/flight/pid.h | 2 ++ src/main/msp/msp_protocol.h | 3 +++ 4 files changed, 31 insertions(+), 2 deletions(-) diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index c65f9154409..cb94add7132 100644 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -1064,6 +1064,32 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp sbufWriteU16(dst, constrain(currentProfile->pidProfile.axisAccelerationLimitYaw / 1000, 0, 65535)); break; + case MSP_INAV_PID: + #ifdef ASYNC_GYRO_PROCESSING + sbufWriteU8(dst, masterConfig.asyncMode); + sbufWriteU16(dst, masterConfig.accTaskFrequency); + sbufWriteU16(dst, masterConfig.attitudeTaskFrequency); + #else + sbufWriteU8(dst, 0); + sbufWriteU16(dst, 0); + sbufWriteU16(dst, 0); + #endif + #ifdef MAG + sbufWriteU8(dst, currentProfile->pidProfile.mag_hold_rate_limit); + sbufWriteU8(dst, MAG_HOLD_ERROR_LPF_FREQ); + #else + sbufWriteU8(dst, 0); + sbufWriteU8(dst, 0); + #endif + sbufWriteU16(dst, masterConfig.mixerConfig.yaw_jump_prevention_limit); + sbufWriteU8(dst, masterConfig.gyro_lpf); + sbufWriteU8(dst, 0); //reserved + sbufWriteU8(dst, 0); //reserved + sbufWriteU8(dst, 0); //reserved + sbufWriteU8(dst, 0); //reserved + sbufWriteU8(dst, 0); //reserved + break; + case MSP_REBOOT: if (mspPostProcessFn) { *mspPostProcessFn = mspRebootFn; diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index 611b6486abc..227174bbf5e 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -44,8 +44,6 @@ #include "sensors/acceleration.h" -#define MAG_HOLD_ERROR_LPF_FREQ 2 - typedef struct { float kP; float kI; diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h index 6cc535e5769..7f65f1cffd4 100644 --- a/src/main/flight/pid.h +++ b/src/main/flight/pid.h @@ -33,6 +33,8 @@ #define AXIS_ACCEL_MIN_LIMIT 50 +#define MAG_HOLD_ERROR_LPF_FREQ 2 + typedef enum { PIDROLL, PIDPITCH, diff --git a/src/main/msp/msp_protocol.h b/src/main/msp/msp_protocol.h index 63974783aee..93e2c7948b0 100644 --- a/src/main/msp/msp_protocol.h +++ b/src/main/msp/msp_protocol.h @@ -99,6 +99,9 @@ #define MSP_BOARD_INFO 4 //out message #define MSP_BUILD_INFO 5 //out message +#define MSP_INAV_PID 6 +#define MSP_SET_INAV_PID 7 + #define MSP_NAME 10 //out message Returns user set board name - betaflight #define MSP_SET_NAME 11 //in message Sets board name - betaflight From 42b4204999d011f2709102a4d31ca440488c2020 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Thu, 3 Nov 2016 21:24:08 +0100 Subject: [PATCH 084/139] MSP_SET_INAV_PID MSP frame --- src/main/fc/fc_msp.c | 26 ++++++++++++++++++++++++++ 1 file changed, 26 insertions(+) diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index cb94add7132..e35912f751c 100644 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -1414,6 +1414,32 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src) currentProfile->pidProfile.axisAccelerationLimitYaw = sbufReadU16(src) * 1000; break; + case MSP_SET_INAV_PID: + #ifdef ASYNC_GYRO_PROCESSING + masterConfig.asyncMode = sbufReadU8(src); + masterConfig.accTaskFrequency = sbufReadU16(src); + masterConfig.attitudeTaskFrequency = sbufReadU16(src); + #else + sbufReadU8(src); + sbufReadU16(src); + sbufReadU16(src); + #endif + #ifdef MAG + currentProfile->pidProfile.mag_hold_rate_limit = sbufReadU8(src); + sbufReadU8(src); //MAG_HOLD_ERROR_LPF_FREQ + #else + sbufReadU8(src) + sbufReadU8(src) + #endif + masterConfig.mixerConfig.yaw_jump_prevention_limit = sbufReadU16(src); + masterConfig.gyro_lpf = sbufReadU8(src); + sbufReadU8(src); //reserved + sbufReadU8(src); //reserved + sbufReadU8(src); //reserved + sbufReadU8(src); //reserved + sbufReadU8(src); //reserved + break; + case MSP_RESET_CONF: if (!ARMING_FLAG(ARMED)) { resetEEPROM(); From 64506047f8c7c75223321b61d7861fcf5db813a2 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Thu, 3 Nov 2016 21:49:29 +0100 Subject: [PATCH 085/139] fixed syntax --- src/main/fc/fc_msp.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index e35912f751c..c7e8aaccd0a 100644 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -1428,8 +1428,8 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src) currentProfile->pidProfile.mag_hold_rate_limit = sbufReadU8(src); sbufReadU8(src); //MAG_HOLD_ERROR_LPF_FREQ #else - sbufReadU8(src) - sbufReadU8(src) + sbufReadU8(src); + sbufReadU8(src); #endif masterConfig.mixerConfig.yaw_jump_prevention_limit = sbufReadU16(src); masterConfig.gyro_lpf = sbufReadU8(src); From 791fb74f96dfeb13dae20d3077b92efa35908c60 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Sun, 6 Nov 2016 16:24:28 +1000 Subject: [PATCH 086/139] Fixed missing imuMeasuredGravityBF calculation with async gyro processing --- src/main/flight/imu.c | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c index 7bb6fd82cfe..4b9da23f453 100644 --- a/src/main/flight/imu.c +++ b/src/main/flight/imu.c @@ -509,6 +509,7 @@ static void imuUpdateMeasuredAcceleration(void) #ifdef ASYNC_GYRO_PROCESSING for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) { imuAccelInBodyFrame.A[axis] = imuAccumulatedAcc[axis] / imuAccumulatedAccCount; + imuMeasuredGravityBF.A[axis] = imuAccelInBodyFrame.A[axis]; imuAccumulatedAcc[axis] = 0; } imuAccumulatedAccCount = 0;; From d5cb12f4a9aad34e69f5d5507bfbe40b131d2150 Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Fri, 16 Sep 2016 10:37:03 +0100 Subject: [PATCH 087/139] Convergence of code for different receiver types PPM/PWM/MSP/serial. --- src/main/rx/ibus.c | 21 ++-- src/main/rx/ibus.h | 2 +- src/main/rx/jetiexbus.c | 40 +++---- src/main/rx/jetiexbus.h | 2 +- src/main/rx/msp.c | 13 +-- src/main/rx/msp.h | 4 +- src/main/rx/nrf24_cx10.c | 1 + src/main/rx/nrf24_h8_3d.c | 1 + src/main/rx/nrf24_inav.c | 1 + src/main/rx/nrf24_syma.c | 1 + src/main/rx/nrf24_v202.c | 1 + src/main/rx/pwm.c | 23 ++-- src/main/rx/pwm.h | 2 +- src/main/rx/rx.c | 186 ++++++++++++++++----------------- src/main/rx/rx.h | 29 ++--- src/main/rx/rx_spi.c | 20 ++-- src/main/rx/rx_spi.h | 8 +- src/main/rx/sbus.c | 28 ++--- src/main/rx/sbus.h | 2 +- src/main/rx/spektrum.c | 51 ++++----- src/main/rx/spektrum.h | 6 +- src/main/rx/sumd.c | 27 ++--- src/main/rx/sumd.h | 2 +- src/main/rx/sumh.c | 22 ++-- src/main/rx/sumh.h | 2 +- src/main/rx/xbus.c | 68 ++++++------ src/main/rx/xbus.h | 2 +- src/main/telemetry/telemetry.c | 2 +- src/main/telemetry/telemetry.h | 5 +- 29 files changed, 285 insertions(+), 287 deletions(-) diff --git a/src/main/rx/ibus.c b/src/main/rx/ibus.c index 8d890ef4630..abd192397d6 100755 --- a/src/main/rx/ibus.c +++ b/src/main/rx/ibus.c @@ -27,6 +27,8 @@ #include "platform.h" +#ifdef USE_SERIALRX_IBUS + #include "build/build_config.h" #include "drivers/serial.h" @@ -37,7 +39,6 @@ #include "rx/rx.h" #include "rx/ibus.h" -#ifdef USE_SERIALRX_IBUS #define IBUS_MAX_CHANNEL 10 #define IBUS_BUFFSIZE 32 @@ -51,16 +52,17 @@ static uint32_t ibusChannelData[IBUS_MAX_CHANNEL]; static void ibusDataReceive(uint16_t c); static uint16_t ibusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan); -bool ibusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback) +bool ibusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) { UNUSED(rxConfig); - if (callback) - *callback = ibusReadRawRC; - rxRuntimeConfig->channelCount = IBUS_MAX_CHANNEL; + rxRuntimeConfig->rxRefreshRate = 20000; // TODO - Verify speed + + rxRuntimeConfig->rcReadRawFn = ibusReadRawRC; + rxRuntimeConfig->rcFrameStatusFn = ibusFrameStatus; - serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); + const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); if (!portConfig) { return false; } @@ -101,7 +103,7 @@ static void ibusDataReceive(uint16_t c) uint8_t ibusFrameStatus(void) { uint8_t i; - uint8_t frameStatus = SERIAL_RX_FRAME_PENDING; + uint8_t frameStatus = RX_FRAME_PENDING; uint16_t chksum, rxsum; if (!ibusFrameDone) { @@ -128,7 +130,7 @@ uint8_t ibusFrameStatus(void) ibusChannelData[8] = (ibus[19] << 8) + ibus[18]; ibusChannelData[9] = (ibus[21] << 8) + ibus[20]; - frameStatus = SERIAL_RX_FRAME_COMPLETE; + frameStatus = RX_FRAME_COMPLETE; } return frameStatus; @@ -139,5 +141,4 @@ static uint16_t ibusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t UNUSED(rxRuntimeConfig); return ibusChannelData[chan]; } - -#endif +#endif // USE_SERIALRX_IBUS diff --git a/src/main/rx/ibus.h b/src/main/rx/ibus.h index 1106659fd54..76bc244d2dd 100755 --- a/src/main/rx/ibus.h +++ b/src/main/rx/ibus.h @@ -18,4 +18,4 @@ #pragma once uint8_t ibusFrameStatus(void); -bool ibusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback); +bool ibusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig); diff --git a/src/main/rx/jetiexbus.c b/src/main/rx/jetiexbus.c index ca41d99d731..0e682c051c0 100644 --- a/src/main/rx/jetiexbus.c +++ b/src/main/rx/jetiexbus.c @@ -36,11 +36,16 @@ #include #include +#include #include "platform.h" -#include "common/utils.h" +#ifdef USE_SERIALRX_JETIEXBUS + #include "build/build_config.h" +#include "build/debug.h" + +#include "common/utils.h" #include "drivers/serial.h" #include "drivers/serial_uart.h" @@ -51,24 +56,15 @@ #include "rx/rx.h" #include "rx/jetiexbus.h" -#ifdef USE_SERIALRX_JETIEXBUS - #ifdef TELEMETRY - -#include #include "sensors/sensors.h" #include "sensors/battery.h" #include "sensors/barometer.h" #include "telemetry/telemetry.h" #include "telemetry/jetiexbus.h" +#endif // TELEMETRY -#endif //TELEMETRY - - -#include "build/debug.h" - -#include "rx/rx.h" // // Serial driver for Jeti EX Bus receiver @@ -229,19 +225,19 @@ uint8_t calcCRC8(uint8_t *pt, uint8_t msgLen); uint16_t calcCRC16(uint8_t *pt, uint8_t msgLen); -bool jetiExBusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback) +bool jetiExBusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) { UNUSED(rxConfig); - serialPortConfig_t *portConfig; - - if (callback) { - *callback = jetiExBusReadRawRC; - } rxRuntimeConfig->channelCount = JETIEXBUS_CHANNEL_COUNT; + rxRuntimeConfig->rxRefreshRate = 5500; + + rxRuntimeConfig->rcReadRawFn = jetiExBusReadRawRC; + rxRuntimeConfig->rcFrameStatusFn = jetiExBusFrameStatus; + jetiExBusFrameReset(); - portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); + const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); if (!portConfig) { return false; @@ -407,15 +403,15 @@ static void jetiExBusDataReceive(uint16_t c) uint8_t jetiExBusFrameStatus() { if (jetiExBusFrameState != EXBUS_STATE_RECEIVED) - return SERIAL_RX_FRAME_PENDING; + return RX_FRAME_PENDING; if(calcCRC16(jetiExBusChannelFrame, jetiExBusChannelFrame[EXBUS_HEADER_MSG_LEN]) == 0) { jetiExBusDecodeChannelFrame(jetiExBusChannelFrame); jetiExBusFrameState = EXBUS_STATE_ZERO; - return SERIAL_RX_FRAME_COMPLETE; + return RX_FRAME_COMPLETE; } else { jetiExBusFrameState = EXBUS_STATE_ZERO; - return SERIAL_RX_FRAME_PENDING; + return RX_FRAME_PENDING; } } @@ -613,7 +609,5 @@ void sendJetiExBusTelemetry(uint8_t packetID) jetiExBusTransceiveState = EXBUS_TRANS_IS_TX_COMPLETED; requestLoop++; } - #endif // TELEMETRY - #endif // USE_SERIALRX_JETIEXBUS diff --git a/src/main/rx/jetiexbus.h b/src/main/rx/jetiexbus.h index 52b0bb45c46..98c18dcb2de 100644 --- a/src/main/rx/jetiexbus.h +++ b/src/main/rx/jetiexbus.h @@ -17,6 +17,6 @@ #pragma once -bool jetiExBusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback); +bool jetiExBusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig); uint8_t jetiExBusFrameStatus(void); diff --git a/src/main/rx/msp.c b/src/main/rx/msp.c index b04e6d78636..8f8f093035e 100644 --- a/src/main/rx/msp.c +++ b/src/main/rx/msp.c @@ -51,21 +51,22 @@ void rxMspFrameReceive(uint16_t *frame, int channelCount) rxMspFrameDone = true; } -bool rxMspFrameComplete(void) +uint8_t rxMspFrameStatus(void) { if (!rxMspFrameDone) { - return false; + return RX_FRAME_PENDING; } rxMspFrameDone = false; - return true; + return RX_FRAME_COMPLETE; } -void rxMspInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback) +void rxMspInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) { UNUSED(rxConfig); + rxRuntimeConfig->channelCount = MAX_SUPPORTED_RC_CHANNEL_COUNT; - if (callback) - *callback = rxMspReadRawRC; + rxRuntimeConfig->rcReadRawFn = rxMspReadRawRC; + rxRuntimeConfig->rcFrameStatusFn = rxMspFrameStatus; } #endif diff --git a/src/main/rx/msp.h b/src/main/rx/msp.h index 8e3d4f5848a..9df11bfc438 100644 --- a/src/main/rx/msp.h +++ b/src/main/rx/msp.h @@ -17,6 +17,6 @@ #pragma once -bool rxMspFrameComplete(void); +uint8_t rxMspFrameStatus(void); void rxMspFrameReceive(uint16_t *frame, int channelCount); -void rxMspInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback); +void rxMspInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig); diff --git a/src/main/rx/nrf24_cx10.c b/src/main/rx/nrf24_cx10.c index 2434d1259c2..322b0f7982f 100644 --- a/src/main/rx/nrf24_cx10.c +++ b/src/main/rx/nrf24_cx10.c @@ -32,6 +32,7 @@ #include "drivers/rx_xn297.h" #include "drivers/system.h" +#include "rx/rx.h" #include "rx/rx_spi.h" #include "rx/nrf24_cx10.h" diff --git a/src/main/rx/nrf24_h8_3d.c b/src/main/rx/nrf24_h8_3d.c index 9ffa1dcf47f..8bffc39c520 100644 --- a/src/main/rx/nrf24_h8_3d.c +++ b/src/main/rx/nrf24_h8_3d.c @@ -33,6 +33,7 @@ #include "drivers/rx_xn297.h" #include "drivers/system.h" +#include "rx/rx.h" #include "rx/rx_spi.h" #include "rx/nrf24_h8_3d.h" diff --git a/src/main/rx/nrf24_inav.c b/src/main/rx/nrf24_inav.c index 5b1dd267f5b..b4e2861c5ed 100644 --- a/src/main/rx/nrf24_inav.c +++ b/src/main/rx/nrf24_inav.c @@ -29,6 +29,7 @@ #include "drivers/rx_nrf24l01.h" #include "drivers/system.h" +#include "rx/rx.h" #include "rx/rx_spi.h" #include "rx/nrf24_inav.h" diff --git a/src/main/rx/nrf24_syma.c b/src/main/rx/nrf24_syma.c index b08cfaa2753..afc2380726e 100644 --- a/src/main/rx/nrf24_syma.c +++ b/src/main/rx/nrf24_syma.c @@ -31,6 +31,7 @@ #include "drivers/rx_nrf24l01.h" #include "drivers/system.h" +#include "rx/rx.h" #include "rx/rx_spi.h" #include "rx/nrf24_syma.h" diff --git a/src/main/rx/nrf24_v202.c b/src/main/rx/nrf24_v202.c index be724469f34..2fca7fd5f1a 100644 --- a/src/main/rx/nrf24_v202.c +++ b/src/main/rx/nrf24_v202.c @@ -31,6 +31,7 @@ #include "drivers/rx_nrf24l01.h" #include "drivers/system.h" +#include "rx/rx.h" #include "rx/rx_spi.h" #include "rx/nrf24_v202.h" diff --git a/src/main/rx/pwm.c b/src/main/rx/pwm.c index 8bfcf37480a..909609d9e56 100644 --- a/src/main/rx/pwm.c +++ b/src/main/rx/pwm.c @@ -36,29 +36,28 @@ #include "rx/rx.h" #include "rx/pwm.h" -static uint16_t pwmReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfigPtr, uint8_t channel) +static uint16_t pwmReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t channel) { - UNUSED(rxRuntimeConfigPtr); + UNUSED(rxRuntimeConfig); return pwmRead(channel); } -static uint16_t ppmReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfigPtr, uint8_t channel) +static uint16_t ppmReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t channel) { - UNUSED(rxRuntimeConfigPtr); + UNUSED(rxRuntimeConfig); return ppmRead(channel); } -void rxPwmInit(rxRuntimeConfig_t *rxRuntimeConfigPtr, rcReadRawDataPtr *callback) +void rxPwmInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) { - UNUSED(rxRuntimeConfigPtr); + UNUSED(rxConfig); // configure PWM/CPPM read function and max number of channels. serial rx below will override both of these, if enabled if (feature(FEATURE_RX_PARALLEL_PWM)) { - rxRuntimeConfigPtr->channelCount = MAX_SUPPORTED_RC_PARALLEL_PWM_CHANNEL_COUNT; - *callback = pwmReadRawRC; - } - if (feature(FEATURE_RX_PPM)) { - rxRuntimeConfigPtr->channelCount = MAX_SUPPORTED_RC_PPM_CHANNEL_COUNT; - *callback = ppmReadRawRC; + rxRuntimeConfig->channelCount = MAX_SUPPORTED_RC_PARALLEL_PWM_CHANNEL_COUNT; + rxRuntimeConfig->rcReadRawFn = pwmReadRawRC; + } else if (feature(FEATURE_RX_PPM)) { + rxRuntimeConfig->channelCount = MAX_SUPPORTED_RC_PPM_CHANNEL_COUNT; + rxRuntimeConfig->rcReadRawFn = ppmReadRawRC; } } #endif diff --git a/src/main/rx/pwm.h b/src/main/rx/pwm.h index f6cb5e2fee1..100c2b7014a 100644 --- a/src/main/rx/pwm.h +++ b/src/main/rx/pwm.h @@ -17,4 +17,4 @@ #pragma once -void rxPwmInit(rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback); +void rxPwmInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig); diff --git a/src/main/rx/rx.c b/src/main/rx/rx.c index 0cf9b14aee5..85439be4c19 100644 --- a/src/main/rx/rx.c +++ b/src/main/rx/rx.c @@ -88,22 +88,25 @@ uint32_t rcInvalidPulsPeriod[MAX_SUPPORTED_RC_CHANNEL_COUNT]; #define SKIP_RC_SAMPLES_ON_RESUME 2 // flush 2 samples to drop wrong measurements (timing independent) rxRuntimeConfig_t rxRuntimeConfig; -static rxConfig_t *rxConfig; +static const rxConfig_t *rxConfig; static uint8_t rcSampleIndex = 0; -static uint16_t nullReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t channel) { +static uint16_t nullReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t channel) +{ UNUSED(rxRuntimeConfig); UNUSED(channel); return PPM_RCVR_TIMEOUT; } -static rcReadRawDataPtr rcReadRawFunc = nullReadRawRC; -static uint16_t rxRefreshRate; +static uint8_t nullFrameStatus(void) +{ + return RX_FRAME_PENDING; +} -void serialRxInit(rxConfig_t *rxConfig); +void serialRxInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig); -void useRxConfig(rxConfig_t *rxConfigToUse) +void useRxConfig(const rxConfig_t *rxConfigToUse) { rxConfig = rxConfigToUse; } @@ -145,12 +148,14 @@ void resetAllRxChannelRangeConfigurations(rxChannelRangeConfiguration_t *rxChann } } -void rxInit(rxConfig_t *rxConfig, modeActivationCondition_t *modeActivationConditions) +void rxInit(const rxConfig_t *rxConfig, const modeActivationCondition_t *modeActivationConditions) { uint8_t i; uint16_t value; useRxConfig(rxConfig); + rxRuntimeConfig.rcReadRawFn = nullReadRawRC; + rxRuntimeConfig.rcFrameStatusFn = nullFrameStatus; rcSampleIndex = 0; for (i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) { @@ -162,7 +167,7 @@ void rxInit(rxConfig_t *rxConfig, modeActivationCondition_t *modeActivationCondi // Initialize ARM switch to OFF position when arming via switch is defined for (i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) { - modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[i]; + const modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[i]; if (modeActivationCondition->modeId == BOXARM && IS_RANGE_USABLE(&modeActivationCondition->range)) { // ARM switch is defined, determine an OFF value if (modeActivationCondition->range.startStep > 0) { @@ -177,101 +182,90 @@ void rxInit(rxConfig_t *rxConfig, modeActivationCondition_t *modeActivationCondi #ifdef SERIAL_RX if (feature(FEATURE_RX_SERIAL)) { - serialRxInit(rxConfig); + serialRxInit(rxConfig, &rxRuntimeConfig); } #endif #ifndef SKIP_RX_MSP if (feature(FEATURE_RX_MSP)) { - rxMspInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc); + rxMspInit(rxConfig, &rxRuntimeConfig); } #endif #ifdef USE_RX_SPI if (feature(FEATURE_RX_SPI)) { - rxRefreshRate = 10000; - const rx_spi_type_e spiType = feature(FEATURE_SOFTSPI) ? RX_SPI_SOFTSPI : RX_SPI_HARDSPI; - const bool enabled = rxSpiInit(spiType, rxConfig, &rxRuntimeConfig, &rcReadRawFunc); + const bool enabled = rxSpiInit(rxConfig, &rxRuntimeConfig); if (!enabled) { featureClear(FEATURE_RX_SPI); - rcReadRawFunc = nullReadRawRC; + rxRuntimeConfig.rcReadRawFn = nullReadRawRC; } } #endif #ifndef SKIP_RX_PWM_PPM if (feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM)) { - rxRefreshRate = 20000; - rxPwmInit(&rxRuntimeConfig, &rcReadRawFunc); + rxRuntimeConfig.rxRefreshRate = 20000; + rxPwmInit(rxConfig, &rxRuntimeConfig); } #endif - - rxRuntimeConfig.auxChannelCount = rxRuntimeConfig.channelCount - STICK_CHANNEL_COUNT; } #ifdef SERIAL_RX -void serialRxInit(rxConfig_t *rxConfig) +void serialRxInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) { bool enabled = false; switch (rxConfig->serialrx_provider) { #ifdef USE_SERIALRX_SPEKTRUM - case SERIALRX_SPEKTRUM1024: - rxRefreshRate = 22000; - enabled = spektrumInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc); - break; - case SERIALRX_SPEKTRUM2048: - rxRefreshRate = 11000; - enabled = spektrumInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc); - break; + case SERIALRX_SPEKTRUM1024: + enabled = spektrumInit(rxConfig, rxRuntimeConfig); + break; + case SERIALRX_SPEKTRUM2048: + enabled = spektrumInit(rxConfig, rxRuntimeConfig); + break; #endif #ifdef USE_SERIALRX_SBUS - case SERIALRX_SBUS: - rxRefreshRate = 11000; - enabled = sbusInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc); - break; + case SERIALRX_SBUS: + enabled = sbusInit(rxConfig, rxRuntimeConfig); + break; #endif #ifdef USE_SERIALRX_SUMD - case SERIALRX_SUMD: - rxRefreshRate = 11000; - enabled = sumdInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc); - break; + case SERIALRX_SUMD: + enabled = sumdInit(rxConfig, rxRuntimeConfig); + break; #endif #ifdef USE_SERIALRX_SUMH - case SERIALRX_SUMH: - rxRefreshRate = 11000; - enabled = sumhInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc); - break; + case SERIALRX_SUMH: + enabled = sumhInit(rxConfig, rxRuntimeConfig); + break; #endif #ifdef USE_SERIALRX_XBUS - case SERIALRX_XBUS_MODE_B: - case SERIALRX_XBUS_MODE_B_RJ01: - rxRefreshRate = 11000; - enabled = xBusInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc); - break; + case SERIALRX_XBUS_MODE_B: + case SERIALRX_XBUS_MODE_B_RJ01: + enabled = xBusInit(rxConfig, rxRuntimeConfig); + break; #endif #ifdef USE_SERIALRX_IBUS - case SERIALRX_IBUS: - rxRefreshRate = 20000; // TODO - Verify speed - enabled = ibusInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc); - break; + case SERIALRX_IBUS: + enabled = ibusInit(rxConfig, rxRuntimeConfig); + break; #endif #ifdef USE_SERIALRX_JETIEXBUS - case SERIALRX_JETIEXBUS: - rxRefreshRate = 5500; - enabled = jetiExBusInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc); - break; + case SERIALRX_JETIEXBUS: + enabled = jetiExBusInit(rxConfig, rxRuntimeConfig); + break; #endif - default: - enabled = false; + default: + enabled = false; + break; } if (!enabled) { featureClear(FEATURE_RX_SERIAL); - rcReadRawFunc = nullReadRawRC; + rxRuntimeConfig->rcReadRawFn = nullReadRawRC; } } -uint8_t serialRxFrameStatus(rxConfig_t *rxConfig) +static uint8_t serialRxFrameStatus(const rxConfig_t *rxConfig) { /** * FIXME: Each of the xxxxFrameStatus() methods MUST be able to survive being called without the @@ -284,43 +278,43 @@ uint8_t serialRxFrameStatus(rxConfig_t *rxConfig) */ switch (rxConfig->serialrx_provider) { #ifdef USE_SERIALRX_SPEKTRUM - case SERIALRX_SPEKTRUM1024: - case SERIALRX_SPEKTRUM2048: - return spektrumFrameStatus(); + case SERIALRX_SPEKTRUM1024: + case SERIALRX_SPEKTRUM2048: + return spektrumFrameStatus(); #endif #ifdef USE_SERIALRX_SBUS - case SERIALRX_SBUS: - return sbusFrameStatus(); + case SERIALRX_SBUS: + return sbusFrameStatus(); #endif #ifdef USE_SERIALRX_SUMD - case SERIALRX_SUMD: - return sumdFrameStatus(); + case SERIALRX_SUMD: + return sumdFrameStatus(); #endif #ifdef USE_SERIALRX_SUMH - case SERIALRX_SUMH: - return sumhFrameStatus(); + case SERIALRX_SUMH: + return sumhFrameStatus(); #endif #ifdef USE_SERIALRX_XBUS - case SERIALRX_XBUS_MODE_B: - case SERIALRX_XBUS_MODE_B_RJ01: - return xBusFrameStatus(); + case SERIALRX_XBUS_MODE_B: + case SERIALRX_XBUS_MODE_B_RJ01: + return xBusFrameStatus(); #endif #ifdef USE_SERIALRX_IBUS - case SERIALRX_IBUS: - return ibusFrameStatus(); + case SERIALRX_IBUS: + return ibusFrameStatus(); #endif #ifdef USE_SERIALRX_JETIEXBUS - case SERIALRX_JETIEXBUS: - return jetiExBusFrameStatus(); + case SERIALRX_JETIEXBUS: + return jetiExBusFrameStatus(); #endif - default: - return SERIAL_RX_FRAME_PENDING; + default: + return RX_FRAME_PENDING; } - return SERIAL_RX_FRAME_PENDING; + return RX_FRAME_PENDING; } #endif -uint8_t calculateChannelRemapping(uint8_t *channelMap, uint8_t channelMapEntryCount, uint8_t channelToRemap) +static uint8_t calculateChannelRemapping(const uint8_t *channelMap, uint8_t channelMapEntryCount, uint8_t channelToRemap) { if (channelToRemap < channelMapEntryCount) { return channelMap[channelToRemap]; @@ -378,11 +372,10 @@ bool updateRx(uint32_t currentTime) #ifdef SERIAL_RX if (feature(FEATURE_RX_SERIAL)) { - uint8_t frameStatus = serialRxFrameStatus(rxConfig); - - if (frameStatus & SERIAL_RX_FRAME_COMPLETE) { + const uint8_t frameStatus = serialRxFrameStatus(rxConfig); + if (frameStatus & RX_FRAME_COMPLETE) { rxDataReceived = true; - rxIsInFailsafeMode = (frameStatus & SERIAL_RX_FRAME_FAILSAFE) != 0; + rxIsInFailsafeMode = (frameStatus & RX_FRAME_FAILSAFE) != 0; rxSignalReceived = !rxIsInFailsafeMode; needRxSignalBefore = currentTime + DELAY_10_HZ; } @@ -391,21 +384,23 @@ bool updateRx(uint32_t currentTime) #ifdef USE_RX_SPI if (feature(FEATURE_RX_SPI)) { - rxDataReceived = rxSpiDataReceived(); - if (rxDataReceived) { - rxSignalReceived = true; + const uint8_t frameStatus = rxRuntimeConfig.rcFrameStatusFn(); + if (frameStatus & RX_FRAME_COMPLETE) { + rxDataReceived = true; rxIsInFailsafeMode = false; - needRxSignalBefore = currentTime + DELAY_10_HZ; + rxSignalReceived = !rxIsInFailsafeMode; + needRxSignalBefore = currentTime + DELAY_5_HZ; } } #endif #ifndef SKIP_RX_MSP if (feature(FEATURE_RX_MSP)) { - rxDataReceived = rxMspFrameComplete(); - if (rxDataReceived) { + const uint8_t frameStatus = rxMspFrameStatus(); + if (frameStatus & RX_FRAME_COMPLETE) { + rxDataReceived = true; rxSignalReceived = true; - rxIsInFailsafeMode = false; + rxSignalReceived = !rxIsInFailsafeMode; needRxSignalBefore = currentTime + DELAY_5_HZ; } } @@ -462,7 +457,7 @@ static uint16_t calculateNonDataDrivenChannel(uint8_t chan, uint16_t sample) static uint16_t getRxfailValue(uint8_t channel) { - rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &rxConfig->failsafe_channel_configurations[channel]; + const rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &rxConfig->failsafe_channel_configurations[channel]; uint8_t mode = channelFailsafeConfiguration->mode; // force auto mode to prevent fly away when failsafe stage 2 is disabled @@ -511,14 +506,12 @@ STATIC_UNIT_TESTED uint16_t applyRxChannelRangeConfiguraton(int sample, rxChanne static void readRxChannelsApplyRanges(void) { - uint8_t channel; - - for (channel = 0; channel < rxRuntimeConfig.channelCount; channel++) { + for (int channel = 0; channel < rxRuntimeConfig.channelCount; channel++) { - uint8_t rawChannel = calculateChannelRemapping(rxConfig->rcmap, REMAPPABLE_CHANNEL_COUNT, channel); + const uint8_t rawChannel = calculateChannelRemapping(rxConfig->rcmap, REMAPPABLE_CHANNEL_COUNT, channel); // sample the channel - uint16_t sample = rcReadRawFunc(&rxRuntimeConfig, rawChannel); + uint16_t sample = (*rxRuntimeConfig.rcReadRawFn)(&rxRuntimeConfig, rawChannel); // apply the rx calibration if (channel < NON_AUX_CHANNEL_COUNT) { @@ -549,7 +542,7 @@ static void detectAndApplySignalLossBehaviour(void) #ifdef DEBUG_RX_SIGNAL_LOSS debug[0] = rxSignalReceived; debug[1] = rxIsInFailsafeMode; - debug[2] = rcReadRawFunc(&rxRuntimeConfig, 0); + debug[2] = rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, 0); #endif rxResetFlightChannelStatus(); @@ -687,6 +680,7 @@ void updateRSSI(uint32_t currentTime) } } -void initRxRefreshRate(uint16_t *rxRefreshRatePtr) { - *rxRefreshRatePtr = rxRefreshRate; +uint16_t rxRefreshRate(void) +{ + return rxRuntimeConfig.rxRefreshRate; } diff --git a/src/main/rx/rx.h b/src/main/rx/rx.h index 5b77adc5194..7c1aa50b134 100644 --- a/src/main/rx/rx.h +++ b/src/main/rx/rx.h @@ -38,10 +38,10 @@ #define DEFAULT_SERVO_MAX_ANGLE 90 typedef enum { - SERIAL_RX_FRAME_PENDING = 0, - SERIAL_RX_FRAME_COMPLETE = (1 << 0), - SERIAL_RX_FRAME_FAILSAFE = (1 << 1) -} serialrxFrameState_t; + RX_FRAME_PENDING = 0, + RX_FRAME_COMPLETE = (1 << 0), + RX_FRAME_FAILSAFE = (1 << 1) +} rxFrameState_e; typedef enum { SERIALRX_SPEKTRUM1024 = 0, @@ -135,25 +135,28 @@ typedef struct rxConfig_s { #define REMAPPABLE_CHANNEL_COUNT (sizeof(((rxConfig_t *)0)->rcmap) / sizeof(((rxConfig_t *)0)->rcmap[0])) +struct rxRuntimeConfig_s; +typedef uint16_t (*rcReadRawDataFnPtr)(const struct rxRuntimeConfig_s *rxRuntimeConfig, uint8_t chan); // used by receiver driver to return channel data +typedef uint8_t (*rcFrameStatusFnPtr)(void); + typedef struct rxRuntimeConfig_s { uint8_t channelCount; // number of rc channels as reported by current input driver - uint8_t auxChannelCount; + uint16_t rxRefreshRate; + rcReadRawDataFnPtr rcReadRawFn; + rcFrameStatusFnPtr rcFrameStatusFn; } rxRuntimeConfig_t; -extern rxRuntimeConfig_t rxRuntimeConfig; - -typedef uint16_t (*rcReadRawDataPtr)(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan); // used by receiver driver to return channel data +extern rxRuntimeConfig_t rxRuntimeConfig; //!!TODO remove this extern, only needed once for channelCount struct modeActivationCondition_s; -void rxInit(rxConfig_t *rxConfig, struct modeActivationCondition_s *modeActivationConditions); -void useRxConfig(rxConfig_t *rxConfigToUse); -bool updateRx(uint32_t currentTime); +void rxInit(const rxConfig_t *rxConfig, const struct modeActivationCondition_s *modeActivationConditions); +void useRxConfig(const rxConfig_t *rxConfigToUse); +void updateRx(uint32_t currentTime); bool rxIsReceivingSignal(void); bool rxAreFlightChannelsValid(void); void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime); void parseRcChannels(const char *input, rxConfig_t *rxConfig); -uint8_t serialRxFrameStatus(rxConfig_t *rxConfig); void updateRSSI(uint32_t currentTime); void resetAllRxChannelRangeConfigurations(rxChannelRangeConfiguration_t *rxChannelRangeConfiguration); @@ -161,4 +164,4 @@ void resetAllRxChannelRangeConfigurations(rxChannelRangeConfiguration_t *rxChann void suspendRxSignal(void); void resumeRxSignal(void); -void initRxRefreshRate(uint16_t *rxRefreshRatePtr); +uint16_t rxRefreshRate(void); diff --git a/src/main/rx/rx_spi.c b/src/main/rx/rx_spi.c index c7397fbfd9d..4a92c688861 100644 --- a/src/main/rx/rx_spi.c +++ b/src/main/rx/rx_spi.c @@ -25,6 +25,10 @@ #include "build/build_config.h" #include "drivers/rx_nrf24l01.h" + +#include "config/config.h" +#include "config/feature.h" + #include "rx/rx.h" #include "rx/rx_spi.h" #include "rx/nrf24_cx10.h" @@ -110,30 +114,32 @@ STATIC_UNIT_TESTED bool rxSpiSetProtocol(rx_spi_protocol_e protocol) * Called from updateRx in rx.c, updateRx called from taskUpdateRxCheck. * If taskUpdateRxCheck returns true, then taskUpdateRxMain will shortly be called. */ -bool rxSpiDataReceived(void) +uint8_t rxSpiFrameStatus(void) { if (protocolDataReceived(rxSpiPayload) == RX_SPI_RECEIVED_DATA) { rxSpiNewPacketAvailable = true; - return true; + return RX_FRAME_COMPLETE; } - return false; + return RX_FRAME_PENDING; } /* * Set and initialize the RX protocol */ -bool rxSpiInit(rx_spi_type_e spiType, const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback) +bool rxSpiInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) { bool ret = false; + + const rx_spi_type_e spiType = feature(FEATURE_SOFTSPI) ? RX_SPI_SOFTSPI : RX_SPI_HARDSPI; rxSpiDeviceInit(spiType); if (rxSpiSetProtocol(rxConfig->rx_spi_protocol)) { protocolInit(rxConfig, rxRuntimeConfig); ret = true; } + rxRuntimeConfig->rxRefreshRate = 10000; rxSpiNewPacketAvailable = false; - if (callback) { - *callback = rxSpiReadRawRC; - } + rxRuntimeConfig->rcReadRawFn = rxSpiReadRawRC; + rxRuntimeConfig->rcFrameStatusFn = rxSpiFrameStatus; return ret; } #endif diff --git a/src/main/rx/rx_spi.h b/src/main/rx/rx_spi.h index 48b7f0a54f0..539db560168 100644 --- a/src/main/rx/rx_spi.h +++ b/src/main/rx/rx_spi.h @@ -20,8 +20,6 @@ #include #include -#include "rx/rx.h" - typedef enum { NRF24RX_V202_250K = 0, NRF24RX_V202_1M, @@ -70,7 +68,5 @@ typedef enum { #define RC_CHANNEL_HEADLESS RC_SPI_AUX5 #define RC_CHANNEL_RTH RC_SPI_AUX6 // return to home -bool rxSpiDataReceived(void); -struct rxConfig_s; -struct rxRuntimeConfig_s; -bool rxSpiInit(rx_spi_type_e spiType, const struct rxConfig_s *rxConfig, struct rxRuntimeConfig_s *rxRuntimeConfig, rcReadRawDataPtr *callback); +uint8_t rxSpiFrameStatus(void); +bool rxSpiInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig); diff --git a/src/main/rx/sbus.c b/src/main/rx/sbus.c index 3dd82a5acb6..23678cd2e73 100644 --- a/src/main/rx/sbus.c +++ b/src/main/rx/sbus.c @@ -21,6 +21,8 @@ #include "platform.h" +#ifdef USE_SERIALRX_SBUS + #include "build/build_config.h" #include "drivers/serial.h" @@ -31,8 +33,6 @@ #include "rx/rx.h" #include "rx/sbus.h" -#ifdef USE_SERIALRX_SBUS - /* * Observations * @@ -76,16 +76,19 @@ static uint16_t sbusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t static uint32_t sbusChannelData[SBUS_MAX_CHANNEL]; -bool sbusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback) +bool sbusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) { - int b; - for (b = 0; b < SBUS_MAX_CHANNEL; b++) + for (int b = 0; b < SBUS_MAX_CHANNEL; b++) { sbusChannelData[b] = (16 * rxConfig->midrc) / 10 - 1408; - if (callback) - *callback = sbusReadRawRC; + } + rxRuntimeConfig->channelCount = SBUS_MAX_CHANNEL; + rxRuntimeConfig->rxRefreshRate = 11000; + + rxRuntimeConfig->rcReadRawFn = sbusReadRawRC; + rxRuntimeConfig->rcFrameStatusFn = sbusFrameStatus; - serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); + const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); if (!portConfig) { return false; } @@ -174,7 +177,7 @@ static void sbusDataReceive(uint16_t c) uint8_t sbusFrameStatus(void) { if (!sbusFrameDone) { - return SERIAL_RX_FRAME_PENDING; + return RX_FRAME_PENDING; } sbusFrameDone = false; @@ -225,13 +228,13 @@ uint8_t sbusFrameStatus(void) debug[0] = sbusStateFlags; #endif // RX *should* still be sending valid channel data, so use it. - return SERIAL_RX_FRAME_COMPLETE | SERIAL_RX_FRAME_FAILSAFE; + return RX_FRAME_COMPLETE | RX_FRAME_FAILSAFE; } #ifdef DEBUG_SBUS_PACKETS debug[0] = sbusStateFlags; #endif - return SERIAL_RX_FRAME_COMPLETE; + return RX_FRAME_COMPLETE; } static uint16_t sbusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan) @@ -241,5 +244,4 @@ static uint16_t sbusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t // http://www.wolframalpha.com/input/?i=linear+fit+%7B173%2C+988%7D%2C+%7B1812%2C+2012%7D%2C+%7B993%2C+1500%7D return (0.625f * sbusChannelData[chan]) + 880; } - -#endif +#endif // USE_SERIALRX_SBUS diff --git a/src/main/rx/sbus.h b/src/main/rx/sbus.h index a7fd626f921..6799f5fcf9f 100644 --- a/src/main/rx/sbus.h +++ b/src/main/rx/sbus.h @@ -18,4 +18,4 @@ #pragma once uint8_t sbusFrameStatus(void); -bool sbusInit(rxConfig_t *initialRxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback); +bool sbusInit(const rxConfig_t *initialRxConfig, rxRuntimeConfig_t *rxRuntimeConfig); diff --git a/src/main/rx/spektrum.c b/src/main/rx/spektrum.c index 00ec916107d..3e51c2f6a63 100644 --- a/src/main/rx/spektrum.c +++ b/src/main/rx/spektrum.c @@ -21,6 +21,8 @@ #include "platform.h" +#ifdef USE_SERIALRX_SPEKTRUM + #include "build/debug.h" #include "drivers/io.h" @@ -40,8 +42,6 @@ #include "rx/rx.h" #include "rx/spektrum.h" -#ifdef USE_SERIALRX_SPEKTRUM - // driver for spektrum satellite receiver / sbus #define SPEKTRUM_MAX_SUPPORTED_CHANNEL_COUNT 12 @@ -72,31 +72,33 @@ static IO_t BindPin = DEFIO_IO(NONE); static IO_t BindPlug = DEFIO_IO(NONE); #endif -bool spektrumInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback) +bool spektrumInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) { rxRuntimeConfigPtr = rxRuntimeConfig; switch (rxConfig->serialrx_provider) { - case SERIALRX_SPEKTRUM2048: - // 11 bit frames - spek_chan_shift = 3; - spek_chan_mask = 0x07; - spekHiRes = true; - rxRuntimeConfig->channelCount = SPEKTRUM_2048_CHANNEL_COUNT; - break; - case SERIALRX_SPEKTRUM1024: - // 10 bit frames - spek_chan_shift = 2; - spek_chan_mask = 0x03; - spekHiRes = false; - rxRuntimeConfig->channelCount = SPEKTRUM_1024_CHANNEL_COUNT; - break; + case SERIALRX_SPEKTRUM2048: + // 11 bit frames + spek_chan_shift = 3; + spek_chan_mask = 0x07; + spekHiRes = true; + rxRuntimeConfig->channelCount = SPEKTRUM_2048_CHANNEL_COUNT; + rxRuntimeConfig->rxRefreshRate = 11000; + break; + case SERIALRX_SPEKTRUM1024: + // 10 bit frames + spek_chan_shift = 2; + spek_chan_mask = 0x03; + spekHiRes = false; + rxRuntimeConfig->channelCount = SPEKTRUM_1024_CHANNEL_COUNT; + rxRuntimeConfig->rxRefreshRate = 22000; + break; } - if (callback) - *callback = spektrumReadRawRC; + rxRuntimeConfig->rcReadRawFn = spektrumReadRawRC; + rxRuntimeConfig->rcFrameStatusFn = spektrumFrameStatus; - serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); + const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); if (!portConfig) { return false; } @@ -150,7 +152,7 @@ uint8_t spektrumFrameStatus(void) uint8_t b; if (!rcFrameComplete) { - return SERIAL_RX_FRAME_PENDING; + return RX_FRAME_PENDING; } rcFrameComplete = false; @@ -162,7 +164,7 @@ uint8_t spektrumFrameStatus(void) } } - return SERIAL_RX_FRAME_COMPLETE; + return RX_FRAME_COMPLETE; } static uint16_t spektrumReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan) @@ -256,6 +258,5 @@ void spektrumBind(rxConfig_t *rxConfig) #endif } -#endif - -#endif +#endif // SPEKTRUM_BIND +#endif // USE_SERIALRX_SPEKTRUM diff --git a/src/main/rx/spektrum.h b/src/main/rx/spektrum.h index 23a68b12175..22ee2af41c2 100644 --- a/src/main/rx/spektrum.h +++ b/src/main/rx/spektrum.h @@ -21,7 +21,5 @@ #define SPEKTRUM_SAT_BIND_MAX 10 uint8_t spektrumFrameStatus(void); -struct rxConfig_s; -void spektrumBind(struct rxConfig_s *rxConfig); -struct rxRuntimeConfig_s; -bool spektrumInit(struct rxConfig_s *rxConfig, struct rxRuntimeConfig_s *rxRuntimeConfig, rcReadRawDataPtr *callback); +void spektrumBind(rxConfig_t *rxConfig); +bool spektrumInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig); diff --git a/src/main/rx/sumd.c b/src/main/rx/sumd.c index 433ab682262..7c2e9272a46 100644 --- a/src/main/rx/sumd.c +++ b/src/main/rx/sumd.c @@ -21,18 +21,19 @@ #include "platform.h" +#ifdef USE_SERIALRX_SUMD + #include "build/build_config.h" -#include "drivers/serial.h" #include "drivers/system.h" +#include "drivers/serial.h" +#include "drivers/serial_uart.h" #include "io/serial.h" #include "rx/rx.h" #include "rx/sumd.h" -#ifdef USE_SERIALRX_SUMD - // driver for SUMD receiver using UART2 // FIXME test support for more than 8 channels, should probably work up to 12 channels @@ -50,16 +51,17 @@ static uint16_t crc; static void sumdDataReceive(uint16_t c); static uint16_t sumdReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan); -bool sumdInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback) +bool sumdInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) { UNUSED(rxConfig); - if (callback) - *callback = sumdReadRawRC; - rxRuntimeConfig->channelCount = SUMD_MAX_CHANNEL; + rxRuntimeConfig->rxRefreshRate = 11000; - serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); + rxRuntimeConfig->rcReadRawFn = sumdReadRawRC; + rxRuntimeConfig->rcFrameStatusFn = sumdFrameStatus; + + const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); if (!portConfig) { return false; } @@ -135,7 +137,7 @@ uint8_t sumdFrameStatus(void) { uint8_t channelIndex; - uint8_t frameStatus = SERIAL_RX_FRAME_PENDING; + uint8_t frameStatus = RX_FRAME_PENDING; if (!sumdFrameDone) { return frameStatus; @@ -150,10 +152,10 @@ uint8_t sumdFrameStatus(void) switch (sumd[1]) { case SUMD_FRAME_STATE_FAILSAFE: - frameStatus = SERIAL_RX_FRAME_COMPLETE | SERIAL_RX_FRAME_FAILSAFE; + frameStatus = RX_FRAME_COMPLETE | RX_FRAME_FAILSAFE; break; case SUMD_FRAME_STATE_OK: - frameStatus = SERIAL_RX_FRAME_COMPLETE; + frameStatus = RX_FRAME_COMPLETE; break; default: return frameStatus; @@ -176,5 +178,4 @@ static uint16_t sumdReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t UNUSED(rxRuntimeConfig); return sumdChannels[chan] / 8; } - -#endif +#endif // USE_SERIALRX_SUMD diff --git a/src/main/rx/sumd.h b/src/main/rx/sumd.h index e1bd4f3004a..376fe74f0b2 100644 --- a/src/main/rx/sumd.h +++ b/src/main/rx/sumd.h @@ -18,4 +18,4 @@ #pragma once uint8_t sumdFrameStatus(void); -bool sumdInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback); +bool sumdInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig); diff --git a/src/main/rx/sumh.c b/src/main/rx/sumh.c index d62100eefd3..2e2cd38e1de 100644 --- a/src/main/rx/sumh.c +++ b/src/main/rx/sumh.c @@ -37,7 +37,6 @@ #include "rx/rx.h" #include "rx/sumh.h" -#ifdef USE_SERIALRX_SUMH // driver for SUMH receiver using UART2 #define SUMH_BAUDRATE 115200 @@ -52,21 +51,21 @@ static uint32_t sumhChannels[SUMH_MAX_CHANNEL_COUNT]; static serialPort_t *sumhPort; - static void sumhDataReceive(uint16_t c); static uint16_t sumhReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan); -bool sumhInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback) +bool sumhInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) { UNUSED(rxConfig); - if (callback) - *callback = sumhReadRawRC; - rxRuntimeConfig->channelCount = SUMH_MAX_CHANNEL_COUNT; + rxRuntimeConfig->rxRefreshRate = 11000; - serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); + rxRuntimeConfig->rcReadRawFn = sumhReadRawRC; + rxRuntimeConfig->rcFrameStatusFn = sumhFrameStatus; + + const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); if (!portConfig) { return false; } @@ -104,20 +103,20 @@ uint8_t sumhFrameStatus(void) uint8_t channelIndex; if (!sumhFrameDone) { - return SERIAL_RX_FRAME_PENDING; + return RX_FRAME_PENDING; } sumhFrameDone = false; if (!((sumhFrame[0] == 0xA8) && (sumhFrame[SUMH_FRAME_SIZE - 2] == 0))) { - return SERIAL_RX_FRAME_PENDING; + return RX_FRAME_PENDING; } for (channelIndex = 0; channelIndex < SUMH_MAX_CHANNEL_COUNT; channelIndex++) { sumhChannels[channelIndex] = (((uint32_t)(sumhFrame[(channelIndex << 1) + 3]) << 8) + sumhFrame[(channelIndex << 1) + 4]) / 6.4f - 375; } - return SERIAL_RX_FRAME_COMPLETE; + return RX_FRAME_COMPLETE; } static uint16_t sumhReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan) @@ -130,5 +129,4 @@ static uint16_t sumhReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t return sumhChannels[chan]; } - -#endif +#endif // USE_SERIALRX_SUMH diff --git a/src/main/rx/sumh.h b/src/main/rx/sumh.h index 3fbcf757d52..3d3b398cbd4 100644 --- a/src/main/rx/sumh.h +++ b/src/main/rx/sumh.h @@ -18,4 +18,4 @@ #pragma once uint8_t sumhFrameStatus(void); -bool sumhInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback); +bool sumhInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig); diff --git a/src/main/rx/xbus.c b/src/main/rx/xbus.c index 37adc78a358..d82248f6ece 100644 --- a/src/main/rx/xbus.c +++ b/src/main/rx/xbus.c @@ -21,6 +21,8 @@ #include "platform.h" +#ifdef USE_SERIALRX_XBUS + #include "drivers/serial.h" #include "drivers/system.h" @@ -32,8 +34,6 @@ // // Serial driver for JR's XBus (MODE B) receiver // -#ifdef USE_SERIALRX_XBUS - #define XBUS_CHANNEL_COUNT 12 #define XBUS_RJ01_CHANNEL_COUNT 12 @@ -84,41 +84,42 @@ static uint16_t xBusChannelData[XBUS_RJ01_CHANNEL_COUNT]; static void xBusDataReceive(uint16_t c); static uint16_t xBusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan); -bool xBusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback) +bool xBusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) { uint32_t baudRate; switch (rxConfig->serialrx_provider) { - case SERIALRX_XBUS_MODE_B: - rxRuntimeConfig->channelCount = XBUS_CHANNEL_COUNT; - xBusFrameReceived = false; - xBusDataIncoming = false; - xBusFramePosition = 0; - baudRate = XBUS_BAUDRATE; - xBusFrameLength = XBUS_FRAME_SIZE; - xBusChannelCount = XBUS_CHANNEL_COUNT; - xBusProvider = SERIALRX_XBUS_MODE_B; - break; - case SERIALRX_XBUS_MODE_B_RJ01: - rxRuntimeConfig->channelCount = XBUS_RJ01_CHANNEL_COUNT; - xBusFrameReceived = false; - xBusDataIncoming = false; - xBusFramePosition = 0; - baudRate = XBUS_RJ01_BAUDRATE; - xBusFrameLength = XBUS_RJ01_FRAME_SIZE; - xBusChannelCount = XBUS_RJ01_CHANNEL_COUNT; - xBusProvider = SERIALRX_XBUS_MODE_B_RJ01; - break; - default: - return false; - break; + case SERIALRX_XBUS_MODE_B: + rxRuntimeConfig->channelCount = XBUS_CHANNEL_COUNT; + xBusFrameReceived = false; + xBusDataIncoming = false; + xBusFramePosition = 0; + baudRate = XBUS_BAUDRATE; + xBusFrameLength = XBUS_FRAME_SIZE; + xBusChannelCount = XBUS_CHANNEL_COUNT; + xBusProvider = SERIALRX_XBUS_MODE_B; + break; + case SERIALRX_XBUS_MODE_B_RJ01: + rxRuntimeConfig->channelCount = XBUS_RJ01_CHANNEL_COUNT; + xBusFrameReceived = false; + xBusDataIncoming = false; + xBusFramePosition = 0; + baudRate = XBUS_RJ01_BAUDRATE; + xBusFrameLength = XBUS_RJ01_FRAME_SIZE; + xBusChannelCount = XBUS_RJ01_CHANNEL_COUNT; + xBusProvider = SERIALRX_XBUS_MODE_B_RJ01; + break; + default: + return false; + break; } - if (callback) { - *callback = xBusReadRawRC; - } + rxRuntimeConfig->rxRefreshRate = 11000; + + rxRuntimeConfig->rcReadRawFn = xBusReadRawRC; + rxRuntimeConfig->rcFrameStatusFn = xBusFrameStatus; - serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); + const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); if (!portConfig) { return false; } @@ -295,12 +296,12 @@ static void xBusDataReceive(uint16_t c) uint8_t xBusFrameStatus(void) { if (!xBusFrameReceived) { - return SERIAL_RX_FRAME_PENDING; + return RX_FRAME_PENDING; } xBusFrameReceived = false; - return SERIAL_RX_FRAME_COMPLETE; + return RX_FRAME_COMPLETE; } static uint16_t xBusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan) @@ -316,5 +317,4 @@ static uint16_t xBusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t return data; } - -#endif +#endif // USE_SERIALRX_XBUS diff --git a/src/main/rx/xbus.h b/src/main/rx/xbus.h index 19dc6d5735a..ee6e6ee6869 100644 --- a/src/main/rx/xbus.h +++ b/src/main/rx/xbus.h @@ -17,5 +17,5 @@ #pragma once -bool xBusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback); +bool xBusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig); uint8_t xBusFrameStatus(void); diff --git a/src/main/telemetry/telemetry.c b/src/main/telemetry/telemetry.c index ddc7484cf16..f22a8bc27c9 100644 --- a/src/main/telemetry/telemetry.c +++ b/src/main/telemetry/telemetry.c @@ -99,7 +99,7 @@ bool telemetryDetermineEnabledState(portSharing_e portSharing) return enabled; } -bool telemetryCheckRxPortShared(serialPortConfig_t *portConfig) +bool telemetryCheckRxPortShared(const serialPortConfig_t *portConfig) { return portConfig->functionMask & FUNCTION_RX_SERIAL && portConfig->functionMask & TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK; } diff --git a/src/main/telemetry/telemetry.h b/src/main/telemetry/telemetry.h index 80044947a26..626a01261a4 100644 --- a/src/main/telemetry/telemetry.h +++ b/src/main/telemetry/telemetry.h @@ -50,9 +50,8 @@ typedef struct telemetryConfig_s { } telemetryConfig_t; void telemetryInit(void); -bool telemetryCheckRxPortShared(serialPortConfig_t *portConfig); -struct serialPort_s; -extern struct serialPort_s *telemetrySharedPort; +bool telemetryCheckRxPortShared(const serialPortConfig_t *portConfig); +extern serialPort_t *telemetrySharedPort; void telemetryCheckState(void); struct rxConfig_s; From 64f95412fbcd72e2ce73d4a113c8fa8dd2a72552 Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Wed, 12 Oct 2016 20:50:07 +0100 Subject: [PATCH 088/139] Fixed up call to rxRefreshRate in mw.c --- src/main/fc/mw.c | 10 ++-------- 1 file changed, 2 insertions(+), 8 deletions(-) diff --git a/src/main/fc/mw.c b/src/main/fc/mw.c index da64ac2c233..0d466e41ee0 100755 --- a/src/main/fc/mw.c +++ b/src/main/fc/mw.c @@ -478,11 +478,6 @@ void filterRc(bool isRXDataNew) static int16_t factor, rcInterpolationFactor; static biquadFilter_t filteredCycleTimeState; static bool filterInitialised; - uint16_t filteredCycleTime; - uint16_t rxRefreshRate; - - // Set RC refresh rate for sampling and channels to filter - initRxRefreshRate(&rxRefreshRate); // Calculate average cycle time (1Hz LPF on cycle time) if (!filterInitialised) { @@ -494,9 +489,8 @@ void filterRc(bool isRXDataNew) filterInitialised = true; } - filteredCycleTime = biquadFilterApply(&filteredCycleTimeState, (float) cycleTime); - - rcInterpolationFactor = rxRefreshRate / filteredCycleTime + 1; + const uint16_t filteredCycleTime = biquadFilterApply(&filteredCycleTimeState, (float) cycleTime); + rcInterpolationFactor = rxRefreshRate() / filteredCycleTime + 1; if (isRXDataNew) { for (int channel=0; channel < 4; channel++) { From 00f89c4f34a470487f933facc3c23b468e7e5584 Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Fri, 4 Nov 2016 08:59:11 +0000 Subject: [PATCH 089/139] Fixup after rebase --- src/main/rx/rx.h | 2 +- src/main/rx/sumh.c | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/src/main/rx/rx.h b/src/main/rx/rx.h index 7c1aa50b134..40f600822cc 100644 --- a/src/main/rx/rx.h +++ b/src/main/rx/rx.h @@ -151,7 +151,7 @@ extern rxRuntimeConfig_t rxRuntimeConfig; //!!TODO remove this extern, only need struct modeActivationCondition_s; void rxInit(const rxConfig_t *rxConfig, const struct modeActivationCondition_s *modeActivationConditions); void useRxConfig(const rxConfig_t *rxConfigToUse); -void updateRx(uint32_t currentTime); +bool updateRx(uint32_t currentTime); bool rxIsReceivingSignal(void); bool rxAreFlightChannelsValid(void); void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime); diff --git a/src/main/rx/sumh.c b/src/main/rx/sumh.c index 2e2cd38e1de..2e754e142fd 100644 --- a/src/main/rx/sumh.c +++ b/src/main/rx/sumh.c @@ -27,6 +27,8 @@ #include "platform.h" +#ifdef USE_SERIALRX_SUMH + #include "build/build_config.h" #include "drivers/serial.h" From 82b08d2b7d5d9c7587449029c9982d8c193d3405 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Mon, 17 Oct 2016 18:39:07 +1000 Subject: [PATCH 090/139] First cut on PWM output disable/enable feature --- src/main/config/config.h | 1 + src/main/drivers/pwm_mapping.c | 8 ++++---- src/main/drivers/pwm_mapping.h | 1 + src/main/drivers/pwm_output.c | 22 ++++++++++++++++------ src/main/fc/fc_init.c | 2 ++ src/main/io/serial_cli.c | 2 +- 6 files changed, 25 insertions(+), 11 deletions(-) diff --git a/src/main/config/config.h b/src/main/config/config.h index 78de360b618..4ee2fcd756a 100644 --- a/src/main/config/config.h +++ b/src/main/config/config.h @@ -72,6 +72,7 @@ typedef enum { FEATURE_RX_SPI = 1 << 25, FEATURE_SOFTSPI = 1 << 26, FEATURE_PWM_SERVO_DRIVER = 1 << 27, + FEATURE_PWM_OUTPUT_ENABLE = 1 << 28, } features_e; typedef enum { diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c index f3e49b48d67..fa1861c9b24 100644 --- a/src/main/drivers/pwm_mapping.c +++ b/src/main/drivers/pwm_mapping.c @@ -32,8 +32,8 @@ #include "pwm_rx.h" #include "pwm_mapping.h" -void pwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, motorPwmProtocolTypes_e proto); -void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse); +void pwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, motorPwmProtocolTypes_e proto, bool enableOutput); +void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse, bool enableOutput); /* Configuration maps @@ -370,7 +370,7 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init) } #endif - pwmMotorConfig(timerHardwarePtr, pwmIOConfiguration.motorCount, init->motorPwmRate, init->idlePulse, init->pwmProtocolType); + pwmMotorConfig(timerHardwarePtr, pwmIOConfiguration.motorCount, init->motorPwmRate, init->idlePulse, init->pwmProtocolType, init->enablePWMOutput); if (init->useFastPwm) { pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_FASTPWM | PWM_PF_OUTPUT_PROTOCOL_PWM; } else if (init->pwmProtocolType == PWM_TYPE_BRUSHED) { @@ -392,7 +392,7 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init) } #ifdef USE_SERVOS - pwmServoConfig(timerHardwarePtr, pwmIOConfiguration.servoCount, init->servoPwmRate, init->servoCenterPulse); + pwmServoConfig(timerHardwarePtr, pwmIOConfiguration.servoCount, init->servoPwmRate, init->servoCenterPulse, init->enablePWMOutput); pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_SERVO | PWM_PF_OUTPUT_PROTOCOL_PWM; pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].index = pwmIOConfiguration.servoCount; diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h index 84497c6fca0..c85e65826a8 100644 --- a/src/main/drivers/pwm_mapping.h +++ b/src/main/drivers/pwm_mapping.h @@ -50,6 +50,7 @@ typedef struct sonarIOConfig_s { } sonarIOConfig_t; typedef struct drv_pwm_config_s { + bool enablePWMOutput; bool useParallelPWM; bool usePPM; bool useSerialRx; diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c index 79b9434ca14..a86e81e7000 100644 --- a/src/main/drivers/pwm_output.c +++ b/src/main/drivers/pwm_output.c @@ -109,7 +109,7 @@ static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8 } } -static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8_t mhz, uint16_t period, uint16_t value) +static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8_t mhz, uint16_t period, uint16_t value, bool enableOutput) { pwmOutputPort_t *p = &pwmOutputPorts[allocatedOutputPortCount++]; @@ -117,7 +117,17 @@ static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8 const IO_t io = IOGetByTag(timerHardware->tag); IOInit(io, OWNER_MOTOR, RESOURCE_OUTPUT, allocatedOutputPortCount); - IOConfigGPIO(io, IOCFG_AF_PP); + + if (enableOutput) { + // If PWM outputs are enabled - configure as AF_PP - map to timer + // AF itself was configured by timerInit(); + IOConfigGPIO(io, IOCFG_AF_PP); + } + else { + // If PWM outputs are disabled - configure as GPIO and drive low + IOConfigGPIO(io, IOCFG_OUT_OD); + IOLo(io); + } pwmOCConfig(timerHardware->tim, timerHardware->channel, value, timerHardware->output & TIMER_OUTPUT_INVERTED); if (timerHardware->output & TIMER_OUTPUT_ENABLED) { @@ -204,7 +214,7 @@ bool isMotorBrushed(uint16_t motorPwmRate) return (motorPwmRate > 500); } -void pwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, motorPwmProtocolTypes_e proto) +void pwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, motorPwmProtocolTypes_e proto, bool enableOutput) { uint32_t timerMhzCounter; pwmWriteFuncPtr pwmWritePtr; @@ -243,14 +253,14 @@ void pwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, ui } const uint32_t hz = timerMhzCounter * 1000000; - motors[motorIndex] = pwmOutConfig(timerHardware, timerMhzCounter, hz / motorPwmRate, idlePulse); + motors[motorIndex] = pwmOutConfig(timerHardware, timerMhzCounter, hz / motorPwmRate, idlePulse, enableOutput); motors[motorIndex]->pwmWritePtr = pwmWritePtr; } #ifdef USE_SERVOS -void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse) +void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse, bool enableOutput) { - servos[servoIndex] = pwmOutConfig(timerHardware, PWM_TIMER_MHZ, 1000000 / servoPwmRate, servoCenterPulse); + servos[servoIndex] = pwmOutConfig(timerHardware, PWM_TIMER_MHZ, 1000000 / servoPwmRate, servoCenterPulse, enableOutput); } void pwmWriteServo(uint8_t index, uint16_t value) diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c index c77aeb547f1..b342ed5d676 100644 --- a/src/main/fc/fc_init.c +++ b/src/main/fc/fc_init.c @@ -289,6 +289,8 @@ void init(void) pwm_params.idlePulse = 0; // brushed motors } + pwm_params.enablePWMOutput = feature(FEATURE_PWM_OUTPUT_ENABLE); + #ifndef SKIP_RX_PWM_PPM pwmRxInit(masterConfig.inputFilteringMode); #endif diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index 110839b1d48..8a9b1aac406 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -219,7 +219,7 @@ static const char * const featureNames[] = { "SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM", "RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "UNUSED_2", "BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE", - "SUPEREXPO", "VTX", "RX_SPI", "SOFTSPI", "PWM_SERVO_DRIVER", NULL + "SUPEREXPO", "VTX", "RX_SPI", "SOFTSPI", "PWM_SERVO_DRIVER", "PWM_OUTPUT_ENABLE", NULL }; // sync this with rxFailsafeChannelMode_e From 2c3375cd233c4fa7f79fd5f73cc752fa1647a1f3 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Tue, 8 Nov 2016 10:39:10 +0100 Subject: [PATCH 091/139] acc_soft_lpf_hz added to MSP_INAV_PID frame --- src/main/fc/fc_msp.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index c7e8aaccd0a..6ec18c68924 100644 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -1083,7 +1083,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp #endif sbufWriteU16(dst, masterConfig.mixerConfig.yaw_jump_prevention_limit); sbufWriteU8(dst, masterConfig.gyro_lpf); - sbufWriteU8(dst, 0); //reserved + sbufWriteU8(dst, currentProfile->pidProfile.acc_soft_lpf_hz); sbufWriteU8(dst, 0); //reserved sbufWriteU8(dst, 0); //reserved sbufWriteU8(dst, 0); //reserved @@ -1433,7 +1433,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src) #endif masterConfig.mixerConfig.yaw_jump_prevention_limit = sbufReadU16(src); masterConfig.gyro_lpf = sbufReadU8(src); - sbufReadU8(src); //reserved + currentProfile->pidProfile.acc_soft_lpf_hz = sbufReadU8(src); sbufReadU8(src); //reserved sbufReadU8(src); //reserved sbufReadU8(src); //reserved From 670a40b417962935eafa21517eebf77918bb78c7 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Tue, 8 Nov 2016 21:13:59 +0100 Subject: [PATCH 092/139] MPU6500 enabled on AirbotF4 Flip32F4 target --- src/main/target/FLIP32F4/target.h | 17 +++++++++++++---- src/main/target/FLIP32F4/target.mk | 5 +++-- 2 files changed, 16 insertions(+), 6 deletions(-) diff --git a/src/main/target/FLIP32F4/target.h b/src/main/target/FLIP32F4/target.h index c99b5cee4d9..11cfef468ee 100644 --- a/src/main/target/FLIP32F4/target.h +++ b/src/main/target/FLIP32F4/target.h @@ -34,16 +34,25 @@ #define MPU_INT_EXTI PC4 #define USE_MPU_DATA_READY_SIGNAL +#define GYRO +#define USE_GYRO_SPI_MPU6000 +#define GYRO_MPU6000_ALIGN CW270_DEG #define MPU6000_CS_PIN PA4 #define MPU6000_SPI_INSTANCE SPI1 -#define GYRO -#define USE_GYRO_SPI_MPU6000 -#define ACC_MPU6000_ALIGN CW270_DEG +#define USE_GYRO_MPU6500 +#define USE_GYRO_SPI_MPU6500 +#define GYRO_MPU6500_ALIGN CW270_DEG +#define MPU6500_CS_PIN PA4 +#define MPU6500_SPI_INSTANCE SPI1 #define ACC #define USE_ACC_SPI_MPU6000 -#define GYRO_MPU6000_ALIGN CW270_DEG +#define ACC_MPU6000_ALIGN CW270_DEG + +#define USE_ACC_MPU6500 +#define USE_ACC_SPI_MPU6500 +#define ACC_MPU6500_ALIGN CW270_DEG #define MAG #define USE_MAG_AK8963 diff --git a/src/main/target/FLIP32F4/target.mk b/src/main/target/FLIP32F4/target.mk index 866e1e90525..b5d9af24525 100644 --- a/src/main/target/FLIP32F4/target.mk +++ b/src/main/target/FLIP32F4/target.mk @@ -2,7 +2,9 @@ F405_TARGETS += $(TARGET) FEATURES += VCP ONBOARDFLASH TARGET_SRC = \ - drivers/accgyro_spi_mpu6000.c \ + drivers/accgyro_spi_mpu6500.c \ + drivers/accgyro_spi_mpu6000.c \ + drivers/accgyro_mpu6500.c \ drivers/barometer_bmp085.c \ drivers/barometer_bmp280.c \ drivers/barometer_ms5611.c \ @@ -12,4 +14,3 @@ TARGET_SRC = \ drivers/compass_mag3110.c \ drivers/light_ws2811strip.c \ drivers/light_ws2811strip_stm32f4xx.c - From 84400ae09dff2bc1dda3a0a199630b8b9e3c1eaa Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Tue, 8 Nov 2016 21:53:54 +0100 Subject: [PATCH 093/139] MPU6500 performace fix and SPI specific configuration --- src/main/drivers/accgyro_mpu6500.c | 3 +++ src/main/drivers/accgyro_mpu6500.h | 8 ++++++-- src/main/drivers/accgyro_spi_mpu6500.c | 24 ++++++++++++++++++++++-- src/main/drivers/accgyro_spi_mpu6500.h | 3 +++ 4 files changed, 34 insertions(+), 4 deletions(-) diff --git a/src/main/drivers/accgyro_mpu6500.c b/src/main/drivers/accgyro_mpu6500.c index 47deae1b8cf..ddc23f3be7b 100644 --- a/src/main/drivers/accgyro_mpu6500.c +++ b/src/main/drivers/accgyro_mpu6500.c @@ -109,7 +109,10 @@ void mpu6500GyroInit(uint8_t lpf) #else mpuConfiguration.write(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0); // INT_ANYRD_2CLEAR, BYPASS_EN #endif + delay(15); + #ifdef USE_MPU_DATA_READY_SIGNAL mpuConfiguration.write(MPU_RA_INT_ENABLE, 0x01); // RAW_RDY_EN interrupt enable #endif + delay(15); } diff --git a/src/main/drivers/accgyro_mpu6500.h b/src/main/drivers/accgyro_mpu6500.h index ecdd100bc02..013b9c430b2 100644 --- a/src/main/drivers/accgyro_mpu6500.h +++ b/src/main/drivers/accgyro_mpu6500.h @@ -15,13 +15,17 @@ * along with Cleanflight. If not, see . */ +#pragma once + #define MPU6500_WHO_AM_I_CONST (0x70) #define MPU9250_WHO_AM_I_CONST (0x71) #define ICM20608G_WHO_AM_I_CONST (0xAF) #define MPU6500_BIT_RESET (0x80) - -#pragma once +#define MPU6500_BIT_INT_ANYRD_2CLEAR (1 << 4) +#define MPU6500_BIT_BYPASS_EN (1 << 0) +#define MPU6500_BIT_I2C_IF_DIS (1 << 4) +#define MPU6500_BIT_RAW_RDY_EN (0x01) bool mpu6500AccDetect(acc_t *acc); bool mpu6500GyroDetect(gyro_t *gyro); diff --git a/src/main/drivers/accgyro_spi_mpu6500.c b/src/main/drivers/accgyro_spi_mpu6500.c index afc69fbf162..6d504a67ee2 100755 --- a/src/main/drivers/accgyro_spi_mpu6500.c +++ b/src/main/drivers/accgyro_spi_mpu6500.c @@ -91,25 +91,45 @@ bool mpu6500SpiDetect(void) return false; } +void mpu6500SpiAccInit(acc_t *acc) +{ + mpu6500AccInit(acc); +} + bool mpu6500SpiAccDetect(acc_t *acc) { if (mpuDetectionResult.sensor != MPU_65xx_SPI) { return false; } - acc->init = mpu6500AccInit; + acc->init = mpu6500SpiAccInit; acc->read = mpuAccRead; return true; } +void mpu6500SpiGyroInit(uint8_t lpf) +{ + spiSetDivisor(MPU6500_SPI_INSTANCE, SPI_CLOCK_SLOW); + delayMicroseconds(1); + + mpu6500GyroInit(lpf); + + // Disable Primary I2C Interface + mpu6500WriteRegister(MPU_RA_USER_CTRL, MPU6500_BIT_I2C_IF_DIS); + delay(100); + + spiSetDivisor(MPU6500_SPI_INSTANCE, SPI_CLOCK_FAST); + delayMicroseconds(1); +} + bool mpu6500SpiGyroDetect(gyro_t *gyro) { if (mpuDetectionResult.sensor != MPU_65xx_SPI) { return false; } - gyro->init = mpu6500GyroInit; + gyro->init = mpu6500SpiGyroInit; gyro->read = mpuGyroRead; gyro->intStatus = checkMPUDataReady; diff --git a/src/main/drivers/accgyro_spi_mpu6500.h b/src/main/drivers/accgyro_spi_mpu6500.h index a8d5cf514af..c4a13c4c5f9 100755 --- a/src/main/drivers/accgyro_spi_mpu6500.h +++ b/src/main/drivers/accgyro_spi_mpu6500.h @@ -24,3 +24,6 @@ bool mpu6500SpiGyroDetect(gyro_t *gyro); bool mpu6500WriteRegister(uint8_t reg, uint8_t data); bool mpu6500ReadRegister(uint8_t reg, uint8_t length, uint8_t *data); + +void mpu6500SpiGyroInit(uint8_t lpf); +void mpu6500SpiAccInit(acc_t *acc); From 43c28d9776e5bd7acab84c36e2b476eb018a53fc Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Wed, 9 Nov 2016 23:33:57 +1000 Subject: [PATCH 094/139] Fix RTH_INITIALIZE state getting stuck in some cases --- src/main/flight/navigation_rewrite.c | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/flight/navigation_rewrite.c b/src/main/flight/navigation_rewrite.c index e73251e4068..4acded62087 100755 --- a/src/main/flight/navigation_rewrite.c +++ b/src/main/flight/navigation_rewrite.c @@ -242,12 +242,13 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = { /** RTH mode entry point ************************************************/ [NAV_STATE_RTH_INITIALIZE] = { .onEntry = navOnEnteringState_NAV_STATE_RTH_INITIALIZE, - .timeoutMs = 0, + .timeoutMs = 10, .stateFlags = NAV_REQUIRE_ANGLE | NAV_AUTO_RTH, .mapToFlightModes = NAV_RTH_MODE, .mwState = MW_NAV_STATE_RTH_START, .mwError = MW_NAV_ERROR_SPOILED_GPS, // we are stuck in this state only if GPS is compromised .onEvent = { + [NAV_FSM_EVENT_TIMEOUT] = NAV_STATE_RTH_INITIALIZE, // re-process the state [NAV_FSM_EVENT_SWITCH_TO_RTH_2D] = NAV_STATE_RTH_2D_INITIALIZE, [NAV_FSM_EVENT_SWITCH_TO_RTH_3D] = NAV_STATE_RTH_3D_INITIALIZE, [NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING] = NAV_STATE_EMERGENCY_LANDING_INITIALIZE, From 57dc5ef054fce204b0cdaffaf88635baf7b51265 Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Wed, 9 Nov 2016 13:42:00 +0000 Subject: [PATCH 095/139] Renamed display to dashboard, as per betaflight --- Makefile | 2 +- src/main/blackbox/blackbox.c | 1 - src/main/blackbox/blackbox_io.c | 1 - src/main/config/config.c | 6 +-- src/main/config/config.h | 2 +- src/main/fc/fc_init.c | 8 ++-- src/main/fc/fc_tasks.c | 22 +++++----- src/main/fc/mw.c | 2 +- src/main/io/{display.c => dashboard.c} | 60 +++++++++++++------------- src/main/io/{display.h => dashboard.h} | 8 ++-- src/main/io/gps.c | 1 - src/main/io/serial_cli.c | 2 +- src/main/scheduler/scheduler.h | 4 +- src/main/target/EUSTM32F103RC/target.h | 2 +- src/main/target/FLIP32F4/target.h | 17 ++++++-- src/main/target/FLIP32F4/target.mk | 5 ++- src/main/target/PORT103R/target.h | 4 +- src/main/target/common.h | 4 +- src/test/unit/target.h | 2 +- 19 files changed, 80 insertions(+), 73 deletions(-) rename src/main/io/{display.c => dashboard.c} (91%) rename src/main/io/{display.h => dashboard.h} (79%) diff --git a/Makefile b/Makefile index 23496a12c18..01bf24058e5 100644 --- a/Makefile +++ b/Makefile @@ -474,7 +474,7 @@ HIGHEND_SRC = \ io/gps_naza.c \ io/gps_i2cnav.c \ io/ledstrip.c \ - io/display.c \ + io/dashboard.c \ sensors/rangefinder.c \ sensors/barometer.c \ telemetry/telemetry.c \ diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c index d6414081d13..654c1e10935 100644 --- a/src/main/blackbox/blackbox.c +++ b/src/main/blackbox/blackbox.c @@ -52,7 +52,6 @@ #include "fc/runtime_config.h" #include "io/beeper.h" -#include "io/display.h" #include "io/motors.h" #include "io/servos.h" #include "io/gimbal.h" diff --git a/src/main/blackbox/blackbox_io.c b/src/main/blackbox/blackbox_io.c index f7bf106cdb2..64b456eea0f 100644 --- a/src/main/blackbox/blackbox_io.c +++ b/src/main/blackbox/blackbox_io.c @@ -50,7 +50,6 @@ #include "sensors/battery.h" #include "io/beeper.h" -#include "io/display.h" #include "io/motors.h" #include "io/servos.h" #include "fc/rc_controls.h" diff --git a/src/main/config/config.c b/src/main/config/config.c index 981112ff2f9..7e685fe757d 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -938,9 +938,9 @@ void validateAndFixConfig(void) } #endif -#if defined(CC3D) && defined(DISPLAY) && defined(USE_UART3) - if (doesConfigurationUsePort(SERIAL_PORT_USART3) && feature(FEATURE_DISPLAY)) { - featureClear(FEATURE_DISPLAY); +#if defined(CC3D) && defined(DASHBOARD) && defined(USE_UART3) + if (doesConfigurationUsePort(SERIAL_PORT_USART3) && feature(FEATURE_DASHBOARD)) { + featureClear(FEATURE_DASHBOARD); } #endif diff --git a/src/main/config/config.h b/src/main/config/config.h index 4ee2fcd756a..f4c0472f0d7 100644 --- a/src/main/config/config.h +++ b/src/main/config/config.h @@ -61,7 +61,7 @@ typedef enum { FEATURE_RX_MSP = 1 << 14, FEATURE_RSSI_ADC = 1 << 15, FEATURE_LED_STRIP = 1 << 16, - FEATURE_DISPLAY = 1 << 17, + FEATURE_DASHBOARD= 1 << 17, FEATURE_UNUSED_2 = 1 << 18, // Unused in INAV FEATURE_BLACKBOX = 1 << 19, FEATURE_CHANNEL_FORWARDING = 1 << 20, diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c index b342ed5d676..937b3da108f 100644 --- a/src/main/fc/fc_init.c +++ b/src/main/fc/fc_init.c @@ -78,7 +78,7 @@ #include "io/servos.h" #include "io/gimbal.h" #include "io/ledstrip.h" -#include "io/display.h" +#include "io/dashboard.h" #include "io/asyncfatfs/asyncfatfs.h" #include "io/pwmdriver_i2c.h" #include "io/serial_cli.h" @@ -444,9 +444,9 @@ void init(void) initBoardAlignment(&masterConfig.boardAlignment); -#ifdef DISPLAY - if (feature(FEATURE_DISPLAY)) { - displayInit(&masterConfig.rxConfig); +#ifdef DASHBOARD + if (feature(FEATURE_DASHBOARD)) { + dashboardInit(&masterConfig.rxConfig); } #endif diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c index 9ab75dd5dfc..40987c71b1b 100755 --- a/src/main/fc/fc_tasks.c +++ b/src/main/fc/fc_tasks.c @@ -39,7 +39,7 @@ #include "fc/runtime_config.h" #include "io/beeper.h" -#include "io/display.h" +#include "io/dashboard.h" #include "io/gimbal.h" #include "io/gps.h" #include "io/ledstrip.h" @@ -179,11 +179,11 @@ void taskUpdateSonar(uint32_t currentTime) } #endif -#ifdef DISPLAY -void taskUpdateDisplay(uint32_t currentTime) +#ifdef DASHBOARD +void taskDashboardUpdate(uint32_t currentTime) { - if (feature(FEATURE_DISPLAY)) { - updateDisplay(currentTime); + if (feature(FEATURE_DASHBOARD)) { + dashboardUpdate(currentTime); } } #endif @@ -350,10 +350,10 @@ cfTask_t cfTasks[TASK_COUNT] = { }, #endif -#ifdef DISPLAY - [TASK_DISPLAY] = { - .taskName = "DISPLAY", - .taskFunc = taskUpdateDisplay, +#ifdef DASHBOARD + [TASK_DASHBOARD] = { + .taskName = "DASHBOARD", + .taskFunc = taskDashboardUpdate, .desiredPeriod = 1000000 / 10, .staticPriority = TASK_PRIORITY_LOW, }, @@ -444,8 +444,8 @@ void fcTasksInit(void) #ifdef SONAR setTaskEnabled(TASK_SONAR, sensors(SENSOR_SONAR)); #endif -#ifdef DISPLAY - setTaskEnabled(TASK_DISPLAY, feature(FEATURE_DISPLAY)); +#ifdef DASHBOARD + setTaskEnabled(TASK_DASHBOARD, feature(FEATURE_DASHBOARD)); #endif #ifdef TELEMETRY setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY)); diff --git a/src/main/fc/mw.c b/src/main/fc/mw.c index da64ac2c233..c296a35b563 100755 --- a/src/main/fc/mw.c +++ b/src/main/fc/mw.c @@ -48,7 +48,7 @@ #include "fc/runtime_config.h" #include "io/beeper.h" -#include "io/display.h" +#include "io/dashboard.h" #include "io/motors.h" #include "io/servos.h" #include "io/gimbal.h" diff --git a/src/main/io/display.c b/src/main/io/dashboard.c similarity index 91% rename from src/main/io/display.c rename to src/main/io/dashboard.c index fc69963538a..6c3eebda859 100644 --- a/src/main/io/display.c +++ b/src/main/io/dashboard.c @@ -22,7 +22,7 @@ #include "platform.h" -#ifdef DISPLAY +#ifdef DASHBOARD #include "build/version.h" #include "build/build_config.h" @@ -62,19 +62,19 @@ #include "config/config.h" #include "config/feature.h" -#include "display.h" +#include "dashboard.h" controlRateConfig_t *getControlRateConfig(uint8_t profileIndex); #define MICROSECONDS_IN_A_SECOND (1000 * 1000) -#define DISPLAY_UPDATE_FREQUENCY (MICROSECONDS_IN_A_SECOND / 5) +#define DASHBOARD_UPDATE_FREQUENCY (MICROSECONDS_IN_A_SECOND / 5) #define PAGE_CYCLE_FREQUENCY (MICROSECONDS_IN_A_SECOND * 5) static uint32_t nextDisplayUpdateAt = 0; static bool displayPresent = false; -static rxConfig_t *rxConfig; +static const rxConfig_t *rxConfig; #define PAGE_TITLE_LINE_COUNT 1 @@ -83,7 +83,7 @@ static char lineBuffer[SCREEN_CHARACTER_COLUMN_COUNT + 1]; #define HALF_SCREEN_CHARACTER_COLUMN_COUNT (SCREEN_CHARACTER_COLUMN_COUNT / 2) #define IS_SCREEN_CHARACTER_COLUMN_COUNT_ODD (SCREEN_CHARACTER_COLUMN_COUNT & 1) -#if defined(DISPLAY_ARMED_BITMAP) +#if defined(DASHBOARD_ARMED_BITMAP) static uint8_t armedBitmapRLE [] = { 128, 32, '\x00','\x00','\x87','\xc0','\xe0','\xf8','\xfc','\xfc', // 0x0008 '\x02','\x7e','\x3e','\x1f','\x0f','\x0f','\x06','\xcf', // 0x0010 @@ -133,15 +133,17 @@ static uint32_t nextPageAt; static bool forcePageChange; static pageId_e currentPageId; -void resetDisplay(void) { +static void resetDisplay(void) +{ displayPresent = ug2864hsweg01InitI2C(); } -void LCDprint(uint8_t i) { +static void LCDprint(uint8_t i) +{ i2c_OLED_send_char(i); } -void padLineBufferToChar(uint8_t toChar) +static void padLineBufferToChar(uint8_t toChar) { uint8_t length = strlen(lineBuffer); while (length < toChar - 1) { @@ -150,19 +152,19 @@ void padLineBufferToChar(uint8_t toChar) lineBuffer[length] = 0; } -void padLineBuffer(void) +static void padLineBuffer(void) { padLineBufferToChar(sizeof(lineBuffer)); } -void padHalfLineBuffer(void) +static void padHalfLineBuffer(void) { uint8_t halfLineIndex = sizeof(lineBuffer) / 2; padLineBufferToChar(halfLineIndex); } // LCDbar(n,v) : draw a bar graph - n number of chars for width, v value in % to display -void drawHorizonalPercentageBar(uint8_t width,uint8_t percent) { +static void drawHorizonalPercentageBar(uint8_t width,uint8_t percent) { uint8_t i, j; if (percent > 100) @@ -180,7 +182,7 @@ void drawHorizonalPercentageBar(uint8_t width,uint8_t percent) { LCDprint(154); // empty } -void updateTicker(void) +static void updateTicker(void) { static uint8_t tickerIndex = 0; i2c_OLED_set_xy(SCREEN_CHARACTER_COLUMN_COUNT - 1, 0); @@ -189,7 +191,7 @@ void updateTicker(void) tickerIndex = tickerIndex % TICKER_CHARACTER_COUNT; } -void updateRxStatus(void) +static void updateRxStatus(void) { i2c_OLED_set_xy(SCREEN_CHARACTER_COLUMN_COUNT - 2, 0); char rxStatus = '!'; @@ -201,7 +203,7 @@ void updateRxStatus(void) i2c_OLED_send_char(rxStatus); } -void updateFailsafeStatus(void) +static void updateFailsafeStatus(void) { char failsafeIndicator = '?'; switch (failsafePhase()) { @@ -233,9 +235,9 @@ void updateFailsafeStatus(void) i2c_OLED_send_char(failsafeIndicator); } -void showTitle(void) +static void showTitle(void) { -#if defined(DISPLAY_ARMED_BITMAP) +#if defined(DASHBOARD_ARMED_BITMAP) if (currentPageId != PAGE_ARMED) { i2c_OLED_set_line(0); i2c_OLED_send_string(pageTitles[currentPageId]); @@ -246,7 +248,7 @@ void showTitle(void) #endif } -void showWelcomePage(void) +static void showWelcomePage(void) { uint8_t rowIndex = PAGE_TITLE_LINE_COUNT; @@ -258,9 +260,9 @@ void showWelcomePage(void) i2c_OLED_send_string(targetName); } -#if defined(DISPLAY_ARMED_BITMAP) +#if defined(DASHBOARD_ARMED_BITMAP) // RLE compressed bitmaps must be 128 width with vertical data orientation, and size included in file. -void bitmapDecompressAndShow(uint8_t *bitmap) +static void bitmapDecompressAndShow(uint8_t *bitmap) { uint8_t data = 0, count = 0; uint16_t i; @@ -287,7 +289,7 @@ void bitmapDecompressAndShow(uint8_t *bitmap) } } -void showArmedPage(void) +static void showArmedPage(void) { i2c_OLED_set_line(2); bitmapDecompressAndShow(armedBitmapRLE); @@ -298,7 +300,7 @@ void showArmedPage(void) } #endif -void showStatusPage(void) +static void showStatusPage(void) { uint8_t rowIndex = PAGE_TITLE_LINE_COUNT; @@ -370,7 +372,7 @@ void showStatusPage(void) } -void updateDisplay(uint32_t currentTime) +void dashboardUpdate(uint32_t currentTime) { static uint8_t previousArmedState = 0; @@ -381,7 +383,7 @@ void updateDisplay(uint32_t currentTime) return; } - nextDisplayUpdateAt = currentTime + DISPLAY_UPDATE_FREQUENCY; + nextDisplayUpdateAt = currentTime + DASHBOARD_UPDATE_FREQUENCY; bool armedState = ARMING_FLAG(ARMED) ? true : false; bool armedStateChanged = armedState != previousArmedState; @@ -449,13 +451,13 @@ void updateDisplay(uint32_t currentTime) } } -void displaySetPage(pageId_e newPageId) +void dashboardSetPage(pageId_e newPageId) { currentPageId = newPageId; forcePageChange = true; } -void displayInit(rxConfig_t *rxConfigToUse) +void dashboardInit(const rxConfig_t *rxConfigToUse) { delay(200); resetDisplay(); @@ -463,14 +465,14 @@ void displayInit(rxConfig_t *rxConfigToUse) rxConfig = rxConfigToUse; - displaySetPage(PAGE_WELCOME); + dashboardSetPage(PAGE_WELCOME); const uint32_t now = micros(); - displaySetNextPageChangeAt(now + 5* MICROSECONDS_IN_A_SECOND); + dashboardSetNextPageChangeAt(now + 5 * MICROSECONDS_IN_A_SECOND); - updateDisplay(now); + dashboardUpdate(now); } -void displaySetNextPageChangeAt(uint32_t futureMicros) +void dashboardSetNextPageChangeAt(uint32_t futureMicros) { nextPageAt = futureMicros; } diff --git a/src/main/io/display.h b/src/main/io/dashboard.h similarity index 79% rename from src/main/io/display.h rename to src/main/io/dashboard.h index b4a477fbac3..36c31bd394b 100644 --- a/src/main/io/display.h +++ b/src/main/io/dashboard.h @@ -22,8 +22,8 @@ typedef enum { } pageId_e; struct rxConfig_s; -void displayInit(struct rxConfig_s *intialRxConfig); -void updateDisplay(uint32_t currentTime); +void dashboardInit(const struct rxConfig_s *intialRxConfig); +void dashboardUpdate(uint32_t currentTime); -void displaySetPage(pageId_e newPageId); -void displaySetNextPageChangeAt(uint32_t futureMicros); +void dashboardSetPage(pageId_e newPageId); +void dashboardSetNextPageChangeAt(uint32_t futureMicros); diff --git a/src/main/io/gps.c b/src/main/io/gps.c index 3ec5fba0653..f919af41481 100755 --- a/src/main/io/gps.c +++ b/src/main/io/gps.c @@ -41,7 +41,6 @@ #include "sensors/compass.h" #include "io/serial.h" -#include "io/display.h" #include "io/gps.h" #include "io/gps_private.h" diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index 8a9b1aac406..8b0ac62441d 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -217,7 +217,7 @@ static const char * const featureNames[] = { "RX_PPM", "VBAT", "UNUSED_1", "RX_SERIAL", "MOTOR_STOP", "SERVO_TILT", "SOFTSERIAL", "GPS", "FAILSAFE", "SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM", - "RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "UNUSED_2", + "RX_MSP", "RSSI_ADC", "LED_STRIP", "DASHBOARD", "UNUSED_2", "BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE", "SUPEREXPO", "VTX", "RX_SPI", "SOFTSPI", "PWM_SERVO_DRIVER", "PWM_OUTPUT_ENABLE", NULL }; diff --git a/src/main/scheduler/scheduler.h b/src/main/scheduler/scheduler.h index 724b0102d41..64d08cb0172 100755 --- a/src/main/scheduler/scheduler.h +++ b/src/main/scheduler/scheduler.h @@ -66,8 +66,8 @@ typedef enum { #ifdef SONAR TASK_SONAR, #endif -#ifdef DISPLAY - TASK_DISPLAY, +#ifdef DASHBOARD + TASK_DASHBOARD, #endif #ifdef TELEMETRY TASK_TELEMETRY, diff --git a/src/main/target/EUSTM32F103RC/target.h b/src/main/target/EUSTM32F103RC/target.h index 414a47f3f05..65848c67947 100644 --- a/src/main/target/EUSTM32F103RC/target.h +++ b/src/main/target/EUSTM32F103RC/target.h @@ -70,7 +70,7 @@ #define SONAR_TRIGGER_PIN_PWM PB8 #define SONAR_ECHO_PIN_PWM PB9 -#define DISPLAY +#define DASHBOARD #define USE_UART1 #define USE_UART2 diff --git a/src/main/target/FLIP32F4/target.h b/src/main/target/FLIP32F4/target.h index c99b5cee4d9..11cfef468ee 100644 --- a/src/main/target/FLIP32F4/target.h +++ b/src/main/target/FLIP32F4/target.h @@ -34,16 +34,25 @@ #define MPU_INT_EXTI PC4 #define USE_MPU_DATA_READY_SIGNAL +#define GYRO +#define USE_GYRO_SPI_MPU6000 +#define GYRO_MPU6000_ALIGN CW270_DEG #define MPU6000_CS_PIN PA4 #define MPU6000_SPI_INSTANCE SPI1 -#define GYRO -#define USE_GYRO_SPI_MPU6000 -#define ACC_MPU6000_ALIGN CW270_DEG +#define USE_GYRO_MPU6500 +#define USE_GYRO_SPI_MPU6500 +#define GYRO_MPU6500_ALIGN CW270_DEG +#define MPU6500_CS_PIN PA4 +#define MPU6500_SPI_INSTANCE SPI1 #define ACC #define USE_ACC_SPI_MPU6000 -#define GYRO_MPU6000_ALIGN CW270_DEG +#define ACC_MPU6000_ALIGN CW270_DEG + +#define USE_ACC_MPU6500 +#define USE_ACC_SPI_MPU6500 +#define ACC_MPU6500_ALIGN CW270_DEG #define MAG #define USE_MAG_AK8963 diff --git a/src/main/target/FLIP32F4/target.mk b/src/main/target/FLIP32F4/target.mk index 866e1e90525..b5d9af24525 100644 --- a/src/main/target/FLIP32F4/target.mk +++ b/src/main/target/FLIP32F4/target.mk @@ -2,7 +2,9 @@ F405_TARGETS += $(TARGET) FEATURES += VCP ONBOARDFLASH TARGET_SRC = \ - drivers/accgyro_spi_mpu6000.c \ + drivers/accgyro_spi_mpu6500.c \ + drivers/accgyro_spi_mpu6000.c \ + drivers/accgyro_mpu6500.c \ drivers/barometer_bmp085.c \ drivers/barometer_bmp280.c \ drivers/barometer_ms5611.c \ @@ -12,4 +14,3 @@ TARGET_SRC = \ drivers/compass_mag3110.c \ drivers/light_ws2811strip.c \ drivers/light_ws2811strip_stm32f4xx.c - diff --git a/src/main/target/PORT103R/target.h b/src/main/target/PORT103R/target.h index 1d46e66f3fd..937b62be5f6 100644 --- a/src/main/target/PORT103R/target.h +++ b/src/main/target/PORT103R/target.h @@ -85,8 +85,6 @@ #define SONAR_TRIGGER_PIN_PWM PB8 // PWM5 (PB8) - 5v tolerant #define SONAR_ECHO_PIN_PWM PB9 // PWM6 (PB9) - 5v tolerant -#define DISPLAY - #define USE_UART1 #define USE_UART2 #define USE_SOFTSERIAL1 @@ -113,7 +111,7 @@ #define RSSI_ADC_PIN PA1 #define EXTERNAL1_ADC_PIN PA5 -#define DISPLAY +#define DASHBOARD #define USE_SERIAL_4WAY_BLHELI_INTERFACE diff --git a/src/main/target/common.h b/src/main/target/common.h index c55c7f767e4..4d3c02a22f0 100644 --- a/src/main/target/common.h +++ b/src/main/target/common.h @@ -45,8 +45,8 @@ #if (FLASH_SIZE > 128) #define BOOTLOG_DESCRIPTIONS -#define DISPLAY -#define DISPLAY_ARMED_BITMAP +#define DASHBOARD +#define DASHBOARD_ARMED_BITMAP #define GPS_PROTO_NMEA #define GPS_PROTO_I2C_NAV #define GPS_PROTO_NAZA diff --git a/src/test/unit/target.h b/src/test/unit/target.h index a59bcbcf30d..23ea7cf1cb5 100644 --- a/src/test/unit/target.h +++ b/src/test/unit/target.h @@ -24,7 +24,7 @@ #define GPS_PROTO_UBLOX #define GPS_PROTO_I2C_NAV #define GPS_PROTO_NAZA -#define DISPLAY +#define DASHBOARD #define TELEMETRY #define TELEMETRY_FRSKY #define TELEMETRY_HOTT From dbbb66e222212251866ab870ac95670d36dc2c75 Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Wed, 9 Nov 2016 14:06:31 +0000 Subject: [PATCH 096/139] MSP catchup with betaflight --- src/main/fc/fc_init.c | 3 +- src/main/fc/fc_msp.c | 85 +++++++++++++++++++++------------------ src/main/fc/fc_msp.h | 6 ++- src/main/fc/fc_tasks.c | 3 +- src/main/msp/msp_serial.c | 85 ++++++++++++++++++++++++++++++++++----- src/main/msp/msp_serial.h | 18 +++++++-- 6 files changed, 144 insertions(+), 56 deletions(-) diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c index 937b3da108f..69850984820 100644 --- a/src/main/fc/fc_init.c +++ b/src/main/fc/fc_init.c @@ -477,7 +477,8 @@ void init(void) imuInit(); - mspSerialInit(mspFcInit()); + mspFcInit(); + mspSerialInit(); #ifdef USE_CLI cliInit(&masterConfig.serialConfig); diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index d320daac203..8b3e5bb3a8f 100644 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -34,7 +34,6 @@ #include "common/streambuf.h" #include "drivers/system.h" - #include "drivers/accgyro.h" #include "drivers/compass.h" #include "drivers/pwm_mapping.h" @@ -48,7 +47,6 @@ #include "io/motors.h" #include "io/servos.h" - #include "io/gps.h" #include "io/gimbal.h" #include "io/serial.h" @@ -57,8 +55,9 @@ #include "io/asyncfatfs/asyncfatfs.h" #include "io/serial_4way.h" -#include "msp/msp_protocol.h" #include "msp/msp.h" +#include "msp/msp_protocol.h" +#include "msp/msp_serial.h" #include "rx/rx.h" #include "rx/msp.h" @@ -163,7 +162,7 @@ typedef enum { MSP_SDCARD_STATE_FATAL = 1, MSP_SDCARD_STATE_CARD_INIT = 2, MSP_SDCARD_STATE_FS_INIT = 3, - MSP_SDCARD_STATE_READY = 4, + MSP_SDCARD_STATE_READY = 4 } mspSDCardState_e; typedef enum { @@ -176,7 +175,7 @@ typedef enum { } mspFlashfsFlags_e; #ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE -void msp4WayIfFn(serialPort_t *serialPort) +static void msp4WayIfFn(serialPort_t *serialPort) { // rem: App: Wait at least appx. 500 ms for BLHeli to jump into // bootloader mode before try to connect any ESC @@ -199,7 +198,7 @@ static void mspRebootFn(serialPort_t *serialPort) systemReset(); // control should never return here. - while(1) ; + while (true) ; } static const box_t *findBoxByActiveBoxId(uint8_t activeBoxId) @@ -456,17 +455,8 @@ static void serializeDataflashReadReply(sbuf_t *dst, uint32_t address, uint8_t s * Returns true if the command was processd, false otherwise. * May set mspPostProcessFunc to a function to be called once the command has been processed */ -static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspPostProcessFnPtr *mspPostProcessFn) +static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFnPtr *mspPostProcessFn) { -#if !defined(NAV) && !defined(USE_FLASHFS) - UNUSED(src); -#endif - -#ifdef NAV - int8_t msp_wp_no; - navWaypoint_t msp_wp; -#endif - switch (cmdMSP) { case MSP_API_VERSION: sbufWriteU8(dst, MSP_PROTOCOL_VERSION); @@ -774,19 +764,6 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp //sbufWriteU16(dst, (int16_t)(target_bearing/100)); sbufWriteU16(dst, getMagHoldHeading()); break; - case MSP_WP: - msp_wp_no = sbufReadU8(src); // get the wp number - getWaypoint(msp_wp_no, &msp_wp); - sbufWriteU8(dst, msp_wp_no); // wp_no - sbufWriteU8(dst, msp_wp.action); // action (WAYPOINT) - sbufWriteU32(dst, msp_wp.lat); // lat - sbufWriteU32(dst, msp_wp.lon); // lon - sbufWriteU32(dst, msp_wp.alt); // altitude (cm) - sbufWriteU16(dst, msp_wp.p1); // P1 - sbufWriteU16(dst, msp_wp.p2); // P2 - sbufWriteU16(dst, msp_wp.p3); // P3 - sbufWriteU8(dst, msp_wp.flag); // flags - break; #endif case MSP_GPSSVINFO: @@ -960,14 +937,6 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp serializeDataflashSummaryReply(dst); break; -#ifdef USE_FLASHFS - case MSP_DATAFLASH_READ: - { - const uint32_t readAddress = sbufReadU32(src); - serializeDataflashReadReply(dst, readAddress, 128); - } - break; -#endif case MSP_BLACKBOX_CONFIG: #ifdef BLACKBOX sbufWriteU8(dst, 1); //Blackbox supported @@ -1104,6 +1073,33 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, sbuf_t *src, msp return true; } +#ifdef NAV +static void mspFcWpCommand(sbuf_t *dst, sbuf_t *src) +{ + navWaypoint_t msp_wp; + + const uint8_t msp_wp_no = sbufReadU8(src); // get the wp number + getWaypoint(msp_wp_no, &msp_wp); + sbufWriteU8(dst, msp_wp_no); // wp_no + sbufWriteU8(dst, msp_wp.action); // action (WAYPOINT) + sbufWriteU32(dst, msp_wp.lat); // lat + sbufWriteU32(dst, msp_wp.lon); // lon + sbufWriteU32(dst, msp_wp.alt); // altitude (cm) + sbufWriteU16(dst, msp_wp.p1); // P1 + sbufWriteU16(dst, msp_wp.p2); // P2 + sbufWriteU16(dst, msp_wp.p3); // P3 + sbufWriteU8(dst, msp_wp.flag); // flags +} +#endif + +#ifdef USE_FLASHFS +static void mspFcDataFlashReadCommand(sbuf_t *dst, sbuf_t *src) +{ + const uint32_t readAddress = sbufReadU32(src); + serializeDataflashReadReply(dst, readAddress, 128); +} +#endif + static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src) { uint32_t i; @@ -1700,8 +1696,18 @@ mspResult_e mspFcProcessCommand(mspPacket_t *cmd, mspPacket_t *reply, mspPostPro // initialize reply by default reply->cmd = cmd->cmd; - if (mspFcProcessOutCommand(cmdMSP, dst, src, mspPostProcessFn)) { + if (mspFcProcessOutCommand(cmdMSP, dst, mspPostProcessFn)) { + ret = MSP_RESULT_ACK; +#ifdef NAV + } else if (cmdMSP == MSP_WP) { + mspFcWpCommand(dst, src); ret = MSP_RESULT_ACK; +#endif +#ifdef USE_FLASHFS + } else if (cmdMSP == MSP_DATAFLASH_READ) { + mspFcDataFlashReadCommand(dst, src); + ret = MSP_RESULT_ACK; +#endif } else { ret = mspFcProcessInCommand(cmdMSP, src); } @@ -1712,8 +1718,7 @@ mspResult_e mspFcProcessCommand(mspPacket_t *cmd, mspPacket_t *reply, mspPostPro /* * Return a pointer to the process command function */ -mspProcessCommandFnPtr mspFcInit(void) +void mspFcInit(void) { initActiveBoxIds(); - return mspFcProcessCommand; } diff --git a/src/main/fc/fc_msp.h b/src/main/fc/fc_msp.h index 7c5356c8673..53edbd8ed1a 100644 --- a/src/main/fc/fc_msp.h +++ b/src/main/fc/fc_msp.h @@ -15,7 +15,9 @@ * along with Cleanflight. If not, see . */ -#include "msp/msp.h" +#pragma once -mspProcessCommandFnPtr mspFcInit(void); +#include "msp/msp.h" +void mspFcInit(void); +mspResult_e mspFcProcessCommand(mspPacket_t *cmd, mspPacket_t *reply, mspPostProcessFnPtr *mspPostProcessFn); diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c index 40987c71b1b..6858f5dee6b 100755 --- a/src/main/fc/fc_tasks.c +++ b/src/main/fc/fc_tasks.c @@ -33,6 +33,7 @@ #include "drivers/pwm_rx.h" #include "drivers/serial.h" +#include "fc/fc_msp.h" #include "fc/fc_tasks.h" #include "fc/mw.h" #include "fc/rc_controls.h" @@ -94,7 +95,7 @@ void taskHandleSerial(uint32_t currentTime) return; } #endif - mspSerialProcess(ARMING_FLAG(ARMED) ? MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA); + mspSerialProcess(ARMING_FLAG(ARMED) ? MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA, mspFcProcessCommand); } void taskUpdateBeeper(uint32_t currentTime) diff --git a/src/main/msp/msp_serial.c b/src/main/msp/msp_serial.c index a7ec6289500..00314588802 100644 --- a/src/main/msp/msp_serial.c +++ b/src/main/msp/msp_serial.c @@ -31,7 +31,6 @@ #include "msp/msp.h" #include "msp/msp_serial.h" -static mspProcessCommandFnPtr mspProcessCommandFn; static mspPort_t mspPorts[MAX_MSP_PORT_COUNT]; @@ -74,7 +73,7 @@ void mspSerialReleasePortIfAllocated(serialPort_t *serialPort) } } -static bool mspSerialProcessReceivedData(mspPort_t * mspPort, uint8_t c) +static bool mspSerialProcessReceivedData(mspPort_t *mspPort, uint8_t c) { if (mspPort->c_state == MSP_IDLE) { if (c == '$') { @@ -121,22 +120,32 @@ static uint8_t mspSerialChecksumBuf(uint8_t checksum, const uint8_t *data, int l return checksum; } -static void mspSerialEncode(mspPort_t *msp, mspPacket_t *packet) +#define JUMBO_FRAME_SIZE_LIMIT 255 + +static int mspSerialEncode(mspPort_t *msp, mspPacket_t *packet) { serialBeginWrite(msp->port); const int len = sbufBytesRemaining(&packet->buf); - const uint8_t hdr[5] = {'$', 'M', packet->result == MSP_RESULT_ERROR ? '!' : '>', len, packet->cmd}; + const int mspLen = len < JUMBO_FRAME_SIZE_LIMIT ? len : JUMBO_FRAME_SIZE_LIMIT; + const uint8_t hdr[5] = {'$', 'M', packet->result == MSP_RESULT_ERROR ? '!' : '>', mspLen, packet->cmd}; serialWriteBuf(msp->port, hdr, sizeof(hdr)); uint8_t checksum = mspSerialChecksumBuf(0, hdr + 3, 2); // checksum starts from len field + if (len >= JUMBO_FRAME_SIZE_LIMIT) { + serialWrite(msp->port, len & 0xff); + checksum ^= len & 0xff; + serialWrite(msp->port, (len >> 8) & 0xff); + checksum ^= (len >> 8) & 0xff; + } if (len > 0) { serialWriteBuf(msp->port, sbufPtr(&packet->buf), len); checksum = mspSerialChecksumBuf(checksum, sbufPtr(&packet->buf), len); } serialWrite(msp->port, checksum); serialEndWrite(msp->port); + return sizeof(hdr) + len + 1; // header, data, and checksum } -static mspPostProcessFnPtr mspSerialProcessReceivedCommand(mspPort_t *msp) +static mspPostProcessFnPtr mspSerialProcessReceivedCommand(mspPort_t *msp, mspProcessCommandFnPtr mspProcessCommandFn) { static uint8_t outBuf[MSP_PORT_OUTBUF_SIZE]; @@ -165,7 +174,12 @@ static mspPostProcessFnPtr mspSerialProcessReceivedCommand(mspPort_t *msp) return mspPostProcessFn; } -void mspSerialProcess(mspEvaluateNonMspData_e evaluateNonMspData) +/* + * Process MSP commands from serial ports configured as MSP ports. + * + * Called periodically by the scheduler. + */ +void mspSerialProcess(mspEvaluateNonMspData_e evaluateNonMspData, mspProcessCommandFnPtr mspProcessCommandFn) { for (uint8_t portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) { mspPort_t * const mspPort = &mspPorts[portIndex]; @@ -183,7 +197,7 @@ void mspSerialProcess(mspEvaluateNonMspData_e evaluateNonMspData) } if (mspPort->c_state == MSP_COMMAND_RECEIVED) { - mspPostProcessFn = mspSerialProcessReceivedCommand(mspPort); + mspPostProcessFn = mspSerialProcessReceivedCommand(mspPort, mspProcessCommandFn); break; // process one command at a time so as not to block. } } @@ -194,10 +208,63 @@ void mspSerialProcess(mspEvaluateNonMspData_e evaluateNonMspData) } } -void mspSerialInit(mspProcessCommandFnPtr mspProcessCommandFnToUse) +void mspSerialInit(void) { - mspProcessCommandFn = mspProcessCommandFnToUse; memset(mspPorts, 0, sizeof(mspPorts)); mspSerialAllocatePorts(); } +int mspSerialPush(uint8_t cmd, const uint8_t *data, int datalen) +{ + static uint8_t pushBuf[30]; + int ret = 0; + + mspPacket_t push = { + .buf = { .ptr = pushBuf, .end = ARRAYEND(pushBuf), }, + .cmd = cmd, + .result = 0, + }; + + for (int portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) { + mspPort_t * const mspPort = &mspPorts[portIndex]; + if (!mspPort->port) { + continue; + } + + // XXX Kludge!!! Avoid zombie VCP port (avoid VCP entirely for now) + if (mspPort->port->identifier == SERIAL_PORT_USB_VCP) { + continue; + } + + sbufWriteData(&push.buf, data, datalen); + + sbufSwitchToReader(&push.buf, pushBuf); + + ret = mspSerialEncode(mspPort, &push); + } + return ret; // return the number of bytes written +} + +uint32_t mspSerialTxBytesFree() +{ + uint32_t ret = UINT32_MAX; + + for (int portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) { + mspPort_t * const mspPort = &mspPorts[portIndex]; + if (!mspPort->port) { + continue; + } + + // XXX Kludge!!! Avoid zombie VCP port (avoid VCP entirely for now) + if (mspPort->port->identifier == SERIAL_PORT_USB_VCP) { + continue; + } + + const uint32_t bytesFree = serialTxBytesFree(mspPort->port); + if (bytesFree < ret) { + ret = bytesFree; + } + } + + return ret; +} diff --git a/src/main/msp/msp_serial.h b/src/main/msp/msp_serial.h index 03a9d938570..f6e2954a24c 100644 --- a/src/main/msp/msp_serial.h +++ b/src/main/msp/msp_serial.h @@ -37,8 +37,18 @@ typedef enum { MSP_SKIP_NON_MSP_DATA } mspEvaluateNonMspData_e; -#define MSP_PORT_INBUF_SIZE 64 +#define MSP_PORT_INBUF_SIZE 192 +#ifdef USE_FLASHFS +#ifdef STM32F1 +#define MSP_PORT_DATAFLASH_BUFFER_SIZE 1024 +#else +#define MSP_PORT_DATAFLASH_BUFFER_SIZE 4096 +#endif +#define MSP_PORT_DATAFLASH_INFO_SIZE 16 +#define MSP_PORT_OUTBUF_SIZE (MSP_PORT_DATAFLASH_BUFFER_SIZE + MSP_PORT_DATAFLASH_INFO_SIZE) +#else #define MSP_PORT_OUTBUF_SIZE 256 +#endif struct serialPort_s; typedef struct mspPort_s { @@ -52,7 +62,9 @@ typedef struct mspPort_s { } mspPort_t; -void mspSerialInit(mspProcessCommandFnPtr mspProcessCommandFn); -void mspSerialProcess(mspEvaluateNonMspData_e evaluateNonMspData); +void mspSerialInit(void); +void mspSerialProcess(mspEvaluateNonMspData_e evaluateNonMspData, mspProcessCommandFnPtr mspProcessCommandFn); void mspSerialAllocatePorts(void); void mspSerialReleasePortIfAllocated(struct serialPort_s *serialPort); +int mspSerialPush(uint8_t cmd, const uint8_t *data, int datalen); +uint32_t mspSerialTxBytesFree(void); From ad54b70fa2b1043c16653d4084b702e1826e325f Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Wed, 9 Nov 2016 15:15:48 +0000 Subject: [PATCH 097/139] Fixed CJMCU ROM size --- src/main/target/CJMCU/target.h | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/src/main/target/CJMCU/target.h b/src/main/target/CJMCU/target.h index 4d6e4c7d614..01fda7c1add 100644 --- a/src/main/target/CJMCU/target.h +++ b/src/main/target/CJMCU/target.h @@ -72,7 +72,7 @@ #define USE_RX_H8_3D #define USE_RX_INAV #define USE_RX_SYMA -#define USE_RX_V202 +//#define USE_RX_V202 //#define RX_SPI_DEFAULT_PROTOCOL NRF24RX_SYMA_X5 //#define RX_SPI_DEFAULT_PROTOCOL NRF24RX_SYMA_X5C #define RX_SPI_DEFAULT_PROTOCOL NRF24RX_INAV @@ -105,10 +105,6 @@ #define USE_QUAD_MIXER_ONLY #undef USE_SERVOS -#if (FLASH_SIZE <= 64) -#undef BLACKBOX -#endif - // Number of available PWM outputs #define MAX_PWM_OUTPUT_PORTS 4 From aa6885dc7e6e27eff756d744ed742b11ac569972 Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Wed, 9 Nov 2016 15:50:40 +0000 Subject: [PATCH 098/139] Fixed CC3D ROM size --- src/main/target/CC3D/target.h | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/target/CC3D/target.h b/src/main/target/CC3D/target.h index 02aafebb3b5..8420b6f2205 100644 --- a/src/main/target/CC3D/target.h +++ b/src/main/target/CC3D/target.h @@ -183,6 +183,7 @@ #else #define TARGET_MOTOR_COUNT 4 #define DISABLE_UNCOMMON_MIXERS +#undef BLACKBOX #endif //OPBL From 458ce7a2dd71bc5005e03a5e8d0c209265dee445 Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Wed, 9 Nov 2016 17:35:35 +0000 Subject: [PATCH 099/139] Comment format change - mainly to force rebuild in github --- src/main/fc/fc_tasks.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c index 6858f5dee6b..682fd3d9216 100755 --- a/src/main/fc/fc_tasks.c +++ b/src/main/fc/fc_tasks.c @@ -80,9 +80,9 @@ #include "config/config_profile.h" #include "config/config_master.h" -/* VBAT monitoring interval (in microseconds) - 1s*/ +// VBAT monitoring interval (in microseconds) - 1s #define VBATINTERVAL (6 * 3500) -/* IBat monitoring interval (in microseconds) - 6 default looptimes */ +// IBat monitoring interval (in microseconds) - 6 default looptimes #define IBATINTERVAL (6 * 3500) void taskHandleSerial(uint32_t currentTime) From b632b37e96d35d71497d826881c36fccef30c2d0 Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Wed, 9 Nov 2016 18:13:52 +0000 Subject: [PATCH 100/139] Changed DASHBOARD to USE_DASHBOARD. Dashboard CMS prep. --- src/main/config/config.c | 2 +- src/main/fc/fc_init.c | 2 +- src/main/fc/fc_tasks.c | 6 ++-- src/main/io/dashboard.c | 44 ++++++++++++++++---------- src/main/scheduler/scheduler.h | 2 +- src/main/target/EUSTM32F103RC/target.h | 2 +- src/main/target/PORT103R/target.h | 2 +- src/main/target/common.h | 2 +- src/test/unit/target.h | 2 +- 9 files changed, 37 insertions(+), 27 deletions(-) diff --git a/src/main/config/config.c b/src/main/config/config.c index 7e685fe757d..3f167753a2c 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -938,7 +938,7 @@ void validateAndFixConfig(void) } #endif -#if defined(CC3D) && defined(DASHBOARD) && defined(USE_UART3) +#if defined(CC3D) && defined(USE_DASHBOARD) && defined(USE_UART3) if (doesConfigurationUsePort(SERIAL_PORT_USART3) && feature(FEATURE_DASHBOARD)) { featureClear(FEATURE_DASHBOARD); } diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c index 69850984820..50d47c97caa 100644 --- a/src/main/fc/fc_init.c +++ b/src/main/fc/fc_init.c @@ -444,7 +444,7 @@ void init(void) initBoardAlignment(&masterConfig.boardAlignment); -#ifdef DASHBOARD +#ifdef USE_DASHBOARD if (feature(FEATURE_DASHBOARD)) { dashboardInit(&masterConfig.rxConfig); } diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c index 682fd3d9216..67d7d75e543 100755 --- a/src/main/fc/fc_tasks.c +++ b/src/main/fc/fc_tasks.c @@ -180,7 +180,7 @@ void taskUpdateSonar(uint32_t currentTime) } #endif -#ifdef DASHBOARD +#ifdef USE_DASHBOARD void taskDashboardUpdate(uint32_t currentTime) { if (feature(FEATURE_DASHBOARD)) { @@ -351,7 +351,7 @@ cfTask_t cfTasks[TASK_COUNT] = { }, #endif -#ifdef DASHBOARD +#ifdef USE_DASHBOARD [TASK_DASHBOARD] = { .taskName = "DASHBOARD", .taskFunc = taskDashboardUpdate, @@ -445,7 +445,7 @@ void fcTasksInit(void) #ifdef SONAR setTaskEnabled(TASK_SONAR, sensors(SENSOR_SONAR)); #endif -#ifdef DASHBOARD +#ifdef USE_DASHBOARD setTaskEnabled(TASK_DASHBOARD, feature(FEATURE_DASHBOARD)); #endif #ifdef TELEMETRY diff --git a/src/main/io/dashboard.c b/src/main/io/dashboard.c index 6c3eebda859..c9b5f44f84a 100644 --- a/src/main/io/dashboard.c +++ b/src/main/io/dashboard.c @@ -22,7 +22,7 @@ #include "platform.h" -#ifdef DASHBOARD +#ifdef USE_DASHBOARD #include "build/version.h" #include "build/build_config.h" @@ -30,39 +30,37 @@ #include "drivers/system.h" #include "drivers/display_ug2864hsweg01.h" +//#include "cms/cms.h" + #include "common/printf.h" #include "common/maths.h" #include "common/axis.h" #include "common/typeconversion.h" -#include "sensors/battery.h" -#include "sensors/sensors.h" -#include "sensors/compass.h" -#include "sensors/acceleration.h" -#include "sensors/gyro.h" -#include "sensors/barometer.h" - -#include "rx/rx.h" - +#include "fc/runtime_config.h" #include "fc/rc_controls.h" - #include "flight/pid.h" #include "flight/imu.h" #include "flight/failsafe.h" +#include "flight/navigation_rewrite.h" -#ifdef GPS +#include "io/dashboard.h" +//#include "io/displayport_oled.h" #include "io/gps.h" -#include "flight/navigation_rewrite.h" -#endif -#include "fc/runtime_config.h" +#include "sensors/battery.h" +#include "sensors/sensors.h" +#include "sensors/compass.h" +#include "sensors/acceleration.h" +#include "sensors/gyro.h" +#include "sensors/barometer.h" +#include "rx/rx.h" #include "config/config.h" #include "config/feature.h" -#include "dashboard.h" controlRateConfig_t *getControlRateConfig(uint8_t profileIndex); @@ -75,6 +73,7 @@ static uint32_t nextDisplayUpdateAt = 0; static bool displayPresent = false; static const rxConfig_t *rxConfig; +//static displayPort_t *displayPort; #define PAGE_TITLE_LINE_COUNT 1 @@ -376,6 +375,12 @@ void dashboardUpdate(uint32_t currentTime) { static uint8_t previousArmedState = 0; +#ifdef CMS + if (displayIsGrabbed(displayPort)) { + return; + } +#endif + bool pageChanging = false; bool updateNow = (int32_t)(currentTime - nextDisplayUpdateAt) >= 0L; @@ -459,11 +464,16 @@ void dashboardSetPage(pageId_e newPageId) void dashboardInit(const rxConfig_t *rxConfigToUse) { + rxConfig = rxConfigToUse; + delay(200); resetDisplay(); delay(200); - rxConfig = rxConfigToUse; +// displayPort = displayPortOledInit(); +#if defined(CMS) + cmsDisplayPortRegister(displayPort); +#endif dashboardSetPage(PAGE_WELCOME); const uint32_t now = micros(); diff --git a/src/main/scheduler/scheduler.h b/src/main/scheduler/scheduler.h index 64d08cb0172..d3ee127dd5a 100755 --- a/src/main/scheduler/scheduler.h +++ b/src/main/scheduler/scheduler.h @@ -66,7 +66,7 @@ typedef enum { #ifdef SONAR TASK_SONAR, #endif -#ifdef DASHBOARD +#ifdef USE_DASHBOARD TASK_DASHBOARD, #endif #ifdef TELEMETRY diff --git a/src/main/target/EUSTM32F103RC/target.h b/src/main/target/EUSTM32F103RC/target.h index 65848c67947..8a3555f7393 100644 --- a/src/main/target/EUSTM32F103RC/target.h +++ b/src/main/target/EUSTM32F103RC/target.h @@ -70,7 +70,7 @@ #define SONAR_TRIGGER_PIN_PWM PB8 #define SONAR_ECHO_PIN_PWM PB9 -#define DASHBOARD +#define USE_DASHBOARD #define USE_UART1 #define USE_UART2 diff --git a/src/main/target/PORT103R/target.h b/src/main/target/PORT103R/target.h index 937b62be5f6..927810e0330 100644 --- a/src/main/target/PORT103R/target.h +++ b/src/main/target/PORT103R/target.h @@ -111,7 +111,7 @@ #define RSSI_ADC_PIN PA1 #define EXTERNAL1_ADC_PIN PA5 -#define DASHBOARD +#define USE_DASHBOARD #define USE_SERIAL_4WAY_BLHELI_INTERFACE diff --git a/src/main/target/common.h b/src/main/target/common.h index 4d3c02a22f0..b16aae3d9fd 100644 --- a/src/main/target/common.h +++ b/src/main/target/common.h @@ -45,7 +45,7 @@ #if (FLASH_SIZE > 128) #define BOOTLOG_DESCRIPTIONS -#define DASHBOARD +#define USE_DASHBOARD #define DASHBOARD_ARMED_BITMAP #define GPS_PROTO_NMEA #define GPS_PROTO_I2C_NAV diff --git a/src/test/unit/target.h b/src/test/unit/target.h index 23ea7cf1cb5..77481ca7e2a 100644 --- a/src/test/unit/target.h +++ b/src/test/unit/target.h @@ -24,7 +24,7 @@ #define GPS_PROTO_UBLOX #define GPS_PROTO_I2C_NAV #define GPS_PROTO_NAZA -#define DASHBOARD +#define USE_DASHBOARD #define TELEMETRY #define TELEMETRY_FRSKY #define TELEMETRY_HOTT From c4f6bda4b52fffa3c9aa0b4cf9cab1973c78e17e Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Wed, 9 Nov 2016 20:38:31 +0100 Subject: [PATCH 101/139] Flip32F4 target renamed to Airbot F4 --- ...nd Airbot F4.md => Board - Airbot F4 and Flip32 F4.md} | 8 ++++++-- src/main/target/{FLIP32F4 => AIRBOTF4}/target.c | 0 src/main/target/{FLIP32F4 => AIRBOTF4}/target.h | 4 ++-- src/main/target/{FLIP32F4 => AIRBOTF4}/target.mk | 0 4 files changed, 8 insertions(+), 4 deletions(-) rename docs/{Board - Flip32 F4 and Airbot F4.md => Board - Airbot F4 and Flip32 F4.md} (87%) rename src/main/target/{FLIP32F4 => AIRBOTF4}/target.c (100%) rename src/main/target/{FLIP32F4 => AIRBOTF4}/target.h (97%) rename src/main/target/{FLIP32F4 => AIRBOTF4}/target.mk (100%) diff --git a/docs/Board - Flip32 F4 and Airbot F4.md b/docs/Board - Airbot F4 and Flip32 F4.md similarity index 87% rename from docs/Board - Flip32 F4 and Airbot F4.md rename to docs/Board - Airbot F4 and Flip32 F4.md index 1f1522efc6d..9df691c4e4a 100644 --- a/docs/Board - Flip32 F4 and Airbot F4.md +++ b/docs/Board - Airbot F4 and Flip32 F4.md @@ -1,9 +1,13 @@ -# Board - Flip32 F4 and Airbot F4 +# Board - Airbot F4 / Flip32 F4 / Generic F4 Flight Controller from Banggood and Aliexpress + +![Airbot F4](https://quadmeup.com/wp-content/uploads/2016/10/Flip32-F4-Flight-Controller-pinout.jpg) + +> This target supports both MPU6000 and MPU6500 versions of this board ## Features * STM32F405 CPU -* Integrated Accelerometer/Gyro MPU6000 via SPI bus +* Integrated Accelerometer/Gyro MPU6000 or MPU6500 via SPI bus * 6 motor outputs * 3 UART ports (UART1, UART3, UART6) * External I2C bus, pins shared with UART3, can not be used simultaneously diff --git a/src/main/target/FLIP32F4/target.c b/src/main/target/AIRBOTF4/target.c similarity index 100% rename from src/main/target/FLIP32F4/target.c rename to src/main/target/AIRBOTF4/target.c diff --git a/src/main/target/FLIP32F4/target.h b/src/main/target/AIRBOTF4/target.h similarity index 97% rename from src/main/target/FLIP32F4/target.h rename to src/main/target/AIRBOTF4/target.h index 11cfef468ee..f1aed2903e5 100644 --- a/src/main/target/FLIP32F4/target.h +++ b/src/main/target/AIRBOTF4/target.h @@ -17,9 +17,9 @@ #pragma once -#define TARGET_BOARD_IDENTIFIER "FLF4" +#define TARGET_BOARD_IDENTIFIER "ABF4" #define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8) -#define USBD_PRODUCT_STRING "Flip32 F4 / Airbot F4" +#define USBD_PRODUCT_STRING "Airbot F4 / Flip32 F4" #define LED0 PB5 diff --git a/src/main/target/FLIP32F4/target.mk b/src/main/target/AIRBOTF4/target.mk similarity index 100% rename from src/main/target/FLIP32F4/target.mk rename to src/main/target/AIRBOTF4/target.mk From c954be8e2481c5d76e74ea339bf5ba9077bd0b6a Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Thu, 10 Nov 2016 23:03:59 +1000 Subject: [PATCH 102/139] Optimisation for soft-i2c driver generating START --- src/main/drivers/bus_i2c_soft.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/drivers/bus_i2c_soft.c b/src/main/drivers/bus_i2c_soft.c index 540a139427e..69f80995c87 100644 --- a/src/main/drivers/bus_i2c_soft.c +++ b/src/main/drivers/bus_i2c_soft.c @@ -68,7 +68,7 @@ static bool I2C_Start(void) if (SDA_read) { return false; } - SDA_L; + SCL_L; I2C_delay(); return true; } From 5304d3c40830bf4001303451c852ccc631448e74 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Fri, 11 Nov 2016 00:30:34 +1000 Subject: [PATCH 103/139] Fix failsafe autodisarm when enabled via BOXFAILSAFE --- src/main/fc/rc_controls.c | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/main/fc/rc_controls.c b/src/main/fc/rc_controls.c index 7941afac9a6..05bd2272c16 100644 --- a/src/main/fc/rc_controls.c +++ b/src/main/fc/rc_controls.c @@ -174,8 +174,9 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat } } else { // Disarming via ARM BOX - - if (ARMING_FLAG(ARMED) && rxIsReceivingSignal() && !failsafeIsActive() ) { + // Don't disarm via switch if failsafe is active or receiver doesn't receive data - we can't trust receiver + // and can't afford to risk disarming in the air + if (ARMING_FLAG(ARMED) && rxIsReceivingSignal() && !failsafeIsActive() && !failsafeIsReceivingRxData()) { if (disarm_kill_switch) { mwDisarm(); } else if (throttleStatus == THROTTLE_LOW) { From 1bd483242174e0423959b9f658e82be4999278f3 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Fri, 11 Nov 2016 01:02:49 +1000 Subject: [PATCH 104/139] Allow disabling the 'disarm if failsafe and throttle is low too long' feature by setting failsafe_throttle_low_delay to zero --- src/main/flight/failsafe.c | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/flight/failsafe.c b/src/main/flight/failsafe.c index 4510db28aed..6ef5f7c7e57 100644 --- a/src/main/flight/failsafe.c +++ b/src/main/flight/failsafe.c @@ -217,8 +217,9 @@ void failsafeUpdateState(void) failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_1_SECONDS; // require 1 seconds of valid rxData reprocessState = true; } else if (!receivingRxData) { - if (millis() > failsafeState.throttleLowPeriod || STATE(NAV_MOTOR_STOP_OR_IDLE)) { + if ((failsafeConfig->failsafe_throttle_low_delay && (millis() > failsafeState.throttleLowPeriod)) || STATE(NAV_MOTOR_STOP_OR_IDLE)) { // JustDisarm: throttle was LOW for at least 'failsafe_throttle_low_delay' seconds or waiting for launch + // Don't disarm at all if `failsafe_throttle_low_delay` is set to zero failsafeActivate(); failsafeState.phase = FAILSAFE_LANDED; // skip auto-landing procedure failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_3_SECONDS; // require 3 seconds of valid rxData From 6b4b1818221200ef93a12da36ab7cbd6404ba24f Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Fri, 11 Nov 2016 01:06:37 +1000 Subject: [PATCH 105/139] Failsafe docs update --- docs/Failsafe.md | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/docs/Failsafe.md b/docs/Failsafe.md index cedb06403f2..f6da97be8ce 100644 --- a/docs/Failsafe.md +++ b/docs/Failsafe.md @@ -13,7 +13,7 @@ It is possible to use both types at the same time, which may be desirable. Flig Alternatively you may configure a transmitter switch to activate failsafe mode. This is useful for fieldtesting the failsafe system and as a **_`PANIC`_** switch when you lose orientation. -## Flight controller failsafe system +## Flight controller failsafe system This system has two stages. @@ -37,7 +37,8 @@ Note that: * When `failsafe_kill_switch` is set to ON and the rc switch configured for failsafe is set to ON, the craft is instantly disarmed. Re-arming is possible when the signal from the receiver has restored for at least 3 seconds AND the arming switch is in the OFF position (when one is in use). Similar effect can be achieved by setting 'failsafe_throttle' to 1000 and 'failsafe_off_delay' to 0. This is not the prefered method, since the reaction is slower and re-arming will be locked. -* Prior to starting a stage 2 intervention it is checked if the throttle position was below `min_throttle` level for the last `failsafe_throttle_low_delay` seconds. If it was, the craft is assumed to be on the ground and is only disarmed. It may be re-armed without a power cycle. +* Prior to starting a stage 2 intervention it is checked if the throttle position was below `min_throttle` level for the last `failsafe_throttle_low_delay` seconds. If it was, the craft is assumed to be on the ground and is only disarmed. It may be re-armed without a power cycle. This feature can be disabled completely by +setting `failsafe_throttle_low_delay` to zero. This is useful for gliders that may fly long with zero throttle. Some notes about **SAFETY**: * The failsafe system will be activated regardless of current throttle position. So when the failsafe intervention is aborted (RC signal restored/failsafe switch set to OFF) the current stick position will direct the craft ! @@ -106,11 +107,11 @@ Use standard RX usec values. See Rx documentation. ### `rx_min_usec` -The lowest channel value considered valid. e.g. PWM/PPM pulse length +The lowest channel value considered valid. e.g. PWM/PPM pulse length ### `rx_max_usec` -The highest channel value considered valid. e.g. PWM/PPM pulse length +The highest channel value considered valid. e.g. PWM/PPM pulse length The `rx_min_usec` and `rx_max_usec` settings helps detect when your RX stops sending any data, enters failsafe mode or when the RX looses signal. @@ -133,7 +134,7 @@ With a Graupner GR-24 configured for PWM output with failsafe on channels 1-4 se 1. Ensure that your switch positions don't now cause the craft to disarm (otherwise it would fall out of the sky on regained signal). 1. Observe that normal flight behavior is resumed. 1. Disarm. - + **Field test the failsafe system.** 1. Perform bench testing first! From 24593c74f44ade74ef806803dafe7cec3c966eb4 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Fri, 11 Nov 2016 23:27:11 +1000 Subject: [PATCH 106/139] Fix a non-disarming bug; More safety for disarming procedure --- src/main/fc/rc_controls.c | 18 +++++++++++++----- 1 file changed, 13 insertions(+), 5 deletions(-) diff --git a/src/main/fc/rc_controls.c b/src/main/fc/rc_controls.c index 05bd2272c16..992ccc2aa51 100644 --- a/src/main/fc/rc_controls.c +++ b/src/main/fc/rc_controls.c @@ -144,6 +144,7 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat { static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors static uint8_t rcSticks; // this hold sticks position for command combos + static uint8_t rcDisarmTicks; // this is an extra guard for disarming through switch to prevent that one frame can disarm it uint8_t stTmp = 0; int i; @@ -166,6 +167,7 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat // perform actions if (!isUsingSticksToArm) { if (IS_RC_MODE_ACTIVE(BOXARM)) { + rcDisarmTicks = 0; // Arming via ARM BOX if (throttleStatus == THROTTLE_LOW) { if (ARMING_FLAG(OK_TO_ARM)) { @@ -176,13 +178,19 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat // Disarming via ARM BOX // Don't disarm via switch if failsafe is active or receiver doesn't receive data - we can't trust receiver // and can't afford to risk disarming in the air - if (ARMING_FLAG(ARMED) && rxIsReceivingSignal() && !failsafeIsActive() && !failsafeIsReceivingRxData()) { - if (disarm_kill_switch) { - mwDisarm(); - } else if (throttleStatus == THROTTLE_LOW) { - mwDisarm(); + if (ARMING_FLAG(ARMED) && !(IS_RC_MODE_ACTIVE(BOXFAILSAFE) && feature(FEATURE_FAILSAFE)) && rxIsReceivingSignal() && !failsafeIsActive()) { + rcDisarmTicks++; + if (rcDisarmTicks > 3) { // Wait for at least 3 RX ticks (60ms @ 50Hz RX) + if (disarm_kill_switch) { + mwDisarm(); + } else if (throttleStatus == THROTTLE_LOW) { + mwDisarm(); + } } } + else { + rcDisarmTicks = 0; + } } } From 959cc0087edd63f9990afc8d29099510d9c1e7a5 Mon Sep 17 00:00:00 2001 From: Sami Korhonen Date: Tue, 2 Aug 2016 21:11:33 +0300 Subject: [PATCH 107/139] Pitot support --- Makefile | 1 + src/main/blackbox/blackbox.c | 30 ++++ src/main/blackbox/blackbox_fielddefs.h | 1 + src/main/blackbox/blackbox_io.c | 1 + src/main/config/config.c | 12 ++ src/main/config/config_eeprom.c | 1 + src/main/config/config_master.h | 2 + src/main/drivers/pitotmeter.h | 32 ++++ src/main/drivers/pitotmeter_ms4525.c | 134 ++++++++++++++++ src/main/drivers/pitotmeter_ms4525.h | 20 +++ src/main/fc/fc_msp.c | 1 + src/main/fc/fc_tasks.c | 26 ++- src/main/fc/mw.c | 1 + .../flight/navigation_rewrite_pos_estimator.c | 34 ++++ src/main/io/ledstrip.c | 3 +- src/main/io/serial_cli.c | 7 + src/main/scheduler/scheduler.h | 3 + src/main/sensors/initialisation.c | 24 +++ src/main/sensors/pitotmeter.c | 150 ++++++++++++++++++ src/main/sensors/pitotmeter.h | 38 +++++ src/main/sensors/sensors.h | 1 + src/main/target/ANYFC/target.h | 1 + src/main/target/ANYFC/target.mk | 3 +- src/main/target/STM32F3DISCOVERY/target.h | 4 + src/main/target/STM32F3DISCOVERY/target.mk | 3 +- src/main/telemetry/mavlink.c | 1 + 26 files changed, 530 insertions(+), 4 deletions(-) create mode 100644 src/main/drivers/pitotmeter.h create mode 100644 src/main/drivers/pitotmeter_ms4525.c create mode 100644 src/main/drivers/pitotmeter_ms4525.h create mode 100644 src/main/sensors/pitotmeter.c create mode 100644 src/main/sensors/pitotmeter.h diff --git a/Makefile b/Makefile index 01bf24058e5..ec9deb8ccd7 100644 --- a/Makefile +++ b/Makefile @@ -477,6 +477,7 @@ HIGHEND_SRC = \ io/dashboard.c \ sensors/rangefinder.c \ sensors/barometer.c \ + sensors/pitotmeter.c \ telemetry/telemetry.c \ telemetry/frsky.c \ telemetry/hott.c \ diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c index 654c1e10935..3a4d34b1e71 100644 --- a/src/main/blackbox/blackbox.c +++ b/src/main/blackbox/blackbox.c @@ -45,6 +45,7 @@ #include "sensors/compass.h" #include "sensors/acceleration.h" #include "sensors/barometer.h" +#include "sensors/pitotmeter.h" #include "sensors/gyro.h" #include "sensors/battery.h" @@ -207,6 +208,9 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = { #ifdef BARO {"BaroAlt", -1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_BARO}, #endif +#ifdef PITOT + {"AirSpeed", -1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_PITOT}, +#endif #ifdef SONAR {"sonarRaw", -1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_SONAR}, #endif @@ -332,6 +336,9 @@ typedef struct blackboxMainState_s { #ifdef BARO int32_t BaroAlt; #endif +#ifdef PITOT + int32_t AirSpeed; +#endif #ifdef MAG int16_t magADC[XYZ_AXIS_COUNT]; #endif @@ -470,6 +477,13 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition) return false; #endif + case FLIGHT_LOG_FIELD_CONDITION_PITOT: +#ifdef PITOT + return sensors(SENSOR_PITOT); +#else + return false; +#endif + case FLIGHT_LOG_FIELD_CONDITION_VBAT: return feature(FEATURE_VBAT); @@ -605,6 +619,12 @@ static void writeIntraframe(void) } #endif +#ifdef PITOT + if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_PITOT)) { + blackboxWriteSignedVB(blackboxCurrent->AirSpeed); + } +#endif + #ifdef SONAR if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_SONAR)) { blackboxWriteSignedVB(blackboxCurrent->sonarRaw); @@ -767,6 +787,12 @@ static void writeInterframe(void) } #endif +#ifdef PITOT + if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_PITOT)) { + deltas[optionalFieldCount++] = blackboxCurrent->AirSpeed - blackboxLast->AirSpeed; + } +#endif + #ifdef SONAR if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_SONAR)) { deltas[optionalFieldCount++] = blackboxCurrent->sonarRaw - blackboxLast->sonarRaw; @@ -1108,6 +1134,10 @@ static void loadMainState(uint32_t currentTime) blackboxCurrent->BaroAlt = BaroAlt; #endif +#ifdef PITOT + blackboxCurrent->AirSpeed = AirSpeed; +#endif + #ifdef SONAR // Store the raw sonar value without applying tilt correction blackboxCurrent->sonarRaw = rangefinderRead(); diff --git a/src/main/blackbox/blackbox_fielddefs.h b/src/main/blackbox/blackbox_fielddefs.h index 270e78bd7e5..bf115c38ed8 100644 --- a/src/main/blackbox/blackbox_fielddefs.h +++ b/src/main/blackbox/blackbox_fielddefs.h @@ -33,6 +33,7 @@ typedef enum FlightLogFieldCondition { FLIGHT_LOG_FIELD_CONDITION_MAG, FLIGHT_LOG_FIELD_CONDITION_BARO, + FLIGHT_LOG_FIELD_CONDITION_PITOT, FLIGHT_LOG_FIELD_CONDITION_VBAT, FLIGHT_LOG_FIELD_CONDITION_AMPERAGE_ADC, FLIGHT_LOG_FIELD_CONDITION_SONAR, diff --git a/src/main/blackbox/blackbox_io.c b/src/main/blackbox/blackbox_io.c index 64b456eea0f..f8b54981f6e 100644 --- a/src/main/blackbox/blackbox_io.c +++ b/src/main/blackbox/blackbox_io.c @@ -46,6 +46,7 @@ #include "sensors/boardalignment.h" #include "sensors/acceleration.h" #include "sensors/barometer.h" +#include "sensors/pitotmeter.h" #include "sensors/gyro.h" #include "sensors/battery.h" diff --git a/src/main/config/config.c b/src/main/config/config.c index 3f167753a2c..41a6094c5e6 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -42,6 +42,7 @@ #include "sensors/barometer.h" #include "sensors/battery.h" #include "sensors/boardalignment.h" +#include "sensors/pitotmeter.h" #include "io/beeper.h" #include "io/serial.h" @@ -242,6 +243,13 @@ void resetBarometerConfig(barometerConfig_t *barometerConfig) barometerConfig->use_median_filtering = 1; } +void resetPitotmeterConfig(pitotmeterConfig_t *pitotmeterConfig) +{ + pitotmeterConfig->pitot_sample_count = 21; + pitotmeterConfig->pitot_noise_lpf = 0.6f; + pitotmeterConfig->pitot_scale = 1.00f; +} + void resetSensorAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig) { sensorAlignmentConfig->gyro_align = ALIGN_DEFAULT; @@ -576,6 +584,7 @@ static void resetConf(void) currentProfile->modeActivationOperator = MODE_OPERATOR_OR; // default is to OR multiple-channel mode activation conditions resetBarometerConfig(&masterConfig.barometerConfig); + resetPitotmeterConfig(&masterConfig.pitotmeterConfig); // Radio #ifdef RX_CHANNELS_TAER @@ -802,6 +811,9 @@ void activateConfig(void) #ifdef BARO useBarometerConfig(&masterConfig.barometerConfig); #endif +#ifdef PITOT + usePitotmeterConfig(&masterConfig.pitotmeterConfig); +#endif } void validateAndFixConfig(void) diff --git a/src/main/config/config_eeprom.c b/src/main/config/config_eeprom.c index 417beab1b6a..bd9c4c2f16d 100755 --- a/src/main/config/config_eeprom.c +++ b/src/main/config/config_eeprom.c @@ -36,6 +36,7 @@ #include "sensors/barometer.h" #include "sensors/boardalignment.h" #include "sensors/battery.h" +#include "sensors/pitotmeter.h" #include "io/beeper.h" #include "io/serial.h" diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h index be755e90fee..6d24a6d0c00 100644 --- a/src/main/config/config_master.h +++ b/src/main/config/config_master.h @@ -108,6 +108,8 @@ typedef struct master_s { barometerConfig_t barometerConfig; + pitotmeterConfig_t pitotmeterConfig; + uint8_t mag_hardware; // Which mag hardware to use on boards with more than one device uint8_t baro_hardware; // Barometer hardware to use diff --git a/src/main/drivers/pitotmeter.h b/src/main/drivers/pitotmeter.h new file mode 100644 index 00000000000..0ac11d25f12 --- /dev/null +++ b/src/main/drivers/pitotmeter.h @@ -0,0 +1,32 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#pragma once + +typedef void (*pitotOpFuncPtr)(void); // pitot start operation +typedef void (*pitotCalculateFuncPtr)(float *pressure, float *temperature); // airspeed calculation (filled params are pressure and temperature) + +typedef struct pitot_t { + uint16_t delay; + pitotOpFuncPtr start; + pitotOpFuncPtr get; + pitotCalculateFuncPtr calculate; +} pitot_t; + +#ifndef PITOT_I2C_INSTANCE +#define PITOT_I2C_INSTANCE I2C_DEVICE +#endif diff --git a/src/main/drivers/pitotmeter_ms4525.c b/src/main/drivers/pitotmeter_ms4525.c new file mode 100644 index 00000000000..ab71ca686af --- /dev/null +++ b/src/main/drivers/pitotmeter_ms4525.c @@ -0,0 +1,134 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#include +#include + +#include + +#include "build/build_config.h" + +#include "pitotmeter.h" + +#include "system.h" +#include "bus_i2c.h" + +// MS4525, Standard address 0x28 +#define MS4525_ADDR 0x28 +//#define MS4525_ADDR 0x36 +//#define MS4525_ADDR 0x46 + +static void ms4525_start(void); +static void ms4525_read(void); +static void ms4525_calculate(float *pressure, float *temperature); + +static uint16_t ms4525_ut; // static result of temperature measurement +static uint16_t ms4525_up; // static result of pressure measurement +static uint16_t zeropointvalue; // measured zeropoint +static bool zeropoint = false; +static uint16_t calibrationCount = 0; +static uint32_t filter_reg = 0; // Barry Dorr filter register + +bool ms4525Detect(pitot_t *pitot) +{ + bool ack = false; + uint8_t sig; + + // Read twice to fix: + // Sending a start-stop condition without any transitions on the SCL line (no clock pulses in between) creates a + // communication error for the next communication, even if the next start condition is correct and the clock pulse is applied. + // An additional start condition must be sent, which results in restoration of proper communication. + + ack = i2cRead( PITOT_I2C_INSTANCE, MS4525_ADDR, 0xFF, 1, &sig ); + ack = i2cRead( PITOT_I2C_INSTANCE, MS4525_ADDR, 0xFF, 1, &sig ); + if (!ack) + return false; + + pitot->delay = 10000; + pitot->start = ms4525_start; + pitot->get = ms4525_read; + pitot->calculate = ms4525_calculate; + ms4525_read(); + return true; +} + +static void ms4525_start(void) +{ + uint8_t sig; + i2cRead( PITOT_I2C_INSTANCE, MS4525_ADDR, 0xFF, 1, &sig ); +} + +static void ms4525_read(void) +{ + uint8_t rxbuf[4]; + i2cRead( PITOT_I2C_INSTANCE, MS4525_ADDR, 0xFF, 4, rxbuf ); // read ADC + ms4525_up = (rxbuf[0] << 8) | (rxbuf[1] << 0); + ms4525_ut = ((rxbuf[2] << 8) | (rxbuf[3] << 0))>>5; +} + + +void voltage_correction(float *pressure, float *temperature) +{ + UNUSED(pressure); + UNUSED(temperature); +} + +static void ms4525_calculate(float *pressure, float *temperature) +{ + uint8_t status = (ms4525_up & 0xC000) >> 14; + switch (status) { + case 0: + break; + case 1: + /* fallthrough */ + case 2: + /* fallthrough */ + case 3: + return; + } + int16_t dp_raw = 0, dT_raw = 0; + + /* mask the used bits */ + dp_raw = 0x3FFF & ms4525_up; + dT_raw = ms4525_ut; + + if (!zeropoint) { + if (calibrationCount <= 0) { + calibrationCount++; + filter_reg = (dp_raw << 5); + return; + } else if (calibrationCount <= 100) { + calibrationCount++; + filter_reg = filter_reg - (filter_reg >> 5) + dp_raw; + if (calibrationCount > 100) { + zeropointvalue = (uint16_t)(filter_reg >> 5); + zeropoint=true; + calibrationCount = 0; + } + return; + } + } + + float dP = (10 * (int32_t)(dp_raw - zeropointvalue)) * 0.1052120688f; + float T = (float)(200 * (int32_t)dT_raw - 102350) / 2047 + 273.15f; + + if (pressure) + *pressure = dP; // Pa + if (temperature) + *temperature = T; // K +} + diff --git a/src/main/drivers/pitotmeter_ms4525.h b/src/main/drivers/pitotmeter_ms4525.h new file mode 100644 index 00000000000..44864d4da4a --- /dev/null +++ b/src/main/drivers/pitotmeter_ms4525.h @@ -0,0 +1,20 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#pragma once + +bool ms4525Detect(pitot_t *pitot); diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index 8b3e5bb3a8f..6449ff89d54 100644 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -70,6 +70,7 @@ #include "sensors/rangefinder.h" #include "sensors/acceleration.h" #include "sensors/barometer.h" +#include "sensors/pitotmeter.h" #include "sensors/compass.h" #include "sensors/gyro.h" diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c index 67d7d75e543..b2982434a4e 100755 --- a/src/main/fc/fc_tasks.c +++ b/src/main/fc/fc_tasks.c @@ -63,6 +63,7 @@ #include "sensors/boardalignment.h" #include "sensors/compass.h" #include "sensors/gyro.h" +#include "sensors/pitotmeter.h" #include "sensors/rangefinder.h" #include "telemetry/telemetry.h" @@ -82,7 +83,7 @@ // VBAT monitoring interval (in microseconds) - 1s #define VBATINTERVAL (6 * 3500) -// IBat monitoring interval (in microseconds) - 6 default looptimes +/* IBat monitoring interval (in microseconds) - 6 default looptimes */ #define IBATINTERVAL (6 * 3500) void taskHandleSerial(uint32_t currentTime) @@ -167,6 +168,17 @@ void taskUpdateBaro(uint32_t currentTime) } #endif +#ifdef PITOT +void taskUpdatePitot(uint32_t currentTime) +{ + UNUSED(currentTime); + + if (sensors(SENSOR_PITOT)) { + pitotUpdate(); + } +} +#endif + #ifdef SONAR void taskUpdateSonar(uint32_t currentTime) { @@ -342,6 +354,15 @@ cfTask_t cfTasks[TASK_COUNT] = { }, #endif +#ifdef PITOT + [TASK_PITOT] = { + .taskName = "PITOT", + .taskFunc = taskUpdatePitot, + .desiredPeriod = 1000000 / 10, + .staticPriority = TASK_PRIORITY_MEDIUM, + }, +#endif + #ifdef SONAR [TASK_SONAR] = { .taskName = "SONAR", @@ -442,6 +463,9 @@ void fcTasksInit(void) #ifdef BARO setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO)); #endif +#ifdef PITOT + setTaskEnabled(TASK_PITOT, sensors(SENSOR_PITOT)); +#endif #ifdef SONAR setTaskEnabled(TASK_SONAR, sensors(SENSOR_SONAR)); #endif diff --git a/src/main/fc/mw.c b/src/main/fc/mw.c index c296a35b563..8b4945fee79 100755 --- a/src/main/fc/mw.c +++ b/src/main/fc/mw.c @@ -40,6 +40,7 @@ #include "sensors/boardalignment.h" #include "sensors/acceleration.h" #include "sensors/barometer.h" +#include "sensors/pitotmeter.h" #include "sensors/gyro.h" #include "sensors/battery.h" diff --git a/src/main/flight/navigation_rewrite_pos_estimator.c b/src/main/flight/navigation_rewrite_pos_estimator.c index b56ceced257..2ba00084de2 100755 --- a/src/main/flight/navigation_rewrite_pos_estimator.c +++ b/src/main/flight/navigation_rewrite_pos_estimator.c @@ -35,6 +35,7 @@ #include "sensors/sensors.h" #include "sensors/rangefinder.h" #include "sensors/barometer.h" +#include "sensors/pitotmeter.h" #include "sensors/acceleration.h" #include "sensors/boardalignment.h" #include "sensors/compass.h" @@ -62,6 +63,7 @@ #define INAV_POSITION_PUBLISH_RATE_HZ 50 // Publish position updates at this rate #define INAV_BARO_UPDATE_RATE 20 +#define INAV_PITOT_UPDATE_RATE 10 #define INAV_SONAR_UPDATE_RATE 15 // Sonar is limited to 1/60ms update rate, go lower that that #define INAV_GPS_TIMEOUT_MS 1500 // GPS timeout @@ -96,6 +98,11 @@ typedef struct { float epv; } navPositionEstimatorBARO_t; +typedef struct { + uint32_t lastUpdateTime; // Last update time (us) + float airspeed; // airspeed (cm/s) +} navPositionEstimatorPITOT_t; + typedef struct { uint32_t lastUpdateTime; // Last update time (us) float alt; // Raw altitude measurement (cm) @@ -134,6 +141,7 @@ typedef struct { navPositionEstimatorGPS_t gps; navPositionEstimatorBARO_t baro; navPositionEstimatorSONAR_t sonar; + navPositionEstimatorPITOT_t pitot; // IMU data navPosisitonEstimatorIMU_t imu; @@ -368,6 +376,28 @@ static void updateBaroTopic(uint32_t currentTime) } #endif +#if defined(PITOT) +/** + * Read Pitot and update airspeed topic + * Function is called at main loop rate, updates happen at reduced rate + */ +static void updatePitotTopic(uint32_t currentTime) +{ + static navigationTimer_t pitotUpdateTimer; + + if (updateTimer(&pitotUpdateTimer, HZ2US(INAV_PITOT_UPDATE_RATE), currentTime)) { + float newTAS = pitotCalculateAirSpeed(); + if (sensors(SENSOR_PITOT) && isPitotCalibrationComplete()) { + posEstimator.pitot.airspeed = newTAS; + } + else { + posEstimator.pitot.airspeed = 0; + } + } +} +#endif + + #if defined(SONAR) /** * Read sonar and update alt/vel topic @@ -742,6 +772,10 @@ void updatePositionEstimator(void) updateBaroTopic(currentTime); #endif +#if defined(PITOT) + updatePitotTopic(currentTime); +#endif + #if defined(SONAR) updateSonarTopic(currentTime); #endif diff --git a/src/main/io/ledstrip.c b/src/main/io/ledstrip.c index 4214ed6f95f..2c2b3125e00 100644 --- a/src/main/io/ledstrip.c +++ b/src/main/io/ledstrip.c @@ -48,6 +48,7 @@ #include "sensors/boardalignment.h" #include "sensors/gyro.h" #include "sensors/sensors.h" +#include "sensors/pitotmeter.h" #include "io/ledstrip.h" #include "io/beeper.h" @@ -73,7 +74,6 @@ #include "config/config_profile.h" #include "config/feature.h" - /* PG_REGISTER_ARR_WITH_RESET_FN(ledConfig_t, LED_MAX_STRIP_LENGTH, ledConfigs, PG_LED_STRIP_CONFIG, 0); PG_REGISTER_ARR_WITH_RESET_FN(hsvColor_t, LED_CONFIGURABLE_COLOR_COUNT, colors, PG_COLOR_CONFIG, 0); @@ -81,6 +81,7 @@ PG_REGISTER_ARR_WITH_RESET_FN(modeColorIndexes_t, LED_MODE_COUNT, modeColors, PG PG_REGISTER_WITH_RESET_FN(specialColorIndexes_t, specialColors, PG_SPECIAL_COLOR_CONFIG, 0); */ + static bool ledStripInitialised = false; static bool ledStripEnabled = true; diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index 8b0ac62441d..da6f698e9d9 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -76,6 +76,7 @@ #include "sensors/gyro.h" #include "sensors/compass.h" #include "sensors/barometer.h" +#include "sensors/pitotmeter.h" #include "flight/pid.h" #include "flight/imu.h" @@ -841,6 +842,12 @@ const clivalue_t valueTable[] = { { "baro_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.baro_hardware, .config.minmax = { 0, BARO_MAX }, 0 }, #endif +#ifdef PITOT + { "pitot_tab_size", VAR_UINT8 | MASTER_VALUE, &masterConfig.pitotmeterConfig.pitot_sample_count, .config.minmax = { 0, PITOT_SAMPLE_COUNT_MAX }, 0 }, + { "pitot_noise_lpf", VAR_FLOAT | MASTER_VALUE, &masterConfig.pitotmeterConfig.pitot_noise_lpf, .config.minmax = { 0, 1 }, 0 }, + { "pitot_scale", VAR_FLOAT | MASTER_VALUE, &masterConfig.pitotmeterConfig.pitot_scale, .config.minmax = { 0, 100 }, 0 }, +#endif + #ifdef MAG { "mag_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.mag_hardware, .config.minmax = { 0, MAG_MAX }, 0 }, { "mag_declination", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].mag_declination, .config.minmax = { -18000, 18000 }, 0 }, diff --git a/src/main/scheduler/scheduler.h b/src/main/scheduler/scheduler.h index d3ee127dd5a..6d2e9b1edc5 100755 --- a/src/main/scheduler/scheduler.h +++ b/src/main/scheduler/scheduler.h @@ -63,6 +63,9 @@ typedef enum { #ifdef BARO TASK_BARO, #endif +#ifdef PITOT + TASK_PITOT, +#endif #ifdef SONAR TASK_SONAR, #endif diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c index 3f31429ef97..8a3edfb4d7b 100755 --- a/src/main/sensors/initialisation.c +++ b/src/main/sensors/initialisation.c @@ -57,6 +57,9 @@ #include "drivers/barometer_fake.h" #include "drivers/barometer_ms5611.h" +#include "drivers/pitotmeter.h" +#include "drivers/pitotmeter_ms4525.h" + #include "drivers/compass.h" #include "drivers/compass_ak8963.h" #include "drivers/compass_ak8975.h" @@ -77,6 +80,7 @@ #include "sensors/sensors.h" #include "sensors/acceleration.h" #include "sensors/barometer.h" +#include "sensors/pitotmeter.h" #include "sensors/gyro.h" #include "sensors/compass.h" #include "sensors/rangefinder.h" @@ -89,6 +93,7 @@ extern baro_t baro; extern mag_t mag; extern sensor_align_e gyroAlign; +extern pitot_t pitot; uint8_t detectedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE, RANGEFINDER_NONE }; @@ -455,6 +460,21 @@ static bool detectBaro(baroSensor_e baroHardwareToUse) } #endif // BARO +#ifdef PITOT +static bool detectPitot() +{ + // Detect what pressure sensors are available. +#ifdef USE_PITOT_MS4525 + if (ms4525Detect(&pitot)) { + sensorsSet(SENSOR_PITOT); + return true; + } +#endif + sensorsClear(SENSOR_PITOT); + return false; +} +#endif + #ifdef MAG static bool detectMag(magSensor_e magHardwareToUse) { @@ -673,6 +693,10 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, UNUSED(baroHardwareToUse); #endif +#ifdef PITOT + detectPitot(); +#endif + // FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used. #ifdef MAG diff --git a/src/main/sensors/pitotmeter.c b/src/main/sensors/pitotmeter.c new file mode 100644 index 00000000000..664c77ac038 --- /dev/null +++ b/src/main/sensors/pitotmeter.c @@ -0,0 +1,150 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#include +#include +#include + +#include "platform.h" + +#include "common/maths.h" + +#include "drivers/pitotmeter.h" +#include "config/config.h" + +#include "sensors/pitotmeter.h" + +extern int16_t debug[4]; + +pitot_t pitot; // pitotmeter access functions +int32_t AirSpeed = 0; + +#ifdef PITOT + +static float pitotPressureSum = 0; +static uint16_t calibratingP = 0; // baro calibration = get new ground pressure value +static float pitotPressure = 0; +static float pitotTemperature = 0; +static float CalibratedAirspeed = 0; + +pitotmeterConfig_t *pitotmeterConfig; + +void usePitotmeterConfig(pitotmeterConfig_t *pitotmeterConfigToUse) +{ + pitotmeterConfig = pitotmeterConfigToUse; +} + +bool isPitotCalibrationComplete(void) +{ + return calibratingP == 0; +} + +void pitotSetCalibrationCycles(uint16_t calibrationCyclesRequired) +{ + calibratingP = calibrationCyclesRequired; +} + +static bool pitotReady = false; + +#define PRESSURE_SAMPLE_COUNT (pitotmeterConfig->pitot_sample_count - 1) + +static float recalculatePitotmeterTotal(uint8_t pitotSampleCount, float pressureTotal, float newPressureReading) +{ + static float pitotmeterSamples[PITOT_SAMPLE_COUNT_MAX]; + static int currentSampleIndex = 0; + int nextSampleIndex; + + // store current pressure in pitotmeterSamples + nextSampleIndex = (currentSampleIndex + 1); + if (nextSampleIndex == pitotSampleCount) { + nextSampleIndex = 0; + pitotReady = true; + } + pitotmeterSamples[currentSampleIndex] = newPressureReading; + + // recalculate pressure total + // Note, the pressure total is made up of pitotSampleCount - 1 samples - See PRESSURE_SAMPLE_COUNT + pressureTotal += pitotmeterSamples[currentSampleIndex]; + pressureTotal -= pitotmeterSamples[nextSampleIndex]; + + currentSampleIndex = nextSampleIndex; + + return pressureTotal; +} + +typedef enum { + PITOTMETER_NEEDS_SAMPLES = 0, + PITOTMETER_NEEDS_CALCULATION, + PITOTMETER_NEEDS_PROCESSING +} pitotmeterState_e; + + +bool isPitotReady(void) { + return pitotReady; +} + +uint32_t pitotUpdate(void) +{ + static pitotmeterState_e state = PITOTMETER_NEEDS_SAMPLES; + + switch (state) { + default: + case PITOTMETER_NEEDS_SAMPLES: + pitot.start(); + state = PITOTMETER_NEEDS_CALCULATION; + return pitot.delay; + break; + + case PITOTMETER_NEEDS_CALCULATION: + pitot.get(); + pitot.calculate(&pitotPressure, &pitotTemperature); + state = PITOTMETER_NEEDS_PROCESSING; + return pitot.delay; + break; + + case PITOTMETER_NEEDS_PROCESSING: + state = PITOTMETER_NEEDS_SAMPLES; + pitotPressureSum = recalculatePitotmeterTotal(pitotmeterConfig->pitot_sample_count, pitotPressureSum, pitotPressure); + return pitot.delay; + break; + } +} + +#define P0 101325.0f // standard pressure +#define CCEXPONENT 0.2857142857f // exponent of compressibility correction 2/7 +#define CASFACTOR 760.8802669f // sqrt(5) * speed of sound at standard +#define TASFACTOR 0.05891022589f // 1/sqrt(T0) + +int32_t pitotCalculateAirSpeed(void) +{ + float CalibratedAirspeed_tmp; + CalibratedAirspeed_tmp = pitotmeterConfig->pitot_scale * CASFACTOR * sqrtf(powf(fabsf(pitotPressureSum / PRESSURE_SAMPLE_COUNT) / P0 + 1.0f, CCEXPONENT) - 1.0f); + //const float CalibratedAirspeed = 1 * CASFACTOR * sqrtf(powf(fabsf(pitotPressure) / P0 + 1.0f, CCEXPONENT) - 1.0f); + + CalibratedAirspeed = CalibratedAirspeed * pitotmeterConfig->pitot_noise_lpf + CalibratedAirspeed_tmp * (1.0f - pitotmeterConfig->pitot_noise_lpf); // additional LPF to reduce baro noise + float TrueAirspeed = CalibratedAirspeed * TASFACTOR * sqrtf(pitotTemperature); + + AirSpeed = TrueAirspeed*100; + //debug[0] = (int16_t)(CalibratedAirspeed*100); + //debug[1] = (int16_t)(TrueAirspeed*100); + //debug[2] = (int16_t)((pitotTemperature-273.15f)*100); + debug[3] = AirSpeed; + + return AirSpeed; +} + +#endif /* PITOT */ diff --git a/src/main/sensors/pitotmeter.h b/src/main/sensors/pitotmeter.h new file mode 100644 index 00000000000..f54ae6cd3fa --- /dev/null +++ b/src/main/sensors/pitotmeter.h @@ -0,0 +1,38 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#pragma once + +#define PITOT_SAMPLE_COUNT_MAX 48 + +typedef struct pitotmeterConfig_s { + uint8_t pitot_sample_count; // size of pitot filter array + float pitot_noise_lpf; // additional LPF to reduce pitot noise + float pitot_scale; // scale value +} pitotmeterConfig_t; + +extern int32_t AirSpeed; + +#ifdef PITOT +void usePitotmeterConfig(pitotmeterConfig_t *pitotmeterConfigToUse); +bool isPitotCalibrationComplete(void); +void pitotSetCalibrationCycles(uint16_t calibrationCyclesRequired); +uint32_t pitotUpdate(void); +bool isPitotReady(void); +int32_t pitotCalculateAirSpeed(void); +void performPitotCalibrationCycle(void); +#endif diff --git a/src/main/sensors/sensors.h b/src/main/sensors/sensors.h index 73ce9271606..7b62b898721 100644 --- a/src/main/sensors/sensors.h +++ b/src/main/sensors/sensors.h @@ -49,6 +49,7 @@ typedef enum { SENSOR_SONAR = 1 << 4, SENSOR_GPS = 1 << 5, SENSOR_GPSMAG = 1 << 6, + SENSOR_PITOT = 1 << 7, } sensors_e; typedef enum { diff --git a/src/main/target/ANYFC/target.h b/src/main/target/ANYFC/target.h index 58d688ebf8d..4064755d2ab 100644 --- a/src/main/target/ANYFC/target.h +++ b/src/main/target/ANYFC/target.h @@ -97,6 +97,7 @@ #define USE_I2C #define I2C_DEVICE (I2CDEV_1) #define I2C_DEVICE_EXT (I2CDEV_2) +//#define USE_I2C_PULLUP //#define HIL diff --git a/src/main/target/ANYFC/target.mk b/src/main/target/ANYFC/target.mk index 40424a65f5e..7b3dbbc564a 100644 --- a/src/main/target/ANYFC/target.mk +++ b/src/main/target/ANYFC/target.mk @@ -6,5 +6,6 @@ TARGET_SRC = \ drivers/barometer_ms5611.c \ drivers/compass_hmc5883l.c \ drivers/light_ws2811strip.c \ - drivers/light_ws2811strip_stm32f4xx.c + drivers/light_ws2811strip_stm32f4xx.c \ + drivers/pitotmeter_ms4525.c diff --git a/src/main/target/STM32F3DISCOVERY/target.h b/src/main/target/STM32F3DISCOVERY/target.h index 14af3dcfb28..dde3c2acda6 100644 --- a/src/main/target/STM32F3DISCOVERY/target.h +++ b/src/main/target/STM32F3DISCOVERY/target.h @@ -85,6 +85,10 @@ #define USE_MAG_HMC5883 #define USE_MAG_MAG3110 +#define PITOT +#define USE_PITOT_MS4525 +#define PITOT_I2C_INSTANCE I2C_DEVICE + #define USE_VCP #define USE_UART1 #define USE_UART2 diff --git a/src/main/target/STM32F3DISCOVERY/target.mk b/src/main/target/STM32F3DISCOVERY/target.mk index 854f83b0453..efa788e3a33 100644 --- a/src/main/target/STM32F3DISCOVERY/target.mk +++ b/src/main/target/STM32F3DISCOVERY/target.mk @@ -26,5 +26,6 @@ TARGET_SRC = \ drivers/compass_fake.c \ drivers/compass_mag3110.c \ drivers/flash_m25p16.c \ - drivers/light_ws2811strip.c + drivers/light_ws2811strip.c \ + drivers/pitotmeter_ms4525.c diff --git a/src/main/telemetry/mavlink.c b/src/main/telemetry/mavlink.c index 88f6bc87cbd..13acf4c30d3 100755 --- a/src/main/telemetry/mavlink.c +++ b/src/main/telemetry/mavlink.c @@ -52,6 +52,7 @@ #include "sensors/barometer.h" #include "sensors/boardalignment.h" #include "sensors/battery.h" +#include "sensors/pitotmeter.h" #include "rx/rx.h" From 0d4a3988929c7a0e6ba17a4bae28043e01a7b4a2 Mon Sep 17 00:00:00 2001 From: Sami Korhonen Date: Mon, 17 Oct 2016 14:27:34 +0300 Subject: [PATCH 108/139] pitot use median filter, move zeropoint calibration into sensors, add value into smartport telemetry --- src/main/config/config.c | 2 +- src/main/config/config_master.h | 1 + src/main/drivers/pitotmeter_ms4525.c | 41 +++----------- src/main/fc/fc_init.c | 6 ++ src/main/io/serial_cli.c | 2 +- src/main/sensors/pitotmeter.c | 82 +++++++++++++++------------- src/main/sensors/pitotmeter.h | 3 +- src/main/sensors/sensors.h | 1 + src/main/telemetry/smartport.c | 11 ++++ 9 files changed, 74 insertions(+), 75 deletions(-) diff --git a/src/main/config/config.c b/src/main/config/config.c index 41a6094c5e6..4542e30cca4 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -245,7 +245,7 @@ void resetBarometerConfig(barometerConfig_t *barometerConfig) void resetPitotmeterConfig(pitotmeterConfig_t *pitotmeterConfig) { - pitotmeterConfig->pitot_sample_count = 21; + pitotmeterConfig->use_median_filtering = 1; pitotmeterConfig->pitot_noise_lpf = 0.6f; pitotmeterConfig->pitot_scale = 1.00f; } diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h index 6d24a6d0c00..60f1626761f 100644 --- a/src/main/config/config_master.h +++ b/src/main/config/config_master.h @@ -47,6 +47,7 @@ #include "sensors/barometer.h" #include "sensors/battery.h" #include "sensors/gyro.h" +#include "sensors/pitotmeter.h" #include "telemetry/telemetry.h" diff --git a/src/main/drivers/pitotmeter_ms4525.c b/src/main/drivers/pitotmeter_ms4525.c index ab71ca686af..818be957083 100644 --- a/src/main/drivers/pitotmeter_ms4525.c +++ b/src/main/drivers/pitotmeter_ms4525.c @@ -38,23 +38,18 @@ static void ms4525_calculate(float *pressure, float *temperature); static uint16_t ms4525_ut; // static result of temperature measurement static uint16_t ms4525_up; // static result of pressure measurement -static uint16_t zeropointvalue; // measured zeropoint -static bool zeropoint = false; -static uint16_t calibrationCount = 0; -static uint32_t filter_reg = 0; // Barry Dorr filter register +static uint8_t rxbuf[4]; bool ms4525Detect(pitot_t *pitot) { bool ack = false; - uint8_t sig; // Read twice to fix: // Sending a start-stop condition without any transitions on the SCL line (no clock pulses in between) creates a // communication error for the next communication, even if the next start condition is correct and the clock pulse is applied. // An additional start condition must be sent, which results in restoration of proper communication. - - ack = i2cRead( PITOT_I2C_INSTANCE, MS4525_ADDR, 0xFF, 1, &sig ); - ack = i2cRead( PITOT_I2C_INSTANCE, MS4525_ADDR, 0xFF, 1, &sig ); + ack = i2cRead( PITOT_I2C_INSTANCE, MS4525_ADDR, 0xFF, 4, rxbuf ); + ack = i2cRead( PITOT_I2C_INSTANCE, MS4525_ADDR, 0xFF, 4, rxbuf ); if (!ack) return false; @@ -68,16 +63,15 @@ bool ms4525Detect(pitot_t *pitot) static void ms4525_start(void) { - uint8_t sig; - i2cRead( PITOT_I2C_INSTANCE, MS4525_ADDR, 0xFF, 1, &sig ); + i2cRead( PITOT_I2C_INSTANCE, MS4525_ADDR, 0xFF, 4, rxbuf ); } static void ms4525_read(void) { - uint8_t rxbuf[4]; - i2cRead( PITOT_I2C_INSTANCE, MS4525_ADDR, 0xFF, 4, rxbuf ); // read ADC - ms4525_up = (rxbuf[0] << 8) | (rxbuf[1] << 0); - ms4525_ut = ((rxbuf[2] << 8) | (rxbuf[3] << 0))>>5; + if(i2cRead( PITOT_I2C_INSTANCE, MS4525_ADDR, 0xFF, 4, rxbuf )) { + ms4525_up = (rxbuf[0] << 8) | (rxbuf[1] << 0); + ms4525_ut = ((rxbuf[2] << 8) | (rxbuf[3] << 0))>>5; + } } @@ -106,24 +100,7 @@ static void ms4525_calculate(float *pressure, float *temperature) dp_raw = 0x3FFF & ms4525_up; dT_raw = ms4525_ut; - if (!zeropoint) { - if (calibrationCount <= 0) { - calibrationCount++; - filter_reg = (dp_raw << 5); - return; - } else if (calibrationCount <= 100) { - calibrationCount++; - filter_reg = filter_reg - (filter_reg >> 5) + dp_raw; - if (calibrationCount > 100) { - zeropointvalue = (uint16_t)(filter_reg >> 5); - zeropoint=true; - calibrationCount = 0; - } - return; - } - } - - float dP = (10 * (int32_t)(dp_raw - zeropointvalue)) * 0.1052120688f; + float dP = (10 * (int32_t)(dp_raw)) * 0.1052120688f; float T = (float)(200 * (int32_t)dT_raw - 102350) / 2047 + 273.15f; if (pressure) diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c index 50d47c97caa..61164d86521 100644 --- a/src/main/fc/fc_init.c +++ b/src/main/fc/fc_init.c @@ -402,6 +402,9 @@ void init(void) } #else i2cInit(I2C_DEVICE); +#if defined(I2C_DEVICE_EXT) + i2cInit(I2C_DEVICE_EXT); +#endif #endif #endif @@ -571,6 +574,9 @@ void init(void) #ifdef BARO baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES); #endif +#ifdef PITOT + pitotSetCalibrationCycles(CALIBRATING_PITOT_CYCLES); +#endif // start all timers // TODO - not implemented yet diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index da6f698e9d9..15796e522d3 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -843,7 +843,7 @@ const clivalue_t valueTable[] = { #endif #ifdef PITOT - { "pitot_tab_size", VAR_UINT8 | MASTER_VALUE, &masterConfig.pitotmeterConfig.pitot_sample_count, .config.minmax = { 0, PITOT_SAMPLE_COUNT_MAX }, 0 }, + { "pitot_use_median_filter", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.pitotmeterConfig.use_median_filtering, .config.lookup = { TABLE_OFF_ON }, 0 }, { "pitot_noise_lpf", VAR_FLOAT | MASTER_VALUE, &masterConfig.pitotmeterConfig.pitot_noise_lpf, .config.minmax = { 0, 1 }, 0 }, { "pitot_scale", VAR_FLOAT | MASTER_VALUE, &masterConfig.pitotmeterConfig.pitot_scale, .config.minmax = { 0, 100 }, 0 }, #endif diff --git a/src/main/sensors/pitotmeter.c b/src/main/sensors/pitotmeter.c index 664c77ac038..b6bd5551981 100644 --- a/src/main/sensors/pitotmeter.c +++ b/src/main/sensors/pitotmeter.c @@ -35,8 +35,8 @@ int32_t AirSpeed = 0; #ifdef PITOT -static float pitotPressureSum = 0; -static uint16_t calibratingP = 0; // baro calibration = get new ground pressure value +static float pitotPressureZero = 0; +static uint16_t calibratingP = 0; // pitot calibration = get new zero pressure value static float pitotPressure = 0; static float pitotTemperature = 0; static float CalibratedAirspeed = 0; @@ -60,36 +60,33 @@ void pitotSetCalibrationCycles(uint16_t calibrationCyclesRequired) static bool pitotReady = false; -#define PRESSURE_SAMPLE_COUNT (pitotmeterConfig->pitot_sample_count - 1) +#define PRESSURE_SAMPLES_MEDIAN 3 -static float recalculatePitotmeterTotal(uint8_t pitotSampleCount, float pressureTotal, float newPressureReading) +static int32_t applyPitotmeterMedianFilter(int32_t newPressureReading) { - static float pitotmeterSamples[PITOT_SAMPLE_COUNT_MAX]; - static int currentSampleIndex = 0; + static int32_t barometerFilterSamples[PRESSURE_SAMPLES_MEDIAN]; + static int currentFilterSampleIndex = 0; + static bool medianFilterReady = false; int nextSampleIndex; - // store current pressure in pitotmeterSamples - nextSampleIndex = (currentSampleIndex + 1); - if (nextSampleIndex == pitotSampleCount) { + nextSampleIndex = (currentFilterSampleIndex + 1); + if (nextSampleIndex == PRESSURE_SAMPLES_MEDIAN) { nextSampleIndex = 0; - pitotReady = true; + medianFilterReady = true; } - pitotmeterSamples[currentSampleIndex] = newPressureReading; - // recalculate pressure total - // Note, the pressure total is made up of pitotSampleCount - 1 samples - See PRESSURE_SAMPLE_COUNT - pressureTotal += pitotmeterSamples[currentSampleIndex]; - pressureTotal -= pitotmeterSamples[nextSampleIndex]; + barometerFilterSamples[currentFilterSampleIndex] = newPressureReading; + currentFilterSampleIndex = nextSampleIndex; - currentSampleIndex = nextSampleIndex; - - return pressureTotal; + if (medianFilterReady) + return quickMedianFilter3(barometerFilterSamples); + else + return newPressureReading; } typedef enum { PITOTMETER_NEEDS_SAMPLES = 0, PITOTMETER_NEEDS_CALCULATION, - PITOTMETER_NEEDS_PROCESSING } pitotmeterState_e; @@ -112,14 +109,11 @@ uint32_t pitotUpdate(void) case PITOTMETER_NEEDS_CALCULATION: pitot.get(); pitot.calculate(&pitotPressure, &pitotTemperature); - state = PITOTMETER_NEEDS_PROCESSING; - return pitot.delay; - break; - - case PITOTMETER_NEEDS_PROCESSING: + if (pitotmeterConfig->use_median_filtering) { + pitotPressure = applyPitotmeterMedianFilter(pitotPressure); + } state = PITOTMETER_NEEDS_SAMPLES; - pitotPressureSum = recalculatePitotmeterTotal(pitotmeterConfig->pitot_sample_count, pitotPressureSum, pitotPressure); - return pitot.delay; + return pitot.delay; break; } } @@ -129,21 +123,31 @@ uint32_t pitotUpdate(void) #define CASFACTOR 760.8802669f // sqrt(5) * speed of sound at standard #define TASFACTOR 0.05891022589f // 1/sqrt(T0) -int32_t pitotCalculateAirSpeed(void) +static void performPitotCalibrationCycle(void) { - float CalibratedAirspeed_tmp; - CalibratedAirspeed_tmp = pitotmeterConfig->pitot_scale * CASFACTOR * sqrtf(powf(fabsf(pitotPressureSum / PRESSURE_SAMPLE_COUNT) / P0 + 1.0f, CCEXPONENT) - 1.0f); - //const float CalibratedAirspeed = 1 * CASFACTOR * sqrtf(powf(fabsf(pitotPressure) / P0 + 1.0f, CCEXPONENT) - 1.0f); - - CalibratedAirspeed = CalibratedAirspeed * pitotmeterConfig->pitot_noise_lpf + CalibratedAirspeed_tmp * (1.0f - pitotmeterConfig->pitot_noise_lpf); // additional LPF to reduce baro noise - float TrueAirspeed = CalibratedAirspeed * TASFACTOR * sqrtf(pitotTemperature); - - AirSpeed = TrueAirspeed*100; - //debug[0] = (int16_t)(CalibratedAirspeed*100); - //debug[1] = (int16_t)(TrueAirspeed*100); - //debug[2] = (int16_t)((pitotTemperature-273.15f)*100); - debug[3] = AirSpeed; + pitotPressureZero -= pitotPressureZero / 8; + pitotPressureZero += pitotPressure / 8; + calibratingP--; +} +int32_t pitotCalculateAirSpeed(void) +{ + if (!isPitotCalibrationComplete()) { + performPitotCalibrationCycle(); + AirSpeed = 0; + } + else { + float CalibratedAirspeed_tmp; + CalibratedAirspeed_tmp = pitotmeterConfig->pitot_scale * CASFACTOR * sqrtf(powf(fabsf(pitotPressure - pitotPressureZero) / P0 + 1.0f, CCEXPONENT) - 1.0f); + CalibratedAirspeed = CalibratedAirspeed * pitotmeterConfig->pitot_noise_lpf + CalibratedAirspeed_tmp * (1.0f - pitotmeterConfig->pitot_noise_lpf); // additional LPF to reduce baro noise + float TrueAirspeed = CalibratedAirspeed * TASFACTOR * sqrtf(pitotTemperature); + + AirSpeed = TrueAirspeed*100; + //debug[0] = (int16_t)(CalibratedAirspeed*100); + //debug[1] = (int16_t)(TrueAirspeed*100); + //debug[2] = (int16_t)((pitotTemperature-273.15f)*100); + //debug[3] = AirSpeed; + } return AirSpeed; } diff --git a/src/main/sensors/pitotmeter.h b/src/main/sensors/pitotmeter.h index f54ae6cd3fa..fb11bb7bb2d 100644 --- a/src/main/sensors/pitotmeter.h +++ b/src/main/sensors/pitotmeter.h @@ -20,7 +20,7 @@ #define PITOT_SAMPLE_COUNT_MAX 48 typedef struct pitotmeterConfig_s { - uint8_t pitot_sample_count; // size of pitot filter array + uint8_t use_median_filtering; // Use 3-point median filtering float pitot_noise_lpf; // additional LPF to reduce pitot noise float pitot_scale; // scale value } pitotmeterConfig_t; @@ -34,5 +34,4 @@ void pitotSetCalibrationCycles(uint16_t calibrationCyclesRequired); uint32_t pitotUpdate(void); bool isPitotReady(void); int32_t pitotCalculateAirSpeed(void); -void performPitotCalibrationCycle(void); #endif diff --git a/src/main/sensors/sensors.h b/src/main/sensors/sensors.h index 7b62b898721..193d572905b 100644 --- a/src/main/sensors/sensors.h +++ b/src/main/sensors/sensors.h @@ -40,6 +40,7 @@ typedef union flightDynamicsTrims_u { #define CALIBRATING_GYRO_CYCLES 1000 #define CALIBRATING_ACC_CYCLES 400 #define CALIBRATING_BARO_CYCLES 200 // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles +#define CALIBRATING_PITOT_CYCLES 200 typedef enum { SENSOR_GYRO = 1 << 0, // always present diff --git a/src/main/telemetry/smartport.c b/src/main/telemetry/smartport.c index 58cdd793751..cf91c8a7c2b 100644 --- a/src/main/telemetry/smartport.c +++ b/src/main/telemetry/smartport.c @@ -31,6 +31,7 @@ #include "sensors/acceleration.h" #include "sensors/battery.h" #include "sensors/barometer.h" +#include "sensors/pitotmeter.h" #include "flight/imu.h" #include "flight/navigation_rewrite.h" @@ -86,6 +87,7 @@ enum FSSP_DATAID_T1 = 0x0400 , FSSP_DATAID_T2 = 0x0410 , FSSP_DATAID_GPS_ALT = 0x0820 , + FSSP_DATAID_ASPD = 0x0A00 , }; const uint16_t frSkyDataIdTable[] = { @@ -110,6 +112,7 @@ const uint16_t frSkyDataIdTable[] = { FSSP_DATAID_T1 , FSSP_DATAID_T2 , FSSP_DATAID_GPS_ALT , + FSSP_DATAID_ASPD , 0 }; @@ -442,6 +445,14 @@ void handleSmartPortTelemetry(void) smartPortHasRequest = 0; } break; +#endif +#ifdef PITOT + case FSSP_DATAID_ASPD : + if (sensors(SENSOR_PITOT)) { + smartPortSendPackage(id, AirSpeed*0.194384449f); // cm/s to knots*10 + smartPortHasRequest = 0; + } + break; #endif default: break; From 1ae686435b699612cc72b5f8203060a3131e8503 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Sat, 12 Nov 2016 22:47:41 +1000 Subject: [PATCH 109/139] Allow failsafe to override MOTOR_STOP to allow failsafe procedure correctly execute when activated from zero throttle state --- src/main/flight/mixer.c | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c index 18bcd83a03a..c41caa64003 100755 --- a/src/main/flight/mixer.c +++ b/src/main/flight/mixer.c @@ -499,7 +499,7 @@ void mixTable(void) } // Motor stop handling - if (feature(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !feature(FEATURE_3D)) { + if (feature(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !feature(FEATURE_3D) && !isFailsafeActive) { if (((rcData[THROTTLE]) < rxConfig->mincheck) || STATE(NAV_MOTOR_STOP_OR_IDLE)) { motor[i] = motorConfig->mincommand; } @@ -511,4 +511,3 @@ void mixTable(void) } } } - From 3043fd42c44421cf01d675b75ab09461dc0be60d Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Thu, 1 Sep 2016 22:13:09 +1000 Subject: [PATCH 110/139] Optimise residual calculation in position estimator GPS position reset; GPS/BARO offset calculation Use real GPS EPH/EPV when available; Trust GPS data less if error is large; Different EPH/EPV calculation logic; Log EPH/EPV to blackbox Increase EPH/EPV only if correction was not applied; Typo fix Optimisations to EPH/EPV --- src/main/blackbox/blackbox.c | 10 + src/main/common/maths.c | 4 + src/main/common/maths.h | 3 + src/main/flight/navigation_rewrite.c | 2 + src/main/flight/navigation_rewrite.h | 2 + .../flight/navigation_rewrite_pos_estimator.c | 233 +++++++++++++----- src/main/io/gps.c | 6 + src/main/io/gps_ublox.c | 1 + 8 files changed, 196 insertions(+), 65 deletions(-) diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c index 654c1e10935..908660dcdad 100644 --- a/src/main/blackbox/blackbox.c +++ b/src/main/blackbox/blackbox.c @@ -239,6 +239,8 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = { #ifdef NAV_BLACKBOX {"navState", -1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"navFlags", -1, UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, + {"navEPH", -1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, + {"navEPV", -1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"navPos", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"navPos", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"navPos", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, @@ -342,6 +344,8 @@ typedef struct blackboxMainState_s { #ifdef NAV_BLACKBOX int16_t navState; uint16_t navFlags; + uint16_t navEPH; + uint16_t navEPV; int32_t navPos[XYZ_AXIS_COUNT]; int16_t navRealVel[XYZ_AXIS_COUNT]; int16_t navAccNEU[XYZ_AXIS_COUNT]; @@ -636,6 +640,8 @@ static void writeIntraframe(void) blackboxWriteSignedVB(blackboxCurrent->navState); blackboxWriteSignedVB(blackboxCurrent->navFlags); + blackboxWriteSignedVB(blackboxCurrent->navEPH); + blackboxWriteSignedVB(blackboxCurrent->navEPV); for (x = 0; x < XYZ_AXIS_COUNT; x++) { blackboxWriteSignedVB(blackboxCurrent->navPos[x]); @@ -793,6 +799,8 @@ static void writeInterframe(void) blackboxWriteSignedVB(blackboxCurrent->navState - blackboxLast->navState); blackboxWriteSignedVB(blackboxCurrent->navFlags - blackboxLast->navFlags); + blackboxWriteSignedVB(blackboxCurrent->navEPH - blackboxLast->navEPH); + blackboxWriteSignedVB(blackboxCurrent->navEPV - blackboxLast->navEPV); for (x = 0; x < XYZ_AXIS_COUNT; x++) { blackboxWriteSignedVB(blackboxCurrent->navPos[x] - blackboxLast->navPos[x]); @@ -1123,6 +1131,8 @@ static void loadMainState(uint32_t currentTime) #ifdef NAV_BLACKBOX blackboxCurrent->navState = navCurrentState; blackboxCurrent->navFlags = navFlags; + blackboxCurrent->navEPH = navEPH; + blackboxCurrent->navEPV = navEPV; for (i = 0; i < XYZ_AXIS_COUNT; i++) { blackboxCurrent->navPos[i] = navLatestActualPosition[i]; blackboxCurrent->navRealVel[i] = navActualVelocity[i]; diff --git a/src/main/common/maths.c b/src/main/common/maths.c index 6b5886d2d87..98c7eaa4732 100644 --- a/src/main/common/maths.c +++ b/src/main/common/maths.c @@ -459,3 +459,7 @@ uint16_t crc16_ccitt(uint16_t crc, unsigned char a) return crc; } +float bellCurve(const float x, const float curveWidth) +{ + return powf(M_Ef, -sq(x) / (2.0f * sq(curveWidth))); +} \ No newline at end of file diff --git a/src/main/common/maths.h b/src/main/common/maths.h index 40d48d9af4e..c3c488fa085 100644 --- a/src/main/common/maths.h +++ b/src/main/common/maths.h @@ -28,6 +28,7 @@ // Use floating point M_PI instead explicitly. #define M_PIf 3.14159265358979323846f #define M_LN2f 0.69314718055994530942f +#define M_Ef 2.71828182845904523536f #define RAD (M_PIf / 180.0f) @@ -170,3 +171,5 @@ float acos_approx(float x); void arraySubInt32(int32_t *dest, int32_t *array1, int32_t *array2, int count); uint16_t crc16_ccitt(uint16_t crc, unsigned char a); + +float bellCurve(const float x, const float curveWidth); \ No newline at end of file diff --git a/src/main/flight/navigation_rewrite.c b/src/main/flight/navigation_rewrite.c index 4acded62087..e3602dbc2ff 100755 --- a/src/main/flight/navigation_rewrite.c +++ b/src/main/flight/navigation_rewrite.c @@ -68,6 +68,8 @@ int32_t navLatestActualPosition[3]; int16_t navTargetSurface; int16_t navActualSurface; uint16_t navFlags; +uint16_t navEPH; +uint16_t navEPV; int16_t navAccNEU[3]; #endif int16_t navDebug[4]; diff --git a/src/main/flight/navigation_rewrite.h b/src/main/flight/navigation_rewrite.h index c9ac6060e7d..f74aae5f583 100755 --- a/src/main/flight/navigation_rewrite.h +++ b/src/main/flight/navigation_rewrite.h @@ -292,6 +292,8 @@ extern int16_t navTargetSurface; extern int16_t navActualSurface; extern int16_t navDebug[4]; extern uint16_t navFlags; +extern uint16_t navEPH; +extern uint16_t navEPV; extern int16_t navAccNEU[3]; #if defined(BLACKBOX) #define NAV_BLACKBOX_DEBUG(x,y) navDebug[x] = constrain((y), -32678, 32767) diff --git a/src/main/flight/navigation_rewrite_pos_estimator.c b/src/main/flight/navigation_rewrite_pos_estimator.c index b56ceced257..f841efd9038 100755 --- a/src/main/flight/navigation_rewrite_pos_estimator.c +++ b/src/main/flight/navigation_rewrite_pos_estimator.c @@ -54,8 +54,10 @@ * Based on INAV position estimator for PX4 by Anton Babushkin * @author Konstantin Sharlaimov */ -#define INAV_GPS_EPV 500.0f // 5m GPS VDOP -#define INAV_GPS_EPH 200.0f // 2m GPS HDOP (gives about 1.6s of dead-reckoning if GPS is temporary lost) +#define INAV_GPS_DEFAULT_EPH 200.0f // 2m GPS HDOP (gives about 1.6s of dead-reckoning if GPS is temporary lost) +#define INAV_GPS_DEFAULT_EPV 500.0f // 5m GPS VDOP + +#define INAV_GPS_ACCEPTANCE_EPE 500.0f // 5m acceptance radius #define INAV_GPS_GLITCH_RADIUS 250.0f // 2.5m GPS glitch radius #define INAV_GPS_GLITCH_ACCEL 1000.0f // 10m/s/s max possible acceleration for GPS glitch detection @@ -106,6 +108,7 @@ typedef struct { uint32_t lastUpdateTime; // Last update time (us) t_fp_vector pos; t_fp_vector vel; + float baroOffset; float surface; float surfaceVel; float eph; @@ -323,8 +326,14 @@ void onNewGPSData(void) #endif /* FIXME: use HDOP/VDOP */ - posEstimator.gps.eph = INAV_GPS_EPH; - posEstimator.gps.epv = INAV_GPS_EPV; + if (gpsSol.flags.validEPE) { + posEstimator.gps.eph = gpsSol.eph; + posEstimator.gps.epv = gpsSol.epv; + } + else { + posEstimator.gps.eph = INAV_GPS_DEFAULT_EPH; + posEstimator.gps.epv = INAV_GPS_DEFAULT_EPV; + } /* Indicate a last valid reading of Pos/Vel */ posEstimator.gps.lastUpdateTime = currentTime; @@ -458,6 +467,11 @@ static void updateIMUTopic(void) } } +static float updateEPE(const float oldEPE, const float dt, const float newEPE, const float w) +{ + return oldEPE + (newEPE - oldEPE) * w * dt; +} + /** * Calculate next estimate using IMU and apply corrections from reference sensors (GPS, BARO etc) * Function is called at main loop rate @@ -475,15 +489,19 @@ static void updateEstimatedTopic(uint32_t currentTime) return; } - /* increase EPH/EPV on each iteration */ - if (posEstimator.est.eph <= posControl.navConfig->estimation.max_eph_epv) { - posEstimator.est.eph *= 1.0f + dt; + /* Calculate new EPH and EPV for the case we didn't update postion */ + float newEPH = posEstimator.est.eph; + float newEPV = posEstimator.est.epv; + + if (newEPH <= posControl.navConfig->estimation.max_eph_epv) { + newEPH *= 1.0f + dt; } - if (posEstimator.est.epv <= posControl.navConfig->estimation.max_eph_epv) { - posEstimator.est.epv *= 1.0f + dt; + if (newEPV <= posControl.navConfig->estimation.max_eph_epv) { + newEPV *= 1.0f + dt; } + /* Figure out if we have valid position data from our data sources */ bool isGPSValid = sensors(SENSOR_GPS) && posControl.gpsOrigin.valid && ((currentTime - posEstimator.gps.lastUpdateTime) <= MS2US(INAV_GPS_TIMEOUT_MS)); bool isBaroValid = sensors(SENSOR_BARO) && ((currentTime - posEstimator.baro.lastUpdateTime) <= MS2US(INAV_BARO_TIMEOUT_MS)); @@ -526,105 +544,177 @@ static void updateEstimatedTopic(uint32_t currentTime) /* GPS correction for velocity might be used on all aircrafts */ bool useGpsZVel = isGPSValid; + /* Estimate validity */ + bool isEstXYValid = (posEstimator.est.eph < posControl.navConfig->estimation.max_eph_epv); + bool isEstZValid = (posEstimator.est.epv < posControl.navConfig->estimation.max_eph_epv); + + /* Handle GPS loss and recovery */ + if (isGPSValid) { + bool positionWasReset = false; + + /* If GPS is valid and our estimate is NOT valid - reset it to GPS coordinates and velocity */ + if (!isEstXYValid) { + posEstimator.est.pos.V.X = posEstimator.gps.pos.V.X; + posEstimator.est.pos.V.Y = posEstimator.gps.pos.V.Y; + posEstimator.est.vel.V.X = posEstimator.gps.vel.V.X; + posEstimator.est.vel.V.Y = posEstimator.gps.vel.V.Y; + newEPH = posEstimator.gps.eph; + positionWasReset = true; + } + + if (!isEstZValid && useGpsZPos) { + posEstimator.est.pos.V.Z = posEstimator.gps.pos.V.Z; + posEstimator.est.vel.V.Z = posEstimator.gps.vel.V.Z; + newEPV = posEstimator.gps.epv; + positionWasReset = true; + } + + /* If position was reset we need to reset history as well */ + if (positionWasReset) { + for (int i = 0; i < INAV_HISTORY_BUF_SIZE; i++) { + posEstimator.history.pos[i] = posEstimator.est.pos; + posEstimator.history.vel[i] = posEstimator.est.vel; + } + + posEstimator.history.index = 0; + } + } + /* Pre-calculate history index for GPS delay compensation */ int gpsHistoryIndex = (posEstimator.history.index - 1) - constrain(((int)posControl.navConfig->estimation.gps_delay_ms / (1000 / INAV_POSITION_PUBLISH_RATE_HZ)), 0, INAV_HISTORY_BUF_SIZE - 1); if (gpsHistoryIndex < 0) { gpsHistoryIndex += INAV_HISTORY_BUF_SIZE; } - /* Correct accelerometer bias */ - if (posControl.navConfig->estimation.w_acc_bias > 0) { - accelBiasCorr.V.X = 0; - accelBiasCorr.V.Y = 0; - accelBiasCorr.V.Z = 0; - - /* accelerometer bias correction for GPS */ - if (isGPSValid) { - accelBiasCorr.V.X -= (posEstimator.gps.pos.V.X - posEstimator.history.pos[gpsHistoryIndex].V.X) * sq(posControl.navConfig->estimation.w_xy_gps_p); - accelBiasCorr.V.X -= (posEstimator.gps.vel.V.X - posEstimator.history.vel[gpsHistoryIndex].V.X) * posControl.navConfig->estimation.w_xy_gps_v; - accelBiasCorr.V.Y -= (posEstimator.gps.pos.V.Y - posEstimator.history.pos[gpsHistoryIndex].V.Y) * sq(posControl.navConfig->estimation.w_xy_gps_p); - accelBiasCorr.V.Y -= (posEstimator.gps.vel.V.Y - posEstimator.history.vel[gpsHistoryIndex].V.Y) * posControl.navConfig->estimation.w_xy_gps_v; - - if (useGpsZPos) { - accelBiasCorr.V.Z -= (posEstimator.gps.pos.V.Z - posEstimator.history.pos[gpsHistoryIndex].V.Z) * sq(posControl.navConfig->estimation.w_z_gps_p); - } + /* Prediction step: Z-axis */ + if (isEstZValid || useGpsZPos || isBaroValid) { + inavFilterPredict(Z, dt, posEstimator.imu.accelNEU.V.Z); + } - if (useGpsZVel) { - accelBiasCorr.V.Z -= (posEstimator.gps.vel.V.Z - posEstimator.history.vel[gpsHistoryIndex].V.Z) * posControl.navConfig->estimation.w_z_gps_v; - } + /* Prediction step: XY-axis */ + if ((isEstXYValid || isGPSValid) && isImuHeadingValid()) { + inavFilterPredict(X, dt, posEstimator.imu.accelNEU.V.X); + inavFilterPredict(Y, dt, posEstimator.imu.accelNEU.V.Y); + } - } + /* Calculate residual */ + float gpsResidual[3][2]; + float baroResidual; + + if (isGPSValid) { + gpsResidual[X][0] = posEstimator.gps.pos.V.X - posEstimator.history.pos[gpsHistoryIndex].V.X; + gpsResidual[Y][0] = posEstimator.gps.pos.V.Y - posEstimator.history.pos[gpsHistoryIndex].V.Y; + gpsResidual[Z][0] = posEstimator.gps.pos.V.Z - posEstimator.history.pos[gpsHistoryIndex].V.Z; + gpsResidual[X][1] = posEstimator.gps.vel.V.X - posEstimator.history.vel[gpsHistoryIndex].V.X; + gpsResidual[Y][1] = posEstimator.gps.vel.V.Y - posEstimator.history.vel[gpsHistoryIndex].V.Y; + gpsResidual[Z][1] = posEstimator.gps.vel.V.Z - posEstimator.history.vel[gpsHistoryIndex].V.Z; + } - /* accelerometer bias correction for baro */ - if (isBaroValid && !isAirCushionEffectDetected) { - accelBiasCorr.V.Z -= (posEstimator.baro.alt - posEstimator.est.pos.V.Z) * sq(posControl.navConfig->estimation.w_z_baro_p); + if (isBaroValid) { + /* If we are going to use GPS Z-position - calculate and apply barometer offset */ + if (useGpsZPos) { + posEstimator.est.baroOffset += ((posEstimator.baro.alt - posEstimator.gps.pos.V.Z) - posEstimator.est.baroOffset) * posControl.navConfig->estimation.w_z_gps_p; + posEstimator.baro.alt -= posEstimator.est.baroOffset; } - /* transform error vector from NEU frame to body frame */ - imuTransformVectorEarthToBody(&accelBiasCorr); - - /* Correct accel bias */ - posEstimator.imu.accelBias.V.X += accelBiasCorr.V.X * posControl.navConfig->estimation.w_acc_bias * dt; - posEstimator.imu.accelBias.V.Y += accelBiasCorr.V.Y * posControl.navConfig->estimation.w_acc_bias * dt; - posEstimator.imu.accelBias.V.Z += accelBiasCorr.V.Z * posControl.navConfig->estimation.w_acc_bias * dt; + baroResidual = (isAirCushionEffectDetected ? posEstimator.state.baroGroundAlt : posEstimator.baro.alt) - posEstimator.est.pos.V.Z; } - /* Estimate Z-axis */ - if ((posEstimator.est.epv < posControl.navConfig->estimation.max_eph_epv) || useGpsZPos || isBaroValid) { - /* Predict position/velocity based on acceleration */ - inavFilterPredict(Z, dt, posEstimator.imu.accelNEU.V.Z); + /* Correction step: Z-axis */ + if (isEstZValid || useGpsZPos || isBaroValid) { + float gpsWeightScaler = 1.0f; #if defined(BARO) if (isBaroValid) { - float baroError = (isAirCushionEffectDetected ? posEstimator.state.baroGroundAlt : posEstimator.baro.alt) - posEstimator.est.pos.V.Z; - /* Apply only baro correction, no sonar */ - inavFilterCorrectPos(Z, dt, baroError, posControl.navConfig->estimation.w_z_baro_p); + inavFilterCorrectPos(Z, dt, baroResidual, posControl.navConfig->estimation.w_z_baro_p); /* Adjust EPV */ - posEstimator.est.epv = MIN(posEstimator.est.epv, posEstimator.baro.epv); + newEPV = updateEPE(posEstimator.est.epv, dt, posEstimator.baro.epv, posControl.navConfig->estimation.w_z_baro_p); } #endif /* Apply GPS correction to altitude */ if (useGpsZPos) { - inavFilterCorrectPos(Z, dt, posEstimator.gps.pos.V.Z - posEstimator.history.pos[gpsHistoryIndex].V.Z, posControl.navConfig->estimation.w_z_gps_p); - posEstimator.est.epv = MIN(posEstimator.est.epv, posEstimator.gps.epv); + /* + gpsWeightScaler = scaleRangef(bellCurve(gpsResidual[Z][0], INAV_GPS_ACCEPTANCE_EPE), 0.0f, 1.0f, 0.1f, 1.0f); + inavFilterCorrectPos(Z, dt, gpsResidual[Z][0], posControl.navConfig->estimation.w_xy_gps_p * gpsWeightScaler); + */ + inavFilterCorrectPos(Z, dt, gpsResidual[Z][0], posControl.navConfig->estimation.w_xy_gps_p * gpsWeightScaler); + + /* Adjust EPV */ + newEPV = updateEPE(posEstimator.est.epv, dt, MAX(posEstimator.gps.epv, gpsResidual[Z][0]), posControl.navConfig->estimation.w_z_gps_p); } /* Apply GPS correction to climb rate */ if (useGpsZVel) { - inavFilterCorrectVel(Z, dt, posEstimator.gps.vel.V.Z - posEstimator.history.vel[gpsHistoryIndex].V.Z, posControl.navConfig->estimation.w_z_gps_v); + inavFilterCorrectVel(Z, dt, gpsResidual[Z][1], posControl.navConfig->estimation.w_z_gps_v * sq(gpsWeightScaler)); } } else { inavFilterCorrectVel(Z, dt, 0.0f - posEstimator.est.vel.V.Z, posControl.navConfig->estimation.w_z_res_v); } - /* Estimate XY-axis only if heading is valid (X-Y acceleration is North-East)*/ - if ((posEstimator.est.eph < posControl.navConfig->estimation.max_eph_epv) || isGPSValid) { - if (isImuHeadingValid()) { - inavFilterPredict(X, dt, posEstimator.imu.accelNEU.V.X); - inavFilterPredict(Y, dt, posEstimator.imu.accelNEU.V.Y); - } + /* Correct position from GPS - always if GPS is valid */ + if (isGPSValid) { + const float gpsResidualMagnitude = sqrtf(sq(gpsResidual[X][0]) + sq(gpsResidual[Y][0])); + //const float gpsWeightScaler = scaleRangef(bellCurve(gpsResidualMagnitude, INAV_GPS_ACCEPTANCE_EPE), 0.0f, 1.0f, 0.1f, 1.0f); + const float gpsWeightScaler = 1.0f; - /* Correct position from GPS - always if GPS is valid */ - if (isGPSValid) { - inavFilterCorrectPos(X, dt, posEstimator.gps.pos.V.X - posEstimator.history.pos[gpsHistoryIndex].V.X, posControl.navConfig->estimation.w_xy_gps_p); - inavFilterCorrectPos(Y, dt, posEstimator.gps.pos.V.Y - posEstimator.history.pos[gpsHistoryIndex].V.Y, posControl.navConfig->estimation.w_xy_gps_p); + const float w_xy_gps_p = posControl.navConfig->estimation.w_xy_gps_p * gpsWeightScaler; + const float w_xy_gps_v = posControl.navConfig->estimation.w_xy_gps_v * sq(gpsWeightScaler); - inavFilterCorrectVel(X, dt, posEstimator.gps.vel.V.X - posEstimator.history.vel[gpsHistoryIndex].V.X, posControl.navConfig->estimation.w_xy_gps_v); - inavFilterCorrectVel(Y, dt, posEstimator.gps.vel.V.Y - posEstimator.history.vel[gpsHistoryIndex].V.Y, posControl.navConfig->estimation.w_xy_gps_v); + inavFilterCorrectPos(X, dt, gpsResidual[X][0], w_xy_gps_p); + inavFilterCorrectPos(Y, dt, gpsResidual[Y][0], w_xy_gps_p); - /* Adjust EPH */ - posEstimator.est.eph = MIN(posEstimator.est.eph, posEstimator.gps.eph); - } + inavFilterCorrectVel(X, dt, gpsResidual[X][1], w_xy_gps_v); + inavFilterCorrectVel(Y, dt, gpsResidual[Y][1], w_xy_gps_v); + + /* Adjust EPH */ + newEPH = updateEPE(posEstimator.est.eph, dt, MAX(posEstimator.gps.eph, gpsResidualMagnitude), posControl.navConfig->estimation.w_xy_gps_p); } else { inavFilterCorrectVel(X, dt, 0.0f - posEstimator.est.vel.V.X, posControl.navConfig->estimation.w_xy_res_v); inavFilterCorrectVel(Y, dt, 0.0f - posEstimator.est.vel.V.Y, posControl.navConfig->estimation.w_xy_res_v); } + /* Correct accelerometer bias */ + if (posControl.navConfig->estimation.w_acc_bias > 0) { + accelBiasCorr.V.X = 0; + accelBiasCorr.V.Y = 0; + accelBiasCorr.V.Z = 0; + + /* accelerometer bias correction for GPS */ + if (isGPSValid) { + accelBiasCorr.V.X -= gpsResidual[X][0] * sq(posControl.navConfig->estimation.w_xy_gps_p); + accelBiasCorr.V.X -= gpsResidual[X][1] * posControl.navConfig->estimation.w_xy_gps_v; + accelBiasCorr.V.Y -= gpsResidual[Y][0] * sq(posControl.navConfig->estimation.w_xy_gps_p); + accelBiasCorr.V.Y -= gpsResidual[Y][1] * posControl.navConfig->estimation.w_xy_gps_v; + + if (useGpsZPos) { + accelBiasCorr.V.Z -= gpsResidual[Z][0] * sq(posControl.navConfig->estimation.w_z_gps_p); + } + + if (useGpsZVel) { + accelBiasCorr.V.Z -= gpsResidual[Z][1] * posControl.navConfig->estimation.w_z_gps_v; + } + + } + + /* accelerometer bias correction for baro */ + if (isBaroValid && !isAirCushionEffectDetected) { + accelBiasCorr.V.Z -= baroResidual * sq(posControl.navConfig->estimation.w_z_baro_p); + } + + /* transform error vector from NEU frame to body frame */ + imuTransformVectorEarthToBody(&accelBiasCorr); + + /* Correct accel bias */ + posEstimator.imu.accelBias.V.X += accelBiasCorr.V.X * posControl.navConfig->estimation.w_acc_bias * dt; + posEstimator.imu.accelBias.V.Y += accelBiasCorr.V.Y * posControl.navConfig->estimation.w_acc_bias * dt; + posEstimator.imu.accelBias.V.Z += accelBiasCorr.V.Z * posControl.navConfig->estimation.w_acc_bias * dt; + } + /* Surface offset */ #if defined(SONAR) if (isSonarValid) { @@ -639,6 +729,10 @@ static void updateEstimatedTopic(uint32_t currentTime) posEstimator.est.surface = -1; posEstimator.est.surfaceVel = 0; #endif + + /* Update uncertainty */ + posEstimator.est.eph = newEPH; + posEstimator.est.epv = newEPV; } /** @@ -685,6 +779,11 @@ static void publishEstimatedTopic(uint32_t currentTime) if (posEstimator.history.index >= INAV_HISTORY_BUF_SIZE) { posEstimator.history.index = 0; } + +#if defined(NAV_BLACKBOX) + navEPH = posEstimator.est.eph; + navEPV = posEstimator.est.epv; +#endif } } @@ -710,6 +809,10 @@ void initializePositionEstimator(void) posEstimator.baro.lastUpdateTime = 0; posEstimator.sonar.lastUpdateTime = 0; + posEstimator.est.surface = 0; + posEstimator.est.surfaceVel = 0; + posEstimator.est.baroOffset = 0; + posEstimator.history.index = 0; for (axis = 0; axis < 3; axis++) { diff --git a/src/main/io/gps.c b/src/main/io/gps.c index f919af41481..7c254fa115b 100755 --- a/src/main/io/gps.c +++ b/src/main/io/gps.c @@ -132,6 +132,11 @@ static void gpsHandleProtocol(void) ENABLE_STATE(GPS_FIX); } else { + /* When no fix available - reset flags as well */ + gpsSol.flags.validVelNE = 0; + gpsSol.flags.validVelD = 0; + gpsSol.flags.validEPE = 0; + DISABLE_STATE(GPS_FIX); } @@ -158,6 +163,7 @@ static void gpsResetSolution(void) gpsSol.flags.validVelNE = 0; gpsSol.flags.validVelD = 0; gpsSol.flags.validMag = 0; + gpsSol.flags.validEPE = 0; } void gpsPreInit(gpsConfig_t *initialGpsConfig) diff --git a/src/main/io/gps_ublox.c b/src/main/io/gps_ublox.c index 75d97c20365..0dbac8acbeb 100755 --- a/src/main/io/gps_ublox.c +++ b/src/main/io/gps_ublox.c @@ -371,6 +371,7 @@ static bool gpsParceFrameUBLOX(void) gpsSol.llh.alt = _buffer.posllh.altitude_msl / 10; //alt in cm gpsSol.eph = gpsConstrainEPE(_buffer.posllh.horizontal_accuracy / 10); gpsSol.epv = gpsConstrainEPE(_buffer.posllh.vertical_accuracy / 10); + gpsSol.flags.validEPE = 1; if (next_fix_type != GPS_NO_FIX) gpsSol.fixType = next_fix_type; _new_position = true; From e72c3fd749563c539e1c7f389a3791588d7754cb Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Sun, 13 Nov 2016 19:18:29 +1000 Subject: [PATCH 111/139] Pre-arming altitude reset (arming altitude is always zero); Fix for automatic angle declination not respecting the sat count --- src/main/flight/navigation_rewrite.h | 6 +++++ src/main/flight/navigation_rewrite_geo.c | 11 ++++++--- .../flight/navigation_rewrite_pos_estimator.c | 23 ++++++++++++++++--- 3 files changed, 34 insertions(+), 6 deletions(-) diff --git a/src/main/flight/navigation_rewrite.h b/src/main/flight/navigation_rewrite.h index f74aae5f583..65fe1b23d01 100755 --- a/src/main/flight/navigation_rewrite.h +++ b/src/main/flight/navigation_rewrite.h @@ -271,6 +271,12 @@ typedef enum { GEO_ALT_RELATIVE } geoAltitudeConversionMode_e; +typedef enum { + GEO_ORIGIN_SET, + GEO_ORIGIN_RESET_ALTITUDE +} geoOriginResetMode_e; + +void geoSetOrigin(gpsOrigin_s * origin, const gpsLocation_t * llh, geoOriginResetMode_e resetMode); void geoConvertGeodeticToLocal(gpsOrigin_s * origin, const gpsLocation_t * llh, t_fp_vector * pos, geoAltitudeConversionMode_e altConv); void geoConvertLocalToGeodetic(const gpsOrigin_s * origin, const t_fp_vector * pos, gpsLocation_t * llh); float geoCalculateMagDeclination(const gpsLocation_t * llh); // degrees units diff --git a/src/main/flight/navigation_rewrite_geo.c b/src/main/flight/navigation_rewrite_geo.c index 128eecb5aa5..af32688587c 100755 --- a/src/main/flight/navigation_rewrite_geo.c +++ b/src/main/flight/navigation_rewrite_geo.c @@ -130,17 +130,22 @@ float geoCalculateMagDeclination(const gpsLocation_t * llh) // degrees units } #endif -void geoConvertGeodeticToLocal(gpsOrigin_s * origin, const gpsLocation_t * llh, t_fp_vector * pos, geoAltitudeConversionMode_e altConv) +void geoSetOrigin(gpsOrigin_s * origin, const gpsLocation_t * llh, geoOriginResetMode_e resetMode) { - // Origin can only be set if GEO_ALT_ABSOLUTE to get a valid reference - if ((!origin->valid) && (altConv == GEO_ALT_ABSOLUTE)) { + if (resetMode == GEO_ORIGIN_SET) { origin->valid = true; origin->lat = llh->lat; origin->lon = llh->lon; origin->alt = llh->alt; origin->scale = constrainf(cos_approx((ABS(origin->lat) / 10000000.0f) * 0.0174532925f), 0.01f, 1.0f); } + else if (origin->valid && (resetMode == GEO_ORIGIN_RESET_ALTITUDE)) { + origin->alt = llh->alt; + } +} +void geoConvertGeodeticToLocal(gpsOrigin_s * origin, const gpsLocation_t * llh, t_fp_vector * pos, geoAltitudeConversionMode_e altConv) +{ if (origin->valid) { pos->V.X = (llh->lat - origin->lat) * DISTANCE_BETWEEN_TWO_LONGITUDE_POINTS_AT_EQUATOR; pos->V.Y = (llh->lon - origin->lon) * (DISTANCE_BETWEEN_TWO_LONGITUDE_POINTS_AT_EQUATOR * origin->scale); diff --git a/src/main/flight/navigation_rewrite_pos_estimator.c b/src/main/flight/navigation_rewrite_pos_estimator.c index f841efd9038..4ee517bbdf4 100755 --- a/src/main/flight/navigation_rewrite_pos_estimator.c +++ b/src/main/flight/navigation_rewrite_pos_estimator.c @@ -278,7 +278,7 @@ void onNewGPSData(void) #if defined(NAV_AUTO_MAG_DECLINATION) /* Automatic magnetic declination calculation - do this once */ static bool magDeclinationSet = false; - if (posControl.navConfig->estimation.automatic_mag_declination && !magDeclinationSet) { + if (posControl.navConfig->estimation.automatic_mag_declination && !magDeclinationSet && (gpsSol.numSat >= posControl.navConfig->estimation.gps_min_sats)) { magneticDeclination = geoCalculateMagDeclination(&newLLH) * 10.0f; // heading is in 0.1deg units magDeclinationSet = true; } @@ -287,6 +287,15 @@ void onNewGPSData(void) /* Process position update if GPS origin is already set, or precision is good enough */ // FIXME: use HDOP here if ((posControl.gpsOrigin.valid) || (gpsSol.numSat >= posControl.navConfig->estimation.gps_min_sats)) { + /* Set GPS origin or reset the origin altitude - keep initial pre-arming altitude at zero */ + if (!posControl.gpsOrigin.valid) { + geoSetOrigin(&posControl.gpsOrigin, &newLLH, GEO_ORIGIN_SET); + } + else if (!ARMING_FLAG(ARMED) && !ARMING_FLAG(WAS_EVER_ARMED)) { + /* If we were never armed - keep altitude at zero */ + geoSetOrigin(&posControl.gpsOrigin, &newLLH, GEO_ORIGIN_RESET_ALTITUDE); + } + /* Convert LLH position to local coordinates */ geoConvertGeodeticToLocal(&posControl.gpsOrigin, &newLLH, & posEstimator.gps.pos, GEO_ALT_ABSOLUTE); @@ -363,9 +372,16 @@ static void updateBaroTopic(uint32_t currentTime) static navigationTimer_t baroUpdateTimer; if (updateTimer(&baroUpdateTimer, HZ2US(INAV_BARO_UPDATE_RATE), currentTime)) { + static float initialBaroAltitudeOffset = 0.0f; float newBaroAlt = baroCalculateAltitude(); + + /* If we were never armed - keep altitude at zero */ + if (!ARMING_FLAG(ARMED) && !ARMING_FLAG(WAS_EVER_ARMED)) { + initialBaroAltitudeOffset = newBaroAlt; + } + if (sensors(SENSOR_BARO) && isBaroCalibrationComplete()) { - posEstimator.baro.alt = newBaroAlt; + posEstimator.baro.alt = newBaroAlt - initialBaroAltitudeOffset; posEstimator.baro.epv = posControl.navConfig->estimation.baro_epv; posEstimator.baro.lastUpdateTime = currentTime; } @@ -613,7 +629,8 @@ static void updateEstimatedTopic(uint32_t currentTime) if (isBaroValid) { /* If we are going to use GPS Z-position - calculate and apply barometer offset */ if (useGpsZPos) { - posEstimator.est.baroOffset += ((posEstimator.baro.alt - posEstimator.gps.pos.V.Z) - posEstimator.est.baroOffset) * posControl.navConfig->estimation.w_z_gps_p; + const float currentGpsBaroAltitudeOffset = posEstimator.baro.alt - posEstimator.gps.pos.V.Z; + posEstimator.est.baroOffset += (currentGpsBaroAltitudeOffset - posEstimator.est.baroOffset) * posControl.navConfig->estimation.w_z_gps_p; posEstimator.baro.alt -= posEstimator.est.baroOffset; } From 1078b710fc6f0f4429f2de99024934595417c2db Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Fri, 11 Nov 2016 10:57:07 +0000 Subject: [PATCH 112/139] Converted tabs to spaces --- src/main/common/maths.c | 134 ++++++++++++------------- src/main/drivers/stack_check.c | 18 ++-- src/main/target/ANYFC/target.c | 42 ++++---- src/main/target/SPARKY2/target.h | 2 +- src/main/target/SPRACINGF3EVO/target.h | 6 +- 5 files changed, 101 insertions(+), 101 deletions(-) diff --git a/src/main/common/maths.c b/src/main/common/maths.c index 6b5886d2d87..1b5be81f95b 100644 --- a/src/main/common/maths.c +++ b/src/main/common/maths.c @@ -317,42 +317,42 @@ void arraySubInt32(int32_t *dest, int32_t *array1, int32_t *array2, int count) */ void sensorCalibrationResetState(sensorCalibrationState_t * state) { - for(int i = 0; i < 4; i++){ - for(int j = 0; j < 4; j++){ - state->XtX[i][j] = 0; - } + for(int i = 0; i < 4; i++){ + for(int j = 0; j < 4; j++){ + state->XtX[i][j] = 0; + } state->XtY[i] = 0; - } + } } void sensorCalibrationPushSampleForOffsetCalculation(sensorCalibrationState_t * state, int32_t sample[3]) { - state->XtX[0][0] += (float)sample[0] * sample[0]; - state->XtX[0][1] += (float)sample[0] * sample[1]; - state->XtX[0][2] += (float)sample[0] * sample[2]; - state->XtX[0][3] += (float)sample[0]; + state->XtX[0][0] += (float)sample[0] * sample[0]; + state->XtX[0][1] += (float)sample[0] * sample[1]; + state->XtX[0][2] += (float)sample[0] * sample[2]; + state->XtX[0][3] += (float)sample[0]; - state->XtX[1][0] += (float)sample[1] * sample[0]; - state->XtX[1][1] += (float)sample[1] * sample[1]; - state->XtX[1][2] += (float)sample[1] * sample[2]; - state->XtX[1][3] += (float)sample[1]; + state->XtX[1][0] += (float)sample[1] * sample[0]; + state->XtX[1][1] += (float)sample[1] * sample[1]; + state->XtX[1][2] += (float)sample[1] * sample[2]; + state->XtX[1][3] += (float)sample[1]; - state->XtX[2][0] += (float)sample[2] * sample[0]; - state->XtX[2][1] += (float)sample[2] * sample[1]; - state->XtX[2][2] += (float)sample[2] * sample[2]; - state->XtX[2][3] += (float)sample[2]; + state->XtX[2][0] += (float)sample[2] * sample[0]; + state->XtX[2][1] += (float)sample[2] * sample[1]; + state->XtX[2][2] += (float)sample[2] * sample[2]; + state->XtX[2][3] += (float)sample[2]; - state->XtX[3][0] += (float)sample[0]; - state->XtX[3][1] += (float)sample[1]; - state->XtX[3][2] += (float)sample[2]; - state->XtX[3][3] += 1; + state->XtX[3][0] += (float)sample[0]; + state->XtX[3][1] += (float)sample[1]; + state->XtX[3][2] += (float)sample[2]; + state->XtX[3][3] += 1; - float squareSum = ((float)sample[0] * sample[0]) + ((float)sample[1] * sample[1]) + ((float)sample[2] * sample[2]); - state->XtY[0] += sample[0] * squareSum; - state->XtY[1] += sample[1] * squareSum; - state->XtY[2] += sample[2] * squareSum; - state->XtY[3] += squareSum; + float squareSum = ((float)sample[0] * sample[0]) + ((float)sample[1] * sample[1]) + ((float)sample[2] * sample[2]); + state->XtY[0] += sample[0] * squareSum; + state->XtY[1] += sample[1] * squareSum; + state->XtY[2] += sample[2] * squareSum; + state->XtY[3] += squareSum; } void sensorCalibrationPushSampleForScaleCalculation(sensorCalibrationState_t * state, int axis, int32_t sample[3], int target) @@ -369,61 +369,61 @@ void sensorCalibrationPushSampleForScaleCalculation(sensorCalibrationState_t * s } static void sensorCalibration_gaussLR(float mat[4][4]) { - uint8_t n = 4; - int i, j, k; - for (i = 0; i < 4; i++) { - // Determine R - for (j = i; j < 4; j++) { - for (k = 0; k < i; k++) { - mat[i][j] -= mat[i][k] * mat[k][j]; - } - } - // Determine L - for (j = i + 1; j < n; j++) { - for (k = 0; k < i; k++) { - mat[j][i] -= mat[j][k] * mat[k][i]; - } - mat[j][i] /= mat[i][i]; - } - } + uint8_t n = 4; + int i, j, k; + for (i = 0; i < 4; i++) { + // Determine R + for (j = i; j < 4; j++) { + for (k = 0; k < i; k++) { + mat[i][j] -= mat[i][k] * mat[k][j]; + } + } + // Determine L + for (j = i + 1; j < n; j++) { + for (k = 0; k < i; k++) { + mat[j][i] -= mat[j][k] * mat[k][i]; + } + mat[j][i] /= mat[i][i]; + } + } } void sensorCalibration_ForwardSubstitution(float LR[4][4], float y[4], float b[4]) { - int i, k; - for (i = 0; i < 4; ++i) { - y[i] = b[i]; - for (k = 0; k < i; ++k) { - y[i] -= LR[i][k] * y[k]; - } - //y[i] /= MAT_ELEM_AT(LR,i,i); //Do not use, LR(i,i) is 1 anyways and not stored in this matrix - } + int i, k; + for (i = 0; i < 4; ++i) { + y[i] = b[i]; + for (k = 0; k < i; ++k) { + y[i] -= LR[i][k] * y[k]; + } + //y[i] /= MAT_ELEM_AT(LR,i,i); //Do not use, LR(i,i) is 1 anyways and not stored in this matrix + } } void sensorCalibration_BackwardSubstitution(float LR[4][4], float x[4], float y[4]) { - int i, k; - for (i = 3 ; i >= 0; --i) { - x[i] = y[i]; - for (k = i + 1; k < 4; ++k) { - x[i] -= LR[i][k] * x[k]; - } - x[i] /= LR[i][i]; - } + int i, k; + for (i = 3 ; i >= 0; --i) { + x[i] = y[i]; + for (k = i + 1; k < 4; ++k) { + x[i] -= LR[i][k] * x[k]; + } + x[i] /= LR[i][i]; + } } // solve linear equation // https://en.wikipedia.org/wiki/Gaussian_elimination static void sensorCalibration_SolveLGS(float A[4][4], float x[4], float b[4]) { - int i; - float y[4]; + int i; + float y[4]; - sensorCalibration_gaussLR(A); + sensorCalibration_gaussLR(A); - for (i = 0; i < 4; ++i) { - y[i] = 0; - } + for (i = 0; i < 4; ++i) { + y[i] = 0; + } - sensorCalibration_ForwardSubstitution(A, y, b); - sensorCalibration_BackwardSubstitution(A, x, y); + sensorCalibration_ForwardSubstitution(A, y, b); + sensorCalibration_BackwardSubstitution(A, x, y); } void sensorCalibrationSolveForOffset(sensorCalibrationState_t * state, float result[3]) diff --git a/src/main/drivers/stack_check.c b/src/main/drivers/stack_check.c index 242b6ffbb09..48096490640 100644 --- a/src/main/drivers/stack_check.c +++ b/src/main/drivers/stack_check.c @@ -50,19 +50,19 @@ void taskStackCheck(void) const char * const stackCurrent = (char *)&stackLowMem; char *p; - for (p = stackLowMem; p < stackCurrent; ++p) { - if (*p != STACK_FILL_CHAR) { - break; - } - } + for (p = stackLowMem; p < stackCurrent; ++p) { + if (*p != STACK_FILL_CHAR) { + break; + } + } _Used_Stack_Size = (uint32_t)stackHighMem - (uint32_t)p; #ifdef DEBUG_STACK - debug[0] = (uint32_t)stackHighMem & 0xffff; - debug[1] = (uint32_t)stackLowMem & 0xffff; - debug[2] = (uint32_t)stackCurrent & 0xffff; - debug[3] = (uint32_t)p & 0xffff; + debug[0] = (uint32_t)stackHighMem & 0xffff; + debug[1] = (uint32_t)stackLowMem & 0xffff; + debug[2] = (uint32_t)stackCurrent & 0xffff; + debug[3] = (uint32_t)p & 0xffff; #endif } diff --git a/src/main/target/ANYFC/target.c b/src/main/target/ANYFC/target.c index 10a03864521..28511f07835 100644 --- a/src/main/target/ANYFC/target.c +++ b/src/main/target/ANYFC/target.c @@ -23,47 +23,47 @@ #include "drivers/timer.h" const uint16_t multiPPM[] = { - PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input - PWM16 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed - PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input + PWM16 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // USART2 - PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // USART2 // Swap to servo if needed - PWM13 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed - PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed - PWM15 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed - PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed - PWM3 | (MAP_TO_SERVO_OUTPUT << 8), // Swap to servo if needed - PWM4 | (MAP_TO_SERVO_OUTPUT << 8), // Swap to servo if needed - PWM5 | (MAP_TO_SERVO_OUTPUT << 8), // Swap to servo if needed - PWM6 | (MAP_TO_SERVO_OUTPUT << 8), // Swap to servo if needed + PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // USART2 + PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // USART2 // Swap to servo if needed + PWM13 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM15 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM3 | (MAP_TO_SERVO_OUTPUT << 8), // Swap to servo if needed + PWM4 | (MAP_TO_SERVO_OUTPUT << 8), // Swap to servo if needed + PWM5 | (MAP_TO_SERVO_OUTPUT << 8), // Swap to servo if needed + PWM6 | (MAP_TO_SERVO_OUTPUT << 8), // Swap to servo if needed 0xFFFF }; const uint16_t multiPWM[] = { - PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1 + PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1 PWM2 | (MAP_TO_PWM_INPUT << 8), PWM3 | (MAP_TO_PWM_INPUT << 8), PWM4 | (MAP_TO_PWM_INPUT << 8), PWM5 | (MAP_TO_PWM_INPUT << 8), - PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6 + PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6 PWM16 | (MAP_TO_MOTOR_OUTPUT << 8), PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), - PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed - PWM13 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed - PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed - PWM15 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM13 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM14 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM15 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed 0xFFFF }; const uint16_t airPPM[] = { - PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input + PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 PWM16 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1 @@ -120,4 +120,4 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { { TIM3, IO_TAG(PB5), TIM_Channel_2, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S8_OUT { TIM3, IO_TAG(PB4), TIM_Channel_1, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S9_OUT { TIM2, IO_TAG(PB3), TIM_Channel_2, TIM2_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM2 }, // S10_OUT -}; \ No newline at end of file +}; diff --git a/src/main/target/SPARKY2/target.h b/src/main/target/SPARKY2/target.h index e0bd6dde393..3257d0e6c0c 100644 --- a/src/main/target/SPARKY2/target.h +++ b/src/main/target/SPARKY2/target.h @@ -22,7 +22,7 @@ #define USBD_PRODUCT_STRING "Sparky 2.0" #ifdef OPBL - #define USBD_SERIALNUMBER_STRING "0x8020000" + #define USBD_SERIALNUMBER_STRING "0x8020000" #endif #define LED0 PB5 diff --git a/src/main/target/SPRACINGF3EVO/target.h b/src/main/target/SPRACINGF3EVO/target.h index ad20d1dc2ee..d65d6d7b177 100755 --- a/src/main/target/SPRACINGF3EVO/target.h +++ b/src/main/target/SPRACINGF3EVO/target.h @@ -74,11 +74,11 @@ #define UART3_TX_PIN PB10 // PB10 (AF7) #define UART3_RX_PIN PB11 // PB11 (AF7) -#define SOFTSERIAL_1_TIMER TIM3 -#define SOFTSERIAL_1_TIMER_RX_HARDWARE 5 +#define SOFTSERIAL_1_TIMER TIM3 +#define SOFTSERIAL_1_TIMER_RX_ HARDWARE 5 #define SOFTSERIAL_1_TIMER_TX_HARDWARE 6 -#define SOFTSERIAL_2_TIMER TIM3 +#define SOFTSERIAL_2_TIMER TIM3 #define SOFTSERIAL_2_TIMER_RX_HARDWARE 7 #define SOFTSERIAL_2_TIMER_TX_HARDWARE 8 From 9e8a4a8b21c58e2ca56c6487b0e1545e37601244 Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Sun, 13 Nov 2016 09:26:04 +0000 Subject: [PATCH 113/139] Fixed erroneous #define --- src/main/target/SPRACINGF3EVO/target.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/target/SPRACINGF3EVO/target.h b/src/main/target/SPRACINGF3EVO/target.h index d65d6d7b177..bb522a7fb64 100755 --- a/src/main/target/SPRACINGF3EVO/target.h +++ b/src/main/target/SPRACINGF3EVO/target.h @@ -75,7 +75,7 @@ #define UART3_RX_PIN PB11 // PB11 (AF7) #define SOFTSERIAL_1_TIMER TIM3 -#define SOFTSERIAL_1_TIMER_RX_ HARDWARE 5 +#define SOFTSERIAL_1_TIMER_RX_HARDWARE 5 #define SOFTSERIAL_1_TIMER_TX_HARDWARE 6 #define SOFTSERIAL_2_TIMER TIM3 From f6ba7d548c13d215449aa5863945a1200fba9b01 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Sun, 13 Nov 2016 20:28:30 +1000 Subject: [PATCH 114/139] Align PITOT detection code with acc/gyro/baro code --- src/main/drivers/logging.c | 3 ++- src/main/drivers/logging_codes.h | 1 + src/main/fc/fc_msp.c | 4 ++-- src/main/io/serial_cli.c | 10 +++++---- src/main/sensors/initialisation.c | 37 ++++++++++++++++++++++++------- src/main/sensors/pitotmeter.h | 6 +++++ src/main/sensors/sensors.h | 8 ++++--- 7 files changed, 51 insertions(+), 18 deletions(-) diff --git a/src/main/drivers/logging.c b/src/main/drivers/logging.c index 9bc635318c5..2a86c85907f 100755 --- a/src/main/drivers/logging.c +++ b/src/main/drivers/logging.c @@ -55,7 +55,8 @@ static const char * eventDescription[BOOT_EVENT_CODE_COUNT] = { [BOOT_EVENT_HMC5883L_READ_FAILED] = "HMC5883L_READ_FAILED", [BOOT_EVENT_HMC5883L_SATURATION] = "HMC5883L_SATURATION", [BOOT_EVENT_TIMER_CH_SKIPPED] = "TIMER_CHANNEL_SKIPPED", - [BOOT_EVENT_TIMER_CH_MAPPED] = "TIMER_CHANNEL_MAPPED" + [BOOT_EVENT_TIMER_CH_MAPPED] = "TIMER_CHANNEL_MAPPED", + [BOOT_EVENT_PITOT_DETECTION] = "PITOT_DETECTION", }; const char * getBootlogEventDescription(bootLogEventCode_e eventCode) diff --git a/src/main/drivers/logging_codes.h b/src/main/drivers/logging_codes.h index 0ef51e86e5a..dbc016e9c23 100755 --- a/src/main/drivers/logging_codes.h +++ b/src/main/drivers/logging_codes.h @@ -47,6 +47,7 @@ typedef enum { BOOT_EVENT_HMC5883L_SATURATION = 17, BOOT_EVENT_TIMER_CH_SKIPPED = 18, // 1 - MAX_MOTORS exceeded, 2 - MAX_SERVOS exceeded, 3 - feature clash BOOT_EVENT_TIMER_CH_MAPPED = 19, // 0 - PPM, 1 - PWM, 2 - MOTOR, 3 - SERVO + BOOT_EVENT_PITOT_DETECTION = 20, BOOT_EVENT_CODE_COUNT } bootLogEventCode_e; diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index 6449ff89d54..7478327e625 100644 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -515,7 +515,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn #else sbufWriteU16(dst, 0); #endif - sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4); + sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4 | sensors(SENSOR_PITOT) << 6); sbufWriteU32(dst, packFlightModeFlags()); sbufWriteU8(dst, masterConfig.current_profile_index); sbufWriteU16(dst, averageSystemLoadPercent); @@ -528,7 +528,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn #else sbufWriteU16(dst, 0); #endif - sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4); + sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4 | sensors(SENSOR_PITOT) << 6); sbufWriteU32(dst, packFlightModeFlags()); sbufWriteU8(dst, masterConfig.current_profile_index); break; diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index 15796e522d3..6e66406755a 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -234,22 +234,24 @@ static const rxFailsafeChannelMode_e rxFailsafeModesTable[RX_FAILSAFE_TYPE_COUNT #if (FLASH_SIZE > 64) // sync this with sensors_e static const char * const sensorTypeNames[] = { - "GYRO", "ACC", "BARO", "MAG", "SONAR", "GPS", "GPS+MAG", NULL + "GYRO", "ACC", "BARO", "MAG", "SONAR", "PITOT", "GPS", "GPS+MAG", NULL }; #define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG | SENSOR_SONAR) // sync with gyroSensor_e static const char * const gyroNames[] = { "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "FAKE"}; // sync with accelerationSensor_e -static const char * const accNames[] = { "None", "", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "FAKE"}; +static const char * const accNames[] = { "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "FAKE"}; // sync with baroSensor_e static const char * const baroNames[] = { "", "None", "BMP085", "MS5611", "BMP280", "FAKE"}; // sync with magSensor_e -static const char * const magNames[] = { "None", "", "HMC5883", "AK8975", "MAG_GPS", "MAG_MAG3110", "MAG_AK8963", "FAKE"}; +static const char * const magNames[] = { "", "None", "HMC5883", "AK8975", "MAG_GPS", "MAG_MAG3110", "MAG_AK8963", "FAKE"}; // sycn with rangefinderType_e static const char * const rangefinderNames[] = { "None", "HCSR04", "SRF10"}; +// sync with pitotSensor_e +static const char * const pitotmeterNames[] = { "Auto", "None", "MS4525"}; -static const char * const *sensorHardwareNames[] = {gyroNames, accNames, baroNames, magNames, rangefinderNames}; +static const char * const *sensorHardwareNames[] = {gyroNames, accNames, baroNames, magNames, rangefinderNames, pitotmeterNames}; #endif diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c index 8a3edfb4d7b..c8accf0bbb6 100755 --- a/src/main/sensors/initialisation.c +++ b/src/main/sensors/initialisation.c @@ -95,7 +95,7 @@ extern mag_t mag; extern sensor_align_e gyroAlign; extern pitot_t pitot; -uint8_t detectedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE, RANGEFINDER_NONE }; +uint8_t detectedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE, RANGEFINDER_NONE, PITOT_NONE }; const extiConfig_t *selectMPUIntExtiConfig(void) @@ -463,15 +463,36 @@ static bool detectBaro(baroSensor_e baroHardwareToUse) #ifdef PITOT static bool detectPitot() { - // Detect what pressure sensors are available. + pitotSensor_e pitotHardware = PITOT_DEFAULT; + + switch (pitotHardware) { + case PITOT_DEFAULT: + ; // Fallthrough + + case PITOT_MS4525: #ifdef USE_PITOT_MS4525 - if (ms4525Detect(&pitot)) { - sensorsSet(SENSOR_PITOT); - return true; - } + if (ms4525Detect(&pitot)) { + pitotHardware = PITOT_MS4525; + break; + } #endif - sensorsClear(SENSOR_PITOT); - return false; + ; // Fallthrough + + case PITOT_NONE: + pitotHardware = PITOT_NONE; + break; + } + + addBootlogEvent6(BOOT_EVENT_PITOT_DETECTION, BOOT_EVENT_FLAGS_NONE, pitotHardware, 0, 0, 0); + + if (pitotHardware == PITOT_NONE) { + sensorsClear(SENSOR_PITOT); + return false; + } + + detectedSensors[SENSOR_INDEX_PITOT] = pitotHardware; + sensorsSet(SENSOR_PITOT); + return true; } #endif diff --git a/src/main/sensors/pitotmeter.h b/src/main/sensors/pitotmeter.h index fb11bb7bb2d..81aed7a4ef8 100644 --- a/src/main/sensors/pitotmeter.h +++ b/src/main/sensors/pitotmeter.h @@ -17,6 +17,12 @@ #pragma once +typedef enum { + PITOT_DEFAULT = 0, + PITOT_NONE = 1, + PITOT_MS4525 = 2 +} pitotSensor_e; + #define PITOT_SAMPLE_COUNT_MAX 48 typedef struct pitotmeterConfig_s { diff --git a/src/main/sensors/sensors.h b/src/main/sensors/sensors.h index 193d572905b..d44c74e4853 100644 --- a/src/main/sensors/sensors.h +++ b/src/main/sensors/sensors.h @@ -23,6 +23,7 @@ typedef enum { SENSOR_INDEX_BARO, SENSOR_INDEX_MAG, SENSOR_INDEX_RANGEFINDER, + SENSOR_INDEX_PITOT, SENSOR_INDEX_COUNT } sensorIndex_e; @@ -42,15 +43,16 @@ typedef union flightDynamicsTrims_u { #define CALIBRATING_BARO_CYCLES 200 // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles #define CALIBRATING_PITOT_CYCLES 200 +// These bits have to be aligned with sensorIndex_e 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_PITOT = 1 << 7, + SENSOR_PITOT = 1 << 5, + SENSOR_GPS = 1 << 6, + SENSOR_GPSMAG = 1 << 7, } sensors_e; typedef enum { From d01ff757d08e3577268b3ac601f4c33754c2c2c7 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Sun, 13 Nov 2016 21:23:16 +1000 Subject: [PATCH 115/139] Add PITOT_FAKE; Fix PITOT reporting via CLI --- src/main/io/serial_cli.c | 4 ++-- src/main/sensors/initialisation.c | 10 ++++++++++ src/main/sensors/pitotmeter.h | 3 ++- 3 files changed, 14 insertions(+), 3 deletions(-) diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index 6e66406755a..c74d2a5b4a2 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -237,7 +237,7 @@ static const char * const sensorTypeNames[] = { "GYRO", "ACC", "BARO", "MAG", "SONAR", "PITOT", "GPS", "GPS+MAG", NULL }; -#define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG | SENSOR_SONAR) +#define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG | SENSOR_SONAR | SENSOR_PITOT) // sync with gyroSensor_e static const char * const gyroNames[] = { "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "FAKE"}; // sync with accelerationSensor_e @@ -249,7 +249,7 @@ static const char * const magNames[] = { "", "None", "HMC5883", "AK8975", "MAG_G // sycn with rangefinderType_e static const char * const rangefinderNames[] = { "None", "HCSR04", "SRF10"}; // sync with pitotSensor_e -static const char * const pitotmeterNames[] = { "Auto", "None", "MS4525"}; +static const char * const pitotmeterNames[] = { "Auto", "None", "MS4525", "FAKE"}; static const char * const *sensorHardwareNames[] = {gyroNames, accNames, baroNames, magNames, rangefinderNames, pitotmeterNames}; diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c index c8accf0bbb6..517ec46c816 100755 --- a/src/main/sensors/initialisation.c +++ b/src/main/sensors/initialisation.c @@ -59,6 +59,7 @@ #include "drivers/pitotmeter.h" #include "drivers/pitotmeter_ms4525.h" +#include "drivers/pitotmeter_fake.h" #include "drivers/compass.h" #include "drivers/compass_ak8963.h" @@ -478,6 +479,15 @@ static bool detectPitot() #endif ; // Fallthrough + case PITOT_FAKE: +#ifdef USE_PITOT_FAKE + if (fakePitotDetect(&pitot)) { + pitotHardware = PITOT_FAKE; + break; + } +#endif + ; // Fallthrough + case PITOT_NONE: pitotHardware = PITOT_NONE; break; diff --git a/src/main/sensors/pitotmeter.h b/src/main/sensors/pitotmeter.h index 81aed7a4ef8..c988ad35c1f 100644 --- a/src/main/sensors/pitotmeter.h +++ b/src/main/sensors/pitotmeter.h @@ -20,7 +20,8 @@ typedef enum { PITOT_DEFAULT = 0, PITOT_NONE = 1, - PITOT_MS4525 = 2 + PITOT_MS4525 = 2, + PITOT_FAKE = 3, } pitotSensor_e; #define PITOT_SAMPLE_COUNT_MAX 48 From ffb55199a519fb4f92007411bbc0850ce3e36497 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Sun, 13 Nov 2016 21:32:12 +1000 Subject: [PATCH 116/139] Missing files --- src/main/drivers/pitotmeter_fake.c | 59 ++++++++++++++++++++++++++++++ src/main/drivers/pitotmeter_fake.h | 20 ++++++++++ 2 files changed, 79 insertions(+) create mode 100755 src/main/drivers/pitotmeter_fake.c create mode 100755 src/main/drivers/pitotmeter_fake.h diff --git a/src/main/drivers/pitotmeter_fake.c b/src/main/drivers/pitotmeter_fake.c new file mode 100755 index 00000000000..7b2586f059c --- /dev/null +++ b/src/main/drivers/pitotmeter_fake.c @@ -0,0 +1,59 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#include +#include + +#include + +#include "build/build_config.h" + +#include "pitotmeter.h" +#include "pitotmeter_fake.h" + +#ifdef USE_PITOT_FAKE +static int32_t fakePressure; +static int32_t fakeTemperature; + +static void fakePitotStart(void) +{ +} + +static void fakePitotRead(void) +{ +} + +static void fakePitotCalculate(float *pressure, float *temperature) +{ + if (pressure) + *pressure = fakePressure; // Pa + if (temperature) + *temperature = fakeTemperature; // K +} + +bool fakePitotDetect(pitot_t *pitot) +{ + fakePressure = 0; // 0Pa + fakeTemperature = 273; // 0C + + pitot->delay = 10000; + pitot->start = fakePitotStart; + pitot->get = fakePitotRead; + pitot->calculate = fakePitotCalculate; + return true; +} +#endif diff --git a/src/main/drivers/pitotmeter_fake.h b/src/main/drivers/pitotmeter_fake.h new file mode 100755 index 00000000000..4a6df0aa1e9 --- /dev/null +++ b/src/main/drivers/pitotmeter_fake.h @@ -0,0 +1,20 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#pragma once + +bool fakePitotDetect(pitot_t *pitot); \ No newline at end of file From 0548207f72af34fa87eb60726d10cf690bd7e9f6 Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Tue, 15 Nov 2016 06:22:18 +0000 Subject: [PATCH 117/139] Reordered code to avoid forward declarations --- src/main/rx/ibus.c | 43 ++++++++-------- src/main/rx/jetiexbus.c | 53 +++++++++----------- src/main/rx/sbus.c | 46 +++++++++-------- src/main/rx/spektrum.c | 98 ++++++++++++++++++------------------- src/main/rx/sumd.c | 43 ++++++++-------- src/main/rx/sumh.c | 43 ++++++++-------- src/main/rx/xbus.c | 106 ++++++++++++++++++++-------------------- 7 files changed, 205 insertions(+), 227 deletions(-) diff --git a/src/main/rx/ibus.c b/src/main/rx/ibus.c index abd192397d6..c8a210a673f 100755 --- a/src/main/rx/ibus.c +++ b/src/main/rx/ibus.c @@ -49,29 +49,6 @@ static bool ibusFrameDone = false; static uint32_t ibusChannelData[IBUS_MAX_CHANNEL]; -static void ibusDataReceive(uint16_t c); -static uint16_t ibusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan); - -bool ibusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) -{ - UNUSED(rxConfig); - - rxRuntimeConfig->channelCount = IBUS_MAX_CHANNEL; - rxRuntimeConfig->rxRefreshRate = 20000; // TODO - Verify speed - - rxRuntimeConfig->rcReadRawFn = ibusReadRawRC; - rxRuntimeConfig->rcFrameStatusFn = ibusFrameStatus; - - const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); - if (!portConfig) { - return false; - } - - serialPort_t *ibusPort = openSerialPort(portConfig->identifier, FUNCTION_RX_SERIAL, ibusDataReceive, IBUS_BAUDRATE, MODE_RX, SERIAL_NOT_INVERTED); - - return ibusPort != NULL; -} - static uint8_t ibus[IBUS_BUFFSIZE] = { 0, }; // Receive ISR callback @@ -141,4 +118,24 @@ static uint16_t ibusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t UNUSED(rxRuntimeConfig); return ibusChannelData[chan]; } + +bool ibusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) +{ + UNUSED(rxConfig); + + rxRuntimeConfig->channelCount = IBUS_MAX_CHANNEL; + rxRuntimeConfig->rxRefreshRate = 20000; // TODO - Verify speed + + rxRuntimeConfig->rcReadRawFn = ibusReadRawRC; + rxRuntimeConfig->rcFrameStatusFn = ibusFrameStatus; + + const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); + if (!portConfig) { + return false; + } + + serialPort_t *ibusPort = openSerialPort(portConfig->identifier, FUNCTION_RX_SERIAL, ibusDataReceive, IBUS_BAUDRATE, MODE_RX, SERIAL_NOT_INVERTED); + + return ibusPort != NULL; +} #endif // USE_SERIALRX_IBUS diff --git a/src/main/rx/jetiexbus.c b/src/main/rx/jetiexbus.c index 0e682c051c0..beef9f6fa17 100644 --- a/src/main/rx/jetiexbus.c +++ b/src/main/rx/jetiexbus.c @@ -207,10 +207,6 @@ static uint8_t jetiExBusChannelFrame[EXBUS_MAX_CHANNEL_FRAME_SIZE]; static uint8_t jetiExBusRequestFrame[EXBUS_MAX_REQUEST_FRAME_SIZE]; static uint16_t jetiExBusChannelData[JETIEXBUS_CHANNEL_COUNT]; -static void jetiExBusDataReceive(uint16_t c); -static uint16_t jetiExBusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan); - -static void jetiExBusFrameReset(); #ifdef TELEMETRY @@ -222,32 +218,6 @@ uint8_t calcCRC8(uint8_t *pt, uint8_t msgLen); #endif //TELEMETRY -uint16_t calcCRC16(uint8_t *pt, uint8_t msgLen); - - -bool jetiExBusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) -{ - UNUSED(rxConfig); - - rxRuntimeConfig->channelCount = JETIEXBUS_CHANNEL_COUNT; - rxRuntimeConfig->rxRefreshRate = 5500; - - rxRuntimeConfig->rcReadRawFn = jetiExBusReadRawRC; - rxRuntimeConfig->rcFrameStatusFn = jetiExBusFrameStatus; - - jetiExBusFrameReset(); - - const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); - - if (!portConfig) { - return false; - } - - jetiExBusPort = openSerialPort(portConfig->identifier, FUNCTION_RX_SERIAL, jetiExBusDataReceive, JETIEXBUS_BAUDRATE, MODE_RXTX, JETIEXBUS_OPTIONS ); - serialSetMode(jetiExBusPort, MODE_RX); - return jetiExBusPort != NULL; -} - // Jeti Ex Bus CRC calculations for a frame uint16_t calcCRC16(uint8_t *pt, uint8_t msgLen) @@ -610,4 +580,27 @@ void sendJetiExBusTelemetry(uint8_t packetID) requestLoop++; } #endif // TELEMETRY + +bool jetiExBusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) +{ + UNUSED(rxConfig); + + rxRuntimeConfig->channelCount = JETIEXBUS_CHANNEL_COUNT; + rxRuntimeConfig->rxRefreshRate = 5500; + + rxRuntimeConfig->rcReadRawFn = jetiExBusReadRawRC; + rxRuntimeConfig->rcFrameStatusFn = jetiExBusFrameStatus; + + jetiExBusFrameReset(); + + const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); + + if (!portConfig) { + return false; + } + + jetiExBusPort = openSerialPort(portConfig->identifier, FUNCTION_RX_SERIAL, jetiExBusDataReceive, JETIEXBUS_BAUDRATE, MODE_RXTX, JETIEXBUS_OPTIONS ); + serialSetMode(jetiExBusPort, MODE_RX); + return jetiExBusPort != NULL; +} #endif // USE_SERIALRX_JETIEXBUS diff --git a/src/main/rx/sbus.c b/src/main/rx/sbus.c index 23678cd2e73..dc1fb5cdb57 100644 --- a/src/main/rx/sbus.c +++ b/src/main/rx/sbus.c @@ -71,33 +71,9 @@ static uint16_t sbusStateFlags = 0; #define SBUS_DIGITAL_CHANNEL_MAX 1812 static bool sbusFrameDone = false; -static void sbusDataReceive(uint16_t c); -static uint16_t sbusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan); static uint32_t sbusChannelData[SBUS_MAX_CHANNEL]; -bool sbusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) -{ - for (int b = 0; b < SBUS_MAX_CHANNEL; b++) { - sbusChannelData[b] = (16 * rxConfig->midrc) / 10 - 1408; - } - - rxRuntimeConfig->channelCount = SBUS_MAX_CHANNEL; - rxRuntimeConfig->rxRefreshRate = 11000; - - rxRuntimeConfig->rcReadRawFn = sbusReadRawRC; - rxRuntimeConfig->rcFrameStatusFn = sbusFrameStatus; - - const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); - if (!portConfig) { - return false; - } - - serialPort_t *sBusPort = openSerialPort(portConfig->identifier, FUNCTION_RX_SERIAL, sbusDataReceive, SBUS_BAUDRATE, MODE_RX, SBUS_PORT_OPTIONS); - - return sBusPort != NULL; -} - #define SBUS_FLAG_CHANNEL_17 (1 << 0) #define SBUS_FLAG_CHANNEL_18 (1 << 1) #define SBUS_FLAG_SIGNAL_LOSS (1 << 2) @@ -244,4 +220,26 @@ static uint16_t sbusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t // http://www.wolframalpha.com/input/?i=linear+fit+%7B173%2C+988%7D%2C+%7B1812%2C+2012%7D%2C+%7B993%2C+1500%7D return (0.625f * sbusChannelData[chan]) + 880; } + +bool sbusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) +{ + for (int b = 0; b < SBUS_MAX_CHANNEL; b++) { + sbusChannelData[b] = (16 * rxConfig->midrc) / 10 - 1408; + } + + rxRuntimeConfig->channelCount = SBUS_MAX_CHANNEL; + rxRuntimeConfig->rxRefreshRate = 11000; + + rxRuntimeConfig->rcReadRawFn = sbusReadRawRC; + rxRuntimeConfig->rcFrameStatusFn = sbusFrameStatus; + + const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); + if (!portConfig) { + return false; + } + + serialPort_t *sBusPort = openSerialPort(portConfig->identifier, FUNCTION_RX_SERIAL, sbusDataReceive, SBUS_BAUDRATE, MODE_RX, SBUS_PORT_OPTIONS); + + return sBusPort != NULL; +} #endif // USE_SERIALRX_SBUS diff --git a/src/main/rx/spektrum.c b/src/main/rx/spektrum.c index 3e51c2f6a63..7b4bf0e02da 100644 --- a/src/main/rx/spektrum.c +++ b/src/main/rx/spektrum.c @@ -60,9 +60,6 @@ static bool spekHiRes = false; static volatile uint8_t spekFrame[SPEK_FRAME_SIZE]; -static void spektrumDataReceive(uint16_t c); -static uint16_t spektrumReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan); - static rxRuntimeConfig_t *rxRuntimeConfigPtr; #ifdef SPEKTRUM_BIND @@ -72,53 +69,6 @@ static IO_t BindPin = DEFIO_IO(NONE); static IO_t BindPlug = DEFIO_IO(NONE); #endif -bool spektrumInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) -{ - rxRuntimeConfigPtr = rxRuntimeConfig; - - switch (rxConfig->serialrx_provider) { - case SERIALRX_SPEKTRUM2048: - // 11 bit frames - spek_chan_shift = 3; - spek_chan_mask = 0x07; - spekHiRes = true; - rxRuntimeConfig->channelCount = SPEKTRUM_2048_CHANNEL_COUNT; - rxRuntimeConfig->rxRefreshRate = 11000; - break; - case SERIALRX_SPEKTRUM1024: - // 10 bit frames - spek_chan_shift = 2; - spek_chan_mask = 0x03; - spekHiRes = false; - rxRuntimeConfig->channelCount = SPEKTRUM_1024_CHANNEL_COUNT; - rxRuntimeConfig->rxRefreshRate = 22000; - break; - } - - rxRuntimeConfig->rcReadRawFn = spektrumReadRawRC; - rxRuntimeConfig->rcFrameStatusFn = spektrumFrameStatus; - - const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); - if (!portConfig) { - return false; - } - -#ifdef TELEMETRY - bool portShared = telemetryCheckRxPortShared(portConfig); -#else - bool portShared = false; -#endif - - serialPort_t *spektrumPort = openSerialPort(portConfig->identifier, FUNCTION_RX_SERIAL, spektrumDataReceive, SPEKTRUM_BAUDRATE, portShared ? MODE_RXTX : MODE_RX, SERIAL_NOT_INVERTED); - -#ifdef TELEMETRY - if (portShared) { - telemetrySharedPort = spektrumPort; - } -#endif - - return spektrumPort != NULL; -} // Receive ISR callback static void spektrumDataReceive(uint16_t c) @@ -259,4 +209,52 @@ void spektrumBind(rxConfig_t *rxConfig) } #endif // SPEKTRUM_BIND + +bool spektrumInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) +{ + rxRuntimeConfigPtr = rxRuntimeConfig; + + switch (rxConfig->serialrx_provider) { + case SERIALRX_SPEKTRUM2048: + // 11 bit frames + spek_chan_shift = 3; + spek_chan_mask = 0x07; + spekHiRes = true; + rxRuntimeConfig->channelCount = SPEKTRUM_2048_CHANNEL_COUNT; + rxRuntimeConfig->rxRefreshRate = 11000; + break; + case SERIALRX_SPEKTRUM1024: + // 10 bit frames + spek_chan_shift = 2; + spek_chan_mask = 0x03; + spekHiRes = false; + rxRuntimeConfig->channelCount = SPEKTRUM_1024_CHANNEL_COUNT; + rxRuntimeConfig->rxRefreshRate = 22000; + break; + } + + rxRuntimeConfig->rcReadRawFn = spektrumReadRawRC; + rxRuntimeConfig->rcFrameStatusFn = spektrumFrameStatus; + + const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); + if (!portConfig) { + return false; + } + +#ifdef TELEMETRY + bool portShared = telemetryCheckRxPortShared(portConfig); +#else + bool portShared = false; +#endif + + serialPort_t *spektrumPort = openSerialPort(portConfig->identifier, FUNCTION_RX_SERIAL, spektrumDataReceive, SPEKTRUM_BAUDRATE, portShared ? MODE_RXTX : MODE_RX, SERIAL_NOT_INVERTED); + +#ifdef TELEMETRY + if (portShared) { + telemetrySharedPort = spektrumPort; + } +#endif + + return spektrumPort != NULL; +} #endif // USE_SERIALRX_SPEKTRUM diff --git a/src/main/rx/sumd.c b/src/main/rx/sumd.c index 7c2e9272a46..de0ceb06acf 100644 --- a/src/main/rx/sumd.c +++ b/src/main/rx/sumd.c @@ -48,29 +48,6 @@ static bool sumdFrameDone = false; static uint16_t sumdChannels[SUMD_MAX_CHANNEL]; static uint16_t crc; -static void sumdDataReceive(uint16_t c); -static uint16_t sumdReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan); - -bool sumdInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) -{ - UNUSED(rxConfig); - - rxRuntimeConfig->channelCount = SUMD_MAX_CHANNEL; - rxRuntimeConfig->rxRefreshRate = 11000; - - rxRuntimeConfig->rcReadRawFn = sumdReadRawRC; - rxRuntimeConfig->rcFrameStatusFn = sumdFrameStatus; - - const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); - if (!portConfig) { - return false; - } - - serialPort_t *sumdPort = openSerialPort(portConfig->identifier, FUNCTION_RX_SERIAL, sumdDataReceive, SUMD_BAUDRATE, MODE_RX, SERIAL_NOT_INVERTED); - - return sumdPort != NULL; -} - #define CRC_POLYNOME 0x1021 // CRC calculation, adds a 8 bit unsigned to 16 bit crc @@ -178,4 +155,24 @@ static uint16_t sumdReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t UNUSED(rxRuntimeConfig); return sumdChannels[chan] / 8; } + +bool sumdInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) +{ + UNUSED(rxConfig); + + rxRuntimeConfig->channelCount = SUMD_MAX_CHANNEL; + rxRuntimeConfig->rxRefreshRate = 11000; + + rxRuntimeConfig->rcReadRawFn = sumdReadRawRC; + rxRuntimeConfig->rcFrameStatusFn = sumdFrameStatus; + + const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); + if (!portConfig) { + return false; + } + + serialPort_t *sumdPort = openSerialPort(portConfig->identifier, FUNCTION_RX_SERIAL, sumdDataReceive, SUMD_BAUDRATE, MODE_RX, SERIAL_NOT_INVERTED); + + return sumdPort != NULL; +} #endif // USE_SERIALRX_SUMD diff --git a/src/main/rx/sumh.c b/src/main/rx/sumh.c index 2e754e142fd..a07ce64f9f0 100644 --- a/src/main/rx/sumh.c +++ b/src/main/rx/sumh.c @@ -53,29 +53,6 @@ static uint32_t sumhChannels[SUMH_MAX_CHANNEL_COUNT]; static serialPort_t *sumhPort; -static void sumhDataReceive(uint16_t c); -static uint16_t sumhReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan); - - -bool sumhInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) -{ - UNUSED(rxConfig); - - rxRuntimeConfig->channelCount = SUMH_MAX_CHANNEL_COUNT; - rxRuntimeConfig->rxRefreshRate = 11000; - - rxRuntimeConfig->rcReadRawFn = sumhReadRawRC; - rxRuntimeConfig->rcFrameStatusFn = sumhFrameStatus; - - const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); - if (!portConfig) { - return false; - } - - sumhPort = openSerialPort(portConfig->identifier, FUNCTION_RX_SERIAL, sumhDataReceive, SUMH_BAUDRATE, MODE_RX, SERIAL_NOT_INVERTED); - - return sumhPort != NULL; -} // Receive ISR callback static void sumhDataReceive(uint16_t c) @@ -131,4 +108,24 @@ static uint16_t sumhReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t return sumhChannels[chan]; } + +bool sumhInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) +{ + UNUSED(rxConfig); + + rxRuntimeConfig->channelCount = SUMH_MAX_CHANNEL_COUNT; + rxRuntimeConfig->rxRefreshRate = 11000; + + rxRuntimeConfig->rcReadRawFn = sumhReadRawRC; + rxRuntimeConfig->rcFrameStatusFn = sumhFrameStatus; + + const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); + if (!portConfig) { + return false; + } + + sumhPort = openSerialPort(portConfig->identifier, FUNCTION_RX_SERIAL, sumhDataReceive, SUMH_BAUDRATE, MODE_RX, SERIAL_NOT_INVERTED); + + return sumhPort != NULL; +} #endif // USE_SERIALRX_SUMH diff --git a/src/main/rx/xbus.c b/src/main/rx/xbus.c index d82248f6ece..65c363cf082 100644 --- a/src/main/rx/xbus.c +++ b/src/main/rx/xbus.c @@ -34,6 +34,7 @@ // // Serial driver for JR's XBus (MODE B) receiver // + #define XBUS_CHANNEL_COUNT 12 #define XBUS_RJ01_CHANNEL_COUNT 12 @@ -81,54 +82,6 @@ static uint8_t xBusProvider; static volatile uint8_t xBusFrame[XBUS_RJ01_FRAME_SIZE]; static uint16_t xBusChannelData[XBUS_RJ01_CHANNEL_COUNT]; -static void xBusDataReceive(uint16_t c); -static uint16_t xBusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan); - -bool xBusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) -{ - uint32_t baudRate; - - switch (rxConfig->serialrx_provider) { - case SERIALRX_XBUS_MODE_B: - rxRuntimeConfig->channelCount = XBUS_CHANNEL_COUNT; - xBusFrameReceived = false; - xBusDataIncoming = false; - xBusFramePosition = 0; - baudRate = XBUS_BAUDRATE; - xBusFrameLength = XBUS_FRAME_SIZE; - xBusChannelCount = XBUS_CHANNEL_COUNT; - xBusProvider = SERIALRX_XBUS_MODE_B; - break; - case SERIALRX_XBUS_MODE_B_RJ01: - rxRuntimeConfig->channelCount = XBUS_RJ01_CHANNEL_COUNT; - xBusFrameReceived = false; - xBusDataIncoming = false; - xBusFramePosition = 0; - baudRate = XBUS_RJ01_BAUDRATE; - xBusFrameLength = XBUS_RJ01_FRAME_SIZE; - xBusChannelCount = XBUS_RJ01_CHANNEL_COUNT; - xBusProvider = SERIALRX_XBUS_MODE_B_RJ01; - break; - default: - return false; - break; - } - - rxRuntimeConfig->rxRefreshRate = 11000; - - rxRuntimeConfig->rcReadRawFn = xBusReadRawRC; - rxRuntimeConfig->rcFrameStatusFn = xBusFrameStatus; - - const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); - if (!portConfig) { - return false; - } - - serialPort_t *xBusPort = openSerialPort(portConfig->identifier, FUNCTION_RX_SERIAL, xBusDataReceive, baudRate, MODE_RX, SERIAL_NOT_INVERTED); - - return xBusPort != NULL; -} - // The xbus mode B CRC calculations static uint16_t xBusCRC16(uint16_t crc, uint8_t value) { @@ -211,7 +164,7 @@ static void xBusUnpackRJ01Frame(void) uint8_t outerCrc = 0; uint8_t i = 0; - // When using the Align RJ01 receiver with + // When using the Align RJ01 receiver with // a MODE B setting in the radio (XG14 tested) // the MODE_B -frame is packed within some // at the moment unknown bytes before and after: @@ -219,7 +172,7 @@ static void xBusUnpackRJ01Frame(void) // Compared to a standard MODE B frame that only // contains the "middle" package. // Hence, at the moment, the unknown header and footer - // of the RJ01 MODEB packages are discarded. + // of the RJ01 MODEB packages are discarded. // However, the LAST byte (CRC_OUTER) is infact an 8-bit // CRC for the whole package, using the Dallas-One-Wire CRC // method. @@ -282,10 +235,10 @@ static void xBusDataReceive(uint16_t c) // Done? if (xBusFramePosition == xBusFrameLength) { switch (xBusProvider) { - case SERIALRX_XBUS_MODE_B: - xBusUnpackModeBFrame(0); - case SERIALRX_XBUS_MODE_B_RJ01: - xBusUnpackRJ01Frame(); + case SERIALRX_XBUS_MODE_B: + xBusUnpackModeBFrame(0); + case SERIALRX_XBUS_MODE_B_RJ01: + xBusUnpackRJ01Frame(); } xBusDataIncoming = false; xBusFramePosition = 0; @@ -317,4 +270,49 @@ static uint16_t xBusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t return data; } + +bool xBusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig) +{ + uint32_t baudRate; + + switch (rxConfig->serialrx_provider) { + case SERIALRX_XBUS_MODE_B: + rxRuntimeConfig->channelCount = XBUS_CHANNEL_COUNT; + xBusFrameReceived = false; + xBusDataIncoming = false; + xBusFramePosition = 0; + baudRate = XBUS_BAUDRATE; + xBusFrameLength = XBUS_FRAME_SIZE; + xBusChannelCount = XBUS_CHANNEL_COUNT; + xBusProvider = SERIALRX_XBUS_MODE_B; + break; + case SERIALRX_XBUS_MODE_B_RJ01: + rxRuntimeConfig->channelCount = XBUS_RJ01_CHANNEL_COUNT; + xBusFrameReceived = false; + xBusDataIncoming = false; + xBusFramePosition = 0; + baudRate = XBUS_RJ01_BAUDRATE; + xBusFrameLength = XBUS_RJ01_FRAME_SIZE; + xBusChannelCount = XBUS_RJ01_CHANNEL_COUNT; + xBusProvider = SERIALRX_XBUS_MODE_B_RJ01; + break; + default: + return false; + break; + } + + rxRuntimeConfig->rxRefreshRate = 11000; + + rxRuntimeConfig->rcReadRawFn = xBusReadRawRC; + rxRuntimeConfig->rcFrameStatusFn = xBusFrameStatus; + + const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); + if (!portConfig) { + return false; + } + + serialPort_t *xBusPort = openSerialPort(portConfig->identifier, FUNCTION_RX_SERIAL, xBusDataReceive, baudRate, MODE_RX, SERIAL_NOT_INVERTED); + + return xBusPort != NULL; +} #endif // USE_SERIALRX_XBUS From de325839f3a9fb0f2fe9a2a0267e4d36b6c43a6a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Pawe=C5=82=20Spychalski?= Date: Tue, 15 Nov 2016 09:11:49 +0100 Subject: [PATCH 118/139] MSP version bump --- src/main/msp/msp_protocol.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/msp/msp_protocol.h b/src/main/msp/msp_protocol.h index 93e2c7948b0..eb032ac29c9 100644 --- a/src/main/msp/msp_protocol.h +++ b/src/main/msp/msp_protocol.h @@ -60,7 +60,7 @@ #define MSP_PROTOCOL_VERSION 0 #define API_VERSION_MAJOR 1 // increment when major changes are made -#define API_VERSION_MINOR 21 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR +#define API_VERSION_MINOR 22 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR #define API_VERSION_LENGTH 2 From 5d5735a29df1659c20748d228886be112915654e Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Tue, 15 Nov 2016 22:19:02 +1000 Subject: [PATCH 119/139] Allow to disable pitotmeter from CLI, introducing pitot_hardware, docs update --- docs/Cli.md | 1 + src/main/config/config_master.h | 1 + src/main/fc/fc_init.c | 1 + src/main/io/serial_cli.c | 1 + src/main/sensors/initialisation.c | 9 ++++++--- src/main/sensors/initialisation.h | 2 +- src/main/sensors/pitotmeter.h | 1 + 7 files changed, 12 insertions(+), 4 deletions(-) diff --git a/docs/Cli.md b/docs/Cli.md index 983bd2d2fb9..23a84890d67 100644 --- a/docs/Cli.md +++ b/docs/Cli.md @@ -301,6 +301,7 @@ Re-apply any new defaults as desired. | `magzero_z` | Calculated value after magnetometer calibration | unkown | unkown | 0 | Master | UNKNOWN | | `mag_hardware` | 0: Default, 1: Disable MAG, 2: HMC5883, 3: AK8975, 4: MAG_GPS, 5: MAG3110, 6: AK8963, 7: Fake. (Replacing the onboard compass with a device of the same type (same I2C address), you need to physically disable the onboard device. But on a board with HMC5883, it should be possible to use an external AK8975, MAG3110 or AK8963 device in parallel. In any case, you can use a MAG_GPS, i.e. the serial compasses in the so called "NAZA" GPS/compass units. These have only a serial connection rather than serial and I2C.| 0 | 7 | 0 | Master | UNKNOWN | | `baro_hardware` | 0: default, 1: Disable baro, 2: BMP085 / BMP180 3: MS5611, 4: BMP280, 5: Fake | 0 | 5 | 0 | Master | UNKNOWN | +| `pitot_hardware` | 0: default, 1: Disable Pitot meter, 2: MS4525, 3: Fake | 0 | 5 | 0 | Master | UNKNOWN | | `max_angle_inclination_rll` | Maximum inclination in level (angle) mode (ROLL axis). 100=10° | 100 | 900 | 300 | Master | UNKNOWN | | `max_angle_inclination_pit` | Maximum inclination in level (angle) mode (PITCH axis). 100=10° | 100 | 900 | 300 | Master | UNKNOWN | | `nav_alt_p` | P gain of altitude PID controller | 0 | 255 | 50 | Master | UNKNOWN | diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h index 60f1626761f..ad2a917a47c 100644 --- a/src/main/config/config_master.h +++ b/src/main/config/config_master.h @@ -113,6 +113,7 @@ typedef struct master_s { uint8_t mag_hardware; // Which mag hardware to use on boards with more than one device uint8_t baro_hardware; // Barometer hardware to use + uint8_t pitot_hardware; // Pitotmeter hardware to use flightDynamicsTrims_t accZero; // Accelerometer offset flightDynamicsTrims_t accGain; // Accelerometer gain to read exactly 1G diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c index 61164d86521..8f7fa26c899 100644 --- a/src/main/fc/fc_init.c +++ b/src/main/fc/fc_init.c @@ -463,6 +463,7 @@ void init(void) masterConfig.acc_hardware, masterConfig.mag_hardware, masterConfig.baro_hardware, + masterConfig.pitot_hardware, currentProfile->mag_declination, masterConfig.looptime, masterConfig.gyro_lpf, diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index c74d2a5b4a2..ffb479354aa 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -845,6 +845,7 @@ const clivalue_t valueTable[] = { #endif #ifdef PITOT + { "pitot_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.pitot_hardware, .config.minmax = { 0, PITOT_MAX }, 0 }, { "pitot_use_median_filter", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.pitotmeterConfig.use_median_filtering, .config.lookup = { TABLE_OFF_ON }, 0 }, { "pitot_noise_lpf", VAR_FLOAT | MASTER_VALUE, &masterConfig.pitotmeterConfig.pitot_noise_lpf, .config.minmax = { 0, 1 }, 0 }, { "pitot_scale", VAR_FLOAT | MASTER_VALUE, &masterConfig.pitotmeterConfig.pitot_scale, .config.minmax = { 0, 100 }, 0 }, diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c index 517ec46c816..7e7b147aca1 100755 --- a/src/main/sensors/initialisation.c +++ b/src/main/sensors/initialisation.c @@ -462,9 +462,9 @@ static bool detectBaro(baroSensor_e baroHardwareToUse) #endif // BARO #ifdef PITOT -static bool detectPitot() +static bool detectPitot(uint8_t pitotHardwareToUse) { - pitotSensor_e pitotHardware = PITOT_DEFAULT; + pitotSensor_e pitotHardware = pitotHardwareToUse; switch (pitotHardware) { case PITOT_DEFAULT: @@ -679,6 +679,7 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse, + uint8_t pitotHardwareToUse, int16_t magDeclinationFromConfig, uint32_t looptime, uint8_t gyroLpf, @@ -725,7 +726,9 @@ bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, #endif #ifdef PITOT - detectPitot(); + detectPitot(pitotHardwareToUse); +#else + UNUSED(pitotHardwareToUse); #endif // FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c diff --git a/src/main/sensors/initialisation.h b/src/main/sensors/initialisation.h index 688e312dc31..ff08dddedea 100644 --- a/src/main/sensors/initialisation.h +++ b/src/main/sensors/initialisation.h @@ -18,6 +18,6 @@ #pragma once bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, - uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse, + uint8_t accHardwareToUse, uint8_t magHardwareToUse, uint8_t baroHardwareToUse, uint8_t pitotHardwareToUse, int16_t magDeclinationFromConfig, uint32_t looptime, uint8_t gyroLpf, uint8_t gyroSync, uint8_t gyroSyncDenominator); diff --git a/src/main/sensors/pitotmeter.h b/src/main/sensors/pitotmeter.h index c988ad35c1f..fe33c5d7a13 100644 --- a/src/main/sensors/pitotmeter.h +++ b/src/main/sensors/pitotmeter.h @@ -24,6 +24,7 @@ typedef enum { PITOT_FAKE = 3, } pitotSensor_e; +#define PITOT_MAX PITOT_FAKE #define PITOT_SAMPLE_COUNT_MAX 48 typedef struct pitotmeterConfig_s { From 70fd9bd4fe2d05e3f96d520df689468648d0c5be Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Tue, 15 Nov 2016 23:22:28 +1000 Subject: [PATCH 120/139] Unify landing handing for FW and MC crafts; FW landing is a stub --- src/main/flight/navigation_rewrite.c | 67 +++++++++++++++------------- 1 file changed, 37 insertions(+), 30 deletions(-) diff --git a/src/main/flight/navigation_rewrite.c b/src/main/flight/navigation_rewrite.c index 4acded62087..813c79fbe7a 100755 --- a/src/main/flight/navigation_rewrite.c +++ b/src/main/flight/navigation_rewrite.c @@ -966,12 +966,12 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_3D_INITIALIZE(navig else { t_fp_vector targetHoldPos; - if (!STATE(FIXED_WING)) { - // Multicopter, hover and climb - calculateInitialHoldPosition(&targetHoldPos); - } else { + if (STATE(FIXED_WING)) { // Airplane - climbout before turning around calculateFarAwayTarget(&targetHoldPos, posControl.actualState.yaw, 100000.0f); // 1km away + } else { + // Multicopter, hover and climb + calculateInitialHoldPosition(&targetHoldPos); } setDesiredPosition(&targetHoldPos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING); @@ -1025,14 +1025,9 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_3D_HEAD_HOME(naviga } if (isWaypointReached(&posControl.homeWaypointAbove)) { - if (!STATE(FIXED_WING)) { - // Successfully reached position target - update XYZ-position - setDesiredPosition(&posControl.homeWaypointAbove.pos, posControl.homeWaypointAbove.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING); - return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_RTH_3D_HOVER_PRIOR_TO_LANDING - } else { - // Don't switch to landing for airplanes - return NAV_FSM_EVENT_NONE; - } + // Successfully reached position target - update XYZ-position + setDesiredPosition(&posControl.homeWaypointAbove.pos, posControl.homeWaypointAbove.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING); + return NAV_FSM_EVENT_SUCCESS; // NAV_STATE_RTH_3D_HOVER_PRIOR_TO_LANDING } else { // Update XYZ-position target @@ -1062,13 +1057,19 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_3D_HOVER_PRIOR_TO_L } // Wait until target heading is reached (with 15 deg margin for error) - if (ABS(wrap_18000(posControl.homeWaypointAbove.yaw - posControl.actualState.yaw)) < DEGREES_TO_CENTIDEGREES(15)) { + if (STATE(FIXED_WING)) { resetLandingDetector(); return NAV_FSM_EVENT_SUCCESS; } else { - setDesiredPosition(&posControl.homeWaypointAbove.pos, posControl.homeWaypointAbove.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING); - return NAV_FSM_EVENT_NONE; + if (ABS(wrap_18000(posControl.homeWaypointAbove.yaw - posControl.actualState.yaw)) < DEGREES_TO_CENTIDEGREES(15)) { + resetLandingDetector(); + return NAV_FSM_EVENT_SUCCESS; + } + else { + setDesiredPosition(&posControl.homeWaypointAbove.pos, posControl.homeWaypointAbove.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING); + return NAV_FSM_EVENT_NONE; + } } } @@ -1083,26 +1084,32 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_3D_LANDING(navigati return NAV_FSM_EVENT_SUCCESS; } else { - // A safeguard - if sonar is available and it is reading < 50cm altitude - drop to low descend speed - if (posControl.flags.hasValidSurfaceSensor && posControl.actualState.surface >= 0 && posControl.actualState.surface < 50.0f) { - // land_descent_rate == 200 : descend speed = 30 cm/s, gentle touchdown - // Do not allow descent velocity slower than -30cm/s so the landing detector works. - float descentVelLimited = MIN(-0.15f * posControl.navConfig->general.land_descent_rate, -30.0f); - updateAltitudeTargetFromClimbRate(descentVelLimited, CLIMB_RATE_RESET_SURFACE_TARGET); + if (STATE(FIXED_WING)) { + // FIXME: Continue loitering at home altitude + return NAV_FSM_EVENT_NONE; } else { - // Ramp down descent velocity from 100% at maxAlt altitude to 25% from minAlt to 0cm. - float descentVelScaling = (posControl.actualState.pos.V.Z - posControl.homePosition.pos.V.Z - posControl.navConfig->general.land_slowdown_minalt) - / (posControl.navConfig->general.land_slowdown_maxalt - posControl.navConfig->general.land_slowdown_minalt) * 0.75f + 0.25f; // Yield 1.0 at 2000 alt and 0.25 at 500 alt + // A safeguard - if sonar is available and it is reading < 50cm altitude - drop to low descend speed + if (posControl.flags.hasValidSurfaceSensor && posControl.actualState.surface >= 0 && posControl.actualState.surface < 50.0f) { + // land_descent_rate == 200 : descend speed = 30 cm/s, gentle touchdown + // Do not allow descent velocity slower than -30cm/s so the landing detector works. + float descentVelLimited = MIN(-0.15f * posControl.navConfig->general.land_descent_rate, -30.0f); + updateAltitudeTargetFromClimbRate(descentVelLimited, CLIMB_RATE_RESET_SURFACE_TARGET); + } + else { + // Ramp down descent velocity from 100% at maxAlt altitude to 25% from minAlt to 0cm. + float descentVelScaling = (posControl.actualState.pos.V.Z - posControl.homePosition.pos.V.Z - posControl.navConfig->general.land_slowdown_minalt) + / (posControl.navConfig->general.land_slowdown_maxalt - posControl.navConfig->general.land_slowdown_minalt) * 0.75f + 0.25f; // Yield 1.0 at 2000 alt and 0.25 at 500 alt - descentVelScaling = constrainf(descentVelScaling, 0.25f, 1.0f); + descentVelScaling = constrainf(descentVelScaling, 0.25f, 1.0f); - // Do not allow descent velocity slower than -50cm/s so the landing detector works. - float descentVelLimited = MIN(-descentVelScaling * posControl.navConfig->general.land_descent_rate, -50.0f); - updateAltitudeTargetFromClimbRate(descentVelLimited, CLIMB_RATE_RESET_SURFACE_TARGET); - } + // Do not allow descent velocity slower than -50cm/s so the landing detector works. + float descentVelLimited = MIN(-descentVelScaling * posControl.navConfig->general.land_descent_rate, -50.0f); + updateAltitudeTargetFromClimbRate(descentVelLimited, CLIMB_RATE_RESET_SURFACE_TARGET); + } - return NAV_FSM_EVENT_NONE; + return NAV_FSM_EVENT_NONE; + } } } From a4cc1de883041da015dba61165891ff7eb0d60dd Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Tue, 15 Nov 2016 23:39:12 +1000 Subject: [PATCH 121/139] S stub for FW emergency landing; Fixed a bug with wrong units in max tilt for FW navigation --- src/main/flight/navigation_rewrite_fixedwing.c | 13 ++++++++++--- 1 file changed, 10 insertions(+), 3 deletions(-) diff --git a/src/main/flight/navigation_rewrite_fixedwing.c b/src/main/flight/navigation_rewrite_fixedwing.c index 90d33a19f9d..2642e6c1fc1 100755 --- a/src/main/flight/navigation_rewrite_fixedwing.c +++ b/src/main/flight/navigation_rewrite_fixedwing.c @@ -417,12 +417,12 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat // Limit and apply if (isPitchAdjustmentValid && (navStateFlags & NAV_CTL_ALT)) { // PITCH angle is measured in opposite direction ( >0 - dive, <0 - climb) - pitchCorrection = constrain(pitchCorrection, -DEGREES_TO_CENTIDEGREES(posControl.navConfig->fw.max_dive_angle), DEGREES_TO_CENTIDEGREES(posControl.navConfig->fw.max_climb_angle)); + pitchCorrection = constrain(pitchCorrection, -DEGREES_TO_DECIDEGREES(posControl.navConfig->fw.max_dive_angle), DEGREES_TO_DECIDEGREES(posControl.navConfig->fw.max_climb_angle)); rcCommand[PITCH] = -pidAngleToRcCommand(pitchCorrection, posControl.pidProfile->max_angle_inclination[FD_PITCH]); } if (isRollAdjustmentValid && (navStateFlags & NAV_CTL_POS)) { - rollCorrection = constrain(rollCorrection, -DEGREES_TO_CENTIDEGREES(posControl.navConfig->fw.max_bank_angle), DEGREES_TO_CENTIDEGREES(posControl.navConfig->fw.max_bank_angle)); + rollCorrection = constrain(rollCorrection, -DEGREES_TO_DECIDEGREES(posControl.navConfig->fw.max_bank_angle), DEGREES_TO_DECIDEGREES(posControl.navConfig->fw.max_bank_angle)); rcCommand[ROLL] = pidAngleToRcCommand(rollCorrection, posControl.pidProfile->max_angle_inclination[FD_ROLL]); // Calculate coordinated turn rate based on velocity and banking angle @@ -462,9 +462,16 @@ bool isFixedWingLandingDetected(void) /*----------------------------------------------------------- * FixedWing emergency landing *-----------------------------------------------------------*/ +#define FW_EMERGENCY_DIVE_DECIDEG 100 +#define FW_EMERGENCY_ROLL_DECIDEG 200 +#define FW_EMERGENCY_YAW_RATE_DPS 20 void applyFixedWingEmergencyLandingController(void) { - // TODO + // FIXME: Make this configurable, use altitude controller if available (similar to MC code) + rcCommand[PITCH] = pidAngleToRcCommand(-FW_EMERGENCY_DIVE_DECIDEG, posControl.pidProfile->max_angle_inclination[FD_PITCH]); + rcCommand[ROLL] = pidAngleToRcCommand(-FW_EMERGENCY_ROLL_DECIDEG, posControl.pidProfile->max_angle_inclination[FD_ROLL]); + rcCommand[YAW] = pidRateToRcCommand(-FW_EMERGENCY_YAW_RATE_DPS, currentControlRateProfile->rates[FD_YAW]); + rcCommand[THROTTLE] = posControl.navConfig->fw.min_throttle; } /*----------------------------------------------------------- From 594f656e59a63e11168752dfed61c51f9c8d946f Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Tue, 15 Nov 2016 23:42:29 +1000 Subject: [PATCH 122/139] Reduce chance of stalling in auto modes by applying pitch/throttle coupling to overall pitch, not only to altitude correction pitch --- src/main/config/config.c | 4 ++-- src/main/flight/navigation_rewrite_fixedwing.c | 12 ++++++------ 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/main/config/config.c b/src/main/config/config.c index 4542e30cca4..cc16f31fc87 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -218,8 +218,8 @@ void resetNavConfig(navConfig_t * navConfig) navConfig->fw.cruise_throttle = 1400; navConfig->fw.max_throttle = 1700; navConfig->fw.min_throttle = 1200; - navConfig->fw.pitch_to_throttle = 10; - navConfig->fw.roll_to_pitch = 75; + navConfig->fw.pitch_to_throttle = 10; // pwm units per degree of pitch (10pwm units ~ 1% throttle) + navConfig->fw.roll_to_pitch = 75; // percent of coupling navConfig->fw.loiter_radius = 5000; // 50m // Fixed wing launch diff --git a/src/main/flight/navigation_rewrite_fixedwing.c b/src/main/flight/navigation_rewrite_fixedwing.c index 2642e6c1fc1..922618d541f 100755 --- a/src/main/flight/navigation_rewrite_fixedwing.c +++ b/src/main/flight/navigation_rewrite_fixedwing.c @@ -397,17 +397,17 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat int16_t maxThrottleCorrection = posControl.navConfig->fw.max_throttle - posControl.navConfig->fw.cruise_throttle; // Mix Pitch/Roll/Throttle - if (isPitchAdjustmentValid && (navStateFlags & NAV_CTL_ALT)) { - pitchCorrection += posControl.rcAdjustment[PITCH]; - throttleCorrection += DECIDEGREES_TO_DEGREES(posControl.rcAdjustment[PITCH]) * posControl.navConfig->fw.pitch_to_throttle; - throttleCorrection = constrain(throttleCorrection, minThrottleCorrection, maxThrottleCorrection); - } - if (isRollAdjustmentValid && (navStateFlags & NAV_CTL_POS)) { pitchCorrection += ABS(posControl.rcAdjustment[ROLL]) * (posControl.navConfig->fw.roll_to_pitch / 100.0f); rollCorrection += posControl.rcAdjustment[ROLL]; } + if (isPitchAdjustmentValid && (navStateFlags & NAV_CTL_ALT)) { + pitchCorrection += posControl.rcAdjustment[PITCH]; + throttleCorrection += DECIDEGREES_TO_DEGREES(pitchCorrection) * posControl.navConfig->fw.pitch_to_throttle; + throttleCorrection = constrain(throttleCorrection, minThrottleCorrection, maxThrottleCorrection); + } + // Speed controller - only apply in POS mode if (navStateFlags & NAV_CTL_POS) { throttleCorrection += applyFixedWingMinSpeedController(currentTime); From 1317a12fd31345a771b940e9b3e6287a4573a39c Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Tue, 15 Nov 2016 20:33:27 +0100 Subject: [PATCH 123/139] zero cut for OmnibusF4 --- src/main/target/OMNIBUSF4/target.c | 89 ++++++++++++++++ src/main/target/OMNIBUSF4/target.h | 155 ++++++++++++++++++++++++++++ src/main/target/OMNIBUSF4/target.mk | 16 +++ 3 files changed, 260 insertions(+) create mode 100644 src/main/target/OMNIBUSF4/target.c create mode 100644 src/main/target/OMNIBUSF4/target.h create mode 100644 src/main/target/OMNIBUSF4/target.mk diff --git a/src/main/target/OMNIBUSF4/target.c b/src/main/target/OMNIBUSF4/target.c new file mode 100644 index 00000000000..fa8863c20c9 --- /dev/null +++ b/src/main/target/OMNIBUSF4/target.c @@ -0,0 +1,89 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#include + +#include +#include "drivers/io.h" +#include "drivers/pwm_mapping.h" +#include "drivers/timer.h" + +const uint16_t multiPPM[] = { + PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), + 0xFFFF +}; + +/* + * This target does not allows PWM Input, so this configuration will never be used + */ +const uint16_t multiPWM[] = { + PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1 + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed) + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed) + PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3 + PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #6 + 0xFFFF +}; + +const uint16_t airPPM[] = { + PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), + PWM9 | (MAP_TO_SERVO_OUTPUT << 8), + PWM10 | (MAP_TO_SERVO_OUTPUT << 8), + PWM11 | (MAP_TO_SERVO_OUTPUT << 8), + PWM12 | (MAP_TO_SERVO_OUTPUT << 8), + 0xFFFF +}; + +/* + * This target does not allows PWM Input, so this configuration will never be used + */ +const uint16_t airPWM[] = { + PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1 + PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 + PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 + PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1 + PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2 + PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3 + PWM12 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4 + 0xFFFF +}; + + +const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { + { TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM12 }, // PPM / S.BUS input, above MOTOR1 + { TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM12 }, // Connected: small CH2 pad, not used as PWM, definition inherited from REVO target - GPIO_PartialRemap_TIM3 + { TIM8, IO_TAG(PC6), TIM_Channel_1, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // Connected: UART6 TX, not used as PWM, definition inherited from REVO target + { TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // Connected: UART6 RX, not used as PWM, definition inherited from REVO target + { TIM8, IO_TAG(PC8), TIM_Channel_3, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // Connected: small CH5 pad, not used as PWM, definition inherited from REVO target + { TIM8, IO_TAG(PC9), TIM_Channel_4, TIM8_CC_IRQn, 0, IOCFG_AF_PP_PD, GPIO_AF_TIM8 }, // Connected: small CH6 pad, not used as PWM, definition inherited from REVO target + { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // MOTOR_1 + { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // MOTOR_2 + { TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM9 }, // MOTOR_3 + { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM2 }, // MOTOR_4 + { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM5 }, // MOTOR_5 - GPIO_PartialRemap_TIM3 + { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_UP_TIM10_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM1 }, // MOTOR_6 +}; diff --git a/src/main/target/OMNIBUSF4/target.h b/src/main/target/OMNIBUSF4/target.h new file mode 100644 index 00000000000..8c8a3591b62 --- /dev/null +++ b/src/main/target/OMNIBUSF4/target.h @@ -0,0 +1,155 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#pragma once + +#define TARGET_BOARD_IDENTIFIER "OBF4" +#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8) +#define USBD_PRODUCT_STRING "Omnibus F4" + +#define LED0 PB5 + +#define BEEPER PB4 +#define BEEPER_INVERTED + +#define INVERTER PC0 // PC0 used as inverter select GPIO +#define INVERTER_USART USART1 + +// MPU6000 interrupts +#define USE_EXTI +#define MPU_INT_EXTI PC4 +#define USE_MPU_DATA_READY_SIGNAL + +#define GYRO +#define USE_GYRO_SPI_MPU6000 +#define GYRO_MPU6000_ALIGN CW270_DEG +#define MPU6000_CS_PIN PA4 +#define MPU6000_SPI_INSTANCE SPI1 + +#define USE_GYRO_MPU6500 +#define USE_GYRO_SPI_MPU6500 +#define GYRO_MPU6500_ALIGN CW270_DEG +#define MPU6500_CS_PIN PA4 +#define MPU6500_SPI_INSTANCE SPI1 + +#define ACC +#define USE_ACC_SPI_MPU6000 +#define ACC_MPU6000_ALIGN CW270_DEG + +#define USE_ACC_MPU6500 +#define USE_ACC_SPI_MPU6500 +#define ACC_MPU6500_ALIGN CW270_DEG + +#define MAG +#define USE_MAG_AK8963 +#define USE_MAG_AK8975 +#define USE_MAG_HMC5883 +#define MAG_HMC5883_ALIGN CW90_DEG +#define USE_MAG_MAG3110 + +#define BARO +#define USE_BARO_BMP085 +#define USE_BARO_BMP280 +#define USE_BARO_MS5611 + +//#define PITOT +//#define USE_PITOT_MS4525 +#define PITOT_I2C_INSTANCE I2C_DEVICE + +#define M25P16_CS_PIN PB3 +#define M25P16_SPI_INSTANCE SPI3 + +#define USE_FLASHFS +#define USE_FLASH_M25P16 + +#define USE_VCP +#define VBUS_SENSING_PIN PC5 +#define VBUS_SENSING_ENABLED + +#define USE_UART1 +#define UART1_RX_PIN PA10 +#define UART1_TX_PIN PA9 +#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2 + +#define USE_UART3 +#define UART3_RX_PIN PB11 +#define UART3_TX_PIN PB10 + +#define USE_UART6 +#define UART6_RX_PIN PC7 +#define UART6_TX_PIN PC6 + +#define SERIAL_PORT_COUNT 4 //VCP, USART1, USART3, USART6 + +#define USE_SPI + +#define USE_SPI_DEVICE_1 + +#define USE_SPI_DEVICE_3 +#define SPI3_NSS_PIN PB3 +#define SPI3_SCK_PIN PC10 +#define SPI3_MISO_PIN PC11 +#define SPI3_MOSI_PIN PC12 + +#define USE_I2C +#define I2C_DEVICE (I2CDEV_2) +#define I2C_DEVICE_SHARES_UART3 + +#define USE_ADC +#define CURRENT_METER_ADC_PIN PC1 +#define VBAT_ADC_PIN PC2 +#define RSSI_ADC_PIN PA0 + +#define SENSORS_SET (SENSOR_ACC|SENSOR_MAG|SENSOR_BARO) + +// #define LED_STRIP +// LED Strip can run off Pin 5 (PA1) of the MOTOR outputs. +#define WS2811_GPIO_AF GPIO_AF_TIM5 +#define WS2811_PIN PA1 +#define WS2811_TIMER TIM5 +#define WS2811_TIMER_CHANNEL TIM_Channel_2 +#define WS2811_DMA_HANDLER_IDENTIFER DMA1_ST4_HANDLER +#define WS2811_DMA_STREAM DMA1_Stream4 +#define WS2811_DMA_CHANNEL DMA_Channel_6 +#define WS2811_DMA_IRQ DMA1_Stream4_IRQn +#define WS2811_DMA_FLAG DMA_FLAG_TCIF4 +#define WS2811_DMA_IT DMA_IT_TCIF4 + +#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT + +#define MAG_GPS_ALIGN CW180_DEG_FLIP + +#define DEFAULT_RX_FEATURE FEATURE_RX_PPM +#define DISABLE_RX_PWM_FEATURE +#define DEFAULT_FEATURES (FEATURE_BLACKBOX | FEATURE_VBAT) + +#define SPEKTRUM_BIND +#define BIND_PIN PB11 // USART3 RX + +#define USE_SERIAL_4WAY_BLHELI_INTERFACE + +// Number of available PWM outputs +#define MAX_PWM_OUTPUT_PORTS 6 +#define TARGET_MOTOR_COUNT 6 + +#define TARGET_IO_PORTA 0xffff +#define TARGET_IO_PORTB 0xffff +#define TARGET_IO_PORTC 0xffff +#define TARGET_IO_PORTD 0xffff + +#define USABLE_TIMER_CHANNEL_COUNT 12 +#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9) ) diff --git a/src/main/target/OMNIBUSF4/target.mk b/src/main/target/OMNIBUSF4/target.mk new file mode 100644 index 00000000000..b5d9af24525 --- /dev/null +++ b/src/main/target/OMNIBUSF4/target.mk @@ -0,0 +1,16 @@ +F405_TARGETS += $(TARGET) +FEATURES += VCP ONBOARDFLASH + +TARGET_SRC = \ + drivers/accgyro_spi_mpu6500.c \ + drivers/accgyro_spi_mpu6000.c \ + drivers/accgyro_mpu6500.c \ + drivers/barometer_bmp085.c \ + drivers/barometer_bmp280.c \ + drivers/barometer_ms5611.c \ + drivers/compass_ak8963.c \ + drivers/compass_ak8975.c \ + drivers/compass_hmc5883l.c \ + drivers/compass_mag3110.c \ + drivers/light_ws2811strip.c \ + drivers/light_ws2811strip_stm32f4xx.c From 44b0fe90a72c25dfe696ba88f5b67f4f7b6320a7 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Wed, 16 Nov 2016 21:32:03 +1000 Subject: [PATCH 124/139] Add detection retry to compass/baro drivers --- src/main/drivers/barometer_bmp085.c | 43 ++++++++++--------- src/main/drivers/barometer_bmp280.c | 65 ++++++++++++++++------------- src/main/drivers/barometer_ms5611.c | 52 +++++++++++------------ src/main/drivers/compass_ak8963.c | 36 ++++++++-------- src/main/drivers/compass_ak8975.c | 21 +++++----- src/main/drivers/compass_hmc5883l.c | 19 +++++---- src/main/drivers/compass_mag3110.c | 20 +++++---- 7 files changed, 136 insertions(+), 120 deletions(-) diff --git a/src/main/drivers/barometer_bmp085.c b/src/main/drivers/barometer_bmp085.c index fe25c1603ff..6ee45590529 100644 --- a/src/main/drivers/barometer_bmp085.c +++ b/src/main/drivers/barometer_bmp085.c @@ -154,6 +154,7 @@ void bmp085Disable(const bmp085Config_t *config) BMP085_OFF; } +#define DETECTION_MAX_RETRY_COUNT 5 bool bmp085Detect(const bmp085Config_t *config, baro_t *baro) { uint8_t data; @@ -184,28 +185,30 @@ bool bmp085Detect(const bmp085Config_t *config, baro_t *baro) delay(20); // datasheet says 10ms, we'll be careful and do 20. - ack = i2cRead(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_CHIP_ID__REG, 1, &data); /* read Chip Id */ - if (ack) { - bmp085.chip_id = BMP085_GET_BITSLICE(data, BMP085_CHIP_ID); - bmp085.oversampling_setting = 3; - - if (bmp085.chip_id == BMP085_CHIP_ID) { /* get bitslice */ - i2cRead(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_VERSION_REG, 1, &data); /* read Version reg */ - bmp085.ml_version = BMP085_GET_BITSLICE(data, BMP085_ML_VERSION); /* get ML Version */ - bmp085.al_version = BMP085_GET_BITSLICE(data, BMP085_AL_VERSION); /* get AL Version */ - bmp085_get_cal_param(); /* readout bmp085 calibparam structure */ - baro->ut_delay = UT_DELAY; - baro->up_delay = UP_DELAY; - baro->start_ut = bmp085_start_ut; - baro->get_ut = bmp085_get_ut; - baro->start_up = bmp085_start_up; - baro->get_up = bmp085_get_up; - baro->calculate = bmp085_calculate; + for (int retryCount = 0; retryCount < DETECTION_MAX_RETRY_COUNT; retryCount++) { + ack = i2cRead(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_CHIP_ID__REG, 1, &data); /* read Chip Id */ + if (ack) { + bmp085.chip_id = BMP085_GET_BITSLICE(data, BMP085_CHIP_ID); + bmp085.oversampling_setting = 3; + + if (bmp085.chip_id == BMP085_CHIP_ID) { /* get bitslice */ + i2cRead(BARO_I2C_INSTANCE, BMP085_I2C_ADDR, BMP085_VERSION_REG, 1, &data); /* read Version reg */ + bmp085.ml_version = BMP085_GET_BITSLICE(data, BMP085_ML_VERSION); /* get ML Version */ + bmp085.al_version = BMP085_GET_BITSLICE(data, BMP085_AL_VERSION); /* get AL Version */ + bmp085_get_cal_param(); /* readout bmp085 calibparam structure */ + baro->ut_delay = UT_DELAY; + baro->up_delay = UP_DELAY; + baro->start_ut = bmp085_start_ut; + baro->get_ut = bmp085_get_ut; + baro->start_up = bmp085_start_up; + baro->get_up = bmp085_get_up; + baro->calculate = bmp085_calculate; #if defined(BARO_EOC_GPIO) - isEOCConnected = bmp085TestEOCConnected(config); + isEOCConnected = bmp085TestEOCConnected(config); #endif - bmp085InitDone = true; - return true; + bmp085InitDone = true; + return true; + } } } diff --git a/src/main/drivers/barometer_bmp280.c b/src/main/drivers/barometer_bmp280.c index bebf45ac3bf..1d2c14796b5 100644 --- a/src/main/drivers/barometer_bmp280.c +++ b/src/main/drivers/barometer_bmp280.c @@ -65,6 +65,7 @@ static void bmp280_get_up(void); #endif STATIC_UNIT_TESTED void bmp280_calculate(int32_t *pressure, int32_t *temperature); +#define DETECTION_MAX_RETRY_COUNT 5 bool bmp280Detect(baro_t *baro) { if (bmp280InitDone) @@ -72,46 +73,50 @@ bool bmp280Detect(baro_t *baro) delay(20); + for (int retryCount = 0; retryCount < DETECTION_MAX_RETRY_COUNT; retryCount++) { #ifdef USE_BARO_SPI_BMP280 - bmp280SpiInit(); - bmp280ReadRegister(BMP280_CHIP_ID_REG, 1, &bmp280_chip_id); - if (bmp280_chip_id != BMP280_DEFAULT_CHIP_ID) - return false; - - // read calibration - bmp280ReadRegister(BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG, 24, (uint8_t *)&bmp280_cal); - // set oversampling + power mode (forced), and start sampling - bmp280WriteRegister(BMP280_CTRL_MEAS_REG, BMP280_MODE); + bmp280SpiInit(); + bmp280ReadRegister(BMP280_CHIP_ID_REG, 1, &bmp280_chip_id); + if (bmp280_chip_id != BMP280_DEFAULT_CHIP_ID) + continue; + + // read calibration + bmp280ReadRegister(BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG, 24, (uint8_t *)&bmp280_cal); + // set oversampling + power mode (forced), and start sampling + bmp280WriteRegister(BMP280_CTRL_MEAS_REG, BMP280_MODE); #else - i2cRead(BARO_I2C_INSTANCE, BMP280_I2C_ADDR, BMP280_CHIP_ID_REG, 1, &bmp280_chip_id); /* read Chip Id */ - if (bmp280_chip_id != BMP280_DEFAULT_CHIP_ID) - return false; - - // read calibration - i2cRead(BARO_I2C_INSTANCE, BMP280_I2C_ADDR, BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG, 24, (uint8_t *)&bmp280_cal); - // set oversampling + power mode (forced), and start sampling - i2cWrite(BARO_I2C_INSTANCE, BMP280_I2C_ADDR, BMP280_CTRL_MEAS_REG, BMP280_MODE); + bool ack = i2cRead(BARO_I2C_INSTANCE, BMP280_I2C_ADDR, BMP280_CHIP_ID_REG, 1, &bmp280_chip_id); /* read Chip Id */ + if (!ack || bmp280_chip_id != BMP280_DEFAULT_CHIP_ID) + continue; + + // read calibration + i2cRead(BARO_I2C_INSTANCE, BMP280_I2C_ADDR, BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG, 24, (uint8_t *)&bmp280_cal); + // set oversampling + power mode (forced), and start sampling + i2cWrite(BARO_I2C_INSTANCE, BMP280_I2C_ADDR, BMP280_CTRL_MEAS_REG, BMP280_MODE); #endif - bmp280InitDone = true; + bmp280InitDone = true; - // these are dummy as temperature is measured as part of pressure - baro->ut_delay = 0; - baro->get_ut = bmp280_get_ut; - baro->start_ut = bmp280_start_ut; + // these are dummy as temperature is measured as part of pressure + baro->ut_delay = 0; + baro->get_ut = bmp280_get_ut; + baro->start_ut = bmp280_start_ut; - // only _up part is executed, and gets both temperature and pressure - baro->up_delay = ((T_INIT_MAX + T_MEASURE_PER_OSRS_MAX * (((1 << BMP280_TEMPERATURE_OSR) >> 1) + ((1 << BMP280_PRESSURE_OSR) >> 1)) + (BMP280_PRESSURE_OSR ? T_SETUP_PRESSURE_MAX : 0) + 15) / 16) * 1000; + // only _up part is executed, and gets both temperature and pressure + baro->up_delay = ((T_INIT_MAX + T_MEASURE_PER_OSRS_MAX * (((1 << BMP280_TEMPERATURE_OSR) >> 1) + ((1 << BMP280_PRESSURE_OSR) >> 1)) + (BMP280_PRESSURE_OSR ? T_SETUP_PRESSURE_MAX : 0) + 15) / 16) * 1000; #ifdef USE_BARO_SPI_BMP280 - baro->start_up = bmp280_spi_start_up; - baro->get_up = bmp280_spi_get_up; + baro->start_up = bmp280_spi_start_up; + baro->get_up = bmp280_spi_get_up; #else - baro->start_up = bmp280_start_up; - baro->get_up = bmp280_get_up; + baro->start_up = bmp280_start_up; + baro->get_up = bmp280_get_up; #endif - baro->calculate = bmp280_calculate; + baro->calculate = bmp280_calculate; - return true; + return true; + } + + return false; } static void bmp280_start_ut(void) diff --git a/src/main/drivers/barometer_ms5611.c b/src/main/drivers/barometer_ms5611.c index 8fd76cd36b4..a7352a0b025 100644 --- a/src/main/drivers/barometer_ms5611.c +++ b/src/main/drivers/barometer_ms5611.c @@ -58,36 +58,36 @@ STATIC_UNIT_TESTED uint32_t ms5611_up; // static result of pressure measurement STATIC_UNIT_TESTED uint16_t ms5611_c[PROM_NB]; // on-chip ROM static uint8_t ms5611_osr = CMD_ADC_4096; +#define DETECTION_MAX_RETRY_COUNT 5 bool ms5611Detect(baro_t *baro) { - bool ack = false; - uint8_t sig; - int i; - delay(10); // No idea how long the chip takes to power-up, but let's make it 10ms + for (int retryCount = 0; retryCount < DETECTION_MAX_RETRY_COUNT; retryCount++) { + uint8_t sig; + bool ack = i2cRead(BARO_I2C_INSTANCE, MS5611_ADDR, CMD_PROM_RD, 1, &sig); + if (ack) { + ms5611_reset(); + // read all coefficients + for (int i = 0; i < PROM_NB; i++) + ms5611_c[i] = ms5611_prom(i); + // check crc, bail out if wrong - we are probably talking to BMP085 w/o XCLR line! + if (ms5611_crc(ms5611_c) != 0) + return false; + + // TODO prom + CRC + baro->ut_delay = 10000; + baro->up_delay = 10000; + baro->start_ut = ms5611_start_ut; + baro->get_ut = ms5611_get_ut; + baro->start_up = ms5611_start_up; + baro->get_up = ms5611_get_up; + baro->calculate = ms5611_calculate; + + return true; + } + } - ack = i2cRead(BARO_I2C_INSTANCE, MS5611_ADDR, CMD_PROM_RD, 1, &sig); - if (!ack) - return false; - - ms5611_reset(); - // read all coefficients - for (i = 0; i < PROM_NB; i++) - ms5611_c[i] = ms5611_prom(i); - // check crc, bail out if wrong - we are probably talking to BMP085 w/o XCLR line! - if (ms5611_crc(ms5611_c) != 0) - return false; - - // TODO prom + CRC - baro->ut_delay = 10000; - baro->up_delay = 10000; - baro->start_ut = ms5611_start_ut; - baro->get_ut = ms5611_get_ut; - baro->start_up = ms5611_start_up; - baro->get_up = ms5611_get_up; - baro->calculate = ms5611_calculate; - - return true; + return false; } static void ms5611_reset(void) diff --git a/src/main/drivers/compass_ak8963.c b/src/main/drivers/compass_ak8963.c index b58dc7d5613..d5dddab8a03 100755 --- a/src/main/drivers/compass_ak8963.c +++ b/src/main/drivers/compass_ak8963.c @@ -191,33 +191,35 @@ bool ak8963SensorWrite(uint8_t addr_, uint8_t reg_, uint8_t data) } #endif +#define DETECTION_MAX_RETRY_COUNT 5 bool ak8963Detect(mag_t *mag) { - bool ack = false; - uint8_t sig = 0; + for (int retryCount = 0; retryCount < DETECTION_MAX_RETRY_COUNT; retryCount++) { + bool ack = false; + uint8_t sig = 0; #if defined(USE_SPI) && defined(MPU9250_SPI_INSTANCE) - // initialze I2C master via SPI bus (MPU9250) + // initialze I2C master via SPI bus (MPU9250) - ack = verifympu9250WriteRegister(MPU_RA_INT_PIN_CFG, 0x10); // INT_ANYRD_2CLEAR - delay(10); + ack = verifympu9250WriteRegister(MPU_RA_INT_PIN_CFG, 0x10); // INT_ANYRD_2CLEAR + delay(10); - ack = verifympu9250WriteRegister(MPU_RA_I2C_MST_CTRL, 0x0D); // I2C multi-master / 400kHz - delay(10); + ack = verifympu9250WriteRegister(MPU_RA_I2C_MST_CTRL, 0x0D); // I2C multi-master / 400kHz + delay(10); - ack = verifympu9250WriteRegister(MPU_RA_USER_CTRL, 0x30); // I2C master mode, SPI mode only - delay(10); + ack = verifympu9250WriteRegister(MPU_RA_USER_CTRL, 0x30); // I2C master mode, SPI mode only + delay(10); #endif - // check for AK8963 - ack = ak8963SensorRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_WHO_AM_I, 1, &sig); - if (ack && sig == AK8963_Device_ID) // 0x48 / 01001000 / 'H' - { - mag->init = ak8963Init; - mag->read = ak8963Read; - - return true; + // check for AK8963 + ack = ak8963SensorRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_WHO_AM_I, 1, &sig); + if (ack && sig == AK8963_Device_ID) { // 0x48 / 01001000 / 'H' + mag->init = ak8963Init; + mag->read = ak8963Read; + return true; + } } + return false; } diff --git a/src/main/drivers/compass_ak8975.c b/src/main/drivers/compass_ak8975.c index a68f8470179..9eee12780e3 100644 --- a/src/main/drivers/compass_ak8975.c +++ b/src/main/drivers/compass_ak8975.c @@ -58,19 +58,20 @@ #define AK8975_MAG_REG_CNTL 0x0a #define AK8975_MAG_REG_ASCT 0x0c // self test +#define DETECTION_MAX_RETRY_COUNT 5 bool ak8975Detect(mag_t *mag) { - bool ack = false; - uint8_t sig = 0; - - ack = i2cRead(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_WHO_AM_I, 1, &sig); - if (!ack || sig != 'H') // 0x48 / 01001000 / 'H' - return false; - - mag->init = ak8975Init; - mag->read = ak8975Read; + for (int retryCount = 0; retryCount < DETECTION_MAX_RETRY_COUNT; retryCount++) { + uint8_t sig = 0; + bool ack = i2cRead(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_WHO_AM_I, 1, &sig); + if (ack && sig == 'H') { // 0x48 / 01001000 / 'H' + mag->init = ak8975Init; + mag->read = ak8975Read; + return true; + } + } - return true; + return false; } #define AK8975A_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value diff --git a/src/main/drivers/compass_hmc5883l.c b/src/main/drivers/compass_hmc5883l.c index 8ec7d0b605e..336ca8e8e83 100644 --- a/src/main/drivers/compass_hmc5883l.c +++ b/src/main/drivers/compass_hmc5883l.c @@ -169,20 +169,23 @@ static void hmc5883lConfigureDataReadyInterruptHandling(void) #endif } +#define DETECTION_MAX_RETRY_COUNT 5 bool hmc5883lDetect(mag_t* mag, const hmc5883Config_t *hmc5883ConfigToUse) { hmc5883Config = hmc5883ConfigToUse; - uint8_t sig = 0; - bool ack = i2cRead(MAG_I2C_INSTANCE, MAG_ADDRESS, 0x0A, 1, &sig); - if (!ack || sig != 'H') { - return false; - } + for (int retryCount = 0; retryCount < DETECTION_MAX_RETRY_COUNT; retryCount++) { + uint8_t sig = 0; + bool ack = i2cRead(MAG_I2C_INSTANCE, MAG_ADDRESS, 0x0A, 1, &sig); + if (ack && sig == 'H') { + mag->init = hmc5883lInit; + mag->read = hmc5883lRead; - mag->init = hmc5883lInit; - mag->read = hmc5883lRead; + return true; + } + } - return true; + return false; } #define INITIALISATION_MAX_READ_FAILURES 5 diff --git a/src/main/drivers/compass_mag3110.c b/src/main/drivers/compass_mag3110.c index efed98d6c88..22e09b399ea 100755 --- a/src/main/drivers/compass_mag3110.c +++ b/src/main/drivers/compass_mag3110.c @@ -59,18 +59,20 @@ #define MAG3110_MAG_REG_CTRL_REG1 0x10 #define MAG3110_MAG_REG_CTRL_REG2 0x11 +#define DETECTION_MAX_RETRY_COUNT 5 bool mag3110detect(mag_t *mag) { - uint8_t sig = 0; - - bool ack = i2cRead(MAG_I2C_INSTANCE, MAG3110_MAG_I2C_ADDRESS, MAG3110_MAG_REG_WHO_AM_I, 1, &sig); - if (!ack || sig != 0xC4) - return false; - - mag->init = mag3110Init; - mag->read = mag3110Read; + for (int retryCount = 0; retryCount < DETECTION_MAX_RETRY_COUNT; retryCount++) { + uint8_t sig = 0; + bool ack = i2cRead(MAG_I2C_INSTANCE, MAG3110_MAG_I2C_ADDRESS, MAG3110_MAG_REG_WHO_AM_I, 1, &sig); + if (ack && sig == 0xC4) { + mag->init = mag3110Init; + mag->read = mag3110Read; + return true; + } + } - return true; + return false; } bool mag3110Init() From a012c7aff42a61ab5c2fc13b1a18f81b59b23673 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Wed, 5 Oct 2016 10:26:11 +1000 Subject: [PATCH 125/139] Coverity: fixed some bugs revealed by static code analysis --- .gitignore | 1 + src/main/blackbox/blackbox.c | 1 + src/main/rx/jetiexbus.c | 2 +- src/main/rx/xbus.c | 2 ++ src/main/vcp/usb_prop.c | 2 +- 5 files changed, 6 insertions(+), 2 deletions(-) diff --git a/.gitignore b/.gitignore index 46d84620b1b..de436d5ab28 100644 --- a/.gitignore +++ b/.gitignore @@ -12,6 +12,7 @@ obj/ patches/ startup_stm32f10x_md_gcc.s .vagrant/ +cov-int* # script-generated files docs/Manual.pdf diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c index 3a4d34b1e71..2e3570dd2d9 100644 --- a/src/main/blackbox/blackbox.c +++ b/src/main/blackbox/blackbox.c @@ -1412,6 +1412,7 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data) blackboxWrite(data->inflightAdjustment.adjustmentFunction); blackboxWriteSignedVB(data->inflightAdjustment.newValue); } + break; case FLIGHT_LOG_EVENT_LOGGING_RESUME: blackboxWriteUnsignedVB(data->loggingResume.logIteration); blackboxWriteUnsignedVB(data->loggingResume.currentTime); diff --git a/src/main/rx/jetiexbus.c b/src/main/rx/jetiexbus.c index beef9f6fa17..f695e60d7fc 100644 --- a/src/main/rx/jetiexbus.c +++ b/src/main/rx/jetiexbus.c @@ -469,7 +469,7 @@ uint8_t createExTelemetrieValueMessage(uint8_t *exMessage, uint8_t itemStart) *p++ = (sensorValue & 0x9F) | jetiExSensors[item].decimals; item++; - if(item > JETI_EX_SENSOR_COUNT) + if(item >= JETI_EX_SENSOR_COUNT) break; if(EXTEL_MAX_PAYLOAD <= ((p-&exMessage[EXTEL_HEADER_ID]) + exDataTypeLen[jetiExSensors[item].exDataType]) + 1) break; diff --git a/src/main/rx/xbus.c b/src/main/rx/xbus.c index 65c363cf082..e20922c6e3a 100644 --- a/src/main/rx/xbus.c +++ b/src/main/rx/xbus.c @@ -237,8 +237,10 @@ static void xBusDataReceive(uint16_t c) switch (xBusProvider) { case SERIALRX_XBUS_MODE_B: xBusUnpackModeBFrame(0); + break; case SERIALRX_XBUS_MODE_B_RJ01: xBusUnpackRJ01Frame(); + break; } xBusDataIncoming = false; xBusFramePosition = 0; diff --git a/src/main/vcp/usb_prop.c b/src/main/vcp/usb_prop.c index b070ce9ccae..afe4ba99102 100644 --- a/src/main/vcp/usb_prop.c +++ b/src/main/vcp/usb_prop.c @@ -300,7 +300,7 @@ uint8_t *Virtual_Com_Port_GetConfigDescriptor(uint16_t Length) uint8_t *Virtual_Com_Port_GetStringDescriptor(uint16_t Length) { uint8_t wValue0 = pInformation->USBwValue0; - if (wValue0 > 4) { + if (wValue0 >= 4) { return NULL; } else { return Standard_GetDescriptorData(Length, &String_Descriptor[wValue0]); From 845f1b208054f66db0f5e8ab0667da5130980e64 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Wed, 16 Nov 2016 20:36:59 +0100 Subject: [PATCH 126/139] MPU6500 removed --- src/main/target/OMNIBUSF4/target.h | 6 ------ 1 file changed, 6 deletions(-) diff --git a/src/main/target/OMNIBUSF4/target.h b/src/main/target/OMNIBUSF4/target.h index 8c8a3591b62..7e585572e30 100644 --- a/src/main/target/OMNIBUSF4/target.h +++ b/src/main/target/OMNIBUSF4/target.h @@ -40,12 +40,6 @@ #define MPU6000_CS_PIN PA4 #define MPU6000_SPI_INSTANCE SPI1 -#define USE_GYRO_MPU6500 -#define USE_GYRO_SPI_MPU6500 -#define GYRO_MPU6500_ALIGN CW270_DEG -#define MPU6500_CS_PIN PA4 -#define MPU6500_SPI_INSTANCE SPI1 - #define ACC #define USE_ACC_SPI_MPU6000 #define ACC_MPU6000_ALIGN CW270_DEG From 42715e7e958a7a92413c6a84e54b785fd807cd67 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Thu, 17 Nov 2016 09:16:41 +1000 Subject: [PATCH 127/139] Fix telemetry inversion stuck in 'ON' on F3 boards --- src/main/config/config.c | 11 ++++------- 1 file changed, 4 insertions(+), 7 deletions(-) diff --git a/src/main/config/config.c b/src/main/config/config.c index 4542e30cca4..b5fd9ce1f6e 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -292,7 +292,11 @@ void resetFlight3DConfig(flight3DConfig_t *flight3DConfig) #ifdef TELEMETRY void resetTelemetryConfig(telemetryConfig_t *telemetryConfig) { +#if defined(STM32F303xC) + telemetryConfig->telemetry_inversion = 1; +#else telemetryConfig->telemetry_inversion = 0; +#endif telemetryConfig->telemetry_switch = 0; telemetryConfig->gpsNoFixLatitude = 0; telemetryConfig->gpsNoFixLongitude = 0; @@ -956,13 +960,6 @@ void validateAndFixConfig(void) } #endif -#ifdef STM32F303xC - // hardware supports serial port inversion, make users life easier for those that want to connect SBus RX's -#ifdef TELEMETRY - masterConfig.telemetryConfig.telemetry_inversion = 1; -#endif -#endif - #if defined(CC3D) #if defined(CC3D_PPM1) #if defined(SONAR) && defined(USE_SOFTSERIAL1) From 55eac14725b42ad0117ab4d22319fb96cfb3accd Mon Sep 17 00:00:00 2001 From: borisbstyle Date: Mon, 22 Feb 2016 11:55:33 +0100 Subject: [PATCH 128/139] Configurable VFAS cell/full voltage --- src/main/config/config.c | 1 + src/main/io/serial_cli.c | 1 + src/main/telemetry/smartport.c | 8 +++++++- 3 files changed, 9 insertions(+), 1 deletion(-) diff --git a/src/main/config/config.c b/src/main/config/config.c index 4542e30cca4..f2724419fc1 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -299,6 +299,7 @@ void resetTelemetryConfig(telemetryConfig_t *telemetryConfig) telemetryConfig->frsky_coordinate_format = FRSKY_FORMAT_DMS; telemetryConfig->frsky_unit = FRSKY_UNIT_METRICS; telemetryConfig->frsky_vfas_precision = 0; + telemetryConfig->frsky_vfas_cell_voltage = 0; telemetryConfig->hottAlarmSoundInterval = 5; #ifdef TELEMETRY_SMARTPORT telemetryConfig->smartportUartUnidirectional = 0; diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index ffb479354aa..774330ce244 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -755,6 +755,7 @@ const clivalue_t valueTable[] = { { "frsky_coordinates_format", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.frsky_coordinate_format, .config.minmax = { 0, FRSKY_FORMAT_NMEA }, 0 }, { "frsky_unit", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.telemetryConfig.frsky_unit, .config.lookup = { TABLE_UNIT }, 0 }, { "frsky_vfas_precision", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.frsky_vfas_precision, .config.minmax = { FRSKY_VFAS_PRECISION_LOW, FRSKY_VFAS_PRECISION_HIGH }, 0 }, + { "frsky_vfas_cell_voltage", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.telemetryConfig.frsky_vfas_cell_voltage, .config.lookup = { TABLE_OFF_ON } }, { "hott_alarm_sound_interval", VAR_UINT8 | MASTER_VALUE, &masterConfig.telemetryConfig.hottAlarmSoundInterval, .config.minmax = { 0, 120 }, 0 }, #ifdef TELEMETRY_SMARTPORT { "smartport_uart_unidir", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.telemetryConfig.smartportUartUnidirectional, .config.lookup = { TABLE_OFF_ON }, 0 }, diff --git a/src/main/telemetry/smartport.c b/src/main/telemetry/smartport.c index cf91c8a7c2b..4872c557e51 100644 --- a/src/main/telemetry/smartport.c +++ b/src/main/telemetry/smartport.c @@ -312,7 +312,13 @@ void handleSmartPortTelemetry(void) #endif case FSSP_DATAID_VFAS : if (feature(FEATURE_VBAT)) { - smartPortSendPackage(id, vbat * 10); // given in 0.1V, convert to volts + uint16_t vfasVoltage; + if (telemetryConfig->frsky_vfas_cell_voltage) { + vfasVoltage = vbat / batteryCellCount; + } else { + vfasVoltage = vbat; + } + smartPortSendPackage(id, vfasVoltage * 10); // given in 0.1V, convert to volts smartPortHasRequest = 0; } break; From 9202a9f352fe94bbd073c35018416448bf8f56ad Mon Sep 17 00:00:00 2001 From: "Carsten.Wache" Date: Wed, 6 Apr 2016 20:18:33 +0200 Subject: [PATCH 129/139] Send averaged cell voltage on A4 --- src/main/telemetry/smartport.c | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/src/main/telemetry/smartport.c b/src/main/telemetry/smartport.c index 4872c557e51..099d3188a2f 100644 --- a/src/main/telemetry/smartport.c +++ b/src/main/telemetry/smartport.c @@ -64,7 +64,7 @@ enum // remaining 3 bits are crc (according to comments in openTx code) }; -// these data identifiers are obtained from http://diydrones.com/forum/topics/amp-to-frsky-x8r-sport-converter +// these data identifiers are obtained from https://github.com/opentx/opentx/blob/master/radio/src/telemetry/frsky.h enum { FSSP_DATAID_SPEED = 0x0830 , @@ -88,6 +88,8 @@ enum FSSP_DATAID_T2 = 0x0410 , FSSP_DATAID_GPS_ALT = 0x0820 , FSSP_DATAID_ASPD = 0x0A00 , + FSSP_DATAID_A3 = 0x0900 , + FSSP_DATAID_A4 = 0x0910 , }; const uint16_t frSkyDataIdTable[] = { @@ -113,6 +115,7 @@ const uint16_t frSkyDataIdTable[] = { FSSP_DATAID_T2 , FSSP_DATAID_GPS_ALT , FSSP_DATAID_ASPD , + FSSP_DATAID_A4 , 0 }; @@ -460,6 +463,12 @@ void handleSmartPortTelemetry(void) } break; #endif + case FSSP_DATAID_A4 : + if (feature(FEATURE_VBAT)) { + smartPortSendPackage(id, vbat * 10 / batteryCellCount ); // given in 0.1V, convert to volts + smartPortHasRequest = 0; + } + break; default: break; // if nothing is sent, smartPortHasRequest isn't cleared, we already incremented the counter, just loop back to the start From 8ede4c50d50caa1a13edf40fd6015a0151690500 Mon Sep 17 00:00:00 2001 From: Bas Delfos Date: Fri, 26 Feb 2016 19:02:30 +0100 Subject: [PATCH 130/139] Cell voltage for FrSky Telemetry protocol Same implementation as SmartPort protocol --- src/main/telemetry/frsky.c | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/src/main/telemetry/frsky.c b/src/main/telemetry/frsky.c index 4d0023b3032..01d5864b554 100644 --- a/src/main/telemetry/frsky.c +++ b/src/main/telemetry/frsky.c @@ -407,11 +407,16 @@ static void sendVoltageAmp(void) serialize16(vbat); } else { uint16_t voltage = (vbat * 110) / 21; - + uint16_t vfasVoltage; + if (telemetryConfig->frsky_vfas_cell_voltage) { + vfasVoltage = voltage / batteryCellCount; + } else { + vfasVoltage = voltage; + } sendDataHead(ID_VOLTAGE_AMP_BP); - serialize16(voltage / 100); + serialize16(vfasVoltage / 100); sendDataHead(ID_VOLTAGE_AMP_AP); - serialize16(((voltage % 100) + 5) / 10); + serialize16(((vfasVoltage % 100) + 5) / 10); } } From 3654d38ec478bf7a1a670ea0a65c5bf73350938c Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Thu, 17 Nov 2016 20:08:11 +1000 Subject: [PATCH 131/139] EEPROM version bump --- src/main/config/config_eeprom.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/config/config_eeprom.h b/src/main/config/config_eeprom.h index 9e46560764d..156a42c7289 100644 --- a/src/main/config/config_eeprom.h +++ b/src/main/config/config_eeprom.h @@ -17,7 +17,7 @@ #pragma once -#define EEPROM_CONF_VERSION 123 +#define EEPROM_CONF_VERSION 124 void initEEPROM(void); void writeEEPROM(void); From b866076cb8e72c6b294b3b43a570f4cb2e6c1ede Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Thu, 17 Nov 2016 14:03:29 +0100 Subject: [PATCH 132/139] MPU6500 removed from target --- src/main/target/OMNIBUSF4/target.h | 4 ---- src/main/target/OMNIBUSF4/target.mk | 2 -- 2 files changed, 6 deletions(-) diff --git a/src/main/target/OMNIBUSF4/target.h b/src/main/target/OMNIBUSF4/target.h index 7e585572e30..b1f59433dd4 100644 --- a/src/main/target/OMNIBUSF4/target.h +++ b/src/main/target/OMNIBUSF4/target.h @@ -44,10 +44,6 @@ #define USE_ACC_SPI_MPU6000 #define ACC_MPU6000_ALIGN CW270_DEG -#define USE_ACC_MPU6500 -#define USE_ACC_SPI_MPU6500 -#define ACC_MPU6500_ALIGN CW270_DEG - #define MAG #define USE_MAG_AK8963 #define USE_MAG_AK8975 diff --git a/src/main/target/OMNIBUSF4/target.mk b/src/main/target/OMNIBUSF4/target.mk index b5d9af24525..0bd94ff5b55 100644 --- a/src/main/target/OMNIBUSF4/target.mk +++ b/src/main/target/OMNIBUSF4/target.mk @@ -2,9 +2,7 @@ F405_TARGETS += $(TARGET) FEATURES += VCP ONBOARDFLASH TARGET_SRC = \ - drivers/accgyro_spi_mpu6500.c \ drivers/accgyro_spi_mpu6000.c \ - drivers/accgyro_mpu6500.c \ drivers/barometer_bmp085.c \ drivers/barometer_bmp280.c \ drivers/barometer_ms5611.c \ From f0de3a8a2d88edc5ad662e62dd7ac40b8b4c2d5e Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Fri, 18 Nov 2016 16:07:37 +1000 Subject: [PATCH 133/139] GPS/BARO offset calculation fixes --- src/main/flight/navigation_rewrite_pos_estimator.c | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/src/main/flight/navigation_rewrite_pos_estimator.c b/src/main/flight/navigation_rewrite_pos_estimator.c index 4ee517bbdf4..5fd39db95eb 100755 --- a/src/main/flight/navigation_rewrite_pos_estimator.c +++ b/src/main/flight/navigation_rewrite_pos_estimator.c @@ -548,7 +548,7 @@ static void updateEstimatedTopic(uint32_t currentTime) /* We might be experiencing air cushion effect - use sonar or baro groung altitude to detect it */ bool isAirCushionEffectDetected = ARMING_FLAG(ARMED) && ((isSonarValid && posEstimator.sonar.alt < 20.0f && posEstimator.state.isBaroGroundValid) || - (isBaroValid && posEstimator.state.isBaroGroundValid && posEstimator.baro.alt < posEstimator.state.baroGroundAlt)); + (isBaroValid && posEstimator.state.isBaroGroundValid && (posEstimator.baro.alt - posEstimator.est.baroOffset) < posEstimator.state.baroGroundAlt)); #if defined(NAV_GPS_GLITCH_DETECTION) //isGPSValid = isGPSValid && !posEstimator.gps.glitchDetected; @@ -581,6 +581,11 @@ static void updateEstimatedTopic(uint32_t currentTime) if (!isEstZValid && useGpsZPos) { posEstimator.est.pos.V.Z = posEstimator.gps.pos.V.Z; posEstimator.est.vel.V.Z = posEstimator.gps.vel.V.Z; + + if (isBaroValid) { + posEstimator.est.baroOffset = posEstimator.baro.alt - posEstimator.gps.pos.V.Z; + } + newEPV = posEstimator.gps.epv; positionWasReset = true; } @@ -630,11 +635,10 @@ static void updateEstimatedTopic(uint32_t currentTime) /* If we are going to use GPS Z-position - calculate and apply barometer offset */ if (useGpsZPos) { const float currentGpsBaroAltitudeOffset = posEstimator.baro.alt - posEstimator.gps.pos.V.Z; - posEstimator.est.baroOffset += (currentGpsBaroAltitudeOffset - posEstimator.est.baroOffset) * posControl.navConfig->estimation.w_z_gps_p; - posEstimator.baro.alt -= posEstimator.est.baroOffset; + posEstimator.est.baroOffset += (currentGpsBaroAltitudeOffset - posEstimator.est.baroOffset) * posControl.navConfig->estimation.w_z_gps_p * dt; } - baroResidual = (isAirCushionEffectDetected ? posEstimator.state.baroGroundAlt : posEstimator.baro.alt) - posEstimator.est.pos.V.Z; + baroResidual = (isAirCushionEffectDetected ? posEstimator.state.baroGroundAlt : (posEstimator.baro.alt - posEstimator.est.baroOffset)) - posEstimator.est.pos.V.Z; } /* Correction step: Z-axis */ From fec7d696b796dd8589e51419d52303a447059477 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Sun, 20 Nov 2016 09:41:22 +0100 Subject: [PATCH 134/139] axisAccelerationLimit MSP scaling changed --- src/main/fc/fc_msp.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index 7478327e625..a95d2b66fc7 100644 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -1016,11 +1016,11 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn sbufWriteU8(dst, 0); //BF: currentProfile->pidProfile.itermThrottleGain /* - * To keep compatibility on MSP level with Betaflight, axis axisAccelerationLimitYaw - * limit will be sent and received in [dps / 1000] + * To keep compatibility on MSP frame length level with Betaflight, axis axisAccelerationLimitYaw + * limit will be sent and received in [dps / 10] */ - sbufWriteU16(dst, constrain(currentProfile->pidProfile.axisAccelerationLimitRollPitch / 1000, 0, 65535)); - sbufWriteU16(dst, constrain(currentProfile->pidProfile.axisAccelerationLimitYaw / 1000, 0, 65535)); + sbufWriteU16(dst, constrain(currentProfile->pidProfile.axisAccelerationLimitRollPitch / 10, 0, 65535)); + sbufWriteU16(dst, constrain(currentProfile->pidProfile.axisAccelerationLimitYaw / 10, 0, 65535)); break; case MSP_INAV_PID: From e95096614bcfedb6e9c0d9b32cfcc3fbc9d5da68 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Sun, 20 Nov 2016 18:57:22 +1000 Subject: [PATCH 135/139] Fix broken I2C on AIRHEROF3_QUAD target --- src/main/target/AIRHEROF3/target.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/target/AIRHEROF3/target.h b/src/main/target/AIRHEROF3/target.h index 761db66e0d5..b32cb40bd04 100755 --- a/src/main/target/AIRHEROF3/target.h +++ b/src/main/target/AIRHEROF3/target.h @@ -94,10 +94,10 @@ #ifdef AIRHEROF3_QUAD #define USE_I2C - #define I2C_DEVICE (I2CDEV_1) // SDA (PB9/AF4), SCL (PB8/AF4) + #define I2C_DEVICE (I2CDEV_1) // SDA (PB9/AF4), SCL (PB8/AF4) - #define I2C1_SCL_PIN PB8 - #define I2C1_SDA_PIN PB9 + #define I2C1_SCL PB8 + #define I2C1_SDA PB9 // MAG is I2C, so it is only useful when I2C is available #define MAG From 8b3286143f381e7b243f51680ce2c2b9853b6c0c Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Sun, 20 Nov 2016 11:11:28 +0100 Subject: [PATCH 136/139] scaling change on save --- src/main/fc/fc_msp.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index a95d2b66fc7..f1a4be4f4b0 100644 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -1393,11 +1393,11 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src) sbufReadU8(src); //BF: currentProfile->pidProfile.itermThrottleGain /* - * To keep compatibility on MSP level with Betaflight, axis axisAccelerationLimitYaw - * limit will be sent and received in [dps / 1000] + * To keep compatibility on MSP frame length level with Betaflight, axis axisAccelerationLimitYaw + * limit will be sent and received in [dps / 10] */ - currentProfile->pidProfile.axisAccelerationLimitRollPitch = sbufReadU16(src) * 1000; - currentProfile->pidProfile.axisAccelerationLimitYaw = sbufReadU16(src) * 1000; + currentProfile->pidProfile.axisAccelerationLimitRollPitch = sbufReadU16(src) * 10; + currentProfile->pidProfile.axisAccelerationLimitYaw = sbufReadU16(src) * 10; break; case MSP_SET_INAV_PID: From 3823e4650bd9954fd6480e7b4f76403fed1536e5 Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Mon, 21 Nov 2016 22:32:47 +1000 Subject: [PATCH 137/139] Add hasValidHeadingSensor to navFlags variable to be able to troubleshoot better --- src/main/flight/navigation_rewrite.c | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/main/flight/navigation_rewrite.c b/src/main/flight/navigation_rewrite.c index 11e93625828..bc70725c0da 100755 --- a/src/main/flight/navigation_rewrite.c +++ b/src/main/flight/navigation_rewrite.c @@ -2209,6 +2209,7 @@ void applyWaypointNavigationAndAltitudeHold(void) #if defined(NAV_GPS_GLITCH_DETECTION) if (isGPSGlitchDetected()) navFlags |= (1 << 4); #endif + if (posControl.flags.hasValidHeadingSensor) navFlags |= (1 << 5); #endif // Reset all navigation requests - NAV controllers will set them if necessary @@ -2243,9 +2244,9 @@ void applyWaypointNavigationAndAltitudeHold(void) #if defined(NAV_BLACKBOX) - if (posControl.flags.isAdjustingPosition) navFlags |= (1 << 5); - if (posControl.flags.isAdjustingAltitude) navFlags |= (1 << 6); - if (posControl.flags.isAdjustingHeading) navFlags |= (1 << 7); + if (posControl.flags.isAdjustingPosition) navFlags |= (1 << 6); + if (posControl.flags.isAdjustingAltitude) navFlags |= (1 << 7); + if (posControl.flags.isAdjustingHeading) navFlags |= (1 << 8); #endif } From 0abf6fa549c5ce6a609e8f731772363d84fbf6ac Mon Sep 17 00:00:00 2001 From: "Konstantin Sharlaimov (DigitalEntity)" Date: Tue, 22 Nov 2016 19:27:18 +1000 Subject: [PATCH 138/139] Change MAX_PROFILE_COUNT to 3 on all targets --- src/main/config/config.h | 4 ---- 1 file changed, 4 deletions(-) diff --git a/src/main/config/config.h b/src/main/config/config.h index f4c0472f0d7..12a957d5590 100644 --- a/src/main/config/config.h +++ b/src/main/config/config.h @@ -20,11 +20,7 @@ #include #include -#if FLASH_SIZE <= 128 -#define MAX_PROFILE_COUNT 2 -#else #define MAX_PROFILE_COUNT 3 -#endif #define MAX_CONTROL_RATE_PROFILE_COUNT 3 #define ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS 1500 From 89a1278d8572f16deb19b13e3c6cddb11575c767 Mon Sep 17 00:00:00 2001 From: ted-rcnet Date: Tue, 22 Nov 2016 23:47:16 +0100 Subject: [PATCH 139/139] Fix i2c Target YuPiF4 --- src/main/target/YUPIF4/target.h | 8 ++++++++ src/main/target/YUPIF4/target.mk | 2 ++ 2 files changed, 10 insertions(+) diff --git a/src/main/target/YUPIF4/target.h b/src/main/target/YUPIF4/target.h index de462619abc..fe18786d206 100644 --- a/src/main/target/YUPIF4/target.h +++ b/src/main/target/YUPIF4/target.h @@ -52,6 +52,14 @@ #define USE_GYRO_SPI_MPU6500 #define GYRO_MPU6500_ALIGN CW90_DEG +#define USE_I2C +#define I2C_DEVICE (I2CDEV_1) + +#define MAG +#define USE_MAG_HMC5883 + +#define BARO +#define USE_BARO_BMP280 // Serial Ports #define USE_VCP diff --git a/src/main/target/YUPIF4/target.mk b/src/main/target/YUPIF4/target.mk index 344000ca6f4..d2b9bbc7147 100644 --- a/src/main/target/YUPIF4/target.mk +++ b/src/main/target/YUPIF4/target.mk @@ -4,6 +4,8 @@ FEATURES += SDCARD VCP TARGET_SRC = \ drivers/accgyro_spi_mpu6500.c \ drivers/accgyro_mpu6500.c \ + drivers/barometer_bmp280.c \ + drivers/compass_hmc5883l.c \ drivers/light_ws2811strip.c \ drivers/light_ws2811strip_stm32f4xx.c