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Directory transmitter renamed to radio

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This commit is contained in:
Bertrand Songis
2013-12-02 07:13:57 +01:00
parent f4df52a033
commit 942e658c8e
707 changed files with 0 additions and 0 deletions
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radio/src/telemetry/ardupilot.cpp
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/*
* Authors (alphabetical order)
* - Andre Bernet <bernet.andre@gmail.com>
* - Andreas Weitl
* - Bertrand Songis <bsongis@gmail.com>
* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
* - Cameron Weeks <th9xer@gmail.com>
* - Erez Raviv
* - Gabriel Birkus
* - Jean-Pierre Parisy
* - Karl Szmutny
* - Michael Blandford
* - Michal Hlavinka
* - Pat Mackenzie
* - Philip Moss
* - Rob Thomson
* - Romolo Manfredini <romolo.manfredini@gmail.com>
* - Thomas Husterer
*
* opentx is based on code named
* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
* er9x by Erez Raviv: http://code.google.com/p/er9x/,
* and the original (and ongoing) project by
* Thomas Husterer, th9x: http://code.google.com/p/th9x/
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program 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.
*
*/
#include "opentx.h"
#define NB_BUF 2
#define LG_BUF 11
#define VALSTR(val) (rbuf[val][0] ? rbuf[val] : val_unknown)
#define APSIZE (BSS | DBLSIZE)
/* Received data
Data are received as packets, each packet is identified by a prefix of three
characters and is ended by three stars. Some packets can contain more than
one value, the values are ended by a comma.
Position packet:
!!!LAT:0123456789,LON:9876543210,SPD:123,CRT:1,ALT:123456,ALH:654321,CRS:123,BER:123,WPN:12,DST:12345,BTV:12.4567 9012,RSP:123,TOW:123456,***
...----1--------------2--------------3-------4-----5----------6----------7-------8-------9------10--------11-----------12----------13-----END
1st value 2nd value
Attitude packet:
+++ASP:123,THH:123,RLL:123,PCH:123,***
...----1-------2-------3-------4---END
Mode change packet:
###STABILIZE***
...1--------END
Waypoint packet:
%%%12 45***
...1----END
Alert packet:
XXXAlert Text alert***
...1---------------END
Performance packet:
PPPThis is performant***
...1--------------END
*/
// Position packet prefix
#define PACK_POS 0x21
// value occurence number in this packet
#define LAT 1
#define LON 2
#define SPD 3
#define CRT 4
#define ALT 5
#define ALH 6
#define CRS 7
#define BER 8
#define WPN 9
#define DST 10
#define BTV 11
#define RSP 12
#define TOW 13
#define PACK_ATT 0x2b
// value occurence number in this packet
#define ASP 1
#define THH 2
#define RLL 3
#define PCH 4
#define PACK_MOD 0x23
// value occurence number in this packet
#define MOD 1
#define PACK_WPC 0x25
// value occurence number in this packet
#define WPC 1
#define PACK_ALR 0x58
// value occurence number in this packet
#define ALR 1
#define PACK_PRF 0x50
// value occurence number in this packet
#define PRF 1
// end of packet
#define PACK_END 0x2a
// end of value
#define VAL_END 0x2c
// end of title
#define TITLE_END 0x3a
// stateful machine
// Since the packets are sent continuously, we need to synchronize on the
// reception of the three chars prefixing a packet, whatever they are.
// states values
#define WAIT_PACKET 1
#define WAIT_PACK_POS1 2
#define WAIT_PACK_POS2 3
#define WAIT_PACK_POS3 4
#define WAIT_PACK_ATT1 5
#define WAIT_PACK_ATT2 6
#define WAIT_PACK_ATT3 7
#define WAIT_PACK_MOD1 8
#define WAIT_PACK_MOD2 9
#define WAIT_PACK_MOD3 10
#define WAIT_PACK_WPC1 11
#define WAIT_PACK_WPC2 12
#define WAIT_PACK_WPC3 13
#define WAIT_PACK_ALR1 14
#define WAIT_PACK_ALR2 15
#define WAIT_PACK_ALR3 16
#define WAIT_PACK_PRF1 17
#define WAIT_PACK_PRF2 18
#define WAIT_PACK_PRF3 19
#define FLUSH_TITLE1 20
#define FLUSH_TITLE2 21
#define FLUSH_TITLE3 22
#define FLUSH_TITLE4 23
#define READ_VALUE 24
uint8_t i; // working variable
uint8_t state; // currrent state
uint8_t rval, rpack; // received items
uint8_t xval[NB_BUF]; // expected value
uint8_t xpack[NB_BUF]; // expected packet
uint8_t ibuf[NB_BUF]; // subscripts on buffers values
char rbuf[NB_BUF][LG_BUF]; // receive buffers
const char val_unknown[] = "?";
void menuTelemetryArduPilot1(uint8_t event);
void menuTelemetryArduPilot2(uint8_t event);
void menuTelemetryArduPilot3(uint8_t event);
void menuTelemetryArduPilot4(uint8_t event);
void menuTelemetryArduPilot5(uint8_t event);
void menuTelemetryArduPilot6(uint8_t event);
void menuTelemetryArduPilot7(uint8_t event);
void menuTelemetryArduPilot8(uint8_t event);
void title(char x);
void initval(uint8_t num, uint8_t pack, uint8_t val);
#ifndef SIMU
ISR (USART0_RX_vect)
{
uint8_t rl;
// uint8_t rh; //USART control and Status Register 0 B
uint8_t iostat; //USART control and Status Register 0 A
rl = UDR0;
iostat = UCSR0A; //USART control and Status Register 0 A
/*
bit 7 6 5 4 3 2 1 0
RxC0 TxC0 UDRE0 FE0 DOR0 UPE0 U2X0 MPCM0
RxC0: Receive complete
TXC0: Transmit Complete
UDRE0: USART Data Register Empty
FE0: Frame Error
DOR0: Data OverRun
UPE0: USART Parity Error
U2X0: Double Tx Speed
MPCM0: MultiProcessor Comms Mode
*/
if (iostat & ((1 << FE0) | (1 << DOR0) | (1 << UPE0)))
{
rl = xpack[0] = xpack[1] = xval[0] = xval[1] = 0;
state = WAIT_PACKET; // restart on error
}
// rh = UCSR0B; //USART control and Status Register 0 B
/* bit 7 6 5 4 3 2 1 0
RxCIE0 TxCIE0 UDRIE0 RXEN0 TXEN0 UCSZ02 RXB80 TXB80
RxCIE0: Receive complete int enable
TXCIE0: Transmit Complete int enable
UDRIE0: USART Data Register Empty int enable
RXEN0: Rx enable
TXEN0: Tx Enable
UCSZ02: Character Size bit 2
RXB80: Rx data bit 8
TXB80: Tx data bit 8
*/
switch (state)
{
case WAIT_PACKET:
switch (rl)
{
case PACK_POS: // found a new POS packet
state = WAIT_PACK_POS2; // wait for the 2nd char
break;
case PACK_ATT: // found a new ATT packet
state = WAIT_PACK_ATT2; // wait for the 2nd char
break;
case PACK_MOD: // found a new MOD packet
state = WAIT_PACK_MOD2; // wait for the 2nd char
break;
case PACK_WPC: // found a new WPC packet
state = WAIT_PACK_WPC2; // wait for the 2nd char
break;
case PACK_ALR: // found a new ALR packet
state = WAIT_PACK_ALR2; // wait for the 2nd char
break;
case PACK_PRF: // found a new PRF packet
state = WAIT_PACK_PRF2; // wait for the 2nd char
break;
}
break;
case WAIT_PACK_POS2: // wait for 2nd char
if (rl == PACK_POS)
state = WAIT_PACK_POS3;
else
state = WAIT_PACKET; // restart if not found
break;
case WAIT_PACK_POS3: // wait for 3rd char
if (rl == PACK_POS) // found
{
state = FLUSH_TITLE1; // flush title "LAT:"
rpack = PACK_POS;
rval = 1;
for (i = 0; i < NB_BUF; i++)
ibuf[i] = 0;
}
else
state = WAIT_PACKET; // restart if not found
break;
case WAIT_PACK_ATT2: // wait for 2nd char
if (rl == PACK_ATT)
state = WAIT_PACK_ATT3;
else
state = WAIT_PACKET; // restart if not found
break;
case WAIT_PACK_ATT3: // wait for 3rd char
if (rl == PACK_ATT)
{
state = FLUSH_TITLE1; // flush title "ASP:"
rpack = PACK_ATT;
rval = 1;
for (i = 0; i < NB_BUF; i++)
ibuf[i] = 0;
}
else
state = WAIT_PACKET; // restart if not found
break;
case WAIT_PACK_MOD2: // wait for 2nd char
if (rl == PACK_MOD)
state = WAIT_PACK_MOD3;
else
state = WAIT_PACKET; // restart if not found
break;
case WAIT_PACK_MOD3: // wait for 3rd char
if (rl == PACK_MOD)
{
state = READ_VALUE; // ready to read values from PACK_MOD packet
rpack = PACK_MOD;
rval = 1;
for (i = 0; i < NB_BUF; i++)
ibuf[i] = 0;
}
else
state = WAIT_PACKET; // restart if not found
break;
case WAIT_PACK_WPC2: // wait for 2nd char
if (rl == PACK_WPC)
state = WAIT_PACK_WPC3;
else
state = WAIT_PACKET; // restart if not found
break;
case WAIT_PACK_WPC3: // wait for 3rd char
if (rl == PACK_WPC)
{
state = READ_VALUE; // ready to read values from PACK_WPC packet
rpack = PACK_WPC;
rval = 1;
for (i = 0; i < NB_BUF; i++)
ibuf[i] = 0;
}
else
state = WAIT_PACKET; // restart if not found
break;
case WAIT_PACK_ALR2: // wait for 2nd char
if (rl == PACK_ALR)
state = WAIT_PACK_ALR3;
else
state = WAIT_PACKET; // restart if not found
break;
case WAIT_PACK_ALR3: // wait for 3rd char
if (rl == PACK_ALR)
{
state = READ_VALUE; // ready to read values from PACK_ALR packet
rpack = PACK_ALR;
rval = 1;
for (i = 0; i < NB_BUF; i++)
ibuf[i] = 0;
}
else
state = WAIT_PACKET; // restart if not found
break;
case WAIT_PACK_PRF2: // wait for 2nd char
if (rl == PACK_PRF)
state = WAIT_PACK_PRF3;
else
state = WAIT_PACKET; // restart if not found
break;
case WAIT_PACK_PRF3: // wait for 3rd char
if (rl == PACK_PRF)
{
state = READ_VALUE; // ready to read values from PACK_PRF packet
rpack = PACK_PRF;
rval = 1;
for (i = 0; i < NB_BUF; i++)
ibuf[i] = 0;
}
else
state = WAIT_PACKET; // restart if not found
break;
case FLUSH_TITLE1: // wait for 1st char of title
state = FLUSH_TITLE2;
break;
case FLUSH_TITLE2: // wait for 2nd char
state = FLUSH_TITLE3;
break;
case FLUSH_TITLE3: // wait for 3rd char
state = FLUSH_TITLE4;
break;
case FLUSH_TITLE4: // wait for 4th char
if (rl == TITLE_END)
state = READ_VALUE;
else
state = WAIT_PACKET; // was not a title, wait for the next packet
break;
case READ_VALUE:
switch (rl)
{
case PACK_END:
state = WAIT_PACKET; // packet completed, wait for the next packet
break;
case VAL_END: // comma found, value completed
state = FLUSH_TITLE1; // flush next title
rval++; // and get next value
break;
default: // store the char in the corresponding buffer
for (i = 0; i < NB_BUF; i++)
{ // is it the expected value in the expected packet ?
if (rpack == xpack[i] && rval == xval[i] && ibuf[i] < LG_BUF - 1)
{ // yes, store the char
rbuf[i] [ibuf[i]] = rl;
ibuf[i]++;
rbuf[i] [ibuf[i]] = 0;
}
}
break;
}
break;
}
}
#endif
void ARDUPILOT_Init (void)
{
DDRE &= ~(1 << DDE0); // set RXD0 pin as input
PORTE &= ~(1 << PORTE0); // disable pullup on RXD0 pin
#ifndef SIMU
// switch (Telem_baud)
// {
// case 1:
#undef BAUD
#define BAUD 38400
#include <util/setbaud.h>
UBRR0H = UBRRH_VALUE;
UBRR0L = UBRRL_VALUE;
// break;
// }
UCSR0A &= ~(1 << U2X0); // disable double speed operation
// set 8N1
UCSR0B = 0|(0<< RXCIE0)|(0<<TXCIE0)|(0<<UDRIE0)|(0<<RXEN0)|(0<<TXEN0)|(0<<UCSZ02);
UCSR0C = 0|(1 << UCSZ01) | (1 << UCSZ00);
while ( UCSR0A & (1 << RXC0) )
UDR0; // flush receive buffer
#endif
}
void ARDUPILOT_DisableTXD (void)
{
UCSR0B &= ~(1 << TXEN0); // disable TX
}
void ARDUPILOT_EnableTXD (void)
{
UCSR0B |= (1 << TXEN0); // enable TX
}
void ARDUPILOT_DisableRXD (void)
{
UCSR0B &= ~(1 << RXEN0); // disable RX
UCSR0B &= ~(1 << RXCIE0); // disable Interrupt
}
void ARDUPILOT_EnableRXD (void)
{
for (i = 0; i < NB_BUF; i++)
{
ibuf[i] = 0;
rbuf[i][0] = 0;
xpack[i] = 0;
xval[i] = 0;
}
state = WAIT_PACKET; // wait for the next packet
UCSR0B |= (1 << RXEN0); // enable RX
UCSR0B |= (1 << RXCIE0); // enable Interrupt
}
void menuTelemetryArduPilot(uint8_t event)
{
menuTelemetryArduPilot1(event);
}
// Start of ArduPilot menus 1-8 <<<<<<<<<<<<<<<<<<<<<<<<<<<
void menuTelemetryArduPilot1(uint8_t event)
{
switch(event) // new event received, branch accordingly
{
case EVT_KEY_FIRST(KEY_UP):
chainMenu(menuTelemetryArduPilot8);
break;
case EVT_KEY_FIRST(KEY_DOWN):
chainMenu(menuTelemetryArduPilot2);
break;
case EVT_KEY_FIRST(KEY_MENU):
ARDUPILOT_DisableRXD();
chainMenu(menuStatisticsView);
break;
case EVT_KEY_FIRST(KEY_EXIT):
ARDUPILOT_DisableRXD();
chainMenu(menuMainView);
break;
}
/*
How to use:
You choose the values to be displayed using the function:
initval(<number>, <packet>, <value>);
-------------------------------------
That means that "<value>" of "<packet>" is stored in the <number> buffer.
The first <number> is 0.
Here are the packet names and the associated value names:
Position packet (beginning with "!!!"): "PACK_POS"
value names: "LAT", "LON", "SPD", "CRT", "ALT", "ALH", "CRS", "BER",
"WPN", "DST", "BTV", "RSP", "TOW"
Attitude packet (beginning with "+++"): "PACK_ATT"
value names: "ASP", "THH", "RLL", "PCH"
Mode change packet (beginning with "###"): "PACK_MOD"
value name: "MOD"
Waypoint packet (beginning with "%%%"): "PACK_WPC"
value name: "WPC"
Alert packet (beginning with "XXX"): "PACK_ALR"
value name: "ALR"
Performance packet (beginning with "PPP"): "PACK_PRF"
value name: "PRF"
The buffers are accessed using the macro "VALSTR(<n>)", where "<n>" is "0"
for the first buffer, and "1" for the second buffer.
When a value is missing, it is replaced by the contents of val_unknown ("?").
*/
// expecting LAT value in POS packet to be stored in the first buffer
initval (0, PACK_POS, LAT);
// and LON value in POS packet stored in the second buffer
initval (1, PACK_POS, LON);
// title of the screen
title ('1');
lcd_puts (5*FW, 1*FH, PSTR(" Latitude")); // line 1 column 5
// first buffer into line 2 column 2
lcd_putsAtt (2*FW, 2*FH, VALSTR(0), APSIZE);
lcd_puts (5*FW, 4*FH, PSTR(" Longitude")); // line 4 column 5
// second buffer into line 5 column 2
lcd_putsAtt (1*FW, 5*FH, VALSTR(1), APSIZE);
}
void menuTelemetryArduPilot2(uint8_t event)
{
switch(event)
{
case EVT_KEY_FIRST(KEY_UP):
chainMenu(menuTelemetryArduPilot1);
break;
case EVT_KEY_FIRST(KEY_DOWN):
chainMenu(menuTelemetryArduPilot3);
break;
case EVT_KEY_FIRST(KEY_EXIT):
ARDUPILOT_DisableRXD();
chainMenu(menuMainView);
break;
}
initval (0, PACK_POS, SPD);
initval (1, PACK_POS, CRT);
title ('2');
lcd_puts (1*FW, 1*FH, PSTR(" Ground speed"));
lcd_putsAtt (2*FW, 2*FH, VALSTR(0), APSIZE);
lcd_puts (1*FW, 4*FH, PSTR(" Climb rate") );
lcd_putsAtt (2*FW, 5*FH, VALSTR(1), APSIZE);
}
void menuTelemetryArduPilot3(uint8_t event)
{
switch(event)
{
case EVT_KEY_FIRST(KEY_UP):
chainMenu(menuTelemetryArduPilot2);
break;
case EVT_KEY_FIRST(KEY_DOWN):
chainMenu(menuTelemetryArduPilot4);
break;
case EVT_KEY_FIRST(KEY_EXIT):
ARDUPILOT_DisableRXD();
chainMenu(menuMainView);
break;
}
initval (0, PACK_POS, ALT);
initval (1, PACK_POS, ALH);
title ('3');
lcd_puts (1*FW, 1*FH, PSTR(" Altitude"));
lcd_putsAtt (2*FW, 2*FH, VALSTR(0), APSIZE);
lcd_puts (1*FW, 4*FH, PSTR(" Altitude Hold") );
lcd_putsAtt (2*FW, 5*FH, VALSTR(1), APSIZE);
}
void menuTelemetryArduPilot4(uint8_t event)
{
switch(event)
{
case EVT_KEY_FIRST(KEY_UP):
chainMenu(menuTelemetryArduPilot3);
break;
case EVT_KEY_FIRST(KEY_DOWN):
chainMenu(menuTelemetryArduPilot5);
break;
case EVT_KEY_FIRST(KEY_EXIT):
ARDUPILOT_DisableRXD();
chainMenu(menuMainView);
break;
}
initval (0, PACK_POS, CRS);
initval (1, PACK_POS, BER);
title ('4');
lcd_puts (1*FW, 1*FH, PSTR(" Course"));
lcd_putsAtt (2*FW, 2*FH, VALSTR(0), APSIZE);
lcd_puts (1*FW, 4*FH, PSTR(" Bearing"));
lcd_putsAtt (2*FW, 5*FH, VALSTR(1), APSIZE);
}
void menuTelemetryArduPilot5(uint8_t event)
{
switch(event)
{
case EVT_KEY_FIRST(KEY_UP):
chainMenu(menuTelemetryArduPilot4);
break;
case EVT_KEY_FIRST(KEY_DOWN):
chainMenu(menuTelemetryArduPilot6);
break;
case EVT_KEY_FIRST(KEY_MENU):
break;
case EVT_KEY_FIRST(KEY_EXIT):
ARDUPILOT_DisableRXD();
chainMenu(menuMainView);
break;
}
initval (0, PACK_POS, WPN);
initval (1, PACK_POS, DST);
title ('5');
lcd_puts (1*FW, 1*FH, PSTR(" Way Point # "));
lcd_putsAtt (2*FW, 2*FH, VALSTR(0), APSIZE);
lcd_puts (1*FW, 4*FH, PSTR(" Distance "));
lcd_putsAtt (2*FW, 5*FH, VALSTR(1), APSIZE);
}
void menuTelemetryArduPilot6(uint8_t event)
{
switch(event)
{
case EVT_KEY_FIRST(KEY_UP):
chainMenu(menuTelemetryArduPilot5);
break;
case EVT_KEY_FIRST(KEY_DOWN):
chainMenu(menuTelemetryArduPilot7);
break;
case EVT_KEY_FIRST(KEY_MENU):
break;
case EVT_KEY_FIRST(KEY_EXIT):
ARDUPILOT_DisableRXD();
chainMenu(menuMainView);
break;
}
initval (0, PACK_ATT, ASP);
initval (1, PACK_ATT, THH);
title ('6');
lcd_puts (1*FW, 1*FH, PSTR(" Air Speed "));
lcd_putsAtt (2*FW, 2*FH, VALSTR(0), APSIZE);
lcd_puts (1*FW, 4*FH, PSTR(" Climb Rate "));
lcd_putsAtt (2*FW, 5*FH, VALSTR(1), APSIZE);
}
void menuTelemetryArduPilot7(uint8_t event)
{
switch(event)
{
case EVT_KEY_FIRST(KEY_UP):
chainMenu(menuTelemetryArduPilot6);
break;
case EVT_KEY_FIRST(KEY_DOWN):
chainMenu(menuTelemetryArduPilot8);
break;
case EVT_KEY_FIRST(KEY_MENU):
break;
case EVT_KEY_FIRST(KEY_EXIT):
ARDUPILOT_DisableRXD();
chainMenu(menuMainView);
break;
}
initval (0, PACK_ATT, RLL);
initval (1, PACK_ATT, PCH);
title ('7');
lcd_puts (1*FW, 1*FH, PSTR(" Roll Angle"));
lcd_putsAtt (2*FW, 2*FH, VALSTR(0), APSIZE);
lcd_puts (1*FW, 4*FH, PSTR(" Pitch Angle"));
lcd_putsAtt (2*FW, 5*FH, VALSTR(1), APSIZE);
}
void menuTelemetryArduPilot8(uint8_t event)
{
switch(event)
{
case EVT_KEY_FIRST(KEY_UP):
chainMenu(menuTelemetryArduPilot7);
break;
case EVT_KEY_FIRST(KEY_DOWN):
chainMenu(menuTelemetryArduPilot1);
break;
case EVT_KEY_FIRST(KEY_MENU):
break;
case EVT_KEY_FIRST(KEY_EXIT):
ARDUPILOT_DisableRXD();
chainMenu(menuMainView);
break;
}
initval (0, PACK_MOD, MOD);
initval (1, PACK_WPC, WPC);
title ('8');
lcd_puts (1*FW, 1*FH, PSTR(" ArduPilot Mode"));
lcd_putsAtt (2*FW, 2*FH, VALSTR(0), APSIZE);
lcd_puts (1*FW, 4*FH, PSTR(" RTL Distance"));
lcd_putsAtt (2*FW, 5*FH, VALSTR(1), APSIZE);
}
void title(char x)
{
lcd_putsAtt (0, 0, PSTR(" ARDU PILOT Mega ?/8 "), INVERS);
lcd_putcAtt(17*FW, 0*FH, x, INVERS);
}
void initval(uint8_t num, uint8_t pack, uint8_t val)
{
if (xpack[num] != pack || xval[num] != val)
{
ibuf[num] = rbuf[num][0] = 0;
xpack[num] = pack;
xval[num] = val;
state = WAIT_PACKET; // synchronize to the next packet
}
}
/*
Without ArduPilot:
Size after:
er9x.elf :
section size addr
.data 164 8388864
.text 50634 0
.bss 3485 8389028
----------------------------------
With ArduPilot:
Size after:
er9x.elf :
section size addr
.data 166 8388864
.text 53026 0
.bss 3517 8389030
*/