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Prepared for baud rate variable in g_eeGeneral

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Added detection for ArduPlane and ArduCopter versions.
Created different flight mode decoders for plane and copter.
This commit is contained in:
pienk@planet.nl
2013-08-17 15:33:44 +00:00
parent 8c4610ede7
commit d2322c738d
5 changed files with 233 additions and 70 deletions
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src/gui/view_mavlink.cpp
+103 -45
View File
@@ -164,6 +164,108 @@ void lcd_outdezFloat(uint8_t x, uint8_t y, float val, uint8_t precis, uint8_t mo
}
}
/*! \brief Fightmode decode helper
* \details Decodes the flight mode from Mavlink custom mode enum to a string.
* This funtion can handle ArduPilot and ArduCoper code.
*/
const char * mav_mode_to_string(uint32_t custom_mode) //, const char * mode_text_p)
{
const char * mode_text_p;
switch (telemetry_data.type_autopilot) {
case MAVLINK_ARDUCOPTER:
switch(custom_mode) {
case AC_STABILIZE:
mode_text_p = PSTR("Stabilize");
break;
case AC_ACRO:
mode_text_p = PSTR("Acro");
break;
case AC_ALT_HOLD:
mode_text_p = PSTR("Alt Hold");
break;
case AC_AUTO:
mode_text_p = PSTR("Auto");
break;
case AC_GUIDED:
mode_text_p = PSTR("Guided");
break;
case AC_LOITER:
mode_text_p = PSTR("Loiter");
break;
case AC_RTL:
mode_text_p = PSTR("RTL");
break;
case AC_CIRCLE:
mode_text_p = PSTR("Circle");
break;
case AC_POSITION:
mode_text_p = PSTR("Pos Hold");
break;
case AC_LAND:
mode_text_p = PSTR("Land");
break;
case AC_OF_LOITER:
mode_text_p = PSTR("OF Loiter");
break;
case AC_TOY_A:
mode_text_p = PSTR("Toy A");
break;
case AC_TOY_M:
mode_text_p = PSTR("Toy M");
break;
default:
mode_text_p = PSTR("INVALID");
break;
}
break;
case MAVLINK_ARDUPLANE:
switch(custom_mode) {
case AP_MANUAL:
mode_text_p = PSTR("Manual");
break;
case AP_CIRCLE:
mode_text_p = PSTR("Circle");
break;
case AP_STABILIZE:
mode_text_p = PSTR("Stabilize");
break;
case AP_TRAINING:
mode_text_p = PSTR("Training");
break;
case AP_FLY_BY_WIRE_A:
mode_text_p = PSTR("Fly by Wire A");
break;
case AP_FLY_BY_WIRE_B:
mode_text_p = PSTR("Fly by Wire A");
break;
case AP_AUTO:
mode_text_p = PSTR("Auto");
break;
case AP_RTL:
mode_text_p = PSTR("RTL");
break;
case AP_LOITER:
mode_text_p = PSTR("Loiter");
break;
case AP_GUIDED:
mode_text_p = PSTR("Guided");
break;
case AP_INITIALISING:
mode_text_p = PSTR("Initialising");
break;
default:
mode_text_p = PSTR("INVALID");
break;
}
break;
default:
mode_text_p = PSTR("INVALID MAV TYPE");
break;
}
return mode_text_p;
}
/*! \brief Menu header
* \details Small helper function to print the standard header on the screen.
*/
@@ -232,51 +334,7 @@ void menuTelemetryMavlinkFlightMode(void) {
mav_title(PSTR("MODE"), MAVLINK_menu);
const char * mode_text_p;
switch(telemetry_data.custom_mode) {
case AP_STABILIZE:
mode_text_p = PSTR("Stabilize");
break;
case AP_ACRO:
mode_text_p = PSTR("Acro");
break;
case AP_ALT_HOLD:
mode_text_p = PSTR("Alt Hold");
break;
case AP_AUTO:
mode_text_p = PSTR("Auto");
break;
case AP_GUIDED:
mode_text_p = PSTR("Guided");
break;
case AP_LOITER:
mode_text_p = PSTR("Loiter");
break;
case AP_RTL:
mode_text_p = PSTR("RTL");
break;
case AP_CIRCLE:
mode_text_p = PSTR("Circle");
break;
case AP_POSITION:
mode_text_p = PSTR("Pos Hold");
break;
case AP_LAND:
mode_text_p = PSTR("Land");
break;
case AP_OF_LOITER:
mode_text_p = PSTR("OF Loiter");
break;
case AP_TOY_A:
mode_text_p = PSTR("Toy A");
break;
case AP_TOY_M:
mode_text_p = PSTR("Toy M");
break;
default:
mode_text_p = PSTR("INVALID");
break;
}
const char * mode_text_p = mav_mode_to_string(telemetry_data.custom_mode);
uint8_t x, y;
x = 0;
src/serial.cpp
+49 -9
View File
@@ -137,6 +137,19 @@ void SERIAL_startTX(void) {
}
}
static void uart_9600(void) {
#ifndef SIMU
#define BAUD 9600
#include <util/setbaud.h>
UBRR0H = UBRRH_VALUE;
UBRR0L = UBRRL_VALUE;
#if USE_2X
UCSR0A |= (1 << U2X0);
#else
UCSR0A &= ~(1 << U2X0);
#endif
#endif
}
static void uart_19200(void) {
#ifndef SIMU
@@ -182,6 +195,23 @@ static void uart_57600(void) {
#endif
}
static void uart_115200(void) {
#ifndef SIMU
#undef BAUD // avoid compiler warning
#define BAUD 115200
#include <util/setbaud.h>
UBRR0H = UBRRH_VALUE;
UBRR0L = UBRRL_VALUE;
#if USE_2X
UCSR0A |= (1 << U2X0);
#else
UCSR0A &= ~(1 << U2X0);
#endif
#endif
}
inline void SERIAL_EnableTXD(void) {
//UCSR0B |= (1 << TXEN0); // enable TX
UCSR0B |= (1 << TXEN0) | (1 << UDRIE0); // enable TX and TX interrupt
@@ -199,19 +229,29 @@ void SERIAL_Init(void) {
PORTE &= ~(1 << PORTE0); // disable pullup on RXD0 pin
uint8_t b = 2; // TODO g_eeGeneral.baudRate;
if (b == 0) {
g_eeGeneral.spare2 = BAUD_57600;
switch (g_eeGeneral.spare2) {
case BAUD_9600:
uart_9600();
break;
case BAUD_19200:
uart_19200();
}
else if (b == 1) {
break;
case BAUD_38400:
uart_38400();
}
else if (b == 2) {
break;
case BAUD_57600:
uart_57600();
break;
case BAUD_115200:
uart_115200();
break;
// default:
// g_eeGeneral.spare2 = BAUD_57600;
// eeDirty(EE_GENERAL);
// break;
}
#if 0
uart_57600();
#endif
// UCSR0A &= ~(1 << U2X0); // disable double speed operation
// set 8N1
src/serial.h
+10
View File
@@ -24,6 +24,16 @@ typedef enum serial_tx_state_ {
} serial_tx_state_t;
extern serial_tx_state_t serialTxState;
enum SERIAL_BAUDS {
BAUD_4800 = 0,
BAUD_9600,
BAUD_14400,
BAUD_19200,
BAUD_38400,
BAUD_57600,
BAUD_76800,
BAUD_115200
};
typedef void (*SerialFuncP)(uint8_t event);
src/telemetry/mavlink.cpp
+35 -2
View File
@@ -119,6 +119,10 @@ void MAVLINK_reset(uint8_t warm_reset) {
memset(&telemetry_data, 0, sizeof(telemetry_data));
telemetry_data.rcv_control_mode = ERROR_NUM_MODES;
telemetry_data.req_mode = ERROR_NUM_MODES;
telemetry_data.type = MAV_TYPE_ENUM_END;
telemetry_data.autopilot = MAV_AUTOPILOT_ENUM_END;
telemetry_data.type_autopilot = MAVLINK_INVALID_TYPE;
mav_heartbeat = 0;
mav_heartbeat_recv = 0;
@@ -202,12 +206,41 @@ static inline void REC_MAVLINK_MSG_ID_VFR_HUD(const mavlink_message_t* msg) {
telemetry_data.heading = mavlink_msg_vfr_hud_get_heading(msg);
}
/*! \brief Hardbeat message
/*! \brief Heartbeat message
* \details Heartbeat message is used for the following information:
* type and autopilot is used to determain if the UAV is a ArduPlane or Arducopter
*/
static inline void REC_MAVLINK_MSG_ID_HEARTBEAT(const mavlink_message_t* msg) {
telemetry_data.mode = mavlink_msg_heartbeat_get_base_mode(msg);
telemetry_data.mode = mavlink_msg_heartbeat_get_base_mode(msg);
telemetry_data.custom_mode = mavlink_msg_heartbeat_get_custom_mode(msg);
telemetry_data.status = mavlink_msg_heartbeat_get_system_status(msg);
uint8_t type = mavlink_msg_heartbeat_get_type(msg);
uint8_t autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
if ((type != telemetry_data.type) || (autopilot != telemetry_data.autopilot))
{
telemetry_data.type = mavlink_msg_heartbeat_get_type(msg);
telemetry_data.autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
if (autopilot == MAV_AUTOPILOT_ARDUPILOTMEGA)
{
if ((type == MAV_TYPE_QUADROTOR) ||
(type == MAV_TYPE_COAXIAL) ||
(type == MAV_TYPE_HELICOPTER) ||
(type == MAV_TYPE_HEXAROTOR) ||
(type == MAV_TYPE_OCTOROTOR) ||
(type == MAV_TYPE_TRICOPTER))
{
telemetry_data.type_autopilot = MAVLINK_ARDUCOPTER;
}
else if (type == MAV_TYPE_FIXED_WING)
{
telemetry_data.type_autopilot = MAVLINK_ARDUPLANE;
}
else
telemetry_data.type_autopilot = MAVLINK_INVALID_TYPE;
}
else
telemetry_data.type_autopilot = MAVLINK_INVALID_TYPE;
}
telemetry_data.active = (telemetry_data.mode & MAV_MODE_FLAG_SAFETY_ARMED) ? true : false;
mav_heartbeat = 3; // 450ms display '*'
mav_heartbeat_recv = 1;
src/telemetry/mavlink.h
+36 -14
View File
@@ -64,21 +64,40 @@ extern void SERIAL_send_uart_bytes(const uint8_t * buf, uint16_t len);
// Auto Pilot modes
// ----------------
#define AP_STABILIZE 0 // hold level position
#define AP_ACRO 1 // rate control
#define AP_ALT_HOLD 2 // AUTO control
#define AP_AUTO 3 // AUTO control
#define AP_GUIDED 4 // AUTO control
#define AP_LOITER 5 // Hold a single location
#define AP_RTL 6 // AUTO control
#define AP_CIRCLE 7 // AUTO control
#define AP_POSITION 8 // AUTO control
#define AP_LAND 9 // AUTO control
#define AP_OF_LOITER 10 // Hold a single location using optical flow
#define AC_STABILIZE 0 // hold level position
#define AC_ACRO 1 // rate control
#define AC_ALT_HOLD 2 // AUTO control
#define AC_AUTO 3 // AUTO control
#define AC_GUIDED 4 // AUTO control
#define AC_LOITER 5 // Hold a single location
#define AC_RTL 6 // AUTO control
#define AC_CIRCLE 7 // AUTO control
#define AC_POSITION 8 // AUTO control
#define AC_LAND 9 // AUTO control
#define AC_OF_LOITER 10 // Hold a single location using optical flow
// sensor
#define AP_TOY_A 11 // THOR Enum for Toy mode
#define AP_TOY_M 12 // THOR Enum for Toy mode
#define AP_NUM_MODES 13
#define AC_TOY_A 11 // THOR Enum for Toy mode
#define AC_TOY_M 12 // THOR Enum for Toy mode
#define AC_NUM_MODES 13
// Mavlink airframe types
#define MAVLINK_ARDUCOPTER 0
#define MAVLINK_ARDUPLANE 1
#define MAVLINK_INVALID_TYPE 2
#define AP_MANUAL 0
#define AP_CIRCLE 1
#define AP_STABILIZE 2
#define AP_TRAINING 3
#define AP_FLY_BY_WIRE_A 5
#define AP_FLY_BY_WIRE_B 6
#define AP_AUTO 10
#define AP_RTL 11
#define AP_LOITER 12
#define AP_GUIDED 15
#define AP_INITIALISING 16
#define AC_NUM_MODES 17
/*
* Type definitions
@@ -137,6 +156,9 @@ typedef struct Location_ {
typedef struct Telemetry_Data_ {
// INFOS
uint8_t status; ///< System status flag, see MAV_STATUS ENUM
uint8_t type;
uint8_t autopilot;
uint8_t type_autopilot;
uint16_t packet_drop;
uint8_t mode;
uint32_t custom_mode;