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Xbee/Ser0 telemetry ports are working again

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@682 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jphelirc 2010-10-17 17:34:17 +00:00
parent 455e315a1a
commit 35b754bbae
4 changed files with 199 additions and 141 deletions
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8
ArducopterNG/Arducopter.h
View File

@ -76,6 +76,7 @@ TODO:
#define SERIAL3_BAUD 115200
#ifdef SerXbee // Xbee/Telemetry port
//#define SerBau 115200 // Baud setting moved close next to port selection
#define SerPri Serial3.print
#define SerPrln Serial3.println
#define SerRea Serial3.read
@ -86,11 +87,8 @@ TODO:
#define SerPor "FTDI"
#endif
#ifndef SerPri // If we don't have SerPri set yet, it means we have are using Serial0
#define SerUSB
#endif
#ifdef SerUSB // Defines for normal Serial0 port
#ifndef SerXbee // If we don't have SerXbee set, it means we have are using Serial0
//#define SerBau 115200 // Baud setting moved close next to port selection
#define SerPri Serial.print
#define SerPrln Serial.println
#define SerRea Serial.read

51
ArducopterNG/ArducopterNG.pde
View File

@ -45,25 +45,41 @@
//#define IsGPS // Do we have a GPS connected
//#define IsNEWMTEK // Do we have MTEK with new firmware
//#define IsMAG // Do we have a Magnetometer connected, if have remember to activate it from Configurator
//#define IsTEL // Do we have a telemetry connected, eg. XBee connected on Telemetry port
//#define IsAM // Do we have motormount LED's. AM = Atraction Mode
//LEGACY-jp #define IsTEL // Do we have a telemetry connected, eg. XBee connected on Telemetry port
#define IsAM // Do we have motormount LED's. AM = Atraction Mode
//#define UseAirspeed
//#define UseBMP
//#define BATTERY_EVENT 1 // (boolean) 0 = don't read battery, 1 = read battery voltage (only if you have it wired up!)
//#define BATTERY_EVENT 1 // (boolean) 0 = don't read battery, 1 = read battery voltage (only if you have it _wired_ up!)
#define CONFIGURATOR
////////////////////
// Telemetry
// Serial data, do we have FTDI cable or Xbee on Telemetry port as our primary command link
// If we are using normal FTDI/USB port as our telemetry/configuration, comment out next line
// If we are using normal FTDI/USB port as our telemetry/configuration, disable next
//#define SerXbee
//#define Ser0 // FTDI/USB Port Either one
//#define Ser3 // Telemetry port
// Telemetry port speed, default is 115200
#define SerBau 115200
//////////////////////
// Flight orientation
// Frame build condiguration
#define FLIGHT_MODE_+ // Traditional "one arm as nose" frame configuration
//#define FLIGHT_MODE_X // Frame orientation 45 deg to CCW, nose between two arms
/* ************************************************************ */
/* **************** MAIN PROGRAM - INCLUDES ******************* */
/* ************************************************************ */
@ -92,6 +108,7 @@
/* Software version */
#define VER 1.5 // Current software version (only numeric values)
/* ************************************************************ */
/* ************* MAIN PROGRAM - DECLARATIONS ****************** */
/* ************************************************************ */
@ -266,5 +283,27 @@ void loop()
break;
}
}
// AM and Mode status LED lights
if(millis() - gled_timer > gled_speed) {
gled_timer = millis();
if(gled_status == HIGH) {
digitalWrite(LED_Green, LOW);
#ifdef IsAM
digitalWrite(RE_LED, LOW);
#endif
gled_status = LOW;
// SerPrln("L");
}
else {
digitalWrite(LED_Green, HIGH);
#ifdef IsAM
if(motorArmed) digitalWrite(RE_LED, HIGH);
#endif
gled_status = HIGH;
}
}
}

17
ArducopterNG/GCS.pde
View File

@ -61,7 +61,7 @@ void send_message(byte severity, const char *str) // This is the instance of se
void readSerialCommand() {
// Check for serial message
if (SerAva()) {
queryType = SerRea();
switch (queryType) {
case 'A': // Stable PID
KP_QUAD_ROLL = readFloatSerial();
@ -351,6 +351,20 @@ void sendSerialTelemetry() {
SerPri(read_adc(3));
comma();
SerPrln(read_adc(5));
/* comma();
SerPri(APM_Compass.Heading, 4);
comma();
SerPri(APM_Compass.Heading_X, 4);
comma();
SerPri(APM_Compass.Heading_Y, 4);
comma();
SerPri(APM_Compass.Mag_X);
comma();
SerPri(APM_Compass.Mag_Y);
comma();
SerPri(APM_Compass.Mag_Z);
comma();
*/
break;
case 'T': // Spare
break;
@ -438,3 +452,4 @@ float readFloatSerial() {
while ((data[constrain(index-1, 0, 128)] != ';') && (timeout < 5) && (index < 128));
return atof(data);
}

8
ArducopterNG/System.pde
View File

@ -85,9 +85,14 @@ void APM_Init() {
DataFlash.StartWrite(1); // Start a write session on page 1
Serial.begin(115200);
// Serial.begin(115200); // Old mode serial begin, remove soon, by jp/17-10-10
//Serial.println("ArduCopter Quadcopter v1.0");
// Proper Serial port/baud are defined on main .pde and then Arducopter.h with
// Choises of Xbee or
SerBeg(SerBau);
// Check if we enable the DataFlash log Read Mode (switch)
// If we press switch 1 at startup we read the Dataflash eeprom
while (digitalRead(SW1_pin)==0)
@ -126,5 +131,6 @@ void APM_Init() {
digitalWrite(RI_LED, HIGH);
digitalWrite(LE_LED, HIGH);
#endif
}