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https://github.com/ArduPilot/ardupilot
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Xbee/Ser0 telemetry ports are working again
git-svn-id: https://arducopter.googlecode.com/svn/trunk@682 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jphelirc
parent
455e315a1a
commit
35b754bbae
@ -76,6 +76,7 @@ TODO:
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#define SERIAL3_BAUD 115200
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#ifdef SerXbee // Xbee/Telemetry port
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//#define SerBau 115200 // Baud setting moved close next to port selection
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#define SerPri Serial3.print
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#define SerPrln Serial3.println
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#define SerRea Serial3.read
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@ -86,11 +87,8 @@ TODO:
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#define SerPor "FTDI"
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#endif
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#ifndef SerPri // If we don't have SerPri set yet, it means we have are using Serial0
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#define SerUSB
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#endif
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#ifdef SerUSB // Defines for normal Serial0 port
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#ifndef SerXbee // If we don't have SerXbee set, it means we have are using Serial0
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//#define SerBau 115200 // Baud setting moved close next to port selection
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#define SerPri Serial.print
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#define SerPrln Serial.println
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#define SerRea Serial.read
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@ -45,25 +45,41 @@
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//#define IsGPS // Do we have a GPS connected
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//#define IsNEWMTEK // Do we have MTEK with new firmware
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//#define IsMAG // Do we have a Magnetometer connected, if have remember to activate it from Configurator
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//#define IsTEL // Do we have a telemetry connected, eg. XBee connected on Telemetry port
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//#define IsAM // Do we have motormount LED's. AM = Atraction Mode
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//LEGACY-jp #define IsTEL // Do we have a telemetry connected, eg. XBee connected on Telemetry port
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#define IsAM // Do we have motormount LED's. AM = Atraction Mode
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//#define UseAirspeed
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//#define UseBMP
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//#define BATTERY_EVENT 1 // (boolean) 0 = don't read battery, 1 = read battery voltage (only if you have it wired up!)
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//#define BATTERY_EVENT 1 // (boolean) 0 = don't read battery, 1 = read battery voltage (only if you have it _wired_ up!)
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#define CONFIGURATOR
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////////////////////
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// Telemetry
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// Serial data, do we have FTDI cable or Xbee on Telemetry port as our primary command link
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// If we are using normal FTDI/USB port as our telemetry/configuration, comment out next line
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// If we are using normal FTDI/USB port as our telemetry/configuration, disable next
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//#define SerXbee
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//#define Ser0 // FTDI/USB Port Either one
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//#define Ser3 // Telemetry port
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// Telemetry port speed, default is 115200
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#define SerBau 115200
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//////////////////////
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// Flight orientation
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// Frame build condiguration
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#define FLIGHT_MODE_+ // Traditional "one arm as nose" frame configuration
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//#define FLIGHT_MODE_X // Frame orientation 45 deg to CCW, nose between two arms
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/* ************************************************************ */
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/* **************** MAIN PROGRAM - INCLUDES ******************* */
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/* ************************************************************ */
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@ -92,6 +108,7 @@
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/* Software version */
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#define VER 1.5 // Current software version (only numeric values)
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/* ************************************************************ */
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/* ************* MAIN PROGRAM - DECLARATIONS ****************** */
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/* ************************************************************ */
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@ -221,50 +238,72 @@ void loop()
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case 0: // Magnetometer reading (10Hz)
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medium_loopCounter++;
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slowLoop++;
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#ifdef IsMAG
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#ifdef IsMAG
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if (MAGNETOMETER == 1) {
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APM_Compass.Read(); // Read magnetometer
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APM_Compass.Calculate(roll,pitch); // Calculate heading
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}
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#endif
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#endif
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break;
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case 1: // Barometer reading (2x10Hz = 20Hz)
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medium_loopCounter++;
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#ifdef UseBMP
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#ifdef UseBMP
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if (APM_BMP085.Read()){
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read_baro();
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Baro_new_data = 1;
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}
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#endif
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#endif
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break;
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case 2: // Send serial telemetry (10Hz)
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medium_loopCounter++;
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#ifdef CONFIGURATOR
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#ifdef CONFIGURATOR
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sendSerialTelemetry();
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#endif
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#endif
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break;
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case 3: // Read serial telemetry (10Hz)
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medium_loopCounter++;
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#ifdef CONFIGURATOR
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#ifdef CONFIGURATOR
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readSerialCommand();
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#endif
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#endif
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break;
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case 4: // second Barometer reading (2x10Hz = 20Hz)
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medium_loopCounter++;
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#ifdef UseBMP
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#ifdef UseBMP
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if (APM_BMP085.Read()){
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read_baro();
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Baro_new_data = 1;
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}
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#endif
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#endif
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break;
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case 5: // Battery monitor (10Hz)
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medium_loopCounter=0;
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#if BATTERY_EVENT == 1
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#if BATTERY_EVENT == 1
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read_battery(); // Battery monitor
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#endif
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#endif
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break;
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}
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}
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// AM and Mode status LED lights
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if(millis() - gled_timer > gled_speed) {
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gled_timer = millis();
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if(gled_status == HIGH) {
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digitalWrite(LED_Green, LOW);
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#ifdef IsAM
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digitalWrite(RE_LED, LOW);
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#endif
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gled_status = LOW;
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// SerPrln("L");
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}
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else {
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digitalWrite(LED_Green, HIGH);
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#ifdef IsAM
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if(motorArmed) digitalWrite(RE_LED, HIGH);
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#endif
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gled_status = HIGH;
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}
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}
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}
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@ -23,15 +23,15 @@
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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* ************************************************************** *
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ChangeLog:
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* ************************************************************** *
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ChangeLog:
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* ************************************************************** *
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TODO:
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* ************************************************************** *
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TODO:
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* ************************************************************** */
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* ************************************************************** */
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//
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// Function : send_message()
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//
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@ -61,7 +61,7 @@ void send_message(byte severity, const char *str) // This is the instance of se
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void readSerialCommand() {
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// Check for serial message
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if (SerAva()) {
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queryType = SerRea();
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switch (queryType) {
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case 'A': // Stable PID
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KP_QUAD_ROLL = readFloatSerial();
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@ -154,7 +154,7 @@ void sendSerialTelemetry() {
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float aux_float[3]; // used for sensor calibration
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switch (queryType) {
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case '=': // Reserved debug command to view any variable from Serial Monitor
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/* SerPri(("throttle =");
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/* SerPri(("throttle =");
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SerPrln(ch_throttle);
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SerPri("control roll =");
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SerPrln(control_roll-CHANN_CENTER);
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@ -268,7 +268,7 @@ void sendSerialTelemetry() {
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queryType = 'X';
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break;
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case 'L': // Spare
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// RadioCalibration();
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// RadioCalibration();
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queryType = 'X';
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break;
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case 'N': // Send magnetometer config
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@ -351,6 +351,20 @@ void sendSerialTelemetry() {
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SerPri(read_adc(3));
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comma();
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SerPrln(read_adc(5));
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/* comma();
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SerPri(APM_Compass.Heading, 4);
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comma();
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SerPri(APM_Compass.Heading_X, 4);
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comma();
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SerPri(APM_Compass.Heading_Y, 4);
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comma();
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SerPri(APM_Compass.Mag_X);
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comma();
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SerPri(APM_Compass.Mag_Y);
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comma();
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SerPri(APM_Compass.Mag_Z);
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comma();
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*/
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break;
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case 'T': // Spare
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break;
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@ -438,3 +452,4 @@ float readFloatSerial() {
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while ((data[constrain(index-1, 0, 128)] != ';') && (timeout < 5) && (index < 128));
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return atof(data);
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}
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@ -85,9 +85,14 @@ void APM_Init() {
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DataFlash.StartWrite(1); // Start a write session on page 1
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Serial.begin(115200);
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// Serial.begin(115200); // Old mode serial begin, remove soon, by jp/17-10-10
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//Serial.println("ArduCopter Quadcopter v1.0");
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// Proper Serial port/baud are defined on main .pde and then Arducopter.h with
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// Choises of Xbee or
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SerBeg(SerBau);
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// Check if we enable the DataFlash log Read Mode (switch)
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// If we press switch 1 at startup we read the Dataflash eeprom
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while (digitalRead(SW1_pin)==0)
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@ -126,5 +131,6 @@ void APM_Init() {
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digitalWrite(RI_LED, HIGH);
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digitalWrite(LE_LED, HIGH);
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#endif
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}
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