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updated serial port defs 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@681 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jphelirc 2010-10-17 16:18:14 +00:00
parent ee105a0ebf
commit 455e315a1a
3 changed files with 134 additions and 118 deletions
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43
ArducopterNG/Arducopter.h
View File

@ -44,7 +44,7 @@ TODO:
#define SW1_pin 41 #define SW1_pin 41
#define SW2_pin 40 #define SW2_pin 40
//#define VDIV1 AN1 //#define VDIV1 AN1 // Insert correct PIN values for these, JP/17-10-10
//#define VDIV2 AN2 //#define VDIV2 AN2
//#define VDIV3 AN3 //#define VDIV3 AN3
//#define VDIV4 AN4 //#define VDIV4 AN4
@ -60,33 +60,45 @@ TODO:
#define B_LED_PIN 36 #define B_LED_PIN 36
#define C_LED_PIN 35 #define C_LED_PIN 35
#define DIP1 // Insert correct PIN values for these, JP/17-10-10
#define DIP2
#define DIP3
#define DIP4
#define EE_LAST_LOG_PAGE 0xE00 #define EE_LAST_LOG_PAGE 0xE00
#define EE_LAST_LOG_NUM 0xE02 #define EE_LAST_LOG_NUM 0xE02
#define EE_LOG_1_START 0xE04 #define EE_LOG_1_START 0xE04
// Serial ports // Serial ports
#define SERIAL0_BAUD 38400 // this is the main USB out 38400 57600 115200 #define SERIAL0_BAUD 38400 // this is the main USB out 38400 57600 115200
#define SERIAL1_BAUD 115200 #define SERIAL1_BAUD 115200
#define SERIAL2_BAUD 115200 #define SERIAL2_BAUD 115200
#define SERIAL3_BAUD 115200 #define SERIAL3_BAUD 115200
#ifdef SerXbee // Xbee/Telemetry port
#ifdef Ser3 #define SerPri Serial3.print
#define SerPr Serial3.print
#define SerPrln Serial3.println #define SerPrln Serial3.println
#define SerRe Serial3.read #define SerRea Serial3.read
#define SerAv Serial3.available #define SerAva Serial3.available
#define SerRea Serial3.read
#define SerFlu Serial3.flush
#define SerBeg Serial3.begin
#define SerPor "FTDI"
#endif #endif
#ifndef SerPri // If we don't have SerPri set yet, it means we have are using Serial0
#ifndef SerPr #define SerUSB
#define Ser10
#endif #endif
#ifdef Ser10
#define SerPr Serial.print #ifdef SerUSB // Defines for normal Serial0 port
#define SerPri Serial.print
#define SerPrln Serial.println #define SerPrln Serial.println
#define SerRe Serial.read #define SerRea Serial.read
#define SerAv Serial.available #define SerAva Serial.available
#define SerRea Serial.read
#define SerFlu Serial.flush
#define SerBeg Serial.begin
#define SerPor "Telemetry"
#endif #endif
// IMU definitions // IMU definitions
@ -99,6 +111,7 @@ int SENSOR_SIGN[]={
//{-1,1,-1,1,-1,1,-1,-1,-1}; //{-1,1,-1,1,-1,1,-1,-1,-1};
/* APM Hardware definitions, END */ /* APM Hardware definitions, END */
/* General definitions */ /* General definitions */
#define TRUE 1 #define TRUE 1
#define FALSE 0 #define FALSE 0
@ -376,4 +389,4 @@ unsigned long elapsedTime = 0; // for doing custom events
// SEVERITY_HIGH // SEVERITY_HIGH
// SEVERITY_CRITICAL // SEVERITY_CRITICAL

7
ArducopterNG/ArducopterNG.pde
View File

@ -54,7 +54,10 @@
#define CONFIGURATOR #define CONFIGURATOR
// Serial data, do we have FTDI cable or Xbee on Telemetry port as our primary command link // Serial data, do we have FTDI cable or Xbee on Telemetry port as our primary command link
#define Ser0 // FTDI/USB Port Either one // If we are using normal FTDI/USB port as our telemetry/configuration, comment out next line
//#define SerXbee
//#define Ser0 // FTDI/USB Port Either one
//#define Ser3 // Telemetry port //#define Ser3 // Telemetry port
// Frame build condiguration // Frame build condiguration
@ -264,4 +267,4 @@ void loop()
} }
} }
} }

202
ArducopterNG/GCS.pde
View File

@ -44,7 +44,7 @@ TODO:
void send_message(byte severity, const char *str) // This is the instance of send_message for message 0x05 void send_message(byte severity, const char *str) // This is the instance of send_message for message 0x05
{ {
if(severity >= DEBUG_LEVEL){ if(severity >= DEBUG_LEVEL){
SerPr("MSG: "); SerPri("MSG: ");
SerPrln(str); SerPrln(str);
} }
} }
@ -60,8 +60,8 @@ void send_message(byte severity, const char *str) // This is the instance of se
// //
void readSerialCommand() { void readSerialCommand() {
// Check for serial message // Check for serial message
if (SerAv()) { if (SerAva()) {
queryType = SerRe();
switch (queryType) { switch (queryType) {
case 'A': // Stable PID case 'A': // Stable PID
KP_QUAD_ROLL = readFloatSerial(); KP_QUAD_ROLL = readFloatSerial();
@ -154,112 +154,112 @@ void sendSerialTelemetry() {
float aux_float[3]; // used for sensor calibration float aux_float[3]; // used for sensor calibration
switch (queryType) { switch (queryType) {
case '=': // Reserved debug command to view any variable from Serial Monitor case '=': // Reserved debug command to view any variable from Serial Monitor
/* SerPr("throttle ="); /* SerPri(("throttle =");
SerPrln(ch_throttle); SerPrln(ch_throttle);
SerPr("control roll ="); SerPri("control roll =");
SerPrln(control_roll-CHANN_CENTER); SerPrln(control_roll-CHANN_CENTER);
SerPr("control pitch ="); SerPri("control pitch =");
SerPrln(control_pitch-CHANN_CENTER); SerPrln(control_pitch-CHANN_CENTER);
SerPr("control yaw ="); SerPri("control yaw =");
SerPrln(control_yaw-CHANN_CENTER); SerPrln(control_yaw-CHANN_CENTER);
SerPr("front left yaw ="); SerPri("front left yaw =");
SerPrln(frontMotor); SerPrln(frontMotor);
SerPr("front right yaw ="); SerPri("front right yaw =");
SerPrln(rightMotor); SerPrln(rightMotor);
SerPr("rear left yaw ="); SerPri("rear left yaw =");
SerPrln(leftMotor); SerPrln(leftMotor);
SerPr("rear right motor ="); SerPri("rear right motor =");
SerPrln(backMotor); SerPrln(backMotor);
SerPrln(); SerPrln();
SerPr("current roll rate ="); SerPri("current roll rate =");
SerPrln(read_adc(0)); SerPrln(read_adc(0));
SerPr("current pitch rate ="); SerPri("current pitch rate =");
SerPrln(read_adc(1)); SerPrln(read_adc(1));
SerPr("current yaw rate ="); SerPri("current yaw rate =");
SerPrln(read_adc(2)); SerPrln(read_adc(2));
SerPr("command rx yaw ="); SerPri("command rx yaw =");
SerPrln(command_rx_yaw); SerPrln(command_rx_yaw);
SerPrln(); SerPrln();
queryType = 'X';*/ queryType = 'X';*/
SerPr(APM_RC.InputCh(0)); SerPri(APM_RC.InputCh(0));
comma(); comma();
SerPr(ch_roll_slope); SerPri(ch_roll_slope);
comma(); comma();
SerPr(ch_roll_offset); SerPri(ch_roll_offset);
comma(); comma();
SerPrln(ch_roll); SerPrln(ch_roll);
break; break;
case 'B': // Send roll, pitch and yaw PID values case 'B': // Send roll, pitch and yaw PID values
SerPr(KP_QUAD_ROLL, 3); SerPri(KP_QUAD_ROLL, 3);
comma(); comma();
SerPr(KI_QUAD_ROLL, 3); SerPri(KI_QUAD_ROLL, 3);
comma(); comma();
SerPr(STABLE_MODE_KP_RATE_ROLL, 3); SerPri(STABLE_MODE_KP_RATE_ROLL, 3);
comma(); comma();
SerPr(KP_QUAD_PITCH, 3); SerPri(KP_QUAD_PITCH, 3);
comma(); comma();
SerPr(KI_QUAD_PITCH, 3); SerPri(KI_QUAD_PITCH, 3);
comma(); comma();
SerPr(STABLE_MODE_KP_RATE_PITCH, 3); SerPri(STABLE_MODE_KP_RATE_PITCH, 3);
comma(); comma();
SerPr(KP_QUAD_YAW, 3); SerPri(KP_QUAD_YAW, 3);
comma(); comma();
SerPr(KI_QUAD_YAW, 3); SerPri(KI_QUAD_YAW, 3);
comma(); comma();
SerPr(STABLE_MODE_KP_RATE_YAW, 3); SerPri(STABLE_MODE_KP_RATE_YAW, 3);
comma(); comma();
SerPr(STABLE_MODE_KP_RATE, 3); // NOT USED NOW SerPri(STABLE_MODE_KP_RATE, 3); // NOT USED NOW
comma(); comma();
SerPrln(MAGNETOMETER, 3); SerPrln(MAGNETOMETER, 3);
queryType = 'X'; queryType = 'X';
break; break;
case 'D': // Send GPS PID case 'D': // Send GPS PID
SerPr(KP_GPS_ROLL, 3); SerPri(KP_GPS_ROLL, 3);
comma(); comma();
SerPr(KI_GPS_ROLL, 3); SerPri(KI_GPS_ROLL, 3);
comma(); comma();
SerPr(KD_GPS_ROLL, 3); SerPri(KD_GPS_ROLL, 3);
comma(); comma();
SerPr(KP_GPS_PITCH, 3); SerPri(KP_GPS_PITCH, 3);
comma(); comma();
SerPr(KI_GPS_PITCH, 3); SerPri(KI_GPS_PITCH, 3);
comma(); comma();
SerPr(KD_GPS_PITCH, 3); SerPri(KD_GPS_PITCH, 3);
comma(); comma();
SerPr(GPS_MAX_ANGLE, 3); SerPri(GPS_MAX_ANGLE, 3);
comma(); comma();
SerPrln(GEOG_CORRECTION_FACTOR, 3); SerPrln(GEOG_CORRECTION_FACTOR, 3);
queryType = 'X'; queryType = 'X';
break; break;
case 'F': // Send altitude PID case 'F': // Send altitude PID
SerPr(KP_ALTITUDE, 3); SerPri(KP_ALTITUDE, 3);
comma(); comma();
SerPr(KI_ALTITUDE, 3); SerPri(KI_ALTITUDE, 3);
comma(); comma();
SerPrln(KD_ALTITUDE, 3); SerPrln(KD_ALTITUDE, 3);
queryType = 'X'; queryType = 'X';
break; break;
case 'H': // Send drift correction PID case 'H': // Send drift correction PID
SerPr(Kp_ROLLPITCH, 4); SerPri(Kp_ROLLPITCH, 4);
comma(); comma();
SerPr(Ki_ROLLPITCH, 7); SerPri(Ki_ROLLPITCH, 7);
comma(); comma();
SerPr(Kp_YAW, 4); SerPri(Kp_YAW, 4);
comma(); comma();
SerPrln(Ki_YAW, 6); SerPrln(Ki_YAW, 6);
queryType = 'X'; queryType = 'X';
break; break;
case 'J': // Send sensor offset case 'J': // Send sensor offset
SerPr(gyro_offset_roll); SerPri(gyro_offset_roll);
comma(); comma();
SerPr(gyro_offset_pitch); SerPri(gyro_offset_pitch);
comma(); comma();
SerPr(gyro_offset_yaw); SerPri(gyro_offset_yaw);
comma(); comma();
SerPr(acc_offset_x); SerPri(acc_offset_x);
comma(); comma();
SerPr(acc_offset_y); SerPri(acc_offset_y);
comma(); comma();
SerPrln(acc_offset_z); SerPrln(acc_offset_z);
AN_OFFSET[3] = acc_offset_x; AN_OFFSET[3] = acc_offset_x;
@ -275,101 +275,101 @@ void sendSerialTelemetry() {
queryType = 'X'; queryType = 'X';
break; break;
case 'P': // Send rate control PID case 'P': // Send rate control PID
SerPr(Kp_RateRoll, 3); SerPri(Kp_RateRoll, 3);
comma(); comma();
SerPr(Ki_RateRoll, 3); SerPri(Ki_RateRoll, 3);
comma(); comma();
SerPr(Kd_RateRoll, 3); SerPri(Kd_RateRoll, 3);
comma(); comma();
SerPr(Kp_RatePitch, 3); SerPri(Kp_RatePitch, 3);
comma(); comma();
SerPr(Ki_RatePitch, 3); SerPri(Ki_RatePitch, 3);
comma(); comma();
SerPr(Kd_RatePitch, 3); SerPri(Kd_RatePitch, 3);
comma(); comma();
SerPr(Kp_RateYaw, 3); SerPri(Kp_RateYaw, 3);
comma(); comma();
SerPr(Ki_RateYaw, 3); SerPri(Ki_RateYaw, 3);
comma(); comma();
SerPr(Kd_RateYaw, 3); SerPri(Kd_RateYaw, 3);
comma(); comma();
SerPrln(xmitFactor, 3); SerPrln(xmitFactor, 3);
queryType = 'X'; queryType = 'X';
break; break;
case 'Q': // Send sensor data case 'Q': // Send sensor data
SerPr(read_adc(0)); SerPri(read_adc(0));
comma(); comma();
SerPr(read_adc(1)); SerPri(read_adc(1));
comma(); comma();
SerPr(read_adc(2)); SerPri(read_adc(2));
comma(); comma();
SerPr(read_adc(4)); SerPri(read_adc(4));
comma(); comma();
SerPr(read_adc(3)); SerPri(read_adc(3));
comma(); comma();
SerPr(read_adc(5)); SerPri(read_adc(5));
comma(); comma();
SerPr(err_roll); SerPri(err_roll);
comma(); comma();
SerPr(err_pitch); SerPri(err_pitch);
comma(); comma();
SerPr(degrees(roll)); SerPri(degrees(roll));
comma(); comma();
SerPr(degrees(pitch)); SerPri(degrees(pitch));
comma(); comma();
SerPrln(degrees(yaw)); SerPrln(degrees(yaw));
break; break;
case 'R': // Send raw sensor data case 'R': // Send raw sensor data
break; break;
case 'S': // Send all flight data case 'S': // Send all flight data
SerPr(timer-timer_old); SerPri(timer-timer_old);
comma(); comma();
SerPr(read_adc(0)); SerPri(read_adc(0));
comma(); comma();
SerPr(read_adc(1)); SerPri(read_adc(1));
comma(); comma();
SerPr(read_adc(2)); SerPri(read_adc(2));
comma(); comma();
SerPr(ch_throttle); SerPri(ch_throttle);
comma(); comma();
SerPr(control_roll); SerPri(control_roll);
comma(); comma();
SerPr(control_pitch); SerPri(control_pitch);
comma(); comma();
SerPr(control_yaw); SerPri(control_yaw);
comma(); comma();
SerPr(frontMotor); // Front Motor SerPri(frontMotor); // Front Motor
comma(); comma();
SerPr(backMotor); // Back Motor SerPri(backMotor); // Back Motor
comma(); comma();
SerPr(rightMotor); // Right Motor SerPri(rightMotor); // Right Motor
comma(); comma();
SerPr(leftMotor); // Left Motor SerPri(leftMotor); // Left Motor
comma(); comma();
SerPr(read_adc(4)); SerPri(read_adc(4));
comma(); comma();
SerPr(read_adc(3)); SerPri(read_adc(3));
comma(); comma();
SerPrln(read_adc(5)); SerPrln(read_adc(5));
break; break;
case 'T': // Spare case 'T': // Spare
break; break;
case 'U': // Send receiver values case 'U': // Send receiver values
SerPr(ch_roll); // Aileron SerPri(ch_roll); // Aileron
comma(); comma();
SerPr(ch_pitch); // Elevator SerPri(ch_pitch); // Elevator
comma(); comma();
SerPr(ch_yaw); // Yaw SerPri(ch_yaw); // Yaw
comma(); comma();
SerPr(ch_throttle); // Throttle SerPri(ch_throttle); // Throttle
comma(); comma();
SerPr(ch_aux); // AUX1 (Mode) SerPri(ch_aux); // AUX1 (Mode)
comma(); comma();
SerPr(ch_aux2); // AUX2 SerPri(ch_aux2); // AUX2
comma(); comma();
SerPr(roll_mid); // Roll MID value SerPri(roll_mid); // Roll MID value
comma(); comma();
SerPr(pitch_mid); // Pitch MID value SerPri(pitch_mid); // Pitch MID value
comma(); comma();
SerPrln(yaw_mid); // Yaw MID Value SerPrln(yaw_mid); // Yaw MID Value
break; break;
@ -382,27 +382,27 @@ void sendSerialTelemetry() {
queryType = 'X'; queryType = 'X';
break; break;
case '2': // Send transmitter calibration values case '2': // Send transmitter calibration values
SerPr(ch_roll_slope); SerPri(ch_roll_slope);
comma(); comma();
SerPr(ch_roll_offset); SerPri(ch_roll_offset);
comma(); comma();
SerPr(ch_pitch_slope); SerPri(ch_pitch_slope);
comma(); comma();
SerPr(ch_pitch_offset); SerPri(ch_pitch_offset);
comma(); comma();
SerPr(ch_yaw_slope); SerPri(ch_yaw_slope);
comma(); comma();
SerPr(ch_yaw_offset); SerPri(ch_yaw_offset);
comma(); comma();
SerPr(ch_throttle_slope); SerPri(ch_throttle_slope);
comma(); comma();
SerPr(ch_throttle_offset); SerPri(ch_throttle_offset);
comma(); comma();
SerPr(ch_aux_slope); SerPri(ch_aux_slope);
comma(); comma();
SerPr(ch_aux_offset); SerPri(ch_aux_offset);
comma(); comma();
SerPr(ch_aux2_slope); SerPri(ch_aux2_slope);
comma(); comma();
SerPrln(ch_aux2_offset); SerPrln(ch_aux2_offset);
queryType = 'X'; queryType = 'X';
@ -414,7 +414,7 @@ void sendSerialTelemetry() {
} }
void comma() { void comma() {
SerPr(','); SerPri(',');
} }
@ -425,16 +425,16 @@ float readFloatSerial() {
char data[128] = ""; char data[128] = "";
do { do {
if (SerAv() == 0) { if (SerAva() == 0) {
delay(10); delay(10);
timeout++; timeout++;
} }
else { else {
data[index] = SerRe(); data[index] = SerRea();
timeout = 0; timeout = 0;
index++; index++;
} }
} }
while ((data[constrain(index-1, 0, 128)] != ';') && (timeout < 5) && (index < 128)); while ((data[constrain(index-1, 0, 128)] != ';') && (timeout < 5) && (index < 128));
return atof(data); return atof(data);
} }