mirror of https://github.com/ArduPilot/ardupilot
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
parent
ee105a0ebf
commit
455e315a1a
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@ -44,7 +44,7 @@ TODO:
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#define SW1_pin 41
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#define SW2_pin 40
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//#define VDIV1 AN1
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//#define VDIV1 AN1 // Insert correct PIN values for these, JP/17-10-10
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//#define VDIV2 AN2
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//#define VDIV3 AN3
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//#define VDIV4 AN4
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@ -60,6 +60,11 @@ TODO:
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#define B_LED_PIN 36
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#define C_LED_PIN 35
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#define DIP1 // Insert correct PIN values for these, JP/17-10-10
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#define DIP2
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#define DIP3
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#define DIP4
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#define EE_LAST_LOG_PAGE 0xE00
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#define EE_LAST_LOG_NUM 0xE02
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#define EE_LOG_1_START 0xE04
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@ -70,23 +75,30 @@ TODO:
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#define SERIAL2_BAUD 115200
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#define SERIAL3_BAUD 115200
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#ifdef Ser3
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#define SerPr Serial3.print
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#ifdef SerXbee // Xbee/Telemetry port
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#define SerPri Serial3.print
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#define SerPrln Serial3.println
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#define SerRe Serial3.read
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#define SerAv Serial3.available
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#define SerRea Serial3.read
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#define SerAva Serial3.available
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#define SerRea Serial3.read
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#define SerFlu Serial3.flush
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#define SerBeg Serial3.begin
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#define SerPor "FTDI"
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#endif
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#ifndef SerPr
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#define Ser10
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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 Ser10
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#define SerPr Serial.print
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#ifdef SerUSB // Defines for normal Serial0 port
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#define SerPri Serial.print
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#define SerPrln Serial.println
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#define SerRe Serial.read
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#define SerAv Serial.available
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#define SerRea Serial.read
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#define SerAva Serial.available
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#define SerRea Serial.read
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#define SerFlu Serial.flush
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#define SerBeg Serial.begin
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#define SerPor "Telemetry"
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#endif
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// IMU definitions
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@ -99,6 +111,7 @@ int SENSOR_SIGN[]={
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//{-1,1,-1,1,-1,1,-1,-1,-1};
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/* APM Hardware definitions, END */
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/* General definitions */
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#define TRUE 1
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#define FALSE 0
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@ -54,7 +54,10 @@
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#define CONFIGURATOR
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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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#define Ser0 // FTDI/USB Port Either one
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// If we are using normal FTDI/USB port as our telemetry/configuration, comment out next line
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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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// Frame build condiguration
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@ -44,7 +44,7 @@ TODO:
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void send_message(byte severity, const char *str) // This is the instance of send_message for message 0x05
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{
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if(severity >= DEBUG_LEVEL){
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SerPr("MSG: ");
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SerPri("MSG: ");
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SerPrln(str);
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}
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}
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@ -60,8 +60,8 @@ void send_message(byte severity, const char *str) // This is the instance of se
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//
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void readSerialCommand() {
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// Check for serial message
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if (SerAv()) {
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queryType = SerRe();
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if (SerAva()) {
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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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@ -154,112 +154,112 @@ 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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/* SerPr("throttle =");
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/* SerPri(("throttle =");
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SerPrln(ch_throttle);
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SerPr("control roll =");
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SerPri("control roll =");
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SerPrln(control_roll-CHANN_CENTER);
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SerPr("control pitch =");
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SerPri("control pitch =");
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SerPrln(control_pitch-CHANN_CENTER);
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SerPr("control yaw =");
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SerPri("control yaw =");
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SerPrln(control_yaw-CHANN_CENTER);
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SerPr("front left yaw =");
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SerPri("front left yaw =");
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SerPrln(frontMotor);
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SerPr("front right yaw =");
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SerPri("front right yaw =");
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SerPrln(rightMotor);
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SerPr("rear left yaw =");
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SerPri("rear left yaw =");
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SerPrln(leftMotor);
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SerPr("rear right motor =");
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SerPri("rear right motor =");
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SerPrln(backMotor);
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SerPrln();
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SerPr("current roll rate =");
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SerPri("current roll rate =");
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SerPrln(read_adc(0));
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SerPr("current pitch rate =");
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SerPri("current pitch rate =");
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SerPrln(read_adc(1));
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SerPr("current yaw rate =");
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SerPri("current yaw rate =");
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SerPrln(read_adc(2));
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SerPr("command rx yaw =");
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SerPri("command rx yaw =");
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SerPrln(command_rx_yaw);
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SerPrln();
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queryType = 'X';*/
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SerPr(APM_RC.InputCh(0));
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SerPri(APM_RC.InputCh(0));
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comma();
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SerPr(ch_roll_slope);
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SerPri(ch_roll_slope);
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comma();
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SerPr(ch_roll_offset);
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SerPri(ch_roll_offset);
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comma();
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SerPrln(ch_roll);
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break;
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case 'B': // Send roll, pitch and yaw PID values
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SerPr(KP_QUAD_ROLL, 3);
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SerPri(KP_QUAD_ROLL, 3);
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comma();
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SerPr(KI_QUAD_ROLL, 3);
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SerPri(KI_QUAD_ROLL, 3);
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comma();
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SerPr(STABLE_MODE_KP_RATE_ROLL, 3);
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SerPri(STABLE_MODE_KP_RATE_ROLL, 3);
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comma();
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SerPr(KP_QUAD_PITCH, 3);
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SerPri(KP_QUAD_PITCH, 3);
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comma();
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SerPr(KI_QUAD_PITCH, 3);
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SerPri(KI_QUAD_PITCH, 3);
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comma();
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SerPr(STABLE_MODE_KP_RATE_PITCH, 3);
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SerPri(STABLE_MODE_KP_RATE_PITCH, 3);
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comma();
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SerPr(KP_QUAD_YAW, 3);
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SerPri(KP_QUAD_YAW, 3);
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comma();
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SerPr(KI_QUAD_YAW, 3);
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SerPri(KI_QUAD_YAW, 3);
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comma();
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SerPr(STABLE_MODE_KP_RATE_YAW, 3);
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SerPri(STABLE_MODE_KP_RATE_YAW, 3);
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comma();
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SerPr(STABLE_MODE_KP_RATE, 3); // NOT USED NOW
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SerPri(STABLE_MODE_KP_RATE, 3); // NOT USED NOW
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comma();
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SerPrln(MAGNETOMETER, 3);
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queryType = 'X';
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break;
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case 'D': // Send GPS PID
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SerPr(KP_GPS_ROLL, 3);
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SerPri(KP_GPS_ROLL, 3);
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comma();
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SerPr(KI_GPS_ROLL, 3);
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SerPri(KI_GPS_ROLL, 3);
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comma();
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SerPr(KD_GPS_ROLL, 3);
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SerPri(KD_GPS_ROLL, 3);
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comma();
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SerPr(KP_GPS_PITCH, 3);
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SerPri(KP_GPS_PITCH, 3);
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comma();
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SerPr(KI_GPS_PITCH, 3);
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SerPri(KI_GPS_PITCH, 3);
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comma();
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SerPr(KD_GPS_PITCH, 3);
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SerPri(KD_GPS_PITCH, 3);
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comma();
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SerPr(GPS_MAX_ANGLE, 3);
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SerPri(GPS_MAX_ANGLE, 3);
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comma();
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SerPrln(GEOG_CORRECTION_FACTOR, 3);
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queryType = 'X';
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break;
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case 'F': // Send altitude PID
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SerPr(KP_ALTITUDE, 3);
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SerPri(KP_ALTITUDE, 3);
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comma();
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SerPr(KI_ALTITUDE, 3);
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SerPri(KI_ALTITUDE, 3);
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comma();
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SerPrln(KD_ALTITUDE, 3);
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queryType = 'X';
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break;
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case 'H': // Send drift correction PID
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SerPr(Kp_ROLLPITCH, 4);
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SerPri(Kp_ROLLPITCH, 4);
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comma();
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SerPr(Ki_ROLLPITCH, 7);
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SerPri(Ki_ROLLPITCH, 7);
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comma();
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SerPr(Kp_YAW, 4);
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SerPri(Kp_YAW, 4);
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comma();
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SerPrln(Ki_YAW, 6);
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queryType = 'X';
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break;
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case 'J': // Send sensor offset
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SerPr(gyro_offset_roll);
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SerPri(gyro_offset_roll);
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comma();
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SerPr(gyro_offset_pitch);
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SerPri(gyro_offset_pitch);
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comma();
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SerPr(gyro_offset_yaw);
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SerPri(gyro_offset_yaw);
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comma();
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SerPr(acc_offset_x);
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SerPri(acc_offset_x);
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comma();
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SerPr(acc_offset_y);
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SerPri(acc_offset_y);
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comma();
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SerPrln(acc_offset_z);
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AN_OFFSET[3] = acc_offset_x;
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@ -275,101 +275,101 @@ void sendSerialTelemetry() {
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queryType = 'X';
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break;
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case 'P': // Send rate control PID
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SerPr(Kp_RateRoll, 3);
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SerPri(Kp_RateRoll, 3);
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comma();
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SerPr(Ki_RateRoll, 3);
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SerPri(Ki_RateRoll, 3);
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comma();
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SerPr(Kd_RateRoll, 3);
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SerPri(Kd_RateRoll, 3);
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comma();
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SerPr(Kp_RatePitch, 3);
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SerPri(Kp_RatePitch, 3);
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comma();
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SerPr(Ki_RatePitch, 3);
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SerPri(Ki_RatePitch, 3);
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comma();
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SerPr(Kd_RatePitch, 3);
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SerPri(Kd_RatePitch, 3);
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comma();
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SerPr(Kp_RateYaw, 3);
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SerPri(Kp_RateYaw, 3);
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comma();
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SerPr(Ki_RateYaw, 3);
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SerPri(Ki_RateYaw, 3);
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comma();
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SerPr(Kd_RateYaw, 3);
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SerPri(Kd_RateYaw, 3);
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comma();
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SerPrln(xmitFactor, 3);
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queryType = 'X';
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break;
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case 'Q': // Send sensor data
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SerPr(read_adc(0));
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SerPri(read_adc(0));
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comma();
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SerPr(read_adc(1));
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SerPri(read_adc(1));
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comma();
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SerPr(read_adc(2));
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SerPri(read_adc(2));
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comma();
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SerPr(read_adc(4));
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SerPri(read_adc(4));
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comma();
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SerPr(read_adc(3));
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SerPri(read_adc(3));
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comma();
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SerPr(read_adc(5));
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SerPri(read_adc(5));
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comma();
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SerPr(err_roll);
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SerPri(err_roll);
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comma();
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SerPr(err_pitch);
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SerPri(err_pitch);
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comma();
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SerPr(degrees(roll));
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SerPri(degrees(roll));
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comma();
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SerPr(degrees(pitch));
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SerPri(degrees(pitch));
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comma();
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SerPrln(degrees(yaw));
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break;
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case 'R': // Send raw sensor data
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break;
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case 'S': // Send all flight data
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SerPr(timer-timer_old);
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SerPri(timer-timer_old);
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comma();
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SerPr(read_adc(0));
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SerPri(read_adc(0));
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comma();
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SerPr(read_adc(1));
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SerPri(read_adc(1));
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comma();
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SerPr(read_adc(2));
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SerPri(read_adc(2));
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comma();
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SerPr(ch_throttle);
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SerPri(ch_throttle);
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comma();
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SerPr(control_roll);
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SerPri(control_roll);
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comma();
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SerPr(control_pitch);
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SerPri(control_pitch);
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comma();
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SerPr(control_yaw);
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SerPri(control_yaw);
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comma();
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SerPr(frontMotor); // Front Motor
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SerPri(frontMotor); // Front Motor
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comma();
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SerPr(backMotor); // Back Motor
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SerPri(backMotor); // Back Motor
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comma();
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SerPr(rightMotor); // Right Motor
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SerPri(rightMotor); // Right Motor
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comma();
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SerPr(leftMotor); // Left Motor
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SerPri(leftMotor); // Left Motor
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comma();
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SerPr(read_adc(4));
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SerPri(read_adc(4));
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comma();
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SerPr(read_adc(3));
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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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break;
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case 'T': // Spare
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break;
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case 'U': // Send receiver values
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SerPr(ch_roll); // Aileron
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SerPri(ch_roll); // Aileron
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comma();
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SerPr(ch_pitch); // Elevator
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SerPri(ch_pitch); // Elevator
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comma();
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SerPr(ch_yaw); // Yaw
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SerPri(ch_yaw); // Yaw
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comma();
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SerPr(ch_throttle); // Throttle
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SerPri(ch_throttle); // Throttle
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comma();
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SerPr(ch_aux); // AUX1 (Mode)
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SerPri(ch_aux); // AUX1 (Mode)
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comma();
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SerPr(ch_aux2); // AUX2
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SerPri(ch_aux2); // AUX2
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comma();
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SerPr(roll_mid); // Roll MID value
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SerPri(roll_mid); // Roll MID value
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comma();
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SerPr(pitch_mid); // Pitch MID value
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SerPri(pitch_mid); // Pitch MID value
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comma();
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SerPrln(yaw_mid); // Yaw MID Value
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break;
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@ -382,27 +382,27 @@ void sendSerialTelemetry() {
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queryType = 'X';
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break;
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case '2': // Send transmitter calibration values
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SerPr(ch_roll_slope);
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SerPri(ch_roll_slope);
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comma();
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SerPr(ch_roll_offset);
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SerPri(ch_roll_offset);
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comma();
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SerPr(ch_pitch_slope);
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SerPri(ch_pitch_slope);
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comma();
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SerPr(ch_pitch_offset);
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SerPri(ch_pitch_offset);
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comma();
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SerPr(ch_yaw_slope);
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SerPri(ch_yaw_slope);
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comma();
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SerPr(ch_yaw_offset);
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SerPri(ch_yaw_offset);
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comma();
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SerPr(ch_throttle_slope);
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SerPri(ch_throttle_slope);
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comma();
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SerPr(ch_throttle_offset);
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SerPri(ch_throttle_offset);
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comma();
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SerPr(ch_aux_slope);
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SerPri(ch_aux_slope);
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comma();
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SerPr(ch_aux_offset);
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SerPri(ch_aux_offset);
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comma();
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SerPr(ch_aux2_slope);
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SerPri(ch_aux2_slope);
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comma();
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SerPrln(ch_aux2_offset);
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queryType = 'X';
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@ -414,7 +414,7 @@ void sendSerialTelemetry() {
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}
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void comma() {
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SerPr(',');
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SerPri(',');
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}
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@ -425,12 +425,12 @@ float readFloatSerial() {
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char data[128] = "";
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do {
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if (SerAv() == 0) {
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if (SerAva() == 0) {
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delay(10);
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timeout++;
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}
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else {
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data[index] = SerRe();
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data[index] = SerRea();
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timeout = 0;
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index++;
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}
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Reference in New Issue