mirror of https://github.com/ArduPilot/ardupilot
ArduCopter: sketch cpp builds!
This commit is contained in:
Pat Hickey
Andrew Tridgell
parent
8b49208771
commit
5bd7046a95
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@ -844,6 +844,13 @@ AP_Relay relay;
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// is to take the 0 to 1024 range down to an 8 bit range for MAVLink
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AP_HAL::AnalogSource* rssi_analog_source;
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// Input sources for battery voltage, battery current, board vcc
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AP_HAL::AnalogSource* batt_volt_analog_source;
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AP_HAL::AnalogSource* batt_curr_analog_source;
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AP_HAL::AnalogSource* board_vcc_analog_source;
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#if CLI_ENABLED == ENABLED
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static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
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#endif
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@ -901,7 +908,10 @@ void setup() {
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&sonar_mode_filter);
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#endif
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rssi_analog_source = hal.analogin->channel(g.rssi_pin, 0.25);
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rssi_analog_source = hal.analogin->channel(g.rssi_pin, 0.25);
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batt_volt_analog_source = hal.analogin->channel(g.battery_volt_pin);
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batt_curr_analog_source = hal.analogin->channel(g.battery_curr_pin);
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board_vcc_analog_source = hal.analogin->channel(ANALOG_INPUT_BOARD_VCC);
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memcheck_init();
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init_ardupilot();
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@ -82,14 +82,12 @@ static void read_battery(void)
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}
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if(g.battery_monitoring == 3 || g.battery_monitoring == 4) {
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static AP_AnalogSource_Arduino batt_volt_pin(g.battery_volt_pin);
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batt_volt_pin.set_pin(g.battery_volt_pin);
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battery_voltage1 = BATTERY_VOLTAGE(batt_volt_pin.read_average());
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batt_volt_analog_source->set_pin(g.battery_volt_pin);
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battery_voltage1 = BATTERY_VOLTAGE(batt_volt_analog_source->read_average());
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}
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if(g.battery_monitoring == 4) {
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static AP_AnalogSource_Arduino batt_curr_pin(g.battery_curr_pin);
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batt_curr_pin.set_pin(g.battery_curr_pin);
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current_amps1 = CURRENT_AMPS(batt_curr_pin.read_average());
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batt_curr_analog_source->set_pin(g.battery_curr_pin);
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current_amps1 = CURRENT_AMPS(batt_curr_analog_source->read_average());
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current_total1 += current_amps1 * 0.02778; // called at 100ms on average, .0002778 is 1/3600 (conversion to hours)
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}
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@ -111,6 +109,6 @@ static void read_battery(void)
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void read_receiver_rssi(void)
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{
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rssi_analog_source->set_pin(g.rssi_pin);
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float ret = rssi_analog_source->read();
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float ret = rssi_analog_source->read_latest();
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receiver_rssi = constrain(ret, 0, 255);
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}
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@ -207,7 +207,7 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
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if(cliSerial->available() > 0) {
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delay(20);
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cliSerial->flush();
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while (cliSerial->read() != -1); /* flush */
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g.rc_1.save_eeprom();
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g.rc_2.save_eeprom();
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@ -249,8 +249,8 @@ setup_accel(uint8_t argc, const Menu::arg *argv)
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{
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ins.init(AP_InertialSensor::COLD_START,
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ins_sample_rate,
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delay, flash_leds, &timer_scheduler);
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ins.init_accel(delay, flash_leds);
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flash_leds);
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ins.init_accel(flash_leds);
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report_ins();
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return(0);
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}
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@ -263,7 +263,7 @@ static void setup_printf_P(const prog_char_t *fmt, ...)
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{
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va_list arg_list;
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va_start(arg_list, fmt);
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cliSerial->vprintf_P(fmt, arg_list);
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cliSerial->printf_P(fmt, arg_list);
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va_end(arg_list);
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}
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@ -286,8 +286,8 @@ setup_accel_scale(uint8_t argc, const Menu::arg *argv)
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cliSerial->println_P(PSTR("Initialising gyros"));
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ins.init(AP_InertialSensor::COLD_START,
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ins_sample_rate,
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delay, flash_leds, &timer_scheduler);
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ins.calibrate_accel(delay, flash_leds, setup_printf_P, setup_wait_key);
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flash_leds);
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ins.calibrate_accel(flash_leds, cliSerial);
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report_ins();
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return(0);
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}
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@ -986,12 +986,10 @@ print_done()
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static void zero_eeprom(void)
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{
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uint8_t b = 0;
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cliSerial->printf_P(PSTR("\nErasing EEPROM\n"));
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for (uintptr_t i = 0; i < EEPROM_MAX_ADDR; i++) {
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eeprom_write_byte((uint8_t *) i, b);
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for (uint16_t i = 0; i < EEPROM_MAX_ADDR; i++) {
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hal.storage->write_byte(i, 0);
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}
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cliSerial->printf_P(PSTR("done\n"));
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@ -1073,7 +1071,7 @@ static bool
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wait_for_yes()
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{
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int c;
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cliSerial->flush();
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while (cliSerial->read() != -1); /* flush */
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cliSerial->printf_P(PSTR("Y to save\n"));
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do {
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@ -86,42 +86,20 @@ static void init_ardupilot()
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// The console port buffers are defined to be sufficiently large to support
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// the MAVLink protocol efficiently
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//
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cliSerial->begin(SERIAL0_BAUD, 128, 256);
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hal.uartA->begin(SERIAL0_BAUD, 128, 256);
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// GPS serial port.
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//
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#if GPS_PROTOCOL != GPS_PROTOCOL_IMU
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// standard gps running. Note that we need a 256 byte buffer for some
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// GPS types (eg. UBLOX)
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Serial1.begin(38400, 256, 16);
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hal.uartB->begin(38400, 256, 16);
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#endif
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cliSerial->printf_P(PSTR("\n\nInit " THISFIRMWARE
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"\n\nFree RAM: %u\n"),
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memcheck_available_memory());
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//
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// Initialize Wire and SPI libraries
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//
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#ifndef DESKTOP_BUILD
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I2c.begin();
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I2c.timeOut(5);
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// initially set a fast I2c speed, and drop it on first failures
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I2c.setSpeed(true);
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#endif
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SPI.begin();
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SPI.setClockDivider(SPI_CLOCK_DIV16); // 1MHZ SPI rate
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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SPI3.begin();
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SPI3.setSpeed(SPI3_SPEED_2MHZ);
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#endif
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//
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// Initialize the isr_registry.
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//
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isr_registry.init();
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//
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// Report firmware version code expect on console (check of actual EEPROM format version is done in load_parameters function)
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//
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@ -143,8 +121,9 @@ static void init_ardupilot()
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#if CONFIG_PUSHBUTTON == ENABLED
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pinMode(PUSHBUTTON_PIN, INPUT); // unused
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#endif
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#if CONFIG_RELAY == ENABLED
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DDRL |= B00000100; // Set Port L, pin 2 to output for the relay
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relay.init();
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#endif
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#if COPTER_LEDS == ENABLED
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@ -168,7 +147,7 @@ static void init_ardupilot()
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load_parameters();
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// init the GCS
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gcs0.init(&Serial);
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gcs0.init(hal.uartA);
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#if USB_MUX_PIN > 0
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if (!ap_system.usb_connected) {
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@ -178,8 +157,8 @@ static void init_ardupilot()
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}
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#else
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// we have a 2nd serial port for telemetry
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Serial3.begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 256);
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gcs3.init(&Serial3);
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hal.uartC->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 256);
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gcs3.init(hal.uartC);
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#endif
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// identify ourselves correctly with the ground station
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@ -200,42 +179,26 @@ static void init_ardupilot()
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}
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#endif
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/*
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#ifdef RADIO_OVERRIDE_DEFAULTS
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{
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int16_t rc_override[8] = RADIO_OVERRIDE_DEFAULTS;
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APM_RC.setHIL(rc_override);
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}
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#endif
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*/
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#if FRAME_CONFIG == HELI_FRAME
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motors.servo_manual = false;
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motors.init_swash(); // heli initialisation
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#endif
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RC_Channel::set_apm_rc(&APM_RC);
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init_rc_in(); // sets up rc channels from radio
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init_rc_out(); // sets up the timer libs
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timer_scheduler.init( &isr_registry );
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/*
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* setup the 'main loop is dead' check. Note that this relies on
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* the RC library being initialised.
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*/
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timer_scheduler.set_failsafe(failsafe_check);
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// initialise the analog port reader
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AP_AnalogSource_Arduino::init_timer(&timer_scheduler);
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hal.scheduler->register_timer_failsafe(failsafe_check, 1000);
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#if HIL_MODE != HIL_MODE_ATTITUDE
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#if CONFIG_ADC == ENABLED
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// begin filtering the ADC Gyros
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adc.Init(&timer_scheduler); // APM ADC library initialization
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adc.Init(); // APM ADC library initialization
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#endif // CONFIG_ADC
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barometer.init(&timer_scheduler);
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barometer.init();
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#endif // HIL_MODE
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@ -277,7 +240,7 @@ static void init_ardupilot()
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const prog_char_t *msg = PSTR("\nPress ENTER 3 times to start interactive setup\n");
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cliSerial->println_P(msg);
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#if USB_MUX_PIN == 0
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Serial3.println_P(msg);
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hal.uartC->println_P(msg);
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#endif
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#endif // CLI_ENABLED
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@ -308,25 +271,29 @@ init_rate_controllers();
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startup_ground();
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// now that initialisation of IMU has occurred increase SPI to 2MHz
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SPI.setClockDivider(SPI_CLOCK_DIV8); // 2MHZ SPI rate
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#if LOGGING_ENABLED == ENABLED
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Log_Write_Startup();
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#endif
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init_ap_limits();
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cliSerial->print_P(PSTR("\nReady to FLY "));
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}
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///////////////////////////////////////////////////////////////////////////////
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// Experimental AP_Limits library - set constraints, limits, fences, minima, maxima on various parameters
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// Experimental AP_Limits library - set constraints, limits, fences, minima,
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// maxima on various parameters
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////////////////////////////////////////////////////////////////////////////////
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static void init_ap_limits() {
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#ifdef AP_LIMITS
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// AP_Limits modules are stored as a _linked list_. That allows us to
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// define an infinite number of modules and also to allocate no space until
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// we actually need to.
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// AP_Limits modules are stored as a _linked list_. That allows us to define an infinite number of modules
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// and also to allocate no space until we actually need to.
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// The linked list looks (logically) like this
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// [limits module] -> [first limit module] -> [second limit module] -> [third limit module] -> NULL
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// The linked list looks (logically) like this [limits module] -> [first
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// limit module] -> [second limit module] -> [third limit module] -> NULL
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// The details of the linked list are handled by the methods
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@ -347,16 +314,13 @@ init_rate_controllers();
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m = limits.modules_next();
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}
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}
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#endif
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cliSerial->print_P(PSTR("\nReady to FLY "));
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}
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//********************************************************************************
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//******************************************************************************
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//This function does all the calibrations, etc. that we need during a ground start
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//********************************************************************************
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//******************************************************************************
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static void startup_ground(void)
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{
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gcs_send_text_P(SEVERITY_LOW,PSTR("GROUND START"));
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@ -365,13 +329,13 @@ static void startup_ground(void)
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// -----------------------------
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ins.init(AP_InertialSensor::COLD_START,
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ins_sample_rate,
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mavlink_delay, flash_leds, &timer_scheduler);
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flash_leds);
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#if CLI_ENABLED == ENABLED
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report_ins();
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#endif
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// initialise ahrs (may push imu calibration into the mpu6000 if using that device).
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ahrs.init(&timer_scheduler);
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ahrs.init();
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// setup fast AHRS gains to get right attitude
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ahrs.set_fast_gains(true);
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@ -662,8 +626,7 @@ void flash_leds(bool on)
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*/
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uint16_t board_voltage(void)
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{
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static AP_AnalogSource_Arduino vcc(ANALOG_PIN_VCC);
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return vcc.read_vcc();
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return board_vcc_analog_source->read_latest();
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}
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#endif
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@ -37,7 +37,7 @@ static int8_t test_rawgps(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_mission(uint8_t argc, const Menu::arg *argv);
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// this is declared here to remove compiler errors
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extern void print_latlon(BetterStream *s, int32_t lat_or_lon); // in Log.pde
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extern void print_latlon(AP_HAL::BetterStream *s, int32_t lat_or_lon); // in Log.pde
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// This is the help function
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// PSTR is an AVR macro to read strings from flash memory
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@ -104,13 +104,14 @@ test_mode(uint8_t argc, const Menu::arg *argv)
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static int8_t
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test_eedump(uint8_t argc, const Menu::arg *argv)
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{
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uintptr_t i, j;
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// hexdump the EEPROM
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for (i = 0; i < EEPROM_MAX_ADDR; i += 16) {
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for (uint16_t i = 0; i < EEPROM_MAX_ADDR; i += 16) {
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cliSerial->printf_P(PSTR("%04x:"), i);
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for (j = 0; j < 16; j++)
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cliSerial->printf_P(PSTR(" %02x"), eeprom_read_byte((const uint8_t *)(i + j)));
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for (uint16_t j = 0; j < 16; j++) {
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int b = hal.storage->read_byte(i+j);
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cliSerial->printf_P(PSTR(" %02x"), b);
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}
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cliSerial->println();
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}
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return(0);
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@ -462,7 +463,7 @@ test_ins(uint8_t argc, const Menu::arg *argv)
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ins.init(AP_InertialSensor::COLD_START,
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ins_sample_rate,
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delay, flash_leds, &timer_scheduler);
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flash_leds);
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delay(50);
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@ -509,9 +510,9 @@ test_gps(uint8_t argc, const Menu::arg *argv)
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if (g_gps->new_data) {
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cliSerial->printf_P(PSTR("Lat: "));
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print_latlon(&Serial, g_gps->latitude);
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print_latlon(cliSerial, g_gps->latitude);
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cliSerial->printf_P(PSTR(", Lon "));
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print_latlon(&Serial, g_gps->longitude);
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print_latlon(cliSerial, g_gps->longitude);
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cliSerial->printf_P(PSTR(", Alt: %ldm, #sats: %d\n"),
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g_gps->altitude/100,
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g_gps->num_sats);
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@ -665,11 +666,11 @@ test_battery(uint8_t argc, const Menu::arg *argv)
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return (0);
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#else
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cliSerial->printf_P(PSTR("\nCareful! Motors will spin! Press Enter to start.\n"));
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cliSerial->flush();
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while(!cliSerial->available()) {
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while (cliSerial->read() != -1); /* flush */
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while(!cliSerial->available()) { /* wait for input */
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delay(100);
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}
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cliSerial->flush();
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while (cliSerial->read() != -1); /* flush */
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print_hit_enter();
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// allow motors to spin
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@ -921,7 +922,7 @@ test_sonar(uint8_t argc, const Menu::arg *argv)
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while(1) {
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delay(100);
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cliSerial->printf_P(PSTR("Sonar: %d cm\n"), sonar.read());
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cliSerial->printf_P(PSTR("Sonar: %d cm\n"), sonar->read());
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//cliSerial->printf_P(PSTR("Sonar, %d, %d\n"), sonar.read(), sonar.raw_value);
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if(cliSerial->available() > 0) {
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@ -1,7 +1,7 @@
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////////////////////////////////////////////////////////////////////////////////
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// Toy Mode - THOR
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////////////////////////////////////////////////////////////////////////////////
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static boolean CH7_toy_flag;
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static bool CH7_toy_flag;
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#if TOY_MIXER == TOY_LOOKUP_TABLE
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static const int16_t toy_lookup[] = {
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