void telemetryListenerCB(evr_t e)
{
if (expandEvr)
telemetryPrintF("EVR-%s %8.3fs %s (%04x)\n", evrToSeverityStr(e.evr), (float)e.time/1000., evrToStr(e.evr), e.reason);
else
telemetryPrintF("EVR:%08x %04x %04x\n", e.time, e.evr, e.reason);
}
int main(void)
{
///////////////////////////////////////////////////////////////////////////
uint32_t currentTime;
systemInit();
systemReady = true;
while (1)
{
///////////////////////////////
if (frame_50Hz)
{
frame_50Hz = false;
currentTime = micros();
deltaTime50Hz = currentTime - previous50HzTime;
previous50HzTime = currentTime;
processFlightCommands();
if (eepromConfig.osdEnabled)
{
if (eepromConfig.osdDisplayAlt)
displayAltitude(sensors.pressureAlt10Hz, 0.0f, DISENGAGED);
if (eepromConfig.osdDisplayAH)
displayArtificialHorizon(sensors.attitude500Hz[ROLL], sensors.attitude500Hz[PITCH], flightMode);
if (eepromConfig.osdDisplayAtt)
displayAttitude(sensors.attitude500Hz[ROLL], sensors.attitude500Hz[PITCH], flightMode);
if (eepromConfig.osdDisplayHdg)
displayHeading(heading.mag);
}
executionTime50Hz = micros() - currentTime;
}
///////////////////////////////
if (frame_10Hz)
{
frame_10Hz = false;
currentTime = micros();
deltaTime10Hz = currentTime - previous10HzTime;
previous10HzTime = currentTime;
if (newMagData == true)
{
sensors.mag10Hz[XAXIS] = (float)rawMag[XAXIS].value * magScaleFactor[XAXIS] - eepromConfig.magBias[XAXIS];
sensors.mag10Hz[YAXIS] = (float)rawMag[YAXIS].value * magScaleFactor[YAXIS] - eepromConfig.magBias[YAXIS];
sensors.mag10Hz[ZAXIS] = -((float)rawMag[ZAXIS].value * magScaleFactor[ZAXIS] - eepromConfig.magBias[ZAXIS]);
newMagData = false;
magDataUpdate = true;
}
d1Average = d1Sum / 10;
d1Sum = 0;
calculateTemperature();
calculatePressureAltitude();
pressureAltValid = true;
switch (eepromConfig.gpsType)
{
///////////////////////
case NO_GPS: // No GPS installed
break;
///////////////////////
case MEDIATEK_3329_BINARY: // MediaTek 3329 in binary mode
decodeMediaTek3329BinaryMsg();
break;
///////////////////////
case MEDIATEK_3329_NMEA: // MediaTek 3329 in NMEA mode
decodeNMEAsentence();
break;
///////////////////////
case UBLOX: // UBLOX in binary mode
decodeUbloxMsg();
break;
///////////////////////
}
cliCom();
rfCom();
executionTime10Hz = micros() - currentTime;
}
///////////////////////////////
if (frame_500Hz)
{
frame_500Hz = false;
currentTime = micros();
deltaTime500Hz = currentTime - previous500HzTime;
previous500HzTime = currentTime;
TIM_Cmd(TIM10, DISABLE);
timerValue = TIM_GetCounter(TIM10);
TIM_SetCounter(TIM10, 0);
TIM_Cmd(TIM10, ENABLE);
dt500Hz = (float)timerValue * 0.0000005f; // For integrations in 500 Hz loop
computeMPU6000TCBias();
/*
sensorTemp1 = computeMPU6000SensorTemp();
sensorTemp2 = sensorTemp1 * sensorTemp1;
sensorTemp3 = sensorTemp2 * sensorTemp1;
*/
sensors.accel500Hz[XAXIS] = ((float)accelSummedSamples500Hz[XAXIS] / 2.0f - accelTCBias[XAXIS]) * ACCEL_SCALE_FACTOR;
sensors.accel500Hz[YAXIS] = -((float)accelSummedSamples500Hz[YAXIS] / 2.0f - accelTCBias[YAXIS]) * ACCEL_SCALE_FACTOR;
sensors.accel500Hz[ZAXIS] = -((float)accelSummedSamples500Hz[ZAXIS] / 2.0f - accelTCBias[ZAXIS]) * ACCEL_SCALE_FACTOR;
/*
sensors.accel500Hz[XAXIS] = ((float)accelSummedSamples500Hz[XAXIS] / 2.0f +
eepromConfig.accelBiasP0[XAXIS] +
eepromConfig.accelBiasP1[XAXIS] * sensorTemp1 +
eepromConfig.accelBiasP2[XAXIS] * sensorTemp2 +
eepromConfig.accelBiasP3[XAXIS] * sensorTemp3 ) * ACCEL_SCALE_FACTOR;
sensors.accel500Hz[YAXIS] = -((float)accelSummedSamples500Hz[YAXIS] / 2.0f +
eepromConfig.accelBiasP0[YAXIS] +
eepromConfig.accelBiasP1[YAXIS] * sensorTemp1 +
eepromConfig.accelBiasP2[YAXIS] * sensorTemp2 +
eepromConfig.accelBiasP3[YAXIS] * sensorTemp3 ) * ACCEL_SCALE_FACTOR;
sensors.accel500Hz[ZAXIS] = -((float)accelSummedSamples500Hz[ZAXIS] / 2.0f +
eepromConfig.accelBiasP0[ZAXIS] +
eepromConfig.accelBiasP1[ZAXIS] * sensorTemp1 +
eepromConfig.accelBiasP2[ZAXIS] * sensorTemp2 +
eepromConfig.accelBiasP3[ZAXIS] * sensorTemp3 ) * ACCEL_SCALE_FACTOR;
*/
sensors.gyro500Hz[ROLL ] = ((float)gyroSummedSamples500Hz[ROLL] / 2.0f - gyroRTBias[ROLL ] - gyroTCBias[ROLL ]) * GYRO_SCALE_FACTOR;
sensors.gyro500Hz[PITCH] = -((float)gyroSummedSamples500Hz[PITCH] / 2.0f - gyroRTBias[PITCH] - gyroTCBias[PITCH]) * GYRO_SCALE_FACTOR;
sensors.gyro500Hz[YAW ] = -((float)gyroSummedSamples500Hz[YAW] / 2.0f - gyroRTBias[YAW ] - gyroTCBias[YAW ]) * GYRO_SCALE_FACTOR;
/*
sensors.gyro500Hz[ROLL ] = ((float)gyroSummedSamples500Hz[ROLL ] / 2.0f +
gyroBiasP0[ROLL ] +
eepromConfig.gyroBiasP1[ROLL ] * sensorTemp1 +
eepromConfig.gyroBiasP2[ROLL ] * sensorTemp2 +
eepromConfig.gyroBiasP3[ROLL ] * sensorTemp3 ) * GYRO_SCALE_FACTOR;
sensors.gyro500Hz[PITCH] = -((float)gyroSummedSamples500Hz[PITCH] / 2.0f +
gyroBiasP0[PITCH] +
eepromConfig.gyroBiasP1[PITCH] * sensorTemp1 +
eepromConfig.gyroBiasP2[PITCH] * sensorTemp2 +
eepromConfig.gyroBiasP3[PITCH] * sensorTemp3 ) * GYRO_SCALE_FACTOR;
sensors.gyro500Hz[YAW ] = -((float)gyroSummedSamples500Hz[YAW] / 2.0f +
gyroBiasP0[YAW ] +
eepromConfig.gyroBiasP1[YAW ] * sensorTemp1 +
eepromConfig.gyroBiasP2[YAW ] * sensorTemp2 +
eepromConfig.gyroBiasP3[YAW ] * sensorTemp3 ) * GYRO_SCALE_FACTOR;
*/
MargAHRSupdate( sensors.gyro500Hz[ROLL], sensors.gyro500Hz[PITCH], sensors.gyro500Hz[YAW],
sensors.accel500Hz[XAXIS], sensors.accel500Hz[YAXIS], sensors.accel500Hz[ZAXIS],
sensors.mag10Hz[XAXIS], sensors.mag10Hz[YAXIS], sensors.mag10Hz[ZAXIS],
eepromConfig.accelCutoff,
magDataUpdate,
dt500Hz );
magDataUpdate = false;
computeAxisCommands(dt500Hz);
mixTable();
writeServos();
writeMotors();
executionTime500Hz = micros() - currentTime;
}
///////////////////////////////
if (frame_100Hz)
{
frame_100Hz = false;
currentTime = micros();
deltaTime100Hz = currentTime - previous100HzTime;
previous100HzTime = currentTime;
TIM_Cmd(TIM11, DISABLE);
timerValue = TIM_GetCounter(TIM11);
TIM_SetCounter(TIM11, 0);
TIM_Cmd(TIM11, ENABLE);
dt100Hz = (float)timerValue * 0.0000005f; // For integrations in 100 Hz loop
sensors.accel100Hz[XAXIS] = ((float)accelSummedSamples100Hz[XAXIS] / 10.0f - accelTCBias[XAXIS]) * ACCEL_SCALE_FACTOR;
sensors.accel100Hz[YAXIS] = -((float)accelSummedSamples100Hz[YAXIS] / 10.0f - accelTCBias[YAXIS]) * ACCEL_SCALE_FACTOR;
sensors.accel100Hz[ZAXIS] = -((float)accelSummedSamples100Hz[ZAXIS] / 10.0f - accelTCBias[ZAXIS]) * ACCEL_SCALE_FACTOR;
createRotationMatrix();
bodyAccelToEarthAccel();
vertCompFilter(dt100Hz);
if ( highSpeedTelem1Enabled == true )
{
// 500 Hz Accels
telemetryPrintF("%9.4f, %9.4f, %9.4f\n", sensors.accel500Hz[XAXIS],
sensors.accel500Hz[YAXIS],
sensors.accel500Hz[ZAXIS]);
}
if ( highSpeedTelem2Enabled == true )
{
// 500 Hz Gyros
telemetryPrintF("%9.4f, %9.4f, %9.4f\n", sensors.gyro500Hz[ROLL ],
sensors.gyro500Hz[PITCH],
sensors.gyro500Hz[YAW ]);
}
if ( highSpeedTelem3Enabled == true )
{
// Roll Rate, Roll Rate Command
telemetryPrintF("%9.4f, %9.4f\n", sensors.gyro500Hz[ROLL],
rxCommand[ROLL]);
}
if ( highSpeedTelem4Enabled == true )
{
// Pitch Rate, Pitch Rate Command
telemetryPrintF("%9.4f, %9.4f\n", sensors.gyro500Hz[PITCH],
rxCommand[PITCH]);
}
if ( highSpeedTelem5Enabled == true )
{
// Yaw Rate, Yaw Rate Command
telemetryPrintF("%9.4f, %9.4f\n", sensors.gyro500Hz[YAW],
rxCommand[YAW]);
}
if ( highSpeedTelem6Enabled == true )
{
// 500 Hz Attitudes
telemetryPrintF("%9.4f, %9.4f, %9.4f\n", sensors.attitude500Hz[ROLL ],
sensors.attitude500Hz[PITCH],
sensors.attitude500Hz[YAW ]);
}
if ( highSpeedTelem7Enabled == true )
{
// Vertical Variables
telemetryPrintF("%9.4f, %9.4f, %9.4f, %9.4f\n", earthAxisAccels[ZAXIS],
sensors.pressureAlt10Hz,
hDotEstimate,
hEstimate);
}
executionTime100Hz = micros() - currentTime;
}
///////////////////////////////
if (frame_5Hz)
{
frame_5Hz = false;
currentTime = micros();
deltaTime5Hz = currentTime - previous5HzTime;
previous5HzTime = currentTime;
if (execUp == true)
BLUE_LED_TOGGLE;
executionTime5Hz = micros() - currentTime;
}
///////////////////////////////
if (frame_1Hz)
{
frame_1Hz = false;
currentTime = micros();
deltaTime1Hz = currentTime - previous1HzTime;
previous1HzTime = currentTime;
if (execUp == true)
GREEN_LED_TOGGLE;
if (execUp == false)
execUpCount++;
if ((execUpCount == 5) && (execUp == false))
execUp = true;
executionTime1Hz = micros() - currentTime;
}
////////////////////////////////
}
///////////////////////////////////////////////////////////////////////////
}
int main(void)
{
///////////////////////////////////////////////////////////////////////////
uint32_t currentTime;
systemReady = false;
systemInit();
systemReady = true;
evrPush(EVR_StartingMain, 0);
while (1)
{
evrCheck();
///////////////////////////////
if (frame_50Hz)
{
frame_50Hz = false;
currentTime = micros();
deltaTime50Hz = currentTime - previous50HzTime;
previous50HzTime = currentTime;
processFlightCommands();
if (newTemperatureReading && newPressureReading)
{
d1Value = d1.value;
d2Value = d2.value;
calculateTemperature();
calculatePressureAltitude();
newTemperatureReading = false;
newPressureReading = false;
}
sensors.pressureAlt50Hz = firstOrderFilter(sensors.pressureAlt50Hz, &firstOrderFilters[PRESSURE_ALT_LOWPASS]);
executionTime50Hz = micros() - currentTime;
}
///////////////////////////////
if (frame_10Hz)
{
frame_10Hz = false;
currentTime = micros();
deltaTime10Hz = currentTime - previous10HzTime;
previous10HzTime = currentTime;
if (newMagData == true)
{
sensors.mag10Hz[XAXIS] = (float)rawMag[XAXIS].value * magScaleFactor[XAXIS] - eepromConfig.magBias[XAXIS];
sensors.mag10Hz[YAXIS] = -((float)rawMag[YAXIS].value * magScaleFactor[YAXIS] - eepromConfig.magBias[YAXIS]);
sensors.mag10Hz[ZAXIS] = -((float)rawMag[ZAXIS].value * magScaleFactor[ZAXIS] - eepromConfig.magBias[ZAXIS]);
newMagData = false;
magDataUpdate = true;
}
decodeUbloxMsg();
batMonTick();
cliCom();
if (eepromConfig.mavlinkEnabled == true)
{
mavlinkSendAttitude();
mavlinkSendVfrHud();
}
else
{
rfCom();
}
executionTime10Hz = micros() - currentTime;
}
///////////////////////////////
if (frame_500Hz)
{
frame_500Hz = false;
currentTime = micros();
deltaTime500Hz = currentTime - previous500HzTime;
previous500HzTime = currentTime;
TIM_Cmd(TIM6, DISABLE);
timerValue = TIM_GetCounter(TIM6);
TIM_SetCounter(TIM6, 0);
TIM_Cmd(TIM6, ENABLE);
dt500Hz = (float)timerValue * 0.0000005f; // For integrations in 500 Hz loop
computeMPU6000TCBias();
sensors.accel500Hz[XAXIS] = -((float)accelSummedSamples500Hz[XAXIS] * 0.5f - eepromConfig.accelBiasMPU[XAXIS] - accelTCBias[XAXIS]) * eepromConfig.accelScaleFactorMPU[XAXIS];
sensors.accel500Hz[YAXIS] = ((float)accelSummedSamples500Hz[YAXIS] * 0.5f - eepromConfig.accelBiasMPU[YAXIS] - accelTCBias[YAXIS]) * eepromConfig.accelScaleFactorMPU[YAXIS];
sensors.accel500Hz[ZAXIS] = -((float)accelSummedSamples500Hz[ZAXIS] * 0.5f - eepromConfig.accelBiasMPU[ZAXIS] - accelTCBias[ZAXIS]) * eepromConfig.accelScaleFactorMPU[ZAXIS];
//sensors.accel500Hz[XAXIS] = firstOrderFilter(sensors.accel500Hz[XAXIS], &firstOrderFilters[ACCEL500HZ_X_LOWPASS]);
//sensors.accel500Hz[YAXIS] = firstOrderFilter(sensors.accel500Hz[YAXIS], &firstOrderFilters[ACCEL500HZ_Y_LOWPASS]);
//sensors.accel500Hz[ZAXIS] = firstOrderFilter(sensors.accel500Hz[ZAXIS], &firstOrderFilters[ACCEL500HZ_Z_LOWPASS]);
sensors.gyro500Hz[ROLL ] = -((float)gyroSummedSamples500Hz[ROLL] / 2.0f - gyroRTBias[ROLL ] - gyroTCBias[ROLL ]) * GYRO_SCALE_FACTOR;
sensors.gyro500Hz[PITCH] = ((float)gyroSummedSamples500Hz[PITCH] / 2.0f - gyroRTBias[PITCH] - gyroTCBias[PITCH]) * GYRO_SCALE_FACTOR;
sensors.gyro500Hz[YAW ] = -((float)gyroSummedSamples500Hz[YAW] / 2.0f - gyroRTBias[YAW ] - gyroTCBias[YAW ]) * GYRO_SCALE_FACTOR;
MargAHRSupdate( sensors.gyro500Hz[ROLL], sensors.gyro500Hz[PITCH], sensors.gyro500Hz[YAW],
sensors.accel500Hz[XAXIS], sensors.accel500Hz[YAXIS], sensors.accel500Hz[ZAXIS],
sensors.mag10Hz[XAXIS], sensors.mag10Hz[YAXIS], sensors.mag10Hz[ZAXIS],
eepromConfig.accelCutoff,
magDataUpdate,
dt500Hz );
magDataUpdate = false;
computeAxisCommands(dt500Hz);
mixTable();
writeServos();
writeMotors();
executionTime500Hz = micros() - currentTime;
}
///////////////////////////////
if (frame_100Hz)
{
frame_100Hz = false;
currentTime = micros();
deltaTime100Hz = currentTime - previous100HzTime;
previous100HzTime = currentTime;
TIM_Cmd(TIM7, DISABLE);
timerValue = TIM_GetCounter(TIM7);
TIM_SetCounter(TIM7, 0);
TIM_Cmd(TIM7, ENABLE);
dt100Hz = (float)timerValue * 0.0000005f; // For integrations in 100 Hz loop
sensors.accel100Hz[XAXIS] = -((float)accelSummedSamples100Hz[XAXIS] * 0.1f - eepromConfig.accelBiasMPU[XAXIS] - accelTCBias[XAXIS]) * eepromConfig.accelScaleFactorMPU[XAXIS];
sensors.accel100Hz[YAXIS] = ((float)accelSummedSamples100Hz[YAXIS] * 0.1f - eepromConfig.accelBiasMPU[YAXIS] - accelTCBias[YAXIS]) * eepromConfig.accelScaleFactorMPU[YAXIS];
sensors.accel100Hz[ZAXIS] = -((float)accelSummedSamples100Hz[ZAXIS] * 0.1f - eepromConfig.accelBiasMPU[ZAXIS] - accelTCBias[ZAXIS]) * eepromConfig.accelScaleFactorMPU[ZAXIS];
//sensors.accel100Hz[XAXIS] = firstOrderFilter(sensors.accel100Hz[XAXIS], &firstOrderFilters[ACCEL100HZ_X_LOWPASS]);
//sensors.accel100Hz[YAXIS] = firstOrderFilter(sensors.accel100Hz[YAXIS], &firstOrderFilters[ACCEL100HZ_Y_LOWPASS]);
//sensors.accel100Hz[ZAXIS] = firstOrderFilter(sensors.accel100Hz[ZAXIS], &firstOrderFilters[ACCEL100HZ_Z_LOWPASS]);
createRotationMatrix();
bodyAccelToEarthAccel();
vertCompFilter(dt100Hz);
if (armed == true)
{
if ( eepromConfig.activeTelemetry == 1 )
{
// 500 Hz Accels
telemetryPrintF("%9.4f, %9.4f, %9.4f\n", sensors.accel500Hz[XAXIS],
sensors.accel500Hz[YAXIS],
sensors.accel500Hz[ZAXIS]);
}
if ( eepromConfig.activeTelemetry == 2 )
{
// 500 Hz Gyros
telemetryPrintF("%9.4f, %9.4f, %9.4f\n", sensors.gyro500Hz[ROLL ],
sensors.gyro500Hz[PITCH],
sensors.gyro500Hz[YAW ]);
}
if ( eepromConfig.activeTelemetry == 4 )
{
// 500 Hz Attitudes
telemetryPrintF("%9.4f, %9.4f, %9.4f\n", sensors.attitude500Hz[ROLL ],
sensors.attitude500Hz[PITCH],
sensors.attitude500Hz[YAW ]);
}
if ( eepromConfig.activeTelemetry == 8 )
{
// Vertical Variables
telemetryPrintF("%9.4f, %9.4f, %9.4f, %9.4f, %4ld\n", earthAxisAccels[ZAXIS],
sensors.pressureAlt50Hz,
hDotEstimate,
hEstimate,
ms5611Temperature);
}
if ( eepromConfig.activeTelemetry == 16 )
{
// Vertical Variables
telemetryPrintF("%9.4f, %9.4f, %9.4f, %4ld, %1d, %9.4f, %9.4f\n", verticalVelocityCmd,
hDotEstimate,
hEstimate,
ms5611Temperature,
verticalModeState,
throttleCmd,
eepromConfig.PID[HDOT_PID].iTerm);
}
}
executionTime100Hz = micros() - currentTime;
}
///////////////////////////////
if (frame_5Hz)
{
frame_5Hz = false;
currentTime = micros();
deltaTime5Hz = currentTime - previous5HzTime;
previous5HzTime = currentTime;
gpsUpdated();
if (eepromConfig.mavlinkEnabled == true)
{
mavlinkSendGpsRaw();
}
if (batMonVeryLowWarning > 0)
{
BEEP_TOGGLE;
batMonVeryLowWarning--;
}
if (execUp == true)
LED0_TOGGLE;
executionTime5Hz = micros() - currentTime;
}
///////////////////////////////
if (frame_1Hz)
{
frame_1Hz = false;
currentTime = micros();
deltaTime1Hz = currentTime - previous1HzTime;
previous1HzTime = currentTime;
if (execUp == false)
execUpCount++;
if ((execUpCount == 5) && (execUp == false))
{
execUp = true;
pwmEscInit();
homeData.magHeading = sensors.attitude500Hz[YAW];
}
if (batMonLowWarning > 0)
{
BEEP_TOGGLE;
batMonLowWarning--;
}
if (eepromConfig.mavlinkEnabled == true)
{
mavlinkSendHeartbeat();
mavlinkSendSysStatus();
}
executionTime1Hz = micros() - currentTime;
}
////////////////////////////////
}
///////////////////////////////////////////////////////////////////////////
}