void telemetryInit(void)
{
initFrSkyTelemetry(telemetryConfig);
initHoTTTelemetry(telemetryConfig);
initMSPTelemetry(telemetryConfig);
initSmartPortTelemetry(telemetryConfig);
checkTelemetryState();
}
void mwDisarm(void)
{
if (ARMING_FLAG(ARMED)) {
DISABLE_ARMING_FLAG(ARMED);
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
// the telemetry state must be checked immediately so that shared serial ports are released.
checkTelemetryState();
mspAllocateSerialPorts(&masterConfig.serialConfig);
}
#endif
#ifdef BLACKBOX
if (feature(FEATURE_BLACKBOX)) {
finishBlackbox();
}
#endif
}
}
void initTelemetry(USART_TypeDef *USARTx)
{
// // Force telemetry to uart when softserial disabled
// if (!feature(FEATURE_SOFTSERIAL))
// mcfg.telemetry_port = TELEMETRY_PORT_UART;
//
// isTelemetryConfigurationValid = canUseTelemetryWithCurrentConfiguration();
//
// if (mcfg.telemetry_port == TELEMETRY_PORT_SOFTSERIAL_1)
// core.telemport = &(softSerialPorts[0].port);
// else if (mcfg.telemetry_port == TELEMETRY_PORT_SOFTSERIAL_2)
// core.telemport = &(softSerialPorts[1].port);
// else
// core.telemport = core.mainport;
// todo
core.telemport = uartOpen(USARTx, NULL, mcfg.serial_baudrate, MODE_RXTX, SERIAL_NOT_INVERTED);
checkTelemetryState();
}
void annexCode(void)
{
static uint32_t calibratedAccTime;
int32_t tmp, tmp2;
int32_t axis, prop1, prop2;
static uint8_t buzzerFreq; // delay between buzzer ring
// vbat shit
static uint8_t vbatTimer = 0;
static int32_t vbatRaw = 0;
static int32_t amperageRaw = 0;
static int64_t mAhdrawnRaw = 0;
static int32_t vbatCycleTime = 0;
// PITCH & ROLL only dynamic PID adjustemnt, depending on throttle value
if (rcData[THROTTLE] < cfg.tpa_breakpoint) {
prop2 = 100;
} else {
if (rcData[THROTTLE] < 2000) {
prop2 = 100 - (uint16_t)cfg.dynThrPID * (rcData[THROTTLE] - cfg.tpa_breakpoint) / (2000 - cfg.tpa_breakpoint);
} else {
prop2 = 100 - cfg.dynThrPID;
}
}
for (axis = 0; axis < 3; axis++) {
tmp = min(abs(rcData[axis] - mcfg.midrc), 500);
if (axis != 2) { // ROLL & PITCH
if (cfg.deadband) {
if (tmp > cfg.deadband) {
tmp -= cfg.deadband;
} else {
tmp = 0;
}
}
tmp2 = tmp / 100;
rcCommand[axis] = lookupPitchRollRC[tmp2] + (tmp - tmp2 * 100) * (lookupPitchRollRC[tmp2 + 1] - lookupPitchRollRC[tmp2]) / 100;
prop1 = 100 - (uint16_t)cfg.rollPitchRate * tmp / 500;
prop1 = (uint16_t)prop1 * prop2 / 100;
} else { // YAW
if (cfg.yawdeadband) {
if (tmp > cfg.yawdeadband) {
tmp -= cfg.yawdeadband;
} else {
tmp = 0;
}
}
rcCommand[axis] = tmp * -mcfg.yaw_control_direction;
prop1 = 100 - (uint16_t)cfg.yawRate * abs(tmp) / 500;
}
dynP8[axis] = (uint16_t)cfg.P8[axis] * prop1 / 100;
dynI8[axis] = (uint16_t)cfg.I8[axis] * prop1 / 100;
dynD8[axis] = (uint16_t)cfg.D8[axis] * prop1 / 100;
if (rcData[axis] < mcfg.midrc)
rcCommand[axis] = -rcCommand[axis];
}
tmp = constrain(rcData[THROTTLE], mcfg.mincheck, 2000);
tmp = (uint32_t)(tmp - mcfg.mincheck) * 1000 / (2000 - mcfg.mincheck); // [MINCHECK;2000] -> [0;1000]
tmp2 = tmp / 100;
rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100; // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]
if (f.HEADFREE_MODE) {
float radDiff = (heading - headFreeModeHold) * M_PI / 180.0f;
float cosDiff = cosf(radDiff);
float sinDiff = sinf(radDiff);
int16_t rcCommand_PITCH = rcCommand[PITCH] * cosDiff + rcCommand[ROLL] * sinDiff;
rcCommand[ROLL] = rcCommand[ROLL] * cosDiff - rcCommand[PITCH] * sinDiff;
rcCommand[PITCH] = rcCommand_PITCH;
}
if (feature(FEATURE_VBAT)) {
vbatCycleTime += cycleTime;
if (!(++vbatTimer % VBATFREQ)) {
vbatRaw -= vbatRaw / 8;
vbatRaw += adcGetChannel(ADC_BATTERY);
vbat = batteryAdcToVoltage(vbatRaw / 8);
if (mcfg.power_adc_channel > 0) {
amperageRaw -= amperageRaw / 8;
amperageRaw += adcGetChannel(ADC_EXTERNAL_CURRENT);
amperage = currentSensorToCentiamps(amperageRaw / 8);
mAhdrawnRaw += (amperage * vbatCycleTime) / 1000;
mAhdrawn = mAhdrawnRaw / (3600 * 100);
vbatCycleTime = 0;
}
}
if ((vbat > batteryWarningVoltage) || (vbat < mcfg.vbatmincellvoltage)) { // VBAT ok, buzzer off
buzzerFreq = 0;
} else
buzzerFreq = 4; // low battery
}
buzzer(buzzerFreq); // external buzzer routine that handles buzzer events globally now
if ((calibratingA > 0 && sensors(SENSOR_ACC)) || (calibratingG > 0)) { // Calibration phasis
LED0_TOGGLE;
} else {
if (f.ACC_CALIBRATED)
LED0_OFF;
if (f.ARMED)
LED0_ON;
#ifndef CJMCU
checkTelemetryState();
#endif
}
#ifdef LEDRING
if (feature(FEATURE_LED_RING)) {
static uint32_t LEDTime;
if ((int32_t)(currentTime - LEDTime) >= 0) {
LEDTime = currentTime + 50000;
ledringState();
}
}
#endif
if ((int32_t)(currentTime - calibratedAccTime) >= 0) {
if (!f.SMALL_ANGLE) {
f.ACC_CALIBRATED = 0; // the multi uses ACC and is not calibrated or is too much inclinated
LED0_TOGGLE;
calibratedAccTime = currentTime + 500000;
} else {
f.ACC_CALIBRATED = 1;
}
}
serialCom();
#ifndef CJMCU
if (!cliMode && feature(FEATURE_TELEMETRY)) {
handleTelemetry();
}
#endif
if (sensors(SENSOR_GPS)) {
static uint32_t GPSLEDTime;
if ((int32_t)(currentTime - GPSLEDTime) >= 0 && (GPS_numSat >= 5)) {
GPSLEDTime = currentTime + 150000;
LED1_TOGGLE;
}
}
// Read out gyro temperature. can use it for something somewhere. maybe get MCU temperature instead? lots of fun possibilities.
if (gyro.temperature)
gyro.temperature(&telemTemperature1);
else {
// TODO MCU temp
}
}
void annexCode(void)
{
int32_t tmp, tmp2;
int32_t axis, prop1, prop2;
static uint8_t batteryWarningEnabled = false;
static uint8_t vbatTimer = 0;
static int32_t vbatCycleTime = 0;
// PITCH & ROLL only dynamic PID adjustemnt, depending on throttle value
if (rcData[THROTTLE] < currentProfile.tpa_breakpoint) {
prop2 = 100;
} else {
if (rcData[THROTTLE] < 2000) {
prop2 = 100 - (uint16_t)currentProfile.dynThrPID * (rcData[THROTTLE] - currentProfile.tpa_breakpoint) / (2000 - currentProfile.tpa_breakpoint);
} else {
prop2 = 100 - currentProfile.dynThrPID;
}
}
for (axis = 0; axis < 3; axis++) {
tmp = min(abs(rcData[axis] - masterConfig.rxConfig.midrc), 500);
if (axis == ROLL || axis == PITCH) {
if (currentProfile.deadband) {
if (tmp > currentProfile.deadband) {
tmp -= currentProfile.deadband;
} else {
tmp = 0;
}
}
tmp2 = tmp / 100;
rcCommand[axis] = lookupPitchRollRC[tmp2] + (tmp - tmp2 * 100) * (lookupPitchRollRC[tmp2 + 1] - lookupPitchRollRC[tmp2]) / 100;
prop1 = 100 - (uint16_t)currentProfile.controlRateConfig.rollPitchRate * tmp / 500;
prop1 = (uint16_t)prop1 * prop2 / 100;
}
if (axis == YAW) {
if (currentProfile.yaw_deadband) {
if (tmp > currentProfile.yaw_deadband) {
tmp -= currentProfile.yaw_deadband;
} else {
tmp = 0;
}
}
rcCommand[axis] = tmp * -masterConfig.yaw_control_direction;
prop1 = 100 - (uint16_t)currentProfile.controlRateConfig.yawRate * abs(tmp) / 500;
}
// FIXME axis indexes into pids. use something like lookupPidIndex(rc_alias_e alias) to reduce coupling.
dynP8[axis] = (uint16_t)currentProfile.pidProfile.P8[axis] * prop1 / 100;
dynI8[axis] = (uint16_t)currentProfile.pidProfile.I8[axis] * prop1 / 100;
dynD8[axis] = (uint16_t)currentProfile.pidProfile.D8[axis] * prop1 / 100;
if (rcData[axis] < masterConfig.rxConfig.midrc)
rcCommand[axis] = -rcCommand[axis];
}
tmp = constrain(rcData[THROTTLE], masterConfig.rxConfig.mincheck, PWM_RANGE_MAX);
tmp = (uint32_t)(tmp - masterConfig.rxConfig.mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - masterConfig.rxConfig.mincheck); // [MINCHECK;2000] -> [0;1000]
tmp2 = tmp / 100;
rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100; // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]
if (f.HEADFREE_MODE) {
float radDiff = degreesToRadians(heading - headFreeModeHold);
float cosDiff = cosf(radDiff);
float sinDiff = sinf(radDiff);
int16_t rcCommand_PITCH = rcCommand[PITCH] * cosDiff + rcCommand[ROLL] * sinDiff;
rcCommand[ROLL] = rcCommand[ROLL] * cosDiff - rcCommand[PITCH] * sinDiff;
rcCommand[PITCH] = rcCommand_PITCH;
}
if (feature(FEATURE_VBAT | FEATURE_CURRENT_METER)) {
vbatCycleTime += cycleTime;
if (!(++vbatTimer % VBATFREQ)) {
if (feature(FEATURE_VBAT)) {
updateBatteryVoltage();
batteryWarningEnabled = shouldSoundBatteryAlarm();
}
if (feature(FEATURE_CURRENT_METER)) {
updateCurrentMeter(vbatCycleTime);
}
vbatCycleTime = 0;
}
}
beepcodeUpdateState(batteryWarningEnabled);
if (f.ARMED) {
LED0_ON;
} else {
if (isCalibrating()) {
LED0_TOGGLE;
f.OK_TO_ARM = 0;
}
f.OK_TO_ARM = 1;
if (!f.SMALL_ANGLE) {
f.OK_TO_ARM = 0;
}
if (rcOptions[BOXAUTOTUNE]) {
f.OK_TO_ARM = 0;
}
if (f.OK_TO_ARM) {
disableWarningLed();
} else {
enableWarningLed(currentTime);
}
updateWarningLed(currentTime);
}
#ifdef TELEMETRY
checkTelemetryState();
#endif
handleSerial();
#ifdef GPS
if (sensors(SENSOR_GPS)) {
updateGpsIndicator(currentTime);
}
#endif
// Read out gyro temperature. can use it for something somewhere. maybe get MCU temperature instead? lots of fun possibilities.
if (gyro.temperature)
gyro.temperature(&telemTemperature1);
}
