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New board and serial protocol added #11

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50c6bbc
Update SerialRX.ino
gotchafr May 11, 2014
04aa898
Update FlightStab.ino
gotchafr May 11, 2014
f0b23b1
Update FlightStab.h
gotchafr May 11, 2014
84e9117
Update FlightStab.ino
gotchafr May 11, 2014
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4 changes: 2 additions & 2 deletions FlightStab/FlightStab.h
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@ aquastar programming box to be in sync with the flightstab firmware.

const int8_t eeprom_cfg_ver = 8;

enum DEVICE_IDS {DEVICE_UNDEF, DEVICE_RX3S_V1, DEVICE_RX3S_V2V3, DEVICE_NANOWII, DEVICE_EAGLE_A3PRO, DEVICE_RX3SM, DEVICE_MINI_MWC, DEVICE_FLIP_1_5};
enum DEVICE_IDS {DEVICE_UNDEF, DEVICE_RX3S_V1, DEVICE_RX3S_V2V3, DEVICE_NANOWII, DEVICE_EAGLE_A3PRO, DEVICE_RX3SM, DEVICE_MINI_MWC, DEVICE_FLIP_1_5, DEVICE_ARDUINO_MINI_GY_521};

enum WING_MODE {WING_USE_DIPSW=1,
WING_RUDELE_1AIL, WING_DELTA_1AIL, WING_VTAIL_1AIL,
Expand Down Expand Up @@ -74,4 +74,4 @@ struct _ow_msg {
uint8_t pad[32]; // pad to accommodate new ver cfg larger than existing one
};

#endif // FLIGHTSTAB_H
#endif // FLIGHTSTAB_H
140 changes: 107 additions & 33 deletions FlightStab/FlightStab.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -29,11 +29,13 @@ bool ow_loop(); // OneWireSerial.ino
//#define MINI_MWC
//#define MINI_MWC_EXTERNAL_RX //Define this if using an External RX with MINI_MWC
//#define FLIP_1_5
//#define MINI_521
//#define NANO_MPU6050

//#define SERIALRX_CPPM // over a digital-in pin (preferably ICP)
//#define SERIALRX_SPEKTRUM // over the serial port
//#define SERIALRX_SBUS // over the serial port
//#define SERIALRX_SUMD // over the serial port

//#define NO_ONEWIRE // remove one-wire serial config code
//#define NO_STICKCONFIG // remove stick config code
Expand All @@ -42,7 +44,7 @@ bool ow_loop(); // OneWireSerial.ino
//#define DUMP_SENSORS // dump sensors through the serial port
//#define LED_TIMING // disable LED_MSG and use LED_TIMING_START/STOP to measure timings

//#define USE_I2CDEVLIB // interrupt-based wire and i2cdev libraries
#define USE_I2CDEVLIB // interrupt-based wire and i2cdev libraries
//#define USE_I2CLIGHT // poll-based i2c access routines
#if !(defined(USE_I2CDEVLIB) || defined(USE_I2CLIGHT))
#define USE_I2CLIGHT // default
Expand Down Expand Up @@ -411,8 +413,8 @@ bool ow_loop(); // OneWireSerial.ino
#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (-y); gyro[1] = (-x); gyro[2] = (z);}

// must use one of the SERIALRX modes
#if !defined(SERIALRX_CPPM) && !defined(SERIALRX_SPEKTRUM) && !defined(SERIALRX_SBUS)
#error "MINI_MWC must use one of SERIALRX_CPPM or SERIALRX_SPEKTRUM or SERIALRX_SBUS"
#if !defined(SERIALRX_CPPM) && !defined(SERIALRX_SPEKTRUM) && !defined(SERIALRX_SBUS) && !defined(SERIALRX_SUMD)
#error "MINI_MWC must use one of SERIALRX_CPPM or SERIALRX_SPEKTRUM or SERIALRX_SBUS or SERIALRX_SUMD"
#endif

// CPPM from external/internal RX
Expand Down Expand Up @@ -444,7 +446,7 @@ bool ow_loop(); // OneWireSerial.ino
PB1 9/D9 ELE_OUT (PWM) PC1 15/A1 THR_OUT PD1 1/D1 (TXD)
PB2 10/D10 AIL_OUT (PWM) PC2 16/A2 FLP_OUT PD2 2/D2 CPPM_IN
PB3 11/D11 AILR_OUT (PWM) PC3 17/A3 no connection PD3 3/D3 RUD_OUT (PWM)
PB4 12/D12 AUX_IN PC4 18/A4 (SDA) PD4 4/D4 AIL_IN
PB4 12/D12 AUX_IN PC4 18/A4 (SDA) PD4 4/D4 AIL_IN
PB5 13/D13 LED (SCK) PC5 19/A5 (SCL) PD5 5/D5 RUD_IN (PWM)
PB6 14/D14 (XTAL1) PC6 (RESET) PD6 6/D6 ELE_IN (PWM)
PB7 15/D15 (XTAL2) PD7 7/D7 AILR_IN
Expand Down Expand Up @@ -491,6 +493,64 @@ bool ow_loop(); // OneWireSerial.ino
#endif // defined(FLIP_1_5)
/* FLIP_1_5 ****************************************************************************************************/


/* ARDUINO MINI+GY-521 *****************************************************************************************/
#if defined(MINI_521)
#warning MINI_521 defined // emit device name
/*
ARDUINO MINI+GY-521
PB0 8/D8 no connection PC0 14/A0 One-Wire PD0 0/D0 (RXD)
PB1 9/D9 ELE_OUT (PWM) PC1 15/A1 THR_OUT PD1 1/D1 (TXD)
PB2 10/D10 AIL_OUT (PWM) PC2 16/A2 FLP_OUT PD2 2/D2 CPPM_IN
PB3 11/D11 AILR_OUT (PWM) PC3 17/A3 AIL_GAIN PD3 3/D3 RUD_OUT (PWM)
PB4 12/D12 AUX_IN PC4 18/A4 (SDA) PD4 4/D4 AIL_IN
PB5 13/D13 LED (SCK) PC5 19/A5 (SCL) PD5 5/D5 RUD_IN (PWM)
PB6 14/D14 (XTAL1) PC6 (RESET) PD6 6/D6 ELE_IN (PWM)
PB7 15/D15 (XTAL2) A6 ELE_GAIN PD7 7/D7 AILR_IN
A7 RUD_GAIN
SERIALRX
PD2 D2 CPPM_IN
*/

#define DEVICE_ID DEVICE_ARDUINO_MINI_GY_521

// <VR>
//#define AIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
#define AIN_PORTC {NULL, NULL, NULL, &ail_vr, NULL, NULL, &ele_vr, &rud_vr}

// <RX> (must in PORT B/D due to ISR)
#define RX_PORTB {NULL, NULL, NULL, NULL, &aux_in, NULL, NULL, NULL}
#define RX_PORTD {NULL, NULL, NULL, NULL, &ail_in, &rud_in, &ele_in, &ailr_in}

// <SWITCH>
#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
#define DIN_PORTC {NULL, &dummy_sw, NULL, NULL, NULL, NULL, NULL, NULL}
#define DIN_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}

// <SERVO>
#define PWM_CHAN_PIN {3, 9, 15, 10, -1, 11, -1, 16} // RETA1a2F
#define PWM_CHAN_PIN_SERIALRX PWM_CHAN_PIN // same pwm output list

// <IMU>
#define USE_MPU6050
#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (-y); gyro[1] = (-x); gyro[2] = (z);}

#define CPPM_PROFILE CPPM_PROFILE_PD2 // internal RX


// LED
#define LED_PROFILE LED_PROFILE_PB5

// one-wire port
#define OW_PROFILE OW_PROFILE_PC0

// eeprom clear pins. shorted on init means to clear eeprom
#define EEPROM_RESET_OUT_PIN 6
#define EEPROM_RESET_IN_PIN 5

#endif // MINI_521
/* ARDUINO MINI+GY-521 *****************************************************************************************/

/* NANO_MPU6050 ************************************************************************************************/
#if defined(NANO_MPU6050)
#warning NANO_MPU6050 defined // emit device name
Expand Down Expand Up @@ -542,13 +602,14 @@ bool ow_loop(); // OneWireSerial.ino
#endif

// verify not more than one serialrx_* mode defined
#if (defined(SERIALRX_CPPM) && (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS))) || \
(defined(SERIALRX_SPEKTRUM) && (defined(SERIALRX_CPPM) || defined(SERIALRX_SBUS))) || \
(defined(SERIALRX_SBUS) && (defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM)))
#error Cannot define mode than one SERIALRX_* mode (CPPM/SPEKTRUM/SBUS)
#if (defined(SERIALRX_CPPM) && (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SUMD))) || \
(defined(SERIALRX_SPEKTRUM) && (defined(SERIALRX_CPPM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SUMD))) || \
(defined(SERIALRX_SBUS) && (defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SUMD))) || \
(defined(SERIALRX_SUMD) && (defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS)))
#error Cannot define mode than one SERIALRX_* mode (CPPM/SPEKTRUM/SBUS/SUMD)
#endif

#if defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS)
#if defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SUMD)
#define SERIALRX_ENABLED
#endif

Expand Down Expand Up @@ -719,6 +780,7 @@ const int8_t serialrx_order_TAER1a2f[rx_chan_size] = {
const int8_t serialrx_order_AETR1a2f[rx_chan_size] = {
SERIALRX_A, SERIALRX_E, SERIALRX_T, SERIALRX_R, SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F};


volatile int16_t *rx_chan[rx_chan_size] = {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL};

// pwm chan order
Expand Down Expand Up @@ -984,7 +1046,8 @@ uint8_t i2c_read_reg(uint8_t addr, uint8_t reg)
i2c_start(addr << 1); // write reg
i2c_write(reg);
i2c_start((addr << 1) | 1); // read data
return i2c_read(true);
//jrb return i2c_read(true);
return i2c_read(false);
}

void i2c_read_buf(uint8_t addr, uint8_t *buf, int8_t size)
Expand Down Expand Up @@ -1060,8 +1123,11 @@ void itg3205_read_gyro(int16_t *gx, int16_t *gy, int16_t *gz)
/***************************************************************************************************************
* ANALOG IN (VR)
***************************************************************************************************************/

#if defined(MINI_521)
const int8_t adc_portc_size = 8; //using pins A3, A6, A7
#else
const int8_t adc_portc_size = 6;
#endif
volatile uint8_t *adc_portc[adc_portc_size] = AIN_PORTC;

void start_adc(uint8_t ch)
Expand Down Expand Up @@ -1938,7 +2004,7 @@ void dump_sensors()
while (true) {
t = micros1();

#if defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS)
#if defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SUMD)
if (serialrx_update())
rx_frame_sync = true;
#endif
Expand Down Expand Up @@ -2003,19 +2069,19 @@ void dump_sensors()
}

Serial.print("MISC ");
Serial.print(i2c_errors); Serial.print(' ');
Serial.print(cfg.wing_mode); Serial.print(' ');
Serial.print(wing_mode); Serial.print(' ');
Serial.print(cfg.mixer_epa_mode); Serial.print(' ');
Serial.print(i2c_errors); Serial.print(' '); //All OK -> 0
Serial.print(cfg.wing_mode); Serial.print(' '); //Default -> 5 WING_RUDELE_2AIL
Serial.print(wing_mode); Serial.print(' '); //Default -> 5 WING_RUDELE_2AIL
Serial.print(cfg.mixer_epa_mode); Serial.print(' '); //Default -> 1 MIXER_EPA_FULL
for (int8_t i=0; i<rx_chan_size; i++)
Serial.print(cfg.serialrx_order[i]);
Serial.print(cfg.serialrx_order[i]); //01234567
Serial.print(' ');
Serial.print(cfg.mount_orient); Serial.print(' ');
Serial.print(get_free_sram()); Serial.print(' ');
Serial.print(servo_out); Serial.print(' ');
Serial.print(cfg.mount_orient); Serial.print(' '); //Default -> 1 MOUNT_NORMAL
Serial.print(get_free_sram()); Serial.print(' '); //1040... (my case)
Serial.print(servo_out); Serial.print(' '); //Varying from 1000 to 2000
Serial.println();

set_led(LED_INVERT);
set_led(LED_INVERT); //Blinking... what did you expect?
delay1(50);
}
}
Expand Down Expand Up @@ -2183,7 +2249,7 @@ void stick_config(struct _stick_zone *psz)
last_servo_update_time = t;
}

#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS))
#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SUMD))
if (serialrx_update()) {
rx_frame_sync = true;
}
Expand Down Expand Up @@ -2254,11 +2320,11 @@ void setup()
set_led_msg(2, 20, LED_VERY_SHORT);

#if defined(SERIAL_DEBUG) || defined(DUMP_SENSORS)
#if (defined(SERIALRX_SBUS) || defined(SERIALRX_SPEKTRUM))
serialrx_init();
#else
Serial.begin(115200L);
#endif // (defined(SERIALRX_SBUS) || defined(SERIALRX_SPEKTRUM))
#if (defined(SERIALRX_SBUS) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SUMD))
serialrx_init();
#else
Serial.begin(115200L);
#endif // SERIALRX_SBUS || SERIALRX_SPEKTRUM || SERIALRX_SUMD
#endif

#if defined(SERIAL_DEBUG) && 0
Expand All @@ -2272,12 +2338,18 @@ void setup()
wdt_disable();
#endif // __AVR_ATmega168__ || __AVR_ATmega328P__

#if defined(NANO_WII) || defined(MINI_MWC)
#if defined(NANO_WII) || defined(MINI_MWC) || defined(FLIP_1_5)
// set up default parameters for No DIPSW and No POT
cfg.wing_mode = WING_RUDELE_2AIL;
for (i=0; i<3; i++) {
cfg.vr_gain[i] = 60;
}
#elif defined(MINI_521)
// set up default parameters for No DIPSW, but we have pots!!!
cfg.wing_mode = WING_RUDELE_2AIL;
for (i=0; i<3; i++) {
cfg.vr_gain[i] = vr_gain_use_pot;
}
#else
// set up default parameters
cfg.wing_mode = WING_USE_DIPSW;
Expand All @@ -2287,7 +2359,7 @@ void setup()
#endif
cfg.mixer_epa_mode = MIXER_EPA_FULL;

#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS))
#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SUMD))
cfg.servo_frame_rate = 20; // safe rate for analog servos
#else
cfg.servo_frame_rate = 0; // no min interval, rx will drive the update rate
Expand All @@ -2304,6 +2376,8 @@ void setup()
pserialrx_order = serialrx_order_TAER1a2f;
#elif defined(SERIALRX_SBUS)
pserialrx_order = serialrx_order_AETR1a2f;
#elif defined(SERIALRX_SUMD)
pserialrx_order = serialrx_order_RETA1a2f;;
#else
pserialrx_order = serialrx_order_RETA1a2f;
#endif
Expand Down Expand Up @@ -2423,7 +2497,7 @@ void setup()
// TIMSK0 &= ~(1 << TOIE0); // disable overflow interrupt

#if !defined(SERIAL_DEBUG) && !defined(DUMP_SENSORS)
#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS))
#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SUMD))
serialrx_init();
#endif
#endif
Expand Down Expand Up @@ -2514,7 +2588,7 @@ void setup()
#endif // RX3SM

#if defined(EAGLE_A3PRO) // TODO(noobee): need to verify functions
#if !(defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS))
#if !(defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SUMD))
if (cfg.wing_mode == WING_USE_DIPSW)
wing_mode = dip_sw_to_wing_mode_map[(ele_sw ? 0 : 2) | (rud_sw ? 0 : 1)];
#endif
Expand Down Expand Up @@ -2586,7 +2660,7 @@ again:
t = micros1();
update_led(t);

#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS))
#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SUMD))
if (serialrx_update()) {
rx_frame_sync = true;
}
Expand Down Expand Up @@ -2776,5 +2850,5 @@ again:
}

goto again; // the dreaded "goto" statement :O
#endif // DUMP_SENSORS
#endif // !DUMP_SENSORS
}
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