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GhettoStation.ino
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GhettoStation.ino
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/**
******************************************************************************
*
* @file GhettoStation.ino
* @author Guillaume S
* @brief Arduino based antenna tracker & telemetry display for UAV projects.
* @project https://code.google.com/p/ghettostation/
*
*
*
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************
*/
#include "Config.h"
#include <avr/pgmspace.h>
#include <Arduino.h>
#ifdef DEBUG
#include <MemoryFree.h>
#endif
#include <PWMServo.h>
#ifdef TEENSYPLUS2
#include <SoftwareSerial.h>
#endif
#include <Wire.h>
#include <Metro.h>
#include <MenuSystem.h>
#include <Button.h>
#include <EEPROM.h>
#include <Flash.h>
#include <EEPROM.h>
#include "GhettoStation.h"
#ifdef COMPASS //use additional hmc5883L mag breakout
//HMC5883L i2c mag b
#include <HMC5883L.h>
#endif
#ifdef PROTOCOL_UAVTALK
#include "UAVTalk.cpp"
#endif
#ifdef PROTOCOL_MSP
#include "MSP.cpp"
#endif
#ifdef PROTOCOL_LIGHTTELEMETRY
#include "LightTelemetry.cpp"
#endif
#ifdef PROTOCOL_MAVLINK
#include "Mavlink.cpp"
#endif
#ifdef PROTOCOL_NMEA
#include "GPS_NMEA.cpp"
#endif
#ifdef PROTOCOL_UBLOX
#include "GPS_UBLOX.cpp"
#endif
/*
* BOF preprocessor bug prevent
*/
#define nop() __asm volatile ("nop")
#if 1
nop();
#endif
/*
* EOF preprocessor bug prevent
*/
//################################### SETTING OBJECTS ###############################################
// Set the pins on the I2C chip used for LCD connections:
// addr, en,rw,rs,d4,d5,d6,d7,bl,blpol
#ifdef LCD03I2C
#include <LCD03.h>
LCD03 LCD(I2CADRESS);
#else
#include <LiquidCrystal_I2C.h>
#ifdef LCDLCM1602
LiquidCrystal_I2C LCD(I2CADRESS, 2, 1, 0, 4, 5, 6, 7, 3, POSITIVE); // HobbyKing IIC/I2C/TWI Serial 2004 20x4, LCM1602 IIC A0 A1 A2 & YwRobot Arduino LCM1602 IIC V1
#else
LiquidCrystal_I2C LCD(I2CADRESS, 4, 5, 6, 0, 1, 2, 3, 7, NEGATIVE); // Arduino-IIC-LCD GY-LCD-V1
#endif
#endif
#ifdef GLCDEnable
#include <glcd.h>
#include "fonts/SystemFont5x7.h"
#endif
#ifdef OLEDLCD
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>
#define OLED_RESET 4
Adafruit_SSD1306 display(OLED_RESET);
#endif
//##### LOOP RATES
Metro loop1hz = Metro(1000); // 1hz loop
Metro loop10hz = Metro(100); //10hz loop
Metro loop50hz = Metro(20); // 50hz loop
//##### BUTTONS
Button right_button = Button(RIGHT_BUTTON_PIN,BUTTON_PULLUP_INTERNAL);
Button left_button = Button(LEFT_BUTTON_PIN,BUTTON_PULLUP_INTERNAL);
Button enter_button = Button(ENTER_BUTTON_PIN,BUTTON_PULLUP_INTERNAL);
#if defined(COMPASS)
HMC5883L compass;
#endif
//#################################### SETUP LOOP ####################################################
void setup() {
//init setup
init_menu();
//retrieve configuration from EEPROM
current_bank = EEPROM.read(0);
if (current_bank > 3) {
current_bank = 0;
EEPROM.write(0,0);
}
EEPROM_read(config_bank[int(current_bank)], configuration);
// set temp value for servo pwm config
servoconf_tmp[0] = configuration.pan_minpwm;
servoconf_tmp[1] = configuration.pan_maxpwm;
servoconf_tmp[2] = configuration.tilt_minpwm;
servoconf_tmp[3] = configuration.tilt_maxpwm;
home_bearing = configuration.bearing; // use last bearing position of previous session.
voltage_ratio = (float)(configuration.voltage_ratio/100.0);
delay(20);
//clear eeprom & write default parameters if config is empty or wrong
if (configuration.config_crc != CONFIG_VERSION) {
clear_eeprom();
delay(20);
}
//init LCD
#ifdef OLEDLCD
display.begin(SSD1306_SWITCHCAPVCC,I2CADRESS); // initialize with the I2C addr 0x3D (for the 128x64)
display.display(); // show splashscreen
delay(2000);
display.clearDisplay(); // clears the screen and buffer
// init done
#endif
init_lcdscreen();
//start serial com
init_serial();
// attach servos
attach_servo(pan_servo, PAN_SERVOPIN, configuration.pan_minpwm, configuration.pan_maxpwm);
attach_servo(tilt_servo, TILT_SERVOPIN, configuration.tilt_minpwm, configuration.tilt_maxpwm);
// move servo to neutral pan & DEFAULTELEVATION tilt at startup
servoPathfinder(0, DEFAULTELEVATION);
// setup button callback events
enter_button.releaseHandler(enterButtonReleaseEvents);
left_button.releaseHandler(leftButtonReleaseEvents);
right_button.releaseHandler(rightButtonReleaseEvents);
#if defined(COMPASS)
compass = HMC5883L(); // Construct a new HMC5883 compass.
delay(100);
compass.SetScale(1.3); // Set the scale of the compass.
compass.SetMeasurementMode(Measurement_Continuous); // Set the measurement mode to Continuous
#endif
delay(2500); // Wait until osd is initialised
}
//######################################## MAIN LOOP #####################################################################
void loop() {
if (loop1hz.check()) {
read_voltage();
}
if (loop10hz.check() == 1) {
//update buttons internal states
enter_button.isPressed();
left_button.isPressed();
right_button.isPressed();
#ifdef OSD_OUTPUT
//pack & send LTM packets to SerialPort2 at 10hz.
ltm_write();
#endif
//current activity loop
check_activity();
//update lcd screen
refresh_lcd();
//debug output to usb Serial
#if defined(DEBUG)
debug();
#endif
switch (buzzer_status) {
case 1:
playTones(1);
break;
case 2:
playTones(2);
break;
default:
break;
}
}
if (loop50hz.check() == 1) {
//update servos
if (current_activity == 1) {
if((home_dist / 100) > DONTTRACKUNDER) {
servoPathfinder(Bearing,Elevation); // refresh servo
}
}
}
get_telemetry();
}
//######################################## ACTIVITIES #####################################################################
void check_activity() {
if (uav_satellites_visible >= 5) {
gps_fix = true;
}
else
gps_fix = false;
switch (current_activity)
{
case 0: //MENU
Bearing = 0; Elevation = DEFAULTELEVATION;
lcddisp_menu();
if (enter_button.holdTime() >= 1000 && enter_button.held()) { //long press
displaymenu.back();
}
break;
case 1: //TRACK
if ((!home_pos) || (!home_bear)) { // check if home is set before start tracking
Bearing = 0; Elevation = 0;
current_activity = 2; // set bearing if not set.
} else if (home_bear) {
antenna_tracking();
lcddisp_tracking();
if (enter_button.holdTime() >= 700 && enter_button.held()) { //long press
current_activity = 0;
//telemetry_off();
}
}
break;
case 2: //SET HOME
if (!home_pos)
lcddisp_sethome();
else if (home_pos) {
if (!home_bear) {
lcddisp_setbearing();
}
else
lcddisp_homeok();
}
if (enter_button.holdTime() >= 700 && enter_button.held()) { //long press
current_activity = 0;
}
break;
case 3: //PAN_MINPWM
servoconf_tmp[0] = config_servo(1, 1, servoconf_tmp[0] );
if (servoconf_tmp[0] != servoconfprev_tmp[0]) {
detach_servo(pan_servo);
attach_servo(pan_servo, PAN_SERVOPIN, servoconf_tmp[0], configuration.pan_maxpwm);
}
pan_servo.writeMicroseconds(servoconf_tmp[0]);
//pan_servo.write(0);
servoconfprev_tmp[0] = servoconf_tmp[0];
if (enter_button.holdTime() >= 700 && enter_button.held()) {//long press
configuration.pan_minpwm = servoconf_tmp[0];
EEPROM_write(config_bank[int(current_bank)], configuration);
detach_servo(pan_servo);
attach_servo(pan_servo, PAN_SERVOPIN, configuration.pan_minpwm, configuration.pan_maxpwm);
move_servo(pan_servo, 1, 0, configuration.pan_minangle, configuration.pan_maxangle);
current_activity=0;
}
break;
case 4: //PAN_MINANGLE
configuration.pan_minangle = config_servo(1, 2, configuration.pan_minangle);
pan_servo.writeMicroseconds(configuration.pan_minpwm);
//pan_servo.write(0);
if (enter_button.holdTime() >= 700 && enter_button.held()) {//long press
EEPROM_write(config_bank[int(current_bank)], configuration);
move_servo(pan_servo, 1, 0, configuration.pan_minangle, configuration.pan_maxangle);
current_activity=0;
}
break;
case 5: //PAN_MAXPWM
servoconf_tmp[1] = config_servo(1, 3, servoconf_tmp[1] );
if (servoconf_tmp[1] != servoconfprev_tmp[1]) {
detach_servo(pan_servo);
attach_servo(pan_servo,PAN_SERVOPIN, configuration.pan_minpwm, servoconf_tmp[1]);
}
pan_servo.writeMicroseconds(servoconf_tmp[1]);
//pan_servo.write(180);
servoconfprev_tmp[1] = servoconf_tmp[1];
if (enter_button.holdTime() >= 700 && enter_button.held()) {//long press
configuration.pan_maxpwm = servoconf_tmp[1];
EEPROM_write(config_bank[int(current_bank)], configuration);
detach_servo(pan_servo);
attach_servo(pan_servo, PAN_SERVOPIN, configuration.pan_minpwm, configuration.pan_maxpwm);
move_servo(pan_servo, 1, 0, configuration.pan_minangle, configuration.pan_maxangle);
current_activity=0;
}
break;
case 6: //PAN_MAXANGLE
configuration.pan_maxangle = config_servo(1, 4, configuration.pan_maxangle );
pan_servo.writeMicroseconds(configuration.pan_maxpwm);
//pan_servo.write(180);
if (enter_button.holdTime() >= 700 && enter_button.held()) { //long press
EEPROM_write(config_bank[int(current_bank)], configuration);
move_servo(pan_servo, 1, 0, configuration.pan_minangle, configuration.pan_maxangle);
current_activity=0;
}
break;
case 7: //"TILT_MINPWM"
servoconf_tmp[2] = config_servo(2, 1, servoconf_tmp[2] );
if (servoconf_tmp[2] != servoconfprev_tmp[2]) {
detach_servo(tilt_servo);
attach_servo(tilt_servo, TILT_SERVOPIN, servoconf_tmp[2], configuration.tilt_maxpwm);
}
tilt_servo.writeMicroseconds(servoconf_tmp[2]);
//tilt_servo.write(0);
servoconfprev_tmp[2] = servoconf_tmp[2];
if (enter_button.holdTime() >= 700 && enter_button.held()) { //long press
configuration.tilt_minpwm = servoconf_tmp[2];
EEPROM_write(config_bank[int(current_bank)], configuration);
detach_servo(tilt_servo);
attach_servo(tilt_servo,TILT_SERVOPIN, configuration.tilt_minpwm, configuration.tilt_maxpwm);
move_servo(tilt_servo, 2, 0, configuration.tilt_minangle, configuration.tilt_maxangle);;
current_activity=0;
}
break;
case 8: //TILT_MINANGLE
configuration.tilt_minangle = config_servo(2, 2, configuration.tilt_minangle );
tilt_servo.writeMicroseconds(configuration.tilt_minpwm);
//tilt_servo.write(0);
if (enter_button.holdTime() >= 700 && enter_button.held()) {//long press
EEPROM_write(config_bank[int(current_bank)], configuration);
move_servo(tilt_servo, 2, 0, configuration.tilt_minangle, configuration.tilt_maxangle);
current_activity=0;
}
break;
case 9: //"TILT_MAXPWM"
servoconf_tmp[3] = config_servo(2, 3, servoconf_tmp[3] );
if (servoconf_tmp[3] != servoconfprev_tmp[3]) {
detach_servo(tilt_servo);
attach_servo(tilt_servo, TILT_SERVOPIN, configuration.tilt_minpwm, servoconf_tmp[3]);
}
tilt_servo.writeMicroseconds(servoconf_tmp[3]);
//tilt_servo.write(180);
servoconfprev_tmp[3] = servoconf_tmp[3];
if (enter_button.holdTime() >= 700 && enter_button.held()) {//long press
configuration.tilt_maxpwm = servoconf_tmp[3];
EEPROM_write(config_bank[int(current_bank)], configuration);
detach_servo(tilt_servo);
attach_servo(tilt_servo,TILT_SERVOPIN, configuration.tilt_minpwm, configuration.tilt_maxpwm);
move_servo(tilt_servo, 2, 0, configuration.tilt_minangle, configuration.tilt_maxangle);
current_activity=0;
}
break;
case 10: //TILT_MAXANGLE
configuration.tilt_maxangle = config_servo(2, 4, configuration.tilt_maxangle );
tilt_servo.writeMicroseconds(configuration.tilt_maxpwm);
//tilt_servo.write(180);
if (enter_button.holdTime() >= 700 && enter_button.held()) {//long press
EEPROM_write(config_bank[int(current_bank)], configuration);
move_servo(tilt_servo, 2, 0, configuration.tilt_minangle, configuration.tilt_maxangle);
current_activity=0;
}
break;
case 11: //TEST_SERVO
test_servos();
if (enter_button.holdTime() >= 700 && enter_button.held()) {//long press
current_activity=0;
test_servo_cnt = 360;
test_servo_step = 1;
servoPathfinder(0,0);
}
break;
case 12: //Configure Telemetry
lcddisp_telemetry();
if (enter_button.holdTime() >= 700 && enter_button.held()) { //long press
EEPROM_write(config_bank[int(current_bank)], configuration);
current_activity=0;
}
break;
case 13: //Configure Baudrate
lcddisp_baudrate();
if (enter_button.holdTime() >= 700 && enter_button.held()) { //long press
EEPROM_write(config_bank[int(current_bank)], configuration);
current_activity=0;
}
break;
case 14: //Change settings bank
lcddisp_bank();
if (enter_button.holdTime() >= 700 && enter_button.held()) { //long press
EEPROM.write(0,current_bank);
EEPROM_read(config_bank[int(current_bank)], configuration);
servoconf_tmp[0] = configuration.pan_minpwm;
servoconf_tmp[1] = configuration.pan_maxpwm;
servoconf_tmp[2] = configuration.tilt_minpwm;
servoconf_tmp[3] = configuration.tilt_maxpwm;
home_sent = 0;
current_activity=0;
}
break;
case 15: //Configure OSD
lcddisp_osd();
if (enter_button.holdTime() >= 700 && enter_button.held()) { //long press
EEPROM_write(config_bank[int(current_bank)], configuration);
home_sent = 0; // force resend an OFrame for osd update
current_activity=0;
}
break;
case 16: //Configure bearing method
lcddisp_bearing_method();
if (enter_button.holdTime() >= 700 && enter_button.held()) { //long press
EEPROM_write(config_bank[int(current_bank)], configuration);
current_activity=0;
}
break;
case 17: //Configure voltage multiplier
lcddisp_voltage_ratio();
if (enter_button.holdTime() >= 700 && enter_button.held()) { //long press
configuration.voltage_ratio = (uint16_t)(voltage_ratio * 100.0f);
EEPROM_write(config_bank[int(current_bank)], configuration);
current_activity=0;
}
break;
}
}
//######################################## BUTTONS #####################################################################
void enterButtonReleaseEvents(Button &btn)
{
//Serial.println(current_activity);
if ( enter_button.holdTime() < 700 ) { // normal press
if ( current_activity == 0 ) { //button action depends activity state
displaymenu.select();
}
else if ( current_activity == 2 ) {
if ((gps_fix) && (!home_pos)) {
//saving home position
home_lat = uav_lat;
home_lon = uav_lon;
home_alt = uav_alt;
home_pos = true;
calc_longitude_scaling(home_lat); // calc lonScaleDown
}
else if ((gps_fix) && (home_pos) && (!home_bear)) {
//set_bearing();
switch (configuration.bearing_method) {
case 1:
home_bearing = calc_bearing(home_lon, home_lat, uav_lon, uav_lat); // store bearing relative to north
home_bear = true;
break;
case 2:
case 3:
case 4:
home_bear = true;
break;
default:
configuration.bearing_method = 1; // shouldn't happened, restoring default value.
break;
}
configuration.bearing = home_bearing;
EEPROM_write(config_bank[int(current_bank)], configuration);
home_sent = 0; // resend an OFrame to osd
}
else if ((gps_fix) && (home_pos) && (home_bear)) {
// START TRACKING
current_activity = 1;
}
}
}
}
void leftButtonReleaseEvents(Button &btn)
{
if ( left_button.holdTime() < 700 ) {
if (current_activity==0) {
displaymenu.prev();
}
else if ( current_activity != 0 && current_activity != 1 && current_activity != 2 ) {
//We're in a setting area: Left button decrase current value.
switch (current_activity) {
case 3: servoconf_tmp[0]--; break;
case 4: configuration.pan_minangle--; break;
case 5: servoconf_tmp[1]--; break;
case 6: configuration.pan_maxangle--; break;
case 7: servoconf_tmp[2]--; break;
case 8: configuration.tilt_minangle--; break;
case 9: servoconf_tmp[3]--; break;
case 10: configuration.tilt_maxangle--; break;
case 12: if (configuration.telemetry > 0) configuration.telemetry -= 1; break;
case 13: if (configuration.baudrate > 0) configuration.baudrate -= 1; break;
case 14: if (current_bank > 0) current_bank -= 1; else current_bank = 3; break;
case 15: if (configuration.osd_enabled == 0) configuration.osd_enabled = 1; else configuration.osd_enabled = 0; break;
case 16: if (configuration.bearing_method > 1) configuration.bearing_method -= 1; else configuration.bearing_method = 4; break;
case 17: if (voltage_ratio >= 1.0) voltage_ratio -= 0.01; break;
}
}
else if (current_activity==2) {
if (configuration.bearing_method == 2) {
if (home_pos && !home_bear) {
home_bearing--;
if (home_bearing<0) home_bearing = 359;
}
}
if (gps_fix && home_pos && home_bear) {
current_activity = 0;
}
}
else if (current_activity==1 && home_pos && home_bear)
home_bearing--;
}
}
void rightButtonReleaseEvents(Button &btn)
{
if ( right_button.holdTime() < 700 ) {
if (current_activity==0) {
displaymenu.next();
}
else if ( current_activity != 0 && current_activity != 1 && current_activity != 2 ) {
//We're in a setting area: Right button decrase current value.
switch (current_activity) {
case 3: servoconf_tmp[0]++; break;
case 4: configuration.pan_minangle++; break;
case 5: servoconf_tmp[1]++; break;
case 6: configuration.pan_maxangle++; break;
case 7: servoconf_tmp[2]++; break;
case 8: configuration.tilt_minangle++; break;
case 9: servoconf_tmp[3]++; break;
case 10: configuration.tilt_maxangle++; break;
case 12: if (configuration.telemetry < 5) configuration.telemetry += 1; break;
case 13: if (configuration.baudrate < 7) configuration.baudrate += 1; break;
case 14: if (current_bank < 3) current_bank += 1; else current_bank = 0; break;
case 15: if (configuration.osd_enabled == 0) configuration.osd_enabled = 1; else configuration.osd_enabled = 0; break;
case 16: if (configuration.bearing_method < 5) configuration.bearing_method += 1; else configuration.bearing_method = 1; break;
case 17: voltage_ratio += 0.01; break;
}
}
else if (current_activity==2) {
if (configuration.bearing_method == 2) {
if (home_pos && !home_bear) {
home_bearing++;
if (home_bearing>359) home_bearing = 0;
}
}
if (home_pos && home_bear) {
// reset home pos
home_pos = false;
home_bear = false;
home_sent = 0;
}
}
else if (current_activity==1 && home_pos && home_bear) {
home_bearing++;
}
}
}
//########################################################### MENU #######################################################################################
void init_menu() {
rootMenu.add_item(&m1i1Item, &screen_tracking); //start track
rootMenu.add_item(&m1i2Item, &screen_sethome); //set home position
rootMenu.add_menu(&m1m3Menu); //configure
m1m3Menu.add_menu(&m1m3m1Menu); //config servos
m1m3m1Menu.add_menu(&m1m3m1m1Menu); //config pan
m1m3m1m1Menu.add_item(&m1m3m1m1l1Item, &configure_pan_minpwm); // pan min pwm
m1m3m1m1Menu.add_item(&m1m3m1m1l2Item, &configure_pan_maxpwm); // pan max pwm
m1m3m1m1Menu.add_item(&m1m3m1m1l3Item, &configure_pan_minangle); // pan min angle
m1m3m1m1Menu.add_item(&m1m3m1m1l4Item, &configure_pan_maxangle); // pan max angle
m1m3m1Menu.add_menu(&m1m3m1m2Menu); //config tilt
m1m3m1m2Menu.add_item(&m1m3m1m2l1Item, &configure_tilt_minpwm); // tilt min pwm
m1m3m1m2Menu.add_item(&m1m3m1m2l2Item, &configure_tilt_maxpwm); // tilt max pwm
m1m3m1m2Menu.add_item(&m1m3m1m2l3Item, &configure_tilt_minangle); // tilt min angle
m1m3m1m2Menu.add_item(&m1m3m1m2l4Item, &configure_tilt_maxangle); // tilt max angle
m1m3m1Menu.add_item(&m1m3m1i3Item, &configure_test_servo);
m1m3Menu.add_menu(&m1m3m2Menu); //Telemetry
m1m3m2Menu.add_item(&m1m3m2i1Item, &configure_telemetry); // select telemetry protocol ( Teensy++2 only )
m1m3m2Menu.add_item(&m1m3m2i2Item, &configure_baudrate); // select telemetry protocol
m1m3Menu.add_menu(&m1m3m3Menu); //Others
#ifdef OSD_OUTPUT
m1m3m3Menu.add_item(&m1m3m3i1Item, &configure_osd); // enable/disable osd
#endif
m1m3m3Menu.add_item(&m1m3m3i2Item, &configure_bearing_method); // select tracker bearing reference method
m1m3m3Menu.add_item(&m1m3m3i3Item, &configure_voltage_ratio); // set minimum voltage
rootMenu.add_item(&m1i4Item, &screen_bank); //set home position
displaymenu.set_root_menu(&rootMenu);
}
//menu item callback functions
void screen_tracking(MenuItem* p_menu_item) {
current_activity = 1;
}
void screen_sethome(MenuItem* p_menu_item) {
current_activity = 2;
}
void configure_pan_minpwm(MenuItem* p_menu_item) {
current_activity = 3;
}
void configure_pan_minangle(MenuItem* p_menu_item) {
current_activity = 4;
}
void configure_pan_maxpwm(MenuItem* p_menu_item) {
current_activity = 5;
}
void configure_pan_maxangle(MenuItem* p_menu_item) {
current_activity = 6;
}
void configure_tilt_minpwm(MenuItem* p_menu_item) {
current_activity = 7;
}
void configure_tilt_minangle(MenuItem* p_menu_item) {
current_activity = 8;
}
void configure_tilt_maxpwm(MenuItem* p_menu_item) {
current_activity = 9;
}
void configure_tilt_maxangle(MenuItem* p_menu_item) {
current_activity = 10;
}
void configure_test_servo(MenuItem* p_menu_item) {
current_activity = 11;
}
void configure_telemetry(MenuItem* p_menu_item) {
current_activity = 12;
}
void configure_baudrate(MenuItem* p_menu_item) {
current_activity = 13;
}
void screen_bank(MenuItem* p_menu_item) {
current_activity = 14;
}
#ifdef OSD_OUTPUT
void configure_osd(MenuItem* p_menu_item) {
current_activity = 15;
}
#endif
void configure_bearing_method(MenuItem* p_menu_item) {
current_activity = 16;
}
void configure_voltage_ratio(MenuItem* p_menu_item) {
current_activity = 17;
}
//######################################## TELEMETRY FUNCTIONS #############################################
void init_serial() {
Serial.begin(57600);
SerialPort1.begin(baudrates[configuration.baudrate]);
#ifdef OSD_OUTPUT
SerialPort2.begin(OSD_BAUD);
#endif
#ifdef DEBUG
Serial.println("Serial initialised");
#endif
}
//Preparing adding other protocol
void get_telemetry() {
if (millis() - lastpacketreceived > 2000) {
telemetry_ok = false;
}
#if defined(PROTOCOL_UAVTALK) // OpenPilot / Taulabs
if (configuration.telemetry==0) {
if (uavtalk_read())
protocol = "UAVT";
}
#endif
#if defined(PROTOCOL_MSP) // Multiwii
if (configuration.telemetry==1) {
if (!PASSIVEMODE) {
static unsigned long previous_millis_low = 0;
static unsigned long previous_millis_high = 0;
static unsigned long previous_millis_onsec = 0;
static uint8_t queuedMSPRequests = 0;
unsigned long currentMillis = millis();
if((currentMillis - previous_millis_low) >= 1000) // 1hz
{
setMspRequests();
}
if((currentMillis - previous_millis_low) >= 100) // 10 Hz (Executed every 100ms)
{
blankserialRequest(MSP_ATTITUDE);
previous_millis_low = millis();
}
if((currentMillis - previous_millis_high) >= 200) // 20 Hz (Executed every 50ms)
{
uint8_t MSPcmdsend;
if(queuedMSPRequests == 0)
queuedMSPRequests = modeMSPRequests;
uint32_t req = queuedMSPRequests & -queuedMSPRequests;
queuedMSPRequests &= ~req;
switch(req) {
case REQ_MSP_IDENT:
MSPcmdsend = MSP_IDENT;
break;
case REQ_MSP_STATUS:
MSPcmdsend = MSP_STATUS;
break;
case REQ_MSP_RAW_GPS:
MSPcmdsend = MSP_RAW_GPS;
break;
case REQ_MSP_ALTITUDE:
MSPcmdsend = MSP_ALTITUDE;
break;
case REQ_MSP_ANALOG:
MSPcmdsend = MSP_ANALOG;
break;
}
previous_millis_high = millis();
}
}
msp_read();
}
#endif
#if defined(PROTOCOL_LIGHTTELEMETRY) // Ghettostation light protocol.
if (configuration.telemetry==2) {
ltm_read();
}
#endif
#if defined(PROTOCOL_MAVLINK) // Ardupilot / PixHawk / Taulabs ( mavlink output ) / Other
if (configuration.telemetry==3) {
if(enable_frame_request == 1){//Request rate control
enable_frame_request = 0;
if (!PASSIVEMODE) {
request_mavlink_rates();
}
}
read_mavlink();
}
#endif
#if defined (PROTOCOL_NMEA)
if (configuration.telemetry==4) {
gps_nmea_read();
}
#endif
#if defined (PROTOCOL_UBLOX)
if (configuration.telemetry==5) {
gps_ublox_read();
}
#endif
}
//void telemetry_off() {
// //reset uav data
// uav_lat = 0;
// uav_lon = 0;
// uav_satellites_visible = 0;
// uav_fix_type = 0;
// uav_alt = 0;
// uav_groundspeed = 0;
// protocol = "";
// telemetry_ok = false;
// home_sent = 0;
// }
//######################################## SERVOS #####################################################################
void move_servo(PWMServo &s, int stype, int a, int mina, int maxa) {
if (stype == 1) {
//convert angle for pan to pan servo reference point: 0° is pan_minangle
if (a <= 180) {
a = mina + a;
} else if ((a > 180) && (a < (360-mina))) {
//relevant only for 360° configs
a = a - mina;
} else if ((a > 180) && (a > (360-mina)))
a = mina - (360-a);
// map angle to microseconds
int microsec = map(a, 0, mina+maxa, configuration.pan_minpwm, configuration.pan_maxpwm);
s.writeMicroseconds( microsec );
}
else if (stype == 2){
//map angle to microseconds
int microsec = map(a, mina, maxa, configuration.tilt_minpwm, configuration.tilt_maxpwm);
s.writeMicroseconds( microsec );
}
}
void servoPathfinder(int angle_b, int angle_a){ // ( bearing, elevation )
//find the best way to move pan servo considering 0° reference face toward
if (angle_b <= 180) {
if ( configuration.pan_maxangle >= angle_b ) {
//define limits
if (angle_a <= configuration.tilt_minangle) {
// checking if we reach the min tilt limit
angle_a = configuration.tilt_minangle;
} else if (angle_a >configuration.tilt_maxangle) {
//shouldn't happend but just in case
angle_a = configuration.tilt_maxangle;
}
} else if ( configuration.pan_maxangle < angle_b ) {
//relevant for 180° tilt config only, in case bearing is superior to pan_maxangle
angle_b = 180+angle_b;
if (angle_b >= 360) {
angle_b = angle_b - 360;
}
// invert pan axis
if ( configuration.tilt_maxangle >= ( 180-angle_a )) {
// invert pan & tilt for 180° Pan 180° Tilt config
angle_a = 180-angle_a;
}
else if (configuration.tilt_maxangle < ( 180-angle_a )) {
// staying at nearest max pos
angle_a = configuration.tilt_maxangle;
}
}
}
else if ( angle_b > 180 ) {
if( configuration.pan_minangle > 360-angle_b ) {
if (angle_a < configuration.tilt_minangle) {
// checking if we reach the min tilt limit
angle_a = configuration.tilt_minangle;
}
} else if ( configuration.pan_minangle <= 360-angle_b ) {
angle_b = angle_b - 180;
if ( configuration.tilt_maxangle >= ( 180-angle_a )) {
// invert pan & tilt for 180/180 conf
angle_a = 180-angle_a;
}
else if (configuration.tilt_maxangle < ( 180-angle_a)) {
// staying at nearest max pos
angle_a = configuration.tilt_maxangle;
}
}
}
move_servo(pan_servo, 1, angle_b, configuration.pan_minangle, configuration.pan_maxangle);
move_servo(tilt_servo, 2, angle_a, configuration.tilt_minangle, configuration.tilt_maxangle);
}
void test_servos() {
lcddisp_testservo();
switch (test_servo_step) {
case 1:
if (test_servo_cnt > 180) {
servoPathfinder(test_servo_cnt,(360-test_servo_cnt)/6);
test_servo_cnt--;
}
else
test_servo_step = 2;
break;
case 2:
if (test_servo_cnt < 360) {
servoPathfinder(test_servo_cnt,(360-test_servo_cnt)/6);
test_servo_cnt++;
}
else {
test_servo_step = 3;
test_servo_cnt = 0;
}
break;
case 3:
if (test_servo_cnt < 360) {
servoPathfinder(test_servo_cnt, test_servo_cnt/4);
test_servo_cnt++;
}
else {
test_servo_step = 4;
test_servo_cnt = 0;
}
break;
case 4:
if (test_servo_cnt < 360) {
servoPathfinder(test_servo_cnt, 90-(test_servo_cnt/4));
test_servo_cnt++;
}
else {
// finished
test_servo_step = 1;
current_activity = 0;
servoPathfinder(0,0);
}
break;
}
}
//######################################## TRACKING #############################################
void antenna_tracking() {
// Tracking general function
//only move servo if gps has a 3D fix, or standby to last known position.
if (gps_fix && telemetry_ok) {
rel_alt = uav_alt - home_alt; // relative altitude to ground in decimeters
calc_tracking( home_lon, home_lat, uav_lon, uav_lat, rel_alt); //calculate tracking bearing/azimuth
//set current GPS bearing relative to home_bearing
if(Bearing >= home_bearing){
Bearing -= home_bearing;
}
else
Bearing += 360 - home_bearing;
}
}
void calc_tracking(int32_t lon1, int32_t lat1, int32_t lon2, int32_t lat2, int32_t alt) {
//calculating Bearing & Elevation in degree decimal
Bearing = calc_bearing(lon1,lat1,lon2,lat2);
Elevation = calc_elevation(alt);
}
int16_t calc_bearing(int32_t lon1, int32_t lat1, int32_t lon2, int32_t lat2) {
float dLat = (lat2 - lat1);
float dLon = (float)(lon2 - lon1) * lonScaleDown;
home_dist = sqrt(sq(fabs(dLat)) + sq(fabs(dLon))) * 1.113195; // home dist in cm.
int16_t b = (int)round( -90 + (atan2(dLat, -dLon) * 57.295775));
if(b < 0) b += 360;
return b;
}
int16_t calc_elevation(int32_t alt) {
float at = atan2(alt, home_dist);
at = at * 57,2957795;
int16_t e = (int16_t)round(at);
return e;
}
void calc_longitude_scaling(int32_t lat) {
float rads = (abs((float)lat) / 10000000.0) * 0.0174532925;
lonScaleDown = cos(rads);
}
//######################################## COMPASS #############################################
#if defined(COMPASS)
void retrieve_mag() {
// Retrieve the raw values from the compass (not scaled).
MagnetometerRaw raw = compass.ReadRawAxis();
// Retrieved the scaled values from the compass (scaled to the configured scale).
MagnetometerScaled scaled = compass.ReadScaledAxis();
//
// Calculate heading when the magnetometer is level, then correct for signs of axis.
float heading = atan2(scaled.YAxis, scaled.XAxis);
// Once you have your heading, you must then add your ‘Declination Angle’, which is the ‘Error’ of the magnetic field in your location.
// Find yours here: http://www.magnetic-declination.com/
float declinationAngle = MAGDEC / 1000;
heading += declinationAngle;
// Correct for when signs are reversed.
if (heading < 0) heading += 2*PI;
// Check for wrap due to addition of declination.
if (heading > 2*PI) heading -= 2*PI;