UAVXArm.h

00001 
00002 // Commissioning defines
00003 
00004 //#define SERIAL_TELEMETRY GPSSerial                // Select the one you want Steve
00005 #define SERIAL_TELEMETRY TelemetrySerial
00006 
00007 #define MAX_PID_CYCLE_HZ    200                     // PID cycle rate do not exceed
00008 #define PID_CYCLE_US        (1000000/MAX_PID_CYCLE_HZ)
00009 
00010 #define PWM_UPDATE_HZ       200                     // reduced for Turnigys - I2C runs at PID loop rate always
00011                                                     // MUST BE LESS THAN OR EQUAL TO 450HZ
00012 // LP filter cutoffs for sensors
00013 
00014 //#define SUPPRESS_ROLL_PITCH_GYRO_FILTERS                           
00015 #define ROLL_PITCH_FREQ     (0.5*PWM_UPDATE_HZ)     // must be <= ITG3200 LP filter
00016 #define ATTITUDE_ANGLE_LIMIT QUARTERPI              // set to PI for aerobatics
00017 #define GYRO_PROP_NOISE     0.1                     // largely prop coupled
00018                     
00019 //#define SUPPRESS_ACC_FILTERS
00020 #define ACC_FREQ            5                       // could be lower again?
00021 
00022 //#define SUPPRESS_YAW_GYRO_FILTERS
00023 //#define USE_FIXED_YAW_FILTER                      // does not rescale LP cutoff with yaw stick  
00024 #define MAX_YAW_FREQ            10.0                // <= 10Hz
00025 #define COMPASS_SANITY_CHECK_RAD_S  TWOPI           // changes greater than this rate ignored
00026 
00027 // DCM Attitude Estimation
00028 
00029 //#define DCM_YAW_COMP
00030 //#define USE_ANGLE_DERIVED_RATE                    // Gyros have periodic prop noise - define to use rate derived from angle
00031 
00032 // The pitch/roll angle should track CLOSELY with the noise "mostly" tuned out.
00033 // Jitter in the artificial horizon gives part of the story but better to use the UAVXFC logs.
00034 
00035 // Assumes normalised gravity vector
00036 #define TAU_S               5.0                                 //  1-10
00037 #define Kp_RollPitch        5.0 //(2.0/TAU_S)                   //1.0      // 5.0
00038 #define Ki_RollPitch        0.005//((1.0/TAU_S)*(1.0/TAU_S))    //0.001    // 0.005
00039 //#define Ki_RollPitch      (1.0/(TAU_S*TAU_S)) ?
00040 #define Kp_Yaw 1.2
00041 #define Ki_Yaw 0.00002
00042 
00043 /*
00044                 Kp      Ki          KpYaw   KiYaw
00045 Arducopter      0.0014  0.00002     1.0     0.00002 (200Hz)
00046 Arducopter      5.0     0.005       1.2     0.00002
00047 Ihlein          0.2     0.01        0.02    0.01    (50Hz)
00048 Premerlani      0.0755  0.00943                     (50Hz)
00049 Bascom          0.02    0.00002     1.2     0.00002
00050 Matrixpilot     0.04    0.008       0.016   0.0005
00051 Superstable     0.0014  0.00000015  1.2     0.00005 (200Hz)
00052 
00053 */
00054 
00055 //#define DISABLE_LED_DRIVER                             // disables the PCA driver and also the BUZZER
00056 
00057 #define DISABLE_EXTRAS                      // suppress altitude hold, position hold and inertial compensation
00058 #define SUPPRESS_SDCARD                     //DO NOT RE-ENABLE - MOTOR INTERMITTENTS WILL OCCUR
00059 
00060 //BMP occasional returns bad results - changes outside this rate are deemed sensor/buss errors
00061 #define BARO_SANITY_CHECK_MPS    10.0       // dm/S 20,40,60,80 or 100
00062 
00063 #define SIX_DOF                             // effects acc and gyro addresses
00064 
00065 #define BATTERY_VOLTS_SCALE   57.85         // 51.8144    // Volts scaling for internal divider
00066 
00067 #define SW_I2C                                      // define for software I2C 400KHz 
00068 
00069 //#define INC_ALL_SCHEMES                            // runs all attitude control schemes - use "custom" telemetry
00070 
00071 #define I2C_MAX_RATE_HZ     400000
00072 
00073 #define USING_MBED
00074 
00075 // ===============================================================================================
00076 // =                              UAVXArm Quadrocopter Controller                                =
00077 // =                           Copyright (c) 2008 by Prof. Greg Egan                             =
00078 // =                 Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer                   =
00079 // =                           http://code.google.com/p/uavp-mods/                               =
00080 // ===============================================================================================
00081 
00082 //    This is part of UAVXArm.
00083 
00084 //    UAVXArm is free software: you can redistribute it and/or modify it under the terms of the GNU
00085 //    General Public License as published by the Free Software Foundation, either version 3 of the
00086 //    License, or (at your option) any later version.
00087 
00088 //    UAVXArm is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without
00089 //    even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
00090 //    See the GNU General Public License for more details.
00091 
00092 //    You should have received a copy of the GNU General Public License along with this program.
00093 //    If not, see http://www.gnu.org/licenses/
00094 
00095 #include "mbed.h"
00096 #include "SDFileSystem.h"
00097 #include "SerialBuffered.h" // used in preference to MODSERIAL
00098 
00099 // Additional Types
00100 typedef uint8_t uint8 ;
00101 typedef int8_t int8;
00102 typedef uint16_t uint16;
00103 typedef int16_t int16;
00104 typedef int32_t int24;
00105 typedef uint32_t uint24;
00106 typedef int32_t int32;
00107 typedef uint32_t uint32;
00108 typedef uint8_t boolean;
00109 typedef float real32;
00110 
00111 extern Timer timer;
00112 
00113 //________________________________________________________________________________________
00114 
00115 
00116 // Useful Constants
00117 #define NUL     0
00118 #define SOH     1
00119 #define EOT     4
00120 #define ACK     6
00121 #define HT      9
00122 #define LF      10
00123 #define CR      13
00124 #define NAK     21
00125 #define ESC     27
00126 #define true    1
00127 #define false   0
00128 
00129 #define PI              3.141592654
00130 #define THIRDPI         (PI/3.0)
00131 #define HALFPI          (PI*0.5)
00132 #define ONEANDHALFPI    (PI * 1.5)
00133 #define QUARTERPI       (PI*0.25)
00134 #define SIXTHPI         (PI/6.0)
00135 #define TWOPI           (PI*2.0)
00136 #define RADDEG          (180.0/PI)
00137 #define MILLIANGLE      (180000.0/PI)
00138 #define DEGRAD          (PI/180.0)
00139 
00140 #define MILLIRAD        18
00141 #define CENTIRAD        2
00142 
00143 #define MAXINT32        0x7fffffff
00144 #define MAXINT16        0x7fff
00145 
00146 //#define BATCHMODE
00147 
00148 #ifndef BATCHMODE
00149 //#define RX6CH
00150 //#define EXPERIMENTAL
00151 //#define TESTING
00152 //#define RX6CH                     // 6ch Receivers
00153 //#define SIMULATE
00154 //#define VTCOPTER
00155 //#define Y6COPTER
00156 #define QUADROCOPTER
00157 //#define TRICOPTER
00158 //#define HELICOPTER
00159 //#define AILERON
00160 // #define ELEVON
00161 #endif // !BATCHMODE
00162 
00163 //________________________________________________________________________________________________
00164 
00165 #define USE_PPM_FAILSAFE
00166 
00167 // Airframe
00168 
00169 #if ( defined TRICOPTER | defined QUADROCOPTER | defined VTCOPTER | defined Y6COPTER )
00170 #define MULTICOPTER
00171 #endif
00172 
00173 #if ( defined HELICOPTER | defined AILERON | defined ELEVON )
00174 #if ( defined AILERON | defined ELEVON )
00175 #define NAV_WING
00176 #endif
00177 #endif
00178 
00179 #ifdef QUADROCOPTER
00180 #define AF_TYPE QuadAF
00181 #endif
00182 #ifdef TRICOPTER
00183 #define AF_TYPE TriAF
00184 #endif
00185 #ifdef VTCOPTER
00186 #define AF_TYPE VTAF
00187 #endif
00188 #ifdef Y6COPTER
00189 #define AF_TYPE Y6AF
00190 #endif
00191 #ifdef HELICOPTER
00192 #define AF_TYPE HeliAF
00193 #endif
00194 #ifdef ELEVON
00195 #define AF_TYPE ElevAF
00196 #endif
00197 #ifdef AILERON
00198 #define AF_TYPE AilAF
00199 #endif
00200 
00201 #define GPS_INC_GROUNDSPEED                     // GPS groundspeed is not used for flight but may be of interest
00202 
00203 // Timeouts and Update Intervals
00204 
00205 #define FAILSAFE_TIMEOUT_MS             1000L   // mS. hold last "good" settings and then restore flight or abort
00206 #define ABORT_TIMEOUT_GPS_MS            5000L   // mS. go to descend on position hold if GPS valid.
00207 #define ABORT_TIMEOUT_NO_GPS_MS         0L      // mS. go to descend on position hold if GPS valid.  
00208 #define ABORT_UPDATE_MS                 1000L   // mS. retry period for RC Signal and restore Pilot in Control
00209 #define ARMED_TIMEOUT_MS                150000L    // mS. automatic disarming if armed for this long and landed
00210 
00211 #define ALT_DESCENT_UPDATE_MS           1000L    // mS time between throttle reduction clicks in failsafe descent without baro
00212 
00213 #define RC_STICK_MOVEMENT                5L        // minimum to be recognised as a stick input change without triggering failsafe
00214 
00215 #define THROTTLE_LOW_DELAY_MS           1000L   // mS. that motor runs at idle after the throttle is closed
00216 #define THROTTLE_UPDATE_MS              3000L   // mS. constant throttle time for altitude hold
00217 
00218 #define NAV_ACTIVE_DELAY_MS             10000L  // mS. after throttle exceeds idle that Nav becomes active
00219 #define NAV_RTH_LAND_TIMEOUT_MS         10000L  // mS. Shutdown throttle if descent lasts too long
00220 
00221 #define UAVX_TEL_INTERVAL_MS            125L    // mS. emit an interleaved telemetry packet
00222 #define ARDU_TEL_INTERVAL_MS            200L    // mS. Ardustation
00223 #define UAVX_CONTROL_TEL_INTERVAL_MS    100L    // mS. flight control only
00224 #define CUSTOM_TEL_INTERVAL_MS          125L    // mS.
00225 #define FAST_CUSTOM_TEL_INTERVAL_MS     5L      // mS.
00226 #define UAVX_MIN_TEL_INTERVAL_MS        1000L    // mS. emit minimum FPV telemetry packet slow rate for example to FrSky
00227 
00228 #define GPS_TIMEOUT_MS                  2000L   // mS.
00229 
00230 #define ALT_UPDATE_HZ                   20L     // Hz based on 50mS update time for Baro 
00231 
00232 #ifdef MULTICOPTER
00233 //#define PWM_UPDATE_HZ                   450L    // PWM motor update rate must be <450 and >100
00234 #else
00235 #define PWM_UPDATE_HZ                   40L     // standard RC servo update rate
00236 #endif // MULTICOPTER
00237 
00238 // Accelerometers
00239 
00240 #define DAMP_HORIZ_LIMIT                3L      // equivalent stick units - no larger than 5
00241 #define DAMP_VERT_LIMIT_LOW             -5L     // maximum throttle reduction
00242 #define DAMP_VERT_LIMIT_HIGH            20L     // maximum throttle increase
00243 
00244 // Gyros
00245 
00246 #define ATTITUDE_FF_DIFF                (24.0/16.0)   // 0 - 32 max feedforward speeds up roll/pitch recovery on fast stick change
00247 
00248 #define ATTITUDE_ENABLE_DECAY                   // enables decay to zero angle when roll/pitch is not in fact zero!
00249 // unfortunately there seems to be a leak which cause the roll/pitch
00250 // to increase without the decay.
00251 
00252 #define ATTITUDE_SCALE                  0.008     // scaling of stick units for attitude angle control 
00253 
00254 // Enable "Dynamic mass" compensation Roll and/or Pitch
00255 // Normally disabled for pitch only
00256 //#define ENABLE_DYNAMIC_MASS_COMP_ROLL
00257 //#define ENABLE_DYNAMIC_MASS_COMP_PITCH
00258 
00259 // Altitude Hold
00260 
00261 #define ALT_HOLD_MAX_ROC_MPS            0.5      // Must be changing altitude at less than this for alt. hold to be detected
00262 
00263 // the range within which throttle adjustment is proportional to altitude error
00264 #define ALT_BAND_M                      5.0     // Metres
00265 
00266 #define LAND_M                          3.0     // Metres deemed to have landed when below this height
00267 
00268 #define ALT_MAX_THR_COMP                40L     // Stick units was 32
00269 
00270 #define ALT_INT_WINDUP_LIMIT            16L
00271 
00272 #define ALT_RF_ENABLE_M                 5.0   // altitude below which the rangefiner is selected as the altitude source
00273 #define ALT_RF_DISABLE_M                6.0    // altitude above which the rangefiner is deselected as the altitude source
00274 
00275 // Navigation
00276 
00277 #define NAV_ACQUIRE_BEEPER
00278 
00279 //#define ATTITUDE_NO_LIMITS                // full stick range is available otherwise it is scaled to Nav sensitivity
00280 
00281 #define NAV_RTH_LOCKOUT                 ((10.0*PI)/180.0)    // first number is degrees
00282 
00283 #define NAV_MAX_ROLL_PITCH              25L     // Rx stick units
00284 #define NAV_CONTROL_HEADROOM            10L     // at least this much stick control headroom above Nav control    
00285 #define NAV_DIFF_LIMIT                  24L     // Approx double NAV_INT_LIMIT
00286 #define NAV_INT_WINDUP_LIMIT            64L     // ???
00287 
00288 #define NAV_ENFORCE_ALTITUDE_CEILING            // limit all autonomous altitudes
00289 #define NAV_CEILING                     120L    // 400 feet
00290 #define NAV_MAX_NEUTRAL_RADIUS          3L      // Metres also minimum closing radius
00291 #define NAV_MAX_RADIUS                  99L     // Metres
00292 
00293 #ifdef NAV_WING
00294 #define NAV_PROXIMITY_RADIUS           20.0     // Metres if there are no WPs
00295 #define NAV_PROXIMITY_ALTITUDE         5.0      // Metres
00296 #else
00297 #define NAV_PROXIMITY_RADIUS           5.0      // Metres if there are no WPs
00298 #define NAV_PROXIMITY_ALTITUDE         3.0      // Metres
00299 #endif // NAV_WING
00300 
00301 // reads $GPGGA sentence - all others discarded
00302 
00303 #define GPS_MIN_SATELLITES              6       // preferably > 5 for 3D fix
00304 #define GPS_MIN_FIX                     1       // must be 1 or 2 
00305 #define GPS_ORIGIN_SENTENCES            30L     // Number of sentences needed to obtain reasonable Origin
00306 #define GPS_MIN_HDILUTE                 130L    // HDilute * 100
00307 
00308 #define NAV_SENS_THRESHOLD              40L     // Navigation disabled if Ch7 is less than this
00309 #define NAV_SENS_ALTHOLD_THRESHOLD      20L     // Altitude hold disabled if Ch7 is less than this
00310 #define NAV_SENS_6CH                    80L     // Low GPS gain for 6ch Rx
00311 
00312 #define NAV_YAW_LIMIT                   10L     // yaw slew rate for RTH
00313 #define NAV_MAX_TRIM                    20L     // max trim offset for altitude hold
00314 #define NAV_CORR_SLEW_LIMIT             1L      // *5L maximum change in roll or pitch correction per GPS update
00315 
00316 #define ATTITUDE_HOLD_LIMIT             8L      // dead zone for roll/pitch stick for position hold
00317 #define ATTITUDE_HOLD_RESET_INTERVAL    25L     // number of impulse cycles before GPS position is re-acquired
00318 
00319 //#define NAV_PPM_FAILSAFE_RTH                // PPM signal failure causes RTH with Signal sampled periodically
00320 
00321 // Throttle
00322 
00323 #define THROTTLE_MAX_CURRENT            40L     // Amps total current at full throttle for estimated mAH
00324 #define CURRENT_SENSOR_MAX              50L     // Amps range of current sensor - used for estimated consumption - no actual sensor yet.
00325 #define THROTTLE_CURRENT_SCALE          ((THROTTLE_MAX_CURRENT * 1024L)/(200L * CURRENT_SENSOR_MAX ))
00326 
00327 #define THROTTLE_SLEW_LIMIT             0       // limits the rate at which the throttle can change (=0 no slew limit, 5 OK)
00328 #define THROTTLE_MIDDLE                 10      // throttle stick dead zone for baro 
00329 #define THROTTLE_MIN_ALT_HOLD           75      // min throttle stick for altitude lock
00330 
00331 typedef union {
00332     int16 i16;
00333     uint16 u16;
00334     struct {
00335         uint8 b0;
00336         uint8 b1;
00337     };
00338     struct {
00339         int8 pad;
00340         int8 i1;
00341     };
00342 } i16u;
00343 
00344 typedef union {
00345     int24 i24;
00346     uint24 u24;
00347     struct {
00348         uint8 b0;
00349         uint8 b1;
00350         uint8 b2;
00351     };
00352     struct {
00353         uint8 pad;
00354         int16 i2_1;
00355     };
00356 } i24u;
00357 
00358 typedef union {
00359     int32 i32;
00360     uint32 u32;
00361     struct {
00362         uint8 b0;
00363         uint8 b1;
00364         uint8 b2;
00365         uint8 b3;
00366     };
00367     struct {
00368         uint16 w0;
00369         uint16 w1;
00370     };
00371     struct {
00372         int16 pad;
00373         int16 iw1;
00374     };
00375 
00376     struct {
00377         uint8 padding;
00378         int24 i3_1;
00379     };
00380 } i32u;
00381 
00382 #define TX_BUFF_MASK    511
00383 #define RX_BUFF_MASK    511
00384 
00385 typedef struct { // PPM
00386     uint8 Head;
00387     int16 B[4][8];
00388 } int16x8x4Q;
00389 
00390 typedef struct { // Baro
00391     uint8 Head, Tail;
00392     int24 B[8];
00393 } int24x8Q;
00394 
00395 typedef struct { // GPS
00396     uint8 Head, Tail;
00397     int32 Lat[4], Lon[4];
00398 } int32x4Q;
00399 
00400 // Macros
00401 
00402 #define Sign(i)                 (((i)<0) ? -1 : 1)
00403 
00404 #define Max(i,j)                ((i<j) ? j : i)
00405 #define Min(i,j)                ((i<j) ? i : j )
00406 #define Decay1(i)               (((i) < 0) ? (i+1) : (((i) > 0) ? (i-1) : 0))
00407 #define Limit(i,l,u)            (((i) < l) ? l : (((i) > u) ? u : (i)))
00408 #define Limit1(i,l)            (((i) < -(l)) ? -(l) : (((i) > (l)) ? (l) : (i)))
00409 #define Sqr(v)                  ( v * v )
00410 
00411 // To speed up NMEA sentence processing
00412 // must have a positive argument
00413 #define ConvertDDegToMPi(d)     (((int32)d * 3574L)>>11)
00414 #define ConvertMPiToDDeg(d)     (((int32)d * 2048L)/3574L)
00415 
00416 #define ToPercent(n, m)         (((n)*100L)/m)
00417 
00418 // Simple filters using weighted averaging
00419 #define VerySoftFilter(O,N)     (SRS16((O)+(N)*3, 2))
00420 #define SoftFilter(O,N)         (SRS16((O)+(N), 1))
00421 #define MediumFilter(O,N)       (SRS16((O)*3+(N), 2))
00422 #define HardFilter(O,N)         (SRS16((O)*7+(N), 3))
00423 
00424 // Unsigned
00425 #define VerySoftFilterU(O,N)    (((O)+(N)*3+2)>>2)
00426 #define SoftFilterU(O,N)        (((O)+(N)+1)>>1)
00427 #define MediumFilterU(O,N)      (((O)*3+(N)+2)>>2)
00428 #define HardFilterU(O,N)        (((O)*7+(N)+4)>>3)
00429 
00430 #define NoFilter(O,N)           (N)
00431 
00432 #define DisableInterrupts       (INTCONbits.GIEH=0)
00433 #define EnableInterrupts        (INTCONbits.GIEH=1)
00434 #define InterruptsEnabled       (INTCONbits.GIEH)
00435 
00436 // PARAMS
00437 
00438 #define PARAMS_ADDR_PX      0         // code assumes zero!
00439 #define MAX_PARAMETERS      64        // parameters in PXPROM start at zero
00440 
00441 #define STATS_ADDR_PX       ( PARAMS_ADDR_PX + (MAX_PARAMETERS *2) )
00442 #define MAX_STATS           32 // 64 bytes
00443 
00444 // uses second Page of PXPROM
00445 #define NAV_ADDR_PX         256L
00446 // 0 - 8 not used
00447 
00448 #define NAV_NO_WP           (NAV_ADDR_PX + 9)
00449 #define NAV_PROX_ALT        (NAV_ADDR_PX + 10)
00450 #define NAV_PROX_RADIUS     (NAV_ADDR_PX + 11)
00451 #define NAV_ORIGIN_ALT      (NAV_ADDR_PX + 12)
00452 #define NAV_ORIGIN_LAT      (NAV_ADDR_PX + 14)
00453 #define NAV_ORIGIN_LON      (NAV_ADDR_PX + 18)
00454 #define NAV_RTH_ALT_HOLD    (NAV_ADDR_PX + 22)    // P[NavRTHAlt]
00455 #define NAV_WP_START        (NAV_ADDR_PX + 24)
00456 
00457 #define WAYPOINT_REC_SIZE    (4 + 4 + 2 + 1)      // Lat + Lon + Alt + Loiter
00458 #define NAV_MAX_WAYPOINTS    ((256 - 24 - 1)/WAYPOINT_REC_SIZE)
00459 
00460 //______________________________________________________________________________________________
00461 
00462 // main.c
00463 
00464 enum Directions {BF, LR, UD, Alt }; // x forward, y left and z down
00465 enum Angles { Roll, Pitch, Yaw };   // X, Y, Z
00466 
00467 #define FLAG_BYTES 10
00468 #define TELEMETRY_FLAG_BYTES 6
00469 typedef union {
00470     uint8 AllFlags[FLAG_BYTES];
00471     struct { // Order of these flags subject to change
00472         uint8
00473 AltHoldEnabled:
00474         1,
00475 AllowTurnToWP:
00476         1,            // stick programmed
00477 GyroFailure:
00478         1,
00479 LostModel:
00480         1,
00481 NearLevel:
00482         1,
00483 LowBatt:
00484         1,
00485 GPSValid:
00486         1,
00487 NavValid:
00488         1,
00489 
00490 BaroFailure:
00491         1,
00492 AccFailure:
00493         1,
00494 CompassFailure:
00495         1,
00496 GPSFailure:
00497         1,
00498 AttitudeHold:
00499         1,
00500 ThrottleMoving:
00501         1,
00502 HoldingAlt:
00503         1,
00504 Navigate:
00505         1,
00506 
00507 ReturnHome:
00508         1,
00509 WayPointAchieved:
00510         1,
00511 WayPointCentred:
00512         1,
00513 UnusedGPSAlt: // was UsingGPSAlt:
00514         1,
00515 UsingRTHAutoDescend:
00516         1,
00517 BaroAltitudeValid:
00518         1,
00519 RangefinderAltitudeValid:
00520         1,
00521 UsingRangefinderAlt:
00522         1,
00523 
00524         // internal flags not really useful externally
00525 
00526 AllowNavAltitudeHold:
00527         1,    // stick programmed
00528 UsingPositionHoldLock:
00529         1,
00530 Ch5Active:
00531         1,
00532 Simulation:
00533         1,
00534 AcquireNewPosition:
00535         1,
00536 MotorsArmed:
00537         1,
00538 NavigationActive:
00539         1,
00540 ForceFailsafe:
00541         1,
00542 
00543 Signal:
00544         1,
00545 RCFrameOK:
00546         1,
00547 ParametersValid:
00548         1,
00549 RCNewValues:
00550         1,
00551 NewCommands:
00552         1,
00553 AccelerationsValid:
00554         1,
00555 CompassValid:
00556         1,
00557 CompassMissRead:
00558         1,
00559 
00560 UsingPolarCoordinates:
00561         1,
00562 UsingAngleControl:
00563         1,
00564 GPSPacketReceived:
00565         1,
00566 NavComputed:
00567         1,
00568 AltitudeValid:
00569         1,
00570 UsingSerialPPM:
00571         1,
00572 UsingTxMode2:
00573         1,
00574 UsingAltOrientation:
00575         1,
00576 
00577         // outside telemetry flags
00578 
00579 UsingTelemetry:
00580         1,
00581 TxToBuffer:
00582         1,
00583 NewBaroValue:
00584         1,
00585 BeeperInUse:
00586         1,
00587 RFInInches:
00588         1,
00589 FirstArmed:
00590 
00591         1,
00592 HaveGPRMC:
00593         1,
00594 UsingPolar:
00595         1,
00596 RTCValid:
00597         1,
00598 SDCardValid:
00599         1,
00600 PXImageStale:
00601         1,
00602 UsingLEDDriver:
00603         1,
00604 Using9DOF:
00605         1,
00606 HaveBatterySensor:
00607         1,
00608 AccMagnitudeOK:
00609         1;
00610     };
00611 } Flags;
00612 
00613 enum FlightStates { Starting, Landing, Landed, Shutdown, InFlight};
00614 extern volatile Flags F;
00615 extern int8 State;
00616 extern int8 r;
00617 
00618 //______________________________________________________________________________________________
00619 
00620 // accel.c
00621 
00622 enum AccelerometerTypes { LISLAcc, ADXL345Acc, AccUnknown };
00623 
00624 extern void ShowAccType(void);
00625 extern void ReadAccelerometers(void);
00626 extern void GetNeutralAccelerations(void);
00627 extern void GetAccelerations(void);
00628 extern void AccelerometerTest(void);
00629 extern void InitAccelerometers(void);
00630 
00631 // ADXL345 3-Axis Accelerometer
00632 
00633 #ifdef SIX_DOF
00634 #define ADXL345_ID         0xA6
00635 #else
00636 #define ADXL345_ID         0x53
00637 #endif // 6DOF
00638 
00639 #define ADXL345_WR           ADXL345_ID
00640 #define ADXL345_RD           (ADXL345_ID+1)
00641 
00642 extern void ReadADXL345Acc(void);
00643 extern void InitADXL345Acc(void);
00644 extern boolean ADXL345AccActive(void);
00645 
00646 // LIS3LV02DG 3-Axis Accelerometer 400KHz
00647 
00648 #define LISL_WHOAMI      0x0f
00649 #define LISL_OFFSET_X    0x16
00650 #define LISL_OFFSET_Y    0x17
00651 #define LISL_OFFSET_Z    0x18
00652 #define LISL_GAIN_X      0x19
00653 #define LISL_GAIN_Y      0x1A
00654 #define LISL_GAIN_Z      0x1B
00655 #define LISL_CTRLREG_1   0x20
00656 #define LISL_CTRLREG_2   0x21
00657 #define LISL_CTRLREG_3   0x22
00658 #define LISL_STATUS      0x27
00659 #define LISL_OUTX_L      0x28
00660 #define LISL_OUTX_H      0x29
00661 #define LISL_OUTY_L      0x2A
00662 #define LISL_OUTY_H      0x2B
00663 #define LISL_OUTZ_L      0x2C
00664 #define LISL_OUTZ_H      0x2D
00665 #define LISL_FF_CFG      0x30
00666 #define LISL_FF_SRC      0x31
00667 #define LISL_FF_ACK      0x32
00668 #define LISL_FF_THS_L    0x34
00669 #define LISL_FF_THS_H    0x35
00670 #define LISL_FF_DUR      0x36
00671 #define LISL_DD_CFG      0x38
00672 #define LISL_INCR_ADDR   0x40
00673 #define LISL_READ        0x80
00674 #define LISL_ID          0x3a
00675 
00676 #define LISL_WR         LISL_ID
00677 #define LISL_RD         (LISL_ID+1)
00678 
00679 extern boolean WriteLISL(uint8, uint8);
00680 extern void ReadLISLAcc(void);
00681 extern void InitLISLAcc(void);
00682 extern boolean LISLAccActive(void);
00683 
00684 // other accelerometers
00685 
00686 extern real32 Vel[3], AccADC[3], AccNoise[3], Acc[3], AccNeutral[3], Accp[3];
00687 extern int16 NewAccNeutral[3];
00688 extern uint8 AccelerometerType;
00689 extern real32 GravityR; // recip gravity scaling
00690 
00691 //______________________________________________________________________________________________
00692 
00693 // analog.c
00694 
00695 extern real32 ADC(uint8);
00696 extern void GetBattery(void);
00697 extern void BatteryTest(void);
00698 extern void InitBattery(void);
00699 
00700 extern void GetRangefinderAltitude(void);
00701 extern void InitRangefinder(void);
00702 
00703 extern real32 BatteryVolts, BatteryCurrentADCEstimated, BatteryChargeUsedAH;
00704 extern real32 BatteryCharge, BatteryCurrent;
00705 extern real32 BatteryVoltsScale;
00706 
00707 extern real32 RangefinderAltitude;
00708 
00709 //______________________________________________________________________________________________
00710 
00711 // attitude.c
00712 
00713 enum AttitudeMethods { Integrator, Wolferl,  Complementary, Kalman, PremerlaniDCM,  MadgwickIMU,
00714                 MadgwickIMU2, MadgwickAHRS, MultiWii,  MaxAttitudeScheme};
00715 
00716 extern void AdaptiveYawLPFreq(void);
00717 extern void GetAttitude(void);
00718 extern void DoLegacyYawComp(uint8);
00719 extern void NormaliseAccelerations(void);
00720 extern void AttitudeTest(void);
00721 extern void InitAttitude(void);
00722 
00723 extern real32 dT, dTOn2, dTR, dTmS;
00724 extern real32 YawFilterLPFreq;
00725 extern uint32 PrevDCMUpdate;
00726 extern uint8 AttitudeMethod;
00727 
00728 extern real32 EstAngle[3][MaxAttitudeScheme];
00729 extern real32 EstRate[3][MaxAttitudeScheme];
00730 
00731 extern real32 HE;
00732 
00733 // SimpleIntegrator
00734 
00735 extern void DoIntegrator(void);
00736 
00737 // Wolferl
00738 
00739 extern real32 Correction[2];
00740 
00741 extern void DoWolferl(void);
00742 
00743 // DCM Premerlani
00744 
00745 extern void DCMNormalise(void);
00746 extern void DCMDriftCorrection(void);
00747 extern void AccAdjust(void);
00748 extern void DCMMotionCompensation(void);
00749 extern void DCMUpdate(void);
00750 extern void DCMEulerAngles(void);
00751 extern void DoDCM(void);
00752 
00753 extern real32 RollPitchError[3];
00754 extern real32 AccV[3];
00755 extern real32 GyroV[3];
00756 extern real32 OmegaV[3];
00757 extern real32 OmegaP[3];
00758 extern real32 OmegaI[3];
00759 extern real32 Omega[3];
00760 extern real32 DCM[3][3];
00761 extern real32 U[3][3];
00762 extern real32 TempM[3][3];
00763 
00764 // IMU & AHRS S.O.H. Madgwick
00765 
00766 extern void DoMadgwickIMU(real32, real32, real32, real32, real32, real32);
00767 extern void DoMadgwickIMU2(real32, real32, real32, real32, real32, real32);
00768 extern void DoMadgwickAHRS(real32, real32, real32, real32, real32, real32, real32, real32, real32);
00769 extern void MadgwickEulerAngles(uint8);
00770 
00771 extern real32 q0, q1, q2, q3;    // quaternion elements representing the estimated orientation
00772 
00773 // Kalman
00774 extern void DoKalman(void);
00775 
00776 // Complementary
00777 extern void DoCF(void);
00778 
00779 // MultiWii
00780 extern  void DoMultiWii();
00781 
00782 //______________________________________________________________________________________________
00783 
00784 // autonomous.c
00785 
00786 extern void DoShutdown(void);
00787 extern void FailsafeHoldPosition(void);
00788 extern void DoPolarOrientation(void);
00789 extern void Navigate(int32, int32);
00790 extern void SetDesiredAltitude(int16);
00791 extern void DoFailsafeLanding(void);
00792 extern void AcquireHoldPosition(void);
00793 extern void DoNavigation(void);
00794 extern void FakeFlight(void);
00795 extern void DoPPMFailsafe(void);
00796 extern void WriteWayPointPX(uint8, int32, int32, int16, uint8);
00797 extern void UAVXNavCommand(void);
00798 extern void GetWayPointPX(int8);
00799 extern void InitNavigation(void);
00800 
00801 typedef struct {
00802     int32 E, N;
00803     int16 A;
00804     uint8 L;
00805 } WayPoint;
00806 
00807 enum NavStates { HoldingStation, ReturningHome, AtHome, Descending, Touchdown, Navigating, Loitering};
00808 enum FailStates { MonitoringRx, Aborting, Terminating, Terminated };
00809 
00810 extern real32 NavCorr[3], NavCorrp[3];
00811 extern real32 NavE[3], NavEp[3], NavIntE[3];
00812 extern int16 NavYCorrLimit;
00813 
00814 extern int8 FailState;
00815 extern WayPoint WP;
00816 extern int8 CurrWP;
00817 extern int8 NoOfWayPoints;
00818 extern int16 WPAltitude;
00819 extern int32 WPLatitude, WPLongitude;
00820 
00821 extern real32 WayHeading;
00822 extern real32 NavPolarRadius, NavNeutralRadius, NavProximityRadius, NavProximityAltitude;
00823 
00824 extern int24 NavRTHTimeoutmS;
00825 extern int8 NavState;
00826 extern int16 NavSensitivity, RollPitchMax;
00827 extern int16 AltSum;
00828 
00829 extern int16 EffNavSensitivity;
00830 extern int16 EastP, EastDiffSum, EastI, EastCorr, NorthP, NorthDiffSum, NorthI, NorthCorr;
00831 extern int24 EastD, EastDiffP, NorthD, NorthDiffP;
00832 
00833 //______________________________________________________________________________________________
00834 
00835 // baro.c
00836 
00837 #define BARO_INIT_RETRIES    10    // max number of initialisation retries
00838 
00839 enum BaroTypes { BaroBMP085, BaroSMD500, BaroMPX4115, BaroUnknown };
00840 
00841 #define ADS7823_TIME_MS     50      // 20Hz
00842 #define ADS7823_MAX         4095    // 12 bits
00843 #define ADS7823_ID          0x90    // ADS7823 ADC
00844 #define ADS7823_WR          ADS7823_ID      // ADS7823 ADC
00845 #define ADS7823_RD          (ADS7823_ID+1)  // ADS7823 ADC
00846 #define ADS7823_CMD         0x00
00847 
00848 extern uint8 MCP4725_ID_Actual;
00849 
00850 #define MCP4725_MAX         4095    // 12 bits
00851 #define MCP4725_ID_0xC8     0xc8
00852 #define MCP4725_ID_0xCC     0xcc
00853 #define MCP4725_CMD         0x40    // write to DAC registor in next 2 bytes
00854 #define MCP4725_EPROM       0x60    // write to DAC registor and eprom
00855 
00856 extern void SetFreescaleMCP4725(int16);
00857 extern void SetFreescaleOffset(void);
00858 extern void ReadFreescaleBaro(void);
00859 extern real32 FreescaleToDM(int24);
00860 extern void GetFreescaleBaroAltitude(void);
00861 extern boolean IsFreescaleBaroActive(void);
00862 extern boolean IdentifyMCP4725(void);
00863 extern void InitFreescaleBarometer(void);
00864 
00865 #define BOSCH_ID_BMP085         0x55
00866 #define BOSCH_ID                0xee
00867 #define BOSCH_WR                BOSCH_ID_BMP085
00868 #define BOSCH_RD                (BOSCH_ID_BMP085+1)
00869 #define BOSCH_TEMP_BMP085       0x2e
00870 #define BOSCH_TEMP_SMD500       0x6e
00871 #define BOSCH_PRESS             0xf4
00872 #define BOSCH_CTL               0xf4                // OSRS=3 for BMP085 25.5mS, SMD500 34mS                
00873 #define BOSCH_ADC_MSB           0xf6
00874 #define BOSCH_ADC_LSB           0xf7
00875 #define BOSCH_ADC_XLSB          0xf8                // BMP085
00876 #define BOSCH_TYPE              0xd0
00877 
00878 extern void StartBoschBaroADC(boolean);
00879 extern void ReadBoschBaro(void);
00880 extern int24 CompensatedBoschPressure(uint16, uint16);
00881 extern void GetBoschBaroAltitude(void);
00882 extern boolean IsBoschBaroActive(void);
00883 extern void InitBoschBarometer(void);
00884 
00885 extern void GetBaroAltitude(void);
00886 extern void InitBarometer(void);
00887 
00888 extern void ShowBaroType(void);
00889 extern void BaroTest(void);
00890 
00891 extern int32 OriginBaroPressure, CompBaroPressure;
00892 extern uint16 BaroPressure, BaroTemperature;
00893 extern boolean AcquiringPressure;
00894 extern real32 BaroRelAltitude, BaroRelAltitudeP;
00895 extern i16u BaroVal;
00896 extern int8 BaroType;
00897 extern int16 AltitudeUpdateRate;
00898 extern int8 BaroRetries;
00899 
00900 extern real32 FakeBaroRelAltitude;
00901 
00902 //______________________________________________________________________________________________
00903 
00904 // compass.c
00905 
00906 enum CompassTypes { HMC5843, HMC6352, NoCompass };
00907 
00908 //#define SUPPRESS_COMPASS_FILTER
00909 
00910 extern real32 AdaptiveCompassFreq(void);
00911 extern void ReadCompass(void);
00912 extern void GetHeading(void);
00913 extern real32 MinimumTurn(real32);
00914 extern void ShowCompassType(void);
00915 extern void DoCompassTest(void);
00916 extern void CalibrateCompass(void);
00917 extern void InitCompass(void);
00918 
00919 // HMC5843 Compass
00920 
00921 #define HMC5843_DR          6       // 50Hz
00922 #define HMC5843_UPDATE_S    0.02
00923 
00924 //#define HMC5843_DR            5    // 20Hz
00925 //#define HMC5843_UPDATE_S      0.05
00926 
00927 #define HMC5843_ID      0x3C        // 0x1E 9DOF
00928 #define HMC5843_WR      HMC5843_ID
00929 #define HMC5843_RD      (HMC5843_ID+1)
00930 
00931 extern void ReadHMC5843(void);
00932 extern void GetHMC5843Parameters(void);
00933 extern void DoHMC5843Test(void);
00934 extern void CalibrateHMC5843(void);
00935 extern void InitHMC5843(void);
00936 extern boolean IsHMC5843Active(void);
00937 
00938 // HMC6352
00939 
00940 #define HMC6352_UPDATE_S    0.05    // 20Hz
00941 
00942 #define HMC6352_ID       0x42
00943 #define HMC6352_WR       HMC6352_ID
00944 #define HMC6352_RD       (HMC6352_ID+1)
00945 
00946 extern void ReadHMC6352(void);
00947 extern uint8 WriteByteHMC6352(uint8);
00948 extern void GetHMC6352Parameters(void);
00949 extern void DoHMC6352Test(void);
00950 extern void CalibrateHMC6352(void);
00951 extern void InitHMC6352(void);
00952 extern boolean HMC6352Active(void);
00953 
00954 typedef struct {
00955     real32 V;
00956     real32 Offset;
00957 } MagStruct;
00958 extern MagStruct Mag[3];
00959 extern real32 MagDeviation, CompassOffset;
00960 extern real32 MagHeading, Heading, HeadingP, FakeHeading;
00961 extern real32 CompassMaxSlew;
00962 extern real32 HeadingSin, HeadingCos;
00963 extern uint8 CompassType;
00964 
00965 //______________________________________________________________________________________________
00966 
00967 // control.c
00968 
00969 extern void DoAltitudeHold(void);
00970 extern void UpdateAltitudeSource(void);
00971 extern real32 AltitudeCF( real32, real32);
00972 extern void AltitudeHold(void);
00973 
00974 extern void LimitYawSum(void);
00975 extern void InertialDamping(void);
00976 extern void DoOrientationTransform(void);
00977 extern void DoControl(void);
00978 
00979 extern void LightsAndSirens(void);
00980 extern void InitControl(void);
00981 
00982 extern real32 Angle[3], Anglep[3], Rate[3], Ratep[3], YawRateEp;
00983 extern real32 AccAltComp, AltComp;
00984 extern real32 DescentComp;
00985 extern real32 Rl, Pl, Yl, Ylp;
00986 extern real32 GS;
00987 
00988 extern int16 HoldYaw, YawSlewLimit;
00989 extern int16 CruiseThrottle, MaxCruiseThrottle, DesiredThrottle, IdleThrottle, InitialThrottle, StickThrottle;
00990 extern int16 DesiredRoll, DesiredPitch, DesiredYaw, DesiredCamPitchTrim;
00991 extern real32 DesiredHeading;
00992 extern real32 ControlRoll, ControlPitch, ControlRollP, ControlPitchP;
00993 extern real32 CameraRollAngle, CameraPitchAngle;
00994 extern int16 CurrMaxRollPitch;
00995 extern int16 Trim[3];
00996 
00997 extern real32 GRollKp, GRollKi, GRollKd, GPitchKp, GPitchKi, GPitchKd;
00998 
00999 extern int16 AttitudeHoldResetCount;
01000 extern real32 AltDiffSum, AltD, AltDSum;
01001 extern real32 DesiredAltitude, Altitude, AltitudeP;
01002 extern real32 ROC;
01003 extern boolean FirstPass;
01004 
01005 extern uint32 AltuSp;
01006 extern uint32 ControlUpdateTimeuS;
01007 extern int16 DescentLimiter;
01008 
01009 extern int16 FakeDesiredPitch, FakeDesiredRoll, FakeDesiredYaw;
01010 
01011 //______________________________________________________________________________________________
01012 
01013 // gps.c
01014 
01015 extern void UpdateField(void);
01016 extern int32 ConvertGPSToM(int32);
01017 extern int32 ConvertMToGPS(int32);
01018 extern int24 ConvertInt(uint8, uint8);
01019 extern real32 ConvertReal(uint8, uint8);
01020 extern int32 ConvertLatLonM(uint8, uint8);
01021 extern void ConvertUTime(uint8, uint8);
01022 extern void ConvertUDate(uint8, uint8);
01023 extern void ParseGPGGASentence(void);
01024 extern void ParseGPRMCSentence(void);
01025 extern void SetGPSOrigin(void);
01026 extern void ParseGPSSentence(void);
01027 extern void RxGPSPacket(uint8);
01028 extern void SetGPSOrigin(void);
01029 extern void DoGPS(void);
01030 extern void GPSTest(void);
01031 extern void UpdateGPS(void);
01032 extern void InitGPS(void);
01033 
01034 #define MAXTAGINDEX         4
01035 #define GPSRXBUFFLENGTH     80
01036 typedef struct {
01037     uint8 s[GPSRXBUFFLENGTH];
01038     uint8 length;
01039 } NMEAStruct;
01040 
01041 #define MAX_NMEA_SENTENCES 2
01042 #define NMEA_TAG_INDEX 4
01043 
01044 enum GPSPackeType { GPGGAPacketTag, GPRMCPacketTag,  GPSUnknownPacketTag };
01045 extern NMEAStruct NMEA;
01046 extern const uint8 NMEATags[MAX_NMEA_SENTENCES][5];
01047 
01048 extern uint8 GPSPacketTag;
01049 extern tm GPSTime;
01050 extern int32 GPSStartTime, GPSSeconds;
01051 extern int32 GPSLatitude, GPSLongitude;
01052 extern int32 OriginLatitude, OriginLongitude;
01053 extern real32 GPSAltitude, GPSRelAltitude, GPSOriginAltitude;
01054 extern int32 DesiredLatitude, DesiredLongitude;
01055 extern int32 LatitudeP, LongitudeP, HoldLatitude, HoldLongitude;
01056 extern real32 GPSLongitudeCorrection;
01057 extern real32 GPSHeading, GPSMagHeading, GPSMagDeviation, GPSVel, GPSVelp, GPSROC;
01058 extern int8 GPSNoOfSats;
01059 extern int8 GPSFix;
01060 extern int16 GPSHDilute;
01061 
01062 extern real32 GPSdT, GPSdTR;
01063 extern uint32 GPSuSp;
01064 
01065 extern int32 FakeGPSLongitude, FakeGPSLatitude;
01066 
01067 extern uint8 ll, tt, ss, RxCh;
01068 extern uint8 GPSCheckSumChar, GPSTxCheckSum;
01069 
01070 //______________________________________________________________________________________________
01071 
01072 // gyro.c
01073 
01074 enum GyroTypes { MLX90609Gyro, ADXRS150Gyro, IDG300Gyro, LY530Gyro, ADXRS300Gyro, ITG3200Gyro,
01075                  IRSensors, UnknownGyro
01076                };
01077 
01078 extern void ReadGyros(void);
01079 extern void GetGyroRates(void);
01080 extern void CheckGyroFault(uint8, uint8, uint8);
01081 extern void ErectGyros(void);
01082 extern void GyroTest(void);
01083 extern void InitGyros(void);
01084 extern void ShowGyroType(void);
01085 
01086 // Generic Analog Gyrso
01087 extern void ReadAnalogGyros(void);
01088 extern void InitAnalogGyros(void);
01089 extern void CheckAnalogGyroFault(uint8, uint8, uint8);
01090 extern void AnalogGyroTest(void);
01091 
01092 // ITG3200 3 Axis Gyro
01093 
01094 #define ITG3200_WHO     0x00
01095 #define ITG3200_SMPL    0x15
01096 #define ITG3200_DLPF    0x16
01097 #define ITG3200_INT_C   0x17
01098 #define ITG3200_TMP_H   0x18
01099 #define ITG3200_TMP_L   0x1C
01100 #define ITG3200_GX_H    0x1D
01101 #define ITG3200_GX_L    0x1E
01102 #define ITG3200_GY_H    0x1F
01103 #define ITG3200_GY_L    0x20
01104 #define ITG3200_GZ_H    0x21
01105 #define ITG3200_GZ_L    0x22
01106 #define ITG3200_PWR_M   0x3E
01107 
01108 #ifdef SIX_DOF
01109 #define ITG3200_ID      0xD0
01110 #else
01111 #define ITG3200_ID      0xD2
01112 #endif // 6DOF
01113 
01114 #define ITG3200_WR       ITG3200_ID
01115 #define ITG3200_RD       (ITG3200_ID+1)
01116 
01117 extern void ReadITG3200Gyro(void);
01118 extern uint8 ReadByteITG3200(uint8);
01119 extern boolean WriteByteITG3200(uint8, uint8);
01120 extern void InitITG3200Gyro(void);
01121 extern void ITG3200Test(void);
01122 extern boolean ITG3200GyroActive(void);
01123 
01124 extern const real32 GyroToRadian[];
01125 extern real32 GyroADC[3], GyroADCp[3], GyroNoise[3], GyroNeutral[3], Gyrop[3], Gyro[3]; // Radians
01126 extern uint8 GyroType;
01127 
01128 //______________________________________________________________________________________________
01129 
01130 // harness.c
01131 
01132 extern void UpdateRTC(void);
01133 extern void InitHarness(void);
01134 
01135 extern LocalFileSystem Flash;
01136 
01137 extern uint8 I2C0SDAPin, I2C0SCLPin;
01138 
01139 // 1 GND
01140 // 2 4.5-9V
01141 // 3 VBat
01142 // 4 NReset
01143 
01144 //extern SPI SPI0;                  // 5 SPI MOSI, 6 SPI MOSO, 7 SPI CLK
01145 //extern DigitalOut SPICS;          // 8
01146 extern SDFileSystem SDCard;
01147 
01148 //extern I2C I2C1;                  // 9, 10
01149 extern SerialBuffered TelemetrySerial;
01150 extern DigitalIn Armed;             // 11 SPI MOSI
01151 extern DigitalOut PWMCamPitch;      // 12 SPI MOSO    // 12 SPI MOSO
01152 extern Serial GPSSerial;            // 13 Tx1 / SPI CLK, 14 Rx1
01153 
01154 extern AnalogIn PitchADC;           // 15 AN0
01155 extern AnalogIn RollADC;            // 16 AN1
01156 extern AnalogIn YawADC;             // 17 AN2
01157 
01158 extern AnalogIn RangefinderADC;     // 18 AN3
01159 extern AnalogIn BatteryCurrentADC;  // 19 AN4
01160 extern AnalogIn BatteryVoltsADC;    // 20 AN5
01161 
01162 enum ADCValues { ADCPitch, ADCRoll, ADCYaw, ADCRangefinder, ADCBatteryCurrent, ADCBatteryVolts };
01163 
01164 extern PwmOut Out0;                 // 21
01165 extern PwmOut Out1;                 // 22
01166 extern PwmOut Out2;                 // 23
01167 extern PwmOut Out3;                 // 24
01168 
01169 //extern PwmOut Out4;                 // 25
01170 //extern PwmOut Out5;                 // 26
01171 extern DigitalOut DebugPin;           // 25
01172 
01173 #ifdef SW_I2C
01174 
01175 class MyI2C {
01176 
01177 private:
01178 
01179     boolean waitclock(void);
01180 
01181 public:
01182 
01183     void frequency(uint32 f);
01184     void start(void);
01185     void stop(void);
01186     uint8 blockread(uint8 r, char* b, uint8);
01187     uint8 read(uint8 r);
01188     boolean blockwrite(uint8 a, const char* b, uint8 l);
01189     uint8 write(uint8 d);
01190 };
01191 
01192 extern MyI2C I2C0;                    // 27, 28
01193 extern PortInOut I2C0SCL;
01194 extern PortInOut I2C0SDA;
01195 #else
01196 
01197 extern I2C I2C0;                    // 27, 28
01198 #define blockread   read
01199 #define blockwrite  write
01200 
01201 #endif // SW_I2C
01202 
01203 extern DigitalIn  RCIn;             // 29 CAN
01204 extern InterruptIn RCInterrupt;
01205 
01206 extern DigitalOut PWMCamRoll;      // 30 CAN
01207 
01208 //extern Serial TelemetrySerial;
01209 // 31 USB +, 32 USB -
01210 // 34 -37 Ethernet
01211 // 38 IF +
01212 // 39 IF -
01213 // 40 3.3V Out
01214 
01215 extern DigitalOut BlueLED;
01216 extern DigitalOut GreenLED;
01217 extern DigitalOut RedLED;
01218 extern DigitalOut YellowLED;
01219 
01220 extern char RTCString[], RTCLogfile[];
01221 extern struct tm* RTCTime;
01222 
01223 #define I2CTEMP I2C0
01224 #define I2CBARO I2C0
01225 #define I2CBAROAddressResponds I2C0AddressResponds
01226 #define I2CGYRO I2C0
01227 #define I2CGYROAddressResponds I2C0AddressResponds
01228 #define I2CACC I2C0
01229 #define I2CACCAddressResponds I2C0AddressResponds
01230 #define I2CCOMPASS I2C0
01231 #define I2CCOMPASSAddressResponds I2C0AddressResponds
01232 #define I2CESC I2C0
01233 #define I2CLED I2C0
01234 
01235 #define SPIACC SPI0
01236 
01237 #define mSClock timer.read_ms
01238 #define uSClock timer.read_us
01239 
01240 //______________________________________________________________________________________________
01241 
01242 // irq.c
01243 
01244 #define CONTROLS                7
01245 #define MAX_CONTROLS            12     // maximum Rx channels
01246 
01247 #define RxFilter            MediumFilterU
01248 //#define RxFilter            SoftFilterU
01249 //#define RxFilter            NoFilter
01250 
01251 #define RC_GOOD_BUCKET_MAX      20
01252 #define RC_GOOD_RATIO           4
01253 
01254 #define RC_MINIMUM              0
01255 
01256 #define RC_MAXIMUM              238
01257 
01258 #define RC_NEUTRAL              ((RC_MAXIMUM-RC_MINIMUM+1)/2)
01259 
01260 #define RC_MAX_ROLL_PITCH       (170)
01261 
01262 #define RC_THRES_STOP           ((6L*RC_MAXIMUM)/100)
01263 #define RC_THRES_START          ((10L*RC_MAXIMUM)/100)
01264 
01265 #define RC_FRAME_TIMEOUT_MS     25
01266 #define RC_SIGNAL_TIMEOUT_MS    (5L*RC_FRAME_TIMEOUT_MS)
01267 #define RC_THR_MAX              RC_MAXIMUM
01268 
01269 #define MAX_ROLL_PITCH          RC_NEUTRAL    // Rx stick units - rely on Tx Rate/Exp
01270 
01271 #ifdef RX6CH
01272 #define RC_CONTROLS 5
01273 #else
01274 #define RC_CONTROLS CONTROLS
01275 #endif //RX6CH
01276 
01277 extern void InitTimersAndInterrupts(void);
01278 
01279 extern void enableTxIrq0(void);
01280 extern void disableTxIrq0(void);
01281 extern void enableTxIrq1(void);
01282 extern void disableTxIrq1(void);
01283 
01284 extern void RCISR(void);
01285 extern void RCNullISR(void);
01286 extern void RCTimeoutISR(void);
01287 extern void GPSInISR(void);
01288 extern void GPSOutISR(void);
01289 extern void TelemetryInISR(void);
01290 extern void TelemetryOutISR(void);
01291 extern void RazorInISR(void);
01292 extern void RazorOutISR(void);
01293 
01294 extern void TurnBeeperOff(void);
01295 extern void DoBeeperPulse1mS(int16);
01296 
01297 enum { Clock, GeneralCountdown, UpdateTimeout, RCSignalTimeout, BeeperTimeout, ThrottleIdleTimeout,
01298        FailsafeTimeout, AbortTimeout, RxFailsafeTimeout, DescentUpdate, StickChangeUpdate, NavStateTimeout, LastValidRx,
01299        LastGPS, StartTime, GPSTimeout, LEDChaserUpdate, LastBattery, TelemetryUpdate, NavActiveTime, BeeperUpdate,
01300        ArmedTimeout, ThrottleUpdate, RazorUpdate, VerticalDampingUpdate, CamUpdate, BaroUpdate, CompassUpdate
01301      };
01302 
01303 enum WaitPacketStates { WaitSentinel, WaitTag, WaitBody, WaitCheckSum};
01304 
01305 extern uint32 mS[];
01306 extern int16 PPM[];
01307 extern int8 PPM_Index;
01308 extern uint32 PrevEdge, CurrEdge;
01309 extern uint8 Intersection, PrevPattern, CurrPattern;
01310 extern uint32 Width;
01311 extern uint8 RxState;
01312 extern boolean WaitingForSync;
01313 
01314 extern int8 SignalCount;
01315 extern uint16 RCGlitches;
01316 
01317 extern Timer timer;
01318 extern Timeout CamRollTimeout, CamPitchTimeout;
01319 extern Ticker CameraTicker;
01320 extern Timeout RCTimeout;
01321 
01322 //______________________________________________________________________________________________
01323 
01324 // ir.c
01325 
01326 extern void GetIRAttitude(void);
01327 extern void TrackIRMaxMin(uint8);
01328 extern void InitIRSensors(void);
01329 
01330 extern real32 IR[3], IRMax, IRMin, IRSwing;
01331 
01332 //______________________________________________________________________________________________
01333 
01334 // i2c.c
01335 
01336 #define I2C_ACK  true
01337 #define I2C_NACK false
01338 
01339 extern boolean I2C0AddressResponds(uint8);
01340 #ifdef HAVE_I2C1
01341 extern boolean I2C1AddressResponds(uint8);
01342 #endif // HAVE_I2C1
01343 extern void TrackMinI2CRate(uint32);
01344 extern void ShowI2CDeviceName(uint8);
01345 extern uint8 ScanI2CBus(void);
01346 extern boolean ESCWaitClkHi(void);
01347 extern void ProgramSlaveAddress(uint8);
01348 extern void ConfigureESCs(void);
01349 extern void InitI2C(void);
01350 
01351 extern uint32 MinI2CRate;
01352 extern uint16 I2CError[256];
01353 
01354 //______________________________________________________________________________________________
01355 
01356 // leds.c
01357 
01358 #define PCA9551_ID         0xc0
01359 
01360 #define DRV0M              0x0001
01361 #define DRV1M              0x0002
01362 #define DRV2M              0x0004
01363 #define DRV3M              0x0008
01364 
01365 #define AUX0M              0x0010
01366 #define AUX1M              0x0020
01367 #define AUX2M              0x0040
01368 #define AUX3M              0x0080
01369 
01370 #define BeeperM            DRV0M
01371 
01372 #define YellowM            0x0100
01373 #define RedM               0x0200
01374 #define GreenM             0x0400
01375 #define BlueM              0x0800
01376 
01377 #define ALL_LEDS_ON        LEDsOn(BlueM|RedM|GreenM|YellowM)
01378 #define ALL_LEDS_OFF       LEDsOff(BlueM|RedM|GreenM|YellowM)
01379 
01380 #define AUX_LEDS_ON        LEDsOn(AUX0M|AUX1M|AUX2M|AUX3M)
01381 #define AUX_LEDS_OFF       LEDsOff(AUX0M|AUX1M|AUX2M|AUX3M)
01382 
01383 #define AUX_DRVS_ON        LEDsOn(DRV0M|DRV1M|DRV2M|DRV3M)
01384 #define AUX_DRVS_OFF       LEDsOff(DRV0M|DRV1M|DRV2M|DRV3M)
01385 
01386 #define ALL_LEDS_ARE_OFF   ( (LEDShadow&(BlueM|RedM|GreenM|YellowM))== (uint8)0 )
01387 
01388 #define BEEPER_IS_ON       ( (LEDShadow & BeeperM) != (uint8)0 )
01389 #define BEEPER_IS_OFF      ( (LEDShadow & BeeperM) == (uint8)0 )
01390 
01391 #define LEDRed_ON          LEDsOn(RedM)
01392 #define LEDBlue_ON         LEDsOn(BlueM)
01393 #define LEDGreen_ON        LEDsOn(GreenM)
01394 #define LEDYellow_ON       LEDsOn(YellowM)
01395 #define LEDAUX1_ON         LEDsOn(AUX1M)
01396 #define LEDAUX2_ON         LEDsOn(AUX2M)
01397 #define LEDAUX3_ON         LEDsOn(AUX3M)
01398 #define LEDRed_OFF         LEDsOff(RedM)
01399 #define LEDBlue_OFF        LEDsOff(BlueM)
01400 #define LEDGreen_OFF       LEDsOff(GreenM)
01401 #define LEDYellow_OFF      LEDsOff(YellowM)
01402 #define LEDYellow_TOG      if( (LEDShadow&YellowM) == (uint8)0 ) LEDsOn(YellowM); else LEDsOff(YellowM)
01403 #define LEDRed_TOG         if( (LEDShadow&RedM) == (uint8)0 ) LEDsOn(RedM); else LEDsOff(RedM)
01404 #define LEDBlue_TOG        if( (LEDShadow&BlueM) == (uint8)0 ) LEDsOn(BlueM); else LEDsOff(BlueM)
01405 #define LEDGreen_TOG       if( (LEDShadow&GreenM) == (uint8)0 ) LEDsOn(GreenM); else LEDsOff(GreenM)
01406 #define Beeper_OFF         LEDsOff(BeeperM)
01407 #define Beeper_ON          LEDsOn(BeeperM)
01408 #define Beeper_TOG         if( (LEDShadow&BeeperM) == (uint8)0 ) LEDsOn(BeeperM); else LEDsOff(BeeperM)
01409 
01410 extern void SendLEDs(void);
01411 extern void SaveLEDs(void);
01412 extern void RestoreLEDs(void);
01413 extern void LEDsOn(uint16);
01414 extern void LEDsOff(uint16);
01415 extern void LEDChaser(void);
01416 extern void DoLEDs(void);
01417 extern void PowerOutput(int8);
01418 extern void LEDsAndBuzzer(void);
01419 
01420 extern void PCA9551Test(void);
01421 extern void WritePCA9551(uint8);
01422 extern boolean IsPCA9551Active(void);
01423 
01424 extern void InitLEDs(void);
01425 
01426 extern uint16 LEDShadow, PrevLEDShadow, SavedLEDs, LEDPattern;
01427 extern uint8 PrevPCA9551LEDShadow;
01428 
01429 //______________________________________________________________________________________________
01430 
01431 // math.c
01432 
01433 extern int16 SRS16(int16, uint8);
01434 extern int32 SRS32(int32, uint8);
01435 extern real32 Make2Pi(real32);
01436 extern real32 MakePi(real32);
01437 extern int16 Table16(int16, const int16 *);
01438 
01439 extern real32 VDot(real32 v1[3], real32 v2[3]);
01440 extern void VCross(real32 VOut[3], real32 v1[3], real32 v2[3]);
01441 extern void VScale(real32 VOut[3], real32 v[3], real32 s);
01442 extern void VAdd(real32 VOut[3],real32 v1[3], real32 v2[3]);
01443 extern void VSub(real32 VOut[3],real32 v1[3], real32 v2[3]);
01444 
01445 //______________________________________________________________________________________________
01446 
01447 // menu.c
01448 
01449 extern void ShowPrompt(void);
01450 extern void ShowRxSetup(void);
01451 extern void ShowSetup(boolean);
01452 extern uint8 MakeUpper(uint8);
01453 extern void ProcessCommand(void);
01454 
01455 extern const uint8 SerHello[];
01456 extern const uint8 SerSetup[];
01457 extern const uint8 SerPrompt[];
01458 
01459 extern const uint8 RxChMnem[];
01460 
01461 //______________________________________________________________________________________________
01462 
01463 // nonvolatiles.c
01464 
01465 extern void CheckSDCardValid(void);
01466 
01467 extern void CreateLogfile(void);
01468 extern void CloseLogfile(void);
01469 extern void TxLogChar(uint8);
01470 
01471 extern void WritePXImagefile(void);
01472 extern boolean ReadPXImagefile(void);
01473 extern int8 ReadPX(uint16);
01474 extern int16 Read16PX(uint16);
01475 extern int32 Read32PX(uint16);
01476 extern void WritePX(uint16, int8);
01477 extern void Write16PX(uint16, int16);
01478 extern void Write32PX(uint16, int32);
01479 
01480 extern FILE *pxfile;
01481 extern FILE *newpxfile;
01482 
01483 extern const int PX_LENGTH;
01484 extern int8 PX[], PXNew[];
01485 
01486 //______________________________________________________________________________________________
01487 
01488 // NXP1768pins.c
01489 
01490 extern boolean PinRead(uint8);
01491 extern void PinWrite(uint8, boolean);
01492 extern void PinSetOutput(uint8, boolean);
01493 
01494 extern const uint8 mbed1768Pins[];
01495 
01496 //______________________________________________________________________________________________
01497 
01498 // outputs.c
01499 
01500 #define OUT_MINIMUM            1.0              // Required for PPM timing loops
01501 #define OUT_MAXIMUM            200.0            // to reduce Rx capture and servo pulse output interaction
01502 #define OUT_NEUTRAL            105.0            // 1.503mS @ 105 16MHz
01503 #define OUT_HOLGER_MAXIMUM     225.0
01504 #define OUT_YGEI2C_MAXIMUM     240.0
01505 #define OUT_X3D_MAXIMUM        200.0
01506 
01507 extern uint8 SaturInt(int16);
01508 extern void DoMulticopterMix(real32 CurrThrottle);
01509 extern void CheckDemand(real32 CurrThrottle);
01510 extern void MixAndLimitMotors(void);
01511 extern void MixAndLimitCam(void);
01512 extern void OutSignals(void);
01513 extern void InitI2CESCs(void);
01514 extern void StopMotors(void);
01515 extern void ExercisePWM(void);
01516 extern void InitMotors(void);
01517 
01518 // Using clockwise numbering - NOT the same as UAVXPIC
01519 enum PWMCamTags { CamRollC = 6, CamPitchC = 7 };
01520 enum PWMQuadTags {FrontC=0, RightC, BackC, LeftC }; // order is important for X3D & Holger ESCs
01521 enum PWMConvTags {ThrottleC=0, AileronC, ElevatorC, RudderC, RTHC };
01522 enum PWMWingTags3 {RightElevonC=1, LeftElevonC=2};
01523 enum PWMVTTags {FrontRightC=0, FrontLeftC};
01524 enum PWMY6Tags {FrontTC=0, RightTC, LeftTC, FrontBC, RightBC, LeftBC };
01525 enum PWMHexTags {FrontHC=0, FrontRightHC, BackRightHC, BackHC, BackLeftHC,FrontLeftHC };
01526 
01527 //#define NoOfPWMOutputs            4
01528 #ifdef HEXACOPTER
01529 #define NoOfI2CESCOutputs         6
01530 #else
01531 #define NoOfI2CESCOutputs         4
01532 #endif // HEXACOPTER
01533 
01534 extern const real32 PWMScale;
01535 
01536 extern real32 PWM[8];
01537 extern real32 PWMSense[8];
01538 extern int16 ESCI2CFail[6];
01539 extern int16 CurrThrottle;
01540 extern int16 CamRollPulseWidth, CamPitchPulseWidth;
01541 extern int16 ESCMin, ESCMax;
01542 
01543 //______________________________________________________________________________________________
01544 
01545 // params.c
01546 
01547 extern void ReadParameters(void);
01548 extern void UseDefaultParameters(void);
01549 extern void UpdateParamSetChoice(void);
01550 extern boolean ParameterSanityCheck(void);
01551 extern void InitParameters(void);
01552 
01553 enum TxRxTypes {
01554     FutabaCh3, FutabaCh2, FutabaDM8, JRPPM, JRDM9, JRDXS12,
01555     DX7AR7000, DX7AR6200, FutabaCh3_6_7, DX7AR6000, GraupnerMX16s, DX6iAR6200, FutabaCh3_R617FS,
01556     DX7aAR7000, ExternalDecoder, FrSkyDJT_D8R, UnknownTxRx, CustomTxRx
01557 };
01558 enum RCControls {ThrottleRC, RollRC, PitchRC, YawRC, RTHRC, CamPitchRC, NavGainRC};
01559 enum ESCTypes { ESCPPM, ESCHolger, ESCX3D, ESCYGEI2C };
01560 enum AFs { QuadAF, TriAF, VTAF, Y6AF, HeliAF, ElevAF, AilAF };
01561 
01562 enum Params { // MAX 64
01563     RollKp,                // 01
01564     RollKi,                // 02
01565     RollKd,                // 03
01566     Unused04,           // 04c HorizDampKp
01567     RollIntLimit,          // 05
01568     PitchKp,               // 06
01569     PitchKi,               // 07
01570     PitchKd,               // 08
01571     AltKp,                 // 09c
01572     PitchIntLimit,         // 10
01573 
01574     YawKp,                 // 11
01575     YawKi,                 // 12
01576     Unused13,                 // 13 YawKd
01577     YawLimit,              // 14
01578     YawIntLimit,           // 15
01579     ConfigBits,            // 16c
01580     Unused17 ,             // 17 TimeSlots
01581     LowVoltThres,          // 18c
01582     CamRollKp,             // 19
01583     PercentCruiseThr,      // 20c
01584 
01585     VertDamp,            // 21c
01586     MiddleUD,              // 22c
01587     PercentIdleThr,        // 23c
01588     MiddleLR,              // 24c
01589     MiddleBF,              // 25c
01590     CamPitchKp,            // 26
01591     CompassKp,             // 27
01592     AltKi,                 // 28c
01593     Unused29 ,             // 29 NavRadius
01594     NavKi,                 // 30
01595 
01596     GSThrottle,            // 31
01597     Acro,                  // 32
01598     NavRTHAlt,             // 33
01599     NavMagVar,             // 34c
01600     GyroRollPitchType,     // 35
01601     ESCType,               // 36
01602     TxRxType,              // 37
01603     NeutralRadius,         // 38
01604     PercentNavSens6Ch,     // 39
01605     CamRollTrim,           // 40
01606     NavKd,                 // 41
01607     Unused42 ,             // 42  VertDampDecay
01608     Unused43,              // 43  HorizDampDecay
01609     BaroScale,             // 44
01610     TelemetryType,         // 45
01611     MaxDescentRateDmpS,    // 46
01612     DescentDelayS,         // 47
01613     NavIntLimit,           // 48
01614     AltIntLimit,           // 49
01615     Unused50,              // 50 GravComp
01616     Unused51 ,             // 51 CompSteps
01617     ServoSense,            // 52
01618     CompassOffsetQtr,      // 53
01619     BatteryCapacity,       // 54
01620     Unused55,              // 55 GyroYawType
01621     AltKd,                 // 56
01622     Orient,                // 57
01623     NavYawLimit,           // 58
01624     Balance                // 59
01625 
01626     // 56 - 64 unused currently
01627 };
01628 
01629 //#define FlyXMode                 0
01630 //#define FlyAltOrientationMask    0x01
01631 
01632 #define UsePositionHoldLock      0
01633 #define UsePositionHoldLockMask  0x01
01634 
01635 #define UseRTHDescend            1
01636 #define UseRTHDescendMask        0x02
01637 
01638 #define TxMode2                  2
01639 #define TxMode2Mask              0x04
01640 
01641 #define RxSerialPPM              3
01642 #define RxSerialPPMMask          0x08
01643 
01644 #define RFInches                 4
01645 #define RFInchesMask             0x10
01646 
01647 // bit 4 is pulse polarity for 3.15
01648 
01649 #define UseUseAngleControl       5
01650 #define UseAngleControlMask      0x20
01651 
01652 #define UsePolar                 6
01653 #define UsePolarMask             0x40
01654 
01655 // bit 7 unusable in UAVPSet
01656 
01657 extern const int8 DefaultParams[MAX_PARAMETERS][2];
01658 
01659 extern const uint8 ESCLimits [];
01660 
01661 extern real32 OSin[], OCos[];
01662 extern uint8 Orientation, PolarOrientation;
01663 
01664 extern uint8 ParamSet;
01665 extern boolean ParametersChanged, SaveAllowTurnToWP;
01666 extern int8 P[];
01667 extern real32 K[MAX_PARAMETERS]; // Arm rescaled legacy parameters as appropriate
01668 
01669 extern uint8 UAVXAirframe;
01670 
01671 //__________________________________________________________________________________________
01672 
01673 // rc.c
01674 
01675 #define RC_INIT_FRAMES                  32      // number of initial RC frames to allow filters to settle
01676 
01677 #define RC_MIN_WIDTH_US                 1000    // temporarily to prevent wraparound 900
01678 #define RC_MAX_WIDTH_US                 2100
01679 
01680 #define RC_NO_CHANGE_TIMEOUT_MS         20000L
01681 
01682 extern void DoRxPolarity(void);
01683 extern void InitRC(void);
01684 extern void MapRC(void);
01685 extern void CheckSticksHaveChanged(void);
01686 extern void UpdateControls(void);
01687 extern void CaptureTrims(void);
01688 extern void CheckThrottleMoved(void);
01689 extern void ReceiverTest(void);
01690 
01691 extern const boolean PPMPosPolarity[];
01692 extern const uint8 Map[CustomTxRx+1][CONTROLS];
01693 extern int8 RMap[];
01694 
01695 #define PPMQMASK 3
01696 extern int16 PPMQSum[];
01697 extern int16x8x4Q PPMQ;
01698 extern boolean RCPositiveEdge;
01699 extern int16 RC[], RCp[];
01700 extern int16 ThrLow, ThrNeutral, ThrHigh;
01701 
01702 //__________________________________________________________________________________________
01703 
01704 // serial.c
01705 
01706 extern void TxString(const uint8*);
01707 extern void TxChar(uint8);
01708 extern void TxValU(uint8);
01709 extern void TxValS(int8);
01710 extern void TxBin8(uint8);
01711 extern void TxNextLine(void);
01712 extern void TxNibble(uint8);
01713 extern void TxValH( uint8);
01714 extern void TxValH16(uint16);
01715 extern uint8 RxChar(void);
01716 extern uint8 PollRxChar(void);
01717 extern uint8 RxNumU(void);
01718 extern int8 RxNumS(void);
01719 extern void TxVal32(int32, int8, uint8);
01720 extern void TxChar(uint8);
01721 extern void TxESCu8(uint8);
01722 extern void Sendi16(int16);
01723 extern void TxESCi8(int8);
01724 extern void TxESCi16(int16);
01725 extern void TxESCi24(int24);
01726 extern void TxESCi32(int32);
01727 
01728 //______________________________________________________________________________________________
01729 
01730 // stats.c
01731 
01732 extern void ZeroStats(void);
01733 extern void ReadStatsPX(void);
01734 extern void WriteStatsPX(void);
01735 extern void ShowStats(void);
01736 
01737 enum Statistics {
01738     GPSAltitudeS, BaroRelAltitudeS, ESCI2CFailS, GPSMinSatsS, MinROCS, MaxROCS, GPSVelS,
01739     AccFailS, CompassFailS, BaroFailS, GPSInvalidS, GPSMaxSatsS, NavValidS,
01740     MinHDiluteS, MaxHDiluteS, RCGlitchesS, GPSBaroScaleS, GyroFailS, RCFailsafesS, I2CFailS, MinTempS, MaxTempS, BadS, BadNumS }; // NO MORE THAN 32 or 64 bytes
01741 
01742 extern int16 Stats[];
01743 
01744 //______________________________________________________________________________________________
01745 
01746 // telemetry.c
01747 
01748 extern void RxTelemetryPacket(uint8);
01749 extern void InitTelemetryPacket(void);
01750 extern void BuildTelemetryPacket(uint8);
01751 
01752 extern void SendPacketHeader(void);
01753 extern void SendPacketTrailer(void);
01754 
01755 extern void SendTelemetry(void);
01756 extern void SendUAVX(void);
01757 extern void SendUAVXControl(void);
01758 extern void SendFlightPacket(void);
01759 extern void SendNavPacket(void);
01760 extern void SendControlPacket(void);
01761 extern void SendStatsPacket(void);
01762 extern void SendParamPacket(uint8, uint8);
01763 extern void SendParameters(uint8);
01764 extern void SendMinPacket(void);
01765 extern void SendArduStation(void);
01766 extern void SendPIDTuning(void);
01767 extern void SendCustom(void);
01768 extern void SensorTrace(void);
01769 extern void CheckTelemetry(void);
01770 
01771 enum TelemetryStates { WaitRxSentinel, WaitRxESC,  WaitRxBody };
01772 
01773 
01774 enum PacketTags {UnknownPacketTag = 0, LevPacketTag, NavPacketTag, MicropilotPacketTag, WayPacketTag,
01775                  AirframePacketTag, NavUpdatePacketTag, BasicPacketTag, RestartPacketTag, TrimblePacketTag,
01776                  MessagePacketTag, EnvironmentPacketTag, BeaconPacketTag, UAVXFlightPacketTag,
01777                  UAVXNavPacketTag, UAVXStatsPacketTag, UAVXControlPacketTag, UAVXParamPacketTag, UAVXMinPacketTag,
01778                  UAVXArmParamPacketTag, UAVXStickPacketTag,  UAVXCustomPacketTag, FrSkyPacketTag = 99
01779                 };
01780 
01781 enum TelemetryTypes { NoTelemetry, GPSTelemetry, UAVXTelemetry, UAVXControlTelemetry, UAVXMinTelemetry,
01782                       ArduStationTelemetry, CustomTelemetry
01783                     };
01784 
01785 extern uint8 UAVXCurrPacketTag;
01786 extern uint8 RxPacketLength, RxPacketByteCount;
01787 extern uint8 RxCheckSum;
01788 extern uint8 RxPacketTag, ReceivedPacketTag;
01789 extern uint8 PacketRxState;
01790 extern boolean CheckSumError, TelemetryPacketReceived;
01791 
01792 extern int16 RxLengthErrors, RxTypeErrors, RxCheckSumErrors;
01793 
01794 extern uint8 TxCheckSum;
01795 
01796 extern FILE *logfile;
01797 extern boolean EchoToLogFile, LogfileIsOpen;
01798 extern uint32 LogChars;
01799 
01800 //______________________________________________________________________________________________
01801 
01802 // temperature.c
01803 
01804 #define TMP100_MAX_ADC      4095      // 12 bits
01805 #define TMP100_ID           0x96
01806 #define TMP100_WR           0x96      // Write
01807 #define TMP100_RD           0x97      // Read    
01808 #define TMP100_TMP          0x00      // Temperature
01809 #define TMP100_CMD          0x01
01810 #define TMP100_LOW          0x02      // Alarm low limit
01811 #define TMP100_HI           0x03      // Alarm high limit
01812 #define TMP100_CFG          0         // 0.5 deg resolution continuous
01813 
01814 extern void GetTemperature(void);
01815 extern void InitTemperature(void);
01816 
01817 extern i16u AmbientTemperature;
01818 
01819 //______________________________________________________________________________________________
01820 
01821 // utils.c
01822 
01823 extern void InitMisc(void);
01824 extern void Delay1mS(int16);
01825 extern void Delay100mS(int16);
01826 extern void DoBeep100mS(uint8, uint8);
01827 extern void DoStartingBeeps(uint8);
01828 extern real32 SlewLimit(real32, real32, real32);
01829 extern real32 DecayX(real32, real32);
01830 extern real32 LPFilter(real32, real32, real32);
01831 extern void CheckAlarms(void);
01832 extern void Timing(uint8, uint32);
01833 
01834 typedef struct {
01835     uint32 T;
01836     uint32 Count;
01837 } TimingRec;
01838 
01839 extern uint32 BeeperOnTime, BeeperOffTime;
01840 
01841 enum Timed { GetAttitudeT , UnknownT };
01842 extern TimingRec Times[];
01843 
01844 #define TimeS  uint32 TStart;TStart=timer.read_us();
01845 #define TimeF(w, tf) Time(w, tf)
01846 
01847 //______________________________________________________________________________________________
01848 
01849 
01850 // Sanity checks
01851 
01852 #if (( defined TRICOPTER + defined QUADROCOPTER + defined VTCOPTER + defined Y6COPTER + defined HELICOPTER + defined AILERON + defined ELEVON ) != 1)
01853 #error None or more than one aircraft configuration defined !
01854 #endif