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415 lines
11 KiB
415 lines
11 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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/***************************************************************************** |
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The init_ardupilot function processes everything we need for an in - air restart |
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We will determine later if we are actually on the ground and process a |
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ground start in that case. |
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*****************************************************************************/ |
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// Functions called from the top-level menu |
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extern int8_t process_logs(uint8_t argc, const Menu::arg *argv); // in Log.pde |
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extern int8_t setup_mode(uint8_t argc, const Menu::arg *argv); // in setup.pde |
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extern int8_t test_mode(uint8_t argc, const Menu::arg *argv); // in test.cpp |
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// This is the help function |
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// PSTR is an AVR macro to read strings from flash memory |
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// printf_P is a version of print_f that reads from flash memory |
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static int8_t main_menu_help(uint8_t argc, const Menu::arg *argv) |
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{ |
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Serial.printf_P(PSTR("Commands:\n" |
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" logs log readback/setup mode\n" |
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" setup setup mode\n" |
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" test test mode\n" |
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"\n" |
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"Move the slide switch and reset to FLY.\n" |
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"\n")); |
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return(0); |
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} |
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// Command/function table for the top-level menu. |
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const struct Menu::command main_menu_commands[] PROGMEM = { |
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// command function called |
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// ======= =============== |
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{"logs", process_logs}, |
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{"setup", setup_mode}, |
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{"test", test_mode}, |
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{"help", main_menu_help} |
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}; |
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// Create the top-level menu object. |
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MENU(main_menu, "ArduPilotMega", main_menu_commands); |
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void init_ardupilot() |
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{ |
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byte last_log_num; |
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int last_log_start; |
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int last_log_end; |
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// Console serial port |
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// |
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// The console port buffers are defined to be sufficiently large to support |
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// the console's use as a logging device, optionally as the GPS port when |
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// GPS_PROTOCOL_IMU is selected, and as the telemetry port. |
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// |
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// XXX This could be optimised to reduce the buffer sizes in the cases |
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// where they are not otherwise required. |
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// |
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Serial.begin(SERIAL0_BAUD, 128, 128); |
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// GPS serial port. |
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// |
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// Not used if the IMU/X-Plane GPS is in use. |
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// |
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// XXX currently the EM406 (SiRF receiver) is nominally configured |
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// at 57600, however it's not been supported to date. We should |
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// probably standardise on 38400. |
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// |
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// XXX the 128 byte receive buffer may be too small for NMEA, depending |
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// on the message set configured. |
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// |
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#if GPS_PROTOCOL != GPS_PROTOCOL_IMU |
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Serial1.begin(38400, 128, 16); |
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#endif |
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// Telemetry port. |
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// |
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// Not used if telemetry is going to the console. |
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// |
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// XXX for unidirectional protocols, we could (should) minimize |
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// the receive buffer, and the transmit buffer could also be |
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// shrunk for protocols that don't send large messages. |
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// |
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#if GCS_PORT == 3 |
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Serial3.begin(SERIAL3_BAUD, 128, 128); |
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#endif |
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Serial.printf_P(PSTR("\n\n" |
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"Init ArduCopterMega 1.0.0 Public Alpha\n\n" |
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#if TELEMETRY_PORT == 3 |
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"Telemetry is on the xbee port\n" |
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#endif |
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"freeRAM: %d\n"),freeRAM()); |
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read_EEPROM_startup(); // Read critical config information to start |
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init_rc_in(); // sets up rc channels from radio |
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init_rc_out(); // sets up the timer libs |
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init_camera(); |
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adc.Init(); // APM ADC library initialization |
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APM_BMP085.Init(); // APM Abs Pressure sensor initialization |
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DataFlash.Init(); // DataFlash log initialization |
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GPS.init(); // GPS Initialization |
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if(compass_enabled) |
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init_compass(); |
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pinMode(C_LED_PIN, OUTPUT); // GPS status LED |
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pinMode(A_LED_PIN, OUTPUT); // GPS status LED |
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pinMode(B_LED_PIN, OUTPUT); // GPS status LED |
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pinMode(SLIDE_SWITCH_PIN, INPUT); // To enter interactive mode |
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pinMode(PUSHBUTTON_PIN, INPUT); // unused |
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// If the switch is in 'menu' mode, run the main menu. |
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// |
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// Since we can't be sure that the setup or test mode won't leave |
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// the system in an odd state, we don't let the user exit the top |
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// menu; they must reset in order to fly. |
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// |
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if (digitalRead(SLIDE_SWITCH_PIN) == 0) { |
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digitalWrite(A_LED_PIN,HIGH); // turn on setup-mode LED |
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Serial.printf_P(PSTR("\n" |
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"Entering interactive setup mode...\n" |
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"\n" |
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"If using the Arduino Serial Monitor, ensure Line Ending is set to Carriage Return.\n" |
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"Type 'help' to list commands, 'exit' to leave a submenu.\n" |
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"Visit the 'setup' menu for first-time configuration.\n")); |
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for (;;) { |
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Serial.printf_P(PSTR("\n" |
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"Move the slide switch and reset to FLY.\n" |
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"\n")); |
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main_menu.run(); |
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} |
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} |
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if(log_bitmask > 0){ |
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// Here we will check on the length of the last log |
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// We don't want to create a bunch of little logs due to powering on and off |
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last_log_num = eeprom_read_byte((uint8_t *) EE_LAST_LOG_NUM); |
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last_log_start = eeprom_read_word((uint16_t *) (EE_LOG_1_START+(last_log_num - 1) * 0x02)); |
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last_log_end = eeprom_read_word((uint16_t *) EE_LAST_LOG_PAGE); |
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if(last_log_num == 0) { |
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// The log space is empty. Start a write session on page 1 |
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DataFlash.StartWrite(1); |
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eeprom_write_byte((uint8_t *) EE_LAST_LOG_NUM, (1)); |
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eeprom_write_word((uint16_t *) EE_LOG_1_START, (1)); |
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} else if (last_log_end <= last_log_start + 10) { |
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// The last log is small. We consider it junk. Overwrite it. |
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DataFlash.StartWrite(last_log_start); |
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} else { |
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// The last log is valid. Start a new log |
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if(last_log_num >= 19) { |
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Serial.println("Number of log files exceeds max. Log 19 will be overwritten."); |
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last_log_num --; |
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} |
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DataFlash.StartWrite(last_log_end + 1); |
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eeprom_write_byte((uint8_t *) EE_LAST_LOG_NUM, (last_log_num + 1)); |
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eeprom_write_word((uint16_t *) (EE_LOG_1_START+(last_log_num)*0x02), (last_log_end + 1)); |
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} |
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} |
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// read in the flight switches |
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//update_servo_switches(); |
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//Serial.print("GROUND START"); |
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send_message(SEVERITY_LOW,"GROUND START"); |
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startup_ground(); |
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if (log_bitmask & MASK_LOG_CMD) |
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Log_Write_Startup(TYPE_GROUNDSTART_MSG); |
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// set the correct flight mode |
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// --------------------------- |
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reset_control_switch(); |
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} |
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/* |
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byte startup_check(void){ |
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if(DEBUG_SUBSYSTEM > 0){ |
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debug_subsystem(); |
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}else{ |
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if (rc_3.radio_in < (rc_3.radio_in + 25)){ |
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// we are on the ground |
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return 1; |
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}else{ |
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return 0; |
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} |
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} |
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} |
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*/ |
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//******************************************************************************** |
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//This function does all the calibrations, etc. that we need during a ground start |
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//******************************************************************************** |
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void startup_ground(void) |
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{ |
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/* |
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read_radio(); |
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while (rc_3.control_in > 0){ |
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delay(20); |
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read_radio(); |
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APM_RC.OutputCh(CH_1, rc_3.radio_in); |
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APM_RC.OutputCh(CH_2, rc_3.radio_in); |
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APM_RC.OutputCh(CH_3, rc_3.radio_in); |
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APM_RC.OutputCh(CH_4, rc_3.radio_in); |
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Serial.println("*") |
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} |
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*/ |
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// read the radio to set trims |
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// --------------------------- |
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trim_radio(); |
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if (log_bitmask & MASK_LOG_CMD) |
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Log_Write_Startup(TYPE_GROUNDSTART_MSG); |
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#if(GROUND_START_DELAY > 0) |
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send_message(SEVERITY_LOW,"With Delay"); |
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delay(GROUND_START_DELAY * 1000); |
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#endif |
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// Output waypoints for confirmation |
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// -------------------------------- |
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for(int i = 1; i < wp_total + 1; i++) { |
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send_message(MSG_COMMAND, i); |
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} |
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//IMU ground start |
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//------------------------ |
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init_pressure_ground(); |
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// Warm up and read Gyro offsets |
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// ----------------------------- |
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imu.init_gyro(); |
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// Save the settings for in-air restart |
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// ------------------------------------ |
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save_EEPROM_groundstart(); |
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// initialize commands |
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// ------------------- |
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init_commands(); |
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send_message(SEVERITY_LOW,"\n\n Ready to FLY."); |
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} |
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void set_mode(byte mode) |
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{ |
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if(control_mode == mode){ |
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// don't switch modes if we are already in the correct mode. |
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return; |
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} |
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control_mode = mode; |
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control_mode = constrain(control_mode, 0, NUM_MODES - 1); |
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save_EEPROM_PID(); |
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//send_message(SEVERITY_LOW,"control mode"); |
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//Serial.printf("set mode: %d old: %d\n", (int)mode, (int)control_mode); |
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switch(control_mode) |
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{ |
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case ACRO: |
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break; |
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case STABILIZE: |
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set_current_loc_here(); |
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break; |
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case ALT_HOLD: |
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set_current_loc_here(); |
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break; |
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case AUTO: |
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update_auto(); |
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break; |
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case POSITION_HOLD: |
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set_current_loc_here(); |
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break; |
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case RTL: |
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return_to_launch(); |
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break; |
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case TAKEOFF: |
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break; |
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case LAND: |
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break; |
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default: |
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break; |
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} |
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// output control mode to the ground station |
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send_message(MSG_HEARTBEAT); |
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if (log_bitmask & MASK_LOG_MODE) |
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Log_Write_Mode(control_mode); |
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} |
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void set_failsafe(boolean mode) |
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{ |
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// only act on changes |
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// ------------------- |
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if(failsafe != mode){ |
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// store the value so we don't trip the gate twice |
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// ----------------------------------------------- |
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failsafe = mode; |
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if (failsafe == false){ |
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// We're back in radio contact |
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// --------------------------- |
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// re-read the switch so we can return to our preferred mode |
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reset_control_switch(); |
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// Reset control integrators |
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// --------------------- |
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reset_I(); |
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}else{ |
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// We've lost radio contact |
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// ------------------------ |
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// nothing to do right now |
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} |
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// Let the user know what's up so they can override the behavior |
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// ------------------------------------------------------------- |
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failsafe_event(); |
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} |
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} |
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void update_GPS_light(void) |
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{ |
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// GPS LED on if we have a fix or Blink GPS LED if we are receiving data |
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// --------------------------------------------------------------------- |
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if(GPS.fix == 0){ |
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GPS_light = !GPS_light; |
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if(GPS_light){ |
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digitalWrite(C_LED_PIN, HIGH); |
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}else{ |
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digitalWrite(C_LED_PIN, LOW); |
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} |
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}else{ |
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if(!GPS_light){ |
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GPS_light = true; |
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digitalWrite(C_LED_PIN, HIGH); |
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} |
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} |
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if(motor_armed == true){ |
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motor_light = !motor_light; |
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// blink |
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if(motor_light){ |
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digitalWrite(A_LED_PIN, HIGH); |
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}else{ |
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digitalWrite(A_LED_PIN, LOW); |
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} |
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}else{ |
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if(!motor_light){ |
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motor_light = true; |
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digitalWrite(A_LED_PIN, HIGH); |
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} |
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} |
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} |
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void resetPerfData(void) { |
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/* |
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mainLoop_count = 0; |
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G_Dt_max = 0; |
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gyro_sat_count = 0; |
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adc_constraints = 0; |
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renorm_sqrt_count = 0; |
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renorm_blowup_count = 0; |
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gps_fix_count = 0; |
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perf_mon_timer = millis(); |
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*/ |
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} |
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void |
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init_compass() |
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{ |
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dcm.set_compass(&compass); |
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compass.init(false); |
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compass.set_orientation(MAGORIENTATION); // set compass's orientation on aircraft |
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compass.set_offsets(mag_offset_x, mag_offset_y, mag_offset_z); // set offsets to account for surrounding interference |
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compass.set_declination(ToRad(mag_declination)); // set local difference between magnetic north and true north |
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} |
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/* This function gets the current value of the heap and stack pointers. |
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* The stack pointer starts at the top of RAM and grows downwards. The heap pointer |
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* starts just above the static variables etc. and grows upwards. SP should always |
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* be larger than HP or you'll be in big trouble! The smaller the gap, the more |
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* careful you need to be. Julian Gall 6 - Feb - 2009. |
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*/ |
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unsigned long freeRAM() { |
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uint8_t * heapptr, * stackptr; |
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stackptr = (uint8_t *)malloc(4); // use stackptr temporarily |
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heapptr = stackptr; // save value of heap pointer |
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free(stackptr); // free up the memory again (sets stackptr to 0) |
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stackptr = (uint8_t *)(SP); // save value of stack pointer |
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return stackptr - heapptr; |
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} |
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