root / quad1 / AeroQuad / SerialCom.pde @ 9240aaa3
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/* |
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AeroQuad v2.1 - October 2010 |
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www.AeroQuad.com |
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Copyright (c) 2010 Ted Carancho. All rights reserved. |
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An Open Source Arduino based multicopter. |
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|
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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|
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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|
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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|
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// SerialCom.pde is responsible for the serial communication for commands and telemetry from the AeroQuad |
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// This comtains readSerialCommand() which listens for a serial command and it's arguments |
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// This also contains readSerialTelemetry() which listens for a telemetry request and responds with the requested data |
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// For more information on each command/telemetry look at: http://aeroquad.com/content.php?117 |
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|
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//*************************************************************************************************** |
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//********************************** Serial Commands ************************************************ |
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//*************************************************************************************************** |
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void readSerialCommand() {
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// Check for serial message |
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if (DebugPort.available()) {
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digitalWrite(LEDPIN, LOW); |
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queryType = DebugPort.read(); |
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switch (queryType) {
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case 'z' : |
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DebugPort.print(receiver.getRaw(ROLL)); |
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DebugPort.print("\t");
|
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DebugPort.print(receiver.getRaw(AUX)); |
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DebugPort.print("\t");
|
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DebugPort.println(receiver.getRaw(AUX2)); |
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break; |
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|
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case 'y': // Receive roll and pitch gyro PID |
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PID[SONAR].P = readFloatSerial(); |
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DebugPort.println(PID[SONAR].P); |
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break; |
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|
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case 'u': // Receive roll and pitch gyro PID |
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PID[SONAR].D = readFloatSerial(); |
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DebugPort.println(PID[SONAR].D); |
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break; |
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|
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case 'A': // Receive roll and pitch gyro PID |
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PID[ROLL].P = readFloatSerial(); |
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PID[ROLL].I = readFloatSerial(); |
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PID[ROLL].D = readFloatSerial(); |
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PID[ROLL].lastPosition = 0; |
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PID[ROLL].integratedError = 0; |
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PID[PITCH].P = readFloatSerial(); |
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PID[PITCH].I = readFloatSerial(); |
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PID[PITCH].D = readFloatSerial(); |
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PID[PITCH].lastPosition = 0; |
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PID[PITCH].integratedError = 0; |
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minAcro = readFloatSerial(); |
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break; |
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case 'C': // Receive yaw PID |
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PID[YAW].P = readFloatSerial(); |
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PID[YAW].I = readFloatSerial(); |
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PID[YAW].D = readFloatSerial(); |
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PID[YAW].lastPosition = 0; |
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PID[YAW].integratedError = 0; |
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PID[HEADING].P = readFloatSerial(); |
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PID[HEADING].I = readFloatSerial(); |
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PID[HEADING].D = readFloatSerial(); |
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PID[HEADING].lastPosition = 0; |
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PID[HEADING].integratedError = 0; |
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headingHoldConfig = readFloatSerial(); |
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heading = 0; |
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relativeHeading = 0; |
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headingHold = 0; |
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break; |
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case 'E': // Receive roll and pitch auto level PID |
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PID[LEVELROLL].P = readFloatSerial(); |
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PID[LEVELROLL].I = readFloatSerial(); |
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PID[LEVELROLL].D = readFloatSerial(); |
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PID[LEVELROLL].lastPosition = 0; |
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PID[LEVELROLL].integratedError = 0; |
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PID[LEVELPITCH].P = readFloatSerial(); |
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PID[LEVELPITCH].I = readFloatSerial(); |
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PID[LEVELPITCH].D = readFloatSerial(); |
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PID[LEVELPITCH].lastPosition = 0; |
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PID[LEVELPITCH].integratedError = 0; |
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PID[LEVELGYROROLL].P = readFloatSerial(); |
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PID[LEVELGYROROLL].I = readFloatSerial(); |
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PID[LEVELGYROROLL].D = readFloatSerial(); |
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PID[LEVELGYROROLL].lastPosition = 0; |
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PID[LEVELGYROROLL].integratedError = 0; |
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PID[LEVELGYROPITCH].P = readFloatSerial(); |
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PID[LEVELGYROPITCH].I = readFloatSerial(); |
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PID[LEVELGYROPITCH].D = readFloatSerial(); |
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PID[LEVELGYROPITCH].lastPosition = 0; |
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PID[LEVELGYROPITCH].integratedError = 0; |
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windupGuard = readFloatSerial(); |
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break; |
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case 'G': // Receive auto level configuration |
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levelLimit = readFloatSerial(); |
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levelOff = readFloatSerial(); |
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break; |
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case 'I': // Receiver altitude hold PID |
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#ifdef AltitudeHold |
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PID[ALTITUDE].P = readFloatSerial(); |
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PID[ALTITUDE].I = readFloatSerial(); |
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PID[ALTITUDE].D = readFloatSerial(); |
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PID[ALTITUDE].lastPosition = 0; |
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PID[ALTITUDE].integratedError = 0; |
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minThrottleAdjust = readFloatSerial(); |
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maxThrottleAdjust = readFloatSerial(); |
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altitude.setSmoothFactor(readFloatSerial()); |
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PID[ZDAMPENING].P = readFloatSerial(); |
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PID[ZDAMPENING].I = readFloatSerial(); |
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PID[ZDAMPENING].D = readFloatSerial(); |
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#endif |
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break; |
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case 'K': // Receive data filtering values |
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gyro.setSmoothFactor(readFloatSerial()); |
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accel.setSmoothFactor(readFloatSerial()); |
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timeConstant = readFloatSerial(); |
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//flightMode = readFloatSerial(); |
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break; |
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case 'M': // Receive transmitter smoothing values |
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receiver.setXmitFactor(readFloatSerial()); |
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receiver.setSmoothFactor(ROLL, readFloatSerial()); |
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receiver.setSmoothFactor(PITCH, readFloatSerial()); |
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receiver.setSmoothFactor(YAW, readFloatSerial()); |
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receiver.setSmoothFactor(THROTTLE, readFloatSerial()); |
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receiver.setSmoothFactor(MODE, readFloatSerial()); |
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receiver.setSmoothFactor(AUX, readFloatSerial()); |
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break; |
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case 'O': // Receive transmitter calibration values |
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receiver.setTransmitterSlope(ROLL, readFloatSerial()); |
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receiver.setTransmitterOffset(ROLL, readFloatSerial()); |
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receiver.setTransmitterSlope(PITCH, readFloatSerial()); |
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receiver.setTransmitterOffset(PITCH, readFloatSerial()); |
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receiver.setTransmitterSlope(YAW, readFloatSerial()); |
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receiver.setTransmitterOffset(YAW, readFloatSerial()); |
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receiver.setTransmitterSlope(THROTTLE, readFloatSerial()); |
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receiver.setTransmitterOffset(THROTTLE, readFloatSerial()); |
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receiver.setTransmitterSlope(MODE, readFloatSerial()); |
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receiver.setTransmitterOffset(MODE, readFloatSerial()); |
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receiver.setTransmitterSlope(AUX, readFloatSerial()); |
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receiver.setTransmitterOffset(AUX, readFloatSerial()); |
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break; |
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case 'W': // Write all user configurable values to EEPROM |
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writeEEPROM(); // defined in DataStorage.h |
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zeroIntegralError(); |
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break; |
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case 'Y': // Initialize EEPROM with default values |
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initializeEEPROM(); // defined in DataStorage.h |
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gyro.calibrate(); |
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accel.calibrate(); |
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zeroIntegralError(); |
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break; |
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case '1': // Calibrate ESCS's by setting Throttle high on all channels |
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armed = 0; |
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calibrateESC = 1; |
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break; |
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case '2': // Calibrate ESC's by setting Throttle low on all channels |
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armed = 0; |
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calibrateESC = 2; |
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break; |
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case '3': // Test ESC calibration |
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armed = 0; |
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testCommand = readFloatSerial(); |
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calibrateESC = 3; |
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break; |
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case '4': // Turn off ESC calibration |
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armed = 0; |
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calibrateESC = 0; |
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testCommand = 1000; |
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break; |
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case '5': // Send individual motor commands (motor, command) |
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armed = 0; |
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calibrateESC = 5; |
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for (motor = FRONT; motor < LASTMOTOR; motor++) |
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motors.setRemoteCommand(motor, readFloatSerial()); |
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break; |
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case 'a': |
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// spare |
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break; |
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case 'b': // calibrate gyros |
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gyro.calibrate(); |
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break; |
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case 'c': // calibrate accels |
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accel.calibrate(); |
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break; |
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case 'd': // send aref |
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aref = readFloatSerial(); |
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break; |
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} |
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digitalWrite(LEDPIN, HIGH); |
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} |
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} |
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|
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//*************************************************************************************************** |
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//********************************* Serial Telemetry ************************************************ |
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//*************************************************************************************************** |
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void sendSerialTelemetry() {
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update = 0; |
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switch (queryType) {
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case '=': // Reserved debug command to view any variable from Serial Monitor |
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DebugPort.print(accel.getZaxis()); |
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comma(); |
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DebugPort.print(accel.getOneG()); |
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comma(); |
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DebugPort.print(zDampening); |
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comma(); |
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DebugPort.print(throttleAdjust); |
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DebugPort.println(); |
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//queryType = 'X'; |
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break; |
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case 'B': // Send roll and pitch gyro PID values |
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DebugPort.print(PID[ROLL].P); |
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comma(); |
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DebugPort.print(PID[ROLL].I); |
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comma(); |
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DebugPort.print(PID[ROLL].D); |
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comma(); |
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DebugPort.print(PID[PITCH].P); |
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comma(); |
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DebugPort.print(PID[PITCH].I); |
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comma(); |
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DebugPort.print(PID[PITCH].D); |
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comma(); |
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DebugPort.println(minAcro); |
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queryType = 'X'; |
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break; |
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case 'D': // Send yaw PID values |
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DebugPort.print(PID[YAW].P); |
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comma(); |
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DebugPort.print(PID[YAW].I); |
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comma(); |
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DebugPort.print(PID[YAW].D); |
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comma(); |
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DebugPort.print(PID[HEADING].P); |
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comma(); |
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DebugPort.print(PID[HEADING].I); |
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comma(); |
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DebugPort.print(PID[HEADING].D); |
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comma(); |
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DebugPort.println(headingHoldConfig, BIN); |
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queryType = 'X'; |
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break; |
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case 'F': // Send roll and pitch auto level PID values |
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DebugPort.print(PID[LEVELROLL].P); |
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comma(); |
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DebugPort.print(PID[LEVELROLL].I); |
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comma(); |
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DebugPort.print(PID[LEVELROLL].D); |
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comma(); |
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DebugPort.print(PID[LEVELPITCH].P); |
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comma(); |
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DebugPort.print(PID[LEVELPITCH].I); |
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comma(); |
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DebugPort.print(PID[LEVELPITCH].D); |
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comma(); |
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DebugPort.print(PID[LEVELGYROROLL].P); |
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comma(); |
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DebugPort.print(PID[LEVELGYROROLL].I); |
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comma(); |
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DebugPort.print(PID[LEVELGYROROLL].D); |
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comma(); |
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DebugPort.print(PID[LEVELGYROPITCH].P); |
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comma(); |
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DebugPort.print(PID[LEVELGYROPITCH].I); |
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comma(); |
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DebugPort.print(PID[LEVELGYROPITCH].D); |
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comma(); |
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DebugPort.println(windupGuard); |
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queryType = 'X'; |
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break; |
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case 'H': // Send auto level configuration values |
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DebugPort.print(levelLimit); |
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comma(); |
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DebugPort.println(levelOff); |
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queryType = 'X'; |
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break; |
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case 'J': // Altitude Hold |
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#ifdef AltitudeHold |
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DebugPort.print(PID[ALTITUDE].P); |
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comma(); |
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DebugPort.print(PID[ALTITUDE].I); |
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comma(); |
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DebugPort.print(PID[ALTITUDE].D); |
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comma(); |
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DebugPort.print(minThrottleAdjust); |
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comma(); |
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DebugPort.print(maxThrottleAdjust); |
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comma(); |
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DebugPort.print(altitude.getSmoothFactor()); |
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comma(); |
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DebugPort.print(PID[ZDAMPENING].P); |
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comma(); |
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DebugPort.print(PID[ZDAMPENING].I); |
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comma(); |
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DebugPort.println(PID[ZDAMPENING].D); |
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#else |
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DebugPort.print('0');
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comma(); |
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DebugPort.print('0');
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comma(); |
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DebugPort.print('0');
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comma(); |
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DebugPort.print('0');
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comma(); |
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DebugPort.print('0');
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comma(); |
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DebugPort.print('0');
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comma(); |
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DebugPort.print('0');
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comma(); |
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DebugPort.print('0');
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comma(); |
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DebugPort.println('0');
|
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#endif |
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queryType = 'X'; |
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break; |
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case 'L': // Send data filtering values |
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DebugPort.print(gyro.getSmoothFactor()); |
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comma(); |
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DebugPort.print(accel.getSmoothFactor()); |
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comma(); |
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DebugPort.println(timeConstant); |
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// comma(); |
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// Serial.println(flightMode, DEC); |
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queryType = 'X'; |
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break; |
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case 'N': // Send transmitter smoothing values |
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DebugPort.print(receiver.getXmitFactor()); |
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comma(); |
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for (axis = ROLL; axis < AUX; axis++) {
|
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DebugPort.print(receiver.getSmoothFactor(axis)); |
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comma(); |
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} |
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DebugPort.println(receiver.getSmoothFactor(AUX)); |
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queryType = 'X'; |
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break; |
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case 'P': // Send transmitter calibration data |
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for (axis = ROLL; axis < AUX; axis++) {
|
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DebugPort.print(receiver.getTransmitterSlope(axis)); |
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comma(); |
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DebugPort.print(receiver.getTransmitterOffset(axis)); |
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comma(); |
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} |
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DebugPort.print(receiver.getTransmitterSlope(AUX)); |
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comma(); |
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DebugPort.println(receiver.getTransmitterOffset(AUX)); |
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queryType = 'X'; |
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break; |
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case 'Q': // Send sensor data |
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for (axis = ROLL; axis < LASTAXIS; axis++) {
|
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DebugPort.print(gyro.getData(axis)); |
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comma(); |
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} |
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for (axis = ROLL; axis < LASTAXIS; axis++) {
|
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DebugPort.print(accel.getData(axis)); |
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comma(); |
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} |
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for (axis = ROLL; axis < YAW; axis++) {
|
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DebugPort.print(levelAdjust[axis]); |
| 370 |
comma(); |
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} |
| 372 |
DebugPort.print(flightAngle.getData(ROLL)); |
| 373 |
comma(); |
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DebugPort.print(flightAngle.getData(PITCH)); |
| 375 |
DebugPort.println(); |
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break; |
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case 'R': // Send raw sensor data |
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/*Serial.print(analogRead(ROLLRATEPIN)); |
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comma(); |
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Serial.print(analogRead(PITCHRATEPIN)); |
| 381 |
comma(); |
| 382 |
Serial.print(analogRead(YAWRATEPIN)); |
| 383 |
comma(); |
| 384 |
Serial.print(analogRead(ROLLACCELPIN)); |
| 385 |
comma(); |
| 386 |
Serial.print(analogRead(PITCHACCELPIN)); |
| 387 |
comma(); |
| 388 |
Serial.println(analogRead(ZACCELPIN));*/ |
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//queryType = 'X'; |
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break; |
| 391 |
case 'S': // Send all flight data |
| 392 |
DebugPort.print(deltaTime); |
| 393 |
comma(); |
| 394 |
for (axis = ROLL; axis < LASTAXIS; axis++) {
|
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DebugPort.print(gyro.getFlightData(axis)); |
| 396 |
comma(); |
| 397 |
} |
| 398 |
DebugPort.print(receiver.getData(THROTTLE)); |
| 399 |
comma(); |
| 400 |
for (axis = ROLL; axis < LASTAXIS; axis++) {
|
| 401 |
DebugPort.print(motors.getMotorAxisCommand(axis)); |
| 402 |
comma(); |
| 403 |
} |
| 404 |
for (motor = FRONT; motor < LASTMOTOR; motor++) {
|
| 405 |
DebugPort.print(motors.getMotorCommand(motor)); |
| 406 |
comma(); |
| 407 |
} |
| 408 |
for (axis = ROLL; axis < LASTAXIS; axis++) {
|
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DebugPort.print(accel.getFlightData(axis)); |
| 410 |
comma(); |
| 411 |
} |
| 412 |
DebugPort.print(armed, BIN); |
| 413 |
comma(); |
| 414 |
if (flightMode == STABLE) |
| 415 |
DebugPort.print(2000); |
| 416 |
if (flightMode == ACRO) |
| 417 |
DebugPort.print(1000); |
| 418 |
#ifdef HeadingMagHold |
| 419 |
comma(); |
| 420 |
DebugPort.print(compass.getAbsoluteHeading()); |
| 421 |
#else |
| 422 |
comma(); |
| 423 |
DebugPort.print('0');
|
| 424 |
#endif |
| 425 |
#ifdef AltitudeHold |
| 426 |
comma(); |
| 427 |
DebugPort.print(altitude.getData()); |
| 428 |
comma(); |
| 429 |
DebugPort.print(altitudeHold, DEC); |
| 430 |
#else |
| 431 |
comma(); |
| 432 |
DebugPort.print('0');
|
| 433 |
comma(); |
| 434 |
DebugPort.print('0');
|
| 435 |
#endif |
| 436 |
DebugPort.println(); |
| 437 |
break; |
| 438 |
case 'T': // Send processed transmitter values |
| 439 |
DebugPort.print(receiver.getXmitFactor()); |
| 440 |
comma(); |
| 441 |
for (axis = ROLL; axis < LASTAXIS; axis++) {
|
| 442 |
DebugPort.print(receiver.getData(axis)); |
| 443 |
comma(); |
| 444 |
} |
| 445 |
for (axis = ROLL; axis < YAW; axis++) {
|
| 446 |
DebugPort.print(levelAdjust[axis]); |
| 447 |
comma(); |
| 448 |
} |
| 449 |
DebugPort.print(motors.getMotorAxisCommand(ROLL)); |
| 450 |
comma(); |
| 451 |
DebugPort.print(motors.getMotorAxisCommand(PITCH)); |
| 452 |
comma(); |
| 453 |
DebugPort.println(motors.getMotorAxisCommand(YAW)); |
| 454 |
break; |
| 455 |
case 'U': // Send smoothed receiver with Transmitter Factor applied values |
| 456 |
for (channel = ROLL; channel < AUX; channel++) {
|
| 457 |
DebugPort.print(receiver.getData(channel)); |
| 458 |
comma(); |
| 459 |
} |
| 460 |
DebugPort.println(receiver.getData(AUX)); |
| 461 |
break; |
| 462 |
case 'V': // Send receiver status |
| 463 |
for (channel = ROLL; channel < AUX; channel++) {
|
| 464 |
DebugPort.print(receiver.getRaw(channel)); |
| 465 |
comma(); |
| 466 |
} |
| 467 |
DebugPort.println(receiver.getRaw(AUX)); |
| 468 |
break; |
| 469 |
case 'X': // Stop sending messages |
| 470 |
break; |
| 471 |
case 'Z': // Send heading |
| 472 |
DebugPort.print(receiver.getData(YAW)); |
| 473 |
comma(); |
| 474 |
DebugPort.print(headingHold); |
| 475 |
comma(); |
| 476 |
DebugPort.print(setHeading); |
| 477 |
comma(); |
| 478 |
DebugPort.println(relativeHeading); |
| 479 |
break; |
| 480 |
case '6': // Report remote commands |
| 481 |
for (motor = FRONT; motor < LEFT; motor++) {
|
| 482 |
DebugPort.print(motors.getRemoteCommand(motor)); |
| 483 |
comma(); |
| 484 |
} |
| 485 |
DebugPort.println(motors.getRemoteCommand(LEFT)); |
| 486 |
break; |
| 487 |
case '!': // Send flight software version |
| 488 |
DebugPort.println(VERSION, 1); |
| 489 |
queryType = 'X'; |
| 490 |
break; |
| 491 |
case '#': // Send software configuration |
| 492 |
// Determine which hardware is used to define max/min sensor values for Configurator plots |
| 493 |
#if defined(AeroQuad_v1) |
| 494 |
DebugPort.print('0');
|
| 495 |
#elif defined(AeroQuadMega_v1) |
| 496 |
DebugPort.print('1');
|
| 497 |
#elif defined(AeroQuad_v18) |
| 498 |
DebugPort.print('2');
|
| 499 |
#elif defined(AeroQuadMega_v2) |
| 500 |
DebugPort.print('3');
|
| 501 |
#elif defined(AeroQuad_Wii) |
| 502 |
DebugPort.print('4');
|
| 503 |
#elif defined(AeroQuadMega_Wii) |
| 504 |
DebugPort.print('5');
|
| 505 |
#elif defined(ArduCopter) |
| 506 |
DebugPort.print('6');
|
| 507 |
#elif defined(Multipilot) |
| 508 |
DebugPort.print('7');
|
| 509 |
#elif defined(MultipilotI2C) |
| 510 |
DebugPort.print('8');
|
| 511 |
#endif |
| 512 |
comma(); |
| 513 |
// Determine which motor flight configuration for Configurator GUI |
| 514 |
#if defined(plusConfig) |
| 515 |
DebugPort.print('0');
|
| 516 |
#elif defined(XConfig) |
| 517 |
DebugPort.print('1');
|
| 518 |
#elif defined(HEXACOAXIAL) |
| 519 |
DebugPort.print('2');
|
| 520 |
#elif defined(HEXARADIAL) |
| 521 |
DebugPort.print('3');
|
| 522 |
#endif |
| 523 |
DebugPort.println(); |
| 524 |
queryType = 'X'; |
| 525 |
break; |
| 526 |
case 'e': // Send AREF value |
| 527 |
DebugPort.println(aref); |
| 528 |
queryType = 'X'; |
| 529 |
break; |
| 530 |
|
| 531 |
case 'p': // send altimeter |
| 532 |
#ifdef AltitudeHold |
| 533 |
comma(); |
| 534 |
DebugPort.print(altitude.getData()); |
| 535 |
comma(); |
| 536 |
DebugPort.print(altitudeHold, DEC); |
| 537 |
DebugPort.print('0');
|
| 538 |
#endif |
| 539 |
break; |
| 540 |
|
| 541 |
case 'q': // send sonar |
| 542 |
#ifdef SonarHold |
| 543 |
DebugPort.println(sonar.range); |
| 544 |
#endif |
| 545 |
break; |
| 546 |
} |
| 547 |
} |
| 548 |
|
| 549 |
// Used to read floating point values from the serial port |
| 550 |
float readFloatSerial() {
|
| 551 |
byte index = 0; |
| 552 |
byte timeout = 0; |
| 553 |
char data[128] = ""; |
| 554 |
|
| 555 |
do {
|
| 556 |
if (DebugPort.available() == 0) {
|
| 557 |
delay(10); |
| 558 |
timeout++; |
| 559 |
} |
| 560 |
else {
|
| 561 |
data[index] = DebugPort.read(); |
| 562 |
timeout = 0; |
| 563 |
index++; |
| 564 |
} |
| 565 |
} while ((data[constrain(index-1, 0, 128)] != ';') && (timeout < 5) && (index < 128)); |
| 566 |
return atof(data); |
| 567 |
} |
| 568 |
|
| 569 |
|
| 570 |
void comma() {
|
| 571 |
DebugPort.print(',');
|
| 572 |
} |
| 573 |
|
| 574 |
void printInt(int data) {
|
| 575 |
byte msb, lsb; |
| 576 |
|
| 577 |
msb = data >> 8; |
| 578 |
lsb = data & 0xff; |
| 579 |
|
| 580 |
DebugPort.print(msb, BYTE); |
| 581 |
DebugPort.print(lsb, BYTE); |
| 582 |
} |