philip/MDH-UAV-Control-System
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This commit is contained in:
philsson 2016-10-27 10:55:49 +02:00
parent 33426ea90b
commit 6838df050b
4 changed files with 96 additions and 81 deletions
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4
UAV-ControlSystem/inc/drivers/arduino_com.h
View File

@ -8,9 +8,11 @@
#ifndef DRIVERS_ARDUINO_COM_H_
#define DRIVERS_ARDUINO_COM_H_
#include "drivers/usart.h"
#define ARDUINO_BAUD 115200
#define ARDUINO_DMA_SIZE 100
void arduinoCom_init(USART_TypeDef usart);
void arduinoCom_init(USART_TypeDef* usart_inst);
#endif /* DRIVERS_ARDUINO_COM_H_ */

143
UAV-ControlSystem/src/drivers/arduino_com.c
View File

@ -6,7 +6,7 @@
*/
#include "drivers/arduino_com.h"
#include "drivers/usart.h"
#include "utilities.h"
#include "string.h"
#include "stm32f4xx_revo.h"
@ -20,7 +20,7 @@ enum packet_ids {
};
typedef struct compass_data_t {
const uint8_t header = COMPASS_PACKET_ID;
uint8_t header;
int16_t x;
int16_t y;
int16_t z;
@ -30,7 +30,7 @@ typedef struct compass_data_t {
compass_data_t compass_data = {0};
typedef struct gps_data_t {
const uint8_t header = GPS_PACKET_ID;
uint8_t header;
float latitude;
float longitude;
uint8_t crc;
@ -61,9 +61,9 @@ arduino_data_t data_arr[ARDUINO_DATA_COUNT] = {
};
void arduinoCom_init(USART_TypeDef usart)
void arduinoCom_init(USART_TypeDef* usart_inst)
{
usart_init_dma(usart, &dmaHandler, ARDUINO_BAUD, STOP_BITS_2, PARITY_EVEN, ARDUINO_DMA_SIZE, 0);
usart_init_dma(usart_inst, &dmaHandler, ARDUINO_BAUD, STOP_BITS_2, PARITY_EVEN, ARDUINO_DMA_SIZE, 0);
}
@ -75,6 +75,27 @@ bool arduino_frame_available()
return raw_dma_data_t.new_data;
}
arduino_data_t find_packet_from_header(uint8_t header)
{
arduino_data_t arduino_data = {
.dataPtr = NULL,
.size = 0,
};
switch (header)
{
case COMPASS_PACKET_ID:
arduino_data = data_arr[COMPASS_DATA_ID];
break;
case GPS_PACKET_ID:
arduino_data = data_arr[GPS_DATA_ID];
break;
default:
break;
}
return arduino_data;
}
void arduino_read()
{
static uint8_t arduino_arr[ARDUINO_DMA_SIZE];
@ -82,62 +103,72 @@ void arduino_read()
static uint32_t missedMsg = 0;
static uint8_t message_it_secondary_head = 0;
static bool new_header = false;
static uint8_t current_packet_size = 0;
//static uint8_t current_packet_size = 0;
static uint8_t current_header = 0;
static uint8_t crc = 0;
static arduino_data_t msg_header_and_size = {0};
if (raw_dma_data_t.new_data)
{
for (int i = 0; i < ARDUINO_DMA_SIZE; i++)
{
uint8_t msg = raw_dma_data_t.buff[i];
msg_header_and_size = find_packet_from_header(msg);
// Look for the beginning of a frame
if ( message_it == 0 )
{
uint8_t msg = raw_dma_data_t.buff[i];
// Look for the beginning of a frame
if ( message_it == 0 )
if (msg_header_and_size.size != 0)
{
switch (msg)
{
case COMPASS_PACKET_ID:
current_packet_size = data_arr[COMPASS_DATA_ID].size;
arduino_arr[(message_it)] = msg;
message_it++;
new_header = false;
break;
case GPS_PACKET_ID:
current_packet_size = data_arr[GPS_DATA_ID].size;
arduino_arr[(message_it)] = msg;
message_it++;
new_header = false;
break;
default:
message_it = 0;
}
arduino_arr[(message_it)] = msg;
message_it++;
current_header = msg;
new_header = false; // Just received one
crc ^= msg;
}
// Look for the end of sbus frame
else
}
// Look for the end of sbus frame
else
{
if (msg_header_and_size.size != 0 && new_header == false)
{
if (msg == (uint8_t)SBUS_HEADER && new_header == false)
new_header = true;
message_it_secondary_head = message_it; //save the value of the position in The buffer array, not the dma array index
}
/* Reading the message */
if ((message_it) < msg_header_and_size.size)
{
arduino_arr[(message_it)] = msg;
crc ^= msg;
message_it++;
}
if ((message_it) == msg_header_and_size.size)
{
missedMsg++;
/* TODO: Replace with check for CRC */
if (crc == msg)
{
new_header = true;
message_it_secondary_head = message_it; //save the value of the position in The buffer array, not the dma array index
message_it = 0;
missedMsg--;
arduino_data_t current_header_and_size = find_packet_from_header(current_header);
uint8_t sizeof_data = current_header_and_size.size;
uint8_t* tmp_ptr_to;
tmp_ptr_to = current_header_and_size.dataPtr;
memcpy(tmp_ptr_to,arduino_arr,sizeof_data);
}
if ((message_it) < SBUS_FRAME_SIZE)
{
sbus_arr[(message_it)] = msg;
message_it++;
}
if ((message_it) == SBUS_FRAME_SIZE)
{
missedMsg++;
if (msg == (uint8_t)SBUS_FOOTER)
{
message_it = 0;
missedMsg--;
sbusChannelData = *(sbusFrame_s*)sbus_arr;
}
}
/* If CRC does not match */
else
{
int temp_secondaryHeader = message_it_secondary_head;
@ -145,13 +176,13 @@ void arduino_read()
new_header = false; //set new header to false, this is true if there is another header within the buffer
//Move all the remaning messages in the buffer to the start of the buffer
for (int i = temp_secondaryHeader; i < SBUS_FRAME_SIZE; i++)
for (int i = temp_secondaryHeader; i < ARDUINO_DMA_SIZE; i++)
{
int innerCount = i-temp_secondaryHeader;
sbus_arr[innerCount] = sbus_arr[i];
arduino_arr[innerCount] = arduino_arr[i];
//check if we find another possible header inside the rest of the buffer and save that
if (sbus_arr[innerCount] == (uint8_t)SBUS_HEADER && innerCount > 0 && new_header == false )
if (((arduino_data_t)(find_packet_from_header(innerCount))).size != 0 && innerCount > 0 && new_header == false )
{
new_header = true;
message_it_secondary_head = innerCount;
@ -160,13 +191,7 @@ void arduino_read()
}
}
}
}
}
}

20
UAV-ControlSystem/src/drivers/sbus.c
View File

@ -121,16 +121,12 @@ void sbus_read()
// If continue only if we get new data from DMA
if (raw_dma_data_t.new_data)
{
for (int i = 0; i < USART1_SBUS_DMA_SIZE; i++)
{
uint8_t msg = raw_dma_data_t.buff[i];
// Look for the beginning of a sbus frame
if ( message_it == 0 ) //&& stop_bit_read)
{
//message_it = (raw_dma_data_t.buff[i] == ((uint8_t)SBUS_HEADER)) ? 1 : 0;
if (msg == ((uint8_t)SBUS_HEADER))
{
sbus_arr[(message_it)] = msg;
@ -141,12 +137,7 @@ void sbus_read()
{
message_it = 0;
}
// sbus_arr_iterator = 0;
// stop_bit_read = false;
}
// Look for the end of sbus frame
//else if(raw_dma_data_t.buff[i] == (uint8_t)SBUS_FOOTER)
else
{
if (msg == (uint8_t)SBUS_HEADER && new_header == false)
@ -168,10 +159,6 @@ void sbus_read()
{
message_it = 0;
missedMsg--;
//stop_bit_read = true;
// If the expected byte is stop byte, then we overwrite to the return value.
//if (sbus_arr_iterator == SBUS_FRAME_SIZE - 1)
//{
sbusChannelData = *(sbusFrame_s*)sbus_arr;
// Linear fitting
@ -228,17 +215,10 @@ void sbus_read()
message_it_secondary_head = innerCount;
}
}
}
}
}
// // Copy next byte into the sbus_arr
// if (sbus_arr_iterator < SBUS_FRAME_SIZE)
// sbus_arr[sbus_arr_iterator] = raw_dma_data_t.buff[i];
// sbus_arr_iterator++;
}
}
}

10
UAV-ControlSystem/src/main.c
View File

@ -28,6 +28,7 @@
#include "drivers/motormix.h"
#include "drivers/motors.h"
#include "Flight/pid.h"
#include "drivers/arduino_com.h"
/**************************************************************************
@ -55,7 +56,14 @@ void init_system()
cliInit(USART3);
//init sbus, using USART1
sbus_init();
//sbus_init();
// TODO!! TEMP code
arduinoCom_init(USART1);
while (1) {
arduino_read();
}
//init motors to run with oneshot 125, small delay
HAL_Delay(1000);