Serial debug

Makefile

@@ -80,8 +80,7 @@ OBJDIR = ./.obj/
 
 
 # List C source files here. (C dependencies are automatically generated.)
-SRC = $(TARGET).c motors.c gyros.c receiver.c settings.c pid.c
-
+SRC = $(TARGET).c motors.c gyros.c receiver.c settings.c pid.c soft_serial.c
 
 # List C++ source files here. (C dependencies are automatically generated.)
 CPPSRC = 
@@ -273,10 +272,10 @@ LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
 # Type: avrdude -c ?
 # to get a full listing.
 #
-AVRDUDE_PROGRAMMER = usbasp-clone
+AVRDUDE_PROGRAMMER = usbasp
 
 # com1 = serial port. Use lpt1 to connect to parallel port.
-AVRDUDE_PORT = usb    # programmer connected to serial device
+AVRDUDE_PORT = /dev/ttyUSB0    # programmer connected to serial device
 
 AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
 #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep

config.h

@@ -9,6 +9,11 @@
 #include <util/delay.h>
 
 #include "typedefs.h"
+
+#define SAVE_CENTER
+#define SERIAL_PORT
+#define BT_SERIAL_PORT
+
 #include "io_cfg.h"
 
 /* Multicopter Type */
@@ -22,4 +27,4 @@
 //#define HEX_COPTER
 //#define Y6_COPTER
 
-#endif
+#endif

io_cfg.h

@@ -35,16 +35,31 @@
 
 #define M1		REGISTER_BIT(PORTB,2)
 #define M2		REGISTER_BIT(PORTB,1)
+#ifdef SERIAL_PORT
+#define M3		REGISTER_BIT(PORTD,6)
+#define M4		REGISTER_BIT(PORTD,5)
+#define SER_TX		REGISTER_BIT(PORTB,0)
+#define SER_RX		REGISTER_BIT(PORTD,7)
+#define SERIAL_RX_M4
+#else
 #define M3		REGISTER_BIT(PORTB,0)
 #define M4		REGISTER_BIT(PORTD,7)
 #define M5		REGISTER_BIT(PORTD,6)
 #define M6		REGISTER_BIT(PORTD,5)
+#endif
 #define M1_DIR		REGISTER_BIT(DDRB,2)
 #define M2_DIR		REGISTER_BIT(DDRB,1)
+#ifdef SERIAL_PORT
+#define M3_DIR		REGISTER_BIT(DDRD,6)
+#define M4_DIR		REGISTER_BIT(DDRD,5)
+#define SER_TX_DIR	REGISTER_BIT(DDRB,0)
+#define SER_RX_DIR	REGISTER_BIT(DDRD,7)
+#else
 #define M3_DIR		REGISTER_BIT(DDRB,0)
 #define M4_DIR		REGISTER_BIT(DDRD,7)
 #define M5_DIR		REGISTER_BIT(DDRD,6)
 #define M6_DIR		REGISTER_BIT(DDRD,5)
+#endif
 
 #define LED		REGISTER_BIT(PORTB,6)
 #define LED_DIR		REGISTER_BIT(DDRB,6)

kk.c

@@ -3,6 +3,7 @@
 #include "settings.h"
 #include "receiver.h"
 #include "motors.h"
+#include "soft_serial.h"
 
 bool Armed;
 
@@ -17,10 +18,30 @@ static void setup()
 {
   MCUCR = _BV(PUD);  // Disable hardware pull-up
 
+  settingsSetup();
   receiverSetup();
   gyrosSetup();
   motorsSetup();
-  settingsSetup();
+#ifdef SERIAL_PORT
+  soft_serial( false );
+  ss_begin(9600);
+
+  ss_write_str( "\r\n\r\nConfig.RollGyroDirection   = " );
+  ss_write_num( Config.RollGyroDirection );
+  ss_write_str( "\r\nConfig.PitchGyroDirection  = " );
+  ss_write_num( Config.PitchGyroDirection );
+  ss_write_str( "\r\nConfig.YawGyroDirection    = " );
+  ss_write_num( Config.YawGyroDirection );
+  ss_write_str( "\r\nConfig.CenterRollValue     = " );
+  ss_write_num( Config.CenterRollValue );
+  ss_write_str( "\r\nConfig.CenterPitchValue    = " );
+  ss_write_num( Config.CenterPitchValue );
+  ss_write_str( "\r\nConfig.CenterCollValue     = " );
+  ss_write_num( Config.CenterCollValue );
+  ss_write_str( "\r\nConfig.CenterYawValue      = " );
+  ss_write_num( Config.CenterYawValue );
+  ss_write( '\r\n' );
+#endif
 
   LED_DIR   = OUTPUT;
   LED    = 0;
@@ -43,26 +64,68 @@ static void setup()
    * Flash the LED once at power on
    */
   LED = 1;
-  _delay_ms(150);
+  _delay_ms(250);
   LED = 0;
 
   sei();
 
-  _delay_ms(1500);
+  _delay_ms(2000);
 
   ReadGainPots();
   ReadGainPots();
+#ifdef SERIAL_PORT
+  ReadGyros();
+  ss_write_str( "\r\nPitch gain   = " );
+  ss_write_num( GainInADC[PITCH] );
+  ss_write_str( "\r\nRoll gain    = " );
+  ss_write_num( GainInADC[ROLL] );
+  ss_write_str( "\r\nYaw gain     = " );
+  ss_write_num( GainInADC[YAW] );
+  ss_write_str( "\r\nPitch gyro   = " );
+  ss_write_num( gyroADC[PITCH] );
+  ss_write_str( "\r\nRoll gyro    = " );
+  ss_write_num( gyroADC[ROLL] );
+  ss_write_str( "\r\nYaw gyro     = " );
+  ss_write_num( gyroADC[YAW] );
+  ss_write( '\r\n' );
+#endif
+
   bool pitchMin = (GainInADC[PITCH] < (ADC_MAX * 5) / 100);    // 5% threshold
   bool rollMin =  (GainInADC[ROLL]  < (ADC_MAX * 5) / 100);    // 5% threshold
   bool yawMin =   (GainInADC[YAW]   < (ADC_MAX * 5) / 100);    // 5% threshold
 
-  if(pitchMin && rollMin && yawMin) { settingsClearAll(); }             // Clear config
-  else if(pitchMin && yawMin)       { motorsIdentify(); }               // Motor identification
+  if(pitchMin && rollMin && yawMin) { 
+      #ifdef SERIAL_PORT
+      ss_write_str( "\r\nClearing settings" );
+      #endif
+      settingsClearAll(); 
+  }             // Clear config
+  else if(pitchMin && yawMin)       { 
+      #ifdef SERIAL_PORT
+      ss_write_str( "\r\nMotor Identify" );
+      #endif
+      motorsIdentify(); 
+  }               // Motor identification
 //  else if(pitchMin && rollMin)      { }                                 // Future use
 //  else if(rollMin && yawMin)        { }                                 // Future use
-  else if(pitchMin)                 { receiverStickCenter(); }          // Stick Centering Test
-  else if(rollMin)                  { gyrosReverse(); }                 // Gyro direction reversing
-  else if(yawMin)                   { motorsThrottleCalibration(); }    // ESC throttle calibration
+  else if(pitchMin)                 { 
+      #ifdef SERIAL_PORT
+      ss_write_str( "\r\nStick Center" );
+      #endif
+      receiverStickCenter(); 
+  }          // Stick Centering Test
+  else if(rollMin)                  { 
+      #ifdef SERIAL_PORT
+      ss_write_str( "\r\nGyro reverse" );
+      #endif
+      gyrosReverse(); 
+  }                 // Gyro direction reversing
+  else if(yawMin)                   { 
+      #ifdef SERIAL_PORT
+      ss_write_str( "\r\nThrottle Calibrate" );
+      #endif
+      motorsThrottleCalibration(); 
+  }    // ESC throttle calibration
 }
 
 static inline void loop()
@@ -446,6 +509,7 @@ static inline void loop()
       MotorOut6 = 500;
     }
 #elif defined(TRI_COPTER)
+
     MotorOut1 = 0;
     MotorOut2 = 0;
     MotorOut3 = 0;
@@ -468,13 +532,22 @@ static inline void loop()
 
   LED = 0;
   output_motor_ppm();
+
 }
 
+
 int main()
 {
   setup();
+#ifdef BT_SERIAL_PORT
+  setLinvorRate( 115200 );
+#endif
 
-  while(1)
+  while(1) {
     loop();
+#ifdef SERIAL_PORT
+	  menu();
+#endif
+  }
   return 1;
 }

motors.c

@@ -20,9 +20,14 @@ void motorsSetup()
   M2_DIR    = OUTPUT;
   M3_DIR    = OUTPUT;
   M4_DIR    = OUTPUT;
+#ifdef SERIAL_PORT
+  SER_TX_DIR = OUTPUT;
+  SER_RX_DIR = INPUT;
+#else
   M5_DIR    = OUTPUT;
   M6_DIR    = OUTPUT;
-
+#endif
+
   /*
    * timer0 (8bit) - run at 8MHz, used to control ESC pulses
    * We use 8Mhz instead of 1MHz (1 usec) to avoid alignment jitter.
@@ -75,6 +80,7 @@ void output_motor_ppm()
     MotorOut4 = 0;
   else if(MotorOut4 > t)
     MotorOut4 = t;
+#ifndef SERIAL_PORT
   if(MotorOut5 < 0)
     MotorOut5 = 0;
   else if(MotorOut5 > t)
@@ -83,33 +89,40 @@ void output_motor_ppm()
     MotorOut6 = 0;
   else if(MotorOut6 > t)
     MotorOut6 = t;
+#endif /* SERIAL_PORT */
 
   t = 1000;
   MotorOut1+= t;
 #ifndef SINGLE_COPTER
   MotorOut2+= t;
   MotorOut3+= t;
   MotorOut4+= t;
+#ifndef SERIAL_PORT
   MotorOut5+= t;
   MotorOut6+= t;
+#endif /* SERIAL_PORT */
 #endif
 
   MotorOut1<<= 3;
   MotorOut2<<= 3;
   MotorOut3<<= 3;
   MotorOut4<<= 3;
+#ifndef SERIAL_PORT
   MotorOut5<<= 3;
   MotorOut6<<= 3;
+#endif /* SERIAL_PORT */
 
   /*
    * Mirror M3, M4 to M5, M6, when possible, for hardware PPM
    * support. The compiler will throw away the above operations on
    * M5 and M6 when it sees these.
    */
+#ifndef SERIAL_PORT
 #if defined(DUAL_COPTER) || defined(TRI_COPTER) || defined(QUAD_COPTER) || defined(QUAD_X_COPTER) || defined(Y4_COPTER)
   MotorOut5 = MotorOut3;
   MotorOut6 = MotorOut4;
 #endif
+#endif /* SERIAL_PORT */
 
   /*
    * We can use timer compare output mode to provide jitter-free
@@ -165,14 +178,25 @@ void output_motor_ppm()
    *
    * We hope that TCNT0 and TCNT1 are always synchronized.
    */
+#ifdef SERIAL_PORT
+  OCR0A = MotorStartTCNT1 + MotorOut3;
+  OCR0B = MotorStartTCNT1 + MotorOut4;
+#else
   OCR0A = MotorStartTCNT1 + MotorOut5;
   OCR0B = MotorStartTCNT1 + MotorOut6;
+#endif
 
   do {
     cli();
     t = TCNT1;
     sei();
     t-= MotorStartTCNT1;
+#ifdef SERIAL_PORT
+    if(t + 0xff >= MotorOut3)
+      TCCR0A&= ~_BV(COM0A0);  /* Clear pin on match */
+    if(t + 0xff >= MotorOut4)
+      TCCR0A&= ~_BV(COM0B0);  /* Clear pin on match */
+#else
     if(t >= MotorOut3)
       M3 = 0;
     if(t >= MotorOut4)
@@ -181,6 +205,7 @@ void output_motor_ppm()
       TCCR0A&= ~_BV(COM0A0);  /* Clear pin on match */
     if(t + 0xff >= MotorOut6)
       TCCR0A&= ~_BV(COM0B0);  /* Clear pin on match */
+#endif
     t-= ((2000 + PWM_LOW_PULSE_US) << 3) - 0xff;
   } while(t < 0);
 
@@ -259,6 +284,7 @@ void output_motor_ppm()
 //  TCCR0B = _BV(CS00) | _BV(FOC0A) | _BV(FOC0B);
 #endif
 
+#ifndef SERIAL_PORT
   /*
    * Wait for the on time so we can turn on the software pins.
    */
@@ -293,6 +319,7 @@ void output_motor_ppm()
 #elif defined(QUAD_COPTER) || defined(QUAD_X_COPTER) || defined(Y4_COPTER) || defined(HEX_COPTER) || defined(Y6_COPTER)
   M3 = 1;
   M4 = 1;
+#endif
 #endif
   /*
    * We leave with the output pins ON.