added MSP_UID patch from cGiessen

added sending cell voltages (faked) via frsky telemetry by fiendie
two additional cli commands (aux and dump) from jef79m - aux allows setting switches from command line, dump creates a copy-pasteable config which can be sent to a new board.


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@283 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

baseflight.uvproj

@@ -166,7 +166,7 @@
             <DriverSelection>4096</DriverSelection>
           </Flash1>
           <Flash2>BIN\UL2CM3.DLL</Flash2>
-          <Flash3></Flash3>
+          <Flash3>"" ()</Flash3>
           <Flash4></Flash4>
         </Utilities>
         <TargetArmAds>

src/board.h

@@ -21,6 +21,11 @@
 
 #define RADX10 (M_PI / 1800.0f)                  // 0.001745329252f
 
+// Chip Unique ID on F103
+#define U_ID_0 (*(uint32_t*)0x1FFFF7E8)
+#define U_ID_1 (*(uint32_t*)0x1FFFF7EC)
+#define U_ID_2 (*(uint32_t*)0x1FFFF7F0)
+
 typedef enum {
     SENSOR_ACC = 1 << 0,
     SENSOR_BARO = 1 << 1,

src/cli.c

@@ -3,8 +3,10 @@
 
 // we unset this on 'exit'
 extern uint8_t cliMode;
+static void cliAux(char *cmdline);
 static void cliCMix(char *cmdline);
 static void cliDefaults(char *cmdline);
+static void cliDump(char *cmdLine);
 static void cliExit(char *cmdline);
 static void cliFeature(char *cmdline);
 static void cliHelp(char *cmdline);
@@ -63,8 +65,10 @@ typedef struct {
 
 // should be sorted a..z for bsearch()
 const clicmd_t cmdTable[] = {
+    { "aux", "feature_name auxflag or blank for list", cliAux },
     { "cmix", "design custom mixer", cliCMix },
     { "defaults", "reset to defaults and reboot", cliDefaults },
+    { "dump", "print configurable settings in a pastable form", cliDump },
     { "exit", "", cliExit },
     { "feature", "list or -val or val", cliFeature },
     { "help", "", cliHelp },
@@ -387,6 +391,30 @@ static int cliCompare(const void *a, const void *b)
     return strncasecmp(ca->name, cb->name, strlen(cb->name));
 }
 
+static void cliAux(char *cmdline)
+{
+    int i, val = 0;
+    uint8_t len;
+    char *ptr;
+
+    len = strlen(cmdline);
+    if (len == 0) {
+        // print out aux channel settings
+        for (i = 0; i < CHECKBOXITEMS; i++)
+            printf("aux %u %u\r\n", i, cfg.activate[i]);
+    } else {
+        ptr = cmdline;
+        i = atoi(ptr);
+        if (i < CHECKBOXITEMS) {
+            ptr = strchr(cmdline, ' ');
+            val = atoi(ptr);
+            cfg.activate[i] = val;
+        } else {
+            printf("Invalid Feature index: must be < %u\r\n", CHECKBOXITEMS);
+        }
+    }
+}
+
 static void cliCMix(char *cmdline)
 {
     int i, check = 0;
@@ -482,6 +510,78 @@ static void cliDefaults(char *cmdline)
     systemReset(false);
 }
 
+static void cliDump(char *cmdline)
+{
+    
+    int i, val = 0;
+    char buf[16];
+    float thr, roll, pitch, yaw;
+    uint32_t mask;
+    const clivalue_t *setval;
+
+    printf("Current Config: Copy everything below here...\r\n");
+
+    // print out aux switches
+    cliAux("");
+
+    // print out current motor mix
+    printf("mixer %s\r\n", mixerNames[cfg.mixerConfiguration - 1]);
+
+    // print custom mix if exists
+    if (cfg.customMixer[0].throttle != 0.0f) {
+        for (i = 0; i < MAX_MOTORS; i++) {
+            if (cfg.customMixer[i].throttle == 0.0f)
+                break;
+            thr = cfg.customMixer[i].throttle;
+            roll = cfg.customMixer[i].roll;
+            pitch = cfg.customMixer[i].pitch;
+            yaw = cfg.customMixer[i].yaw;
+            printf("cmix %d", i + 1);
+            if (thr < 0) 
+                printf(" ");
+            printf("%s", ftoa(thr, buf));
+            if (roll < 0) 
+                printf(" ");
+            printf("%s", ftoa(roll, buf));
+            if (pitch < 0) 
+                printf(" ");
+            printf("%s", ftoa(pitch, buf));
+            if (yaw < 0) 
+                printf(" ");
+            printf("%s\r\n", ftoa(yaw, buf));
+        }   
+        printf("cmix %d 0 0 0 0\r\n", i + 1);
+    }
+
+    // print enabled features
+    mask = featureMask();
+    for (i = 0; ; i++) { // disable all feature first
+        if (featureNames[i] == NULL)
+            break;
+        printf("feature -%s\r\n", featureNames[i]);
+    }
+    for (i = 0; ; i++) {  // reenable what we want.
+        if (featureNames[i] == NULL)
+            break;
+        if (mask & (1 << i))
+            printf("feature %s\r\n", featureNames[i]);
+    }
+
+    // print RC MAPPING
+    for (i = 0; i < 8; i++)
+        buf[cfg.rcmap[i]] = rcChannelLetters[i];
+    buf[i] = '\0';
+    printf("map %s\r\n", buf);
+
+    // print settings
+    for (i = 0; i < VALUE_COUNT; i++) {
+        setval = &valueTable[i];
+        printf("set %s = ", valueTable[i].name);
+        cliPrintVar(setval, 0);
+        uartPrint("\r\n");
+    }
+}
+
 static void cliExit(char *cmdline)
 {
     uartPrint("\r\nLeaving CLI mode...\r\n");

src/serial.c

@@ -44,6 +44,9 @@
 #define MSP_ACC_TRIM             240    //out message         get acc angle trim values
 #define MSP_SET_ACC_TRIM         239    //in message          set acc angle trim values
 
+// Additional commands that are not compatible with MultiWii
+#define MSP_UID                  160    //out message         Unique device ID
+
 #define INBUF_SIZE 64
 
 static const char boxnames[] =
@@ -378,6 +381,13 @@ static void evaluateCommand(void)
         for (i = 0; i < 4; i++)
             serialize16(debug[i]);      // 4 variables are here for general monitoring purpose
         break;
+        // Additional commands that are not compatible with MultiWii
+    case MSP_UID:
+        headSerialReply(12);
+        serialize32(U_ID_0);
+        serialize32(U_ID_1);
+        serialize32(U_ID_2);
+        break;
     default:                   // we do not know how to handle the (valid) message, indicate error MSP $M!
         headSerialError(0);
         break;

src/telemetry.c

@@ -45,6 +45,10 @@
 #define ID_GYRO_Y             0x41
 #define ID_GYRO_Z             0x42
 
+// from sensors.c
+extern uint8_t batteryCellCount;
+
+ 
 static void sendDataHead(uint8_t id)
 {
     uartWrite(PROTOCOL_HEADER);
@@ -132,11 +136,56 @@ static void sendGPS(void)
     serialize16(GPS_coord[LON] < 0 ? 'W' : 'E');
 }
 
+/*
+ * Send voltage via ID_VOLT
+ *
+ * NOTE: This sends voltage divided by batteryCellCount. To get the real
+ * battery voltage, you need to multiply the value by batteryCellCount.
+ */
 static void sendVoltage(void)
 {
-    uint16_t voltage;
+    static uint16_t currentCell = 0;
+    uint16_t cellNumber;
+    uint32_t cellVoltage;
+    uint16_t payload;
+
+    /*
+     * Note: Fuck the pdf. Format for Voltage Data for single cells is like this:
+     *
+     *  llll llll cccc hhhh
+     *  l: Low voltage bits
+     *  h: High voltage bits
+     *  c: Cell number (starting at 0)
+     */
+    cellVoltage = vbat / batteryCellCount;
+
+    // Map to 12 bit range
+    cellVoltage = (cellVoltage * 2100) / 42;
+
+    cellNumber = currentCell % batteryCellCount;
+
+    // Cell number is at bit 9-12
+    payload = (cellNumber << 4);
+
+    // Lower voltage bits are at bit 0-8
+    payload |= ((cellVoltage & 0x0ff) << 8);
 
-    voltage = (vbat * 110) / 21;
+    // Higher voltage bits are at bits 13-15
+    payload |= ((cellVoltage & 0xf00) >> 8);
+
+    sendDataHead(ID_VOLT);
+    serialize16(payload);
+
+    currentCell++;
+    currentCell %= batteryCellCount;
+}
+
+/*
+ * Send voltage with ID_VOLTAGE_AMP
+ */
+static void sendVoltageAmp()
+{
+    uint16_t voltage = (vbat * 110) / 21;
 
     sendDataHead(ID_VOLTAGE_AMP_BP);
     serialize16(voltage / 100);
@@ -186,10 +235,15 @@ void sendTelemetry(void)
 
         if ((cycleNum % 8) == 0) {      // Sent every 1s
             sendTemperature1();
-            if (feature(FEATURE_VBAT))
+
+            if (feature(FEATURE_VBAT)) {
                 sendVoltage();
+                sendVoltageAmp();
+            }
+
             if (sensors(SENSOR_GPS))
                 sendGPS();
+
             sendTelemetryTail();
         }