Merge remote-tracking branch 'refs/remotes/origin/development'

AK8963.cpp

@@ -56,22 +56,20 @@ uint8_t AK8963::getStatusByte() {
 bool AK8963::startMeasurement() {
     ready = false;
     data_to_send[0] = AK8963_XOUT_L;
-    i2c->addTransfer((uint8_t)AK8963_ADDRESS, (uint8_t)1, &data_to_send[0], (uint8_t)7, &data_to_read[0], this);
+    i2c->addTransfer(AK8963_ADDRESS, 1, data_to_send, 7, data_to_read, this);
     return true;
 }
 
-void AK8963::processCallback(uint8_t count, uint8_t *rawData) {
-    // count should always be 7 if we wanted to check...
-
-    uint8_t c = rawData[6];  // ST2 register
+void AK8963::triggerCallback() {
+    uint8_t c = data_to_read[6];  // ST2 register
     if (!(c & 0x08)) {       // Check if magnetic sensor overflow set, if not then report data
         // convert from REGISTER system to IC/PCB system
         // "Measurement data is stored in two’s complement and Little Endian format."
         // be careful not to misinterpret 2's complement registers
         int16_t registerValues[3];
-        registerValues[0] = (int16_t)(((uint16_t)rawData[1]) << 8) | (uint16_t)rawData[0];  // low byte, high byte
-        registerValues[1] = (int16_t)(((uint16_t)rawData[3]) << 8) | (uint16_t)rawData[2];
-        registerValues[2] = (int16_t)(((uint16_t)rawData[5]) << 8) | (uint16_t)rawData[4];
+        registerValues[0] = (int16_t)(((uint16_t)data_to_read[1]) << 8) | (uint16_t)data_to_read[0];  // low byte, high byte
+        registerValues[1] = (int16_t)(((uint16_t)data_to_read[3]) << 8) | (uint16_t)data_to_read[2];
+        registerValues[2] = (int16_t)(((uint16_t)data_to_read[5]) << 8) | (uint16_t)data_to_read[4];
         magCount[0] = MAG_XSIGN * registerValues[MAG_XDIR];
         magCount[1] = MAG_YSIGN * registerValues[MAG_YDIR];
         magCount[2] = MAG_ZSIGN * registerValues[MAG_ZDIR];

AK8963.h

@@ -31,7 +31,7 @@ class AK8963 : public CallbackProcessor {
     bool ready;
 
     bool startMeasurement();  // writes values to state (when data is ready)
-    void processCallback(uint8_t count, uint8_t *rawData);  // handles return for getAccelGryo()
+    void triggerCallback();  // handles return for getAccelGryo()
 
     uint8_t getID();
 

BMP280.cpp

@@ -75,15 +75,14 @@ boolean BMP280::validateCalibation() {
 bool BMP280::startMeasurement(void) {
     ready = false;
     data_to_send[0] = BMP280_REG_RESULT;
-    i2c->addTransfer((uint8_t)BMP280_ADDR, (uint8_t)1, data_to_send, (uint8_t)6, data_to_read, this);
+    i2c->addTransfer(BMP280_ADDR, 1, data_to_send, 6, data_to_read, this);
     return true;
 }
 
-void BMP280::processCallback(uint8_t count, uint8_t *data) {
-    // count should always be 6 if we wanted to check...
+void BMP280::triggerCallback() {
     int32_t rawP, rawT;
-    rawP = (((int32_t)data[0]) << 12) + (((int32_t)data[1]) << 4) + (((int32_t)data[2]) >> 4);
-    rawT = (((int32_t)data[3]) << 12) + (((int32_t)data[4]) << 4) + (((int32_t)data[5]) >> 4);
+    rawP = (((int32_t)data_to_read[0]) << 12) + (((int32_t)data_to_read[1]) << 4) + (((int32_t)data_to_read[2]) >> 4);
+    rawT = (((int32_t)data_to_read[3]) << 12) + (((int32_t)data_to_read[4]) << 4) + (((int32_t)data_to_read[5]) >> 4);
     state->temperature = compensate_T_int32(rawT);  // calculate temp first to update t_fine
     state->pressure = compensate_P_int64(rawP);
     ready = true;

BMP280.h

@@ -49,7 +49,7 @@ class BMP280 : public CallbackProcessor {
     uint8_t getID();
 
     bool startMeasurement();
-    void processCallback(uint8_t count, uint8_t *rawData);  // handles return for getPT()
+    void triggerCallback();  // handles return for getPT()
 
    private:
     State *state;

MPU9250.cpp

@@ -12,6 +12,7 @@
 #include <i2c_t3.h>
 #include <stdio.h>
 #include <math.h>
+#include "board.h"
 #include "state.h"
 
 // we have three coordinate systems here:
@@ -40,7 +41,7 @@ MPU9250::MPU9250(State *__state, I2CManager *__i2c) {
     state = __state;
     i2c = __i2c;
     ready = false;
-    pinMode(MPU_INTERRUPT, INPUT);
+    pinMode(board::MPU_INTERRUPT, INPUT);
 }
 
 uint8_t MPU9250::getID() {
@@ -54,7 +55,7 @@ void MPU9250::restart() {
 }
 
 bool MPU9250::dataReadyInterrupt() {
-    return digitalRead(MPU_INTERRUPT);  // use the interrupt pin -- be sure to set INT_PIN_CFG
+    return digitalRead(board::MPU_INTERRUPT);  // use the interrupt pin -- be sure to set INT_PIN_CFG
 }
 
 uint8_t MPU9250::getStatusByte() {
@@ -165,33 +166,31 @@ bool MPU9250::startMeasurement() {
     if (dataReadyInterrupt()) {
         ready = false;
         data_to_send[0] = ACCEL_XOUT_H;
-        i2c->addTransfer((uint8_t)MPU9250_ADDRESS, (uint8_t)1, &data_to_send[0], (uint8_t)14, &data_to_read[0], this);
+        i2c->addTransfer(MPU9250_ADDRESS, 1, data_to_send, 14, data_to_read, this);
         return true;
     }
     return false;
 }
 
-void MPU9250::processCallback(uint8_t count, uint8_t *rawData) {
-    // count should always be 14 if we wanted to check...
-
+void MPU9250::triggerCallback() {
     // convert from REGISTER system to IC/PCB system
     int16_t registerValuesAccel[3];
     // be careful not to misinterpret 2's complement registers
-    registerValuesAccel[0] = (int16_t)(((uint16_t)rawData[0]) << 8) | (uint16_t)rawData[1];  // high byte, low byte
-    registerValuesAccel[1] = (int16_t)(((uint16_t)rawData[2]) << 8) | (uint16_t)rawData[3];
-    registerValuesAccel[2] = (int16_t)(((uint16_t)rawData[4]) << 8) | (uint16_t)rawData[5];
+    registerValuesAccel[0] = (int16_t)(((uint16_t)data_to_read[0]) << 8) | (uint16_t)data_to_read[1];  // high byte, low byte
+    registerValuesAccel[1] = (int16_t)(((uint16_t)data_to_read[2]) << 8) | (uint16_t)data_to_read[3];
+    registerValuesAccel[2] = (int16_t)(((uint16_t)data_to_read[4]) << 8) | (uint16_t)data_to_read[5];
     accelCount[0] = ACCEL_XSIGN * registerValuesAccel[ACCEL_XDIR];
     accelCount[1] = ACCEL_YSIGN * registerValuesAccel[ACCEL_YDIR];
     accelCount[2] = ACCEL_ZSIGN * registerValuesAccel[ACCEL_ZDIR];
 
     // be careful not to misinterpret 2's complement registers
-    temperatureCount[0] = (int16_t)(((uint16_t)rawData[6]) << 8) | (uint16_t)rawData[7];
+    temperatureCount[0] = (int16_t)(((uint16_t)data_to_read[6]) << 8) | (uint16_t)data_to_read[7];
 
     int16_t registerValuesGyro[3];
     // be careful not to misinterpret 2's complement registers
-    registerValuesGyro[0] = (int16_t)(((uint16_t)rawData[8]) << 8) | (uint16_t)rawData[9];  // high byte, low byte
-    registerValuesGyro[1] = (int16_t)(((uint16_t)rawData[10]) << 8) | (uint16_t)rawData[11];
-    registerValuesGyro[2] = (int16_t)(((uint16_t)rawData[12]) << 8) | (uint16_t)rawData[13];
+    registerValuesGyro[0] = (int16_t)(((uint16_t)data_to_read[8]) << 8) | (uint16_t)data_to_read[9];  // high byte, low byte
+    registerValuesGyro[1] = (int16_t)(((uint16_t)data_to_read[10]) << 8) | (uint16_t)data_to_read[11];
+    registerValuesGyro[2] = (int16_t)(((uint16_t)data_to_read[12]) << 8) | (uint16_t)data_to_read[13];
     gyroCount[0] = GYRO_XSIGN * registerValuesGyro[GYRO_XDIR];
     gyroCount[1] = GYRO_YSIGN * registerValuesGyro[GYRO_YDIR];
     gyroCount[2] = GYRO_ZSIGN * registerValuesGyro[GYRO_ZDIR];

MPU9250.h

@@ -34,7 +34,7 @@ class MPU9250 : public CallbackProcessor {
     void forgetBiasValues();  // discard bias values
 
     bool startMeasurement();
-    void processCallback(uint8_t count, uint8_t *rawData);  // handles return for getAccelGryo()
+    void triggerCallback();  // handles return for getAccelGryo()
 
     float getTemp() {
         return (float)temperatureCount[0] / 333.87 + 21.0;
@@ -73,8 +73,6 @@ class MPU9250 : public CallbackProcessor {
 
 #define DEG2RAD 0.01745329251f
 
-#define MPU_INTERRUPT 17  // 36
-
 //*************************************************************
 //
 // MPU Registers (See Table 1 Register Map on page 7)

R415X.cpp

@@ -5,6 +5,7 @@
 */
 
 #include "R415X.h"
+#include "board.h"
 
 volatile uint16_t RX[RC_CHANNEL_COUNT];  // filled by the interrupt with valid data
 volatile uint16_t RX_errors = 0;  // count dropped frames
@@ -13,12 +14,12 @@ volatile uint16_t RX_buffer[RC_CHANNEL_COUNT];  // buffer data in anticipation o
 volatile uint8_t RX_channel = 0;  // we are collecting data for this channel
 
 R415X::R415X() {
-    attemptToBind(50);
-    initialize_isr();
+    attemptToBind(50); //this calls initialize_isr
+    //initialize_isr();
 }
 
 void R415X::initialize_isr(void) {
-    pinMode(RX_DAT, INPUT);  // WE ARE ASSUMING RX_DAT IS PIN 3 IN FTM1 SETUP!
+    pinMode(board::RX_DAT, INPUT);  // WE ARE ASSUMING RX_DAT IS PIN 3 IN FTM1 SETUP!
 
     for (uint8_t i = 0; i <= RC_CHANNEL_COUNT; i++) {
         RX[i] = 1100;
@@ -73,10 +74,10 @@ extern "C" void ftm1_isr(void) {
 }
 
 void R415X::attemptToBind(uint16_t milliseconds) {
-    pinMode(RX_DAT, OUTPUT);
-    digitalWrite(RX_DAT, LOW);
+    pinMode(board::RX_DAT, OUTPUT);
+    digitalWrite(board::RX_DAT, LOW);
     delay(milliseconds);
-    pinMode(RX_DAT, INPUT);  // WE ARE ASSUMING RX_DAT IS PIN 3 IN FTM1 SETUP!
+    pinMode(board::RX_DAT, INPUT);  // WE ARE ASSUMING RX_DAT IS PIN 3 IN FTM1 SETUP!
 
     // after we bind, we must setup our timer again.
     initialize_isr();

R415X.h

@@ -32,8 +32,6 @@ extern volatile uint16_t startPulse;  // keeps track of the last received pulse
 extern volatile uint16_t RX_buffer[RC_CHANNEL_COUNT];  // buffer data in anticipation of a valid frame
 extern volatile uint8_t RX_channel;  // we are collecting data for this channel
 
-// pin definitions
-#define RX_DAT 3  // 28  --- MUST BE PIN 3
 #define RX_PPM_SYNCPULSE_MIN 7500   // 2.5ms
 #define RX_PPM_SYNCPULSE_MAX 48000  // 16 ms (seems to be about 13.4ms on the scope)
 

README.md

@@ -1,17 +1,18 @@
 # flybrix-firmware
 
-Flybrix is still in alpha, but we're excited to annouce our first open source code release!
+Flybrix is in beta and still changing from time to time.
 
 Dependencies:
 
 * arduino 1.6.7 from https://www.arduino.cc/en/Main/Software
 * teensyduino libraries from https://www.pjrc.com/teensy/teensyduino.html
 * teensy loader from https://www.pjrc.com/teensy/loader.html
+* SDFat library must be patched to use nonstandard pins (see 'SdSpiTeensy3.cpp.diff')
 
 
 Tips:
 
-If you can't compile because it appears that you're missing the ADC or i2c_t3 libraries, 
+If you can't compile because it appears that you're missing libraries, 
 be sure that you have set up the Arduino IDE to target the correct board ("Teensy 3.2 / 3.1")!
 
 The Arduino IDE defaults to expand tabs with 2 spaces. To change that edit your preferences file.

SdSpiTeensy3.cpp.diff

@@ -0,0 +1,8 @@
+91,93c91,93
+<   CORE_PIN11_CONFIG = PORT_PCR_DSE | PORT_PCR_MUX(2);
+<   CORE_PIN12_CONFIG = PORT_PCR_MUX(2);
+<   CORE_PIN13_CONFIG = PORT_PCR_DSE | PORT_PCR_MUX(2);
+---
+>   CORE_PIN7_CONFIG = PORT_PCR_DSE | PORT_PCR_MUX(2);
+>   CORE_PIN8_CONFIG = PORT_PCR_MUX(2);
+>   CORE_PIN14_CONFIG = PORT_PCR_DSE | PORT_PCR_MUX(2);

airframe.cpp

@@ -5,13 +5,11 @@
 */
 
 #include "airframe.h"
-
+#include <Arduino.h>
 #include "config.h"  //CONFIG variable
-
 #include "state.h"
 
-Airframe::Airframe(State* __state) {
-    state = __state;
+Airframe::Airframe(State* state) : state(state) {
 }
 
 uint16_t Airframe::mix(int32_t mFz, int32_t mTx, int32_t mTy, int32_t mTz) {
@@ -20,12 +18,6 @@ uint16_t Airframe::mix(int32_t mFz, int32_t mTx, int32_t mTy, int32_t mTz) {
 }
 
 void Airframe::updateMotorsMix() {
-    state->MotorOut[0] = mix(CONFIG.data.mixTableFz[0], CONFIG.data.mixTableTx[0], CONFIG.data.mixTableTy[0], CONFIG.data.mixTableTz[0]); 
-    state->MotorOut[1] = mix(CONFIG.data.mixTableFz[1], CONFIG.data.mixTableTx[1], CONFIG.data.mixTableTy[1], CONFIG.data.mixTableTz[1]); 
-    state->MotorOut[2] = mix(CONFIG.data.mixTableFz[2], CONFIG.data.mixTableTx[2], CONFIG.data.mixTableTy[2], CONFIG.data.mixTableTz[2]); 
-    state->MotorOut[3] = mix(CONFIG.data.mixTableFz[3], CONFIG.data.mixTableTx[3], CONFIG.data.mixTableTy[3], CONFIG.data.mixTableTz[3]); 
-    state->MotorOut[4] = mix(CONFIG.data.mixTableFz[4], CONFIG.data.mixTableTx[4], CONFIG.data.mixTableTy[4], CONFIG.data.mixTableTz[4]); 
-    state->MotorOut[5] = mix(CONFIG.data.mixTableFz[5], CONFIG.data.mixTableTx[5], CONFIG.data.mixTableTy[5], CONFIG.data.mixTableTz[5]); 
-    state->MotorOut[6] = mix(CONFIG.data.mixTableFz[6], CONFIG.data.mixTableTx[6], CONFIG.data.mixTableTy[6], CONFIG.data.mixTableTz[6]); 
-    state->MotorOut[7] = mix(CONFIG.data.mixTableFz[7], CONFIG.data.mixTableTx[7], CONFIG.data.mixTableTy[7], CONFIG.data.mixTableTz[7]); 
+    for (size_t i = 0; i < 8; ++i)
+        state->MotorOut[i] = mix(CONFIG.data.mixTableFz[i], CONFIG.data.mixTableTx[i], CONFIG.data.mixTableTy[i], CONFIG.data.mixTableTz[i]);
 }

airframe.h

@@ -11,7 +11,7 @@
 #ifndef airframe_h
 #define airframe_h
 
-#include "Arduino.h"
+#include <cstdint>
 
 class State;