diff --git a/QLiteOSD/LICENSE b/QLiteOSD/LICENSE deleted file mode 100644 index f288702..0000000 --- a/QLiteOSD/LICENSE +++ /dev/null @@ -1,674 +0,0 @@ - GNU GENERAL PUBLIC LICENSE - Version 3, 29 June 2007 - - Copyright (C) 2007 Free Software Foundation, Inc. - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - - Preamble - - The GNU General Public License is a free, copyleft license for -software and other kinds of works. - - The licenses for most software and other practical works are designed -to take away your freedom to share and change the works. By contrast, -the GNU General Public License is intended to guarantee your freedom to -share and change all versions of a program--to make sure it remains free -software for all its users. We, the Free Software Foundation, use the -GNU General Public License for most of our software; it applies also to -any other work released this way by its authors. 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If your program is a subroutine library, you -may consider it more useful to permit linking proprietary applications with -the library. If this is what you want to do, use the GNU Lesser General -Public License instead of this License. But first, please read -. diff --git a/QLiteOSD/MSP_OSD.cpp b/QLiteOSD/MSP_OSD.cpp new file mode 100644 index 0000000..01b7b58 --- /dev/null +++ b/QLiteOSD/MSP_OSD.cpp @@ -0,0 +1,155 @@ + +#include "MSP_OSD.h" +#include "craft.h" + +MspOSD mspOsd; + +void MspOSD::init() { + msp.begin(mspSerial); +} + +void MspOSD::sendCraftMSP() { + //MSP_FC_VARIANT + msp_fc_variant_t fc_variant; + memcpy(fc_variant.flightControlIdentifier, FC_FIRMWARE_IDENTIFIER, 4); + msp.send(MSP_FC_VARIANT, &fc_variant, sizeof(fc_variant)); + + //MSP_FC_VERSION + msp_fc_version_t fc_version; + fc_version.versionMajor = 4; + fc_version.versionMinor = 1; + fc_version.versionPatchLevel = 1; + msp.send(MSP_FC_VERSION, &fc_version, sizeof(fc_version)); + + //MSP_NAME + msp_name_t name; + memcpy(name.craft_name, CRAFT_NAME, sizeof(CRAFT_NAME)); + msp.send(MSP_NAME, &name, sizeof(name)); + + //MSP_STATUS + msp_status_DJI_t status_DJI; + status_DJI.cycleTime = 0x0080; + status_DJI.i2cErrorCounter = 0; + status_DJI.sensor = 0x23; + status_DJI.configProfileIndex = 0; + status_DJI.averageSystemLoadPercent = 7; + status_DJI.accCalibrationAxisFlags = 0; + status_DJI.DJI_ARMING_DISABLE_FLAGS_COUNT = 20; + status_DJI.djiPackArmingDisabledFlags = (1 << 24); + + status_DJI.flightModeFlags = craftState.flightModeFlags; + status_DJI.armingFlags = 0x0303; + msp.send(MSP_STATUS_EX, &status_DJI, sizeof(status_DJI)); + status_DJI.armingFlags = 0x0000; + msp.send(MSP_STATUS, &status_DJI, sizeof(status_DJI)); + + //MSP_ANALOG + msp_analog_t analog; + analog.vbat = (uint8_t)(craftState.voltage * 10.0f); + analog.rssi = 0; + analog.amperage = 0; + analog.mAhDrawn = 0; + msp.send(MSP_ANALOG, &analog, sizeof(analog)); + + //MSP_BATTERY_STATE + msp_battery_state_t battery_state; + battery_state.amperage = 0; + battery_state.batteryVoltage = (uint16_t)(craftState.voltage * 100.0f); + battery_state.mAhDrawn = 0; + battery_state.batteryCellCount = craftState.getCellCount(); + battery_state.batteryCapacity = craftState.batteryCapacity; + battery_state.batteryState = craftState.batteryState; + battery_state.legacyBatteryVoltage = (uint8_t)(craftState.voltage * 10.0f); + msp.send(MSP_BATTERY_STATE, &battery_state, sizeof(battery_state)); + + //MSP_RAW_GPS + msp_raw_gps_t raw_gps = {}; +#ifdef USE_GPS + raw_gps.lat = (int32_t)(craftState.gps_lat * 10000000.0f); + raw_gps.lon = (int32_t)(craftState.gps_lon * 10000000.0f); + raw_gps.numSat = (uint8_t)craftState.numSats; + raw_gps.alt = (int32_t)craftState.gps_alt; + raw_gps.groundSpeed = (int16_t)(craftState.gps_speed * 100.0f); //in cm/s +#endif + + msp.send(MSP_RAW_GPS, &raw_gps, sizeof(raw_gps)); + + //MSP_COMP_GPS + msp_comp_gps_t comp_gps = {}; +#ifdef USE_GPS + comp_gps.distanceToHome = (int16_t)craftState.distanceToHome; + comp_gps.directionToHome = (int16_t)(craftState.directionToHome - craftState.gps_heading); +#endif + msp.send(MSP_COMP_GPS, &comp_gps, sizeof(comp_gps)); + + //MSP_ATTITUDE + msp_attitude_t attitude; + attitude.pitch = 0; + attitude.roll = 0; + msp.send(MSP_ATTITUDE, &attitude, sizeof(attitude)); + + //MSP_ALTITUDE + msp_altitude_t altitude; + altitude.estimatedActualPosition = (int32_t)roundf(craftState.getRelativeAltitude() * 100.0f); + altitude.estimatedActualVelocity = (int16_t)(craftState.climbRate*100.0f); // m/ms to cm/s + msp.send(MSP_ALTITUDE, &altitude, sizeof(altitude)); + + // Unused + // msp_status_BF_t status_BF; + + //MSP_OSD_CONFIG + msp_osd_config.units = !USE_IMPERIAL_UNITS; + msp.send(MSP_OSD_CONFIG, &msp_osd_config, sizeof(msp_osd_config)); +} + +#ifdef DEBUG +//*** USED ONLY FOR DEBUG *** +void MspOSD::debugPrint() { + mspSerial.print("\033[2J\033[H"); // Clear serial console, move cursor to beginning + mspSerial.println("**********************************"); + mspSerial.print("Craft Name: "); + mspSerial.println(String(CRAFT_NAME)); + mspSerial.print("Imperial: "); + mspSerial.println(USE_IMPERIAL_UNITS); + mspSerial.print("Flight Mode: "); + mspSerial.println(craftState.flightModeFlags); + mspSerial.print("Voltage: "); + mspSerial.println(craftState.voltage, 1); + mspSerial.print("Cell Count: "); + mspSerial.println(craftState.getCellCount()); + mspSerial.print("Altitude (m): "); + mspSerial.println(craftState.altitude); + mspSerial.print("Relative Altitude (m): "); + mspSerial.println(craftState.getRelativeAltitude()); + mspSerial.print("Climb Rate (m/s): "); + mspSerial.println(craftState.climbRate); + if (USE_PWM_ARM) { + mspSerial.print("PWM Value: "); + mspSerial.println(CraftState::readPWMChannel(PWM_ARM_PIN, 1000, 2000, 0)); + } +#ifdef USE_GPS + mspSerial.print("Lat: "); + mspSerial.println(craftState.gps_lat); + mspSerial.print("Lon: "); + mspSerial.println(craftState.gps_lon); + mspSerial.print("Num Sat: "); + mspSerial.println(craftState.numSats); + mspSerial.print("GPS Alt: "); + mspSerial.println(craftState.gps_alt); + mspSerial.print("Speed: "); + mspSerial.println(craftState.gps_speed); + mspSerial.print("Heading: "); + mspSerial.println(craftState.gps_heading); + mspSerial.print("Home Set: "); + mspSerial.println(craftState.gpsHomeSet); + mspSerial.print("HOME Lat: "); + mspSerial.println(craftState.gps_home_lat, 6); + mspSerial.print("HOME Lon: "); + mspSerial.println(craftState.gps_home_lon, 6); + mspSerial.print("Distance: "); + mspSerial.println(craftState.distanceToHome); + mspSerial.print("Direction Home: "); + mspSerial.println(craftState.directionToHome); +#endif +} +#endif diff --git a/QLiteOSD/MSP_OSD.h b/QLiteOSD/MSP_OSD.h index 7e0bdbd..64f79ce 100644 --- a/QLiteOSD/MSP_OSD.h +++ b/QLiteOSD/MSP_OSD.h @@ -1,11 +1,15 @@ +#pragma once #include +#include "src/libraries/MSP.h" +#include "config.h" + #define MSP_OSD_CONFIG 84 //out message Get osd settings - betaflight #define MSP_NAME 10 #define MSP_BATTERY_STATE 130 //out message Connected/Disconnected, Voltage, Current Used struct msp_osd_config_t { - uint8_t osdflags; + uint8_t osd_flags; uint8_t video_system; uint8_t units; uint8_t rssi_alarm; @@ -133,3 +137,30 @@ struct msp_status_DJI_t { uint8_t DJI_ARMING_DISABLE_FLAGS_COUNT; //25 uint32_t djiPackArmingDisabledFlags; //(1 << 24) } __attribute__ ((packed)); + +enum FlightModeFlags { + FLIGHT_UNARMED = 0x00000002, + FLIGHT_ARMED = 0x00000003 +}; + +class MspOSD { +public: + MspOSD() : mspSerial(Serial) {} + void sendCraftMSP(); + void init(); + +#ifdef DEBUG + void debugPrint(); +#endif + + MSP msp; + HardwareSerial& mspSerial; +}; + +extern MspOSD mspOsd; + +#ifdef DEBUG +#define debugLog(inValue) mspOsd.mspSerial.println(inValue) +#else +#define debugLog(inValue) +#endif diff --git a/QLiteOSD/OSD_positions_config.h b/QLiteOSD/OSD_positions_config.h deleted file mode 100644 index 6f2089c..0000000 --- a/QLiteOSD/OSD_positions_config.h +++ /dev/null @@ -1,59 +0,0 @@ -//OSD elements positions -//in betaflight configurator set OSD elements to your desired positions and in CLI type "set osd" to retreieve the numbers. -//234 -> not visible. Horizontally 2048-2074(spacing 1), vertically 2048-2528(spacing 32). 26 characters X 15 lines - -#include - -//currently working elements -// moved to config.h to be used in web interface - -const uint16_t osd_numerical_vario_pos = 234; - -// Others -const uint16_t osd_pitch_angle_pos = 234; -const uint16_t osd_roll_angle_pos = 234; -const uint16_t osd_rssi_value_pos = 234; -const uint16_t osd_display_name_pos = 234; -const uint16_t osd_flymode_pos = 234; -const uint16_t osd_current_draw_pos = 234; -const uint16_t osd_mah_drawn_pos = 234; - -//not implemented or not available -const uint16_t osd_throttle_pos_pos = 234; -const uint16_t osd_vtx_channel_pos = 234; -const uint16_t osd_roll_pids_pos = 234; -const uint16_t osd_pitch_pids_pos = 234; -const uint16_t osd_yaw_pids_pos = 234; -const uint16_t osd_power_pos = 234; -const uint16_t osd_pidrate_profile_pos = 234; -const uint16_t osd_warnings_pos = 234; -const uint16_t osd_debug_pos = 234; -const uint16_t osd_artificial_horizon_pos = 234; -const uint16_t osd_horizon_sidebars_pos = 234; -const uint16_t osd_item_timer_1_pos = 234; -const uint16_t osd_item_timer_2_pos = 234; -const uint16_t osd_main_batt_usage_pos = 234; -const uint16_t osd_disarmed_pos = 234; -const uint16_t osd_numerical_heading_pos = 234; -const uint16_t osd_compass_bar_pos = 234; -const uint16_t osd_esc_tmp_pos = 234; -const uint16_t osd_esc_rpm_pos = 234; -const uint16_t osd_remaining_time_estimate_pos = 234; -const uint16_t osd_rtc_datetime_pos = 234; -const uint16_t osd_adjustment_range_pos = 234; -const uint16_t osd_core_temperature_pos = 234; -const uint16_t osd_anti_gravity_pos = 234; -const uint16_t osd_g_force_pos = 234; -const uint16_t osd_motor_diag_pos = 234; -const uint16_t osd_log_status_pos = 234; -const uint16_t osd_flip_arrow_pos = 234; -const uint16_t osd_link_quality_pos = 234; -const uint16_t osd_flight_dist_pos = 234; -const uint16_t osd_stick_overlay_left_pos = 234; -const uint16_t osd_stick_overlay_right_pos = 234; -const uint16_t osd_esc_rpm_freq_pos = 234; -const uint16_t osd_rate_profile_name_pos = 234; -const uint16_t osd_pid_profile_name_pos = 234; -const uint16_t osd_profile_name_pos = 234; -const uint16_t osd_rssi_dbm_value_pos = 234; -const uint16_t osd_rc_channels_pos = 234; diff --git a/QLiteOSD/QLiteOSD.ino b/QLiteOSD/QLiteOSD.ino index b37daeb..9008390 100644 --- a/QLiteOSD/QLiteOSD.ino +++ b/QLiteOSD/QLiteOSD.ino @@ -1,16 +1,16 @@ /* * QLiteOSD is an simple OSD for DJI FPV System: * This is an Arduino project that handles basic OSD functions - * from BMP280 to a Simple Voltage Sensor to feed it + * from BMP280 to a Simple Voltage Sensor to feed it * to DJI FPV System. * * ------------------------------------------------ * * Copyright (C) 2023 David Payne - * + * * This software is based on and uses software published by Paul Kurucz (pkuruz):opentelem_to_bst_bridge * as well as software d3ngit : djihdfpv_mavlink_to_msp_V2 and crashsalot : VOT_to_DJIFPV - * + * * License info: See the LICENSE file at the repo top level * * THIS SOFTWARE IS PROVIDED IN AN "AS IS" CONDITION. NO WARRANTIES, @@ -22,7 +22,7 @@ * */ -/* +/* * QLiteOSD * * Wemos D1 Mini (ESP8266) / Arduino Nano TX1 to DJI Air unit RX(115200) @@ -31,1223 +31,186 @@ * GPS addition by GravelAxe -- uses D7-RX and D8-TX */ - /* ----------------------------------------------------- */ +#include "src/libraries/MSP.h" + #include "config.h" -#include #include "MSP_OSD.h" -#include "OSD_positions_config.h" -#include // May need to adjust for I2C address #define BMP280_ADDRESS (0x76) -#include - -#define VERSION "2.0" // compatible with QLiteOSD v2.X boards -#define BMP_ADDRESS 0x76 // default is 0x77 -#define SPEED_IN_KILOMETERS_PER_HOUR //if commented out defaults to m/s -#define FC_FIRMWARE_NAME "Betaflight" -#define FC_FIRMWARE_IDENTIFIER "BTFL" -#define CONFIG "/conf.txt" +#include "craft.h" -#ifdef ESP8266 -#include +#include "filesystem.h" #include "web_interface.h" -#include -#include -#include -#include -#include -#include - -static const uint8_t fileServerModePin = D3; //Pin used to check what mode the program should start in, if high the filesystem server will be started -String ap_ssid = "QLiteOSD"; -static const char *ap_psk = "12345678"; -static bool fileStarted = false; -static bool fsInit = false; -static int onPinCount = 0; - -ESP8266WebServer webserver(80); - -static uint32_t gpsLogInterval = 500; -static File gpsLogFile; -static bool gpsLoggingStarted = false; - -struct GPS_LOG_FRAME { - float latitude; - float longitude; - float altitude; //gpx uses meters for altitude - float heading; - float speed; -}; - -GPS_LOG_FRAME lastFrame; -#endif - -#ifdef ESP8266 -static const int gps_RX_pin = D7, gps_TX_pin = D8; // swapped in 2.0 because D8 competes with bootloader -#else -static const int gps_RX_pin = 4, gps_TX_pin = 3; -#endif -static const uint32_t GPSBaud = 9600; -static bool activityDetected = false; - -TinyGPSPlus gps; -SoftwareSerial gpsSerial(gps_RX_pin, gps_TX_pin); - -#ifdef ESP8266 -static const int pwm_arm_pin = D5; -static const int led_pin = D6; -#else -static const int pwm_arm_pin = 10; // pro mini arduino -static const int led_pin = 11; -#endif -static int triggerValue = 1700; -static bool fileServerOn = false; - -Adafruit_NeoPixel pixels = Adafruit_NeoPixel(NUM_LEDS, led_pin, NEO_GRB + NEO_KHZ800); - -HardwareSerial &mspSerial = Serial; -MSP msp; -Adafruit_BMP280 bme; // I2C - -//Altitude BMP -const float PRESSURE = 1013.25; // local air pressure -float HomeAlt = 0.0; -int sampleCount = 0; -int lastCount = 0; -float altSamples = 0.0; -static const uint8_t armAltitude = 150; // Centimeters high at witch arm signal is sent to DJI goggles -int16_t lastAltRead = 0; //cm -boolean lightOn = true; -boolean flashOn = true; - -//Resisters for Battery Reading -float ValueR1 = 7500.0; //7.5K Resistor -float ValueR2 = 30000.0; //30K Resistor -const int alanogPin = A0; -float averageVoltage = 0.0; -int sampleVoltageCount = 0; - -//Other -const char fcVariant[5] = "BTFL"; -uint32_t previousMillis_MSP = 0; -uint32_t previousMillis_LED = 0; -const uint32_t next_interval_MSP = 100; -uint32_t custom_mode = 0; //flight mode -uint8_t vbat = 0; -float airspeed = 0; -int16_t groundspeed = 0; -int32_t relative_alt = 0; // in milimeters -uint32_t altitude_msp = 0; // EstimatedAltitudeCm -uint16_t rssi = 0; -uint8_t battery_remaining = 0; -uint32_t flightModeFlags = 0x00000002; -int16_t amperage = 0; -uint16_t mAhDrawn = 0; -float f_mAhDrawn = 0.0; -uint8_t numSat = 0; -uint8_t pid_roll[3]; -uint8_t pid_pitch[3]; -uint8_t pid_yaw[3]; -int32_t gps_lon = 0; -int32_t gps_lat = 0; -int32_t gps_alt = 0; -double gps_home_lon = 0; -double gps_home_lat = 0; -int32_t gps_home_alt = 0; -int16_t roll_angle = 0; -int16_t pitch_angle = 0; -uint32_t distanceToHome = 0; // distance to home in meters -int16_t directionToHome = 0; // direction to home in degrees -uint16_t batteryCapacity = 2200; -uint8_t legacyBatteryVoltage = 0; -uint8_t batteryState = 0; // voltage color 0==white, 1==red -uint16_t batteryVoltage = 0; -int16_t heading = 0; -uint8_t set_home = 1; -uint32_t general_counter = next_interval_MSP; -uint16_t blink_sats_orig_pos = osd_gps_sats_pos; -uint16_t blink_sats_blank_pos = 234; -uint32_t previousFlightMode = custom_mode; -int16_t climb_rate = 0; - -msp_battery_state_t battery_state = { 0 }; -msp_name_t name = { 0 }; -msp_fc_version_t fc_version = { 0 }; -msp_fc_variant_t fc_variant = { 0 }; -//msp_status_BF_t status_BF = {0}; -msp_status_DJI_t status_DJI = { 0 }; -msp_analog_t analog = { 0 }; -msp_raw_gps_t raw_gps = { 0 }; -msp_comp_gps_t comp_gps = { 0 }; -msp_attitude_t attitude = { 0 }; -msp_altitude_t altitude = { 0 }; - +#include "gpsLog.h" +#include "led.h" /* ----------------------------------------------------- */ -void setup() { +void setup() +{ Serial.begin(115200); - msp.begin(mspSerial); - bme.begin(BMP_ADDRESS); //Default Address 0x77 - pinMode(LED_BUILTIN, OUTPUT); - - logOnDebug("Starting!"); -#ifdef ESP8266 - if (SPIFFS.begin()) { - fsInit = true; - readConfig(); - }else { - logOnDebug("FS Init Fail!!"); - } - pinMode(fileServerModePin, INPUT); -#endif - - pixels.begin(); - handleRGBled(); +#ifdef WEB_INTERFACE + filesystemInit(); + configInit(); #ifdef LOG_GPS - logRemoveOldFiles(10); + gpsLogDeleteOldFiles(); #endif -#ifdef USE_GPS - gpsSerial.begin(GPSBaud); + pinMode(WEB_INTERFACE_BUTTON_PIN, INPUT); #endif - if (USE_PWM_ARM) { - pinMode(pwm_arm_pin, INPUT_PULLUP); - } - - if (!USE_DJI_RX_PIN) { - activityDetected = true; - } + craftState.init(); + mspOsd.init(); - delay(1000); +#ifdef USE_LEDS + ledInit(); // todo: see if this needs to go before GPS init +#endif - status_DJI.cycleTime = 0x0080; - status_DJI.i2cErrorCounter = 0; - status_DJI.sensor = 0x23; - status_DJI.configProfileIndex = 0; - status_DJI.averageSystemLoadPercent = 7; - status_DJI.accCalibrationAxisFlags = 0; - status_DJI.DJI_ARMING_DISABLE_FLAGS_COUNT = 20; - status_DJI.djiPackArmingDisabledFlags = (1 << 24); - flightModeFlags = 0x00000002; + pinMode(LED_BUILTIN, OUTPUT); - // Calibrate and Initialize Home Altitude - altSamples = bme.readAltitude(PRESSURE); + debugLog("Starting!"); } -msp_osd_config_t msp_osd_config = { 0 }; - -void send_osd_config() { - - if (IMPERIAL_UNITS) { - msp_osd_config.units = 0; - } else { - msp_osd_config.units = 1; - } - - msp_osd_config.osd_item_count = 56; - msp_osd_config.osd_stat_count = 24; - msp_osd_config.osd_timer_count = 2; - msp_osd_config.osd_warning_count = 16; // 16 - msp_osd_config.osd_profile_count = 1; // 1 - msp_osd_config.osdprofileindex = 1; // 1 - msp_osd_config.overlay_radio_mode = 0; // 0 - - msp_osd_config.osd_rssi_value_pos = osd_rssi_value_pos; - msp_osd_config.osd_main_batt_voltage_pos = osd_main_batt_voltage_pos; - msp_osd_config.osd_crosshairs_pos = osd_crosshairs_pos; - msp_osd_config.osd_artificial_horizon_pos = osd_artificial_horizon_pos; - msp_osd_config.osd_horizon_sidebars_pos = osd_horizon_sidebars_pos; - msp_osd_config.osd_item_timer_1_pos = osd_item_timer_1_pos; - msp_osd_config.osd_item_timer_2_pos = osd_item_timer_2_pos; - msp_osd_config.osd_flymode_pos = osd_flymode_pos; - msp_osd_config.osd_craft_name_pos = osd_craft_name_pos; - msp_osd_config.osd_throttle_pos_pos = osd_throttle_pos_pos; - msp_osd_config.osd_vtx_channel_pos = osd_vtx_channel_pos; - msp_osd_config.osd_current_draw_pos = osd_current_draw_pos; - msp_osd_config.osd_mah_drawn_pos = osd_mah_drawn_pos; - msp_osd_config.osd_gps_speed_pos = osd_gps_speed_pos; - msp_osd_config.osd_gps_sats_pos = osd_gps_sats_pos; - msp_osd_config.osd_altitude_pos = osd_altitude_pos; - msp_osd_config.osd_roll_pids_pos = osd_roll_pids_pos; - msp_osd_config.osd_pitch_pids_pos = osd_pitch_pids_pos; - msp_osd_config.osd_yaw_pids_pos = osd_yaw_pids_pos; - msp_osd_config.osd_power_pos = osd_power_pos; - msp_osd_config.osd_pidrate_profile_pos = osd_pidrate_profile_pos; - msp_osd_config.osd_warnings_pos = osd_warnings_pos; - msp_osd_config.osd_avg_cell_voltage_pos = osd_avg_cell_voltage_pos; - msp_osd_config.osd_gps_lon_pos = osd_gps_lon_pos; - msp_osd_config.osd_gps_lat_pos = osd_gps_lat_pos; - msp_osd_config.osd_debug_pos = osd_debug_pos; - msp_osd_config.osd_pitch_angle_pos = osd_pitch_angle_pos; - msp_osd_config.osd_roll_angle_pos = osd_roll_angle_pos; - msp_osd_config.osd_main_batt_usage_pos = osd_main_batt_usage_pos; - msp_osd_config.osd_disarmed_pos = osd_disarmed_pos; - msp_osd_config.osd_home_dir_pos = osd_home_dir_pos; - msp_osd_config.osd_home_dist_pos = osd_home_dist_pos; - msp_osd_config.osd_numerical_heading_pos = osd_numerical_heading_pos; - msp_osd_config.osd_numerical_vario_pos = osd_numerical_vario_pos; - msp_osd_config.osd_compass_bar_pos = osd_compass_bar_pos; - msp_osd_config.osd_esc_tmp_pos = osd_esc_tmp_pos; - msp_osd_config.osd_esc_rpm_pos = osd_esc_rpm_pos; - msp_osd_config.osd_remaining_time_estimate_pos = osd_remaining_time_estimate_pos; - msp_osd_config.osd_rtc_datetime_pos = osd_rtc_datetime_pos; - msp_osd_config.osd_adjustment_range_pos = osd_adjustment_range_pos; - msp_osd_config.osd_core_temperature_pos = osd_core_temperature_pos; - msp_osd_config.osd_anti_gravity_pos = osd_anti_gravity_pos; - msp_osd_config.osd_g_force_pos = osd_g_force_pos; - msp_osd_config.osd_motor_diag_pos = osd_motor_diag_pos; - msp_osd_config.osd_log_status_pos = osd_log_status_pos; - msp_osd_config.osd_flip_arrow_pos = osd_flip_arrow_pos; - msp_osd_config.osd_link_quality_pos = osd_link_quality_pos; - msp_osd_config.osd_flight_dist_pos = osd_flight_dist_pos; - msp_osd_config.osd_stick_overlay_left_pos = osd_stick_overlay_left_pos; - msp_osd_config.osd_stick_overlay_right_pos = osd_stick_overlay_right_pos; - msp_osd_config.osd_display_name_pos = osd_display_name_pos; - msp_osd_config.osd_esc_rpm_freq_pos = osd_esc_rpm_freq_pos; - msp_osd_config.osd_rate_profile_name_pos = osd_rate_profile_name_pos; - msp_osd_config.osd_pid_profile_name_pos = osd_pid_profile_name_pos; - msp_osd_config.osd_profile_name_pos = osd_profile_name_pos; - msp_osd_config.osd_rssi_dbm_value_pos = osd_rssi_dbm_value_pos; - msp_osd_config.osd_rc_channels_pos = osd_rc_channels_pos; +// Ran once every TICK_INTERVAL msecs +void tick() +{ + static uint32_t flight_ticks = 0; + static bool lightOn = false; - msp.send(MSP_OSD_CONFIG, &msp_osd_config, sizeof(msp_osd_config)); -} + flight_ticks++; -void invert_pos(uint16_t *pos1, uint16_t *pos2) { - uint16_t tmp_pos = *pos1; - *pos1 = *pos2; - *pos2 = tmp_pos; -} +#ifdef WEB_INTERFACE + // 30 tick wait for enabling the web interface + static uint32_t webInterfaceEnableTicks = 0; -void set_flight_mode_flags() { - if (USE_PWM_ARM) { - //USE PWM signal to ARM - volatile int pwmValue = readChannel(pwm_arm_pin, 1000, 2000, 0); - if ((flightModeFlags == 0x00000002) && pwmValue >= triggerValue) { - flightModeFlags = 0x00000003; // armed to start recording - } else if ((flightModeFlags == 0x00000003) && pwmValue < triggerValue && general_counter % 3000 == 0) { - flightModeFlags = 0x00000002; // disarm after 3 second delay - } - } else { - //USE Altitude to Arm - // flightModeFlags = 0x00000003; //Uncomment this to automatically arm on start - if ((flightModeFlags == 0x00000002) && relative_alt > armAltitude) { // if altitude is 1 meter or more then arm to record - flightModeFlags = 0x00000003; // armed to start recording + if (digitalRead(WEB_INTERFACE_BUTTON_PIN) == LOW) + { + webInterfaceEnableTicks++; + if (webInterfaceEnableTicks >= WEB_INTERFACE_ENABLE_TICKS) + { + webInterfaceInit(); + return; } } -} - -// Read the number of a specified channel and convert to the range provided. -// If the channel is off, return the default value -int readChannel(int channelInput, int minLimit, int maxLimit, int defaultValue) { - int ch = pulseIn(channelInput, HIGH, 30000); - if (ch < 100) return defaultValue; - return map(ch, 1000, 2000, minLimit, maxLimit); -} - -void send_msp_to_airunit(uint8_t voltage) { - - uint8_t cellCount = getCellCount(voltage); - //MSP_FC_VARIANT - memcpy(fc_variant.flightControlIdentifier, fcVariant, sizeof(fcVariant)); - msp.send(MSP_FC_VARIANT, &fc_variant, sizeof(fc_variant)); - - //MSP_FC_VERSION - fc_version.versionMajor = 4; - fc_version.versionMinor = 1; - fc_version.versionPatchLevel = 1; - msp.send(MSP_FC_VERSION, &fc_version, sizeof(fc_version)); - - //MSP_NAME - memcpy(name.craft_name, craftname, sizeof(craftname)); - msp.send(MSP_NAME, &name, sizeof(name)); - - //MSP_STATUS - status_DJI.flightModeFlags = flightModeFlags; - status_DJI.armingFlags = 0x0303; - msp.send(MSP_STATUS_EX, &status_DJI, sizeof(status_DJI)); - status_DJI.armingFlags = 0x0000; - msp.send(MSP_STATUS, &status_DJI, sizeof(status_DJI)); - - //MSP_ANALOG - analog.vbat = voltage; - analog.rssi = rssi; - analog.amperage = amperage; - analog.mAhDrawn = mAhDrawn; - msp.send(MSP_ANALOG, &analog, sizeof(analog)); - - //MSP_BATTERY_STATE - battery_state.amperage = amperage; - battery_state.batteryVoltage = (uint16_t)(voltage * 10); - battery_state.mAhDrawn = mAhDrawn; - battery_state.batteryCellCount = cellCount; - battery_state.batteryCapacity = batteryCapacity; - battery_state.batteryState = batteryState; - battery_state.legacyBatteryVoltage = voltage; - msp.send(MSP_BATTERY_STATE, &battery_state, sizeof(battery_state)); - - //MSP_RAW_GPS - raw_gps.lat = gps_lat; - raw_gps.lon = gps_lon; - raw_gps.numSat = numSat; - raw_gps.alt = gps_alt; - raw_gps.groundSpeed = groundspeed; //in cm/s - msp.send(MSP_RAW_GPS, &raw_gps, sizeof(raw_gps)); - - //MSP_COMP_GPS - comp_gps.distanceToHome = (int16_t)distanceToHome; - comp_gps.directionToHome = directionToHome - heading; - msp.send(MSP_COMP_GPS, &comp_gps, sizeof(comp_gps)); - - //MSP_ATTITUDE - attitude.pitch = pitch_angle * 10; - attitude.roll = roll_angle * 10; - msp.send(MSP_ATTITUDE, &attitude, sizeof(attitude)); - - //MSP_ALTITUDE - altitude.estimatedActualPosition = relative_alt; - altitude.estimatedActualVelocity = (int16_t)(climb_rate); //m/s to cm/s - msp.send(MSP_ALTITUDE, &altitude, sizeof(altitude)); - - //MSP_OSD_CONFIG - send_osd_config(); -} - - -void blink_sats() { - if (general_counter % 900 == 0 && set_home == 1 && blink_sats_orig_pos > 2000) { - invert_pos(&osd_gps_sats_pos, &blink_sats_blank_pos); - } else if (set_home == 0) { - osd_gps_sats_pos = blink_sats_orig_pos; + else + { + webInterfaceEnableTicks = 0; } -} - -uint8_t getCellCount(uint8_t voltage) { - uint8_t batteryCellCount = 0; - if (voltage < 43 && voltage > 0) batteryCellCount = 1; - else if (voltage < 85) batteryCellCount = 2; - else if (voltage < 127) batteryCellCount = 3; - else if (voltage < 169) batteryCellCount = 4; - else if (voltage < 211) batteryCellCount = 5; - else if (voltage < 255) batteryCellCount = 6; +#endif - return batteryCellCount; -} + craftState.readVoltage(); -void readAltitude() { - if (HomeAlt == 0.0) { - calibrateHome(); + if (flight_ticks % ALTITUDE_UPDATE_INTERVAL == 0) + { + craftState.readAltitude(); } - altSamples += bme.readAltitude(PRESSURE); - sampleCount++; -} - -void getAltitudeSample() { - lastAltRead = (int16_t)relative_alt; - relative_alt = (int)round(((altSamples / sampleCount) - HomeAlt) * 100); - lastCount = sampleCount; - sampleCount = 0; - altSamples = 0.0; - climb_rate = (lastAltRead - relative_alt) * 5; // assuming 200ms samples needs to be cm/s -} -void calibrateHome() { - HomeAlt = 0.0; - sampleCount = 1; - while (HomeAlt == 0.0) { - // Build the first sample of readings for Calibration - altSamples += bme.readAltitude(PRESSURE); - sampleCount++; - if (sampleCount == 20) { - HomeAlt = altSamples / (sampleCount); - sampleCount = 0; - altSamples = 0.0; - } - delay(100); + if (flight_ticks % LIGHT_UPDATE_INTERVAL == 0) + { + digitalWrite(LED_BUILTIN, lightOn ? LOW : HIGH); + lightOn = !lightOn; } -} - -void readVoltage() { - int readValue = analogRead(alanogPin); - averageVoltage += (readValue * (arduinoVCC / 1024.0)) * (1 + (ValueR2 / ValueR1)); - sampleVoltageCount++; -} - -void getVoltageSample() { - vbat = (uint8_t)((averageVoltage / sampleVoltageCount) * 10); - sampleVoltageCount = 0; - averageVoltage = 0.0; -} #ifdef USE_GPS -void readGPS() { - while (gpsSerial.available()) { - gps.encode(gpsSerial.read()); - } - if (gps.location.isValid()) { - gps_lat = (int32_t)(gps.location.lat() * 10000000); - gps_lon = (int32_t)(gps.location.lng() * 10000000); - if (gps.satellites.isValid()) { - numSat = gps.satellites.value(); + craftState.readGPS(); + if (flight_ticks % GPS_SATELITE_BLINK_UPDATE_INTERVAL == 0) + { + if (!craftState.gpsHomeSet) + { + static bool satsOn = false; + msp_osd_config.osd_gps_sats_pos = satsOn ? OSD_GPS_SATS_POS : OSD_HIDDEN; + satsOn = !satsOn; } - gps_alt = gps.altitude.meters(); - groundspeed = (int16_t)(gps.speed.kmph() * 100000 / 3600); //in cm/s - heading = gps.course.deg(); - - if (set_home == 1 && gps.hdop.isValid() && gps.hdop.hdop() < 2) { - gps_home_lat = gps.location.lat(); - gps_home_lon = gps.location.lng(); - set_home = 0; + else + { + msp_osd_config.osd_gps_sats_pos = OSD_GPS_SATS_POS; } - distanceToHome = (unsigned long)(TinyGPSPlus::distanceBetween(gps.location.lat(), gps.location.lng(), gps_home_lat, gps_home_lon)); - directionToHome = TinyGPSPlus::courseTo(gps.location.lat(), gps.location.lng(), gps_home_lat, gps_home_lon); } -} #endif -void loop() { - uint32_t currentMillis_MSP = millis(); - if ((rgb_mode != "OFF" && rgb_mode != "ON") && (uint32_t)(currentMillis_MSP - previousMillis_LED) >= (next_interval_MSP * 10)) { - previousMillis_LED = currentMillis_MSP; - handleRGBled(); // only go here if LED can change during flight - } + craftState.setFlightModeFlags(); -#ifdef ESP8266 - checkTurnOnFileServer(); - if (fileServerOn) { - digitalWrite(LED_BUILTIN, LOW); - webserver.handleClient(); - return; +#ifdef LOG_GPS + // Once the flight is armed and home is set, GPS is accurate enough to start logging + if (!gpsLogging && craftState.flightModeFlags == FLIGHT_ARMED && craftState.gpsHomeSet) + { + gpsLogInit(); } -#endif - readAltitude(); - readVoltage(); -#ifdef USE_GPS - readGPS(); + // End the gps log if the flight gets unarmed + if (gpsLogging && craftState.flightModeFlags == FLIGHT_UNARMED) + { + gpsLogEnd(); + } #endif - if ((uint32_t)(currentMillis_MSP - previousMillis_MSP) >= next_interval_MSP) { - previousMillis_MSP = currentMillis_MSP; - -#ifdef LOG_GPS - logGPS(); +#ifdef USE_LEDS + String ledMode = RGB_MODE; + if ((ledMode != "OFF" && ledMode != "ON") && flight_ticks % LED_UPDATE_INTERVAL == 0) { + ledUpdate(); + } #endif - if (general_counter % 200 == 0) { // update the altitude values every 200ms - getAltitudeSample(); - if (lightOn) { - digitalWrite(LED_BUILTIN, LOW); - } else { - digitalWrite(LED_BUILTIN, HIGH); - } - lightOn = !lightOn; - } - getVoltageSample(); - set_flight_mode_flags(); - blink_sats(); - // SEND the data out + // SEND the data out #ifdef DEBUG - debugPrint(); + if (!gpsLogging) + mspOsd.debugPrint(); #else - if (activityDetected) { - send_msp_to_airunit(vbat); // SEND the data to the DJI unit - } else { - if (msp.activityDetected()) { - activityDetected = true; - logOnDebug("****************** Found DJI MSP Activity ******************"); - } else { - logOnDebug("*** Waiting for MSP Activity from DJI Unit ***"); - } - } - -#endif - general_counter += next_interval_MSP; - } -} +#ifdef USE_DJI_RX_PIN + static bool mspStarted = false; -void handleRGBled() { - if (rgb_mode == "OFF") { - pixels.fill(pixels.Color(0, 0, 0), 0, NUM_LEDS); - pixels.show(); - return; - } - if (fileServerOn) { - pixels.fill(pixels.Color(0, 0, 155), 0, NUM_LEDS); - pixels.show(); - return; - } - if (rgb_mode == "ON") { - pixels.fill(pixels.Color(redColor, greenColor, blueColor), 0, NUM_LEDS); - pixels.show(); - return; + if (mspStarted) + { + mspOsd.sendCraftMSP(); } - flashOn = !flashOn; - if (rgb_mode == "BATTERY") { - int cellVoltage = (int)((vbat / getCellCount(vbat))); - int greenValue = map(cellVoltage, 36, 42, 0, 255); // Green decreases as voltage decreases - int redValue = map(cellVoltage, 36, 42, 255, 0); // Red increases as voltage decreases - - if (cellVoltage >= 42) { - greenValue = 255; - redValue = 0; - } else if (cellVoltage <= 36) { - greenValue = 0; - redValue = 255; + else + { + if (mspOsd.msp.activityDetected()) + { + mspStarted = true; + debugLog("****************** Found DJI MSP Activity ******************"); } - - if (flashOn && cellVoltage <= 36) { - pixels.fill(pixels.Color(0, 0, 0), 0, NUM_LEDS); - } else { - pixels.fill(pixels.Color(redValue, greenValue, 0), 0, NUM_LEDS); + else + { + debugLog("*** Waiting for MSP Activity from DJI Unit ***"); } - pixels.show(); - return; } - if (rgb_mode == "ALTITUDE") { - int greenValue = map(relative_alt, 0, 12192, 255, 0); // Green decreases as voltage decreases - int redValue = map(relative_alt, 0, 12192, 0, 255); // Red increases as voltage decreases - if (relative_alt >= 12192) { - greenValue = 0; - redValue = 255; - } else if (relative_alt <= 0) { - greenValue = 255; - redValue = 0; - } - - if (flashOn && relative_alt >= 12192) { - pixels.fill(pixels.Color(0, 0, 0), 0, NUM_LEDS); - } else { - pixels.fill(pixels.Color(redValue, greenValue, 0), 0, NUM_LEDS); - } - pixels.show(); - return; - } - if (rgb_mode == "STROBE") { - if (flashOn) { - pixels.fill(pixels.Color(redColor, greenColor, blueColor), 0, NUM_LEDS); - } else { - pixels.fill(pixels.Color(0, 0, 0), 0, NUM_LEDS); - } - pixels.show(); - return; - } - if (rgb_mode == "AIRCRAFT") { - pixels.fill(pixels.Color(0, 0, 0), 0, 24); - pixels.fill(pixels.Color(0, 255, 0), 0, 4); - pixels.fill(pixels.Color(255, 255, 255), 4, 4); - pixels.fill(pixels.Color(255, 0, 0), 8, 4); - if (!flashOn) { - pixels.fill(pixels.Color(0, 0, 0), 4, 4); - } - pixels.show(); - return; - } -} - - -#ifdef DEBUG -//*** USED ONLY FOR DEBUG *** -void debugPrint() { - mspSerial.println("**********************************"); - mspSerial.print("Craft Name: "); - mspSerial.println(String(craftname)); - mspSerial.print("Imperial: "); - mspSerial.println(IMPERIAL_UNITS); - mspSerial.print("Flight Mode: "); - mspSerial.println(flightModeFlags); - mspSerial.print("Voltage: "); - mspSerial.println(((double)vbat / 10), 1); - mspSerial.print("Cell Count: "); - mspSerial.println(getCellCount(vbat)); - mspSerial.print("Altitude (cm): "); - mspSerial.println(relative_alt); - mspSerial.print("Climb Rate (cm/s): "); - mspSerial.println(climb_rate); - mspSerial.print("Sample Count / transmit: "); - mspSerial.println(lastCount); - if (USE_PWM_ARM) { - mspSerial.print("PWM Value: "); - mspSerial.println(readChannel(pwm_arm_pin, 1000, 2000, 0)); - } -#ifdef USE_GPS - mspSerial.print("Lat: "); - mspSerial.println(gps_lat); - mspSerial.print("Lon: "); - mspSerial.println(gps_lon); - mspSerial.print("Num Sat: "); - mspSerial.println(numSat); - mspSerial.print("GPS Alt: "); - mspSerial.println(gps_alt); - mspSerial.print("Speed: "); - mspSerial.println(groundspeed); - mspSerial.print("Heading: "); - mspSerial.println(heading); - mspSerial.print("Home Set: "); - mspSerial.println(set_home); - mspSerial.print("HOME Lat: "); - mspSerial.println(gps_home_lat, 6); - mspSerial.print("HOME Lon: "); - mspSerial.println(gps_home_lon, 6); - mspSerial.print("Distance: "); - mspSerial.println(distanceToHome); - mspSerial.print("Direction Home: "); - mspSerial.println(directionToHome); -#endif -} +#else + mspOsd.sendCraftMSP(); #endif -void logOnDebug(String inValue) { -#ifdef DEBUG - mspSerial.println(inValue); #endif } -#ifdef ESP8266 -//Only used with GPS Option -void logGPSFrame() { - while (gpsSerial.available()) { - gps.encode(gpsSerial.read()); - } - if (gpsLoggingStarted == false) { - if (gps.location.isValid()) { - tm currentTime; - currentTime.tm_year = gps.date.year() - 1900; - currentTime.tm_mon = gps.date.month() - 1; - currentTime.tm_mday = gps.date.day(); - currentTime.tm_hour = gps.time.hour(); - currentTime.tm_min = gps.time.minute(); - currentTime.tm_sec = gps.time.second(); - - time_t timeStamp = mktime(¤tTime); - gpsLogFile.write((uint8_t *)&timeStamp, sizeof(time_t)); //Timestamp is stored at the neginning of the file - gpsLoggingStarted = true; - } - } - if (!gpsLoggingStarted) { - return; - } - if (!gps.location.isValid()) { - if (lastFrame.latitude != 0.0f) { - gpsLogFile.write((uint8_t *)&lastFrame, sizeof(GPS_LOG_FRAME)); - } - return; - } - GPS_LOG_FRAME logFrame; - logFrame.altitude = (altSamples / sampleCount); //altitude in meters - - logFrame.latitude = gps.location.lat(); - logFrame.longitude = gps.location.lng(); - logFrame.heading = gps.course.deg(); - logFrame.speed = gps.speed.kmph() / 3.6f; - lastFrame = logFrame; - gpsLogFile.write((uint8_t *)&logFrame, sizeof(GPS_LOG_FRAME)); -} - -uint32_t logGetNextFileNum() { - uint32_t maxNum = 1; - Dir dir = SPIFFS.openDir("/"); - File file = dir.openFile("r"); - while (dir.next()) { - if (dir.fileName() != CONFIG) { - maxNum++; - } - } - return maxNum; -} - -void logRemoveOldFiles(uint32_t fileLimit) { - uint32_t nextFile = logGetNextFileNum(); - if (fileLimit >= nextFile) { +void loop() +{ +#ifdef WEB_INTERFACE + if (webInterfaceOn) + { + webInterfaceLoop(); return; } - //If next file is 16, we need to remove 16-10=6 files to get the FS back to 9 files - //The process for this will be removing files 1-6, Then renaming 7 -> 1, 8 -> 2,...,and 15->9, so 10 will be the next file created when the system is armed - int filesToRemove = nextFile - fileLimit; //16 - 10 = 6 - logOnDebug("Files to Remove: " + String(filesToRemove)); - for (int i = 1; i < filesToRemove + 1; i++) { - logOnDebug("Delete: " + String("/") + String(i)); - SPIFFS.remove(String("/") + String(i)); - } - int filesToRename = fileLimit; - for (int i = 1; i < filesToRename; i++) { - String newFile = String("/") + String(i); - String oldFile = String("/") + String(i + filesToRemove); - SPIFFS.rename(oldFile, newFile); - } -} - -void logFileCreate() { - uint32_t nextFileNum = logGetNextFileNum(); -#ifdef DEBUG - Serial.println(String("Attempting to create file with name: ") + String(nextFileNum)); -#endif - String fileName = String("/") + String(nextFileNum); - gpsLogFile = SPIFFS.open(fileName, "w"); //need to test what turning off without closing the file does - fileStarted = gpsLogFile; -#ifdef DEBUG - Serial.println("File Created!"); #endif -} - -void logGPS() { - if (flightModeFlags != 3 || fsInit == false) { - return; - } -#ifdef DEBUG - Serial.println("LOG Gps"); -#endif - if (fileStarted == false) { - logFileCreate(); - } - if (general_counter % gpsLogInterval == 0) { - logGPSFrame(); - } -} - -void checkTurnOnFileServer() { - if (digitalRead(fileServerModePin) == LOW && !fileServerOn) { - uint32_t currentMillis = millis(); - if (onPinCount == 0) { - onPinCount = currentMillis; - } - if ((uint32_t)(currentMillis - onPinCount) < 3000) { // only turn on if held for 3 seconds - return; - } - gpsSerial.end(); - //Begin fileserver - fileServerOn = true; - ap_ssid += "-" + String(ESP.getChipId(), HEX); - WiFi.softAP(((const char *)ap_ssid.c_str()), ap_psk); - webserver.on("/", showFiles); //Show all logged gps files - webserver.on("/download", downloadFile); //Convert and download a gpx file - webserver.on("/delete", deleteFiles); //Delete all files - webserver.on("/wifioff", turnWifiOff); //Turn off AP Wifi - webserver.on("/configure", handleConfigure); //Show the Configure Page - webserver.on("/saveconfig", handleSaveConfig);//Save the Configure Page - webserver.on("/osd", handleOSD); //Show the Configure Page - webserver.on("/saveosd", handleSaveOSD);//Save the Configure Page - webserver.on("/reset", handleSystemReset); //Reset Device - webserver.begin(); - digitalWrite(LED_BUILTIN, LOW); - logOnDebug("*** FILE SERVER ON ***"); - delay(2000); - } - onPinCount = 0; -} - -void turnWifiOff() { - sendHeader(); - webserver.sendContent("Wifi Turned Off. Return to main screen when reconnected."); - webserver.sendContent(getBodyEnd()); - webserver.sendContent(""); - webserver.client().stop(); - fileServerOn = false; - digitalWrite(LED_BUILTIN, HIGH); - WiFi.softAPdisconnect(true); - ESP.reset(); -} - -void sendHeader() { - webserver.sendHeader("Cache-Control", "no-cache, no-store"); - webserver.sendHeader("Pragma", "no-cache"); - webserver.sendHeader("Expires", "-1"); - webserver.setContentLength(CONTENT_LENGTH_UNKNOWN); - webserver.send(200, "text/html", ""); - webserver.sendContent(FPSTR(HEAD_TITLE)); - webserver.sendContent(FPSTR(BODY_MENU)); -} -String getBodyEnd() { - String html = FPSTR(BODY_END); - html.replace("%VERSION%", String(VERSION)); - return html; -} - -void sendFooter() { - webserver.sendContent(getBodyEnd()); - webserver.sendContent(""); - webserver.client().stop(); -} - -String getFileName() { - return "QL-" + String(ESP.getChipId(), HEX) + "-"; -} - -void handleConfigure() { - sendHeader(); + static uint32_t lastLoopTime = 0; - String form = FPSTR(CONFIG_FORM); - form.replace("%CRAFTNAME%", String(craftname)); - - String isImperialChecked = ""; - if (IMPERIAL_UNITS) { - isImperialChecked = "checked='checked'"; - } - form.replace("%USEIMPERIALCHECKED%", isImperialChecked); + craftState.sample(); - String isUsePwmChecked = ""; - if (USE_PWM_ARM) { - isUsePwmChecked = "checked='checked'"; + uint32_t currentLoopTime = millis(); + if (currentLoopTime - lastLoopTime >= TICK_INTERVAL) + { + lastLoopTime = currentLoopTime /* + (currentLoopTime-lastLoopTime-TICK_INTERVAL) */; + tick(); } - form.replace("%USEPWMCHECKED%", isUsePwmChecked); - form.replace("%VCC%", String(arduinoVCC)); - - String rgbOptions = FPSTR(RGB_OPTIONS); - rgbOptions.replace(">" + String(rgb_mode) + "<", " selected>" + String(rgb_mode) + "<"); - form.replace("%RGB_OPTIONS%", rgbOptions); - form.replace("%RED%", String(redColor)); - form.replace("%GREEN%", String(greenColor)); - form.replace("%BLUE%", String(blueColor)); - - webserver.sendContent(form); - webserver.sendContent(FPSTR(RGB_JS)); - form = FPSTR(VOLT_JS); - form.replace("%R1%", String(ValueR1)); - form.replace("%R2%", String(ValueR2)); - form.replace("%READVALUE%", String(analogRead(alanogPin))); - webserver.sendContent(form); - sendFooter(); -} - -void handleSaveConfig() { - String temp = webserver.arg("craftname_form"); - temp.toCharArray(craftname, sizeof(temp)); - IMPERIAL_UNITS = webserver.hasArg("use_imperial_form"); - USE_PWM_ARM = webserver.hasArg("use_pwm_arm_form"); - rgb_mode = webserver.arg("rgbmode"); - redColor = webserver.arg("red").toInt(); - greenColor = webserver.arg("green").toInt(); - blueColor = webserver.arg("blue").toInt(); - arduinoVCC = webserver.arg("numericInput").toFloat(); - - writeConfig(); - redirectHome(); -} - -void handleOSD() { - webserver.sendHeader("Cache-Control", "no-cache, no-store"); - webserver.sendHeader("Pragma", "no-cache"); - webserver.sendHeader("Expires", "-1"); - webserver.setContentLength(CONTENT_LENGTH_UNKNOWN); - webserver.send(200, "text/html", ""); - webserver.sendContent(FPSTR(HEAD_TITLE)); - webserver.sendContent(FPSTR(OSD_JS)); - webserver.sendContent(FPSTR(BODY_MENU)); - - String form = FPSTR(OSD_DISPLAY); - - form.replace("%ALT_VAL%", String(osd_altitude_pos)); - form.replace("%CELL_VAL%", String(osd_avg_cell_voltage_pos)); - form.replace("%BAT_VAL%", String(osd_main_batt_voltage_pos)); - form.replace("%CRAFT_VAL%", String(osd_craft_name_pos)); - form.replace("%SATS_VAL%", String(blink_sats_orig_pos)); - form.replace("%HOMEARROW_VAL%", String(osd_home_dir_pos)); - form.replace("%DIST_VAL%", String(osd_home_dist_pos)); - form.replace("%SPEED_VAL%", String(osd_gps_speed_pos)); - form.replace("%LAT_VAL%", String(osd_gps_lat_pos)); - form.replace("%LON_VAL%", String(osd_gps_lon_pos)); - form.replace("%CROSS_VAL%", String(osd_crosshairs_pos)); - - webserver.sendContent(form); - - sendFooter(); -} - -void handleSaveOSD() { - - osd_altitude_pos = strtol(webserver.arg("altitude_pos").c_str(), NULL, 0); - osd_avg_cell_voltage_pos = strtol(webserver.arg("cell_voltage_pos").c_str(), NULL, 0); - osd_main_batt_voltage_pos = strtol(webserver.arg("main_batt_voltage_pos").c_str(), NULL, 0); - osd_craft_name_pos = strtol(webserver.arg("craft_name_pos").c_str(), NULL, 0); - osd_gps_sats_pos = strtol(webserver.arg("gps_sats_pos").c_str(), NULL, 0); - osd_home_dir_pos = strtol(webserver.arg("home_dir_pos").c_str(), NULL, 0); - osd_home_dist_pos = strtol(webserver.arg("home_dist_pos").c_str(), NULL, 0); - osd_gps_speed_pos = strtol(webserver.arg("gps_speed_pos").c_str(), NULL, 0); - osd_gps_lat_pos = strtol(webserver.arg("gps_lat_pos").c_str(), NULL, 0); - osd_gps_lon_pos = strtol(webserver.arg("gps_lon_pos").c_str(), NULL, 0); - osd_crosshairs_pos = strtol(webserver.arg("crosshairs_pos").c_str(), NULL, 0); - - blink_sats_orig_pos = osd_gps_sats_pos; // update the origin position for sats osd item - - writeConfig(); - redirectHome(); -} - -void redirectHome() { - // Send them back to the Root Directory - webserver.sendHeader("Location", String("/"), true); - webserver.sendHeader("Cache-Control", "no-cache, no-store"); - webserver.sendHeader("Pragma", "no-cache"); - webserver.sendHeader("Expires", "-1"); - webserver.send(302, "text/plain", ""); - webserver.client().stop(); - delay(1000); -} - -void showFiles() { - - if (fsInit == false) { - webserver.send(200, "text/html", "Error: Filesystem failed to init!"); - return; - } - - sendHeader(); - - String webpage = "

QLiteOSD v" + String(VERSION) + " GPS Log Files

    "; - - Dir dir = SPIFFS.openDir("/"); - String lastFileNum = String(""); - while (dir.next()) { - if (dir.fileName() == CONFIG) { - continue; // don't look at the config file - } - String fileNum = dir.fileName(); - if (lastFileNum == fileNum) { - break; //In the chance that there is a duplicate at the end, break - } - lastFileNum = fileNum; - String fileName = fileNum; - fileName.replace("/", ""); - File file = dir.openFile("r"); - time_t time = 0; - file.readBytes((char *)&time, sizeof(time_t)); - fileName = getFileName() + String(time) + ".gpx"; - webpage += "
  • " + fileName + "   " + fileSize(file.size()) + "  " + String(time) + "
    • "; - }; - - FSInfo fsInfo; - SPIFFS.info(fsInfo); - - webpage += "
\n"; - webpage += "Space Used: " + fileSize(fsInfo.usedBytes) + " | "; - webpage += "Free Space: " + fileSize(fsInfo.totalBytes) + ""; - webpage += "

Delete All Files"; - webpage += ""; - - webserver.sendContent(webpage); - - sendFooter(); -} - -String fileSize(int bytes) { - String fsize = ""; - if (bytes < 1024) fsize = String(bytes) + " B"; - else if (bytes < (1024 * 1024)) fsize = roundValue(String(bytes / 1024.0, 3)) + " KB"; - else if (bytes < (1024 * 1024 * 1024)) fsize = roundValue(String(bytes / 1024.0 / 1024.0, 3)) + " MB"; - else fsize = roundValue(String(bytes / 1024.0 / 1024.0 / 1024.0, 3)) + " GB"; - return fsize; -} - -String roundValue(String inValue) { - float x = inValue.toFloat(); - long f = (long)(x * 10L); - x = (float)f / 10.0; - return String(x, 1); -} - -void downloadFile() { - static const char *gpxcloser = "\n\n"; - - if (webserver.args() > 0) { - if (webserver.hasArg("download")) { - String filename = webserver.arg(0); - File rawDataFile = SPIFFS.open(filename, "r"); - time_t startTime = 0; - rawDataFile.readBytes((char *)&startTime, sizeof(uint64_t)); - String nameAndTimeStamp = getFileName() + String(startTime); - WiFiClient client = webserver.client(); - size_t fileSize = rawDataFile.size(); - size_t numFrames = (fileSize / sizeof(GPS_LOG_FRAME)); - client.print("HTTP/1.1 200 OK\r\n"); - client.print("Content-Disposition: attachment; filename=" + nameAndTimeStamp + ".gpx\r\n"); - client.print("Content-Type: application/octet-stream\r\n"); - client.print("Connection: close\r\n"); - client.print("Access-Control-Allow-Origin: *\r\n"); - client.print("\r\n"); - String gpxheader = "\n\n\tQLiteOSD v" + String(VERSION) + - "\n\t" + nameAndTimeStamp + "1\n"; - client.print(gpxheader); - - char buf[sizeof("0000-00-00T00:00:00.000Z") + 5]; - char fullbuf[sizeof("\t\t0000000.000000.000") + 30]; - GPS_LOG_FRAME logData; - for (size_t i = 0; i < numFrames; i++) { - String gpxFrame; - time_t currentTime = startTime + (i / 2); - strftime(buf, sizeof(buf), "%Y-%m-%dT%H:%M:%S", gmtime(¤tTime)); - char *msecVal = ".000"; - if (i % 2 != 0) { //Currently hardcoded for 500 ms intervals - msecVal = ".500"; - } - String fullTime = String(buf) + String(msecVal) + "Z"; - rawDataFile.readBytes((char *)&logData, sizeof(GPS_LOG_FRAME)); - sprintf(fullbuf, "\t\t%f%f%f\n", logData.latitude, logData.longitude, logData.altitude, fullTime.c_str(), logData.speed, logData.heading); - client.write(fullbuf); - } - client.write(gpxcloser); - client.write("\n"); - client.stop(); - rawDataFile.close(); - } +#ifdef LOG_GPS + if (gpsLogging) + { + gpsLogLoop(); } -} - -void deleteFiles() { - logRemoveOldFiles(0); - delay(1000); - webserver.sendHeader("Location", String("/"), true); - webserver.sendHeader("Cache-Control", "no-cache, no-store"); - webserver.sendHeader("Pragma", "no-cache"); - webserver.sendHeader("Expires", "-1"); - webserver.send(302, "text/plain", ""); - webserver.client().stop(); -} #endif - -#ifdef ESP8266 - -void handleSystemReset() { - logOnDebug("Reset System Configuration"); - if (SPIFFS.format()) { - redirectHome(); - ESP.restart(); - } -} - - -void writeConfig() { - // Save settings to file for playback on power up. - File f = SPIFFS.open(CONFIG, "w"); - if (!f) { - logOnDebug(String(CONFIG) + " file failed to open!"); - } else { - logOnDebug("Saving settings now..."); - f.println("craftname=" + String(craftname)); - f.println("IMPERIAL_UNITS=" + String(IMPERIAL_UNITS)); - f.println("USE_PWM_ARM=" + String(USE_PWM_ARM)); - f.println("osd_altitude_pos=" + String(osd_altitude_pos)); - f.println("osd_avg_cell_voltage_pos=" + String(osd_avg_cell_voltage_pos)); - f.println("osd_main_batt_voltage_pos=" + String(osd_main_batt_voltage_pos)); - f.println("osd_craft_name_pos=" + String(osd_craft_name_pos)); - f.println("osd_gps_sats_pos=" + String(blink_sats_orig_pos)); - f.println("osd_home_dir_pos=" + String(osd_home_dir_pos)); - f.println("osd_home_dist_pos=" + String(osd_home_dist_pos)); - f.println("osd_gps_speed_pos=" + String(osd_gps_speed_pos)); - f.println("osd_gps_lat_pos=" + String(osd_gps_lat_pos)); - f.println("osd_gps_lon_pos=" + String(osd_gps_lon_pos)); - f.println("osd_crosshairs_pos=" + String(osd_crosshairs_pos)); - f.println("rgb_mode=" + rgb_mode); - f.println("redColor=" + String(redColor)); - f.println("greenColor=" + String(greenColor)); - f.println("blueColor=" + String(blueColor)); - f.println("arduinoVCC=" + String(arduinoVCC)); - } - f.close(); - readConfig(); -} - -void readConfig() { - if (SPIFFS.exists(CONFIG) == false) { - logOnDebug("Settings File does not yet exists."); - writeConfig(); - return; - } - File fr = SPIFFS.open(CONFIG, "r"); - String line; - while (fr.available()) { - line = fr.readStringUntil('\n'); - if (line.indexOf("craftname=") >= 0) { - String temp = line.substring(line.lastIndexOf("craftname=") + 10); - temp.trim(); - temp.toCharArray(craftname, sizeof(temp)); - logOnDebug("craftname: " + String(craftname)); - } - if (line.indexOf("IMPERIAL_UNITS=") >= 0) { - IMPERIAL_UNITS = line.substring(line.lastIndexOf("IMPERIAL_UNITS=") + 15).toInt(); - logOnDebug("IMPERIAL_UNITS: " + String(IMPERIAL_UNITS)); - } - if (line.indexOf("USE_PWM_ARM=") >= 0) { - USE_PWM_ARM = line.substring(line.lastIndexOf("USE_PWM_ARM=") + 12).toInt(); - logOnDebug("USE_PWM_ARM: " + String(USE_PWM_ARM)); - } - //OSD Items - if (line.indexOf("osd_altitude_pos=") >= 0) { - osd_altitude_pos = line.substring(line.lastIndexOf("osd_altitude_pos=") + 17).toInt(); - logOnDebug("osd_altitude_pos: " + String(osd_altitude_pos)); - } - if (line.indexOf("osd_avg_cell_voltage_pos=") >= 0) { - osd_avg_cell_voltage_pos = line.substring(line.lastIndexOf("osd_avg_cell_voltage_pos=") + 25).toInt(); - logOnDebug("osd_avg_cell_voltage_pos: " + String(osd_avg_cell_voltage_pos)); - } - if (line.indexOf("osd_main_batt_voltage_pos=") >= 0) { - osd_main_batt_voltage_pos = line.substring(line.lastIndexOf("osd_main_batt_voltage_pos=") + 26).toInt(); - logOnDebug("osd_main_batt_voltage_pos: " + String(osd_main_batt_voltage_pos)); - } - if (line.indexOf("osd_craft_name_pos=") >= 0) { - osd_craft_name_pos = line.substring(line.lastIndexOf("osd_craft_name_pos=") + 19).toInt(); - logOnDebug("osd_craft_name_pos: " + String(osd_craft_name_pos)); - } - if (line.indexOf("osd_gps_sats_pos=") >= 0) { - osd_gps_sats_pos = line.substring(line.lastIndexOf("osd_gps_sats_pos=") + 17).toInt(); - logOnDebug("osd_gps_sats_pos: " + String(osd_gps_sats_pos)); - } - if (line.indexOf("osd_home_dir_pos=") >= 0) { - osd_home_dir_pos = line.substring(line.lastIndexOf("osd_home_dir_pos=") + 17).toInt(); - logOnDebug("osd_home_dir_pos: " + String(osd_home_dir_pos)); - } - if (line.indexOf("osd_home_dist_pos=") >= 0) { - osd_home_dist_pos = line.substring(line.lastIndexOf("osd_home_dist_pos=") + 18).toInt(); - logOnDebug("osd_home_dist_pos: " + String(osd_home_dist_pos)); - } - if (line.indexOf("osd_gps_speed_pos=") >= 0) { - osd_gps_speed_pos = line.substring(line.lastIndexOf("osd_gps_speed_pos=") + 18).toInt(); - logOnDebug("osd_gps_speed_pos: " + String(osd_gps_speed_pos)); - } - if (line.indexOf("osd_gps_lat_pos=") >= 0) { - osd_gps_lat_pos = line.substring(line.lastIndexOf("osd_gps_lat_pos=") + 16).toInt(); - logOnDebug("osd_gps_lat_pos: " + String(osd_gps_lat_pos)); - } - if (line.indexOf("osd_gps_lon_pos=") >= 0) { - osd_gps_lon_pos = line.substring(line.lastIndexOf("osd_gps_lon_pos=") + 16).toInt(); - logOnDebug("osd_gps_lon_pos: " + String(osd_gps_lon_pos)); - } - if (line.indexOf("osd_crosshairs_pos=") >= 0) { - osd_crosshairs_pos = line.substring(line.lastIndexOf("osd_crosshairs_pos=") + 19).toInt(); - logOnDebug("osd_crosshairs_pos: " + String(osd_crosshairs_pos)); - } - if (line.indexOf("rgb_mode=") >= 0) { - rgb_mode = line.substring(line.lastIndexOf("rgb_mode=") + 9); - rgb_mode.trim(); - logOnDebug("rgb_mode: " + rgb_mode); - } - if (line.indexOf("redColor=") >= 0) { - redColor = line.substring(line.lastIndexOf("redColor=") + 9).toInt(); - logOnDebug("redColor: " + String(redColor)); - } - if (line.indexOf("greenColor=") >= 0) { - greenColor = line.substring(line.lastIndexOf("greenColor=") + 11).toInt(); - logOnDebug("greenColor: " + String(greenColor)); - } - if (line.indexOf("blueColor=") >= 0) { - blueColor = line.substring(line.lastIndexOf("blueColor=") + 10).toInt(); - logOnDebug("blueColor: " + String(blueColor)); - } - if (line.indexOf("arduinoVCC=") >= 0) { - arduinoVCC = line.substring(line.lastIndexOf("arduinoVCC=") + 11).toFloat(); - logOnDebug("arduinoVCC: " + String(arduinoVCC)); - } - - blink_sats_orig_pos = osd_gps_sats_pos; // set original position to the new position - - } - fr.close(); } -#endif \ No newline at end of file diff --git a/QLiteOSD/config.cpp b/QLiteOSD/config.cpp new file mode 100644 index 0000000..538a90f --- /dev/null +++ b/QLiteOSD/config.cpp @@ -0,0 +1,85 @@ +#include "config.h" + +#ifdef WEB_INTERFACE + +#include "filesystem.h" + +void configInit() { + if (!filesystem.exists(CONFIG_FILE_PATH)) { + configWrite(); // Write defaults to config file + }else { + configRead(); + } +} + +// Read values from the config file and set them globally +void configRead() { + File configFile = filesystem.open(CONFIG_FILE_PATH,"r"); + + while(configFile.available()) { + String line = configFile.readStringUntil('\n'); + // Bad O(n^2) search + for (int i = 0; i < CONFIG_VALUE_COUNT; i++) { + if (line.indexOf(String(configValues[i].key)+"=") != 0) { + continue; + } + + int valueStartIndex = strlen(configValues[i].key)+1; + String valueString = line.substring(valueStartIndex); + + switch(configValues[i].type) { + case CONFIG_VALUE_STRING: + if (valueString.length() <= configValues[i].optionalData) { + valueString.trim(); + valueString.toCharArray((char*)configValues[i].globalValue,configValues[i].optionalData); + } + break; + case CONFIG_VALUE_BOOL: + *(bool*)configValues[i].globalValue = (bool)valueString.toInt(); + break; + case CONFIG_VALUE_UINT16: + *(uint16_t*)configValues[i].globalValue = (uint16_t)valueString.toInt(); + break; + case CONFIG_VALUE_UINT8: + *(uint8_t*)configValues[i].globalValue = (uint8_t)valueString.toInt(); + break; + case CONFIG_VALUE_FLOAT: + *(float*)configValues[i].globalValue = valueString.toFloat(); + break; + } + + break; + } + } + +} + +// Save configuration values based on what is currently set in memory +void configWrite() { + File configFile = filesystem.open(CONFIG_FILE_PATH,"w"); + + for (int i = 0; i < CONFIG_VALUE_COUNT; i++) { + configFile.printf("%s=",configValues[i].key); + switch(configValues[i].type) { + case CONFIG_VALUE_STRING: + configFile.println(String((char*)configValues[i].globalValue)); + break; + case CONFIG_VALUE_BOOL: + configFile.println(String((int)*(bool*)configValues[i].globalValue)); + break; + case CONFIG_VALUE_UINT16: + configFile.println(String(*(uint16_t*)configValues[i].globalValue)); + break; + case CONFIG_VALUE_UINT8: + configFile.println(String(*(uint8_t*)configValues[i].globalValue)); + break; + case CONFIG_VALUE_FLOAT: + configFile.println(String(*(float*)configValues[i].globalValue)); + break; + } + } + + configFile.close(); +} + +#endif diff --git a/QLiteOSD/config.h b/QLiteOSD/config.h index 742ab65..d7a7290 100644 --- a/QLiteOSD/config.h +++ b/QLiteOSD/config.h @@ -8,6 +8,9 @@ * * Copyright (C) 2024 David Payne * + * This software is based on and uses software published by Paul Kurucz (pkuruz):opentelem_to_bst_bridge + * as well as software d3ngit : djihdfpv_mavlink_to_msp_V2 and crashsalot : VOT_to_DJIFPV + * * License info: See the LICENSE file at the repo top level * * THIS SOFTWARE IS PROVIDED IN AN "AS IS" CONDITION. NO WARRANTIES, @@ -19,57 +22,198 @@ * */ -#define ESP8266 // Uncommment this line if using the ESP8266 (Wemos D1 Mini) +#pragma once + +#include + +#define ESP8266_TARGET // Uncommment this line if using the ESP8266 (Wemos D1 Mini) #define USE_GPS //comment out to disable. Reads and displays GPS data - requires Nano 328 due to file size -#if defined(ESP8266) && defined(USE_GPS) // do not remove or comment this line out +#define USE_LEDS // comment out to disable. Adds controls for an LED strip + +#define BOARD_VERSION 11 +// #define BOARD_VERSION 20 + +#if defined(ESP8266_TARGET) +#define WEB_INTERFACE // uncomment to disable the web interface +#endif + +#if defined(WEB_INTERFACE) && defined(USE_GPS) // do not remove or comment this line out #define LOG_GPS //uncomment to log position and altitude data to the internal filesystem (requires a pushbutton to be added to switch to wifi mode) #endif -//#define DEBUG // uncomment this line to debug in Serial Monitor +// #define DEBUG // uncomment this line to debug in Serial Monitor + +// Hardcoded config +#define VERSION "2.0" +#define BMP_ADDRESS 0x76 // default is 0x77 +#define FC_FIRMWARE_IDENTIFIER "BTFL" +#define CONFIG "/conf.txt" + +#define TICK_INTERVAL 100 // in ms +#define ALTITUDE_UPDATE_INTERVAL 2 // in ticks. TICK_INTERVAL * ALTITUDE_UPDATE_INTERVAL ms +#define LIGHT_UPDATE_INTERVAL 2 // in ticks, TICK_INTERVAL * LIGHT_UPDATE_INTERVAL ms +#define PWM_DISARM_TIME 3000 // in ms + +#ifdef USE_GPS +#define GPS_SATELITE_BLINK_UPDATE_INTERVAL 9 // / in ticks, TICK_INTERVAL * GPS_SATELITE_BLINK_UPDATE_INTERVAL ms +#endif + +#define SEA_LEVEL_PRESSURE 1013.25f + +#define ARM_ALTITUDE 1.5f // 1.5 meters up + +#define ValueR1 7500.0f //7.5K Resistor +#define ValueR2 30000.0f //30K Resistor + +#define GPSBaud 9600 + +#define ANALOG_PIN A0 + +#define PWM_TRIGGER_VALUE 1700 + +#if BOARD_VERSION >= 20 +#define USE_DJI_RX_PIN true +#endif + +#ifdef ESP8266_TARGET +#define BOARD_VCC_DEFAULT 3.25f //Measured ESP8266 3.3 pin voltage +#define PWM_ARM_PIN D5 + +#if BOARD_VERSION < 20 +#define gps_RX_pin D8 +#define gps_TX_pin D7 +#elif BOARD_VERSION >= 20 +#define gps_RX_pin D7 +#define gps_TX_pin D8 +#endif + +#ifdef USE_LEDS +#define LED_PIN D6 +#endif + +#else +#define BOARD_VCC_DEFAULT 4.95f //Measured Arduino 5V pin voltage +#define PWM_ARM_PIN 10 +#define gps_RX_pin 4 +#define gps_TX_pin 3 + +#ifdef USE_LEDS +#define LED_PIN 11 +#endif -//******************************************************************** +#endif + +#ifdef WEB_INTERFACE +#define AP_SSID_PREFIX "QLiteOSD" +#define AP_PSK "12345678" + +#define WEB_INTERFACE_BUTTON_PIN D3 +#define WEB_INTERFACE_ENABLE_TICKS 30 // 30 ticks of the button held down to enable the web interface + +#define CONFIG_FILE_PATH "/config.txt" +#endif + +#ifdef LOG_GPS +#define GPS_LOG_INTERVAL 500 // in ms +#define GPS_LOG_SAVE_INTERVAL 10000 // in ms +#define LOG_DIRECTORY_PREFIX "/logs/" +#define GPS_LOG_FILE_LIMIT 10 // Maximum amount of log files +#endif + +// ******************************************************************** +// Config defaults +// // These settings are the defaults and are only loaded the first run. // When the values are updated in the web interface they are retained // until a Reset from the web interface. -char craftname[15] = "QLiteOSD"; // Do not make larger than 14 characters -boolean IMPERIAL_UNITS = true; // Set to false to see units in Metric -boolean USE_PWM_ARM = false; // pin D5 ESP8266 -- If commented out arming will occure with altitude change -boolean USE_DJI_RX_PIN = true; // set to true if using the 2.X QLiteOSD Board with DJI RX pin +#define CRAFT_NAME_DEFAULT "QLiteOSD" +#define USE_IMPERIAL_UNITS_DEFAULT true +#define USE_PWM_ARM_DEFAULT false -//Voltage on Board VCC -#ifdef ESP8266 -float arduinoVCC = 3.25; //Measured ESP8266 3.3 pin voltage +// Helper macro to map out positions correctly +// X values are 0-26 from left to right +// Y values are 0-15 from top to bottom +#define OSD_POS(x,y) (2048 + x + (y*32)) +#define OSD_HIDDEN 234 + +// General OSD Positions + +#define MAIN_BATT_VOLT_POS_DEFAULT OSD_POS(1,2) +#define CROSSHAIRS_POS_DEFAULT OSD_POS(14,6) +#define CRAFTNAME_POS_DEFAULT OSD_POS(0,0) +#define ALTITUDE_POS_DEFAULT OSD_POS(0,6) +#define AVG_CELL_VOLT_POS_DEFAULT OSD_POS(1,3) +#define NUM_VARIO_POS_DEFAULT OSD_POS(1,7) + + +// GPS OSD Positions + +#ifdef USE_GPS +#define GPS_SATS_POS_DEFAULT OSD_POS(26,0) +#define GPS_HOME_DIR_POS_DEFAULT OSD_POS(15,1) +#define GPS_HOME_DIST_POS_DEFAULT OSD_POS(1,9) +#define GPS_SPEED_POS_DEFAULT OSD_POS(1,8) +#define GPS_LAT_POS_DEFAULT OSD_POS(0,12) +#define GPS_LON_POS_DEFAULT OSD_POS(0,13) #else -float arduinoVCC = 4.95; //Measured Arduino 5V pin voltage +#define GPS_SATS_POS_DEFAULT OSD_HIDDEN +#define GPS_HOME_DIR_POS_DEFAULT OSD_HIDDEN +#define GPS_HOME_DIST_POS_DEFAULT OSD_HIDDEN +#define GPS_SPEED_POS_DEFAULT OSD_HIDDEN +#define GPS_LAT_POS_DEFAULT OSD_HIDDEN +#define GPS_LON_POS_DEFAULT OSD_HIDDEN #endif -//RGB LED Colors -static const int NUM_LEDS = 12; -String rgb_mode = "OFF"; // OFF, ON, STROBE, AIRCRAFT, ALTITUDE, BATTERY -int redColor = 0; // 0 - 255 -int greenColor = 255; // 0 - 255 -int blueColor = 0; // 0 - 255 - -//OSD Elements suppported by DJI -uint16_t osd_altitude_pos = 2240; -uint16_t osd_avg_cell_voltage_pos = 2145; -uint16_t osd_main_batt_voltage_pos = 2113; -uint16_t osd_crosshairs_pos = 2254; -uint16_t osd_craft_name_pos = 2048; - -// GPS related -- change each to 234 to hide -#ifdef USE_GPS -uint16_t osd_gps_sats_pos = 2074; -uint16_t osd_home_dir_pos = 2095; -uint16_t osd_home_dist_pos = 2337; -uint16_t osd_gps_speed_pos = 2305; -uint16_t osd_gps_lat_pos = 2432; -uint16_t osd_gps_lon_pos = 2464; +extern char CRAFT_NAME[15]; // Do not make larger than 14 characters +extern bool USE_IMPERIAL_UNITS; // Set to false to see units in Metric +extern bool USE_PWM_ARM; // pin D5 ESP8266 -- If commented out arming will occure with altitude change +extern float BOARD_VCC; +extern uint16_t OSD_GPS_SATS_POS; + +extern struct msp_osd_config_t msp_osd_config; + +#ifdef USE_LEDS + +#define NUM_LEDS 12 +#define LED_UPDATE_INTERVAL 10 // in ticks + +#define RGB_MODE_DEFAULT "ON" + +#define RED_VALUE_DEFAULT 0 +#define GREEN_VALUE_DEFAULT 255 +#define BLUE_VALUE_DEFAULT 0 + +extern char RGB_MODE[16]; +extern uint8_t RED_VALUE; +extern uint8_t GREEN_VALUE; +extern uint8_t BLUE_VALUE; + +#define LED_CONFIG_NUM 4 + #else -uint16_t osd_gps_sats_pos = 234; -uint16_t osd_home_dir_pos = 234; -uint16_t osd_home_dist_pos = 234; -uint16_t osd_gps_speed_pos = 234; -uint16_t osd_gps_lat_pos = 234; -uint16_t osd_gps_lon_pos = 234; -#endif \ No newline at end of file +#define LED_CONFIG_NUM 0 +#endif + +enum configType_e { + CONFIG_VALUE_UINT16, + CONFIG_VALUE_UINT8, + CONFIG_VALUE_BOOL, + CONFIG_VALUE_STRING, + CONFIG_VALUE_FLOAT +}; + +struct configValue_t { + const char* key; + void* globalValue; + configType_e type; + uint32_t optionalData; +}; + +#define CONFIG_VALUE_COUNT (15 + LED_CONFIG_NUM) + +extern const configValue_t configValues[CONFIG_VALUE_COUNT]; + +// config.cpp functions +void configInit(); +void configRead(); +void configWrite(); diff --git a/QLiteOSD/config_values.cpp b/QLiteOSD/config_values.cpp new file mode 100644 index 0000000..7577850 --- /dev/null +++ b/QLiteOSD/config_values.cpp @@ -0,0 +1,158 @@ +/** + * Contains the data for any dynamic configuration options +*/ +#include "config.h" +#include "MSP_OSD.h" + +const configValue_t configValues[CONFIG_VALUE_COUNT] = { + {"CRAFT_NAME",&CRAFT_NAME,CONFIG_VALUE_STRING,14}, // 14 character limit + {"USE_IMPERIAL_UNITS",&USE_IMPERIAL_UNITS,CONFIG_VALUE_BOOL}, + {"USE_PWM_ARM",&USE_PWM_ARM,CONFIG_VALUE_BOOL}, + + {"BOARD_VCC", &BOARD_VCC, CONFIG_VALUE_FLOAT}, + +#ifdef USE_LEDS + {"RGB_MODE", &RGB_MODE, CONFIG_VALUE_STRING, 16}, + {"RED_VALUE", &RED_VALUE, CONFIG_VALUE_UINT8}, + {"GREEN_VALUE", &GREEN_VALUE, CONFIG_VALUE_UINT8}, + {"BLUE_VALUE", &BLUE_VALUE, CONFIG_VALUE_UINT8}, +#endif + + {"OSD_ALTITUDE_POS", &msp_osd_config.osd_altitude_pos, CONFIG_VALUE_UINT16}, + {"OSD_AVG_CELL_VOLTAGE_POS", &msp_osd_config.osd_avg_cell_voltage_pos, CONFIG_VALUE_UINT16}, + {"OSD_MAIN_BATT_VOLTAGE_POS", &msp_osd_config.osd_main_batt_voltage_pos, CONFIG_VALUE_UINT16}, + {"OSD_CRAFTNAME_POS", &msp_osd_config.osd_craft_name_pos, CONFIG_VALUE_UINT16}, + {"OSD_GPS_SATS_POS", &OSD_GPS_SATS_POS, CONFIG_VALUE_UINT16}, + {"OSD_HOME_DIR_POS", &msp_osd_config.osd_home_dir_pos, CONFIG_VALUE_UINT16}, + {"OSD_HOME_DIST_POS", &msp_osd_config.osd_home_dist_pos, CONFIG_VALUE_UINT16}, + {"OSD_GPS_SPEED_POS", &msp_osd_config.osd_gps_speed_pos, CONFIG_VALUE_UINT16}, + {"OSD_GPS_LAT_POS", &msp_osd_config.osd_gps_lat_pos, CONFIG_VALUE_UINT16}, + {"OSD_GPS_LON_POS", &msp_osd_config.osd_gps_lon_pos, CONFIG_VALUE_UINT16}, + {"OSD_CROSSHAIRS_POS", &msp_osd_config.osd_crosshairs_pos, CONFIG_VALUE_UINT16} +}; + +char CRAFT_NAME[15] = CRAFT_NAME_DEFAULT; // Do not make larger than 14 characters + +#ifdef USE_LEDS + +char RGB_MODE[16] = RGB_MODE_DEFAULT; + +uint8_t RED_VALUE = RED_VALUE_DEFAULT; +uint8_t GREEN_VALUE = GREEN_VALUE_DEFAULT; +uint8_t BLUE_VALUE = BLUE_VALUE_DEFAULT; + +#endif + +bool USE_IMPERIAL_UNITS = USE_IMPERIAL_UNITS_DEFAULT; // Set to false to see units in Metric + +bool USE_PWM_ARM = USE_PWM_ARM_DEFAULT; + +float BOARD_VCC = BOARD_VCC_DEFAULT; + +uint16_t OSD_GPS_SATS_POS = GPS_SATS_POS_DEFAULT; + +/** + * Default values for the OSD Values are given here, some OSD elements + * here may not be implemented, so using the web interface for config is reccomended. + **/ +msp_osd_config_t msp_osd_config = { + 0, // osd_flags + 0, // video_system + 0, // units (0 for imperial, 1 for metric) + 0, // rssi_alarm + 0, // cap_alarm + 0, // old_timer_alarm + 56, // osd_item_count + 0, // alt_alarm + OSD_HIDDEN, // osd_rssi_value_pos + MAIN_BATT_VOLT_POS_DEFAULT, // osd_main_batt_voltage_pos + CROSSHAIRS_POS_DEFAULT, // osd_crosshairs_pos + OSD_HIDDEN, // osd_artificial_horizon_pos + OSD_HIDDEN, // osd_horizon_sidebars_pos + OSD_HIDDEN, // osd_item_timer_1_pos + OSD_HIDDEN, // osd_item_timer_2_pos + OSD_HIDDEN, // osd_flymode_pos + CRAFTNAME_POS_DEFAULT, // osd_craft_name_pos + OSD_HIDDEN, // osd_throttle_pos_pos + OSD_HIDDEN, // osd_vtx_channel_pos + OSD_HIDDEN, // osd_current_draw_pos + OSD_HIDDEN, // osd_mah_drawn_pos + GPS_SPEED_POS_DEFAULT, // osd_gps_speed_pos + GPS_SATS_POS_DEFAULT, // osd_gps_sats_pos + ALTITUDE_POS_DEFAULT, // osd_altitude_pos + OSD_HIDDEN, // osd_roll_pids_pos + OSD_HIDDEN, // osd_pitch_pids_pos + OSD_HIDDEN, // osd_yaw_pids_pos + OSD_HIDDEN, // osd_power_pos + OSD_HIDDEN, // osd_pidrate_profile_pos + OSD_HIDDEN, // osd_warnings_pos + AVG_CELL_VOLT_POS_DEFAULT, // osd_avg_cell_voltage_pos + GPS_LON_POS_DEFAULT, // osd_gps_lon_pos + GPS_LAT_POS_DEFAULT, // osd_gps_lat_pos + OSD_HIDDEN, // osd_debug_pos + OSD_HIDDEN, // osd_pitch_angle_pos + OSD_HIDDEN, // osd_roll_angle_pos + OSD_HIDDEN, // osd_main_batt_usage_pos + OSD_HIDDEN, // osd_disarmed_pos + GPS_HOME_DIR_POS_DEFAULT, // osd_home_dir_pos + GPS_HOME_DIST_POS_DEFAULT, // osd_home_dist_pos + OSD_HIDDEN, // osd_numerical_heading_pos + NUM_VARIO_POS_DEFAULT, // osd_numerical_vario_pos + OSD_HIDDEN, // osd_compass_bar_pos + OSD_HIDDEN, // osd_esc_tmp_pos + OSD_HIDDEN, // osd_esc_rpm_pos + OSD_HIDDEN, // osd_remaining_time_estimate_pos + OSD_HIDDEN, // osd_rtc_datetime_pos + OSD_HIDDEN, // osd_adjustment_range_pos + OSD_HIDDEN, // osd_core_temperature_pos + OSD_HIDDEN, // osd_anti_gravity_pos + OSD_HIDDEN, // osd_g_force_pos + OSD_HIDDEN, // osd_motor_diag_pos + OSD_HIDDEN, // osd_log_status_pos + OSD_HIDDEN, // osd_flip_arrow_pos + OSD_HIDDEN, // osd_link_quality_pos + OSD_HIDDEN, // osd_flight_dist_pos + OSD_HIDDEN, // osd_stick_overlay_left_pos + OSD_HIDDEN, // osd_stick_overlay_right_pos + OSD_HIDDEN, // osd_display_name_pos + OSD_HIDDEN, // osd_esc_rpm_freq_pos + OSD_HIDDEN, // osd_rate_profile_name_pos + OSD_HIDDEN, // osd_pid_profile_name_pos + OSD_HIDDEN, // osd_profile_name_pos + OSD_HIDDEN, // osd_rssi_dbm_value_pos + OSD_HIDDEN, // osd_rc_channels_pos + 24, // osd_stat_count + 0, // osd_stat_rtc_date_time + 0, // osd_stat_timer_1 + 0, // osd_stat_timer_2 + 0, // osd_stat_max_speed + 0, // osd_stat_max_distance + 0, // osd_stat_min_battery + 0, // osd_stat_end_battery + 0, // osd_stat_battery + 0, // osd_stat_min_rssi + 0, // osd_stat_max_current + 0, // osd_stat_used_mah + 0, // osd_stat_max_altitude + 0, // osd_stat_blackbox + 0, // osd_stat_blackbox_number + 0, // osd_stat_max_g_force + 0, // osd_stat_max_esc_temp + 0, // osd_stat_max_esc_rpm + 0, // osd_stat_min_link_quality + 0, // osd_stat_flight_distance + 0, // osd_stat_max_fft + 0, // osd_stat_total_flights + 0, // osd_stat_total_time + 0, // osd_stat_total_dist + 0, // osd_stat_min_rssi_dbm + 2, // osd_timer_count + 0, // osd_timer_1 + 0, // osd_timer_2 + 0, // enabledwarnings + 16, // osd_warning_count + 0, // enabledwarnings_1_41_plus + 1, // osd_profile_count + 1, // osdprofileindex + 0, // overlay_radio_mode +}; diff --git a/QLiteOSD/craft.cpp b/QLiteOSD/craft.cpp new file mode 100644 index 0000000..07c4d47 --- /dev/null +++ b/QLiteOSD/craft.cpp @@ -0,0 +1,191 @@ +#include "craft.h" +#include "MSP_OSD.h" +#include // May need to adjust for I2C address #define BMP280_ADDRESS (0x76) + +#ifdef USE_GPS +#include +#endif + +CraftState craftState; + +Adafruit_BMP280 bme; // I2C + +#ifdef USE_GPS +TinyGPSPlus gps; +SoftwareSerial gpsSerial(gps_RX_pin, gps_TX_pin); +#endif + +void CraftState::init() { + flightModeFlags = FLIGHT_UNARMED; + batteryCapacity = 2200; + + if (USE_PWM_ARM) { + pinMode(PWM_ARM_PIN, INPUT_PULLUP); + } + + bme.begin(BMP_ADDRESS); //Default Address 0x77 + previousAltitudeReadTime = millis(); + +#ifdef USE_GPS + gpsSerial.begin(GPSBaud); + gpsHomeSet = false; + numSats = 0; + gps_lat = 0.0f; + gps_lon = 0.0f; + gps_home_lat = 0.0f; + gps_home_lon = 0.0f; + distanceToHome = 0.0f; + directionToHome = 0.0f; +#endif + + for (int i = 0; i < 20; i++) { + sample(); // Get initial values from the sensors + delay(100); + } + + read(); + + previous_altitude = altitude; + HomeAlt = altitude; +} + +void CraftState::sample() { + sampleAltitude(); + sampleVoltage(); +} + +void CraftState::read() { + readVoltage(); + readAltitude(); +#ifdef USE_GPS + readGPS(); +#endif +} + +void CraftState::sampleAltitude() { + altitudeSamples += bme.readAltitude(SEA_LEVEL_PRESSURE); + sampleAltitudeCount++; +} + +void CraftState::readAltitude() { + if (sampleAltitudeCount == 0) return; + previous_altitude = altitude; + altitude = altitudeSamples / sampleAltitudeCount; + sampleAltitudeCount = 0; + altitudeSamples = 0.0f; + + uint32_t currentTime = millis(); + climbRate = ((craftState.altitude - craftState.previous_altitude) / (currentTime - previousAltitudeReadTime))/1000.0f; + previousAltitudeReadTime = currentTime; +} + +void CraftState::readVoltage() { + if (sampleVoltageCount == 0) return; + voltage = voltageSamples / sampleVoltageCount; + sampleVoltageCount = 0; + voltageSamples = 0.0f; +} + +void CraftState::sampleVoltage() { + int readValue = analogRead(ANALOG_PIN); + voltageSamples += (readValue * (BOARD_VCC / 1024.0f)) * (1.0f + (ValueR2 / ValueR1)); + sampleVoltageCount++; +} + +// Read the number of a specified channel and convert to the range provided. +// If the channel is off, return the default value +volatile int CraftState::readPWMChannel(int channelInput, int minLimit, int maxLimit, int defaultValue) { + int ch = pulseIn(channelInput, HIGH, 30000); + if (ch < 100) return defaultValue; + return map(ch, 1000, 2000, minLimit, maxLimit); +} + +void CraftState::setFlightModeFlags() { + if (USE_PWM_ARM) { + //USE PWM signal to ARM + volatile int pwmValue = readPWMChannel(PWM_ARM_PIN, 1000, 2000, 0); + + if ((flightModeFlags == FLIGHT_UNARMED) && pwmValue >= PWM_TRIGGER_VALUE) { + pwmDisarmTimerStart = 0; + flightModeFlags = FLIGHT_ARMED; + } else if ((flightModeFlags == FLIGHT_ARMED) && pwmValue < PWM_TRIGGER_VALUE) { + + if (pwmDisarmTimerStart == 0) { + pwmDisarmTimerStart = millis(); + }else if (millis() - pwmDisarmTimerStart >= PWM_DISARM_TIME) { + flightModeFlags = FLIGHT_UNARMED; // disarm after a delay + pwmDisarmTimerStart = 0; + } + + } + + } else { + + //USE Altitude to Arm + // flightModeFlags = FLIGHT_ARMED; //Uncomment this to automatically arm on start + + if (flightModeFlags == FLIGHT_UNARMED && getRelativeAltitude() > ARM_ALTITUDE) { // if altitude is 1 meter or more then arm to record + flightModeFlags = FLIGHT_ARMED; // armed to start recording + } + } +} + +#ifdef USE_GPS +void CraftState::readGPS() { + while (gpsSerial.available()) { + gps.encode(gpsSerial.read()); + } + if (!gps.location.isValid()) { + return; + } + + // Make sure that current latitude and longitude don't get reset + float lat = gps.location.lat(); + if (lat != 0.0f) { + gps_lat = lat; + } + float lon = gps.location.lng(); + if (lon != 0.0f) { + gps_lon = lon; + } + + gps_alt = gps.altitude.meters(); + gps_speed = gps.speed.mps(); + gps_heading = gps.course.deg(); + + tm currentTime; + currentTime.tm_year = gps.date.year() - 1900; + currentTime.tm_mon = gps.date.month() - 1; + currentTime.tm_mday = gps.date.day(); + currentTime.tm_hour = gps.time.hour(); + currentTime.tm_min = gps.time.minute(); + currentTime.tm_sec = gps.time.second(); + gps_time = mktime(¤tTime); // Convert the gps time to a unix timestamp + + if (gps.satellites.isValid()) { + numSats = gps.satellites.value(); + } + + // Ensure the position is accurate enough before setting home + if (gpsHomeSet == false && gps.hdop.isValid() && gps.hdop.hdop() < 2) { + gps_home_lat = gps_lat; + gps_home_lon = gps_lon; + gpsHomeSet = true; + } + + if (gpsHomeSet) { + distanceToHome = TinyGPSPlus::distanceBetween(gps_lat, gps_lon, gps_home_lat, gps_home_lon); + directionToHome = TinyGPSPlus::courseTo(gps_lat, gps_lon, gps_home_lat, gps_home_lon); + } +} +#endif + +uint8_t CraftState::getCellCount() { + // Todo map this to a function + if (voltage < 4.3f) return 1; + else if (voltage < 8.5f) return 2; + else if (voltage < 12.7f) return 3; + else if (voltage < 16.9f) return 4; + else if (voltage < 21.1f) return 5; + else return 6; +} diff --git a/QLiteOSD/craft.h b/QLiteOSD/craft.h new file mode 100644 index 0000000..3b2680f --- /dev/null +++ b/QLiteOSD/craft.h @@ -0,0 +1,77 @@ +#pragma once + +#include "config.h" +#include + +#ifdef USE_GPS +#include +#endif + +class CraftState { +private: + float voltageSamples; + uint32_t sampleVoltageCount; + + float altitudeSamples; + uint32_t sampleAltitudeCount; + + uint32_t pwmDisarmTimerStart; + + float previous_altitude; // used to calculate climb rate + uint32_t previousAltitudeReadTime; // in ms + +public: + void init(); + void read(); + void sample(); + void setFlightModeFlags(); + void sampleAltitude(); + void readAltitude(); + void sampleVoltage(); + void readVoltage(); + void readGPS(); + + uint8_t getCellCount(); + + static volatile int readPWMChannel(int channelInput, int minLimit, int maxLimit, int defaultValue); + + inline float getRelativeAltitude() { return altitude - HomeAlt; } + + uint32_t flightModeFlags; // 0x00000002 by default + + float voltage; + uint16_t batteryCapacity; // 2200 by default + uint8_t batteryState; // voltage color 0==white, 1==red + + float climbRate; // in m/s + float altitude; // in meters from sea level + + float HomeAlt; + +#ifdef USE_GPS + bool gpsHomeSet; + + uint32_t numSats; + + float gps_speed; // in m/s + float gps_heading; + + float gps_lon; + float gps_lat; + float gps_alt; + + float gps_home_lon; + float gps_home_lat; + + float distanceToHome; // in meters + float directionToHome; // in degrees + + time_t gps_time; +#endif +}; + +extern CraftState craftState; + +#ifdef USE_GPS +extern SoftwareSerial gpsSerial; +#endif diff --git a/QLiteOSD/filesystem.cpp b/QLiteOSD/filesystem.cpp new file mode 100644 index 0000000..24a9746 --- /dev/null +++ b/QLiteOSD/filesystem.cpp @@ -0,0 +1,23 @@ +#include "filesystem.h" + +#ifdef WEB_INTERFACE + +#include "MSP_OSD.h" + +FS& filesystem = LittleFS; + +void filesystemInit() { + // The standard will format the filesystem if it can't mount, so this should rarely fail + if (!filesystem.begin()) { + debugLog("FS Init Fail!!"); + } +} + +void filesystemFormat() { + if (!filesystem.format()) { + debugLog("FS Format Failed!"); + } +} + +#endif + diff --git a/QLiteOSD/filesystem.h b/QLiteOSD/filesystem.h new file mode 100644 index 0000000..2696f77 --- /dev/null +++ b/QLiteOSD/filesystem.h @@ -0,0 +1,14 @@ +#pragma once +#include "config.h" + +#ifdef WEB_INTERFACE + +#include +#include + +void filesystemInit(); +void filesystemFormat(); + +extern FS& filesystem; + +#endif diff --git a/QLiteOSD/gpsLog.cpp b/QLiteOSD/gpsLog.cpp new file mode 100644 index 0000000..1b4c484 --- /dev/null +++ b/QLiteOSD/gpsLog.cpp @@ -0,0 +1,115 @@ +#include "gpsLog.h" + +#ifdef LOG_GPS + +#include "craft.h" +#include "filesystem.h" + +#include "MSP_OSD.h" //Used for the debugLog def + +bool gpsLogging = false; + +static uint32_t lastLogTime = 0; +static uint32_t startLogTime = 0; +static File logFile; +static time_t logFileId; + +void gpsLogInit() { + // Create the Log file + gpsLogging = true; + + gps_logfile_header_t header; + header.version = 1; + header.fileStartTime = craftState.gps_time; + + // Make the file name the current gps time, so files can be uniquely identified + logFileId = header.fileStartTime; + + debugLog(String("gpsLog start time: ")+String(logFileId)+String("\nFile start millis: ")+String(millis())); + + logFile = filesystem.open(String(LOG_DIRECTORY_PREFIX)+String(logFileId),"w"); + logFile.write((uint8_t*)&header,sizeof(header)); + + debugLog(String("gpsLog start end time: ")+String(millis())); + + startLogTime = millis(); + lastLogTime = startLogTime; + + gpsLogFrame(); // Log the current flight values +} + +void gpsLogLoop() { + uint32_t currentTime = millis(); + if (currentTime - lastLogTime >= GPS_LOG_INTERVAL) { + lastLogTime = currentTime; + gpsLogFrame(); + } + + static uint32_t lastSaveTime; + if (currentTime - lastSaveTime >= GPS_LOG_SAVE_INTERVAL) { + lastSaveTime = currentTime; + gpsLogSave(); + } +} + +void gpsLogFrame() { + gps_logfile_frame_t frame; + + frame.timeOffset = millis() - startLogTime; + frame.altitude = craftState.altitude; + frame.heading = craftState.gps_heading; + frame.latitude = craftState.gps_lat; + frame.longitude = craftState.gps_lon; + frame.speed = craftState.gps_speed; + + debugLog(String("gpsLog start time: ")+String(millis())); + logFile.write((uint8_t*)&frame,sizeof(frame)); + debugLog(String("gpsLog end time: ")+String(millis())); +} + +// Flush the file +void gpsLogSave() { + debugLog(String("gpsLog flush start time: ")+String(millis())); + logFile.flush(); + debugLog(String("gpsLog flush end time: ")+String(millis())); +} + +void gpsLogEnd() { + logFile.close(); + gpsLogging = false; +} + +// Assumes that all log files are their unix timestamp number +void gpsLogDeleteOldFiles() { + int currentNumFiles = 0; + + { + Dir logDir = filesystem.openDir(LOG_DIRECTORY_PREFIX); + while (logDir.next()) { + if (logDir.isDirectory()) { + continue; + } + + currentNumFiles++; + } + } // Make sure the directory destructor is called before continuing + + if (currentNumFiles <= GPS_LOG_FILE_LIMIT) { + return; + } + + for (int i = 0; i + +struct gps_logfile_header_t { + uint32_t version; + time_t fileStartTime; // unix timestamp +}; + +struct gps_logfile_frame_t { + uint32_t timeOffset; // ms since flight started + float latitude; + float longitude; + float altitude; //in meters + float heading; // in degrees + float speed; // in meters/second +}; + +void gpsLogInit(); +void gpsLogLoop(); +void gpsLogFrame(); +void gpsLogSave(); +void gpsLogEnd(); +void gpsLogDeleteOldFiles(); + +extern bool gpsLogging; + +#endif diff --git a/QLiteOSD/led.cpp b/QLiteOSD/led.cpp new file mode 100644 index 0000000..93639f1 --- /dev/null +++ b/QLiteOSD/led.cpp @@ -0,0 +1,95 @@ +#include "led.h" + +#ifdef USE_LEDS + +#include +#include "craft.h" + +Adafruit_NeoPixel pixels = Adafruit_NeoPixel(NUM_LEDS, LED_PIN, NEO_GRB + NEO_KHZ800); + +#ifdef WEB_INTERFACE +void ledWebserverColors() { + pixels.fill(pixels.Color(0, 0, 155), 0, NUM_LEDS); + pixels.show(); +} +#endif + +void ledInit() { + pixels.begin(); + ledUpdate(); // Set the LEDs to their initial values +} + +void ledUpdate() { + static bool flashOn = true; + + String ledMode = RGB_MODE; + flashOn = !flashOn; + + if (ledMode == "OFF") { + pixels.fill(pixels.Color(0, 0, 0), 0, NUM_LEDS); + } else if (ledMode == "ON") { + pixels.fill(pixels.Color(RED_VALUE,GREEN_VALUE,BLUE_VALUE), 0, NUM_LEDS); + } else if (ledMode == "BATTERY") { + float cellVoltage = craftState.voltage / craftState.getCellCount(); + uint8_t rVal; + uint8_t gVal; + + if (cellVoltage >= 4.2f) { + gVal = 255; + rVal = 0; + }else if(cellVoltage <= 3.6f) { + gVal = 0; + rVal = 255; + }else { + float percent = (cellVoltage-3.6f)/(4.2f-3.6f); + gVal = percent*255; + rVal = (1.0f-percent)*255; + } + + if (flashOn && cellVoltage <= 36) { + pixels.fill(pixels.Color(0, 0, 0), 0, NUM_LEDS); + } else { + pixels.fill(pixels.Color(rVal, gVal, 0), 0, NUM_LEDS); + } + } else if (ledMode == "ALTITUDE") { + float alt = craftState.getRelativeAltitude(); + uint8_t rVal; + uint8_t gVal; + + if (alt >= 121.92f) { // 400 ft + gVal = 0; + rVal = 255; + }else if(alt <= 0.0f) { + gVal = 255; + rVal = 0; + }else { + float percent = (alt)/(121.92f); + rVal = percent*255; + gVal = (1.0f-percent)*255; + } + + if (flashOn && alt >= 121.92f) { + pixels.fill(pixels.Color(0, 0, 0), 0, NUM_LEDS); + } else { + pixels.fill(pixels.Color(rVal, gVal, 0), 0, NUM_LEDS); + } + } else if (ledMode == "STROBE") { + if (flashOn) { + pixels.fill(pixels.Color(RED_VALUE, GREEN_VALUE, BLUE_VALUE), 0, NUM_LEDS); + } else { + pixels.fill(pixels.Color(0, 0, 0), 0, NUM_LEDS); + } + } else if (ledMode == "AIRCRAFT") { + pixels.fill(pixels.Color(0, 0, 0), 0, 24); + pixels.fill(pixels.Color(0, 255, 0), 0, 4); + pixels.fill(pixels.Color(255, 255, 255), 4, 4); + pixels.fill(pixels.Color(255, 0, 0), 8, 4); + if (!flashOn) { + pixels.fill(pixels.Color(0, 0, 0), 4, 4); + } + } + + pixels.show(); +} + +#endif diff --git a/QLiteOSD/led.h b/QLiteOSD/led.h new file mode 100644 index 0000000..fe14475 --- /dev/null +++ b/QLiteOSD/led.h @@ -0,0 +1,13 @@ +#pragma once +#include "config.h" + +#ifdef USE_LEDS + +void ledInit(); +void ledUpdate(); + +#ifdef WEB_INTERFACE +void ledWebserverColors(); +#endif + +#endif diff --git a/libraries/MSP/MSP.cpp b/QLiteOSD/src/libraries/MSP.cpp similarity index 100% rename from libraries/MSP/MSP.cpp rename to QLiteOSD/src/libraries/MSP.cpp diff --git a/libraries/MSP/MSP.h b/QLiteOSD/src/libraries/MSP.h similarity index 100% rename from libraries/MSP/MSP.h rename to QLiteOSD/src/libraries/MSP.h diff --git a/QLiteOSD/web_interface.cpp b/QLiteOSD/web_interface.cpp new file mode 100644 index 0000000..246d0bd --- /dev/null +++ b/QLiteOSD/web_interface.cpp @@ -0,0 +1,350 @@ +#include "web_interface.h" + +#ifdef WEB_INTERFACE + +#include "craft.h" +#include "filesystem.h" +#include "gpsLog.h" +#include "led.h" + +#include +#include + +bool webInterfaceOn = false; + +// todo check if we should allocate this on the heap instead +ESP8266WebServer webserver(80); + +void webInterfaceInit() { +#ifdef LOG_GPS + // the gps communication must be stopped to start wifi communication + if (gpsLogging) { + gpsLogEnd(); + } + gpsSerial.end(); +#endif + + //Begin fileserver + webInterfaceOn = true; + + WiFi.softAP(String(AP_SSID_PREFIX)+"-"+String(ESP.getChipId(), HEX), String(AP_PSK)); + + webserver.on("/", webInterfaceHome); //Show all logged gps files +#ifdef LOG_GPS + webserver.on("/download", webInterfaceDownloadLog); //Convert and download a gpx file + webserver.on("/delete", webInterfaceDeleteLog); //Delete the log given by the parameter +#endif + webserver.on("/wifioff", webInterfaceWifiOff); //Turn off AP Wifi + webserver.on("/configure", webInterfaceConfigure); //Show the Configure Page + webserver.on("/configsave", webInterfaceConfigSave);//Show the Configure Page + webserver.on("/reset", webInterfaceSystemFormat); //Reset Device + webserver.begin(); + + digitalWrite(LED_BUILTIN, LOW); +#ifdef USE_LEDS + ledWebserverColors(); +#endif +} + +void webInterfaceLoop() { + webserver.handleClient(); +} + +void webInterfaceSendHeader() { + webserver.sendHeader("Cache-Control", "no-cache, no-store"); + webserver.sendHeader("Pragma", "no-cache"); + webserver.sendHeader("Expires", "-1"); +// webserver.chunkedResponseModeStart(200,"text/html"); + webserver.setContentLength(CONTENT_LENGTH_UNKNOWN); + webserver.send(200, "text/html", ""); + webserver.sendContent_P(HEAD_TITLE); + webserver.sendContent_P(BODY_MENU); +} + +void webInterfaceSendFooter() { + webserver.sendContent_P(BODY_END); + webserver.sendContent(""); +// webserver.chunkedResponseFinalize(); + webserver.client().stop(); +} + +void webInterfaceRedirect(const char* url) { + webserver.sendHeader("Location", url, true); + webserver.sendHeader("Cache-Control", "no-cache, no-store"); + webserver.sendHeader("Pragma", "no-cache"); + webserver.sendHeader("Expires", "-1"); + webserver.send(302, "text/plain", ""); + webserver.client().stop(); + delay(1000); +} + +static String getFileSizeString(size_t sizeInBytes) { + if (sizeInBytes < 1024) return String(sizeInBytes) + " B"; + else if (sizeInBytes < (1024 * 1024)) return String(sizeInBytes / 1024.0f, 1) + " KB"; + else if (sizeInBytes < (1024 * 1024 * 1024)) return String(sizeInBytes / 1024.0f / 1024.0f, 1) + " MB"; + else return String(sizeInBytes / 1024.0f / 1024.0f / 1024.0f, 3) + " GB"; +} + +void webInterfaceHome() { + webInterfaceSendHeader(); + +#ifdef LOG_GPS + + webserver.sendContent("

QLiteOSD GPS Log Files

    "); + + Dir logDir = filesystem.openDir(LOG_DIRECTORY_PREFIX); + while (logDir.next()) { + if (logDir.isDirectory()) { + continue; + } + + // Reads the file header, if needed for the webpage + // gps_logfile_header_t header; + // File logFile = logDir.openFile("r"); + // logFile.readBytes((char*)&header,sizeof(header)); + // logFile.close(); + + String name = logDir.fileName(); + webserver.sendContent("
  • "+name+" " + +getFileSizeString(logDir.fileSize())+" | Delete
    • "); + } + + webserver.sendContent("
"); + + webserver.sendContent_P(LOGFILES_JAVASCRIPT); + +#endif + + FSInfo fsInfo; + filesystem.info(fsInfo); + + String spaceString = String("Space Used: ")+getFileSizeString(fsInfo.usedBytes)+" | Free Space: "; + spaceString += getFileSizeString(fsInfo.totalBytes - fsInfo.usedBytes)+""; + + webserver.sendContent(spaceString); + + webInterfaceSendFooter(); +} + +static void replaceFormConfig(String& form) { + for (int i = 0; i < CONFIG_VALUE_COUNT; i++) { + String replacementKey = String("%")+configValues[i].key+"%"; + + // if (form.indexOf(replacementKey) == -1) { + // continue; + // } + + switch (configValues[i].type) { + case CONFIG_VALUE_STRING: + form.replace(replacementKey,String((char*)configValues[i].globalValue)); + break; + case CONFIG_VALUE_BOOL: + form.replace(replacementKey,(*(bool*)configValues[i].globalValue) ? "checked='checked'" : ""); + break; + case CONFIG_VALUE_UINT16: + form.replace(replacementKey,String(*(uint16_t*)configValues[i].globalValue)); + break; + case CONFIG_VALUE_UINT8: + form.replace(replacementKey,String(*(uint8_t*)configValues[i].globalValue)); + break; + case CONFIG_VALUE_FLOAT: + form.replace(replacementKey,String(*(float*)configValues[i].globalValue)); + break; + } + } +} + +void webInterfaceConfigure() { + webInterfaceSendHeader(); + + { + String form = FPSTR(CONFIG_FORM); + replaceFormConfig(form); + webserver.sendContent(form); + } + +#ifdef USE_LEDS + { + String options = FPSTR(CONFIG_RGB_OPTIONS); + options.replace(">" + String(RGB_MODE) + "<", " selected>" + String(RGB_MODE) + "<"); + webserver.sendContent(options); + } + + { + String form = FPSTR(CONFIG_FORM_LED); + replaceFormConfig(form); + webserver.sendContent(form); + } + + webserver.sendContent_P(CONFIG_RGB_JS); +#endif + + { + String form = FPSTR(CONFIG_FORM_OSD); + replaceFormConfig(form); + webserver.sendContent(form); + } + + { + String form = FPSTR(CONFIG_FORM_OSD_2); + replaceFormConfig(form); + webserver.sendContent(form); + } + + webserver.sendContent_P(CONFIG_FORM_SAVE); + + { + String formJs = FPSTR(CONFIG_JAVASCRIPT); + formJs.replace("%READVALUE%",String(analogRead(ANALOG_PIN))); + formJs.replace("%VALUER1%",String(ValueR1)); + formJs.replace("%VALUER2%",String(ValueR2)); + webserver.sendContent(formJs); + } + + webserver.sendContent_P(CONFIG_OSD); + + webInterfaceSendFooter(); +} + +void webInterfaceConfigSave() { + for (int i = 0; i < CONFIG_VALUE_COUNT; i++) { + String argumentName = String(configValues[i].key)+"_FORM"; + + if (configValues[i].type == CONFIG_VALUE_BOOL) { + *(bool*)configValues[i].globalValue = webserver.hasArg(argumentName); + continue; + } + + if (!webserver.hasArg(argumentName)) { + continue; + } + + String argValue = webserver.arg(argumentName); + switch(configValues[i].type) { + case CONFIG_VALUE_STRING: + argValue.toCharArray((char*)configValues[i].globalValue,configValues[i].optionalData); + break; + case CONFIG_VALUE_UINT16: + *(uint16_t*)configValues[i].globalValue = (uint16_t)argValue.toInt(); + break; + case CONFIG_VALUE_UINT8: + *(uint8_t*)configValues[i].globalValue = (uint8_t)argValue.toInt(); + break; + case CONFIG_VALUE_FLOAT: + *(float*)configValues[i].globalValue = argValue.toFloat(); + break; + } + } + + configWrite(); + webInterfaceRedirect("/"); +} + +static void resetSystem() { + webserver.stop(); + digitalWrite(LED_BUILTIN, HIGH); + WiFi.softAPdisconnect(true); + ESP.reset(); +} + +void webInterfaceWifiOff() { + webInterfaceSendHeader(); + webserver.sendContent("

WiFi Turned Off and OSD rebooted. Return to main screen when reconnected.

"); + webInterfaceSendFooter(); + resetSystem(); +} + +void webInterfaceSystemFormat() { + webInterfaceSendHeader(); + + if (filesystem.format()) { + webserver.sendContent("

Filesystem and config successfully reset. OSD has been rebooted. Return to main screen when reconnected.

"); + + webInterfaceSendFooter(); + resetSystem(); + }else{ + webserver.sendContent("

Filesystem failed to format! Please format it manually!

"); + webInterfaceSendFooter(); + } +} + +#ifdef LOG_GPS +static void sendFileError(const String& error) { + webInterfaceSendHeader(); + webserver.sendContent(error); + webInterfaceSendFooter(); + return; +} + +void webInterfaceDownloadLog() { + if (!webserver.hasArg("file")) { + sendFileError("No file given!"); + return; + } + + String fileName = webserver.arg("file"); + File logFile = filesystem.open(String(LOG_DIRECTORY_PREFIX)+fileName,"r"); + if (!logFile) { + sendFileError("File failed to open!"); + return; + } + if (logFile.size() <= sizeof(gps_logfile_header_t)) { + sendFileError("File has no data!"); + return; + } + + // debug: send the raw file + // webserver.streamFile(logFile,"application/octet-stream"); + // webserver.client().stop(); + // return; + + gps_logfile_header_t header; + logFile.readBytes((char*)&header,sizeof(header)); + size_t numFrames = ((logFile.size() - sizeof(header)) / sizeof(gps_logfile_frame_t)); + + WiFiClient& client = webserver.client(); + client.print("HTTP/1.1 200 OK\r\n"); + client.print("Content-Disposition: attachment; filename=QLiteOSD_Path_" + fileName + ".gpx\r\n"); + client.print("Content-Type: application/octet-stream\r\n"); + client.print("Connection: close\r\n"); + client.print("Access-Control-Allow-Origin: *\r\n"); + client.print("\r\n"); + + client.print(String("\n\n\tQLiteOSD v" VERSION) + + "\n\tQLiteOSD_Path_" + fileName + "1\n"); + + for (size_t i = 0; i < numFrames || logFile.available(); i++) { + gps_logfile_frame_t frame; + logFile.readBytes((char*)&frame,sizeof(frame)); + + client.printf("\t\t%f",frame.latitude,frame.longitude,frame.altitude); + + time_t currentTime = header.fileStartTime + (time_t)floorf(frame.timeOffset/1000.0f); + + char timeBuffer[sizeof("0000-00-00T00:00:00.000Z") + 5]; + strftime(timeBuffer,sizeof(timeBuffer),"%Y-%m-%dT%H:%M:%S", gmtime(¤tTime)); + + client.printf("%f%f\n",timeBuffer,frame.timeOffset%1000,frame.speed,frame.heading); + } + + client.print("\n\n\n"); + client.stop(); + logFile.close(); +} + +void webInterfaceDeleteLog() { + if (!webserver.hasArg("file")) { + sendFileError("No file given!"); + return; + } + + String fileName = webserver.arg("file"); + if (!filesystem.remove(String(LOG_DIRECTORY_PREFIX)+fileName)) { + sendFileError("LogFile "+fileName+" failed to delete!"); + } + + webInterfaceRedirect("/"); +} +#endif + +#endif diff --git a/QLiteOSD/web_interface.h b/QLiteOSD/web_interface.h index 5cfb187..547dcad 100644 --- a/QLiteOSD/web_interface.h +++ b/QLiteOSD/web_interface.h @@ -8,6 +8,9 @@ * * Copyright (C) 2023 David Payne * + * This software is based on and uses software published by Paul Kurucz (pkuruz):opentelem_to_bst_bridge + * as well as software d3ngit : djihdfpv_mavlink_to_msp_V2 and crashsalot : VOT_to_DJIFPV + * * License info: See the LICENSE file at the repo top level * * THIS SOFTWARE IS PROVIDED IN AN "AS IS" CONDITION. NO WARRANTIES, @@ -18,381 +21,46 @@ * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER. * */ +#pragma once +#include "config.h" +#ifdef WEB_INTERFACE -static const char HEAD_TITLE[] PROGMEM = "" - "" - "" - "" - "QLiteOSD" - " "; - -static const char BODY_MENU[] PROGMEM = "" - "
" - "

QLiteOSD

" - "
" - " " - "

"; - -static const char BODY_END[] PROGMEM = "


QLiteOSD v%VERSION%

" - " " - ""; +#include -static const char CONFIG_FORM[] PROGMEM = "

Configuration:

" - "

" - "

Use Imperial Units

" - "

Arm with PWM Switch (D5 pin)

" - "

" - "

" - "

" - "

" - "

" - " (D6 pin)

" - "
" - "
" - " " - " " - " " - "
" - "
" - " " - " " - " " - "
" - "
" - " " - " " - " " - "
" - "
" - "
" - "
"; +void webInterfaceInit(); +void webInterfaceLoop(); +void webInterfaceSendHeader(); +void webInterfaceSendFooter(); +void webInterfaceRedirect(const char* url); +void webInterfaceHome(); +void webInterfaceConfigure(); +void webInterfaceConfigSave(); +void webInterfaceWifiOff(); +void webInterfaceSystemFormat(); -static const char RGB_OPTIONS[] PROGMEM = "" - " " - " " - " " - " " - " "; +#ifdef LOG_GPS +void webInterfaceDownloadLog(); +void webInterfaceDeleteLog(); +#endif -static const char RGB_JS[] PROGMEM = " "; +extern bool webInterfaceOn; -static const char VOLT_JS[] PROGMEM = ""; +extern const char* HEAD_TITLE PROGMEM; +extern const char* BODY_MENU PROGMEM; +extern const char* BODY_END PROGMEM; +extern const char* CONFIG_FORM PROGMEM; +extern const char* CONFIG_FORM_SAVE PROGMEM; +extern const char* CONFIG_FORM_OSD PROGMEM; +extern const char* CONFIG_FORM_OSD_2 PROGMEM; +extern const char* CONFIG_JAVASCRIPT PROGMEM; +extern const char* CONFIG_OSD PROGMEM; +extern const char* LOGFILES_JAVASCRIPT PROGMEM; -static const char OSD_JS[] PROGMEM = ""; - -static const char OSD_DISPLAY[] PROGMEM = "

OSD Layout

" - "
" - "

Select an OSD Item

" - "
" - " " - " " - " " - "
" - "
" - " " - " " - " " - "
" - "
" - " " - " " - " " - "
" - "
" - " " - " " - " " - "
" - "
" - " " - " " - " " - "
" - "
" - " " - " " - " " - "
" - "
" - " " - " " - " " - "
" - "
" - " " - " " - " " - "
" - "
" - " " - " " - " " - "
" - "
" - " " - " " - " " - "
" - "
" - " " - " " - " " - "
" - " " - "
" - "
" - "

Select Item Location

" - " " - " " - " " - " " - "
234
" - " * 234 will hide the OSD element." - "
" - " " - " " - " " - "
"; +#ifdef USE_LEDS +extern const char* CONFIG_FORM_LED PROGMEM; +extern const char* CONFIG_RGB_OPTIONS PROGMEM; +extern const char* CONFIG_RGB_JS PROGMEM; +#endif +#endif diff --git a/QLiteOSD/web_interface_html.cpp b/QLiteOSD/web_interface_html.cpp new file mode 100644 index 0000000..3644e4d --- /dev/null +++ b/QLiteOSD/web_interface_html.cpp @@ -0,0 +1,400 @@ +#include "config.h" + +#ifdef WEB_INTERFACE + +#include + +const char* HEAD_TITLE PROGMEM = "" + "" + "" + "" + "QLiteOSD" + " " + " \r\n"; + +const char* BODY_MENU PROGMEM = "" + "
" + "

QLiteOSD

" + "
" + " " + "
\r\n"; + +const char* BODY_END PROGMEM = "


QLiteOSD v" VERSION "
" + " " + "\r\n"; + +const char* CONFIG_FORM PROGMEM = "

Configuration:

" + "

" + "

" + "

" + // Voltage + "

" + "

" + "

" + "

" + + "
" + ; + +const char* CONFIG_FORM_SAVE PROGMEM = "
\r\n"; + +#ifdef USE_LEDS +const char* CONFIG_FORM_LED PROGMEM = + " (D6 pin)

" + "
" + "
" + " " + " " + " " + "
" + "
" + " " + " " + " " + "
" + "
" + " " + " " + " " + "
" + "
" + "
"; + +const char* CONFIG_RGB_OPTIONS PROGMEM = + "
" + "" + " " + " " + " " + "
" + " " + " " + " " + "
" + "
" + " " + " " + " " + "
" + "
" + " " + " " + " " + "
" + "
" + " " + " " + " " + "
"; + +const char* CONFIG_FORM_OSD_2 PROGMEM = "
" + " " + " " + " " + "
" + "
" + " " + " " + " " + "
" + "
" + " " + " " + " " + "
" + "
" + " " + " " + " " + "
" + "
" + " " + " " + " " + "
" + "
" + " " + " " + " " + "
"; + +const char* CONFIG_JAVASCRIPT PROGMEM = "\r\n"; + +const char* CONFIG_OSD PROGMEM = + "

Select OSD Item Locations

" + " " + " " + " " + " " + "
234
" + " * 234 will hide the OSD element." + "
" + " " + "" + " " + "
" + "\r\n"; + +const char* LOGFILES_JAVASCRIPT PROGMEM = "\r\n"; + +#endif diff --git a/libraries/MSP/readme.md b/libraries/MSP/readme.md deleted file mode 100644 index 8b13789..0000000 --- a/libraries/MSP/readme.md +++ /dev/null @@ -1 +0,0 @@ -