//================================================================================================= //================================================================================================= // // C O N F I G U R A T I O N // /* =================================================================================================== M o s t R e c e n t C h a n g e s =================================================================================================== Complete change log and debugging options are at the bottom of this tab v2.61.7 2020-08-10 Support board buttons on TTGO T-Display ESP32 for display up/down scrolling More bi-directional mavlite. v2.61.8 2020-08-10 S.Port telemetry to SD card option. */ //=========================================================================================== // // PLEASE SELECT YOUR DEFAULT OPTIONS BELOW BEFORE COMPILING // //=========================================================================================== #define webSupport // ESP only. Enable wifi web support, including OTA firmware updating. Browse to IP. #define webPassword "changeme!" // Web password //#define Reset_Web_Defaults // Reset settings in eeprom. Do this if you suspect eeprom settings are corrupt. //#define SD_Support // Enable if you have an SD card reader attached #define Display_Support // Enable if you have a display attached - choose default display type below #define SSD1306_Display // OLED display type - if you have a display you must define which type //#define ST7789_Display // TFT display type - if you have a display you must define which type //#define AutoBaud // Auto detect Mavlink serial-in baud rate // NOTE: Set mvBaudFC = 57600 for Dragonlink and RFD900X #define mvBaudFC 57600 // Mavlink to/from the flight controller - max 921600 - must match FC or long range radio #define frBaud 57600 // S.Port baud setting - default 57600 // Do not enable for FlightDeck #define PlusVersion // Added support for 0x5009 Mission WPs, 0x50F1 Servo_Channels, 0x50F2 VFR_Hud //================================================================================================= // D E F A U L T T R A N S L A T I O N M O D E S E T T I N G S //================================================================================================= // Choose only one of these three translation modes #define Ground_Mode // Translator between Taranis et al and LRS transceiver (like Dragonlink, ULRS, RFD900...) //#define Air_Mode // Translator between FrSky receiver (like XRS) and Flight Controller (like Pixhawk) //#define Relay_Mode // Translator between LRS tranceiver (like Dragonlink) and FrSky receiver (like XRS) in relay box on the ground //================================================================================================= // D E F A U L T F L I G H T C O M P U T E R I / O S E T T I N G S //================================================================================================= // Choose only one of these default Flight-Controller-side I/O channels // How does Mavlink telemetry enter this translator? //#define FC_Mavlink_IO 0 // Serial Port (default) //#define FC_Mavlink_IO 1 // BlueTooth Classic - ESP32 only #define FC_Mavlink_IO 2 // WiFi - ESP32 or ESP8266 only //#define FC_Mavlink_IO 3 // SD Card / TF - ESP32 only //================================================================================================= // D E F A U L T G R O U N D S T A T I O N I / O S E T T I N G S //================================================================================================= // Choose only one of these default GCS-side I/O channels // How does Mavlink telemetry leave this translator? // These are optional, and in addition to the S.Port telemetry output #define GCS_Mavlink_IO 0 // Serial Port - Only Teensy 3.x and Maple Mini have Serial3 //#define GCS_Mavlink_IO 1 // BlueTooth Classic - ESP32 only //#define GCS_Mavlink_IO 2 // WiFi - ESP32 or ESP8266 only - auto selects on ESP8266 //#define GCS_Mavlink_IO 3 // WiFi AND Bluetooth simultaneously - ESP32 only #ifndef GCS_Mavlink_IO #define GCS_Mavlink_IO 9 // NONE (default) #endif // NOTE: The Bluetooth class library uses a lot of application memory. During Compile/Flash // you may need to select Tools/Partition Scheme: "Minimal SPIFFS (1.9MB APP ...) or similar //#define GCS_Mavlink_SD // SD Card - ESP32 only - mutually inclusive with GCS I/O //#define SPort_To_SD // SD Card - ESP32 only - mutually inclusive with S.Port //================================================================================================= //================================================================================================= // S E L E C T E S P B O A R D V A R I A N T //================================================================================================= //================================================================================================= //#define ESP32_Variant 1 // ESP32 Dev Module - Use Partition Scheme: "Minimal SPIFFS(1.9MB APP...)" //#define ESP32_Variant 2 // Wemos® LOLIN ESP32-WROOM-32_OLED_Dual_26p //#define ESP32_Variant 3 // Dragonlink V3 slim with internal ESP32 - contributed by Noircogi #define ESP32_Variant 4 // Heltec Wifi Kit 32 - Use Partition Scheme: "Minimal SPIFFS(Large APPS ith OTA)" - contributed by Noircogi //#define ESP32_Variant 5 // LILYGO® TTGO T-Display ESP32 1.14" ST7789 Colour LCD //#define ESP8266_Variant 1 // NodeMCU ESP 12F - choose "NodeMCU 1.0(ESP-12E)" board in the IDE #define ESP8266_Variant 2 // ESP-12E, ESP-F barebones boards. RFD900X TX-MOD, QLRS et al - use Generic ESP8266 on IDE //#define ESP8266_Variant 3 // ESP-12F - Wemos® LOLIN D1 Mini //================================================================================================= //================================================================================================= // D E F A U L T B L U E T O O T H S E T T I N G S //================================================================================================= //#define BT_Mode 1 // Master Mode - active, initiate connection with slave (name) #define BT_Mode 2 // Slave Mode - passive, advertise our hostname & wait for master to connect to us #define BT_ConnectToSlave "Crossfire 0277" // Example //================================================================================================= // D E F A U L T W I F I S E T T I N G S //================================================================================================= #define Start_WiFi // Start WiFi at startup, override startWiFi pin #define HostName "MavToPass" // This translator's host name #define APssid "MavToPassthru" // The AP SSID that we advertise ====> #define APpw "password" // Change me! #define APchannel 9 // The wifi channel to use for our AP #define STAssid "RHS_FPV_MOBIL" // Target AP to connect to (in STA mode) <==== #define STApw "22970481" // Target AP password (in STA mode) // Choose one default mode for ESP only - AP means advertise as an access point (hotspot). STA means connect to a known host //#define WiFi_Mode 1 //AP #define WiFi_Mode 2 // STA //#define WiFi_Mode 3 // STA failover to AP // Choose one default protocol - for ESP32 only //#define WiFi_Protocol 1 // TCP/IP #define WiFi_Protocol 2 // UDP #define UDP_Broadcast // Comment out if you will always have only one client UDP GCS at a time // NOTE; UDP is not a connection based protocol. To communicate with > 1 client at a time, we must broadcast on the subnet //================================================================================================= // R S S I O P T I O N S //================================================================================================= #define Rssi_Pacemaker 200 // mS. RSSI 0xF101 frame sent with this period regardless of rate of RSSI arrival #define RSSI_Override 70 // Only if (RSSI == 0) force it to value, but only sent when Mavlink good.) //#define Rssi_In_Percent // Un-comment if RSSI is already in %, not relative to (254->100%) //#define QLRS // QLRS Longe Range System uses remote rssi field - PR from giocomo892 april 2020) // RSSI_Source is automatic. Order of precedence: // First: #109 SiK style RADIO_STATUS // Second: #65 RC_CHANNELS // Third: #35 RC_CHANNELS_RAW //================================================================================================= // O T H E R U S E R O P T I O N S //================================================================================================= //defined PitLab // Uncomment me to force PitLab OSD stack //#define Battery_mAh_Source 1 // Get battery mAh from the FC - note both rx and tx lines must be connected //#define Battery_mAh_Source 2 // Define bat1_capacity and bat2_capacity below and use those const uint16_t bat1_capacity = 5200; const uint16_t bat2_capacity = 0; #define Battery_mAh_Source 3 // Define battery mAh in the LUA script on the Taranis/Horus - Recommended #define SPort_Serial 1 // Teensy s.port port1=pin1, port3=pin8. The default is Serial 1, but 3 is possible // Status_Text messages place a huge burden on the meagre 4 byte FrSky telemetry payload bandwidth // The practice has been to send them 3 times to ensure that they arrive unscathed at the receiver // but that makes the bandwidth limitation worse and may crowd out other message types. Try without // sending 3 times, but if status_text gets distorted, un-comment the next line //#define Send_status_Text_3_Times //#define Send_Sensor_Health_Messages //#define Request_Missions_From_FC // Un-comment if you need mission waypoint from FC - NOT NECESSARY RIGHT NOW //#define Data_Streams_Enabled // Requests data streams from FC. Requires both rx and tx lines to FC. Rather set SRn in Mission Planner //================================== Set your time zone here ====================================== // Only for SD / TF Card adapter option // Date and time determines the TLog file name only //const float Time_Zone = 10.5; // Adelaide, Australia const float Time_Zone = 2.0; // Jo'burg bool daylightSaving = false; //================================================================================================= // E X P E R I M E N T A L O P T I O N S // Don't change anything here unless you are confident you know the outcome //#define ESP32_SoftwareSerial // otherwise HardwareSerial is used //#define ESP_Onewire // enable half_duplex on single (tx) pin and wire - Air/Relay //#define ESP_Air_Relay_Blind_Inject_OK // Blind inject instead of interleaving //#define Support_MavLite //================================================================================================= // Auto Determine Target Platform //================================================================================================= // // Don't change anything here // #if defined (__MK20DX128__) || defined(__MK20DX256__) #define TEENSY3X #elif defined ESP32 #define Target_Board 3 // Espressif ESP32 Dev Module #elif defined ESP8266 #define Target_Board 4 // Espressif ESP8266 #else #error "Unsupported board type!" #endif //================================================================================================= // CHECK #MACRO OPTIONS LOGIC //================================================================================================= #if defined PlusVersion #define Request_Mission_Count_From_FC // Needed for yaapu's mission/waypoint script #endif #if (not defined ESP32) && (not defined ESP8266) #if defined webSupport #undef webSupport // #error webSupport only available on ESP32 or ESP8266 #endif #endif #if defined ESP32 #include #include #include // In Arduino ESP32 install repo //C:\Users\\AppData\Local\Arduino15\packages\esp32\hardware\esp32\1.0.4\tools\sdk\include\driver #endif #if (defined ESP32) || (defined ESP8266) // ESP32 or ESP8266 (UART0, UART1, and UART2) #if (SPort_Serial == 3) #error Board does not have Serial3. This configuration is not possible. #endif #endif #if (defined TEENSY3X) #if (FC_Mavlink_IO == 3) || (defined GCS_Mavlink_SD) #error SD card not currently implemented for Teensy #endif #endif #ifndef Battery_mAh_Source #error Please choose at least one Battery_mAh_Source #endif #if (not defined ESP32) && (not defined ESP8266) #if (FC_Mavlink_IO == 2) || (GCS_Mavlink_IO == 2) || (GCS_Mavlink_IO == 3) || (defined webSupport) // #error WiFi and webSupport only work on an ESP32 or ESP8266 board #if defined FC_Mavlink #undef FC_Mavlink #endif #define FC_Mavlink_IO 0 #if defined GCS_Mavlink_IO #undef GCS_Mavlink_IO #endif #define GCS_Mavlink_IO 9 #if defined webSupport #undef webSupport #endif #endif #endif #if (defined ESP8266) && ((GCS_Mavlink_IO == 1) || (GCS_Mavlink_IO == 3)) // Can't do BT on 8266 #undef GCS_Mavlink_IO #define GCS_Mavlink_IO 2 // WiFi Only #endif #if (FC_Mavlink_IO == 1) || (GCS_Mavlink_IO == 1) || (GCS_Mavlink_IO == 3) #if (not defined ESP32) #error Bluetooth works only on an ESP32 board #else #if (not defined BT_Mode) #error Please define BT_Mode #endif #endif #endif #ifndef FC_Mavlink_IO #error Please choose at least one Mavlink FC IO channel #endif #if (defined ESP32) #ifndef WiFi_Mode #error Please define WiFi_Mode #endif #endif #if (defined ESP32) #ifndef WiFi_Protocol #error Please define WiFi_Protocol #endif #endif #if (defined ESP32) #ifndef ESP32_Variant #error Please define an ESP32 board variant #endif #endif #if (defined ESP8266) #ifndef ESP8266_Variant #error Please define an ESP8266 board variant #endif #endif #if (defined ESP32 || defined ESP8266) && (FC_Mavlink_IO == 2 || FC_Mavlink_IO == 3 || GCS_Mavlink_IO == 2 || GCS_Mavlink_IO == 3 || defined webSupport) #define wifiBuiltin // for these features we need wifi support compiled in #endif #if (defined ESP32) && (FC_Mavlink_IO == 1 || FC_Mavlink_IO == 3 || GCS_Mavlink_IO == 1 || GCS_Mavlink_IO == 3) #define btBuiltin // for these features we need bluetooth support compiled in #endif #if defined SPort_To_SD #ifndef SD_Support #define SD_Support #endif #endif //================================================================================================= // P L A T F O R M D E P E N D E N T S E T U P S //================================================================================================= #if defined TEENSY3X // Teensy3x #define MavStatusLed 13 #define InvertMavLed false #define BufStatusLed 14 #define FC_Mav_rxPin 9 #define FC_Mav_txPin 10 #if (SPort_Serial == 1) #define fr_txPin 1 // SPort tx - Use me in single wire mode #define GC_Mav_rxPin 7 #define GC_Mav_txPin 8 #elif (SPort_Serial == 3) #define fr_txPin 8 // Optional SPort tx #endif #undef Display_Support // no Teensy display support for now #if (defined SD_Support) || (defined Display_Support) #endif #elif defined ESP32 // ESP32 Platform //========================================================================= // N O T E: G P I O 1 2 is a bootstrap pin on the ESP32 - avoid GPIO12 high on bootup #if (ESP32_Variant == 1) // ESP32 Dev Module #define MavStatusLed 02 // Onboard LED #define InvertMavLed false #define BufStatusLed 27 // untested pin #define FC_Mav_rxPin 16 // Mavlink to FC #define FC_Mav_txPin 17 // Mavlink from FC #define fr_rxPin 13 // SPort - Not used in 1-wire mode DON'T use 12! #define fr_txPin 4 // SPort tx - Use me in single wire mode #define startWiFiPin 5 // 5 Trigger WiFi startup #if (defined Display_Support) // Display type defined with # define Display_Support /* Below please choose either Touch pin-pair or Digital pin-pair for display scrolling * Pin == 99 means the pin-pair is not used */ #define Pup 99 // 35 Board Button 1 to scroll the display up #define Pdn 99 // 0 Board Button 2 to scroll the display down #define Tup 33 // 33 Touch pin to scroll the display up #define Tdn 32 // 32 Touch pin to scroll the display down #define SDA 21 // I2C OLED board #define SCL 22 // I2C OLED board #define i2cAddr 0x3C // I2C OLED board #endif /* SPI/CS Pin 05 For optional TF/SD Card Adapter SPI/MOSI Pin 23 For optional TF/SD Card Adapter SPI/MISO Pin 19 For optional TF/SD Card Adapter SPI/SCK Pin 18 For optional TF/SD Card Adapter */ #endif //========================================================================= #if (ESP32_Variant == 2) // Wemos® LOLIN ESP32-WROOM-32_OLED_Dual_26p #define MavStatusLed 15 // No Onboard LED #define InvertMavLed false #define BufStatusLed 99 // None #define FC_Mav_rxPin 25 // Mavlink to FC #define FC_Mav_txPin 26 // Mavlink from FC #define fr_rxPin 13 // SPort - Not used in single wire mode DON'T use 12! #define fr_txPin 14 // SPort tx - Use me in single wire mode #define startWiFiPin 18 // Trigger WiFi startup #if (defined Display_Support) // Display type defined with # define Display_Support /* Below please choose either Touch pin-pair or Digital pin-pair for display scrolling * Pin == 99 means the pin-pair is not used */ #define Pup 99 // 35 Board Button 1 to scroll the display up #define Pdn 99 // 0 Board Button 2 to scroll the display down #define Tup 99 // 33 Touch pin to scroll the display up #define Tdn 99 // 32 Touch pin to scroll the display down #define SDA 05 // I2C OLED board #define SCL 04 // I2C OLED board #define i2cAddr 0x3C // I2C OLED board #endif #endif #if (ESP32_Variant == 3) // Dragonlink V3 slim with internal ESP32 #if defined mvBaudFC #undef mvBaudFC #define mvBaudFC 115200 // Force baud rate to DragonLink rate #endif #define MavStatusLed 18 // Blue LED #define InvertMavLed false #define BufStatusLed 19 // Green LED #define FC_Mav_rxPin 16 // Mavlink to FC #define FC_Mav_txPin 17 // Mavlink from FC #define fr_rxPin 13 // SPort - Not used in single wire mode DON'T use 12! #define fr_txPin 01 // SPort tx - Use me in single wire mode #define startWiFiPin 18 // Trigger WiFi startup #if (defined Display_Support) // Display type defined with # define Display_Support /* Below please choose either Touch pin-pair or Digital pin-pair for display scrolling * Pin == 99 means the pin-pair is not used */ #define Pup 99 // 35 Board Button 1 to scroll the display up #define Pdn 99 // 0 Board Button 2 to scroll the display down #define Tup 99 // 33 Touch pin to scroll the display up #define Tdn 99 // 32 Touch pin to scroll the display down #define SDA 05 // I2C OLED board #define SCL 04 // I2C OLED board #define i2cAddr 0x3C // I2C OLED board #endif #endif //========================================================================= #if (ESP32_Variant == 4) // Heltec Wifi Kit 32 (NOTE! 8MB) #define MavStatusLed 25 // Onboard LED #define InvertMavLed false #define BufStatusLed 99 // none #define FC_Mav_rxPin 27 // Mavlink to FC #define FC_Mav_txPin 17 // Mavlink from FC #define fr_rxPin 13 // SPort rx - (NOTE: DON'T use pin 12! boot fails if pulled high) #define fr_txPin 14 // SPort tx - Use me in single wire mode #define startWiFiPin 18 // Trigger WiFi startup #if !defined Display_Support // I2C OLED board is built into Heltec WiFi Kit 32 #define Display_Support #endif #if !defined SSD1306_Display #define SSD1306_Display // OLED display type - if you have a display you must define which type #endif #undef ST7789_Display /* Below please choose either Touch pin-pair or Digital pin-pair for display scrolling * Pin == 99 means the pin-pair is not used */ #define Pup 99 // Board Button 1 to scroll the display up #define Pdn 99 // Board Button 2 to scroll the display down #define Tup 33 // 33 Touch pin to scroll the display up #define Tdn 32 // 32 Touch pin to scroll the display down #define SDA 04 // I2C OLED board #define SCL 15 // I2C OLED board #define i2cAddr 0x3C // I2C OLED board #define OLED_RESET 16 // RESET here so no reset lower down /* SPI/CS 05 For optional TF/SD Card Adapter SPI/MOSI 23 For optional TF/SD Card Adapter SPI/MISO 19 For optional TF/SD Card Adapter SPI/SCK 18 For optional TF/SD Card Adapter */ #endif //========================================================================= #if (ESP32_Variant == 5) // LILYGO® TTGO T-Display ESP32 1.14" ST7789 Colour LCD, IDE board = "ESP32 Dev Module" #define MavStatusLed 25 // Add your own LED with around 1K series resistor #define InvertMavLed false #define BufStatusLed 99 // none #define FC_Mav_rxPin 27 // Mavlink to FC #define FC_Mav_txPin 17 // Mavlink from FC #define fr_rxPin 13 // SPort rx - (NOTE: DON'T use pin 12! boot fails if pulled high) #define fr_txPin 15 // SPort tx - Use me in single wire mode #define startWiFiPin 99 // 99=none. No input pin available (non touch!) Could use touch with a bit of messy work. #if !defined Display_Support // I2C TFT board is built into TTGO T-Display #define Display_Support #endif #if !defined ST7789_Display #define ST7789_Display // TFT display type - if you have a display you must define which type #endif #undef SSD1306_Display /* Below please choose either Touch pin-pair or Digital pin-pair for display scrolling * Pin == 99 means the pin-pair is not used */ #define Pup 35 // 35 Board Button 1 to scroll the display up #define Pdn 0 // 0 Board Button 2 to scroll the display down #define Tup 99 // 33 Touch pin to scroll the display up #define Tdn 99 // 32 Touch pin to scroll the display down //static const uint8_t screenOrientation = 0; // Portrait - Select one orientation only static const uint8_t screenOrientation = 1; // Landscape #define SDA 21 // I2C TFT board #define SCL 22 // I2C TFT board #define i2cAddr 0x3C // I2C TFT board #endif #elif defined ESP8266 // ESP8266 Platform //========================================================================= #if (ESP8266_Variant == 1) // NodeMCU 12F board - Dev board with usb etc #define MavStatusLed D4 // D4/GPIO2 Board LED - Mav Status LED inverted logic - use 99 while debug #define InvertMavLed true #define BufStatusLed 99 // None // D4 // TXD1 - Serial1 debug log out SHARED WITH BOARD LED #define FC_Mav_rxPin D9 // RXD0 default #define FC_Mav_txPin D10 // TXD0 default #define fr_rxPin D5 // SPort - Not used in single wire mode #define fr_txPin D6 // SPort tx - Use me in single wire mode #define startWiFiPin 99 // 99=none or D3/D7 - Trigger WiFi startup // NOTE: There are not enough pins for wifi pin and display scrolling #if (defined Display_Support) // Display type defined with # define Display_Support /* Below please choose Digital pin-pair for display scrolling * Pin == 99 means the pin-pair is not used */ #define Pup D3 // D3 Board Button 1 to scroll the display up #define Pdn D7 // D7 Board Button 2 to scroll the display down #define SCL D1 // I2C OLED board #define SDA D2 // I2C OLED board #define i2cAddr 0x3C // I2C OLED board #endif #endif //========================================================================= #if (ESP8266_Variant == 2) // ESP-12E, ESP-F barebones boards. RFD900X TX-MOD, QLRS et al - use Generic ESP8266 on IDE // GPIO as per node mcu static const uint8_t D0 = 16; // SCL - optional static const uint8_t D1 = 5; // SDA - optional static const uint8_t D2 = 4; // SPort tx - Use me in single wire mode static const uint8_t D3 = 0; // Flash static const uint8_t D4 = 2; // BoardLED & TXD1 optional debug out static const uint8_t D5 = 14; // SPort rx (unused in half-duplex) static const uint8_t D6 = 12; // P2-3 exposed dual row of pins static const uint8_t D7 = 13; // CTS static const uint8_t D8 = 15; // RTS static const uint8_t D9 = 3; // RXD0 mavlink and flashing static const uint8_t D10 = 1; // TXD0 mavlink and flashing #define MavStatusLed D4 // D4 Board LED - Mav Status LED inverted logic - use 99 while debug #define InvertMavLed true #define BufStatusLed 99 // None // D4 // TXD1 - Serial1 default debug log out SHARED WITH BOARD LED #define FC_Mav_rxPin D9 // RXD0 default #define FC_Mav_txPin D10 // TXD0 default #define fr_rxPin D5 // SPort - Not used in single wire mode #define fr_txPin D2 // SPort (half-duplex) inverted - Use me in single wire mode #define startWiFiPin D6 // Trigger WiFi startup // NOTE: There may not be enough pins for wifi pin AND display scrolling #if (defined Display_Support) // Display type defined with # define Display_Support /* Below please choose Digital pin-pair for display scrolling * Pin == 99 means the pin-pair is not used */ #define Pup 99 // D3 Board Button 1 to scroll the display up #define Pdn 99 // D7 Board Button 2 to scroll the display down #define SCL D0 // I2C OLED board #define SDA D1 // I2C OLED board #define i2cAddr 0x3C // I2C OLED board #endif #endif // end of this ESP8266 variant //========================================================================= #if (ESP8266_Variant == 3) // ESP-12F, Wemos® LOLIN D1 Mini - use Generic ESP8266 on Arduino IDE // Pin Map as per C:\Users\\AppData\Local\Arduino15\packages\esp8266\hardware\esp8266\2.7.1\variants\d1_mini\pins_arduino.h #define LED_BUILTIN 2 static const uint8_t D0 = 16; // WiFi trigger static const uint8_t D1 = 5; // SCL - optional static const uint8_t D2 = 4; // SDA - optional static const uint8_t D3 = 0; // Flash - reserved static const uint8_t D4 = 2; // LED_BUILTIN & TXD1 optional debug out static const uint8_t D5 = 14; // SPort rx (unused in half-duplex) static const uint8_t D6 = 12; // SPort tx - Use me in single wire mode static const uint8_t D7 = 13; // CTS static const uint8_t D8 = 15; // RTS static const uint8_t D9 = 3; // RXD0 static const uint8_t D10 = 1; // TCD0 #define MavStatusLed D4 // D4 Board LED - Mav Status LED inverted logic - use 99 while debug #define InvertMavLed true #define BufStatusLed 99 // None // D4 // TXD1 - Serial1 default debug log out SHARED WITH LED_BUILTIN BOARD LED #define FC_Mav_rxPin D9 // RXD0 - Serial(0) #define FC_Mav_txPin D10 // TXD0 - Serial(0) #define fr_rxPin D5 // SPort - Not used in single wire mode #define fr_txPin D6 // SPort - inverted - Use me in single wire mode #define startWiFiPin D16 // Trigger WiFi startup #if (defined Display_Support) // Display type defined with # define Display_Support /* Below please choose Digital pin-pair for display scrolling * Pin == 99 means the pin-pair is not used */ #define Pup 99 // D3 Board Button 1 to scroll the display up #define Pdn 99 // D7 Board Button 2 to scroll the display down #define SCL D1 // I2C OLED board #define SDA D2 // I2C OLED board #define i2cAddr 0x3C // I2C OLED board #endif #endif // end of this ESP8266 variant #endif // end of all ESP8266 variants //================================================================================================= // E E P R O M S U P P O R T - ESP Only - for now //================================================================================================= #if (defined ESP32) || (defined ESP8266) #include // To store AP_Failover_Flag and webSupport Settings #define EEPROM_SIZE 165 // 1 + 160 bytes, addr range 0 thru 161 #endif //================================================================================================= // S D C A R D S U P P O R T - ESP Only - for now //================================================================================================= #if ((defined ESP32) || (defined ESP8266)) && (defined SD_Support) #include #include #include #define SD_Libs_Loaded /* // Optional SPI interface pins for SD card adapter or SSD1306 OLED display #define CS 5 #define MOSI 23 #define MISO 19 #define SCK 18 */ // Pins generally CS=5 MOSI=23 MISO=19 SCK=18 3.3V GND Dev Board, LilyGO/TTGO // Rememeber to change SPI frequency from 4E6 to 25E6, i.e 4MHz to 25MHz in SD.h otherwise MavRingBuff fills up // C:\Users\YourUserName\AppData\Local\Arduino15\packages\esp32\hardware\esp32\1.0.2\libraries\SD\src // bool begin(uint8_t ssPin=SS, SPIClass &spi=SPI, uint32_t frequency=25000000, const char * mountpoint="/sd", uint8_t max_files=5); char cPath[40]; std::string fnPath[30]; uint8_t fnCnt; uint16_t sdReadDelay = 10; // mS Otherwise the reads run through unnaturally quickly const uint16_t sd_buf_sz = 128; byte sd_buf [sd_buf_sz]; uint16_t sd_idx = 0; File file; // Create global object from File class for general use static const uint8_t mthdays[]={31,28,31,30,31,30,31,31,30,31,30,31}; typedef struct { uint16_t yr; // relative to 1970; uint8_t mth; uint8_t day; uint8_t dow; // sunday is day 1 uint8_t hh; uint8_t mm; uint8_t ss; } DateTime_t; static DateTime_t dt_tm; #endif //================================================================================================= // D I S P L A Y S U P P O R T E S P O N L Y - for now //================================================================================================= #define max_col 21 #define max_row 30 // 20 rows of 21 characters char snprintf_buf[max_col]; // for use with snprintf() formatting of display line #if ((defined ESP32 || defined ESP8266)) && (defined Display_Support) #if not defined SD_Libs_Loaded // by SD block #include // for SD card and/or Display #endif static const uint16_t threshold = 40; volatile bool upButton = false; volatile bool dnButton = false; #if (not defined Tup) #define Tup 99 #endif #if (not defined Tdn) #define Tdn 99 #endif #if (not defined Pup) #define Tup 99 #endif #if (not defined Pdn) #define Tdn 99 #endif typedef enum scroll_set { non = 0, up = 1, down = 2 } scroll_t; scroll_t up_down = non; typedef enum last_row_set { omit_last_row = 0, show_last_row = 1} last_row_t; last_row_t last_row_action; struct row_t { char x[max_col]; }; row_t ScreenRow[max_row]; uint8_t row = 0; uint8_t col = 0; int8_t scroll_row = 0; uint32_t scroll_millis =0 ; #if (defined ST7789_Display) // TFT display type #include // Note: This is a hardware-specific library. You must update User_Setup.h TFT_eSPI display = TFT_eSPI(); #elif (defined SSD1306_Display) // SSD1306 OLED display #if not defined SD_Libs_Loaded // by SD block #include #endif #include #define SCREEN_WIDTH 128 // OLED display width, in pixels #define SCREEN_HEIGHT 64 // OLED display height, in pixels // 8 rows of 21 characters #ifndef OLED_RESET #define OLED_RESET -1 // Reset pin # (or -1 if sharing Arduino reset pin) #endif Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET); #endif #endif //================================================================================================= // B L U E T O O T H S U P P O R T - E S P 3 2 O n l y //================================================================================================= #if (defined ESP32) #include "BluetoothSerial.h" #include "esp_bt.h" #if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED) #error Bluetooth is not enabled! Please run `make menuconfig in ESP32 IDF` #endif BluetoothSerial SerialBT; #endif //================================================================================================= // W I F I S U P P O R T - ESP32 and ES8266 Only //================================================================================================= uint16_t TCP_localPort = 5760; uint16_t UDP_localPort = 14555; uint16_t UDP_remotePort = 14550; bool FtRemIP = true; bool wifiDisconnected = false; int16_t wifi_rssi; #if ( (defined ESP32) || (defined ESP8266) ) #if (defined ESP32) // timer for wifi retry interrupt hw_timer_t * timer = NULL; volatile SemaphoreHandle_t wifiTimerSemaphore; portMUX_TYPE timerMux = portMUX_INITIALIZER_UNLOCKED; #endif #if (defined ESP8266) uint32_t esp8266_wifi_retry_millis = 0; #endif volatile bool wifiButton = false; // Define link variables struct linkStatus { uint32_t packets_received; uint32_t packets_lost; uint32_t packets_sent; }; bool hb_heard_from = false; uint8_t hb_system_id = 0; uint8_t hb_comp_id = 0; uint8_t hb_seq_expected = 0; uint32_t hb_last_heartbeat = 0; linkStatus link_status; #if defined ESP32 #include #include #if defined webSupport #include #include WebServer server(80); #endif #include #endif #if defined ESP8266 #include // Includes AP class #include #if defined webSupport #include ESP8266WebServer server(80); #endif #endif #include //==================== Instantiate WiFi Objects WiFiClient TCPclient; WiFiServer TCPserver(TCP_localPort); // Dummy TCP local port(changes on TCPserver.begin() ). IPAddress udp_remoteIP(192, 168, 1, 255); // Declare UDP broadcast on dummy IP (changes on connect). WiFiUDP UDP; // Create UDP object IPAddress localIP; // tcp and udp #endif // end of ESP32 and ESP8266 //================================================================================================= // S E R I A L //================================================================================================= #if (defined ESP32) #define Debug Serial // USB #define mvSerialFC Serial2 // RXD2 and TXD2 #if defined ESP32_SoftwareSerial #include SoftwareSerial frSerial; #else // default HW Serial #define frSerial Serial1 #endif #elif (defined ESP8266) #define Debug Serial1 // D4 TXD1 debug out - no RXD1 ! #define mvSerialFC Serial // RXD0 and TXD0 #include SoftwareSerial frSerial; #endif #if (defined TEENSY3X) // Teensy 3.1 #define Debug Serial // USB #define mvSerialFC Serial2 #if (SPort_Serial == 1) #define frSerial Serial1 // S.Port #elif (SPort_Serial == 3) #define frSerial Serial3 // S.Port #else #error SPort_Serial can only be 1 or 3. Please correct. #endif #endif #if (defined TEENSY3X) || (defined MAPLE_MINI) // only these have 4 uarts at present //#define Enable_GCS_Serial // OPTION SET HERE OPTION SET HERE OPTION SET HERE #endif #if defined Enable_GCS_Serial // only Teensy and maple mini have 4 uarts at present #if (SPort_Serial == 3) #error Mavlink_GCS and SPort both configured for Serial3. Please correct. #endif #if (defined TEENSY3X) #define mvSerialGCS Serial3 #define mvBaudGCS 57600 // Use 57600 #else #error Mavlink_GCS Serial not available for ESP32 or ESP8266 - no Serial3. Please correct. #endif #endif //================================================================================================= // D E B U G G I N G O P T I O N S //================================================================================================= //#define inhibit_SPort // Use me to send debug messages only, out of GPIO1/TX0 on ESP32_Variant 3, DL V3 internal ESP32 //#define Mav_Debug_All //#define Frs_Debug_All //#define Mav_Debug_RingBuff //#define Frs_Debug_Period //#define Debug_Air_Mode //#define Debug_Relay_Mode //#define Mav_List_Params // Use this to test uplink to Flight Controller //#define Mav_Debug_Params //#define Debug_BT //#define Debug_FC_Down // traffic down from FC to Ring Buffer //#define Debug_FC_Up // traffic up to FC from GCS //#define Debug_GCS_Down // traffic from RB to GCS //#define Debug_GCS_Up // traffic up from GCS to FC //#define Mav_Debug_Servo //#define Frs_Debug_Servo //#define Mav_Debug_Rssi // #109 > #65 > #35 //#define Frs_Debug_Rssi // 0xF101 //#define Mav_Debug_RC //#define Frs_Debug_RC //#define Mav_Debug_FC_Heartbeat //#define Mav_Debug_GCS_Heartbeat //#define Frs_Debug_Params //0x5007 //#define Mav_Debug_MavToPass_Heartbeat //#define Frs_Debug_APStatus // 0x5001 //#define Mav_Debug_SysStatus // #1 && battery //#define Debug_Batteries // 0x5003 //#define Frs_Debug_Home // 0x5004 //#define Mav_Debug_GPS_Raw // #24 //#define Mav_Debug_GPS_Int // #33 //#define Frs_Debug_LatLon // 0x800 //#define Frs_Debug_VelYaw // 0x5005 //#define Frs_Debug_GPS_status // 0x5002 //#define Mav_Debug_Scaled_IMU //#define Mav_Debug_Raw_IMU //#define Mav_Debug_Hud // #74 //#define Frs_Debug_Hud // 0x50F2 //#define Mav_Debug_Scaled_Pressure //#define Mav_Debug_Attitude // #30 //#define Frs_Debug_AttiRange // 0x5006 //#define Mav_Debug_StatusText // #253 //#define Frs_Debug_StatusText // 0x5000 //#define Mav_Debug_Mission //#define Frs_Debug_Mission //#define Mav_Debug_System_Time //#define Frs_Debug_Scheduler // - this debugger affects the performance of the scheduler when activated //#define Decode_Non_Essential_Mav //#define Debug_Baud //#define Debug_Radio_Status //#define Debug_GCS_Unknown //#define Debug_Param_Request_Read //#define Mav_Show_Unknown_Msgs //#define Mav_Print_All_Msgid //#define Debug_Eeprom //#define Debug_Web_Settings //#define Debug_SPort_Switching //#define Mav_Debug_RPM //#define Debug_SRAM //#define Frs_Debug_Payload #define Debug_SD //#define MavLite_Debug_Scheduler //#define Debug_Mavlite_SPort //#define Debug_SPort // both in and out //#define Debug_SPort_In //#define Debug_SPort_Out //#define Debug_WiFi //#define Debug_Loop_Period #define Debug_Mavlite #define Mav_Debug_Command_Ack //================================================================================================= // C H A N G E L O G //================================================================================================= /* Change log: v2.00 2019-06-07 Plus version firmware ported to ESP32 Dev Module V1 successfully - no improvements v2.01 2019-06-09 Added OLED display support v2.02 2019-05-18 Belatedly include Alex's Rangefinder PR that I missed. v2.03 2019-05-21 Reduce voltage and current display moving average smoothing Empirical correction of mAh consumed as per Markus Greinwald's measurements Change mav heartbeat timeout from 3 to 6 seconds v2.04 2019-05-24 Merge Alex's BT classic PR. Thank you! Remove Aux port as no longer required Tidy #define options v2.05 2019-06-09 Support 3 possible I/O channels on FC side, and 3 on GCS side. UART serial, BT and WiFi. WiFi AP ssid = 'Mav2Passthru', pw = 'password' for now. v2.06 2019-06-10 Support added for STA mode and AP mode. Tidied up some lose ends. v2.07 2019-06-16 Initiate WiFi session with push button from GPIO15 momentary to ground. v2.08 2019-06-16 Add SD/TF card support - wip!! Added UTP protocol option v2.09 2019-06-30 WiFi activation push button momentary but one-time. 2019-07-03 Implemented optional TLog input and output via SD card. v2.10 2019-07-09 For PX4 flight stack only, send HB to FC every 2 seconds 2019-07-10 Radical redesign of S.Port scheduling algorithm. Support SD and WiFi/BT I/O simultaneously v2.11 2109-07-11 Auto determine target board. Publish "Universal" version 2.11. One source, four platforms / boards v2.12 2019-07-12 Add #define PlusVersion, comment out for FlightDeck v2.13 2019-08-13 UDP now working in Access Point mode v2.14 2019-07-17 PX4 flight stack only - fixed longitude typo if (ap24_lat<0) should be if (ap24_lon<0) v2.15 2019-07-17 Switch to Adafruit_SSD1306 OLED library. 8 lines x 21 chars v2.16 2019-07-18 Increase time burden for each successive Status Text chunk by 5mS v2.17 2019-07-19 Auto detect serial telemetry and baud rate v2.18 2019-07-21 Tune FrSky packet schduler. Add option. Default is 1x. //Send_status_Text_3_Times v2.19 2019-07-22 Implement 2 tier scheduling. Tier1 gets priority, tier2 (0x5000) only when tier1 empty v2.20 2019-07-26 Release candidate. Send HB back to FC for APM also, not just PX4. Streamline library #includes. #undef troublesome F function. v2.21 2019-07-26 Trap attempt to do GCS I/O on ESP32 or Blue Pill - no Serial3 UART. 2019-07-29 Implement system health status-text messages as per Alex's request. v2.22 2019-08-10 Make sensor health messages optional for now. Fix end-of-sensor message text detection. v2.23 2019-08-21 Add support for RFD900x long-range telemetry modems, specifically RSSI v2.24 2019-08-23 Workaround for Esp32 library "wifi: Set status to INIT" bug Improve responsiveness to baud detect with no telemetry present. v2.25 2019-08-28 Version for RFD900x. Bug fixes on rssi. Include #define StartWiFi option to override startWiFi Pin. v2.26 2019-08-31 Improved GCS to FC debugging. Make baud rate sensing optional. v2.27 2019-09-13 Small additions to test LILYGO®_TTGO_MINI32_ESP32-WROVER_B v2.28 2019-09-17 Localise pin definitions in one place to define ESP32 variants more easily v2.29 2019-09-24 Use #if (TargetBoard == 3) to define soft pins for mvSerialFC v2.30 2019-09-26 Don't push #5007 into S.Port table from #147. Push from #1 only. v2.31 2019-09-30 Configurable declarations moved to config.h file v2.32 2019-10-08 Source line corrupted in v2.17 affecting Relay Mode, fixed. Thank you burtgree! v2.33 2019-10-09 Don't invert ESP32 SPort in Relay Mode. Use commercial inverter/converter. Tidy up config.h file. Send #5007 3 times at startup and then every 50th heartbeat. v2.34 2019-10-15 Move typedef struct DateTime_t to global scope in line with VS Code/Platform IO. v2.35 2019-10-18 Add pre-defined ESP32 board variants. TargetBoard >> Target_Board typo Paul Atherton. v2.36 2019-10-30 Optimise WiFi amd BT read/send as per excellent mavesp8266 bridge by Tridge. Add support for ESP8266. v2.41 2019-11-08 Fix STA mode no-connect loop 2019-11-08 Make AutoAP optional v2.42 2019-11-09 Add support for GCS-side simultaneous WiFi and BT telemetry option v2.43 2019-11-10 Tidy up WiFi Setup for auto AP failover. Support for 2 new ESP32 board variants, complements of Noircogi. 2019-11-11 Implement Auto RSSI selection(Order of precedence #109, then #65 then #35) 2019-11-11 Support AutoBaud up to 921600. v2.44 2019-11-12 Include Target0815 recommended reset after STA fail to connect. v2.45 2019-11-12 Augment mission debugging for athertop. 2019-11-13 Move #endif outside } in SetupWiFi v2.46 2019-11-16 A few cosmetic improvements v2.47 2019-12-23 For ESP32 Dev Module, use pin 27 for S.Port tx, because boot fails if pin 12 pulled high v2.48 2019-12-17 Option for SiK #109, if RSSI is already in %, i.e. not relative to 2.54 Added #define Rssi_In_Percent 2019-12-31 Changes for PlatformIO compatibility 2020-01-02 ESP32 Dev Board change again for stability - S.Port pins rx=13, tx=14 v2.49 2020-01-07 Move baud, ssid and BT settings to top of config.h for convenience v2.50 2020-01-12 AutoAP: Activate udp broadcast on AP dhcp allocated IP subnet. Eliminate annoying periodic "Stabilized Flight Mode" announcements. Further localise options in to logical groups. 2020-01-13 Revert max rssi to 254. 255 is invalid/unknown in ardupilot v2.51 2020-01-18 Make default rssi 69% for SiK radios, like RFD900x. PR by Hasi123 v2.52 2020-01-21 Support web OTA. Rehash STA to AP failover using reboot - now stable. v2.53 2020-01-25 ESP8266 (Node MFU 12F) debugged, tested. ESP8266 OTA included. v2.54 2020-01-27 ESP8266 inverted single-wire enabled, like Teensy. No hardware invert/convert required. v2.54a 2020-01-28 Setup OTA password in config.h v2.54b 2020-01-30 Correct irritating warnings v2.55 2020-02-04 Add RFD900X TXMOD ESP8266 variant v2.56.1 2020-02-26 Add web interface to allow settings/parameter changes v2.56.2 2020-02-27 STM32F103C / Blue Pill / Maple Mini deprecated. Tidy up Teensy3.x warnings. v2.56.3 2020-03-03 Minor ESP8266 variants logic check v2.56.4 2020-03-04 Remove spurious debugging code affecting S.Port Thanks pascale dragos. v2.56.5 2020-03-09 Reduce rssi timing cycle to 350mS from 700mS. v2.57 2020-03-15 Fix RFD900/TXMOD status LED. SoftwareSerial for ESP32. v2.58 2020-03-17 Option to work around apparent bug in Mavlink V2 Library. Tolerate CRC errors. This fixes failure to parse certain mavlink messages, including #226 RPM Needs more investigation. Use with caution! v2.58.1 2020-03-18 Improve user options on hw/sw serial v2.58.2 2020-03-20 Stable. Lots of nice, small tweaks. Exp. code for inherent 1-wire on ESP v2.58.3 2020-03-22 Deactivate experimental CRC error tolerance for general use. My bad. v2.58.4 2020-03-25 RPM fixed (library path). v2.58.5 2020-03-28 Add //#define SD_Support to optionally remove all SD support at compile time. This is especially useful for PlatformIO on ESP8266. v2.59.1 2020-04-02 Support for QLRS (rssi) by giacomo892. Style and function improvements to web interface. v2.59.2 2020-04-21 Some structural tidying up. v2.59.3 Main loop minor fix. wifiBuiltin and btBuiltim macros added. 2020-04-28 GetBaud(FC_Mav_rxPin) fix. Thanks has1123. v2.59.4 2020-05-08 Broadcast on the subnet we attached to. Can't assume 192.168.1/24 :) Patch by Stefan Arbes. v2.59.5 2020-05-11 Fixed TCP_LocalPort initialisation v2.59.6 2020-05-20 Improve WiFi start button debounce . Add Debug_SRAM. v2.60.0 2020-05-23 Deactivate BT to reclaim critical SRAM during web support. Patch by Scott P. Reboot on Cancel web settings page v2.60.1 2020-05-24 Schedule fr 0x5007 params individually, fixes periodic flight-mode announcement. Schedule fr 0xf101 rssi when mavlink #109, #65 or #35 arrives. Avg < 200 mS. Fixes periodic "telemetry lost". v2.60.2 2020-05-25 Added RSSI_Pacemaker option to help prevent "telemetry lost". Default period 200 mS. v2.60.3 2020-05-25 Added new variant for ESP8266 - ESP-12F WEMOS D1 Mini 2020-05-30 Added some support for PitLab flight stack v2.60.4 2020-06-01 Half-duplex MavLite on S.Port - phase 1 v2.61.0 2020-06-29 Important patch of WiFi TCP client for graceful close/reopen on loss of signal Half-duplex MavLite on S.Port - phase 2 - work in progress! Filter out heartbeats from Onboard_Controllers(18) #define PitLab to force frame_type = 1 Monitor GCS heartbeat v2.61.1 Change references to pin 12 for all ESP32 variants Mavlink phase 2 working 2020-07-15 SPort Class established v2.61.2 2020-07-24 Web settings - value for st/ap failover not picked up. Should be STA/AP not STA_AP. Display WiFi Mode at startup. Emphasise EEPROM settings reset for clarity. v2.61.3 2020-07-28 Add variant for LILYGO® TTGO T-Display ESP32 1.14 Inch Colour LCD v2.61.4 2020-07-30 Added display up/down scrolling on touch pins for ESP32 v2.61.5 2020-07-30 Added display up/down scrolling pins for ESP8266 v2.61.6 hasi123 patch for SiK radio rssi restored. It endures! Fix displayprint() of number. 2020-08-05 Add #define UDP_Broadcast as default to support > 1 UDP concurrent sessions */