update for pcb v2

src/battery_monitor.cpp

@@ -0,0 +1,39 @@
+#include "battery_monitor.h"
+
+static bool buzzer_on = false;
+
+float battery_monitor_pin_voltage = 0.0;
+float battery_monitor_battery_voltage = 0.0;
+
+void battery_monitor_init() {
+  pinMode(BATTERY_MONITOR_PIN, INPUT);
+
+  analogReference(INTERNAL);
+  analogReadResolution(12);
+  analogReadAveraging(32);
+}
+
+void battery_monitor_update() {
+  uint16_t pin_value = analogRead(BATTERY_MONITOR_PIN);
+
+  battery_monitor_pin_voltage = pin_value / BATTERY_MONITOR_PIN_DIVISOR * BATTERY_MONITOR_LOSS_FACTOR;
+  battery_monitor_battery_voltage = battery_monitor_pin_voltage / (BATTERY_R2_VAL / (BATTERY_R1_VAL + BATTERY_R2_VAL));
+
+  if (battery_monitor_battery_voltage < 9.0) { // no battery connected
+    noTone(BATTERY_ALERT_BUZZER_PIN);
+    buzzer_on = false;
+
+  } else if (battery_monitor_battery_voltage < 10.85) { // low voltage
+    if (buzzer_on) {
+      noTone(BATTERY_ALERT_BUZZER_PIN);
+      buzzer_on = false;
+    } else {
+      tone(BATTERY_ALERT_BUZZER_PIN, 400);
+      buzzer_on = true;
+    }
+
+  } else { // voltage good
+    noTone(BATTERY_ALERT_BUZZER_PIN);
+    buzzer_on = false;
+  }
+}

src/battery_monitor.h

@@ -0,0 +1,19 @@
+#pragma once
+
+#include "Arduino.h"
+
+#define BATTERY_MONITOR_PIN       A11
+#define BATTERY_ALERT_BUZZER_PIN  25
+
+#define BATTERY_R1_VAL 100000.0f
+#define BATTERY_R2_VAL 10000.0f
+
+#define BATTERY_MONITOR_READ_RESOLUTION 12
+#define BATTERY_MONITOR_PIN_DIVISOR ((float) pow(2, BATTERY_MONITOR_READ_RESOLUTION))
+#define BATTERY_MONITOR_LOSS_FACTOR 1.198f
+
+void battery_monitor_init();
+void battery_monitor_update();
+
+extern float battery_monitor_pin_voltage;
+extern float battery_monitor_battery_voltage;

src/debugger.cpp

@@ -7,6 +7,7 @@
 #include "motors.h"
 #include "flight_controller.h"
 #include "serial_commands.h"
+#include "battery_monitor.h"
 
 void text_debug();
 uint32_t debug_timer = 0;
@@ -98,6 +99,10 @@ void text_debug() {
 
   serial_printf("max accel: %8.3f", imu_accel_max_value());
   serial_printlnf("\t max gyro: %8.3f", imu_gyro_max_value());
+
+  serial_printf("battery pin voltage: %8.3f", battery_monitor_pin_voltage);
+  serial_printlnf("\t battery voltage: %8.3f", battery_monitor_battery_voltage);
+
 }
 
 void debugger_print() {

src/debugger.h

@@ -2,8 +2,8 @@
 
 #define DEBUG true
 #define DEBUG_RATE_MILLIS 500
-#define RED_LED_PIN 8
-#define GREEN_LED_PIN 7
+#define RED_LED_PIN 31
+#define GREEN_LED_PIN 30
 
 void debugger_print();
 void debugger_leds();

src/flight_controller.h

@@ -6,7 +6,7 @@
 #define ARMED 1
 #define UNARMED 0
 
-#define ANGLE_SAFETY_STOP true
+#define ANGLE_SAFETY_STOP false
 #define SAFE_ANGLE 60.0
 
 void fc_init();

src/i2c_helpers.cpp

@@ -1,29 +1,29 @@
 #include <i2c_t3.h>
 #include "i2c_helpers.h"
 
-void i2c1_begin() {
-  Wire1.begin(I2C_MASTER, 0x00, I2C_PINS_29_30, I2C_PULLUP_EXT, I2C_RATE_800);
+void i2c_begin() {
+  Wire.begin(I2C_MASTER, 0x00, I2C_PINS_18_19, I2C_PULLUP_INT, I2C_RATE_800);
 }
 
-void i2c1_update_register(uint16_t device_address, uint8_t data_address, uint8_t data_value) {
-  Wire1.beginTransmission(device_address);
-  Wire1.write(data_address);
-  Wire1.write(data_value);
-  Wire1.endTransmission();
+void i2c_update_register(uint16_t device_address, uint8_t data_address, uint8_t data_value) {
+  Wire.beginTransmission(device_address);
+  Wire.write(data_address);
+  Wire.write(data_value);
+  Wire.endTransmission();
 }
 
-void i2c1_send_byte(uint16_t device_address, uint8_t data_value) {
-  Wire1.beginTransmission(device_address);
-  Wire1.write(data_value);
-  Wire1.endTransmission();
+void i2c_send_byte(uint16_t device_address, uint8_t data_value) {
+  Wire.beginTransmission(device_address);
+  Wire.write(data_value);
+  Wire.endTransmission();
 }
 
-uint8_t i2c1_read_byte(uint16_t device_address) {
-  Wire1.requestFrom(device_address, 1);
-  return Wire1.read();
+uint8_t i2c_read_byte(uint16_t device_address) {
+  Wire.requestFrom(device_address, 1);
+  return Wire.read();
 }
 
-uint16_t i2c1_read_word(uint16_t device_address) {
-  Wire1.requestFrom(device_address, 2);
-  return (Wire1.read() << 8) | Wire1.read();
+uint16_t i2c_read_word(uint16_t device_address) {
+  Wire.requestFrom(device_address, 2);
+  return (Wire.read() << 8) | Wire.read();
 }

src/i2c_helpers.h

@@ -2,8 +2,8 @@
 
 #include <Arduino.h>
 
-void i2c1_begin();
-void i2c1_update_register(uint16_t device_address, uint8_t data_address, uint8_t data_value);
-void i2c1_send_byte(uint16_t device_address, uint8_t data_value);
-uint8_t i2c1_read_byte(uint16_t device_address);
-uint16_t i2c1_read_word(uint16_t device_address);
+void i2c_begin();
+void i2c_update_register(uint16_t device_address, uint8_t data_address, uint8_t data_value);
+void i2c_send_byte(uint16_t device_address, uint8_t data_value);
+uint8_t i2c_read_byte(uint16_t device_address);
+uint16_t i2c_read_word(uint16_t device_address);

src/imu.h

@@ -3,13 +3,13 @@
 #include "types.h"
 #include "mpu9250.h"
 
-#define GYRO_X_OFFSET (32.22)
-#define GYRO_Y_OFFSET (29.647)
-#define GYRO_Z_OFFSET (-34.29)
+#define GYRO_X_OFFSET (-24.17)
+#define GYRO_Y_OFFSET (-24.95)
+#define GYRO_Z_OFFSET (8.44)
 
-#define ACCEL_X_OFFSET (-200.575)
-#define ACCEL_Y_OFFSET (-174.646)
-#define ACCEL_Z_OFFSET (32.383)
+#define ACCEL_X_OFFSET (-76.91)
+#define ACCEL_Y_OFFSET (201.88)
+#define ACCEL_Z_OFFSET (-88.793)
 
 #define GYRO_PART 0.994
 #define ACC_PART (1.0 - GYRO_PART)

src/main.cpp

@@ -10,17 +10,20 @@
 #include "serial_commands.h"
 #include "config.h"
 #include "watchdog.h"
+#include "battery_monitor.h"
 
 #include "utils.h"
 
 void setup() {
+  serial_begin(BAUD2DIV2(SERIAL_PORT_SPEED));
   serial2_begin(BAUD2DIV2(SERIAL_PORT_SPEED));
-  i2c1_begin();
+  i2c_begin();
   config_init();
   imu_init();
   rc_init();
   fc_init();
   debugger_leds_init();
+  battery_monitor_init();
   watchdog_enable();
 }
 
@@ -42,6 +45,7 @@ void loop() {
     if (schedule(TASK_2HZ)) {
       debugger_leds();
       debugger_print();
+      battery_monitor_update();
     }
 
     schedule_end();

src/mpu9250.cpp

@@ -6,18 +6,18 @@
 static bool data_ready = false;
 
 static void mpu9250_write_reg(uint16_t addr, uint8_t data) {
-  i2c1_update_register(MPU_I2C_ADDRESS, addr, data);
+  i2c_update_register(MPU_I2C_ADDRESS, addr, data);
   delay(1);
 }
 
 static uint8_t mpu9250_read_byte(uint16_t addr) {
-  i2c1_send_byte(MPU_I2C_ADDRESS, addr);
-  return i2c1_read_byte(MPU_I2C_ADDRESS);
+  i2c_send_byte(MPU_I2C_ADDRESS, addr);
+  return i2c_read_byte(MPU_I2C_ADDRESS);
 }
 
 static uint16_t mpu9250_read_word(uint16_t addr) {
-  i2c1_send_byte(MPU_I2C_ADDRESS, addr);
-  return i2c1_read_word(MPU_I2C_ADDRESS);
+  i2c_send_byte(MPU_I2C_ADDRESS, addr);
+  return i2c_read_word(MPU_I2C_ADDRESS);
 }
 
 static int mpu9250_test_connection() {
@@ -29,19 +29,19 @@ void mpu9250_read_gyro(axis_int32_t *gyro_rates) {
   int16_t gyro_y = mpu9250_read_word(MPUREG_GYRO_YOUT_H);
   int16_t gyro_z = mpu9250_read_word(MPUREG_GYRO_ZOUT_H);
 
-  gyro_rates->x = gyro_x;
-  gyro_rates->y = -1 * gyro_y;
-  gyro_rates->z = gyro_z;
+  gyro_rates->x = gyro_y;
+  gyro_rates->y = -1 * gyro_x;
+  gyro_rates->z = -1 * gyro_z;
 }
 
 void mpu9250_read_accel(axis_int32_t *accel_raws) {
   int16_t accel_x = mpu9250_read_word(MPUREG_ACCEL_XOUT_H);
   int16_t accel_y = mpu9250_read_word(MPUREG_ACCEL_YOUT_H);
   int16_t accel_z = mpu9250_read_word(MPUREG_ACCEL_ZOUT_H);
 
-  accel_raws->x = accel_x;
-  accel_raws->y = -1 * accel_y;
-  accel_raws->z = -1 * accel_z;
+  accel_raws->x = accel_y;
+  accel_raws->y = -1 * accel_x;
+  accel_raws->z = accel_z;
 }
 
 void calibrate_gyro() {

src/mpu9250.h

@@ -3,7 +3,7 @@
 #include "types.h"
 #include "imu.h"
 
-#define MPU_DATA_READY_INTERRUPT_PIN 31
+#define MPU_DATA_READY_INTERRUPT_PIN 17
 #define MPU_WHOAMI_IDENTIFIER 0x71
 
 #define MPU_I2C_ADDRESS 0x68

src/remote_control.h

@@ -31,9 +31,9 @@
 #define  RC_CH1_INPUT  2
 #define  RC_CH2_INPUT  3
 #define  RC_CH3_INPUT  4
-#define  RC_CH4_INPUT  5
-#define  RC_CH5_INPUT  17
-#define  RC_CH6_INPUT  14
+#define  RC_CH4_INPUT  27
+#define  RC_CH5_INPUT  26
+#define  RC_CH6_INPUT  24
 
 void rc_init();
 void rc_read_values();

src/serial_commands.cpp

@@ -38,18 +38,18 @@ static uint16_t data_received_length;
 static uint8_t data_buffer[200];
 
 int generic_serial_available() {
-  return usb_serial_available();
-  //return serial2_available();
+  //return usb_serial_available();
+  return serial_available();
 }
 
 int generic_serial_getchar() {
-  return usb_serial_getchar();
-  //return serial2_getchar();
+  //return usb_serial_getchar();
+  return serial_getchar();
 }
 
 void generic_serial_putchar(uint32_t c) {
-  usb_serial_putchar(c);
-  //serial2_putchar(c);
+  //usb_serial_putchar(c);
+  serial_putchar(c);
 }
 
 void serial_commands_process() {