var connectionId = - 1 ;
var connection _delay = 0 ; // delay which defines "when" will the configurator request configurator data after connection was established
var configuration _received = false ;
var CONFIG = {
version : 0 ,
multiType : 0 ,
msp _version : 0 ,
capability : 0 ,
cycleTime : 0 ,
i2cError : 0 ,
activeSensors : 0 ,
mode : 0 ,
profile : 0 ,
uid : [ 0 , 0 , 0 ] ,
accelerometerTrims : [ 0 , 0 ]
}
var PIDs = new Array ( 10 ) ;
for ( var i = 0 ; i < 10 ; i ++ ) {
PIDs [ i ] = new Array ( 3 ) ;
}
var RC = {
roll : 0 ,
pitch : 0 ,
yaw : 0 ,
throttle : 0 ,
AUX1 : 0 ,
AUX2 : 0 ,
AUX3 : 0 ,
AUX4 : 0
}
var RC _tuning = {
RC _RATE : 0 ,
RC _EXPO : 0 ,
roll _pitch _rate : 0 ,
yaw _rate : 0 ,
dynamic _THR _PID : 0 ,
throttle _MID : 0 ,
throttle _EXPO : 0 ,
}
var AUX _CONFIG = new Array ( ) ;
var AUX _CONFIG _values = new Array ( ) ;
var SERVO _CONFIG = new Array ( ) ;
var SENSOR _DATA = {
gyroscope : [ 0 , 0 , 0 ] ,
accelerometer : [ 0 , 0 , 0 ] ,
magnetometer : [ 0 , 0 , 0 ] ,
altitude : 0 ,
kinematicsX : 0.0 ,
kinematicsY : 0.0 ,
kinematicsZ : 0.0 ,
debug : [ 0 , 0 , 0 , 0 ]
}
var MOTOR _DATA = new Array ( 8 ) ;
var SERVO _DATA = new Array ( 8 ) ;
var GPS _DATA = {
fix : 0 ,
numSat : 0 ,
lat : 0 ,
lon : 0 ,
alt : 0 ,
speed : 0 ,
ground _course : 0 ,
distanceToHome : 0 ,
ditectionToHome : 0 ,
update : 0 ,
// baseflight specific gps stuff
chn : new Array ( ) ,
svid : new Array ( ) ,
quality : new Array ( ) ,
cno : new Array ( )
}
var BATTERY = {
voltage : 0 ,
pMeterSum : 0 ,
}
var CLI _active = false ;
$ ( document ) . ready ( function ( ) {
port _picker = $ ( 'div#port-picker .port select' ) ;
baud _picker = $ ( 'div#port-picker #baud' ) ;
delay _picker = $ ( 'div#port-picker #delay' ) ;
console . log ( 'Scanning for new ports...' ) ;
update _ports ( ) ;
$ ( 'div#port-picker a.connect' ) . click ( function ( ) {
if ( GUI . connect _lock != true ) { // GUI control overrides the user control
var clicks = $ ( this ) . data ( 'clicks' ) ;
selected _port = String ( $ ( port _picker ) . val ( ) ) ;
selected _baud = parseInt ( baud _picker . val ( ) ) ;
connection _delay = parseInt ( delay _picker . val ( ) ) ;
if ( selected _port != '0' ) {
if ( ! clicks ) {
console . log ( 'Connecting to: ' + selected _port ) ;
GUI . connecting _to = selected _port ;
// lock port select & baud while we are connecting / connected
$ ( 'div#port-picker #port, div#port-picker #baud, div#port-picker #delay' ) . prop ( 'disabled' , true ) ;
$ ( 'div#port-picker a.connect' ) . text ( 'Connecting' ) ;
chrome . serial . open ( selected _port , { bitrate : selected _baud } , onOpen ) ;
} else {
// Disable any active "data pulling" timer
disable _timers ( ) ;
GUI . tab _switch _cleanup ( ) ;
GUI . timeout _remove ( 'connecting' ) ; // kill connecting timer
chrome . serial . close ( connectionId , onClosed ) ;
GUI . connected _to = false ;
clearTimeout ( connection _delay ) ;
clearInterval ( serial _poll ) ;
clearInterval ( port _usage _poll ) ;
// Change port utilization to 0
$ ( 'span.port-usage' ) . html ( '0%' ) ;
// reset valid config received variable (used to block tabs while not connected properly)
configuration _received = false ;
// unlock port select & baud
$ ( 'div#port-picker #port, div#port-picker #baud, div#port-picker #delay' ) . prop ( 'disabled' , false ) ;
$ ( this ) . text ( 'Connect' ) ;
$ ( this ) . removeClass ( 'active' ) ;
}
$ ( this ) . data ( "clicks" , ! clicks ) ;
}
}
} ) ;
} ) ;
function onOpen ( openInfo ) {
connectionId = openInfo . connectionId ;
backgroundPage . connectionId = openInfo . connectionId ; // also pass connectionId to the background page
if ( connectionId != - 1 ) {
// update connected_to
GUI . connected _to = GUI . connecting _to ;
// reset connecting_to
GUI . connecting _to = false ;
console . log ( 'Connection was opened with ID: ' + connectionId ) ;
// save selected port with chrome.storage if the port differs
chrome . storage . local . get ( 'last_used_port' , function ( result ) {
if ( typeof result . last _used _port != 'undefined' ) {
if ( result . last _used _port != selected _port ) {
// last used port doesn't match the one found in local db, we will store the new one
chrome . storage . local . set ( { 'last_used_port' : selected _port } , function ( ) {
// Debug message is currently disabled (we dont need to spam the console log with that)
// console.log('Last selected port was saved in chrome.storage.');
} ) ;
}
} else {
// variable isn't stored yet, saving
chrome . storage . local . set ( { 'last_used_port' : selected _port } , function ( ) {
// Debug message is currently disabled (we dont need to spam the console log with that)
// console.log('Last selected port was saved in chrome.storage.');
} ) ;
}
} ) ;
connection _delay = setTimeout ( function ( ) {
// start polling
serial _poll = setInterval ( readPoll , 10 ) ;
port _usage _poll = setInterval ( port _usage , 1000 ) ;
// disconnect after 10 seconds with error if we don't get IDENT data
GUI . timeout _add ( 'connecting' , function ( ) {
if ( ! configuration _received ) {
notify ( 'Did not received configuration within <span style="color: red">10 seconds</span>, communication <span style="color: red">failed</span> - Disconnecting' ) ;
$ ( 'div#port-picker a.connect' ) . click ( ) ; // disconnect
}
} , 10000 ) ;
// baseflight specific
send _message ( MSP _codes . MSP _UID , MSP _codes . MSP _UID ) ;
send _message ( MSP _codes . MSP _ACC _TRIM , MSP _codes . MSP _ACC _TRIM ) ;
// request configuration data
send _message ( MSP _codes . MSP _STATUS , MSP _codes . MSP _STATUS ) ;
send _message ( MSP _codes . MSP _PID , MSP _codes . MSP _PID ) ;
send _message ( MSP _codes . MSP _RC _TUNING , MSP _codes . MSP _RC _TUNING ) ;
send _message ( MSP _codes . MSP _IDENT , MSP _codes . MSP _IDENT , false , function ( ) {
GUI . timeout _remove ( 'connecting' ) ; // kill connecting timer
$ ( '.software-version' ) . html ( CONFIG . version ) ;
configuration _received = true ;
$ ( 'div#port-picker a.connect' ) . text ( 'Disconnect' ) . addClass ( 'active' ) ;
$ ( '#tabs li a:first' ) . click ( ) ;
} ) ;
} , connection _delay * 1000 ) ;
} else {
console . log ( 'Failed to open serial port' ) ;
notify ( 'Failed to open serial port' , 'red' ) ;
$ ( 'div#port-picker a.connect' ) . text ( 'Connect' ) ;
$ ( 'div#port-picker a.connect' ) . removeClass ( 'active' ) ;
// reset data
$ ( 'div#port-picker a.connect' ) . data ( "clicks" , false ) ;
}
}
function onClosed ( result ) {
if ( result ) { // All went as expected
connectionId = - 1 ; // reset connection id
backgroundPage . connectionId = connectionId ; // also pass latest connectionId to the background page
sensor _status ( sensors _detected = 0 ) ; // reset active sensor indicators
$ ( '#tabs > ul li' ) . removeClass ( 'active' ) ; // de-select any selected tabs
tab _initialize _default ( ) ;
console . log ( 'Connection closed successfully.' ) ;
} else { // Something went wrong
if ( connectionId > 0 ) {
console . log ( 'There was an error that happened during "connection-close" procedure.' ) ;
notify ( 'Failed to close serial port' , 'red' ) ;
}
}
}
function readPoll ( ) {
chrome . serial . read ( connectionId , 128 , MSP _char _read ) ;
}
function port _usage ( ) {
var port _usage = ( char _counter * 10 / selected _baud ) * 100 ;
$ ( 'span.port-usage' ) . html ( parseInt ( port _usage ) + '%' ) ;
// reset counter
char _counter = 0 ;
}
function update _ports ( ) {
var initial _ports = false ;
GUI . interval _add ( 'port-update' , function ( ) {
chrome . serial . getPorts ( function ( current _ports ) {
if ( initial _ports . length > current _ports . length || ! initial _ports ) {
// port got removed or initial_ports wasn't initialized yet
var removed _ports = array _difference ( initial _ports , current _ports ) ;
if ( initial _ports != false ) console . log ( 'Port removed: ' + removed _ports ) ;
// disconnect "UI" if necessary
if ( GUI . connected _to != false && removed _ports [ 0 ] == GUI . connected _to ) {
$ ( 'div#port-picker a.connect' ) . click ( ) ;
}
// update COM port list
update _port _select _menu ( current _ports ) ;
// auto-select last used port (only during initialization)
if ( ! initial _ports ) {
chrome . storage . local . get ( 'last_used_port' , function ( result ) {
// if last_used_port was set, we try to select it
if ( result . last _used _port ) {
current _ports . forEach ( function ( port ) {
if ( port == result . last _used _port ) {
console . log ( 'Selecting last used port: ' + result . last _used _port ) ;
$ ( 'div#port-picker .port select' ) . val ( result . last _used _port ) ;
}
} ) ;
} else {
console . log ( 'Last used port wasn\'t saved "yet", auto-select disabled.' ) ;
}
} ) ;
}
// reset initial_ports
initial _ports = current _ports ;
}
var new _ports = array _difference ( current _ports , initial _ports ) ;
if ( new _ports . length > 0 ) {
console . log ( 'New port found: ' + new _ports [ 0 ] ) ;
// generate new COM port list
update _port _select _menu ( current _ports ) ;
if ( ! GUI . connected _to ) {
$ ( 'div#port-picker .port select' ) . val ( new _ports [ 0 ] ) ;
} else {
$ ( 'div#port-picker .port select' ) . val ( GUI . connected _to ) ;
}
// reset initial_ports
initial _ports = current _ports ;
}
} ) ;
} , 100 , true ) ;
}
function update _port _select _menu ( ports ) {
$ ( 'div#port-picker .port select' ) . html ( '' ) ; // drop previous one
if ( ports . length > 0 ) {
for ( var i = 0 ; i < ports . length ; i ++ ) {
$ ( 'div#port-picker .port select' ) . append ( $ ( "<option/>" , { value : ports [ i ] , text : ports [ i ] } ) ) ;
}
} else {
$ ( 'div#port-picker .port select' ) . append ( $ ( "<option/>" , { value : 0 , text : 'NOT FOUND' } ) ) ;
}
}
function sensor _status ( sensors _detected ) {
var e _sensor _status = $ ( 'div#sensor-status' ) ;
if ( bit _check ( sensors _detected , 0 ) ) { // Gyroscope & accel detected
$ ( '.gyro' , e _sensor _status ) . addClass ( 'on' ) ;
$ ( '.accel' , e _sensor _status ) . addClass ( 'on' ) ;
} else {
$ ( '.gyro' , e _sensor _status ) . removeClass ( 'on' ) ;
$ ( '.accel' , e _sensor _status ) . removeClass ( 'on' ) ;
}
if ( bit _check ( sensors _detected , 1 ) ) { // Barometer detected
$ ( '.baro' , e _sensor _status ) . addClass ( 'on' ) ;
} else {
$ ( '.baro' , e _sensor _status ) . removeClass ( 'on' ) ;
}
if ( bit _check ( sensors _detected , 2 ) ) { // Magnetometer detected
$ ( '.mag' , e _sensor _status ) . addClass ( 'on' ) ;
} else {
$ ( '.mag' , e _sensor _status ) . removeClass ( 'on' ) ;
}
if ( bit _check ( sensors _detected , 3 ) ) { // GPS detected
$ ( '.gps' , e _sensor _status ) . addClass ( 'on' ) ;
} else {
$ ( '.gps' , e _sensor _status ) . removeClass ( 'on' ) ;
}
if ( bit _check ( sensors _detected , 4 ) ) { // Sonar detected
$ ( '.sonar' , e _sensor _status ) . addClass ( 'on' ) ;
} else {
$ ( '.sonar' , e _sensor _status ) . removeClass ( 'on' ) ;
}
}
function highByte ( num ) {
return num >> 8 ;
}
function lowByte ( num ) {
return 0x00FF & num ;
}
function bit _check ( num , bit ) {
return ( ( num >> bit ) % 2 != 0 )
}
function bit _set ( num , bit ) {
return num | 1 << bit ;
}
function bit _clear ( num , bit ) {
return num & ~ ( 1 << bit ) ;
}