453 lines
17 KiB
JavaScript
453 lines
17 KiB
JavaScript
var connectionId = -1;
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var configuration_received = false;
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var CLI_active = false;
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var CONFIG = {
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version: 0,
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multiType: 0,
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msp_version: 0,
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capability: 0,
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cycleTime: 0,
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i2cError: 0,
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activeSensors: 0,
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mode: 0,
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profile: 0,
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uid: [0, 0, 0],
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accelerometerTrims: [0, 0]
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};
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var PIDs = new Array(10);
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for (var i = 0; i < 10; i++) {
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PIDs[i] = new Array(3);
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}
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var RC = {
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roll: 0,
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pitch: 0,
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yaw: 0,
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throttle: 0,
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AUX1: 0,
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AUX2: 0,
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AUX3: 0,
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AUX4: 0
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};
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var RC_tuning = {
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RC_RATE: 0,
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RC_EXPO: 0,
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roll_pitch_rate: 0,
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yaw_rate: 0,
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dynamic_THR_PID: 0,
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throttle_MID: 0,
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throttle_EXPO: 0,
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};
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var AUX_CONFIG = new Array();
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var AUX_CONFIG_values = new Array();
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var SERVO_CONFIG = new Array();
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var SENSOR_DATA = {
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gyroscope: [0, 0, 0],
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accelerometer: [0, 0, 0],
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magnetometer: [0, 0, 0],
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altitude: 0,
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kinematicsX: 0.0,
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kinematicsY: 0.0,
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kinematicsZ: 0.0,
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debug: [0, 0, 0, 0]
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};
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var MOTOR_DATA = new Array(8);
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var SERVO_DATA = new Array(8);
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var GPS_DATA = {
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fix: 0,
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numSat: 0,
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lat: 0,
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lon: 0,
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alt: 0,
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speed: 0,
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ground_course: 0,
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distanceToHome: 0,
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ditectionToHome: 0,
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update: 0,
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// baseflight specific gps stuff
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chn: new Array(),
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svid: new Array(),
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quality: new Array(),
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cno: new Array()
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};
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var BATTERY = {
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voltage: 0,
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pMeterSum: 0,
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};
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var MISC = {
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PowerTrigger1: 0, // intPowerTrigger1 (aka useless trash)
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minthrottle: 0,
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maxthrottle: 0,
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mincommand: 0,
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failsafe_throttle: 0,
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plog0: 0, // plog useless shit
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plog1: 0, // plog useless shit
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mag_declination: 0, // not checked
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vbatscale: 0,
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vbatmincellvoltage: 0,
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vbatmaxcellvoltage: 0,
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empty: 0 // unknown
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};
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$(document).ready(function() {
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console.log('Scanning for new ports...');
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update_ports();
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$('div#port-picker a.connect').click(function() {
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if (GUI.connect_lock != true) { // GUI control overrides the user control
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var clicks = $(this).data('clicks');
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var selected_port = String($('div#port-picker .port select').val());
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var selected_baud = parseInt($('div#port-picker #baud').val());
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if (selected_port != '0') {
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if (!clicks) {
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console.log('Connecting to: ' + selected_port);
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GUI.connecting_to = selected_port;
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// lock port select & baud while we are connecting / connected
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$('div#port-picker #port, div#port-picker #baud, div#port-picker #delay').prop('disabled', true);
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$('div#port-picker a.connect').text('Connecting');
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chrome.serial.open(selected_port, {bitrate: selected_baud}, onOpen);
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} else {
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// Disable any active "data pulling" timer
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GUI.interval_kill_all(['port-update']);
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GUI.tab_switch_cleanup();
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GUI.timeout_remove('connecting');
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chrome.serial.close(connectionId, onClosed);
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GUI.connected_to = false;
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// Reset various UI elements
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$('span.port-usage').html('0%');
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$('.software-version').html('0.0');
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$('span.cycle-time').html('0');
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MSP.state = 0; // reset packet state for "clean" initial entry (this is only required if user hot-disconnects)
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MSP.packet_error = 0; // reset CRC packet error counter for next session
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configuration_received = false; // reset valid config received variable (used to block tabs while not connected properly)
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// unlock port select & baud
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$('div#port-picker #port').prop('disabled', false);
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if (!GUI.auto_connect) $('div#port-picker #baud').prop('disabled', false);
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$(this).text('Connect');
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$(this).removeClass('active');
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}
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$(this).data("clicks", !clicks);
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}
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}
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});
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// auto-connect
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chrome.storage.local.get('auto_connect', function(result) {
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if (typeof result.auto_connect === 'undefined') {
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// auto_connect wasn't saved yet, save and push true to the GUI
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chrome.storage.local.set({'auto_connect': true});
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GUI.auto_connect = true;
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$('select#baud').val(115200).prop('disabled', true);
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} else {
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if (result.auto_connect) {
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// enabled by user
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GUI.auto_connect = true;
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$('input.auto_connect').prop('checked', true);
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$('input.auto_connect, span.auto_connect').prop('title', 'Auto-Connect: Enabled - Configurator automatically tries to connect when new serial port is detected');
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$('select#baud').val(115200).prop('disabled', true);
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} else {
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// disabled by user
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GUI.auto_connect = false;
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$('input.auto_connect').prop('checked', false);
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$('input.auto_connect, span.auto_connect').prop('title', 'Auto-Connect: Disabled - User needs to select the correct serial port and click "Connect" button on its own');
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}
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}
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// bind UI hook to auto-connect checkbos
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$('input.auto_connect').change(function() {
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GUI.auto_connect = $(this).is(':checked');
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// update title/tooltip
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if (GUI.auto_connect) {
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$('input.auto_connect, span.auto_connect').prop('title', 'Auto-Connect: Enabled - Configurator automatically tries to connect when new port is detected');
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$('select#baud').val(115200).prop('disabled', true);
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} else {
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$('input.auto_connect, span.auto_connect').prop('title', 'Auto-Connect: Disabled - User needs to select the correct serial port and click "Connect" button on its own');
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if (!GUI.connected_to && !GUI.connecting_to) $('select#baud').prop('disabled', false);
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}
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chrome.storage.local.set({'auto_connect': GUI.auto_connect}, function() {});
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});
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});
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});
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function onOpen(openInfo) {
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if (openInfo.connectionId > 0) {
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connectionId = openInfo.connectionId;
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// update connected_to
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GUI.connected_to = GUI.connecting_to;
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// reset connecting_to
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GUI.connecting_to = false;
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console.log('Connection was opened with ID: ' + connectionId);
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// save selected port with chrome.storage if the port differs
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chrome.storage.local.get('last_used_port', function(result) {
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if (typeof result.last_used_port != 'undefined') {
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if (result.last_used_port != GUI.connected_to) {
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// last used port doesn't match the one found in local db, we will store the new one
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chrome.storage.local.set({'last_used_port': GUI.connected_to}, function() {
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// Debug message is currently disabled (we dont need to spam the console log with that)
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// console.log('Last selected port was saved in chrome.storage.');
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});
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}
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} else {
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// variable isn't stored yet, saving
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chrome.storage.local.set({'last_used_port': GUI.connected_to}, function() {
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// Debug message is currently disabled (we dont need to spam the console log with that)
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// console.log('Last selected port was saved in chrome.storage.');
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});
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}
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});
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// start polling
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GUI.interval_add('serial_read', readPoll, 10);
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GUI.interval_add('port_usage', port_usage, 1000);
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// disconnect after 10 seconds with error if we don't get IDENT data
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GUI.timeout_add('connecting', function() {
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if (!configuration_received) {
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notify('Did not received configuration within <span style="color: red">10 seconds</span>, communication <span style="color: red">failed</span> - Disconnecting');
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$('div#port-picker a.connect').click(); // disconnect
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}
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}, 10000);
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// request configuration data
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send_message(MSP_codes.MSP_UID, MSP_codes.MSP_UID);
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send_message(MSP_codes.MSP_STATUS, MSP_codes.MSP_STATUS); // in theory this could be removed (MSP_STATUS is pulled in initial tab)
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send_message(MSP_codes.MSP_IDENT, MSP_codes.MSP_IDENT, false, function() {
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GUI.timeout_remove('connecting'); // kill connecting timer
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// Update UI elements that doesn't need consistent refreshing
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$('.software-version').html(CONFIG.version);
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configuration_received = true;
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$('div#port-picker a.connect').text('Disconnect').addClass('active');
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$('#tabs li a:first').click();
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});
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} else {
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console.log('Failed to open serial port');
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notify('Failed to open serial port', 'red');
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$('div#port-picker a.connect').text('Connect');
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$('div#port-picker a.connect').removeClass('active');
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// unlock port select & baud
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$('div#port-picker #port, div#port-picker #baud, div#port-picker #delay').prop('disabled', false);
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// reset data
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$('div#port-picker a.connect').data("clicks", false);
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}
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}
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function onClosed(result) {
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connectionId = -1; // reset connection id
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if (result) { // All went as expected
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sensor_status(sensors_detected = 0); // reset active sensor indicators
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$('#tabs > ul li').removeClass('active'); // de-select any selected tabs
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tab_initialize_default();
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console.log('Connection closed successfully.');
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} else { // Something went wrong
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console.log('There was an error that happened during "connection-close" procedure.');
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notify('Failed to close serial port', 'red');
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}
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}
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function readPoll() {
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chrome.serial.read(connectionId, 128, MSP_char_read);
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}
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function port_usage() {
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var port_usage = (char_counter * 10 / parseInt($('div#port-picker #baud').val())) * 100;
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$('span.port-usage').html(parseInt(port_usage) + '%');
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// reset counter
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char_counter = 0;
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}
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function update_ports() {
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var initial_ports = false;
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GUI.interval_add('port-update', function() {
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chrome.serial.getPorts(function(current_ports) {
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if (initial_ports.length > current_ports.length || !initial_ports) {
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// port got removed or initial_ports wasn't initialized yet
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var removed_ports = array_difference(initial_ports, current_ports);
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if (initial_ports != false) console.log('Port removed: ' + removed_ports);
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// disconnect "UI" if necessary
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if (GUI.connected_to != false && removed_ports[0] == GUI.connected_to) {
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$('div#port-picker a.connect').click();
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}
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// update COM port list
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update_port_select_menu(current_ports);
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// auto-select last used port (only during initialization)
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if (!initial_ports) {
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chrome.storage.local.get('last_used_port', function(result) {
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// if last_used_port was set, we try to select it
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if (result.last_used_port) {
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current_ports.forEach(function(port) {
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if (port == result.last_used_port) {
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console.log('Selecting last used port: ' + result.last_used_port);
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$('div#port-picker .port select').val(result.last_used_port);
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}
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});
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} else {
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console.log('Last used port wasn\'t saved "yet", auto-select disabled.');
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}
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});
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}
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// reset initial_ports
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initial_ports = current_ports;
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}
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var new_ports = array_difference(current_ports, initial_ports);
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if (new_ports.length > 0) {
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console.log('New port found: ' + new_ports[0]);
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// generate new COM port list
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update_port_select_menu(current_ports);
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// select / highlight new port, if connected -> select connected port
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if (!GUI.connected_to) {
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$('div#port-picker .port select').val(new_ports[0]);
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} else {
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$('div#port-picker .port select').val(GUI.connected_to);
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}
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// start connect procedure (if statement is valid)
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if (GUI.auto_connect && !GUI.connecting_to && !GUI.connected_to) {
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// we need firmware flasher protection over here
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if (GUI.active_tab != 'firmware_flasher') {
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GUI.timeout_add('auto-connect_timeout', function() {
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$('div#port-picker a.connect').click();
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}, 50); // small timeout so we won't get any nasty connect errors due to system initializing the bus
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}
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}
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// reset initial_ports
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initial_ports = current_ports;
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}
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});
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}, 250, true);
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}
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function update_port_select_menu(ports) {
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$('div#port-picker .port select').html(''); // drop previous one
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if (ports.length > 0) {
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for (var i = 0; i < ports.length; i++) {
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$('div#port-picker .port select').append($("<option/>", {value: ports[i], text: ports[i]}));
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}
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} else {
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$('div#port-picker .port select').append($("<option/>", {value: 0, text: 'NOT FOUND'}));
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}
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}
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function sensor_status(sensors_detected) {
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// initialize variable (if it wasn't)
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if (typeof sensor_status.previous_sensors_detected == 'undefined') {
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sensor_status.previous_sensors_detected = 0;
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}
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// update UI (if necessary)
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if (sensor_status.previous_sensors_detected != sensors_detected) {
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var e_sensor_status = $('div#sensor-status');
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if (bit_check(sensors_detected, 0)) { // Gyroscope & accel detected
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$('.gyro', e_sensor_status).addClass('on');
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$('.accel', e_sensor_status).addClass('on');
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} else {
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$('.gyro', e_sensor_status).removeClass('on');
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$('.accel', e_sensor_status).removeClass('on');
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}
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if (bit_check(sensors_detected, 1)) { // Barometer detected
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$('.baro', e_sensor_status).addClass('on');
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} else {
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$('.baro', e_sensor_status).removeClass('on');
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}
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if (bit_check(sensors_detected, 2)) { // Magnetometer detected
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$('.mag', e_sensor_status).addClass('on');
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} else {
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$('.mag', e_sensor_status).removeClass('on');
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}
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if (bit_check(sensors_detected, 3)) { // GPS detected
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$('.gps', e_sensor_status).addClass('on');
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} else {
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$('.gps', e_sensor_status).removeClass('on');
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}
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if (bit_check(sensors_detected, 4)) { // Sonar detected
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$('.sonar', e_sensor_status).addClass('on');
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} else {
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$('.sonar', e_sensor_status).removeClass('on');
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}
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// set current value
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sensor_status.previous_sensors_detected = sensors_detected;
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}
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}
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function highByte(num) {
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return num >> 8;
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}
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function lowByte(num) {
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return 0x00FF & num;
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}
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function bit_check(num, bit) {
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return ((num >> bit) % 2 != 0);
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}
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function bit_set(num, bit) {
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return num | 1 << bit;
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}
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function bit_clear(num, bit) {
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return num & ~(1 << bit);
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} |