Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) 04.2007 Holger Buss

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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,

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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include <util/delay.h>

#include <stddef.h>

#include <string.h>

#include "configuration.h"

#include "sensors.h"

#include "rc.h"

#include "output.h"

#include "flight.h"

int16_t variables[VARIABLE_COUNT];

ParamSet_t staticParams;

channelMap_t channelMap;

mixerMatrix_t mixerMatrix;

volatile DynamicParams_t dynamicParams;

uint8_t CPUType = ATMEGA644;

uint8_t boardRelease = 13;

uint8_t requiredMotors;

VersionInfo_t versionInfo;

// MK flags. TODO: Replace by enum. State machine.

uint16_t isFlying = 0;

volatile uint8_t MKFlags = 0;

const MMXLATION XLATIONS[] = {

{offsetof(ParamSet_t, levelCorrection[0]), offsetof(DynamicParams_t, levelCorrection[0]),0,255},

{offsetof(ParamSet_t, levelCorrection[1]), offsetof(DynamicParams_t, levelCorrection[1]),0,255},

{offsetof(ParamSet_t, gyroP), offsetof(DynamicParams_t, gyroP),0,255},

{offsetof(ParamSet_t, gyroI), offsetof(DynamicParams_t, gyroI),0,255},

{offsetof(ParamSet_t, gyroD), offsetof(DynamicParams_t, gyroD),0,255},

{offsetof(ParamSet_t, attitudeControl), offsetof(DynamicParams_t, attitudeControl),0,255},

{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255},

{offsetof(ParamSet_t, dynamicStability), offsetof(DynamicParams_t, dynamicStability),0,255},

{offsetof(ParamSet_t, heightP), offsetof(DynamicParams_t, heightP),0,255},

{offsetof(ParamSet_t, heightI), offsetof(DynamicParams_t, heightI),0,255},

{offsetof(ParamSet_t, heightD), offsetof(DynamicParams_t, heightD),0,255},

{offsetof(ParamSet_t, heightSetting), offsetof(DynamicParams_t, heightSetting),0,255},

{offsetof(ParamSet_t, servoConfigurations[0].manualControl), offsetof(DynamicParams_t, servoManualControl[0]),0,255},

{offsetof(ParamSet_t, servoConfigurations[1].manualControl), offsetof(DynamicParams_t, servoManualControl[1]),0,255},

{offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255},

{offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255},

{offsetof(ParamSet_t, naviMode), offsetof(DynamicParams_t, naviMode),0,255}};

uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) {

  uint8_t result;

  if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)];

  else result = src;

  if (result < min) result = min;

  else if (result > max) result = max;

  return result;

}

void configuration_applyVariablesToParams(void) {

  uint8_t i, src;

  uint8_t* pointerToTgt;

  for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) {

    src = *((uint8_t*)(&staticParams) + XLATIONS[i].sourceIdx);

    pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx;

    *pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max);

  }

  // User parameters are always variable.

  for (i=0; i<sizeof(staticParams.userParams); i++) {

    src = *((uint8_t*)(&staticParams) + offsetof(ParamSet_t, userParams) + i);

    pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i;

    *pointerToTgt = configuration_applyVariableToParam(src, 0, 255);

  }

}

uint8_t getCPUType(void) {   // works only after reset or power on when the registers have default values

  uint8_t CPUType = ATMEGA644;

  if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P;  // initial Values for 644P after reset

  return CPUType;

}

/*

 * Automatic detection of hardware components is not supported in this development-oriented

 * FC firmware. It would go against the point of it: To enable alternative hardware

 * configurations with otherwise unsupported components. Instead, one should write

 * custom code + adjust constants for the new hardware, and include the relevant code

 * from the makefile.

 * However - we still do detect the board release. Reason: Otherwise it would be too

 * tedious to have to modify the code for how to turn on and off LEDs when deploying

 * on different HW version....

 */

uint8_t getBoardRelease(void) {

  uint8_t boardRelease = 13;

  // the board release is coded via the pull up or down the 2 status LED

  PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate

  DDRB  &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input

  _delay_loop_2(1000); // make some delay

  switch( PINB & ((1<<PINB1)|(1<<PINB0))) {

    case 0x00:

      boardRelease = 10; // 1.0

      break;

    case 0x01:

      boardRelease = 11; // 1.1 or 1.2

      break;

    case 0x02:

      boardRelease = 20; // 2.0

      break;

    case 0x03:

      boardRelease = 13; // 1.3

      break;

    default:

      break;

    }

  // set LED ports as output

  DDRB |= (1<<DDB1)|(1<<DDB0);

  RED_OFF;

  GRN_OFF;

  return boardRelease;

}

void configuration_setNormalFlightParameters(void) {

  flight_setParameters(staticParams.IFactor, dynamicParams.gyroP,

      staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI,

      dynamicParams.gyroP, staticParams.yawIFactor);

}

void configuration_setFailsafeFlightParameters(void) {

  flight_setParameters(0, 90, 120, 90, 120);

}

// Called after a change in configuration parameters, as a hook for modules to take over changes.

void configuration_paramSetDidChange(void) {

  // This should be OK to do here as long as we don't change parameters during emergency flight. We don't.

  configuration_setNormalFlightParameters();

  // Immediately load changes to output, and also signal the paramset change.

  output_init();

}

void setOtherDefaults(void) {

  // Height Control

  staticParams.airpressureFilterConstant = 8;

  //staticParams.airpressureWindowLength = 0;

  staticParams.airpressureAccZCorrection = 128+56;

  staticParams.heightP = 10;

  staticParams.heightD = 30;

  staticParams.heightSetting = 251;

  staticParams.heightControlMaxThrottleChange = 10;

  staticParams.heightSlewRate = 4;

  // Control

  staticParams.stickP = 8;

  staticParams.stickD = 12;

  staticParams.stickYawP = 12;

  staticParams.stickThrottleD = 12;

  staticParams.minThrottle = 8;

  staticParams.maxThrottle = 230;

  staticParams.externalControl = 0;

  staticParams.motorSmoothing = 0;

  // IMU

  staticParams.gyroPIDFilterConstant = 1;

  staticParams.gyroATTFilterConstant = 1;

  staticParams.gyroDFilterConstant = 1;

  staticParams.accFilterConstant = 10;

  staticParams.gyroP = 60;

  staticParams.gyroI = 80;

  staticParams.gyroD = 4;

  // set by gyro-specific code: gyro_setDefaults().

  // staticParams.zerothOrderCorrection = 

  // staticParams.driftCompDivider = 

  // staticParams.driftCompLimit = 

  staticParams.dynamicStability = 50;

  staticParams.zerothOrderCorrectionAccTolerance = 60;

  staticParams.zerothOrderCorrectionControlTolerance = 60;

  staticParams.IFactor = 52;

  staticParams.yawIFactor = 100;  

  staticParams.compassYawCorrection = 64;

  staticParams.compassP = 50;

  staticParams.levelCorrection[0] = staticParams.levelCorrection[1] = 128;

  // Servos

  staticParams.servoCount = 7;

  staticParams.servoManualMaxSpeed = 10;

  for (uint8_t i=0; i<2; i++) {

    staticParams.servoConfigurations[i].manualControl = 128;

    staticParams.servoConfigurations[i].stabilizationFactor = 0;

    staticParams.servoConfigurations[i].minValue = 32;

    staticParams.servoConfigurations[i].maxValue = 224;

    staticParams.servoConfigurations[i].flags = 0;

  }

  // Battery warning and emergency flight

  staticParams.batteryVoltageWarning = 101;  // 3.7 each for 3S

  staticParams.emergencyThrottle = 35;

  staticParams.emergencyFlightDuration = 30;

  // Outputs

  staticParams.outputFlash[0].bitmask = 1; //0b01011111;

  staticParams.outputFlash[0].timing = 15;

  staticParams.outputFlash[1].bitmask = 3; //0b11110011;

  staticParams.outputFlash[1].timing = 15;

  staticParams.outputDebugMask = 8;

  staticParams.outputFlags   = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS;

  staticParams.naviMode = 0; // free.

  staticParams.maxControlActivity = 0; // temporary!

  staticParams.maxAccVector = 80;

}

/***************************************************/

/*    Default Values for parameter set 1           */

/***************************************************/

void paramSet_default(uint8_t setnumber) {

  setOtherDefaults();

  gyro_setDefaultParameters();

  for (uint8_t i=0; i<8; i++) {

    staticParams.userParams[i] = 0;

  }

  staticParams.bitConfig =

    CFG_GYRO_SATURATION_PREVENTION | CFG_COMPASS_ENABLED;

  memcpy(staticParams.name, "Default\0", 6);

}

/***************************************************/

/*    Default Values for Mixer Table               */

/***************************************************/

void mixerMatrix_default(void) { // Quadro 

  uint8_t i;

  // mixerMatric.revision = EEMIXER_REVISION;

  // clear mixer table (but preset throttle)

  for (i = 0; i < 16; i++) {

    mixerMatrix.motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0;

    mixerMatrix.motor[i][MIX_PITCH] = 0;

    mixerMatrix.motor[i][MIX_ROLL] = 0;

    mixerMatrix.motor[i][MIX_YAW] = 0;

  }

  // default = Quadro

  mixerMatrix.motor[0][MIX_PITCH] = +64;

  mixerMatrix.motor[0][MIX_YAW] = +64;

  mixerMatrix.motor[1][MIX_PITCH] = -64;

  mixerMatrix.motor[1][MIX_YAW] = +64;

  mixerMatrix.motor[2][MIX_ROLL] = -64;

  mixerMatrix.motor[2][MIX_YAW] = -64;

  mixerMatrix.motor[3][MIX_ROLL] = +64;

  mixerMatrix.motor[3][MIX_YAW] = -64;

  memcpy(mixerMatrix.name, "Quadro\0", 7);

  /*

  // default = X

  mixerMatrix.motor[0][MIX_PITCH] = +45;

  mixerMatrix.motor[0][MIX_ROLL]  = +45;

  mixerMatrix.motor[0][MIX_YAW]   = +64;

  mixerMatrix.motor[1][MIX_PITCH] = -45;

  mixerMatrix.motor[1][MIX_ROLL]  = -45;

  mixerMatrix.motor[1][MIX_YAW]   = +64;

  mixerMatrix.motor[2][MIX_PITCH] = +45;

  mixerMatrix.motor[2][MIX_ROLL]  = -45;

  mixerMatrix.motor[2][MIX_YAW]   = -64;

  mixerMatrix.motor[3][MIX_PITCH] = -45;

  mixerMatrix.motor[3][MIX_ROLL]  = +45;

  mixerMatrix.motor[3][MIX_YAW]   = -64;

  */

  memcpy(mixerMatrix.name, "X\0", 7);

}

/***************************************************/

/*    Default Values for R/C Channels              */

/***************************************************/

void channelMap_default(void) {

  channelMap.channels[CH_PITCH]    = 1;

  channelMap.channels[CH_ROLL]     = 0;

  channelMap.channels[CH_THROTTLE] = 2;

  channelMap.channels[CH_YAW]      = 3;

  channelMap.channels[CH_POTS + 0] = 4;

  channelMap.channels[CH_POTS + 1] = 5;

  channelMap.channels[CH_POTS + 2] = 6;

  channelMap.channels[CH_POTS + 3] = 7;

}