Subversion Repositories FlightCtrl

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

// + Copyright (c) 04.2007 Holger Buss

// + Nur für den privaten Gebrauch

// + www.MikroKopter.com

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

// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),

// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zulässig ist.

// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt

// + bzgl. der Nutzungsbedingungen aufzunehmen.

// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,

// + Verkauf von Luftbildaufnahmen, usw.

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

// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,

// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen

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

// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts

// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"

// + eindeutig als Ursprung verlinkt und genannt werden

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

// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion

// + Benutzung auf eigene Gefahr

// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden

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

// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur

// + mit unserer Zustimmung zulässig

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

// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen

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

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

// + this list of conditions and the following disclaimer.

// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived

// +     from this software without specific prior written permission.

// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet

// +     for non-commercial use (directly or indirectly)

// +     Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted

// +     with our written permission

// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be

// +     clearly linked as origin

// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed

// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE

// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR

// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF

// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS

// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN

// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)

// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

// +  POSSIBILITY OF SUCH DAMAGE.

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

#include <util/delay.h>

#include <stddef.h>

#include <string.h>

#include "configuration.h"

#include "sensors.h"

#include "rc.h"

int16_t variables[VARIABLE_COUNT];

paramset_t staticParams;

channelMap_t channelMap;

mixerMatrix_t mixerMatrix;

dynamicParam_t dynamicParams;

uint8_t CPUType = ATMEGA644;

uint8_t boardRelease = 13;

uint8_t requiredMotors;

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

uint16_t isFlying = 0;

volatile uint8_t MKFlags = 0;

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

 * Map the parameter to pot values                                    

 * Replacing this code by the code below saved almost 1 kbyte.

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

void configuration_applyVariablesToParams(void) {

  uint8_t i;

#define SET_POT_MM(b,a,min,max) {if (a<255) {if (a>=255-VARIABLE_COUNT) b=variables[a+VARIABLE_COUNT-255]; else b=a;} if(b<=min) b=min; else if(b>=max) b=max;}

#define SET_POT(b,a) { if (a<255) {if (a>=255-VARIABLE_COUNT) b=variables[a+VARIABLE_COUNT-255]; else b=a;}}

  SET_POT_MM(dynamicParams.gyroP, staticParams.gyroP, 5, 200);

  SET_POT(dynamicParams.gyroI, staticParams.gyroI);

  SET_POT(dynamicParams.gyroD, staticParams.gyroD);

  SET_POT(dynamicParams.IFactor, staticParams.IFactor);

  SET_POT(dynamicParams.yawIFactor, staticParams.yawIFactor);

  SET_POT(dynamicParams.compassYawEffect,staticParams.compassYawEffect);

  SET_POT(dynamicParams.externalControl, staticParams.externalControl);

  SET_POT(dynamicParams.axisCoupling1, staticParams.axisCoupling1);

  SET_POT(dynamicParams.axisCoupling2, staticParams.axisCoupling2);

  SET_POT(dynamicParams.axisCouplingYawCorrection, staticParams.axisCouplingYawCorrection);

  SET_POT(dynamicParams.dynamicStability,staticParams.dynamicStability);

  SET_POT(dynamicParams.maxControlActivityForAcc,staticParams.maxControlActivityForAcc);

  SET_POT_MM(dynamicParams.heightP, staticParams.heightP,0,100);

  SET_POT_MM(dynamicParams.heightD, staticParams.heightD,0,100);

  SET_POT(dynamicParams.heightSetting,staticParams.heightSetting);

  SET_POT(dynamicParams.heightACCEffect,staticParams.heightACCEffect);

  SET_POT(dynamicParams.attitudeControl,staticParams.attitudeControl);

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

    SET_POT(dynamicParams.userParams[i],staticParams.userParams[i]);

  }

  SET_POT(dynamicParams.servoManualControl[0], staticParams.servoConfigurations[0].manualControl);

  SET_POT(dynamicParams.servoManualControl[1], staticParams.servoConfigurations[1].manualControl);

  SET_POT_MM(dynamicParams.output0Timing, staticParams.outputFlash[0].timing,1,255);

  SET_POT_MM(dynamicParams.output1Timing, staticParams.outputFlash[1].timing,1,255);

}

const XLATION XLATIONS[] = {

  {offsetof(paramset_t, heightSetting), offsetof(dynamicParam_t, heightSetting)},

};

const MMXLATION MMXLATIONS[] = {

  {offsetof(paramset_t, heightD), offsetof(dynamicParam_t, heightD),0,100},

};

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

  uint8_t result;

  if (src>=251) result = variables[src-251];

  else result = src;

  if (result < min) result = min;

  else if (result > max) result = max;

  return result;

}

void configuration_applyVariablesToParams_dead(void) {

  uint8_t i, src;

  uint8_t* pointerToTgt;

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

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

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

    if (src < 255) {

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

    }

  }

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

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

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

    if (src < 255) {

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

    }

  }

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

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

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

    if (src < 255) {

      *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 setOtherDefaults(void) {

  // Height Control

  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;

  // IMU

  staticParams.gyroPIDFilterConstant = 1;

  staticParams.gyroATTFilterConstant = 1;

  staticParams.gyroDFilterConstant = 1;

  staticParams.accFilterConstant = 4;

  staticParams.gyroP = 60;

  staticParams.gyroI = 80;

  staticParams.gyroD = 4;

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

  // staticParams.zerothOrderCorrection = 

  // staticParams.driftCompDivider = 

  // staticParams.driftCompLimit = 

  staticParams.axisCoupling1 = 90;

  staticParams.axisCoupling2 = 67;

  staticParams.axisCouplingYawCorrection = 0;

  staticParams.dynamicStability = 50;

  staticParams.IFactor = 32;  

  staticParams.compassYawEffect = 128;

  // Servos

  for (uint8_t i=0; i<2; i++) {

    staticParams.servoConfigurations[i].manualControl = 128;

    staticParams.servoConfigurations[i].compensationFactor = 0;

    staticParams.servoConfigurations[i].minValue = 64;

    staticParams.servoConfigurations[i].maxValue = 192;

    staticParams.servoConfigurations[i].flags = 0;

  }

  staticParams.servoCount = 4;

  // 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 = 16;

  staticParams.outputOptions = 8;

}

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

/*    Default Values for parameter set 1           */

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

void paramSet_default(uint8_t setnumber) {

  setOtherDefaults();

  gyro_setDefaults();

  for (uint8_t i=0; i<8; i++) {

    staticParams.userParams[i] = 0;

  }

  staticParams.bitConfig =

    CFG_GYRO_SATURATION_PREVENTION | CFG_HEADING_HOLD;

  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 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;

}