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Line 54... Line 54...
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#include <string.h>
 54 
#include <string.h>
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#include "configuration.h"
 55 
#include "configuration.h"
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#include "sensors.h"
 56 
#include "sensors.h"
57 
#include "rc.h"
 57 
#include "rc.h"
58 
#include "output.h"
 58 
#include "output.h"
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 59 
#include "flight.h"
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 60 
 
60 
int16_t variables[VARIABLE_COUNT];
 61 
int16_t variables[VARIABLE_COUNT];
61 
ParamSet_t staticParams;
 62 
ParamSet_t staticParams;
62 
channelMap_t channelMap;
 63 
channelMap_t channelMap;
63 
mixerMatrix_t mixerMatrix;
 64 
mixerMatrix_t mixerMatrix;
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64 
volatile dynamicParam_t dynamicParams;
 65 
volatile DynamicParams_t dynamicParams;
65 
 
 66 
 
66 
uint8_t CPUType = ATMEGA644;
 67 
uint8_t CPUType = ATMEGA644;
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71 
 
 72 
 
72 
// MK flags. TODO: Replace by enum. State machine.
 73 
// MK flags. TODO: Replace by enum. State machine.
73 
uint16_t isFlying = 0;
 74 
uint16_t isFlying = 0;
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74 
volatile uint8_t MKFlags = 0;
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75 
 
 75 
volatile uint8_t MKFlags = 0;
76 
/************************************************************************
 76 
 
77 
 * Map the parameter to pot values                                    
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78 
 * Replacing this code by the code below saved almost 1 kbyte.
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79 
 ************************************************************************/
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80 
 
 - 
 
81 
void configuration_applyVariablesToParams(void) {
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82 
  uint8_t i;
 - 
 
83 
 
 77 
const MMXLATION XLATIONS[] = {
84 
#define SET_POT_MM(b,a,min,max) {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;}
 78 
{offsetof(ParamSet_t, levelCorrection[0]), offsetof(DynamicParams_t, levelCorrection[0]),0,255},
85 
#define SET_POT(b,a) {if (a>=255-VARIABLE_COUNT) b=variables[a+VARIABLE_COUNT-255]; else b=a;}
 79 
{offsetof(ParamSet_t, levelCorrection[1]), offsetof(DynamicParams_t, levelCorrection[1]),0,255},
86 
  SET_POT_MM(dynamicParams.gyroP, staticParams.gyroP, 5, 200);
 80 
{offsetof(ParamSet_t, gyroP), offsetof(DynamicParams_t, gyroP),0,255},
87 
  SET_POT(dynamicParams.gyroI, staticParams.gyroI);
 81 
{offsetof(ParamSet_t, gyroI), offsetof(DynamicParams_t, gyroI),0,255},
88 
  SET_POT(dynamicParams.gyroD, staticParams.gyroD);
 - 
 
89 
  //SET_POT(dynamicParams.compassControlHeading,staticParams.compassControlHeading);
 82 
{offsetof(ParamSet_t, gyroD), offsetof(DynamicParams_t, gyroD),0,255},
90 
 
 83 
{offsetof(ParamSet_t, attitudeControl), offsetof(DynamicParams_t, attitudeControl),0,255},
91 
  SET_POT(dynamicParams.externalControl, staticParams.externalControl);
 - 
 
92 
  SET_POT(dynamicParams.dynamicStability,staticParams.dynamicStability);
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93 
  SET_POT(dynamicParams.maxAccVector,staticParams.maxAccVector);
 84 
{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255},
94 
 
 85 
{offsetof(ParamSet_t, dynamicStability), offsetof(DynamicParams_t, dynamicStability),0,255},
95 
  SET_POT(dynamicParams.heightP, staticParams.heightP);
 86 
{offsetof(ParamSet_t, heightP), offsetof(DynamicParams_t, heightP),0,255},
96 
  SET_POT(dynamicParams.heightI, staticParams.heightI);
 87 
{offsetof(ParamSet_t, heightI), offsetof(DynamicParams_t, heightI),0,255},
97 
  SET_POT(dynamicParams.heightD, staticParams.heightD);
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98 
  SET_POT(dynamicParams.heightSetting,staticParams.heightSetting);
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99 
 
 - 
 
100 
  SET_POT(dynamicParams.attitudeControl,staticParams.attitudeControl);
 88 
{offsetof(ParamSet_t, heightD), offsetof(DynamicParams_t, heightD),0,255},
101 
 
 89 
{offsetof(ParamSet_t, heightSetting), offsetof(DynamicParams_t, heightSetting),0,255},
102 
  SET_POT(dynamicParams.servoManualControl[0], staticParams.servoConfigurations[0].manualControl);
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103 
  SET_POT(dynamicParams.servoManualControl[1], staticParams.servoConfigurations[1].manualControl);
 90 
{offsetof(ParamSet_t, servoConfigurations[0].manualControl), offsetof(DynamicParams_t, servoManualControl[0]),0,255},
104 
 
 - 
 
105 
  SET_POT_MM(dynamicParams.output0Timing, staticParams.outputFlash[0].timing,1,255);
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106 
  SET_POT_MM(dynamicParams.output1Timing, staticParams.outputFlash[1].timing,1,255);
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107 
 
 - 
 
108 
  SET_POT(dynamicParams.levelCorrection[0], staticParams.levelCorrection[0]);
 - 
 
109 
  SET_POT(dynamicParams.levelCorrection[1], staticParams.levelCorrection[1]);
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110 
 
 - 
 
111 
  SET_POT(dynamicParams.naviMode, staticParams.naviMode);
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112 
 
 - 
 
113 
  for (i=0; i<sizeof(staticParams.userParams); i++) {
 - 
 
114 
    SET_POT(dynamicParams.userParams[i],staticParams.userParams[i]);
 - 
 
115 
  }
 - 
 
116 
}
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117 
 
 91 
{offsetof(ParamSet_t, servoConfigurations[1].manualControl), offsetof(DynamicParams_t, servoManualControl[1]),0,255},
118 
const XLATION XLATIONS[] = {
 - 
 
119 
  {offsetof(ParamSet_t, heightSetting), offsetof(dynamicParam_t, heightSetting)},
 - 
 
120 
};
 - 
 
121 
 
 92 
{offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255},
122 
const MMXLATION MMXLATIONS[] = {
 - 
 
Line 123... Line 93...
123 
  {offsetof(ParamSet_t, heightD), offsetof(dynamicParam_t, heightD),0,100},
 93 
{offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255},
124 
};
 94 
{offsetof(ParamSet_t, naviMode), offsetof(DynamicParams_t, naviMode),0,255}};
125 
 
 95 
 
126 
uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) {
 96 
uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) {
127 
  uint8_t result;
 97 
  uint8_t result;
128 
  if (src>=251) result = variables[src-251];
 98 
  if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)];
129 
  else result = src;
 99 
  else result = src;
130 
  if (result < min) result = min;
 100 
  if (result < min) result = min;
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131 
  else if (result > max) result = max;
 101 
  else if (result > max) result = max;
132 
  return result;
 102 
  return result;
133 
}
 103 
}
134 
 
 - 
 
135 
void configuration_applyVariablesToParams_dead(void) {
 - 
 
136 
  uint8_t i, src;
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137 
  uint8_t* pointerToTgt;
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138 
  for(i=0; i<sizeof(XLATIONS)/sizeof(XLATION); i++) {
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139 
    src = *((uint8_t*)(&staticParams + XLATIONS[i].sourceIdx));
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140 
    pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx);
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    if (src < 255) {
 104 
 
142 
      *pointerToTgt = configuration_applyVariableToParam(src, 0, 255);
 105 
void configuration_applyVariablesToParams(void) {
143 
    }
 106 
  uint8_t i, src;
144 
  }
 - 
 
145 
 
 107 
  uint8_t* pointerToTgt;
146 
  for(i=0; i<sizeof(MMXLATIONS)/sizeof(MMXLATION); i++) {
 - 
 
147 
    src = *((uint8_t*)(&staticParams + MMXLATIONS[i].sourceIdx));
 108 
 
148 
    pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx);
 109 
  for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) {
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 110 
    src = *((uint8_t*)(&staticParams) + XLATIONS[i].sourceIdx);
149 
    if (src < 255) {
 111 
    pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx;
150 
      *pointerToTgt = configuration_applyVariableToParam(src, MMXLATIONS[i].min, MMXLATIONS[i].max);
 112 
    *pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max);
151 
    }
 113 
  }
152 
  }
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153 
 
 114 
 
154 
  for (i=0; i<sizeof(staticParams.userParams); i++) {
 - 
 
155 
    src = *((uint8_t*)(&staticParams + offsetof(ParamSet_t, userParams) + i));
 115 
  // User parameters are always variable.
156 
    pointerToTgt = (uint8_t*)(&dynamicParams + offsetof(dynamicParam_t, userParams) + i);
 116 
  for (i=0; i<sizeof(staticParams.userParams); i++) {
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157 
    if (src < 255) {
 117 
    src = *((uint8_t*)(&staticParams) + offsetof(ParamSet_t, userParams) + i);
158 
      *pointerToTgt = configuration_applyVariableToParam(src, 0, 255);
 118 
    pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i;
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174 
 * from the makefile.
 134 
 * from the makefile.
175 
 * However - we still do detect the board release. Reason: Otherwise it would be too
 135 
 * However - we still do detect the board release. Reason: Otherwise it would be too
176 
 * tedious to have to modify the code for how to turn on and off LEDs when deploying
 136 
 * tedious to have to modify the code for how to turn on and off LEDs when deploying
177 
 * on different HW version....
 137 
 * on different HW version....
178 
 */
 138 
 */
179 
 
 - 
 
180 
uint8_t getBoardRelease(void) {
 139 
uint8_t getBoardRelease(void) {
181 
  uint8_t boardRelease = 13;
 140 
  uint8_t boardRelease = 13;
182 
  // the board release is coded via the pull up or down the 2 status LED
 141 
  // the board release is coded via the pull up or down the 2 status LED
Line 183... Line 142...
183 
 
 142 
 
Line 207... Line 166...
207 
  RED_OFF;
 166 
  RED_OFF;
208 
  GRN_OFF;
 167 
  GRN_OFF;
209 
  return boardRelease;
 168 
  return boardRelease;
210 
}
 169 
}
Line -... Line 170...
- 
 
 170 
 
- 
 
 171 
void configuration_setNormalFlightParameters(void) {
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 172 
  flight_setParameters(staticParams.IFactor, dynamicParams.gyroP,
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 173 
      staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI,
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 174 
      dynamicParams.gyroP, staticParams.yawIFactor);
- 
 
 175 
}
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 176 
 
- 
 
 177 
void configuration_setFailsafeFlightParameters(void) {
- 
 
 178 
  flight_setParameters(0, 90, 120, 90, 120);
- 
 
 179 
}
- 
 
 180 
 
- 
 
 181 
// Called after a change in configuration parameters, as a hook for modules to take over changes.
- 
 
 182 
void configuration_paramSetDidChange(void) {
- 
 
 183 
  // This should be OK to do here as long as we don't change parameters during emergency flight. We don't.
- 
 
 184 
  configuration_setNormalFlightParameters();
- 
 
 185 
  // Immediately load changes to output, and also signal the paramset change.
- 
 
 186 
  output_init();
- 
 
 187 
}
211 
 
 188 
 
212 
void setOtherDefaults(void) {
 189 
void setOtherDefaults(void) {
213 
  // Height Control
 190 
  // Height Control
214 
  staticParams.airpressureFilterConstant = 8;
 191 
  staticParams.airpressureFilterConstant = 8;
215 
  //staticParams.airpressureWindowLength = 0;
 192 
  //staticParams.airpressureWindowLength = 0;
Line 244... Line 221...
244 
  // staticParams.zerothOrderCorrection =
221 
  // staticParams.zerothOrderCorrection =
245 
  // staticParams.driftCompDivider =
222 
  // staticParams.driftCompDivider =
246 
  // staticParams.driftCompLimit =
223 
  // staticParams.driftCompLimit =
Line 247... Line 224...
247 
 
 224 
 
248 
  staticParams.dynamicStability = 50;
 225 
  staticParams.dynamicStability = 50;
- 
 
 226 
  staticParams.zerothOrderCorrectionAccTolerance = 60;
249 
  staticParams.maxAccVector = 10;
 227 
  staticParams.zerothOrderCorrectionControlTolerance = 60;
250 
  staticParams.IFactor = 52;
 228 
  staticParams.IFactor = 52;
251 
  staticParams.yawIFactor = 100;  
 229 
  staticParams.yawIFactor = 100;  
252 
  staticParams.compassYawCorrection = 64;
 230 
  staticParams.compassYawCorrection = 64;
253 
  staticParams.compassP = 50;
 231 
  staticParams.compassP = 50;