WebSVN - FlightCtrl - Diff - Rev 2025 and 2099 - /branches/dongfang_FC

 #include <util/delay.h>
-#include <avr/eeprom.h>
 #include <stddef.h>
+#include <string.h>
 #include "configuration.h"
-#include "eeprom.h"
+#include "sensors.h"
-#include "uart0.h"
+#include "rc.h"
+#include "output.h"
+#include "flight.h"
-int16_t variables[8] = {0,0,0,0,0,0,0,0};
+int16_t variables[VARIABLE_COUNT];
+ParamSet_t staticParams;
+channelMap_t channelMap;
+IMUConfig_t IMUConfig;
+volatile DynamicParams_t dynamicParams;
-dynamicParam_t dynamicParams;
+uint8_t CPUType;
-uint8_t CPUType = ATMEGA644;
+uint8_t boardRelease;
-uint8_t BoardRelease = 13;
+uint8_t requiredMotors;
-/************************************************************************
- * Map the parameter to pot values
+VersionInfo_t versionInfo;
- * Replacing this code by the code below saved almost 1 kbyte.
+// MK flags. TODO: Replace by enum. State machine.
+uint16_t isFlying = 0;
- ************************************************************************/
+volatile uint8_t MKFlags = 0;
-void configuration_staticToDynamic(void) {
+const MMXLATION XLATIONS[] = {
-  uint8_t i;
-#define SET_POT_MM(b,a,min,max) {if (a<255) {if (a>=251) b=variables[a-251]; else b=a;} if(b<=min) b=min; else if(b>=max) b=max;}
-#define SET_POT(b,a) { if (a<255) {if (a>=251) b=variables[a-251]; else b=a;}}
+{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255},
-  SET_POT(dynamicParams.MaxHeight,staticParams.MaxHeight);
+{offsetof(ParamSet_t, servoConfigurations[0].manualControl), offsetof(DynamicParams_t, servoManualControl[0]),0,255},
-  SET_POT_MM(dynamicParams.HeightD,staticParams.HeightD,0,100);
+{offsetof(ParamSet_t, servoConfigurations[1].manualControl), offsetof(DynamicParams_t, servoManualControl[1]),0,255},
-  SET_POT_MM(dynamicParams.HeightP,staticParams.HeightP,0,100);
+{offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255},
-    SET_POT(dynamicParams.CompassYawEffect,staticParams.CompassYawEffect);
+{offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255},
+};
-  SET_POT(dynamicParams.GyroPitchP,staticParams.GyroPitchP);
+uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) {
-  SET_POT(dynamicParams.GyroRollP,staticParams.GyroRollP);
+  uint8_t result;
-  SET_POT(dynamicParams.GyroYawP,staticParams.GyroYawP);
+  if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)];
-  SET_POT(dynamicParams.GyroPitchD,staticParams.GyroPitchD);
+  else result = src;
-  SET_POT(dynamicParams.GyroRollD,staticParams.GyroRollD);
+  if (result < min) result = min;
-  SET_POT(dynamicParams.GyroYawD,staticParams.GyroYawD);
+  else if (result > max) result = max;
+  return result;
+}
+void configuration_applyVariablesToParams(void) {
+  uint8_t i, src;
+  uint8_t* pointerToTgt;
-  for (i=0; i<sizeof(staticParams.UserParams); i++) {
+  for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) {
+    src = *((uint8_t*)(&staticParams) + XLATIONS[i].sourceIdx);
+    pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx;
-    SET_POT(dynamicParams.UserParams[i],staticParams.UserParams[i]);
+    *pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max);
+  }
-  }
+  // User parameters are always variable.
-  SET_POT_MM(dynamicParams.J16Timing,staticParams.J16Timing,1,255);
-  SET_POT_MM(dynamicParams.J17Timing,staticParams.J17Timing,1,255);
+  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);
-  SET_POT(dynamicParams.ExternalControl,staticParams.ExternalControl);
+  }
-}
+}
-uint8_t getCPUType(void) {   // works only after reset or power on when the registers have default values
-  uint8_t CPUType = ATMEGA644;
+void setCPUType(void) {   // works only after reset or power on when the registers have default values
-  //if( (UCSR1A == 0x20) && (UCSR1C == 0x06) ) CPUType = ATMEGA644P;  // initial Values for 644P after reset
+  if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P;  // initial Values for 644P after reset
-  return CPUType;
+  else CPUType = ATMEGA644;
+}
  * 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) {
+void setBoardRelease(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
+      boardRelease = 10; // 1.0
       break;
     case 0x01:
-      BoardRelease = 11; // 1.1 or 1.2
+      boardRelease = 11; // 1.1 or 1.2
       break;
     case 0x02:
-      BoardRelease = 20; // 2.0
+      boardRelease = 20; // 2.0
       break;
     case 0x03:
-      BoardRelease = 13; // 1.3
+      boardRelease = 13; // 1.3
       break;
     default:
       break;
     }
   // set LED ports as output
+  DDRB |= (1<<DDB1)|(1<<DDB0);
+  RED_OFF;
+  GRN_OFF;
+}
+void configuration_setFlightParameters() {
+  // Implement: Update of stuff in flight.c
+}
+// 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_setFlightParameters();
+  // Immediately load changes to output, and also signal the paramset change.
+  output_init();
+}
+void setOtherDefaults(void) {
+  // Control
+  staticParams.externalControl = 0;
+  staticParams.IFactor = 52;
+  // 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;
+}
+/***************************************************/
+/*    Default Values for parameter set 1           */
+/***************************************************/
+void paramSet_default(uint8_t setnumber) {
+  setOtherDefaults();
+  for (uint8_t i=0; i<8; i++) {
+    staticParams.userParams[i] = i;
+  }
+  staticParams.bitConfig =
+    CFG_GYRO_SATURATION_PREVENTION | CFG_COMPASS_ENABLED;
+  memcpy(staticParams.name, "Default\0", 6);
+}
+void IMUConfig_default(void) {
+  IMUConfig.gyroPIDFilterConstant = 1;
-  DDRB |= (1<<DDB1)|(1<<DDB0);
+  IMUConfig.gyroDFilterConstant = 1;
+  IMUConfig.accFilterConstant = 10;
+  IMUConfig.rateTolerance = 120;
+  gyro_setDefaultParameters();
+}
+/***************************************************/
+/*    Default Values for R/C Channels              */
+/***************************************************/
+void channelMap_default(void) {
+  channelMap.channels[CH_ELEVATOR] = 1;
+  channelMap.channels[CH_AILERONS] = 0;
+  channelMap.channels[CH_THROTTLE] = 2;
+  channelMap.channels[CH_RUDDER]   = 3;
+  channelMap.channels[CH_POTS + 0] = 4;
-  RED_ON;
+  channelMap.channels[CH_POTS + 1] = 5;

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_fixedwing/configuration.c - Rev 2025 → 2099