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Rev | Author | Line No. | Line |
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1910 | - | 1 | #include <util/delay.h> |
2 | #include <stddef.h> |
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2099 | - | 3 | #include <string.h> |
1910 | - | 4 | #include "configuration.h" |
2099 | - | 5 | #include "sensors.h" |
6 | #include "rc.h" |
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7 | #include "output.h" |
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8 | #include "flight.h" |
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1910 | - | 9 | |
2099 | - | 10 | int16_t variables[VARIABLE_COUNT]; |
11 | ParamSet_t staticParams; |
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12 | channelMap_t channelMap; |
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13 | IMUConfig_t IMUConfig; |
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14 | volatile DynamicParams_t dynamicParams; |
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2025 | - | 15 | |
2099 | - | 16 | uint8_t CPUType; |
17 | uint8_t boardRelease; |
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18 | uint8_t requiredMotors; |
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1910 | - | 19 | |
2099 | - | 20 | VersionInfo_t versionInfo; |
1910 | - | 21 | |
2099 | - | 22 | // MK flags. TODO: Replace by enum. State machine. |
2102 | - | 23 | FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL; |
24 | volatile uint8_t isMotorRunning = 0; |
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1910 | - | 25 | |
2099 | - | 26 | const MMXLATION XLATIONS[] = { |
27 | {offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255}, |
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28 | {offsetof(ParamSet_t, servoConfigurations[0].manualControl), offsetof(DynamicParams_t, servoManualControl[0]),0,255}, |
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29 | {offsetof(ParamSet_t, servoConfigurations[1].manualControl), offsetof(DynamicParams_t, servoManualControl[1]),0,255}, |
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30 | {offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255}, |
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31 | {offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255}, |
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32 | }; |
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1910 | - | 33 | |
2099 | - | 34 | uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) { |
35 | uint8_t result; |
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36 | if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)]; |
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37 | else result = src; |
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38 | if (result < min) result = min; |
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39 | else if (result > max) result = max; |
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40 | return result; |
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41 | } |
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1910 | - | 42 | |
2099 | - | 43 | void configuration_applyVariablesToParams(void) { |
44 | uint8_t i, src; |
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45 | uint8_t* pointerToTgt; |
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46 | |||
47 | for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) { |
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48 | src = *((uint8_t*)(&staticParams) + XLATIONS[i].sourceIdx); |
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49 | pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx; |
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50 | *pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max); |
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1910 | - | 51 | } |
2025 | - | 52 | |
2099 | - | 53 | // User parameters are always variable. |
54 | for (i=0; i<sizeof(staticParams.userParams); i++) { |
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55 | src = *((uint8_t*)(&staticParams) + offsetof(ParamSet_t, userParams) + i); |
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56 | pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i; |
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57 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
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58 | } |
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1910 | - | 59 | } |
60 | |||
2099 | - | 61 | void setCPUType(void) { // works only after reset or power on when the registers have default values |
62 | if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P; // initial Values for 644P after reset |
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63 | else CPUType = ATMEGA644; |
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1910 | - | 64 | } |
65 | |||
66 | /* |
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67 | * Automatic detection of hardware components is not supported in this development-oriented |
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68 | * FC firmware. It would go against the point of it: To enable alternative hardware |
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69 | * configurations with otherwise unsupported components. Instead, one should write |
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70 | * custom code + adjust constants for the new hardware, and include the relevant code |
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71 | * from the makefile. |
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72 | * However - we still do detect the board release. Reason: Otherwise it would be too |
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73 | * tedious to have to modify the code for how to turn on and off LEDs when deploying |
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74 | * on different HW version.... |
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75 | */ |
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2099 | - | 76 | void setBoardRelease(void) { |
1910 | - | 77 | // the board release is coded via the pull up or down the 2 status LED |
78 | |||
79 | PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
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80 | DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
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81 | |||
82 | _delay_loop_2(1000); // make some delay |
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83 | |||
84 | switch( PINB & ((1<<PINB1)|(1<<PINB0))) { |
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85 | case 0x00: |
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2099 | - | 86 | boardRelease = 10; // 1.0 |
1910 | - | 87 | break; |
88 | case 0x01: |
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2099 | - | 89 | boardRelease = 11; // 1.1 or 1.2 |
1910 | - | 90 | break; |
91 | case 0x02: |
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2099 | - | 92 | boardRelease = 20; // 2.0 |
1910 | - | 93 | break; |
94 | case 0x03: |
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2099 | - | 95 | boardRelease = 13; // 1.3 |
1910 | - | 96 | break; |
97 | default: |
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98 | break; |
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99 | } |
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100 | // set LED ports as output |
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101 | DDRB |= (1<<DDB1)|(1<<DDB0); |
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2099 | - | 102 | RED_OFF; |
1910 | - | 103 | GRN_OFF; |
104 | } |
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2099 | - | 105 | |
2102 | - | 106 | void configuration_setFlightParameters(uint8_t newFlightMode) { |
107 | updateFlightParametersToFlightMode(currentFlightMode = newFlightMode); |
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2099 | - | 108 | } |
109 | |||
110 | // Called after a change in configuration parameters, as a hook for modules to take over changes. |
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111 | void configuration_paramSetDidChange(void) { |
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112 | // This should be OK to do here as long as we don't change parameters during emergency flight. We don't. |
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2102 | - | 113 | configuration_setFlightParameters(currentFlightMode); |
2099 | - | 114 | // Immediately load changes to output, and also signal the paramset change. |
115 | output_init(); |
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116 | } |
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117 | |||
118 | void setOtherDefaults(void) { |
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119 | // Control |
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120 | staticParams.externalControl = 0; |
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121 | staticParams.IFactor = 52; |
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122 | |||
123 | // Servos |
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124 | staticParams.servoCount = 7; |
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125 | staticParams.servoManualMaxSpeed = 10; |
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126 | for (uint8_t i=0; i<2; i++) { |
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127 | staticParams.servoConfigurations[i].manualControl = 128; |
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128 | staticParams.servoConfigurations[i].stabilizationFactor = 0; |
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129 | staticParams.servoConfigurations[i].minValue = 32; |
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130 | staticParams.servoConfigurations[i].maxValue = 224; |
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131 | staticParams.servoConfigurations[i].flags = 0; |
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132 | } |
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133 | |||
134 | // Battery warning and emergency flight |
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135 | staticParams.batteryVoltageWarning = 101; // 3.7 each for 3S |
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136 | staticParams.emergencyThrottle = 35; |
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137 | staticParams.emergencyFlightDuration = 30; |
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138 | |||
139 | // Outputs |
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140 | staticParams.outputFlash[0].bitmask = 1; //0b01011111; |
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141 | staticParams.outputFlash[0].timing = 15; |
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142 | staticParams.outputFlash[1].bitmask = 3; //0b11110011; |
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143 | staticParams.outputFlash[1].timing = 15; |
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144 | |||
145 | staticParams.outputDebugMask = 8; |
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146 | staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS; |
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147 | } |
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148 | |||
149 | /***************************************************/ |
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150 | /* Default Values for parameter set 1 */ |
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151 | /***************************************************/ |
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152 | void paramSet_default(uint8_t setnumber) { |
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153 | setOtherDefaults(); |
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154 | |||
155 | for (uint8_t i=0; i<8; i++) { |
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156 | staticParams.userParams[i] = i; |
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157 | } |
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158 | |||
159 | staticParams.bitConfig = |
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160 | CFG_GYRO_SATURATION_PREVENTION | CFG_COMPASS_ENABLED; |
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161 | |||
162 | memcpy(staticParams.name, "Default\0", 6); |
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163 | } |
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164 | |||
165 | void IMUConfig_default(void) { |
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166 | IMUConfig.gyroPIDFilterConstant = 1; |
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167 | IMUConfig.gyroDFilterConstant = 1; |
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168 | IMUConfig.accFilterConstant = 10; |
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169 | IMUConfig.rateTolerance = 120; |
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170 | gyro_setDefaultParameters(); |
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171 | } |
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172 | |||
173 | /***************************************************/ |
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174 | /* Default Values for R/C Channels */ |
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175 | /***************************************************/ |
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176 | void channelMap_default(void) { |
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177 | channelMap.channels[CH_ELEVATOR] = 1; |
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178 | channelMap.channels[CH_AILERONS] = 0; |
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179 | channelMap.channels[CH_THROTTLE] = 2; |
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180 | channelMap.channels[CH_RUDDER] = 3; |
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181 | channelMap.channels[CH_POTS + 0] = 4; |
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182 | channelMap.channels[CH_POTS + 1] = 5; |
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183 | channelMap.channels[CH_POTS + 2] = 6; |
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184 | channelMap.channels[CH_POTS + 3] = 7; |
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185 | } |