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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 | |
2102 | - | 22 | FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL; |
2108 | - | 23 | volatile uint16_t isFlying= 0; |
1910 | - | 24 | |
2099 | - | 25 | const MMXLATION XLATIONS[] = { |
26 | {offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255}, |
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2104 | - | 27 | |
28 | {offsetof(ParamSet_t, gyroPID[0].P), offsetof(DynamicParams_t, gyroPID[0].P),0,255}, |
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29 | {offsetof(ParamSet_t, gyroPID[0].I), offsetof(DynamicParams_t, gyroPID[0].I),0,255}, |
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30 | {offsetof(ParamSet_t, gyroPID[0].D), offsetof(DynamicParams_t, gyroPID[0].D),0,255}, |
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31 | |||
32 | {offsetof(ParamSet_t, gyroPID[1].P), offsetof(DynamicParams_t, gyroPID[1].P),0,255}, |
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33 | {offsetof(ParamSet_t, gyroPID[1].I), offsetof(DynamicParams_t, gyroPID[1].I),0,255}, |
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34 | {offsetof(ParamSet_t, gyroPID[1].D), offsetof(DynamicParams_t, gyroPID[1].D),0,255}, |
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35 | |||
36 | {offsetof(ParamSet_t, gyroPID[2].P), offsetof(DynamicParams_t, gyroPID[2].P),0,255}, |
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37 | {offsetof(ParamSet_t, gyroPID[2].I), offsetof(DynamicParams_t, gyroPID[2].I),0,255}, |
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38 | {offsetof(ParamSet_t, gyroPID[2].D), offsetof(DynamicParams_t, gyroPID[2].D),0,255}, |
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39 | |||
2099 | - | 40 | {offsetof(ParamSet_t, servoConfigurations[0].manualControl), offsetof(DynamicParams_t, servoManualControl[0]),0,255}, |
41 | {offsetof(ParamSet_t, servoConfigurations[1].manualControl), offsetof(DynamicParams_t, servoManualControl[1]),0,255}, |
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42 | {offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255}, |
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43 | {offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255}, |
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44 | }; |
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1910 | - | 45 | |
2099 | - | 46 | uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) { |
47 | uint8_t result; |
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48 | if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)]; |
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49 | else result = src; |
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50 | if (result < min) result = min; |
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51 | else if (result > max) result = max; |
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52 | return result; |
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53 | } |
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1910 | - | 54 | |
2099 | - | 55 | void configuration_applyVariablesToParams(void) { |
56 | uint8_t i, src; |
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57 | uint8_t* pointerToTgt; |
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58 | |||
59 | for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) { |
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60 | src = *((uint8_t*)(&staticParams) + XLATIONS[i].sourceIdx); |
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61 | pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx; |
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62 | *pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max); |
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1910 | - | 63 | } |
2025 | - | 64 | |
2099 | - | 65 | // User parameters are always variable. |
66 | for (i=0; i<sizeof(staticParams.userParams); i++) { |
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67 | src = *((uint8_t*)(&staticParams) + offsetof(ParamSet_t, userParams) + i); |
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68 | pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i; |
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69 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
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70 | } |
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1910 | - | 71 | } |
72 | |||
2099 | - | 73 | void setCPUType(void) { // works only after reset or power on when the registers have default values |
74 | if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P; // initial Values for 644P after reset |
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75 | else CPUType = ATMEGA644; |
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1910 | - | 76 | } |
77 | |||
78 | /* |
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79 | * Automatic detection of hardware components is not supported in this development-oriented |
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80 | * FC firmware. It would go against the point of it: To enable alternative hardware |
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81 | * configurations with otherwise unsupported components. Instead, one should write |
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82 | * custom code + adjust constants for the new hardware, and include the relevant code |
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83 | * from the makefile. |
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84 | * However - we still do detect the board release. Reason: Otherwise it would be too |
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85 | * tedious to have to modify the code for how to turn on and off LEDs when deploying |
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86 | * on different HW version.... |
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87 | */ |
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2099 | - | 88 | void setBoardRelease(void) { |
1910 | - | 89 | // the board release is coded via the pull up or down the 2 status LED |
90 | |||
91 | PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
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92 | DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
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93 | |||
94 | _delay_loop_2(1000); // make some delay |
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95 | |||
96 | switch( PINB & ((1<<PINB1)|(1<<PINB0))) { |
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97 | case 0x00: |
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2099 | - | 98 | boardRelease = 10; // 1.0 |
1910 | - | 99 | break; |
100 | case 0x01: |
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2099 | - | 101 | boardRelease = 11; // 1.1 or 1.2 |
1910 | - | 102 | break; |
103 | case 0x02: |
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2099 | - | 104 | boardRelease = 20; // 2.0 |
1910 | - | 105 | break; |
106 | case 0x03: |
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2099 | - | 107 | boardRelease = 13; // 1.3 |
1910 | - | 108 | break; |
109 | default: |
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110 | break; |
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111 | } |
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112 | // set LED ports as output |
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113 | DDRB |= (1<<DDB1)|(1<<DDB0); |
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2099 | - | 114 | RED_OFF; |
1910 | - | 115 | GRN_OFF; |
116 | } |
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2099 | - | 117 | |
2102 | - | 118 | void configuration_setFlightParameters(uint8_t newFlightMode) { |
2104 | - | 119 | currentFlightMode = newFlightMode; |
120 | flight_updateFlightParametersToFlightMode(); |
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2099 | - | 121 | } |
122 | |||
123 | // Called after a change in configuration parameters, as a hook for modules to take over changes. |
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124 | void configuration_paramSetDidChange(void) { |
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125 | // 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 | - | 126 | configuration_setFlightParameters(currentFlightMode); |
2099 | - | 127 | // Immediately load changes to output, and also signal the paramset change. |
128 | output_init(); |
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129 | } |
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130 | |||
131 | void setOtherDefaults(void) { |
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132 | // Control |
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133 | staticParams.externalControl = 0; |
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134 | staticParams.IFactor = 52; |
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135 | |||
2109 | - | 136 | staticParams.airspeedCorrection = 100; |
137 | staticParams.isFlyingThreshold = 100; |
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138 | |||
2099 | - | 139 | // Servos |
140 | staticParams.servoCount = 7; |
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141 | staticParams.servoManualMaxSpeed = 10; |
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142 | for (uint8_t i=0; i<2; i++) { |
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143 | staticParams.servoConfigurations[i].manualControl = 128; |
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144 | staticParams.servoConfigurations[i].stabilizationFactor = 0; |
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145 | staticParams.servoConfigurations[i].minValue = 32; |
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146 | staticParams.servoConfigurations[i].maxValue = 224; |
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147 | staticParams.servoConfigurations[i].flags = 0; |
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148 | } |
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149 | |||
150 | // Battery warning and emergency flight |
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151 | staticParams.batteryVoltageWarning = 101; // 3.7 each for 3S |
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152 | staticParams.emergencyThrottle = 35; |
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153 | staticParams.emergencyFlightDuration = 30; |
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154 | |||
2104 | - | 155 | for (uint8_t i=0; i<3; i++) { |
156 | staticParams.gyroPID[i].P = 80; |
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157 | staticParams.gyroPID[i].I = 80; |
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158 | staticParams.gyroPID[i].D = 40; |
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2109 | - | 159 | staticParams.gyroPID[i].iMax = 45; |
2104 | - | 160 | } |
161 | |||
2103 | - | 162 | staticParams.stickIElevator = 80; |
163 | staticParams.stickIAilerons = 120; |
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164 | staticParams.stickIRudder = 40; |
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165 | |||
2099 | - | 166 | // Outputs |
167 | staticParams.outputFlash[0].bitmask = 1; //0b01011111; |
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168 | staticParams.outputFlash[0].timing = 15; |
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169 | staticParams.outputFlash[1].bitmask = 3; //0b11110011; |
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170 | staticParams.outputFlash[1].timing = 15; |
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171 | |||
172 | staticParams.outputDebugMask = 8; |
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173 | staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS; |
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174 | } |
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175 | |||
176 | /***************************************************/ |
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177 | /* Default Values for parameter set 1 */ |
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178 | /***************************************************/ |
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179 | void paramSet_default(uint8_t setnumber) { |
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180 | setOtherDefaults(); |
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181 | |||
182 | for (uint8_t i=0; i<8; i++) { |
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183 | staticParams.userParams[i] = i; |
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184 | } |
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185 | |||
186 | staticParams.bitConfig = |
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2104 | - | 187 | CFG_GYRO_SATURATION_PREVENTION; |
2099 | - | 188 | |
189 | memcpy(staticParams.name, "Default\0", 6); |
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190 | } |
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191 | |||
192 | void IMUConfig_default(void) { |
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193 | IMUConfig.gyroPIDFilterConstant = 1; |
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194 | IMUConfig.gyroDFilterConstant = 1; |
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195 | IMUConfig.rateTolerance = 120; |
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2103 | - | 196 | IMUConfig.gyroDWindowLength = 3; |
197 | IMUConfig.gyroQuadrant = 0; |
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198 | IMUConfig.imuReversedFlags = 0; |
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2099 | - | 199 | gyro_setDefaultParameters(); |
200 | } |
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201 | |||
202 | /***************************************************/ |
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203 | /* Default Values for R/C Channels */ |
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204 | /***************************************************/ |
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205 | void channelMap_default(void) { |
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206 | channelMap.channels[CH_ELEVATOR] = 1; |
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207 | channelMap.channels[CH_AILERONS] = 0; |
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208 | channelMap.channels[CH_THROTTLE] = 2; |
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209 | channelMap.channels[CH_RUDDER] = 3; |
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210 | channelMap.channels[CH_POTS + 0] = 4; |
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211 | channelMap.channels[CH_POTS + 1] = 5; |
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212 | channelMap.channels[CH_POTS + 2] = 6; |
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213 | channelMap.channels[CH_POTS + 3] = 7; |
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214 | } |