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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 "rc.h" |
6 | #include "output.h" |
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7 | #include "flight.h" |
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1910 | - | 8 | |
2099 | - | 9 | int16_t variables[VARIABLE_COUNT]; |
10 | ParamSet_t staticParams; |
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2116 | - | 11 | ChannelMap_t channelMap; |
2099 | - | 12 | IMUConfig_t IMUConfig; |
13 | volatile DynamicParams_t dynamicParams; |
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2025 | - | 14 | |
2099 | - | 15 | uint8_t CPUType; |
16 | uint8_t boardRelease; |
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17 | uint8_t requiredMotors; |
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1910 | - | 18 | |
2099 | - | 19 | VersionInfo_t versionInfo; |
1910 | - | 20 | |
2102 | - | 21 | FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL; |
2108 | - | 22 | volatile uint16_t isFlying= 0; |
1910 | - | 23 | |
2099 | - | 24 | const MMXLATION XLATIONS[] = { |
25 | {offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255}, |
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2104 | - | 26 | |
27 | {offsetof(ParamSet_t, gyroPID[0].P), offsetof(DynamicParams_t, gyroPID[0].P),0,255}, |
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28 | {offsetof(ParamSet_t, gyroPID[0].I), offsetof(DynamicParams_t, gyroPID[0].I),0,255}, |
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29 | {offsetof(ParamSet_t, gyroPID[0].D), offsetof(DynamicParams_t, gyroPID[0].D),0,255}, |
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30 | |||
31 | {offsetof(ParamSet_t, gyroPID[1].P), offsetof(DynamicParams_t, gyroPID[1].P),0,255}, |
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32 | {offsetof(ParamSet_t, gyroPID[1].I), offsetof(DynamicParams_t, gyroPID[1].I),0,255}, |
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33 | {offsetof(ParamSet_t, gyroPID[1].D), offsetof(DynamicParams_t, gyroPID[1].D),0,255}, |
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34 | |||
35 | {offsetof(ParamSet_t, gyroPID[2].P), offsetof(DynamicParams_t, gyroPID[2].P),0,255}, |
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36 | {offsetof(ParamSet_t, gyroPID[2].I), offsetof(DynamicParams_t, gyroPID[2].I),0,255}, |
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37 | {offsetof(ParamSet_t, gyroPID[2].D), offsetof(DynamicParams_t, gyroPID[2].D),0,255}, |
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38 | |||
2099 | - | 39 | {offsetof(ParamSet_t, servoConfigurations[0].manualControl), offsetof(DynamicParams_t, servoManualControl[0]),0,255}, |
40 | {offsetof(ParamSet_t, servoConfigurations[1].manualControl), offsetof(DynamicParams_t, servoManualControl[1]),0,255}, |
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41 | {offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255}, |
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42 | {offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255}, |
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43 | }; |
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1910 | - | 44 | |
2099 | - | 45 | uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) { |
46 | uint8_t result; |
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47 | if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)]; |
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48 | else result = src; |
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49 | if (result < min) result = min; |
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50 | else if (result > max) result = max; |
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51 | return result; |
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52 | } |
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1910 | - | 53 | |
2099 | - | 54 | void configuration_applyVariablesToParams(void) { |
55 | uint8_t i, src; |
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56 | uint8_t* pointerToTgt; |
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57 | |||
58 | for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) { |
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59 | src = *((uint8_t*)(&staticParams) + XLATIONS[i].sourceIdx); |
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60 | pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx; |
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61 | *pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max); |
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1910 | - | 62 | } |
2025 | - | 63 | |
2099 | - | 64 | // User parameters are always variable. |
65 | for (i=0; i<sizeof(staticParams.userParams); i++) { |
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66 | src = *((uint8_t*)(&staticParams) + offsetof(ParamSet_t, userParams) + i); |
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67 | pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i; |
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68 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
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69 | } |
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1910 | - | 70 | } |
71 | |||
2099 | - | 72 | void setCPUType(void) { // works only after reset or power on when the registers have default values |
73 | if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P; // initial Values for 644P after reset |
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74 | else CPUType = ATMEGA644; |
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1910 | - | 75 | } |
76 | |||
77 | /* |
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78 | * Automatic detection of hardware components is not supported in this development-oriented |
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79 | * FC firmware. It would go against the point of it: To enable alternative hardware |
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80 | * configurations with otherwise unsupported components. Instead, one should write |
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81 | * custom code + adjust constants for the new hardware, and include the relevant code |
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82 | * from the makefile. |
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83 | * However - we still do detect the board release. Reason: Otherwise it would be too |
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84 | * tedious to have to modify the code for how to turn on and off LEDs when deploying |
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85 | * on different HW version.... |
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86 | */ |
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2099 | - | 87 | void setBoardRelease(void) { |
1910 | - | 88 | // the board release is coded via the pull up or down the 2 status LED |
89 | |||
90 | PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
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91 | DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
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92 | |||
93 | _delay_loop_2(1000); // make some delay |
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94 | |||
95 | switch( PINB & ((1<<PINB1)|(1<<PINB0))) { |
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96 | case 0x00: |
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2099 | - | 97 | boardRelease = 10; // 1.0 |
1910 | - | 98 | break; |
99 | case 0x01: |
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2099 | - | 100 | boardRelease = 11; // 1.1 or 1.2 |
1910 | - | 101 | break; |
102 | case 0x02: |
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2099 | - | 103 | boardRelease = 20; // 2.0 |
1910 | - | 104 | break; |
105 | case 0x03: |
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2099 | - | 106 | boardRelease = 13; // 1.3 |
1910 | - | 107 | break; |
108 | default: |
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109 | break; |
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110 | } |
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111 | // set LED ports as output |
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112 | DDRB |= (1<<DDB1)|(1<<DDB0); |
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2099 | - | 113 | RED_OFF; |
1910 | - | 114 | GRN_OFF; |
115 | } |
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2099 | - | 116 | |
2102 | - | 117 | void configuration_setFlightParameters(uint8_t newFlightMode) { |
2104 | - | 118 | currentFlightMode = newFlightMode; |
119 | flight_updateFlightParametersToFlightMode(); |
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2099 | - | 120 | } |
121 | |||
122 | // Called after a change in configuration parameters, as a hook for modules to take over changes. |
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123 | void configuration_paramSetDidChange(void) { |
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124 | // 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 | - | 125 | configuration_setFlightParameters(currentFlightMode); |
2099 | - | 126 | // Immediately load changes to output, and also signal the paramset change. |
127 | output_init(); |
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128 | } |
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129 | |||
130 | void setOtherDefaults(void) { |
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131 | // Control |
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132 | staticParams.externalControl = 0; |
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133 | staticParams.IFactor = 52; |
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134 | |||
2109 | - | 135 | staticParams.airspeedCorrection = 100; |
136 | staticParams.isFlyingThreshold = 100; |
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137 | |||
2099 | - | 138 | // Servos |
139 | staticParams.servoCount = 7; |
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140 | staticParams.servoManualMaxSpeed = 10; |
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141 | for (uint8_t i=0; i<2; i++) { |
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142 | staticParams.servoConfigurations[i].manualControl = 128; |
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143 | staticParams.servoConfigurations[i].stabilizationFactor = 0; |
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144 | staticParams.servoConfigurations[i].minValue = 32; |
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145 | staticParams.servoConfigurations[i].maxValue = 224; |
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146 | staticParams.servoConfigurations[i].flags = 0; |
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147 | } |
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148 | |||
149 | // Battery warning and emergency flight |
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150 | staticParams.batteryVoltageWarning = 101; // 3.7 each for 3S |
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151 | staticParams.emergencyThrottle = 35; |
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152 | staticParams.emergencyFlightDuration = 30; |
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153 | |||
2104 | - | 154 | for (uint8_t i=0; i<3; i++) { |
155 | staticParams.gyroPID[i].P = 80; |
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156 | staticParams.gyroPID[i].I = 80; |
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157 | staticParams.gyroPID[i].D = 40; |
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2109 | - | 158 | staticParams.gyroPID[i].iMax = 45; |
2104 | - | 159 | } |
160 | |||
2103 | - | 161 | staticParams.stickIElevator = 80; |
162 | staticParams.stickIAilerons = 120; |
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163 | staticParams.stickIRudder = 40; |
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164 | |||
2099 | - | 165 | // Outputs |
166 | staticParams.outputFlash[0].bitmask = 1; //0b01011111; |
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167 | staticParams.outputFlash[0].timing = 15; |
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168 | staticParams.outputFlash[1].bitmask = 3; //0b11110011; |
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169 | staticParams.outputFlash[1].timing = 15; |
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170 | |||
171 | staticParams.outputDebugMask = 8; |
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172 | staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS; |
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173 | } |
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174 | |||
175 | /***************************************************/ |
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176 | /* Default Values for parameter set 1 */ |
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177 | /***************************************************/ |
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178 | void paramSet_default(uint8_t setnumber) { |
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179 | setOtherDefaults(); |
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180 | |||
181 | for (uint8_t i=0; i<8; i++) { |
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182 | staticParams.userParams[i] = i; |
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183 | } |
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184 | |||
185 | staticParams.bitConfig = |
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2104 | - | 186 | CFG_GYRO_SATURATION_PREVENTION; |
2099 | - | 187 | |
188 | memcpy(staticParams.name, "Default\0", 6); |
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189 | } |
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190 | |||
191 | void IMUConfig_default(void) { |
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192 | IMUConfig.gyroPIDFilterConstant = 1; |
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193 | IMUConfig.gyroDFilterConstant = 1; |
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194 | IMUConfig.rateTolerance = 120; |
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2103 | - | 195 | IMUConfig.gyroDWindowLength = 3; |
196 | IMUConfig.gyroQuadrant = 0; |
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197 | IMUConfig.imuReversedFlags = 0; |
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2099 | - | 198 | gyro_setDefaultParameters(); |
199 | } |
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200 | |||
201 | /***************************************************/ |
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202 | /* Default Values for R/C Channels */ |
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203 | /***************************************************/ |
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204 | void channelMap_default(void) { |
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2116 | - | 205 | channelMap.trim = 0; |
2099 | - | 206 | channelMap.channels[CH_ELEVATOR] = 1; |
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 | } |