Subversion Repositories FlightCtrl

#include <util/delay.h>

#include <stddef.h>

#include <string.h>

#include "configuration.h"

#include "rc.h"

#include "output.h"

#include "sensors.h"

#include "flight.h"

int16_t variables[VARIABLE_COUNT];

ParamSet_t staticParams;

ChannelMap_t channelMap;

RCTrim_t rcTrim;

IMUConfig_t IMUConfig;

volatile DynamicParams_t dynamicParams;

uint8_t CPUType;

uint8_t boardRelease;

VersionInfo_t versionInfo;

FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL;

// updated by considering airspeed..

volatile uint16_t isFlying = 0;

const MMXLATION XLATIONS[] = {

{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255},

{offsetof(ParamSet_t, gyroPID[0].P), offsetof(DynamicParams_t, gyroPID[0].P),0,255},

{offsetof(ParamSet_t, gyroPID[0].I), offsetof(DynamicParams_t, gyroPID[0].I),0,255},

{offsetof(ParamSet_t, gyroPID[0].D), offsetof(DynamicParams_t, gyroPID[0].D),0,255},

{offsetof(ParamSet_t, gyroPID[1].P), offsetof(DynamicParams_t, gyroPID[1].P),0,255},

{offsetof(ParamSet_t, gyroPID[1].I), offsetof(DynamicParams_t, gyroPID[1].I),0,255},

{offsetof(ParamSet_t, gyroPID[1].D), offsetof(DynamicParams_t, gyroPID[1].D),0,255},

{offsetof(ParamSet_t, gyroPID[2].P), offsetof(DynamicParams_t, gyroPID[2].P),0,255},

{offsetof(ParamSet_t, gyroPID[2].I), offsetof(DynamicParams_t, gyroPID[2].I),0,255},

{offsetof(ParamSet_t, gyroPID[2].D), offsetof(DynamicParams_t, gyroPID[2].D),0,255},

{offsetof(ParamSet_t, gimbalServoConfigurations[0].manualControl), offsetof(DynamicParams_t, gimbalServoManualControl[0]),0,255},

{offsetof(ParamSet_t, gimbalServoConfigurations[1].manualControl), offsetof(DynamicParams_t, gimbalServoManualControl[1]),0,255},

{offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255},

{offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255},

};

uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) {

  uint8_t result;

  if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)];

  else result = src;

  if (result < min) result = min;

  else if (result > max) result = max;

  return result;

}

void configuration_applyVariablesToParams(void) {

  uint8_t i, src;

  uint8_t* pointerToTgt;

  for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) {

    src = *((uint8_t*)(&staticParams) + XLATIONS[i].sourceIdx);

    pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx;

    *pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max);

  }

  // User parameters are always variable.

  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);

  }

}

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

  else CPUType = ATMEGA644;

}

/*

 * Automatic detection of hardware components is not supported in this development-oriented

 * FC firmware. It would go against the point of it: To enable alternative hardware

 * configurations with otherwise unsupported components. Instead, one should write

 * custom code + adjust constants for the new hardware, and include the relevant code

 * 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....

 */

void setBoardRelease(void) {

  // 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

      break;

    case 0x01:

      boardRelease = 11; // 1.1 or 1.2

      break;

    case 0x02:

      boardRelease = 20; // 2.0

      break;

    case 0x03:

      boardRelease = 13; // 1.3

      break;

    default:

      break;

    }

  // set LED ports as output

  DDRB |= (1<<DDB1)|(1<<DDB0);

  RED_OFF;

  GRN_OFF;

}

void configuration_setFlightParameters(uint8_t newFlightMode) {

        currentFlightMode = newFlightMode;

        flight_updateFlightParametersToFlightMode();

}

// 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(currentFlightMode);

  // Immediately load changes to output, and also signal the paramset change.

  output_init();

}

void setOtherDefaults(void) {

  // Control

  staticParams.externalControl = 0;

  staticParams.IFactor = 52;

  staticParams.airspeedCorrection = 100;

  staticParams.isFlyingThreshold = 100;

  // Servos

  staticParams.servoCount = 7;

  staticParams.servosReverse = CONTROL_SERVO_REVERSE_ELEVATOR | CONTROL_SERVO_REVERSE_RUDDER;

  staticParams.gimbalServoMaxManualSpeed = 10;

  for (uint8_t i=0; i<2; i++) {

    staticParams.gimbalServoConfigurations[i].manualControl = 128;

    staticParams.gimbalServoConfigurations[i].stabilizationFactor = 0;

    staticParams.gimbalServoConfigurations[i].minValue = 32;

    staticParams.gimbalServoConfigurations[i].maxValue = 224;

    staticParams.gimbalServoConfigurations[i].flags = 0;

  }

  // Battery warning and emergency flight

  staticParams.batteryWarningVoltage = 101;  // 3.7 each for 3S

  for (uint8_t i=0; i<3; i++) {

          staticParams.gyroPID[i].P = 80;

          staticParams.gyroPID[i].I = 40;

          staticParams.gyroPID[i].D = 40;

          staticParams.gyroPID[i].iMax = 45;

  }

  staticParams.stickIElevator = 40;

  staticParams.stickIAilerons = 60;

  staticParams.stickIRudder = 20;

  // 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 = 0;

  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;

  memcpy(staticParams.name, "Default\0", 6);

}

void IMUConfig_default(void) {

  IMUConfig.gyroPIDFilterConstant = 8;

  IMUConfig.gyroDFilterConstant = 1;

  IMUConfig.rateTolerance = 120;

  IMUConfig.gyroDWindowLength = 3;

  IMUConfig.gyroQuadrant = 2;

  IMUConfig.imuReversedFlags = 0;

  gyro_setDefaultParameters();

}

/***************************************************/

/*    Default Values for R/C Channels              */

/***************************************************/

void channelMap_default(void) {

  channelMap.HWTrim = 178;

  channelMap.variableOffset = 128;

  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;

  channelMap.channels[CH_POTS + 1] = 5;

  channelMap.channels[CH_POTS + 2] = 6;

  channelMap.channels[CH_POTS + 3] = 7;

}