Subversion Repositories FlightCtrl

#include <util/delay.h>

#include <stddef.h>

#include <string.h>

#include "configuration.h"

#include "sensors.h"

#include "rc.h"

#include "output.h"

#include "flight.h"

#include "debug.h"

int16_t variables[VARIABLE_COUNT];

ParamSet_t staticParams;

ChannelMap_t channelMap;

OutputMixer_t outputMixer;

IMUConfig_t IMUConfig;

volatile DynamicParams_t dynamicParams;

uint8_t CPUType;

uint8_t boardRelease;

VersionInfo_t versionInfo;

// MK flags. TODO: Replace by enum. State machine.

uint16_t isFlying;

volatile uint8_t MKFlags;

const MMXLATION XLATIONS[] = {

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

{offsetof(ParamSet_t, levelCorrection[0]), offsetof(DynamicParams_t, levelCorrection[0]),0,255},

{offsetof(ParamSet_t, levelCorrection[1]), offsetof(DynamicParams_t, levelCorrection[1]),0,255},

{offsetof(ParamSet_t, attGyroP), offsetof(DynamicParams_t, attGyroP),0,250},

{offsetof(ParamSet_t, attGyroI), offsetof(DynamicParams_t, attGyroI),0,250},

{offsetof(ParamSet_t, attGyroD), offsetof(DynamicParams_t, attGyroD),0,250},

{offsetof(ParamSet_t, rateGyroP), offsetof(DynamicParams_t, rateGyroP),0,250},

{offsetof(ParamSet_t, rateGyroI), offsetof(DynamicParams_t, rateGyroI),0,250},

{offsetof(ParamSet_t, rateGyroD), offsetof(DynamicParams_t, rateGyroD),0,250},

{offsetof(ParamSet_t, yawGyroP), offsetof(DynamicParams_t, yawGyroP),0,250},

{offsetof(ParamSet_t, yawGyroI), offsetof(DynamicParams_t, yawGyroI),0,250},

{offsetof(ParamSet_t, yawGyroD), offsetof(DynamicParams_t, yawGyroD),0,250},

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

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

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

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

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

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

{offsetof(ParamSet_t, servoConfigurations[0].manualControl), offsetof(DynamicParams_t, servoManualControl[0]),0,255},

{offsetof(ParamSet_t, servoConfigurations[1].manualControl), offsetof(DynamicParams_t, servoManualControl[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},

{offsetof(ParamSet_t, naviMode), offsetof(DynamicParams_t, naviMode),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_fixVariableParams(uint8_t variableNumber) {

  // If variable value is to great, limit it.

  uint8_t value = variables[variableNumber];

  if (value >= 256-VARIABLE_COUNT)

    value = 256-VARIABLE_COUNT - 1;

  for (uint8_t i=0; i<sizeof(DynamicParams_t); i++) {

    uint8_t* pointerToParam =(uint8_t*)(&dynamicParams + i);

    if (*pointerToParam == 256-VARIABLE_COUNT + variableNumber) {

       *pointerToParam = value;

    }

  }

}

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 (MCU_TYPE==atmega644)

        CPUType=ATMEGA644;

#else

  if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P;  // initial Values for 644P after reset

  else CPUType = ATMEGA644;

#endif

}

/*

 * 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_setNormalFlightMode(void) {

  FlightMode_t flight_flightMode;

  if (dynamicParams.flightMode < 255/3)

    flight_flightMode = FM_RETURN_TO_LEVEL;

  else if (dynamicParams.flightMode < 255*2/3)

    flight_flightMode = FM_HEADING_HOLD;

  else

    flight_flightMode = FM_RATE;

  flight_setMode(flight_flightMode);

  debugOut.analog[20] = flight_flightMode;

}

void configuration_setFailsafeFlightMode(void) {

  flight_setMode(FM_RETURN_TO_LEVEL);

}

// 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.

  // No longer necessary.

  // configuration_setNormalFlightMode();

  flight_setParameters();

  output_setParameters();

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

  output_init();

}

void setOtherDefaults(void) {

  // Height Control

  staticParams.airpressureFilterConstant = 8;

  staticParams.airpressureWindowLength = 8;

  staticParams.airpressureDWindowLength = 24;

  staticParams.airpressureAccZCorrection = 128+56;

  staticParams.heightP = 10;

  staticParams.heightD = 30;

  staticParams.heightSetting = 251;

  staticParams.heightControlMaxThrottleChange = 10;

  // Control

  staticParams.flightMode = 248;

  staticParams.stickP = 8;

  staticParams.stickD = 0;

  staticParams.stickYawP = 8;

  staticParams.stickThrottleD = 4;

  staticParams.minThrottle = 8;

  staticParams.maxThrottle = 230;

  staticParams.externalControl = 0;

  staticParams.attitudeControl = 0;

  staticParams.dynamicStability = 80; // 0 means: Regulation only by decreasing throttle. 200: Only by increasing.

  staticParams.attGyroP = PID_NORMAL_VALUE;

  staticParams.attGyroI = PID_NORMAL_VALUE;

  staticParams.attGyroIMax = 0;

  staticParams.attGyroD = PID_NORMAL_VALUE * 3/2;

  staticParams.rateGyroP = PID_NORMAL_VALUE;

  staticParams.rateGyroI = PID_NORMAL_VALUE;

  staticParams.rateGyroIMax = 0;

  staticParams.rateGyroD = PID_NORMAL_VALUE;

  staticParams.yawGyroP = PID_NORMAL_VALUE;

  staticParams.yawGyroI = PID_NORMAL_VALUE;

  staticParams.yawGyroD = PID_NORMAL_VALUE;

  staticParams.compassMode = 0;

  staticParams.compassYawCorrection = 64;

  staticParams.compassP = PID_NORMAL_VALUE;

  staticParams.levelCorrection[0] = 249; // var1

  staticParams.levelCorrection[1] = 250; // var2

  // Servos

  staticParams.servoCount = 8;

  staticParams.servoManualMaxSpeed = 10;

  for (uint8_t i=0; i<2; i++) {

    staticParams.servoConfigurations[i].manualControl = 128;

    staticParams.servoConfigurations[i].stabilizationFactor = 100;

    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 = DEBUG_INVERTED;

  staticParams.outputFlags   = /* OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | */ OUTPUTFLAGS_USE_ONBOARD_LEDS;

  staticParams.naviMode = 0; // free.

  staticParams.heightControlMaxIntegralIn = 125;

  staticParams.heightControlMaxIntegralOut = 75;

  staticParams.heightControlMaxThrottleChange = 75;

  staticParams.heightControlTestOscPeriod = 0;

  staticParams.heightControlTestOscAmplitude = 0;

}

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

/*    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 = 0;//CFG_GYRO_SATURATION_PREVENTION;

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

}

void IMUConfig_default(void) {

  IMUConfig.gyroPIDFilterConstant = 1;

  IMUConfig.gyroDWindowLength = 3;

  // IMUConfig.gyroDFilterConstant = 1;

  IMUConfig.accFilterConstant = 10;

  gyro_setDefaultParameters();

}

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

/*    Default Values for Mixer Table               */

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

void outputMixer_default(void) { // Quadro

  uint8_t i;

  // clear mixer table (but preset throttle)

  for (i = 0; i < NUM_OUTPUTS; i++) {

    outputMixer[i].flightControls[MIXER_SOURCE_THROTTLE] = i < 4 ? (1<<LOG_MOTOR_MIXER_UNIT) : 0;

    outputMixer[i].flightControls[MIXER_SOURCE_PITCH] = 0;

    outputMixer[i].flightControls[MIXER_SOURCE_ROLL] = 0;

    outputMixer[i].flightControls[MIXER_SOURCE_YAW] = 0;

    outputMixer[i].oppositeMotor = (uint8_t)-1;

    outputMixer[i].auxSource = (uint8_t)-1;

    outputMixer[i].outputType = i < 4 ? OUTPUT_TYPE_MOTOR : OUTPUT_TYPE_UNDEFINED;

    outputMixer[i].minValue = i < 4 ? 1   : 128;

    outputMixer[i].maxValue = i < 4 ? 255 : 128;

  }

  // default = Quadro+

  outputMixer[0].flightControls[MIXER_SOURCE_PITCH] = -(1<<LOG_MOTOR_MIXER_UNIT);

  outputMixer[0].flightControls[MIXER_SOURCE_YAW] = +(1<<LOG_MOTOR_MIXER_UNIT);

  outputMixer[0].oppositeMotor = 1;

  outputMixer[1].flightControls[MIXER_SOURCE_PITCH] = +(1<<LOG_MOTOR_MIXER_UNIT);

  outputMixer[1].flightControls[MIXER_SOURCE_YAW] = +(1<<LOG_MOTOR_MIXER_UNIT);

  outputMixer[1].oppositeMotor = 0;

  outputMixer[2].flightControls[MIXER_SOURCE_ROLL] = +(1<<LOG_MOTOR_MIXER_UNIT);

  outputMixer[2].flightControls[MIXER_SOURCE_YAW] = -(1<<LOG_MOTOR_MIXER_UNIT);

  outputMixer[2].oppositeMotor = 3;

  outputMixer[3].flightControls[MIXER_SOURCE_ROLL] = -(1<<LOG_MOTOR_MIXER_UNIT);

  outputMixer[3].flightControls[MIXER_SOURCE_YAW] = -(1<<LOG_MOTOR_MIXER_UNIT);

  outputMixer[3].oppositeMotor = 2;

  outputMixer[8].outputType = OUTPUT_TYPE_SERVO;

  outputMixer[8].auxSource = MIXER_SOURCE_AUX_RCCHANNEL;

  outputMixer[8].minValue = 40;

  outputMixer[8].maxValue = 256-40;

  outputMixer[9].outputType = OUTPUT_TYPE_SERVO;

  outputMixer[9].auxSource = MIXER_SOURCE_AUX_RCCHANNEL+1;

  outputMixer[9].minValue = 10;

  outputMixer[9].maxValue = 256-10;

  /*

  // default = Quadro X

  motorMixer.matrix[0][MIX_PITCH] = +(1<<LOG_MOTOR_MIXER_SCALER);

  motorMixer.matrix[0][MIX_ROLL] = +(1<<LOG_MOTOR_MIXER_SCALER);

  motorMixer.matrix[0][MIX_YAW] = +(1<<LOG_MOTOR_MIXER_SCALER);

  motorMixer.matrix[0][MIX_OPPOSITE_MOTOR] = 1;

  motorMixer.matrix[1][MIX_PITCH] = -(1<<LOG_MOTOR_MIXER_SCALER);

  motorMixer.matrix[1][MIX_ROLL] = -(1<<LOG_MOTOR_MIXER_SCALER);

  motorMixer.matrix[1][MIX_YAW] = +(1<<LOG_MOTOR_MIXER_SCALER);

  motorMixer.matrix[1][MIX_OPPOSITE_MOTOR] = 0;

  motorMixer.matrix[2][MIX_PITCH] = +(1<<LOG_MOTOR_MIXER_SCALER);

  motorMixer.matrix[2][MIX_ROLL] = -(1<<LOG_MOTOR_MIXER_SCALER);

  motorMixer.matrix[2][MIX_YAW] = -(1<<LOG_MOTOR_MIXER_SCALER);

  motorMixer.matrix[2][MIX_OPPOSITE_MOTOR] = 3;

  motorMixer.matrix[3][MIX_PITCH] = -(1<<LOG_MOTOR_MIXER_SCALER);

  motorMixer.matrix[3][MIX_ROLL] = +(1<<LOG_MOTOR_MIXER_SCALER);

  motorMixer.matrix[3][MIX_YAW] = -(1<<LOG_MOTOR_MIXER_SCALER);

  motorMixer.matrix[3][MIX_OPPOSITE_MOTOR] = 2;

  memcpy(motorMixer.name, "Quadro X\0", 9);

*/

}

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

/*    Default Values for R/C Channels              */

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

void channelMap_default(void) {

  channelMap.RCPolarity = 0;

  channelMap.channels[CH_PITCH]    = 1;

  channelMap.channels[CH_ROLL]     = 0;

  channelMap.channels[CH_THROTTLE] = 2;

  channelMap.channels[CH_YAW]      = 3;

  channelMap.channels[CH_VARIABLES + 0] = 4;

  channelMap.channels[CH_VARIABLES + 1] = 5;

  channelMap.channels[CH_VARIABLES + 2] = 6;

  channelMap.channels[CH_VARIABLES + 3] = 7;

}