0,0 → 1,161 |
#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" |
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int16_t variables[VARIABLE_COUNT]; |
ParamSet_t staticParams; |
channelMap_t channelMap; |
IMUConfig_t IMUConfig; |
volatile DynamicParams_t dynamicParams; |
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VersionInfo_t versionInfo; |
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FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL; |
// updated by considering airspeed.. |
volatile uint16_t isFlying = 0; |
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const MMXLATION XLATIONS[] = { |
{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255}, |
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{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}, |
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{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}, |
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{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}, |
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{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}, |
}; |
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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; |
} |
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void configuration_applyVariablesToParams(void) { |
uint8_t i, src; |
uint8_t* pointerToTgt; |
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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); |
} |
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// 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); |
} |
} |
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void configuration_setFlightParameters(uint8_t newFlightMode) { |
currentFlightMode = newFlightMode; |
flight_updateFlightParametersToFlightMode(); |
} |
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// 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(); |
} |
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void setOtherDefaults(void) { |
// Control |
staticParams.externalControl = 0; |
staticParams.IFactor = 52; |
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// Servos |
staticParams.servoCount = 7; |
staticParams.servoManualMaxSpeed = 10; |
for (uint8_t i=0; i<2; i++) { |
staticParams.servoConfigurations[i].manualControl = 128; |
staticParams.servoConfigurations[i].stabilizationFactor = 0; |
staticParams.servoConfigurations[i].minValue = 32; |
staticParams.servoConfigurations[i].maxValue = 224; |
staticParams.servoConfigurations[i].flags = 0; |
} |
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// Battery warning and emergency flight |
staticParams.batteryVoltageWarning = 101; // 3.7 each for 3S |
staticParams.emergencyThrottle = 35; |
staticParams.emergencyFlightDuration = 30; |
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for (uint8_t i=0; i<3; i++) { |
staticParams.gyroPID[i].P = 80; |
staticParams.gyroPID[i].I = 80; |
staticParams.gyroPID[i].D = 40; |
} |
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staticParams.stickIElevator = 80; |
staticParams.stickIAilerons = 120; |
staticParams.stickIRudder = 40; |
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// Outputs |
staticParams.outputFlash[0].bitmask = 1; //0b01011111; |
staticParams.outputFlash[0].timing = 15; |
staticParams.outputFlash[1].bitmask = 3; //0b11110011; |
staticParams.outputFlash[1].timing = 15; |
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staticParams.outputDebugMask = 8; |
staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS; |
} |
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/***************************************************/ |
/* Default Values for parameter set 1 */ |
/***************************************************/ |
void paramSet_default(uint8_t setnumber) { |
setOtherDefaults(); |
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for (uint8_t i=0; i<8; i++) { |
staticParams.userParams[i] = i; |
} |
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staticParams.bitConfig = |
CFG_GYRO_SATURATION_PREVENTION; |
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memcpy(staticParams.name, "Default\0", 6); |
} |
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void IMUConfig_default(void) { |
IMUConfig.gyroPIDFilterConstant = 1; |
IMUConfig.gyroDFilterConstant = 1; |
IMUConfig.rateTolerance = 120; |
IMUConfig.gyroDWindowLength = 3; |
IMUConfig.gyroQuadrant = 0; |
IMUConfig.imuReversedFlags = 0; |
} |
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/***************************************************/ |
/* Default Values for R/C Channels */ |
/***************************************************/ |
void channelMap_default(void) { |
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; |
} |