Subversion Repositories FlightCtrl

Compare Revisions

Ignore whitespace Rev 2107 → Rev 2108

/branches/dongfang_FC_fixedwing/arduino_atmega328/configuration.c
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"
 
int16_t variables[VARIABLE_COUNT];
ParamSet_t staticParams;
channelMap_t channelMap;
IMUConfig_t IMUConfig;
volatile DynamicParams_t dynamicParams;
 
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, 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},
};
 
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 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;
 
// 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;
}
// Battery warning and emergency flight
staticParams.batteryVoltageWarning = 101; // 3.7 each for 3S
staticParams.emergencyThrottle = 35;
staticParams.emergencyFlightDuration = 30;
 
for (uint8_t i=0; i<3; i++) {
staticParams.gyroPID[i].P = 80;
staticParams.gyroPID[i].I = 80;
staticParams.gyroPID[i].D = 40;
}
 
staticParams.stickIElevator = 80;
staticParams.stickIAilerons = 120;
staticParams.stickIRudder = 40;
 
// 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 = 8;
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 = 1;
IMUConfig.gyroDFilterConstant = 1;
IMUConfig.rateTolerance = 120;
IMUConfig.gyroDWindowLength = 3;
IMUConfig.gyroQuadrant = 0;
IMUConfig.imuReversedFlags = 0;
}
 
/***************************************************/
/* 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;
}