1,54 → 1,68 |
#include <util/delay.h> |
#include <avr/eeprom.h> |
#include <stddef.h> |
#include <string.h> |
#include "configuration.h" |
#include "eeprom.h" |
#include "uart0.h" |
#include "sensors.h" |
#include "rc.h" |
#include "output.h" |
#include "flight.h" |
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int16_t variables[8] = {0,0,0,0,0,0,0,0}; |
int16_t variables[VARIABLE_COUNT]; |
ParamSet_t staticParams; |
channelMap_t channelMap; |
IMUConfig_t IMUConfig; |
volatile DynamicParams_t dynamicParams; |
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dynamicParam_t dynamicParams; |
uint8_t CPUType = ATMEGA644; |
uint8_t BoardRelease = 13; |
uint8_t CPUType; |
uint8_t boardRelease; |
uint8_t requiredMotors; |
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/************************************************************************ |
* Map the parameter to pot values |
* Replacing this code by the code below saved almost 1 kbyte. |
************************************************************************/ |
VersionInfo_t versionInfo; |
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void configuration_staticToDynamic(void) { |
uint8_t i; |
#define SET_POT_MM(b,a,min,max) {if (a<255) {if (a>=251) b=variables[a-251]; else b=a;} if(b<=min) b=min; else if(b>=max) b=max;} |
#define SET_POT(b,a) { if (a<255) {if (a>=251) b=variables[a-251]; else b=a;}} |
SET_POT(dynamicParams.MaxHeight,staticParams.MaxHeight); |
SET_POT_MM(dynamicParams.HeightD,staticParams.HeightD,0,100); |
SET_POT_MM(dynamicParams.HeightP,staticParams.HeightP,0,100); |
SET_POT(dynamicParams.CompassYawEffect,staticParams.CompassYawEffect); |
// MK flags. TODO: Replace by enum. State machine. |
uint16_t isFlying = 0; |
volatile uint8_t MKFlags = 0; |
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SET_POT(dynamicParams.GyroPitchP,staticParams.GyroPitchP); |
SET_POT(dynamicParams.GyroRollP,staticParams.GyroRollP); |
SET_POT(dynamicParams.GyroYawP,staticParams.GyroYawP); |
const MMXLATION XLATIONS[] = { |
{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),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}, |
}; |
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SET_POT(dynamicParams.GyroPitchD,staticParams.GyroPitchD); |
SET_POT(dynamicParams.GyroRollD,staticParams.GyroRollD); |
SET_POT(dynamicParams.GyroYawD,staticParams.GyroYawD); |
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for (i=0; i<sizeof(staticParams.UserParams); i++) { |
SET_POT(dynamicParams.UserParams[i],staticParams.UserParams[i]); |
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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SET_POT_MM(dynamicParams.J16Timing,staticParams.J16Timing,1,255); |
SET_POT_MM(dynamicParams.J17Timing,staticParams.J17Timing,1,255); |
void configuration_applyVariablesToParams(void) { |
uint8_t i, src; |
uint8_t* pointerToTgt; |
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SET_POT(dynamicParams.ExternalControl,staticParams.ExternalControl); |
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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uint8_t getCPUType(void) { // works only after reset or power on when the registers have default values |
uint8_t CPUType = ATMEGA644; |
//if( (UCSR1A == 0x20) && (UCSR1C == 0x06) ) CPUType = ATMEGA644P; // initial Values for 644P after reset |
return CPUType; |
// 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 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; |
} |
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/* |
* 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 |
59,9 → 73,7 |
* tedious to have to modify the code for how to turn on and off LEDs when deploying |
* on different HW version.... |
*/ |
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uint8_t getBoardRelease(void) { |
uint8_t BoardRelease = 13; |
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 |
71,16 → 83,16 |
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switch( PINB & ((1<<PINB1)|(1<<PINB0))) { |
case 0x00: |
BoardRelease = 10; // 1.0 |
boardRelease = 10; // 1.0 |
break; |
case 0x01: |
BoardRelease = 11; // 1.1 or 1.2 |
boardRelease = 11; // 1.1 or 1.2 |
break; |
case 0x02: |
BoardRelease = 20; // 2.0 |
boardRelease = 20; // 2.0 |
break; |
case 0x03: |
BoardRelease = 13; // 1.3 |
boardRelease = 13; // 1.3 |
break; |
default: |
break; |
87,7 → 99,88 |
} |
// set LED ports as output |
DDRB |= (1<<DDB1)|(1<<DDB0); |
RED_ON; |
RED_OFF; |
GRN_OFF; |
return BoardRelease; |
} |
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void configuration_setFlightParameters() { |
// Implement: Update of stuff in flight.c |
} |
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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(); |
// Immediately load changes to output, and also signal the paramset change. |
output_init(); |
} |
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void setOtherDefaults(void) { |
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// 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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// 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 | CFG_COMPASS_ENABLED; |
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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.accFilterConstant = 10; |
IMUConfig.rateTolerance = 120; |
gyro_setDefaultParameters(); |
} |
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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; |
} |