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1 | #include <util/delay.h> |
1 | #include <util/delay.h> |
2 | #include <stddef.h> |
2 | #include <stddef.h> |
3 | #include <string.h> |
3 | #include <string.h> |
4 | #include "configuration.h" |
4 | #include "configuration.h" |
5 | #include "rc.h" |
5 | #include "rc.h" |
6 | #include "output.h" |
6 | #include "output.h" |
7 | #include "sensors.h" |
7 | #include "sensors.h" |
8 | #include "flight.h" |
8 | #include "flight.h" |
9 | 9 | ||
10 | int16_t variables[VARIABLE_COUNT]; |
10 | int16_t variables[VARIABLE_COUNT]; |
11 | ParamSet_t staticParams; |
11 | ParamSet_t staticParams; |
12 | ChannelMap_t channelMap; |
12 | ChannelMap_t channelMap; |
- | 13 | RCTrim_t rcTrim; |
|
13 | IMUConfig_t IMUConfig; |
14 | IMUConfig_t IMUConfig; |
14 | volatile DynamicParams_t dynamicParams; |
15 | volatile DynamicParams_t dynamicParams; |
15 | 16 | ||
16 | uint8_t CPUType; |
17 | uint8_t CPUType; |
17 | uint8_t boardRelease; |
18 | uint8_t boardRelease; |
18 | uint8_t requiredMotors; |
19 | uint8_t requiredMotors; |
19 | 20 | ||
20 | VersionInfo_t versionInfo; |
21 | VersionInfo_t versionInfo; |
21 | 22 | ||
22 | FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL; |
23 | FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL; |
23 | volatile uint16_t isFlying= 0; |
24 | volatile uint16_t isFlying= 0; |
24 | 25 | ||
25 | const MMXLATION XLATIONS[] = { |
26 | const MMXLATION XLATIONS[] = { |
26 | {offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255}, |
27 | {offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255}, |
27 | 28 | ||
28 | {offsetof(ParamSet_t, gyroPID[0].P), offsetof(DynamicParams_t, gyroPID[0].P),0,255}, |
29 | {offsetof(ParamSet_t, gyroPID[0].P), offsetof(DynamicParams_t, gyroPID[0].P),0,255}, |
29 | {offsetof(ParamSet_t, gyroPID[0].I), offsetof(DynamicParams_t, gyroPID[0].I),0,255}, |
30 | {offsetof(ParamSet_t, gyroPID[0].I), offsetof(DynamicParams_t, gyroPID[0].I),0,255}, |
30 | {offsetof(ParamSet_t, gyroPID[0].D), offsetof(DynamicParams_t, gyroPID[0].D),0,255}, |
31 | {offsetof(ParamSet_t, gyroPID[0].D), offsetof(DynamicParams_t, gyroPID[0].D),0,255}, |
31 | 32 | ||
32 | {offsetof(ParamSet_t, gyroPID[1].P), offsetof(DynamicParams_t, gyroPID[1].P),0,255}, |
33 | {offsetof(ParamSet_t, gyroPID[1].P), offsetof(DynamicParams_t, gyroPID[1].P),0,255}, |
33 | {offsetof(ParamSet_t, gyroPID[1].I), offsetof(DynamicParams_t, gyroPID[1].I),0,255}, |
34 | {offsetof(ParamSet_t, gyroPID[1].I), offsetof(DynamicParams_t, gyroPID[1].I),0,255}, |
34 | {offsetof(ParamSet_t, gyroPID[1].D), offsetof(DynamicParams_t, gyroPID[1].D),0,255}, |
35 | {offsetof(ParamSet_t, gyroPID[1].D), offsetof(DynamicParams_t, gyroPID[1].D),0,255}, |
35 | 36 | ||
36 | {offsetof(ParamSet_t, gyroPID[2].P), offsetof(DynamicParams_t, gyroPID[2].P),0,255}, |
37 | {offsetof(ParamSet_t, gyroPID[2].P), offsetof(DynamicParams_t, gyroPID[2].P),0,255}, |
37 | {offsetof(ParamSet_t, gyroPID[2].I), offsetof(DynamicParams_t, gyroPID[2].I),0,255}, |
38 | {offsetof(ParamSet_t, gyroPID[2].I), offsetof(DynamicParams_t, gyroPID[2].I),0,255}, |
38 | {offsetof(ParamSet_t, gyroPID[2].D), offsetof(DynamicParams_t, gyroPID[2].D),0,255}, |
39 | {offsetof(ParamSet_t, gyroPID[2].D), offsetof(DynamicParams_t, gyroPID[2].D),0,255}, |
39 | 40 | ||
40 | {offsetof(ParamSet_t, gimbalServoConfigurations[0].manualControl), offsetof(DynamicParams_t, gimbalServoManualControl[0]),0,255}, |
41 | {offsetof(ParamSet_t, gimbalServoConfigurations[0].manualControl), offsetof(DynamicParams_t, gimbalServoManualControl[0]),0,255}, |
41 | {offsetof(ParamSet_t, gimbalServoConfigurations[1].manualControl), offsetof(DynamicParams_t, gimbalServoManualControl[1]),0,255}, |
42 | {offsetof(ParamSet_t, gimbalServoConfigurations[1].manualControl), offsetof(DynamicParams_t, gimbalServoManualControl[1]),0,255}, |
42 | {offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255}, |
43 | {offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255}, |
43 | {offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255}, |
44 | {offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255}, |
44 | }; |
45 | }; |
45 | 46 | ||
46 | uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) { |
47 | uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) { |
47 | uint8_t result; |
48 | uint8_t result; |
48 | if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)]; |
49 | if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)]; |
49 | else result = src; |
50 | else result = src; |
50 | if (result < min) result = min; |
51 | if (result < min) result = min; |
51 | else if (result > max) result = max; |
52 | else if (result > max) result = max; |
52 | return result; |
53 | return result; |
53 | } |
54 | } |
54 | 55 | ||
55 | void configuration_applyVariablesToParams(void) { |
56 | void configuration_applyVariablesToParams(void) { |
56 | uint8_t i, src; |
57 | uint8_t i, src; |
57 | uint8_t* pointerToTgt; |
58 | uint8_t* pointerToTgt; |
58 | 59 | ||
59 | for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) { |
60 | for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) { |
60 | src = *((uint8_t*)(&staticParams) + XLATIONS[i].sourceIdx); |
61 | src = *((uint8_t*)(&staticParams) + XLATIONS[i].sourceIdx); |
61 | pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx; |
62 | pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx; |
62 | *pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max); |
63 | *pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max); |
63 | } |
64 | } |
64 | 65 | ||
65 | // User parameters are always variable. |
66 | // User parameters are always variable. |
66 | for (i=0; i<sizeof(staticParams.userParams); i++) { |
67 | for (i=0; i<sizeof(staticParams.userParams); i++) { |
67 | src = *((uint8_t*)(&staticParams) + offsetof(ParamSet_t, userParams) + i); |
68 | src = *((uint8_t*)(&staticParams) + offsetof(ParamSet_t, userParams) + i); |
68 | pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i; |
69 | pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i; |
69 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
70 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
70 | } |
71 | } |
71 | } |
72 | } |
72 | 73 | ||
73 | void setCPUType(void) { // works only after reset or power on when the registers have default values |
74 | void setCPUType(void) { // works only after reset or power on when the registers have default values |
74 | if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P; // initial Values for 644P after reset |
75 | if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P; // initial Values for 644P after reset |
75 | else CPUType = ATMEGA644; |
76 | else CPUType = ATMEGA644; |
76 | } |
77 | } |
77 | 78 | ||
78 | /* |
79 | /* |
79 | * Automatic detection of hardware components is not supported in this development-oriented |
80 | * Automatic detection of hardware components is not supported in this development-oriented |
80 | * FC firmware. It would go against the point of it: To enable alternative hardware |
81 | * FC firmware. It would go against the point of it: To enable alternative hardware |
81 | * configurations with otherwise unsupported components. Instead, one should write |
82 | * configurations with otherwise unsupported components. Instead, one should write |
82 | * custom code + adjust constants for the new hardware, and include the relevant code |
83 | * custom code + adjust constants for the new hardware, and include the relevant code |
83 | * from the makefile. |
84 | * from the makefile. |
84 | * However - we still do detect the board release. Reason: Otherwise it would be too |
85 | * However - we still do detect the board release. Reason: Otherwise it would be too |
85 | * tedious to have to modify the code for how to turn on and off LEDs when deploying |
86 | * tedious to have to modify the code for how to turn on and off LEDs when deploying |
86 | * on different HW version.... |
87 | * on different HW version.... |
87 | */ |
88 | */ |
88 | void setBoardRelease(void) { |
89 | void setBoardRelease(void) { |
89 | // the board release is coded via the pull up or down the 2 status LED |
90 | // the board release is coded via the pull up or down the 2 status LED |
90 | 91 | ||
91 | PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
92 | PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
92 | DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
93 | DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
93 | 94 | ||
94 | _delay_loop_2(1000); // make some delay |
95 | _delay_loop_2(1000); // make some delay |
95 | 96 | ||
96 | switch( PINB & ((1<<PINB1)|(1<<PINB0))) { |
97 | switch( PINB & ((1<<PINB1)|(1<<PINB0))) { |
97 | case 0x00: |
98 | case 0x00: |
98 | boardRelease = 10; // 1.0 |
99 | boardRelease = 10; // 1.0 |
99 | break; |
100 | break; |
100 | case 0x01: |
101 | case 0x01: |
101 | boardRelease = 11; // 1.1 or 1.2 |
102 | boardRelease = 11; // 1.1 or 1.2 |
102 | break; |
103 | break; |
103 | case 0x02: |
104 | case 0x02: |
104 | boardRelease = 20; // 2.0 |
105 | boardRelease = 20; // 2.0 |
105 | break; |
106 | break; |
106 | case 0x03: |
107 | case 0x03: |
107 | boardRelease = 13; // 1.3 |
108 | boardRelease = 13; // 1.3 |
108 | break; |
109 | break; |
109 | default: |
110 | default: |
110 | break; |
111 | break; |
111 | } |
112 | } |
112 | // set LED ports as output |
113 | // set LED ports as output |
113 | DDRB |= (1<<DDB1)|(1<<DDB0); |
114 | DDRB |= (1<<DDB1)|(1<<DDB0); |
114 | RED_OFF; |
115 | RED_OFF; |
115 | GRN_OFF; |
116 | GRN_OFF; |
116 | } |
117 | } |
117 | 118 | ||
118 | void configuration_setFlightParameters(uint8_t newFlightMode) { |
119 | void configuration_setFlightParameters(uint8_t newFlightMode) { |
119 | currentFlightMode = newFlightMode; |
120 | currentFlightMode = newFlightMode; |
120 | flight_updateFlightParametersToFlightMode(); |
121 | flight_updateFlightParametersToFlightMode(); |
121 | } |
122 | } |
122 | 123 | ||
123 | // Called after a change in configuration parameters, as a hook for modules to take over changes. |
124 | // Called after a change in configuration parameters, as a hook for modules to take over changes. |
124 | void configuration_paramSetDidChange(void) { |
125 | void configuration_paramSetDidChange(void) { |
125 | // This should be OK to do here as long as we don't change parameters during emergency flight. We don't. |
126 | // This should be OK to do here as long as we don't change parameters during emergency flight. We don't. |
126 | configuration_setFlightParameters(currentFlightMode); |
127 | configuration_setFlightParameters(currentFlightMode); |
127 | // Immediately load changes to output, and also signal the paramset change. |
128 | // Immediately load changes to output, and also signal the paramset change. |
128 | output_init(); |
129 | output_init(); |
129 | } |
130 | } |
130 | 131 | ||
131 | void setOtherDefaults(void) { |
132 | void setOtherDefaults(void) { |
132 | // Control |
133 | // Control |
133 | staticParams.externalControl = 0; |
134 | staticParams.externalControl = 0; |
134 | staticParams.IFactor = 52; |
135 | staticParams.IFactor = 52; |
135 | 136 | ||
136 | staticParams.airspeedCorrection = 100; |
137 | staticParams.airspeedCorrection = 100; |
137 | staticParams.isFlyingThreshold = 100; |
138 | staticParams.isFlyingThreshold = 100; |
138 | 139 | ||
139 | // Servos |
140 | // Servos |
140 | staticParams.servoCount = 7; |
141 | staticParams.servoCount = 7; |
141 | staticParams.servosReverse = CONTROL_SERVO_REVERSE_ELEVATOR | CONTROL_SERVO_REVERSE_RUDDER; |
142 | staticParams.servosReverse = CONTROL_SERVO_REVERSE_ELEVATOR | CONTROL_SERVO_REVERSE_RUDDER; |
142 | 143 | ||
143 | staticParams.gimbalServoMaxManualSpeed = 10; |
144 | staticParams.gimbalServoMaxManualSpeed = 10; |
144 | for (uint8_t i=0; i<2; i++) { |
145 | for (uint8_t i=0; i<2; i++) { |
145 | staticParams.gimbalServoConfigurations[i].manualControl = 128; |
146 | staticParams.gimbalServoConfigurations[i].manualControl = 128; |
146 | staticParams.gimbalServoConfigurations[i].stabilizationFactor = 0; |
147 | staticParams.gimbalServoConfigurations[i].stabilizationFactor = 0; |
147 | staticParams.gimbalServoConfigurations[i].minValue = 32; |
148 | staticParams.gimbalServoConfigurations[i].minValue = 32; |
148 | staticParams.gimbalServoConfigurations[i].maxValue = 224; |
149 | staticParams.gimbalServoConfigurations[i].maxValue = 224; |
149 | staticParams.gimbalServoConfigurations[i].flags = 0; |
150 | staticParams.gimbalServoConfigurations[i].flags = 0; |
150 | } |
151 | } |
151 | 152 | ||
152 | // Battery warning and emergency flight |
153 | // Battery warning and emergency flight |
153 | staticParams.batteryWarningVoltage = 101; // 3.7 each for 3S |
154 | staticParams.batteryWarningVoltage = 101; // 3.7 each for 3S |
154 | 155 | ||
155 | for (uint8_t i=0; i<3; i++) { |
156 | for (uint8_t i=0; i<3; i++) { |
156 | staticParams.gyroPID[i].P = 80; |
157 | staticParams.gyroPID[i].P = 200; |
157 | staticParams.gyroPID[i].I = 80; |
158 | staticParams.gyroPID[i].I = 80; |
158 | staticParams.gyroPID[i].D = 40; |
159 | staticParams.gyroPID[i].D = 40; |
159 | staticParams.gyroPID[i].iMax = 30; |
160 | staticParams.gyroPID[i].iMax = 30; |
160 | } |
161 | } |
161 | 162 | ||
162 | staticParams.stickIElevator = 60; |
163 | staticParams.stickIElevator = 60; |
163 | staticParams.stickIAilerons = 80; |
164 | staticParams.stickIAilerons = 80; |
164 | staticParams.stickIRudder = 25; |
165 | staticParams.stickIRudder = 25; |
165 | 166 | ||
166 | // Outputs |
167 | // Outputs |
167 | staticParams.outputFlash[0].bitmask = 1; //0b01011111; |
168 | staticParams.outputFlash[0].bitmask = 1; //0b01011111; |
168 | staticParams.outputFlash[0].timing = 15; |
169 | staticParams.outputFlash[0].timing = 15; |
169 | staticParams.outputFlash[1].bitmask = 3; //0b11110011; |
170 | staticParams.outputFlash[1].bitmask = 3; //0b11110011; |
170 | staticParams.outputFlash[1].timing = 15; |
171 | staticParams.outputFlash[1].timing = 15; |
171 | 172 | ||
172 | staticParams.outputDebugMask = 8; |
173 | staticParams.outputDebugMask = 8; |
173 | staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS; |
174 | staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS; |
174 | } |
175 | } |
175 | 176 | ||
176 | /***************************************************/ |
177 | /***************************************************/ |
177 | /* Default Values for parameter set 1 */ |
178 | /* Default Values for parameter set 1 */ |
178 | /***************************************************/ |
179 | /***************************************************/ |
179 | void paramSet_default(uint8_t setnumber) { |
180 | void paramSet_default(uint8_t setnumber) { |
180 | setOtherDefaults(); |
181 | setOtherDefaults(); |
181 | 182 | ||
182 | for (uint8_t i=0; i<8; i++) { |
183 | for (uint8_t i=0; i<8; i++) { |
183 | staticParams.userParams[i] = i; |
184 | staticParams.userParams[i] = i; |
184 | } |
185 | } |
185 | 186 | ||
186 | staticParams.bitConfig = |
187 | staticParams.bitConfig = |
187 | CFG_GYRO_SATURATION_PREVENTION; |
188 | CFG_GYRO_SATURATION_PREVENTION; |
188 | 189 | ||
189 | memcpy(staticParams.name, "Default\0", 6); |
190 | memcpy(staticParams.name, "Default\0", 6); |
190 | } |
191 | } |
191 | 192 | ||
192 | void IMUConfig_default(void) { |
193 | void IMUConfig_default(void) { |
193 | IMUConfig.gyroPIDFilterConstant = 1; |
194 | IMUConfig.gyroPIDFilterConstant = 1; |
194 | IMUConfig.gyroDFilterConstant = 1; |
195 | IMUConfig.gyroDFilterConstant = 1; |
195 | IMUConfig.rateTolerance = 120; |
196 | IMUConfig.rateTolerance = 120; |
196 | IMUConfig.gyroDWindowLength = 3; |
197 | IMUConfig.gyroDWindowLength = 3; |
197 | IMUConfig.gyroQuadrant = 2; |
198 | IMUConfig.gyroQuadrant = 2; |
198 | IMUConfig.imuReversedFlags = 0; |
199 | IMUConfig.imuReversedFlags = 0; |
199 | gyro_setDefaultParameters(); |
200 | gyro_setDefaultParameters(); |
200 | } |
201 | } |
201 | 202 | ||
202 | /***************************************************/ |
203 | /***************************************************/ |
203 | /* Default Values for R/C Channels */ |
204 | /* Default Values for R/C Channels */ |
204 | /***************************************************/ |
205 | /***************************************************/ |
205 | void channelMap_default(void) { |
206 | void channelMap_default(void) { |
206 | channelMap.RCPolarity = 1; |
207 | channelMap.RCPolarity = 1; |
207 | channelMap.trim = 192; |
208 | channelMap.HWTrim = 192; |
208 | channelMap.variableOffset = 128; |
209 | channelMap.variableOffset = 128; |
209 | channelMap.channels[CH_ELEVATOR] = 1; |
210 | channelMap.channels[CH_ELEVATOR] = 1; |
210 | channelMap.channels[CH_AILERONS] = 0; |
211 | channelMap.channels[CH_AILERONS] = 0; |
211 | channelMap.channels[CH_THROTTLE] = 2; |
212 | channelMap.channels[CH_THROTTLE] = 2; |
212 | channelMap.channels[CH_RUDDER] = 3; |
213 | channelMap.channels[CH_RUDDER] = 3; |
213 | channelMap.channels[CH_POTS + 0] = 4; |
214 | channelMap.channels[CH_POTS + 0] = 4; |
214 | channelMap.channels[CH_POTS + 1] = 5; |
215 | channelMap.channels[CH_POTS + 1] = 5; |
215 | channelMap.channels[CH_POTS + 2] = 6; |
216 | channelMap.channels[CH_POTS + 2] = 6; |
216 | channelMap.channels[CH_POTS + 3] = 7; |
217 | channelMap.channels[CH_POTS + 3] = 7; |
217 | } |
218 | } |
218 | 219 |