WebSVN - FlightCtrl - Diff - Rev 2102 and 2103 - /branches/dongfang_FC


#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;
 
uint8_t CPUType;
uint8_t boardRelease;
uint8_t requiredMotors;
 
VersionInfo_t versionInfo;
 
// MK flags. TODO: Replace by enum. State machine.
FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL;
volatile uint8_t isMotorRunning = 0;
 
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},
};
 
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 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;
}
 
/*
 * 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_setFlightParameters(uint8_t newFlightMode) {
        flight_updateFlightParametersToFlightMode(currentFlightMode = newFlightMode);
}
 
// 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;
 
  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 | CFG_COMPASS_ENABLED;
 
  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;
  gyro_setDefaultParameters();
}
 
/***************************************************/
/*    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;
}
 

Rev 2102	Rev 2103
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 "sensors.h"	5	#include "sensors.h"
6	#include "rc.h"	6	#include "rc.h"
7	#include "output.h"	7	#include "output.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	IMUConfig_t IMUConfig;	13	IMUConfig_t IMUConfig;
14	volatile DynamicParams_t dynamicParams;	14	volatile DynamicParams_t dynamicParams;
15		15
16	uint8_t CPUType;	16	uint8_t CPUType;
17	uint8_t boardRelease;	17	uint8_t boardRelease;
18	uint8_t requiredMotors;	18	uint8_t requiredMotors;
19		19
20	VersionInfo_t versionInfo;	20	VersionInfo_t versionInfo;
21		21
22	// MK flags. TODO: Replace by enum. State machine.	22	// MK flags. TODO: Replace by enum. State machine.
23	FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL;	23	FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL;
24	volatile uint8_t isMotorRunning = 0;	24	volatile uint8_t isMotorRunning = 0;
25		25
26	const MMXLATION XLATIONS[] = {	26	const MMXLATION XLATIONS[] = {
27	{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255},	27	{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255},
28	{offsetof(ParamSet_t, servoConfigurations[0].manualControl), offsetof(DynamicParams_t, servoManualControl[0]),0,255},	28	{offsetof(ParamSet_t, servoConfigurations[0].manualControl), offsetof(DynamicParams_t, servoManualControl[0]),0,255},
29	{offsetof(ParamSet_t, servoConfigurations[1].manualControl), offsetof(DynamicParams_t, servoManualControl[1]),0,255},	29	{offsetof(ParamSet_t, servoConfigurations[1].manualControl), offsetof(DynamicParams_t, servoManualControl[1]),0,255},
30	{offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255},	30	{offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255},
31	{offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255},	31	{offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255},
32	};	32	};
33		33
34	uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) {	34	uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) {
35	uint8_t result;	35	uint8_t result;
36	if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)];	36	if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)];
37	else result = src;	37	else result = src;
38	if (result < min) result = min;	38	if (result < min) result = min;
39	else if (result > max) result = max;	39	else if (result > max) result = max;
40	return result;	40	return result;
41	}	41	}
42		42
43	void configuration_applyVariablesToParams(void) {	43	void configuration_applyVariablesToParams(void) {
44	uint8_t i, src;	44	uint8_t i, src;
45	uint8_t* pointerToTgt;	45	uint8_t* pointerToTgt;
46		46
47	for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) {	47	for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) {
48	src = ((uint8_t)(&staticParams) + XLATIONS[i].sourceIdx);	48	src = ((uint8_t)(&staticParams) + XLATIONS[i].sourceIdx);
49	pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx;	49	pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx;
50	*pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max);	50	*pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max);
51	}	51	}
52		52
53	// User parameters are always variable.	53	// User parameters are always variable.
54	for (i=0; i<sizeof(staticParams.userParams); i++) {	54	for (i=0; i<sizeof(staticParams.userParams); i++) {
55	src = ((uint8_t)(&staticParams) + offsetof(ParamSet_t, userParams) + i);	55	src = ((uint8_t)(&staticParams) + offsetof(ParamSet_t, userParams) + i);
56	pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i;	56	pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i;
57	*pointerToTgt = configuration_applyVariableToParam(src, 0, 255);	57	*pointerToTgt = configuration_applyVariableToParam(src, 0, 255);
58	}	58	}
59	}	59	}
60		60
61	void setCPUType(void) { // works only after reset or power on when the registers have default values	61	void setCPUType(void) { // works only after reset or power on when the registers have default values
62	if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P; // initial Values for 644P after reset	62	if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P; // initial Values for 644P after reset
63	else CPUType = ATMEGA644;	63	else CPUType = ATMEGA644;
64	}	64	}
65		65
66	/*	66	/*
67	* Automatic detection of hardware components is not supported in this development-oriented	67	* Automatic detection of hardware components is not supported in this development-oriented
68	* FC firmware. It would go against the point of it: To enable alternative hardware	68	* FC firmware. It would go against the point of it: To enable alternative hardware
69	* configurations with otherwise unsupported components. Instead, one should write	69	* configurations with otherwise unsupported components. Instead, one should write
70	* custom code + adjust constants for the new hardware, and include the relevant code	70	* custom code + adjust constants for the new hardware, and include the relevant code
71	* from the makefile.	71	* from the makefile.
72	* However - we still do detect the board release. Reason: Otherwise it would be too	72	* However - we still do detect the board release. Reason: Otherwise it would be too
73	* tedious to have to modify the code for how to turn on and off LEDs when deploying	73	* tedious to have to modify the code for how to turn on and off LEDs when deploying
74	* on different HW version....	74	* on different HW version....
75	*/	75	*/
76	void setBoardRelease(void) {	76	void setBoardRelease(void) {
77	// the board release is coded via the pull up or down the 2 status LED	77	// the board release is coded via the pull up or down the 2 status LED
78		78
79	PORTB &= ~((1 << PORTB1)\|(1 << PORTB0)); // set tristate	79	PORTB &= ~((1 << PORTB1)\|(1 << PORTB0)); // set tristate
80	DDRB &= ~((1 << DDB0)\|(1 << DDB0)); // set port direction as input	80	DDRB &= ~((1 << DDB0)\|(1 << DDB0)); // set port direction as input
81		81
82	_delay_loop_2(1000); // make some delay	82	_delay_loop_2(1000); // make some delay
83		83
84	switch( PINB & ((1<<PINB1)\|(1<<PINB0))) {	84	switch( PINB & ((1<<PINB1)\|(1<<PINB0))) {
85	case 0x00:	85	case 0x00:
86	boardRelease = 10; // 1.0	86	boardRelease = 10; // 1.0
87	break;	87	break;
88	case 0x01:	88	case 0x01:
89	boardRelease = 11; // 1.1 or 1.2	89	boardRelease = 11; // 1.1 or 1.2
90	break;	90	break;
91	case 0x02:	91	case 0x02:
92	boardRelease = 20; // 2.0	92	boardRelease = 20; // 2.0
93	break;	93	break;
94	case 0x03:	94	case 0x03:
95	boardRelease = 13; // 1.3	95	boardRelease = 13; // 1.3
96	break;	96	break;
97	default:	97	default:
98	break;	98	break;
99	}	99	}
100	// set LED ports as output	100	// set LED ports as output
101	DDRB \|= (1<<DDB1)\|(1<<DDB0);	101	DDRB \|= (1<<DDB1)\|(1<<DDB0);
102	RED_OFF;	102	RED_OFF;
103	GRN_OFF;	103	GRN_OFF;
104	}	104	}
105		105
106	void configuration_setFlightParameters(uint8_t newFlightMode) {	106	void configuration_setFlightParameters(uint8_t newFlightMode) {
107	updateFlightParametersToFlightMode(currentFlightMode = newFlightMode);	107	flight_updateFlightParametersToFlightMode(currentFlightMode = newFlightMode);
108	}	108	}
109		109
110	// Called after a change in configuration parameters, as a hook for modules to take over changes.	110	// Called after a change in configuration parameters, as a hook for modules to take over changes.
111	void configuration_paramSetDidChange(void) {	111	void configuration_paramSetDidChange(void) {
112	// This should be OK to do here as long as we don't change parameters during emergency flight. We don't.	112	// This should be OK to do here as long as we don't change parameters during emergency flight. We don't.
113	configuration_setFlightParameters(currentFlightMode);	113	configuration_setFlightParameters(currentFlightMode);
114	// Immediately load changes to output, and also signal the paramset change.	114	// Immediately load changes to output, and also signal the paramset change.
115	output_init();	115	output_init();
116	}	116	}
117		117
118	void setOtherDefaults(void) {	118	void setOtherDefaults(void) {
119	// Control	119	// Control
120	staticParams.externalControl = 0;	120	staticParams.externalControl = 0;
121	staticParams.IFactor = 52;	121	staticParams.IFactor = 52;
122		122
123	// Servos	123	// Servos
124	staticParams.servoCount = 7;	124	staticParams.servoCount = 7;
125	staticParams.servoManualMaxSpeed = 10;	125	staticParams.servoManualMaxSpeed = 10;
126	for (uint8_t i=0; i<2; i++) {	126	for (uint8_t i=0; i<2; i++) {
127	staticParams.servoConfigurations[i].manualControl = 128;	127	staticParams.servoConfigurations[i].manualControl = 128;
128	staticParams.servoConfigurations[i].stabilizationFactor = 0;	128	staticParams.servoConfigurations[i].stabilizationFactor = 0;
129	staticParams.servoConfigurations[i].minValue = 32;	129	staticParams.servoConfigurations[i].minValue = 32;
130	staticParams.servoConfigurations[i].maxValue = 224;	130	staticParams.servoConfigurations[i].maxValue = 224;
131	staticParams.servoConfigurations[i].flags = 0;	131	staticParams.servoConfigurations[i].flags = 0;
132	}	132	}
133		133
134	// Battery warning and emergency flight	134	// Battery warning and emergency flight
135	staticParams.batteryVoltageWarning = 101; // 3.7 each for 3S	135	staticParams.batteryVoltageWarning = 101; // 3.7 each for 3S
136	staticParams.emergencyThrottle = 35;	136	staticParams.emergencyThrottle = 35;
137	staticParams.emergencyFlightDuration = 30;	137	staticParams.emergencyFlightDuration = 30;
-		138
-		139	staticParams.stickIElevator = 80;
-		140	staticParams.stickIAilerons = 120;
-		141	staticParams.stickIRudder = 40;
138		142
139	// Outputs	143	// Outputs
140	staticParams.outputFlash[0].bitmask = 1; //0b01011111;	144	staticParams.outputFlash[0].bitmask = 1; //0b01011111;
141	staticParams.outputFlash[0].timing = 15;	145	staticParams.outputFlash[0].timing = 15;
142	staticParams.outputFlash[1].bitmask = 3; //0b11110011;	146	staticParams.outputFlash[1].bitmask = 3; //0b11110011;
143	staticParams.outputFlash[1].timing = 15;	147	staticParams.outputFlash[1].timing = 15;
144		148
145	staticParams.outputDebugMask = 8;	149	staticParams.outputDebugMask = 8;
146	staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP \| OUTPUTFLAGS_FLASH_1_AT_BEEP \| OUTPUTFLAGS_USE_ONBOARD_LEDS;	150	staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP \| OUTPUTFLAGS_FLASH_1_AT_BEEP \| OUTPUTFLAGS_USE_ONBOARD_LEDS;
147	}	151	}
148		152
149	/***************************************************/	153	/***************************************************/
150	/* Default Values for parameter set 1 */	154	/* Default Values for parameter set 1 */
151	/***************************************************/	155	/***************************************************/
152	void paramSet_default(uint8_t setnumber) {	156	void paramSet_default(uint8_t setnumber) {
153	setOtherDefaults();	157	setOtherDefaults();
154		158
155	for (uint8_t i=0; i<8; i++) {	159	for (uint8_t i=0; i<8; i++) {
156	staticParams.userParams[i] = i;	160	staticParams.userParams[i] = i;
157	}	161	}
158		162
159	staticParams.bitConfig =	163	staticParams.bitConfig =
160	CFG_GYRO_SATURATION_PREVENTION \| CFG_COMPASS_ENABLED;	164	CFG_GYRO_SATURATION_PREVENTION \| CFG_COMPASS_ENABLED;
161		165
162	memcpy(staticParams.name, "Default\0", 6);	166	memcpy(staticParams.name, "Default\0", 6);
163	}	167	}
164		168
165	void IMUConfig_default(void) {	169	void IMUConfig_default(void) {
166	IMUConfig.gyroPIDFilterConstant = 1;	170	IMUConfig.gyroPIDFilterConstant = 1;
167	IMUConfig.gyroDFilterConstant = 1;	171	IMUConfig.gyroDFilterConstant = 1;
168	IMUConfig.accFilterConstant = 10;	-
169	IMUConfig.rateTolerance = 120;	172	IMUConfig.rateTolerance = 120;
-		173	IMUConfig.gyroDWindowLength = 3;
-		174	IMUConfig.gyroQuadrant = 0;
-		175	IMUConfig.imuReversedFlags = 0;
170	gyro_setDefaultParameters();	176	gyro_setDefaultParameters();
171	}	177	}
172		178
173	/***************************************************/	179	/***************************************************/
174	/* Default Values for R/C Channels */	180	/* Default Values for R/C Channels */
175	/***************************************************/	181	/***************************************************/
176	void channelMap_default(void) {	182	void channelMap_default(void) {
177	channelMap.channels[CH_ELEVATOR] = 1;	183	channelMap.channels[CH_ELEVATOR] = 1;
178	channelMap.channels[CH_AILERONS] = 0;	184	channelMap.channels[CH_AILERONS] = 0;
179	channelMap.channels[CH_THROTTLE] = 2;	185	channelMap.channels[CH_THROTTLE] = 2;
180	channelMap.channels[CH_RUDDER] = 3;	186	channelMap.channels[CH_RUDDER] = 3;
181	channelMap.channels[CH_POTS + 0] = 4;	187	channelMap.channels[CH_POTS + 0] = 4;
182	channelMap.channels[CH_POTS + 1] = 5;	188	channelMap.channels[CH_POTS + 1] = 5;
183	channelMap.channels[CH_POTS + 2] = 6;	189	channelMap.channels[CH_POTS + 2] = 6;
184	channelMap.channels[CH_POTS + 3] = 7;	190	channelMap.channels[CH_POTS + 3] = 7;
185	}	191	}
186		192

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_fixedwing/configuration.c - Rev 2102 → 2103