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