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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + Nur für den privaten Gebrauch |
3 | // + Nur für den privaten Gebrauch |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
25 | // + mit unserer Zustimmung zulässig |
25 | // + mit unserer Zustimmung zulässig |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
30 | // + this list of conditions and the following disclaimer. |
30 | // + this list of conditions and the following disclaimer. |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
32 | // + from this software without specific prior written permission. |
32 | // + from this software without specific prior written permission. |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
34 | // + for non-commercial use (directly or indirectly) |
34 | // + for non-commercial use (directly or indirectly) |
35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
36 | // + with our written permission |
36 | // + with our written permission |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + clearly linked as origin |
38 | // + clearly linked as origin |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | #include <util/delay.h> |
52 | #include <util/delay.h> |
53 | #include <stddef.h> |
53 | #include <stddef.h> |
54 | #include <string.h> |
54 | #include <string.h> |
55 | #include "configuration.h" |
55 | #include "configuration.h" |
56 | #include "sensors.h" |
56 | #include "sensors.h" |
57 | #include "rc.h" |
57 | #include "rc.h" |
58 | #include "uart0.h" |
58 | #include "uart0.h" |
59 | 59 | ||
60 | int16_t variables[VARIABLE_COUNT]; |
60 | int16_t variables[VARIABLE_COUNT]; |
61 | paramset_t staticParams; |
61 | paramset_t staticParams; |
62 | channelMap_t channelMap; |
62 | channelMap_t channelMap; |
63 | mixerMatrix_t mixerMatrix; |
63 | mixerMatrix_t mixerMatrix; |
64 | volatile dynamicParam_t dynamicParams; |
64 | volatile dynamicParam_t dynamicParams; |
65 | 65 | ||
66 | uint8_t CPUType = ATMEGA644; |
66 | uint8_t CPUType = ATMEGA644; |
67 | uint8_t boardRelease = 13; |
67 | uint8_t boardRelease = 13; |
68 | uint8_t requiredMotors; |
68 | uint8_t requiredMotors; |
69 | 69 | ||
70 | VersionInfo_t versionInfo; |
70 | VersionInfo_t versionInfo; |
71 | 71 | ||
72 | // MK flags. TODO: Replace by enum. State machine. |
72 | // MK flags. TODO: Replace by enum. State machine. |
73 | uint16_t isFlying = 0; |
73 | uint16_t isFlying = 0; |
74 | volatile uint8_t MKFlags = 0; |
74 | volatile uint8_t MKFlags = 0; |
75 | 75 | ||
76 | /************************************************************************ |
76 | /************************************************************************ |
77 | * Map the parameter to pot values |
77 | * Map the parameter to pot values |
78 | * Replacing this code by the code below saved almost 1 kbyte. |
78 | * Replacing this code by the code below saved almost 1 kbyte. |
79 | ************************************************************************/ |
79 | ************************************************************************/ |
80 | 80 | ||
81 | void configuration_applyVariablesToParams(void) { |
81 | void configuration_applyVariablesToParams(void) { |
82 | uint8_t i; |
82 | uint8_t i; |
83 | 83 | ||
84 | debugOut.analog[20] = variables[0]; |
84 | debugOut.analog[20] = variables[0]; |
85 | 85 | ||
86 | #define SET_POT_MM(b,a,min,max) {if (a>=255-VARIABLE_COUNT) b=variables[a+VARIABLE_COUNT-255]; else b=a; if(b<=min) b=min; else if(b>=max) b=max;} |
86 | #define SET_POT_MM(b,a,min,max) {if (a>=255-VARIABLE_COUNT) b=variables[a+VARIABLE_COUNT-255]; else b=a; if(b<=min) b=min; else if(b>=max) b=max;} |
87 | #define SET_POT(b,a) {if (a>=255-VARIABLE_COUNT) b=variables[a+VARIABLE_COUNT-255]; else b=a;} |
87 | #define SET_POT(b,a) {if (a>=255-VARIABLE_COUNT) b=variables[a+VARIABLE_COUNT-255]; else b=a;} |
88 | SET_POT_MM(dynamicParams.gyroP, staticParams.gyroP, 5, 200); |
88 | SET_POT_MM(dynamicParams.gyroP, staticParams.gyroP, 5, 200); |
89 | SET_POT(dynamicParams.gyroI, staticParams.gyroI); |
89 | SET_POT(dynamicParams.gyroI, staticParams.gyroI); |
90 | SET_POT(dynamicParams.gyroD, staticParams.gyroD); |
90 | SET_POT(dynamicParams.gyroD, staticParams.gyroD); |
91 | SET_POT(dynamicParams.IFactor, staticParams.IFactor); |
- | |
92 | SET_POT(dynamicParams.yawIFactor, staticParams.yawIFactor); |
- | |
93 | SET_POT(dynamicParams.compassYawEffect,staticParams.compassYawEffect); |
91 | SET_POT(dynamicParams.compassYawEffect,staticParams.compassYawEffect); |
94 | 92 | ||
95 | SET_POT(dynamicParams.externalControl, staticParams.externalControl); |
93 | SET_POT(dynamicParams.externalControl, staticParams.externalControl); |
96 | SET_POT(dynamicParams.axisCoupling1, staticParams.axisCoupling1); |
- | |
97 | SET_POT(dynamicParams.axisCoupling2, staticParams.axisCoupling2); |
- | |
98 | SET_POT(dynamicParams.axisCouplingYawCorrection, staticParams.axisCouplingYawCorrection); |
- | |
99 | SET_POT(dynamicParams.dynamicStability,staticParams.dynamicStability); |
94 | SET_POT(dynamicParams.dynamicStability,staticParams.dynamicStability); |
100 | SET_POT(dynamicParams.maxAccVector,staticParams.maxAccVector); |
95 | SET_POT(dynamicParams.maxAccVector,staticParams.maxAccVector); |
101 | 96 | ||
- | 97 | SET_POT(dynamicParams.heightP, staticParams.heightP); |
|
102 | SET_POT_MM(dynamicParams.heightP, staticParams.heightP,0,100); |
98 | SET_POT(dynamicParams.heightI, staticParams.heightI); |
103 | SET_POT_MM(dynamicParams.heightD, staticParams.heightD,0,100); |
99 | SET_POT(dynamicParams.heightD, staticParams.heightD); |
104 | SET_POT(dynamicParams.heightSetting,staticParams.heightSetting); |
- | |
105 | SET_POT(dynamicParams.attitudeControl,staticParams.attitudeControl); |
- | |
106 | 100 | SET_POT(dynamicParams.heightSetting,staticParams.heightSetting); |
|
107 | for (i=0; i<sizeof(staticParams.userParams); i++) { |
- | |
108 | SET_POT(dynamicParams.userParams[i],staticParams.userParams[i]); |
101 | |
109 | } |
102 | SET_POT(dynamicParams.attitudeControl,staticParams.attitudeControl); |
110 | 103 | ||
111 | SET_POT(dynamicParams.servoManualControl[0], staticParams.servoConfigurations[0].manualControl); |
104 | SET_POT(dynamicParams.servoManualControl[0], staticParams.servoConfigurations[0].manualControl); |
112 | SET_POT(dynamicParams.servoManualControl[1], staticParams.servoConfigurations[1].manualControl); |
105 | SET_POT(dynamicParams.servoManualControl[1], staticParams.servoConfigurations[1].manualControl); |
113 | 106 | ||
114 | SET_POT_MM(dynamicParams.output0Timing, staticParams.outputFlash[0].timing,1,255); |
107 | SET_POT_MM(dynamicParams.output0Timing, staticParams.outputFlash[0].timing,1,255); |
115 | SET_POT_MM(dynamicParams.output1Timing, staticParams.outputFlash[1].timing,1,255); |
108 | SET_POT_MM(dynamicParams.output1Timing, staticParams.outputFlash[1].timing,1,255); |
116 | 109 | ||
117 | SET_POT(dynamicParams.levelCorrection[0], staticParams.levelCorrection[0]); |
110 | SET_POT(dynamicParams.levelCorrection[0], staticParams.levelCorrection[0]); |
118 | SET_POT(dynamicParams.levelCorrection[1], staticParams.levelCorrection[1]); |
111 | SET_POT(dynamicParams.levelCorrection[1], staticParams.levelCorrection[1]); |
- | 112 | ||
- | 113 | for (i=0; i<sizeof(staticParams.userParams); i++) { |
|
- | 114 | SET_POT(dynamicParams.userParams[i],staticParams.userParams[i]); |
|
- | 115 | } |
|
119 | } |
116 | } |
120 | 117 | ||
121 | const XLATION XLATIONS[] = { |
118 | const XLATION XLATIONS[] = { |
122 | {offsetof(paramset_t, heightSetting), offsetof(dynamicParam_t, heightSetting)}, |
119 | {offsetof(paramset_t, heightSetting), offsetof(dynamicParam_t, heightSetting)}, |
123 | }; |
120 | }; |
124 | 121 | ||
125 | const MMXLATION MMXLATIONS[] = { |
122 | const MMXLATION MMXLATIONS[] = { |
126 | {offsetof(paramset_t, heightD), offsetof(dynamicParam_t, heightD),0,100}, |
123 | {offsetof(paramset_t, heightD), offsetof(dynamicParam_t, heightD),0,100}, |
127 | }; |
124 | }; |
128 | 125 | ||
129 | uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) { |
126 | uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) { |
130 | uint8_t result; |
127 | uint8_t result; |
131 | if (src>=251) result = variables[src-251]; |
128 | if (src>=251) result = variables[src-251]; |
132 | else result = src; |
129 | else result = src; |
133 | if (result < min) result = min; |
130 | if (result < min) result = min; |
134 | else if (result > max) result = max; |
131 | else if (result > max) result = max; |
135 | return result; |
132 | return result; |
136 | } |
133 | } |
137 | 134 | ||
138 | void configuration_applyVariablesToParams_dead(void) { |
135 | void configuration_applyVariablesToParams_dead(void) { |
139 | uint8_t i, src; |
136 | uint8_t i, src; |
140 | uint8_t* pointerToTgt; |
137 | uint8_t* pointerToTgt; |
141 | for(i=0; i<sizeof(XLATIONS)/sizeof(XLATION); i++) { |
138 | for(i=0; i<sizeof(XLATIONS)/sizeof(XLATION); i++) { |
142 | src = *((uint8_t*)(&staticParams + XLATIONS[i].sourceIdx)); |
139 | src = *((uint8_t*)(&staticParams + XLATIONS[i].sourceIdx)); |
143 | pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx); |
140 | pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx); |
144 | if (src < 255) { |
141 | if (src < 255) { |
145 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
142 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
146 | } |
143 | } |
147 | } |
144 | } |
148 | 145 | ||
149 | for(i=0; i<sizeof(MMXLATIONS)/sizeof(MMXLATION); i++) { |
146 | for(i=0; i<sizeof(MMXLATIONS)/sizeof(MMXLATION); i++) { |
150 | src = *((uint8_t*)(&staticParams + MMXLATIONS[i].sourceIdx)); |
147 | src = *((uint8_t*)(&staticParams + MMXLATIONS[i].sourceIdx)); |
151 | pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx); |
148 | pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx); |
152 | if (src < 255) { |
149 | if (src < 255) { |
153 | *pointerToTgt = configuration_applyVariableToParam(src, MMXLATIONS[i].min, MMXLATIONS[i].max); |
150 | *pointerToTgt = configuration_applyVariableToParam(src, MMXLATIONS[i].min, MMXLATIONS[i].max); |
154 | } |
151 | } |
155 | } |
152 | } |
156 | 153 | ||
157 | for (i=0; i<sizeof(staticParams.userParams); i++) { |
154 | for (i=0; i<sizeof(staticParams.userParams); i++) { |
158 | src = *((uint8_t*)(&staticParams + offsetof(paramset_t, userParams) + i)); |
155 | src = *((uint8_t*)(&staticParams + offsetof(paramset_t, userParams) + i)); |
159 | pointerToTgt = (uint8_t*)(&dynamicParams + offsetof(dynamicParam_t, userParams) + i); |
156 | pointerToTgt = (uint8_t*)(&dynamicParams + offsetof(dynamicParam_t, userParams) + i); |
160 | if (src < 255) { |
157 | if (src < 255) { |
161 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
158 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
162 | } |
159 | } |
163 | } |
160 | } |
164 | } |
161 | } |
165 | 162 | ||
166 | uint8_t getCPUType(void) { // works only after reset or power on when the registers have default values |
163 | uint8_t getCPUType(void) { // works only after reset or power on when the registers have default values |
167 | uint8_t CPUType = ATMEGA644; |
164 | uint8_t CPUType = ATMEGA644; |
168 | if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P; // initial Values for 644P after reset |
165 | if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P; // initial Values for 644P after reset |
169 | return CPUType; |
166 | return CPUType; |
170 | } |
167 | } |
171 | 168 | ||
172 | /* |
169 | /* |
173 | * Automatic detection of hardware components is not supported in this development-oriented |
170 | * Automatic detection of hardware components is not supported in this development-oriented |
174 | * FC firmware. It would go against the point of it: To enable alternative hardware |
171 | * FC firmware. It would go against the point of it: To enable alternative hardware |
175 | * configurations with otherwise unsupported components. Instead, one should write |
172 | * configurations with otherwise unsupported components. Instead, one should write |
176 | * custom code + adjust constants for the new hardware, and include the relevant code |
173 | * custom code + adjust constants for the new hardware, and include the relevant code |
177 | * from the makefile. |
174 | * from the makefile. |
178 | * However - we still do detect the board release. Reason: Otherwise it would be too |
175 | * However - we still do detect the board release. Reason: Otherwise it would be too |
179 | * tedious to have to modify the code for how to turn on and off LEDs when deploying |
176 | * tedious to have to modify the code for how to turn on and off LEDs when deploying |
180 | * on different HW version.... |
177 | * on different HW version.... |
181 | */ |
178 | */ |
182 | 179 | ||
183 | uint8_t getBoardRelease(void) { |
180 | uint8_t getBoardRelease(void) { |
184 | uint8_t boardRelease = 13; |
181 | uint8_t boardRelease = 13; |
185 | // the board release is coded via the pull up or down the 2 status LED |
182 | // the board release is coded via the pull up or down the 2 status LED |
186 | 183 | ||
187 | PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
184 | PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
188 | DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
185 | DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
189 | 186 | ||
190 | _delay_loop_2(1000); // make some delay |
187 | _delay_loop_2(1000); // make some delay |
191 | 188 | ||
192 | switch( PINB & ((1<<PINB1)|(1<<PINB0))) { |
189 | switch( PINB & ((1<<PINB1)|(1<<PINB0))) { |
193 | case 0x00: |
190 | case 0x00: |
194 | boardRelease = 10; // 1.0 |
191 | boardRelease = 10; // 1.0 |
195 | break; |
192 | break; |
196 | case 0x01: |
193 | case 0x01: |
197 | boardRelease = 11; // 1.1 or 1.2 |
194 | boardRelease = 11; // 1.1 or 1.2 |
198 | break; |
195 | break; |
199 | case 0x02: |
196 | case 0x02: |
200 | boardRelease = 20; // 2.0 |
197 | boardRelease = 20; // 2.0 |
201 | break; |
198 | break; |
202 | case 0x03: |
199 | case 0x03: |
203 | boardRelease = 13; // 1.3 |
200 | boardRelease = 13; // 1.3 |
204 | break; |
201 | break; |
205 | default: |
202 | default: |
206 | break; |
203 | break; |
207 | } |
204 | } |
208 | // set LED ports as output |
205 | // set LED ports as output |
209 | DDRB |= (1<<DDB1)|(1<<DDB0); |
206 | DDRB |= (1<<DDB1)|(1<<DDB0); |
210 | RED_OFF; |
207 | RED_OFF; |
211 | GRN_OFF; |
208 | GRN_OFF; |
212 | return boardRelease; |
209 | return boardRelease; |
213 | } |
210 | } |
214 | 211 | ||
215 | void setOtherDefaults(void) { |
212 | void setOtherDefaults(void) { |
216 | // Height Control |
213 | // Height Control |
217 | staticParams.airpressureAccZCorrection = 128+56; |
214 | staticParams.airpressureAccZCorrection = 128+56; |
218 | staticParams.heightP = 10; |
215 | staticParams.heightP = 10; |
219 | staticParams.heightD = 30; |
216 | staticParams.heightD = 30; |
220 | staticParams.heightSetting = 251; |
217 | staticParams.heightSetting = 251; |
221 | staticParams.heightControlMaxThrottleChange = 10; |
218 | staticParams.heightControlMaxThrottleChange = 10; |
222 | staticParams.heightSlewRate = 4; |
219 | staticParams.heightSlewRate = 4; |
223 | 220 | ||
224 | // Control |
221 | // Control |
225 | staticParams.stickP = 8; |
222 | staticParams.stickP = 8; |
226 | staticParams.stickD = 12; |
223 | staticParams.stickD = 12; |
227 | staticParams.stickYawP = 12; |
224 | staticParams.stickYawP = 12; |
228 | staticParams.stickThrottleD = 12; |
225 | staticParams.stickThrottleD = 12; |
229 | staticParams.minThrottle = 8; |
226 | staticParams.minThrottle = 8; |
230 | staticParams.maxThrottle = 230; |
227 | staticParams.maxThrottle = 230; |
231 | staticParams.externalControl = 0; |
228 | staticParams.externalControl = 0; |
232 | staticParams.motorSmoothing = 0; |
229 | staticParams.motorSmoothing = 0; |
233 | 230 | ||
234 | // IMU |
231 | // IMU |
235 | staticParams.gyroPIDFilterConstant = 1; |
232 | staticParams.gyroPIDFilterConstant = 1; |
236 | // staticParams.gyroATTFilterConstant = 1; |
233 | // staticParams.gyroATTFilterConstant = 1; |
237 | staticParams.gyroDFilterConstant = 1; |
234 | staticParams.gyroDFilterConstant = 1; |
238 | staticParams.accFilterConstant = 10; |
235 | staticParams.accFilterConstant = 10; |
239 | 236 | ||
240 | staticParams.gyroP = 60; |
237 | staticParams.gyroP = 60; |
241 | staticParams.gyroI = 80; |
238 | staticParams.gyroI = 80; |
242 | staticParams.gyroD = 4; |
239 | staticParams.gyroD = 4; |
243 | 240 | ||
244 | // set by gyro-specific code: gyro_setDefaults(). |
241 | // set by gyro-specific code: gyro_setDefaults(). |
245 | // staticParams.zerothOrderCorrection = |
242 | // staticParams.zerothOrderCorrection = |
246 | // staticParams.driftCompDivider = |
243 | // staticParams.driftCompDivider = |
247 | // staticParams.driftCompLimit = |
244 | // staticParams.driftCompLimit = |
248 | 245 | ||
249 | staticParams.axisCoupling1 = 90; |
246 | staticParams.axisCoupling1 = 90; |
250 | staticParams.axisCoupling2 = 67; |
247 | staticParams.axisCoupling2 = 67; |
251 | staticParams.axisCouplingYawCorrection = 0; |
248 | staticParams.axisCouplingYawCorrection = 0; |
252 | staticParams.dynamicStability = 50; |
249 | staticParams.dynamicStability = 50; |
253 | staticParams.maxAccVector = 10; |
250 | staticParams.maxAccVector = 10; |
254 | staticParams.IFactor = 32; |
251 | staticParams.IFactor = 32; |
255 | staticParams.yawIFactor = 100; |
252 | staticParams.yawIFactor = 100; |
256 | staticParams.compassYawEffect = 128; |
253 | staticParams.compassYawEffect = 128; |
257 | staticParams.levelCorrection[0] = staticParams.levelCorrection[1] = 128; |
254 | staticParams.levelCorrection[0] = staticParams.levelCorrection[1] = 128; |
258 | 255 | ||
259 | // Servos |
256 | // Servos |
260 | staticParams.servoCount = 7; |
257 | staticParams.servoCount = 7; |
261 | staticParams.servoManualMaxSpeed = 10; |
258 | staticParams.servoManualMaxSpeed = 10; |
262 | for (uint8_t i=0; i<2; i++) { |
259 | for (uint8_t i=0; i<2; i++) { |
263 | staticParams.servoConfigurations[i].manualControl = 128; |
260 | staticParams.servoConfigurations[i].manualControl = 128; |
264 | staticParams.servoConfigurations[i].stabilizationFactor = 0; |
261 | staticParams.servoConfigurations[i].stabilizationFactor = 0; |
265 | staticParams.servoConfigurations[i].minValue = 32; |
262 | staticParams.servoConfigurations[i].minValue = 32; |
266 | staticParams.servoConfigurations[i].maxValue = 224; |
263 | staticParams.servoConfigurations[i].maxValue = 224; |
267 | staticParams.servoConfigurations[i].flags = 0; |
264 | staticParams.servoConfigurations[i].flags = 0; |
268 | } |
265 | } |
269 | 266 | ||
270 | // Battery warning and emergency flight |
267 | // Battery warning and emergency flight |
271 | staticParams.batteryVoltageWarning = 101; // 3.7 each for 3S |
268 | staticParams.batteryVoltageWarning = 101; // 3.7 each for 3S |
272 | staticParams.emergencyThrottle = 35; |
269 | staticParams.emergencyThrottle = 35; |
273 | staticParams.emergencyFlightDuration = 30; |
270 | staticParams.emergencyFlightDuration = 30; |
274 | 271 | ||
275 | // Outputs |
272 | // Outputs |
276 | staticParams.outputFlash[0].bitmask = 1; //0b01011111; |
273 | staticParams.outputFlash[0].bitmask = 1; //0b01011111; |
277 | staticParams.outputFlash[0].timing = 15; |
274 | staticParams.outputFlash[0].timing = 15; |
278 | staticParams.outputFlash[1].bitmask = 3; //0b11110011; |
275 | staticParams.outputFlash[1].bitmask = 3; //0b11110011; |
279 | staticParams.outputFlash[1].timing = 15; |
276 | staticParams.outputFlash[1].timing = 15; |
280 | 277 | ||
281 | staticParams.outputDebugMask = 8; |
278 | staticParams.outputDebugMask = 8; |
282 | staticParams.outputFlags = 16|8|4; |
279 | staticParams.outputFlags = 16|8|4; |
283 | } |
280 | } |
284 | 281 | ||
285 | /***************************************************/ |
282 | /***************************************************/ |
286 | /* Default Values for parameter set 1 */ |
283 | /* Default Values for parameter set 1 */ |
287 | /***************************************************/ |
284 | /***************************************************/ |
288 | void paramSet_default(uint8_t setnumber) { |
285 | void paramSet_default(uint8_t setnumber) { |
289 | setOtherDefaults(); |
286 | setOtherDefaults(); |
290 | gyro_setDefaultParameters(); |
287 | gyro_setDefaultParameters(); |
291 | 288 | ||
292 | for (uint8_t i=0; i<8; i++) { |
289 | for (uint8_t i=0; i<8; i++) { |
293 | staticParams.userParams[i] = 0; |
290 | staticParams.userParams[i] = 0; |
294 | } |
291 | } |
295 | 292 | ||
296 | staticParams.bitConfig = |
293 | staticParams.bitConfig = |
297 | CFG_GYRO_SATURATION_PREVENTION | CFG_HEADING_HOLD; |
294 | CFG_GYRO_SATURATION_PREVENTION | CFG_HEADING_HOLD; |
298 | 295 | ||
299 | memcpy(staticParams.name, "Default\0", 6); |
296 | memcpy(staticParams.name, "Default\0", 6); |
300 | } |
297 | } |
301 | 298 | ||
302 | /***************************************************/ |
299 | /***************************************************/ |
303 | /* Default Values for Mixer Table */ |
300 | /* Default Values for Mixer Table */ |
304 | /***************************************************/ |
301 | /***************************************************/ |
305 | void mixerMatrix_default(void) { // Quadro |
302 | void mixerMatrix_default(void) { // Quadro |
306 | uint8_t i; |
303 | uint8_t i; |
307 | // mixerMatric.revision = EEMIXER_REVISION; |
304 | // mixerMatric.revision = EEMIXER_REVISION; |
308 | // clear mixer table (but preset throttle) |
305 | // clear mixer table (but preset throttle) |
309 | for (i = 0; i < 16; i++) { |
306 | for (i = 0; i < 16; i++) { |
310 | mixerMatrix.motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
307 | mixerMatrix.motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
311 | mixerMatrix.motor[i][MIX_PITCH] = 0; |
308 | mixerMatrix.motor[i][MIX_PITCH] = 0; |
312 | mixerMatrix.motor[i][MIX_ROLL] = 0; |
309 | mixerMatrix.motor[i][MIX_ROLL] = 0; |
313 | mixerMatrix.motor[i][MIX_YAW] = 0; |
310 | mixerMatrix.motor[i][MIX_YAW] = 0; |
314 | } |
311 | } |
315 | // default = Quadro |
312 | // default = Quadro |
316 | mixerMatrix.motor[0][MIX_PITCH] = +64; |
313 | mixerMatrix.motor[0][MIX_PITCH] = +64; |
317 | mixerMatrix.motor[0][MIX_YAW] = +64; |
314 | mixerMatrix.motor[0][MIX_YAW] = +64; |
318 | mixerMatrix.motor[1][MIX_PITCH] = -64; |
315 | mixerMatrix.motor[1][MIX_PITCH] = -64; |
319 | mixerMatrix.motor[1][MIX_YAW] = +64; |
316 | mixerMatrix.motor[1][MIX_YAW] = +64; |
320 | mixerMatrix.motor[2][MIX_ROLL] = -64; |
317 | mixerMatrix.motor[2][MIX_ROLL] = -64; |
321 | mixerMatrix.motor[2][MIX_YAW] = -64; |
318 | mixerMatrix.motor[2][MIX_YAW] = -64; |
322 | mixerMatrix.motor[3][MIX_ROLL] = +64; |
319 | mixerMatrix.motor[3][MIX_ROLL] = +64; |
323 | mixerMatrix.motor[3][MIX_YAW] = -64; |
320 | mixerMatrix.motor[3][MIX_YAW] = -64; |
324 | memcpy(mixerMatrix.name, "Quadro\0", 7); |
321 | memcpy(mixerMatrix.name, "Quadro\0", 7); |
325 | 322 | ||
326 | /* |
323 | /* |
327 | // default = X |
324 | // default = X |
328 | mixerMatrix.motor[0][MIX_PITCH] = +45; |
325 | mixerMatrix.motor[0][MIX_PITCH] = +45; |
329 | mixerMatrix.motor[0][MIX_ROLL] = +45; |
326 | mixerMatrix.motor[0][MIX_ROLL] = +45; |
330 | mixerMatrix.motor[0][MIX_YAW] = +64; |
327 | mixerMatrix.motor[0][MIX_YAW] = +64; |
331 | 328 | ||
332 | mixerMatrix.motor[1][MIX_PITCH] = -45; |
329 | mixerMatrix.motor[1][MIX_PITCH] = -45; |
333 | mixerMatrix.motor[1][MIX_ROLL] = -45; |
330 | mixerMatrix.motor[1][MIX_ROLL] = -45; |
334 | mixerMatrix.motor[1][MIX_YAW] = +64; |
331 | mixerMatrix.motor[1][MIX_YAW] = +64; |
335 | 332 | ||
336 | mixerMatrix.motor[2][MIX_PITCH] = +45; |
333 | mixerMatrix.motor[2][MIX_PITCH] = +45; |
337 | mixerMatrix.motor[2][MIX_ROLL] = -45; |
334 | mixerMatrix.motor[2][MIX_ROLL] = -45; |
338 | mixerMatrix.motor[2][MIX_YAW] = -64; |
335 | mixerMatrix.motor[2][MIX_YAW] = -64; |
339 | 336 | ||
340 | mixerMatrix.motor[3][MIX_PITCH] = -45; |
337 | mixerMatrix.motor[3][MIX_PITCH] = -45; |
341 | mixerMatrix.motor[3][MIX_ROLL] = +45; |
338 | mixerMatrix.motor[3][MIX_ROLL] = +45; |
342 | mixerMatrix.motor[3][MIX_YAW] = -64; |
339 | mixerMatrix.motor[3][MIX_YAW] = -64; |
343 | */ |
340 | */ |
344 | 341 | ||
345 | memcpy(mixerMatrix.name, "X\0", 7); |
342 | memcpy(mixerMatrix.name, "X\0", 7); |
346 | } |
343 | } |
347 | 344 | ||
348 | /***************************************************/ |
345 | /***************************************************/ |
349 | /* Default Values for R/C Channels */ |
346 | /* Default Values for R/C Channels */ |
350 | /***************************************************/ |
347 | /***************************************************/ |
351 | void channelMap_default(void) { |
348 | void channelMap_default(void) { |
352 | channelMap.channels[CH_PITCH] = 1; |
349 | channelMap.channels[CH_PITCH] = 1; |
353 | channelMap.channels[CH_ROLL] = 0; |
350 | channelMap.channels[CH_ROLL] = 0; |
354 | channelMap.channels[CH_THROTTLE] = 2; |
351 | channelMap.channels[CH_THROTTLE] = 2; |
355 | channelMap.channels[CH_YAW] = 3; |
352 | channelMap.channels[CH_YAW] = 3; |
356 | channelMap.channels[CH_POTS + 0] = 4; |
353 | channelMap.channels[CH_POTS + 0] = 4; |
357 | channelMap.channels[CH_POTS + 1] = 5; |
354 | channelMap.channels[CH_POTS + 1] = 5; |
358 | channelMap.channels[CH_POTS + 2] = 6; |
355 | channelMap.channels[CH_POTS + 2] = 6; |
359 | channelMap.channels[CH_POTS + 3] = 7; |
356 | channelMap.channels[CH_POTS + 3] = 7; |
360 | } |
357 | } |
361 | 358 |