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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 für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (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 sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt werden |
18 | // + eindeutig als Ursprung verlinkt 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// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + POSSIBILITY OF SUCH DAMAGE. |
49 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | #include <util/delay.h> |
51 | #include <util/delay.h> |
52 | #include <avr/eeprom.h> |
- | |
53 | #include <stddef.h> |
52 | #include <stddef.h> |
- | 53 | #include <string.h> |
|
54 | #include "configuration.h" |
54 | #include "configuration.h" |
55 | #include "eeprom.h" |
55 | #include "sensors.h" |
- | 56 | #include "rc.h" |
|
56 | 57 | ||
- | 58 | int16_t variables[8] = {0,0,0,0,0,0,0,0}; |
|
- | 59 | paramset_t staticParams; |
|
- | 60 | channelMap_t channelMap; |
|
57 | int16_t variables[8] = {0,0,0,0,0,0,0,0}; |
61 | mixerMatrix_t mixerMatrix; |
58 | dynamicParam_t dynamicParams = {48,251,16,58,64,8,150,150,2,10,{0,0,0,0,0,0,0,0},100,70,90,65,64,100,0,0,0}; |
62 | dynamicParam_t dynamicParams; // = {48,251,16,58,64,8,150,150,2,10,{0,0,0,0,0,0,0,0},100,70,90,65,64,100,0,0,0}; |
59 | uint8_t CPUType = ATMEGA644; |
63 | uint8_t CPUType = ATMEGA644; |
60 | uint8_t BoardRelease = 13; |
- | |
- | 64 | uint8_t boardRelease = 13; |
|
61 | 65 | uint8_t requiredMotors; |
|
62 | /************************************************************************ |
66 | /************************************************************************ |
63 | * Map the parameter to pot values |
67 | * Map the parameter to pot values |
64 | * Replacing this code by the code below saved almost 1 kbyte. |
68 | * Replacing this code by the code below saved almost 1 kbyte. |
65 | ************************************************************************/ |
69 | ************************************************************************/ |
66 | 70 | ||
67 | void configuration_applyVariablesToParams(void) { |
71 | void configuration_applyVariablesToParams(void) { |
68 | uint8_t i; |
72 | uint8_t i; |
69 | #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;} |
73 | #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;} |
70 | #define SET_POT(b,a) { if (a<255) {if (a>=251) b=variables[a-251]; else b=a;}} |
74 | #define SET_POT(b,a) { if (a<255) {if (a>=251) b=variables[a-251]; else b=a;}} |
71 | SET_POT(dynamicParams.MaxHeight,staticParams.MaxHeight); |
- | |
72 | SET_POT_MM(dynamicParams.HeightD,staticParams.HeightD,0,100); |
- | |
73 | SET_POT_MM(dynamicParams.HeightP,staticParams.HeightP,0,100); |
- | |
74 | SET_POT(dynamicParams.Height_ACC_Effect,staticParams.Height_ACC_Effect); |
- | |
75 | SET_POT(dynamicParams.CompassYawEffect,staticParams.CompassYawEffect); |
- | |
76 | SET_POT_MM(dynamicParams.GyroP,staticParams.GyroP,0,255); |
75 | SET_POT_MM(dynamicParams.gyroP, staticParams.gyroP, 5, 200); |
77 | SET_POT(dynamicParams.GyroI,staticParams.GyroI); |
76 | SET_POT(dynamicParams.gyroI, staticParams.gyroI); |
78 | SET_POT(dynamicParams.GyroD,staticParams.GyroD); |
77 | SET_POT(dynamicParams.gyroD, staticParams.gyroD); |
79 | SET_POT(dynamicParams.IFactor,staticParams.IFactor); |
78 | SET_POT(dynamicParams.IFactor, staticParams.IFactor); |
80 | for (i=0; i<sizeof(staticParams.UserParams1); i++) { |
- | |
81 | SET_POT(dynamicParams.UserParams[i],staticParams.UserParams1[i]); |
79 | SET_POT(dynamicParams.yawIFactor, staticParams.yawIFactor); |
82 | } |
- | |
83 | for (i=0; i<sizeof(staticParams.UserParams2); i++) { |
- | |
84 | SET_POT(dynamicParams.UserParams[i + sizeof(staticParams.UserParams1)], staticParams.UserParams2[i]); |
80 | SET_POT(dynamicParams.compassYawEffect,staticParams.compassYawEffect); |
85 | } |
81 | |
86 | SET_POT(dynamicParams.ServoPitchControl,staticParams.ServoPitchControl); |
82 | SET_POT(dynamicParams.externalControl, staticParams.externalControl); |
87 | SET_POT(dynamicParams.LoopGasLimit,staticParams.LoopGasLimit); |
- | |
88 | SET_POT(dynamicParams.AxisCoupling1,staticParams.AxisCoupling1); |
83 | SET_POT(dynamicParams.axisCoupling1, staticParams.axisCoupling1); |
89 | SET_POT(dynamicParams.AxisCoupling2,staticParams.AxisCoupling2); |
84 | SET_POT(dynamicParams.axisCoupling2, staticParams.axisCoupling2); |
90 | SET_POT(dynamicParams.AxisCouplingYawCorrection,staticParams.AxisCouplingYawCorrection); |
85 | SET_POT(dynamicParams.axisCouplingYawCorrection, staticParams.axisCouplingYawCorrection); |
91 | SET_POT(dynamicParams.DynamicStability,staticParams.DynamicStability); |
86 | SET_POT(dynamicParams.dynamicStability,staticParams.dynamicStability); |
92 | SET_POT_MM(dynamicParams.J16Timing,staticParams.J16Timing,1,255); |
- | |
93 | SET_POT_MM(dynamicParams.J17Timing,staticParams.J17Timing,1,255); |
87 | SET_POT(dynamicParams.maxControlActivityForAcc,staticParams.maxControlActivityForAcc); |
94 | 88 | ||
95 | #if defined (USE_NAVICTRL) |
89 | SET_POT_MM(dynamicParams.heightP, staticParams.heightP,0,100); |
96 | SET_POT(dynamicParams.NaviGpsModeControl,staticParams.NaviGpsModeControl); |
90 | SET_POT_MM(dynamicParams.heightD, staticParams.heightD,0,100); |
97 | SET_POT(dynamicParams.NaviGpsGain,staticParams.NaviGpsGain); |
91 | SET_POT(dynamicParams.heightSetting,staticParams.heightSetting); |
98 | SET_POT(dynamicParams.NaviGpsP,staticParams.NaviGpsP); |
92 | SET_POT(dynamicParams.heightACCEffect,staticParams.heightACCEffect); |
99 | SET_POT(dynamicParams.NaviGpsI,staticParams.NaviGpsI); |
93 | SET_POT(dynamicParams.attitudeControl,staticParams.attitudeControl); |
- | 94 | ||
100 | SET_POT(dynamicParams.NaviGpsD,staticParams.NaviGpsD); |
95 | for (i=0; i<sizeof(staticParams.userParams); i++) { |
101 | SET_POT(dynamicParams.NaviGpsACC,staticParams.NaviGpsACC); |
96 | SET_POT(dynamicParams.userParams[i],staticParams.userParams[i]); |
- | 97 | } |
|
- | 98 | ||
102 | SET_POT_MM(dynamicParams.NaviOperatingRadius,staticParams.NaviOperatingRadius,10, 255); |
99 | SET_POT(dynamicParams.servoManualControl[0], staticParams.servoConfigurations[0].manualControl); |
103 | SET_POT(dynamicParams.NaviWindCorrection,staticParams.NaviWindCorrection); |
100 | SET_POT(dynamicParams.servoManualControl[1], staticParams.servoConfigurations[1].manualControl); |
- | 101 | ||
104 | SET_POT(dynamicParams.NaviSpeedCompensation,staticParams.NaviSpeedCompensation); |
102 | SET_POT_MM(dynamicParams.output0Timing, staticParams.outputFlash[0].timing,1,255); |
105 | #endif |
- | |
106 | SET_POT(dynamicParams.ExternalControl,staticParams.ExternalControl); |
103 | SET_POT_MM(dynamicParams.output1Timing, staticParams.outputFlash[1].timing,1,255); |
107 | } |
104 | } |
108 | 105 | ||
109 | const XLATION XLATIONS[] = { |
106 | const XLATION XLATIONS[] = { |
110 | {offsetof(paramset_t, MaxHeight), offsetof(dynamicParam_t, MaxHeight)}, |
107 | // {offsetof(paramset_t, MaxHeight), offsetof(dynamicParam_t, MaxHeight)}, |
111 | {offsetof(paramset_t, Height_ACC_Effect), offsetof(dynamicParam_t, Height_ACC_Effect)}, |
- | |
112 | {offsetof(paramset_t, CompassYawEffect), offsetof(dynamicParam_t, CompassYawEffect)}, |
- | |
113 | {offsetof(paramset_t, GyroI), offsetof(dynamicParam_t, GyroI)}, |
- | |
114 | {offsetof(paramset_t, GyroD), offsetof(dynamicParam_t, GyroD)}, |
- | |
115 | {offsetof(paramset_t, IFactor), offsetof(dynamicParam_t, IFactor)}, |
- | |
116 | {offsetof(paramset_t, ServoPitchControl), offsetof(dynamicParam_t, ServoPitchControl)}, |
- | |
117 | {offsetof(paramset_t, LoopGasLimit), offsetof(dynamicParam_t, LoopGasLimit)}, |
- | |
118 | {offsetof(paramset_t, AxisCoupling1), offsetof(dynamicParam_t, AxisCoupling1)}, |
- | |
119 | {offsetof(paramset_t, AxisCoupling2), offsetof(dynamicParam_t, AxisCoupling2)}, |
- | |
120 | {offsetof(paramset_t, AxisCouplingYawCorrection), offsetof(dynamicParam_t, AxisCouplingYawCorrection)}, |
- | |
121 | {offsetof(paramset_t, DynamicStability), offsetof(dynamicParam_t, DynamicStability)}, |
- | |
122 | {offsetof(paramset_t, NaviGpsModeControl), |
- | |
123 | offsetof(dynamicParam_t, NaviGpsModeControl)}, |
- | |
124 | {offsetof(paramset_t, NaviGpsGain), offsetof(dynamicParam_t, NaviGpsGain)}, |
- | |
125 | {offsetof(paramset_t, NaviGpsP), offsetof(dynamicParam_t, NaviGpsP)}, |
- | |
126 | {offsetof(paramset_t, NaviGpsI), offsetof(dynamicParam_t, NaviGpsI)}, |
- | |
127 | {offsetof(paramset_t, NaviGpsD), offsetof(dynamicParam_t, NaviGpsD)}, |
- | |
128 | {offsetof(paramset_t, NaviGpsACC), offsetof(dynamicParam_t, NaviGpsACC)}, |
- | |
129 | {offsetof(paramset_t, NaviWindCorrection), offsetof(dynamicParam_t, NaviWindCorrection)}, |
- | |
130 | {offsetof(paramset_t, NaviSpeedCompensation), offsetof(dynamicParam_t, NaviSpeedCompensation)}, |
- | |
131 | {offsetof(paramset_t, ExternalControl), offsetof(dynamicParam_t, ExternalControl)} |
- | |
132 | }; |
108 | }; |
133 | 109 | ||
134 | const MMXLATION MMXLATIONS[] = { |
110 | const MMXLATION MMXLATIONS[] = { |
135 | {offsetof(paramset_t, HeightD), offsetof(dynamicParam_t, HeightD),0,100}, |
111 | // {offsetof(paramset_t, HeightD), offsetof(dynamicParam_t, HeightD),0,100}, |
136 | {offsetof(paramset_t, HeightP), offsetof(dynamicParam_t, HeightP),0,150}, |
- | |
137 | {offsetof(paramset_t, GyroP), offsetof(dynamicParam_t, GyroP),0,255}, |
- | |
138 | {offsetof(paramset_t, J16Timing), offsetof(dynamicParam_t, J16Timing),1,255}, |
- | |
139 | {offsetof(paramset_t, J17Timing), offsetof(dynamicParam_t, J17Timing),1,255}, |
- | |
140 | {offsetof(paramset_t, NaviOperatingRadius), offsetof(dynamicParam_t, NaviOperatingRadius),10,255} |
- | |
141 | }; |
112 | }; |
142 | 113 | ||
143 | uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) { |
114 | uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) { |
144 | uint8_t result; |
115 | uint8_t result; |
145 | if (src>=251) result = variables[src-251]; |
116 | if (src>=251) result = variables[src-251]; |
146 | else result = src; |
117 | else result = src; |
147 | if (result < min) result = min; |
118 | if (result < min) result = min; |
148 | else if (result > max) result = max; |
119 | else if (result > max) result = max; |
149 | return result; |
120 | return result; |
150 | } |
121 | } |
151 | 122 | ||
152 | void configuration_applyVariablesToParams_dead(void) { |
123 | void configuration_applyVariablesToParams_dead(void) { |
153 | uint8_t i, src; |
124 | uint8_t i, src; |
154 | uint8_t* pointerToTgt; |
125 | uint8_t* pointerToTgt; |
155 | for(i=0; i<sizeof(XLATIONS)/sizeof(XLATION); i++) { |
126 | for(i=0; i<sizeof(XLATIONS)/sizeof(XLATION); i++) { |
156 | src = *((uint8_t*)(&staticParams + XLATIONS[i].sourceIdx)); |
127 | src = *((uint8_t*)(&staticParams + XLATIONS[i].sourceIdx)); |
157 | pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx); |
128 | pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx); |
158 | if (src < 255) { |
129 | if (src < 255) { |
159 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
130 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
160 | } |
131 | } |
161 | } |
132 | } |
162 | 133 | ||
163 | for(i=0; i<sizeof(MMXLATIONS)/sizeof(MMXLATION); i++) { |
134 | for(i=0; i<sizeof(MMXLATIONS)/sizeof(MMXLATION); i++) { |
164 | src = *((uint8_t*)(&staticParams + MMXLATIONS[i].sourceIdx)); |
135 | src = *((uint8_t*)(&staticParams + MMXLATIONS[i].sourceIdx)); |
165 | pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx); |
136 | pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx); |
166 | if (src < 255) { |
137 | if (src < 255) { |
167 | *pointerToTgt = configuration_applyVariableToParam(src, MMXLATIONS[i].min, MMXLATIONS[i].max); |
138 | *pointerToTgt = configuration_applyVariableToParam(src, MMXLATIONS[i].min, MMXLATIONS[i].max); |
168 | } |
139 | } |
169 | } |
140 | } |
170 | 141 | ||
171 | for (i=0; i<sizeof(staticParams.UserParams1); i++) { |
142 | for (i=0; i<sizeof(staticParams.userParams); i++) { |
172 | src = *((uint8_t*)(&staticParams + offsetof(paramset_t, UserParams1) + i)); |
143 | src = *((uint8_t*)(&staticParams + offsetof(paramset_t, userParams) + i)); |
173 | pointerToTgt = (uint8_t*)(&dynamicParams + offsetof(dynamicParam_t, UserParams) + i); |
- | |
174 | if (src < 255) { |
- | |
175 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
- | |
176 | } |
- | |
177 | } |
- | |
178 | - | ||
179 | for (i=0; i<sizeof(staticParams.UserParams2); i++) { |
- | |
180 | src = *((uint8_t*)(&staticParams + offsetof(paramset_t, UserParams2) + i)); |
- | |
181 | pointerToTgt = (uint8_t*)(&dynamicParams + offsetof(dynamicParam_t, UserParams) + sizeof(staticParams.UserParams1) + i); |
144 | pointerToTgt = (uint8_t*)(&dynamicParams + offsetof(dynamicParam_t, userParams) + i); |
182 | if (src < 255) { |
145 | if (src < 255) { |
183 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
146 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
184 | } |
147 | } |
185 | } |
148 | } |
186 | } |
149 | } |
187 | 150 | ||
188 | uint8_t getCPUType(void) { // works only after reset or power on when the registers have default values |
151 | uint8_t getCPUType(void) { // works only after reset or power on when the registers have default values |
189 | uint8_t CPUType = ATMEGA644; |
152 | uint8_t CPUType = ATMEGA644; |
190 | if( (UCSR1A == 0x20) && (UCSR1C == 0x06) ) CPUType = ATMEGA644P; // initial Values for 644P after reset |
153 | if( (UCSR1A == 0x20) && (UCSR1C == 0x06) ) CPUType = ATMEGA644P; // initial Values for 644P after reset |
191 | return CPUType; |
154 | return CPUType; |
192 | } |
155 | } |
193 | 156 | ||
194 | /* |
157 | /* |
195 | * Automatic detection of hardware components is not supported in this development-oriented |
158 | * Automatic detection of hardware components is not supported in this development-oriented |
196 | * FC firmware. It would go against the point of it: To enable alternative hardware |
159 | * FC firmware. It would go against the point of it: To enable alternative hardware |
197 | * configurations with otherwise unsupported components. Instead, one should write |
160 | * configurations with otherwise unsupported components. Instead, one should write |
198 | * custom code + adjust constants for the new hardware, and include the relevant code |
161 | * custom code + adjust constants for the new hardware, and include the relevant code |
199 | * from the makefile. |
162 | * from the makefile. |
200 | * However - we still do detect the board release. Reason: Otherwise it would be too |
163 | * However - we still do detect the board release. Reason: Otherwise it would be too |
201 | * tedious to have to modify the code for how to turn on and off LEDs when deploying |
164 | * tedious to have to modify the code for how to turn on and off LEDs when deploying |
202 | * on different HW version.... |
165 | * on different HW version.... |
203 | */ |
166 | */ |
204 | 167 | ||
205 | uint8_t getBoardRelease(void) { |
168 | uint8_t getBoardRelease(void) { |
206 | uint8_t BoardRelease = 13; |
169 | uint8_t boardRelease = 13; |
207 | // the board release is coded via the pull up or down the 2 status LED |
170 | // the board release is coded via the pull up or down the 2 status LED |
208 | 171 | ||
209 | PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
172 | PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
210 | DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
173 | DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
211 | 174 | ||
212 | _delay_loop_2(1000); // make some delay |
175 | _delay_loop_2(1000); // make some delay |
213 | 176 | ||
214 | switch( PINB & ((1<<PINB1)|(1<<PINB0))) { |
177 | switch( PINB & ((1<<PINB1)|(1<<PINB0))) { |
215 | case 0x00: |
178 | case 0x00: |
216 | BoardRelease = 10; // 1.0 |
179 | boardRelease = 10; // 1.0 |
217 | break; |
180 | break; |
218 | case 0x01: |
181 | case 0x01: |
219 | BoardRelease = 11; // 1.1 or 1.2 |
182 | boardRelease = 11; // 1.1 or 1.2 |
220 | break; |
183 | break; |
221 | case 0x02: |
184 | case 0x02: |
222 | BoardRelease = 20; // 2.0 |
185 | boardRelease = 20; // 2.0 |
223 | break; |
186 | break; |
224 | case 0x03: |
187 | case 0x03: |
225 | BoardRelease = 13; // 1.3 |
188 | boardRelease = 13; // 1.3 |
226 | break; |
189 | break; |
227 | default: |
190 | default: |
228 | break; |
191 | break; |
229 | } |
192 | } |
230 | // set LED ports as output |
193 | // set LED ports as output |
231 | DDRB |= (1<<DDB1)|(1<<DDB0); |
194 | DDRB |= (1<<DDB1)|(1<<DDB0); |
232 | RED_ON; |
195 | RED_ON; |
233 | GRN_OFF; |
196 | GRN_OFF; |
234 | return BoardRelease; |
197 | return boardRelease; |
235 | } |
198 | } |
- | 199 | ||
- | 200 | void setOtherDefaults(void) { |
|
- | 201 | // Height Control |
|
- | 202 | staticParams.heightP = 10; |
|
- | 203 | staticParams.heightD = 30; |
|
- | 204 | staticParams.heightSetting = 251; |
|
- | 205 | staticParams.heightMaxThrottleChange = 10; |
|
- | 206 | staticParams.heightSlewRate = 4; |
|
- | 207 | staticParams.heightACCEffect = 30; |
|
- | 208 | ||
- | 209 | // Control |
|
- | 210 | staticParams.stickP = 8; |
|
- | 211 | staticParams.stickD = 12; |
|
- | 212 | staticParams.stickYawP = 12; |
|
- | 213 | staticParams.stickThrottleD = 12; |
|
- | 214 | staticParams.minThrottle = 8; |
|
- | 215 | staticParams.maxThrottle = 230; |
|
- | 216 | staticParams.externalControl = 0; |
|
- | 217 | ||
- | 218 | // IMU |
|
- | 219 | staticParams.gyroPIDFilterConstant = 1; |
|
- | 220 | staticParams.gyroATTFilterConstant = 1; |
|
- | 221 | staticParams.gyroDFilterConstant = 1; |
|
- | 222 | staticParams.accFilterConstant = 4; |
|
- | 223 | ||
- | 224 | staticParams.gyroP = 60; |
|
- | 225 | staticParams.gyroI = 80; |
|
- | 226 | staticParams.gyroD = 4; |
|
- | 227 | ||
- | 228 | // set by gyro code. |
|
- | 229 | // staticParams.zerothOrderCorrection = |
|
- | 230 | // staticParams.driftCompDivider = |
|
- | 231 | // staticParams.driftCompLimit = |
|
- | 232 | ||
- | 233 | staticParams.axisCoupling1 = 90; |
|
- | 234 | staticParams.axisCoupling2 = 67; |
|
- | 235 | staticParams.axisCouplingYawCorrection = 0; |
|
- | 236 | staticParams.dynamicStability = 50; |
|
- | 237 | staticParams.IFactor = 32; |
|
- | 238 | staticParams.compassYawEffect = 128; |
|
- | 239 | ||
- | 240 | // Servos |
|
- | 241 | for (uint8_t i=0; i<2; i++) { |
|
- | 242 | staticParams.servoConfigurations[i].manualControl = 128; |
|
- | 243 | staticParams.servoConfigurations[i].compensationFactor = 0; |
|
- | 244 | staticParams.servoConfigurations[i].minValue = 64; |
|
- | 245 | staticParams.servoConfigurations[i].maxValue = 192; |
|
- | 246 | staticParams.servoConfigurations[i].flags = 0; |
|
- | 247 | } |
|
- | 248 | staticParams.servoCount = 4; |
|
- | 249 | ||
- | 250 | // Battery warning and emergency flight |
|
- | 251 | staticParams.batteryVoltageWarning = 101; // 3.7 each for 3S |
|
- | 252 | staticParams.emergencyThrottle = 35; |
|
- | 253 | staticParams.emergencyFlightDuration = 30; |
|
- | 254 | ||
- | 255 | // Outputs |
|
- | 256 | staticParams.outputFlash[0].bitmask = 0b01011111; |
|
- | 257 | staticParams.outputFlash[0].timing = 15; |
|
- | 258 | staticParams.outputFlash[1].bitmask = 0b11110011; |
|
- | 259 | staticParams.outputFlash[1].timing = 15; |
|
- | 260 | ||
- | 261 | staticParams.outputFlags = 0; |
|
- | 262 | } |
|
- | 263 | ||
- | 264 | /***************************************************/ |
|
- | 265 | /* Default Values for parameter set 1 */ |
|
- | 266 | /***************************************************/ |
|
- | 267 | void paramSet_default(uint8_t setnumber) { |
|
- | 268 | setOtherDefaults(); |
|
- | 269 | gyro_setDefaults(); |
|
- | 270 | ||
- | 271 | for (uint8_t i=0; i<8; i++) { |
|
- | 272 | staticParams.userParams[i] = 0; |
|
- | 273 | } |
|
- | 274 | ||
- | 275 | staticParams.bitConfig = |
|
- | 276 | CFG_GYRO_SATURATION_PREVENTION | |
|
- | 277 | CFG_HEADING_HOLD; |
|
- | 278 | staticParams.bitConfig2 = 0; |
|
- | 279 | ||
- | 280 | memcpy(staticParams.name, "Default\0", 6); |
|
- | 281 | } |
|
- | 282 | ||
- | 283 | /***************************************************/ |
|
- | 284 | /* Default Values for Mixer Table */ |
|
- | 285 | /***************************************************/ |
|
- | 286 | void mixerMatrix_default(void) { // Quadro |
|
- | 287 | uint8_t i; |
|
- | 288 | // mixerMatric.revision = EEMIXER_REVISION; |
|
- | 289 | // clear mixer table (but preset throttle) |
|
- | 290 | for (i = 0; i < 16; i++) { |
|
- | 291 | mixerMatrix.motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
|
- | 292 | mixerMatrix.motor[i][MIX_PITCH] = 0; |
|
- | 293 | mixerMatrix.motor[i][MIX_ROLL] = 0; |
|
- | 294 | mixerMatrix.motor[i][MIX_YAW] = 0; |
|
- | 295 | } |
|
- | 296 | // default = Quadro |
|
- | 297 | mixerMatrix.motor[0][MIX_PITCH] = +64; |
|
- | 298 | mixerMatrix.motor[0][MIX_YAW] = +64; |
|
- | 299 | mixerMatrix.motor[1][MIX_PITCH] = -64; |
|
- | 300 | mixerMatrix.motor[1][MIX_YAW] = +64; |
|
- | 301 | mixerMatrix.motor[2][MIX_ROLL] = -64; |
|
- | 302 | mixerMatrix.motor[2][MIX_YAW] = -64; |
|
- | 303 | mixerMatrix.motor[3][MIX_ROLL] = +64; |
|
- | 304 | mixerMatrix.motor[3][MIX_YAW] = -64; |
|
- | 305 | memcpy(mixerMatrix.name, "Quadro\0", 7); |
|
- | 306 | } |
|
- | 307 | ||
- | 308 | void channelMap_default(void) { |
|
- | 309 | channelMap.channels[CH_PITCH] = 2; |
|
- | 310 | channelMap.channels[CH_ROLL] = 1; |
|
- | 311 | channelMap.channels[CH_THROTTLE] = 3; |
|
- | 312 | channelMap.channels[CH_YAW] = 4; |
|
- | 313 | channelMap.channels[CH_POTS + 0] = 5; |
|
- | 314 | channelMap.channels[CH_POTS + 1] = 6; |
|
- | 315 | channelMap.channels[CH_POTS + 2] = 7; |
|
- | 316 | channelMap.channels[CH_POTS + 3] = 8; |
|
- | 317 | } |
|
- | 318 | ||
236 | 319 |