WebSVN - FlightCtrl - Diff - Rev 2058 and 2059 - /branches/dongfang_FC

 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Copyright (c) 04.2007 Holger Buss
 // + Nur f�r den privaten Gebrauch
 // + www.MikroKopter.com
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
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 // + bzgl. der Nutzungsbedingungen aufzunehmen.
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 // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht,
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 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
 // + auf anderen Webseiten oder Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
 // + eindeutig als Ursprung verlinkt und genannt werden
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
 // + Benutzung auf eigene Gefahr
 // + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
 // + mit unserer Zustimmung zul�ssig
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Redistributions of source code (with or without modifications) must retain the above copyright notice,
 // + this list of conditions and the following disclaimer.
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 // +     from this software without specific prior written permission.
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 // +     clearly linked as origin
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 // +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 // +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // +  POSSIBILITY OF SUCH DAMAGE.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 #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;
 mixerMatrix_t mixerMatrix;
-volatile dynamicParam_t dynamicParams;
+volatile DynamicParams_t dynamicParams;
 uint8_t CPUType = ATMEGA644;
 uint8_t boardRelease = 13;
 uint8_t requiredMotors;
 VersionInfo_t versionInfo;
 // MK flags. TODO: Replace by enum. State machine.
 uint16_t isFlying = 0;
 volatile uint8_t MKFlags = 0;
-/************************************************************************
- * Map the parameter to pot values
+const MMXLATION XLATIONS[] = {
- * Replacing this code by the code below saved almost 1 kbyte.
- ************************************************************************/
-void configuration_applyVariablesToParams(void) {
-  uint8_t i;
-#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;}
+{offsetof(ParamSet_t, levelCorrection[0]), offsetof(DynamicParams_t, levelCorrection[0]),0,255},
-#define SET_POT(b,a) {if (a>=255-VARIABLE_COUNT) b=variables[a+VARIABLE_COUNT-255]; else b=a;}
+{offsetof(ParamSet_t, levelCorrection[1]), offsetof(DynamicParams_t, levelCorrection[1]),0,255},
-  SET_POT_MM(dynamicParams.gyroP, staticParams.gyroP, 5, 200);
+{offsetof(ParamSet_t, gyroP), offsetof(DynamicParams_t, gyroP),0,255},
-  SET_POT(dynamicParams.gyroI, staticParams.gyroI);
+{offsetof(ParamSet_t, gyroI), offsetof(DynamicParams_t, gyroI),0,255},
-  SET_POT(dynamicParams.gyroD, staticParams.gyroD);
+{offsetof(ParamSet_t, gyroD), offsetof(DynamicParams_t, gyroD),0,255},
-  //SET_POT(dynamicParams.compassControlHeading,staticParams.compassControlHeading);
+{offsetof(ParamSet_t, attitudeControl), offsetof(DynamicParams_t, attitudeControl),0,255},
-  SET_POT(dynamicParams.externalControl, staticParams.externalControl);
+{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255},
-  SET_POT(dynamicParams.dynamicStability,staticParams.dynamicStability);
-  SET_POT(dynamicParams.maxAccVector,staticParams.maxAccVector);
+{offsetof(ParamSet_t, dynamicStability), offsetof(DynamicParams_t, dynamicStability),0,255},
-  SET_POT(dynamicParams.heightP, staticParams.heightP);
+{offsetof(ParamSet_t, heightP), offsetof(DynamicParams_t, heightP),0,255},
-  SET_POT(dynamicParams.heightI, staticParams.heightI);
+{offsetof(ParamSet_t, heightI), offsetof(DynamicParams_t, heightI),0,255},
-  SET_POT(dynamicParams.heightD, staticParams.heightD);
+{offsetof(ParamSet_t, heightD), offsetof(DynamicParams_t, heightD),0,255},
-  SET_POT(dynamicParams.heightSetting,staticParams.heightSetting);
-  SET_POT(dynamicParams.attitudeControl,staticParams.attitudeControl);
+{offsetof(ParamSet_t, heightSetting), offsetof(DynamicParams_t, heightSetting),0,255},
-  SET_POT(dynamicParams.servoManualControl[0], staticParams.servoConfigurations[0].manualControl);
+{offsetof(ParamSet_t, servoConfigurations[0].manualControl), offsetof(DynamicParams_t, servoManualControl[0]),0,255},
-  SET_POT(dynamicParams.servoManualControl[1], staticParams.servoConfigurations[1].manualControl);
+{offsetof(ParamSet_t, servoConfigurations[1].manualControl), offsetof(DynamicParams_t, servoManualControl[1]),0,255},
-  SET_POT_MM(dynamicParams.output0Timing, staticParams.outputFlash[0].timing,1,255);
-  SET_POT_MM(dynamicParams.output1Timing, staticParams.outputFlash[1].timing,1,255);
-  SET_POT(dynamicParams.levelCorrection[0], staticParams.levelCorrection[0]);
-  SET_POT(dynamicParams.levelCorrection[1], staticParams.levelCorrection[1]);
-  SET_POT(dynamicParams.naviMode, staticParams.naviMode);
-  for (i=0; i<sizeof(staticParams.userParams); i++) {
-    SET_POT(dynamicParams.userParams[i],staticParams.userParams[i]);
-  }
-}
-const XLATION XLATIONS[] = {
+{offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255},
-  {offsetof(ParamSet_t, heightSetting), offsetof(dynamicParam_t, heightSetting)},
-};
-const MMXLATION MMXLATIONS[] = {
+{offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255},
-  {offsetof(ParamSet_t, heightD), offsetof(dynamicParam_t, heightD),0,100},
-};
+{offsetof(ParamSet_t, naviMode), offsetof(DynamicParams_t, naviMode),0,255}};
 uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) {
   uint8_t result;
-  if (src>=251) result = variables[src-251];
+  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_dead(void) {
+void configuration_applyVariablesToParams(void) {
   uint8_t i, src;
-  uint8_t* pointerToTgt;
-  for(i=0; i<sizeof(XLATIONS)/sizeof(XLATION); i++) {
-    src = *((uint8_t*)(&staticParams + XLATIONS[i].sourceIdx));
-    pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx);
-    if (src < 255) {
-      *pointerToTgt = configuration_applyVariableToParam(src, 0, 255);
-    }
-  }
+  uint8_t* pointerToTgt;
-  for(i=0; i<sizeof(MMXLATIONS)/sizeof(MMXLATION); i++) {
+  for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) {
-    src = *((uint8_t*)(&staticParams + MMXLATIONS[i].sourceIdx));
-    pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx);
+    src = *((uint8_t*)(&staticParams) + XLATIONS[i].sourceIdx);
-    if (src < 255) {
-      *pointerToTgt = configuration_applyVariableToParam(src, MMXLATIONS[i].min, MMXLATIONS[i].max);
+    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(dynamicParam_t, userParams) + i);
+    src = *((uint8_t*)(&staticParams) + offsetof(ParamSet_t, userParams) + i);
-    if (src < 255) {
-      *pointerToTgt = configuration_applyVariableToParam(src, 0, 255);
+    pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i;
     *pointerToTgt = configuration_applyVariableToParam(src, 0, 255);
+  }
+}
 uint8_t getCPUType(void) {   // works only after reset or power on when the registers have default values
   uint8_t CPUType = ATMEGA644;
   if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P;  // initial Values for 644P after reset
   return CPUType;
+}
 /*
  * 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....
  */
 uint8_t getBoardRelease(void) {
   uint8_t boardRelease = 13;
   // 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;
   return boardRelease;
+}
+void configuration_setNormalFlightParameters(void) {
+  flight_setParameters(staticParams.IFactor, dynamicParams.gyroP,
+      staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI,
+      dynamicParams.gyroP, staticParams.yawIFactor);
+}
+void configuration_setFailsafeFlightParameters(void) {
+  flight_setParameters(0, 90, 120, 90, 120);
+}
+// 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_setNormalFlightParameters();
+  // Immediately load changes to output, and also signal the paramset change.
+  output_init();
+}
 void setOtherDefaults(void) {
   // Height Control
   staticParams.airpressureFilterConstant = 8;
   //staticParams.airpressureWindowLength = 0;
   staticParams.airpressureAccZCorrection = 128+56;
   staticParams.heightP = 10;
   staticParams.heightD = 30;
   staticParams.heightSetting = 251;
   staticParams.heightControlMaxThrottleChange = 10;
   staticParams.heightSlewRate = 4;
   // Control
   staticParams.stickP = 8;
   staticParams.stickD = 12;
   staticParams.stickYawP = 12;
   staticParams.stickThrottleD = 12;
   staticParams.minThrottle = 8;
   staticParams.maxThrottle = 230;
   staticParams.externalControl = 0;
   staticParams.motorSmoothing = 0;
   // IMU
   staticParams.gyroPIDFilterConstant = 1;
   staticParams.gyroATTFilterConstant = 1;
   staticParams.gyroDFilterConstant = 1;
   staticParams.accFilterConstant = 10;
   staticParams.gyroP = 60;
   staticParams.gyroI = 80;
   staticParams.gyroD = 4;
   // set by gyro-specific code: gyro_setDefaults().
   // staticParams.zerothOrderCorrection =
   // staticParams.driftCompDivider =
   // staticParams.driftCompLimit =
   staticParams.dynamicStability = 50;
-  staticParams.maxAccVector = 10;
+  staticParams.zerothOrderCorrectionAccTolerance = 60;
+  staticParams.zerothOrderCorrectionControlTolerance = 60;
   staticParams.IFactor = 52;
   staticParams.yawIFactor = 100;
   staticParams.compassYawCorrection = 64;
   staticParams.compassP = 50;
   staticParams.levelCorrection[0] = staticParams.levelCorrection[1] = 128;
   // 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;
   // 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;
   staticParams.naviMode = 0; // free.
+}
 /***************************************************/
 /*    Default Values for parameter set 1           */
 /***************************************************/
 void paramSet_default(uint8_t setnumber) {
   setOtherDefaults();
   gyro_setDefaultParameters();
   for (uint8_t i=0; i<8; i++) {
     staticParams.userParams[i] = 0;
+  }
   staticParams.bitConfig =
     CFG_GYRO_SATURATION_PREVENTION | CFG_COMPASS_ENABLED;
   memcpy(staticParams.name, "Default\0", 6);
+}
 /***************************************************/
 /*    Default Values for Mixer Table               */
 /***************************************************/
 void mixerMatrix_default(void) { // Quadro
   uint8_t i;
   // mixerMatric.revision = EEMIXER_REVISION;
   // clear mixer table (but preset throttle)
   for (i = 0; i < 16; i++) {
     mixerMatrix.motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0;
     mixerMatrix.motor[i][MIX_PITCH] = 0;
     mixerMatrix.motor[i][MIX_ROLL] = 0;
     mixerMatrix.motor[i][MIX_YAW] = 0;
+  }
   // default = Quadro
   mixerMatrix.motor[0][MIX_PITCH] = +64;
   mixerMatrix.motor[0][MIX_YAW] = +64;
   mixerMatrix.motor[1][MIX_PITCH] = -64;
   mixerMatrix.motor[1][MIX_YAW] = +64;
   mixerMatrix.motor[2][MIX_ROLL] = -64;
   mixerMatrix.motor[2][MIX_YAW] = -64;
   mixerMatrix.motor[3][MIX_ROLL] = +64;
   mixerMatrix.motor[3][MIX_YAW] = -64;
   memcpy(mixerMatrix.name, "Quadro\0", 7);
   /*
   // default = X
   mixerMatrix.motor[0][MIX_PITCH] = +45;
   mixerMatrix.motor[0][MIX_ROLL]  = +45;
   mixerMatrix.motor[0][MIX_YAW]   = +64;
   mixerMatrix.motor[1][MIX_PITCH] = -45;
   mixerMatrix.motor[1][MIX_ROLL]  = -45;
   mixerMatrix.motor[1][MIX_YAW]   = +64;
   mixerMatrix.motor[2][MIX_PITCH] = +45;
   mixerMatrix.motor[2][MIX_ROLL]  = -45;
   mixerMatrix.motor[2][MIX_YAW]   = -64;
   mixerMatrix.motor[3][MIX_PITCH] = -45;
   mixerMatrix.motor[3][MIX_ROLL]  = +45;
   mixerMatrix.motor[3][MIX_YAW]   = -64;
   */
   memcpy(mixerMatrix.name, "X\0", 7);
+}
 /***************************************************/
 /*    Default Values for R/C Channels              */
 /***************************************************/
 void channelMap_default(void) {
   channelMap.channels[CH_PITCH]    = 1;
   channelMap.channels[CH_ROLL]     = 0;
   channelMap.channels[CH_THROTTLE] = 2;
   channelMap.channels[CH_YAW]      = 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;
+}

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/configuration.c - Rev 2058 → 2059