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| Rev 1615 | Rev 1616 | ||
|---|---|---|---|
| 1 | Dongfang's FC firmware rewrite |
1 | Dongfang's FC firmware rewrite |
| 2 | ------------------------------ |
2 | ------------------------------ |
| 3 | 3 | ||
| 4 | The basis was V0.74d Code Redesign Killagreg. |
4 | The basis was V0.74d Code Redesign Killagreg. |
| 5 | 5 | ||
| 6 | Goal: |
6 | Goal: |
| 7 | - To be the preferred hacker-friendly FC firmware. |
7 | - To be the preferred hacker-friendly FC firmware. |
| - | 8 | - To use H&Is design experience but make the code clearer and easier to extend+modify. |
|
| 8 | 9 | ||
| 9 | Non-goal: |
10 | Non-goal: |
| 10 | - To follow up on all changes and all new features in the H&I firmware. |
11 | - To follow up on all changes and all new features in the H&I firmware. |
| 11 | 12 | ||
| 12 | Features: |
13 | Features: |
| 13 | - Readable, reasonably documented source code makes it easy to implement the features you |
14 | - Readable, reasonably documented source code makes it easy to implement the features you |
| 14 | want yourself (and to remove those you don't like). |
15 | want yourself (and to remove those you don't like). |
| 15 | - The code was broken into smaller pieces and modularized (fc.c in particular). |
16 | - The code was broken into smaller pieces and modularized (fc.c in particular). |
| 16 | Global variables are (almost) only written to by one module each. |
17 | Global variables are (almost) only written to by one module each. |
| 17 | - New or experimental hardware is easy to incorporate. Gyro and acc. meter axes are reversible, |
18 | - New or experimental hardware is easy to incorporate. Gyro and acc. meter axes are reversible, |
| 18 | and resetting the sensitivity actually works. |
19 | and resetting the sensitivity actually works. |
| - | 20 | - New or experiemental controls are easy to incorporate. All controls (eg. R/C, external |
|
| - | 21 | serial, NC, automatic emergency landing pilot and automatic altitude controller pilot) |
|
| - | 22 | are potentially abstractable to one interface. |
|
| - | 23 | - Reversal of gyro or accelerometer axes is easy. It is easy to adapt the firmware for |
|
| - | 24 | upside down installation of the FC too. |
|
| - | 25 | - The firmware is compatible with MK-Tool. This may be changed, if somebody writes a new |
|
| - | 26 | MK-Tool which is easy to adapt for addition of / removal of features. |
|
| 19 | 27 | ||
| 20 | Non-features (currently): |
28 | Non-features (currently): |
| 21 | - Navi support temporarily removed (should be added again later). |
29 | - Navi support temporarily removed (should be added again later). |
| 22 | - Compass support temporarily removed (should be added again later). |
30 | - Compass support temporarily removed (should be added again later). |
| 23 | - Parts of menu.c are dummy implemented or removed. It is possible that menu.c and all use |
31 | - Parts of menu.c are dummy implemented or removed. It is possible that menu.c and all use |
| 24 | of printf will be removed later, and replaced by something else (debud on steroids). |
32 | of printf will be removed later, and replaced by something else (debud on steroids). |
| 25 | - Control rate limiter removed. |
33 | - Control rate limiter removed. |
| 26 | - Altitude control temporarily removed (should be added again later). |
34 | - Altitude control temporarily removed (should be added again later). |
| 27 | - Automatic board detection removed. This firmware is for compiling yourself, possibly |
35 | - Automatic board detection removed. This firmware is for compiling yourself, possibly |
| 28 | with nonstandard or experimental hardware. That conflicts with automatically switching |
36 | with nonstandard or experimental hardware. That conflicts with automatically switching |
| 29 | between standard hardware versions, so the feature was removed. Instead, is was made |
37 | between standard hardware versions, so the feature was removed. Instead, is was made |
| 30 | easy to choose gyro types etc. in the makefile. |
- | |
| 31 | 38 | easy to choose gyro types etc. in the makefile. |
|
| - | 39 | ||
| - | 40 | How to build: |
|
| - | 41 | - Choose a gyro definition, depending on your hardware, and enable it in the makefile |
|
| - | 42 | and (GYRO=.....) and #include its header file in analog.h (how to make that follow the |
|
| - | 43 | makefile automatically?). Currently, ENC-03_FC1.3, ADXRS610_FC2.0 and invenSense are |
|
| - | 44 | supported (each has a .c and a .h file). |
|
| - | 45 | - make all |
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| - | 46 | ||
| 32 | 47 | ||