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1 | #include <util/delay.h> |
1 | #include <util/delay.h> |
2 | #include <avr/eeprom.h> |
- | |
3 | #include <stddef.h> |
2 | #include <stddef.h> |
- | 3 | #include <string.h> |
|
4 | #include "configuration.h" |
4 | #include "configuration.h" |
5 | #include "eeprom.h" |
5 | #include "sensors.h" |
6 | #include "uart0.h" |
6 | #include "rc.h" |
- | 7 | #include "output.h" |
|
- | 8 | #include "flight.h" |
|
7 | 9 | ||
8 | int16_t variables[8] = {0,0,0,0,0,0,0,0}; |
10 | int16_t variables[VARIABLE_COUNT]; |
- | 11 | ParamSet_t staticParams; |
|
- | 12 | channelMap_t channelMap; |
|
- | 13 | IMUConfig_t IMUConfig; |
|
- | 14 | volatile DynamicParams_t dynamicParams; |
|
9 | 15 | ||
10 | dynamicParam_t dynamicParams; |
16 | uint8_t CPUType; |
11 | uint8_t CPUType = ATMEGA644; |
17 | uint8_t boardRelease; |
12 | uint8_t BoardRelease = 13; |
18 | uint8_t requiredMotors; |
13 | 19 | ||
14 | /************************************************************************ |
- | |
15 | * Map the parameter to pot values |
20 | VersionInfo_t versionInfo; |
- | 21 | ||
16 | * Replacing this code by the code below saved almost 1 kbyte. |
22 | // MK flags. TODO: Replace by enum. State machine. |
- | 23 | uint16_t isFlying = 0; |
|
17 | ************************************************************************/ |
24 | volatile uint8_t MKFlags = 0; |
18 | 25 | ||
19 | void configuration_staticToDynamic(void) { |
26 | const MMXLATION XLATIONS[] = { |
20 | uint8_t i; |
- | |
21 | #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;} |
- | |
22 | #define SET_POT(b,a) { if (a<255) {if (a>=251) b=variables[a-251]; else b=a;}} |
27 | {offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255}, |
23 | SET_POT(dynamicParams.MaxHeight,staticParams.MaxHeight); |
28 | {offsetof(ParamSet_t, servoConfigurations[0].manualControl), offsetof(DynamicParams_t, servoManualControl[0]),0,255}, |
24 | SET_POT_MM(dynamicParams.HeightD,staticParams.HeightD,0,100); |
29 | {offsetof(ParamSet_t, servoConfigurations[1].manualControl), offsetof(DynamicParams_t, servoManualControl[1]),0,255}, |
25 | SET_POT_MM(dynamicParams.HeightP,staticParams.HeightP,0,100); |
30 | {offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255}, |
26 | SET_POT(dynamicParams.CompassYawEffect,staticParams.CompassYawEffect); |
31 | {offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255}, |
- | 32 | }; |
|
27 | 33 | ||
28 | SET_POT(dynamicParams.GyroPitchP,staticParams.GyroPitchP); |
34 | uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) { |
29 | SET_POT(dynamicParams.GyroRollP,staticParams.GyroRollP); |
35 | uint8_t result; |
30 | SET_POT(dynamicParams.GyroYawP,staticParams.GyroYawP); |
36 | if (src>=(256-VARIABLE_COUNT)) result = variables[src-(256-VARIABLE_COUNT)]; |
31 | - | ||
32 | SET_POT(dynamicParams.GyroPitchD,staticParams.GyroPitchD); |
37 | else result = src; |
33 | SET_POT(dynamicParams.GyroRollD,staticParams.GyroRollD); |
38 | if (result < min) result = min; |
34 | SET_POT(dynamicParams.GyroYawD,staticParams.GyroYawD); |
39 | else if (result > max) result = max; |
- | 40 | return result; |
|
- | 41 | } |
|
Line -... | Line 42... | ||
- | 42 | ||
- | 43 | void configuration_applyVariablesToParams(void) { |
|
- | 44 | uint8_t i, src; |
|
- | 45 | uint8_t* pointerToTgt; |
|
35 | 46 | ||
36 | for (i=0; i<sizeof(staticParams.UserParams); i++) { |
47 | for(i=0; i<sizeof(XLATIONS)/sizeof(MMXLATION); i++) { |
- | 48 | src = *((uint8_t*)(&staticParams) + XLATIONS[i].sourceIdx); |
|
- | 49 | pointerToTgt = (uint8_t*)(&dynamicParams) + XLATIONS[i].targetIdx; |
|
37 | SET_POT(dynamicParams.UserParams[i],staticParams.UserParams[i]); |
50 | *pointerToTgt = configuration_applyVariableToParam(src, XLATIONS[i].min, XLATIONS[i].max); |
Line -... | Line 51... | ||
- | 51 | } |
|
38 | } |
52 | |
39 | 53 | // User parameters are always variable. |
|
40 | SET_POT_MM(dynamicParams.J16Timing,staticParams.J16Timing,1,255); |
- | |
41 | SET_POT_MM(dynamicParams.J17Timing,staticParams.J17Timing,1,255); |
54 | for (i=0; i<sizeof(staticParams.userParams); i++) { |
- | 55 | src = *((uint8_t*)(&staticParams) + offsetof(ParamSet_t, userParams) + i); |
|
- | 56 | pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i; |
|
42 | 57 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
|
Line 43... | Line 58... | ||
43 | SET_POT(dynamicParams.ExternalControl,staticParams.ExternalControl); |
58 | } |
44 | } |
- | |
45 | 59 | } |
|
46 | uint8_t getCPUType(void) { // works only after reset or power on when the registers have default values |
60 | |
47 | uint8_t CPUType = ATMEGA644; |
61 | void setCPUType(void) { // works only after reset or power on when the registers have default values |
Line 48... | Line 62... | ||
48 | //if( (UCSR1A == 0x20) && (UCSR1C == 0x06) ) CPUType = ATMEGA644P; // initial Values for 644P after reset |
62 | if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P; // initial Values for 644P after reset |
49 | return CPUType; |
63 | else CPUType = ATMEGA644; |
50 | } |
64 | } |
Line 57... | Line 71... | ||
57 | * from the makefile. |
71 | * from the makefile. |
58 | * However - we still do detect the board release. Reason: Otherwise it would be too |
72 | * However - we still do detect the board release. Reason: Otherwise it would be too |
59 | * tedious to have to modify the code for how to turn on and off LEDs when deploying |
73 | * tedious to have to modify the code for how to turn on and off LEDs when deploying |
60 | * on different HW version.... |
74 | * on different HW version.... |
61 | */ |
75 | */ |
62 | - | ||
63 | uint8_t getBoardRelease(void) { |
76 | void setBoardRelease(void) { |
64 | uint8_t BoardRelease = 13; |
- | |
65 | // the board release is coded via the pull up or down the 2 status LED |
77 | // the board release is coded via the pull up or down the 2 status LED |
Line 66... | Line 78... | ||
66 | 78 | ||
67 | PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
79 | PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
Line 68... | Line 80... | ||
68 | DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
80 | DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
Line 69... | Line 81... | ||
69 | 81 | ||
70 | _delay_loop_2(1000); // make some delay |
82 | _delay_loop_2(1000); // make some delay |
71 | 83 | ||
72 | switch( PINB & ((1<<PINB1)|(1<<PINB0))) { |
84 | switch( PINB & ((1<<PINB1)|(1<<PINB0))) { |
73 | case 0x00: |
85 | case 0x00: |
74 | BoardRelease = 10; // 1.0 |
86 | boardRelease = 10; // 1.0 |
75 | break; |
87 | break; |
76 | case 0x01: |
88 | case 0x01: |
77 | BoardRelease = 11; // 1.1 or 1.2 |
89 | boardRelease = 11; // 1.1 or 1.2 |
78 | break; |
90 | break; |
79 | case 0x02: |
91 | case 0x02: |
80 | BoardRelease = 20; // 2.0 |
92 | boardRelease = 20; // 2.0 |
81 | break; |
93 | break; |
82 | case 0x03: |
94 | case 0x03: |
83 | BoardRelease = 13; // 1.3 |
95 | boardRelease = 13; // 1.3 |
84 | break; |
96 | break; |
85 | default: |
97 | default: |
86 | break; |
98 | break; |
87 | } |
99 | } |
88 | // set LED ports as output |
100 | // set LED ports as output |
- | 101 | DDRB |= (1<<DDB1)|(1<<DDB0); |
|
- | 102 | RED_OFF; |
|
- | 103 | GRN_OFF; |
|
- | 104 | } |
|
- | 105 | ||
- | 106 | void configuration_setFlightParameters() { |
|
- | 107 | // Implement: Update of stuff in flight.c |
|
- | 108 | } |
|
- | 109 | ||
- | 110 | // Called after a change in configuration parameters, as a hook for modules to take over changes. |
|
- | 111 | 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. |
|
- | 113 | configuration_setFlightParameters(); |
|
- | 114 | // Immediately load changes to output, and also signal the paramset change. |
|
- | 115 | output_init(); |
|
- | 116 | } |
|
- | 117 | ||
- | 118 | void setOtherDefaults(void) { |
|
- | 119 | ||
- | 120 | // Control |
|
- | 121 | staticParams.externalControl = 0; |
|
- | 122 | staticParams.IFactor = 52; |
|
- | 123 | ||
- | 124 | // Servos |
|
- | 125 | staticParams.servoCount = 7; |
|
- | 126 | staticParams.servoManualMaxSpeed = 10; |
|
- | 127 | for (uint8_t i=0; i<2; i++) { |
|
- | 128 | staticParams.servoConfigurations[i].manualControl = 128; |
|
- | 129 | staticParams.servoConfigurations[i].stabilizationFactor = 0; |
|
- | 130 | staticParams.servoConfigurations[i].minValue = 32; |
|
- | 131 | staticParams.servoConfigurations[i].maxValue = 224; |
|
- | 132 | staticParams.servoConfigurations[i].flags = 0; |
|
- | 133 | } |
|
- | 134 | ||
- | 135 | // Battery warning and emergency flight |
|
- | 136 | staticParams.batteryVoltageWarning = 101; // 3.7 each for 3S |
|
- | 137 | staticParams.emergencyThrottle = 35; |
|
- | 138 | staticParams.emergencyFlightDuration = 30; |
|
- | 139 | ||
- | 140 | // Outputs |
|
- | 141 | staticParams.outputFlash[0].bitmask = 1; //0b01011111; |
|
- | 142 | staticParams.outputFlash[0].timing = 15; |
|
- | 143 | staticParams.outputFlash[1].bitmask = 3; //0b11110011; |
|
- | 144 | staticParams.outputFlash[1].timing = 15; |
|
- | 145 | ||
- | 146 | staticParams.outputDebugMask = 8; |
|
- | 147 | staticParams.outputFlags = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS; |
|
- | 148 | } |
|
- | 149 | ||
- | 150 | /***************************************************/ |
|
- | 151 | /* Default Values for parameter set 1 */ |
|
- | 152 | /***************************************************/ |
|
- | 153 | void paramSet_default(uint8_t setnumber) { |
|
- | 154 | setOtherDefaults(); |
|
- | 155 | ||
- | 156 | for (uint8_t i=0; i<8; i++) { |
|
- | 157 | staticParams.userParams[i] = i; |
|
- | 158 | } |
|
- | 159 | ||
- | 160 | staticParams.bitConfig = |
|
- | 161 | CFG_GYRO_SATURATION_PREVENTION | CFG_COMPASS_ENABLED; |
|
- | 162 | ||
- | 163 | memcpy(staticParams.name, "Default\0", 6); |
|
- | 164 | } |
|
- | 165 | ||
- | 166 | void IMUConfig_default(void) { |
|
- | 167 | IMUConfig.gyroPIDFilterConstant = 1; |
|
89 | DDRB |= (1<<DDB1)|(1<<DDB0); |
168 | IMUConfig.gyroDFilterConstant = 1; |
- | 169 | IMUConfig.accFilterConstant = 10; |
|
- | 170 | IMUConfig.rateTolerance = 120; |
|
- | 171 | gyro_setDefaultParameters(); |
|
- | 172 | } |
|
- | 173 | ||
- | 174 | /***************************************************/ |
|
- | 175 | /* Default Values for R/C Channels */ |
|
- | 176 | /***************************************************/ |
|
- | 177 | void channelMap_default(void) { |
|
- | 178 | channelMap.channels[CH_ELEVATOR] = 1; |
|
- | 179 | channelMap.channels[CH_AILERONS] = 0; |
|
- | 180 | channelMap.channels[CH_THROTTLE] = 2; |
|
- | 181 | channelMap.channels[CH_RUDDER] = 3; |
|
- | 182 | channelMap.channels[CH_POTS + 0] = 4; |
|
90 | RED_ON; |
183 | channelMap.channels[CH_POTS + 1] = 5; |