Subversion Repositories FlightCtrl

#include <string.h>

#include <string.h>

#include "configuration.h"

#include "configuration.h"

#include "sensors.h"

#include "sensors.h"

#include "rc.h"

#include "rc.h"

int16_t variables[8] = {0,0,0,0,0,0,0,0};

int16_t variables[VARIABLE_COUNT];

paramset_t staticParams;

paramset_t staticParams;

channelMap_t channelMap;

channelMap_t channelMap;

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};

dynamicParam_t dynamicParams;

uint8_t CPUType = ATMEGA644;

uint8_t CPUType = ATMEGA644;

uint8_t boardRelease = 13;

uint8_t boardRelease = 13;

uint8_t requiredMotors;

uint8_t requiredMotors;

/************************************************************************

/************************************************************************

 * Map the parameter to pot values                                    

 * Map the parameter to pot values                                    

 * Replacing this code by the code below saved almost 1 kbyte.

 * Replacing this code by the code below saved almost 1 kbyte.

 ************************************************************************/

 ************************************************************************/

#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;}

#define SET_POT_MM(b,a,min,max) {if (a<255) {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;}

#define SET_POT(b,a) { if (a<255) {if (a>=251) b=variables[a-251]; else b=a;}}

#define SET_POT(b,a) { if (a<255) {if (a>=255-VARIABLE_COUNT) b=variables[a+VARIABLE_COUNT-255]; else b=a;}}

  SET_POT_MM(dynamicParams.gyroP, staticParams.gyroP, 5, 200);

  SET_POT_MM(dynamicParams.gyroP, staticParams.gyroP, 5, 200);

  SET_POT(dynamicParams.gyroI, staticParams.gyroI);

  SET_POT(dynamicParams.gyroI, staticParams.gyroI);

  SET_POT(dynamicParams.gyroD, staticParams.gyroD);

  SET_POT(dynamicParams.gyroD, staticParams.gyroD);

  SET_POT_MM(dynamicParams.output0Timing, staticParams.outputFlash[0].timing,1,255);

  SET_POT_MM(dynamicParams.output0Timing, staticParams.outputFlash[0].timing,1,255);

  SET_POT_MM(dynamicParams.output1Timing, staticParams.outputFlash[1].timing,1,255);

  SET_POT_MM(dynamicParams.output1Timing, staticParams.outputFlash[1].timing,1,255);

}

}

  //  {offsetof(paramset_t, MaxHeight), offsetof(dynamicParam_t, MaxHeight)},

  {offsetof(paramset_t, heightSetting), offsetof(dynamicParam_t, heightSetting)},

};

};

const MMXLATION MMXLATIONS[] = {

const MMXLATION MMXLATIONS[] = {

  //  {offsetof(paramset_t, HeightD), offsetof(dynamicParam_t, HeightD),0,100},

  {offsetof(paramset_t, heightD), offsetof(dynamicParam_t, heightD),0,100},

};

};

  }

  }

}

}

uint8_t getCPUType(void) {   // works only after reset or power on when the registers have default values

uint8_t getCPUType(void) {   // works only after reset or power on when the registers have default values

  if( (UCSR1A == 0x20) && (UCSR1C == 0x06) ) CPUType = ATMEGA644P;  // initial Values for 644P after reset

  //if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P;  // initial Values for 644P after reset

  return CPUType;

  return CPUType;

}

}

void setOtherDefaults(void) {

void setOtherDefaults(void) {

  // Height Control

  // Height Control

  staticParams.heightP = 10;

  staticParams.heightP = 10;

  staticParams.heightD = 30;

  staticParams.heightD = 30;

  staticParams.heightSetting = 251;

  staticParams.heightSetting = 251;

  staticParams.heightSlewRate = 4;

  staticParams.heightSlewRate = 4;

  // Control

  // Control

  staticParams.stickP = 8;

  staticParams.stickP = 8;

  staticParams.stickD = 12;

  staticParams.stickD = 12;

  staticParams.gyroP = 60;

  staticParams.gyroP = 60;

  staticParams.gyroI = 80;

  staticParams.gyroI = 80;

  // set by gyro code.

  // set by gyro-specific code: gyro_setDefaults().

  // staticParams.zerothOrderCorrection = 

  // staticParams.zerothOrderCorrection = 

  // staticParams.driftCompDivider = 

  // staticParams.driftCompDivider = 

  staticParams.batteryVoltageWarning = 101;  // 3.7 each for 3S

  staticParams.batteryVoltageWarning = 101;  // 3.7 each for 3S

  staticParams.emergencyThrottle = 35;

  staticParams.emergencyThrottle = 35;

  staticParams.emergencyFlightDuration = 30;

  staticParams.emergencyFlightDuration = 30;

  staticParams.outputFlash[0].bitmask = 0b01011111;

  staticParams.outputFlash[0].bitmask = 1; //0b01011111;

  staticParams.outputFlash[1].bitmask = 0b11110011;

  staticParams.outputFlash[1].bitmask = 3; //0b11110011;

  staticParams.outputFlash[1].timing = 15;

  staticParams.outputFlash[1].timing = 15;

  for (uint8_t i=0; i<8; i++) {

  for (uint8_t i=0; i<8; i++) {

    staticParams.userParams[i] = 0;

    staticParams.userParams[i] = 0;

  }

  }

  staticParams.bitConfig2 = 0;

    CFG_GYRO_SATURATION_PREVENTION | CFG_HEADING_HOLD;

  memcpy(staticParams.name, "Default\0", 6);

  memcpy(staticParams.name, "Default\0", 6);