// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + Nur f�r den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + auf anderen Webseiten oder Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
// + Benutzung auf eigene Gefahr
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// + from this software without specific prior written permission.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#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 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;
const MMXLATION XLATIONS
[] = {
{offsetof(ParamSet_t
, levelCorrection
[0]), offsetof(DynamicParams_t
, levelCorrection
[0]),0,255},
{offsetof(ParamSet_t
, levelCorrection
[1]), offsetof(DynamicParams_t
, levelCorrection
[1]),0,255},
{offsetof(ParamSet_t
, gyroP
), offsetof(DynamicParams_t
, gyroP
),0,255},
{offsetof(ParamSet_t
, gyroI
), offsetof(DynamicParams_t
, gyroI
),0,255},
{offsetof(ParamSet_t
, gyroD
), offsetof(DynamicParams_t
, gyroD
),0,255},
{offsetof(ParamSet_t
, attitudeControl
), offsetof(DynamicParams_t
, attitudeControl
),0,255},
{offsetof(ParamSet_t
, externalControl
), offsetof(DynamicParams_t
, externalControl
),0,255},
{offsetof(ParamSet_t
, dynamicStability
), offsetof(DynamicParams_t
, dynamicStability
),0,255},
{offsetof(ParamSet_t
, heightP
), offsetof(DynamicParams_t
, heightP
),0,255},
{offsetof(ParamSet_t
, heightI
), offsetof(DynamicParams_t
, heightI
),0,255},
{offsetof(ParamSet_t
, heightD
), offsetof(DynamicParams_t
, heightD
),0,255},
{offsetof(ParamSet_t
, heightSetting
), offsetof(DynamicParams_t
, heightSetting
),0,255},
{offsetof(ParamSet_t
, servoConfigurations
[0].
manualControl), offsetof(DynamicParams_t
, servoManualControl
[0]),0,255},
{offsetof(ParamSet_t
, servoConfigurations
[1].
manualControl), offsetof(DynamicParams_t
, servoManualControl
[1]),0,255},
{offsetof(ParamSet_t
, outputFlash
[0].
timing), offsetof(DynamicParams_t
, output0Timing
),0,255},
{offsetof(ParamSet_t
, outputFlash
[1].
timing), offsetof(DynamicParams_t
, output1Timing
),0,255},
{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
>=(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
(void) {
uint8_t i
, src
;
uint8_t* pointerToTgt
;
for(i
=0; i
<sizeof(XLATIONS
)/sizeof(MMXLATION
); i
++) {
src
= *((uint8_t*)(&staticParams
) + XLATIONS
[i
].
sourceIdx);
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(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;
// 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.
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.
staticParams.
maxControlActivity = 0; // temporary!
staticParams.
maxAccVector = 80;
}
/***************************************************/
/* 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;
}