Subversion Repositories FlightCtrl

#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;
MotorMixer_t motorMixer;
IMUConfig_t IMUConfig;
volatile DynamicParams_t dynamicParams;

uint8_t CPUType;
uint8_t boardRelease;
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);
  }
}

void setCPUType(void) {   // works only after reset or power on when the registers have default values
#if (MCU_TYPE==atmega644)
        CPUType=ATMEGA644;
#else
  if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P;  // initial Values for 644P after reset
  else CPUType = ATMEGA644;
#endif
}

/*
 * 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....
 */
void setBoardRelease(void) {
  // 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;
}

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.attitudeControl = 0;
  staticParams.motorSmoothing = 0;
 
  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.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 = DEBUG_ACC0THORDER;
  staticParams.outputFlags   = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS;

  staticParams.naviMode = 0; // free.
  staticParams.airpressureWindowLength = 0;
  staticParams.airpressureDWindowLength = 24;

  staticParams.heightControlMaxIntegralIn = 125;
  staticParams.heightControlMaxIntegralOut = 75;
  staticParams.heightControlMaxThrottleChange = 75;
  staticParams.heightControlTestOscPeriod = 0;
  staticParams.heightControlTestOscAmplitude = 0;
}

/***************************************************/
/*    Default Values for parameter set 1           */
/***************************************************/
void paramSet_default(uint8_t setnumber) {
  setOtherDefaults();
 
  for (uint8_t i=0; i<8; i++) {
    staticParams.userParams[i] = i;
  }

  staticParams.bitConfig = CFG_GYRO_SATURATION_PREVENTION;

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

void IMUConfig_default(void) {
  IMUConfig.gyroPIDFilterConstant = 1;
  IMUConfig.gyroDWindowLength = 3;
  // IMUConfig.gyroDFilterConstant = 1;
  IMUConfig.accFilterConstant = 10;
  IMUConfig.rateTolerance = 120;
  IMUConfig.gyroActivityDamping = 24;

  gyro_setDefaultParameters();
}

/***************************************************/
/*    Default Values for Mixer Table               */
/***************************************************/
void motorMixer_default(void) { // Quadro
  uint8_t i;
  // clear mixer table (but preset throttle)
  for (i = 0; i < MAX_MOTORS; i++) {
    motorMixer.matrix[i][MIX_THROTTLE] = i < 4 ? 64 : 0;
    motorMixer.matrix[i][MIX_PITCH] = 0;
    motorMixer.matrix[i][MIX_ROLL] = 0;
    motorMixer.matrix[i][MIX_YAW] = 0;
    motorMixer.matrix[i][MIX_OPPOSITE_MOTOR] = (uint8_t)-1;
  }
  /*
  // default = Quadro+
  motorMixer.matrix[0][MIX_PITCH] = +64;
  motorMixer.matrix[0][MIX_YAW] = +64;
  motorMixer.matrix[0][MIX_OPPOSITE_MOTOR] = 1;

  motorMixer.matrix[1][MIX_PITCH] = -64;
  motorMixer.matrix[1][MIX_YAW] = +64;
  motorMixer.matrix[1][MIX_OPPOSITE_MOTOR] = 0;

  motorMixer.matrix[2][MIX_ROLL] = -64;
  motorMixer.matrix[2][MIX_YAW] = -64;
  motorMixer.matrix[2][MIX_OPPOSITE_MOTOR] = 3;

  motorMixer.matrix[3][MIX_ROLL] = +64;
  motorMixer.matrix[3][MIX_YAW] = -64;
  motorMixer.matrix[3][MIX_OPPOSITE_MOTOR] = 2;

  memcpy(motorMixer.name, "Quadro +\0", 9);
  */

  // default = Quadro
  motorMixer.matrix[0][MIX_PITCH] = +64;
  motorMixer.matrix[0][MIX_ROLL] = +64;
  motorMixer.matrix[0][MIX_YAW] = +64;
  motorMixer.matrix[0][MIX_OPPOSITE_MOTOR] = 1;

  motorMixer.matrix[1][MIX_PITCH] = -64;
  motorMixer.matrix[1][MIX_ROLL] = -64;
  motorMixer.matrix[1][MIX_YAW] = +64;
  motorMixer.matrix[1][MIX_OPPOSITE_MOTOR] = 0;

  motorMixer.matrix[2][MIX_PITCH] = +64;
  motorMixer.matrix[2][MIX_ROLL] = -64;
  motorMixer.matrix[2][MIX_YAW] = -64;
  motorMixer.matrix[2][MIX_OPPOSITE_MOTOR] = 3;

  motorMixer.matrix[3][MIX_PITCH] = -64;
  motorMixer.matrix[3][MIX_ROLL] = +64;
  motorMixer.matrix[3][MIX_YAW] = -64;
  motorMixer.matrix[3][MIX_OPPOSITE_MOTOR] = 2;

  memcpy(motorMixer.name, "Quadro X\0", 9);
}

/***************************************************/
/*    Default Values for R/C Channels              */
/***************************************************/
void channelMap_default(void) {
  channelMap.RCPolarity = 1;
  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;
}