WebSVN - FlightCtrl - Rev 2189 - /branches/dongfang_FC

#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"
#include "debug.h"

int16_t variables[VARIABLE_COUNT];
ParamSet_t staticParams;
ChannelMap_t channelMap;
OutputMixer_t outputMixer;
IMUConfig_t IMUConfig;
volatile DynamicParams_t dynamicParams;

uint8_t CPUType;
uint8_t boardRelease;

VersionInfo_t versionInfo;

// MK flags. TODO: Replace by enum. State machine.
uint16_t isFlying;
volatile uint8_t MKFlags;

const MMXLATION XLATIONS[] = {
{offsetof(ParamSet_t, flightMode), offsetof(DynamicParams_t, flightMode),0,255},

{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, attGyroP), offsetof(DynamicParams_t, attGyroP),0,250},
{offsetof(ParamSet_t, attGyroI), offsetof(DynamicParams_t, attGyroI),0,250},
{offsetof(ParamSet_t, attGyroD), offsetof(DynamicParams_t, attGyroD),0,250},

{offsetof(ParamSet_t, rateGyroP), offsetof(DynamicParams_t, rateGyroP),0,250},
{offsetof(ParamSet_t, rateGyroI), offsetof(DynamicParams_t, rateGyroI),0,250},
{offsetof(ParamSet_t, rateGyroD), offsetof(DynamicParams_t, rateGyroD),0,250},

{offsetof(ParamSet_t, yawGyroP), offsetof(DynamicParams_t, yawGyroP),0,250},
{offsetof(ParamSet_t, yawGyroI), offsetof(DynamicParams_t, yawGyroI),0,250},
{offsetof(ParamSet_t, yawGyroD), offsetof(DynamicParams_t, yawGyroD),0,250},

{offsetof(ParamSet_t, attitudeControl), offsetof(DynamicParams_t, attitudeControl),0,255},
{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),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_fixVariableParams(uint8_t variableNumber) {
// If variable value is to great, limit it.
uint8_t value = variables[variableNumber];
if (value >= 256-VARIABLE_COUNT)
value = 256-VARIABLE_COUNT - 1;
for (uint8_t i=0; i<sizeof(DynamicParams_t); i++) {
uint8_t* pointerToParam =(uint8_t*)(&dynamicParams + i);
if (*pointerToParam == 256-VARIABLE_COUNT + variableNumber) {
*pointerToParam = value;
}
}
}

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_setNormalFlightMode(void) {
FlightMode_t flight_flightMode;
if (dynamicParams.flightMode < 255/3)
flight_flightMode = FM_RETURN_TO_LEVEL;
else if (dynamicParams.flightMode < 255*2/3)
flight_flightMode = FM_HEADING_HOLD;
else
flight_flightMode = FM_RATE;
flight_setMode(flight_flightMode);
debugOut.analog[20] = flight_flightMode;
}

void configuration_setFailsafeFlightMode(void) {
flight_setMode(FM_RETURN_TO_LEVEL);
}

// 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.
// No longer necessary.
// configuration_setNormalFlightMode();
flight_setParameters();
output_setParameters();
// Immediately load changes to output, and also signal the paramset change.
output_init();
}

void setOtherDefaults(void) {
// Height Control
staticParams.airpressureFilterConstant = 8;
staticParams.airpressureWindowLength = 8;
staticParams.airpressureDWindowLength = 24;

staticParams.airpressureAccZCorrection = 128+56;
staticParams.heightP = 10;
staticParams.heightD = 30;
staticParams.heightSetting = 251;
staticParams.heightControlMaxThrottleChange = 10;

// Control
staticParams.flightMode = 248;
staticParams.stickP = 8;
staticParams.stickD = 0;
staticParams.stickYawP = 8;
staticParams.stickThrottleD = 4;

staticParams.minThrottle = 8;
staticParams.maxThrottle = 230;

staticParams.externalControl = 0;
staticParams.attitudeControl = 0;
staticParams.dynamicStability = 80; // 0 means: Regulation only by decreasing throttle. 200: Only by increasing.

staticParams.attGyroP = PID_NORMAL_VALUE;
staticParams.attGyroI = PID_NORMAL_VALUE;
staticParams.attGyroIMax = 0;
staticParams.attGyroD = PID_NORMAL_VALUE * 3/2;

staticParams.rateGyroP = PID_NORMAL_VALUE;
staticParams.rateGyroI = PID_NORMAL_VALUE;
staticParams.rateGyroIMax = 0;
staticParams.rateGyroD = PID_NORMAL_VALUE;

staticParams.yawGyroP = PID_NORMAL_VALUE;
staticParams.yawGyroI = PID_NORMAL_VALUE;
staticParams.yawGyroD = PID_NORMAL_VALUE;

staticParams.compassMode = 0;
staticParams.compassYawCorrection = 64;
staticParams.compassP = PID_NORMAL_VALUE;
staticParams.levelCorrection[0] = 249; // var1
staticParams.levelCorrection[1] = 250; // var2

// Servos
staticParams.servoCount = 8;
staticParams.servoManualMaxSpeed = 10;
for (uint8_t i=0; i<2; i++) {
staticParams.servoConfigurations[i].manualControl = 128;
staticParams.servoConfigurations[i].stabilizationFactor = 100;
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_INVERTED;
staticParams.outputFlags = /* OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | */ OUTPUTFLAGS_USE_ONBOARD_LEDS;

staticParams.naviMode = 0; // free.

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 = 0;//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;

gyro_setDefaultParameters();
}

/***************************************************/
/* Default Values for Mixer Table */
/***************************************************/
void outputMixer_default(void) { // Quadro
uint8_t i;
// clear mixer table (but preset throttle)
for (i = 0; i < NUM_OUTPUTS; i++) {
outputMixer[i].flightControls[MIXER_SOURCE_THROTTLE] = i < 4 ? (1<<LOG_MOTOR_MIXER_UNIT) : 0;
outputMixer[i].flightControls[MIXER_SOURCE_PITCH] = 0;
outputMixer[i].flightControls[MIXER_SOURCE_ROLL] = 0;
outputMixer[i].flightControls[MIXER_SOURCE_YAW] = 0;
outputMixer[i].oppositeMotor = (uint8_t)-1;
outputMixer[i].auxSource = (uint8_t)-1;
outputMixer[i].outputType = i < 4 ? OUTPUT_TYPE_MOTOR : OUTPUT_TYPE_UNDEFINED;
outputMixer[i].minValue = i < 4 ? 1 : 128;
outputMixer[i].maxValue = i < 4 ? 255 : 128;
}
// default = Quadro+
outputMixer[0].flightControls[MIXER_SOURCE_PITCH] = -(1<<LOG_MOTOR_MIXER_UNIT);
outputMixer[0].flightControls[MIXER_SOURCE_YAW] = +(1<<LOG_MOTOR_MIXER_UNIT);
outputMixer[0].oppositeMotor = 1;

outputMixer[1].flightControls[MIXER_SOURCE_PITCH] = +(1<<LOG_MOTOR_MIXER_UNIT);
outputMixer[1].flightControls[MIXER_SOURCE_YAW] = +(1<<LOG_MOTOR_MIXER_UNIT);
outputMixer[1].oppositeMotor = 0;

outputMixer[2].flightControls[MIXER_SOURCE_ROLL] = +(1<<LOG_MOTOR_MIXER_UNIT);
outputMixer[2].flightControls[MIXER_SOURCE_YAW] = -(1<<LOG_MOTOR_MIXER_UNIT);
outputMixer[2].oppositeMotor = 3;

outputMixer[3].flightControls[MIXER_SOURCE_ROLL] = -(1<<LOG_MOTOR_MIXER_UNIT);
outputMixer[3].flightControls[MIXER_SOURCE_YAW] = -(1<<LOG_MOTOR_MIXER_UNIT);
outputMixer[3].oppositeMotor = 2;

outputMixer[8].outputType = OUTPUT_TYPE_SERVO;
outputMixer[8].auxSource = MIXER_SOURCE_AUX_RCCHANNEL;
outputMixer[8].minValue = 40;
outputMixer[8].maxValue = 256-40;

outputMixer[9].outputType = OUTPUT_TYPE_SERVO;
outputMixer[9].auxSource = MIXER_SOURCE_AUX_RCCHANNEL+1;
outputMixer[9].minValue = 10;
outputMixer[9].maxValue = 256-10;

/*
// default = Quadro X
motorMixer.matrix[0][MIX_PITCH] = +(1<<LOG_MOTOR_MIXER_SCALER);
motorMixer.matrix[0][MIX_ROLL] = +(1<<LOG_MOTOR_MIXER_SCALER);
motorMixer.matrix[0][MIX_YAW] = +(1<<LOG_MOTOR_MIXER_SCALER);
motorMixer.matrix[0][MIX_OPPOSITE_MOTOR] = 1;

motorMixer.matrix[1][MIX_PITCH] = -(1<<LOG_MOTOR_MIXER_SCALER);
motorMixer.matrix[1][MIX_ROLL] = -(1<<LOG_MOTOR_MIXER_SCALER);
motorMixer.matrix[1][MIX_YAW] = +(1<<LOG_MOTOR_MIXER_SCALER);
motorMixer.matrix[1][MIX_OPPOSITE_MOTOR] = 0;

motorMixer.matrix[2][MIX_PITCH] = +(1<<LOG_MOTOR_MIXER_SCALER);
motorMixer.matrix[2][MIX_ROLL] = -(1<<LOG_MOTOR_MIXER_SCALER);
motorMixer.matrix[2][MIX_YAW] = -(1<<LOG_MOTOR_MIXER_SCALER);
motorMixer.matrix[2][MIX_OPPOSITE_MOTOR] = 3;

motorMixer.matrix[3][MIX_PITCH] = -(1<<LOG_MOTOR_MIXER_SCALER);
motorMixer.matrix[3][MIX_ROLL] = +(1<<LOG_MOTOR_MIXER_SCALER);
motorMixer.matrix[3][MIX_YAW] = -(1<<LOG_MOTOR_MIXER_SCALER);
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 = 0;
channelMap.channels[CH_PITCH] = 1;
channelMap.channels[CH_ROLL] = 0;
channelMap.channels[CH_THROTTLE] = 2;
channelMap.channels[CH_YAW] = 3;
channelMap.channels[CH_VARIABLES + 0] = 4;
channelMap.channels[CH_VARIABLES + 1] = 5;
channelMap.channels[CH_VARIABLES + 2] = 6;
channelMap.channels[CH_VARIABLES + 3] = 7;
}

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/configuration.c @ 2732 - Rev 2189