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Cleanup project structure. Update unit test Makefile to place object

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files in obj/test
This commit is contained in:
Dominic Clifton 2014-05-31 22:43:06 +01:00
parent fb9e3a2358
commit d19a5e7046
330 changed files with 657 additions and 638 deletions
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src/main/config/config.c Executable file
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#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include "platform.h"
#include "build_config.h"
#include "common/axis.h"
#include "flight/flight.h"
#include "drivers/accgyro.h"
#include "drivers/system.h"
#include "sensors/sensors.h"
#include "sensors/gyro.h"
#include "io/statusindicator.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "drivers/serial.h"
#include "io/serial.h"
#include "telemetry/telemetry.h"
#include "flight/mixer.h"
#include "sensors/boardalignment.h"
#include "io/battery.h"
#include "io/gimbal.h"
#include "io/escservo.h"
#include "io/rc_controls.h"
#include "io/rc_curves.h"
#include "rx/rx.h"
#include "io/gps.h"
#include "flight/failsafe.h"
#include "config/runtime_config.h"
#include "config/config.h"
#include "config/config_profile.h"
#include "config/config_master.h"
void setPIDController(int type); // FIXME PID code needs to be in flight_pid.c/h
void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DConfigToUse,
escAndServoConfig_t *escAndServoConfigToUse, mixerConfig_t *mixerConfigToUse,
airplaneConfig_t *airplaneConfigToUse, rxConfig_t *rxConfig, gimbalConfig_t *gimbalConfigToUse);
#define FLASH_TO_RESERVE_FOR_CONFIG 0x800
#ifdef STM32F303xC
#define FLASH_PAGE_COUNT 128
#define FLASH_PAGE_SIZE ((uint16_t)0x800)
#endif
#ifndef FLASH_PAGE_COUNT
#define FLASH_PAGE_COUNT 128
#define FLASH_PAGE_SIZE ((uint16_t)0x400)
#endif
#define FLASH_WRITE_ADDR (0x08000000 + (uint32_t)((FLASH_PAGE_SIZE * FLASH_PAGE_COUNT) - FLASH_TO_RESERVE_FOR_CONFIG)) // use the last flash pages for storage master_t masterConfig; // master config struct with data independent from profiles
profile_t currentProfile; // profile config struct
static const uint8_t EEPROM_CONF_VERSION = 70;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
accelerometerTrims->values.pitch = 0;
accelerometerTrims->values.roll = 0;
accelerometerTrims->values.yaw = 0;
}
static void resetPidProfile(pidProfile_t *pidProfile)
{
pidProfile->P8[ROLL] = 40;
pidProfile->I8[ROLL] = 30;
pidProfile->D8[ROLL] = 23;
pidProfile->P8[PITCH] = 40;
pidProfile->I8[PITCH] = 30;
pidProfile->D8[PITCH] = 23;
pidProfile->P8[YAW] = 85;
pidProfile->I8[YAW] = 45;
pidProfile->D8[YAW] = 0;
pidProfile->P8[PIDALT] = 50;
pidProfile->I8[PIDALT] = 0;
pidProfile->D8[PIDALT] = 0;
pidProfile->P8[PIDPOS] = 11; // POSHOLD_P * 100;
pidProfile->I8[PIDPOS] = 0; // POSHOLD_I * 100;
pidProfile->D8[PIDPOS] = 0;
pidProfile->P8[PIDPOSR] = 20; // POSHOLD_RATE_P * 10;
pidProfile->I8[PIDPOSR] = 8; // POSHOLD_RATE_I * 100;
pidProfile->D8[PIDPOSR] = 45; // POSHOLD_RATE_D * 1000;
pidProfile->P8[PIDNAVR] = 14; // NAV_P * 10;
pidProfile->I8[PIDNAVR] = 20; // NAV_I * 100;
pidProfile->D8[PIDNAVR] = 80; // NAV_D * 1000;
pidProfile->P8[PIDLEVEL] = 90;
pidProfile->I8[PIDLEVEL] = 10;
pidProfile->D8[PIDLEVEL] = 100;
pidProfile->P8[PIDMAG] = 40;
pidProfile->P8[PIDVEL] = 120;
pidProfile->I8[PIDVEL] = 45;
pidProfile->D8[PIDVEL] = 1;
pidProfile->P_f[ROLL] = 2.5f; // new PID with preliminary defaults test carefully
pidProfile->I_f[ROLL] = 0.6f;
pidProfile->D_f[ROLL] = 0.06f;
pidProfile->P_f[PITCH] = 2.5f;
pidProfile->I_f[PITCH] = 0.6f;
pidProfile->D_f[PITCH] = 0.06f;
pidProfile->P_f[YAW] = 8.0f;
pidProfile->I_f[YAW] = 0.5f;
pidProfile->D_f[YAW] = 0.05f;
pidProfile->A_level = 5.0f;
pidProfile->H_level = 3.0f;
}
void resetGpsProfile(gpsProfile_t *gpsProfile)
{
gpsProfile->gps_wp_radius = 200;
gpsProfile->gps_lpf = 20;
gpsProfile->nav_slew_rate = 30;
gpsProfile->nav_controls_heading = 1;
gpsProfile->nav_speed_min = 100;
gpsProfile->nav_speed_max = 300;
gpsProfile->ap_mode = 40;
}
void resetBarometerConfig(barometerConfig_t *barometerConfig)
{
barometerConfig->baro_sample_count = 21;
barometerConfig->baro_noise_lpf = 0.6f;
barometerConfig->baro_cf_vel = 0.985f;
barometerConfig->baro_cf_alt = 0.965f;
}
void resetSensorAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
{
sensorAlignmentConfig->gyro_align = ALIGN_DEFAULT;
sensorAlignmentConfig->acc_align = ALIGN_DEFAULT;
sensorAlignmentConfig->mag_align = ALIGN_DEFAULT;
}
void resetEscAndServoConfig(escAndServoConfig_t *escAndServoConfig)
{
escAndServoConfig->minthrottle = 1150;
escAndServoConfig->maxthrottle = 1850;
escAndServoConfig->mincommand = 1000;
}
void resetFlight3DConfig(flight3DConfig_t *flight3DConfig)
{
flight3DConfig->deadband3d_low = 1406;
flight3DConfig->deadband3d_high = 1514;
flight3DConfig->neutral3d = 1460;
flight3DConfig->deadband3d_throttle = 50;
}
void resetTelemetryConfig(telemetryConfig_t *telemetryConfig)
{
telemetryConfig->telemetry_provider = TELEMETRY_PROVIDER_FRSKY;
telemetryConfig->frsky_inversion = SERIAL_NOT_INVERTED;
telemetryConfig->telemetry_switch = 0;
}
void resetSerialConfig(serialConfig_t *serialConfig)
{
serialConfig->serial_port_1_scenario = lookupScenarioIndex(SCENARIO_MSP_CLI_TELEMETRY_GPS_PASTHROUGH);
serialConfig->serial_port_2_scenario = lookupScenarioIndex(SCENARIO_GPS_ONLY);
serialConfig->serial_port_3_scenario = lookupScenarioIndex(SCENARIO_UNUSED);
serialConfig->serial_port_4_scenario = lookupScenarioIndex(SCENARIO_UNUSED);
serialConfig->msp_baudrate = 115200;
serialConfig->cli_baudrate = 115200;
serialConfig->gps_baudrate = 115200;
serialConfig->gps_passthrough_baudrate = 115200;
serialConfig->reboot_character = 'R';
}
// Default settings
static void resetConf(void)
{
int i;
int8_t servoRates[8] = { 30, 30, 100, 100, 100, 100, 100, 100 };
// Clear all configuration
memset(&masterConfig, 0, sizeof(master_t));
memset(&currentProfile, 0, sizeof(profile_t));
masterConfig.version = EEPROM_CONF_VERSION;
masterConfig.mixerConfiguration = MULTITYPE_QUADX;
featureClearAll();
featureSet(FEATURE_VBAT);
// global settings
masterConfig.current_profile_index = 0; // default profile
masterConfig.gyro_cmpf_factor = 600; // default MWC
masterConfig.gyro_cmpfm_factor = 250; // default MWC
masterConfig.gyro_lpf = 42; // supported by all gyro drivers now. In case of ST gyro, will default to 32Hz instead
resetAccelerometerTrims(&masterConfig.accZero);
resetSensorAlignment(&masterConfig.sensorAlignmentConfig);
masterConfig.boardAlignment.rollDegrees = 0;
masterConfig.boardAlignment.pitchDegrees = 0;
masterConfig.boardAlignment.yawDegrees = 0;
masterConfig.acc_hardware = ACC_DEFAULT; // default/autodetect
masterConfig.max_angle_inclination = 500; // 50 degrees
masterConfig.yaw_control_direction = 1;
masterConfig.gyroConfig.gyroMovementCalibrationThreshold = 32;
masterConfig.batteryConfig.vbatscale = 110;
masterConfig.batteryConfig.vbatmaxcellvoltage = 43;
masterConfig.batteryConfig.vbatmincellvoltage = 33;
masterConfig.batteryConfig.currentMeterOffset = 0;
masterConfig.batteryConfig.currentMeterScale = 400; // for Allegro ACS758LCB-100U (40mV/A)
resetTelemetryConfig(&masterConfig.telemetryConfig);
masterConfig.rxConfig.serialrx_provider = 0;
masterConfig.rxConfig.midrc = 1500;
masterConfig.rxConfig.mincheck = 1100;
masterConfig.rxConfig.maxcheck = 1900;
masterConfig.rxConfig.rssi_channel = 0;
masterConfig.retarded_arm = 0; // disable arm/disarm on roll left/right
masterConfig.airplaneConfig.flaps_speed = 0;
masterConfig.fixedwing_althold_dir = 1;
// Motor/ESC/Servo
resetEscAndServoConfig(&masterConfig.escAndServoConfig);
resetFlight3DConfig(&masterConfig.flight3DConfig);
masterConfig.motor_pwm_rate = 400;
masterConfig.servo_pwm_rate = 50;
// gps/nav stuff
masterConfig.gps_provider = GPS_NMEA;
resetSerialConfig(&masterConfig.serialConfig);
masterConfig.looptime = 3500;
masterConfig.emf_avoidance = 0;
currentProfile.pidController = 0;
resetPidProfile(&currentProfile.pidProfile);
currentProfile.controlRateConfig.rcRate8 = 90;
currentProfile.controlRateConfig.rcExpo8 = 65;
currentProfile.controlRateConfig.rollPitchRate = 0;
currentProfile.controlRateConfig.yawRate = 0;
currentProfile.dynThrPID = 0;
currentProfile.tpa_breakpoint = 1500;
currentProfile.controlRateConfig.thrMid8 = 50;
currentProfile.controlRateConfig.thrExpo8 = 0;
// for (i = 0; i < CHECKBOXITEMS; i++)
// cfg.activate[i] = 0;
resetRollAndPitchTrims(&currentProfile.accelerometerTrims);
currentProfile.mag_declination = 0;
currentProfile.acc_lpf_factor = 4;
currentProfile.accz_deadband = 40;
currentProfile.accxy_deadband = 40;
resetBarometerConfig(&currentProfile.barometerConfig);
currentProfile.acc_unarmedcal = 1;
// Radio
parseRcChannels("AETR1234", &masterConfig.rxConfig);
currentProfile.deadband = 0;
currentProfile.yaw_deadband = 0;
currentProfile.alt_hold_throttle_neutral = 40;
currentProfile.alt_hold_fast_change = 1;
currentProfile.throttle_correction_value = 0; // could 10 with althold or 40 for fpv
currentProfile.throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv
// Failsafe Variables
currentProfile.failsafeConfig.failsafe_delay = 10; // 1sec
currentProfile.failsafeConfig.failsafe_off_delay = 200; // 20sec
currentProfile.failsafeConfig.failsafe_throttle = 1200; // decent default which should always be below hover throttle for people.
currentProfile.failsafeConfig.failsafe_min_usec = 985; // any of first 4 channels below this value will trigger failsafe
currentProfile.failsafeConfig.failsafe_max_usec = 2115; // any of first 4 channels above this value will trigger failsafe
// servos
for (i = 0; i < 8; i++) {
currentProfile.servoConf[i].min = DEFAULT_SERVO_MIN;
currentProfile.servoConf[i].max = DEFAULT_SERVO_MAX;
currentProfile.servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
currentProfile.servoConf[i].rate = servoRates[i];
currentProfile.servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
}
currentProfile.mixerConfig.yaw_direction = 1;
currentProfile.mixerConfig.tri_unarmed_servo = 1;
// gimbal
currentProfile.gimbalConfig.gimbal_flags = GIMBAL_NORMAL;
resetGpsProfile(&currentProfile.gpsProfile);
// custom mixer. clear by defaults.
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
masterConfig.customMixer[i].throttle = 0.0f;
// copy default config into all 3 profiles
for (i = 0; i < 3; i++)
memcpy(&masterConfig.profile[i], &currentProfile, sizeof(profile_t));
}
static uint8_t calculateChecksum(const uint8_t *data, uint32_t length)
{
uint8_t checksum = 0;
const uint8_t *byteOffset;
for (byteOffset = data; byteOffset < (data + length); byteOffset++)
checksum ^= *byteOffset;
return checksum;
}
static bool isEEPROMContentValid(void)
{
const master_t *temp = (const master_t *) FLASH_WRITE_ADDR;
uint8_t checksum = 0;
// check version number
if (EEPROM_CONF_VERSION != temp->version)
return false;
// check size and magic numbers
if (temp->size != sizeof(master_t) || temp->magic_be != 0xBE || temp->magic_ef != 0xEF)
return false;
// verify integrity of temporary copy
checksum = calculateChecksum((const uint8_t *) temp, sizeof(master_t));
if (checksum != 0)
return false;
// looks good, let's roll!
return true;
}
void activateConfig(void)
{
generatePitchCurve(&currentProfile.controlRateConfig);
generateThrottleCurve(&currentProfile.controlRateConfig, &masterConfig.escAndServoConfig);
useGyroConfig(&masterConfig.gyroConfig);
useTelemetryConfig(&masterConfig.telemetryConfig);
setPIDController(currentProfile.pidController);
gpsUseProfile(&currentProfile.gpsProfile);
gpsUsePIDs(&currentProfile.pidProfile);
useFailsafeConfig(&currentProfile.failsafeConfig);
setAccelerationTrims(&masterConfig.accZero);
mixerUseConfigs(
currentProfile.servoConf,
&masterConfig.flight3DConfig,
&masterConfig.escAndServoConfig,
&currentProfile.mixerConfig,
&masterConfig.airplaneConfig,
&masterConfig.rxConfig,
&currentProfile.gimbalConfig
);
#ifdef BARO
useBarometerConfig(&currentProfile.barometerConfig);
#endif
}
void validateAndFixConfig(void)
{
if (!(feature(FEATURE_RX_PARALLEL_PWM) || feature(FEATURE_RX_PPM) || feature(FEATURE_RX_SERIAL) || feature(FEATURE_RX_MSP))) {
featureSet(FEATURE_RX_PARALLEL_PWM); // Consider changing the default to PPM
}
if (feature(FEATURE_RX_PARALLEL_PWM)) {
if (feature(FEATURE_RSSI_ADC)) {
featureClear(FEATURE_RSSI_ADC);
}
if (feature(FEATURE_CURRENT_METER)) {
featureClear(FEATURE_CURRENT_METER);
}
}
if (feature(FEATURE_RX_MSP)) {
if (feature(FEATURE_RX_SERIAL)) {
featureClear(FEATURE_RX_SERIAL);
}
if (feature(FEATURE_RX_PARALLEL_PWM)) {
featureClear(FEATURE_RX_PARALLEL_PWM);
}
if (feature(FEATURE_RX_PPM)) {
featureClear(FEATURE_RX_PPM);
}
}
if (feature(FEATURE_RX_SERIAL)) {
if (feature(FEATURE_RX_PARALLEL_PWM)) {
featureClear(FEATURE_RX_PARALLEL_PWM);
}
if (feature(FEATURE_RX_PPM)) {
featureClear(FEATURE_RX_PPM);
}
}
if (feature(FEATURE_RX_PPM)) {
if (feature(FEATURE_RX_PARALLEL_PWM)) {
featureClear(FEATURE_RX_PARALLEL_PWM);
}
}
#ifdef SONAR
if (feature(FEATURE_SONAR)) {
// sonar needs a free PWM port
if (!feature(FEATURE_RX_PARALLEL_PWM)) {
featureClear(FEATURE_SONAR);
}
}
#endif
if (feature(FEATURE_SOFTSERIAL)) {
// software serial needs free PWM ports
if (feature(FEATURE_RX_PARALLEL_PWM)) {
featureClear(FEATURE_SOFTSERIAL);
}
}
useRxConfig(&masterConfig.rxConfig);
serialConfig_t *serialConfig = &masterConfig.serialConfig;
applySerialConfigToPortFunctions(serialConfig);
if (!isSerialConfigValid(serialConfig)) {
resetSerialConfig(serialConfig);
}
}
void readEEPROM(void)
{
// Sanity check
if (!isEEPROMContentValid())
failureMode(10);
// Read flash
memcpy(&masterConfig, (char *) FLASH_WRITE_ADDR, sizeof(master_t));
// Copy current profile
if (masterConfig.current_profile_index > 2) // sanity check
masterConfig.current_profile_index = 0;
memcpy(&currentProfile, &masterConfig.profile[masterConfig.current_profile_index], sizeof(profile_t));
validateAndFixConfig();
activateConfig();
}
void readEEPROMAndNotify(void)
{
// re-read written data
readEEPROM();
blinkLedAndSoundBeeper(15, 20, 1);
}
void copyCurrentProfileToProfileSlot(uint8_t profileSlotIndex)
{
// copy current in-memory profile to stored configuration
memcpy(&masterConfig.profile[profileSlotIndex], &currentProfile, sizeof(profile_t));
}
void writeEEPROM(void)
{
// Generate compile time error if the config does not fit in the reserved area of flash.
BUILD_BUG_ON(sizeof(master_t) > FLASH_TO_RESERVE_FOR_CONFIG);
FLASH_Status status = 0;
uint32_t wordOffset;
int8_t attemptsRemaining = 3;
// prepare checksum/version constants
masterConfig.version = EEPROM_CONF_VERSION;
masterConfig.size = sizeof(master_t);
masterConfig.magic_be = 0xBE;
masterConfig.magic_ef = 0xEF;
masterConfig.chk = 0; // erase checksum before recalculating
masterConfig.chk = calculateChecksum((const uint8_t *) &masterConfig, sizeof(master_t));
// write it
FLASH_Unlock();
while (attemptsRemaining--) {
#ifdef STM32F3DISCOVERY
FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPERR);
#endif
#ifdef STM32F10X_MD
FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR);
#endif
for (wordOffset = 0; wordOffset < sizeof(master_t); wordOffset += 4) {
if (wordOffset % FLASH_PAGE_SIZE == 0) {
status = FLASH_ErasePage(FLASH_WRITE_ADDR + wordOffset);
if (status != FLASH_COMPLETE) {
break;
}
}
status = FLASH_ProgramWord(FLASH_WRITE_ADDR + wordOffset,
*(uint32_t *) ((char *) &masterConfig + wordOffset));
if (status != FLASH_COMPLETE) {
break;
}
}
if (status == FLASH_COMPLETE) {
break;
}
}
FLASH_Lock();
// Flash write failed - just die now
if (status != FLASH_COMPLETE || !isEEPROMContentValid()) {
failureMode(10);
}
}
void ensureEEPROMContainsValidData(void)
{
if (isEEPROMContentValid()) {
return;
}
resetEEPROM();
}
void resetEEPROM(void)
{
resetConf();
writeEEPROM();
}
void saveAndReloadCurrentProfileToCurrentProfileSlot(void)
{
copyCurrentProfileToProfileSlot(masterConfig.current_profile_index);
writeEEPROM();
readEEPROMAndNotify();
}
bool feature(uint32_t mask)
{
return masterConfig.enabledFeatures & mask;
}
void featureSet(uint32_t mask)
{
masterConfig.enabledFeatures |= mask;
}
void featureClear(uint32_t mask)
{
masterConfig.enabledFeatures &= ~(mask);
}
void featureClearAll()
{
masterConfig.enabledFeatures = 0;
}
uint32_t featureMask(void)
{
return masterConfig.enabledFeatures;
}