mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-12 19:10:32 +03:00
9b48d45bca
implemented cli (press # in serial to enter it). no commands except exit/version yet. added uartPrint fixed bug in task switching with missing breaks - was failing baro and perhaps mag readings dynamic yaw direction, camtilt feature, camtrig feature. ported some of 2.0-pre1 features: * gyro smoothing * baro/althold cleanup git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@102 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
158 lines
3.8 KiB
C
Executable file
158 lines
3.8 KiB
C
Executable file
#include "board.h"
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#include "mw.h"
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#include <string.h>
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#define FLASH_PAGE_SIZE ((uint16_t)0x400)
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#define FLASH_WRITE_ADDR (0x08000000 + (uint32_t)FLASH_PAGE_SIZE * 63) // use the last KB for storage
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config_t cfg;
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static uint32_t enabledSensors = 0;
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static uint8_t checkNewConf = 2;
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void readEEPROM(void)
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{
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uint8_t i;
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// Read flash
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memcpy(&cfg, (char *)FLASH_WRITE_ADDR, sizeof(config_t));
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#if defined(POWERMETER)
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pAlarm = (uint32_t) cfg.powerTrigger1 *(uint32_t) PLEVELSCALE *(uint32_t) PLEVELDIV; // need to cast before multiplying
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#endif
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for (i = 0; i < 7; i++)
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lookupRX[i] = (2500 + cfg.rcExpo8 * (i * i - 25)) * i * (int32_t) cfg.rcRate8 / 1250;
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cfg.wing_left_mid = constrain(cfg.wing_left_mid, WING_LEFT_MIN, WING_LEFT_MAX); //LEFT
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cfg.wing_right_mid = constrain(cfg.wing_right_mid, WING_RIGHT_MIN, WING_RIGHT_MAX); //RIGHT
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cfg.tri_yaw_middle = constrain(cfg.tri_yaw_middle, TRI_YAW_CONSTRAINT_MIN, TRI_YAW_CONSTRAINT_MAX); //REAR
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}
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void writeParams(void)
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{
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FLASH_Status status;
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uint32_t i;
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FLASH_Unlock();
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FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR);
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if (FLASH_ErasePage(FLASH_WRITE_ADDR) == FLASH_COMPLETE) {
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for (i = 0; i < sizeof(config_t); i += 4) {
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status = FLASH_ProgramWord(FLASH_WRITE_ADDR + i, *(uint32_t *)((char *)&cfg + i));
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if (status != FLASH_COMPLETE)
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break; // TODO: fail
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}
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}
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FLASH_Lock();
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readEEPROM();
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blinkLED(15, 20, 1);
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}
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void checkFirstTime(void)
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{
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uint8_t test_val, i;
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test_val = *(uint8_t *)FLASH_WRITE_ADDR;
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if (test_val == checkNewConf)
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return;
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// Default settings
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cfg.version = checkNewConf;
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cfg.mixerConfiguration = MULTITYPE_QUADX;
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featureClearAll();
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featureSet(FEATURE_VBAT | FEATURE_PPM);
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cfg.P8[ROLL] = 40;
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cfg.I8[ROLL] = 30;
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cfg.D8[ROLL] = 23;
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cfg.P8[PITCH] = 40;
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cfg.I8[PITCH] = 30;
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cfg.D8[PITCH] = 23;
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cfg.P8[YAW] = 85;
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cfg.I8[YAW] = 0;
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cfg.D8[YAW] = 0;
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cfg.P8[PIDALT] = 16;
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cfg.I8[PIDALT] = 15;
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cfg.D8[PIDALT] = 7;
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cfg.P8[PIDGPS] = 50;
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cfg.I8[PIDGPS] = 0;
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cfg.D8[PIDGPS] = 15;
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cfg.P8[PIDVEL] = 0;
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cfg.I8[PIDVEL] = 0;
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cfg.D8[PIDVEL] = 0;
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cfg.P8[PIDLEVEL] = 90;
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cfg.I8[PIDLEVEL] = 45;
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cfg.D8[PIDLEVEL] = 100;
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cfg.P8[PIDMAG] = 40;
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cfg.rcRate8 = 45; // = 0.9 in GUI
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cfg.rcExpo8 = 65;
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cfg.rollPitchRate = 0;
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cfg.yawRate = 0;
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cfg.dynThrPID = 0;
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for (i = 0; i < CHECKBOXITEMS; i++) {
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cfg.activate1[i] = 0;
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cfg.activate2[i] = 0;
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}
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cfg.accTrim[0] = 0;
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cfg.accTrim[1] = 0;
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cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y
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cfg.powerTrigger1 = 0;
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// Radio/ESC
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cfg.midrc = 1500;
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cfg.minthrottle = 1150;
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cfg.maxthrottle = 1850;
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cfg.mincommand = 1000;
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// servos
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cfg.yaw_direction = 1;
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cfg.wing_left_mid = 1500;
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cfg.wing_right_mid = 1500;
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cfg.tri_yaw_middle = 1500;
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// gimbal
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cfg.tilt_pitch_prop = 10;
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cfg.tilt_roll_prop = 10;
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writeParams();
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}
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bool sensors(uint32_t mask)
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{
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return enabledSensors & mask;
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}
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void sensorsSet(uint32_t mask)
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{
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enabledSensors |= mask;
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}
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void sensorsClear(uint32_t mask)
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{
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enabledSensors &= ~(mask);
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}
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bool feature(uint32_t mask)
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{
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return cfg.enabledFeatures & mask;
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}
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void featureSet(uint32_t mask)
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{
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cfg.enabledFeatures |= mask;
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}
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void featureClear(uint32_t mask)
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{
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cfg.enabledFeatures &= ~(mask);
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}
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void featureClearAll()
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{
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cfg.enabledFeatures = 0;
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}
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