src/main/target/BEEBRAIN_V2F/config.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23 #include <string.h>
  24
  25 #include "platform.h"
  26
  27 #ifdef USE_TARGET_CONFIG
  28
  29 #include "common/axis.h"
  30 #include "common/maths.h"
  31
  32 #include "config/feature.h"
  33
  34 #include "drivers/light_led.h"
  35 #include "drivers/pwm_esc_detect.h"
  36
  37 #include "config/config.h"
  38 #include "fc/controlrate_profile.h"
  39 #include "fc/rc_modes.h"
  40 #include "fc/rc_controls.h"
  41
  42 #include "flight/pid.h"
  43
  44 #include "pg/vcd.h"
  45 #include "pg/rx.h"
  46 #include "pg/motor.h"
  47
  48 #include "rx/rx.h"
  49
  50 #include "io/serial.h"
  51
  52 #include "osd/osd.h"
  53
  54 #include "sensors/battery.h"
  55 #include "sensors/gyro.h"
  56
  57 #include "telemetry/telemetry.h"
  58
  59 #if !defined(BEEBRAIN_V2D)
  60 #define BBV2_FRSKY_RSSI_CH_IDX     9
  61 #endif
  62
  63 #ifdef BRUSHED_MOTORS_PWM_RATE
  64 #undef BRUSHED_MOTORS_PWM_RATE
  65 #endif
  66
  67 #define BRUSHED_MOTORS_PWM_RATE 32000           // 32kHz
  68
  69 void targetConfiguration(void)
  70 {
  71     if (getDetectedMotorType() == MOTOR_BRUSHED) {
  72         motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
  73         motorConfigMutable()->minthrottle = 1030;
  74         pidConfigMutable()->pid_process_denom = 1;
  75     }
  76
  77     for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
  78         pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
  79
  80         pidProfile->pid[PID_ROLL].P  = 86;
  81         pidProfile->pid[PID_ROLL].I  = 50;
  82         pidProfile->pid[PID_ROLL].D  = 60;
  83         pidProfile->pid[PID_PITCH].P = 90;
  84         pidProfile->pid[PID_PITCH].I = 55;
  85         pidProfile->pid[PID_PITCH].D = 60;
  86         pidProfile->pid[PID_YAW].P   = 123;
  87         pidProfile->pid[PID_YAW].I   = 75;
  88     }
  89
  90     for (uint8_t rateProfileIndex = 0; rateProfileIndex < CONTROL_RATE_PROFILE_COUNT; rateProfileIndex++) {
  91         controlRateConfig_t *controlRateConfig = controlRateProfilesMutable(rateProfileIndex);
  92
  93         controlRateConfig->rcRates[FD_YAW] = 120;
  94         controlRateConfig->rcExpo[FD_ROLL] = 15;
  95         controlRateConfig->rcExpo[FD_PITCH] = 15;
  96         controlRateConfig->rcExpo[FD_YAW]  = 15;
  97         controlRateConfig->rates[FD_ROLL]  = 85;
  98         controlRateConfig->rates[FD_PITCH] = 85;
  99     }
 100
 101     batteryConfigMutable()->batteryCapacity = 250;
 102     batteryConfigMutable()->vbatmincellvoltage = 280;
 103     batteryConfigMutable()->vbatwarningcellvoltage = 330;
 104
 105     *customMotorMixerMutable(0) = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
 106     *customMotorMixerMutable(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
 107     *customMotorMixerMutable(2) = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
 108     *customMotorMixerMutable(3) = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
 109
 110     vcdProfileMutable()->video_system = VIDEO_SYSTEM_NTSC;
 111 #if defined(BEESTORM)
 112     strcpy(pilotConfigMutable()->name, "BeeStorm");
 113 #else
 114     strcpy(pilotConfigMutable()->name, "BeeBrain V2");
 115 #endif
 116     osdConfigMutable()->cap_alarm  = 250;
 117     osdConfigMutable()->item_pos[OSD_CRAFT_NAME]        = OSD_POS(9, 11)  | OSD_PROFILE_1_FLAG;
 118     osdConfigMutable()->item_pos[OSD_MAIN_BATT_VOLTAGE] = OSD_POS(23, 10) | OSD_PROFILE_1_FLAG;
 119     osdConfigMutable()->item_pos[OSD_ITEM_TIMER_2]      = OSD_POS(2, 10)  | OSD_PROFILE_1_FLAG;
 120     osdConfigMutable()->item_pos[OSD_FLYMODE]           = OSD_POS(17, 10) | OSD_PROFILE_1_FLAG;
 121     osdConfigMutable()->item_pos[OSD_VTX_CHANNEL]       = OSD_POS(10, 10) | OSD_PROFILE_1_FLAG;
 122     osdConfigMutable()->item_pos[OSD_RSSI_VALUE]         &= ~OSD_PROFILE_1_FLAG;
 123     osdConfigMutable()->item_pos[OSD_ITEM_TIMER_1]       &= ~OSD_PROFILE_1_FLAG;
 124     osdConfigMutable()->item_pos[OSD_THROTTLE_POS]       &= ~OSD_PROFILE_1_FLAG;
 125     osdConfigMutable()->item_pos[OSD_CROSSHAIRS]         &= ~OSD_PROFILE_1_FLAG;
 126     osdConfigMutable()->item_pos[OSD_HORIZON_SIDEBARS]   &= ~OSD_PROFILE_1_FLAG;
 127     osdConfigMutable()->item_pos[OSD_ARTIFICIAL_HORIZON] &= ~OSD_PROFILE_1_FLAG;
 128     osdConfigMutable()->item_pos[OSD_CURRENT_DRAW]       &= ~OSD_PROFILE_1_FLAG;
 129     osdConfigMutable()->item_pos[OSD_MAH_DRAWN]          &= ~OSD_PROFILE_1_FLAG;
 130     osdConfigMutable()->item_pos[OSD_GPS_SPEED]          &= ~OSD_PROFILE_1_FLAG;
 131     osdConfigMutable()->item_pos[OSD_GPS_LON]            &= ~OSD_PROFILE_1_FLAG;
 132     osdConfigMutable()->item_pos[OSD_GPS_LAT]            &= ~OSD_PROFILE_1_FLAG;
 133     osdConfigMutable()->item_pos[OSD_GPS_SATS]           &= ~OSD_PROFILE_1_FLAG;
 134     osdConfigMutable()->item_pos[OSD_HOME_DIR]           &= ~OSD_PROFILE_1_FLAG;
 135     osdConfigMutable()->item_pos[OSD_HOME_DIST]          &= ~OSD_PROFILE_1_FLAG;
 136     osdConfigMutable()->item_pos[OSD_COMPASS_BAR]        &= ~OSD_PROFILE_1_FLAG;
 137     osdConfigMutable()->item_pos[OSD_ALTITUDE]           &= ~OSD_PROFILE_1_FLAG;
 138     osdConfigMutable()->item_pos[OSD_ROLL_PIDS]          &= ~OSD_PROFILE_1_FLAG;
 139     osdConfigMutable()->item_pos[OSD_PITCH_PIDS]         &= ~OSD_PROFILE_1_FLAG;
 140     osdConfigMutable()->item_pos[OSD_YAW_PIDS]           &= ~OSD_PROFILE_1_FLAG;
 141     osdConfigMutable()->item_pos[OSD_DEBUG]              &= ~OSD_PROFILE_1_FLAG;
 142     osdConfigMutable()->item_pos[OSD_POWER]              &= ~OSD_PROFILE_1_FLAG;
 143     osdConfigMutable()->item_pos[OSD_PIDRATE_PROFILE]    &= ~OSD_PROFILE_1_FLAG;
 144     osdConfigMutable()->item_pos[OSD_WARNINGS]           &= ~OSD_PROFILE_1_FLAG;
 145     osdConfigMutable()->item_pos[OSD_AVG_CELL_VOLTAGE]   &= ~OSD_PROFILE_1_FLAG;
 146     osdConfigMutable()->item_pos[OSD_PITCH_ANGLE]        &= ~OSD_PROFILE_1_FLAG;
 147     osdConfigMutable()->item_pos[OSD_ROLL_ANGLE]         &= ~OSD_PROFILE_1_FLAG;
 148     osdConfigMutable()->item_pos[OSD_MAIN_BATT_USAGE]    &= ~OSD_PROFILE_1_FLAG;
 149     osdConfigMutable()->item_pos[OSD_DISARMED]           &= ~OSD_PROFILE_1_FLAG;
 150     osdConfigMutable()->item_pos[OSD_NUMERICAL_HEADING]  &= ~OSD_PROFILE_1_FLAG;
 151     osdConfigMutable()->item_pos[OSD_NUMERICAL_VARIO]    &= ~OSD_PROFILE_1_FLAG;
 152     osdConfigMutable()->item_pos[OSD_ESC_TMP]            &= ~OSD_PROFILE_1_FLAG;
 153     osdConfigMutable()->item_pos[OSD_ESC_RPM]            &= ~OSD_PROFILE_1_FLAG;
 154     osdConfigMutable()->item_pos[OSD_G_FORCE]            &= ~OSD_PROFILE_1_FLAG;
 155     osdConfigMutable()->item_pos[OSD_FLIP_ARROW]         &= ~OSD_PROFILE_1_FLAG;
 156
 157     modeActivationConditionsMutable(0)->modeId           = BOXANGLE;
 158     modeActivationConditionsMutable(0)->auxChannelIndex  = AUX2 - NON_AUX_CHANNEL_COUNT;
 159     modeActivationConditionsMutable(0)->range.startStep  = CHANNEL_VALUE_TO_STEP(900);
 160     modeActivationConditionsMutable(0)->range.endStep    = CHANNEL_VALUE_TO_STEP(2100);
 161
 162     analyzeModeActivationConditions();
 163
 164 #if defined(BEEBRAIN_V2D)
 165     // DSM version
 166     for (uint8_t rxRangeIndex = 0; rxRangeIndex < NON_AUX_CHANNEL_COUNT; rxRangeIndex++) {
 167         rxChannelRangeConfig_t *channelRangeConfig = rxChannelRangeConfigsMutable(rxRangeIndex);
 168
 169         channelRangeConfig->min = 1160;
 170         channelRangeConfig->max = 1840;
 171     }
 172 #else
 173     // Frsky version
 174     serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIALRX_UART)].functionMask = FUNCTION_TELEMETRY_FRSKY_HUB | FUNCTION_RX_SERIAL;
 175     rxConfigMutable()->rssi_channel = BBV2_FRSKY_RSSI_CH_IDX;
 176     rxFailsafeChannelConfig_t *channelFailsafeConfig = rxFailsafeChannelConfigsMutable(BBV2_FRSKY_RSSI_CH_IDX - 1);
 177     channelFailsafeConfig->mode = RX_FAILSAFE_MODE_SET;
 178     channelFailsafeConfig->step = CHANNEL_VALUE_TO_RXFAIL_STEP(1000);
 179     osdConfigMutable()->item_pos[OSD_RSSI_VALUE]        = OSD_POS(2, 11)  | OSD_PROFILE_1_FLAG;
 180 #endif
 181 }
 182 #endif