src/main/target/NAZE/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
  24 #include <platform.h>
  25
  26 #ifdef USE_TARGET_CONFIG
  27
  28 #include "common/axis.h"
  29 #include "common/utils.h"
  30
  31 #include "drivers/io.h"
  32
  33 #include "fc/config.h"
  34 #include "fc/rc_controls.h"
  35 #include "fc/controlrate_profile.h"
  36
  37 #include "flight/failsafe.h"
  38 #include "flight/mixer.h"
  39 #include "flight/pid.h"
  40
  41 #include "rx/rx.h"
  42
  43 #include "sensors/acceleration.h"
  44 #include "sensors/compass.h"
  45 #include "sensors/gyro.h"
  46
  47 #include "pg/beeper_dev.h"
  48 #include "pg/flash.h"
  49
  50 #include "hardware_revision.h"
  51
  52 void targetConfiguration(void)
  53 {
  54 #ifdef BEEBRAIN
  55     // alternative defaults settings for Beebrain target
  56     motorConfigMutable()->dev.motorPwmRate = 4000;
  57     failsafeConfigMutable()->failsafe_delay = 2;
  58     failsafeConfigMutable()->failsafe_off_delay = 0;
  59
  60     motorConfigMutable()->minthrottle = 1049;
  61
  62     gyroConfigMutable()->gyro_hardware_lpf = GYRO_HARDWARE_LPF_1KHZ_SAMPLE;
  63     gyroConfigMutable()->gyro_soft_lpf_hz = 100;
  64     gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;
  65     gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
  66
  67     /*for (int channel = 0; channel < NON_AUX_CHANNEL_COUNT; channel++) {
  68         rxChannelRangeConfigsMutable(channel)->min = 1180;
  69         rxChannelRangeConfigsMutable(channel)->max = 1860;
  70     }*/
  71
  72     for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
  73         pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
  74
  75         pidProfile->pid[PID_ROLL].P = 60;
  76         pidProfile->pid[PID_ROLL].I = 70;
  77         pidProfile->pid[PID_ROLL].D = 17;
  78         pidProfile->pid[PID_PITCH].P = 80;
  79         pidProfile->pid[PID_PITCH].I = 90;
  80         pidProfile->pid[PID_PITCH].D = 18;
  81         pidProfile->pid[PID_YAW].P = 200;
  82         pidProfile->pid[PID_YAW].I = 45;
  83         pidProfile->pid[PID_LEVEL].P = 30;
  84         pidProfile->pid[PID_LEVEL].D = 30;
  85
  86         pidProfile->dtermSetpointWeight = 200;
  87         pidProfile->setpointRelaxRatio = 50;
  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_ROLL] = 100;
  94         controlRateConfig->rcRates[FD_PITCH] = 100;
  95         controlRateConfig->rcRates[FD_YAW] = 110;
  96         controlRateConfig->rcExpo[FD_ROLL] = 0;
  97         controlRateConfig->rcExpo[FD_PITCH] = 0;
  98         controlRateConfig->rates[FD_ROLL] = 77;
  99         controlRateConfig->rates[FD_PITCH] = 77;
 100         controlRateConfig->rates[FD_YAW] = 80;
 101     }
 102 #endif
 103
 104 #if !defined(AFROMINI) && !defined(BEEBRAIN)
 105     if (hardwareRevision >= NAZE32_REV5) {
 106         // naze rev4 and below used opendrain to PNP for buzzer. Rev5 and above use PP to NPN.
 107         beeperDevConfigMutable()->isOpenDrain = false;
 108         beeperDevConfigMutable()->isInverted = true;
 109     } else {
 110         beeperDevConfigMutable()->isOpenDrain = true;
 111         beeperDevConfigMutable()->isInverted = false;
 112         flashConfigMutable()->csTag = IO_TAG_NONE;
 113     }
 114 #endif
 115
 116 #ifdef MAG_INT_EXTI
 117     if (hardwareRevision < NAZE32_REV5) {
 118         compassConfigMutable()->interruptTag = IO_TAG(PB12);
 119     }
 120 #endif
 121 }
 122
 123 void targetValidateConfiguration(void)
 124 {
 125     if (hardwareRevision < NAZE32_REV5 && accelerometerConfig()->acc_hardware == ACC_ADXL345) {
 126         accelerometerConfigMutable()->acc_hardware = ACC_NONE;
 127     }
 128 }
 129 #endif