src/main/target/ALIENFLIGHTF3/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
  30 #include "config/feature.h"
  31
  32 #include "drivers/light_led.h"
  33 #include "drivers/pwm_esc_detect.h"
  34 #include "drivers/sound_beeper.h"
  35
  36 #include "flight/pid.h"
  37
  38 #include "pg/beeper_dev.h"
  39 #include "pg/gyrodev.h"
  40 #include "pg/rx.h"
  41 #include "pg/motor.h"
  42
  43 #include "rx/rx.h"
  44
  45 #include "io/serial.h"
  46
  47 #include "sensors/battery.h"
  48 #include "sensors/gyro.h"
  49
  50 #include "telemetry/telemetry.h"
  51
  52 #include "hardware_revision.h"
  53
  54 #ifdef BRUSHED_MOTORS_PWM_RATE
  55 #undef BRUSHED_MOTORS_PWM_RATE
  56 #endif
  57
  58 #define BRUSHED_MOTORS_PWM_RATE 32000           // 32kHz
  59 #define VBAT_SCALE              20
  60
  61 // alternative defaults settings for AlienFlight targets
  62 void targetConfiguration(void)
  63 {
  64     gyroDeviceConfigMutable(0)->extiTag = selectMPUIntExtiConfigByHardwareRevision();
  65
  66     /* depending on revision ... depends on the LEDs to be utilised. */
  67     if (hardwareRevision == AFF3_REV_2) {
  68         statusLedConfigMutable()->inversion = 0
  69 #ifdef LED0_A_INVERTED
  70             | BIT(0)
  71 #endif
  72 #ifdef LED1_A_INVERTED
  73             | BIT(1)
  74 #endif
  75 #ifdef LED2_A_INVERTED
  76             | BIT(2)
  77 #endif
  78             ;
  79
  80         for (int i = 0; i < STATUS_LED_NUMBER; i++) {
  81             statusLedConfigMutable()->ioTags[i] = IO_TAG_NONE;
  82         }
  83 #ifdef LED0_A
  84         statusLedConfigMutable()->ioTags[0] = IO_TAG(LED0_A);
  85 #endif
  86 #ifdef LED1_A
  87         statusLedConfigMutable()->ioTags[1] = IO_TAG(LED1_A);
  88 #endif
  89 #ifdef LED2_A
  90         statusLedConfigMutable()->ioTags[2] = IO_TAG(LED2_A);
  91 #endif
  92     } else {
  93         pidConfigMutable()->pid_process_denom = 4;
  94     }
  95
  96     if (!haveFrSkyRX) {
  97         rxConfigMutable()->serialrx_provider = SERIALRX_SPEKTRUM2048;
  98         rxConfigMutable()->spektrum_sat_bind = 5;
  99         rxConfigMutable()->spektrum_sat_bind_autoreset = 1;
 100         parseRcChannels("TAER1234", rxConfigMutable());
 101     } else {
 102         rxConfigMutable()->serialrx_provider = SERIALRX_SBUS;
 103         rxConfigMutable()->serialrx_inverted = true;
 104         serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIALRX_UART)].functionMask = FUNCTION_TELEMETRY_FRSKY_HUB | FUNCTION_RX_SERIAL;
 105         telemetryConfigMutable()->telemetry_inverted = false;
 106         featureConfigSet(FEATURE_TELEMETRY);
 107         beeperDevConfigMutable()->isOpenDrain = false;
 108         beeperDevConfigMutable()->isInverted = true;
 109         parseRcChannels("AETR1234", rxConfigMutable());
 110     }
 111
 112     if (getDetectedMotorType() == MOTOR_BRUSHED) {
 113         motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
 114         pidConfigMutable()->pid_process_denom = 1;
 115     }
 116
 117     for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
 118         pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
 119
 120         pidProfile->pid[PID_ROLL].P = 90;
 121         pidProfile->pid[PID_ROLL].I = 44;
 122         pidProfile->pid[PID_ROLL].D = 60;
 123         pidProfile->pid[PID_PITCH].P = 90;
 124         pidProfile->pid[PID_PITCH].I = 44;
 125         pidProfile->pid[PID_PITCH].D = 60;
 126     }
 127
 128     *customMotorMixerMutable(0) = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
 129     *customMotorMixerMutable(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
 130     *customMotorMixerMutable(2) = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
 131     *customMotorMixerMutable(3) = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
 132     *customMotorMixerMutable(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
 133     *customMotorMixerMutable(5) = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
 134     *customMotorMixerMutable(6) = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
 135     *customMotorMixerMutable(7) = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L
 136 }
 137 #endif