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 "config/config.h"
  34 #include "fc/rc_controls.h"
  35 #include "fc/controlrate_profile.h"
  36
  37 #include "flight/failsafe.h"
  38 #include "flight/pid.h"
  39
  40 #include "pg/rx.h"
  41
  42 #include "rx/rx.h"
  43
  44 #include "sensors/acceleration.h"
  45 #include "sensors/compass.h"
  46 #include "sensors/gyro.h"
  47
  48 #include "pg/beeper_dev.h"
  49 #include "pg/flash.h"
  50 #include "pg/motor.h"
  51
  52 #include "hardware_revision.h"
  53
  54 void targetConfiguration(void)
  55 {
  56 #ifdef BEEBRAIN
  57     // alternative defaults settings for Beebrain target
  58     motorConfigMutable()->dev.motorPwmRate = 4000;
  59     failsafeConfigMutable()->failsafe_delay = 2;
  60     failsafeConfigMutable()->failsafe_off_delay = 0;
  61
  62     motorConfigMutable()->minthrottle = 1049;
  63
  64     gyroDeviceConfigMutable()->extiTag = selectMPUIntExtiConfigByHardwareRevision();
  65
  66     gyroConfigMutable()->gyro_soft_lpf_hz = 100;
  67     gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;
  68     gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
  69
  70     /*for (int channel = 0; channel < NON_AUX_CHANNEL_COUNT; channel++) {
  71         rxChannelRangeConfigsMutable(channel)->min = 1180;
  72         rxChannelRangeConfigsMutable(channel)->max = 1860;
  73     }*/
  74
  75     for (uint8_t pidProfileIndex = 0; pidProfileIndex < PID_PROFILE_COUNT; pidProfileIndex++) {
  76         pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
  77
  78         pidProfile->pid[PID_ROLL].P = 60;
  79         pidProfile->pid[PID_ROLL].I = 70;
  80         pidProfile->pid[PID_ROLL].D = 17;
  81         pidProfile->pid[PID_PITCH].P = 80;
  82         pidProfile->pid[PID_PITCH].I = 90;
  83         pidProfile->pid[PID_PITCH].D = 18;
  84         pidProfile->pid[PID_YAW].P = 200;
  85         pidProfile->pid[PID_YAW].I = 45;
  86         pidProfile->pid[PID_LEVEL].P = 30;
  87         pidProfile->pid[PID_LEVEL].D = 30;
  88
  89         pidProfile->pid[PID_PITCH].F = 200;
  90         pidProfile->pid[PID_ROLL].F = 200;
  91         pidProfile->feedforward_transition = 50;
  92     }
  93
  94     for (uint8_t rateProfileIndex = 0; rateProfileIndex < CONTROL_RATE_PROFILE_COUNT; rateProfileIndex++) {
  95         controlRateConfig_t *controlRateConfig = controlRateProfilesMutable(rateProfileIndex);
  96
  97         controlRateConfig->rcRates[FD_ROLL] = 100;
  98         controlRateConfig->rcRates[FD_PITCH] = 100;
  99         controlRateConfig->rcRates[FD_YAW] = 110;
 100         controlRateConfig->rcExpo[FD_ROLL] = 0;
 101         controlRateConfig->rcExpo[FD_PITCH] = 0;
 102         controlRateConfig->rates[FD_ROLL] = 77;
 103         controlRateConfig->rates[FD_PITCH] = 77;
 104         controlRateConfig->rates[FD_YAW] = 80;
 105     }
 106 #endif
 107
 108 #if !defined(AFROMINI) && !defined(BEEBRAIN)
 109     if (hardwareRevision >= NAZE32_REV5) {
 110         // naze rev4 and below used opendrain to PNP for buzzer. Rev5 and above use PP to NPN.
 111         beeperDevConfigMutable()->isOpenDrain = false;
 112         beeperDevConfigMutable()->isInverted = true;
 113     } else {
 114         beeperDevConfigMutable()->isOpenDrain = true;
 115         beeperDevConfigMutable()->isInverted = false;
 116         flashConfigMutable()->csTag = IO_TAG_NONE;
 117     }
 118 #endif
 119
 120 #if defined(USE_MAG) && defined(MAG_INT_EXTI)
 121     if (hardwareRevision < NAZE32_REV5) {
 122         compassConfigMutable()->interruptTag = IO_TAG(PB12);
 123     }
 124 #endif
 125 }
 126
 127 void targetValidateConfiguration(void)
 128 {
 129     if (hardwareRevision < NAZE32_REV5 && accelerometerConfig()->acc_hardware == ACC_ADXL345) {
 130         accelerometerConfigMutable()->acc_hardware = ACC_NONE;
 131     }
 132 }
 133 #endif