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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1910 | - | 1 | #include <util/delay.h> |
| 2 | #include <avr/eeprom.h> |
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| 3 | #include <stddef.h> |
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| 4 | #include "configuration.h" |
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| 5 | #include "eeprom.h" |
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| 6 | #include "uart0.h" |
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| 7 | |||
| 8 | int16_t variables[8] = {0,0,0,0,0,0,0,0}; |
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| 9 | dynamicParam_t dynamicParams = {48,251,16,58,64,8,150,150,2,10,{0,0,0,0,0,0,0,0},100,70,90,65,64,100,0,0,0}; |
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| 10 | uint8_t CPUType = ATMEGA644; |
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| 11 | uint8_t BoardRelease = 13; |
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| 12 | |||
| 13 | /************************************************************************ |
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| 14 | * Map the parameter to pot values |
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| 15 | * Replacing this code by the code below saved almost 1 kbyte. |
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| 16 | ************************************************************************/ |
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| 17 | |||
| 18 | void configuration_staticToDynamic(void) { |
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| 19 | uint8_t i; |
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| 20 | #define SET_POT_MM(b,a,min,max) {if (a<255) {if (a>=251) b=variables[a-251]; else b=a;} if(b<=min) b=min; else if(b>=max) b=max;} |
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| 21 | #define SET_POT(b,a) { if (a<255) {if (a>=251) b=variables[a-251]; else b=a;}} |
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| 22 | SET_POT(dynamicParams.MaxHeight,staticParams.MaxHeight); |
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| 23 | SET_POT_MM(dynamicParams.HeightD,staticParams.HeightD,0,100); |
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| 24 | SET_POT_MM(dynamicParams.HeightP,staticParams.HeightP,0,100); |
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| 25 | SET_POT(dynamicParams.CompassYawEffect,staticParams.CompassYawEffect); |
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| 26 | |||
| 27 | SET_POT(dynamicParams.GyroPitchP,staticParams.GyroPitchP); |
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| 28 | SET_POT(dynamicParams.GyroRollP,staticParams.GyroRollP); |
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| 29 | SET_POT(dynamicParams.GyroYawP,staticParams.GyroYawP); |
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| 30 | |||
| 31 | SET_POT(dynamicParams.GyroPitchD,staticParams.GyroPitchD); |
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| 32 | SET_POT(dynamicParams.GyroRollD,staticParams.GyroRollD); |
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| 33 | SET_POT(dynamicParams.GyroYawD,staticParams.GyroYawD); |
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| 34 | |||
| 35 | SET_POT(dynamicParams.IFactor,staticParams.IFactor); |
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| 36 | for (i=0; i<sizeof(staticParams.UserParams1); i++) { |
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| 37 | SET_POT(dynamicParams.UserParams[i],staticParams.UserParams1[i]); |
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| 38 | } |
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| 39 | for (i=0; i<sizeof(staticParams.UserParams2); i++) { |
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| 40 | SET_POT(dynamicParams.UserParams[i + sizeof(staticParams.UserParams1)], staticParams.UserParams2[i]); |
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| 41 | } |
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| 42 | SET_POT_MM(dynamicParams.J16Timing,staticParams.J16Timing,1,255); |
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| 43 | SET_POT_MM(dynamicParams.J17Timing,staticParams.J17Timing,1,255); |
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| 44 | |||
| 45 | SET_POT(dynamicParams.ExternalControl,staticParams.ExternalControl); |
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| 46 | } |
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| 47 | |||
| 48 | uint8_t getCPUType(void) { // works only after reset or power on when the registers have default values |
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| 49 | uint8_t CPUType = ATMEGA644; |
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| 50 | //if( (UCSR1A == 0x20) && (UCSR1C == 0x06) ) CPUType = ATMEGA644P; // initial Values for 644P after reset |
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| 51 | return CPUType; |
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| 52 | } |
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| 53 | |||
| 54 | /* |
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| 55 | * Automatic detection of hardware components is not supported in this development-oriented |
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| 56 | * FC firmware. It would go against the point of it: To enable alternative hardware |
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| 57 | * configurations with otherwise unsupported components. Instead, one should write |
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| 58 | * custom code + adjust constants for the new hardware, and include the relevant code |
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| 59 | * from the makefile. |
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| 60 | * However - we still do detect the board release. Reason: Otherwise it would be too |
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| 61 | * tedious to have to modify the code for how to turn on and off LEDs when deploying |
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| 62 | * on different HW version.... |
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| 63 | */ |
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| 64 | |||
| 65 | uint8_t getBoardRelease(void) { |
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| 66 | uint8_t BoardRelease = 13; |
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| 67 | // the board release is coded via the pull up or down the 2 status LED |
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| 68 | |||
| 69 | PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
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| 70 | DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
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| 71 | |||
| 72 | _delay_loop_2(1000); // make some delay |
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| 73 | |||
| 74 | switch( PINB & ((1<<PINB1)|(1<<PINB0))) { |
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| 75 | case 0x00: |
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| 76 | BoardRelease = 10; // 1.0 |
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| 77 | break; |
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| 78 | case 0x01: |
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| 79 | BoardRelease = 11; // 1.1 or 1.2 |
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| 80 | break; |
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| 81 | case 0x02: |
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| 82 | BoardRelease = 20; // 2.0 |
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| 83 | break; |
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| 84 | case 0x03: |
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| 85 | BoardRelease = 13; // 1.3 |
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| 86 | break; |
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| 87 | default: |
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| 88 | break; |
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| 89 | } |
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| 90 | // set LED ports as output |
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| 91 | DDRB |= (1<<DDB1)|(1<<DDB0); |
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| 92 | RED_ON; |
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| 93 | GRN_OFF; |
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| 94 | return BoardRelease; |
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| 95 | } |