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1612 dongfang 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
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// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
8
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
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// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Verkauf von Luftbildaufnahmen, usw.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
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// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
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// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// + eindeutig als Ursprung verlinkt werden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
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// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
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// + mit unserer Zustimmung zulässig
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
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// + this list of conditions and the following disclaimer.
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// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +     from this software without specific prior written permission.
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// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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// +     for non-commercial use (directly or indirectly)
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// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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// +     with our written permission
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// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
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// +     clearly linked as origin
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// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include <util/delay.h>
52
#include <avr/eeprom.h>
1775 - 53
#include <stddef.h>
1612 dongfang 54
#include "configuration.h"
55
#include "eeprom.h"
56
#include "timer0.h"
57
 
58
int16_t variables[8] = {0,0,0,0,0,0,0,0};
1775 - 59
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};
1612 dongfang 60
uint8_t CPUType = ATMEGA644;
61
uint8_t BoardRelease = 13;
62
 
63
/************************************************************************
64
 * Map the parameter to pot values                                    
1775 - 65
 * Replacing this code by the code below saved almost 1 kbyte.
1612 dongfang 66
 ************************************************************************/
1775 - 67
 
1612 dongfang 68
void configuration_applyVariablesToParams(void) {
69
  uint8_t i;
1775 - 70
#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;}
1612 dongfang 71
#define SET_POT(b,a) { if (a<255) {if (a>=251) b=variables[a-251]; else b=a;}}
72
  SET_POT(dynamicParams.MaxHeight,staticParams.MaxHeight);
73
  SET_POT_MM(dynamicParams.HeightD,staticParams.HeightD,0,100);
74
  SET_POT_MM(dynamicParams.HeightP,staticParams.HeightP,0,100);
75
  SET_POT(dynamicParams.Height_ACC_Effect,staticParams.Height_ACC_Effect);
76
  SET_POT(dynamicParams.CompassYawEffect,staticParams.CompassYawEffect);
77
  SET_POT_MM(dynamicParams.GyroP,staticParams.GyroP,10,255);
78
  SET_POT(dynamicParams.GyroI,staticParams.GyroI);
79
  SET_POT(dynamicParams.GyroD,staticParams.GyroD);
80
  SET_POT(dynamicParams.IFactor,staticParams.IFactor);
81
  for (i=0; i<sizeof(staticParams.UserParams1); i++) {
82
    SET_POT(dynamicParams.UserParams[i],staticParams.UserParams1[i]);
83
  }
84
  for (i=0; i<sizeof(staticParams.UserParams2); i++) {
85
    SET_POT(dynamicParams.UserParams[i + sizeof(staticParams.UserParams1)], staticParams.UserParams2[i]);
86
  }
87
  SET_POT(dynamicParams.ServoPitchControl,staticParams.ServoPitchControl);
88
  SET_POT(dynamicParams.LoopGasLimit,staticParams.LoopGasLimit);
89
  SET_POT(dynamicParams.AxisCoupling1,staticParams.AxisCoupling1);
90
  SET_POT(dynamicParams.AxisCoupling2,staticParams.AxisCoupling2);
91
  SET_POT(dynamicParams.AxisCouplingYawCorrection,staticParams.AxisCouplingYawCorrection);
92
  SET_POT(dynamicParams.DynamicStability,staticParams.DynamicStability);
93
  SET_POT_MM(dynamicParams.J16Timing,staticParams.J16Timing,1,255);
94
  SET_POT_MM(dynamicParams.J17Timing,staticParams.J17Timing,1,255);
1805 - 95
 
96
#if defined (USE_NAVICTRL)
1612 dongfang 97
  SET_POT(dynamicParams.NaviGpsModeControl,staticParams.NaviGpsModeControl);
98
  SET_POT(dynamicParams.NaviGpsGain,staticParams.NaviGpsGain);
99
  SET_POT(dynamicParams.NaviGpsP,staticParams.NaviGpsP);
100
  SET_POT(dynamicParams.NaviGpsI,staticParams.NaviGpsI);
101
  SET_POT(dynamicParams.NaviGpsD,staticParams.NaviGpsD);
102
  SET_POT(dynamicParams.NaviGpsACC,staticParams.NaviGpsACC);
103
  SET_POT_MM(dynamicParams.NaviOperatingRadius,staticParams.NaviOperatingRadius,10, 255);
104
  SET_POT(dynamicParams.NaviWindCorrection,staticParams.NaviWindCorrection);
105
  SET_POT(dynamicParams.NaviSpeedCompensation,staticParams.NaviSpeedCompensation);
106
#endif
107
  SET_POT(dynamicParams.ExternalControl,staticParams.ExternalControl);
108
}
109
 
1775 - 110
const XLATION XLATIONS[] = {
111
  {offsetof(paramset_t, MaxHeight), offsetof(dynamicParam_t, MaxHeight)},
112
  {offsetof(paramset_t, Height_ACC_Effect), offsetof(dynamicParam_t, Height_ACC_Effect)},
113
  {offsetof(paramset_t, CompassYawEffect), offsetof(dynamicParam_t, CompassYawEffect)},
114
  {offsetof(paramset_t, GyroI), offsetof(dynamicParam_t, GyroI)},
115
  {offsetof(paramset_t, GyroD), offsetof(dynamicParam_t, GyroD)},
116
  {offsetof(paramset_t, IFactor), offsetof(dynamicParam_t, IFactor)},
117
  {offsetof(paramset_t, ServoPitchControl), offsetof(dynamicParam_t, ServoPitchControl)},
118
  {offsetof(paramset_t, LoopGasLimit), offsetof(dynamicParam_t, LoopGasLimit)},
119
  {offsetof(paramset_t, AxisCoupling1), offsetof(dynamicParam_t, AxisCoupling1)},
120
  {offsetof(paramset_t, AxisCoupling2), offsetof(dynamicParam_t, AxisCoupling2)},
121
  {offsetof(paramset_t, AxisCouplingYawCorrection), offsetof(dynamicParam_t, AxisCouplingYawCorrection)},
122
  {offsetof(paramset_t, DynamicStability), offsetof(dynamicParam_t, DynamicStability)},
123
  {offsetof(paramset_t, NaviGpsModeControl),
124
   offsetof(dynamicParam_t, NaviGpsModeControl)},
125
  {offsetof(paramset_t, NaviGpsGain), offsetof(dynamicParam_t, NaviGpsGain)},
126
  {offsetof(paramset_t, NaviGpsP), offsetof(dynamicParam_t, NaviGpsP)},
127
  {offsetof(paramset_t, NaviGpsI), offsetof(dynamicParam_t, NaviGpsI)},
128
  {offsetof(paramset_t, NaviGpsD), offsetof(dynamicParam_t, NaviGpsD)},
129
  {offsetof(paramset_t, NaviGpsACC), offsetof(dynamicParam_t, NaviGpsACC)},
130
  {offsetof(paramset_t, NaviWindCorrection), offsetof(dynamicParam_t, NaviWindCorrection)},
131
  {offsetof(paramset_t, NaviSpeedCompensation), offsetof(dynamicParam_t, NaviSpeedCompensation)},
132
  {offsetof(paramset_t, ExternalControl), offsetof(dynamicParam_t, ExternalControl)}
133
};
134
 
135
const MMXLATION MMXLATIONS[] = {
136
  {offsetof(paramset_t, HeightD), offsetof(dynamicParam_t, HeightD),0,100},
137
  {offsetof(paramset_t, HeightP), offsetof(dynamicParam_t, HeightD),0,150},
138
  {offsetof(paramset_t, GyroP), offsetof(dynamicParam_t, GyroP),0,255},
139
  {offsetof(paramset_t, J16Timing), offsetof(dynamicParam_t, J16Timing),1,255},
140
  {offsetof(paramset_t, J17Timing), offsetof(dynamicParam_t, J17Timing),1,255},
141
  {offsetof(paramset_t, NaviOperatingRadius), offsetof(dynamicParam_t, NaviOperatingRadius),10,255}
142
};
143
 
144
uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) {
145
  uint8_t result;
146
  if (src>=251) result = variables[src-251];
147
  else result = src;
148
  if (result < min) result = min;
149
  else if (result > max) result = max;
150
  return result;
151
}
152
 
153
void configuration_applyVariablesToParams_dead(void) {
154
  uint8_t i, src;
155
  uint8_t* pointerToTgt;
156
  for(i=0; i<sizeof(XLATIONS)/sizeof(XLATION); i++) {
157
    src = *((uint8_t*)(&staticParams + XLATIONS[i].sourceIdx));
158
    pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx);
159
    if (src < 255) {
160
      *pointerToTgt = configuration_applyVariableToParam(src, 0, 255);
161
    }
162
  }
163
 
164
  for(i=0; i<sizeof(MMXLATIONS)/sizeof(MMXLATION); i++) {
165
    src = *((uint8_t*)(&staticParams + MMXLATIONS[i].sourceIdx));
166
    pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx);
167
    if (src < 255) {
168
      *pointerToTgt = configuration_applyVariableToParam(src, MMXLATIONS[i].min, MMXLATIONS[i].max);
169
    }
170
  }
171
 
172
  for (i=0; i<sizeof(staticParams.UserParams1); i++) {
173
    src = *((uint8_t*)(&staticParams + offsetof(paramset_t, UserParams1) + i));
174
    pointerToTgt = (uint8_t*)(&dynamicParams + offsetof(dynamicParam_t, UserParams) + i);
175
    if (src < 255) {
176
      *pointerToTgt = configuration_applyVariableToParam(src, 0, 255);
177
    }    
178
  }
179
 
180
  for (i=0; i<sizeof(staticParams.UserParams2); i++) {
181
    src = *((uint8_t*)(&staticParams + offsetof(paramset_t, UserParams2) + i));
182
    pointerToTgt = (uint8_t*)(&dynamicParams + offsetof(dynamicParam_t, UserParams) + sizeof(staticParams.UserParams1) + i);
183
    if (src < 255) {
184
      *pointerToTgt = configuration_applyVariableToParam(src, 0, 255);
185
    }    
186
  }
187
}
188
 
1612 dongfang 189
uint8_t getCPUType(void) {   // works only after reset or power on when the registers have default values
190
  uint8_t CPUType = ATMEGA644;
191
  if( (UCSR1A == 0x20) && (UCSR1C == 0x06) ) CPUType = ATMEGA644P;  // initial Values for 644P after reset
192
  return CPUType;
193
}
194
 
195
/*
196
 * Automatic detection of hardware components is not supported in this development-oriented
197
 * FC firmware. It would go against the point of it: To enable alternative hardware
198
 * configurations with otherwise unsupported components. Instead, one should write
199
 * custom code + adjust constants for the new hardware, and include the relevant code
200
 * from the makefile.
201
 * However - we still do detect the board release. Reason: Otherwise it would be too
202
 * tedious to have to modify the code for how to turn on and off LEDs when deploying
203
 * on different HW version....
204
 */
205
 
206
uint8_t getBoardRelease(void) {
207
  uint8_t BoardRelease = 13;
208
  // the board release is coded via the pull up or down the 2 status LED
209
 
210
  PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate
211
  DDRB  &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input
212
 
213
  _delay_loop_2(1000); // make some delay
214
 
215
  switch( PINB & ((1<<PINB1)|(1<<PINB0))) {
216
    case 0x00:
217
      BoardRelease = 10; // 1.0
218
      break;
219
    case 0x01:
220
      BoardRelease = 11; // 1.1 or 1.2
221
      break;
222
    case 0x02:
223
      BoardRelease = 20; // 2.0
224
      break;
225
    case 0x03:
226
      BoardRelease = 13; // 1.3
227
      break;
228
    default:
229
      break;
230
    }
231
  // set LED ports as output
232
  DDRB |= (1<<DDB1)|(1<<DDB0);
233
  RED_ON;
234
  GRN_OFF;
235
  return BoardRelease;
236
}
237
 
238
void beep(uint16_t millis) {
239
  BeepTime = millis;
240
}
241
 
242
/*
243
 * Make [numbeeps] beeps.
244
 */
245
void beepNumber(uint8_t numbeeps) {
246
  while(numbeeps--) {
247
    if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren!
248
    beep(100); // 0.1 second
249
    Delay_ms(250); // blocks 250 ms as pause to next beep,
250
    // this will block the flight control loop,
251
    // therefore do not use this function if motors are running
252
  }
253
}
254
 
255
/*
256
 * Beep the R/C alarm signal
257
 */
258
void beepRCAlarm(void) {
259
  if(BeepModulation == 0xFFFF) { // If not already beeping an alarm signal (?)
260
    BeepTime = 15000; // 1.5 seconds
261
    BeepModulation = 0x0C00;
262
  }
263
}
264
 
265
/*
266
 * Beep the I2C bus error signal
267
 */
268
void beepI2CAlarm(void) {
269
  if((BeepModulation == 0xFFFF) && (MKFlags & MKFLAG_MOTOR_RUN)) {
270
    BeepTime = 10000; // 1 second
271
    BeepModulation = 0x0080;
272
  }
273
}
274
 
275
/*
276
 * Beep the battery low alarm signal
277
 */
278
void beepBatteryAlarm(void) {
279
  BeepModulation = 0x0300;
280
  if(!BeepTime) {
281
    BeepTime = 6000; // 0.6 seconds
282
  }
283
}
284
 
285
/*
286
 * Beep the EEPROM checksum alarm
287
 */
288
void beepEEPROMAlarm(void) {
289
  BeepModulation = 0x0007;
290
  if(!BeepTime) {
291
    BeepTime = 6000; // 0.6 seconds
292
  }
293
}