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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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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + 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.
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// + 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 example: 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>
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#include <avr/eeprom.h>
1775 - 53
#include <stddef.h>
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#include "configuration.h"
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#include "eeprom.h"
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57
int16_t variables[8] = {0,0,0,0,0,0,0,0};
1775 - 58
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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uint8_t CPUType = ATMEGA644;
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uint8_t BoardRelease = 13;
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/************************************************************************
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 * Map the parameter to pot values                                    
1775 - 64
 * Replacing this code by the code below saved almost 1 kbyte.
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 ************************************************************************/
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1612 dongfang 67
void configuration_applyVariablesToParams(void) {
68
  uint8_t i;
1775 - 69
#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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#define SET_POT(b,a) { if (a<255) {if (a>=251) b=variables[a-251]; else b=a;}}
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  SET_POT(dynamicParams.MaxHeight,staticParams.MaxHeight);
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  SET_POT_MM(dynamicParams.HeightD,staticParams.HeightD,0,100);
73
  SET_POT_MM(dynamicParams.HeightP,staticParams.HeightP,0,100);
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  SET_POT(dynamicParams.Height_ACC_Effect,staticParams.Height_ACC_Effect);
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  SET_POT(dynamicParams.CompassYawEffect,staticParams.CompassYawEffect);
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  SET_POT_MM(dynamicParams.GyroP,staticParams.GyroP,10,255);
77
  SET_POT(dynamicParams.GyroI,staticParams.GyroI);
78
  SET_POT(dynamicParams.GyroD,staticParams.GyroD);
79
  SET_POT(dynamicParams.IFactor,staticParams.IFactor);
80
  for (i=0; i<sizeof(staticParams.UserParams1); i++) {
81
    SET_POT(dynamicParams.UserParams[i],staticParams.UserParams1[i]);
82
  }
83
  for (i=0; i<sizeof(staticParams.UserParams2); i++) {
84
    SET_POT(dynamicParams.UserParams[i + sizeof(staticParams.UserParams1)], staticParams.UserParams2[i]);
85
  }
86
  SET_POT(dynamicParams.ServoPitchControl,staticParams.ServoPitchControl);
87
  SET_POT(dynamicParams.LoopGasLimit,staticParams.LoopGasLimit);
88
  SET_POT(dynamicParams.AxisCoupling1,staticParams.AxisCoupling1);
89
  SET_POT(dynamicParams.AxisCoupling2,staticParams.AxisCoupling2);
90
  SET_POT(dynamicParams.AxisCouplingYawCorrection,staticParams.AxisCouplingYawCorrection);
91
  SET_POT(dynamicParams.DynamicStability,staticParams.DynamicStability);
92
  SET_POT_MM(dynamicParams.J16Timing,staticParams.J16Timing,1,255);
93
  SET_POT_MM(dynamicParams.J17Timing,staticParams.J17Timing,1,255);
1805 - 94
 
95
#if defined (USE_NAVICTRL)
1612 dongfang 96
  SET_POT(dynamicParams.NaviGpsModeControl,staticParams.NaviGpsModeControl);
97
  SET_POT(dynamicParams.NaviGpsGain,staticParams.NaviGpsGain);
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  SET_POT(dynamicParams.NaviGpsP,staticParams.NaviGpsP);
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  SET_POT(dynamicParams.NaviGpsI,staticParams.NaviGpsI);
100
  SET_POT(dynamicParams.NaviGpsD,staticParams.NaviGpsD);
101
  SET_POT(dynamicParams.NaviGpsACC,staticParams.NaviGpsACC);
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  SET_POT_MM(dynamicParams.NaviOperatingRadius,staticParams.NaviOperatingRadius,10, 255);
103
  SET_POT(dynamicParams.NaviWindCorrection,staticParams.NaviWindCorrection);
104
  SET_POT(dynamicParams.NaviSpeedCompensation,staticParams.NaviSpeedCompensation);
105
#endif
106
  SET_POT(dynamicParams.ExternalControl,staticParams.ExternalControl);
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}
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1775 - 109
const XLATION XLATIONS[] = {
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  {offsetof(paramset_t, MaxHeight), offsetof(dynamicParam_t, MaxHeight)},
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  {offsetof(paramset_t, Height_ACC_Effect), offsetof(dynamicParam_t, Height_ACC_Effect)},
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  {offsetof(paramset_t, CompassYawEffect), offsetof(dynamicParam_t, CompassYawEffect)},
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  {offsetof(paramset_t, GyroI), offsetof(dynamicParam_t, GyroI)},
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  {offsetof(paramset_t, GyroD), offsetof(dynamicParam_t, GyroD)},
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  {offsetof(paramset_t, IFactor), offsetof(dynamicParam_t, IFactor)},
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  {offsetof(paramset_t, ServoPitchControl), offsetof(dynamicParam_t, ServoPitchControl)},
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  {offsetof(paramset_t, LoopGasLimit), offsetof(dynamicParam_t, LoopGasLimit)},
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  {offsetof(paramset_t, AxisCoupling1), offsetof(dynamicParam_t, AxisCoupling1)},
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  {offsetof(paramset_t, AxisCoupling2), offsetof(dynamicParam_t, AxisCoupling2)},
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  {offsetof(paramset_t, AxisCouplingYawCorrection), offsetof(dynamicParam_t, AxisCouplingYawCorrection)},
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  {offsetof(paramset_t, DynamicStability), offsetof(dynamicParam_t, DynamicStability)},
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  {offsetof(paramset_t, NaviGpsModeControl),
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   offsetof(dynamicParam_t, NaviGpsModeControl)},
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  {offsetof(paramset_t, NaviGpsGain), offsetof(dynamicParam_t, NaviGpsGain)},
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  {offsetof(paramset_t, NaviGpsP), offsetof(dynamicParam_t, NaviGpsP)},
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  {offsetof(paramset_t, NaviGpsI), offsetof(dynamicParam_t, NaviGpsI)},
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  {offsetof(paramset_t, NaviGpsD), offsetof(dynamicParam_t, NaviGpsD)},
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  {offsetof(paramset_t, NaviGpsACC), offsetof(dynamicParam_t, NaviGpsACC)},
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  {offsetof(paramset_t, NaviWindCorrection), offsetof(dynamicParam_t, NaviWindCorrection)},
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  {offsetof(paramset_t, NaviSpeedCompensation), offsetof(dynamicParam_t, NaviSpeedCompensation)},
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  {offsetof(paramset_t, ExternalControl), offsetof(dynamicParam_t, ExternalControl)}
132
};
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134
const MMXLATION MMXLATIONS[] = {
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  {offsetof(paramset_t, HeightD), offsetof(dynamicParam_t, HeightD),0,100},
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  {offsetof(paramset_t, HeightP), offsetof(dynamicParam_t, HeightD),0,150},
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  {offsetof(paramset_t, GyroP), offsetof(dynamicParam_t, GyroP),0,255},
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  {offsetof(paramset_t, J16Timing), offsetof(dynamicParam_t, J16Timing),1,255},
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  {offsetof(paramset_t, J17Timing), offsetof(dynamicParam_t, J17Timing),1,255},
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  {offsetof(paramset_t, NaviOperatingRadius), offsetof(dynamicParam_t, NaviOperatingRadius),10,255}
141
};
142
 
143
uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) {
144
  uint8_t result;
145
  if (src>=251) result = variables[src-251];
146
  else result = src;
147
  if (result < min) result = min;
148
  else if (result > max) result = max;
149
  return result;
150
}
151
 
152
void configuration_applyVariablesToParams_dead(void) {
153
  uint8_t i, src;
154
  uint8_t* pointerToTgt;
155
  for(i=0; i<sizeof(XLATIONS)/sizeof(XLATION); i++) {
156
    src = *((uint8_t*)(&staticParams + XLATIONS[i].sourceIdx));
157
    pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx);
158
    if (src < 255) {
159
      *pointerToTgt = configuration_applyVariableToParam(src, 0, 255);
160
    }
161
  }
162
 
163
  for(i=0; i<sizeof(MMXLATIONS)/sizeof(MMXLATION); i++) {
164
    src = *((uint8_t*)(&staticParams + MMXLATIONS[i].sourceIdx));
165
    pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx);
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    if (src < 255) {
167
      *pointerToTgt = configuration_applyVariableToParam(src, MMXLATIONS[i].min, MMXLATIONS[i].max);
168
    }
169
  }
170
 
171
  for (i=0; i<sizeof(staticParams.UserParams1); i++) {
172
    src = *((uint8_t*)(&staticParams + offsetof(paramset_t, UserParams1) + i));
173
    pointerToTgt = (uint8_t*)(&dynamicParams + offsetof(dynamicParam_t, UserParams) + i);
174
    if (src < 255) {
175
      *pointerToTgt = configuration_applyVariableToParam(src, 0, 255);
176
    }    
177
  }
178
 
179
  for (i=0; i<sizeof(staticParams.UserParams2); i++) {
180
    src = *((uint8_t*)(&staticParams + offsetof(paramset_t, UserParams2) + i));
181
    pointerToTgt = (uint8_t*)(&dynamicParams + offsetof(dynamicParam_t, UserParams) + sizeof(staticParams.UserParams1) + i);
182
    if (src < 255) {
183
      *pointerToTgt = configuration_applyVariableToParam(src, 0, 255);
184
    }    
185
  }
186
}
187
 
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uint8_t getCPUType(void) {   // works only after reset or power on when the registers have default values
189
  uint8_t CPUType = ATMEGA644;
190
  if( (UCSR1A == 0x20) && (UCSR1C == 0x06) ) CPUType = ATMEGA644P;  // initial Values for 644P after reset
191
  return CPUType;
192
}
193
 
194
/*
195
 * Automatic detection of hardware components is not supported in this development-oriented
196
 * FC firmware. It would go against the point of it: To enable alternative hardware
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 * configurations with otherwise unsupported components. Instead, one should write
198
 * custom code + adjust constants for the new hardware, and include the relevant code
199
 * from the makefile.
200
 * However - we still do detect the board release. Reason: Otherwise it would be too
201
 * tedious to have to modify the code for how to turn on and off LEDs when deploying
202
 * on different HW version....
203
 */
204
 
205
uint8_t getBoardRelease(void) {
206
  uint8_t BoardRelease = 13;
207
  // the board release is coded via the pull up or down the 2 status LED
208
 
209
  PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate
210
  DDRB  &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input
211
 
212
  _delay_loop_2(1000); // make some delay
213
 
214
  switch( PINB & ((1<<PINB1)|(1<<PINB0))) {
215
    case 0x00:
216
      BoardRelease = 10; // 1.0
217
      break;
218
    case 0x01:
219
      BoardRelease = 11; // 1.1 or 1.2
220
      break;
221
    case 0x02:
222
      BoardRelease = 20; // 2.0
223
      break;
224
    case 0x03:
225
      BoardRelease = 13; // 1.3
226
      break;
227
    default:
228
      break;
229
    }
230
  // set LED ports as output
231
  DDRB |= (1<<DDB1)|(1<<DDB0);
232
  RED_ON;
233
  GRN_OFF;
234
  return BoardRelease;
235
}