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| Rev | Author | Line No. | Line |
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| 1 | ingob | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + www.MikroKopter.com |
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| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
| 8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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| 9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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| 427 | killagreg | 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| 360 | holgerb | 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| 12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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| 1 | ingob | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| 15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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| 16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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| 17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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| 18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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| 19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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| 427 | killagreg | 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| 360 | holgerb | 22 | // + des Mitverschuldens offen. |
| 23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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| 24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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| 26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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| 27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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| 28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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| 29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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| 30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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| 1 | ingob | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | holgerb | 32 | // + Software LICENSING TERMS |
| 1 | ingob | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| 427 | killagreg | 35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| 360 | holgerb | 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| 37 | // + The Software may only be used with the Licensor's products. |
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| 38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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| 39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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| 40 | // + agreement shall be the property of the Licensor. |
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| 41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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| 42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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| 43 | // + The customer shall be responsible for taking reasonable precautions |
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| 44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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| 45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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| 46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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| 47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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| 48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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| 49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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| 50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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| 51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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| 52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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| 53 | // + #### END OF LICENSING TERMS #### |
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| 54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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| 1 | ingob | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 210 | killagreg | 56 | #include <ctype.h> |
| 41 | ingob | 57 | #include <stdio.h> |
| 58 | #include <stdlib.h> |
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| 59 | #include <string.h> |
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| 60 | #include "91x_lib.h" |
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| 61 | #include "fat16.h" |
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| 62 | #include "settings.h" |
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| 63 | #include "uart1.h" |
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| 362 | holgerb | 64 | #include "main.h" |
| 426 | holgerb | 65 | u16 WaypointAccelerationSetting = 100; // acceleration for flying waypoints in percent (0-100) or Poti -> 255 = Poti1, 254 = Poti2... |
| 427 | killagreg | 66 | u16 WaypointAcceleration = 100; // the real value |
| 1 | ingob | 67 | |
| 88 | killagreg | 68 | typedef struct |
| 1 | ingob | 69 | { |
| 88 | killagreg | 70 | ParamId_t ParamId; |
| 90 | killagreg | 71 | s8 Name[17]; // 0 terminator is the last byte |
| 381 | ingob | 72 | s8 Comment[60]; |
| 73 | u8 Group; // 0 = reserved 1,2,3,4 |
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| 88 | killagreg | 74 | u16 Value; |
| 75 | u16 Default; |
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| 76 | u16 Min; |
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| 77 | u16 Max; |
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| 78 | } __attribute__((packed)) Parameter_t; |
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| 79 | |||
| 381 | ingob | 80 | |
| 81 | |||
| 82 | |||
| 88 | killagreg | 83 | Parameter_t CFG_Parameter[] = |
| 84 | { |
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| 381 | ingob | 85 | //{PID , "1234567890123456" , Comment, Group, Value, Default, Min, Max }, |
| 434 | holgerb | 86 | {PID_KML_LOGGING , "KMLLOGGING \0" ,"KML logging interval in ms (0 = disabled) ", 1, 200, 500, 0, 60000}, // the log interval for KML logging, 0 = off |
| 87 | {PID_GPX_LOGGING , "GPXLOGGING \0" ,"GPX logging interval in ms (0 = disabled) ", 1, 500, 500, 0, 60000}, // the log interval for GPX logging, 0 = off |
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| 581 | holgerb | 88 | {PID_LOG_AT_MOTORRUN , "LOG_AT_MOTOR_RUN\0" ,"Start GPX logfile as soon as motors start (0 = off, 1 = on) ", 1, 1, 1, 0, 1}, |
| 622 | holgerb | 89 | {PID_SPEAK100M , "HOTT_SPEAK_100M \0" ,"HoTT Speaks '100m' when distance or altitude > 100m (1 = on)", 1, 1, 1, 0, 1}, |
| 532 | holgerb | 90 | // {PID_ABSOLUTE_FLYING_ALT , "MAX_FLYING_ALT \0" ,"max. altitude in m ", 1, 0, 0, 0, 30000}, // in [m] |
| 91 | // {PID_ABSOLUTE_FLYING_RANGE , "MAX_FLYING_RANGE\0" ,"max. range in m ", 1, 0, 0, 0, 60000}, // in [m] |
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| 92 | // {PID_AUTO_DESCEND_RANGE , "DESCEND_RANGE \0" ,"Auto-descend range in m (0 = disabled) (only comm. License) ", 1, 0, 0, 0, 60000}, // in [m] |
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| 673 | holgerb | 93 | {PID_GPS_SYSTEM_CFG , "GPS_SYSTEM_CFG \0" ,"1:GPS+GLNAS 2:GPS+BEIDOU 3:GPS 4:GLNAS 5:BEIDOU ", 1, 1, 1, 0, 5}, |
| 383 | holgerb | 94 | {PID_GPS_SBAS_CONFIG , "GPS_SBAS_DGPS_ON\0" ,"GPS SBAS mode (0 = off, 1 = on) ", 1, 1, 1, 0, 1}, |
| 673 | holgerb | 95 | {PID_GPS_QZSS_CONFIG , "GPS_QZSS_DGPS_ON\0" ,"GPS QZSS mode (0 = off, 1 = on) (Japan) ", 1, 1, 0, 0, 1}, |
| 624 | holgerb | 96 | {PID_AUTO_WP_EVENT_VALUE , "AUTO_WP_EVENT \0" ,"value for the WP-Event Trigger at Auto-Distance [10ms] ", 1, 10, 10, 1, 200}, // in 0,1sek |
| 577 | holgerb | 97 | // {PID_MIN_EVENT_TIME , "MIN_EVENT_TIME \0" ,"minimum time of the Waypoint-Event value (seconds) ", 1, 2, 2, 0, 600}, // in seconds |
| 98 | {PID_WP_REACHED_TIMEOUT , "WP_TIMEOUT \0" ,"the MK increases the WP-target radius after this timeout [s]", 1, 5, 5, 0, 6000}, // in seconds |
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| 455 | holgerb | 99 | {PID_WP_ACCELERATE , "WAYPOINT DYNAMIC\0" ,"dynamic for flying waypoints in percent (0-200) ", 1, 100, 100, 0, 255}, // in percent or Poti |
| 460 | holgerb | 100 | {PID_WP_WAIT_FOR_LED , "WAIT_FOR_OUT1 \0" ,"Wait on Waypoint until Out-Pattern is finished (1=on 0=off) ", 1, 1, 1, 0, 1}, |
| 489 | killagreg | 101 | {PID_SEND_NMEA , "NMEA_INTERVAL \0" ,"NMEA Output interval in ms (0 = disabled) ", 1, 0, 0, 0, 60000}, // the log interval for NMEA output, 0 = off |
| 102 | {PID_CH_SPEED , "COMINGHOME_SPEED\0" ,"Maximum speed for coming home in 0,1m/sec (80 = 8,0 m/sec) ", 1, 80, 80, 10, 150}, |
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| 511 | holgerb | 103 | {PID_DPH_SPEED , "DYNAMIC_PH_SPEED\0" ,"Maximum speed for dynamic position hold in 0,1m/sec ", 1, 100, 100, 20, 150}, |
| 514 | holgerb | 104 | {PID_POSITION_ACCURACY , "POS.ACCURACY \0" ,"Desired Accuracy of position in percent ", 1, 100, 100, 0, 255}, |
| 383 | holgerb | 105 | {PID_GPS_AUTOCONFIG , "GPSAUTOCONFIG \0" ,"GPS configmode (0 = off, 1 = on) ", 1, 1, 1, 0, 1} |
| 1 | ingob | 106 | }; |
| 107 | |||
| 108 | |||
| 109 | //---------------------------------------------------------------------------------- |
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| 88 | killagreg | 110 | // initialize all parameters by its default value |
| 111 | void Settings_SetDefaultValues(void) |
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| 1 | ingob | 112 | { |
| 88 | killagreg | 113 | u8 i; |
| 114 | // run thrue all parameters and set value to default |
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| 115 | for (i = 0; i < sizeof(CFG_Parameter) / sizeof(Parameter_t); i++) |
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| 116 | { |
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| 117 | CFG_Parameter[i].Value = CFG_Parameter[i].Default; |
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| 118 | } |
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| 1 | ingob | 119 | } |
| 120 | |||
| 121 | //---------------------------------------------------------------------------------- |
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| 88 | killagreg | 122 | // set parameter from string based name and value |
| 90 | killagreg | 123 | u8 Settings_SetParameterFromString(s8 *name, s8 *value) |
| 1 | ingob | 124 | { |
| 90 | killagreg | 125 | u8 i, retval = 0; |
| 88 | killagreg | 126 | s8 string[] = " \0"; // null terminated string of 16 characters |
| 1 | ingob | 127 | |
| 90 | killagreg | 128 | if((name == NULL) || (value == NULL)) return(retval); |
| 129 | |||
| 88 | killagreg | 130 | i = strlen(name); // lenght of the parameter name |
| 131 | if (i > 16) i = 16; // cut off at 16 |
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| 132 | |||
| 133 | memcpy(string, name, i); // copy name to local buffer |
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| 134 | |||
| 135 | // search name in parameter list |
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| 136 | for (i = 0; i < sizeof(CFG_Parameter) / sizeof(Parameter_t); i++) |
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| 137 | { |
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| 138 | if(strncmp(string, CFG_Parameter[i].Name, 16) == 0) // names are matching |
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| 139 | { |
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| 140 | CFG_Parameter[i].Value = (u16)atoi(value); // convert string to number and set value |
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| 90 | killagreg | 141 | // out of range ? |
| 142 | if((CFG_Parameter[i].Value < CFG_Parameter[i].Min) || (CFG_Parameter[i].Value > CFG_Parameter[i].Max)) |
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| 143 | { // print a warning |
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| 144 | sprintf(text,"\r\n%s <-- %d is out of range [%d...%d]", string, CFG_Parameter[i].Value, CFG_Parameter[i].Min, CFG_Parameter[i].Max); |
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| 110 | killagreg | 145 | UART1_PutString(text); |
| 90 | killagreg | 146 | CFG_Parameter[i].Value = CFG_Parameter[i].Default; // fallback to default |
| 147 | } |
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| 148 | retval = 1; // value in range |
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| 88 | killagreg | 149 | break; // end loop |
| 150 | } |
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| 151 | } |
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| 90 | killagreg | 152 | if(!retval) |
| 112 | killagreg | 153 | { |
| 90 | killagreg | 154 | sprintf(text,"\r\n%s <-- unknown parameter\r\n", string); |
| 110 | killagreg | 155 | UART1_PutString(text); |
| 90 | killagreg | 156 | } |
| 157 | return(retval); |
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| 1 | ingob | 158 | } |
| 159 | |||
| 160 | //---------------------------------------------------------------------------------- |
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| 88 | killagreg | 161 | // read settings from file on sd-card |
| 162 | void Settings_Init(void) |
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| 163 | { |
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| 381 | ingob | 164 | #define LINE_MAX 70 |
| 88 | killagreg | 165 | File_t *fp; |
| 92 | killagreg | 166 | s8 settingsline[LINE_MAX]; |
| 89 | killagreg | 167 | s8 *name, *value; |
| 90 | killagreg | 168 | u8 i; |
| 427 | killagreg | 169 | // user absolute path, i.e. leading / |
| 170 | s8 filename[] = "/settings.ini"; |
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| 1 | ingob | 171 | |
| 114 | killagreg | 172 | UART1_PutString("\n\r Settings init..."); |
| 88 | killagreg | 173 | Settings_SetDefaultValues(); |
| 112 | killagreg | 174 | |
| 90 | killagreg | 175 | if(Fat16_IsValid()) |
| 176 | { // check if settings file is existing |
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| 210 | killagreg | 177 | if(fexist_(filename)) |
| 112 | killagreg | 178 | { |
| 210 | killagreg | 179 | fp = fopen_(filename, 'r'); // try to open the file |
| 90 | killagreg | 180 | if (fp == NULL) // could not open the file |
| 88 | killagreg | 181 | { |
| 110 | killagreg | 182 | UART1_PutString("ERROR: Opening settings file!"); |
| 90 | killagreg | 183 | return; |
| 1 | ingob | 184 | } |
| 90 | killagreg | 185 | // read all lines from file |
| 362 | holgerb | 186 | while(fgets_(settingsline, LINE_MAX, fp) != 0 && (SD_WatchDog)) |
| 90 | killagreg | 187 | { |
| 188 | if ( // ignorelines starting with \r,\n,' ',';','#' |
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| 92 | killagreg | 189 | (settingsline[0] != '\n') && |
| 190 | (settingsline[0] != '\r') && |
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| 191 | (settingsline[0] != ' ' ) && |
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| 192 | (settingsline[0] != ';' ) && |
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| 193 | (settingsline[0] != '#' ) |
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| 90 | killagreg | 194 | ) |
| 195 | { |
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| 92 | killagreg | 196 | name = strtok(settingsline, "="); // get name |
| 90 | killagreg | 197 | value = strtok(NULL, "="); // get value |
| 198 | if ((name != NULL) && (value != NULL)) |
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| 199 | { |
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| 210 | killagreg | 200 | u8 i; |
| 201 | for(i=0; name[i]; i++) name[i] = toupper(name[i]); |
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| 90 | killagreg | 202 | Settings_SetParameterFromString(name, value); |
| 203 | } |
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| 204 | } |
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| 205 | } |
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| 206 | fclose_(fp); |
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| 110 | killagreg | 207 | UART1_PutString("ok"); |
| 90 | killagreg | 208 | return; |
| 1 | ingob | 209 | } |
| 90 | killagreg | 210 | else // settings file does not exist |
| 211 | { // create default settings file |
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| 212 | fp = fopen_("settings.ini", 'w'); // try to open the file |
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| 213 | if(fp == NULL) |
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| 214 | { |
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| 110 | killagreg | 215 | UART1_PutString("ERROR: Creating default settings file!"); |
| 112 | killagreg | 216 | return; |
| 90 | killagreg | 217 | } |
| 218 | // run thrue all parameters and set value to default |
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| 381 | ingob | 219 | fputs_("######## MikroKopter configuration file ########\r\n", fp); // write to file |
| 220 | fputs_("#------------------------------------------------------\r\n\r\n", fp); // write to file |
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| 90 | killagreg | 221 | for (i = 0; i < sizeof(CFG_Parameter) / sizeof(Parameter_t); i++) |
| 222 | { |
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| 381 | ingob | 223 | s8 tmp_comment[61]; |
| 224 | tmp_comment[60] = '\0'; |
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| 225 | |||
| 226 | memcpy(tmp_comment,CFG_Parameter[i].Comment , 60); |
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| 227 | |||
| 228 | sprintf(settingsline, "\r\n# %s\r\n", tmp_comment); |
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| 229 | fputs_(settingsline, fp); // write to file |
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| 230 | |||
| 92 | killagreg | 231 | sprintf(settingsline, "%s = %d\r\n", CFG_Parameter[i].Name, CFG_Parameter[i].Default); |
| 232 | fputs_(settingsline, fp); // write to file |
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| 90 | killagreg | 233 | } |
| 234 | fputs_("\r\n", fp); // newline at the end of file |
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| 235 | fclose_(fp); |
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| 110 | killagreg | 236 | UART1_PutString("Default settings file created!"); |
| 90 | killagreg | 237 | return; |
| 238 | } |
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| 88 | killagreg | 239 | } |
| 90 | killagreg | 240 | else // no acces to fat 16 filesystem |
| 241 | { |
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| 110 | killagreg | 242 | UART1_PutString("Using default values!"); |
| 90 | killagreg | 243 | return; |
| 244 | } |
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| 1 | ingob | 245 | } |
| 246 | |||
| 88 | killagreg | 247 | |
| 248 | //---------------------------------------------------------------------------------- |
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| 249 | // read value of a paramter identified by its id |
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| 250 | // returns 1 on success and 0 on error |
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| 251 | u8 Settings_GetParamValue(ParamId_t Pid, u16 * pValue) |
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| 252 | { |
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| 253 | u8 i, retval = 0; |
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| 254 | |||
| 255 | for (i = 0; i < sizeof(CFG_Parameter) / sizeof(Parameter_t); i++) |
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| 256 | { |
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| 257 | if(CFG_Parameter[i].ParamId == Pid) |
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| 258 | { |
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| 259 | *pValue = CFG_Parameter[i].Value; |
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| 260 | retval = 1; |
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| 261 | break; |
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| 262 | } |
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| 263 | } |
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| 264 | return retval; |
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| 265 | } |