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| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + 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 |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <ctype.h> |
| #include <stdio.h> |
| #include <stdlib.h> |
| #include <string.h> |
| #include "91x_lib.h" |
| #include "fat16.h" |
| #include "settings.h" |
| #include "uart1.h" |
| #include "main.h" |
| u16 WaypointAccelerationSetting = 100; // acceleration for flying waypoints in percent (0-100) or Poti -> 255 = Poti1, 254 = Poti2... |
| u16 WaypointAcceleration = 100; // the real value |
| |
| typedef struct |
| { |
| ParamId_t ParamId; |
| s8 Name[17]; // 0 terminator is the last byte |
| s8 Comment[60]; |
| u8 Group; // 0 = reserved 1,2,3,4 |
| u16 Value; |
| u16 Default; |
| u16 Min; |
| u16 Max; |
| } __attribute__((packed)) Parameter_t; |
| |
| |
| |
| |
| Parameter_t CFG_Parameter[] = |
| { |
| //{PID , "1234567890123456" , Comment, Group, Value, Default, Min, Max }, |
| {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 |
| {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 |
| // {PID_ABSOLUTE_FLYING_ALT , "MAX_FLYING_ALT \0" ,"max. altitude in m ", 1, 0, 0, 0, 30000}, // in [m] |
| // {PID_ABSOLUTE_FLYING_RANGE , "MAX_FLYING_RANGE\0" ,"max. range in m ", 1, 0, 0, 0, 60000}, // in [m] |
| // {PID_AUTO_DESCEND_RANGE , "DESCEND_RANGE \0" ,"Auto-descend range in m (0 = disabled) (only comm. License) ", 1, 0, 0, 0, 60000}, // in [m] |
| {PID_GPS_SBAS_CONFIG , "GPS_SBAS_DGPS_ON\0" ,"GPS SBAS mode (0 = off, 1 = on) ", 1, 1, 1, 0, 1}, |
| {PID_MIN_EVENT_TIME , "MIN_EVENT_TIME \0" ,"minimum time of the Waypoint-Event value (seconds) ", 1, 2, 2, 0, 600}, // in seconds |
| {PID_WP_ACCELERATE , "WAYPOINT DYNAMIC\0" ,"dynamic for flying waypoints in percent (0-200) ", 1, 100, 100, 0, 255}, // in percent or Poti |
| {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}, |
| {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 |
| {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}, |
| {PID_DPH_SPEED , "DYNAMIC_PH_SPEED\0" ,"Maximum speed for dynamic position hold in 0,1m/sec ", 1, 100, 100, 20, 150}, |
| {PID_POSITION_ACCURACY , "POS.ACCURACY \0" ,"Desired Accuracy of position in percent ", 1, 100, 100, 0, 255}, |
| {PID_GPS_AUTOCONFIG , "GPSAUTOCONFIG \0" ,"GPS configmode (0 = off, 1 = on) ", 1, 1, 1, 0, 1} |
| }; |
| |
| |
| //---------------------------------------------------------------------------------- |
| // initialize all parameters by its default value |
| void Settings_SetDefaultValues(void) |
| { |
| u8 i; |
| // run thrue all parameters and set value to default |
| for (i = 0; i < sizeof(CFG_Parameter) / sizeof(Parameter_t); i++) |
| { |
| CFG_Parameter[i].Value = CFG_Parameter[i].Default; |
| } |
| } |
| |
| //---------------------------------------------------------------------------------- |
| // set parameter from string based name and value |
| u8 Settings_SetParameterFromString(s8 *name, s8 *value) |
| { |
| u8 i, retval = 0; |
| s8 string[] = " \0"; // null terminated string of 16 characters |
| |
| if((name == NULL) || (value == NULL)) return(retval); |
| |
| i = strlen(name); // lenght of the parameter name |
| if (i > 16) i = 16; // cut off at 16 |
| |
| memcpy(string, name, i); // copy name to local buffer |
| |
| // search name in parameter list |
| for (i = 0; i < sizeof(CFG_Parameter) / sizeof(Parameter_t); i++) |
| { |
| if(strncmp(string, CFG_Parameter[i].Name, 16) == 0) // names are matching |
| { |
| CFG_Parameter[i].Value = (u16)atoi(value); // convert string to number and set value |
| // out of range ? |
| if((CFG_Parameter[i].Value < CFG_Parameter[i].Min) || (CFG_Parameter[i].Value > CFG_Parameter[i].Max)) |
| { // print a warning |
| 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); |
| UART1_PutString(text); |
| CFG_Parameter[i].Value = CFG_Parameter[i].Default; // fallback to default |
| } |
| retval = 1; // value in range |
| break; // end loop |
| } |
| } |
| if(!retval) |
| { |
| sprintf(text,"\r\n%s <-- unknown parameter\r\n", string); |
| UART1_PutString(text); |
| } |
| return(retval); |
| } |
| |
| //---------------------------------------------------------------------------------- |
| // read settings from file on sd-card |
| void Settings_Init(void) |
| { |
| #define LINE_MAX 70 |
| File_t *fp; |
| s8 settingsline[LINE_MAX]; |
| s8 *name, *value; |
| u8 i; |
| // user absolute path, i.e. leading / |
| s8 filename[] = "/settings.ini"; |
| |
| UART1_PutString("\n\r Settings init..."); |
| Settings_SetDefaultValues(); |
| |
| if(Fat16_IsValid()) |
| { // check if settings file is existing |
| if(fexist_(filename)) |
| { |
| fp = fopen_(filename, 'r'); // try to open the file |
| if (fp == NULL) // could not open the file |
| { |
| UART1_PutString("ERROR: Opening settings file!"); |
| return; |
| } |
| // read all lines from file |
| while(fgets_(settingsline, LINE_MAX, fp) != 0 && (SD_WatchDog)) |
| { |
| if ( // ignorelines starting with \r,\n,' ',';','#' |
| (settingsline[0] != '\n') && |
| (settingsline[0] != '\r') && |
| (settingsline[0] != ' ' ) && |
| (settingsline[0] != ';' ) && |
| (settingsline[0] != '#' ) |
| ) |
| { |
| name = strtok(settingsline, "="); // get name |
| value = strtok(NULL, "="); // get value |
| if ((name != NULL) && (value != NULL)) |
| { |
| u8 i; |
| for(i=0; name[i]; i++) name[i] = toupper(name[i]); |
| Settings_SetParameterFromString(name, value); |
| } |
| } |
| } |
| fclose_(fp); |
| UART1_PutString("ok"); |
| return; |
| } |
| else // settings file does not exist |
| { // create default settings file |
| fp = fopen_("settings.ini", 'w'); // try to open the file |
| if(fp == NULL) |
| { |
| UART1_PutString("ERROR: Creating default settings file!"); |
| return; |
| } |
| // run thrue all parameters and set value to default |
| fputs_("######## MikroKopter configuration file ########\r\n", fp); // write to file |
| fputs_("#------------------------------------------------------\r\n\r\n", fp); // write to file |
| for (i = 0; i < sizeof(CFG_Parameter) / sizeof(Parameter_t); i++) |
| { |
| s8 tmp_comment[61]; |
| tmp_comment[60] = '\0'; |
| |
| memcpy(tmp_comment,CFG_Parameter[i].Comment , 60); |
| |
| sprintf(settingsline, "\r\n# %s\r\n", tmp_comment); |
| fputs_(settingsline, fp); // write to file |
| |
| sprintf(settingsline, "%s = %d\r\n", CFG_Parameter[i].Name, CFG_Parameter[i].Default); |
| fputs_(settingsline, fp); // write to file |
| } |
| fputs_("\r\n", fp); // newline at the end of file |
| fclose_(fp); |
| UART1_PutString("Default settings file created!"); |
| return; |
| } |
| } |
| else // no acces to fat 16 filesystem |
| { |
| UART1_PutString("Using default values!"); |
| return; |
| } |
| } |
| |
| |
| //---------------------------------------------------------------------------------- |
| // read value of a paramter identified by its id |
| // returns 1 on success and 0 on error |
| u8 Settings_GetParamValue(ParamId_t Pid, u16 * pValue) |
| { |
| u8 i, retval = 0; |
| |
| for (i = 0; i < sizeof(CFG_Parameter) / sizeof(Parameter_t); i++) |
| { |
| if(CFG_Parameter[i].ParamId == Pid) |
| { |
| *pValue = CFG_Parameter[i].Value; |
| retval = 1; |
| break; |
| } |
| } |
| return retval; |
| } |