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| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <util/delay.h> |
| #include <avr/eeprom.h> |
| #include "configuration.h" |
| #include "eeprom.h" |
| #include "timer0.h" |
| |
| int16_t variables[8] = {0,0,0,0,0,0,0,0}; |
| fc_param_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}; |
| uint8_t CPUType = ATMEGA644; |
| uint8_t BoardRelease = 13; |
| |
| /************************************************************************ |
| * Map the parameter to pot values |
| ************************************************************************/ |
| void configuration_applyVariablesToParams(void) { |
| uint8_t i; |
| #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;} |
| #define SET_POT(b,a) { if (a<255) {if (a>=251) b=variables[a-251]; else b=a;}} |
| SET_POT(dynamicParams.MaxHeight,staticParams.MaxHeight); |
| SET_POT_MM(dynamicParams.HeightD,staticParams.HeightD,0,100); |
| SET_POT_MM(dynamicParams.HeightP,staticParams.HeightP,0,100); |
| SET_POT(dynamicParams.Height_ACC_Effect,staticParams.Height_ACC_Effect); |
| SET_POT(dynamicParams.CompassYawEffect,staticParams.CompassYawEffect); |
| SET_POT_MM(dynamicParams.GyroP,staticParams.GyroP,10,255); |
| SET_POT(dynamicParams.GyroI,staticParams.GyroI); |
| SET_POT(dynamicParams.GyroD,staticParams.GyroD); |
| SET_POT(dynamicParams.IFactor,staticParams.IFactor); |
| for (i=0; i<sizeof(staticParams.UserParams1); i++) { |
| SET_POT(dynamicParams.UserParams[i],staticParams.UserParams1[i]); |
| } |
| for (i=0; i<sizeof(staticParams.UserParams2); i++) { |
| SET_POT(dynamicParams.UserParams[i + sizeof(staticParams.UserParams1)], staticParams.UserParams2[i]); |
| } |
| SET_POT(dynamicParams.ServoPitchControl,staticParams.ServoPitchControl); |
| SET_POT(dynamicParams.LoopGasLimit,staticParams.LoopGasLimit); |
| SET_POT(dynamicParams.AxisCoupling1,staticParams.AxisCoupling1); |
| SET_POT(dynamicParams.AxisCoupling2,staticParams.AxisCoupling2); |
| SET_POT(dynamicParams.AxisCouplingYawCorrection,staticParams.AxisCouplingYawCorrection); |
| SET_POT(dynamicParams.DynamicStability,staticParams.DynamicStability); |
| SET_POT_MM(dynamicParams.J16Timing,staticParams.J16Timing,1,255); |
| SET_POT_MM(dynamicParams.J17Timing,staticParams.J17Timing,1,255); |
| #if defined (USE_MK3MAG) |
| SET_POT(dynamicParams.NaviGpsModeControl,staticParams.NaviGpsModeControl); |
| SET_POT(dynamicParams.NaviGpsGain,staticParams.NaviGpsGain); |
| SET_POT(dynamicParams.NaviGpsP,staticParams.NaviGpsP); |
| SET_POT(dynamicParams.NaviGpsI,staticParams.NaviGpsI); |
| SET_POT(dynamicParams.NaviGpsD,staticParams.NaviGpsD); |
| SET_POT(dynamicParams.NaviGpsACC,staticParams.NaviGpsACC); |
| SET_POT_MM(dynamicParams.NaviOperatingRadius,staticParams.NaviOperatingRadius,10, 255); |
| SET_POT(dynamicParams.NaviWindCorrection,staticParams.NaviWindCorrection); |
| SET_POT(dynamicParams.NaviSpeedCompensation,staticParams.NaviSpeedCompensation); |
| #endif |
| SET_POT(dynamicParams.ExternalControl,staticParams.ExternalControl); |
| } |
| |
| uint8_t getCPUType(void) { // works only after reset or power on when the registers have default values |
| uint8_t CPUType = ATMEGA644; |
| if( (UCSR1A == 0x20) && (UCSR1C == 0x06) ) CPUType = ATMEGA644P; // initial Values for 644P after reset |
| return CPUType; |
| } |
| |
| /* |
| * Automatic detection of hardware components is not supported in this development-oriented |
| * FC firmware. It would go against the point of it: To enable alternative hardware |
| * configurations with otherwise unsupported components. Instead, one should write |
| * custom code + adjust constants for the new hardware, and include the relevant code |
| * from the makefile. |
| * However - we still do detect the board release. Reason: Otherwise it would be too |
| * tedious to have to modify the code for how to turn on and off LEDs when deploying |
| * on different HW version.... |
| */ |
| |
| uint8_t getBoardRelease(void) { |
| uint8_t BoardRelease = 13; |
| // the board release is coded via the pull up or down the 2 status LED |
| |
| PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
| DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
| |
| _delay_loop_2(1000); // make some delay |
| |
| switch( PINB & ((1<<PINB1)|(1<<PINB0))) { |
| case 0x00: |
| BoardRelease = 10; // 1.0 |
| break; |
| case 0x01: |
| BoardRelease = 11; // 1.1 or 1.2 |
| break; |
| case 0x02: |
| BoardRelease = 20; // 2.0 |
| break; |
| case 0x03: |
| BoardRelease = 13; // 1.3 |
| break; |
| default: |
| break; |
| } |
| // set LED ports as output |
| DDRB |= (1<<DDB1)|(1<<DDB0); |
| RED_ON; |
| GRN_OFF; |
| return BoardRelease; |
| } |
| |
| void beep(uint16_t millis) { |
| BeepTime = millis; |
| } |
| |
| /* |
| * Make [numbeeps] beeps. |
| */ |
| void beepNumber(uint8_t numbeeps) { |
| while(numbeeps--) { |
| if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren! |
| beep(100); // 0.1 second |
| Delay_ms(250); // blocks 250 ms as pause to next beep, |
| // this will block the flight control loop, |
| // therefore do not use this function if motors are running |
| } |
| } |
| |
| /* |
| * Beep the R/C alarm signal |
| */ |
| void beepRCAlarm(void) { |
| if(BeepModulation == 0xFFFF) { // If not already beeping an alarm signal (?) |
| BeepTime = 15000; // 1.5 seconds |
| BeepModulation = 0x0C00; |
| } |
| } |
| |
| /* |
| * Beep the I2C bus error signal |
| */ |
| void beepI2CAlarm(void) { |
| if((BeepModulation == 0xFFFF) && (MKFlags & MKFLAG_MOTOR_RUN)) { |
| BeepTime = 10000; // 1 second |
| BeepModulation = 0x0080; |
| } |
| } |
| |
| /* |
| * Beep the battery low alarm signal |
| */ |
| void beepBatteryAlarm(void) { |
| BeepModulation = 0x0300; |
| if(!BeepTime) { |
| BeepTime = 6000; // 0.6 seconds |
| } |
| } |
| |
| /* |
| * Beep the EEPROM checksum alarm |
| */ |
| void beepEEPROMAlarm(void) { |
| BeepModulation = 0x0007; |
| if(!BeepTime) { |
| BeepTime = 6000; // 0.6 seconds |
| } |
| } |