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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + Nur f�r den privaten Gebrauch
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation),
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// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zul�ssig 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, Best�ckung und Verkauf von Platinen oder Baus�tzen,
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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 ver�ffentlicht,
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// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen 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 Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// + eindeutig als Ursprung verlinkt und genannt werden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion
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// + Benutzung auf eigene Gefahr
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// + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den
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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 zul�ssig
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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
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// +  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 <util/delay.h>
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#include <stddef.h>
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#include <stddef.h>
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#include <string.h>
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#include <string.h>
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#include "configuration.h"
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#include "configuration.h"
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#include "sensors.h"
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#include "sensors.h"
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ParamSet_t staticParams;
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ParamSet_t staticParams;
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channelMap_t channelMap;
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channelMap_t channelMap;
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mixerMatrix_t mixerMatrix;
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mixerMatrix_t mixerMatrix;
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volatile DynamicParams_t dynamicParams;
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volatile DynamicParams_t dynamicParams;
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uint8_t CPUType = ATMEGA644;
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uint8_t CPUType;
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uint8_t boardRelease = 13;
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uint8_t boardRelease;
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uint8_t requiredMotors;
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uint8_t requiredMotors;
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    pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i;
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    pointerToTgt = (uint8_t*)(&dynamicParams) + offsetof(DynamicParams_t, userParams) + i;
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    *pointerToTgt = configuration_applyVariableToParam(src, 0, 255);
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    *pointerToTgt = configuration_applyVariableToParam(src, 0, 255);
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  }
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  }
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}
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}
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uint8_t getCPUType(void) {   // works only after reset or power on when the registers have default values
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  uint8_t CPUType = ATMEGA644;
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void setCPUType(void) {   // works only after reset or power on when the registers have default values
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  if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P;  // initial Values for 644P after reset
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  if((UCSR1A == 0x20) && (UCSR1C == 0x06)) CPUType = ATMEGA644P;  // initial Values for 644P after reset
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  return CPUType;
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  else CPUType = ATMEGA644;
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}
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}
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/*
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/*
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 * from the makefile.
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 * from the makefile.
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 * However - we still do detect the board release. Reason: Otherwise it would be too
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 * However - we still do detect the board release. Reason: Otherwise it would be too
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 * tedious to have to modify the code for how to turn on and off LEDs when deploying
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 * tedious to have to modify the code for how to turn on and off LEDs when deploying
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 * on different HW version....
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 * on different HW version....
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 */
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 */
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uint8_t getBoardRelease(void) {
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void setBoardRelease(void) {
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  uint8_t boardRelease = 13;
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  // the board release is coded via the pull up or down the 2 status LED
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  // the board release is coded via the pull up or down the 2 status LED
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  PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate
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  PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate
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    }
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    }
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  // set LED ports as output
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  // set LED ports as output
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  DDRB |= (1<<DDB1)|(1<<DDB0);
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  DDRB |= (1<<DDB1)|(1<<DDB0);
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  RED_OFF;
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  RED_OFF;
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  GRN_OFF;
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  GRN_OFF;
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  return boardRelease;
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}
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}
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void configuration_setNormalFlightParameters(void) {
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void configuration_setNormalFlightParameters(void) {
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  flight_setParameters(staticParams.IFactor, dynamicParams.gyroP,
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  flight_setParameters(staticParams.IFactor, dynamicParams.gyroP,