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Rev | Author | Line No. | Line |
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1910 | - | 1 | #include <util/delay.h> |
2 | #include <avr/eeprom.h> |
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3 | #include <stddef.h> |
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4 | #include "configuration.h" |
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5 | #include "eeprom.h" |
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6 | #include "uart0.h" |
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7 | |||
8 | int16_t variables[8] = {0,0,0,0,0,0,0,0}; |
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9 | 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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10 | uint8_t CPUType = ATMEGA644; |
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11 | uint8_t BoardRelease = 13; |
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12 | |||
13 | /************************************************************************ |
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14 | * Map the parameter to pot values |
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15 | * Replacing this code by the code below saved almost 1 kbyte. |
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16 | ************************************************************************/ |
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17 | |||
18 | void configuration_staticToDynamic(void) { |
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19 | uint8_t i; |
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20 | #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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21 | #define SET_POT(b,a) { if (a<255) {if (a>=251) b=variables[a-251]; else b=a;}} |
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22 | SET_POT(dynamicParams.MaxHeight,staticParams.MaxHeight); |
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23 | SET_POT_MM(dynamicParams.HeightD,staticParams.HeightD,0,100); |
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24 | SET_POT_MM(dynamicParams.HeightP,staticParams.HeightP,0,100); |
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25 | SET_POT(dynamicParams.CompassYawEffect,staticParams.CompassYawEffect); |
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26 | |||
27 | SET_POT(dynamicParams.GyroPitchP,staticParams.GyroPitchP); |
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28 | SET_POT(dynamicParams.GyroRollP,staticParams.GyroRollP); |
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29 | SET_POT(dynamicParams.GyroYawP,staticParams.GyroYawP); |
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30 | |||
31 | SET_POT(dynamicParams.GyroPitchD,staticParams.GyroPitchD); |
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32 | SET_POT(dynamicParams.GyroRollD,staticParams.GyroRollD); |
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33 | SET_POT(dynamicParams.GyroYawD,staticParams.GyroYawD); |
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34 | |||
35 | SET_POT(dynamicParams.IFactor,staticParams.IFactor); |
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36 | for (i=0; i<sizeof(staticParams.UserParams1); i++) { |
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37 | SET_POT(dynamicParams.UserParams[i],staticParams.UserParams1[i]); |
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38 | } |
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39 | for (i=0; i<sizeof(staticParams.UserParams2); i++) { |
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40 | SET_POT(dynamicParams.UserParams[i + sizeof(staticParams.UserParams1)], staticParams.UserParams2[i]); |
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41 | } |
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42 | SET_POT_MM(dynamicParams.J16Timing,staticParams.J16Timing,1,255); |
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43 | SET_POT_MM(dynamicParams.J17Timing,staticParams.J17Timing,1,255); |
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44 | |||
45 | SET_POT(dynamicParams.ExternalControl,staticParams.ExternalControl); |
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46 | } |
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47 | |||
48 | uint8_t getCPUType(void) { // works only after reset or power on when the registers have default values |
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49 | uint8_t CPUType = ATMEGA644; |
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50 | //if( (UCSR1A == 0x20) && (UCSR1C == 0x06) ) CPUType = ATMEGA644P; // initial Values for 644P after reset |
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51 | return CPUType; |
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52 | } |
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53 | |||
54 | /* |
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55 | * Automatic detection of hardware components is not supported in this development-oriented |
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56 | * FC firmware. It would go against the point of it: To enable alternative hardware |
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57 | * configurations with otherwise unsupported components. Instead, one should write |
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58 | * custom code + adjust constants for the new hardware, and include the relevant code |
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59 | * from the makefile. |
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60 | * However - we still do detect the board release. Reason: Otherwise it would be too |
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61 | * tedious to have to modify the code for how to turn on and off LEDs when deploying |
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62 | * on different HW version.... |
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63 | */ |
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64 | |||
65 | uint8_t getBoardRelease(void) { |
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66 | uint8_t BoardRelease = 13; |
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67 | // the board release is coded via the pull up or down the 2 status LED |
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68 | |||
69 | PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
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70 | DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
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71 | |||
72 | _delay_loop_2(1000); // make some delay |
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73 | |||
74 | switch( PINB & ((1<<PINB1)|(1<<PINB0))) { |
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75 | case 0x00: |
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76 | BoardRelease = 10; // 1.0 |
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77 | break; |
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78 | case 0x01: |
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79 | BoardRelease = 11; // 1.1 or 1.2 |
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80 | break; |
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81 | case 0x02: |
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82 | BoardRelease = 20; // 2.0 |
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83 | break; |
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84 | case 0x03: |
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85 | BoardRelease = 13; // 1.3 |
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86 | break; |
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87 | default: |
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88 | break; |
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89 | } |
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90 | // set LED ports as output |
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91 | DDRB |= (1<<DDB1)|(1<<DDB0); |
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92 | RED_ON; |
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93 | GRN_OFF; |
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94 | return BoardRelease; |
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95 | } |