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1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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3 | // + Nur für den privaten Gebrauch |
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4 | // + www.MikroKopter.com |
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5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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11 | // + Verkauf von Luftbildaufnahmen, usw. |
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12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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18 | // + eindeutig als Ursprung verlinkt werden |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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21 | // + Benutzung auf eigene Gefahr |
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22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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25 | // + mit unserer Zustimmung zulässig |
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26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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30 | // + this list of conditions and the following disclaimer. |
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31 | // + * 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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32 | // + from this software without specific prior written permission. |
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33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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34 | // + for non-commercial use (directly or indirectly) |
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1868 | - | 35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1612 | dongfang | 36 | // + with our written permission |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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38 | // + clearly linked as origin |
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39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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49 | // + POSSIBILITY OF SUCH DAMAGE. |
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50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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51 | #include <util/delay.h> |
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52 | #include <avr/eeprom.h> |
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1775 | - | 53 | #include <stddef.h> |
1612 | dongfang | 54 | #include "configuration.h" |
55 | #include "eeprom.h" |
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56 | |||
57 | int16_t variables[8] = {0,0,0,0,0,0,0,0}; |
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1775 | - | 58 | 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}; |
1612 | dongfang | 59 | uint8_t CPUType = ATMEGA644; |
60 | uint8_t BoardRelease = 13; |
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61 | |||
62 | /************************************************************************ |
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63 | * Map the parameter to pot values |
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1775 | - | 64 | * Replacing this code by the code below saved almost 1 kbyte. |
1612 | dongfang | 65 | ************************************************************************/ |
1775 | - | 66 | |
1612 | dongfang | 67 | void configuration_applyVariablesToParams(void) { |
68 | uint8_t i; |
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1775 | - | 69 | #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;} |
1612 | dongfang | 70 | #define SET_POT(b,a) { if (a<255) {if (a>=251) b=variables[a-251]; else b=a;}} |
71 | SET_POT(dynamicParams.MaxHeight,staticParams.MaxHeight); |
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72 | SET_POT_MM(dynamicParams.HeightD,staticParams.HeightD,0,100); |
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73 | SET_POT_MM(dynamicParams.HeightP,staticParams.HeightP,0,100); |
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74 | SET_POT(dynamicParams.Height_ACC_Effect,staticParams.Height_ACC_Effect); |
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75 | SET_POT(dynamicParams.CompassYawEffect,staticParams.CompassYawEffect); |
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76 | SET_POT_MM(dynamicParams.GyroP,staticParams.GyroP,10,255); |
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77 | SET_POT(dynamicParams.GyroI,staticParams.GyroI); |
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78 | SET_POT(dynamicParams.GyroD,staticParams.GyroD); |
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79 | SET_POT(dynamicParams.IFactor,staticParams.IFactor); |
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80 | for (i=0; i<sizeof(staticParams.UserParams1); i++) { |
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81 | SET_POT(dynamicParams.UserParams[i],staticParams.UserParams1[i]); |
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82 | } |
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83 | for (i=0; i<sizeof(staticParams.UserParams2); i++) { |
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84 | SET_POT(dynamicParams.UserParams[i + sizeof(staticParams.UserParams1)], staticParams.UserParams2[i]); |
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85 | } |
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86 | SET_POT(dynamicParams.ServoPitchControl,staticParams.ServoPitchControl); |
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87 | SET_POT(dynamicParams.LoopGasLimit,staticParams.LoopGasLimit); |
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88 | SET_POT(dynamicParams.AxisCoupling1,staticParams.AxisCoupling1); |
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89 | SET_POT(dynamicParams.AxisCoupling2,staticParams.AxisCoupling2); |
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90 | SET_POT(dynamicParams.AxisCouplingYawCorrection,staticParams.AxisCouplingYawCorrection); |
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91 | SET_POT(dynamicParams.DynamicStability,staticParams.DynamicStability); |
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92 | SET_POT_MM(dynamicParams.J16Timing,staticParams.J16Timing,1,255); |
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93 | SET_POT_MM(dynamicParams.J17Timing,staticParams.J17Timing,1,255); |
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1805 | - | 94 | |
95 | #if defined (USE_NAVICTRL) |
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1612 | dongfang | 96 | SET_POT(dynamicParams.NaviGpsModeControl,staticParams.NaviGpsModeControl); |
97 | SET_POT(dynamicParams.NaviGpsGain,staticParams.NaviGpsGain); |
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98 | SET_POT(dynamicParams.NaviGpsP,staticParams.NaviGpsP); |
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99 | SET_POT(dynamicParams.NaviGpsI,staticParams.NaviGpsI); |
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100 | SET_POT(dynamicParams.NaviGpsD,staticParams.NaviGpsD); |
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101 | SET_POT(dynamicParams.NaviGpsACC,staticParams.NaviGpsACC); |
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102 | SET_POT_MM(dynamicParams.NaviOperatingRadius,staticParams.NaviOperatingRadius,10, 255); |
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103 | SET_POT(dynamicParams.NaviWindCorrection,staticParams.NaviWindCorrection); |
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104 | SET_POT(dynamicParams.NaviSpeedCompensation,staticParams.NaviSpeedCompensation); |
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105 | #endif |
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106 | SET_POT(dynamicParams.ExternalControl,staticParams.ExternalControl); |
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107 | } |
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108 | |||
1775 | - | 109 | const XLATION XLATIONS[] = { |
110 | {offsetof(paramset_t, MaxHeight), offsetof(dynamicParam_t, MaxHeight)}, |
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111 | {offsetof(paramset_t, Height_ACC_Effect), offsetof(dynamicParam_t, Height_ACC_Effect)}, |
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112 | {offsetof(paramset_t, CompassYawEffect), offsetof(dynamicParam_t, CompassYawEffect)}, |
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113 | {offsetof(paramset_t, GyroI), offsetof(dynamicParam_t, GyroI)}, |
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114 | {offsetof(paramset_t, GyroD), offsetof(dynamicParam_t, GyroD)}, |
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115 | {offsetof(paramset_t, IFactor), offsetof(dynamicParam_t, IFactor)}, |
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116 | {offsetof(paramset_t, ServoPitchControl), offsetof(dynamicParam_t, ServoPitchControl)}, |
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117 | {offsetof(paramset_t, LoopGasLimit), offsetof(dynamicParam_t, LoopGasLimit)}, |
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118 | {offsetof(paramset_t, AxisCoupling1), offsetof(dynamicParam_t, AxisCoupling1)}, |
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119 | {offsetof(paramset_t, AxisCoupling2), offsetof(dynamicParam_t, AxisCoupling2)}, |
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120 | {offsetof(paramset_t, AxisCouplingYawCorrection), offsetof(dynamicParam_t, AxisCouplingYawCorrection)}, |
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121 | {offsetof(paramset_t, DynamicStability), offsetof(dynamicParam_t, DynamicStability)}, |
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122 | {offsetof(paramset_t, NaviGpsModeControl), |
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123 | offsetof(dynamicParam_t, NaviGpsModeControl)}, |
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124 | {offsetof(paramset_t, NaviGpsGain), offsetof(dynamicParam_t, NaviGpsGain)}, |
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125 | {offsetof(paramset_t, NaviGpsP), offsetof(dynamicParam_t, NaviGpsP)}, |
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126 | {offsetof(paramset_t, NaviGpsI), offsetof(dynamicParam_t, NaviGpsI)}, |
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127 | {offsetof(paramset_t, NaviGpsD), offsetof(dynamicParam_t, NaviGpsD)}, |
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128 | {offsetof(paramset_t, NaviGpsACC), offsetof(dynamicParam_t, NaviGpsACC)}, |
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129 | {offsetof(paramset_t, NaviWindCorrection), offsetof(dynamicParam_t, NaviWindCorrection)}, |
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130 | {offsetof(paramset_t, NaviSpeedCompensation), offsetof(dynamicParam_t, NaviSpeedCompensation)}, |
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131 | {offsetof(paramset_t, ExternalControl), offsetof(dynamicParam_t, ExternalControl)} |
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132 | }; |
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133 | |||
134 | const MMXLATION MMXLATIONS[] = { |
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135 | {offsetof(paramset_t, HeightD), offsetof(dynamicParam_t, HeightD),0,100}, |
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136 | {offsetof(paramset_t, HeightP), offsetof(dynamicParam_t, HeightD),0,150}, |
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137 | {offsetof(paramset_t, GyroP), offsetof(dynamicParam_t, GyroP),0,255}, |
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138 | {offsetof(paramset_t, J16Timing), offsetof(dynamicParam_t, J16Timing),1,255}, |
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139 | {offsetof(paramset_t, J17Timing), offsetof(dynamicParam_t, J17Timing),1,255}, |
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140 | {offsetof(paramset_t, NaviOperatingRadius), offsetof(dynamicParam_t, NaviOperatingRadius),10,255} |
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141 | }; |
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142 | |||
143 | uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) { |
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144 | uint8_t result; |
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145 | if (src>=251) result = variables[src-251]; |
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146 | else result = src; |
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147 | if (result < min) result = min; |
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148 | else if (result > max) result = max; |
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149 | return result; |
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150 | } |
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151 | |||
152 | void configuration_applyVariablesToParams_dead(void) { |
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153 | uint8_t i, src; |
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154 | uint8_t* pointerToTgt; |
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155 | for(i=0; i<sizeof(XLATIONS)/sizeof(XLATION); i++) { |
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156 | src = *((uint8_t*)(&staticParams + XLATIONS[i].sourceIdx)); |
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157 | pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx); |
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158 | if (src < 255) { |
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159 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
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160 | } |
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161 | } |
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162 | |||
163 | for(i=0; i<sizeof(MMXLATIONS)/sizeof(MMXLATION); i++) { |
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164 | src = *((uint8_t*)(&staticParams + MMXLATIONS[i].sourceIdx)); |
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165 | pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx); |
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166 | if (src < 255) { |
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167 | *pointerToTgt = configuration_applyVariableToParam(src, MMXLATIONS[i].min, MMXLATIONS[i].max); |
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168 | } |
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169 | } |
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170 | |||
171 | for (i=0; i<sizeof(staticParams.UserParams1); i++) { |
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172 | src = *((uint8_t*)(&staticParams + offsetof(paramset_t, UserParams1) + i)); |
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173 | pointerToTgt = (uint8_t*)(&dynamicParams + offsetof(dynamicParam_t, UserParams) + i); |
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174 | if (src < 255) { |
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175 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
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176 | } |
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177 | } |
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178 | |||
179 | for (i=0; i<sizeof(staticParams.UserParams2); i++) { |
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180 | src = *((uint8_t*)(&staticParams + offsetof(paramset_t, UserParams2) + i)); |
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181 | pointerToTgt = (uint8_t*)(&dynamicParams + offsetof(dynamicParam_t, UserParams) + sizeof(staticParams.UserParams1) + i); |
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182 | if (src < 255) { |
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183 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
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184 | } |
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185 | } |
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186 | } |
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187 | |||
1612 | dongfang | 188 | uint8_t getCPUType(void) { // works only after reset or power on when the registers have default values |
189 | uint8_t CPUType = ATMEGA644; |
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190 | if( (UCSR1A == 0x20) && (UCSR1C == 0x06) ) CPUType = ATMEGA644P; // initial Values for 644P after reset |
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191 | return CPUType; |
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192 | } |
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193 | |||
194 | /* |
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195 | * Automatic detection of hardware components is not supported in this development-oriented |
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196 | * FC firmware. It would go against the point of it: To enable alternative hardware |
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197 | * configurations with otherwise unsupported components. Instead, one should write |
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198 | * custom code + adjust constants for the new hardware, and include the relevant code |
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199 | * from the makefile. |
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200 | * However - we still do detect the board release. Reason: Otherwise it would be too |
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201 | * tedious to have to modify the code for how to turn on and off LEDs when deploying |
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202 | * on different HW version.... |
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203 | */ |
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204 | |||
205 | uint8_t getBoardRelease(void) { |
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206 | uint8_t BoardRelease = 13; |
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207 | // the board release is coded via the pull up or down the 2 status LED |
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208 | |||
209 | PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
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210 | DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
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211 | |||
212 | _delay_loop_2(1000); // make some delay |
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213 | |||
214 | switch( PINB & ((1<<PINB1)|(1<<PINB0))) { |
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215 | case 0x00: |
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216 | BoardRelease = 10; // 1.0 |
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217 | break; |
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218 | case 0x01: |
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219 | BoardRelease = 11; // 1.1 or 1.2 |
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220 | break; |
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221 | case 0x02: |
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222 | BoardRelease = 20; // 2.0 |
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223 | break; |
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224 | case 0x03: |
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225 | BoardRelease = 13; // 1.3 |
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226 | break; |
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227 | default: |
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228 | break; |
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229 | } |
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230 | // set LED ports as output |
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231 | DDRB |= (1<<DDB1)|(1<<DDB0); |
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232 | RED_ON; |
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233 | GRN_OFF; |
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234 | return BoardRelease; |
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235 | } |