Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + 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,

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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,

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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts

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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion

// + Benutzung auf eigene Gefahr

// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

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// + 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.

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// +     from this software without specific prior written permission.

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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include <util/delay.h>

#include <avr/eeprom.h>

#include <stddef.h>

#include "configuration.h"

#include "eeprom.h"

#include "timer0.h"

int16_t variables[8] = {0,0,0,0,0,0,0,0};

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};

uint8_t CPUType = ATMEGA644;

uint8_t BoardRelease = 13;

/************************************************************************

 * Map the parameter to pot values                                    

 * Replacing this code by the code below saved almost 1 kbyte.

 ************************************************************************/

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_NAVICTRL)

  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);

}

const XLATION XLATIONS[] = {

  {offsetof(paramset_t, MaxHeight), offsetof(dynamicParam_t, MaxHeight)},

  {offsetof(paramset_t, Height_ACC_Effect), offsetof(dynamicParam_t, Height_ACC_Effect)},

  {offsetof(paramset_t, CompassYawEffect), offsetof(dynamicParam_t, CompassYawEffect)},

  {offsetof(paramset_t, GyroI), offsetof(dynamicParam_t, GyroI)},

  {offsetof(paramset_t, GyroD), offsetof(dynamicParam_t, GyroD)},

  {offsetof(paramset_t, IFactor), offsetof(dynamicParam_t, IFactor)},

  {offsetof(paramset_t, ServoPitchControl), offsetof(dynamicParam_t, ServoPitchControl)},

  {offsetof(paramset_t, LoopGasLimit), offsetof(dynamicParam_t, LoopGasLimit)},

  {offsetof(paramset_t, AxisCoupling1), offsetof(dynamicParam_t, AxisCoupling1)},

  {offsetof(paramset_t, AxisCoupling2), offsetof(dynamicParam_t, AxisCoupling2)},

  {offsetof(paramset_t, AxisCouplingYawCorrection), offsetof(dynamicParam_t, AxisCouplingYawCorrection)},

  {offsetof(paramset_t, DynamicStability), offsetof(dynamicParam_t, DynamicStability)},

  {offsetof(paramset_t, NaviGpsModeControl),

   offsetof(dynamicParam_t, NaviGpsModeControl)},

  {offsetof(paramset_t, NaviGpsGain), offsetof(dynamicParam_t, NaviGpsGain)},

  {offsetof(paramset_t, NaviGpsP), offsetof(dynamicParam_t, NaviGpsP)},

  {offsetof(paramset_t, NaviGpsI), offsetof(dynamicParam_t, NaviGpsI)},

  {offsetof(paramset_t, NaviGpsD), offsetof(dynamicParam_t, NaviGpsD)},

  {offsetof(paramset_t, NaviGpsACC), offsetof(dynamicParam_t, NaviGpsACC)},

  {offsetof(paramset_t, NaviWindCorrection), offsetof(dynamicParam_t, NaviWindCorrection)},

  {offsetof(paramset_t, NaviSpeedCompensation), offsetof(dynamicParam_t, NaviSpeedCompensation)},

  {offsetof(paramset_t, ExternalControl), offsetof(dynamicParam_t, ExternalControl)}

};

const MMXLATION MMXLATIONS[] = {

  {offsetof(paramset_t, HeightD), offsetof(dynamicParam_t, HeightD),0,100},

  {offsetof(paramset_t, HeightP), offsetof(dynamicParam_t, HeightD),0,150},

  {offsetof(paramset_t, GyroP), offsetof(dynamicParam_t, GyroP),0,255},

  {offsetof(paramset_t, J16Timing), offsetof(dynamicParam_t, J16Timing),1,255},

  {offsetof(paramset_t, J17Timing), offsetof(dynamicParam_t, J17Timing),1,255},

  {offsetof(paramset_t, NaviOperatingRadius), offsetof(dynamicParam_t, NaviOperatingRadius),10,255}

};

uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) {

  uint8_t result;

  if (src>=251) result = variables[src-251];

  else result = src;

  if (result < min) result = min;

  else if (result > max) result = max;

  return result;

}

void configuration_applyVariablesToParams_dead(void) {

  uint8_t i, src;

  uint8_t* pointerToTgt;

  for(i=0; i<sizeof(XLATIONS)/sizeof(XLATION); i++) {

    src = *((uint8_t*)(&staticParams + XLATIONS[i].sourceIdx));

    pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx);

    if (src < 255) {

      *pointerToTgt = configuration_applyVariableToParam(src, 0, 255);

    }

  }

  for(i=0; i<sizeof(MMXLATIONS)/sizeof(MMXLATION); i++) {

    src = *((uint8_t*)(&staticParams + MMXLATIONS[i].sourceIdx));

    pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx);

    if (src < 255) {

      *pointerToTgt = configuration_applyVariableToParam(src, MMXLATIONS[i].min, MMXLATIONS[i].max);

    }

  }

  for (i=0; i<sizeof(staticParams.UserParams1); i++) {

    src = *((uint8_t*)(&staticParams + offsetof(paramset_t, UserParams1) + i));

    pointerToTgt = (uint8_t*)(&dynamicParams + offsetof(dynamicParam_t, UserParams) + i);

    if (src < 255) {

      *pointerToTgt = configuration_applyVariableToParam(src, 0, 255);

    }    

  }

  for (i=0; i<sizeof(staticParams.UserParams2); i++) {

    src = *((uint8_t*)(&staticParams + offsetof(paramset_t, UserParams2) + i));

    pointerToTgt = (uint8_t*)(&dynamicParams + offsetof(dynamicParam_t, UserParams) + sizeof(staticParams.UserParams1) + i);

    if (src < 255) {

      *pointerToTgt = configuration_applyVariableToParam(src, 0, 255);

    }    

  }

}

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

  }

}