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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + Nur für den privaten Gebrauch |
3 | // + Nur für den privaten Gebrauch |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt werden |
18 | // + eindeutig als Ursprung verlinkt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
25 | // + mit unserer Zustimmung zulässig |
25 | // + mit unserer Zustimmung zulässig |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
30 | // + this list of conditions and the following disclaimer. |
30 | // + this list of conditions and the following disclaimer. |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
32 | // + from this software without specific prior written permission. |
32 | // + from this software without specific prior written permission. |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
34 | // + for non-commercial use (directly or indirectly) |
34 | // + for non-commercial use (directly or indirectly) |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
36 | // + with our written permission |
36 | // + with our written permission |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + clearly linked as origin |
38 | // + clearly linked as origin |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + POSSIBILITY OF SUCH DAMAGE. |
49 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | #include <util/delay.h> |
51 | #include <util/delay.h> |
52 | #include <avr/eeprom.h> |
52 | #include <avr/eeprom.h> |
- | 53 | #include <stddef.h> |
|
53 | #include "configuration.h" |
54 | #include "configuration.h" |
54 | #include "eeprom.h" |
55 | #include "eeprom.h" |
55 | #include "timer0.h" |
56 | #include "timer0.h" |
56 | 57 | ||
57 | int16_t variables[8] = {0,0,0,0,0,0,0,0}; |
58 | int16_t variables[8] = {0,0,0,0,0,0,0,0}; |
58 | 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}; |
59 | 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}; |
59 | uint8_t CPUType = ATMEGA644; |
60 | uint8_t CPUType = ATMEGA644; |
60 | uint8_t BoardRelease = 13; |
61 | uint8_t BoardRelease = 13; |
61 | 62 | ||
62 | /************************************************************************ |
63 | /************************************************************************ |
63 | * Map the parameter to pot values |
64 | * Map the parameter to pot values |
- | 65 | * Replacing this code by the code below saved almost 1 kbyte. |
|
64 | ************************************************************************/ |
66 | ************************************************************************/ |
- | 67 | ||
65 | void configuration_applyVariablesToParams(void) { |
68 | void configuration_applyVariablesToParams(void) { |
66 | uint8_t i; |
69 | uint8_t i; |
67 | #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;} |
70 | #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;} |
68 | #define SET_POT(b,a) { if (a<255) {if (a>=251) b=variables[a-251]; else b=a;}} |
71 | #define SET_POT(b,a) { if (a<255) {if (a>=251) b=variables[a-251]; else b=a;}} |
69 | SET_POT(dynamicParams.MaxHeight,staticParams.MaxHeight); |
72 | SET_POT(dynamicParams.MaxHeight,staticParams.MaxHeight); |
70 | SET_POT_MM(dynamicParams.HeightD,staticParams.HeightD,0,100); |
73 | SET_POT_MM(dynamicParams.HeightD,staticParams.HeightD,0,100); |
71 | SET_POT_MM(dynamicParams.HeightP,staticParams.HeightP,0,100); |
74 | SET_POT_MM(dynamicParams.HeightP,staticParams.HeightP,0,100); |
72 | SET_POT(dynamicParams.Height_ACC_Effect,staticParams.Height_ACC_Effect); |
75 | SET_POT(dynamicParams.Height_ACC_Effect,staticParams.Height_ACC_Effect); |
73 | SET_POT(dynamicParams.CompassYawEffect,staticParams.CompassYawEffect); |
76 | SET_POT(dynamicParams.CompassYawEffect,staticParams.CompassYawEffect); |
74 | SET_POT_MM(dynamicParams.GyroP,staticParams.GyroP,10,255); |
77 | SET_POT_MM(dynamicParams.GyroP,staticParams.GyroP,10,255); |
75 | SET_POT(dynamicParams.GyroI,staticParams.GyroI); |
78 | SET_POT(dynamicParams.GyroI,staticParams.GyroI); |
76 | SET_POT(dynamicParams.GyroD,staticParams.GyroD); |
79 | SET_POT(dynamicParams.GyroD,staticParams.GyroD); |
77 | SET_POT(dynamicParams.IFactor,staticParams.IFactor); |
80 | SET_POT(dynamicParams.IFactor,staticParams.IFactor); |
78 | for (i=0; i<sizeof(staticParams.UserParams1); i++) { |
81 | for (i=0; i<sizeof(staticParams.UserParams1); i++) { |
79 | SET_POT(dynamicParams.UserParams[i],staticParams.UserParams1[i]); |
82 | SET_POT(dynamicParams.UserParams[i],staticParams.UserParams1[i]); |
80 | } |
83 | } |
81 | for (i=0; i<sizeof(staticParams.UserParams2); i++) { |
84 | for (i=0; i<sizeof(staticParams.UserParams2); i++) { |
82 | SET_POT(dynamicParams.UserParams[i + sizeof(staticParams.UserParams1)], staticParams.UserParams2[i]); |
85 | SET_POT(dynamicParams.UserParams[i + sizeof(staticParams.UserParams1)], staticParams.UserParams2[i]); |
83 | } |
86 | } |
84 | SET_POT(dynamicParams.ServoPitchControl,staticParams.ServoPitchControl); |
87 | SET_POT(dynamicParams.ServoPitchControl,staticParams.ServoPitchControl); |
85 | SET_POT(dynamicParams.LoopGasLimit,staticParams.LoopGasLimit); |
88 | SET_POT(dynamicParams.LoopGasLimit,staticParams.LoopGasLimit); |
86 | SET_POT(dynamicParams.AxisCoupling1,staticParams.AxisCoupling1); |
89 | SET_POT(dynamicParams.AxisCoupling1,staticParams.AxisCoupling1); |
87 | SET_POT(dynamicParams.AxisCoupling2,staticParams.AxisCoupling2); |
90 | SET_POT(dynamicParams.AxisCoupling2,staticParams.AxisCoupling2); |
88 | SET_POT(dynamicParams.AxisCouplingYawCorrection,staticParams.AxisCouplingYawCorrection); |
91 | SET_POT(dynamicParams.AxisCouplingYawCorrection,staticParams.AxisCouplingYawCorrection); |
89 | SET_POT(dynamicParams.DynamicStability,staticParams.DynamicStability); |
92 | SET_POT(dynamicParams.DynamicStability,staticParams.DynamicStability); |
90 | SET_POT_MM(dynamicParams.J16Timing,staticParams.J16Timing,1,255); |
93 | SET_POT_MM(dynamicParams.J16Timing,staticParams.J16Timing,1,255); |
91 | SET_POT_MM(dynamicParams.J17Timing,staticParams.J17Timing,1,255); |
94 | SET_POT_MM(dynamicParams.J17Timing,staticParams.J17Timing,1,255); |
92 | #if defined (USE_MK3MAG) |
95 | #if defined (USE_MK3MAG) |
93 | SET_POT(dynamicParams.NaviGpsModeControl,staticParams.NaviGpsModeControl); |
96 | SET_POT(dynamicParams.NaviGpsModeControl,staticParams.NaviGpsModeControl); |
94 | SET_POT(dynamicParams.NaviGpsGain,staticParams.NaviGpsGain); |
97 | SET_POT(dynamicParams.NaviGpsGain,staticParams.NaviGpsGain); |
95 | SET_POT(dynamicParams.NaviGpsP,staticParams.NaviGpsP); |
98 | SET_POT(dynamicParams.NaviGpsP,staticParams.NaviGpsP); |
96 | SET_POT(dynamicParams.NaviGpsI,staticParams.NaviGpsI); |
99 | SET_POT(dynamicParams.NaviGpsI,staticParams.NaviGpsI); |
97 | SET_POT(dynamicParams.NaviGpsD,staticParams.NaviGpsD); |
100 | SET_POT(dynamicParams.NaviGpsD,staticParams.NaviGpsD); |
98 | SET_POT(dynamicParams.NaviGpsACC,staticParams.NaviGpsACC); |
101 | SET_POT(dynamicParams.NaviGpsACC,staticParams.NaviGpsACC); |
99 | SET_POT_MM(dynamicParams.NaviOperatingRadius,staticParams.NaviOperatingRadius,10, 255); |
102 | SET_POT_MM(dynamicParams.NaviOperatingRadius,staticParams.NaviOperatingRadius,10, 255); |
100 | SET_POT(dynamicParams.NaviWindCorrection,staticParams.NaviWindCorrection); |
103 | SET_POT(dynamicParams.NaviWindCorrection,staticParams.NaviWindCorrection); |
101 | SET_POT(dynamicParams.NaviSpeedCompensation,staticParams.NaviSpeedCompensation); |
104 | SET_POT(dynamicParams.NaviSpeedCompensation,staticParams.NaviSpeedCompensation); |
102 | #endif |
105 | #endif |
103 | SET_POT(dynamicParams.ExternalControl,staticParams.ExternalControl); |
106 | SET_POT(dynamicParams.ExternalControl,staticParams.ExternalControl); |
104 | } |
107 | } |
- | 108 | ||
- | 109 | const XLATION XLATIONS[] = { |
|
- | 110 | {offsetof(paramset_t, MaxHeight), offsetof(dynamicParam_t, MaxHeight)}, |
|
- | 111 | {offsetof(paramset_t, Height_ACC_Effect), offsetof(dynamicParam_t, Height_ACC_Effect)}, |
|
- | 112 | {offsetof(paramset_t, CompassYawEffect), offsetof(dynamicParam_t, CompassYawEffect)}, |
|
- | 113 | {offsetof(paramset_t, GyroI), offsetof(dynamicParam_t, GyroI)}, |
|
- | 114 | {offsetof(paramset_t, GyroD), offsetof(dynamicParam_t, GyroD)}, |
|
- | 115 | {offsetof(paramset_t, IFactor), offsetof(dynamicParam_t, IFactor)}, |
|
- | 116 | {offsetof(paramset_t, ServoPitchControl), offsetof(dynamicParam_t, ServoPitchControl)}, |
|
- | 117 | {offsetof(paramset_t, LoopGasLimit), offsetof(dynamicParam_t, LoopGasLimit)}, |
|
- | 118 | {offsetof(paramset_t, AxisCoupling1), offsetof(dynamicParam_t, AxisCoupling1)}, |
|
- | 119 | {offsetof(paramset_t, AxisCoupling2), offsetof(dynamicParam_t, AxisCoupling2)}, |
|
- | 120 | {offsetof(paramset_t, AxisCouplingYawCorrection), offsetof(dynamicParam_t, AxisCouplingYawCorrection)}, |
|
- | 121 | {offsetof(paramset_t, DynamicStability), offsetof(dynamicParam_t, DynamicStability)}, |
|
- | 122 | {offsetof(paramset_t, NaviGpsModeControl), |
|
- | 123 | offsetof(dynamicParam_t, NaviGpsModeControl)}, |
|
- | 124 | {offsetof(paramset_t, NaviGpsGain), offsetof(dynamicParam_t, NaviGpsGain)}, |
|
- | 125 | {offsetof(paramset_t, NaviGpsP), offsetof(dynamicParam_t, NaviGpsP)}, |
|
- | 126 | {offsetof(paramset_t, NaviGpsI), offsetof(dynamicParam_t, NaviGpsI)}, |
|
- | 127 | {offsetof(paramset_t, NaviGpsD), offsetof(dynamicParam_t, NaviGpsD)}, |
|
- | 128 | {offsetof(paramset_t, NaviGpsACC), offsetof(dynamicParam_t, NaviGpsACC)}, |
|
- | 129 | {offsetof(paramset_t, NaviWindCorrection), offsetof(dynamicParam_t, NaviWindCorrection)}, |
|
- | 130 | {offsetof(paramset_t, NaviSpeedCompensation), offsetof(dynamicParam_t, NaviSpeedCompensation)}, |
|
- | 131 | {offsetof(paramset_t, ExternalControl), offsetof(dynamicParam_t, ExternalControl)} |
|
- | 132 | }; |
|
- | 133 | ||
- | 134 | const MMXLATION MMXLATIONS[] = { |
|
- | 135 | {offsetof(paramset_t, HeightD), offsetof(dynamicParam_t, HeightD),0,100}, |
|
- | 136 | {offsetof(paramset_t, HeightP), offsetof(dynamicParam_t, HeightD),0,150}, |
|
- | 137 | {offsetof(paramset_t, GyroP), offsetof(dynamicParam_t, GyroP),0,255}, |
|
- | 138 | {offsetof(paramset_t, J16Timing), offsetof(dynamicParam_t, J16Timing),1,255}, |
|
- | 139 | {offsetof(paramset_t, J17Timing), offsetof(dynamicParam_t, J17Timing),1,255}, |
|
- | 140 | {offsetof(paramset_t, NaviOperatingRadius), offsetof(dynamicParam_t, NaviOperatingRadius),10,255} |
|
- | 141 | }; |
|
- | 142 | ||
- | 143 | uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) { |
|
- | 144 | uint8_t result; |
|
- | 145 | if (src>=251) result = variables[src-251]; |
|
- | 146 | else result = src; |
|
- | 147 | if (result < min) result = min; |
|
- | 148 | else if (result > max) result = max; |
|
- | 149 | return result; |
|
- | 150 | } |
|
- | 151 | ||
- | 152 | void configuration_applyVariablesToParams_dead(void) { |
|
- | 153 | uint8_t i, src; |
|
- | 154 | uint8_t* pointerToTgt; |
|
- | 155 | for(i=0; i<sizeof(XLATIONS)/sizeof(XLATION); i++) { |
|
- | 156 | src = *((uint8_t*)(&staticParams + XLATIONS[i].sourceIdx)); |
|
- | 157 | pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx); |
|
- | 158 | if (src < 255) { |
|
- | 159 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
|
- | 160 | } |
|
- | 161 | } |
|
- | 162 | ||
- | 163 | for(i=0; i<sizeof(MMXLATIONS)/sizeof(MMXLATION); i++) { |
|
- | 164 | src = *((uint8_t*)(&staticParams + MMXLATIONS[i].sourceIdx)); |
|
- | 165 | pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx); |
|
- | 166 | if (src < 255) { |
|
- | 167 | *pointerToTgt = configuration_applyVariableToParam(src, MMXLATIONS[i].min, MMXLATIONS[i].max); |
|
- | 168 | } |
|
- | 169 | } |
|
- | 170 | ||
- | 171 | for (i=0; i<sizeof(staticParams.UserParams1); i++) { |
|
- | 172 | src = *((uint8_t*)(&staticParams + offsetof(paramset_t, UserParams1) + i)); |
|
- | 173 | pointerToTgt = (uint8_t*)(&dynamicParams + offsetof(dynamicParam_t, UserParams) + i); |
|
- | 174 | if (src < 255) { |
|
- | 175 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
|
- | 176 | } |
|
- | 177 | } |
|
- | 178 | ||
- | 179 | for (i=0; i<sizeof(staticParams.UserParams2); i++) { |
|
- | 180 | src = *((uint8_t*)(&staticParams + offsetof(paramset_t, UserParams2) + i)); |
|
- | 181 | pointerToTgt = (uint8_t*)(&dynamicParams + offsetof(dynamicParam_t, UserParams) + sizeof(staticParams.UserParams1) + i); |
|
- | 182 | if (src < 255) { |
|
- | 183 | *pointerToTgt = configuration_applyVariableToParam(src, 0, 255); |
|
- | 184 | } |
|
- | 185 | } |
|
- | 186 | } |
|
105 | 187 | ||
106 | uint8_t getCPUType(void) { // works only after reset or power on when the registers have default values |
188 | uint8_t getCPUType(void) { // works only after reset or power on when the registers have default values |
107 | uint8_t CPUType = ATMEGA644; |
189 | uint8_t CPUType = ATMEGA644; |
108 | if( (UCSR1A == 0x20) && (UCSR1C == 0x06) ) CPUType = ATMEGA644P; // initial Values for 644P after reset |
190 | if( (UCSR1A == 0x20) && (UCSR1C == 0x06) ) CPUType = ATMEGA644P; // initial Values for 644P after reset |
109 | return CPUType; |
191 | return CPUType; |
110 | } |
192 | } |
111 | 193 | ||
112 | /* |
194 | /* |
113 | * Automatic detection of hardware components is not supported in this development-oriented |
195 | * Automatic detection of hardware components is not supported in this development-oriented |
114 | * FC firmware. It would go against the point of it: To enable alternative hardware |
196 | * FC firmware. It would go against the point of it: To enable alternative hardware |
115 | * configurations with otherwise unsupported components. Instead, one should write |
197 | * configurations with otherwise unsupported components. Instead, one should write |
116 | * custom code + adjust constants for the new hardware, and include the relevant code |
198 | * custom code + adjust constants for the new hardware, and include the relevant code |
117 | * from the makefile. |
199 | * from the makefile. |
118 | * However - we still do detect the board release. Reason: Otherwise it would be too |
200 | * However - we still do detect the board release. Reason: Otherwise it would be too |
119 | * tedious to have to modify the code for how to turn on and off LEDs when deploying |
201 | * tedious to have to modify the code for how to turn on and off LEDs when deploying |
120 | * on different HW version.... |
202 | * on different HW version.... |
121 | */ |
203 | */ |
122 | 204 | ||
123 | uint8_t getBoardRelease(void) { |
205 | uint8_t getBoardRelease(void) { |
124 | uint8_t BoardRelease = 13; |
206 | uint8_t BoardRelease = 13; |
125 | // the board release is coded via the pull up or down the 2 status LED |
207 | // the board release is coded via the pull up or down the 2 status LED |
126 | 208 | ||
127 | PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
209 | PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
128 | DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
210 | DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
129 | 211 | ||
130 | _delay_loop_2(1000); // make some delay |
212 | _delay_loop_2(1000); // make some delay |
131 | 213 | ||
132 | switch( PINB & ((1<<PINB1)|(1<<PINB0))) { |
214 | switch( PINB & ((1<<PINB1)|(1<<PINB0))) { |
133 | case 0x00: |
215 | case 0x00: |
134 | BoardRelease = 10; // 1.0 |
216 | BoardRelease = 10; // 1.0 |
135 | break; |
217 | break; |
136 | case 0x01: |
218 | case 0x01: |
137 | BoardRelease = 11; // 1.1 or 1.2 |
219 | BoardRelease = 11; // 1.1 or 1.2 |
138 | break; |
220 | break; |
139 | case 0x02: |
221 | case 0x02: |
140 | BoardRelease = 20; // 2.0 |
222 | BoardRelease = 20; // 2.0 |
141 | break; |
223 | break; |
142 | case 0x03: |
224 | case 0x03: |
143 | BoardRelease = 13; // 1.3 |
225 | BoardRelease = 13; // 1.3 |
144 | break; |
226 | break; |
145 | default: |
227 | default: |
146 | break; |
228 | break; |
147 | } |
229 | } |
148 | // set LED ports as output |
230 | // set LED ports as output |
149 | DDRB |= (1<<DDB1)|(1<<DDB0); |
231 | DDRB |= (1<<DDB1)|(1<<DDB0); |
150 | RED_ON; |
232 | RED_ON; |
151 | GRN_OFF; |
233 | GRN_OFF; |
152 | return BoardRelease; |
234 | return BoardRelease; |
153 | } |
235 | } |
154 | 236 | ||
155 | void beep(uint16_t millis) { |
237 | void beep(uint16_t millis) { |
156 | BeepTime = millis; |
238 | BeepTime = millis; |
157 | } |
239 | } |
158 | 240 | ||
159 | /* |
241 | /* |
160 | * Make [numbeeps] beeps. |
242 | * Make [numbeeps] beeps. |
161 | */ |
243 | */ |
162 | void beepNumber(uint8_t numbeeps) { |
244 | void beepNumber(uint8_t numbeeps) { |
163 | while(numbeeps--) { |
245 | while(numbeeps--) { |
164 | if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren! |
246 | if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren! |
165 | beep(100); // 0.1 second |
247 | beep(100); // 0.1 second |
166 | Delay_ms(250); // blocks 250 ms as pause to next beep, |
248 | Delay_ms(250); // blocks 250 ms as pause to next beep, |
167 | // this will block the flight control loop, |
249 | // this will block the flight control loop, |
168 | // therefore do not use this function if motors are running |
250 | // therefore do not use this function if motors are running |
169 | } |
251 | } |
170 | } |
252 | } |
171 | 253 | ||
172 | /* |
254 | /* |
173 | * Beep the R/C alarm signal |
255 | * Beep the R/C alarm signal |
174 | */ |
256 | */ |
175 | void beepRCAlarm(void) { |
257 | void beepRCAlarm(void) { |
176 | if(BeepModulation == 0xFFFF) { // If not already beeping an alarm signal (?) |
258 | if(BeepModulation == 0xFFFF) { // If not already beeping an alarm signal (?) |
177 | BeepTime = 15000; // 1.5 seconds |
259 | BeepTime = 15000; // 1.5 seconds |
178 | BeepModulation = 0x0C00; |
260 | BeepModulation = 0x0C00; |
179 | } |
261 | } |
180 | } |
262 | } |
181 | 263 | ||
182 | /* |
264 | /* |
183 | * Beep the I2C bus error signal |
265 | * Beep the I2C bus error signal |
184 | */ |
266 | */ |
185 | void beepI2CAlarm(void) { |
267 | void beepI2CAlarm(void) { |
186 | if((BeepModulation == 0xFFFF) && (MKFlags & MKFLAG_MOTOR_RUN)) { |
268 | if((BeepModulation == 0xFFFF) && (MKFlags & MKFLAG_MOTOR_RUN)) { |
187 | BeepTime = 10000; // 1 second |
269 | BeepTime = 10000; // 1 second |
188 | BeepModulation = 0x0080; |
270 | BeepModulation = 0x0080; |
189 | } |
271 | } |
190 | } |
272 | } |
191 | 273 | ||
192 | /* |
274 | /* |
193 | * Beep the battery low alarm signal |
275 | * Beep the battery low alarm signal |
194 | */ |
276 | */ |
195 | void beepBatteryAlarm(void) { |
277 | void beepBatteryAlarm(void) { |
196 | BeepModulation = 0x0300; |
278 | BeepModulation = 0x0300; |
197 | if(!BeepTime) { |
279 | if(!BeepTime) { |
198 | BeepTime = 6000; // 0.6 seconds |
280 | BeepTime = 6000; // 0.6 seconds |
199 | } |
281 | } |
200 | } |
282 | } |
201 | 283 | ||
202 | /* |
284 | /* |
203 | * Beep the EEPROM checksum alarm |
285 | * Beep the EEPROM checksum alarm |
204 | */ |
286 | */ |
205 | void beepEEPROMAlarm(void) { |
287 | void beepEEPROMAlarm(void) { |
206 | BeepModulation = 0x0007; |
288 | BeepModulation = 0x0007; |
207 | if(!BeepTime) { |
289 | if(!BeepTime) { |
208 | BeepTime = 6000; // 0.6 seconds |
290 | BeepTime = 6000; // 0.6 seconds |
209 | } |
291 | } |
210 | } |
292 | } |
211 | 293 |