WebSVN - FlightCtrl - Diff - Rev 1612 and 1775 - /branches/dongfang_FC

 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + 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,
 // + Verkauf von Luftbildaufnahmen, usw.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
 // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
 // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
 // + eindeutig als Ursprung verlinkt werden
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
 // + Benutzung auf eigene Gefahr
 // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
 // + 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.
 // +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
 // +     from this software without specific prior written permission.
 // +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
 // +     for non-commercial use (directly or indirectly)
 // +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
 // +     with our written permission
 // +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
 // +     clearly linked as origin
 // +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
 // +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 // +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 // +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 // +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 // +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 // +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 // +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 // +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 // +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // +  POSSIBILITY OF SUCH DAMAGE.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 #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};
-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};
+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_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_MK3MAG)
   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
+  }
+}

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/configuration.c @ 1854 - Rev 1612 → 1775