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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  POSSIBILITY OF SUCH DAMAGE.
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include <util/delay.h>
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#include <util/delay.h>
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#include <avr/eeprom.h>
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#include <avr/eeprom.h>
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#include <stddef.h>
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#include "configuration.h"
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#include "configuration.h"
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#include "eeprom.h"
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#include "eeprom.h"
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#include "timer0.h"
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#include "timer0.h"
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int16_t variables[8] = {0,0,0,0,0,0,0,0};
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int16_t variables[8] = {0,0,0,0,0,0,0,0};
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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};
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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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uint8_t CPUType = ATMEGA644;
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uint8_t CPUType = ATMEGA644;
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uint8_t BoardRelease = 13;
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uint8_t BoardRelease = 13;
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/************************************************************************
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/************************************************************************
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 * Map the parameter to pot values                                    
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 * Replacing this code by the code below saved almost 1 kbyte.
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 * Map the parameter to pot values                                    
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 ************************************************************************/
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 ************************************************************************/
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void configuration_applyVariablesToParams(void) {
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void configuration_applyVariablesToParams(void) {
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  uint8_t i;
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  uint8_t i;
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#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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#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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#define SET_POT(b,a) { if (a<255) {if (a>=251) b=variables[a-251]; else b=a;}}
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#define SET_POT(b,a) { if (a<255) {if (a>=251) b=variables[a-251]; else b=a;}}
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  SET_POT(dynamicParams.MaxHeight,staticParams.MaxHeight);
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  SET_POT(dynamicParams.MaxHeight,staticParams.MaxHeight);
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  SET_POT_MM(dynamicParams.HeightD,staticParams.HeightD,0,100);
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  SET_POT_MM(dynamicParams.HeightD,staticParams.HeightD,0,100);
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  SET_POT(dynamicParams.NaviSpeedCompensation,staticParams.NaviSpeedCompensation);
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  SET_POT(dynamicParams.NaviSpeedCompensation,staticParams.NaviSpeedCompensation);
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#endif
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#endif
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  SET_POT(dynamicParams.ExternalControl,staticParams.ExternalControl);
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  SET_POT(dynamicParams.ExternalControl,staticParams.ExternalControl);
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}
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}
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const XLATION XLATIONS[] = {
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  {offsetof(paramset_t, MaxHeight), offsetof(dynamicParam_t, MaxHeight)},
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  {offsetof(paramset_t, Height_ACC_Effect), offsetof(dynamicParam_t, Height_ACC_Effect)},
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  {offsetof(paramset_t, CompassYawEffect), offsetof(dynamicParam_t, CompassYawEffect)},
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  {offsetof(paramset_t, GyroI), offsetof(dynamicParam_t, GyroI)},
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  {offsetof(paramset_t, GyroD), offsetof(dynamicParam_t, GyroD)},
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  {offsetof(paramset_t, IFactor), offsetof(dynamicParam_t, IFactor)},
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  {offsetof(paramset_t, ServoPitchControl), offsetof(dynamicParam_t, ServoPitchControl)},
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  {offsetof(paramset_t, LoopGasLimit), offsetof(dynamicParam_t, LoopGasLimit)},
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  {offsetof(paramset_t, AxisCoupling1), offsetof(dynamicParam_t, AxisCoupling1)},
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  {offsetof(paramset_t, AxisCoupling2), offsetof(dynamicParam_t, AxisCoupling2)},
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  {offsetof(paramset_t, AxisCouplingYawCorrection), offsetof(dynamicParam_t, AxisCouplingYawCorrection)},
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  {offsetof(paramset_t, DynamicStability), offsetof(dynamicParam_t, DynamicStability)},
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  {offsetof(paramset_t, NaviGpsModeControl),
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   offsetof(dynamicParam_t, NaviGpsModeControl)},
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  {offsetof(paramset_t, NaviGpsGain), offsetof(dynamicParam_t, NaviGpsGain)},
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  {offsetof(paramset_t, NaviGpsP), offsetof(dynamicParam_t, NaviGpsP)},
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  {offsetof(paramset_t, NaviGpsI), offsetof(dynamicParam_t, NaviGpsI)},
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  {offsetof(paramset_t, NaviGpsD), offsetof(dynamicParam_t, NaviGpsD)},
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  {offsetof(paramset_t, NaviGpsACC), offsetof(dynamicParam_t, NaviGpsACC)},
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  {offsetof(paramset_t, NaviWindCorrection), offsetof(dynamicParam_t, NaviWindCorrection)},
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  {offsetof(paramset_t, NaviSpeedCompensation), offsetof(dynamicParam_t, NaviSpeedCompensation)},
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  {offsetof(paramset_t, ExternalControl), offsetof(dynamicParam_t, ExternalControl)}
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};
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const MMXLATION MMXLATIONS[] = {
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  {offsetof(paramset_t, HeightD), offsetof(dynamicParam_t, HeightD),0,100},
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  {offsetof(paramset_t, HeightP), offsetof(dynamicParam_t, HeightD),0,150},
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  {offsetof(paramset_t, GyroP), offsetof(dynamicParam_t, GyroP),0,255},
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  {offsetof(paramset_t, J16Timing), offsetof(dynamicParam_t, J16Timing),1,255},
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  {offsetof(paramset_t, J17Timing), offsetof(dynamicParam_t, J17Timing),1,255},
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  {offsetof(paramset_t, NaviOperatingRadius), offsetof(dynamicParam_t, NaviOperatingRadius),10,255}
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};
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uint8_t configuration_applyVariableToParam(uint8_t src, uint8_t min, uint8_t max) {
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  uint8_t result;
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  if (src>=251) result = variables[src-251];
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  else result = src;
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  if (result < min) result = min;
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  else if (result > max) result = max;
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  return result;
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}
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void configuration_applyVariablesToParams_dead(void) {
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  uint8_t i, src;
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  uint8_t* pointerToTgt;
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  for(i=0; i<sizeof(XLATIONS)/sizeof(XLATION); i++) {
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    src = *((uint8_t*)(&staticParams + XLATIONS[i].sourceIdx));
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    pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx);
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    if (src < 255) {
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      *pointerToTgt = configuration_applyVariableToParam(src, 0, 255);
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    }
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  }
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  for(i=0; i<sizeof(MMXLATIONS)/sizeof(MMXLATION); i++) {
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    src = *((uint8_t*)(&staticParams + MMXLATIONS[i].sourceIdx));
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    pointerToTgt = (uint8_t*)(&dynamicParams + XLATIONS[i].targetIdx);
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    if (src < 255) {
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      *pointerToTgt = configuration_applyVariableToParam(src, MMXLATIONS[i].min, MMXLATIONS[i].max);
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    }
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  }
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  for (i=0; i<sizeof(staticParams.UserParams1); i++) {
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    src = *((uint8_t*)(&staticParams + offsetof(paramset_t, UserParams1) + i));
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    pointerToTgt = (uint8_t*)(&dynamicParams + offsetof(dynamicParam_t, UserParams) + i);
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    if (src < 255) {
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      *pointerToTgt = configuration_applyVariableToParam(src, 0, 255);
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    }    
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  }
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  for (i=0; i<sizeof(staticParams.UserParams2); i++) {
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    src = *((uint8_t*)(&staticParams + offsetof(paramset_t, UserParams2) + i));
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    pointerToTgt = (uint8_t*)(&dynamicParams + offsetof(dynamicParam_t, UserParams) + sizeof(staticParams.UserParams1) + i);
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    if (src < 255) {
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      *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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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
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  if( (UCSR1A == 0x20) && (UCSR1C == 0x06) ) CPUType = ATMEGA644P;  // initial Values for 644P after reset
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  return CPUType;
 191 
  return CPUType;