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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2718 | holgerb | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + www.MikroKopter.com |
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| 3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 4 | // + Software Nutzungsbedingungen (english version: see below) |
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| 5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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| 6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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| 7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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| 8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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| 9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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| 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
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| 12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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| 13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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| 14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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| 15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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| 16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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| 18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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| 19 | // + des Mitverschuldens offen. |
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| 20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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| 21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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| 23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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| 24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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| 25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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| 26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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| 27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 29 | // + Software LICENSING TERMS |
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| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
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| 32 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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| 33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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| 34 | // + The Software may only be used with the Licensor's products. |
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| 35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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| 36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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| 37 | // + agreement shall be the property of the Licensor. |
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| 38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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| 39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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| 40 | // + The customer shall be responsible for taking reasonable precautions |
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| 41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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| 42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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| 43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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| 44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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| 45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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| 46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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| 47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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| 48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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| 49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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| 50 | // + #### END OF LICENSING TERMS #### |
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| 51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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| 52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 53 | |||
| 54 | #ifndef EEMEM |
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| 55 | #define EEMEM __attribute__ ((section (".eeprom"))) |
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| 56 | #endif |
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| 57 | |||
| 58 | |||
| 59 | #include <avr/eeprom.h> |
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| 60 | #include <string.h> |
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| 61 | #include "eeprom.h" |
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| 62 | #include "uart.h" |
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| 63 | #include "led.h" |
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| 64 | #include "main.h" |
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| 65 | #include "fc.h" |
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| 66 | #include "twimaster.h" |
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| 67 | |||
| 68 | paramset_t EE_Parameter; |
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| 69 | MixerTable_t Mixer; |
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| 70 | uint8_t RequiredMotors; |
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| 71 | |||
| 72 | |||
| 73 | uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len) |
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| 74 | { |
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| 75 | uint8_t crc = 0xAA; |
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| 76 | uint16_t i; |
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| 77 | |||
| 78 | for(i=0; i<len; i++) |
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| 79 | { |
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| 80 | crc += pBuffer[i]; |
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| 81 | } |
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| 82 | return crc; |
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| 83 | } |
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| 84 | |||
| 85 | uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len) |
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| 86 | { |
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| 87 | uint8_t crc = 0xAA; |
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| 88 | uint16_t off; |
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| 89 | |||
| 90 | for(off=0; off<len; off++) |
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| 91 | { |
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| 92 | crc += eeprom_read_byte((uint8_t*)(EEAddr + off));; |
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| 93 | } |
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| 94 | return crc; |
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| 95 | } |
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| 96 | |||
| 97 | void ParamSet_DefaultStickMapping(void) |
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| 98 | { |
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| 99 | EE_Parameter.Kanalbelegung[K_GAS] = 1; |
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| 100 | EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
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| 101 | EE_Parameter.Kanalbelegung[K_NICK] = 3; |
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| 102 | EE_Parameter.Kanalbelegung[K_GIER] = 4; |
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| 103 | EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
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| 104 | EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
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| 105 | EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
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| 106 | EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
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| 107 | EE_Parameter.Kanalbelegung[K_POTI5] = 9; |
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| 108 | EE_Parameter.Kanalbelegung[K_POTI6] = 10; |
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| 109 | EE_Parameter.Kanalbelegung[K_POTI7] = 11; |
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| 110 | EE_Parameter.Kanalbelegung[K_POTI8] = 12; |
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| 111 | } |
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| 112 | |||
| 113 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 114 | //+ we have an update -> insert the default parameters here |
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| 115 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 116 | void InsertDefaultParameters(unsigned char old_version) |
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| 117 | { |
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| 118 | EE_Parameter.Revision = EEPARAM_REVISION; |
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| 119 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 120 | // Init the new Parameter |
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| 121 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 122 | if(old_version <= 108) |
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| 123 | { |
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| 124 | EE_Parameter.GlobalConfig3 |= CFG3_RISE_FIRST_WAYPOINT; |
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| 125 | } |
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| 126 | if(old_version <= 109) |
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| 127 | { |
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| 128 | EE_Parameter.ExtraConfig &= ~CFG_FLYZONE_REQUIRED; |
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| 129 | } |
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| 130 | |||
| 131 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 132 | } |
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| 133 | |||
| 134 | /***************************************************/ |
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| 135 | /* Default Values for parameter set 1 */ |
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| 136 | /***************************************************/ |
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| 137 | void CommonDefaults(void) |
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| 138 | { |
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| 139 | unsigned char i; |
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| 140 | EE_Parameter.Revision = EEPARAM_REVISION; |
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| 141 | memset(EE_Parameter.Name,0,12); // delete name |
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| 142 | // if(PlatinenVersion >= 20) |
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| 143 | { |
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| 144 | EE_Parameter.Gyro_D = 10; |
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| 145 | EE_Parameter.Driftkomp = 0; |
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| 146 | EE_Parameter.GyroAccFaktor = 27; |
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| 147 | EE_Parameter.WinkelUmschlagNick = 78; |
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| 148 | EE_Parameter.WinkelUmschlagRoll = 78; |
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| 149 | } |
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| 150 | /* else |
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| 151 | { |
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| 152 | EE_Parameter.Gyro_D = 3; |
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| 153 | EE_Parameter.Driftkomp = 32; |
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| 154 | EE_Parameter.GyroAccFaktor = 30; |
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| 155 | EE_Parameter.WinkelUmschlagNick = 85; |
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| 156 | EE_Parameter.WinkelUmschlagRoll = 85; |
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| 157 | } |
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| 158 | */ |
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| 159 | EE_Parameter.GyroAccAbgleich = 32; // 1/k |
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| 160 | EE_Parameter.BitConfig = 0; // Looping usw. |
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| 161 | EE_Parameter.GlobalConfig = CFG_LAND_OUTSIDE_FLYZONE | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
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| 162 | EE_Parameter.ExtraConfig = CFG_GPS_AID | CFG2_VARIO_BEEP | CFG_LEARNABLE_CAREFREE | CFG_NO_RCOFF_BEEPING; |
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| 163 | EE_Parameter.GlobalConfig3 = CFG3_NO_SDCARD_NO_START | CFG3_SPEAK_ALL | CFG3_NO_GPSFIX_NO_START | CFG3_RISE_FIRST_WAYPOINT;// |
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| 164 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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| 165 | EE_Parameter.Receiver = RECEIVER_HOTT; |
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| 166 | #else |
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| 167 | EE_Parameter.Receiver = RECEIVER_JETI; |
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| 168 | #endif |
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| 169 | |||
| 170 | EE_Parameter.MotorSafetySwitch = 0; |
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| 171 | EE_Parameter.ExternalControl = 0; |
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| 172 | |||
| 173 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
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| 174 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
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| 175 | EE_Parameter.KompassWirkung = 64; // Wert : 0-247 |
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| 176 | |||
| 177 | EE_Parameter.HoeheChannel = 5; // Wert : 0-32 |
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| 178 | EE_Parameter.Hoehe_MinGas = 30; |
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| 179 | EE_Parameter.Hoehe_TiltCompensation = 110; // in % |
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| 180 | |||
| 181 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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| 182 | if(ACC_AltitudeControl) |
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| 183 | { |
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| 184 | EE_Parameter.Hoehe_P = 20; // Wert : 0-32 |
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| 185 | EE_Parameter.Luftdruck_D = 40; // Wert : 0-247 |
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| 186 | EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-247 |
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| 187 | EE_Parameter.Hoehe_HoverBand = 1; // Wert : 0-247 |
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| 188 | EE_Parameter.Hoehe_StickNeutralPoint = 127;// Wert : 0-247 (0 = Hover-Estimation) |
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| 189 | EE_Parameter.FailSafeTime = 60; // 0 = off |
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| 190 | } |
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| 191 | else |
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| 192 | #endif |
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| 193 | { |
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| 194 | EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
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| 195 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
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| 196 | EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
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| 197 | EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
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| 198 | EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
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| 199 | EE_Parameter.FailSafeTime = 0; // 0 = off |
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| 200 | } |
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| 201 | |||
| 202 | EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 (15 -> ca. +/- 5m/sek bei Stick-Voll-Ausschlag) |
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| 203 | EE_Parameter.StartLandChannel = 0; |
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| 204 | EE_Parameter.LandingSpeed = 12; |
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| 205 | |||
| 206 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
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| 207 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
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| 208 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
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| 209 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
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| 210 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
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| 211 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
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| 212 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
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| 213 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
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| 214 | |||
| 215 | EE_Parameter.ServoNickControl = 128; // Wert : 0-247 // Stellung des Servos |
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| 216 | EE_Parameter.ServoNickComp = 50; // Wert : 0-247 // Einfluss Gyro/Servo |
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| 217 | EE_Parameter.ServoCompInvert = 2; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
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| 218 | EE_Parameter.ServoNickMin = 24; // Wert : 0-247 // Anschlag |
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| 219 | EE_Parameter.ServoNickMax = 230; // Wert : 0-247 // Anschlag |
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| 220 | EE_Parameter.ServoNickRefresh = 3; |
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| 221 | EE_Parameter.Servo3 = 125; |
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| 222 | EE_Parameter.Servo4 = 125; |
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| 223 | EE_Parameter.Servo5 = 125; |
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| 224 | EE_Parameter.ServoRollControl = 128; // Wert : 0-247 // Stellung des Servos |
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| 225 | EE_Parameter.ServoRollComp = 85; // Wert : 0-247 // Einfluss Gyro/Servo |
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| 226 | EE_Parameter.ServoRollMin = 70; // Wert : 0-247 // Anschlag |
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| 227 | EE_Parameter.ServoRollMax = 220; // Wert : 0-247 // Anschlag |
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| 228 | EE_Parameter.ServoManualControlSpeed = 60; |
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| 229 | EE_Parameter.CamOrientation = 0; // Wert : 0-24 -> 0-360 -> 15° steps |
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| 230 | |||
| 231 | EE_Parameter.J16Bitmask = 0xAA; |
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| 232 | EE_Parameter.J17Bitmask = 0xCC; |
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| 233 | EE_Parameter.WARN_J16_Bitmask = 0x00; |
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| 234 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
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| 235 | EE_Parameter.J16Timing = 40; |
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| 236 | EE_Parameter.J17Timing = 40; |
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| 237 | EE_Parameter.AutoPhotoDistance = 0; // Photo release in meter |
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| 238 | EE_Parameter.AutoPhotoAtitudes = 0; // Photo release in meter |
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| 239 | EE_Parameter.SingleWpSpeed = 50; // Speed when flying the single points |
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| 240 | |||
| 241 | EE_Parameter.LoopGasLimit = 50; |
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| 242 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
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| 243 | EE_Parameter.LoopHysterese = 50; |
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| 244 | |||
| 245 | EE_Parameter.NaviGpsModeChannel = 6; // Kanal 6 |
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| 246 | EE_Parameter.NaviGpsGain = 100; |
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| 247 | EE_Parameter.NaviGpsP = 100; |
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| 248 | EE_Parameter.NaviGpsI = 90; |
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| 249 | EE_Parameter.NaviGpsD = 120; |
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| 250 | EE_Parameter.NaviGpsA = 40; |
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| 251 | EE_Parameter.NaviGpsPLimit = 75; |
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| 252 | EE_Parameter.NaviGpsILimit = 85; |
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| 253 | EE_Parameter.NaviGpsDLimit = 75; |
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| 254 | EE_Parameter.NaviGpsMinSat = 6; |
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| 255 | EE_Parameter.NaviStickThreshold = 8; |
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| 256 | EE_Parameter.NaviWindCorrection = 50; |
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| 257 | EE_Parameter.NaviAccCompensation = 42; |
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| 258 | EE_Parameter.NaviMaxFlyingRange = 0; |
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| 259 | EE_Parameter.NaviDescendRange = 0; |
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| 260 | EE_Parameter.NaviAngleLimitation = 140; |
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| 261 | EE_Parameter.NaviPH_LoginTime = 2; |
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| 262 | EE_Parameter.OrientationAngle = 0; |
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| 263 | EE_Parameter.CareFreeChannel = 0; |
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| 264 | EE_Parameter.NotGas = 65; // Wert : 0-247 // Gaswert bei Empangsverlust (ggf. in Prozent) |
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| 265 | EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
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| 266 | EE_Parameter.MotorSmooth = 0; |
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| 267 | EE_Parameter.ComingHomeAltitude = 0; // 0 = don't change |
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| 268 | EE_Parameter.MaxAltitude = 150; // 0 = off |
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| 269 | EE_Parameter.AchsKopplung1 = 125; |
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| 270 | EE_Parameter.AchsKopplung2 = 52; |
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| 271 | EE_Parameter.FailsafeChannel = 0; |
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| 272 | EE_Parameter.ServoFilterNick = 0; |
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| 273 | EE_Parameter.ServoFilterRoll = 0; |
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| 274 | EE_Parameter.Servo3OnValue = 140; |
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| 275 | EE_Parameter.Servo3OffValue = 70; |
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| 276 | EE_Parameter.Servo4OnValue = 140; |
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| 277 | EE_Parameter.Servo4OffValue = 70; |
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| 278 | EE_Parameter.ServoFS_Pos[0] = 0; |
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| 279 | EE_Parameter.ServoFS_Pos[1] = 0; |
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| 280 | EE_Parameter.ServoFS_Pos[2] = 0; |
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| 281 | EE_Parameter.ServoFS_Pos[3] = 0; |
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| 282 | EE_Parameter.ServoFS_Pos[4] = 0; |
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| 283 | EE_Parameter.CompassOffset = 0; |
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| 284 | EE_Parameter.UnterspannungsWarnung = 32; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
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| 285 | EE_Parameter.ComingHomeVoltage = 31; |
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| 286 | EE_Parameter.AutoLandingVoltage = 30; |
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| 287 | EE_Parameter.LandingPulse = 960 / 4; |
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| 288 | EE_Parameter.SingleWpControlChannel = 0; |
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| 289 | EE_Parameter.MenuKeyChannel = 0; |
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| 290 | EE_Parameter.CamCtrlModeChannel = 0; |
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| 291 | EE_Parameter.CamCtrlZoomChannel = 0; |
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| 292 | for(i=0; i < sizeof(EE_Parameter.reserved); i++) EE_Parameter.reserved[i] = 0; |
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| 293 | } |
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| 294 | |||
| 295 | /* |
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| 296 | void ParamSet_DefaultSet1(void) // sport |
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| 297 | { |
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| 298 | CommonDefaults(); |
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| 299 | EE_Parameter.Stick_P = 14; // Wert : 1-20 |
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| 300 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
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| 301 | EE_Parameter.StickGier_P = 12; // Wert : 1-20 |
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| 302 | EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
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| 303 | EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
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| 304 | EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
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| 305 | EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
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| 306 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
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| 307 | EE_Parameter.I_Faktor = 32; |
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| 308 | EE_Parameter.CouplingYawCorrection = 1; |
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| 309 | EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
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| 310 | EE_Parameter.DynamicStability = 100; |
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| 311 | memcpy(EE_Parameter.Name, "Sport\0", 12); |
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| 312 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
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| 313 | } |
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| 314 | */ |
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| 315 | |||
| 316 | /***************************************************/ |
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| 317 | /* Default Values for parameter set 1 */ |
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| 318 | /***************************************************/ |
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| 319 | void ParamSet_DefaultSet1(void) // normal |
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| 320 | { |
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| 321 | CommonDefaults(); |
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| 322 | EE_Parameter.Stick_P = 10; // Wert : 1-20 |
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| 323 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
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| 324 | EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
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| 325 | EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
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| 326 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
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| 327 | EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
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| 328 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
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| 329 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
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| 330 | EE_Parameter.I_Faktor = 32; |
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| 331 | EE_Parameter.CouplingYawCorrection = 60; |
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| 332 | EE_Parameter.DynamicStability = 75; |
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| 333 | memcpy(EE_Parameter.Name, "Fast",4); |
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| 334 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
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| 335 | } |
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| 336 | |||
| 337 | |||
| 338 | /***************************************************/ |
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| 339 | /* Default Values for parameter set 2 */ |
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| 340 | /***************************************************/ |
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| 341 | void ParamSet_DefaultSet2(void) // Agil |
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| 342 | { |
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| 343 | CommonDefaults(); |
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| 344 | EE_Parameter.Stick_P = 8; // Wert : 1-20 |
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| 345 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
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| 346 | EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
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| 347 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
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| 348 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
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| 349 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
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| 350 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
||
| 351 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
||
| 352 | EE_Parameter.I_Faktor = 16; |
||
| 353 | EE_Parameter.CouplingYawCorrection = 70; |
||
| 354 | EE_Parameter.DynamicStability = 70; |
||
| 355 | memcpy(EE_Parameter.Name, "Agile",5); |
||
| 356 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
||
| 357 | } |
||
| 358 | |||
| 359 | /***************************************************/ |
||
| 360 | /* Default Values for parameter set 3 */ |
||
| 361 | /***************************************************/ |
||
| 362 | void ParamSet_DefaultSet3(void) // Easy |
||
| 363 | { |
||
| 364 | CommonDefaults(); |
||
| 365 | EE_Parameter.Stick_P = 6; // Wert : 1-20 |
||
| 366 | EE_Parameter.Stick_D = 10; // Wert : 0-20 |
||
| 367 | EE_Parameter.StickGier_P = 4; // Wert : 1-20 |
||
| 368 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
||
| 369 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
||
| 370 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
||
| 371 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
||
| 372 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
||
| 373 | EE_Parameter.I_Faktor = 16; |
||
| 374 | EE_Parameter.CouplingYawCorrection = 70; |
||
| 375 | EE_Parameter.DynamicStability = 70; |
||
| 376 | memcpy(EE_Parameter.Name, "Easy", 4); |
||
| 377 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
||
| 378 | } |
||
| 379 | |||
| 380 | |||
| 381 | /***************************************************/ |
||
| 382 | /* Read Parameter from EEPROM as byte */ |
||
| 383 | /***************************************************/ |
||
| 384 | uint8_t GetParamByte(uint16_t param_id) |
||
| 385 | { |
||
| 386 | return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
||
| 387 | } |
||
| 388 | |||
| 389 | /***************************************************/ |
||
| 390 | /* Write Parameter to EEPROM as byte */ |
||
| 391 | /***************************************************/ |
||
| 392 | void SetParamByte(uint16_t param_id, uint8_t value) |
||
| 393 | { |
||
| 394 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
||
| 395 | } |
||
| 396 | |||
| 397 | /***************************************************/ |
||
| 398 | /* Read Parameter from EEPROM as word */ |
||
| 399 | /***************************************************/ |
||
| 400 | uint16_t GetParamWord(uint16_t param_id) |
||
| 401 | { |
||
| 402 | return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
||
| 403 | } |
||
| 404 | |||
| 405 | /***************************************************/ |
||
| 406 | /* Write Parameter to EEPROM as word */ |
||
| 407 | /***************************************************/ |
||
| 408 | void SetParamWord(uint16_t param_id, uint16_t value) |
||
| 409 | { |
||
| 410 | eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
||
| 411 | } |
||
| 412 | |||
| 413 | /***************************************************/ |
||
| 414 | /* Read Parameter Set from EEPROM */ |
||
| 415 | /***************************************************/ |
||
| 416 | // number [1..5] |
||
| 417 | uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
||
| 418 | { |
||
| 419 | uint8_t crc, rev; |
||
| 420 | uint16_t eeaddr; |
||
| 421 | |||
| 422 | // range the setnumber |
||
| 423 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
||
| 424 | |||
| 425 | // calculate eeprom addr |
||
| 426 | eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
||
| 427 | |||
| 428 | // calculate checksum from eeprom |
||
| 429 | crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
||
| 430 | |||
| 431 | // check crc |
||
| 432 | if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
||
| 433 | |||
| 434 | // check revision |
||
| 435 | rev = eeprom_read_byte((uint8_t*)(eeaddr)); |
||
| 436 | if(rev != EEPARAM_REVISION) |
||
| 437 | { |
||
| 438 | if(rev < 108) return(0); // since 2.13 (02.2016), the eeprom parameters are backwards compatible |
||
| 439 | } |
||
| 440 | // read paramset from eeprom |
||
| 441 | eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
||
| 442 | if(EE_Parameter.Revision != EEPARAM_REVISION) // just in case we have a newer version now |
||
| 443 | { |
||
| 444 | InsertDefaultParameters(EE_Parameter.Revision); |
||
| 445 | } |
||
| 446 | LED_Init(); |
||
| 447 | InitSerialPoti(); |
||
| 448 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
| 449 | LIBFC_HoTT_Clear(); |
||
| 450 | #endif |
||
| 451 | if(EE_Parameter.LandingPulse < 760 / 4) EE_Parameter.LandingPulse = 0; |
||
| 452 | NC_RequestsConfig = 1; |
||
| 453 | return 1; |
||
| 454 | } |
||
| 455 | |||
| 456 | /***************************************************/ |
||
| 457 | /* Write Parameter Set to EEPROM */ |
||
| 458 | /***************************************************/ |
||
| 459 | // number [1..5] |
||
| 460 | uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
||
| 461 | { |
||
| 462 | uint8_t crc; |
||
| 463 | |||
| 464 | if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
||
| 465 | { |
||
| 466 | if(setnumber > 5) setnumber = 5; |
||
| 467 | if(setnumber < 1) return 0; |
||
| 468 | LIBFC_CheckSettings(); |
||
| 469 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) // check the Setting: Not more than 100% emergency gas |
||
| 470 | { |
||
| 471 | if(EE_Parameter.NotGas > 99) EE_Parameter.NotGas = 80; // i.e. 80% of Hovergas |
||
| 472 | } |
||
| 473 | // update checksum |
||
| 474 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
||
| 475 | |||
| 476 | // write paramset to eeprom |
||
| 477 | eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
||
| 478 | |||
| 479 | // backup channel settings to separate block in eeprom |
||
| 480 | eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
||
| 481 | |||
| 482 | // write crc of channel block to eeprom |
||
| 483 | crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
||
| 484 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
||
| 485 | |||
| 486 | // update active settings number |
||
| 487 | SetActiveParamSet(setnumber); |
||
| 488 | NC_RequestsConfig = 1; |
||
| 489 | LED_Init(); |
||
| 490 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
| 491 | LIBFC_HoTT_Clear(); |
||
| 492 | #endif |
||
| 493 | return 1; |
||
| 494 | } |
||
| 495 | // wrong revision |
||
| 496 | return 0; |
||
| 497 | } |
||
| 498 | |||
| 499 | /***************************************************/ |
||
| 500 | /* Read MixerTable from EEPROM */ |
||
| 501 | /***************************************************/ |
||
| 502 | uint8_t MixerTable_ReadFromEEProm(void) |
||
| 503 | { |
||
| 504 | uint8_t crc; |
||
| 505 | |||
| 506 | // calculate checksum in eeprom |
||
| 507 | crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
||
| 508 | |||
| 509 | // check crc |
||
| 510 | if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
||
| 511 | |||
| 512 | // check revision |
||
| 513 | if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
||
| 514 | |||
| 515 | // read mixer table |
||
| 516 | eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
||
| 517 | return 1; |
||
| 518 | } |
||
| 519 | |||
| 520 | /***************************************************/ |
||
| 521 | /* Write Mixer Table to EEPROM */ |
||
| 522 | /***************************************************/ |
||
| 523 | uint8_t MixerTable_WriteToEEProm(void) |
||
| 524 | { |
||
| 525 | if(Mixer.Revision == EEMIXER_REVISION) |
||
| 526 | { |
||
| 527 | // update crc |
||
| 528 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
||
| 529 | |||
| 530 | // write to eeprom |
||
| 531 | eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
||
| 532 | return 1; |
||
| 533 | } |
||
| 534 | else return 0; |
||
| 535 | } |
||
| 536 | |||
| 537 | /***************************************************/ |
||
| 538 | /* Default Values for Mixer Table */ |
||
| 539 | /***************************************************/ |
||
| 540 | void MixerTable_Default(void) // Quadro |
||
| 541 | { |
||
| 542 | uint8_t i; |
||
| 543 | |||
| 544 | Mixer.Revision = EEMIXER_REVISION; |
||
| 545 | // clear mixer table |
||
| 546 | for(i = 0; i < 16; i++) |
||
| 547 | { |
||
| 548 | Mixer.Motor[i][MIX_GAS] = 0; |
||
| 549 | Mixer.Motor[i][MIX_NICK] = 0; |
||
| 550 | Mixer.Motor[i][MIX_ROLL] = 0; |
||
| 551 | Mixer.Motor[i][MIX_YAW] = 0; |
||
| 552 | } |
||
| 553 | // default = Quadro |
||
| 554 | Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
||
| 555 | Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
||
| 556 | Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
||
| 557 | Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
||
| 558 | memcpy(Mixer.Name, "Quadro\0\0\0\0\0\0", 12); |
||
| 559 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
||
| 560 | } |
||
| 561 | |||
| 562 | /***************************************************/ |
||
| 563 | /* Get active parameter set */ |
||
| 564 | /***************************************************/ |
||
| 565 | uint8_t GetActiveParamSet(void) |
||
| 566 | { |
||
| 567 | uint8_t setnumber; |
||
| 568 | setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
||
| 569 | if(setnumber > 5) |
||
| 570 | { |
||
| 571 | setnumber = 3; |
||
| 572 | eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber); |
||
| 573 | } |
||
| 574 | ActiveParamSet = setnumber; |
||
| 575 | return(setnumber); |
||
| 576 | } |
||
| 577 | |||
| 578 | /***************************************************/ |
||
| 579 | /* Set active parameter set */ |
||
| 580 | /***************************************************/ |
||
| 581 | void SetActiveParamSet(uint8_t setnumber) |
||
| 582 | { |
||
| 583 | if(setnumber > 5) setnumber = 5; |
||
| 584 | if(setnumber < 1) setnumber = 1; |
||
| 585 | ActiveParamSet = setnumber; |
||
| 586 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
||
| 587 | } |
||
| 588 | |||
| 589 | /***************************************************/ |
||
| 590 | /* Set default parameter set */ |
||
| 591 | /***************************************************/ |
||
| 592 | void SetDefaultParameter(uint8_t set, uint8_t restore_channels) |
||
| 593 | { |
||
| 594 | |||
| 595 | if(set > 5) set = 5; |
||
| 596 | else if(set < 1) set = 1; |
||
| 597 | |||
| 598 | switch(set) |
||
| 599 | { |
||
| 600 | case 1: |
||
| 601 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
||
| 602 | break; |
||
| 603 | case 2: |
||
| 604 | ParamSet_DefaultSet2(); // Kamera |
||
| 605 | break; |
||
| 606 | case 3: |
||
| 607 | ParamSet_DefaultSet3(); // Beginner |
||
| 608 | break; |
||
| 609 | default: |
||
| 610 | ParamSet_DefaultSet3(); // Beginner |
||
| 611 | break; |
||
| 612 | } |
||
| 613 | if(restore_channels) |
||
| 614 | { |
||
| 615 | uint8_t crc; |
||
| 616 | // 1st check for a valid channel backup in eeprom |
||
| 617 | crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
||
| 618 | if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) |
||
| 619 | { |
||
| 620 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
||
| 621 | } |
||
| 622 | else ParamSet_DefaultStickMapping(); |
||
| 623 | } |
||
| 624 | else ParamSet_DefaultStickMapping(); |
||
| 625 | ParamSet_WriteToEEProm(set); |
||
| 626 | } |
||
| 627 | |||
| 628 | /***************************************************/ |
||
| 629 | /* Initialize EEPROM Parameter Sets */ |
||
| 630 | /***************************************************/ |
||
| 631 | void ParamSet_Init(void) |
||
| 632 | { |
||
| 633 | unsigned char rev_old; |
||
| 634 | uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
||
| 635 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
| 636 | if(PlatinenVersion != GetParamByte(PID_HARDWARE_VERSION)) |
||
| 637 | { |
||
| 638 | printf("\r\n--> Hardware Version Byte Changed <--"); |
||
| 639 | J4High; // switch pullup high |
||
| 640 | printf("\r\nRestart..."); |
||
| 641 | if(PlatinenVersion == 22 && GetParamByte(PID_HARDWARE_VERSION) == 21 && !(PIND & 0x10)) SetParamByte(PID_EE_REVISION,0); // reset the Settings if the Version changed to V2.2 |
||
| 642 | SetParamByte(PID_HARDWARE_VERSION,PlatinenVersion); // Remember the Version number |
||
| 643 | wdt_enable(WDTO_15MS); // Reset-Commando |
||
| 644 | while(1); |
||
| 645 | } |
||
| 646 | #endif |
||
| 647 | rev_old = GetParamByte(PID_EE_REVISION); |
||
| 648 | if((EEPARAM_REVISION) != rev_old) |
||
| 649 | { |
||
| 650 | printf("\r\n-->Parameter changed (old:%d new:%d)", rev_old, EEPARAM_REVISION); |
||
| 651 | if((EEPARAM_REVISION < rev_old) && // we have a downgrade -> check if eeprom reset is nessecary |
||
| 652 | (GetParamByte(PID_EE_REVISION_BACK) != EE_BACKWARD_COMP)) |
||
| 653 | { |
||
| 654 | printf(" backwards"); |
||
| 655 | ee_default = 1; |
||
| 656 | } |
||
| 657 | if(rev_old < 108) ee_default = 1; // we added forward cpmatiblity since rev 108 (2.14 - feb. 2016) |
||
| 658 | if(!ee_default) |
||
| 659 | { |
||
| 660 | printf("--> but compatible"); |
||
| 661 | SetParamByte(PID_EE_REVISION, EEPARAM_REVISION); |
||
| 662 | } |
||
| 663 | } |
||
| 664 | // 1st check for a valid channel backup in eeprom |
||
| 665 | i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
||
| 666 | if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)))) channel_backup = 1; |
||
| 667 | |||
| 668 | // parameter check |
||
| 669 | |||
| 670 | // check all 5 parameter settings |
||
| 671 | for (i = 1;i < 6; i++) |
||
| 672 | { |
||
| 673 | if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
||
| 674 | { |
||
| 675 | bad_params = 1; |
||
| 676 | printf("\r\nGenerating default Parameter Set %d",i); |
||
| 677 | switch(i) |
||
| 678 | { |
||
| 679 | case 1: |
||
| 680 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
||
| 681 | break; |
||
| 682 | case 2: |
||
| 683 | ParamSet_DefaultSet2(); // Normal |
||
| 684 | break; |
||
| 685 | default: |
||
| 686 | ParamSet_DefaultSet3(); // Easy |
||
| 687 | break; |
||
| 688 | } |
||
| 689 | if(channel_backup) // if we have an channel mapping backup in eeprom |
||
| 690 | { // restore it from eeprom |
||
| 691 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
||
| 692 | } |
||
| 693 | else |
||
| 694 | { // use default mapping |
||
| 695 | ParamSet_DefaultStickMapping(); |
||
| 696 | } |
||
| 697 | ParamSet_WriteToEEProm(i); |
||
| 698 | } |
||
| 699 | } |
||
| 700 | if(bad_params) // at least one of the parameter settings were invalid |
||
| 701 | { |
||
| 702 | // default-Setting is parameter set 3 |
||
| 703 | SetActiveParamSet(3); |
||
| 704 | } |
||
| 705 | // read active parameter set to ParamSet stucture |
||
| 706 | i = GetActiveParamSet(); |
||
| 707 | ParamSet_ReadFromEEProm(i); |
||
| 708 | printf("\r\nUsing Parameter Set %d", i); |
||
| 709 | |||
| 710 | // load mixer table |
||
| 711 | if(GetParamByte(PID_EE_REVISION) == 0xff || !MixerTable_ReadFromEEProm() ) |
||
| 712 | { |
||
| 713 | printf("\r\nGenerating default Mixer Table"); |
||
| 714 | MixerTable_Default(); // Quadro |
||
| 715 | MixerTable_WriteToEEProm(); |
||
| 716 | } |
||
| 717 | if(ee_default) |
||
| 718 | { |
||
| 719 | SetParamByte(PID_EE_REVISION, EEPARAM_REVISION); |
||
| 720 | SetParamByte(PID_EE_REVISION_BACK, EE_BACKWARD_COMP); |
||
| 721 | } |
||
| 722 | // determine motornumber |
||
| 723 | RequiredMotors = 0; |
||
| 724 | for(i = 0; i < MAX_MOTORS; i++) |
||
| 725 | { |
||
| 726 | if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
||
| 727 | else |
||
| 728 | { |
||
| 729 | Mixer.Motor[i][MIX_GAS] = 0; |
||
| 730 | Mixer.Motor[i][MIX_NICK] = 0; |
||
| 731 | Mixer.Motor[i][MIX_ROLL] = 0; |
||
| 732 | Mixer.Motor[i][MIX_YAW] = 0; |
||
| 733 | } |
||
| 734 | //printf("\r\n%2i:%i:%i:%i:%i",i,Mixer.Motor[i][0],Mixer.Motor[i][1],Mixer.Motor[i][2],Mixer.Motor[i][3]); |
||
| 735 | } |
||
| 736 | printf("\r\nMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
||
| 737 | PrintLine();// ("\r\n==================================="); |
||
| 738 | |||
| 739 | } |