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1622 | killagreg | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
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3 | // + Nur für den privaten Gebrauch |
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4 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
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5 | // + www.MikroKopter.com |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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7 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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8 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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9 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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10 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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11 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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12 | // + Verkauf von Luftbildaufnahmen, usw. |
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13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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14 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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15 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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18 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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19 | // + eindeutig als Ursprung verlinkt werden |
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20 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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21 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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22 | // + Benutzung auf eigene Gefahr |
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23 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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24 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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25 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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26 | // + mit unserer Zustimmung zulässig |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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28 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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30 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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31 | // + this list of conditions and the following disclaimer. |
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32 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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33 | // + from this software without specific prior written permission. |
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34 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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35 | // + for non-commercial use (directly or indirectly) |
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36 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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37 | // + with our written permission |
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38 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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39 | // + clearly linked as origin |
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40 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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41 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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42 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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43 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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44 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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45 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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46 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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47 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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48 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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50 | // + POSSIBILITY OF SUCH DAMAGE. |
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51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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52 | |||
395 | hbuss | 53 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1622 | killagreg | 54 | // + Contant Values |
55 | // + 0-250 -> normale Values |
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56 | // + 251 -> Poti1 |
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57 | // + 252 -> Poti2 |
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395 | hbuss | 58 | // + 253 -> Poti3 |
1622 | killagreg | 59 | // + 254 -> Poti4 |
395 | hbuss | 60 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1622 | killagreg | 61 | |
62 | #ifndef EEMEM |
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63 | #define EEMEM __attribute__ ((section (".eeprom"))) |
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64 | #endif |
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65 | |||
66 | |||
67 | #include <avr/eeprom.h> |
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68 | #include <string.h> |
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69 | #include "eeprom.h" |
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70 | #include "uart.h" |
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71 | #include "led.h" |
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72 | #include "main.h" |
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73 | #include "fc.h" |
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1657 | killagreg | 74 | #include "twimaster.h" |
1622 | killagreg | 75 | |
76 | paramset_t EE_Parameter; |
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77 | MixerTable_t Mixer; |
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1654 | killagreg | 78 | uint8_t RequiredMotors; |
1622 | killagreg | 79 | |
80 | |||
81 | uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len) |
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395 | hbuss | 82 | { |
1622 | killagreg | 83 | uint8_t crc = 0xAA; |
84 | uint16_t i; |
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85 | |||
86 | for(i=0; i<len; i++) |
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87 | { |
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88 | crc += pBuffer[i]; |
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89 | } |
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90 | return crc; |
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993 | hbuss | 91 | } |
92 | |||
1622 | killagreg | 93 | uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len) |
993 | hbuss | 94 | { |
1622 | killagreg | 95 | uint8_t crc = 0xAA; |
96 | uint16_t off; |
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97 | |||
98 | for(off=0; off<len; off++) |
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99 | { |
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100 | crc += eeprom_read_byte((uint8_t*)(EEAddr + off));; |
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101 | } |
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102 | return crc; |
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395 | hbuss | 103 | } |
1622 | killagreg | 104 | |
105 | void ParamSet_DefaultStickMapping(void) |
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395 | hbuss | 106 | { |
1622 | killagreg | 107 | EE_Parameter.Kanalbelegung[K_GAS] = 1; |
108 | EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
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109 | EE_Parameter.Kanalbelegung[K_NICK] = 3; |
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110 | EE_Parameter.Kanalbelegung[K_GIER] = 4; |
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111 | EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
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112 | EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
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113 | EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
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114 | EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
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115 | EE_Parameter.Kanalbelegung[K_POTI5] = 9; |
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116 | EE_Parameter.Kanalbelegung[K_POTI6] = 10; |
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117 | EE_Parameter.Kanalbelegung[K_POTI7] = 11; |
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118 | EE_Parameter.Kanalbelegung[K_POTI8] = 12; |
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395 | hbuss | 119 | } |
120 | |||
1622 | killagreg | 121 | |
122 | /***************************************************/ |
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123 | /* Default Values for parameter set 1 */ |
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124 | /***************************************************/ |
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125 | void ParamSet_DefaultSet1(void) // sport |
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395 | hbuss | 126 | { |
1622 | killagreg | 127 | EE_Parameter.Revision = EEPARAM_REVISION; |
128 | |||
129 | if(PlatinenVersion >= 20) |
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130 | { |
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1676 | holgerb | 131 | EE_Parameter.Gyro_D = 10; |
1622 | killagreg | 132 | EE_Parameter.Driftkomp = 0; |
133 | EE_Parameter.GyroAccFaktor = 27; |
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134 | EE_Parameter.WinkelUmschlagNick = 78; |
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135 | EE_Parameter.WinkelUmschlagRoll = 78; |
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136 | } |
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137 | else |
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138 | { |
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139 | EE_Parameter.Gyro_D = 3; |
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140 | EE_Parameter.Driftkomp = 32; |
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141 | EE_Parameter.GyroAccFaktor = 30; |
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142 | EE_Parameter.WinkelUmschlagNick = 85; |
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143 | EE_Parameter.WinkelUmschlagRoll = 85; |
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144 | } |
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145 | EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
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146 | EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT;// | CFG2_VARIO_BEEP | CFG_SENSITIVE_RC |
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147 | EE_Parameter.Hoehe_MinGas = 30; |
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148 | EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
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149 | EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
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150 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
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151 | EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-247 |
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152 | EE_Parameter.Hoehe_HoverBand = 5; // Wert : 0-247 |
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153 | EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
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154 | EE_Parameter.Hoehe_StickNeutralPoint = 0; // Wert : 0-247 (0 = Hover-Estimation) |
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155 | EE_Parameter.Hoehe_Verstaerkung = 20; // Wert : 0-50 |
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1664 | holgerb | 156 | EE_Parameter.Stick_P = 14; // Wert : 1-20 |
157 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
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1622 | killagreg | 158 | EE_Parameter.Gier_P = 12; // Wert : 1-20 |
159 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
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160 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
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161 | EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
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162 | EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
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163 | EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
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164 | EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
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165 | EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
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1685 | holgerb | 166 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
1622 | killagreg | 167 | EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
168 | EE_Parameter.NotGas = 35; // Wert : 0-247 // Gaswert bei Empangsverlust |
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1652 | holgerb | 169 | EE_Parameter.NotGasZeit = 60; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
1622 | killagreg | 170 | EE_Parameter.I_Faktor = 32; |
171 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
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172 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
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173 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
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174 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
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175 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
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176 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
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177 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
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178 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
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179 | EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos |
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180 | EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
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181 | EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
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182 | EE_Parameter.ServoNickMin = 0; // Wert : 0-247 // Anschlag |
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183 | EE_Parameter.ServoNickMax = 247; // Wert : 0-247 // Anschlag |
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184 | EE_Parameter.ServoNickRefresh = 6; |
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185 | EE_Parameter.Servo3 = 125; |
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186 | EE_Parameter.Servo4 = 125; |
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187 | EE_Parameter.Servo5 = 125; |
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188 | EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos |
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189 | EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
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190 | EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
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191 | EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
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192 | EE_Parameter.LoopGasLimit = 50; |
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193 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
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194 | EE_Parameter.LoopHysterese = 50; |
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195 | EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
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196 | EE_Parameter.AchsKopplung1 = 90; |
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197 | EE_Parameter.AchsKopplung2 = 80; |
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198 | EE_Parameter.CouplingYawCorrection = 1; |
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199 | EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
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200 | EE_Parameter.DynamicStability = 100; |
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201 | EE_Parameter.J16Bitmask = 95; |
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202 | EE_Parameter.J17Bitmask = 243; |
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203 | EE_Parameter.WARN_J16_Bitmask = 0xAA; |
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204 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
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205 | EE_Parameter.J16Timing = 15; |
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206 | EE_Parameter.J17Timing = 15; |
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207 | EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
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208 | EE_Parameter.NaviGpsGain = 100; |
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209 | EE_Parameter.NaviGpsP = 90; |
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210 | EE_Parameter.NaviGpsI = 90; |
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211 | EE_Parameter.NaviGpsD = 90; |
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212 | EE_Parameter.NaviGpsPLimit = 75; |
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213 | EE_Parameter.NaviGpsILimit = 75; |
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214 | EE_Parameter.NaviGpsDLimit = 75; |
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215 | EE_Parameter.NaviGpsACC = 0; |
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216 | EE_Parameter.NaviGpsMinSat = 6; |
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217 | EE_Parameter.NaviStickThreshold = 8; |
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218 | EE_Parameter.NaviWindCorrection = 90; |
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219 | EE_Parameter.NaviSpeedCompensation = 30; |
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220 | EE_Parameter.NaviOperatingRadius = 100; |
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221 | EE_Parameter.NaviAngleLimitation = 100; |
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1664 | holgerb | 222 | EE_Parameter.NaviPH_LoginTime = 2; |
1622 | killagreg | 223 | EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
1668 | holgerb | 224 | EE_Parameter.OrientationAngle = 0; |
225 | EE_Parameter.OrientationModeControl = 0; |
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1622 | killagreg | 226 | memcpy(EE_Parameter.Name, "Sport\0", 12); |
227 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
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395 | hbuss | 228 | } |
1622 | killagreg | 229 | |
230 | |||
231 | /***************************************************/ |
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232 | /* Default Values for parameter set 2 */ |
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233 | /***************************************************/ |
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234 | void ParamSet_DefaultSet2(void) // normal |
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235 | { |
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236 | EE_Parameter.Revision = EEPARAM_REVISION; |
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237 | |||
238 | if(PlatinenVersion >= 20) |
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239 | { |
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1676 | holgerb | 240 | EE_Parameter.Gyro_D = 10; |
1622 | killagreg | 241 | EE_Parameter.Driftkomp = 0; |
242 | EE_Parameter.GyroAccFaktor = 27; |
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243 | EE_Parameter.WinkelUmschlagNick = 78; |
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244 | EE_Parameter.WinkelUmschlagRoll = 78; |
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245 | } |
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246 | else |
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247 | { |
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248 | EE_Parameter.Gyro_D = 3; |
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249 | EE_Parameter.Driftkomp = 32; |
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250 | EE_Parameter.GyroAccFaktor = 30; |
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251 | EE_Parameter.WinkelUmschlagNick = 85; |
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252 | EE_Parameter.WinkelUmschlagRoll = 85; |
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253 | } |
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254 | EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
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255 | EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT;// | CFG2_VARIO_BEEP | CFG_SENSITIVE_RC |
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256 | EE_Parameter.Hoehe_MinGas = 30; |
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257 | EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
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258 | EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
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259 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
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260 | EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-247 |
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261 | EE_Parameter.Hoehe_HoverBand = 5; // Wert : 0-247 |
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262 | EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
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263 | EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
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264 | EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 |
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1664 | holgerb | 265 | EE_Parameter.Stick_P = 10; // Wert : 1-20 |
266 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
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1622 | killagreg | 267 | EE_Parameter.Gier_P = 6; // Wert : 1-20 |
268 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
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269 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
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270 | EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
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271 | EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
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272 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
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273 | EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
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274 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
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1685 | holgerb | 275 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
1622 | killagreg | 276 | EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
277 | EE_Parameter.NotGas = 35; // Wert : 0-247 // Gaswert bei Empangsverlust |
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1652 | holgerb | 278 | EE_Parameter.NotGasZeit = 60; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
1622 | killagreg | 279 | EE_Parameter.I_Faktor = 32; |
280 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
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281 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
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282 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
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283 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
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284 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
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285 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
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286 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
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287 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
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288 | EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos |
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289 | EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
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290 | EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
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291 | EE_Parameter.ServoNickMin = 0; // Wert : 0-247 // Anschlag |
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292 | EE_Parameter.ServoNickMax = 247; // Wert : 0-247 // Anschlag |
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293 | EE_Parameter.ServoNickRefresh = 6; |
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294 | EE_Parameter.Servo3 = 125; |
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295 | EE_Parameter.Servo4 = 125; |
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296 | EE_Parameter.Servo5 = 125; |
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297 | EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos |
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298 | EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
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299 | EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
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300 | EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
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301 | EE_Parameter.LoopGasLimit = 50; |
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302 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
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303 | EE_Parameter.LoopHysterese = 50; |
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304 | EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
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305 | EE_Parameter.AchsKopplung1 = 90; |
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306 | EE_Parameter.AchsKopplung2 = 80; |
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307 | EE_Parameter.CouplingYawCorrection = 60; |
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308 | EE_Parameter.GyroAccAbgleich = 32; // 1/k |
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309 | EE_Parameter.DynamicStability = 75; |
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310 | EE_Parameter.J16Bitmask = 95; |
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311 | EE_Parameter.J17Bitmask = 243; |
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312 | EE_Parameter.WARN_J16_Bitmask = 0xAA; |
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313 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
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314 | EE_Parameter.J16Timing = 20; |
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315 | EE_Parameter.J17Timing = 20; |
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316 | EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
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317 | EE_Parameter.NaviGpsGain = 100; |
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318 | EE_Parameter.NaviGpsP = 90; |
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319 | EE_Parameter.NaviGpsI = 90; |
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320 | EE_Parameter.NaviGpsD = 90; |
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321 | EE_Parameter.NaviGpsPLimit = 75; |
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322 | EE_Parameter.NaviGpsILimit = 75; |
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323 | EE_Parameter.NaviGpsDLimit = 75; |
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324 | EE_Parameter.NaviGpsACC = 0; |
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325 | EE_Parameter.NaviGpsMinSat = 6; |
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326 | EE_Parameter.NaviStickThreshold = 8; |
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327 | EE_Parameter.NaviWindCorrection = 90; |
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328 | EE_Parameter.NaviSpeedCompensation = 30; |
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329 | EE_Parameter.NaviOperatingRadius = 100; |
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330 | EE_Parameter.NaviAngleLimitation = 100; |
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1664 | holgerb | 331 | EE_Parameter.NaviPH_LoginTime = 2; |
1622 | killagreg | 332 | EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
1668 | holgerb | 333 | EE_Parameter.OrientationAngle = 0; |
334 | EE_Parameter.OrientationModeControl = 0; |
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1622 | killagreg | 335 | memcpy(EE_Parameter.Name, "Normal\0", 12); |
336 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
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337 | } |
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338 | |||
339 | |||
340 | /***************************************************/ |
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341 | /* Default Values for parameter set 3 */ |
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342 | /***************************************************/ |
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343 | void ParamSet_DefaultSet3(void) // beginner |
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344 | { |
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345 | EE_Parameter.Revision = EEPARAM_REVISION; |
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346 | if(PlatinenVersion >= 20) |
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347 | { |
||
1676 | holgerb | 348 | EE_Parameter.Gyro_D = 10; |
1622 | killagreg | 349 | EE_Parameter.Driftkomp = 0; |
350 | EE_Parameter.GyroAccFaktor = 27; |
||
351 | EE_Parameter.WinkelUmschlagNick = 78; |
||
352 | EE_Parameter.WinkelUmschlagRoll = 78; |
||
353 | } |
||
354 | else |
||
355 | { |
||
356 | EE_Parameter.Gyro_D = 3; |
||
357 | EE_Parameter.Driftkomp = 32; |
||
358 | EE_Parameter.GyroAccFaktor = 30; |
||
359 | EE_Parameter.WinkelUmschlagNick = 85; |
||
360 | EE_Parameter.WinkelUmschlagRoll = 85; |
||
361 | } |
||
362 | EE_Parameter.GlobalConfig = /*CFG_DREHRATEN_BEGRENZER |*/ CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
||
363 | EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT;// | CFG2_VARIO_BEEP | CFG_SENSITIVE_RC |
||
364 | EE_Parameter.Hoehe_MinGas = 30; |
||
365 | EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
||
366 | EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
||
367 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
||
368 | EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-247 |
||
369 | EE_Parameter.Hoehe_HoverBand = 5; // Wert : 0-247 |
||
370 | EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
||
371 | EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
||
372 | EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 |
||
1664 | holgerb | 373 | EE_Parameter.Stick_P = 8; // Wert : 1-20 |
374 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
||
1622 | killagreg | 375 | EE_Parameter.Gier_P = 6; // Wert : 1-20 |
376 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
||
377 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
||
378 | EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
||
379 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
||
380 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
||
381 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
||
382 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
||
1685 | holgerb | 383 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
1622 | killagreg | 384 | EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
385 | EE_Parameter.NotGas = 35; // Wert : 0-247 // Gaswert bei Empangsverlust |
||
1652 | holgerb | 386 | EE_Parameter.NotGasZeit = 60; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
1622 | killagreg | 387 | EE_Parameter.I_Faktor = 16; |
388 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
||
389 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
||
390 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
||
391 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
||
392 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
||
393 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
||
394 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
||
395 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
||
396 | EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos |
||
397 | EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
||
398 | EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
||
399 | EE_Parameter.ServoNickMin = 0; // Wert : 0-247 // Anschlag |
||
400 | EE_Parameter.ServoNickMax = 247; // Wert : 0-247 // Anschlag |
||
401 | EE_Parameter.ServoNickRefresh = 6; |
||
402 | EE_Parameter.Servo3 = 125; |
||
403 | EE_Parameter.Servo4 = 125; |
||
404 | EE_Parameter.Servo5 = 125; |
||
405 | EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos |
||
406 | EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
||
407 | EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
||
408 | EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
||
409 | EE_Parameter.LoopGasLimit = 50; |
||
410 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
||
411 | EE_Parameter.LoopHysterese = 50; |
||
412 | EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
||
413 | EE_Parameter.AchsKopplung1 = 90; |
||
414 | EE_Parameter.AchsKopplung2 = 80; |
||
415 | EE_Parameter.CouplingYawCorrection = 70; |
||
416 | EE_Parameter.GyroAccAbgleich = 32; // 1/k |
||
417 | EE_Parameter.DynamicStability = 50; |
||
418 | EE_Parameter.J16Bitmask = 95; |
||
419 | EE_Parameter.J17Bitmask = 243; |
||
420 | EE_Parameter.WARN_J16_Bitmask = 0xAA; |
||
421 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
||
422 | EE_Parameter.J16Timing = 30; |
||
423 | EE_Parameter.J17Timing = 30; |
||
424 | EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
||
425 | EE_Parameter.NaviGpsGain = 100; |
||
426 | EE_Parameter.NaviGpsP = 90; |
||
427 | EE_Parameter.NaviGpsI = 90; |
||
428 | EE_Parameter.NaviGpsD = 90; |
||
429 | EE_Parameter.NaviGpsPLimit = 75; |
||
430 | EE_Parameter.NaviGpsILimit = 75; |
||
431 | EE_Parameter.NaviGpsDLimit = 75; |
||
432 | EE_Parameter.NaviGpsACC = 0; |
||
433 | EE_Parameter.NaviGpsMinSat = 6; |
||
434 | EE_Parameter.NaviStickThreshold = 8; |
||
435 | EE_Parameter.NaviWindCorrection = 90; |
||
436 | EE_Parameter.NaviSpeedCompensation = 30; |
||
437 | EE_Parameter.NaviOperatingRadius = 100; |
||
438 | EE_Parameter.NaviAngleLimitation = 100; |
||
1664 | holgerb | 439 | EE_Parameter.NaviPH_LoginTime = 2; |
1622 | killagreg | 440 | EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
1668 | holgerb | 441 | EE_Parameter.OrientationAngle = 0; |
442 | EE_Parameter.OrientationModeControl = 0; |
||
1622 | killagreg | 443 | memcpy(EE_Parameter.Name, "Beginner\0", 12); |
444 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
||
445 | } |
||
446 | |||
447 | /***************************************************/ |
||
448 | /* Read Parameter from EEPROM as byte */ |
||
449 | /***************************************************/ |
||
450 | uint8_t GetParamByte(uint16_t param_id) |
||
451 | { |
||
452 | return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
||
453 | } |
||
454 | |||
455 | /***************************************************/ |
||
456 | /* Write Parameter to EEPROM as byte */ |
||
457 | /***************************************************/ |
||
458 | void SetParamByte(uint16_t param_id, uint8_t value) |
||
459 | { |
||
460 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
||
461 | } |
||
462 | |||
463 | /***************************************************/ |
||
464 | /* Read Parameter from EEPROM as word */ |
||
465 | /***************************************************/ |
||
466 | uint16_t GetParamWord(uint16_t param_id) |
||
467 | { |
||
468 | return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
||
469 | } |
||
470 | |||
471 | /***************************************************/ |
||
472 | /* Write Parameter to EEPROM as word */ |
||
473 | /***************************************************/ |
||
474 | void SetParamWord(uint16_t param_id, uint16_t value) |
||
475 | { |
||
476 | eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
||
477 | } |
||
478 | |||
479 | /***************************************************/ |
||
480 | /* Read Parameter Set from EEPROM */ |
||
481 | /***************************************************/ |
||
482 | // number [1..5] |
||
483 | uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
||
484 | { |
||
485 | uint8_t crc; |
||
486 | uint16_t eeaddr; |
||
487 | |||
488 | // range the setnumber |
||
489 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
||
490 | |||
491 | // calculate eeprom addr |
||
492 | eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
||
493 | |||
494 | // calculate checksum from eeprom |
||
495 | crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
||
496 | |||
497 | // check crc |
||
498 | if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
||
499 | |||
500 | // check revision |
||
501 | if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0; |
||
502 | |||
503 | // read paramset from eeprom |
||
504 | eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
||
505 | LED_Init(); |
||
506 | return 1; |
||
507 | } |
||
508 | |||
509 | /***************************************************/ |
||
510 | /* Write Parameter Set to EEPROM */ |
||
511 | /***************************************************/ |
||
512 | // number [1..5] |
||
513 | uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
||
514 | { |
||
515 | uint8_t crc; |
||
516 | |||
517 | if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
||
518 | { |
||
519 | if(setnumber > 5) setnumber = 5; |
||
520 | if(setnumber < 1) return 0; |
||
521 | |||
522 | // update checksum |
||
523 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
||
524 | |||
525 | // write paramset to eeprom |
||
526 | eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
||
527 | |||
528 | // backup channel settings to separate block in eeprom |
||
529 | eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
||
530 | |||
531 | // write crc of channel block to eeprom |
||
532 | crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
||
533 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
||
534 | |||
535 | // update active settings number |
||
536 | SetActiveParamSet(setnumber); |
||
537 | LED_Init(); |
||
538 | return 1; |
||
539 | } |
||
540 | // wrong revision |
||
541 | return 0; |
||
542 | } |
||
543 | |||
544 | /***************************************************/ |
||
545 | /* Read MixerTable from EEPROM */ |
||
546 | /***************************************************/ |
||
547 | uint8_t MixerTable_ReadFromEEProm(void) |
||
548 | { |
||
549 | uint8_t crc; |
||
550 | |||
551 | // calculate checksum in eeprom |
||
552 | crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
||
553 | |||
554 | // check crc |
||
555 | if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
||
556 | |||
557 | // check revision |
||
558 | if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
||
559 | |||
560 | // read mixer table |
||
561 | eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
||
562 | return 1; |
||
563 | } |
||
564 | |||
565 | /***************************************************/ |
||
566 | /* Write Mixer Table to EEPROM */ |
||
567 | /***************************************************/ |
||
568 | uint8_t MixerTable_WriteToEEProm(void) |
||
569 | { |
||
570 | if(Mixer.Revision == EEMIXER_REVISION) |
||
571 | { |
||
572 | // update crc |
||
573 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
||
574 | |||
575 | // write to eeprom |
||
576 | eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
||
577 | return 1; |
||
578 | } |
||
579 | else return 0; |
||
580 | } |
||
581 | |||
582 | /***************************************************/ |
||
583 | /* Default Values for Mixer Table */ |
||
584 | /***************************************************/ |
||
585 | void MixerTable_Default(void) // Quadro |
||
586 | { |
||
587 | uint8_t i; |
||
588 | |||
589 | Mixer.Revision = EEMIXER_REVISION; |
||
590 | // clear mixer table |
||
591 | for(i = 0; i < 16; i++) |
||
592 | { |
||
593 | Mixer.Motor[i][MIX_GAS] = 0; |
||
594 | Mixer.Motor[i][MIX_NICK] = 0; |
||
595 | Mixer.Motor[i][MIX_ROLL] = 0; |
||
596 | Mixer.Motor[i][MIX_YAW] = 0; |
||
597 | } |
||
598 | // default = Quadro |
||
599 | Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
||
600 | Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
||
601 | Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
||
602 | Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
||
603 | memcpy(Mixer.Name, "Quadro\0", 7); |
||
604 | Mixer.crc = Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
||
605 | } |
||
606 | |||
607 | /***************************************************/ |
||
608 | /* Get active parameter set */ |
||
609 | /***************************************************/ |
||
610 | uint8_t GetActiveParamSet(void) |
||
611 | { |
||
612 | uint8_t setnumber; |
||
613 | setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
||
614 | if(setnumber > 5) |
||
615 | { |
||
616 | setnumber = 3; |
||
617 | eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber); |
||
618 | } |
||
619 | return(setnumber); |
||
620 | } |
||
621 | |||
622 | /***************************************************/ |
||
623 | /* Set active parameter set */ |
||
624 | /***************************************************/ |
||
625 | void SetActiveParamSet(uint8_t setnumber) |
||
626 | { |
||
627 | if(setnumber > 5) setnumber = 5; |
||
628 | if(setnumber < 1) setnumber = 1; |
||
629 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
||
630 | } |
||
631 | |||
632 | /***************************************************/ |
||
633 | /* Initialize EEPROM Parameter Sets */ |
||
634 | /***************************************************/ |
||
635 | void ParamSet_Init(void) |
||
636 | { |
||
637 | uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
||
638 | |||
639 | |||
640 | if(EEPARAM_REVISION != GetParamByte(PID_EE_REVISION) ) |
||
641 | { |
||
642 | ee_default = 1; // software update or forced by mktool |
||
643 | SetParamByte(PID_EE_REVISION, EEPARAM_REVISION); |
||
644 | } |
||
645 | |||
646 | |||
647 | // 1st check for a valid channel backup in eeprom |
||
648 | i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
||
649 | if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) channel_backup = 1; |
||
650 | |||
651 | |||
652 | // parameter check |
||
653 | |||
654 | // check all 5 parameter settings |
||
655 | for (i = 1;i < 6; i++) |
||
656 | { |
||
657 | if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
||
658 | { |
||
659 | bad_params = 1; |
||
660 | printf("\n\rGenerating default Parameter Set %d",i); |
||
661 | switch(i) |
||
662 | { |
||
663 | case 1: |
||
664 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
||
665 | break; |
||
666 | case 2: |
||
667 | ParamSet_DefaultSet2(); // Kamera |
||
668 | break; |
||
669 | case 3: |
||
670 | ParamSet_DefaultSet3(); // Beginner |
||
671 | break; |
||
672 | default: |
||
1668 | holgerb | 673 | ParamSet_DefaultSet3(); // Kamera |
1622 | killagreg | 674 | break; |
675 | } |
||
676 | if(channel_backup) // if we have an channel mapping backup in eeprom |
||
677 | { // restore it from eeprom |
||
678 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
||
679 | } |
||
680 | else |
||
681 | { // use default mapping |
||
682 | ParamSet_DefaultStickMapping(); |
||
683 | } |
||
684 | ParamSet_WriteToEEProm(i); |
||
685 | } |
||
686 | } |
||
687 | if(bad_params) // at least one of the parameter settings were invalid |
||
688 | { |
||
689 | // default-Setting is parameter set 3 |
||
690 | SetActiveParamSet(3); |
||
691 | } |
||
692 | |||
693 | |||
694 | // read active parameter set to ParamSet stucture |
||
695 | i = GetActiveParamSet(); |
||
696 | ParamSet_ReadFromEEProm(i); |
||
697 | printf("\n\rUsing Parameter Set %d", i); |
||
698 | |||
699 | // load mixer table |
||
700 | if(ee_default || !MixerTable_ReadFromEEProm() ) |
||
701 | { |
||
702 | printf("\n\rGenerating default Mixer Table"); |
||
703 | MixerTable_Default(); // Quadro |
||
704 | MixerTable_WriteToEEProm(); |
||
705 | } |
||
706 | // determine motornumber |
||
707 | RequiredMotors = 0; |
||
708 | for(i = 0; i < 16; i++) |
||
709 | { |
||
710 | if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
||
711 | } |
||
712 | |||
713 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
||
714 | printf("\n\r=============================="); |
||
715 | } |