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1622 killagreg 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + Copyright (c) Holger Buss, Ingo Busker
3
// + Nur für den privaten Gebrauch
4
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
5
// + www.MikroKopter.com
6
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
7
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
8
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
9
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
10
// + bzgl. der Nutzungsbedingungen aufzunehmen.
11
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
12
// + Verkauf von Luftbildaufnahmen, usw.
13
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
14
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
15
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
16
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
18
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
19
// + eindeutig als Ursprung verlinkt werden
20
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
21
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
22
// + Benutzung auf eigene Gefahr
23
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
24
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
25
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
26
// + mit unserer Zustimmung zulässig
27
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
28
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
29
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
30
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
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// + this list of conditions and the following disclaimer.
32
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
33
// +     from this software without specific prior written permission.
34
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
35
// +     for non-commercial use (directly or indirectly)
36
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
37
// +     with our written permission
38
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
39
// +     clearly linked as origin
40
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
41
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
42
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
43
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
44
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
45
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
46
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
47
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
48
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
49
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
50
// +  POSSIBILITY OF SUCH DAMAGE.
51
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
52
 
53
 
54
#ifndef EEMEM
55
#define EEMEM __attribute__ ((section (".eeprom")))
56
#endif
57
 
58
 
59
#include <avr/eeprom.h>
60
#include <string.h>
61
#include "eeprom.h"
62
#include "uart.h"
63
#include "led.h"
64
#include "main.h"
65
#include "fc.h"
1657 killagreg 66
#include "twimaster.h"
1622 killagreg 67
 
68
paramset_t              EE_Parameter;
69
MixerTable_t    Mixer;
1654 killagreg 70
uint8_t RequiredMotors;
1622 killagreg 71
 
72
 
73
uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len)
395 hbuss 74
{
1622 killagreg 75
        uint8_t crc = 0xAA;
76
        uint16_t i;
77
 
78
        for(i=0; i<len; i++)
79
        {
80
                crc += pBuffer[i];
81
        }
82
        return crc;
993 hbuss 83
}
84
 
1622 killagreg 85
uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len)
993 hbuss 86
{
1622 killagreg 87
        uint8_t crc = 0xAA;
88
        uint16_t off;
89
 
90
        for(off=0; off<len; off++)
91
        {
92
                crc += eeprom_read_byte((uint8_t*)(EEAddr + off));;
93
        }
94
        return crc;
395 hbuss 95
}
1622 killagreg 96
 
97
void ParamSet_DefaultStickMapping(void)
395 hbuss 98
{
1622 killagreg 99
        EE_Parameter.Kanalbelegung[K_GAS]   = 1;
100
        EE_Parameter.Kanalbelegung[K_ROLL]  = 2;
101
        EE_Parameter.Kanalbelegung[K_NICK]  = 3;
102
        EE_Parameter.Kanalbelegung[K_GIER]  = 4;
103
        EE_Parameter.Kanalbelegung[K_POTI1] = 5;
104
        EE_Parameter.Kanalbelegung[K_POTI2] = 6;
105
        EE_Parameter.Kanalbelegung[K_POTI3] = 7;
106
        EE_Parameter.Kanalbelegung[K_POTI4] = 8;
107
        EE_Parameter.Kanalbelegung[K_POTI5] = 9;
108
        EE_Parameter.Kanalbelegung[K_POTI6] = 10;
109
        EE_Parameter.Kanalbelegung[K_POTI7] = 11;
110
        EE_Parameter.Kanalbelegung[K_POTI8] = 12;
395 hbuss 111
}
112
 
1622 killagreg 113
 
114
/***************************************************/
115
/*    Default Values for parameter set 1           */
116
/***************************************************/
1760 holgerb 117
void CommonDefaults(void)
395 hbuss 118
{
1622 killagreg 119
        EE_Parameter.Revision = EEPARAM_REVISION;
120
 
121
        if(PlatinenVersion >= 20)
122
        {
1676 holgerb 123
                EE_Parameter.Gyro_D = 10;
1622 killagreg 124
                EE_Parameter.Driftkomp = 0;
125
                EE_Parameter.GyroAccFaktor = 27;
126
                EE_Parameter.WinkelUmschlagNick = 78;
127
                EE_Parameter.WinkelUmschlagRoll = 78;
128
        }
129
        else
130
        {
131
                EE_Parameter.Gyro_D = 3;
132
                EE_Parameter.Driftkomp = 32;
133
                EE_Parameter.GyroAccFaktor = 30;
134
                EE_Parameter.WinkelUmschlagNick = 85;
135
                EE_Parameter.WinkelUmschlagRoll = 85;
136
        }
1957 holgerb 137
        EE_Parameter.GyroAccAbgleich = 32;        // 1/k
1762 holgerb 138
        EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER;
1916 holgerb 139
        EE_Parameter.ExtraConfig = CFG_GPS_AID | CFG2_VARIO_BEEP;
1850 holgerb 140
        EE_Parameter.Receiver = RECEIVER_JETI;
1762 holgerb 141
        EE_Parameter.MotorSafetySwitch = 0;
1769 holgerb 142
        EE_Parameter.ExternalControl = 0;
1760 holgerb 143
 
1762 holgerb 144
        EE_Parameter.Gas_Min = 8;             // Wert : 0-32
145
        EE_Parameter.Gas_Max = 230;           // Wert : 33-247
1839 holgerb 146
        EE_Parameter.KompassWirkung = 64;    // Wert : 0-247
1762 holgerb 147
 
148
        EE_Parameter.Hoehe_MinGas = 30;
149
        EE_Parameter.MaxHoehe     = 255;         // Wert : 0-247   255 -> Poti1
150
        EE_Parameter.Hoehe_P      = 15;          // Wert : 0-32
151
        EE_Parameter.Luftdruck_D  = 30;          // Wert : 0-247
152
        EE_Parameter.Hoehe_ACC_Wirkung = 0;     // Wert : 0-247
153
        EE_Parameter.Hoehe_HoverBand = 8;         // Wert : 0-247
154
        EE_Parameter.Hoehe_GPS_Z = 64;           // Wert : 0-247
155
        EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation)
1942 holgerb 156
        EE_Parameter.Hoehe_Verstaerkung = 15;    // Wert : 0-50 (15 -> ca. +/- 5m/sek bei Stick-Voll-Ausschlag)
1762 holgerb 157
 
1622 killagreg 158
        EE_Parameter.UserParam1 =   0;           // zur freien Verwendung
159
        EE_Parameter.UserParam2 =   0;           // zur freien Verwendung
160
        EE_Parameter.UserParam3 =   0;           // zur freien Verwendung
161
        EE_Parameter.UserParam4 =   0;           // zur freien Verwendung
162
        EE_Parameter.UserParam5 =   0;           // zur freien Verwendung
163
        EE_Parameter.UserParam6 =   0;           // zur freien Verwendung
164
        EE_Parameter.UserParam7 = 0;             // zur freien Verwendung
165
        EE_Parameter.UserParam8 = 0;             // zur freien Verwendung
1762 holgerb 166
 
1848 holgerb 167
        EE_Parameter.ServoNickControl = 128;     // Wert : 0-247     // Stellung des Servos
168
        EE_Parameter.ServoNickComp = 50;         // Wert : 0-247     // Einfluss Gyro/Servo
1771 holgerb 169
        EE_Parameter.ServoCompInvert = 2;        // Wert : 0-247     // Richtung Einfluss Gyro/Servo
1787 holgerb 170
        EE_Parameter.ServoNickMin = 15;          // Wert : 0-247     // Anschlag
1848 holgerb 171
        EE_Parameter.ServoNickMax = 230;         // Wert : 0-247     // Anschlag
172
        EE_Parameter.ServoNickRefresh = 4;
1622 killagreg 173
        EE_Parameter.Servo3 = 125;
174
        EE_Parameter.Servo4 = 125;
175
        EE_Parameter.Servo5 = 125;
1848 holgerb 176
        EE_Parameter.ServoRollControl = 128;     // Wert : 0-247     // Stellung des Servos
177
        EE_Parameter.ServoRollComp = 85;         // Wert : 0-247     // Einfluss Gyro/Servo
1876 holgerb 178
        EE_Parameter.ServoRollMin = 70;          // Wert : 0-247     // Anschlag
1848 holgerb 179
        EE_Parameter.ServoRollMax = 220;         // Wert : 0-247     // Anschlag
180
        EE_Parameter.ServoManualControlSpeed = 60;
1876 holgerb 181
        EE_Parameter.CamOrientation = 0;         // Wert : 0-24 -> 0-360 -> 15° steps
1762 holgerb 182
 
1622 killagreg 183
        EE_Parameter.J16Bitmask = 95;
184
        EE_Parameter.J17Bitmask = 243;
185
        EE_Parameter.WARN_J16_Bitmask = 0xAA;
186
        EE_Parameter.WARN_J17_Bitmask = 0xAA;
1760 holgerb 187
        EE_Parameter.J16Timing = 20;
188
        EE_Parameter.J17Timing = 20;
1762 holgerb 189
 
190
        EE_Parameter.LoopGasLimit = 50;
191
        EE_Parameter.LoopThreshold = 90;         // Wert: 0-247  Schwelle für Stickausschlag
192
        EE_Parameter.LoopHysterese = 50;
193
        EE_Parameter.BitConfig = 0;              // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
194
 
1622 killagreg 195
        EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2
196
        EE_Parameter.NaviGpsGain = 100;
197
        EE_Parameter.NaviGpsP = 90;
198
        EE_Parameter.NaviGpsI = 90;
199
        EE_Parameter.NaviGpsD = 90;
200
        EE_Parameter.NaviGpsPLimit = 75;
1931 holgerb 201
        EE_Parameter.NaviGpsILimit = 85;
1622 killagreg 202
        EE_Parameter.NaviGpsDLimit = 75;
203
        EE_Parameter.NaviGpsACC = 0;
204
        EE_Parameter.NaviGpsMinSat = 6;
205
        EE_Parameter.NaviStickThreshold = 8;
206
        EE_Parameter.NaviWindCorrection = 90;
1936 holgerb 207
        EE_Parameter.NaviAccCompensation = 42;
1857 holgerb 208
        EE_Parameter.NaviOperatingRadius = 245;
1931 holgerb 209
        EE_Parameter.NaviAngleLimitation = 140;
1936 holgerb 210
        EE_Parameter.NaviPH_LoginTime = 5;
1668 holgerb 211
        EE_Parameter.OrientationAngle = 0;
1921 holgerb 212
        EE_Parameter.CareFreeModeControl = 0;
1760 holgerb 213
        EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50)
214
        EE_Parameter.NotGas = 45;                // Wert : 0-247     // Gaswert bei Empangsverlust
215
        EE_Parameter.NotGasZeit = 90;            // Wert : 0-247     // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
1915 holgerb 216
        EE_Parameter.MotorSmooth = 0;          
217
        EE_Parameter.ComingHomeAltitude = 0;      // 0 = don't change 
1916 holgerb 218
        EE_Parameter.FailSafeTime = 0;            // 0 = off
1936 holgerb 219
        EE_Parameter.MaxAltitude = 150;           // 0 = off
1944 holgerb 220
        EE_Parameter.AchsKopplung1 = 90;
221
        EE_Parameter.AchsKopplung2 = 55;
1760 holgerb 222
}
1944 holgerb 223
/*
1760 holgerb 224
void ParamSet_DefaultSet1(void) // sport
225
{
226
        CommonDefaults();
227
        EE_Parameter.Stick_P = 14;            // Wert : 1-20
228
        EE_Parameter.Stick_D = 16;            // Wert : 0-20
1944 holgerb 229
        EE_Parameter.StickGier_P = 12;             // Wert : 1-20
1760 holgerb 230
        EE_Parameter.Gyro_P = 80;             // Wert : 0-247
231
        EE_Parameter.Gyro_I = 150;            // Wert : 0-247
232
        EE_Parameter.Gyro_Gier_P = 80;        // Wert : 0-247
233
        EE_Parameter.Gyro_Gier_I = 150;       // Wert : 0-247
234
        EE_Parameter.Gyro_Stability = 6;          // Wert : 1-8
235
        EE_Parameter.I_Faktor = 32;
236
        EE_Parameter.CouplingYawCorrection = 1;
237
        EE_Parameter.GyroAccAbgleich = 16;        // 1/k;
238
        EE_Parameter.DynamicStability = 100;
1622 killagreg 239
        memcpy(EE_Parameter.Name, "Sport\0", 12);
240
        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
395 hbuss 241
}
1944 holgerb 242
*/
1622 killagreg 243
 
244
/***************************************************/
1944 holgerb 245
/*    Default Values for parameter set 1           */
1622 killagreg 246
/***************************************************/
1944 holgerb 247
void ParamSet_DefaultSet1(void) // normal
1622 killagreg 248
{
1760 holgerb 249
        CommonDefaults();
1664 holgerb 250
        EE_Parameter.Stick_P = 10;               // Wert : 1-20
251
        EE_Parameter.Stick_D = 16;               // Wert : 0-20
1944 holgerb 252
        EE_Parameter.StickGier_P = 6;                 // Wert : 1-20
1622 killagreg 253
        EE_Parameter.Gyro_P = 90;                // Wert : 0-247
254
        EE_Parameter.Gyro_I = 120;               // Wert : 0-247
255
        EE_Parameter.Gyro_Gier_P = 90;           // Wert : 0-247
256
        EE_Parameter.Gyro_Gier_I = 120;          // Wert : 0-247
1685 holgerb 257
        EE_Parameter.Gyro_Stability = 6;                  // Wert : 1-8
1622 killagreg 258
        EE_Parameter.I_Faktor = 32;
259
        EE_Parameter.CouplingYawCorrection = 60;
260
        EE_Parameter.DynamicStability = 75;
1944 holgerb 261
        memcpy(EE_Parameter.Name, "Fast\0", 12);
1622 killagreg 262
        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
263
}
264
 
265
 
266
/***************************************************/
1944 holgerb 267
/*    Default Values for parameter set 2           */
1622 killagreg 268
/***************************************************/
1944 holgerb 269
void ParamSet_DefaultSet2(void) // beginner
1622 killagreg 270
{
1762 holgerb 271
        CommonDefaults();
1664 holgerb 272
        EE_Parameter.Stick_P = 8;                // Wert : 1-20
273
        EE_Parameter.Stick_D = 16;               // Wert : 0-20
1944 holgerb 274
        EE_Parameter.StickGier_P  = 6;                // Wert : 1-20
1622 killagreg 275
        EE_Parameter.Gyro_P = 100;               // Wert : 0-247
276
        EE_Parameter.Gyro_I = 120;               // Wert : 0-247
277
        EE_Parameter.Gyro_Gier_P = 100;          // Wert : 0-247
278
        EE_Parameter.Gyro_Gier_I = 120;          // Wert : 0-247
1685 holgerb 279
        EE_Parameter.Gyro_Stability = 6;                  // Wert : 1-8
1622 killagreg 280
        EE_Parameter.I_Faktor = 16;
281
        EE_Parameter.CouplingYawCorrection = 70;
1690 holgerb 282
        EE_Parameter.DynamicStability = 70;
1944 holgerb 283
        memcpy(EE_Parameter.Name, "Normal\0", 12);
1622 killagreg 284
        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
285
}
286
 
287
/***************************************************/
1944 holgerb 288
/*    Default Values for parameter set 3           */
289
/***************************************************/
290
void ParamSet_DefaultSet3(void) // beginner
291
{
292
        CommonDefaults();
293
        EE_Parameter.Stick_P = 6;                // Wert : 1-20
294
        EE_Parameter.Stick_D = 10;               // Wert : 0-20
295
        EE_Parameter.StickGier_P  = 4;           // Wert : 1-20
296
        EE_Parameter.Gyro_P = 100;               // Wert : 0-247
297
        EE_Parameter.Gyro_I = 120;               // Wert : 0-247
298
        EE_Parameter.Gyro_Gier_P = 100;          // Wert : 0-247
299
        EE_Parameter.Gyro_Gier_I = 120;          // Wert : 0-247
300
        EE_Parameter.Gyro_Stability = 6;              // Wert : 1-8
301
        EE_Parameter.I_Faktor = 16;
302
        EE_Parameter.CouplingYawCorrection = 70;
303
        EE_Parameter.DynamicStability = 70;
304
        memcpy(EE_Parameter.Name, "Easy\0", 12);
305
        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
306
}
307
 
308
 
309
/***************************************************/
1622 killagreg 310
/*       Read Parameter from EEPROM as byte        */
311
/***************************************************/
312
uint8_t GetParamByte(uint16_t param_id)
313
{
314
        return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id));
315
}
316
 
317
/***************************************************/
318
/*       Write Parameter to EEPROM as byte         */
319
/***************************************************/
320
void SetParamByte(uint16_t param_id, uint8_t value)
321
{
322
        eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value);
323
}
324
 
325
/***************************************************/
326
/*       Read Parameter from EEPROM as word        */
327
/***************************************************/
328
uint16_t GetParamWord(uint16_t param_id)
329
{
330
        return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id));
331
}
332
 
333
/***************************************************/
334
/*       Write Parameter to EEPROM as word         */
335
/***************************************************/
336
void SetParamWord(uint16_t param_id, uint16_t value)
337
{
338
        eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value);
339
}
340
 
341
/***************************************************/
342
/*       Read Parameter Set from EEPROM            */
343
/***************************************************/
344
// number [1..5]
345
uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber)
346
{
347
        uint8_t crc;
348
        uint16_t eeaddr;
349
 
350
        // range the setnumber
351
        if((1 > setnumber) || (setnumber > 5)) setnumber = 3;
352
 
353
        // calculate eeprom addr
354
        eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1);
355
 
356
        // calculate checksum from eeprom
357
        crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1);
358
 
359
        // check crc
360
        if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0;
361
 
362
        // check revision
363
        if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0;
364
 
365
        // read paramset from eeprom
366
        eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN);
367
        LED_Init();
1925 holgerb 368
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
1921 holgerb 369
        LIBFC_HoTT_Clear();
1925 holgerb 370
#endif
1622 killagreg 371
        return 1;
372
}
373
 
374
/***************************************************/
375
/*        Write Parameter Set to EEPROM            */
376
/***************************************************/
377
// number [1..5]
378
uint8_t ParamSet_WriteToEEProm(uint8_t setnumber)
379
{
380
        uint8_t crc;
381
 
382
        if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom
383
        {
384
                if(setnumber > 5) setnumber = 5;
385
                if(setnumber < 1) return 0;
1916 holgerb 386
        LIBFC_CheckSettings();
1622 killagreg 387
                // update checksum
388
                EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
389
 
390
                // write paramset to eeprom
391
                eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN);
392
 
393
                // backup channel settings to separate block in eeprom
394
                eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));
395
 
396
                // write crc of channel block to eeprom
397
                crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung));
398
                eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc);
399
 
400
                // update active settings number
401
                SetActiveParamSet(setnumber);
402
                LED_Init();
1925 holgerb 403
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
1921 holgerb 404
                LIBFC_HoTT_Clear();
1925 holgerb 405
#endif
1622 killagreg 406
                return 1;
407
        }
408
        // wrong revision
409
        return 0;
410
}
411
 
412
/***************************************************/
413
/*          Read MixerTable from EEPROM            */
414
/***************************************************/
415
uint8_t MixerTable_ReadFromEEProm(void)
416
{
417
        uint8_t crc;
418
 
419
        // calculate checksum in eeprom
420
        crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1);
421
 
422
        // check crc
423
        if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0;
424
 
425
        // check revision
426
        if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0;
427
 
428
        // read mixer table
429
        eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer));
430
        return 1;
431
}
432
 
433
/***************************************************/
434
/*          Write Mixer Table to EEPROM            */
435
/***************************************************/
436
uint8_t MixerTable_WriteToEEProm(void)
437
{
438
        if(Mixer.Revision == EEMIXER_REVISION)
439
        {
440
                // update crc
441
                Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1);
442
 
443
                // write to eeprom
444
                eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer));
445
                return 1;
446
        }
447
        else return 0;
448
}
449
 
450
/***************************************************/
451
/*    Default Values for Mixer Table               */
452
/***************************************************/
453
void MixerTable_Default(void) // Quadro
454
{
455
        uint8_t i;
456
 
457
        Mixer.Revision = EEMIXER_REVISION;
458
        // clear mixer table
459
        for(i = 0; i < 16; i++)
460
        {
461
                Mixer.Motor[i][MIX_GAS]  = 0;
462
                Mixer.Motor[i][MIX_NICK] = 0;
463
                Mixer.Motor[i][MIX_ROLL] = 0;
464
                Mixer.Motor[i][MIX_YAW]  = 0;
465
        }
466
        // default = Quadro
467
        Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] =   0; Mixer.Motor[0][MIX_YAW] = +64;
468
        Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] =   0; Mixer.Motor[1][MIX_YAW] = +64;
469
        Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] =   0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64;
470
        Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] =   0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64;
471
        memcpy(Mixer.Name, "Quadro\0", 7);
472
        Mixer.crc = Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1);
473
}
474
 
475
/***************************************************/
476
/*       Get active parameter set                  */
477
/***************************************************/
478
uint8_t GetActiveParamSet(void)
479
{
480
        uint8_t setnumber;
481
        setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET));
482
        if(setnumber > 5)
483
        {
484
                setnumber = 3;
485
                eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber);
486
        }
487
        return(setnumber);
488
}
489
 
490
/***************************************************/
491
/*       Set active parameter set                  */
492
/***************************************************/
493
void SetActiveParamSet(uint8_t setnumber)
494
{
495
        if(setnumber > 5) setnumber = 5;
496
        if(setnumber < 1) setnumber = 1;
497
        eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber);
498
}
499
 
500
/***************************************************/
1761 killagreg 501
/*       Set default parameter set                 */
502
/***************************************************/
503
void SetDefaultParameter(uint8_t set, uint8_t restore_channels)
504
{
505
 
506
        if(set > 5) set = 5;
507
        else if(set < 1) set = 1;
508
 
509
        switch(set)
510
        {
511
                case 1:
512
                        ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport)
513
                        break;
514
                case 2:
515
                        ParamSet_DefaultSet2(); // Kamera
516
                        break;
517
                case 3:
518
                        ParamSet_DefaultSet3(); // Beginner
519
                        break;
520
                default:
521
                        ParamSet_DefaultSet3(); // Beginner
522
                        break;
523
        }
524
        if(restore_channels)
525
        {
526
                uint8_t crc;
527
                // 1st check for a valid channel backup in eeprom
528
                crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung));
529
                if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) )
530
                {
531
                        eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));
532
                }
533
                else ParamSet_DefaultStickMapping();
534
        }
535
        else ParamSet_DefaultStickMapping();
536
        ParamSet_WriteToEEProm(set);
537
}
538
 
539
/***************************************************/
1622 killagreg 540
/*       Initialize EEPROM Parameter Sets          */
541
/***************************************************/
542
void ParamSet_Init(void)
543
{
544
        uint8_t channel_backup  = 0, bad_params = 0, ee_default = 0,i;
545
 
546
 
547
        if(EEPARAM_REVISION != GetParamByte(PID_EE_REVISION) )
548
        {
549
                ee_default = 1; // software update or forced by mktool
550
        }
551
 
552
 
553
        // 1st check for a valid channel backup in eeprom
554
        i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung));
555
        if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) channel_backup = 1;
556
 
557
 
558
        // parameter check
559
 
560
        // check all 5 parameter settings
561
        for (i = 1;i < 6; i++)
562
        {
563
                if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom
564
                {
565
                        bad_params = 1;
566
                        printf("\n\rGenerating default Parameter Set %d",i);
567
                        switch(i)
568
                        {
569
                                case 1:
570
                                        ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport)
571
                                        break;
572
                                case 2:
573
                                        ParamSet_DefaultSet2(); // Kamera
574
                                        break;
575
                                case 3:
576
                                        ParamSet_DefaultSet3(); // Beginner
577
                                        break;
578
                                default:
1668 holgerb 579
                                        ParamSet_DefaultSet3(); // Kamera
1622 killagreg 580
                                        break;
581
                        }
582
                        if(channel_backup) // if we have an channel mapping backup in eeprom
583
                        {       // restore it from eeprom
584
                                eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));
585
                        }
586
                        else
587
                        {       // use default mapping
588
                                ParamSet_DefaultStickMapping();
589
                        }
590
                        ParamSet_WriteToEEProm(i);
591
                }
592
        }
593
        if(bad_params) // at least one of the parameter settings were invalid
594
        {
595
                // default-Setting is parameter set 3
596
                SetActiveParamSet(3);
597
        }
598
 
599
 
600
        // read active parameter set to ParamSet stucture
601
        i = GetActiveParamSet();
602
        ParamSet_ReadFromEEProm(i);
603
        printf("\n\rUsing Parameter Set %d", i);
604
 
605
        // load mixer table
1931 holgerb 606
        if(GetParamByte(PID_EE_REVISION) == 0xff || !MixerTable_ReadFromEEProm() )
1622 killagreg 607
        {
608
                printf("\n\rGenerating default Mixer Table");
609
                MixerTable_Default(); // Quadro
610
                MixerTable_WriteToEEProm();
611
        }
1931 holgerb 612
        if(ee_default)  SetParamByte(PID_EE_REVISION, EEPARAM_REVISION);
1622 killagreg 613
        // determine motornumber
614
        RequiredMotors = 0;
615
        for(i = 0; i < 16; i++)
616
        {
617
                if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++;
618
        }
619
 
620
        printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors);
621
        printf("\n\r==============================");
622
}