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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,
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// + Verkauf von Luftbildaufnahmen, usw.
13
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
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// + 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
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
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// +  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
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
        }
1762 holgerb 137
        EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER;
1916 holgerb 138
        EE_Parameter.ExtraConfig = CFG_GPS_AID | CFG2_VARIO_BEEP;
1850 holgerb 139
        EE_Parameter.Receiver = RECEIVER_JETI;
1762 holgerb 140
        EE_Parameter.MotorSafetySwitch = 0;
1769 holgerb 141
        EE_Parameter.ExternalControl = 0;
1760 holgerb 142
 
1762 holgerb 143
        EE_Parameter.Gas_Min = 8;             // Wert : 0-32
144
        EE_Parameter.Gas_Max = 230;           // Wert : 33-247
1839 holgerb 145
        EE_Parameter.KompassWirkung = 64;    // Wert : 0-247
1762 holgerb 146
 
147
        EE_Parameter.Hoehe_MinGas = 30;
148
        EE_Parameter.MaxHoehe     = 255;         // Wert : 0-247   255 -> Poti1
149
        EE_Parameter.Hoehe_P      = 15;          // Wert : 0-32
150
        EE_Parameter.Luftdruck_D  = 30;          // Wert : 0-247
151
        EE_Parameter.Hoehe_ACC_Wirkung = 0;     // Wert : 0-247
152
        EE_Parameter.Hoehe_HoverBand = 8;         // Wert : 0-247
153
        EE_Parameter.Hoehe_GPS_Z = 64;           // Wert : 0-247
154
        EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation)
155
        EE_Parameter.Hoehe_Verstaerkung = 15;    // Wert : 0-50
156
 
1622 killagreg 157
        EE_Parameter.UserParam1 =   0;           // zur freien Verwendung
158
        EE_Parameter.UserParam2 =   0;           // zur freien Verwendung
159
        EE_Parameter.UserParam3 =   0;           // zur freien Verwendung
160
        EE_Parameter.UserParam4 =   0;           // zur freien Verwendung
161
        EE_Parameter.UserParam5 =   0;           // zur freien Verwendung
162
        EE_Parameter.UserParam6 =   0;           // zur freien Verwendung
163
        EE_Parameter.UserParam7 = 0;             // zur freien Verwendung
164
        EE_Parameter.UserParam8 = 0;             // zur freien Verwendung
1762 holgerb 165
 
1848 holgerb 166
        EE_Parameter.ServoNickControl = 128;     // Wert : 0-247     // Stellung des Servos
167
        EE_Parameter.ServoNickComp = 50;         // Wert : 0-247     // Einfluss Gyro/Servo
1771 holgerb 168
        EE_Parameter.ServoCompInvert = 2;        // Wert : 0-247     // Richtung Einfluss Gyro/Servo
1787 holgerb 169
        EE_Parameter.ServoNickMin = 15;          // Wert : 0-247     // Anschlag
1848 holgerb 170
        EE_Parameter.ServoNickMax = 230;         // Wert : 0-247     // Anschlag
171
        EE_Parameter.ServoNickRefresh = 4;
1622 killagreg 172
        EE_Parameter.Servo3 = 125;
173
        EE_Parameter.Servo4 = 125;
174
        EE_Parameter.Servo5 = 125;
1848 holgerb 175
        EE_Parameter.ServoRollControl = 128;     // Wert : 0-247     // Stellung des Servos
176
        EE_Parameter.ServoRollComp = 85;         // Wert : 0-247     // Einfluss Gyro/Servo
1876 holgerb 177
        EE_Parameter.ServoRollMin = 70;          // Wert : 0-247     // Anschlag
1848 holgerb 178
        EE_Parameter.ServoRollMax = 220;         // Wert : 0-247     // Anschlag
179
        EE_Parameter.ServoManualControlSpeed = 60;
1876 holgerb 180
        EE_Parameter.CamOrientation = 0;         // Wert : 0-24 -> 0-360 -> 15° steps
1762 holgerb 181
 
1622 killagreg 182
        EE_Parameter.J16Bitmask = 95;
183
        EE_Parameter.J17Bitmask = 243;
184
        EE_Parameter.WARN_J16_Bitmask = 0xAA;
185
        EE_Parameter.WARN_J17_Bitmask = 0xAA;
1760 holgerb 186
        EE_Parameter.J16Timing = 20;
187
        EE_Parameter.J17Timing = 20;
1762 holgerb 188
 
189
        EE_Parameter.LoopGasLimit = 50;
190
        EE_Parameter.LoopThreshold = 90;         // Wert: 0-247  Schwelle für Stickausschlag
191
        EE_Parameter.LoopHysterese = 50;
192
        EE_Parameter.BitConfig = 0;              // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
193
 
1622 killagreg 194
        EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2
195
        EE_Parameter.NaviGpsGain = 100;
196
        EE_Parameter.NaviGpsP = 90;
197
        EE_Parameter.NaviGpsI = 90;
198
        EE_Parameter.NaviGpsD = 90;
199
        EE_Parameter.NaviGpsPLimit = 75;
1931 holgerb 200
        EE_Parameter.NaviGpsILimit = 85;
1622 killagreg 201
        EE_Parameter.NaviGpsDLimit = 75;
202
        EE_Parameter.NaviGpsACC = 0;
203
        EE_Parameter.NaviGpsMinSat = 6;
204
        EE_Parameter.NaviStickThreshold = 8;
205
        EE_Parameter.NaviWindCorrection = 90;
1936 holgerb 206
        EE_Parameter.NaviAccCompensation = 42;
1857 holgerb 207
        EE_Parameter.NaviOperatingRadius = 245;
1931 holgerb 208
        EE_Parameter.NaviAngleLimitation = 140;
1936 holgerb 209
        EE_Parameter.NaviPH_LoginTime = 5;
1668 holgerb 210
        EE_Parameter.OrientationAngle = 0;
1921 holgerb 211
        EE_Parameter.CareFreeModeControl = 0;
1760 holgerb 212
        EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50)
213
        EE_Parameter.NotGas = 45;                // Wert : 0-247     // Gaswert bei Empangsverlust
214
        EE_Parameter.NotGasZeit = 90;            // Wert : 0-247     // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
1915 holgerb 215
        EE_Parameter.MotorSmooth = 0;          
216
        EE_Parameter.ComingHomeAltitude = 0;      // 0 = don't change 
1916 holgerb 217
        EE_Parameter.FailSafeTime = 0;            // 0 = off
1936 holgerb 218
        EE_Parameter.MaxAltitude = 150;           // 0 = off
1760 holgerb 219
}
220
 
221
void ParamSet_DefaultSet1(void) // sport
222
{
223
        CommonDefaults();
224
        EE_Parameter.Stick_P = 14;            // Wert : 1-20
225
        EE_Parameter.Stick_D = 16;            // Wert : 0-20
226
        EE_Parameter.Gier_P = 12;             // Wert : 1-20
227
        EE_Parameter.Gyro_P = 80;             // Wert : 0-247
228
        EE_Parameter.Gyro_I = 150;            // Wert : 0-247
229
        EE_Parameter.Gyro_Gier_P = 80;        // Wert : 0-247
230
        EE_Parameter.Gyro_Gier_I = 150;       // Wert : 0-247
231
        EE_Parameter.Gyro_Stability = 6;          // Wert : 1-8
232
        EE_Parameter.I_Faktor = 32;
233
        EE_Parameter.AchsKopplung1 = 90;
234
        EE_Parameter.AchsKopplung2 = 80;
235
        EE_Parameter.CouplingYawCorrection = 1;
236
        EE_Parameter.GyroAccAbgleich = 16;        // 1/k;
237
        EE_Parameter.DynamicStability = 100;
1622 killagreg 238
        memcpy(EE_Parameter.Name, "Sport\0", 12);
239
        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
395 hbuss 240
}
1622 killagreg 241
 
242
 
243
/***************************************************/
244
/*    Default Values for parameter set 2           */
245
/***************************************************/
246
void ParamSet_DefaultSet2(void) // normal
247
{
1760 holgerb 248
        CommonDefaults();
1664 holgerb 249
        EE_Parameter.Stick_P = 10;               // Wert : 1-20
250
        EE_Parameter.Stick_D = 16;               // Wert : 0-20
1622 killagreg 251
        EE_Parameter.Gier_P = 6;                 // Wert : 1-20
252
        EE_Parameter.Gyro_P = 90;                // Wert : 0-247
253
        EE_Parameter.Gyro_I = 120;               // Wert : 0-247
254
        EE_Parameter.Gyro_Gier_P = 90;           // Wert : 0-247
255
        EE_Parameter.Gyro_Gier_I = 120;          // Wert : 0-247
1685 holgerb 256
        EE_Parameter.Gyro_Stability = 6;                  // Wert : 1-8
1622 killagreg 257
        EE_Parameter.I_Faktor = 32;
258
        EE_Parameter.AchsKopplung1 = 90;
259
        EE_Parameter.AchsKopplung2 = 80;
260
        EE_Parameter.CouplingYawCorrection = 60;
261
        EE_Parameter.GyroAccAbgleich = 32;        // 1/k
262
        EE_Parameter.DynamicStability = 75;
263
        memcpy(EE_Parameter.Name, "Normal\0", 12);
264
        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
265
}
266
 
267
 
268
/***************************************************/
269
/*    Default Values for parameter set 3           */
270
/***************************************************/
271
void ParamSet_DefaultSet3(void) // beginner
272
{
1762 holgerb 273
        CommonDefaults();
1664 holgerb 274
        EE_Parameter.Stick_P = 8;                // Wert : 1-20
275
        EE_Parameter.Stick_D = 16;               // Wert : 0-20
1622 killagreg 276
        EE_Parameter.Gier_P  = 6;                // Wert : 1-20
277
        EE_Parameter.Gyro_P = 100;               // Wert : 0-247
278
        EE_Parameter.Gyro_I = 120;               // Wert : 0-247
279
        EE_Parameter.Gyro_Gier_P = 100;          // Wert : 0-247
280
        EE_Parameter.Gyro_Gier_I = 120;          // Wert : 0-247
1685 holgerb 281
        EE_Parameter.Gyro_Stability = 6;                  // Wert : 1-8
1622 killagreg 282
        EE_Parameter.I_Faktor = 16;
283
        EE_Parameter.AchsKopplung1 = 90;
284
        EE_Parameter.AchsKopplung2 = 80;
285
        EE_Parameter.CouplingYawCorrection = 70;
286
        EE_Parameter.GyroAccAbgleich = 32;        // 1/k
1690 holgerb 287
        EE_Parameter.DynamicStability = 70;
1622 killagreg 288
        memcpy(EE_Parameter.Name, "Beginner\0", 12);
289
        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
290
}
291
 
292
/***************************************************/
293
/*       Read Parameter from EEPROM as byte        */
294
/***************************************************/
295
uint8_t GetParamByte(uint16_t param_id)
296
{
297
        return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id));
298
}
299
 
300
/***************************************************/
301
/*       Write Parameter to EEPROM as byte         */
302
/***************************************************/
303
void SetParamByte(uint16_t param_id, uint8_t value)
304
{
305
        eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value);
306
}
307
 
308
/***************************************************/
309
/*       Read Parameter from EEPROM as word        */
310
/***************************************************/
311
uint16_t GetParamWord(uint16_t param_id)
312
{
313
        return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id));
314
}
315
 
316
/***************************************************/
317
/*       Write Parameter to EEPROM as word         */
318
/***************************************************/
319
void SetParamWord(uint16_t param_id, uint16_t value)
320
{
321
        eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value);
322
}
323
 
324
/***************************************************/
325
/*       Read Parameter Set from EEPROM            */
326
/***************************************************/
327
// number [1..5]
328
uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber)
329
{
330
        uint8_t crc;
331
        uint16_t eeaddr;
332
 
333
        // range the setnumber
334
        if((1 > setnumber) || (setnumber > 5)) setnumber = 3;
335
 
336
        // calculate eeprom addr
337
        eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1);
338
 
339
        // calculate checksum from eeprom
340
        crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1);
341
 
342
        // check crc
343
        if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0;
344
 
345
        // check revision
346
        if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0;
347
 
348
        // read paramset from eeprom
349
        eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN);
350
        LED_Init();
1925 holgerb 351
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
1921 holgerb 352
        LIBFC_HoTT_Clear();
1925 holgerb 353
#endif
1622 killagreg 354
        return 1;
355
}
356
 
357
/***************************************************/
358
/*        Write Parameter Set to EEPROM            */
359
/***************************************************/
360
// number [1..5]
361
uint8_t ParamSet_WriteToEEProm(uint8_t setnumber)
362
{
363
        uint8_t crc;
364
 
365
        if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom
366
        {
367
                if(setnumber > 5) setnumber = 5;
368
                if(setnumber < 1) return 0;
1916 holgerb 369
        LIBFC_CheckSettings();
1622 killagreg 370
                // update checksum
371
                EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
372
 
373
                // write paramset to eeprom
374
                eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN);
375
 
376
                // backup channel settings to separate block in eeprom
377
                eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));
378
 
379
                // write crc of channel block to eeprom
380
                crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung));
381
                eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc);
382
 
383
                // update active settings number
384
                SetActiveParamSet(setnumber);
385
                LED_Init();
1925 holgerb 386
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
1921 holgerb 387
                LIBFC_HoTT_Clear();
1925 holgerb 388
#endif
1622 killagreg 389
                return 1;
390
        }
391
        // wrong revision
392
        return 0;
393
}
394
 
395
/***************************************************/
396
/*          Read MixerTable from EEPROM            */
397
/***************************************************/
398
uint8_t MixerTable_ReadFromEEProm(void)
399
{
400
        uint8_t crc;
401
 
402
        // calculate checksum in eeprom
403
        crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1);
404
 
405
        // check crc
406
        if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0;
407
 
408
        // check revision
409
        if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0;
410
 
411
        // read mixer table
412
        eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer));
413
        return 1;
414
}
415
 
416
/***************************************************/
417
/*          Write Mixer Table to EEPROM            */
418
/***************************************************/
419
uint8_t MixerTable_WriteToEEProm(void)
420
{
421
        if(Mixer.Revision == EEMIXER_REVISION)
422
        {
423
                // update crc
424
                Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1);
425
 
426
                // write to eeprom
427
                eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer));
428
                return 1;
429
        }
430
        else return 0;
431
}
432
 
433
/***************************************************/
434
/*    Default Values for Mixer Table               */
435
/***************************************************/
436
void MixerTable_Default(void) // Quadro
437
{
438
        uint8_t i;
439
 
440
        Mixer.Revision = EEMIXER_REVISION;
441
        // clear mixer table
442
        for(i = 0; i < 16; i++)
443
        {
444
                Mixer.Motor[i][MIX_GAS]  = 0;
445
                Mixer.Motor[i][MIX_NICK] = 0;
446
                Mixer.Motor[i][MIX_ROLL] = 0;
447
                Mixer.Motor[i][MIX_YAW]  = 0;
448
        }
449
        // default = Quadro
450
        Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] =   0; Mixer.Motor[0][MIX_YAW] = +64;
451
        Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] =   0; Mixer.Motor[1][MIX_YAW] = +64;
452
        Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] =   0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64;
453
        Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] =   0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64;
454
        memcpy(Mixer.Name, "Quadro\0", 7);
455
        Mixer.crc = Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1);
456
}
457
 
458
/***************************************************/
459
/*       Get active parameter set                  */
460
/***************************************************/
461
uint8_t GetActiveParamSet(void)
462
{
463
        uint8_t setnumber;
464
        setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET));
465
        if(setnumber > 5)
466
        {
467
                setnumber = 3;
468
                eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber);
469
        }
470
        return(setnumber);
471
}
472
 
473
/***************************************************/
474
/*       Set active parameter set                  */
475
/***************************************************/
476
void SetActiveParamSet(uint8_t setnumber)
477
{
478
        if(setnumber > 5) setnumber = 5;
479
        if(setnumber < 1) setnumber = 1;
480
        eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber);
481
}
482
 
483
/***************************************************/
1761 killagreg 484
/*       Set default parameter set                 */
485
/***************************************************/
486
void SetDefaultParameter(uint8_t set, uint8_t restore_channels)
487
{
488
 
489
        if(set > 5) set = 5;
490
        else if(set < 1) set = 1;
491
 
492
        switch(set)
493
        {
494
                case 1:
495
                        ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport)
496
                        break;
497
                case 2:
498
                        ParamSet_DefaultSet2(); // Kamera
499
                        break;
500
                case 3:
501
                        ParamSet_DefaultSet3(); // Beginner
502
                        break;
503
                default:
504
                        ParamSet_DefaultSet3(); // Beginner
505
                        break;
506
        }
507
        if(restore_channels)
508
        {
509
                uint8_t crc;
510
                // 1st check for a valid channel backup in eeprom
511
                crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung));
512
                if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) )
513
                {
514
                        eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));
515
                }
516
                else ParamSet_DefaultStickMapping();
517
        }
518
        else ParamSet_DefaultStickMapping();
519
        ParamSet_WriteToEEProm(set);
520
}
521
 
522
/***************************************************/
1622 killagreg 523
/*       Initialize EEPROM Parameter Sets          */
524
/***************************************************/
525
void ParamSet_Init(void)
526
{
527
        uint8_t channel_backup  = 0, bad_params = 0, ee_default = 0,i;
528
 
529
 
530
        if(EEPARAM_REVISION != GetParamByte(PID_EE_REVISION) )
531
        {
532
                ee_default = 1; // software update or forced by mktool
533
        }
534
 
535
 
536
        // 1st check for a valid channel backup in eeprom
537
        i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung));
538
        if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) channel_backup = 1;
539
 
540
 
541
        // parameter check
542
 
543
        // check all 5 parameter settings
544
        for (i = 1;i < 6; i++)
545
        {
546
                if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom
547
                {
548
                        bad_params = 1;
549
                        printf("\n\rGenerating default Parameter Set %d",i);
550
                        switch(i)
551
                        {
552
                                case 1:
553
                                        ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport)
554
                                        break;
555
                                case 2:
556
                                        ParamSet_DefaultSet2(); // Kamera
557
                                        break;
558
                                case 3:
559
                                        ParamSet_DefaultSet3(); // Beginner
560
                                        break;
561
                                default:
1668 holgerb 562
                                        ParamSet_DefaultSet3(); // Kamera
1622 killagreg 563
                                        break;
564
                        }
565
                        if(channel_backup) // if we have an channel mapping backup in eeprom
566
                        {       // restore it from eeprom
567
                                eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));
568
                        }
569
                        else
570
                        {       // use default mapping
571
                                ParamSet_DefaultStickMapping();
572
                        }
573
                        ParamSet_WriteToEEProm(i);
574
                }
575
        }
576
        if(bad_params) // at least one of the parameter settings were invalid
577
        {
578
                // default-Setting is parameter set 3
579
                SetActiveParamSet(3);
580
        }
581
 
582
 
583
        // read active parameter set to ParamSet stucture
584
        i = GetActiveParamSet();
585
        ParamSet_ReadFromEEProm(i);
586
        printf("\n\rUsing Parameter Set %d", i);
587
 
588
        // load mixer table
1931 holgerb 589
        if(GetParamByte(PID_EE_REVISION) == 0xff || !MixerTable_ReadFromEEProm() )
1622 killagreg 590
        {
591
                printf("\n\rGenerating default Mixer Table");
592
                MixerTable_Default(); // Quadro
593
                MixerTable_WriteToEEProm();
594
        }
1931 holgerb 595
        if(ee_default)  SetParamByte(PID_EE_REVISION, EEPARAM_REVISION);
1622 killagreg 596
        // determine motornumber
597
        RequiredMotors = 0;
598
        for(i = 0; i < 16; i++)
599
        {
600
                if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++;
601
        }
602
 
603
        printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors);
604
        printf("\n\r==============================");
605
}