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1612 dongfang 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + Copyright (c) 04.2007 Holger Buss
1623 - 3
// + Nur für den privaten Gebrauch
1612 dongfang 4
// + www.MikroKopter.com
5
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1623 - 6
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
7
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
1612 dongfang 8
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9
// + bzgl. der Nutzungsbedingungen aufzunehmen.
1623 - 10
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
1612 dongfang 11
// + Verkauf von Luftbildaufnahmen, usw.
12
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1623 - 13
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
14
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
1612 dongfang 15
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
1623 - 17
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18
// + eindeutig als Ursprung verlinkt und genannt werden
1612 dongfang 19
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1623 - 20
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
1612 dongfang 21
// + Benutzung auf eigene Gefahr
1623 - 22
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
1612 dongfang 23
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
1623 - 25
// + mit unserer Zustimmung zulässig
1612 dongfang 26
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
30
// + this list of conditions and the following disclaimer.
31
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
32
// +     from this software without specific prior written permission.
33
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
34
// +     for non-commercial use (directly or indirectly)
35
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
36
// +     with our written permission
37
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
38
// +     clearly linked as origin
39
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
40
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
41
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
1623 - 47
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
48
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
1612 dongfang 49
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
50
// +  POSSIBILITY OF SUCH DAMAGE.
51
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1623 - 52
 
1612 dongfang 53
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
54
// + Contant Values
55
// + 0-250 -> normale Values
56
// + 251 -> Poti1
57
// + 252 -> Poti2
58
// + 253 -> Poti3
59
// + 254 -> Poti4
60
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
61
 
62
#ifndef EEMEM
63
#define EEMEM __attribute__ ((section (".eeprom")))
64
#endif
65
 
66
#include <avr/eeprom.h>
67
#include <string.h>
68
#include "eeprom.h"
69
#include "printf_P.h"
70
#include "output.h"
71
// TODO: Get rid of these. They have nothing to do with eeprom.
72
#include "flight.h"
73
#include "rc.h"
74
#include "sensors.h"
75
 
76
// byte array in eeprom
1821 - 77
uint8_t EEPromArray[E2END + 1] EEMEM;
1612 dongfang 78
 
1821 - 79
paramset_t staticParams;
80
MixerTable_t Mixer;
1612 dongfang 81
 
82
/*
83
 * Default for your own experiments here, so you don't have to reset them
84
 * from MK-Tool all the time.
85
 */
86
void setDefaultUserParams(void) {
1821 - 87
        uint8_t i;
88
        for (i = 0; i < sizeof(staticParams.UserParams1); i++) {
89
                staticParams.UserParams1[i] = 0;
90
        }
91
        for (i = 0; i < sizeof(staticParams.UserParams2); i++) {
92
                staticParams.UserParams2[i] = 0;
93
        }
94
        /*
95
         * While we are still using userparams for flight parameters, do set
96
         * some safe & meaningful default values.
97
         */
98
        staticParams.UserParams1[3] = 8; // Throttle stick D=8
99
        staticParams.UserParams2[0] = 0b11010101; // All gyro filter constants 2; acc. 4
100
        staticParams.UserParams2[1] = 2; // H&I motor smoothing.
101
        staticParams.UserParams2[2] = 120; // Yaw I factor
102
        staticParams.UserParams2[3] = 10; // Max Z acceleration for acc. correction of angles.
1612 dongfang 103
}
104
 
105
void setOtherDefaults(void) {
1821 - 106
        /* Channel assignments were changed to the normal:
107
         * Aileron/roll=1, elevator/pitch=2, throttle=3, yaw/rudder=4
108
         */
109
        staticParams.ChannelAssignment[CH_PITCH] = 2;
110
        staticParams.ChannelAssignment[CH_ROLL] = 1;
111
        staticParams.ChannelAssignment[CH_THROTTLE] = 3;
112
        staticParams.ChannelAssignment[CH_YAW] = 4;
113
        staticParams.ChannelAssignment[CH_POTS + 0] = 5;
114
        staticParams.ChannelAssignment[CH_POTS + 1] = 6;
115
        staticParams.ChannelAssignment[CH_POTS + 2] = 7;
116
        staticParams.ChannelAssignment[CH_POTS + 3] = 8;
117
        staticParams.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_HEADING_HOLD; // CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX;
118
        staticParams.HeightMinGas = 30;
119
        staticParams.MaxHeight = 251;
120
        staticParams.HeightP = 10;
121
        staticParams.HeightD = 30;
122
        staticParams.Height_ACC_Effect = 30;
123
        staticParams.Height_Gain = 4;
124
        staticParams.StickP = 8;
125
        staticParams.StickD = 12;
126
        staticParams.StickYawP = 12;
127
        staticParams.MinThrottle = 8;
128
        staticParams.MaxThrottle = 230;
129
        staticParams.CompassYawEffect = 128;
130
        staticParams.GyroP = 80;
131
        staticParams.GyroI = 100;
132
        staticParams.LowVoltageWarning = 95;
133
        staticParams.EmergencyGas = 35;
134
        staticParams.EmergencyGasDuration = 30;
135
        staticParams.Unused0 = 0;
136
        staticParams.IFactor = 32;
137
        staticParams.ServoPitchControl = 100;
138
        staticParams.ServoPitchComp = 40;
139
        staticParams.ServoPitchCompInvert = 0;
140
        staticParams.ServoPitchMin = 50;
141
        staticParams.ServoPitchMax = 150;
142
        staticParams.ServoRefresh = 5;
143
        staticParams.LoopGasLimit = 50;
144
        staticParams.LoopThreshold = 90;
145
        staticParams.LoopHysteresis = 50;
146
        staticParams.BitConfig = 0;
147
        staticParams.AxisCoupling1 = 90;
148
        staticParams.AxisCoupling2 = 67;
149
        staticParams.AxisCouplingYawCorrection = 0;
150
        staticParams.DynamicStability = 50;
151
        staticParams.J16Bitmask = 95;
152
        staticParams.J17Bitmask = 243;
153
        staticParams.J16Timing = 15;
154
        staticParams.J17Timing = 15;
155
        staticParams.NaviGpsModeControl = 253;
156
        staticParams.NaviGpsGain = 100;
157
        staticParams.NaviGpsP = 90;
158
        staticParams.NaviGpsI = 90;
159
        staticParams.NaviGpsD = 90;
160
        staticParams.NaviGpsPLimit = 75;
161
        staticParams.NaviGpsILimit = 75;
162
        staticParams.NaviGpsDLimit = 75;
163
        staticParams.NaviGpsACC = 0;
164
        staticParams.NaviGpsMinSat = 6;
165
        staticParams.NaviStickThreshold = 8;
166
        staticParams.NaviWindCorrection = 90;
167
        staticParams.NaviSpeedCompensation = 30;
168
        staticParams.NaviOperatingRadius = 100;
169
        staticParams.NaviAngleLimitation = 100;
170
        staticParams.NaviPHLoginTime = 4;
1612 dongfang 171
}
172
 
173
/***************************************************/
174
/*    Default Values for parameter set 1           */
175
/***************************************************/
176
void ParamSet_DefaultSet1(void) { // sport
1821 - 177
        setOtherDefaults();
178
        gyro_setDefaults();
179
        setDefaultUserParams();
180
        staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER
181
                        | CFG_AXIS_COUPLING_ACTIVE;
182
        memcpy(staticParams.Name, "Sport\0", 6);
1612 dongfang 183
}
184
 
185
/***************************************************/
186
/*    Default Values for parameter set 2           */
187
/***************************************************/
188
void ParamSet_DefaultSet2(void) { // normal
1821 - 189
        setOtherDefaults();
190
        gyro_setDefaults();
191
        setDefaultUserParams();
192
        staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER
193
                        | CFG_AXIS_COUPLING_ACTIVE;
194
        staticParams.Height_Gain = 3;
195
        staticParams.J16Timing = 20;
196
        staticParams.J17Timing = 20;
197
        memcpy(staticParams.Name, "Normal\0", 7);
1612 dongfang 198
}
199
 
200
/***************************************************/
201
/*    Default Values for parameter set 3           */
202
/***************************************************/
203
void ParamSet_DefaultSet3(void) { // beginner
1821 - 204
        setOtherDefaults();
205
        gyro_setDefaults();
206
        setDefaultUserParams();
207
        staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER
208
                        | CFG_AXIS_COUPLING_ACTIVE;
209
        staticParams.Height_Gain = 3;
210
        staticParams.EmergencyGasDuration = 20;
211
        staticParams.AxisCouplingYawCorrection = 70;
212
        staticParams.J16Timing = 30;
213
        staticParams.J17Timing = 30;
214
        memcpy(staticParams.Name, "Beginner\0", 9);
1612 dongfang 215
}
216
 
217
/***************************************************/
218
/*       Read Parameter from EEPROM as byte        */
219
/***************************************************/
220
uint8_t GetParamByte(uint16_t param_id) {
1821 - 221
        return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]);
1612 dongfang 222
}
223
 
224
/***************************************************/
225
/*       Write Parameter to EEPROM as byte         */
226
/***************************************************/
227
void SetParamByte(uint16_t param_id, uint8_t value) {
1821 - 228
        eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);
1612 dongfang 229
}
230
 
231
/***************************************************/
232
/*       Read Parameter from EEPROM as word        */
233
/***************************************************/
234
uint16_t GetParamWord(uint16_t param_id) {
1821 - 235
        return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN
236
                        + param_id]);
1612 dongfang 237
}
238
 
239
/***************************************************/
240
/*       Write Parameter to EEPROM as word         */
241
/***************************************************/
242
void SetParamWord(uint16_t param_id, uint16_t value) {
1821 - 243
        eeprom_write_word(
244
                        (uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);
1612 dongfang 245
}
246
 
247
/***************************************************/
248
/*       Read Parameter Set from EEPROM            */
249
/***************************************************/
250
// number [1..5]
251
void ParamSet_ReadFromEEProm(uint8_t setnumber) {
1821 - 252
        if ((1 > setnumber) || (setnumber > 5))
253
                setnumber = 3;
254
        eeprom_read_block((uint8_t *) &staticParams.ChannelAssignment[0],
255
                        &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber
256
                                        - 1)], PARAMSET_STRUCT_LEN);
257
        output_init();
1612 dongfang 258
}
259
 
260
/***************************************************/
261
/*        Write Parameter Set to EEPROM            */
262
/***************************************************/
263
// number [1..5]
264
void ParamSet_WriteToEEProm(uint8_t setnumber) {
1821 - 265
        if (setnumber > 5)
266
                setnumber = 5;
267
        if (setnumber < 1)
268
                return;
269
        eeprom_write_block((uint8_t *) &staticParams.ChannelAssignment[0],
270
                        &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber
271
                                        - 1)], PARAMSET_STRUCT_LEN);
272
        eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH],
273
                        PARAMSET_STRUCT_LEN);
274
        eeprom_write_block(&staticParams.ChannelAssignment[0],
275
                        &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping
276
        // set this parameter set to active set
277
        setActiveParamSet(setnumber);
278
        output_init();
1612 dongfang 279
}
280
 
281
/***************************************************/
282
/*       Get active parameter set                  */
283
/***************************************************/
284
uint8_t getActiveParamSet(void) {
1821 - 285
        uint8_t setnumber;
286
        setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]);
287
        if (setnumber > 5) {
288
                setnumber = 3;
289
                eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber);
290
        }
291
        return (setnumber);
1612 dongfang 292
}
293
 
294
/***************************************************/
295
/*       Set active parameter set                  */
296
/***************************************************/
297
void setActiveParamSet(uint8_t setnumber) {
1821 - 298
        if (setnumber > 5)
299
                setnumber = 5;
300
        if (setnumber < 1)
301
                setnumber = 1;
302
        eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber);
1612 dongfang 303
}
304
 
305
/***************************************************/
306
/*          Read MixerTable from EEPROM            */
307
/***************************************************/
308
uint8_t MixerTable_ReadFromEEProm(void) {
1821 - 309
        if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE])
310
                        == EEMIXER_REVISION) {
311
                eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE],
312
                                sizeof(Mixer));
313
                return 1;
314
        } else
315
                return 0;
1612 dongfang 316
}
317
 
318
/***************************************************/
319
/*          Write Mixer Table to EEPROM            */
320
/***************************************************/
321
uint8_t MixerTable_WriteToEEProm(void) {
1821 - 322
        if (Mixer.Revision == EEMIXER_REVISION) {
323
                eeprom_write_block((uint8_t *) &Mixer,
324
                                &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
325
                return 1;
326
        } else
327
                return 0;
1612 dongfang 328
}
329
 
330
/***************************************************/
331
/*    Default Values for Mixer Table               */
332
/***************************************************/
333
void MixerTable_Default(void) { // Quadro 
1821 - 334
        uint8_t i;
335
        Mixer.Revision = EEMIXER_REVISION;
336
        // clear mixer table (but preset throttle)
337
        for (i = 0; i < 16; i++) {
338
                Mixer.Motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0;
339
                Mixer.Motor[i][MIX_PITCH] = 0;
340
                Mixer.Motor[i][MIX_ROLL] = 0;
341
                Mixer.Motor[i][MIX_YAW] = 0;
342
        }
343
        // default = Quadro
344
        Mixer.Motor[0][MIX_PITCH] = +64;
345
        Mixer.Motor[0][MIX_YAW] = +64;
346
        Mixer.Motor[1][MIX_PITCH] = -64;
347
        Mixer.Motor[1][MIX_YAW] = +64;
348
        Mixer.Motor[2][MIX_ROLL] = -64;
349
        Mixer.Motor[2][MIX_YAW] = -64;
350
        Mixer.Motor[3][MIX_ROLL] = +64;
351
        Mixer.Motor[3][MIX_YAW] = -64;
352
        memcpy(Mixer.Name, "Quadro\0", 7);
1612 dongfang 353
}
354
 
355
/***************************************************/
356
/*       Initialize EEPROM Parameter Sets          */
357
/***************************************************/
358
void ParamSet_Init(void) {
1821 - 359
        uint8_t Channel_Backup = 1, i, j;
360
        // parameter version  check
361
        if (eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) {
362
                // if version check faild
363
                printf("\n\rInit Parameter in EEPROM");
364
                eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table
365
                // check if channel mapping backup is valid
366
                for (j = 0; j < 4 && Channel_Backup; j++) {
367
                        if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS + 0]) >= 12)
368
                                Channel_Backup = 0;
369
                }
370
                // fill all 5 parameter settings
371
                for (i = 1; i < 6; i++) {
372
                        switch (i) {
373
                        case 1:
374
                                ParamSet_DefaultSet1(); // Fill staticParams Structure to default parameter set 1 (Sport)
375
                                break;
376
                        case 2:
377
                                ParamSet_DefaultSet2(); // Kamera
378
                                break;
379
                        case 3:
380
                                ParamSet_DefaultSet3(); // Beginner
381
                                break;
382
                        default:
383
                                ParamSet_DefaultSet2(); // Kamera
384
                                break;
385
                        }
386
                        if (Channel_Backup) { // if we have a rc channel mapping backup in eeprom
387
                                // restore it
388
                                for (j = 0; j < 8; j++) {
389
                                        staticParams.ChannelAssignment[j] = eeprom_read_byte(
390
                                                        &EEPromArray[EEPROM_ADR_CHANNELS + j]);
391
                                }
392
                        }
393
                        ParamSet_WriteToEEProm(i);
394
                }
395
                // default-Setting is parameter set 3
396
                setActiveParamSet(1);
397
                // update version info
398
                SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION);
1775 - 399
        }
1821 - 400
        // read active parameter set to staticParams stucture
401
        ParamSet_ReadFromEEProm(getActiveParamSet());
402
        printf("\n\rUsing Parameter Set %d", getActiveParamSet());
403
 
404
        // load mixer table
405
        if (!MixerTable_ReadFromEEProm()) {
406
                printf("\n\rGenerating default Mixer Table");
407
                MixerTable_Default(); // Quadro
408
                MixerTable_WriteToEEProm();
409
        }
410
        // determine motornumber
411
        RequiredMotors = 0;
412
        for (i = 0; i < 16; i++) {
413
                if (Mixer.Motor[i][MIX_THROTTLE] > 0)
414
                        RequiredMotors++;
415
        }
416
 
417
        printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors);
418
        printf("\n\r==============================");
1612 dongfang 419
}