Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Software Nutzungsbedingungen (english version: see below)

// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -

// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den

// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 

// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.

// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im

// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.

// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie

// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.

// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren

// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.

// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren

// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 

// + des Mitverschuldens offen.

// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.

// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.

// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.

// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang

// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.

// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.

// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'

// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Software LICENSING TERMS

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -

// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 

// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.

// + The Software may only be used with the Licensor's products.

// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this

// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this

// + agreement shall be the property of the Licensor.

// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other

// + features that can be used to identify the program may not be altered or defaced by the customer.

// + The customer shall be responsible for taking reasonable precautions

// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the

// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and

// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product

// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.

// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test

// + the software for his purpose before any operational usage. The customer will backup his data before using the software.

// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data

// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.

// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.

// + #### END OF LICENSING TERMS ####

// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#ifndef EEMEM

#define EEMEM __attribute__ ((section (".eeprom")))

#endif

#include <avr/eeprom.h>

#include <string.h>

#include "eeprom.h"

#include "uart.h"

#include "led.h"

#include "main.h"

#include "fc.h"

#include "twimaster.h"

paramset_t              EE_Parameter;

MixerTable_t    Mixer;

uint8_t RequiredMotors;

uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len)

{

        uint8_t crc = 0xAA;

        uint16_t i;

        for(i=0; i<len; i++)

        {

                crc += pBuffer[i];

        }

        return crc;

}

uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len)

{

        uint8_t crc = 0xAA;

        uint16_t off;

        for(off=0; off<len; off++)

        {

                crc += eeprom_read_byte((uint8_t*)(EEAddr + off));;

        }

        return crc;

}

void ParamSet_DefaultStickMapping(void)

{

        EE_Parameter.Kanalbelegung[K_GAS]   = 1;

        EE_Parameter.Kanalbelegung[K_ROLL]  = 2;

        EE_Parameter.Kanalbelegung[K_NICK]  = 3;

        EE_Parameter.Kanalbelegung[K_GIER]  = 4;

        EE_Parameter.Kanalbelegung[K_POTI1] = 5;

        EE_Parameter.Kanalbelegung[K_POTI2] = 6;

        EE_Parameter.Kanalbelegung[K_POTI3] = 7;

        EE_Parameter.Kanalbelegung[K_POTI4] = 8;

        EE_Parameter.Kanalbelegung[K_POTI5] = 9;

        EE_Parameter.Kanalbelegung[K_POTI6] = 10;

        EE_Parameter.Kanalbelegung[K_POTI7] = 11;

        EE_Parameter.Kanalbelegung[K_POTI8] = 12;

}

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

//+ we have an update -> insert the default parameters here

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

void InsertDefaultParameters(unsigned char old_version)

{

 EE_Parameter.Revision = EEPARAM_REVISION;

 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

 // Init the new Parameter

 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

 if(old_version <= 108)

  {

   EE_Parameter.GlobalConfig3 |= CFG3_RISE_FIRST_WAYPOINT;

  }

 if(old_version <= 109)

  {

   EE_Parameter.ExtraConfig &= ~CFG_FLYZONE_REQUIRED;

  }

 if(old_version <= 110)

  {

   EE_Parameter.FailsSafeAltitude = EE_Parameter.ComingHomeAltitude;

  }

 if(old_version <= 111)

  {

   EE_Parameter.GimbalYawChannel = 0;

  }

 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

}

/***************************************************/

/*    Default Values for parameter set 1           */

/***************************************************/

void CommonDefaults(void)

{

 unsigned char i;

        EE_Parameter.Revision = EEPARAM_REVISION;

        memset(EE_Parameter.Name,0,12); // delete name

//      if(PlatinenVersion >= 20)

        {

                EE_Parameter.Gyro_D = 10;

                EE_Parameter.Driftkomp = 0;

                EE_Parameter.GyroAccFaktor = 27;

                EE_Parameter.WinkelUmschlagNick = 78;

                EE_Parameter.WinkelUmschlagRoll = 78;

        }

/*      else

        {

                EE_Parameter.Gyro_D = 3;

                EE_Parameter.Driftkomp = 32;

                EE_Parameter.GyroAccFaktor = 30;

                EE_Parameter.WinkelUmschlagNick = 85;

                EE_Parameter.WinkelUmschlagRoll = 85;

        }

*/

        EE_Parameter.GyroAccAbgleich = 32;        // 1/k

        EE_Parameter.BitConfig = 0;              // Looping usw.

        EE_Parameter.GlobalConfig = CFG_LAND_OUTSIDE_FLYZONE | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER;

        EE_Parameter.ExtraConfig = CFG_GPS_AID | CFG2_VARIO_BEEP | CFG_LEARNABLE_CAREFREE | CFG_NO_RCOFF_BEEPING;

        EE_Parameter.GlobalConfig3 = CFG3_NO_SDCARD_NO_START | CFG3_SPEAK_ALL | CFG3_NO_GPSFIX_NO_START | CFG3_RISE_FIRST_WAYPOINT;//

#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))

        EE_Parameter.Receiver = RECEIVER_HOTT;

#else

        EE_Parameter.Receiver = RECEIVER_JETI;

#endif

        EE_Parameter.MotorSafetySwitch = 0;

        EE_Parameter.ExternalControl = 0;

        EE_Parameter.Gas_Min = 8;             // Wert : 0-32

        EE_Parameter.Gas_Max = 230;           // Wert : 33-247

        EE_Parameter.KompassWirkung = 64;    // Wert : 0-247

        EE_Parameter.HoeheChannel = 5;         // Wert : 0-32

        EE_Parameter.Hoehe_MinGas = 30;

        EE_Parameter.Hoehe_TiltCompensation = 110; // in %

#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))

        if(ACC_AltitudeControl)

        {

                EE_Parameter.Hoehe_P      = 20;          // Wert : 0-32

                EE_Parameter.Luftdruck_D  = 40;          // Wert : 0-247

                EE_Parameter.Hoehe_ACC_Wirkung = 30;     // Wert : 0-247

                EE_Parameter.Hoehe_HoverBand = 1;         // Wert : 0-247

                EE_Parameter.Hoehe_StickNeutralPoint = 127;// Wert : 0-247 (0 = Hover-Estimation)

                EE_Parameter.FailSafeTime = 60;                   // 0 = off

        }

        else

#endif

        {

                EE_Parameter.Hoehe_P      = 15;          // Wert : 0-32

                EE_Parameter.Luftdruck_D  = 30;          // Wert : 0-247

                EE_Parameter.Hoehe_ACC_Wirkung = 0;     // Wert : 0-247

                EE_Parameter.Hoehe_HoverBand = 8;         // Wert : 0-247

                EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation)

                EE_Parameter.FailSafeTime = 0;            // 0 = off

        }

        EE_Parameter.Hoehe_Verstaerkung = 15;    // Wert : 0-50 (15 -> ca. +/- 5m/sek bei Stick-Voll-Ausschlag)

        EE_Parameter.StartLandChannel = 0;  

        EE_Parameter.LandingSpeed = 12;  

        EE_Parameter.UserParam1 =   0;           // zur freien Verwendung

        EE_Parameter.UserParam2 =   0;           // zur freien Verwendung

        EE_Parameter.UserParam3 =   0;           // zur freien Verwendung

        EE_Parameter.UserParam4 =   0;           // zur freien Verwendung

        EE_Parameter.UserParam5 =   0;           // zur freien Verwendung

        EE_Parameter.UserParam6 =   0;           // zur freien Verwendung

        EE_Parameter.UserParam7 = 0;             // zur freien Verwendung

        EE_Parameter.UserParam8 = 0;             // zur freien Verwendung

        EE_Parameter.ServoNickControl = 128;     // Wert : 0-247     // Stellung des Servos

        EE_Parameter.ServoNickComp = 50;         // Wert : 0-247     // Einfluss Gyro/Servo

        EE_Parameter.ServoCompInvert = 2;        // Wert : 0-247     // Richtung Einfluss Gyro/Servo

        EE_Parameter.ServoNickMin = 24;          // Wert : 0-247     // Anschlag

        EE_Parameter.ServoNickMax = 230;         // Wert : 0-247     // Anschlag

        EE_Parameter.ServoNickRefresh = 3;

        EE_Parameter.Servo3 = 125;

        EE_Parameter.Servo4 = 125;

        EE_Parameter.Servo5 = 125;

        EE_Parameter.ServoRollControl = 128;     // Wert : 0-247     // Stellung des Servos

        EE_Parameter.ServoRollComp = 85;         // Wert : 0-247     // Einfluss Gyro/Servo

        EE_Parameter.ServoRollMin = 70;          // Wert : 0-247     // Anschlag

        EE_Parameter.ServoRollMax = 220;         // Wert : 0-247     // Anschlag

        EE_Parameter.ServoManualControlSpeed = 60;

        EE_Parameter.CamOrientation = 0;         // Wert : 0-24 -> 0-360 -> 15° steps

        EE_Parameter.J16Bitmask = 0xAA;

        EE_Parameter.J17Bitmask = 0xCC;

        EE_Parameter.WARN_J16_Bitmask = 0x00;

        EE_Parameter.WARN_J17_Bitmask = 0xAA;

        EE_Parameter.J16Timing = 40;

        EE_Parameter.J17Timing = 40;

    EE_Parameter.AutoPhotoDistance = 0;         // Photo release in meter

    EE_Parameter.AutoPhotoAtitudes = 0;         // Photo release in meter

        EE_Parameter.SingleWpSpeed = 50;        // Speed when flying the single points

        EE_Parameter.LoopGasLimit = 50;

        EE_Parameter.LoopThreshold = 90;        // Wert: 0-247  Schwelle für Stickausschlag

        EE_Parameter.LoopHysterese = 50;

        EE_Parameter.NaviGpsModeChannel = 6; // Kanal 6

        EE_Parameter.NaviGpsGain = 100;

        EE_Parameter.NaviGpsP =  100;

        EE_Parameter.NaviGpsI =   90;

        EE_Parameter.NaviGpsD =  120;

        EE_Parameter.NaviGpsA =   40;

        EE_Parameter.NaviGpsPLimit = 75;

        EE_Parameter.NaviGpsILimit = 85;

        EE_Parameter.NaviGpsDLimit = 75;

        EE_Parameter.NaviGpsMinSat = 6;

        EE_Parameter.NaviStickThreshold = 8;

        EE_Parameter.NaviWindCorrection = 50;

        EE_Parameter.NaviAccCompensation = 42;

        EE_Parameter.NaviMaxFlyingRange = 0;

        EE_Parameter.NaviDescendRange = 0;

        EE_Parameter.NaviAngleLimitation = 140;

        EE_Parameter.NaviPH_LoginTime = 2;

        EE_Parameter.OrientationAngle = 0;

        EE_Parameter.CareFreeChannel = 0;

        EE_Parameter.NotGas = 65;                // Wert : 0-247     // Gaswert bei Empangsverlust (ggf. in Prozent)

        EE_Parameter.NotGasZeit = 90;            // Wert : 0-247     // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen

        EE_Parameter.MotorSmooth = 0;          

        EE_Parameter.ComingHomeAltitude = 0;      // 0 = don't change 

        EE_Parameter.FailsSafeAltitude = 0;

        EE_Parameter.MaxAltitude = 150;           // 0 = off

        EE_Parameter.AchsKopplung1 = 125;

        EE_Parameter.AchsKopplung2 = 52;

        EE_Parameter.FailsafeChannel = 0;

        EE_Parameter.ServoFilterNick = 0;

        EE_Parameter.ServoFilterRoll = 0;

    EE_Parameter.Servo3OnValue = 140;

    EE_Parameter.Servo3OffValue = 70;

        EE_Parameter.Servo4OnValue = 140;

    EE_Parameter.Servo4OffValue = 70;

    EE_Parameter.ServoFS_Pos[0] = 0;

    EE_Parameter.ServoFS_Pos[1] = 0;

    EE_Parameter.ServoFS_Pos[2] = 0;

    EE_Parameter.ServoFS_Pos[3] = 0;

    EE_Parameter.ServoFS_Pos[4] = 0;

        EE_Parameter.CompassOffset = 0;

        EE_Parameter.UnterspannungsWarnung      = 32; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50)

        EE_Parameter.ComingHomeVoltage          = 31;

        EE_Parameter.AutoLandingVoltage         = 30;

        EE_Parameter.LandingPulse = 960 / 4;

        EE_Parameter.SingleWpControlChannel = 0;

        EE_Parameter.MenuKeyChannel = 0;

        EE_Parameter.CamCtrlModeChannel = 0;

    EE_Parameter.CamCtrlZoomChannel = 0;

    EE_Parameter.GimbalYawChannel = 0;

    EE_Parameter.GimbalOut1Channel = 0;

    EE_Parameter.GimbalOut2Channel = 0;

        for(i=0; i < sizeof(EE_Parameter.reserved); i++) EE_Parameter.reserved[i] = 0;

}

/*

void ParamSet_DefaultSet1(void) // sport

{

        CommonDefaults();

        EE_Parameter.Stick_P = 14;            // Wert : 1-20

        EE_Parameter.Stick_D = 16;            // Wert : 0-20

        EE_Parameter.StickGier_P = 12;             // Wert : 1-20

        EE_Parameter.Gyro_P = 80;             // Wert : 0-247

        EE_Parameter.Gyro_I = 150;            // Wert : 0-247

        EE_Parameter.Gyro_Gier_P = 80;        // Wert : 0-247

        EE_Parameter.Gyro_Gier_I = 150;       // Wert : 0-247

        EE_Parameter.Gyro_Stability = 6;          // Wert : 1-8

        EE_Parameter.I_Faktor = 32;

        EE_Parameter.CouplingYawCorrection = 1;

        EE_Parameter.GyroAccAbgleich = 16;        // 1/k;

        EE_Parameter.DynamicStability = 100;

        memcpy(EE_Parameter.Name, "Sport\0", 12);

        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);

}

*/

/***************************************************/

/*    Default Values for parameter set 1           */

/***************************************************/

void ParamSet_DefaultSet1(void) // normal

{

        CommonDefaults();

        EE_Parameter.Stick_P = 10;               // Wert : 1-20

        EE_Parameter.Stick_D = 16;               // Wert : 0-20

        EE_Parameter.StickGier_P = 6;                 // Wert : 1-20

        EE_Parameter.Gyro_P = 90;                // Wert : 0-247

        EE_Parameter.Gyro_I = 120;               // Wert : 0-247

        EE_Parameter.Gyro_Gier_P = 90;           // Wert : 0-247

        EE_Parameter.Gyro_Gier_I = 120;          // Wert : 0-247

        EE_Parameter.Gyro_Stability = 6;                  // Wert : 1-8

        EE_Parameter.I_Faktor = 32;

        EE_Parameter.CouplingYawCorrection = 60;

        EE_Parameter.DynamicStability = 75;

        memcpy(EE_Parameter.Name, "Fast",4);

        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);

}

/***************************************************/

/*    Default Values for parameter set 2           */

/***************************************************/

void ParamSet_DefaultSet2(void) // Agil

{

        CommonDefaults();

        EE_Parameter.Stick_P = 8;                // Wert : 1-20

        EE_Parameter.Stick_D = 16;               // Wert : 0-20

        EE_Parameter.StickGier_P  = 6;           // Wert : 1-20

        EE_Parameter.Gyro_P = 100;               // Wert : 0-247

        EE_Parameter.Gyro_I = 120;               // Wert : 0-247

        EE_Parameter.Gyro_Gier_P = 100;          // Wert : 0-247

        EE_Parameter.Gyro_Gier_I = 120;          // Wert : 0-247

        EE_Parameter.Gyro_Stability = 6;                 // Wert : 1-8

        EE_Parameter.I_Faktor = 16;

        EE_Parameter.CouplingYawCorrection = 70;

        EE_Parameter.DynamicStability = 70;

        memcpy(EE_Parameter.Name, "Agile",5);

        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);

}

/***************************************************/

/*    Default Values for parameter set 3           */

/***************************************************/

void ParamSet_DefaultSet3(void) // Easy

{

        CommonDefaults();

        EE_Parameter.Stick_P = 6;                // Wert : 1-20

        EE_Parameter.Stick_D = 10;               // Wert : 0-20

        EE_Parameter.StickGier_P  = 4;           // Wert : 1-20

        EE_Parameter.Gyro_P = 100;               // Wert : 0-247

        EE_Parameter.Gyro_I = 120;               // Wert : 0-247

        EE_Parameter.Gyro_Gier_P = 100;          // Wert : 0-247

        EE_Parameter.Gyro_Gier_I = 120;          // Wert : 0-247

        EE_Parameter.Gyro_Stability = 6;              // Wert : 1-8

        EE_Parameter.I_Faktor = 16;

        EE_Parameter.CouplingYawCorrection = 70;

        EE_Parameter.DynamicStability = 70;

        memcpy(EE_Parameter.Name, "Easy", 4);

        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);

}

/***************************************************/

/*       Read Parameter from EEPROM as byte        */

/***************************************************/

uint8_t GetParamByte(uint16_t param_id)

{

        return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id));

}

/***************************************************/

/*       Write Parameter to EEPROM as byte         */

/***************************************************/

void SetParamByte(uint16_t param_id, uint8_t value)

{

        eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value);

}

/***************************************************/

/*       Read Parameter from EEPROM as word        */

/***************************************************/

uint16_t GetParamWord(uint16_t param_id)

{

        return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id));

}

/***************************************************/

/*       Write Parameter to EEPROM as word         */

/***************************************************/

void SetParamWord(uint16_t param_id, uint16_t value)

{

        eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value);

}

/***************************************************/

/*       Read Parameter Set from EEPROM            */

/***************************************************/

// number [1..5]

uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber)

{

        uint8_t crc, rev;

        uint16_t eeaddr;

        // range the setnumber

        if((1 > setnumber) || (setnumber > 5)) setnumber = 3;

        // calculate eeprom addr

        eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1);

        // calculate checksum from eeprom

        crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1);

        // check crc

        if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0;

        // check revision

        rev = eeprom_read_byte((uint8_t*)(eeaddr));

        if(rev != EEPARAM_REVISION)

        {

          if(rev < 108) return(0); // since 2.13 (02.2016), the eeprom parameters are backwards compatible

        }

        // read paramset from eeprom

        eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN);

    if(EE_Parameter.Revision != EEPARAM_REVISION)  // just in case we have a newer version now

         {

                InsertDefaultParameters(EE_Parameter.Revision);

         }

        LED_Init();

    InitSerialPoti();

#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))

        LIBFC_HoTT_Clear();

#endif

        if(EE_Parameter.LandingPulse < 760 / 4) EE_Parameter.LandingPulse = 0;

        NC_RequestsConfig = 1;

        return 1;

}

/***************************************************/

/*        Write Parameter Set to EEPROM            */

/***************************************************/

// number [1..5]

uint8_t ParamSet_WriteToEEProm(uint8_t setnumber)

{

        uint8_t crc;

        if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom

        {

                if(setnumber > 5) setnumber = 5;

                if(setnumber < 1) return 0;

        LIBFC_CheckSettings();

                if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE)         // check the Setting: Not more than 100% emergency gas

                        {

                         if(EE_Parameter.NotGas > 99) EE_Parameter.NotGas = 80; // i.e. 80% of Hovergas

                        }

                // update checksum

                EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);

                // write paramset to eeprom

                eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN);

                // backup channel settings to separate block in eeprom

                eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));

                // write crc of channel block to eeprom

                crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung));

                eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc);

                // update active settings number

                SetActiveParamSet(setnumber);

                NC_RequestsConfig = 1;

                LED_Init();

#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))

                LIBFC_HoTT_Clear();

#endif

                return 1;

        }

        // wrong revision

        return 0;

}

/***************************************************/

/*          Read MixerTable from EEPROM            */

/***************************************************/

uint8_t MixerTable_ReadFromEEProm(void)

{

        uint8_t crc;

        // calculate checksum in eeprom

        crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1);

        // check crc

        if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0;

        // check revision

        if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0;

        // read mixer table

        eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer));

        return 1;

}

/***************************************************/

/*          Write Mixer Table to EEPROM            */

/***************************************************/

uint8_t MixerTable_WriteToEEProm(void)

{

        if(Mixer.Revision == EEMIXER_REVISION)

        {

                // update crc

                Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1);

                // write to eeprom

                eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer));

                return 1;

        }

        else return 0;

}

/***************************************************/

/*    Default Values for Mixer Table               */

/***************************************************/

void MixerTable_Default(void) // Quadro

{

        uint8_t i;

        Mixer.Revision = EEMIXER_REVISION;

        // clear mixer table

        for(i = 0; i < 16; i++)

        {

                Mixer.Motor[i][MIX_GAS]  = 0;

                Mixer.Motor[i][MIX_NICK] = 0;

                Mixer.Motor[i][MIX_ROLL] = 0;

                Mixer.Motor[i][MIX_YAW]  = 0;

        }

        // default = Quadro

        Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] =   0; Mixer.Motor[0][MIX_YAW] = +64;

        Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] =   0; Mixer.Motor[1][MIX_YAW] = +64;

        Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] =   0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64;

        Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] =   0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64;

        memcpy(Mixer.Name, "Quadro\0\0\0\0\0\0", 12);

        Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1);

}

/***************************************************/

/*       Get active parameter set                  */

/***************************************************/

uint8_t GetActiveParamSet(void)

{

        uint8_t setnumber;

        setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET));

        if(setnumber > 5)

        {

                setnumber = 3;

                eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber);

        }

        ActiveParamSet = setnumber;

        return(setnumber);

}

/***************************************************/

/*       Set active parameter set                  */

/***************************************************/

void SetActiveParamSet(uint8_t setnumber)

{

        if(setnumber > 5) setnumber = 5;

        if(setnumber < 1) setnumber = 1;

        ActiveParamSet = setnumber;

        eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber);

}

/***************************************************/

/*       Set default parameter set                 */

/***************************************************/

void SetDefaultParameter(uint8_t set, uint8_t restore_channels)

{

        if(set > 5) set = 5;

        else if(set < 1) set = 1;

        switch(set)

        {

                case 1:

                        ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport)

                        break;

                case 2:

                        ParamSet_DefaultSet2(); // Kamera

                        break;

                case 3:

                        ParamSet_DefaultSet3(); // Beginner

                        break;

                default:

                        ParamSet_DefaultSet3(); // Beginner

                        break;

        }

        if(restore_channels)

        {

                uint8_t crc;

                // 1st check for a valid channel backup in eeprom

                crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung));

                if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) )

                {

                        eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));

                }

                else ParamSet_DefaultStickMapping();

        }

        else ParamSet_DefaultStickMapping();

        ParamSet_WriteToEEProm(set);

}

/***************************************************/

/*       Initialize EEPROM Parameter Sets          */

/***************************************************/

void ParamSet_Init(void)

{

unsigned char rev_old;

        uint8_t channel_backup  = 0, bad_params = 0, ee_default = 0,i;

#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))

        if(PlatinenVersion != GetParamByte(PID_HARDWARE_VERSION))

         {

          printf("\r\n--> Hardware Version Byte Changed <--");

          J4High;  // switch pullup high

          printf("\r\nRestart...");

          if(PlatinenVersion == 22 && GetParamByte(PID_HARDWARE_VERSION) == 21 && !(PIND & 0x10)) SetParamByte(PID_EE_REVISION,0); // reset the Settings if the Version changed to V2.2

          SetParamByte(PID_HARDWARE_VERSION,PlatinenVersion); // Remember the Version number

          wdt_enable(WDTO_15MS); // Reset-Commando

          while(1);

         }

#endif

        rev_old = GetParamByte(PID_EE_REVISION);

        if((EEPARAM_REVISION) != rev_old)  

        {

                printf("\r\n-->Parameter changed (old:%d new:%d)", rev_old, EEPARAM_REVISION);         

                if((EEPARAM_REVISION < rev_old) && // we have a downgrade -> check if eeprom reset is nessecary

                   (GetParamByte(PID_EE_REVISION_BACK) != EE_BACKWARD_COMP))

                    {

                          printf(" backwards");        

                          ee_default = 1;

                        }

        if(rev_old < 108) ee_default = 1; // we added forward cpmatiblity since rev 108 (2.14 - feb. 2016)

                if(!ee_default)

                {

                 printf("--> but compatible");         

                 SetParamByte(PID_EE_REVISION, EEPARAM_REVISION);

                }

        }

        // 1st check for a valid channel backup in eeprom

        i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung));

        if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)))) channel_backup = 1;

        // parameter check

        // check all 5 parameter settings

        for (i = 1;i < 6; i++)

        {

                if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom

                {

                        bad_params = 1;

                        printf("\r\nGenerating default Parameter Set %d",i);

                        switch(i)

                        {

                                case 1:

                                        ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport)

                                        break;

                                case 2:

                                        ParamSet_DefaultSet2(); // Normal

                                        break;

                                default:

                                        ParamSet_DefaultSet3(); // Easy

                                        break;

                        }

                        if(channel_backup) // if we have an channel mapping backup in eeprom

                        {       // restore it from eeprom

                                eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));

                        }

                        else

                        {       // use default mapping

                                ParamSet_DefaultStickMapping();

                        }

                        ParamSet_WriteToEEProm(i);

                }

        }

        if(bad_params) // at least one of the parameter settings were invalid

        {

                // default-Setting is parameter set 3

                SetActiveParamSet(3);

        }

        // read active parameter set to ParamSet stucture

        i = GetActiveParamSet();

        ParamSet_ReadFromEEProm(i);

        printf("\r\nUsing Parameter Set %d", i);

        // load mixer table

        if(GetParamByte(PID_EE_REVISION) == 0xff || !MixerTable_ReadFromEEProm() )

        {

                printf("\r\nGenerating default Mixer Table");

                MixerTable_Default(); // Quadro