Subversion Repositories FlightCtrl

#ifndef _EEPROM_H

#define _EEPROM_H

#include <inttypes.h>

#include "twimaster.h"

#define EEPARAM_REVISION        113 // -> InsertDefaultParameters()

#define EEMIXER_REVISION        1       // is count up, if mixer stucture has changed (compatibility)

#define EE_BACKWARD_COMP        1   // count up if the eepropm parameters are not backwards compatible

#define EEPROM_ADR_PARAM_BEGIN          0

#define EE_DUMMY                                        0 // Byte

#define PID_EE_REVISION                 1 // byte

#define PID_ACTIVE_SET                  2 // byte

#define PID_PRESSURE_OFFSET             3 // byte

#define PID_ACC_NICK                    4 // word

#define PID_ACC_ROLL                    6 // word

#define PID_ACC_TOP                     8 // word

#define PID_FLIGHT_MINUTES_TOTAL        10 // word

#define PID_FLIGHT_MINUTES                      14 // word

#define PID_SPEAK_HOTT_CFG                      16 // Byte

#define PID_HARDWARE_VERSION            17 // Byte

#define PID_GYRO_NICK                   18 // word

#define PID_GYRO_ROLL                   20 // word

#define PID_GYRO_YAW                    22 // word

#define PID_EE_REVISION_BACK            24 // Byte   -> backward compatiblity: if firmware is downgraded form higher version

#define EE_LAST_GYRO_NICK               26 // word

#define EE_LAST_GYRO_ROLL               28 // word

#define EE_LAST_GYRO_YAW                30 // word

#define EE_BAUDRATE                                     32 // Byte

#define EE_BAUDRATE_CRC                         33 // Byte

#define EEPROM_ADR_CHANNELS                     80      // 80 - 93, 12 bytes + 1 byte crc

#define EEPROM_ADR_PARAMSET                     100 // 100 - 995, 5 * 179 bytes (V2.14)

#define EEPROM_ADR_MIXERTABLE           1000 // 1000 - 1078, 78 bytes

//#define EEPROM_ADR_BLCONFIG                   1200 // 1200 - 1296, 12 * 8 bytes

// Hinweis: der MEGA644 hat 2k und der MEGA1284 hat 4k

#define MIX_GAS         0

#define MIX_NICK        1

#define MIX_ROLL        2

#define MIX_YAW         3

typedef struct

{

        uint8_t Revision;

    int8_t Name[12];

    int8_t Motor[16][4];

    uint8_t crc;

} __attribute__((packed)) MixerTable_t;

extern MixerTable_t Mixer;

extern uint8_t RequiredMotors;

// EE_Parameter.GlobalConfig3

#define CFG3_NO_SDCARD_NO_START  0x01

#define CFG3_RISE_FIRST_WAYPOINT 0x02

#define CFG3_VARIO_FAILSAFE      0x04

#define CFG3_MOTOR_SWITCH_MODE   0x08

#define CFG3_NO_GPSFIX_NO_START  0x10

#define CFG3_USE_NC_FOR_OUT1     0x20

#define CFG3_SPEAK_ALL           0x40

#define CFG3_SERVO_NICK_COMP_OFF 0x80

// EE_Parameter.GlobalConfig

#define CFG_HOEHENREGELUNG       0x01

#define CFG_HOEHEN_SCHALTER      0x02

#define CFG_HEADING_HOLD         0x04

#define CFG_KOMPASS_AKTIV        0x08

#define CFG_KOMPASS_FIX          0x10

#define CFG_GPS_AKTIV            0x20

#define CFG_LAND_OUTSIDE_FLYZONE 0x40

#define CFG_DREHRATEN_BEGRENZER  0x80

// EE_Parameter.BitConfig

#define CFG_LOOP_OBEN            0x01

#define CFG_LOOP_UNTEN           0x02

#define CFG_LOOP_LINKS           0x04

#define CFG_LOOP_RECHTS          0x08

#define CFG_MOTOR_BLINK1         0x10

#define CFG_MOTOR_OFF_LED1       0x20

#define CFG_MOTOR_OFF_LED2       0x40

#define CFG_MOTOR_BLINK2         0x80

// EE_Parameter.ExtraConfig

#define CFG2_HEIGHT_LIMIT                       0x01

#define CFG2_VARIO_BEEP                         0x02

#define CFG_FLYZONE_REQUIRED                0x04

#define CFG_3_3V_REFERENCE                  0x08

#define CFG_NO_RCOFF_BEEPING                    0x10

#define CFG_GPS_AID                             0x20

#define CFG_LEARNABLE_CAREFREE                  0x40

#define CFG_IGNORE_MAG_ERR_AT_STARTUP   0x80

// bitcoding for EE_Parameter.ServoCompInvert

#define SERVO_NICK_INV 0x01

#define SERVO_ROLL_INV 0x02

#define SERVO_RELATIVE 0x04   //  direct poti control or relative moving of the servo value

#define CH_DIRECTION_1 0x08

#define CH_DIRECTION_2 0x10

//CH Orientation     ServoBits          0x08    0x10

// --> no change                        0       0

// --> front to starting point          0       1

// --> rear to to starting point        1       0

//-> start orientation                  1       1

// defines for the receiver selection

#define RECEIVER_PPM                            0

#define RECEIVER_SPEKTRUM                       1

#define RECEIVER_SPEKTRUM_HI_RES        2

#define RECEIVER_SPEKTRUM_LOW_RES       3

#define RECEIVER_JETI                           4

#define RECEIVER_ACT_DSL                        5

#define RECEIVER_HOTT                           6

#define RECEIVER_SBUS                           7

#define RECEIVER_MLINK                          8

#define RECEIVER_USER                           9

#define RECEIVER_UNKNOWN                        0xFF

// defines for lookup ParamSet.ChannelAssignment

#define K_NICK    0

#define K_ROLL    1

#define K_GAS     2

#define K_GIER    3

#define K_POTI1   4

#define K_POTI2   5

#define K_POTI3   6

#define K_POTI4   7

#define K_POTI5   8

#define K_POTI6   9

#define K_POTI7   10

#define K_POTI8   11

// values above 247 representing poti1 to poti8

// poti1 = 255

// poti2 = 254

// poti3 = 253

// poti4 = 252

// poti5 = 251

// poti6 = 250

// poti7 = 249

// poti8 = 248

typedef struct

{

        unsigned char Revision;

        unsigned char Kanalbelegung[12];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3

        unsigned char GlobalConfig;           // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv

        unsigned char Hoehe_MinGas;           // Wert : 0-100

        unsigned char Luftdruck_D;            // Wert : 0-250

        unsigned char HoeheChannel;           // Wert : 0-32

        unsigned char Hoehe_P;                // Wert : 0-32

        unsigned char Hoehe_Verstaerkung;     // Wert : 0-50

        unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250

        unsigned char Hoehe_HoverBand;        // Wert : 0-250

        unsigned char Hoehe_TiltCompensation; // Wert : 0-250

        unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250

        unsigned char Stick_P;                // Wert : 1-6

        unsigned char Stick_D;                // Wert : 0-64

        unsigned char StickGier_P;            // Wert : 1-20

        unsigned char Gas_Min;                // Wert : 0-32

        unsigned char Gas_Max;                // Wert : 33-250

        unsigned char GyroAccFaktor;          // Wert : 1-64

        unsigned char KompassWirkung;         // Wert : 0-32

        unsigned char Gyro_P;                 // Wert : 10-250

        unsigned char Gyro_I;                 // Wert : 0-250

        unsigned char Gyro_D;                 // Wert : 0-250

        unsigned char Gyro_Gier_P;            // Wert : 10-250

        unsigned char Gyro_Gier_I;            // Wert : 0-250

        unsigned char Gyro_Stability;         // Wert : 0-16

        unsigned char UnterspannungsWarnung;  // Wert : 0-250

        unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust

        unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen

        unsigned char Receiver;                   // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D

        unsigned char I_Faktor;               // Wert : 0-250

        unsigned char UserParam1;             // Wert : 0-250

        unsigned char UserParam2;             // Wert : 0-250

        unsigned char UserParam3;             // Wert : 0-250

        unsigned char UserParam4;             // Wert : 0-250

        unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos

        unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo

        unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag

        unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag

        //--- Seit V0.75

        unsigned char ServoRollControl;       // Wert : 0-250     // Stellung des Servos

        unsigned char ServoRollComp;          // Wert : 0-250

        unsigned char ServoRollMin;           // Wert : 0-250

        unsigned char ServoRollMax;           // Wert : 0-250

        //---

        unsigned char ServoNickRefresh;       // Speed of the Servo

    unsigned char ServoManualControlSpeed;//

    unsigned char CamOrientation;         //

        unsigned char Servo3;                    // Value or mapping of the Servo Output

        unsigned char Servo4;                            // Value or mapping of the Servo Output

        unsigned char Servo5;                            // Value or mapping of the Servo Output

        unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping

        unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag

        unsigned char LoopHysterese;          // Wert: 0-250  Hysterese für Stickausschlag

        unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)

        unsigned char AchsKopplung2;          // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden

        unsigned char CouplingYawCorrection;  // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden

        unsigned char WinkelUmschlagNick;     // Wert: 0-250  180°-Punkt

        unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180°-Punkt

        unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)

        unsigned char Driftkomp;

        unsigned char DynamicStability;

        unsigned char UserParam5;             // Wert : 0-250

        unsigned char UserParam6;             // Wert : 0-250

        unsigned char UserParam7;             // Wert : 0-250

        unsigned char UserParam8;             // Wert : 0-250

        //---Output ---------------------------------------------

        unsigned char J16Bitmask;             // for the J16 Output

        unsigned char J16Timing;              // for the J16 Output

        unsigned char J17Bitmask;             // for the J17 Output

        unsigned char J17Timing;              // for the J17 Output

        // seit version V0.75c

        unsigned char WARN_J16_Bitmask;       // for the J16 Output

        unsigned char WARN_J17_Bitmask;       // for the J17 Output

        //---NaviCtrl---------------------------------------------

        unsigned char AutoPhotoDistance;      // Auto Photo

        unsigned char NaviGpsModeChannel;     // Parameters for the Naviboard

        unsigned char NaviGpsGain;

        unsigned char NaviGpsP;

        unsigned char NaviGpsI;

        unsigned char NaviGpsD;

        unsigned char NaviGpsPLimit;

        unsigned char NaviGpsILimit;

        unsigned char NaviGpsDLimit;

        unsigned char NaviGpsA;

        unsigned char NaviGpsMinSat;

        unsigned char NaviStickThreshold;

        unsigned char NaviWindCorrection;

        unsigned char NaviAccCompensation;    // New since 0.86 -> was: SpeedCompensation

        unsigned char NaviMaxFlyingRange;     // in 10m

        unsigned char NaviAngleLimitation;

        unsigned char NaviPH_LoginTime;

        unsigned char NaviDescendRange;

        //---Ext.Ctrl---------------------------------------------

        unsigned char ExternalControl;         // for serial Control

        //---CareFree---------------------------------------------

        unsigned char OrientationAngle;        // Where is the front-direction?

        unsigned char CareFreeChannel;     // switch for CareFree

    unsigned char MotorSafetySwitch;

    unsigned char MotorSmooth;

    unsigned char ComingHomeAltitude;

    unsigned char FailSafeTime;

    unsigned char MaxAltitude;

        unsigned char FailsafeChannel;         // if the value of this channel is > 100, the MK reports "RC-Lost"

        unsigned char ServoFilterNick;  

        unsigned char ServoFilterRoll;  

    unsigned char Servo3OnValue;

    unsigned char Servo3OffValue;

    unsigned char Servo4OnValue;

    unsigned char Servo4OffValue;

        unsigned char ServoFS_Pos[5];

        unsigned char StartLandChannel;  

        unsigned char LandingSpeed;  

        unsigned char CompassOffset;        

        unsigned char AutoLandingVoltage;    // in 0,1V  0 -> disabled

        unsigned char ComingHomeVoltage;    // in 0,1V  0 -> disabled

        unsigned char AutoPhotoAtitudes;

        unsigned char SingleWpSpeed;

        unsigned char LandingPulse;

        unsigned char SingleWpControlChannel;

        unsigned char MenuKeyChannel;

    unsigned char CamCtrlModeChannel;

    unsigned char CamCtrlZoomChannel;  

    unsigned char FailsSafeAltitude;

    unsigned char GimbalYawChannel;

    unsigned char GimbalOut1Channel;

    unsigned char GimbalOut2Channel;

        unsigned char reserved[28];       // for later use

        //------------------------------------------------

        unsigned char BitConfig;          // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt

        unsigned char ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen

        unsigned char ExtraConfig;        // bitcodiert

        unsigned char GlobalConfig3;      // bitcodiert

        char Name[12];

        unsigned char crc;                                // must be the last byte!

} paramset_t;      // since 2.14 -> size is always 179 Bytes

// -> if changed: update NC-Data structure also <-

#define  PARAMSET_STRUCT_LEN  sizeof(paramset_t)

extern paramset_t EE_Parameter;

extern uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len);

extern void ParamSet_Init(void);

extern void SetDefaultParameter(uint8_t set, uint8_t restore_channels);

extern uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber);

extern uint8_t ParamSet_WriteToEEProm(uint8_t setnumber);

extern uint8_t GetActiveParamSet(void);

extern void SetActiveParamSet(uint8_t setnumber);

extern uint8_t MixerTable_ReadFromEEProm(void);

extern uint8_t MixerTable_WriteToEEProm(void);

extern uint8_t GetParamByte(uint16_t param_id);

extern void SetParamByte(uint16_t param_id, uint8_t value);

extern uint16_t GetParamWord(uint16_t param_id);

extern void SetParamWord(uint16_t param_id, uint16_t value);

#endif //_EEPROM_H