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| Rev | Author | Line No. | Line |
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| 1622 | killagreg | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) Holger Buss, Ingo Busker |
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| 3 | // + Nur für den privaten Gebrauch |
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| 4 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
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| 5 | // + www.MikroKopter.com |
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| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 7 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 8 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 9 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 10 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 11 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 12 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 14 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 15 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 17 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 18 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 19 | // + eindeutig als Ursprung verlinkt werden |
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| 20 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 21 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 22 | // + Benutzung auf eigene Gefahr |
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| 23 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 24 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 25 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 26 | // + mit unserer Zustimmung zulässig |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 28 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 30 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 31 | // + this list of conditions and the following disclaimer. |
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| 32 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 33 | // + from this software without specific prior written permission. |
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| 34 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| 35 | // + for non-commercial use (directly or indirectly) |
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| 36 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 37 | // + with our written permission |
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| 38 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 39 | // + clearly linked as origin |
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| 40 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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| 41 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 42 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 43 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 44 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 45 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 46 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 47 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 48 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 50 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 52 | |||
| 395 | hbuss | 53 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1622 | killagreg | 54 | // + Contant Values |
| 55 | // + 0-250 -> normale Values |
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| 56 | // + 251 -> Poti1 |
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| 57 | // + 252 -> Poti2 |
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| 395 | hbuss | 58 | // + 253 -> Poti3 |
| 1622 | killagreg | 59 | // + 254 -> Poti4 |
| 395 | hbuss | 60 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1622 | killagreg | 61 | |
| 62 | #ifndef EEMEM |
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| 63 | #define EEMEM __attribute__ ((section (".eeprom"))) |
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| 64 | #endif |
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| 65 | |||
| 66 | |||
| 67 | #include <avr/eeprom.h> |
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| 68 | #include <string.h> |
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| 69 | #include "eeprom.h" |
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| 70 | #include "uart.h" |
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| 71 | #include "led.h" |
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| 72 | #include "main.h" |
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| 73 | #include "fc.h" |
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| 1657 | killagreg | 74 | #include "twimaster.h" |
| 1622 | killagreg | 75 | |
| 76 | paramset_t EE_Parameter; |
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| 77 | MixerTable_t Mixer; |
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| 1654 | killagreg | 78 | uint8_t RequiredMotors; |
| 1657 | killagreg | 79 | BLConfig_t BLConfig[MAX_MOTORS]; |
| 1622 | killagreg | 80 | |
| 81 | |||
| 82 | uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len) |
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| 395 | hbuss | 83 | { |
| 1622 | killagreg | 84 | uint8_t crc = 0xAA; |
| 85 | uint16_t i; |
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| 86 | |||
| 87 | for(i=0; i<len; i++) |
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| 88 | { |
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| 89 | crc += pBuffer[i]; |
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| 90 | } |
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| 91 | return crc; |
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| 993 | hbuss | 92 | } |
| 93 | |||
| 1622 | killagreg | 94 | uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len) |
| 993 | hbuss | 95 | { |
| 1622 | killagreg | 96 | uint8_t crc = 0xAA; |
| 97 | uint16_t off; |
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| 98 | |||
| 99 | for(off=0; off<len; off++) |
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| 100 | { |
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| 101 | crc += eeprom_read_byte((uint8_t*)(EEAddr + off));; |
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| 102 | } |
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| 103 | return crc; |
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| 395 | hbuss | 104 | } |
| 1622 | killagreg | 105 | |
| 106 | void ParamSet_DefaultStickMapping(void) |
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| 395 | hbuss | 107 | { |
| 1622 | killagreg | 108 | EE_Parameter.Kanalbelegung[K_GAS] = 1; |
| 109 | EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
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| 110 | EE_Parameter.Kanalbelegung[K_NICK] = 3; |
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| 111 | EE_Parameter.Kanalbelegung[K_GIER] = 4; |
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| 112 | EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
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| 113 | EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
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| 114 | EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
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| 115 | EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
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| 116 | EE_Parameter.Kanalbelegung[K_POTI5] = 9; |
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| 117 | EE_Parameter.Kanalbelegung[K_POTI6] = 10; |
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| 118 | EE_Parameter.Kanalbelegung[K_POTI7] = 11; |
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| 119 | EE_Parameter.Kanalbelegung[K_POTI8] = 12; |
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| 395 | hbuss | 120 | } |
| 121 | |||
| 1622 | killagreg | 122 | |
| 123 | /***************************************************/ |
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| 124 | /* Default Values for parameter set 1 */ |
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| 125 | /***************************************************/ |
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| 126 | void ParamSet_DefaultSet1(void) // sport |
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| 395 | hbuss | 127 | { |
| 1622 | killagreg | 128 | EE_Parameter.Revision = EEPARAM_REVISION; |
| 129 | |||
| 130 | if(PlatinenVersion >= 20) |
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| 131 | { |
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| 132 | EE_Parameter.Gyro_D = 5; |
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| 133 | EE_Parameter.Driftkomp = 0; |
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| 134 | EE_Parameter.GyroAccFaktor = 27; |
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| 135 | EE_Parameter.WinkelUmschlagNick = 78; |
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| 136 | EE_Parameter.WinkelUmschlagRoll = 78; |
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| 137 | } |
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| 138 | else |
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| 139 | { |
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| 140 | EE_Parameter.Gyro_D = 3; |
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| 141 | EE_Parameter.Driftkomp = 32; |
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| 142 | EE_Parameter.GyroAccFaktor = 30; |
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| 143 | EE_Parameter.WinkelUmschlagNick = 85; |
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| 144 | EE_Parameter.WinkelUmschlagRoll = 85; |
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| 145 | } |
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| 146 | EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
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| 147 | EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT;// | CFG2_VARIO_BEEP | CFG_SENSITIVE_RC |
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| 148 | EE_Parameter.Hoehe_MinGas = 30; |
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| 149 | EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
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| 150 | EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
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| 151 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
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| 152 | EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-247 |
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| 153 | EE_Parameter.Hoehe_HoverBand = 5; // Wert : 0-247 |
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| 154 | EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
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| 155 | EE_Parameter.Hoehe_StickNeutralPoint = 0; // Wert : 0-247 (0 = Hover-Estimation) |
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| 156 | EE_Parameter.Hoehe_Verstaerkung = 20; // Wert : 0-50 |
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| 157 | EE_Parameter.Stick_P = 14; // Wert : 1-6 |
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| 158 | EE_Parameter.Stick_D = 16; // Wert : 0-64 |
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| 159 | EE_Parameter.Gier_P = 12; // Wert : 1-20 |
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| 160 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
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| 161 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
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| 162 | EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
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| 163 | EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
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| 164 | EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
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| 165 | EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
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| 166 | EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
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| 167 | EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
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| 168 | EE_Parameter.NotGas = 35; // Wert : 0-247 // Gaswert bei Empangsverlust |
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| 1652 | holgerb | 169 | EE_Parameter.NotGasZeit = 60; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| 1622 | killagreg | 170 | EE_Parameter.I_Faktor = 32; |
| 171 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
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| 172 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
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| 173 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
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| 174 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
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| 175 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
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| 176 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
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| 177 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
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| 178 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
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| 179 | EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos |
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| 180 | EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
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| 181 | EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
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| 182 | EE_Parameter.ServoNickMin = 0; // Wert : 0-247 // Anschlag |
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| 183 | EE_Parameter.ServoNickMax = 247; // Wert : 0-247 // Anschlag |
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| 184 | EE_Parameter.ServoNickRefresh = 6; |
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| 185 | EE_Parameter.Servo3 = 125; |
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| 186 | EE_Parameter.Servo4 = 125; |
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| 187 | EE_Parameter.Servo5 = 125; |
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| 188 | EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos |
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| 189 | EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
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| 190 | EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
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| 191 | EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
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| 192 | EE_Parameter.LoopGasLimit = 50; |
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| 193 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
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| 194 | EE_Parameter.LoopHysterese = 50; |
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| 195 | EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
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| 196 | EE_Parameter.AchsKopplung1 = 90; |
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| 197 | EE_Parameter.AchsKopplung2 = 80; |
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| 198 | EE_Parameter.CouplingYawCorrection = 1; |
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| 199 | EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
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| 200 | EE_Parameter.DynamicStability = 100; |
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| 201 | EE_Parameter.J16Bitmask = 95; |
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| 202 | EE_Parameter.J17Bitmask = 243; |
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| 203 | EE_Parameter.WARN_J16_Bitmask = 0xAA; |
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| 204 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
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| 205 | EE_Parameter.J16Timing = 15; |
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| 206 | EE_Parameter.J17Timing = 15; |
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| 207 | EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
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| 208 | EE_Parameter.NaviGpsGain = 100; |
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| 209 | EE_Parameter.NaviGpsP = 90; |
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| 210 | EE_Parameter.NaviGpsI = 90; |
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| 211 | EE_Parameter.NaviGpsD = 90; |
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| 212 | EE_Parameter.NaviGpsPLimit = 75; |
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| 213 | EE_Parameter.NaviGpsILimit = 75; |
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| 214 | EE_Parameter.NaviGpsDLimit = 75; |
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| 215 | EE_Parameter.NaviGpsACC = 0; |
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| 216 | EE_Parameter.NaviGpsMinSat = 6; |
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| 217 | EE_Parameter.NaviStickThreshold = 8; |
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| 218 | EE_Parameter.NaviWindCorrection = 90; |
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| 219 | EE_Parameter.NaviSpeedCompensation = 30; |
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| 220 | EE_Parameter.NaviOperatingRadius = 100; |
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| 221 | EE_Parameter.NaviAngleLimitation = 100; |
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| 222 | EE_Parameter.NaviPH_LoginTime = 4; |
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| 223 | EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
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| 224 | memcpy(EE_Parameter.Name, "Sport\0", 12); |
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| 225 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
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| 395 | hbuss | 226 | } |
| 1622 | killagreg | 227 | |
| 228 | |||
| 229 | /***************************************************/ |
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| 230 | /* Default Values for parameter set 2 */ |
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| 231 | /***************************************************/ |
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| 232 | void ParamSet_DefaultSet2(void) // normal |
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| 233 | { |
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| 234 | EE_Parameter.Revision = EEPARAM_REVISION; |
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| 235 | |||
| 236 | if(PlatinenVersion >= 20) |
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| 237 | { |
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| 238 | EE_Parameter.Gyro_D = 5; |
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| 239 | EE_Parameter.Driftkomp = 0; |
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| 240 | EE_Parameter.GyroAccFaktor = 27; |
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| 241 | EE_Parameter.WinkelUmschlagNick = 78; |
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| 242 | EE_Parameter.WinkelUmschlagRoll = 78; |
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| 243 | } |
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| 244 | else |
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| 245 | { |
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| 246 | EE_Parameter.Gyro_D = 3; |
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| 247 | EE_Parameter.Driftkomp = 32; |
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| 248 | EE_Parameter.GyroAccFaktor = 30; |
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| 249 | EE_Parameter.WinkelUmschlagNick = 85; |
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| 250 | EE_Parameter.WinkelUmschlagRoll = 85; |
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| 251 | } |
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| 252 | EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
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| 253 | EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT;// | CFG2_VARIO_BEEP | CFG_SENSITIVE_RC |
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| 254 | EE_Parameter.Hoehe_MinGas = 30; |
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| 255 | EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
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| 256 | EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
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| 257 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
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| 258 | EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-247 |
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| 259 | EE_Parameter.Hoehe_HoverBand = 5; // Wert : 0-247 |
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| 260 | EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
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| 261 | EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
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| 262 | EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 |
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| 263 | EE_Parameter.Stick_P = 10; // Wert : 1-6 |
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| 264 | EE_Parameter.Stick_D = 16; // Wert : 0-64 |
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| 265 | EE_Parameter.Gier_P = 6; // Wert : 1-20 |
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| 266 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
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| 267 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
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| 268 | EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
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| 269 | EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
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| 270 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
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| 271 | EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
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| 272 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
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| 273 | EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
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| 274 | EE_Parameter.NotGas = 35; // Wert : 0-247 // Gaswert bei Empangsverlust |
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| 1652 | holgerb | 275 | EE_Parameter.NotGasZeit = 60; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| 1622 | killagreg | 276 | EE_Parameter.I_Faktor = 32; |
| 277 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
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| 278 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
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| 279 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
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| 280 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
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| 281 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
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| 282 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
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| 283 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
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| 284 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
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| 285 | EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos |
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| 286 | EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
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| 287 | EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
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| 288 | EE_Parameter.ServoNickMin = 0; // Wert : 0-247 // Anschlag |
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| 289 | EE_Parameter.ServoNickMax = 247; // Wert : 0-247 // Anschlag |
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| 290 | EE_Parameter.ServoNickRefresh = 6; |
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| 291 | EE_Parameter.Servo3 = 125; |
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| 292 | EE_Parameter.Servo4 = 125; |
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| 293 | EE_Parameter.Servo5 = 125; |
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| 294 | EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos |
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| 295 | EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
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| 296 | EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
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| 297 | EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
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| 298 | EE_Parameter.LoopGasLimit = 50; |
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| 299 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
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| 300 | EE_Parameter.LoopHysterese = 50; |
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| 301 | EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
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| 302 | EE_Parameter.AchsKopplung1 = 90; |
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| 303 | EE_Parameter.AchsKopplung2 = 80; |
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| 304 | EE_Parameter.CouplingYawCorrection = 60; |
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| 305 | EE_Parameter.GyroAccAbgleich = 32; // 1/k |
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| 306 | EE_Parameter.DynamicStability = 75; |
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| 307 | EE_Parameter.J16Bitmask = 95; |
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| 308 | EE_Parameter.J17Bitmask = 243; |
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| 309 | EE_Parameter.WARN_J16_Bitmask = 0xAA; |
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| 310 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
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| 311 | EE_Parameter.J16Timing = 20; |
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| 312 | EE_Parameter.J17Timing = 20; |
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| 313 | EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
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| 314 | EE_Parameter.NaviGpsGain = 100; |
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| 315 | EE_Parameter.NaviGpsP = 90; |
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| 316 | EE_Parameter.NaviGpsI = 90; |
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| 317 | EE_Parameter.NaviGpsD = 90; |
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| 318 | EE_Parameter.NaviGpsPLimit = 75; |
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| 319 | EE_Parameter.NaviGpsILimit = 75; |
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| 320 | EE_Parameter.NaviGpsDLimit = 75; |
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| 321 | EE_Parameter.NaviGpsACC = 0; |
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| 322 | EE_Parameter.NaviGpsMinSat = 6; |
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| 323 | EE_Parameter.NaviStickThreshold = 8; |
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| 324 | EE_Parameter.NaviWindCorrection = 90; |
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| 325 | EE_Parameter.NaviSpeedCompensation = 30; |
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| 326 | EE_Parameter.NaviOperatingRadius = 100; |
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| 327 | EE_Parameter.NaviAngleLimitation = 100; |
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| 328 | EE_Parameter.NaviPH_LoginTime = 4; |
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| 329 | EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
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| 330 | memcpy(EE_Parameter.Name, "Normal\0", 12); |
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| 331 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
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| 332 | } |
||
| 333 | |||
| 334 | |||
| 335 | /***************************************************/ |
||
| 336 | /* Default Values for parameter set 3 */ |
||
| 337 | /***************************************************/ |
||
| 338 | void ParamSet_DefaultSet3(void) // beginner |
||
| 339 | { |
||
| 340 | EE_Parameter.Revision = EEPARAM_REVISION; |
||
| 341 | if(PlatinenVersion >= 20) |
||
| 342 | { |
||
| 343 | EE_Parameter.Gyro_D = 5; |
||
| 344 | EE_Parameter.Driftkomp = 0; |
||
| 345 | EE_Parameter.GyroAccFaktor = 27; |
||
| 346 | EE_Parameter.WinkelUmschlagNick = 78; |
||
| 347 | EE_Parameter.WinkelUmschlagRoll = 78; |
||
| 348 | } |
||
| 349 | else |
||
| 350 | { |
||
| 351 | EE_Parameter.Gyro_D = 3; |
||
| 352 | EE_Parameter.Driftkomp = 32; |
||
| 353 | EE_Parameter.GyroAccFaktor = 30; |
||
| 354 | EE_Parameter.WinkelUmschlagNick = 85; |
||
| 355 | EE_Parameter.WinkelUmschlagRoll = 85; |
||
| 356 | } |
||
| 357 | EE_Parameter.GlobalConfig = /*CFG_DREHRATEN_BEGRENZER |*/ CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
||
| 358 | EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT;// | CFG2_VARIO_BEEP | CFG_SENSITIVE_RC |
||
| 359 | EE_Parameter.Hoehe_MinGas = 30; |
||
| 360 | EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
||
| 361 | EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
||
| 362 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
||
| 363 | EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-247 |
||
| 364 | EE_Parameter.Hoehe_HoverBand = 5; // Wert : 0-247 |
||
| 365 | EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
||
| 366 | EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
||
| 367 | EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 |
||
| 368 | EE_Parameter.Stick_P = 8; // Wert : 1-6 |
||
| 369 | EE_Parameter.Stick_D = 16; // Wert : 0-64 |
||
| 370 | EE_Parameter.Gier_P = 6; // Wert : 1-20 |
||
| 371 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
||
| 372 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
||
| 373 | EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
||
| 374 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
||
| 375 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
||
| 376 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
||
| 377 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
||
| 378 | EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
||
| 379 | EE_Parameter.NotGas = 35; // Wert : 0-247 // Gaswert bei Empangsverlust |
||
| 1652 | holgerb | 380 | EE_Parameter.NotGasZeit = 60; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| 1622 | killagreg | 381 | EE_Parameter.I_Faktor = 16; |
| 382 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
||
| 383 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
||
| 384 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
||
| 385 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
||
| 386 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
||
| 387 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
||
| 388 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
||
| 389 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
||
| 390 | EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos |
||
| 391 | EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
||
| 392 | EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
||
| 393 | EE_Parameter.ServoNickMin = 0; // Wert : 0-247 // Anschlag |
||
| 394 | EE_Parameter.ServoNickMax = 247; // Wert : 0-247 // Anschlag |
||
| 395 | EE_Parameter.ServoNickRefresh = 6; |
||
| 396 | EE_Parameter.Servo3 = 125; |
||
| 397 | EE_Parameter.Servo4 = 125; |
||
| 398 | EE_Parameter.Servo5 = 125; |
||
| 399 | EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos |
||
| 400 | EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
||
| 401 | EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
||
| 402 | EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
||
| 403 | EE_Parameter.LoopGasLimit = 50; |
||
| 404 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
||
| 405 | EE_Parameter.LoopHysterese = 50; |
||
| 406 | EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
||
| 407 | EE_Parameter.AchsKopplung1 = 90; |
||
| 408 | EE_Parameter.AchsKopplung2 = 80; |
||
| 409 | EE_Parameter.CouplingYawCorrection = 70; |
||
| 410 | EE_Parameter.GyroAccAbgleich = 32; // 1/k |
||
| 411 | EE_Parameter.DynamicStability = 50; |
||
| 412 | EE_Parameter.J16Bitmask = 95; |
||
| 413 | EE_Parameter.J17Bitmask = 243; |
||
| 414 | EE_Parameter.WARN_J16_Bitmask = 0xAA; |
||
| 415 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
||
| 416 | EE_Parameter.J16Timing = 30; |
||
| 417 | EE_Parameter.J17Timing = 30; |
||
| 418 | EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
||
| 419 | EE_Parameter.NaviGpsGain = 100; |
||
| 420 | EE_Parameter.NaviGpsP = 90; |
||
| 421 | EE_Parameter.NaviGpsI = 90; |
||
| 422 | EE_Parameter.NaviGpsD = 90; |
||
| 423 | EE_Parameter.NaviGpsPLimit = 75; |
||
| 424 | EE_Parameter.NaviGpsILimit = 75; |
||
| 425 | EE_Parameter.NaviGpsDLimit = 75; |
||
| 426 | EE_Parameter.NaviGpsACC = 0; |
||
| 427 | EE_Parameter.NaviGpsMinSat = 6; |
||
| 428 | EE_Parameter.NaviStickThreshold = 8; |
||
| 429 | EE_Parameter.NaviWindCorrection = 90; |
||
| 430 | EE_Parameter.NaviSpeedCompensation = 30; |
||
| 431 | EE_Parameter.NaviOperatingRadius = 100; |
||
| 432 | EE_Parameter.NaviAngleLimitation = 100; |
||
| 433 | EE_Parameter.NaviPH_LoginTime = 4; |
||
| 434 | EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
||
| 435 | memcpy(EE_Parameter.Name, "Beginner\0", 12); |
||
| 436 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
||
| 437 | } |
||
| 438 | |||
| 439 | /***************************************************/ |
||
| 440 | /* Read Parameter from EEPROM as byte */ |
||
| 441 | /***************************************************/ |
||
| 442 | uint8_t GetParamByte(uint16_t param_id) |
||
| 443 | { |
||
| 444 | return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
||
| 445 | } |
||
| 446 | |||
| 447 | /***************************************************/ |
||
| 448 | /* Write Parameter to EEPROM as byte */ |
||
| 449 | /***************************************************/ |
||
| 450 | void SetParamByte(uint16_t param_id, uint8_t value) |
||
| 451 | { |
||
| 452 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
||
| 453 | } |
||
| 454 | |||
| 455 | /***************************************************/ |
||
| 456 | /* Read Parameter from EEPROM as word */ |
||
| 457 | /***************************************************/ |
||
| 458 | uint16_t GetParamWord(uint16_t param_id) |
||
| 459 | { |
||
| 460 | return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
||
| 461 | } |
||
| 462 | |||
| 463 | /***************************************************/ |
||
| 464 | /* Write Parameter to EEPROM as word */ |
||
| 465 | /***************************************************/ |
||
| 466 | void SetParamWord(uint16_t param_id, uint16_t value) |
||
| 467 | { |
||
| 468 | eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
||
| 469 | } |
||
| 470 | |||
| 471 | /***************************************************/ |
||
| 472 | /* Read Parameter Set from EEPROM */ |
||
| 473 | /***************************************************/ |
||
| 474 | // number [1..5] |
||
| 475 | uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
||
| 476 | { |
||
| 477 | uint8_t crc; |
||
| 478 | uint16_t eeaddr; |
||
| 479 | |||
| 480 | // range the setnumber |
||
| 481 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
||
| 482 | |||
| 483 | // calculate eeprom addr |
||
| 484 | eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
||
| 485 | |||
| 486 | // calculate checksum from eeprom |
||
| 487 | crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
||
| 488 | |||
| 489 | // check crc |
||
| 490 | if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
||
| 491 | |||
| 492 | // check revision |
||
| 493 | if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0; |
||
| 494 | |||
| 495 | // read paramset from eeprom |
||
| 496 | eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
||
| 497 | LED_Init(); |
||
| 498 | return 1; |
||
| 499 | } |
||
| 500 | |||
| 501 | /***************************************************/ |
||
| 502 | /* Write Parameter Set to EEPROM */ |
||
| 503 | /***************************************************/ |
||
| 504 | // number [1..5] |
||
| 505 | uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
||
| 506 | { |
||
| 507 | uint8_t crc; |
||
| 508 | |||
| 509 | if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
||
| 510 | { |
||
| 511 | if(setnumber > 5) setnumber = 5; |
||
| 512 | if(setnumber < 1) return 0; |
||
| 513 | |||
| 514 | // update checksum |
||
| 515 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
||
| 516 | |||
| 517 | // write paramset to eeprom |
||
| 518 | eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
||
| 519 | |||
| 520 | // backup channel settings to separate block in eeprom |
||
| 521 | eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
||
| 522 | |||
| 523 | // write crc of channel block to eeprom |
||
| 524 | crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
||
| 525 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
||
| 526 | |||
| 527 | // update active settings number |
||
| 528 | SetActiveParamSet(setnumber); |
||
| 529 | LED_Init(); |
||
| 530 | return 1; |
||
| 531 | } |
||
| 532 | // wrong revision |
||
| 533 | return 0; |
||
| 534 | } |
||
| 535 | |||
| 536 | /***************************************************/ |
||
| 537 | /* Read MixerTable from EEPROM */ |
||
| 538 | /***************************************************/ |
||
| 539 | uint8_t MixerTable_ReadFromEEProm(void) |
||
| 540 | { |
||
| 541 | uint8_t crc; |
||
| 542 | |||
| 543 | // calculate checksum in eeprom |
||
| 544 | crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
||
| 545 | |||
| 546 | // check crc |
||
| 547 | if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
||
| 548 | |||
| 549 | // check revision |
||
| 550 | if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
||
| 551 | |||
| 552 | // read mixer table |
||
| 553 | eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
||
| 554 | return 1; |
||
| 555 | } |
||
| 556 | |||
| 557 | /***************************************************/ |
||
| 558 | /* Write Mixer Table to EEPROM */ |
||
| 559 | /***************************************************/ |
||
| 560 | uint8_t MixerTable_WriteToEEProm(void) |
||
| 561 | { |
||
| 562 | if(Mixer.Revision == EEMIXER_REVISION) |
||
| 563 | { |
||
| 564 | // update crc |
||
| 565 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
||
| 566 | |||
| 567 | // write to eeprom |
||
| 568 | eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
||
| 569 | return 1; |
||
| 570 | } |
||
| 571 | else return 0; |
||
| 572 | } |
||
| 573 | |||
| 574 | /***************************************************/ |
||
| 575 | /* Default Values for Mixer Table */ |
||
| 576 | /***************************************************/ |
||
| 577 | void MixerTable_Default(void) // Quadro |
||
| 578 | { |
||
| 579 | uint8_t i; |
||
| 580 | |||
| 581 | Mixer.Revision = EEMIXER_REVISION; |
||
| 582 | // clear mixer table |
||
| 583 | for(i = 0; i < 16; i++) |
||
| 584 | { |
||
| 585 | Mixer.Motor[i][MIX_GAS] = 0; |
||
| 586 | Mixer.Motor[i][MIX_NICK] = 0; |
||
| 587 | Mixer.Motor[i][MIX_ROLL] = 0; |
||
| 588 | Mixer.Motor[i][MIX_YAW] = 0; |
||
| 589 | } |
||
| 590 | // default = Quadro |
||
| 591 | Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
||
| 592 | Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
||
| 593 | Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
||
| 594 | Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
||
| 595 | memcpy(Mixer.Name, "Quadro\0", 7); |
||
| 596 | Mixer.crc = Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
||
| 597 | } |
||
| 598 | |||
| 599 | |||
| 600 | /***************************************************/ |
||
| 1657 | killagreg | 601 | /* Read BL-Config from EEPROM */ |
| 602 | /***************************************************/ |
||
| 603 | uint8_t BLConfig_ReadFromEEProm(uint8_t index) |
||
| 604 | { |
||
| 605 | uint8_t crc; |
||
| 606 | uint16_t eeadr = EEPROM_ADR_BLCONFIG + (uint16_t)index * sizeof(BLConfig_t); |
||
| 607 | // calculate checksum in eeprom |
||
| 608 | crc = EEProm_Checksum(eeadr, sizeof(BLConfig_t) - 1); |
||
| 609 | |||
| 610 | // check crc |
||
| 611 | if( crc != eeprom_read_byte((uint8_t*)(eeadr + sizeof(BLConfig_t) - 1)) ) return 0; |
||
| 612 | |||
| 613 | // check revision |
||
| 614 | if(eeprom_read_byte((uint8_t*)(eeadr)) != EEBLCONFIG_REVISON) return 0; |
||
| 615 | |||
| 616 | // read mixer BLConfig |
||
| 617 | eeprom_read_block((void *)&(BLConfig[index]), (void*)(eeadr), sizeof(BLConfig_t)); |
||
| 618 | return 1; |
||
| 619 | } |
||
| 620 | |||
| 621 | /***************************************************/ |
||
| 622 | /* Write BL-Config to EEPROM */ |
||
| 623 | /***************************************************/ |
||
| 624 | uint8_t BLConfig_WriteToEEProm(uint8_t index) |
||
| 625 | { |
||
| 626 | uint16_t eeadr = EEPROM_ADR_BLCONFIG + (uint16_t)index * sizeof(BLConfig_t); |
||
| 627 | if(index >= MAX_MOTORS) return 0; |
||
| 628 | if(BLConfig[index].Revision == EEBLCONFIG_REVISON) |
||
| 629 | { |
||
| 630 | // update crc |
||
| 631 | BLConfig[index].crc = RAM_Checksum((uint8_t*)(&(BLConfig[index])), sizeof(BLConfig_t) - 1); |
||
| 632 | |||
| 633 | // write to eeprom |
||
| 634 | eeprom_write_block((void *) &(BLConfig[index]), (void*)(eeadr), sizeof(BLConfig_t)); |
||
| 635 | return 1; |
||
| 636 | } |
||
| 637 | else return 0; |
||
| 638 | } |
||
| 639 | |||
| 640 | /***************************************************/ |
||
| 641 | /* Default BLConfig */ |
||
| 642 | /***************************************************/ |
||
| 643 | void BLConfig_SetDefault(uint8_t index) |
||
| 644 | { |
||
| 645 | if(index < MAX_MOTORS) |
||
| 646 | { |
||
| 647 | BLConfig[index].Revision = EEBLCONFIG_REVISON; // set revision |
||
| 648 | BLConfig[index].SetMask = MASK_SET_PWM_SCALING|MASK_SET_CURRENT_LIMIT|MASK_SET_TEMP_LIMIT|MASK_SET_CURRENT_SCALING|MASK_SET_BITCONFIG; |
||
| 649 | BLConfig[index].PwmScaling = 255; // MaxPWM |
||
| 650 | BLConfig[index].CurrentLimit = 30; // Current Limit in A |
||
| 651 | BLConfig[index].TempLimit = 99; // Temperature Limit in °C |
||
| 652 | BLConfig[index].CurrentScaling = 64; // Current Scaling |
||
| 653 | BLConfig[index].BitConfig = 0; // BitConfig |
||
| 654 | BLConfig[index].crc = RAM_Checksum((uint8_t*)&(BLConfig[index]), sizeof(BLConfig_t) - 1); // update checksum |
||
| 655 | } |
||
| 656 | } |
||
| 657 | |||
| 658 | |||
| 659 | /***************************************************/ |
||
| 1622 | killagreg | 660 | /* Get active parameter set */ |
| 661 | /***************************************************/ |
||
| 662 | uint8_t GetActiveParamSet(void) |
||
| 663 | { |
||
| 664 | uint8_t setnumber; |
||
| 665 | setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
||
| 666 | if(setnumber > 5) |
||
| 667 | { |
||
| 668 | setnumber = 3; |
||
| 669 | eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber); |
||
| 670 | } |
||
| 671 | return(setnumber); |
||
| 672 | } |
||
| 673 | |||
| 674 | /***************************************************/ |
||
| 675 | /* Set active parameter set */ |
||
| 676 | /***************************************************/ |
||
| 677 | void SetActiveParamSet(uint8_t setnumber) |
||
| 678 | { |
||
| 679 | if(setnumber > 5) setnumber = 5; |
||
| 680 | if(setnumber < 1) setnumber = 1; |
||
| 681 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
||
| 682 | } |
||
| 683 | |||
| 684 | /***************************************************/ |
||
| 685 | /* Initialize EEPROM Parameter Sets */ |
||
| 686 | /***************************************************/ |
||
| 687 | void ParamSet_Init(void) |
||
| 688 | { |
||
| 689 | uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
||
| 690 | |||
| 691 | |||
| 692 | if(EEPARAM_REVISION != GetParamByte(PID_EE_REVISION) ) |
||
| 693 | { |
||
| 694 | ee_default = 1; // software update or forced by mktool |
||
| 695 | SetParamByte(PID_EE_REVISION, EEPARAM_REVISION); |
||
| 696 | } |
||
| 697 | |||
| 698 | |||
| 699 | // 1st check for a valid channel backup in eeprom |
||
| 700 | i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
||
| 701 | if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) channel_backup = 1; |
||
| 702 | |||
| 703 | |||
| 704 | // parameter check |
||
| 705 | |||
| 706 | // check all 5 parameter settings |
||
| 707 | for (i = 1;i < 6; i++) |
||
| 708 | { |
||
| 709 | if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
||
| 710 | { |
||
| 711 | bad_params = 1; |
||
| 712 | printf("\n\rGenerating default Parameter Set %d",i); |
||
| 713 | switch(i) |
||
| 714 | { |
||
| 715 | case 1: |
||
| 716 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
||
| 717 | break; |
||
| 718 | case 2: |
||
| 719 | ParamSet_DefaultSet2(); // Kamera |
||
| 720 | break; |
||
| 721 | case 3: |
||
| 722 | ParamSet_DefaultSet3(); // Beginner |
||
| 723 | break; |
||
| 724 | default: |
||
| 725 | ParamSet_DefaultSet2(); // Kamera |
||
| 726 | break; |
||
| 727 | } |
||
| 728 | if(channel_backup) // if we have an channel mapping backup in eeprom |
||
| 729 | { // restore it from eeprom |
||
| 730 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
||
| 731 | } |
||
| 732 | else |
||
| 733 | { // use default mapping |
||
| 734 | ParamSet_DefaultStickMapping(); |
||
| 735 | } |
||
| 736 | ParamSet_WriteToEEProm(i); |
||
| 737 | } |
||
| 738 | } |
||
| 739 | if(bad_params) // at least one of the parameter settings were invalid |
||
| 740 | { |
||
| 741 | // default-Setting is parameter set 3 |
||
| 742 | SetActiveParamSet(3); |
||
| 743 | } |
||
| 744 | |||
| 745 | |||
| 746 | // read active parameter set to ParamSet stucture |
||
| 747 | i = GetActiveParamSet(); |
||
| 748 | ParamSet_ReadFromEEProm(i); |
||
| 749 | printf("\n\rUsing Parameter Set %d", i); |
||
| 750 | |||
| 1657 | killagreg | 751 | // load all BLConfig's |
| 752 | for(i=0; i<MAX_MOTORS; i++) |
||
| 753 | { |
||
| 754 | if(ee_default || !BLConfig_ReadFromEEProm(i)) // could not read BLConfig from eeprom |
||
| 755 | { |
||
| 756 | printf("\n\rGenerating default BL-Config for motor %d", i+1); |
||
| 757 | BLConfig_SetDefault(i); |
||
| 758 | BLConfig_WriteToEEProm(i); |
||
| 759 | } |
||
| 760 | } |
||
| 761 | |||
| 1622 | killagreg | 762 | // load mixer table |
| 763 | if(ee_default || !MixerTable_ReadFromEEProm() ) |
||
| 764 | { |
||
| 765 | printf("\n\rGenerating default Mixer Table"); |
||
| 766 | MixerTable_Default(); // Quadro |
||
| 767 | MixerTable_WriteToEEProm(); |
||
| 768 | } |
||
| 769 | // determine motornumber |
||
| 770 | RequiredMotors = 0; |
||
| 771 | for(i = 0; i < 16; i++) |
||
| 772 | { |
||
| 773 | if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
||
| 774 | } |
||
| 775 | |||
| 776 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
||
| 777 | printf("\n\r=============================="); |
||
| 778 | } |