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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; |
| 1622 | killagreg | 79 | |
| 80 | |||
| 81 | uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len) |
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| 395 | hbuss | 82 | { |
| 1622 | killagreg | 83 | uint8_t crc = 0xAA; |
| 84 | uint16_t i; |
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| 85 | |||
| 86 | for(i=0; i<len; i++) |
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| 87 | { |
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| 88 | crc += pBuffer[i]; |
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| 89 | } |
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| 90 | return crc; |
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| 993 | hbuss | 91 | } |
| 92 | |||
| 1622 | killagreg | 93 | uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len) |
| 993 | hbuss | 94 | { |
| 1622 | killagreg | 95 | uint8_t crc = 0xAA; |
| 96 | uint16_t off; |
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| 97 | |||
| 98 | for(off=0; off<len; off++) |
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| 99 | { |
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| 100 | crc += eeprom_read_byte((uint8_t*)(EEAddr + off));; |
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| 101 | } |
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| 102 | return crc; |
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| 395 | hbuss | 103 | } |
| 1622 | killagreg | 104 | |
| 105 | void ParamSet_DefaultStickMapping(void) |
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| 395 | hbuss | 106 | { |
| 1622 | killagreg | 107 | EE_Parameter.Kanalbelegung[K_GAS] = 1; |
| 108 | EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
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| 109 | EE_Parameter.Kanalbelegung[K_NICK] = 3; |
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| 110 | EE_Parameter.Kanalbelegung[K_GIER] = 4; |
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| 111 | EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
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| 112 | EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
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| 113 | EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
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| 114 | EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
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| 115 | EE_Parameter.Kanalbelegung[K_POTI5] = 9; |
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| 116 | EE_Parameter.Kanalbelegung[K_POTI6] = 10; |
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| 117 | EE_Parameter.Kanalbelegung[K_POTI7] = 11; |
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| 118 | EE_Parameter.Kanalbelegung[K_POTI8] = 12; |
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| 395 | hbuss | 119 | } |
| 120 | |||
| 1622 | killagreg | 121 | |
| 122 | /***************************************************/ |
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| 123 | /* Default Values for parameter set 1 */ |
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| 124 | /***************************************************/ |
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| 1760 | holgerb | 125 | void CommonDefaults(void) |
| 395 | hbuss | 126 | { |
| 1622 | killagreg | 127 | EE_Parameter.Revision = EEPARAM_REVISION; |
| 128 | |||
| 129 | if(PlatinenVersion >= 20) |
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| 130 | { |
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| 1676 | holgerb | 131 | EE_Parameter.Gyro_D = 10; |
| 1622 | killagreg | 132 | EE_Parameter.Driftkomp = 0; |
| 133 | EE_Parameter.GyroAccFaktor = 27; |
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| 134 | EE_Parameter.WinkelUmschlagNick = 78; |
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| 135 | EE_Parameter.WinkelUmschlagRoll = 78; |
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| 136 | } |
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| 137 | else |
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| 138 | { |
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| 139 | EE_Parameter.Gyro_D = 3; |
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| 140 | EE_Parameter.Driftkomp = 32; |
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| 141 | EE_Parameter.GyroAccFaktor = 30; |
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| 142 | EE_Parameter.WinkelUmschlagNick = 85; |
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| 143 | EE_Parameter.WinkelUmschlagRoll = 85; |
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| 144 | } |
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| 1760 | holgerb | 145 | |
| 1622 | killagreg | 146 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
| 147 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
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| 148 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
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| 149 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
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| 150 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
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| 151 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
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| 152 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
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| 153 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
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| 154 | EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos |
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| 155 | EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
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| 156 | EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
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| 157 | EE_Parameter.ServoNickMin = 0; // Wert : 0-247 // Anschlag |
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| 158 | EE_Parameter.ServoNickMax = 247; // Wert : 0-247 // Anschlag |
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| 159 | EE_Parameter.ServoNickRefresh = 6; |
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| 160 | EE_Parameter.Servo3 = 125; |
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| 161 | EE_Parameter.Servo4 = 125; |
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| 162 | EE_Parameter.Servo5 = 125; |
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| 163 | EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos |
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| 164 | EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
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| 165 | EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
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| 166 | EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
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| 167 | EE_Parameter.J16Bitmask = 95; |
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| 168 | EE_Parameter.J17Bitmask = 243; |
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| 169 | EE_Parameter.WARN_J16_Bitmask = 0xAA; |
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| 170 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
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| 1760 | holgerb | 171 | EE_Parameter.J16Timing = 20; |
| 172 | EE_Parameter.J17Timing = 20; |
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| 1622 | killagreg | 173 | EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
| 174 | EE_Parameter.NaviGpsGain = 100; |
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| 175 | EE_Parameter.NaviGpsP = 90; |
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| 176 | EE_Parameter.NaviGpsI = 90; |
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| 177 | EE_Parameter.NaviGpsD = 90; |
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| 178 | EE_Parameter.NaviGpsPLimit = 75; |
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| 179 | EE_Parameter.NaviGpsILimit = 75; |
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| 180 | EE_Parameter.NaviGpsDLimit = 75; |
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| 181 | EE_Parameter.NaviGpsACC = 0; |
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| 182 | EE_Parameter.NaviGpsMinSat = 6; |
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| 183 | EE_Parameter.NaviStickThreshold = 8; |
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| 184 | EE_Parameter.NaviWindCorrection = 90; |
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| 185 | EE_Parameter.NaviSpeedCompensation = 30; |
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| 186 | EE_Parameter.NaviOperatingRadius = 100; |
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| 187 | EE_Parameter.NaviAngleLimitation = 100; |
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| 1664 | holgerb | 188 | EE_Parameter.NaviPH_LoginTime = 2; |
| 1622 | killagreg | 189 | EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
| 1668 | holgerb | 190 | EE_Parameter.OrientationAngle = 0; |
| 191 | EE_Parameter.OrientationModeControl = 0; |
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| 1760 | holgerb | 192 | EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
| 193 | EE_Parameter.NotGas = 45; // Wert : 0-247 // Gaswert bei Empangsverlust |
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| 194 | EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
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| 1761 | killagreg | 195 | EE_Parameter.MotorSafetySwitch = 0; |
| 1760 | holgerb | 196 | EE_Parameter.ServoManualControlSpeed = 20; |
| 1761 | killagreg | 197 | EE_Parameter.CamOrientation = 0; |
| 1760 | holgerb | 198 | } |
| 199 | |||
| 200 | void ParamSet_DefaultSet1(void) // sport |
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| 201 | { |
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| 202 | CommonDefaults(); |
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| 203 | EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
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| 204 | EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP;// | CFG_SENSITIVE_RC |
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| 205 | EE_Parameter.Hoehe_MinGas = 30; |
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| 206 | EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
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| 207 | EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
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| 208 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
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| 209 | EE_Parameter.Hoehe_ACC_Wirkung = 00; // Wert : 0-247 |
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| 210 | EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
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| 211 | EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
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| 212 | EE_Parameter.Hoehe_StickNeutralPoint = 0; // Wert : 0-247 (0 = Hover-Estimation) |
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| 213 | EE_Parameter.Hoehe_Verstaerkung = 20; // Wert : 0-50 |
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| 214 | EE_Parameter.Stick_P = 14; // Wert : 1-20 |
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| 215 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
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| 216 | EE_Parameter.Gier_P = 12; // Wert : 1-20 |
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| 217 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
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| 218 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
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| 219 | EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
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| 220 | EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
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| 221 | EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
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| 222 | EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
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| 223 | EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
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| 224 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
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| 225 | EE_Parameter.I_Faktor = 32; |
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| 226 | EE_Parameter.LoopGasLimit = 50; |
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| 227 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
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| 228 | EE_Parameter.LoopHysterese = 50; |
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| 229 | EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
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| 230 | EE_Parameter.AchsKopplung1 = 90; |
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| 231 | EE_Parameter.AchsKopplung2 = 80; |
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| 232 | EE_Parameter.CouplingYawCorrection = 1; |
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| 233 | EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
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| 234 | EE_Parameter.DynamicStability = 100; |
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| 1622 | killagreg | 235 | memcpy(EE_Parameter.Name, "Sport\0", 12); |
| 236 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
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| 395 | hbuss | 237 | } |
| 1622 | killagreg | 238 | |
| 239 | |||
| 240 | /***************************************************/ |
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| 241 | /* Default Values for parameter set 2 */ |
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| 242 | /***************************************************/ |
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| 243 | void ParamSet_DefaultSet2(void) // normal |
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| 244 | { |
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| 1760 | holgerb | 245 | CommonDefaults(); |
| 1622 | killagreg | 246 | EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
| 1695 | holgerb | 247 | EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP;// CFG_SENSITIVE_RC |
| 1622 | killagreg | 248 | EE_Parameter.Hoehe_MinGas = 30; |
| 249 | EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
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| 1701 | holgerb | 250 | EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
| 1698 | holgerb | 251 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
| 252 | EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
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| 1695 | holgerb | 253 | EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
| 1622 | killagreg | 254 | EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
| 255 | EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
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| 256 | EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 |
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| 1664 | holgerb | 257 | EE_Parameter.Stick_P = 10; // Wert : 1-20 |
| 258 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
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| 1622 | killagreg | 259 | EE_Parameter.Gier_P = 6; // Wert : 1-20 |
| 260 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
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| 261 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
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| 262 | EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
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| 263 | EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
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| 264 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
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| 265 | EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
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| 266 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
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| 1685 | holgerb | 267 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
| 1622 | killagreg | 268 | EE_Parameter.I_Faktor = 32; |
| 269 | EE_Parameter.LoopGasLimit = 50; |
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| 270 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
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| 271 | EE_Parameter.LoopHysterese = 50; |
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| 272 | EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
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| 273 | EE_Parameter.AchsKopplung1 = 90; |
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| 274 | EE_Parameter.AchsKopplung2 = 80; |
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| 275 | EE_Parameter.CouplingYawCorrection = 60; |
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| 276 | EE_Parameter.GyroAccAbgleich = 32; // 1/k |
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| 277 | EE_Parameter.DynamicStability = 75; |
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| 278 | memcpy(EE_Parameter.Name, "Normal\0", 12); |
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| 279 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
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| 280 | } |
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| 281 | |||
| 282 | |||
| 283 | /***************************************************/ |
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| 284 | /* Default Values for parameter set 3 */ |
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| 285 | /***************************************************/ |
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| 286 | void ParamSet_DefaultSet3(void) // beginner |
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| 287 | { |
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| 288 | EE_Parameter.GlobalConfig = /*CFG_DREHRATEN_BEGRENZER |*/ CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
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| 1695 | holgerb | 289 | EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP;// | CFG_SENSITIVE_RC |
| 1622 | killagreg | 290 | EE_Parameter.Hoehe_MinGas = 30; |
| 291 | EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
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| 1701 | holgerb | 292 | EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
| 1698 | holgerb | 293 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
| 294 | EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
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| 1695 | holgerb | 295 | EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
| 1622 | killagreg | 296 | EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
| 297 | EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
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| 298 | EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 |
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| 1664 | holgerb | 299 | EE_Parameter.Stick_P = 8; // Wert : 1-20 |
| 300 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
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| 1622 | killagreg | 301 | EE_Parameter.Gier_P = 6; // Wert : 1-20 |
| 302 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
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| 303 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
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| 304 | EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
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| 305 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
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| 306 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
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| 307 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
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| 308 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
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| 1685 | holgerb | 309 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
| 1622 | killagreg | 310 | EE_Parameter.I_Faktor = 16; |
| 311 | EE_Parameter.LoopGasLimit = 50; |
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| 312 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
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| 313 | EE_Parameter.LoopHysterese = 50; |
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| 314 | EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
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| 315 | EE_Parameter.AchsKopplung1 = 90; |
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| 316 | EE_Parameter.AchsKopplung2 = 80; |
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| 317 | EE_Parameter.CouplingYawCorrection = 70; |
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| 318 | EE_Parameter.GyroAccAbgleich = 32; // 1/k |
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| 1690 | holgerb | 319 | EE_Parameter.DynamicStability = 70; |
| 1622 | killagreg | 320 | memcpy(EE_Parameter.Name, "Beginner\0", 12); |
| 321 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
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| 322 | } |
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| 323 | |||
| 324 | /***************************************************/ |
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| 325 | /* Read Parameter from EEPROM as byte */ |
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| 326 | /***************************************************/ |
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| 327 | uint8_t GetParamByte(uint16_t param_id) |
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| 328 | { |
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| 329 | return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
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| 330 | } |
||
| 331 | |||
| 332 | /***************************************************/ |
||
| 333 | /* Write Parameter to EEPROM as byte */ |
||
| 334 | /***************************************************/ |
||
| 335 | void SetParamByte(uint16_t param_id, uint8_t value) |
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| 336 | { |
||
| 337 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
||
| 338 | } |
||
| 339 | |||
| 340 | /***************************************************/ |
||
| 341 | /* Read Parameter from EEPROM as word */ |
||
| 342 | /***************************************************/ |
||
| 343 | uint16_t GetParamWord(uint16_t param_id) |
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| 344 | { |
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| 345 | return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
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| 346 | } |
||
| 347 | |||
| 348 | /***************************************************/ |
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| 349 | /* Write Parameter to EEPROM as word */ |
||
| 350 | /***************************************************/ |
||
| 351 | void SetParamWord(uint16_t param_id, uint16_t value) |
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| 352 | { |
||
| 353 | eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
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| 354 | } |
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| 355 | |||
| 356 | /***************************************************/ |
||
| 357 | /* Read Parameter Set from EEPROM */ |
||
| 358 | /***************************************************/ |
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| 359 | // number [1..5] |
||
| 360 | uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
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| 361 | { |
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| 362 | uint8_t crc; |
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| 363 | uint16_t eeaddr; |
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| 364 | |||
| 365 | // range the setnumber |
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| 366 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
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| 367 | |||
| 368 | // calculate eeprom addr |
||
| 369 | eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
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| 370 | |||
| 371 | // calculate checksum from eeprom |
||
| 372 | crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
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| 373 | |||
| 374 | // check crc |
||
| 375 | if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
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| 376 | |||
| 377 | // check revision |
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| 378 | if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0; |
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| 379 | |||
| 380 | // read paramset from eeprom |
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| 381 | eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
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| 382 | LED_Init(); |
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| 383 | return 1; |
||
| 384 | } |
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| 385 | |||
| 386 | /***************************************************/ |
||
| 387 | /* Write Parameter Set to EEPROM */ |
||
| 388 | /***************************************************/ |
||
| 389 | // number [1..5] |
||
| 390 | uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
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| 391 | { |
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| 392 | uint8_t crc; |
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| 393 | |||
| 394 | if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
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| 395 | { |
||
| 396 | if(setnumber > 5) setnumber = 5; |
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| 397 | if(setnumber < 1) return 0; |
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| 398 | |||
| 399 | // update checksum |
||
| 400 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
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| 401 | |||
| 402 | // write paramset to eeprom |
||
| 403 | eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
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| 404 | |||
| 405 | // backup channel settings to separate block in eeprom |
||
| 406 | eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
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| 407 | |||
| 408 | // write crc of channel block to eeprom |
||
| 409 | crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
||
| 410 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
||
| 411 | |||
| 412 | // update active settings number |
||
| 413 | SetActiveParamSet(setnumber); |
||
| 414 | LED_Init(); |
||
| 415 | return 1; |
||
| 416 | } |
||
| 417 | // wrong revision |
||
| 418 | return 0; |
||
| 419 | } |
||
| 420 | |||
| 421 | /***************************************************/ |
||
| 422 | /* Read MixerTable from EEPROM */ |
||
| 423 | /***************************************************/ |
||
| 424 | uint8_t MixerTable_ReadFromEEProm(void) |
||
| 425 | { |
||
| 426 | uint8_t crc; |
||
| 427 | |||
| 428 | // calculate checksum in eeprom |
||
| 429 | crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
||
| 430 | |||
| 431 | // check crc |
||
| 432 | if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
||
| 433 | |||
| 434 | // check revision |
||
| 435 | if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
||
| 436 | |||
| 437 | // read mixer table |
||
| 438 | eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
||
| 439 | return 1; |
||
| 440 | } |
||
| 441 | |||
| 442 | /***************************************************/ |
||
| 443 | /* Write Mixer Table to EEPROM */ |
||
| 444 | /***************************************************/ |
||
| 445 | uint8_t MixerTable_WriteToEEProm(void) |
||
| 446 | { |
||
| 447 | if(Mixer.Revision == EEMIXER_REVISION) |
||
| 448 | { |
||
| 449 | // update crc |
||
| 450 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
||
| 451 | |||
| 452 | // write to eeprom |
||
| 453 | eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
||
| 454 | return 1; |
||
| 455 | } |
||
| 456 | else return 0; |
||
| 457 | } |
||
| 458 | |||
| 459 | /***************************************************/ |
||
| 460 | /* Default Values for Mixer Table */ |
||
| 461 | /***************************************************/ |
||
| 462 | void MixerTable_Default(void) // Quadro |
||
| 463 | { |
||
| 464 | uint8_t i; |
||
| 465 | |||
| 466 | Mixer.Revision = EEMIXER_REVISION; |
||
| 467 | // clear mixer table |
||
| 468 | for(i = 0; i < 16; i++) |
||
| 469 | { |
||
| 470 | Mixer.Motor[i][MIX_GAS] = 0; |
||
| 471 | Mixer.Motor[i][MIX_NICK] = 0; |
||
| 472 | Mixer.Motor[i][MIX_ROLL] = 0; |
||
| 473 | Mixer.Motor[i][MIX_YAW] = 0; |
||
| 474 | } |
||
| 475 | // default = Quadro |
||
| 476 | Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
||
| 477 | Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
||
| 478 | Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
||
| 479 | Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
||
| 480 | memcpy(Mixer.Name, "Quadro\0", 7); |
||
| 481 | Mixer.crc = Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
||
| 482 | } |
||
| 483 | |||
| 484 | /***************************************************/ |
||
| 485 | /* Get active parameter set */ |
||
| 486 | /***************************************************/ |
||
| 487 | uint8_t GetActiveParamSet(void) |
||
| 488 | { |
||
| 489 | uint8_t setnumber; |
||
| 490 | setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
||
| 491 | if(setnumber > 5) |
||
| 492 | { |
||
| 493 | setnumber = 3; |
||
| 494 | eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber); |
||
| 495 | } |
||
| 496 | return(setnumber); |
||
| 497 | } |
||
| 498 | |||
| 499 | /***************************************************/ |
||
| 500 | /* Set active parameter set */ |
||
| 501 | /***************************************************/ |
||
| 502 | void SetActiveParamSet(uint8_t setnumber) |
||
| 503 | { |
||
| 504 | if(setnumber > 5) setnumber = 5; |
||
| 505 | if(setnumber < 1) setnumber = 1; |
||
| 506 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
||
| 507 | } |
||
| 508 | |||
| 509 | /***************************************************/ |
||
| 1761 | killagreg | 510 | /* Set default parameter set */ |
| 511 | /***************************************************/ |
||
| 512 | void SetDefaultParameter(uint8_t set, uint8_t restore_channels) |
||
| 513 | { |
||
| 514 | |||
| 515 | if(set > 5) set = 5; |
||
| 516 | else if(set < 1) set = 1; |
||
| 517 | |||
| 518 | switch(set) |
||
| 519 | { |
||
| 520 | case 1: |
||
| 521 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
||
| 522 | break; |
||
| 523 | case 2: |
||
| 524 | ParamSet_DefaultSet2(); // Kamera |
||
| 525 | break; |
||
| 526 | case 3: |
||
| 527 | ParamSet_DefaultSet3(); // Beginner |
||
| 528 | break; |
||
| 529 | default: |
||
| 530 | ParamSet_DefaultSet3(); // Beginner |
||
| 531 | break; |
||
| 532 | } |
||
| 533 | if(restore_channels) |
||
| 534 | { |
||
| 535 | uint8_t crc; |
||
| 536 | // 1st check for a valid channel backup in eeprom |
||
| 537 | crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
||
| 538 | if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) |
||
| 539 | { |
||
| 540 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
||
| 541 | } |
||
| 542 | else ParamSet_DefaultStickMapping(); |
||
| 543 | } |
||
| 544 | else ParamSet_DefaultStickMapping(); |
||
| 545 | ParamSet_WriteToEEProm(set); |
||
| 546 | } |
||
| 547 | |||
| 548 | /***************************************************/ |
||
| 1622 | killagreg | 549 | /* Initialize EEPROM Parameter Sets */ |
| 550 | /***************************************************/ |
||
| 551 | void ParamSet_Init(void) |
||
| 552 | { |
||
| 553 | uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
||
| 554 | |||
| 555 | |||
| 556 | if(EEPARAM_REVISION != GetParamByte(PID_EE_REVISION) ) |
||
| 557 | { |
||
| 558 | ee_default = 1; // software update or forced by mktool |
||
| 559 | SetParamByte(PID_EE_REVISION, EEPARAM_REVISION); |
||
| 560 | } |
||
| 561 | |||
| 562 | |||
| 563 | // 1st check for a valid channel backup in eeprom |
||
| 564 | i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
||
| 565 | if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) channel_backup = 1; |
||
| 566 | |||
| 567 | |||
| 568 | // parameter check |
||
| 569 | |||
| 570 | // check all 5 parameter settings |
||
| 571 | for (i = 1;i < 6; i++) |
||
| 572 | { |
||
| 573 | if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
||
| 574 | { |
||
| 575 | bad_params = 1; |
||
| 576 | printf("\n\rGenerating default Parameter Set %d",i); |
||
| 577 | switch(i) |
||
| 578 | { |
||
| 579 | case 1: |
||
| 580 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
||
| 581 | break; |
||
| 582 | case 2: |
||
| 583 | ParamSet_DefaultSet2(); // Kamera |
||
| 584 | break; |
||
| 585 | case 3: |
||
| 586 | ParamSet_DefaultSet3(); // Beginner |
||
| 587 | break; |
||
| 588 | default: |
||
| 1668 | holgerb | 589 | ParamSet_DefaultSet3(); // Kamera |
| 1622 | killagreg | 590 | break; |
| 591 | } |
||
| 592 | if(channel_backup) // if we have an channel mapping backup in eeprom |
||
| 593 | { // restore it from eeprom |
||
| 594 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
||
| 595 | } |
||
| 596 | else |
||
| 597 | { // use default mapping |
||
| 598 | ParamSet_DefaultStickMapping(); |
||
| 599 | } |
||
| 600 | ParamSet_WriteToEEProm(i); |
||
| 601 | } |
||
| 602 | } |
||
| 603 | if(bad_params) // at least one of the parameter settings were invalid |
||
| 604 | { |
||
| 605 | // default-Setting is parameter set 3 |
||
| 606 | SetActiveParamSet(3); |
||
| 607 | } |
||
| 608 | |||
| 609 | |||
| 610 | // read active parameter set to ParamSet stucture |
||
| 611 | i = GetActiveParamSet(); |
||
| 612 | ParamSet_ReadFromEEProm(i); |
||
| 613 | printf("\n\rUsing Parameter Set %d", i); |
||
| 614 | |||
| 615 | // load mixer table |
||
| 616 | if(ee_default || !MixerTable_ReadFromEEProm() ) |
||
| 617 | { |
||
| 618 | printf("\n\rGenerating default Mixer Table"); |
||
| 619 | MixerTable_Default(); // Quadro |
||
| 620 | MixerTable_WriteToEEProm(); |
||
| 621 | } |
||
| 622 | // determine motornumber |
||
| 623 | RequiredMotors = 0; |
||
| 624 | for(i = 0; i < 16; i++) |
||
| 625 | { |
||
| 626 | if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
||
| 627 | } |
||
| 628 | |||
| 629 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
||
| 630 | printf("\n\r=============================="); |
||
| 631 | } |