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1622 killagreg 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + www.MikroKopter.com
3
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050 holgerb 4
// + Software Nutzungsbedingungen (english version: see below)
5
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
6
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
7
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
8
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
9
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
1622 killagreg 10
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050 holgerb 11
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
12
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
13
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
14
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
15
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
16
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
17
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
18
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
19
// + des Mitverschuldens offen.
20
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
21
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
22
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
23
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
24
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
25
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
26
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
27
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
1622 killagreg 28
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050 holgerb 29
// + Software LICENSING TERMS
1622 killagreg 30
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050 holgerb 31
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
32
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 
33
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
34
// + The Software may only be used with the Licensor's products.
35
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
36
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
37
// + agreement shall be the property of the Licensor.
38
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
39
// + features that can be used to identify the program may not be altered or defaced by the customer.
40
// + The customer shall be responsible for taking reasonable precautions
41
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
42
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
43
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
44
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
45
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
46
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
47
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
48
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
49
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
50
// + #### END OF LICENSING TERMS ####
51
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
1622 killagreg 52
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
53
 
54
 
55
#ifndef EEMEM
56
#define EEMEM __attribute__ ((section (".eeprom")))
57
#endif
58
 
59
 
60
#include <avr/eeprom.h>
61
#include <string.h>
62
#include "eeprom.h"
63
#include "uart.h"
64
#include "led.h"
65
#include "main.h"
66
#include "fc.h"
1657 killagreg 67
#include "twimaster.h"
1622 killagreg 68
 
69
paramset_t              EE_Parameter;
70
MixerTable_t    Mixer;
1654 killagreg 71
uint8_t RequiredMotors;
1622 killagreg 72
 
73
 
74
uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len)
395 hbuss 75
{
1622 killagreg 76
        uint8_t crc = 0xAA;
77
        uint16_t i;
78
 
79
        for(i=0; i<len; i++)
80
        {
81
                crc += pBuffer[i];
82
        }
83
        return crc;
993 hbuss 84
}
85
 
1622 killagreg 86
uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len)
993 hbuss 87
{
1622 killagreg 88
        uint8_t crc = 0xAA;
89
        uint16_t off;
90
 
91
        for(off=0; off<len; off++)
92
        {
93
                crc += eeprom_read_byte((uint8_t*)(EEAddr + off));;
94
        }
95
        return crc;
395 hbuss 96
}
1622 killagreg 97
 
98
void ParamSet_DefaultStickMapping(void)
395 hbuss 99
{
1622 killagreg 100
        EE_Parameter.Kanalbelegung[K_GAS]   = 1;
101
        EE_Parameter.Kanalbelegung[K_ROLL]  = 2;
102
        EE_Parameter.Kanalbelegung[K_NICK]  = 3;
103
        EE_Parameter.Kanalbelegung[K_GIER]  = 4;
104
        EE_Parameter.Kanalbelegung[K_POTI1] = 5;
105
        EE_Parameter.Kanalbelegung[K_POTI2] = 6;
106
        EE_Parameter.Kanalbelegung[K_POTI3] = 7;
107
        EE_Parameter.Kanalbelegung[K_POTI4] = 8;
108
        EE_Parameter.Kanalbelegung[K_POTI5] = 9;
109
        EE_Parameter.Kanalbelegung[K_POTI6] = 10;
110
        EE_Parameter.Kanalbelegung[K_POTI7] = 11;
111
        EE_Parameter.Kanalbelegung[K_POTI8] = 12;
395 hbuss 112
}
113
 
1622 killagreg 114
 
115
/***************************************************/
116
/*    Default Values for parameter set 1           */
117
/***************************************************/
1760 holgerb 118
void CommonDefaults(void)
395 hbuss 119
{
1622 killagreg 120
        EE_Parameter.Revision = EEPARAM_REVISION;
121
 
122
        if(PlatinenVersion >= 20)
123
        {
1676 holgerb 124
                EE_Parameter.Gyro_D = 10;
1622 killagreg 125
                EE_Parameter.Driftkomp = 0;
126
                EE_Parameter.GyroAccFaktor = 27;
127
                EE_Parameter.WinkelUmschlagNick = 78;
128
                EE_Parameter.WinkelUmschlagRoll = 78;
129
        }
130
        else
131
        {
132
                EE_Parameter.Gyro_D = 3;
133
                EE_Parameter.Driftkomp = 32;
134
                EE_Parameter.GyroAccFaktor = 30;
135
                EE_Parameter.WinkelUmschlagNick = 85;
136
                EE_Parameter.WinkelUmschlagRoll = 85;
137
        }
1957 holgerb 138
        EE_Parameter.GyroAccAbgleich = 32;        // 1/k
2008 holgerb 139
        EE_Parameter.BitConfig = 0;              // Looping usw.
1762 holgerb 140
        EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER;
1916 holgerb 141
        EE_Parameter.ExtraConfig = CFG_GPS_AID | CFG2_VARIO_BEEP;
2061 holgerb 142
        EE_Parameter.GlobalConfig3 = 0;//CFG3_VARIO_FAILSAFE; 
1850 holgerb 143
        EE_Parameter.Receiver = RECEIVER_JETI;
1762 holgerb 144
        EE_Parameter.MotorSafetySwitch = 0;
1769 holgerb 145
        EE_Parameter.ExternalControl = 0;
1760 holgerb 146
 
1762 holgerb 147
        EE_Parameter.Gas_Min = 8;             // Wert : 0-32
148
        EE_Parameter.Gas_Max = 230;           // Wert : 33-247
1839 holgerb 149
        EE_Parameter.KompassWirkung = 64;    // Wert : 0-247
1762 holgerb 150
 
151
        EE_Parameter.Hoehe_MinGas = 30;
152
        EE_Parameter.MaxHoehe     = 255;         // Wert : 0-247   255 -> Poti1
2177 - 153
        EE_Parameter.Hoehe_P      = 16;          // Wert : 0-32 // MartinR: angepast
154
        EE_Parameter.Luftdruck_D  = 32;          // Wert : 0-247 // MartinR: angepast
155
        EE_Parameter.Hoehe_ACC_Wirkung = 0;     // Wert : 0-247 // MartinR: angepast
1762 holgerb 156
        EE_Parameter.Hoehe_HoverBand = 8;         // Wert : 0-247
2078 holgerb 157
        EE_Parameter.Hoehe_GPS_Z = 20;           // Wert : 0-247
1762 holgerb 158
        EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation)
1942 holgerb 159
        EE_Parameter.Hoehe_Verstaerkung = 15;    // Wert : 0-50 (15 -> ca. +/- 5m/sek bei Stick-Voll-Ausschlag)
1762 holgerb 160
 
2177 - 161
        EE_Parameter.UserParam1 =   0;           // zur freien Verwendung //MartinR: Umschaltung HH-Mode
162
        EE_Parameter.UserParam2 =  40;           // zur freien Verwendung //MartinR: I-Faktor im HH-Mode
163
        EE_Parameter.UserParam3 =   7;           // zur freien Verwendung //MartinR: Stick-P-Wert im HH-Mode
164
        EE_Parameter.UserParam4 =   8;           // zur freien Verwendung //MartinR: Beschleunigungskompensation des  Höhensensors:
165
        EE_Parameter.UserParam5 =   0;           // zur freien Verwendung // MartinR: 
166
        EE_Parameter.UserParam6 =   0;           // zur freien Verwendung // MartinR: 
167
        EE_Parameter.UserParam7 =   0;           // zur freien Verwendung //MartinR: Abschaltung des Kameraausgleichs: <50: mit Ausgleich, 50..100 nur Rollausgleich (kein Nickausgleich), >100: kein Ausgleich 
168
        EE_Parameter.UserParam8 = 125;           // zur freien Verwendung //MartinR: Pan Servo
1762 holgerb 169
 
1848 holgerb 170
        EE_Parameter.ServoNickControl = 128;     // Wert : 0-247     // Stellung des Servos
171
        EE_Parameter.ServoNickComp = 50;         // Wert : 0-247     // Einfluss Gyro/Servo
1771 holgerb 172
        EE_Parameter.ServoCompInvert = 2;        // Wert : 0-247     // Richtung Einfluss Gyro/Servo
1787 holgerb 173
        EE_Parameter.ServoNickMin = 15;          // Wert : 0-247     // Anschlag
1848 holgerb 174
        EE_Parameter.ServoNickMax = 230;         // Wert : 0-247     // Anschlag
175
        EE_Parameter.ServoNickRefresh = 4;
1622 killagreg 176
        EE_Parameter.Servo3 = 125;
177
        EE_Parameter.Servo4 = 125;
178
        EE_Parameter.Servo5 = 125;
1848 holgerb 179
        EE_Parameter.ServoRollControl = 128;     // Wert : 0-247     // Stellung des Servos
180
        EE_Parameter.ServoRollComp = 85;         // Wert : 0-247     // Einfluss Gyro/Servo
1876 holgerb 181
        EE_Parameter.ServoRollMin = 70;          // Wert : 0-247     // Anschlag
1848 holgerb 182
        EE_Parameter.ServoRollMax = 220;         // Wert : 0-247     // Anschlag
183
        EE_Parameter.ServoManualControlSpeed = 60;
1876 holgerb 184
        EE_Parameter.CamOrientation = 0;         // Wert : 0-24 -> 0-360 -> 15° steps
1762 holgerb 185
 
1622 killagreg 186
        EE_Parameter.J16Bitmask = 95;
187
        EE_Parameter.J17Bitmask = 243;
188
        EE_Parameter.WARN_J16_Bitmask = 0xAA;
189
        EE_Parameter.WARN_J17_Bitmask = 0xAA;
2040 holgerb 190
        EE_Parameter.J16Timing = 40;
191
        EE_Parameter.J17Timing = 40;
1762 holgerb 192
 
193
        EE_Parameter.LoopGasLimit = 50;
194
        EE_Parameter.LoopThreshold = 90;         // Wert: 0-247  Schwelle für Stickausschlag
195
        EE_Parameter.LoopHysterese = 50;
196
 
1622 killagreg 197
        EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2
198
        EE_Parameter.NaviGpsGain = 100;
199
        EE_Parameter.NaviGpsP = 90;
200
        EE_Parameter.NaviGpsI = 90;
201
        EE_Parameter.NaviGpsD = 90;
202
        EE_Parameter.NaviGpsPLimit = 75;
1931 holgerb 203
        EE_Parameter.NaviGpsILimit = 85;
1622 killagreg 204
        EE_Parameter.NaviGpsDLimit = 75;
205
        EE_Parameter.NaviGpsACC = 0;
206
        EE_Parameter.NaviGpsMinSat = 6;
207
        EE_Parameter.NaviStickThreshold = 8;
208
        EE_Parameter.NaviWindCorrection = 90;
1936 holgerb 209
        EE_Parameter.NaviAccCompensation = 42;
1857 holgerb 210
        EE_Parameter.NaviOperatingRadius = 245;
1931 holgerb 211
        EE_Parameter.NaviAngleLimitation = 140;
1936 holgerb 212
        EE_Parameter.NaviPH_LoginTime = 5;
1668 holgerb 213
        EE_Parameter.OrientationAngle = 0;
1921 holgerb 214
        EE_Parameter.CareFreeModeControl = 0;
1760 holgerb 215
        EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50)
2061 holgerb 216
        EE_Parameter.NotGas = 65;                // Wert : 0-247     // Gaswert bei Empangsverlust (ggf. in Prozent)
1760 holgerb 217
        EE_Parameter.NotGasZeit = 90;            // Wert : 0-247     // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
1915 holgerb 218
        EE_Parameter.MotorSmooth = 0;          
219
        EE_Parameter.ComingHomeAltitude = 0;      // 0 = don't change 
1916 holgerb 220
        EE_Parameter.FailSafeTime = 0;            // 0 = off
1936 holgerb 221
        EE_Parameter.MaxAltitude = 150;           // 0 = off
1944 holgerb 222
        EE_Parameter.AchsKopplung1 = 90;
223
        EE_Parameter.AchsKopplung2 = 55;
2008 holgerb 224
        EE_Parameter.FailsafeChannel = 0;
2012 holgerb 225
        EE_Parameter.ServoFilterNick = 0;
226
        EE_Parameter.ServoFilterRoll = 0;
1760 holgerb 227
}
1944 holgerb 228
/*
1760 holgerb 229
void ParamSet_DefaultSet1(void) // sport
230
{
231
        CommonDefaults();
232
        EE_Parameter.Stick_P = 14;            // Wert : 1-20
233
        EE_Parameter.Stick_D = 16;            // Wert : 0-20
1944 holgerb 234
        EE_Parameter.StickGier_P = 12;             // Wert : 1-20
1760 holgerb 235
        EE_Parameter.Gyro_P = 80;             // Wert : 0-247
236
        EE_Parameter.Gyro_I = 150;            // Wert : 0-247
237
        EE_Parameter.Gyro_Gier_P = 80;        // Wert : 0-247
238
        EE_Parameter.Gyro_Gier_I = 150;       // Wert : 0-247
239
        EE_Parameter.Gyro_Stability = 6;          // Wert : 1-8
240
        EE_Parameter.I_Faktor = 32;
241
        EE_Parameter.CouplingYawCorrection = 1;
242
        EE_Parameter.GyroAccAbgleich = 16;        // 1/k;
243
        EE_Parameter.DynamicStability = 100;
1622 killagreg 244
        memcpy(EE_Parameter.Name, "Sport\0", 12);
245
        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
395 hbuss 246
}
1944 holgerb 247
*/
1622 killagreg 248
 
249
/***************************************************/
1944 holgerb 250
/*    Default Values for parameter set 1           */
1622 killagreg 251
/***************************************************/
1944 holgerb 252
void ParamSet_DefaultSet1(void) // normal
1622 killagreg 253
{
1760 holgerb 254
        CommonDefaults();
1664 holgerb 255
        EE_Parameter.Stick_P = 10;               // Wert : 1-20
256
        EE_Parameter.Stick_D = 16;               // Wert : 0-20
1944 holgerb 257
        EE_Parameter.StickGier_P = 6;                 // Wert : 1-20
1622 killagreg 258
        EE_Parameter.Gyro_P = 90;                // Wert : 0-247
259
        EE_Parameter.Gyro_I = 120;               // Wert : 0-247
260
        EE_Parameter.Gyro_Gier_P = 90;           // Wert : 0-247
261
        EE_Parameter.Gyro_Gier_I = 120;          // Wert : 0-247
1685 holgerb 262
        EE_Parameter.Gyro_Stability = 6;                  // Wert : 1-8
1622 killagreg 263
        EE_Parameter.I_Faktor = 32;
264
        EE_Parameter.CouplingYawCorrection = 60;
265
        EE_Parameter.DynamicStability = 75;
1944 holgerb 266
        memcpy(EE_Parameter.Name, "Fast\0", 12);
1622 killagreg 267
        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
268
}
269
 
270
 
271
/***************************************************/
1944 holgerb 272
/*    Default Values for parameter set 2           */
1622 killagreg 273
/***************************************************/
1944 holgerb 274
void ParamSet_DefaultSet2(void) // beginner
1622 killagreg 275
{
1762 holgerb 276
        CommonDefaults();
1664 holgerb 277
        EE_Parameter.Stick_P = 8;                // Wert : 1-20
278
        EE_Parameter.Stick_D = 16;               // Wert : 0-20
1944 holgerb 279
        EE_Parameter.StickGier_P  = 6;                // Wert : 1-20
1622 killagreg 280
        EE_Parameter.Gyro_P = 100;               // Wert : 0-247
281
        EE_Parameter.Gyro_I = 120;               // Wert : 0-247
282
        EE_Parameter.Gyro_Gier_P = 100;          // Wert : 0-247
283
        EE_Parameter.Gyro_Gier_I = 120;          // Wert : 0-247
1685 holgerb 284
        EE_Parameter.Gyro_Stability = 6;                  // Wert : 1-8
1622 killagreg 285
        EE_Parameter.I_Faktor = 16;
286
        EE_Parameter.CouplingYawCorrection = 70;
1690 holgerb 287
        EE_Parameter.DynamicStability = 70;
1944 holgerb 288
        memcpy(EE_Parameter.Name, "Normal\0", 12);
1622 killagreg 289
        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
290
}
291
 
292
/***************************************************/
1944 holgerb 293
/*    Default Values for parameter set 3           */
294
/***************************************************/
295
void ParamSet_DefaultSet3(void) // beginner
296
{
297
        CommonDefaults();
298
        EE_Parameter.Stick_P = 6;                // Wert : 1-20
299
        EE_Parameter.Stick_D = 10;               // Wert : 0-20
300
        EE_Parameter.StickGier_P  = 4;           // Wert : 1-20
301
        EE_Parameter.Gyro_P = 100;               // Wert : 0-247
302
        EE_Parameter.Gyro_I = 120;               // Wert : 0-247
303
        EE_Parameter.Gyro_Gier_P = 100;          // Wert : 0-247
304
        EE_Parameter.Gyro_Gier_I = 120;          // Wert : 0-247
305
        EE_Parameter.Gyro_Stability = 6;              // Wert : 1-8
306
        EE_Parameter.I_Faktor = 16;
307
        EE_Parameter.CouplingYawCorrection = 70;
308
        EE_Parameter.DynamicStability = 70;
309
        memcpy(EE_Parameter.Name, "Easy\0", 12);
310
        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
311
}
312
 
313
 
314
/***************************************************/
1622 killagreg 315
/*       Read Parameter from EEPROM as byte        */
316
/***************************************************/
317
uint8_t GetParamByte(uint16_t param_id)
318
{
319
        return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id));
320
}
321
 
322
/***************************************************/
323
/*       Write Parameter to EEPROM as byte         */
324
/***************************************************/
325
void SetParamByte(uint16_t param_id, uint8_t value)
326
{
327
        eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value);
328
}
329
 
330
/***************************************************/
331
/*       Read Parameter from EEPROM as word        */
332
/***************************************************/
333
uint16_t GetParamWord(uint16_t param_id)
334
{
335
        return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id));
336
}
337
 
338
/***************************************************/
339
/*       Write Parameter to EEPROM as word         */
340
/***************************************************/
341
void SetParamWord(uint16_t param_id, uint16_t value)
342
{
343
        eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value);
344
}
345
 
346
/***************************************************/
347
/*       Read Parameter Set from EEPROM            */
348
/***************************************************/
349
// number [1..5]
350
uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber)
351
{
352
        uint8_t crc;
353
        uint16_t eeaddr;
354
 
355
        // range the setnumber
356
        if((1 > setnumber) || (setnumber > 5)) setnumber = 3;
357
 
358
        // calculate eeprom addr
359
        eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1);
360
 
361
        // calculate checksum from eeprom
362
        crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1);
363
 
364
        // check crc
365
        if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0;
366
 
367
        // check revision
368
        if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0;
369
 
370
        // read paramset from eeprom
371
        eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN);
372
        LED_Init();
2177 - 373
#if ((defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) && defined(WITH_HOTTMENU))
374
        #warning : "### with Hottmenu ###"
1921 holgerb 375
        LIBFC_HoTT_Clear();
1925 holgerb 376
#endif
1622 killagreg 377
        return 1;
378
}
379
 
380
/***************************************************/
381
/*        Write Parameter Set to EEPROM            */
382
/***************************************************/
383
// number [1..5]
384
uint8_t ParamSet_WriteToEEProm(uint8_t setnumber)
385
{
386
        uint8_t crc;
387
 
388
        if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom
389
        {
390
                if(setnumber > 5) setnumber = 5;
391
                if(setnumber < 1) return 0;
1916 holgerb 392
        LIBFC_CheckSettings();
2028 holgerb 393
                if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE)         // check the Setting: Not more than 100% emergency gas
394
                        {
395
                         if(EE_Parameter.NotGas > 99) EE_Parameter.NotGas = 80; // i.e. 80% of Hovergas
396
                        }
1622 killagreg 397
                // update checksum
398
                EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
399
 
400
                // write paramset to eeprom
401
                eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN);
402
 
403
                // backup channel settings to separate block in eeprom
404
                eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));
405
 
406
                // write crc of channel block to eeprom
407
                crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung));
408
                eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc);
409
 
410
                // update active settings number
411
                SetActiveParamSet(setnumber);
412
                LED_Init();
2177 - 413
#if ((defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) && defined(WITH_HOTTMENU))
414
        #warning : "### with Hottmenu ###"
1921 holgerb 415
                LIBFC_HoTT_Clear();
1925 holgerb 416
#endif
1622 killagreg 417
                return 1;
418
        }
419
        // wrong revision
420
        return 0;
421
}
422
 
423
/***************************************************/
424
/*          Read MixerTable from EEPROM            */
425
/***************************************************/
426
uint8_t MixerTable_ReadFromEEProm(void)
427
{
428
        uint8_t crc;
429
 
430
        // calculate checksum in eeprom
431
        crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1);
432
 
433
        // check crc
434
        if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0;
435
 
436
        // check revision
437
        if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0;
438
 
439
        // read mixer table
440
        eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer));
441
        return 1;
442
}
443
 
444
/***************************************************/
445
/*          Write Mixer Table to EEPROM            */
446
/***************************************************/
447
uint8_t MixerTable_WriteToEEProm(void)
448
{
449
        if(Mixer.Revision == EEMIXER_REVISION)
450
        {
451
                // update crc
452
                Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1);
453
 
454
                // write to eeprom
455
                eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer));
456
                return 1;
457
        }
458
        else return 0;
459
}
460
 
461
/***************************************************/
462
/*    Default Values for Mixer Table               */
463
/***************************************************/
464
void MixerTable_Default(void) // Quadro
465
{
466
        uint8_t i;
467
 
468
        Mixer.Revision = EEMIXER_REVISION;
469
        // clear mixer table
470
        for(i = 0; i < 16; i++)
471
        {
472
                Mixer.Motor[i][MIX_GAS]  = 0;
473
                Mixer.Motor[i][MIX_NICK] = 0;
474
                Mixer.Motor[i][MIX_ROLL] = 0;
475
                Mixer.Motor[i][MIX_YAW]  = 0;
476
        }
477
        // default = Quadro
478
        Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] =   0; Mixer.Motor[0][MIX_YAW] = +64;
479
        Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] =   0; Mixer.Motor[1][MIX_YAW] = +64;
480
        Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] =   0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64;
481
        Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] =   0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64;
482
        memcpy(Mixer.Name, "Quadro\0", 7);
2008 holgerb 483
        Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1);
1622 killagreg 484
}
485
 
486
/***************************************************/
487
/*       Get active parameter set                  */
488
/***************************************************/
489
uint8_t GetActiveParamSet(void)
490
{
491
        uint8_t setnumber;
492
        setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET));
493
        if(setnumber > 5)
494
        {
495
                setnumber = 3;
496
                eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber);
497
        }
498
        return(setnumber);
499
}
500
 
501
/***************************************************/
502
/*       Set active parameter set                  */
503
/***************************************************/
504
void SetActiveParamSet(uint8_t setnumber)
505
{
506
        if(setnumber > 5) setnumber = 5;
507
        if(setnumber < 1) setnumber = 1;
508
        eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber);
509
}
510
 
511
/***************************************************/
1761 killagreg 512
/*       Set default parameter set                 */
513
/***************************************************/
514
void SetDefaultParameter(uint8_t set, uint8_t restore_channels)
515
{
516
 
517
        if(set > 5) set = 5;
518
        else if(set < 1) set = 1;
519
 
520
        switch(set)
521
        {
522
                case 1:
523
                        ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport)
524
                        break;
525
                case 2:
526
                        ParamSet_DefaultSet2(); // Kamera
527
                        break;
528
                case 3:
529
                        ParamSet_DefaultSet3(); // Beginner
530
                        break;
531
                default:
532
                        ParamSet_DefaultSet3(); // Beginner
533
                        break;
534
        }
535
        if(restore_channels)
536
        {
537
                uint8_t crc;
538
                // 1st check for a valid channel backup in eeprom
539
                crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung));
540
                if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) )
541
                {
542
                        eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));
543
                }
544
                else ParamSet_DefaultStickMapping();
545
        }
546
        else ParamSet_DefaultStickMapping();
547
        ParamSet_WriteToEEProm(set);
548
}
549
 
550
/***************************************************/
1622 killagreg 551
/*       Initialize EEPROM Parameter Sets          */
552
/***************************************************/
553
void ParamSet_Init(void)
554
{
555
        uint8_t channel_backup  = 0, bad_params = 0, ee_default = 0,i;
556
 
557
 
558
        if(EEPARAM_REVISION != GetParamByte(PID_EE_REVISION) )
559
        {
560
                ee_default = 1; // software update or forced by mktool
561
        }
562
 
563
 
564
        // 1st check for a valid channel backup in eeprom
565
        i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung));
566
        if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) channel_backup = 1;
567
 
568
 
569
        // parameter check
570
 
571
        // check all 5 parameter settings
572
        for (i = 1;i < 6; i++)
573
        {
574
                if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom
575
                {
576
                        bad_params = 1;
577
                        printf("\n\rGenerating default Parameter Set %d",i);
578
                        switch(i)
579
                        {
580
                                case 1:
581
                                        ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport)
582
                                        break;
583
                                case 2:
584
                                        ParamSet_DefaultSet2(); // Kamera
585
                                        break;
586
                                case 3:
587
                                        ParamSet_DefaultSet3(); // Beginner
588
                                        break;
589
                                default:
1668 holgerb 590
                                        ParamSet_DefaultSet3(); // Kamera
1622 killagreg 591
                                        break;
592
                        }
593
                        if(channel_backup) // if we have an channel mapping backup in eeprom
594
                        {       // restore it from eeprom
595
                                eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));
596
                        }
597
                        else
598
                        {       // use default mapping
599
                                ParamSet_DefaultStickMapping();
600
                        }
601
                        ParamSet_WriteToEEProm(i);
602
                }
603
        }
604
        if(bad_params) // at least one of the parameter settings were invalid
605
        {
606
                // default-Setting is parameter set 3
607
                SetActiveParamSet(3);
608
        }
609
 
610
 
611
        // read active parameter set to ParamSet stucture
612
        i = GetActiveParamSet();
613
        ParamSet_ReadFromEEProm(i);
614
        printf("\n\rUsing Parameter Set %d", i);
615
 
616
        // load mixer table
1931 holgerb 617
        if(GetParamByte(PID_EE_REVISION) == 0xff || !MixerTable_ReadFromEEProm() )
1622 killagreg 618
        {
619
                printf("\n\rGenerating default Mixer Table");
620
                MixerTable_Default(); // Quadro
621
                MixerTable_WriteToEEProm();
622
        }
1931 holgerb 623
        if(ee_default)  SetParamByte(PID_EE_REVISION, EEPARAM_REVISION);
1622 killagreg 624
        // determine motornumber
625
        RequiredMotors = 0;
626
        for(i = 0; i < 16; i++)
627
        {
628
                if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++;
629
        }
630
 
631
        printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors);
2030 holgerb 632
 PrintLine();// ("\n\r===================================");
633
 
1622 killagreg 634
}