Subversion Repositories FlightCtrl

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

// + Copyright (c) 04.2007 Holger Buss

// + Nur für den privaten Gebrauch

// + www.MikroKopter.com

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

// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),

// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.

// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt

// + bzgl. der Nutzungsbedingungen aufzunehmen.

// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,

// + Verkauf von Luftbildaufnahmen, usw.

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

// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,

// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen

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

// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts

// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"

// + eindeutig als Ursprung verlinkt und genannt werden

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

// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion

// + Benutzung auf eigene Gefahr

// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden

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

// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur

// + mit unserer Zustimmung zulässig

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

// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen

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

// + Redistributions of source code (with or without modifications) must retain the above copyright notice,

// + this list of conditions and the following disclaimer.

// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived

// +     from this software without specific prior written permission.

// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet

// +     for non-commercial use (directly or indirectly)

// +     Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted

// +     with our written permission

// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be

// +     clearly linked as origin

// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed

// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE

// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR

// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF

// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS

// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN

// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)

// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

// +  POSSIBILITY OF SUCH DAMAGE.

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

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

// + Contant Values

// + 0-250 -> normale Values

// + 251 -> Poti1

// + 252 -> Poti2

// + 253 -> Poti3

// + 254 -> Poti4

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

#ifndef EEMEM

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

#endif

#include <avr/eeprom.h>

#include <string.h>

#include "eeprom.h"

#include "printf_P.h"

#include "output.h"

// TODO: Get rid of these. They have nothing to do with eeprom.

#include "flight.h"

#include "rc.h"

#include "sensors.h"

// byte array in eeprom

uint8_t EEPromArray[E2END + 1] EEMEM;

paramset_t staticParams;

MixerTable_t Mixer;

/*

 * Default for your own experiments here, so you don't have to reset them

 * from MK-Tool all the time.

 */

void setDefaultUserParams(void) {

        uint8_t i;

        for (i = 0; i < sizeof(staticParams.UserParams1); i++) {

                staticParams.UserParams1[i] = 0;

        }

        for (i = 0; i < sizeof(staticParams.UserParams2); i++) {

                staticParams.UserParams2[i] = 0;

        }

        /*

         * While we are still using userparams for flight parameters, do set

         * some safe & meaningful default values.

         */

        staticParams.UserParams1[3] = 8; // Throttle stick D=8

        staticParams.UserParams2[0] = 0b11010101; // All gyro filter constants 2; acc. 4

        staticParams.UserParams2[1] = 2; // H&I motor smoothing.

        staticParams.UserParams2[2] = 120; // Yaw I factor

        staticParams.UserParams2[3] = 100; // Max Z acceleration for acc. correction of angles.

}

void setOtherDefaults(void) {

        /* Channel assignments were changed to the normal:

         * Aileron/roll=1, elevator/pitch=2, throttle=3, yaw/rudder=4

         */

        staticParams.ChannelAssignment[CH_PITCH] = 2;

        staticParams.ChannelAssignment[CH_ROLL] = 1;

        staticParams.ChannelAssignment[CH_THROTTLE] = 3;

        staticParams.ChannelAssignment[CH_YAW] = 4;

        staticParams.ChannelAssignment[CH_POTS + 0] = 5;

        staticParams.ChannelAssignment[CH_POTS + 1] = 6;

        staticParams.ChannelAssignment[CH_POTS + 2] = 7;

        staticParams.ChannelAssignment[CH_POTS + 3] = 8;

        staticParams.GlobalConfig = /* CFG_AXIS_COUPLING_ACTIVE | */ CFG_HEADING_HOLD; // CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX;

        staticParams.HeightMinGas = 30;

        staticParams.MaxHeight = 251;

        staticParams.HeightP = 10;

        staticParams.HeightD = 30;

        staticParams.Height_ACC_Effect = 30;

        staticParams.Height_Gain = 4;

        staticParams.StickP = 8;

        staticParams.StickD = 12;

        staticParams.StickYawP = 12;

        staticParams.MinThrottle = 8;

        staticParams.MaxThrottle = 230;

        staticParams.CompassYawEffect = 128;

        staticParams.GyroP = 80;

        staticParams.GyroI = 100;

        staticParams.LowVoltageWarning = 95;

        staticParams.EmergencyGas = 35;

        staticParams.EmergencyGasDuration = 30;

        staticParams.Unused0 = 0;

        staticParams.IFactor = 32;

        staticParams.ServoPitchControl = 100;

        staticParams.ServoPitchComp = 40;

        staticParams.ServoPitchCompInvert = 0;

        staticParams.ServoPitchMin = 50;

        staticParams.ServoPitchMax = 150;

        staticParams.ServoRefresh = 5;

        staticParams.LoopGasLimit = 50;

        staticParams.LoopThreshold = 90;

        staticParams.LoopHysteresis = 50;

        staticParams.BitConfig = 0;

        staticParams.AxisCoupling1 = 90;

        staticParams.AxisCoupling2 = 67;

        staticParams.AxisCouplingYawCorrection = 0;

        staticParams.DynamicStability = 50;

        staticParams.J16Bitmask = 95;

        staticParams.J17Bitmask = 243;

        staticParams.J16Timing = 15;

        staticParams.J17Timing = 15;

        staticParams.NaviGpsModeControl = 253;

        staticParams.NaviGpsGain = 100;

        staticParams.NaviGpsP = 90;

        staticParams.NaviGpsI = 90;

        staticParams.NaviGpsD = 90;

        staticParams.NaviGpsPLimit = 75;

        staticParams.NaviGpsILimit = 75;

        staticParams.NaviGpsDLimit = 75;

        staticParams.NaviGpsACC = 0;

        staticParams.NaviGpsMinSat = 6;

        staticParams.NaviStickThreshold = 8;

        staticParams.NaviWindCorrection = 90;

        staticParams.NaviSpeedCompensation = 30;

        staticParams.NaviOperatingRadius = 100;

        staticParams.NaviAngleLimitation = 100;

        staticParams.NaviPHLoginTime = 4;

}

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

/*    Default Values for parameter set 1           */

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

void ParamSet_DefaultSet1(void) { // sport

        setOtherDefaults();

        gyro_setDefaults();

        setDefaultUserParams();

        staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER

                        /* | CFG_AXIS_COUPLING_ACTIVE*/;

    staticParams.EmergencyGasDuration = 200;

    staticParams.J16Timing = 10;

    staticParams.J17Timing = 10;

        memcpy(staticParams.Name, "Sport\0", 6);

}

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

/*    Default Values for parameter set 2           */

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

void ParamSet_DefaultSet2(void) { // normal

        setOtherDefaults();

        gyro_setDefaults();

        setDefaultUserParams();

        staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER

                        /* | CFG_AXIS_COUPLING_ACTIVE*/ ;

        staticParams.Height_Gain = 3;

    staticParams.EmergencyGasDuration = 200;

        staticParams.J16Timing = 20;

        staticParams.J17Timing = 20;

        memcpy(staticParams.Name, "Normal\0", 7);

}

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

/*    Default Values for parameter set 3           */

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

void ParamSet_DefaultSet3(void) { // beginner

        setOtherDefaults();

        gyro_setDefaults();

        setDefaultUserParams();

        staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER

                        /* | CFG_AXIS_COUPLING_ACTIVE */;

        staticParams.Height_Gain = 3;

        staticParams.EmergencyGasDuration = 200;

        staticParams.J16Timing = 30;

        staticParams.J17Timing = 30;

        memcpy(staticParams.Name, "Beginner\0", 9);

}

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

/*       Read Parameter from EEPROM as byte        */

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

uint8_t GetParamByte(uint16_t param_id) {

        return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]);

}

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

/*       Write Parameter to EEPROM as byte         */

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

void SetParamByte(uint16_t param_id, uint8_t value) {

        eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);

}

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

/*       Read Parameter from EEPROM as word        */

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

uint16_t GetParamWord(uint16_t param_id) {

        return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN

                        + param_id]);

}

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

/*       Write Parameter to EEPROM as word         */

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

void SetParamWord(uint16_t param_id, uint16_t value) {

        eeprom_write_word(

                        (uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);

}

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

/*       Read Parameter Set from EEPROM            */

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

// number [1..5]

void ParamSet_ReadFromEEProm(uint8_t setnumber) {

        if ((1 > setnumber) || (setnumber > 5))

                setnumber = 3;

        eeprom_read_block((uint8_t *) &staticParams.ChannelAssignment[0],

                        &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber

                                        - 1)], PARAMSET_STRUCT_LEN);

        output_init();

}

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

/*        Write Parameter Set to EEPROM            */

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

// number [1..5]

void ParamSet_WriteToEEProm(uint8_t setnumber) {

        if (setnumber > 5)

                setnumber = 5;

        if (setnumber < 1)

                return;

        eeprom_write_block((uint8_t *) &staticParams.ChannelAssignment[0],

                        &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber

                                        - 1)], PARAMSET_STRUCT_LEN);

        eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH],

                        PARAMSET_STRUCT_LEN);

        eeprom_write_block(&staticParams.ChannelAssignment[0],

                        &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping

        // set this parameter set to active set

        setActiveParamSet(setnumber);

        output_init();

}

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

/*       Get active parameter set                  */

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

uint8_t getActiveParamSet(void) {

        uint8_t setnumber;

        setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]);

        if (setnumber > 5) {

                setnumber = 3;

                eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber);

        }

        return (setnumber);

}

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

/*       Set active parameter set                  */

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

void setActiveParamSet(uint8_t setnumber) {

        if (setnumber > 5)

                setnumber = 5;

        if (setnumber < 1)

                setnumber = 1;

        eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber);

}

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

/*          Read MixerTable from EEPROM            */

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

uint8_t MixerTable_ReadFromEEProm(void) {

        if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE])

                        == EEMIXER_REVISION) {

                eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE],

                                sizeof(Mixer));

                return 1;

        } else

                return 0;

}

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

/*          Write Mixer Table to EEPROM            */

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

uint8_t MixerTable_WriteToEEProm(void) {

        if (Mixer.Revision == EEMIXER_REVISION) {

                eeprom_write_block((uint8_t *) &Mixer,

                                &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));

                return 1;

        } else

                return 0;

}

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

/*    Default Values for Mixer Table               */

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

void MixerTable_Default(void) { // Quadro 

        uint8_t i;

        Mixer.Revision = EEMIXER_REVISION;

        // clear mixer table (but preset throttle)

        for (i = 0; i < 16; i++) {

                Mixer.Motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0;

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

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

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

        }

        // default = Quadro

        Mixer.Motor[0][MIX_PITCH] = +64;

        Mixer.Motor[0][MIX_YAW] = +64;

        Mixer.Motor[1][MIX_PITCH] = -64;

        Mixer.Motor[1][MIX_YAW] = +64;

        Mixer.Motor[2][MIX_ROLL] = -64;

        Mixer.Motor[2][MIX_YAW] = -64;

        Mixer.Motor[3][MIX_ROLL] = +64;

        Mixer.Motor[3][MIX_YAW] = -64;

        memcpy(Mixer.Name, "Quadro\0", 7);

}

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

/*       Initialize EEPROM Parameter Sets          */

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

void ParamSet_Init(void) {

        uint8_t Channel_Backup = 1, i, j;

        // parameter version  check

        if (eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) {

                // if version check faild

                printf("\n\rInit Parameter in EEPROM");

                eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table

                // check if channel mapping backup is valid

                for (j = 0; j < 4 && Channel_Backup; j++) {

                        if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS + 0]) >= 12)

                                Channel_Backup = 0;

                }

                // fill all 5 parameter settings

                for (i = 1; i < 6; i++) {

                        switch (i) {

                        case 1:

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

                                break;

                        case 2:

                                ParamSet_DefaultSet2(); // Kamera

                                break;

                        case 3:

                                ParamSet_DefaultSet3(); // Beginner

                                break;

                        default:

                                ParamSet_DefaultSet2(); // Kamera

                                break;

                        }

                        if (Channel_Backup) { // if we have a rc channel mapping backup in eeprom

                                // restore it

                                for (j = 0; j < 8; j++) {

                                        staticParams.ChannelAssignment[j] = eeprom_read_byte(

                                                        &EEPromArray[EEPROM_ADR_CHANNELS + j]);

                                }

                        }

                        ParamSet_WriteToEEProm(i);

                }

                // default-Setting is parameter set 3

                setActiveParamSet(1);

                // update version info

                SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION);

        }

        // read active parameter set to staticParams stucture

        ParamSet_ReadFromEEProm(getActiveParamSet());

        printf("\n\rUsing Parameter Set %d", getActiveParamSet());

        // load mixer table

        if (!MixerTable_ReadFromEEProm()) {

                printf("\n\rGenerating default Mixer Table");

                MixerTable_Default(); // Quadro

                MixerTable_WriteToEEProm();

        }

        // determine motornumber

        RequiredMotors = 0;

        for (i = 0; i < 16; i++) {

                if (Mixer.Motor[i][MIX_THROTTLE] > 0)

                        RequiredMotors++;

        }

        printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors);

        printf("\n\r==============================");

}