Subversion Repositories FlightCtrl

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Ignore whitespace Rev 1909 → Rev 1910

/branches/dongfang_FC_fixedwing/eeprom.c
0,0 → 1,318
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 "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.UserParams2[0] = 0xd5; //0b11010101; // All gyro filter constants 2; acc. 4
staticParams.UserParams2[1] = 0; // 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_ELEVATOR] = 2;
staticParams.ChannelAssignment[CH_AILERONS] = 1;
staticParams.ChannelAssignment[CH_THROTTLE] = 3;
staticParams.ChannelAssignment[CH_RUDDER] = 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.CompassYawEffect = 128;
 
staticParams.GyroPitchP = 0;
staticParams.GyroRollP = 0;
staticParams.GyroYawP = 0;
 
staticParams.GyroPitchD = 0;
staticParams.GyroRollD = 0;
staticParams.GyroYawD = 0;
 
staticParams.StickElevatorP = 10;
staticParams.StickAileronsP = 10;
staticParams.StickRudderP = 10;
 
staticParams.LowVoltageWarning = 105;
staticParams.IFactor = 32;
staticParams.ServoRefresh = 7;
staticParams.BitConfig = 0;
staticParams.J16Bitmask = 95;
staticParams.J17Bitmask = 243;
staticParams.J16Timing = 15;
staticParams.J17Timing = 15;
 
staticParams.ControlSigns = 2;
}
 
/***************************************************/
/* Default Values for parameter set 1 */
/***************************************************/
void ParamSet_DefaultSet1(void) { // sport
setOtherDefaults();
gyro_setDefaults();
setDefaultUserParams();
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.Height_Gain = 3;
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.Height_Gain = 3;
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
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());
}