| 0,0 → 1,321 |
|---|
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Konstanten |
| // + 0-250 -> normale Werte |
| // + 251 -> Poti1 |
| // + 252 -> Poti2 |
| // + 253 -> Poti3 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| |
| |
| #include <avr/eeprom.h> |
| #include <string.h> |
| #include "eeprom.h" |
| #include "printf_P.h" |
| |
| |
| // byte array in eeprom |
| uint8_t EEPromArray[E2END+1] EEMEM; |
| |
| paramset_t ParamSet; |
| |
| |
| |
| /***************************************************/ |
| /* Default Values for parameter set 1 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet1(void) // sport |
| { |
| ParamSet.ChannelAssignment[CH_PITCH] = 1; |
| ParamSet.ChannelAssignment[CH_ROLL] = 2; |
| ParamSet.ChannelAssignment[CH_THRUST] = 3; |
| ParamSet.ChannelAssignment[CH_YAW] = 4; |
| ParamSet.ChannelAssignment[CH_POTI1] = 5; |
| ParamSet.ChannelAssignment[CH_POTI2] = 6; |
| ParamSet.ChannelAssignment[CH_POTI3] = 7; |
| ParamSet.ChannelAssignment[CH_POTI4] = 8; |
| ParamSet.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE;//CFG_HEIGHT_CONTROL | /*CFG_HEIGHT_SWITCH |*/ CFG_COMPASS_ACTIVE | CFG_COMPASS_FIX;//0x01; |
| ParamSet.Height_MinThrust = 30; |
| ParamSet.MaxHeight = 251; // Wert : 0-250 251 -> Poti1 |
| ParamSet.Height_P = 10; // Wert : 0-32 |
| ParamSet.Height_D = 30; // Wert : 0-250 |
| ParamSet.Height_ACC_Effect = 30; // Wert : 0-250 |
| ParamSet.Height_Gain = 4; // Wert : 0-50 |
| ParamSet.Stick_P = 4; //2 // Wert : 1-6 |
| ParamSet.Stick_D = 8; //8 // Wert : 0-64 |
| ParamSet.Yaw_P = 12; // Wert : 1-20 |
| ParamSet.Trust_Min = 15; // Wert : 0-32 |
| ParamSet.Trust_Max = 250; // Wert : 33-250 |
| ParamSet.GyroAccFactor = 30; // Wert : 1-64 |
| ParamSet.CompassYawEffect = 128; // Wert : 0-250 |
| ParamSet.Gyro_P = 80; // Wert : 0-250 |
| ParamSet.Gyro_I = 150; // Wert : 0-250 |
| ParamSet.LowVoltageWarning = 94; // Wert : 0-250 |
| ParamSet.EmergencyThrust = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| ParamSet.EmergencyThrustDuration = 20; // Wert : 0-250 // Zeit bis auf EmergencyThrust geschaltet wird, wg. Rx-Problemen |
| ParamSet.UfoArrangement = 0; // X oder + Formation |
| ParamSet.I_Factor = 32; |
| ParamSet.UserParam1 = 32 * 4; //zur freien Verwendung |
| ParamSet.UserParam2 = 0; //zur freien Verwendung |
| ParamSet.UserParam3 = 0; //zur freien Verwendung |
| ParamSet.UserParam4 = 0; //zur freien Verwendung |
| ParamSet.UserParam5 = 0; // zur freien Verwendung |
| ParamSet.UserParam6 = 0; // zur freien Verwendung |
| ParamSet.UserParam7 = 0; // zur freien Verwendung |
| ParamSet.UserParam8 = 0; // zur freien Verwendung |
| ParamSet.ServoPitchControl = 100; // Wert : 0-250 // Stellung des Servos |
| ParamSet.ServoPitchComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| ParamSet.ServoPitchCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| ParamSet.ServoPitchMin = 50; // Wert : 0-250 // Anschlag |
| ParamSet.ServoPitchMax = 150; // Wert : 0-250 // Anschlag |
| ParamSet.ServoPitchRefresh = 5; |
| ParamSet.LoopThrustLimit = 50; |
| ParamSet.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| ParamSet.LoopHysteresis = 50; |
| ParamSet.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| ParamSet.Yaw_PosFeedback = 90; |
| ParamSet.Yaw_NegFeedback = 5; |
| ParamSet.AngleTurnOverPitch = 100; |
| ParamSet.AngleTurnOverRoll = 100; |
| ParamSet.GyroAccTrim = 16; // 1/k |
| ParamSet.DriftComp = 4; |
| ParamSet.DynamicStability = 100; |
| memcpy(ParamSet.Name, "Sport\0",6); |
| } |
| |
| |
| /***************************************************/ |
| /* Default Values for parameter set 2 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet2(void) // normal |
| { |
| ParamSet.ChannelAssignment[CH_PITCH] = 1; |
| ParamSet.ChannelAssignment[CH_ROLL] = 2; |
| ParamSet.ChannelAssignment[CH_THRUST] = 3; |
| ParamSet.ChannelAssignment[CH_YAW] = 4; |
| ParamSet.ChannelAssignment[CH_POTI1] = 5; |
| ParamSet.ChannelAssignment[CH_POTI2] = 6; |
| ParamSet.ChannelAssignment[CH_POTI3] = 7; |
| ParamSet.ChannelAssignment[CH_POTI4] = 8; |
| ParamSet.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE;//CFG_HEIGHT_CONTROL | /*CFG_HEIGHT_SWITCH |*/ CFG_COMPASS_ACTIVE;//0x01; |
| ParamSet.Height_MinThrust = 30; |
| ParamSet.MaxHeight = 251; // Wert : 0-250 251 -> Poti1 |
| ParamSet.Height_P = 10; // Wert : 0-32 |
| ParamSet.Height_D = 30; // Wert : 0-250 |
| ParamSet.Height_ACC_Effect = 30; // Wert : 0-250 |
| ParamSet.Height_Gain = 3; // Wert : 0-50 |
| ParamSet.Stick_P = 3; //2 // Wert : 1-6 |
| ParamSet.Stick_D = 4; //8 // Wert : 0-64 |
| ParamSet.Yaw_P = 6; // Wert : 1-20 |
| ParamSet.Trust_Min = 15; // Wert : 0-32 |
| ParamSet.Trust_Max = 250; // Wert : 33-250 |
| ParamSet.GyroAccFactor = 30; // Wert : 1-64 |
| ParamSet.CompassYawEffect = 128; // Wert : 0-250 |
| ParamSet.Gyro_P = 80; // Wert : 0-250 |
| ParamSet.Gyro_I = 120; // Wert : 0-250 |
| ParamSet.LowVoltageWarning = 94; // Wert : 0-250 |
| ParamSet.EmergencyThrust = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| ParamSet.EmergencyThrustDuration = 20; // Wert : 0-250 // Zeit bis auf EmergencyThrust geschaltet wird, wg. Rx-Problemen |
| ParamSet.UfoArrangement = 0; // X oder + Formation |
| ParamSet.I_Factor = 32; |
| ParamSet.UserParam1 = 20 * 4; // zur freien Verwendung |
| ParamSet.UserParam2 = 0; // zur freien Verwendung |
| ParamSet.UserParam3 = 0; // zur freien Verwendung |
| ParamSet.UserParam4 = 0; // zur freien Verwendung |
| ParamSet.UserParam5 = 0; // zur freien Verwendung |
| ParamSet.UserParam6 = 0; // zur freien Verwendung |
| ParamSet.UserParam7 = 0; // zur freien Verwendung |
| ParamSet.UserParam8 = 0; // zur freien Verwendung |
| ParamSet.ServoPitchControl = 100; // Wert : 0-250 // Stellung des Servos |
| ParamSet.ServoPitchComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| ParamSet.ServoPitchCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| ParamSet.ServoPitchMin = 50; // Wert : 0-250 // Anschlag |
| ParamSet.ServoPitchMax = 150; // Wert : 0-250 // Anschlag |
| ParamSet.ServoPitchRefresh = 5; |
| ParamSet.LoopThrustLimit = 50; |
| ParamSet.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| ParamSet.LoopHysteresis = 50; |
| ParamSet.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| ParamSet.Yaw_PosFeedback = 90; // Faktor, mit dem Yaw die Achsen Roll und Pitch verkoppelt |
| ParamSet.Yaw_NegFeedback = 5; |
| ParamSet.AngleTurnOverPitch = 100; |
| ParamSet.AngleTurnOverRoll = 100; |
| ParamSet.GyroAccTrim = 32; // 1/k |
| ParamSet.DriftComp = 4; |
| ParamSet.DynamicStability = 75; |
| memcpy(ParamSet.Name, "Normal\0", 7); |
| } |
| |
| |
| /***************************************************/ |
| /* Default Values for parameter set 3 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet3(void) // beginner |
| { |
| ParamSet.ChannelAssignment[CH_PITCH] = 1; |
| ParamSet.ChannelAssignment[CH_ROLL] = 2; |
| ParamSet.ChannelAssignment[CH_THRUST] = 3; |
| ParamSet.ChannelAssignment[CH_YAW] = 4; |
| ParamSet.ChannelAssignment[CH_POTI1] = 5; |
| ParamSet.ChannelAssignment[CH_POTI2] = 6; |
| ParamSet.ChannelAssignment[CH_POTI3] = 7; |
| ParamSet.ChannelAssignment[CH_POTI4] = 8; |
| ParamSet.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE;///*CFG_HEIGHT_SWITCH |*/ CFG_COMPASS_ACTIVE;//0x01; |
| ParamSet.Height_MinThrust = 30; |
| ParamSet.MaxHeight = 251; // Wert : 0-250 251 -> Poti1 |
| ParamSet.Height_P = 10; // Wert : 0-32 |
| ParamSet.Height_D = 30; // Wert : 0-250 |
| ParamSet.Height_ACC_Effect = 30; // Wert : 0-250 |
| ParamSet.Height_Gain = 2; // Wert : 0-50 |
| ParamSet.Stick_P = 2; //2 // Wert : 1-6 |
| ParamSet.Stick_D = 4; //8 // Wert : 0-64 |
| ParamSet.Yaw_P = 6; // Wert : 1-20 |
| ParamSet.Trust_Min = 15; // Wert : 0-32 |
| ParamSet.Trust_Max = 250; // Wert : 33-250 |
| ParamSet.GyroAccFactor = 30; // Wert : 1-64 |
| ParamSet.CompassYawEffect = 128; // Wert : 0-250 |
| ParamSet.Gyro_P = 100; // Wert : 0-250 |
| ParamSet.Gyro_I = 140; // Wert : 0-250 |
| ParamSet.LowVoltageWarning = 94; // Wert : 0-250 |
| ParamSet.EmergencyThrust = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| ParamSet.EmergencyThrustDuration = 20; // Wert : 0-250 // Zeit bis auf EmergencyThrust geschaltet wird, wg. Rx-Problemen |
| ParamSet.UfoArrangement = 0; // X oder + Formation |
| ParamSet.I_Factor = 16; |
| ParamSet.UserParam1 = 20 * 4; // zur freien Verwendung |
| ParamSet.UserParam2 = 0; // zur freien Verwendung |
| ParamSet.UserParam3 = 0; // zur freien Verwendung |
| ParamSet.UserParam4 = 0; // zur freien Verwendung |
| ParamSet.UserParam5 = 0; // zur freien Verwendung |
| ParamSet.UserParam6 = 0; // zur freien Verwendung |
| ParamSet.UserParam7 = 0; // zur freien Verwendung |
| ParamSet.UserParam8 = 0; // zur freien Verwendung |
| ParamSet.ServoPitchControl = 100; // Wert : 0-250 // Stellung des Servos |
| ParamSet.ServoPitchComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| ParamSet.ServoPitchCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| ParamSet.ServoPitchMin = 50; // Wert : 0-250 // Anschlag |
| ParamSet.ServoPitchMax = 150; // Wert : 0-250 // Anschlag |
| ParamSet.ServoPitchRefresh = 5; |
| ParamSet.LoopThrustLimit = 50; |
| ParamSet.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| ParamSet.LoopHysteresis = 50; |
| ParamSet.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| ParamSet.Yaw_PosFeedback = 90; // Faktor, mit dem Yaw die Achsen Roll und Pitch verkoppelt |
| ParamSet.Yaw_NegFeedback = 5; |
| ParamSet.AngleTurnOverPitch = 100; |
| ParamSet.AngleTurnOverRoll = 100; |
| ParamSet.GyroAccTrim = 32; // 1/k |
| ParamSet.DriftComp = 4; |
| ParamSet.DynamicStability = 50; |
| memcpy(ParamSet.Name, "Beginner\0", 9); |
| } |
| |
| /***************************************************/ |
| /* Read Parameter from EEPROM as byte */ |
| /***************************************************/ |
| uint8_t GetParamByte(uint8_t param_id) |
| { |
| return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
| } |
| |
| /***************************************************/ |
| /* Write Parameter to EEPROM as byte */ |
| /***************************************************/ |
| void SetParamByte(uint8_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(uint8_t param_id) |
| { |
| return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
| } |
| |
| /***************************************************/ |
| /* Write Parameter to EEPROM as word */ |
| /***************************************************/ |
| void SetParamWord(uint8_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 [0..5] |
| void ParamSet_ReadFromEEProm(uint8_t setnumber) |
| { |
| if (setnumber > 5) setnumber = 5; |
| eeprom_read_block((uint8_t *) &ParamSet.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * setnumber], PARAMSET_STRUCT_LEN); |
| } |
| |
| /***************************************************/ |
| /* Write Parameter Set to EEPROM */ |
| /***************************************************/ |
| // number [0..5] |
| void ParamSet_WriteToEEProm(uint8_t setnumber) |
| { |
| if(setnumber > 5) setnumber = 5; |
| eeprom_write_block((uint8_t *) &ParamSet.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * setnumber], PARAMSET_STRUCT_LEN); |
| // set this parameter set to active set |
| eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
| } |
| |
| /***************************************************/ |
| /* Get active parameter set */ |
| /***************************************************/ |
| uint8_t GetActiveParamSet(void) |
| { |
| uint8_t setnumber; |
| setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
| if(setnumber > 5) |
| { |
| setnumber = 2; |
| eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
| } |
| return(setnumber); |
| } |
| |
| /***************************************************/ |
| /* Set active parameter set */ |
| /***************************************************/ |
| void SetActiveParamSet(uint8_t setnumber) |
| { |
| if(setnumber > 5) setnumber = 5; |
| eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
| } |
| |
| /***************************************************/ |
| /* Initialize EEPROM Parameter Sets */ |
| /***************************************************/ |
| void ParamSet_Init(void) |
| { |
| // version check |
| if(eeprom_read_byte(&EEPromArray[PID_VERSION]) != EEPARAM_VERSION) |
| { |
| // if version check faild |
| printf("\n\rInit. EEPROM: Generating Default-Parameter..."); |
| ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
| // fill all 5 parameter settings with set 1 except otherwise defined |
| for (unsigned char i=0;i<6;i++) |
| { |
| if(i==2) ParamSet_DefaultSet2(); // Kamera |
| if(i==3) ParamSet_DefaultSet3(); // Beginner |
| if(i>3) ParamSet_DefaultSet2(); // Kamera |
| ParamSet_WriteToEEProm(i); |
| } |
| // default-Setting is parameter set 3 |
| SetParamByte(PID_ACTIVE_SET, 3); |
| // update version info |
| SetParamByte(PID_VERSION, EEPARAM_VERSION); |
| } |
| // read active parameter set to ParamSet stucture |
| ParamSet_ReadFromEEProm(GetParamByte(PID_ACTIVE_SET)); |
| printf("\n\rUsing Parameter Set %d", GetParamByte(PID_ACTIVE_SET)); |
| } |