| 0,0 → 1,582 |
|---|
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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 (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 sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt 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 excample: 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 "led.h" |
| #include "main.h" |
| #include "fc.h" |
| |
| |
| // byte array in eeprom |
| uint8_t EEPromArray[E2END+1] EEMEM; |
| |
| paramset_t ParamSet; |
| MixerTable_t Mixer; |
| |
| |
| /***************************************************/ |
| /* Default Values for parameter set 1 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet1(void) // sport |
| { |
| if(BoardRelease >= 20) |
| { |
| ParamSet.GyroD = 5; |
| ParamSet.DriftComp = 0; |
| ParamSet.GyroAccFactor = 27; |
| ParamSet.AngleTurnOverNick = 78; |
| ParamSet.AngleTurnOverRoll = 78; |
| } |
| else |
| { |
| ParamSet.GyroD = 3; |
| ParamSet.DriftComp = 32; |
| ParamSet.GyroAccFactor = 30; |
| ParamSet.AngleTurnOverNick = 85; |
| ParamSet.AngleTurnOverRoll = 85; |
| } |
| ParamSet.ChannelAssignment[CH_NICK] = 1; |
| ParamSet.ChannelAssignment[CH_ROLL] = 2; |
| ParamSet.ChannelAssignment[CH_GAS] = 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_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
| ParamSet.HeightMinGas = 30; |
| ParamSet.MaxHeight = 251; |
| ParamSet.HeightP = 10; |
| ParamSet.HeightD = 30; |
| ParamSet.Height_ACC_Effect = 30; |
| ParamSet.Height_Gain = 4; |
| ParamSet.StickP = 15; |
| ParamSet.StickD = 30; |
| ParamSet.StickYawP = 12; |
| ParamSet.GasMin = 8; |
| ParamSet.GasMax = 230; |
| ParamSet.CompassYawEffect = 128; |
| ParamSet.GyroP = 80; |
| ParamSet.GyroI = 150; |
| ParamSet.LowVoltageWarning = 94; |
| ParamSet.EmergencyGas = 35; |
| ParamSet.EmergencyGasDuration = 30; |
| ParamSet.UfoArrangement = 0; |
| ParamSet.IFactor = 32; |
| ParamSet.UserParam1 = 0; |
| ParamSet.UserParam2 = 0; |
| ParamSet.UserParam3 = 0; |
| ParamSet.UserParam4 = 0; |
| ParamSet.UserParam5 = 0; |
| ParamSet.UserParam6 = 0; |
| ParamSet.UserParam7 = 0; |
| ParamSet.UserParam8 = 0; |
| ParamSet.ServoNickControl = 100; |
| ParamSet.ServoNickComp = 40; |
| ParamSet.ServoNickCompInvert = 0; |
| ParamSet.ServoNickMin = 50; |
| ParamSet.ServoNickMax = 150; |
| ParamSet.ServoRefresh = 5; |
| ParamSet.LoopGasLimit = 50; |
| ParamSet.LoopThreshold = 90; |
| ParamSet.LoopHysteresis = 50; |
| ParamSet.BitConfig = 0; |
| ParamSet.AxisCoupling1 = 90; |
| ParamSet.AxisCoupling2 = 67; |
| ParamSet.AxisCouplingYawCorrection = 0; |
| ParamSet.GyroAccTrim = 16; |
| ParamSet.DynamicStability = 100; |
| ParamSet.J16Bitmask = 95; |
| ParamSet.J17Bitmask = 243; |
| ParamSet.J16Timing = 15; |
| ParamSet.J17Timing = 15; |
| ParamSet.NaviGpsModeControl = 253; |
| ParamSet.NaviGpsGain = 100; |
| ParamSet.NaviGpsP = 90; |
| ParamSet.NaviGpsI = 90; |
| ParamSet.NaviGpsD = 90; |
| ParamSet.NaviGpsPLimit = 75; |
| ParamSet.NaviGpsILimit = 75; |
| ParamSet.NaviGpsDLimit = 75; |
| ParamSet.NaviGpsACC = 0; |
| ParamSet.NaviGpsMinSat = 6; |
| ParamSet.NaviStickThreshold = 8; |
| ParamSet.NaviWindCorrection = 90; |
| ParamSet.NaviSpeedCompensation = 30; |
| ParamSet.NaviOperatingRadius = 100; |
| ParamSet.NaviAngleLimitation = 100; |
| ParamSet.NaviPHLoginTime = 4; |
| memcpy(ParamSet.Name, "Sport\0",6); |
| } |
| |
| |
| /***************************************************/ |
| /* Default Values for parameter set 2 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet2(void) // normal |
| { |
| if(BoardRelease >= 20) |
| { |
| ParamSet.GyroD = 5; |
| ParamSet.DriftComp = 0; |
| ParamSet.GyroAccFactor = 27; |
| ParamSet.AngleTurnOverNick = 78; |
| ParamSet.AngleTurnOverRoll = 78; |
| } |
| else |
| { |
| ParamSet.GyroD = 3; |
| ParamSet.DriftComp = 32; |
| ParamSet.GyroAccFactor = 30; |
| ParamSet.AngleTurnOverNick = 85; |
| ParamSet.AngleTurnOverRoll = 85; |
| } |
| ParamSet.ChannelAssignment[CH_NICK] = 1; |
| ParamSet.ChannelAssignment[CH_ROLL] = 2; |
| ParamSet.ChannelAssignment[CH_GAS] = 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_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
| ParamSet.HeightMinGas = 30; |
| ParamSet.MaxHeight = 251; |
| ParamSet.HeightP = 10; |
| ParamSet.HeightD = 30; |
| ParamSet.Height_ACC_Effect = 30; |
| ParamSet.Height_Gain = 3; |
| ParamSet.StickP = 12; |
| ParamSet.StickD = 16; |
| ParamSet.StickYawP = 6; |
| ParamSet.GasMin = 8; |
| ParamSet.GasMax = 230; |
| ParamSet.CompassYawEffect = 128; |
| ParamSet.GyroP = 80; |
| ParamSet.GyroI = 120; |
| ParamSet.LowVoltageWarning = 94; |
| ParamSet.EmergencyGas = 35; |
| ParamSet.EmergencyGasDuration = 30; |
| ParamSet.UfoArrangement = 0; |
| ParamSet.IFactor = 32; |
| ParamSet.UserParam1 = 0; |
| ParamSet.UserParam2 = 0; |
| ParamSet.UserParam3 = 0; |
| ParamSet.UserParam4 = 0; |
| ParamSet.UserParam5 = 0; |
| ParamSet.UserParam6 = 0; |
| ParamSet.UserParam7 = 0; |
| ParamSet.UserParam8 = 0; |
| ParamSet.ServoNickControl = 100; |
| ParamSet.ServoNickComp = 40; |
| ParamSet.ServoNickCompInvert = 0; |
| ParamSet.ServoNickMin = 50; |
| ParamSet.ServoNickMax = 150; |
| ParamSet.ServoRefresh = 5; |
| ParamSet.LoopGasLimit = 50; |
| ParamSet.LoopThreshold = 90; |
| ParamSet.LoopHysteresis = 50; |
| ParamSet.BitConfig = 0; |
| ParamSet.AxisCoupling1 = 90; |
| ParamSet.AxisCoupling2 = 67; |
| ParamSet.AxisCouplingYawCorrection = 60; |
| ParamSet.GyroAccTrim = 32; |
| ParamSet.DynamicStability = 75; |
| ParamSet.J16Bitmask = 95; |
| ParamSet.J17Bitmask = 243; |
| ParamSet.J16Timing = 20; |
| ParamSet.J17Timing = 20; |
| ParamSet.NaviGpsModeControl = 253; |
| ParamSet.NaviGpsGain = 100; |
| ParamSet.NaviGpsP = 90; |
| ParamSet.NaviGpsI = 90; |
| ParamSet.NaviGpsD = 90; |
| ParamSet.NaviGpsPLimit = 75; |
| ParamSet.NaviGpsILimit = 75; |
| ParamSet.NaviGpsDLimit = 75; |
| ParamSet.NaviGpsACC = 0; |
| ParamSet.NaviGpsMinSat = 6; |
| ParamSet.NaviStickThreshold = 8; |
| ParamSet.NaviWindCorrection = 90; |
| ParamSet.NaviSpeedCompensation = 30; |
| ParamSet.NaviOperatingRadius = 100; |
| ParamSet.NaviAngleLimitation = 100; |
| ParamSet.NaviPHLoginTime = 4; |
| memcpy(ParamSet.Name, "Normal\0", 7); |
| } |
| |
| |
| /***************************************************/ |
| /* Default Values for parameter set 3 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet3(void) // beginner |
| { |
| if(BoardRelease >= 20) |
| { |
| ParamSet.GyroD = 5; |
| ParamSet.DriftComp = 0; |
| ParamSet.GyroAccFactor = 27; // Wert : 1-64 |
| ParamSet.AngleTurnOverNick = 78; |
| ParamSet.AngleTurnOverRoll = 78; |
| } |
| else |
| { |
| ParamSet.GyroD = 3; |
| ParamSet.DriftComp = 32; |
| ParamSet.GyroAccFactor = 30; // Wert : 1-64 |
| ParamSet.AngleTurnOverNick = 85; |
| ParamSet.AngleTurnOverRoll = 85; |
| } |
| ParamSet.ChannelAssignment[CH_NICK] = 1; |
| ParamSet.ChannelAssignment[CH_ROLL] = 2; |
| ParamSet.ChannelAssignment[CH_GAS] = 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_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
| ParamSet.HeightMinGas = 30; |
| ParamSet.MaxHeight = 251; |
| ParamSet.HeightP = 10; |
| ParamSet.HeightD = 30; |
| ParamSet.Height_ACC_Effect = 30; |
| ParamSet.Height_Gain = 3; |
| ParamSet.StickP = 8; |
| ParamSet.StickD = 16; |
| ParamSet.StickYawP = 6; |
| ParamSet.GasMin = 8; |
| ParamSet.GasMax = 230; |
| ParamSet.CompassYawEffect = 128; |
| ParamSet.GyroP = 100; |
| ParamSet.GyroI = 120; |
| ParamSet.LowVoltageWarning = 94; |
| ParamSet.EmergencyGas = 35; |
| ParamSet.EmergencyGasDuration = 20; |
| ParamSet.UfoArrangement = 0; |
| ParamSet.IFactor = 16; |
| ParamSet.UserParam1 = 0; |
| ParamSet.UserParam2 = 0; |
| ParamSet.UserParam3 = 0; |
| ParamSet.UserParam4 = 0; |
| ParamSet.UserParam5 = 0; |
| ParamSet.UserParam6 = 0; |
| ParamSet.UserParam7 = 0; |
| ParamSet.UserParam8 = 0; |
| ParamSet.ServoNickControl = 100; |
| ParamSet.ServoNickComp = 40; |
| ParamSet.ServoNickCompInvert = 0; |
| ParamSet.ServoNickMin = 50; |
| ParamSet.ServoNickMax = 150; |
| ParamSet.ServoRefresh = 5; |
| ParamSet.LoopGasLimit = 50; |
| ParamSet.LoopThreshold = 90; |
| ParamSet.LoopHysteresis = 50; |
| ParamSet.BitConfig = 0; |
| ParamSet.AxisCoupling1 = 90; |
| ParamSet.AxisCoupling2 = 67; |
| ParamSet.AxisCouplingYawCorrection = 70; |
| ParamSet.GyroAccTrim = 32; |
| ParamSet.DynamicStability = 50; |
| ParamSet.J16Bitmask = 95; |
| ParamSet.J17Bitmask = 243; |
| ParamSet.J16Timing = 30; |
| ParamSet.J17Timing = 30; |
| ParamSet.NaviGpsModeControl = 253; |
| ParamSet.NaviGpsGain = 100; |
| ParamSet.NaviGpsP = 90; |
| ParamSet.NaviGpsI = 90; |
| ParamSet.NaviGpsD = 90; |
| ParamSet.NaviGpsPLimit = 75; |
| ParamSet.NaviGpsILimit = 75; |
| ParamSet.NaviGpsDLimit = 75; |
| ParamSet.NaviGpsACC = 0; |
| ParamSet.NaviGpsMinSat = 6; |
| ParamSet.NaviStickThreshold = 8; |
| ParamSet.NaviWindCorrection = 90; |
| ParamSet.NaviSpeedCompensation = 30; |
| ParamSet.NaviOperatingRadius = 100; |
| ParamSet.NaviAngleLimitation = 100; |
| ParamSet.NaviPHLoginTime = 4; |
| memcpy(ParamSet.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 *) &ParamSet.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN); |
| LED_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 *) &ParamSet.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( &ParamSet.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); |
| LED_Init(); |
| } |
| |
| /***************************************************/ |
| /* 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 |
| for(i = 0; i < 16; i++) |
| { |
| Mixer.Motor[i][MIX_GAS] = 0; |
| Mixer.Motor[i][MIX_NICK] = 0; |
| Mixer.Motor[i][MIX_ROLL] = 0; |
| Mixer.Motor[i][MIX_YAW] = 0; |
| } |
| // default = Quadro |
| Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
| Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
| Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
| Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
| memcpy(Mixer.Name, "Quadro\0", 7); |
| } |
| |
| |
| /***************************************************/ |
| /* 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); |
| } |
| |
| /***************************************************/ |
| /* Initialize EEPROM Parameter Sets */ |
| /***************************************************/ |
| void ParamSet_Init(void) |
| { |
| uint8_t Channel_Backup = 0, i; |
| // 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 |
| if( (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]) < 12) |
| && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12) |
| && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12) |
| && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12) |
| ) |
| { |
| Channel_Backup = 1; |
| } |
| // fill all 5 parameter settings |
| for (i = 1;i < 6; i++) |
| { |
| switch(i) |
| { |
| case 1: |
| ParamSet_DefaultSet1(); // Fill ParamSet 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 |
| ParamSet.ChannelAssignment[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]); |
| ParamSet.ChannelAssignment[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]); |
| ParamSet.ChannelAssignment[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]); |
| ParamSet.ChannelAssignment[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]); |
| ParamSet.ChannelAssignment[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]); |
| ParamSet.ChannelAssignment[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]); |
| ParamSet.ChannelAssignment[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]); |
| ParamSet.ChannelAssignment[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]); |
| } |
| ParamSet_WriteToEEProm(i); |
| } |
| // default-Setting is parameter set 3 |
| SetActiveParamSet(3); |
| // update version info |
| SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION); |
| } |
| // read active parameter set to ParamSet 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_GAS] > 0) RequiredMotors++; |
| } |
| |
| printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
| printf("\n\r=============================="); |
| } |