| 0,0 → 1,208 |
|---|
| #ifndef _EEPROM_H |
| #define _EEPROM_H |
| |
| #include <inttypes.h> |
| |
| #define EEPROM_ADR_PARAM_BEGIN 0 |
| #define PID_PARAM_REVISION 1 // byte |
| #define PID_ACTIVE_SET 2 // byte |
| #define PID_PRESSURE_OFFSET 3 // byte |
| |
| #define PID_ACC_NICK 4 // word |
| #define PID_ACC_ROLL 6 // word |
| #define PID_ACC_TOP 8 // word |
| |
| #define PID_FLIGHT_MINUTES_TOTAL 10 // word |
| #define PID_FLIGHT_MINUTES 14 // word |
| |
| #ifdef USE_KILLAGREG |
| #define PID_MM3_X_OFF 31 // byte |
| #define PID_MM3_Y_OFF 32 // byte |
| #define PID_MM3_Z_OFF 33 // byte |
| #define PID_MM3_X_RANGE 34 // word |
| #define PID_MM3_Y_RANGE 36 // word |
| #define PID_MM3_Z_RANGE 38 // word |
| #endif |
| |
| |
| #define EEPROM_ADR_CHANNELS 80 // 8 bytes |
| |
| #define EEPROM_ADR_PARAMSET_LENGTH 98 // word |
| #define EEPROM_ADR_PARAMSET_BEGIN 100 |
| |
| |
| #define EEPROM_ADR_MIXER_TABLE 1000 // 1000 - 1076 |
| |
| |
| #define MIX_GAS 0 |
| #define MIX_NICK 1 |
| #define MIX_ROLL 2 |
| #define MIX_YAW 3 |
| |
| typedef struct |
| { |
| uint8_t Revision; |
| int8_t Name[12]; |
| int8_t Motor[16][4]; |
| } __attribute__((packed)) MixerTable_t; |
| |
| extern MixerTable_t Mixer; |
| |
| |
| // bit mask for ParamSet.Config0 |
| #define CFG0_AIRPRESS_SENSOR 0x01 |
| #define CFG0_HEIGHT_SWITCH 0x02 |
| #define CFG0_HEADING_HOLD 0x04 |
| #define CFG0_COMPASS_ACTIVE 0x08 |
| #define CFG0_COMPASS_FIX 0x10 |
| #define CFG0_GPS_ACTIVE 0x20 |
| #define CFG0_AXIS_COUPLING_ACTIVE 0x40 |
| #define CFG0_ROTARY_RATE_LIMITER 0x80 |
| |
| // bit mask for ParamSet.Config1 |
| #define CFG1_LOOP_UP 0x01 |
| #define CFG1_LOOP_DOWN 0x02 |
| #define CFG1_LOOP_LEFT 0x04 |
| #define CFG1_LOOP_RIGHT 0x08 |
| #define CFG1_MOTOR_BLINK 0x10 |
| #define CFG1_MOTOR_OFF_LED1 0x20 |
| #define CFG1_MOTOR_OFF_LED2 0x40 |
| #define CFG1_RES4 0x80 |
| |
| // bit mask for ParamSet.Config2 |
| #define CFG2_HEIGHT_LIMIT 0x01 |
| #define CFG2_VARIO_BEEP 0x02 |
| #define CFG2_SENSITIVE_RC 0x04 |
| #define CFG2_RES1 0x08 |
| #define CFG2_RES2 0x10 |
| #define CFG2_RES3 0x20 |
| #define CFG2_RES4 0x40 |
| #define CFG2_RES5 0x80 |
| |
| // defines for lookup ParamSet.ChannelAssignment |
| #define CH_NICK 0 |
| #define CH_ROLL 1 |
| #define CH_GAS 2 |
| #define CH_YAW 3 |
| #define CH_POTI1 4 |
| #define CH_POTI2 5 |
| #define CH_POTI3 6 |
| #define CH_POTI4 7 |
| |
| #define EEPARAM_REVISION 80 // is count up, if paramater stucture has changed (compatibility) |
| #define EEMIXER_REVISION 1 // is count up, if mixer stucture has changed (compatibility) |
| |
| // values above 250 representing poti1 to poti4 |
| typedef struct |
| { |
| uint8_t ChannelAssignment[8]; // see upper defines for details |
| uint8_t Config0; // see upper defines for bitcoding |
| uint8_t HeightMinGas; // Value : 0-100 |
| uint8_t HeightD; // Value : 0-250 |
| uint8_t MaxHeight; // Value : 0-32 |
| uint8_t HeightP; // Value : 0-32 |
| uint8_t Height_Gain; // Value : 0-50 |
| uint8_t Height_ACC_Effect; // Value : 0-250 |
| uint8_t Height_HoverBand; // Value : 0-250 |
| uint8_t Height_GPS_Z; // Value : 0-250 |
| uint8_t Height_StickNeutralPoint; // Value : 0-250 |
| uint8_t StickP; // Value : 1-6 |
| uint8_t StickD; // Value : 0-64 |
| uint8_t StickYawP; // Value : 1-20 |
| uint8_t GasMin; // Value : 0-32 |
| uint8_t GasMax; // Value : 33-250 |
| uint8_t GyroAccFactor; // Value : 1-64 |
| uint8_t CompassYawEffect; // Value : 0-32 |
| uint8_t GyroP; // Value : 10-250 |
| uint8_t GyroI; // Value : 0-250 |
| uint8_t GyroD; // Value : 0-250 |
| uint8_t GyroYawP; // Value : 10-250 |
| uint8_t GyroYawI; // Value : 0-250 |
| uint8_t LowVoltageWarning; // Value : 0-250 |
| uint8_t EmergencyGas; // Value : 0-250 //Gaswert bei Empängsverlust |
| uint8_t EmergencyGasDuration; // Value : 0-250 // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen |
| uint8_t UfoArrangement; // x or + Formation |
| uint8_t IFactor; // Value : 0-250 |
| uint8_t UserParam1; // Value : 0-250 |
| uint8_t UserParam2; // Value : 0-250 |
| uint8_t UserParam3; // Value : 0-250 |
| uint8_t UserParam4; // Value : 0-250 |
| uint8_t ServoNickControl; // Value : 0-250 // Stellung des Nick Servos |
| uint8_t ServoNickComp; // Value : 0-250 // Einfluss Nick-Gyro/Servo |
| uint8_t ServoNickMin; // Value : 0-250 // Anschlag |
| uint8_t ServoNickMax; // Value : 0-250 // Anschlag |
| uint8_t ServoRollControl; // Value : 0-250 // Stellung des Roll Servos |
| uint8_t ServoRollComp; // Value : 0-250 // Einfluss Roll-Gyro/Servo |
| uint8_t ServoRollMin; // Value : 0-250 // Anschlag |
| uint8_t ServoRollMax; // Value : 0-250 // Anschlag |
| uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output |
| uint8_t LoopGasLimit; // Value: 0-250 max. Gas während Looping |
| uint8_t LoopThreshold; // Value: 0-250 Schwelle für Stickausschlag |
| uint8_t LoopHysteresis; // Value: 0-250 Hysterese für Stickausschlag |
| // Axis coupling |
| uint8_t AxisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
| uint8_t AxisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| uint8_t AxisCouplingYawCorrection; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| uint8_t AngleTurnOverNick; // Value: 0-250 180°-Punkt |
| uint8_t AngleTurnOverRoll; // Value: 0-250 180°-Punkt |
| uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung) |
| uint8_t DriftComp; // limit for gyrodrift compensation |
| uint8_t DynamicStability; // PID limit for Attitude controller |
| uint8_t UserParam5; // Value : 0-250 |
| uint8_t UserParam6; // Value : 0-250 |
| uint8_t UserParam7; // Value : 0-250 |
| uint8_t UserParam8; // Value : 0-250´ |
| // Output |
| uint8_t J16Bitmask; // for the J16 Output |
| uint8_t J16Timing; // for the J16 Output |
| uint8_t J17Bitmask; // for the J17 Output |
| uint8_t J17Timing; // for the J17 Output |
| uint8_t J16Bitmask_Warning; // for the J16 Outout |
| uint8_t J17Bitmask_Warning; // for the J17 Outout |
| // NaviCtrl |
| uint8_t NaviGpsModeControl; // Parameters for the Naviboard |
| uint8_t NaviGpsGain; // overall gain for GPS-PID controller |
| uint8_t NaviGpsP; // P gain for GPS-PID controller |
| uint8_t NaviGpsI; // I gain for GPS-PID controller |
| uint8_t NaviGpsD; // D gain for GPS-PID controller |
| uint8_t NaviGpsPLimit; // P limit for GPS-PID controller |
| uint8_t NaviGpsILimit; // I limit for GPS-PID controller |
| uint8_t NaviGpsDLimit; // D limit for GPS-PID controller |
| uint8_t NaviGpsACC; // ACC gain for GPS-PID controller |
| uint8_t NaviGpsMinSat; // number of sattelites neccesary for GPS functions |
| uint8_t NaviStickThreshold; // activation threshild for detection of manual stick movements |
| uint8_t NaviWindCorrection; // streng of wind course correction |
| uint8_t NaviSpeedCompensation; // D gain fefore position hold login |
| uint8_t NaviOperatingRadius; // Radius limit in m around start position for GPS flights |
| uint8_t NaviAngleLimitation; // limitation of attitude angle controlled by the gps algorithm |
| uint8_t NaviPHLoginTime; // position hold logintimeout |
| // extern control |
| uint8_t ExternalControl; // for serial control |
| // config |
| uint8_t Config1; // see upper defines for bitcoding |
| uint8_t ServoCompInvert; // Bitfield: 0x01 = Nick invert, 0x02 = Roll invert // WICHTIG!!! am Ende lassen |
| uint8_t Config2; // see upper defines for bitcoding |
| int8_t Name[12]; |
| } paramset_t; |
| |
| #define PARAMSET_STRUCT_LEN sizeof(paramset_t) |
| |
| extern paramset_t ParamSet; |
| |
| extern void ParamSet_Init(void); |
| extern void ParamSet_ReadFromEEProm(uint8_t setnumber); |
| extern void ParamSet_WriteToEEProm(uint8_t setnumber); |
| extern uint8_t GetActiveParamSet(void); |
| extern void SetActiveParamSet(uint8_t setnumber); |
| |
| extern uint8_t MixerTable_ReadFromEEProm(void); |
| extern uint8_t MixerTable_WriteToEEProm(void); |
| |
| |
| extern uint8_t GetParamByte(uint16_t param_id); |
| extern void SetParamByte(uint16_t param_id, uint8_t value); |
| extern uint16_t GetParamWord(uint16_t param_id); |
| extern void SetParamWord(uint16_t param_id, uint16_t value); |
| |
| |
| #endif //_EEPROM_H |