| 0,0 → 1,715 |
|---|
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + Nur für den privaten Gebrauch |
| // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // + 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 "uart.h" |
| #include "led.h" |
| #include "main.h" |
| #include "fc.h" |
| #include "twimaster.h" |
| |
| paramset_t EE_Parameter; |
| MixerTable_t Mixer; |
| uint8_t RequiredMotors; |
| |
| |
| uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len) |
| { |
| uint8_t crc = 0xAA; |
| uint16_t i; |
| |
| for(i=0; i<len; i++) |
| { |
| crc += pBuffer[i]; |
| } |
| return crc; |
| } |
| |
| uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len) |
| { |
| uint8_t crc = 0xAA; |
| uint16_t off; |
| |
| for(off=0; off<len; off++) |
| { |
| crc += eeprom_read_byte((uint8_t*)(EEAddr + off));; |
| } |
| return crc; |
| } |
| |
| void ParamSet_DefaultStickMapping(void) |
| { |
| EE_Parameter.Kanalbelegung[K_GAS] = 1; |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| EE_Parameter.Kanalbelegung[K_NICK] = 3; |
| EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| EE_Parameter.Kanalbelegung[K_POTI5] = 9; |
| EE_Parameter.Kanalbelegung[K_POTI6] = 10; |
| EE_Parameter.Kanalbelegung[K_POTI7] = 11; |
| EE_Parameter.Kanalbelegung[K_POTI8] = 12; |
| } |
| |
| |
| /***************************************************/ |
| /* Default Values for parameter set 1 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet1(void) // sport |
| { |
| EE_Parameter.Revision = EEPARAM_REVISION; |
| |
| if(PlatinenVersion >= 20) |
| { |
| EE_Parameter.Gyro_D = 10; |
| EE_Parameter.Driftkomp = 0; |
| EE_Parameter.GyroAccFaktor = 27; |
| EE_Parameter.WinkelUmschlagNick = 78; |
| EE_Parameter.WinkelUmschlagRoll = 78; |
| } |
| else |
| { |
| EE_Parameter.Gyro_D = 3; |
| EE_Parameter.Driftkomp = 32; |
| EE_Parameter.GyroAccFaktor = 30; |
| EE_Parameter.WinkelUmschlagNick = 85; |
| EE_Parameter.WinkelUmschlagRoll = 85; |
| } |
| EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
| EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP;// | CFG_SENSITIVE_RC |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
| EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
| EE_Parameter.Hoehe_ACC_Wirkung = 00; // Wert : 0-247 |
| EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
| EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
| EE_Parameter.Hoehe_StickNeutralPoint = 0; // Wert : 0-247 (0 = Hover-Estimation) |
| EE_Parameter.Hoehe_Verstaerkung = 20; // Wert : 0-50 |
| EE_Parameter.Stick_P = 14; // Wert : 1-20 |
| EE_Parameter.Stick_D = 16; // Wert : 0-20 |
| EE_Parameter.Gier_P = 12; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
| EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
| EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
| EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
| EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
| EE_Parameter.NotGas = 45; // Wert : 0-247 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.I_Faktor = 32; |
| EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
| EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 0; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoNickMax = 247; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoNickRefresh = 6; |
| EE_Parameter.Servo3 = 125; |
| EE_Parameter.Servo4 = 125; |
| EE_Parameter.Servo5 = 125; |
| EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos |
| EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
| EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| EE_Parameter.AchsKopplung1 = 90; |
| EE_Parameter.AchsKopplung2 = 80; |
| EE_Parameter.CouplingYawCorrection = 1; |
| EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
| EE_Parameter.DynamicStability = 100; |
| EE_Parameter.J16Bitmask = 95; |
| EE_Parameter.J17Bitmask = 243; |
| EE_Parameter.WARN_J16_Bitmask = 0xAA; |
| EE_Parameter.WARN_J17_Bitmask = 0xAA; |
| EE_Parameter.J16Timing = 15; |
| EE_Parameter.J17Timing = 15; |
| EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
| EE_Parameter.NaviGpsGain = 100; |
| EE_Parameter.NaviGpsP = 90; |
| EE_Parameter.NaviGpsI = 90; |
| EE_Parameter.NaviGpsD = 90; |
| EE_Parameter.NaviGpsPLimit = 75; |
| EE_Parameter.NaviGpsILimit = 75; |
| EE_Parameter.NaviGpsDLimit = 75; |
| EE_Parameter.NaviGpsACC = 0; |
| EE_Parameter.NaviGpsMinSat = 6; |
| EE_Parameter.NaviStickThreshold = 8; |
| EE_Parameter.NaviWindCorrection = 90; |
| EE_Parameter.NaviSpeedCompensation = 30; |
| EE_Parameter.NaviOperatingRadius = 100; |
| EE_Parameter.NaviAngleLimitation = 100; |
| EE_Parameter.NaviPH_LoginTime = 2; |
| EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
| EE_Parameter.OrientationAngle = 0; |
| EE_Parameter.OrientationModeControl = 0; |
| memcpy(EE_Parameter.Name, "Sport\0", 12); |
| EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
| } |
| |
| |
| /***************************************************/ |
| /* Default Values for parameter set 2 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet2(void) // normal |
| { |
| EE_Parameter.Revision = EEPARAM_REVISION; |
| |
| if(PlatinenVersion >= 20) |
| { |
| EE_Parameter.Gyro_D = 10; |
| EE_Parameter.Driftkomp = 0; |
| EE_Parameter.GyroAccFaktor = 27; |
| EE_Parameter.WinkelUmschlagNick = 78; |
| EE_Parameter.WinkelUmschlagRoll = 78; |
| } |
| else |
| { |
| EE_Parameter.Gyro_D = 3; |
| EE_Parameter.Driftkomp = 32; |
| EE_Parameter.GyroAccFaktor = 30; |
| EE_Parameter.WinkelUmschlagNick = 85; |
| EE_Parameter.WinkelUmschlagRoll = 85; |
| } |
| EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
| EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP;// CFG_SENSITIVE_RC |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
| EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
| EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
| EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
| EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
| EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
| EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 |
| EE_Parameter.Stick_P = 10; // Wert : 1-20 |
| EE_Parameter.Stick_D = 16; // Wert : 0-20 |
| EE_Parameter.Gier_P = 6; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
| EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
| EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
| EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
| EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
| EE_Parameter.NotGas = 45; // Wert : 0-247 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.I_Faktor = 32; |
| EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
| EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 0; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoNickMax = 247; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoNickRefresh = 6; |
| EE_Parameter.Servo3 = 125; |
| EE_Parameter.Servo4 = 125; |
| EE_Parameter.Servo5 = 125; |
| EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos |
| EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
| EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| EE_Parameter.AchsKopplung1 = 90; |
| EE_Parameter.AchsKopplung2 = 80; |
| EE_Parameter.CouplingYawCorrection = 60; |
| EE_Parameter.GyroAccAbgleich = 32; // 1/k |
| EE_Parameter.DynamicStability = 75; |
| EE_Parameter.J16Bitmask = 95; |
| EE_Parameter.J17Bitmask = 243; |
| EE_Parameter.WARN_J16_Bitmask = 0xAA; |
| EE_Parameter.WARN_J17_Bitmask = 0xAA; |
| EE_Parameter.J16Timing = 20; |
| EE_Parameter.J17Timing = 20; |
| EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
| EE_Parameter.NaviGpsGain = 100; |
| EE_Parameter.NaviGpsP = 90; |
| EE_Parameter.NaviGpsI = 90; |
| EE_Parameter.NaviGpsD = 90; |
| EE_Parameter.NaviGpsPLimit = 75; |
| EE_Parameter.NaviGpsILimit = 75; |
| EE_Parameter.NaviGpsDLimit = 75; |
| EE_Parameter.NaviGpsACC = 0; |
| EE_Parameter.NaviGpsMinSat = 6; |
| EE_Parameter.NaviStickThreshold = 8; |
| EE_Parameter.NaviWindCorrection = 90; |
| EE_Parameter.NaviSpeedCompensation = 30; |
| EE_Parameter.NaviOperatingRadius = 100; |
| EE_Parameter.NaviAngleLimitation = 100; |
| EE_Parameter.NaviPH_LoginTime = 2; |
| EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
| EE_Parameter.OrientationAngle = 0; |
| EE_Parameter.OrientationModeControl = 0; |
| memcpy(EE_Parameter.Name, "Normal\0", 12); |
| EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
| } |
| |
| |
| /***************************************************/ |
| /* Default Values for parameter set 3 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet3(void) // beginner |
| { |
| EE_Parameter.Revision = EEPARAM_REVISION; |
| if(PlatinenVersion >= 20) |
| { |
| EE_Parameter.Gyro_D = 10; |
| EE_Parameter.Driftkomp = 0; |
| EE_Parameter.GyroAccFaktor = 27; |
| EE_Parameter.WinkelUmschlagNick = 78; |
| EE_Parameter.WinkelUmschlagRoll = 78; |
| } |
| else |
| { |
| EE_Parameter.Gyro_D = 3; |
| EE_Parameter.Driftkomp = 32; |
| EE_Parameter.GyroAccFaktor = 30; |
| EE_Parameter.WinkelUmschlagNick = 85; |
| EE_Parameter.WinkelUmschlagRoll = 85; |
| } |
| EE_Parameter.GlobalConfig = /*CFG_DREHRATEN_BEGRENZER |*/ CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
| EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP;// | CFG_SENSITIVE_RC |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
| EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
| EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
| EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
| EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
| EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
| EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 |
| EE_Parameter.Stick_P = 8; // Wert : 1-20 |
| EE_Parameter.Stick_D = 16; // Wert : 0-20 |
| EE_Parameter.Gier_P = 6; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
| EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
| EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
| EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
| EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
| EE_Parameter.NotGas = 45; // Wert : 0-247 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.I_Faktor = 16; |
| EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
| EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 0; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoNickMax = 247; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoNickRefresh = 6; |
| EE_Parameter.Servo3 = 125; |
| EE_Parameter.Servo4 = 125; |
| EE_Parameter.Servo5 = 125; |
| EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos |
| EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
| EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| EE_Parameter.AchsKopplung1 = 90; |
| EE_Parameter.AchsKopplung2 = 80; |
| EE_Parameter.CouplingYawCorrection = 70; |
| EE_Parameter.GyroAccAbgleich = 32; // 1/k |
| EE_Parameter.DynamicStability = 70; |
| EE_Parameter.J16Bitmask = 95; |
| EE_Parameter.J17Bitmask = 243; |
| EE_Parameter.WARN_J16_Bitmask = 0xAA; |
| EE_Parameter.WARN_J17_Bitmask = 0xAA; |
| EE_Parameter.J16Timing = 30; |
| EE_Parameter.J17Timing = 30; |
| EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
| EE_Parameter.NaviGpsGain = 100; |
| EE_Parameter.NaviGpsP = 90; |
| EE_Parameter.NaviGpsI = 90; |
| EE_Parameter.NaviGpsD = 90; |
| EE_Parameter.NaviGpsPLimit = 75; |
| EE_Parameter.NaviGpsILimit = 75; |
| EE_Parameter.NaviGpsDLimit = 75; |
| EE_Parameter.NaviGpsACC = 0; |
| EE_Parameter.NaviGpsMinSat = 6; |
| EE_Parameter.NaviStickThreshold = 8; |
| EE_Parameter.NaviWindCorrection = 90; |
| EE_Parameter.NaviSpeedCompensation = 30; |
| EE_Parameter.NaviOperatingRadius = 100; |
| EE_Parameter.NaviAngleLimitation = 100; |
| EE_Parameter.NaviPH_LoginTime = 2; |
| EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
| EE_Parameter.OrientationAngle = 0; |
| EE_Parameter.OrientationModeControl = 0; |
| memcpy(EE_Parameter.Name, "Beginner\0", 12); |
| EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
| } |
| |
| /***************************************************/ |
| /* Read Parameter from EEPROM as byte */ |
| /***************************************************/ |
| uint8_t GetParamByte(uint16_t param_id) |
| { |
| return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
| } |
| |
| /***************************************************/ |
| /* Write Parameter to EEPROM as byte */ |
| /***************************************************/ |
| void SetParamByte(uint16_t param_id, uint8_t value) |
| { |
| eeprom_write_byte((uint8_t*)(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 *)(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*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
| } |
| |
| /***************************************************/ |
| /* Read Parameter Set from EEPROM */ |
| /***************************************************/ |
| // number [1..5] |
| uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
| { |
| uint8_t crc; |
| uint16_t eeaddr; |
| |
| // range the setnumber |
| if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
| |
| // calculate eeprom addr |
| eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
| |
| // calculate checksum from eeprom |
| crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
| |
| // check crc |
| if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
| |
| // check revision |
| if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0; |
| |
| // read paramset from eeprom |
| eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
| LED_Init(); |
| return 1; |
| } |
| |
| /***************************************************/ |
| /* Write Parameter Set to EEPROM */ |
| /***************************************************/ |
| // number [1..5] |
| uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
| { |
| uint8_t crc; |
| |
| if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
| { |
| if(setnumber > 5) setnumber = 5; |
| if(setnumber < 1) return 0; |
| |
| // update checksum |
| EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
| |
| // write paramset to eeprom |
| eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
| |
| // backup channel settings to separate block in eeprom |
| eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
| |
| // write crc of channel block to eeprom |
| crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
| eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
| |
| // update active settings number |
| SetActiveParamSet(setnumber); |
| LED_Init(); |
| return 1; |
| } |
| // wrong revision |
| return 0; |
| } |
| |
| /***************************************************/ |
| /* Read MixerTable from EEPROM */ |
| /***************************************************/ |
| uint8_t MixerTable_ReadFromEEProm(void) |
| { |
| uint8_t crc; |
| |
| // calculate checksum in eeprom |
| crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
| |
| // check crc |
| if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
| |
| // check revision |
| if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
| |
| // read mixer table |
| eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
| return 1; |
| } |
| |
| /***************************************************/ |
| /* Write Mixer Table to EEPROM */ |
| /***************************************************/ |
| uint8_t MixerTable_WriteToEEProm(void) |
| { |
| if(Mixer.Revision == EEMIXER_REVISION) |
| { |
| // update crc |
| Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
| |
| // write to eeprom |
| eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), 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); |
| Mixer.crc = Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
| } |
| |
| /***************************************************/ |
| /* Get active parameter set */ |
| /***************************************************/ |
| uint8_t GetActiveParamSet(void) |
| { |
| uint8_t setnumber; |
| setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
| if(setnumber > 5) |
| { |
| setnumber = 3; |
| eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+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((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
| } |
| |
| /***************************************************/ |
| /* Initialize EEPROM Parameter Sets */ |
| /***************************************************/ |
| void ParamSet_Init(void) |
| { |
| uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
| |
| |
| if(EEPARAM_REVISION != GetParamByte(PID_EE_REVISION) ) |
| { |
| ee_default = 1; // software update or forced by mktool |
| SetParamByte(PID_EE_REVISION, EEPARAM_REVISION); |
| } |
| |
| |
| // 1st check for a valid channel backup in eeprom |
| i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
| if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) channel_backup = 1; |
| |
| |
| // parameter check |
| |
| // check all 5 parameter settings |
| for (i = 1;i < 6; i++) |
| { |
| if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
| { |
| bad_params = 1; |
| printf("\n\rGenerating default Parameter Set %d",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_DefaultSet3(); // Kamera |
| break; |
| } |
| if(channel_backup) // if we have an channel mapping backup in eeprom |
| { // restore it from eeprom |
| eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
| } |
| else |
| { // use default mapping |
| ParamSet_DefaultStickMapping(); |
| } |
| ParamSet_WriteToEEProm(i); |
| } |
| } |
| if(bad_params) // at least one of the parameter settings were invalid |
| { |
| // default-Setting is parameter set 3 |
| SetActiveParamSet(3); |
| } |
| |
| |
| // read active parameter set to ParamSet stucture |
| i = GetActiveParamSet(); |
| ParamSet_ReadFromEEProm(i); |
| printf("\n\rUsing Parameter Set %d", i); |
| |
| // load mixer table |
| if(ee_default || !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=============================="); |
| } |