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| 1 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Konstanten |
2 | // + Konstanten |
| 3 | // + 0-250 -> normale Werte |
3 | // + 0-250 -> normale Werte |
| 4 | // + 251 -> Poti1 |
4 | // + 251 -> Poti1 |
| 5 | // + 252 -> Poti2 |
5 | // + 252 -> Poti2 |
| 6 | // + 253 -> Poti3 |
6 | // + 253 -> Poti3 |
| 7 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| - | 8 | ||
| - | 9 | #ifndef EEMEM |
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| - | 10 | #define EEMEM __attribute__ ((section (".eeprom"))) |
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| - | 11 | #endif |
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| - | 12 | ||
| - | 13 | ||
| - | 14 | #include <avr/eeprom.h> |
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| - | 15 | #include <string.h> |
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| - | 16 | #include "eeprom.h" |
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| - | 17 | #include "printf_P.h" |
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| - | 18 | ||
| - | 19 | ||
| - | 20 | // byte array in eeprom |
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| - | 21 | uint8_t EEPromArray[E2END+1] EEMEM; |
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| - | 22 | ||
| - | 23 | paramset_t ParamSet; |
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| - | 24 | ||
| - | 25 | ||
| - | 26 | ||
| - | 27 | /***************************************************/ |
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| - | 28 | /* Default Values for parameter set 1 */ |
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| - | 29 | /***************************************************/ |
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| - | 30 | void ParamSet_DefaultSet1(void) // sport |
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| - | 31 | { |
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| - | 32 | ParamSet.ChannelAssignment[CH_PITCH] = 1; |
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| - | 33 | ParamSet.ChannelAssignment[CH_ROLL] = 2; |
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| - | 34 | ParamSet.ChannelAssignment[CH_THRUST] = 3; |
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| - | 35 | ParamSet.ChannelAssignment[CH_YAW] = 4; |
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| - | 36 | ParamSet.ChannelAssignment[CH_POTI1] = 5; |
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| - | 37 | ParamSet.ChannelAssignment[CH_POTI2] = 6; |
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| - | 38 | ParamSet.ChannelAssignment[CH_POTI3] = 7; |
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| - | 39 | ParamSet.ChannelAssignment[CH_POTI4] = 8; |
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| - | 40 | ParamSet.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX;//0x01; |
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| - | 41 | ParamSet.Height_MinThrust = 30; |
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| - | 42 | ParamSet.MaxHeight = 251; // Wert : 0-250 251 -> Poti1 |
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| - | 43 | ParamSet.Height_P = 10; // Wert : 0-32 |
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| - | 44 | ParamSet.Height_D = 30; // Wert : 0-250 |
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| - | 45 | ParamSet.Height_ACC_Effect = 30; // Wert : 0-250 |
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| - | 46 | ParamSet.Height_Gain = 4; // Wert : 0-50 |
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| - | 47 | ParamSet.Stick_P = 15; // Wert : 1-24 |
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| - | 48 | ParamSet.Stick_D = 30; // Wert : 0-250 |
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| - | 49 | ParamSet.Yaw_P = 12; // Wert : 1-20 |
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| - | 50 | ParamSet.Trust_Min = 8; // Wert : 0-32 |
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| - | 51 | ParamSet.Trust_Max = 230; // Wert : 33-250 |
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| - | 52 | ParamSet.GyroAccFactor = 30; // Wert : 1-64 |
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| - | 53 | ParamSet.CompassYawEffect = 128; // Wert : 0-250 |
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| - | 54 | ParamSet.Gyro_P = 80; // Wert : 0-250 |
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| - | 55 | ParamSet.Gyro_I = 150; // Wert : 0-250 |
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| - | 56 | ParamSet.LowVoltageWarning = 94; // Wert : 0-250 |
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| - | 57 | ParamSet.EmergencyThrust = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
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| - | 58 | ParamSet.EmergencyThrustDuration = 30; // Wert : 0-250 // Zeit bis auf EmergencyThrust geschaltet wird, wg. Rx-Problemen |
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| - | 59 | ParamSet.UfoArrangement = 0; // X oder + Formation |
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| - | 60 | ParamSet.I_Factor = 32; |
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| - | 61 | ParamSet.UserParam1 = 253; //zur freien Verwendung |
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| - | 62 | ParamSet.UserParam2 = 100; //zur freien Verwendung |
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| - | 63 | ParamSet.UserParam3 = 90; //zur freien Verwendung |
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| - | 64 | ParamSet.UserParam4 = 90; //zur freien Verwendung |
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| - | 65 | ParamSet.UserParam5 = 90; // zur freien Verwendung |
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| - | 66 | ParamSet.UserParam6 = 90; // zur freien Verwendung |
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| - | 67 | ParamSet.UserParam7 = 0; // zur freien Verwendung |
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| - | 68 | ParamSet.UserParam8 = 0; // zur freien Verwendung |
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| - | 69 | ParamSet.ServoPitchControl = 100; // Wert : 0-250 // Stellung des Servos |
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| - | 70 | ParamSet.ServoPitchComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
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| - | 71 | ParamSet.ServoPitchCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
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| - | 72 | ParamSet.ServoPitchMin = 50; // Wert : 0-250 // Anschlag |
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| - | 73 | ParamSet.ServoPitchMax = 150; // Wert : 0-250 // Anschlag |
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| - | 74 | ParamSet.ServoPitchRefresh = 5; |
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| - | 75 | ParamSet.LoopThrustLimit = 50; |
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| - | 76 | ParamSet.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
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| - | 77 | ParamSet.LoopHysteresis = 50; |
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| - | 78 | ParamSet.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
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| - | 79 | ParamSet.Yaw_PosFeedback = 90; |
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| - | 80 | ParamSet.Yaw_NegFeedback = 5; |
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| - | 81 | ParamSet.AngleTurnOverPitch = 100; |
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| - | 82 | ParamSet.AngleTurnOverRoll = 100; |
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| - | 83 | ParamSet.GyroAccTrim = 16; // 1/k |
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| - | 84 | ParamSet.DriftComp = 4; |
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| - | 85 | ParamSet.DynamicStability = 100; |
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| - | 86 | memcpy(ParamSet.Name, "Sport\0",6); |
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| - | 87 | } |
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| - | 88 | ||
| - | 89 | ||
| - | 90 | /***************************************************/ |
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| - | 91 | /* Default Values for parameter set 2 */ |
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| - | 92 | /***************************************************/ |
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| - | 93 | void ParamSet_DefaultSet2(void) // normal |
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| - | 94 | { |
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| - | 95 | ParamSet.ChannelAssignment[CH_PITCH] = 1; |
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| - | 96 | ParamSet.ChannelAssignment[CH_ROLL] = 2; |
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| - | 97 | ParamSet.ChannelAssignment[CH_THRUST] = 3; |
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| - | 98 | ParamSet.ChannelAssignment[CH_YAW] = 4; |
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| - | 99 | ParamSet.ChannelAssignment[CH_POTI1] = 5; |
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| - | 100 | ParamSet.ChannelAssignment[CH_POTI2] = 6; |
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| - | 101 | ParamSet.ChannelAssignment[CH_POTI3] = 7; |
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| - | 102 | ParamSet.ChannelAssignment[CH_POTI4] = 8; |
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| - | 103 | ParamSet.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX;//0x01; |
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| - | 104 | ParamSet.Height_MinThrust = 30; |
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| - | 105 | ParamSet.MaxHeight = 251; // Wert : 0-250 251 -> Poti1 |
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| - | 106 | ParamSet.Height_P = 10; // Wert : 0-32 |
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| - | 107 | ParamSet.Height_D = 30; // Wert : 0-250 |
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| - | 108 | ParamSet.Height_ACC_Effect = 30; // Wert : 0-250 |
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| - | 109 | ParamSet.Height_Gain = 3; // Wert : 0-50 |
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| - | 110 | ParamSet.Stick_P = 12; // Wert : 1-24 |
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| - | 111 | ParamSet.Stick_D = 16; // Wert : 0-250 |
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| - | 112 | ParamSet.Yaw_P = 6; // Wert : 1-20 |
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| - | 113 | ParamSet.Trust_Min = 8; // Wert : 0-32 |
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| - | 114 | ParamSet.Trust_Max = 230; // Wert : 33-250 |
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| - | 115 | ParamSet.GyroAccFactor = 30; // Wert : 1-64 |
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| - | 116 | ParamSet.CompassYawEffect = 128; // Wert : 0-250 |
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| - | 117 | ParamSet.Gyro_P = 80; // Wert : 0-250 |
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| - | 118 | ParamSet.Gyro_I = 120; // Wert : 0-250 |
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| - | 119 | ParamSet.LowVoltageWarning = 94; // Wert : 0-250 |
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| - | 120 | ParamSet.EmergencyThrust = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
|
| - | 121 | ParamSet.EmergencyThrustDuration = 30; // Wert : 0-250 // Zeit bis auf EmergencyThrust geschaltet wird, wg. Rx-Problemen |
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| - | 122 | ParamSet.UfoArrangement = 0; // X oder + Formation |
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| - | 123 | ParamSet.I_Factor = 32; |
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| - | 124 | ParamSet.UserParam1 = 253; // zur freien Verwendung |
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| - | 125 | ParamSet.UserParam2 = 100; // zur freien Verwendung |
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| - | 126 | ParamSet.UserParam3 = 90; // zur freien Verwendung |
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| - | 127 | ParamSet.UserParam4 = 90; // zur freien Verwendung |
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| - | 128 | ParamSet.UserParam5 = 90; // zur freien Verwendung |
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| - | 129 | ParamSet.UserParam6 = 90; // zur freien Verwendung |
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| - | 130 | ParamSet.UserParam7 = 0; // zur freien Verwendung |
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| - | 131 | ParamSet.UserParam8 = 0; // zur freien Verwendung |
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| - | 132 | ParamSet.ServoPitchControl = 100; // Wert : 0-250 // Stellung des Servos |
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| - | 133 | ParamSet.ServoPitchComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
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| - | 134 | ParamSet.ServoPitchCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
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| - | 135 | ParamSet.ServoPitchMin = 50; // Wert : 0-250 // Anschlag |
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| - | 136 | ParamSet.ServoPitchMax = 150; // Wert : 0-250 // Anschlag |
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| - | 137 | ParamSet.ServoPitchRefresh = 5; |
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| - | 138 | ParamSet.LoopThrustLimit = 50; |
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| - | 139 | ParamSet.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
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| - | 140 | ParamSet.LoopHysteresis = 50; |
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| - | 141 | ParamSet.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
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| - | 142 | ParamSet.Yaw_PosFeedback = 90; // Faktor, mit dem Yaw die Achsen Roll und Pitch verkoppelt |
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| - | 143 | ParamSet.Yaw_NegFeedback = 5; |
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| - | 144 | ParamSet.AngleTurnOverPitch = 100; |
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| - | 145 | ParamSet.AngleTurnOverRoll = 100; |
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| - | 146 | ParamSet.GyroAccTrim = 32; // 1/k |
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| - | 147 | ParamSet.DriftComp = 4; |
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| - | 148 | ParamSet.DynamicStability = 75; |
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| - | 149 | memcpy(ParamSet.Name, "Normal\0", 7); |
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| - | 150 | } |
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| - | 151 | ||
| - | 152 | ||
| - | 153 | /***************************************************/ |
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| - | 154 | /* Default Values for parameter set 3 */ |
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| - | 155 | /***************************************************/ |
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| - | 156 | void ParamSet_DefaultSet3(void) // beginner |
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| - | 157 | { |
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| - | 158 | ParamSet.ChannelAssignment[CH_PITCH] = 1; |
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| - | 159 | ParamSet.ChannelAssignment[CH_ROLL] = 2; |
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| - | 160 | ParamSet.ChannelAssignment[CH_THRUST] = 3; |
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| - | 161 | ParamSet.ChannelAssignment[CH_YAW] = 4; |
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| - | 162 | ParamSet.ChannelAssignment[CH_POTI1] = 5; |
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| - | 163 | ParamSet.ChannelAssignment[CH_POTI2] = 6; |
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| - | 164 | ParamSet.ChannelAssignment[CH_POTI3] = 7; |
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| - | 165 | ParamSet.ChannelAssignment[CH_POTI4] = 8; |
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| - | 166 | 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;//0x01; |
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| - | 167 | ParamSet.Height_MinThrust = 30; |
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| - | 168 | ParamSet.MaxHeight = 251; // Wert : 0-250 251 -> Poti1 |
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| - | 169 | ParamSet.Height_P = 10; // Wert : 0-32 |
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| - | 170 | ParamSet.Height_D = 30; // Wert : 0-250 |
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| - | 171 | ParamSet.Height_ACC_Effect = 30; // Wert : 0-250 |
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| - | 172 | ParamSet.Height_Gain = 3; // Wert : 0-50 |
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| - | 173 | ParamSet.Stick_P = 8; // Wert : 1-24 |
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| - | 174 | ParamSet.Stick_D = 16; // Wert : 0-250 |
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| - | 175 | ParamSet.Yaw_P = 6; // Wert : 1-20 |
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| - | 176 | ParamSet.Trust_Min = 8; // Wert : 0-32 |
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| - | 177 | ParamSet.Trust_Max = 230; // Wert : 33-250 |
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| - | 178 | ParamSet.GyroAccFactor = 30; // Wert : 1-64 |
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| - | 179 | ParamSet.CompassYawEffect = 128; // Wert : 0-250 |
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| - | 180 | ParamSet.Gyro_P = 100; // Wert : 0-250 |
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| - | 181 | ParamSet.Gyro_I = 120; // Wert : 0-250 |
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| - | 182 | ParamSet.LowVoltageWarning = 94; // Wert : 0-250 |
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| - | 183 | ParamSet.EmergencyThrust = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
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| - | 184 | ParamSet.EmergencyThrustDuration = 20; // Wert : 0-250 // Zeit bis auf EmergencyThrust geschaltet wird, wg. Rx-Problemen |
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| - | 185 | ParamSet.UfoArrangement = 0; // X oder + Formation |
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| - | 186 | ParamSet.I_Factor = 16; |
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| - | 187 | ParamSet.UserParam1 = 253; // zur freien Verwendung |
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| - | 188 | ParamSet.UserParam2 = 100; // zur freien Verwendung |
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| - | 189 | ParamSet.UserParam3 = 90; // zur freien Verwendung |
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| - | 190 | ParamSet.UserParam4 = 90; // zur freien Verwendung |
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| - | 191 | ParamSet.UserParam5 = 90; // zur freien Verwendung |
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| - | 192 | ParamSet.UserParam6 = 90; // zur freien Verwendung |
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| - | 193 | ParamSet.UserParam7 = 0; // zur freien Verwendung |
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| - | 194 | ParamSet.UserParam8 = 0; // zur freien Verwendung |
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| - | 195 | ParamSet.ServoPitchControl = 100; // Wert : 0-250 // Stellung des Servos |
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| - | 196 | ParamSet.ServoPitchComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
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| - | 197 | ParamSet.ServoPitchCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
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| - | 198 | ParamSet.ServoPitchMin = 50; // Wert : 0-250 // Anschlag |
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| - | 199 | ParamSet.ServoPitchMax = 150; // Wert : 0-250 // Anschlag |
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| - | 200 | ParamSet.ServoPitchRefresh = 5; |
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| - | 201 | ParamSet.LoopThrustLimit = 50; |
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| - | 202 | ParamSet.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
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| - | 203 | ParamSet.LoopHysteresis = 50; |
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| - | 204 | ParamSet.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
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| - | 205 | ParamSet.Yaw_PosFeedback = 90; // Faktor, mit dem Yaw die Achsen Roll und Pitch verkoppelt |
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| - | 206 | ParamSet.Yaw_NegFeedback = 5; |
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| - | 207 | ParamSet.AngleTurnOverPitch = 100; |
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| - | 208 | ParamSet.AngleTurnOverRoll = 100; |
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| - | 209 | ParamSet.GyroAccTrim = 32; // 1/k |
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| - | 210 | ParamSet.DriftComp = 4; |
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| - | 211 | ParamSet.DynamicStability = 50; |
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| - | 212 | memcpy(ParamSet.Name, "Beginner\0", 9); |
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| - | 213 | } |
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| - | 214 | ||
| - | 215 | /***************************************************/ |
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| - | 216 | /* Read Parameter from EEPROM as byte */ |
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| - | 217 | /***************************************************/ |
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| - | 218 | uint8_t GetParamByte(uint8_t param_id) |
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| - | 219 | { |
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| - | 220 | return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
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| - | 221 | } |
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| - | 222 | ||
| - | 223 | /***************************************************/ |
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| - | 224 | /* Write Parameter to EEPROM as byte */ |
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| - | 225 | /***************************************************/ |
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| - | 226 | void SetParamByte(uint8_t param_id, uint8_t value) |
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| - | 227 | { |
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| - | 228 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
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| - | 229 | } |
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| - | 230 | ||
| - | 231 | /***************************************************/ |
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| - | 232 | /* Read Parameter from EEPROM as word */ |
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| - | 233 | /***************************************************/ |
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| - | 234 | uint16_t GetParamWord(uint8_t param_id) |
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| - | 235 | { |
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| - | 236 | return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
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| - | 237 | } |
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| - | 238 | ||
| - | 239 | /***************************************************/ |
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| - | 240 | /* Write Parameter to EEPROM as word */ |
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| - | 241 | /***************************************************/ |
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| - | 242 | void SetParamWord(uint8_t param_id, uint16_t value) |
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| - | 243 | { |
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| - | 244 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
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| - | 245 | } |
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| - | 246 | ||
| - | 247 | ||
| - | 248 | /***************************************************/ |
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| - | 249 | /* Read Parameter Set from EEPROM */ |
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| - | 250 | /***************************************************/ |
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| - | 251 | // number [0..5] |
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| - | 252 | void ParamSet_ReadFromEEProm(uint8_t setnumber) |
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| - | 253 | { |
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| - | 254 | if (setnumber > 5) setnumber = 5; |
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| - | 255 | eeprom_read_block((uint8_t *) &ParamSet.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * setnumber], PARAMSET_STRUCT_LEN); |
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| - | 256 | } |
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| - | 257 | ||
| - | 258 | /***************************************************/ |
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| - | 259 | /* Write Parameter Set to EEPROM */ |
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| - | 260 | /***************************************************/ |
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| - | 261 | // number [0..5] |
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| - | 262 | void ParamSet_WriteToEEProm(uint8_t setnumber) |
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| - | 263 | { |
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| - | 264 | if(setnumber > 5) setnumber = 5; |
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| - | 265 | eeprom_write_block((uint8_t *) &ParamSet.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * setnumber], PARAMSET_STRUCT_LEN); |
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| - | 266 | // set this parameter set to active set |
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| - | 267 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
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| - | 268 | } |
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| - | 269 | ||
| - | 270 | /***************************************************/ |
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| - | 271 | /* Get active parameter set */ |
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| - | 272 | /***************************************************/ |
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| - | 273 | uint8_t GetActiveParamSet(void) |
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| - | 274 | { |
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| - | 275 | uint8_t setnumber; |
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| - | 276 | setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
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| - | 277 | if(setnumber > 5) |
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| - | 278 | { |
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| - | 279 | setnumber = 2; |
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| - | 280 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
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| - | 281 | } |
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| - | 282 | return(setnumber); |
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| - | 283 | } |
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| - | 284 | ||
| - | 285 | /***************************************************/ |
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| - | 286 | /* Set active parameter set */ |
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| - | 287 | /***************************************************/ |
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| - | 288 | void SetActiveParamSet(uint8_t setnumber) |
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| - | 289 | { |
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| - | 290 | if(setnumber > 5) setnumber = 5; |
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| - | 291 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
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| - | 292 | } |
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| - | 293 | ||
| - | 294 | /***************************************************/ |
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| - | 295 | /* Initialize EEPROM Parameter Sets */ |
|
| - | 296 | /***************************************************/ |
|
| 8 | void DefaultKonstanten1(void) |
297 | void ParamSet_Init(void) |
| 9 | { |
298 | { |
| 10 | EE_Parameter.Kanalbelegung[K_NICK] = 1; |
- | |
| 11 | EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
- | |
| 12 | EE_Parameter.Kanalbelegung[K_GAS] = 3; |
- | |
| 13 | EE_Parameter.Kanalbelegung[K_GIER] = 4; |
- | |
| 14 | EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
- | |
| 15 | EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
- | |
| 16 | EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
- | |
| 17 | EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
- | |
| 18 | EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV;///*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
- | |
| 19 | EE_Parameter.Hoehe_MinGas = 30; |
299 | // version check |
| 20 | EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> Poti1 |
- | |
| 21 | EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
- | |
| 22 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-250 |
- | |
| 23 | EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
- | |
| 24 | EE_Parameter.Hoehe_Verstaerkung = 4; // Wert : 0-50 |
- | |
| 25 | EE_Parameter.Stick_P = 15; // Wert : 1-6 |
- | |
| 26 | EE_Parameter.Stick_D = 30; // Wert : 0-64 |
- | |
| 27 | EE_Parameter.Gier_P = 12; // Wert : 1-20 |
- | |
| 28 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
- | |
| 29 | EE_Parameter.Gas_Max = 230; // Wert : 33-250 |
- | |
| 30 | EE_Parameter.GyroAccFaktor = 30; // Wert : 1-64 |
- | |
| 31 | EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
- | |
| 32 | EE_Parameter.Gyro_P = 80; // Wert : 0-250 |
- | |
| 33 | EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
300 | if(eeprom_read_byte(&EEPromArray[PID_VERSION]) != EEPARAM_VERSION) |
| 34 | EE_Parameter.UnterspannungsWarnung = 94; // Wert : 0-250 |
- | |
| 35 | EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
- | |
| 36 | EE_Parameter.NotGasZeit = 30; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
- | |
| 37 | EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
- | |
| - | 301 | { |
|
| 38 | EE_Parameter.I_Faktor = 32; |
302 | // if version check faild |
| 39 | EE_Parameter.UserParam1 = 253; // zur freien Verwendung |
- | |
| 40 | EE_Parameter.UserParam2 = 100; // zur freien Verwendung |
- | |
| 41 | EE_Parameter.UserParam3 = 90; // zur freien Verwendung |
- | |
| 42 | EE_Parameter.UserParam4 = 90; // zur freien Verwendung |
- | |
| 43 | EE_Parameter.UserParam5 = 90; // zur freien Verwendung |
- | |
| 44 | EE_Parameter.UserParam6 = 90; // zur freien Verwendung |
303 | printf("\n\rInit. EEPROM: Generating Default-Parameter..."); |
| 45 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
304 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
| 46 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
305 | // fill all 5 parameter settings with set 1 except otherwise defined |
| 47 | EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
- | |
| 48 | EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
- | |
| 49 | EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
- | |
| 50 | EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
- | |
| 51 | EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
- | |
| 52 | EE_Parameter.ServoNickRefresh = 5; |
- | |
| 53 | EE_Parameter.LoopGasLimit = 50; |
306 | for (unsigned char i=0;i<6;i++) |
| 54 | EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
- | |
| 55 | EE_Parameter.LoopHysterese = 50; |
- | |
| 56 | EE_Parameter.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
- | |
| - | 307 | { |
|
| 57 | EE_Parameter.AchsKopplung1 = 90; |
308 | if(i==2) ParamSet_DefaultSet2(); // Kamera |
| 58 | EE_Parameter.AchsGegenKopplung1 = 5; |
309 | if(i==3) ParamSet_DefaultSet3(); // Beginner |
| 59 | EE_Parameter.WinkelUmschlagNick = 100; |
- | |
| 60 | EE_Parameter.WinkelUmschlagRoll = 100; |
310 | if(i>3) ParamSet_DefaultSet2(); // Kamera |
| 61 | EE_Parameter.GyroAccAbgleich = 16; // 1/k |
- | |
| 62 | EE_Parameter.Driftkomp = 4; |
311 | ParamSet_WriteToEEProm(i); |
| 63 | EE_Parameter.DynamicStability = 100; |
- | |
| 64 | memcpy(EE_Parameter.Name, "Sport\0", 12); |
- | |
| 65 | } |
312 | } |
| 66 | void DefaultKonstanten2(void) |
313 | // default-Setting is parameter set 3 |
| 67 | { |
- | |
| 68 | EE_Parameter.Kanalbelegung[K_NICK] = 1; |
- | |
| 69 | EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
- | |
| 70 | EE_Parameter.Kanalbelegung[K_GAS] = 3; |
- | |
| 71 | EE_Parameter.Kanalbelegung[K_GIER] = 4; |
- | |
| 72 | EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
- | |
| 73 | EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
- | |
| 74 | EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
- | |
| 75 | EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
- | |
| 76 | EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV;///*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
- | |
| 77 | EE_Parameter.Hoehe_MinGas = 30; |
- | |
| 78 | EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> Poti1 |
- | |
| 79 | EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
- | |
| 80 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-250 |
- | |
| 81 | EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
- | |
| 82 | EE_Parameter.Hoehe_Verstaerkung = 3; // Wert : 0-50 |
- | |
| 83 | EE_Parameter.Stick_P = 12; // Wert : 1-6 |
- | |
| 84 | EE_Parameter.Stick_D = 16; // Wert : 0-64 |
- | |
| 85 | EE_Parameter.Gier_P = 6; // Wert : 1-20 |
- | |
| 86 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
- | |
| 87 | EE_Parameter.Gas_Max = 230; // Wert : 33-250 |
- | |
| 88 | EE_Parameter.GyroAccFaktor = 30; // Wert : 1-64 |
- | |
| 89 | EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
- | |
| 90 | EE_Parameter.Gyro_P = 80; // Wert : 0-250 |
- | |
| 91 | EE_Parameter.Gyro_I = 120; // Wert : 0-250 |
- | |
| 92 | EE_Parameter.UnterspannungsWarnung = 94; // Wert : 0-250 |
- | |
| 93 | EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
- | |
| 94 | EE_Parameter.NotGasZeit = 30; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
- | |
| 95 | EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
- | |
| 96 | EE_Parameter.I_Faktor = 32; |
314 | SetParamByte(PID_ACTIVE_SET, 3); |
| 97 | EE_Parameter.UserParam1 = 253; // zur freien Verwendung |
- | |
| 98 | EE_Parameter.UserParam2 = 100; // zur freien Verwendung |
- | |
| 99 | EE_Parameter.UserParam3 = 90; // zur freien Verwendung |
- | |
| 100 | EE_Parameter.UserParam4 = 90; // zur freien Verwendung |
- | |
| 101 | EE_Parameter.UserParam5 = 90; // zur freien Verwendung |
- | |
| 102 | EE_Parameter.UserParam6 = 90; // zur freien Verwendung |
- | |
| 103 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
- | |
| 104 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
- | |
| 105 | EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
- | |
| 106 | EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
- | |
| 107 | EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
- | |
| 108 | EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
- | |
| 109 | EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
- | |
| 110 | EE_Parameter.ServoNickRefresh = 5; |
- | |
| 111 | EE_Parameter.LoopGasLimit = 50; |
- | |
| 112 | EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
- | |
| 113 | EE_Parameter.LoopHysterese = 50; |
- | |
| 114 | EE_Parameter.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
- | |
| 115 | EE_Parameter.AchsKopplung1 = 90; // Faktor, mit dem Gier die Achsen Roll und Nick verkoppelt |
- | |
| 116 | EE_Parameter.AchsGegenKopplung1 = 5; |
- | |
| 117 | EE_Parameter.WinkelUmschlagNick = 100; |
- | |
| 118 | EE_Parameter.WinkelUmschlagRoll = 100; |
- | |
| 119 | EE_Parameter.GyroAccAbgleich = 32; // 1/k |
- | |
| 120 | EE_Parameter.Driftkomp = 4; |
315 | // update version info |
| 121 | EE_Parameter.DynamicStability = 75; |
316 | SetParamByte(PID_VERSION, EEPARAM_VERSION); |
| 122 | memcpy(EE_Parameter.Name, "Normal\0", 12); |
- | |
| 123 | } |
317 | } |
| 124 | - | ||
| 125 | void DefaultKonstanten3(void) |
- | |
| 126 | { |
- | |
| 127 | EE_Parameter.Kanalbelegung[K_NICK] = 1; |
- | |
| 128 | EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
- | |
| 129 | EE_Parameter.Kanalbelegung[K_GAS] = 3; |
- | |
| 130 | EE_Parameter.Kanalbelegung[K_GIER] = 4; |
- | |
| 131 | EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
- | |
| 132 | EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
- | |
| 133 | EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
- | |
| 134 | EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
- | |
| 135 | EE_Parameter.GlobalConfig = CFG_DREHRATEN_BEGRENZER | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV;///*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
- | |
| 136 | EE_Parameter.Hoehe_MinGas = 30; |
- | |
| 137 | EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> Poti1 |
- | |
| 138 | EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
- | |
| 139 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-250 |
- | |
| 140 | EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
- | |
| 141 | EE_Parameter.Hoehe_Verstaerkung = 3; // Wert : 0-50 |
- | |
| 142 | EE_Parameter.Stick_P = 8; // Wert : 1-6 |
- | |
| 143 | EE_Parameter.Stick_D = 16; // Wert : 0-64 |
318 | // read active parameter set to ParamSet stucture |
| 144 | EE_Parameter.Gier_P = 6; // Wert : 1-20 |
- | |
| 145 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
- | |
| 146 | EE_Parameter.Gas_Max = 230; // Wert : 33-250 |
- | |
| 147 | EE_Parameter.GyroAccFaktor = 30; // Wert : 1-64 |
319 | ParamSet_ReadFromEEProm(GetParamByte(PID_ACTIVE_SET)); |
| 148 | EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
- | |
| 149 | EE_Parameter.Gyro_P = 100; // Wert : 0-250 |
- | |
| 150 | EE_Parameter.Gyro_I = 120; // Wert : 0-250 |
- | |
| 151 | EE_Parameter.UnterspannungsWarnung = 94; // Wert : 0-250 |
- | |
| 152 | EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
- | |
| 153 | EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
- | |
| 154 | EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
- | |
| 155 | EE_Parameter.I_Faktor = 16; |
- | |
| 156 | EE_Parameter.UserParam1 = 253; // zur freien Verwendung |
- | |
| 157 | EE_Parameter.UserParam2 = 100; // zur freien Verwendung |
- | |
| 158 | EE_Parameter.UserParam3 = 90; // zur freien Verwendung |
- | |
| 159 | EE_Parameter.UserParam4 = 90; // zur freien Verwendung |
- | |
| 160 | EE_Parameter.UserParam5 = 90; // zur freien Verwendung |
- | |
| 161 | EE_Parameter.UserParam6 = 90; // zur freien Verwendung |
- | |
| 162 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
- | |
| 163 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
320 | printf("\n\rUsing Parameter Set %d", GetParamByte(PID_ACTIVE_SET)); |
| 164 | EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
- | |
| 165 | EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
- | |
| 166 | EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
- | |
| 167 | EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
- | |
| 168 | EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
- | |
| 169 | EE_Parameter.ServoNickRefresh = 5; |
- | |
| 170 | EE_Parameter.LoopGasLimit = 50; |
- | |
| 171 | EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
- | |
| 172 | EE_Parameter.LoopHysterese = 50; |
- | |
| 173 | EE_Parameter.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
- | |
| 174 | EE_Parameter.AchsKopplung1 = 90; // Faktor, mit dem Gier die Achsen Roll und Nick verkoppelt |
- | |
| 175 | EE_Parameter.AchsGegenKopplung1 = 5; |
- | |
| 176 | EE_Parameter.WinkelUmschlagNick = 100; |
- | |
| 177 | EE_Parameter.WinkelUmschlagRoll = 100; |
- | |
| 178 | EE_Parameter.GyroAccAbgleich = 32; // 1/k |
- | |
| 179 | EE_Parameter.Driftkomp = 4; |
- | |
| 180 | EE_Parameter.DynamicStability = 50; |
- | |
| 181 | memcpy(EE_Parameter.Name, "Beginner\0", 12); |
- | |
| 182 | } |
321 | } |