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| Rev 2025 | Rev 2099 | ||
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| Line 1... | Line -... | ||
| 1 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 2 | // + Contant Values |
- | |
| 3 | // + 0-250 -> normale Values |
- | |
| 4 | // + 251 -> Poti1 |
- | |
| 5 | // + 252 -> Poti2 |
- | |
| 6 | // + 253 -> Poti3 |
- | |
| 7 | // + 254 -> Poti4 |
- | |
| 8 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 9 | - | ||
| 10 | #ifndef EEMEM |
1 | #ifndef EEMEM |
| 11 | #define EEMEM __attribute__ ((section (".eeprom"))) |
2 | #define EEMEM __attribute__ ((section (".eeprom"))) |
| 12 | #endif |
3 | #endif |
| Line 13... | Line -... | ||
| 13 | - | ||
| 14 | #include <avr/eeprom.h> |
- | |
| 15 | #include <string.h> |
4 | |
| - | 5 | #include "eeprom.h" |
|
| 16 | #include "eeprom.h" |
6 | #include "printf_P.h" |
| 17 | #include "output.h" |
- | |
| 18 | // TODO: Get rid of these. They have nothing to do with eeprom. |
7 | #include "output.h" |
| 19 | #include "flight.h" |
- | |
| 20 | #include "rc.h" |
8 | #include <avr/wdt.h> |
| Line 21... | Line 9... | ||
| 21 | #include "sensors.h" |
9 | #include <avr/eeprom.h> |
| 22 | 10 | ||
| Line 23... | Line -... | ||
| 23 | // byte array in eeprom |
- | |
| 24 | uint8_t EEPromArray[E2END + 1] EEMEM; |
- | |
| 25 | - | ||
| 26 | paramset_t staticParams; |
- | |
| 27 | MixerTable_t Mixer; |
- | |
| 28 | - | ||
| 29 | /* |
- | |
| 30 | * Default for your own experiments here, so you don't have to reset them |
- | |
| 31 | * from MK-Tool all the time. |
- | |
| 32 | */ |
- | |
| 33 | void setDefaultUserParams(void) { |
- | |
| 34 | uint8_t i; |
- | |
| 35 | for (i = 0; i < sizeof(staticParams.UserParams); i++) { |
- | |
| 36 | staticParams.UserParams[i] = 0; |
- | |
| 37 | } |
- | |
| 38 | /* |
- | |
| 39 | * While we are still using userparams for flight parameters, do set |
- | |
| 40 | * some safe & meaningful default values. |
- | |
| 41 | */ |
- | |
| 42 | } |
- | |
| 43 | - | ||
| 44 | void setOtherDefaults(void) { |
- | |
| 45 | /* Channel assignments were changed to the normal: |
- | |
| 46 | * Aileron/roll=1, elevator/pitch=2, throttle=3, yaw/rudder=4 |
- | |
| 47 | */ |
- | |
| 48 | staticParams.ChannelAssignment[CH_ELEVATOR] = 2; |
- | |
| 49 | staticParams.ChannelAssignment[CH_AILERONS] = 1; |
- | |
| 50 | staticParams.ChannelAssignment[CH_THROTTLE] = 3; |
- | |
| 51 | staticParams.ChannelAssignment[CH_RUDDER] = 4; |
- | |
| 52 | staticParams.ChannelAssignment[CH_POTS + 0] = 5; |
- | |
| 53 | staticParams.ChannelAssignment[CH_POTS + 1] = 6; |
- | |
| 54 | staticParams.ChannelAssignment[CH_POTS + 2] = 7; |
- | |
| 55 | staticParams.ChannelAssignment[CH_POTS + 3] = 8; |
- | |
| 56 | staticParams.GlobalConfig = /* CFG_AXIS_COUPLING_ACTIVE | */ CFG_HEADING_HOLD; // CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
- | |
| 57 | staticParams.HeightMinGas = 30; |
- | |
| 58 | staticParams.MaxHeight = 251; |
- | |
| 59 | staticParams.HeightP = 10; |
- | |
| 60 | staticParams.HeightD = 30; |
- | |
| 61 | staticParams.Height_ACC_Effect = 30; |
- | |
| 62 | staticParams.Height_Gain = 4; |
- | |
| 63 | staticParams.CompassYawEffect = 128; |
- | |
| 64 | - | ||
| 65 | staticParams.GyroPitchP = 0; |
- | |
| 66 | staticParams.GyroRollP = 0; |
- | |
| 67 | staticParams.GyroYawP = 0; |
- | |
| 68 | - | ||
| 69 | staticParams.GyroPitchD = 0; |
- | |
| 70 | staticParams.GyroRollD = 0; |
- | |
| 71 | staticParams.GyroYawD = 0; |
- | |
| 72 | - | ||
| 73 | staticParams.StickElevatorP = 10; |
- | |
| 74 | staticParams.StickAileronsP = 10; |
- | |
| 75 | staticParams.StickRudderP = 10; |
- | |
| 76 | - | ||
| 77 | staticParams.LowVoltageWarning = 105; |
- | |
| 78 | staticParams.ServoRefresh = 7; |
- | |
| 79 | - | ||
| 80 | staticParams.J16Bitmask = 95; |
- | |
| 81 | staticParams.J17Bitmask = 243; |
- | |
| 82 | staticParams.J16Timing = 15; |
- | |
| 83 | staticParams.J17Timing = 15; |
- | |
| 84 | - | ||
| 85 | staticParams.servoDirections = 2; |
- | |
| 86 | } |
- | |
| 87 | - | ||
| 88 | void setDefaults(void) { |
- | |
| 89 | setOtherDefaults(); |
- | |
| 90 | gyro_setDefaults(); |
- | |
| 91 | setDefaultUserParams(); |
- | |
| 92 | staticParams.J16Timing = 10; |
- | |
| 93 | staticParams.J17Timing = 10; |
11 | // byte array in eeprom |
| 94 | } |
12 | uint8_t EEPromArray[E2END + 1] EEMEM; |
| 95 | 13 | ||
| 96 | /***************************************************/ |
14 | /***************************************************/ |
| 97 | /* Read Parameter from EEPROM as byte */ |
15 | /* Read Parameter from EEPROM as byte */ |
| 98 | /***************************************************/ |
16 | /***************************************************/ |
| Line 99... | Line 17... | ||
| 99 | uint8_t GetParamByte(uint16_t param_id) { |
17 | uint8_t getParamByte(uint16_t param_id) { |
| 100 | return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
18 | return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
| 101 | } |
19 | } |
| 102 | 20 | ||
| 103 | /***************************************************/ |
21 | /***************************************************/ |
| 104 | /* Write Parameter to EEPROM as byte */ |
22 | /* Write Parameter to EEPROM as byte */ |
| Line 105... | Line 23... | ||
| 105 | /***************************************************/ |
23 | /***************************************************/ |
| 106 | void SetParamByte(uint16_t param_id, uint8_t value) { |
24 | void setParamByte(uint16_t param_id, uint8_t value) { |
| 107 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
25 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
| - | 26 | } |
|
| 108 | } |
27 | |
| 109 | 28 | /***************************************************/ |
|
| 110 | /***************************************************/ |
29 | /* Read Parameter from EEPROM as word */ |
| 111 | /* Read Parameter from EEPROM as word */ |
30 | /***************************************************/ |
| - | 31 | /* |
|
| Line 112... | Line 32... | ||
| 112 | /***************************************************/ |
32 | uint16_t getParamWord(uint16_t param_id) { |
| 113 | uint16_t GetParamWord(uint16_t param_id) { |
33 | return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN |
| 114 | return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN |
34 | + param_id]); |
| - | 35 | } |
|
| 115 | + param_id]); |
36 | */ |
| - | 37 | ||
| - | 38 | /***************************************************/ |
|
| - | 39 | /* Write Parameter to EEPROM as word */ |
|
| - | 40 | /***************************************************/ |
|
| - | 41 | /* |
|
| - | 42 | void setParamWord(uint16_t param_id, uint16_t value) { |
|
| - | 43 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
|
| - | 44 | } |
|
| - | 45 | */ |
|
| - | 46 | ||
| - | 47 | uint16_t CRC16(uint8_t* data, uint16_t length) { |
|
| - | 48 | uint16_t crc = 0; |
|
| - | 49 | for (uint16_t i=0; i<length; i++) { |
|
| 116 | } |
50 | crc = (uint8_t)(crc >> 8) | (crc << 8); |
| - | 51 | crc ^= data[i]; |
|
| - | 52 | crc ^= (uint8_t)(crc & 0xff) >> 4; |
|
| - | 53 | crc ^= (crc << 8) << 4; |
|
| - | 54 | crc ^= ((crc & 0xff) << 4) << 1; |
|
| - | 55 | } |
|
| - | 56 | return crc; |
|
| - | 57 | } |
|
| - | 58 | ||
| - | 59 | // offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data. |
|
| - | 60 | // length is the length of the pure data not including checksum and revision number. |
|
| - | 61 | void writeChecksummedBlock(uint8_t revisionNumber, uint8_t* data, uint16_t offset, uint16_t length) { |
|
| - | 62 | uint16_t CRC = CRC16(data, length); |
|
| - | 63 | eeprom_write_byte(&EEPromArray[offset], CRC&0xff); |
|
| - | 64 | eeprom_write_byte(&EEPromArray[offset+1], CRC>>8); |
|
| - | 65 | eeprom_write_byte(&EEPromArray[offset+2], revisionNumber); |
|
| - | 66 | eeprom_write_block(data, &EEPromArray[offset+3], length); |
|
| 117 | 67 | } |
|
| - | 68 | ||
| - | 69 | // offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data. |
|
| - | 70 | // length is the length of the pure data not including checksum and revision number. |
|
| - | 71 | uint8_t readChecksummedBlock(uint8_t revisionNumber, uint8_t* target, uint16_t offset, uint16_t length) { |
|
| - | 72 | uint16_t CRCRead = eeprom_read_byte(&EEPromArray[offset]) | (eeprom_read_byte(&EEPromArray[offset+1])<<8); |
|
| - | 73 | uint8_t revisionNumberRead = eeprom_read_byte(&EEPromArray[offset+2]); |
|
| - | 74 | eeprom_read_block(target, &EEPromArray[offset+3], length); |
|
| - | 75 | uint16_t CRCCalculated = CRC16(target, length); |
|
| - | 76 | ||
| - | 77 | uint8_t CRCError = (CRCRead != CRCCalculated); |
|
| 118 | /***************************************************/ |
78 | uint8_t revisionMismatch = (revisionNumber != revisionNumberRead); |
| Line 119... | Line 79... | ||
| 119 | /* Write Parameter to EEPROM as word */ |
79 | |
| 120 | /***************************************************/ |
80 | if (CRCError && revisionMismatch) printf("\n\rEEPROM CRC error and revision mismatch; "); |
| 121 | void SetParamWord(uint16_t param_id, uint16_t value) { |
81 | else if (CRCError) printf("\n\rEEPROM CRC error; "); |
| 122 | eeprom_write_word( |
82 | else if (revisionMismatch) printf("\n\rEEPROM revision mismatch; "); |
| 123 | (uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
83 | return (CRCError || revisionMismatch); |
| - | 84 | } |
|
| 124 | } |
85 | |
| 125 | 86 | /***************************************************/ |
|
| 126 | /***************************************************/ |
87 | /* Read Parameter Set from EEPROM */ |
| 127 | /* Read Parameter Set from EEPROM */ |
88 | /***************************************************/ |
| Line 128... | Line 89... | ||
| 128 | /***************************************************/ |
89 | // setnumber [1..5] |
| 129 | // number [1..5] |
90 | uint8_t paramSet_readFromEEProm(uint8_t setnumber) { |
| 130 | void ParamSet_ReadFromEEProm() { |
91 | uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(ParamSet_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD); |
| 131 | eeprom_read_block((uint8_t *) &staticParams.ChannelAssignment[0], |
- | |
| 132 | &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN], PARAMSET_STRUCT_LEN); |
92 | uint8_t result = readChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(ParamSet_t)); |
| 133 | output_init(); |
- | |
| 134 | } |
93 | configuration_paramSetDidChange(); |
| 135 | - | ||
| 136 | /***************************************************/ |
- | |
| 137 | /* Write Parameter Set to EEPROM */ |
- | |
| 138 | /***************************************************/ |
94 | return result; |
| 139 | // number [1..5] |
95 | } |
| 140 | void ParamSet_WriteToEEProm() { |
- | |
| 141 | eeprom_write_block((uint8_t *) &staticParams.ChannelAssignment[0], |
96 | |
| 142 | &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN], PARAMSET_STRUCT_LEN); |
97 | /***************************************************/ |
| 143 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH], |
98 | /* Write Parameter Set to EEPROM */ |
| 144 | PARAMSET_STRUCT_LEN); |
99 | /***************************************************/ |
| - | 100 | void paramSet_writeToEEProm(uint8_t setnumber) { |
|
| - | 101 | uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(ParamSet_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD); |
|
| 145 | eeprom_write_block(&staticParams.ChannelAssignment[0], |
102 | writeChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(ParamSet_t)); |
| 146 | &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping |
103 | // set this parameter set to active set |
| 147 | // set this parameter set to active set |
104 | } |
| 148 | output_init(); |
105 | |
| - | 106 | void paramSet_readOrDefault() { |
|
| - | 107 | // parameter version check |
|
| 149 | } |
108 | if (paramSet_readFromEEProm(1)) { |
| - | 109 | // if version check faild |
|
| 150 | 110 | printf("\n\rwriting default parameter sets"); |
|
| 151 | /***************************************************/ |
111 | for (uint8_t i=5; i>0; i--) { |
| 152 | /* Get active parameter set */ |
112 | paramSet_default(i); |
| 153 | /***************************************************/ |
113 | paramSet_writeToEEProm(i); |
| 154 | uint8_t getActiveParamSet(void) { |
114 | } |
| 155 | uint8_t setnumber; |
115 | // default-Setting is parameter set 1 |
| 156 | setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
116 | paramSet_readFromEEProm(1); |
| 157 | if (setnumber > 5) { |
117 | // For some strange reason, the read will have no effect. |
| 158 | setnumber = 3; |
118 | // Lets reset... |
| 159 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
119 | // wdt_enable(WDTO_500MS); |
| 160 | } |
- | |
| 161 | return (setnumber); |
- | |
| 162 | } |
120 | } |
| 163 | - | ||
| 164 | /***************************************************/ |
- | |
| 165 | /* Read MixerTable from EEPROM */ |
- | |
| 166 | /***************************************************/ |
- | |
| 167 | uint8_t MixerTable_ReadFromEEProm(void) { |
121 | printf("\n\r\rUsing Parameter Set %d", 1); |
| 168 | if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) |
122 | } |
| 169 | == EEMIXER_REVISION) { |
123 | |
| 170 | eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], |
124 | /***************************************************/ |
| 171 | sizeof(Mixer)); |
125 | /* Read IMU Config from EEPROM */ |
| 172 | return 1; |
126 | /***************************************************/ |
| - | 127 | uint8_t IMUConfig_readFromEEprom(void) { |
|
| - | 128 | return readChecksummedBlock(IMUCONFIG_REVISION, (uint8_t*)&IMUConfig, EEPROM_ADR_IMU_CONFIG, sizeof(IMUConfig_t)); |
|
| - | 129 | } |
|
| 173 | } else |
130 | |
| 174 | return 0; |
131 | /***************************************************/ |
| 175 | } |
132 | /* Write IMU Config to EEPROM */ |
| 176 | 133 | /***************************************************/ |
|
| - | 134 | void IMUConfig_writeToEEprom(void) { |
|
| 177 | /***************************************************/ |
135 | writeChecksummedBlock(IMUCONFIG_REVISION, (uint8_t*)&IMUConfig, EEPROM_ADR_IMU_CONFIG, sizeof(IMUConfig_t)); |
| 178 | /* Write Mixer Table to EEPROM */ |
- | |
| 179 | /***************************************************/ |
136 | } |
| 180 | uint8_t MixerTable_WriteToEEProm(void) { |
137 | |
| 181 | if (Mixer.Revision == EEMIXER_REVISION) { |
138 | void IMUConfig_readOrDefault(void) { |
| 182 | eeprom_write_block((uint8_t *) &Mixer, |
139 | if(IMUConfig_readFromEEprom()) { |
| 183 | &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
140 | printf("\n\rwriting default IMU config"); |
| 184 | return 1; |
141 | IMUConfig_default(); |
| 185 | } else |
- | |
| 186 | return 0; |
- | |
| 187 | } |
- | |
| 188 | - | ||
| 189 | /***************************************************/ |
142 | IMUConfig_writeToEEprom(); |
| 190 | /* Default Values for Mixer Table */ |
- | |
| 191 | /***************************************************/ |
- | |
| 192 | void MixerTable_Default(void) { // Quadro |
- | |
| 193 | uint8_t i; |
143 | } |
| - | 144 | } |
|
| 194 | Mixer.Revision = EEMIXER_REVISION; |
145 | |
| 195 | // clear mixer table (but preset throttle) |
146 | /***************************************************/ |
| 196 | for (i = 0; i < 16; i++) { |
- | |
| 197 | Mixer.Motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
147 | /* ChannelMap */ |
| 198 | Mixer.Motor[i][MIX_PITCH] = 0; |
148 | /***************************************************/ |
| 199 | Mixer.Motor[i][MIX_ROLL] = 0; |
- | |
| 200 | Mixer.Motor[i][MIX_YAW] = 0; |
149 | void channelMap_writeToEEProm(void) { |
| 201 | } |
150 | writeChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(channelMap_t)); |
| 202 | // default = Quadro |
151 | } |
| 203 | Mixer.Motor[0][MIX_PITCH] = +64; |
- | |
| 204 | Mixer.Motor[0][MIX_YAW] = +64; |
152 | |
| 205 | Mixer.Motor[1][MIX_PITCH] = -64; |
153 | void channelMap_readOrDefault(void) { |
| 206 | Mixer.Motor[1][MIX_YAW] = +64; |
154 | if (readChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(channelMap_t))) { |
| 207 | Mixer.Motor[2][MIX_ROLL] = -64; |
155 | printf("\n\rwriting default channel map"); |
| 208 | Mixer.Motor[2][MIX_YAW] = -64; |
156 | channelMap_default(); |
| 209 | Mixer.Motor[3][MIX_ROLL] = +64; |
157 | channelMap_writeToEEProm(); |
| 210 | Mixer.Motor[3][MIX_YAW] = -64; |
- | |
| 211 | memcpy(Mixer.Name, "Quadro\0", 7); |
- | |
| 212 | } |
- | |
| 213 | - | ||
| 214 | /***************************************************/ |
158 | wdt_enable(WDTO_500MS); |
| 215 | /* Initialize EEPROM Parameter Sets */ |
- | |
| 216 | /***************************************************/ |
- | |
| 217 | void ParamSet_Init(void) { |
- | |
| 218 | uint8_t Channel_Backup = 1, j; |
- | |
| 219 | // parameter version check |
159 | } |
| 220 | if (eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) { |
- | |
| 221 | // if version check faild |
160 | } |
| - | 161 | ||
| 222 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table |
162 | /***************************************************/ |
| - | 163 | /* Sensor offsets */ |
|
| 223 | // check if channel mapping backup is valid |
164 | /***************************************************/ |
| 224 | for (j = 0; j < 4 && Channel_Backup; j++) { |
- | |
| 225 | if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS + 0]) >= 12) |
- | |
| 226 | Channel_Backup = 0; |
165 | uint8_t gyroAmplifierOffset_readFromEEProm(void) { |
| 227 | } |
166 | return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t)); |
| 228 | // fill all 5 parameter settings |
- | |
| 229 | 167 | } |
|
| 230 | setDefaults(); // Fill staticParams Structure to default parameter set 1 (Sport) |
168 | |
| 231 | 169 | void gyroAmplifierOffset_writeToEEProm(void) { |
|
| - | 170 | return writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t)); |
|
| - | 171 | } |
|
| 232 | if (Channel_Backup) { // if we have a rc channel mapping backup in eeprom |
172 | |
| - | 173 | uint8_t gyroOffset_readFromEEProm(void) { |
|
| 233 | // restore it |
174 | return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t)); |
| 234 | for (j = 0; j < 8; j++) { |
175 | } |
| 235 | staticParams.ChannelAssignment[j] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS + j]); |
176 | |
| - | 177 | void gyroOffset_writeToEEProm(void) { |
|
| 236 | } |
178 | writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t)); |
| 237 | } |
179 | } |
| 238 | 180 | ||
| - | 181 | /* |
|