Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + 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 "printf_P.h"

#include "led.h"

#include "main.h"

#include "fc.h"

// byte array in eeprom

uint8_t EEPromArray[E2END+1] EEMEM;

paramset_t              ParamSet;

MixerTable_t    Mixer;

/***************************************************/

/*    Default Values for parameter set 1           */

/***************************************************/

void ParamSet_DefaultSet1(void) // sport

{

        if(BoardRelease >= 20)

        {

                ParamSet.GyroD = 5;

                ParamSet.DriftComp = 0;

                ParamSet.GyroAccFactor = 27;

                ParamSet.AngleTurnOverNick = 78;

                ParamSet.AngleTurnOverRoll = 78;

        }

        else

        {

                ParamSet.GyroD = 3;

                ParamSet.DriftComp = 32;

                ParamSet.GyroAccFactor = 30;

                ParamSet.AngleTurnOverNick = 85;

                ParamSet.AngleTurnOverRoll = 85;

        }

        ParamSet.ChannelAssignment[CH_GAS]       = 1;

        ParamSet.ChannelAssignment[CH_ROLL]  = 2;

        ParamSet.ChannelAssignment[CH_NICK]  = 3;

        ParamSet.ChannelAssignment[CH_YAW]   = 4;

        ParamSet.ChannelAssignment[CH_POTI1] = 5;

        ParamSet.ChannelAssignment[CH_POTI2] = 6;

        ParamSet.ChannelAssignment[CH_POTI3] = 7;

        ParamSet.ChannelAssignment[CH_POTI4] = 8;

        ParamSet.Config0 = CFG0_AXIS_COUPLING_ACTIVE | CFG0_COMPASS_ACTIVE | CFG0_GPS_ACTIVE | CFG0_HEIGHT_SWITCH;//CFG0_HEIGHT_CONTROL | CFG0_COMPASS_FIX;

        ParamSet.Config1 = 0;

        ParamSet.Config2 = CFG2_HEIGHT_LIMIT;//|CFG2_SENSITIVE_RC;

        ParamSet.HeightMinGas = 30;

        ParamSet.MaxHeight     = 251;

        ParamSet.HeightP      = 10;

        ParamSet.HeightD  = 30;

        ParamSet.Height_ACC_Effect = 30;

        ParamSet.Height_HoverBand = 5;

        ParamSet.Height_GPS_Z = 64;

        ParamSet.Height_StickNeutralPoint = 0; // Value : 0-250 (0 = Hoover-Estimation)

        ParamSet.Height_Gain = 20;

        ParamSet.StickP = 14;

        ParamSet.StickD = 16;

        ParamSet.StickYawP = 12;

        ParamSet.GasMin = 8;

        ParamSet.GasMax = 230;

        ParamSet.CompassYawEffect = 128;

        ParamSet.GyroP = 80;

        ParamSet.GyroI = 150;

        ParamSet.GyroYawP = 80;

        ParamSet.GyroYawI = 150;

        ParamSet.LowVoltageWarning = 33;  // automatic cell detection for values < 50

        ParamSet.EmergencyGas = 35;

        ParamSet.EmergencyGasDuration = 30;

        ParamSet.UfoArrangement = 0;

        ParamSet.IFactor = 32;

        ParamSet.UserParam1 = 0;

        ParamSet.UserParam2 = 0;

        ParamSet.UserParam3 = 0;

        ParamSet.UserParam4 = 0;

        ParamSet.UserParam5 = 0;

        ParamSet.UserParam6 = 0;

        ParamSet.UserParam7 = 0;

        ParamSet.UserParam8 = 0;

        ParamSet.ServoCompInvert = 1;

        ParamSet.ServoRefresh = 6;

        ParamSet.ServoNickControl = 100;

        ParamSet.ServoNickComp = 40;

        ParamSet.ServoNickMin = 0;

        ParamSet.ServoNickMax = 250;

        ParamSet.ServoRollControl = 100;

        ParamSet.ServoRollComp = 40;

        ParamSet.ServoRollMin = 0;

        ParamSet.ServoRollMax = 250;

        ParamSet.LoopGasLimit = 50;

        ParamSet.LoopThreshold = 90;

        ParamSet.LoopHysteresis = 50;

        ParamSet.AxisCoupling1 = 90;

        ParamSet.AxisCoupling2 = 80;

        ParamSet.AxisCouplingYawCorrection = 1;

        ParamSet.GyroAccTrim = 16;

        ParamSet.DynamicStability = 100;

        ParamSet.J16Bitmask = 95;

        ParamSet.J17Bitmask = 243;

        ParamSet.J16Bitmask_Warning = 0xAA;

        ParamSet.J17Bitmask_Warning = 0xAA;

        ParamSet.J16Timing = 15;

        ParamSet.J17Timing = 15;

        ParamSet.NaviGpsModeControl = 252;

        ParamSet.NaviGpsGain = 100;

        ParamSet.NaviGpsP = 90;

        ParamSet.NaviGpsI = 90;

        ParamSet.NaviGpsD = 90;

        ParamSet.NaviGpsPLimit = 75;

        ParamSet.NaviGpsILimit = 75;

        ParamSet.NaviGpsDLimit = 75;

        ParamSet.NaviGpsACC = 0;

        ParamSet.NaviGpsMinSat = 6;

        ParamSet.NaviStickThreshold = 8;

        ParamSet.NaviWindCorrection = 90;

        ParamSet.NaviSpeedCompensation = 30;

        ParamSet.NaviOperatingRadius = 100;

        ParamSet.NaviAngleLimitation = 100;

        ParamSet.NaviPHLoginTime = 4;

        memcpy(ParamSet.Name, "Sport\0",6);

}

/***************************************************/

/*    Default Values for parameter set 2           */

/***************************************************/

void ParamSet_DefaultSet2(void) // normal

{

        if(BoardRelease >= 20)

        {

                ParamSet.GyroD = 5;

                ParamSet.DriftComp = 0;

                ParamSet.GyroAccFactor = 27;

                ParamSet.AngleTurnOverNick = 78;

                ParamSet.AngleTurnOverRoll = 78;

        }

        else

        {

                ParamSet.GyroD = 3;

                ParamSet.DriftComp = 32;

                ParamSet.GyroAccFactor = 30;

                ParamSet.AngleTurnOverNick = 85;

                ParamSet.AngleTurnOverRoll = 85;

        }

        ParamSet.ChannelAssignment[CH_GAS]   = 1;

        ParamSet.ChannelAssignment[CH_ROLL]  = 2;

        ParamSet.ChannelAssignment[CH_NICK]  = 3;

        ParamSet.ChannelAssignment[CH_YAW]   = 4;

        ParamSet.ChannelAssignment[CH_POTI1] = 5;

        ParamSet.ChannelAssignment[CH_POTI2] = 6;

        ParamSet.ChannelAssignment[CH_POTI3] = 7;

        ParamSet.ChannelAssignment[CH_POTI4] = 8;

        ParamSet.Config0 = CFG0_AXIS_COUPLING_ACTIVE | CFG0_COMPASS_ACTIVE | CFG0_GPS_ACTIVE | CFG0_HEIGHT_SWITCH;//CFG0_HEIGHT_CONTROL | CFG0_COMPASS_FIX;

        ParamSet.Config1 = 0;

        ParamSet.Config2 = CFG2_HEIGHT_LIMIT;//|CFG2_SENSITIVE_RC;

        ParamSet.HeightMinGas = 30;

        ParamSet.MaxHeight     = 251;

        ParamSet.HeightP      = 10;

        ParamSet.HeightD  = 30;

        ParamSet.Height_ACC_Effect = 30;

        ParamSet.Height_HoverBand = 5;

        ParamSet.Height_GPS_Z = 64;

        ParamSet.Height_StickNeutralPoint = 0; // Value : 0-250 (0 = Hoover-Estimation)

        ParamSet.Height_Gain = 15;

        ParamSet.StickP = 10;

        ParamSet.StickD = 16;

        ParamSet.StickYawP = 6;

        ParamSet.GasMin = 8;

        ParamSet.GasMax = 230;

        ParamSet.CompassYawEffect = 128;

        ParamSet.GyroP = 90;

        ParamSet.GyroI = 120;

        ParamSet.GyroYawP = 90;

        ParamSet.GyroYawI = 120;

        ParamSet.LowVoltageWarning = 33; // auto cell detection for values < 50

        ParamSet.EmergencyGas = 35;

        ParamSet.EmergencyGasDuration = 30;

        ParamSet.UfoArrangement = 0;

        ParamSet.IFactor = 32;

        ParamSet.UserParam1 = 0;

        ParamSet.UserParam2 = 0;

        ParamSet.UserParam3 = 0;

        ParamSet.UserParam4 = 0;

        ParamSet.UserParam5 = 0;

        ParamSet.UserParam6 = 0;

        ParamSet.UserParam7 = 0;

        ParamSet.UserParam8 = 0;

        ParamSet.ServoCompInvert = 1;

        ParamSet.ServoRefresh = 6;

        ParamSet.ServoNickControl = 100;

        ParamSet.ServoNickComp = 40;

        ParamSet.ServoNickMin = 0;

        ParamSet.ServoNickMax = 250;

        ParamSet.ServoRollControl = 100;

        ParamSet.ServoRollComp = 40;

        ParamSet.ServoRollMin = 0;

        ParamSet.ServoRollMax = 250;

        ParamSet.LoopGasLimit = 50;

        ParamSet.LoopThreshold = 90;

        ParamSet.LoopHysteresis = 50;

        ParamSet.AxisCoupling1 = 90;

        ParamSet.AxisCoupling2 = 80;

        ParamSet.AxisCouplingYawCorrection = 60;

        ParamSet.GyroAccTrim = 32;

        ParamSet.DynamicStability = 75;

        ParamSet.J16Bitmask = 95;

        ParamSet.J17Bitmask = 243;

        ParamSet.J16Bitmask_Warning = 0xAA;

        ParamSet.J17Bitmask_Warning = 0xAA;

        ParamSet.J16Timing = 20;

        ParamSet.J17Timing = 20;

        ParamSet.NaviGpsModeControl = 252;

        ParamSet.NaviGpsGain = 100;

        ParamSet.NaviGpsP = 90;

        ParamSet.NaviGpsI = 90;

        ParamSet.NaviGpsD = 90;

        ParamSet.NaviGpsPLimit = 75;

        ParamSet.NaviGpsILimit = 75;

        ParamSet.NaviGpsDLimit = 75;

        ParamSet.NaviGpsACC = 0;

        ParamSet.NaviGpsMinSat = 6;

        ParamSet.NaviStickThreshold = 8;

        ParamSet.NaviWindCorrection = 90;

        ParamSet.NaviSpeedCompensation = 30;

        ParamSet.NaviOperatingRadius = 100;

        ParamSet.NaviAngleLimitation = 100;

        ParamSet.NaviPHLoginTime = 4;

        memcpy(ParamSet.Name, "Normal\0", 7);

}

/***************************************************/

/*    Default Values for parameter set 3           */

/***************************************************/

void ParamSet_DefaultSet3(void) // beginner

{

        if(BoardRelease >= 20)

        {

                ParamSet.GyroD = 5;

                ParamSet.DriftComp = 0;

                ParamSet.GyroAccFactor = 27;         // Value : 1-64

                ParamSet.AngleTurnOverNick = 78;

                ParamSet.AngleTurnOverRoll = 78;

        }

        else

        {

                ParamSet.GyroD = 3;

                ParamSet.DriftComp = 32;

                ParamSet.GyroAccFactor = 30;         // Value : 1-64

                ParamSet.AngleTurnOverNick = 85;

                ParamSet.AngleTurnOverRoll = 85;

        }

        ParamSet.ChannelAssignment[CH_GAS]   = 1;

        ParamSet.ChannelAssignment[CH_ROLL]  = 2;

        ParamSet.ChannelAssignment[CH_NICK]  = 3;

        ParamSet.ChannelAssignment[CH_YAW]   = 4;

        ParamSet.ChannelAssignment[CH_POTI1] = 5;

        ParamSet.ChannelAssignment[CH_POTI2] = 6;

        ParamSet.ChannelAssignment[CH_POTI3] = 7;

        ParamSet.ChannelAssignment[CH_POTI4] = 8;

        ParamSet.Config0 = CFG0_AXIS_COUPLING_ACTIVE | CFG0_COMPASS_ACTIVE | CFG0_GPS_ACTIVE | CFG0_HEIGHT_SWITCH;//CFG0_HEIGHT_CONTROL | CFG0_COMPASS_FIX | CFG0_ROTARY_RATE_LIMITER;

        ParamSet.Config1 = 0;

        ParamSet.Config2 = CFG2_HEIGHT_LIMIT;//|CFG2_SENSITIVE_RC;

        ParamSet.HeightMinGas = 30;

        ParamSet.MaxHeight     = 251;

        ParamSet.HeightP      = 10;

        ParamSet.HeightD  = 30;

        ParamSet.Height_ACC_Effect = 30;

        ParamSet.Height_HoverBand = 5;

        ParamSet.Height_GPS_Z = 64;

        ParamSet.Height_StickNeutralPoint = 0; // Value : 0-250 (0 = Hoover-Estimation)

        ParamSet.Height_Gain = 15;

        ParamSet.StickP = 8;

        ParamSet.StickD = 16;

        ParamSet.StickYawP  = 6;

        ParamSet.GasMin = 8;

        ParamSet.GasMax = 230;

        ParamSet.CompassYawEffect = 128;

        ParamSet.GyroP = 100;

        ParamSet.GyroI = 120;

        ParamSet.GyroYawP = 100;

        ParamSet.GyroYawI = 120;

        ParamSet.LowVoltageWarning = 33;  // auto cell detection for values < 50

        ParamSet.EmergencyGas = 35;

        ParamSet.EmergencyGasDuration = 20;

        ParamSet.UfoArrangement = 0;

        ParamSet.IFactor = 16;

        ParamSet.UserParam1 = 0;

        ParamSet.UserParam2 = 0;

        ParamSet.UserParam3 = 0;

        ParamSet.UserParam4 = 0;

        ParamSet.UserParam5 = 0;

        ParamSet.UserParam6 = 0;

        ParamSet.UserParam7 = 0;

        ParamSet.UserParam8 = 0;

        ParamSet.ServoCompInvert = 1;

        ParamSet.ServoRefresh = 6;

        ParamSet.ServoNickControl = 100;

        ParamSet.ServoNickComp = 40;

        ParamSet.ServoNickMin = 0;

        ParamSet.ServoNickMax = 250;

        ParamSet.ServoRollControl = 100;

        ParamSet.ServoRollComp = 40;

        ParamSet.ServoRollMin = 0;

        ParamSet.ServoRollMax = 250;

        ParamSet.LoopGasLimit = 50;

        ParamSet.LoopThreshold = 90;

        ParamSet.LoopHysteresis = 50;

        ParamSet.AxisCoupling1 = 90;

        ParamSet.AxisCoupling2 = 80;

        ParamSet.AxisCouplingYawCorrection = 70;

        ParamSet.GyroAccTrim = 32;

        ParamSet.DynamicStability = 50;

        ParamSet.J16Bitmask = 95;

        ParamSet.J17Bitmask = 243;

        ParamSet.J16Bitmask_Warning = 0xAA;

        ParamSet.J17Bitmask_Warning = 0xAA;

        ParamSet.J16Timing = 30;

        ParamSet.J17Timing = 30;

        ParamSet.NaviGpsModeControl = 252;

        ParamSet.NaviGpsGain = 100;

        ParamSet.NaviGpsP = 90;

        ParamSet.NaviGpsI = 90;

        ParamSet.NaviGpsD = 90;

        ParamSet.NaviGpsPLimit = 75;

        ParamSet.NaviGpsILimit = 75;

        ParamSet.NaviGpsDLimit = 75;

        ParamSet.NaviGpsACC = 0;

        ParamSet.NaviGpsMinSat = 6;

        ParamSet.NaviStickThreshold = 8;

        ParamSet.NaviWindCorrection = 90;

        ParamSet.NaviSpeedCompensation = 30;

        ParamSet.NaviOperatingRadius = 100;

        ParamSet.NaviAngleLimitation = 100;

        ParamSet.NaviPHLoginTime = 4;

        memcpy(ParamSet.Name, "Beginner\0", 9);

}

/***************************************************/

/*       Read Parameter from EEPROM as byte        */

/***************************************************/

uint8_t GetParamByte(uint16_t param_id)

{

        return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]);

}

/***************************************************/

/*       Write Parameter to EEPROM as byte         */

/***************************************************/

void SetParamByte(uint16_t param_id, uint8_t value)

{

        eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);

}

/***************************************************/

/*       Read Parameter from EEPROM as word        */

/***************************************************/

uint16_t GetParamWord(uint16_t param_id)

{

        return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]);

}

/***************************************************/

/*       Write Parameter to EEPROM as word         */

/***************************************************/

void SetParamWord(uint16_t param_id, uint16_t value)

{

        eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);

}

/***************************************************/

/*       Read Parameter Set from EEPROM            */

/***************************************************/

// number [1..5]

void ParamSet_ReadFromEEProm(uint8_t setnumber)

{

        if((1 > setnumber) || (setnumber > 5)) setnumber = 3;

        eeprom_read_block((uint8_t *) &ParamSet.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN);

        LED_Init();

}

/***************************************************/

/*        Write Parameter Set to EEPROM            */

/***************************************************/

// number [1..5]

void ParamSet_WriteToEEProm(uint8_t setnumber)

{

        if(setnumber > 5) setnumber = 5;

        if(setnumber < 1) return;

        eeprom_write_block((uint8_t *) &ParamSet.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN);

        eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH], PARAMSET_STRUCT_LEN);

        eeprom_write_block( &ParamSet.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping

        // set this parameter set to active set

        SetActiveParamSet(setnumber);

        LED_Init();

}

/***************************************************/

/*          Read MixerTable from EEPROM            */

/***************************************************/

uint8_t MixerTable_ReadFromEEProm(void)

{

        if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == EEMIXER_REVISION)

        {

                eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));

                return 1;

        }

        else return 0;

}

/***************************************************/

/*          Write Mixer Table to EEPROM            */

/***************************************************/

uint8_t MixerTable_WriteToEEProm(void)

{

        if(Mixer.Revision == EEMIXER_REVISION)

        {

                eeprom_write_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));

                return 1;

        }

        else return 0;

}

/***************************************************/

/*    Default Values for Mixer Table               */

/***************************************************/

void MixerTable_Default(void) // Quadro

{

        uint8_t i;

        Mixer.Revision = EEMIXER_REVISION;

        // clear mixer table

        for(i = 0; i < 16; i++)

        {

                Mixer.Motor[i][MIX_GAS]  = 0;

                Mixer.Motor[i][MIX_NICK] = 0;

                Mixer.Motor[i][MIX_ROLL] = 0;

                Mixer.Motor[i][MIX_YAW]  = 0;

        }

        // default = Quadro

        Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] =   0; Mixer.Motor[0][MIX_YAW] = +64;

        Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] =   0; Mixer.Motor[1][MIX_YAW] = +64;

        Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] =   0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64;

        Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] =   0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64;

        memcpy(Mixer.Name, "Quadro\0", 7);

}

/***************************************************/

/*       Get active parameter set                  */

/***************************************************/

uint8_t GetActiveParamSet(void)

{

        uint8_t setnumber;

        setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]);

        if(setnumber > 5)

        {

                setnumber = 3;

                eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber);

        }

        return(setnumber);

}

/***************************************************/

/*       Set active parameter set                  */

/***************************************************/

void SetActiveParamSet(uint8_t setnumber)

{

        if(setnumber > 5) setnumber = 5;

        if(setnumber < 1) setnumber = 1;

        eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber);

}

/***************************************************/

/*       Initialize EEPROM Parameter Sets          */

/***************************************************/

void ParamSet_Init(void)

{

        uint8_t Channel_Backup  = 0, i;

        // parameter version  check

        if(eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION)

        {

                // if version check faild

                printf("\n\rInit Parameter in EEPROM");

                eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table

                // check if channel mapping backup is valid

                if(             (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]) < 12)

                    &&  (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12)

                    &&  (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12)

                    &&  (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12)

                   )

                {

                        Channel_Backup = 1;

                }

                // fill all 5 parameter settings

                for (i = 1;i < 6; i++)

                {

                        switch(i)

                        {

                                case 1:

                                        ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport)

                                        break;

                                case 2:

                                        ParamSet_DefaultSet2(); // Kamera

                                        break;

                                case 3:

                                        ParamSet_DefaultSet3(); // Beginner

                                        break;

                                default:

                                        ParamSet_DefaultSet2(); // Kamera

                                        break;

                        }

                        if(Channel_Backup) // if we have a rc channel mapping backup in eeprom

                        {

                                // restore it

                                ParamSet.ChannelAssignment[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);

                                ParamSet.ChannelAssignment[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);

                                ParamSet.ChannelAssignment[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);

                                ParamSet.ChannelAssignment[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);

                                ParamSet.ChannelAssignment[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);

                                ParamSet.ChannelAssignment[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);

                                ParamSet.ChannelAssignment[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);

                                ParamSet.ChannelAssignment[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);

                        }

                        ParamSet_WriteToEEProm(i);

                }

                // default-Setting is parameter set 3

                SetActiveParamSet(3);

                // update version info

                SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION);

        }

        // read active parameter set to ParamSet stucture

        ParamSet_ReadFromEEProm(GetActiveParamSet());

        printf("\n\rUsing Parameter Set %d", GetActiveParamSet());

        // load mixer table

        if(!MixerTable_ReadFromEEProm() )

        {

                printf("\n\rGenerating default Mixer Table");

                MixerTable_Default(); // Quadro

                MixerTable_WriteToEEProm();

        }

        // determine motornumber

        RequiredMotors = 0;

        for(i = 0; i < 16; i++)

        {

                if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++;

        }

        printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors);

        printf("\n\r==============================");

}