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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 886 | killagreg | 1 | #ifndef _EEPROM_H |
| 2 | #define _EEPROM_H |
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| 3 | |||
| 4 | #include <inttypes.h> |
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| 5 | |||
| 1180 | killagreg | 6 | #define EEPROM_ADR_PARAM_BEGIN 0 |
| 1222 | killagreg | 7 | #define PID_PARAM_REVISION 1 // byte |
| 886 | killagreg | 8 | #define PID_ACTIVE_SET 2 // byte |
| 9 | #define PID_PRESSURE_OFFSET 3 // byte |
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| 936 | killagreg | 10 | #define PID_ACC_NICK 4 // word |
| 886 | killagreg | 11 | #define PID_ACC_ROLL 6 // word |
| 1180 | killagreg | 12 | #define PID_ACC_TOP 8 // word |
| 886 | killagreg | 13 | |
| 14 | #ifdef USE_KILLAGREG |
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| 1222 | killagreg | 15 | #define PID_MM3_X_OFF 11 // byte |
| 16 | #define PID_MM3_Y_OFF 12 // byte |
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| 17 | #define PID_MM3_Z_OFF 13 // byte |
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| 18 | #define PID_MM3_X_RANGE 14 // word |
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| 19 | #define PID_MM3_Y_RANGE 16 // word |
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| 20 | #define PID_MM3_Z_RANGE 18 // word |
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| 886 | killagreg | 21 | #endif |
| 22 | |||
| 1222 | killagreg | 23 | |
| 1180 | killagreg | 24 | #define EEPROM_ADR_CHANNELS 80 // 8 bytes |
| 886 | killagreg | 25 | |
| 1180 | killagreg | 26 | #define EEPROM_ADR_PARAMSET_LENGTH 98 // word |
| 27 | #define EEPROM_ADR_PARAMSET_BEGIN 100 |
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| 28 | |||
| 1222 | killagreg | 29 | |
| 30 | #define EEPROM_ADR_MIXER_TABLE 1000 // 1000 - 1076 |
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| 31 | |||
| 32 | |||
| 33 | |||
| 34 | #define MIX_GAS 0 |
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| 35 | #define MIX_NICK 1 |
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| 36 | #define MIX_ROLL 2 |
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| 37 | #define MIX_YAW 3 |
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| 38 | |||
| 39 | typedef struct |
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| 40 | { |
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| 41 | uint8_t Revision; |
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| 42 | int8_t Name[12]; |
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| 43 | int8_t Motor[16][4]; |
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| 44 | } __attribute__((packed)) MixerTable_t; |
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| 45 | |||
| 46 | extern MixerTable_t Mixer; |
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| 47 | |||
| 48 | |||
| 1078 | killagreg | 49 | // bit mask for ParamSet.GlobalConfig |
| 886 | killagreg | 50 | #define CFG_HEIGHT_CONTROL 0x01 |
| 51 | #define CFG_HEIGHT_SWITCH 0x02 |
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| 52 | #define CFG_HEADING_HOLD 0x04 |
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| 53 | #define CFG_COMPASS_ACTIVE 0x08 |
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| 54 | #define CFG_COMPASS_FIX 0x10 |
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| 55 | #define CFG_GPS_ACTIVE 0x20 |
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| 56 | #define CFG_AXIS_COUPLING_ACTIVE 0x40 |
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| 57 | #define CFG_ROTARY_RATE_LIMITER 0x80 |
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| 58 | |||
| 1078 | killagreg | 59 | // bit mask for ParamSet.BitConfig |
| 886 | killagreg | 60 | #define CFG_LOOP_UP 0x01 |
| 61 | #define CFG_LOOP_DOWN 0x02 |
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| 62 | #define CFG_LOOP_LEFT 0x04 |
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| 63 | #define CFG_LOOP_RIGHT 0x08 |
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| 1078 | killagreg | 64 | #define CFG_HEIGHT_3SWITCH 0x10 |
| 886 | killagreg | 65 | |
| 1078 | killagreg | 66 | // defines for lookup ParamSet.ChannelAssignment |
| 936 | killagreg | 67 | #define CH_NICK 0 |
| 886 | killagreg | 68 | #define CH_ROLL 1 |
| 936 | killagreg | 69 | #define CH_GAS 2 |
| 886 | killagreg | 70 | #define CH_YAW 3 |
| 71 | #define CH_POTI1 4 |
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| 72 | #define CH_POTI2 5 |
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| 73 | #define CH_POTI3 6 |
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| 74 | #define CH_POTI4 7 |
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| 75 | |||
| 1222 | killagreg | 76 | #define EEPARAM_REVISION 75 // is count up, if paramater stucture has changed (compatibility) |
| 77 | #define EEMIXER_REVISION 1 // is count up, if Mixer stucture has changed (compatibility) |
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| 886 | killagreg | 78 | |
| 79 | // values above 250 representing poti1 to poti4 |
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| 80 | typedef struct |
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| 1180 | killagreg | 81 | { |
| 82 | uint8_t ChannelAssignment[8]; // see upper defines for details |
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| 83 | uint8_t GlobalConfig; // see upper defines for bitcoding |
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| 84 | uint8_t HeightMinGas; // Wert : 0-100 |
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| 85 | uint8_t HeightD; // Wert : 0-250 |
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| 86 | uint8_t MaxHeight; // Wert : 0-32 |
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| 87 | uint8_t HeightP; // Wert : 0-32 |
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| 88 | uint8_t Height_Gain; // Wert : 0-50 |
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| 89 | uint8_t Height_ACC_Effect; // Wert : 0-250 |
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| 90 | uint8_t StickP; // Wert : 1-6 |
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| 91 | uint8_t StickD; // Wert : 0-64 |
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| 92 | uint8_t StickYawP; // Wert : 1-20 |
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| 93 | uint8_t GasMin; // Wert : 0-32 |
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| 94 | uint8_t GasMax; // Wert : 33-250 |
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| 95 | uint8_t GyroAccFactor; // Wert : 1-64 |
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| 96 | uint8_t CompassYawEffect; // Wert : 0-32 |
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| 97 | uint8_t GyroP; // Wert : 10-250 |
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| 98 | uint8_t GyroI; // Wert : 0-250 |
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| 99 | uint8_t GyroD; // Wert : 0-250 |
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| 100 | uint8_t LowVoltageWarning; // Wert : 0-250 |
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| 101 | uint8_t EmergencyGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
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| 102 | uint8_t EmergencyGasDuration; // Wert : 0-250 // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen |
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| 103 | uint8_t UfoArrangement; // x oder + Formation |
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| 104 | uint8_t IFactor; // Wert : 0-250 |
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| 105 | uint8_t UserParam1; // Wert : 0-250 |
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| 106 | uint8_t UserParam2; // Wert : 0-250 |
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| 107 | uint8_t UserParam3; // Wert : 0-250 |
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| 108 | uint8_t UserParam4; // Wert : 0-250 |
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| 109 | uint8_t ServoNickControl; // Wert : 0-250 // Stellung des Servos |
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| 110 | uint8_t ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
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| 111 | uint8_t ServoNickMin; // Wert : 0-250 // Anschlag |
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| 112 | uint8_t ServoNickMax; // Wert : 0-250 // Anschlag |
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| 113 | uint8_t ServoRefresh; // Wert: 0-250 // Refreshrate of servo pwm output |
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| 114 | uint8_t LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
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| 115 | uint8_t LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
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| 116 | uint8_t LoopHysteresis; // Wert: 0-250 Hysterese für Stickausschlag |
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| 117 | uint8_t AxisCoupling1; // Wert: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
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| 118 | uint8_t AxisCoupling2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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| 119 | uint8_t AxisCouplingYawCorrection;// Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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| 120 | uint8_t AngleTurnOverNick; // Wert: 0-250 180°-Punkt |
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| 121 | uint8_t AngleTurnOverRoll; // Wert: 0-250 180°-Punkt |
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| 122 | uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung) |
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| 123 | uint8_t DriftComp; // limit for gyrodrift compensation |
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| 124 | uint8_t DynamicStability; // PID limit for Attitude controller |
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| 125 | uint8_t UserParam5; // Wert : 0-250 |
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| 126 | uint8_t UserParam6; // Wert : 0-250 |
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| 127 | uint8_t UserParam7; // Wert : 0-250 |
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| 128 | uint8_t UserParam8; // Wert : 0-250 |
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| 129 | uint8_t J16Bitmask; // for the J16 Output |
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| 130 | uint8_t J16Timing; // for the J16 Output |
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| 131 | uint8_t J17Bitmask; // for the J17 Output |
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| 132 | uint8_t J17Timing; // for the J17 Output |
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| 133 | uint8_t NaviGpsModeControl; // Parameters for the Naviboard |
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| 134 | uint8_t NaviGpsGain; // overall gain for GPS-PID controller |
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| 135 | uint8_t NaviGpsP; // P gain for GPS-PID controller |
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| 136 | uint8_t NaviGpsI; // I gain for GPS-PID controller |
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| 137 | uint8_t NaviGpsD; // D gain for GPS-PID controller |
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| 138 | uint8_t NaviGpsPLimit; // P limit for GPS-PID controller |
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| 139 | uint8_t NaviGpsILimit; // I limit for GPS-PID controller |
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| 140 | uint8_t NaviGpsDLimit; // D limit for GPS-PID controller |
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| 141 | uint8_t NaviGpsACC; // ACC gain for GPS-PID controller |
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| 142 | uint8_t NaviGpsMinSat; // number of sattelites neccesary for GPS functions |
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| 143 | uint8_t NaviStickThreshold; // activation threshild for detection of manual stick movements |
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| 144 | uint8_t NaviWindCorrection; // streng of wind course correction |
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| 145 | uint8_t NaviSpeedCompensation; // D gain fefore position hold login |
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| 146 | uint8_t NaviOperatingRadius; // Radius limit in m around start position for GPS flights |
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| 147 | uint8_t NaviAngleLimitation; // limitation of attitude angle controlled by the gps algorithm |
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| 148 | uint8_t NaviPHLoginTime; // position hold logintimeout |
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| 149 | uint8_t ExternalControl; // for serial Control |
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| 150 | uint8_t BitConfig; // see upper defines for bitcoding |
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| 151 | uint8_t ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
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| 152 | uint8_t Reserved[4]; |
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| 153 | int8_t Name[12]; |
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| 886 | killagreg | 154 | } paramset_t; |
| 155 | |||
| 156 | #define PARAMSET_STRUCT_LEN sizeof(paramset_t) |
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| 157 | |||
| 158 | extern paramset_t ParamSet; |
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| 159 | |||
| 160 | extern void ParamSet_Init(void); |
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| 161 | extern void ParamSet_ReadFromEEProm(uint8_t setnumber); |
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| 162 | extern void ParamSet_WriteToEEProm(uint8_t setnumber); |
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| 163 | extern uint8_t GetActiveParamSet(void); |
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| 164 | extern void SetActiveParamSet(uint8_t setnumber); |
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| 165 | |||
| 1222 | killagreg | 166 | extern uint8_t MixerTable_ReadFromEEProm(void); |
| 167 | extern uint8_t MixerTable_WriteToEEProm(void); |
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| 886 | killagreg | 168 | |
| 169 | |||
| 1222 | killagreg | 170 | extern uint8_t GetParamByte(uint16_t param_id); |
| 171 | extern void SetParamByte(uint16_t param_id, uint8_t value); |
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| 172 | extern uint16_t GetParamWord(uint16_t param_id); |
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| 173 | extern void SetParamWord(uint16_t param_id, uint16_t value); |
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| 174 | |||
| 175 | |||
| 886 | killagreg | 176 | #endif //_EEPROM_H |