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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1538 | killagreg | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) Holger Buss, Ingo Busker |
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| 3 | // + Nur für den privaten Gebrauch |
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| 4 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
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| 5 | // + www.MikroKopter.com |
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| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 7 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 8 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 9 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 10 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 11 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 12 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 14 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 15 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 17 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 18 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 19 | // + eindeutig als Ursprung verlinkt werden |
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| 20 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 21 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 22 | // + Benutzung auf eigene Gefahr |
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| 23 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 24 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 25 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 26 | // + mit unserer Zustimmung zulässig |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 28 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 30 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 31 | // + this list of conditions and the following disclaimer. |
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| 32 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 33 | // + from this software without specific prior written permission. |
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| 34 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| 35 | // + for non-commercial use (directly or indirectly) |
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| 36 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 37 | // + with our written permission |
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| 38 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 39 | // + clearly linked as origin |
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| 40 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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| 41 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 42 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 43 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 44 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 45 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 46 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 47 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 48 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 50 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 52 | |||
| 53 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 54 | // + Contant Values |
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| 55 | // + 0-250 -> normale Values |
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| 56 | // + 251 -> Poti1 |
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| 57 | // + 252 -> Poti2 |
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| 58 | // + 253 -> Poti3 |
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| 59 | // + 254 -> Poti4 |
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| 60 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 61 | |||
| 62 | #ifndef EEMEM |
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| 63 | #define EEMEM __attribute__ ((section (".eeprom"))) |
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| 64 | #endif |
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| 65 | |||
| 66 | |||
| 67 | #include <avr/eeprom.h> |
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| 68 | #include <string.h> |
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| 69 | #include "eeprom.h" |
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| 70 | #include "printf_P.h" |
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| 71 | #include "led.h" |
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| 72 | #include "main.h" |
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| 73 | #include "fc.h" |
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| 74 | |||
| 75 | |||
| 76 | // byte array in eeprom |
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| 77 | uint8_t EEPromArray[E2END+1] EEMEM; |
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| 78 | |||
| 79 | paramset_t ParamSet; |
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| 80 | MixerTable_t Mixer; |
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| 81 | |||
| 82 | |||
| 83 | /***************************************************/ |
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| 84 | /* Default Values for parameter set 1 */ |
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| 85 | /***************************************************/ |
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| 86 | void ParamSet_DefaultSet1(void) // sport |
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| 87 | { |
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| 88 | if(BoardRelease >= 20) |
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| 89 | { |
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| 90 | ParamSet.GyroD = 5; |
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| 91 | ParamSet.DriftComp = 0; |
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| 92 | ParamSet.GyroAccFactor = 27; |
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| 93 | ParamSet.AngleTurnOverNick = 78; |
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| 94 | ParamSet.AngleTurnOverRoll = 78; |
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| 95 | } |
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| 96 | else |
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| 97 | { |
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| 98 | ParamSet.GyroD = 3; |
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| 99 | ParamSet.DriftComp = 32; |
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| 100 | ParamSet.GyroAccFactor = 30; |
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| 101 | ParamSet.AngleTurnOverNick = 85; |
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| 102 | ParamSet.AngleTurnOverRoll = 85; |
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| 103 | } |
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| 104 | ParamSet.ChannelAssignment[CH_GAS] = 1; |
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| 105 | ParamSet.ChannelAssignment[CH_ROLL] = 2; |
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| 106 | ParamSet.ChannelAssignment[CH_NICK] = 3; |
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| 107 | ParamSet.ChannelAssignment[CH_YAW] = 4; |
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| 108 | ParamSet.ChannelAssignment[CH_POTI1] = 5; |
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| 109 | ParamSet.ChannelAssignment[CH_POTI2] = 6; |
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| 110 | ParamSet.ChannelAssignment[CH_POTI3] = 7; |
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| 111 | ParamSet.ChannelAssignment[CH_POTI4] = 8; |
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| 112 | ParamSet.Config0 = CFG0_AXIS_COUPLING_ACTIVE | CFG0_COMPASS_ACTIVE | CFG0_GPS_ACTIVE | CFG0_HEIGHT_SWITCH;//CFG0_HEIGHT_CONTROL | CFG0_COMPASS_FIX; |
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| 113 | ParamSet.Config1 = 0; |
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| 114 | ParamSet.Config2 = CFG2_HEIGHT_LIMIT;//|CFG2_SENSITIVE_RC; |
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| 115 | ParamSet.HeightMinGas = 30; |
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| 116 | ParamSet.MaxHeight = 251; |
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| 117 | ParamSet.HeightP = 10; |
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| 118 | ParamSet.HeightD = 30; |
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| 119 | ParamSet.Height_ACC_Effect = 30; |
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| 120 | ParamSet.Height_HoverBand = 5; |
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| 121 | ParamSet.Height_GPS_Z = 64; |
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| 122 | ParamSet.Height_StickNeutralPoint = 0; // Value : 0-250 (0 = Hoover-Estimation) |
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| 123 | ParamSet.Height_Gain = 20; |
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| 124 | ParamSet.StickP = 14; |
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| 125 | ParamSet.StickD = 16; |
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| 126 | ParamSet.StickYawP = 12; |
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| 127 | ParamSet.GasMin = 8; |
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| 128 | ParamSet.GasMax = 230; |
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| 129 | ParamSet.CompassYawEffect = 128; |
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| 130 | ParamSet.GyroP = 80; |
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| 131 | ParamSet.GyroI = 150; |
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| 132 | ParamSet.GyroYawP = 80; |
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| 133 | ParamSet.GyroYawI = 150; |
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| 134 | ParamSet.LowVoltageWarning = 33; // automatic cell detection for values < 50 |
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| 135 | ParamSet.EmergencyGas = 35; |
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| 136 | ParamSet.EmergencyGasDuration = 30; |
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| 137 | ParamSet.UfoArrangement = 0; |
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| 138 | ParamSet.IFactor = 32; |
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| 139 | ParamSet.UserParam1 = 0; |
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| 140 | ParamSet.UserParam2 = 0; |
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| 141 | ParamSet.UserParam3 = 0; |
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| 142 | ParamSet.UserParam4 = 0; |
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| 143 | ParamSet.UserParam5 = 0; |
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| 144 | ParamSet.UserParam6 = 0; |
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| 145 | ParamSet.UserParam7 = 0; |
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| 146 | ParamSet.UserParam8 = 0; |
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| 147 | ParamSet.ServoCompInvert = 1; |
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| 148 | ParamSet.ServoRefresh = 6; |
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| 149 | ParamSet.ServoNickControl = 100; |
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| 150 | ParamSet.ServoNickComp = 40; |
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| 151 | ParamSet.ServoNickMin = 0; |
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| 152 | ParamSet.ServoNickMax = 250; |
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| 153 | ParamSet.ServoRollControl = 100; |
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| 154 | ParamSet.ServoRollComp = 40; |
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| 155 | ParamSet.ServoRollMin = 0; |
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| 156 | ParamSet.ServoRollMax = 250; |
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| 157 | ParamSet.LoopGasLimit = 50; |
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| 158 | ParamSet.LoopThreshold = 90; |
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| 159 | ParamSet.LoopHysteresis = 50; |
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| 160 | ParamSet.AxisCoupling1 = 90; |
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| 161 | ParamSet.AxisCoupling2 = 80; |
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| 162 | ParamSet.AxisCouplingYawCorrection = 1; |
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| 163 | ParamSet.GyroAccTrim = 16; |
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| 164 | ParamSet.DynamicStability = 100; |
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| 165 | ParamSet.J16Bitmask = 95; |
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| 166 | ParamSet.J17Bitmask = 243; |
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| 167 | ParamSet.J16Bitmask_Warning = 0xAA; |
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| 168 | ParamSet.J17Bitmask_Warning = 0xAA; |
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| 169 | ParamSet.J16Timing = 15; |
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| 170 | ParamSet.J17Timing = 15; |
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| 171 | ParamSet.NaviGpsModeControl = 252; |
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| 172 | ParamSet.NaviGpsGain = 100; |
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| 173 | ParamSet.NaviGpsP = 90; |
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| 174 | ParamSet.NaviGpsI = 90; |
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| 175 | ParamSet.NaviGpsD = 90; |
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| 176 | ParamSet.NaviGpsPLimit = 75; |
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| 177 | ParamSet.NaviGpsILimit = 75; |
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| 178 | ParamSet.NaviGpsDLimit = 75; |
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| 179 | ParamSet.NaviGpsACC = 0; |
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| 180 | ParamSet.NaviGpsMinSat = 6; |
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| 181 | ParamSet.NaviStickThreshold = 8; |
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| 182 | ParamSet.NaviWindCorrection = 90; |
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| 183 | ParamSet.NaviSpeedCompensation = 30; |
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| 184 | ParamSet.NaviOperatingRadius = 100; |
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| 185 | ParamSet.NaviAngleLimitation = 100; |
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| 186 | ParamSet.NaviPHLoginTime = 4; |
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| 187 | memcpy(ParamSet.Name, "Sport\0",6); |
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| 188 | } |
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| 189 | |||
| 190 | |||
| 191 | /***************************************************/ |
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| 192 | /* Default Values for parameter set 2 */ |
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| 193 | /***************************************************/ |
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| 194 | void ParamSet_DefaultSet2(void) // normal |
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| 195 | { |
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| 196 | if(BoardRelease >= 20) |
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| 197 | { |
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| 198 | ParamSet.GyroD = 5; |
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| 199 | ParamSet.DriftComp = 0; |
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| 200 | ParamSet.GyroAccFactor = 27; |
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| 201 | ParamSet.AngleTurnOverNick = 78; |
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| 202 | ParamSet.AngleTurnOverRoll = 78; |
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| 203 | } |
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| 204 | else |
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| 205 | { |
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| 206 | ParamSet.GyroD = 3; |
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| 207 | ParamSet.DriftComp = 32; |
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| 208 | ParamSet.GyroAccFactor = 30; |
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| 209 | ParamSet.AngleTurnOverNick = 85; |
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| 210 | ParamSet.AngleTurnOverRoll = 85; |
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| 211 | } |
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| 212 | ParamSet.ChannelAssignment[CH_GAS] = 1; |
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| 213 | ParamSet.ChannelAssignment[CH_ROLL] = 2; |
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| 214 | ParamSet.ChannelAssignment[CH_NICK] = 3; |
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| 215 | ParamSet.ChannelAssignment[CH_YAW] = 4; |
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| 216 | ParamSet.ChannelAssignment[CH_POTI1] = 5; |
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| 217 | ParamSet.ChannelAssignment[CH_POTI2] = 6; |
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| 218 | ParamSet.ChannelAssignment[CH_POTI3] = 7; |
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| 219 | ParamSet.ChannelAssignment[CH_POTI4] = 8; |
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| 220 | ParamSet.Config0 = CFG0_AXIS_COUPLING_ACTIVE | CFG0_COMPASS_ACTIVE | CFG0_GPS_ACTIVE | CFG0_HEIGHT_SWITCH;//CFG0_HEIGHT_CONTROL | CFG0_COMPASS_FIX; |
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| 221 | ParamSet.Config1 = 0; |
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| 222 | ParamSet.Config2 = CFG2_HEIGHT_LIMIT;//|CFG2_SENSITIVE_RC; |
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| 223 | ParamSet.HeightMinGas = 30; |
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| 224 | ParamSet.MaxHeight = 251; |
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| 225 | ParamSet.HeightP = 10; |
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| 226 | ParamSet.HeightD = 30; |
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| 227 | ParamSet.Height_ACC_Effect = 30; |
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| 228 | ParamSet.Height_HoverBand = 5; |
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| 229 | ParamSet.Height_GPS_Z = 64; |
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| 230 | ParamSet.Height_StickNeutralPoint = 0; // Value : 0-250 (0 = Hoover-Estimation) |
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| 231 | ParamSet.Height_Gain = 15; |
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| 232 | ParamSet.StickP = 10; |
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| 233 | ParamSet.StickD = 16; |
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| 234 | ParamSet.StickYawP = 6; |
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| 235 | ParamSet.GasMin = 8; |
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| 236 | ParamSet.GasMax = 230; |
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| 237 | ParamSet.CompassYawEffect = 128; |
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| 238 | ParamSet.GyroP = 90; |
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| 239 | ParamSet.GyroI = 120; |
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| 240 | ParamSet.GyroYawP = 90; |
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| 241 | ParamSet.GyroYawI = 120; |
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| 242 | ParamSet.LowVoltageWarning = 33; // auto cell detection for values < 50 |
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| 243 | ParamSet.EmergencyGas = 35; |
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| 244 | ParamSet.EmergencyGasDuration = 30; |
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| 245 | ParamSet.UfoArrangement = 0; |
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| 246 | ParamSet.IFactor = 32; |
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| 247 | ParamSet.UserParam1 = 0; |
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| 248 | ParamSet.UserParam2 = 0; |
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| 249 | ParamSet.UserParam3 = 0; |
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| 250 | ParamSet.UserParam4 = 0; |
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| 251 | ParamSet.UserParam5 = 0; |
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| 252 | ParamSet.UserParam6 = 0; |
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| 253 | ParamSet.UserParam7 = 0; |
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| 254 | ParamSet.UserParam8 = 0; |
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| 255 | ParamSet.ServoCompInvert = 1; |
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| 256 | ParamSet.ServoRefresh = 6; |
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| 257 | ParamSet.ServoNickControl = 100; |
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| 258 | ParamSet.ServoNickComp = 40; |
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| 259 | ParamSet.ServoNickMin = 0; |
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| 260 | ParamSet.ServoNickMax = 250; |
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| 261 | ParamSet.ServoRollControl = 100; |
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| 262 | ParamSet.ServoRollComp = 40; |
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| 263 | ParamSet.ServoRollMin = 0; |
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| 264 | ParamSet.ServoRollMax = 250; |
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| 265 | ParamSet.LoopGasLimit = 50; |
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| 266 | ParamSet.LoopThreshold = 90; |
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| 267 | ParamSet.LoopHysteresis = 50; |
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| 268 | ParamSet.AxisCoupling1 = 90; |
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| 269 | ParamSet.AxisCoupling2 = 80; |
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| 270 | ParamSet.AxisCouplingYawCorrection = 60; |
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| 271 | ParamSet.GyroAccTrim = 32; |
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| 272 | ParamSet.DynamicStability = 75; |
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| 273 | ParamSet.J16Bitmask = 95; |
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| 274 | ParamSet.J17Bitmask = 243; |
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| 275 | ParamSet.J16Bitmask_Warning = 0xAA; |
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| 276 | ParamSet.J17Bitmask_Warning = 0xAA; |
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| 277 | ParamSet.J16Timing = 20; |
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| 278 | ParamSet.J17Timing = 20; |
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| 279 | ParamSet.NaviGpsModeControl = 252; |
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| 280 | ParamSet.NaviGpsGain = 100; |
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| 281 | ParamSet.NaviGpsP = 90; |
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| 282 | ParamSet.NaviGpsI = 90; |
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| 283 | ParamSet.NaviGpsD = 90; |
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| 284 | ParamSet.NaviGpsPLimit = 75; |
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| 285 | ParamSet.NaviGpsILimit = 75; |
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| 286 | ParamSet.NaviGpsDLimit = 75; |
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| 287 | ParamSet.NaviGpsACC = 0; |
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| 288 | ParamSet.NaviGpsMinSat = 6; |
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| 289 | ParamSet.NaviStickThreshold = 8; |
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| 290 | ParamSet.NaviWindCorrection = 90; |
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| 291 | ParamSet.NaviSpeedCompensation = 30; |
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| 292 | ParamSet.NaviOperatingRadius = 100; |
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| 293 | ParamSet.NaviAngleLimitation = 100; |
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| 294 | ParamSet.NaviPHLoginTime = 4; |
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| 295 | memcpy(ParamSet.Name, "Normal\0", 7); |
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| 296 | } |
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| 297 | |||
| 298 | |||
| 299 | /***************************************************/ |
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| 300 | /* Default Values for parameter set 3 */ |
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| 301 | /***************************************************/ |
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| 302 | void ParamSet_DefaultSet3(void) // beginner |
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| 303 | { |
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| 304 | if(BoardRelease >= 20) |
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| 305 | { |
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| 306 | ParamSet.GyroD = 5; |
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| 307 | ParamSet.DriftComp = 0; |
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| 308 | ParamSet.GyroAccFactor = 27; // Value : 1-64 |
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| 309 | ParamSet.AngleTurnOverNick = 78; |
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| 310 | ParamSet.AngleTurnOverRoll = 78; |
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| 311 | } |
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| 312 | else |
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| 313 | { |
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| 314 | ParamSet.GyroD = 3; |
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| 315 | ParamSet.DriftComp = 32; |
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| 316 | ParamSet.GyroAccFactor = 30; // Value : 1-64 |
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| 317 | ParamSet.AngleTurnOverNick = 85; |
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| 318 | ParamSet.AngleTurnOverRoll = 85; |
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| 319 | } |
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| 320 | ParamSet.ChannelAssignment[CH_GAS] = 1; |
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| 321 | ParamSet.ChannelAssignment[CH_ROLL] = 2; |
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| 322 | ParamSet.ChannelAssignment[CH_NICK] = 3; |
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| 323 | ParamSet.ChannelAssignment[CH_YAW] = 4; |
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| 324 | ParamSet.ChannelAssignment[CH_POTI1] = 5; |
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| 325 | ParamSet.ChannelAssignment[CH_POTI2] = 6; |
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| 326 | ParamSet.ChannelAssignment[CH_POTI3] = 7; |
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| 327 | ParamSet.ChannelAssignment[CH_POTI4] = 8; |
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| 328 | 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; |
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| 329 | ParamSet.Config1 = 0; |
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| 330 | ParamSet.Config2 = CFG2_HEIGHT_LIMIT;//|CFG2_SENSITIVE_RC; |
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| 331 | ParamSet.HeightMinGas = 30; |
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| 332 | ParamSet.MaxHeight = 251; |
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| 333 | ParamSet.HeightP = 10; |
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| 334 | ParamSet.HeightD = 30; |
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| 335 | ParamSet.Height_ACC_Effect = 30; |
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| 336 | ParamSet.Height_HoverBand = 5; |
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| 337 | ParamSet.Height_GPS_Z = 64; |
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| 338 | ParamSet.Height_StickNeutralPoint = 0; // Value : 0-250 (0 = Hoover-Estimation) |
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| 339 | ParamSet.Height_Gain = 15; |
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| 340 | ParamSet.StickP = 8; |
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| 341 | ParamSet.StickD = 16; |
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| 342 | ParamSet.StickYawP = 6; |
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| 343 | ParamSet.GasMin = 8; |
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| 344 | ParamSet.GasMax = 230; |
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| 345 | ParamSet.CompassYawEffect = 128; |
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| 346 | ParamSet.GyroP = 100; |
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| 347 | ParamSet.GyroI = 120; |
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| 348 | ParamSet.GyroYawP = 100; |
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| 349 | ParamSet.GyroYawI = 120; |
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| 350 | ParamSet.LowVoltageWarning = 33; // auto cell detection for values < 50 |
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| 351 | ParamSet.EmergencyGas = 35; |
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| 352 | ParamSet.EmergencyGasDuration = 20; |
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| 353 | ParamSet.UfoArrangement = 0; |
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| 354 | ParamSet.IFactor = 16; |
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| 355 | ParamSet.UserParam1 = 0; |
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| 356 | ParamSet.UserParam2 = 0; |
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| 357 | ParamSet.UserParam3 = 0; |
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| 358 | ParamSet.UserParam4 = 0; |
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| 359 | ParamSet.UserParam5 = 0; |
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| 360 | ParamSet.UserParam6 = 0; |
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| 361 | ParamSet.UserParam7 = 0; |
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| 362 | ParamSet.UserParam8 = 0; |
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| 363 | ParamSet.ServoCompInvert = 1; |
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| 364 | ParamSet.ServoRefresh = 6; |
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| 365 | ParamSet.ServoNickControl = 100; |
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| 366 | ParamSet.ServoNickComp = 40; |
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| 367 | ParamSet.ServoNickMin = 0; |
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| 368 | ParamSet.ServoNickMax = 250; |
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| 369 | ParamSet.ServoRollControl = 100; |
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| 370 | ParamSet.ServoRollComp = 40; |
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| 371 | ParamSet.ServoRollMin = 0; |
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| 372 | ParamSet.ServoRollMax = 250; |
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| 373 | ParamSet.LoopGasLimit = 50; |
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| 374 | ParamSet.LoopThreshold = 90; |
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| 375 | ParamSet.LoopHysteresis = 50; |
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| 376 | ParamSet.AxisCoupling1 = 90; |
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| 377 | ParamSet.AxisCoupling2 = 80; |
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| 378 | ParamSet.AxisCouplingYawCorrection = 70; |
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| 379 | ParamSet.GyroAccTrim = 32; |
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| 380 | ParamSet.DynamicStability = 50; |
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| 381 | ParamSet.J16Bitmask = 95; |
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| 382 | ParamSet.J17Bitmask = 243; |
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| 383 | ParamSet.J16Bitmask_Warning = 0xAA; |
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| 384 | ParamSet.J17Bitmask_Warning = 0xAA; |
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| 385 | ParamSet.J16Timing = 30; |
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| 386 | ParamSet.J17Timing = 30; |
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| 387 | ParamSet.NaviGpsModeControl = 252; |
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| 388 | ParamSet.NaviGpsGain = 100; |
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| 389 | ParamSet.NaviGpsP = 90; |
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| 390 | ParamSet.NaviGpsI = 90; |
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| 391 | ParamSet.NaviGpsD = 90; |
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| 392 | ParamSet.NaviGpsPLimit = 75; |
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| 393 | ParamSet.NaviGpsILimit = 75; |
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| 394 | ParamSet.NaviGpsDLimit = 75; |
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| 395 | ParamSet.NaviGpsACC = 0; |
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| 396 | ParamSet.NaviGpsMinSat = 6; |
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| 397 | ParamSet.NaviStickThreshold = 8; |
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| 398 | ParamSet.NaviWindCorrection = 90; |
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| 399 | ParamSet.NaviSpeedCompensation = 30; |
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| 400 | ParamSet.NaviOperatingRadius = 100; |
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| 401 | ParamSet.NaviAngleLimitation = 100; |
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| 402 | ParamSet.NaviPHLoginTime = 4; |
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| 403 | memcpy(ParamSet.Name, "Beginner\0", 9); |
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| 404 | } |
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| 405 | |||
| 406 | /***************************************************/ |
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| 407 | /* Read Parameter from EEPROM as byte */ |
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| 408 | /***************************************************/ |
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| 409 | uint8_t GetParamByte(uint16_t param_id) |
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| 410 | { |
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| 411 | return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
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| 412 | } |
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| 413 | |||
| 414 | /***************************************************/ |
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| 415 | /* Write Parameter to EEPROM as byte */ |
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| 416 | /***************************************************/ |
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| 417 | void SetParamByte(uint16_t param_id, uint8_t value) |
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| 418 | { |
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| 419 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
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| 420 | } |
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| 421 | |||
| 422 | /***************************************************/ |
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| 423 | /* Read Parameter from EEPROM as word */ |
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| 424 | /***************************************************/ |
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| 425 | uint16_t GetParamWord(uint16_t param_id) |
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| 426 | { |
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| 427 | return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
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| 428 | } |
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| 429 | |||
| 430 | /***************************************************/ |
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| 431 | /* Write Parameter to EEPROM as word */ |
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| 432 | /***************************************************/ |
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| 433 | void SetParamWord(uint16_t param_id, uint16_t value) |
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| 434 | { |
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| 435 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
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| 436 | } |
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| 437 | |||
| 438 | /***************************************************/ |
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| 439 | /* Read Parameter Set from EEPROM */ |
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| 440 | /***************************************************/ |
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| 441 | // number [1..5] |
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| 442 | void ParamSet_ReadFromEEProm(uint8_t setnumber) |
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| 443 | { |
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| 444 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
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| 445 | eeprom_read_block((uint8_t *) &ParamSet.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN); |
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| 446 | LED_Init(); |
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| 447 | } |
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| 448 | |||
| 449 | /***************************************************/ |
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| 450 | /* Write Parameter Set to EEPROM */ |
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| 451 | /***************************************************/ |
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| 452 | // number [1..5] |
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| 453 | void ParamSet_WriteToEEProm(uint8_t setnumber) |
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| 454 | { |
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| 455 | if(setnumber > 5) setnumber = 5; |
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| 456 | if(setnumber < 1) return; |
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| 457 | eeprom_write_block((uint8_t *) &ParamSet.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN); |
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| 458 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH], PARAMSET_STRUCT_LEN); |
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| 459 | eeprom_write_block( &ParamSet.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping |
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| 460 | // set this parameter set to active set |
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| 461 | SetActiveParamSet(setnumber); |
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| 462 | LED_Init(); |
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| 463 | } |
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| 464 | |||
| 465 | /***************************************************/ |
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| 466 | /* Read MixerTable from EEPROM */ |
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| 467 | /***************************************************/ |
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| 468 | uint8_t MixerTable_ReadFromEEProm(void) |
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| 469 | { |
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| 470 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == EEMIXER_REVISION) |
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| 471 | { |
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| 472 | eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
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| 473 | return 1; |
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| 474 | } |
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| 475 | else return 0; |
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| 476 | } |
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| 477 | |||
| 478 | /***************************************************/ |
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| 479 | /* Write Mixer Table to EEPROM */ |
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| 480 | /***************************************************/ |
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| 481 | uint8_t MixerTable_WriteToEEProm(void) |
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| 482 | { |
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| 483 | if(Mixer.Revision == EEMIXER_REVISION) |
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| 484 | { |
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| 485 | eeprom_write_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
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| 486 | return 1; |
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| 487 | } |
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| 488 | else return 0; |
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| 489 | } |
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| 490 | |||
| 491 | /***************************************************/ |
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| 492 | /* Default Values for Mixer Table */ |
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| 493 | /***************************************************/ |
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| 494 | void MixerTable_Default(void) // Quadro |
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| 495 | { |
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| 496 | uint8_t i; |
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| 497 | |||
| 498 | Mixer.Revision = EEMIXER_REVISION; |
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| 499 | // clear mixer table |
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| 500 | for(i = 0; i < 16; i++) |
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| 501 | { |
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| 502 | Mixer.Motor[i][MIX_GAS] = 0; |
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| 503 | Mixer.Motor[i][MIX_NICK] = 0; |
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| 504 | Mixer.Motor[i][MIX_ROLL] = 0; |
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| 505 | Mixer.Motor[i][MIX_YAW] = 0; |
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| 506 | } |
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| 507 | // default = Quadro |
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| 508 | Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
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| 509 | Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
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| 510 | Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
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| 511 | Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
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| 512 | memcpy(Mixer.Name, "Quadro\0", 7); |
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| 513 | } |
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| 514 | |||
| 515 | |||
| 516 | /***************************************************/ |
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| 517 | /* Get active parameter set */ |
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| 518 | /***************************************************/ |
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| 519 | uint8_t GetActiveParamSet(void) |
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| 520 | { |
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| 521 | uint8_t setnumber; |
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| 522 | setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
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| 523 | if(setnumber > 5) |
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| 524 | { |
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| 525 | setnumber = 3; |
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| 526 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
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| 527 | } |
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| 528 | return(setnumber); |
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| 529 | } |
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| 530 | |||
| 531 | /***************************************************/ |
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| 532 | /* Set active parameter set */ |
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| 533 | /***************************************************/ |
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| 534 | void SetActiveParamSet(uint8_t setnumber) |
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| 535 | { |
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| 536 | if(setnumber > 5) setnumber = 5; |
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| 537 | if(setnumber < 1) setnumber = 1; |
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| 538 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
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| 539 | } |
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| 540 | |||
| 541 | /***************************************************/ |
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| 542 | /* Initialize EEPROM Parameter Sets */ |
||
| 543 | /***************************************************/ |
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| 544 | void ParamSet_Init(void) |
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| 545 | { |
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| 546 | uint8_t Channel_Backup = 0, i; |
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| 547 | // parameter version check |
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| 548 | if(eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) |
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| 549 | { |
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| 550 | // if version check faild |
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| 551 | printf("\n\rInit Parameter in EEPROM"); |
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| 552 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table |
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| 553 | // check if channel mapping backup is valid |
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| 554 | if( (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]) < 12) |
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| 555 | && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12) |
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| 556 | && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12) |
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| 557 | && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12) |
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| 558 | ) |
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| 559 | { |
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| 560 | Channel_Backup = 1; |
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| 561 | } |
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| 562 | // fill all 5 parameter settings |
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| 563 | for (i = 1;i < 6; i++) |
||
| 564 | { |
||
| 565 | switch(i) |
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| 566 | { |
||
| 567 | case 1: |
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| 568 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
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| 569 | break; |
||
| 570 | case 2: |
||
| 571 | ParamSet_DefaultSet2(); // Kamera |
||
| 572 | break; |
||
| 573 | case 3: |
||
| 574 | ParamSet_DefaultSet3(); // Beginner |
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| 575 | break; |
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| 576 | default: |
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| 577 | ParamSet_DefaultSet2(); // Kamera |
||
| 578 | break; |
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| 579 | } |
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| 580 | if(Channel_Backup) // if we have a rc channel mapping backup in eeprom |
||
| 581 | { |
||
| 582 | // restore it |
||
| 583 | ParamSet.ChannelAssignment[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]); |
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| 584 | ParamSet.ChannelAssignment[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]); |
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| 585 | ParamSet.ChannelAssignment[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]); |
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| 586 | ParamSet.ChannelAssignment[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]); |
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| 587 | ParamSet.ChannelAssignment[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]); |
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| 588 | ParamSet.ChannelAssignment[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]); |
||
| 589 | ParamSet.ChannelAssignment[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]); |
||
| 590 | ParamSet.ChannelAssignment[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]); |
||
| 591 | } |
||
| 592 | ParamSet_WriteToEEProm(i); |
||
| 593 | } |
||
| 594 | // default-Setting is parameter set 3 |
||
| 595 | SetActiveParamSet(3); |
||
| 596 | // update version info |
||
| 597 | SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION); |
||
| 598 | } |
||
| 599 | // read active parameter set to ParamSet stucture |
||
| 600 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
||
| 601 | printf("\n\rUsing Parameter Set %d", GetActiveParamSet()); |
||
| 602 | |||
| 603 | // load mixer table |
||
| 604 | if(!MixerTable_ReadFromEEProm() ) |
||
| 605 | { |
||
| 606 | printf("\n\rGenerating default Mixer Table"); |
||
| 607 | MixerTable_Default(); // Quadro |
||
| 608 | MixerTable_WriteToEEProm(); |
||
| 609 | } |
||
| 610 | // determine motornumber |
||
| 611 | RequiredMotors = 0; |
||
| 612 | for(i = 0; i < 16; i++) |
||
| 613 | { |
||
| 614 | if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
||
| 615 | } |
||
| 616 | |||
| 617 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
||
| 618 | printf("\n\r=============================="); |
||
| 619 | } |