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| Rev | Author | Line No. | Line |
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| 1538 | killagreg | 1 | #ifndef _EEPROM_H |
| 2 | #define _EEPROM_H |
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| 3 | |||
| 4 | #include <inttypes.h> |
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| 5 | |||
| 6 | #define EEPROM_ADR_PARAM_BEGIN 0 |
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| 7 | #define PID_PARAM_REVISION 1 // byte |
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| 8 | #define PID_ACTIVE_SET 2 // byte |
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| 9 | #define PID_PRESSURE_OFFSET 3 // byte |
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| 10 | |||
| 11 | #define PID_ACC_NICK 4 // word |
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| 12 | #define PID_ACC_ROLL 6 // word |
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| 13 | #define PID_ACC_TOP 8 // word |
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| 14 | |||
| 15 | #define PID_FLIGHT_MINUTES_TOTAL 10 // word |
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| 16 | #define PID_FLIGHT_MINUTES 14 // word |
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| 17 | |||
| 18 | #ifdef USE_KILLAGREG |
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| 19 | #define PID_MM3_X_OFF 31 // byte |
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| 20 | #define PID_MM3_Y_OFF 32 // byte |
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| 21 | #define PID_MM3_Z_OFF 33 // byte |
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| 22 | #define PID_MM3_X_RANGE 34 // word |
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| 23 | #define PID_MM3_Y_RANGE 36 // word |
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| 24 | #define PID_MM3_Z_RANGE 38 // word |
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| 25 | #endif |
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| 26 | |||
| 27 | |||
| 28 | #define EEPROM_ADR_CHANNELS 80 // 8 bytes |
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| 29 | |||
| 30 | #define EEPROM_ADR_PARAMSET_LENGTH 98 // word |
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| 31 | #define EEPROM_ADR_PARAMSET_BEGIN 100 |
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| 32 | |||
| 33 | |||
| 34 | #define EEPROM_ADR_MIXER_TABLE 1000 // 1000 - 1076 |
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| 35 | |||
| 36 | |||
| 37 | #define MIX_GAS 0 |
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| 38 | #define MIX_NICK 1 |
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| 39 | #define MIX_ROLL 2 |
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| 40 | #define MIX_YAW 3 |
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| 41 | |||
| 42 | typedef struct |
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| 43 | { |
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| 44 | uint8_t Revision; |
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| 45 | int8_t Name[12]; |
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| 46 | int8_t Motor[16][4]; |
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| 47 | } __attribute__((packed)) MixerTable_t; |
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| 48 | |||
| 49 | extern MixerTable_t Mixer; |
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| 50 | |||
| 51 | |||
| 52 | // bit mask for ParamSet.Config0 |
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| 53 | #define CFG0_AIRPRESS_SENSOR 0x01 |
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| 54 | #define CFG0_HEIGHT_SWITCH 0x02 |
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| 55 | #define CFG0_HEADING_HOLD 0x04 |
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| 56 | #define CFG0_COMPASS_ACTIVE 0x08 |
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| 57 | #define CFG0_COMPASS_FIX 0x10 |
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| 58 | #define CFG0_GPS_ACTIVE 0x20 |
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| 59 | #define CFG0_AXIS_COUPLING_ACTIVE 0x40 |
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| 60 | #define CFG0_ROTARY_RATE_LIMITER 0x80 |
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| 61 | |||
| 62 | // bit mask for ParamSet.Config1 |
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| 63 | #define CFG1_LOOP_UP 0x01 |
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| 64 | #define CFG1_LOOP_DOWN 0x02 |
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| 65 | #define CFG1_LOOP_LEFT 0x04 |
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| 66 | #define CFG1_LOOP_RIGHT 0x08 |
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| 67 | #define CFG1_MOTOR_BLINK 0x10 |
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| 68 | #define CFG1_MOTOR_OFF_LED1 0x20 |
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| 69 | #define CFG1_MOTOR_OFF_LED2 0x40 |
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| 70 | #define CFG1_RES4 0x80 |
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| 71 | |||
| 72 | // bit mask for ParamSet.Config2 |
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| 73 | #define CFG2_HEIGHT_LIMIT 0x01 |
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| 74 | #define CFG2_VARIO_BEEP 0x02 |
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| 75 | #define CFG2_SENSITIVE_RC 0x04 |
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| 76 | #define CFG2_RES1 0x08 |
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| 77 | #define CFG2_RES2 0x10 |
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| 78 | #define CFG2_RES3 0x20 |
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| 79 | #define CFG2_RES4 0x40 |
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| 80 | #define CFG2_RES5 0x80 |
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| 81 | |||
| 82 | // defines for lookup ParamSet.ChannelAssignment |
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| 83 | #define CH_NICK 0 |
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| 84 | #define CH_ROLL 1 |
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| 85 | #define CH_GAS 2 |
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| 86 | #define CH_YAW 3 |
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| 87 | #define CH_POTI1 4 |
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| 88 | #define CH_POTI2 5 |
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| 89 | #define CH_POTI3 6 |
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| 90 | #define CH_POTI4 7 |
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| 91 | |||
| 92 | #define EEPARAM_REVISION 80 // is count up, if paramater stucture has changed (compatibility) |
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| 93 | #define EEMIXER_REVISION 1 // is count up, if mixer stucture has changed (compatibility) |
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| 94 | |||
| 95 | // values above 250 representing poti1 to poti4 |
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| 96 | typedef struct |
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| 97 | { |
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| 98 | uint8_t ChannelAssignment[8]; // see upper defines for details |
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| 99 | uint8_t Config0; // see upper defines for bitcoding |
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| 100 | uint8_t HeightMinGas; // Value : 0-100 |
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| 101 | uint8_t HeightD; // Value : 0-250 |
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| 102 | uint8_t MaxHeight; // Value : 0-32 |
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| 103 | uint8_t HeightP; // Value : 0-32 |
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| 104 | uint8_t Height_Gain; // Value : 0-50 |
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| 105 | uint8_t Height_ACC_Effect; // Value : 0-250 |
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| 106 | uint8_t Height_HoverBand; // Value : 0-250 |
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| 107 | uint8_t Height_GPS_Z; // Value : 0-250 |
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| 108 | uint8_t Height_StickNeutralPoint; // Value : 0-250 |
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| 109 | uint8_t StickP; // Value : 1-6 |
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| 110 | uint8_t StickD; // Value : 0-64 |
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| 111 | uint8_t StickYawP; // Value : 1-20 |
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| 112 | uint8_t GasMin; // Value : 0-32 |
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| 113 | uint8_t GasMax; // Value : 33-250 |
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| 114 | uint8_t GyroAccFactor; // Value : 1-64 |
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| 115 | uint8_t CompassYawEffect; // Value : 0-32 |
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| 116 | uint8_t GyroP; // Value : 10-250 |
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| 117 | uint8_t GyroI; // Value : 0-250 |
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| 118 | uint8_t GyroD; // Value : 0-250 |
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| 119 | uint8_t GyroYawP; // Value : 10-250 |
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| 120 | uint8_t GyroYawI; // Value : 0-250 |
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| 121 | uint8_t LowVoltageWarning; // Value : 0-250 |
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| 122 | uint8_t EmergencyGas; // Value : 0-250 //Gaswert bei Empängsverlust |
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| 123 | uint8_t EmergencyGasDuration; // Value : 0-250 // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen |
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| 124 | uint8_t UfoArrangement; // x or + Formation |
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| 125 | uint8_t IFactor; // Value : 0-250 |
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| 126 | uint8_t UserParam1; // Value : 0-250 |
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| 127 | uint8_t UserParam2; // Value : 0-250 |
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| 128 | uint8_t UserParam3; // Value : 0-250 |
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| 129 | uint8_t UserParam4; // Value : 0-250 |
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| 130 | uint8_t ServoNickControl; // Value : 0-250 // Stellung des Nick Servos |
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| 131 | uint8_t ServoNickComp; // Value : 0-250 // Einfluss Nick-Gyro/Servo |
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| 132 | uint8_t ServoNickMin; // Value : 0-250 // Anschlag |
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| 133 | uint8_t ServoNickMax; // Value : 0-250 // Anschlag |
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| 134 | uint8_t ServoRollControl; // Value : 0-250 // Stellung des Roll Servos |
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| 135 | uint8_t ServoRollComp; // Value : 0-250 // Einfluss Roll-Gyro/Servo |
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| 136 | uint8_t ServoRollMin; // Value : 0-250 // Anschlag |
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| 137 | uint8_t ServoRollMax; // Value : 0-250 // Anschlag |
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| 138 | uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output |
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| 139 | uint8_t LoopGasLimit; // Value: 0-250 max. Gas während Looping |
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| 140 | uint8_t LoopThreshold; // Value: 0-250 Schwelle für Stickausschlag |
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| 141 | uint8_t LoopHysteresis; // Value: 0-250 Hysterese für Stickausschlag |
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| 142 | // Axis coupling |
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| 143 | uint8_t AxisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
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| 144 | uint8_t AxisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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| 145 | uint8_t AxisCouplingYawCorrection; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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| 146 | uint8_t AngleTurnOverNick; // Value: 0-250 180°-Punkt |
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| 147 | uint8_t AngleTurnOverRoll; // Value: 0-250 180°-Punkt |
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| 148 | uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung) |
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| 149 | uint8_t DriftComp; // limit for gyrodrift compensation |
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| 150 | uint8_t DynamicStability; // PID limit for Attitude controller |
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| 151 | uint8_t UserParam5; // Value : 0-250 |
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| 152 | uint8_t UserParam6; // Value : 0-250 |
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| 153 | uint8_t UserParam7; // Value : 0-250 |
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| 154 | uint8_t UserParam8; // Value : 0-250´ |
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| 155 | // Output |
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| 156 | uint8_t J16Bitmask; // for the J16 Output |
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| 157 | uint8_t J16Timing; // for the J16 Output |
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| 158 | uint8_t J17Bitmask; // for the J17 Output |
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| 159 | uint8_t J17Timing; // for the J17 Output |
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| 160 | uint8_t J16Bitmask_Warning; // for the J16 Outout |
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| 161 | uint8_t J17Bitmask_Warning; // for the J17 Outout |
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| 162 | // NaviCtrl |
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| 163 | uint8_t NaviGpsModeControl; // Parameters for the Naviboard |
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| 164 | uint8_t NaviGpsGain; // overall gain for GPS-PID controller |
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| 165 | uint8_t NaviGpsP; // P gain for GPS-PID controller |
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| 166 | uint8_t NaviGpsI; // I gain for GPS-PID controller |
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| 167 | uint8_t NaviGpsD; // D gain for GPS-PID controller |
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| 168 | uint8_t NaviGpsPLimit; // P limit for GPS-PID controller |
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| 169 | uint8_t NaviGpsILimit; // I limit for GPS-PID controller |
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| 170 | uint8_t NaviGpsDLimit; // D limit for GPS-PID controller |
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| 171 | uint8_t NaviGpsACC; // ACC gain for GPS-PID controller |
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| 172 | uint8_t NaviGpsMinSat; // number of sattelites neccesary for GPS functions |
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| 173 | uint8_t NaviStickThreshold; // activation threshild for detection of manual stick movements |
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| 174 | uint8_t NaviWindCorrection; // streng of wind course correction |
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| 175 | uint8_t NaviSpeedCompensation; // D gain fefore position hold login |
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| 176 | uint8_t NaviOperatingRadius; // Radius limit in m around start position for GPS flights |
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| 177 | uint8_t NaviAngleLimitation; // limitation of attitude angle controlled by the gps algorithm |
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| 178 | uint8_t NaviPHLoginTime; // position hold logintimeout |
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| 179 | // extern control |
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| 180 | uint8_t ExternalControl; // for serial control |
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| 181 | // config |
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| 182 | uint8_t Config1; // see upper defines for bitcoding |
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| 183 | uint8_t ServoCompInvert; // Bitfield: 0x01 = Nick invert, 0x02 = Roll invert // WICHTIG!!! am Ende lassen |
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| 184 | uint8_t Config2; // see upper defines for bitcoding |
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| 185 | int8_t Name[12]; |
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| 186 | } paramset_t; |
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| 187 | |||
| 188 | #define PARAMSET_STRUCT_LEN sizeof(paramset_t) |
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| 189 | |||
| 190 | extern paramset_t ParamSet; |
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| 191 | |||
| 192 | extern void ParamSet_Init(void); |
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| 193 | extern void ParamSet_ReadFromEEProm(uint8_t setnumber); |
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| 194 | extern void ParamSet_WriteToEEProm(uint8_t setnumber); |
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| 195 | extern uint8_t GetActiveParamSet(void); |
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| 196 | extern void SetActiveParamSet(uint8_t setnumber); |
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| 197 | |||
| 198 | extern uint8_t MixerTable_ReadFromEEProm(void); |
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| 199 | extern uint8_t MixerTable_WriteToEEProm(void); |
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| 200 | |||
| 201 | |||
| 202 | extern uint8_t GetParamByte(uint16_t param_id); |
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| 203 | extern void SetParamByte(uint16_t param_id, uint8_t value); |
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| 204 | extern uint16_t GetParamWord(uint16_t param_id); |
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| 205 | extern void SetParamWord(uint16_t param_id, uint16_t value); |
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| 206 | |||
| 207 | |||
| 208 | #endif //_EEPROM_H |