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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1755 | - | 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 "uart.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 | #include "twimaster.h" |
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| 75 | |||
| 76 | paramset_t EE_Parameter; |
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| 77 | MixerTable_t Mixer; |
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| 78 | uint8_t RequiredMotors; |
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| 79 | |||
| 80 | |||
| 81 | uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len) |
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| 82 | { |
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| 83 | uint8_t crc = 0xAA; |
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| 84 | uint16_t i; |
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| 85 | |||
| 86 | for(i=0; i<len; i++) |
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| 87 | { |
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| 88 | crc += pBuffer[i]; |
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| 89 | } |
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| 90 | return crc; |
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| 91 | } |
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| 92 | |||
| 93 | uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len) |
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| 94 | { |
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| 95 | uint8_t crc = 0xAA; |
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| 96 | uint16_t off; |
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| 97 | |||
| 98 | for(off=0; off<len; off++) |
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| 99 | { |
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| 100 | crc += eeprom_read_byte((uint8_t*)(EEAddr + off));; |
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| 101 | } |
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| 102 | return crc; |
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| 103 | } |
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| 104 | |||
| 105 | void ParamSet_DefaultStickMapping(void) |
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| 106 | { |
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| 107 | EE_Parameter.Kanalbelegung[K_GAS] = 1; |
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| 108 | EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
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| 109 | EE_Parameter.Kanalbelegung[K_NICK] = 3; |
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| 110 | EE_Parameter.Kanalbelegung[K_GIER] = 4; |
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| 111 | EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
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| 112 | EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
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| 113 | EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
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| 114 | EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
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| 115 | EE_Parameter.Kanalbelegung[K_POTI5] = 9; |
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| 116 | EE_Parameter.Kanalbelegung[K_POTI6] = 10; |
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| 117 | EE_Parameter.Kanalbelegung[K_POTI7] = 11; |
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| 118 | EE_Parameter.Kanalbelegung[K_POTI8] = 12; |
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| 119 | } |
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| 120 | |||
| 121 | |||
| 122 | /***************************************************/ |
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| 123 | /* Default Values for parameter set 1 */ |
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| 124 | /***************************************************/ |
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| 125 | void ParamSet_DefaultSet1(void) // sport |
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| 126 | { |
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| 127 | EE_Parameter.Revision = EEPARAM_REVISION; |
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| 128 | |||
| 129 | if(PlatinenVersion >= 20) |
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| 130 | { |
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| 131 | EE_Parameter.Gyro_D = 10; |
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| 132 | EE_Parameter.Driftkomp = 0; |
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| 133 | EE_Parameter.GyroAccFaktor = 27; |
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| 134 | EE_Parameter.WinkelUmschlagNick = 78; |
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| 135 | EE_Parameter.WinkelUmschlagRoll = 78; |
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| 136 | } |
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| 137 | else |
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| 138 | { |
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| 139 | EE_Parameter.Gyro_D = 3; |
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| 140 | EE_Parameter.Driftkomp = 32; |
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| 141 | EE_Parameter.GyroAccFaktor = 30; |
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| 142 | EE_Parameter.WinkelUmschlagNick = 85; |
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| 143 | EE_Parameter.WinkelUmschlagRoll = 85; |
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| 144 | } |
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| 145 | EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
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| 146 | EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP;// | CFG_SENSITIVE_RC |
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| 147 | EE_Parameter.Hoehe_MinGas = 30; |
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| 148 | EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
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| 149 | EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
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| 150 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
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| 151 | EE_Parameter.Hoehe_ACC_Wirkung = 00; // Wert : 0-247 |
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| 152 | EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
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| 153 | EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
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| 154 | EE_Parameter.Hoehe_StickNeutralPoint = 0; // Wert : 0-247 (0 = Hover-Estimation) |
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| 155 | EE_Parameter.Hoehe_Verstaerkung = 20; // Wert : 0-50 |
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| 156 | EE_Parameter.Stick_P = 14; // Wert : 1-20 |
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| 157 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
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| 158 | EE_Parameter.Gier_P = 12; // Wert : 1-20 |
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| 159 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
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| 160 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
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| 161 | EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
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| 162 | EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
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| 163 | EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
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| 164 | EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
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| 165 | EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
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| 166 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
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| 167 | EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
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| 168 | EE_Parameter.NotGas = 45; // Wert : 0-247 // Gaswert bei Empangsverlust |
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| 169 | EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
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| 170 | EE_Parameter.I_Faktor = 32; |
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| 171 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
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| 172 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
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| 173 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
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| 174 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
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| 175 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
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| 176 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
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| 177 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
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| 178 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
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| 179 | EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos |
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| 180 | EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
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| 181 | EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
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| 182 | EE_Parameter.ServoNickMin = 0; // Wert : 0-247 // Anschlag |
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| 183 | EE_Parameter.ServoNickMax = 247; // Wert : 0-247 // Anschlag |
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| 184 | EE_Parameter.ServoNickRefresh = 6; |
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| 185 | EE_Parameter.Servo3 = 125; |
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| 186 | EE_Parameter.Servo4 = 125; |
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| 187 | EE_Parameter.Servo5 = 125; |
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| 188 | EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos |
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| 189 | EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
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| 190 | EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
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| 191 | EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
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| 192 | EE_Parameter.LoopGasLimit = 50; |
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| 193 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
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| 194 | EE_Parameter.LoopHysterese = 50; |
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| 195 | EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
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| 196 | EE_Parameter.AchsKopplung1 = 90; |
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| 197 | EE_Parameter.AchsKopplung2 = 80; |
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| 198 | EE_Parameter.CouplingYawCorrection = 1; |
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| 199 | EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
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| 200 | EE_Parameter.DynamicStability = 100; |
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| 201 | EE_Parameter.J16Bitmask = 95; |
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| 202 | EE_Parameter.J17Bitmask = 243; |
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| 203 | EE_Parameter.WARN_J16_Bitmask = 0xAA; |
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| 204 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
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| 205 | EE_Parameter.J16Timing = 15; |
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| 206 | EE_Parameter.J17Timing = 15; |
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| 207 | EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
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| 208 | EE_Parameter.NaviGpsGain = 100; |
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| 209 | EE_Parameter.NaviGpsP = 90; |
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| 210 | EE_Parameter.NaviGpsI = 90; |
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| 211 | EE_Parameter.NaviGpsD = 90; |
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| 212 | EE_Parameter.NaviGpsPLimit = 75; |
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| 213 | EE_Parameter.NaviGpsILimit = 75; |
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| 214 | EE_Parameter.NaviGpsDLimit = 75; |
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| 215 | EE_Parameter.NaviGpsACC = 0; |
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| 216 | EE_Parameter.NaviGpsMinSat = 6; |
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| 217 | EE_Parameter.NaviStickThreshold = 8; |
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| 218 | EE_Parameter.NaviWindCorrection = 90; |
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| 219 | EE_Parameter.NaviSpeedCompensation = 30; |
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| 220 | EE_Parameter.NaviOperatingRadius = 100; |
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| 221 | EE_Parameter.NaviAngleLimitation = 100; |
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| 222 | EE_Parameter.NaviPH_LoginTime = 2; |
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| 223 | EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
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| 224 | EE_Parameter.OrientationAngle = 0; |
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| 225 | EE_Parameter.OrientationModeControl = 0; |
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| 226 | memcpy(EE_Parameter.Name, "Sport\0", 12); |
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| 227 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
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| 228 | } |
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| 229 | |||
| 230 | |||
| 231 | /***************************************************/ |
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| 232 | /* Default Values for parameter set 2 */ |
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| 233 | /***************************************************/ |
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| 234 | void ParamSet_DefaultSet2(void) // normal |
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| 235 | { |
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| 236 | EE_Parameter.Revision = EEPARAM_REVISION; |
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| 237 | |||
| 238 | if(PlatinenVersion >= 20) |
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| 239 | { |
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| 240 | EE_Parameter.Gyro_D = 10; |
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| 241 | EE_Parameter.Driftkomp = 0; |
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| 242 | EE_Parameter.GyroAccFaktor = 27; |
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| 243 | EE_Parameter.WinkelUmschlagNick = 78; |
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| 244 | EE_Parameter.WinkelUmschlagRoll = 78; |
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| 245 | } |
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| 246 | else |
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| 247 | { |
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| 248 | EE_Parameter.Gyro_D = 3; |
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| 249 | EE_Parameter.Driftkomp = 32; |
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| 250 | EE_Parameter.GyroAccFaktor = 30; |
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| 251 | EE_Parameter.WinkelUmschlagNick = 85; |
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| 252 | EE_Parameter.WinkelUmschlagRoll = 85; |
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| 253 | } |
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| 254 | EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
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| 255 | EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP;// CFG_SENSITIVE_RC |
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| 256 | EE_Parameter.Hoehe_MinGas = 30; |
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| 257 | EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
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| 258 | EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
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| 259 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
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| 260 | EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
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| 261 | EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
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| 262 | EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
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| 263 | EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
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| 264 | EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 |
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| 265 | EE_Parameter.Stick_P = 10; // Wert : 1-20 |
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| 266 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
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| 267 | EE_Parameter.Gier_P = 6; // Wert : 1-20 |
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| 268 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
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| 269 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
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| 270 | EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
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| 271 | EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
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| 272 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
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| 273 | EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
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| 274 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
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| 275 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
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| 276 | EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
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| 277 | EE_Parameter.NotGas = 45; // Wert : 0-247 // Gaswert bei Empangsverlust |
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| 278 | EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
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| 279 | EE_Parameter.I_Faktor = 32; |
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| 280 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
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| 281 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
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| 282 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
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| 283 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
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| 284 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
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| 285 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
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| 286 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
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| 287 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
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| 288 | EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos |
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| 289 | EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
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| 290 | EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
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| 291 | EE_Parameter.ServoNickMin = 0; // Wert : 0-247 // Anschlag |
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| 292 | EE_Parameter.ServoNickMax = 247; // Wert : 0-247 // Anschlag |
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| 293 | EE_Parameter.ServoNickRefresh = 6; |
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| 294 | EE_Parameter.Servo3 = 125; |
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| 295 | EE_Parameter.Servo4 = 125; |
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| 296 | EE_Parameter.Servo5 = 125; |
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| 297 | EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos |
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| 298 | EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
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| 299 | EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
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| 300 | EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
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| 301 | EE_Parameter.LoopGasLimit = 50; |
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| 302 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
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| 303 | EE_Parameter.LoopHysterese = 50; |
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| 304 | EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
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| 305 | EE_Parameter.AchsKopplung1 = 90; |
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| 306 | EE_Parameter.AchsKopplung2 = 80; |
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| 307 | EE_Parameter.CouplingYawCorrection = 60; |
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| 308 | EE_Parameter.GyroAccAbgleich = 32; // 1/k |
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| 309 | EE_Parameter.DynamicStability = 75; |
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| 310 | EE_Parameter.J16Bitmask = 95; |
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| 311 | EE_Parameter.J17Bitmask = 243; |
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| 312 | EE_Parameter.WARN_J16_Bitmask = 0xAA; |
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| 313 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
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| 314 | EE_Parameter.J16Timing = 20; |
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| 315 | EE_Parameter.J17Timing = 20; |
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| 316 | EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
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| 317 | EE_Parameter.NaviGpsGain = 100; |
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| 318 | EE_Parameter.NaviGpsP = 90; |
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| 319 | EE_Parameter.NaviGpsI = 90; |
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| 320 | EE_Parameter.NaviGpsD = 90; |
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| 321 | EE_Parameter.NaviGpsPLimit = 75; |
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| 322 | EE_Parameter.NaviGpsILimit = 75; |
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| 323 | EE_Parameter.NaviGpsDLimit = 75; |
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| 324 | EE_Parameter.NaviGpsACC = 0; |
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| 325 | EE_Parameter.NaviGpsMinSat = 6; |
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| 326 | EE_Parameter.NaviStickThreshold = 8; |
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| 327 | EE_Parameter.NaviWindCorrection = 90; |
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| 328 | EE_Parameter.NaviSpeedCompensation = 30; |
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| 329 | EE_Parameter.NaviOperatingRadius = 100; |
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| 330 | EE_Parameter.NaviAngleLimitation = 100; |
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| 331 | EE_Parameter.NaviPH_LoginTime = 2; |
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| 332 | EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
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| 333 | EE_Parameter.OrientationAngle = 0; |
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| 334 | EE_Parameter.OrientationModeControl = 0; |
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| 335 | memcpy(EE_Parameter.Name, "Normal\0", 12); |
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| 336 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
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| 337 | } |
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| 338 | |||
| 339 | |||
| 340 | /***************************************************/ |
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| 341 | /* Default Values for parameter set 3 */ |
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| 342 | /***************************************************/ |
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| 343 | void ParamSet_DefaultSet3(void) // beginner |
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| 344 | { |
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| 345 | EE_Parameter.Revision = EEPARAM_REVISION; |
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| 346 | if(PlatinenVersion >= 20) |
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| 347 | { |
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| 348 | EE_Parameter.Gyro_D = 10; |
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| 349 | EE_Parameter.Driftkomp = 0; |
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| 350 | EE_Parameter.GyroAccFaktor = 27; |
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| 351 | EE_Parameter.WinkelUmschlagNick = 78; |
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| 352 | EE_Parameter.WinkelUmschlagRoll = 78; |
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| 353 | } |
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| 354 | else |
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| 355 | { |
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| 356 | EE_Parameter.Gyro_D = 3; |
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| 357 | EE_Parameter.Driftkomp = 32; |
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| 358 | EE_Parameter.GyroAccFaktor = 30; |
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| 359 | EE_Parameter.WinkelUmschlagNick = 85; |
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| 360 | EE_Parameter.WinkelUmschlagRoll = 85; |
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| 361 | } |
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| 362 | EE_Parameter.GlobalConfig = /*CFG_DREHRATEN_BEGRENZER |*/ CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
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| 363 | EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP;// | CFG_SENSITIVE_RC |
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| 364 | EE_Parameter.Hoehe_MinGas = 30; |
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| 365 | EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
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| 366 | EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
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| 367 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
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| 368 | EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
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| 369 | EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
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| 370 | EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
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| 371 | EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
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| 372 | EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 |
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| 373 | EE_Parameter.Stick_P = 8; // Wert : 1-20 |
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| 374 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
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| 375 | EE_Parameter.Gier_P = 6; // Wert : 1-20 |
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| 376 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
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| 377 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
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| 378 | EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
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| 379 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
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| 380 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
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| 381 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
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| 382 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
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| 383 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
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| 384 | EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
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| 385 | EE_Parameter.NotGas = 45; // Wert : 0-247 // Gaswert bei Empangsverlust |
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| 386 | EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
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| 387 | EE_Parameter.I_Faktor = 16; |
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| 388 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
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| 389 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
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| 390 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
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| 391 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
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| 392 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
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| 393 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
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| 394 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
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| 395 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
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| 396 | EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos |
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| 397 | EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
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| 398 | EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
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| 399 | EE_Parameter.ServoNickMin = 0; // Wert : 0-247 // Anschlag |
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| 400 | EE_Parameter.ServoNickMax = 247; // Wert : 0-247 // Anschlag |
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| 401 | EE_Parameter.ServoNickRefresh = 6; |
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| 402 | EE_Parameter.Servo3 = 125; |
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| 403 | EE_Parameter.Servo4 = 125; |
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| 404 | EE_Parameter.Servo5 = 125; |
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| 405 | EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos |
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| 406 | EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
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| 407 | EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
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| 408 | EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
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| 409 | EE_Parameter.LoopGasLimit = 50; |
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| 410 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
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| 411 | EE_Parameter.LoopHysterese = 50; |
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| 412 | EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
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| 413 | EE_Parameter.AchsKopplung1 = 90; |
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| 414 | EE_Parameter.AchsKopplung2 = 80; |
||
| 415 | EE_Parameter.CouplingYawCorrection = 70; |
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| 416 | EE_Parameter.GyroAccAbgleich = 32; // 1/k |
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| 417 | EE_Parameter.DynamicStability = 70; |
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| 418 | EE_Parameter.J16Bitmask = 95; |
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| 419 | EE_Parameter.J17Bitmask = 243; |
||
| 420 | EE_Parameter.WARN_J16_Bitmask = 0xAA; |
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| 421 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
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| 422 | EE_Parameter.J16Timing = 30; |
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| 423 | EE_Parameter.J17Timing = 30; |
||
| 424 | EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
||
| 425 | EE_Parameter.NaviGpsGain = 100; |
||
| 426 | EE_Parameter.NaviGpsP = 90; |
||
| 427 | EE_Parameter.NaviGpsI = 90; |
||
| 428 | EE_Parameter.NaviGpsD = 90; |
||
| 429 | EE_Parameter.NaviGpsPLimit = 75; |
||
| 430 | EE_Parameter.NaviGpsILimit = 75; |
||
| 431 | EE_Parameter.NaviGpsDLimit = 75; |
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| 432 | EE_Parameter.NaviGpsACC = 0; |
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| 433 | EE_Parameter.NaviGpsMinSat = 6; |
||
| 434 | EE_Parameter.NaviStickThreshold = 8; |
||
| 435 | EE_Parameter.NaviWindCorrection = 90; |
||
| 436 | EE_Parameter.NaviSpeedCompensation = 30; |
||
| 437 | EE_Parameter.NaviOperatingRadius = 100; |
||
| 438 | EE_Parameter.NaviAngleLimitation = 100; |
||
| 439 | EE_Parameter.NaviPH_LoginTime = 2; |
||
| 440 | EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
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| 441 | EE_Parameter.OrientationAngle = 0; |
||
| 442 | EE_Parameter.OrientationModeControl = 0; |
||
| 443 | memcpy(EE_Parameter.Name, "Beginner\0", 12); |
||
| 444 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
||
| 445 | } |
||
| 446 | |||
| 447 | /***************************************************/ |
||
| 448 | /* Read Parameter from EEPROM as byte */ |
||
| 449 | /***************************************************/ |
||
| 450 | uint8_t GetParamByte(uint16_t param_id) |
||
| 451 | { |
||
| 452 | return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
||
| 453 | } |
||
| 454 | |||
| 455 | /***************************************************/ |
||
| 456 | /* Write Parameter to EEPROM as byte */ |
||
| 457 | /***************************************************/ |
||
| 458 | void SetParamByte(uint16_t param_id, uint8_t value) |
||
| 459 | { |
||
| 460 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
||
| 461 | } |
||
| 462 | |||
| 463 | /***************************************************/ |
||
| 464 | /* Read Parameter from EEPROM as word */ |
||
| 465 | /***************************************************/ |
||
| 466 | uint16_t GetParamWord(uint16_t param_id) |
||
| 467 | { |
||
| 468 | return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
||
| 469 | } |
||
| 470 | |||
| 471 | /***************************************************/ |
||
| 472 | /* Write Parameter to EEPROM as word */ |
||
| 473 | /***************************************************/ |
||
| 474 | void SetParamWord(uint16_t param_id, uint16_t value) |
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| 475 | { |
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| 476 | eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
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| 477 | } |
||
| 478 | |||
| 479 | /***************************************************/ |
||
| 480 | /* Read Parameter Set from EEPROM */ |
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| 481 | /***************************************************/ |
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| 482 | // number [1..5] |
||
| 483 | uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
||
| 484 | { |
||
| 485 | uint8_t crc; |
||
| 486 | uint16_t eeaddr; |
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| 487 | |||
| 488 | // range the setnumber |
||
| 489 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
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| 490 | |||
| 491 | // calculate eeprom addr |
||
| 492 | eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
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| 493 | |||
| 494 | // calculate checksum from eeprom |
||
| 495 | crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
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| 496 | |||
| 497 | // check crc |
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| 498 | if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
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| 499 | |||
| 500 | // check revision |
||
| 501 | if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0; |
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| 502 | |||
| 503 | // read paramset from eeprom |
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| 504 | eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
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| 505 | LED_Init(); |
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| 506 | return 1; |
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| 507 | } |
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| 508 | |||
| 509 | /***************************************************/ |
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| 510 | /* Write Parameter Set to EEPROM */ |
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| 511 | /***************************************************/ |
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| 512 | // number [1..5] |
||
| 513 | uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
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| 514 | { |
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| 515 | uint8_t crc; |
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| 516 | |||
| 517 | if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
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| 518 | { |
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| 519 | if(setnumber > 5) setnumber = 5; |
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| 520 | if(setnumber < 1) return 0; |
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| 521 | |||
| 522 | // update checksum |
||
| 523 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
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| 524 | |||
| 525 | // write paramset to eeprom |
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| 526 | eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
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| 527 | |||
| 528 | // backup channel settings to separate block in eeprom |
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| 529 | eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
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| 530 | |||
| 531 | // write crc of channel block to eeprom |
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| 532 | crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
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| 533 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
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| 534 | |||
| 535 | // update active settings number |
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| 536 | SetActiveParamSet(setnumber); |
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| 537 | LED_Init(); |
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| 538 | return 1; |
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| 539 | } |
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| 540 | // wrong revision |
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| 541 | return 0; |
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| 542 | } |
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| 543 | |||
| 544 | /***************************************************/ |
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| 545 | /* Read MixerTable from EEPROM */ |
||
| 546 | /***************************************************/ |
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| 547 | uint8_t MixerTable_ReadFromEEProm(void) |
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| 548 | { |
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| 549 | uint8_t crc; |
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| 550 | |||
| 551 | // calculate checksum in eeprom |
||
| 552 | crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
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| 553 | |||
| 554 | // check crc |
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| 555 | if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
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| 556 | |||
| 557 | // check revision |
||
| 558 | if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
||
| 559 | |||
| 560 | // read mixer table |
||
| 561 | eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
||
| 562 | return 1; |
||
| 563 | } |
||
| 564 | |||
| 565 | /***************************************************/ |
||
| 566 | /* Write Mixer Table to EEPROM */ |
||
| 567 | /***************************************************/ |
||
| 568 | uint8_t MixerTable_WriteToEEProm(void) |
||
| 569 | { |
||
| 570 | if(Mixer.Revision == EEMIXER_REVISION) |
||
| 571 | { |
||
| 572 | // update crc |
||
| 573 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
||
| 574 | |||
| 575 | // write to eeprom |
||
| 576 | eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
||
| 577 | return 1; |
||
| 578 | } |
||
| 579 | else return 0; |
||
| 580 | } |
||
| 581 | |||
| 582 | /***************************************************/ |
||
| 583 | /* Default Values for Mixer Table */ |
||
| 584 | /***************************************************/ |
||
| 585 | void MixerTable_Default(void) // Quadro |
||
| 586 | { |
||
| 587 | uint8_t i; |
||
| 588 | |||
| 589 | Mixer.Revision = EEMIXER_REVISION; |
||
| 590 | // clear mixer table |
||
| 591 | for(i = 0; i < 16; i++) |
||
| 592 | { |
||
| 593 | Mixer.Motor[i][MIX_GAS] = 0; |
||
| 594 | Mixer.Motor[i][MIX_NICK] = 0; |
||
| 595 | Mixer.Motor[i][MIX_ROLL] = 0; |
||
| 596 | Mixer.Motor[i][MIX_YAW] = 0; |
||
| 597 | } |
||
| 598 | // default = Quadro |
||
| 599 | Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
||
| 600 | Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
||
| 601 | Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
||
| 602 | Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
||
| 603 | memcpy(Mixer.Name, "Quadro\0", 7); |
||
| 604 | Mixer.crc = Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
||
| 605 | } |
||
| 606 | |||
| 607 | /***************************************************/ |
||
| 608 | /* Get active parameter set */ |
||
| 609 | /***************************************************/ |
||
| 610 | uint8_t GetActiveParamSet(void) |
||
| 611 | { |
||
| 612 | uint8_t setnumber; |
||
| 613 | setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
||
| 614 | if(setnumber > 5) |
||
| 615 | { |
||
| 616 | setnumber = 3; |
||
| 617 | eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber); |
||
| 618 | } |
||
| 619 | return(setnumber); |
||
| 620 | } |
||
| 621 | |||
| 622 | /***************************************************/ |
||
| 623 | /* Set active parameter set */ |
||
| 624 | /***************************************************/ |
||
| 625 | void SetActiveParamSet(uint8_t setnumber) |
||
| 626 | { |
||
| 627 | if(setnumber > 5) setnumber = 5; |
||
| 628 | if(setnumber < 1) setnumber = 1; |
||
| 629 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
||
| 630 | } |
||
| 631 | |||
| 632 | /***************************************************/ |
||
| 633 | /* Initialize EEPROM Parameter Sets */ |
||
| 634 | /***************************************************/ |
||
| 635 | void ParamSet_Init(void) |
||
| 636 | { |
||
| 637 | uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
||
| 638 | |||
| 639 | |||
| 640 | if(EEPARAM_REVISION != GetParamByte(PID_EE_REVISION) ) |
||
| 641 | { |
||
| 642 | ee_default = 1; // software update or forced by mktool |
||
| 643 | SetParamByte(PID_EE_REVISION, EEPARAM_REVISION); |
||
| 644 | } |
||
| 645 | |||
| 646 | |||
| 647 | // 1st check for a valid channel backup in eeprom |
||
| 648 | i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
||
| 649 | if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) channel_backup = 1; |
||
| 650 | |||
| 651 | |||
| 652 | // parameter check |
||
| 653 | |||
| 654 | // check all 5 parameter settings |
||
| 655 | for (i = 1;i < 6; i++) |
||
| 656 | { |
||
| 657 | if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
||
| 658 | { |
||
| 659 | bad_params = 1; |
||
| 660 | printf("\n\rGenerating default Parameter Set %d",i); |
||
| 661 | switch(i) |
||
| 662 | { |
||
| 663 | case 1: |
||
| 664 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
||
| 665 | break; |
||
| 666 | case 2: |
||
| 667 | ParamSet_DefaultSet2(); // Kamera |
||
| 668 | break; |
||
| 669 | case 3: |
||
| 670 | ParamSet_DefaultSet3(); // Beginner |
||
| 671 | break; |
||
| 672 | default: |
||
| 673 | ParamSet_DefaultSet3(); // Kamera |
||
| 674 | break; |
||
| 675 | } |
||
| 676 | if(channel_backup) // if we have an channel mapping backup in eeprom |
||
| 677 | { // restore it from eeprom |
||
| 678 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
||
| 679 | } |
||
| 680 | else |
||
| 681 | { // use default mapping |
||
| 682 | ParamSet_DefaultStickMapping(); |
||
| 683 | } |
||
| 684 | ParamSet_WriteToEEProm(i); |
||
| 685 | } |
||
| 686 | } |
||
| 687 | if(bad_params) // at least one of the parameter settings were invalid |
||
| 688 | { |
||
| 689 | // default-Setting is parameter set 3 |
||
| 690 | SetActiveParamSet(3); |
||
| 691 | } |
||
| 692 | |||
| 693 | |||
| 694 | // read active parameter set to ParamSet stucture |
||
| 695 | i = GetActiveParamSet(); |
||
| 696 | ParamSet_ReadFromEEProm(i); |
||
| 697 | printf("\n\rUsing Parameter Set %d", i); |
||
| 698 | |||
| 699 | // load mixer table |
||
| 700 | if(ee_default || !MixerTable_ReadFromEEProm() ) |
||
| 701 | { |
||
| 702 | printf("\n\rGenerating default Mixer Table"); |
||
| 703 | MixerTable_Default(); // Quadro |
||
| 704 | MixerTable_WriteToEEProm(); |
||
| 705 | } |
||
| 706 | // determine motornumber |
||
| 707 | RequiredMotors = 0; |
||
| 708 | for(i = 0; i < 16; i++) |
||
| 709 | { |
||
| 710 | if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
||
| 711 | } |
||
| 712 | |||
| 713 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
||
| 714 | printf("\n\r=============================="); |
||
| 715 | } |