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1622 killagreg 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + www.MikroKopter.com
3
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050 holgerb 4
// + Software Nutzungsbedingungen (english version: see below)
5
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
6
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
7
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
8
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
9
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
1622 killagreg 10
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050 holgerb 11
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
12
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
13
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
14
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
15
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
16
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
17
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
18
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
19
// + des Mitverschuldens offen.
20
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
21
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
22
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
23
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
24
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
25
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
26
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
27
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
1622 killagreg 28
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050 holgerb 29
// + Software LICENSING TERMS
1622 killagreg 30
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050 holgerb 31
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
32
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 
33
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
34
// + The Software may only be used with the Licensor's products.
35
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
36
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
37
// + agreement shall be the property of the Licensor.
38
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
39
// + features that can be used to identify the program may not be altered or defaced by the customer.
40
// + The customer shall be responsible for taking reasonable precautions
41
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
42
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
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// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
44
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
45
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
46
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
47
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
48
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
49
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
50
// + #### END OF LICENSING TERMS ####
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// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
1622 killagreg 52
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
53
 
54
#ifndef EEMEM
55
#define EEMEM __attribute__ ((section (".eeprom")))
56
#endif
57
 
58
 
59
#include <avr/eeprom.h>
60
#include <string.h>
61
#include "eeprom.h"
62
#include "uart.h"
63
#include "led.h"
64
#include "main.h"
65
#include "fc.h"
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#include "twimaster.h"
1622 killagreg 67
 
68
paramset_t              EE_Parameter;
69
MixerTable_t    Mixer;
1654 killagreg 70
uint8_t RequiredMotors;
1622 killagreg 71
 
72
 
73
uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len)
395 hbuss 74
{
1622 killagreg 75
        uint8_t crc = 0xAA;
76
        uint16_t i;
77
 
78
        for(i=0; i<len; i++)
79
        {
80
                crc += pBuffer[i];
81
        }
82
        return crc;
993 hbuss 83
}
84
 
1622 killagreg 85
uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len)
993 hbuss 86
{
1622 killagreg 87
        uint8_t crc = 0xAA;
88
        uint16_t off;
89
 
90
        for(off=0; off<len; off++)
91
        {
92
                crc += eeprom_read_byte((uint8_t*)(EEAddr + off));;
93
        }
94
        return crc;
395 hbuss 95
}
1622 killagreg 96
 
97
void ParamSet_DefaultStickMapping(void)
395 hbuss 98
{
1622 killagreg 99
        EE_Parameter.Kanalbelegung[K_GAS]   = 1;
100
        EE_Parameter.Kanalbelegung[K_ROLL]  = 2;
101
        EE_Parameter.Kanalbelegung[K_NICK]  = 3;
102
        EE_Parameter.Kanalbelegung[K_GIER]  = 4;
103
        EE_Parameter.Kanalbelegung[K_POTI1] = 5;
104
        EE_Parameter.Kanalbelegung[K_POTI2] = 6;
105
        EE_Parameter.Kanalbelegung[K_POTI3] = 7;
106
        EE_Parameter.Kanalbelegung[K_POTI4] = 8;
107
        EE_Parameter.Kanalbelegung[K_POTI5] = 9;
108
        EE_Parameter.Kanalbelegung[K_POTI6] = 10;
109
        EE_Parameter.Kanalbelegung[K_POTI7] = 11;
110
        EE_Parameter.Kanalbelegung[K_POTI8] = 12;
395 hbuss 111
}
112
 
1622 killagreg 113
 
114
/***************************************************/
115
/*    Default Values for parameter set 1           */
116
/***************************************************/
1760 holgerb 117
void CommonDefaults(void)
395 hbuss 118
{
1622 killagreg 119
        EE_Parameter.Revision = EEPARAM_REVISION;
2265 holgerb 120
        memset(EE_Parameter.Name,0,12); // delete name
2426 holgerb 121
//      if(PlatinenVersion >= 20)
1622 killagreg 122
        {
1676 holgerb 123
                EE_Parameter.Gyro_D = 10;
1622 killagreg 124
                EE_Parameter.Driftkomp = 0;
125
                EE_Parameter.GyroAccFaktor = 27;
126
                EE_Parameter.WinkelUmschlagNick = 78;
127
                EE_Parameter.WinkelUmschlagRoll = 78;
128
        }
2426 holgerb 129
/*      else
1622 killagreg 130
        {
131
                EE_Parameter.Gyro_D = 3;
132
                EE_Parameter.Driftkomp = 32;
133
                EE_Parameter.GyroAccFaktor = 30;
134
                EE_Parameter.WinkelUmschlagNick = 85;
135
                EE_Parameter.WinkelUmschlagRoll = 85;
136
        }
2426 holgerb 137
*/
1957 holgerb 138
        EE_Parameter.GyroAccAbgleich = 32;        // 1/k
2008 holgerb 139
        EE_Parameter.BitConfig = 0;              // Looping usw.
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        EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER;
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        EE_Parameter.ExtraConfig = CFG_GPS_AID | CFG2_VARIO_BEEP | CFG_LEARNABLE_CAREFREE | CFG_NO_RCOFF_BEEPING;
142
        EE_Parameter.GlobalConfig3 = CFG3_SPEAK_ALL | CFG3_NO_GPSFIX_NO_START;//
2426 holgerb 143
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
2183 holgerb 144
        EE_Parameter.Receiver = RECEIVER_HOTT;
2426 holgerb 145
#else
146
        EE_Parameter.Receiver = RECEIVER_JETI;
147
#endif
148
 
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        EE_Parameter.MotorSafetySwitch = 0;
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        EE_Parameter.ExternalControl = 0;
1760 holgerb 151
 
1762 holgerb 152
        EE_Parameter.Gas_Min = 8;             // Wert : 0-32
153
        EE_Parameter.Gas_Max = 230;           // Wert : 33-247
1839 holgerb 154
        EE_Parameter.KompassWirkung = 64;    // Wert : 0-247
1762 holgerb 155
 
2390 holgerb 156
        EE_Parameter.HoeheChannel = 5;         // Wert : 0-32
1762 holgerb 157
        EE_Parameter.Hoehe_MinGas = 30;
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        EE_Parameter.Hoehe_TiltCompensation = 110; // in %
2390 holgerb 159
 
2309 holgerb 160
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
161
        if(ACC_AltitudeControl)
162
        {
163
                EE_Parameter.Hoehe_P      = 20;          // Wert : 0-32
164
                EE_Parameter.Luftdruck_D  = 40;          // Wert : 0-247
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                EE_Parameter.Hoehe_ACC_Wirkung = 30;     // Wert : 0-247
2309 holgerb 166
                EE_Parameter.Hoehe_HoverBand = 1;         // Wert : 0-247
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                EE_Parameter.Hoehe_StickNeutralPoint = 127;// Wert : 0-247 (0 = Hover-Estimation)
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                EE_Parameter.FailSafeTime = 60;                   // 0 = off
2309 holgerb 169
        }
170
        else
171
#endif
172
        {
173
                EE_Parameter.Hoehe_P      = 15;          // Wert : 0-32
174
                EE_Parameter.Luftdruck_D  = 30;          // Wert : 0-247
175
                EE_Parameter.Hoehe_ACC_Wirkung = 0;     // Wert : 0-247
176
                EE_Parameter.Hoehe_HoverBand = 8;         // Wert : 0-247
2337 holgerb 177
                EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation)
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                EE_Parameter.FailSafeTime = 0;            // 0 = off
2309 holgerb 179
        }
180
 
1942 holgerb 181
        EE_Parameter.Hoehe_Verstaerkung = 15;    // Wert : 0-50 (15 -> ca. +/- 5m/sek bei Stick-Voll-Ausschlag)
2340 holgerb 182
        EE_Parameter.StartLandChannel = 0;  
183
        EE_Parameter.LandingSpeed = 12;  
1762 holgerb 184
 
1622 killagreg 185
        EE_Parameter.UserParam1 =   0;           // zur freien Verwendung
186
        EE_Parameter.UserParam2 =   0;           // zur freien Verwendung
187
        EE_Parameter.UserParam3 =   0;           // zur freien Verwendung
188
        EE_Parameter.UserParam4 =   0;           // zur freien Verwendung
189
        EE_Parameter.UserParam5 =   0;           // zur freien Verwendung
190
        EE_Parameter.UserParam6 =   0;           // zur freien Verwendung
191
        EE_Parameter.UserParam7 = 0;             // zur freien Verwendung
192
        EE_Parameter.UserParam8 = 0;             // zur freien Verwendung
1762 holgerb 193
 
1848 holgerb 194
        EE_Parameter.ServoNickControl = 128;     // Wert : 0-247     // Stellung des Servos
195
        EE_Parameter.ServoNickComp = 50;         // Wert : 0-247     // Einfluss Gyro/Servo
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        EE_Parameter.ServoCompInvert = 2;        // Wert : 0-247     // Richtung Einfluss Gyro/Servo
2349 holgerb 197
        EE_Parameter.ServoNickMin = 24;          // Wert : 0-247     // Anschlag
1848 holgerb 198
        EE_Parameter.ServoNickMax = 230;         // Wert : 0-247     // Anschlag
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        EE_Parameter.ServoNickRefresh = 3;
1622 killagreg 200
        EE_Parameter.Servo3 = 125;
201
        EE_Parameter.Servo4 = 125;
202
        EE_Parameter.Servo5 = 125;
1848 holgerb 203
        EE_Parameter.ServoRollControl = 128;     // Wert : 0-247     // Stellung des Servos
204
        EE_Parameter.ServoRollComp = 85;         // Wert : 0-247     // Einfluss Gyro/Servo
1876 holgerb 205
        EE_Parameter.ServoRollMin = 70;          // Wert : 0-247     // Anschlag
1848 holgerb 206
        EE_Parameter.ServoRollMax = 220;         // Wert : 0-247     // Anschlag
207
        EE_Parameter.ServoManualControlSpeed = 60;
1876 holgerb 208
        EE_Parameter.CamOrientation = 0;         // Wert : 0-24 -> 0-360 -> 15° steps
1762 holgerb 209
 
2373 holgerb 210
        EE_Parameter.J16Bitmask = 0xAA;
211
        EE_Parameter.J17Bitmask = 0xCC;
212
        EE_Parameter.WARN_J16_Bitmask = 0x00;
1622 killagreg 213
        EE_Parameter.WARN_J17_Bitmask = 0xAA;
2040 holgerb 214
        EE_Parameter.J16Timing = 40;
215
        EE_Parameter.J17Timing = 40;
2440 holgerb 216
    EE_Parameter.AutoPhotoDistance = 0;         // Photo release in meter
217
    EE_Parameter.AutoPhotoAtitudes = 0;         // Photo release in meter
218
        EE_Parameter.SingleWpSpeed = 50;        // Speed when flying the single points
219
 
1762 holgerb 220
        EE_Parameter.LoopGasLimit = 50;
2440 holgerb 221
        EE_Parameter.LoopThreshold = 90;        // Wert: 0-247  Schwelle für Stickausschlag
1762 holgerb 222
        EE_Parameter.LoopHysterese = 50;
223
 
2342 holgerb 224
        EE_Parameter.NaviGpsModeChannel = 6; // Kanal 6
1622 killagreg 225
        EE_Parameter.NaviGpsGain = 100;
2344 holgerb 226
        EE_Parameter.NaviGpsP =  100;
227
        EE_Parameter.NaviGpsI =   90;
228
        EE_Parameter.NaviGpsD =  120;
229
        EE_Parameter.NaviGpsA =   40;
1622 killagreg 230
        EE_Parameter.NaviGpsPLimit = 75;
1931 holgerb 231
        EE_Parameter.NaviGpsILimit = 85;
1622 killagreg 232
        EE_Parameter.NaviGpsDLimit = 75;
233
        EE_Parameter.NaviGpsMinSat = 6;
234
        EE_Parameter.NaviStickThreshold = 8;
2348 holgerb 235
        EE_Parameter.NaviWindCorrection = 50;
1936 holgerb 236
        EE_Parameter.NaviAccCompensation = 42;
2447 holgerb 237
        EE_Parameter.NaviMaxFlyingRange = 0;
238
        EE_Parameter.NaviDescendRange = 0;
1931 holgerb 239
        EE_Parameter.NaviAngleLimitation = 140;
2348 holgerb 240
        EE_Parameter.NaviPH_LoginTime = 2;
1668 holgerb 241
        EE_Parameter.OrientationAngle = 0;
2342 holgerb 242
        EE_Parameter.CareFreeChannel = 0;
2061 holgerb 243
        EE_Parameter.NotGas = 65;                // Wert : 0-247     // Gaswert bei Empangsverlust (ggf. in Prozent)
1760 holgerb 244
        EE_Parameter.NotGasZeit = 90;            // Wert : 0-247     // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
1915 holgerb 245
        EE_Parameter.MotorSmooth = 0;          
246
        EE_Parameter.ComingHomeAltitude = 0;      // 0 = don't change 
1936 holgerb 247
        EE_Parameter.MaxAltitude = 150;           // 0 = off
2275 holgerb 248
        EE_Parameter.AchsKopplung1 = 125;
249
        EE_Parameter.AchsKopplung2 = 52;
2008 holgerb 250
        EE_Parameter.FailsafeChannel = 0;
2012 holgerb 251
        EE_Parameter.ServoFilterNick = 0;
252
        EE_Parameter.ServoFilterRoll = 0;
2443 holgerb 253
    EE_Parameter.Servo3OnValue = 140;
254
    EE_Parameter.Servo3OffValue = 70;
255
        EE_Parameter.Servo4OnValue = 140;
256
    EE_Parameter.Servo4OffValue = 70;
2390 holgerb 257
        EE_Parameter.CompassOffset = 0;
2440 holgerb 258
        EE_Parameter.UnterspannungsWarnung      = 32; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50)
259
        EE_Parameter.ComingHomeVoltage          = 31;
260
        EE_Parameter.AutoLandingVoltage         = 30;
1760 holgerb 261
}
1944 holgerb 262
/*
1760 holgerb 263
void ParamSet_DefaultSet1(void) // sport
264
{
265
        CommonDefaults();
266
        EE_Parameter.Stick_P = 14;            // Wert : 1-20
267
        EE_Parameter.Stick_D = 16;            // Wert : 0-20
1944 holgerb 268
        EE_Parameter.StickGier_P = 12;             // Wert : 1-20
1760 holgerb 269
        EE_Parameter.Gyro_P = 80;             // Wert : 0-247
270
        EE_Parameter.Gyro_I = 150;            // Wert : 0-247
271
        EE_Parameter.Gyro_Gier_P = 80;        // Wert : 0-247
272
        EE_Parameter.Gyro_Gier_I = 150;       // Wert : 0-247
273
        EE_Parameter.Gyro_Stability = 6;          // Wert : 1-8
274
        EE_Parameter.I_Faktor = 32;
275
        EE_Parameter.CouplingYawCorrection = 1;
276
        EE_Parameter.GyroAccAbgleich = 16;        // 1/k;
277
        EE_Parameter.DynamicStability = 100;
1622 killagreg 278
        memcpy(EE_Parameter.Name, "Sport\0", 12);
279
        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
395 hbuss 280
}
1944 holgerb 281
*/
1622 killagreg 282
 
283
/***************************************************/
1944 holgerb 284
/*    Default Values for parameter set 1           */
1622 killagreg 285
/***************************************************/
1944 holgerb 286
void ParamSet_DefaultSet1(void) // normal
1622 killagreg 287
{
1760 holgerb 288
        CommonDefaults();
1664 holgerb 289
        EE_Parameter.Stick_P = 10;               // Wert : 1-20
290
        EE_Parameter.Stick_D = 16;               // Wert : 0-20
1944 holgerb 291
        EE_Parameter.StickGier_P = 6;                 // Wert : 1-20
1622 killagreg 292
        EE_Parameter.Gyro_P = 90;                // Wert : 0-247
293
        EE_Parameter.Gyro_I = 120;               // Wert : 0-247
294
        EE_Parameter.Gyro_Gier_P = 90;           // Wert : 0-247
295
        EE_Parameter.Gyro_Gier_I = 120;          // Wert : 0-247
1685 holgerb 296
        EE_Parameter.Gyro_Stability = 6;                  // Wert : 1-8
1622 killagreg 297
        EE_Parameter.I_Faktor = 32;
298
        EE_Parameter.CouplingYawCorrection = 60;
299
        EE_Parameter.DynamicStability = 75;
2265 holgerb 300
        memcpy(EE_Parameter.Name, "Fast",4);
1622 killagreg 301
        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
302
}
303
 
304
 
305
/***************************************************/
1944 holgerb 306
/*    Default Values for parameter set 2           */
1622 killagreg 307
/***************************************************/
2344 holgerb 308
void ParamSet_DefaultSet2(void) // Agil
1622 killagreg 309
{
1762 holgerb 310
        CommonDefaults();
1664 holgerb 311
        EE_Parameter.Stick_P = 8;                // Wert : 1-20
312
        EE_Parameter.Stick_D = 16;               // Wert : 0-20
1944 holgerb 313
        EE_Parameter.StickGier_P  = 6;                // Wert : 1-20
1622 killagreg 314
        EE_Parameter.Gyro_P = 100;               // Wert : 0-247
315
        EE_Parameter.Gyro_I = 120;               // Wert : 0-247
316
        EE_Parameter.Gyro_Gier_P = 100;          // Wert : 0-247
317
        EE_Parameter.Gyro_Gier_I = 120;          // Wert : 0-247
1685 holgerb 318
        EE_Parameter.Gyro_Stability = 6;                  // Wert : 1-8
1622 killagreg 319
        EE_Parameter.I_Faktor = 16;
320
        EE_Parameter.CouplingYawCorrection = 70;
1690 holgerb 321
        EE_Parameter.DynamicStability = 70;
2344 holgerb 322
        memcpy(EE_Parameter.Name, "Agile",5);
1622 killagreg 323
        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
324
}
325
 
326
/***************************************************/
1944 holgerb 327
/*    Default Values for parameter set 3           */
328
/***************************************************/
2344 holgerb 329
void ParamSet_DefaultSet3(void) // Easy
1944 holgerb 330
{
331
        CommonDefaults();
332
        EE_Parameter.Stick_P = 6;                // Wert : 1-20
333
        EE_Parameter.Stick_D = 10;               // Wert : 0-20
334
        EE_Parameter.StickGier_P  = 4;           // Wert : 1-20
335
        EE_Parameter.Gyro_P = 100;               // Wert : 0-247
336
        EE_Parameter.Gyro_I = 120;               // Wert : 0-247
337
        EE_Parameter.Gyro_Gier_P = 100;          // Wert : 0-247
338
        EE_Parameter.Gyro_Gier_I = 120;          // Wert : 0-247
339
        EE_Parameter.Gyro_Stability = 6;              // Wert : 1-8
340
        EE_Parameter.I_Faktor = 16;
341
        EE_Parameter.CouplingYawCorrection = 70;
342
        EE_Parameter.DynamicStability = 70;
2265 holgerb 343
        memcpy(EE_Parameter.Name, "Easy", 4);
1944 holgerb 344
        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
345
}
346
 
347
 
348
/***************************************************/
1622 killagreg 349
/*       Read Parameter from EEPROM as byte        */
350
/***************************************************/
351
uint8_t GetParamByte(uint16_t param_id)
352
{
353
        return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id));
354
}
355
 
356
/***************************************************/
357
/*       Write Parameter to EEPROM as byte         */
358
/***************************************************/
359
void SetParamByte(uint16_t param_id, uint8_t value)
360
{
361
        eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value);
362
}
363
 
364
/***************************************************/
365
/*       Read Parameter from EEPROM as word        */
366
/***************************************************/
367
uint16_t GetParamWord(uint16_t param_id)
368
{
369
        return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id));
370
}
371
 
372
/***************************************************/
373
/*       Write Parameter to EEPROM as word         */
374
/***************************************************/
375
void SetParamWord(uint16_t param_id, uint16_t value)
376
{
377
        eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value);
378
}
379
 
380
/***************************************************/
381
/*       Read Parameter Set from EEPROM            */
382
/***************************************************/
383
// number [1..5]
384
uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber)
385
{
386
        uint8_t crc;
387
        uint16_t eeaddr;
388
 
389
        // range the setnumber
390
        if((1 > setnumber) || (setnumber > 5)) setnumber = 3;
391
 
392
        // calculate eeprom addr
393
        eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1);
394
 
395
        // calculate checksum from eeprom
396
        crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1);
397
 
398
        // check crc
399
        if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0;
400
 
401
        // check revision
402
        if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0;
403
 
404
        // read paramset from eeprom
405
        eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN);
406
        LED_Init();
1925 holgerb 407
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
1921 holgerb 408
        LIBFC_HoTT_Clear();
1925 holgerb 409
#endif
1622 killagreg 410
        return 1;
411
}
412
 
413
/***************************************************/
414
/*        Write Parameter Set to EEPROM            */
415
/***************************************************/
416
// number [1..5]
417
uint8_t ParamSet_WriteToEEProm(uint8_t setnumber)
418
{
419
        uint8_t crc;
420
 
421
        if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom
422
        {
423
                if(setnumber > 5) setnumber = 5;
424
                if(setnumber < 1) return 0;
1916 holgerb 425
        LIBFC_CheckSettings();
2028 holgerb 426
                if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE)         // check the Setting: Not more than 100% emergency gas
427
                        {
428
                         if(EE_Parameter.NotGas > 99) EE_Parameter.NotGas = 80; // i.e. 80% of Hovergas
429
                        }
1622 killagreg 430
                // update checksum
431
                EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
432
 
433
                // write paramset to eeprom
434
                eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN);
435
 
436
                // backup channel settings to separate block in eeprom
437
                eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));
438
 
439
                // write crc of channel block to eeprom
440
                crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung));
441
                eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc);
442
 
443
                // update active settings number
444
                SetActiveParamSet(setnumber);
445
                LED_Init();
1925 holgerb 446
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
1921 holgerb 447
                LIBFC_HoTT_Clear();
1925 holgerb 448
#endif
1622 killagreg 449
                return 1;
450
        }
451
        // wrong revision
452
        return 0;
453
}
454
 
455
/***************************************************/
456
/*          Read MixerTable from EEPROM            */
457
/***************************************************/
458
uint8_t MixerTable_ReadFromEEProm(void)
459
{
460
        uint8_t crc;
461
 
462
        // calculate checksum in eeprom
463
        crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1);
464
 
465
        // check crc
466
        if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0;
467
 
468
        // check revision
469
        if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0;
470
 
471
        // read mixer table
472
        eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer));
473
        return 1;
474
}
475
 
476
/***************************************************/
477
/*          Write Mixer Table to EEPROM            */
478
/***************************************************/
479
uint8_t MixerTable_WriteToEEProm(void)
480
{
481
        if(Mixer.Revision == EEMIXER_REVISION)
482
        {
483
                // update crc
484
                Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1);
485
 
486
                // write to eeprom
487
                eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer));
488
                return 1;
489
        }
490
        else return 0;
491
}
492
 
493
/***************************************************/
494
/*    Default Values for Mixer Table               */
495
/***************************************************/
496
void MixerTable_Default(void) // Quadro
497
{
498
        uint8_t i;
499
 
500
        Mixer.Revision = EEMIXER_REVISION;
501
        // clear mixer table
502
        for(i = 0; i < 16; i++)
503
        {
504
                Mixer.Motor[i][MIX_GAS]  = 0;
505
                Mixer.Motor[i][MIX_NICK] = 0;
506
                Mixer.Motor[i][MIX_ROLL] = 0;
507
                Mixer.Motor[i][MIX_YAW]  = 0;
508
        }
509
        // default = Quadro
510
        Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] =   0; Mixer.Motor[0][MIX_YAW] = +64;
511
        Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] =   0; Mixer.Motor[1][MIX_YAW] = +64;
512
        Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] =   0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64;
513
        Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] =   0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64;
2266 holgerb 514
        memcpy(Mixer.Name, "Quadro\0\0\0\0\0\0", 12);
2008 holgerb 515
        Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1);
1622 killagreg 516
}
517
 
518
/***************************************************/
519
/*       Get active parameter set                  */
520
/***************************************************/
521
uint8_t GetActiveParamSet(void)
522
{
523
        uint8_t setnumber;
524
        setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET));
525
        if(setnumber > 5)
526
        {
527
                setnumber = 3;
528
                eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber);
529
        }
2331 holgerb 530
        ActiveParamSet = setnumber;
1622 killagreg 531
        return(setnumber);
532
}
533
 
534
/***************************************************/
535
/*       Set active parameter set                  */
536
/***************************************************/
537
void SetActiveParamSet(uint8_t setnumber)
538
{
539
        if(setnumber > 5) setnumber = 5;
540
        if(setnumber < 1) setnumber = 1;
2331 holgerb 541
        ActiveParamSet = setnumber;
1622 killagreg 542
        eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber);
543
}
544
 
545
/***************************************************/
1761 killagreg 546
/*       Set default parameter set                 */
547
/***************************************************/
548
void SetDefaultParameter(uint8_t set, uint8_t restore_channels)
549
{
550
 
551
        if(set > 5) set = 5;
552
        else if(set < 1) set = 1;
553
 
554
        switch(set)
555
        {
556
                case 1:
557
                        ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport)
558
                        break;
559
                case 2:
560
                        ParamSet_DefaultSet2(); // Kamera
561
                        break;
562
                case 3:
563
                        ParamSet_DefaultSet3(); // Beginner
564
                        break;
565
                default:
566
                        ParamSet_DefaultSet3(); // Beginner
567
                        break;
568
        }
569
        if(restore_channels)
570
        {
571
                uint8_t crc;
572
                // 1st check for a valid channel backup in eeprom
573
                crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung));
574
                if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) )
575
                {
576
                        eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));
577
                }
578
                else ParamSet_DefaultStickMapping();
579
        }
580
        else ParamSet_DefaultStickMapping();
581
        ParamSet_WriteToEEProm(set);
582
}
583
 
584
/***************************************************/
1622 killagreg 585
/*       Initialize EEPROM Parameter Sets          */
586
/***************************************************/
587
void ParamSet_Init(void)
588
{
589
        uint8_t channel_backup  = 0, bad_params = 0, ee_default = 0,i;
2336 holgerb 590
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
591
        if(PlatinenVersion != GetParamByte(PID_HARDWARE_VERSION))
592
         {
593
          if(PlatinenVersion == 22 && GetParamByte(PID_HARDWARE_VERSION) == 21 && !(PIND & 0x10)) SetParamByte(PID_EE_REVISION,0); // reset the Settings if the Version changed to V2.2
594
          SetParamByte(PID_HARDWARE_VERSION,PlatinenVersion); // Remember the Version number
595
          wdt_enable(WDTO_15MS); // Reset-Commando
596
          printf("\n\r--> Hardware Version Byte Changed <--");
597
          while(1);
598
         }
599
#endif
2323 holgerb 600
        if((EEPARAM_REVISION) != GetParamByte(PID_EE_REVISION))  
1622 killagreg 601
        {
602
                ee_default = 1; // software update or forced by mktool
603
        }
604
        // 1st check for a valid channel backup in eeprom
605
        i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung));
2318 holgerb 606
        if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)))) channel_backup = 1;
1622 killagreg 607
 
608
        // parameter check
609
 
610
        // check all 5 parameter settings
611
        for (i = 1;i < 6; i++)
612
        {
613
                if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom
614
                {
615
                        bad_params = 1;
616
                        printf("\n\rGenerating default Parameter Set %d",i);
617
                        switch(i)
618
                        {
619
                                case 1:
620
                                        ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport)
621
                                        break;
622
                                case 2:
2344 holgerb 623
                                        ParamSet_DefaultSet2(); // Normal
1622 killagreg 624
                                        break;
625
                                default:
2344 holgerb 626
                                        ParamSet_DefaultSet3(); // Easy
1622 killagreg 627
                                        break;
628
                        }
629
                        if(channel_backup) // if we have an channel mapping backup in eeprom
630
                        {       // restore it from eeprom
631
                                eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));
632
                        }
633
                        else
634
                        {       // use default mapping
635
                                ParamSet_DefaultStickMapping();
636
                        }
637
                        ParamSet_WriteToEEProm(i);
638
                }
639
        }
640
        if(bad_params) // at least one of the parameter settings were invalid
641
        {
642
                // default-Setting is parameter set 3
643
                SetActiveParamSet(3);
644
        }
645
        // read active parameter set to ParamSet stucture
646
        i = GetActiveParamSet();
647
        ParamSet_ReadFromEEProm(i);
648
        printf("\n\rUsing Parameter Set %d", i);
649
 
650
        // load mixer table
1931 holgerb 651
        if(GetParamByte(PID_EE_REVISION) == 0xff || !MixerTable_ReadFromEEProm() )
1622 killagreg 652
        {
653
                printf("\n\rGenerating default Mixer Table");
654
                MixerTable_Default(); // Quadro
655
                MixerTable_WriteToEEProm();
656
        }
2323 holgerb 657
        if(ee_default)  SetParamByte(PID_EE_REVISION, (EEPARAM_REVISION));
1622 killagreg 658
        // determine motornumber
659
        RequiredMotors = 0;
660
        for(i = 0; i < 16; i++)
661
        {
662
                if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++;
663
        }
664
 
665
        printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors);
2030 holgerb 666
 PrintLine();// ("\n\r===================================");
667
 
1622 killagreg 668
}