Rev 1927 | Go to most recent revision | Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1910 | - | 1 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Contant Values |
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| 3 | // + 0-250 -> normale Values |
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| 4 | // + 251 -> Poti1 |
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| 5 | // + 252 -> Poti2 |
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| 6 | // + 253 -> Poti3 |
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| 7 | // + 254 -> Poti4 |
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| 8 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 9 | |||
| 10 | #ifndef EEMEM |
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| 11 | #define EEMEM __attribute__ ((section (".eeprom"))) |
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| 12 | #endif |
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| 13 | |||
| 14 | #include <avr/eeprom.h> |
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| 15 | #include <string.h> |
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| 16 | #include "eeprom.h" |
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| 17 | #include "output.h" |
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| 18 | // TODO: Get rid of these. They have nothing to do with eeprom. |
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| 19 | #include "flight.h" |
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| 20 | #include "rc.h" |
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| 21 | #include "sensors.h" |
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| 22 | |||
| 23 | // byte array in eeprom |
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| 24 | uint8_t EEPromArray[E2END + 1] EEMEM; |
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| 25 | |||
| 26 | paramset_t staticParams; |
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| 27 | MixerTable_t Mixer; |
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| 28 | |||
| 29 | /* |
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| 30 | * Default for your own experiments here, so you don't have to reset them |
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| 31 | * from MK-Tool all the time. |
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| 32 | */ |
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| 33 | void setDefaultUserParams(void) { |
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| 34 | uint8_t i; |
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| 35 | for (i = 0; i < sizeof(staticParams.UserParams1); i++) { |
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| 36 | staticParams.UserParams1[i] = 0; |
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| 37 | } |
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| 38 | for (i = 0; i < sizeof(staticParams.UserParams2); i++) { |
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| 39 | staticParams.UserParams2[i] = 0; |
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| 40 | } |
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| 41 | /* |
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| 42 | * While we are still using userparams for flight parameters, do set |
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| 43 | * some safe & meaningful default values. |
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| 44 | */ |
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| 45 | staticParams.UserParams2[0] = 0xd5; //0b11010101; // All gyro filter constants 2; acc. 4 |
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| 46 | staticParams.UserParams2[1] = 0; // H&I motor smoothing. |
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| 47 | staticParams.UserParams2[2] = 120; // Yaw I factor |
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| 48 | staticParams.UserParams2[3] = 100; // Max Z acceleration for acc. correction of angles. |
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| 49 | } |
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| 50 | |||
| 51 | void setOtherDefaults(void) { |
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| 52 | /* Channel assignments were changed to the normal: |
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| 53 | * Aileron/roll=1, elevator/pitch=2, throttle=3, yaw/rudder=4 |
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| 54 | */ |
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| 55 | staticParams.ChannelAssignment[CH_ELEVATOR] = 2; |
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| 56 | staticParams.ChannelAssignment[CH_AILERONS] = 1; |
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| 57 | staticParams.ChannelAssignment[CH_THROTTLE] = 3; |
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| 58 | staticParams.ChannelAssignment[CH_RUDDER] = 4; |
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| 59 | staticParams.ChannelAssignment[CH_POTS + 0] = 5; |
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| 60 | staticParams.ChannelAssignment[CH_POTS + 1] = 6; |
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| 61 | staticParams.ChannelAssignment[CH_POTS + 2] = 7; |
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| 62 | staticParams.ChannelAssignment[CH_POTS + 3] = 8; |
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| 63 | staticParams.GlobalConfig = /* CFG_AXIS_COUPLING_ACTIVE | */ CFG_HEADING_HOLD; // CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
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| 64 | staticParams.HeightMinGas = 30; |
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| 65 | staticParams.MaxHeight = 251; |
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| 66 | staticParams.HeightP = 10; |
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| 67 | staticParams.HeightD = 30; |
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| 68 | staticParams.Height_ACC_Effect = 30; |
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| 69 | staticParams.Height_Gain = 4; |
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| 70 | staticParams.CompassYawEffect = 128; |
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| 71 | |||
| 72 | staticParams.GyroPitchP = 0; |
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| 73 | staticParams.GyroRollP = 0; |
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| 74 | staticParams.GyroYawP = 0; |
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| 75 | |||
| 76 | staticParams.GyroPitchD = 0; |
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| 77 | staticParams.GyroRollD = 0; |
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| 78 | staticParams.GyroYawD = 0; |
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| 79 | |||
| 80 | staticParams.StickElevatorP = 10; |
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| 81 | staticParams.StickAileronsP = 10; |
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| 82 | staticParams.StickRudderP = 10; |
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| 83 | |||
| 84 | staticParams.LowVoltageWarning = 105; |
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| 85 | staticParams.IFactor = 32; |
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| 86 | staticParams.ServoRefresh = 7; |
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| 87 | staticParams.BitConfig = 0; |
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| 88 | staticParams.J16Bitmask = 95; |
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| 89 | staticParams.J17Bitmask = 243; |
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| 90 | staticParams.J16Timing = 15; |
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| 91 | staticParams.J17Timing = 15; |
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| 92 | |||
| 93 | staticParams.ControlSigns = 2; |
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| 94 | } |
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| 95 | |||
| 96 | /***************************************************/ |
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| 97 | /* Default Values for parameter set 1 */ |
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| 98 | /***************************************************/ |
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| 99 | void ParamSet_DefaultSet1(void) { // sport |
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| 100 | setOtherDefaults(); |
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| 101 | gyro_setDefaults(); |
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| 102 | setDefaultUserParams(); |
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| 103 | staticParams.J16Timing = 10; |
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| 104 | staticParams.J17Timing = 10; |
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| 105 | memcpy(staticParams.Name, "Sport\0", 6); |
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| 106 | } |
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| 107 | |||
| 108 | /***************************************************/ |
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| 109 | /* Default Values for parameter set 2 */ |
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| 110 | /***************************************************/ |
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| 111 | void ParamSet_DefaultSet2(void) { // normal |
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| 112 | setOtherDefaults(); |
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| 113 | gyro_setDefaults(); |
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| 114 | setDefaultUserParams(); |
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| 115 | staticParams.Height_Gain = 3; |
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| 116 | staticParams.J16Timing = 20; |
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| 117 | staticParams.J17Timing = 20; |
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| 118 | memcpy(staticParams.Name, "Normal\0", 7); |
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| 119 | } |
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| 120 | |||
| 121 | /***************************************************/ |
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| 122 | /* Default Values for parameter set 3 */ |
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| 123 | /***************************************************/ |
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| 124 | void ParamSet_DefaultSet3(void) { // beginner |
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| 125 | setOtherDefaults(); |
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| 126 | gyro_setDefaults(); |
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| 127 | setDefaultUserParams(); |
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| 128 | staticParams.Height_Gain = 3; |
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| 129 | staticParams.J16Timing = 30; |
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| 130 | staticParams.J17Timing = 30; |
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| 131 | memcpy(staticParams.Name, "Beginner\0", 9); |
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| 132 | } |
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| 133 | |||
| 134 | /***************************************************/ |
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| 135 | /* Read Parameter from EEPROM as byte */ |
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| 136 | /***************************************************/ |
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| 137 | uint8_t GetParamByte(uint16_t param_id) { |
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| 138 | return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
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| 139 | } |
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| 140 | |||
| 141 | /***************************************************/ |
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| 142 | /* Write Parameter to EEPROM as byte */ |
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| 143 | /***************************************************/ |
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| 144 | void SetParamByte(uint16_t param_id, uint8_t value) { |
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| 145 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
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| 146 | } |
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| 147 | |||
| 148 | /***************************************************/ |
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| 149 | /* Read Parameter from EEPROM as word */ |
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| 150 | /***************************************************/ |
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| 151 | uint16_t GetParamWord(uint16_t param_id) { |
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| 152 | return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN |
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| 153 | + param_id]); |
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| 154 | } |
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| 155 | |||
| 156 | /***************************************************/ |
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| 157 | /* Write Parameter to EEPROM as word */ |
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| 158 | /***************************************************/ |
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| 159 | void SetParamWord(uint16_t param_id, uint16_t value) { |
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| 160 | eeprom_write_word( |
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| 161 | (uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
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| 162 | } |
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| 163 | |||
| 164 | /***************************************************/ |
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| 165 | /* Read Parameter Set from EEPROM */ |
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| 166 | /***************************************************/ |
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| 167 | // number [1..5] |
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| 168 | void ParamSet_ReadFromEEProm(uint8_t setnumber) { |
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| 169 | if ((1 > setnumber) || (setnumber > 5)) |
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| 170 | setnumber = 3; |
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| 171 | eeprom_read_block((uint8_t *) &staticParams.ChannelAssignment[0], |
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| 172 | &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber |
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| 173 | - 1)], PARAMSET_STRUCT_LEN); |
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| 174 | output_init(); |
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| 175 | } |
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| 176 | |||
| 177 | /***************************************************/ |
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| 178 | /* Write Parameter Set to EEPROM */ |
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| 179 | /***************************************************/ |
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| 180 | // number [1..5] |
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| 181 | void ParamSet_WriteToEEProm(uint8_t setnumber) { |
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| 182 | if (setnumber > 5) |
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| 183 | setnumber = 5; |
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| 184 | if (setnumber < 1) |
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| 185 | return; |
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| 186 | eeprom_write_block((uint8_t *) &staticParams.ChannelAssignment[0], |
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| 187 | &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber |
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| 188 | - 1)], PARAMSET_STRUCT_LEN); |
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| 189 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH], |
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| 190 | PARAMSET_STRUCT_LEN); |
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| 191 | eeprom_write_block(&staticParams.ChannelAssignment[0], |
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| 192 | &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping |
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| 193 | // set this parameter set to active set |
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| 194 | setActiveParamSet(setnumber); |
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| 195 | output_init(); |
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| 196 | } |
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| 197 | |||
| 198 | /***************************************************/ |
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| 199 | /* Get active parameter set */ |
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| 200 | /***************************************************/ |
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| 201 | uint8_t getActiveParamSet(void) { |
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| 202 | uint8_t setnumber; |
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| 203 | setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
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| 204 | if (setnumber > 5) { |
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| 205 | setnumber = 3; |
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| 206 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
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| 207 | } |
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| 208 | return (setnumber); |
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| 209 | } |
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| 210 | |||
| 211 | /***************************************************/ |
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| 212 | /* Set active parameter set */ |
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| 213 | /***************************************************/ |
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| 214 | void setActiveParamSet(uint8_t setnumber) { |
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| 215 | if (setnumber > 5) |
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| 216 | setnumber = 5; |
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| 217 | if (setnumber < 1) |
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| 218 | setnumber = 1; |
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| 219 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
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| 220 | } |
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| 221 | |||
| 222 | /***************************************************/ |
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| 223 | /* Read MixerTable from EEPROM */ |
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| 224 | /***************************************************/ |
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| 225 | uint8_t MixerTable_ReadFromEEProm(void) { |
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| 226 | if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) |
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| 227 | == EEMIXER_REVISION) { |
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| 228 | eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], |
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| 229 | sizeof(Mixer)); |
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| 230 | return 1; |
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| 231 | } else |
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| 232 | return 0; |
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| 233 | } |
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| 234 | |||
| 235 | /***************************************************/ |
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| 236 | /* Write Mixer Table to EEPROM */ |
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| 237 | /***************************************************/ |
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| 238 | uint8_t MixerTable_WriteToEEProm(void) { |
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| 239 | if (Mixer.Revision == EEMIXER_REVISION) { |
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| 240 | eeprom_write_block((uint8_t *) &Mixer, |
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| 241 | &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
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| 242 | return 1; |
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| 243 | } else |
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| 244 | return 0; |
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| 245 | } |
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| 246 | |||
| 247 | /***************************************************/ |
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| 248 | /* Default Values for Mixer Table */ |
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| 249 | /***************************************************/ |
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| 250 | void MixerTable_Default(void) { // Quadro |
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| 251 | uint8_t i; |
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| 252 | Mixer.Revision = EEMIXER_REVISION; |
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| 253 | // clear mixer table (but preset throttle) |
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| 254 | for (i = 0; i < 16; i++) { |
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| 255 | Mixer.Motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
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| 256 | Mixer.Motor[i][MIX_PITCH] = 0; |
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| 257 | Mixer.Motor[i][MIX_ROLL] = 0; |
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| 258 | Mixer.Motor[i][MIX_YAW] = 0; |
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| 259 | } |
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| 260 | // default = Quadro |
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| 261 | Mixer.Motor[0][MIX_PITCH] = +64; |
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| 262 | Mixer.Motor[0][MIX_YAW] = +64; |
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| 263 | Mixer.Motor[1][MIX_PITCH] = -64; |
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| 264 | Mixer.Motor[1][MIX_YAW] = +64; |
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| 265 | Mixer.Motor[2][MIX_ROLL] = -64; |
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| 266 | Mixer.Motor[2][MIX_YAW] = -64; |
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| 267 | Mixer.Motor[3][MIX_ROLL] = +64; |
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| 268 | Mixer.Motor[3][MIX_YAW] = -64; |
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| 269 | memcpy(Mixer.Name, "Quadro\0", 7); |
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| 270 | } |
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| 271 | |||
| 272 | /***************************************************/ |
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| 273 | /* Initialize EEPROM Parameter Sets */ |
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| 274 | /***************************************************/ |
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| 275 | void ParamSet_Init(void) { |
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| 276 | uint8_t Channel_Backup = 1, i, j; |
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| 277 | // parameter version check |
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| 278 | if (eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) { |
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| 279 | // if version check faild |
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| 280 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table |
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| 281 | // check if channel mapping backup is valid |
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| 282 | for (j = 0; j < 4 && Channel_Backup; j++) { |
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| 283 | if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS + 0]) >= 12) |
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| 284 | Channel_Backup = 0; |
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| 285 | } |
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| 286 | // fill all 5 parameter settings |
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| 287 | for (i = 1; i < 6; i++) { |
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| 288 | switch (i) { |
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| 289 | case 1: |
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| 290 | ParamSet_DefaultSet1(); // Fill staticParams Structure to default parameter set 1 (Sport) |
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| 291 | break; |
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| 292 | case 2: |
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| 293 | ParamSet_DefaultSet2(); // Kamera |
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| 294 | break; |
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| 295 | case 3: |
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| 296 | ParamSet_DefaultSet3(); // Beginner |
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| 297 | break; |
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| 298 | default: |
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| 299 | ParamSet_DefaultSet2(); // Kamera |
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| 300 | break; |
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| 301 | } |
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| 302 | if (Channel_Backup) { // if we have a rc channel mapping backup in eeprom |
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| 303 | // restore it |
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| 304 | for (j = 0; j < 8; j++) { |
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| 305 | staticParams.ChannelAssignment[j] = eeprom_read_byte( |
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| 306 | &EEPromArray[EEPROM_ADR_CHANNELS + j]); |
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| 307 | } |
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| 308 | } |
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| 309 | ParamSet_WriteToEEProm(i); |
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| 310 | } |
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| 311 | // default-Setting is parameter set 3 |
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| 312 | setActiveParamSet(1); |
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| 313 | // update version info |
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| 314 | SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION); |
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| 315 | } |
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| 316 | // read active parameter set to staticParams stucture |
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| 317 | ParamSet_ReadFromEEProm(getActiveParamSet()); |
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| 318 | } |