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| 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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| 1927 | - | 35 | for (i = 0; i < sizeof(staticParams.UserParams); i++) { |
| 36 | staticParams.UserParams[i] = 0; |
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| 1910 | - | 37 | } |
| 38 | /* |
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| 39 | * While we are still using userparams for flight parameters, do set |
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| 40 | * some safe & meaningful default values. |
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| 41 | */ |
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| 42 | } |
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| 43 | |||
| 44 | void setOtherDefaults(void) { |
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| 45 | /* Channel assignments were changed to the normal: |
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| 46 | * Aileron/roll=1, elevator/pitch=2, throttle=3, yaw/rudder=4 |
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| 47 | */ |
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| 48 | staticParams.ChannelAssignment[CH_ELEVATOR] = 2; |
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| 49 | staticParams.ChannelAssignment[CH_AILERONS] = 1; |
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| 50 | staticParams.ChannelAssignment[CH_THROTTLE] = 3; |
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| 51 | staticParams.ChannelAssignment[CH_RUDDER] = 4; |
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| 52 | staticParams.ChannelAssignment[CH_POTS + 0] = 5; |
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| 53 | staticParams.ChannelAssignment[CH_POTS + 1] = 6; |
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| 54 | staticParams.ChannelAssignment[CH_POTS + 2] = 7; |
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| 55 | staticParams.ChannelAssignment[CH_POTS + 3] = 8; |
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| 56 | 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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| 57 | staticParams.HeightMinGas = 30; |
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| 58 | staticParams.MaxHeight = 251; |
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| 59 | staticParams.HeightP = 10; |
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| 60 | staticParams.HeightD = 30; |
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| 61 | staticParams.Height_ACC_Effect = 30; |
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| 62 | staticParams.Height_Gain = 4; |
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| 63 | staticParams.CompassYawEffect = 128; |
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| 64 | |||
| 65 | staticParams.GyroPitchP = 0; |
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| 66 | staticParams.GyroRollP = 0; |
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| 67 | staticParams.GyroYawP = 0; |
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| 68 | |||
| 69 | staticParams.GyroPitchD = 0; |
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| 70 | staticParams.GyroRollD = 0; |
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| 71 | staticParams.GyroYawD = 0; |
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| 72 | |||
| 73 | staticParams.StickElevatorP = 10; |
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| 74 | staticParams.StickAileronsP = 10; |
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| 75 | staticParams.StickRudderP = 10; |
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| 76 | |||
| 77 | staticParams.LowVoltageWarning = 105; |
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| 78 | staticParams.ServoRefresh = 7; |
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| 79 | staticParams.BitConfig = 0; |
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| 80 | staticParams.J16Bitmask = 95; |
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| 81 | staticParams.J17Bitmask = 243; |
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| 82 | staticParams.J16Timing = 15; |
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| 83 | staticParams.J17Timing = 15; |
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| 84 | staticParams.ControlSigns = 2; |
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| 85 | } |
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| 86 | |||
| 1927 | - | 87 | void setDefaults(void) { |
| 1910 | - | 88 | setOtherDefaults(); |
| 89 | gyro_setDefaults(); |
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| 90 | setDefaultUserParams(); |
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| 91 | staticParams.J16Timing = 10; |
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| 92 | staticParams.J17Timing = 10; |
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| 93 | } |
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| 94 | |||
| 95 | /***************************************************/ |
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| 96 | /* Read Parameter from EEPROM as byte */ |
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| 97 | /***************************************************/ |
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| 98 | uint8_t GetParamByte(uint16_t param_id) { |
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| 99 | return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
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| 100 | } |
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| 101 | |||
| 102 | /***************************************************/ |
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| 103 | /* Write Parameter to EEPROM as byte */ |
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| 104 | /***************************************************/ |
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| 105 | void SetParamByte(uint16_t param_id, uint8_t value) { |
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| 106 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
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| 107 | } |
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| 108 | |||
| 109 | /***************************************************/ |
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| 110 | /* Read Parameter from EEPROM as word */ |
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| 111 | /***************************************************/ |
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| 112 | uint16_t GetParamWord(uint16_t param_id) { |
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| 113 | return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN |
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| 114 | + param_id]); |
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| 115 | } |
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| 116 | |||
| 117 | /***************************************************/ |
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| 118 | /* Write Parameter to EEPROM as word */ |
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| 119 | /***************************************************/ |
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| 120 | void SetParamWord(uint16_t param_id, uint16_t value) { |
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| 121 | eeprom_write_word( |
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| 122 | (uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
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| 123 | } |
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| 124 | |||
| 125 | /***************************************************/ |
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| 126 | /* Read Parameter Set from EEPROM */ |
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| 127 | /***************************************************/ |
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| 128 | // number [1..5] |
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| 1927 | - | 129 | void ParamSet_ReadFromEEProm() { |
| 1910 | - | 130 | eeprom_read_block((uint8_t *) &staticParams.ChannelAssignment[0], |
| 1927 | - | 131 | &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN], PARAMSET_STRUCT_LEN); |
| 1910 | - | 132 | output_init(); |
| 133 | } |
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| 134 | |||
| 135 | /***************************************************/ |
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| 136 | /* Write Parameter Set to EEPROM */ |
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| 137 | /***************************************************/ |
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| 138 | // number [1..5] |
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| 1927 | - | 139 | void ParamSet_WriteToEEProm() { |
| 1910 | - | 140 | eeprom_write_block((uint8_t *) &staticParams.ChannelAssignment[0], |
| 1927 | - | 141 | &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN], PARAMSET_STRUCT_LEN); |
| 1910 | - | 142 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH], |
| 143 | PARAMSET_STRUCT_LEN); |
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| 144 | eeprom_write_block(&staticParams.ChannelAssignment[0], |
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| 145 | &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping |
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| 146 | // set this parameter set to active set |
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| 147 | output_init(); |
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| 148 | } |
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| 149 | |||
| 150 | /***************************************************/ |
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| 151 | /* Get active parameter set */ |
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| 152 | /***************************************************/ |
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| 153 | uint8_t getActiveParamSet(void) { |
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| 154 | uint8_t setnumber; |
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| 155 | setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
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| 156 | if (setnumber > 5) { |
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| 157 | setnumber = 3; |
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| 158 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
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| 159 | } |
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| 160 | return (setnumber); |
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| 161 | } |
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| 162 | |||
| 163 | /***************************************************/ |
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| 164 | /* Read MixerTable from EEPROM */ |
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| 165 | /***************************************************/ |
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| 166 | uint8_t MixerTable_ReadFromEEProm(void) { |
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| 167 | if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) |
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| 168 | == EEMIXER_REVISION) { |
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| 169 | eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], |
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| 170 | sizeof(Mixer)); |
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| 171 | return 1; |
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| 172 | } else |
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| 173 | return 0; |
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| 174 | } |
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| 175 | |||
| 176 | /***************************************************/ |
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| 177 | /* Write Mixer Table to EEPROM */ |
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| 178 | /***************************************************/ |
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| 179 | uint8_t MixerTable_WriteToEEProm(void) { |
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| 180 | if (Mixer.Revision == EEMIXER_REVISION) { |
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| 181 | eeprom_write_block((uint8_t *) &Mixer, |
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| 182 | &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
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| 183 | return 1; |
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| 184 | } else |
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| 185 | return 0; |
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| 186 | } |
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| 187 | |||
| 188 | /***************************************************/ |
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| 189 | /* Default Values for Mixer Table */ |
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| 190 | /***************************************************/ |
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| 191 | void MixerTable_Default(void) { // Quadro |
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| 192 | uint8_t i; |
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| 193 | Mixer.Revision = EEMIXER_REVISION; |
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| 194 | // clear mixer table (but preset throttle) |
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| 195 | for (i = 0; i < 16; i++) { |
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| 196 | Mixer.Motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
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| 197 | Mixer.Motor[i][MIX_PITCH] = 0; |
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| 198 | Mixer.Motor[i][MIX_ROLL] = 0; |
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| 199 | Mixer.Motor[i][MIX_YAW] = 0; |
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| 200 | } |
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| 201 | // default = Quadro |
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| 202 | Mixer.Motor[0][MIX_PITCH] = +64; |
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| 203 | Mixer.Motor[0][MIX_YAW] = +64; |
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| 204 | Mixer.Motor[1][MIX_PITCH] = -64; |
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| 205 | Mixer.Motor[1][MIX_YAW] = +64; |
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| 206 | Mixer.Motor[2][MIX_ROLL] = -64; |
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| 207 | Mixer.Motor[2][MIX_YAW] = -64; |
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| 208 | Mixer.Motor[3][MIX_ROLL] = +64; |
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| 209 | Mixer.Motor[3][MIX_YAW] = -64; |
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| 210 | memcpy(Mixer.Name, "Quadro\0", 7); |
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| 211 | } |
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| 212 | |||
| 213 | /***************************************************/ |
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| 214 | /* Initialize EEPROM Parameter Sets */ |
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| 215 | /***************************************************/ |
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| 216 | void ParamSet_Init(void) { |
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| 1927 | - | 217 | uint8_t Channel_Backup = 1, j; |
| 1910 | - | 218 | // parameter version check |
| 219 | if (eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) { |
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| 220 | // if version check faild |
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| 221 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table |
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| 222 | // check if channel mapping backup is valid |
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| 223 | for (j = 0; j < 4 && Channel_Backup; j++) { |
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| 224 | if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS + 0]) >= 12) |
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| 225 | Channel_Backup = 0; |
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| 226 | } |
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| 227 | // fill all 5 parameter settings |
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| 1927 | - | 228 | |
| 229 | setDefaults(); // Fill staticParams Structure to default parameter set 1 (Sport) |
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| 230 | |||
| 231 | if (Channel_Backup) { // if we have a rc channel mapping backup in eeprom |
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| 232 | // restore it |
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| 233 | for (j = 0; j < 8; j++) { |
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| 234 | staticParams.ChannelAssignment[j] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS + j]); |
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| 235 | } |
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| 236 | } |
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| 237 | |||
| 238 | ParamSet_WriteToEEProm(); |
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| 239 | |||
| 1910 | - | 240 | // update version info |
| 241 | SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION); |
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| 242 | } |
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| 243 | // read active parameter set to staticParams stucture |
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| 1927 | - | 244 | ParamSet_ReadFromEEProm(); |
| 1910 | - | 245 | } |