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