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1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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1614 | dongfang | 3 | // + Nur f�r den privaten Gebrauch |
1612 | dongfang | 4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1614 | dongfang | 6 | // + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist. |
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1612 | dongfang | 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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1614 | dongfang | 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
1612 | dongfang | 11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1614 | dongfang | 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen |
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1612 | dongfang | 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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1614 | dongfang | 17 | // + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
1612 | dongfang | 18 | // + eindeutig als Ursprung verlinkt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1614 | dongfang | 20 | // + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion |
1612 | dongfang | 21 | // + Benutzung auf eigene Gefahr |
1614 | dongfang | 22 | // + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
1612 | dongfang | 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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1614 | dongfang | 25 | // + mit unserer Zustimmung zul�ssig |
1612 | dongfang | 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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30 | // + this list of conditions and the following disclaimer. |
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31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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32 | // + from this software without specific prior written permission. |
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33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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34 | // + for non-commercial use (directly or indirectly) |
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35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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36 | // + with our written permission |
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37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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38 | // + clearly linked as origin |
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39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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49 | // + POSSIBILITY OF SUCH DAMAGE. |
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50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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51 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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52 | // + Contant Values |
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53 | // + 0-250 -> normale Values |
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54 | // + 251 -> Poti1 |
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55 | // + 252 -> Poti2 |
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56 | // + 253 -> Poti3 |
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57 | // + 254 -> Poti4 |
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58 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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59 | |||
60 | #ifndef EEMEM |
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61 | #define EEMEM __attribute__ ((section (".eeprom"))) |
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62 | #endif |
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63 | |||
64 | #include <avr/eeprom.h> |
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65 | #include <string.h> |
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66 | #include "eeprom.h" |
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67 | #include "printf_P.h" |
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68 | #include "output.h" |
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69 | // TODO: Get rid of these. They have nothing to do with eeprom. |
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70 | #include "flight.h" |
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71 | #include "rc.h" |
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72 | #include "sensors.h" |
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73 | |||
74 | // byte array in eeprom |
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75 | uint8_t EEPromArray[E2END+1] EEMEM; |
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76 | |||
77 | paramset_t staticParams; |
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78 | MixerTable_t Mixer; |
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79 | |||
80 | /* |
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81 | * Default for your own experiments here, so you don't have to reset them |
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82 | * from MK-Tool all the time. |
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83 | */ |
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84 | void setDefaultUserParams(void) { |
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85 | uint8_t i; |
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86 | for (i=0; i<sizeof(staticParams.UserParams1); i++) { |
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87 | staticParams.UserParams1[i] = 0; |
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88 | } |
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89 | for (i=0; i<sizeof(staticParams.UserParams2); i++) { |
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90 | staticParams.UserParams2[i] = 0; |
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91 | } |
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92 | } |
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93 | |||
94 | void setOtherDefaults(void) { |
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1614 | dongfang | 95 | /* Channel assignments were changed to the normal: |
96 | * Aileron/roll=1, elevator/pitch=2, throttle=3, yaw/rudder=4 |
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97 | */ |
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98 | staticParams.ChannelAssignment[CH_PITCH] = 2; |
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99 | staticParams.ChannelAssignment[CH_ROLL] = 1; |
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100 | staticParams.ChannelAssignment[CH_THROTTLE] = 3; |
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101 | staticParams.ChannelAssignment[CH_YAW] = 4; |
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102 | staticParams.ChannelAssignment[CH_POTS+0] = 5; |
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103 | staticParams.ChannelAssignment[CH_POTS+1] = 6; |
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104 | staticParams.ChannelAssignment[CH_POTS+2] = 7; |
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105 | staticParams.ChannelAssignment[CH_POTS+3] = 8; |
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1612 | dongfang | 106 | staticParams.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
107 | staticParams.HeightMinGas = 30; |
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108 | staticParams.MaxHeight = 251; |
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109 | staticParams.HeightP = 10; |
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110 | staticParams.HeightD = 30; |
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111 | staticParams.Height_ACC_Effect = 30; |
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112 | staticParams.Height_Gain = 4; |
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113 | staticParams.StickP = 12; |
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114 | staticParams.StickD = 16; |
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115 | staticParams.StickYawP = 12; |
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116 | staticParams.GasMin = 8; |
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117 | staticParams.GasMax = 230; |
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118 | staticParams.CompassYawEffect = 128; |
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119 | staticParams.GyroP = 80; |
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120 | staticParams.GyroI = 100; |
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121 | staticParams.LowVoltageWarning = 94; |
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122 | staticParams.EmergencyGas = 35; |
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123 | staticParams.EmergencyGasDuration = 30; |
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124 | staticParams.UfoArrangement = 0; |
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125 | staticParams.IFactor = 32; |
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126 | staticParams.ServoPitchControl = 100; |
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127 | staticParams.ServoPitchComp = 40; |
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128 | staticParams.ServoPitchCompInvert = 0; |
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129 | staticParams.ServoPitchMin = 50; |
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130 | staticParams.ServoPitchMax = 150; |
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131 | staticParams.ServoRefresh = 5; |
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132 | staticParams.LoopGasLimit = 50; |
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133 | staticParams.LoopThreshold = 90; |
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134 | staticParams.LoopHysteresis = 50; |
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135 | staticParams.BitConfig = 0; |
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136 | staticParams.AxisCoupling1 = 90; |
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137 | staticParams.AxisCoupling2 = 67; |
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138 | staticParams.AxisCouplingYawCorrection = 0; |
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139 | staticParams.GyroAccTrim = 2; |
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140 | staticParams.DynamicStability = 50; |
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141 | staticParams.J16Bitmask = 95; |
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142 | staticParams.J17Bitmask = 243; |
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143 | staticParams.J16Timing = 15; |
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144 | staticParams.J17Timing = 15; |
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145 | staticParams.NaviGpsModeControl = 253; |
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146 | staticParams.NaviGpsGain = 100; |
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147 | staticParams.NaviGpsP = 90; |
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148 | staticParams.NaviGpsI = 90; |
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149 | staticParams.NaviGpsD = 90; |
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150 | staticParams.NaviGpsPLimit = 75; |
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151 | staticParams.NaviGpsILimit = 75; |
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152 | staticParams.NaviGpsDLimit = 75; |
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153 | staticParams.NaviGpsACC = 0; |
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154 | staticParams.NaviGpsMinSat = 6; |
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155 | staticParams.NaviStickThreshold = 8; |
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156 | staticParams.NaviWindCorrection = 90; |
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157 | staticParams.NaviSpeedCompensation = 30; |
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158 | staticParams.NaviOperatingRadius = 100; |
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159 | staticParams.NaviAngleLimitation = 100; |
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160 | staticParams.NaviPHLoginTime = 4; |
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161 | } |
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162 | |||
163 | /***************************************************/ |
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164 | /* Default Values for parameter set 1 */ |
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165 | /***************************************************/ |
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166 | void ParamSet_DefaultSet1(void) { // sport |
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167 | gyro_setDefaults(); |
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168 | setDefaultUserParams(); |
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169 | setOtherDefaults(); |
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170 | memcpy(staticParams.Name, "Sport\0",6); |
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171 | } |
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172 | |||
173 | /***************************************************/ |
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174 | /* Default Values for parameter set 2 */ |
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175 | /***************************************************/ |
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176 | void ParamSet_DefaultSet2(void) { // normal |
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177 | gyro_setDefaults(); |
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178 | setDefaultUserParams(); |
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179 | setOtherDefaults(); |
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180 | staticParams.Height_Gain = 3; |
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181 | staticParams.GyroAccTrim = 32; |
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182 | staticParams.J16Timing = 20; |
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183 | staticParams.J17Timing = 20; |
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184 | memcpy(staticParams.Name, "Normal\0", 7); |
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185 | } |
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186 | |||
187 | /***************************************************/ |
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188 | /* Default Values for parameter set 3 */ |
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189 | /***************************************************/ |
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190 | void ParamSet_DefaultSet3(void) { // beginner |
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191 | gyro_setDefaults(); |
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192 | setDefaultUserParams(); |
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193 | setOtherDefaults(); |
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194 | staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE | CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
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195 | staticParams.Height_Gain = 3; |
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196 | staticParams.EmergencyGasDuration = 20; |
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197 | staticParams.AxisCouplingYawCorrection = 70; |
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198 | staticParams.GyroAccTrim = 32; |
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199 | staticParams.J16Timing = 30; |
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200 | staticParams.J17Timing = 30; |
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201 | memcpy(staticParams.Name, "Beginner\0", 9); |
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202 | } |
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203 | |||
204 | /***************************************************/ |
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205 | /* Read Parameter from EEPROM as byte */ |
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206 | /***************************************************/ |
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207 | uint8_t GetParamByte(uint16_t param_id) { |
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208 | return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
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209 | } |
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210 | |||
211 | /***************************************************/ |
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212 | /* Write Parameter to EEPROM as byte */ |
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213 | /***************************************************/ |
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214 | void SetParamByte(uint16_t param_id, uint8_t value) { |
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215 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
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216 | } |
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217 | |||
218 | /***************************************************/ |
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219 | /* Read Parameter from EEPROM as word */ |
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220 | /***************************************************/ |
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221 | uint16_t GetParamWord(uint16_t param_id) { |
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222 | return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
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223 | } |
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224 | |||
225 | /***************************************************/ |
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226 | /* Write Parameter to EEPROM as word */ |
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227 | /***************************************************/ |
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228 | void SetParamWord(uint16_t param_id, uint16_t value) { |
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229 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
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230 | } |
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231 | |||
232 | /***************************************************/ |
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233 | /* Read Parameter Set from EEPROM */ |
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234 | /***************************************************/ |
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235 | // number [1..5] |
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236 | void ParamSet_ReadFromEEProm(uint8_t setnumber) { |
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237 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
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238 | eeprom_read_block((uint8_t *) &staticParams.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN); |
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239 | output_init(); |
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240 | } |
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241 | |||
242 | /***************************************************/ |
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243 | /* Write Parameter Set to EEPROM */ |
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244 | /***************************************************/ |
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245 | // number [1..5] |
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246 | void ParamSet_WriteToEEProm(uint8_t setnumber) { |
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247 | if(setnumber > 5) setnumber = 5; |
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248 | if(setnumber < 1) return; |
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249 | eeprom_write_block((uint8_t *) &staticParams.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN); |
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250 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH], PARAMSET_STRUCT_LEN); |
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251 | eeprom_write_block( &staticParams.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping |
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252 | // set this parameter set to active set |
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253 | setActiveParamSet(setnumber); |
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254 | output_init(); |
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255 | } |
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256 | |||
257 | |||
258 | /***************************************************/ |
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259 | /* Get active parameter set */ |
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260 | /***************************************************/ |
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261 | uint8_t getActiveParamSet(void) { |
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262 | uint8_t setnumber; |
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263 | setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
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264 | if(setnumber > 5) { |
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265 | setnumber = 3; |
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266 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
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267 | } |
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268 | return(setnumber); |
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269 | } |
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270 | |||
271 | /***************************************************/ |
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272 | /* Set active parameter set */ |
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273 | /***************************************************/ |
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274 | void setActiveParamSet(uint8_t setnumber) { |
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275 | if(setnumber > 5) setnumber = 5; |
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276 | if(setnumber < 1) setnumber = 1; |
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277 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
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278 | } |
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279 | |||
280 | /***************************************************/ |
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281 | /* Read MixerTable from EEPROM */ |
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282 | /***************************************************/ |
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283 | uint8_t MixerTable_ReadFromEEProm(void) { |
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284 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == EEMIXER_REVISION) { |
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285 | eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
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286 | return 1; |
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287 | } |
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288 | else return 0; |
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289 | } |
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290 | |||
291 | /***************************************************/ |
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292 | /* Write Mixer Table to EEPROM */ |
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293 | /***************************************************/ |
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294 | uint8_t MixerTable_WriteToEEProm(void) { |
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295 | if(Mixer.Revision == EEMIXER_REVISION) { |
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296 | eeprom_write_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
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297 | return 1; |
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298 | } |
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299 | else return 0; |
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300 | } |
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301 | |||
302 | /***************************************************/ |
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303 | /* Default Values for Mixer Table */ |
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304 | /***************************************************/ |
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305 | void MixerTable_Default(void) { // Quadro |
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306 | uint8_t i; |
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307 | Mixer.Revision = EEMIXER_REVISION; |
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308 | // clear mixer table (but preset throttle) |
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309 | for(i = 0; i < 16; i++) { |
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310 | Mixer.Motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
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311 | Mixer.Motor[i][MIX_PITCH] = 0; |
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312 | Mixer.Motor[i][MIX_ROLL] = 0; |
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313 | Mixer.Motor[i][MIX_YAW] = 0; |
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314 | } |
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315 | // default = Quadro |
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316 | Mixer.Motor[0][MIX_PITCH] = +64; Mixer.Motor[0][MIX_YAW] = +64; |
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317 | Mixer.Motor[1][MIX_PITCH] = -64; Mixer.Motor[1][MIX_YAW] = +64; |
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318 | Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
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319 | Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
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320 | memcpy(Mixer.Name, "Quadro\0", 7); |
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321 | } |
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322 | |||
323 | /***************************************************/ |
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324 | /* Initialize EEPROM Parameter Sets */ |
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325 | /***************************************************/ |
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326 | void ParamSet_Init(void) { |
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327 | uint8_t Channel_Backup = 0, i; |
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328 | // parameter version check |
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329 | if(eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) { |
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330 | // if version check faild |
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331 | printf("\n\rInit Parameter in EEPROM"); |
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332 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table |
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333 | // check if channel mapping backup is valid |
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334 | if( (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]) < 12) |
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335 | && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12) |
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336 | && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12) |
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337 | && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12) |
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338 | ) |
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339 | { |
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340 | Channel_Backup = 1; |
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341 | } |
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342 | // fill all 5 parameter settings |
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343 | for (i=1; i<6; i++) { |
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344 | switch(i) { |
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345 | case 1: |
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346 | ParamSet_DefaultSet1(); // Fill staticParams Structure to default parameter set 1 (Sport) |
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347 | break; |
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348 | case 2: |
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349 | ParamSet_DefaultSet2(); // Kamera |
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350 | break; |
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351 | case 3: |
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352 | ParamSet_DefaultSet3(); // Beginner |
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353 | break; |
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354 | default: |
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355 | ParamSet_DefaultSet2(); // Kamera |
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356 | break; |
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357 | } |
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358 | if(Channel_Backup) { // if we have a rc channel mapping backup in eeprom |
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359 | // restore it |
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360 | staticParams.ChannelAssignment[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]); |
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361 | staticParams.ChannelAssignment[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]); |
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362 | staticParams.ChannelAssignment[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]); |
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363 | staticParams.ChannelAssignment[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]); |
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364 | staticParams.ChannelAssignment[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]); |
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365 | staticParams.ChannelAssignment[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]); |
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366 | staticParams.ChannelAssignment[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]); |
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367 | staticParams.ChannelAssignment[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]); |
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368 | } |
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369 | ParamSet_WriteToEEProm(i); |
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370 | } |
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371 | // default-Setting is parameter set 3 |
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372 | setActiveParamSet(1); |
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373 | // update version info |
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374 | SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION); |
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375 | } |
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376 | // read active parameter set to staticParams stucture |
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377 | ParamSet_ReadFromEEProm(getActiveParamSet()); |
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378 | printf("\n\rUsing Parameter Set %d", getActiveParamSet()); |
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379 | |||
380 | // load mixer table |
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381 | if(!MixerTable_ReadFromEEProm()) { |
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382 | printf("\n\rGenerating default Mixer Table"); |
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383 | MixerTable_Default(); // Quadro |
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384 | MixerTable_WriteToEEProm(); |
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385 | } |
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386 | // determine motornumber |
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387 | RequiredMotors = 0; |
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388 | for(i = 0; i < 16; i++) { |
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389 | if(Mixer.Motor[i][MIX_THROTTLE] > 0) RequiredMotors++; |
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390 | } |
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391 | |||
392 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
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393 | printf("\n\r=============================="); |
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394 | } |