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Rev | Author | Line No. | Line |
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1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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1623 | - | 3 | // + Nur für den privaten Gebrauch |
1612 | dongfang | 4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1623 | - | 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig 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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1623 | - | 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
1612 | dongfang | 11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1623 | - | 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen 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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1623 | - | 17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
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1612 | dongfang | 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1623 | - | 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
1612 | dongfang | 21 | // + Benutzung auf eigene Gefahr |
1623 | - | 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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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1623 | - | 25 | // + mit unserer Zustimmung zulässig |
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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1868 | - | 35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1612 | dongfang | 36 | // + with our written permission |
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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1623 | - | 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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1612 | dongfang | 49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
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51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1623 | - | 52 | |
1612 | dongfang | 53 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
54 | // + Contant Values |
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55 | // + 0-250 -> normale Values |
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56 | // + 251 -> Poti1 |
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57 | // + 252 -> Poti2 |
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58 | // + 253 -> Poti3 |
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59 | // + 254 -> Poti4 |
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60 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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61 | |||
62 | #ifndef EEMEM |
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63 | #define EEMEM __attribute__ ((section (".eeprom"))) |
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64 | #endif |
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65 | |||
66 | #include <avr/eeprom.h> |
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67 | #include <string.h> |
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68 | #include "eeprom.h" |
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69 | #include "printf_P.h" |
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70 | #include "output.h" |
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71 | // TODO: Get rid of these. They have nothing to do with eeprom. |
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72 | #include "flight.h" |
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73 | #include "rc.h" |
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74 | #include "sensors.h" |
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75 | |||
76 | // byte array in eeprom |
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1821 | - | 77 | uint8_t EEPromArray[E2END + 1] EEMEM; |
1612 | dongfang | 78 | |
1821 | - | 79 | paramset_t staticParams; |
80 | MixerTable_t Mixer; |
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1612 | dongfang | 81 | |
82 | /* |
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83 | * Default for your own experiments here, so you don't have to reset them |
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84 | * from MK-Tool all the time. |
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85 | */ |
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86 | void setDefaultUserParams(void) { |
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1821 | - | 87 | uint8_t i; |
88 | for (i = 0; i < sizeof(staticParams.UserParams1); i++) { |
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89 | staticParams.UserParams1[i] = 0; |
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90 | } |
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91 | for (i = 0; i < sizeof(staticParams.UserParams2); i++) { |
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92 | staticParams.UserParams2[i] = 0; |
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93 | } |
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94 | /* |
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95 | * While we are still using userparams for flight parameters, do set |
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96 | * some safe & meaningful default values. |
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97 | */ |
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98 | staticParams.UserParams1[3] = 8; // Throttle stick D=8 |
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99 | staticParams.UserParams2[0] = 0b11010101; // All gyro filter constants 2; acc. 4 |
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100 | staticParams.UserParams2[1] = 2; // H&I motor smoothing. |
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101 | staticParams.UserParams2[2] = 120; // Yaw I factor |
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102 | staticParams.UserParams2[3] = 10; // Max Z acceleration for acc. correction of angles. |
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1612 | dongfang | 103 | } |
104 | |||
105 | void setOtherDefaults(void) { |
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1821 | - | 106 | /* Channel assignments were changed to the normal: |
107 | * Aileron/roll=1, elevator/pitch=2, throttle=3, yaw/rudder=4 |
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108 | */ |
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109 | staticParams.ChannelAssignment[CH_PITCH] = 2; |
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110 | staticParams.ChannelAssignment[CH_ROLL] = 1; |
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111 | staticParams.ChannelAssignment[CH_THROTTLE] = 3; |
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112 | staticParams.ChannelAssignment[CH_YAW] = 4; |
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113 | staticParams.ChannelAssignment[CH_POTS + 0] = 5; |
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114 | staticParams.ChannelAssignment[CH_POTS + 1] = 6; |
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115 | staticParams.ChannelAssignment[CH_POTS + 2] = 7; |
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116 | staticParams.ChannelAssignment[CH_POTS + 3] = 8; |
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117 | 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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118 | staticParams.HeightMinGas = 30; |
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119 | staticParams.MaxHeight = 251; |
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120 | staticParams.HeightP = 10; |
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121 | staticParams.HeightD = 30; |
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122 | staticParams.Height_ACC_Effect = 30; |
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123 | staticParams.Height_Gain = 4; |
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124 | staticParams.StickP = 8; |
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125 | staticParams.StickD = 12; |
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126 | staticParams.StickYawP = 12; |
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127 | staticParams.MinThrottle = 8; |
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128 | staticParams.MaxThrottle = 230; |
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129 | staticParams.CompassYawEffect = 128; |
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130 | staticParams.GyroP = 80; |
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131 | staticParams.GyroI = 100; |
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132 | staticParams.LowVoltageWarning = 95; |
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133 | staticParams.EmergencyGas = 35; |
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134 | staticParams.EmergencyGasDuration = 30; |
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135 | staticParams.Unused0 = 0; |
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136 | staticParams.IFactor = 32; |
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137 | staticParams.ServoPitchControl = 100; |
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138 | staticParams.ServoPitchComp = 40; |
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139 | staticParams.ServoPitchCompInvert = 0; |
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140 | staticParams.ServoPitchMin = 50; |
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141 | staticParams.ServoPitchMax = 150; |
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142 | staticParams.ServoRefresh = 5; |
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143 | staticParams.LoopGasLimit = 50; |
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144 | staticParams.LoopThreshold = 90; |
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145 | staticParams.LoopHysteresis = 50; |
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146 | staticParams.BitConfig = 0; |
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147 | staticParams.AxisCoupling1 = 90; |
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148 | staticParams.AxisCoupling2 = 67; |
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149 | staticParams.AxisCouplingYawCorrection = 0; |
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150 | staticParams.DynamicStability = 50; |
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151 | staticParams.J16Bitmask = 95; |
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152 | staticParams.J17Bitmask = 243; |
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153 | staticParams.J16Timing = 15; |
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154 | staticParams.J17Timing = 15; |
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155 | staticParams.NaviGpsModeControl = 253; |
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156 | staticParams.NaviGpsGain = 100; |
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157 | staticParams.NaviGpsP = 90; |
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158 | staticParams.NaviGpsI = 90; |
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159 | staticParams.NaviGpsD = 90; |
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160 | staticParams.NaviGpsPLimit = 75; |
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161 | staticParams.NaviGpsILimit = 75; |
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162 | staticParams.NaviGpsDLimit = 75; |
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163 | staticParams.NaviGpsACC = 0; |
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164 | staticParams.NaviGpsMinSat = 6; |
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165 | staticParams.NaviStickThreshold = 8; |
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166 | staticParams.NaviWindCorrection = 90; |
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167 | staticParams.NaviSpeedCompensation = 30; |
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168 | staticParams.NaviOperatingRadius = 100; |
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169 | staticParams.NaviAngleLimitation = 100; |
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170 | staticParams.NaviPHLoginTime = 4; |
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1612 | dongfang | 171 | } |
172 | |||
173 | /***************************************************/ |
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174 | /* Default Values for parameter set 1 */ |
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175 | /***************************************************/ |
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176 | void ParamSet_DefaultSet1(void) { // sport |
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1821 | - | 177 | setOtherDefaults(); |
178 | gyro_setDefaults(); |
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179 | setDefaultUserParams(); |
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180 | staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER |
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181 | | CFG_AXIS_COUPLING_ACTIVE; |
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182 | memcpy(staticParams.Name, "Sport\0", 6); |
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1612 | dongfang | 183 | } |
184 | |||
185 | /***************************************************/ |
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186 | /* Default Values for parameter set 2 */ |
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187 | /***************************************************/ |
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188 | void ParamSet_DefaultSet2(void) { // normal |
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1821 | - | 189 | setOtherDefaults(); |
190 | gyro_setDefaults(); |
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191 | setDefaultUserParams(); |
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192 | staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER |
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193 | | CFG_AXIS_COUPLING_ACTIVE; |
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194 | staticParams.Height_Gain = 3; |
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195 | staticParams.J16Timing = 20; |
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196 | staticParams.J17Timing = 20; |
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197 | memcpy(staticParams.Name, "Normal\0", 7); |
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1612 | dongfang | 198 | } |
199 | |||
200 | /***************************************************/ |
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201 | /* Default Values for parameter set 3 */ |
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202 | /***************************************************/ |
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203 | void ParamSet_DefaultSet3(void) { // beginner |
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1821 | - | 204 | setOtherDefaults(); |
205 | gyro_setDefaults(); |
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206 | setDefaultUserParams(); |
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207 | staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER |
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208 | | CFG_AXIS_COUPLING_ACTIVE; |
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209 | staticParams.Height_Gain = 3; |
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210 | staticParams.EmergencyGasDuration = 20; |
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211 | staticParams.AxisCouplingYawCorrection = 70; |
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212 | staticParams.J16Timing = 30; |
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213 | staticParams.J17Timing = 30; |
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214 | memcpy(staticParams.Name, "Beginner\0", 9); |
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1612 | dongfang | 215 | } |
216 | |||
217 | /***************************************************/ |
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218 | /* Read Parameter from EEPROM as byte */ |
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219 | /***************************************************/ |
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220 | uint8_t GetParamByte(uint16_t param_id) { |
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1821 | - | 221 | return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
1612 | dongfang | 222 | } |
223 | |||
224 | /***************************************************/ |
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225 | /* Write Parameter to EEPROM as byte */ |
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226 | /***************************************************/ |
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227 | void SetParamByte(uint16_t param_id, uint8_t value) { |
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1821 | - | 228 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
1612 | dongfang | 229 | } |
230 | |||
231 | /***************************************************/ |
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232 | /* Read Parameter from EEPROM as word */ |
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233 | /***************************************************/ |
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234 | uint16_t GetParamWord(uint16_t param_id) { |
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1821 | - | 235 | return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN |
236 | + param_id]); |
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1612 | dongfang | 237 | } |
238 | |||
239 | /***************************************************/ |
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240 | /* Write Parameter to EEPROM as word */ |
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241 | /***************************************************/ |
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242 | void SetParamWord(uint16_t param_id, uint16_t value) { |
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1821 | - | 243 | eeprom_write_word( |
244 | (uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
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1612 | dongfang | 245 | } |
246 | |||
247 | /***************************************************/ |
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248 | /* Read Parameter Set from EEPROM */ |
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249 | /***************************************************/ |
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250 | // number [1..5] |
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251 | void ParamSet_ReadFromEEProm(uint8_t setnumber) { |
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1821 | - | 252 | if ((1 > setnumber) || (setnumber > 5)) |
253 | setnumber = 3; |
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254 | eeprom_read_block((uint8_t *) &staticParams.ChannelAssignment[0], |
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255 | &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber |
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256 | - 1)], PARAMSET_STRUCT_LEN); |
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257 | output_init(); |
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1612 | dongfang | 258 | } |
259 | |||
260 | /***************************************************/ |
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261 | /* Write Parameter Set to EEPROM */ |
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262 | /***************************************************/ |
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263 | // number [1..5] |
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264 | void ParamSet_WriteToEEProm(uint8_t setnumber) { |
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1821 | - | 265 | if (setnumber > 5) |
266 | setnumber = 5; |
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267 | if (setnumber < 1) |
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268 | return; |
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269 | eeprom_write_block((uint8_t *) &staticParams.ChannelAssignment[0], |
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270 | &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber |
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271 | - 1)], PARAMSET_STRUCT_LEN); |
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272 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH], |
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273 | PARAMSET_STRUCT_LEN); |
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274 | eeprom_write_block(&staticParams.ChannelAssignment[0], |
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275 | &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping |
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276 | // set this parameter set to active set |
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277 | setActiveParamSet(setnumber); |
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278 | output_init(); |
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1612 | dongfang | 279 | } |
280 | |||
281 | /***************************************************/ |
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282 | /* Get active parameter set */ |
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283 | /***************************************************/ |
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284 | uint8_t getActiveParamSet(void) { |
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1821 | - | 285 | uint8_t setnumber; |
286 | setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
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287 | if (setnumber > 5) { |
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288 | setnumber = 3; |
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289 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
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290 | } |
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291 | return (setnumber); |
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1612 | dongfang | 292 | } |
293 | |||
294 | /***************************************************/ |
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295 | /* Set active parameter set */ |
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296 | /***************************************************/ |
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297 | void setActiveParamSet(uint8_t setnumber) { |
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1821 | - | 298 | if (setnumber > 5) |
299 | setnumber = 5; |
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300 | if (setnumber < 1) |
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301 | setnumber = 1; |
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302 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
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1612 | dongfang | 303 | } |
304 | |||
305 | /***************************************************/ |
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306 | /* Read MixerTable from EEPROM */ |
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307 | /***************************************************/ |
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308 | uint8_t MixerTable_ReadFromEEProm(void) { |
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1821 | - | 309 | if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) |
310 | == EEMIXER_REVISION) { |
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311 | eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], |
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312 | sizeof(Mixer)); |
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313 | return 1; |
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314 | } else |
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315 | return 0; |
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1612 | dongfang | 316 | } |
317 | |||
318 | /***************************************************/ |
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319 | /* Write Mixer Table to EEPROM */ |
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320 | /***************************************************/ |
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321 | uint8_t MixerTable_WriteToEEProm(void) { |
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1821 | - | 322 | if (Mixer.Revision == EEMIXER_REVISION) { |
323 | eeprom_write_block((uint8_t *) &Mixer, |
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324 | &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
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325 | return 1; |
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326 | } else |
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327 | return 0; |
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1612 | dongfang | 328 | } |
329 | |||
330 | /***************************************************/ |
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331 | /* Default Values for Mixer Table */ |
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332 | /***************************************************/ |
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333 | void MixerTable_Default(void) { // Quadro |
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1821 | - | 334 | uint8_t i; |
335 | Mixer.Revision = EEMIXER_REVISION; |
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336 | // clear mixer table (but preset throttle) |
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337 | for (i = 0; i < 16; i++) { |
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338 | Mixer.Motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
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339 | Mixer.Motor[i][MIX_PITCH] = 0; |
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340 | Mixer.Motor[i][MIX_ROLL] = 0; |
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341 | Mixer.Motor[i][MIX_YAW] = 0; |
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342 | } |
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343 | // default = Quadro |
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344 | Mixer.Motor[0][MIX_PITCH] = +64; |
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345 | Mixer.Motor[0][MIX_YAW] = +64; |
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346 | Mixer.Motor[1][MIX_PITCH] = -64; |
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347 | Mixer.Motor[1][MIX_YAW] = +64; |
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348 | Mixer.Motor[2][MIX_ROLL] = -64; |
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349 | Mixer.Motor[2][MIX_YAW] = -64; |
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350 | Mixer.Motor[3][MIX_ROLL] = +64; |
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351 | Mixer.Motor[3][MIX_YAW] = -64; |
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352 | memcpy(Mixer.Name, "Quadro\0", 7); |
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1612 | dongfang | 353 | } |
354 | |||
355 | /***************************************************/ |
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356 | /* Initialize EEPROM Parameter Sets */ |
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357 | /***************************************************/ |
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358 | void ParamSet_Init(void) { |
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1821 | - | 359 | uint8_t Channel_Backup = 1, i, j; |
360 | // parameter version check |
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361 | if (eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) { |
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362 | // if version check faild |
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363 | printf("\n\rInit Parameter in EEPROM"); |
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364 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table |
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365 | // check if channel mapping backup is valid |
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366 | for (j = 0; j < 4 && Channel_Backup; j++) { |
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367 | if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS + 0]) >= 12) |
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368 | Channel_Backup = 0; |
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369 | } |
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370 | // fill all 5 parameter settings |
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371 | for (i = 1; i < 6; i++) { |
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372 | switch (i) { |
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373 | case 1: |
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374 | ParamSet_DefaultSet1(); // Fill staticParams Structure to default parameter set 1 (Sport) |
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375 | break; |
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376 | case 2: |
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377 | ParamSet_DefaultSet2(); // Kamera |
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378 | break; |
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379 | case 3: |
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380 | ParamSet_DefaultSet3(); // Beginner |
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381 | break; |
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382 | default: |
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383 | ParamSet_DefaultSet2(); // Kamera |
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384 | break; |
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385 | } |
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386 | if (Channel_Backup) { // if we have a rc channel mapping backup in eeprom |
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387 | // restore it |
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388 | for (j = 0; j < 8; j++) { |
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389 | staticParams.ChannelAssignment[j] = eeprom_read_byte( |
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390 | &EEPromArray[EEPROM_ADR_CHANNELS + j]); |
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391 | } |
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392 | } |
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393 | ParamSet_WriteToEEProm(i); |
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394 | } |
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395 | // default-Setting is parameter set 3 |
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396 | setActiveParamSet(1); |
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397 | // update version info |
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398 | SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION); |
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1775 | - | 399 | } |
1821 | - | 400 | // read active parameter set to staticParams stucture |
401 | ParamSet_ReadFromEEProm(getActiveParamSet()); |
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402 | printf("\n\rUsing Parameter Set %d", getActiveParamSet()); |
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403 | |||
404 | // load mixer table |
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405 | if (!MixerTable_ReadFromEEProm()) { |
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406 | printf("\n\rGenerating default Mixer Table"); |
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407 | MixerTable_Default(); // Quadro |
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408 | MixerTable_WriteToEEProm(); |
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409 | } |
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410 | // determine motornumber |
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411 | RequiredMotors = 0; |
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412 | for (i = 0; i < 16; i++) { |
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413 | if (Mixer.Motor[i][MIX_THROTTLE] > 0) |
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414 | RequiredMotors++; |
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415 | } |
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416 | |||
417 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
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418 | printf("\n\r=============================="); |
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1612 | dongfang | 419 | } |