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1612 dongfang 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + Copyright (c) 04.2007 Holger Buss
1623 - 3
// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
5
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1623 - 6
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
1968 - 7
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
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// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9
// + bzgl. der Nutzungsbedingungen aufzunehmen.
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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
1612 dongfang 15
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
1623 - 17
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18
// + eindeutig als Ursprung verlinkt und genannt werden
1612 dongfang 19
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + 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
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
1623 - 25
// + mit unserer Zustimmung zulässig
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
30
// + this list of conditions and the following disclaimer.
31
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
32
// +     from this software without specific prior written permission.
33
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
34
// +     for non-commercial use (directly or indirectly)
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
38
// +     clearly linked as origin
39
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
40
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
41
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
50
// +  POSSIBILITY OF SUCH DAMAGE.
51
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#ifndef EEMEM
54
#define EEMEM __attribute__ ((section (".eeprom")))
55
#endif
56
 
57
#include "eeprom.h"
58
#include "printf_P.h"
59
#include "output.h"
1960 - 60
#include <avr/eeprom.h>
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62
// byte array in eeprom
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uint8_t EEPromArray[E2END + 1] EEMEM;
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65
/***************************************************/
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/*       Read Parameter from EEPROM as byte        */
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/***************************************************/
1960 - 68
uint8_t getParamByte(uint16_t param_id) {
69
  return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]);
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}
71
 
72
/***************************************************/
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/*       Write Parameter to EEPROM as byte         */
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/***************************************************/
1960 - 75
void setParamByte(uint16_t param_id, uint8_t value) {
76
  eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);
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}
78
 
79
/***************************************************/
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/*       Read Parameter from EEPROM as word        */
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/***************************************************/
1967 - 82
/*
1960 - 83
uint16_t getParamWord(uint16_t param_id) {
84
  return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN
85
                                                    + param_id]);
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}
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*/
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89
/***************************************************/
1960 - 90
/*       Write Parameter to EEPROM as word         */
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/***************************************************/
1967 - 92
/*
1960 - 93
void setParamWord(uint16_t param_id, uint16_t value) {
94
  eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);
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}
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*/
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1968 - 98
uint16_t CRC16(uint8_t* data, uint16_t length) {
99
  uint16_t crc = 0;
1960 - 100
  for (uint16_t i=0; i<length; i++) {
1968 - 101
    crc  = (uint8_t)(crc >> 8) | (crc << 8);
102
    crc ^= data[i];
103
    crc ^= (uint8_t)(crc & 0xff) >> 4;
104
    crc ^= (crc << 8) << 4;
105
    crc ^= ((crc & 0xff) << 4) << 1;
1960 - 106
  }
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  return crc;
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}
109
 
1964 - 110
// offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data.
111
// length is the length of the pure data not including checksum and revision number.
112
void writeChecksummedBlock(uint8_t revisionNumber, uint8_t* data, uint16_t offset, uint16_t length) {
1968 - 113
  uint16_t CRC = CRC16(data, length);
114
  eeprom_write_word(&EEPromArray[offset], CRC);
115
  eeprom_write_byte(&EEPromArray[offset+2], revisionNumber);
116
  eeprom_write_block(data, &EEPromArray[offset+3], length);
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}
118
 
1964 - 119
// offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data.
120
// length is the length of the pure data not including checksum and revision number.
121
uint8_t readChecksummedBlock(uint8_t revisionNumber, uint8_t* target, uint16_t offset, uint16_t length) {
1968 - 122
  uint16_t CRCRead = eeprom_read_word(&EEPromArray[offset]);
123
  uint8_t revisionNumberRead = eeprom_read_byte(&EEPromArray[offset+2]);
124
  eeprom_read_block(target, &EEPromArray[offset+3], length);
125
  uint16_t CRCCalculated = CRC(target, length);
1964 - 126
 
1968 - 127
  uint8_t CRCError = (CRCRead != CRCCalculated);
1964 - 128
  uint8_t revisionMismatch = (revisionNumber != revisionNumberRead);
129
 
1968 - 130
  if (CRCError && revisionMismatch) printf("\n\rEEPROM CRC error and revision mismatch; ");
131
  else if (CRCError) printf("\n\rEEPROM CRC error; ");
132
  else if (revisionMismatch) printf("\n\rEEPROM revision mismatch; ");
1964 - 133
  return (checksumError || revisionMismatch);
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}
135
 
136
/***************************************************/
137
/*       Read Parameter Set from EEPROM            */
138
/***************************************************/
1963 - 139
// setnumber [1..5]
1960 - 140
uint8_t paramSet_readFromEEProm(uint8_t setnumber) {
1968 - 141
  uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(paramset_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD);
1960 - 142
  output_init(); // what's that doing here??
1964 - 143
  return readChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(paramset_t));
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}
145
 
146
/***************************************************/
147
/*        Write Parameter Set to EEPROM            */
148
/***************************************************/
1960 - 149
void paramSet_writeToEEProm(uint8_t setnumber) {
1968 - 150
  uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(paramset_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD);
1964 - 151
  writeChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(paramset_t));
1960 - 152
  // set this parameter set to active set
153
  setActiveParamSet(setnumber);
154
  output_init(); // what's that doing here??
1612 dongfang 155
}
156
 
1960 - 157
void paramSet_readOrDefault() {
158
  uint8_t setnumber = getActiveParamSet();
159
  // parameter version  check
160
  if (setnumber<1 ||setnumber>5 || paramSet_readFromEEProm(setnumber)) {
161
    // if version check faild
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    printf("writing default parameter sets");
163
    for (uint8_t i=5; i>0; i--) {
164
      paramSet_default(i);
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      paramSet_writeToEEProm(i);
166
    }
167
    // default-Setting is parameter set 3
168
    setActiveParamSet(1);
169
  }
170
 
1964 - 171
  printf("\n\r\rUsing Parameter Set %d", getActiveParamSet());
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}
173
 
174
/***************************************************/
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/* MixerTable                                      */
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/***************************************************/
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uint8_t mixerMatrix_readFromEEProm(void) {
178
  return readChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&mixerMatrix, EEPROM_ADR_MIXER_TABLE, sizeof(mixerMatrix_t));
1612 dongfang 179
}
180
 
1960 - 181
void mixerMatrix_writeToEEProm(void) {
182
  writeChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&mixerMatrix, EEPROM_ADR_MIXER_TABLE, sizeof(mixerMatrix_t));
1612 dongfang 183
}
184
 
1960 - 185
void mixerMatrix_readOrDefault(void) {
186
  // load mixer table
187
  if (mixerMatrix_readFromEEProm()) {
1964 - 188
    printf("writing default mixerMatrix");
1960 - 189
    mixerMatrix_default(); // Quadro
190
    mixerMatrix_writeToEEProm();
191
  }
192
  // determine motornumber
193
  requiredMotors = 0;
194
  for (uint8_t i=0; i<MAX_MOTORS; i++) {
195
    if (mixerMatrix.motor[i][MIX_THROTTLE])
196
      requiredMotors++;
197
  }
198
 
1964 - 199
  printf("\n\r\rMixer-Config: '%s' (%u Motors)",mixerMatrix.name, requiredMotors);
200
  printf("\n\r\r==============================");
1960 - 201
}
202
 
1612 dongfang 203
/***************************************************/
1960 - 204
/* ChannelMap                                      */
1612 dongfang 205
/***************************************************/
1960 - 206
uint8_t channelMap_readFromEEProm(void) {
207
  return readChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(channelMap_t));
1612 dongfang 208
}
209
 
1960 - 210
void channelMap_writeToEEProm(void) {
211
  writeChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(channelMap_t));
212
}
213
 
214
void channelMap_readOrDefault(void) {
1964 - 215
  if (channelMap_readFromEEProm()) {
216
    printf("writing default channel map");
1960 - 217
    channelMap_default();
218
    channelMap_writeToEEProm();
219
  }
220
}
221
 
1961 - 222
/***************************************************/
223
/* Sensor offsets                                  */
224
/***************************************************/
1967 - 225
uint8_t gyroAmplifierOffset_readFromEEProm(void) {
226
  return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t));
227
}
228
 
229
void gyroAmplifierOffset_writeToEEProm(void) {
230
  return writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t));
231
}
232
 
1961 - 233
uint8_t gyroOffset_readFromEEProm(void) {
1967 - 234
  return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t));
1961 - 235
}
236
 
237
void gyroOffset_writeToEEProm(void) {
238
  writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t));
239
}
240
 
1960 - 241
uint8_t accOffset_readFromEEProm(void) {
242
  return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accOffset, EEPROM_ADR_ACCOFFSET, sizeof(sensorOffset_t));
243
}
244
 
245
void accOffset_writeToEEProm(void) {
246
  writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accOffset, EEPROM_ADR_ACCOFFSET, sizeof(sensorOffset_t));
247
}
248
 
1612 dongfang 249
/***************************************************/
1960 - 250
/*       Get active parameter set                  */
1612 dongfang 251
/***************************************************/
1960 - 252
uint8_t getActiveParamSet(void) {
253
  uint8_t setnumber;
254
  setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]);
255
  if (setnumber > 4) {
256
    setActiveParamSet(setnumber = 0);
257
  }
258
  return setnumber;
1612 dongfang 259
}
260
 
261
/***************************************************/
1960 - 262
/*       Set active parameter set                  */
1612 dongfang 263
/***************************************************/
1960 - 264
void setActiveParamSet(uint8_t setnumber) {
265
  eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber);
266
}
1821 - 267