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1622 killagreg 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + Copyright (c) Holger Buss, Ingo Busker
3
// + Nur für den privaten Gebrauch
4
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
5
// + www.MikroKopter.com
6
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
7
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
8
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
9
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
10
// + bzgl. der Nutzungsbedingungen aufzunehmen.
11
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
12
// + Verkauf von Luftbildaufnahmen, usw.
13
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
15
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
16
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
18
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
19
// + eindeutig als Ursprung verlinkt werden
20
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
21
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
22
// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
24
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
25
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
26
// + mit unserer Zustimmung zulässig
27
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
28
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
30
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
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// + this list of conditions and the following disclaimer.
32
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
33
// +     from this software without specific prior written permission.
34
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
35
// +     for non-commercial use (directly or indirectly)
36
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
37
// +     with our written permission
38
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
39
// +     clearly linked as origin
40
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
41
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
42
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
43
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
44
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
45
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
46
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
48
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
49
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
52
 
53
 
54
#ifndef EEMEM
55
#define EEMEM __attribute__ ((section (".eeprom")))
56
#endif
57
 
58
 
59
#include <avr/eeprom.h>
60
#include <string.h>
61
#include "eeprom.h"
62
#include "uart.h"
63
#include "led.h"
64
#include "main.h"
65
#include "fc.h"
1657 killagreg 66
#include "twimaster.h"
1622 killagreg 67
 
68
paramset_t              EE_Parameter;
69
MixerTable_t    Mixer;
1654 killagreg 70
uint8_t RequiredMotors;
1622 killagreg 71
 
72
 
73
uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len)
395 hbuss 74
{
1622 killagreg 75
        uint8_t crc = 0xAA;
76
        uint16_t i;
77
 
78
        for(i=0; i<len; i++)
79
        {
80
                crc += pBuffer[i];
81
        }
82
        return crc;
993 hbuss 83
}
84
 
1622 killagreg 85
uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len)
993 hbuss 86
{
1622 killagreg 87
        uint8_t crc = 0xAA;
88
        uint16_t off;
89
 
90
        for(off=0; off<len; off++)
91
        {
92
                crc += eeprom_read_byte((uint8_t*)(EEAddr + off));;
93
        }
94
        return crc;
395 hbuss 95
}
1622 killagreg 96
 
97
void ParamSet_DefaultStickMapping(void)
395 hbuss 98
{
1622 killagreg 99
        EE_Parameter.Kanalbelegung[K_GAS]   = 1;
100
        EE_Parameter.Kanalbelegung[K_ROLL]  = 2;
101
        EE_Parameter.Kanalbelegung[K_NICK]  = 3;
102
        EE_Parameter.Kanalbelegung[K_GIER]  = 4;
103
        EE_Parameter.Kanalbelegung[K_POTI1] = 5;
104
        EE_Parameter.Kanalbelegung[K_POTI2] = 6;
105
        EE_Parameter.Kanalbelegung[K_POTI3] = 7;
106
        EE_Parameter.Kanalbelegung[K_POTI4] = 8;
107
        EE_Parameter.Kanalbelegung[K_POTI5] = 9;
108
        EE_Parameter.Kanalbelegung[K_POTI6] = 10;
109
        EE_Parameter.Kanalbelegung[K_POTI7] = 11;
110
        EE_Parameter.Kanalbelegung[K_POTI8] = 12;
395 hbuss 111
}
112
 
1622 killagreg 113
 
114
/***************************************************/
115
/*    Default Values for parameter set 1           */
116
/***************************************************/
1760 holgerb 117
void CommonDefaults(void)
395 hbuss 118
{
1622 killagreg 119
        EE_Parameter.Revision = EEPARAM_REVISION;
120
 
121
        if(PlatinenVersion >= 20)
122
        {
1676 holgerb 123
                EE_Parameter.Gyro_D = 10;
1622 killagreg 124
                EE_Parameter.Driftkomp = 0;
125
                EE_Parameter.GyroAccFaktor = 27;
126
                EE_Parameter.WinkelUmschlagNick = 78;
127
                EE_Parameter.WinkelUmschlagRoll = 78;
128
        }
129
        else
130
        {
131
                EE_Parameter.Gyro_D = 3;
132
                EE_Parameter.Driftkomp = 32;
133
                EE_Parameter.GyroAccFaktor = 30;
134
                EE_Parameter.WinkelUmschlagNick = 85;
135
                EE_Parameter.WinkelUmschlagRoll = 85;
136
        }
1762 holgerb 137
        EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER;
1916 holgerb 138
        EE_Parameter.ExtraConfig = CFG_GPS_AID | CFG2_VARIO_BEEP;
1850 holgerb 139
        EE_Parameter.Receiver = RECEIVER_JETI;
1762 holgerb 140
        EE_Parameter.MotorSafetySwitch = 0;
1769 holgerb 141
        EE_Parameter.ExternalControl = 0;
1760 holgerb 142
 
1762 holgerb 143
        EE_Parameter.Gas_Min = 8;             // Wert : 0-32
144
        EE_Parameter.Gas_Max = 230;           // Wert : 33-247
1839 holgerb 145
        EE_Parameter.KompassWirkung = 64;    // Wert : 0-247
1762 holgerb 146
 
147
        EE_Parameter.Hoehe_MinGas = 30;
148
        EE_Parameter.MaxHoehe     = 255;         // Wert : 0-247   255 -> Poti1
149
        EE_Parameter.Hoehe_P      = 15;          // Wert : 0-32
150
        EE_Parameter.Luftdruck_D  = 30;          // Wert : 0-247
151
        EE_Parameter.Hoehe_ACC_Wirkung = 0;     // Wert : 0-247
152
        EE_Parameter.Hoehe_HoverBand = 8;         // Wert : 0-247
153
        EE_Parameter.Hoehe_GPS_Z = 64;           // Wert : 0-247
154
        EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation)
155
        EE_Parameter.Hoehe_Verstaerkung = 15;    // Wert : 0-50
156
 
1622 killagreg 157
        EE_Parameter.UserParam1 =   0;           // zur freien Verwendung
158
        EE_Parameter.UserParam2 =   0;           // zur freien Verwendung
159
        EE_Parameter.UserParam3 =   0;           // zur freien Verwendung
160
        EE_Parameter.UserParam4 =   0;           // zur freien Verwendung
161
        EE_Parameter.UserParam5 =   0;           // zur freien Verwendung
162
        EE_Parameter.UserParam6 =   0;           // zur freien Verwendung
163
        EE_Parameter.UserParam7 = 0;             // zur freien Verwendung
164
        EE_Parameter.UserParam8 = 0;             // zur freien Verwendung
1762 holgerb 165
 
1848 holgerb 166
        EE_Parameter.ServoNickControl = 128;     // Wert : 0-247     // Stellung des Servos
167
        EE_Parameter.ServoNickComp = 50;         // Wert : 0-247     // Einfluss Gyro/Servo
1771 holgerb 168
        EE_Parameter.ServoCompInvert = 2;        // Wert : 0-247     // Richtung Einfluss Gyro/Servo
1787 holgerb 169
        EE_Parameter.ServoNickMin = 15;          // Wert : 0-247     // Anschlag
1848 holgerb 170
        EE_Parameter.ServoNickMax = 230;         // Wert : 0-247     // Anschlag
171
        EE_Parameter.ServoNickRefresh = 4;
1622 killagreg 172
        EE_Parameter.Servo3 = 125;
173
        EE_Parameter.Servo4 = 125;
174
        EE_Parameter.Servo5 = 125;
1848 holgerb 175
        EE_Parameter.ServoRollControl = 128;     // Wert : 0-247     // Stellung des Servos
176
        EE_Parameter.ServoRollComp = 85;         // Wert : 0-247     // Einfluss Gyro/Servo
1876 holgerb 177
        EE_Parameter.ServoRollMin = 70;          // Wert : 0-247     // Anschlag
1848 holgerb 178
        EE_Parameter.ServoRollMax = 220;         // Wert : 0-247     // Anschlag
179
        EE_Parameter.ServoManualControlSpeed = 60;
1876 holgerb 180
        EE_Parameter.CamOrientation = 0;         // Wert : 0-24 -> 0-360 -> 15° steps
1762 holgerb 181
 
1622 killagreg 182
        EE_Parameter.J16Bitmask = 95;
183
        EE_Parameter.J17Bitmask = 243;
184
        EE_Parameter.WARN_J16_Bitmask = 0xAA;
185
        EE_Parameter.WARN_J17_Bitmask = 0xAA;
1760 holgerb 186
        EE_Parameter.J16Timing = 20;
187
        EE_Parameter.J17Timing = 20;
1762 holgerb 188
 
189
        EE_Parameter.LoopGasLimit = 50;
190
        EE_Parameter.LoopThreshold = 90;         // Wert: 0-247  Schwelle für Stickausschlag
191
        EE_Parameter.LoopHysterese = 50;
192
        EE_Parameter.BitConfig = 0;              // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
193
 
1622 killagreg 194
        EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2
195
        EE_Parameter.NaviGpsGain = 100;
196
        EE_Parameter.NaviGpsP = 90;
197
        EE_Parameter.NaviGpsI = 90;
198
        EE_Parameter.NaviGpsD = 90;
199
        EE_Parameter.NaviGpsPLimit = 75;
1931 holgerb 200
        EE_Parameter.NaviGpsILimit = 85;
1622 killagreg 201
        EE_Parameter.NaviGpsDLimit = 75;
202
        EE_Parameter.NaviGpsACC = 0;
203
        EE_Parameter.NaviGpsMinSat = 6;
204
        EE_Parameter.NaviStickThreshold = 8;
205
        EE_Parameter.NaviWindCorrection = 90;
206
        EE_Parameter.NaviSpeedCompensation = 30;
1857 holgerb 207
        EE_Parameter.NaviOperatingRadius = 245;
1931 holgerb 208
        EE_Parameter.NaviAngleLimitation = 140;
1664 holgerb 209
        EE_Parameter.NaviPH_LoginTime = 2;
1668 holgerb 210
        EE_Parameter.OrientationAngle = 0;
1921 holgerb 211
        EE_Parameter.CareFreeModeControl = 0;
1760 holgerb 212
        EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50)
213
        EE_Parameter.NotGas = 45;                // Wert : 0-247     // Gaswert bei Empangsverlust
214
        EE_Parameter.NotGasZeit = 90;            // Wert : 0-247     // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
1915 holgerb 215
        EE_Parameter.MotorSmooth = 0;          
216
        EE_Parameter.ComingHomeAltitude = 0;      // 0 = don't change 
1916 holgerb 217
        EE_Parameter.FailSafeTime = 0;            // 0 = off
1760 holgerb 218
}
219
 
220
void ParamSet_DefaultSet1(void) // sport
221
{
222
        CommonDefaults();
223
        EE_Parameter.Stick_P = 14;            // Wert : 1-20
224
        EE_Parameter.Stick_D = 16;            // Wert : 0-20
225
        EE_Parameter.Gier_P = 12;             // Wert : 1-20
226
        EE_Parameter.Gyro_P = 80;             // Wert : 0-247
227
        EE_Parameter.Gyro_I = 150;            // Wert : 0-247
228
        EE_Parameter.Gyro_Gier_P = 80;        // Wert : 0-247
229
        EE_Parameter.Gyro_Gier_I = 150;       // Wert : 0-247
230
        EE_Parameter.Gyro_Stability = 6;          // Wert : 1-8
231
        EE_Parameter.I_Faktor = 32;
232
        EE_Parameter.AchsKopplung1 = 90;
233
        EE_Parameter.AchsKopplung2 = 80;
234
        EE_Parameter.CouplingYawCorrection = 1;
235
        EE_Parameter.GyroAccAbgleich = 16;        // 1/k;
236
        EE_Parameter.DynamicStability = 100;
1622 killagreg 237
        memcpy(EE_Parameter.Name, "Sport\0", 12);
238
        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
395 hbuss 239
}
1622 killagreg 240
 
241
 
242
/***************************************************/
243
/*    Default Values for parameter set 2           */
244
/***************************************************/
245
void ParamSet_DefaultSet2(void) // normal
246
{
1760 holgerb 247
        CommonDefaults();
1664 holgerb 248
        EE_Parameter.Stick_P = 10;               // Wert : 1-20
249
        EE_Parameter.Stick_D = 16;               // Wert : 0-20
1622 killagreg 250
        EE_Parameter.Gier_P = 6;                 // Wert : 1-20
251
        EE_Parameter.Gyro_P = 90;                // Wert : 0-247
252
        EE_Parameter.Gyro_I = 120;               // Wert : 0-247
253
        EE_Parameter.Gyro_Gier_P = 90;           // Wert : 0-247
254
        EE_Parameter.Gyro_Gier_I = 120;          // Wert : 0-247
1685 holgerb 255
        EE_Parameter.Gyro_Stability = 6;                  // Wert : 1-8
1622 killagreg 256
        EE_Parameter.I_Faktor = 32;
257
        EE_Parameter.AchsKopplung1 = 90;
258
        EE_Parameter.AchsKopplung2 = 80;
259
        EE_Parameter.CouplingYawCorrection = 60;
260
        EE_Parameter.GyroAccAbgleich = 32;        // 1/k
261
        EE_Parameter.DynamicStability = 75;
262
        memcpy(EE_Parameter.Name, "Normal\0", 12);
263
        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
264
}
265
 
266
 
267
/***************************************************/
268
/*    Default Values for parameter set 3           */
269
/***************************************************/
270
void ParamSet_DefaultSet3(void) // beginner
271
{
1762 holgerb 272
        CommonDefaults();
1664 holgerb 273
        EE_Parameter.Stick_P = 8;                // Wert : 1-20
274
        EE_Parameter.Stick_D = 16;               // Wert : 0-20
1622 killagreg 275
        EE_Parameter.Gier_P  = 6;                // Wert : 1-20
276
        EE_Parameter.Gyro_P = 100;               // Wert : 0-247
277
        EE_Parameter.Gyro_I = 120;               // Wert : 0-247
278
        EE_Parameter.Gyro_Gier_P = 100;          // Wert : 0-247
279
        EE_Parameter.Gyro_Gier_I = 120;          // Wert : 0-247
1685 holgerb 280
        EE_Parameter.Gyro_Stability = 6;                  // Wert : 1-8
1622 killagreg 281
        EE_Parameter.I_Faktor = 16;
282
        EE_Parameter.AchsKopplung1 = 90;
283
        EE_Parameter.AchsKopplung2 = 80;
284
        EE_Parameter.CouplingYawCorrection = 70;
285
        EE_Parameter.GyroAccAbgleich = 32;        // 1/k
1690 holgerb 286
        EE_Parameter.DynamicStability = 70;
1622 killagreg 287
        memcpy(EE_Parameter.Name, "Beginner\0", 12);
288
        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
289
}
290
 
291
/***************************************************/
292
/*       Read Parameter from EEPROM as byte        */
293
/***************************************************/
294
uint8_t GetParamByte(uint16_t param_id)
295
{
296
        return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id));
297
}
298
 
299
/***************************************************/
300
/*       Write Parameter to EEPROM as byte         */
301
/***************************************************/
302
void SetParamByte(uint16_t param_id, uint8_t value)
303
{
304
        eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value);
305
}
306
 
307
/***************************************************/
308
/*       Read Parameter from EEPROM as word        */
309
/***************************************************/
310
uint16_t GetParamWord(uint16_t param_id)
311
{
312
        return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id));
313
}
314
 
315
/***************************************************/
316
/*       Write Parameter to EEPROM as word         */
317
/***************************************************/
318
void SetParamWord(uint16_t param_id, uint16_t value)
319
{
320
        eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value);
321
}
322
 
323
/***************************************************/
324
/*       Read Parameter Set from EEPROM            */
325
/***************************************************/
326
// number [1..5]
327
uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber)
328
{
329
        uint8_t crc;
330
        uint16_t eeaddr;
331
 
332
        // range the setnumber
333
        if((1 > setnumber) || (setnumber > 5)) setnumber = 3;
334
 
335
        // calculate eeprom addr
336
        eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1);
337
 
338
        // calculate checksum from eeprom
339
        crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1);
340
 
341
        // check crc
342
        if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0;
343
 
344
        // check revision
345
        if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0;
346
 
347
        // read paramset from eeprom
348
        eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN);
349
        LED_Init();
1925 holgerb 350
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
1921 holgerb 351
        LIBFC_HoTT_Clear();
1925 holgerb 352
#endif
1622 killagreg 353
        return 1;
354
}
355
 
356
/***************************************************/
357
/*        Write Parameter Set to EEPROM            */
358
/***************************************************/
359
// number [1..5]
360
uint8_t ParamSet_WriteToEEProm(uint8_t setnumber)
361
{
362
        uint8_t crc;
363
 
364
        if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom
365
        {
366
                if(setnumber > 5) setnumber = 5;
367
                if(setnumber < 1) return 0;
1916 holgerb 368
        LIBFC_CheckSettings();
1622 killagreg 369
                // update checksum
370
                EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
371
 
372
                // write paramset to eeprom
373
                eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN);
374
 
375
                // backup channel settings to separate block in eeprom
376
                eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));
377
 
378
                // write crc of channel block to eeprom
379
                crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung));
380
                eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc);
381
 
382
                // update active settings number
383
                SetActiveParamSet(setnumber);
384
                LED_Init();
1925 holgerb 385
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
1921 holgerb 386
                LIBFC_HoTT_Clear();
1925 holgerb 387
#endif
1622 killagreg 388
                return 1;
389
        }
390
        // wrong revision
391
        return 0;
392
}
393
 
394
/***************************************************/
395
/*          Read MixerTable from EEPROM            */
396
/***************************************************/
397
uint8_t MixerTable_ReadFromEEProm(void)
398
{
399
        uint8_t crc;
400
 
401
        // calculate checksum in eeprom
402
        crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1);
403
 
404
        // check crc
405
        if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0;
406
 
407
        // check revision
408
        if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0;
409
 
410
        // read mixer table
411
        eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer));
412
        return 1;
413
}
414
 
415
/***************************************************/
416
/*          Write Mixer Table to EEPROM            */
417
/***************************************************/
418
uint8_t MixerTable_WriteToEEProm(void)
419
{
420
        if(Mixer.Revision == EEMIXER_REVISION)
421
        {
422
                // update crc
423
                Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1);
424
 
425
                // write to eeprom
426
                eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer));
427
                return 1;
428
        }
429
        else return 0;
430
}
431
 
432
/***************************************************/
433
/*    Default Values for Mixer Table               */
434
/***************************************************/
435
void MixerTable_Default(void) // Quadro
436
{
437
        uint8_t i;
438
 
439
        Mixer.Revision = EEMIXER_REVISION;
440
        // clear mixer table
441
        for(i = 0; i < 16; i++)
442
        {
443
                Mixer.Motor[i][MIX_GAS]  = 0;
444
                Mixer.Motor[i][MIX_NICK] = 0;
445
                Mixer.Motor[i][MIX_ROLL] = 0;
446
                Mixer.Motor[i][MIX_YAW]  = 0;
447
        }
448
        // default = Quadro
449
        Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] =   0; Mixer.Motor[0][MIX_YAW] = +64;
450
        Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] =   0; Mixer.Motor[1][MIX_YAW] = +64;
451
        Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] =   0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64;
452
        Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] =   0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64;
453
        memcpy(Mixer.Name, "Quadro\0", 7);
454
        Mixer.crc = Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1);
455
}
456
 
457
/***************************************************/
458
/*       Get active parameter set                  */
459
/***************************************************/
460
uint8_t GetActiveParamSet(void)
461
{
462
        uint8_t setnumber;
463
        setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET));
464
        if(setnumber > 5)
465
        {
466
                setnumber = 3;
467
                eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber);
468
        }
469
        return(setnumber);
470
}
471
 
472
/***************************************************/
473
/*       Set active parameter set                  */
474
/***************************************************/
475
void SetActiveParamSet(uint8_t setnumber)
476
{
477
        if(setnumber > 5) setnumber = 5;
478
        if(setnumber < 1) setnumber = 1;
479
        eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber);
480
}
481
 
482
/***************************************************/
1761 killagreg 483
/*       Set default parameter set                 */
484
/***************************************************/
485
void SetDefaultParameter(uint8_t set, uint8_t restore_channels)
486
{
487
 
488
        if(set > 5) set = 5;
489
        else if(set < 1) set = 1;
490
 
491
        switch(set)
492
        {
493
                case 1:
494
                        ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport)
495
                        break;
496
                case 2:
497
                        ParamSet_DefaultSet2(); // Kamera
498
                        break;
499
                case 3:
500
                        ParamSet_DefaultSet3(); // Beginner
501
                        break;
502
                default:
503
                        ParamSet_DefaultSet3(); // Beginner
504
                        break;
505
        }
506
        if(restore_channels)
507
        {
508
                uint8_t crc;
509
                // 1st check for a valid channel backup in eeprom
510
                crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung));
511
                if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) )
512
                {
513
                        eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));
514
                }
515
                else ParamSet_DefaultStickMapping();
516
        }
517
        else ParamSet_DefaultStickMapping();
518
        ParamSet_WriteToEEProm(set);
519
}
520
 
521
/***************************************************/
1622 killagreg 522
/*       Initialize EEPROM Parameter Sets          */
523
/***************************************************/
524
void ParamSet_Init(void)
525
{
526
        uint8_t channel_backup  = 0, bad_params = 0, ee_default = 0,i;
527
 
528
 
529
        if(EEPARAM_REVISION != GetParamByte(PID_EE_REVISION) )
530
        {
531
                ee_default = 1; // software update or forced by mktool
532
        }
533
 
534
 
535
        // 1st check for a valid channel backup in eeprom
536
        i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung));
537
        if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) channel_backup = 1;
538
 
539
 
540
        // parameter check
541
 
542
        // check all 5 parameter settings
543
        for (i = 1;i < 6; i++)
544
        {
545
                if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom
546
                {
547
                        bad_params = 1;
548
                        printf("\n\rGenerating default Parameter Set %d",i);
549
                        switch(i)
550
                        {
551
                                case 1:
552
                                        ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport)
553
                                        break;
554
                                case 2:
555
                                        ParamSet_DefaultSet2(); // Kamera
556
                                        break;
557
                                case 3:
558
                                        ParamSet_DefaultSet3(); // Beginner
559
                                        break;
560
                                default:
1668 holgerb 561
                                        ParamSet_DefaultSet3(); // Kamera
1622 killagreg 562
                                        break;
563
                        }
564
                        if(channel_backup) // if we have an channel mapping backup in eeprom
565
                        {       // restore it from eeprom
566
                                eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));
567
                        }
568
                        else
569
                        {       // use default mapping
570
                                ParamSet_DefaultStickMapping();
571
                        }
572
                        ParamSet_WriteToEEProm(i);
573
                }
574
        }
575
        if(bad_params) // at least one of the parameter settings were invalid
576
        {
577
                // default-Setting is parameter set 3
578
                SetActiveParamSet(3);
579
        }
580
 
581
 
582
        // read active parameter set to ParamSet stucture
583
        i = GetActiveParamSet();
584
        ParamSet_ReadFromEEProm(i);
585
        printf("\n\rUsing Parameter Set %d", i);
586
 
587
        // load mixer table
1931 holgerb 588
        if(GetParamByte(PID_EE_REVISION) == 0xff || !MixerTable_ReadFromEEProm() )
1622 killagreg 589
        {
590
                printf("\n\rGenerating default Mixer Table");
591
                MixerTable_Default(); // Quadro
592
                MixerTable_WriteToEEProm();
593
        }
1931 holgerb 594
        if(ee_default)  SetParamByte(PID_EE_REVISION, EEPARAM_REVISION);
1622 killagreg 595
        // determine motornumber
596
        RequiredMotors = 0;
597
        for(i = 0; i < 16; i++)
598
        {
599
                if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++;
600
        }
601
 
602
        printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors);
603
        printf("\n\r==============================");
604
}