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Rev | Author | Line No. | Line |
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1622 | killagreg | 1 | #ifndef _EEPROM_H |
2 | #define _EEPROM_H |
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3 | |||
4 | #include <inttypes.h> |
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1657 | killagreg | 5 | #include "twimaster.h" |
1622 | killagreg | 6 | |
7 | #define EEPROM_ADR_PARAM_BEGIN 0 |
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8 | #define PID_EE_REVISION 1 // byte |
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9 | #define PID_ACTIVE_SET 2 // byte |
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10 | #define PID_PRESSURE_OFFSET 3 // byte |
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11 | |||
12 | #define PID_ACC_NICK 4 // word |
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13 | #define PID_ACC_ROLL 6 // word |
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14 | #define PID_ACC_TOP 8 // word |
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15 | |||
16 | #define PID_FLIGHT_MINUTES_TOTAL 10 // word |
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17 | #define PID_FLIGHT_MINUTES 14 // word |
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18 | |||
19 | |||
1657 | killagreg | 20 | #define EEPROM_ADR_CHANNELS 80 // 80 - 93, 12 bytes + 1 byte crc |
21 | #define EEPROM_ADR_PARAMSET 100 // 100 - 650, 5 * 110 bytes |
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22 | #define EEPROM_ADR_MIXERTABLE 1000 // 1000 - 1078, 78 bytes |
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23 | #define EEPROM_ADR_BLCONFIG 1200 // 1200 - 1296, 12 * 8 bytes |
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1622 | killagreg | 24 | |
25 | #define MIX_GAS 0 |
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26 | #define MIX_NICK 1 |
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27 | #define MIX_ROLL 2 |
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28 | #define MIX_YAW 3 |
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29 | |||
30 | typedef struct |
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31 | { |
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32 | uint8_t Revision; |
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33 | int8_t Name[12]; |
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34 | int8_t Motor[16][4]; |
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35 | uint8_t crc; |
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36 | } __attribute__((packed)) MixerTable_t; |
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37 | |||
38 | extern MixerTable_t Mixer; |
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1654 | killagreg | 39 | extern uint8_t RequiredMotors; |
1622 | killagreg | 40 | |
1657 | killagreg | 41 | #define MASK_SET_PWM_SCALING 0x01 |
42 | #define MASK_SET_CURRENT_LIMIT 0x02 |
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43 | #define MASK_SET_TEMP_LIMIT 0x04 |
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44 | #define MASK_SET_CURRENT_SCALING 0x08 |
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45 | #define MASK_SET_BITCONFIG 0x10 |
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46 | #define MASK_RESET_CAPCOUNTER 0x20 |
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47 | #define MASK_SET_DEFAULT_PARAMS 0x40 |
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48 | #define MASK_SET_SAVE_EEPROM 0x80 |
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49 | |||
50 | #define BITCONF_REVERSE_ROTATION 0x01 |
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51 | #define BITCONF_RES1 0x02 |
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52 | #define BITCONF_RES2 0x04 |
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53 | #define BITCONF_RES3 0x08 |
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54 | #define BITCONF_RES4 0x10 |
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55 | #define BITCONF_RES5 0x20 |
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56 | #define BITCONF_RES6 0x40 |
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57 | #define BITCONF_RES7 0x80 |
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58 | |||
59 | typedef struct |
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60 | { |
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61 | uint8_t Revision; // must be BL_REVISION |
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62 | uint8_t SetMask; // settings mask |
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63 | uint8_t PwmScaling; // maximum value of control pwm, acts like a thrust limit |
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64 | uint8_t CurrentLimit; // current limit in A |
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65 | uint8_t TempLimit; // in °C |
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66 | uint8_t CurrentScaling; // scaling factor for current measurement |
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67 | uint8_t BitConfig; // see defines above |
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68 | uint8_t crc; // checksum |
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69 | } __attribute__((packed)) BLConfig_t; |
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70 | |||
71 | extern BLConfig_t BLConfig[MAX_MOTORS]; |
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72 | |||
1622 | killagreg | 73 | #define CFG_HOEHENREGELUNG 0x01 |
74 | #define CFG_HOEHEN_SCHALTER 0x02 |
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75 | #define CFG_HEADING_HOLD 0x04 |
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76 | #define CFG_KOMPASS_AKTIV 0x08 |
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77 | #define CFG_KOMPASS_FIX 0x10 |
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78 | #define CFG_GPS_AKTIV 0x20 |
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79 | #define CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
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80 | #define CFG_DREHRATEN_BEGRENZER 0x80 |
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81 | |||
82 | #define CFG_LOOP_OBEN 0x01 |
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83 | #define CFG_LOOP_UNTEN 0x02 |
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84 | #define CFG_LOOP_LINKS 0x04 |
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85 | #define CFG_LOOP_RECHTS 0x08 |
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86 | #define CFG_MOTOR_BLINK 0x10 |
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87 | #define CFG_MOTOR_OFF_LED1 0x20 |
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88 | #define CFG_MOTOR_OFF_LED2 0x40 |
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89 | #define CFG_RES4 0x80 |
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90 | |||
91 | #define CFG2_HEIGHT_LIMIT 0x01 |
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92 | #define CFG2_VARIO_BEEP 0x02 |
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93 | #define CFG_SENSITIVE_RC 0x04 |
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94 | |||
95 | // bit mask for ParamSet.Config0 |
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96 | #define CFG0_AIRPRESS_SENSOR 0x01 |
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97 | #define CFG0_HEIGHT_SWITCH 0x02 |
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98 | #define CFG0_HEADING_HOLD 0x04 |
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99 | #define CFG0_COMPASS_ACTIVE 0x08 |
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100 | #define CFG0_COMPASS_FIX 0x10 |
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101 | #define CFG0_GPS_ACTIVE 0x20 |
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102 | #define CFG0_AXIS_COUPLING_ACTIVE 0x40 |
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103 | #define CFG0_ROTARY_RATE_LIMITER 0x80 |
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104 | |||
105 | // defines for the receiver selection |
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106 | #define RECEIVER_PPM 0 |
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107 | #define RECEIVER_SPEKTRUM 1 |
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108 | #define RECEIVER_SPEKTRUM_HI_RES 2 |
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109 | #define RECEIVER_SPEKTRUM_LOW_RES 3 |
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110 | #define RECEIVER_JETI 4 |
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111 | #define RECEIVER_ACT_DSL 5 |
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112 | #define RECEIVER_UNKNOWN 0xFF |
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113 | |||
114 | // defines for lookup ParamSet.ChannelAssignment |
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115 | #define K_NICK 0 |
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116 | #define K_ROLL 1 |
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117 | #define K_GAS 2 |
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118 | #define K_GIER 3 |
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119 | #define K_POTI1 4 |
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120 | #define K_POTI2 5 |
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121 | #define K_POTI3 6 |
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122 | #define K_POTI4 7 |
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123 | #define K_POTI5 8 |
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124 | #define K_POTI6 9 |
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125 | #define K_POTI7 10 |
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126 | #define K_POTI8 11 |
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127 | |||
128 | |||
129 | #define EEPARAM_REVISION 82 // is count up, if paramater stucture has changed (compatibility) |
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130 | #define EEMIXER_REVISION 1 // is count up, if mixer stucture has changed (compatibility) |
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1657 | killagreg | 131 | #define EEBLCONFIG_REVISON 35 // is count up, if blconfig stucture has changed (compatibility to BLs!) |
1622 | killagreg | 132 | |
133 | // values above 247 representing poti1 to poti8 |
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134 | // poti1 = 255 |
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135 | // poti2 = 254 |
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136 | // poti3 = 253 |
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137 | // poti4 = 252 |
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138 | // poti5 = 251 |
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139 | // poti6 = 250 |
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140 | // poti7 = 249 |
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141 | // poti8 = 248 |
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142 | |||
143 | |||
144 | typedef struct |
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145 | { |
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146 | unsigned char Revision; |
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147 | unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
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148 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
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149 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
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150 | unsigned char Luftdruck_D; // Wert : 0-250 |
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151 | unsigned char MaxHoehe; // Wert : 0-32 |
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152 | unsigned char Hoehe_P; // Wert : 0-32 |
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153 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
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154 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
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155 | unsigned char Hoehe_HoverBand; // Wert : 0-250 |
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156 | unsigned char Hoehe_GPS_Z; // Wert : 0-250 |
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157 | unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250 |
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158 | unsigned char Stick_P; // Wert : 1-6 |
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159 | unsigned char Stick_D; // Wert : 0-64 |
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160 | unsigned char Gier_P; // Wert : 1-20 |
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161 | unsigned char Gas_Min; // Wert : 0-32 |
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162 | unsigned char Gas_Max; // Wert : 33-250 |
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163 | unsigned char GyroAccFaktor; // Wert : 1-64 |
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164 | unsigned char KompassWirkung; // Wert : 0-32 |
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165 | unsigned char Gyro_P; // Wert : 10-250 |
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166 | unsigned char Gyro_I; // Wert : 0-250 |
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167 | unsigned char Gyro_D; // Wert : 0-250 |
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168 | unsigned char Gyro_Gier_P; // Wert : 10-250 |
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169 | unsigned char Gyro_Gier_I; // Wert : 0-250 |
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170 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
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171 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
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172 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
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173 | unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
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174 | unsigned char I_Faktor; // Wert : 0-250 |
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175 | unsigned char UserParam1; // Wert : 0-250 |
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176 | unsigned char UserParam2; // Wert : 0-250 |
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177 | unsigned char UserParam3; // Wert : 0-250 |
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178 | unsigned char UserParam4; // Wert : 0-250 |
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179 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
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180 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
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181 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
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182 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
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183 | //--- Seit V0.75 |
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184 | unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
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185 | unsigned char ServoRollComp; // Wert : 0-250 |
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186 | unsigned char ServoRollMin; // Wert : 0-250 |
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187 | unsigned char ServoRollMax; // Wert : 0-250 |
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188 | //--- |
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189 | unsigned char ServoNickRefresh; // Speed of the Servo |
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190 | unsigned char Servo3; // Value or mapping of the Servo Output |
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191 | unsigned char Servo4; // Value or mapping of the Servo Output |
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192 | unsigned char Servo5; // Value or mapping of the Servo Output |
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193 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
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194 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
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195 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
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196 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
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197 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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198 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
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199 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
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200 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
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201 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
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202 | unsigned char Driftkomp; |
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203 | unsigned char DynamicStability; |
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204 | unsigned char UserParam5; // Wert : 0-250 |
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205 | unsigned char UserParam6; // Wert : 0-250 |
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206 | unsigned char UserParam7; // Wert : 0-250 |
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207 | unsigned char UserParam8; // Wert : 0-250 |
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208 | //---Output --------------------------------------------- |
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209 | unsigned char J16Bitmask; // for the J16 Output |
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210 | unsigned char J16Timing; // for the J16 Output |
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211 | unsigned char J17Bitmask; // for the J17 Output |
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212 | unsigned char J17Timing; // for the J17 Output |
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213 | // seit version V0.75c |
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214 | unsigned char WARN_J16_Bitmask; // for the J16 Output |
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215 | unsigned char WARN_J17_Bitmask; // for the J17 Output |
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216 | //---NaviCtrl--------------------------------------------- |
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217 | unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
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218 | unsigned char NaviGpsGain; |
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219 | unsigned char NaviGpsP; |
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220 | unsigned char NaviGpsI; |
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221 | unsigned char NaviGpsD; |
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222 | unsigned char NaviGpsPLimit; |
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223 | unsigned char NaviGpsILimit; |
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224 | unsigned char NaviGpsDLimit; |
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225 | unsigned char NaviGpsACC; |
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226 | unsigned char NaviGpsMinSat; |
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227 | unsigned char NaviStickThreshold; |
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228 | unsigned char NaviWindCorrection; |
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229 | unsigned char NaviSpeedCompensation; |
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230 | unsigned char NaviOperatingRadius; |
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231 | unsigned char NaviAngleLimitation; |
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232 | unsigned char NaviPH_LoginTime; |
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233 | //---Ext.Ctrl--------------------------------------------- |
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234 | unsigned char ExternalControl; // for serial Control |
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235 | //------------------------------------------------ |
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236 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
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237 | unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen |
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238 | unsigned char ExtraConfig; // bitcodiert |
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239 | char Name[12]; |
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240 | unsigned char crc; // must be the last byte! |
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241 | } paramset_t; |
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242 | |||
243 | #define PARAMSET_STRUCT_LEN sizeof(paramset_t) |
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244 | |||
245 | extern paramset_t EE_Parameter; |
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246 | |||
1657 | killagreg | 247 | extern uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len); |
248 | |||
1622 | killagreg | 249 | extern void ParamSet_Init(void); |
1657 | killagreg | 250 | |
1622 | killagreg | 251 | extern uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber); |
252 | extern uint8_t ParamSet_WriteToEEProm(uint8_t setnumber); |
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253 | |||
254 | extern uint8_t GetActiveParamSet(void); |
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255 | extern void SetActiveParamSet(uint8_t setnumber); |
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256 | |||
257 | extern uint8_t MixerTable_ReadFromEEProm(void); |
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258 | extern uint8_t MixerTable_WriteToEEProm(void); |
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259 | |||
1657 | killagreg | 260 | extern uint8_t BLConfig_ReadFromEEProm(uint8_t index); |
261 | extern uint8_t BLConfig_WriteToEEProm(uint8_t index); |
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262 | extern void BLConfig_SetDefault(uint8_t index); |
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1622 | killagreg | 263 | |
264 | extern uint8_t GetParamByte(uint16_t param_id); |
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265 | extern void SetParamByte(uint16_t param_id, uint8_t value); |
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266 | extern uint16_t GetParamWord(uint16_t param_id); |
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267 | extern void SetParamWord(uint16_t param_id, uint16_t value); |
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268 | |||
269 | |||
270 | #endif //_EEPROM_H |