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1622 | killagreg | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + www.MikroKopter.com |
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3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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2050 | holgerb | 4 | // + Software Nutzungsbedingungen (english version: see below) |
5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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1622 | killagreg | 10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2050 | holgerb | 11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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19 | // + des Mitverschuldens offen. |
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20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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1622 | killagreg | 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2050 | holgerb | 29 | // + Software LICENSING TERMS |
1622 | killagreg | 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2050 | holgerb | 31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
32 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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34 | // + The Software may only be used with the Licensor's products. |
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35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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37 | // + agreement shall be the property of the Licensor. |
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38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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40 | // + The customer shall be responsible for taking reasonable precautions |
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41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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50 | // + #### END OF LICENSING TERMS #### |
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51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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1622 | killagreg | 52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
53 | |||
54 | #ifndef EEMEM |
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55 | #define EEMEM __attribute__ ((section (".eeprom"))) |
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56 | #endif |
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57 | |||
58 | |||
59 | #include <avr/eeprom.h> |
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60 | #include <string.h> |
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61 | #include "eeprom.h" |
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62 | #include "uart.h" |
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63 | #include "led.h" |
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64 | #include "main.h" |
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65 | #include "fc.h" |
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1657 | killagreg | 66 | #include "twimaster.h" |
1622 | killagreg | 67 | |
68 | paramset_t EE_Parameter; |
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69 | MixerTable_t Mixer; |
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1654 | killagreg | 70 | uint8_t RequiredMotors; |
1622 | killagreg | 71 | |
72 | |||
73 | uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len) |
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395 | hbuss | 74 | { |
1622 | killagreg | 75 | uint8_t crc = 0xAA; |
76 | uint16_t i; |
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77 | |||
78 | for(i=0; i<len; i++) |
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79 | { |
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80 | crc += pBuffer[i]; |
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81 | } |
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82 | return crc; |
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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; |
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89 | |||
90 | for(off=0; off<len; off++) |
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91 | { |
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92 | crc += eeprom_read_byte((uint8_t*)(EEAddr + off));; |
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93 | } |
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94 | return crc; |
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395 | hbuss | 95 | } |
1622 | killagreg | 96 | |
97 | void ParamSet_DefaultStickMapping(void) |
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395 | hbuss | 98 | { |
1622 | killagreg | 99 | EE_Parameter.Kanalbelegung[K_GAS] = 1; |
100 | EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
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101 | EE_Parameter.Kanalbelegung[K_NICK] = 3; |
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102 | EE_Parameter.Kanalbelegung[K_GIER] = 4; |
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103 | EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
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104 | EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
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105 | EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
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106 | EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
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107 | EE_Parameter.Kanalbelegung[K_POTI5] = 9; |
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108 | EE_Parameter.Kanalbelegung[K_POTI6] = 10; |
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109 | EE_Parameter.Kanalbelegung[K_POTI7] = 11; |
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110 | EE_Parameter.Kanalbelegung[K_POTI8] = 12; |
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395 | hbuss | 111 | } |
112 | |||
1622 | killagreg | 113 | |
114 | /***************************************************/ |
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115 | /* Default Values for parameter set 1 */ |
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116 | /***************************************************/ |
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1760 | holgerb | 117 | void CommonDefaults(void) |
395 | hbuss | 118 | { |
1622 | killagreg | 119 | EE_Parameter.Revision = EEPARAM_REVISION; |
2265 | holgerb | 120 | memset(EE_Parameter.Name,0,12); // delete name |
2426 | holgerb | 121 | // if(PlatinenVersion >= 20) |
1622 | killagreg | 122 | { |
1676 | holgerb | 123 | EE_Parameter.Gyro_D = 10; |
1622 | killagreg | 124 | EE_Parameter.Driftkomp = 0; |
125 | EE_Parameter.GyroAccFaktor = 27; |
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126 | EE_Parameter.WinkelUmschlagNick = 78; |
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127 | EE_Parameter.WinkelUmschlagRoll = 78; |
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128 | } |
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2426 | holgerb | 129 | /* else |
1622 | killagreg | 130 | { |
131 | EE_Parameter.Gyro_D = 3; |
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132 | EE_Parameter.Driftkomp = 32; |
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133 | EE_Parameter.GyroAccFaktor = 30; |
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134 | EE_Parameter.WinkelUmschlagNick = 85; |
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135 | EE_Parameter.WinkelUmschlagRoll = 85; |
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136 | } |
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2426 | holgerb | 137 | */ |
1957 | holgerb | 138 | EE_Parameter.GyroAccAbgleich = 32; // 1/k |
2008 | holgerb | 139 | EE_Parameter.BitConfig = 0; // Looping usw. |
1762 | holgerb | 140 | EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
2373 | holgerb | 141 | EE_Parameter.ExtraConfig = CFG_GPS_AID | CFG2_VARIO_BEEP | CFG_LEARNABLE_CAREFREE | CFG_NO_RCOFF_BEEPING; |
142 | EE_Parameter.GlobalConfig3 = CFG3_SPEAK_ALL | CFG3_NO_GPSFIX_NO_START;// |
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2426 | holgerb | 143 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2183 | holgerb | 144 | EE_Parameter.Receiver = RECEIVER_HOTT; |
2426 | holgerb | 145 | #else |
146 | EE_Parameter.Receiver = RECEIVER_JETI; |
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147 | #endif |
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148 | |||
1762 | holgerb | 149 | EE_Parameter.MotorSafetySwitch = 0; |
1769 | holgerb | 150 | EE_Parameter.ExternalControl = 0; |
1760 | holgerb | 151 | |
1762 | holgerb | 152 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
153 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
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1839 | holgerb | 154 | EE_Parameter.KompassWirkung = 64; // Wert : 0-247 |
1762 | holgerb | 155 | |
2390 | holgerb | 156 | EE_Parameter.HoeheChannel = 5; // Wert : 0-32 |
1762 | holgerb | 157 | EE_Parameter.Hoehe_MinGas = 30; |
2390 | holgerb | 158 | |
2309 | holgerb | 159 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
160 | if(ACC_AltitudeControl) |
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161 | { |
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162 | EE_Parameter.Hoehe_P = 20; // Wert : 0-32 |
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163 | EE_Parameter.Luftdruck_D = 40; // Wert : 0-247 |
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2316 | holgerb | 164 | EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-247 |
2309 | holgerb | 165 | EE_Parameter.Hoehe_HoverBand = 1; // Wert : 0-247 |
166 | EE_Parameter.Hoehe_GPS_Z = 0; // Wert : 0-247 |
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2337 | holgerb | 167 | EE_Parameter.Hoehe_StickNeutralPoint = 127;// Wert : 0-247 (0 = Hover-Estimation) |
2342 | holgerb | 168 | EE_Parameter.FailSafeTime = 30; // 0 = off |
2309 | holgerb | 169 | } |
170 | else |
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171 | #endif |
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172 | { |
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173 | EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
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174 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
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175 | EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
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176 | EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
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177 | EE_Parameter.Hoehe_GPS_Z = 20; // Wert : 0-247 |
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2337 | holgerb | 178 | EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
2342 | holgerb | 179 | EE_Parameter.FailSafeTime = 0; // 0 = off |
2309 | holgerb | 180 | } |
181 | |||
1942 | holgerb | 182 | EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 (15 -> ca. +/- 5m/sek bei Stick-Voll-Ausschlag) |
2340 | holgerb | 183 | EE_Parameter.StartLandChannel = 0; |
184 | EE_Parameter.LandingSpeed = 12; |
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1762 | holgerb | 185 | |
1622 | killagreg | 186 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
187 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
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188 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
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189 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
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190 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
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191 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
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192 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
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193 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
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1762 | holgerb | 194 | |
1848 | holgerb | 195 | EE_Parameter.ServoNickControl = 128; // Wert : 0-247 // Stellung des Servos |
196 | EE_Parameter.ServoNickComp = 50; // Wert : 0-247 // Einfluss Gyro/Servo |
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1771 | holgerb | 197 | EE_Parameter.ServoCompInvert = 2; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
2349 | holgerb | 198 | EE_Parameter.ServoNickMin = 24; // Wert : 0-247 // Anschlag |
1848 | holgerb | 199 | EE_Parameter.ServoNickMax = 230; // Wert : 0-247 // Anschlag |
2373 | holgerb | 200 | EE_Parameter.ServoNickRefresh = 3; |
1622 | killagreg | 201 | EE_Parameter.Servo3 = 125; |
202 | EE_Parameter.Servo4 = 125; |
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203 | EE_Parameter.Servo5 = 125; |
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1848 | holgerb | 204 | EE_Parameter.ServoRollControl = 128; // Wert : 0-247 // Stellung des Servos |
205 | EE_Parameter.ServoRollComp = 85; // Wert : 0-247 // Einfluss Gyro/Servo |
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1876 | holgerb | 206 | EE_Parameter.ServoRollMin = 70; // Wert : 0-247 // Anschlag |
1848 | holgerb | 207 | EE_Parameter.ServoRollMax = 220; // Wert : 0-247 // Anschlag |
208 | EE_Parameter.ServoManualControlSpeed = 60; |
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1876 | holgerb | 209 | EE_Parameter.CamOrientation = 0; // Wert : 0-24 -> 0-360 -> 15° steps |
1762 | holgerb | 210 | |
2373 | holgerb | 211 | EE_Parameter.J16Bitmask = 0xAA; |
212 | EE_Parameter.J17Bitmask = 0xCC; |
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213 | EE_Parameter.WARN_J16_Bitmask = 0x00; |
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1622 | killagreg | 214 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
2040 | holgerb | 215 | EE_Parameter.J16Timing = 40; |
216 | EE_Parameter.J17Timing = 40; |
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2183 | holgerb | 217 | EE_Parameter.NaviOut1Parameter = 0; // Photo release in meter |
1762 | holgerb | 218 | EE_Parameter.LoopGasLimit = 50; |
219 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
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220 | EE_Parameter.LoopHysterese = 50; |
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221 | |||
2342 | holgerb | 222 | EE_Parameter.NaviGpsModeChannel = 6; // Kanal 6 |
1622 | killagreg | 223 | EE_Parameter.NaviGpsGain = 100; |
2344 | holgerb | 224 | EE_Parameter.NaviGpsP = 100; |
225 | EE_Parameter.NaviGpsI = 90; |
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226 | EE_Parameter.NaviGpsD = 120; |
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227 | EE_Parameter.NaviGpsA = 40; |
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1622 | killagreg | 228 | EE_Parameter.NaviGpsPLimit = 75; |
1931 | holgerb | 229 | EE_Parameter.NaviGpsILimit = 85; |
1622 | killagreg | 230 | EE_Parameter.NaviGpsDLimit = 75; |
231 | EE_Parameter.NaviGpsMinSat = 6; |
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232 | EE_Parameter.NaviStickThreshold = 8; |
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2348 | holgerb | 233 | EE_Parameter.NaviWindCorrection = 50; |
1936 | holgerb | 234 | EE_Parameter.NaviAccCompensation = 42; |
1857 | holgerb | 235 | EE_Parameter.NaviOperatingRadius = 245; |
1931 | holgerb | 236 | EE_Parameter.NaviAngleLimitation = 140; |
2348 | holgerb | 237 | EE_Parameter.NaviPH_LoginTime = 2; |
1668 | holgerb | 238 | EE_Parameter.OrientationAngle = 0; |
2342 | holgerb | 239 | EE_Parameter.CareFreeChannel = 0; |
2061 | holgerb | 240 | EE_Parameter.NotGas = 65; // Wert : 0-247 // Gaswert bei Empangsverlust (ggf. in Prozent) |
1760 | holgerb | 241 | EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
1915 | holgerb | 242 | EE_Parameter.MotorSmooth = 0; |
243 | EE_Parameter.ComingHomeAltitude = 0; // 0 = don't change |
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1936 | holgerb | 244 | EE_Parameter.MaxAltitude = 150; // 0 = off |
2275 | holgerb | 245 | EE_Parameter.AchsKopplung1 = 125; |
246 | EE_Parameter.AchsKopplung2 = 52; |
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2008 | holgerb | 247 | EE_Parameter.FailsafeChannel = 0; |
2012 | holgerb | 248 | EE_Parameter.ServoFilterNick = 0; |
249 | EE_Parameter.ServoFilterRoll = 0; |
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2390 | holgerb | 250 | EE_Parameter.CompassOffset = 0; |
2408 | holgerb | 251 | |
252 | EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
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253 | EE_Parameter.ComingHomeVoltage = 32; |
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254 | EE_Parameter.AutoLandingVoltage = 31; |
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1760 | holgerb | 255 | } |
1944 | holgerb | 256 | /* |
1760 | holgerb | 257 | void ParamSet_DefaultSet1(void) // sport |
258 | { |
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259 | CommonDefaults(); |
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260 | EE_Parameter.Stick_P = 14; // Wert : 1-20 |
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261 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
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1944 | holgerb | 262 | EE_Parameter.StickGier_P = 12; // Wert : 1-20 |
1760 | holgerb | 263 | EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
264 | EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
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265 | EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
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266 | EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
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267 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
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268 | EE_Parameter.I_Faktor = 32; |
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269 | EE_Parameter.CouplingYawCorrection = 1; |
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270 | EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
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271 | EE_Parameter.DynamicStability = 100; |
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1622 | killagreg | 272 | memcpy(EE_Parameter.Name, "Sport\0", 12); |
273 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
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395 | hbuss | 274 | } |
1944 | holgerb | 275 | */ |
1622 | killagreg | 276 | |
277 | /***************************************************/ |
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1944 | holgerb | 278 | /* Default Values for parameter set 1 */ |
1622 | killagreg | 279 | /***************************************************/ |
1944 | holgerb | 280 | void ParamSet_DefaultSet1(void) // normal |
1622 | killagreg | 281 | { |
1760 | holgerb | 282 | CommonDefaults(); |
1664 | holgerb | 283 | EE_Parameter.Stick_P = 10; // Wert : 1-20 |
284 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
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1944 | holgerb | 285 | EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
1622 | killagreg | 286 | EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
287 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
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288 | EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
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289 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
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1685 | holgerb | 290 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
1622 | killagreg | 291 | EE_Parameter.I_Faktor = 32; |
292 | EE_Parameter.CouplingYawCorrection = 60; |
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293 | EE_Parameter.DynamicStability = 75; |
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2265 | holgerb | 294 | memcpy(EE_Parameter.Name, "Fast",4); |
1622 | killagreg | 295 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
296 | } |
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297 | |||
298 | |||
299 | /***************************************************/ |
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1944 | holgerb | 300 | /* Default Values for parameter set 2 */ |
1622 | killagreg | 301 | /***************************************************/ |
2344 | holgerb | 302 | void ParamSet_DefaultSet2(void) // Agil |
1622 | killagreg | 303 | { |
1762 | holgerb | 304 | CommonDefaults(); |
1664 | holgerb | 305 | EE_Parameter.Stick_P = 8; // Wert : 1-20 |
306 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
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1944 | holgerb | 307 | EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
1622 | killagreg | 308 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
309 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
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310 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
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311 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
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1685 | holgerb | 312 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
1622 | killagreg | 313 | EE_Parameter.I_Faktor = 16; |
314 | EE_Parameter.CouplingYawCorrection = 70; |
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1690 | holgerb | 315 | EE_Parameter.DynamicStability = 70; |
2344 | holgerb | 316 | memcpy(EE_Parameter.Name, "Agile",5); |
1622 | killagreg | 317 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
318 | } |
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319 | |||
320 | /***************************************************/ |
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1944 | holgerb | 321 | /* Default Values for parameter set 3 */ |
322 | /***************************************************/ |
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2344 | holgerb | 323 | void ParamSet_DefaultSet3(void) // Easy |
1944 | holgerb | 324 | { |
325 | CommonDefaults(); |
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326 | EE_Parameter.Stick_P = 6; // Wert : 1-20 |
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327 | EE_Parameter.Stick_D = 10; // Wert : 0-20 |
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328 | EE_Parameter.StickGier_P = 4; // Wert : 1-20 |
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329 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
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330 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
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331 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
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332 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
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333 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
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334 | EE_Parameter.I_Faktor = 16; |
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335 | EE_Parameter.CouplingYawCorrection = 70; |
||
336 | EE_Parameter.DynamicStability = 70; |
||
2265 | holgerb | 337 | memcpy(EE_Parameter.Name, "Easy", 4); |
1944 | holgerb | 338 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
339 | } |
||
340 | |||
341 | |||
342 | /***************************************************/ |
||
1622 | killagreg | 343 | /* Read Parameter from EEPROM as byte */ |
344 | /***************************************************/ |
||
345 | uint8_t GetParamByte(uint16_t param_id) |
||
346 | { |
||
347 | return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
||
348 | } |
||
349 | |||
350 | /***************************************************/ |
||
351 | /* Write Parameter to EEPROM as byte */ |
||
352 | /***************************************************/ |
||
353 | void SetParamByte(uint16_t param_id, uint8_t value) |
||
354 | { |
||
355 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
||
356 | } |
||
357 | |||
358 | /***************************************************/ |
||
359 | /* Read Parameter from EEPROM as word */ |
||
360 | /***************************************************/ |
||
361 | uint16_t GetParamWord(uint16_t param_id) |
||
362 | { |
||
363 | return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
||
364 | } |
||
365 | |||
366 | /***************************************************/ |
||
367 | /* Write Parameter to EEPROM as word */ |
||
368 | /***************************************************/ |
||
369 | void SetParamWord(uint16_t param_id, uint16_t value) |
||
370 | { |
||
371 | eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
||
372 | } |
||
373 | |||
374 | /***************************************************/ |
||
375 | /* Read Parameter Set from EEPROM */ |
||
376 | /***************************************************/ |
||
377 | // number [1..5] |
||
378 | uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
||
379 | { |
||
380 | uint8_t crc; |
||
381 | uint16_t eeaddr; |
||
382 | |||
383 | // range the setnumber |
||
384 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
||
385 | |||
386 | // calculate eeprom addr |
||
387 | eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
||
388 | |||
389 | // calculate checksum from eeprom |
||
390 | crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
||
391 | |||
392 | // check crc |
||
393 | if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
||
394 | |||
395 | // check revision |
||
396 | if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0; |
||
397 | |||
398 | // read paramset from eeprom |
||
399 | eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
||
400 | LED_Init(); |
||
1925 | holgerb | 401 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1921 | holgerb | 402 | LIBFC_HoTT_Clear(); |
1925 | holgerb | 403 | #endif |
1622 | killagreg | 404 | return 1; |
405 | } |
||
406 | |||
407 | /***************************************************/ |
||
408 | /* Write Parameter Set to EEPROM */ |
||
409 | /***************************************************/ |
||
410 | // number [1..5] |
||
411 | uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
||
412 | { |
||
413 | uint8_t crc; |
||
414 | |||
415 | if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
||
416 | { |
||
417 | if(setnumber > 5) setnumber = 5; |
||
418 | if(setnumber < 1) return 0; |
||
1916 | holgerb | 419 | LIBFC_CheckSettings(); |
2028 | holgerb | 420 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) // check the Setting: Not more than 100% emergency gas |
421 | { |
||
422 | if(EE_Parameter.NotGas > 99) EE_Parameter.NotGas = 80; // i.e. 80% of Hovergas |
||
423 | } |
||
1622 | killagreg | 424 | // update checksum |
425 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
||
426 | |||
427 | // write paramset to eeprom |
||
428 | eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
||
429 | |||
430 | // backup channel settings to separate block in eeprom |
||
431 | eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
||
432 | |||
433 | // write crc of channel block to eeprom |
||
434 | crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
||
435 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
||
436 | |||
437 | // update active settings number |
||
438 | SetActiveParamSet(setnumber); |
||
439 | LED_Init(); |
||
1925 | holgerb | 440 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1921 | holgerb | 441 | LIBFC_HoTT_Clear(); |
1925 | holgerb | 442 | #endif |
1622 | killagreg | 443 | return 1; |
444 | } |
||
445 | // wrong revision |
||
446 | return 0; |
||
447 | } |
||
448 | |||
449 | /***************************************************/ |
||
450 | /* Read MixerTable from EEPROM */ |
||
451 | /***************************************************/ |
||
452 | uint8_t MixerTable_ReadFromEEProm(void) |
||
453 | { |
||
454 | uint8_t crc; |
||
455 | |||
456 | // calculate checksum in eeprom |
||
457 | crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
||
458 | |||
459 | // check crc |
||
460 | if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
||
461 | |||
462 | // check revision |
||
463 | if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
||
464 | |||
465 | // read mixer table |
||
466 | eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
||
467 | return 1; |
||
468 | } |
||
469 | |||
470 | /***************************************************/ |
||
471 | /* Write Mixer Table to EEPROM */ |
||
472 | /***************************************************/ |
||
473 | uint8_t MixerTable_WriteToEEProm(void) |
||
474 | { |
||
475 | if(Mixer.Revision == EEMIXER_REVISION) |
||
476 | { |
||
477 | // update crc |
||
478 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
||
479 | |||
480 | // write to eeprom |
||
481 | eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
||
482 | return 1; |
||
483 | } |
||
484 | else return 0; |
||
485 | } |
||
486 | |||
487 | /***************************************************/ |
||
488 | /* Default Values for Mixer Table */ |
||
489 | /***************************************************/ |
||
490 | void MixerTable_Default(void) // Quadro |
||
491 | { |
||
492 | uint8_t i; |
||
493 | |||
494 | Mixer.Revision = EEMIXER_REVISION; |
||
495 | // clear mixer table |
||
496 | for(i = 0; i < 16; i++) |
||
497 | { |
||
498 | Mixer.Motor[i][MIX_GAS] = 0; |
||
499 | Mixer.Motor[i][MIX_NICK] = 0; |
||
500 | Mixer.Motor[i][MIX_ROLL] = 0; |
||
501 | Mixer.Motor[i][MIX_YAW] = 0; |
||
502 | } |
||
503 | // default = Quadro |
||
504 | Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
||
505 | Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
||
506 | Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
||
507 | Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
||
2266 | holgerb | 508 | memcpy(Mixer.Name, "Quadro\0\0\0\0\0\0", 12); |
2008 | holgerb | 509 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
1622 | killagreg | 510 | } |
511 | |||
512 | /***************************************************/ |
||
513 | /* Get active parameter set */ |
||
514 | /***************************************************/ |
||
515 | uint8_t GetActiveParamSet(void) |
||
516 | { |
||
517 | uint8_t setnumber; |
||
518 | setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
||
519 | if(setnumber > 5) |
||
520 | { |
||
521 | setnumber = 3; |
||
522 | eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber); |
||
523 | } |
||
2331 | holgerb | 524 | ActiveParamSet = setnumber; |
1622 | killagreg | 525 | return(setnumber); |
526 | } |
||
527 | |||
528 | /***************************************************/ |
||
529 | /* Set active parameter set */ |
||
530 | /***************************************************/ |
||
531 | void SetActiveParamSet(uint8_t setnumber) |
||
532 | { |
||
533 | if(setnumber > 5) setnumber = 5; |
||
534 | if(setnumber < 1) setnumber = 1; |
||
2331 | holgerb | 535 | ActiveParamSet = setnumber; |
1622 | killagreg | 536 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
537 | } |
||
538 | |||
539 | /***************************************************/ |
||
1761 | killagreg | 540 | /* Set default parameter set */ |
541 | /***************************************************/ |
||
542 | void SetDefaultParameter(uint8_t set, uint8_t restore_channels) |
||
543 | { |
||
544 | |||
545 | if(set > 5) set = 5; |
||
546 | else if(set < 1) set = 1; |
||
547 | |||
548 | switch(set) |
||
549 | { |
||
550 | case 1: |
||
551 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
||
552 | break; |
||
553 | case 2: |
||
554 | ParamSet_DefaultSet2(); // Kamera |
||
555 | break; |
||
556 | case 3: |
||
557 | ParamSet_DefaultSet3(); // Beginner |
||
558 | break; |
||
559 | default: |
||
560 | ParamSet_DefaultSet3(); // Beginner |
||
561 | break; |
||
562 | } |
||
563 | if(restore_channels) |
||
564 | { |
||
565 | uint8_t crc; |
||
566 | // 1st check for a valid channel backup in eeprom |
||
567 | crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
||
568 | if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) |
||
569 | { |
||
570 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
||
571 | } |
||
572 | else ParamSet_DefaultStickMapping(); |
||
573 | } |
||
574 | else ParamSet_DefaultStickMapping(); |
||
575 | ParamSet_WriteToEEProm(set); |
||
576 | } |
||
577 | |||
578 | /***************************************************/ |
||
1622 | killagreg | 579 | /* Initialize EEPROM Parameter Sets */ |
580 | /***************************************************/ |
||
581 | void ParamSet_Init(void) |
||
582 | { |
||
583 | uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
||
2336 | holgerb | 584 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
585 | if(PlatinenVersion != GetParamByte(PID_HARDWARE_VERSION)) |
||
586 | { |
||
587 | if(PlatinenVersion == 22 && GetParamByte(PID_HARDWARE_VERSION) == 21 && !(PIND & 0x10)) SetParamByte(PID_EE_REVISION,0); // reset the Settings if the Version changed to V2.2 |
||
588 | SetParamByte(PID_HARDWARE_VERSION,PlatinenVersion); // Remember the Version number |
||
589 | wdt_enable(WDTO_15MS); // Reset-Commando |
||
590 | printf("\n\r--> Hardware Version Byte Changed <--"); |
||
591 | while(1); |
||
592 | } |
||
593 | #endif |
||
2323 | holgerb | 594 | if((EEPARAM_REVISION) != GetParamByte(PID_EE_REVISION)) |
1622 | killagreg | 595 | { |
596 | ee_default = 1; // software update or forced by mktool |
||
597 | } |
||
598 | // 1st check for a valid channel backup in eeprom |
||
599 | i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
||
2318 | holgerb | 600 | if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)))) channel_backup = 1; |
1622 | killagreg | 601 | |
602 | // parameter check |
||
603 | |||
604 | // check all 5 parameter settings |
||
605 | for (i = 1;i < 6; i++) |
||
606 | { |
||
607 | if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
||
608 | { |
||
609 | bad_params = 1; |
||
610 | printf("\n\rGenerating default Parameter Set %d",i); |
||
611 | switch(i) |
||
612 | { |
||
613 | case 1: |
||
614 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
||
615 | break; |
||
616 | case 2: |
||
2344 | holgerb | 617 | ParamSet_DefaultSet2(); // Normal |
1622 | killagreg | 618 | break; |
619 | default: |
||
2344 | holgerb | 620 | ParamSet_DefaultSet3(); // Easy |
1622 | killagreg | 621 | break; |
622 | } |
||
623 | if(channel_backup) // if we have an channel mapping backup in eeprom |
||
624 | { // restore it from eeprom |
||
625 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
||
626 | } |
||
627 | else |
||
628 | { // use default mapping |
||
629 | ParamSet_DefaultStickMapping(); |
||
630 | } |
||
631 | ParamSet_WriteToEEProm(i); |
||
632 | } |
||
633 | } |
||
634 | if(bad_params) // at least one of the parameter settings were invalid |
||
635 | { |
||
636 | // default-Setting is parameter set 3 |
||
637 | SetActiveParamSet(3); |
||
638 | } |
||
639 | // read active parameter set to ParamSet stucture |
||
640 | i = GetActiveParamSet(); |
||
641 | ParamSet_ReadFromEEProm(i); |
||
642 | printf("\n\rUsing Parameter Set %d", i); |
||
643 | |||
644 | // load mixer table |
||
1931 | holgerb | 645 | if(GetParamByte(PID_EE_REVISION) == 0xff || !MixerTable_ReadFromEEProm() ) |
1622 | killagreg | 646 | { |
647 | printf("\n\rGenerating default Mixer Table"); |
||
648 | MixerTable_Default(); // Quadro |
||
649 | MixerTable_WriteToEEProm(); |
||
650 | } |
||
2323 | holgerb | 651 | if(ee_default) SetParamByte(PID_EE_REVISION, (EEPARAM_REVISION)); |
1622 | killagreg | 652 | // determine motornumber |
653 | RequiredMotors = 0; |
||
654 | for(i = 0; i < 16; i++) |
||
655 | { |
||
656 | if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
||
657 | } |
||
658 | |||
659 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
||
2030 | holgerb | 660 | PrintLine();// ("\n\r==================================="); |
661 | |||
1622 | killagreg | 662 | } |