Rev 2578 | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1622 | killagreg | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + www.MikroKopter.com |
||
3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2050 | holgerb | 4 | // + Software Nutzungsbedingungen (english version: see below) |
5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
||
6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
||
7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
||
8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
||
9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
||
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. |
||
13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
||
14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
||
15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
||
16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
||
17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
||
18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
||
19 | // + des Mitverschuldens offen. |
||
20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
||
21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
||
22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
||
23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
||
24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
||
25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
||
26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
||
27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
||
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 |
||
33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
||
34 | // + The Software may only be used with the Licensor's products. |
||
35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
||
36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
||
37 | // + agreement shall be the property of the Licensor. |
||
38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
||
39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
||
40 | // + The customer shall be responsible for taking reasonable precautions |
||
41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
||
42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
||
43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
||
44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
||
45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
||
46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
||
47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
||
48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
||
49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
||
50 | // + #### END OF LICENSING TERMS #### |
||
51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
||
1622 | killagreg | 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; |
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; |
||
126 | EE_Parameter.WinkelUmschlagNick = 78; |
||
127 | EE_Parameter.WinkelUmschlagRoll = 78; |
||
128 | } |
||
2426 | holgerb | 129 | /* else |
1622 | killagreg | 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 | } |
||
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;// |
||
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; |
||
147 | #endif |
||
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 |
||
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; |
2487 | holgerb | 158 | EE_Parameter.Hoehe_TiltCompensation = 110; // in % |
2390 | holgerb | 159 | |
2309 | holgerb | 160 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
161 | if(ACC_AltitudeControl) |
||
162 | { |
||
163 | EE_Parameter.Hoehe_P = 20; // Wert : 0-32 |
||
164 | EE_Parameter.Luftdruck_D = 40; // Wert : 0-247 |
||
2316 | holgerb | 165 | EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-247 |
2309 | holgerb | 166 | EE_Parameter.Hoehe_HoverBand = 1; // Wert : 0-247 |
2337 | holgerb | 167 | EE_Parameter.Hoehe_StickNeutralPoint = 127;// Wert : 0-247 (0 = Hover-Estimation) |
2486 | holgerb | 168 | EE_Parameter.FailSafeTime = 60; // 0 = off |
2309 | holgerb | 169 | } |
170 | else |
||
171 | #endif |
||
172 | { |
||
173 | EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
||
174 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
||
175 | EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
||
176 | EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
||
2337 | holgerb | 177 | EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
2342 | holgerb | 178 | EE_Parameter.FailSafeTime = 0; // 0 = off |
2309 | holgerb | 179 | } |
180 | |||
1942 | holgerb | 181 | EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 (15 -> ca. +/- 5m/sek bei Stick-Voll-Ausschlag) |
2340 | holgerb | 182 | EE_Parameter.StartLandChannel = 0; |
183 | EE_Parameter.LandingSpeed = 12; |
||
1762 | holgerb | 184 | |
1622 | killagreg | 185 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
186 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
||
187 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
||
188 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
||
189 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
||
190 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
||
191 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
||
192 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
||
1762 | holgerb | 193 | |
1848 | holgerb | 194 | EE_Parameter.ServoNickControl = 128; // Wert : 0-247 // Stellung des Servos |
195 | EE_Parameter.ServoNickComp = 50; // Wert : 0-247 // Einfluss Gyro/Servo |
||
1771 | holgerb | 196 | EE_Parameter.ServoCompInvert = 2; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
2349 | holgerb | 197 | EE_Parameter.ServoNickMin = 24; // Wert : 0-247 // Anschlag |
1848 | holgerb | 198 | EE_Parameter.ServoNickMax = 230; // Wert : 0-247 // Anschlag |
2373 | holgerb | 199 | EE_Parameter.ServoNickRefresh = 3; |
1622 | killagreg | 200 | EE_Parameter.Servo3 = 125; |
201 | EE_Parameter.Servo4 = 125; |
||
202 | EE_Parameter.Servo5 = 125; |
||
1848 | holgerb | 203 | EE_Parameter.ServoRollControl = 128; // Wert : 0-247 // Stellung des Servos |
204 | EE_Parameter.ServoRollComp = 85; // Wert : 0-247 // Einfluss Gyro/Servo |
||
1876 | holgerb | 205 | EE_Parameter.ServoRollMin = 70; // Wert : 0-247 // Anschlag |
1848 | holgerb | 206 | EE_Parameter.ServoRollMax = 220; // Wert : 0-247 // Anschlag |
207 | EE_Parameter.ServoManualControlSpeed = 60; |
||
1876 | holgerb | 208 | EE_Parameter.CamOrientation = 0; // Wert : 0-24 -> 0-360 -> 15° steps |
1762 | holgerb | 209 | |
2373 | holgerb | 210 | EE_Parameter.J16Bitmask = 0xAA; |
211 | EE_Parameter.J17Bitmask = 0xCC; |
||
212 | EE_Parameter.WARN_J16_Bitmask = 0x00; |
||
1622 | killagreg | 213 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
2040 | holgerb | 214 | EE_Parameter.J16Timing = 40; |
215 | EE_Parameter.J17Timing = 40; |
||
2440 | holgerb | 216 | EE_Parameter.AutoPhotoDistance = 0; // Photo release in meter |
217 | EE_Parameter.AutoPhotoAtitudes = 0; // Photo release in meter |
||
218 | EE_Parameter.SingleWpSpeed = 50; // Speed when flying the single points |
||
219 | |||
1762 | holgerb | 220 | EE_Parameter.LoopGasLimit = 50; |
2440 | holgerb | 221 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
1762 | holgerb | 222 | EE_Parameter.LoopHysterese = 50; |
223 | |||
2342 | holgerb | 224 | EE_Parameter.NaviGpsModeChannel = 6; // Kanal 6 |
1622 | killagreg | 225 | EE_Parameter.NaviGpsGain = 100; |
2344 | holgerb | 226 | EE_Parameter.NaviGpsP = 100; |
227 | EE_Parameter.NaviGpsI = 90; |
||
228 | EE_Parameter.NaviGpsD = 120; |
||
229 | EE_Parameter.NaviGpsA = 40; |
||
1622 | killagreg | 230 | EE_Parameter.NaviGpsPLimit = 75; |
1931 | holgerb | 231 | EE_Parameter.NaviGpsILimit = 85; |
1622 | killagreg | 232 | EE_Parameter.NaviGpsDLimit = 75; |
233 | EE_Parameter.NaviGpsMinSat = 6; |
||
234 | EE_Parameter.NaviStickThreshold = 8; |
||
2348 | holgerb | 235 | EE_Parameter.NaviWindCorrection = 50; |
1936 | holgerb | 236 | EE_Parameter.NaviAccCompensation = 42; |
2447 | holgerb | 237 | EE_Parameter.NaviMaxFlyingRange = 0; |
238 | EE_Parameter.NaviDescendRange = 0; |
||
1931 | holgerb | 239 | EE_Parameter.NaviAngleLimitation = 140; |
2348 | holgerb | 240 | EE_Parameter.NaviPH_LoginTime = 2; |
1668 | holgerb | 241 | EE_Parameter.OrientationAngle = 0; |
2342 | holgerb | 242 | EE_Parameter.CareFreeChannel = 0; |
2061 | holgerb | 243 | EE_Parameter.NotGas = 65; // Wert : 0-247 // Gaswert bei Empangsverlust (ggf. in Prozent) |
1760 | holgerb | 244 | EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
1915 | holgerb | 245 | EE_Parameter.MotorSmooth = 0; |
246 | EE_Parameter.ComingHomeAltitude = 0; // 0 = don't change |
||
1936 | holgerb | 247 | EE_Parameter.MaxAltitude = 150; // 0 = off |
2275 | holgerb | 248 | EE_Parameter.AchsKopplung1 = 125; |
249 | EE_Parameter.AchsKopplung2 = 52; |
||
2008 | holgerb | 250 | EE_Parameter.FailsafeChannel = 0; |
2012 | holgerb | 251 | EE_Parameter.ServoFilterNick = 0; |
252 | EE_Parameter.ServoFilterRoll = 0; |
||
2443 | holgerb | 253 | EE_Parameter.Servo3OnValue = 140; |
254 | EE_Parameter.Servo3OffValue = 70; |
||
255 | EE_Parameter.Servo4OnValue = 140; |
||
256 | EE_Parameter.Servo4OffValue = 70; |
||
2541 | holgerb | 257 | EE_Parameter.ServoFS_Pos[0] = 0; |
258 | EE_Parameter.ServoFS_Pos[1] = 0; |
||
259 | EE_Parameter.ServoFS_Pos[2] = 0; |
||
260 | EE_Parameter.ServoFS_Pos[3] = 0; |
||
261 | EE_Parameter.ServoFS_Pos[4] = 0; |
||
2390 | holgerb | 262 | EE_Parameter.CompassOffset = 0; |
2440 | holgerb | 263 | EE_Parameter.UnterspannungsWarnung = 32; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
264 | EE_Parameter.ComingHomeVoltage = 31; |
||
265 | EE_Parameter.AutoLandingVoltage = 30; |
||
2519 | holgerb | 266 | EE_Parameter.LandingPulse = 960 / 4; |
2567 | holgerb | 267 | EE_Parameter.SingleWpControlChannel = 0; |
268 | EE_Parameter.MenuKeyChannel = 0; |
||
269 | |||
1760 | holgerb | 270 | } |
1944 | holgerb | 271 | /* |
1760 | holgerb | 272 | void ParamSet_DefaultSet1(void) // sport |
273 | { |
||
274 | CommonDefaults(); |
||
275 | EE_Parameter.Stick_P = 14; // Wert : 1-20 |
||
276 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
||
1944 | holgerb | 277 | EE_Parameter.StickGier_P = 12; // Wert : 1-20 |
1760 | holgerb | 278 | EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
279 | EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
||
280 | EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
||
281 | EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
||
282 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
||
283 | EE_Parameter.I_Faktor = 32; |
||
284 | EE_Parameter.CouplingYawCorrection = 1; |
||
285 | EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
||
286 | EE_Parameter.DynamicStability = 100; |
||
1622 | killagreg | 287 | memcpy(EE_Parameter.Name, "Sport\0", 12); |
288 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
||
395 | hbuss | 289 | } |
1944 | holgerb | 290 | */ |
1622 | killagreg | 291 | |
292 | /***************************************************/ |
||
1944 | holgerb | 293 | /* Default Values for parameter set 1 */ |
1622 | killagreg | 294 | /***************************************************/ |
1944 | holgerb | 295 | void ParamSet_DefaultSet1(void) // normal |
1622 | killagreg | 296 | { |
1760 | holgerb | 297 | CommonDefaults(); |
1664 | holgerb | 298 | EE_Parameter.Stick_P = 10; // Wert : 1-20 |
299 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
||
1944 | holgerb | 300 | EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
1622 | killagreg | 301 | EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
302 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
||
303 | EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
||
304 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
||
1685 | holgerb | 305 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
1622 | killagreg | 306 | EE_Parameter.I_Faktor = 32; |
307 | EE_Parameter.CouplingYawCorrection = 60; |
||
308 | EE_Parameter.DynamicStability = 75; |
||
2265 | holgerb | 309 | memcpy(EE_Parameter.Name, "Fast",4); |
1622 | killagreg | 310 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
311 | } |
||
312 | |||
313 | |||
314 | /***************************************************/ |
||
1944 | holgerb | 315 | /* Default Values for parameter set 2 */ |
1622 | killagreg | 316 | /***************************************************/ |
2344 | holgerb | 317 | void ParamSet_DefaultSet2(void) // Agil |
1622 | killagreg | 318 | { |
1762 | holgerb | 319 | CommonDefaults(); |
1664 | holgerb | 320 | EE_Parameter.Stick_P = 8; // Wert : 1-20 |
321 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
||
2545 | holgerb | 322 | EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
1622 | killagreg | 323 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
324 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
||
325 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
||
326 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
||
2545 | holgerb | 327 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
1622 | killagreg | 328 | EE_Parameter.I_Faktor = 16; |
329 | EE_Parameter.CouplingYawCorrection = 70; |
||
1690 | holgerb | 330 | EE_Parameter.DynamicStability = 70; |
2344 | holgerb | 331 | memcpy(EE_Parameter.Name, "Agile",5); |
1622 | killagreg | 332 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
333 | } |
||
334 | |||
335 | /***************************************************/ |
||
1944 | holgerb | 336 | /* Default Values for parameter set 3 */ |
337 | /***************************************************/ |
||
2344 | holgerb | 338 | void ParamSet_DefaultSet3(void) // Easy |
1944 | holgerb | 339 | { |
340 | CommonDefaults(); |
||
341 | EE_Parameter.Stick_P = 6; // Wert : 1-20 |
||
342 | EE_Parameter.Stick_D = 10; // Wert : 0-20 |
||
343 | EE_Parameter.StickGier_P = 4; // Wert : 1-20 |
||
344 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
||
345 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
||
346 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
||
347 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
||
348 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
||
349 | EE_Parameter.I_Faktor = 16; |
||
350 | EE_Parameter.CouplingYawCorrection = 70; |
||
351 | EE_Parameter.DynamicStability = 70; |
||
2265 | holgerb | 352 | memcpy(EE_Parameter.Name, "Easy", 4); |
1944 | holgerb | 353 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
354 | } |
||
355 | |||
356 | |||
357 | /***************************************************/ |
||
1622 | killagreg | 358 | /* Read Parameter from EEPROM as byte */ |
359 | /***************************************************/ |
||
360 | uint8_t GetParamByte(uint16_t param_id) |
||
361 | { |
||
362 | return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
||
363 | } |
||
364 | |||
365 | /***************************************************/ |
||
366 | /* Write Parameter to EEPROM as byte */ |
||
367 | /***************************************************/ |
||
368 | void SetParamByte(uint16_t param_id, uint8_t value) |
||
369 | { |
||
370 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
||
371 | } |
||
372 | |||
373 | /***************************************************/ |
||
374 | /* Read Parameter from EEPROM as word */ |
||
375 | /***************************************************/ |
||
376 | uint16_t GetParamWord(uint16_t param_id) |
||
377 | { |
||
378 | return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
||
379 | } |
||
380 | |||
381 | /***************************************************/ |
||
382 | /* Write Parameter to EEPROM as word */ |
||
383 | /***************************************************/ |
||
384 | void SetParamWord(uint16_t param_id, uint16_t value) |
||
385 | { |
||
386 | eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
||
387 | } |
||
388 | |||
389 | /***************************************************/ |
||
390 | /* Read Parameter Set from EEPROM */ |
||
391 | /***************************************************/ |
||
392 | // number [1..5] |
||
393 | uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
||
394 | { |
||
395 | uint8_t crc; |
||
396 | uint16_t eeaddr; |
||
397 | |||
398 | // range the setnumber |
||
399 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
||
400 | |||
401 | // calculate eeprom addr |
||
402 | eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
||
403 | |||
404 | // calculate checksum from eeprom |
||
405 | crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
||
406 | |||
407 | // check crc |
||
408 | if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
||
409 | |||
410 | // check revision |
||
411 | if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0; |
||
412 | |||
413 | // read paramset from eeprom |
||
414 | eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
||
415 | LED_Init(); |
||
1925 | holgerb | 416 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1921 | holgerb | 417 | LIBFC_HoTT_Clear(); |
1925 | holgerb | 418 | #endif |
2541 | holgerb | 419 | if(EE_Parameter.LandingPulse < 760 / 4) EE_Parameter.LandingPulse = 0; |
1622 | killagreg | 420 | return 1; |
421 | } |
||
422 | |||
423 | /***************************************************/ |
||
424 | /* Write Parameter Set to EEPROM */ |
||
425 | /***************************************************/ |
||
426 | // number [1..5] |
||
427 | uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
||
428 | { |
||
429 | uint8_t crc; |
||
430 | |||
431 | if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
||
432 | { |
||
433 | if(setnumber > 5) setnumber = 5; |
||
434 | if(setnumber < 1) return 0; |
||
1916 | holgerb | 435 | LIBFC_CheckSettings(); |
2028 | holgerb | 436 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) // check the Setting: Not more than 100% emergency gas |
437 | { |
||
438 | if(EE_Parameter.NotGas > 99) EE_Parameter.NotGas = 80; // i.e. 80% of Hovergas |
||
439 | } |
||
1622 | killagreg | 440 | // update checksum |
441 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
||
442 | |||
443 | // write paramset to eeprom |
||
444 | eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
||
445 | |||
446 | // backup channel settings to separate block in eeprom |
||
447 | eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
||
448 | |||
449 | // write crc of channel block to eeprom |
||
450 | crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
||
451 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
||
452 | |||
453 | // update active settings number |
||
454 | SetActiveParamSet(setnumber); |
||
455 | LED_Init(); |
||
1925 | holgerb | 456 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1921 | holgerb | 457 | LIBFC_HoTT_Clear(); |
1925 | holgerb | 458 | #endif |
1622 | killagreg | 459 | return 1; |
460 | } |
||
461 | // wrong revision |
||
462 | return 0; |
||
463 | } |
||
464 | |||
465 | /***************************************************/ |
||
466 | /* Read MixerTable from EEPROM */ |
||
467 | /***************************************************/ |
||
468 | uint8_t MixerTable_ReadFromEEProm(void) |
||
469 | { |
||
470 | uint8_t crc; |
||
471 | |||
472 | // calculate checksum in eeprom |
||
473 | crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
||
474 | |||
475 | // check crc |
||
476 | if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
||
477 | |||
478 | // check revision |
||
479 | if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
||
480 | |||
481 | // read mixer table |
||
482 | eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
||
483 | return 1; |
||
484 | } |
||
485 | |||
486 | /***************************************************/ |
||
487 | /* Write Mixer Table to EEPROM */ |
||
488 | /***************************************************/ |
||
489 | uint8_t MixerTable_WriteToEEProm(void) |
||
490 | { |
||
491 | if(Mixer.Revision == EEMIXER_REVISION) |
||
492 | { |
||
493 | // update crc |
||
494 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
||
495 | |||
496 | // write to eeprom |
||
497 | eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
||
498 | return 1; |
||
499 | } |
||
500 | else return 0; |
||
501 | } |
||
502 | |||
503 | /***************************************************/ |
||
504 | /* Default Values for Mixer Table */ |
||
505 | /***************************************************/ |
||
506 | void MixerTable_Default(void) // Quadro |
||
507 | { |
||
508 | uint8_t i; |
||
509 | |||
510 | Mixer.Revision = EEMIXER_REVISION; |
||
511 | // clear mixer table |
||
512 | for(i = 0; i < 16; i++) |
||
513 | { |
||
514 | Mixer.Motor[i][MIX_GAS] = 0; |
||
515 | Mixer.Motor[i][MIX_NICK] = 0; |
||
516 | Mixer.Motor[i][MIX_ROLL] = 0; |
||
517 | Mixer.Motor[i][MIX_YAW] = 0; |
||
518 | } |
||
519 | // default = Quadro |
||
520 | Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
||
521 | Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
||
522 | Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
||
523 | 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 | 524 | memcpy(Mixer.Name, "Quadro\0\0\0\0\0\0", 12); |
2008 | holgerb | 525 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
1622 | killagreg | 526 | } |
527 | |||
528 | /***************************************************/ |
||
529 | /* Get active parameter set */ |
||
530 | /***************************************************/ |
||
531 | uint8_t GetActiveParamSet(void) |
||
532 | { |
||
533 | uint8_t setnumber; |
||
534 | setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
||
535 | if(setnumber > 5) |
||
536 | { |
||
537 | setnumber = 3; |
||
538 | eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber); |
||
539 | } |
||
2331 | holgerb | 540 | ActiveParamSet = setnumber; |
1622 | killagreg | 541 | return(setnumber); |
542 | } |
||
543 | |||
544 | /***************************************************/ |
||
545 | /* Set active parameter set */ |
||
546 | /***************************************************/ |
||
547 | void SetActiveParamSet(uint8_t setnumber) |
||
548 | { |
||
549 | if(setnumber > 5) setnumber = 5; |
||
550 | if(setnumber < 1) setnumber = 1; |
||
2331 | holgerb | 551 | ActiveParamSet = setnumber; |
1622 | killagreg | 552 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
553 | } |
||
554 | |||
555 | /***************************************************/ |
||
1761 | killagreg | 556 | /* Set default parameter set */ |
557 | /***************************************************/ |
||
558 | void SetDefaultParameter(uint8_t set, uint8_t restore_channels) |
||
559 | { |
||
560 | |||
561 | if(set > 5) set = 5; |
||
562 | else if(set < 1) set = 1; |
||
563 | |||
564 | switch(set) |
||
565 | { |
||
566 | case 1: |
||
567 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
||
568 | break; |
||
569 | case 2: |
||
570 | ParamSet_DefaultSet2(); // Kamera |
||
571 | break; |
||
572 | case 3: |
||
573 | ParamSet_DefaultSet3(); // Beginner |
||
574 | break; |
||
575 | default: |
||
576 | ParamSet_DefaultSet3(); // Beginner |
||
577 | break; |
||
578 | } |
||
579 | if(restore_channels) |
||
580 | { |
||
581 | uint8_t crc; |
||
582 | // 1st check for a valid channel backup in eeprom |
||
583 | crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
||
584 | if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) |
||
585 | { |
||
586 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
||
587 | } |
||
588 | else ParamSet_DefaultStickMapping(); |
||
589 | } |
||
590 | else ParamSet_DefaultStickMapping(); |
||
591 | ParamSet_WriteToEEProm(set); |
||
592 | } |
||
593 | |||
594 | /***************************************************/ |
||
1622 | killagreg | 595 | /* Initialize EEPROM Parameter Sets */ |
596 | /***************************************************/ |
||
597 | void ParamSet_Init(void) |
||
598 | { |
||
599 | uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
||
2336 | holgerb | 600 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
601 | if(PlatinenVersion != GetParamByte(PID_HARDWARE_VERSION)) |
||
602 | { |
||
2578 | holgerb | 603 | J4High; // switch pullup high |
604 | printf("\n\r--> Hardware Version Byte Changed <--"); |
||
2336 | holgerb | 605 | 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 |
606 | SetParamByte(PID_HARDWARE_VERSION,PlatinenVersion); // Remember the Version number |
||
607 | wdt_enable(WDTO_15MS); // Reset-Commando |
||
608 | while(1); |
||
609 | } |
||
610 | #endif |
||
2323 | holgerb | 611 | if((EEPARAM_REVISION) != GetParamByte(PID_EE_REVISION)) |
1622 | killagreg | 612 | { |
613 | ee_default = 1; // software update or forced by mktool |
||
614 | } |
||
615 | // 1st check for a valid channel backup in eeprom |
||
616 | i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
||
2318 | holgerb | 617 | if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)))) channel_backup = 1; |
1622 | killagreg | 618 | |
619 | // parameter check |
||
620 | |||
621 | // check all 5 parameter settings |
||
622 | for (i = 1;i < 6; i++) |
||
623 | { |
||
624 | if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
||
625 | { |
||
626 | bad_params = 1; |
||
627 | printf("\n\rGenerating default Parameter Set %d",i); |
||
628 | switch(i) |
||
629 | { |
||
630 | case 1: |
||
631 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
||
632 | break; |
||
633 | case 2: |
||
2344 | holgerb | 634 | ParamSet_DefaultSet2(); // Normal |
1622 | killagreg | 635 | break; |
636 | default: |
||
2344 | holgerb | 637 | ParamSet_DefaultSet3(); // Easy |
1622 | killagreg | 638 | break; |
639 | } |
||
640 | if(channel_backup) // if we have an channel mapping backup in eeprom |
||
641 | { // restore it from eeprom |
||
642 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
||
643 | } |
||
644 | else |
||
645 | { // use default mapping |
||
646 | ParamSet_DefaultStickMapping(); |
||
647 | } |
||
648 | ParamSet_WriteToEEProm(i); |
||
649 | } |
||
650 | } |
||
651 | if(bad_params) // at least one of the parameter settings were invalid |
||
652 | { |
||
653 | // default-Setting is parameter set 3 |
||
654 | SetActiveParamSet(3); |
||
655 | } |
||
656 | // read active parameter set to ParamSet stucture |
||
657 | i = GetActiveParamSet(); |
||
658 | ParamSet_ReadFromEEProm(i); |
||
659 | printf("\n\rUsing Parameter Set %d", i); |
||
660 | |||
661 | // load mixer table |
||
1931 | holgerb | 662 | if(GetParamByte(PID_EE_REVISION) == 0xff || !MixerTable_ReadFromEEProm() ) |
1622 | killagreg | 663 | { |
664 | printf("\n\rGenerating default Mixer Table"); |
||
665 | MixerTable_Default(); // Quadro |
||
666 | MixerTable_WriteToEEProm(); |
||
667 | } |
||
2323 | holgerb | 668 | if(ee_default) SetParamByte(PID_EE_REVISION, (EEPARAM_REVISION)); |
1622 | killagreg | 669 | // determine motornumber |
670 | RequiredMotors = 0; |
||
2519 | holgerb | 671 | for(i = 0; i < MAX_MOTORS; i++) |
1622 | killagreg | 672 | { |
673 | if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
||
2519 | holgerb | 674 | else |
675 | { |
||
676 | Mixer.Motor[i][MIX_GAS] = 0; |
||
677 | Mixer.Motor[i][MIX_NICK] = 0; |
||
678 | Mixer.Motor[i][MIX_ROLL] = 0; |
||
679 | Mixer.Motor[i][MIX_YAW] = 0; |
||
680 | } |
||
681 | //printf("\n\r%2i:%i:%i:%i:%i",i,Mixer.Motor[i][0],Mixer.Motor[i][1],Mixer.Motor[i][2],Mixer.Motor[i][3]); |
||
1622 | killagreg | 682 | } |
683 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
||
2030 | holgerb | 684 | PrintLine();// ("\n\r==================================="); |
685 | |||
1622 | killagreg | 686 | } |