Subversion Repositories FlightCtrl

Rev

Go to most recent revision | Details | 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
 
55
#ifndef EEMEM
56
#define EEMEM __attribute__ ((section (".eeprom")))
57
#endif
58
 
59
 
60
#include <avr/eeprom.h>
61
#include <string.h>
62
#include "eeprom.h"
63
#include "uart.h"
64
#include "led.h"
65
#include "main.h"
66
#include "fc.h"
1657 killagreg 67
#include "twimaster.h"
1622 killagreg 68
 
69
paramset_t              EE_Parameter;
70
MixerTable_t    Mixer;
1654 killagreg 71
uint8_t RequiredMotors;
1622 killagreg 72
 
73
 
74
uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len)
395 hbuss 75
{
1622 killagreg 76
        uint8_t crc = 0xAA;
77
        uint16_t i;
78
 
79
        for(i=0; i<len; i++)
80
        {
81
                crc += pBuffer[i];
82
        }
83
        return crc;
993 hbuss 84
}
85
 
1622 killagreg 86
uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len)
993 hbuss 87
{
1622 killagreg 88
        uint8_t crc = 0xAA;
89
        uint16_t off;
90
 
91
        for(off=0; off<len; off++)
92
        {
93
                crc += eeprom_read_byte((uint8_t*)(EEAddr + off));;
94
        }
95
        return crc;
395 hbuss 96
}
1622 killagreg 97
 
98
void ParamSet_DefaultStickMapping(void)
395 hbuss 99
{
1622 killagreg 100
        EE_Parameter.Kanalbelegung[K_GAS]   = 1;
101
        EE_Parameter.Kanalbelegung[K_ROLL]  = 2;
102
        EE_Parameter.Kanalbelegung[K_NICK]  = 3;
103
        EE_Parameter.Kanalbelegung[K_GIER]  = 4;
104
        EE_Parameter.Kanalbelegung[K_POTI1] = 5;
105
        EE_Parameter.Kanalbelegung[K_POTI2] = 6;
106
        EE_Parameter.Kanalbelegung[K_POTI3] = 7;
107
        EE_Parameter.Kanalbelegung[K_POTI4] = 8;
108
        EE_Parameter.Kanalbelegung[K_POTI5] = 9;
109
        EE_Parameter.Kanalbelegung[K_POTI6] = 10;
110
        EE_Parameter.Kanalbelegung[K_POTI7] = 11;
111
        EE_Parameter.Kanalbelegung[K_POTI8] = 12;
395 hbuss 112
}
113
 
1622 killagreg 114
 
115
/***************************************************/
116
/*    Default Values for parameter set 1           */
117
/***************************************************/
1760 holgerb 118
void CommonDefaults(void)
395 hbuss 119
{
1622 killagreg 120
        EE_Parameter.Revision = EEPARAM_REVISION;
2265 holgerb 121
        memset(EE_Parameter.Name,0,12); // delete name
1622 killagreg 122
        if(PlatinenVersion >= 20)
123
        {
1676 holgerb 124
                EE_Parameter.Gyro_D = 10;
1622 killagreg 125
                EE_Parameter.Driftkomp = 0;
126
                EE_Parameter.GyroAccFaktor = 27;
127
                EE_Parameter.WinkelUmschlagNick = 78;
128
                EE_Parameter.WinkelUmschlagRoll = 78;
129
        }
130
        else
131
        {
132
                EE_Parameter.Gyro_D = 3;
133
                EE_Parameter.Driftkomp = 32;
134
                EE_Parameter.GyroAccFaktor = 30;
135
                EE_Parameter.WinkelUmschlagNick = 85;
136
                EE_Parameter.WinkelUmschlagRoll = 85;
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;
1916 holgerb 141
        EE_Parameter.ExtraConfig = CFG_GPS_AID | CFG2_VARIO_BEEP;
2263 holgerb 142
        EE_Parameter.GlobalConfig3 = CFG3_SPEAK_ALL;//CFG3_VARIO_FAILSAFE; 
2183 holgerb 143
        EE_Parameter.Receiver = RECEIVER_HOTT;
1762 holgerb 144
        EE_Parameter.MotorSafetySwitch = 0;
1769 holgerb 145
        EE_Parameter.ExternalControl = 0;
1760 holgerb 146
 
1762 holgerb 147
        EE_Parameter.Gas_Min = 8;             // Wert : 0-32
148
        EE_Parameter.Gas_Max = 230;           // Wert : 33-247
1839 holgerb 149
        EE_Parameter.KompassWirkung = 64;    // Wert : 0-247
1762 holgerb 150
 
151
        EE_Parameter.Hoehe_MinGas = 30;
152
        EE_Parameter.MaxHoehe     = 255;         // Wert : 0-247   255 -> Poti1
2309 holgerb 153
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
154
        if(ACC_AltitudeControl)
155
        {
156
                EE_Parameter.Hoehe_P      = 20;          // Wert : 0-32
157
                EE_Parameter.Luftdruck_D  = 40;          // Wert : 0-247
2316 holgerb 158
                EE_Parameter.Hoehe_ACC_Wirkung = 30;     // Wert : 0-247
2309 holgerb 159
                EE_Parameter.Hoehe_HoverBand = 1;         // Wert : 0-247
160
                EE_Parameter.Hoehe_GPS_Z = 0;           // Wert : 0-247
2337 holgerb 161
                EE_Parameter.Hoehe_StickNeutralPoint = 127;// Wert : 0-247 (0 = Hover-Estimation)
2309 holgerb 162
        }
163
        else
164
#endif
165
        {
166
                EE_Parameter.Hoehe_P      = 15;          // Wert : 0-32
167
                EE_Parameter.Luftdruck_D  = 30;          // Wert : 0-247
168
                EE_Parameter.Hoehe_ACC_Wirkung = 0;     // Wert : 0-247
169
                EE_Parameter.Hoehe_HoverBand = 8;         // Wert : 0-247
170
                EE_Parameter.Hoehe_GPS_Z = 20;           // Wert : 0-247
2337 holgerb 171
                EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation)
2309 holgerb 172
        }
173
 
1942 holgerb 174
        EE_Parameter.Hoehe_Verstaerkung = 15;    // Wert : 0-50 (15 -> ca. +/- 5m/sek bei Stick-Voll-Ausschlag)
2340 holgerb 175
        EE_Parameter.StartLandChannel = 0;  
176
        EE_Parameter.LandingSpeed = 12;  
1762 holgerb 177
 
1622 killagreg 178
        EE_Parameter.UserParam1 =   0;           // zur freien Verwendung
179
        EE_Parameter.UserParam2 =   0;           // zur freien Verwendung
180
        EE_Parameter.UserParam3 =   0;           // zur freien Verwendung
181
        EE_Parameter.UserParam4 =   0;           // zur freien Verwendung
182
        EE_Parameter.UserParam5 =   0;           // zur freien Verwendung
183
        EE_Parameter.UserParam6 =   0;           // zur freien Verwendung
184
        EE_Parameter.UserParam7 = 0;             // zur freien Verwendung
185
        EE_Parameter.UserParam8 = 0;             // zur freien Verwendung
1762 holgerb 186
 
1848 holgerb 187
        EE_Parameter.ServoNickControl = 128;     // Wert : 0-247     // Stellung des Servos
188
        EE_Parameter.ServoNickComp = 50;         // Wert : 0-247     // Einfluss Gyro/Servo
1771 holgerb 189
        EE_Parameter.ServoCompInvert = 2;        // Wert : 0-247     // Richtung Einfluss Gyro/Servo
1787 holgerb 190
        EE_Parameter.ServoNickMin = 15;          // Wert : 0-247     // Anschlag
1848 holgerb 191
        EE_Parameter.ServoNickMax = 230;         // Wert : 0-247     // Anschlag
192
        EE_Parameter.ServoNickRefresh = 4;
1622 killagreg 193
        EE_Parameter.Servo3 = 125;
194
        EE_Parameter.Servo4 = 125;
195
        EE_Parameter.Servo5 = 125;
1848 holgerb 196
        EE_Parameter.ServoRollControl = 128;     // Wert : 0-247     // Stellung des Servos
197
        EE_Parameter.ServoRollComp = 85;         // Wert : 0-247     // Einfluss Gyro/Servo
1876 holgerb 198
        EE_Parameter.ServoRollMin = 70;          // Wert : 0-247     // Anschlag
1848 holgerb 199
        EE_Parameter.ServoRollMax = 220;         // Wert : 0-247     // Anschlag
200
        EE_Parameter.ServoManualControlSpeed = 60;
1876 holgerb 201
        EE_Parameter.CamOrientation = 0;         // Wert : 0-24 -> 0-360 -> 15° steps
1762 holgerb 202
 
1622 killagreg 203
        EE_Parameter.J16Bitmask = 95;
204
        EE_Parameter.J17Bitmask = 243;
205
        EE_Parameter.WARN_J16_Bitmask = 0xAA;
206
        EE_Parameter.WARN_J17_Bitmask = 0xAA;
2040 holgerb 207
        EE_Parameter.J16Timing = 40;
208
        EE_Parameter.J17Timing = 40;
2183 holgerb 209
    EE_Parameter.NaviOut1Parameter = 0;       // Photo release in meter
1762 holgerb 210
        EE_Parameter.LoopGasLimit = 50;
211
        EE_Parameter.LoopThreshold = 90;         // Wert: 0-247  Schwelle für Stickausschlag
212
        EE_Parameter.LoopHysterese = 50;
213
 
1622 killagreg 214
        EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2
215
        EE_Parameter.NaviGpsGain = 100;
216
        EE_Parameter.NaviGpsP = 90;
217
        EE_Parameter.NaviGpsI = 90;
218
        EE_Parameter.NaviGpsD = 90;
219
        EE_Parameter.NaviGpsPLimit = 75;
1931 holgerb 220
        EE_Parameter.NaviGpsILimit = 85;
1622 killagreg 221
        EE_Parameter.NaviGpsDLimit = 75;
222
        EE_Parameter.NaviGpsACC = 0;
223
        EE_Parameter.NaviGpsMinSat = 6;
224
        EE_Parameter.NaviStickThreshold = 8;
225
        EE_Parameter.NaviWindCorrection = 90;
1936 holgerb 226
        EE_Parameter.NaviAccCompensation = 42;
1857 holgerb 227
        EE_Parameter.NaviOperatingRadius = 245;
1931 holgerb 228
        EE_Parameter.NaviAngleLimitation = 140;
1936 holgerb 229
        EE_Parameter.NaviPH_LoginTime = 5;
1668 holgerb 230
        EE_Parameter.OrientationAngle = 0;
1921 holgerb 231
        EE_Parameter.CareFreeModeControl = 0;
1760 holgerb 232
        EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50)
2061 holgerb 233
        EE_Parameter.NotGas = 65;                // Wert : 0-247     // Gaswert bei Empangsverlust (ggf. in Prozent)
1760 holgerb 234
        EE_Parameter.NotGasZeit = 90;            // Wert : 0-247     // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
1915 holgerb 235
        EE_Parameter.MotorSmooth = 0;          
236
        EE_Parameter.ComingHomeAltitude = 0;      // 0 = don't change 
1916 holgerb 237
        EE_Parameter.FailSafeTime = 0;            // 0 = off
1936 holgerb 238
        EE_Parameter.MaxAltitude = 150;           // 0 = off
2275 holgerb 239
        EE_Parameter.AchsKopplung1 = 125;
240
        EE_Parameter.AchsKopplung2 = 52;
2008 holgerb 241
        EE_Parameter.FailsafeChannel = 0;
2012 holgerb 242
        EE_Parameter.ServoFilterNick = 0;
243
        EE_Parameter.ServoFilterRoll = 0;
1760 holgerb 244
}
1944 holgerb 245
/*
1760 holgerb 246
void ParamSet_DefaultSet1(void) // sport
247
{
248
        CommonDefaults();
249
        EE_Parameter.Stick_P = 14;            // Wert : 1-20
250
        EE_Parameter.Stick_D = 16;            // Wert : 0-20
1944 holgerb 251
        EE_Parameter.StickGier_P = 12;             // Wert : 1-20
1760 holgerb 252
        EE_Parameter.Gyro_P = 80;             // Wert : 0-247
253
        EE_Parameter.Gyro_I = 150;            // Wert : 0-247
254
        EE_Parameter.Gyro_Gier_P = 80;        // Wert : 0-247
255
        EE_Parameter.Gyro_Gier_I = 150;       // Wert : 0-247
256
        EE_Parameter.Gyro_Stability = 6;          // Wert : 1-8
257
        EE_Parameter.I_Faktor = 32;
258
        EE_Parameter.CouplingYawCorrection = 1;
259
        EE_Parameter.GyroAccAbgleich = 16;        // 1/k;
260
        EE_Parameter.DynamicStability = 100;
1622 killagreg 261
        memcpy(EE_Parameter.Name, "Sport\0", 12);
262
        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
395 hbuss 263
}
1944 holgerb 264
*/
1622 killagreg 265
 
266
/***************************************************/
1944 holgerb 267
/*    Default Values for parameter set 1           */
1622 killagreg 268
/***************************************************/
1944 holgerb 269
void ParamSet_DefaultSet1(void) // normal
1622 killagreg 270
{
1760 holgerb 271
        CommonDefaults();
1664 holgerb 272
        EE_Parameter.Stick_P = 10;               // Wert : 1-20
273
        EE_Parameter.Stick_D = 16;               // Wert : 0-20
1944 holgerb 274
        EE_Parameter.StickGier_P = 6;                 // Wert : 1-20
1622 killagreg 275
        EE_Parameter.Gyro_P = 90;                // Wert : 0-247
276
        EE_Parameter.Gyro_I = 120;               // Wert : 0-247
277
        EE_Parameter.Gyro_Gier_P = 90;           // Wert : 0-247
278
        EE_Parameter.Gyro_Gier_I = 120;          // Wert : 0-247
1685 holgerb 279
        EE_Parameter.Gyro_Stability = 6;                  // Wert : 1-8
1622 killagreg 280
        EE_Parameter.I_Faktor = 32;
281
        EE_Parameter.CouplingYawCorrection = 60;
282
        EE_Parameter.DynamicStability = 75;
2265 holgerb 283
        memcpy(EE_Parameter.Name, "Fast",4);
1622 killagreg 284
        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
285
}
286
 
287
 
288
/***************************************************/
1944 holgerb 289
/*    Default Values for parameter set 2           */
1622 killagreg 290
/***************************************************/
1944 holgerb 291
void ParamSet_DefaultSet2(void) // beginner
1622 killagreg 292
{
1762 holgerb 293
        CommonDefaults();
1664 holgerb 294
        EE_Parameter.Stick_P = 8;                // Wert : 1-20
295
        EE_Parameter.Stick_D = 16;               // Wert : 0-20
1944 holgerb 296
        EE_Parameter.StickGier_P  = 6;                // Wert : 1-20
1622 killagreg 297
        EE_Parameter.Gyro_P = 100;               // Wert : 0-247
298
        EE_Parameter.Gyro_I = 120;               // Wert : 0-247
299
        EE_Parameter.Gyro_Gier_P = 100;          // Wert : 0-247
300
        EE_Parameter.Gyro_Gier_I = 120;          // Wert : 0-247
1685 holgerb 301
        EE_Parameter.Gyro_Stability = 6;                  // Wert : 1-8
1622 killagreg 302
        EE_Parameter.I_Faktor = 16;
303
        EE_Parameter.CouplingYawCorrection = 70;
1690 holgerb 304
        EE_Parameter.DynamicStability = 70;
2265 holgerb 305
        memcpy(EE_Parameter.Name, "Normal",6);
1622 killagreg 306
        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
307
}
308
 
309
/***************************************************/
1944 holgerb 310
/*    Default Values for parameter set 3           */
311
/***************************************************/
312
void ParamSet_DefaultSet3(void) // beginner
313
{
314
        CommonDefaults();
315
        EE_Parameter.Stick_P = 6;                // Wert : 1-20
316
        EE_Parameter.Stick_D = 10;               // Wert : 0-20
317
        EE_Parameter.StickGier_P  = 4;           // Wert : 1-20
318
        EE_Parameter.Gyro_P = 100;               // Wert : 0-247
319
        EE_Parameter.Gyro_I = 120;               // Wert : 0-247
320
        EE_Parameter.Gyro_Gier_P = 100;          // Wert : 0-247
321
        EE_Parameter.Gyro_Gier_I = 120;          // Wert : 0-247
322
        EE_Parameter.Gyro_Stability = 6;              // Wert : 1-8
323
        EE_Parameter.I_Faktor = 16;
324
        EE_Parameter.CouplingYawCorrection = 70;
325
        EE_Parameter.DynamicStability = 70;
2265 holgerb 326
        memcpy(EE_Parameter.Name, "Easy", 4);
1944 holgerb 327
        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
328
}
329
 
330
 
331
/***************************************************/
1622 killagreg 332
/*       Read Parameter from EEPROM as byte        */
333
/***************************************************/
334
uint8_t GetParamByte(uint16_t param_id)
335
{
336
        return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id));
337
}
338
 
339
/***************************************************/
340
/*       Write Parameter to EEPROM as byte         */
341
/***************************************************/
342
void SetParamByte(uint16_t param_id, uint8_t value)
343
{
344
        eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value);
345
}
346
 
347
/***************************************************/
348
/*       Read Parameter from EEPROM as word        */
349
/***************************************************/
350
uint16_t GetParamWord(uint16_t param_id)
351
{
352
        return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id));
353
}
354
 
355
/***************************************************/
356
/*       Write Parameter to EEPROM as word         */
357
/***************************************************/
358
void SetParamWord(uint16_t param_id, uint16_t value)
359
{
360
        eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value);
361
}
362
 
363
/***************************************************/
364
/*       Read Parameter Set from EEPROM            */
365
/***************************************************/
366
// number [1..5]
367
uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber)
368
{
369
        uint8_t crc;
370
        uint16_t eeaddr;
371
 
372
        // range the setnumber
373
        if((1 > setnumber) || (setnumber > 5)) setnumber = 3;
374
 
375
        // calculate eeprom addr
376
        eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1);
377
 
378
        // calculate checksum from eeprom
379
        crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1);
380
 
381
        // check crc
382
        if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0;
383
 
384
        // check revision
385
        if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0;
386
 
387
        // read paramset from eeprom
388
        eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN);
389
        LED_Init();
1925 holgerb 390
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
1921 holgerb 391
        LIBFC_HoTT_Clear();
1925 holgerb 392
#endif
1622 killagreg 393
        return 1;
394
}
395
 
396
/***************************************************/
397
/*        Write Parameter Set to EEPROM            */
398
/***************************************************/
399
// number [1..5]
400
uint8_t ParamSet_WriteToEEProm(uint8_t setnumber)
401
{
402
        uint8_t crc;
403
 
404
        if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom
405
        {
406
                if(setnumber > 5) setnumber = 5;
407
                if(setnumber < 1) return 0;
1916 holgerb 408
        LIBFC_CheckSettings();
2028 holgerb 409
                if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE)         // check the Setting: Not more than 100% emergency gas
410
                        {
411
                         if(EE_Parameter.NotGas > 99) EE_Parameter.NotGas = 80; // i.e. 80% of Hovergas
412
                        }
1622 killagreg 413
                // update checksum
414
                EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);
415
 
416
                // write paramset to eeprom
417
                eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN);
418
 
419
                // backup channel settings to separate block in eeprom
420
                eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));
421
 
422
                // write crc of channel block to eeprom
423
                crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung));
424
                eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc);
425
 
426
                // update active settings number
427
                SetActiveParamSet(setnumber);
428
                LED_Init();
1925 holgerb 429
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
1921 holgerb 430
                LIBFC_HoTT_Clear();
1925 holgerb 431
#endif
1622 killagreg 432
                return 1;
433
        }
434
        // wrong revision
435
        return 0;
436
}
437
 
438
/***************************************************/
439
/*          Read MixerTable from EEPROM            */
440
/***************************************************/
441
uint8_t MixerTable_ReadFromEEProm(void)
442
{
443
        uint8_t crc;
444
 
445
        // calculate checksum in eeprom
446
        crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1);
447
 
448
        // check crc
449
        if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0;
450
 
451
        // check revision
452
        if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0;
453
 
454
        // read mixer table
455
        eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer));
456
        return 1;
457
}
458
 
459
/***************************************************/
460
/*          Write Mixer Table to EEPROM            */
461
/***************************************************/
462
uint8_t MixerTable_WriteToEEProm(void)
463
{
464
        if(Mixer.Revision == EEMIXER_REVISION)
465
        {
466
                // update crc
467
                Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1);
468
 
469
                // write to eeprom
470
                eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer));
471
                return 1;
472
        }
473
        else return 0;
474
}
475
 
476
/***************************************************/
477
/*    Default Values for Mixer Table               */
478
/***************************************************/
479
void MixerTable_Default(void) // Quadro
480
{
481
        uint8_t i;
482
 
483
        Mixer.Revision = EEMIXER_REVISION;
484
        // clear mixer table
485
        for(i = 0; i < 16; i++)
486
        {
487
                Mixer.Motor[i][MIX_GAS]  = 0;
488
                Mixer.Motor[i][MIX_NICK] = 0;
489
                Mixer.Motor[i][MIX_ROLL] = 0;
490
                Mixer.Motor[i][MIX_YAW]  = 0;
491
        }
492
        // default = Quadro
493
        Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] =   0; Mixer.Motor[0][MIX_YAW] = +64;
494
        Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] =   0; Mixer.Motor[1][MIX_YAW] = +64;
495
        Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] =   0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64;
496
        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 497
        memcpy(Mixer.Name, "Quadro\0\0\0\0\0\0", 12);
2008 holgerb 498
        Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1);
1622 killagreg 499
}
500
 
501
/***************************************************/
502
/*       Get active parameter set                  */
503
/***************************************************/
504
uint8_t GetActiveParamSet(void)
505
{
506
        uint8_t setnumber;
507
        setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET));
508
        if(setnumber > 5)
509
        {
510
                setnumber = 3;
511
                eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber);
512
        }
2331 holgerb 513
        ActiveParamSet = setnumber;
1622 killagreg 514
        return(setnumber);
515
}
516
 
517
/***************************************************/
518
/*       Set active parameter set                  */
519
/***************************************************/
520
void SetActiveParamSet(uint8_t setnumber)
521
{
522
        if(setnumber > 5) setnumber = 5;
523
        if(setnumber < 1) setnumber = 1;
2331 holgerb 524
        ActiveParamSet = setnumber;
1622 killagreg 525
        eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber);
526
}
527
 
528
/***************************************************/
1761 killagreg 529
/*       Set default parameter set                 */
530
/***************************************************/
531
void SetDefaultParameter(uint8_t set, uint8_t restore_channels)
532
{
533
 
534
        if(set > 5) set = 5;
535
        else if(set < 1) set = 1;
536
 
537
        switch(set)
538
        {
539
                case 1:
540
                        ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport)
541
                        break;
542
                case 2:
543
                        ParamSet_DefaultSet2(); // Kamera
544
                        break;
545
                case 3:
546
                        ParamSet_DefaultSet3(); // Beginner
547
                        break;
548
                default:
549
                        ParamSet_DefaultSet3(); // Beginner
550
                        break;
551
        }
552
        if(restore_channels)
553
        {
554
                uint8_t crc;
555
                // 1st check for a valid channel backup in eeprom
556
                crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung));
557
                if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) )
558
                {
559
                        eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));
560
                }
561
                else ParamSet_DefaultStickMapping();
562
        }
563
        else ParamSet_DefaultStickMapping();
564
        ParamSet_WriteToEEProm(set);
565
}
566
 
567
/***************************************************/
1622 killagreg 568
/*       Initialize EEPROM Parameter Sets          */
569
/***************************************************/
570
void ParamSet_Init(void)
571
{
572
        uint8_t channel_backup  = 0, bad_params = 0, ee_default = 0,i;
2336 holgerb 573
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
574
        if(PlatinenVersion != GetParamByte(PID_HARDWARE_VERSION))
575
         {
576
          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
577
          SetParamByte(PID_HARDWARE_VERSION,PlatinenVersion); // Remember the Version number
578
          wdt_enable(WDTO_15MS); // Reset-Commando
579
          printf("\n\r--> Hardware Version Byte Changed <--");
580
          while(1);
581
         }
582
#endif
2323 holgerb 583
        if((EEPARAM_REVISION) != GetParamByte(PID_EE_REVISION))  
1622 killagreg 584
        {
585
                ee_default = 1; // software update or forced by mktool
586
        }
587
        // 1st check for a valid channel backup in eeprom
588
        i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung));
2318 holgerb 589
        if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)))) channel_backup = 1;
1622 killagreg 590
 
591
        // parameter check
592
 
593
        // check all 5 parameter settings
594
        for (i = 1;i < 6; i++)
595
        {
596
                if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom
597
                {
598
                        bad_params = 1;
599
                        printf("\n\rGenerating default Parameter Set %d",i);
600
                        switch(i)
601
                        {
602
                                case 1:
603
                                        ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport)
604
                                        break;
605
                                case 2:
606
                                        ParamSet_DefaultSet2(); // Kamera
607
                                        break;
608
                                case 3:
609
                                        ParamSet_DefaultSet3(); // Beginner
610
                                        break;
611
                                default:
1668 holgerb 612
                                        ParamSet_DefaultSet3(); // Kamera
1622 killagreg 613
                                        break;
614
                        }
615
                        if(channel_backup) // if we have an channel mapping backup in eeprom
616
                        {       // restore it from eeprom
617
                                eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));
618
                        }
619
                        else
620
                        {       // use default mapping
621
                                ParamSet_DefaultStickMapping();
622
                        }
623
                        ParamSet_WriteToEEProm(i);
624
                }
625
        }
626
        if(bad_params) // at least one of the parameter settings were invalid
627
        {
628
                // default-Setting is parameter set 3
629
                SetActiveParamSet(3);
630
        }
631
 
632
 
633
        // read active parameter set to ParamSet stucture
634
        i = GetActiveParamSet();
635
        ParamSet_ReadFromEEProm(i);
636
        printf("\n\rUsing Parameter Set %d", i);
637
 
638
        // load mixer table
1931 holgerb 639
        if(GetParamByte(PID_EE_REVISION) == 0xff || !MixerTable_ReadFromEEProm() )
1622 killagreg 640
        {
641
                printf("\n\rGenerating default Mixer Table");
642
                MixerTable_Default(); // Quadro
643
                MixerTable_WriteToEEProm();
644
        }
2323 holgerb 645
        if(ee_default)  SetParamByte(PID_EE_REVISION, (EEPARAM_REVISION));
1622 killagreg 646
        // determine motornumber
647
        RequiredMotors = 0;
648
        for(i = 0; i < 16; i++)
649
        {
650
                if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++;
651
        }
652
 
653
        printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors);
2030 holgerb 654
 PrintLine();// ("\n\r===================================");
655
 
1622 killagreg 656
}