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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 | |||
| 2631 | holgerb | 113 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 114 | //+ we have an update -> insert the default parameters here |
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| 115 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 116 | void InsertDefaultParameters(unsigned char old_version) |
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| 117 | { |
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| 118 | EE_Parameter.Revision = EEPARAM_REVISION; |
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| 2656 | holgerb | 119 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 120 | // Init the new Parameter |
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| 121 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 122 | if(old_version <= 108) |
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| 123 | { |
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| 124 | EE_Parameter.GlobalConfig3 |= CFG3_RISE_FIRST_WAYPOINT; |
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| 125 | } |
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| 126 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 2631 | holgerb | 127 | } |
| 1622 | killagreg | 128 | |
| 129 | /***************************************************/ |
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| 130 | /* Default Values for parameter set 1 */ |
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| 131 | /***************************************************/ |
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| 1760 | holgerb | 132 | void CommonDefaults(void) |
| 395 | hbuss | 133 | { |
| 2631 | holgerb | 134 | unsigned char i; |
| 1622 | killagreg | 135 | EE_Parameter.Revision = EEPARAM_REVISION; |
| 2265 | holgerb | 136 | memset(EE_Parameter.Name,0,12); // delete name |
| 2426 | holgerb | 137 | // if(PlatinenVersion >= 20) |
| 1622 | killagreg | 138 | { |
| 1676 | holgerb | 139 | EE_Parameter.Gyro_D = 10; |
| 1622 | killagreg | 140 | EE_Parameter.Driftkomp = 0; |
| 141 | EE_Parameter.GyroAccFaktor = 27; |
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| 142 | EE_Parameter.WinkelUmschlagNick = 78; |
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| 143 | EE_Parameter.WinkelUmschlagRoll = 78; |
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| 144 | } |
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| 2426 | holgerb | 145 | /* else |
| 1622 | killagreg | 146 | { |
| 147 | EE_Parameter.Gyro_D = 3; |
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| 148 | EE_Parameter.Driftkomp = 32; |
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| 149 | EE_Parameter.GyroAccFaktor = 30; |
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| 150 | EE_Parameter.WinkelUmschlagNick = 85; |
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| 151 | EE_Parameter.WinkelUmschlagRoll = 85; |
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| 152 | } |
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| 2426 | holgerb | 153 | */ |
| 1957 | holgerb | 154 | EE_Parameter.GyroAccAbgleich = 32; // 1/k |
| 2008 | holgerb | 155 | EE_Parameter.BitConfig = 0; // Looping usw. |
| 1762 | holgerb | 156 | EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
| 2373 | holgerb | 157 | EE_Parameter.ExtraConfig = CFG_GPS_AID | CFG2_VARIO_BEEP | CFG_LEARNABLE_CAREFREE | CFG_NO_RCOFF_BEEPING; |
| 2656 | holgerb | 158 | EE_Parameter.GlobalConfig3 = CFG3_NO_SDCARD_NO_START | CFG3_SPEAK_ALL | CFG3_NO_GPSFIX_NO_START | CFG3_RISE_FIRST_WAYPOINT;// |
| 2426 | holgerb | 159 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 2183 | holgerb | 160 | EE_Parameter.Receiver = RECEIVER_HOTT; |
| 2426 | holgerb | 161 | #else |
| 162 | EE_Parameter.Receiver = RECEIVER_JETI; |
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| 163 | #endif |
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| 164 | |||
| 1762 | holgerb | 165 | EE_Parameter.MotorSafetySwitch = 0; |
| 1769 | holgerb | 166 | EE_Parameter.ExternalControl = 0; |
| 1760 | holgerb | 167 | |
| 1762 | holgerb | 168 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
| 169 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
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| 1839 | holgerb | 170 | EE_Parameter.KompassWirkung = 64; // Wert : 0-247 |
| 1762 | holgerb | 171 | |
| 2390 | holgerb | 172 | EE_Parameter.HoeheChannel = 5; // Wert : 0-32 |
| 1762 | holgerb | 173 | EE_Parameter.Hoehe_MinGas = 30; |
| 2487 | holgerb | 174 | EE_Parameter.Hoehe_TiltCompensation = 110; // in % |
| 2390 | holgerb | 175 | |
| 2309 | holgerb | 176 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 177 | if(ACC_AltitudeControl) |
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| 178 | { |
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| 179 | EE_Parameter.Hoehe_P = 20; // Wert : 0-32 |
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| 180 | EE_Parameter.Luftdruck_D = 40; // Wert : 0-247 |
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| 2316 | holgerb | 181 | EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-247 |
| 2309 | holgerb | 182 | EE_Parameter.Hoehe_HoverBand = 1; // Wert : 0-247 |
| 2337 | holgerb | 183 | EE_Parameter.Hoehe_StickNeutralPoint = 127;// Wert : 0-247 (0 = Hover-Estimation) |
| 2486 | holgerb | 184 | EE_Parameter.FailSafeTime = 60; // 0 = off |
| 2309 | holgerb | 185 | } |
| 186 | else |
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| 187 | #endif |
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| 188 | { |
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| 189 | EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
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| 190 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
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| 191 | EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
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| 192 | EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
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| 2337 | holgerb | 193 | EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
| 2342 | holgerb | 194 | EE_Parameter.FailSafeTime = 0; // 0 = off |
| 2309 | holgerb | 195 | } |
| 196 | |||
| 1942 | holgerb | 197 | EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 (15 -> ca. +/- 5m/sek bei Stick-Voll-Ausschlag) |
| 2340 | holgerb | 198 | EE_Parameter.StartLandChannel = 0; |
| 199 | EE_Parameter.LandingSpeed = 12; |
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| 1762 | holgerb | 200 | |
| 1622 | killagreg | 201 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
| 202 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
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| 203 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
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| 204 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
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| 205 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
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| 206 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
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| 207 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
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| 208 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
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| 1762 | holgerb | 209 | |
| 1848 | holgerb | 210 | EE_Parameter.ServoNickControl = 128; // Wert : 0-247 // Stellung des Servos |
| 211 | EE_Parameter.ServoNickComp = 50; // Wert : 0-247 // Einfluss Gyro/Servo |
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| 1771 | holgerb | 212 | EE_Parameter.ServoCompInvert = 2; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
| 2349 | holgerb | 213 | EE_Parameter.ServoNickMin = 24; // Wert : 0-247 // Anschlag |
| 1848 | holgerb | 214 | EE_Parameter.ServoNickMax = 230; // Wert : 0-247 // Anschlag |
| 2373 | holgerb | 215 | EE_Parameter.ServoNickRefresh = 3; |
| 1622 | killagreg | 216 | EE_Parameter.Servo3 = 125; |
| 217 | EE_Parameter.Servo4 = 125; |
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| 218 | EE_Parameter.Servo5 = 125; |
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| 1848 | holgerb | 219 | EE_Parameter.ServoRollControl = 128; // Wert : 0-247 // Stellung des Servos |
| 220 | EE_Parameter.ServoRollComp = 85; // Wert : 0-247 // Einfluss Gyro/Servo |
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| 1876 | holgerb | 221 | EE_Parameter.ServoRollMin = 70; // Wert : 0-247 // Anschlag |
| 1848 | holgerb | 222 | EE_Parameter.ServoRollMax = 220; // Wert : 0-247 // Anschlag |
| 223 | EE_Parameter.ServoManualControlSpeed = 60; |
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| 1876 | holgerb | 224 | EE_Parameter.CamOrientation = 0; // Wert : 0-24 -> 0-360 -> 15° steps |
| 1762 | holgerb | 225 | |
| 2373 | holgerb | 226 | EE_Parameter.J16Bitmask = 0xAA; |
| 227 | EE_Parameter.J17Bitmask = 0xCC; |
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| 228 | EE_Parameter.WARN_J16_Bitmask = 0x00; |
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| 1622 | killagreg | 229 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
| 2040 | holgerb | 230 | EE_Parameter.J16Timing = 40; |
| 231 | EE_Parameter.J17Timing = 40; |
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| 2440 | holgerb | 232 | EE_Parameter.AutoPhotoDistance = 0; // Photo release in meter |
| 233 | EE_Parameter.AutoPhotoAtitudes = 0; // Photo release in meter |
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| 234 | EE_Parameter.SingleWpSpeed = 50; // Speed when flying the single points |
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| 235 | |||
| 1762 | holgerb | 236 | EE_Parameter.LoopGasLimit = 50; |
| 2440 | holgerb | 237 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
| 1762 | holgerb | 238 | EE_Parameter.LoopHysterese = 50; |
| 239 | |||
| 2342 | holgerb | 240 | EE_Parameter.NaviGpsModeChannel = 6; // Kanal 6 |
| 1622 | killagreg | 241 | EE_Parameter.NaviGpsGain = 100; |
| 2344 | holgerb | 242 | EE_Parameter.NaviGpsP = 100; |
| 243 | EE_Parameter.NaviGpsI = 90; |
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| 244 | EE_Parameter.NaviGpsD = 120; |
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| 245 | EE_Parameter.NaviGpsA = 40; |
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| 1622 | killagreg | 246 | EE_Parameter.NaviGpsPLimit = 75; |
| 1931 | holgerb | 247 | EE_Parameter.NaviGpsILimit = 85; |
| 1622 | killagreg | 248 | EE_Parameter.NaviGpsDLimit = 75; |
| 249 | EE_Parameter.NaviGpsMinSat = 6; |
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| 250 | EE_Parameter.NaviStickThreshold = 8; |
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| 2348 | holgerb | 251 | EE_Parameter.NaviWindCorrection = 50; |
| 1936 | holgerb | 252 | EE_Parameter.NaviAccCompensation = 42; |
| 2447 | holgerb | 253 | EE_Parameter.NaviMaxFlyingRange = 0; |
| 254 | EE_Parameter.NaviDescendRange = 0; |
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| 1931 | holgerb | 255 | EE_Parameter.NaviAngleLimitation = 140; |
| 2348 | holgerb | 256 | EE_Parameter.NaviPH_LoginTime = 2; |
| 1668 | holgerb | 257 | EE_Parameter.OrientationAngle = 0; |
| 2342 | holgerb | 258 | EE_Parameter.CareFreeChannel = 0; |
| 2061 | holgerb | 259 | EE_Parameter.NotGas = 65; // Wert : 0-247 // Gaswert bei Empangsverlust (ggf. in Prozent) |
| 1760 | holgerb | 260 | EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| 1915 | holgerb | 261 | EE_Parameter.MotorSmooth = 0; |
| 262 | EE_Parameter.ComingHomeAltitude = 0; // 0 = don't change |
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| 1936 | holgerb | 263 | EE_Parameter.MaxAltitude = 150; // 0 = off |
| 2275 | holgerb | 264 | EE_Parameter.AchsKopplung1 = 125; |
| 265 | EE_Parameter.AchsKopplung2 = 52; |
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| 2008 | holgerb | 266 | EE_Parameter.FailsafeChannel = 0; |
| 2012 | holgerb | 267 | EE_Parameter.ServoFilterNick = 0; |
| 268 | EE_Parameter.ServoFilterRoll = 0; |
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| 2443 | holgerb | 269 | EE_Parameter.Servo3OnValue = 140; |
| 270 | EE_Parameter.Servo3OffValue = 70; |
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| 271 | EE_Parameter.Servo4OnValue = 140; |
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| 272 | EE_Parameter.Servo4OffValue = 70; |
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| 2541 | holgerb | 273 | EE_Parameter.ServoFS_Pos[0] = 0; |
| 274 | EE_Parameter.ServoFS_Pos[1] = 0; |
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| 275 | EE_Parameter.ServoFS_Pos[2] = 0; |
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| 276 | EE_Parameter.ServoFS_Pos[3] = 0; |
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| 277 | EE_Parameter.ServoFS_Pos[4] = 0; |
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| 2390 | holgerb | 278 | EE_Parameter.CompassOffset = 0; |
| 2440 | holgerb | 279 | EE_Parameter.UnterspannungsWarnung = 32; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
| 280 | EE_Parameter.ComingHomeVoltage = 31; |
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| 281 | EE_Parameter.AutoLandingVoltage = 30; |
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| 2519 | holgerb | 282 | EE_Parameter.LandingPulse = 960 / 4; |
| 2567 | holgerb | 283 | EE_Parameter.SingleWpControlChannel = 0; |
| 284 | EE_Parameter.MenuKeyChannel = 0; |
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| 2638 | holgerb | 285 | EE_Parameter.CamCtrlModeChannel = 0; |
| 286 | EE_Parameter.CamCtrlZoomChannel = 0; |
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| 2631 | holgerb | 287 | for(i=0; i < sizeof(EE_Parameter.reserved); i++) EE_Parameter.reserved[i] = 0; |
| 1760 | holgerb | 288 | } |
| 2631 | holgerb | 289 | |
| 1944 | holgerb | 290 | /* |
| 1760 | holgerb | 291 | void ParamSet_DefaultSet1(void) // sport |
| 292 | { |
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| 293 | CommonDefaults(); |
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| 294 | EE_Parameter.Stick_P = 14; // Wert : 1-20 |
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| 295 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
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| 1944 | holgerb | 296 | EE_Parameter.StickGier_P = 12; // Wert : 1-20 |
| 1760 | holgerb | 297 | EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
| 298 | EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
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| 299 | EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
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| 300 | EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
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| 301 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
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| 302 | EE_Parameter.I_Faktor = 32; |
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| 303 | EE_Parameter.CouplingYawCorrection = 1; |
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| 304 | EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
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| 305 | EE_Parameter.DynamicStability = 100; |
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| 1622 | killagreg | 306 | memcpy(EE_Parameter.Name, "Sport\0", 12); |
| 307 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
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| 395 | hbuss | 308 | } |
| 1944 | holgerb | 309 | */ |
| 1622 | killagreg | 310 | |
| 311 | /***************************************************/ |
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| 1944 | holgerb | 312 | /* Default Values for parameter set 1 */ |
| 1622 | killagreg | 313 | /***************************************************/ |
| 1944 | holgerb | 314 | void ParamSet_DefaultSet1(void) // normal |
| 1622 | killagreg | 315 | { |
| 1760 | holgerb | 316 | CommonDefaults(); |
| 1664 | holgerb | 317 | EE_Parameter.Stick_P = 10; // Wert : 1-20 |
| 318 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
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| 1944 | holgerb | 319 | EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
| 1622 | killagreg | 320 | EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
| 321 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
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| 322 | EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
||
| 323 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
||
| 1685 | holgerb | 324 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
| 1622 | killagreg | 325 | EE_Parameter.I_Faktor = 32; |
| 326 | EE_Parameter.CouplingYawCorrection = 60; |
||
| 327 | EE_Parameter.DynamicStability = 75; |
||
| 2265 | holgerb | 328 | memcpy(EE_Parameter.Name, "Fast",4); |
| 1622 | killagreg | 329 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
| 330 | } |
||
| 331 | |||
| 332 | |||
| 333 | /***************************************************/ |
||
| 1944 | holgerb | 334 | /* Default Values for parameter set 2 */ |
| 1622 | killagreg | 335 | /***************************************************/ |
| 2344 | holgerb | 336 | void ParamSet_DefaultSet2(void) // Agil |
| 1622 | killagreg | 337 | { |
| 1762 | holgerb | 338 | CommonDefaults(); |
| 1664 | holgerb | 339 | EE_Parameter.Stick_P = 8; // Wert : 1-20 |
| 340 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
||
| 2545 | holgerb | 341 | EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
| 1622 | killagreg | 342 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
| 343 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
||
| 344 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
||
| 345 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
||
| 2545 | holgerb | 346 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
| 1622 | killagreg | 347 | EE_Parameter.I_Faktor = 16; |
| 348 | EE_Parameter.CouplingYawCorrection = 70; |
||
| 1690 | holgerb | 349 | EE_Parameter.DynamicStability = 70; |
| 2344 | holgerb | 350 | memcpy(EE_Parameter.Name, "Agile",5); |
| 1622 | killagreg | 351 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
| 352 | } |
||
| 353 | |||
| 354 | /***************************************************/ |
||
| 1944 | holgerb | 355 | /* Default Values for parameter set 3 */ |
| 356 | /***************************************************/ |
||
| 2344 | holgerb | 357 | void ParamSet_DefaultSet3(void) // Easy |
| 1944 | holgerb | 358 | { |
| 359 | CommonDefaults(); |
||
| 360 | EE_Parameter.Stick_P = 6; // Wert : 1-20 |
||
| 361 | EE_Parameter.Stick_D = 10; // Wert : 0-20 |
||
| 362 | EE_Parameter.StickGier_P = 4; // Wert : 1-20 |
||
| 363 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
||
| 364 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
||
| 365 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
||
| 366 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
||
| 367 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
||
| 368 | EE_Parameter.I_Faktor = 16; |
||
| 369 | EE_Parameter.CouplingYawCorrection = 70; |
||
| 370 | EE_Parameter.DynamicStability = 70; |
||
| 2265 | holgerb | 371 | memcpy(EE_Parameter.Name, "Easy", 4); |
| 1944 | holgerb | 372 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
| 373 | } |
||
| 374 | |||
| 375 | |||
| 376 | /***************************************************/ |
||
| 1622 | killagreg | 377 | /* Read Parameter from EEPROM as byte */ |
| 378 | /***************************************************/ |
||
| 379 | uint8_t GetParamByte(uint16_t param_id) |
||
| 380 | { |
||
| 381 | return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
||
| 382 | } |
||
| 383 | |||
| 384 | /***************************************************/ |
||
| 385 | /* Write Parameter to EEPROM as byte */ |
||
| 386 | /***************************************************/ |
||
| 387 | void SetParamByte(uint16_t param_id, uint8_t value) |
||
| 388 | { |
||
| 389 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
||
| 390 | } |
||
| 391 | |||
| 392 | /***************************************************/ |
||
| 393 | /* Read Parameter from EEPROM as word */ |
||
| 394 | /***************************************************/ |
||
| 395 | uint16_t GetParamWord(uint16_t param_id) |
||
| 396 | { |
||
| 397 | return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
||
| 398 | } |
||
| 399 | |||
| 400 | /***************************************************/ |
||
| 401 | /* Write Parameter to EEPROM as word */ |
||
| 402 | /***************************************************/ |
||
| 403 | void SetParamWord(uint16_t param_id, uint16_t value) |
||
| 404 | { |
||
| 405 | eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
||
| 406 | } |
||
| 407 | |||
| 408 | /***************************************************/ |
||
| 409 | /* Read Parameter Set from EEPROM */ |
||
| 410 | /***************************************************/ |
||
| 411 | // number [1..5] |
||
| 412 | uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
||
| 413 | { |
||
| 2631 | holgerb | 414 | uint8_t crc, rev; |
| 1622 | killagreg | 415 | uint16_t eeaddr; |
| 416 | |||
| 417 | // range the setnumber |
||
| 418 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
||
| 419 | |||
| 420 | // calculate eeprom addr |
||
| 421 | eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
||
| 422 | |||
| 423 | // calculate checksum from eeprom |
||
| 424 | crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
||
| 425 | |||
| 426 | // check crc |
||
| 427 | if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
||
| 428 | |||
| 429 | // check revision |
||
| 2631 | holgerb | 430 | rev = eeprom_read_byte((uint8_t*)(eeaddr)); |
| 431 | if(rev != EEPARAM_REVISION) |
||
| 432 | { |
||
| 433 | if(rev < 108) return(0); // since 2.13 (02.2016), the eeprom parameters are backwards compatible |
||
| 434 | } |
||
| 1622 | killagreg | 435 | // read paramset from eeprom |
| 436 | eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
||
| 2631 | holgerb | 437 | if(EE_Parameter.Revision != EEPARAM_REVISION) // just in case we have a newer version now |
| 438 | { |
||
| 439 | InsertDefaultParameters(EE_Parameter.Revision); |
||
| 440 | } |
||
| 1622 | killagreg | 441 | LED_Init(); |
| 2627 | holgerb | 442 | InitSerialPoti(); |
| 1925 | holgerb | 443 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 1921 | holgerb | 444 | LIBFC_HoTT_Clear(); |
| 1925 | holgerb | 445 | #endif |
| 2541 | holgerb | 446 | if(EE_Parameter.LandingPulse < 760 / 4) EE_Parameter.LandingPulse = 0; |
| 2622 | holgerb | 447 | NC_RequestsConfig = 1; |
| 1622 | killagreg | 448 | return 1; |
| 449 | } |
||
| 450 | |||
| 451 | /***************************************************/ |
||
| 452 | /* Write Parameter Set to EEPROM */ |
||
| 453 | /***************************************************/ |
||
| 454 | // number [1..5] |
||
| 455 | uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
||
| 456 | { |
||
| 457 | uint8_t crc; |
||
| 458 | |||
| 459 | if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
||
| 460 | { |
||
| 461 | if(setnumber > 5) setnumber = 5; |
||
| 462 | if(setnumber < 1) return 0; |
||
| 1916 | holgerb | 463 | LIBFC_CheckSettings(); |
| 2028 | holgerb | 464 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) // check the Setting: Not more than 100% emergency gas |
| 465 | { |
||
| 466 | if(EE_Parameter.NotGas > 99) EE_Parameter.NotGas = 80; // i.e. 80% of Hovergas |
||
| 467 | } |
||
| 1622 | killagreg | 468 | // update checksum |
| 469 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
||
| 470 | |||
| 471 | // write paramset to eeprom |
||
| 472 | eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
||
| 473 | |||
| 474 | // backup channel settings to separate block in eeprom |
||
| 475 | eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
||
| 476 | |||
| 477 | // write crc of channel block to eeprom |
||
| 478 | crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
||
| 479 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
||
| 480 | |||
| 481 | // update active settings number |
||
| 482 | SetActiveParamSet(setnumber); |
||
| 2622 | holgerb | 483 | NC_RequestsConfig = 1; |
| 1622 | killagreg | 484 | LED_Init(); |
| 1925 | holgerb | 485 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 1921 | holgerb | 486 | LIBFC_HoTT_Clear(); |
| 1925 | holgerb | 487 | #endif |
| 1622 | killagreg | 488 | return 1; |
| 489 | } |
||
| 490 | // wrong revision |
||
| 491 | return 0; |
||
| 492 | } |
||
| 493 | |||
| 494 | /***************************************************/ |
||
| 495 | /* Read MixerTable from EEPROM */ |
||
| 496 | /***************************************************/ |
||
| 497 | uint8_t MixerTable_ReadFromEEProm(void) |
||
| 498 | { |
||
| 499 | uint8_t crc; |
||
| 500 | |||
| 501 | // calculate checksum in eeprom |
||
| 502 | crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
||
| 503 | |||
| 504 | // check crc |
||
| 505 | if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
||
| 506 | |||
| 507 | // check revision |
||
| 508 | if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
||
| 509 | |||
| 510 | // read mixer table |
||
| 511 | eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
||
| 512 | return 1; |
||
| 513 | } |
||
| 514 | |||
| 515 | /***************************************************/ |
||
| 516 | /* Write Mixer Table to EEPROM */ |
||
| 517 | /***************************************************/ |
||
| 518 | uint8_t MixerTable_WriteToEEProm(void) |
||
| 519 | { |
||
| 520 | if(Mixer.Revision == EEMIXER_REVISION) |
||
| 521 | { |
||
| 522 | // update crc |
||
| 523 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
||
| 524 | |||
| 525 | // write to eeprom |
||
| 526 | eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
||
| 527 | return 1; |
||
| 528 | } |
||
| 529 | else return 0; |
||
| 530 | } |
||
| 531 | |||
| 532 | /***************************************************/ |
||
| 533 | /* Default Values for Mixer Table */ |
||
| 534 | /***************************************************/ |
||
| 535 | void MixerTable_Default(void) // Quadro |
||
| 536 | { |
||
| 537 | uint8_t i; |
||
| 538 | |||
| 539 | Mixer.Revision = EEMIXER_REVISION; |
||
| 540 | // clear mixer table |
||
| 541 | for(i = 0; i < 16; i++) |
||
| 542 | { |
||
| 543 | Mixer.Motor[i][MIX_GAS] = 0; |
||
| 544 | Mixer.Motor[i][MIX_NICK] = 0; |
||
| 545 | Mixer.Motor[i][MIX_ROLL] = 0; |
||
| 546 | Mixer.Motor[i][MIX_YAW] = 0; |
||
| 547 | } |
||
| 548 | // default = Quadro |
||
| 549 | Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
||
| 550 | Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
||
| 551 | Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
||
| 552 | 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 | 553 | memcpy(Mixer.Name, "Quadro\0\0\0\0\0\0", 12); |
| 2008 | holgerb | 554 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
| 1622 | killagreg | 555 | } |
| 556 | |||
| 557 | /***************************************************/ |
||
| 558 | /* Get active parameter set */ |
||
| 559 | /***************************************************/ |
||
| 560 | uint8_t GetActiveParamSet(void) |
||
| 561 | { |
||
| 562 | uint8_t setnumber; |
||
| 563 | setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
||
| 564 | if(setnumber > 5) |
||
| 565 | { |
||
| 566 | setnumber = 3; |
||
| 567 | eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber); |
||
| 568 | } |
||
| 2331 | holgerb | 569 | ActiveParamSet = setnumber; |
| 1622 | killagreg | 570 | return(setnumber); |
| 571 | } |
||
| 572 | |||
| 573 | /***************************************************/ |
||
| 574 | /* Set active parameter set */ |
||
| 575 | /***************************************************/ |
||
| 576 | void SetActiveParamSet(uint8_t setnumber) |
||
| 577 | { |
||
| 578 | if(setnumber > 5) setnumber = 5; |
||
| 579 | if(setnumber < 1) setnumber = 1; |
||
| 2331 | holgerb | 580 | ActiveParamSet = setnumber; |
| 1622 | killagreg | 581 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
| 582 | } |
||
| 583 | |||
| 584 | /***************************************************/ |
||
| 1761 | killagreg | 585 | /* Set default parameter set */ |
| 586 | /***************************************************/ |
||
| 587 | void SetDefaultParameter(uint8_t set, uint8_t restore_channels) |
||
| 588 | { |
||
| 589 | |||
| 590 | if(set > 5) set = 5; |
||
| 591 | else if(set < 1) set = 1; |
||
| 592 | |||
| 593 | switch(set) |
||
| 594 | { |
||
| 595 | case 1: |
||
| 596 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
||
| 597 | break; |
||
| 598 | case 2: |
||
| 599 | ParamSet_DefaultSet2(); // Kamera |
||
| 600 | break; |
||
| 601 | case 3: |
||
| 602 | ParamSet_DefaultSet3(); // Beginner |
||
| 603 | break; |
||
| 604 | default: |
||
| 605 | ParamSet_DefaultSet3(); // Beginner |
||
| 606 | break; |
||
| 607 | } |
||
| 608 | if(restore_channels) |
||
| 609 | { |
||
| 610 | uint8_t crc; |
||
| 611 | // 1st check for a valid channel backup in eeprom |
||
| 612 | crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
||
| 613 | if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) |
||
| 614 | { |
||
| 615 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
||
| 616 | } |
||
| 617 | else ParamSet_DefaultStickMapping(); |
||
| 618 | } |
||
| 619 | else ParamSet_DefaultStickMapping(); |
||
| 620 | ParamSet_WriteToEEProm(set); |
||
| 621 | } |
||
| 622 | |||
| 623 | /***************************************************/ |
||
| 1622 | killagreg | 624 | /* Initialize EEPROM Parameter Sets */ |
| 625 | /***************************************************/ |
||
| 626 | void ParamSet_Init(void) |
||
| 627 | { |
||
| 2631 | holgerb | 628 | unsigned char rev_old; |
| 1622 | killagreg | 629 | uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
| 2336 | holgerb | 630 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 631 | if(PlatinenVersion != GetParamByte(PID_HARDWARE_VERSION)) |
||
| 632 | { |
||
| 2672 | holgerb | 633 | printf("\r\n--> Hardware Version Byte Changed <--"); |
| 2578 | holgerb | 634 | J4High; // switch pullup high |
| 2672 | holgerb | 635 | printf("\r\nRestart..."); |
| 2336 | holgerb | 636 | 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 |
| 637 | SetParamByte(PID_HARDWARE_VERSION,PlatinenVersion); // Remember the Version number |
||
| 638 | wdt_enable(WDTO_15MS); // Reset-Commando |
||
| 639 | while(1); |
||
| 640 | } |
||
| 641 | #endif |
||
| 2631 | holgerb | 642 | rev_old = GetParamByte(PID_EE_REVISION); |
| 643 | if((EEPARAM_REVISION) != rev_old) |
||
| 1622 | killagreg | 644 | { |
| 2672 | holgerb | 645 | printf("\r\n-->Parameter changed (old:%d new:%d)", rev_old, EEPARAM_REVISION); |
| 2631 | holgerb | 646 | if((EEPARAM_REVISION < rev_old) && // we have a downgrade -> check if eeprom reset is nessecary |
| 647 | (GetParamByte(ee_default) != EE_BACKWARD_COMP)) |
||
| 648 | { |
||
| 649 | printf(" backwards"); |
||
| 650 | ee_default = 1; |
||
| 651 | } |
||
| 652 | if(rev_old < 108) ee_default = 1; // we added forward cpmatiblity since rev 108 (2.14 - feb. 2016) |
||
| 653 | if(!ee_default) |
||
| 654 | { |
||
| 655 | printf("--> but compatible"); |
||
| 656 | SetParamByte(PID_EE_REVISION, EEPARAM_REVISION); |
||
| 657 | } |
||
| 1622 | killagreg | 658 | } |
| 659 | // 1st check for a valid channel backup in eeprom |
||
| 660 | i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
||
| 2318 | holgerb | 661 | if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)))) channel_backup = 1; |
| 1622 | killagreg | 662 | |
| 663 | // parameter check |
||
| 664 | |||
| 665 | // check all 5 parameter settings |
||
| 666 | for (i = 1;i < 6; i++) |
||
| 667 | { |
||
| 668 | if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
||
| 669 | { |
||
| 670 | bad_params = 1; |
||
| 2672 | holgerb | 671 | printf("\r\nGenerating default Parameter Set %d",i); |
| 1622 | killagreg | 672 | switch(i) |
| 673 | { |
||
| 674 | case 1: |
||
| 675 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
||
| 676 | break; |
||
| 677 | case 2: |
||
| 2344 | holgerb | 678 | ParamSet_DefaultSet2(); // Normal |
| 1622 | killagreg | 679 | break; |
| 680 | default: |
||
| 2344 | holgerb | 681 | ParamSet_DefaultSet3(); // Easy |
| 1622 | killagreg | 682 | break; |
| 683 | } |
||
| 684 | if(channel_backup) // if we have an channel mapping backup in eeprom |
||
| 685 | { // restore it from eeprom |
||
| 686 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
||
| 687 | } |
||
| 688 | else |
||
| 689 | { // use default mapping |
||
| 690 | ParamSet_DefaultStickMapping(); |
||
| 691 | } |
||
| 692 | ParamSet_WriteToEEProm(i); |
||
| 693 | } |
||
| 694 | } |
||
| 695 | if(bad_params) // at least one of the parameter settings were invalid |
||
| 696 | { |
||
| 697 | // default-Setting is parameter set 3 |
||
| 698 | SetActiveParamSet(3); |
||
| 699 | } |
||
| 700 | // read active parameter set to ParamSet stucture |
||
| 701 | i = GetActiveParamSet(); |
||
| 702 | ParamSet_ReadFromEEProm(i); |
||
| 2672 | holgerb | 703 | printf("\r\nUsing Parameter Set %d", i); |
| 1622 | killagreg | 704 | |
| 705 | // load mixer table |
||
| 1931 | holgerb | 706 | if(GetParamByte(PID_EE_REVISION) == 0xff || !MixerTable_ReadFromEEProm() ) |
| 1622 | killagreg | 707 | { |
| 2672 | holgerb | 708 | printf("\r\nGenerating default Mixer Table"); |
| 1622 | killagreg | 709 | MixerTable_Default(); // Quadro |
| 710 | MixerTable_WriteToEEProm(); |
||
| 711 | } |
||
| 2631 | holgerb | 712 | if(ee_default) |
| 713 | { |
||
| 714 | SetParamByte(PID_EE_REVISION, EEPARAM_REVISION); |
||
| 715 | SetParamByte(PID_EE_REVISION_BACK, EE_BACKWARD_COMP); |
||
| 716 | } |
||
| 1622 | killagreg | 717 | // determine motornumber |
| 718 | RequiredMotors = 0; |
||
| 2519 | holgerb | 719 | for(i = 0; i < MAX_MOTORS; i++) |
| 1622 | killagreg | 720 | { |
| 721 | if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
||
| 2519 | holgerb | 722 | else |
| 723 | { |
||
| 724 | Mixer.Motor[i][MIX_GAS] = 0; |
||
| 725 | Mixer.Motor[i][MIX_NICK] = 0; |
||
| 726 | Mixer.Motor[i][MIX_ROLL] = 0; |
||
| 727 | Mixer.Motor[i][MIX_YAW] = 0; |
||
| 728 | } |
||
| 2672 | holgerb | 729 | //printf("\r\n%2i:%i:%i:%i:%i",i,Mixer.Motor[i][0],Mixer.Motor[i][1],Mixer.Motor[i][2],Mixer.Motor[i][3]); |
| 1622 | killagreg | 730 | } |
| 2672 | holgerb | 731 | printf("\r\nMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
| 732 | PrintLine();// ("\r\n==================================="); |
||
| 2030 | holgerb | 733 | |
| 1622 | killagreg | 734 | } |