Subversion Repositories FlightCtrl

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Ignore whitespace Rev 1910 → Rev 1927

/branches/dongfang_FC_fixedwing/eeprom.c
32,20 → 32,13
*/
void setDefaultUserParams(void) {
uint8_t i;
for (i = 0; i < sizeof(staticParams.UserParams1); i++) {
staticParams.UserParams1[i] = 0;
for (i = 0; i < sizeof(staticParams.UserParams); i++) {
staticParams.UserParams[i] = 0;
}
for (i = 0; i < sizeof(staticParams.UserParams2); i++) {
staticParams.UserParams2[i] = 0;
}
/*
* While we are still using userparams for flight parameters, do set
* some safe & meaningful default values.
*/
staticParams.UserParams2[0] = 0xd5; //0b11010101; // All gyro filter constants 2; acc. 4
staticParams.UserParams2[1] = 0; // H&I motor smoothing.
staticParams.UserParams2[2] = 120; // Yaw I factor
staticParams.UserParams2[3] = 100; // Max Z acceleration for acc. correction of angles.
}
 
void setOtherDefaults(void) {
82,7 → 75,6
staticParams.StickRudderP = 10;
 
staticParams.LowVoltageWarning = 105;
staticParams.IFactor = 32;
staticParams.ServoRefresh = 7;
staticParams.BitConfig = 0;
staticParams.J16Bitmask = 95;
89,49 → 81,18
staticParams.J17Bitmask = 243;
staticParams.J16Timing = 15;
staticParams.J17Timing = 15;
 
staticParams.ControlSigns = 2;
}
 
/***************************************************/
/* Default Values for parameter set 1 */
/***************************************************/
void ParamSet_DefaultSet1(void) { // sport
void setDefaults(void) {
setOtherDefaults();
gyro_setDefaults();
setDefaultUserParams();
staticParams.J16Timing = 10;
staticParams.J17Timing = 10;
memcpy(staticParams.Name, "Sport\0", 6);
}
 
/***************************************************/
/* Default Values for parameter set 2 */
/***************************************************/
void ParamSet_DefaultSet2(void) { // normal
setOtherDefaults();
gyro_setDefaults();
setDefaultUserParams();
staticParams.Height_Gain = 3;
staticParams.J16Timing = 20;
staticParams.J17Timing = 20;
memcpy(staticParams.Name, "Normal\0", 7);
}
 
/***************************************************/
/* Default Values for parameter set 3 */
/***************************************************/
void ParamSet_DefaultSet3(void) { // beginner
setOtherDefaults();
gyro_setDefaults();
setDefaultUserParams();
staticParams.Height_Gain = 3;
staticParams.J16Timing = 30;
staticParams.J17Timing = 30;
memcpy(staticParams.Name, "Beginner\0", 9);
}
 
/***************************************************/
/* Read Parameter from EEPROM as byte */
/***************************************************/
uint8_t GetParamByte(uint16_t param_id) {
165,12 → 126,9
/* Read Parameter Set from EEPROM */
/***************************************************/
// number [1..5]
void ParamSet_ReadFromEEProm(uint8_t setnumber) {
if ((1 > setnumber) || (setnumber > 5))
setnumber = 3;
void ParamSet_ReadFromEEProm() {
eeprom_read_block((uint8_t *) &staticParams.ChannelAssignment[0],
&EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber
- 1)], PARAMSET_STRUCT_LEN);
&EEPromArray[EEPROM_ADR_PARAMSET_BEGIN], PARAMSET_STRUCT_LEN);
output_init();
}
 
178,20 → 136,14
/* Write Parameter Set to EEPROM */
/***************************************************/
// number [1..5]
void ParamSet_WriteToEEProm(uint8_t setnumber) {
if (setnumber > 5)
setnumber = 5;
if (setnumber < 1)
return;
void ParamSet_WriteToEEProm() {
eeprom_write_block((uint8_t *) &staticParams.ChannelAssignment[0],
&EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber
- 1)], PARAMSET_STRUCT_LEN);
&EEPromArray[EEPROM_ADR_PARAMSET_BEGIN], PARAMSET_STRUCT_LEN);
eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH],
PARAMSET_STRUCT_LEN);
eeprom_write_block(&staticParams.ChannelAssignment[0],
&EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping
// set this parameter set to active set
setActiveParamSet(setnumber);
output_init();
}
 
209,17 → 161,6
}
 
/***************************************************/
/* Set active parameter set */
/***************************************************/
void setActiveParamSet(uint8_t setnumber) {
if (setnumber > 5)
setnumber = 5;
if (setnumber < 1)
setnumber = 1;
eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber);
}
 
/***************************************************/
/* Read MixerTable from EEPROM */
/***************************************************/
uint8_t MixerTable_ReadFromEEProm(void) {
273,7 → 214,7
/* Initialize EEPROM Parameter Sets */
/***************************************************/
void ParamSet_Init(void) {
uint8_t Channel_Backup = 1, i, j;
uint8_t Channel_Backup = 1, j;
// parameter version check
if (eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) {
// if version check faild
284,35 → 225,21
Channel_Backup = 0;
}
// fill all 5 parameter settings
for (i = 1; i < 6; i++) {
switch (i) {
case 1:
ParamSet_DefaultSet1(); // Fill staticParams Structure to default parameter set 1 (Sport)
break;
case 2:
ParamSet_DefaultSet2(); // Kamera
break;
case 3:
ParamSet_DefaultSet3(); // Beginner
break;
default:
ParamSet_DefaultSet2(); // Kamera
break;
}
if (Channel_Backup) { // if we have a rc channel mapping backup in eeprom
// restore it
for (j = 0; j < 8; j++) {
staticParams.ChannelAssignment[j] = eeprom_read_byte(
&EEPromArray[EEPROM_ADR_CHANNELS + j]);
}
}
ParamSet_WriteToEEProm(i);
}
// default-Setting is parameter set 3
setActiveParamSet(1);
 
setDefaults(); // Fill staticParams Structure to default parameter set 1 (Sport)
if (Channel_Backup) { // if we have a rc channel mapping backup in eeprom
// restore it
for (j = 0; j < 8; j++) {
staticParams.ChannelAssignment[j] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS + j]);
}
}
ParamSet_WriteToEEProm();
// update version info
SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION);
}
// read active parameter set to staticParams stucture
ParamSet_ReadFromEEProm(getActiveParamSet());
ParamSet_ReadFromEEProm();
}