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| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Contant Values |
| // + 0-250 -> normale Values |
| // + 251 -> Poti1 |
| // + 252 -> Poti2 |
| // + 253 -> Poti3 |
| // + 254 -> Poti4 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| |
| #include <avr/eeprom.h> |
| #include <string.h> |
| #include "eeprom.h" |
| #include "printf_P.h" |
| #include "output.h" |
| // TODO: Get rid of these. They have nothing to do with eeprom. |
| #include "flight.h" |
| #include "rc.h" |
| #include "sensors.h" |
| |
| // byte array in eeprom |
| uint8_t EEPromArray[E2END+1] EEMEM; |
| |
| paramset_t staticParams; |
| MixerTable_t Mixer; |
| |
| /* |
| * Default for your own experiments here, so you don't have to reset them |
| * from MK-Tool all the time. |
| */ |
| void setDefaultUserParams(void) { |
| uint8_t i; |
| for (i=0; i<sizeof(staticParams.UserParams1); i++) { |
| staticParams.UserParams1[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.UserParams1[3] = 10; // Throttle stick D=10 |
| staticParams.UserParams2[0] = 0b11010101; // All gyro filter constants 2; acc. 4 |
| staticParams.UserParams2[1] = 2; // 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) { |
| /* Channel assignments were changed to the normal: |
| * Aileron/roll=1, elevator/pitch=2, throttle=3, yaw/rudder=4 |
| */ |
| staticParams.ChannelAssignment[CH_PITCH] = 2; |
| staticParams.ChannelAssignment[CH_ROLL] = 1; |
| staticParams.ChannelAssignment[CH_THROTTLE] = 3; |
| staticParams.ChannelAssignment[CH_YAW] = 4; |
| staticParams.ChannelAssignment[CH_POTS+0] = 5; |
| staticParams.ChannelAssignment[CH_POTS+1] = 6; |
| staticParams.ChannelAssignment[CH_POTS+2] = 7; |
| staticParams.ChannelAssignment[CH_POTS+3] = 8; |
| staticParams.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_HEADING_HOLD; // CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
| staticParams.HeightMinGas = 30; |
| staticParams.MaxHeight = 251; |
| staticParams.HeightP = 10; |
| staticParams.HeightD = 30; |
| staticParams.Height_ACC_Effect = 30; |
| staticParams.Height_Gain = 4; |
| staticParams.StickP = 12; |
| staticParams.StickD = 16; |
| staticParams.StickYawP = 12; |
| staticParams.MinThrottle = 8; |
| staticParams.MaxThrottle = 230; |
| staticParams.CompassYawEffect = 128; |
| staticParams.GyroP = 80; |
| staticParams.GyroI = 100; |
| staticParams.LowVoltageWarning = 95; |
| staticParams.EmergencyGas = 35; |
| staticParams.EmergencyGasDuration = 30; |
| staticParams.Unused0 = 0; |
| staticParams.IFactor = 32; |
| staticParams.ServoPitchControl = 100; |
| staticParams.ServoPitchComp = 40; |
| staticParams.ServoPitchCompInvert = 0; |
| staticParams.ServoPitchMin = 50; |
| staticParams.ServoPitchMax = 150; |
| staticParams.ServoRefresh = 5; |
| staticParams.LoopGasLimit = 50; |
| staticParams.LoopThreshold = 90; |
| staticParams.LoopHysteresis = 50; |
| staticParams.BitConfig = 0; |
| staticParams.AxisCoupling1 = 90; |
| staticParams.AxisCoupling2 = 67; |
| staticParams.AxisCouplingYawCorrection = 0; |
| staticParams.DynamicStability = 50; |
| staticParams.J16Bitmask = 95; |
| staticParams.J17Bitmask = 243; |
| staticParams.J16Timing = 15; |
| staticParams.J17Timing = 15; |
| staticParams.NaviGpsModeControl = 253; |
| staticParams.NaviGpsGain = 100; |
| staticParams.NaviGpsP = 90; |
| staticParams.NaviGpsI = 90; |
| staticParams.NaviGpsD = 90; |
| staticParams.NaviGpsPLimit = 75; |
| staticParams.NaviGpsILimit = 75; |
| staticParams.NaviGpsDLimit = 75; |
| staticParams.NaviGpsACC = 0; |
| staticParams.NaviGpsMinSat = 6; |
| staticParams.NaviStickThreshold = 8; |
| staticParams.NaviWindCorrection = 90; |
| staticParams.NaviSpeedCompensation = 30; |
| staticParams.NaviOperatingRadius = 100; |
| staticParams.NaviAngleLimitation = 100; |
| staticParams.NaviPHLoginTime = 4; |
| } |
| |
| /***************************************************/ |
| /* Default Values for parameter set 1 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet1(void) { // sport |
| setOtherDefaults(); |
| gyro_setDefaults(); |
| setDefaultUserParams(); |
| staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE; |
| memcpy(staticParams.Name, "Sport\0",6); |
| } |
| |
| /***************************************************/ |
| /* Default Values for parameter set 2 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet2(void) { // normal |
| setOtherDefaults(); |
| gyro_setDefaults(); |
| setDefaultUserParams(); |
| staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE; |
| 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.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE; |
| staticParams.Height_Gain = 3; |
| staticParams.EmergencyGasDuration = 20; |
| staticParams.AxisCouplingYawCorrection = 70; |
| 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) { |
| return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
| } |
| |
| /***************************************************/ |
| /* Write Parameter to EEPROM as byte */ |
| /***************************************************/ |
| void SetParamByte(uint16_t param_id, uint8_t value) { |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
| } |
| |
| /***************************************************/ |
| /* Read Parameter from EEPROM as word */ |
| /***************************************************/ |
| uint16_t GetParamWord(uint16_t param_id) { |
| return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
| } |
| |
| /***************************************************/ |
| /* Write Parameter to EEPROM as word */ |
| /***************************************************/ |
| void SetParamWord(uint16_t param_id, uint16_t value) { |
| eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
| } |
| |
| /***************************************************/ |
| /* Read Parameter Set from EEPROM */ |
| /***************************************************/ |
| // number [1..5] |
| void ParamSet_ReadFromEEProm(uint8_t setnumber) { |
| if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
| eeprom_read_block((uint8_t *) &staticParams.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN); |
| output_init(); |
| } |
| |
| /***************************************************/ |
| /* Write Parameter Set to EEPROM */ |
| /***************************************************/ |
| // number [1..5] |
| void ParamSet_WriteToEEProm(uint8_t setnumber) { |
| if(setnumber > 5) setnumber = 5; |
| if(setnumber < 1) return; |
| eeprom_write_block((uint8_t *) &staticParams.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], 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(); |
| } |
| |
| /***************************************************/ |
| /* Get active parameter set */ |
| /***************************************************/ |
| uint8_t getActiveParamSet(void) { |
| uint8_t setnumber; |
| setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
| if(setnumber > 5) { |
| setnumber = 3; |
| eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
| } |
| return(setnumber); |
| } |
| |
| /***************************************************/ |
| /* 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) { |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == EEMIXER_REVISION) { |
| eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
| return 1; |
| } |
| else return 0; |
| } |
| |
| /***************************************************/ |
| /* Write Mixer Table to EEPROM */ |
| /***************************************************/ |
| uint8_t MixerTable_WriteToEEProm(void) { |
| if(Mixer.Revision == EEMIXER_REVISION) { |
| eeprom_write_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
| return 1; |
| } |
| else return 0; |
| } |
| |
| /***************************************************/ |
| /* Default Values for Mixer Table */ |
| /***************************************************/ |
| void MixerTable_Default(void) { // Quadro |
| uint8_t i; |
| Mixer.Revision = EEMIXER_REVISION; |
| // clear mixer table (but preset throttle) |
| for(i = 0; i < 16; i++) { |
| Mixer.Motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
| Mixer.Motor[i][MIX_PITCH] = 0; |
| Mixer.Motor[i][MIX_ROLL] = 0; |
| Mixer.Motor[i][MIX_YAW] = 0; |
| } |
| // default = Quadro |
| Mixer.Motor[0][MIX_PITCH] = +64; Mixer.Motor[0][MIX_YAW] = +64; |
| Mixer.Motor[1][MIX_PITCH] = -64; Mixer.Motor[1][MIX_YAW] = +64; |
| Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
| Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
| memcpy(Mixer.Name, "Quadro\0", 7); |
| } |
| |
| /***************************************************/ |
| /* Initialize EEPROM Parameter Sets */ |
| /***************************************************/ |
| void ParamSet_Init(void) { |
| uint8_t Channel_Backup=1, i, j; |
| // parameter version check |
| if(eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) { |
| // if version check faild |
| printf("\n\rInit Parameter in EEPROM"); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table |
| // check if channel mapping backup is valid |
| for (j=0; j<4 && Channel_Backup; j++) { |
| if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]) >= 12) |
| 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); |
| // update version info |
| SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION); |
| } |
| // read active parameter set to staticParams stucture |
| ParamSet_ReadFromEEProm(getActiveParamSet()); |
| printf("\n\rUsing Parameter Set %d", getActiveParamSet()); |
| |
| // load mixer table |
| if(!MixerTable_ReadFromEEProm()) { |
| printf("\n\rGenerating default Mixer Table"); |
| MixerTable_Default(); // Quadro |
| MixerTable_WriteToEEProm(); |
| } |
| // determine motornumber |
| RequiredMotors = 0; |
| for(i = 0; i < 16; i++) { |
| if(Mixer.Motor[i][MIX_THROTTLE] > 0) RequiredMotors++; |
| } |
| |
| printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
| printf("\n\r=============================="); |
| } |