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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
3 | // + Nur für den privaten Gebrauch |
3 | // + Nur für den privaten Gebrauch |
4 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
4 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
8 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
8 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
9 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
10 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
10 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
11 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
12 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // + Verkauf von Luftbildaufnahmen, usw. |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
15 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
18 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
19 | // + eindeutig als Ursprung verlinkt werden |
19 | // + eindeutig als Ursprung verlinkt werden |
20 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
21 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
22 | // + Benutzung auf eigene Gefahr |
22 | // + Benutzung auf eigene Gefahr |
23 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
23 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
24 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
25 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
25 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
26 | // + mit unserer Zustimmung zulässig |
26 | // + mit unserer Zustimmung zulässig |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
28 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
30 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
31 | // + this list of conditions and the following disclaimer. |
31 | // + this list of conditions and the following disclaimer. |
32 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
32 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
33 | // + from this software without specific prior written permission. |
33 | // + from this software without specific prior written permission. |
34 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
34 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
35 | // + for non-commercial use (directly or indirectly) |
35 | // + for non-commercial use (directly or indirectly) |
36 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
36 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
37 | // + with our written permission |
37 | // + with our written permission |
38 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
39 | // + clearly linked as origin |
39 | // + clearly linked as origin |
40 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
40 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
41 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
41 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
42 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
42 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
43 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
43 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
44 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
44 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
45 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
45 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
46 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
46 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
47 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
47 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
48 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | 52 | ||
53 | 53 | ||
54 | #ifndef EEMEM |
54 | #ifndef EEMEM |
55 | #define EEMEM __attribute__ ((section (".eeprom"))) |
55 | #define EEMEM __attribute__ ((section (".eeprom"))) |
56 | #endif |
56 | #endif |
57 | 57 | ||
58 | 58 | ||
59 | #include <avr/eeprom.h> |
59 | #include <avr/eeprom.h> |
60 | #include <string.h> |
60 | #include <string.h> |
61 | #include "eeprom.h" |
61 | #include "eeprom.h" |
62 | #include "uart.h" |
62 | #include "uart.h" |
63 | #include "led.h" |
63 | #include "led.h" |
64 | #include "main.h" |
64 | #include "main.h" |
65 | #include "fc.h" |
65 | #include "fc.h" |
66 | #include "twimaster.h" |
66 | #include "twimaster.h" |
67 | 67 | ||
68 | paramset_t EE_Parameter; |
68 | paramset_t EE_Parameter; |
69 | MixerTable_t Mixer; |
69 | MixerTable_t Mixer; |
70 | uint8_t RequiredMotors; |
70 | uint8_t RequiredMotors; |
71 | 71 | ||
72 | 72 | ||
73 | uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len) |
73 | uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len) |
74 | { |
74 | { |
75 | uint8_t crc = 0xAA; |
75 | uint8_t crc = 0xAA; |
76 | uint16_t i; |
76 | uint16_t i; |
77 | 77 | ||
78 | for(i=0; i<len; i++) |
78 | for(i=0; i<len; i++) |
79 | { |
79 | { |
80 | crc += pBuffer[i]; |
80 | crc += pBuffer[i]; |
81 | } |
81 | } |
82 | return crc; |
82 | return crc; |
83 | } |
83 | } |
84 | 84 | ||
85 | uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len) |
85 | uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len) |
86 | { |
86 | { |
87 | uint8_t crc = 0xAA; |
87 | uint8_t crc = 0xAA; |
88 | uint16_t off; |
88 | uint16_t off; |
89 | 89 | ||
90 | for(off=0; off<len; off++) |
90 | for(off=0; off<len; off++) |
91 | { |
91 | { |
92 | crc += eeprom_read_byte((uint8_t*)(EEAddr + off));; |
92 | crc += eeprom_read_byte((uint8_t*)(EEAddr + off));; |
93 | } |
93 | } |
94 | return crc; |
94 | return crc; |
95 | } |
95 | } |
96 | 96 | ||
97 | void ParamSet_DefaultStickMapping(void) |
97 | void ParamSet_DefaultStickMapping(void) |
98 | { |
98 | { |
99 | EE_Parameter.Kanalbelegung[K_GAS] = 1; |
99 | EE_Parameter.Kanalbelegung[K_GAS] = 1; |
100 | EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
100 | EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
101 | EE_Parameter.Kanalbelegung[K_NICK] = 3; |
101 | EE_Parameter.Kanalbelegung[K_NICK] = 3; |
102 | EE_Parameter.Kanalbelegung[K_GIER] = 4; |
102 | EE_Parameter.Kanalbelegung[K_GIER] = 4; |
103 | EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
103 | EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
104 | EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
104 | EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
105 | EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
105 | EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
106 | EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
106 | EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
107 | EE_Parameter.Kanalbelegung[K_POTI5] = 9; |
107 | EE_Parameter.Kanalbelegung[K_POTI5] = 9; |
108 | EE_Parameter.Kanalbelegung[K_POTI6] = 10; |
108 | EE_Parameter.Kanalbelegung[K_POTI6] = 10; |
109 | EE_Parameter.Kanalbelegung[K_POTI7] = 11; |
109 | EE_Parameter.Kanalbelegung[K_POTI7] = 11; |
110 | EE_Parameter.Kanalbelegung[K_POTI8] = 12; |
110 | EE_Parameter.Kanalbelegung[K_POTI8] = 12; |
111 | } |
111 | } |
112 | 112 | ||
113 | 113 | ||
114 | /***************************************************/ |
114 | /***************************************************/ |
115 | /* Default Values for parameter set 1 */ |
115 | /* Default Values for parameter set 1 */ |
116 | /***************************************************/ |
116 | /***************************************************/ |
117 | void CommonDefaults(void) |
117 | void CommonDefaults(void) |
118 | { |
118 | { |
119 | EE_Parameter.Revision = EEPARAM_REVISION; |
119 | EE_Parameter.Revision = EEPARAM_REVISION; |
120 | 120 | ||
121 | if(PlatinenVersion >= 20) |
121 | if(PlatinenVersion >= 20) |
122 | { |
122 | { |
123 | EE_Parameter.Gyro_D = 10; |
123 | EE_Parameter.Gyro_D = 10; |
124 | EE_Parameter.Driftkomp = 0; |
124 | EE_Parameter.Driftkomp = 0; |
125 | EE_Parameter.GyroAccFaktor = 27; |
125 | EE_Parameter.GyroAccFaktor = 27; |
126 | EE_Parameter.WinkelUmschlagNick = 78; |
126 | EE_Parameter.WinkelUmschlagNick = 78; |
127 | EE_Parameter.WinkelUmschlagRoll = 78; |
127 | EE_Parameter.WinkelUmschlagRoll = 78; |
128 | } |
128 | } |
129 | else |
129 | else |
130 | { |
130 | { |
131 | EE_Parameter.Gyro_D = 3; |
131 | EE_Parameter.Gyro_D = 3; |
132 | EE_Parameter.Driftkomp = 32; |
132 | EE_Parameter.Driftkomp = 32; |
133 | EE_Parameter.GyroAccFaktor = 30; |
133 | EE_Parameter.GyroAccFaktor = 30; |
134 | EE_Parameter.WinkelUmschlagNick = 85; |
134 | EE_Parameter.WinkelUmschlagNick = 85; |
135 | EE_Parameter.WinkelUmschlagRoll = 85; |
135 | EE_Parameter.WinkelUmschlagRoll = 85; |
136 | } |
136 | } |
137 | EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
137 | EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
138 | EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP; |
138 | EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP; |
139 | EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
139 | EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
140 | EE_Parameter.MotorSafetySwitch = 0; |
140 | EE_Parameter.MotorSafetySwitch = 0; |
141 | EE_Parameter.ExternalControl = 0; |
141 | EE_Parameter.ExternalControl = 0; |
142 | 142 | ||
143 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
143 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
144 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
144 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
145 | EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
145 | EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
146 | 146 | ||
147 | EE_Parameter.Hoehe_MinGas = 30; |
147 | EE_Parameter.Hoehe_MinGas = 30; |
148 | EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
148 | EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
149 | EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
149 | EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
150 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
150 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
151 | EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
151 | EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
152 | EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
152 | EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
153 | EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
153 | EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
154 | EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
154 | EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
155 | EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 |
155 | EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 |
156 | 156 | ||
157 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
157 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
158 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
158 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
159 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
159 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
160 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
160 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
161 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
161 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
162 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
162 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
163 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
163 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
164 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
164 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
165 | 165 | ||
166 | EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos |
166 | EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos |
167 | EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
167 | EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
168 | EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
168 | EE_Parameter.ServoCompInvert = 2; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
169 | EE_Parameter.ServoNickMin = 15; // Wert : 0-247 // Anschlag |
169 | EE_Parameter.ServoNickMin = 15; // Wert : 0-247 // Anschlag |
170 | EE_Parameter.ServoNickMax = 255; // Wert : 0-247 // Anschlag |
170 | EE_Parameter.ServoNickMax = 255; // Wert : 0-247 // Anschlag |
171 | EE_Parameter.ServoNickRefresh = 5; |
171 | EE_Parameter.ServoNickRefresh = 5; |
172 | EE_Parameter.Servo3 = 125; |
172 | EE_Parameter.Servo3 = 125; |
173 | EE_Parameter.Servo4 = 125; |
173 | EE_Parameter.Servo4 = 125; |
174 | EE_Parameter.Servo5 = 125; |
174 | EE_Parameter.Servo5 = 125; |
175 | EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos |
175 | EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos |
176 | EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
176 | EE_Parameter.ServoRollComp = 90; // Wert : 0-247 // Einfluss Gyro/Servo |
177 | EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
177 | EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
178 | EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
178 | EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
179 | EE_Parameter.ServoManualControlSpeed = 40; |
179 | EE_Parameter.ServoManualControlSpeed = 40; |
180 | EE_Parameter.CamOrientation = 0; |
180 | EE_Parameter.CamOrientation = 0; |
181 | 181 | ||
182 | EE_Parameter.J16Bitmask = 95; |
182 | EE_Parameter.J16Bitmask = 95; |
183 | EE_Parameter.J17Bitmask = 243; |
183 | EE_Parameter.J17Bitmask = 243; |
184 | EE_Parameter.WARN_J16_Bitmask = 0xAA; |
184 | EE_Parameter.WARN_J16_Bitmask = 0xAA; |
185 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
185 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
186 | EE_Parameter.J16Timing = 20; |
186 | EE_Parameter.J16Timing = 20; |
187 | EE_Parameter.J17Timing = 20; |
187 | EE_Parameter.J17Timing = 20; |
188 | 188 | ||
189 | EE_Parameter.LoopGasLimit = 50; |
189 | EE_Parameter.LoopGasLimit = 50; |
190 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
190 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
191 | EE_Parameter.LoopHysterese = 50; |
191 | EE_Parameter.LoopHysterese = 50; |
192 | EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
192 | EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
193 | 193 | ||
194 | EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
194 | EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
195 | EE_Parameter.NaviGpsGain = 100; |
195 | EE_Parameter.NaviGpsGain = 100; |
196 | EE_Parameter.NaviGpsP = 90; |
196 | EE_Parameter.NaviGpsP = 90; |
197 | EE_Parameter.NaviGpsI = 90; |
197 | EE_Parameter.NaviGpsI = 90; |
198 | EE_Parameter.NaviGpsD = 90; |
198 | EE_Parameter.NaviGpsD = 90; |
199 | EE_Parameter.NaviGpsPLimit = 75; |
199 | EE_Parameter.NaviGpsPLimit = 75; |
200 | EE_Parameter.NaviGpsILimit = 75; |
200 | EE_Parameter.NaviGpsILimit = 75; |
201 | EE_Parameter.NaviGpsDLimit = 75; |
201 | EE_Parameter.NaviGpsDLimit = 75; |
202 | EE_Parameter.NaviGpsACC = 0; |
202 | EE_Parameter.NaviGpsACC = 0; |
203 | EE_Parameter.NaviGpsMinSat = 6; |
203 | EE_Parameter.NaviGpsMinSat = 6; |
204 | EE_Parameter.NaviStickThreshold = 8; |
204 | EE_Parameter.NaviStickThreshold = 8; |
205 | EE_Parameter.NaviWindCorrection = 90; |
205 | EE_Parameter.NaviWindCorrection = 90; |
206 | EE_Parameter.NaviSpeedCompensation = 30; |
206 | EE_Parameter.NaviSpeedCompensation = 30; |
207 | EE_Parameter.NaviOperatingRadius = 100; |
207 | EE_Parameter.NaviOperatingRadius = 100; |
208 | EE_Parameter.NaviAngleLimitation = 100; |
208 | EE_Parameter.NaviAngleLimitation = 100; |
209 | EE_Parameter.NaviPH_LoginTime = 2; |
209 | EE_Parameter.NaviPH_LoginTime = 2; |
210 | EE_Parameter.OrientationAngle = 0; |
210 | EE_Parameter.OrientationAngle = 0; |
211 | EE_Parameter.OrientationModeControl = 0; |
211 | EE_Parameter.OrientationModeControl = 0; |
212 | EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
212 | EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
213 | EE_Parameter.NotGas = 45; // Wert : 0-247 // Gaswert bei Empangsverlust |
213 | EE_Parameter.NotGas = 45; // Wert : 0-247 // Gaswert bei Empangsverlust |
214 | EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
214 | EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
215 | } |
215 | } |
216 | 216 | ||
217 | void ParamSet_DefaultSet1(void) // sport |
217 | void ParamSet_DefaultSet1(void) // sport |
218 | { |
218 | { |
219 | CommonDefaults(); |
219 | CommonDefaults(); |
220 | EE_Parameter.Stick_P = 14; // Wert : 1-20 |
220 | EE_Parameter.Stick_P = 14; // Wert : 1-20 |
221 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
221 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
222 | EE_Parameter.Gier_P = 12; // Wert : 1-20 |
222 | EE_Parameter.Gier_P = 12; // Wert : 1-20 |
223 | EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
223 | EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
224 | EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
224 | EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
225 | EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
225 | EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
226 | EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
226 | EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
227 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
227 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
228 | EE_Parameter.I_Faktor = 32; |
228 | EE_Parameter.I_Faktor = 32; |
229 | EE_Parameter.AchsKopplung1 = 90; |
229 | EE_Parameter.AchsKopplung1 = 90; |
230 | EE_Parameter.AchsKopplung2 = 80; |
230 | EE_Parameter.AchsKopplung2 = 80; |
231 | EE_Parameter.CouplingYawCorrection = 1; |
231 | EE_Parameter.CouplingYawCorrection = 1; |
232 | EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
232 | EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
233 | EE_Parameter.DynamicStability = 100; |
233 | EE_Parameter.DynamicStability = 100; |
234 | memcpy(EE_Parameter.Name, "Sport\0", 12); |
234 | memcpy(EE_Parameter.Name, "Sport\0", 12); |
235 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
235 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
236 | } |
236 | } |
237 | 237 | ||
238 | 238 | ||
239 | /***************************************************/ |
239 | /***************************************************/ |
240 | /* Default Values for parameter set 2 */ |
240 | /* Default Values for parameter set 2 */ |
241 | /***************************************************/ |
241 | /***************************************************/ |
242 | void ParamSet_DefaultSet2(void) // normal |
242 | void ParamSet_DefaultSet2(void) // normal |
243 | { |
243 | { |
244 | CommonDefaults(); |
244 | CommonDefaults(); |
245 | EE_Parameter.Stick_P = 10; // Wert : 1-20 |
245 | EE_Parameter.Stick_P = 10; // Wert : 1-20 |
246 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
246 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
247 | EE_Parameter.Gier_P = 6; // Wert : 1-20 |
247 | EE_Parameter.Gier_P = 6; // Wert : 1-20 |
248 | EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
248 | EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
249 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
249 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
250 | EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
250 | EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
251 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
251 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
252 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
252 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
253 | EE_Parameter.I_Faktor = 32; |
253 | EE_Parameter.I_Faktor = 32; |
254 | EE_Parameter.AchsKopplung1 = 90; |
254 | EE_Parameter.AchsKopplung1 = 90; |
255 | EE_Parameter.AchsKopplung2 = 80; |
255 | EE_Parameter.AchsKopplung2 = 80; |
256 | EE_Parameter.CouplingYawCorrection = 60; |
256 | EE_Parameter.CouplingYawCorrection = 60; |
257 | EE_Parameter.GyroAccAbgleich = 32; // 1/k |
257 | EE_Parameter.GyroAccAbgleich = 32; // 1/k |
258 | EE_Parameter.DynamicStability = 75; |
258 | EE_Parameter.DynamicStability = 75; |
259 | memcpy(EE_Parameter.Name, "Normal\0", 12); |
259 | memcpy(EE_Parameter.Name, "Normal\0", 12); |
260 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
260 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
261 | } |
261 | } |
262 | 262 | ||
263 | 263 | ||
264 | /***************************************************/ |
264 | /***************************************************/ |
265 | /* Default Values for parameter set 3 */ |
265 | /* Default Values for parameter set 3 */ |
266 | /***************************************************/ |
266 | /***************************************************/ |
267 | void ParamSet_DefaultSet3(void) // beginner |
267 | void ParamSet_DefaultSet3(void) // beginner |
268 | { |
268 | { |
269 | CommonDefaults(); |
269 | CommonDefaults(); |
270 | EE_Parameter.Stick_P = 8; // Wert : 1-20 |
270 | EE_Parameter.Stick_P = 8; // Wert : 1-20 |
271 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
271 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
272 | EE_Parameter.Gier_P = 6; // Wert : 1-20 |
272 | EE_Parameter.Gier_P = 6; // Wert : 1-20 |
273 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
273 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
274 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
274 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
275 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
275 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
276 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
276 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
277 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
277 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
278 | EE_Parameter.I_Faktor = 16; |
278 | EE_Parameter.I_Faktor = 16; |
279 | EE_Parameter.AchsKopplung1 = 90; |
279 | EE_Parameter.AchsKopplung1 = 90; |
280 | EE_Parameter.AchsKopplung2 = 80; |
280 | EE_Parameter.AchsKopplung2 = 80; |
281 | EE_Parameter.CouplingYawCorrection = 70; |
281 | EE_Parameter.CouplingYawCorrection = 70; |
282 | EE_Parameter.GyroAccAbgleich = 32; // 1/k |
282 | EE_Parameter.GyroAccAbgleich = 32; // 1/k |
283 | EE_Parameter.DynamicStability = 70; |
283 | EE_Parameter.DynamicStability = 70; |
284 | memcpy(EE_Parameter.Name, "Beginner\0", 12); |
284 | memcpy(EE_Parameter.Name, "Beginner\0", 12); |
285 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
285 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
286 | } |
286 | } |
287 | 287 | ||
288 | /***************************************************/ |
288 | /***************************************************/ |
289 | /* Read Parameter from EEPROM as byte */ |
289 | /* Read Parameter from EEPROM as byte */ |
290 | /***************************************************/ |
290 | /***************************************************/ |
291 | uint8_t GetParamByte(uint16_t param_id) |
291 | uint8_t GetParamByte(uint16_t param_id) |
292 | { |
292 | { |
293 | return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
293 | return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
294 | } |
294 | } |
295 | 295 | ||
296 | /***************************************************/ |
296 | /***************************************************/ |
297 | /* Write Parameter to EEPROM as byte */ |
297 | /* Write Parameter to EEPROM as byte */ |
298 | /***************************************************/ |
298 | /***************************************************/ |
299 | void SetParamByte(uint16_t param_id, uint8_t value) |
299 | void SetParamByte(uint16_t param_id, uint8_t value) |
300 | { |
300 | { |
301 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
301 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
302 | } |
302 | } |
303 | 303 | ||
304 | /***************************************************/ |
304 | /***************************************************/ |
305 | /* Read Parameter from EEPROM as word */ |
305 | /* Read Parameter from EEPROM as word */ |
306 | /***************************************************/ |
306 | /***************************************************/ |
307 | uint16_t GetParamWord(uint16_t param_id) |
307 | uint16_t GetParamWord(uint16_t param_id) |
308 | { |
308 | { |
309 | return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
309 | return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
310 | } |
310 | } |
311 | 311 | ||
312 | /***************************************************/ |
312 | /***************************************************/ |
313 | /* Write Parameter to EEPROM as word */ |
313 | /* Write Parameter to EEPROM as word */ |
314 | /***************************************************/ |
314 | /***************************************************/ |
315 | void SetParamWord(uint16_t param_id, uint16_t value) |
315 | void SetParamWord(uint16_t param_id, uint16_t value) |
316 | { |
316 | { |
317 | eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
317 | eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
318 | } |
318 | } |
319 | 319 | ||
320 | /***************************************************/ |
320 | /***************************************************/ |
321 | /* Read Parameter Set from EEPROM */ |
321 | /* Read Parameter Set from EEPROM */ |
322 | /***************************************************/ |
322 | /***************************************************/ |
323 | // number [1..5] |
323 | // number [1..5] |
324 | uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
324 | uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
325 | { |
325 | { |
326 | uint8_t crc; |
326 | uint8_t crc; |
327 | uint16_t eeaddr; |
327 | uint16_t eeaddr; |
328 | 328 | ||
329 | // range the setnumber |
329 | // range the setnumber |
330 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
330 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
331 | 331 | ||
332 | // calculate eeprom addr |
332 | // calculate eeprom addr |
333 | eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
333 | eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
334 | 334 | ||
335 | // calculate checksum from eeprom |
335 | // calculate checksum from eeprom |
336 | crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
336 | crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
337 | 337 | ||
338 | // check crc |
338 | // check crc |
339 | if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
339 | if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
340 | 340 | ||
341 | // check revision |
341 | // check revision |
342 | if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0; |
342 | if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0; |
343 | 343 | ||
344 | // read paramset from eeprom |
344 | // read paramset from eeprom |
345 | eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
345 | eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
346 | LED_Init(); |
346 | LED_Init(); |
347 | return 1; |
347 | return 1; |
348 | } |
348 | } |
349 | 349 | ||
350 | /***************************************************/ |
350 | /***************************************************/ |
351 | /* Write Parameter Set to EEPROM */ |
351 | /* Write Parameter Set to EEPROM */ |
352 | /***************************************************/ |
352 | /***************************************************/ |
353 | // number [1..5] |
353 | // number [1..5] |
354 | uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
354 | uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
355 | { |
355 | { |
356 | uint8_t crc; |
356 | uint8_t crc; |
357 | 357 | ||
358 | if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
358 | if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
359 | { |
359 | { |
360 | if(setnumber > 5) setnumber = 5; |
360 | if(setnumber > 5) setnumber = 5; |
361 | if(setnumber < 1) return 0; |
361 | if(setnumber < 1) return 0; |
362 | 362 | ||
363 | // update checksum |
363 | // update checksum |
364 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
364 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
365 | 365 | ||
366 | // write paramset to eeprom |
366 | // write paramset to eeprom |
367 | eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
367 | eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
368 | 368 | ||
369 | // backup channel settings to separate block in eeprom |
369 | // backup channel settings to separate block in eeprom |
370 | eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
370 | eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
371 | 371 | ||
372 | // write crc of channel block to eeprom |
372 | // write crc of channel block to eeprom |
373 | crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
373 | crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
374 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
374 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
375 | 375 | ||
376 | // update active settings number |
376 | // update active settings number |
377 | SetActiveParamSet(setnumber); |
377 | SetActiveParamSet(setnumber); |
378 | LED_Init(); |
378 | LED_Init(); |
379 | return 1; |
379 | return 1; |
380 | } |
380 | } |
381 | // wrong revision |
381 | // wrong revision |
382 | return 0; |
382 | return 0; |
383 | } |
383 | } |
384 | 384 | ||
385 | /***************************************************/ |
385 | /***************************************************/ |
386 | /* Read MixerTable from EEPROM */ |
386 | /* Read MixerTable from EEPROM */ |
387 | /***************************************************/ |
387 | /***************************************************/ |
388 | uint8_t MixerTable_ReadFromEEProm(void) |
388 | uint8_t MixerTable_ReadFromEEProm(void) |
389 | { |
389 | { |
390 | uint8_t crc; |
390 | uint8_t crc; |
391 | 391 | ||
392 | // calculate checksum in eeprom |
392 | // calculate checksum in eeprom |
393 | crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
393 | crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
394 | 394 | ||
395 | // check crc |
395 | // check crc |
396 | if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
396 | if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
397 | 397 | ||
398 | // check revision |
398 | // check revision |
399 | if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
399 | if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
400 | 400 | ||
401 | // read mixer table |
401 | // read mixer table |
402 | eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
402 | eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
403 | return 1; |
403 | return 1; |
404 | } |
404 | } |
405 | 405 | ||
406 | /***************************************************/ |
406 | /***************************************************/ |
407 | /* Write Mixer Table to EEPROM */ |
407 | /* Write Mixer Table to EEPROM */ |
408 | /***************************************************/ |
408 | /***************************************************/ |
409 | uint8_t MixerTable_WriteToEEProm(void) |
409 | uint8_t MixerTable_WriteToEEProm(void) |
410 | { |
410 | { |
411 | if(Mixer.Revision == EEMIXER_REVISION) |
411 | if(Mixer.Revision == EEMIXER_REVISION) |
412 | { |
412 | { |
413 | // update crc |
413 | // update crc |
414 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
414 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
415 | 415 | ||
416 | // write to eeprom |
416 | // write to eeprom |
417 | eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
417 | eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
418 | return 1; |
418 | return 1; |
419 | } |
419 | } |
420 | else return 0; |
420 | else return 0; |
421 | } |
421 | } |
422 | 422 | ||
423 | /***************************************************/ |
423 | /***************************************************/ |
424 | /* Default Values for Mixer Table */ |
424 | /* Default Values for Mixer Table */ |
425 | /***************************************************/ |
425 | /***************************************************/ |
426 | void MixerTable_Default(void) // Quadro |
426 | void MixerTable_Default(void) // Quadro |
427 | { |
427 | { |
428 | uint8_t i; |
428 | uint8_t i; |
429 | 429 | ||
430 | Mixer.Revision = EEMIXER_REVISION; |
430 | Mixer.Revision = EEMIXER_REVISION; |
431 | // clear mixer table |
431 | // clear mixer table |
432 | for(i = 0; i < 16; i++) |
432 | for(i = 0; i < 16; i++) |
433 | { |
433 | { |
434 | Mixer.Motor[i][MIX_GAS] = 0; |
434 | Mixer.Motor[i][MIX_GAS] = 0; |
435 | Mixer.Motor[i][MIX_NICK] = 0; |
435 | Mixer.Motor[i][MIX_NICK] = 0; |
436 | Mixer.Motor[i][MIX_ROLL] = 0; |
436 | Mixer.Motor[i][MIX_ROLL] = 0; |
437 | Mixer.Motor[i][MIX_YAW] = 0; |
437 | Mixer.Motor[i][MIX_YAW] = 0; |
438 | } |
438 | } |
439 | // default = Quadro |
439 | // default = Quadro |
440 | Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
440 | Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
441 | Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
441 | Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
442 | Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
442 | Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
443 | Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
443 | Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
444 | memcpy(Mixer.Name, "Quadro\0", 7); |
444 | memcpy(Mixer.Name, "Quadro\0", 7); |
445 | Mixer.crc = Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
445 | Mixer.crc = Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
446 | } |
446 | } |
447 | 447 | ||
448 | /***************************************************/ |
448 | /***************************************************/ |
449 | /* Get active parameter set */ |
449 | /* Get active parameter set */ |
450 | /***************************************************/ |
450 | /***************************************************/ |
451 | uint8_t GetActiveParamSet(void) |
451 | uint8_t GetActiveParamSet(void) |
452 | { |
452 | { |
453 | uint8_t setnumber; |
453 | uint8_t setnumber; |
454 | setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
454 | setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
455 | if(setnumber > 5) |
455 | if(setnumber > 5) |
456 | { |
456 | { |
457 | setnumber = 3; |
457 | setnumber = 3; |
458 | eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber); |
458 | eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber); |
459 | } |
459 | } |
460 | return(setnumber); |
460 | return(setnumber); |
461 | } |
461 | } |
462 | 462 | ||
463 | /***************************************************/ |
463 | /***************************************************/ |
464 | /* Set active parameter set */ |
464 | /* Set active parameter set */ |
465 | /***************************************************/ |
465 | /***************************************************/ |
466 | void SetActiveParamSet(uint8_t setnumber) |
466 | void SetActiveParamSet(uint8_t setnumber) |
467 | { |
467 | { |
468 | if(setnumber > 5) setnumber = 5; |
468 | if(setnumber > 5) setnumber = 5; |
469 | if(setnumber < 1) setnumber = 1; |
469 | if(setnumber < 1) setnumber = 1; |
470 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
470 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
471 | } |
471 | } |
472 | 472 | ||
473 | /***************************************************/ |
473 | /***************************************************/ |
474 | /* Set default parameter set */ |
474 | /* Set default parameter set */ |
475 | /***************************************************/ |
475 | /***************************************************/ |
476 | void SetDefaultParameter(uint8_t set, uint8_t restore_channels) |
476 | void SetDefaultParameter(uint8_t set, uint8_t restore_channels) |
477 | { |
477 | { |
478 | 478 | ||
479 | if(set > 5) set = 5; |
479 | if(set > 5) set = 5; |
480 | else if(set < 1) set = 1; |
480 | else if(set < 1) set = 1; |
481 | 481 | ||
482 | switch(set) |
482 | switch(set) |
483 | { |
483 | { |
484 | case 1: |
484 | case 1: |
485 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
485 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
486 | break; |
486 | break; |
487 | case 2: |
487 | case 2: |
488 | ParamSet_DefaultSet2(); // Kamera |
488 | ParamSet_DefaultSet2(); // Kamera |
489 | break; |
489 | break; |
490 | case 3: |
490 | case 3: |
491 | ParamSet_DefaultSet3(); // Beginner |
491 | ParamSet_DefaultSet3(); // Beginner |
492 | break; |
492 | break; |
493 | default: |
493 | default: |
494 | ParamSet_DefaultSet3(); // Beginner |
494 | ParamSet_DefaultSet3(); // Beginner |
495 | break; |
495 | break; |
496 | } |
496 | } |
497 | if(restore_channels) |
497 | if(restore_channels) |
498 | { |
498 | { |
499 | uint8_t crc; |
499 | uint8_t crc; |
500 | // 1st check for a valid channel backup in eeprom |
500 | // 1st check for a valid channel backup in eeprom |
501 | crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
501 | crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
502 | if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) |
502 | if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) |
503 | { |
503 | { |
504 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
504 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
505 | } |
505 | } |
506 | else ParamSet_DefaultStickMapping(); |
506 | else ParamSet_DefaultStickMapping(); |
507 | } |
507 | } |
508 | else ParamSet_DefaultStickMapping(); |
508 | else ParamSet_DefaultStickMapping(); |
509 | ParamSet_WriteToEEProm(set); |
509 | ParamSet_WriteToEEProm(set); |
510 | } |
510 | } |
511 | 511 | ||
512 | /***************************************************/ |
512 | /***************************************************/ |
513 | /* Initialize EEPROM Parameter Sets */ |
513 | /* Initialize EEPROM Parameter Sets */ |
514 | /***************************************************/ |
514 | /***************************************************/ |
515 | void ParamSet_Init(void) |
515 | void ParamSet_Init(void) |
516 | { |
516 | { |
517 | uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
517 | uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
518 | 518 | ||
519 | 519 | ||
520 | if(EEPARAM_REVISION != GetParamByte(PID_EE_REVISION) ) |
520 | if(EEPARAM_REVISION != GetParamByte(PID_EE_REVISION) ) |
521 | { |
521 | { |
522 | ee_default = 1; // software update or forced by mktool |
522 | ee_default = 1; // software update or forced by mktool |
523 | SetParamByte(PID_EE_REVISION, EEPARAM_REVISION); |
523 | SetParamByte(PID_EE_REVISION, EEPARAM_REVISION); |
524 | } |
524 | } |
525 | 525 | ||
526 | 526 | ||
527 | // 1st check for a valid channel backup in eeprom |
527 | // 1st check for a valid channel backup in eeprom |
528 | i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
528 | i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
529 | if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) channel_backup = 1; |
529 | if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) channel_backup = 1; |
530 | 530 | ||
531 | 531 | ||
532 | // parameter check |
532 | // parameter check |
533 | 533 | ||
534 | // check all 5 parameter settings |
534 | // check all 5 parameter settings |
535 | for (i = 1;i < 6; i++) |
535 | for (i = 1;i < 6; i++) |
536 | { |
536 | { |
537 | if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
537 | if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
538 | { |
538 | { |
539 | bad_params = 1; |
539 | bad_params = 1; |
540 | printf("\n\rGenerating default Parameter Set %d",i); |
540 | printf("\n\rGenerating default Parameter Set %d",i); |
541 | switch(i) |
541 | switch(i) |
542 | { |
542 | { |
543 | case 1: |
543 | case 1: |
544 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
544 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
545 | break; |
545 | break; |
546 | case 2: |
546 | case 2: |
547 | ParamSet_DefaultSet2(); // Kamera |
547 | ParamSet_DefaultSet2(); // Kamera |
548 | break; |
548 | break; |
549 | case 3: |
549 | case 3: |
550 | ParamSet_DefaultSet3(); // Beginner |
550 | ParamSet_DefaultSet3(); // Beginner |
551 | break; |
551 | break; |
552 | default: |
552 | default: |
553 | ParamSet_DefaultSet3(); // Kamera |
553 | ParamSet_DefaultSet3(); // Kamera |
554 | break; |
554 | break; |
555 | } |
555 | } |
556 | if(channel_backup) // if we have an channel mapping backup in eeprom |
556 | if(channel_backup) // if we have an channel mapping backup in eeprom |
557 | { // restore it from eeprom |
557 | { // restore it from eeprom |
558 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
558 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
559 | } |
559 | } |
560 | else |
560 | else |
561 | { // use default mapping |
561 | { // use default mapping |
562 | ParamSet_DefaultStickMapping(); |
562 | ParamSet_DefaultStickMapping(); |
563 | } |
563 | } |
564 | ParamSet_WriteToEEProm(i); |
564 | ParamSet_WriteToEEProm(i); |
565 | } |
565 | } |
566 | } |
566 | } |
567 | if(bad_params) // at least one of the parameter settings were invalid |
567 | if(bad_params) // at least one of the parameter settings were invalid |
568 | { |
568 | { |
569 | // default-Setting is parameter set 3 |
569 | // default-Setting is parameter set 3 |
570 | SetActiveParamSet(3); |
570 | SetActiveParamSet(3); |
571 | } |
571 | } |
572 | 572 | ||
573 | 573 | ||
574 | // read active parameter set to ParamSet stucture |
574 | // read active parameter set to ParamSet stucture |
575 | i = GetActiveParamSet(); |
575 | i = GetActiveParamSet(); |
576 | ParamSet_ReadFromEEProm(i); |
576 | ParamSet_ReadFromEEProm(i); |
577 | printf("\n\rUsing Parameter Set %d", i); |
577 | printf("\n\rUsing Parameter Set %d", i); |
578 | 578 | ||
579 | // load mixer table |
579 | // load mixer table |
580 | if(ee_default || !MixerTable_ReadFromEEProm() ) |
580 | if(ee_default || !MixerTable_ReadFromEEProm() ) |
581 | { |
581 | { |
582 | printf("\n\rGenerating default Mixer Table"); |
582 | printf("\n\rGenerating default Mixer Table"); |
583 | MixerTable_Default(); // Quadro |
583 | MixerTable_Default(); // Quadro |
584 | MixerTable_WriteToEEProm(); |
584 | MixerTable_WriteToEEProm(); |
585 | } |
585 | } |
586 | // determine motornumber |
586 | // determine motornumber |
587 | RequiredMotors = 0; |
587 | RequiredMotors = 0; |
588 | for(i = 0; i < 16; i++) |
588 | for(i = 0; i < 16; i++) |
589 | { |
589 | { |
590 | if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
590 | if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
591 | } |
591 | } |
592 | 592 | ||
593 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
593 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
594 | printf("\n\r=============================="); |
594 | printf("\n\r=============================="); |
595 | } |
595 | } |
596 | 596 |