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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.GyroAccAbgleich = 32; // 1/k |
137 | EE_Parameter.GyroAccAbgleich = 32; // 1/k |
138 | EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
138 | EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
139 | EE_Parameter.ExtraConfig = CFG_GPS_AID | CFG2_VARIO_BEEP; |
139 | EE_Parameter.ExtraConfig = CFG_GPS_AID | CFG2_VARIO_BEEP; |
140 | EE_Parameter.Receiver = RECEIVER_JETI; |
140 | EE_Parameter.Receiver = RECEIVER_JETI; |
141 | EE_Parameter.MotorSafetySwitch = 0; |
141 | EE_Parameter.MotorSafetySwitch = 0; |
142 | EE_Parameter.ExternalControl = 0; |
142 | EE_Parameter.ExternalControl = 0; |
143 | 143 | ||
144 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
144 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
145 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
145 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
146 | EE_Parameter.KompassWirkung = 64; // Wert : 0-247 |
146 | EE_Parameter.KompassWirkung = 64; // Wert : 0-247 |
147 | 147 | ||
148 | EE_Parameter.Hoehe_MinGas = 30; |
148 | EE_Parameter.Hoehe_MinGas = 30; |
149 | EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
149 | EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
150 | EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
150 | EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
151 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
151 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
152 | EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
152 | EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
153 | EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
153 | EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
154 | EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
154 | EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
155 | EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
155 | EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
156 | EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 (15 -> ca. +/- 5m/sek bei Stick-Voll-Ausschlag) |
156 | EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 (15 -> ca. +/- 5m/sek bei Stick-Voll-Ausschlag) |
157 | 157 | ||
158 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
158 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
159 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
159 | EE_Parameter.UserParam2 = 40; // zur freien Verwendung //MartinR: |
160 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
160 | EE_Parameter.UserParam3 = 7; // zur freien Verwendung //MartinR: |
161 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
161 | EE_Parameter.UserParam4 = 8; // zur freien Verwendung //MartinR: |
162 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
162 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
163 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
163 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
164 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
164 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
165 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
165 | EE_Parameter.UserParam8 = 125; // zur freien Verwendung //MartinR: |
166 | 166 | ||
167 | EE_Parameter.ServoNickControl = 128; // Wert : 0-247 // Stellung des Servos |
167 | EE_Parameter.ServoNickControl = 128; // Wert : 0-247 // Stellung des Servos |
168 | EE_Parameter.ServoNickComp = 50; // Wert : 0-247 // Einfluss Gyro/Servo |
168 | EE_Parameter.ServoNickComp = 50; // Wert : 0-247 // Einfluss Gyro/Servo |
169 | EE_Parameter.ServoCompInvert = 2; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
169 | EE_Parameter.ServoCompInvert = 2; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
170 | EE_Parameter.ServoNickMin = 15; // Wert : 0-247 // Anschlag |
170 | EE_Parameter.ServoNickMin = 15; // Wert : 0-247 // Anschlag |
171 | EE_Parameter.ServoNickMax = 230; // Wert : 0-247 // Anschlag |
171 | EE_Parameter.ServoNickMax = 230; // Wert : 0-247 // Anschlag |
172 | EE_Parameter.ServoNickRefresh = 4; |
172 | EE_Parameter.ServoNickRefresh = 4; |
173 | EE_Parameter.Servo3 = 125; |
173 | EE_Parameter.Servo3 = 125; |
174 | EE_Parameter.Servo4 = 125; |
174 | EE_Parameter.Servo4 = 125; |
175 | EE_Parameter.Servo5 = 125; |
175 | EE_Parameter.Servo5 = 125; |
176 | EE_Parameter.ServoRollControl = 128; // Wert : 0-247 // Stellung des Servos |
176 | EE_Parameter.ServoRollControl = 128; // Wert : 0-247 // Stellung des Servos |
177 | EE_Parameter.ServoRollComp = 85; // Wert : 0-247 // Einfluss Gyro/Servo |
177 | EE_Parameter.ServoRollComp = 85; // Wert : 0-247 // Einfluss Gyro/Servo |
178 | EE_Parameter.ServoRollMin = 70; // Wert : 0-247 // Anschlag |
178 | EE_Parameter.ServoRollMin = 70; // Wert : 0-247 // Anschlag |
179 | EE_Parameter.ServoRollMax = 220; // Wert : 0-247 // Anschlag |
179 | EE_Parameter.ServoRollMax = 220; // Wert : 0-247 // Anschlag |
180 | EE_Parameter.ServoManualControlSpeed = 60; |
180 | EE_Parameter.ServoManualControlSpeed = 60; |
181 | EE_Parameter.CamOrientation = 0; // Wert : 0-24 -> 0-360 -> 15° steps |
181 | EE_Parameter.CamOrientation = 0; // Wert : 0-24 -> 0-360 -> 15° steps |
182 | 182 | ||
183 | EE_Parameter.J16Bitmask = 95; |
183 | EE_Parameter.J16Bitmask = 95; |
184 | EE_Parameter.J17Bitmask = 243; |
184 | EE_Parameter.J17Bitmask = 243; |
185 | EE_Parameter.WARN_J16_Bitmask = 0xAA; |
185 | EE_Parameter.WARN_J16_Bitmask = 0xAA; |
186 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
186 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
187 | EE_Parameter.J16Timing = 20; |
187 | EE_Parameter.J16Timing = 20; |
188 | EE_Parameter.J17Timing = 20; |
188 | EE_Parameter.J17Timing = 20; |
189 | 189 | ||
190 | EE_Parameter.LoopGasLimit = 50; |
190 | EE_Parameter.LoopGasLimit = 50; |
191 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
191 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
192 | EE_Parameter.LoopHysterese = 50; |
192 | EE_Parameter.LoopHysterese = 50; |
193 | EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
193 | EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
194 | 194 | ||
195 | EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
195 | EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
196 | EE_Parameter.NaviGpsGain = 100; |
196 | EE_Parameter.NaviGpsGain = 100; |
197 | EE_Parameter.NaviGpsP = 90; |
197 | EE_Parameter.NaviGpsP = 90; |
198 | EE_Parameter.NaviGpsI = 90; |
198 | EE_Parameter.NaviGpsI = 90; |
199 | EE_Parameter.NaviGpsD = 90; |
199 | EE_Parameter.NaviGpsD = 90; |
200 | EE_Parameter.NaviGpsPLimit = 75; |
200 | EE_Parameter.NaviGpsPLimit = 75; |
201 | EE_Parameter.NaviGpsILimit = 85; |
201 | EE_Parameter.NaviGpsILimit = 85; |
202 | EE_Parameter.NaviGpsDLimit = 75; |
202 | EE_Parameter.NaviGpsDLimit = 75; |
203 | EE_Parameter.NaviGpsACC = 0; |
203 | EE_Parameter.NaviGpsACC = 0; |
204 | EE_Parameter.NaviGpsMinSat = 6; |
204 | EE_Parameter.NaviGpsMinSat = 6; |
205 | EE_Parameter.NaviStickThreshold = 8; |
205 | EE_Parameter.NaviStickThreshold = 8; |
206 | EE_Parameter.NaviWindCorrection = 90; |
206 | EE_Parameter.NaviWindCorrection = 90; |
207 | EE_Parameter.NaviAccCompensation = 42; |
207 | EE_Parameter.NaviAccCompensation = 42; |
208 | EE_Parameter.NaviOperatingRadius = 245; |
208 | EE_Parameter.NaviOperatingRadius = 245; |
209 | EE_Parameter.NaviAngleLimitation = 140; |
209 | EE_Parameter.NaviAngleLimitation = 140; |
210 | EE_Parameter.NaviPH_LoginTime = 5; |
210 | EE_Parameter.NaviPH_LoginTime = 5; |
211 | EE_Parameter.OrientationAngle = 0; |
211 | EE_Parameter.OrientationAngle = 0; |
212 | EE_Parameter.CareFreeModeControl = 0; |
212 | EE_Parameter.CareFreeModeControl = 0; |
213 | EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
213 | EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
214 | EE_Parameter.NotGas = 45; // Wert : 0-247 // Gaswert bei Empangsverlust |
214 | EE_Parameter.NotGas = 45; // Wert : 0-247 // Gaswert bei Empangsverlust |
215 | EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
215 | EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
216 | EE_Parameter.MotorSmooth = 0; |
216 | EE_Parameter.MotorSmooth = 0; |
217 | EE_Parameter.ComingHomeAltitude = 0; // 0 = don't change |
217 | EE_Parameter.ComingHomeAltitude = 0; // 0 = don't change |
218 | EE_Parameter.FailSafeTime = 0; // 0 = off |
218 | EE_Parameter.FailSafeTime = 0; // 0 = off |
219 | EE_Parameter.MaxAltitude = 150; // 0 = off |
219 | EE_Parameter.MaxAltitude = 150; // 0 = off |
220 | EE_Parameter.AchsKopplung1 = 90; |
220 | EE_Parameter.AchsKopplung1 = 90; |
221 | EE_Parameter.AchsKopplung2 = 55; |
221 | EE_Parameter.AchsKopplung2 = 55; |
222 | } |
222 | } |
223 | /* |
223 | /* |
224 | void ParamSet_DefaultSet1(void) // sport |
224 | void ParamSet_DefaultSet1(void) // sport |
225 | { |
225 | { |
226 | CommonDefaults(); |
226 | CommonDefaults(); |
227 | EE_Parameter.Stick_P = 14; // Wert : 1-20 |
227 | EE_Parameter.Stick_P = 14; // Wert : 1-20 |
228 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
228 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
229 | EE_Parameter.StickGier_P = 12; // Wert : 1-20 |
229 | EE_Parameter.StickGier_P = 12; // Wert : 1-20 |
230 | EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
230 | EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
231 | EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
231 | EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
232 | EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
232 | EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
233 | EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
233 | EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
234 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
234 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
235 | EE_Parameter.I_Faktor = 32; |
235 | EE_Parameter.I_Faktor = 32; |
236 | EE_Parameter.CouplingYawCorrection = 1; |
236 | EE_Parameter.CouplingYawCorrection = 1; |
237 | EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
237 | EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
238 | EE_Parameter.DynamicStability = 100; |
238 | EE_Parameter.DynamicStability = 100; |
239 | memcpy(EE_Parameter.Name, "Sport\0", 12); |
239 | memcpy(EE_Parameter.Name, "Sport\0", 12); |
240 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
240 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
241 | } |
241 | } |
242 | */ |
242 | */ |
243 | 243 | ||
244 | /***************************************************/ |
244 | /***************************************************/ |
245 | /* Default Values for parameter set 1 */ |
245 | /* Default Values for parameter set 1 */ |
246 | /***************************************************/ |
246 | /***************************************************/ |
247 | void ParamSet_DefaultSet1(void) // normal |
247 | void ParamSet_DefaultSet1(void) // normal |
248 | { |
248 | { |
249 | CommonDefaults(); |
249 | CommonDefaults(); |
250 | EE_Parameter.Stick_P = 10; // Wert : 1-20 |
250 | EE_Parameter.Stick_P = 10; // Wert : 1-20 |
251 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
251 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
252 | EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
252 | EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
253 | EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
253 | EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
254 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
254 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
255 | EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
255 | EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
256 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
256 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
257 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
257 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
258 | EE_Parameter.I_Faktor = 32; |
258 | EE_Parameter.I_Faktor = 32; |
259 | EE_Parameter.CouplingYawCorrection = 60; |
259 | EE_Parameter.CouplingYawCorrection = 60; |
260 | EE_Parameter.DynamicStability = 75; |
260 | EE_Parameter.DynamicStability = 75; |
261 | memcpy(EE_Parameter.Name, "Fast\0", 12); |
261 | memcpy(EE_Parameter.Name, "Fast\0", 12); |
262 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
262 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
263 | } |
263 | } |
264 | 264 | ||
265 | 265 | ||
266 | /***************************************************/ |
266 | /***************************************************/ |
267 | /* Default Values for parameter set 2 */ |
267 | /* Default Values for parameter set 2 */ |
268 | /***************************************************/ |
268 | /***************************************************/ |
269 | void ParamSet_DefaultSet2(void) // beginner |
269 | void ParamSet_DefaultSet2(void) // beginner |
270 | { |
270 | { |
271 | CommonDefaults(); |
271 | CommonDefaults(); |
272 | EE_Parameter.Stick_P = 8; // Wert : 1-20 |
272 | EE_Parameter.Stick_P = 8; // Wert : 1-20 |
273 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
273 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
274 | EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
274 | EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
275 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
275 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
276 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
276 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
277 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
277 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
278 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
278 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
279 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
279 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
280 | EE_Parameter.I_Faktor = 16; |
280 | EE_Parameter.I_Faktor = 16; |
281 | EE_Parameter.CouplingYawCorrection = 70; |
281 | EE_Parameter.CouplingYawCorrection = 70; |
282 | EE_Parameter.DynamicStability = 70; |
282 | EE_Parameter.DynamicStability = 70; |
283 | memcpy(EE_Parameter.Name, "Normal\0", 12); |
283 | memcpy(EE_Parameter.Name, "Normal\0", 12); |
284 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
284 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
285 | } |
285 | } |
286 | 286 | ||
287 | /***************************************************/ |
287 | /***************************************************/ |
288 | /* Default Values for parameter set 3 */ |
288 | /* Default Values for parameter set 3 */ |
289 | /***************************************************/ |
289 | /***************************************************/ |
290 | void ParamSet_DefaultSet3(void) // beginner |
290 | void ParamSet_DefaultSet3(void) // beginner |
291 | { |
291 | { |
292 | CommonDefaults(); |
292 | CommonDefaults(); |
293 | EE_Parameter.Stick_P = 6; // Wert : 1-20 |
293 | EE_Parameter.Stick_P = 6; // Wert : 1-20 |
294 | EE_Parameter.Stick_D = 10; // Wert : 0-20 |
294 | EE_Parameter.Stick_D = 10; // Wert : 0-20 |
295 | EE_Parameter.StickGier_P = 4; // Wert : 1-20 |
295 | EE_Parameter.StickGier_P = 4; // Wert : 1-20 |
296 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
296 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
297 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
297 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
298 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
298 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
299 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
299 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
300 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
300 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
301 | EE_Parameter.I_Faktor = 16; |
301 | EE_Parameter.I_Faktor = 16; |
302 | EE_Parameter.CouplingYawCorrection = 70; |
302 | EE_Parameter.CouplingYawCorrection = 70; |
303 | EE_Parameter.DynamicStability = 70; |
303 | EE_Parameter.DynamicStability = 70; |
304 | memcpy(EE_Parameter.Name, "Easy\0", 12); |
304 | memcpy(EE_Parameter.Name, "Easy\0", 12); |
305 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
305 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
306 | } |
306 | } |
307 | 307 | ||
308 | 308 | ||
309 | /***************************************************/ |
309 | /***************************************************/ |
310 | /* Read Parameter from EEPROM as byte */ |
310 | /* Read Parameter from EEPROM as byte */ |
311 | /***************************************************/ |
311 | /***************************************************/ |
312 | uint8_t GetParamByte(uint16_t param_id) |
312 | uint8_t GetParamByte(uint16_t param_id) |
313 | { |
313 | { |
314 | return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
314 | return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
315 | } |
315 | } |
316 | 316 | ||
317 | /***************************************************/ |
317 | /***************************************************/ |
318 | /* Write Parameter to EEPROM as byte */ |
318 | /* Write Parameter to EEPROM as byte */ |
319 | /***************************************************/ |
319 | /***************************************************/ |
320 | void SetParamByte(uint16_t param_id, uint8_t value) |
320 | void SetParamByte(uint16_t param_id, uint8_t value) |
321 | { |
321 | { |
322 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
322 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
323 | } |
323 | } |
324 | 324 | ||
325 | /***************************************************/ |
325 | /***************************************************/ |
326 | /* Read Parameter from EEPROM as word */ |
326 | /* Read Parameter from EEPROM as word */ |
327 | /***************************************************/ |
327 | /***************************************************/ |
328 | uint16_t GetParamWord(uint16_t param_id) |
328 | uint16_t GetParamWord(uint16_t param_id) |
329 | { |
329 | { |
330 | return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
330 | return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
331 | } |
331 | } |
332 | 332 | ||
333 | /***************************************************/ |
333 | /***************************************************/ |
334 | /* Write Parameter to EEPROM as word */ |
334 | /* Write Parameter to EEPROM as word */ |
335 | /***************************************************/ |
335 | /***************************************************/ |
336 | void SetParamWord(uint16_t param_id, uint16_t value) |
336 | void SetParamWord(uint16_t param_id, uint16_t value) |
337 | { |
337 | { |
338 | eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
338 | eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
339 | } |
339 | } |
340 | 340 | ||
341 | /***************************************************/ |
341 | /***************************************************/ |
342 | /* Read Parameter Set from EEPROM */ |
342 | /* Read Parameter Set from EEPROM */ |
343 | /***************************************************/ |
343 | /***************************************************/ |
344 | // number [1..5] |
344 | // number [1..5] |
345 | uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
345 | uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
346 | { |
346 | { |
347 | uint8_t crc; |
347 | uint8_t crc; |
348 | uint16_t eeaddr; |
348 | uint16_t eeaddr; |
349 | 349 | ||
350 | // range the setnumber |
350 | // range the setnumber |
351 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
351 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
352 | 352 | ||
353 | // calculate eeprom addr |
353 | // calculate eeprom addr |
354 | eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
354 | eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
355 | 355 | ||
356 | // calculate checksum from eeprom |
356 | // calculate checksum from eeprom |
357 | crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
357 | crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
358 | 358 | ||
359 | // check crc |
359 | // check crc |
360 | if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
360 | if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
361 | 361 | ||
362 | // check revision |
362 | // check revision |
363 | if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0; |
363 | if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0; |
364 | 364 | ||
365 | // read paramset from eeprom |
365 | // read paramset from eeprom |
366 | eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
366 | eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
367 | LED_Init(); |
367 | LED_Init(); |
368 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
368 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
369 | LIBFC_HoTT_Clear(); |
369 | LIBFC_HoTT_Clear(); |
370 | #endif |
370 | #endif |
371 | return 1; |
371 | return 1; |
372 | } |
372 | } |
373 | 373 | ||
374 | /***************************************************/ |
374 | /***************************************************/ |
375 | /* Write Parameter Set to EEPROM */ |
375 | /* Write Parameter Set to EEPROM */ |
376 | /***************************************************/ |
376 | /***************************************************/ |
377 | // number [1..5] |
377 | // number [1..5] |
378 | uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
378 | uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
379 | { |
379 | { |
380 | uint8_t crc; |
380 | uint8_t crc; |
381 | 381 | ||
382 | if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
382 | if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
383 | { |
383 | { |
384 | if(setnumber > 5) setnumber = 5; |
384 | if(setnumber > 5) setnumber = 5; |
385 | if(setnumber < 1) return 0; |
385 | if(setnumber < 1) return 0; |
386 | LIBFC_CheckSettings(); |
386 | LIBFC_CheckSettings(); |
387 | // update checksum |
387 | // update checksum |
388 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
388 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
389 | 389 | ||
390 | // write paramset to eeprom |
390 | // write paramset to eeprom |
391 | eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
391 | eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
392 | 392 | ||
393 | // backup channel settings to separate block in eeprom |
393 | // backup channel settings to separate block in eeprom |
394 | eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
394 | eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
395 | 395 | ||
396 | // write crc of channel block to eeprom |
396 | // write crc of channel block to eeprom |
397 | crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
397 | crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
398 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
398 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
399 | 399 | ||
400 | // update active settings number |
400 | // update active settings number |
401 | SetActiveParamSet(setnumber); |
401 | SetActiveParamSet(setnumber); |
402 | LED_Init(); |
402 | LED_Init(); |
403 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
403 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
404 | LIBFC_HoTT_Clear(); |
404 | LIBFC_HoTT_Clear(); |
405 | #endif |
405 | #endif |
406 | return 1; |
406 | return 1; |
407 | } |
407 | } |
408 | // wrong revision |
408 | // wrong revision |
409 | return 0; |
409 | return 0; |
410 | } |
410 | } |
411 | 411 | ||
412 | /***************************************************/ |
412 | /***************************************************/ |
413 | /* Read MixerTable from EEPROM */ |
413 | /* Read MixerTable from EEPROM */ |
414 | /***************************************************/ |
414 | /***************************************************/ |
415 | uint8_t MixerTable_ReadFromEEProm(void) |
415 | uint8_t MixerTable_ReadFromEEProm(void) |
416 | { |
416 | { |
417 | uint8_t crc; |
417 | uint8_t crc; |
418 | 418 | ||
419 | // calculate checksum in eeprom |
419 | // calculate checksum in eeprom |
420 | crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
420 | crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
421 | 421 | ||
422 | // check crc |
422 | // check crc |
423 | if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
423 | if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
424 | 424 | ||
425 | // check revision |
425 | // check revision |
426 | if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
426 | if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
427 | 427 | ||
428 | // read mixer table |
428 | // read mixer table |
429 | eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
429 | eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
430 | return 1; |
430 | return 1; |
431 | } |
431 | } |
432 | 432 | ||
433 | /***************************************************/ |
433 | /***************************************************/ |
434 | /* Write Mixer Table to EEPROM */ |
434 | /* Write Mixer Table to EEPROM */ |
435 | /***************************************************/ |
435 | /***************************************************/ |
436 | uint8_t MixerTable_WriteToEEProm(void) |
436 | uint8_t MixerTable_WriteToEEProm(void) |
437 | { |
437 | { |
438 | if(Mixer.Revision == EEMIXER_REVISION) |
438 | if(Mixer.Revision == EEMIXER_REVISION) |
439 | { |
439 | { |
440 | // update crc |
440 | // update crc |
441 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
441 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
442 | 442 | ||
443 | // write to eeprom |
443 | // write to eeprom |
444 | eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
444 | eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
445 | return 1; |
445 | return 1; |
446 | } |
446 | } |
447 | else return 0; |
447 | else return 0; |
448 | } |
448 | } |
449 | 449 | ||
450 | /***************************************************/ |
450 | /***************************************************/ |
451 | /* Default Values for Mixer Table */ |
451 | /* Default Values for Mixer Table */ |
452 | /***************************************************/ |
452 | /***************************************************/ |
453 | void MixerTable_Default(void) // Quadro |
453 | void MixerTable_Default(void) // Quadro |
454 | { |
454 | { |
455 | uint8_t i; |
455 | uint8_t i; |
456 | 456 | ||
457 | Mixer.Revision = EEMIXER_REVISION; |
457 | Mixer.Revision = EEMIXER_REVISION; |
458 | // clear mixer table |
458 | // clear mixer table |
459 | for(i = 0; i < 16; i++) |
459 | for(i = 0; i < 16; i++) |
460 | { |
460 | { |
461 | Mixer.Motor[i][MIX_GAS] = 0; |
461 | Mixer.Motor[i][MIX_GAS] = 0; |
462 | Mixer.Motor[i][MIX_NICK] = 0; |
462 | Mixer.Motor[i][MIX_NICK] = 0; |
463 | Mixer.Motor[i][MIX_ROLL] = 0; |
463 | Mixer.Motor[i][MIX_ROLL] = 0; |
464 | Mixer.Motor[i][MIX_YAW] = 0; |
464 | Mixer.Motor[i][MIX_YAW] = 0; |
465 | } |
465 | } |
466 | // default = Quadro |
466 | // default = Quadro |
467 | Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
467 | Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
468 | Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
468 | Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
469 | Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
469 | Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
470 | Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
470 | Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
471 | memcpy(Mixer.Name, "Quadro\0", 7); |
471 | memcpy(Mixer.Name, "Quadro\0", 7); |
472 | Mixer.crc = Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
472 | Mixer.crc = Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
473 | } |
473 | } |
474 | 474 | ||
475 | /***************************************************/ |
475 | /***************************************************/ |
476 | /* Get active parameter set */ |
476 | /* Get active parameter set */ |
477 | /***************************************************/ |
477 | /***************************************************/ |
478 | uint8_t GetActiveParamSet(void) |
478 | uint8_t GetActiveParamSet(void) |
479 | { |
479 | { |
480 | uint8_t setnumber; |
480 | uint8_t setnumber; |
481 | setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
481 | setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
482 | if(setnumber > 5) |
482 | if(setnumber > 5) |
483 | { |
483 | { |
484 | setnumber = 3; |
484 | setnumber = 3; |
485 | eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber); |
485 | eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber); |
486 | } |
486 | } |
487 | return(setnumber); |
487 | return(setnumber); |
488 | } |
488 | } |
489 | 489 | ||
490 | /***************************************************/ |
490 | /***************************************************/ |
491 | /* Set active parameter set */ |
491 | /* Set active parameter set */ |
492 | /***************************************************/ |
492 | /***************************************************/ |
493 | void SetActiveParamSet(uint8_t setnumber) |
493 | void SetActiveParamSet(uint8_t setnumber) |
494 | { |
494 | { |
495 | if(setnumber > 5) setnumber = 5; |
495 | if(setnumber > 5) setnumber = 5; |
496 | if(setnumber < 1) setnumber = 1; |
496 | if(setnumber < 1) setnumber = 1; |
497 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
497 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
498 | } |
498 | } |
499 | 499 | ||
500 | /***************************************************/ |
500 | /***************************************************/ |
501 | /* Set default parameter set */ |
501 | /* Set default parameter set */ |
502 | /***************************************************/ |
502 | /***************************************************/ |
503 | void SetDefaultParameter(uint8_t set, uint8_t restore_channels) |
503 | void SetDefaultParameter(uint8_t set, uint8_t restore_channels) |
504 | { |
504 | { |
505 | 505 | ||
506 | if(set > 5) set = 5; |
506 | if(set > 5) set = 5; |
507 | else if(set < 1) set = 1; |
507 | else if(set < 1) set = 1; |
508 | 508 | ||
509 | switch(set) |
509 | switch(set) |
510 | { |
510 | { |
511 | case 1: |
511 | case 1: |
512 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
512 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
513 | break; |
513 | break; |
514 | case 2: |
514 | case 2: |
515 | ParamSet_DefaultSet2(); // Kamera |
515 | ParamSet_DefaultSet2(); // Kamera |
516 | break; |
516 | break; |
517 | case 3: |
517 | case 3: |
518 | ParamSet_DefaultSet3(); // Beginner |
518 | ParamSet_DefaultSet3(); // Beginner |
519 | break; |
519 | break; |
520 | default: |
520 | default: |
521 | ParamSet_DefaultSet3(); // Beginner |
521 | ParamSet_DefaultSet3(); // Beginner |
522 | break; |
522 | break; |
523 | } |
523 | } |
524 | if(restore_channels) |
524 | if(restore_channels) |
525 | { |
525 | { |
526 | uint8_t crc; |
526 | uint8_t crc; |
527 | // 1st check for a valid channel backup in eeprom |
527 | // 1st check for a valid channel backup in eeprom |
528 | crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
528 | crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
529 | if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) |
529 | if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) |
530 | { |
530 | { |
531 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
531 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
532 | } |
532 | } |
533 | else ParamSet_DefaultStickMapping(); |
533 | else ParamSet_DefaultStickMapping(); |
534 | } |
534 | } |
535 | else ParamSet_DefaultStickMapping(); |
535 | else ParamSet_DefaultStickMapping(); |
536 | ParamSet_WriteToEEProm(set); |
536 | ParamSet_WriteToEEProm(set); |
537 | } |
537 | } |
538 | 538 | ||
539 | /***************************************************/ |
539 | /***************************************************/ |
540 | /* Initialize EEPROM Parameter Sets */ |
540 | /* Initialize EEPROM Parameter Sets */ |
541 | /***************************************************/ |
541 | /***************************************************/ |
542 | void ParamSet_Init(void) |
542 | void ParamSet_Init(void) |
543 | { |
543 | { |
544 | uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
544 | uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
545 | 545 | ||
546 | 546 | ||
547 | if(EEPARAM_REVISION != GetParamByte(PID_EE_REVISION) ) |
547 | if(EEPARAM_REVISION != GetParamByte(PID_EE_REVISION) ) |
548 | { |
548 | { |
549 | ee_default = 1; // software update or forced by mktool |
549 | ee_default = 1; // software update or forced by mktool |
550 | } |
550 | } |
551 | 551 | ||
552 | 552 | ||
553 | // 1st check for a valid channel backup in eeprom |
553 | // 1st check for a valid channel backup in eeprom |
554 | i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
554 | i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
555 | if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) channel_backup = 1; |
555 | if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) channel_backup = 1; |
556 | 556 | ||
557 | 557 | ||
558 | // parameter check |
558 | // parameter check |
559 | 559 | ||
560 | // check all 5 parameter settings |
560 | // check all 5 parameter settings |
561 | for (i = 1;i < 6; i++) |
561 | for (i = 1;i < 6; i++) |
562 | { |
562 | { |
563 | if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
563 | if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
564 | { |
564 | { |
565 | bad_params = 1; |
565 | bad_params = 1; |
566 | printf("\n\rGenerating default Parameter Set %d",i); |
566 | printf("\n\rGenerating default Parameter Set %d",i); |
567 | switch(i) |
567 | switch(i) |
568 | { |
568 | { |
569 | case 1: |
569 | case 1: |
570 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
570 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
571 | break; |
571 | break; |
572 | case 2: |
572 | case 2: |
573 | ParamSet_DefaultSet2(); // Kamera |
573 | ParamSet_DefaultSet2(); // Kamera |
574 | break; |
574 | break; |
575 | case 3: |
575 | case 3: |
576 | ParamSet_DefaultSet3(); // Beginner |
576 | ParamSet_DefaultSet3(); // Beginner |
577 | break; |
577 | break; |
578 | default: |
578 | default: |
579 | ParamSet_DefaultSet3(); // Kamera |
579 | ParamSet_DefaultSet3(); // Kamera |
580 | break; |
580 | break; |
581 | } |
581 | } |
582 | if(channel_backup) // if we have an channel mapping backup in eeprom |
582 | if(channel_backup) // if we have an channel mapping backup in eeprom |
583 | { // restore it from eeprom |
583 | { // restore it from eeprom |
584 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
584 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
585 | } |
585 | } |
586 | else |
586 | else |
587 | { // use default mapping |
587 | { // use default mapping |
588 | ParamSet_DefaultStickMapping(); |
588 | ParamSet_DefaultStickMapping(); |
589 | } |
589 | } |
590 | ParamSet_WriteToEEProm(i); |
590 | ParamSet_WriteToEEProm(i); |
591 | } |
591 | } |
592 | } |
592 | } |
593 | if(bad_params) // at least one of the parameter settings were invalid |
593 | if(bad_params) // at least one of the parameter settings were invalid |
594 | { |
594 | { |
595 | // default-Setting is parameter set 3 |
595 | // default-Setting is parameter set 3 |
596 | SetActiveParamSet(3); |
596 | SetActiveParamSet(3); |
597 | } |
597 | } |
598 | 598 | ||
599 | 599 | ||
600 | // read active parameter set to ParamSet stucture |
600 | // read active parameter set to ParamSet stucture |
601 | i = GetActiveParamSet(); |
601 | i = GetActiveParamSet(); |
602 | ParamSet_ReadFromEEProm(i); |
602 | ParamSet_ReadFromEEProm(i); |
603 | printf("\n\rUsing Parameter Set %d", i); |
603 | printf("\n\rUsing Parameter Set %d", i); |
604 | 604 | ||
605 | // load mixer table |
605 | // load mixer table |
606 | if(GetParamByte(PID_EE_REVISION) == 0xff || !MixerTable_ReadFromEEProm() ) |
606 | if(GetParamByte(PID_EE_REVISION) == 0xff || !MixerTable_ReadFromEEProm() ) |
607 | { |
607 | { |
608 | printf("\n\rGenerating default Mixer Table"); |
608 | printf("\n\rGenerating default Mixer Table"); |
609 | MixerTable_Default(); // Quadro |
609 | MixerTable_Default(); // Quadro |
610 | MixerTable_WriteToEEProm(); |
610 | MixerTable_WriteToEEProm(); |
611 | } |
611 | } |
612 | if(ee_default) SetParamByte(PID_EE_REVISION, EEPARAM_REVISION); |
612 | if(ee_default) SetParamByte(PID_EE_REVISION, EEPARAM_REVISION); |
613 | // determine motornumber |
613 | // determine motornumber |
614 | RequiredMotors = 0; |
614 | RequiredMotors = 0; |
615 | for(i = 0; i < 16; i++) |
615 | for(i = 0; i < 16; i++) |
616 | { |
616 | { |
617 | if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
617 | if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
618 | } |
618 | } |
619 | 619 | ||
620 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
620 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
621 | printf("\n\r=============================="); |
621 | printf("\n\r=============================="); |
622 | } |
622 | } |
623 | 623 |