WebSVN - FlightCtrl - Diff - Rev 1910 and 1927 - /branches/dongfang_FC

 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Contant Values
 // + 0-250 -> normale Values
 // + 251 -> Poti1
 // + 252 -> Poti2
 // + 253 -> Poti3
 // + 254 -> Poti4
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 #ifndef EEMEM
 #define EEMEM __attribute__ ((section (".eeprom")))
 #endif
 #include <avr/eeprom.h>
 #include <string.h>
 #include "eeprom.h"
 #include "output.h"
 // TODO: Get rid of these. They have nothing to do with eeprom.
 #include "flight.h"
 #include "rc.h"
 #include "sensors.h"
 // byte array in eeprom
 uint8_t EEPromArray[E2END + 1] EEMEM;
 paramset_t staticParams;
 MixerTable_t Mixer;
 /*
  * Default for your own experiments here, so you don't have to reset them
  * from MK-Tool all the time.
  */
 void setDefaultUserParams(void) {
         uint8_t i;
-        for (i = 0; i < sizeof(staticParams.UserParams1); i++) {
+        for (i = 0; i < sizeof(staticParams.UserParams); i++) {
-                staticParams.UserParams1[i] = 0;
-        }
-        for (i = 0; i < sizeof(staticParams.UserParams2); i++) {
-                staticParams.UserParams2[i] = 0;
+                staticParams.UserParams[i] = 0;
+        }
         /*
          * While we are still using userparams for flight parameters, do set
          * some safe & meaningful default values.
          */
-        staticParams.UserParams2[0] = 0xd5;  //0b11010101; // All gyro filter constants 2; acc. 4
-        staticParams.UserParams2[1] = 0; // H&I motor smoothing.
-        staticParams.UserParams2[2] = 120; // Yaw I factor
-        staticParams.UserParams2[3] = 100; // Max Z acceleration for acc. correction of angles.
+}
 void setOtherDefaults(void) {
         /* Channel assignments were changed to the normal:
          * Aileron/roll=1, elevator/pitch=2, throttle=3, yaw/rudder=4
          */
         staticParams.ChannelAssignment[CH_ELEVATOR] = 2;
         staticParams.ChannelAssignment[CH_AILERONS] = 1;
         staticParams.ChannelAssignment[CH_THROTTLE] = 3;
         staticParams.ChannelAssignment[CH_RUDDER] = 4;
         staticParams.ChannelAssignment[CH_POTS + 0] = 5;
         staticParams.ChannelAssignment[CH_POTS + 1] = 6;
         staticParams.ChannelAssignment[CH_POTS + 2] = 7;
         staticParams.ChannelAssignment[CH_POTS + 3] = 8;
         staticParams.GlobalConfig = /* CFG_AXIS_COUPLING_ACTIVE | */ CFG_HEADING_HOLD; // CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX;
         staticParams.HeightMinGas = 30;
         staticParams.MaxHeight = 251;
         staticParams.HeightP = 10;
         staticParams.HeightD = 30;
         staticParams.Height_ACC_Effect = 30;
         staticParams.Height_Gain = 4;
         staticParams.CompassYawEffect = 128;
         staticParams.GyroPitchP = 0;
         staticParams.GyroRollP = 0;
         staticParams.GyroYawP = 0;
         staticParams.GyroPitchD = 0;
         staticParams.GyroRollD = 0;
         staticParams.GyroYawD = 0;
         staticParams.StickElevatorP = 10;
         staticParams.StickAileronsP = 10;
         staticParams.StickRudderP = 10;
         staticParams.LowVoltageWarning = 105;
-        staticParams.IFactor = 32;
         staticParams.ServoRefresh = 7;
         staticParams.BitConfig = 0;
         staticParams.J16Bitmask = 95;
         staticParams.J17Bitmask = 243;
         staticParams.J16Timing = 15;
         staticParams.J17Timing = 15;
         staticParams.ControlSigns = 2;
+}
-/***************************************************/
-/*    Default Values for parameter set 1           */
-/***************************************************/
-void ParamSet_DefaultSet1(void) { // sport
+void setDefaults(void) {
         setOtherDefaults();
         gyro_setDefaults();
         setDefaultUserParams();
         staticParams.J16Timing = 10;
         staticParams.J17Timing = 10;
-        memcpy(staticParams.Name, "Sport\0", 6);
-}
-/***************************************************/
-/*    Default Values for parameter set 2           */
-/***************************************************/
-void ParamSet_DefaultSet2(void) { // normal
-        setOtherDefaults();
-        gyro_setDefaults();
-        setDefaultUserParams();
-        staticParams.Height_Gain = 3;
-        staticParams.J16Timing = 20;
-        staticParams.J17Timing = 20;
-        memcpy(staticParams.Name, "Normal\0", 7);
-}
-/***************************************************/
-/*    Default Values for parameter set 3           */
-/***************************************************/
-void ParamSet_DefaultSet3(void) { // beginner
-        setOtherDefaults();
-        gyro_setDefaults();
-        setDefaultUserParams();
-        staticParams.Height_Gain = 3;
-        staticParams.J16Timing = 30;
-        staticParams.J17Timing = 30;
-        memcpy(staticParams.Name, "Beginner\0", 9);
+}
 /***************************************************/
 /*       Read Parameter from EEPROM as byte        */
 /***************************************************/
 uint8_t GetParamByte(uint16_t param_id) {
         return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]);
+}
 /***************************************************/
 /*       Write Parameter to EEPROM as byte         */
 /***************************************************/
 void SetParamByte(uint16_t param_id, uint8_t value) {
         eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);
+}
 /***************************************************/
 /*       Read Parameter from EEPROM as word        */
 /***************************************************/
 uint16_t GetParamWord(uint16_t param_id) {
         return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN
                         + param_id]);
+}
 /***************************************************/
 /*       Write Parameter to EEPROM as word         */
 /***************************************************/
 void SetParamWord(uint16_t param_id, uint16_t value) {
         eeprom_write_word(
                         (uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);
+}
 /***************************************************/
 /*       Read Parameter Set from EEPROM            */
 /***************************************************/
 // number [1..5]
-void ParamSet_ReadFromEEProm(uint8_t setnumber) {
+void ParamSet_ReadFromEEProm() {
-        if ((1 > setnumber) || (setnumber > 5))
-                setnumber = 3;
         eeprom_read_block((uint8_t *) &staticParams.ChannelAssignment[0],
-                        &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber
+                        &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN], PARAMSET_STRUCT_LEN);
-                                        - 1)], PARAMSET_STRUCT_LEN);
         output_init();
+}
 /***************************************************/
 /*        Write Parameter Set to EEPROM            */
 /***************************************************/
 // number [1..5]
-void ParamSet_WriteToEEProm(uint8_t setnumber) {
+void ParamSet_WriteToEEProm() {
-        if (setnumber > 5)
-                setnumber = 5;
-        if (setnumber < 1)
-                return;
         eeprom_write_block((uint8_t *) &staticParams.ChannelAssignment[0],
-                        &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber
+                        &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN], PARAMSET_STRUCT_LEN);
-                                        - 1)], PARAMSET_STRUCT_LEN);
         eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH],
                         PARAMSET_STRUCT_LEN);
         eeprom_write_block(&staticParams.ChannelAssignment[0],
                         &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping
         // set this parameter set to active set
-        setActiveParamSet(setnumber);
         output_init();
+}
 /***************************************************/
 /*       Get active parameter set                  */
 /***************************************************/
 uint8_t getActiveParamSet(void) {
         uint8_t setnumber;
         setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]);
         if (setnumber > 5) {
                 setnumber = 3;
                 eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber);
+        }
         return (setnumber);
+}
 /***************************************************/
-/*       Set active parameter set                  */
-/***************************************************/
-void setActiveParamSet(uint8_t setnumber) {
-        if (setnumber > 5)
-                setnumber = 5;
-        if (setnumber < 1)
-                setnumber = 1;
-        eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber);
-}
-/***************************************************/
 /*          Read MixerTable from EEPROM            */
 /***************************************************/
 uint8_t MixerTable_ReadFromEEProm(void) {
         if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE])
                         == EEMIXER_REVISION) {
                 eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE],
                                 sizeof(Mixer));
                 return 1;
         } else
                 return 0;
+}
 /***************************************************/
 /*          Write Mixer Table to EEPROM            */
 /***************************************************/
 uint8_t MixerTable_WriteToEEProm(void) {
         if (Mixer.Revision == EEMIXER_REVISION) {
                 eeprom_write_block((uint8_t *) &Mixer,
                                 &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
                 return 1;
         } else
                 return 0;
+}
 /***************************************************/
 /*    Default Values for Mixer Table               */
 /***************************************************/
 void MixerTable_Default(void) { // Quadro
         uint8_t i;
         Mixer.Revision = EEMIXER_REVISION;
         // clear mixer table (but preset throttle)
         for (i = 0; i < 16; i++) {
                 Mixer.Motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0;
                 Mixer.Motor[i][MIX_PITCH] = 0;
                 Mixer.Motor[i][MIX_ROLL] = 0;
                 Mixer.Motor[i][MIX_YAW] = 0;
+        }
         // default = Quadro
         Mixer.Motor[0][MIX_PITCH] = +64;
         Mixer.Motor[0][MIX_YAW] = +64;
         Mixer.Motor[1][MIX_PITCH] = -64;
         Mixer.Motor[1][MIX_YAW] = +64;
         Mixer.Motor[2][MIX_ROLL] = -64;
         Mixer.Motor[2][MIX_YAW] = -64;
         Mixer.Motor[3][MIX_ROLL] = +64;
         Mixer.Motor[3][MIX_YAW] = -64;
         memcpy(Mixer.Name, "Quadro\0", 7);
+}
 /***************************************************/
 /*       Initialize EEPROM Parameter Sets          */
 /***************************************************/
 void ParamSet_Init(void) {
-        uint8_t Channel_Backup = 1, i, j;
+        uint8_t Channel_Backup = 1, j;
         // parameter version  check
         if (eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) {
                 // if version check faild
                 eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table
                 // check if channel mapping backup is valid
                 for (j = 0; j < 4 && Channel_Backup; j++) {
                         if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS + 0]) >= 12)
                                 Channel_Backup = 0;
+                }
                 // fill all 5 parameter settings
-                for (i = 1; i < 6; i++) {
-                        switch (i) {
-                        case 1:
-                                ParamSet_DefaultSet1(); // Fill staticParams Structure to default parameter set 1 (Sport)
+        setDefaults(); // Fill staticParams Structure to default parameter set 1 (Sport)
-                                break;
-                        case 2:
-                                ParamSet_DefaultSet2(); // Kamera
-                                break;
-                        case 3:
-                                ParamSet_DefaultSet3(); // Beginner
-                                break;
-                        default:
-                                ParamSet_DefaultSet2(); // Kamera
-                                break;
-                        }
-                        if (Channel_Backup) { // if we have a rc channel mapping backup in eeprom
+        if (Channel_Backup) { // if we have a rc channel mapping backup in eeprom
-                                // restore it
+                        // restore it
-                                for (j = 0; j < 8; j++) {
+                        for (j = 0; j < 8; j++) {
-                                        staticParams.ChannelAssignment[j] = eeprom_read_byte(
+                                staticParams.ChannelAssignment[j] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS + j]);
-                                                        &EEPromArray[EEPROM_ADR_CHANNELS + j]);
+            }
-                                }
+        }
-                        }
-                        ParamSet_WriteToEEProm(i);
+        ParamSet_WriteToEEProm();
-                }
-                // default-Setting is parameter set 3
-                setActiveParamSet(1);
                 // update version info
                 SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION);
+        }
         // read active parameter set to staticParams stucture
-        ParamSet_ReadFromEEProm(getActiveParamSet());
+        ParamSet_ReadFromEEProm();
+}

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_fixedwing/eeprom.c - Rev 1910 → 1927