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1 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Contant Values |
2 | // + Contant Values |
3 | // + 0-250 -> normale Values |
3 | // + 0-250 -> normale Values |
4 | // + 251 -> Poti1 |
4 | // + 251 -> Poti1 |
5 | // + 252 -> Poti2 |
5 | // + 252 -> Poti2 |
6 | // + 253 -> Poti3 |
6 | // + 253 -> Poti3 |
7 | // + 254 -> Poti4 |
7 | // + 254 -> Poti4 |
8 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
8 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | 9 | ||
10 | #ifndef EEMEM |
10 | #ifndef EEMEM |
11 | #define EEMEM __attribute__ ((section (".eeprom"))) |
11 | #define EEMEM __attribute__ ((section (".eeprom"))) |
12 | #endif |
12 | #endif |
13 | 13 | ||
14 | #include <avr/eeprom.h> |
14 | #include <avr/eeprom.h> |
15 | #include <string.h> |
15 | #include <string.h> |
16 | #include "eeprom.h" |
16 | #include "eeprom.h" |
17 | #include "output.h" |
17 | #include "output.h" |
18 | // TODO: Get rid of these. They have nothing to do with eeprom. |
18 | // TODO: Get rid of these. They have nothing to do with eeprom. |
19 | #include "flight.h" |
19 | #include "flight.h" |
20 | #include "rc.h" |
20 | #include "rc.h" |
21 | #include "sensors.h" |
21 | #include "sensors.h" |
22 | 22 | ||
23 | // byte array in eeprom |
23 | // byte array in eeprom |
24 | uint8_t EEPromArray[E2END + 1] EEMEM; |
24 | uint8_t EEPromArray[E2END + 1] EEMEM; |
25 | 25 | ||
26 | paramset_t staticParams; |
26 | paramset_t staticParams; |
27 | MixerTable_t Mixer; |
27 | MixerTable_t Mixer; |
28 | 28 | ||
29 | /* |
29 | /* |
30 | * Default for your own experiments here, so you don't have to reset them |
30 | * Default for your own experiments here, so you don't have to reset them |
31 | * from MK-Tool all the time. |
31 | * from MK-Tool all the time. |
32 | */ |
32 | */ |
33 | void setDefaultUserParams(void) { |
33 | void setDefaultUserParams(void) { |
34 | uint8_t i; |
34 | uint8_t i; |
35 | for (i = 0; i < sizeof(staticParams.UserParams); i++) { |
35 | for (i = 0; i < sizeof(staticParams.UserParams); i++) { |
36 | staticParams.UserParams[i] = 0; |
36 | staticParams.UserParams[i] = 0; |
37 | } |
37 | } |
38 | /* |
38 | /* |
39 | * While we are still using userparams for flight parameters, do set |
39 | * While we are still using userparams for flight parameters, do set |
40 | * some safe & meaningful default values. |
40 | * some safe & meaningful default values. |
41 | */ |
41 | */ |
42 | } |
42 | } |
43 | 43 | ||
44 | void setOtherDefaults(void) { |
44 | void setOtherDefaults(void) { |
45 | /* Channel assignments were changed to the normal: |
45 | /* Channel assignments were changed to the normal: |
46 | * Aileron/roll=1, elevator/pitch=2, throttle=3, yaw/rudder=4 |
46 | * Aileron/roll=1, elevator/pitch=2, throttle=3, yaw/rudder=4 |
47 | */ |
47 | */ |
48 | staticParams.ChannelAssignment[CH_ELEVATOR] = 2; |
48 | staticParams.ChannelAssignment[CH_ELEVATOR] = 2; |
49 | staticParams.ChannelAssignment[CH_AILERONS] = 1; |
49 | staticParams.ChannelAssignment[CH_AILERONS] = 1; |
50 | staticParams.ChannelAssignment[CH_THROTTLE] = 3; |
50 | staticParams.ChannelAssignment[CH_THROTTLE] = 3; |
51 | staticParams.ChannelAssignment[CH_RUDDER] = 4; |
51 | staticParams.ChannelAssignment[CH_RUDDER] = 4; |
52 | staticParams.ChannelAssignment[CH_POTS + 0] = 5; |
52 | staticParams.ChannelAssignment[CH_POTS + 0] = 5; |
53 | staticParams.ChannelAssignment[CH_POTS + 1] = 6; |
53 | staticParams.ChannelAssignment[CH_POTS + 1] = 6; |
54 | staticParams.ChannelAssignment[CH_POTS + 2] = 7; |
54 | staticParams.ChannelAssignment[CH_POTS + 2] = 7; |
55 | staticParams.ChannelAssignment[CH_POTS + 3] = 8; |
55 | staticParams.ChannelAssignment[CH_POTS + 3] = 8; |
56 | staticParams.GlobalConfig = /* CFG_AXIS_COUPLING_ACTIVE | */ CFG_HEADING_HOLD; // CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
56 | staticParams.GlobalConfig = /* CFG_AXIS_COUPLING_ACTIVE | */ CFG_HEADING_HOLD; // CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
57 | staticParams.HeightMinGas = 30; |
57 | staticParams.HeightMinGas = 30; |
58 | staticParams.MaxHeight = 251; |
58 | staticParams.MaxHeight = 251; |
59 | staticParams.HeightP = 10; |
59 | staticParams.HeightP = 10; |
60 | staticParams.HeightD = 30; |
60 | staticParams.HeightD = 30; |
61 | staticParams.Height_ACC_Effect = 30; |
61 | staticParams.Height_ACC_Effect = 30; |
62 | staticParams.Height_Gain = 4; |
62 | staticParams.Height_Gain = 4; |
63 | staticParams.CompassYawEffect = 128; |
63 | staticParams.CompassYawEffect = 128; |
64 | 64 | ||
65 | staticParams.GyroPitchP = 0; |
65 | staticParams.GyroPitchP = 0; |
66 | staticParams.GyroRollP = 0; |
66 | staticParams.GyroRollP = 0; |
67 | staticParams.GyroYawP = 0; |
67 | staticParams.GyroYawP = 0; |
68 | 68 | ||
69 | staticParams.GyroPitchD = 0; |
69 | staticParams.GyroPitchD = 0; |
70 | staticParams.GyroRollD = 0; |
70 | staticParams.GyroRollD = 0; |
71 | staticParams.GyroYawD = 0; |
71 | staticParams.GyroYawD = 0; |
72 | 72 | ||
73 | staticParams.StickElevatorP = 10; |
73 | staticParams.StickElevatorP = 10; |
74 | staticParams.StickAileronsP = 10; |
74 | staticParams.StickAileronsP = 10; |
75 | staticParams.StickRudderP = 10; |
75 | staticParams.StickRudderP = 10; |
76 | 76 | ||
77 | staticParams.LowVoltageWarning = 105; |
77 | staticParams.LowVoltageWarning = 105; |
78 | staticParams.ServoRefresh = 7; |
78 | staticParams.ServoRefresh = 7; |
79 | staticParams.BitConfig = 0; |
- | |
- | 79 | ||
80 | staticParams.J16Bitmask = 95; |
80 | staticParams.J16Bitmask = 95; |
81 | staticParams.J17Bitmask = 243; |
81 | staticParams.J17Bitmask = 243; |
82 | staticParams.J16Timing = 15; |
82 | staticParams.J16Timing = 15; |
83 | staticParams.J17Timing = 15; |
83 | staticParams.J17Timing = 15; |
- | 84 | ||
84 | staticParams.ControlSigns = 2; |
85 | staticParams.servoDirections = 2; |
85 | } |
86 | } |
86 | 87 | ||
87 | void setDefaults(void) { |
88 | void setDefaults(void) { |
88 | setOtherDefaults(); |
89 | setOtherDefaults(); |
89 | gyro_setDefaults(); |
90 | gyro_setDefaults(); |
90 | setDefaultUserParams(); |
91 | setDefaultUserParams(); |
91 | staticParams.J16Timing = 10; |
92 | staticParams.J16Timing = 10; |
92 | staticParams.J17Timing = 10; |
93 | staticParams.J17Timing = 10; |
93 | } |
94 | } |
94 | 95 | ||
95 | /***************************************************/ |
96 | /***************************************************/ |
96 | /* Read Parameter from EEPROM as byte */ |
97 | /* Read Parameter from EEPROM as byte */ |
97 | /***************************************************/ |
98 | /***************************************************/ |
98 | uint8_t GetParamByte(uint16_t param_id) { |
99 | uint8_t GetParamByte(uint16_t param_id) { |
99 | return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
100 | return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
100 | } |
101 | } |
101 | 102 | ||
102 | /***************************************************/ |
103 | /***************************************************/ |
103 | /* Write Parameter to EEPROM as byte */ |
104 | /* Write Parameter to EEPROM as byte */ |
104 | /***************************************************/ |
105 | /***************************************************/ |
105 | void SetParamByte(uint16_t param_id, uint8_t value) { |
106 | void SetParamByte(uint16_t param_id, uint8_t value) { |
106 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
107 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
107 | } |
108 | } |
108 | 109 | ||
109 | /***************************************************/ |
110 | /***************************************************/ |
110 | /* Read Parameter from EEPROM as word */ |
111 | /* Read Parameter from EEPROM as word */ |
111 | /***************************************************/ |
112 | /***************************************************/ |
112 | uint16_t GetParamWord(uint16_t param_id) { |
113 | uint16_t GetParamWord(uint16_t param_id) { |
113 | return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN |
114 | return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN |
114 | + param_id]); |
115 | + param_id]); |
115 | } |
116 | } |
116 | 117 | ||
117 | /***************************************************/ |
118 | /***************************************************/ |
118 | /* Write Parameter to EEPROM as word */ |
119 | /* Write Parameter to EEPROM as word */ |
119 | /***************************************************/ |
120 | /***************************************************/ |
120 | void SetParamWord(uint16_t param_id, uint16_t value) { |
121 | void SetParamWord(uint16_t param_id, uint16_t value) { |
121 | eeprom_write_word( |
122 | eeprom_write_word( |
122 | (uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
123 | (uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
123 | } |
124 | } |
124 | 125 | ||
125 | /***************************************************/ |
126 | /***************************************************/ |
126 | /* Read Parameter Set from EEPROM */ |
127 | /* Read Parameter Set from EEPROM */ |
127 | /***************************************************/ |
128 | /***************************************************/ |
128 | // number [1..5] |
129 | // number [1..5] |
129 | void ParamSet_ReadFromEEProm() { |
130 | void ParamSet_ReadFromEEProm() { |
130 | eeprom_read_block((uint8_t *) &staticParams.ChannelAssignment[0], |
131 | eeprom_read_block((uint8_t *) &staticParams.ChannelAssignment[0], |
131 | &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN], PARAMSET_STRUCT_LEN); |
132 | &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN], PARAMSET_STRUCT_LEN); |
132 | output_init(); |
133 | output_init(); |
133 | } |
134 | } |
134 | 135 | ||
135 | /***************************************************/ |
136 | /***************************************************/ |
136 | /* Write Parameter Set to EEPROM */ |
137 | /* Write Parameter Set to EEPROM */ |
137 | /***************************************************/ |
138 | /***************************************************/ |
138 | // number [1..5] |
139 | // number [1..5] |
139 | void ParamSet_WriteToEEProm() { |
140 | void ParamSet_WriteToEEProm() { |
140 | eeprom_write_block((uint8_t *) &staticParams.ChannelAssignment[0], |
141 | eeprom_write_block((uint8_t *) &staticParams.ChannelAssignment[0], |
141 | &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN], PARAMSET_STRUCT_LEN); |
142 | &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN], PARAMSET_STRUCT_LEN); |
142 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH], |
143 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH], |
143 | PARAMSET_STRUCT_LEN); |
144 | PARAMSET_STRUCT_LEN); |
144 | eeprom_write_block(&staticParams.ChannelAssignment[0], |
145 | eeprom_write_block(&staticParams.ChannelAssignment[0], |
145 | &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping |
146 | &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping |
146 | // set this parameter set to active set |
147 | // set this parameter set to active set |
147 | output_init(); |
148 | output_init(); |
148 | } |
149 | } |
149 | 150 | ||
150 | /***************************************************/ |
151 | /***************************************************/ |
151 | /* Get active parameter set */ |
152 | /* Get active parameter set */ |
152 | /***************************************************/ |
153 | /***************************************************/ |
153 | uint8_t getActiveParamSet(void) { |
154 | uint8_t getActiveParamSet(void) { |
154 | uint8_t setnumber; |
155 | uint8_t setnumber; |
155 | setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
156 | setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
156 | if (setnumber > 5) { |
157 | if (setnumber > 5) { |
157 | setnumber = 3; |
158 | setnumber = 3; |
158 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
159 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
159 | } |
160 | } |
160 | return (setnumber); |
161 | return (setnumber); |
161 | } |
162 | } |
162 | 163 | ||
163 | /***************************************************/ |
164 | /***************************************************/ |
164 | /* Read MixerTable from EEPROM */ |
165 | /* Read MixerTable from EEPROM */ |
165 | /***************************************************/ |
166 | /***************************************************/ |
166 | uint8_t MixerTable_ReadFromEEProm(void) { |
167 | uint8_t MixerTable_ReadFromEEProm(void) { |
167 | if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) |
168 | if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) |
168 | == EEMIXER_REVISION) { |
169 | == EEMIXER_REVISION) { |
169 | eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], |
170 | eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], |
170 | sizeof(Mixer)); |
171 | sizeof(Mixer)); |
171 | return 1; |
172 | return 1; |
172 | } else |
173 | } else |
173 | return 0; |
174 | return 0; |
174 | } |
175 | } |
175 | 176 | ||
176 | /***************************************************/ |
177 | /***************************************************/ |
177 | /* Write Mixer Table to EEPROM */ |
178 | /* Write Mixer Table to EEPROM */ |
178 | /***************************************************/ |
179 | /***************************************************/ |
179 | uint8_t MixerTable_WriteToEEProm(void) { |
180 | uint8_t MixerTable_WriteToEEProm(void) { |
180 | if (Mixer.Revision == EEMIXER_REVISION) { |
181 | if (Mixer.Revision == EEMIXER_REVISION) { |
181 | eeprom_write_block((uint8_t *) &Mixer, |
182 | eeprom_write_block((uint8_t *) &Mixer, |
182 | &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
183 | &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
183 | return 1; |
184 | return 1; |
184 | } else |
185 | } else |
185 | return 0; |
186 | return 0; |
186 | } |
187 | } |
187 | 188 | ||
188 | /***************************************************/ |
189 | /***************************************************/ |
189 | /* Default Values for Mixer Table */ |
190 | /* Default Values for Mixer Table */ |
190 | /***************************************************/ |
191 | /***************************************************/ |
191 | void MixerTable_Default(void) { // Quadro |
192 | void MixerTable_Default(void) { // Quadro |
192 | uint8_t i; |
193 | uint8_t i; |
193 | Mixer.Revision = EEMIXER_REVISION; |
194 | Mixer.Revision = EEMIXER_REVISION; |
194 | // clear mixer table (but preset throttle) |
195 | // clear mixer table (but preset throttle) |
195 | for (i = 0; i < 16; i++) { |
196 | for (i = 0; i < 16; i++) { |
196 | Mixer.Motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
197 | Mixer.Motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
197 | Mixer.Motor[i][MIX_PITCH] = 0; |
198 | Mixer.Motor[i][MIX_PITCH] = 0; |
198 | Mixer.Motor[i][MIX_ROLL] = 0; |
199 | Mixer.Motor[i][MIX_ROLL] = 0; |
199 | Mixer.Motor[i][MIX_YAW] = 0; |
200 | Mixer.Motor[i][MIX_YAW] = 0; |
200 | } |
201 | } |
201 | // default = Quadro |
202 | // default = Quadro |
202 | Mixer.Motor[0][MIX_PITCH] = +64; |
203 | Mixer.Motor[0][MIX_PITCH] = +64; |
203 | Mixer.Motor[0][MIX_YAW] = +64; |
204 | Mixer.Motor[0][MIX_YAW] = +64; |
204 | Mixer.Motor[1][MIX_PITCH] = -64; |
205 | Mixer.Motor[1][MIX_PITCH] = -64; |
205 | Mixer.Motor[1][MIX_YAW] = +64; |
206 | Mixer.Motor[1][MIX_YAW] = +64; |
206 | Mixer.Motor[2][MIX_ROLL] = -64; |
207 | Mixer.Motor[2][MIX_ROLL] = -64; |
207 | Mixer.Motor[2][MIX_YAW] = -64; |
208 | Mixer.Motor[2][MIX_YAW] = -64; |
208 | Mixer.Motor[3][MIX_ROLL] = +64; |
209 | Mixer.Motor[3][MIX_ROLL] = +64; |
209 | Mixer.Motor[3][MIX_YAW] = -64; |
210 | Mixer.Motor[3][MIX_YAW] = -64; |
210 | memcpy(Mixer.Name, "Quadro\0", 7); |
211 | memcpy(Mixer.Name, "Quadro\0", 7); |
211 | } |
212 | } |
212 | 213 | ||
213 | /***************************************************/ |
214 | /***************************************************/ |
214 | /* Initialize EEPROM Parameter Sets */ |
215 | /* Initialize EEPROM Parameter Sets */ |
215 | /***************************************************/ |
216 | /***************************************************/ |
216 | void ParamSet_Init(void) { |
217 | void ParamSet_Init(void) { |
217 | uint8_t Channel_Backup = 1, j; |
218 | uint8_t Channel_Backup = 1, j; |
218 | // parameter version check |
219 | // parameter version check |
219 | if (eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) { |
220 | if (eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) { |
220 | // if version check faild |
221 | // if version check faild |
221 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table |
222 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table |
222 | // check if channel mapping backup is valid |
223 | // check if channel mapping backup is valid |
223 | for (j = 0; j < 4 && Channel_Backup; j++) { |
224 | for (j = 0; j < 4 && Channel_Backup; j++) { |
224 | if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS + 0]) >= 12) |
225 | if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS + 0]) >= 12) |
225 | Channel_Backup = 0; |
226 | Channel_Backup = 0; |
226 | } |
227 | } |
227 | // fill all 5 parameter settings |
228 | // fill all 5 parameter settings |
228 | 229 | ||
229 | setDefaults(); // Fill staticParams Structure to default parameter set 1 (Sport) |
230 | setDefaults(); // Fill staticParams Structure to default parameter set 1 (Sport) |
230 | 231 | ||
231 | if (Channel_Backup) { // if we have a rc channel mapping backup in eeprom |
232 | if (Channel_Backup) { // if we have a rc channel mapping backup in eeprom |
232 | // restore it |
233 | // restore it |
233 | for (j = 0; j < 8; j++) { |
234 | for (j = 0; j < 8; j++) { |
234 | staticParams.ChannelAssignment[j] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS + j]); |
235 | staticParams.ChannelAssignment[j] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS + j]); |
235 | } |
236 | } |
236 | } |
237 | } |
237 | 238 | ||
238 | ParamSet_WriteToEEProm(); |
239 | ParamSet_WriteToEEProm(); |
239 | 240 | ||
240 | // update version info |
241 | // update version info |
241 | SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION); |
242 | SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION); |
242 | } |
243 | } |
243 | // read active parameter set to staticParams stucture |
244 | // read active parameter set to staticParams stucture |
244 | ParamSet_ReadFromEEProm(); |
245 | ParamSet_ReadFromEEProm(); |
245 | } |
246 | } |
246 | 247 |