Rev 1615 | Rev 1635 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 1615 | Rev 1623 | ||
---|---|---|---|
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + Nur f�r den privaten Gebrauch |
3 | // + Nur für den privaten Gebrauch |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten (nicht-kommerziellen) Gebrauch zul�ssig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + auf anderen Webseiten oder sonstigen Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt werden |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
22 | // + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
25 | // + mit unserer Zustimmung zul�ssig |
25 | // + mit unserer Zustimmung zulässig |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
30 | // + this list of conditions and the following disclaimer. |
30 | // + this list of conditions and the following disclaimer. |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
32 | // + from this software without specific prior written permission. |
32 | // + from this software without specific prior written permission. |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
34 | // + for non-commercial use (directly or indirectly) |
34 | // + for non-commercial use (directly or indirectly) |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
36 | // + with our written permission |
36 | // + with our written permission |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + clearly linked as origin |
38 | // + clearly linked as origin |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
- | 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
|
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + 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 |
49 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | 52 | ||
51 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
53 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | // + Contant Values |
54 | // + Contant Values |
53 | // + 0-250 -> normale Values |
55 | // + 0-250 -> normale Values |
54 | // + 251 -> Poti1 |
56 | // + 251 -> Poti1 |
55 | // + 252 -> Poti2 |
57 | // + 252 -> Poti2 |
56 | // + 253 -> Poti3 |
58 | // + 253 -> Poti3 |
57 | // + 254 -> Poti4 |
59 | // + 254 -> Poti4 |
58 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
60 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
59 | 61 | ||
60 | #ifndef EEMEM |
62 | #ifndef EEMEM |
61 | #define EEMEM __attribute__ ((section (".eeprom"))) |
63 | #define EEMEM __attribute__ ((section (".eeprom"))) |
62 | #endif |
64 | #endif |
63 | 65 | ||
64 | #include <avr/eeprom.h> |
66 | #include <avr/eeprom.h> |
65 | #include <string.h> |
67 | #include <string.h> |
66 | #include "eeprom.h" |
68 | #include "eeprom.h" |
67 | #include "printf_P.h" |
69 | #include "printf_P.h" |
68 | #include "output.h" |
70 | #include "output.h" |
69 | // TODO: Get rid of these. They have nothing to do with eeprom. |
71 | // TODO: Get rid of these. They have nothing to do with eeprom. |
70 | #include "flight.h" |
72 | #include "flight.h" |
71 | #include "rc.h" |
73 | #include "rc.h" |
72 | #include "sensors.h" |
74 | #include "sensors.h" |
73 | 75 | ||
74 | // byte array in eeprom |
76 | // byte array in eeprom |
75 | uint8_t EEPromArray[E2END+1] EEMEM; |
77 | uint8_t EEPromArray[E2END+1] EEMEM; |
76 | 78 | ||
77 | paramset_t staticParams; |
79 | paramset_t staticParams; |
78 | MixerTable_t Mixer; |
80 | MixerTable_t Mixer; |
79 | 81 | ||
80 | /* |
82 | /* |
81 | * Default for your own experiments here, so you don't have to reset them |
83 | * Default for your own experiments here, so you don't have to reset them |
82 | * from MK-Tool all the time. |
84 | * from MK-Tool all the time. |
83 | */ |
85 | */ |
84 | void setDefaultUserParams(void) { |
86 | void setDefaultUserParams(void) { |
85 | uint8_t i; |
87 | uint8_t i; |
86 | for (i=0; i<sizeof(staticParams.UserParams1); i++) { |
88 | for (i=0; i<sizeof(staticParams.UserParams1); i++) { |
87 | staticParams.UserParams1[i] = 0; |
89 | staticParams.UserParams1[i] = 0; |
88 | } |
90 | } |
89 | for (i=0; i<sizeof(staticParams.UserParams2); i++) { |
91 | for (i=0; i<sizeof(staticParams.UserParams2); i++) { |
90 | staticParams.UserParams2[i] = 0; |
92 | staticParams.UserParams2[i] = 0; |
91 | } |
93 | } |
92 | } |
94 | } |
93 | 95 | ||
94 | void setOtherDefaults(void) { |
96 | void setOtherDefaults(void) { |
95 | /* Channel assignments were changed to the normal: |
97 | /* Channel assignments were changed to the normal: |
96 | * Aileron/roll=1, elevator/pitch=2, throttle=3, yaw/rudder=4 |
98 | * Aileron/roll=1, elevator/pitch=2, throttle=3, yaw/rudder=4 |
97 | */ |
99 | */ |
98 | staticParams.ChannelAssignment[CH_PITCH] = 2; |
100 | staticParams.ChannelAssignment[CH_PITCH] = 2; |
99 | staticParams.ChannelAssignment[CH_ROLL] = 1; |
101 | staticParams.ChannelAssignment[CH_ROLL] = 1; |
100 | staticParams.ChannelAssignment[CH_THROTTLE] = 3; |
102 | staticParams.ChannelAssignment[CH_THROTTLE] = 3; |
101 | staticParams.ChannelAssignment[CH_YAW] = 4; |
103 | staticParams.ChannelAssignment[CH_YAW] = 4; |
102 | staticParams.ChannelAssignment[CH_POTS+0] = 5; |
104 | staticParams.ChannelAssignment[CH_POTS+0] = 5; |
103 | staticParams.ChannelAssignment[CH_POTS+1] = 6; |
105 | staticParams.ChannelAssignment[CH_POTS+1] = 6; |
104 | staticParams.ChannelAssignment[CH_POTS+2] = 7; |
106 | staticParams.ChannelAssignment[CH_POTS+2] = 7; |
105 | staticParams.ChannelAssignment[CH_POTS+3] = 8; |
107 | staticParams.ChannelAssignment[CH_POTS+3] = 8; |
106 | staticParams.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
108 | staticParams.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
107 | staticParams.HeightMinGas = 30; |
109 | staticParams.HeightMinGas = 30; |
108 | staticParams.MaxHeight = 251; |
110 | staticParams.MaxHeight = 251; |
109 | staticParams.HeightP = 10; |
111 | staticParams.HeightP = 10; |
110 | staticParams.HeightD = 30; |
112 | staticParams.HeightD = 30; |
111 | staticParams.Height_ACC_Effect = 30; |
113 | staticParams.Height_ACC_Effect = 30; |
112 | staticParams.Height_Gain = 4; |
114 | staticParams.Height_Gain = 4; |
113 | staticParams.StickP = 12; |
115 | staticParams.StickP = 12; |
114 | staticParams.StickD = 16; |
116 | staticParams.StickD = 16; |
115 | staticParams.StickYawP = 12; |
117 | staticParams.StickYawP = 12; |
116 | staticParams.MinThrottle = 8; |
118 | staticParams.MinThrottle = 8; |
117 | staticParams.MaxThrottle = 230; |
119 | staticParams.MaxThrottle = 230; |
118 | staticParams.CompassYawEffect = 128; |
120 | staticParams.CompassYawEffect = 128; |
119 | staticParams.GyroP = 80; |
121 | staticParams.GyroP = 80; |
120 | staticParams.GyroI = 100; |
122 | staticParams.GyroI = 100; |
121 | staticParams.LowVoltageWarning = 94; |
123 | staticParams.LowVoltageWarning = 94; |
122 | staticParams.EmergencyGas = 35; |
124 | staticParams.EmergencyGas = 35; |
123 | staticParams.EmergencyGasDuration = 30; |
125 | staticParams.EmergencyGasDuration = 30; |
124 | staticParams.UfoArrangement = 0; |
126 | staticParams.UfoArrangement = 0; |
125 | staticParams.IFactor = 32; |
127 | staticParams.IFactor = 32; |
126 | staticParams.ServoPitchControl = 100; |
128 | staticParams.ServoPitchControl = 100; |
127 | staticParams.ServoPitchComp = 40; |
129 | staticParams.ServoPitchComp = 40; |
128 | staticParams.ServoPitchCompInvert = 0; |
130 | staticParams.ServoPitchCompInvert = 0; |
129 | staticParams.ServoPitchMin = 50; |
131 | staticParams.ServoPitchMin = 50; |
130 | staticParams.ServoPitchMax = 150; |
132 | staticParams.ServoPitchMax = 150; |
131 | staticParams.ServoRefresh = 5; |
133 | staticParams.ServoRefresh = 5; |
132 | staticParams.LoopGasLimit = 50; |
134 | staticParams.LoopGasLimit = 50; |
133 | staticParams.LoopThreshold = 90; |
135 | staticParams.LoopThreshold = 90; |
134 | staticParams.LoopHysteresis = 50; |
136 | staticParams.LoopHysteresis = 50; |
135 | staticParams.BitConfig = 0; |
137 | staticParams.BitConfig = 0; |
136 | staticParams.AxisCoupling1 = 90; |
138 | staticParams.AxisCoupling1 = 90; |
137 | staticParams.AxisCoupling2 = 67; |
139 | staticParams.AxisCoupling2 = 67; |
138 | staticParams.AxisCouplingYawCorrection = 0; |
140 | staticParams.AxisCouplingYawCorrection = 0; |
139 | staticParams.GyroAccTrim = 2; |
141 | staticParams.GyroAccTrim = 2; |
140 | staticParams.DynamicStability = 50; |
142 | staticParams.DynamicStability = 50; |
141 | staticParams.J16Bitmask = 95; |
143 | staticParams.J16Bitmask = 95; |
142 | staticParams.J17Bitmask = 243; |
144 | staticParams.J17Bitmask = 243; |
143 | staticParams.J16Timing = 15; |
145 | staticParams.J16Timing = 15; |
144 | staticParams.J17Timing = 15; |
146 | staticParams.J17Timing = 15; |
145 | staticParams.NaviGpsModeControl = 253; |
147 | staticParams.NaviGpsModeControl = 253; |
146 | staticParams.NaviGpsGain = 100; |
148 | staticParams.NaviGpsGain = 100; |
147 | staticParams.NaviGpsP = 90; |
149 | staticParams.NaviGpsP = 90; |
148 | staticParams.NaviGpsI = 90; |
150 | staticParams.NaviGpsI = 90; |
149 | staticParams.NaviGpsD = 90; |
151 | staticParams.NaviGpsD = 90; |
150 | staticParams.NaviGpsPLimit = 75; |
152 | staticParams.NaviGpsPLimit = 75; |
151 | staticParams.NaviGpsILimit = 75; |
153 | staticParams.NaviGpsILimit = 75; |
152 | staticParams.NaviGpsDLimit = 75; |
154 | staticParams.NaviGpsDLimit = 75; |
153 | staticParams.NaviGpsACC = 0; |
155 | staticParams.NaviGpsACC = 0; |
154 | staticParams.NaviGpsMinSat = 6; |
156 | staticParams.NaviGpsMinSat = 6; |
155 | staticParams.NaviStickThreshold = 8; |
157 | staticParams.NaviStickThreshold = 8; |
156 | staticParams.NaviWindCorrection = 90; |
158 | staticParams.NaviWindCorrection = 90; |
157 | staticParams.NaviSpeedCompensation = 30; |
159 | staticParams.NaviSpeedCompensation = 30; |
158 | staticParams.NaviOperatingRadius = 100; |
160 | staticParams.NaviOperatingRadius = 100; |
159 | staticParams.NaviAngleLimitation = 100; |
161 | staticParams.NaviAngleLimitation = 100; |
160 | staticParams.NaviPHLoginTime = 4; |
162 | staticParams.NaviPHLoginTime = 4; |
161 | } |
163 | } |
162 | 164 | ||
163 | /***************************************************/ |
165 | /***************************************************/ |
164 | /* Default Values for parameter set 1 */ |
166 | /* Default Values for parameter set 1 */ |
165 | /***************************************************/ |
167 | /***************************************************/ |
166 | void ParamSet_DefaultSet1(void) { // sport |
168 | void ParamSet_DefaultSet1(void) { // sport |
167 | gyro_setDefaults(); |
169 | gyro_setDefaults(); |
168 | setDefaultUserParams(); |
170 | setDefaultUserParams(); |
169 | setOtherDefaults(); |
171 | setOtherDefaults(); |
170 | memcpy(staticParams.Name, "Sport\0",6); |
172 | memcpy(staticParams.Name, "Sport\0",6); |
171 | } |
173 | } |
172 | 174 | ||
173 | /***************************************************/ |
175 | /***************************************************/ |
174 | /* Default Values for parameter set 2 */ |
176 | /* Default Values for parameter set 2 */ |
175 | /***************************************************/ |
177 | /***************************************************/ |
176 | void ParamSet_DefaultSet2(void) { // normal |
178 | void ParamSet_DefaultSet2(void) { // normal |
177 | gyro_setDefaults(); |
179 | gyro_setDefaults(); |
178 | setDefaultUserParams(); |
180 | setDefaultUserParams(); |
179 | setOtherDefaults(); |
181 | setOtherDefaults(); |
180 | staticParams.Height_Gain = 3; |
182 | staticParams.Height_Gain = 3; |
181 | staticParams.GyroAccTrim = 32; |
183 | staticParams.GyroAccTrim = 32; |
182 | staticParams.J16Timing = 20; |
184 | staticParams.J16Timing = 20; |
183 | staticParams.J17Timing = 20; |
185 | staticParams.J17Timing = 20; |
184 | memcpy(staticParams.Name, "Normal\0", 7); |
186 | memcpy(staticParams.Name, "Normal\0", 7); |
185 | } |
187 | } |
186 | 188 | ||
187 | /***************************************************/ |
189 | /***************************************************/ |
188 | /* Default Values for parameter set 3 */ |
190 | /* Default Values for parameter set 3 */ |
189 | /***************************************************/ |
191 | /***************************************************/ |
190 | void ParamSet_DefaultSet3(void) { // beginner |
192 | void ParamSet_DefaultSet3(void) { // beginner |
191 | gyro_setDefaults(); |
193 | gyro_setDefaults(); |
192 | setDefaultUserParams(); |
194 | setDefaultUserParams(); |
193 | setOtherDefaults(); |
195 | setOtherDefaults(); |
194 | staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE | CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
196 | staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE | CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
195 | staticParams.Height_Gain = 3; |
197 | staticParams.Height_Gain = 3; |
196 | staticParams.EmergencyGasDuration = 20; |
198 | staticParams.EmergencyGasDuration = 20; |
197 | staticParams.AxisCouplingYawCorrection = 70; |
199 | staticParams.AxisCouplingYawCorrection = 70; |
198 | staticParams.GyroAccTrim = 32; |
200 | staticParams.GyroAccTrim = 32; |
199 | staticParams.J16Timing = 30; |
201 | staticParams.J16Timing = 30; |
200 | staticParams.J17Timing = 30; |
202 | staticParams.J17Timing = 30; |
201 | memcpy(staticParams.Name, "Beginner\0", 9); |
203 | memcpy(staticParams.Name, "Beginner\0", 9); |
202 | } |
204 | } |
203 | 205 | ||
204 | /***************************************************/ |
206 | /***************************************************/ |
205 | /* Read Parameter from EEPROM as byte */ |
207 | /* Read Parameter from EEPROM as byte */ |
206 | /***************************************************/ |
208 | /***************************************************/ |
207 | uint8_t GetParamByte(uint16_t param_id) { |
209 | uint8_t GetParamByte(uint16_t param_id) { |
208 | return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
210 | return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
209 | } |
211 | } |
210 | 212 | ||
211 | /***************************************************/ |
213 | /***************************************************/ |
212 | /* Write Parameter to EEPROM as byte */ |
214 | /* Write Parameter to EEPROM as byte */ |
213 | /***************************************************/ |
215 | /***************************************************/ |
214 | void SetParamByte(uint16_t param_id, uint8_t value) { |
216 | void SetParamByte(uint16_t param_id, uint8_t value) { |
215 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
217 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
216 | } |
218 | } |
217 | 219 | ||
218 | /***************************************************/ |
220 | /***************************************************/ |
219 | /* Read Parameter from EEPROM as word */ |
221 | /* Read Parameter from EEPROM as word */ |
220 | /***************************************************/ |
222 | /***************************************************/ |
221 | uint16_t GetParamWord(uint16_t param_id) { |
223 | uint16_t GetParamWord(uint16_t param_id) { |
222 | return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
224 | return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
223 | } |
225 | } |
224 | 226 | ||
225 | /***************************************************/ |
227 | /***************************************************/ |
226 | /* Write Parameter to EEPROM as word */ |
228 | /* Write Parameter to EEPROM as word */ |
227 | /***************************************************/ |
229 | /***************************************************/ |
228 | void SetParamWord(uint16_t param_id, uint16_t value) { |
230 | void SetParamWord(uint16_t param_id, uint16_t value) { |
229 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
231 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
230 | } |
232 | } |
231 | 233 | ||
232 | /***************************************************/ |
234 | /***************************************************/ |
233 | /* Read Parameter Set from EEPROM */ |
235 | /* Read Parameter Set from EEPROM */ |
234 | /***************************************************/ |
236 | /***************************************************/ |
235 | // number [1..5] |
237 | // number [1..5] |
236 | void ParamSet_ReadFromEEProm(uint8_t setnumber) { |
238 | void ParamSet_ReadFromEEProm(uint8_t setnumber) { |
237 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
239 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
238 | eeprom_read_block((uint8_t *) &staticParams.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN); |
240 | eeprom_read_block((uint8_t *) &staticParams.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN); |
239 | output_init(); |
241 | output_init(); |
240 | } |
242 | } |
241 | 243 | ||
242 | /***************************************************/ |
244 | /***************************************************/ |
243 | /* Write Parameter Set to EEPROM */ |
245 | /* Write Parameter Set to EEPROM */ |
244 | /***************************************************/ |
246 | /***************************************************/ |
245 | // number [1..5] |
247 | // number [1..5] |
246 | void ParamSet_WriteToEEProm(uint8_t setnumber) { |
248 | void ParamSet_WriteToEEProm(uint8_t setnumber) { |
247 | if(setnumber > 5) setnumber = 5; |
249 | if(setnumber > 5) setnumber = 5; |
248 | if(setnumber < 1) return; |
250 | if(setnumber < 1) return; |
249 | eeprom_write_block((uint8_t *) &staticParams.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN); |
251 | eeprom_write_block((uint8_t *) &staticParams.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN); |
250 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH], PARAMSET_STRUCT_LEN); |
252 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH], PARAMSET_STRUCT_LEN); |
251 | eeprom_write_block( &staticParams.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping |
253 | eeprom_write_block( &staticParams.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping |
252 | // set this parameter set to active set |
254 | // set this parameter set to active set |
253 | setActiveParamSet(setnumber); |
255 | setActiveParamSet(setnumber); |
254 | output_init(); |
256 | output_init(); |
255 | } |
257 | } |
256 | 258 | ||
257 | 259 | ||
258 | /***************************************************/ |
260 | /***************************************************/ |
259 | /* Get active parameter set */ |
261 | /* Get active parameter set */ |
260 | /***************************************************/ |
262 | /***************************************************/ |
261 | uint8_t getActiveParamSet(void) { |
263 | uint8_t getActiveParamSet(void) { |
262 | uint8_t setnumber; |
264 | uint8_t setnumber; |
263 | setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
265 | setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
264 | if(setnumber > 5) { |
266 | if(setnumber > 5) { |
265 | setnumber = 3; |
267 | setnumber = 3; |
266 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
268 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
267 | } |
269 | } |
268 | return(setnumber); |
270 | return(setnumber); |
269 | } |
271 | } |
270 | 272 | ||
271 | /***************************************************/ |
273 | /***************************************************/ |
272 | /* Set active parameter set */ |
274 | /* Set active parameter set */ |
273 | /***************************************************/ |
275 | /***************************************************/ |
274 | void setActiveParamSet(uint8_t setnumber) { |
276 | void setActiveParamSet(uint8_t setnumber) { |
275 | if(setnumber > 5) setnumber = 5; |
277 | if(setnumber > 5) setnumber = 5; |
276 | if(setnumber < 1) setnumber = 1; |
278 | if(setnumber < 1) setnumber = 1; |
277 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
279 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
278 | } |
280 | } |
279 | 281 | ||
280 | /***************************************************/ |
282 | /***************************************************/ |
281 | /* Read MixerTable from EEPROM */ |
283 | /* Read MixerTable from EEPROM */ |
282 | /***************************************************/ |
284 | /***************************************************/ |
283 | uint8_t MixerTable_ReadFromEEProm(void) { |
285 | uint8_t MixerTable_ReadFromEEProm(void) { |
284 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == EEMIXER_REVISION) { |
286 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == EEMIXER_REVISION) { |
285 | eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
287 | eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
286 | return 1; |
288 | return 1; |
287 | } |
289 | } |
288 | else return 0; |
290 | else return 0; |
289 | } |
291 | } |
290 | 292 | ||
291 | /***************************************************/ |
293 | /***************************************************/ |
292 | /* Write Mixer Table to EEPROM */ |
294 | /* Write Mixer Table to EEPROM */ |
293 | /***************************************************/ |
295 | /***************************************************/ |
294 | uint8_t MixerTable_WriteToEEProm(void) { |
296 | uint8_t MixerTable_WriteToEEProm(void) { |
295 | if(Mixer.Revision == EEMIXER_REVISION) { |
297 | if(Mixer.Revision == EEMIXER_REVISION) { |
296 | eeprom_write_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
298 | eeprom_write_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
297 | return 1; |
299 | return 1; |
298 | } |
300 | } |
299 | else return 0; |
301 | else return 0; |
300 | } |
302 | } |
301 | 303 | ||
302 | /***************************************************/ |
304 | /***************************************************/ |
303 | /* Default Values for Mixer Table */ |
305 | /* Default Values for Mixer Table */ |
304 | /***************************************************/ |
306 | /***************************************************/ |
305 | void MixerTable_Default(void) { // Quadro |
307 | void MixerTable_Default(void) { // Quadro |
306 | uint8_t i; |
308 | uint8_t i; |
307 | Mixer.Revision = EEMIXER_REVISION; |
309 | Mixer.Revision = EEMIXER_REVISION; |
308 | // clear mixer table (but preset throttle) |
310 | // clear mixer table (but preset throttle) |
309 | for(i = 0; i < 16; i++) { |
311 | for(i = 0; i < 16; i++) { |
310 | Mixer.Motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
312 | Mixer.Motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
311 | Mixer.Motor[i][MIX_PITCH] = 0; |
313 | Mixer.Motor[i][MIX_PITCH] = 0; |
312 | Mixer.Motor[i][MIX_ROLL] = 0; |
314 | Mixer.Motor[i][MIX_ROLL] = 0; |
313 | Mixer.Motor[i][MIX_YAW] = 0; |
315 | Mixer.Motor[i][MIX_YAW] = 0; |
314 | } |
316 | } |
315 | // default = Quadro |
317 | // default = Quadro |
316 | Mixer.Motor[0][MIX_PITCH] = +64; Mixer.Motor[0][MIX_YAW] = +64; |
318 | Mixer.Motor[0][MIX_PITCH] = +64; Mixer.Motor[0][MIX_YAW] = +64; |
317 | Mixer.Motor[1][MIX_PITCH] = -64; Mixer.Motor[1][MIX_YAW] = +64; |
319 | Mixer.Motor[1][MIX_PITCH] = -64; Mixer.Motor[1][MIX_YAW] = +64; |
318 | Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
320 | Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
319 | Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
321 | Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
320 | memcpy(Mixer.Name, "Quadro\0", 7); |
322 | memcpy(Mixer.Name, "Quadro\0", 7); |
321 | } |
323 | } |
322 | 324 | ||
323 | /***************************************************/ |
325 | /***************************************************/ |
324 | /* Initialize EEPROM Parameter Sets */ |
326 | /* Initialize EEPROM Parameter Sets */ |
325 | /***************************************************/ |
327 | /***************************************************/ |
326 | void ParamSet_Init(void) { |
328 | void ParamSet_Init(void) { |
327 | uint8_t Channel_Backup = 0, i; |
329 | uint8_t Channel_Backup = 0, i; |
328 | // parameter version check |
330 | // parameter version check |
329 | if(eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) { |
331 | if(eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) { |
330 | // if version check faild |
332 | // if version check faild |
331 | printf("\n\rInit Parameter in EEPROM"); |
333 | printf("\n\rInit Parameter in EEPROM"); |
332 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table |
334 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table |
333 | // check if channel mapping backup is valid |
335 | // check if channel mapping backup is valid |
334 | if( (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]) < 12) |
336 | if( (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]) < 12) |
335 | && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12) |
337 | && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12) |
336 | && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12) |
338 | && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12) |
337 | && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12) |
339 | && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12) |
338 | ) |
340 | ) |
339 | { |
341 | { |
340 | Channel_Backup = 1; |
342 | Channel_Backup = 1; |
341 | } |
343 | } |
342 | // fill all 5 parameter settings |
344 | // fill all 5 parameter settings |
343 | for (i=1; i<6; i++) { |
345 | for (i=1; i<6; i++) { |
344 | switch(i) { |
346 | switch(i) { |
345 | case 1: |
347 | case 1: |
346 | ParamSet_DefaultSet1(); // Fill staticParams Structure to default parameter set 1 (Sport) |
348 | ParamSet_DefaultSet1(); // Fill staticParams Structure to default parameter set 1 (Sport) |
347 | break; |
349 | break; |
348 | case 2: |
350 | case 2: |
349 | ParamSet_DefaultSet2(); // Kamera |
351 | ParamSet_DefaultSet2(); // Kamera |
350 | break; |
352 | break; |
351 | case 3: |
353 | case 3: |
352 | ParamSet_DefaultSet3(); // Beginner |
354 | ParamSet_DefaultSet3(); // Beginner |
353 | break; |
355 | break; |
354 | default: |
356 | default: |
355 | ParamSet_DefaultSet2(); // Kamera |
357 | ParamSet_DefaultSet2(); // Kamera |
356 | break; |
358 | break; |
357 | } |
359 | } |
358 | if(Channel_Backup) { // if we have a rc channel mapping backup in eeprom |
360 | if(Channel_Backup) { // if we have a rc channel mapping backup in eeprom |
359 | // restore it |
361 | // restore it |
360 | staticParams.ChannelAssignment[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]); |
362 | staticParams.ChannelAssignment[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]); |
361 | staticParams.ChannelAssignment[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]); |
363 | staticParams.ChannelAssignment[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]); |
362 | staticParams.ChannelAssignment[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]); |
364 | staticParams.ChannelAssignment[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]); |
363 | staticParams.ChannelAssignment[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]); |
365 | staticParams.ChannelAssignment[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]); |
364 | staticParams.ChannelAssignment[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]); |
366 | staticParams.ChannelAssignment[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]); |
365 | staticParams.ChannelAssignment[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]); |
367 | staticParams.ChannelAssignment[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]); |
366 | staticParams.ChannelAssignment[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]); |
368 | staticParams.ChannelAssignment[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]); |
367 | staticParams.ChannelAssignment[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]); |
369 | staticParams.ChannelAssignment[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]); |
368 | } |
370 | } |
369 | ParamSet_WriteToEEProm(i); |
371 | ParamSet_WriteToEEProm(i); |
370 | } |
372 | } |
371 | // default-Setting is parameter set 3 |
373 | // default-Setting is parameter set 3 |
372 | setActiveParamSet(1); |
374 | setActiveParamSet(1); |
373 | // update version info |
375 | // update version info |
374 | SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION); |
376 | SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION); |
375 | } |
377 | } |
376 | // read active parameter set to staticParams stucture |
378 | // read active parameter set to staticParams stucture |
377 | ParamSet_ReadFromEEProm(getActiveParamSet()); |
379 | ParamSet_ReadFromEEProm(getActiveParamSet()); |
378 | printf("\n\rUsing Parameter Set %d", getActiveParamSet()); |
380 | printf("\n\rUsing Parameter Set %d", getActiveParamSet()); |
379 | 381 | ||
380 | // load mixer table |
382 | // load mixer table |
381 | if(!MixerTable_ReadFromEEProm()) { |
383 | if(!MixerTable_ReadFromEEProm()) { |
382 | printf("\n\rGenerating default Mixer Table"); |
384 | printf("\n\rGenerating default Mixer Table"); |
383 | MixerTable_Default(); // Quadro |
385 | MixerTable_Default(); // Quadro |
384 | MixerTable_WriteToEEProm(); |
386 | MixerTable_WriteToEEProm(); |
385 | } |
387 | } |
386 | // determine motornumber |
388 | // determine motornumber |
387 | RequiredMotors = 0; |
389 | RequiredMotors = 0; |
388 | for(i = 0; i < 16; i++) { |
390 | for(i = 0; i < 16; i++) { |
389 | if(Mixer.Motor[i][MIX_THROTTLE] > 0) RequiredMotors++; |
391 | if(Mixer.Motor[i][MIX_THROTTLE] > 0) RequiredMotors++; |
390 | } |
392 | } |
391 | 393 | ||
392 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
394 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
393 | printf("\n\r=============================="); |
395 | printf("\n\r=============================="); |
394 | } |
396 | } |
395 | 397 |