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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + Nur für den privaten Gebrauch |
3 | // + Nur für den privaten Gebrauch |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig 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, Bestückung und Verkauf von Platinen oder Bausätzen, |
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 veröffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen 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 Medien veröffentlicht 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 und genannt werden |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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 zulässig |
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 |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + 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 | // + Contant Values |
54 | // + Contant Values |
55 | // + 0-250 -> normale Values |
55 | // + 0-250 -> normale Values |
56 | // + 251 -> Poti1 |
56 | // + 251 -> Poti1 |
57 | // + 252 -> Poti2 |
57 | // + 252 -> Poti2 |
58 | // + 253 -> Poti3 |
58 | // + 253 -> Poti3 |
59 | // + 254 -> Poti4 |
59 | // + 254 -> Poti4 |
60 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
60 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
61 | 61 | ||
62 | #ifndef EEMEM |
62 | #ifndef EEMEM |
63 | #define EEMEM __attribute__ ((section (".eeprom"))) |
63 | #define EEMEM __attribute__ ((section (".eeprom"))) |
64 | #endif |
64 | #endif |
65 | 65 | ||
66 | #include <avr/eeprom.h> |
66 | #include <avr/eeprom.h> |
67 | #include <string.h> |
67 | #include <string.h> |
68 | #include "eeprom.h" |
68 | #include "eeprom.h" |
69 | #include "printf_P.h" |
69 | #include "printf_P.h" |
70 | #include "output.h" |
70 | #include "output.h" |
71 | // 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. |
72 | #include "flight.h" |
72 | #include "flight.h" |
73 | #include "rc.h" |
73 | #include "rc.h" |
74 | #include "sensors.h" |
74 | #include "sensors.h" |
75 | 75 | ||
76 | // byte array in eeprom |
76 | // byte array in eeprom |
77 | uint8_t EEPromArray[E2END+1] EEMEM; |
77 | uint8_t EEPromArray[E2END+1] EEMEM; |
78 | 78 | ||
79 | paramset_t staticParams; |
79 | paramset_t staticParams; |
80 | MixerTable_t Mixer; |
80 | MixerTable_t Mixer; |
81 | 81 | ||
82 | /* |
82 | /* |
83 | * 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 |
84 | * from MK-Tool all the time. |
84 | * from MK-Tool all the time. |
85 | */ |
85 | */ |
86 | void setDefaultUserParams(void) { |
86 | void setDefaultUserParams(void) { |
87 | uint8_t i; |
87 | uint8_t i; |
88 | for (i=0; i<sizeof(staticParams.UserParams1); i++) { |
88 | for (i=0; i<sizeof(staticParams.UserParams1); i++) { |
89 | staticParams.UserParams1[i] = 0; |
89 | staticParams.UserParams1[i] = 0; |
90 | } |
90 | } |
91 | for (i=0; i<sizeof(staticParams.UserParams2); i++) { |
91 | for (i=0; i<sizeof(staticParams.UserParams2); i++) { |
92 | staticParams.UserParams2[i] = 0; |
92 | staticParams.UserParams2[i] = 0; |
93 | } |
93 | } |
94 | /* |
94 | /* |
95 | * While we are still using userparams for flight parameters, do set |
95 | * While we are still using userparams for flight parameters, do set |
96 | * some safe & meaningful default values. |
96 | * some safe & meaningful default values. |
97 | */ |
97 | */ |
98 | staticParams.UserParams1[4] = 0b01010101; |
98 | staticParams.UserParams1[3] = 10; // Throttle stick D=10 |
- | 99 | staticParams.UserParams2[0] = 0b11010101; // All gyro filter constants 2; acc. 4 |
|
99 | staticParams.UserParams1[5] = 2; // H&I motor smoothing. |
100 | staticParams.UserParams2[1] = 2; // H&I motor smoothing. |
100 | staticParams.UserParams1[6] = 120; |
101 | staticParams.UserParams2[2] = 120; // Yaw I factor |
101 | staticParams.UserParams1[7] = 5; |
102 | staticParams.UserParams2[3] = 100; // Max Z acceleration for acc. correction of angles. |
102 | } |
103 | } |
103 | 104 | ||
104 | void setOtherDefaults(void) { |
105 | void setOtherDefaults(void) { |
105 | /* Channel assignments were changed to the normal: |
106 | /* Channel assignments were changed to the normal: |
106 | * Aileron/roll=1, elevator/pitch=2, throttle=3, yaw/rudder=4 |
107 | * Aileron/roll=1, elevator/pitch=2, throttle=3, yaw/rudder=4 |
107 | */ |
108 | */ |
108 | staticParams.ChannelAssignment[CH_PITCH] = 2; |
109 | staticParams.ChannelAssignment[CH_PITCH] = 2; |
109 | staticParams.ChannelAssignment[CH_ROLL] = 1; |
110 | staticParams.ChannelAssignment[CH_ROLL] = 1; |
110 | staticParams.ChannelAssignment[CH_THROTTLE] = 3; |
111 | staticParams.ChannelAssignment[CH_THROTTLE] = 3; |
111 | staticParams.ChannelAssignment[CH_YAW] = 4; |
112 | staticParams.ChannelAssignment[CH_YAW] = 4; |
112 | staticParams.ChannelAssignment[CH_POTS+0] = 5; |
113 | staticParams.ChannelAssignment[CH_POTS+0] = 5; |
113 | staticParams.ChannelAssignment[CH_POTS+1] = 6; |
114 | staticParams.ChannelAssignment[CH_POTS+1] = 6; |
114 | staticParams.ChannelAssignment[CH_POTS+2] = 7; |
115 | staticParams.ChannelAssignment[CH_POTS+2] = 7; |
115 | staticParams.ChannelAssignment[CH_POTS+3] = 8; |
116 | staticParams.ChannelAssignment[CH_POTS+3] = 8; |
116 | staticParams.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
117 | staticParams.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
117 | staticParams.HeightMinGas = 30; |
118 | staticParams.HeightMinGas = 30; |
118 | staticParams.MaxHeight = 251; |
119 | staticParams.MaxHeight = 251; |
119 | staticParams.HeightP = 10; |
120 | staticParams.HeightP = 10; |
120 | staticParams.HeightD = 30; |
121 | staticParams.HeightD = 30; |
121 | staticParams.Height_ACC_Effect = 30; |
122 | staticParams.Height_ACC_Effect = 30; |
122 | staticParams.Height_Gain = 4; |
123 | staticParams.Height_Gain = 4; |
123 | staticParams.StickP = 12; |
124 | staticParams.StickP = 12; |
124 | staticParams.StickD = 16; |
125 | staticParams.StickD = 16; |
125 | staticParams.StickYawP = 12; |
126 | staticParams.StickYawP = 12; |
126 | staticParams.MinThrottle = 8; |
127 | staticParams.MinThrottle = 8; |
127 | staticParams.MaxThrottle = 230; |
128 | staticParams.MaxThrottle = 230; |
128 | staticParams.CompassYawEffect = 128; |
129 | staticParams.CompassYawEffect = 128; |
129 | staticParams.GyroP = 80; |
130 | staticParams.GyroP = 80; |
130 | staticParams.GyroI = 100; |
131 | staticParams.GyroI = 100; |
131 | staticParams.LowVoltageWarning = 94; |
132 | staticParams.LowVoltageWarning = 94; |
132 | staticParams.EmergencyGas = 35; |
133 | staticParams.EmergencyGas = 35; |
133 | staticParams.EmergencyGasDuration = 30; |
134 | staticParams.EmergencyGasDuration = 30; |
134 | staticParams.UfoArrangement = 0; |
135 | staticParams.Unused0 = 0; |
135 | staticParams.IFactor = 32; |
136 | staticParams.IFactor = 32; |
136 | staticParams.ServoPitchControl = 100; |
137 | staticParams.ServoPitchControl = 100; |
137 | staticParams.ServoPitchComp = 40; |
138 | staticParams.ServoPitchComp = 40; |
138 | staticParams.ServoPitchCompInvert = 0; |
139 | staticParams.ServoPitchCompInvert = 0; |
139 | staticParams.ServoPitchMin = 50; |
140 | staticParams.ServoPitchMin = 50; |
140 | staticParams.ServoPitchMax = 150; |
141 | staticParams.ServoPitchMax = 150; |
141 | staticParams.ServoRefresh = 5; |
142 | staticParams.ServoRefresh = 5; |
142 | staticParams.LoopGasLimit = 50; |
143 | staticParams.LoopGasLimit = 50; |
143 | staticParams.LoopThreshold = 90; |
144 | staticParams.LoopThreshold = 90; |
144 | staticParams.LoopHysteresis = 50; |
145 | staticParams.LoopHysteresis = 50; |
145 | staticParams.BitConfig = 0; |
146 | staticParams.BitConfig = 0; |
146 | staticParams.AxisCoupling1 = 90; |
147 | staticParams.AxisCoupling1 = 90; |
147 | staticParams.AxisCoupling2 = 67; |
148 | staticParams.AxisCoupling2 = 67; |
148 | staticParams.AxisCouplingYawCorrection = 0; |
149 | staticParams.AxisCouplingYawCorrection = 0; |
149 | staticParams.GyroAccTrim = 2; |
- | |
150 | staticParams.DynamicStability = 50; |
150 | staticParams.DynamicStability = 50; |
151 | staticParams.J16Bitmask = 95; |
151 | staticParams.J16Bitmask = 95; |
152 | staticParams.J17Bitmask = 243; |
152 | staticParams.J17Bitmask = 243; |
153 | staticParams.J16Timing = 15; |
153 | staticParams.J16Timing = 15; |
154 | staticParams.J17Timing = 15; |
154 | staticParams.J17Timing = 15; |
155 | staticParams.NaviGpsModeControl = 253; |
155 | staticParams.NaviGpsModeControl = 253; |
156 | staticParams.NaviGpsGain = 100; |
156 | staticParams.NaviGpsGain = 100; |
157 | staticParams.NaviGpsP = 90; |
157 | staticParams.NaviGpsP = 90; |
158 | staticParams.NaviGpsI = 90; |
158 | staticParams.NaviGpsI = 90; |
159 | staticParams.NaviGpsD = 90; |
159 | staticParams.NaviGpsD = 90; |
160 | staticParams.NaviGpsPLimit = 75; |
160 | staticParams.NaviGpsPLimit = 75; |
161 | staticParams.NaviGpsILimit = 75; |
161 | staticParams.NaviGpsILimit = 75; |
162 | staticParams.NaviGpsDLimit = 75; |
162 | staticParams.NaviGpsDLimit = 75; |
163 | staticParams.NaviGpsACC = 0; |
163 | staticParams.NaviGpsACC = 0; |
164 | staticParams.NaviGpsMinSat = 6; |
164 | staticParams.NaviGpsMinSat = 6; |
165 | staticParams.NaviStickThreshold = 8; |
165 | staticParams.NaviStickThreshold = 8; |
166 | staticParams.NaviWindCorrection = 90; |
166 | staticParams.NaviWindCorrection = 90; |
167 | staticParams.NaviSpeedCompensation = 30; |
167 | staticParams.NaviSpeedCompensation = 30; |
168 | staticParams.NaviOperatingRadius = 100; |
168 | staticParams.NaviOperatingRadius = 100; |
169 | staticParams.NaviAngleLimitation = 100; |
169 | staticParams.NaviAngleLimitation = 100; |
170 | staticParams.NaviPHLoginTime = 4; |
170 | staticParams.NaviPHLoginTime = 4; |
171 | } |
171 | } |
172 | 172 | ||
173 | /***************************************************/ |
173 | /***************************************************/ |
174 | /* Default Values for parameter set 1 */ |
174 | /* Default Values for parameter set 1 */ |
175 | /***************************************************/ |
175 | /***************************************************/ |
176 | void ParamSet_DefaultSet1(void) { // sport |
176 | void ParamSet_DefaultSet1(void) { // sport |
- | 177 | setOtherDefaults(); |
|
177 | gyro_setDefaults(); |
178 | gyro_setDefaults(); |
178 | setDefaultUserParams(); |
179 | setDefaultUserParams(); |
179 | setOtherDefaults(); |
- | |
180 | memcpy(staticParams.Name, "Sport\0",6); |
180 | memcpy(staticParams.Name, "Sport\0",6); |
181 | } |
181 | } |
182 | 182 | ||
183 | /***************************************************/ |
183 | /***************************************************/ |
184 | /* Default Values for parameter set 2 */ |
184 | /* Default Values for parameter set 2 */ |
185 | /***************************************************/ |
185 | /***************************************************/ |
186 | void ParamSet_DefaultSet2(void) { // normal |
186 | void ParamSet_DefaultSet2(void) { // normal |
- | 187 | setOtherDefaults(); |
|
187 | gyro_setDefaults(); |
188 | gyro_setDefaults(); |
188 | setDefaultUserParams(); |
189 | setDefaultUserParams(); |
189 | setOtherDefaults(); |
- | |
190 | staticParams.Height_Gain = 3; |
190 | staticParams.Height_Gain = 3; |
191 | staticParams.GyroAccTrim = 32; |
- | |
192 | staticParams.J16Timing = 20; |
191 | staticParams.J16Timing = 20; |
193 | staticParams.J17Timing = 20; |
192 | staticParams.J17Timing = 20; |
194 | memcpy(staticParams.Name, "Normal\0", 7); |
193 | memcpy(staticParams.Name, "Normal\0", 7); |
195 | } |
194 | } |
196 | 195 | ||
197 | /***************************************************/ |
196 | /***************************************************/ |
198 | /* Default Values for parameter set 3 */ |
197 | /* Default Values for parameter set 3 */ |
199 | /***************************************************/ |
198 | /***************************************************/ |
200 | void ParamSet_DefaultSet3(void) { // beginner |
199 | void ParamSet_DefaultSet3(void) { // beginner |
- | 200 | setOtherDefaults(); |
|
201 | gyro_setDefaults(); |
201 | gyro_setDefaults(); |
202 | setDefaultUserParams(); |
202 | setDefaultUserParams(); |
203 | setOtherDefaults(); |
- | |
204 | 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; |
203 | 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; |
205 | staticParams.Height_Gain = 3; |
204 | staticParams.Height_Gain = 3; |
206 | staticParams.EmergencyGasDuration = 20; |
205 | staticParams.EmergencyGasDuration = 20; |
207 | staticParams.AxisCouplingYawCorrection = 70; |
206 | staticParams.AxisCouplingYawCorrection = 70; |
208 | staticParams.GyroAccTrim = 32; |
- | |
209 | staticParams.J16Timing = 30; |
207 | staticParams.J16Timing = 30; |
210 | staticParams.J17Timing = 30; |
208 | staticParams.J17Timing = 30; |
211 | memcpy(staticParams.Name, "Beginner\0", 9); |
209 | memcpy(staticParams.Name, "Beginner\0", 9); |
212 | } |
210 | } |
213 | 211 | ||
214 | /***************************************************/ |
212 | /***************************************************/ |
215 | /* Read Parameter from EEPROM as byte */ |
213 | /* Read Parameter from EEPROM as byte */ |
216 | /***************************************************/ |
214 | /***************************************************/ |
217 | uint8_t GetParamByte(uint16_t param_id) { |
215 | uint8_t GetParamByte(uint16_t param_id) { |
218 | return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
216 | return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
219 | } |
217 | } |
220 | 218 | ||
221 | /***************************************************/ |
219 | /***************************************************/ |
222 | /* Write Parameter to EEPROM as byte */ |
220 | /* Write Parameter to EEPROM as byte */ |
223 | /***************************************************/ |
221 | /***************************************************/ |
224 | void SetParamByte(uint16_t param_id, uint8_t value) { |
222 | void SetParamByte(uint16_t param_id, uint8_t value) { |
225 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
223 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
226 | } |
224 | } |
227 | 225 | ||
228 | /***************************************************/ |
226 | /***************************************************/ |
229 | /* Read Parameter from EEPROM as word */ |
227 | /* Read Parameter from EEPROM as word */ |
230 | /***************************************************/ |
228 | /***************************************************/ |
231 | uint16_t GetParamWord(uint16_t param_id) { |
229 | uint16_t GetParamWord(uint16_t param_id) { |
232 | return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
230 | return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
233 | } |
231 | } |
234 | 232 | ||
235 | /***************************************************/ |
233 | /***************************************************/ |
236 | /* Write Parameter to EEPROM as word */ |
234 | /* Write Parameter to EEPROM as word */ |
237 | /***************************************************/ |
235 | /***************************************************/ |
238 | void SetParamWord(uint16_t param_id, uint16_t value) { |
236 | void SetParamWord(uint16_t param_id, uint16_t value) { |
239 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
237 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
240 | } |
238 | } |
241 | 239 | ||
242 | /***************************************************/ |
240 | /***************************************************/ |
243 | /* Read Parameter Set from EEPROM */ |
241 | /* Read Parameter Set from EEPROM */ |
244 | /***************************************************/ |
242 | /***************************************************/ |
245 | // number [1..5] |
243 | // number [1..5] |
246 | void ParamSet_ReadFromEEProm(uint8_t setnumber) { |
244 | void ParamSet_ReadFromEEProm(uint8_t setnumber) { |
247 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
245 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
248 | eeprom_read_block((uint8_t *) &staticParams.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN); |
246 | eeprom_read_block((uint8_t *) &staticParams.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN); |
249 | output_init(); |
247 | output_init(); |
250 | } |
248 | } |
251 | 249 | ||
252 | /***************************************************/ |
250 | /***************************************************/ |
253 | /* Write Parameter Set to EEPROM */ |
251 | /* Write Parameter Set to EEPROM */ |
254 | /***************************************************/ |
252 | /***************************************************/ |
255 | // number [1..5] |
253 | // number [1..5] |
256 | void ParamSet_WriteToEEProm(uint8_t setnumber) { |
254 | void ParamSet_WriteToEEProm(uint8_t setnumber) { |
257 | if(setnumber > 5) setnumber = 5; |
255 | if(setnumber > 5) setnumber = 5; |
258 | if(setnumber < 1) return; |
256 | if(setnumber < 1) return; |
259 | eeprom_write_block((uint8_t *) &staticParams.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN); |
257 | eeprom_write_block((uint8_t *) &staticParams.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN); |
260 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH], PARAMSET_STRUCT_LEN); |
258 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH], PARAMSET_STRUCT_LEN); |
261 | eeprom_write_block( &staticParams.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping |
259 | eeprom_write_block( &staticParams.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping |
262 | // set this parameter set to active set |
260 | // set this parameter set to active set |
263 | setActiveParamSet(setnumber); |
261 | setActiveParamSet(setnumber); |
264 | output_init(); |
262 | output_init(); |
265 | } |
263 | } |
266 | 264 | ||
267 | 265 | ||
268 | /***************************************************/ |
266 | /***************************************************/ |
269 | /* Get active parameter set */ |
267 | /* Get active parameter set */ |
270 | /***************************************************/ |
268 | /***************************************************/ |
271 | uint8_t getActiveParamSet(void) { |
269 | uint8_t getActiveParamSet(void) { |
272 | uint8_t setnumber; |
270 | uint8_t setnumber; |
273 | setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
271 | setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
274 | if(setnumber > 5) { |
272 | if(setnumber > 5) { |
275 | setnumber = 3; |
273 | setnumber = 3; |
276 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
274 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
277 | } |
275 | } |
278 | return(setnumber); |
276 | return(setnumber); |
279 | } |
277 | } |
280 | 278 | ||
281 | /***************************************************/ |
279 | /***************************************************/ |
282 | /* Set active parameter set */ |
280 | /* Set active parameter set */ |
283 | /***************************************************/ |
281 | /***************************************************/ |
284 | void setActiveParamSet(uint8_t setnumber) { |
282 | void setActiveParamSet(uint8_t setnumber) { |
285 | if(setnumber > 5) setnumber = 5; |
283 | if(setnumber > 5) setnumber = 5; |
286 | if(setnumber < 1) setnumber = 1; |
284 | if(setnumber < 1) setnumber = 1; |
287 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
285 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
288 | } |
286 | } |
289 | 287 | ||
290 | /***************************************************/ |
288 | /***************************************************/ |
291 | /* Read MixerTable from EEPROM */ |
289 | /* Read MixerTable from EEPROM */ |
292 | /***************************************************/ |
290 | /***************************************************/ |
293 | uint8_t MixerTable_ReadFromEEProm(void) { |
291 | uint8_t MixerTable_ReadFromEEProm(void) { |
294 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == EEMIXER_REVISION) { |
292 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == EEMIXER_REVISION) { |
295 | eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
293 | eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
296 | return 1; |
294 | return 1; |
297 | } |
295 | } |
298 | else return 0; |
296 | else return 0; |
299 | } |
297 | } |
300 | 298 | ||
301 | /***************************************************/ |
299 | /***************************************************/ |
302 | /* Write Mixer Table to EEPROM */ |
300 | /* Write Mixer Table to EEPROM */ |
303 | /***************************************************/ |
301 | /***************************************************/ |
304 | uint8_t MixerTable_WriteToEEProm(void) { |
302 | uint8_t MixerTable_WriteToEEProm(void) { |
305 | if(Mixer.Revision == EEMIXER_REVISION) { |
303 | if(Mixer.Revision == EEMIXER_REVISION) { |
306 | eeprom_write_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
304 | eeprom_write_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
307 | return 1; |
305 | return 1; |
308 | } |
306 | } |
309 | else return 0; |
307 | else return 0; |
310 | } |
308 | } |
311 | 309 | ||
312 | /***************************************************/ |
310 | /***************************************************/ |
313 | /* Default Values for Mixer Table */ |
311 | /* Default Values for Mixer Table */ |
314 | /***************************************************/ |
312 | /***************************************************/ |
315 | void MixerTable_Default(void) { // Quadro |
313 | void MixerTable_Default(void) { // Quadro |
316 | uint8_t i; |
314 | uint8_t i; |
317 | Mixer.Revision = EEMIXER_REVISION; |
315 | Mixer.Revision = EEMIXER_REVISION; |
318 | // clear mixer table (but preset throttle) |
316 | // clear mixer table (but preset throttle) |
319 | for(i = 0; i < 16; i++) { |
317 | for(i = 0; i < 16; i++) { |
320 | Mixer.Motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
318 | Mixer.Motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
321 | Mixer.Motor[i][MIX_PITCH] = 0; |
319 | Mixer.Motor[i][MIX_PITCH] = 0; |
322 | Mixer.Motor[i][MIX_ROLL] = 0; |
320 | Mixer.Motor[i][MIX_ROLL] = 0; |
323 | Mixer.Motor[i][MIX_YAW] = 0; |
321 | Mixer.Motor[i][MIX_YAW] = 0; |
324 | } |
322 | } |
325 | // default = Quadro |
323 | // default = Quadro |
326 | Mixer.Motor[0][MIX_PITCH] = +64; Mixer.Motor[0][MIX_YAW] = +64; |
324 | Mixer.Motor[0][MIX_PITCH] = +64; Mixer.Motor[0][MIX_YAW] = +64; |
327 | Mixer.Motor[1][MIX_PITCH] = -64; Mixer.Motor[1][MIX_YAW] = +64; |
325 | Mixer.Motor[1][MIX_PITCH] = -64; Mixer.Motor[1][MIX_YAW] = +64; |
328 | Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
326 | Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
329 | Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
327 | Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
330 | memcpy(Mixer.Name, "Quadro\0", 7); |
328 | memcpy(Mixer.Name, "Quadro\0", 7); |
331 | } |
329 | } |
332 | 330 | ||
333 | /***************************************************/ |
331 | /***************************************************/ |
334 | /* Initialize EEPROM Parameter Sets */ |
332 | /* Initialize EEPROM Parameter Sets */ |
335 | /***************************************************/ |
333 | /***************************************************/ |
336 | void ParamSet_Init(void) { |
334 | void ParamSet_Init(void) { |
337 | uint8_t Channel_Backup = 0, i; |
335 | uint8_t Channel_Backup = 0, i; |
338 | // parameter version check |
336 | // parameter version check |
339 | if(eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) { |
337 | if(eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) { |
340 | // if version check faild |
338 | // if version check faild |
341 | printf("\n\rInit Parameter in EEPROM"); |
339 | printf("\n\rInit Parameter in EEPROM"); |
342 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table |
340 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table |
343 | // check if channel mapping backup is valid |
341 | // check if channel mapping backup is valid |
344 | if( (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]) < 12) |
342 | if( (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]) < 12) |
345 | && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12) |
343 | && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12) |
346 | && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12) |
344 | && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12) |
347 | && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12) |
345 | && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12) |
348 | ) |
346 | ) |
349 | { |
347 | { |
350 | Channel_Backup = 1; |
348 | Channel_Backup = 1; |
351 | } |
349 | } |
352 | // fill all 5 parameter settings |
350 | // fill all 5 parameter settings |
353 | for (i=1; i<6; i++) { |
351 | for (i=1; i<6; i++) { |
354 | switch(i) { |
352 | switch(i) { |
355 | case 1: |
353 | case 1: |
356 | ParamSet_DefaultSet1(); // Fill staticParams Structure to default parameter set 1 (Sport) |
354 | ParamSet_DefaultSet1(); // Fill staticParams Structure to default parameter set 1 (Sport) |
357 | break; |
355 | break; |
358 | case 2: |
356 | case 2: |
359 | ParamSet_DefaultSet2(); // Kamera |
357 | ParamSet_DefaultSet2(); // Kamera |
360 | break; |
358 | break; |
361 | case 3: |
359 | case 3: |
362 | ParamSet_DefaultSet3(); // Beginner |
360 | ParamSet_DefaultSet3(); // Beginner |
363 | break; |
361 | break; |
364 | default: |
362 | default: |
365 | ParamSet_DefaultSet2(); // Kamera |
363 | ParamSet_DefaultSet2(); // Kamera |
366 | break; |
364 | break; |
367 | } |
365 | } |
368 | if(Channel_Backup) { // if we have a rc channel mapping backup in eeprom |
366 | if(Channel_Backup) { // if we have a rc channel mapping backup in eeprom |
369 | // restore it |
367 | // restore it |
370 | staticParams.ChannelAssignment[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]); |
368 | staticParams.ChannelAssignment[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]); |
371 | staticParams.ChannelAssignment[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]); |
369 | staticParams.ChannelAssignment[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]); |
372 | staticParams.ChannelAssignment[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]); |
370 | staticParams.ChannelAssignment[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]); |
373 | staticParams.ChannelAssignment[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]); |
371 | staticParams.ChannelAssignment[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]); |
374 | staticParams.ChannelAssignment[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]); |
372 | staticParams.ChannelAssignment[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]); |
375 | staticParams.ChannelAssignment[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]); |
373 | staticParams.ChannelAssignment[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]); |
376 | staticParams.ChannelAssignment[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]); |
374 | staticParams.ChannelAssignment[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]); |
377 | staticParams.ChannelAssignment[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]); |
375 | staticParams.ChannelAssignment[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]); |
378 | } |
376 | } |
379 | ParamSet_WriteToEEProm(i); |
377 | ParamSet_WriteToEEProm(i); |
380 | } |
378 | } |
381 | // default-Setting is parameter set 3 |
379 | // default-Setting is parameter set 3 |
382 | setActiveParamSet(1); |
380 | setActiveParamSet(1); |
383 | // update version info |
381 | // update version info |
384 | SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION); |
382 | SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION); |
385 | } |
383 | } |
386 | // read active parameter set to staticParams stucture |
384 | // read active parameter set to staticParams stucture |
387 | ParamSet_ReadFromEEProm(getActiveParamSet()); |
385 | ParamSet_ReadFromEEProm(getActiveParamSet()); |
388 | printf("\n\rUsing Parameter Set %d", getActiveParamSet()); |
386 | printf("\n\rUsing Parameter Set %d", getActiveParamSet()); |
389 | 387 | ||
390 | // load mixer table |
388 | // load mixer table |
391 | if(!MixerTable_ReadFromEEProm()) { |
389 | if(!MixerTable_ReadFromEEProm()) { |
392 | printf("\n\rGenerating default Mixer Table"); |
390 | printf("\n\rGenerating default Mixer Table"); |
393 | MixerTable_Default(); // Quadro |
391 | MixerTable_Default(); // Quadro |
394 | MixerTable_WriteToEEProm(); |
392 | MixerTable_WriteToEEProm(); |
395 | } |
393 | } |
396 | // determine motornumber |
394 | // determine motornumber |
397 | RequiredMotors = 0; |
395 | RequiredMotors = 0; |
398 | for(i = 0; i < 16; i++) { |
396 | for(i = 0; i < 16; i++) { |
399 | if(Mixer.Motor[i][MIX_THROTTLE] > 0) RequiredMotors++; |
397 | if(Mixer.Motor[i][MIX_THROTTLE] > 0) RequiredMotors++; |
400 | } |
398 | } |
401 | 399 | ||
402 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
400 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
403 | printf("\n\r=============================="); |
401 | printf("\n\r=============================="); |
404 | } |
402 | } |
405 | 403 |