WebSVN - FlightCtrl - Diff - Rev 1775 and 1821 - /branches/dongfang_FC

 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Copyright (c) 04.2007 Holger Buss
 // + Nur für den privaten Gebrauch
 // + www.MikroKopter.com
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
 // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
 // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
 // + bzgl. der Nutzungsbedingungen aufzunehmen.
 // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
 // + Verkauf von Luftbildaufnahmen, usw.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
 // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
 // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
 // + eindeutig als Ursprung verlinkt und genannt werden
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
 // + Benutzung auf eigene Gefahr
 // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
 // + mit unserer Zustimmung zulässig
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Redistributions of source code (with or without modifications) must retain the above copyright notice,
 // + this list of conditions and the following disclaimer.
 // +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
 // +     from this software without specific prior written permission.
 // +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
 // +     for non-commercial use (directly or indirectly)
 // +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
 // +     with our written permission
 // +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
 // +     clearly linked as origin
 // +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
 // +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 // +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 // +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 // +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 // +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 // +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 // +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 // +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 // +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 // +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // +  POSSIBILITY OF SUCH DAMAGE.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Contant Values
 // + 0-250 -> normale Values
 // + 251 -> Poti1
 // + 252 -> Poti2
 // + 253 -> Poti3
 // + 254 -> Poti4
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 #ifndef EEMEM
 #define EEMEM __attribute__ ((section (".eeprom")))
 #endif
 #include <avr/eeprom.h>
 #include <string.h>
 #include "eeprom.h"
 #include "printf_P.h"
 #include "output.h"
 // TODO: Get rid of these. They have nothing to do with eeprom.
 #include "flight.h"
 #include "rc.h"
 #include "sensors.h"
 // byte array in eeprom
-uint8_t EEPromArray[E2END+1] EEMEM;
+uint8_t EEPromArray[E2END + 1] EEMEM;
-paramset_t      staticParams;
+paramset_t staticParams;
-MixerTable_t    Mixer;
+MixerTable_t Mixer;
 /*
  * Default for your own experiments here, so you don't have to reset them
  * from MK-Tool all the time.
  */
 void setDefaultUserParams(void) {
-  uint8_t i;
+        uint8_t i;
-  for (i=0; i<sizeof(staticParams.UserParams1); i++) {
+        for (i = 0; i < sizeof(staticParams.UserParams1); i++) {
-    staticParams.UserParams1[i] = 0;
+                staticParams.UserParams1[i] = 0;
-  }
+        }
-  for (i=0; i<sizeof(staticParams.UserParams2); i++) {
+        for (i = 0; i < sizeof(staticParams.UserParams2); i++) {
-    staticParams.UserParams2[i] = 0;
+                staticParams.UserParams2[i] = 0;
-  }
+        }
-  /*
+        /*
-   * While we are still using userparams for flight parameters, do set
+         * While we are still using userparams for flight parameters, do set
-   * some safe & meaningful default values.
+         * some safe & meaningful default values.
-   */
+         */
-  staticParams.UserParams1[3] = 8;                      // Throttle stick D=8
+        staticParams.UserParams1[3] = 8; // Throttle stick D=8
-  staticParams.UserParams2[0] = 0b11010101; // All gyro filter constants 2; acc. 4
+        staticParams.UserParams2[0] = 0b11010101; // All gyro filter constants 2; acc. 4
-  staticParams.UserParams2[1] = 2;                      // H&I motor smoothing.
+        staticParams.UserParams2[1] = 2; // H&I motor smoothing.
-  staticParams.UserParams2[2] = 120;            // Yaw I factor
+        staticParams.UserParams2[2] = 120; // Yaw I factor
-  staticParams.UserParams2[3] = 10;             // Max Z acceleration for acc. correction of angles.
+        staticParams.UserParams2[3] = 10; // Max Z acceleration for acc. correction of angles.
+}
 void setOtherDefaults(void) {
-/* Channel assignments were changed to the normal:
+        /* Channel assignments were changed to the normal:
- * Aileron/roll=1, elevator/pitch=2, throttle=3, yaw/rudder=4
+         * Aileron/roll=1, elevator/pitch=2, throttle=3, yaw/rudder=4
- */
+         */
-  staticParams.ChannelAssignment[CH_PITCH]    = 2;
+        staticParams.ChannelAssignment[CH_PITCH] = 2;
-  staticParams.ChannelAssignment[CH_ROLL]     = 1;
+        staticParams.ChannelAssignment[CH_ROLL] = 1;
-  staticParams.ChannelAssignment[CH_THROTTLE] = 3;
+        staticParams.ChannelAssignment[CH_THROTTLE] = 3;
-  staticParams.ChannelAssignment[CH_YAW]      = 4;
+        staticParams.ChannelAssignment[CH_YAW] = 4;
-  staticParams.ChannelAssignment[CH_POTS+0]   = 5;
+        staticParams.ChannelAssignment[CH_POTS + 0] = 5;
-  staticParams.ChannelAssignment[CH_POTS+1]   = 6;
+        staticParams.ChannelAssignment[CH_POTS + 1] = 6;
-  staticParams.ChannelAssignment[CH_POTS+2]   = 7;
+        staticParams.ChannelAssignment[CH_POTS + 2] = 7;
-  staticParams.ChannelAssignment[CH_POTS+3]   = 8;
+        staticParams.ChannelAssignment[CH_POTS + 3] = 8;
-  staticParams.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_HEADING_HOLD; // CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX;
+        staticParams.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_HEADING_HOLD; // CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX;
-  staticParams.HeightMinGas = 30;
+        staticParams.HeightMinGas = 30;
-  staticParams.MaxHeight     = 251;
+        staticParams.MaxHeight = 251;
-  staticParams.HeightP      = 10;
+        staticParams.HeightP = 10;
-  staticParams.HeightD  = 30;
+        staticParams.HeightD = 30;
-  staticParams.Height_ACC_Effect = 30;
+        staticParams.Height_ACC_Effect = 30;
-  staticParams.Height_Gain = 4;
+        staticParams.Height_Gain = 4;
-  staticParams.StickP = 8;
+        staticParams.StickP = 8;
-  staticParams.StickD = 12;
+        staticParams.StickD = 12;
-  staticParams.StickYawP = 12;
+        staticParams.StickYawP = 12;
-  staticParams.MinThrottle = 8;
+        staticParams.MinThrottle = 8;
-  staticParams.MaxThrottle = 230;
+        staticParams.MaxThrottle = 230;
-  staticParams.CompassYawEffect = 128;
+        staticParams.CompassYawEffect = 128;
-  staticParams.GyroP = 80;
+        staticParams.GyroP = 80;
-  staticParams.GyroI = 100;
+        staticParams.GyroI = 100;
-  staticParams.LowVoltageWarning = 95;
+        staticParams.LowVoltageWarning = 95;
-  staticParams.EmergencyGas = 35;
+        staticParams.EmergencyGas = 35;
-  staticParams.EmergencyGasDuration = 30;
+        staticParams.EmergencyGasDuration = 30;
-  staticParams.Unused0 = 0;
+        staticParams.Unused0 = 0;
-  staticParams.IFactor = 32;
+        staticParams.IFactor = 32;
-  staticParams.ServoPitchControl = 100;
+        staticParams.ServoPitchControl = 100;
-  staticParams.ServoPitchComp = 40;
+        staticParams.ServoPitchComp = 40;
-  staticParams.ServoPitchCompInvert = 0;
+        staticParams.ServoPitchCompInvert = 0;
-  staticParams.ServoPitchMin = 50;
+        staticParams.ServoPitchMin = 50;
-  staticParams.ServoPitchMax = 150;
+        staticParams.ServoPitchMax = 150;
-  staticParams.ServoRefresh = 5;
+        staticParams.ServoRefresh = 5;
-  staticParams.LoopGasLimit = 50;
+        staticParams.LoopGasLimit = 50;
-  staticParams.LoopThreshold = 90;
+        staticParams.LoopThreshold = 90;
-  staticParams.LoopHysteresis = 50;
+        staticParams.LoopHysteresis = 50;
-  staticParams.BitConfig = 0;
+        staticParams.BitConfig = 0;
-  staticParams.AxisCoupling1 = 90;
+        staticParams.AxisCoupling1 = 90;
-  staticParams.AxisCoupling2 = 67;
+        staticParams.AxisCoupling2 = 67;
-  staticParams.AxisCouplingYawCorrection = 0;
+        staticParams.AxisCouplingYawCorrection = 0;
-  staticParams.DynamicStability = 50;
+        staticParams.DynamicStability = 50;
-  staticParams.J16Bitmask = 95;
+        staticParams.J16Bitmask = 95;
-  staticParams.J17Bitmask = 243;
+        staticParams.J17Bitmask = 243;
-  staticParams.J16Timing = 15;
+        staticParams.J16Timing = 15;
-  staticParams.J17Timing = 15;
+        staticParams.J17Timing = 15;
-  staticParams.NaviGpsModeControl = 253;
+        staticParams.NaviGpsModeControl = 253;
-  staticParams.NaviGpsGain = 100;
+        staticParams.NaviGpsGain = 100;
-  staticParams.NaviGpsP = 90;
+        staticParams.NaviGpsP = 90;
-  staticParams.NaviGpsI = 90;
+        staticParams.NaviGpsI = 90;
-  staticParams.NaviGpsD = 90;
+        staticParams.NaviGpsD = 90;
-  staticParams.NaviGpsPLimit = 75;
+        staticParams.NaviGpsPLimit = 75;
-  staticParams.NaviGpsILimit = 75;
+        staticParams.NaviGpsILimit = 75;
-  staticParams.NaviGpsDLimit = 75;
+        staticParams.NaviGpsDLimit = 75;
-  staticParams.NaviGpsACC = 0;
+        staticParams.NaviGpsACC = 0;
-  staticParams.NaviGpsMinSat = 6;
+        staticParams.NaviGpsMinSat = 6;
-  staticParams.NaviStickThreshold = 8;
+        staticParams.NaviStickThreshold = 8;
-  staticParams.NaviWindCorrection = 90;
+        staticParams.NaviWindCorrection = 90;
-  staticParams.NaviSpeedCompensation = 30;
+        staticParams.NaviSpeedCompensation = 30;
-  staticParams.NaviOperatingRadius = 100;
+        staticParams.NaviOperatingRadius = 100;
-  staticParams.NaviAngleLimitation = 100;
+        staticParams.NaviAngleLimitation = 100;
-  staticParams.NaviPHLoginTime = 4;
+        staticParams.NaviPHLoginTime = 4;
+}
 /***************************************************/
 /*    Default Values for parameter set 1           */
 /***************************************************/
 void ParamSet_DefaultSet1(void) { // sport
-  setOtherDefaults();
+        setOtherDefaults();
-  gyro_setDefaults();
+        gyro_setDefaults();
-  setDefaultUserParams();
+        setDefaultUserParams();
-  staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE;
+        staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER
+                        | CFG_AXIS_COUPLING_ACTIVE;
-  memcpy(staticParams.Name, "Sport\0",6);
+        memcpy(staticParams.Name, "Sport\0", 6);
+}
 /***************************************************/
 /*    Default Values for parameter set 2           */
 /***************************************************/
 void ParamSet_DefaultSet2(void) { // normal
-  setOtherDefaults();
+        setOtherDefaults();
-  gyro_setDefaults();
+        gyro_setDefaults();
-  setDefaultUserParams();
+        setDefaultUserParams();
-  staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE;
+        staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER
+                        | CFG_AXIS_COUPLING_ACTIVE;
-  staticParams.Height_Gain = 3;
+        staticParams.Height_Gain = 3;
-  staticParams.J16Timing = 20;
+        staticParams.J16Timing = 20;
-  staticParams.J17Timing = 20;
+        staticParams.J17Timing = 20;
-  memcpy(staticParams.Name, "Normal\0", 7);
+        memcpy(staticParams.Name, "Normal\0", 7);
+}
 /***************************************************/
 /*    Default Values for parameter set 3           */
 /***************************************************/
 void ParamSet_DefaultSet3(void) { // beginner
-  setOtherDefaults();
+        setOtherDefaults();
-  gyro_setDefaults();
+        gyro_setDefaults();
-  setDefaultUserParams();
+        setDefaultUserParams();
-  staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE;
+        staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER
+                        | CFG_AXIS_COUPLING_ACTIVE;
-  staticParams.Height_Gain = 3;
+        staticParams.Height_Gain = 3;
-  staticParams.EmergencyGasDuration = 20;
+        staticParams.EmergencyGasDuration = 20;
-  staticParams.AxisCouplingYawCorrection = 70;
+        staticParams.AxisCouplingYawCorrection = 70;
-  staticParams.J16Timing = 30;
+        staticParams.J16Timing = 30;
-  staticParams.J17Timing = 30;
+        staticParams.J17Timing = 30;
-  memcpy(staticParams.Name, "Beginner\0", 9);
+        memcpy(staticParams.Name, "Beginner\0", 9);
+}
 /***************************************************/
 /*       Read Parameter from EEPROM as byte        */
 /***************************************************/
 uint8_t GetParamByte(uint16_t param_id) {
-  return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]);
+        return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]);
+}
 /***************************************************/
 /*       Write Parameter to EEPROM as byte         */
 /***************************************************/
 void SetParamByte(uint16_t param_id, uint8_t value) {
-  eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);
+        eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);
+}
 /***************************************************/
 /*       Read Parameter from EEPROM as word        */
 /***************************************************/
 uint16_t GetParamWord(uint16_t param_id) {
-  return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]);
+        return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN
+                        + param_id]);
+}
 /***************************************************/
 /*       Write Parameter to EEPROM as word         */
 /***************************************************/
 void SetParamWord(uint16_t param_id, uint16_t value) {
+        eeprom_write_word(
-  eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);
+                        (uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);
+}
 /***************************************************/
 /*       Read Parameter Set from EEPROM            */
 /***************************************************/
 // number [1..5]
 void ParamSet_ReadFromEEProm(uint8_t setnumber) {
-  if((1 > setnumber) || (setnumber > 5)) setnumber = 3;
+        if ((1 > setnumber) || (setnumber > 5))
+                setnumber = 3;
+        eeprom_read_block((uint8_t *) &staticParams.ChannelAssignment[0],
-  eeprom_read_block((uint8_t *) &staticParams.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN);
+                        &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber
+                                        - 1)], PARAMSET_STRUCT_LEN);
-  output_init();
+        output_init();
+}
 /***************************************************/
 /*        Write Parameter Set to EEPROM            */
 /***************************************************/
 // number [1..5]
 void ParamSet_WriteToEEProm(uint8_t setnumber) {
-  if(setnumber > 5) setnumber = 5;
+        if (setnumber > 5)
+                setnumber = 5;
-  if(setnumber < 1) return;
+        if (setnumber < 1)
+                return;
+        eeprom_write_block((uint8_t *) &staticParams.ChannelAssignment[0],
-  eeprom_write_block((uint8_t *) &staticParams.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN);
+                        &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber
+                                        - 1)], PARAMSET_STRUCT_LEN);
-  eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH], PARAMSET_STRUCT_LEN);
+        eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH],
+                        PARAMSET_STRUCT_LEN);
+        eeprom_write_block(&staticParams.ChannelAssignment[0],
-  eeprom_write_block( &staticParams.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping
+                        &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping
-  // set this parameter set to active set
+        // set this parameter set to active set
-  setActiveParamSet(setnumber);
+        setActiveParamSet(setnumber);
-  output_init();
+        output_init();
+}
 /***************************************************/
 /*       Get active parameter set                  */
 /***************************************************/
 uint8_t getActiveParamSet(void) {
-  uint8_t setnumber;
+        uint8_t setnumber;
-  setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]);
+        setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]);
-  if(setnumber > 5) {
+        if (setnumber > 5) {
-    setnumber = 3;
+                setnumber = 3;
-    eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber);
+                eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber);
-  }
+        }
-  return(setnumber);
+        return (setnumber);
+}
 /***************************************************/
 /*       Set active parameter set                  */
 /***************************************************/
 void setActiveParamSet(uint8_t setnumber) {
-  if(setnumber > 5) setnumber = 5;
+        if (setnumber > 5)
+                setnumber = 5;
-  if(setnumber < 1) setnumber = 1;
+        if (setnumber < 1)
+                setnumber = 1;
-  eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber);
+        eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber);
+}
 /***************************************************/
 /*          Read MixerTable from EEPROM            */
 /***************************************************/
 uint8_t MixerTable_ReadFromEEProm(void) {
-  if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == EEMIXER_REVISION) {
+        if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE])
+                        == EEMIXER_REVISION) {
-    eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
+                eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE],
+                                sizeof(Mixer));
-    return 1;
+                return 1;
-  }
+        } else
-  else return 0;
+                return 0;
+}
 /***************************************************/
 /*          Write Mixer Table to EEPROM            */
 /***************************************************/
 uint8_t MixerTable_WriteToEEProm(void) {
-  if(Mixer.Revision == EEMIXER_REVISION) {
+        if (Mixer.Revision == EEMIXER_REVISION) {
+                eeprom_write_block((uint8_t *) &Mixer,
-    eeprom_write_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
+                                &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
-    return 1;
+                return 1;
-  }
+        } else
-  else return 0;
+                return 0;
+}
 /***************************************************/
 /*    Default Values for Mixer Table               */
 /***************************************************/
 void MixerTable_Default(void) { // Quadro
-  uint8_t i;
+        uint8_t i;
-  Mixer.Revision = EEMIXER_REVISION;
+        Mixer.Revision = EEMIXER_REVISION;
-  // clear mixer table (but preset throttle)
+        // clear mixer table (but preset throttle)
-  for(i = 0; i < 16; i++) {
+        for (i = 0; i < 16; i++) {
-    Mixer.Motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0;
+                Mixer.Motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0;
-    Mixer.Motor[i][MIX_PITCH] = 0;
+                Mixer.Motor[i][MIX_PITCH] = 0;
-    Mixer.Motor[i][MIX_ROLL] = 0;
+                Mixer.Motor[i][MIX_ROLL] = 0;
-    Mixer.Motor[i][MIX_YAW]  = 0;
+                Mixer.Motor[i][MIX_YAW] = 0;
-  }
+        }
-  // default = Quadro
+        // default = Quadro
-  Mixer.Motor[0][MIX_PITCH] = +64;                                 Mixer.Motor[0][MIX_YAW] = +64;
+        Mixer.Motor[0][MIX_PITCH] = +64;
+        Mixer.Motor[0][MIX_YAW] = +64;
-  Mixer.Motor[1][MIX_PITCH] = -64;                                 Mixer.Motor[1][MIX_YAW] = +64;
+        Mixer.Motor[1][MIX_PITCH] = -64;
+        Mixer.Motor[1][MIX_YAW] = +64;
-  Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64;
+        Mixer.Motor[2][MIX_ROLL] = -64;
+        Mixer.Motor[2][MIX_YAW] = -64;
-  Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64;
+        Mixer.Motor[3][MIX_ROLL] = +64;
+        Mixer.Motor[3][MIX_YAW] = -64;
-  memcpy(Mixer.Name, "Quadro\0", 7);
+        memcpy(Mixer.Name, "Quadro\0", 7);
+}
 /***************************************************/
 /*       Initialize EEPROM Parameter Sets          */
 /***************************************************/
 void ParamSet_Init(void) {
-  uint8_t Channel_Backup=1, i, j;
+        uint8_t Channel_Backup = 1, i, j;
-  // parameter version  check
+        // parameter version  check
-  if(eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) {
+        if (eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) {
-    // if version check faild
+                // if version check faild
-    printf("\n\rInit Parameter in EEPROM");
+                printf("\n\rInit Parameter in EEPROM");
-    eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table
+                eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table
-    // check if channel mapping backup is valid
+                // check if channel mapping backup is valid
-    for (j=0; j<4 && Channel_Backup; j++) {
+                for (j = 0; j < 4 && Channel_Backup; j++) {
-      if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]) >= 12)
+                        if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS + 0]) >= 12)
-        Channel_Backup = 0;
+                                Channel_Backup = 0;
-    }
+                }
-    // fill all 5 parameter settings
+                // fill all 5 parameter settings
-    for (i=1; i<6; i++) {
+                for (i = 1; i < 6; i++) {
-      switch(i) {
+                        switch (i) {
-      case 1:
+                        case 1:
-        ParamSet_DefaultSet1(); // Fill staticParams Structure to default parameter set 1 (Sport)
+                                ParamSet_DefaultSet1(); // Fill staticParams Structure to default parameter set 1 (Sport)
-        break;
+                                break;
-      case 2:
+                        case 2:
-        ParamSet_DefaultSet2(); // Kamera
+                                ParamSet_DefaultSet2(); // Kamera
-        break;
+                                break;
-      case 3:
+                        case 3:
-        ParamSet_DefaultSet3(); // Beginner
+                                ParamSet_DefaultSet3(); // Beginner
-        break;
+                                break;
-      default:
+                        default:
-        ParamSet_DefaultSet2(); // Kamera
+                                ParamSet_DefaultSet2(); // Kamera
-        break;
+                                break;
-      }
+                        }
-      if(Channel_Backup) { // if we have a rc channel mapping backup in eeprom
+                        if (Channel_Backup) { // if we have a rc channel mapping backup in eeprom
-        // restore it
+                                // restore it
-        for (j=0; j<8; j++) {
+                                for (j = 0; j < 8; j++) {
-          staticParams.ChannelAssignment[j] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+j]);
+                                        staticParams.ChannelAssignment[j] = eeprom_read_byte(
+                                                        &EEPromArray[EEPROM_ADR_CHANNELS + j]);
+                                }
+                        }
+                        ParamSet_WriteToEEProm(i);
+                }
+                // default-Setting is parameter set 3
+                setActiveParamSet(1);
+                // update version info
+                SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION);
+        }
+        // read active parameter set to staticParams stucture
+        ParamSet_ReadFromEEProm(getActiveParamSet());
+        printf("\n\rUsing Parameter Set %d", getActiveParamSet());
+        // load mixer table
+        if (!MixerTable_ReadFromEEProm()) {
+                printf("\n\rGenerating default Mixer Table");
+                MixerTable_Default(); // Quadro
+                MixerTable_WriteToEEProm();
+        }
-      }
-      ParamSet_WriteToEEProm(i);
-    }
-    // default-Setting is parameter set 3
-    setActiveParamSet(1);
-    // update version info
-    SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION);
-  }
-  // read active parameter set to staticParams stucture
-  ParamSet_ReadFromEEProm(getActiveParamSet());
-  printf("\n\rUsing Parameter Set %d", getActiveParamSet());
-  // load mixer table
-  if(!MixerTable_ReadFromEEProm()) {
-    printf("\n\rGenerating default Mixer Table");
-    MixerTable_Default(); // Quadro
-    MixerTable_WriteToEEProm();
-  }
-  // determine motornumber
+        // determine motornumber
-  RequiredMotors = 0;
+        RequiredMotors = 0;
-  for(i = 0; i < 16; i++) {
+        for (i = 0; i < 16; i++) {
-    if(Mixer.Motor[i][MIX_THROTTLE] > 0) RequiredMotors++;
+                if (Mixer.Motor[i][MIX_THROTTLE] > 0)
+                        RequiredMotors++;
-  }
+        }
-  printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors);
+        printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors);
-  printf("\n\r==============================");
+        printf("\n\r==============================");
+}

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/eeprom.c - Rev 1775 → 1821