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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 example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for example: 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[3] = 8; // Throttle stick D=8 |
98 | staticParams.UserParams1[3] = 8; // Throttle stick D=8 |
99 | staticParams.UserParams2[0] = 0b11010101; // All gyro filter constants 2; acc. 4 |
99 | staticParams.UserParams2[0] = 0b11010101; // All gyro filter constants 2; acc. 4 |
100 | staticParams.UserParams2[1] = 2; // H&I motor smoothing. |
100 | staticParams.UserParams2[1] = 2; // H&I motor smoothing. |
101 | staticParams.UserParams2[2] = 120; // Yaw I factor |
101 | staticParams.UserParams2[2] = 120; // Yaw I factor |
102 | staticParams.UserParams2[3] = 10; // Max Z acceleration for acc. correction of angles. |
102 | staticParams.UserParams2[3] = 100; // Max Z acceleration for acc. correction of angles. |
103 | } |
103 | } |
104 | 104 | ||
105 | void setOtherDefaults(void) { |
105 | void setOtherDefaults(void) { |
106 | /* Channel assignments were changed to the normal: |
106 | /* Channel assignments were changed to the normal: |
107 | * Aileron/roll=1, elevator/pitch=2, throttle=3, yaw/rudder=4 |
107 | * Aileron/roll=1, elevator/pitch=2, throttle=3, yaw/rudder=4 |
108 | */ |
108 | */ |
109 | staticParams.ChannelAssignment[CH_PITCH] = 2; |
109 | staticParams.ChannelAssignment[CH_PITCH] = 2; |
110 | staticParams.ChannelAssignment[CH_ROLL] = 1; |
110 | staticParams.ChannelAssignment[CH_ROLL] = 1; |
111 | staticParams.ChannelAssignment[CH_THROTTLE] = 3; |
111 | staticParams.ChannelAssignment[CH_THROTTLE] = 3; |
112 | staticParams.ChannelAssignment[CH_YAW] = 4; |
112 | staticParams.ChannelAssignment[CH_YAW] = 4; |
113 | staticParams.ChannelAssignment[CH_POTS + 0] = 5; |
113 | staticParams.ChannelAssignment[CH_POTS + 0] = 5; |
114 | staticParams.ChannelAssignment[CH_POTS + 1] = 6; |
114 | staticParams.ChannelAssignment[CH_POTS + 1] = 6; |
115 | staticParams.ChannelAssignment[CH_POTS + 2] = 7; |
115 | staticParams.ChannelAssignment[CH_POTS + 2] = 7; |
116 | staticParams.ChannelAssignment[CH_POTS + 3] = 8; |
116 | staticParams.ChannelAssignment[CH_POTS + 3] = 8; |
117 | staticParams.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_HEADING_HOLD; // CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
117 | staticParams.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_HEADING_HOLD; // CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
118 | staticParams.HeightMinGas = 30; |
118 | staticParams.HeightMinGas = 30; |
119 | staticParams.MaxHeight = 251; |
119 | staticParams.MaxHeight = 251; |
120 | staticParams.HeightP = 10; |
120 | staticParams.HeightP = 10; |
121 | staticParams.HeightD = 30; |
121 | staticParams.HeightD = 30; |
122 | staticParams.Height_ACC_Effect = 30; |
122 | staticParams.Height_ACC_Effect = 30; |
123 | staticParams.Height_Gain = 4; |
123 | staticParams.Height_Gain = 4; |
124 | staticParams.StickP = 8; |
124 | staticParams.StickP = 8; |
125 | staticParams.StickD = 12; |
125 | staticParams.StickD = 12; |
126 | staticParams.StickYawP = 12; |
126 | staticParams.StickYawP = 12; |
127 | staticParams.MinThrottle = 8; |
127 | staticParams.MinThrottle = 8; |
128 | staticParams.MaxThrottle = 230; |
128 | staticParams.MaxThrottle = 230; |
129 | staticParams.CompassYawEffect = 128; |
129 | staticParams.CompassYawEffect = 128; |
130 | staticParams.GyroP = 80; |
130 | staticParams.GyroP = 80; |
131 | staticParams.GyroI = 100; |
131 | staticParams.GyroI = 100; |
132 | staticParams.LowVoltageWarning = 95; |
132 | staticParams.LowVoltageWarning = 95; |
133 | staticParams.EmergencyGas = 35; |
133 | staticParams.EmergencyGas = 35; |
134 | staticParams.EmergencyGasDuration = 30; |
134 | staticParams.EmergencyGasDuration = 30; |
135 | staticParams.Unused0 = 0; |
135 | staticParams.Unused0 = 0; |
136 | staticParams.IFactor = 32; |
136 | staticParams.IFactor = 32; |
137 | staticParams.ServoPitchControl = 100; |
137 | staticParams.ServoPitchControl = 100; |
138 | staticParams.ServoPitchComp = 40; |
138 | staticParams.ServoPitchComp = 40; |
139 | staticParams.ServoPitchCompInvert = 0; |
139 | staticParams.ServoPitchCompInvert = 0; |
140 | staticParams.ServoPitchMin = 50; |
140 | staticParams.ServoPitchMin = 50; |
141 | staticParams.ServoPitchMax = 150; |
141 | staticParams.ServoPitchMax = 150; |
142 | staticParams.ServoRefresh = 5; |
142 | staticParams.ServoRefresh = 5; |
143 | staticParams.LoopGasLimit = 50; |
143 | staticParams.LoopGasLimit = 50; |
144 | staticParams.LoopThreshold = 90; |
144 | staticParams.LoopThreshold = 90; |
145 | staticParams.LoopHysteresis = 50; |
145 | staticParams.LoopHysteresis = 50; |
146 | staticParams.BitConfig = 0; |
146 | staticParams.BitConfig = 0; |
147 | staticParams.AxisCoupling1 = 90; |
147 | staticParams.AxisCoupling1 = 90; |
148 | staticParams.AxisCoupling2 = 67; |
148 | staticParams.AxisCoupling2 = 67; |
149 | staticParams.AxisCouplingYawCorrection = 0; |
149 | staticParams.AxisCouplingYawCorrection = 0; |
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 | setOtherDefaults(); |
178 | gyro_setDefaults(); |
178 | gyro_setDefaults(); |
179 | setDefaultUserParams(); |
179 | setDefaultUserParams(); |
180 | staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER |
180 | staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER |
181 | | CFG_AXIS_COUPLING_ACTIVE; |
181 | | CFG_AXIS_COUPLING_ACTIVE; |
182 | memcpy(staticParams.Name, "Sport\0", 6); |
182 | memcpy(staticParams.Name, "Sport\0", 6); |
183 | } |
183 | } |
184 | 184 | ||
185 | /***************************************************/ |
185 | /***************************************************/ |
186 | /* Default Values for parameter set 2 */ |
186 | /* Default Values for parameter set 2 */ |
187 | /***************************************************/ |
187 | /***************************************************/ |
188 | void ParamSet_DefaultSet2(void) { // normal |
188 | void ParamSet_DefaultSet2(void) { // normal |
189 | setOtherDefaults(); |
189 | setOtherDefaults(); |
190 | gyro_setDefaults(); |
190 | gyro_setDefaults(); |
191 | setDefaultUserParams(); |
191 | setDefaultUserParams(); |
192 | staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER |
192 | staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER |
193 | | CFG_AXIS_COUPLING_ACTIVE; |
193 | | CFG_AXIS_COUPLING_ACTIVE; |
194 | staticParams.Height_Gain = 3; |
194 | staticParams.Height_Gain = 3; |
195 | staticParams.J16Timing = 20; |
195 | staticParams.J16Timing = 20; |
196 | staticParams.J17Timing = 20; |
196 | staticParams.J17Timing = 20; |
197 | memcpy(staticParams.Name, "Normal\0", 7); |
197 | memcpy(staticParams.Name, "Normal\0", 7); |
198 | } |
198 | } |
199 | 199 | ||
200 | /***************************************************/ |
200 | /***************************************************/ |
201 | /* Default Values for parameter set 3 */ |
201 | /* Default Values for parameter set 3 */ |
202 | /***************************************************/ |
202 | /***************************************************/ |
203 | void ParamSet_DefaultSet3(void) { // beginner |
203 | void ParamSet_DefaultSet3(void) { // beginner |
204 | setOtherDefaults(); |
204 | setOtherDefaults(); |
205 | gyro_setDefaults(); |
205 | gyro_setDefaults(); |
206 | setDefaultUserParams(); |
206 | setDefaultUserParams(); |
207 | staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER |
207 | staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER |
208 | | CFG_AXIS_COUPLING_ACTIVE; |
208 | | CFG_AXIS_COUPLING_ACTIVE; |
209 | staticParams.Height_Gain = 3; |
209 | staticParams.Height_Gain = 3; |
210 | staticParams.EmergencyGasDuration = 20; |
210 | staticParams.EmergencyGasDuration = 20; |
211 | staticParams.AxisCouplingYawCorrection = 70; |
211 | staticParams.AxisCouplingYawCorrection = 70; |
212 | staticParams.J16Timing = 30; |
212 | staticParams.J16Timing = 30; |
213 | staticParams.J17Timing = 30; |
213 | staticParams.J17Timing = 30; |
214 | memcpy(staticParams.Name, "Beginner\0", 9); |
214 | memcpy(staticParams.Name, "Beginner\0", 9); |
215 | } |
215 | } |
216 | 216 | ||
217 | /***************************************************/ |
217 | /***************************************************/ |
218 | /* Read Parameter from EEPROM as byte */ |
218 | /* Read Parameter from EEPROM as byte */ |
219 | /***************************************************/ |
219 | /***************************************************/ |
220 | uint8_t GetParamByte(uint16_t param_id) { |
220 | uint8_t GetParamByte(uint16_t param_id) { |
221 | return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
221 | return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
222 | } |
222 | } |
223 | 223 | ||
224 | /***************************************************/ |
224 | /***************************************************/ |
225 | /* Write Parameter to EEPROM as byte */ |
225 | /* Write Parameter to EEPROM as byte */ |
226 | /***************************************************/ |
226 | /***************************************************/ |
227 | void SetParamByte(uint16_t param_id, uint8_t value) { |
227 | void SetParamByte(uint16_t param_id, uint8_t value) { |
228 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
228 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
229 | } |
229 | } |
230 | 230 | ||
231 | /***************************************************/ |
231 | /***************************************************/ |
232 | /* Read Parameter from EEPROM as word */ |
232 | /* Read Parameter from EEPROM as word */ |
233 | /***************************************************/ |
233 | /***************************************************/ |
234 | uint16_t GetParamWord(uint16_t param_id) { |
234 | uint16_t GetParamWord(uint16_t param_id) { |
235 | return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN |
235 | return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN |
236 | + param_id]); |
236 | + param_id]); |
237 | } |
237 | } |
238 | 238 | ||
239 | /***************************************************/ |
239 | /***************************************************/ |
240 | /* Write Parameter to EEPROM as word */ |
240 | /* Write Parameter to EEPROM as word */ |
241 | /***************************************************/ |
241 | /***************************************************/ |
242 | void SetParamWord(uint16_t param_id, uint16_t value) { |
242 | void SetParamWord(uint16_t param_id, uint16_t value) { |
243 | eeprom_write_word( |
243 | eeprom_write_word( |
244 | (uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
244 | (uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
245 | } |
245 | } |
246 | 246 | ||
247 | /***************************************************/ |
247 | /***************************************************/ |
248 | /* Read Parameter Set from EEPROM */ |
248 | /* Read Parameter Set from EEPROM */ |
249 | /***************************************************/ |
249 | /***************************************************/ |
250 | // number [1..5] |
250 | // number [1..5] |
251 | void ParamSet_ReadFromEEProm(uint8_t setnumber) { |
251 | void ParamSet_ReadFromEEProm(uint8_t setnumber) { |
252 | if ((1 > setnumber) || (setnumber > 5)) |
252 | if ((1 > setnumber) || (setnumber > 5)) |
253 | setnumber = 3; |
253 | setnumber = 3; |
254 | eeprom_read_block((uint8_t *) &staticParams.ChannelAssignment[0], |
254 | eeprom_read_block((uint8_t *) &staticParams.ChannelAssignment[0], |
255 | &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber |
255 | &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber |
256 | - 1)], PARAMSET_STRUCT_LEN); |
256 | - 1)], PARAMSET_STRUCT_LEN); |
257 | output_init(); |
257 | output_init(); |
258 | } |
258 | } |
259 | 259 | ||
260 | /***************************************************/ |
260 | /***************************************************/ |
261 | /* Write Parameter Set to EEPROM */ |
261 | /* Write Parameter Set to EEPROM */ |
262 | /***************************************************/ |
262 | /***************************************************/ |
263 | // number [1..5] |
263 | // number [1..5] |
264 | void ParamSet_WriteToEEProm(uint8_t setnumber) { |
264 | void ParamSet_WriteToEEProm(uint8_t setnumber) { |
265 | if (setnumber > 5) |
265 | if (setnumber > 5) |
266 | setnumber = 5; |
266 | setnumber = 5; |
267 | if (setnumber < 1) |
267 | if (setnumber < 1) |
268 | return; |
268 | return; |
269 | eeprom_write_block((uint8_t *) &staticParams.ChannelAssignment[0], |
269 | eeprom_write_block((uint8_t *) &staticParams.ChannelAssignment[0], |
270 | &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber |
270 | &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber |
271 | - 1)], PARAMSET_STRUCT_LEN); |
271 | - 1)], PARAMSET_STRUCT_LEN); |
272 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH], |
272 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH], |
273 | PARAMSET_STRUCT_LEN); |
273 | PARAMSET_STRUCT_LEN); |
274 | eeprom_write_block(&staticParams.ChannelAssignment[0], |
274 | eeprom_write_block(&staticParams.ChannelAssignment[0], |
275 | &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping |
275 | &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping |
276 | // set this parameter set to active set |
276 | // set this parameter set to active set |
277 | setActiveParamSet(setnumber); |
277 | setActiveParamSet(setnumber); |
278 | output_init(); |
278 | output_init(); |
279 | } |
279 | } |
280 | 280 | ||
281 | /***************************************************/ |
281 | /***************************************************/ |
282 | /* Get active parameter set */ |
282 | /* Get active parameter set */ |
283 | /***************************************************/ |
283 | /***************************************************/ |
284 | uint8_t getActiveParamSet(void) { |
284 | uint8_t getActiveParamSet(void) { |
285 | uint8_t setnumber; |
285 | uint8_t setnumber; |
286 | setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
286 | setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
287 | if (setnumber > 5) { |
287 | if (setnumber > 5) { |
288 | setnumber = 3; |
288 | setnumber = 3; |
289 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
289 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
290 | } |
290 | } |
291 | return (setnumber); |
291 | return (setnumber); |
292 | } |
292 | } |
293 | 293 | ||
294 | /***************************************************/ |
294 | /***************************************************/ |
295 | /* Set active parameter set */ |
295 | /* Set active parameter set */ |
296 | /***************************************************/ |
296 | /***************************************************/ |
297 | void setActiveParamSet(uint8_t setnumber) { |
297 | void setActiveParamSet(uint8_t setnumber) { |
298 | if (setnumber > 5) |
298 | if (setnumber > 5) |
299 | setnumber = 5; |
299 | setnumber = 5; |
300 | if (setnumber < 1) |
300 | if (setnumber < 1) |
301 | setnumber = 1; |
301 | setnumber = 1; |
302 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
302 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
303 | } |
303 | } |
304 | 304 | ||
305 | /***************************************************/ |
305 | /***************************************************/ |
306 | /* Read MixerTable from EEPROM */ |
306 | /* Read MixerTable from EEPROM */ |
307 | /***************************************************/ |
307 | /***************************************************/ |
308 | uint8_t MixerTable_ReadFromEEProm(void) { |
308 | uint8_t MixerTable_ReadFromEEProm(void) { |
309 | if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) |
309 | if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) |
310 | == EEMIXER_REVISION) { |
310 | == EEMIXER_REVISION) { |
311 | eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], |
311 | eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], |
312 | sizeof(Mixer)); |
312 | sizeof(Mixer)); |
313 | return 1; |
313 | return 1; |
314 | } else |
314 | } else |
315 | return 0; |
315 | return 0; |
316 | } |
316 | } |
317 | 317 | ||
318 | /***************************************************/ |
318 | /***************************************************/ |
319 | /* Write Mixer Table to EEPROM */ |
319 | /* Write Mixer Table to EEPROM */ |
320 | /***************************************************/ |
320 | /***************************************************/ |
321 | uint8_t MixerTable_WriteToEEProm(void) { |
321 | uint8_t MixerTable_WriteToEEProm(void) { |
322 | if (Mixer.Revision == EEMIXER_REVISION) { |
322 | if (Mixer.Revision == EEMIXER_REVISION) { |
323 | eeprom_write_block((uint8_t *) &Mixer, |
323 | eeprom_write_block((uint8_t *) &Mixer, |
324 | &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
324 | &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
325 | return 1; |
325 | return 1; |
326 | } else |
326 | } else |
327 | return 0; |
327 | return 0; |
328 | } |
328 | } |
329 | 329 | ||
330 | /***************************************************/ |
330 | /***************************************************/ |
331 | /* Default Values for Mixer Table */ |
331 | /* Default Values for Mixer Table */ |
332 | /***************************************************/ |
332 | /***************************************************/ |
333 | void MixerTable_Default(void) { // Quadro |
333 | void MixerTable_Default(void) { // Quadro |
334 | uint8_t i; |
334 | uint8_t i; |
335 | Mixer.Revision = EEMIXER_REVISION; |
335 | Mixer.Revision = EEMIXER_REVISION; |
336 | // clear mixer table (but preset throttle) |
336 | // clear mixer table (but preset throttle) |
337 | for (i = 0; i < 16; i++) { |
337 | for (i = 0; i < 16; i++) { |
338 | Mixer.Motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
338 | Mixer.Motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0; |
339 | Mixer.Motor[i][MIX_PITCH] = 0; |
339 | Mixer.Motor[i][MIX_PITCH] = 0; |
340 | Mixer.Motor[i][MIX_ROLL] = 0; |
340 | Mixer.Motor[i][MIX_ROLL] = 0; |
341 | Mixer.Motor[i][MIX_YAW] = 0; |
341 | Mixer.Motor[i][MIX_YAW] = 0; |
342 | } |
342 | } |
343 | // default = Quadro |
343 | // default = Quadro |
344 | Mixer.Motor[0][MIX_PITCH] = +64; |
344 | Mixer.Motor[0][MIX_PITCH] = +64; |
345 | Mixer.Motor[0][MIX_YAW] = +64; |
345 | Mixer.Motor[0][MIX_YAW] = +64; |
346 | Mixer.Motor[1][MIX_PITCH] = -64; |
346 | Mixer.Motor[1][MIX_PITCH] = -64; |
347 | Mixer.Motor[1][MIX_YAW] = +64; |
347 | Mixer.Motor[1][MIX_YAW] = +64; |
348 | Mixer.Motor[2][MIX_ROLL] = -64; |
348 | Mixer.Motor[2][MIX_ROLL] = -64; |
349 | Mixer.Motor[2][MIX_YAW] = -64; |
349 | Mixer.Motor[2][MIX_YAW] = -64; |
350 | Mixer.Motor[3][MIX_ROLL] = +64; |
350 | Mixer.Motor[3][MIX_ROLL] = +64; |
351 | Mixer.Motor[3][MIX_YAW] = -64; |
351 | Mixer.Motor[3][MIX_YAW] = -64; |
352 | memcpy(Mixer.Name, "Quadro\0", 7); |
352 | memcpy(Mixer.Name, "Quadro\0", 7); |
353 | } |
353 | } |
354 | 354 | ||
355 | /***************************************************/ |
355 | /***************************************************/ |
356 | /* Initialize EEPROM Parameter Sets */ |
356 | /* Initialize EEPROM Parameter Sets */ |
357 | /***************************************************/ |
357 | /***************************************************/ |
358 | void ParamSet_Init(void) { |
358 | void ParamSet_Init(void) { |
359 | uint8_t Channel_Backup = 1, i, j; |
359 | uint8_t Channel_Backup = 1, i, j; |
360 | // parameter version check |
360 | // parameter version check |
361 | if (eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) { |
361 | if (eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) { |
362 | // if version check faild |
362 | // if version check faild |
363 | printf("\n\rInit Parameter in EEPROM"); |
363 | printf("\n\rInit Parameter in EEPROM"); |
364 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table |
364 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table |
365 | // check if channel mapping backup is valid |
365 | // check if channel mapping backup is valid |
366 | for (j = 0; j < 4 && Channel_Backup; j++) { |
366 | for (j = 0; j < 4 && Channel_Backup; j++) { |
367 | if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS + 0]) >= 12) |
367 | if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS + 0]) >= 12) |
368 | Channel_Backup = 0; |
368 | Channel_Backup = 0; |
369 | } |
369 | } |
370 | // fill all 5 parameter settings |
370 | // fill all 5 parameter settings |
371 | for (i = 1; i < 6; i++) { |
371 | for (i = 1; i < 6; i++) { |
372 | switch (i) { |
372 | switch (i) { |
373 | case 1: |
373 | case 1: |
374 | ParamSet_DefaultSet1(); // Fill staticParams Structure to default parameter set 1 (Sport) |
374 | ParamSet_DefaultSet1(); // Fill staticParams Structure to default parameter set 1 (Sport) |
375 | break; |
375 | break; |
376 | case 2: |
376 | case 2: |
377 | ParamSet_DefaultSet2(); // Kamera |
377 | ParamSet_DefaultSet2(); // Kamera |
378 | break; |
378 | break; |
379 | case 3: |
379 | case 3: |
380 | ParamSet_DefaultSet3(); // Beginner |
380 | ParamSet_DefaultSet3(); // Beginner |
381 | break; |
381 | break; |
382 | default: |
382 | default: |
383 | ParamSet_DefaultSet2(); // Kamera |
383 | ParamSet_DefaultSet2(); // Kamera |
384 | break; |
384 | break; |
385 | } |
385 | } |
386 | if (Channel_Backup) { // if we have a rc channel mapping backup in eeprom |
386 | if (Channel_Backup) { // if we have a rc channel mapping backup in eeprom |
387 | // restore it |
387 | // restore it |
388 | for (j = 0; j < 8; j++) { |
388 | for (j = 0; j < 8; j++) { |
389 | staticParams.ChannelAssignment[j] = eeprom_read_byte( |
389 | staticParams.ChannelAssignment[j] = eeprom_read_byte( |
390 | &EEPromArray[EEPROM_ADR_CHANNELS + j]); |
390 | &EEPromArray[EEPROM_ADR_CHANNELS + j]); |
391 | } |
391 | } |
392 | } |
392 | } |
393 | ParamSet_WriteToEEProm(i); |
393 | ParamSet_WriteToEEProm(i); |
394 | } |
394 | } |
395 | // default-Setting is parameter set 3 |
395 | // default-Setting is parameter set 3 |
396 | setActiveParamSet(1); |
396 | setActiveParamSet(1); |
397 | // update version info |
397 | // update version info |
398 | SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION); |
398 | SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION); |
399 | } |
399 | } |
400 | // read active parameter set to staticParams stucture |
400 | // read active parameter set to staticParams stucture |
401 | ParamSet_ReadFromEEProm(getActiveParamSet()); |
401 | ParamSet_ReadFromEEProm(getActiveParamSet()); |
402 | printf("\n\rUsing Parameter Set %d", getActiveParamSet()); |
402 | printf("\n\rUsing Parameter Set %d", getActiveParamSet()); |
403 | 403 | ||
404 | // load mixer table |
404 | // load mixer table |
405 | if (!MixerTable_ReadFromEEProm()) { |
405 | if (!MixerTable_ReadFromEEProm()) { |
406 | printf("\n\rGenerating default Mixer Table"); |
406 | printf("\n\rGenerating default Mixer Table"); |
407 | MixerTable_Default(); // Quadro |
407 | MixerTable_Default(); // Quadro |
408 | MixerTable_WriteToEEProm(); |
408 | MixerTable_WriteToEEProm(); |
409 | } |
409 | } |
410 | // determine motornumber |
410 | // determine motornumber |
411 | RequiredMotors = 0; |
411 | RequiredMotors = 0; |
412 | for (i = 0; i < 16; i++) { |
412 | for (i = 0; i < 16; i++) { |
413 | if (Mixer.Motor[i][MIX_THROTTLE] > 0) |
413 | if (Mixer.Motor[i][MIX_THROTTLE] > 0) |
414 | RequiredMotors++; |
414 | RequiredMotors++; |
415 | } |
415 | } |
416 | 416 | ||
417 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
417 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
418 | printf("\n\r=============================="); |
418 | printf("\n\r=============================="); |
419 | } |
419 | } |
420 | 420 |