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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + www.MikroKopter.com |
2 | // + www.MikroKopter.com |
3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
3 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // + Software Nutzungsbedingungen (english version: see below) |
4 | // + Software Nutzungsbedingungen (english version: see below) |
5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
5 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
6 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
7 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
8 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
9 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
11 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
12 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
13 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
14 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
15 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
16 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
17 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
18 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
19 | // + des Mitverschuldens offen. |
19 | // + des Mitverschuldens offen. |
20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
20 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
21 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
22 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
23 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
24 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
25 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
26 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
27 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Software LICENSING TERMS |
29 | // + Software LICENSING TERMS |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
31 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
32 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
32 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
33 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
34 | // + The Software may only be used with the Licensor's products. |
34 | // + The Software may only be used with the Licensor's products. |
35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
35 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
36 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
37 | // + agreement shall be the property of the Licensor. |
37 | // + agreement shall be the property of the Licensor. |
38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
38 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
39 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
40 | // + The customer shall be responsible for taking reasonable precautions |
40 | // + The customer shall be responsible for taking reasonable precautions |
41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
41 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
42 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
43 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
44 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
45 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
46 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
47 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
48 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
49 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
50 | // + #### END OF LICENSING TERMS #### |
50 | // + #### END OF LICENSING TERMS #### |
51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
51 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
53 | 53 | ||
54 | 54 | ||
55 | #ifndef EEMEM |
55 | #ifndef EEMEM |
56 | #define EEMEM __attribute__ ((section (".eeprom"))) |
56 | #define EEMEM __attribute__ ((section (".eeprom"))) |
57 | #endif |
57 | #endif |
58 | 58 | ||
59 | 59 | ||
60 | #include <avr/eeprom.h> |
60 | #include <avr/eeprom.h> |
61 | #include <string.h> |
61 | #include <string.h> |
62 | #include "eeprom.h" |
62 | #include "eeprom.h" |
63 | #include "uart.h" |
63 | #include "uart.h" |
64 | #include "led.h" |
64 | #include "led.h" |
65 | #include "main.h" |
65 | #include "main.h" |
66 | #include "fc.h" |
66 | #include "fc.h" |
67 | #include "twimaster.h" |
67 | #include "twimaster.h" |
68 | 68 | ||
69 | paramset_t EE_Parameter; |
69 | paramset_t EE_Parameter; |
70 | MixerTable_t Mixer; |
70 | MixerTable_t Mixer; |
71 | uint8_t RequiredMotors; |
71 | uint8_t RequiredMotors; |
72 | 72 | ||
73 | 73 | ||
74 | uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len) |
74 | uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len) |
75 | { |
75 | { |
76 | uint8_t crc = 0xAA; |
76 | uint8_t crc = 0xAA; |
77 | uint16_t i; |
77 | uint16_t i; |
78 | 78 | ||
79 | for(i=0; i<len; i++) |
79 | for(i=0; i<len; i++) |
80 | { |
80 | { |
81 | crc += pBuffer[i]; |
81 | crc += pBuffer[i]; |
82 | } |
82 | } |
83 | return crc; |
83 | return crc; |
84 | } |
84 | } |
85 | 85 | ||
86 | uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len) |
86 | uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len) |
87 | { |
87 | { |
88 | uint8_t crc = 0xAA; |
88 | uint8_t crc = 0xAA; |
89 | uint16_t off; |
89 | uint16_t off; |
90 | 90 | ||
91 | for(off=0; off<len; off++) |
91 | for(off=0; off<len; off++) |
92 | { |
92 | { |
93 | crc += eeprom_read_byte((uint8_t*)(EEAddr + off));; |
93 | crc += eeprom_read_byte((uint8_t*)(EEAddr + off));; |
94 | } |
94 | } |
95 | return crc; |
95 | return crc; |
96 | } |
96 | } |
97 | 97 | ||
98 | void ParamSet_DefaultStickMapping(void) |
98 | void ParamSet_DefaultStickMapping(void) |
99 | { |
99 | { |
100 | EE_Parameter.Kanalbelegung[K_GAS] = 1; |
100 | EE_Parameter.Kanalbelegung[K_GAS] = 1; |
101 | EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
101 | EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
102 | EE_Parameter.Kanalbelegung[K_NICK] = 3; |
102 | EE_Parameter.Kanalbelegung[K_NICK] = 3; |
103 | EE_Parameter.Kanalbelegung[K_GIER] = 4; |
103 | EE_Parameter.Kanalbelegung[K_GIER] = 4; |
104 | EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
104 | EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
105 | EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
105 | EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
106 | EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
106 | EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
107 | EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
107 | EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
108 | EE_Parameter.Kanalbelegung[K_POTI5] = 9; |
108 | EE_Parameter.Kanalbelegung[K_POTI5] = 9; |
109 | EE_Parameter.Kanalbelegung[K_POTI6] = 10; |
109 | EE_Parameter.Kanalbelegung[K_POTI6] = 10; |
110 | EE_Parameter.Kanalbelegung[K_POTI7] = 11; |
110 | EE_Parameter.Kanalbelegung[K_POTI7] = 11; |
111 | EE_Parameter.Kanalbelegung[K_POTI8] = 12; |
111 | EE_Parameter.Kanalbelegung[K_POTI8] = 12; |
112 | } |
112 | } |
113 | 113 | ||
114 | 114 | ||
115 | /***************************************************/ |
115 | /***************************************************/ |
116 | /* Default Values for parameter set 1 */ |
116 | /* Default Values for parameter set 1 */ |
117 | /***************************************************/ |
117 | /***************************************************/ |
118 | void CommonDefaults(void) |
118 | void CommonDefaults(void) |
119 | { |
119 | { |
120 | EE_Parameter.Revision = EEPARAM_REVISION; |
120 | EE_Parameter.Revision = EEPARAM_REVISION; |
121 | memset(EE_Parameter.Name,0,12); // delete name |
121 | memset(EE_Parameter.Name,0,12); // delete name |
122 | if(PlatinenVersion >= 20) |
122 | if(PlatinenVersion >= 20) |
123 | { |
123 | { |
124 | EE_Parameter.Gyro_D = 10; |
124 | EE_Parameter.Gyro_D = 10; |
125 | EE_Parameter.Driftkomp = 0; |
125 | EE_Parameter.Driftkomp = 0; |
126 | EE_Parameter.GyroAccFaktor = 27; |
126 | EE_Parameter.GyroAccFaktor = 27; |
127 | EE_Parameter.WinkelUmschlagNick = 78; |
127 | EE_Parameter.WinkelUmschlagNick = 78; |
128 | EE_Parameter.WinkelUmschlagRoll = 78; |
128 | EE_Parameter.WinkelUmschlagRoll = 78; |
129 | } |
129 | } |
130 | else |
130 | else |
131 | { |
131 | { |
132 | EE_Parameter.Gyro_D = 3; |
132 | EE_Parameter.Gyro_D = 3; |
133 | EE_Parameter.Driftkomp = 32; |
133 | EE_Parameter.Driftkomp = 32; |
134 | EE_Parameter.GyroAccFaktor = 30; |
134 | EE_Parameter.GyroAccFaktor = 30; |
135 | EE_Parameter.WinkelUmschlagNick = 85; |
135 | EE_Parameter.WinkelUmschlagNick = 85; |
136 | EE_Parameter.WinkelUmschlagRoll = 85; |
136 | EE_Parameter.WinkelUmschlagRoll = 85; |
137 | } |
137 | } |
138 | EE_Parameter.GyroAccAbgleich = 32; // 1/k |
138 | EE_Parameter.GyroAccAbgleich = 32; // 1/k |
139 | EE_Parameter.BitConfig = 0; // Looping usw. |
139 | EE_Parameter.BitConfig = 0; // Looping usw. |
140 | EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
140 | EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
141 | EE_Parameter.ExtraConfig = CFG_GPS_AID | CFG2_VARIO_BEEP | CFG_LEARNABLE_CAREFREE; |
141 | EE_Parameter.ExtraConfig = CFG_GPS_AID | CFG2_VARIO_BEEP | CFG_LEARNABLE_CAREFREE; |
142 | EE_Parameter.Receiver = RECEIVER_HOTT; |
142 | EE_Parameter.Receiver = RECEIVER_HOTT; |
143 | EE_Parameter.MotorSafetySwitch = 0; |
143 | EE_Parameter.MotorSafetySwitch = 0; |
144 | EE_Parameter.ExternalControl = 0; |
144 | EE_Parameter.ExternalControl = 0; |
145 | 145 | ||
146 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
146 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
147 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
147 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
148 | EE_Parameter.KompassWirkung = 64; // Wert : 0-247 |
148 | EE_Parameter.KompassWirkung = 64; // Wert : 0-247 |
149 | 149 | ||
150 | EE_Parameter.Hoehe_MinGas = 30; |
150 | EE_Parameter.Hoehe_MinGas = 30; |
151 | EE_Parameter.HoeheChannel = 5; // Wert : 0-32 |
151 | EE_Parameter.HoeheChannel = 5; // Wert : 0-32 |
152 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
152 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
153 | if(ACC_AltitudeControl) |
153 | if(ACC_AltitudeControl) |
154 | { |
154 | { |
155 | EE_Parameter.Hoehe_P = 20; // Wert : 0-32 |
155 | EE_Parameter.Hoehe_P = 20; // Wert : 0-32 |
156 | EE_Parameter.Luftdruck_D = 40; // Wert : 0-247 |
156 | EE_Parameter.Luftdruck_D = 40; // Wert : 0-247 |
157 | EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-247 |
157 | EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-247 |
158 | EE_Parameter.Hoehe_HoverBand = 1; // Wert : 0-247 |
158 | EE_Parameter.Hoehe_HoverBand = 1; // Wert : 0-247 |
159 | EE_Parameter.Hoehe_GPS_Z = 0; // Wert : 0-247 |
159 | EE_Parameter.Hoehe_GPS_Z = 0; // Wert : 0-247 |
160 | EE_Parameter.Hoehe_StickNeutralPoint = 127;// Wert : 0-247 (0 = Hover-Estimation) |
160 | EE_Parameter.Hoehe_StickNeutralPoint = 127;// Wert : 0-247 (0 = Hover-Estimation) |
161 | EE_Parameter.GlobalConfig3 = CFG3_SPEAK_ALL;// |
161 | EE_Parameter.GlobalConfig3 = CFG3_SPEAK_ALL;// |
162 | EE_Parameter.FailSafeTime = 30; // 0 = off |
162 | EE_Parameter.FailSafeTime = 30; // 0 = off |
163 | } |
163 | } |
164 | else |
164 | else |
165 | #endif |
165 | #endif |
166 | { |
166 | { |
167 | EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
167 | EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
168 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
168 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
169 | EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
169 | EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
170 | EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
170 | EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
171 | EE_Parameter.Hoehe_GPS_Z = 20; // Wert : 0-247 |
171 | EE_Parameter.Hoehe_GPS_Z = 20; // Wert : 0-247 |
172 | EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
172 | EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
173 | EE_Parameter.GlobalConfig3 = CFG3_SPEAK_ALL; |
173 | EE_Parameter.GlobalConfig3 = CFG3_SPEAK_ALL; |
174 | EE_Parameter.FailSafeTime = 0; // 0 = off |
174 | EE_Parameter.FailSafeTime = 0; // 0 = off |
175 | } |
175 | } |
176 | 176 | ||
177 | EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 (15 -> ca. +/- 5m/sek bei Stick-Voll-Ausschlag) |
177 | EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 (15 -> ca. +/- 5m/sek bei Stick-Voll-Ausschlag) |
178 | EE_Parameter.StartLandChannel = 0; |
178 | EE_Parameter.StartLandChannel = 0; |
179 | EE_Parameter.LandingSpeed = 12; |
179 | EE_Parameter.LandingSpeed = 12; |
180 | 180 | ||
181 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
181 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
182 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
182 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
183 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
183 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
184 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
184 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
185 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
185 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
186 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
186 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
187 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
187 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
188 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
188 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
189 | 189 | ||
190 | EE_Parameter.ServoNickControl = 128; // Wert : 0-247 // Stellung des Servos |
190 | EE_Parameter.ServoNickControl = 128; // Wert : 0-247 // Stellung des Servos |
191 | EE_Parameter.ServoNickComp = 50; // Wert : 0-247 // Einfluss Gyro/Servo |
191 | EE_Parameter.ServoNickComp = 50; // Wert : 0-247 // Einfluss Gyro/Servo |
192 | EE_Parameter.ServoCompInvert = 2; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
192 | EE_Parameter.ServoCompInvert = 2; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
193 | EE_Parameter.ServoNickMin = 15; // Wert : 0-247 // Anschlag |
193 | EE_Parameter.ServoNickMin = 24; // Wert : 0-247 // Anschlag |
194 | EE_Parameter.ServoNickMax = 230; // Wert : 0-247 // Anschlag |
194 | EE_Parameter.ServoNickMax = 230; // Wert : 0-247 // Anschlag |
195 | EE_Parameter.ServoNickRefresh = 4; |
195 | EE_Parameter.ServoNickRefresh = 4; |
196 | EE_Parameter.Servo3 = 125; |
196 | EE_Parameter.Servo3 = 125; |
197 | EE_Parameter.Servo4 = 125; |
197 | EE_Parameter.Servo4 = 125; |
198 | EE_Parameter.Servo5 = 125; |
198 | EE_Parameter.Servo5 = 125; |
199 | EE_Parameter.ServoRollControl = 128; // Wert : 0-247 // Stellung des Servos |
199 | EE_Parameter.ServoRollControl = 128; // Wert : 0-247 // Stellung des Servos |
200 | EE_Parameter.ServoRollComp = 85; // Wert : 0-247 // Einfluss Gyro/Servo |
200 | EE_Parameter.ServoRollComp = 85; // Wert : 0-247 // Einfluss Gyro/Servo |
201 | EE_Parameter.ServoRollMin = 70; // Wert : 0-247 // Anschlag |
201 | EE_Parameter.ServoRollMin = 70; // Wert : 0-247 // Anschlag |
202 | EE_Parameter.ServoRollMax = 220; // Wert : 0-247 // Anschlag |
202 | EE_Parameter.ServoRollMax = 220; // Wert : 0-247 // Anschlag |
203 | EE_Parameter.ServoManualControlSpeed = 60; |
203 | EE_Parameter.ServoManualControlSpeed = 60; |
204 | EE_Parameter.CamOrientation = 0; // Wert : 0-24 -> 0-360 -> 15° steps |
204 | EE_Parameter.CamOrientation = 0; // Wert : 0-24 -> 0-360 -> 15° steps |
205 | 205 | ||
206 | EE_Parameter.J16Bitmask = 95; |
206 | EE_Parameter.J16Bitmask = 95; |
207 | EE_Parameter.J17Bitmask = 243; |
207 | EE_Parameter.J17Bitmask = 243; |
208 | EE_Parameter.WARN_J16_Bitmask = 0xAA; |
208 | EE_Parameter.WARN_J16_Bitmask = 0xAA; |
209 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
209 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
210 | EE_Parameter.J16Timing = 40; |
210 | EE_Parameter.J16Timing = 40; |
211 | EE_Parameter.J17Timing = 40; |
211 | EE_Parameter.J17Timing = 40; |
212 | EE_Parameter.NaviOut1Parameter = 0; // Photo release in meter |
212 | EE_Parameter.NaviOut1Parameter = 0; // Photo release in meter |
213 | EE_Parameter.LoopGasLimit = 50; |
213 | EE_Parameter.LoopGasLimit = 50; |
214 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
214 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
215 | EE_Parameter.LoopHysterese = 50; |
215 | EE_Parameter.LoopHysterese = 50; |
216 | 216 | ||
217 | EE_Parameter.NaviGpsModeChannel = 6; // Kanal 6 |
217 | EE_Parameter.NaviGpsModeChannel = 6; // Kanal 6 |
218 | EE_Parameter.NaviGpsGain = 100; |
218 | EE_Parameter.NaviGpsGain = 100; |
219 | EE_Parameter.NaviGpsP = 100; |
219 | EE_Parameter.NaviGpsP = 100; |
220 | EE_Parameter.NaviGpsI = 90; |
220 | EE_Parameter.NaviGpsI = 90; |
221 | EE_Parameter.NaviGpsD = 120; |
221 | EE_Parameter.NaviGpsD = 120; |
222 | EE_Parameter.NaviGpsA = 40; |
222 | EE_Parameter.NaviGpsA = 40; |
223 | EE_Parameter.NaviGpsPLimit = 75; |
223 | EE_Parameter.NaviGpsPLimit = 75; |
224 | EE_Parameter.NaviGpsILimit = 85; |
224 | EE_Parameter.NaviGpsILimit = 85; |
225 | EE_Parameter.NaviGpsDLimit = 75; |
225 | EE_Parameter.NaviGpsDLimit = 75; |
226 | EE_Parameter.NaviGpsMinSat = 6; |
226 | EE_Parameter.NaviGpsMinSat = 6; |
227 | EE_Parameter.NaviStickThreshold = 8; |
227 | EE_Parameter.NaviStickThreshold = 8; |
228 | EE_Parameter.NaviWindCorrection = 50; |
228 | EE_Parameter.NaviWindCorrection = 50; |
229 | EE_Parameter.NaviAccCompensation = 42; |
229 | EE_Parameter.NaviAccCompensation = 42; |
230 | EE_Parameter.NaviOperatingRadius = 245; |
230 | EE_Parameter.NaviOperatingRadius = 245; |
231 | EE_Parameter.NaviAngleLimitation = 140; |
231 | EE_Parameter.NaviAngleLimitation = 140; |
232 | EE_Parameter.NaviPH_LoginTime = 2; |
232 | EE_Parameter.NaviPH_LoginTime = 2; |
233 | EE_Parameter.OrientationAngle = 0; |
233 | EE_Parameter.OrientationAngle = 0; |
234 | EE_Parameter.CareFreeChannel = 0; |
234 | EE_Parameter.CareFreeChannel = 0; |
235 | EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
235 | EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
236 | EE_Parameter.NotGas = 65; // Wert : 0-247 // Gaswert bei Empangsverlust (ggf. in Prozent) |
236 | EE_Parameter.NotGas = 65; // Wert : 0-247 // Gaswert bei Empangsverlust (ggf. in Prozent) |
237 | EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
237 | EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
238 | EE_Parameter.MotorSmooth = 0; |
238 | EE_Parameter.MotorSmooth = 0; |
239 | EE_Parameter.ComingHomeAltitude = 0; // 0 = don't change |
239 | EE_Parameter.ComingHomeAltitude = 0; // 0 = don't change |
240 | EE_Parameter.MaxAltitude = 150; // 0 = off |
240 | EE_Parameter.MaxAltitude = 150; // 0 = off |
241 | EE_Parameter.AchsKopplung1 = 125; |
241 | EE_Parameter.AchsKopplung1 = 125; |
242 | EE_Parameter.AchsKopplung2 = 52; |
242 | EE_Parameter.AchsKopplung2 = 52; |
243 | EE_Parameter.FailsafeChannel = 0; |
243 | EE_Parameter.FailsafeChannel = 0; |
244 | EE_Parameter.ServoFilterNick = 0; |
244 | EE_Parameter.ServoFilterNick = 0; |
245 | EE_Parameter.ServoFilterRoll = 0; |
245 | EE_Parameter.ServoFilterRoll = 0; |
246 | } |
246 | } |
247 | /* |
247 | /* |
248 | void ParamSet_DefaultSet1(void) // sport |
248 | void ParamSet_DefaultSet1(void) // sport |
249 | { |
249 | { |
250 | CommonDefaults(); |
250 | CommonDefaults(); |
251 | EE_Parameter.Stick_P = 14; // Wert : 1-20 |
251 | EE_Parameter.Stick_P = 14; // Wert : 1-20 |
252 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
252 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
253 | EE_Parameter.StickGier_P = 12; // Wert : 1-20 |
253 | EE_Parameter.StickGier_P = 12; // Wert : 1-20 |
254 | EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
254 | EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
255 | EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
255 | EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
256 | EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
256 | EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
257 | EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
257 | EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
258 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
258 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
259 | EE_Parameter.I_Faktor = 32; |
259 | EE_Parameter.I_Faktor = 32; |
260 | EE_Parameter.CouplingYawCorrection = 1; |
260 | EE_Parameter.CouplingYawCorrection = 1; |
261 | EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
261 | EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
262 | EE_Parameter.DynamicStability = 100; |
262 | EE_Parameter.DynamicStability = 100; |
263 | memcpy(EE_Parameter.Name, "Sport\0", 12); |
263 | memcpy(EE_Parameter.Name, "Sport\0", 12); |
264 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
264 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
265 | } |
265 | } |
266 | */ |
266 | */ |
267 | 267 | ||
268 | /***************************************************/ |
268 | /***************************************************/ |
269 | /* Default Values for parameter set 1 */ |
269 | /* Default Values for parameter set 1 */ |
270 | /***************************************************/ |
270 | /***************************************************/ |
271 | void ParamSet_DefaultSet1(void) // normal |
271 | void ParamSet_DefaultSet1(void) // normal |
272 | { |
272 | { |
273 | CommonDefaults(); |
273 | CommonDefaults(); |
274 | EE_Parameter.Stick_P = 10; // Wert : 1-20 |
274 | EE_Parameter.Stick_P = 10; // Wert : 1-20 |
275 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
275 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
276 | EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
276 | EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
277 | EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
277 | EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
278 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
278 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
279 | EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
279 | EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
280 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
280 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
281 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
281 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
282 | EE_Parameter.I_Faktor = 32; |
282 | EE_Parameter.I_Faktor = 32; |
283 | EE_Parameter.CouplingYawCorrection = 60; |
283 | EE_Parameter.CouplingYawCorrection = 60; |
284 | EE_Parameter.DynamicStability = 75; |
284 | EE_Parameter.DynamicStability = 75; |
285 | memcpy(EE_Parameter.Name, "Fast",4); |
285 | memcpy(EE_Parameter.Name, "Fast",4); |
286 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
286 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
287 | } |
287 | } |
288 | 288 | ||
289 | 289 | ||
290 | /***************************************************/ |
290 | /***************************************************/ |
291 | /* Default Values for parameter set 2 */ |
291 | /* Default Values for parameter set 2 */ |
292 | /***************************************************/ |
292 | /***************************************************/ |
293 | void ParamSet_DefaultSet2(void) // Agil |
293 | void ParamSet_DefaultSet2(void) // Agil |
294 | { |
294 | { |
295 | CommonDefaults(); |
295 | CommonDefaults(); |
296 | EE_Parameter.Stick_P = 8; // Wert : 1-20 |
296 | EE_Parameter.Stick_P = 8; // Wert : 1-20 |
297 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
297 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
298 | EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
298 | EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
299 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
299 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
300 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
300 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
301 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
301 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
302 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
302 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
303 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
303 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
304 | EE_Parameter.I_Faktor = 16; |
304 | EE_Parameter.I_Faktor = 16; |
305 | EE_Parameter.CouplingYawCorrection = 70; |
305 | EE_Parameter.CouplingYawCorrection = 70; |
306 | EE_Parameter.DynamicStability = 70; |
306 | EE_Parameter.DynamicStability = 70; |
307 | memcpy(EE_Parameter.Name, "Agile",5); |
307 | memcpy(EE_Parameter.Name, "Agile",5); |
308 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
308 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
309 | } |
309 | } |
310 | 310 | ||
311 | /***************************************************/ |
311 | /***************************************************/ |
312 | /* Default Values for parameter set 3 */ |
312 | /* Default Values for parameter set 3 */ |
313 | /***************************************************/ |
313 | /***************************************************/ |
314 | void ParamSet_DefaultSet3(void) // Easy |
314 | void ParamSet_DefaultSet3(void) // Easy |
315 | { |
315 | { |
316 | CommonDefaults(); |
316 | CommonDefaults(); |
317 | EE_Parameter.Stick_P = 6; // Wert : 1-20 |
317 | EE_Parameter.Stick_P = 6; // Wert : 1-20 |
318 | EE_Parameter.Stick_D = 10; // Wert : 0-20 |
318 | EE_Parameter.Stick_D = 10; // Wert : 0-20 |
319 | EE_Parameter.StickGier_P = 4; // Wert : 1-20 |
319 | EE_Parameter.StickGier_P = 4; // Wert : 1-20 |
320 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
320 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
321 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
321 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
322 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
322 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
323 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
323 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
324 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
324 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
325 | EE_Parameter.I_Faktor = 16; |
325 | EE_Parameter.I_Faktor = 16; |
326 | EE_Parameter.CouplingYawCorrection = 70; |
326 | EE_Parameter.CouplingYawCorrection = 70; |
327 | EE_Parameter.DynamicStability = 70; |
327 | EE_Parameter.DynamicStability = 70; |
328 | memcpy(EE_Parameter.Name, "Easy", 4); |
328 | memcpy(EE_Parameter.Name, "Easy", 4); |
329 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
329 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
330 | } |
330 | } |
331 | 331 | ||
332 | 332 | ||
333 | /***************************************************/ |
333 | /***************************************************/ |
334 | /* Read Parameter from EEPROM as byte */ |
334 | /* Read Parameter from EEPROM as byte */ |
335 | /***************************************************/ |
335 | /***************************************************/ |
336 | uint8_t GetParamByte(uint16_t param_id) |
336 | uint8_t GetParamByte(uint16_t param_id) |
337 | { |
337 | { |
338 | return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
338 | return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
339 | } |
339 | } |
340 | 340 | ||
341 | /***************************************************/ |
341 | /***************************************************/ |
342 | /* Write Parameter to EEPROM as byte */ |
342 | /* Write Parameter to EEPROM as byte */ |
343 | /***************************************************/ |
343 | /***************************************************/ |
344 | void SetParamByte(uint16_t param_id, uint8_t value) |
344 | void SetParamByte(uint16_t param_id, uint8_t value) |
345 | { |
345 | { |
346 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
346 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
347 | } |
347 | } |
348 | 348 | ||
349 | /***************************************************/ |
349 | /***************************************************/ |
350 | /* Read Parameter from EEPROM as word */ |
350 | /* Read Parameter from EEPROM as word */ |
351 | /***************************************************/ |
351 | /***************************************************/ |
352 | uint16_t GetParamWord(uint16_t param_id) |
352 | uint16_t GetParamWord(uint16_t param_id) |
353 | { |
353 | { |
354 | return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
354 | return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
355 | } |
355 | } |
356 | 356 | ||
357 | /***************************************************/ |
357 | /***************************************************/ |
358 | /* Write Parameter to EEPROM as word */ |
358 | /* Write Parameter to EEPROM as word */ |
359 | /***************************************************/ |
359 | /***************************************************/ |
360 | void SetParamWord(uint16_t param_id, uint16_t value) |
360 | void SetParamWord(uint16_t param_id, uint16_t value) |
361 | { |
361 | { |
362 | eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
362 | eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
363 | } |
363 | } |
364 | 364 | ||
365 | /***************************************************/ |
365 | /***************************************************/ |
366 | /* Read Parameter Set from EEPROM */ |
366 | /* Read Parameter Set from EEPROM */ |
367 | /***************************************************/ |
367 | /***************************************************/ |
368 | // number [1..5] |
368 | // number [1..5] |
369 | uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
369 | uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
370 | { |
370 | { |
371 | uint8_t crc; |
371 | uint8_t crc; |
372 | uint16_t eeaddr; |
372 | uint16_t eeaddr; |
373 | 373 | ||
374 | // range the setnumber |
374 | // range the setnumber |
375 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
375 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
376 | 376 | ||
377 | // calculate eeprom addr |
377 | // calculate eeprom addr |
378 | eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
378 | eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
379 | 379 | ||
380 | // calculate checksum from eeprom |
380 | // calculate checksum from eeprom |
381 | crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
381 | crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
382 | 382 | ||
383 | // check crc |
383 | // check crc |
384 | if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
384 | if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
385 | 385 | ||
386 | // check revision |
386 | // check revision |
387 | if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0; |
387 | if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0; |
388 | 388 | ||
389 | // read paramset from eeprom |
389 | // read paramset from eeprom |
390 | eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
390 | eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
391 | LED_Init(); |
391 | LED_Init(); |
392 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
392 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
393 | LIBFC_HoTT_Clear(); |
393 | LIBFC_HoTT_Clear(); |
394 | #endif |
394 | #endif |
395 | return 1; |
395 | return 1; |
396 | } |
396 | } |
397 | 397 | ||
398 | /***************************************************/ |
398 | /***************************************************/ |
399 | /* Write Parameter Set to EEPROM */ |
399 | /* Write Parameter Set to EEPROM */ |
400 | /***************************************************/ |
400 | /***************************************************/ |
401 | // number [1..5] |
401 | // number [1..5] |
402 | uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
402 | uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
403 | { |
403 | { |
404 | uint8_t crc; |
404 | uint8_t crc; |
405 | 405 | ||
406 | if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
406 | if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
407 | { |
407 | { |
408 | if(setnumber > 5) setnumber = 5; |
408 | if(setnumber > 5) setnumber = 5; |
409 | if(setnumber < 1) return 0; |
409 | if(setnumber < 1) return 0; |
410 | LIBFC_CheckSettings(); |
410 | LIBFC_CheckSettings(); |
411 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) // check the Setting: Not more than 100% emergency gas |
411 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) // check the Setting: Not more than 100% emergency gas |
412 | { |
412 | { |
413 | if(EE_Parameter.NotGas > 99) EE_Parameter.NotGas = 80; // i.e. 80% of Hovergas |
413 | if(EE_Parameter.NotGas > 99) EE_Parameter.NotGas = 80; // i.e. 80% of Hovergas |
414 | } |
414 | } |
415 | // update checksum |
415 | // update checksum |
416 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
416 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
417 | 417 | ||
418 | // write paramset to eeprom |
418 | // write paramset to eeprom |
419 | eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
419 | eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
420 | 420 | ||
421 | // backup channel settings to separate block in eeprom |
421 | // backup channel settings to separate block in eeprom |
422 | eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
422 | eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
423 | 423 | ||
424 | // write crc of channel block to eeprom |
424 | // write crc of channel block to eeprom |
425 | crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
425 | crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
426 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
426 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
427 | 427 | ||
428 | // update active settings number |
428 | // update active settings number |
429 | SetActiveParamSet(setnumber); |
429 | SetActiveParamSet(setnumber); |
430 | LED_Init(); |
430 | LED_Init(); |
431 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
431 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
432 | LIBFC_HoTT_Clear(); |
432 | LIBFC_HoTT_Clear(); |
433 | #endif |
433 | #endif |
434 | return 1; |
434 | return 1; |
435 | } |
435 | } |
436 | // wrong revision |
436 | // wrong revision |
437 | return 0; |
437 | return 0; |
438 | } |
438 | } |
439 | 439 | ||
440 | /***************************************************/ |
440 | /***************************************************/ |
441 | /* Read MixerTable from EEPROM */ |
441 | /* Read MixerTable from EEPROM */ |
442 | /***************************************************/ |
442 | /***************************************************/ |
443 | uint8_t MixerTable_ReadFromEEProm(void) |
443 | uint8_t MixerTable_ReadFromEEProm(void) |
444 | { |
444 | { |
445 | uint8_t crc; |
445 | uint8_t crc; |
446 | 446 | ||
447 | // calculate checksum in eeprom |
447 | // calculate checksum in eeprom |
448 | crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
448 | crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
449 | 449 | ||
450 | // check crc |
450 | // check crc |
451 | if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
451 | if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
452 | 452 | ||
453 | // check revision |
453 | // check revision |
454 | if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
454 | if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
455 | 455 | ||
456 | // read mixer table |
456 | // read mixer table |
457 | eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
457 | eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
458 | return 1; |
458 | return 1; |
459 | } |
459 | } |
460 | 460 | ||
461 | /***************************************************/ |
461 | /***************************************************/ |
462 | /* Write Mixer Table to EEPROM */ |
462 | /* Write Mixer Table to EEPROM */ |
463 | /***************************************************/ |
463 | /***************************************************/ |
464 | uint8_t MixerTable_WriteToEEProm(void) |
464 | uint8_t MixerTable_WriteToEEProm(void) |
465 | { |
465 | { |
466 | if(Mixer.Revision == EEMIXER_REVISION) |
466 | if(Mixer.Revision == EEMIXER_REVISION) |
467 | { |
467 | { |
468 | // update crc |
468 | // update crc |
469 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
469 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
470 | 470 | ||
471 | // write to eeprom |
471 | // write to eeprom |
472 | eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
472 | eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
473 | return 1; |
473 | return 1; |
474 | } |
474 | } |
475 | else return 0; |
475 | else return 0; |
476 | } |
476 | } |
477 | 477 | ||
478 | /***************************************************/ |
478 | /***************************************************/ |
479 | /* Default Values for Mixer Table */ |
479 | /* Default Values for Mixer Table */ |
480 | /***************************************************/ |
480 | /***************************************************/ |
481 | void MixerTable_Default(void) // Quadro |
481 | void MixerTable_Default(void) // Quadro |
482 | { |
482 | { |
483 | uint8_t i; |
483 | uint8_t i; |
484 | 484 | ||
485 | Mixer.Revision = EEMIXER_REVISION; |
485 | Mixer.Revision = EEMIXER_REVISION; |
486 | // clear mixer table |
486 | // clear mixer table |
487 | for(i = 0; i < 16; i++) |
487 | for(i = 0; i < 16; i++) |
488 | { |
488 | { |
489 | Mixer.Motor[i][MIX_GAS] = 0; |
489 | Mixer.Motor[i][MIX_GAS] = 0; |
490 | Mixer.Motor[i][MIX_NICK] = 0; |
490 | Mixer.Motor[i][MIX_NICK] = 0; |
491 | Mixer.Motor[i][MIX_ROLL] = 0; |
491 | Mixer.Motor[i][MIX_ROLL] = 0; |
492 | Mixer.Motor[i][MIX_YAW] = 0; |
492 | Mixer.Motor[i][MIX_YAW] = 0; |
493 | } |
493 | } |
494 | // default = Quadro |
494 | // default = Quadro |
495 | Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
495 | Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
496 | Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
496 | Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
497 | Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
497 | Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
498 | Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
498 | Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
499 | memcpy(Mixer.Name, "Quadro\0\0\0\0\0\0", 12); |
499 | memcpy(Mixer.Name, "Quadro\0\0\0\0\0\0", 12); |
500 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
500 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
501 | } |
501 | } |
502 | 502 | ||
503 | /***************************************************/ |
503 | /***************************************************/ |
504 | /* Get active parameter set */ |
504 | /* Get active parameter set */ |
505 | /***************************************************/ |
505 | /***************************************************/ |
506 | uint8_t GetActiveParamSet(void) |
506 | uint8_t GetActiveParamSet(void) |
507 | { |
507 | { |
508 | uint8_t setnumber; |
508 | uint8_t setnumber; |
509 | setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
509 | setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
510 | if(setnumber > 5) |
510 | if(setnumber > 5) |
511 | { |
511 | { |
512 | setnumber = 3; |
512 | setnumber = 3; |
513 | eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber); |
513 | eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber); |
514 | } |
514 | } |
515 | ActiveParamSet = setnumber; |
515 | ActiveParamSet = setnumber; |
516 | return(setnumber); |
516 | return(setnumber); |
517 | } |
517 | } |
518 | 518 | ||
519 | /***************************************************/ |
519 | /***************************************************/ |
520 | /* Set active parameter set */ |
520 | /* Set active parameter set */ |
521 | /***************************************************/ |
521 | /***************************************************/ |
522 | void SetActiveParamSet(uint8_t setnumber) |
522 | void SetActiveParamSet(uint8_t setnumber) |
523 | { |
523 | { |
524 | if(setnumber > 5) setnumber = 5; |
524 | if(setnumber > 5) setnumber = 5; |
525 | if(setnumber < 1) setnumber = 1; |
525 | if(setnumber < 1) setnumber = 1; |
526 | ActiveParamSet = setnumber; |
526 | ActiveParamSet = setnumber; |
527 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
527 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
528 | } |
528 | } |
529 | 529 | ||
530 | /***************************************************/ |
530 | /***************************************************/ |
531 | /* Set default parameter set */ |
531 | /* Set default parameter set */ |
532 | /***************************************************/ |
532 | /***************************************************/ |
533 | void SetDefaultParameter(uint8_t set, uint8_t restore_channels) |
533 | void SetDefaultParameter(uint8_t set, uint8_t restore_channels) |
534 | { |
534 | { |
535 | 535 | ||
536 | if(set > 5) set = 5; |
536 | if(set > 5) set = 5; |
537 | else if(set < 1) set = 1; |
537 | else if(set < 1) set = 1; |
538 | 538 | ||
539 | switch(set) |
539 | switch(set) |
540 | { |
540 | { |
541 | case 1: |
541 | case 1: |
542 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
542 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
543 | break; |
543 | break; |
544 | case 2: |
544 | case 2: |
545 | ParamSet_DefaultSet2(); // Kamera |
545 | ParamSet_DefaultSet2(); // Kamera |
546 | break; |
546 | break; |
547 | case 3: |
547 | case 3: |
548 | ParamSet_DefaultSet3(); // Beginner |
548 | ParamSet_DefaultSet3(); // Beginner |
549 | break; |
549 | break; |
550 | default: |
550 | default: |
551 | ParamSet_DefaultSet3(); // Beginner |
551 | ParamSet_DefaultSet3(); // Beginner |
552 | break; |
552 | break; |
553 | } |
553 | } |
554 | if(restore_channels) |
554 | if(restore_channels) |
555 | { |
555 | { |
556 | uint8_t crc; |
556 | uint8_t crc; |
557 | // 1st check for a valid channel backup in eeprom |
557 | // 1st check for a valid channel backup in eeprom |
558 | crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
558 | crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
559 | if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) |
559 | if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) |
560 | { |
560 | { |
561 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
561 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
562 | } |
562 | } |
563 | else ParamSet_DefaultStickMapping(); |
563 | else ParamSet_DefaultStickMapping(); |
564 | } |
564 | } |
565 | else ParamSet_DefaultStickMapping(); |
565 | else ParamSet_DefaultStickMapping(); |
566 | ParamSet_WriteToEEProm(set); |
566 | ParamSet_WriteToEEProm(set); |
567 | } |
567 | } |
568 | 568 | ||
569 | /***************************************************/ |
569 | /***************************************************/ |
570 | /* Initialize EEPROM Parameter Sets */ |
570 | /* Initialize EEPROM Parameter Sets */ |
571 | /***************************************************/ |
571 | /***************************************************/ |
572 | void ParamSet_Init(void) |
572 | void ParamSet_Init(void) |
573 | { |
573 | { |
574 | uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
574 | uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
575 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
575 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
576 | if(PlatinenVersion != GetParamByte(PID_HARDWARE_VERSION)) |
576 | if(PlatinenVersion != GetParamByte(PID_HARDWARE_VERSION)) |
577 | { |
577 | { |
578 | if(PlatinenVersion == 22 && GetParamByte(PID_HARDWARE_VERSION) == 21 && !(PIND & 0x10)) SetParamByte(PID_EE_REVISION,0); // reset the Settings if the Version changed to V2.2 |
578 | if(PlatinenVersion == 22 && GetParamByte(PID_HARDWARE_VERSION) == 21 && !(PIND & 0x10)) SetParamByte(PID_EE_REVISION,0); // reset the Settings if the Version changed to V2.2 |
579 | SetParamByte(PID_HARDWARE_VERSION,PlatinenVersion); // Remember the Version number |
579 | SetParamByte(PID_HARDWARE_VERSION,PlatinenVersion); // Remember the Version number |
580 | wdt_enable(WDTO_15MS); // Reset-Commando |
580 | wdt_enable(WDTO_15MS); // Reset-Commando |
581 | printf("\n\r--> Hardware Version Byte Changed <--"); |
581 | printf("\n\r--> Hardware Version Byte Changed <--"); |
582 | while(1); |
582 | while(1); |
583 | } |
583 | } |
584 | #endif |
584 | #endif |
585 | if((EEPARAM_REVISION) != GetParamByte(PID_EE_REVISION)) |
585 | if((EEPARAM_REVISION) != GetParamByte(PID_EE_REVISION)) |
586 | { |
586 | { |
587 | ee_default = 1; // software update or forced by mktool |
587 | ee_default = 1; // software update or forced by mktool |
588 | } |
588 | } |
589 | // 1st check for a valid channel backup in eeprom |
589 | // 1st check for a valid channel backup in eeprom |
590 | i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
590 | i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
591 | if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)))) channel_backup = 1; |
591 | if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)))) channel_backup = 1; |
592 | 592 | ||
593 | // parameter check |
593 | // parameter check |
594 | 594 | ||
595 | // check all 5 parameter settings |
595 | // check all 5 parameter settings |
596 | for (i = 1;i < 6; i++) |
596 | for (i = 1;i < 6; i++) |
597 | { |
597 | { |
598 | if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
598 | if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
599 | { |
599 | { |
600 | bad_params = 1; |
600 | bad_params = 1; |
601 | printf("\n\rGenerating default Parameter Set %d",i); |
601 | printf("\n\rGenerating default Parameter Set %d",i); |
602 | switch(i) |
602 | switch(i) |
603 | { |
603 | { |
604 | case 1: |
604 | case 1: |
605 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
605 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
606 | break; |
606 | break; |
607 | case 2: |
607 | case 2: |
608 | ParamSet_DefaultSet2(); // Normal |
608 | ParamSet_DefaultSet2(); // Normal |
609 | break; |
609 | break; |
610 | default: |
610 | default: |
611 | ParamSet_DefaultSet3(); // Easy |
611 | ParamSet_DefaultSet3(); // Easy |
612 | break; |
612 | break; |
613 | } |
613 | } |
614 | if(channel_backup) // if we have an channel mapping backup in eeprom |
614 | if(channel_backup) // if we have an channel mapping backup in eeprom |
615 | { // restore it from eeprom |
615 | { // restore it from eeprom |
616 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
616 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
617 | } |
617 | } |
618 | else |
618 | else |
619 | { // use default mapping |
619 | { // use default mapping |
620 | ParamSet_DefaultStickMapping(); |
620 | ParamSet_DefaultStickMapping(); |
621 | } |
621 | } |
622 | ParamSet_WriteToEEProm(i); |
622 | ParamSet_WriteToEEProm(i); |
623 | } |
623 | } |
624 | } |
624 | } |
625 | if(bad_params) // at least one of the parameter settings were invalid |
625 | if(bad_params) // at least one of the parameter settings were invalid |
626 | { |
626 | { |
627 | // default-Setting is parameter set 3 |
627 | // default-Setting is parameter set 3 |
628 | SetActiveParamSet(3); |
628 | SetActiveParamSet(3); |
629 | } |
629 | } |
630 | // read active parameter set to ParamSet stucture |
630 | // read active parameter set to ParamSet stucture |
631 | i = GetActiveParamSet(); |
631 | i = GetActiveParamSet(); |
632 | ParamSet_ReadFromEEProm(i); |
632 | ParamSet_ReadFromEEProm(i); |
633 | printf("\n\rUsing Parameter Set %d", i); |
633 | printf("\n\rUsing Parameter Set %d", i); |
634 | 634 | ||
635 | // load mixer table |
635 | // load mixer table |
636 | if(GetParamByte(PID_EE_REVISION) == 0xff || !MixerTable_ReadFromEEProm() ) |
636 | if(GetParamByte(PID_EE_REVISION) == 0xff || !MixerTable_ReadFromEEProm() ) |
637 | { |
637 | { |
638 | printf("\n\rGenerating default Mixer Table"); |
638 | printf("\n\rGenerating default Mixer Table"); |
639 | MixerTable_Default(); // Quadro |
639 | MixerTable_Default(); // Quadro |
640 | MixerTable_WriteToEEProm(); |
640 | MixerTable_WriteToEEProm(); |
641 | } |
641 | } |
642 | if(ee_default) SetParamByte(PID_EE_REVISION, (EEPARAM_REVISION)); |
642 | if(ee_default) SetParamByte(PID_EE_REVISION, (EEPARAM_REVISION)); |
643 | // determine motornumber |
643 | // determine motornumber |
644 | RequiredMotors = 0; |
644 | RequiredMotors = 0; |
645 | for(i = 0; i < 16; i++) |
645 | for(i = 0; i < 16; i++) |
646 | { |
646 | { |
647 | if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
647 | if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
648 | } |
648 | } |
649 | 649 | ||
650 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
650 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
651 | PrintLine();// ("\n\r==================================="); |
651 | PrintLine();// ("\n\r==================================="); |
652 | 652 | ||
653 | } |
653 | } |
654 | 654 |