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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; |
141 | EE_Parameter.ExtraConfig = CFG_GPS_AID | CFG2_VARIO_BEEP; |
142 | EE_Parameter.GlobalConfig3 = CFG3_SPEAK_ALL;//CFG3_VARIO_FAILSAFE; |
142 | EE_Parameter.GlobalConfig3 = CFG3_SPEAK_ALL;//CFG3_VARIO_FAILSAFE; |
143 | EE_Parameter.Receiver = RECEIVER_HOTT; |
143 | EE_Parameter.Receiver = RECEIVER_HOTT; |
144 | EE_Parameter.MotorSafetySwitch = 0; |
144 | EE_Parameter.MotorSafetySwitch = 0; |
145 | EE_Parameter.ExternalControl = 0; |
145 | EE_Parameter.ExternalControl = 0; |
146 | 146 | ||
147 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
147 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
148 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
148 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
149 | EE_Parameter.KompassWirkung = 64; // Wert : 0-247 |
149 | EE_Parameter.KompassWirkung = 64; // Wert : 0-247 |
150 | 150 | ||
151 | EE_Parameter.Hoehe_MinGas = 30; |
151 | EE_Parameter.Hoehe_MinGas = 30; |
152 | EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
152 | EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
153 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
153 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
154 | if(ACC_AltitudeControl) |
154 | if(ACC_AltitudeControl) |
155 | { |
155 | { |
156 | EE_Parameter.Hoehe_P = 20; // Wert : 0-32 |
156 | EE_Parameter.Hoehe_P = 20; // Wert : 0-32 |
157 | EE_Parameter.Luftdruck_D = 40; // Wert : 0-247 |
157 | EE_Parameter.Luftdruck_D = 40; // Wert : 0-247 |
158 | EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-247 |
158 | EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-247 |
159 | EE_Parameter.Hoehe_HoverBand = 1; // Wert : 0-247 |
159 | EE_Parameter.Hoehe_HoverBand = 1; // Wert : 0-247 |
160 | EE_Parameter.Hoehe_GPS_Z = 0; // Wert : 0-247 |
160 | EE_Parameter.Hoehe_GPS_Z = 0; // Wert : 0-247 |
161 | } |
161 | } |
162 | else |
162 | else |
163 | #endif |
163 | #endif |
164 | { |
164 | { |
165 | EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
165 | EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
166 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
166 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
167 | EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
167 | EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
168 | EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
168 | EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
169 | EE_Parameter.Hoehe_GPS_Z = 20; // Wert : 0-247 |
169 | EE_Parameter.Hoehe_GPS_Z = 20; // Wert : 0-247 |
170 | } |
170 | } |
171 | 171 | ||
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.Hoehe_Verstaerkung = 15; // Wert : 0-50 (15 -> ca. +/- 5m/sek bei Stick-Voll-Ausschlag) |
173 | EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 (15 -> ca. +/- 5m/sek bei Stick-Voll-Ausschlag) |
174 | 174 | ||
175 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
175 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
176 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
176 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
177 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
177 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
178 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
178 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
179 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
179 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
180 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
180 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
181 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
181 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
182 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
182 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
183 | 183 | ||
184 | EE_Parameter.ServoNickControl = 128; // Wert : 0-247 // Stellung des Servos |
184 | EE_Parameter.ServoNickControl = 128; // Wert : 0-247 // Stellung des Servos |
185 | EE_Parameter.ServoNickComp = 50; // Wert : 0-247 // Einfluss Gyro/Servo |
185 | EE_Parameter.ServoNickComp = 50; // Wert : 0-247 // Einfluss Gyro/Servo |
186 | EE_Parameter.ServoCompInvert = 2; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
186 | EE_Parameter.ServoCompInvert = 2; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
187 | EE_Parameter.ServoNickMin = 15; // Wert : 0-247 // Anschlag |
187 | EE_Parameter.ServoNickMin = 15; // Wert : 0-247 // Anschlag |
188 | EE_Parameter.ServoNickMax = 230; // Wert : 0-247 // Anschlag |
188 | EE_Parameter.ServoNickMax = 230; // Wert : 0-247 // Anschlag |
189 | EE_Parameter.ServoNickRefresh = 4; |
189 | EE_Parameter.ServoNickRefresh = 4; |
190 | EE_Parameter.Servo3 = 125; |
190 | EE_Parameter.Servo3 = 125; |
191 | EE_Parameter.Servo4 = 125; |
191 | EE_Parameter.Servo4 = 125; |
192 | EE_Parameter.Servo5 = 125; |
192 | EE_Parameter.Servo5 = 125; |
193 | EE_Parameter.ServoRollControl = 128; // Wert : 0-247 // Stellung des Servos |
193 | EE_Parameter.ServoRollControl = 128; // Wert : 0-247 // Stellung des Servos |
194 | EE_Parameter.ServoRollComp = 85; // Wert : 0-247 // Einfluss Gyro/Servo |
194 | EE_Parameter.ServoRollComp = 85; // Wert : 0-247 // Einfluss Gyro/Servo |
195 | EE_Parameter.ServoRollMin = 70; // Wert : 0-247 // Anschlag |
195 | EE_Parameter.ServoRollMin = 70; // Wert : 0-247 // Anschlag |
196 | EE_Parameter.ServoRollMax = 220; // Wert : 0-247 // Anschlag |
196 | EE_Parameter.ServoRollMax = 220; // Wert : 0-247 // Anschlag |
197 | EE_Parameter.ServoManualControlSpeed = 60; |
197 | EE_Parameter.ServoManualControlSpeed = 60; |
198 | EE_Parameter.CamOrientation = 0; // Wert : 0-24 -> 0-360 -> 15° steps |
198 | EE_Parameter.CamOrientation = 0; // Wert : 0-24 -> 0-360 -> 15° steps |
199 | 199 | ||
200 | EE_Parameter.J16Bitmask = 95; |
200 | EE_Parameter.J16Bitmask = 95; |
201 | EE_Parameter.J17Bitmask = 243; |
201 | EE_Parameter.J17Bitmask = 243; |
202 | EE_Parameter.WARN_J16_Bitmask = 0xAA; |
202 | EE_Parameter.WARN_J16_Bitmask = 0xAA; |
203 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
203 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
204 | EE_Parameter.J16Timing = 40; |
204 | EE_Parameter.J16Timing = 40; |
205 | EE_Parameter.J17Timing = 40; |
205 | EE_Parameter.J17Timing = 40; |
206 | EE_Parameter.NaviOut1Parameter = 0; // Photo release in meter |
206 | EE_Parameter.NaviOut1Parameter = 0; // Photo release in meter |
207 | EE_Parameter.LoopGasLimit = 50; |
207 | EE_Parameter.LoopGasLimit = 50; |
208 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
208 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
209 | EE_Parameter.LoopHysterese = 50; |
209 | EE_Parameter.LoopHysterese = 50; |
210 | 210 | ||
211 | EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
211 | EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
212 | EE_Parameter.NaviGpsGain = 100; |
212 | EE_Parameter.NaviGpsGain = 100; |
213 | EE_Parameter.NaviGpsP = 90; |
213 | EE_Parameter.NaviGpsP = 90; |
214 | EE_Parameter.NaviGpsI = 90; |
214 | EE_Parameter.NaviGpsI = 90; |
215 | EE_Parameter.NaviGpsD = 90; |
215 | EE_Parameter.NaviGpsD = 90; |
216 | EE_Parameter.NaviGpsPLimit = 75; |
216 | EE_Parameter.NaviGpsPLimit = 75; |
217 | EE_Parameter.NaviGpsILimit = 85; |
217 | EE_Parameter.NaviGpsILimit = 85; |
218 | EE_Parameter.NaviGpsDLimit = 75; |
218 | EE_Parameter.NaviGpsDLimit = 75; |
219 | EE_Parameter.NaviGpsACC = 0; |
219 | EE_Parameter.NaviGpsACC = 0; |
220 | EE_Parameter.NaviGpsMinSat = 6; |
220 | EE_Parameter.NaviGpsMinSat = 6; |
221 | EE_Parameter.NaviStickThreshold = 8; |
221 | EE_Parameter.NaviStickThreshold = 8; |
222 | EE_Parameter.NaviWindCorrection = 90; |
222 | EE_Parameter.NaviWindCorrection = 90; |
223 | EE_Parameter.NaviAccCompensation = 42; |
223 | EE_Parameter.NaviAccCompensation = 42; |
224 | EE_Parameter.NaviOperatingRadius = 245; |
224 | EE_Parameter.NaviOperatingRadius = 245; |
225 | EE_Parameter.NaviAngleLimitation = 140; |
225 | EE_Parameter.NaviAngleLimitation = 140; |
226 | EE_Parameter.NaviPH_LoginTime = 5; |
226 | EE_Parameter.NaviPH_LoginTime = 5; |
227 | EE_Parameter.OrientationAngle = 0; |
227 | EE_Parameter.OrientationAngle = 0; |
228 | EE_Parameter.CareFreeModeControl = 0; |
228 | EE_Parameter.CareFreeModeControl = 0; |
229 | EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
229 | EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
230 | EE_Parameter.NotGas = 65; // Wert : 0-247 // Gaswert bei Empangsverlust (ggf. in Prozent) |
230 | EE_Parameter.NotGas = 65; // Wert : 0-247 // Gaswert bei Empangsverlust (ggf. in Prozent) |
231 | EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
231 | EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
232 | EE_Parameter.MotorSmooth = 0; |
232 | EE_Parameter.MotorSmooth = 0; |
233 | EE_Parameter.ComingHomeAltitude = 0; // 0 = don't change |
233 | EE_Parameter.ComingHomeAltitude = 0; // 0 = don't change |
234 | EE_Parameter.FailSafeTime = 0; // 0 = off |
234 | EE_Parameter.FailSafeTime = 0; // 0 = off |
235 | EE_Parameter.MaxAltitude = 150; // 0 = off |
235 | EE_Parameter.MaxAltitude = 150; // 0 = off |
236 | EE_Parameter.AchsKopplung1 = 125; |
236 | EE_Parameter.AchsKopplung1 = 125; |
237 | EE_Parameter.AchsKopplung2 = 52; |
237 | EE_Parameter.AchsKopplung2 = 52; |
238 | EE_Parameter.FailsafeChannel = 0; |
238 | EE_Parameter.FailsafeChannel = 0; |
239 | EE_Parameter.ServoFilterNick = 0; |
239 | EE_Parameter.ServoFilterNick = 0; |
240 | EE_Parameter.ServoFilterRoll = 0; |
240 | EE_Parameter.ServoFilterRoll = 0; |
241 | } |
241 | } |
242 | /* |
242 | /* |
243 | void ParamSet_DefaultSet1(void) // sport |
243 | void ParamSet_DefaultSet1(void) // sport |
244 | { |
244 | { |
245 | CommonDefaults(); |
245 | CommonDefaults(); |
246 | EE_Parameter.Stick_P = 14; // Wert : 1-20 |
246 | EE_Parameter.Stick_P = 14; // Wert : 1-20 |
247 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
247 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
248 | EE_Parameter.StickGier_P = 12; // Wert : 1-20 |
248 | EE_Parameter.StickGier_P = 12; // Wert : 1-20 |
249 | EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
249 | EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
250 | EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
250 | EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
251 | EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
251 | EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
252 | EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
252 | EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
253 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
253 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
254 | EE_Parameter.I_Faktor = 32; |
254 | EE_Parameter.I_Faktor = 32; |
255 | EE_Parameter.CouplingYawCorrection = 1; |
255 | EE_Parameter.CouplingYawCorrection = 1; |
256 | EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
256 | EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
257 | EE_Parameter.DynamicStability = 100; |
257 | EE_Parameter.DynamicStability = 100; |
258 | memcpy(EE_Parameter.Name, "Sport\0", 12); |
258 | memcpy(EE_Parameter.Name, "Sport\0", 12); |
259 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
259 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
260 | } |
260 | } |
261 | */ |
261 | */ |
262 | 262 | ||
263 | /***************************************************/ |
263 | /***************************************************/ |
264 | /* Default Values for parameter set 1 */ |
264 | /* Default Values for parameter set 1 */ |
265 | /***************************************************/ |
265 | /***************************************************/ |
266 | void ParamSet_DefaultSet1(void) // normal |
266 | void ParamSet_DefaultSet1(void) // normal |
267 | { |
267 | { |
268 | CommonDefaults(); |
268 | CommonDefaults(); |
269 | EE_Parameter.Stick_P = 10; // Wert : 1-20 |
269 | EE_Parameter.Stick_P = 10; // Wert : 1-20 |
270 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
270 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
271 | EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
271 | EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
272 | EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
272 | EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
273 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
273 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
274 | EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
274 | EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
275 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
275 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
276 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
276 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
277 | EE_Parameter.I_Faktor = 32; |
277 | EE_Parameter.I_Faktor = 32; |
278 | EE_Parameter.CouplingYawCorrection = 60; |
278 | EE_Parameter.CouplingYawCorrection = 60; |
279 | EE_Parameter.DynamicStability = 75; |
279 | EE_Parameter.DynamicStability = 75; |
280 | memcpy(EE_Parameter.Name, "Fast",4); |
280 | memcpy(EE_Parameter.Name, "Fast",4); |
281 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
281 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
282 | } |
282 | } |
283 | 283 | ||
284 | 284 | ||
285 | /***************************************************/ |
285 | /***************************************************/ |
286 | /* Default Values for parameter set 2 */ |
286 | /* Default Values for parameter set 2 */ |
287 | /***************************************************/ |
287 | /***************************************************/ |
288 | void ParamSet_DefaultSet2(void) // beginner |
288 | void ParamSet_DefaultSet2(void) // beginner |
289 | { |
289 | { |
290 | CommonDefaults(); |
290 | CommonDefaults(); |
291 | EE_Parameter.Stick_P = 8; // Wert : 1-20 |
291 | EE_Parameter.Stick_P = 8; // Wert : 1-20 |
292 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
292 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
293 | EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
293 | EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
294 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
294 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
295 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
295 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
296 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
296 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
297 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
297 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
298 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
298 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
299 | EE_Parameter.I_Faktor = 16; |
299 | EE_Parameter.I_Faktor = 16; |
300 | EE_Parameter.CouplingYawCorrection = 70; |
300 | EE_Parameter.CouplingYawCorrection = 70; |
301 | EE_Parameter.DynamicStability = 70; |
301 | EE_Parameter.DynamicStability = 70; |
302 | memcpy(EE_Parameter.Name, "Normal",6); |
302 | memcpy(EE_Parameter.Name, "Normal",6); |
303 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
303 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
304 | } |
304 | } |
305 | 305 | ||
306 | /***************************************************/ |
306 | /***************************************************/ |
307 | /* Default Values for parameter set 3 */ |
307 | /* Default Values for parameter set 3 */ |
308 | /***************************************************/ |
308 | /***************************************************/ |
309 | void ParamSet_DefaultSet3(void) // beginner |
309 | void ParamSet_DefaultSet3(void) // beginner |
310 | { |
310 | { |
311 | CommonDefaults(); |
311 | CommonDefaults(); |
312 | EE_Parameter.Stick_P = 6; // Wert : 1-20 |
312 | EE_Parameter.Stick_P = 6; // Wert : 1-20 |
313 | EE_Parameter.Stick_D = 10; // Wert : 0-20 |
313 | EE_Parameter.Stick_D = 10; // Wert : 0-20 |
314 | EE_Parameter.StickGier_P = 4; // Wert : 1-20 |
314 | EE_Parameter.StickGier_P = 4; // Wert : 1-20 |
315 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
315 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
316 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
316 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
317 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
317 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
318 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
318 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
319 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
319 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
320 | EE_Parameter.I_Faktor = 16; |
320 | EE_Parameter.I_Faktor = 16; |
321 | EE_Parameter.CouplingYawCorrection = 70; |
321 | EE_Parameter.CouplingYawCorrection = 70; |
322 | EE_Parameter.DynamicStability = 70; |
322 | EE_Parameter.DynamicStability = 70; |
323 | memcpy(EE_Parameter.Name, "Easy", 4); |
323 | memcpy(EE_Parameter.Name, "Easy", 4); |
324 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
324 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
325 | } |
325 | } |
326 | 326 | ||
327 | 327 | ||
328 | /***************************************************/ |
328 | /***************************************************/ |
329 | /* Read Parameter from EEPROM as byte */ |
329 | /* Read Parameter from EEPROM as byte */ |
330 | /***************************************************/ |
330 | /***************************************************/ |
331 | uint8_t GetParamByte(uint16_t param_id) |
331 | uint8_t GetParamByte(uint16_t param_id) |
332 | { |
332 | { |
333 | return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
333 | return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
334 | } |
334 | } |
335 | 335 | ||
336 | /***************************************************/ |
336 | /***************************************************/ |
337 | /* Write Parameter to EEPROM as byte */ |
337 | /* Write Parameter to EEPROM as byte */ |
338 | /***************************************************/ |
338 | /***************************************************/ |
339 | void SetParamByte(uint16_t param_id, uint8_t value) |
339 | void SetParamByte(uint16_t param_id, uint8_t value) |
340 | { |
340 | { |
341 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
341 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
342 | } |
342 | } |
343 | 343 | ||
344 | /***************************************************/ |
344 | /***************************************************/ |
345 | /* Read Parameter from EEPROM as word */ |
345 | /* Read Parameter from EEPROM as word */ |
346 | /***************************************************/ |
346 | /***************************************************/ |
347 | uint16_t GetParamWord(uint16_t param_id) |
347 | uint16_t GetParamWord(uint16_t param_id) |
348 | { |
348 | { |
349 | return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
349 | return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
350 | } |
350 | } |
351 | 351 | ||
352 | /***************************************************/ |
352 | /***************************************************/ |
353 | /* Write Parameter to EEPROM as word */ |
353 | /* Write Parameter to EEPROM as word */ |
354 | /***************************************************/ |
354 | /***************************************************/ |
355 | void SetParamWord(uint16_t param_id, uint16_t value) |
355 | void SetParamWord(uint16_t param_id, uint16_t value) |
356 | { |
356 | { |
357 | eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
357 | eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
358 | } |
358 | } |
359 | 359 | ||
360 | /***************************************************/ |
360 | /***************************************************/ |
361 | /* Read Parameter Set from EEPROM */ |
361 | /* Read Parameter Set from EEPROM */ |
362 | /***************************************************/ |
362 | /***************************************************/ |
363 | // number [1..5] |
363 | // number [1..5] |
364 | uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
364 | uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
365 | { |
365 | { |
366 | uint8_t crc; |
366 | uint8_t crc; |
367 | uint16_t eeaddr; |
367 | uint16_t eeaddr; |
368 | 368 | ||
369 | // range the setnumber |
369 | // range the setnumber |
370 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
370 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
371 | 371 | ||
372 | // calculate eeprom addr |
372 | // calculate eeprom addr |
373 | eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
373 | eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
374 | 374 | ||
375 | // calculate checksum from eeprom |
375 | // calculate checksum from eeprom |
376 | crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
376 | crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
377 | 377 | ||
378 | // check crc |
378 | // check crc |
379 | if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
379 | if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
380 | 380 | ||
381 | // check revision |
381 | // check revision |
382 | if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0; |
382 | if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0; |
383 | 383 | ||
384 | // read paramset from eeprom |
384 | // read paramset from eeprom |
385 | eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
385 | eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
386 | LED_Init(); |
386 | LED_Init(); |
387 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
387 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
388 | LIBFC_HoTT_Clear(); |
388 | LIBFC_HoTT_Clear(); |
389 | #endif |
389 | #endif |
390 | return 1; |
390 | return 1; |
391 | } |
391 | } |
392 | 392 | ||
393 | /***************************************************/ |
393 | /***************************************************/ |
394 | /* Write Parameter Set to EEPROM */ |
394 | /* Write Parameter Set to EEPROM */ |
395 | /***************************************************/ |
395 | /***************************************************/ |
396 | // number [1..5] |
396 | // number [1..5] |
397 | uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
397 | uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
398 | { |
398 | { |
399 | uint8_t crc; |
399 | uint8_t crc; |
400 | 400 | ||
401 | if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
401 | if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
402 | { |
402 | { |
403 | if(setnumber > 5) setnumber = 5; |
403 | if(setnumber > 5) setnumber = 5; |
404 | if(setnumber < 1) return 0; |
404 | if(setnumber < 1) return 0; |
405 | LIBFC_CheckSettings(); |
405 | LIBFC_CheckSettings(); |
406 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) // check the Setting: Not more than 100% emergency gas |
406 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) // check the Setting: Not more than 100% emergency gas |
407 | { |
407 | { |
408 | if(EE_Parameter.NotGas > 99) EE_Parameter.NotGas = 80; // i.e. 80% of Hovergas |
408 | if(EE_Parameter.NotGas > 99) EE_Parameter.NotGas = 80; // i.e. 80% of Hovergas |
409 | } |
409 | } |
410 | // update checksum |
410 | // update checksum |
411 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
411 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
412 | 412 | ||
413 | // write paramset to eeprom |
413 | // write paramset to eeprom |
414 | eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
414 | eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
415 | 415 | ||
416 | // backup channel settings to separate block in eeprom |
416 | // backup channel settings to separate block in eeprom |
417 | eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
417 | eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
418 | 418 | ||
419 | // write crc of channel block to eeprom |
419 | // write crc of channel block to eeprom |
420 | crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
420 | crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
421 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
421 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
422 | 422 | ||
423 | // update active settings number |
423 | // update active settings number |
424 | SetActiveParamSet(setnumber); |
424 | SetActiveParamSet(setnumber); |
425 | LED_Init(); |
425 | LED_Init(); |
426 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
426 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
427 | LIBFC_HoTT_Clear(); |
427 | LIBFC_HoTT_Clear(); |
428 | #endif |
428 | #endif |
429 | return 1; |
429 | return 1; |
430 | } |
430 | } |
431 | // wrong revision |
431 | // wrong revision |
432 | return 0; |
432 | return 0; |
433 | } |
433 | } |
434 | 434 | ||
435 | /***************************************************/ |
435 | /***************************************************/ |
436 | /* Read MixerTable from EEPROM */ |
436 | /* Read MixerTable from EEPROM */ |
437 | /***************************************************/ |
437 | /***************************************************/ |
438 | uint8_t MixerTable_ReadFromEEProm(void) |
438 | uint8_t MixerTable_ReadFromEEProm(void) |
439 | { |
439 | { |
440 | uint8_t crc; |
440 | uint8_t crc; |
441 | 441 | ||
442 | // calculate checksum in eeprom |
442 | // calculate checksum in eeprom |
443 | crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
443 | crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
444 | 444 | ||
445 | // check crc |
445 | // check crc |
446 | if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
446 | if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
447 | 447 | ||
448 | // check revision |
448 | // check revision |
449 | if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
449 | if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
450 | 450 | ||
451 | // read mixer table |
451 | // read mixer table |
452 | eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
452 | eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
453 | return 1; |
453 | return 1; |
454 | } |
454 | } |
455 | 455 | ||
456 | /***************************************************/ |
456 | /***************************************************/ |
457 | /* Write Mixer Table to EEPROM */ |
457 | /* Write Mixer Table to EEPROM */ |
458 | /***************************************************/ |
458 | /***************************************************/ |
459 | uint8_t MixerTable_WriteToEEProm(void) |
459 | uint8_t MixerTable_WriteToEEProm(void) |
460 | { |
460 | { |
461 | if(Mixer.Revision == EEMIXER_REVISION) |
461 | if(Mixer.Revision == EEMIXER_REVISION) |
462 | { |
462 | { |
463 | // update crc |
463 | // update crc |
464 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
464 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
465 | 465 | ||
466 | // write to eeprom |
466 | // write to eeprom |
467 | eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
467 | eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
468 | return 1; |
468 | return 1; |
469 | } |
469 | } |
470 | else return 0; |
470 | else return 0; |
471 | } |
471 | } |
472 | 472 | ||
473 | /***************************************************/ |
473 | /***************************************************/ |
474 | /* Default Values for Mixer Table */ |
474 | /* Default Values for Mixer Table */ |
475 | /***************************************************/ |
475 | /***************************************************/ |
476 | void MixerTable_Default(void) // Quadro |
476 | void MixerTable_Default(void) // Quadro |
477 | { |
477 | { |
478 | uint8_t i; |
478 | uint8_t i; |
479 | 479 | ||
480 | Mixer.Revision = EEMIXER_REVISION; |
480 | Mixer.Revision = EEMIXER_REVISION; |
481 | // clear mixer table |
481 | // clear mixer table |
482 | for(i = 0; i < 16; i++) |
482 | for(i = 0; i < 16; i++) |
483 | { |
483 | { |
484 | Mixer.Motor[i][MIX_GAS] = 0; |
484 | Mixer.Motor[i][MIX_GAS] = 0; |
485 | Mixer.Motor[i][MIX_NICK] = 0; |
485 | Mixer.Motor[i][MIX_NICK] = 0; |
486 | Mixer.Motor[i][MIX_ROLL] = 0; |
486 | Mixer.Motor[i][MIX_ROLL] = 0; |
487 | Mixer.Motor[i][MIX_YAW] = 0; |
487 | Mixer.Motor[i][MIX_YAW] = 0; |
488 | } |
488 | } |
489 | // default = Quadro |
489 | // default = Quadro |
490 | Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
490 | Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
491 | Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
491 | Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
492 | Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
492 | Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
493 | Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
493 | Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
494 | memcpy(Mixer.Name, "Quadro\0\0\0\0\0\0", 12); |
494 | memcpy(Mixer.Name, "Quadro\0\0\0\0\0\0", 12); |
495 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
495 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
496 | } |
496 | } |
497 | 497 | ||
498 | /***************************************************/ |
498 | /***************************************************/ |
499 | /* Get active parameter set */ |
499 | /* Get active parameter set */ |
500 | /***************************************************/ |
500 | /***************************************************/ |
501 | uint8_t GetActiveParamSet(void) |
501 | uint8_t GetActiveParamSet(void) |
502 | { |
502 | { |
503 | uint8_t setnumber; |
503 | uint8_t setnumber; |
504 | setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
504 | setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
505 | if(setnumber > 5) |
505 | if(setnumber > 5) |
506 | { |
506 | { |
507 | setnumber = 3; |
507 | setnumber = 3; |
508 | eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber); |
508 | eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber); |
509 | } |
509 | } |
510 | return(setnumber); |
510 | return(setnumber); |
511 | } |
511 | } |
512 | 512 | ||
513 | /***************************************************/ |
513 | /***************************************************/ |
514 | /* Set active parameter set */ |
514 | /* Set active parameter set */ |
515 | /***************************************************/ |
515 | /***************************************************/ |
516 | void SetActiveParamSet(uint8_t setnumber) |
516 | void SetActiveParamSet(uint8_t setnumber) |
517 | { |
517 | { |
518 | if(setnumber > 5) setnumber = 5; |
518 | if(setnumber > 5) setnumber = 5; |
519 | if(setnumber < 1) setnumber = 1; |
519 | if(setnumber < 1) setnumber = 1; |
520 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
520 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
521 | } |
521 | } |
522 | 522 | ||
523 | /***************************************************/ |
523 | /***************************************************/ |
524 | /* Set default parameter set */ |
524 | /* Set default parameter set */ |
525 | /***************************************************/ |
525 | /***************************************************/ |
526 | void SetDefaultParameter(uint8_t set, uint8_t restore_channels) |
526 | void SetDefaultParameter(uint8_t set, uint8_t restore_channels) |
527 | { |
527 | { |
528 | 528 | ||
529 | if(set > 5) set = 5; |
529 | if(set > 5) set = 5; |
530 | else if(set < 1) set = 1; |
530 | else if(set < 1) set = 1; |
531 | 531 | ||
532 | switch(set) |
532 | switch(set) |
533 | { |
533 | { |
534 | case 1: |
534 | case 1: |
535 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
535 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
536 | break; |
536 | break; |
537 | case 2: |
537 | case 2: |
538 | ParamSet_DefaultSet2(); // Kamera |
538 | ParamSet_DefaultSet2(); // Kamera |
539 | break; |
539 | break; |
540 | case 3: |
540 | case 3: |
541 | ParamSet_DefaultSet3(); // Beginner |
541 | ParamSet_DefaultSet3(); // Beginner |
542 | break; |
542 | break; |
543 | default: |
543 | default: |
544 | ParamSet_DefaultSet3(); // Beginner |
544 | ParamSet_DefaultSet3(); // Beginner |
545 | break; |
545 | break; |
546 | } |
546 | } |
547 | if(restore_channels) |
547 | if(restore_channels) |
548 | { |
548 | { |
549 | uint8_t crc; |
549 | uint8_t crc; |
550 | // 1st check for a valid channel backup in eeprom |
550 | // 1st check for a valid channel backup in eeprom |
551 | crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
551 | crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
552 | if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) |
552 | if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) |
553 | { |
553 | { |
554 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
554 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
555 | } |
555 | } |
556 | else ParamSet_DefaultStickMapping(); |
556 | else ParamSet_DefaultStickMapping(); |
557 | } |
557 | } |
558 | else ParamSet_DefaultStickMapping(); |
558 | else ParamSet_DefaultStickMapping(); |
559 | ParamSet_WriteToEEProm(set); |
559 | ParamSet_WriteToEEProm(set); |
560 | } |
560 | } |
561 | 561 | ||
562 | /***************************************************/ |
562 | /***************************************************/ |
563 | /* Initialize EEPROM Parameter Sets */ |
563 | /* Initialize EEPROM Parameter Sets */ |
564 | /***************************************************/ |
564 | /***************************************************/ |
565 | void ParamSet_Init(void) |
565 | void ParamSet_Init(void) |
566 | { |
566 | { |
567 | uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
567 | uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
568 | 568 | ||
569 | 569 | ||
570 | if(EEPARAM_REVISION != GetParamByte(PID_EE_REVISION) ) |
570 | if(EEPARAM_REVISION != GetParamByte(PID_EE_REVISION) ) |
571 | { |
571 | { |
572 | ee_default = 1; // software update or forced by mktool |
572 | ee_default = 1; // software update or forced by mktool |
573 | } |
573 | } |
574 | // 1st check for a valid channel backup in eeprom |
574 | // 1st check for a valid channel backup in eeprom |
575 | i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
575 | i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
576 | if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) channel_backup = 1; |
576 | if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) channel_backup = 1; |
577 | 577 | ||
578 | // parameter check |
578 | // parameter check |
579 | 579 | ||
580 | // check all 5 parameter settings |
580 | // check all 5 parameter settings |
581 | for (i = 1;i < 6; i++) |
581 | for (i = 1;i < 6; i++) |
582 | { |
582 | { |
583 | if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
583 | if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
584 | { |
584 | { |
585 | bad_params = 1; |
585 | bad_params = 1; |
586 | printf("\n\rGenerating default Parameter Set %d",i); |
586 | printf("\n\rGenerating default Parameter Set %d",i); |
587 | switch(i) |
587 | switch(i) |
588 | { |
588 | { |
589 | case 1: |
589 | case 1: |
590 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
590 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
591 | break; |
591 | break; |
592 | case 2: |
592 | case 2: |
593 | ParamSet_DefaultSet2(); // Kamera |
593 | ParamSet_DefaultSet2(); // Kamera |
594 | break; |
594 | break; |
595 | case 3: |
595 | case 3: |
596 | ParamSet_DefaultSet3(); // Beginner |
596 | ParamSet_DefaultSet3(); // Beginner |
597 | break; |
597 | break; |
598 | default: |
598 | default: |
599 | ParamSet_DefaultSet3(); // Kamera |
599 | ParamSet_DefaultSet3(); // Kamera |
600 | break; |
600 | break; |
601 | } |
601 | } |
602 | if(channel_backup) // if we have an channel mapping backup in eeprom |
602 | if(channel_backup) // if we have an channel mapping backup in eeprom |
603 | { // restore it from eeprom |
603 | { // restore it from eeprom |
604 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
604 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
605 | } |
605 | } |
606 | else |
606 | else |
607 | { // use default mapping |
607 | { // use default mapping |
608 | ParamSet_DefaultStickMapping(); |
608 | ParamSet_DefaultStickMapping(); |
609 | } |
609 | } |
610 | ParamSet_WriteToEEProm(i); |
610 | ParamSet_WriteToEEProm(i); |
611 | } |
611 | } |
612 | } |
612 | } |
613 | if(bad_params) // at least one of the parameter settings were invalid |
613 | if(bad_params) // at least one of the parameter settings were invalid |
614 | { |
614 | { |
615 | // default-Setting is parameter set 3 |
615 | // default-Setting is parameter set 3 |
616 | SetActiveParamSet(3); |
616 | SetActiveParamSet(3); |
617 | } |
617 | } |
618 | 618 | ||
619 | 619 | ||
620 | // read active parameter set to ParamSet stucture |
620 | // read active parameter set to ParamSet stucture |
621 | i = GetActiveParamSet(); |
621 | i = GetActiveParamSet(); |
622 | ParamSet_ReadFromEEProm(i); |
622 | ParamSet_ReadFromEEProm(i); |
623 | printf("\n\rUsing Parameter Set %d", i); |
623 | printf("\n\rUsing Parameter Set %d", i); |
624 | 624 | ||
625 | // load mixer table |
625 | // load mixer table |
626 | if(GetParamByte(PID_EE_REVISION) == 0xff || !MixerTable_ReadFromEEProm() ) |
626 | if(GetParamByte(PID_EE_REVISION) == 0xff || !MixerTable_ReadFromEEProm() ) |
627 | { |
627 | { |
628 | printf("\n\rGenerating default Mixer Table"); |
628 | printf("\n\rGenerating default Mixer Table"); |
629 | MixerTable_Default(); // Quadro |
629 | MixerTable_Default(); // Quadro |
630 | MixerTable_WriteToEEProm(); |
630 | MixerTable_WriteToEEProm(); |
631 | } |
631 | } |
632 | if(ee_default) SetParamByte(PID_EE_REVISION, EEPARAM_REVISION); |
632 | if(ee_default) SetParamByte(PID_EE_REVISION, EEPARAM_REVISION); |
633 | // determine motornumber |
633 | // determine motornumber |
634 | RequiredMotors = 0; |
634 | RequiredMotors = 0; |
635 | for(i = 0; i < 16; i++) |
635 | for(i = 0; i < 16; i++) |
636 | { |
636 | { |
637 | if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
637 | if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
638 | } |
638 | } |
639 | 639 | ||
640 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
640 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
641 | PrintLine();// ("\n\r==================================="); |
641 | PrintLine();// ("\n\r==================================="); |
642 | 642 | ||
643 | } |
643 | } |
644 | 644 |