Rev 2443 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 2443 | Rev 2447 | ||
---|---|---|---|
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 | #ifndef EEMEM |
54 | #ifndef EEMEM |
55 | #define EEMEM __attribute__ ((section (".eeprom"))) |
55 | #define EEMEM __attribute__ ((section (".eeprom"))) |
56 | #endif |
56 | #endif |
57 | 57 | ||
58 | 58 | ||
59 | #include <avr/eeprom.h> |
59 | #include <avr/eeprom.h> |
60 | #include <string.h> |
60 | #include <string.h> |
61 | #include "eeprom.h" |
61 | #include "eeprom.h" |
62 | #include "uart.h" |
62 | #include "uart.h" |
63 | #include "led.h" |
63 | #include "led.h" |
64 | #include "main.h" |
64 | #include "main.h" |
65 | #include "fc.h" |
65 | #include "fc.h" |
66 | #include "twimaster.h" |
66 | #include "twimaster.h" |
67 | 67 | ||
68 | paramset_t EE_Parameter; |
68 | paramset_t EE_Parameter; |
69 | MixerTable_t Mixer; |
69 | MixerTable_t Mixer; |
70 | uint8_t RequiredMotors; |
70 | uint8_t RequiredMotors; |
71 | 71 | ||
72 | 72 | ||
73 | uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len) |
73 | uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len) |
74 | { |
74 | { |
75 | uint8_t crc = 0xAA; |
75 | uint8_t crc = 0xAA; |
76 | uint16_t i; |
76 | uint16_t i; |
77 | 77 | ||
78 | for(i=0; i<len; i++) |
78 | for(i=0; i<len; i++) |
79 | { |
79 | { |
80 | crc += pBuffer[i]; |
80 | crc += pBuffer[i]; |
81 | } |
81 | } |
82 | return crc; |
82 | return crc; |
83 | } |
83 | } |
84 | 84 | ||
85 | uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len) |
85 | uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len) |
86 | { |
86 | { |
87 | uint8_t crc = 0xAA; |
87 | uint8_t crc = 0xAA; |
88 | uint16_t off; |
88 | uint16_t off; |
89 | 89 | ||
90 | for(off=0; off<len; off++) |
90 | for(off=0; off<len; off++) |
91 | { |
91 | { |
92 | crc += eeprom_read_byte((uint8_t*)(EEAddr + off));; |
92 | crc += eeprom_read_byte((uint8_t*)(EEAddr + off));; |
93 | } |
93 | } |
94 | return crc; |
94 | return crc; |
95 | } |
95 | } |
96 | 96 | ||
97 | void ParamSet_DefaultStickMapping(void) |
97 | void ParamSet_DefaultStickMapping(void) |
98 | { |
98 | { |
99 | EE_Parameter.Kanalbelegung[K_GAS] = 1; |
99 | EE_Parameter.Kanalbelegung[K_GAS] = 1; |
100 | EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
100 | EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
101 | EE_Parameter.Kanalbelegung[K_NICK] = 3; |
101 | EE_Parameter.Kanalbelegung[K_NICK] = 3; |
102 | EE_Parameter.Kanalbelegung[K_GIER] = 4; |
102 | EE_Parameter.Kanalbelegung[K_GIER] = 4; |
103 | EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
103 | EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
104 | EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
104 | EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
105 | EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
105 | EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
106 | EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
106 | EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
107 | EE_Parameter.Kanalbelegung[K_POTI5] = 9; |
107 | EE_Parameter.Kanalbelegung[K_POTI5] = 9; |
108 | EE_Parameter.Kanalbelegung[K_POTI6] = 10; |
108 | EE_Parameter.Kanalbelegung[K_POTI6] = 10; |
109 | EE_Parameter.Kanalbelegung[K_POTI7] = 11; |
109 | EE_Parameter.Kanalbelegung[K_POTI7] = 11; |
110 | EE_Parameter.Kanalbelegung[K_POTI8] = 12; |
110 | EE_Parameter.Kanalbelegung[K_POTI8] = 12; |
111 | } |
111 | } |
112 | 112 | ||
113 | 113 | ||
114 | /***************************************************/ |
114 | /***************************************************/ |
115 | /* Default Values for parameter set 1 */ |
115 | /* Default Values for parameter set 1 */ |
116 | /***************************************************/ |
116 | /***************************************************/ |
117 | void CommonDefaults(void) |
117 | void CommonDefaults(void) |
118 | { |
118 | { |
119 | EE_Parameter.Revision = EEPARAM_REVISION; |
119 | EE_Parameter.Revision = EEPARAM_REVISION; |
120 | memset(EE_Parameter.Name,0,12); // delete name |
120 | memset(EE_Parameter.Name,0,12); // delete name |
121 | // if(PlatinenVersion >= 20) |
121 | // if(PlatinenVersion >= 20) |
122 | { |
122 | { |
123 | EE_Parameter.Gyro_D = 10; |
123 | EE_Parameter.Gyro_D = 10; |
124 | EE_Parameter.Driftkomp = 0; |
124 | EE_Parameter.Driftkomp = 0; |
125 | EE_Parameter.GyroAccFaktor = 27; |
125 | EE_Parameter.GyroAccFaktor = 27; |
126 | EE_Parameter.WinkelUmschlagNick = 78; |
126 | EE_Parameter.WinkelUmschlagNick = 78; |
127 | EE_Parameter.WinkelUmschlagRoll = 78; |
127 | EE_Parameter.WinkelUmschlagRoll = 78; |
128 | } |
128 | } |
129 | /* else |
129 | /* else |
130 | { |
130 | { |
131 | EE_Parameter.Gyro_D = 3; |
131 | EE_Parameter.Gyro_D = 3; |
132 | EE_Parameter.Driftkomp = 32; |
132 | EE_Parameter.Driftkomp = 32; |
133 | EE_Parameter.GyroAccFaktor = 30; |
133 | EE_Parameter.GyroAccFaktor = 30; |
134 | EE_Parameter.WinkelUmschlagNick = 85; |
134 | EE_Parameter.WinkelUmschlagNick = 85; |
135 | EE_Parameter.WinkelUmschlagRoll = 85; |
135 | EE_Parameter.WinkelUmschlagRoll = 85; |
136 | } |
136 | } |
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 | CFG_NO_RCOFF_BEEPING; |
141 | EE_Parameter.ExtraConfig = CFG_GPS_AID | CFG2_VARIO_BEEP | CFG_LEARNABLE_CAREFREE | CFG_NO_RCOFF_BEEPING; |
142 | EE_Parameter.GlobalConfig3 = CFG3_SPEAK_ALL | CFG3_NO_GPSFIX_NO_START;// |
142 | EE_Parameter.GlobalConfig3 = CFG3_SPEAK_ALL | CFG3_NO_GPSFIX_NO_START;// |
143 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
143 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
144 | EE_Parameter.Receiver = RECEIVER_HOTT; |
144 | EE_Parameter.Receiver = RECEIVER_HOTT; |
145 | #else |
145 | #else |
146 | EE_Parameter.Receiver = RECEIVER_JETI; |
146 | EE_Parameter.Receiver = RECEIVER_JETI; |
147 | #endif |
147 | #endif |
148 | 148 | ||
149 | EE_Parameter.MotorSafetySwitch = 0; |
149 | EE_Parameter.MotorSafetySwitch = 0; |
150 | EE_Parameter.ExternalControl = 0; |
150 | EE_Parameter.ExternalControl = 0; |
151 | 151 | ||
152 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
152 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
153 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
153 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
154 | EE_Parameter.KompassWirkung = 64; // Wert : 0-247 |
154 | EE_Parameter.KompassWirkung = 64; // Wert : 0-247 |
155 | 155 | ||
156 | EE_Parameter.HoeheChannel = 5; // Wert : 0-32 |
156 | EE_Parameter.HoeheChannel = 5; // Wert : 0-32 |
157 | EE_Parameter.Hoehe_MinGas = 30; |
157 | EE_Parameter.Hoehe_MinGas = 30; |
158 | 158 | ||
159 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
159 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
160 | if(ACC_AltitudeControl) |
160 | if(ACC_AltitudeControl) |
161 | { |
161 | { |
162 | EE_Parameter.Hoehe_P = 20; // Wert : 0-32 |
162 | EE_Parameter.Hoehe_P = 20; // Wert : 0-32 |
163 | EE_Parameter.Luftdruck_D = 40; // Wert : 0-247 |
163 | EE_Parameter.Luftdruck_D = 40; // Wert : 0-247 |
164 | EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-247 |
164 | EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-247 |
165 | EE_Parameter.Hoehe_HoverBand = 1; // Wert : 0-247 |
165 | EE_Parameter.Hoehe_HoverBand = 1; // Wert : 0-247 |
166 | EE_Parameter.Hoehe_GPS_Z = 0; // Wert : 0-247 |
166 | EE_Parameter.Hoehe_GPS_Z = 0; // Wert : 0-247 |
167 | EE_Parameter.Hoehe_StickNeutralPoint = 127;// Wert : 0-247 (0 = Hover-Estimation) |
167 | EE_Parameter.Hoehe_StickNeutralPoint = 127;// Wert : 0-247 (0 = Hover-Estimation) |
168 | EE_Parameter.FailSafeTime = 30; // 0 = off |
168 | EE_Parameter.FailSafeTime = 30; // 0 = off |
169 | } |
169 | } |
170 | else |
170 | else |
171 | #endif |
171 | #endif |
172 | { |
172 | { |
173 | EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
173 | EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
174 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
174 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
175 | EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
175 | EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
176 | EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
176 | EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
177 | EE_Parameter.Hoehe_GPS_Z = 20; // Wert : 0-247 |
177 | EE_Parameter.Hoehe_GPS_Z = 20; // Wert : 0-247 |
178 | EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
178 | EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
179 | EE_Parameter.FailSafeTime = 0; // 0 = off |
179 | EE_Parameter.FailSafeTime = 0; // 0 = off |
180 | } |
180 | } |
181 | 181 | ||
182 | EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 (15 -> ca. +/- 5m/sek bei Stick-Voll-Ausschlag) |
182 | EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 (15 -> ca. +/- 5m/sek bei Stick-Voll-Ausschlag) |
183 | EE_Parameter.StartLandChannel = 0; |
183 | EE_Parameter.StartLandChannel = 0; |
184 | EE_Parameter.LandingSpeed = 12; |
184 | EE_Parameter.LandingSpeed = 12; |
185 | 185 | ||
186 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
186 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
187 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
187 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
188 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
188 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
189 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
189 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
190 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
190 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
191 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
191 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
192 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
192 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
193 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
193 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
194 | 194 | ||
195 | EE_Parameter.ServoNickControl = 128; // Wert : 0-247 // Stellung des Servos |
195 | EE_Parameter.ServoNickControl = 128; // Wert : 0-247 // Stellung des Servos |
196 | EE_Parameter.ServoNickComp = 50; // Wert : 0-247 // Einfluss Gyro/Servo |
196 | EE_Parameter.ServoNickComp = 50; // Wert : 0-247 // Einfluss Gyro/Servo |
197 | EE_Parameter.ServoCompInvert = 2; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
197 | EE_Parameter.ServoCompInvert = 2; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
198 | EE_Parameter.ServoNickMin = 24; // Wert : 0-247 // Anschlag |
198 | EE_Parameter.ServoNickMin = 24; // Wert : 0-247 // Anschlag |
199 | EE_Parameter.ServoNickMax = 230; // Wert : 0-247 // Anschlag |
199 | EE_Parameter.ServoNickMax = 230; // Wert : 0-247 // Anschlag |
200 | EE_Parameter.ServoNickRefresh = 3; |
200 | EE_Parameter.ServoNickRefresh = 3; |
201 | EE_Parameter.Servo3 = 125; |
201 | EE_Parameter.Servo3 = 125; |
202 | EE_Parameter.Servo4 = 125; |
202 | EE_Parameter.Servo4 = 125; |
203 | EE_Parameter.Servo5 = 125; |
203 | EE_Parameter.Servo5 = 125; |
204 | EE_Parameter.ServoRollControl = 128; // Wert : 0-247 // Stellung des Servos |
204 | EE_Parameter.ServoRollControl = 128; // Wert : 0-247 // Stellung des Servos |
205 | EE_Parameter.ServoRollComp = 85; // Wert : 0-247 // Einfluss Gyro/Servo |
205 | EE_Parameter.ServoRollComp = 85; // Wert : 0-247 // Einfluss Gyro/Servo |
206 | EE_Parameter.ServoRollMin = 70; // Wert : 0-247 // Anschlag |
206 | EE_Parameter.ServoRollMin = 70; // Wert : 0-247 // Anschlag |
207 | EE_Parameter.ServoRollMax = 220; // Wert : 0-247 // Anschlag |
207 | EE_Parameter.ServoRollMax = 220; // Wert : 0-247 // Anschlag |
208 | EE_Parameter.ServoManualControlSpeed = 60; |
208 | EE_Parameter.ServoManualControlSpeed = 60; |
209 | EE_Parameter.CamOrientation = 0; // Wert : 0-24 -> 0-360 -> 15° steps |
209 | EE_Parameter.CamOrientation = 0; // Wert : 0-24 -> 0-360 -> 15° steps |
210 | 210 | ||
211 | EE_Parameter.J16Bitmask = 0xAA; |
211 | EE_Parameter.J16Bitmask = 0xAA; |
212 | EE_Parameter.J17Bitmask = 0xCC; |
212 | EE_Parameter.J17Bitmask = 0xCC; |
213 | EE_Parameter.WARN_J16_Bitmask = 0x00; |
213 | EE_Parameter.WARN_J16_Bitmask = 0x00; |
214 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
214 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
215 | EE_Parameter.J16Timing = 40; |
215 | EE_Parameter.J16Timing = 40; |
216 | EE_Parameter.J17Timing = 40; |
216 | EE_Parameter.J17Timing = 40; |
217 | EE_Parameter.AutoPhotoDistance = 0; // Photo release in meter |
217 | EE_Parameter.AutoPhotoDistance = 0; // Photo release in meter |
218 | EE_Parameter.AutoPhotoAtitudes = 0; // Photo release in meter |
218 | EE_Parameter.AutoPhotoAtitudes = 0; // Photo release in meter |
219 | EE_Parameter.SingleWpSpeed = 50; // Speed when flying the single points |
219 | EE_Parameter.SingleWpSpeed = 50; // Speed when flying the single points |
220 | 220 | ||
221 | EE_Parameter.LoopGasLimit = 50; |
221 | EE_Parameter.LoopGasLimit = 50; |
222 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
222 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
223 | EE_Parameter.LoopHysterese = 50; |
223 | EE_Parameter.LoopHysterese = 50; |
224 | 224 | ||
225 | EE_Parameter.NaviGpsModeChannel = 6; // Kanal 6 |
225 | EE_Parameter.NaviGpsModeChannel = 6; // Kanal 6 |
226 | EE_Parameter.NaviGpsGain = 100; |
226 | EE_Parameter.NaviGpsGain = 100; |
227 | EE_Parameter.NaviGpsP = 100; |
227 | EE_Parameter.NaviGpsP = 100; |
228 | EE_Parameter.NaviGpsI = 90; |
228 | EE_Parameter.NaviGpsI = 90; |
229 | EE_Parameter.NaviGpsD = 120; |
229 | EE_Parameter.NaviGpsD = 120; |
230 | EE_Parameter.NaviGpsA = 40; |
230 | EE_Parameter.NaviGpsA = 40; |
231 | EE_Parameter.NaviGpsPLimit = 75; |
231 | EE_Parameter.NaviGpsPLimit = 75; |
232 | EE_Parameter.NaviGpsILimit = 85; |
232 | EE_Parameter.NaviGpsILimit = 85; |
233 | EE_Parameter.NaviGpsDLimit = 75; |
233 | EE_Parameter.NaviGpsDLimit = 75; |
234 | EE_Parameter.NaviGpsMinSat = 6; |
234 | EE_Parameter.NaviGpsMinSat = 6; |
235 | EE_Parameter.NaviStickThreshold = 8; |
235 | EE_Parameter.NaviStickThreshold = 8; |
236 | EE_Parameter.NaviWindCorrection = 50; |
236 | EE_Parameter.NaviWindCorrection = 50; |
237 | EE_Parameter.NaviAccCompensation = 42; |
237 | EE_Parameter.NaviAccCompensation = 42; |
238 | EE_Parameter.NaviOperatingRadius = 245; |
238 | EE_Parameter.NaviMaxFlyingRange = 0; |
- | 239 | EE_Parameter.NaviDescendRange = 0; |
|
239 | EE_Parameter.NaviAngleLimitation = 140; |
240 | EE_Parameter.NaviAngleLimitation = 140; |
240 | EE_Parameter.NaviPH_LoginTime = 2; |
241 | EE_Parameter.NaviPH_LoginTime = 2; |
241 | EE_Parameter.OrientationAngle = 0; |
242 | EE_Parameter.OrientationAngle = 0; |
242 | EE_Parameter.CareFreeChannel = 0; |
243 | EE_Parameter.CareFreeChannel = 0; |
243 | EE_Parameter.NotGas = 65; // Wert : 0-247 // Gaswert bei Empangsverlust (ggf. in Prozent) |
244 | EE_Parameter.NotGas = 65; // Wert : 0-247 // Gaswert bei Empangsverlust (ggf. in Prozent) |
244 | EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
245 | EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
245 | EE_Parameter.MotorSmooth = 0; |
246 | EE_Parameter.MotorSmooth = 0; |
246 | EE_Parameter.ComingHomeAltitude = 0; // 0 = don't change |
247 | EE_Parameter.ComingHomeAltitude = 0; // 0 = don't change |
247 | EE_Parameter.MaxAltitude = 150; // 0 = off |
248 | EE_Parameter.MaxAltitude = 150; // 0 = off |
248 | EE_Parameter.AchsKopplung1 = 125; |
249 | EE_Parameter.AchsKopplung1 = 125; |
249 | EE_Parameter.AchsKopplung2 = 52; |
250 | EE_Parameter.AchsKopplung2 = 52; |
250 | EE_Parameter.FailsafeChannel = 0; |
251 | EE_Parameter.FailsafeChannel = 0; |
251 | EE_Parameter.ServoFilterNick = 0; |
252 | EE_Parameter.ServoFilterNick = 0; |
252 | EE_Parameter.ServoFilterRoll = 0; |
253 | EE_Parameter.ServoFilterRoll = 0; |
253 | EE_Parameter.Servo3OnValue = 140; |
254 | EE_Parameter.Servo3OnValue = 140; |
254 | EE_Parameter.Servo3OffValue = 70; |
255 | EE_Parameter.Servo3OffValue = 70; |
255 | EE_Parameter.Servo4OnValue = 140; |
256 | EE_Parameter.Servo4OnValue = 140; |
256 | EE_Parameter.Servo4OffValue = 70; |
257 | EE_Parameter.Servo4OffValue = 70; |
257 | EE_Parameter.CompassOffset = 0; |
258 | EE_Parameter.CompassOffset = 0; |
258 | EE_Parameter.UnterspannungsWarnung = 32; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
259 | EE_Parameter.UnterspannungsWarnung = 32; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
259 | EE_Parameter.ComingHomeVoltage = 31; |
260 | EE_Parameter.ComingHomeVoltage = 31; |
260 | EE_Parameter.AutoLandingVoltage = 30; |
261 | EE_Parameter.AutoLandingVoltage = 30; |
261 | } |
262 | } |
262 | /* |
263 | /* |
263 | void ParamSet_DefaultSet1(void) // sport |
264 | void ParamSet_DefaultSet1(void) // sport |
264 | { |
265 | { |
265 | CommonDefaults(); |
266 | CommonDefaults(); |
266 | EE_Parameter.Stick_P = 14; // Wert : 1-20 |
267 | EE_Parameter.Stick_P = 14; // Wert : 1-20 |
267 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
268 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
268 | EE_Parameter.StickGier_P = 12; // Wert : 1-20 |
269 | EE_Parameter.StickGier_P = 12; // Wert : 1-20 |
269 | EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
270 | EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
270 | EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
271 | EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
271 | EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
272 | EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
272 | EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
273 | EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
273 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
274 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
274 | EE_Parameter.I_Faktor = 32; |
275 | EE_Parameter.I_Faktor = 32; |
275 | EE_Parameter.CouplingYawCorrection = 1; |
276 | EE_Parameter.CouplingYawCorrection = 1; |
276 | EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
277 | EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
277 | EE_Parameter.DynamicStability = 100; |
278 | EE_Parameter.DynamicStability = 100; |
278 | memcpy(EE_Parameter.Name, "Sport\0", 12); |
279 | memcpy(EE_Parameter.Name, "Sport\0", 12); |
279 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
280 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
280 | } |
281 | } |
281 | */ |
282 | */ |
282 | 283 | ||
283 | /***************************************************/ |
284 | /***************************************************/ |
284 | /* Default Values for parameter set 1 */ |
285 | /* Default Values for parameter set 1 */ |
285 | /***************************************************/ |
286 | /***************************************************/ |
286 | void ParamSet_DefaultSet1(void) // normal |
287 | void ParamSet_DefaultSet1(void) // normal |
287 | { |
288 | { |
288 | CommonDefaults(); |
289 | CommonDefaults(); |
289 | EE_Parameter.Stick_P = 10; // Wert : 1-20 |
290 | EE_Parameter.Stick_P = 10; // Wert : 1-20 |
290 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
291 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
291 | EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
292 | EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
292 | EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
293 | EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
293 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
294 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
294 | EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
295 | EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
295 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
296 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
296 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
297 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
297 | EE_Parameter.I_Faktor = 32; |
298 | EE_Parameter.I_Faktor = 32; |
298 | EE_Parameter.CouplingYawCorrection = 60; |
299 | EE_Parameter.CouplingYawCorrection = 60; |
299 | EE_Parameter.DynamicStability = 75; |
300 | EE_Parameter.DynamicStability = 75; |
300 | memcpy(EE_Parameter.Name, "Fast",4); |
301 | memcpy(EE_Parameter.Name, "Fast",4); |
301 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
302 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
302 | } |
303 | } |
303 | 304 | ||
304 | 305 | ||
305 | /***************************************************/ |
306 | /***************************************************/ |
306 | /* Default Values for parameter set 2 */ |
307 | /* Default Values for parameter set 2 */ |
307 | /***************************************************/ |
308 | /***************************************************/ |
308 | void ParamSet_DefaultSet2(void) // Agil |
309 | void ParamSet_DefaultSet2(void) // Agil |
309 | { |
310 | { |
310 | CommonDefaults(); |
311 | CommonDefaults(); |
311 | EE_Parameter.Stick_P = 8; // Wert : 1-20 |
312 | EE_Parameter.Stick_P = 8; // Wert : 1-20 |
312 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
313 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
313 | EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
314 | EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
314 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
315 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
315 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
316 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
316 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
317 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
317 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
318 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
318 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
319 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
319 | EE_Parameter.I_Faktor = 16; |
320 | EE_Parameter.I_Faktor = 16; |
320 | EE_Parameter.CouplingYawCorrection = 70; |
321 | EE_Parameter.CouplingYawCorrection = 70; |
321 | EE_Parameter.DynamicStability = 70; |
322 | EE_Parameter.DynamicStability = 70; |
322 | memcpy(EE_Parameter.Name, "Agile",5); |
323 | memcpy(EE_Parameter.Name, "Agile",5); |
323 | 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); |
324 | } |
325 | } |
325 | 326 | ||
326 | /***************************************************/ |
327 | /***************************************************/ |
327 | /* Default Values for parameter set 3 */ |
328 | /* Default Values for parameter set 3 */ |
328 | /***************************************************/ |
329 | /***************************************************/ |
329 | void ParamSet_DefaultSet3(void) // Easy |
330 | void ParamSet_DefaultSet3(void) // Easy |
330 | { |
331 | { |
331 | CommonDefaults(); |
332 | CommonDefaults(); |
332 | EE_Parameter.Stick_P = 6; // Wert : 1-20 |
333 | EE_Parameter.Stick_P = 6; // Wert : 1-20 |
333 | EE_Parameter.Stick_D = 10; // Wert : 0-20 |
334 | EE_Parameter.Stick_D = 10; // Wert : 0-20 |
334 | EE_Parameter.StickGier_P = 4; // Wert : 1-20 |
335 | EE_Parameter.StickGier_P = 4; // Wert : 1-20 |
335 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
336 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
336 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
337 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
337 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
338 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
338 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
339 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
339 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
340 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
340 | EE_Parameter.I_Faktor = 16; |
341 | EE_Parameter.I_Faktor = 16; |
341 | EE_Parameter.CouplingYawCorrection = 70; |
342 | EE_Parameter.CouplingYawCorrection = 70; |
342 | EE_Parameter.DynamicStability = 70; |
343 | EE_Parameter.DynamicStability = 70; |
343 | memcpy(EE_Parameter.Name, "Easy", 4); |
344 | memcpy(EE_Parameter.Name, "Easy", 4); |
344 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
345 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
345 | } |
346 | } |
346 | 347 | ||
347 | 348 | ||
348 | /***************************************************/ |
349 | /***************************************************/ |
349 | /* Read Parameter from EEPROM as byte */ |
350 | /* Read Parameter from EEPROM as byte */ |
350 | /***************************************************/ |
351 | /***************************************************/ |
351 | uint8_t GetParamByte(uint16_t param_id) |
352 | uint8_t GetParamByte(uint16_t param_id) |
352 | { |
353 | { |
353 | return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
354 | return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
354 | } |
355 | } |
355 | 356 | ||
356 | /***************************************************/ |
357 | /***************************************************/ |
357 | /* Write Parameter to EEPROM as byte */ |
358 | /* Write Parameter to EEPROM as byte */ |
358 | /***************************************************/ |
359 | /***************************************************/ |
359 | void SetParamByte(uint16_t param_id, uint8_t value) |
360 | void SetParamByte(uint16_t param_id, uint8_t value) |
360 | { |
361 | { |
361 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
362 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
362 | } |
363 | } |
363 | 364 | ||
364 | /***************************************************/ |
365 | /***************************************************/ |
365 | /* Read Parameter from EEPROM as word */ |
366 | /* Read Parameter from EEPROM as word */ |
366 | /***************************************************/ |
367 | /***************************************************/ |
367 | uint16_t GetParamWord(uint16_t param_id) |
368 | uint16_t GetParamWord(uint16_t param_id) |
368 | { |
369 | { |
369 | return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
370 | return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
370 | } |
371 | } |
371 | 372 | ||
372 | /***************************************************/ |
373 | /***************************************************/ |
373 | /* Write Parameter to EEPROM as word */ |
374 | /* Write Parameter to EEPROM as word */ |
374 | /***************************************************/ |
375 | /***************************************************/ |
375 | void SetParamWord(uint16_t param_id, uint16_t value) |
376 | void SetParamWord(uint16_t param_id, uint16_t value) |
376 | { |
377 | { |
377 | eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
378 | eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
378 | } |
379 | } |
379 | 380 | ||
380 | /***************************************************/ |
381 | /***************************************************/ |
381 | /* Read Parameter Set from EEPROM */ |
382 | /* Read Parameter Set from EEPROM */ |
382 | /***************************************************/ |
383 | /***************************************************/ |
383 | // number [1..5] |
384 | // number [1..5] |
384 | uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
385 | uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
385 | { |
386 | { |
386 | uint8_t crc; |
387 | uint8_t crc; |
387 | uint16_t eeaddr; |
388 | uint16_t eeaddr; |
388 | 389 | ||
389 | // range the setnumber |
390 | // range the setnumber |
390 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
391 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
391 | 392 | ||
392 | // calculate eeprom addr |
393 | // calculate eeprom addr |
393 | eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
394 | eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
394 | 395 | ||
395 | // calculate checksum from eeprom |
396 | // calculate checksum from eeprom |
396 | crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
397 | crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
397 | 398 | ||
398 | // check crc |
399 | // check crc |
399 | if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
400 | if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
400 | 401 | ||
401 | // check revision |
402 | // check revision |
402 | if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0; |
403 | if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0; |
403 | 404 | ||
404 | // read paramset from eeprom |
405 | // read paramset from eeprom |
405 | eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
406 | eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
406 | LED_Init(); |
407 | LED_Init(); |
407 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
408 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
408 | LIBFC_HoTT_Clear(); |
409 | LIBFC_HoTT_Clear(); |
409 | #endif |
410 | #endif |
410 | return 1; |
411 | return 1; |
411 | } |
412 | } |
412 | 413 | ||
413 | /***************************************************/ |
414 | /***************************************************/ |
414 | /* Write Parameter Set to EEPROM */ |
415 | /* Write Parameter Set to EEPROM */ |
415 | /***************************************************/ |
416 | /***************************************************/ |
416 | // number [1..5] |
417 | // number [1..5] |
417 | uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
418 | uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
418 | { |
419 | { |
419 | uint8_t crc; |
420 | uint8_t crc; |
420 | 421 | ||
421 | if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
422 | if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
422 | { |
423 | { |
423 | if(setnumber > 5) setnumber = 5; |
424 | if(setnumber > 5) setnumber = 5; |
424 | if(setnumber < 1) return 0; |
425 | if(setnumber < 1) return 0; |
425 | LIBFC_CheckSettings(); |
426 | LIBFC_CheckSettings(); |
426 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) // check the Setting: Not more than 100% emergency gas |
427 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) // check the Setting: Not more than 100% emergency gas |
427 | { |
428 | { |
428 | if(EE_Parameter.NotGas > 99) EE_Parameter.NotGas = 80; // i.e. 80% of Hovergas |
429 | if(EE_Parameter.NotGas > 99) EE_Parameter.NotGas = 80; // i.e. 80% of Hovergas |
429 | } |
430 | } |
430 | // update checksum |
431 | // update checksum |
431 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
432 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
432 | 433 | ||
433 | // write paramset to eeprom |
434 | // write paramset to eeprom |
434 | eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
435 | eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
435 | 436 | ||
436 | // backup channel settings to separate block in eeprom |
437 | // backup channel settings to separate block in eeprom |
437 | eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
438 | eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
438 | 439 | ||
439 | // write crc of channel block to eeprom |
440 | // write crc of channel block to eeprom |
440 | crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
441 | crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
441 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
442 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
442 | 443 | ||
443 | // update active settings number |
444 | // update active settings number |
444 | SetActiveParamSet(setnumber); |
445 | SetActiveParamSet(setnumber); |
445 | LED_Init(); |
446 | LED_Init(); |
446 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
447 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
447 | LIBFC_HoTT_Clear(); |
448 | LIBFC_HoTT_Clear(); |
448 | #endif |
449 | #endif |
449 | return 1; |
450 | return 1; |
450 | } |
451 | } |
451 | // wrong revision |
452 | // wrong revision |
452 | return 0; |
453 | return 0; |
453 | } |
454 | } |
454 | 455 | ||
455 | /***************************************************/ |
456 | /***************************************************/ |
456 | /* Read MixerTable from EEPROM */ |
457 | /* Read MixerTable from EEPROM */ |
457 | /***************************************************/ |
458 | /***************************************************/ |
458 | uint8_t MixerTable_ReadFromEEProm(void) |
459 | uint8_t MixerTable_ReadFromEEProm(void) |
459 | { |
460 | { |
460 | uint8_t crc; |
461 | uint8_t crc; |
461 | 462 | ||
462 | // calculate checksum in eeprom |
463 | // calculate checksum in eeprom |
463 | crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
464 | crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
464 | 465 | ||
465 | // check crc |
466 | // check crc |
466 | if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
467 | if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
467 | 468 | ||
468 | // check revision |
469 | // check revision |
469 | if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
470 | if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
470 | 471 | ||
471 | // read mixer table |
472 | // read mixer table |
472 | eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
473 | eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
473 | return 1; |
474 | return 1; |
474 | } |
475 | } |
475 | 476 | ||
476 | /***************************************************/ |
477 | /***************************************************/ |
477 | /* Write Mixer Table to EEPROM */ |
478 | /* Write Mixer Table to EEPROM */ |
478 | /***************************************************/ |
479 | /***************************************************/ |
479 | uint8_t MixerTable_WriteToEEProm(void) |
480 | uint8_t MixerTable_WriteToEEProm(void) |
480 | { |
481 | { |
481 | if(Mixer.Revision == EEMIXER_REVISION) |
482 | if(Mixer.Revision == EEMIXER_REVISION) |
482 | { |
483 | { |
483 | // update crc |
484 | // update crc |
484 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
485 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
485 | 486 | ||
486 | // write to eeprom |
487 | // write to eeprom |
487 | eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
488 | eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
488 | return 1; |
489 | return 1; |
489 | } |
490 | } |
490 | else return 0; |
491 | else return 0; |
491 | } |
492 | } |
492 | 493 | ||
493 | /***************************************************/ |
494 | /***************************************************/ |
494 | /* Default Values for Mixer Table */ |
495 | /* Default Values for Mixer Table */ |
495 | /***************************************************/ |
496 | /***************************************************/ |
496 | void MixerTable_Default(void) // Quadro |
497 | void MixerTable_Default(void) // Quadro |
497 | { |
498 | { |
498 | uint8_t i; |
499 | uint8_t i; |
499 | 500 | ||
500 | Mixer.Revision = EEMIXER_REVISION; |
501 | Mixer.Revision = EEMIXER_REVISION; |
501 | // clear mixer table |
502 | // clear mixer table |
502 | for(i = 0; i < 16; i++) |
503 | for(i = 0; i < 16; i++) |
503 | { |
504 | { |
504 | Mixer.Motor[i][MIX_GAS] = 0; |
505 | Mixer.Motor[i][MIX_GAS] = 0; |
505 | Mixer.Motor[i][MIX_NICK] = 0; |
506 | Mixer.Motor[i][MIX_NICK] = 0; |
506 | Mixer.Motor[i][MIX_ROLL] = 0; |
507 | Mixer.Motor[i][MIX_ROLL] = 0; |
507 | Mixer.Motor[i][MIX_YAW] = 0; |
508 | Mixer.Motor[i][MIX_YAW] = 0; |
508 | } |
509 | } |
509 | // default = Quadro |
510 | // default = Quadro |
510 | Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
511 | Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
511 | Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
512 | Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
512 | Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
513 | Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
513 | Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
514 | Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
514 | memcpy(Mixer.Name, "Quadro\0\0\0\0\0\0", 12); |
515 | memcpy(Mixer.Name, "Quadro\0\0\0\0\0\0", 12); |
515 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
516 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
516 | } |
517 | } |
517 | 518 | ||
518 | /***************************************************/ |
519 | /***************************************************/ |
519 | /* Get active parameter set */ |
520 | /* Get active parameter set */ |
520 | /***************************************************/ |
521 | /***************************************************/ |
521 | uint8_t GetActiveParamSet(void) |
522 | uint8_t GetActiveParamSet(void) |
522 | { |
523 | { |
523 | uint8_t setnumber; |
524 | uint8_t setnumber; |
524 | setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
525 | setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
525 | if(setnumber > 5) |
526 | if(setnumber > 5) |
526 | { |
527 | { |
527 | setnumber = 3; |
528 | setnumber = 3; |
528 | eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber); |
529 | eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber); |
529 | } |
530 | } |
530 | ActiveParamSet = setnumber; |
531 | ActiveParamSet = setnumber; |
531 | return(setnumber); |
532 | return(setnumber); |
532 | } |
533 | } |
533 | 534 | ||
534 | /***************************************************/ |
535 | /***************************************************/ |
535 | /* Set active parameter set */ |
536 | /* Set active parameter set */ |
536 | /***************************************************/ |
537 | /***************************************************/ |
537 | void SetActiveParamSet(uint8_t setnumber) |
538 | void SetActiveParamSet(uint8_t setnumber) |
538 | { |
539 | { |
539 | if(setnumber > 5) setnumber = 5; |
540 | if(setnumber > 5) setnumber = 5; |
540 | if(setnumber < 1) setnumber = 1; |
541 | if(setnumber < 1) setnumber = 1; |
541 | ActiveParamSet = setnumber; |
542 | ActiveParamSet = setnumber; |
542 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
543 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
543 | } |
544 | } |
544 | 545 | ||
545 | /***************************************************/ |
546 | /***************************************************/ |
546 | /* Set default parameter set */ |
547 | /* Set default parameter set */ |
547 | /***************************************************/ |
548 | /***************************************************/ |
548 | void SetDefaultParameter(uint8_t set, uint8_t restore_channels) |
549 | void SetDefaultParameter(uint8_t set, uint8_t restore_channels) |
549 | { |
550 | { |
550 | 551 | ||
551 | if(set > 5) set = 5; |
552 | if(set > 5) set = 5; |
552 | else if(set < 1) set = 1; |
553 | else if(set < 1) set = 1; |
553 | 554 | ||
554 | switch(set) |
555 | switch(set) |
555 | { |
556 | { |
556 | case 1: |
557 | case 1: |
557 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
558 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
558 | break; |
559 | break; |
559 | case 2: |
560 | case 2: |
560 | ParamSet_DefaultSet2(); // Kamera |
561 | ParamSet_DefaultSet2(); // Kamera |
561 | break; |
562 | break; |
562 | case 3: |
563 | case 3: |
563 | ParamSet_DefaultSet3(); // Beginner |
564 | ParamSet_DefaultSet3(); // Beginner |
564 | break; |
565 | break; |
565 | default: |
566 | default: |
566 | ParamSet_DefaultSet3(); // Beginner |
567 | ParamSet_DefaultSet3(); // Beginner |
567 | break; |
568 | break; |
568 | } |
569 | } |
569 | if(restore_channels) |
570 | if(restore_channels) |
570 | { |
571 | { |
571 | uint8_t crc; |
572 | uint8_t crc; |
572 | // 1st check for a valid channel backup in eeprom |
573 | // 1st check for a valid channel backup in eeprom |
573 | crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
574 | crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
574 | if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) |
575 | if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) |
575 | { |
576 | { |
576 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
577 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
577 | } |
578 | } |
578 | else ParamSet_DefaultStickMapping(); |
579 | else ParamSet_DefaultStickMapping(); |
579 | } |
580 | } |
580 | else ParamSet_DefaultStickMapping(); |
581 | else ParamSet_DefaultStickMapping(); |
581 | ParamSet_WriteToEEProm(set); |
582 | ParamSet_WriteToEEProm(set); |
582 | } |
583 | } |
583 | 584 | ||
584 | /***************************************************/ |
585 | /***************************************************/ |
585 | /* Initialize EEPROM Parameter Sets */ |
586 | /* Initialize EEPROM Parameter Sets */ |
586 | /***************************************************/ |
587 | /***************************************************/ |
587 | void ParamSet_Init(void) |
588 | void ParamSet_Init(void) |
588 | { |
589 | { |
589 | uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
590 | uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
590 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
591 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
591 | if(PlatinenVersion != GetParamByte(PID_HARDWARE_VERSION)) |
592 | if(PlatinenVersion != GetParamByte(PID_HARDWARE_VERSION)) |
592 | { |
593 | { |
593 | 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 |
594 | 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 |
594 | SetParamByte(PID_HARDWARE_VERSION,PlatinenVersion); // Remember the Version number |
595 | SetParamByte(PID_HARDWARE_VERSION,PlatinenVersion); // Remember the Version number |
595 | wdt_enable(WDTO_15MS); // Reset-Commando |
596 | wdt_enable(WDTO_15MS); // Reset-Commando |
596 | printf("\n\r--> Hardware Version Byte Changed <--"); |
597 | printf("\n\r--> Hardware Version Byte Changed <--"); |
597 | while(1); |
598 | while(1); |
598 | } |
599 | } |
599 | #endif |
600 | #endif |
600 | if((EEPARAM_REVISION) != GetParamByte(PID_EE_REVISION)) |
601 | if((EEPARAM_REVISION) != GetParamByte(PID_EE_REVISION)) |
601 | { |
602 | { |
602 | ee_default = 1; // software update or forced by mktool |
603 | ee_default = 1; // software update or forced by mktool |
603 | } |
604 | } |
604 | // 1st check for a valid channel backup in eeprom |
605 | // 1st check for a valid channel backup in eeprom |
605 | i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
606 | i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
606 | if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)))) channel_backup = 1; |
607 | if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)))) channel_backup = 1; |
607 | 608 | ||
608 | // parameter check |
609 | // parameter check |
609 | 610 | ||
610 | // check all 5 parameter settings |
611 | // check all 5 parameter settings |
611 | for (i = 1;i < 6; i++) |
612 | for (i = 1;i < 6; i++) |
612 | { |
613 | { |
613 | if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
614 | if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
614 | { |
615 | { |
615 | bad_params = 1; |
616 | bad_params = 1; |
616 | printf("\n\rGenerating default Parameter Set %d",i); |
617 | printf("\n\rGenerating default Parameter Set %d",i); |
617 | switch(i) |
618 | switch(i) |
618 | { |
619 | { |
619 | case 1: |
620 | case 1: |
620 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
621 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
621 | break; |
622 | break; |
622 | case 2: |
623 | case 2: |
623 | ParamSet_DefaultSet2(); // Normal |
624 | ParamSet_DefaultSet2(); // Normal |
624 | break; |
625 | break; |
625 | default: |
626 | default: |
626 | ParamSet_DefaultSet3(); // Easy |
627 | ParamSet_DefaultSet3(); // Easy |
627 | break; |
628 | break; |
628 | } |
629 | } |
629 | if(channel_backup) // if we have an channel mapping backup in eeprom |
630 | if(channel_backup) // if we have an channel mapping backup in eeprom |
630 | { // restore it from eeprom |
631 | { // restore it from eeprom |
631 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
632 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
632 | } |
633 | } |
633 | else |
634 | else |
634 | { // use default mapping |
635 | { // use default mapping |
635 | ParamSet_DefaultStickMapping(); |
636 | ParamSet_DefaultStickMapping(); |
636 | } |
637 | } |
637 | ParamSet_WriteToEEProm(i); |
638 | ParamSet_WriteToEEProm(i); |
638 | } |
639 | } |
639 | } |
640 | } |
640 | if(bad_params) // at least one of the parameter settings were invalid |
641 | if(bad_params) // at least one of the parameter settings were invalid |
641 | { |
642 | { |
642 | // default-Setting is parameter set 3 |
643 | // default-Setting is parameter set 3 |
643 | SetActiveParamSet(3); |
644 | SetActiveParamSet(3); |
644 | } |
645 | } |
645 | // read active parameter set to ParamSet stucture |
646 | // read active parameter set to ParamSet stucture |
646 | i = GetActiveParamSet(); |
647 | i = GetActiveParamSet(); |
647 | ParamSet_ReadFromEEProm(i); |
648 | ParamSet_ReadFromEEProm(i); |
648 | printf("\n\rUsing Parameter Set %d", i); |
649 | printf("\n\rUsing Parameter Set %d", i); |
649 | 650 | ||
650 | // load mixer table |
651 | // load mixer table |
651 | if(GetParamByte(PID_EE_REVISION) == 0xff || !MixerTable_ReadFromEEProm() ) |
652 | if(GetParamByte(PID_EE_REVISION) == 0xff || !MixerTable_ReadFromEEProm() ) |
652 | { |
653 | { |
653 | printf("\n\rGenerating default Mixer Table"); |
654 | printf("\n\rGenerating default Mixer Table"); |
654 | MixerTable_Default(); // Quadro |
655 | MixerTable_Default(); // Quadro |
655 | MixerTable_WriteToEEProm(); |
656 | MixerTable_WriteToEEProm(); |
656 | } |
657 | } |
657 | if(ee_default) SetParamByte(PID_EE_REVISION, (EEPARAM_REVISION)); |
658 | if(ee_default) SetParamByte(PID_EE_REVISION, (EEPARAM_REVISION)); |
658 | // determine motornumber |
659 | // determine motornumber |
659 | RequiredMotors = 0; |
660 | RequiredMotors = 0; |
660 | for(i = 0; i < 16; i++) |
661 | for(i = 0; i < 16; i++) |
661 | { |
662 | { |
662 | if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
663 | if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
663 | } |
664 | } |
664 | 665 | ||
665 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
666 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
666 | PrintLine();// ("\n\r==================================="); |
667 | PrintLine();// ("\n\r==================================="); |
667 | 668 | ||
668 | } |
669 | } |
669 | 670 |