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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
3 | // + Nur für den privaten Gebrauch |
3 | // + Nur für den privaten Gebrauch |
4 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
4 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
8 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
8 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
9 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
10 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
10 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
11 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
12 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // + Verkauf von Luftbildaufnahmen, usw. |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
14 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
15 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
18 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
19 | // + eindeutig als Ursprung verlinkt werden |
19 | // + eindeutig als Ursprung verlinkt werden |
20 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
21 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
22 | // + Benutzung auf eigene Gefahr |
22 | // + Benutzung auf eigene Gefahr |
23 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
23 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
24 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
25 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
25 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
26 | // + mit unserer Zustimmung zulässig |
26 | // + mit unserer Zustimmung zulässig |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
28 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
30 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
31 | // + this list of conditions and the following disclaimer. |
31 | // + this list of conditions and the following disclaimer. |
32 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
32 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
33 | // + from this software without specific prior written permission. |
33 | // + from this software without specific prior written permission. |
34 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
34 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
35 | // + for non-commercial use (directly or indirectly) |
35 | // + for non-commercial use (directly or indirectly) |
36 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
36 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
37 | // + with our written permission |
37 | // + with our written permission |
38 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
39 | // + clearly linked as origin |
39 | // + clearly linked as origin |
40 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
40 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
41 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
41 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
42 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
42 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
43 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
43 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
44 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
44 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
45 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
45 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
46 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
46 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
47 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
47 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
48 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | 52 | ||
53 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
53 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
54 | // + Contant Values |
54 | // + Contant Values |
55 | // + 0-250 -> normale Values |
55 | // + 0-250 -> normale Values |
56 | // + 251 -> Poti1 |
56 | // + 251 -> Poti1 |
57 | // + 252 -> Poti2 |
57 | // + 252 -> Poti2 |
58 | // + 253 -> Poti3 |
58 | // + 253 -> Poti3 |
59 | // + 254 -> Poti4 |
59 | // + 254 -> Poti4 |
60 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
60 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
61 | 61 | ||
62 | #ifndef EEMEM |
62 | #ifndef EEMEM |
63 | #define EEMEM __attribute__ ((section (".eeprom"))) |
63 | #define EEMEM __attribute__ ((section (".eeprom"))) |
64 | #endif |
64 | #endif |
65 | 65 | ||
66 | 66 | ||
67 | #include <avr/eeprom.h> |
67 | #include <avr/eeprom.h> |
68 | #include <string.h> |
68 | #include <string.h> |
69 | #include "eeprom.h" |
69 | #include "eeprom.h" |
70 | #include "uart.h" |
70 | #include "uart.h" |
71 | #include "led.h" |
71 | #include "led.h" |
72 | #include "main.h" |
72 | #include "main.h" |
73 | #include "fc.h" |
73 | #include "fc.h" |
74 | #include "twimaster.h" |
74 | #include "twimaster.h" |
75 | 75 | ||
76 | paramset_t EE_Parameter; |
76 | paramset_t EE_Parameter; |
77 | MixerTable_t Mixer; |
77 | MixerTable_t Mixer; |
78 | uint8_t RequiredMotors; |
78 | uint8_t RequiredMotors; |
79 | 79 | ||
80 | 80 | ||
81 | uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len) |
81 | uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len) |
82 | { |
82 | { |
83 | uint8_t crc = 0xAA; |
83 | uint8_t crc = 0xAA; |
84 | uint16_t i; |
84 | uint16_t i; |
85 | 85 | ||
86 | for(i=0; i<len; i++) |
86 | for(i=0; i<len; i++) |
87 | { |
87 | { |
88 | crc += pBuffer[i]; |
88 | crc += pBuffer[i]; |
89 | } |
89 | } |
90 | return crc; |
90 | return crc; |
91 | } |
91 | } |
92 | 92 | ||
93 | uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len) |
93 | uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len) |
94 | { |
94 | { |
95 | uint8_t crc = 0xAA; |
95 | uint8_t crc = 0xAA; |
96 | uint16_t off; |
96 | uint16_t off; |
97 | 97 | ||
98 | for(off=0; off<len; off++) |
98 | for(off=0; off<len; off++) |
99 | { |
99 | { |
100 | crc += eeprom_read_byte((uint8_t*)(EEAddr + off));; |
100 | crc += eeprom_read_byte((uint8_t*)(EEAddr + off));; |
101 | } |
101 | } |
102 | return crc; |
102 | return crc; |
103 | } |
103 | } |
104 | 104 | ||
105 | void ParamSet_DefaultStickMapping(void) |
105 | void ParamSet_DefaultStickMapping(void) |
106 | { |
106 | { |
107 | EE_Parameter.Kanalbelegung[K_GAS] = 1; |
107 | EE_Parameter.Kanalbelegung[K_GAS] = 1; |
108 | EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
108 | EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
109 | EE_Parameter.Kanalbelegung[K_NICK] = 3; |
109 | EE_Parameter.Kanalbelegung[K_NICK] = 3; |
110 | EE_Parameter.Kanalbelegung[K_GIER] = 4; |
110 | EE_Parameter.Kanalbelegung[K_GIER] = 4; |
111 | EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
111 | EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
112 | EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
112 | EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
113 | EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
113 | EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
114 | EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
114 | EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
115 | EE_Parameter.Kanalbelegung[K_POTI5] = 9; |
115 | EE_Parameter.Kanalbelegung[K_POTI5] = 9; |
116 | EE_Parameter.Kanalbelegung[K_POTI6] = 10; |
116 | EE_Parameter.Kanalbelegung[K_POTI6] = 10; |
117 | EE_Parameter.Kanalbelegung[K_POTI7] = 11; |
117 | EE_Parameter.Kanalbelegung[K_POTI7] = 11; |
118 | EE_Parameter.Kanalbelegung[K_POTI8] = 12; |
118 | EE_Parameter.Kanalbelegung[K_POTI8] = 12; |
119 | } |
119 | } |
120 | 120 | ||
121 | 121 | ||
122 | /***************************************************/ |
122 | /***************************************************/ |
123 | /* Default Values for parameter set 1 */ |
123 | /* Default Values for parameter set 1 */ |
124 | /***************************************************/ |
124 | /***************************************************/ |
125 | void CommonDefaults(void) |
125 | void CommonDefaults(void) |
126 | { |
126 | { |
127 | EE_Parameter.Revision = EEPARAM_REVISION; |
127 | EE_Parameter.Revision = EEPARAM_REVISION; |
128 | 128 | ||
129 | if(PlatinenVersion >= 20) |
129 | if(PlatinenVersion >= 20) |
130 | { |
130 | { |
131 | EE_Parameter.Gyro_D = 10; |
131 | EE_Parameter.Gyro_D = 10; |
132 | EE_Parameter.Driftkomp = 0; |
132 | EE_Parameter.Driftkomp = 0; |
133 | EE_Parameter.GyroAccFaktor = 27; |
133 | EE_Parameter.GyroAccFaktor = 27; |
134 | EE_Parameter.WinkelUmschlagNick = 78; |
134 | EE_Parameter.WinkelUmschlagNick = 78; |
135 | EE_Parameter.WinkelUmschlagRoll = 78; |
135 | EE_Parameter.WinkelUmschlagRoll = 78; |
136 | } |
136 | } |
137 | else |
137 | else |
138 | { |
138 | { |
139 | EE_Parameter.Gyro_D = 3; |
139 | EE_Parameter.Gyro_D = 3; |
140 | EE_Parameter.Driftkomp = 32; |
140 | EE_Parameter.Driftkomp = 32; |
141 | EE_Parameter.GyroAccFaktor = 30; |
141 | EE_Parameter.GyroAccFaktor = 30; |
142 | EE_Parameter.WinkelUmschlagNick = 85; |
142 | EE_Parameter.WinkelUmschlagNick = 85; |
143 | EE_Parameter.WinkelUmschlagRoll = 85; |
143 | EE_Parameter.WinkelUmschlagRoll = 85; |
144 | } |
144 | } |
- | 145 | EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
|
- | 146 | EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP; |
|
- | 147 | EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
|
- | 148 | EE_Parameter.MotorSafetySwitch = 0; |
|
- | 149 | ||
- | 150 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
|
- | 151 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
|
- | 152 | EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
|
- | 153 | ||
- | 154 | EE_Parameter.Hoehe_MinGas = 30; |
|
- | 155 | EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
|
- | 156 | EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
|
- | 157 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
|
- | 158 | EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
|
- | 159 | EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
|
- | 160 | EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
|
- | 161 | EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
|
- | 162 | EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 |
|
145 | 163 | ||
146 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
164 | EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
147 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
165 | EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
148 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
166 | EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
149 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
167 | EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
150 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
168 | EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
151 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
169 | EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
152 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
170 | EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
153 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
171 | EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
- | 172 | ||
154 | EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos |
173 | EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos |
155 | EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
174 | EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
156 | EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
175 | EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
157 | EE_Parameter.ServoNickMin = 0; // Wert : 0-247 // Anschlag |
176 | EE_Parameter.ServoNickMin = 15; // Wert : 0-247 // Anschlag |
158 | EE_Parameter.ServoNickMax = 247; // Wert : 0-247 // Anschlag |
177 | EE_Parameter.ServoNickMax = 255; // Wert : 0-247 // Anschlag |
159 | EE_Parameter.ServoNickRefresh = 6; |
178 | EE_Parameter.ServoNickRefresh = 5; |
160 | EE_Parameter.Servo3 = 125; |
179 | EE_Parameter.Servo3 = 125; |
161 | EE_Parameter.Servo4 = 125; |
180 | EE_Parameter.Servo4 = 125; |
162 | EE_Parameter.Servo5 = 125; |
181 | EE_Parameter.Servo5 = 125; |
163 | EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos |
182 | EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos |
164 | EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
183 | EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
165 | EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
184 | EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
166 | EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
185 | EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
- | 186 | EE_Parameter.ServoManualControlSpeed = 30; |
|
- | 187 | EE_Parameter.CamOrientation = 0; |
|
- | 188 | ||
167 | EE_Parameter.J16Bitmask = 95; |
189 | EE_Parameter.J16Bitmask = 95; |
168 | EE_Parameter.J17Bitmask = 243; |
190 | EE_Parameter.J17Bitmask = 243; |
169 | EE_Parameter.WARN_J16_Bitmask = 0xAA; |
191 | EE_Parameter.WARN_J16_Bitmask = 0xAA; |
170 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
192 | EE_Parameter.WARN_J17_Bitmask = 0xAA; |
171 | EE_Parameter.J16Timing = 20; |
193 | EE_Parameter.J16Timing = 20; |
172 | EE_Parameter.J17Timing = 20; |
194 | EE_Parameter.J17Timing = 20; |
- | 195 | ||
- | 196 | EE_Parameter.LoopGasLimit = 50; |
|
- | 197 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
|
- | 198 | EE_Parameter.LoopHysterese = 50; |
|
- | 199 | EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
|
- | 200 | ||
173 | EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
201 | EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
174 | EE_Parameter.NaviGpsGain = 100; |
202 | EE_Parameter.NaviGpsGain = 100; |
175 | EE_Parameter.NaviGpsP = 90; |
203 | EE_Parameter.NaviGpsP = 90; |
176 | EE_Parameter.NaviGpsI = 90; |
204 | EE_Parameter.NaviGpsI = 90; |
177 | EE_Parameter.NaviGpsD = 90; |
205 | EE_Parameter.NaviGpsD = 90; |
178 | EE_Parameter.NaviGpsPLimit = 75; |
206 | EE_Parameter.NaviGpsPLimit = 75; |
179 | EE_Parameter.NaviGpsILimit = 75; |
207 | EE_Parameter.NaviGpsILimit = 75; |
180 | EE_Parameter.NaviGpsDLimit = 75; |
208 | EE_Parameter.NaviGpsDLimit = 75; |
181 | EE_Parameter.NaviGpsACC = 0; |
209 | EE_Parameter.NaviGpsACC = 0; |
182 | EE_Parameter.NaviGpsMinSat = 6; |
210 | EE_Parameter.NaviGpsMinSat = 6; |
183 | EE_Parameter.NaviStickThreshold = 8; |
211 | EE_Parameter.NaviStickThreshold = 8; |
184 | EE_Parameter.NaviWindCorrection = 90; |
212 | EE_Parameter.NaviWindCorrection = 90; |
185 | EE_Parameter.NaviSpeedCompensation = 30; |
213 | EE_Parameter.NaviSpeedCompensation = 30; |
186 | EE_Parameter.NaviOperatingRadius = 100; |
214 | EE_Parameter.NaviOperatingRadius = 100; |
187 | EE_Parameter.NaviAngleLimitation = 100; |
215 | EE_Parameter.NaviAngleLimitation = 100; |
188 | EE_Parameter.NaviPH_LoginTime = 2; |
216 | EE_Parameter.NaviPH_LoginTime = 2; |
189 | EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
- | |
190 | EE_Parameter.OrientationAngle = 0; |
217 | EE_Parameter.OrientationAngle = 0; |
191 | EE_Parameter.OrientationModeControl = 0; |
218 | EE_Parameter.OrientationModeControl = 0; |
192 | EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
219 | EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
193 | EE_Parameter.NotGas = 45; // Wert : 0-247 // Gaswert bei Empangsverlust |
220 | EE_Parameter.NotGas = 45; // Wert : 0-247 // Gaswert bei Empangsverlust |
194 | EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
221 | EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
195 | EE_Parameter.MotorSafetySwitch = 0; |
- | |
196 | EE_Parameter.ServoManualControlSpeed = 20; |
- | |
197 | EE_Parameter.CamOrientation = 0; |
- | |
198 | } |
222 | } |
199 | 223 | ||
200 | void ParamSet_DefaultSet1(void) // sport |
224 | void ParamSet_DefaultSet1(void) // sport |
201 | { |
225 | { |
202 | CommonDefaults(); |
226 | CommonDefaults(); |
203 | EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
- | |
204 | EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP;// | CFG_SENSITIVE_RC |
- | |
205 | EE_Parameter.Hoehe_MinGas = 30; |
- | |
206 | EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
- | |
207 | EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
- | |
208 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
- | |
209 | EE_Parameter.Hoehe_ACC_Wirkung = 00; // Wert : 0-247 |
- | |
210 | EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
- | |
211 | EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
- | |
212 | EE_Parameter.Hoehe_StickNeutralPoint = 0; // Wert : 0-247 (0 = Hover-Estimation) |
- | |
213 | EE_Parameter.Hoehe_Verstaerkung = 20; // Wert : 0-50 |
- | |
214 | EE_Parameter.Stick_P = 14; // Wert : 1-20 |
227 | EE_Parameter.Stick_P = 14; // Wert : 1-20 |
215 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
228 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
216 | EE_Parameter.Gier_P = 12; // Wert : 1-20 |
229 | EE_Parameter.Gier_P = 12; // Wert : 1-20 |
217 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
- | |
218 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
- | |
219 | EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
- | |
220 | EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
230 | EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
221 | EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
231 | EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
222 | EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
232 | EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
223 | EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
233 | EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
224 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
234 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
225 | EE_Parameter.I_Faktor = 32; |
235 | EE_Parameter.I_Faktor = 32; |
226 | EE_Parameter.LoopGasLimit = 50; |
- | |
227 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
- | |
228 | EE_Parameter.LoopHysterese = 50; |
- | |
229 | EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
- | |
230 | EE_Parameter.AchsKopplung1 = 90; |
236 | EE_Parameter.AchsKopplung1 = 90; |
231 | EE_Parameter.AchsKopplung2 = 80; |
237 | EE_Parameter.AchsKopplung2 = 80; |
232 | EE_Parameter.CouplingYawCorrection = 1; |
238 | EE_Parameter.CouplingYawCorrection = 1; |
233 | EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
239 | EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
234 | EE_Parameter.DynamicStability = 100; |
240 | EE_Parameter.DynamicStability = 100; |
235 | memcpy(EE_Parameter.Name, "Sport\0", 12); |
241 | memcpy(EE_Parameter.Name, "Sport\0", 12); |
236 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
242 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
237 | } |
243 | } |
238 | 244 | ||
239 | 245 | ||
240 | /***************************************************/ |
246 | /***************************************************/ |
241 | /* Default Values for parameter set 2 */ |
247 | /* Default Values for parameter set 2 */ |
242 | /***************************************************/ |
248 | /***************************************************/ |
243 | void ParamSet_DefaultSet2(void) // normal |
249 | void ParamSet_DefaultSet2(void) // normal |
244 | { |
250 | { |
245 | CommonDefaults(); |
251 | CommonDefaults(); |
246 | EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
- | |
247 | EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP;// CFG_SENSITIVE_RC |
- | |
248 | EE_Parameter.Hoehe_MinGas = 30; |
- | |
249 | EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
- | |
250 | EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
- | |
251 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
- | |
252 | EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
- | |
253 | EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
- | |
254 | EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
- | |
255 | EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
- | |
256 | EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 |
- | |
257 | EE_Parameter.Stick_P = 10; // Wert : 1-20 |
252 | EE_Parameter.Stick_P = 10; // Wert : 1-20 |
258 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
253 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
259 | EE_Parameter.Gier_P = 6; // Wert : 1-20 |
254 | EE_Parameter.Gier_P = 6; // Wert : 1-20 |
260 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
- | |
261 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
- | |
262 | EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
- | |
263 | EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
255 | EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
264 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
256 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
265 | EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
257 | EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
266 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
258 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
267 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
259 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
268 | EE_Parameter.I_Faktor = 32; |
260 | EE_Parameter.I_Faktor = 32; |
269 | EE_Parameter.LoopGasLimit = 50; |
- | |
270 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
- | |
271 | EE_Parameter.LoopHysterese = 50; |
- | |
272 | EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
- | |
273 | EE_Parameter.AchsKopplung1 = 90; |
261 | EE_Parameter.AchsKopplung1 = 90; |
274 | EE_Parameter.AchsKopplung2 = 80; |
262 | EE_Parameter.AchsKopplung2 = 80; |
275 | EE_Parameter.CouplingYawCorrection = 60; |
263 | EE_Parameter.CouplingYawCorrection = 60; |
276 | EE_Parameter.GyroAccAbgleich = 32; // 1/k |
264 | EE_Parameter.GyroAccAbgleich = 32; // 1/k |
277 | EE_Parameter.DynamicStability = 75; |
265 | EE_Parameter.DynamicStability = 75; |
278 | memcpy(EE_Parameter.Name, "Normal\0", 12); |
266 | memcpy(EE_Parameter.Name, "Normal\0", 12); |
279 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
267 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
280 | } |
268 | } |
281 | 269 | ||
282 | 270 | ||
283 | /***************************************************/ |
271 | /***************************************************/ |
284 | /* Default Values for parameter set 3 */ |
272 | /* Default Values for parameter set 3 */ |
285 | /***************************************************/ |
273 | /***************************************************/ |
286 | void ParamSet_DefaultSet3(void) // beginner |
274 | void ParamSet_DefaultSet3(void) // beginner |
287 | { |
275 | { |
288 | EE_Parameter.GlobalConfig = /*CFG_DREHRATEN_BEGRENZER |*/ CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
- | |
289 | EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP;// | CFG_SENSITIVE_RC |
- | |
290 | EE_Parameter.Hoehe_MinGas = 30; |
276 | CommonDefaults(); |
291 | EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
- | |
292 | EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
- | |
293 | EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
- | |
294 | EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
- | |
295 | EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
- | |
296 | EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
- | |
297 | EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
- | |
298 | EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 |
- | |
299 | EE_Parameter.Stick_P = 8; // Wert : 1-20 |
277 | EE_Parameter.Stick_P = 8; // Wert : 1-20 |
300 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
278 | EE_Parameter.Stick_D = 16; // Wert : 0-20 |
301 | EE_Parameter.Gier_P = 6; // Wert : 1-20 |
279 | EE_Parameter.Gier_P = 6; // Wert : 1-20 |
302 | EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
- | |
303 | EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
- | |
304 | EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
- | |
305 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
280 | EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
306 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
281 | EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
307 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
282 | EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
308 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
283 | EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
309 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
284 | EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
310 | EE_Parameter.I_Faktor = 16; |
285 | EE_Parameter.I_Faktor = 16; |
311 | EE_Parameter.LoopGasLimit = 50; |
- | |
312 | EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
- | |
313 | EE_Parameter.LoopHysterese = 50; |
- | |
314 | EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
- | |
315 | EE_Parameter.AchsKopplung1 = 90; |
286 | EE_Parameter.AchsKopplung1 = 90; |
316 | EE_Parameter.AchsKopplung2 = 80; |
287 | EE_Parameter.AchsKopplung2 = 80; |
317 | EE_Parameter.CouplingYawCorrection = 70; |
288 | EE_Parameter.CouplingYawCorrection = 70; |
318 | EE_Parameter.GyroAccAbgleich = 32; // 1/k |
289 | EE_Parameter.GyroAccAbgleich = 32; // 1/k |
319 | EE_Parameter.DynamicStability = 70; |
290 | EE_Parameter.DynamicStability = 70; |
320 | memcpy(EE_Parameter.Name, "Beginner\0", 12); |
291 | memcpy(EE_Parameter.Name, "Beginner\0", 12); |
321 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
292 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
322 | } |
293 | } |
323 | 294 | ||
324 | /***************************************************/ |
295 | /***************************************************/ |
325 | /* Read Parameter from EEPROM as byte */ |
296 | /* Read Parameter from EEPROM as byte */ |
326 | /***************************************************/ |
297 | /***************************************************/ |
327 | uint8_t GetParamByte(uint16_t param_id) |
298 | uint8_t GetParamByte(uint16_t param_id) |
328 | { |
299 | { |
329 | return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
300 | return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
330 | } |
301 | } |
331 | 302 | ||
332 | /***************************************************/ |
303 | /***************************************************/ |
333 | /* Write Parameter to EEPROM as byte */ |
304 | /* Write Parameter to EEPROM as byte */ |
334 | /***************************************************/ |
305 | /***************************************************/ |
335 | void SetParamByte(uint16_t param_id, uint8_t value) |
306 | void SetParamByte(uint16_t param_id, uint8_t value) |
336 | { |
307 | { |
337 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
308 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
338 | } |
309 | } |
339 | 310 | ||
340 | /***************************************************/ |
311 | /***************************************************/ |
341 | /* Read Parameter from EEPROM as word */ |
312 | /* Read Parameter from EEPROM as word */ |
342 | /***************************************************/ |
313 | /***************************************************/ |
343 | uint16_t GetParamWord(uint16_t param_id) |
314 | uint16_t GetParamWord(uint16_t param_id) |
344 | { |
315 | { |
345 | return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
316 | return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
346 | } |
317 | } |
347 | 318 | ||
348 | /***************************************************/ |
319 | /***************************************************/ |
349 | /* Write Parameter to EEPROM as word */ |
320 | /* Write Parameter to EEPROM as word */ |
350 | /***************************************************/ |
321 | /***************************************************/ |
351 | void SetParamWord(uint16_t param_id, uint16_t value) |
322 | void SetParamWord(uint16_t param_id, uint16_t value) |
352 | { |
323 | { |
353 | eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
324 | eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
354 | } |
325 | } |
355 | 326 | ||
356 | /***************************************************/ |
327 | /***************************************************/ |
357 | /* Read Parameter Set from EEPROM */ |
328 | /* Read Parameter Set from EEPROM */ |
358 | /***************************************************/ |
329 | /***************************************************/ |
359 | // number [1..5] |
330 | // number [1..5] |
360 | uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
331 | uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
361 | { |
332 | { |
362 | uint8_t crc; |
333 | uint8_t crc; |
363 | uint16_t eeaddr; |
334 | uint16_t eeaddr; |
364 | 335 | ||
365 | // range the setnumber |
336 | // range the setnumber |
366 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
337 | if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
367 | 338 | ||
368 | // calculate eeprom addr |
339 | // calculate eeprom addr |
369 | eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
340 | eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
370 | 341 | ||
371 | // calculate checksum from eeprom |
342 | // calculate checksum from eeprom |
372 | crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
343 | crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
373 | 344 | ||
374 | // check crc |
345 | // check crc |
375 | if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
346 | if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
376 | 347 | ||
377 | // check revision |
348 | // check revision |
378 | if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0; |
349 | if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0; |
379 | 350 | ||
380 | // read paramset from eeprom |
351 | // read paramset from eeprom |
381 | eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
352 | eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
382 | LED_Init(); |
353 | LED_Init(); |
383 | return 1; |
354 | return 1; |
384 | } |
355 | } |
385 | 356 | ||
386 | /***************************************************/ |
357 | /***************************************************/ |
387 | /* Write Parameter Set to EEPROM */ |
358 | /* Write Parameter Set to EEPROM */ |
388 | /***************************************************/ |
359 | /***************************************************/ |
389 | // number [1..5] |
360 | // number [1..5] |
390 | uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
361 | uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
391 | { |
362 | { |
392 | uint8_t crc; |
363 | uint8_t crc; |
393 | 364 | ||
394 | if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
365 | if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
395 | { |
366 | { |
396 | if(setnumber > 5) setnumber = 5; |
367 | if(setnumber > 5) setnumber = 5; |
397 | if(setnumber < 1) return 0; |
368 | if(setnumber < 1) return 0; |
398 | 369 | ||
399 | // update checksum |
370 | // update checksum |
400 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
371 | EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
401 | 372 | ||
402 | // write paramset to eeprom |
373 | // write paramset to eeprom |
403 | eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
374 | eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
404 | 375 | ||
405 | // backup channel settings to separate block in eeprom |
376 | // backup channel settings to separate block in eeprom |
406 | eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
377 | eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
407 | 378 | ||
408 | // write crc of channel block to eeprom |
379 | // write crc of channel block to eeprom |
409 | crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
380 | crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
410 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
381 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
411 | 382 | ||
412 | // update active settings number |
383 | // update active settings number |
413 | SetActiveParamSet(setnumber); |
384 | SetActiveParamSet(setnumber); |
414 | LED_Init(); |
385 | LED_Init(); |
415 | return 1; |
386 | return 1; |
416 | } |
387 | } |
417 | // wrong revision |
388 | // wrong revision |
418 | return 0; |
389 | return 0; |
419 | } |
390 | } |
420 | 391 | ||
421 | /***************************************************/ |
392 | /***************************************************/ |
422 | /* Read MixerTable from EEPROM */ |
393 | /* Read MixerTable from EEPROM */ |
423 | /***************************************************/ |
394 | /***************************************************/ |
424 | uint8_t MixerTable_ReadFromEEProm(void) |
395 | uint8_t MixerTable_ReadFromEEProm(void) |
425 | { |
396 | { |
426 | uint8_t crc; |
397 | uint8_t crc; |
427 | 398 | ||
428 | // calculate checksum in eeprom |
399 | // calculate checksum in eeprom |
429 | crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
400 | crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
430 | 401 | ||
431 | // check crc |
402 | // check crc |
432 | if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
403 | if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
433 | 404 | ||
434 | // check revision |
405 | // check revision |
435 | if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
406 | if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
436 | 407 | ||
437 | // read mixer table |
408 | // read mixer table |
438 | eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
409 | eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
439 | return 1; |
410 | return 1; |
440 | } |
411 | } |
441 | 412 | ||
442 | /***************************************************/ |
413 | /***************************************************/ |
443 | /* Write Mixer Table to EEPROM */ |
414 | /* Write Mixer Table to EEPROM */ |
444 | /***************************************************/ |
415 | /***************************************************/ |
445 | uint8_t MixerTable_WriteToEEProm(void) |
416 | uint8_t MixerTable_WriteToEEProm(void) |
446 | { |
417 | { |
447 | if(Mixer.Revision == EEMIXER_REVISION) |
418 | if(Mixer.Revision == EEMIXER_REVISION) |
448 | { |
419 | { |
449 | // update crc |
420 | // update crc |
450 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
421 | Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
451 | 422 | ||
452 | // write to eeprom |
423 | // write to eeprom |
453 | eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
424 | eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
454 | return 1; |
425 | return 1; |
455 | } |
426 | } |
456 | else return 0; |
427 | else return 0; |
457 | } |
428 | } |
458 | 429 | ||
459 | /***************************************************/ |
430 | /***************************************************/ |
460 | /* Default Values for Mixer Table */ |
431 | /* Default Values for Mixer Table */ |
461 | /***************************************************/ |
432 | /***************************************************/ |
462 | void MixerTable_Default(void) // Quadro |
433 | void MixerTable_Default(void) // Quadro |
463 | { |
434 | { |
464 | uint8_t i; |
435 | uint8_t i; |
465 | 436 | ||
466 | Mixer.Revision = EEMIXER_REVISION; |
437 | Mixer.Revision = EEMIXER_REVISION; |
467 | // clear mixer table |
438 | // clear mixer table |
468 | for(i = 0; i < 16; i++) |
439 | for(i = 0; i < 16; i++) |
469 | { |
440 | { |
470 | Mixer.Motor[i][MIX_GAS] = 0; |
441 | Mixer.Motor[i][MIX_GAS] = 0; |
471 | Mixer.Motor[i][MIX_NICK] = 0; |
442 | Mixer.Motor[i][MIX_NICK] = 0; |
472 | Mixer.Motor[i][MIX_ROLL] = 0; |
443 | Mixer.Motor[i][MIX_ROLL] = 0; |
473 | Mixer.Motor[i][MIX_YAW] = 0; |
444 | Mixer.Motor[i][MIX_YAW] = 0; |
474 | } |
445 | } |
475 | // default = Quadro |
446 | // default = Quadro |
476 | Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
447 | Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
477 | Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
448 | Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
478 | Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
449 | Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
479 | Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
450 | Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
480 | memcpy(Mixer.Name, "Quadro\0", 7); |
451 | memcpy(Mixer.Name, "Quadro\0", 7); |
481 | Mixer.crc = Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
452 | Mixer.crc = Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
482 | } |
453 | } |
483 | 454 | ||
484 | /***************************************************/ |
455 | /***************************************************/ |
485 | /* Get active parameter set */ |
456 | /* Get active parameter set */ |
486 | /***************************************************/ |
457 | /***************************************************/ |
487 | uint8_t GetActiveParamSet(void) |
458 | uint8_t GetActiveParamSet(void) |
488 | { |
459 | { |
489 | uint8_t setnumber; |
460 | uint8_t setnumber; |
490 | setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
461 | setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
491 | if(setnumber > 5) |
462 | if(setnumber > 5) |
492 | { |
463 | { |
493 | setnumber = 3; |
464 | setnumber = 3; |
494 | eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber); |
465 | eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber); |
495 | } |
466 | } |
496 | return(setnumber); |
467 | return(setnumber); |
497 | } |
468 | } |
498 | 469 | ||
499 | /***************************************************/ |
470 | /***************************************************/ |
500 | /* Set active parameter set */ |
471 | /* Set active parameter set */ |
501 | /***************************************************/ |
472 | /***************************************************/ |
502 | void SetActiveParamSet(uint8_t setnumber) |
473 | void SetActiveParamSet(uint8_t setnumber) |
503 | { |
474 | { |
504 | if(setnumber > 5) setnumber = 5; |
475 | if(setnumber > 5) setnumber = 5; |
505 | if(setnumber < 1) setnumber = 1; |
476 | if(setnumber < 1) setnumber = 1; |
506 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
477 | eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
507 | } |
478 | } |
508 | 479 | ||
509 | /***************************************************/ |
480 | /***************************************************/ |
510 | /* Set default parameter set */ |
481 | /* Set default parameter set */ |
511 | /***************************************************/ |
482 | /***************************************************/ |
512 | void SetDefaultParameter(uint8_t set, uint8_t restore_channels) |
483 | void SetDefaultParameter(uint8_t set, uint8_t restore_channels) |
513 | { |
484 | { |
514 | 485 | ||
515 | if(set > 5) set = 5; |
486 | if(set > 5) set = 5; |
516 | else if(set < 1) set = 1; |
487 | else if(set < 1) set = 1; |
517 | 488 | ||
518 | switch(set) |
489 | switch(set) |
519 | { |
490 | { |
520 | case 1: |
491 | case 1: |
521 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
492 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
522 | break; |
493 | break; |
523 | case 2: |
494 | case 2: |
524 | ParamSet_DefaultSet2(); // Kamera |
495 | ParamSet_DefaultSet2(); // Kamera |
525 | break; |
496 | break; |
526 | case 3: |
497 | case 3: |
527 | ParamSet_DefaultSet3(); // Beginner |
498 | ParamSet_DefaultSet3(); // Beginner |
528 | break; |
499 | break; |
529 | default: |
500 | default: |
530 | ParamSet_DefaultSet3(); // Beginner |
501 | ParamSet_DefaultSet3(); // Beginner |
531 | break; |
502 | break; |
532 | } |
503 | } |
533 | if(restore_channels) |
504 | if(restore_channels) |
534 | { |
505 | { |
535 | uint8_t crc; |
506 | uint8_t crc; |
536 | // 1st check for a valid channel backup in eeprom |
507 | // 1st check for a valid channel backup in eeprom |
537 | crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
508 | crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
538 | if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) |
509 | if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) |
539 | { |
510 | { |
540 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
511 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
541 | } |
512 | } |
542 | else ParamSet_DefaultStickMapping(); |
513 | else ParamSet_DefaultStickMapping(); |
543 | } |
514 | } |
544 | else ParamSet_DefaultStickMapping(); |
515 | else ParamSet_DefaultStickMapping(); |
545 | ParamSet_WriteToEEProm(set); |
516 | ParamSet_WriteToEEProm(set); |
546 | } |
517 | } |
547 | 518 | ||
548 | /***************************************************/ |
519 | /***************************************************/ |
549 | /* Initialize EEPROM Parameter Sets */ |
520 | /* Initialize EEPROM Parameter Sets */ |
550 | /***************************************************/ |
521 | /***************************************************/ |
551 | void ParamSet_Init(void) |
522 | void ParamSet_Init(void) |
552 | { |
523 | { |
553 | uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
524 | uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
554 | 525 | ||
555 | 526 | ||
556 | if(EEPARAM_REVISION != GetParamByte(PID_EE_REVISION) ) |
527 | if(EEPARAM_REVISION != GetParamByte(PID_EE_REVISION) ) |
557 | { |
528 | { |
558 | ee_default = 1; // software update or forced by mktool |
529 | ee_default = 1; // software update or forced by mktool |
559 | SetParamByte(PID_EE_REVISION, EEPARAM_REVISION); |
530 | SetParamByte(PID_EE_REVISION, EEPARAM_REVISION); |
560 | } |
531 | } |
561 | 532 | ||
562 | 533 | ||
563 | // 1st check for a valid channel backup in eeprom |
534 | // 1st check for a valid channel backup in eeprom |
564 | i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
535 | i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
565 | if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) channel_backup = 1; |
536 | if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) channel_backup = 1; |
566 | 537 | ||
567 | 538 | ||
568 | // parameter check |
539 | // parameter check |
569 | 540 | ||
570 | // check all 5 parameter settings |
541 | // check all 5 parameter settings |
571 | for (i = 1;i < 6; i++) |
542 | for (i = 1;i < 6; i++) |
572 | { |
543 | { |
573 | if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
544 | if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
574 | { |
545 | { |
575 | bad_params = 1; |
546 | bad_params = 1; |
576 | printf("\n\rGenerating default Parameter Set %d",i); |
547 | printf("\n\rGenerating default Parameter Set %d",i); |
577 | switch(i) |
548 | switch(i) |
578 | { |
549 | { |
579 | case 1: |
550 | case 1: |
580 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
551 | ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
581 | break; |
552 | break; |
582 | case 2: |
553 | case 2: |
583 | ParamSet_DefaultSet2(); // Kamera |
554 | ParamSet_DefaultSet2(); // Kamera |
584 | break; |
555 | break; |
585 | case 3: |
556 | case 3: |
586 | ParamSet_DefaultSet3(); // Beginner |
557 | ParamSet_DefaultSet3(); // Beginner |
587 | break; |
558 | break; |
588 | default: |
559 | default: |
589 | ParamSet_DefaultSet3(); // Kamera |
560 | ParamSet_DefaultSet3(); // Kamera |
590 | break; |
561 | break; |
591 | } |
562 | } |
592 | if(channel_backup) // if we have an channel mapping backup in eeprom |
563 | if(channel_backup) // if we have an channel mapping backup in eeprom |
593 | { // restore it from eeprom |
564 | { // restore it from eeprom |
594 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
565 | eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
595 | } |
566 | } |
596 | else |
567 | else |
597 | { // use default mapping |
568 | { // use default mapping |
598 | ParamSet_DefaultStickMapping(); |
569 | ParamSet_DefaultStickMapping(); |
599 | } |
570 | } |
600 | ParamSet_WriteToEEProm(i); |
571 | ParamSet_WriteToEEProm(i); |
601 | } |
572 | } |
602 | } |
573 | } |
603 | if(bad_params) // at least one of the parameter settings were invalid |
574 | if(bad_params) // at least one of the parameter settings were invalid |
604 | { |
575 | { |
605 | // default-Setting is parameter set 3 |
576 | // default-Setting is parameter set 3 |
606 | SetActiveParamSet(3); |
577 | SetActiveParamSet(3); |
607 | } |
578 | } |
608 | 579 | ||
609 | 580 | ||
610 | // read active parameter set to ParamSet stucture |
581 | // read active parameter set to ParamSet stucture |
611 | i = GetActiveParamSet(); |
582 | i = GetActiveParamSet(); |
612 | ParamSet_ReadFromEEProm(i); |
583 | ParamSet_ReadFromEEProm(i); |
613 | printf("\n\rUsing Parameter Set %d", i); |
584 | printf("\n\rUsing Parameter Set %d", i); |
614 | 585 | ||
615 | // load mixer table |
586 | // load mixer table |
616 | if(ee_default || !MixerTable_ReadFromEEProm() ) |
587 | if(ee_default || !MixerTable_ReadFromEEProm() ) |
617 | { |
588 | { |
618 | printf("\n\rGenerating default Mixer Table"); |
589 | printf("\n\rGenerating default Mixer Table"); |
619 | MixerTable_Default(); // Quadro |
590 | MixerTable_Default(); // Quadro |
620 | MixerTable_WriteToEEProm(); |
591 | MixerTable_WriteToEEProm(); |
621 | } |
592 | } |
622 | // determine motornumber |
593 | // determine motornumber |
623 | RequiredMotors = 0; |
594 | RequiredMotors = 0; |
624 | for(i = 0; i < 16; i++) |
595 | for(i = 0; i < 16; i++) |
625 | { |
596 | { |
626 | if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
597 | if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
627 | } |
598 | } |
628 | 599 | ||
629 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
600 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
630 | printf("\n\r=============================="); |
601 | printf("\n\r=============================="); |
631 | } |
602 | } |
632 | 603 |