Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) Holger Buss, Ingo Busker

// + Nur für den privaten Gebrauch

// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),

// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.

// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt

// + bzgl. der Nutzungsbedingungen aufzunehmen.

// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,

// + Verkauf von Luftbildaufnahmen, usw.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,

// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts

// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"

// + eindeutig als Ursprung verlinkt werden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion

// + Benutzung auf eigene Gefahr

// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur

// + mit unserer Zustimmung zulässig

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Redistributions of source code (with or without modifications) must retain the above copyright notice,

// + this list of conditions and the following disclaimer.

// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived

// +     from this software without specific prior written permission.

// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet

// +     for non-commercial use (directly or indirectly)

// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted

// +     with our written permission

// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be

// +     clearly linked as origin

// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed

// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE

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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF

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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)

// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

// +  POSSIBILITY OF SUCH DAMAGE.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#ifndef EEMEM

#define EEMEM __attribute__ ((section (".eeprom")))

#endif

#include <avr/eeprom.h>

#include <string.h>

#include "eeprom.h"

#include "uart.h"

#include "led.h"

#include "main.h"

#include "fc.h"

paramset_t              EE_Parameter;

MixerTable_t    Mixer;

uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len)

{

        uint8_t crc = 0xAA;

        uint16_t i;

        for(i=0; i<len; i++)

        {

                crc += pBuffer[i];

        }

        return crc;

}

uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len)

{

        uint8_t crc = 0xAA;

        uint16_t off;

        for(off=0; off<len; off++)

        {

                crc += eeprom_read_byte((uint8_t*)(EEAddr + off));;

        }

        return crc;

}

/***************************************************/

/*    Default Values for parameter set 1           */

void ParamSet_DefaultSet1(void) // sport

{

        EE_Parameter.Revision = EEPARAM_REVISION;

        if(PlatinenVersion >= 20)

        {

                EE_Parameter.Gyro_D = 5;

                EE_Parameter.Driftkomp = 0;

                EE_Parameter.GyroAccFaktor = 27;

                EE_Parameter.WinkelUmschlagNick = 78;

                EE_Parameter.WinkelUmschlagRoll = 78;

        }

        {

                EE_Parameter.Gyro_D = 3;

                EE_Parameter.Driftkomp = 32;

                EE_Parameter.GyroAccFaktor = 30;

                EE_Parameter.WinkelUmschlagNick = 85;

                EE_Parameter.WinkelUmschlagRoll = 85;

        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);

}

/***************************************************/

/*    Default Values for parameter set 2           */

/***************************************************/

void ParamSet_DefaultSet2(void) // normal

{

        EE_Parameter.Revision = EEPARAM_REVISION;

        if(PlatinenVersion >= 20)

        {

                EE_Parameter.Gyro_D = 5;

                EE_Parameter.Driftkomp = 0;

                EE_Parameter.GyroAccFaktor = 27;

                EE_Parameter.WinkelUmschlagNick = 78;

                EE_Parameter.WinkelUmschlagRoll = 78;

                EE_Parameter.Gyro_D = 3;

                EE_Parameter.Driftkomp = 32;

                EE_Parameter.GyroAccFaktor = 30;

                EE_Parameter.WinkelUmschlagNick = 85;

                EE_Parameter.WinkelUmschlagRoll = 85;

        }

        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);

/***************************************************/

/*    Default Values for parameter set 3           */

void ParamSet_DefaultSet3(void) // beginner

{

        EE_Parameter.Revision = EEPARAM_REVISION;

        {

                EE_Parameter.Gyro_D = 5;

                EE_Parameter.Driftkomp = 0;

                EE_Parameter.GyroAccFaktor = 27;

                EE_Parameter.WinkelUmschlagNick = 78;

                EE_Parameter.WinkelUmschlagRoll = 78;

        }

        else

        {

                EE_Parameter.Gyro_D = 3;

                EE_Parameter.Driftkomp = 32;

                EE_Parameter.GyroAccFaktor = 30;

                EE_Parameter.WinkelUmschlagNick = 85;

                EE_Parameter.WinkelUmschlagRoll = 85;

        EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);

}

/***************************************************/

/*       Read Parameter from EEPROM as byte        */

/***************************************************/

uint8_t GetParamByte(uint16_t param_id)

{

        return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id));

}

/***************************************************/

/*       Write Parameter to EEPROM as byte         */

/***************************************************/

void SetParamByte(uint16_t param_id, uint8_t value)

{

        eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value);

}

/***************************************************/

/*       Read Parameter from EEPROM as word        */

/***************************************************/

uint16_t GetParamWord(uint16_t param_id)

{

        return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id));

}

/***************************************************/

/*       Write Parameter to EEPROM as word         */

/***************************************************/

void SetParamWord(uint16_t param_id, uint16_t value)

{

        eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value);

}

/***************************************************/

/*       Read Parameter Set from EEPROM            */

/***************************************************/

// number [1..5]

uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber)

{

        uint8_t crc;

        uint16_t eeaddr;

        // range the setnumber

        if((1 > setnumber) || (setnumber > 5)) setnumber = 3;

        // calculate eeprom addr

        eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1);

        // calculate checksum from eeprom

        crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1);

        // check crc

        if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0;

        // check revision

        if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0;

        // read paramset from eeprom

        eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN);

        LED_Init();

        return 1;

}

/***************************************************/

/*        Write Parameter Set to EEPROM            */

/***************************************************/

// number [1..5]

uint8_t ParamSet_WriteToEEProm(uint8_t setnumber)

{

        uint8_t crc;

        if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom

        {

                if(setnumber > 5) setnumber = 5;

                if(setnumber < 1) return 0;

                // update checksum

                EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1);

                // write paramset to eeprom

                eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN);

                // backup channel settings to separate block in eeprom

                eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));

                // write crc of channel block to eeprom

                crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung));

                eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc);

                // update active settings number

                SetActiveParamSet(setnumber);

                LED_Init();

                return 1;

        }

        // wrong revision

        return 0;

}

/***************************************************/

/*          Read MixerTable from EEPROM            */

/***************************************************/

uint8_t MixerTable_ReadFromEEProm(void)

{

        uint8_t crc;

        // calculate checksum in eeprom

        crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1);

        // check crc

        if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0;

        // check revision

        if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0;

        // read mixer table

        eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer));

        return 1;

}

/***************************************************/

/*          Write Mixer Table to EEPROM            */

/***************************************************/

uint8_t MixerTable_WriteToEEProm(void)

{

        if(Mixer.Revision == EEMIXER_REVISION)

        {

                // update crc

                Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1);

                // write to eeprom

                eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer));

                return 1;

        }

        else return 0;

}

/***************************************************/

/*    Default Values for Mixer Table               */

/***************************************************/

void MixerTable_Default(void) // Quadro

{

        uint8_t i;

        Mixer.Revision = EEMIXER_REVISION;

        // clear mixer table

        for(i = 0; i < 16; i++)

        {

                Mixer.Motor[i][MIX_GAS]  = 0;

                Mixer.Motor[i][MIX_NICK] = 0;

                Mixer.Motor[i][MIX_ROLL] = 0;

                Mixer.Motor[i][MIX_YAW]  = 0;

        }

        // default = Quadro

        Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] =   0; Mixer.Motor[0][MIX_YAW] = +64;

        Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] =   0; Mixer.Motor[1][MIX_YAW] = +64;

        Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] =   0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64;

        Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] =   0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64;

        memcpy(Mixer.Name, "Quadro\0", 7);

        Mixer.crc = Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1);

}

/***************************************************/

/*       Get active parameter set                  */

/***************************************************/

uint8_t GetActiveParamSet(void)

{

        uint8_t setnumber;

        setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET));

        if(setnumber > 5)

        {

                setnumber = 3;

                eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber);

        }

        return(setnumber);

}

/***************************************************/

/*       Set active parameter set                  */

/***************************************************/

void SetActiveParamSet(uint8_t setnumber)

{

        if(setnumber > 5) setnumber = 5;

        if(setnumber < 1) setnumber = 1;

        eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber);

}

/***************************************************/

/*       Initialize EEPROM Parameter Sets          */

/***************************************************/

void ParamSet_Init(void)

{

        uint8_t channel_backup  = 0, bad_params = 0, ee_default = 0,i;

        if(EEPARAM_REVISION != GetParamByte(PID_EE_REVISION) )

        {

                ee_default = 1; // software update or forced by mktool

                SetParamByte(PID_EE_REVISION, EEPARAM_REVISION);

        }

        // 1st check for a valid channel backup in eeprom

        i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung));

        if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) channel_backup = 1;

        // parameter check

        // check all 5 parameter settings

        for (i = 1;i < 6; i++)

        {

                if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom

                {

                        bad_params = 1;

                        printf("\n\rGenerating default Parameter Set %d",i);

                        switch(i)

                        {

                                case 1:

                                        ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport)

                                        break;

                                case 2:

                                        ParamSet_DefaultSet2(); // Kamera

                                        break;

                                case 3:

                                        ParamSet_DefaultSet3(); // Beginner

                                        break;

                                default:

                                        ParamSet_DefaultSet2(); // Kamera

                                        break;

                        }

                        if(channel_backup) // if we have an channel mapping backup in eeprom

                        {       // restore it from eeprom

                                eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung));

                        }

                        else

                        {       // use default mapping

                                ParamSet_DefaultStickMapping();

                        }

                        ParamSet_WriteToEEProm(i);

                }

        }

        if(bad_params) // at least one of the parameter settings were invalid

        {

                // default-Setting is parameter set 3

                SetActiveParamSet(3);

        }

        // read active parameter set to ParamSet stucture

        i = GetActiveParamSet();

        ParamSet_ReadFromEEProm(i);

        printf("\n\rUsing Parameter Set %d", i);

        // load mixer table

        if(ee_default || !MixerTable_ReadFromEEProm() )

        {

                printf("\n\rGenerating default Mixer Table");

                MixerTable_Default(); // Quadro

                MixerTable_WriteToEEProm();

        }

        // determine motornumber

        RequiredMotors = 0;

        for(i = 0; i < 16; i++)

        {

                if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++;

        }

        printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors);

        printf("\n\r==============================");