WebSVN - FlightCtrl - /branches/FC_076g_Code Redesign killagreg/eeprom.h

#ifndef _EEPROM_H
#define _EEPROM_H

#include <inttypes.h>

#define EEPROM_ADR_PARAM_BEGIN 0
#define PID_PARAM_REVISION    1 // byte
#define PID_ACTIVE_SET    2 // byte
#define PID_PRESSURE_OFFSET 3 // byte

#define PID_ACC_NICK    4 // word
#define PID_ACC_ROLL    6 // word
#define PID_ACC_TOP 8 // word

#define PID_FLIGHT_MINUTES_TOTAL 10 // word
#define PID_FLIGHT_MINUTES 14 // word

#ifdef USE_KILLAGREG
#define PID_MM3_X_OFF 31 // byte
#define PID_MM3_Y_OFF 32 // byte
#define PID_MM3_Z_OFF 33 // byte
#define PID_MM3_X_RANGE 34 // word
#define PID_MM3_Y_RANGE 36 // word
#define PID_MM3_Z_RANGE 38 // word
#endif

#define EEPROM_ADR_CHANNELS 80 // 8 bytes

#define EEPROM_ADR_PARAMSET_LENGTH 98 // word
#define EEPROM_ADR_PARAMSET_BEGIN 100

#define EEPROM_ADR_MIXER_TABLE 1000 // 1000 - 1076

#define MIX_GAS 0
#define MIX_NICK 1
#define MIX_ROLL 2
#define MIX_YAW 3

typedef struct
{
uint8_t Revision;
int8_t Name[12];
int8_t Motor[16][4];
} __attribute__((packed)) MixerTable_t;

extern MixerTable_t Mixer;

// bit mask for ParamSet.Config0
#define CFG0_AIRPRESS_SENSOR 0x01
#define CFG0_HEIGHT_SWITCH 0x02
#define CFG0_HEADING_HOLD 0x04
#define CFG0_COMPASS_ACTIVE 0x08
#define CFG0_COMPASS_FIX 0x10
#define CFG0_GPS_ACTIVE 0x20
#define CFG0_AXIS_COUPLING_ACTIVE 0x40
#define CFG0_ROTARY_RATE_LIMITER 0x80

// bit mask for ParamSet.Config1
#define CFG1_LOOP_UP 0x01
#define CFG1_LOOP_DOWN 0x02
#define CFG1_LOOP_LEFT 0x04
#define CFG1_LOOP_RIGHT 0x08
#define CFG1_MOTOR_BLINK 0x10
#define CFG1_MOTOR_OFF_LED1 0x20
#define CFG1_MOTOR_OFF_LED2 0x40
#define CFG1_RES4 0x80

// bit mask for ParamSet.Config2
#define CFG2_HEIGHT_LIMIT 0x01
#define CFG2_VARIO_BEEP 0x02
#define CFG2_SENSITIVE_RC 0x04
#define CFG2_RES1 0x08
#define CFG2_RES2 0x10
#define CFG2_RES3 0x20
#define CFG2_RES4 0x40
#define CFG2_RES5 0x80

// defines for lookup ParamSet.ChannelAssignment
#define CH_NICK 0
#define CH_ROLL 1
#define CH_GAS 2
#define CH_YAW 3
#define CH_POTI1 4
#define CH_POTI2 5
#define CH_POTI3 6
#define CH_POTI4 7

#define EEPARAM_REVISION 80 // is count up, if paramater stucture has changed (compatibility)
#define EEMIXER_REVISION 1 // is count up, if mixer stucture has changed (compatibility)

// values above 250 representing poti1 to poti4
typedef struct
{
uint8_t ChannelAssignment[8]; // see upper defines for details
uint8_t Config0; // see upper defines for bitcoding
uint8_t HeightMinGas; // Value : 0-100
uint8_t HeightD; // Value : 0-250
uint8_t MaxHeight; // Value : 0-32
uint8_t HeightP; // Value : 0-32
uint8_t Height_Gain; // Value : 0-50
uint8_t Height_ACC_Effect; // Value : 0-250
uint8_t Height_HoverBand; // Value : 0-250
uint8_t Height_GPS_Z; // Value : 0-250
uint8_t Height_StickNeutralPoint; // Value : 0-250
uint8_t StickP; // Value : 1-6
uint8_t StickD; // Value : 0-64
uint8_t StickYawP; // Value : 1-20
uint8_t GasMin; // Value : 0-32
uint8_t GasMax; // Value : 33-250
uint8_t GyroAccFactor; // Value : 1-64
uint8_t CompassYawEffect; // Value : 0-32
uint8_t GyroP; // Value : 10-250
uint8_t GyroI; // Value : 0-250
uint8_t GyroD; // Value : 0-250
uint8_t GyroYawP; // Value : 10-250
uint8_t GyroYawI; // Value : 0-250
uint8_t LowVoltageWarning; // Value : 0-250
uint8_t EmergencyGas; // Value : 0-250 //Gaswert bei Empängsverlust
uint8_t EmergencyGasDuration; // Value : 0-250 // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen
uint8_t UfoArrangement; // x or + Formation
uint8_t IFactor; // Value : 0-250
uint8_t UserParam1; // Value : 0-250
uint8_t UserParam2; // Value : 0-250
uint8_t UserParam3; // Value : 0-250
uint8_t UserParam4; // Value : 0-250
uint8_t ServoNickControl; // Value : 0-250 // Stellung des Nick Servos
uint8_t ServoNickComp; // Value : 0-250 // Einfluss Nick-Gyro/Servo
uint8_t ServoNickMin; // Value : 0-250 // Anschlag
uint8_t ServoNickMax; // Value : 0-250 // Anschlag
uint8_t ServoRollControl; // Value : 0-250 // Stellung des Roll Servos
uint8_t ServoRollComp; // Value : 0-250 // Einfluss Roll-Gyro/Servo
uint8_t ServoRollMin; // Value : 0-250 // Anschlag
uint8_t ServoRollMax; // Value : 0-250 // Anschlag
uint8_t ServoRefresh; // Value: 0-250 // Refreshrate of servo pwm output
uint8_t LoopGasLimit; // Value: 0-250 max. Gas während Looping
uint8_t LoopThreshold; // Value: 0-250 Schwelle für Stickausschlag
uint8_t LoopHysteresis; // Value: 0-250 Hysterese für Stickausschlag
// Axis coupling
uint8_t AxisCoupling1; // Value: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)
uint8_t AxisCoupling2; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
uint8_t AxisCouplingYawCorrection; // Value: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden
uint8_t AngleTurnOverNick; // Value: 0-250 180°-Punkt
uint8_t AngleTurnOverRoll; // Value: 0-250 180°-Punkt
uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung)
uint8_t DriftComp; // limit for gyrodrift compensation
uint8_t DynamicStability; // PID limit for Attitude controller
uint8_t UserParam5; // Value : 0-250
uint8_t UserParam6; // Value : 0-250
uint8_t UserParam7; // Value : 0-250
uint8_t UserParam8; // Value : 0-250´
// Output
uint8_t J16Bitmask; // for the J16 Output
uint8_t J16Timing; // for the J16 Output
uint8_t J17Bitmask; // for the J17 Output
uint8_t J17Timing; // for the J17 Output
uint8_t J16Bitmask_Warning; // for the J16 Outout
uint8_t J17Bitmask_Warning; // for the J17 Outout
// NaviCtrl
uint8_t NaviGpsModeControl; // Parameters for the Naviboard
uint8_t NaviGpsGain; // overall gain for GPS-PID controller
uint8_t NaviGpsP; // P gain for GPS-PID controller
uint8_t NaviGpsI; // I gain for GPS-PID controller
uint8_t NaviGpsD; // D gain for GPS-PID controller
uint8_t NaviGpsPLimit; // P limit for GPS-PID controller
uint8_t NaviGpsILimit; // I limit for GPS-PID controller
uint8_t NaviGpsDLimit; // D limit for GPS-PID controller
uint8_t NaviGpsACC; // ACC gain for GPS-PID controller
uint8_t NaviGpsMinSat; // number of sattelites neccesary for GPS functions
uint8_t NaviStickThreshold; // activation threshild for detection of manual stick movements
uint8_t NaviWindCorrection; // streng of wind course correction
uint8_t NaviSpeedCompensation; // D gain fefore position hold login
uint8_t NaviOperatingRadius; // Radius limit in m around start position for GPS flights
uint8_t NaviAngleLimitation; // limitation of attitude angle controlled by the gps algorithm
uint8_t NaviPHLoginTime; // position hold logintimeout
// extern control
uint8_t ExternalControl; // for serial control
// config
uint8_t Config1; // see upper defines for bitcoding
uint8_t ServoCompInvert; // Bitfield: 0x01 = Nick invert, 0x02 = Roll invert // WICHTIG!!! am Ende lassen
uint8_t Config2; // see upper defines for bitcoding
int8_t Name[12];
} paramset_t;

#define PARAMSET_STRUCT_LEN sizeof(paramset_t)

extern paramset_t ParamSet;

extern void ParamSet_Init(void);
extern void ParamSet_ReadFromEEProm(uint8_t setnumber);
extern void ParamSet_WriteToEEProm(uint8_t setnumber);
extern uint8_t GetActiveParamSet(void);
extern void SetActiveParamSet(uint8_t setnumber);

extern uint8_t MixerTable_ReadFromEEProm(void);
extern uint8_t MixerTable_WriteToEEProm(void);

extern uint8_t GetParamByte(uint16_t param_id);
extern void SetParamByte(uint16_t param_id, uint8_t value);
extern uint16_t GetParamWord(uint16_t param_id);
extern void SetParamWord(uint16_t param_id, uint16_t value);

#endif //_EEPROM_H

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