WebSVN - FlightCtrl - Rev 1739 - /branches/MartinW

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// + 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.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Contant Values
// + 0-250 -> normale Values
// + 251 -> Poti1
// + 252 -> Poti2
// + 253 -> Poti3
// + 254 -> Poti4
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#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"
#include "twimaster.h"

paramset_t EE_Parameter;
MixerTable_t Mixer;
uint8_t RequiredMotors;

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;
}

void ParamSet_DefaultStickMapping(void)
{
EE_Parameter.Kanalbelegung[K_GAS] = 1;
EE_Parameter.Kanalbelegung[K_ROLL] = 2;
EE_Parameter.Kanalbelegung[K_NICK] = 3;
EE_Parameter.Kanalbelegung[K_GIER] = 4;
EE_Parameter.Kanalbelegung[K_POTI1] = 5;
EE_Parameter.Kanalbelegung[K_POTI2] = 6;
EE_Parameter.Kanalbelegung[K_POTI3] = 7;
EE_Parameter.Kanalbelegung[K_POTI4] = 8;
EE_Parameter.Kanalbelegung[K_POTI5] = 9;
EE_Parameter.Kanalbelegung[K_POTI6] = 10;
EE_Parameter.Kanalbelegung[K_POTI7] = 11;
EE_Parameter.Kanalbelegung[K_POTI8] = 12;
}

/***************************************************/
/* Default Values for parameter set 1 */
/***************************************************/
void ParamSet_DefaultSet1(void) // sport
{
EE_Parameter.Revision = EEPARAM_REVISION;

if(PlatinenVersion >= 20)
{
EE_Parameter.Gyro_D = 10;
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.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER;
EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP;// | CFG_SENSITIVE_RC
EE_Parameter.Hoehe_MinGas = 30;
EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1
EE_Parameter.Hoehe_P = 15; // Wert : 0-32
EE_Parameter.Luftdruck_D = 30; // Wert : 0-247
EE_Parameter.Hoehe_ACC_Wirkung = 00; // Wert : 0-247
EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247
EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247
EE_Parameter.Hoehe_StickNeutralPoint = 0; // Wert : 0-247 (0 = Hover-Estimation)
EE_Parameter.Hoehe_Verstaerkung = 20; // Wert : 0-50
EE_Parameter.Stick_P = 14; // Wert : 1-20
EE_Parameter.Stick_D = 16; // Wert : 0-20
EE_Parameter.Gier_P = 12; // Wert : 1-20
EE_Parameter.Gas_Min = 8; // Wert : 0-32
EE_Parameter.Gas_Max = 230; // Wert : 33-247
EE_Parameter.KompassWirkung = 128; // Wert : 0-247
EE_Parameter.Gyro_P = 80; // Wert : 0-247
EE_Parameter.Gyro_I = 150; // Wert : 0-247
EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247
EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247
EE_Parameter.Gyro_Stability = 6; // Wert : 1-8
EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50)
EE_Parameter.NotGas = 45; // Wert : 0-247 // Gaswert bei Empangsverlust
EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
EE_Parameter.I_Faktor = 32;
EE_Parameter.UserParam1 = 0; // zur freien Verwendung
EE_Parameter.UserParam2 = 0; // zur freien Verwendung
EE_Parameter.UserParam3 = 0; // zur freien Verwendung
EE_Parameter.UserParam4 = 0; // zur freien Verwendung
EE_Parameter.UserParam5 = 0; // zur freien Verwendung
EE_Parameter.UserParam6 = 0; // zur freien Verwendung
EE_Parameter.UserParam7 = 0; // zur freien Verwendung
EE_Parameter.UserParam8 = 0; // zur freien Verwendung
EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos
EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo
EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo
EE_Parameter.ServoNickMin = 0; // Wert : 0-247 // Anschlag
EE_Parameter.ServoNickMax = 247; // Wert : 0-247 // Anschlag
EE_Parameter.ServoNickRefresh = 6;
EE_Parameter.Servo3 = 125;
EE_Parameter.Servo4 = 125;
EE_Parameter.Servo5 = 125;
EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos
EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo
EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag
EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag
EE_Parameter.LoopGasLimit = 50;
EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag
EE_Parameter.LoopHysterese = 50;
EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
EE_Parameter.AchsKopplung1 = 90;
EE_Parameter.AchsKopplung2 = 80;
EE_Parameter.CouplingYawCorrection = 1;
EE_Parameter.GyroAccAbgleich = 16; // 1/k;
EE_Parameter.DynamicStability = 100;
EE_Parameter.J16Bitmask = 95;
EE_Parameter.J17Bitmask = 243;
EE_Parameter.WARN_J16_Bitmask = 0xAA;
EE_Parameter.WARN_J17_Bitmask = 0xAA;
EE_Parameter.J16Timing = 15;
EE_Parameter.J17Timing = 15;
EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2
EE_Parameter.NaviGpsGain = 100;
EE_Parameter.NaviGpsP = 90;
EE_Parameter.NaviGpsI = 90;
EE_Parameter.NaviGpsD = 90;
EE_Parameter.NaviGpsPLimit = 75;
EE_Parameter.NaviGpsILimit = 75;
EE_Parameter.NaviGpsDLimit = 75;
EE_Parameter.NaviGpsACC = 0;
EE_Parameter.NaviGpsMinSat = 6;
EE_Parameter.NaviStickThreshold = 8;
EE_Parameter.NaviWindCorrection = 90;
EE_Parameter.NaviSpeedCompensation = 30;
EE_Parameter.NaviOperatingRadius = 100;
EE_Parameter.NaviAngleLimitation = 100;
EE_Parameter.NaviPH_LoginTime = 2;
EE_Parameter.Receiver = RECEIVER_SPEKTRUM;
EE_Parameter.OrientationAngle = 0;
EE_Parameter.OrientationModeControl = 0;
memcpy(EE_Parameter.Name, "Sport\0", 12);
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 = 10;
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.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER;
EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP;// CFG_SENSITIVE_RC
EE_Parameter.Hoehe_MinGas = 30;
EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1
EE_Parameter.Hoehe_P = 15; // Wert : 0-32
EE_Parameter.Luftdruck_D = 30; // Wert : 0-247
EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247
EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247
EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247
EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation)
EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50
EE_Parameter.Stick_P = 10; // Wert : 1-20
EE_Parameter.Stick_D = 16; // Wert : 0-20
EE_Parameter.Gier_P = 6; // Wert : 1-20
EE_Parameter.Gas_Min = 8; // Wert : 0-32
EE_Parameter.Gas_Max = 230; // Wert : 33-247
EE_Parameter.KompassWirkung = 128; // Wert : 0-247
EE_Parameter.Gyro_P = 90; // Wert : 0-247
EE_Parameter.Gyro_I = 120; // Wert : 0-247
EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247
EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247
EE_Parameter.Gyro_Stability = 6; // Wert : 1-8
EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50)
EE_Parameter.NotGas = 45; // Wert : 0-247 // Gaswert bei Empangsverlust
EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
EE_Parameter.I_Faktor = 32;
EE_Parameter.UserParam1 = 0; // zur freien Verwendung
EE_Parameter.UserParam2 = 0; // zur freien Verwendung
EE_Parameter.UserParam3 = 0; // zur freien Verwendung
EE_Parameter.UserParam4 = 0; // zur freien Verwendung
EE_Parameter.UserParam5 = 0; // zur freien Verwendung
EE_Parameter.UserParam6 = 0; // zur freien Verwendung
EE_Parameter.UserParam7 = 0; // zur freien Verwendung
EE_Parameter.UserParam8 = 0; // zur freien Verwendung
EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos
EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo
EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo
EE_Parameter.ServoNickMin = 0; // Wert : 0-247 // Anschlag
EE_Parameter.ServoNickMax = 247; // Wert : 0-247 // Anschlag
EE_Parameter.ServoNickRefresh = 6;
EE_Parameter.Servo3 = 125;
EE_Parameter.Servo4 = 125;
EE_Parameter.Servo5 = 125;
EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos
EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo
EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag
EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag
EE_Parameter.LoopGasLimit = 50;
EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag
EE_Parameter.LoopHysterese = 50;
EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts
EE_Parameter.AchsKopplung1 = 90;
EE_Parameter.AchsKopplung2 = 80;
EE_Parameter.CouplingYawCorrection = 60;
EE_Parameter.GyroAccAbgleich = 32; // 1/k
EE_Parameter.DynamicStability = 75;
EE_Parameter.J16Bitmask = 95;
EE_Parameter.J17Bitmask = 243;
EE_Parameter.WARN_J16_Bitmask = 0xAA;
EE_Parameter.WARN_J17_Bitmask = 0xAA;
EE_Parameter.J16Timing = 20;
EE_Parameter.J17Timing = 20;
EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2
EE_Parameter.NaviGpsGain = 100;
EE_Parameter.NaviGpsP = 90;
EE_Parameter.NaviGpsI = 90;
EE_Parameter.NaviGpsD = 90;
EE_Parameter.NaviGpsPLimit = 75;
EE_Parameter.NaviGpsILimit = 75;
EE_Parameter.NaviGpsDLimit = 75;
EE_Parameter.NaviGpsACC = 0;
EE_Parameter.NaviGpsMinSat = 6;
EE_Parameter.NaviStickThreshold = 8;
EE_Parameter.NaviWindCorrection = 90;
EE_Parameter.NaviSpeedCompensation = 30;
EE_Parameter.NaviOperatingRadius = 100;
EE_Parameter.NaviAngleLimitation = 100;
EE_Parameter.NaviPH_LoginTime = 2;
EE_Parameter.Receiver = RECEIVER_SPEKTRUM;
EE_Parameter.OrientationAngle = 0;
EE_Parameter.OrientationModeControl = 0;
memcpy(EE_Parameter.Name, "Normal\0", 12);
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;
if(PlatinenVersion >= 20)
{
EE_Parameter.Gyro_D = 10;
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.GlobalConfig = /*CFG_DREHRATEN_BEGRENZER |*/ CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER;
EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP;// | CFG_SENSITIVE_RC
EE_Parameter.Hoehe_MinGas = 30;
EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1
EE_Parameter.Hoehe_P = 15; // Wert : 0-32
EE_Parameter.Luftdruck_D = 30; // Wert : 0-247
EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247
EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247
EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247
EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation)
EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50
EE_Parameter.Stick_P = 8; // Wert : 1-20
EE_Parameter.Stick_D = 16; // Wert : 0-20
EE_Parameter.Gier_P = 6; // Wert : 1-20
EE_Parameter.Gas_Min = 8; // Wert : 0-32
EE_Parameter.Gas_Max = 230; // Wert : 33-247
EE_Parameter.KompassWirkung = 128; // Wert : 0-247
EE_Parameter.Gyro_P = 100; // Wert : 0-247
EE_Parameter.Gyro_I = 120; // Wert : 0-247
EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247
EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247
EE_Parameter.Gyro_Stability = 6; // Wert : 1-8
EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50)
EE_Parameter.NotGas = 45; // Wert : 0-247 // Gaswert bei Empangsverlust
EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
EE_Parameter.I_Faktor = 16;
EE_Parameter.UserParam1 = 0; // zur freien Verwendung
EE_Parameter.UserParam2 = 0; // zur freien Verwendung
EE_Parameter.UserParam3 = 0; // zur freien Verwendung
EE_Parameter.UserParam4 = 0; // zur freien Verwendung
EE_Parameter.UserParam5 = 0; // zur freien Verwendung
EE_Parameter.UserParam6 = 0; // zur freien Verwendung
EE_Parameter.UserParam7 = 0; // zur freien Verwendung
EE_Parameter.UserParam8 = 0; // zur freien Verwendung
EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos
EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo
EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo
EE_Parameter.ServoNickMin = 0; // Wert : 0-247 // Anschlag
EE_Parameter.ServoNickMax = 247; // Wert : 0-247 // Anschlag
EE_Parameter.ServoNickRefresh = 6;
EE_Parameter.Servo3 = 125;
EE_Parameter.Servo4 = 125;
EE_Parameter.Servo5 = 125;
EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos
EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo
EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag
EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag
EE_Parameter.LoopGasLimit = 50;
EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag
EE_Parameter.LoopHysterese = 50;
EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts
EE_Parameter.AchsKopplung1 = 90;
EE_Parameter.AchsKopplung2 = 80;
EE_Parameter.CouplingYawCorrection = 70;
EE_Parameter.GyroAccAbgleich = 32; // 1/k
EE_Parameter.DynamicStability = 70;
EE_Parameter.J16Bitmask = 95;
EE_Parameter.J17Bitmask = 243;
EE_Parameter.WARN_J16_Bitmask = 0xAA;
EE_Parameter.WARN_J17_Bitmask = 0xAA;
EE_Parameter.J16Timing = 30;
EE_Parameter.J17Timing = 30;
EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2
EE_Parameter.NaviGpsGain = 100;
EE_Parameter.NaviGpsP = 90;
EE_Parameter.NaviGpsI = 90;
EE_Parameter.NaviGpsD = 90;
EE_Parameter.NaviGpsPLimit = 75;
EE_Parameter.NaviGpsILimit = 75;
EE_Parameter.NaviGpsDLimit = 75;
EE_Parameter.NaviGpsACC = 0;
EE_Parameter.NaviGpsMinSat = 6;
EE_Parameter.NaviStickThreshold = 8;
EE_Parameter.NaviWindCorrection = 90;
EE_Parameter.NaviSpeedCompensation = 30;
EE_Parameter.NaviOperatingRadius = 100;
EE_Parameter.NaviAngleLimitation = 100;
EE_Parameter.NaviPH_LoginTime = 2;
EE_Parameter.Receiver = RECEIVER_SPEKTRUM;
EE_Parameter.OrientationAngle = 0;
EE_Parameter.OrientationModeControl = 0;
memcpy(EE_Parameter.Name, "Beginner\0", 12);
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_DefaultSet3(); // 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==============================");
}

Subversion Repositories FlightCtrl

(root)/branches/MartinW_Jeti+/eeprom.c - Rev 1739