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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Konstanten
// + 0-250 -> normale Werte
// + 251 -> Poti1
// + 252 -> Poti2
// + 253 -> Poti3
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#ifndef EEMEM
#define EEMEM __attribute__ ((section (".eeprom")))
#endif
#include <avr/eeprom.h>
#include <string.h>
#include "eeprom.h"
#include "printf_P.h"
// byte array in eeprom
uint8_t EEPromArray
[E2END
+1] EEMEM
;
paramset_t ParamSet
;
/***************************************************/
/* Default Values for parameter set 1 */
/***************************************************/
void ParamSet_DefaultSet1
(void) // sport
{
ParamSet.
ChannelAssignment[CH_PITCH
] = 1;
ParamSet.
ChannelAssignment[CH_ROLL
] = 2;
ParamSet.
ChannelAssignment[CH_THRUST
] = 3;
ParamSet.
ChannelAssignment[CH_YAW
] = 4;
ParamSet.
ChannelAssignment[CH_POTI1
] = 5;
ParamSet.
ChannelAssignment[CH_POTI2
] = 6;
ParamSet.
ChannelAssignment[CH_POTI3
] = 7;
ParamSet.
ChannelAssignment[CH_POTI4
] = 8;
ParamSet.
GlobalConfig = CFG_AXIS_COUPLING_ACTIVE
;//CFG_HEIGHT_CONTROL | /*CFG_HEIGHT_SWITCH |*/ CFG_COMPASS_ACTIVE | CFG_COMPASS_FIX;//0x01;
ParamSet.
Hight_MinThrust = 30;
ParamSet.
MaxHight = 251; // Wert : 0-250 251 -> Poti1
ParamSet.
Hight_P = 10; // Wert : 0-32
ParamSet.
AirPressure_D = 30; // Wert : 0-250
ParamSet.
Hight_ACC_Effect = 30; // Wert : 0-250
ParamSet.
Hight_Gain = 4; // Wert : 0-50
ParamSet.
Stick_P = 4; //2 // Wert : 1-6
ParamSet.
Stick_D = 8; //8 // Wert : 0-64
ParamSet.
Yaw_P = 12; // Wert : 1-20
ParamSet.
Trust_Min = 15; // Wert : 0-32
ParamSet.
Trust_Max = 250; // Wert : 33-250
ParamSet.
GyroAccFaktor = 30; // Wert : 1-64
ParamSet.
CompassYawEffect = 128; // Wert : 0-250
ParamSet.
Gyro_P = 80; // Wert : 0-250
ParamSet.
Gyro_I = 150; // Wert : 0-250
ParamSet.
LowVoltageWarning = 94; // Wert : 0-250
ParamSet.
EmergencyThrust = 35; // Wert : 0-250 // Gaswert bei Empangsverlust
ParamSet.
EmergencyThrustDuration = 20; // Wert : 0-250 // Zeit bis auf EmergencyThrust geschaltet wird, wg. Rx-Problemen
ParamSet.
UfoArrangement = 0; // X oder + Formation
ParamSet.
I_Factor = 32;
ParamSet.
UserParam1 = 32 * 4; //zur freien Verwendung
ParamSet.
UserParam2 = 0; //zur freien Verwendung
ParamSet.
UserParam3 = 0; //zur freien Verwendung
ParamSet.
UserParam4 = 0; //zur freien Verwendung
ParamSet.
UserParam5 = 0; // zur freien Verwendung
ParamSet.
UserParam6 = 0; // zur freien Verwendung
ParamSet.
UserParam7 = 0; // zur freien Verwendung
ParamSet.
UserParam8 = 0; // zur freien Verwendung
ParamSet.
ServoPitchControl = 100; // Wert : 0-250 // Stellung des Servos
ParamSet.
ServoPitchComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo
ParamSet.
ServoPitchCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo
ParamSet.
ServoPitchMin = 50; // Wert : 0-250 // Anschlag
ParamSet.
ServoPitchMax = 150; // Wert : 0-250 // Anschlag
ParamSet.
ServoPitchRefresh = 5;
ParamSet.
LoopThrustLimit = 50;
ParamSet.
LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag
ParamSet.
LoopHysteresis = 50;
ParamSet.
LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
ParamSet.
Yaw_PosFeedback = 90;
ParamSet.
Yaw_NegFeedback = 5;
ParamSet.
AngleTurnOverPitch = 100;
ParamSet.
AngleTurnOverRoll = 100;
ParamSet.
GyroAccTrim = 16; // 1/k
ParamSet.
DriftComp = 4;
ParamSet.
DynamicStability = 100;
memcpy(ParamSet.
Name, "Sport\0", 12);
}
/***************************************************/
/* Default Values for parameter set 2 */
/***************************************************/
void ParamSet_DefaultSet2
(void) // normal
{
ParamSet.
ChannelAssignment[CH_PITCH
] = 1;
ParamSet.
ChannelAssignment[CH_ROLL
] = 2;
ParamSet.
ChannelAssignment[CH_THRUST
] = 3;
ParamSet.
ChannelAssignment[CH_YAW
] = 4;
ParamSet.
ChannelAssignment[CH_POTI1
] = 5;
ParamSet.
ChannelAssignment[CH_POTI2
] = 6;
ParamSet.
ChannelAssignment[CH_POTI3
] = 7;
ParamSet.
ChannelAssignment[CH_POTI4
] = 8;
ParamSet.
GlobalConfig = CFG_AXIS_COUPLING_ACTIVE
;//CFG_HEIGHT_CONTROL | /*CFG_HEIGHT_SWITCH |*/ CFG_COMPASS_ACTIVE;//0x01;
ParamSet.
Hight_MinThrust = 30;
ParamSet.
MaxHight = 251; // Wert : 0-250 251 -> Poti1
ParamSet.
Hight_P = 10; // Wert : 0-32
ParamSet.
AirPressure_D = 30; // Wert : 0-250
ParamSet.
Hight_ACC_Effect = 30; // Wert : 0-250
ParamSet.
Hight_Gain = 3; // Wert : 0-50
ParamSet.
Stick_P = 3; //2 // Wert : 1-6
ParamSet.
Stick_D = 4; //8 // Wert : 0-64
ParamSet.
Yaw_P = 6; // Wert : 1-20
ParamSet.
Trust_Min = 15; // Wert : 0-32
ParamSet.
Trust_Max = 250; // Wert : 33-250
ParamSet.
GyroAccFaktor = 30; // Wert : 1-64
ParamSet.
CompassYawEffect = 128; // Wert : 0-250
ParamSet.
Gyro_P = 80; // Wert : 0-250
ParamSet.
Gyro_I = 120; // Wert : 0-250
ParamSet.
LowVoltageWarning = 94; // Wert : 0-250
ParamSet.
EmergencyThrust = 35; // Wert : 0-250 // Gaswert bei Empangsverlust
ParamSet.
EmergencyThrustDuration = 20; // Wert : 0-250 // Zeit bis auf EmergencyThrust geschaltet wird, wg. Rx-Problemen
ParamSet.
UfoArrangement = 0; // X oder + Formation
ParamSet.
I_Factor = 32;
ParamSet.
UserParam1 = 20 * 4; // zur freien Verwendung
ParamSet.
UserParam2 = 0; // zur freien Verwendung
ParamSet.
UserParam3 = 0; // zur freien Verwendung
ParamSet.
UserParam4 = 0; // zur freien Verwendung
ParamSet.
UserParam5 = 0; // zur freien Verwendung
ParamSet.
UserParam6 = 0; // zur freien Verwendung
ParamSet.
UserParam7 = 0; // zur freien Verwendung
ParamSet.
UserParam8 = 0; // zur freien Verwendung
ParamSet.
ServoPitchControl = 100; // Wert : 0-250 // Stellung des Servos
ParamSet.
ServoPitchComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo
ParamSet.
ServoPitchCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo
ParamSet.
ServoPitchMin = 50; // Wert : 0-250 // Anschlag
ParamSet.
ServoPitchMax = 150; // Wert : 0-250 // Anschlag
ParamSet.
ServoPitchRefresh = 5;
ParamSet.
LoopThrustLimit = 50;
ParamSet.
LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag
ParamSet.
LoopHysteresis = 50;
ParamSet.
LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts
ParamSet.
Yaw_PosFeedback = 90; // Faktor, mit dem Yaw die Achsen Roll und Pitch verkoppelt
ParamSet.
Yaw_NegFeedback = 5;
ParamSet.
AngleTurnOverPitch = 100;
ParamSet.
AngleTurnOverRoll = 100;
ParamSet.
GyroAccTrim = 32; // 1/k
ParamSet.
DriftComp = 4;
ParamSet.
DynamicStability = 75;
memcpy(ParamSet.
Name, "Normal\0", 12);
}
/***************************************************/
/* Default Values for parameter set 3 */
/***************************************************/
void ParamSet_DefaultSet3
(void) // beginner
{
ParamSet.
ChannelAssignment[CH_PITCH
] = 1;
ParamSet.
ChannelAssignment[CH_ROLL
] = 2;
ParamSet.
ChannelAssignment[CH_THRUST
] = 3;
ParamSet.
ChannelAssignment[CH_YAW
] = 4;
ParamSet.
ChannelAssignment[CH_POTI1
] = 5;
ParamSet.
ChannelAssignment[CH_POTI2
] = 6;
ParamSet.
ChannelAssignment[CH_POTI3
] = 7;
ParamSet.
ChannelAssignment[CH_POTI4
] = 8;
ParamSet.
GlobalConfig = CFG_ROTARY_RATE_LIMITER
| CFG_AXIS_COUPLING_ACTIVE
;///*CFG_HEIGHT_SWITCH |*/ CFG_COMPASS_ACTIVE;//0x01;
ParamSet.
Hight_MinThrust = 30;
ParamSet.
MaxHight = 251; // Wert : 0-250 251 -> Poti1
ParamSet.
Hight_P = 10; // Wert : 0-32
ParamSet.
AirPressure_D = 30; // Wert : 0-250
ParamSet.
Hight_ACC_Effect = 30; // Wert : 0-250
ParamSet.
Hight_Gain = 2; // Wert : 0-50
ParamSet.
Stick_P = 2; //2 // Wert : 1-6
ParamSet.
Stick_D = 4; //8 // Wert : 0-64
ParamSet.
Yaw_P = 6; // Wert : 1-20
ParamSet.
Trust_Min = 15; // Wert : 0-32
ParamSet.
Trust_Max = 250; // Wert : 33-250
ParamSet.
GyroAccFaktor = 30; // Wert : 1-64
ParamSet.
CompassYawEffect = 128; // Wert : 0-250
ParamSet.
Gyro_P = 100; // Wert : 0-250
ParamSet.
Gyro_I = 140; // Wert : 0-250
ParamSet.
LowVoltageWarning = 94; // Wert : 0-250
ParamSet.
EmergencyThrust = 35; // Wert : 0-250 // Gaswert bei Empangsverlust
ParamSet.
EmergencyThrustDuration = 20; // Wert : 0-250 // Zeit bis auf EmergencyThrust geschaltet wird, wg. Rx-Problemen
ParamSet.
UfoArrangement = 0; // X oder + Formation
ParamSet.
I_Factor = 16;
ParamSet.
UserParam1 = 20 * 4; // zur freien Verwendung
ParamSet.
UserParam2 = 0; // zur freien Verwendung
ParamSet.
UserParam3 = 0; // zur freien Verwendung
ParamSet.
UserParam4 = 0; // zur freien Verwendung
ParamSet.
UserParam5 = 0; // zur freien Verwendung
ParamSet.
UserParam6 = 0; // zur freien Verwendung
ParamSet.
UserParam7 = 0; // zur freien Verwendung
ParamSet.
UserParam8 = 0; // zur freien Verwendung
ParamSet.
ServoPitchControl = 100; // Wert : 0-250 // Stellung des Servos
ParamSet.
ServoPitchComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo
ParamSet.
ServoPitchCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo
ParamSet.
ServoPitchMin = 50; // Wert : 0-250 // Anschlag
ParamSet.
ServoPitchMax = 150; // Wert : 0-250 // Anschlag
ParamSet.
ServoPitchRefresh = 5;
ParamSet.
LoopThrustLimit = 50;
ParamSet.
LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag
ParamSet.
LoopHysteresis = 50;
ParamSet.
LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts
ParamSet.
Yaw_PosFeedback = 90; // Faktor, mit dem Yaw die Achsen Roll und Pitch verkoppelt
ParamSet.
Yaw_NegFeedback = 5;
ParamSet.
AngleTurnOverPitch = 100;
ParamSet.
AngleTurnOverRoll = 100;
ParamSet.
GyroAccTrim = 32; // 1/k
ParamSet.
DriftComp = 4;
ParamSet.
DynamicStability = 50;
memcpy(ParamSet.
Name, "Beginner\0", 12);
}
/***************************************************/
/* Read Parameter from EEPROM as byte */
/***************************************************/
uint8_t GetParamByte
(uint8_t param_id
)
{
return eeprom_read_byte
(&EEPromArray
[EEPROM_ADR_PARAM_BEGIN
+ param_id
]);
}
/***************************************************/
/* Write Parameter to EEPROM as byte */
/***************************************************/
void SetParamByte
(uint8_t param_id
, uint8_t value
)
{
eeprom_write_byte
(&EEPromArray
[EEPROM_ADR_PARAM_BEGIN
+ param_id
], value
);
}
/***************************************************/
/* Read Parameter from EEPROM as word */
/***************************************************/
uint16_t GetParamWord
(uint8_t param_id
)
{
return eeprom_read_word
((uint16_t *) &EEPromArray
[EEPROM_ADR_PARAM_BEGIN
+ param_id
]);
}
/***************************************************/
/* Write Parameter to EEPROM as word */
/***************************************************/
void SetParamWord
(uint8_t param_id
, uint16_t value
)
{
eeprom_write_word
((uint16_t *) &EEPromArray
[EEPROM_ADR_PARAM_BEGIN
+ param_id
], value
);
}
/***************************************************/
/* Read Parameter Set from EEPROM */
/***************************************************/
// number [0..5]
void ParamSet_ReadFromEEProm
(uint8_t setnumber
)
{
if (setnumber
> 5) setnumber
= 5;
eeprom_read_block
((uint8_t *) &ParamSet.
ChannelAssignment[0], &EEPromArray
[EEPROM_ADR_PARAMSET_BEGIN
+ PARAMSET_STRUCT_LEN
* setnumber
], PARAMSET_STRUCT_LEN
);
}
/***************************************************/
/* Write Parameter Set to EEPROM */
/***************************************************/
// number [0..5]
void ParamSet_WriteToEEProm
(uint8_t setnumber
)
{
if(setnumber
> 5) setnumber
= 5;
eeprom_write_block
((uint8_t *) &ParamSet.
ChannelAssignment[0], &EEPromArray
[EEPROM_ADR_PARAMSET_BEGIN
+ PARAMSET_STRUCT_LEN
* setnumber
], PARAMSET_STRUCT_LEN
);
// set this parameter set to active set
eeprom_write_byte
(&EEPromArray
[PID_ACTIVE_SET
], setnumber
);
}
/***************************************************/
/* Get active parameter set */
/***************************************************/
uint8_t GetActiveParamSet
(void)
{
uint8_t setnumber
;
setnumber
= eeprom_read_byte
(&EEPromArray
[PID_ACTIVE_SET
]);
if(setnumber
> 5)
{
setnumber
= 2;
eeprom_write_byte
(&EEPromArray
[PID_ACTIVE_SET
], setnumber
);
}
return(setnumber
);
}
/***************************************************/
/* Set active parameter set */
/***************************************************/
void SetActiveParamSet
(uint8_t setnumber
)
{
if(setnumber
> 5) setnumber
= 5;
eeprom_write_byte
(&EEPromArray
[PID_ACTIVE_SET
], setnumber
);
}
/***************************************************/
/* Initialize EEPROM Parameter Sets */
/***************************************************/
void ParamSet_Init
(void)
{
// version check
if(eeprom_read_byte
(&EEPromArray
[PID_VERSION
]) != EEPARAM_VERSION
)
{
// if version check faild
printf("\n\rInit. EEPROM: Generating Default-Parameter...");
ParamSet_DefaultSet1
(); // Fill ParamSet Structure to default parameter set 1 (Sport)
// fill all 5 parameter settings with set 1 except otherwise defined
for (unsigned char i
=0;i
<6;i
++)
{
if(i
==2) ParamSet_DefaultSet2
(); // Kamera
if(i
==3) ParamSet_DefaultSet3
(); // Beginner
if(i
>3) ParamSet_DefaultSet2
(); // Kamera
ParamSet_WriteToEEProm
(i
);
}
// default-Setting is parameter set 3
SetParamByte
(PID_ACTIVE_SET
, 3);
// update version info
SetParamByte
(PID_VERSION
, EEPARAM_VERSION
);
}
// read active parameter set to ParamSet stucture
ParamSet_ReadFromEEProm
(GetParamByte
(PID_ACTIVE_SET
));
printf("\n\rUsing Parameter Set %d", GetParamByte
(PID_ACTIVE_SET
));
}