Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + Nur für den privaten Gebrauch
// + 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 "printf_P.h"
#include "led.h"
#include "main.h"
#include "fc.h"


// byte array in eeprom
uint8_t EEPromArray[E2END+1] EEMEM;

paramset_t              ParamSet;
MixerTable_t    Mixer;


/***************************************************/
/*    Default Values for parameter set 1           */
/***************************************************/
void ParamSet_DefaultSet1(void) // sport
{
        if(BoardRelease >= 20)
        {
                ParamSet.GyroD = 5;
                ParamSet.DriftComp = 0;
                ParamSet.GyroAccFactor = 27;
                ParamSet.AngleTurnOverNick = 78;
                ParamSet.AngleTurnOverRoll = 78;
        }
        else
        {
                ParamSet.GyroD = 3;
                ParamSet.DriftComp = 32;
                ParamSet.GyroAccFactor = 30;
                ParamSet.AngleTurnOverNick = 85;
                ParamSet.AngleTurnOverRoll = 85;
        }
        ParamSet.ChannelAssignment[CH_NICK]  = 1;
        ParamSet.ChannelAssignment[CH_ROLL]  = 2;
        ParamSet.ChannelAssignment[CH_GAS]   = 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_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX;
        ParamSet.HeightMinGas = 30;
        ParamSet.MaxHeight     = 251;
        ParamSet.HeightP      = 10;
        ParamSet.HeightD  = 30;
        ParamSet.Height_ACC_Effect = 30;
        ParamSet.Height_Gain = 4;
        ParamSet.StickP = 15;
        ParamSet.StickD = 30;
        ParamSet.StickYawP = 12;
        ParamSet.GasMin = 8;
        ParamSet.GasMax = 230;
        ParamSet.CompassYawEffect = 128;
        ParamSet.GyroP = 80;
        ParamSet.GyroI = 150;
        ParamSet.LowVoltageWarning = 94;
        ParamSet.EmergencyGas = 35;
        ParamSet.EmergencyGasDuration = 30;
        ParamSet.UfoArrangement = 0;
        ParamSet.IFactor = 32;
        ParamSet.UserParam1 = 0;
        ParamSet.UserParam2 = 0;
        ParamSet.UserParam3 = 0;
        ParamSet.UserParam4 = 0;
        ParamSet.UserParam5 = 0;
        ParamSet.UserParam6 = 0;
        ParamSet.UserParam7 = 0;
        ParamSet.UserParam8 = 0;
        ParamSet.ServoNickControl = 100;
        ParamSet.ServoNickComp = 40;
        ParamSet.ServoNickCompInvert = 0;
        ParamSet.ServoNickMin = 50;
        ParamSet.ServoNickMax = 150;
        ParamSet.ServoRefresh = 5;
        ParamSet.LoopGasLimit = 50;
        ParamSet.LoopThreshold = 90;
        ParamSet.LoopHysteresis = 50;
        ParamSet.BitConfig = 0;
        ParamSet.AxisCoupling1 = 90;
        ParamSet.AxisCoupling2 = 67;
        ParamSet.AxisCouplingYawCorrection = 0;
        ParamSet.GyroAccTrim = 16;
        ParamSet.DynamicStability = 100;
        ParamSet.J16Bitmask = 95;
        ParamSet.J17Bitmask = 243;
        ParamSet.J16Timing = 15;
        ParamSet.J17Timing = 15;
        ParamSet.NaviGpsModeControl = 253;
        ParamSet.NaviGpsGain = 100;
        ParamSet.NaviGpsP = 90;
        ParamSet.NaviGpsI = 90;
        ParamSet.NaviGpsD = 90;
        ParamSet.NaviGpsPLimit = 75;
        ParamSet.NaviGpsILimit = 75;
        ParamSet.NaviGpsDLimit = 75;
        ParamSet.NaviGpsACC = 0;
        ParamSet.NaviGpsMinSat = 6;
        ParamSet.NaviStickThreshold = 8;
        ParamSet.NaviWindCorrection = 90;
        ParamSet.NaviSpeedCompensation = 30;
        ParamSet.NaviOperatingRadius = 100;
        ParamSet.NaviAngleLimitation = 100;
        ParamSet.NaviPHLoginTime = 4;
        memcpy(ParamSet.Name, "Sport\0",6);
}


/***************************************************/
/*    Default Values for parameter set 2           */
/***************************************************/
void ParamSet_DefaultSet2(void) // normal
{
        if(BoardRelease >= 20)
        {
                ParamSet.GyroD = 5;
                ParamSet.DriftComp = 0;
                ParamSet.GyroAccFactor = 27;
                ParamSet.AngleTurnOverNick = 78;
                ParamSet.AngleTurnOverRoll = 78;
        }
        else
        {
                ParamSet.GyroD = 3;
                ParamSet.DriftComp = 32;
                ParamSet.GyroAccFactor = 30;
                ParamSet.AngleTurnOverNick = 85;
                ParamSet.AngleTurnOverRoll = 85;
        }
        ParamSet.ChannelAssignment[CH_NICK]  = 1;
        ParamSet.ChannelAssignment[CH_ROLL]  = 2;
        ParamSet.ChannelAssignment[CH_GAS]   = 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_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX;
        ParamSet.HeightMinGas = 30;
        ParamSet.MaxHeight     = 251;
        ParamSet.HeightP      = 10;
        ParamSet.HeightD  = 30;
        ParamSet.Height_ACC_Effect = 30;
        ParamSet.Height_Gain = 3;
        ParamSet.StickP = 12;
        ParamSet.StickD = 16;
        ParamSet.StickYawP = 6;
        ParamSet.GasMin = 8;
        ParamSet.GasMax = 230;
        ParamSet.CompassYawEffect = 128;
        ParamSet.GyroP = 80;
        ParamSet.GyroI = 120;
        ParamSet.LowVoltageWarning = 94;
        ParamSet.EmergencyGas = 35;
        ParamSet.EmergencyGasDuration = 30;
        ParamSet.UfoArrangement = 0;
        ParamSet.IFactor = 32;
        ParamSet.UserParam1 = 0;
        ParamSet.UserParam2 = 0;
        ParamSet.UserParam3 = 0;
        ParamSet.UserParam4 = 0;
        ParamSet.UserParam5 = 0;
        ParamSet.UserParam6 = 0;
        ParamSet.UserParam7 = 0;
        ParamSet.UserParam8 = 0;
        ParamSet.ServoNickControl = 100;
        ParamSet.ServoNickComp = 40;
        ParamSet.ServoNickCompInvert = 0;
        ParamSet.ServoNickMin = 50;
        ParamSet.ServoNickMax = 150;
        ParamSet.ServoRefresh = 5;
        ParamSet.LoopGasLimit = 50;
        ParamSet.LoopThreshold = 90;
        ParamSet.LoopHysteresis = 50;
        ParamSet.BitConfig = 0;
        ParamSet.AxisCoupling1 = 90;
        ParamSet.AxisCoupling2 = 67;
        ParamSet.AxisCouplingYawCorrection = 60;
        ParamSet.GyroAccTrim = 32;
        ParamSet.DynamicStability = 75;
        ParamSet.J16Bitmask = 95;
        ParamSet.J17Bitmask = 243;
        ParamSet.J16Timing = 20;
        ParamSet.J17Timing = 20;
        ParamSet.NaviGpsModeControl = 253;
        ParamSet.NaviGpsGain = 100;
        ParamSet.NaviGpsP = 90;
        ParamSet.NaviGpsI = 90;
        ParamSet.NaviGpsD = 90;
        ParamSet.NaviGpsPLimit = 75;
        ParamSet.NaviGpsILimit = 75;
        ParamSet.NaviGpsDLimit = 75;
        ParamSet.NaviGpsACC = 0;
        ParamSet.NaviGpsMinSat = 6;
        ParamSet.NaviStickThreshold = 8;
        ParamSet.NaviWindCorrection = 90;
        ParamSet.NaviSpeedCompensation = 30;
        ParamSet.NaviOperatingRadius = 100;
        ParamSet.NaviAngleLimitation = 100;
        ParamSet.NaviPHLoginTime = 4;
        memcpy(ParamSet.Name, "Normal\0", 7);
}


/***************************************************/
/*    Default Values for parameter set 3           */
/***************************************************/
void ParamSet_DefaultSet3(void) // beginner
{
        if(BoardRelease >= 20)
        {
                ParamSet.GyroD = 5;
                ParamSet.DriftComp = 0;
                ParamSet.GyroAccFactor = 27;         // Wert : 1-64
                ParamSet.AngleTurnOverNick = 78;
                ParamSet.AngleTurnOverRoll = 78;
        }
        else
        {
                ParamSet.GyroD = 3;
                ParamSet.DriftComp = 32;
                ParamSet.GyroAccFactor = 30;         // Wert : 1-64
                ParamSet.AngleTurnOverNick = 85;
                ParamSet.AngleTurnOverRoll = 85;
        }
        ParamSet.ChannelAssignment[CH_NICK]  = 1;
        ParamSet.ChannelAssignment[CH_ROLL]  = 2;
        ParamSet.ChannelAssignment[CH_GAS]   = 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_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX;
        ParamSet.HeightMinGas = 30;
        ParamSet.MaxHeight     = 251;
        ParamSet.HeightP      = 10;
        ParamSet.HeightD  = 30;
        ParamSet.Height_ACC_Effect = 30;
        ParamSet.Height_Gain = 3;
        ParamSet.StickP = 8;
        ParamSet.StickD = 16;
        ParamSet.StickYawP  = 6;
        ParamSet.GasMin = 8;
        ParamSet.GasMax = 230;
        ParamSet.CompassYawEffect = 128;
        ParamSet.GyroP = 100;
        ParamSet.GyroI = 120;
        ParamSet.LowVoltageWarning = 94;
        ParamSet.EmergencyGas = 35;
        ParamSet.EmergencyGasDuration = 20;
        ParamSet.UfoArrangement = 0;
        ParamSet.IFactor = 16;
        ParamSet.UserParam1 = 0;
        ParamSet.UserParam2 = 0;
        ParamSet.UserParam3 = 0;
        ParamSet.UserParam4 = 0;
        ParamSet.UserParam5 = 0;
        ParamSet.UserParam6 = 0;
        ParamSet.UserParam7 = 0;
        ParamSet.UserParam8 = 0;
        ParamSet.ServoNickControl = 100;
        ParamSet.ServoNickComp = 40;
        ParamSet.ServoNickCompInvert = 0;
        ParamSet.ServoNickMin = 50;
        ParamSet.ServoNickMax = 150;
        ParamSet.ServoRefresh = 5;
        ParamSet.LoopGasLimit = 50;
        ParamSet.LoopThreshold = 90;
        ParamSet.LoopHysteresis = 50;
        ParamSet.BitConfig = 0;
        ParamSet.AxisCoupling1 = 90;
        ParamSet.AxisCoupling2 = 67;
        ParamSet.AxisCouplingYawCorrection = 70;
        ParamSet.GyroAccTrim = 32;
        ParamSet.DynamicStability = 50;
        ParamSet.J16Bitmask = 95;
        ParamSet.J17Bitmask = 243;
        ParamSet.J16Timing = 30;
        ParamSet.J17Timing = 30;
        ParamSet.NaviGpsModeControl = 253;
        ParamSet.NaviGpsGain = 100;
        ParamSet.NaviGpsP = 90;
        ParamSet.NaviGpsI = 90;
        ParamSet.NaviGpsD = 90;
        ParamSet.NaviGpsPLimit = 75;
        ParamSet.NaviGpsILimit = 75;
        ParamSet.NaviGpsDLimit = 75;
        ParamSet.NaviGpsACC = 0;
        ParamSet.NaviGpsMinSat = 6;
        ParamSet.NaviStickThreshold = 8;
        ParamSet.NaviWindCorrection = 90;
        ParamSet.NaviSpeedCompensation = 30;
        ParamSet.NaviOperatingRadius = 100;
        ParamSet.NaviAngleLimitation = 100;
        ParamSet.NaviPHLoginTime = 4;
        memcpy(ParamSet.Name, "Beginner\0", 9);
}

/***************************************************/
/*       Read Parameter from EEPROM as byte        */
/***************************************************/
uint8_t GetParamByte(uint16_t param_id)
{
        return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]);
}

/***************************************************/
/*       Write Parameter to EEPROM as byte         */
/***************************************************/
void SetParamByte(uint16_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(uint16_t param_id)
{
        return eeprom_read_word((uint16_t *) &EEPromArray[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 *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);
}

/***************************************************/
/*       Read Parameter Set from EEPROM            */
/***************************************************/
// number [1..5]
void ParamSet_ReadFromEEProm(uint8_t setnumber)
{
        if((1 > setnumber) || (setnumber > 5)) setnumber = 3;
        eeprom_read_block((uint8_t *) &ParamSet.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN);
        LED_Init();
}

/***************************************************/
/*        Write Parameter Set to EEPROM            */
/***************************************************/
// number [1..5]
void ParamSet_WriteToEEProm(uint8_t setnumber)
{
        if(setnumber > 5) setnumber = 5;
        if(setnumber < 1) return;
        eeprom_write_block((uint8_t *) &ParamSet.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN);
        eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH], PARAMSET_STRUCT_LEN);
        eeprom_write_block( &ParamSet.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping
        // set this parameter set to active set
        SetActiveParamSet(setnumber);
        LED_Init();
}

/***************************************************/
/*          Read MixerTable from EEPROM            */
/***************************************************/
uint8_t MixerTable_ReadFromEEProm(void)
{
        if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == EEMIXER_REVISION)
        {
                eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
                return 1;
        }
        else return 0;
}

/***************************************************/
/*          Write Mixer Table to EEPROM            */
/***************************************************/
uint8_t MixerTable_WriteToEEProm(void)
{
        if(Mixer.Revision == EEMIXER_REVISION)
        {
                eeprom_write_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], 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);
}


/***************************************************/
/*       Get active parameter set                  */
/***************************************************/
uint8_t GetActiveParamSet(void)
{
        uint8_t setnumber;
        setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]);
        if(setnumber > 5)
        {
                setnumber = 3;
                eeprom_write_byte(&EEPromArray[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(&EEPromArray[PID_ACTIVE_SET], setnumber);
}

/***************************************************/
/*       Initialize EEPROM Parameter Sets          */
/***************************************************/
void ParamSet_Init(void)
{
        uint8_t Channel_Backup  = 0, i;
        // parameter version  check
        if(eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION)
        {
                // if version check faild
                printf("\n\rInit Parameter in EEPROM");
                eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table
                // check if channel mapping backup is valid
                if(             (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]) < 12)
                    &&  (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12)
                    &&  (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12)
                    &&  (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12)
                   )
                {
                        Channel_Backup = 1;
                }
                // fill all 5 parameter settings
                for (i = 1;i < 6; 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 a rc channel mapping backup in eeprom
                        {
                                // restore it
                                ParamSet.ChannelAssignment[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);
                                ParamSet.ChannelAssignment[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);
                                ParamSet.ChannelAssignment[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);
                                ParamSet.ChannelAssignment[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);
                                ParamSet.ChannelAssignment[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);
                                ParamSet.ChannelAssignment[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);
                                ParamSet.ChannelAssignment[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);
                                ParamSet.ChannelAssignment[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);
                        }
                        ParamSet_WriteToEEProm(i);
                }
                // default-Setting is parameter set 3
                SetActiveParamSet(3);
                // update version info
                SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION);
        }
        // read active parameter set to ParamSet stucture
        ParamSet_ReadFromEEProm(GetActiveParamSet());
        printf("\n\rUsing Parameter Set %d", GetActiveParamSet());

        // load mixer table
        if(!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==============================");
}