// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 "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_GAS
] = 1;
ParamSet.
ChannelAssignment[CH_ROLL
] = 2;
ParamSet.
ChannelAssignment[CH_NICK
] = 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.
Config0 = CFG0_AXIS_COUPLING_ACTIVE
| CFG0_COMPASS_ACTIVE
| CFG0_GPS_ACTIVE
| CFG0_HEIGHT_SWITCH
;//CFG0_HEIGHT_CONTROL | CFG0_COMPASS_FIX;
ParamSet.
Config1 = 0;
ParamSet.
Config2 = CFG2_HEIGHT_LIMIT
;//|CFG2_SENSITIVE_RC;
ParamSet.
HeightMinGas = 30;
ParamSet.
MaxHeight = 251;
ParamSet.
HeightP = 10;
ParamSet.
HeightD = 30;
ParamSet.
Height_ACC_Effect = 30;
ParamSet.
Height_HoverBand = 5;
ParamSet.
Height_GPS_Z = 64;
ParamSet.
Height_StickNeutralPoint = 0; // Value : 0-250 (0 = Hoover-Estimation)
ParamSet.
Height_Gain = 20;
ParamSet.
StickP = 14;
ParamSet.
StickD = 16;
ParamSet.
StickYawP = 12;
ParamSet.
GasMin = 8;
ParamSet.
GasMax = 230;
ParamSet.
CompassYawEffect = 128;
ParamSet.
GyroP = 80;
ParamSet.
GyroI = 150;
ParamSet.
GyroYawP = 80;
ParamSet.
GyroYawI = 150;
ParamSet.
LowVoltageWarning = 33; // automatic cell detection for values < 50
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.
ServoCompInvert = 1;
ParamSet.
ServoRefresh = 6;
ParamSet.
ServoNickControl = 100;
ParamSet.
ServoNickComp = 40;
ParamSet.
ServoNickMin = 0;
ParamSet.
ServoNickMax = 250;
ParamSet.
ServoRollControl = 100;
ParamSet.
ServoRollComp = 40;
ParamSet.
ServoRollMin = 0;
ParamSet.
ServoRollMax = 250;
ParamSet.
LoopGasLimit = 50;
ParamSet.
LoopThreshold = 90;
ParamSet.
LoopHysteresis = 50;
ParamSet.
AxisCoupling1 = 90;
ParamSet.
AxisCoupling2 = 80;
ParamSet.
AxisCouplingYawCorrection = 1;
ParamSet.
GyroAccTrim = 16;
ParamSet.
DynamicStability = 100;
ParamSet.
J16Bitmask = 95;
ParamSet.
J17Bitmask = 243;
ParamSet.
J16Bitmask_Warning = 0xAA;
ParamSet.
J17Bitmask_Warning = 0xAA;
ParamSet.
J16Timing = 15;
ParamSet.
J17Timing = 15;
ParamSet.
NaviGpsModeControl = 252;
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_GAS
] = 1;
ParamSet.
ChannelAssignment[CH_ROLL
] = 2;
ParamSet.
ChannelAssignment[CH_NICK
] = 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.
Config0 = CFG0_AXIS_COUPLING_ACTIVE
| CFG0_COMPASS_ACTIVE
| CFG0_GPS_ACTIVE
| CFG0_HEIGHT_SWITCH
;//CFG0_HEIGHT_CONTROL | CFG0_COMPASS_FIX;
ParamSet.
Config1 = 0;
ParamSet.
Config2 = CFG2_HEIGHT_LIMIT
;//|CFG2_SENSITIVE_RC;
ParamSet.
HeightMinGas = 30;
ParamSet.
MaxHeight = 251;
ParamSet.
HeightP = 10;
ParamSet.
HeightD = 30;
ParamSet.
Height_ACC_Effect = 30;
ParamSet.
Height_HoverBand = 5;
ParamSet.
Height_GPS_Z = 64;
ParamSet.
Height_StickNeutralPoint = 0; // Value : 0-250 (0 = Hoover-Estimation)
ParamSet.
Height_Gain = 15;
ParamSet.
StickP = 10;
ParamSet.
StickD = 16;
ParamSet.
StickYawP = 6;
ParamSet.
GasMin = 8;
ParamSet.
GasMax = 230;
ParamSet.
CompassYawEffect = 128;
ParamSet.
GyroP = 90;
ParamSet.
GyroI = 120;
ParamSet.
GyroYawP = 90;
ParamSet.
GyroYawI = 120;
ParamSet.
LowVoltageWarning = 33; // auto cell detection for values < 50
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.
ServoCompInvert = 1;
ParamSet.
ServoRefresh = 6;
ParamSet.
ServoNickControl = 100;
ParamSet.
ServoNickComp = 40;
ParamSet.
ServoNickMin = 0;
ParamSet.
ServoNickMax = 250;
ParamSet.
ServoRollControl = 100;
ParamSet.
ServoRollComp = 40;
ParamSet.
ServoRollMin = 0;
ParamSet.
ServoRollMax = 250;
ParamSet.
LoopGasLimit = 50;
ParamSet.
LoopThreshold = 90;
ParamSet.
LoopHysteresis = 50;
ParamSet.
AxisCoupling1 = 90;
ParamSet.
AxisCoupling2 = 80;
ParamSet.
AxisCouplingYawCorrection = 60;
ParamSet.
GyroAccTrim = 32;
ParamSet.
DynamicStability = 75;
ParamSet.
J16Bitmask = 95;
ParamSet.
J17Bitmask = 243;
ParamSet.
J16Bitmask_Warning = 0xAA;
ParamSet.
J17Bitmask_Warning = 0xAA;
ParamSet.
J16Timing = 20;
ParamSet.
J17Timing = 20;
ParamSet.
NaviGpsModeControl = 252;
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; // Value : 1-64
ParamSet.
AngleTurnOverNick = 78;
ParamSet.
AngleTurnOverRoll = 78;
}
else
{
ParamSet.
GyroD = 3;
ParamSet.
DriftComp = 32;
ParamSet.
GyroAccFactor = 30; // Value : 1-64
ParamSet.
AngleTurnOverNick = 85;
ParamSet.
AngleTurnOverRoll = 85;
}
ParamSet.
ChannelAssignment[CH_GAS
] = 1;
ParamSet.
ChannelAssignment[CH_ROLL
] = 2;
ParamSet.
ChannelAssignment[CH_NICK
] = 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.
Config0 = CFG0_AXIS_COUPLING_ACTIVE
| CFG0_COMPASS_ACTIVE
| CFG0_GPS_ACTIVE
| CFG0_HEIGHT_SWITCH
;//CFG0_HEIGHT_CONTROL | CFG0_COMPASS_FIX | CFG0_ROTARY_RATE_LIMITER;
ParamSet.
Config1 = 0;
ParamSet.
Config2 = CFG2_HEIGHT_LIMIT
;//|CFG2_SENSITIVE_RC;
ParamSet.
HeightMinGas = 30;
ParamSet.
MaxHeight = 251;
ParamSet.
HeightP = 10;
ParamSet.
HeightD = 30;
ParamSet.
Height_ACC_Effect = 30;
ParamSet.
Height_HoverBand = 5;
ParamSet.
Height_GPS_Z = 64;
ParamSet.
Height_StickNeutralPoint = 0; // Value : 0-250 (0 = Hoover-Estimation)
ParamSet.
Height_Gain = 15;
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.
GyroYawP = 100;
ParamSet.
GyroYawI = 120;
ParamSet.
LowVoltageWarning = 33; // auto cell detection for values < 50
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.
ServoCompInvert = 1;
ParamSet.
ServoRefresh = 6;
ParamSet.
ServoNickControl = 100;
ParamSet.
ServoNickComp = 40;
ParamSet.
ServoNickMin = 0;
ParamSet.
ServoNickMax = 250;
ParamSet.
ServoRollControl = 100;
ParamSet.
ServoRollComp = 40;
ParamSet.
ServoRollMin = 0;
ParamSet.
ServoRollMax = 250;
ParamSet.
LoopGasLimit = 50;
ParamSet.
LoopThreshold = 90;
ParamSet.
LoopHysteresis = 50;
ParamSet.
AxisCoupling1 = 90;
ParamSet.
AxisCoupling2 = 80;
ParamSet.
AxisCouplingYawCorrection = 70;
ParamSet.
GyroAccTrim = 32;
ParamSet.
DynamicStability = 50;
ParamSet.
J16Bitmask = 95;
ParamSet.
J17Bitmask = 243;
ParamSet.
J16Bitmask_Warning = 0xAA;
ParamSet.
J17Bitmask_Warning = 0xAA;
ParamSet.
J16Timing = 30;
ParamSet.
J17Timing = 30;
ParamSet.
NaviGpsModeControl = 252;
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==============================");
}