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 und 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 Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt und genannt 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
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// +  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 "output.h"
// TODO: Get rid of these. They have nothing to do with eeprom.
#include "flight.h"
#include "rc.h"
#include "sensors.h"

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

paramset_t      staticParams;
MixerTable_t    Mixer;

/*
 * Default for your own experiments here, so you don't have to reset them
 * from MK-Tool all the time.
 */
void setDefaultUserParams(void) {
  uint8_t i;
  for (i=0; i<sizeof(staticParams.UserParams1); i++) {
    staticParams.UserParams1[i] = 0;
  }
  for (i=0; i<sizeof(staticParams.UserParams2); i++) {
    staticParams.UserParams2[i] = 0;
  }
  /*
   * While we are still using userparams for flight parameters, do set
   * some safe & meaningful default values.
   */
  staticParams.UserParams1[3] = 10;                     // Throttle stick D=10
  staticParams.UserParams2[0] = 0b11010101; // All gyro filter constants 2; acc. 4
  staticParams.UserParams2[1] = 2;                      // H&I motor smoothing.
  staticParams.UserParams2[2] = 120;            // Yaw I factor
  staticParams.UserParams2[3] = 100;            // Max Z acceleration for acc. correction of angles.                   
}

void setOtherDefaults(void) {
/* Channel assignments were changed to the normal:
 * Aileron/roll=1, elevator/pitch=2, throttle=3, yaw/rudder=4
 */
  staticParams.ChannelAssignment[CH_PITCH]    = 2;
  staticParams.ChannelAssignment[CH_ROLL]     = 1;
  staticParams.ChannelAssignment[CH_THROTTLE] = 3;
  staticParams.ChannelAssignment[CH_YAW]      = 4;
  staticParams.ChannelAssignment[CH_POTS+0]   = 5;
  staticParams.ChannelAssignment[CH_POTS+1]   = 6;
  staticParams.ChannelAssignment[CH_POTS+2]   = 7;
  staticParams.ChannelAssignment[CH_POTS+3]   = 8;
  staticParams.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX;
  staticParams.HeightMinGas = 30;
  staticParams.MaxHeight     = 251;
  staticParams.HeightP      = 10;
  staticParams.HeightD  = 30;
  staticParams.Height_ACC_Effect = 30;
  staticParams.Height_Gain = 4;
  staticParams.StickP = 12;
  staticParams.StickD = 16;
  staticParams.StickYawP = 12;
  staticParams.MinThrottle = 8;
  staticParams.MaxThrottle = 230;
  staticParams.CompassYawEffect = 128;
  staticParams.GyroP = 80;
  staticParams.GyroI = 100;
  staticParams.LowVoltageWarning = 94;
  staticParams.EmergencyGas = 35;
  staticParams.EmergencyGasDuration = 30;
  staticParams.Unused0 = 0;
  staticParams.IFactor = 32;
  staticParams.ServoPitchControl = 100;
  staticParams.ServoPitchComp = 40;
  staticParams.ServoPitchCompInvert = 0;
  staticParams.ServoPitchMin = 50;
  staticParams.ServoPitchMax = 150;
  staticParams.ServoRefresh = 5;
  staticParams.LoopGasLimit = 50;
  staticParams.LoopThreshold = 90;
  staticParams.LoopHysteresis = 50;
  staticParams.BitConfig = 0;
  staticParams.AxisCoupling1 = 90;
  staticParams.AxisCoupling2 = 67;
  staticParams.AxisCouplingYawCorrection = 0;
  staticParams.DynamicStability = 50;
  staticParams.J16Bitmask = 95;
  staticParams.J17Bitmask = 243;
  staticParams.J16Timing = 15;
  staticParams.J17Timing = 15;
  staticParams.NaviGpsModeControl = 253;
  staticParams.NaviGpsGain = 100;
  staticParams.NaviGpsP = 90;
  staticParams.NaviGpsI = 90;
  staticParams.NaviGpsD = 90;
  staticParams.NaviGpsPLimit = 75;
  staticParams.NaviGpsILimit = 75;
  staticParams.NaviGpsDLimit = 75;
  staticParams.NaviGpsACC = 0;
  staticParams.NaviGpsMinSat = 6;
  staticParams.NaviStickThreshold = 8;
  staticParams.NaviWindCorrection = 90;
  staticParams.NaviSpeedCompensation = 30;
  staticParams.NaviOperatingRadius = 100;
  staticParams.NaviAngleLimitation = 100;
  staticParams.NaviPHLoginTime = 4;
}

/***************************************************/
/*    Default Values for parameter set 1           */
/***************************************************/
void ParamSet_DefaultSet1(void) { // sport
  setOtherDefaults();
  gyro_setDefaults();
  setDefaultUserParams();
  memcpy(staticParams.Name, "Sport\0",6);
}

/***************************************************/
/*    Default Values for parameter set 2           */
/***************************************************/
void ParamSet_DefaultSet2(void) { // normal
  setOtherDefaults();
  gyro_setDefaults();
  setDefaultUserParams();
  staticParams.Height_Gain = 3;
  staticParams.J16Timing = 20;
  staticParams.J17Timing = 20;
  memcpy(staticParams.Name, "Normal\0", 7);
}

/***************************************************/
/*    Default Values for parameter set 3           */
/***************************************************/
void ParamSet_DefaultSet3(void) { // beginner
  setOtherDefaults();
  gyro_setDefaults();
  setDefaultUserParams();
  staticParams.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE | CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX;
  staticParams.Height_Gain = 3;
  staticParams.EmergencyGasDuration = 20;
  staticParams.AxisCouplingYawCorrection = 70;
  staticParams.J16Timing = 30;
  staticParams.J17Timing = 30;
  memcpy(staticParams.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 *) &staticParams.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN);
  output_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 *) &staticParams.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( &staticParams.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);
  output_init();
}


/***************************************************/
/*       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);
}

/***************************************************/
/*          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 (but preset throttle)
  for(i = 0; i < 16; i++) {
    Mixer.Motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0;
    Mixer.Motor[i][MIX_PITCH] = 0;
    Mixer.Motor[i][MIX_ROLL] = 0;
    Mixer.Motor[i][MIX_YAW]  = 0;
  }
  // default = Quadro
  Mixer.Motor[0][MIX_PITCH] = +64;                                 Mixer.Motor[0][MIX_YAW] = +64;
  Mixer.Motor[1][MIX_PITCH] = -64;                                 Mixer.Motor[1][MIX_YAW] = +64;
  Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64;
  Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64;
  memcpy(Mixer.Name, "Quadro\0", 7);
}

/***************************************************/
/*       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 staticParams 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
        staticParams.ChannelAssignment[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);
        staticParams.ChannelAssignment[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);
        staticParams.ChannelAssignment[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);
        staticParams.ChannelAssignment[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);
        staticParams.ChannelAssignment[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);
        staticParams.ChannelAssignment[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);
        staticParams.ChannelAssignment[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);
        staticParams.ChannelAssignment[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);
      }
      ParamSet_WriteToEEProm(i);
    }
    // default-Setting is parameter set 3
    setActiveParamSet(1);
    // update version info
    SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION);
  }
  // read active parameter set to staticParams 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_THROTTLE] > 0) RequiredMotors++;
  }
 
  printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors);
  printf("\n\r==============================");
}