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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
// + features that can be used to identify the program may not be altered or defaced by the customer.
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#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 CommonDefaults
(void)
{
EE_Parameter.
Revision = EEPARAM_REVISION
;
memset(EE_Parameter.
Name,0,12); // delete name
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.
GyroAccAbgleich = 32; // 1/k
EE_Parameter.
BitConfig = 0; // Looping usw.
EE_Parameter.
GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV
| CFG_KOMPASS_AKTIV
| CFG_GPS_AKTIV
| CFG_HOEHEN_SCHALTER
;
EE_Parameter.
ExtraConfig = CFG_GPS_AID
| CFG2_VARIO_BEEP
| CFG_LEARNABLE_CAREFREE
;
EE_Parameter.
Receiver = RECEIVER_HOTT
;
EE_Parameter.
MotorSafetySwitch = 0;
EE_Parameter.
ExternalControl = 0;
EE_Parameter.
Gas_Min = 8; // Wert : 0-32
EE_Parameter.
Gas_Max = 230; // Wert : 33-247
EE_Parameter.
KompassWirkung = 64; // Wert : 0-247
EE_Parameter.
Hoehe_MinGas = 30;
EE_Parameter.
HoeheChannel = 5; // Wert : 0-32
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(ACC_AltitudeControl
)
{
EE_Parameter.
Hoehe_P = 20; // Wert : 0-32
EE_Parameter.
Luftdruck_D = 40; // Wert : 0-247
EE_Parameter.
Hoehe_ACC_Wirkung = 30; // Wert : 0-247
EE_Parameter.
Hoehe_HoverBand = 1; // Wert : 0-247
EE_Parameter.
Hoehe_GPS_Z = 0; // Wert : 0-247
EE_Parameter.
Hoehe_StickNeutralPoint = 127;// Wert : 0-247 (0 = Hover-Estimation)
EE_Parameter.
GlobalConfig3 = CFG3_SPEAK_ALL
;//
EE_Parameter.
FailSafeTime = 30; // 0 = off
}
else
#endif
{
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 = 20; // Wert : 0-247
EE_Parameter.
Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation)
EE_Parameter.
GlobalConfig3 = CFG3_SPEAK_ALL
;
EE_Parameter.
FailSafeTime = 0; // 0 = off
}
EE_Parameter.
Hoehe_Verstaerkung = 15; // Wert : 0-50 (15 -> ca. +/- 5m/sek bei Stick-Voll-Ausschlag)
EE_Parameter.
StartLandChannel = 0;
EE_Parameter.
LandingSpeed = 12;
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 = 128; // Wert : 0-247 // Stellung des Servos
EE_Parameter.
ServoNickComp = 50; // Wert : 0-247 // Einfluss Gyro/Servo
EE_Parameter.
ServoCompInvert = 2; // Wert : 0-247 // Richtung Einfluss Gyro/Servo
EE_Parameter.
ServoNickMin = 15; // Wert : 0-247 // Anschlag
EE_Parameter.
ServoNickMax = 230; // Wert : 0-247 // Anschlag
EE_Parameter.
ServoNickRefresh = 4;
EE_Parameter.
Servo3 = 125;
EE_Parameter.
Servo4 = 125;
EE_Parameter.
Servo5 = 125;
EE_Parameter.
ServoRollControl = 128; // Wert : 0-247 // Stellung des Servos
EE_Parameter.
ServoRollComp = 85; // Wert : 0-247 // Einfluss Gyro/Servo
EE_Parameter.
ServoRollMin = 70; // Wert : 0-247 // Anschlag
EE_Parameter.
ServoRollMax = 220; // Wert : 0-247 // Anschlag
EE_Parameter.
ServoManualControlSpeed = 60;
EE_Parameter.
CamOrientation = 0; // Wert : 0-24 -> 0-360 -> 15° steps
EE_Parameter.
J16Bitmask = 95;
EE_Parameter.
J17Bitmask = 243;
EE_Parameter.
WARN_J16_Bitmask = 0xAA;
EE_Parameter.
WARN_J17_Bitmask = 0xAA;
EE_Parameter.
J16Timing = 40;
EE_Parameter.
J17Timing = 40;
EE_Parameter.
NaviOut1Parameter = 0; // Photo release in meter
EE_Parameter.
LoopGasLimit = 50;
EE_Parameter.
LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag
EE_Parameter.
LoopHysterese = 50;
EE_Parameter.
NaviGpsModeChannel = 6; // Kanal 6
EE_Parameter.
NaviGpsGain = 100;
EE_Parameter.
NaviGpsP = 90;
EE_Parameter.
NaviGpsI = 90;
EE_Parameter.
NaviGpsD = 90;
EE_Parameter.
NaviGpsPLimit = 75;
EE_Parameter.
NaviGpsILimit = 85;
EE_Parameter.
NaviGpsDLimit = 75;
EE_Parameter.
NaviGpsACC = 0;
EE_Parameter.
NaviGpsMinSat = 6;
EE_Parameter.
NaviStickThreshold = 8;
EE_Parameter.
NaviWindCorrection = 90;
EE_Parameter.
NaviAccCompensation = 42;
EE_Parameter.
NaviOperatingRadius = 245;
EE_Parameter.
NaviAngleLimitation = 140;
EE_Parameter.
NaviPH_LoginTime = 5;
EE_Parameter.
OrientationAngle = 0;
EE_Parameter.
CareFreeChannel = 0;
EE_Parameter.
UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50)
EE_Parameter.
NotGas = 65; // Wert : 0-247 // Gaswert bei Empangsverlust (ggf. in Prozent)
EE_Parameter.
NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
EE_Parameter.
MotorSmooth = 0;
EE_Parameter.
ComingHomeAltitude = 0; // 0 = don't change
EE_Parameter.
MaxAltitude = 150; // 0 = off
EE_Parameter.
AchsKopplung1 = 125;
EE_Parameter.
AchsKopplung2 = 52;
EE_Parameter.
FailsafeChannel = 0;
EE_Parameter.
ServoFilterNick = 0;
EE_Parameter.
ServoFilterRoll = 0;
}
/*
void ParamSet_DefaultSet1(void) // sport
{
CommonDefaults();
EE_Parameter.Stick_P = 14; // Wert : 1-20
EE_Parameter.Stick_D = 16; // Wert : 0-20
EE_Parameter.StickGier_P = 12; // Wert : 1-20
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.I_Faktor = 32;
EE_Parameter.CouplingYawCorrection = 1;
EE_Parameter.GyroAccAbgleich = 16; // 1/k;
EE_Parameter.DynamicStability = 100;
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 1 */
/***************************************************/
void ParamSet_DefaultSet1
(void) // normal
{
CommonDefaults
();
EE_Parameter.
Stick_P = 10; // Wert : 1-20
EE_Parameter.
Stick_D = 16; // Wert : 0-20
EE_Parameter.
StickGier_P = 6; // Wert : 1-20
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.
I_Faktor = 32;
EE_Parameter.
CouplingYawCorrection = 60;
EE_Parameter.
DynamicStability = 75;
memcpy(EE_Parameter.
Name, "Fast",4);
EE_Parameter.
crc = RAM_Checksum
((uint8_t*)(&EE_Parameter
), sizeof(EE_Parameter
)-1);
}
/***************************************************/
/* Default Values for parameter set 2 */
/***************************************************/
void ParamSet_DefaultSet2
(void) // beginner
{
CommonDefaults
();
EE_Parameter.
Stick_P = 8; // Wert : 1-20
EE_Parameter.
Stick_D = 16; // Wert : 0-20
EE_Parameter.
StickGier_P = 6; // Wert : 1-20
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.
I_Faktor = 16;
EE_Parameter.
CouplingYawCorrection = 70;
EE_Parameter.
DynamicStability = 70;
memcpy(EE_Parameter.
Name, "Normal",6);
EE_Parameter.
crc = RAM_Checksum
((uint8_t*)(&EE_Parameter
), sizeof(EE_Parameter
)-1);
}
/***************************************************/
/* Default Values for parameter set 3 */
/***************************************************/
void ParamSet_DefaultSet3
(void) // beginner
{
CommonDefaults
();
EE_Parameter.
Stick_P = 6; // Wert : 1-20
EE_Parameter.
Stick_D = 10; // Wert : 0-20
EE_Parameter.
StickGier_P = 4; // Wert : 1-20
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.
I_Faktor = 16;
EE_Parameter.
CouplingYawCorrection = 70;
EE_Parameter.
DynamicStability = 70;
memcpy(EE_Parameter.
Name, "Easy", 4);
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
();
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
LIBFC_HoTT_Clear
();
#endif
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;
LIBFC_CheckSettings
();
if(EE_Parameter.
GlobalConfig3 & CFG3_VARIO_FAILSAFE
) // check the Setting: Not more than 100% emergency gas
{
if(EE_Parameter.
NotGas > 99) EE_Parameter.
NotGas = 80; // i.e. 80% of Hovergas
}
// 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
();
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
LIBFC_HoTT_Clear
();
#endif
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\0\0\0\0\0", 12);
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
);
}
ActiveParamSet
= setnumber
;
return(setnumber
);
}
/***************************************************/
/* Set active parameter set */
/***************************************************/
void SetActiveParamSet
(uint8_t setnumber
)
{
if(setnumber
> 5) setnumber
= 5;
if(setnumber
< 1) setnumber
= 1;
ActiveParamSet
= setnumber
;
eeprom_write_byte
((uint8_t*)(EEPROM_ADR_PARAM_BEGIN
+ PID_ACTIVE_SET
), setnumber
);
}
/***************************************************/
/* Set default parameter set */
/***************************************************/
void SetDefaultParameter
(uint8_t set
, uint8_t restore_channels
)
{
if(set
> 5) set
= 5;
else if(set
< 1) set
= 1;
switch(set
)
{
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
(); // Beginner
break;
}
if(restore_channels
)
{
uint8_t crc
;
// 1st check for a valid channel backup in eeprom
crc
= EEProm_Checksum
(EEPROM_ADR_CHANNELS
, sizeof(EE_Parameter.
Kanalbelegung));
if(crc
== eeprom_read_byte
((uint8_t*)(EEPROM_ADR_CHANNELS
+ sizeof(EE_Parameter.
Kanalbelegung))) )
{
eeprom_read_block
((void *)EE_Parameter.
Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS
), sizeof(EE_Parameter.
Kanalbelegung));
}
else ParamSet_DefaultStickMapping
();
}
else ParamSet_DefaultStickMapping
();
ParamSet_WriteToEEProm
(set
);
}
/***************************************************/
/* Initialize EEPROM Parameter Sets */
/***************************************************/
void ParamSet_Init
(void)
{
uint8_t channel_backup
= 0, bad_params
= 0, ee_default
= 0,i
;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(PlatinenVersion
!= GetParamByte
(PID_HARDWARE_VERSION
))
{
if(PlatinenVersion
== 22 && GetParamByte
(PID_HARDWARE_VERSION
) == 21 && !(PIND
& 0x10)) SetParamByte
(PID_EE_REVISION
,0); // reset the Settings if the Version changed to V2.2
SetParamByte
(PID_HARDWARE_VERSION
,PlatinenVersion
); // Remember the Version number
wdt_enable
(WDTO_15MS
); // Reset-Commando
printf("\n\r--> Hardware Version Byte Changed <--");
while(1);
}
#endif
if((EEPARAM_REVISION
) != GetParamByte
(PID_EE_REVISION
))
{
ee_default
= 1; // software update or forced by mktool
}
// 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(GetParamByte
(PID_EE_REVISION
) == 0xff || !MixerTable_ReadFromEEProm
() )
{
printf("\n\rGenerating default Mixer Table");
MixerTable_Default
(); // Quadro
MixerTable_WriteToEEProm
();
}
if(ee_default
) SetParamByte
(PID_EE_REVISION
, (EEPARAM_REVISION
));
// 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
);
PrintLine
();// ("\n\r===================================");
}