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1612 dongfang 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
1623 - 3
// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
5
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1623 - 6
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
1963 - 7
// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zulässig ist.
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// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9
// + bzgl. der Nutzungsbedingungen aufzunehmen.
1623 - 10
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Verkauf von Luftbildaufnahmen, usw.
12
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1623 - 13
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
14
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
1612 dongfang 15
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
1623 - 17
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18
// + eindeutig als Ursprung verlinkt und genannt werden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
1612 dongfang 21
// + Benutzung auf eigene Gefahr
1623 - 22
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
1623 - 25
// + mit unserer Zustimmung zulässig
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
30
// + this list of conditions and the following disclaimer.
31
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
32
// +     from this software without specific prior written permission.
33
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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// +     for non-commercial use (directly or indirectly)
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// +     Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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// +     with our written permission
37
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
38
// +     clearly linked as origin
39
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
40
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
41
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
48
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
50
// +  POSSIBILITY OF SUCH DAMAGE.
51
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Contant Values
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// + 0-250 -> normale Values
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// + 251 -> Poti1
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// + 252 -> Poti2
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// + 253 -> Poti3
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// + 254 -> Poti4
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
61
 
62
#ifndef EEMEM
63
#define EEMEM __attribute__ ((section (".eeprom")))
64
#endif
65
 
66
#include "eeprom.h"
67
#include "printf_P.h"
68
#include "output.h"
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#include <avr/eeprom.h>
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71
// byte array in eeprom
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uint8_t EEPromArray[E2END + 1] EEMEM;
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74
/***************************************************/
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/*       Read Parameter from EEPROM as byte        */
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/***************************************************/
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uint8_t getParamByte(uint16_t param_id) {
78
  return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]);
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}
80
 
81
/***************************************************/
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/*       Write Parameter to EEPROM as byte         */
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/***************************************************/
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void setParamByte(uint16_t param_id, uint8_t value) {
85
  eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);
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}
87
 
88
/***************************************************/
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/*       Read Parameter from EEPROM as word        */
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/***************************************************/
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uint16_t getParamWord(uint16_t param_id) {
92
  return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN
93
                                                    + param_id]);
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}
95
 
96
/***************************************************/
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/*       Write Parameter to EEPROM as word         */
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/***************************************************/
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void setParamWord(uint16_t param_id, uint16_t value) {
100
  eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);
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}
102
 
1960 - 103
uint8_t calculateChecksum(uint8_t* data, uint16_t length) {
104
  uint8_t result = 0;
105
  for (uint16_t i=0; i<length; i++) {
106
    result += data[i];
107
  }
108
  return result;
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}
110
 
1964 - 111
// offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data.
112
// length is the length of the pure data not including checksum and revision number.
113
void writeChecksummedBlock(uint8_t revisionNumber, uint8_t* data, uint16_t offset, uint16_t length) {
114
  uint8_t checksum = calculateChecksum(data, length);
115
  eeprom_write_byte(&EEPromArray[offset], checksum);
116
  eeprom_write_byte(&EEPromArray[offset+1], revisionNumber);
117
  eeprom_write_block(data, &EEPromArray[offset+2], length);
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}
119
 
1964 - 120
// offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data.
121
// length is the length of the pure data not including checksum and revision number.
122
uint8_t readChecksummedBlock(uint8_t revisionNumber, uint8_t* target, uint16_t offset, uint16_t length) {
123
  uint8_t checksumRead = eeprom_read_byte(&EEPromArray[offset]);
124
  uint8_t revisionNumberRead = eeprom_read_byte(&EEPromArray[offset+1]);
125
  eeprom_read_block(target, &EEPromArray[offset+2], length);
126
  uint8_t checksumCalculated = calculateChecksum(target, length);
127
 
128
  uint8_t checksumError = (checksumRead != checksumCalculated);
129
  uint8_t revisionMismatch = (revisionNumber != revisionNumberRead);
130
 
131
  if (checksumError && revisionMismatch) printf("\n\rEEPROM checksum error and revision mismatch, ");
132
  else if (checksumError) printf("\n\rEEPROM checksum error, ");
133
  else if (revisionMismatch) printf("\n\rEEPROM revision mismatch, ");
134
  return (checksumError || revisionMismatch);
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}
136
 
137
/***************************************************/
138
/*       Read Parameter Set from EEPROM            */
139
/***************************************************/
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// setnumber [1..5]
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uint8_t paramSet_readFromEEProm(uint8_t setnumber) {
1964 - 142
  uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(paramset_t)+2);
1960 - 143
  output_init(); // what's that doing here??
1964 - 144
  return readChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(paramset_t));
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}
146
 
147
/***************************************************/
148
/*        Write Parameter Set to EEPROM            */
149
/***************************************************/
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void paramSet_writeToEEProm(uint8_t setnumber) {
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  uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(paramset_t)+2);
152
  writeChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(paramset_t));
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  // set this parameter set to active set
154
  setActiveParamSet(setnumber);
155
  output_init(); // what's that doing here??
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}
157
 
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void paramSet_readOrDefault() {
159
  uint8_t setnumber = getActiveParamSet();
160
  // parameter version  check
161
  if (setnumber<1 ||setnumber>5 || paramSet_readFromEEProm(setnumber)) {
162
    // if version check faild
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    printf("writing default parameter sets");
164
    for (uint8_t i=5; i>0; i--) {
165
      paramSet_default(i);
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      paramSet_writeToEEProm(i);
167
    }
168
    // default-Setting is parameter set 3
169
    setActiveParamSet(1);
170
  }
171
 
1964 - 172
  printf("\n\r\rUsing Parameter Set %d", getActiveParamSet());
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}
174
 
175
/***************************************************/
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/* MixerTable                                      */
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/***************************************************/
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uint8_t mixerMatrix_readFromEEProm(void) {
179
  return readChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&mixerMatrix, EEPROM_ADR_MIXER_TABLE, sizeof(mixerMatrix_t));
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}
181
 
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void mixerMatrix_writeToEEProm(void) {
183
  writeChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&mixerMatrix, EEPROM_ADR_MIXER_TABLE, sizeof(mixerMatrix_t));
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}
185
 
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void mixerMatrix_readOrDefault(void) {
187
  // load mixer table
188
  if (mixerMatrix_readFromEEProm()) {
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    printf("writing default mixerMatrix");
1960 - 190
    mixerMatrix_default(); // Quadro
191
    mixerMatrix_writeToEEProm();
192
  }
193
  // determine motornumber
194
  requiredMotors = 0;
195
  for (uint8_t i=0; i<MAX_MOTORS; i++) {
196
    if (mixerMatrix.motor[i][MIX_THROTTLE])
197
      requiredMotors++;
198
  }
199
 
1964 - 200
  printf("\n\r\rMixer-Config: '%s' (%u Motors)",mixerMatrix.name, requiredMotors);
201
  printf("\n\r\r==============================");
1960 - 202
}
203
 
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/***************************************************/
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/* ChannelMap                                      */
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/***************************************************/
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uint8_t channelMap_readFromEEProm(void) {
208
  return readChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(channelMap_t));
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}
210
 
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void channelMap_writeToEEProm(void) {
212
  writeChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(channelMap_t));
213
}
214
 
215
void channelMap_readOrDefault(void) {
1964 - 216
  if (channelMap_readFromEEProm()) {
217
    printf("writing default channel map");
1960 - 218
    channelMap_default();
219
    channelMap_writeToEEProm();
220
  }
221
}
222
 
1961 - 223
/***************************************************/
224
/* Sensor offsets                                  */
225
/***************************************************/
226
uint8_t gyroOffset_readFromEEProm(void) {
227
  return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t));
228
}
229
 
230
void gyroOffset_writeToEEProm(void) {
231
  writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t));
232
}
233
 
1960 - 234
uint8_t accOffset_readFromEEProm(void) {
235
  return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accOffset, EEPROM_ADR_ACCOFFSET, sizeof(sensorOffset_t));
236
}
237
 
238
void accOffset_writeToEEProm(void) {
239
  writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accOffset, EEPROM_ADR_ACCOFFSET, sizeof(sensorOffset_t));
240
}
241
 
1612 dongfang 242
/***************************************************/
1960 - 243
/*       Get active parameter set                  */
1612 dongfang 244
/***************************************************/
1960 - 245
uint8_t getActiveParamSet(void) {
246
  uint8_t setnumber;
247
  setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]);
248
  if (setnumber > 4) {
249
    setActiveParamSet(setnumber = 0);
250
  }
251
  return setnumber;
1612 dongfang 252
}
253
 
254
/***************************************************/
1960 - 255
/*       Set active parameter set                  */
1612 dongfang 256
/***************************************************/
1960 - 257
void setActiveParamSet(uint8_t setnumber) {
258
  eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber);
259
}
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