WebSVN - FlightCtrl - Diff - Rev 2164 and 2189 - /branches/dongfang_FC


#ifndef EEMEM
#define EEMEM __attribute__ ((section (".eeprom")))
#endif
 
#include "eeprom.h"
 
//#include "output.h"
#include "configuration.h"
#include "analog.h"
#include <avr/wdt.h>
#include <avr/eeprom.h>
#include <avr/interrupt.h>
#include <stdio.h>
 
// byte array in eeprom
uint8_t EEPromArray[E2END + 1] EEMEM;
 
/***************************************************/
/*       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);
}
*/
 
uint16_t CRC16(uint8_t* data, uint16_t length) {
  uint16_t crc = 0;
  for (uint16_t i=0; i<length; i++) {
    crc  = (uint8_t)(crc >> 8) | (crc << 8);
    crc ^= data[i];
    crc ^= (uint8_t)(crc & 0xff) >> 4;
    crc ^= (crc << 8) << 4;
    crc ^= ((crc & 0xff) << 4) << 1;
  }
  return crc;
}
 
// offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data.
// length is the length of the pure data not including checksum and revision number.
void writeChecksummedBlock(uint8_t revisionNumber, uint8_t* data, uint16_t offset, uint16_t length) {
  uint16_t CRC = CRC16(data, length);
  uint8_t sreg = SREG;
  cli();
  eeprom_write_byte(&EEPromArray[offset], CRC&0xff);
  eeprom_write_byte(&EEPromArray[offset+1], CRC>>8);
  eeprom_write_byte(&EEPromArray[offset+2], revisionNumber);
  eeprom_write_block(data, &EEPromArray[offset+3], length);
  SREG = sreg;
}
 
// offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data.
// length is the length of the pure data not including checksum and revision number.
uint8_t readChecksummedBlock(uint8_t revisionNumber, uint8_t* target, uint16_t offset, uint16_t length) {
  uint16_t CRCRead = eeprom_read_byte(&EEPromArray[offset]) | (eeprom_read_byte(&EEPromArray[offset+1])<<8);
  uint8_t revisionNumberRead = eeprom_read_byte(&EEPromArray[offset+2]);
  eeprom_read_block(target, &EEPromArray[offset+3], length);
  uint16_t CRCCalculated = CRC16(target, length);
 
  uint8_t CRCError = (CRCRead != CRCCalculated);
  uint8_t revisionMismatch = (revisionNumber != revisionNumberRead);
 
  if (CRCError && revisionMismatch) printf("\n\rEEPROM CRC error and revision mismatch; ");
  else if (CRCError) printf("\n\rEEPROM CRC error; ");
  else if (revisionMismatch) printf("\n\rEEPROM revision mismatch; ");
  return (CRCError || revisionMismatch);
}
 
/***************************************************/
/*       Read Parameter Set from EEPROM            */
/***************************************************/
// setnumber [1..5]
uint8_t paramSet_readFromEEProm(uint8_t setnumber) {
  uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(ParamSet_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD);
  uint8_t result = readChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(ParamSet_t));
  configuration_paramSetDidChange();
  return result;
}
 
/***************************************************/
/*        Write Parameter Set to EEPROM            */
/***************************************************/
void paramSet_writeToEEProm(uint8_t setnumber) {
  uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(ParamSet_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD);
  writeChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(ParamSet_t));
}
 
void paramSet_readOrDefault() {
  uint8_t setnumber = getActiveParamSet();
  // parameter version  check
  if (setnumber<1 ||setnumber>5 || paramSet_readFromEEProm(setnumber)) {
    // if version check faild
    printf("\n\rwriting default parameter sets");
    for (uint8_t i=5; i>0; i--) {
      paramSet_default(i);
      paramSet_writeToEEProm(i);
    }
    // default-Setting is parameter set 1
    setActiveParamSet(1);
    paramSet_readFromEEProm(getActiveParamSet());
    // For some strange reason, the read will have no effect.
    // Lets reset...
    // wdt_enable(WDTO_500MS);
  }
  printf("\n\r\rUsing Parameter Set %d", getActiveParamSet());
}
 
/***************************************************/
/*          Read IMU Config from EEPROM            */
/***************************************************/
uint8_t IMUConfig_readFromEEprom(void) {
  return readChecksummedBlock(IMUCONFIG_REVISION, (uint8_t*)&IMUConfig, EEPROM_ADR_IMU_CONFIG, sizeof(IMUConfig_t));
}
 
/***************************************************/
/*          Write IMU Config to EEPROM             */
/***************************************************/
void IMUConfig_writeToEEprom(void) {
  writeChecksummedBlock(IMUCONFIG_REVISION, (uint8_t*)&IMUConfig, EEPROM_ADR_IMU_CONFIG, sizeof(IMUConfig_t));
}
 
void IMUConfig_readOrDefault(void) {
    if(IMUConfig_readFromEEprom()) {
      printf("\n\rwriting default IMU config");
      IMUConfig_default();
      IMUConfig_writeToEEprom();
    }
}
 
/***************************************************/
/* MixerTable                                      */
/***************************************************/
void outputMixer_writeToEEProm(void) {
  writeChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&outputMixer, EEPROM_ADR_MIXER_TABLE, sizeof(OutputMixer_t));
}
 
void outputMixer_readOrDefault(void) {
  // load mixer table
  if (readChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&outputMixer, EEPROM_ADR_MIXER_TABLE, sizeof(OutputMixer_t))) {
    printf("\n\rwriting default motor mixer");
    outputMixer_default(); // Quadro
    outputMixer_writeToEEProm();
 
 
 
 
 
 
 
 
 
  }
}
 
/***************************************************/
/* ChannelMap                                      */
/***************************************************/
void channelMap_writeToEEProm(void) {
  writeChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(ChannelMap_t));
}
 
void channelMap_readOrDefault(void) {
  if (readChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(ChannelMap_t))) {
    printf("\n\rwriting default channel map");
    channelMap_default();
    channelMap_writeToEEProm();
        wdt_enable(WDTO_500MS);
  }
}
 
/***************************************************/
/* Sensor offsets                                  */
/***************************************************/
uint8_t gyroAmplifierOffset_readFromEEProm(void) {
  return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t));
}
 
void gyroAmplifierOffset_writeToEEProm(void) {
  return writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t));
}
 
uint8_t gyroOffset_readFromEEProm(void) {
  return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t));
}
 
void gyroOffset_writeToEEProm(void) {
  writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t));
}
 
uint8_t accelOffset_readFromEEProm(void) {
  return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accelOffset, EEPROM_ADR_ACCELOFFSET, sizeof(sensorOffset_t));
}
 
void accelOffset_writeToEEProm(void) {
  writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accelOffset, EEPROM_ADR_ACCELOFFSET, sizeof(sensorOffset_t));
}
 
/***************************************************/
/*       Get active parameter set                  */
/***************************************************/
uint8_t getActiveParamSet(void) {
  uint8_t setnumber;
  setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]);
  if (setnumber > 5) {
    setActiveParamSet(setnumber = 1);
  }
  return setnumber;
}
 
/***************************************************/
/*       Set active parameter set                  */
/***************************************************/
void setActiveParamSet(uint8_t setnumber) {
  eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber);
}
 
 

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/eeprom.c @ 1874 - Rev 2164 → 2189

Rev 2164		Rev 2189
1	#ifndef EEMEM	1	#ifndef EEMEM
2	#define EEMEM __attribute__ ((section (".eeprom")))	2	#define EEMEM __attribute__ ((section (".eeprom")))
3	#endif	3	#endif
4		4
5	#include "eeprom.h"	5	#include "eeprom.h"
6	#include "printf_P.h"	-
7	#include "output.h"	6	//#include "output.h"
8	#include "configuration.h"	7	#include "configuration.h"
-		8	#include "analog.h"
9	#include <avr/wdt.h>	9	#include <avr/wdt.h>
10	#include <avr/eeprom.h>	10	#include <avr/eeprom.h>
11	#include <avr/interrupt.h>	11	#include <avr/interrupt.h>
-		12	#include <stdio.h>
12		13
13	// byte array in eeprom	14	// byte array in eeprom
14	uint8_t EEPromArray[E2END + 1] EEMEM;	15	uint8_t EEPromArray[E2END + 1] EEMEM;
15		16
16	/***************************************************/	17	/***************************************************/
17	/* Read Parameter from EEPROM as byte */	18	/* Read Parameter from EEPROM as byte */
18	/***************************************************/	19	/***************************************************/
19	uint8_t getParamByte(uint16_t param_id) {	20	uint8_t getParamByte(uint16_t param_id) {
20	return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]);	21	return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]);
21	}	22	}
22		23
23	/***************************************************/	24	/***************************************************/
24	/* Write Parameter to EEPROM as byte */	25	/* Write Parameter to EEPROM as byte */
25	/***************************************************/	26	/***************************************************/
26	void setParamByte(uint16_t param_id, uint8_t value) {	27	void setParamByte(uint16_t param_id, uint8_t value) {
27	eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);	28	eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);
28	}	29	}
29		30
30	/***************************************************/	31	/***************************************************/
31	/* Read Parameter from EEPROM as word */	32	/* Read Parameter from EEPROM as word */
32	/***************************************************/	33	/***************************************************/
33	/*	34	/*
34	uint16_t getParamWord(uint16_t param_id) {	35	uint16_t getParamWord(uint16_t param_id) {
35	return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN	36	return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN
36	+ param_id]);	37	+ param_id]);
37	}	38	}
38	*/	39	*/
39		40
40	/***************************************************/	41	/***************************************************/
41	/* Write Parameter to EEPROM as word */	42	/* Write Parameter to EEPROM as word */
42	/***************************************************/	43	/***************************************************/
43	/*	44	/*
44	void setParamWord(uint16_t param_id, uint16_t value) {	45	void setParamWord(uint16_t param_id, uint16_t value) {
45	eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);	46	eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);
46	}	47	}
47	*/	48	*/
48		49
49	uint16_t CRC16(uint8_t* data, uint16_t length) {	50	uint16_t CRC16(uint8_t* data, uint16_t length) {
50	uint16_t crc = 0;	51	uint16_t crc = 0;
51	for (uint16_t i=0; i<length; i++) {	52	for (uint16_t i=0; i<length; i++) {
52	crc = (uint8_t)(crc >> 8) \| (crc << 8);	53	crc = (uint8_t)(crc >> 8) \| (crc << 8);
53	crc ^= data[i];	54	crc ^= data[i];
54	crc ^= (uint8_t)(crc & 0xff) >> 4;	55	crc ^= (uint8_t)(crc & 0xff) >> 4;
55	crc ^= (crc << 8) << 4;	56	crc ^= (crc << 8) << 4;
56	crc ^= ((crc & 0xff) << 4) << 1;	57	crc ^= ((crc & 0xff) << 4) << 1;
57	}	58	}
58	return crc;	59	return crc;
59	}	60	}
60		61
61	// offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data.	62	// offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data.
62	// length is the length of the pure data not including checksum and revision number.	63	// length is the length of the pure data not including checksum and revision number.
63	void writeChecksummedBlock(uint8_t revisionNumber, uint8_t* data, uint16_t offset, uint16_t length) {	64	void writeChecksummedBlock(uint8_t revisionNumber, uint8_t* data, uint16_t offset, uint16_t length) {
64	uint16_t CRC = CRC16(data, length);	65	uint16_t CRC = CRC16(data, length);
65	uint8_t sreg = SREG;	66	uint8_t sreg = SREG;
66	cli();	67	cli();
67	eeprom_write_byte(&EEPromArray[offset], CRC&0xff);	68	eeprom_write_byte(&EEPromArray[offset], CRC&0xff);
68	eeprom_write_byte(&EEPromArray[offset+1], CRC>>8);	69	eeprom_write_byte(&EEPromArray[offset+1], CRC>>8);
69	eeprom_write_byte(&EEPromArray[offset+2], revisionNumber);	70	eeprom_write_byte(&EEPromArray[offset+2], revisionNumber);
70	eeprom_write_block(data, &EEPromArray[offset+3], length);	71	eeprom_write_block(data, &EEPromArray[offset+3], length);
71	SREG = sreg;	72	SREG = sreg;
72	}	73	}
73		74
74	// offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data.	75	// offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data.
75	// length is the length of the pure data not including checksum and revision number.	76	// length is the length of the pure data not including checksum and revision number.
76	uint8_t readChecksummedBlock(uint8_t revisionNumber, uint8_t* target, uint16_t offset, uint16_t length) {	77	uint8_t readChecksummedBlock(uint8_t revisionNumber, uint8_t* target, uint16_t offset, uint16_t length) {
77	uint16_t CRCRead = eeprom_read_byte(&EEPromArray[offset]) \| (eeprom_read_byte(&EEPromArray[offset+1])<<8);	78	uint16_t CRCRead = eeprom_read_byte(&EEPromArray[offset]) \| (eeprom_read_byte(&EEPromArray[offset+1])<<8);
78	uint8_t revisionNumberRead = eeprom_read_byte(&EEPromArray[offset+2]);	79	uint8_t revisionNumberRead = eeprom_read_byte(&EEPromArray[offset+2]);
79	eeprom_read_block(target, &EEPromArray[offset+3], length);	80	eeprom_read_block(target, &EEPromArray[offset+3], length);
80	uint16_t CRCCalculated = CRC16(target, length);	81	uint16_t CRCCalculated = CRC16(target, length);
81		82
82	uint8_t CRCError = (CRCRead != CRCCalculated);	83	uint8_t CRCError = (CRCRead != CRCCalculated);
83	uint8_t revisionMismatch = (revisionNumber != revisionNumberRead);	84	uint8_t revisionMismatch = (revisionNumber != revisionNumberRead);
84		85
85	if (CRCError && revisionMismatch) printf("\n\rEEPROM CRC error and revision mismatch; ");	86	if (CRCError && revisionMismatch) printf("\n\rEEPROM CRC error and revision mismatch; ");
86	else if (CRCError) printf("\n\rEEPROM CRC error; ");	87	else if (CRCError) printf("\n\rEEPROM CRC error; ");
87	else if (revisionMismatch) printf("\n\rEEPROM revision mismatch; ");	88	else if (revisionMismatch) printf("\n\rEEPROM revision mismatch; ");
88	return (CRCError \|\| revisionMismatch);	89	return (CRCError \|\| revisionMismatch);
89	}	90	}
90		91
91	/***************************************************/	92	/***************************************************/
92	/* Read Parameter Set from EEPROM */	93	/* Read Parameter Set from EEPROM */
93	/***************************************************/	94	/***************************************************/
94	// setnumber [1..5]	95	// setnumber [1..5]
95	uint8_t paramSet_readFromEEProm(uint8_t setnumber) {	96	uint8_t paramSet_readFromEEProm(uint8_t setnumber) {
96	uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(ParamSet_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD);	97	uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(ParamSet_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD);
97	uint8_t result = readChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(ParamSet_t));	98	uint8_t result = readChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(ParamSet_t));
98	configuration_paramSetDidChange();	99	configuration_paramSetDidChange();
99	return result;	100	return result;
100	}	101	}
101		102
102	/***************************************************/	103	/***************************************************/
103	/* Write Parameter Set to EEPROM */	104	/* Write Parameter Set to EEPROM */
104	/***************************************************/	105	/***************************************************/
105	void paramSet_writeToEEProm(uint8_t setnumber) {	106	void paramSet_writeToEEProm(uint8_t setnumber) {
106	uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(ParamSet_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD);	107	uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(ParamSet_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD);
107	writeChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(ParamSet_t));	108	writeChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(ParamSet_t));
108	}	109	}
109		110
110	void paramSet_readOrDefault() {	111	void paramSet_readOrDefault() {
111	uint8_t setnumber = getActiveParamSet();	112	uint8_t setnumber = getActiveParamSet();
112	// parameter version check	113	// parameter version check
113	if (setnumber<1 \|\|setnumber>5 \|\| paramSet_readFromEEProm(setnumber)) {	114	if (setnumber<1 \|\|setnumber>5 \|\| paramSet_readFromEEProm(setnumber)) {
114	// if version check faild	115	// if version check faild
115	printf("\n\rwriting default parameter sets");	116	printf("\n\rwriting default parameter sets");
116	for (uint8_t i=5; i>0; i--) {	117	for (uint8_t i=5; i>0; i--) {
117	paramSet_default(i);	118	paramSet_default(i);
118	paramSet_writeToEEProm(i);	119	paramSet_writeToEEProm(i);
119	}	120	}
120	// default-Setting is parameter set 1	121	// default-Setting is parameter set 1
121	setActiveParamSet(1);	122	setActiveParamSet(1);
122	paramSet_readFromEEProm(getActiveParamSet());	123	paramSet_readFromEEProm(getActiveParamSet());
123	// For some strange reason, the read will have no effect.	124	// For some strange reason, the read will have no effect.
124	// Lets reset...	125	// Lets reset...
125	// wdt_enable(WDTO_500MS);	126	// wdt_enable(WDTO_500MS);
126	}	127	}
127	printf("\n\r\rUsing Parameter Set %d", getActiveParamSet());	128	printf("\n\r\rUsing Parameter Set %d", getActiveParamSet());
128	}	129	}
129		130
130	/***************************************************/	131	/***************************************************/
131	/* Read IMU Config from EEPROM */	132	/* Read IMU Config from EEPROM */
132	/***************************************************/	133	/***************************************************/
133	uint8_t IMUConfig_readFromEEprom(void) {	134	uint8_t IMUConfig_readFromEEprom(void) {
134	return readChecksummedBlock(IMUCONFIG_REVISION, (uint8_t*)&IMUConfig, EEPROM_ADR_IMU_CONFIG, sizeof(IMUConfig_t));	135	return readChecksummedBlock(IMUCONFIG_REVISION, (uint8_t*)&IMUConfig, EEPROM_ADR_IMU_CONFIG, sizeof(IMUConfig_t));
135	}	136	}
136		137
137	/***************************************************/	138	/***************************************************/
138	/* Write IMU Config to EEPROM */	139	/* Write IMU Config to EEPROM */
139	/***************************************************/	140	/***************************************************/
140	void IMUConfig_writeToEEprom(void) {	141	void IMUConfig_writeToEEprom(void) {
141	writeChecksummedBlock(IMUCONFIG_REVISION, (uint8_t*)&IMUConfig, EEPROM_ADR_IMU_CONFIG, sizeof(IMUConfig_t));	142	writeChecksummedBlock(IMUCONFIG_REVISION, (uint8_t*)&IMUConfig, EEPROM_ADR_IMU_CONFIG, sizeof(IMUConfig_t));
142	}	143	}
143		144
144	void IMUConfig_readOrDefault(void) {	145	void IMUConfig_readOrDefault(void) {
145	if(IMUConfig_readFromEEprom()) {	146	if(IMUConfig_readFromEEprom()) {
146	printf("\n\rwriting default IMU config");	147	printf("\n\rwriting default IMU config");
147	IMUConfig_default();	148	IMUConfig_default();
148	IMUConfig_writeToEEprom();	149	IMUConfig_writeToEEprom();
149	}	150	}
150	}	151	}
151		152
152	/***************************************************/	153	/***************************************************/
153	/* MixerTable */	154	/* MixerTable */
154	/***************************************************/	155	/***************************************************/
155	void motorMixer_writeToEEProm(void) {	156	void outputMixer_writeToEEProm(void) {
156	writeChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&motorMixer, EEPROM_ADR_MIXER_TABLE, sizeof(MotorMixer_t));	157	writeChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&outputMixer, EEPROM_ADR_MIXER_TABLE, sizeof(OutputMixer_t));
157	}	158	}
158		159
159	void motorMixer_readOrDefault(void) {	160	void outputMixer_readOrDefault(void) {
160	// load mixer table	161	// load mixer table
161	if (readChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&motorMixer, EEPROM_ADR_MIXER_TABLE, sizeof(MotorMixer_t))) {	162	if (readChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&outputMixer, EEPROM_ADR_MIXER_TABLE, sizeof(OutputMixer_t))) {
162	printf("\n\rwriting default motor mixer");	163	printf("\n\rwriting default motor mixer");
163	motorMixer_default(); // Quadro	164	outputMixer_default(); // Quadro
164	motorMixer_writeToEEProm();	165	outputMixer_writeToEEProm();
165	}	-
166	// determine motornumber	-
167	requiredMotors = 0;	-
168	for (uint8_t i=0; i<MAX_MOTORS; i++) {	-
169	if (motorMixer.matrix[i][MIX_THROTTLE])	-
170	requiredMotors++;	-
171	}	-
172		-
173	printf("\n\rMixer-Config: '%s' (%u Motors)", motorMixer.name, requiredMotors);	-
174	printf("\n\r===================================");	166	}
175	}	167	}
176		168
177	/***************************************************/	169	/***************************************************/
178	/* ChannelMap */	170	/* ChannelMap */
179	/***************************************************/	171	/***************************************************/
180	void channelMap_writeToEEProm(void) {	172	void channelMap_writeToEEProm(void) {
181	writeChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(ChannelMap_t));	173	writeChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(ChannelMap_t));
182	}	174	}
183		175
184	void channelMap_readOrDefault(void) {	176	void channelMap_readOrDefault(void) {
185	if (readChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(ChannelMap_t))) {	177	if (readChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(ChannelMap_t))) {
186	printf("\n\rwriting default channel map");	178	printf("\n\rwriting default channel map");
187	channelMap_default();	179	channelMap_default();
188	channelMap_writeToEEProm();	180	channelMap_writeToEEProm();
189	wdt_enable(WDTO_500MS);	181	wdt_enable(WDTO_500MS);
190	}	182	}
191	}	183	}
192		184
193	/***************************************************/	185	/***************************************************/
194	/* Sensor offsets */	186	/* Sensor offsets */
195	/***************************************************/	187	/***************************************************/
196	uint8_t gyroAmplifierOffset_readFromEEProm(void) {	188	uint8_t gyroAmplifierOffset_readFromEEProm(void) {
197	return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t));	189	return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t));
198	}	190	}
199		191
200	void gyroAmplifierOffset_writeToEEProm(void) {	192	void gyroAmplifierOffset_writeToEEProm(void) {
201	return writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t));	193	return writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t));
202	}	194	}
203		195
204	uint8_t gyroOffset_readFromEEProm(void) {	196	uint8_t gyroOffset_readFromEEProm(void) {
205	return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t));	197	return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t));
206	}	198	}
207		199
208	void gyroOffset_writeToEEProm(void) {	200	void gyroOffset_writeToEEProm(void) {
209	writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t));	201	writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t));
210	}	202	}
211		203
212	uint8_t accOffset_readFromEEProm(void) {	204	uint8_t accelOffset_readFromEEProm(void) {
213	return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accOffset, EEPROM_ADR_ACCOFFSET, sizeof(sensorOffset_t));	205	return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accelOffset, EEPROM_ADR_ACCELOFFSET, sizeof(sensorOffset_t));
214	}	206	}
215		207
216	void accOffset_writeToEEProm(void) {	208	void accelOffset_writeToEEProm(void) {
217	writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accOffset, EEPROM_ADR_ACCOFFSET, sizeof(sensorOffset_t));	209	writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accelOffset, EEPROM_ADR_ACCELOFFSET, sizeof(sensorOffset_t));
218	}	210	}
219		211
220	/***************************************************/	212	/***************************************************/
221	/* Get active parameter set */	213	/* Get active parameter set */
222	/***************************************************/	214	/***************************************************/
223	uint8_t getActiveParamSet(void) {	215	uint8_t getActiveParamSet(void) {
224	uint8_t setnumber;	216	uint8_t setnumber;
225	setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]);	217	setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]);
226	if (setnumber > 5) {	218	if (setnumber > 5) {
227	setActiveParamSet(setnumber = 1);	219	setActiveParamSet(setnumber = 1);
228	}	220	}
229	return setnumber;	221	return setnumber;
230	}	222	}
231		223
232	/***************************************************/	224	/***************************************************/
233	/* Set active parameter set */	225	/* Set active parameter set */
234	/***************************************************/	226	/***************************************************/
235	void setActiveParamSet(uint8_t setnumber) {	227	void setActiveParamSet(uint8_t setnumber) {
236	eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber);	228	eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber);
237	}	229	}
238		230
239		231