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 f�r 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 example: 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 "eeprom.h"

#include "printf_P.h"

#include "output.h"

#include <avr/eeprom.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);

}

uint8_t calculateChecksum(uint8_t* data, uint16_t length) {

  uint8_t result = 0;

  for (uint16_t i=0; i<length; i++) {

    result += data[i];

  }

  return result;

}

// 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) {

  uint8_t checksum = calculateChecksum(data, length);

  eeprom_write_byte(&EEPromArray[offset], checksum);

  eeprom_write_byte(&EEPromArray[offset+1], revisionNumber);

  eeprom_write_block(data, &EEPromArray[offset+2], length);

}

// 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) {

  uint8_t checksumRead = eeprom_read_byte(&EEPromArray[offset]);

  uint8_t revisionNumberRead = eeprom_read_byte(&EEPromArray[offset+1]);

  eeprom_read_block(target, &EEPromArray[offset+2], length);

  uint8_t checksumCalculated = calculateChecksum(target, length);

  uint8_t checksumError = (checksumRead != checksumCalculated);

  uint8_t revisionMismatch = (revisionNumber != revisionNumberRead);

  if (checksumError && revisionMismatch) printf("\n\rEEPROM checksum error and revision mismatch, ");

  else if (checksumError) printf("\n\rEEPROM checksum error, ");

  else if (revisionMismatch) printf("\n\rEEPROM revision mismatch, ");

  return (checksumError || 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)+2);

  output_init(); // what's that doing here??

  return readChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(paramset_t));

}

/***************************************************/

/*        Write Parameter Set to EEPROM            */

/***************************************************/

void paramSet_writeToEEProm(uint8_t setnumber) {

  uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(paramset_t)+2);

  writeChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(paramset_t));

  // set this parameter set to active set

  setActiveParamSet(setnumber);

  output_init(); // what's that doing here??

}

void paramSet_readOrDefault() {

  uint8_t setnumber = getActiveParamSet();

  // parameter version  check

  if (setnumber<1 ||setnumber>5 || paramSet_readFromEEProm(setnumber)) {

    // if version check faild

    printf("writing default parameter sets");

    for (uint8_t i=5; i>0; i--) {

      paramSet_default(i);

      paramSet_writeToEEProm(i);

    }

    // default-Setting is parameter set 3

    setActiveParamSet(1);

  }

  printf("\n\r\rUsing Parameter Set %d", getActiveParamSet());

}

/***************************************************/

/* MixerTable                                      */

/***************************************************/

uint8_t mixerMatrix_readFromEEProm(void) {

  return readChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&mixerMatrix, EEPROM_ADR_MIXER_TABLE, sizeof(mixerMatrix_t));

}

void mixerMatrix_writeToEEProm(void) {

  writeChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&mixerMatrix, EEPROM_ADR_MIXER_TABLE, sizeof(mixerMatrix_t));

}

void mixerMatrix_readOrDefault(void) {

  // load mixer table

  if (mixerMatrix_readFromEEProm()) {

    printf("writing default mixerMatrix");

    mixerMatrix_default(); // Quadro

    mixerMatrix_writeToEEProm();

  }

  // determine motornumber

  requiredMotors = 0;

  for (uint8_t i=0; i<MAX_MOTORS; i++) {

    if (mixerMatrix.motor[i][MIX_THROTTLE])

      requiredMotors++;

  }

  printf("\n\r\rMixer-Config: '%s' (%u Motors)",mixerMatrix.name, requiredMotors);

  printf("\n\r\r==============================");

}

/***************************************************/

/* ChannelMap                                      */

/***************************************************/

uint8_t channelMap_readFromEEProm(void) {

  return readChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(channelMap_t));

}

void channelMap_writeToEEProm(void) {

  writeChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(channelMap_t));

}

void channelMap_readOrDefault(void) {

  if (channelMap_readFromEEProm()) {

    printf("writing default channel map");

    channelMap_default();

    channelMap_writeToEEProm();

  }

}

/***************************************************/

/* Sensor offsets                                  */

/***************************************************/

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 accOffset_readFromEEProm(void) {

  return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accOffset, EEPROM_ADR_ACCOFFSET, sizeof(sensorOffset_t));

}

void accOffset_writeToEEProm(void) {

  writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accOffset, EEPROM_ADR_ACCOFFSET, sizeof(sensorOffset_t));

}

/***************************************************/

/*       Get active parameter set                  */

/***************************************************/

uint8_t getActiveParamSet(void) {

  uint8_t setnumber;

  setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]);

  if (setnumber > 4) {

    setActiveParamSet(setnumber = 0);

  }

  return setnumber;

}

/***************************************************/

/*       Set active parameter set                  */

/***************************************************/

void setActiveParamSet(uint8_t setnumber) {

  eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber);

}