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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + Nur für den privaten Gebrauch |
3 | // + Nur für den privaten Gebrauch |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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 |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
18 | // + eindeutig als Ursprung verlinkt und genannt werden |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
25 | // + mit unserer Zustimmung zulässig |
25 | // + mit unserer Zustimmung zulässig |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
30 | // + this list of conditions and the following disclaimer. |
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 |
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. |
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 |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
34 | // + for non-commercial use (directly or indirectly) |
34 | // + for non-commercial use (directly or indirectly) |
35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
36 | // + with our written permission |
36 | // + with our written permission |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
38 | // + clearly linked as origin |
38 | // + clearly linked as origin |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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" |
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 |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
50 | // + POSSIBILITY OF SUCH DAMAGE. |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | 52 | ||
53 | #ifndef EEMEM |
53 | #ifndef EEMEM |
54 | #define EEMEM __attribute__ ((section (".eeprom"))) |
54 | #define EEMEM __attribute__ ((section (".eeprom"))) |
55 | #endif |
55 | #endif |
56 | 56 | ||
57 | #include "eeprom.h" |
57 | #include "eeprom.h" |
58 | #include "printf_P.h" |
58 | #include "printf_P.h" |
59 | #include "output.h" |
59 | #include "output.h" |
- | 60 | #include <avr/wdt.h> |
|
60 | #include <avr/eeprom.h> |
61 | #include <avr/eeprom.h> |
61 | 62 | ||
62 | // byte array in eeprom |
63 | // byte array in eeprom |
63 | uint8_t EEPromArray[E2END + 1] EEMEM; |
64 | uint8_t EEPromArray[E2END + 1] EEMEM; |
64 | 65 | ||
65 | /***************************************************/ |
66 | /***************************************************/ |
66 | /* Read Parameter from EEPROM as byte */ |
67 | /* Read Parameter from EEPROM as byte */ |
67 | /***************************************************/ |
68 | /***************************************************/ |
68 | uint8_t getParamByte(uint16_t param_id) { |
69 | uint8_t getParamByte(uint16_t param_id) { |
69 | return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
70 | return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
70 | } |
71 | } |
71 | 72 | ||
72 | /***************************************************/ |
73 | /***************************************************/ |
73 | /* Write Parameter to EEPROM as byte */ |
74 | /* Write Parameter to EEPROM as byte */ |
74 | /***************************************************/ |
75 | /***************************************************/ |
75 | void setParamByte(uint16_t param_id, uint8_t value) { |
76 | void setParamByte(uint16_t param_id, uint8_t value) { |
76 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
77 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
77 | } |
78 | } |
78 | 79 | ||
79 | /***************************************************/ |
80 | /***************************************************/ |
80 | /* Read Parameter from EEPROM as word */ |
81 | /* Read Parameter from EEPROM as word */ |
81 | /***************************************************/ |
82 | /***************************************************/ |
82 | /* |
83 | /* |
83 | uint16_t getParamWord(uint16_t param_id) { |
84 | uint16_t getParamWord(uint16_t param_id) { |
84 | return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN |
85 | return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN |
85 | + param_id]); |
86 | + param_id]); |
86 | } |
87 | } |
87 | */ |
88 | */ |
88 | 89 | ||
89 | /***************************************************/ |
90 | /***************************************************/ |
90 | /* Write Parameter to EEPROM as word */ |
91 | /* Write Parameter to EEPROM as word */ |
91 | /***************************************************/ |
92 | /***************************************************/ |
92 | /* |
93 | /* |
93 | void setParamWord(uint16_t param_id, uint16_t value) { |
94 | void setParamWord(uint16_t param_id, uint16_t value) { |
94 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
95 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
95 | } |
96 | } |
96 | */ |
97 | */ |
97 | 98 | ||
98 | uint16_t CRC16(uint8_t* data, uint16_t length) { |
99 | uint16_t CRC16(uint8_t* data, uint16_t length) { |
99 | uint16_t crc = 0; |
100 | uint16_t crc = 0; |
100 | for (uint16_t i=0; i<length; i++) { |
101 | for (uint16_t i=0; i<length; i++) { |
101 | crc = (uint8_t)(crc >> 8) | (crc << 8); |
102 | crc = (uint8_t)(crc >> 8) | (crc << 8); |
102 | crc ^= data[i]; |
103 | crc ^= data[i]; |
103 | crc ^= (uint8_t)(crc & 0xff) >> 4; |
104 | crc ^= (uint8_t)(crc & 0xff) >> 4; |
104 | crc ^= (crc << 8) << 4; |
105 | crc ^= (crc << 8) << 4; |
105 | crc ^= ((crc & 0xff) << 4) << 1; |
106 | crc ^= ((crc & 0xff) << 4) << 1; |
106 | } |
107 | } |
107 | return crc; |
108 | return crc; |
108 | } |
109 | } |
109 | 110 | ||
110 | // offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data. |
111 | // offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data. |
111 | // length is the length of the pure data not including checksum and revision number. |
112 | // length is the length of the pure data not including checksum and revision number. |
112 | void writeChecksummedBlock(uint8_t revisionNumber, uint8_t* data, uint16_t offset, uint16_t length) { |
113 | void writeChecksummedBlock(uint8_t revisionNumber, uint8_t* data, uint16_t offset, uint16_t length) { |
113 | uint16_t CRC = CRC16(data, length); |
114 | uint16_t CRC = CRC16(data, length); |
114 | eeprom_write_byte(&EEPromArray[offset], CRC&0xff); |
115 | eeprom_write_byte(&EEPromArray[offset], CRC&0xff); |
115 | eeprom_write_byte(&EEPromArray[offset+1], CRC>>8); |
116 | eeprom_write_byte(&EEPromArray[offset+1], CRC>>8); |
116 | eeprom_write_byte(&EEPromArray[offset+2], revisionNumber); |
117 | eeprom_write_byte(&EEPromArray[offset+2], revisionNumber); |
117 | eeprom_write_block(data, &EEPromArray[offset+3], length); |
118 | eeprom_write_block(data, &EEPromArray[offset+3], length); |
118 | } |
119 | } |
119 | 120 | ||
120 | // offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data. |
121 | // 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 | // 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 readChecksummedBlock(uint8_t revisionNumber, uint8_t* target, uint16_t offset, uint16_t length) { |
123 | uint16_t CRCRead = eeprom_read_byte(&EEPromArray[offset]) | (eeprom_read_byte(&EEPromArray[offset+1])<<8); |
124 | uint16_t CRCRead = eeprom_read_byte(&EEPromArray[offset]) | (eeprom_read_byte(&EEPromArray[offset+1])<<8); |
124 | uint8_t revisionNumberRead = eeprom_read_byte(&EEPromArray[offset+2]); |
125 | uint8_t revisionNumberRead = eeprom_read_byte(&EEPromArray[offset+2]); |
125 | eeprom_read_block(target, &EEPromArray[offset+3], length); |
126 | eeprom_read_block(target, &EEPromArray[offset+3], length); |
126 | uint16_t CRCCalculated = CRC16(target, length); |
127 | uint16_t CRCCalculated = CRC16(target, length); |
127 | 128 | ||
128 | uint8_t CRCError = (CRCRead != CRCCalculated); |
129 | uint8_t CRCError = (CRCRead != CRCCalculated); |
129 | uint8_t revisionMismatch = (revisionNumber != revisionNumberRead); |
130 | uint8_t revisionMismatch = (revisionNumber != revisionNumberRead); |
130 | 131 | ||
131 | if (CRCError && revisionMismatch) printf("\n\rEEPROM CRC error and revision mismatch; "); |
132 | if (CRCError && revisionMismatch) printf("\n\rEEPROM CRC error and revision mismatch; "); |
132 | else if (CRCError) printf("\n\rEEPROM CRC error; "); |
133 | else if (CRCError) printf("\n\rEEPROM CRC error; "); |
133 | else if (revisionMismatch) printf("\n\rEEPROM revision mismatch; "); |
134 | else if (revisionMismatch) printf("\n\rEEPROM revision mismatch; "); |
134 | return (CRCError || revisionMismatch); |
135 | return (CRCError || revisionMismatch); |
135 | } |
136 | } |
136 | 137 | ||
137 | /***************************************************/ |
138 | /***************************************************/ |
138 | /* Read Parameter Set from EEPROM */ |
139 | /* Read Parameter Set from EEPROM */ |
139 | /***************************************************/ |
140 | /***************************************************/ |
140 | // setnumber [1..5] |
141 | // setnumber [1..5] |
141 | uint8_t paramSet_readFromEEProm(uint8_t setnumber) { |
142 | uint8_t paramSet_readFromEEProm(uint8_t setnumber) { |
142 | uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(ParamSet_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD); |
143 | uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(ParamSet_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD); |
143 | // output_init(); // what's that doing here?? |
144 | // output_init(); // what's that doing here?? |
144 | return readChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(ParamSet_t)); |
145 | return readChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(ParamSet_t)); |
145 | } |
146 | } |
146 | 147 | ||
147 | /***************************************************/ |
148 | /***************************************************/ |
148 | /* Write Parameter Set to EEPROM */ |
149 | /* Write Parameter Set to EEPROM */ |
149 | /***************************************************/ |
150 | /***************************************************/ |
150 | void paramSet_writeToEEProm(uint8_t setnumber) { |
151 | void paramSet_writeToEEProm(uint8_t setnumber) { |
151 | uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(ParamSet_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD); |
152 | uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(ParamSet_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD); |
152 | writeChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(ParamSet_t)); |
153 | writeChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(ParamSet_t)); |
153 | // set this parameter set to active set |
154 | // set this parameter set to active set |
154 | setActiveParamSet(setnumber); |
155 | setActiveParamSet(setnumber); |
155 | // output_init(); // what's that doing here?? |
156 | // output_init(); // what's that doing here?? |
156 | } |
157 | } |
157 | 158 | ||
158 | void paramSet_readOrDefault() { |
159 | void paramSet_readOrDefault() { |
159 | uint8_t setnumber = getActiveParamSet(); |
160 | uint8_t setnumber = getActiveParamSet(); |
160 | // parameter version check |
161 | // parameter version check |
161 | if (setnumber<1 ||setnumber>5 || paramSet_readFromEEProm(setnumber)) { |
162 | if (setnumber<1 ||setnumber>5 || paramSet_readFromEEProm(setnumber)) { |
162 | // if version check faild |
163 | // if version check faild |
163 | printf("\n\rwriting default parameter sets"); |
164 | printf("\n\rwriting default parameter sets"); |
164 | for (uint8_t i=5; i>0; i--) { |
165 | for (uint8_t i=5; i>0; i--) { |
165 | paramSet_default(i); |
166 | paramSet_default(i); |
166 | paramSet_writeToEEProm(i); |
167 | paramSet_writeToEEProm(i); |
167 | } |
168 | } |
168 | // default-Setting is parameter set 3 |
169 | // default-Setting is parameter set 3 |
169 | setActiveParamSet(1); |
170 | setActiveParamSet(1); |
- | 171 | // For some strange reason, the read will have no effect. |
|
- | 172 | // Lets reset... |
|
- | 173 | wdt_enable(WDTO_250MS); |
|
170 | } |
174 | } |
171 | 175 | ||
172 | printf("\n\r\rUsing Parameter Set %d", getActiveParamSet()); |
176 | printf("\n\r\rUsing Parameter Set %d", getActiveParamSet()); |
173 | } |
177 | } |
174 | 178 | ||
175 | /***************************************************/ |
179 | /***************************************************/ |
176 | /* MixerTable */ |
180 | /* MixerTable */ |
177 | /***************************************************/ |
181 | /***************************************************/ |
178 | void mixerMatrix_writeToEEProm(void) { |
182 | void mixerMatrix_writeToEEProm(void) { |
179 | writeChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&mixerMatrix, EEPROM_ADR_MIXER_TABLE, sizeof(mixerMatrix_t)); |
183 | writeChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&mixerMatrix, EEPROM_ADR_MIXER_TABLE, sizeof(mixerMatrix_t)); |
180 | } |
184 | } |
181 | 185 | ||
182 | void mixerMatrix_readOrDefault(void) { |
186 | void mixerMatrix_readOrDefault(void) { |
183 | // load mixer table |
187 | // load mixer table |
184 | if (readChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&mixerMatrix, EEPROM_ADR_MIXER_TABLE, sizeof(mixerMatrix_t))) { |
188 | if (readChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&mixerMatrix, EEPROM_ADR_MIXER_TABLE, sizeof(mixerMatrix_t))) { |
185 | printf("writing default mixerMatrix"); |
189 | printf("writing default mixerMatrix"); |
186 | mixerMatrix_default(); // Quadro |
190 | mixerMatrix_default(); // Quadro |
187 | mixerMatrix_writeToEEProm(); |
191 | mixerMatrix_writeToEEProm(); |
188 | } |
192 | } |
189 | // determine motornumber |
193 | // determine motornumber |
190 | requiredMotors = 0; |
194 | requiredMotors = 0; |
191 | for (uint8_t i=0; i<MAX_MOTORS; i++) { |
195 | for (uint8_t i=0; i<MAX_MOTORS; i++) { |
192 | if (mixerMatrix.motor[i][MIX_THROTTLE]) |
196 | if (mixerMatrix.motor[i][MIX_THROTTLE]) |
193 | requiredMotors++; |
197 | requiredMotors++; |
194 | } |
198 | } |
195 | 199 | ||
196 | printf("\n\rMixer-Config: '%s' (%u Motors)",mixerMatrix.name, requiredMotors); |
200 | printf("\n\rMixer-Config: '%s' (%u Motors)",mixerMatrix.name, requiredMotors); |
197 | printf("\n\r==================================="); |
201 | printf("\n\r==================================="); |
198 | } |
202 | } |
199 | 203 | ||
200 | /***************************************************/ |
204 | /***************************************************/ |
201 | /* ChannelMap */ |
205 | /* ChannelMap */ |
202 | /***************************************************/ |
206 | /***************************************************/ |
203 | void channelMap_writeToEEProm(void) { |
207 | void channelMap_writeToEEProm(void) { |
204 | writeChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(channelMap_t)); |
208 | writeChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(channelMap_t)); |
205 | } |
209 | } |
206 | 210 | ||
207 | void channelMap_readOrDefault(void) { |
211 | void channelMap_readOrDefault(void) { |
208 | if (readChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(channelMap_t))) { |
212 | if (readChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(channelMap_t))) { |
209 | printf("writing default channel map"); |
213 | printf("writing default channel map"); |
210 | channelMap_default(); |
214 | channelMap_default(); |
211 | channelMap_writeToEEProm(); |
215 | channelMap_writeToEEProm(); |
212 | } |
216 | } |
213 | } |
217 | } |
214 | 218 | ||
215 | /***************************************************/ |
219 | /***************************************************/ |
216 | /* Sensor offsets */ |
220 | /* Sensor offsets */ |
217 | /***************************************************/ |
221 | /***************************************************/ |
218 | uint8_t gyroAmplifierOffset_readFromEEProm(void) { |
222 | uint8_t gyroAmplifierOffset_readFromEEProm(void) { |
219 | return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t)); |
223 | return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t)); |
220 | } |
224 | } |
221 | 225 | ||
222 | void gyroAmplifierOffset_writeToEEProm(void) { |
226 | void gyroAmplifierOffset_writeToEEProm(void) { |
223 | return writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t)); |
227 | return writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t)); |
224 | } |
228 | } |
225 | 229 | ||
226 | uint8_t gyroOffset_readFromEEProm(void) { |
230 | uint8_t gyroOffset_readFromEEProm(void) { |
227 | return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t)); |
231 | return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t)); |
228 | } |
232 | } |
229 | 233 | ||
230 | void gyroOffset_writeToEEProm(void) { |
234 | void gyroOffset_writeToEEProm(void) { |
231 | writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t)); |
235 | writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t)); |
232 | } |
236 | } |
233 | 237 | ||
234 | uint8_t accOffset_readFromEEProm(void) { |
238 | uint8_t accOffset_readFromEEProm(void) { |
235 | return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accOffset, EEPROM_ADR_ACCOFFSET, sizeof(sensorOffset_t)); |
239 | return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accOffset, EEPROM_ADR_ACCOFFSET, sizeof(sensorOffset_t)); |
236 | } |
240 | } |
237 | 241 | ||
238 | void accOffset_writeToEEProm(void) { |
242 | void accOffset_writeToEEProm(void) { |
239 | writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accOffset, EEPROM_ADR_ACCOFFSET, sizeof(sensorOffset_t)); |
243 | writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accOffset, EEPROM_ADR_ACCOFFSET, sizeof(sensorOffset_t)); |
240 | } |
244 | } |
241 | 245 | ||
242 | /***************************************************/ |
246 | /***************************************************/ |
243 | /* Get active parameter set */ |
247 | /* Get active parameter set */ |
244 | /***************************************************/ |
248 | /***************************************************/ |
245 | uint8_t getActiveParamSet(void) { |
249 | uint8_t getActiveParamSet(void) { |
246 | uint8_t setnumber; |
250 | uint8_t setnumber; |
247 | setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
251 | setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
248 | if (setnumber > 4) { |
252 | if (setnumber > 4) { |
249 | setActiveParamSet(setnumber = 0); |
253 | setActiveParamSet(setnumber = 0); |
250 | } |
254 | } |
251 | return setnumber; |
255 | return setnumber; |
252 | } |
256 | } |
253 | 257 | ||
254 | /***************************************************/ |
258 | /***************************************************/ |
255 | /* Set active parameter set */ |
259 | /* Set active parameter set */ |
256 | /***************************************************/ |
260 | /***************************************************/ |
257 | void setActiveParamSet(uint8_t setnumber) { |
261 | void setActiveParamSet(uint8_t setnumber) { |
258 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
262 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
259 | } |
263 | } |
260 | 264 | ||
261 | 265 |