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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/eeprom.h> |
60 | #include <avr/eeprom.h> |
61 | 61 | ||
62 | // byte array in eeprom |
62 | // byte array in eeprom |
63 | uint8_t EEPromArray[E2END + 1] EEMEM; |
63 | uint8_t EEPromArray[E2END + 1] EEMEM; |
64 | 64 | ||
65 | /***************************************************/ |
65 | /***************************************************/ |
66 | /* Read Parameter from EEPROM as byte */ |
66 | /* Read Parameter from EEPROM as byte */ |
67 | /***************************************************/ |
67 | /***************************************************/ |
68 | uint8_t getParamByte(uint16_t param_id) { |
68 | uint8_t getParamByte(uint16_t param_id) { |
69 | return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
69 | return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
70 | } |
70 | } |
71 | 71 | ||
72 | /***************************************************/ |
72 | /***************************************************/ |
73 | /* Write Parameter to EEPROM as byte */ |
73 | /* Write Parameter to EEPROM as byte */ |
74 | /***************************************************/ |
74 | /***************************************************/ |
75 | void setParamByte(uint16_t param_id, uint8_t value) { |
75 | void setParamByte(uint16_t param_id, uint8_t value) { |
76 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
76 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
77 | } |
77 | } |
78 | 78 | ||
79 | /***************************************************/ |
79 | /***************************************************/ |
80 | /* Read Parameter from EEPROM as word */ |
80 | /* Read Parameter from EEPROM as word */ |
81 | /***************************************************/ |
81 | /***************************************************/ |
82 | /* |
82 | /* |
83 | uint16_t getParamWord(uint16_t param_id) { |
83 | uint16_t getParamWord(uint16_t param_id) { |
84 | return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN |
84 | return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN |
85 | + param_id]); |
85 | + param_id]); |
86 | } |
86 | } |
87 | */ |
87 | */ |
88 | 88 | ||
89 | /***************************************************/ |
89 | /***************************************************/ |
90 | /* Write Parameter to EEPROM as word */ |
90 | /* Write Parameter to EEPROM as word */ |
91 | /***************************************************/ |
91 | /***************************************************/ |
92 | /* |
92 | /* |
93 | void setParamWord(uint16_t param_id, uint16_t value) { |
93 | void setParamWord(uint16_t param_id, uint16_t value) { |
94 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
94 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
95 | } |
95 | } |
96 | */ |
96 | */ |
97 | 97 | ||
98 | uint16_t CRC16(uint8_t* data, uint16_t length) { |
98 | uint16_t CRC16(uint8_t* data, uint16_t length) { |
99 | uint16_t crc = 0; |
99 | uint16_t crc = 0; |
100 | for (uint16_t i=0; i<length; i++) { |
100 | for (uint16_t i=0; i<length; i++) { |
101 | crc = (uint8_t)(crc >> 8) | (crc << 8); |
101 | crc = (uint8_t)(crc >> 8) | (crc << 8); |
102 | crc ^= data[i]; |
102 | crc ^= data[i]; |
103 | crc ^= (uint8_t)(crc & 0xff) >> 4; |
103 | crc ^= (uint8_t)(crc & 0xff) >> 4; |
104 | crc ^= (crc << 8) << 4; |
104 | crc ^= (crc << 8) << 4; |
105 | crc ^= ((crc & 0xff) << 4) << 1; |
105 | crc ^= ((crc & 0xff) << 4) << 1; |
106 | } |
106 | } |
107 | return crc; |
107 | return crc; |
108 | } |
108 | } |
109 | 109 | ||
110 | // offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data. |
110 | // 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. |
111 | // 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) { |
112 | void writeChecksummedBlock(uint8_t revisionNumber, uint8_t* data, uint16_t offset, uint16_t length) { |
113 | uint16_t CRC = CRC16(data, length); |
113 | uint16_t CRC = CRC16(data, length); |
- | 114 | eeprom_write_byte(&EEPromArray[offset], CRC&0xff); |
|
114 | eeprom_write_word(&EEPromArray[offset], CRC); |
115 | eeprom_write_byte(&EEPromArray[offset+1], CRC>>8); |
115 | eeprom_write_byte(&EEPromArray[offset+2], revisionNumber); |
116 | eeprom_write_byte(&EEPromArray[offset+2], revisionNumber); |
116 | eeprom_write_block(data, &EEPromArray[offset+3], length); |
117 | eeprom_write_block(data, &EEPromArray[offset+3], length); |
117 | } |
118 | } |
118 | 119 | ||
119 | // offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data. |
120 | // offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data. |
120 | // length is the length of the pure data not including checksum and revision number. |
121 | // length is the length of the pure data not including checksum and revision number. |
121 | uint8_t readChecksummedBlock(uint8_t revisionNumber, uint8_t* target, uint16_t offset, uint16_t length) { |
122 | uint8_t readChecksummedBlock(uint8_t revisionNumber, uint8_t* target, uint16_t offset, uint16_t length) { |
122 | uint16_t CRCRead = eeprom_read_word(&EEPromArray[offset]); |
123 | uint16_t CRCRead = eeprom_read_byte(&EEPromArray[offset]) | (eeprom_read_byte(&EEPromArray[offset+1])<<8); |
123 | uint8_t revisionNumberRead = eeprom_read_byte(&EEPromArray[offset+2]); |
124 | uint8_t revisionNumberRead = eeprom_read_byte(&EEPromArray[offset+2]); |
124 | eeprom_read_block(target, &EEPromArray[offset+3], length); |
125 | eeprom_read_block(target, &EEPromArray[offset+3], length); |
125 | uint16_t CRCCalculated = CRC(target, length); |
126 | uint16_t CRCCalculated = CRC16(target, length); |
126 | 127 | ||
127 | uint8_t CRCError = (CRCRead != CRCCalculated); |
128 | uint8_t CRCError = (CRCRead != CRCCalculated); |
128 | uint8_t revisionMismatch = (revisionNumber != revisionNumberRead); |
129 | uint8_t revisionMismatch = (revisionNumber != revisionNumberRead); |
129 | 130 | ||
130 | if (CRCError && revisionMismatch) printf("\n\rEEPROM CRC error and revision mismatch; "); |
131 | if (CRCError && revisionMismatch) printf("\n\rEEPROM CRC error and revision mismatch; "); |
131 | else if (CRCError) printf("\n\rEEPROM CRC error; "); |
132 | else if (CRCError) printf("\n\rEEPROM CRC error; "); |
132 | else if (revisionMismatch) printf("\n\rEEPROM revision mismatch; "); |
133 | else if (revisionMismatch) printf("\n\rEEPROM revision mismatch; "); |
133 | return (checksumError || revisionMismatch); |
134 | return (CRCError || revisionMismatch); |
134 | } |
135 | } |
135 | 136 | ||
136 | /***************************************************/ |
137 | /***************************************************/ |
137 | /* Read Parameter Set from EEPROM */ |
138 | /* Read Parameter Set from EEPROM */ |
138 | /***************************************************/ |
139 | /***************************************************/ |
139 | // setnumber [1..5] |
140 | // setnumber [1..5] |
140 | uint8_t paramSet_readFromEEProm(uint8_t setnumber) { |
141 | uint8_t paramSet_readFromEEProm(uint8_t setnumber) { |
141 | uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(paramset_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD); |
142 | uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(paramset_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD); |
142 | output_init(); // what's that doing here?? |
143 | output_init(); // what's that doing here?? |
143 | return readChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(paramset_t)); |
144 | return readChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(paramset_t)); |
144 | } |
145 | } |
145 | 146 | ||
146 | /***************************************************/ |
147 | /***************************************************/ |
147 | /* Write Parameter Set to EEPROM */ |
148 | /* Write Parameter Set to EEPROM */ |
148 | /***************************************************/ |
149 | /***************************************************/ |
149 | void paramSet_writeToEEProm(uint8_t setnumber) { |
150 | void paramSet_writeToEEProm(uint8_t setnumber) { |
150 | uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(paramset_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD); |
151 | uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(paramset_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD); |
151 | writeChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(paramset_t)); |
152 | writeChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(paramset_t)); |
152 | // set this parameter set to active set |
153 | // set this parameter set to active set |
153 | setActiveParamSet(setnumber); |
154 | setActiveParamSet(setnumber); |
154 | output_init(); // what's that doing here?? |
155 | output_init(); // what's that doing here?? |
155 | } |
156 | } |
156 | 157 | ||
157 | void paramSet_readOrDefault() { |
158 | void paramSet_readOrDefault() { |
158 | uint8_t setnumber = getActiveParamSet(); |
159 | uint8_t setnumber = getActiveParamSet(); |
159 | // parameter version check |
160 | // parameter version check |
160 | if (setnumber<1 ||setnumber>5 || paramSet_readFromEEProm(setnumber)) { |
161 | if (setnumber<1 ||setnumber>5 || paramSet_readFromEEProm(setnumber)) { |
161 | // if version check faild |
162 | // if version check faild |
162 | printf("writing default parameter sets"); |
163 | printf("\n\rwriting default parameter sets"); |
163 | for (uint8_t i=5; i>0; i--) { |
164 | for (uint8_t i=5; i>0; i--) { |
164 | paramSet_default(i); |
165 | paramSet_default(i); |
165 | paramSet_writeToEEProm(i); |
166 | paramSet_writeToEEProm(i); |
166 | } |
167 | } |
167 | // default-Setting is parameter set 3 |
168 | // default-Setting is parameter set 3 |
168 | setActiveParamSet(1); |
169 | setActiveParamSet(1); |
169 | } |
170 | } |
170 | 171 | ||
171 | printf("\n\r\rUsing Parameter Set %d", getActiveParamSet()); |
172 | printf("\n\r\rUsing Parameter Set %d", getActiveParamSet()); |
172 | } |
173 | } |
173 | 174 | ||
174 | /***************************************************/ |
175 | /***************************************************/ |
175 | /* MixerTable */ |
176 | /* MixerTable */ |
176 | /***************************************************/ |
177 | /***************************************************/ |
177 | uint8_t mixerMatrix_readFromEEProm(void) { |
- | |
178 | return readChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&mixerMatrix, EEPROM_ADR_MIXER_TABLE, sizeof(mixerMatrix_t)); |
- | |
179 | } |
- | |
180 | - | ||
181 | void mixerMatrix_writeToEEProm(void) { |
178 | void mixerMatrix_writeToEEProm(void) { |
182 | writeChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&mixerMatrix, EEPROM_ADR_MIXER_TABLE, sizeof(mixerMatrix_t)); |
179 | writeChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&mixerMatrix, EEPROM_ADR_MIXER_TABLE, sizeof(mixerMatrix_t)); |
183 | } |
180 | } |
184 | 181 | ||
185 | void mixerMatrix_readOrDefault(void) { |
182 | void mixerMatrix_readOrDefault(void) { |
186 | // load mixer table |
183 | // load mixer table |
187 | if (mixerMatrix_readFromEEProm()) { |
184 | if (readChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&mixerMatrix, EEPROM_ADR_MIXER_TABLE, sizeof(mixerMatrix_t))) { |
188 | printf("writing default mixerMatrix"); |
185 | printf("writing default mixerMatrix"); |
189 | mixerMatrix_default(); // Quadro |
186 | mixerMatrix_default(); // Quadro |
190 | mixerMatrix_writeToEEProm(); |
187 | mixerMatrix_writeToEEProm(); |
191 | } |
188 | } |
192 | // determine motornumber |
189 | // determine motornumber |
193 | requiredMotors = 0; |
190 | requiredMotors = 0; |
194 | for (uint8_t i=0; i<MAX_MOTORS; i++) { |
191 | for (uint8_t i=0; i<MAX_MOTORS; i++) { |
195 | if (mixerMatrix.motor[i][MIX_THROTTLE]) |
192 | if (mixerMatrix.motor[i][MIX_THROTTLE]) |
196 | requiredMotors++; |
193 | requiredMotors++; |
197 | } |
194 | } |
198 | 195 | ||
199 | printf("\n\r\rMixer-Config: '%s' (%u Motors)",mixerMatrix.name, requiredMotors); |
196 | printf("\n\rMixer-Config: '%s' (%u Motors)",mixerMatrix.name, requiredMotors); |
200 | printf("\n\r\r=============================="); |
197 | printf("\n\r==================================="); |
201 | } |
198 | } |
202 | 199 | ||
203 | /***************************************************/ |
200 | /***************************************************/ |
204 | /* ChannelMap */ |
201 | /* ChannelMap */ |
205 | /***************************************************/ |
202 | /***************************************************/ |
206 | uint8_t channelMap_readFromEEProm(void) { |
- | |
207 | return readChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(channelMap_t)); |
- | |
208 | } |
- | |
209 | - | ||
210 | void channelMap_writeToEEProm(void) { |
203 | void channelMap_writeToEEProm(void) { |
211 | writeChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(channelMap_t)); |
204 | writeChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(channelMap_t)); |
212 | } |
205 | } |
213 | 206 | ||
214 | void channelMap_readOrDefault(void) { |
207 | void channelMap_readOrDefault(void) { |
215 | if (channelMap_readFromEEProm()) { |
208 | if (readChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(channelMap_t))) { |
216 | printf("writing default channel map"); |
209 | printf("writing default channel map"); |
217 | channelMap_default(); |
210 | channelMap_default(); |
218 | channelMap_writeToEEProm(); |
211 | channelMap_writeToEEProm(); |
219 | } |
212 | } |
220 | } |
213 | } |
221 | 214 | ||
222 | /***************************************************/ |
215 | /***************************************************/ |
223 | /* Sensor offsets */ |
216 | /* Sensor offsets */ |
224 | /***************************************************/ |
217 | /***************************************************/ |
225 | uint8_t gyroAmplifierOffset_readFromEEProm(void) { |
218 | uint8_t gyroAmplifierOffset_readFromEEProm(void) { |
226 | return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t)); |
219 | return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t)); |
227 | } |
220 | } |
228 | 221 | ||
229 | void gyroAmplifierOffset_writeToEEProm(void) { |
222 | void gyroAmplifierOffset_writeToEEProm(void) { |
230 | return writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t)); |
223 | return writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t)); |
231 | } |
224 | } |
232 | 225 | ||
233 | uint8_t gyroOffset_readFromEEProm(void) { |
226 | uint8_t gyroOffset_readFromEEProm(void) { |
234 | return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t)); |
227 | return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t)); |
235 | } |
228 | } |
236 | 229 | ||
237 | void gyroOffset_writeToEEProm(void) { |
230 | void gyroOffset_writeToEEProm(void) { |
238 | writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t)); |
231 | writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t)); |
239 | } |
232 | } |
240 | 233 | ||
241 | uint8_t accOffset_readFromEEProm(void) { |
234 | uint8_t accOffset_readFromEEProm(void) { |
242 | return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accOffset, EEPROM_ADR_ACCOFFSET, sizeof(sensorOffset_t)); |
235 | return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accOffset, EEPROM_ADR_ACCOFFSET, sizeof(sensorOffset_t)); |
243 | } |
236 | } |
244 | 237 | ||
245 | void accOffset_writeToEEProm(void) { |
238 | void accOffset_writeToEEProm(void) { |
246 | writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accOffset, EEPROM_ADR_ACCOFFSET, sizeof(sensorOffset_t)); |
239 | writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accOffset, EEPROM_ADR_ACCOFFSET, sizeof(sensorOffset_t)); |
247 | } |
240 | } |
248 | 241 | ||
249 | /***************************************************/ |
242 | /***************************************************/ |
250 | /* Get active parameter set */ |
243 | /* Get active parameter set */ |
251 | /***************************************************/ |
244 | /***************************************************/ |
252 | uint8_t getActiveParamSet(void) { |
245 | uint8_t getActiveParamSet(void) { |
253 | uint8_t setnumber; |
246 | uint8_t setnumber; |
254 | setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
247 | setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
255 | if (setnumber > 4) { |
248 | if (setnumber > 4) { |
256 | setActiveParamSet(setnumber = 0); |
249 | setActiveParamSet(setnumber = 0); |
257 | } |
250 | } |
258 | return setnumber; |
251 | return setnumber; |
259 | } |
252 | } |
260 | 253 | ||
261 | /***************************************************/ |
254 | /***************************************************/ |
262 | /* Set active parameter set */ |
255 | /* Set active parameter set */ |
263 | /***************************************************/ |
256 | /***************************************************/ |
264 | void setActiveParamSet(uint8_t setnumber) { |
257 | void setActiveParamSet(uint8_t setnumber) { |
265 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
258 | eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
266 | } |
259 | } |
267 | 260 | ||
268 | 261 |