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