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EEPROM.cpp
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#include <avr/eeprom.h>
#include "Arduino.h"
#include "config.h"
#include "def.h"
#include "types.h"
#include "EEPROM.h"
#include "MahoWii.h"
#include "Alarms.h"
#include "GPS.h"
void LoadDefaults(void);
uint8_t calculate_sum(uint8_t *cb , uint8_t siz) {
uint8_t sum=0x56; // checksum init
while(--siz) sum += *cb++; // calculate checksum (without checksum byte)
return sum;
}
void readGlobalSet() {
eeprom_read_block((void*)&global_conf, (void*)0, sizeof(global_conf));
if(calculate_sum((uint8_t*)&global_conf, sizeof(global_conf)) != global_conf.checksum) {
global_conf.currentSet = 0;
global_conf.accZero[ROLL] = 5000; // for config error signalization
}
}
bool readEEPROM() {
uint8_t i;
int8_t tmp;
uint8_t y;
#ifdef MULTIPLE_CONFIGURATION_PROFILES
if(global_conf.currentSet>2) global_conf.currentSet=0;
#else
global_conf.currentSet=0;
#endif
eeprom_read_block((void*)&conf, (void*)(global_conf.currentSet * sizeof(conf) + sizeof(global_conf)), sizeof(conf));
if(calculate_sum((uint8_t*)&conf, sizeof(conf)) != conf.checksum) {
blinkLED(6,100,3);
SET_ALARM_BUZZER(ALRM_FAC_CONFIRM, ALRM_LVL_CONFIRM_ELSE);
LoadDefaults(); // force load defaults
return false; // defaults loaded, don't reload constants (EEPROM life saving)
}
// 500/128 = 3.90625 3.9062 * 3.9062 = 15.259 1526*100/128 = 1192
for(i=0;i<5;i++) {
lookupPitchRollRC[i] = (1526+conf.rcExpo8*(i*i-15))*i*(int32_t)conf.rcRate8/1192;
}
for(i=0;i<11;i++) {
tmp = 10*i-conf.thrMid8;
y = conf.thrMid8;
if (tmp>0) y = 100-y;
lookupThrottleRC[i] = 100*conf.thrMid8 + tmp*( (int32_t)conf.thrExpo8*(tmp*tmp)/((uint16_t)y*y)+100-conf.thrExpo8 ); // [0;10000]
lookupThrottleRC[i] = conf.minthrottle + (uint32_t)((uint16_t)(MAXTHROTTLE-conf.minthrottle))* lookupThrottleRC[i]/10000; // [0;10000] -> [conf.minthrottle;MAXTHROTTLE]
}
#if defined(POWERMETER)
pAlarm = (uint32_t) conf.powerTrigger1 * (uint32_t) PLEVELSCALE * (uint32_t) PLEVELDIV; // need to cast before multiplying
#endif
#if GPS
GPS_set_pids(); // at this time we don't have info about GPS init done
recallGPSconf(); // Load gps parameters
#endif
#if defined(ARMEDTIMEWARNING)
ArmedTimeWarningMicroSeconds = (conf.armedtimewarning *1000000);
#endif
return true; // setting is OK
}
void writeGlobalSet(uint8_t b) {
global_conf.checksum = calculate_sum((uint8_t*)&global_conf, sizeof(global_conf));
eeprom_write_block((const void*)&global_conf, (void*)0, sizeof(global_conf));
if (b == 1) blinkLED(15,20,1);
SET_ALARM_BUZZER(ALRM_FAC_CONFIRM, ALRM_LVL_CONFIRM_1);
}
void writeParams(uint8_t b) {
#ifdef MULTIPLE_CONFIGURATION_PROFILES
if(global_conf.currentSet>2) global_conf.currentSet=0;
#else
global_conf.currentSet=0;
#endif
conf.checksum = calculate_sum((uint8_t*)&conf, sizeof(conf));
eeprom_write_block((const void*)&conf, (void*)(global_conf.currentSet * sizeof(conf) + sizeof(global_conf)), sizeof(conf));
#if GPS
writeGPSconf(); //Write GPS parameters
recallGPSconf(); //Read it to ensure correct eeprom content
#endif
readEEPROM();
if (b == 1) blinkLED(15,20,1);
SET_ALARM_BUZZER(ALRM_FAC_CONFIRM, ALRM_LVL_CONFIRM_1);
}
void update_constants() {
#if defined(GYRO_SMOOTHING)
{
uint8_t s[3] = GYRO_SMOOTHING;
for(uint8_t i=0;i<3;i++) conf.Smoothing[i] = s[i];
}
#endif
#if defined (FAILSAFE)
conf.failsafe_throttle = FAILSAFE_THROTTLE;
#endif
#ifdef VBAT
conf.vbatscale = VBATSCALE;
conf.vbatlevel_warn1 = VBATLEVEL_WARN1;
conf.vbatlevel_warn2 = VBATLEVEL_WARN2;
conf.vbatlevel_crit = VBATLEVEL_CRIT;
#endif
#ifdef POWERMETER
conf.pint2ma = PINT2mA;
#endif
#ifdef POWERMETER_HARD
conf.psensornull = PSENSORNULL;
#endif
#ifdef MMGYRO
conf.mmgyro = MMGYRO;
#endif
#if defined(ARMEDTIMEWARNING)
conf.armedtimewarning = ARMEDTIMEWARNING;
#endif
conf.minthrottle = MINTHROTTLE;
#if MAG
conf.mag_declination = (int16_t)(MAG_DECLINATION * 10);
#endif
#ifdef GOVERNOR_P
conf.governorP = GOVERNOR_P;
conf.governorD = GOVERNOR_D;
#endif
#ifdef YAW_COLL_PRECOMP
conf.yawCollPrecomp = YAW_COLL_PRECOMP;
conf.yawCollPrecompDeadband = YAW_COLL_PRECOMP_DEADBAND;
#endif
#if defined(MY_PRIVATE_DEFAULTS)
#include MY_PRIVATE_DEFAULTS
#endif
#if GPS
loadGPSdefaults();
#endif
writeParams(0); // this will also (p)reset checkNewConf with the current version number again.
}
void LoadDefaults() {
uint8_t i;
#ifdef SUPPRESS_DEFAULTS_FROM_GUI
// do nothing
#elif defined(MY_PRIVATE_DEFAULTS)
// #include MY_PRIVATE_DEFAULTS
// do that at the last possible moment, so we can override virtually all defaults and constants
#else
conf.pid[ROLL].P8 = 35; conf.pid[ROLL].I8 = 25; conf.pid[ROLL].D8 = 26;
conf.pid[PITCH].P8 = 35; conf.pid[PITCH].I8 = 25; conf.pid[PITCH].D8 = 26;
conf.pid[PIDLEVEL].P8 = 80; conf.pid[PIDLEVEL].I8 = 3; conf.pid[PIDLEVEL].D8 = 100;
conf.pid[YAW].P8 = 69; conf.pid[YAW].I8 = 50; conf.pid[YAW].D8 = 0;
#ifdef MS561101BA
conf.pid[PIDALT].P8 = 50; conf.pid[PIDALT].I8 = 20; conf.pid[PIDALT].D8 = 16;
#else
conf.pid[PIDALT].P8 = 40; conf.pid[PIDALT].I8 = 15; conf.pid[PIDALT].D8 = 16;
#endif
conf.pid[PIDPOS].P8 = POSHOLD_P * 100; conf.pid[PIDPOS].I8 = POSHOLD_I * 100; conf.pid[PIDPOS].D8 = 0;
conf.pid[PIDPOSR].P8 = POSHOLD_RATE_P * 10; conf.pid[PIDPOSR].I8 = POSHOLD_RATE_I * 100; conf.pid[PIDPOSR].D8 = POSHOLD_RATE_D * 1000;
conf.pid[PIDNAVR].P8 = NAV_P * 10; conf.pid[PIDNAVR].I8 = NAV_I * 100; conf.pid[PIDNAVR].D8 = NAV_D * 1000;
conf.pid[PIDMAG].P8 = 40;
conf.pid[PIDVEL].P8 = 0; conf.pid[PIDVEL].I8 = 0; conf.pid[PIDVEL].D8 = 0;
conf.rcRate8 = 70; conf.rcExpo8 = 60;
conf.rollPitchRate = 0;
conf.yawRate = 0;
conf.dynThrPID = 0;
conf.thrMid8 = 50; conf.thrExpo8 = 35;
for(i=0;i<CHECKBOXITEMS;i++) {conf.activate[i] = 0;}
conf.angleTrim[0] = 0; conf.angleTrim[1] = 0;
conf.powerTrigger1 = 0;
#endif // SUPPRESS_DEFAULTS_FROM_GUI
#if defined(SERVO)
static int8_t sr[8] = SERVO_RATES;
#ifdef SERVO_MIN
static int16_t smin[8] = SERVO_MIN;
static int16_t smax[8] = SERVO_MAX;
static int16_t smid[8] = SERVO_MID;
#endif
for(i=0;i<8;i++) {
#ifdef SERVO_MIN
conf.servoConf[i].min = smin[i];
conf.servoConf[i].max = smax[i];
conf.servoConf[i].middle = smid[i];
#else
conf.servoConf[i].min = 1020;
conf.servoConf[i].max = 2000;
conf.servoConf[i].middle = 1500;
#endif
conf.servoConf[i].rate = sr[i];
}
#else //if no servo defined then zero out the config variables to prevent passing false data to the gui.
// for(i=0;i<8;i++) {
// conf.servoConf[i].min = 0;
// conf.servoConf[i].max = 0;
// conf.servoConf[i].middle = 0;
// conf.servoConf[i].rate = 0;
// }
#endif
#ifdef FIXEDWING
conf.dynThrPID = 50;
conf.rcExpo8 = 0;
#endif
update_constants(); // this will also write to eeprom
}
#ifdef LOG_PERMANENT
void readPLog(void) {
eeprom_read_block((void*)&plog, (void*)(E2END - 4 - sizeof(plog)), sizeof(plog));
if(calculate_sum((uint8_t*)&plog, sizeof(plog)) != plog.checksum) {
blinkLED(9,100,3);
SET_ALARM_BUZZER(ALRM_FAC_CONFIRM, ALRM_LVL_CONFIRM_ELSE);
// force load defaults
plog.arm = plog.disarm = plog.start = plog.failsafe = plog.i2c = 0;
plog.running = 1;
plog.lifetime = plog.armed_time = 0;
writePLog();
}
}
void writePLog(void) {
plog.checksum = calculate_sum((uint8_t*)&plog, sizeof(plog));
eeprom_write_block((const void*)&plog, (void*)(E2END - 4 - sizeof(plog)), sizeof(plog));
}
#endif
#if GPS
//Define variables for calculations of EEPROM positions
#ifdef MULTIPLE_CONFIGURATION_PROFILES
#define PROFILES 3
#else
#define PROFILES 1
#endif
#ifdef LOG_PERMANENT
#define PLOG_SIZE sizeof(plog)
#else
#define PLOG_SIZE 0
#endif
//Store gps_config
void writeGPSconf(void) {
GPS_conf.checksum = calculate_sum((uint8_t*)&GPS_conf, sizeof(GPS_conf));
eeprom_write_block( (void*)&GPS_conf, (void*) (PROFILES * sizeof(conf) + sizeof(global_conf)), sizeof(GPS_conf) );
}
//Recall gps_configuration
bool recallGPSconf(void) {
eeprom_read_block((void*)&GPS_conf, (void*)(PROFILES * sizeof(conf) + sizeof(global_conf)), sizeof(GPS_conf));
if(calculate_sum((uint8_t*)&GPS_conf, sizeof(GPS_conf)) != GPS_conf.checksum) {
loadGPSdefaults();
return false;
}
return true;
}
//Load gps_config_defaults and writes back to EEPROM just to make it sure
void loadGPSdefaults(void) {
//zero out the conf struct
uint8_t *ptr = (uint8_t *) &GPS_conf;
for (int i=0;i<sizeof(GPS_conf);i++) *ptr++ = 0;
#if defined(GPS_FILTERING)
GPS_conf.filtering = 1;
#endif
#if defined (GPS_LEAD_FILTER)
GPS_conf.lead_filter = 1;
#endif
#if defined (DONT_RESET_HOME_AT_ARM)
GPS_conf.dont_reset_home_at_arm = 1;
#endif
GPS_conf.nav_controls_heading = NAV_CONTROLS_HEADING;
GPS_conf.nav_tail_first = NAV_TAIL_FIRST;
GPS_conf.nav_rth_takeoff_heading = NAV_SET_TAKEOFF_HEADING;
GPS_conf.slow_nav = NAV_SLOW_NAV;
GPS_conf.wait_for_target_alt = WAIT_FOR_TARGET_ALT;
// GPS_conf.ignore_throttle = IGNORE_THROTTLE;
GPS_conf.takeover_baro = NAV_TAKEOVER_BARO;
GPS_conf.wp_radius = GPS_WP_RADIUS;
GPS_conf.safe_wp_distance = SAFE_WP_DISTANCE;
GPS_conf.nav_max_altitude = MAX_NAV_ALTITUDE;
GPS_conf.nav_speed_max = NAV_SPEED_MAX;
GPS_conf.nav_speed_min = NAV_SPEED_MIN;
GPS_conf.crosstrack_gain = CROSSTRACK_GAIN * 100;
GPS_conf.nav_bank_max = NAV_BANK_MAX;
GPS_conf.rth_altitude = RTH_ALTITUDE;
GPS_conf.fence = FENCE_DISTANCE;
GPS_conf.min_nav_vario = MIN_NAV_VARIO;
//GPS_conf.safe_land_speed = SAFE_LAND_SPEED;
GPS_conf.max_wp_number = getMaxWPNumber();
writeGPSconf();
}
//Stores the WP data in the wp struct in the EEPROM
void storeWP() {
if (mission_step.number >254) return;
mission_step.checksum = calculate_sum((uint8_t*)&mission_step, sizeof(mission_step));
eeprom_write_block((void*)&mission_step, (void*)(PROFILES * sizeof(conf) + sizeof(global_conf) + sizeof(GPS_conf) +(sizeof(mission_step)*mission_step.number)),sizeof(mission_step));
}
// Read the given number of WP from the eeprom, supposedly we can use this during flight.
// Returns true when reading is successfull and returns false if there were some error (for example checksum)
bool recallWP(uint8_t wp_number) {
if (wp_number > 254) return false;
eeprom_read_block((void*)&mission_step, (void*)(PROFILES * sizeof(conf) + sizeof(global_conf)+sizeof(GPS_conf)+(sizeof(mission_step)*wp_number)), sizeof(mission_step));
if(calculate_sum((uint8_t*)&mission_step, sizeof(mission_step)) != mission_step.checksum) return false;
return true;
}
// Returns the maximum WP number that can be stored in the EEPROM, calculated from conf and plog sizes, and the eeprom size
uint8_t getMaxWPNumber() {
uint16_t first_avail = PROFILES*sizeof(conf) + sizeof(global_conf)+sizeof(GPS_conf)+ 1; //Add one byte for addtnl separation
uint16_t last_avail = E2END - PLOG_SIZE - 4; //keep the last 4 bytes intakt
uint16_t wp_num = (last_avail-first_avail)/sizeof(mission_step);
if (wp_num>254) wp_num = 254;
return wp_num;
}
#endif