mirror of https://github.com/ArduPilot/ardupilot
220 lines
9.2 KiB
Plaintext
220 lines
9.2 KiB
Plaintext
/*
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www.ArduCopter.com - www.DIYDrones.com
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Copyright (c) 2010. All rights reserved.
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An Open Source Arduino based multicopter.
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File : EEPROM.pde
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Version : v1.0, Aug 27, 2010
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Author(s): ArduCopter Team
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Ted Carancho (aeroquad), Jose Julio, Jordi Muñoz,
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Jani Hirvinen, Ken McEwans, Roberto Navoni,
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Sandro Benigno, Chris Anderson
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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* ************************************************************** *
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ChangeLog:
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* ************************************************************** *
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TODO:
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* ************************************************************** */
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// Utilities for writing and reading from the EEPROM
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float readEEPROM(int address) {
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union floatStore {
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byte floatByte[4];
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float floatVal;
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} floatOut;
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for (int i = 0; i < 4; i++)
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floatOut.floatByte[i] = EEPROM.read(address + i);
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return floatOut.floatVal;
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}
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void writeEEPROM(float value, int address) {
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union floatStore {
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byte floatByte[4];
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float floatVal;
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} floatIn;
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floatIn.floatVal = value;
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for (int i = 0; i < 4; i++)
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EEPROM.write(address + i, floatIn.floatByte[i]);
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}
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void readUserConfig() {
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// eeprom_counter = readEEPROM(eeprom_counter_ADR);
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// eeprom_checker = readEEPROM(eeprom_checker_ADR);
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KP_QUAD_ROLL = readEEPROM(KP_QUAD_ROLL_ADR);
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KI_QUAD_ROLL = readEEPROM(KI_QUAD_ROLL_ADR);
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STABLE_MODE_KP_RATE_ROLL = readEEPROM(STABLE_MODE_KP_RATE_ROLL_ADR);
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KP_QUAD_PITCH = readEEPROM(KP_QUAD_PITCH_ADR);
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KI_QUAD_PITCH = readEEPROM(KI_QUAD_PITCH_ADR);
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STABLE_MODE_KP_RATE_PITCH = readEEPROM(STABLE_MODE_KP_RATE_PITCH_ADR);
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KP_QUAD_YAW = readEEPROM(KP_QUAD_YAW_ADR);
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KI_QUAD_YAW = readEEPROM(KI_QUAD_YAW_ADR);
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STABLE_MODE_KP_RATE_YAW = readEEPROM(STABLE_MODE_KP_RATE_YAW_ADR);
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STABLE_MODE_KP_RATE = readEEPROM(STABLE_MODE_KP_RATE_ADR); // NOT USED NOW
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KP_GPS_ROLL = readEEPROM(KP_GPS_ROLL_ADR);
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KI_GPS_ROLL = readEEPROM(KI_GPS_ROLL_ADR);
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KD_GPS_ROLL = readEEPROM(KD_GPS_ROLL_ADR);
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KP_GPS_PITCH = readEEPROM(KP_GPS_PITCH_ADR);
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KI_GPS_PITCH = readEEPROM(KI_GPS_PITCH_ADR);
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KD_GPS_PITCH = readEEPROM(KD_GPS_PITCH_ADR);
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GPS_MAX_ANGLE = readEEPROM(GPS_MAX_ANGLE_ADR);
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KP_ALTITUDE = readEEPROM(KP_ALTITUDE_ADR);
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KI_ALTITUDE = readEEPROM(KI_ALTITUDE_ADR);
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KD_ALTITUDE = readEEPROM(KD_ALTITUDE_ADR);
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acc_offset_x = readEEPROM(acc_offset_x_ADR);
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acc_offset_y = readEEPROM(acc_offset_y_ADR);
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acc_offset_z = readEEPROM(acc_offset_z_ADR);
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gyro_offset_roll = readEEPROM(gyro_offset_roll_ADR);
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gyro_offset_pitch = readEEPROM(gyro_offset_pitch_ADR);
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gyro_offset_yaw = readEEPROM(gyro_offset_yaw_ADR);
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Kp_ROLLPITCH = readEEPROM(Kp_ROLLPITCH_ADR);
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Ki_ROLLPITCH = readEEPROM(Ki_ROLLPITCH_ADR);
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Kp_YAW = readEEPROM(Kp_YAW_ADR);
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Ki_YAW = readEEPROM(Ki_YAW_ADR);
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GEOG_CORRECTION_FACTOR = readEEPROM(GEOG_CORRECTION_FACTOR_ADR);
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MAGNETOMETER = readEEPROM(MAGNETOMETER_ADR);
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Kp_RateRoll = readEEPROM(KP_RATEROLL_ADR);
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Ki_RateRoll = readEEPROM(KI_RATEROLL_ADR);
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Kd_RateRoll = readEEPROM(KD_RATEROLL_ADR);
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Kp_RatePitch = readEEPROM(KP_RATEPITCH_ADR);
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Ki_RatePitch = readEEPROM(KI_RATEPITCH_ADR);
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Kd_RatePitch = readEEPROM(KD_RATEPITCH_ADR);
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Kp_RateYaw = readEEPROM(KP_RATEYAW_ADR);
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Ki_RateYaw = readEEPROM(KI_RATEYAW_ADR);
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Kd_RateYaw = readEEPROM(KD_RATEYAW_ADR);
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xmitFactor = readEEPROM(XMITFACTOR_ADR);
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roll_mid = readEEPROM(CHROLL_MID);
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pitch_mid = readEEPROM(CHPITCH_MID);
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yaw_mid = readEEPROM(CHYAW_MID);
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ch_roll_slope = readEEPROM(ch_roll_slope_ADR);
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ch_pitch_slope = readEEPROM(ch_pitch_slope_ADR);
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ch_throttle_slope = readEEPROM(ch_throttle_slope_ADR);
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ch_yaw_slope = readEEPROM(ch_yaw_slope_ADR);
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ch_aux_slope = readEEPROM(ch_aux_slope_ADR);
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ch_aux2_slope = readEEPROM(ch_aux2_slope_ADR);
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ch_roll_offset = readEEPROM(ch_roll_offset_ADR);
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ch_pitch_offset = readEEPROM(ch_pitch_offset_ADR);
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ch_throttle_offset = readEEPROM(ch_throttle_offset_ADR);
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ch_yaw_offset = readEEPROM(ch_yaw_offset_ADR);
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ch_aux_offset = readEEPROM(ch_aux_offset_ADR);
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ch_aux2_offset = readEEPROM(ch_aux2_offset_ADR);
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cam_mode = readEEPROM(cam_mode_ADR);
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mag_orientation = readEEPROM(mag_orientation_ADR);
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mag_declination = readEEPROM(mag_declination_ADR);
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mag_offset_x = readEEPROM(mag_offset_x_ADR);
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mag_offset_y = readEEPROM(mag_offset_y_ADR);
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mag_offset_z = readEEPROM(mag_offset_z_ADR);
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MIN_THROTTLE = readEEPROM(MIN_THROTTLE_ADR);
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KP_RF_ROLL = readEEPROM(KP_RF_ROLL_ADR);
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KD_RF_ROLL = readEEPROM(KD_RF_ROLL_ADR);
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KI_RF_ROLL = readEEPROM(KI_RF_ROLL_ADR);
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KP_RF_PITCH = readEEPROM(KP_RF_PITCH_ADR);
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KD_RF_PITCH = readEEPROM(KD_RF_PITCH_ADR);
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KI_RF_PITCH = readEEPROM(KI_RF_PITCH_ADR);
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RF_MAX_ANGLE = readEEPROM(RF_MAX_ANGLE_ADR);
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RF_SAFETY_ZONE = readEEPROM(RF_SAFETY_ZONE_ADR);
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KP_SONAR_ALTITUDE = readEEPROM(KP_SONAR_ALTITUDE_ADR);
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KI_SONAR_ALTITUDE = readEEPROM(KI_SONAR_ALTITUDE_ADR);
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KD_SONAR_ALTITUDE = readEEPROM(KD_SONAR_ALTITUDE_ADR);
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}
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void writeUserConfig() {
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// eeprom_counter = readEEPROM(eeprom_counter_ADR);
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// if(eeprom_counter > 0) eeprom_counter = 0;
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// eeprom_counter++;
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// writeEEPROM(eeprom_counter, eeprom_counter_ADR);
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writeEEPROM(KP_QUAD_ROLL, KP_QUAD_ROLL_ADR);
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writeEEPROM(KI_QUAD_ROLL, KI_QUAD_ROLL_ADR);
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writeEEPROM(STABLE_MODE_KP_RATE_ROLL, STABLE_MODE_KP_RATE_ROLL_ADR);
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writeEEPROM(KP_QUAD_PITCH, KP_QUAD_PITCH_ADR);
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writeEEPROM(KI_QUAD_PITCH, KI_QUAD_PITCH_ADR);
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writeEEPROM(STABLE_MODE_KP_RATE_PITCH, STABLE_MODE_KP_RATE_PITCH_ADR);
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writeEEPROM(KP_QUAD_YAW, KP_QUAD_YAW_ADR);
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writeEEPROM(KI_QUAD_YAW, KI_QUAD_YAW_ADR);
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writeEEPROM(STABLE_MODE_KP_RATE_YAW, STABLE_MODE_KP_RATE_YAW_ADR);
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writeEEPROM(STABLE_MODE_KP_RATE, STABLE_MODE_KP_RATE_ADR); // NOT USED NOW
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writeEEPROM(KP_GPS_ROLL, KP_GPS_ROLL_ADR);
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writeEEPROM(KD_GPS_ROLL, KD_GPS_ROLL_ADR);
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writeEEPROM(KI_GPS_ROLL, KI_GPS_ROLL_ADR);
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writeEEPROM(KP_GPS_PITCH, KP_GPS_PITCH_ADR);
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writeEEPROM(KD_GPS_PITCH, KD_GPS_PITCH_ADR);
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writeEEPROM(KI_GPS_PITCH, KI_GPS_PITCH_ADR);
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writeEEPROM(GPS_MAX_ANGLE, GPS_MAX_ANGLE_ADR);
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writeEEPROM(KP_ALTITUDE, KP_ALTITUDE_ADR);
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writeEEPROM(KD_ALTITUDE, KD_ALTITUDE_ADR);
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writeEEPROM(KI_ALTITUDE, KI_ALTITUDE_ADR);
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writeEEPROM(acc_offset_x, acc_offset_x_ADR);
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writeEEPROM(acc_offset_y, acc_offset_y_ADR);
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writeEEPROM(acc_offset_z, acc_offset_z_ADR);
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writeEEPROM(gyro_offset_roll, gyro_offset_roll_ADR);
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writeEEPROM(gyro_offset_pitch, gyro_offset_pitch_ADR);
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writeEEPROM(gyro_offset_yaw, gyro_offset_yaw_ADR);
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writeEEPROM(Kp_ROLLPITCH, Kp_ROLLPITCH_ADR);
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writeEEPROM(Ki_ROLLPITCH, Ki_ROLLPITCH_ADR);
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writeEEPROM(Kp_YAW, Kp_YAW_ADR);
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writeEEPROM(Ki_YAW, Ki_YAW_ADR);
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writeEEPROM(GEOG_CORRECTION_FACTOR, GEOG_CORRECTION_FACTOR_ADR);
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writeEEPROM(MAGNETOMETER, MAGNETOMETER_ADR);
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writeEEPROM(Kp_RateRoll, KP_RATEROLL_ADR);
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writeEEPROM(Ki_RateRoll, KI_RATEROLL_ADR);
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writeEEPROM(Kd_RateRoll, KD_RATEROLL_ADR);
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writeEEPROM(Kp_RatePitch, KP_RATEPITCH_ADR);
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writeEEPROM(Ki_RatePitch, KI_RATEPITCH_ADR);
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writeEEPROM(Kd_RatePitch, KD_RATEPITCH_ADR);
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writeEEPROM(Kp_RateYaw, KP_RATEYAW_ADR);
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writeEEPROM(Ki_RateYaw, KI_RATEYAW_ADR);
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writeEEPROM(Kd_RateYaw, KD_RATEYAW_ADR);
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writeEEPROM(xmitFactor, XMITFACTOR_ADR);
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writeEEPROM(roll_mid, CHROLL_MID);
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writeEEPROM(pitch_mid, CHPITCH_MID);
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writeEEPROM(yaw_mid, CHYAW_MID);
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writeEEPROM(ch_roll_slope, ch_roll_slope_ADR);
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writeEEPROM(ch_pitch_slope, ch_pitch_slope_ADR);
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writeEEPROM(ch_throttle_slope, ch_throttle_slope_ADR);
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writeEEPROM(ch_yaw_slope, ch_yaw_slope_ADR);
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writeEEPROM(ch_aux_slope, ch_aux_slope_ADR);
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writeEEPROM(ch_aux2_slope, ch_aux2_slope_ADR);
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writeEEPROM(ch_roll_offset, ch_roll_offset_ADR);
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writeEEPROM(ch_pitch_offset, ch_pitch_offset_ADR);
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writeEEPROM(ch_throttle_offset, ch_throttle_offset_ADR);
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writeEEPROM(ch_yaw_offset, ch_yaw_offset_ADR);
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writeEEPROM(ch_aux_offset, ch_aux_offset_ADR);
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writeEEPROM(ch_aux2_offset, ch_aux2_offset_ADR);
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writeEEPROM(cam_mode, cam_mode_ADR);
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writeEEPROM(mag_orientation, mag_orientation_ADR);
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writeEEPROM(mag_declination, mag_declination_ADR);
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writeEEPROM(mag_offset_x, mag_offset_x_ADR);
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writeEEPROM(mag_offset_y, mag_offset_y_ADR);
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writeEEPROM(mag_offset_z, mag_offset_z_ADR);
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writeEEPROM(MIN_THROTTLE, MIN_THROTTLE_ADR);
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writeEEPROM(KP_RF_ROLL,KP_RF_ROLL_ADR);
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writeEEPROM(KI_RF_ROLL,KI_RF_ROLL_ADR);
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writeEEPROM(KD_RF_ROLL,KD_RF_ROLL_ADR);
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writeEEPROM(KP_RF_PITCH,KP_RF_PITCH_ADR);
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writeEEPROM(KI_RF_PITCH,KI_RF_PITCH_ADR);
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writeEEPROM(KD_RF_PITCH,KD_RF_PITCH_ADR);
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writeEEPROM(RF_MAX_ANGLE,RF_MAX_ANGLE_ADR);
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writeEEPROM(RF_SAFETY_ZONE,RF_SAFETY_ZONE_ADR);
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writeEEPROM(KP_SONAR_ALTITUDE,KP_SONAR_ALTITUDE_ADR);
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writeEEPROM(KI_SONAR_ALTITUDE,KI_SONAR_ALTITUDE_ADR);
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writeEEPROM(KD_SONAR_ALTITUDE,KD_SONAR_ALTITUDE_ADR);
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}
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