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