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+/* eeprom.avr.c */
+/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+ *
+ * Copyright (C) 2008 Dufour Jérémy
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * 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 2 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, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+#include "common.h"
+#include "eeprom.h"
+
+#include "servo.h" /* SERVO_NUMBER */
+#include "trap.h" /* trap_high_time_pos */
+#include "sharp.h" /* sharp_threshold */
+
+#include <avr/eeprom.h> /* eeprom_{read,write}_byte */
+
+/**
+ * @defgroup EepromPrivate EEPROM module private variables and functions
+ * declarations
+ * @{
+ */
+
+/**
+ * What is the address, in the EEPROM, where are stored the parameters values?
+ */
+#define EEPROM_PARAM_START 0
+
+/**
+ * Current version of the parameters organization.
+ */
+#define EEPROM_PARAM_KEY 0x03
+
+/** @} */
+
+/* Load parameters from the EEPROM. */
+void
+eeprom_load_param ()
+{
+ uint8_t compt;
+ uint16_t *ptr16;
+
+ /* The parameters start at the given address */
+ uint8_t *ptr8 = (uint8_t *) EEPROM_PARAM_START;
+ /* Check if the key/version is correct */
+ if (eeprom_read_byte (ptr8++) != EEPROM_PARAM_KEY)
+ /* Error, stop here */
+ return;
+
+ /* Load trap module data */
+ /* Extreme position of the servos motor (high time value of the PWM) */
+ for (compt = 0; compt < SERVO_NUMBER; compt++)
+ {
+ trap_high_time_pos[0][compt] = eeprom_read_byte(ptr8++);
+ trap_high_time_pos[1][compt] = eeprom_read_byte(ptr8++);
+ }
+
+ /* Load sharp module data */
+ ptr16 = (uint16_t *) ptr8;
+ /* Threshold values, high and low */
+ for (compt = 0; compt < SHARP_NUMBER; compt++)
+ {
+ sharp_threshold[compt][0] = eeprom_read_word (ptr16++);
+ sharp_threshold[compt][1] = eeprom_read_word (ptr16++);
+ }
+}
+
+/* Store parameters in the EEPROM. */
+void
+eeprom_save_param ()
+{
+ uint8_t compt;
+ uint16_t *ptr16;
+
+ /* The parameters start at the given address */
+ uint8_t *ptr8 = (uint8_t *) EEPROM_PARAM_START;
+ /* Store the key */
+ eeprom_write_byte (ptr8++, EEPROM_PARAM_KEY);
+
+ /* Store trap module data */
+ /* Extreme position of the servos motor (high time value of the PWM) */
+ for (compt = 0; compt < SERVO_NUMBER; compt++)
+ {
+ eeprom_write_byte (ptr8++, trap_high_time_pos[0][compt]);
+ eeprom_write_byte (ptr8++, trap_high_time_pos[1][compt]);
+ }
+
+ /* Store sharp module data */
+ ptr16 = (uint16_t *) ptr8;
+ /* Threshold values, high and low */
+ for (compt = 0; compt < SHARP_NUMBER; compt++)
+ {
+ eeprom_write_word (ptr16++, sharp_threshold[compt][0]);
+ eeprom_write_word (ptr16++, sharp_threshold[compt][1]);
+ }
+}
+
+/* Clear parameters in the EEPROM by invalidating the key. */
+void
+eeprom_clear_param ()
+{
+ /* Write an invalid key */
+ eeprom_write_byte ((uint8_t *) EEPROM_PARAM_START, 0xFF);
+}