From df7d0d94ecc69fa9aadd2ab90db89b5ef1a74030 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 29 Apr 2010 23:03:56 +0200 Subject: digital/mimot/src/dirty: add copy/pasted firmware for mimot, refs #123 This is a quick and dirty firmware copied from asserv. This will be improved once #124 is closed. --- digital/mimot/src/dirty/eeprom.avr.c | 116 +++++++++++++++++++++++++++++++++++ 1 file changed, 116 insertions(+) create mode 100644 digital/mimot/src/dirty/eeprom.avr.c (limited to 'digital/mimot/src/dirty/eeprom.avr.c') diff --git a/digital/mimot/src/dirty/eeprom.avr.c b/digital/mimot/src/dirty/eeprom.avr.c new file mode 100644 index 00000000..a20032d1 --- /dev/null +++ b/digital/mimot/src/dirty/eeprom.avr.c @@ -0,0 +1,116 @@ +/* eeprom.avr.c - Save parameters to internal EEPROM. */ +/* asserv - Position & speed motor control on AVR. {{{ + * + * Copyright (C) 2005 Nicolas Schodet + * + * 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 "modules/utils/byte.h" + +#include + +#include "counter.h" +#include "pwm.h" +#include "pos.h" +#include "speed.h" + +#define EEPROM_START 0 + +/* WARNING: + * If you change EEPROM format, be sure to change the EEPROM_KEY in header if + * your new format is not compatible with the old one or you will load + * garbages in parameters. */ + +/* Read parameters from eeprom. */ +void +eeprom_read_params (void) +{ + uint8_t *p8 = (uint8_t *) EEPROM_START; + uint16_t *p16; + if (eeprom_read_byte (p8++) != EEPROM_KEY) + return; + speed_aux[0].max = eeprom_read_byte (p8++); + speed_aux[1].max = eeprom_read_byte (p8++); + speed_aux[0].slow = eeprom_read_byte (p8++); + speed_aux[1].slow = eeprom_read_byte (p8++); + pwm_set_reverse (eeprom_read_byte (p8++)); + p16 = (uint16_t *) p8; + speed_aux[0].acc = eeprom_read_word (p16++); + speed_aux[1].acc = eeprom_read_word (p16++); + pos_aux[0].kp = eeprom_read_word (p16++); + pos_aux[1].kp = eeprom_read_word (p16++); + pos_aux[0].ki = eeprom_read_word (p16++); + pos_aux[1].ki = eeprom_read_word (p16++); + pos_aux[0].kd = eeprom_read_word (p16++); + pos_aux[1].kd = eeprom_read_word (p16++); + pos_aux[0].blocked_error_limit = eeprom_read_word (p16++); + pos_aux[0].blocked_speed_limit = eeprom_read_word (p16++); + pos_aux[0].blocked_counter_limit = eeprom_read_word (p16++); + pos_aux[1].blocked_error_limit = eeprom_read_word (p16++); + pos_aux[1].blocked_speed_limit = eeprom_read_word (p16++); + pos_aux[1].blocked_counter_limit = eeprom_read_word (p16++); + pos_e_sat = eeprom_read_word (p16++); + pos_i_sat = eeprom_read_word (p16++); + pos_d_sat = eeprom_read_word (p16++); +} + +/* Write parameters to eeprom. */ +void +eeprom_write_params (void) +{ + uint8_t *p8 = (uint8_t *) EEPROM_START; + uint16_t *p16; + eeprom_write_byte (p8++, EEPROM_KEY); + eeprom_write_byte (p8++, speed_aux[0].max); + eeprom_write_byte (p8++, speed_aux[1].max); + eeprom_write_byte (p8++, speed_aux[0].slow); + eeprom_write_byte (p8++, speed_aux[1].slow); + eeprom_write_byte (p8++, pwm_reverse); + p16 = (uint16_t *) p8; + eeprom_write_word (p16++, speed_aux[0].acc); + eeprom_write_word (p16++, speed_aux[1].acc); + eeprom_write_word (p16++, pos_aux[0].kp); + eeprom_write_word (p16++, pos_aux[1].kp); + eeprom_write_word (p16++, pos_aux[0].ki); + eeprom_write_word (p16++, pos_aux[1].ki); + eeprom_write_word (p16++, pos_aux[0].kd); + eeprom_write_word (p16++, pos_aux[1].kd); + eeprom_write_word (p16++, pos_aux[0].blocked_error_limit); + eeprom_write_word (p16++, pos_aux[0].blocked_speed_limit); + eeprom_write_word (p16++, pos_aux[0].blocked_counter_limit); + eeprom_write_word (p16++, pos_aux[1].blocked_error_limit); + eeprom_write_word (p16++, pos_aux[1].blocked_speed_limit); + eeprom_write_word (p16++, pos_aux[1].blocked_counter_limit); + eeprom_write_word (p16++, pos_e_sat); + eeprom_write_word (p16++, pos_i_sat); + eeprom_write_word (p16++, pos_d_sat); +} + +/* Clear eeprom parameters. */ +void +eeprom_clear_params (void) +{ + uint8_t *p = (uint8_t *) EEPROM_START; + eeprom_write_byte (p, 0xff); +} + -- cgit v1.2.3