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Diffstat (limited to 'n/asserv/src/eeprom.c')
-rw-r--r--n/asserv/src/eeprom.c73
1 files changed, 73 insertions, 0 deletions
diff --git a/n/asserv/src/eeprom.c b/n/asserv/src/eeprom.c
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+/* eeprom.c */
+/* asserv - Position & speed motor control on a ATmega128. {{{
+ *
+ * Copyright (C) 2005 Nicolas Schodet
+ *
+ * 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.
+ *
+ * Contact :
+ * Web: http://perso.efrei.fr/~schodet/
+ * Email: <contact@ni.fr.eu.org>
+ * }}} */
+#include <avr/eeprom.h>
+
+/* +AutoDec */
+/* -AutoDec */
+
+/* Read parameters from eeprom. */
+static void
+eeprom_read_params (void)
+{
+ uint8_t *p8 = 0;
+ uint16_t *p16;
+ if (eeprom_read_byte (p8++) != 0xa5)
+ return;
+ speed_acc_cpt = speed_acc = eeprom_read_byte (p8++);
+ speed_max = eeprom_read_byte (p8++);
+ pwm_dir = eeprom_read_byte (p8++);
+ p16 = (uint16_t *) p8;
+ speed_kp = eeprom_read_word (p16++);
+ speed_ki = eeprom_read_word (p16++);
+ speed_kd = eeprom_read_word (p16++);
+ speed_int_max = eeprom_read_word (p16++);
+ postrack_set_footing (eeprom_read_word (p16++));
+}
+
+/* Write parameters to eeprom. */
+static void
+eeprom_write_params (void)
+{
+ uint8_t *p8 = 0;
+ uint16_t *p16;
+ eeprom_write_byte (p8++, 0xa5);
+ eeprom_write_byte (p8++, speed_acc_cpt);
+ eeprom_write_byte (p8++, speed_max);
+ eeprom_write_byte (p8++, pwm_dir);
+ p16 = (uint16_t *) p8;
+ eeprom_write_word (p16++, speed_kp);
+ eeprom_write_word (p16++, speed_ki);
+ eeprom_write_word (p16++, speed_kd);
+ eeprom_write_word (p16++, speed_int_max);
+ eeprom_write_word (p16++, postrack_footing);
+}
+
+/* Clear eeprom parameters. */
+static void
+eeprom_clear_params (void)
+{
+ uint8_t *p = 0;
+ eeprom_write_byte (p, 0xff);
+}
+