/* eeprom.c */ /* asserv - Position & speed motor control on AVR. {{{ * * Copyright (C) 2005 Nicolas Schodet * * Robot APB Team/Efrei 2006. * Web: http://assos.efrei.fr/robot/ * Email: robot AT efrei DOT fr * * 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 /* Change the eeprom key each time you change eeprom format. */ #define EEPROM_KEY 0x45 #define EEPROM_START 256 /* +AutoDec */ /* -AutoDec */ /* Read parameters from eeprom. */ static void eeprom_read_params (void) { uint8_t *p8 = (uint8_t *) EEPROM_START; uint16_t *p16; if (eeprom_read_byte (p8++) != EEPROM_KEY) return; speed_theta_max = eeprom_read_byte (p8++); speed_alpha_max = eeprom_read_byte (p8++); pwm_dir = eeprom_read_byte (p8++); p16 = (uint16_t *) p8; postrack_set_footing (eeprom_read_word (p16++)); speed_theta_acc = eeprom_read_word (p16++); speed_alpha_acc = eeprom_read_word (p16++); pos_theta_kp = eeprom_read_word (p16++); pos_alpha_kp = eeprom_read_word (p16++); pos_theta_ki = eeprom_read_word (p16++); pos_alpha_ki = eeprom_read_word (p16++); pos_theta_kd = eeprom_read_word (p16++); pos_alpha_kd = eeprom_read_word (p16++); pos_e_sat = eeprom_read_word (p16++); pos_int_sat = eeprom_read_word (p16++); } /* Write parameters to eeprom. */ static 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_theta_max); eeprom_write_byte (p8++, speed_alpha_max); eeprom_write_byte (p8++, pwm_dir); p16 = (uint16_t *) p8; eeprom_write_word (p16++, postrack_footing); eeprom_write_word (p16++, speed_theta_acc); eeprom_write_word (p16++, speed_alpha_acc); eeprom_write_word (p16++, pos_theta_kp); eeprom_write_word (p16++, pos_alpha_kp); eeprom_write_word (p16++, pos_theta_ki); eeprom_write_word (p16++, pos_alpha_ki); eeprom_write_word (p16++, pos_theta_kd); eeprom_write_word (p16++, pos_alpha_kd); eeprom_write_word (p16++, pos_e_sat); eeprom_write_word (p16++, pos_int_sat); } /* Clear eeprom parameters. */ static void eeprom_clear_params (void) { uint8_t *p = (uint8_t *) EEPROM_START; eeprom_write_byte (p, 0xff); }