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Diffstat (limited to 'digital/mimot/src/dirty/eeprom.avr.c')
-rw-r--r--digital/mimot/src/dirty/eeprom.avr.c116
1 files changed, 116 insertions, 0 deletions
diff --git a/digital/mimot/src/dirty/eeprom.avr.c b/digital/mimot/src/dirty/eeprom.avr.c
new file mode 100644
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+++ b/digital/mimot/src/dirty/eeprom.avr.c
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+/* 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 <avr/eeprom.h>
+
+#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);
+}
+