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imported STM32 multiwii port into baseflight dir

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git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@86 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
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timecop 2012-02-16 09:39:58 +00:00
commit d262c6e66c
128 changed files with 71076 additions and 0 deletions
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121
mw-svn/EEPROM.cpp Executable file
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#include <avr/eeprom.h>
static uint8_t checkNewConf = 150;
struct eep_entry_t {
void *var;
uint8_t size;
};
// ************************************************************************************************************
// EEPROM Layout definition
// ************************************************************************************************************
static eep_entry_t eep_entry[] = {
{&checkNewConf, sizeof(checkNewConf)}
, {&P8, sizeof(P8)}
, {&I8, sizeof(I8)}
, {&D8, sizeof(D8)}
, {&rcRate8, sizeof(rcRate8)}
, {&rcExpo8, sizeof(rcExpo8)}
, {&rollPitchRate, sizeof(rollPitchRate)}
, {&yawRate, sizeof(yawRate)}
, {&dynThrPID, sizeof(dynThrPID)}
, {&accZero, sizeof(accZero)}
, {&magZero, sizeof(magZero)}
, {&accTrim, sizeof(accTrim)}
, {&activate1, sizeof(activate1)}
, {&activate2, sizeof(activate2)}
, {&powerTrigger1, sizeof(powerTrigger1)}
#ifdef FLYING_WING
, {&wing_left_mid, sizeof(wing_left_mid)}
, {&wing_right_mid, sizeof(wing_right_mid)}
#endif
#ifdef TRI
, {&tri_yaw_middle, sizeof(tri_yaw_middle)}
#endif
};
#define EEBLOCK_SIZE sizeof(eep_entry)/sizeof(eep_entry_t)
// ************************************************************************************************************
void readEEPROM()
{
uint8_t i, _address = eep_entry[0].size;
for (i = 1; i < EEBLOCK_SIZE; i++) {
eeprom_read_block(eep_entry[i].var, (void *) (_address), eep_entry[i].size);
_address += eep_entry[i].size;
}
#if defined(POWERMETER)
pAlarm = (uint32_t) powerTrigger1 *(uint32_t) PLEVELSCALE *(uint32_t) PLEVELDIV; // need to cast before multiplying
#endif
for (i = 0; i < 7; i++)
lookupRX[i] = (2500 + rcExpo8 * (i * i - 25)) * i * (int32_t) rcRate8 / 1250;
#ifdef FLYING_WING
wing_left_mid = constrain(wing_left_mid, WING_LEFT_MIN, WING_LEFT_MAX); //LEFT
wing_right_mid = constrain(wing_right_mid, WING_RIGHT_MIN, WING_RIGHT_MAX); //RIGHT
#endif
#ifdef TRI
tri_yaw_middle = constrain(tri_yaw_middle, TRI_YAW_CONSTRAINT_MIN, TRI_YAW_CONSTRAINT_MAX); //REAR
#endif
}
void writeParams()
{
uint8_t i, _address = 0;
for (i = 0; i < EEBLOCK_SIZE; i++) {
eeprom_write_block(eep_entry[i].var, (void *) (_address), eep_entry[i].size);
_address += eep_entry[i].size;
}
readEEPROM();
blinkLED(15, 20, 1);
}
void checkFirstTime()
{
uint8_t test_val;
eeprom_read_block((void *) &test_val, (void *) (0), sizeof(test_val));
if (test_val == checkNewConf)
return;
P8[ROLL] = 40;
I8[ROLL] = 30;
D8[ROLL] = 23;
P8[PITCH] = 40;
I8[PITCH] = 30;
D8[PITCH] = 23;
P8[YAW] = 85;
I8[YAW] = 0;
D8[YAW] = 0;
P8[PIDALT] = 47;
I8[PIDALT] = 0;
D8[PIDALT] = 30;
P8[PIDGPS] = 10;
I8[PIDGPS] = 0;
D8[PIDGPS] = 0;
P8[PIDVEL] = 0;
I8[PIDVEL] = 0;
D8[PIDVEL] = 0;
P8[PIDLEVEL] = 90;
I8[PIDLEVEL] = 45;
D8[PIDLEVEL] = 100;
P8[PIDMAG] = 40;
rcRate8 = 45; // = 0.9 in GUI
rcExpo8 = 65;
rollPitchRate = 0;
yawRate = 0;
dynThrPID = 0;
for (uint8_t i = 0; i < CHECKBOXITEMS; i++) {
activate1[i] = 0;
activate2[i] = 0;
}
accTrim[0] = 0;
accTrim[1] = 0;
powerTrigger1 = 0;
#ifdef FLYING_WING
wing_left_mid = WING_LEFT_MID;
wing_right_mid = WING_RIGHT_MID;
#endif
#ifdef TRI
tri_yaw_middle = TRI_YAW_MIDDLE;
#endif
writeParams();
}