mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-13 11:29:58 +03:00
d262c6e66c
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@86 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
121 lines
3.5 KiB
C++
Executable file
121 lines
3.5 KiB
C++
Executable file
#include <avr/eeprom.h>
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static uint8_t checkNewConf = 150;
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struct eep_entry_t {
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void *var;
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uint8_t size;
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};
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// ************************************************************************************************************
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// EEPROM Layout definition
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// ************************************************************************************************************
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static eep_entry_t eep_entry[] = {
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{&checkNewConf, sizeof(checkNewConf)}
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, {&P8, sizeof(P8)}
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, {&I8, sizeof(I8)}
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, {&D8, sizeof(D8)}
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, {&rcRate8, sizeof(rcRate8)}
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, {&rcExpo8, sizeof(rcExpo8)}
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, {&rollPitchRate, sizeof(rollPitchRate)}
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, {&yawRate, sizeof(yawRate)}
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, {&dynThrPID, sizeof(dynThrPID)}
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, {&accZero, sizeof(accZero)}
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, {&magZero, sizeof(magZero)}
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, {&accTrim, sizeof(accTrim)}
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, {&activate1, sizeof(activate1)}
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, {&activate2, sizeof(activate2)}
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, {&powerTrigger1, sizeof(powerTrigger1)}
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#ifdef FLYING_WING
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, {&wing_left_mid, sizeof(wing_left_mid)}
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, {&wing_right_mid, sizeof(wing_right_mid)}
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#endif
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#ifdef TRI
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, {&tri_yaw_middle, sizeof(tri_yaw_middle)}
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#endif
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};
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#define EEBLOCK_SIZE sizeof(eep_entry)/sizeof(eep_entry_t)
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// ************************************************************************************************************
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void readEEPROM()
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{
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uint8_t i, _address = eep_entry[0].size;
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for (i = 1; i < EEBLOCK_SIZE; i++) {
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eeprom_read_block(eep_entry[i].var, (void *) (_address), eep_entry[i].size);
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_address += eep_entry[i].size;
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}
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#if defined(POWERMETER)
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pAlarm = (uint32_t) powerTrigger1 *(uint32_t) PLEVELSCALE *(uint32_t) PLEVELDIV; // need to cast before multiplying
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#endif
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for (i = 0; i < 7; i++)
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lookupRX[i] = (2500 + rcExpo8 * (i * i - 25)) * i * (int32_t) rcRate8 / 1250;
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#ifdef FLYING_WING
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wing_left_mid = constrain(wing_left_mid, WING_LEFT_MIN, WING_LEFT_MAX); //LEFT
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wing_right_mid = constrain(wing_right_mid, WING_RIGHT_MIN, WING_RIGHT_MAX); //RIGHT
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#endif
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#ifdef TRI
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tri_yaw_middle = constrain(tri_yaw_middle, TRI_YAW_CONSTRAINT_MIN, TRI_YAW_CONSTRAINT_MAX); //REAR
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#endif
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}
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void writeParams()
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{
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uint8_t i, _address = 0;
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for (i = 0; i < EEBLOCK_SIZE; i++) {
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eeprom_write_block(eep_entry[i].var, (void *) (_address), eep_entry[i].size);
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_address += eep_entry[i].size;
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}
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readEEPROM();
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blinkLED(15, 20, 1);
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}
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void checkFirstTime()
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{
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uint8_t test_val;
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eeprom_read_block((void *) &test_val, (void *) (0), sizeof(test_val));
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if (test_val == checkNewConf)
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return;
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P8[ROLL] = 40;
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I8[ROLL] = 30;
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D8[ROLL] = 23;
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P8[PITCH] = 40;
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I8[PITCH] = 30;
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D8[PITCH] = 23;
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P8[YAW] = 85;
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I8[YAW] = 0;
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D8[YAW] = 0;
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P8[PIDALT] = 47;
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I8[PIDALT] = 0;
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D8[PIDALT] = 30;
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P8[PIDGPS] = 10;
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I8[PIDGPS] = 0;
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D8[PIDGPS] = 0;
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P8[PIDVEL] = 0;
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I8[PIDVEL] = 0;
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D8[PIDVEL] = 0;
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P8[PIDLEVEL] = 90;
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I8[PIDLEVEL] = 45;
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D8[PIDLEVEL] = 100;
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P8[PIDMAG] = 40;
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rcRate8 = 45; // = 0.9 in GUI
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rcExpo8 = 65;
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rollPitchRate = 0;
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yawRate = 0;
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dynThrPID = 0;
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for (uint8_t i = 0; i < CHECKBOXITEMS; i++) {
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activate1[i] = 0;
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activate2[i] = 0;
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}
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accTrim[0] = 0;
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accTrim[1] = 0;
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powerTrigger1 = 0;
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#ifdef FLYING_WING
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wing_left_mid = WING_LEFT_MID;
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wing_right_mid = WING_RIGHT_MID;
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#endif
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#ifdef TRI
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tri_yaw_middle = TRI_YAW_MIDDLE;
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#endif
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writeParams();
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}
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