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config.c
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/*
This file is part of Trunetcopter.
Trunetcopter 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 3 of the License, or
(at your option) any later version.
Trunetcopter 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 Trunetcopter. If not, see <http://www.gnu.org/licenses/>.
*/
#include "config.h"
//#include "filer.h"
//#include "notice.h"
//#include "supervisor.h"
//#include "util.h"
#include "24aa/eeprom.h"
#include "eeprom_conf.h"
#include CONFIG_HEADER
#include <string.h>
//#include <stdio.h>
#include <math.h>
float p[CONFIG_NUM_PARAMS] __attribute__((section(".ccm")));
EepromFileStream EepromFile;
static uint8_t eeprom_buf[EEPROM_TX_DEPTH];
static const I2CEepromFileConfig eeprom_settings_cfg = {
&EEPROM_I2CD,
EEPROM_SETTINGS_START,
EEPROM_SETTINGS_END,
EEPROM_SIZE,
EEPROM_PAGE_SIZE,
EEPROM_I2C_ADDR,
MS2ST(EEPROM_WRITE_TIME_MS),
eeprom_buf,
};
const char *configParameterStrings[] = {
"CONFIG_VERSION",
"SYSTEM_ID",
"RADIO_TYPE",
"RADIO_THRO_CH",
"RADIO_ROLL_CH",
"RADIO_PITC_CH",
"RADIO_RUDD_CH",
"RADIO_GEAR_CH",
"RADIO_FLAP_CH",
"RADIO_AUX2_CH",
"RADIO_AUX3_CH",
"RADIO_AUX4_CH",
"RADIO_AUX5_CH",
"RADIO_AUX6_CH",
"RADIO_AUX7_CH",
"MOT_FRAME",
"MOT_START",
"MOT_MIN",
"MOT_MAX",
"MOT_HOV_THROT",
"MOT_EXP_FACT",
"MOT_EXP_MIN",
"MOT_EXP_MAX",
"MOT_PWRD_01_T",
"MOT_PWRD_01_P",
"MOT_PWRD_01_R",
"MOT_PWRD_01_Y",
"MOT_PWRD_02_T",
"MOT_PWRD_02_P",
"MOT_PWRD_02_R",
"MOT_PWRD_02_Y",
"MOT_PWRD_03_T",
"MOT_PWRD_03_P",
"MOT_PWRD_03_R",
"MOT_PWRD_03_Y",
"MOT_PWRD_04_T",
"MOT_PWRD_04_P",
"MOT_PWRD_04_R",
"MOT_PWRD_04_Y",
"MOT_PWRD_05_T",
"MOT_PWRD_05_P",
"MOT_PWRD_05_R",
"MOT_PWRD_05_Y",
"MOT_PWRD_06_T",
"MOT_PWRD_06_P",
"MOT_PWRD_06_R",
"MOT_PWRD_06_Y",
"MOT_PWRD_07_T",
"MOT_PWRD_07_P",
"MOT_PWRD_07_R",
"MOT_PWRD_07_Y",
"MOT_PWRD_08_T",
"MOT_PWRD_08_P",
"MOT_PWRD_08_R",
"MOT_PWRD_08_Y",
"MOT_PWRD_09_T",
"MOT_PWRD_09_P",
"MOT_PWRD_09_R",
"MOT_PWRD_09_Y",
"MOT_PWRD_10_T",
"MOT_PWRD_10_P",
"MOT_PWRD_10_R",
"MOT_PWRD_10_Y",
"MOT_PWRD_11_T",
"MOT_PWRD_11_P",
"MOT_PWRD_11_R",
"MOT_PWRD_11_Y",
"MOT_PWRD_12_T",
"MOT_PWRD_12_P",
"MOT_PWRD_12_R",
"MOT_PWRD_12_Y",
"MOT_PWRD_13_T",
"MOT_PWRD_13_P",
"MOT_PWRD_13_R",
"MOT_PWRD_13_Y",
"MOT_PWRD_14_T",
"MOT_PWRD_14_P",
"MOT_PWRD_14_R",
"MOT_PWRD_14_Y"
};
void configLoadDefault(void) {
p[CONFIG_VERSION] = DEFAULT_CONFIG_VERSION;
p[SYSTEM_ID] = DEFAULT_SYSTEM_ID;
p[RADIO_TYPE] = DEFAULT_RADIO_TYPE;
p[RADIO_THRO_CH] = DEFAULT_RADIO_THRO_CH;
p[RADIO_ROLL_CH] = DEFAULT_RADIO_ROLL_CH;
p[RADIO_PITC_CH] = DEFAULT_RADIO_PITC_CH;
p[RADIO_RUDD_CH] = DEFAULT_RADIO_RUDD_CH;
p[RADIO_GEAR_CH] = DEFAULT_RADIO_GEAR_CH;
p[RADIO_FLAP_CH] = DEFAULT_RADIO_FLAP_CH;
p[RADIO_AUX2_CH] = DEFAULT_RADIO_AUX2_CH;
p[RADIO_AUX3_CH] = DEFAULT_RADIO_AUX3_CH;
p[RADIO_AUX4_CH] = DEFAULT_RADIO_AUX4_CH;
p[RADIO_AUX5_CH] = DEFAULT_RADIO_AUX5_CH;
p[RADIO_AUX6_CH] = DEFAULT_RADIO_AUX6_CH;
p[RADIO_AUX7_CH] = DEFAULT_RADIO_AUX7_CH;
p[RADIO_TYPE] = DEFAULT_RADIO_TYPE;
p[RADIO_THRO_CH] = DEFAULT_RADIO_THRO_CH;
p[RADIO_ROLL_CH] = DEFAULT_RADIO_ROLL_CH;
p[RADIO_PITC_CH] = DEFAULT_RADIO_PITC_CH;
p[RADIO_RUDD_CH] = DEFAULT_RADIO_RUDD_CH;
p[RADIO_GEAR_CH] = DEFAULT_RADIO_GEAR_CH;
p[RADIO_FLAP_CH] = DEFAULT_RADIO_FLAP_CH;
p[RADIO_AUX2_CH] = DEFAULT_RADIO_AUX2_CH;
p[RADIO_AUX3_CH] = DEFAULT_RADIO_AUX3_CH;
p[RADIO_AUX4_CH] = DEFAULT_RADIO_AUX4_CH;
p[RADIO_AUX5_CH] = DEFAULT_RADIO_AUX5_CH;
p[RADIO_AUX6_CH] = DEFAULT_RADIO_AUX6_CH;
p[RADIO_AUX7_CH] = DEFAULT_RADIO_AUX7_CH;
p[PPM_SCALER] = DEFAULT_PPM_SCALER;
p[PPM_THROT_LOW] = DEFAULT_PPM_THROT_LOW;
p[PPM_CHAN_MID] = DEFAULT_PPM_CHAN_MID;
p[CTRL_PID_TYPE] = DEFAULT_CTRL_PID_TYPE;
p[CTRL_FACT_THRO] = DEFAULT_CTRL_FACT_THRO;
p[CTRL_FACT_PITC] = DEFAULT_CTRL_FACT_PITC;
p[CTRL_FACT_ROLL] = DEFAULT_CTRL_FACT_ROLL;
p[CTRL_FACT_RUDD] = DEFAULT_CTRL_FACT_RUDD;
p[CTRL_DEAD_BAND] = DEFAULT_CTRL_DEAD_BAND;
p[CTRL_DBAND_THRO] = DEFAULT_CTRL_DBAND_THRO;
p[CTRL_MIN_THROT] = DEFAULT_CTRL_MIN_THROT;
p[CTRL_MAX] = DEFAULT_CTRL_MAX;
p[CTRL_NAV_YAW_RT] = DEFAULT_CTRL_NAV_YAW_RT;
p[CTRL_TLT_RTE_P] = DEFAULT_CTRL_TLT_RTE_P;
p[CTRL_TLT_RTE_I] = DEFAULT_CTRL_TLT_RTE_I;
p[CTRL_TLT_RTE_D] = DEFAULT_CTRL_TLT_RTE_D;
p[CTRL_TLT_RTE_F] = DEFAULT_CTRL_TLT_RTE_F;
p[CTRL_TLT_RTE_PM] = DEFAULT_CTRL_TLT_RTE_PM;
p[CTRL_TLT_RTE_IM] = DEFAULT_CTRL_TLT_RTE_IM;
p[CTRL_TLT_RTE_DM] = DEFAULT_CTRL_TLT_RTE_DM;
p[CTRL_TLT_RTE_OM] = DEFAULT_CTRL_TLT_RTE_OM;
p[CTRL_YAW_RTE_P] = DEFAULT_CTRL_YAW_RTE_P;
p[CTRL_YAW_RTE_I] = DEFAULT_CTRL_YAW_RTE_I;
p[CTRL_YAW_RTE_D] = DEFAULT_CTRL_YAW_RTE_D;
p[CTRL_YAW_RTE_F] = DEFAULT_CTRL_YAW_RTE_F;
p[CTRL_YAW_RTE_PM] = DEFAULT_CTRL_YAW_RTE_PM;
p[CTRL_YAW_RTE_IM] = DEFAULT_CTRL_YAW_RTE_IM;
p[CTRL_YAW_RTE_DM] = DEFAULT_CTRL_YAW_RTE_DM;
p[CTRL_YAW_RTE_OM] = DEFAULT_CTRL_YAW_RTE_OM;
p[CTRL_TLT_ANG_P] = DEFAULT_CTRL_TLT_ANG_P;
p[CTRL_TLT_ANG_I] = DEFAULT_CTRL_TLT_ANG_I;
p[CTRL_TLT_ANG_D] = DEFAULT_CTRL_TLT_ANG_D;
p[CTRL_TLT_ANG_F] = DEFAULT_CTRL_TLT_ANG_F;
p[CTRL_TLT_ANG_PM] = DEFAULT_CTRL_TLT_ANG_PM;
p[CTRL_TLT_ANG_IM] = DEFAULT_CTRL_TLT_ANG_IM;
p[CTRL_TLT_ANG_DM] = DEFAULT_CTRL_TLT_ANG_DM;
p[CTRL_TLT_ANG_OM] = DEFAULT_CTRL_TLT_ANG_OM;
p[CTRL_YAW_ANG_P] = DEFAULT_CTRL_YAW_ANG_P;
p[CTRL_YAW_ANG_I] = DEFAULT_CTRL_YAW_ANG_I;
p[CTRL_YAW_ANG_D] = DEFAULT_CTRL_YAW_ANG_D;
p[CTRL_YAW_ANG_F] = DEFAULT_CTRL_YAW_ANG_F;
p[CTRL_YAW_ANG_PM] = DEFAULT_CTRL_YAW_ANG_PM;
p[CTRL_YAW_ANG_IM] = DEFAULT_CTRL_YAW_ANG_IM;
p[CTRL_YAW_ANG_DM] = DEFAULT_CTRL_YAW_ANG_DM;
p[CTRL_YAW_ANG_OM] = DEFAULT_CTRL_YAW_ANG_OM;
p[GPS_BAUD_RATE] = DEFAULT_GPS_BAUD_RATE;
p[GPS_RATE] = DEFAULT_GPS_RATE;
p[MOT_FRAME] = DEFAULT_MOT_FRAME;
p[MOT_START] = DEFAULT_MOT_START;
p[MOT_MIN] = DEFAULT_MOT_MIN;
p[MOT_MAX] = DEFAULT_MOT_MAX;
p[MOT_HOV_THROT] = DEFAULT_MOT_HOV_THROT;
p[MOT_EXP_FACT] = DEFAULT_MOT_EXP_FACT;
p[MOT_EXP_MIN] = DEFAULT_MOT_EXP_MIN;
p[MOT_EXP_MAX] = DEFAULT_MOT_EXP_MAX;
p[MOT_PWRD_01_T] = DEFAULT_MOT_PWRD_01_T;
p[MOT_PWRD_01_P] = DEFAULT_MOT_PWRD_01_P;
p[MOT_PWRD_01_R] = DEFAULT_MOT_PWRD_01_R;
p[MOT_PWRD_01_Y] = DEFAULT_MOT_PWRD_01_Y;
p[MOT_PWRD_02_T] = DEFAULT_MOT_PWRD_02_T;
p[MOT_PWRD_02_P] = DEFAULT_MOT_PWRD_02_P;
p[MOT_PWRD_02_R] = DEFAULT_MOT_PWRD_02_R;
p[MOT_PWRD_02_Y] = DEFAULT_MOT_PWRD_02_Y;
p[MOT_PWRD_03_T] = DEFAULT_MOT_PWRD_03_T;
p[MOT_PWRD_03_P] = DEFAULT_MOT_PWRD_03_P;
p[MOT_PWRD_03_R] = DEFAULT_MOT_PWRD_03_R;
p[MOT_PWRD_03_Y] = DEFAULT_MOT_PWRD_03_Y;
p[MOT_PWRD_04_T] = DEFAULT_MOT_PWRD_04_T;
p[MOT_PWRD_04_P] = DEFAULT_MOT_PWRD_04_P;
p[MOT_PWRD_04_R] = DEFAULT_MOT_PWRD_04_R;
p[MOT_PWRD_04_Y] = DEFAULT_MOT_PWRD_04_Y;
p[MOT_PWRD_05_T] = DEFAULT_MOT_PWRD_05_T;
p[MOT_PWRD_05_P] = DEFAULT_MOT_PWRD_05_P;
p[MOT_PWRD_05_R] = DEFAULT_MOT_PWRD_05_R;
p[MOT_PWRD_05_Y] = DEFAULT_MOT_PWRD_05_Y;
p[MOT_PWRD_06_T] = DEFAULT_MOT_PWRD_06_T;
p[MOT_PWRD_06_P] = DEFAULT_MOT_PWRD_06_P;
p[MOT_PWRD_06_R] = DEFAULT_MOT_PWRD_06_R;
p[MOT_PWRD_06_Y] = DEFAULT_MOT_PWRD_06_Y;
p[MOT_PWRD_07_T] = DEFAULT_MOT_PWRD_07_T;
p[MOT_PWRD_07_P] = DEFAULT_MOT_PWRD_07_P;
p[MOT_PWRD_07_R] = DEFAULT_MOT_PWRD_07_R;
p[MOT_PWRD_07_Y] = DEFAULT_MOT_PWRD_07_Y;
p[MOT_PWRD_08_T] = DEFAULT_MOT_PWRD_08_T;
p[MOT_PWRD_08_P] = DEFAULT_MOT_PWRD_08_P;
p[MOT_PWRD_08_R] = DEFAULT_MOT_PWRD_08_R;
p[MOT_PWRD_08_Y] = DEFAULT_MOT_PWRD_08_Y;
p[MOT_PWRD_09_T] = DEFAULT_MOT_PWRD_09_T;
p[MOT_PWRD_09_P] = DEFAULT_MOT_PWRD_09_P;
p[MOT_PWRD_09_R] = DEFAULT_MOT_PWRD_09_R;
p[MOT_PWRD_09_Y] = DEFAULT_MOT_PWRD_09_Y;
p[MOT_PWRD_10_T] = DEFAULT_MOT_PWRD_10_T;
p[MOT_PWRD_10_P] = DEFAULT_MOT_PWRD_10_P;
p[MOT_PWRD_10_R] = DEFAULT_MOT_PWRD_10_R;
p[MOT_PWRD_10_Y] = DEFAULT_MOT_PWRD_10_Y;
p[MOT_PWRD_11_T] = DEFAULT_MOT_PWRD_11_T;
p[MOT_PWRD_11_P] = DEFAULT_MOT_PWRD_11_P;
p[MOT_PWRD_11_R] = DEFAULT_MOT_PWRD_11_R;
p[MOT_PWRD_11_Y] = DEFAULT_MOT_PWRD_11_Y;
p[MOT_PWRD_12_T] = DEFAULT_MOT_PWRD_12_T;
p[MOT_PWRD_12_P] = DEFAULT_MOT_PWRD_12_P;
p[MOT_PWRD_12_R] = DEFAULT_MOT_PWRD_12_R;
p[MOT_PWRD_12_Y] = DEFAULT_MOT_PWRD_12_Y;
p[MOT_PWRD_13_T] = DEFAULT_MOT_PWRD_13_T;
p[MOT_PWRD_13_P] = DEFAULT_MOT_PWRD_13_P;
p[MOT_PWRD_13_R] = DEFAULT_MOT_PWRD_13_R;
p[MOT_PWRD_13_Y] = DEFAULT_MOT_PWRD_13_Y;
p[MOT_PWRD_14_T] = DEFAULT_MOT_PWRD_14_T;
p[MOT_PWRD_14_P] = DEFAULT_MOT_PWRD_14_P;
p[MOT_PWRD_14_R] = DEFAULT_MOT_PWRD_14_R;
p[MOT_PWRD_14_Y] = DEFAULT_MOT_PWRD_14_Y;
p[DOWNLINK_BAUD] = DEFAULT_DOWNLINK_BAUD;
p[TELEMETRY_RATE] = DEFAULT_TELEMETRY_RATE;
p[NAV_MAX_SPEED] = DEFAULT_NAV_MAX_SPEED;
p[NAV_MAX_DECENT] = DEFAULT_NAV_MAX_DECENT;
p[NAV_CEILING] = DEFAULT_NAV_CEILING;
p[NAV_SPEED_P] = DEFAULT_NAV_SPEED_P;
p[NAV_SPEED_I] = DEFAULT_NAV_SPEED_I;
p[NAV_SPEED_PM] = DEFAULT_NAV_SPEED_PM;
p[NAV_SPEED_IM] = DEFAULT_NAV_SPEED_IM;
p[NAV_SPEED_OM] = DEFAULT_NAV_SPEED_OM;
p[NAV_DIST_P] = DEFAULT_NAV_DIST_P;
p[NAV_DIST_I] = DEFAULT_NAV_DIST_I;
p[NAV_DIST_PM] = DEFAULT_NAV_DIST_PM;
p[NAV_DIST_IM] = DEFAULT_NAV_DIST_IM;
p[NAV_DIST_OM] = DEFAULT_NAV_DIST_OM;
p[NAV_ATL_SPED_P] = DEFAULT_NAV_ATL_SPED_P;
p[NAV_ATL_SPED_I] = DEFAULT_NAV_ATL_SPED_I;
p[NAV_ATL_SPED_PM] = DEFAULT_NAV_ATL_SPED_PM;
p[NAV_ATL_SPED_IM] = DEFAULT_NAV_ATL_SPED_IM;
p[NAV_ATL_SPED_OM] = DEFAULT_NAV_ATL_SPED_OM;
p[NAV_ALT_POS_P] = DEFAULT_NAV_ALT_POS_P;
p[NAV_ALT_POS_I] = DEFAULT_NAV_ALT_POS_I;
p[NAV_ALT_POS_PM] = DEFAULT_NAV_ALT_POS_PM;
p[NAV_ALT_POS_IM] = DEFAULT_NAV_ALT_POS_IM;
p[NAV_ALT_POS_OM] = DEFAULT_NAV_ALT_POS_OM;
p[IMU_ROT] = DEFAULT_IMU_ROT;
p[IMU_ACC_BIAS_X] = DEFAULT_IMU_ACC_BIAS_X;
p[IMU_ACC_BIAS_Y] = DEFAULT_IMU_ACC_BIAS_Y;
p[IMU_ACC_BIAS_Z] = DEFAULT_IMU_ACC_BIAS_Z;
p[IMU_ACC_BIAS1_X] = DEFAULT_IMU_ACC_BIAS1_X;
p[IMU_ACC_BIAS1_Y] = DEFAULT_IMU_ACC_BIAS1_Y;
p[IMU_ACC_BIAS1_Z] = DEFAULT_IMU_ACC_BIAS1_Z;
p[IMU_ACC_BIAS2_X] = DEFAULT_IMU_ACC_BIAS2_X;
p[IMU_ACC_BIAS2_Y] = DEFAULT_IMU_ACC_BIAS2_Y;
p[IMU_ACC_BIAS2_Z] = DEFAULT_IMU_ACC_BIAS2_Z;
p[IMU_ACC_BIAS3_X] = DEFAULT_IMU_ACC_BIAS3_X;
p[IMU_ACC_BIAS3_Y] = DEFAULT_IMU_ACC_BIAS3_Y;
p[IMU_ACC_BIAS3_Z] = DEFAULT_IMU_ACC_BIAS3_Z;
p[IMU_ACC_SCAL_X] = DEFAULT_IMU_ACC_SCAL_X;
p[IMU_ACC_SCAL_Y] = DEFAULT_IMU_ACC_SCAL_Y;
p[IMU_ACC_SCAL_Z] = DEFAULT_IMU_ACC_SCAL_Z;
p[IMU_ACC_SCAL1_X] = DEFAULT_IMU_ACC_SCAL1_X;
p[IMU_ACC_SCAL1_Y] = DEFAULT_IMU_ACC_SCAL1_Y;
p[IMU_ACC_SCAL1_Z] = DEFAULT_IMU_ACC_SCAL1_Z;
p[IMU_ACC_SCAL2_X] = DEFAULT_IMU_ACC_SCAL2_X;
p[IMU_ACC_SCAL2_Y] = DEFAULT_IMU_ACC_SCAL2_Y;
p[IMU_ACC_SCAL2_Z] = DEFAULT_IMU_ACC_SCAL2_Z;
p[IMU_ACC_SCAL3_X] = DEFAULT_IMU_ACC_SCAL3_X;
p[IMU_ACC_SCAL3_Y] = DEFAULT_IMU_ACC_SCAL3_Y;
p[IMU_ACC_SCAL3_Z] = DEFAULT_IMU_ACC_SCAL3_Z;
p[IMU_ACC_ALGN_XY] = DEFAULT_IMU_ACC_ALGN_XY;
p[IMU_ACC_ALGN_XZ] = DEFAULT_IMU_ACC_ALGN_XZ;
p[IMU_ACC_ALGN_YX] = DEFAULT_IMU_ACC_ALGN_YX;
p[IMU_ACC_ALGN_YZ] = DEFAULT_IMU_ACC_ALGN_YZ;
p[IMU_ACC_ALGN_ZX] = DEFAULT_IMU_ACC_ALGN_ZX;
p[IMU_ACC_ALGN_ZY] = DEFAULT_IMU_ACC_ALGN_ZY;
p[IMU_MAG_BIAS_X] = DEFAULT_IMU_MAG_BIAS_X;
p[IMU_MAG_BIAS_Y] = DEFAULT_IMU_MAG_BIAS_Y;
p[IMU_MAG_BIAS_Z] = DEFAULT_IMU_MAG_BIAS_Z;
p[IMU_MAG_BIAS1_X] = DEFAULT_IMU_MAG_BIAS1_X;
p[IMU_MAG_BIAS1_Y] = DEFAULT_IMU_MAG_BIAS1_Y;
p[IMU_MAG_BIAS1_Z] = DEFAULT_IMU_MAG_BIAS1_Z;
p[IMU_MAG_BIAS2_X] = DEFAULT_IMU_MAG_BIAS2_X;
p[IMU_MAG_BIAS2_Y] = DEFAULT_IMU_MAG_BIAS2_Y;
p[IMU_MAG_BIAS2_Z] = DEFAULT_IMU_MAG_BIAS2_Z;
p[IMU_MAG_BIAS3_X] = DEFAULT_IMU_MAG_BIAS3_X;
p[IMU_MAG_BIAS3_Y] = DEFAULT_IMU_MAG_BIAS3_Y;
p[IMU_MAG_BIAS3_Z] = DEFAULT_IMU_MAG_BIAS3_Z;
p[IMU_MAG_SCAL_X] = DEFAULT_IMU_MAG_SCAL_X;
p[IMU_MAG_SCAL_Y] = DEFAULT_IMU_MAG_SCAL_Y;
p[IMU_MAG_SCAL_Z] = DEFAULT_IMU_MAG_SCAL_Z;
p[IMU_MAG_SCAL1_X] = DEFAULT_IMU_MAG_SCAL1_X;
p[IMU_MAG_SCAL1_Y] = DEFAULT_IMU_MAG_SCAL1_Y;
p[IMU_MAG_SCAL1_Z] = DEFAULT_IMU_MAG_SCAL1_Z;
p[IMU_MAG_SCAL2_X] = DEFAULT_IMU_MAG_SCAL2_X;
p[IMU_MAG_SCAL2_Y] = DEFAULT_IMU_MAG_SCAL2_Y;
p[IMU_MAG_SCAL2_Z] = DEFAULT_IMU_MAG_SCAL2_Z;
p[IMU_MAG_SCAL3_X] = DEFAULT_IMU_MAG_SCAL3_X;
p[IMU_MAG_SCAL3_Y] = DEFAULT_IMU_MAG_SCAL3_Y;
p[IMU_MAG_SCAL3_Z] = DEFAULT_IMU_MAG_SCAL3_Z;
p[IMU_MAG_ALGN_XY] = DEFAULT_IMU_MAG_ALGN_XY;
p[IMU_MAG_ALGN_XZ] = DEFAULT_IMU_MAG_ALGN_XZ;
p[IMU_MAG_ALGN_YX] = DEFAULT_IMU_MAG_ALGN_YX;
p[IMU_MAG_ALGN_YZ] = DEFAULT_IMU_MAG_ALGN_YZ;
p[IMU_MAG_ALGN_ZX] = DEFAULT_IMU_MAG_ALGN_ZX;
p[IMU_MAG_ALGN_ZY] = DEFAULT_IMU_MAG_ALGN_ZY;
p[IMU_GYO_BIAS_X] = DEFAULT_IMU_GYO_BIAS_X;
p[IMU_GYO_BIAS_Y] = DEFAULT_IMU_GYO_BIAS_Y;
p[IMU_GYO_BIAS_Z] = DEFAULT_IMU_GYO_BIAS_Z;
p[IMU_GYO_BIAS1_X] = DEFAULT_IMU_GYO_BIAS1_X;
p[IMU_GYO_BIAS1_Y] = DEFAULT_IMU_GYO_BIAS1_Y;
p[IMU_GYO_BIAS1_Z] = DEFAULT_IMU_GYO_BIAS1_Z;
p[IMU_GYO_BIAS2_X] = DEFAULT_IMU_GYO_BIAS2_X;
p[IMU_GYO_BIAS2_Y] = DEFAULT_IMU_GYO_BIAS2_Y;
p[IMU_GYO_BIAS2_Z] = DEFAULT_IMU_GYO_BIAS2_Z;
p[IMU_GYO_BIAS3_X] = DEFAULT_IMU_GYO_BIAS3_X;
p[IMU_GYO_BIAS3_Y] = DEFAULT_IMU_GYO_BIAS3_Y;
p[IMU_GYO_BIAS3_Z] = DEFAULT_IMU_GYO_BIAS3_Z;
p[IMU_GYO_SCAL_X] = DEFAULT_IMU_GYO_SCAL_X;
p[IMU_GYO_SCAL_Y] = DEFAULT_IMU_GYO_SCAL_Y;
p[IMU_GYO_SCAL_Z] = DEFAULT_IMU_GYO_SCAL_Z;
p[IMU_GYO_ALGN_XY] = DEFAULT_IMU_GYO_ALGN_XY;
p[IMU_GYO_ALGN_XZ] = DEFAULT_IMU_GYO_ALGN_XZ;
p[IMU_GYO_ALGN_YX] = DEFAULT_IMU_GYO_ALGN_YX;
p[IMU_GYO_ALGN_YZ] = DEFAULT_IMU_GYO_ALGN_YZ;
p[IMU_GYO_ALGN_ZX] = DEFAULT_IMU_GYO_ALGN_ZX;
p[IMU_GYO_ALGN_ZY] = DEFAULT_IMU_GYO_ALGN_ZY;
p[IMU_MAG_INCL] = DEFAULT_IMU_MAG_INCL;
p[IMU_MAG_DECL] = DEFAULT_IMU_MAG_DECL;
p[IMU_PRESS_SENSE] = DEFAULT_IMU_PRESS_SENSE;
p[GMBL_PITCH_PORT] = DEFAULT_GMBL_PITCH_PORT;
p[GMBL_ROLL_PORT] = DEFAULT_GMBL_ROLL_PORT;
p[GMBL_PWM_MAX_RL] = DEFAULT_GMBL_PWM_MAX_RL;
p[GMBL_PWM_MIN_RL] = DEFAULT_GMBL_PWM_MIN_RL;
p[GMBL_PWM_MAX_PT] = DEFAULT_GMBL_PWM_MAX_PT;
p[GMBL_PWM_MIN_PT] = DEFAULT_GMBL_PWM_MIN_PT;
p[GMBL_PWM_FREQ] = DEFAULT_GMBL_PWM_FREQ;
p[GMBL_NTRL_PITCH] = DEFAULT_GMBL_NTRL_PITCH;
p[GMBL_NTRL_ROLL] = DEFAULT_GMBL_NTRL_ROLL;
p[GMBL_SCAL_PITCH] = DEFAULT_GMBL_SCAL_PITCH;
p[GMBL_SCAL_ROLL] = DEFAULT_GMBL_SCAL_ROLL;
p[GMBL_SLEW_RATE] = DEFAULT_GMBL_SLEW_RATE;
p[GMBL_ROLL_EXPO] = DEFAULT_GMBL_ROLL_EXPO;
p[SPVR_LOW_BAT1] = DEFAULT_SPVR_LOW_BAT1;
p[SPVR_LOW_BAT2] = DEFAULT_SPVR_LOW_BAT2;
p[SPVR_BAT_CRV1] = DEFAULT_SPVR_BAT_CRV1;
p[SPVR_BAT_CRV2] = DEFAULT_SPVR_BAT_CRV2;
p[SPVR_BAT_CRV3] = DEFAULT_SPVR_BAT_CRV3;
p[SPVR_BAT_CRV4] = DEFAULT_SPVR_BAT_CRV4;
p[SPVR_BAT_CRV5] = DEFAULT_SPVR_BAT_CRV5;
p[SPVR_BAT_CRV6] = DEFAULT_SPVR_BAT_CRV6;
p[SPVR_FS_RAD_ST1] = DEFAULT_SPVR_FS_RAD_ST1;
p[SPVR_FS_RAD_ST2] = DEFAULT_SPVR_FS_RAD_ST2;
p[UKF_VEL_Q] = DEFAULT_UKF_VEL_Q;
p[UKF_VEL_ALT_Q] = DEFAULT_UKF_VEL_ALT_Q;
p[UKF_POS_Q] = DEFAULT_UKF_POS_Q;
p[UKF_POS_ALT_Q] = DEFAULT_UKF_POS_ALT_Q;
p[UKF_ACC_BIAS_Q] = DEFAULT_UKF_ACC_BIAS_Q;
p[UKF_GYO_BIAS_Q] = DEFAULT_UKF_GYO_BIAS_Q;
p[UKF_QUAT_Q] = DEFAULT_UKF_QUAT_Q;
p[UKF_PRES_ALT_Q] = DEFAULT_UKF_PRES_ALT_Q;
p[UKF_ACC_BIAS_V] = DEFAULT_UKF_ACC_BIAS_V;
p[UKF_GYO_BIAS_V] = DEFAULT_UKF_GYO_BIAS_V;
p[UKF_RATE_V] = DEFAULT_UKF_RATE_V;
p[UKF_PRES_ALT_V] = DEFAULT_UKF_PRES_ALT_V;
p[UKF_POS_V] = DEFAULT_UKF_POS_V;
p[UKF_VEL_V] = DEFAULT_UKF_VEL_V;
p[UKF_ALT_POS_V] = DEFAULT_UKF_ALT_POS_V;
p[UKF_ALT_VEL_V] = DEFAULT_UKF_ALT_VEL_V;
p[UKF_GPS_POS_N] = DEFAULT_UKF_GPS_POS_N;
p[UKF_GPS_POS_M_N] = DEFAULT_UKF_GPS_POS_M_N;
p[UKF_GPS_ALT_N] = DEFAULT_UKF_GPS_ALT_N;
p[UKF_GPS_ALT_M_N] = DEFAULT_UKF_GPS_ALT_M_N;
p[UKF_GPS_VEL_N] = DEFAULT_UKF_GPS_VEL_N;
p[UKF_GPS_VEL_M_N] = DEFAULT_UKF_GPS_VEL_M_N;
p[UKF_GPS_VD_N] = DEFAULT_UKF_GPS_VD_N;
p[UKF_GPS_VD_M_N] = DEFAULT_UKF_GPS_VD_M_N;
p[UKF_ALT_N] = DEFAULT_UKF_ALT_N;
p[UKF_ACC_N] = DEFAULT_UKF_ACC_N;
p[UKF_DIST_N] = DEFAULT_UKF_DIST_N;
p[UKF_MAG_N] = DEFAULT_UKF_MAG_N;
p[UKF_POS_DELAY] = DEFAULT_UKF_POS_DELAY;
p[UKF_VEL_DELAY] = DEFAULT_UKF_VEL_DELAY;
}
void configEepromRead(void) {
uint32_t i = 0;
chFileStreamSeek(&EepromFile, 0);
for (i=0; i < (sizeof(p)/4); i++) {
p[i] = EepromReadWord(&EepromFile);
}
}
void configEepromWrite(void) {
uint32_t i = 0;
chFileStreamSeek(&EepromFile, 0);
for (i=0; i < (sizeof(p)/4); i++) {
EepromWriteWord(&EepromFile, p[i]);
}
}
void configInit(void) {
float ver = 0.0f;
EepromFileOpen(&EepromFile, &eeprom_settings_cfg);
// start with what's in flash
configEepromRead();
// get flash version
ver = p[CONFIG_VERSION];
if (isnan(ver))
ver = 0.0f;
// if compiled defaults are greater than flash version and loaded version
if (DEFAULT_CONFIG_VERSION > ver && DEFAULT_CONFIG_VERSION > p[CONFIG_VERSION])
configLoadDefault();
// if flash version greater than or equal to currently loaded version
else if (ver >= p[CONFIG_VERSION])
configEepromRead();
// if loaded version greater than flash version
if (p[CONFIG_VERSION] > ver)
configEepromWrite();
}
unsigned int configParameterRead(void *data) {
paramStruct_t *par = (paramStruct_t *)data;
if (par->paramId + par->num > CONFIG_NUM_PARAMS)
par->num = CONFIG_NUM_PARAMS - par->paramId;
memcpy((char *)par->values, (char *)&p[par->paramId], par->num * sizeof(float));
return par->num * sizeof(float);
}
unsigned int configParameterWrite(void *data) {
paramStruct_t *par = (paramStruct_t *)data;
memcpy((char *)&p[par->paramId], (char *)par->values, par->num * sizeof(float));
return configParameterRead(data);
}