use eeprom to store calibration parameters

include/at91_tc1.h

@@ -5,6 +5,8 @@
 
 #define RC_CAL_START	0
 #define RC_CAL_END	1
+#define RC_CAL_LOAD	2
+#define RC_CAL_SAVE	3
 
 struct rc_values {
 	int16_t chan[MAX_CHANNELS];

include/at91_twi.h

@@ -58,6 +58,19 @@ struct blmc_param {
 	uint16_t crc16;
 } __attribute__ ((packed));
 
+
+#define EE_PARAMETER_SET_START		0x0000
+
+/* remote control calibration data */
+#define EE_RC_CAL_DATA			(EE_PARAMETER_SET_START)
+#define EE_RC_CAL_DATA_SIZE		48
+
+/* ACC calibration data */
+#define EE_ACC_CAL_DATA			(EE_RC_CAL_DATA + EE_RC_CAL_DATA_SIZE)
+#define EE_ACC_CAL_DATA_SIZE		6
+
+#define EE_PARAMETER_SET_END		(EE_ACC_CAL_DATA + EE_ACC_CAL_DATA_SIZE)
+
 struct twi_cmd {
 	uint32_t cmd;		/* cmd byte(s) */
 	uint8_t mode;		/* read/write, cmdlen (1-3 bytes) */

main.c

@@ -58,6 +58,7 @@ static uint32_t stick_timer_cb(struct pitc_timer *timer)
 		stick_cal_count--;
 		if (stick_cal_count == 0) {
 			rcontrol_calibrate(RC_CAL_END);
+			rcontrol_calibrate(RC_CAL_SAVE);
 			rcontrol_print_cal();
 			global_state &= ~STICK_CALIBRATION;
 		}
@@ -135,21 +136,23 @@ int main(void)
 	/* timer */
 	at91_pitc_init();
 	at91_rttc_test_init();
-	at91_tc1_init();
 
 	/* twi */
 	at91_twi_init();
 	at91_twi_test();
 
+	/* remote control, needs twi */
+	at91_tc1_init();
+
 	/* usb */
 	at91_udp_init();
 
-	printf("static alloc: %5ld bytes\n\r", static_alloc_used());
+	/* adc, need timer, twi */
-
-	/* adc, need timer */
 	at91_adc_init();
 
 	pitc_schedule_timer(&stick_timer);
 
+	printf("static alloc: %5ld bytes\n\r", static_alloc_used());
+
 	while (1);
 }

src/at91_adc.c

@@ -23,8 +23,7 @@
 #include "board.h"
 #include "at91_adc.h"
 #include "at91_pitc.h"
-
+#include "at91_twi.h"
-#include "fixed.h"
 
 #define ADC_CAL_COUNT	1024
 
@@ -32,6 +31,11 @@ static uint16_t adc_tmp[7];
 static int16_t adc_result[7];
 static uint16_t adc_offset[6];
 
+/* check eeprom parameter size (3x uint16_t) */
+#if ((3 * 2) != EE_ACC_CAL_DATA_SIZE)
+#error "invalid EE_ACC_CAL_DATA_SIZE"
+#endif
+
 static uint32_t adc_cal_count;
 volatile static uint32_t adc_cal_mode;
 static uint32_t adc_cal_data[3];
@@ -82,7 +86,7 @@ static uint32_t adc_calibrate_cb(struct pitc_timer *timer)
 			adc_offset[ADC_GYRO_NICK] = adc_cal_data[1];
 			adc_offset[ADC_GYRO_YAW] = adc_cal_data[2];
 
-			// TODO: check for invalid values (not centered) -> return value?
+			// TODO: check for invalid values (not centered)
 
 			printf("GYRO offsets: %4d/%4d/%4d\n\r",
 				adc_offset[ADC_GYRO_ROLL],
@@ -96,11 +100,12 @@ static uint32_t adc_calibrate_cb(struct pitc_timer *timer)
 			// TODO: only 1/2 offset?
 			adc_offset[ADC_ACC_YAW] = adc_cal_data[2];
 
-			// TODO: save to eeprom
 			printf("ACC  offsets: %4d/%4d/%4d\n\r",
 				adc_offset[ADC_ACC_ROLL],
 				adc_offset[ADC_ACC_NICK],
 				adc_offset[ADC_ACC_YAW]);
+
+			twi_write_eeprom(EE_ACC_CAL_DATA, (uint8_t *)&(adc_offset[ADC_ACC_ROLL]), EE_ACC_CAL_DATA_SIZE);
 		}
 
 		adc_cal_mode = ADC_CAL_NONE;
@@ -146,8 +151,6 @@ void at91_adc_init(void)
 	/* enable ADC clock */
 	*AT91C_PMC_PCER = (1 << AT91C_ID_ADC);
 
-	// TODO: load calibration data from eeprom / use default values
-
 	/* ADC Software reset */
 	AT91S_ADC *adc = AT91C_BASE_ADC;
 	adc->ADC_CR = AT91C_ADC_SWRST;
@@ -181,4 +184,11 @@ void at91_adc_init(void)
 	aic->AIC_SMR[AT91C_ID_ADC] = IRQPRIO_ADC | AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL;
 	aic->AIC_SVR[AT91C_ID_ADC] = (uint32_t)at91_adc_isr;
 	aic->AIC_IECR = (1<<AT91C_ID_ADC);
+
+	/* load ACC calibration data */
+	twi_read_eeprom(EE_ACC_CAL_DATA, (uint8_t *)&(adc_offset[ADC_ACC_ROLL]), EE_ACC_CAL_DATA_SIZE);
+	printf("ACC  offsets: %4d/%4d/%4d\n\r",
+		adc_offset[ADC_ACC_ROLL],
+		adc_offset[ADC_ACC_NICK],
+		adc_offset[ADC_ACC_YAW]);
 }

src/at91_tc1.c

@@ -22,6 +22,7 @@
 #include "AT91SAM7S256.h"
 #include "board.h"
 #include "at91_tc1.h"
+#include "at91_twi.h"
 
 /* Hard limits for ISR */
 #define PULSE_MIN	0x0500
@@ -50,6 +51,11 @@ struct channel_data {
 	uint16_t max;		/* maximum value */
 };
 
+/* check eeprom parameter size (uint16_t min/mid/max) */
+#if ((MAX_CHANNELS * 3 * 2) != EE_RC_CAL_DATA_SIZE)
+#error "invalid EE_RC_CAL_DATA_SIZE"
+#endif
+
 static struct channel_data ch_data[MAX_CHANNELS];
 static uint32_t count, valid, cal_in_progress;
 
@@ -134,7 +140,7 @@ uint32_t rcontrol_getvalues(struct rc_values *rc)
 		if (tmp < -VALUE_RANGE)
 			tmp = -VALUE_RANGE;
 
-		// TODO: stick mapping from eeprom
+		// TODO: stick mapping
 		rc->chan[i] = tmp;
 	}
 	return cnt;
@@ -163,6 +169,8 @@ uint32_t rcontrol_getswitches(struct rc_values *rc)
 void rcontrol_calibrate(uint32_t mode)
 {
 	uint32_t i;
+	uint8_t buf[EE_RC_CAL_DATA_SIZE];
+	uint16_t *ptr = (uint16_t *)buf;
 
 	switch (mode) {
 	case RC_CAL_START:
@@ -190,6 +198,24 @@ void rcontrol_calibrate(uint32_t mode)
 				ch_data[i].mid = ch_data[i].max;
 		}
 		break;
+
+	case RC_CAL_LOAD:
+		twi_read_eeprom(EE_RC_CAL_DATA, buf, EE_RC_CAL_DATA_SIZE);
+		for (i = 0; i < ARRAY_SIZE(ch_data); i++) {
+			ch_data[i].min = *ptr++;
+			ch_data[i].mid = *ptr++;
+			ch_data[i].min = *ptr++;
+		}
+		break;
+
+	case RC_CAL_SAVE:
+		for (i = 0; i < ARRAY_SIZE(ch_data); i++) {
+			*ptr++ = ch_data[i].min;
+			*ptr++ = ch_data[i].mid;
+			*ptr++ = ch_data[i].min;
+		}
+		twi_write_eeprom(EE_RC_CAL_DATA, buf, EE_RC_CAL_DATA_SIZE);
+		break;
 	}
 }
 
@@ -228,4 +254,7 @@ void at91_tc1_init(void)
 	aic->AIC_SMR[AT91C_ID_TC1] = IRQPRIO_TC1 | AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL;
 	aic->AIC_SVR[AT91C_ID_TC1] = (uint32_t)ppm_isr;
 	aic->AIC_IECR = (1 << AT91C_ID_TC1);
+
+	rcontrol_calibrate(RC_CAL_LOAD);
+	rcontrol_print_cal();
 }