void Motor_read_PID_settings()
{
char v1,v2,v3,checksum;
v1 = eeprom_Read( MOTOR_EEPROM );
v2 = eeprom_Read( MOTOR_EEPROM+1 );
v3 = eeprom_Read( MOTOR_EEPROM+2 );
checksum = eeprom_Read( MOTOR_EEPROM+3 );
putstr("Init Drive PID");
if ((v1 + v2 + v3) == checksum)
{ // checksum is OK - load values into motor control block
drive.Kp = v1;
drive.Ki = v2;
drive.Kd = v3;
}
else
putstr(" no cksum, defaults");
putstr("\r\n");
}
int
main (void)
{
uint8_t ret, b, x;
uint8_t ee[2];
// Set clock to full speed
CLKPR = 0x80;
CLKPR = 0x00;
// Init timer
Timer0Initialise ();
usart_Init(12);
usart_TxQueuePutStr("\n\r"
"UART test\n\r"
"-----------------\n\r");
interrupt_Enable(1);
b = 5;
while (1) {
ret = usart_Receive(&x);
if(ret){
usart_TxQueuePut('*');
b = x;
ee[0] = b;
ee[1] = ~b;
eeprom_Write(66,ee,2);
ee[0] = ee[1] = 0;
}
eeprom_Read(66,ee,2);
usart_TxQueuePutDec(b);
usart_TxQueuePutHex(b);
usart_TxQueuePut('!');
usart_TxQueuePutHex(ee[0]);
usart_TxQueuePutHex(ee[1]);
usart_TxQueuePutStr("\n\r");
WaitMilliseconds(500);
}
}