void updateUptime() {
if (15 * 60 * 1000000 <= sinceUptime) {
++uptime;
(void) EEPROM_writeAnything(0, uptime);
sinceUptime = 0;
}
}
void sortData(char *chn, char *red, char *grn, char *blu, char *mode, char *audB, char *audS, char *unic, char *save)
{
int chan = atoi(chn);
int arr = atoi(red);
int gee = atoi(grn);
int bee = atoi(blu);
int emm = atoi(mode);
int bnd = atoi(audB);
int ess = atoi(audS);
int uni = atoi(unic);
data[chan][0] = chan;
data[chan][1] = arr; // Convert the characters to integers from serial data (red)
data[chan][2] = gee; // the green value
data[chan][3] = bee; // blue
data[chan][4] = emm; // the modes are commented in at the bottom
data[chan][5] = bnd; // audio frequency band
data[chan][6] = ess; // audio sensitivity
data[chan][7] = uni; //
int keep = atoi(save); // We should save immediately after this if keep > 1
if(keep > 0)
{
EEPROM_writeAnything(0, configuration);
keep = 0;
}
}
void edit_waypoint(){
while(1){
display_waypoints();
SERIAL_OUT.println();
SERIAL_OUT.print("Edit wp #? ");
int i = SERIAL_OUT.parseInt();
EEPROM_readAnything(i*WP_SIZE, waypoint);
SERIAL_OUT.println();
SERIAL_OUT.print("current values: ");
SERIAL_OUT.print(waypoint.x);
SERIAL_OUT.print(" , ");
SERIAL_OUT.println(waypoint.y);
SERIAL_OUT.println();
SERIAL_OUT.print("enter new coordinates \"x , y\": ");
int x_temp = SERIAL_OUT.parseInt();
int y_temp = SERIAL_OUT.parseInt();
SERIAL_OUT.println();
SERIAL_OUT.print("current values: ");
SERIAL_OUT.print(waypoint.x);
SERIAL_OUT.print(" , ");
SERIAL_OUT.println(waypoint.y);
SERIAL_OUT.print("new values: ");
SERIAL_OUT.print(x_temp);
SERIAL_OUT.print(" , ");
SERIAL_OUT.println(y_temp);
while(1){
SERIAL_OUT.print("accept values (y=1, n=0)? ");
int y_or_n = SERIAL_OUT.parseInt();
if(y_or_n == 1){
waypoint.x = float(x_temp);
waypoint.y = float(y_temp);
EEPROM_writeAnything(i*WP_SIZE, waypoint);
SERIAL_OUT.println();
SERIAL_OUT.println("waypoint changed");
break;
}
else if(y_or_n == 0){
SERIAL_OUT.println("no change made");
break;
}
else SERIAL_OUT.println("invalid. try again");
}
SERIAL_OUT.println();
SERIAL_OUT.print("edit another waypoint (y=1, n=0)? ");
int n_or_y = SERIAL_OUT.parseInt();
if(n_or_y == 1) ;
else break;
}
SERIAL_OUT.println();
return ;
}
//Populate the keychain with keys that could never be properly entered
void Keychain::PopulateKeychain()
{
//Iterate through the keychain, reseting each key
for(int i = 0; i < KEYCHAIN_KEY_COUNT; i++)
Keys[i] = DEFAULT_EMPTY_KEY;
WriteNewKeychain(); //Re-write the Keychain to the EEPROM
//Set the flag marking the keychain as available from the EEPROM
bool NowPopulated = true;
EEPROM_writeAnything(KEYCHAIN_EXISTS_IN_EEPROM_FLAG_ADDRESS, NowPopulated);
}
bool YaesuRotor::saveSettings() {
bool result = false;
unsigned int bytesWritten = EEPROM_writeAnything(CONFIG_EEPROM_ADDRESS, config);
if(bytesWritten == sizeof(rotorConfig)) {
result = true;
}
else {
// write failed, try and reset the config save flag just in case that was written.
// this prevents future load calls from trying to load an undefined config.
EEPROM.write(CONFIG_EEPROM_ADDRESS, 0x00);
}
return result;
}
//PROGRAM FUNCTIONS
void set_waypoint(){ //CLEAR
waypoint.x = x;
waypoint.y = y;
//waypoint.last = false
EEPROM_writeAnything(wpw_count*WP_SIZE, waypoint);
SERIAL_OUT.print("set WP #");
SERIAL_OUT.print(wpw_count);
SERIAL_OUT.print(": ");
SERIAL_OUT.print(waypoint.x);
SERIAL_OUT.print(" , ");
SERIAL_OUT.println(waypoint.y);
wpw_count++;
while(mode == WP_MODE) get_mode();
return ;
}
void RadioMMI::updateUi()
{
if (mUpdate) {
mLcd->clear();
if (mIsInTx) {
mLcd->print("TX");
} else {
mLcd->print("RX");
}
printFreq(mStore.freq);
printRit(mStore.rit);
EEPROM_writeAnything(0, mStore);
mUpdate = false;
}
}
void altitudeSet()
{
if(digitalRead(upButtonPin)==LOW)
altitude += 10;
if(digitalRead(downButtonPin)==LOW)
altitude -= 10;
if(digitalRead(selectButtonPin) == LOW)
EEPROM_writeAnything(0, altitude);
lcd.setCursor(0,0);
lcd.print("Ustaw wysokosc");
lcd.setCursor(0,1);
lcd.print("nad poziomem morza");
lcd.setCursor(0,2);
lcd.print(altitude);
lcd.setCursor(0, 3);
lcd.print("SELECT - zapisz");
}
void import_waypoints(){
eeprom_clear();
wpw_count = 1; //resets the counter to import correctly
WAYPOINTS_STRING //edit this in header file to change waypoints
for(int i=0; i < WAYPOINT_COUNT; i++){
waypoint.x = float(excel_waypoints[i][0]);
waypoint.y = float(excel_waypoints[i][1]);
EEPROM_writeAnything(wpw_count*WP_SIZE, waypoint);
wpw_count++;
}
wpw_count = 1; //resets the couter for autonomous mode
display_waypoints();
SERIAL_OUT.println("ALL POINTS IMPORTED");
SERIAL_OUT.println();
return ;
}
void SetBlkPage::ProcessEvent(HmiNavigation::KeyBoardEventList event)
{
if((event == HmiNavigation::eKbShortUp || event == HmiNavigation::eKbRepeatUp)&& configuration.BlkPwmValue < 100)
{
configuration.BlkPwmValue++;
analogWrite(BlkPwmPin,map(configuration.BlkPwmValue,100,0,0,255));
this->EnterMillisValue = millis();
}
else if((event == HmiNavigation::eKbShortDown || event == HmiNavigation::eKbRepeatDown) && configuration.BlkPwmValue > 0)
{
configuration.BlkPwmValue--;
analogWrite(BlkPwmPin,map(configuration.BlkPwmValue,100,0,0,255));
this->EnterMillisValue = millis();
}
if(event == HmiNavigation::eKbShortEnter)
{
EEPROM_writeAnything(0, configuration);
Navigation.ShowPage(HmiNavigation::eMainPage);
}
}
void reset_waypoints(){
/* NOTE THAT WHEN USING THIS FUNCTION, THERE MUST BE AT LEAST 1 WAYPOINT THAT IS NOT 0,0 OR ELSE THE CAR WILL NOT SET WAYPOINTS CORRECTLY AFTER THAT*/
eeprom_clear();
wpw_count = 1; //resets the counter to import correctly
int excel_waypoints[19][2] = {{0,1000}, {0,0}, {0,0}, {0,0}, {0,0}, {0,0}, {0,0}, {0,0}, {0,0}, {0,0}, {0,0}, {0,0}, {0,0}, {0,0}, {0,0}, {0,0}, {0,0}, {0,0}, {0,0}};
for(int i=0; i < WAYPOINT_COUNT; i++){
waypoint.x = float(excel_waypoints[i][0]);
waypoint.y = float(excel_waypoints[i][1]);
EEPROM_writeAnything(wpw_count*WP_SIZE, waypoint);
wpw_count++;
}
wpw_count = 1; //resets the couter for autonomous mode
display_waypoints();
SERIAL_OUT.println("ALL POINTS IMPORTED");
SERIAL_OUT.println();
return;
}
void saveSettingsToEEPROM( ) {
//have to dereference SETTINGS because that's what the macro expects
EEPROM_writeAnything(EEPROM_SETTINGS_ADDRESS, *SETTINGS);
}
void geocacheMenu(void)
{
int pressedKey = mySwitch.checkKeypad();
switch (menuState)
{
case MENU0:
tft.fillScreen(ST7735_BLACK);
setCursorTFT(0,0);
tft.print(menuHeader);
setCursorTFT(1,0);
tft.setTextColor(ST7735_WHITE,ST7735_BLUE);
tft.print(monGPSLocn);
setCursorTFT(2,0);
tft.setTextColor(ST7735_WHITE,ST7735_BLACK);
tft.print(monGPSClk);
setCursorTFT(3,0);
tft.print(downldWays);
setCursorTFT(4,0);
tft.print(goToWaypts);
setCursorTFT(5,0);
tft.print(setActWays);
setCursorTFT(6,0);
tft.print(showWaypts);
menuState = MENU0B;
break;
case MENU0B:
if (pressedKey != NOKEY)
{
if ((pressedKey == SELECT) || (pressedKey == RIGHT))
{
tft.fillScreen(ST7735_BLACK);
setCursorTFT(0,0);
tft.setTextColor(ST7735_WHITE,ST7735_BLUE);
tft.print(monGPSLocn);
tft.setTextColor(ST7735_WHITE,ST7735_BLACK);
clearLine(1);
clearLine(2);
clearLine(3);
clearLine(4);
clearLine(5);
clearLine(6);
menuState = MENU0C;
}
else if (pressedKey == DOWN)
menuState = MENU1;
}
break;
case MENU0C:
if (pressedKey != NOKEY)
menuState = MENU0;
readGPS();
break;
case MENU1:
tft.fillScreen(ST7735_BLACK);
setCursorTFT(0,0);
tft.print(menuHeader);
setCursorTFT(1,0);
tft.print(monGPSLocn);
setCursorTFT(2,0);
tft.setTextColor(ST7735_WHITE,ST7735_BLUE);
tft.print(monGPSClk);
tft.setTextColor(ST7735_WHITE,ST7735_BLACK);
setCursorTFT(3,0);
tft.print(downldWays);
setCursorTFT(4,0);
tft.print(goToWaypts);
setCursorTFT(5,0);
tft.print(setActWays);
setCursorTFT(6,0);
tft.print(showWaypts);
menuState = MENU1B;
break;
case MENU1B:
if (pressedKey != NOKEY)
{
if ((pressedKey == SELECT) || (pressedKey == RIGHT))
{
clearLine(0);
tft.setTextColor(ST7735_WHITE,ST7735_BLUE);
tft.print(monGPSClk);
tft.setTextColor(ST7735_WHITE,ST7735_BLACK);
clearLine(1);
clearLine(2);
clearLine(3);
clearLine(4);
clearLine(5);
clearLine(6);
menuState = MENU1C;
}
else if (pressedKey == UP)
menuState = MENU0;
else if (pressedKey == DOWN)
menuState = MENU2;
}
break;
case MENU1C:
if (pressedKey != NOKEY)
{
tft.fillScreen(ST7735_BLACK);
menuState = MENU1;
}
GPSClock();
break;
case MENU2:
tft.fillScreen(ST7735_BLACK);
setCursorTFT(0,0);
tft.print(menuHeader);
setCursorTFT(1,0);
tft.print(monGPSLocn);
setCursorTFT(2,0);
tft.print(monGPSClk);
setCursorTFT(3,0);
tft.setTextColor(ST7735_WHITE,ST7735_BLUE);
tft.print(downldWays);
tft.setTextColor(ST7735_WHITE,ST7735_BLACK);
setCursorTFT(4,0);
tft.print(goToWaypts);
setCursorTFT(5,0);
tft.print(setActWays);
setCursorTFT(6,0);
tft.print(showWaypts);
menuState = MENU2B;
break;
case MENU2B:
{
int charIn;
if (pressedKey != NOKEY)
{
if ((pressedKey == SELECT) || (pressedKey == RIGHT))
{
rxCount = 0;
clearLine(2);
clearLine(3);
clearLine(4);
clearLine(5);
clearLine(6);
clearLine(1);
tft.setTextColor(ST7735_WHITE,ST7735_BLUE);
tft.print(downldWays);
tft.setTextColor(ST7735_WHITE,ST7735_BLACK);
setCursorTFT(2,0);
menuState = MENU2C;
while (Serial.available()) // flush the serial read port
charIn = Serial.read();
Serial.println("<DL>"); // signals host that it's time to load waypoints
}
else if (pressedKey == UP)
menuState = MENU1;
else if (pressedKey == DOWN)
menuState = MENU3;
}
}
break;
case MENU2C:
{
int charIn;
int errorCode;
if (Serial.available())
{
charIn = Serial.read();
if (charIn == '\n')
{
tft.print(".");
rxBuffer[rxCount] = 0;
errorCode = parseRxBuffer();
if (errorCode == -1)
{
clearLine(2);
tft.print("Error: Missing equal");
}
else if (errorCode == -2)
{
clearLine(2);
tft.print("Error: Bad waypt num");
}
rxCount = 0;
Serial.write('A');
if ((rxBuffer[0] == '1') && (rxBuffer[1]=='9'))
{
clearLine(3);
tft.print("Download Completed ");
EEPROM_writeAnything(0, myStoreVals);
Serial.println("</SERIN>"); // signals host that it's time to load waypoints
delay(2000); // 2 second message
menuState = MENU2;
}
}
else
{
rxBuffer[rxCount++] = charIn;
}
}
if (pressedKey == UP)
{
Serial.println("</DL>"); // signals host that it's time to load waypoints
clearLine(2);
tft.print("Download Terminated ");
delay(2000); // 2 second message
menuState = MENU2;
}
}
break;
case MENU3:
tft.fillScreen(ST7735_BLACK);
setCursorTFT(0,0);
tft.print(menuHeader);
setCursorTFT(1,0);
tft.print(monGPSLocn);
setCursorTFT(2,0);
tft.print(monGPSClk);
setCursorTFT(3,0);
tft.print(downldWays);
setCursorTFT(4,0);
tft.setTextColor(ST7735_WHITE,ST7735_BLUE);
tft.print(goToWaypts);
tft.setTextColor(ST7735_WHITE,ST7735_BLACK);
setCursorTFT(5,0);
tft.print(setActWays);
setCursorTFT(6,0);
tft.print(showWaypts);
menuState = MENU3B;
break;
case MENU3B:
if (pressedKey != NOKEY)
{
if ((pressedKey == SELECT) || (pressedKey == RIGHT))
{
quietReadGPS();
delay(500);
menuState = MENU3C;
}
else if (pressedKey == UP)
menuState = MENU2;
else if (pressedKey == DOWN)
menuState = MENU4;
}
break;
case MENU3C:
tft.fillScreen(ST7735_BLACK);
tft.drawCircle(64,110,45,ST7735_WHITE);
setCursorTFT(0,0);
tft.print(menuHeader);
setCursorTFT(1,0);
tft.print("Going to Waypoint ");
setCursorTFT(1,18);
tft.print(currentWayPoint, DEC);
setCursorTFT(2,0);
tft.print("Bearing =");
setCursorTFT(3,0);
tft.print("Distance =");
setCursorTFT(4,0);
tft.print("Direction =");
setCursorTFT(5,0);
tft.print("Satellites =");
quietReadGPS();
setCursorTFT(2,10);
tft.print(" ");
setCursorTFT(2,10);
bearing = calc_bearing(fLat2,fLon2,myStoreVals.lats[currentWayPoint],myStoreVals.lons[currentWayPoint]);
tft.print(bearing);
lastLat = fLat2;
setCursorTFT(3,11);
tft.print(" ");
setCursorTFT(3,11);
tft.print(calc_dist(fLat2,fLon2,myStoreVals.lats[currentWayPoint],myStoreVals.lons[currentWayPoint]));
lastLon = fLon2;
setCursorTFT(4,12);
tft.print(GPS.angle-bearing);
lastAngle = GPS.angle;
lastBearing = bearing;
setCursorTFT(5,13);
tft.print(GPS.satellites);
lastSats = GPS.satellites;
menuState = MENU3D;
break;
case MENU3D:
{
if (pressedKey != NOKEY)
{
menuState = MENU3;
break;
}
if (quietReadGPS() != 0)
{
break;
}
float distCalc = calc_dist(fLat2,fLon2,myStoreVals.lats[currentWayPoint],myStoreVals.lons[currentWayPoint]);
bearing = calc_bearing(fLat2,fLon2,myStoreVals.lats[currentWayPoint],myStoreVals.lons[currentWayPoint]);
if ((fLat2 != lastLat) || (fLon2 != lastLon))
{
setCursorTFT(2,10);
tft.print(" ");
setCursorTFT(2,10);
tft.print(bearing);
setCursorTFT(3,11);
tft.print(" ");
setCursorTFT(3,11);
tft.print(distCalc);
lastLat = fLat2;
lastLon = fLon2;
}
if ((GPS.angle != lastAngle) || (bearing != lastBearing))
{
setCursorTFT(4,12);
tft.print(" ");
setCursorTFT(4,12);
tft.print(GPS.angle-bearing);
drawVector(GPS.angle-bearing);
lastAngle = GPS.angle;
lastBearing = bearing;
}
if (lastSats != GPS.satellites)
{
setCursorTFT(5,13);
tft.print(GPS.satellites);
tft.print(" ");
}
}
break;
case MENU4:
tft.fillScreen(ST7735_BLACK);
setCursorTFT(0,0);
tft.print(menuHeader);
setCursorTFT(1,0);
tft.print(monGPSLocn);
setCursorTFT(2,0);
tft.print(monGPSClk);
setCursorTFT(3,0);
tft.print(downldWays);
setCursorTFT(4,0);
tft.print(goToWaypts);
setCursorTFT(5,0);
tft.setTextColor(ST7735_WHITE,ST7735_BLUE);
tft.print(setActWays);
tft.setTextColor(ST7735_WHITE,ST7735_BLACK);
setCursorTFT(6,0);
tft.print(showWaypts);
menuState = MENU4B;
break;
case MENU4B:
if (pressedKey != NOKEY)
{
if ((pressedKey == SELECT) || (pressedKey == RIGHT))
{
tft.fillScreen(ST7735_BLACK);
setCursorTFT(0,0);
tft.setTextColor(ST7735_WHITE,ST7735_BLUE);
tft.print(setActWays);
tft.setTextColor(ST7735_WHITE,ST7735_BLACK);
setCursorTFT(1,0);
tft.print(currentWayPoint, DEC);
menuState = MENU4C;
}
else if (pressedKey == UP)
{
menuState = MENU3;
}
else if (pressedKey == DOWN)
{
menuState = MENU5;
}
}
break;
case MENU4C:
{
if (pressedKey != NOKEY)
{
switch(pressedKey)
{
case SELECT:
myStoreVals.myCurrentWayPoint = currentWayPoint;
EEPROM_writeAnything(0, myStoreVals);
menuState = MENU4;
break;
case UP:
if (currentWayPoint < 19)
currentWayPoint++;
delay(250);
break;
case DOWN:
if (currentWayPoint > 0)
currentWayPoint--;
delay(250);
break;
}
clearLine(1);
tft.print(currentWayPoint, DEC);
}
}
break;
case MENU5:
tft.fillScreen(ST7735_BLACK);
setCursorTFT(0,0);
tft.print(menuHeader);
setCursorTFT(1,0);
tft.print(monGPSLocn);
setCursorTFT(2,0);
tft.print(monGPSClk);
setCursorTFT(3,0);
tft.print(downldWays);
setCursorTFT(4,0);
tft.print(goToWaypts);
setCursorTFT(5,0);
tft.print(setActWays);
setCursorTFT(6,0);
tft.setTextColor(ST7735_WHITE,ST7735_BLUE);
tft.print(showWaypts);
tft.setTextColor(ST7735_WHITE,ST7735_BLACK);
menuState = MENU5B;
break;
case MENU5B:
if (pressedKey != NOKEY)
{
if ((pressedKey == SELECT) || (pressedKey == RIGHT))
{
tft.fillScreen(ST7735_BLACK);
setCursorTFT(0,0);
tft.setTextColor(ST7735_WHITE,ST7735_BLUE);
tft.print(showWaypts);
tft.setTextColor(ST7735_WHITE,ST7735_BLACK);
for (int row = 0; row < 15; row++)
{
setCursorTFT(row+1,0);
tft.print(row);
tft.print(",");
tft.print(myStoreVals.lats[row],4);
tft.print(",");
tft.print(myStoreVals.lons[row],4);
}
menuState = MENU5C;
}
else if (pressedKey == UP)
{
menuState = MENU4;
}
}
break;
case MENU5C:
{
if (pressedKey != NOKEY)
{
switch(pressedKey)
{
case SELECT:
case UP:
tft.fillScreen(ST7735_BLACK);
menuState = MENU5;
break;
}
}
break;
}
}
}
void FreeBoardModel::saveConfig() {
//write out a current version
EEPROM_writeAnything(0, version);
//write data
EEPROM_writeAnything(EEPROM_VER, config);
}
void EEPROM_StoreSettings()
{
unsigned long ul_help = 20000;
unsigned int ui_help = 0;
char ver[4]= "000";
int i=EEPROM_OFFSET;
EEPROM_writeAnything(i,ver); // invalidate data first
EEPROM_writeAnything(i,axis_steps_per_unit);
EEPROM_writeAnything(i,max_feedrate);
EEPROM_writeAnything(i,max_acceleration_units_per_sq_second);
EEPROM_writeAnything(i,move_acceleration);
EEPROM_writeAnything(i,retract_acceleration);
EEPROM_writeAnything(i,minimumfeedrate);
EEPROM_writeAnything(i,mintravelfeedrate);
EEPROM_writeAnything(i,ul_help); //Min Segment Time, not used yet
EEPROM_writeAnything(i,max_xy_jerk);
EEPROM_writeAnything(i,max_z_jerk);
//PID Settings, not used yet --> placeholder
ui_help = 2560;
EEPROM_writeAnything(i,ui_help); //Kp
ui_help = 64;
EEPROM_writeAnything(i,ui_help); //Ki
ui_help = 4096;
EEPROM_writeAnything(i,ui_help); //Kd
char ver2[4]=EEPROM_VERSION;
i=EEPROM_OFFSET;
EEPROM_writeAnything(i,ver2); // validate data
showString(PSTR("Settings Stored\r\n"));
}
void SabreController::writeInputConfiguration(uint8_t input)
{
int location = (input) * sizeof(Config[input]);
EEPROM_writeAnything(location, Config[input]); // write the input configuration to the EEPROM
}
// write all changed main menu settings to the EEPROM
void SabreController::writeMainMenuSettings()
{
EEPROM_writeAnything(EEPROM_MENU_SETTINGS, this->MainMenuSettings);
}
//Writes the Keys Array to the EEPROM
void Keychain::WriteNewKeychain()
{
EEPROM_writeAnything(KEYCHAIN_EEPROM_START_ADDRESS, Keys);
}
void manageROM::writeConfiguration(void) {
EEPROM_writeAnything(0, configuration);
}
void saveUserStringToEEPROM( ) {
EEPROM_writeAnything(EEPROM_USERSTRING_ADDRESS, UserString);
}
void saveSettings() {
(void) EEPROM_writeAnything(4, settings);
}