EEPROM.h

/* Copyright (C) 2014 Kristian Sloth Lauszus. All rights reserved.

 This software may be distributed and modified under the terms of the GNU
 General Public License version 2 (GPL2) as published by the Free Software
 Foundation and appearing in the file GPL2.TXT included in the packaging of
 this file. Please note that GPL2 Section 2[b] requires that all works based
 on this software must also be made publicly available under the terms of
 the GPL2 ("Copyleft").

 Contact information
 -------------------

 Kristian Sloth Lauszus
 Web      :  http://www.lauszus.com
 e-mail   :  lauszus@gmail.com
*/

#ifndef _eeprom_h_
#define _eeprom_h_

#include <stdint.h> // Needed for uint8_t, uint16_t etc.

// This struct will store all the configuration values
typedef struct {
  double Kp, Ki, Kd; // PID variables
  double targetAngle; // Resting angle of the robot
  uint8_t turningScale; // Set the turning scale value
  double Qangle, Qbias, Rmeasure; // Kalman filter values
  // TODO: Implement this:
  double accYzero, accZzero; // Accelerometer zero values
  double leftMotorScaler, rightMotorScaler; // Used if there is difference between the motors

  bool configureBtModule; // Used to configure the Bluetooth module the first time it is turned on
} cfg_t;

extern cfg_t cfg;

bool checkEEPROMVersion();
void readEEPROMValues();
void updateEEPROMValues();

#endif