| 0,0 → 1,179 |
|---|
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| |
| #include "eeprom.h" |
| #include "printf_P.h" |
| #include "output.h" |
| #include <avr/wdt.h> |
| #include <avr/eeprom.h> |
| |
| // byte array in eeprom |
| uint8_t EEPromArray[E2END + 1] EEMEM; |
| |
| /***************************************************/ |
| /* Read Parameter from EEPROM as byte */ |
| /***************************************************/ |
| uint8_t getParamByte(uint16_t param_id) { |
| return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
| } |
| |
| /***************************************************/ |
| /* Write Parameter to EEPROM as byte */ |
| /***************************************************/ |
| void setParamByte(uint16_t param_id, uint8_t value) { |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
| } |
| |
| /***************************************************/ |
| /* Read Parameter from EEPROM as word */ |
| /***************************************************/ |
| /* |
| uint16_t getParamWord(uint16_t param_id) { |
| return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN |
| + param_id]); |
| } |
| */ |
| |
| /***************************************************/ |
| /* Write Parameter to EEPROM as word */ |
| /***************************************************/ |
| /* |
| void setParamWord(uint16_t param_id, uint16_t value) { |
| eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
| } |
| */ |
| |
| uint16_t CRC16(uint8_t* data, uint16_t length) { |
| uint16_t crc = 0; |
| for (uint16_t i=0; i<length; i++) { |
| crc = (uint8_t)(crc >> 8) | (crc << 8); |
| crc ^= data[i]; |
| crc ^= (uint8_t)(crc & 0xff) >> 4; |
| crc ^= (crc << 8) << 4; |
| crc ^= ((crc & 0xff) << 4) << 1; |
| } |
| return crc; |
| } |
| |
| // offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data. |
| // length is the length of the pure data not including checksum and revision number. |
| void writeChecksummedBlock(uint8_t revisionNumber, uint8_t* data, uint16_t offset, uint16_t length) { |
| uint16_t CRC = CRC16(data, length); |
| eeprom_write_byte(&EEPromArray[offset], CRC&0xff); |
| eeprom_write_byte(&EEPromArray[offset+1], CRC>>8); |
| eeprom_write_byte(&EEPromArray[offset+2], revisionNumber); |
| eeprom_write_block(data, &EEPromArray[offset+3], length); |
| } |
| |
| // offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data. |
| // length is the length of the pure data not including checksum and revision number. |
| uint8_t readChecksummedBlock(uint8_t revisionNumber, uint8_t* target, uint16_t offset, uint16_t length) { |
| uint16_t CRCRead = eeprom_read_byte(&EEPromArray[offset]) | (eeprom_read_byte(&EEPromArray[offset+1])<<8); |
| uint8_t revisionNumberRead = eeprom_read_byte(&EEPromArray[offset+2]); |
| eeprom_read_block(target, &EEPromArray[offset+3], length); |
| uint16_t CRCCalculated = CRC16(target, length); |
| |
| uint8_t CRCError = (CRCRead != CRCCalculated); |
| uint8_t revisionMismatch = (revisionNumber != revisionNumberRead); |
| |
| if (CRCError && revisionMismatch) printf("\n\rEEPROM CRC error and revision mismatch; "); |
| else if (CRCError) printf("\n\rEEPROM CRC error; "); |
| else if (revisionMismatch) printf("\n\rEEPROM revision mismatch; "); |
| return (CRCError || revisionMismatch); |
| } |
| |
| /***************************************************/ |
| /* Read Parameter Set from EEPROM */ |
| /***************************************************/ |
| // setnumber [1..5] |
| uint8_t paramSet_readFromEEProm(uint8_t setnumber) { |
| uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(ParamSet_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD); |
| uint8_t result = readChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(ParamSet_t)); |
| configuration_paramSetDidChange(); |
| return result; |
| } |
| |
| /***************************************************/ |
| /* Write Parameter Set to EEPROM */ |
| /***************************************************/ |
| void paramSet_writeToEEProm(uint8_t setnumber) { |
| uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(ParamSet_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD); |
| writeChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(ParamSet_t)); |
| // set this parameter set to active set |
| } |
| |
| void paramSet_readOrDefault() { |
| // parameter version check |
| if (paramSet_readFromEEProm(1)) { |
| // if version check faild |
| printf("\n\rwriting default parameter sets"); |
| for (uint8_t i=5; i>0; i--) { |
| paramSet_default(i); |
| paramSet_writeToEEProm(i); |
| } |
| // default-Setting is parameter set 1 |
| paramSet_readFromEEProm(1); |
| // For some strange reason, the read will have no effect. |
| // Lets reset... |
| // wdt_enable(WDTO_500MS); |
| } |
| printf("\n\r\rUsing Parameter Set %d", 1); |
| } |
| |
| /***************************************************/ |
| /* Read IMU Config from EEPROM */ |
| /***************************************************/ |
| uint8_t IMUConfig_readFromEEprom(void) { |
| return readChecksummedBlock(IMUCONFIG_REVISION, (uint8_t*)&IMUConfig, EEPROM_ADR_IMU_CONFIG, sizeof(IMUConfig_t)); |
| } |
| |
| /***************************************************/ |
| /* Write IMU Config to EEPROM */ |
| /***************************************************/ |
| void IMUConfig_writeToEEprom(void) { |
| writeChecksummedBlock(IMUCONFIG_REVISION, (uint8_t*)&IMUConfig, EEPROM_ADR_IMU_CONFIG, sizeof(IMUConfig_t)); |
| } |
| |
| void IMUConfig_readOrDefault(void) { |
| if(IMUConfig_readFromEEprom()) { |
| printf("\n\rwriting default IMU config"); |
| IMUConfig_default(); |
| IMUConfig_writeToEEprom(); |
| } |
| } |
| |
| /***************************************************/ |
| /* ChannelMap */ |
| /***************************************************/ |
| void channelMap_writeToEEProm(void) { |
| writeChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(channelMap_t)); |
| } |
| |
| void channelMap_readOrDefault(void) { |
| if (readChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(channelMap_t))) { |
| printf("\n\rwriting default channel map"); |
| channelMap_default(); |
| channelMap_writeToEEProm(); |
| wdt_enable(WDTO_500MS); |
| } |
| } |
| |
| /***************************************************/ |
| /* Sensor offsets */ |
| /***************************************************/ |
| uint8_t gyroOffset_readFromEEProm(void) { |
| return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t)); |
| } |
| |
| void gyroOffset_writeToEEProm(void) { |
| writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t)); |
| } |
| |
| uint8_t airpressureOffset_readFromEEProm(void) { |
| return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&airpressureOffset, EEPROM_ADR_AIRSPEEDOFFSET, sizeof(uint16_t)); |
| } |
| |
| void airpressureOffset_writeToEEProm(void) { |
| writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&airpressureOffset, EEPROM_ADR_AIRSPEEDOFFSET, sizeof(uint16_t)); |
| } |