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// + Copyright (c) 04.2007 Holger Buss
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// + Copyright (c) 04.2007 Holger Buss
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// + Nur für den privaten Gebrauch
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
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// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
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// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zulässig ist.
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// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
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// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
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// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Verkauf von Luftbildaufnahmen, usw.
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// + Verkauf von Luftbildaufnahmen, usw.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  POSSIBILITY OF SUCH DAMAGE.
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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 - 
 
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Contant Values
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// + 0-250 -> normale Values
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// + 251 -> Poti1
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// + 252 -> Poti2
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// + 253 -> Poti3
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// + 254 -> Poti4
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 - 
 
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#ifndef EEMEM
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#ifndef EEMEM
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#define EEMEM __attribute__ ((section (".eeprom")))
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#define EEMEM __attribute__ ((section (".eeprom")))
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#endif
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#endif
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void setParamWord(uint16_t param_id, uint16_t value) {
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void setParamWord(uint16_t param_id, uint16_t value) {
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  eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);
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  eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);
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}
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}
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*/
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*/
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uint8_t calculateChecksum(uint8_t* data, uint16_t length) {
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uint16_t CRC16(uint8_t* data, uint16_t length) {
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  uint8_t result = 0;
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  uint16_t crc = 0;
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  for (uint16_t i=0; i<length; i++) {
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  for (uint16_t i=0; i<length; i++) {
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    crc  = (uint8_t)(crc >> 8) | (crc << 8);
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    crc ^= data[i];
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    crc ^= (uint8_t)(crc & 0xff) >> 4;
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    crc ^= (crc << 8) << 4;
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    result += data[i];
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    crc ^= ((crc & 0xff) << 4) << 1;
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  }
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  }
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  return result;
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  return crc;
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}
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}
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// offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data.
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// offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data.
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// length is the length of the pure data not including checksum and revision number.
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// length is the length of the pure data not including checksum and revision number.
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void writeChecksummedBlock(uint8_t revisionNumber, uint8_t* data, uint16_t offset, uint16_t length) {
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void writeChecksummedBlock(uint8_t revisionNumber, uint8_t* data, uint16_t offset, uint16_t length) {
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  uint8_t checksum = calculateChecksum(data, length);
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  uint16_t CRC = CRC16(data, length);
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  eeprom_write_byte(&EEPromArray[offset], checksum);
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  eeprom_write_word(&EEPromArray[offset], CRC);
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  eeprom_write_byte(&EEPromArray[offset+1], revisionNumber);
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  eeprom_write_byte(&EEPromArray[offset+2], revisionNumber);
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  eeprom_write_block(data, &EEPromArray[offset+2], length);
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  eeprom_write_block(data, &EEPromArray[offset+3], length);
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}
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}
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// offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data.
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// offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data.
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// length is the length of the pure data not including checksum and revision number.
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// length is the length of the pure data not including checksum and revision number.
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uint8_t readChecksummedBlock(uint8_t revisionNumber, uint8_t* target, uint16_t offset, uint16_t length) {
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uint8_t readChecksummedBlock(uint8_t revisionNumber, uint8_t* target, uint16_t offset, uint16_t length) {
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  uint8_t checksumRead = eeprom_read_byte(&EEPromArray[offset]);
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  uint16_t CRCRead = eeprom_read_word(&EEPromArray[offset]);
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  uint8_t revisionNumberRead = eeprom_read_byte(&EEPromArray[offset+1]);
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  uint8_t revisionNumberRead = eeprom_read_byte(&EEPromArray[offset+2]);
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  eeprom_read_block(target, &EEPromArray[offset+2], length);
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  eeprom_read_block(target, &EEPromArray[offset+3], length);
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  uint8_t checksumCalculated = calculateChecksum(target, length);
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  uint16_t CRCCalculated = CRC(target, length);
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  uint8_t checksumError = (checksumRead != checksumCalculated);
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  uint8_t CRCError = (CRCRead != CRCCalculated);
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  uint8_t revisionMismatch = (revisionNumber != revisionNumberRead);
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  uint8_t revisionMismatch = (revisionNumber != revisionNumberRead);
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  if (checksumError && revisionMismatch) printf("\n\rEEPROM checksum error and revision mismatch, ");
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  if (CRCError && revisionMismatch) printf("\n\rEEPROM CRC error and revision mismatch; ");
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  else if (checksumError) printf("\n\rEEPROM checksum error, ");
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  else if (CRCError) printf("\n\rEEPROM CRC error; ");
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  else if (revisionMismatch) printf("\n\rEEPROM revision mismatch, ");
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  else if (revisionMismatch) printf("\n\rEEPROM revision mismatch; ");
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  return (checksumError || revisionMismatch);
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  return (checksumError || revisionMismatch);
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}
 134 
}
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/***************************************************/
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/***************************************************/
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/*       Read Parameter Set from EEPROM            */
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/*       Read Parameter Set from EEPROM            */
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/***************************************************/
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/***************************************************/
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// setnumber [1..5]
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// setnumber [1..5]
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uint8_t paramSet_readFromEEProm(uint8_t setnumber) {
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uint8_t paramSet_readFromEEProm(uint8_t setnumber) {
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  uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(paramset_t)+2);
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  uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(paramset_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD);
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  output_init(); // what's that doing here??
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  output_init(); // what's that doing here??
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  return readChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(paramset_t));
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  return readChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(paramset_t));
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}
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}
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/***************************************************/
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/***************************************************/
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/*        Write Parameter Set to EEPROM            */
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/*        Write Parameter Set to EEPROM            */
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/***************************************************/
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/***************************************************/