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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2108 | - | 1 | #ifndef EEMEM |
| 2 | #define EEMEM __attribute__ ((section (".eeprom"))) |
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| 3 | #endif |
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| 4 | |||
| 5 | #include "eeprom.h" |
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| 6 | #include "printf_P.h" |
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| 7 | #include "output.h" |
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| 2141 | - | 8 | #include "rc.h" |
| 2108 | - | 9 | #include <avr/wdt.h> |
| 10 | #include <avr/eeprom.h> |
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| 11 | |||
| 12 | // byte array in eeprom |
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| 13 | uint8_t EEPromArray[E2END + 1] EEMEM; |
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| 14 | |||
| 15 | /***************************************************/ |
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| 16 | /* Read Parameter from EEPROM as byte */ |
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| 17 | /***************************************************/ |
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| 18 | uint8_t getParamByte(uint16_t param_id) { |
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| 19 | return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
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| 20 | } |
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| 21 | |||
| 22 | /***************************************************/ |
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| 23 | /* Write Parameter to EEPROM as byte */ |
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| 24 | /***************************************************/ |
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| 25 | void setParamByte(uint16_t param_id, uint8_t value) { |
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| 26 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
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| 27 | } |
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| 28 | |||
| 29 | /***************************************************/ |
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| 30 | /* Read Parameter from EEPROM as word */ |
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| 31 | /***************************************************/ |
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| 32 | /* |
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| 33 | uint16_t getParamWord(uint16_t param_id) { |
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| 34 | return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN |
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| 35 | + param_id]); |
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| 36 | } |
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| 37 | */ |
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| 38 | |||
| 39 | /***************************************************/ |
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| 40 | /* Write Parameter to EEPROM as word */ |
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| 41 | /***************************************************/ |
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| 42 | /* |
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| 43 | void setParamWord(uint16_t param_id, uint16_t value) { |
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| 44 | eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
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| 45 | } |
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| 46 | */ |
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| 47 | |||
| 48 | uint16_t CRC16(uint8_t* data, uint16_t length) { |
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| 49 | uint16_t crc = 0; |
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| 50 | for (uint16_t i=0; i<length; i++) { |
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| 51 | crc = (uint8_t)(crc >> 8) | (crc << 8); |
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| 52 | crc ^= data[i]; |
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| 53 | crc ^= (uint8_t)(crc & 0xff) >> 4; |
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| 54 | crc ^= (crc << 8) << 4; |
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| 55 | crc ^= ((crc & 0xff) << 4) << 1; |
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| 56 | } |
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| 57 | return crc; |
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| 58 | } |
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| 59 | |||
| 60 | // offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data. |
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| 61 | // length is the length of the pure data not including checksum and revision number. |
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| 62 | void writeChecksummedBlock(uint8_t revisionNumber, uint8_t* data, uint16_t offset, uint16_t length) { |
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| 63 | uint16_t CRC = CRC16(data, length); |
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| 64 | eeprom_write_byte(&EEPromArray[offset], CRC&0xff); |
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| 65 | eeprom_write_byte(&EEPromArray[offset+1], CRC>>8); |
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| 66 | eeprom_write_byte(&EEPromArray[offset+2], revisionNumber); |
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| 67 | eeprom_write_block(data, &EEPromArray[offset+3], length); |
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| 68 | } |
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| 69 | |||
| 70 | // offset is where the checksum is stored, offset+1 is the revision number, and offset+2... are the data. |
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| 71 | // length is the length of the pure data not including checksum and revision number. |
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| 72 | uint8_t readChecksummedBlock(uint8_t revisionNumber, uint8_t* target, uint16_t offset, uint16_t length) { |
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| 73 | uint16_t CRCRead = eeprom_read_byte(&EEPromArray[offset]) | (eeprom_read_byte(&EEPromArray[offset+1])<<8); |
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| 74 | uint8_t revisionNumberRead = eeprom_read_byte(&EEPromArray[offset+2]); |
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| 75 | eeprom_read_block(target, &EEPromArray[offset+3], length); |
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| 76 | uint16_t CRCCalculated = CRC16(target, length); |
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| 77 | |||
| 78 | uint8_t CRCError = (CRCRead != CRCCalculated); |
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| 79 | uint8_t revisionMismatch = (revisionNumber != revisionNumberRead); |
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| 80 | |||
| 81 | if (CRCError && revisionMismatch) printf("\n\rEEPROM CRC error and revision mismatch; "); |
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| 82 | else if (CRCError) printf("\n\rEEPROM CRC error; "); |
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| 83 | else if (revisionMismatch) printf("\n\rEEPROM revision mismatch; "); |
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| 84 | return (CRCError || revisionMismatch); |
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| 85 | } |
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| 86 | |||
| 87 | /***************************************************/ |
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| 88 | /* Read Parameter Set from EEPROM */ |
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| 89 | /***************************************************/ |
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| 90 | // setnumber [1..5] |
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| 91 | uint8_t paramSet_readFromEEProm(uint8_t setnumber) { |
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| 92 | uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(ParamSet_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD); |
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| 93 | uint8_t result = readChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(ParamSet_t)); |
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| 94 | configuration_paramSetDidChange(); |
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| 95 | return result; |
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| 96 | } |
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| 97 | |||
| 98 | /***************************************************/ |
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| 99 | /* Write Parameter Set to EEPROM */ |
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| 100 | /***************************************************/ |
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| 101 | void paramSet_writeToEEProm(uint8_t setnumber) { |
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| 102 | uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(ParamSet_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD); |
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| 103 | writeChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(ParamSet_t)); |
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| 104 | // set this parameter set to active set |
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| 105 | } |
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| 106 | |||
| 107 | void paramSet_readOrDefault() { |
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| 108 | // parameter version check |
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| 109 | if (paramSet_readFromEEProm(1)) { |
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| 110 | // if version check faild |
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| 111 | printf("\n\rwriting default parameter sets"); |
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| 112 | for (uint8_t i=5; i>0; i--) { |
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| 113 | paramSet_default(i); |
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| 114 | paramSet_writeToEEProm(i); |
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| 115 | } |
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| 116 | // default-Setting is parameter set 1 |
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| 117 | paramSet_readFromEEProm(1); |
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| 118 | // For some strange reason, the read will have no effect. |
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| 119 | // Lets reset... |
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| 120 | // wdt_enable(WDTO_500MS); |
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| 121 | } |
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| 122 | printf("\n\r\rUsing Parameter Set %d", 1); |
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| 123 | } |
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| 124 | |||
| 125 | /***************************************************/ |
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| 126 | /* Read IMU Config from EEPROM */ |
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| 127 | /***************************************************/ |
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| 128 | uint8_t IMUConfig_readFromEEprom(void) { |
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| 129 | return readChecksummedBlock(IMUCONFIG_REVISION, (uint8_t*)&IMUConfig, EEPROM_ADR_IMU_CONFIG, sizeof(IMUConfig_t)); |
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| 130 | } |
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| 131 | |||
| 132 | /***************************************************/ |
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| 133 | /* Write IMU Config to EEPROM */ |
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| 134 | /***************************************************/ |
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| 135 | void IMUConfig_writeToEEprom(void) { |
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| 136 | writeChecksummedBlock(IMUCONFIG_REVISION, (uint8_t*)&IMUConfig, EEPROM_ADR_IMU_CONFIG, sizeof(IMUConfig_t)); |
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| 137 | } |
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| 138 | |||
| 139 | void IMUConfig_readOrDefault(void) { |
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| 140 | if(IMUConfig_readFromEEprom()) { |
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| 141 | printf("\n\rwriting default IMU config"); |
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| 142 | IMUConfig_default(); |
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| 143 | IMUConfig_writeToEEprom(); |
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| 144 | } |
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| 145 | } |
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| 146 | |||
| 147 | /***************************************************/ |
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| 2132 | - | 148 | /* ChannelMap and R/C trim */ |
| 2108 | - | 149 | /***************************************************/ |
| 150 | void channelMap_writeToEEProm(void) { |
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| 2116 | - | 151 | writeChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(ChannelMap_t)); |
| 2108 | - | 152 | } |
| 153 | |||
| 154 | void channelMap_readOrDefault(void) { |
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| 2116 | - | 155 | if (readChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(ChannelMap_t))) { |
| 2108 | - | 156 | printf("\n\rwriting default channel map"); |
| 157 | channelMap_default(); |
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| 158 | channelMap_writeToEEProm(); |
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| 159 | } |
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| 160 | } |
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| 161 | |||
| 2132 | - | 162 | void rcTrim_writeToEEProm(void) { |
| 163 | writeChecksummedBlock(0, (uint8_t*)&rcTrim, EEPROM_ADR_RCTRIM, sizeof(RCTrim_t)); |
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| 164 | } |
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| 165 | |||
| 166 | void rcTrim_readOrDefault(void) { |
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| 167 | if (readChecksummedBlock(0, (uint8_t*)&rcTrim, EEPROM_ADR_RCTRIM, sizeof(RCTrim_t))) { |
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| 168 | printf("\n\rwriting zero RC trim"); |
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| 169 | RC_setZeroTrim(); |
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| 170 | rcTrim_writeToEEProm(); |
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| 171 | } |
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| 172 | } |
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| 173 | |||
| 2108 | - | 174 | /***************************************************/ |
| 175 | /* Sensor offsets */ |
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| 176 | /***************************************************/ |
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| 177 | uint8_t gyroOffset_readFromEEProm(void) { |
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| 178 | return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t)); |
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| 179 | } |
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| 180 | |||
| 181 | void gyroOffset_writeToEEProm(void) { |
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| 182 | writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t)); |
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| 183 | } |
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| 184 | |||
| 185 | uint8_t airpressureOffset_readFromEEProm(void) { |
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| 186 | return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&airpressureOffset, EEPROM_ADR_AIRSPEEDOFFSET, sizeof(uint16_t)); |
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| 187 | } |
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| 188 | |||
| 189 | void airpressureOffset_writeToEEProm(void) { |
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| 190 | writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&airpressureOffset, EEPROM_ADR_AIRSPEEDOFFSET, sizeof(uint16_t)); |
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| 191 | } |