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1910 - 1 
#ifndef EEMEM
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#define EEMEM __attribute__ ((section (".eeprom")))
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#endif
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#include "eeprom.h"
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#include "printf_P.h"
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#include "output.h"
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#include <avr/wdt.h>
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#include <avr/eeprom.h>
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// byte array in eeprom
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uint8_t EEPromArray[E2END + 1] EEMEM;
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/***************************************************/
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/*       Read Parameter from EEPROM as byte        */
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/***************************************************/
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uint8_t getParamByte(uint16_t param_id) {
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  return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]);
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}
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/***************************************************/
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/*       Write Parameter to EEPROM as byte         */
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/***************************************************/
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void setParamByte(uint16_t param_id, uint8_t value) {
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  eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value);
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}
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/***************************************************/
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/*       Read Parameter from EEPROM as word        */
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/***************************************************/
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/*
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uint16_t getParamWord(uint16_t param_id) {
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  return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN
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                                                    + param_id]);
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}
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*/
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/***************************************************/
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/*       Write Parameter to EEPROM as word         */
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/***************************************************/
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/*
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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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}
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*/
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uint16_t CRC16(uint8_t* data, uint16_t length) {
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  uint16_t crc = 0;
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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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    crc ^= ((crc & 0xff) << 4) << 1;
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  }
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  return crc;
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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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// 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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  uint16_t CRC = CRC16(data, length);
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  eeprom_write_byte(&EEPromArray[offset], CRC&0xff);
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  eeprom_write_byte(&EEPromArray[offset+1], CRC>>8);
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  eeprom_write_byte(&EEPromArray[offset+2], revisionNumber);
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  eeprom_write_block(data, &EEPromArray[offset+3], length);
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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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// 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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  uint16_t CRCRead = eeprom_read_byte(&EEPromArray[offset]) | (eeprom_read_byte(&EEPromArray[offset+1])<<8);
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  uint8_t revisionNumberRead = eeprom_read_byte(&EEPromArray[offset+2]);
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  eeprom_read_block(target, &EEPromArray[offset+3], length);
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  uint16_t CRCCalculated = CRC16(target, length);
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  uint8_t CRCError = (CRCRead != CRCCalculated);
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  uint8_t revisionMismatch = (revisionNumber != revisionNumberRead);
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  if (CRCError && revisionMismatch) printf("\n\rEEPROM CRC error and revision mismatch; ");
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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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  return (CRCError || revisionMismatch);
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}
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/***************************************************/
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/*       Read Parameter Set from EEPROM            */
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/***************************************************/
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// setnumber [1..5]
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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)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD);
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  uint8_t result = readChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(ParamSet_t));
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  configuration_paramSetDidChange();
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  return result;
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}
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/***************************************************/
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/*        Write Parameter Set to EEPROM            */
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/***************************************************/
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void paramSet_writeToEEProm(uint8_t setnumber) {
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  uint16_t offset = EEPROM_ADR_PARAMSET_BEGIN + (setnumber-1)*(sizeof(ParamSet_t)+EEPROM_CHECKSUMMED_BLOCK_OVERHEAD);
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  writeChecksummedBlock(EEPARAM_REVISION, (uint8_t*)&staticParams, offset, sizeof(ParamSet_t));
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  // set this parameter set to active set
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}
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void paramSet_readOrDefault() {
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  // parameter version  check
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  if (paramSet_readFromEEProm(1)) {
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    // if version check faild
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    printf("\n\rwriting default parameter sets");
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    for (uint8_t i=5; i>0; i--) {
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      paramSet_default(i);
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      paramSet_writeToEEProm(i);
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    }
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    // default-Setting is parameter set 1
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    paramSet_readFromEEProm(1);
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    // For some strange reason, the read will have no effect.
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    // Lets reset...
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    // wdt_enable(WDTO_500MS);
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  }
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  printf("\n\r\rUsing Parameter Set %d", 1);
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}
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/***************************************************/
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/*          Read IMU Config from EEPROM            */
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/***************************************************/
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uint8_t IMUConfig_readFromEEprom(void) {
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  return readChecksummedBlock(IMUCONFIG_REVISION, (uint8_t*)&IMUConfig, EEPROM_ADR_IMU_CONFIG, sizeof(IMUConfig_t));
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}
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/***************************************************/
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/*          Write IMU Config to EEPROM             */
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/***************************************************/
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void IMUConfig_writeToEEprom(void) {
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  writeChecksummedBlock(IMUCONFIG_REVISION, (uint8_t*)&IMUConfig, EEPROM_ADR_IMU_CONFIG, sizeof(IMUConfig_t));
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}
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void IMUConfig_readOrDefault(void) {
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    if(IMUConfig_readFromEEprom()) {
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      printf("\n\rwriting default IMU config");
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      IMUConfig_default();
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      IMUConfig_writeToEEprom();
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    }
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}
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/***************************************************/
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/* ChannelMap                                      */
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/***************************************************/
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void channelMap_writeToEEProm(void) {
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  writeChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(channelMap_t));
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}
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void channelMap_readOrDefault(void) {
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  if (readChecksummedBlock(CHANNELMAP_REVISION, (uint8_t*)&channelMap, EEPROM_ADR_CHANNELMAP, sizeof(channelMap_t))) {
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    printf("\n\rwriting default channel map");
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    channelMap_default();
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    channelMap_writeToEEProm();
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        wdt_enable(WDTO_500MS);
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  }
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}
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/***************************************************/
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/* Sensor offsets                                  */
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/***************************************************/
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uint8_t gyroOffset_readFromEEProm(void) {
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  return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t));
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}
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void gyroOffset_writeToEEProm(void) {
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  writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroOffset, EEPROM_ADR_GYROOFFSET, sizeof(sensorOffset_t));
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}