Subversion Repositories FlightCtrl

#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() {

  uint8_t setnumber = getActiveParamSet();

  // parameter version  check

  if (setnumber<1 ||setnumber>5 || paramSet_readFromEEProm(setnumber)) {

    // 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

    setActiveParamSet(1);

    paramSet_readFromEEProm(getActiveParamSet());

    // For some strange reason, the read will have no effect.

    // Lets reset...

    // wdt_enable(WDTO_500MS);

  }

  printf("\n\r\rUsing Parameter Set %d", getActiveParamSet());

}

/***************************************************/

/*          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();

    }

}

/***************************************************/

/* MixerTable                                      */

/***************************************************/

void mixerMatrix_writeToEEProm(void) {

  writeChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&mixerMatrix, EEPROM_ADR_MIXER_TABLE, sizeof(MixerMatrix_t));

}

void mixerMatrix_readOrDefault(void) {

  // load mixer table

  if (readChecksummedBlock(EEMIXER_REVISION, (uint8_t*)&mixerMatrix, EEPROM_ADR_MIXER_TABLE, sizeof(MixerMatrix_t))) {

    printf("\n\rwriting default mixerMatrix");

    mixerMatrix_default(); // Quadro

    mixerMatrix_writeToEEProm();

  }

  // determine motornumber

  requiredMotors = 0;

  for (uint8_t i=0; i<MAX_MOTORS; i++) {

    if (mixerMatrix.motor[i][MIX_THROTTLE])

      requiredMotors++;

  }

  printf("\n\rMixer-Config: '%s' (%u Motors)",mixerMatrix.name, requiredMotors);

  printf("\n\r===================================");

}

/***************************************************/

/* 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 gyroAmplifierOffset_readFromEEProm(void) {

  return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t));

}

void gyroAmplifierOffset_writeToEEProm(void) {

  return writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&gyroAmplifierOffset, EEPROM_ADR_GYROAMPLIFIER, sizeof(sensorOffset_t));

}

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 accOffset_readFromEEProm(void) {

  return readChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accOffset, EEPROM_ADR_ACCOFFSET, sizeof(sensorOffset_t));

}

void accOffset_writeToEEProm(void) {

  writeChecksummedBlock(SENSOROFFSET_REVISION, (uint8_t*)&accOffset, EEPROM_ADR_ACCOFFSET, sizeof(sensorOffset_t));

}

/***************************************************/

/*       Get active parameter set                  */

/***************************************************/

uint8_t getActiveParamSet(void) {

  uint8_t setnumber;

  setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]);

  if (setnumber > 5) {

    setActiveParamSet(setnumber = 1);

  }

  return setnumber;

}

/***************************************************/

/*       Set active parameter set                  */

/***************************************************/

void setActiveParamSet(uint8_t setnumber) {

  eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber);

}