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#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)); |
} |