/**
* @brief Load one object instance per sector
* @param[in] obj UAVObjHandle the object to save
* @param[in] instId The instance of the object to save
* @return 0 if success or error code
* @retval -1 if object not in file table
* @retval -2 if unable to retrieve object header
* @retval -3 if loaded data instId or objId don't match
* @retval -4 if unable to retrieve instance data
* @retval -5 if unable to read CRC
* @retval -6 if CRC doesn't match
* @note This uses one sector on the flash chip per object so that no buffering in ram
* must be done when erasing the sector before a save
*/
int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data)
{
uint32_t objId = UAVObjGetID(obj);
uint16_t objSize = UAVObjGetNumBytes(obj);
uint8_t crc = 0;
uint8_t crcFlash = 0;
const uint8_t crc_read_step = 8;
uint8_t crc_read_buffer[crc_read_step];
int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
// Object currently not saved
if(addr < 0)
return -1;
struct fileHeader header;
// Load header
// This information IS redundant with the object table id. Oh well. Better safe than sorry.
if(PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0)
return -2;
// Update CRC
crc = PIOS_CRC_updateCRC(0, (uint8_t *) &header, sizeof(header));
if((header.id != objId) || (header.instId != instId))
return -3;
// To avoid having to allocate the RAM for a copy of the object, we read by chunks
// and compute the CRC
for(uint32_t i = 0; i < objSize; i += crc_read_step) {
PIOS_Flash_W25X_ReadData(addr + sizeof(header) + i, crc_read_buffer, crc_read_step);
uint8_t valid_bytes = ((i + crc_read_step) >= objSize) ? objSize - i : crc_read_step;
crc = PIOS_CRC_updateCRC(crc, crc_read_buffer, valid_bytes);
}
// Read CRC (written so will work when CRC changes to uint16)
if(PIOS_Flash_W25X_ReadData(addr + sizeof(header) + objSize, (uint8_t *) &crcFlash, sizeof(crcFlash)) != 0)
return -5;
if(crc != crcFlash)
return -6;
// Read the instance data
if (PIOS_Flash_W25X_ReadData(addr + sizeof(header), data, objSize) != 0)
return -4;
return 0;
}
/**
* @brief Saves one object instance per sector
* @param[in] obj UAVObjHandle the object to save
* @param[in] instId The instance of the object to save
* @return 0 if success or -1 if failure
* @note This uses one sector on the flash chip per object so that no buffering in ram
* must be done when erasing the sector before a save
*/
int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data)
{
uint32_t objId = UAVObjGetID(obj);
uint8_t crc = 0;
int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
// Object currently not saved
if(addr < 0)
addr = PIOS_FLASHFS_GetNewAddress(objId, instId);
// Could not allocate a sector
if(addr < 0)
return -1;
struct fileHeader header = {
.id = objId,
.instId = instId,
.size = UAVObjGetNumBytes(obj)
};
if(PIOS_Flash_W25X_EraseSector(addr) != 0)
return -2;
// Save header
// This information IS redundant with the object table id. Oh well. Better safe than sorry.
if(PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0)
return -3;
// Update CRC
crc = PIOS_CRC_updateCRC(0, (uint8_t *) &header, sizeof(header));
// Save data
if(PIOS_Flash_W25X_WriteData(addr + sizeof(header), data, UAVObjGetNumBytes(obj)) != 0)
return -4;
// Update CRC
crc = PIOS_CRC_updateCRC(crc, (uint8_t *) data, UAVObjGetNumBytes(obj));
// Save CRC (written so will work when CRC changes to uint16)
if(PIOS_Flash_W25X_WriteData(addr + sizeof(header) + UAVObjGetNumBytes(obj), (uint8_t *) &crc, sizeof(crc)) != 0)
return -4;
return 0;
}
/**
* Sends a message.
*/
void UAVTalk::sendTestMessage(){
struct UAVTalkVelocityMessage vMessage;
vMessage.header.startByte = 0x3C;
// Not sure if the type is right, see: http://wiki.openpilot.org/display/Doc/UAVTalk
vMessage.header.messageType = 0x10;
// length = number of bytes in header and payload without checksum (Header: 10b, payload: 3x4b).
vMessage.header.length = 22;
vMessage.header.objectID = 0x43007EB0;
// openpilot wiki says; Unique object instance ID. Only present in UAVObjects that are NOT of type 'single instance'
// Could either mean that these bytes are not part of the message at all
// or that these bytes are 0x0.
vMessage.header.instanceID = 0;
vMessage.down = 1;
vMessage.east = 2;
vMessage.north = 3;
//this->setChecksum(&(vMessage.header.startByte));
vMessage.end.checksum = PIOS_CRC_updateCRC(0, &(vMessage.header.startByte), 22);
xbee->sendData( (uint8_t*)(&vMessage), vMessage.header.length + 1);
return;
}//eof
