/**
* @brief Loads all user defined settings from external EEPROM chip.
* @return 1 - if write operation is successful;
* 0 - if write operation fails.
*/
uint8_t eepromLoadSettings(void) {
msg_t status = RDY_OK;
uint8_t addr = EEPROM_START_ADDR;
i2cAcquireBus(&I2CD2);
status = i2cMasterTransmitTimeout(&I2CD2, EEPROM_24C02_ADDR, &addr, 1,
(uint8_t *)&eepromData, sizeof(eepromData), MS2ST(EEPROM_READ_TIMEOUT_MS));
i2cReleaseBus(&I2CD2);
if (status != RDY_OK) {
g_i2cErrorInfo.last_i2c_error = i2cGetErrors(&I2CD2);
if (g_i2cErrorInfo.last_i2c_error) {
debugLog("E:eeprom-load");
g_i2cErrorInfo.i2c_error_counter++;
}
return 0;
}
if (eepromData.crc32 != crcCRC32((uint32_t *)&eepromData, sizeof(eepromData) / sizeof(uint32_t) - 1)) {
/* Fill with default settings. */
return eepromSaveSettings();
} else {
pidSettingsUpdate(eepromData.pidSettings);
pwmOutputSettingsUpdate(eepromData.pwmOutput);
mixedInputSettingsUpdate(eepromData.mixedInput);
inputModeSettingsUpdate(eepromData.modeSettings);
sensorSettingsUpdate(eepromData.sensorSettings);
accelBiasUpdate(&g_IMU1, eepromData.accelBias);
gyroBiasUpdate(&g_IMU1, eepromData.gyroBias);
}
return 1;
}
/**
* @brief Calculates CRC32 checksum of received data buffer.
* @param pMsg - pointer to COMM message structure.
* @return CRC32 checksum of received zero-padded data buffer.
*/
static uint32_t CommGetCRC32Checksum(const PMessage pMsg)
{
uint32_t crc_length = (pMsg->size - COMM_MSG_CRC_SIZE) / sizeof(uint32_t);
if ((pMsg->size - COMM_MSG_CRC_SIZE) % sizeof(uint32_t))
{
crc_length++;
}
return crcCRC32((uint32_t *)pMsg, crc_length);
}
/**
* @brief Starts saving all user defined settings to external EEPROM chip.
* @return 1 - if write operation is successful;
* 0 - if write operation fails.
*/
uint8_t eepromSaveSettings(void) {
memcpy((void *)eepromData.pidSettings, (void *)g_pidSettings, sizeof(g_pidSettings));
memcpy((void *)eepromData.pwmOutput, (void *)g_pwmOutput, sizeof(g_pwmOutput));
memcpy((void *)eepromData.mixedInput, (void *)g_mixedInput, sizeof(g_mixedInput));
memcpy((void *)eepromData.modeSettings, (void *)g_modeSettings, sizeof(g_modeSettings));
memcpy((void *)eepromData.sensorSettings, (void *)g_sensorSettings, sizeof(g_sensorSettings));
memcpy((void *)eepromData.accelBias, (void *)g_IMU1.accelBias, sizeof(g_IMU1.accelBias));
memcpy((void *)eepromData.gyroBias, (void *)g_IMU1.gyroBias, sizeof(g_IMU1.gyroBias));
eepromData.crc32 = crcCRC32((uint32_t *)&eepromData, sizeof(eepromData) / sizeof(uint32_t) - 1);
fSkipContinue = 1;
return eepromWriteData(EEPROM_START_ADDR, (uint8_t *)&eepromData, sizeof(eepromData));
}
