void bricklet_write_plugin_to_flash(const char *plugin,
const uint8_t position,
const uint8_t bricklet) {
// Disable all irqs before plugin is written to flash.
// While writing to flash there can't be any other access to the flash
// (e.g. via interrupts).
DISABLE_RESET_BUTTON();
__disable_irq();
// Unlock flash region
FLASHD_Unlock(baddr[bricklet].plugin,
baddr[bricklet].plugin + BRICKLET_PLUGIN_MAX_SIZE,
0,
0);
// Write plugin to flash
uint16_t add = position*PLUGIN_CHUNK_SIZE;
FLASHD_Write(baddr[bricklet].plugin + add, plugin, PLUGIN_CHUNK_SIZE);
// Lock flash and enable irqs again
FLASHD_Lock(baddr[bricklet].plugin,
baddr[bricklet].plugin + BRICKLET_PLUGIN_MAX_SIZE,
0,
0);
__enable_irq();
ENABLE_RESET_BUTTON();
}
void bricklet_write_asc_to_flash(const uint8_t bricklet) {
// Disable all irqs before plugin is written to flash.
// While writing to flash there can't be any other access to the flash
// (e.g. via interrupts).
DISABLE_RESET_BUTTON();
__disable_irq();
// Unlock flash region
FLASHD_Unlock(baddr[bricklet].plugin,
baddr[bricklet].plugin + BRICKLET_PLUGIN_MAX_SIZE,
0,
0);
// Write api address to flash
int adr = (int)&ba;
FLASHD_Write(baddr[bricklet].api, &adr, sizeof(int*));
// Write settings address to flash
adr = (int)&bs[bricklet];
FLASHD_Write(baddr[bricklet].settings, &adr, sizeof(int*));
// Write context address to flash
adr = (int)&bc[bricklet];
FLASHD_Write(baddr[bricklet].context, &adr, sizeof(int*));
// Lock flash and enable irqs again
FLASHD_Lock(baddr[bricklet].plugin,
baddr[bricklet].plugin + BRICKLET_PLUGIN_MAX_SIZE,
0,
0);
__enable_irq();
ENABLE_RESET_BUTTON();
}
bool read_calibration_from_bno055_and_save_to_flash(void) {
if(sensor_data.calibration_status != 0xFF) {
return false;
}
bmo_write_register(REG_OPR_MODE, 0b00000000); // Configuration Mode
SLEEP_MS(19);
IMUCalibration imu_calibration = {{0}};
bmo_read_registers(REG_ACC_OFFSET_X_LSB, (uint8_t *)&imu_calibration, IMU_CALIBRATION_LENGTH);
imu_calibration.password = IMU_CALIBRATION_PASSWORD;
bmo_write_register(REG_OPR_MODE, 0b00001100); // Enable NDOF, see Table 3-5
SLEEP_MS(7);
logimui("Read calibration from BNO055 and save to flash:\n\r");
logimui(" Mag Offset: %d %d %d\n\r", imu_calibration.mag_offset[0], imu_calibration.mag_offset[1], imu_calibration.mag_offset[2]);
logimui(" Acc Offset: %d %d %d\n\r", imu_calibration.acc_offset[0], imu_calibration.acc_offset[1], imu_calibration.acc_offset[2]);
logimui(" Gyr Offset: %d %d %d\n\r", imu_calibration.gyr_offset[0], imu_calibration.gyr_offset[1], imu_calibration.gyr_offset[2]);
logimui(" Acc Radius: %d\n\r", imu_calibration.acc_radius);
logimui(" Mag Radius: %d\n\r", imu_calibration.mag_radius);
DISABLE_RESET_BUTTON();
__disable_irq();
// Unlock flash region
if(FLASHD_Unlock(IMU_CALIBRATION_ADDRESS,
END_OF_BRICKLET_MEMORY,
NULL,
NULL) != 0) {
return false;
}
if(FLASHD_Write(IMU_CALIBRATION_ADDRESS,
&imu_calibration,
sizeof(IMUCalibration)) != 0) {
return false;
}
if(FLASHD_Lock(IMU_CALIBRATION_ADDRESS,
END_OF_BRICKLET_MEMORY,
NULL,
NULL) != 0) {
return false;
}
__enable_irq();
ENABLE_RESET_BUTTON();
return true;
}
