void readEEPROM(void)
{
eepromConfig_t *dst = &eepromConfig;
*dst = *(eepromConfig_t*)FLASH_WRITE_EEPROM_ADDR ;
if ( crcCheckVal != crc32bEEPROM(dst, true) )
{
evrPush(EVR_FlashCRCFail,0);
dst->CRCFlags |= CRC_HistoryBad;
}
else if ( dst->CRCFlags & CRC_HistoryBad )
evrPush(EVR_ConfigBadHistory,0);
accConfidenceDecay = 1.0f / sqrt(eepromConfig.accelCutoff);
eepromConfig.yawDirection = constrain(eepromConfig.yawDirection, -1.0f, 1.0f);
}
void cliPrintEEPROM(eepromConfig_t *e)
{
uint32_t old_crc = e->CRCAtEnd[0];
enum { line_length = 32, len = sizeof(eepromConfig_t) };
uint8_t *by = (uint8_t*)e;
int i, j;
e->CRCAtEnd[0] = crc32bEEPROM(e, false);
if (e->CRCFlags & CRC_HistoryBad)
evrPush(EVR_ConfigBadHistory, 0);
for (i = 0; i < ceil((float)len / line_length); i++)
{
for (j = 0; j < min(line_length, len - line_length * i); j++)
cliPortPrintF("%02X", by[i * line_length + j]);
cliPortPrint("\n");
}
e->CRCAtEnd[0] = old_crc;
}
void eepromCLI()
{
uint32_t c1, c2;
uint8_t eepromQuery = 'x';
uint8_t validQuery = false;
cliBusy = true;
cliPortPrint("\nEntering EEPROM CLI....\n\n");
while(true)
{
cliPortPrint("EEPROM CLI -> ");
while ((cliPortAvailable() == false) && (validQuery == false));
if (validQuery == false)
eepromQuery = cliPortRead();
cliPortPrint("\n");
switch(eepromQuery)
{
// 'a' is the standard "print all the information" character
case 'a': // config struct data
c1 = eepromConfig.CRCAtEnd[0];
zeroPIDstates();
c2 = crc32bEEPROM(&eepromConfig, false);
cliPortPrintF("Config structure information:\n");
cliPortPrintF("Version : %d\n", eepromConfig.version );
cliPortPrintF("Size : %d\n", sizeof(eepromConfig) );
cliPortPrintF("CRC on last read : %08X\n", c1 );
cliPortPrintF("Current CRC : %08X\n", c2 );
if ( c1 != c2 )
cliPortPrintF(" CRCs differ. Current Config has not yet been saved.\n");
cliPortPrintF("CRC Flags :\n");
cliPortPrintF(" History Bad : %s\n", eepromConfig.CRCFlags & CRC_HistoryBad ? "true" : "false" );
validQuery = false;
break;
///////////////////////////
case 'c': // Write out to Console in Hex. (RAM -> console)
// we assume the flyer is not in the air, so that this is ok;
// these change randomly when not in flight and can mistakenly
// make one think that the in-memory eeprom struct has changed
zeroPIDstates();
cliPortPrintF("\n");
cliPrintEEPROM(&eepromConfig);
cliPortPrintF("\n");
if (crcCheckVal != crc32bEEPROM(&eepromConfig, true))
{
cliPortPrint("NOTE: in-memory config CRC invalid; there have probably been changes to\n");
cliPortPrint(" eepromConfig since the last write to flash/eeprom.\n");
}
validQuery = false;
break;
///////////////////////////
case 'H': // clear bad history flag
cliPortPrintF("Clearing Bad History flag.\n");
eepromConfig.CRCFlags &= ~CRC_HistoryBad;
validQuery = false;
break;
///////////////////////////
case 'C': // Read in from Console in hex. Console -> RAM
;
uint32_t sz = sizeof(eepromConfig);
eepromConfig_t e;
uint8_t *p = (uint8_t*)&e;
uint8_t *end = (uint8_t*)(&e + 1);
uint32_t t = millis();
enum { Timeout = 100 }; // timeout is in ms
int second_nibble = 0; // 0 or 1
char c;
uint32_t chars_encountered = 0;
cliPortPrintF("Ready to read in config. Expecting %d (0x%03X) bytes as %d\n",
sz, sz, sz * 2);
cliPortPrintF("hexadecimal characters, optionally separated by [ \\n\\r_].\n");
cliPortPrintF("Times out if no character is received for %dms\n", Timeout);
memset(p, 0, end - p);
while (p < end)
{
while (!cliPortAvailable() && millis() - t < Timeout) {}
t = millis();
c = cliPortAvailable() ? cliPortRead() : '\0';
int8_t hex = parse_hex(c);
int ignore = c == ' ' || c == '\n' || c == '\r' || c == '_' ? true : false;
if (c != '\0') // assume the person isn't sending null chars
chars_encountered++;
if (ignore)
continue;
if (hex == -1)
break;
*p |= second_nibble ? hex : hex << 4;
p += second_nibble;
second_nibble ^= 1;
}
if (c == 0)
{
cliPortPrintF("Did not receive enough hex chars! (got %d, expected %d)\n",
(p - (uint8_t*)&e) * 2 + second_nibble, sz * 2);
}
else if (p < end || second_nibble)
{
cliPortPrintF("Invalid character found at position %d: '%c' (0x%02x)",
chars_encountered, c, c);
}
// HJI else if (crcCheckVal != crc32bEEPROM(&e, true))
// HJI {
// HJI cliPortPrintF("CRC mismatch! Not writing to in-memory config.\n");
// HJI cliPortPrintF("Here's what was received:\n\n");
// HJI cliPrintEEPROM(&e);
// HJI }
else
{
// check to see if the newly received eeprom config
// actually differs from what's in-memory
zeroPIDstates();
int i;
for (i = 0; i < sz; i++)
if (((uint8_t*)&e)[i] != ((uint8_t*)&eepromConfig)[i])
break;
if (i == sz)
{
cliPortPrintF("NOTE: uploaded config was identical to in-memory config.\n");
}
else
{
eepromConfig = e;
cliPortPrintF("In-memory config updated!\n");
cliPortPrintF("NOTE: config not written to EEPROM; use 'W' to do so.\n");
}
}
// eat the next 100ms (or whatever Timeout is) of characters,
// in case the person pasted too much by mistake or something
t = millis();
while (millis() - t < Timeout)
if (cliPortAvailable())
cliPortRead();
validQuery = false;
break;
///////////////////////////
case 'E': // Read in from EEPROM. (EEPROM -> RAM)
cliPortPrint("Re-reading EEPROM.\n");
readEEPROM();
validQuery = false;
break;
///////////////////////////
case 'x': // exit EEPROM CLI
cliPortPrint("\nExiting EEPROM CLI....\n\n");
cliBusy = false;
return;
break;
///////////////////////////
case 'W':
case 'e': // Write out to EEPROM. (RAM -> EEPROM)
cliPortPrint("\nWriting EEPROM Parameters....\n\n");
validQuery = false;
writeEEPROM();
break;
///////////////////////////
case 'f': // Write out to sdCard FILE. (RAM -> FILE)
validQuery = false;
break;
///////////////////////////
case 'F': // Read in from sdCard FILE. (FILE -> RAM)
validQuery = false;
break;
///////////////////////////
case 'V': // Reset EEPROM Parameters
cliPortPrint( "\nEEPROM Parameters Reset....(not rebooting)\n" );
checkFirstTime(true);
validQuery = false;
break;
///////////////////////////
case '?':
// 0 1 2 3 4 5 6 7
// 01234567890123456789012345678901234567890123456789012345678901234567890123456789
cliPortPrintF("\n");
cliPortPrintF("'a' Display in-RAM config information\n");
cliPortPrintF("'c' Write in-RAM -> Console (as Hex) 'C' Read Console (as Hex) -> in-RAM\n");
cliPortPrintF("'e' Write in-RAM -> EEPROM 'E' Read EEPROM -> in-RAM\n");
cliPortPrintF("'f' Write in-RAM -> sd FILE (Not yet imp) 'F' Read sd FILE -> in-RAM (Not imp)\n");
cliPortPrintF(" 'H' Clear CRC Bad History flag\n");
cliPortPrintF(" 'V' Reset in-RAM config to default.\n");
cliPortPrintF("'x' Exit EEPROM CLI '?' Command Summary\n");
cliPortPrintF("\n");
cliPortPrintF("For compatability: 'W' Write in-RAM -> EEPROM\n");
cliPortPrintF("\n");
break;
///////////////////////////
}
}
}
