void readEEPROM(void)
{
uint8_t i;
// Sanity check
if (!validEEPROM())
failureMode(10);
// Read flash
memcpy(&mcfg, (char *)FLASH_WRITE_ADDR, sizeof(master_t));
// Copy current profile
if (mcfg.current_profile > 2) // sanity check
mcfg.current_profile = 0;
memcpy(&cfg, &mcfg.profile[mcfg.current_profile], sizeof(config_t));
for (i = 0; i < 6; i++)
lookupPitchRollRC[i] = (2500 + cfg.rcExpo8 * (i * i - 25)) * i * (int32_t) cfg.rcRate8 / 2500;
for (i = 0; i < 11; i++) {
int16_t tmp = 10 * i - cfg.thrMid8;
uint8_t y = 1;
if (tmp > 0)
y = 100 - cfg.thrMid8;
if (tmp < 0)
y = cfg.thrMid8;
lookupThrottleRC[i] = 10 * cfg.thrMid8 + tmp * (100 - cfg.thrExpo8 + (int32_t) cfg.thrExpo8 * (tmp * tmp) / (y * y)) / 10; // [0;1000]
lookupThrottleRC[i] = mcfg.minthrottle + (int32_t) (mcfg.maxthrottle - mcfg.minthrottle) * lookupThrottleRC[i] / 1000; // [0;1000] -> [MINTHROTTLE;MAXTHROTTLE]
}
cfg.tri_yaw_middle = constrain(cfg.tri_yaw_middle, cfg.tri_yaw_min, cfg.tri_yaw_max); //REAR
setPIDController(cfg.pidController);
}
void writeEEPROM(uint8_t b, uint8_t updateProfile)
{
FLASH_Status status;
uint32_t i;
uint8_t chk = 0;
const uint8_t *p;
int tries = 0;
// prepare checksum/version constants
mcfg.version = EEPROM_CONF_VERSION;
mcfg.size = sizeof(master_t);
mcfg.magic_be = 0xBE;
mcfg.magic_ef = 0xEF;
mcfg.chk = 0;
// when updateProfile = true, we copy contents of cfg to global configuration. when false, only profile number is updated, and then that profile is loaded on readEEPROM()
if (updateProfile) {
// copy current in-memory profile to stored configuration
memcpy(&mcfg.profile[mcfg.current_profile], &cfg, sizeof(config_t));
}
// recalculate checksum before writing
for (p = (const uint8_t *)&mcfg; p < ((const uint8_t *)&mcfg + sizeof(master_t)); p++)
chk ^= *p;
mcfg.chk = chk;
//taskENTER_CRITICAL();
// write it
retry:
FLASH_Unlock();
FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR);
if (FLASH_ErasePage(FLASH_WRITE_ADDR) == FLASH_COMPLETE) {
for (i = 0; i < sizeof(master_t); i += 4) {
status = FLASH_ProgramWord(FLASH_WRITE_ADDR + i, *(uint32_t *) ((char *)&mcfg + i));
if (status != FLASH_COMPLETE) {
FLASH_Lock();
tries++;
if (tries < 3)
goto retry;
else
break;
}
}
}
FLASH_Lock();
//taskEXIT_CRITICAL();
// Flash write failed - just die now
if (tries == 3 || !validEEPROM()) {
failureMode(10);
}
// re-read written data
readEEPROM();
if (b)
blinkLED(15, 20, 1);
}
void checkFirstTime(bool reset)
{
// check the EEPROM integrity before resetting values
if (!validEEPROM() || reset) {
resetConf();
// no need to memcpy profile again, we just did it in resetConf() above
writeEEPROM(0, false);
}
}
bool readEEPROM(void)
{
// Sanity check
if (!validEEPROM())
{
return false;
}
// Read flash
memcpy(&_params, (char *)FLASH_WRITE_ADDR, sizeof(params_t));
return true;
}
bool writeEEPROM(bool blink)
{
FLASH_Status status;
uint8_t chk = 0;
const uint8_t *p;
// prepare checksum/version constants
_params.version = EEPROM_CONF_VERSION;
_params.size = sizeof(params_t);
_params.magic_be = 0xBE;
_params.magic_ef = 0xEF;
_params.chk = 0;
// recalculate checksum before writing
for (p = (const uint8_t *)&_params; p < ((const uint8_t *)&_params + sizeof(params_t)); p++)
chk ^= *p;
_params.chk = chk;
// write it
FLASH_Unlock();
for (unsigned int tries = 3; tries; tries--)
{
FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR);
FLASH_ErasePage(FLASH_WRITE_ADDR);
status = FLASH_ErasePage(FLASH_WRITE_ADDR + FLASH_PAGE_SIZE);
for (unsigned int i = 0; i < sizeof(params_t) && status == FLASH_COMPLETE; i += 4)
status = FLASH_ProgramWord(FLASH_WRITE_ADDR + i, *(uint32_t *)((char *)&_params + i));
if (status == FLASH_COMPLETE)
break;
}
FLASH_Lock();
// Flash write failed - just die now
if (status != FLASH_COMPLETE || !validEEPROM())
{
return false;
}
if (blink)
{
for (uint8_t i=0; i < 3; i++)
{
LED0_TOGGLE;
delay(100);
LED0_TOGGLE;
delay(50);
}
}
return true;
}
void readEEPROM(void)
{
// Sanity check
if (!validEEPROM())
failureMode(10);
// Read flash
memcpy(&mcfg, (char *)FLASH_WRITE_ADDR, sizeof(master_t));
// Copy current profile
if (mcfg.current_profile > 2) // sanity check
mcfg.current_profile = 0;
memcpy(&cfg, &mcfg.profile[mcfg.current_profile], sizeof(config_t));
}
void checkFirstTime(bool reset)
{
if (!validEEPROM() || reset) resetConf(); // check the EEPROM integrity
}
void checkFirstTime(bool reset)
{
// check the EEPROM integrity before resetting values
if (!validEEPROM() || reset)
resetConf();
}