void eeprom_read(int16_t* ax,int16_t* ay,int16_t* gx,int16_t* gy,int16_t* gz,int16_t* hx,int16_t* hy,int16_t* hz,
float* rateRollkp,float* ratePitchkp, float* rateYawkp, float* rateRollki, float* ratePitchki,float* rateYawki,float* rateRollkd,float* ratePitchkd,float* rateYawkd,float* angleRollkp,float* anglePitchkp,float* angleYawkp)
{
FAL_Open();
*gx=Data_FAL_Read(0x00);
*gy=Data_FAL_Read(0x01);
*gz=Data_FAL_Read(0x02);
*hx=Data_FAL_Read(0x03);
*hy=Data_FAL_Read(0x04);
*hz=Data_FAL_Read(0x05);
*ax=Data_FAL_Read(0x06);
*ay=Data_FAL_Read(0x07);
*rateRollkp=Data_FAL_Read(0x08);
*ratePitchkp=Data_FAL_Read(0x09);
*rateYawkp=Data_FAL_Read(0x10);
*rateRollki=Data_FAL_Read(0x11);
*ratePitchki=Data_FAL_Read(0x12);
*rateYawki=Data_FAL_Read(0x13);
*rateRollkd=Data_FAL_Read(0x14);
*ratePitchkd=Data_FAL_Read(0x15);
*rateYawkd=Data_FAL_Read(0x16);
*angleRollkp=Data_FAL_Read(0x17);
*anglePitchkp=Data_FAL_Read(0x18);
*angleYawkp=Data_FAL_Read(0x19);
FAL_Close();
}
void eeprom_write(int16_t ax,int16_t ay,int16_t gx,int16_t gy,int16_t gz,int16_t hx,int16_t hy,int16_t hz,
int16_t rateRollkp,int16_t ratePitchkp, int16_t rateYawkp, int16_t rateRollki, int16_t ratePitchki,int16_t rateYawki,int16_t rateRollkd,int16_t ratePitchkd,int16_t rateYawkd,int16_t angleRollkp,int16_t anglePitchkp,int16_t angleYawkp)
{
FAL_Open();
Data_FAL_Erase(0x0); //erase block NO.
Data_FAL_Write(0x00,gx); //write data to flash.
Data_FAL_Write(0x01,gy); //write data to flash.
Data_FAL_Write(0x02,gz); //write data to flash.
Data_FAL_Write(0x03,hx); //write data to flash.
Data_FAL_Write(0x04,hy); //write data to flash.
Data_FAL_Write(0x05,hz); //write data to flash.
Data_FAL_Write(0x06,ax); //write data to flash.
Data_FAL_Write(0x07,ay); //write data to flash.
Data_FAL_Write(0x08,rateRollkp); //write data to flash.
Data_FAL_Write(0x09,ratePitchkp); //write data to flash.
Data_FAL_Write(0x10,rateYawkp); //write data to flash.
Data_FAL_Write(0x11,rateRollki); //write data to flash.
Data_FAL_Write(0x12,ratePitchki); //write data to flash.
Data_FAL_Write(0x13,rateYawki); //write data to flash.
Data_FAL_Write(0x14,rateRollkd); //write data to flash.
Data_FAL_Write(0x15,ratePitchkd); //write data to flash.
Data_FAL_Write(0x16,rateYawkd); //write data to flash.
Data_FAL_Write(0x17,angleRollkp); //write data to flash.
Data_FAL_Write(0x18,anglePitchkp); //write data to flash.
Data_FAL_Write(0x19,angleYawkp); //write data to flash.
FAL_Close();
}
/*==============================================================================*/
void samDataFlashReadFixAddr(unsigned char *RdDataBuff,unsigned int RdCnt)
{
fal_request_t dtyRequester;
unsigned int i=0;
unsigned int nRdCnt=0;
unsigned long __far *DataPtr =(__far unsigned long*)RdDataBuff;
if(RdCnt%4)
{
// return 0xee; //Data Length Error
}
nRdCnt = RdCnt/4;
dtyRequester.status_enu = FAL_Init( &FixArea_fal_descriptor_str );
if( dtyRequester.status_enu == FAL_OK )
{
FAL_Open();
for(i=0; i<nRdCnt; i++)
{
dtyRequester.data_u32 = 0;
dtyRequester.index_u16 = i;
dtyRequester.command_enu = FAL_CMD_READ_WORD;
dtyRequester.status_enu = 0;
FAL_Execute( &dtyRequester );
*(DataPtr+i) = dtyRequester.data_u32;
}
FAL_Close();
}
// return dtyRequester.status_enu;
}
/*==============================================================================*/
void samDataFlashWriteFixAddr(unsigned char *WrDataBuff,unsigned int WrCnt)
{
fal_request_t dtyRequester;
unsigned int i=0;
unsigned int nWrCnt=0;
unsigned long __far *DataPtr =(__far unsigned long*)WrDataBuff;
if(WrCnt%4)
{
// return 0xee; //Data Length Error
}
nWrCnt = WrCnt/4;
dtyRequester.status_enu = FAL_Init( &FixArea_fal_descriptor_str );
if( dtyRequester.status_enu == FAL_OK )
{
FAL_Open();
for(i=0; i<nWrCnt; i++)
{
dtyRequester.data_u32 = *(DataPtr+i);
dtyRequester.index_u16 = i;
dtyRequester.command_enu = FAL_CMD_WRITE_WORD;
dtyRequester.status_enu = 0;
FAL_Execute( &dtyRequester );
do {
FAL_Handler();
} while( dtyRequester.status_enu == FAL_BUSY );
}
FAL_Close();
}
// return dtyRequester.status_enu;
}
/*==============================================================================*/
void samDataFlashEraseFixAddr( void )
{
fal_request_t dtyRequester;
dtyRequester.status_enu = FAL_Init( &FixArea_fal_descriptor_str );
if( dtyRequester.status_enu == FAL_OK )
{
FAL_Open();
dtyRequester.data_u32 = 0;
dtyRequester.index_u16 = 0;
dtyRequester.command_enu = FAL_CMD_ERASE_BLOCK;
dtyRequester.status_enu = 0;
FAL_Execute( &dtyRequester );
do {
FAL_Handler();
} while( dtyRequester.status_enu == FAL_BUSY );
FAL_Close();
}
// return dtyRequester.status_enu;
}
