void configInit(void) {
float ver;
// start with what's in flash
configFlashRead();
// try to load any config params from uSD card
if (configReadFile(0) < 0)
// clear config if read error
memset(p, 0, sizeof(p));
else
supervisorConfigRead();
// get flash version
ver = *(float *)(flashStartAddr()+16);
if (isnan(ver))
ver = 0.0f;
// if compiled defaults are greater than flash version and loaded version
if (DEFAULT_CONFIG_VERSION > ver && DEFAULT_CONFIG_VERSION > p[CONFIG_VERSION])
configLoadDefault();
// if flash version greater than or equal to currently loaded version
else if (ver >= p[CONFIG_VERSION])
configFlashRead();
// if loaded version greater than flash version
if (p[CONFIG_VERSION] > ver)
configFlashWrite();
}
void configFlashRead(void) {
configRec_t *recs;
int i, j;
recs = (void *)flashStartAddr();
for (i = 0; i < CONFIG_NUM_PARAMS; i++) {
for (j = 0; j < CONFIG_NUM_PARAMS; j++)
if (!strncasecmp(recs[i].name, configParameterStrings[j], 16))
p[j] = recs[i].val;
}
AQ_NOTICE("config: Parameters restored from flash memory.\n");
}
unsigned char configFlashWrite(void) {
return flashAddress(flashStartAddr(), (uint32_t *)&p, sizeof(p));
}
void configFlashRead(void) {
memcpy(&p, (char *)flashStartAddr(), sizeof(p));
}
uint8_t configFlashWrite(void) {
configRec_t *recs;
uint8_t ret = 0;
int i;
recs = (void *)aqCalloc(CONFIG_NUM_PARAMS, sizeof(configRec_t));
if (recs) {
configToken_t *tr = (configToken_t *)recs;
configToken_t *tf = 0;
// read all tokens
do {
tf = configTokenIterate(tf);
// copy to RAM
if (tf) {
// only one instance per key
do {
if (tr->key == 0 || tr->key == tf->key) {
memcpy(tr, tf, sizeof(configToken_t));
break;
}
tr++;
} while (1);
}
} while (tf);
ret = flashErase(flashStartAddr(), CONFIG_NUM_PARAMS*sizeof(configRec_t)/sizeof(uint32_t));
// invalidate the flash data cache
FLASH_DataCacheCmd(DISABLE);
FLASH_DataCacheReset();
FLASH_DataCacheCmd(ENABLE);
if (ret) {
tr = (configToken_t *)recs;
// copy tokens back to flash
while (tr->key)
configTokenStore(tr++);
// create param list in RAM
for (i = 0; i < CONFIG_NUM_PARAMS; i++) {
memcpy(recs[i].name, configParameterStrings[i], 16);
recs[i].val = p[i];
}
ret = flashAddress(flashStartAddr(), (uint32_t *)recs, CONFIG_NUM_PARAMS*sizeof(configRec_t)/sizeof(uint32_t));
}
aqFree(recs, CONFIG_NUM_PARAMS, sizeof(configRec_t));
AQ_NOTICE("config: Parameters saved to flash memory.\n");
}
else {
AQ_NOTICE("config: Error writing params to flash, cannot allocate memory.\n");
}
return ret;
}
