integrated tommie's eeprom sanity check. much less chances of new firmware screwing up due to old config version.

fixed pwm init for airplane mode mistakenly deleting motors from the mix. flyingwing should really work now.
removed led debug from althold


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@223 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

src/config.c

@@ -12,8 +12,9 @@
 config_t cfg;
 const char rcChannelLetters[] = "AERT1234";
 
+static uint8_t EEPROM_CONF_VERSION = 32;
 static uint32_t enabledSensors = 0;
-uint8_t checkNewConf = 31;
+static void resetConf(void);
 
 void parseRcChannels(const char *input)
 {
@@ -26,6 +27,32 @@ void parseRcChannels(const char *input)
     }
 }
 
+static uint8_t validEEPROM(void)
+{
+    const config_t *temp = (const config_t *)FLASH_WRITE_ADDR;
+    const uint8_t *p;
+    uint8_t chk = 0;
+
+    // check version number
+    if (EEPROM_CONF_VERSION != temp->version)
+        return 0;
+
+    // check size and magic numbers
+    if (temp->size != sizeof(config_t) || temp->magic_be != 0xBE || temp->magic_ef != 0xEF)
+        return 0;
+
+    // verify integrity of temporary copy
+    for (p = (const uint8_t *)temp; p < ((const uint8_t *)temp + sizeof(config_t)); p++)
+        chk ^= *p;
+
+    // checksum failed
+    if (chk != 0)
+        return 0;
+
+    // looks good, let's roll!
+    return 1;
+}
+
 void readEEPROM(void)
 {
     uint8_t i;
@@ -54,9 +81,21 @@ void writeParams(uint8_t b)
 {
     FLASH_Status status;
     uint32_t i;
-
+    uint8_t chk = 0;
+    const uint8_t *p;
+
+    cfg.version = EEPROM_CONF_VERSION;
+    cfg.size = sizeof(config_t);
+    cfg.magic_be = 0xBE;
+    cfg.magic_ef = 0xEF;
+    cfg.chk = 0;
+    // recalculate checksum before writing
+    for (p = (const uint8_t *)&cfg; p < ((const uint8_t *)&cfg + sizeof(config_t)); p++)
+        chk ^= *p;
+    cfg.chk = chk;
+
+    // write it
     FLASH_Unlock();
-
     FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR);
 
     if (FLASH_ErasePage(FLASH_WRITE_ADDR) == FLASH_COMPLETE) {
@@ -66,7 +105,6 @@ void writeParams(uint8_t b)
                 break;          // TODO: fail
         }
     }
-
     FLASH_Lock();
 
     readEEPROM();
@@ -76,15 +114,18 @@ void writeParams(uint8_t b)
 
 void checkFirstTime(bool reset)
 {
-    uint8_t test_val, i;
-
-    test_val = *(uint8_t *) FLASH_WRITE_ADDR;
+    // check the EEPROM integrity before resetting values
+    if (!validEEPROM() || reset)
+        resetConf();
+}
 
-    if (!reset && test_val == checkNewConf)
-        return;
+// Default settings
+static void resetConf(void)
+{
+    int i;
+    memset(&cfg, 0, sizeof(config_t));
 
-    // Default settings
-    cfg.version = checkNewConf;
+    cfg.version = EEPROM_CONF_VERSION;
     cfg.mixerConfiguration = MULTITYPE_QUADX;
     featureClearAll();
     featureSet(FEATURE_VBAT);

src/drv_pwm.c

@@ -485,13 +485,13 @@ bool pwmInit(drv_pwm_config_t *init)
         if (mask & (TYPE_IP | TYPE_IW) && !init->enableInput)
             mask = 0;
 
-        if (init->useServos) {
-            // remap PWM9+10 as servos
+        if (init->useServos && !init->airplane) {
+            // remap PWM9+10 as servos (but not in airplane mode LOL)
             if (port == PWM9 || port == PWM10)
                 mask = TYPE_S;
         }
 
-        if (init->extraServos) {
+        if (init->extraServos && !init->airplane) {
             // remap PWM5..8 as servos when used in extended servo mode
             if (port >= PWM5 && port <= PWM8)
                 mask = TYPE_S;

src/imu.c

@@ -319,7 +319,6 @@ void getEstimatedAltitude(void)
         return;
     dTime = currentTime - deadLine;
     deadLine = currentTime;
-    LED0_TOGGLE;
 
     // **** Alt. Set Point stabilization PID ****
     baroHistTab[baroHistIdx] = BaroAlt / 10;

src/main.c

@@ -43,8 +43,8 @@ int main(void)
     systemInit();
     init_printf(NULL, _putc);
 
-    readEEPROM();
     checkFirstTime(false);
+    readEEPROM();
 
     serialInit(cfg.serial_baudrate);
 

src/mw.h

@@ -115,6 +115,8 @@ typedef struct mixer_t {
 
 typedef struct config_t {
     uint8_t version;
+    uint16_t size;
+    uint8_t magic_be;                       // magic number, should be 0xBE
     uint8_t mixerConfiguration;
     uint32_t enabledFeatures;
 
@@ -224,6 +226,8 @@ typedef struct config_t {
     uint32_t serial_baudrate;
 
     motorMixer_t customMixer[MAX_MOTORS];   // custom mixtable
+    uint8_t magic_ef;                       // magic number, should be 0xEF
+    uint8_t chk;                            // XOR checksum
 } config_t;
 
 typedef struct flags_t {

src/serial.c

@@ -38,7 +38,7 @@
 
 #define MSP_EEPROM_WRITE         250    //in message          no param
 
-#define MSP_DEBUGMSG             253   //out message         debug string buffer
+#define MSP_DEBUGMSG             253    //out message         debug string buffer
 #define MSP_DEBUG                254    //out message         debug1,debug2,debug3,debug4
 
 #define INBUF_SIZE 64