From 1dea2b3b3b0f57189a2c6c51288e3dd80de0620b Mon Sep 17 00:00:00 2001 From: "timecop@gmail.com" Date: Fri, 21 Sep 2012 04:12:17 +0000 Subject: [PATCH] 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 --- obj/baseflight.hex | 5776 ++++++++++++++++++++++---------------------- src/config.c | 63 +- src/drv_pwm.c | 6 +- src/imu.c | 1 - src/main.c | 2 +- src/mw.h | 4 + src/serial.c | 2 +- 7 files changed, 2953 insertions(+), 2901 deletions(-) diff --git a/obj/baseflight.hex b/obj/baseflight.hex index 33c34982d..5a92c4211 100644 --- a/obj/baseflight.hex +++ b/obj/baseflight.hex @@ -1,20 +1,20 @@ :020000040800F2 -:10000000A01E0020CD8300080D840008F31D000809 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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); diff --git a/src/drv_pwm.c b/src/drv_pwm.c index 9099e026e..aec19d759 100755 --- a/src/drv_pwm.c +++ b/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; diff --git a/src/imu.c b/src/imu.c index 4fe17da50..bda79ff7e 100755 --- a/src/imu.c +++ b/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; diff --git a/src/main.c b/src/main.c index fef0a3bb0..de1a01706 100755 --- a/src/main.c +++ b/src/main.c @@ -43,8 +43,8 @@ int main(void) systemInit(); init_printf(NULL, _putc); - readEEPROM(); checkFirstTime(false); + readEEPROM(); serialInit(cfg.serial_baudrate); diff --git a/src/mw.h b/src/mw.h index 1eabb245c..2e920140f 100755 --- a/src/mw.h +++ b/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 { diff --git a/src/serial.c b/src/serial.c index 4c682c9d8..65f7e2b64 100755 --- a/src/serial.c +++ b/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