Martin Budden
8 years ago
7 changed files with 305 additions and 208 deletions
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1Makefile
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209src/main/config/config.c
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9src/main/config/config.h
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267src/main/config/config_eeprom.c
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25src/main/config/config_eeprom.h
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1src/main/io/serial_cli.c
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1src/main/main.c
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/* |
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* This file is part of Cleanflight. |
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* |
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* Cleanflight is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU General Public License as published by |
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* the Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* Cleanflight is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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|
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#include <stdbool.h> |
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#include <stdint.h> |
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#include <string.h> |
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#include "platform.h" |
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#include "build/build_config.h" |
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#include "common/color.h" |
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#include "common/axis.h" |
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#include "drivers/sensor.h" |
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#include "drivers/accgyro.h" |
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#include "drivers/compass.h" |
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#include "drivers/system.h" |
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#include "drivers/timer.h" |
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#include "drivers/pwm_rx.h" |
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#include "drivers/serial.h" |
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|
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#include "sensors/sensors.h" |
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#include "sensors/gyro.h" |
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#include "sensors/compass.h" |
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#include "sensors/acceleration.h" |
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#include "sensors/barometer.h" |
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#include "sensors/boardalignment.h" |
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#include "sensors/battery.h" |
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|
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#include "io/beeper.h" |
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#include "io/serial.h" |
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#include "io/gimbal.h" |
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#include "io/escservo.h" |
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#include "fc/rc_controls.h" |
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#include "fc/rc_curves.h" |
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#include "io/ledstrip.h" |
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#include "io/gps.h" |
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#include "rx/rx.h" |
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|
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#include "telemetry/telemetry.h" |
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|
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#include "flight/mixer.h" |
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#include "flight/pid.h" |
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#include "flight/failsafe.h" |
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#include "flight/navigation_rewrite.h" |
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|
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#include "config/config.h" |
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#include "config/config_eeprom.h" |
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#include "config/config_profile.h" |
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#include "config/config_master.h" |
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|
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#if !defined(FLASH_SIZE) |
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#error "Flash size not defined for target. (specify in KB)" |
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#endif |
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#ifndef FLASH_PAGE_SIZE |
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#ifdef STM32F303xC |
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#define FLASH_PAGE_SIZE ((uint16_t)0x800) |
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#endif |
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#ifdef STM32F10X_MD |
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#define FLASH_PAGE_SIZE ((uint16_t)0x400) |
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#endif |
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#ifdef STM32F10X_HD |
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#define FLASH_PAGE_SIZE ((uint16_t)0x800) |
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#endif |
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|
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#if defined(STM32F40_41xxx) |
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#define FLASH_PAGE_SIZE ((uint32_t)0x20000) |
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#endif |
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|
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#if defined (STM32F411xE) |
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#define FLASH_PAGE_SIZE ((uint32_t)0x20000) |
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#endif |
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#endif |
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#if !defined(FLASH_SIZE) && !defined(FLASH_PAGE_COUNT) |
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#ifdef STM32F10X_MD |
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#define FLASH_PAGE_COUNT 128 |
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#endif |
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#ifdef STM32F10X_HD |
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#define FLASH_PAGE_COUNT 128 |
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#endif |
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#endif |
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|
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#if defined(FLASH_SIZE) |
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#if defined(STM32F40_41xxx) |
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#define FLASH_PAGE_COUNT 4 // just to make calculations work |
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#elif defined (STM32F411xE) |
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#define FLASH_PAGE_COUNT 4 // just to make calculations work |
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#else |
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#define FLASH_PAGE_COUNT ((FLASH_SIZE * 0x400) / FLASH_PAGE_SIZE) |
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#endif |
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#endif |
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#if !defined(FLASH_PAGE_SIZE) |
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#error "Flash page size not defined for target." |
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#endif |
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#if !defined(FLASH_PAGE_COUNT) |
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#error "Flash page count not defined for target." |
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#endif |
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#if FLASH_SIZE <= 128 |
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#define FLASH_TO_RESERVE_FOR_CONFIG 0x800 |
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#else |
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#define FLASH_TO_RESERVE_FOR_CONFIG 0x1000 |
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#endif |
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// use the last flash pages for storage |
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#ifdef CUSTOM_FLASH_MEMORY_ADDRESS |
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size_t custom_flash_memory_address = 0; |
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#define CONFIG_START_FLASH_ADDRESS (custom_flash_memory_address) |
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#else |
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// use the last flash pages for storage |
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#ifndef CONFIG_START_FLASH_ADDRESS |
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#define CONFIG_START_FLASH_ADDRESS (0x08000000 + (uint32_t)((FLASH_PAGE_SIZE * FLASH_PAGE_COUNT) - FLASH_TO_RESERVE_FOR_CONFIG)) |
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#endif |
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#endif |
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void initEEPROM(void) |
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{ |
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} |
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static uint8_t calculateChecksum(const uint8_t *data, uint32_t length) |
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{ |
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uint8_t checksum = 0; |
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const uint8_t *byteOffset; |
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for (byteOffset = data; byteOffset < (data + length); byteOffset++) |
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checksum ^= *byteOffset; |
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return checksum; |
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} |
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bool isEEPROMContentValid(void) |
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{ |
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const master_t *temp = (const master_t *) CONFIG_START_FLASH_ADDRESS; |
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uint8_t checksum = 0; |
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// check version number |
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if (EEPROM_CONF_VERSION != temp->version) |
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return false; |
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// check size and magic numbers |
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if (temp->size != sizeof(master_t) || temp->magic_be != 0xBE || temp->magic_ef != 0xEF) |
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return false; |
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// verify integrity of temporary copy |
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checksum = calculateChecksum((const uint8_t *) temp, sizeof(master_t)); |
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if (checksum != 0) |
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return false; |
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// looks good, let's roll! |
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return true; |
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} |
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void writeEEPROM(void) |
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{ |
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// Generate compile time error if the config does not fit in the reserved area of flash. |
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BUILD_BUG_ON(sizeof(master_t) > FLASH_TO_RESERVE_FOR_CONFIG); |
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FLASH_Status status = 0; |
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uint32_t wordOffset; |
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int8_t attemptsRemaining = 3; |
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suspendRxSignal(); |
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// prepare checksum/version constants |
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masterConfig.version = EEPROM_CONF_VERSION; |
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masterConfig.size = sizeof(master_t); |
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masterConfig.magic_be = 0xBE; |
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masterConfig.magic_ef = 0xEF; |
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masterConfig.chk = 0; // erase checksum before recalculating |
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masterConfig.chk = calculateChecksum((const uint8_t *) &masterConfig, sizeof(master_t)); |
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// write it |
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FLASH_Unlock(); |
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while (attemptsRemaining--) { |
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#ifdef STM32F40_41xxx |
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FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR); |
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#endif |
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#ifdef STM32F303 |
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FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPERR); |
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#endif |
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#ifdef STM32F10X |
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FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR); |
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#endif |
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for (wordOffset = 0; wordOffset < sizeof(master_t); wordOffset += 4) { |
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if (wordOffset % FLASH_PAGE_SIZE == 0) { |
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#if defined(STM32F40_41xxx) |
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status = FLASH_EraseSector(FLASH_Sector_8, VoltageRange_3); //0x08080000 to 0x080A0000 |
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#elif defined (STM32F411xE) |
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status = FLASH_EraseSector(FLASH_Sector_7, VoltageRange_3); //0x08060000 to 0x08080000 |
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#else |
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status = FLASH_ErasePage(CONFIG_START_FLASH_ADDRESS + wordOffset); |
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#endif |
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if (status != FLASH_COMPLETE) { |
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break; |
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} |
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} |
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status = FLASH_ProgramWord(CONFIG_START_FLASH_ADDRESS + wordOffset, |
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*(uint32_t *) ((char *) &masterConfig + wordOffset)); |
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if (status != FLASH_COMPLETE) { |
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break; |
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} |
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} |
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if (status == FLASH_COMPLETE) { |
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break; |
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} |
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} |
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FLASH_Lock(); |
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// Flash write failed - just die now |
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if (status != FLASH_COMPLETE || !isEEPROMContentValid()) { |
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failureMode(FAILURE_FLASH_WRITE_FAILED); |
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} |
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resumeRxSignal(); |
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} |
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void readEEPROM(void) |
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{ |
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// Sanity check |
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if (!isEEPROMContentValid()) |
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failureMode(FAILURE_INVALID_EEPROM_CONTENTS); |
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suspendRxSignal(); |
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// Read flash |
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memcpy(&masterConfig, (char *) CONFIG_START_FLASH_ADDRESS, sizeof(master_t)); |
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if (masterConfig.current_profile_index > MAX_PROFILE_COUNT - 1) // sanity check |
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masterConfig.current_profile_index = 0; |
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setProfile(masterConfig.current_profile_index); |
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if (currentProfile->defaultRateProfileIndex > MAX_CONTROL_RATE_PROFILE_COUNT - 1) // sanity check |
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currentProfile->defaultRateProfileIndex = 0; |
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setControlRateProfile(currentProfile->defaultRateProfileIndex); |
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validateAndFixConfig(); |
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activateConfig(); |
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resumeRxSignal(); |
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} |
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@ -0,0 +1,25 @@ |
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/* |
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* This file is part of Cleanflight. |
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* |
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* Cleanflight is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU General Public License as published by |
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* the Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* Cleanflight is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
|||
* |
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* You should have received a copy of the GNU General Public License |
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#pragma once |
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#define EEPROM_CONF_VERSION 121 |
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void initEEPROM(void); |
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void writeEEPROM(void); |
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void readEEPROM(void); |
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bool isEEPROMContentValid(void); |
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