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Added pios_eeprom for saving settings.
This commit is contained in:
Brian Webb
parent
a7cec7c823
commit
1048eb7e2c
@ -29,6 +29,76 @@ static const uint8_t crc_table[256] = {
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0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3
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0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3
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};
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};
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static const uint16_t CRC_Table16[] = { // HDLC polynomial
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0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
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0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
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0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
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0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
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0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
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0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
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0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
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0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
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0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
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0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
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0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
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0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
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0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
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0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
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0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
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0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
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0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
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0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
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0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
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0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
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0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
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0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
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0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
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0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
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0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
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0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
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0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
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0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
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0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
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0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
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0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
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0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78
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};
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static const uint32_t CRC_Table32[] = {
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0x00000000, 0x04c11db7, 0x09823b6e, 0x0d4326d9, 0x130476dc, 0x17c56b6b, 0x1a864db2, 0x1e475005,
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0x2608edb8, 0x22c9f00f, 0x2f8ad6d6, 0x2b4bcb61, 0x350c9b64, 0x31cd86d3, 0x3c8ea00a, 0x384fbdbd,
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0x4c11db70, 0x48d0c6c7, 0x4593e01e, 0x4152fda9, 0x5f15adac, 0x5bd4b01b, 0x569796c2, 0x52568b75,
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0x6a1936c8, 0x6ed82b7f, 0x639b0da6, 0x675a1011, 0x791d4014, 0x7ddc5da3, 0x709f7b7a, 0x745e66cd,
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0x9823b6e0, 0x9ce2ab57, 0x91a18d8e, 0x95609039, 0x8b27c03c, 0x8fe6dd8b, 0x82a5fb52, 0x8664e6e5,
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0xbe2b5b58, 0xbaea46ef, 0xb7a96036, 0xb3687d81, 0xad2f2d84, 0xa9ee3033, 0xa4ad16ea, 0xa06c0b5d,
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0xd4326d90, 0xd0f37027, 0xddb056fe, 0xd9714b49, 0xc7361b4c, 0xc3f706fb, 0xceb42022, 0xca753d95,
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0xf23a8028, 0xf6fb9d9f, 0xfbb8bb46, 0xff79a6f1, 0xe13ef6f4, 0xe5ffeb43, 0xe8bccd9a, 0xec7dd02d,
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0x34867077, 0x30476dc0, 0x3d044b19, 0x39c556ae, 0x278206ab, 0x23431b1c, 0x2e003dc5, 0x2ac12072,
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0x128e9dcf, 0x164f8078, 0x1b0ca6a1, 0x1fcdbb16, 0x018aeb13, 0x054bf6a4, 0x0808d07d, 0x0cc9cdca,
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0x7897ab07, 0x7c56b6b0, 0x71159069, 0x75d48dde, 0x6b93dddb, 0x6f52c06c, 0x6211e6b5, 0x66d0fb02,
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0x5e9f46bf, 0x5a5e5b08, 0x571d7dd1, 0x53dc6066, 0x4d9b3063, 0x495a2dd4, 0x44190b0d, 0x40d816ba,
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0xaca5c697, 0xa864db20, 0xa527fdf9, 0xa1e6e04e, 0xbfa1b04b, 0xbb60adfc, 0xb6238b25, 0xb2e29692,
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0x8aad2b2f, 0x8e6c3698, 0x832f1041, 0x87ee0df6, 0x99a95df3, 0x9d684044, 0x902b669d, 0x94ea7b2a,
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0xe0b41de7, 0xe4750050, 0xe9362689, 0xedf73b3e, 0xf3b06b3b, 0xf771768c, 0xfa325055, 0xfef34de2,
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0xc6bcf05f, 0xc27dede8, 0xcf3ecb31, 0xcbffd686, 0xd5b88683, 0xd1799b34, 0xdc3abded, 0xd8fba05a,
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0x690ce0ee, 0x6dcdfd59, 0x608edb80, 0x644fc637, 0x7a089632, 0x7ec98b85, 0x738aad5c, 0x774bb0eb,
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0x4f040d56, 0x4bc510e1, 0x46863638, 0x42472b8f, 0x5c007b8a, 0x58c1663d, 0x558240e4, 0x51435d53,
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0x251d3b9e, 0x21dc2629, 0x2c9f00f0, 0x285e1d47, 0x36194d42, 0x32d850f5, 0x3f9b762c, 0x3b5a6b9b,
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0x0315d626, 0x07d4cb91, 0x0a97ed48, 0x0e56f0ff, 0x1011a0fa, 0x14d0bd4d, 0x19939b94, 0x1d528623,
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0xf12f560e, 0xf5ee4bb9, 0xf8ad6d60, 0xfc6c70d7, 0xe22b20d2, 0xe6ea3d65, 0xeba91bbc, 0xef68060b,
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0xd727bbb6, 0xd3e6a601, 0xdea580d8, 0xda649d6f, 0xc423cd6a, 0xc0e2d0dd, 0xcda1f604, 0xc960ebb3,
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0xbd3e8d7e, 0xb9ff90c9, 0xb4bcb610, 0xb07daba7, 0xae3afba2, 0xaafbe615, 0xa7b8c0cc, 0xa379dd7b,
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0x9b3660c6, 0x9ff77d71, 0x92b45ba8, 0x9675461f, 0x8832161a, 0x8cf30bad, 0x81b02d74, 0x857130c3,
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0x5d8a9099, 0x594b8d2e, 0x5408abf7, 0x50c9b640, 0x4e8ee645, 0x4a4ffbf2, 0x470cdd2b, 0x43cdc09c,
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0x7b827d21, 0x7f436096, 0x7200464f, 0x76c15bf8, 0x68860bfd, 0x6c47164a, 0x61043093, 0x65c52d24,
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0x119b4be9, 0x155a565e, 0x18197087, 0x1cd86d30, 0x029f3d35, 0x065e2082, 0x0b1d065b, 0x0fdc1bec,
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0x3793a651, 0x3352bbe6, 0x3e119d3f, 0x3ad08088, 0x2497d08d, 0x2056cd3a, 0x2d15ebe3, 0x29d4f654,
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0xc5a92679, 0xc1683bce, 0xcc2b1d17, 0xc8ea00a0, 0xd6ad50a5, 0xd26c4d12, 0xdf2f6bcb, 0xdbee767c,
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0xe3a1cbc1, 0xe760d676, 0xea23f0af, 0xeee2ed18, 0xf0a5bd1d, 0xf464a0aa, 0xf9278673, 0xfde69bc4,
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0x89b8fd09, 0x8d79e0be, 0x803ac667, 0x84fbdbd0, 0x9abc8bd5, 0x9e7d9662, 0x933eb0bb, 0x97ffad0c,
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0xafb010b1, 0xab710d06, 0xa6322bdf, 0xa2f33668, 0xbcb4666d, 0xb8757bda, 0xb5365d03, 0xb1f740b4
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};
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/**
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/**
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* Update the crc value with new data.
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* Update the crc value with new data.
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*
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*
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@ -52,7 +122,7 @@ uint8_t PIOS_CRC_updateByte(uint8_t crc, const uint8_t data)
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return crc_table[crc ^ data];
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return crc_table[crc ^ data];
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}
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}
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/*
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/**
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* @brief Update a CRC with a data buffer
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* @brief Update a CRC with a data buffer
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* @param[in] crc Starting CRC value
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* @param[in] crc Starting CRC value
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* @param[in] data Data buffer
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* @param[in] data Data buffer
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@ -72,3 +142,58 @@ uint8_t PIOS_CRC_updateCRC(uint8_t crc, const uint8_t* data, int32_t length)
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return crc8;
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return crc8;
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}
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}
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/**
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* Update the crc value with new data.
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* \param crc The current crc value.
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* \param data Pointer to a buffer of \a data_len bytes.
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* \param length Number of bytes in the \a data buffer.
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* \return The updated crc value.
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*/
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uint16_t PIOS_CRC16_updateByte(uint16_t crc, const uint8_t data)
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{
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return ((crc >> 8) ^ CRC_Table16[(crc & 0xff) ^ data]);
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}
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/**
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* @brief Update a CRC with a data buffer
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* @param[in] crc Starting CRC value
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* @param[in] data Data buffer
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* @param[in] length Number of bytes to process
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* @returns Updated CRC
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*/
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uint16_t PIOS_CRC16_updateCRC(uint16_t crc, const uint8_t* data, int32_t length)
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{
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register uint8_t *p = (uint8_t *)data;
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register uint16_t _crc = crc;
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for (register uint32_t i = length; i > 0; i--)
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_crc = (_crc >> 8) ^ CRC_Table16[(_crc ^ *p++) & 0xff];
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return _crc;
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}
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/**
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* Update the crc value with new data.
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* \param crc The current crc value.
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* \param data Pointer to a buffer of \a data_len bytes.
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* \param length Number of bytes in the \a data buffer.
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* \return The updated crc value.
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*/
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uint32_t PIOS_CRC32_updateByte(uint32_t crc, const uint8_t data)
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{
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return ((crc << 8) ^ CRC_Table32[(crc >> 24) ^ data]);
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}
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/**
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* @brief Update a CRC with a data buffer
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* @param[in] crc Starting CRC value
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* @param[in] data Data buffer
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* @param[in] length Number of bytes to process
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* @returns Updated CRC
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*/
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uint32_t PIOS_CRC32_updateCRC(uint32_t crc, const uint8_t* data, int32_t length)
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{
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register uint8_t *p = (uint8_t *)data;
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register uint32_t _crc = crc;
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for (register uint32_t i = length; i > 0; i--)
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_crc = (_crc << 8) ^ CRC_Table32[(_crc >> 24) ^ *p++];
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return _crc;
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}
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155
flight/PiOS/STM32F10x/pios_eeprom.c
Normal file
155
flight/PiOS/STM32F10x/pios_eeprom.c
Normal file
@ -0,0 +1,155 @@
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/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_EEPROM EEPROM reading/writing functions
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* @brief PIOS EEPROM reading/writing functions
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* @{
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*
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* @file pios_eeprom.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief COM layer functions
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program 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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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/* Project Includes */
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#include <pios.h>
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#include <pios_crc.h>
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#include <stm32f10x_flash.h>
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#include <pios_board_info.h>
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#include <pios_eeprom.h>
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static struct pios_eeprom_cfg config;
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/**
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* Initialize the flash eeprom device
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* \param cfg The configuration structure.
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*/
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void PIOS_EEPROM_Init(const struct pios_eeprom_cfg *cfg)
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{
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config = *cfg;
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}
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/**
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* Save a block of data to the flash eeprom device.
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* \param data A pointer to the data to write.
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* \param len The length of data to write.
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* \return 0 on sucess
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*/
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int32_t PIOS_EEPROM_Save(uint8_t *data, uint32_t len)
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{
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// We need to write 32 bit words, so extend the length to be an even multiple of 4 bytes,
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// and include 4 bytes for the 32 bit CRC.
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uint32_t nwords = (len / 4) + 1 + (len % 4 ? 1 : 0);
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uint32_t size = nwords * 4;
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// Ensure that the length is not longer than the max size.
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if (size > config.max_size)
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return -1;
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// Calculate a 32 bit CRC of the data.
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uint32_t crc = PIOS_CRC32_updateCRC(0xffffffff, data, len);
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// Unlock the Flash Program Erase controller
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FLASH_Unlock();
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// See if we have to write the data.
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if ((memcmp(data, (uint8_t*)config.base_address, len) == 0) &&
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(memcmp((uint8_t*)crc, (uint8_t*)config.base_address + size - 4, 4) == 0))
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return 0;
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// TODO: Check that the area isn't already erased
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// Erase page
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FLASH_Status fs = FLASH_ErasePage(config.base_address);
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if (fs != FLASH_COMPLETE)
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{ // error
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FLASH_Lock();
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return -2;
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}
|
||||||
|
|
||||||
|
// write 4 bytes at a time into program flash area (emulated EEPROM area)
|
||||||
|
uint8_t *p1 = data;
|
||||||
|
uint32_t *p3 = (uint32_t *)config.base_address;
|
||||||
|
for (int32_t i = 0; i < size; p3++)
|
||||||
|
{
|
||||||
|
uint32_t value = 0;
|
||||||
|
|
||||||
|
if (i == (size - 4))
|
||||||
|
{
|
||||||
|
// write the CRC.
|
||||||
|
value = crc;
|
||||||
|
i += 4;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
if (i < len) value |= (uint32_t)*p1++ << 0; else value |= 0x000000ff; i++;
|
||||||
|
if (i < len) value |= (uint32_t)*p1++ << 8; else value |= 0x0000ff00; i++;
|
||||||
|
if (i < len) value |= (uint32_t)*p1++ << 16; else value |= 0x00ff0000; i++;
|
||||||
|
if (i < len) value |= (uint32_t)*p1++ << 24; else value |= 0xff000000; i++;
|
||||||
|
}
|
||||||
|
|
||||||
|
// write a 32-bit value
|
||||||
|
fs = FLASH_ProgramWord((uint32_t)p3, value);
|
||||||
|
if (fs != FLASH_COMPLETE)
|
||||||
|
{
|
||||||
|
FLASH_Lock();
|
||||||
|
return -3;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Lock the Flash Program Erase controller
|
||||||
|
FLASH_Lock();
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Reads a block of data from the flash eeprom device.
|
||||||
|
* \param data A pointer to the output data buffer.
|
||||||
|
* \param len The length of data to read.
|
||||||
|
* \return 0 on sucess
|
||||||
|
*/
|
||||||
|
int32_t PIOS_EEPROM_Load(uint8_t *data, uint32_t len)
|
||||||
|
{
|
||||||
|
|
||||||
|
// We need to write 32 bit words, so the length should have been extended
|
||||||
|
// to an even multiple of 4 bytes, and should include 4 bytes for the 32 bit CRC.
|
||||||
|
uint32_t nwords = (len / 4) + 1 + (len % 4 ? 1 : 0);
|
||||||
|
uint32_t size = nwords * 4;
|
||||||
|
|
||||||
|
// Ensure that the length is not longer than the max size.
|
||||||
|
if (size > config.max_size)
|
||||||
|
return -1;
|
||||||
|
|
||||||
|
// Read the data from flash.
|
||||||
|
memcpy(data, (uint8_t*)config.base_address, len);
|
||||||
|
|
||||||
|
// Read the CRC.
|
||||||
|
uint32_t crc_flash = *((uint32_t*)(config.base_address + size - 4));
|
||||||
|
|
||||||
|
// Calculate a 32 bit CRC of the data.
|
||||||
|
uint32_t crc = PIOS_CRC32_updateCRC(0xffffffff, data, len);
|
||||||
|
if(crc != crc_flash)
|
||||||
|
return -2;
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
@ -29,3 +29,9 @@
|
|||||||
|
|
||||||
uint8_t PIOS_CRC_updateByte(uint8_t crc, const uint8_t data);
|
uint8_t PIOS_CRC_updateByte(uint8_t crc, const uint8_t data);
|
||||||
uint8_t PIOS_CRC_updateCRC(uint8_t crc, const uint8_t* data, int32_t length);
|
uint8_t PIOS_CRC_updateCRC(uint8_t crc, const uint8_t* data, int32_t length);
|
||||||
|
|
||||||
|
uint16_t PIOS_CRC16_updateByte(uint16_t crc, const uint8_t data);
|
||||||
|
uint16_t PIOS_CRC16_updateCRC(uint16_t crc, const uint8_t* data, int32_t length);
|
||||||
|
|
||||||
|
uint32_t PIOS_CRC32_updateByte(uint32_t crc, const uint8_t data);
|
||||||
|
uint32_t PIOS_CRC32_updateCRC(uint32_t crc, const uint8_t* data, int32_t length);
|
||||||
|
|||||||
50
flight/PiOS/inc/pios_eeprom.h
Normal file
50
flight/PiOS/inc/pios_eeprom.h
Normal file
@ -0,0 +1,50 @@
|
|||||||
|
/**
|
||||||
|
******************************************************************************
|
||||||
|
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||||
|
* @{
|
||||||
|
* @addtogroup PIOS_EEPROM EEPROM reading/writing functions
|
||||||
|
* @brief PIOS EEPROM reading/writing functions
|
||||||
|
* @{
|
||||||
|
*
|
||||||
|
* @file pios_eeprom.c
|
||||||
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||||
|
* @brief COM layer functions
|
||||||
|
* @see The GNU Public License (GPL) Version 3
|
||||||
|
*
|
||||||
|
*****************************************************************************/
|
||||||
|
/*
|
||||||
|
* This program is free software; you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation; either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This program is distributed in the hope that it will be useful, but
|
||||||
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||||
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||||
|
* for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License along
|
||||||
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef PIOS_EEPROM_H
|
||||||
|
#define PIOS_EEPROM_H
|
||||||
|
|
||||||
|
/* Public Structures */
|
||||||
|
struct pios_eeprom_cfg {
|
||||||
|
uint32_t base_address;
|
||||||
|
uint32_t max_size;
|
||||||
|
};
|
||||||
|
|
||||||
|
/* Public Functions */
|
||||||
|
extern void PIOS_EEPROM_Init(const struct pios_eeprom_cfg *cfg);
|
||||||
|
extern int32_t PIOS_EEPROM_Save(uint8_t *data, uint32_t len);
|
||||||
|
extern int32_t PIOS_EEPROM_Load(uint8_t *data, uint32_t len);
|
||||||
|
|
||||||
|
#endif /* PIOS_EEPROM_H */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @}
|
||||||
|
* @}
|
||||||
|
*/
|
||||||
Loading…
Reference in New Issue
Block a user