CC-15 Gets settings saved to flash chip on CC using crude sector based storage.

Sector based on Object ID so could overlap :-(.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2662 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/CopterControl/Makefile

@@ -183,7 +183,6 @@ SRC += $(OPUAVSYNTHDIR)/ratedesired.c
 SRC += $(OPUAVSYNTHDIR)/manualcontrolsettings.c
 SRC += $(OPUAVSYNTHDIR)/mixersettings.c
 SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
-SRC += $(OPUAVSYNTHDIR)/ahrssettings.c
 SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
 SRC += $(OPUAVSYNTHDIR)/uavobjectsinit.c
 #${wildcard ${OBJ}/$(shell echo $(VAR) | tr A-Z a-z)/*.c}

flight/CopterControl/System/inc/pios_config.h

@@ -55,12 +55,15 @@
 #define PIOS_INCLUDE_FREERTOS
 #define PIOS_INCLUDE_GPIO
 #define PIOS_INCLUDE_EXTI
-#define PIOS_INCLUDE_WDG
+//#define PIOS_INCLUDE_WDG
 #define PIOS_INCLUDE_I2C_ESC
 
 #define PIOS_INCLUDE_ADXL345
 #define PIOS_INCLUDE_FLASH
 
+/* A really shitty setting saving implementation */
+#define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS
+
 /* Defaults for Logging */
 #define LOG_FILENAME 			"PIOS.LOG"
 #define STARTUP_LOG_ENABLED		1

flight/CopterControl/System/pios_board.c

@@ -47,6 +47,7 @@ void PIOS_Board_Init(void) {
 	
 	/* SPI Init */
 	PIOS_SPI_Init();
+	PIOS_Flash_W25X_Init();
 
 #if defined(PIOS_INCLUDE_SPEKTRUM)
 	/* SPEKTRUM init must come before comms */

flight/PiOS/Common/pios_flash_w25x.c

@@ -38,7 +38,6 @@ static int8_t PIOS_Flash_W25X_ClaimBus();
 static void PIOS_Flash_W25X_ReleaseBus();
 static uint8_t PIOS_Flash_W25X_WriteEnable();
 static uint8_t PIOS_Flash_W25X_Busy() ;
-//static uint8_t PIOS_Flash_W25X_EraseChip();
 
 /** 
  * @brief Claim the SPI bus for flash use and assert CS pin
@@ -129,7 +128,7 @@ uint8_t PIOS_Flash_W25X_ReadID()
 int8_t PIOS_Flash_W25X_EraseSector(uint32_t addr)
 {
 	uint8_t ret;
-	uint8_t out[] = {W25X_SECTOR_ERASE, (addr >> 16) && 0xff, (addr >> 8) && 0xff , addr && 0xff};
+	uint8_t out[] = {W25X_SECTOR_ERASE, (addr >> 16) & 0xff, (addr >> 8) & 0xff , addr & 0xff};
 	
 	if((ret = PIOS_Flash_W25X_WriteEnable()) != 0)
 		return ret;
@@ -153,7 +152,7 @@ int8_t PIOS_Flash_W25X_EraseSector(uint32_t addr)
  * @brief Execute the whole chip
  * @returns 0 if successful, -1 if unable to claim bus
  */
-/*static uint8_t PIOS_Flash_W25X_EraseChip() 
+int8_t PIOS_Flash_W25X_EraseChip()
 {
 	uint8_t ret;
 	uint8_t out[] = {W25X_CHIP_ERASE};
@@ -172,7 +171,7 @@ int8_t PIOS_Flash_W25X_EraseSector(uint32_t addr)
 #endif
 	}
 	return 0;
-}*/
+}
 
 
 /** 

flight/PiOS/inc/pios_flash_w25x.h

@@ -10,6 +10,7 @@
 int8_t PIOS_Flash_W25X_Init();
 uint8_t PIOS_Flash_W25X_ReadStatus();
 uint8_t PIOS_Flash_W25X_ReadID();
+int8_t PIOS_Flash_W25X_EraseChip();
 int8_t PIOS_Flash_W25X_EraseSector(uint32_t add);
 int8_t PIOS_Flash_W25X_WriteData(uint32_t addr, uint8_t * data, uint16_t len);
 int8_t PIOS_Flash_W25X_ReadData(uint32_t addr, uint8_t * data, uint16_t len);

flight/UAVObjects/uavobjectmanager.c

@@ -562,6 +562,14 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file)
 	return 0;
 }
 
+struct fileHeader {
+	uint32_t id;
+	uint16_t instId;
+	uint16_t size;
+} __attribute__((packed));
+
+#define FLASH_MASK 0x001ff000  /* Select a sector */
+
 /**
  * Save the data of the specified object to the file system (SD card).
  * If the object contains multiple instances, all of them will be saved.
@@ -574,6 +582,32 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file)
  */
 int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
 {
+#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
+	ObjectList* objEntry = (ObjectList*)obj;
+	
+	if(objEntry == NULL)
+		return -1;
+	
+	ObjectInstList* instEntry = getInstance(objEntry, instId);
+	
+	if(instEntry == NULL)
+		return -1;
+	
+	if(instEntry->data == NULL)
+		return -1;
+	
+
+	struct fileHeader header = {
+		.id = objEntry->id,
+		.instId = instId,
+		.size = objEntry->numBytes
+	};
+
+	uint32_t addr = (objEntry->id & FLASH_MASK);
+	PIOS_Flash_W25X_EraseSector(addr);
+	PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header));
+	PIOS_Flash_W25X_WriteData(addr + sizeof(header), instEntry->data,objEntry->numBytes);
+#endif	
 #if defined(PIOS_INCLUDE_SDCARD)
 	FILEINFO file;
 	ObjectList* objEntry;
@@ -710,6 +744,36 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO* file)
  */
 int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
 {
+#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
+	ObjectList* objEntry = (ObjectList*)obj;
+	
+	if(objEntry == NULL)
+		return -1;
+	
+	ObjectInstList* instEntry = getInstance(objEntry, instId);
+	
+	if(instEntry == NULL)
+		return -1;
+	
+	if(instEntry->data == NULL)
+		return -1;
+	
+	struct fileHeader header;
+	uint32_t addr = (objEntry->id & FLASH_MASK);
+
+	PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header));
+	
+	if(header.id != objEntry->id)
+		return -1;
+	
+	// Read the instance data
+	if (PIOS_Flash_W25X_ReadData(addr + sizeof(header) ,instEntry->data, objEntry->numBytes) != 0)
+		return -1;
+		
+	// Fire event
+	sendEvent(objEntry, instId, EV_UNPACKED);		
+#endif
+	
 #if defined(PIOS_INCLUDE_SDCARD)
 	FILEINFO file;
 	ObjectList* objEntry;