SummerSchool2-Controller/306-controller_interface.X/app/eeprom.c

/**
 * @author R<EFBFBD>mi Heredero
 * @version 1.0.0
 * @date August 2023
 * @file eeprom_interface.h
 */

#include "eeprom.h"
#include "../app/car.h"
#include "../middleware/can_interface.h"

typedef union {
    struct {
        uint8_t byte0;
        uint8_t byte1;
        uint8_t byte2;
        uint8_t byte3;
    } separate;
    uint32_t full;
    uint8_t array[4];
} BYTES_4;

void MEM_init(){
    uint8_t check = MEM_read_1_byte(0x0);
    if(check != 0x42){
        KART_CST.CONTROL_STEERING_MODE   =   0;
        KART_CST.CONTROL_ALIVE_TIME      =   250; // should be 50
        KART_CST.CONTROL_SPEED_FACTOR    =   111111;    //     111'111
        KART_CST.CONTROL_POWER_FACTOR    =   10000;     //      10'000
        KART_CST.CONTROL_STEERING_FACTOR =   5600240;   //   5'600'024
        KART_CST.CONTROL_MAX_SPEED_FW    =   50;
        KART_CST.CONTROL_MAX_SPEED_BW    =   25;
        
        KART_CST.JOYSTICK_MODE           =   0; // mode 0 is time based, mode 1 is change based
        KART_CST.JOYSTICK_PARAM1         =   5; // for mode 0, values are send every param1*10ms
        KART_CST.JOYSTICK_PARAM2         =   1; // for mode 0, values need to change param2 at least for sending
        KART_CST.JOYSTICK_ALIVE_TIME     =   25;
        
        KART_CST.DISPLAY_ALIVE_TIME      =  100;
        
        KART_CST.DRIVE_SPEED_TIME        =   20;
        KART_CST.DRIVE_STOP_TIME         =   10;
        KART_CST.DRIVE_ALIVE_TIME        =   250;
        
        KART_CST.STEERING_ALIVE_TIME     =  100;
        
        KART_CST.BATTERY_VOLT_TIME       =   50;
        KART_CST.BATTERY_CURRENT_TIME    =   50;
        KART_CST.BATTERY_ENERGY_TIME     =   50;
        KART_CST.BATTERY_ALIVE_TIME      =   50;
        
        KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING = 10;
        KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE = 10;
        
        MEM_write_1_byte(MEMADD_CONTROL_STEERING_MODE, KART_CST.CONTROL_STEERING_MODE);
        MEM_write_1_byte(MEMADD_CONTROL_ALIVE_TIME, KART_CST.CONTROL_ALIVE_TIME);
        MEM_write_4_byte(MEMADD_CONTROL_SPEED_FACTOR, KART_CST.CONTROL_SPEED_FACTOR);
        MEM_write_4_byte(MEMADD_CONTROL_POWER_FACTOR, KART_CST.CONTROL_POWER_FACTOR);
        MEM_write_4_byte(MEMADD_CONTROL_STEERING_FACTOR, KART_CST.CONTROL_STEERING_FACTOR);
        MEM_write_1_byte(MEMADD_CONTROL_MAX_SPEED_FW, KART_CST.CONTROL_MAX_SPEED_FW);
        MEM_write_1_byte(MEMADD_CONTROL_MAX_SPEED_BW, KART_CST.CONTROL_MAX_SPEED_BW);
        
        MEM_write_1_byte(MEMADD_JOYSTICK_MODE, KART_CST.JOYSTICK_MODE);
        MEM_write_1_byte(MEMADD_JOYSTICK_PARAM1, KART_CST.JOYSTICK_PARAM1);
        MEM_write_1_byte(MEMADD_JOYSTICK_PARAM2, KART_CST.JOYSTICK_PARAM2);
        MEM_write_1_byte(MEMADD_JOYSTICK_ALIVE_TIME, KART_CST.JOYSTICK_ALIVE_TIME);
        
        MEM_write_1_byte(MEMADD_DISPLAY_ALIVE_TIME, KART_CST.DISPLAY_ALIVE_TIME);
        
        MEM_write_1_byte(MEMADD_DRIVE_SPEED_TIME, KART_CST.DRIVE_SPEED_TIME);
        MEM_write_1_byte(MEMADD_DRIVE_STOP_TIME, KART_CST.DRIVE_STOP_TIME);
        MEM_write_1_byte(MEMADD_DRIVE_ALIVE_TIME, KART_CST.DRIVE_ALIVE_TIME);
        
        MEM_write_1_byte(MEMADD_STEERING_ALIVE_TIME, KART_CST.STEERING_ALIVE_TIME);
        
        MEM_write_1_byte(MEMADD_BATTERY_VOLT_TIME, KART_CST.BATTERY_VOLT_TIME);
        MEM_write_1_byte(MEMADD_BATTERY_CURRENT_TIME, KART_CST.BATTERY_CURRENT_TIME);
        MEM_write_1_byte(MEMADD_BATTERY_ENERGY_TIME, KART_CST.BATTERY_ENERGY_TIME);
        MEM_write_1_byte(MEMADD_BATTERY_ALIVE_TIME, KART_CST.BATTERY_ALIVE_TIME);
        
        MEM_write_1_byte(MEMADD_CONTROL_PARAM_MAX_CHANGE_DRIVE, KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE);
        MEM_write_1_byte(MEMADD_CONTROL_PARAM_MAX_CHANGE_STEERING, KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING);
        
        MEM_write_1_byte(0x0, 0x42);
    } else {
        KART_CST.CONTROL_STEERING_MODE = MEM_read_1_byte(MEMADD_CONTROL_STEERING_MODE);
        KART_CST.CONTROL_ALIVE_TIME = MEM_read_1_byte(MEMADD_CONTROL_ALIVE_TIME);
        KART_CST.CONTROL_SPEED_FACTOR = MEM_read_4_byte(MEMADD_CONTROL_SPEED_FACTOR);
        KART_CST.CONTROL_POWER_FACTOR = MEM_read_4_byte(MEMADD_CONTROL_POWER_FACTOR);
        KART_CST.CONTROL_STEERING_FACTOR = MEM_read_4_byte(MEMADD_CONTROL_STEERING_FACTOR);
        KART_CST.CONTROL_MAX_SPEED_FW = MEM_read_1_byte(MEMADD_CONTROL_MAX_SPEED_FW);
        KART_CST.CONTROL_MAX_SPEED_BW = MEM_read_1_byte(MEMADD_CONTROL_MAX_SPEED_BW);
        
        KART_CST.JOYSTICK_MODE = MEM_read_1_byte(MEMADD_JOYSTICK_MODE);
        KART_CST.JOYSTICK_PARAM1 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM1);
        KART_CST.JOYSTICK_PARAM2 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM2);
        KART_CST.JOYSTICK_ALIVE_TIME = MEM_read_1_byte(MEMADD_JOYSTICK_ALIVE_TIME);
        
        KART_CST.DISPLAY_ALIVE_TIME = MEM_read_1_byte(MEMADD_DISPLAY_ALIVE_TIME);
        
        KART_CST.DRIVE_SPEED_TIME = MEM_read_1_byte(MEMADD_DRIVE_SPEED_TIME);
        KART_CST.DRIVE_STOP_TIME = MEM_read_1_byte(MEMADD_DRIVE_STOP_TIME);
        KART_CST.DRIVE_ALIVE_TIME = MEM_read_1_byte(MEMADD_DRIVE_ALIVE_TIME);
        
        KART_CST.STEERING_ALIVE_TIME = MEM_read_1_byte(MEMADD_STEERING_ALIVE_TIME);
        
        KART_CST.BATTERY_VOLT_TIME = MEM_read_1_byte(MEMADD_BATTERY_VOLT_TIME);
        KART_CST.BATTERY_CURRENT_TIME = MEM_read_1_byte(MEMADD_BATTERY_CURRENT_TIME);
        KART_CST.BATTERY_ENERGY_TIME = MEM_read_1_byte(MEMADD_BATTERY_ENERGY_TIME);
        KART_CST.BATTERY_ALIVE_TIME = MEM_read_1_byte(MEMADD_BATTERY_ALIVE_TIME);
        
        KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE = MEM_read_1_byte(MEMADD_CONTROL_PARAM_MAX_CHANGE_DRIVE);
        KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING = MEM_read_1_byte(MEMADD_CONTROL_PARAM_MAX_CHANGE_STEERING);
        
    }
}

void MEM_reset() {
    MEM_write_1_byte(0x0, 0x0);
}

void MEM_write_1_byte(uint8_t address, uint8_t data) {
    DATAEE_WriteByte(address, data);
}

void MEM_write_4_byte(uint8_t address, uint32_t data) {
    BYTES_4 tmpData;
    tmpData.full = data;
    for(uint8_t i = 0; i<4;i++) {
        uint8_t add = address;
        add += i;
        MEM_write_1_byte(add, tmpData.array[i]);
    }
    
}

uint8_t MEM_read_1_byte(uint8_t address) {
    return DATAEE_ReadByte(address);
}

uint32_t MEM_read_4_byte(uint8_t address) {
    BYTES_4 tmpData;
    for(uint8_t i = 0; i<4;i++) {
        uint8_t add = address;
        add += i;
        tmpData.array[i] = MEM_read_1_byte(add);
    }
    return tmpData.full;
}