150 lines
6.3 KiB
C
150 lines
6.3 KiB
C
/**
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* @author R<>mi Heredero
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* @version 1.0.0
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* @date August 2023
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* @file eeprom_interface.h
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*/
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#include "eeprom.h"
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#include "../app/car.h"
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#include "../middleware/can_interface.h"
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typedef union {
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struct {
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uint8_t byte0;
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uint8_t byte1;
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uint8_t byte2;
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uint8_t byte3;
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} separate;
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uint32_t full;
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uint8_t array[4];
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} BYTES_4;
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void MEM_init(){
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uint8_t check = MEM_read_1_byte(0x0);
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if(check != 0x42){
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KART_CST.CONTROL_STEERING_MODE = 0;
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KART_CST.CONTROL_ALIVE_TIME = 250; // should be 50
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KART_CST.CONTROL_SPEED_FACTOR = 111111; // 111'111
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KART_CST.CONTROL_POWER_FACTOR = 10000; // 10'000
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KART_CST.CONTROL_STEERING_FACTOR = 5600240; // 5'600'024
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KART_CST.CONTROL_MAX_SPEED_FW = 50;
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KART_CST.CONTROL_MAX_SPEED_BW = 25;
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KART_CST.JOYSTICK_MODE = 0; // mode 0 is time based, mode 1 is change based
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KART_CST.JOYSTICK_PARAM1 = 5; // for mode 0, values are send every param1*10ms
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KART_CST.JOYSTICK_PARAM2 = 1; // for mode 0, values need to change param2 at least for sending
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KART_CST.JOYSTICK_ALIVE_TIME = 25;
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KART_CST.DISPLAY_ALIVE_TIME = 100;
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KART_CST.DRIVE_SPEED_TIME = 20;
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KART_CST.DRIVE_STOP_TIME = 10;
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KART_CST.DRIVE_ALIVE_TIME = 250;
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KART_CST.STEERING_ALIVE_TIME = 100;
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KART_CST.BATTERY_VOLT_TIME = 50;
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KART_CST.BATTERY_CURRENT_TIME = 50;
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KART_CST.BATTERY_ENERGY_TIME = 50;
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KART_CST.BATTERY_ALIVE_TIME = 50;
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KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING = 10;
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KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE = 10;
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MEM_write_1_byte(MEMADD_CONTROL_STEERING_MODE, KART_CST.CONTROL_STEERING_MODE);
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MEM_write_1_byte(MEMADD_CONTROL_ALIVE_TIME, KART_CST.CONTROL_ALIVE_TIME);
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MEM_write_4_byte(MEMADD_CONTROL_SPEED_FACTOR, KART_CST.CONTROL_SPEED_FACTOR);
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MEM_write_4_byte(MEMADD_CONTROL_POWER_FACTOR, KART_CST.CONTROL_POWER_FACTOR);
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MEM_write_4_byte(MEMADD_CONTROL_STEERING_FACTOR, KART_CST.CONTROL_STEERING_FACTOR);
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MEM_write_1_byte(MEMADD_CONTROL_MAX_SPEED_FW, KART_CST.CONTROL_MAX_SPEED_FW);
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MEM_write_1_byte(MEMADD_CONTROL_MAX_SPEED_BW, KART_CST.CONTROL_MAX_SPEED_BW);
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MEM_write_1_byte(MEMADD_JOYSTICK_MODE, KART_CST.JOYSTICK_MODE);
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MEM_write_1_byte(MEMADD_JOYSTICK_PARAM1, KART_CST.JOYSTICK_PARAM1);
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MEM_write_1_byte(MEMADD_JOYSTICK_PARAM2, KART_CST.JOYSTICK_PARAM2);
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MEM_write_1_byte(MEMADD_JOYSTICK_ALIVE_TIME, KART_CST.JOYSTICK_ALIVE_TIME);
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MEM_write_1_byte(MEMADD_DISPLAY_ALIVE_TIME, KART_CST.DISPLAY_ALIVE_TIME);
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MEM_write_1_byte(MEMADD_DRIVE_SPEED_TIME, KART_CST.DRIVE_SPEED_TIME);
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MEM_write_1_byte(MEMADD_DRIVE_STOP_TIME, KART_CST.DRIVE_STOP_TIME);
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MEM_write_1_byte(MEMADD_DRIVE_ALIVE_TIME, KART_CST.DRIVE_ALIVE_TIME);
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MEM_write_1_byte(MEMADD_STEERING_ALIVE_TIME, KART_CST.STEERING_ALIVE_TIME);
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MEM_write_1_byte(MEMADD_BATTERY_VOLT_TIME, KART_CST.BATTERY_VOLT_TIME);
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MEM_write_1_byte(MEMADD_BATTERY_CURRENT_TIME, KART_CST.BATTERY_CURRENT_TIME);
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MEM_write_1_byte(MEMADD_BATTERY_ENERGY_TIME, KART_CST.BATTERY_ENERGY_TIME);
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MEM_write_1_byte(MEMADD_BATTERY_ALIVE_TIME, KART_CST.BATTERY_ALIVE_TIME);
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MEM_write_1_byte(MEMADD_CONTROL_PARAM_MAX_CHANGE_DRIVE, KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE);
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MEM_write_1_byte(MEMADD_CONTROL_PARAM_MAX_CHANGE_STEERING, KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING);
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MEM_write_1_byte(0x0, 0x42);
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} else {
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KART_CST.CONTROL_STEERING_MODE = MEM_read_1_byte(MEMADD_CONTROL_STEERING_MODE);
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KART_CST.CONTROL_ALIVE_TIME = MEM_read_1_byte(MEMADD_CONTROL_ALIVE_TIME);
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KART_CST.CONTROL_SPEED_FACTOR = MEM_read_4_byte(MEMADD_CONTROL_SPEED_FACTOR);
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KART_CST.CONTROL_POWER_FACTOR = MEM_read_4_byte(MEMADD_CONTROL_POWER_FACTOR);
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KART_CST.CONTROL_STEERING_FACTOR = MEM_read_4_byte(MEMADD_CONTROL_STEERING_FACTOR);
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KART_CST.CONTROL_MAX_SPEED_FW = MEM_read_1_byte(MEMADD_CONTROL_MAX_SPEED_FW);
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KART_CST.CONTROL_MAX_SPEED_BW = MEM_read_1_byte(MEMADD_CONTROL_MAX_SPEED_BW);
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KART_CST.JOYSTICK_MODE = MEM_read_1_byte(MEMADD_JOYSTICK_MODE);
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KART_CST.JOYSTICK_PARAM1 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM1);
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KART_CST.JOYSTICK_PARAM2 = MEM_read_1_byte(MEMADD_JOYSTICK_PARAM2);
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KART_CST.JOYSTICK_ALIVE_TIME = MEM_read_1_byte(MEMADD_JOYSTICK_ALIVE_TIME);
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KART_CST.DISPLAY_ALIVE_TIME = MEM_read_1_byte(MEMADD_DISPLAY_ALIVE_TIME);
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KART_CST.DRIVE_SPEED_TIME = MEM_read_1_byte(MEMADD_DRIVE_SPEED_TIME);
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KART_CST.DRIVE_STOP_TIME = MEM_read_1_byte(MEMADD_DRIVE_STOP_TIME);
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KART_CST.DRIVE_ALIVE_TIME = MEM_read_1_byte(MEMADD_DRIVE_ALIVE_TIME);
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KART_CST.STEERING_ALIVE_TIME = MEM_read_1_byte(MEMADD_STEERING_ALIVE_TIME);
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KART_CST.BATTERY_VOLT_TIME = MEM_read_1_byte(MEMADD_BATTERY_VOLT_TIME);
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KART_CST.BATTERY_CURRENT_TIME = MEM_read_1_byte(MEMADD_BATTERY_CURRENT_TIME);
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KART_CST.BATTERY_ENERGY_TIME = MEM_read_1_byte(MEMADD_BATTERY_ENERGY_TIME);
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KART_CST.BATTERY_ALIVE_TIME = MEM_read_1_byte(MEMADD_BATTERY_ALIVE_TIME);
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KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE = MEM_read_1_byte(MEMADD_CONTROL_PARAM_MAX_CHANGE_DRIVE);
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KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING = MEM_read_1_byte(MEMADD_CONTROL_PARAM_MAX_CHANGE_STEERING);
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}
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}
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void MEM_reset() {
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MEM_write_1_byte(0x0, 0x0);
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}
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void MEM_write_1_byte(uint8_t address, uint8_t data) {
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DATAEE_WriteByte(address, data);
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}
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void MEM_write_4_byte(uint8_t address, uint32_t data) {
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BYTES_4 tmpData;
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tmpData.full = data;
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for(uint8_t i = 0; i<4;i++) {
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uint8_t add = address;
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add += i;
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MEM_write_1_byte(add, tmpData.array[i]);
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}
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}
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uint8_t MEM_read_1_byte(uint8_t address) {
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return DATAEE_ReadByte(address);
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}
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uint32_t MEM_read_4_byte(uint8_t address) {
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BYTES_4 tmpData;
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for(uint8_t i = 0; i<4;i++) {
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uint8_t add = address;
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add += i;
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tmpData.array[i] = MEM_read_1_byte(add);
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}
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return tmpData.full;
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}
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