Diff: nonvolatile.c

Revision:

0:62a1c91a859a

Child:

2:90292f8bd179

diff -r 000000000000 -r 62a1c91a859a nonvolatile.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nonvolatile.c	Fri Feb 18 22:28:05 2011 +0000
@@ -0,0 +1,221 @@
+// ===============================================================================================
+// =                              UAVXArm Quadrocopter Controller                                =
+// =                           Copyright (c) 2008 by Prof. Greg Egan                             =
+// =                 Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer                   =
+// =                     http://code.google.com/p/uavp-mods/ http://uavp.ch                      =
+// ===============================================================================================
+
+//    This is part of UAVXArm.
+
+//    UAVXArm 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.
+
+//    UAVXArm 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, see http://www.gnu.org/licenses/
+
+#include "UAVXArm.h"
+
+// transfers to Flash seem to be ~35KByte/Sec
+
+void CheckSDCardValid(void);
+
+void CreateLogfile(void);
+void CloseLogfile(void);
+void TxLogChar(uint8);
+
+void WritePXImagefile(void);
+boolean ReadPXImagefile(void);
+
+int8 ReadPX(uint16);
+int16 Read16PX(uint16);
+int32 Read32PX(uint16);
+void WritePX(uint16, int8);
+void Write16PX(uint16, int16);
+void Write32PX(uint16, int32);
+
+FILE *pxfile = NULL;
+FILE *newpxfile = NULL;
+
+const int PX_LENGTH = 2048;
+int8 PX[PX_LENGTH], PXNew[PX_LENGTH];
+
+void CheckSDCardValid(void) {
+    /*
+        FILE *testfile;
+
+        testfile = fopen("/SDCard/OK", "w");
+        F.SDCardValid = testfile != NULL;
+        if ( F.SDCardValid ) fclose(testfile);
+    */
+    F.SDCardValid =  SDCard.initialise_card() != 0;
+
+
+} // CheckSDCardValid
+
+void WritePXImagefile(void) {
+    static uint16 a;
+    static int32 CheckSum;
+    static int8 v, i;
+
+    UpdateRTC();
+
+    if ( F.PXImageStale ) {
+        if ( F.SDCardValid )
+            newpxfile = fopen("/SDCard/Params.txt", "w");
+        else
+            newpxfile = fopen("/local/Params.txt", "w");
+
+        if ( newpxfile != NULL ) {
+            CheckSum = 0;
+            for ( a = 0; a < PX_LENGTH; a++ ) {
+                v = PX[a];
+                CheckSum += (int32)v;
+                fprintf(newpxfile, "%i \r\n",  v);
+            }
+            fprintf(newpxfile, "%li \r\n ",  -CheckSum );
+
+            i=0;
+            while ( RTCString[i] != 0 )
+                fprintf(newpxfile, "%c", RTCString[i++]);
+            fprintf(newpxfile, "\r\n");
+
+            F.PXImageStale = false;
+            fclose(newpxfile);
+        }
+    }
+
+} // WritePXIMagefile
+
+boolean ReadPXImagefile(void) {
+    static uint16 a;
+    static int8 r;
+    static int32 v, CheckSum;
+    static boolean OK;
+
+    if ( F.SDCardValid )
+        pxfile = fopen("/SDCard/Params.txt", "r");
+    else
+        pxfile = fopen("/local/Params.txt", "r");
+
+
+    OK = false;
+    if ( pxfile != NULL ) {
+        CheckSum = 0;
+        a = 0;
+        for ( a = 0; a < PX_LENGTH ; a++ ) {
+            r = fscanf(pxfile, "%i ", &v);
+            CheckSum += v;
+            PXNew[a] = (int8)v;
+        }
+        r = fscanf(pxfile, "%li ", &v);
+        CheckSum += (int32)v;
+        OK = CheckSum == 0;
+
+        fclose(pxfile);
+
+        if ( OK ) {
+            for ( a = 0; a < PX_LENGTH; a++ )
+                PX[a] = PXNew[a];
+            F.PXImageStale = false;
+        }
+    }
+
+    return( OK );
+
+} // ReadPXImagefile
+
+
+void CreateLogfile(void) {
+    static uint8 i;
+
+    UpdateRTC();
+    if ( F.SDCardValid )
+        strftime(RTCLogfile, 32, "/SDCard/L%H-%M.log", RTCTime );
+    else
+        strftime(RTCLogfile, 32, "/local/L%H-%M.log", RTCTime );
+
+    logfile = fopen(RTCLogfile, "w");
+
+    LogfileIsOpen = logfile != NULL;
+    if ( LogfileIsOpen ) {
+        i=0;
+        while ( RTCString[i] != 0 )
+            TxLogChar(RTCString[i++]);
+        TxLogChar(CR);
+        TxLogChar(LF);
+    }
+    LogChars = 0;
+
+} // CreateLogfile
+
+void CloseLogfile(void) {
+    fclose(logfile);
+} // CloseLog
+
+void TxLogChar(uint8 ch) {
+
+#ifndef SUPPRESS_SDCARD
+    if ( LogfileIsOpen )
+        fprintf(logfile, "%c",  ch);
+#endif // !SUPPRESS_SDCARD
+} // TxLogChar
+
+
+int8 ReadPX(uint16 a) {
+    static int8 b;
+    b = PX[a];
+    return(b);
+} // ReadPX
+
+int16 Read16PX(uint16 a) {
+    static i16u Temp16;
+
+    Temp16.b0 = ReadPX(a);
+    Temp16.b1 = ReadPX(a + 1);
+
+    return ( Temp16.i16 );
+} // Read16P
+
+int32 Read32PX(uint16 a) {
+    static i32u Temp32;
+
+    Temp32.b0 = ReadPX(a);
+    Temp32.b1 = ReadPX(a + 1);
+    Temp32.b2 = ReadPX(a + 2);
+    Temp32.b3 = ReadPX(a + 3);
+
+    return ( Temp32.i32 );
+} // Read32P
+
+void WritePX(uint16 a, int8 d) {
+    if ( PX[a] != d ) {
+        PX[a] = d;
+        F.PXImageStale = true;
+    }
+} // WritePX
+
+void Write16PX(uint16 a, int16 d) {
+    static i16u Temp16;
+
+    Temp16.i16 = d;
+    WritePX(a, Temp16.b0);
+    WritePX(a + 1, Temp16.b1);
+
+} // Write16P
+
+void Write32PX(uint16 a, int32 d) {
+    static i32u Temp32;
+
+    Temp32.i32 = d;
+    WritePX(a, Temp32.b0);
+    WritePX(a + 1, Temp32.b1);
+    WritePX(a + 2, Temp32.b2);
+    WritePX(a + 3, Temp32.b3);
+
+} // Write16PX
+