Use variable for eeprom emulation

Linker section is not necessary

src/main/config/config_eeprom.c

@@ -24,6 +24,7 @@
 #include "build/build_config.h"
 
 #include "common/maths.h"
+#include "common/utils.h"
 
 #include "config/config_eeprom.h"
 #include "config/config_streamer.h"
@@ -31,8 +32,14 @@
 
 #include "drivers/system.h"
 
+#ifdef EEPROM_IN_RAM
+extern uint8_t eepromData[EEPROM_SIZE];
+# define __config_start (*eepromData)
+# define __config_end (*ARRAYEND(eepromData))
+#else
 extern uint8_t __config_start;   // configured via linker script when building binaries.
 extern uint8_t __config_end;
+#endif
 
 static uint16_t eepromConfigSize;
 

src/main/fc/cli.c

@@ -28,8 +28,10 @@
 // FIXME remove this for targets that don't need a CLI.  Perhaps use a no-op macro when USE_CLI is not enabled
 // signal that we're in cli mode
 uint8_t cliMode = 0;
+#ifndef EEPROM_IN_RAM
 extern uint8_t __config_start;   // configured via linker script when building binaries.
 extern uint8_t __config_end;
+#endif
 
 #ifdef USE_CLI
 
@@ -2882,8 +2884,12 @@ static void cliStatus(char *cmdline)
     cliPrintf("Stack used: %d, ", stackUsedSize());
 #endif
     cliPrintLinef("Stack size: %d, Stack address: 0x%x", stackTotalSize(), stackHighMem());
-
-    cliPrintLinef("I2C Errors: %d, config size: %d, max available config: %d", i2cErrorCounter, getEEPROMConfigSize(), &__config_end - &__config_start);
+#ifdef EEPROM_IN_RAM
+#define CONFIG_SIZE EEPROM_SIZE
+#else
+#define CONFIG_SIZE (&__config_end - &__config_start)
+#endif
+    cliPrintLinef("I2C Errors: %d, config size: %d, max available config: %d", i2cErrorCounter, getEEPROMConfigSize(), CONFIG_SIZE);
 
     const int gyroRate = getTaskDeltaTime(TASK_GYROPID) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTime(TASK_GYROPID)));
     const int rxRate = getTaskDeltaTime(TASK_RX) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTime(TASK_RX)));

src/main/target/SITL/parameter_group.ld

@@ -23,17 +23,4 @@ SECTIONS {
 INSERT AFTER .text;
 
 
-__FLASH_CONFIG_Size = 0x2000; /* 8kB */
-SECTIONS {
-  .FLASH_CONFIG BLOCK( DEFINED(__section_alignment__) ? __section_alignment__ : 4 ) :
-  {
-    PROVIDE_HIDDEN (__config_start = . );
-    . = . + __FLASH_CONFIG_Size;
-    PROVIDE_HIDDEN (__config_end = . );
-  }
-}
-INSERT AFTER .bss;
-
-
-
 

src/main/target/SITL/target.c

@@ -19,10 +19,13 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <math.h>
+#include <string.h>
 
 #include <errno.h>
 #include <time.h>
 
+#include "common/maths.h"
+
 #include "drivers/io.h"
 #include "drivers/dma.h"
 #include "drivers/serial.h"
@@ -92,15 +95,15 @@ void updateState(const fdm_packet* pkt) {
     }
 
     int16_t x,y,z;
-    x = -pkt->imu_linear_acceleration_xyz[0] * ACC_SCALE;
-    y = -pkt->imu_linear_acceleration_xyz[1] * ACC_SCALE;
-    z = -pkt->imu_linear_acceleration_xyz[2] * ACC_SCALE;
+    x = constrain(-pkt->imu_linear_acceleration_xyz[0] * ACC_SCALE, -32767, 32767);
+    y = constrain(-pkt->imu_linear_acceleration_xyz[1] * ACC_SCALE, -32767, 32767);
+    z = constrain(-pkt->imu_linear_acceleration_xyz[2] * ACC_SCALE, -32767, 32767);
     fakeAccSet(fakeAccDev, x, y, z);
 //    printf("[acc]%lf,%lf,%lf\n", pkt->imu_linear_acceleration_xyz[0], pkt->imu_linear_acceleration_xyz[1], pkt->imu_linear_acceleration_xyz[2]);
 
-    x = pkt->imu_angular_velocity_rpy[0] * GYRO_SCALE * RAD2DEG;
-    y = -pkt->imu_angular_velocity_rpy[1] * GYRO_SCALE * RAD2DEG;
-    z = -pkt->imu_angular_velocity_rpy[2] * GYRO_SCALE * RAD2DEG;
+    x = constrain(pkt->imu_angular_velocity_rpy[0] * GYRO_SCALE * RAD2DEG, -32767, 32767);
+    y = constrain(-pkt->imu_angular_velocity_rpy[1] * GYRO_SCALE * RAD2DEG, -32767, 32767);
+    z = constrain(-pkt->imu_angular_velocity_rpy[2] * GYRO_SCALE * RAD2DEG, -32767, 32767);
     fakeGyroSet(fakeGyroDev, x, y, z);
 //    printf("[gyr]%lf,%lf,%lf\n", pkt->imu_angular_velocity_rpy[0], pkt->imu_angular_velocity_rpy[1], pkt->imu_angular_velocity_rpy[2]);
 
@@ -464,15 +467,12 @@ char _estack;
 char _Min_Stack_Size;
 
 // fake EEPROM
-uint8_t __config_start;
-uint8_t __config_end;
 static FILE *eepromFd = NULL;
+uint8_t eepromData[EEPROM_SIZE];
 
 void FLASH_Unlock(void) {
-    uint8_t * const eeprom = &__config_start;
-
     if (eepromFd != NULL) {
-        printf("[FLASH_Unlock] eepromFd != NULL\n");
+        fprintf(stderr, "[FLASH_Unlock] eepromFd != NULL\n");
         return;
     }
 
@@ -481,29 +481,38 @@ void FLASH_Unlock(void) {
     if (eepromFd != NULL) {
         // obtain file size:
         fseek(eepromFd , 0 , SEEK_END);
-        long lSize = ftell(eepromFd);
+        size_t lSize = ftell(eepromFd);
         rewind(eepromFd);
 
-        printf("[FLASH_Unlock]size = %ld, %ld\n", lSize, (long)(&__config_end - &__config_start));
-        for (unsigned i = 0; i < (uintptr_t)(&__config_end - &__config_start); i++) {
-                int c = fgetc(eepromFd);
-            if (c == EOF) break;
-            eeprom[i] = (uint8_t)c;
+        size_t n = fread(eepromData, 1, sizeof(eepromData), eepromFd);
+        if (n == lSize) {
+            printf("[FLASH_Unlock] loaded '%s', size = %ld / %ld\n", EEPROM_FILENAME, lSize, sizeof(eepromData));
+        } else {
+            fprintf(stderr, "[FLASH_Unlock] failed to load '%s'\n", EEPROM_FILENAME);
+            return;
         }
     } else {
-        eepromFd = fopen(EEPROM_FILENAME, "w+");
-        fwrite(eeprom, sizeof(uint8_t), &__config_end - &__config_start, eepromFd);
+        printf("[FLASH_Unlock] created '%s', size = %ld\n", EEPROM_FILENAME, sizeof(eepromData));
+        if ((eepromFd = fopen(EEPROM_FILENAME, "w+")) == NULL) {
+            fprintf(stderr, "[FLASH_Unlock] failed to create '%s'\n", EEPROM_FILENAME);
+            return;
+        }
+        if (fwrite(eepromData, sizeof(eepromData), 1, eepromFd) != 1) {
+            fprintf(stderr, "[FLASH_Unlock] write failed: %s\n", strerror(errno));
+        }
     }
 }
 
 void FLASH_Lock(void) {
     // flush & close
     if (eepromFd != NULL) {
-        const uint8_t *eeprom = &__config_start;
         fseek(eepromFd, 0, SEEK_SET);
-        fwrite(eeprom, 1, &__config_end - &__config_start, eepromFd);
+        fwrite(eepromData, 1, sizeof(eepromData), eepromFd);
         fclose(eepromFd);
         eepromFd = NULL;
+        printf("[FLASH_Lock] saved '%s'\n", EEPROM_FILENAME);
+    } else {
+        fprintf(stderr, "[FLASH_Lock] eeprom is not unlocked\n");
     }
 }
 
@@ -513,12 +522,12 @@ FLASH_Status FLASH_ErasePage(uintptr_t Page_Address) {
     return FLASH_COMPLETE;
 }
 
-FLASH_Status FLASH_ProgramWord(uintptr_t addr, uint32_t Data) {
-    if ((addr >= (uintptr_t)&__config_start)&&(addr < (uintptr_t)&__config_end)) {
-        *((uint32_t*)addr) = Data;
-        printf("[FLASH_ProgramWord]0x%p = %x\n", (void*)addr, *((uint32_t*)addr));
+FLASH_Status FLASH_ProgramWord(uintptr_t addr, uint32_t value) {
+    if ((addr >= (uintptr_t)eepromData) && (addr < (uintptr_t)ARRAYEND(eepromData))) {
+        *((uint32_t*)addr) = value;
+        printf("[FLASH_ProgramWord]%p = %08x\n", (void*)addr, *((uint32_t*)addr));
     } else {
-            printf("[FLASH_ProgramWord]Out of Range! 0x%p\n", (void*)addr);
+            printf("[FLASH_ProgramWord]%p out of range!\n", (void*)addr);
     }
     return FLASH_COMPLETE;
 }

src/main/target/SITL/target.h

@@ -34,6 +34,8 @@
 
 // file name to save config
 #define EEPROM_FILENAME "eeprom.bin"
+#define EEPROM_IN_RAM
+#define EEPROM_SIZE     8192
 
 #define U_ID_0 0
 #define U_ID_1 1