EEPROM parameter integrity enforced.

Author: realtimepeople

NAV_Algorithms/AHRS.cpp

@@ -408,20 +408,12 @@ void AHRS_type::write_calibration_into_EEPROM( void)
   if( !magnetic_calibration_updated)
     return;
 
-  EEPROM_initialize();
+  lock_EEPROM( false);
 
-#if 0 // todo unused, remove me some day
-  if ( automatic_earth_field_parameters)
-    {
-      float inclination=ATAN2(expected_nav_induction[DOWN], expected_nav_induction[NORTH]);
-      float declination=ATAN2(expected_nav_induction[EAST], expected_nav_induction[NORTH]);
-
-      write_EEPROM_value( (EEPROM_PARAMETER_ID)DECLINATION, declination);
-      write_EEPROM_value( (EEPROM_PARAMETER_ID)INCLINATION, inclination);
-    }
-#endif
   compass_calibration.write_into_EEPROM();
   magnetic_calibration_updated = false; // done ...
+
+  lock_EEPROM( true);
 }
 
 void AHRS_type::handle_magnetic_calibration ( char type)

NAV_Algorithms/persistent_data.cpp

@@ -29,8 +29,6 @@
 
 ROM persistent_data_t PERSISTENT_DATA[]=
     {
-	{BOARD_ID, 	"Board_ID",		false, 0.0f, 0},	//! Board ID Hash to avoid board confusion
-
 	{SENS_TILT_ROLL,"SensTilt_Roll",	true,  0.0f, 0}, 	//! IMU Sensor tilt angle signed / degrees front right down frame
 	{SENS_TILT_PITCH,"SensTilt_Pitch",	true,  0.0f, 0}, 	//! IMU Sensor tilt angle signed
 	{SENS_TILT_YAW, "SensTilt_Yaw",		true,  0.0f, 0},  	//! IMU Sensor tilt angle signed
@@ -52,7 +50,6 @@ ROM persistent_data_t PERSISTENT_DATA[]=
 	{VARIO_INT_TC,	"Vario_Int_TC",		false, 30.0f, 0},	//! Vario integrator time constant unsigned s / ( 100.0f / 65536 )
 	{WIND_TC,	"Wind_TC",		false, 5.0f, 0}, 	//! Wind fast time constant unsigned s / ( 100.0f / 65536 )
 	{MEAN_WIND_TC,	"Mean_Wind_TC",		false, 30.0f, 0},	//! Wind slow time constant unsigned s / ( 100.0f / 65536 )
-	{VETF,		"VrtclEnrgTuning",	false, 1.0f, 0},	//! Vertical Energy tuning factor s / ( 1.0f / 65536 )
 	{HORIZON,	"Horizon_active",	false, 1.0f, 0},	//! Horizon output is available
 
 	{GNSS_CONFIGURATION, "GNSS_CONFIG",	false, 1.0f, 0},	//! type of GNSS system
@@ -63,17 +60,26 @@ ROM persistent_data_t PERSISTENT_DATA[]=
 
 ROM unsigned PERSISTENT_DATA_ENTRIES = sizeof(PERSISTENT_DATA) / sizeof(persistent_data_t);
 
-bool all_EEPROM_parameters_existing( void)
+void ensure_EEPROM_parameter_integrity( void)
 {
+  bool EEPROM_has_been_unlocked = false;
   float dummy;
-  const persistent_data_t * parameter = PERSISTENT_DATA + 1; // skip BOARD_ID
+  const persistent_data_t * parameter = PERSISTENT_DATA;
   while( parameter < PERSISTENT_DATA + PERSISTENT_DATA_ENTRIES)
     {
-      if( true == read_EEPROM_value( parameter->id, dummy))
-	return false; // read error
+      if( true == read_EEPROM_value( parameter->id, dummy)) // parameter missing
+	{
+	  if( EEPROM_has_been_unlocked == false)
+	    {
+	      lock_EEPROM( false);
+	      EEPROM_has_been_unlocked = true;
+	    }
+	  (void) write_EEPROM_value( parameter->id, parameter->default_value);
+	}
       ++parameter;
     }
-  return true;
+  if( EEPROM_has_been_unlocked)
+    lock_EEPROM( true);
 }
 
 const persistent_data_t * find_parameter_from_ID( EEPROM_PARAMETER_ID id)
@@ -182,17 +188,6 @@ bool EEPROM_convert( EEPROM_PARAMETER_ID id, EEPROM_data_t & EEPROM_value, float
       else
 	EEPROM_value.u16 = (uint16_t)(value * 655.36f);
       break;
-    case VETF:
-      if( read)
-	value = (float)(EEPROM_value.u16) / 65536.0f;
-      else
-	{
-	  unsigned uvalue = (unsigned) round( value * 65536.0f);
-	  if( uvalue >= 65536)
-	    uvalue = 65535;
-	  EEPROM_value.u16 = (uint16_t)uvalue;
-	}
-      break;
     case EEPROM_PARAMETER_ID_END:
     default:
 	value = 0.0f; // just to be sure ...

NAV_Algorithms/persistent_data.h

@@ -68,7 +68,6 @@ enum EEPROM_PARAMETER_ID
   VARIO_INT_TC,
   WIND_TC,
   MEAN_WIND_TC,
-  VETF, // VERTICAL_ENERGY_TUNING_FACTOR
   HORIZON,
 
   GNSS_CONFIGURATION=40,
@@ -98,7 +97,7 @@ bool write_EEPROM_value( EEPROM_PARAMETER_ID id, float value);
 bool read_EEPROM_value( EEPROM_PARAMETER_ID id, float &value);
 bool lock_EEPROM( bool lockit);
 bool EEPROM_initialize( void);
-bool all_EEPROM_parameters_existing( void);
+void ensure_EEPROM_parameter_integrity(void);
 
 extern const persistent_data_t PERSISTENT_DATA[];
 extern const unsigned PERSISTENT_DATA_ENTRIES;