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Commit 88b101a

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author
Jim Lindblom
committed
Adding #ifdef catch to make FlashStorage library optional.
1 parent a67d9fe commit 88b101a

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2 files changed

+114
-75
lines changed

2 files changed

+114
-75
lines changed

‎Firmware/_9DoF_Razor_M0_Firmware/_9DoF_Razor_M0_Firmware.ino‎

Lines changed: 96 additions & 63 deletions
Original file line numberDiff line numberDiff line change
@@ -28,13 +28,15 @@ Hardware:
2828
******************************************************************************/
2929
// MPU-9250 Digital Motion Processing (DMP) Library
3030
#include <SparkFunMPU9250-DMP.h>
31-
// Flash storage (for nv storage on ATSAMD21)
32-
#include <FlashStorage.h>
3331
// SD Library manages file and hardware control
3432
#include <SD.h>
3533
// config.h manages default logging parameters and can be used
3634
// to adjust specific parameters of the IMU
3735
#include "config.h"
36+
// Flash storage (for nv storage on ATSAMD21)
37+
#ifdef ENABLE_NVRAM_STORAGE
38+
#include <FlashStorage.h>
39+
#endif
3840

3941
MPU9250_DMP imu; // Create an instance of the MPU9250_DMP class
4042

@@ -75,35 +77,39 @@ void blinkLED()
7577
ledState = !ledState;
7678
}
7779

78-
///////////////////////////
79-
// Flash Storage Globals //
80-
///////////////////////////
81-
// Logging parameters are all stored in non-volatile memory.
82-
// They should maintain the previously set config value.
83-
FlashStorage(flashEnableSDLogging, bool);
84-
FlashStorage(flashFirstRun, bool);
85-
FlashStorage(flashEnableSD, bool);
86-
FlashStorage(flashEnableSerialLogging, bool);
87-
FlashStorage(flashenableTime, bool);
88-
FlashStorage(flashEnableCalculatedValues, bool);
89-
FlashStorage(flashEnableAccel, bool);
90-
FlashStorage(flashEnableGyro, bool);
91-
FlashStorage(flashEnableCompass, bool);
92-
FlashStorage(flashEnableQuat, bool);
93-
FlashStorage(flashEnableEuler, bool);
94-
FlashStorage(flashEnableHeading, bool);
95-
FlashStorage(flashAccelFSR, unsigned short);
96-
FlashStorage(flashGyroFSR, unsigned short);
97-
FlashStorage(flashLogRate, unsigned short);
80+
#ifdef ENABLE_NVRAM_STORAGE
81+
///////////////////////////
82+
// Flash Storage Globals //
83+
///////////////////////////
84+
// Logging parameters are all stored in non-volatile memory.
85+
// They should maintain the previously set config value.
86+
FlashStorage(flashEnableSDLogging, bool);
87+
FlashStorage(flashFirstRun, bool);
88+
FlashStorage(flashEnableSD, bool);
89+
FlashStorage(flashEnableSerialLogging, bool);
90+
FlashStorage(flashenableTime, bool);
91+
FlashStorage(flashEnableCalculatedValues, bool);
92+
FlashStorage(flashEnableAccel, bool);
93+
FlashStorage(flashEnableGyro, bool);
94+
FlashStorage(flashEnableCompass, bool);
95+
FlashStorage(flashEnableQuat, bool);
96+
FlashStorage(flashEnableEuler, bool);
97+
FlashStorage(flashEnableHeading, bool);
98+
FlashStorage(flashAccelFSR, unsigned short);
99+
FlashStorage(flashGyroFSR, unsigned short);
100+
FlashStorage(flashLogRate, unsigned short);
101+
#endif
98102

99103
void setup()
100104
{
101105
// Initialize LED, interrupt input, and serial port.
102106
// LED defaults to off:
103107
initHardware();
104108

109+
#ifdef ENABLE_NVRAM_STORAGE
105110
// Load previously-set logging parameters from nvram:
106111
initLoggingParams();
112+
#endif
107113

108114
// Initialize the MPU-9250. Should return true on success:
109115
if ( !initIMU() )
@@ -392,39 +398,57 @@ void parseSerialInput(char c)
392398
{
393399
case PAUSE_LOGGING: // Pause logging on SPACE
394400
enableSerialLogging = !enableSerialLogging;
401+
#ifdef ENABLE_NVRAM_STORAGE
395402
flashEnableSerialLogging.write(enableSerialLogging);
403+
#endif
396404
break;
397405
case ENABLE_TIME: // Enable time (milliseconds) logging
398406
enableTimeLog = !enableTimeLog;
407+
#ifdef ENABLE_NVRAM_STORAGE
399408
flashenableTime.write(enableTimeLog);
409+
#endif
400410
break;
401411
case ENABLE_ACCEL: // Enable/disable accelerometer logging
402412
enableAccel = !enableAccel;
413+
#ifdef ENABLE_NVRAM_STORAGE
403414
flashEnableAccel.write(enableAccel);
415+
#endif
404416
break;
405417
case ENABLE_GYRO: // Enable/disable gyroscope logging
406418
enableGyro = !enableGyro;
419+
#ifdef ENABLE_NVRAM_STORAGE
407420
flashEnableGyro.write(enableGyro);
421+
#endif
408422
break;
409423
case ENABLE_COMPASS: // Enable/disable magnetometer logging
410424
enableCompass = !enableCompass;
425+
#ifdef ENABLE_NVRAM_STORAGE
411426
flashEnableCompass.write(enableCompass);
427+
#endif
412428
break;
413429
case ENABLE_CALC: // Enable/disable calculated value logging
414430
enableCalculatedValues = !enableCalculatedValues;
431+
#ifdef ENABLE_NVRAM_STORAGE
415432
flashEnableCalculatedValues.write(enableCalculatedValues);
433+
#endif
416434
break;
417435
case ENABLE_QUAT: // Enable/disable quaternion logging
418436
enableQuat = !enableQuat;
437+
#ifdef ENABLE_NVRAM_STORAGE
419438
flashEnableQuat.write(enableQuat);
439+
#endif
420440
break;
421441
case ENABLE_EULER: // Enable/disable Euler angle (roll, pitch, yaw)
422442
enableEuler = !enableEuler;
443+
#ifdef ENABLE_NVRAM_STORAGE
423444
flashEnableEuler.write(enableEuler);
445+
#endif
424446
break;
425447
case ENABLE_HEADING: // Enable/disable heading output
426448
enableHeading = !enableHeading;
449+
#ifdef ENABLE_NVRAM_STORAGE
427450
flashEnableHeading.write(enableHeading);
451+
#endif
428452
break;
429453
case SET_LOG_RATE: // Increment the log rate from 1-100Hz (10Hz increments)
430454
temp = imu.dmpGetFifoRate(); // Get current FIFO rate
@@ -436,7 +460,9 @@ void parseSerialInput(char c)
436460
temp = 1;
437461
imu.dmpSetFifoRate(temp); // Send the new rate
438462
temp = imu.dmpGetFifoRate(); // Read the updated rate
463+
#ifdef ENABLE_NVRAM_STORAGE
439464
flashLogRate.write(temp); // Store it in NVM and print new rate
465+
#endif
440466
LOG_PORT.println("IMU rate set to " + String(temp) + " Hz");
441467
break;
442468
case SET_ACCEL_FSR: // Increment accelerometer full-scale range
@@ -447,7 +473,9 @@ void parseSerialInput(char c)
447473
else temp = 2; // Otherwise, default to 2
448474
imu.setAccelFSR(temp); // Set the new FSR
449475
temp = imu.getAccelFSR(); // Read it to make sure
476+
#ifdef ENABLE_NVRAM_STORAGE
450477
flashAccelFSR.write(temp); // Update the NVM value, and print
478+
#endif
451479
LOG_PORT.println("Accel FSR set to +/-" + String(temp) + " g");
452480
break;
453481
case SET_GYRO_FSR:// Increment gyroscope full-scale range
@@ -458,59 +486,64 @@ void parseSerialInput(char c)
458486
else temp = 250; // Otherwise, default to 250
459487
imu.setGyroFSR(temp); // Set the new FSR
460488
temp = imu.getGyroFSR(); // Read it to make sure
489+
#ifdef ENABLE_NVRAM_STORAGE
461490
flashGyroFSR.write(temp); // Update the NVM value, and print
491+
#endif
462492
LOG_PORT.println("Gyro FSR set to +/-" + String(temp) + " dps");
463493
break;
464494
case ENABLE_SD_LOGGING: // Enable/disable SD card logging
465495
enableSDLogging = !enableSDLogging;
496+
#ifdef ENABLE_NVRAM_STORAGE
466497
flashEnableSDLogging.write(enableSDLogging);
498+
#endif
467499
break;
468500
default: // If an invalid character, do nothing
469501
break;
470502
}
471503
}
472504

473-
// Read from non-volatile memory to get logging parameters
474-
void initLoggingParams(void)
475-
{
476-
// Read from firstRun mem location, should default to 0 on program
477-
if (flashFirstRun.read() == 0)
505+
#ifdef ENABLE_NVRAM_STORAGE
506+
// Read from non-volatile memory to get logging parameters
507+
void initLoggingParams(void)
478508
{
479-
// If we've got a freshly programmed board, program all of the
480-
// nvm locations:
481-
flashEnableSDLogging.write(enableSDLogging);
482-
flashEnableSerialLogging.write(enableSerialLogging);
483-
flashenableTime.write(enableTimeLog);
484-
flashEnableCalculatedValues.write(enableCalculatedValues);
485-
flashEnableAccel.write(enableAccel);
486-
flashEnableGyro.write(enableGyro);
487-
flashEnableCompass.write(enableCompass);
488-
flashEnableQuat.write(enableQuat);
489-
flashEnableEuler.write(enableEuler);
490-
flashEnableHeading.write(enableHeading);
491-
flashAccelFSR.write(accelFSR);
492-
flashGyroFSR.write(gyroFSR);
493-
flashLogRate.write(fifoRate);
494-
495-
flashFirstRun.write(1); // Set the first-run boolean
496-
}
497-
else // If values have been previously set:
498-
{
499-
// Read from NVM and set the logging parameters:
500-
enableSDLogging = flashEnableSDLogging.read();
501-
enableSerialLogging = flashEnableSerialLogging.read();
502-
enableTimeLog = flashenableTime.read();
503-
enableCalculatedValues = flashEnableCalculatedValues.read();
504-
enableAccel = flashEnableAccel.read();
505-
enableGyro = flashEnableGyro.read();
506-
enableCompass = flashEnableCompass.read();
507-
enableQuat = flashEnableQuat.read();
508-
enableEuler = flashEnableEuler.read();
509-
enableHeading = flashEnableHeading.read();
510-
accelFSR = flashAccelFSR.read();
511-
gyroFSR = flashGyroFSR.read();
512-
fifoRate = flashLogRate.read();
509+
// Read from firstRun mem location, should default to 0 on program
510+
if (flashFirstRun.read() == 0)
511+
{
512+
// If we've got a freshly programmed board, program all of the
513+
// nvm locations:
514+
flashEnableSDLogging.write(enableSDLogging);
515+
flashEnableSerialLogging.write(enableSerialLogging);
516+
flashenableTime.write(enableTimeLog);
517+
flashEnableCalculatedValues.write(enableCalculatedValues);
518+
flashEnableAccel.write(enableAccel);
519+
flashEnableGyro.write(enableGyro);
520+
flashEnableCompass.write(enableCompass);
521+
flashEnableQuat.write(enableQuat);
522+
flashEnableEuler.write(enableEuler);
523+
flashEnableHeading.write(enableHeading);
524+
flashAccelFSR.write(accelFSR);
525+
flashGyroFSR.write(gyroFSR);
526+
flashLogRate.write(fifoRate);
527+
528+
flashFirstRun.write(1); // Set the first-run boolean
529+
}
530+
else // If values have been previously set:
531+
{
532+
// Read from NVM and set the logging parameters:
533+
enableSDLogging = flashEnableSDLogging.read();
534+
enableSerialLogging = flashEnableSerialLogging.read();
535+
enableTimeLog = flashenableTime.read();
536+
enableCalculatedValues = flashEnableCalculatedValues.read();
537+
enableAccel = flashEnableAccel.read();
538+
enableGyro = flashEnableGyro.read();
539+
enableCompass = flashEnableCompass.read();
540+
enableQuat = flashEnableQuat.read();
541+
enableEuler = flashEnableEuler.read();
542+
enableHeading = flashEnableHeading.read();
543+
accelFSR = flashAccelFSR.read();
544+
gyroFSR = flashGyroFSR.read();
545+
fifoRate = flashLogRate.read();
546+
}
513547
}
514-
515-
}
548+
#endif
516549

‎Firmware/_9DoF_Razor_M0_Firmware/config.h‎

Lines changed: 18 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -1,3 +1,21 @@
1+
////////////////////////////////
2+
// Default Logging Parameters //
3+
////////////////////////////////
4+
#define ENABLE_TIME_LOG true
5+
#define ENABLE_CALCULATED_LOG true
6+
#define ENABLE_ACCEL_LOG true
7+
#define ENABLE_GYRO_LOG true
8+
#define ENABLE_MAG_LOG true
9+
#define ENABLE_QUAT_LOG false
10+
#define ENABLE_EULER_LOG false
11+
#define ENABLE_HEADING_LOG false
12+
13+
////////////////////////////////////////
14+
// Enable Non-Volatile Memory Storage //
15+
////////////////////////////////////////
16+
// If defined, FlashStorage library must be installed
17+
#define ENABLE_NVRAM_STORAGE
18+
119
////////////////////////
220
// Serial Port Config //
321
////////////////////////
@@ -26,18 +44,6 @@
2644
#define IMU_AG_LPF 5 // Accel/Gyro LPF corner frequency (5, 10, 20, 42, 98, or 188 Hz)
2745
#define ENABLE_GYRO_CALIBRATION true
2846

29-
////////////////////////////////
30-
// Default Logging Parameters //
31-
////////////////////////////////
32-
#define ENABLE_TIME_LOG true
33-
#define ENABLE_CALCULATED_LOG true
34-
#define ENABLE_ACCEL_LOG true
35-
#define ENABLE_GYRO_LOG true
36-
#define ENABLE_MAG_LOG true
37-
#define ENABLE_QUAT_LOG false
38-
#define ENABLE_EULER_LOG false
39-
#define ENABLE_HEADING_LOG false
40-
4147
///////////////////////
4248
// SD Logging Config //
4349
///////////////////////

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