calibration_storage.c

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/*
 * The Clear BSD License
 * Copyright (c) 2015 - 2016, Freescale Semiconductor, Inc.
 * Copyright 2016-2017 NXP
 * All rights reserved.
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 *   of conditions and the following disclaimer.
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 * o Redistributions in binary form must reproduce the above copyright notice, this
 *   list of conditions and the following disclaimer in the documentation and/or
 *   other materials provided with the distribution.
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 *   software without specific prior written permission.
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/*! \file calibration_storage.c
    \brief Provides functions to store calibration to NVM

    Users who are not using NXP hardware will need to supply their own drivers
    in place of those defined here.
*/
#include <stdio.h>
#include "sensor_fusion.h"
#include "driver_KSDK_NVM.h"
#include "calibration_storage.h"

void SaveMagCalibrationToNVM(SensorFusionGlobals *sfg)
{
#if F_USING_MAG
                uint8_t *pSrc, *pDst;                                                                           // scratch pointers
                int16_t i;                                                                                      // loop counter
                uint8_t iNVMBuffer[256];                                                        // NVM write buffer (smallest size writeable to flash)
        uint32_t itmp32;

                // copy existing magnetic, gyro and accelerometer calibrations to buffer
                pSrc = (uint8 *) CALIBRATION_NVM_ADDR;
                pDst = iNVMBuffer;
                for (i = 0; i < 256; i++)
                                *(pDst++) = *(pSrc++);
                // default to no magnetic calibration in header
                iNVMBuffer[MAG_NVM_OFFSET] = iNVMBuffer[MAG_NVM_OFFSET + 1] = iNVMBuffer[MAG_NVM_OFFSET + 2] = iNVMBuffer[MAG_NVM_OFFSET + 3] = 0xFF;

                // fill the buffer with the magnetic calibration in bytes 0 to 67 (total 68 bytes)
                // [0-3]: four byte header denoting magnetic calibration present
                itmp32 = 0x12345678;
                pSrc = (uint8 *) &itmp32;
                pDst = iNVMBuffer + MAG_NVM_OFFSET;
                for (i = 0; i < 4; i++)
                                *(pDst++) = *(pSrc++);
                // [4-67]: magnetic calibration: 15x float + 1x int32 total 64 bytes
                pSrc = (uint8 *) &(sfg->MagCal);
                for (i = 0; i < 64; i++)
                                *(pDst++) = *(pSrc++);

                // write the whole buffer contents to NVM
                NVM_SetBlockFlash(iNVMBuffer, CALIBRATION_NVM_ADDR, 256);
#endif // if F_USING_MAG
                return;
}

void SaveGyroCalibrationToNVM(SensorFusionGlobals *sfg)
{
#if F_USING_GYRO && (F_9DOF_GBY_KALMAN || F_6DOF_GY_KALMAN)
                uint8_t *pSrc, *pDst;                                                                           // scratch pointers
                int16_t i;                                                                                      // loop counter
                uint8_t iNVMBuffer[256];                                                        // NVM write buffer
        uint32_t itmp32;

                // copy existing magnetic, gyro and accelerometer calibrations to buffer
                pSrc = (uint8 *) CALIBRATION_NVM_ADDR;
                pDst = iNVMBuffer;
                for (i = 0; i < 256; i++)
                                *(pDst++) = *(pSrc++);
                // default to no gyroscope calibration in header
                iNVMBuffer[GYRO_NVM_OFFSET] = iNVMBuffer[GYRO_NVM_OFFSET + 1] = iNVMBuffer[GYRO_NVM_OFFSET + 2] = iNVMBuffer[GYRO_NVM_OFFSET + 3] = 0xFF;

                // define the four header bytes
                // [0-3]: four byte header denoting gyro calibration present
                itmp32 = 0x12345678;
                pSrc = (uint8 *) &itmp32;
                pDst = iNVMBuffer + GYRO_NVM_OFFSET;
                for (i = 0; i < 4; i++)
                                *(pDst++) = *(pSrc++);

                // [4-15]: 3 gyro offset floats totalling 12 bytes
#if F_9DOF_GBY_KALMAN
                pSrc = (uint8 *) sfg->SV_9DOF_GBY_KALMAN.fbPl;
#elif F_6DOF_GY_KALMAN
                pSrc = (uint8 *) sfg->SV_6DOF_GY_KALMAN.fbPl;
#endif
                for (i = 0; i < 12; i++)
                                *(pDst++) = *(pSrc++);

                // write the buffer contents to NVM
                NVM_SetBlockFlash(iNVMBuffer, CALIBRATION_NVM_ADDR, 256);
#endif
                return;
}

void SaveAccelCalibrationToNVM(SensorFusionGlobals *sfg)
{
#if F_USING_ACCEL
                uint8_t *pSrc, *pDst;                                                                           // scratch pointers
                int16_t i;                                                                                                      // loop counter
                uint8_t iNVMBuffer[256];                                                        // NVM write buffer
        uint32_t itmp32;

                // copy existing magnetic, gyro and accelerometer calibrations to buffer
                pSrc = (uint8 *) CALIBRATION_NVM_ADDR;
                pDst = iNVMBuffer;
                for (i = 0; i < 256; i++)
                                *(pDst++) = *(pSrc++);
                // default to no accelerometer calibration in header
                iNVMBuffer[ACCEL_NVM_OFFSET] = iNVMBuffer[ACCEL_NVM_OFFSET + 1] = iNVMBuffer[ACCEL_NVM_OFFSET + 2] = iNVMBuffer[ACCEL_NVM_OFFSET + 3] = 0xFF;

                // [0-3]: four byte header denoting accelerometer calibration present
                itmp32 = 0x12345678;
                pSrc = (uint8 *) &itmp32;
                pDst = iNVMBuffer + ACCEL_NVM_OFFSET;
                for (i = 0; i < 4; i++)
                                *(pDst++) = *(pSrc++);

                // [4-87]: 21 precision accelerometer calibration floats totalling 84 bytes
                pSrc = (uint8 *) &(sfg->AccelCal);
                for (i = 0; i < 84; i++)
                                *(pDst++) = *(pSrc++);

                // write the buffer contents to NVM
                NVM_SetBlockFlash(iNVMBuffer, CALIBRATION_NVM_ADDR, 256);
#endif
                return;
}

void EraseMagCalibrationFromNVM(void)
{
                uint8_t *pSrc, *pDst;                                                                           // scratch pointers
                int16_t i;                                                                                      // loop counter
                uint8_t iNVMBuffer[256];                                                        // NVM write buffer

                // copy existing magnetic, gyro and accelerometer calibrations to buffer
                pSrc = (uint8 *) CALIBRATION_NVM_ADDR;
                pDst = iNVMBuffer;
                for (i = 0; i < 256; i++)
                                *(pDst++) = *(pSrc++);

                // set no magnetic calibration in header
                iNVMBuffer[MAG_NVM_OFFSET] = iNVMBuffer[MAG_NVM_OFFSET + 1] = iNVMBuffer[MAG_NVM_OFFSET + 2] = iNVMBuffer[MAG_NVM_OFFSET + 3] = 0xFF;

                // write the buffer to flash
                NVM_SetBlockFlash(iNVMBuffer, CALIBRATION_NVM_ADDR, 256);

                return;
}

void EraseGyroCalibrationFromNVM(void)
{
                uint8_t *pSrc, *pDst;                                                                           // scratch pointers
                int16_t i;                                                                                                      // loop counter
                uint8_t iNVMBuffer[256];                                                        // NVM write buffer

                // copy existing magnetic, gyro and accelerometer calibrations to buffer
                pSrc = (uint8 *) CALIBRATION_NVM_ADDR;
                pDst = iNVMBuffer;
                for (i = 0; i < 256; i++)
                                *(pDst++) = *(pSrc++);

                // set no gyroscope calibration in header
                iNVMBuffer[GYRO_NVM_OFFSET] = iNVMBuffer[GYRO_NVM_OFFSET + 1] = iNVMBuffer[GYRO_NVM_OFFSET + 2] = iNVMBuffer[GYRO_NVM_OFFSET + 3] = 0xFF;

                // write the buffer to flash
                NVM_SetBlockFlash(iNVMBuffer, CALIBRATION_NVM_ADDR, 256);

                return;
}

void EraseAccelCalibrationFromNVM(void)
{
                uint8_t *pSrc, *pDst;                                                                           // scratch pointers
                int16_t i;                                                                                                      // loop counter
                uint8_t iNVMBuffer[256];                                                        // NVM write buffer

                // copy existing magnetic, gyro and accelerometer calibrations to buffer
                pSrc = (uint8 *) CALIBRATION_NVM_ADDR;
                pDst = iNVMBuffer;
                for (i = 0; i < 256; i++)
                                *(pDst++) = *(pSrc++);

                // set no gyroscope calibration in header
                iNVMBuffer[ACCEL_NVM_OFFSET] = iNVMBuffer[ACCEL_NVM_OFFSET + 1] = iNVMBuffer[ACCEL_NVM_OFFSET + 2] = iNVMBuffer[ACCEL_NVM_OFFSET + 3] = 0xFF;

                // write the buffer to flash
                NVM_SetBlockFlash(iNVMBuffer, CALIBRATION_NVM_ADDR, 256);

                return;
}