globals.c

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/*
MIT LICENSE

Copyright 2014-2019 Inertial Sense, Inc. - http://inertialsense.com

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT, IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/

#include <flash_efc.h>
#include "ASF/common/components/wifi/winc3400/wifi_drv/socket/include/socket.h"
#include "../../../hw-libs/drivers/d_flash.h"
#include "globals.h"


dev_info_t                  g_evbDevInfo = {0};
wheel_encoder_t                         g_wheelEncoder = {0};
evb_status_t                g_status = {0};
evb_flash_cfg_t*            g_flashCfg;
nvr_manage_t                g_nvr_manage_config;
nvm_config_t                g_userPage = {0};
evb_msg_t                   g_msg = {0};
debug_array_t               g_debug = {0};
evb_rtos_info_t             g_rtos = {0};
date_time_t                 g_gps_date_time = {0};
//uint32_t                                      g_CANbaud_kbps = 500;
//uint32                                        g_can_receive_address = 0;
bool                        g_gpsTimeSync = false;
uint32_t                    g_comm_time_ms = 0;
bool                        g_loggerEnabled = false;
uint32_t                    g_uInsBootloaderEnableTimeMs = 0;   // 0 = disabled
bool                        g_enRtosStats = 0;


void globals_init(void)
{
        // Init Device Info struct
        g_evbDevInfo.hardwareVer[0] = 2;
        g_evbDevInfo.hardwareVer[1] = 0;
        switch(g_hdw_detect)
        {
        case HDW_DETECT_VER_EVB_2_0_0:                          g_evbDevInfo.hardwareVer[2] = 0;        break;
        default: /* HDW_DETECT_VER_EVB_2_0_1 */         g_evbDevInfo.hardwareVer[2] = 1;        break;
        }
        g_evbDevInfo.hardwareVer[3] = 0;

//      g_evbDevInfo.firmwareVer[0] = FIRMWARE_VERSION_CHAR0;      // Major
//      g_evbDevInfo.firmwareVer[1] = FIRMWARE_VERSION_CHAR1;      // Minor
//      g_evbDevInfo.firmwareVer[2] = FIRMWARE_VERSION_CHAR2;      // Revision
//      g_evbDevInfo.firmwareVer[3] = FIRMWARE_VERSION_CHAR3;           // firmware specific revision

        g_evbDevInfo.protocolVer[0] = PROTOCOL_VERSION_CHAR0;           // in com_manager.h
        g_evbDevInfo.protocolVer[1] = PROTOCOL_VERSION_CHAR1;
        g_evbDevInfo.protocolVer[2] = PROTOCOL_VERSION_CHAR2;           // in data_sets.h
        g_evbDevInfo.protocolVer[3] = PROTOCOL_VERSION_CHAR3;

//      g_evbDevInfo.repoRevision = REPO_HEAD_COUNT;
//      g_evbDevInfo.buildNumber  = BUILD_NUMBER;

#if defined(DEBUG)
        g_evbDevInfo.buildDate[0] = 'd';                                        // Debug
#else
        g_evbDevInfo.buildDate[0] = 'r';                                        // Release
#endif
//      g_evbDevInfo.buildDate[1] = BUILD_DATE_YEAR-2000;
//      g_evbDevInfo.buildDate[2] = BUILD_DATE_MONTH;
//      g_evbDevInfo.buildDate[3] = BUILD_DATE_DAY;

//      g_evbDevInfo.buildTime[0] = BUILD_TIME_HOUR;
//      g_evbDevInfo.buildTime[1] = BUILD_TIME_MINUTE;
//      g_evbDevInfo.buildTime[2] = BUILD_TIME_SECOND;
//      g_evbDevInfo.buildTime[3] = (uint8_t)BUILD_TIME_MILLISECOND;
// 
        strncpy(g_evbDevInfo.manufacturer, "Inertial Sense INC", DEVINFO_MANUFACTURER_STRLEN);
}


void com_bridge_apply_preset_uins_com(evb_flash_cfg_t* cfg, uint8_t uinsComPort);
void com_bridge_apply_preset_uins_com(evb_flash_cfg_t* cfg, uint8_t uinsComPort)
{
        if(uinsComPort >= EVB2_PORT_COUNT)
        {
                return;
        }
                
        if(uinsComPort != EVB2_PORT_USB)
        {
                cfg->cbf[uinsComPort]           |= (1<<EVB2_PORT_USB);
                cfg->cbf[EVB2_PORT_USB]     |= (1<<uinsComPort);
        }

        if(uinsComPort != EVB2_PORT_SP330)
        {
                cfg->cbf[uinsComPort]           |= (1<<EVB2_PORT_SP330);
                cfg->cbf[EVB2_PORT_SP330]   |= (1<<uinsComPort);
        }
}


void com_bridge_apply_preset_uins_aux(evb_flash_cfg_t* cfg, uint8_t uinsAuxPort);
void com_bridge_apply_preset_uins_aux(evb_flash_cfg_t* cfg, uint8_t uinsAuxPort)
{
//      if (cfg->uinsComPort == uinsAuxPort)
//      {       // Using UINS-AUX as primary communication link.  Skip this section. 
//              return;
//      }
        
        if (uinsAuxPort >= EVB2_PORT_COUNT)
        {       // Port disabled
                return;
        }

        // XRadio Forwarding            
    if (uinsAuxPort != EVB2_PORT_XRADIO)
    {
                switch(cfg->cbPreset)
                {
                case EVB2_CB_PRESET_RS232:
                case EVB2_CB_PRESET_RS232_XBEE:
                case EVB2_CB_PRESET_RS422_WIFI:
                        cfg->cbf[uinsAuxPort]           |= (1<<EVB2_PORT_XRADIO);
                        cfg->cbf[EVB2_PORT_XRADIO]      |= (1<<uinsAuxPort);
                }
        }

        // XBee Forwarding
    if ((uinsAuxPort != EVB2_PORT_XBEE) &&
                (cfg->cbPreset == EVB2_CB_PRESET_RS232_XBEE))
    {
                cfg->cbf[uinsAuxPort]           |= (1<<EVB2_PORT_XBEE);
                cfg->cbf[EVB2_PORT_XBEE]        |= (1<<uinsAuxPort);
        }
        
        // WiFi Forwarding
    if ((uinsAuxPort != EVB2_PORT_WIFI) &&
                (cfg->cbPreset == EVB2_CB_PRESET_RS422_WIFI))
    {
                cfg->cbf[uinsAuxPort]           |= (1<<EVB2_PORT_WIFI);
                cfg->cbf[EVB2_PORT_WIFI]        |= (1<<uinsAuxPort);
        }
}


void com_bridge_apply_preset(evb_flash_cfg_t* cfg)
{
    if(cfg->cbPreset==EVB2_CB_PRESET_NA)
    {   // Do nothing
        return;
    }
    
    // Comm Bridge
    memset(cfg->cbf, 0, sizeof(cfg->cbf));      // Clear com bridge settings
    switch(cfg->cbPreset)
    {
    case EVB2_CB_PRESET_RS232:          
    case EVB2_CB_PRESET_RS232_XBEE:
    case EVB2_CB_PRESET_RS422_WIFI:
                com_bridge_apply_preset_uins_com(cfg, cfg->uinsComPort);                // UINS communication port used for SD logging.
                com_bridge_apply_preset_uins_aux(cfg, cfg->uinsAuxPort);                // UINS auxiliary port used for RTK corrections.
        break;

    case EVB2_CB_PRESET_SPI_RS232:
                // SPI mode must be on port UINS1
        cfg->cbf[EVB2_PORT_UINS1]   |= (1<<EVB2_PORT_USB);
        cfg->cbf[EVB2_PORT_USB]     |= (1<<EVB2_PORT_UINS1);

        cfg->cbf[EVB2_PORT_UINS1]   |= (1<<EVB2_PORT_SP330);
        cfg->cbf[EVB2_PORT_SP330]   |= (1<<EVB2_PORT_UINS1);
        break;
        
    case EVB2_CB_PRESET_USB_HUB_RS232:
                 cfg->cbf[EVB2_PORT_USB]    |= (1<<EVB2_PORT_XBEE);
                 cfg->cbf[EVB2_PORT_XBEE]   |= (1<<EVB2_PORT_USB);

        cfg->cbf[EVB2_PORT_USB]     |= (1<<EVB2_PORT_SP330);
        cfg->cbf[EVB2_PORT_SP330]   |= (1<<EVB2_PORT_USB);

        cfg->cbf[EVB2_PORT_USB]     |= (1<<EVB2_PORT_GPIO_H8);
        cfg->cbf[EVB2_PORT_GPIO_H8] |= (1<<EVB2_PORT_USB);

        cfg->cbf[EVB2_PORT_USB]     |= (1<<EVB2_PORT_XRADIO);
        cfg->cbf[EVB2_PORT_XRADIO]  |= (1<<EVB2_PORT_USB);
                break;
                 
    case EVB2_CB_PRESET_USB_HUB_RS422:          
        cfg->cbf[EVB2_PORT_USB]     |= (1<<EVB2_PORT_SP330);
        cfg->cbf[EVB2_PORT_SP330]   |= (1<<EVB2_PORT_USB);

        cfg->cbf[EVB2_PORT_USB]     |= (1<<EVB2_PORT_GPIO_H8);
        cfg->cbf[EVB2_PORT_GPIO_H8] |= (1<<EVB2_PORT_USB);

        cfg->cbf[EVB2_PORT_USB]     |= (1<<EVB2_PORT_XRADIO);
        cfg->cbf[EVB2_PORT_XRADIO]  |= (1<<EVB2_PORT_USB);

//         cfg->cbf[EVB2_PORT_USB]     |= (1<<EVB2_PORT_BLE);
//         cfg->cbf[EVB2_PORT_BLE]     |= (1<<EVB2_PORT_USB);
                break;
         
#ifdef CONF_BOARD_CAN1
        case  EVB2_CB_PRESET_CAN:
                cfg->cbf[EVB2_PORT_UINS0]  |= (1<<EVB2_PORT_USB);
                cfg->cbf[EVB2_PORT_UINS0]  |= (1<<EVB2_PORT_SP330);

                cfg->cbf[EVB2_PORT_USB]    |= (1<<EVB2_PORT_UINS0);
        cfg->cbf[EVB2_PORT_SP330]  |= (1<<EVB2_PORT_UINS0);

                cfg->cbf[EVB2_PORT_UINS1]  |= (1<<EVB2_PORT_CAN);
                cfg->cbf[EVB2_PORT_CAN]    |= (1<<EVB2_PORT_USB);
                break;
#endif
    }        

    // Clear existing
    cfg->cbOptions = 0;

        // Tri-state uINS
        switch(cfg->cbPreset)
        {
        case EVB2_CB_PRESET_NA:
        case EVB2_CB_PRESET_ALL_OFF:
        case EVB2_CB_PRESET_USB_HUB_RS232:
        case EVB2_CB_PRESET_USB_HUB_RS422:
        case EVB2_CB_PRESET_COUNT:
                cfg->cbOptions |= EVB2_CB_OPTIONS_TRISTATE_UINS_IO;
                break;
        }
        
    // SP330 Options
    switch(cfg->cbPreset)
    {
    case EVB2_CB_PRESET_RS422_WIFI:
    case EVB2_CB_PRESET_USB_HUB_RS422:
        cfg->cbOptions |= EVB2_CB_OPTIONS_SP330_RS422;
        break;
    }

    // XBee and WiFi Power Options
    switch(cfg->cbPreset)
    {
    case EVB2_CB_PRESET_RS232_XBEE:
    case EVB2_CB_PRESET_USB_HUB_RS232:
        cfg->cbOptions |= EVB2_CB_OPTIONS_XBEE_ENABLE;
        break;

    case EVB2_CB_PRESET_RS422_WIFI:
        cfg->cbOptions |= EVB2_CB_OPTIONS_WIFI_ENABLE;
        break;        
    }

    // Enable SPI example
#ifdef CONF_BOARD_SPI_UINS
    switch(cfg->cbPreset)
    {
    case EVB2_CB_PRESET_SPI_RS232:
        cfg->cbOptions |= EVB2_CB_OPTIONS_SPI_ENABLE;
        break;
    }
#endif

        // Enable CAN
#ifdef CONF_BOARD_CAN1
        switch(cfg->cbPreset)
        {
                case EVB2_CB_PRESET_CAN:
                cfg->cbOptions |= EVB2_CB_OPTIONS_CAN_ENABLE;
                break;
        }
#endif
}


void nvr_validate_config_integrity(evb_flash_cfg_t* cfg)
{
    evb_flash_cfg_t defaults;
    memset(&defaults, 0, sizeof(evb_flash_cfg_t));
    
    reset_config_defaults(&defaults);
    
    if (cfg->checksum != flashChecksum32(cfg, sizeof(evb_flash_cfg_t)) || cfg->key != defaults.key)
    {   // Reset to defaults
        *cfg = defaults;
        g_nvr_manage_config.flash_write_needed = true;
                g_nvr_manage_config.flash_write_enable = true;
    }   
    
    // Disable cbPresets is necessary
#ifndef CONF_BOARD_SPI_ATWINC_WIFI
    if (cfg->cbPreset == EVB2_CB_PRESET_RS422_WIFI){ cfg->cbPreset = EVB2_CB_PRESET_DEFAULT; }
#endif
#ifndef CONF_BOARD_SPI_UINS
    if (cfg->cbPreset == EVB2_CB_PRESET_SPI_RS232){ cfg->cbPreset = EVB2_CB_PRESET_DEFAULT; }
#endif

}


void nvr_init(void)
{
    // Initialize flash: 6 wait states for flash writing
    uint32_t rc = flash_init(FLASH_ACCESS_MODE_128, 6);
    configASSERT(rc == FLASH_RC_OK);
    
    g_flashCfg = &(g_userPage.g0.m);
    
    // Update RAM from FLASH
    memcpy(&g_userPage, (void*)BOOTLOADER_FLASH_CONFIG_BASE_ADDRESS, sizeof(g_userPage));

    // Reset to defaults if checksum or keys don't match
    nvr_validate_config_integrity(g_flashCfg);
    
        // Ensure values are within valid ranges
    error_check_config(g_flashCfg);

    // Disable flash writes.  We require the user to initiate each write with this option.
    g_nvr_manage_config.flash_write_enable = 0;
}


void nvr_slow_maintenance(void)
{
    if(g_nvr_manage_config.flash_write_enable==0)
    {
        return;
    }
    
    if (g_nvr_manage_config.flash_write_needed)
    {
        // Ensure flash config isn't larger than block
        STATIC_ASSERT(sizeof(nvm_config_t) <= BOOTLOADER_FLASH_BLOCK_SIZE);

#if 0

        // copy contents, set migration marker and re-calculate checksums inside critical section
        BEGIN_CRITICAL_SECTION
        
        nvm_config_t* copyOfRam = (nvm_config_t*)MALLOC(BOOTLOADER_FLASH_BLOCK_SIZE);
        
        // Copy config data, zero pad, update checksum
        memcpy(copyOfRam, &g_userPage, sizeof(g_userPage));
        memset((uint8_t*)copyOfRam + sizeof(g_userPage), 0, BOOTLOADER_FLASH_BLOCK_SIZE - sizeof(g_userPage));
        copyOfRam->g0.m.checksum = flashChecksum32(copyOfRam, sizeof(evb_flash_cfg_t));

        // Update userPage config
                memcpy(&g_userPage, copyOfRam, sizeof(g_userPage));
        
        END_CRITICAL_SECTION

        uint32_t address = BOOTLOADER_FLASH_CONFIG_BASE_ADDRESS;
        uint32_t memsize = BOOTLOADER_FLASH_BLOCK_SIZE;
//         uint32_t memsize = IFLASH_PAGE_SIZE;

#if 0

            if (flash_unlock(address, address + memsize - 1, 0, 0) == FLASH_RC_OK) 
        {
                if (flash_erase_page(address, IFLASH_ERASE_PAGES_16) == FLASH_RC_OK)
                {
                    if (flash_write(address, &copyOfRam, memsize, 0) == FLASH_RC_OK)
                    {
                    if( flash_lock(address, address + memsize - 1, 0, 0) == FLASH_RC_OK)
                    {   // indicate attempted flash write
                            g_nvr_manage_config.flash_write_count++;
                    }                        
                    }
                }
            }
        
#else
        // write to primary location
        if( flash_update_block(address, copyOfRam, BOOTLOADER_FLASH_BLOCK_SIZE, 0) != FLASH_RC_OK)
        {
            // error
            int j=0;
            j++;
        }                    
              
#endif      

                FREE(copyOfRam);
                
#else

        BEGIN_CRITICAL_SECTION

                // calculate checksum
                g_userPage.g0.m.size = sizeof(evb_flash_cfg_t);
                g_userPage.g0.m.checksum = flashChecksum32(&g_userPage.g0.m, sizeof(evb_flash_cfg_t));

//              flash_update_block(BOOTLOADER_FLASH_CONFIG_BASE_ADDRESS, &g_userPage, sizeof(nvm_config_t), 0);
                flash_update_block(BOOTLOADER_FLASH_CONFIG_BASE_ADDRESS, &g_userPage, BOOTLOADER_FLASH_BLOCK_SIZE, 0);
                
        END_CRITICAL_SECTION

#endif

        g_nvr_manage_config.flash_write_needed = 0;
        // Disable following each flash write.  We require users to re-enable for each write.
        g_nvr_manage_config.flash_write_enable = 0;
    }    
}


// Returns 0 on success
int error_check_config(evb_flash_cfg_t *cfg)
{
    if(cfg == NULLPTR)
    {
        return -1;
    }
    
    int failure = 0;

    if (cfg->radioPID > 9 ||
        cfg->radioNID > 0x7FFF ||
        cfg->radioPowerLevel > 2 )
    {
        failure = 1;
    }
    if(EVB_CFG_BITS_IDX_WIFI(cfg->bits) >= NUM_WIFI_PRESETS)
    {
        EVB_CFG_BITS_SET_IDX_WIFI(cfg->bits,0);
        failure = 1;
    }        
    if(EVB_CFG_BITS_IDX_SERVER(cfg->bits) >= NUM_WIFI_PRESETS)
    {
        EVB_CFG_BITS_SET_IDX_SERVER(cfg->bits,0);
        failure = 1;
    }
    
    return failure;
}


void reset_config_defaults( evb_flash_cfg_t *cfg )
{
        if (cfg == NULL)
                return;

        memset(cfg, 0, sizeof(evb_flash_cfg_t));
        cfg->size                                               = sizeof(evb_flash_cfg_t);
        cfg->key                                                = 8;                    // increment key to force config to revert to defaults (overwrites customer's settings)

        cfg->cbPreset = EVB2_CB_PRESET_DEFAULT;

        cfg->uinsComPort = EVB2_PORT_UINS0;                             // Default port for uINS communications and SD card logging
        cfg->uinsAuxPort = EVB2_PORT_UINS0;                             // Default port for RTK corrections and wireless interface
        cfg->portOptions = EVB2_PORT_OPTIONS_DEFAULT;   // Enable radio RTK filter
        cfg->h3sp330BaudRate = 921600;
        cfg->h4xRadioBaudRate = 115200;
        cfg->h8gpioBaudRate = 921600;

        cfg->radioPID = 2;          // 0x0 to 0x9
        cfg->radioNID = 72;         // 0x0 to 0x7FFF
        cfg->radioPowerLevel = 0;       // 0=20dBm use low power so radio can run from USB supply.  1=27dBm and 2=30dBm are too powerful for USB supply.
        
        cfg->server[0].ipAddr.u32 = nmi_inet_addr((void*)"69.167.49.43");
        cfg->server[0].port = 7778;
        cfg->server[1].ipAddr.u32 = nmi_inet_addr((void*)"192.168.1.144");
        cfg->server[1].port = 2000;
//      cfg->encoderTickToWheelRad = 0.0179999f;        // Husqvarna lawnmower
        cfg->encoderTickToWheelRad = 0.054164998f;      // Husqvarna lawnmower
        
        com_bridge_apply_preset(cfg);
        
        cfg->checksum = flashChecksum32(cfg, sizeof(evb_flash_cfg_t));
}