Merge pull request #1 from rovo89/config_flash

Config flash

Firmware/LowLevel/platformio.ini

@@ -23,6 +23,7 @@ lib_deps =
     Wire
     SPI
     FastCRC
+    LittleFS
     bakercp/PacketSerial@^1.4.0
     powerbroker2/FireTimer@^1.0.5
     https://github.com/ClemensElflein/NeoPixelConnect.git

Firmware/LowLevel/src/main.cpp

@@ -24,7 +24,7 @@
 #include "ui_board.h"
 #include "imu.h"
 #include "debug.h"
-#include "nv_config.h"
+#include <LittleFS.h>
 
 #ifdef ENABLE_SOUND_MODULE
 #include <soundsystem.h>
@@ -119,13 +119,16 @@ uint8_t ui_topic_bitmask = Topic_set_leds; // UI subscription, default to Set_LE
 uint16_t ui_interval = 1000;               // UI send msg (LED/State) interval (ms)
 
 struct ll_high_level_config llhl_config;  // LL/HL configuration (is initialized with YF-C500 defaults)
-nv_config::Config *nv_cfg;                // Non-volatile configuration
+const String CONFIG_FILENAME = "/openmower.cfg";
+uint16_t config_crc_in_flash = 0;
 
 void sendMessage(void *message, size_t size);
 void sendUIMessage(void *message, size_t size);
 void onPacketReceived(const uint8_t *buffer, size_t size);
 void onUIPacketReceived(const uint8_t *buffer, size_t size);
 void manageUISubscriptions();
+void saveConfigToFlash();
+void readConfigFromFlash();
 
 void setRaspiPower(bool power) {
     // Update status bits in the status message
@@ -416,6 +419,10 @@ void setup() {
     UISerial.setStream(&UI1_SERIAL);
     UISerial.setPacketHandler(&onUIPacketReceived);
 
+    // Initialize flash and try to read config
+    LittleFS.begin();
+    readConfigFromFlash();
+
     /*
      * IMU INITIALIZATION
      */
@@ -550,6 +557,29 @@ void sendConfigMessage(uint8_t pkt_type) {
     free(msg);
 }
 
+void applyConfig(const uint8_t *buffer, size_t size) {
+    // This is a flexible length package where the size may vary when ll_high_level_config struct got enhanced only on one side.
+    // If payload size is larger than our struct size, ensure that we only copy those we know of = our struct size.
+    // If payload size is smaller than our struct size, copy only the payload we got, but ensure that the unsent member(s) have reasonable defaults.
+    size_t payload_size = min(sizeof(ll_high_level_config), size - 2);  // exclude crc
+
+    // Use a temporary config for easier sanity adaption and copy our live config, which has at least reasonable defaults.
+    // The live config copy ensures that we've reasonable values for the case that HL config struct is older (smaller) than ours.
+    auto tmp_config = llhl_config;
+
+    // Copy payload to temporary config
+    memcpy(&tmp_config, buffer, payload_size);
+
+    // Sanity
+    tmp_config.v_charge_cutoff = min(tmp_config.v_charge_cutoff, V_CHARGE_ABS_MAX);  // Fix exceed of hardware limits
+    tmp_config.i_charge_cutoff = min(tmp_config.i_charge_cutoff, I_CHARGE_ABS_MAX);  // Fix exceed of hardware limits
+
+    // Make config live
+    llhl_config = tmp_config;
+
+    // PR-80: Assign volume & language if not already stored in flash-config
+}
+
 void onPacketReceived(const uint8_t *buffer, size_t size) {
     // sanity check for CRC to work (1 type, 1 data, 2 CRC)
     if (size < 4)
@@ -585,26 +615,10 @@ void onPacketReceived(const uint8_t *buffer, size_t size) {
         // copy the state
         last_high_level_state = *((struct ll_high_level_state *) buffer);
     } else if (buffer[0] == PACKET_ID_LL_HIGH_LEVEL_CONFIG_REQ || buffer[0] == PACKET_ID_LL_HIGH_LEVEL_CONFIG_RSP) {
-        // This is a flexible length package where the size may vary when ll_high_level_config struct got enhanced only on one side.
-        // If payload size is larger than our struct size, ensure that we only copy those we know of = our struct size.
-        // If payload size is smaller than our struct size, copy only the payload we got, but ensure that the unsent member(s) have reasonable defaults.
-        size_t payload_size = min(sizeof(ll_high_level_config), size - 3);  // -1 type -2 crc
+        applyConfig(buffer + 1, size - 1); // Skip type
 
-        // Use a temporary config for easier sanity adaption and copy our live config, which has at least reasonable defaults.
-        // The live config copy ensures that we've reasonable values for the case that HL config struct is older (smaller) than ours.
-        auto tmp_config = llhl_config;
-
-        // Copy payload to temporary config (behind type)
-        memcpy(&tmp_config, buffer + 1, payload_size);
-
-        // Sanity
-        tmp_config.v_charge_cutoff = min(tmp_config.v_charge_cutoff, V_CHARGE_ABS_MAX);  // Fix exceed of hardware limits
-        tmp_config.i_charge_cutoff = min(tmp_config.i_charge_cutoff, I_CHARGE_ABS_MAX);  // Fix exceed of hardware limits
-
-        // Make config live
-        llhl_config = tmp_config;
-
-        // PR-80: Assign volume & language if not already stored in flash-config
+        // Store in flash
+        saveConfigToFlash();
 
         if (buffer[0] == PACKET_ID_LL_HIGH_LEVEL_CONFIG_REQ)
             sendConfigMessage(PACKET_ID_LL_HIGH_LEVEL_CONFIG_RSP);
@@ -794,3 +808,41 @@ void sendUIMessage(void *message, size_t size) {
 
     UISerial.send((uint8_t *) message, size);
 }
+
+void saveConfigToFlash() {
+    uint16_t crc = CRC16.ccitt((const uint8_t*) &llhl_config, sizeof(llhl_config));
+    if (crc == config_crc_in_flash) return;
+
+    File f = LittleFS.open(CONFIG_FILENAME, "w");
+    f.write((const uint8_t*) &llhl_config, sizeof(llhl_config));
+    f.write((const uint8_t*) &crc, 2);
+    f.close();
+}
+
+void readConfigFromFlash() {
+    File f = LittleFS.open(CONFIG_FILENAME, "r");
+    if (!f) return;
+
+    // sanity check for CRC to work (1 data, 2 CRC)
+    const size_t size = f.size();
+    if (size < 3) {
+        f.close();
+        return;
+    }
+
+    // read config
+    uint8_t *buffer = (uint8_t *)malloc(f.size());
+    f.read(buffer, size);
+    f.close();
+
+    // check the CRC
+    uint16_t crc = CRC16.ccitt(buffer, size - 2);
+
+    if (buffer[size - 1] != ((crc >> 8) & 0xFF) ||
+        buffer[size - 2] != (crc & 0xFF))
+        return;
+
+    config_crc_in_flash = crc;
+    applyConfig(buffer, size);
+    free(buffer);
+}