//读取Flash里的的PID值
void PID_ReadFlash(void)
{
u8 point=29;
u16 flash_data[39];
//读出Flash数据
STMFLASH_Read(PAGE1,flash_data,39);
if(flash_data[point++] == ADJUST_FLAG)//判断PID是否已经进行校准
{
//读出当前PID值
PID_ROL.P = (float)flash_data[point++]/1000;
PID_ROL.I = (float)flash_data[point++]/1000;
PID_ROL.D = (float)flash_data[point++]/1000;
PID_PIT.P = (float)flash_data[point++]/1000;
PID_PIT.I = (float)flash_data[point++]/1000;
PID_PIT.D = (float)flash_data[point++]/1000;
PID_YAW.P = (float)flash_data[point++]/1000;
PID_YAW.I = (float)flash_data[point++]/1000;
PID_YAW.D = (float)flash_data[point++]/1000;
}
else
{
//写入当前PID值
PID_WriteFlash();
}
}
void load_data_from_flash()
{
pd_printf("loading config data from flash...\n");
int32 cnt, i;
int32 magic = 0;
pd_printf("loading config data from flash...\n");
//TODO: add system data storage interface.
//STMFLASH_Read(PANDO_CONFIG_ADDRESS, (uint16 *)&magic, sizeof(int32));
pd_printf("read magic : %x\n", magic);
if(magic != PANDO_CONFIG_MAGIC)
{
pd_printf("flash config data not initialized!\n");
return;
}
////TODO: add system data storage interface.
//STMFLASH_Read(PANDO_CONFIG_ADDRESS + sizeof(int32), (uint16 *)&cnt, sizeof(int32));
pd_printf("reading config from flash , key count : %d...\n", cnt);
for(i=0; i<cnt; i++)
{
struct data_pair * p = (struct data_pair * )pd_malloc(sizeof(struct data_pair));
STMFLASH_Read(PANDO_CONFIG_ADDRESS + sizeof(int32) + sizeof(int32) + sizeof(struct data_pair)*i,
(uint16 *)p, sizeof(struct data_pair));
p->next = head;
head = p;
}
pd_printf("done...\n");
}
//写入PID值
void PID_WriteFlash(void)
{
u8 point=29;
u16 flash_data[39];
//读出Flash数据
STMFLASH_Read(PAGE1,flash_data,39);
//数据重新写入PID数据！
flash_data[point++] = ADJUST_FLAG;
flash_data[point++] = (u16)(PID_ROL.P*1000);
flash_data[point++] = (u16)(PID_ROL.I*1000);
flash_data[point++] = (u16)(PID_ROL.D*1000);
flash_data[point++] = (u16)(PID_PIT.P*1000);
flash_data[point++] = (u16)(PID_PIT.I*1000);
flash_data[point++] = (u16)(PID_PIT.D*1000);
flash_data[point++] = (u16)(PID_YAW.P*1000);
flash_data[point++] = (u16)(PID_YAW.I*1000);
flash_data[point++] = (u16)(PID_YAW.D*1000);
//写入Flash数据
STMFLASH_Write(PAGE1,flash_data,39);
}
static uint8_t isEEPROMValid(void)
{
STMFLASH_Read(TABLE_ADDRESS,(uint16_t *)(&table),2);
if((int16_t)table.version==EEPROM_DEFAULT_VERSION)
return 1;
else
return 0;
}
//函数名：ParameterRead()
//输入：无
//输出：无
//描述：初始化时，读取上位机最后一次设定的参数
//作者：马骏
//备注：没考上研，心情不好
void ParameterRead()
{
//STMFLASH_Read(STM32_FLASH_BASE+STM32_FLASH_OFFEST+PIDParameterAdd,PIDParameter.ReadBuf,3);
STMFLASH_Read(STM32_FLASH_BASE+STM32_FLASH_OFFEST+BTParameterAdd,BTParameter.ReadBuf,3);
printf("从FLASH中读取参数...\r\n");
}
//load params for EEPROM
void TableReadEEPROM(void)
{
// uint8_t i=0;
uint8_t paramNums=sizeof(table)/sizeof(float);
// for(i=0;i<sizeof(table);i++)
// {
// p=(float *)(&table) + i;
// STMFLASH_Read(TABLE_ADDRESS,(uint16_t *)p,2);
// }
STMFLASH_Read(TABLE_ADDRESS,(uint16_t *)(&table),paramNums * 2);
}
void Steering_Init(void) {
STMFLASH_Read(STEERING_DATA_ADDR, (u16*)(&steering_data), sizeof(struct steering_type));
TIM2_PWM_Init(20000,71);
TIM3_PWM_Init(20000,71);
TIM5_PWM_Init(20000,71);
TIM1_PWM_Init(20000,71);
TIM8_PWM_Init(20000,71);
TIM4_PWM_Init(20000,71);
if(STEERING_INIT_MARK==steering_data.mark)
Steering_Move(steering_data.init);
else
Steering_Move(default_init);
}
void STMFLASH_Write(u32 WriteAddr,u16 *pBuffer,u16 NumToWrite)
{
u32 secpos;
u16 secoff;
u16 secremain;
u16 i;
u32 offaddr;
if(WriteAddr<STM32_FLASH_BASE||(WriteAddr>=(STM32_FLASH_BASE+1024*STM32_FLASH_SIZE)))return;
FLASH_Unlock();
offaddr=WriteAddr-STM32_FLASH_BASE;
secpos=offaddr/STM32_SECTOR_SIZE;
secoff=(offaddr%STM32_SECTOR_SIZE)/2;
secremain=STM32_SECTOR_SIZE/2-secoff;
if(NumToWrite<=secremain)
{
secremain=NumToWrite;
}
else
{
return;
}
while(1)
{
STMFLASH_Read(secpos*STM32_SECTOR_SIZE+STM32_FLASH_BASE,STMFLASH_BUF,STM32_SECTOR_SIZE/2);
for(i=0;i<secremain;i++)
{
if(STMFLASH_BUF[secoff+i]!=0XFFFF)break;
}
if(i<secremain)
{
FLASH_ErasePage(secpos*STM32_SECTOR_SIZE+STM32_FLASH_BASE);
for(i=0;i<secremain;i++)
{
STMFLASH_BUF[i+secoff]=pBuffer[i];
}
STMFLASH_Write_NoCheck(secpos*STM32_SECTOR_SIZE+STM32_FLASH_BASE,STMFLASH_BUF,STM32_SECTOR_SIZE/2);
}else STMFLASH_Write_NoCheck(WriteAddr,pBuffer,secremain);
if(NumToWrite==secremain)break;
else
{
secpos++;
secoff=0;
pBuffer+=secremain;
WriteAddr+=secremain;
NumToWrite-=secremain;
if(NumToWrite>(STM32_SECTOR_SIZE/2))secremain=STM32_SECTOR_SIZE/2;//ÏÂÒ»¸öÉÈÇø»¹ÊÇд²»Íê
else secremain=NumToWrite;
}
};
FLASH_Lock();
}
u8* GetBoardInformation(void)
{
extern u8 ID_MOTORA,ID_MOTORB;
STMFLASH_Read(FLASH_SAVE_ADDR,(u16*)boardIDConf.buffer,BOARD_ID_CONFIGURATION_SIZE);
boardIDConf.mainID =boardIDConf.buffer[0];
boardIDConf.subID =boardIDConf.buffer[1];
boardIDConf.MotorID[0]=boardIDConf.buffer[2];
boardIDConf.MotorID[1]=boardIDConf.buffer[3];
ID_MOTORA=boardIDConf.MotorID[0];
ID_MOTORB=boardIDConf.MotorID[1];
return boardIDConf.buffer;
}
void STMFLASH_Write(u32 WriteAddr,u16 *pBuffer,u16 NumToWrite)
{
u32 secpos; //扇区地址
u16 secoff; //扇区内偏移地址(16位字计算)
u16 secremain; //扇区内剩余地址(16位字计算)
u16 i;
u32 offaddr; //去掉0X08000000后的地址
if(WriteAddr<STM32_FLASH_BASE||(WriteAddr>=(STM32_FLASH_BASE+1024*128)))return;//非法地址
STMFLASH_Unlock(); //解锁
offaddr=WriteAddr-STM32_FLASH_BASE; //实际偏移地址offaddr=.5000
secpos=offaddr/1024; //扇区号
secoff=(offaddr%1024)/2; //在扇区内的偏移(2个字节为基本单位.)
secremain=512-secoff; //扇区剩余空间大小
if(NumToWrite<=secremain)secremain=NumToWrite;//不大于该扇区范围
while(1)
{
STMFLASH_Read(secpos*1024+STM32_FLASH_BASE,STMFLASH_BUF,512);//读出整个扇区的内容
for(i=0;i<secremain;i++)//校验数据
{
if(STMFLASH_BUF[secoff+i]!=0XFFFF)break;//需要擦除
}
if(i<secremain)//需要擦除
{
STMFLASH_ErasePage(secpos*1024+STM32_FLASH_BASE);//擦除这个扇区
for(i=0;i<secremain;i++)//复制
{
STMFLASH_BUF[i+secoff]=pBuffer[i];
}
STMFLASH_Write_NoCheck(secpos*1024+STM32_FLASH_BASE,STMFLASH_BUF,512);//写入整个扇区
}else STMFLASH_Write_NoCheck(WriteAddr,pBuffer,secremain);//写已经擦除了的,直接写入扇区剩余区间.
if(NumToWrite==secremain)break;//写入结束了
else//写入未结束
{
// printf("扇区加1\r\n");
secpos++; //扇区地址增1
secoff=0; //偏移位置为0
pBuffer+=secremain; //指针偏移
WriteAddr+=secremain; //写地址偏移
NumToWrite-=secremain; //字节(16位)数递减
if(NumToWrite>512)
secremain=512;//下一个扇区还是写不完
else secremain=NumToWrite;//下一个扇区可以写完了
}
};
STMFLASH_Lock();//上锁
}
void STMFLASH_Write(u32 WriteAddr,u16 *pBuffer,u16 NumToWrite)
{
u32 secpos; //扇区地址
u16 secoff; //扇区内偏移地址(16位字计算)
u16 secremain; //扇区内剩余地址(16位字计算)
u16 i;
u32 offaddr; //去掉0X08000000后的地址
if(WriteAddr<STM32_FLASH_BASE||(WriteAddr>=(STM32_FLASH_BASE+1024*STM32_FLASH_SIZE)))return;//非法地址
FLASH_Unlock(); //解锁
offaddr=WriteAddr-STM32_FLASH_BASE; //实际偏移地址.
secpos=offaddr/STM_SECTOR_SIZE; //扇区地址 0~127 for STM32F103RBT6
secoff=(offaddr%STM_SECTOR_SIZE)/2; //在扇区内的偏移(2个字节为基本单位.)
secremain=STM_SECTOR_SIZE/2-secoff; //扇区剩余空间大小
if(NumToWrite<=secremain)secremain=NumToWrite;//不大于该扇区范围
while(1)
{
STMFLASH_Read(secpos*STM_SECTOR_SIZE+STM32_FLASH_BASE,STMFLASH_BUF,STM_SECTOR_SIZE/2);//读出整个扇区的内容
for(i=0;i<secremain;i++)//校验数据
{
if(STMFLASH_BUF[secoff+i]!=0XFFFF)break;//需要擦除
}
if(i<secremain)//需要擦除
{
FLASH_ErasePage(secpos*STM_SECTOR_SIZE+STM32_FLASH_BASE);//擦除这个扇区
for(i=0;i<secremain;i++)//复制
{
STMFLASH_BUF[i+secoff]=pBuffer[i];
}
STMFLASH_Write_NoCheck(secpos*STM_SECTOR_SIZE+STM32_FLASH_BASE,STMFLASH_BUF,STM_SECTOR_SIZE/2);//写入整个扇区
}else STMFLASH_Write_NoCheck(WriteAddr,pBuffer,secremain);//写已经擦除了的,直接写入扇区剩余区间.
if(NumToWrite==secremain)break;//写入结束了
else//写入未结束
{
secpos++; //扇区地址增1
secoff=0; //偏移位置为0
pBuffer+=secremain; //指针偏移
WriteAddr+=secremain; //写地址偏移
NumToWrite-=secremain; //字节(16位)数递减
if(NumToWrite>(STM_SECTOR_SIZE/2))secremain=STM_SECTOR_SIZE/2;//下一个扇区还是写不完
else secremain=NumToWrite;//下一个扇区可以写完了
}
};
FLASH_Lock();//上锁
}
//load params for EEPROM
void TableReadEEPROM(void)
{
uint8_t paramNums=sizeof(table)/sizeof(float);
STMFLASH_Read(TABLE_ADDRESS,(uint16_t *)(&table),paramNums * 2);
}
