//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); }