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FlashCtrl.c
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FlashCtrl.c
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/*============================================================================*
___ ___ ___ _ _ *
/ \ | _ ) | _ \ ___ | |__ ___ | |_ o O O *
| - | | _ \ | / / _ \ | '_ \ / _ \ | _| o *
|_|_| |___/ |_|_\ \___/ |_.__/ \___/ _\__| TS__[O] *
_|"""""|_|"""""|_|"""""|_|"""""|_|"""""|_|"""""|_|"""""| {======| *
"`-0-0-'"`-0-0-'"`-0-0-'"`-0-0-'"`-0-0-'"`-0-0-'"`-0-0-'./o--000' *
* *
* Auto Balance Robot controller firmware for Nuvoton Cortex M4 series *
* *
* Written by T.L. Shen for Nuvoton Technology. *
* tlshen@nuvoton.com/tzulan611126@gmail.com *
* *
*============================================================================*
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "retarget.h"
#ifdef M451
#include "M451Series.h"
#else
#include "Driver\DrvUART.h"
#include "Driver\DrvFMC.h"
#endif
#include "AHRSLib.h"
#include "FlashCtrl.h"
#include "controller.h"
#include "ssv7241.h"
#include "Report.h"
#include "Sensors.h"
#ifdef M451
#define PAGE_SIZE 512 //2K Bytes
uint32_t data_buff[PAGE_SIZE];
#else
#define PAGE_SIZE 128 //512 Bytes
#endif
uint32_t DATA_Flash_Start_ADD;
uint32_t BoardVersion;
float tfloat;
//============================================================================
// DATA FLASH OPERATION
// u32addr : 0-1024 (For 4KBytes Data Flash)
// u32data : 0-0xFFFFFFFF (4Bytes)
//============================================================================
void DATA_FLASH_Write(uint32_t u32addr,uint32_t u32data)
{
uint32_t i=0;
#ifdef M451
SYS_UnlockReg();
FMC_Open();
for(i=0;i<PAGE_SIZE;i++)
data_buff[i] = FMC_Read(DATA_Flash_Start_ADD+i*4+ u32addr/PAGE_SIZE*2048);
FMC_Erase(DATA_Flash_Start_ADD+u32addr/PAGE_SIZE*2048);
data_buff[u32addr%PAGE_SIZE]=u32data;
for(i=0; i<PAGE_SIZE; i++)
FMC_Write(DATA_Flash_Start_ADD+i*4+ u32addr/PAGE_SIZE*2048, data_buff[i]);
FMC_Close();
SYS_LockReg();
#else
uint32_t data_buff[PAGE_SIZE];
__set_PRIMASK(1);//Avoid interrupt
UNLOCKREG();
DrvFMC_EnableISP();
for(i=0;i<PAGE_SIZE;i++)
DrvFMC_Read(DATA_Flash_Start_ADD+i*4+ u32addr/128*512, &data_buff[i]);
DrvFMC_Erase(DATA_Flash_Start_ADD+u32addr/128*512);
data_buff[u32addr%128]=u32data;
for(i=0; i<PAGE_SIZE; i++)
DrvFMC_Write(DATA_Flash_Start_ADD+i*4+ u32addr/128*512, data_buff[i]);
DrvFMC_DisableISP();
LOCKREG();
__set_PRIMASK(0);
#endif
}
//============================================================================
// u32addr : 0-1024
//============================================================================
uint32_t DATA_FLASH_Read(uint32_t u32add)
{
uint32_t u32data;
#ifdef M451
SYS_UnlockReg();
FMC_Open();
u32data = FMC_Read(u32add*4+DATA_Flash_Start_ADD);
FMC_Close();
SYS_LockReg();
#else
__set_PRIMASK(1);
UNLOCKREG();
DrvFMC_EnableISP();
DrvFMC_Read(u32add*4+DATA_Flash_Start_ADD, &u32data);
DrvFMC_DisableISP();
LOCKREG();
__set_PRIMASK(0);
#endif
return u32data;
}
#ifdef M451
static int SetDataFlashBase(uint32_t u32DFBA)
{
uint32_t au32Config[2];
/* Read current User Configuration */
FMC_ReadConfig(au32Config, 1);
/* Just return when Data Flash has been enabled */
if(!(au32Config[0] & 0x1))
return 0;
/* Enable User Configuration Update */
FMC_EnableConfigUpdate();
/* Erase User Configuration */
FMC_Erase(FMC_CONFIG_BASE);
/* Write User Configuration to Enable Data Flash */
au32Config[0] &= ~0x1;
au32Config[1] = u32DFBA;
if(FMC_WriteConfig(au32Config, 2))
return -1;
//printf("\nSet Data Flash base as 0x%x.\n", FMC_ReadDataFlashBaseAddr());
/* Perform chip reset to make new User Config take effect */
SYS->IPRST0 |= SYS_IPRST0_CHIPRST_Msk;
return 0;
}
#endif
void FlashInit()
{
#ifdef M451
SYS_UnlockReg();
FMC_Open();
SetDataFlashBase(DATA_FLASH_TEST_BASE);
DATA_Flash_Start_ADD = FMC_ReadDataFlashBaseAddr();
FMC_Close();
SYS_LockReg();
#else
DrvFMC_EnableISP();
/* Read Data Flash base address */
DATA_Flash_Start_ADD = DrvFMC_ReadDataFlashBaseAddr();
DrvFMC_DisableISP();
#endif
printf("Flash initilize - [OK]\n");
}
void UpdateBoardVersion(bool erase)
{
/* Enable ISP function */
#ifdef M451
SYS_UnlockReg();
FMC_Open();
#else
DrvFMC_EnableISP();
#endif
if(erase) {
DATA_FLASH_Write(BOARD_CODE_BASE,0xffffffff);
}
else {
BoardVersion = DATA_FLASH_Read(BOARD_CODE_BASE);
if(BoardVersion==0xFFFFFFFF) {
DATA_FLASH_Write(BOARD_CODE_BASE,BOARD_CODE);
printf("Update Board Code:%d\n", BOARD_CODE);
}
else
printf("Board Code:%d\n", BoardVersion);
}
#ifdef M451
FMC_Close();
SYS_LockReg();
#else
DrvFMC_DisableISP();
#endif
}
int32_t float2dw(float f)
{
int32_t* pdw;
pdw = (int32_t*)&f;
return *pdw;
}
float dw2float(int32_t dw)
{
float* pf;
pf = (float*)&dw;
return *pf;
}
int32_t i162dw(int16_t i16)
{
int32_t* pdw;
int32_t i32;
i32 = i16;
pdw = (int32_t*)&i32;
return *pdw;
}
int16_t dw2i16(int32_t dw)
{
int16_t* pi16;
int16_t i16;
i16 = dw;
pi16 = (int16_t*)&i16;
return *pi16;
}
void TestFloat()
{
#ifndef M451
/* Enable ISP function */
DrvFMC_EnableISP();
//printf(" Data Flash Base Address .................... [0x%08x]\n", DATA_Flash_Start_ADD);
tfloat = dw2float(DATA_FLASH_Read(0));
tfloat+=0.1f;
DATA_FLASH_Write(0,float2dw(tfloat));
DrvFMC_DisableISP();
#endif
}
uint32_t GetBoardVersion(void)
{
return BoardVersion;
}
float GetFloatCounter(void)
{
return tfloat;
}
void UpdateFlashCal(int8_t sensorType, bool erase)
{
uint8_t CalBase, i, QualityFactor;
float mean[3], scale[3],matrix[MAG_CAL_DATA_SIZE];
CAL_FLASH_STATE_T* FlashState;
FlashState = GetFlashState();
if(sensorType&SENSOR_GYRO) {
CalBase=CAL_BASE_GYRO;
nvtGetGyroOffset(mean);
nvtGetGyroScale(scale);
if(erase) {
DATA_FLASH_Write(CalBase++,i162dw((int16_t)FIELD_INVALID));
FlashState->GYRO_FLASH = false;
return;
}
else
DATA_FLASH_Write(CalBase++,i162dw((int16_t)FIELD_VALID));
FlashState->GYRO_FLASH = true;
DATA_FLASH_Write(CalBase++,float2dw(mean[0]));
DATA_FLASH_Write(CalBase++,float2dw(mean[1]));
DATA_FLASH_Write(CalBase++,float2dw(mean[2]));
DATA_FLASH_Write(CalBase++,float2dw(scale[0]));
DATA_FLASH_Write(CalBase++,float2dw(scale[1]));
DATA_FLASH_Write(CalBase++,float2dw(scale[2]));
if (report_format == REPORT_FORMAT_TEXT) {
printf("GyroMean.x:%f\n", mean[0]);
printf("GyroMean.y:%f\n", mean[1]);
printf("GyroMean.z:%f\n", mean[2]);
printf("GyroScale.x:%f\n", scale[0]);
printf("GyroScale.y:%f\n", scale[1]);
printf("GyroScale.z:%f\n", scale[2]);
}
}
if(sensorType&SENSOR_ACC) {
CalBase=CAL_BASE_ACC;
nvtGetAccOffset(mean);
nvtGetAccScale(scale);
if(erase) {
DATA_FLASH_Write(CalBase++,i162dw((int16_t)FIELD_INVALID));
FlashState->ACC_FLASH = false;
return;
}
else
DATA_FLASH_Write(CalBase++,i162dw((int16_t)FIELD_VALID));
FlashState->ACC_FLASH = true;
DATA_FLASH_Write(CalBase++,float2dw(mean[0]));
DATA_FLASH_Write(CalBase++,float2dw(mean[1]));
DATA_FLASH_Write(CalBase++,float2dw(mean[2]));
DATA_FLASH_Write(CalBase++,float2dw(scale[0]));
DATA_FLASH_Write(CalBase++,float2dw(scale[1]));
DATA_FLASH_Write(CalBase++,float2dw(scale[2]));
if (report_format == REPORT_FORMAT_TEXT) {
printf("AccMean.x:%f\n", mean[0]);
printf("AccMean.y:%f\n", mean[1]);
printf("AccMean.z:%f\n", mean[2]);
printf("AccScale.x:%f\n", scale[0]);
printf("AccScale.y:%f\n", scale[1]);
printf("AccScale.z:%f\n", scale[2]);
}
}
if(sensorType&SENSOR_MAG) {
CalBase=CAL_BASE_MAG;
nvtGetMagCalMatrix(matrix);
QualityFactor = nvtGetMagCalQFactor();
if(erase) {
DATA_FLASH_Write(CalBase++,i162dw((int16_t)FIELD_INVALID));
FlashState->MAG_FLASH = false;
FlashState->MAG_QFACTOR = 0xff;
SensorInitMAG();
return;
}
else
DATA_FLASH_Write(CalBase++,i162dw((int16_t)FIELD_VALID));
FlashState->MAG_FLASH = true;
FlashState->MAG_QFACTOR = QualityFactor;
for(i=0;i<MAG_CAL_DATA_SIZE;i++) {
DATA_FLASH_Write(CalBase++,float2dw(matrix[i]));
if (report_format == REPORT_FORMAT_TEXT) {
printf("MagInvW[%d]:%f\n", i, matrix[i]);
}
}
DATA_FLASH_Write(CalBase++,i162dw((int16_t)QualityFactor));
if (report_format == REPORT_FORMAT_TEXT) {
printf("Quality Factor:%d\n", QualityFactor);
}
}
}
bool GetFlashCal(int8_t sensorType, float* Cal)
{
uint8_t CalBase, i;
int16_t Valid;
bool FlashValid;
if(sensorType&SENSOR_GYRO) {
CalBase=CAL_BASE_GYRO;
Valid = dw2i16(DATA_FLASH_Read(CalBase++));
if(Valid==FIELD_VALID) {
for(i = 0; i< GYRO_CAL_DATA_SIZE; i++) {
Cal[i] = dw2float(DATA_FLASH_Read(CalBase++));
}
FlashValid = true;
}
else
FlashValid = false;
}
else if(sensorType&SENSOR_ACC) {
CalBase=CAL_BASE_ACC;
Valid = dw2i16(DATA_FLASH_Read(CalBase++));
if(Valid==FIELD_VALID) {
for(i = 0; i< (ACC_CAL_DATA_SIZE/* + FIELD_VALID_SIZE*/); i++) {
Cal[i] = dw2float(DATA_FLASH_Read(CalBase++));
}
FlashValid = true;
}
else
FlashValid = false;
}
else if(sensorType&SENSOR_MAG) {
CalBase=CAL_BASE_MAG;
Valid = dw2i16(DATA_FLASH_Read(CalBase++));
if(Valid==FIELD_VALID) {
for(i = 0; i< (MAG_CAL_DATA_SIZE/* + FIELD_VALID_SIZE*/); i++) {
Cal[i] = dw2float(DATA_FLASH_Read(CalBase++));
}
FlashValid = true;
Cal[i] = dw2i16(DATA_FLASH_Read(CalBase++));
}
else
FlashValid = false;
}
else
FlashValid = false;
return FlashValid;
}
void UpdateFlashPID(bool erase)
{
uint8_t PIDBase, i=0;
float PID_FIELD[PID_FIELD_SIZE];
PIDBase=PID_BASE;
GetRollPID(&PID_FIELD[i]);i+=PID_SIZE;
GetPitchPID(&PID_FIELD[i]);i+=PID_SIZE;
GetYawPID(&PID_FIELD[i]);i+=PID_SIZE;
GetRollRatePID(&PID_FIELD[i]);i+=PID_SIZE;
GetPitchRatePID(&PID_FIELD[i]);i+=PID_SIZE;
GetYawRatePID(&PID_FIELD[i]);i+=PID_SIZE;
GetAltHoldPID(&PID_FIELD[i]);i+=ALT_PID_SIZE;
if(erase) {
DATA_FLASH_Write(PIDBase++,i162dw((int16_t)FIELD_INVALID));
return;
}
else
DATA_FLASH_Write(PIDBase++,i162dw((int16_t)FIELD_VALID));
for(i=0;i<PID_FIELD_SIZE;i++) {
DATA_FLASH_Write(PIDBase++,float2dw(PID_FIELD[i]));
//printf("PID_FIELD[%d]:%f\n", i, PID_FIELD[i]);
}
}
bool GetFlashPID(float* PID_FIELD)
{
uint8_t PIDBase, i;
int16_t Valid;
bool FlashValid;
PIDBase=PID_BASE;
Valid = dw2i16(DATA_FLASH_Read(PIDBase++));
if(Valid==FIELD_VALID) {
for(i = 0; i< PID_FIELD_SIZE; i++)
PID_FIELD[i] = dw2float(DATA_FLASH_Read(PIDBase++));
FlashValid = true;
}
else
FlashValid = false;
return FlashValid;
}
void UpdateFlashRxAddress()
{
uint8_t RxAddrBase, i=0;
uint8_t RX_ADDRESS_FIELD[RX_ADDRESS_SIZE*4];
RxAddrBase=RX_ADDRESS_BASE;
GetMatchAddress(RX_ADDRESS_FIELD);
DATA_FLASH_Write(RxAddrBase++,i162dw((int16_t)FIELD_VALID));
//printf("UPDATE RX_ADDRESS_FIELD:");
for(i=0;i<RX_ADDRESS_SIZE;i++) {
DATA_FLASH_Write(RxAddrBase++,*((uint32_t*)(RX_ADDRESS_FIELD+i*4)));
//printf("%x %x %x %x ",RX_ADDRESS_FIELD[i*4+0],RX_ADDRESS_FIELD[i*4+1],RX_ADDRESS_FIELD[i*4+2],RX_ADDRESS_FIELD[i*4+3]);
}
//printf("\n");
}
bool GetFlashRxAddress(uint8_t* RX_ADDRESS_FIELD)
{
uint8_t RxAddrBase, i;
int16_t Valid;
bool FlashValid;
RxAddrBase=RX_ADDRESS_BASE;
Valid = dw2i16(DATA_FLASH_Read(RxAddrBase++));
//printf("GET RX_ADDRESS_FIELD:");
if(Valid==FIELD_VALID) {
for(i = 0; i< RX_ADDRESS_SIZE; i++) {
*((uint32_t*)(RX_ADDRESS_FIELD+i*4)) = DATA_FLASH_Read(RxAddrBase++);
//printf("%x %x %x %x ",RX_ADDRESS_FIELD[i*4+0],RX_ADDRESS_FIELD[i*4+1],RX_ADDRESS_FIELD[i*4+2],RX_ADDRESS_FIELD[i*4+3]);
}
FlashValid = true;
//printf("\n");
}
else
FlashValid = false;
return FlashValid;
}
void FlashControl()
{
char Action = GetChar();
if(Action=='e') {
char Part = GetChar();
if(Part=='a') {
UpdateFlashCal(SENSOR_ACC, true);
if (report_format == REPORT_FORMAT_TEXT) {
printf("ACC CalData Erased.\n");
}
}
else if(Part=='g') {
UpdateFlashCal(SENSOR_GYRO, true);
if (report_format == REPORT_FORMAT_TEXT) {
printf("GYRO CalData Erased.\n");
}
}
else if(Part=='m') {
UpdateFlashCal(SENSOR_MAG, true);
if (report_format == REPORT_FORMAT_TEXT) {
printf("MAG CalData Erased.\n");
}
}
else if(Part=='p') {
UpdateFlashPID(true);
if (report_format == REPORT_FORMAT_TEXT) {
printf("PID Erased.\n");
}
}
else if(Part=='b') {
UpdateBoardVersion(true);
if (report_format == REPORT_FORMAT_TEXT) {
printf("Board Code Erased.\n");
}
}
else if(Part=='x') {
UpdateFlashCal(SENSOR_ACC, true);
UpdateFlashCal(SENSOR_GYRO, true);
UpdateFlashCal(SENSOR_MAG, true);
UpdateFlashPID(true);
if (report_format == REPORT_FORMAT_TEXT) {
printf("Flash Data Erased.\n");
}
}
}
}