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andrea
2026-04-28 21:24:24 +02:00
parent b0b88baa72
commit 35716fcfb1
72 changed files with 84975 additions and 72686 deletions
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14
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/21/9037605b013d00111c079c4a825d8137
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/*
* debug.c
*
* Created on: Apr 20, 2026
* Author: user
*/
#include "main.h"
extern UART_HandleTypeDef huart1;
void debug(void){
char s [100];
HAL_UART_Transmit(&huart1, s, 1, HAL_MAX_DELAY);
}

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#include "eeprom.h"
/*
* Record format (4 bytes):
* [0] VirtAddress (uint16_t)
* [2] Data (uint16_t)
*
* Page layout:
* [0] PageStatus (uint16_t)
* [2..] Records...
*/
extern uint16_t m1pwmap;
extern uint16_t m1pwmch;
extern uint16_t m2pwmap;
extern uint16_t m2pwmch;
extern uint16_t m3pwmap;
extern uint16_t m3pwmch;
extern uint16_t m4pwmap;
extern uint16_t m4pwmch;
extern uint16_t t1ap;
extern uint16_t t2ap;
extern uint16_t t3ap;
extern uint16_t t4ap;
extern uint16_t twap;
extern uint16_t tramp;
extern uint16_t t1ch;
extern uint16_t t2ch;
extern uint16_t t3ch;
extern uint16_t t4ch;
extern uint16_t twch;
extern uint16_t tramp1;
extern uint16_t trampman;
extern uint16_t m1pwmMan;
extern uint16_t m2pwmMan;
extern uint16_t m3pwmMan;
extern uint16_t m4pwmMan;
const uint8_t deftab[32]={
40, //m1pwmap
60, //m1pwmch
70, //m2pwmap
70, //m2pwmch
35, //m3pwmap
40, //m3pwmch
40, //m4pwmap
40, //m4pwmch
20, //m1rampstart
20, //m2rampstart
20, //m3rampstart
20, //m4rampstart
26, //t1ap
4, //t2ap
10, //t3ap
40, //t4ap
1, //twap
26, //t1ch
10, //t2ch
30, //t3ch
1, //t4ch
1, //twch
0,
0,
0,
100, //tramp1
60, //m1pwmMan
70, //m2pwmMan
40, //m3pwmMan
40, //m4pwmMan
50, //trampman
10, //tramp
};
typedef struct
{
uint16_t VirtAddress;
uint16_t Data;
} EE_Record_t;
/* Active page base address (runtime selected in EE_Init) */
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
/* 32 sequential virtual addresses */
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
{
0x0001, 0x0002, 0x0003, 0x0004,
0x0005, 0x0006, 0x0007, 0x0008,
0x0009, 0x000A, 0x000B, 0x000C,
0x000D, 0x000E, 0x000F, 0x0010,
0x0011, 0x0012, 0x0013, 0x0014,
0x0015, 0x0016, 0x0017, 0x0018,
0x0019, 0x001A, 0x001B, 0x001C,
0x001D, 0x001E, 0x001F, 0x0020
};
/* ========================================================================= */
/* --- Internal helpers ---------------------------------------------------- */
static uint16_t EE_GetPageStatus(uint32_t pageBase)
{
return *(__IO uint16_t *)pageBase;
}
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
{
HAL_StatusTypeDef status;
HAL_FLASH_Unlock();
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
HAL_FLASH_Lock();
return status;
}
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
{
HAL_StatusTypeDef status;
FLASH_EraseInitTypeDef EraseInit;
uint32_t PageError = 0;
HAL_FLASH_Unlock();
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
EraseInit.PageAddress = PageAddress;
EraseInit.NbPages = 1;
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
HAL_FLASH_Lock();
return status;
}
/* Find first free record address in given page (returns 0 if full) */
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
{
uint32_t addr = pageBase + 2U; /* Skip status word */
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
{
uint16_t vaddr = *(__IO uint16_t *)addr;
if (vaddr == 0xFFFFU)
{
/* Empty slot */
return addr;
}
addr += sizeof(EE_Record_t);
}
return 0U; /* No space */
}
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
/* Find latest value of VirtAddress in a specific page (scan forward) */
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
{
uint32_t addr = pageBase + 2U; // skip status halfword
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
EE_Status result = EE_NOT_FOUND;
uint16_t lastVal = 0;
if (Data == NULL)
return EE_ERROR;
while (addr <= (pageEnd - sizeof(EE_Record_t)))
{
uint16_t vaddr = *(__IO uint16_t *)addr;
if (vaddr == 0xFFFFU)
{
// First empty slot => no more records in this page
break;
}
uint16_t value = *(__IO uint16_t *)(addr + 2U);
if (vaddr == VirtAddress)
{
lastVal = value; // keep most recent
result = EE_OK;
}
addr += sizeof(EE_Record_t); // move 4 bytes forward
}
if (result == EE_OK)
*Data = lastVal;
return result;
}
/* Format both pages: erase and set PAGE0 as VALID */
static EE_Status EE_Format(void)
{
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
return EE_STATUS_ERROR;
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
return EE_STATUS_ERROR;
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
return EE_STATUS_ERROR;
/* PAGE1 will remain erased (status = 0xFFFF) */
EE_ActivePageBase = EE_PAGE0_BASE;
return EE_STATUS_OK;
}
/* Get the base of the other page */
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
{
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
}
/* Page transfer (garbage collection + new write) */
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
{
uint32_t oldBase = EE_ActivePageBase;
uint32_t newBase = EE_GetOtherPageBase(oldBase);
uint32_t addr;
uint16_t value;
EE_Status st;
/* Erase new page */
if (EE_FlashErasePage(newBase) != HAL_OK)
return EE_STATUS_ERROR;
/* Mark new page as RECEIVE */
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
return EE_STATUS_ERROR;
/* Start writing records just after status */
addr = newBase + 2U;
/* For each known virtual variable */
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
{
uint16_t vaddr = EE_VirtAddrs[i];
if (vaddr == VirtAddress)
{
/* Use the new data passed into PageTransfer */
value = Data;
}
else
{
/* Read latest value from old active page */
st = EE_FindInPage(oldBase, vaddr, &value);
if (st != EE_STATUS_OK)
{
/* Variable never written -> skip */
continue;
}
}
/* Write record to new page */
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
return EE_STATUS_ERROR;
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
return EE_STATUS_ERROR;
addr += sizeof(EE_Record_t);
if (addr >= (newBase + EE_PAGE_SIZE))
return EE_STATUS_NO_SPACE;
}
/* Erase old page */
if (EE_FlashErasePage(oldBase) != HAL_OK)
return EE_STATUS_ERROR;
/* Mark new page as VALID */
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
return EE_STATUS_ERROR;
/* Update active page */
EE_ActivePageBase = newBase;
return EE_STATUS_OK;
}
/* --- Public API ----------------------------------------------------------- */
/*
* Initialize the EEPROM emulation.
* - Checks page statuses and chooses the active page.
* - If inconsistent or blank, formats pages.
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
*/
uint16_t EE_Init(void)
{
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
{
/* Fresh device -> format */
return (uint16_t)EE_Format();
}
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
{
EE_ActivePageBase = EE_PAGE0_BASE;
return EE_OK;
}
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
{
EE_ActivePageBase = EE_PAGE1_BASE;
return EE_OK;
}
else
{
/* Any weird or inconsistent state -> reformat */
return (uint16_t)EE_Format();
}
}
/*
* Read a 16-bit variable by its virtual address.
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
*/
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
{
EE_Status st;
if (Data == NULL)
return EE_ERROR;
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
return (uint16_t)st;
}
/*
* Write (append) a 16-bit variable.
* - Writes a new record in the active page.
* - If the page is full, triggers a page transfer (GC).
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
*/
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
{
uint32_t freeAddr;
EE_Status st;
/* Find free space in active page */
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
if (freeAddr != 0U)
{
/* Write new record */
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
return EE_ERROR;
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
return EE_ERROR;
return EE_OK;
}
/* No space -> page transfer */
st = EE_PageTransfer(VirtAddress, Data);
return (uint16_t)st;
}
void loadEE(void){
EEW_Read(M1PWMAP, &m1pwmap);
EEW_Read(M1PWMCH, &m1pwmch);
EEW_Read(M2PWMAP, &m2pwmap);
EEW_Read(M2PWMCH, &m2pwmch);
EEW_Read(M3PWMAP, &m3pwmap);
EEW_Read(M3PWMCH, &m3pwmch);
EEW_Read(M4PWMAP, &m4pwmap);
EEW_Read(M4PWMCH, &m4pwmch);
EEW_Read(T1AP, &t1ap);
EEW_Read(T2AP, &t2ap);
EEW_Read(T3AP, &t3ap);
EEW_Read(T4AP, &t4ap);
EEW_Read(TWAP, &twap);
EEW_Read(T1CH, &t1ch);
EEW_Read(T2CH, &t2ch);
EEW_Read(T3CH, &t3ch);
EEW_Read(T4CH, &t4ch);
EEW_Read(TWCH, &twch);
EEW_Read(TRAMP1, &tramp1);
EEW_Read(M1PWMMAN, &m1pwmMan);
EEW_Read(M2PWMMAN, &m2pwmMan);
EEW_Read(M3PWMMAN, &m3pwmMan);
EEW_Read(M4PWMMAN, &m4pwmMan);
EEW_Read(TRAMPMAN, &trampman);
EEW_Read(TRAMP, &tramp);
}

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/*
* debug.c
*
* Created on: Apr 20, 2026
* Author: user
*/

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#include "eeprom.h"
/*
* Record format (4 bytes):
* [0] VirtAddress (uint16_t)
* [2] Data (uint16_t)
*
* Page layout:
* [0] PageStatus (uint16_t)
* [2..] Records...
*/
extern uint16_t m1pwmap;
extern uint16_t m1pwmch;
extern uint16_t m2pwmap;
extern uint16_t m2pwmch;
extern uint16_t m3pwmap;
extern uint16_t m3pwmch;
extern uint16_t m4pwmap;
extern uint16_t m4pwmch;
extern uint16_t t1ap;
extern uint16_t t2ap;
extern uint16_t t3ap;
extern uint16_t t4ap;
extern uint16_t twap;
extern uint16_t tramp;
extern uint16_t t1ch;
extern uint16_t t2ch;
extern uint16_t t3ch;
extern uint16_t t4ch;
extern uint16_t twch;
extern uint16_t tramp1;
extern uint16_t trampman;
extern uint16_t m1pwmMan;
extern uint16_t m2pwmMan;
extern uint16_t m3pwmMan;
extern uint16_t m4pwmMan;
const uint8_t deftab[32]={
40, //m1pwmap
60, //m1pwmch
70, //m2pwmap
70, //m2pwmch
35, //m3pwmap
40, //m3pwmch
40, //m4pwmap
40, //m4pwmch
20, //m1rampstart
20, //m2rampstart
20, //m3rampstart
20, //m4rampstart
28, //t1ap
4, //t2ap
10, //t3ap
40, //t4ap
1, //twap
26, //t1ch
10, //t2ch
30, //t3ch
1, //t4ch
1, //twch
0,
0,
0,
100, //tramp1
60, //m1pwmMan
70, //m2pwmMan
40, //m3pwmMan
40, //m4pwmMan
50, //trampman
10, //tramp
};
typedef struct
{
uint16_t VirtAddress;
uint16_t Data;
} EE_Record_t;
/* Active page base address (runtime selected in EE_Init) */
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
/* 32 sequential virtual addresses */
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
{
0x0001, 0x0002, 0x0003, 0x0004,
0x0005, 0x0006, 0x0007, 0x0008,
0x0009, 0x000A, 0x000B, 0x000C,
0x000D, 0x000E, 0x000F, 0x0010,
0x0011, 0x0012, 0x0013, 0x0014,
0x0015, 0x0016, 0x0017, 0x0018,
0x0019, 0x001A, 0x001B, 0x001C,
0x001D, 0x001E, 0x001F, 0x0020
};
/* ========================================================================= */
/* --- Internal helpers ---------------------------------------------------- */
static uint16_t EE_GetPageStatus(uint32_t pageBase)
{
return *(__IO uint16_t *)pageBase;
}
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
{
HAL_StatusTypeDef status;
HAL_FLASH_Unlock();
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
HAL_FLASH_Lock();
return status;
}
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
{
HAL_StatusTypeDef status;
FLASH_EraseInitTypeDef EraseInit;
uint32_t PageError = 0;
HAL_FLASH_Unlock();
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
EraseInit.PageAddress = PageAddress;
EraseInit.NbPages = 1;
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
HAL_FLASH_Lock();
return status;
}
/* Find first free record address in given page (returns 0 if full) */
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
{
uint32_t addr = pageBase + 2U; /* Skip status word */
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
{
uint16_t vaddr = *(__IO uint16_t *)addr;
if (vaddr == 0xFFFFU)
{
/* Empty slot */
return addr;
}
addr += sizeof(EE_Record_t);
}
return 0U; /* No space */
}
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
/* Find latest value of VirtAddress in a specific page (scan forward) */
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
{
uint32_t addr = pageBase + 2U; // skip status halfword
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
EE_Status result = EE_NOT_FOUND;
uint16_t lastVal = 0;
if (Data == NULL)
return EE_ERROR;
while (addr <= (pageEnd - sizeof(EE_Record_t)))
{
uint16_t vaddr = *(__IO uint16_t *)addr;
if (vaddr == 0xFFFFU)
{
// First empty slot => no more records in this page
break;
}
uint16_t value = *(__IO uint16_t *)(addr + 2U);
if (vaddr == VirtAddress)
{
lastVal = value; // keep most recent
result = EE_OK;
}
addr += sizeof(EE_Record_t); // move 4 bytes forward
}
if (result == EE_OK)
*Data = lastVal;
return result;
}
/* Format both pages: erase and set PAGE0 as VALID */
static EE_Status EE_Format(void)
{
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
return EE_STATUS_ERROR;
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
return EE_STATUS_ERROR;
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
return EE_STATUS_ERROR;
/* PAGE1 will remain erased (status = 0xFFFF) */
EE_ActivePageBase = EE_PAGE0_BASE;
return EE_STATUS_OK;
}
/* Get the base of the other page */
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
{
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
}
/* Page transfer (garbage collection + new write) */
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
{
uint32_t oldBase = EE_ActivePageBase;
uint32_t newBase = EE_GetOtherPageBase(oldBase);
uint32_t addr;
uint16_t value;
EE_Status st;
/* Erase new page */
if (EE_FlashErasePage(newBase) != HAL_OK)
return EE_STATUS_ERROR;
/* Mark new page as RECEIVE */
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
return EE_STATUS_ERROR;
/* Start writing records just after status */
addr = newBase + 2U;
/* For each known virtual variable */
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
{
uint16_t vaddr = EE_VirtAddrs[i];
if (vaddr == VirtAddress)
{
/* Use the new data passed into PageTransfer */
value = Data;
}
else
{
/* Read latest value from old active page */
st = EE_FindInPage(oldBase, vaddr, &value);
if (st != EE_STATUS_OK)
{
/* Variable never written -> skip */
continue;
}
}
/* Write record to new page */
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
return EE_STATUS_ERROR;
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
return EE_STATUS_ERROR;
addr += sizeof(EE_Record_t);
if (addr >= (newBase + EE_PAGE_SIZE))
return EE_STATUS_NO_SPACE;
}
/* Erase old page */
if (EE_FlashErasePage(oldBase) != HAL_OK)
return EE_STATUS_ERROR;
/* Mark new page as VALID */
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
return EE_STATUS_ERROR;
/* Update active page */
EE_ActivePageBase = newBase;
return EE_STATUS_OK;
}
/* --- Public API ----------------------------------------------------------- */
/*
* Initialize the EEPROM emulation.
* - Checks page statuses and chooses the active page.
* - If inconsistent or blank, formats pages.
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
*/
uint16_t EE_Init(void)
{
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
{
/* Fresh device -> format */
return (uint16_t)EE_Format();
}
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
{
EE_ActivePageBase = EE_PAGE0_BASE;
return EE_OK;
}
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
{
EE_ActivePageBase = EE_PAGE1_BASE;
return EE_OK;
}
else
{
/* Any weird or inconsistent state -> reformat */
return (uint16_t)EE_Format();
}
}
/*
* Read a 16-bit variable by its virtual address.
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
*/
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
{
EE_Status st;
if (Data == NULL)
return EE_ERROR;
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
return (uint16_t)st;
}
/*
* Write (append) a 16-bit variable.
* - Writes a new record in the active page.
* - If the page is full, triggers a page transfer (GC).
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
*/
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
{
uint32_t freeAddr;
EE_Status st;
/* Find free space in active page */
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
if (freeAddr != 0U)
{
/* Write new record */
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
return EE_ERROR;
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
return EE_ERROR;
return EE_OK;
}
/* No space -> page transfer */
st = EE_PageTransfer(VirtAddress, Data);
return (uint16_t)st;
}
void loadEE(void){
EEW_Read(M1PWMAP, &m1pwmap);
EEW_Read(M1PWMCH, &m1pwmch);
EEW_Read(M2PWMAP, &m2pwmap);
EEW_Read(M2PWMCH, &m2pwmch);
EEW_Read(M3PWMAP, &m3pwmap);
EEW_Read(M3PWMCH, &m3pwmch);
EEW_Read(M4PWMAP, &m4pwmap);
EEW_Read(M4PWMCH, &m4pwmch);
EEW_Read(T1AP, &t1ap);
EEW_Read(T2AP, &t2ap);
EEW_Read(T3AP, &t3ap);
EEW_Read(T4AP, &t4ap);
EEW_Read(TWAP, &twap);
EEW_Read(T1CH, &t1ch);
EEW_Read(T2CH, &t2ch);
EEW_Read(T3CH, &t3ch);
EEW_Read(T4CH, &t4ch);
EEW_Read(TWCH, &twch);
EEW_Read(TRAMP1, &tramp1);
EEW_Read(M1PWMMAN, &m1pwmMan);
EEW_Read(M2PWMMAN, &m2pwmMan);
EEW_Read(M3PWMMAN, &m3pwmMan);
EEW_Read(M4PWMMAN, &m4pwmMan);
EEW_Read(TRAMPMAN, &trampman);
EEW_Read(TRAMP, &tramp);
}

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#include "eeprom.h"
/*
* Record format (4 bytes):
* [0] VirtAddress (uint16_t)
* [2] Data (uint16_t)
*
* Page layout:
* [0] PageStatus (uint16_t)
* [2..] Records...
*/
extern uint16_t m1pwmap;
extern uint16_t m1pwmch;
extern uint16_t m2pwmap;
extern uint16_t m2pwmch;
extern uint16_t m3pwmap;
extern uint16_t m3pwmch;
extern uint16_t m4pwmap;
extern uint16_t m4pwmch;
extern uint16_t t1ap;
extern uint16_t t2ap;
extern uint16_t t3ap;
extern uint16_t t4ap;
extern uint16_t twap;
extern uint16_t tramp;
extern uint16_t t1ch;
extern uint16_t t2ch;
extern uint16_t t3ch;
extern uint16_t t4ch;
extern uint16_t twch;
extern uint16_t tramp1;
extern uint16_t trampman;
extern uint16_t m1pwmMan;
extern uint16_t m2pwmMan;
extern uint16_t m3pwmMan;
extern uint16_t m4pwmMan;
const uint8_t deftab[32]={
40, //m1pwmap
60, //m1pwmch
70, //m2pwmap
70, //m2pwmch
35, //m3pwmap
40, //m3pwmch
40, //m4pwmap
40, //m4pwmch
20, //m1rampstart
20, //m2rampstart
20, //m3rampstart
20, //m4rampstart
28, //t1ap
4, //t2ap
10, //t3ap
40, //t4ap
1, //twap
20, //t1ch
10, //t2ch
30, //t3ch
1, //t4ch
1, //twch
0,
0,
0,
100, //tramp1
60, //m1pwmMan
70, //m2pwmMan
40, //m3pwmMan
40, //m4pwmMan
50, //trampman
10, //tramp
};
typedef struct
{
uint16_t VirtAddress;
uint16_t Data;
} EE_Record_t;
/* Active page base address (runtime selected in EE_Init) */
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
/* 32 sequential virtual addresses */
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
{
0x0001, 0x0002, 0x0003, 0x0004,
0x0005, 0x0006, 0x0007, 0x0008,
0x0009, 0x000A, 0x000B, 0x000C,
0x000D, 0x000E, 0x000F, 0x0010,
0x0011, 0x0012, 0x0013, 0x0014,
0x0015, 0x0016, 0x0017, 0x0018,
0x0019, 0x001A, 0x001B, 0x001C,
0x001D, 0x001E, 0x001F, 0x0020
};
/* ========================================================================= */
/* --- Internal helpers ---------------------------------------------------- */
static uint16_t EE_GetPageStatus(uint32_t pageBase)
{
return *(__IO uint16_t *)pageBase;
}
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
{
HAL_StatusTypeDef status;
HAL_FLASH_Unlock();
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
HAL_FLASH_Lock();
return status;
}
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
{
HAL_StatusTypeDef status;
FLASH_EraseInitTypeDef EraseInit;
uint32_t PageError = 0;
HAL_FLASH_Unlock();
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
EraseInit.PageAddress = PageAddress;
EraseInit.NbPages = 1;
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
HAL_FLASH_Lock();
return status;
}
/* Find first free record address in given page (returns 0 if full) */
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
{
uint32_t addr = pageBase + 2U; /* Skip status word */
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
{
uint16_t vaddr = *(__IO uint16_t *)addr;
if (vaddr == 0xFFFFU)
{
/* Empty slot */
return addr;
}
addr += sizeof(EE_Record_t);
}
return 0U; /* No space */
}
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
/* Find latest value of VirtAddress in a specific page (scan forward) */
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
{
uint32_t addr = pageBase + 2U; // skip status halfword
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
EE_Status result = EE_NOT_FOUND;
uint16_t lastVal = 0;
if (Data == NULL)
return EE_ERROR;
while (addr <= (pageEnd - sizeof(EE_Record_t)))
{
uint16_t vaddr = *(__IO uint16_t *)addr;
if (vaddr == 0xFFFFU)
{
// First empty slot => no more records in this page
break;
}
uint16_t value = *(__IO uint16_t *)(addr + 2U);
if (vaddr == VirtAddress)
{
lastVal = value; // keep most recent
result = EE_OK;
}
addr += sizeof(EE_Record_t); // move 4 bytes forward
}
if (result == EE_OK)
*Data = lastVal;
return result;
}
/* Format both pages: erase and set PAGE0 as VALID */
static EE_Status EE_Format(void)
{
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
return EE_STATUS_ERROR;
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
return EE_STATUS_ERROR;
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
return EE_STATUS_ERROR;
/* PAGE1 will remain erased (status = 0xFFFF) */
EE_ActivePageBase = EE_PAGE0_BASE;
return EE_STATUS_OK;
}
/* Get the base of the other page */
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
{
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
}
/* Page transfer (garbage collection + new write) */
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
{
uint32_t oldBase = EE_ActivePageBase;
uint32_t newBase = EE_GetOtherPageBase(oldBase);
uint32_t addr;
uint16_t value;
EE_Status st;
/* Erase new page */
if (EE_FlashErasePage(newBase) != HAL_OK)
return EE_STATUS_ERROR;
/* Mark new page as RECEIVE */
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
return EE_STATUS_ERROR;
/* Start writing records just after status */
addr = newBase + 2U;
/* For each known virtual variable */
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
{
uint16_t vaddr = EE_VirtAddrs[i];
if (vaddr == VirtAddress)
{
/* Use the new data passed into PageTransfer */
value = Data;
}
else
{
/* Read latest value from old active page */
st = EE_FindInPage(oldBase, vaddr, &value);
if (st != EE_STATUS_OK)
{
/* Variable never written -> skip */
continue;
}
}
/* Write record to new page */
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
return EE_STATUS_ERROR;
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
return EE_STATUS_ERROR;
addr += sizeof(EE_Record_t);
if (addr >= (newBase + EE_PAGE_SIZE))
return EE_STATUS_NO_SPACE;
}
/* Erase old page */
if (EE_FlashErasePage(oldBase) != HAL_OK)
return EE_STATUS_ERROR;
/* Mark new page as VALID */
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
return EE_STATUS_ERROR;
/* Update active page */
EE_ActivePageBase = newBase;
return EE_STATUS_OK;
}
/* --- Public API ----------------------------------------------------------- */
/*
* Initialize the EEPROM emulation.
* - Checks page statuses and chooses the active page.
* - If inconsistent or blank, formats pages.
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
*/
uint16_t EE_Init(void)
{
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
{
/* Fresh device -> format */
return (uint16_t)EE_Format();
}
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
{
EE_ActivePageBase = EE_PAGE0_BASE;
return EE_OK;
}
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
{
EE_ActivePageBase = EE_PAGE1_BASE;
return EE_OK;
}
else
{
/* Any weird or inconsistent state -> reformat */
return (uint16_t)EE_Format();
}
}
/*
* Read a 16-bit variable by its virtual address.
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
*/
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
{
EE_Status st;
if (Data == NULL)
return EE_ERROR;
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
return (uint16_t)st;
}
/*
* Write (append) a 16-bit variable.
* - Writes a new record in the active page.
* - If the page is full, triggers a page transfer (GC).
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
*/
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
{
uint32_t freeAddr;
EE_Status st;
/* Find free space in active page */
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
if (freeAddr != 0U)
{
/* Write new record */
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
return EE_ERROR;
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
return EE_ERROR;
return EE_OK;
}
/* No space -> page transfer */
st = EE_PageTransfer(VirtAddress, Data);
return (uint16_t)st;
}
void loadEE(void){
EEW_Read(M1PWMAP, &m1pwmap);
EEW_Read(M1PWMCH, &m1pwmch);
EEW_Read(M2PWMAP, &m2pwmap);
EEW_Read(M2PWMCH, &m2pwmch);
EEW_Read(M3PWMAP, &m3pwmap);
EEW_Read(M3PWMCH, &m3pwmch);
EEW_Read(M4PWMAP, &m4pwmap);
EEW_Read(M4PWMCH, &m4pwmch);
EEW_Read(T1AP, &t1ap);
EEW_Read(T2AP, &t2ap);
EEW_Read(T3AP, &t3ap);
EEW_Read(T4AP, &t4ap);
EEW_Read(TWAP, &twap);
EEW_Read(T1CH, &t1ch);
EEW_Read(T2CH, &t2ch);
EEW_Read(T3CH, &t3ch);
EEW_Read(T4CH, &t4ch);
EEW_Read(TWCH, &twch);
EEW_Read(TRAMP1, &tramp1);
EEW_Read(M1PWMMAN, &m1pwmMan);
EEW_Read(M2PWMMAN, &m2pwmMan);
EEW_Read(M3PWMMAN, &m3pwmMan);
EEW_Read(M4PWMMAN, &m4pwmMan);
EEW_Read(TRAMPMAN, &trampman);
EEW_Read(TRAMP, &tramp);
}

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22
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@@ -1,22 +0,0 @@
/*
* debug.c
*
* Created on: Apr 20, 2026
* Author: user
*/
#include <stdio.h>
#include <string.h>
#include "main.h"
extern UART_HandleTypeDef huart1;
extern uint8_t pulsanti;
void debug(void){
static uint8_t mempulsanti;
char s [100];
if(mempulsanti!=pulsanti){
mempulsanti=pulsanti;
sprintf(s,"pulsanti=%X",pulsanti);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
}
}

14
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@@ -1,14 +0,0 @@
/*
* debug.c
*
* Created on: Apr 20, 2026
* Author: user
*/
#include "main.h"
extern UART_HandleTypeDef huart1;
void debug(void){
char s [100];
HAL_UART_Transmit(&huart1,(uint8_t*) s, 1, HAL_MAX_DELAY);
}

14
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@@ -1,14 +0,0 @@
/*
* debug.c
*
* Created on: Apr 20, 2026
* Author: user
*/
#include "main.h"
extern UART_HandleTypeDef huart1;
void debug(void){
char s [100];
HAL_UART_Transmit(&huart1,(uint8_t) s, 1, HAL_MAX_DELAY);
}

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@@ -1,22 +0,0 @@
/*
* debug.c
*
* Created on: Apr 20, 2026
* Author: user
*/
#include <stdio.h>
#include <string.h>
#include "main.h"
extern UART_HandleTypeDef huart1;
extern uint8_t pulsanti;
void debug(void){
static uint8_t mempulsanti;
char s [100];
if(mempulsanti!=pulsanti){
mempulsanti=pulsanti;
sprintf(s,"\npulsanti=%X",pulsanti);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
}
}

216
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/a7/80537c81584200111f799b956365eeb8 → workspace/.metadata/.plugins/org.eclipse.core.resources/.history/7c/50472e2a1b43001119eefd2c7986ed92
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@@ -45,6 +45,15 @@ typedef enum{
#define P1STOP 0x02
#define P2START 0x04
#define P2STOP 0x08
#define M1FW 0x10
#define M1BW 0x20
#define M2FW 0x40
#define M2BW 0x80
#define M3FW 0x100
#define M3BW 0x200
#define M4FW 0x400
#define M4BW 0x800
#define M1 1
#define M2 2
#define M3 3
@@ -78,6 +87,7 @@ extern uint16_t ch8 ;
uint8_t pulsanti=0;
volatile uint8_t rtP1=200;
volatile uint8_t rtP2=200;
volatile uint8_t rtTLC=100;
volatile uint16_t rtramp[4];
volatile uint16_t rtCiclo;
uint16_t m1pwmap;
@@ -99,9 +109,14 @@ uint16_t t3ch;
uint16_t t4ch;
uint16_t twch;
uint16_t tramp;
uint16_t trampman;
uint16_t m1pwmMan;
uint16_t m2pwmMan;
uint16_t m3pwmMan;
uint16_t m4pwmMan;
uint16_t mrampstart[4];
uint8_t stPulsanti=0;
uint16_t stPulsanti=0;
omCiclo_st stCiclo=omchiuso;
omCiclo_st memstCiclo=omchiuso;
volatile stBuz_st stBuz=bzoff;
@@ -133,7 +148,7 @@ void HAL_SYSTICK_Callback(void){
c10ms = 0;
if(rtP1)rtP1--;
if(rtP2)rtP2--;
if(rtTLC)rtTLC--;
//**** legge i tasti********************************************************************************
inidx++;
inidx&=0x03;
@@ -186,17 +201,159 @@ void managePulsanti(void){
else if(rtP2<=190)stPulsanti|=P2STOP;
rtP2=200;
}
stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
if(stPulsanti==0){
switch(pulsanti&0x3c){
case 0x00:
rtTLC=100;
stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
break;
case 0x08://tlc1
if(rtTLC==0)stPulsanti|=M1FW;
break;
case 0x10://tlc2
if(rtTLC==0)stPulsanti|=M1BW;
break;
case 0x20://tlc3
if(rtTLC==0)stPulsanti|=M3FW;
break;
case 0x04://tlc4
if(rtTLC==0)stPulsanti|=M3BW;
break;
case 0x30://tlc5
if(rtTLC==0)stPulsanti|=M4FW;
break;
case 0x0c://tlc6
if(rtTLC==0)stPulsanti|=M4BW;
break;
default:
rtTLC=100;
stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
break;
}
}
}
void manageCiclo(void){
switch(stCiclo){
case omchiuso:
if(stPulsanti&P1START){
stBuz=bzmoving;
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
stCiclo=omapertura1;
}else if(stPulsanti&P1STOP)stCiclo=omstopapertura;
else if(stPulsanti&M1FW){
stBuz=bzmoving;
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
stCiclo=omM1fw1;
}else if(stPulsanti&M1BW){
stBuz=bzmoving;
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
stCiclo=omM1bw1;
}else if(stPulsanti&M2FW){
stBuz=bzmoving;
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
stCiclo=omM2fw1;
}else if(stPulsanti&M2BW){
stBuz=bzmoving;
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
stCiclo=omM2bw1;
}else if(stPulsanti&M3FW){
stBuz=bzmoving;
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
stCiclo=omM3fw1;
}else if(stPulsanti&M3BW){
stBuz=bzmoving;
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
stCiclo=omM3bw1;
}else if(stPulsanti&M4FW){
stBuz=bzmoving;
(void)ramp(M4,FW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
stCiclo=omM4fw1;
}else if(stPulsanti&M4BW){
stBuz=bzmoving;
(void)ramp(M4,BW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
stCiclo=omM4bw1;
}
break;
case omM1fw1:
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
if(pulsanti==0)stCiclo=omM1fw2;
break;
case omM1fw2:
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
if(pulsanti)stCiclo=omStopMan;
break;
case omM1bw1:
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
if(pulsanti==0)stCiclo=omM1bw2;
break;
case omM1bw2:
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
if(pulsanti)stCiclo=omStopMan;
break;
case omM2fw1:
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
if(pulsanti==0)stCiclo=omM2fw2;
break;
case omM2fw2:
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
if(pulsanti)stCiclo=omStopMan;
break;
case omM2bw1:
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
if(pulsanti==0)stCiclo=omM2bw2;
break;
case omM2bw2:
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
if(pulsanti)stCiclo=omStopMan;
break;
case omM3fw1:
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
if(pulsanti==0)stCiclo=omM3fw2;
break;
case omM3fw2:
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
if(pulsanti)stCiclo=omStopMan;
break;
case omM3bw1:
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
if(pulsanti==0)stCiclo=omM3bw2;
break;
case omM3bw2:
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
if(pulsanti)stCiclo=omStopMan;
break;
case omM4fw1:
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
if(pulsanti==0)stCiclo=omM4fw2;
break;
case omM4fw2:
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
if(pulsanti)stCiclo=omStopMan;
break;
case omM4bw1:
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
if(pulsanti==0)stCiclo=omM4bw2;
break;
case omM4bw2:
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
if(pulsanti)stCiclo=omStopMan;
break;
case omStopMan:
SetMotPerc(M1,FW,0);
SetMotPerc(M2,FW,0);
SetMotPerc(M3,FW,0);
SetMotPerc(M4,FW,0);
SetMotPerc(M1,BW,0);
SetMotPerc(M2,BW,0);
SetMotPerc(M3,BW,0);
SetMotPerc(M4,BW,0);
if(pulsanti==0){
stBuz=bzoff;
stCiclo=omaperto;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura1:
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
@@ -291,7 +448,7 @@ void manageCiclo(void){
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura14:
if(rtCiclo==0){
if((rtCiclo==0)&&(pulsanti==0)){
stBuz=bzoff;
stCiclo=omaperto;
}
@@ -302,9 +459,11 @@ void manageCiclo(void){
SetMotPerc(M2,FW,0);
SetMotPerc(M3,FW,0);
SetMotPerc(M4,FW,0);
stBuz=bzoff;
stCiclo=omchiuso;
stPulsanti&=(~P1STOP);
if(pulsanti==0){
stBuz=bzoff;
stCiclo=omchiuso;
stPulsanti&=(~P1STOP);
}
break;
case omaperto:
if(stPulsanti&P1START){
@@ -313,6 +472,39 @@ void manageCiclo(void){
stCiclo=omchiusura1;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
else if(stPulsanti&M1FW){
stBuz=bzmoving;
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
stCiclo=omM1fw1;
}else if(stPulsanti&M1BW){
stBuz=bzmoving;
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
stCiclo=omM1bw1;
}else if(stPulsanti&M2FW){
stBuz=bzmoving;
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
stCiclo=omM2fw1;
}else if(stPulsanti&M2BW){
stBuz=bzmoving;
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
stCiclo=omM2bw1;
}else if(stPulsanti&M3FW){
stBuz=bzmoving;
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
stCiclo=omM3fw1;
}else if(stPulsanti&M3BW){
stBuz=bzmoving;
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
stCiclo=omM3bw1;
}else if(stPulsanti&M4FW){
stBuz=bzmoving;
(void)ramp(M4,FW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
stCiclo=omM4fw1;
}else if(stPulsanti&M4BW){
stBuz=bzmoving;
(void)ramp(M4,BW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
stCiclo=omM4bw1;
}
break;
case omchiusura1:
if(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
@@ -408,7 +600,7 @@ void manageCiclo(void){
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura14:
if(rtCiclo==0){
if((rtCiclo==0)&&(pulsanti==0)){
stBuz=bzoff;
stCiclo=omchiuso;
}
@@ -419,9 +611,11 @@ void manageCiclo(void){
SetMotPerc(M2,FW,0);
SetMotPerc(M3,FW,0);
SetMotPerc(M4,FW,0);
stBuz=bzoff;
stCiclo=omaperto;
stPulsanti&=(~P1STOP);
if(pulsanti==0){
stBuz=bzoff;
stCiclo=omaperto;
stPulsanti&=(~P1STOP);
}
break;
}
}

123
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@@ -0,0 +1,123 @@
/*
* eeprom.h
*
* Created on: Dec 7, 2025
* Author: user
*/
#ifndef __EEPROM_H
#define __EEPROM_H
#ifdef __cplusplus
extern "C" {
#endif
#include "stm32f1xx_hal.h"
/*
* Simple EEPROM emulation for STM32F103C8T6 (medium density).
* - Uses 2 Flash pages (1 kB each) at the end of Flash.
* - Stores variables as 16-bit values identified by 16-bit "virtual addresses".
*
* You must define the list of virtual addresses in eeprom.c: EE_VirtAddrs[].
*/
typedef enum
{
EE_STATUS_OK = 0,
EE_STATUS_ERROR,
EE_STATUS_NOT_FOUND,
EE_STATUS_NO_SPACE
} EE_Status;
/* For compatibility with ST style uint16_t return codes */
#define EE_OK ((uint16_t)EE_STATUS_OK)
#define EE_ERROR ((uint16_t)EE_STATUS_ERROR)
#define EE_NOT_FOUND ((uint16_t)EE_STATUS_NOT_FOUND)
#define EE_NO_SPACE ((uint16_t)EE_STATUS_NO_SPACE)
/* Flash parameters for STM32F103C8T6 */
#define EE_FLASH_BASE_ADDR 0x08000000U
#define EE_PAGE_SIZE 0x400U /* 1 kB pages */
/*
* Here we assume a 64 kB Flash device (STM32F103C8T6):
* Flash range: 0x0800 0000 - 0x0800 FFFF
* Pages: 0..63 (64 pages)
* We use the last 2 pages for EEPROM:
* - Page 62: 0x0800 F800
* - Page 63: 0x0800 FC00
*/
#define EE_PAGE0_BASE (EE_FLASH_BASE_ADDR + (62U * EE_PAGE_SIZE))
#define EE_PAGE1_BASE (EE_FLASH_BASE_ADDR + (63U * EE_PAGE_SIZE))
/* Page status markers (stored in the first halfword of each page) */
#define EE_PAGE_STATUS_ERASED 0xFFFFU
#define EE_PAGE_STATUS_VALID 0xAAAAU
#define EE_PAGE_STATUS_RECEIVE 0x5555U
/*
* Configure how many virtual variables you have.
* Example: bytes, words, and array elements mapped to 16-bit variables.
* Set EE_NUM_VIRTUAL_ADDR and define EE_VirtAddrs[] in eeprom.c.
*/
/* 32 virtual variables, sequential addresses */
#define EE_NUM_VIRTUAL_ADDR 32U
#define EEW_ADDR(i) (uint16_t)(0x0001 + (i)) // i = 0..31
#define M1PWMAP 0 //m1pwmap
#define M1PWMCH 1 //m1pwmch
#define M2PWMAP 2 //m2pwmap
#define M2PWMCH 3 //m2pwmch
#define M3PWMAP 4 //m3pwmap
#define M3PWMCH 5 //m3pwmch
#define M4PWMAP 6 //m4pwmap
#define M4PWMCH 7 //m4pwmch
#define M1RAMPSTART 8 //m1rampstart
#define M2RAMPSTART 9 //m2rampstart
#define M3RAMPSTART 10 //m3rampstart
#define M4RAMPSTART 11 //m4rampstart
#define T1AP 12 //t1ap
#define T2AP 13 //t2ap
#define T3AP 14 //t3ap
#define T4AP 15 //t4ap
#define TWAP 16 //twap
#define T1CH 17 //t1ch
#define T2CH 18 //t2ch
#define T3CH 19 //t3ch
#define T4CH 20 //t4ch
#define TWCH 21 //twch
#define M1PWMMAN 26 //m1pwmMan
#define M2PWMMAN 27 //m2pwmMan
#define M3PWMMAN 28 //m3pwmMan
#define M4PWMMAN 29 //m4pwmMan
#define TRAMPMAN 30 //trampman
#define TRAMP 31 //tramp
/* Virtual address table (defined in eeprom.c, can be customized) */
extern const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR];
/* Public API – now using uint16_t like ST examples */
uint16_t EE_Init(void);
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data);
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data);
void loadEE(void);
/* Pseudo-array accessor EEW[idx] */
static inline uint16_t EEW_Read(uint8_t idx, uint16_t *value)
{
return EE_ReadVariable(EEW_ADDR(idx), value);
}
static inline uint16_t EEW_Write(uint8_t idx, uint16_t value)
{
return EE_WriteVariable(EEW_ADDR(idx), value);
}
#ifdef __cplusplus
}
#endif
#endif /* __EEPROM_H */

389
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@@ -0,0 +1,389 @@
#include "eeprom.h"
/*
* Record format (4 bytes):
* [0] VirtAddress (uint16_t)
* [2] Data (uint16_t)
*
* Page layout:
* [0] PageStatus (uint16_t)
* [2..] Records...
*/
extern uint16_t m1pwmap;
extern uint16_t m1pwmch;
extern uint16_t m2pwmap;
extern uint16_t m2pwmch;
extern uint16_t m3pwmap;
extern uint16_t m3pwmch;
extern uint16_t m4pwmap;
extern uint16_t m4pwmch;
extern uint16_t t1ap;
extern uint16_t t2ap;
extern uint16_t t3ap;
extern uint16_t t4ap;
extern uint16_t twap;
extern uint16_t tramp;
extern uint16_t t1ch;
extern uint16_t t2ch;
extern uint16_t t3ch;
extern uint16_t t4ch;
extern uint16_t twch;
extern uint16_t trampman;
extern uint16_t m1pwmMan;
extern uint16_t m2pwmMan;
extern uint16_t m3pwmMan;
extern uint16_t m4pwmMan;
const uint8_t deftab[32]={
40, //m1pwmap
60, //m1pwmch
70, //m2pwmap
70, //m2pwmch
35, //m3pwmap
40, //m3pwmch
40, //m4pwmap
40, //m4pwmch
20, //m1rampstart
20, //m2rampstart
20, //m3rampstart
20, //m4rampstart
28, //t1ap
4, //t2ap
10, //t3ap
40, //t4ap
1, //twap
20, //t1ch
10, //t2ch
30, //t3ch
1, //t4ch
1, //twch
0,
0,
0,
100, //tramp1
60, //m1pwmMan
70, //m2pwmMan
40, //m3pwmMan
40, //m4pwmMan
50, //trampman
10, //tramp
};
typedef struct
{
uint16_t VirtAddress;
uint16_t Data;
} EE_Record_t;
/* Active page base address (runtime selected in EE_Init) */
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
/* 32 sequential virtual addresses */
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
{
0x0001, 0x0002, 0x0003, 0x0004,
0x0005, 0x0006, 0x0007, 0x0008,
0x0009, 0x000A, 0x000B, 0x000C,
0x000D, 0x000E, 0x000F, 0x0010,
0x0011, 0x0012, 0x0013, 0x0014,
0x0015, 0x0016, 0x0017, 0x0018,
0x0019, 0x001A, 0x001B, 0x001C,
0x001D, 0x001E, 0x001F, 0x0020
};
/* ========================================================================= */
/* --- Internal helpers ---------------------------------------------------- */
static uint16_t EE_GetPageStatus(uint32_t pageBase)
{
return *(__IO uint16_t *)pageBase;
}
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
{
HAL_StatusTypeDef status;
HAL_FLASH_Unlock();
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
HAL_FLASH_Lock();
return status;
}
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
{
HAL_StatusTypeDef status;
FLASH_EraseInitTypeDef EraseInit;
uint32_t PageError = 0;
HAL_FLASH_Unlock();
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
EraseInit.PageAddress = PageAddress;
EraseInit.NbPages = 1;
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
HAL_FLASH_Lock();
return status;
}
/* Find first free record address in given page (returns 0 if full) */
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
{
uint32_t addr = pageBase + 2U; /* Skip status word */
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
{
uint16_t vaddr = *(__IO uint16_t *)addr;
if (vaddr == 0xFFFFU)
{
/* Empty slot */
return addr;
}
addr += sizeof(EE_Record_t);
}
return 0U; /* No space */
}
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
/* Find latest value of VirtAddress in a specific page (scan forward) */
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
{
uint32_t addr = pageBase + 2U; // skip status halfword
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
EE_Status result = EE_NOT_FOUND;
uint16_t lastVal = 0;
if (Data == NULL)
return EE_ERROR;
while (addr <= (pageEnd - sizeof(EE_Record_t)))
{
uint16_t vaddr = *(__IO uint16_t *)addr;
if (vaddr == 0xFFFFU)
{
// First empty slot => no more records in this page
break;
}
uint16_t value = *(__IO uint16_t *)(addr + 2U);
if (vaddr == VirtAddress)
{
lastVal = value; // keep most recent
result = EE_OK;
}
addr += sizeof(EE_Record_t); // move 4 bytes forward
}
if (result == EE_OK)
*Data = lastVal;
return result;
}
/* Format both pages: erase and set PAGE0 as VALID */
static EE_Status EE_Format(void)
{
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
return EE_STATUS_ERROR;
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
return EE_STATUS_ERROR;
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
return EE_STATUS_ERROR;
/* PAGE1 will remain erased (status = 0xFFFF) */
EE_ActivePageBase = EE_PAGE0_BASE;
return EE_STATUS_OK;
}
/* Get the base of the other page */
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
{
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
}
/* Page transfer (garbage collection + new write) */
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
{
uint32_t oldBase = EE_ActivePageBase;
uint32_t newBase = EE_GetOtherPageBase(oldBase);
uint32_t addr;
uint16_t value;
EE_Status st;
/* Erase new page */
if (EE_FlashErasePage(newBase) != HAL_OK)
return EE_STATUS_ERROR;
/* Mark new page as RECEIVE */
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
return EE_STATUS_ERROR;
/* Start writing records just after status */
addr = newBase + 2U;
/* For each known virtual variable */
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
{
uint16_t vaddr = EE_VirtAddrs[i];
if (vaddr == VirtAddress)
{
/* Use the new data passed into PageTransfer */
value = Data;
}
else
{
/* Read latest value from old active page */
st = EE_FindInPage(oldBase, vaddr, &value);
if (st != EE_STATUS_OK)
{
/* Variable never written -> skip */
continue;
}
}
/* Write record to new page */
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
return EE_STATUS_ERROR;
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
return EE_STATUS_ERROR;
addr += sizeof(EE_Record_t);
if (addr >= (newBase + EE_PAGE_SIZE))
return EE_STATUS_NO_SPACE;
}
/* Erase old page */
if (EE_FlashErasePage(oldBase) != HAL_OK)
return EE_STATUS_ERROR;
/* Mark new page as VALID */
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
return EE_STATUS_ERROR;
/* Update active page */
EE_ActivePageBase = newBase;
return EE_STATUS_OK;
}
/* --- Public API ----------------------------------------------------------- */
/*
* Initialize the EEPROM emulation.
* - Checks page statuses and chooses the active page.
* - If inconsistent or blank, formats pages.
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
*/
uint16_t EE_Init(void)
{
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
{
/* Fresh device -> format */
return (uint16_t)EE_Format();
}
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
{
EE_ActivePageBase = EE_PAGE0_BASE;
return EE_OK;
}
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
{
EE_ActivePageBase = EE_PAGE1_BASE;
return EE_OK;
}
else
{
/* Any weird or inconsistent state -> reformat */
return (uint16_t)EE_Format();
}
}
/*
* Read a 16-bit variable by its virtual address.
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
*/
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
{
EE_Status st;
if (Data == NULL)
return EE_ERROR;
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
return (uint16_t)st;
}
/*
* Write (append) a 16-bit variable.
* - Writes a new record in the active page.
* - If the page is full, triggers a page transfer (GC).
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
*/
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
{
uint32_t freeAddr;
EE_Status st;
/* Find free space in active page */
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
if (freeAddr != 0U)
{
/* Write new record */
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
return EE_ERROR;
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
return EE_ERROR;
return EE_OK;
}
/* No space -> page transfer */
st = EE_PageTransfer(VirtAddress, Data);
return (uint16_t)st;
}
void loadEE(void){
EEW_Read(M1PWMAP, &m1pwmap);
EEW_Read(M1PWMCH, &m1pwmch);
EEW_Read(M2PWMAP, &m2pwmap);
EEW_Read(M2PWMCH, &m2pwmch);
EEW_Read(M3PWMAP, &m3pwmap);
EEW_Read(M3PWMCH, &m3pwmch);
EEW_Read(M4PWMAP, &m4pwmap);
EEW_Read(M4PWMCH, &m4pwmch);
EEW_Read(T1AP, &t1ap);
EEW_Read(T2AP, &t2ap);
EEW_Read(T3AP, &t3ap);
EEW_Read(T4AP, &t4ap);
EEW_Read(TWAP, &twap);
EEW_Read(T1CH, &t1ch);
EEW_Read(T2CH, &t2ch);
EEW_Read(T3CH, &t3ch);
EEW_Read(T4CH, &t4ch);
EEW_Read(TWCH, &twch);
EEW_Read(TRAMP1, &tramp1);
EEW_Read(M1PWMMAN, &m1pwmMan);
EEW_Read(M2PWMMAN, &m2pwmMan);
EEW_Read(M3PWMMAN, &m3pwmMan);
EEW_Read(M4PWMMAN, &m4pwmMan);
EEW_Read(TRAMPMAN, &trampman);
EEW_Read(TRAMP, &tramp);
}

12
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/ba/e0aefe27013d00111c079c4a825d8137
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@@ -1,12 +0,0 @@
/*
* debug.c
*
* Created on: Apr 20, 2026
* Author: user
*/
void debug(void){
HAL_UART_Transmit(&huart1, &b, 1, HAL_MAX_DELAY);
}

14
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/c0/008c1339013d00111c079c4a825d8137
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@@ -1,14 +0,0 @@
/*
* debug.c
*
* Created on: Apr 20, 2026
* Author: user
*/
#include "main.h"
extern UART_HandleTypeDef huart1;
void debug(void){
HAL_UART_Transmit(&huart1, &b, 1, HAL_MAX_DELAY);
}

1145
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File diff suppressed because it is too large Load Diff

13
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/cc/30a1cdf3003d00111c079c4a825d8137
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@@ -1,13 +0,0 @@
/*
* debug.h
*
* Created on: Apr 20, 2026
* Author: user
*/
#ifndef SRC_DEBUG_H_
#define SRC_DEBUG_H_
#endif /* SRC_DEBUG_H_ */

17
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/3c/d0dfb561674200111f799b956365eeb8 → workspace/.metadata/.plugins/org.eclipse.core.resources/.history/eb/60a33a2a1b43001119eefd2c7986ed92
View File

@@ -38,6 +38,23 @@ extern "C" {
/* USER CODE BEGIN ET */
typedef enum{
omchiuso,
omM1fw1,
omM1fw2,
omM1bw1,
omM1bw2,
omM2fw1,
omM2fw2,
omM2bw1,
omM2bw2,
omM3fw1,
omM3fw2,
omM3bw1,
omM3bw2,
omM4fw1,
omM4fw2,
omM4bw1,
omM4bw2,
omStopMan,
omapertura1,
omapertura2,
omapertura3,

388
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/ee/a05d362a1b43001119eefd2c7986ed92 Normal file
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@@ -0,0 +1,388 @@
#include "eeprom.h"
/*
* Record format (4 bytes):
* [0] VirtAddress (uint16_t)
* [2] Data (uint16_t)
*
* Page layout:
* [0] PageStatus (uint16_t)
* [2..] Records...
*/
extern uint16_t m1pwmap;
extern uint16_t m1pwmch;
extern uint16_t m2pwmap;
extern uint16_t m2pwmch;
extern uint16_t m3pwmap;
extern uint16_t m3pwmch;
extern uint16_t m4pwmap;
extern uint16_t m4pwmch;
extern uint16_t t1ap;
extern uint16_t t2ap;
extern uint16_t t3ap;
extern uint16_t t4ap;
extern uint16_t twap;
extern uint16_t tramp;
extern uint16_t t1ch;
extern uint16_t t2ch;
extern uint16_t t3ch;
extern uint16_t t4ch;
extern uint16_t twch;
extern uint16_t trampman;
extern uint16_t m1pwmMan;
extern uint16_t m2pwmMan;
extern uint16_t m3pwmMan;
extern uint16_t m4pwmMan;
const uint8_t deftab[32]={
40, //m1pwmap
60, //m1pwmch
70, //m2pwmap
70, //m2pwmch
35, //m3pwmap
40, //m3pwmch
40, //m4pwmap
40, //m4pwmch
20, //m1rampstart
20, //m2rampstart
20, //m3rampstart
20, //m4rampstart
28, //t1ap
4, //t2ap
10, //t3ap
40, //t4ap
1, //twap
20, //t1ch
10, //t2ch
30, //t3ch
1, //t4ch
1, //twch
0,
0,
0,
0,
60, //m1pwmMan
70, //m2pwmMan
40, //m3pwmMan
40, //m4pwmMan
50, //trampman
10, //tramp
};
typedef struct
{
uint16_t VirtAddress;
uint16_t Data;
} EE_Record_t;
/* Active page base address (runtime selected in EE_Init) */
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
/* 32 sequential virtual addresses */
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
{
0x0001, 0x0002, 0x0003, 0x0004,
0x0005, 0x0006, 0x0007, 0x0008,
0x0009, 0x000A, 0x000B, 0x000C,
0x000D, 0x000E, 0x000F, 0x0010,
0x0011, 0x0012, 0x0013, 0x0014,
0x0015, 0x0016, 0x0017, 0x0018,
0x0019, 0x001A, 0x001B, 0x001C,
0x001D, 0x001E, 0x001F, 0x0020
};
/* ========================================================================= */
/* --- Internal helpers ---------------------------------------------------- */
static uint16_t EE_GetPageStatus(uint32_t pageBase)
{
return *(__IO uint16_t *)pageBase;
}
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
{
HAL_StatusTypeDef status;
HAL_FLASH_Unlock();
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
HAL_FLASH_Lock();
return status;
}
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
{
HAL_StatusTypeDef status;
FLASH_EraseInitTypeDef EraseInit;
uint32_t PageError = 0;
HAL_FLASH_Unlock();
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
EraseInit.PageAddress = PageAddress;
EraseInit.NbPages = 1;
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
HAL_FLASH_Lock();
return status;
}
/* Find first free record address in given page (returns 0 if full) */
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
{
uint32_t addr = pageBase + 2U; /* Skip status word */
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
{
uint16_t vaddr = *(__IO uint16_t *)addr;
if (vaddr == 0xFFFFU)
{
/* Empty slot */
return addr;
}
addr += sizeof(EE_Record_t);
}
return 0U; /* No space */
}
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
/* Find latest value of VirtAddress in a specific page (scan forward) */
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
{
uint32_t addr = pageBase + 2U; // skip status halfword
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
EE_Status result = EE_NOT_FOUND;
uint16_t lastVal = 0;
if (Data == NULL)
return EE_ERROR;
while (addr <= (pageEnd - sizeof(EE_Record_t)))
{
uint16_t vaddr = *(__IO uint16_t *)addr;
if (vaddr == 0xFFFFU)
{
// First empty slot => no more records in this page
break;
}
uint16_t value = *(__IO uint16_t *)(addr + 2U);
if (vaddr == VirtAddress)
{
lastVal = value; // keep most recent
result = EE_OK;
}
addr += sizeof(EE_Record_t); // move 4 bytes forward
}
if (result == EE_OK)
*Data = lastVal;
return result;
}
/* Format both pages: erase and set PAGE0 as VALID */
static EE_Status EE_Format(void)
{
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
return EE_STATUS_ERROR;
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
return EE_STATUS_ERROR;
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
return EE_STATUS_ERROR;
/* PAGE1 will remain erased (status = 0xFFFF) */
EE_ActivePageBase = EE_PAGE0_BASE;
return EE_STATUS_OK;
}
/* Get the base of the other page */
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
{
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
}
/* Page transfer (garbage collection + new write) */
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
{
uint32_t oldBase = EE_ActivePageBase;
uint32_t newBase = EE_GetOtherPageBase(oldBase);
uint32_t addr;
uint16_t value;
EE_Status st;
/* Erase new page */
if (EE_FlashErasePage(newBase) != HAL_OK)
return EE_STATUS_ERROR;
/* Mark new page as RECEIVE */
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
return EE_STATUS_ERROR;
/* Start writing records just after status */
addr = newBase + 2U;
/* For each known virtual variable */
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
{
uint16_t vaddr = EE_VirtAddrs[i];
if (vaddr == VirtAddress)
{
/* Use the new data passed into PageTransfer */
value = Data;
}
else
{
/* Read latest value from old active page */
st = EE_FindInPage(oldBase, vaddr, &value);
if (st != EE_STATUS_OK)
{
/* Variable never written -> skip */
continue;
}
}
/* Write record to new page */
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
return EE_STATUS_ERROR;
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
return EE_STATUS_ERROR;
addr += sizeof(EE_Record_t);
if (addr >= (newBase + EE_PAGE_SIZE))
return EE_STATUS_NO_SPACE;
}
/* Erase old page */
if (EE_FlashErasePage(oldBase) != HAL_OK)
return EE_STATUS_ERROR;
/* Mark new page as VALID */
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
return EE_STATUS_ERROR;
/* Update active page */
EE_ActivePageBase = newBase;
return EE_STATUS_OK;
}
/* --- Public API ----------------------------------------------------------- */
/*
* Initialize the EEPROM emulation.
* - Checks page statuses and chooses the active page.
* - If inconsistent or blank, formats pages.
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
*/
uint16_t EE_Init(void)
{
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
{
/* Fresh device -> format */
return (uint16_t)EE_Format();
}
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
{
EE_ActivePageBase = EE_PAGE0_BASE;
return EE_OK;
}
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
{
EE_ActivePageBase = EE_PAGE1_BASE;
return EE_OK;
}
else
{
/* Any weird or inconsistent state -> reformat */
return (uint16_t)EE_Format();
}
}
/*
* Read a 16-bit variable by its virtual address.
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
*/
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
{
EE_Status st;
if (Data == NULL)
return EE_ERROR;
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
return (uint16_t)st;
}
/*
* Write (append) a 16-bit variable.
* - Writes a new record in the active page.
* - If the page is full, triggers a page transfer (GC).
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
*/
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
{
uint32_t freeAddr;
EE_Status st;
/* Find free space in active page */
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
if (freeAddr != 0U)
{
/* Write new record */
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
return EE_ERROR;
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
return EE_ERROR;
return EE_OK;
}
/* No space -> page transfer */
st = EE_PageTransfer(VirtAddress, Data);
return (uint16_t)st;
}
void loadEE(void){
EEW_Read(M1PWMAP, &m1pwmap);
EEW_Read(M1PWMCH, &m1pwmch);
EEW_Read(M2PWMAP, &m2pwmap);
EEW_Read(M2PWMCH, &m2pwmch);
EEW_Read(M3PWMAP, &m3pwmap);
EEW_Read(M3PWMCH, &m3pwmch);
EEW_Read(M4PWMAP, &m4pwmap);
EEW_Read(M4PWMCH, &m4pwmch);
EEW_Read(T1AP, &t1ap);
EEW_Read(T2AP, &t2ap);
EEW_Read(T3AP, &t3ap);
EEW_Read(T4AP, &t4ap);
EEW_Read(TWAP, &twap);
EEW_Read(T1CH, &t1ch);
EEW_Read(T2CH, &t2ch);
EEW_Read(T3CH, &t3ch);
EEW_Read(T4CH, &t4ch);
EEW_Read(TWCH, &twch);
EEW_Read(M1PWMMAN, &m1pwmMan);
EEW_Read(M2PWMMAN, &m2pwmMan);
EEW_Read(M3PWMMAN, &m3pwmMan);
EEW_Read(M4PWMMAN, &m4pwmMan);
EEW_Read(TRAMPMAN, &trampman);
EEW_Read(TRAMP, &tramp);
}

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