wip
This commit is contained in:
andrea
File diff suppressed because it is too large
Load Diff
@@ -1,512 +0,0 @@
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#include <stdio.h>
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#include <string.h>
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#include "eeprom.h"
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#include "pwm.h"
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extern UART_HandleTypeDef huart1;
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/*
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* Record format (4 bytes):
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* [0] VirtAddress (uint16_t)
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* [2] Data (uint16_t)
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*
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* Page layout:
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* [0] PageStatus (uint16_t)
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* [2..] Records...
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*/
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extern uint16_t m1pwmap;
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extern uint16_t m1pwmch;
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extern uint16_t m2pwmap;
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extern uint16_t m2pwmch;
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extern uint16_t m3pwmap;
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extern uint16_t m3pwmch;
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extern uint16_t m4pwmap;
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extern uint16_t m4pwmch;
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extern uint16_t m1TimeoutMan;
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extern uint16_t m2TimeoutMan;
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extern uint16_t m3TimeoutMan;
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extern uint16_t m4TimeoutMan;
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extern uint16_t twap;
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extern uint16_t tramp;
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extern uint16_t t1ch;
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extern uint16_t t2ch;
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extern uint16_t t3ch;
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extern uint16_t t4ch;
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extern uint16_t twch;
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extern uint16_t tanem;
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extern uint16_t thanem;
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extern uint16_t trampman;
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extern uint16_t m1pwmMan;
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extern uint16_t m2pwmMan;
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extern uint16_t m3pwmMan;
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extern uint16_t m4pwmMan;
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extern uint16_t mrampstart[];
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extern uint16_t apM1start;
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extern uint16_t apM1stop;
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extern uint16_t apM2start;
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extern uint16_t apM2stop;
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extern uint16_t apM3start;
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extern uint16_t apM3stop;
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extern uint16_t apM4start;
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extern uint16_t apM4stop;
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extern uint16_t chM1start;
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extern uint16_t chM1stop;
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extern uint16_t chM2start;
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extern uint16_t chM2stop;
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extern uint16_t chM3start;
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extern uint16_t chM3stop;
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extern uint16_t chM4start;
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extern uint16_t chM4stop;
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extern uint16_t flagPar;
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const uint16_t deftab[EE_NUM_VIRTUAL_ADDR]={
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40, //m1pwmap
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60, //m1pwmch
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70, //m2pwmap
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70, //m2pwmch
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35, //m3pwmap
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40, //m3pwmch
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40, //m4pwmap
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40, //m4pwmch
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20, //m1rampstart
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20, //m2rampstart
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20, //m3rampstart
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20, //m4rampstart
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230,//m1timeoutman
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100,//m2timeoutman
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130,//m3timeoutman
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300,//m4timeoutman
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1, //twap
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27, //t1ch
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10, //t2ch
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30, //t3ch
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1, //t4ch
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1, //twch
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0,
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0,
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0x200,//thanem
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20, //tanem
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60, //m1pwmMan
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70, //m2pwmMan
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40, //m3pwmMan
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40, //m4pwmMan
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50, //trampman
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10, //tramp
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310, //apM1start;
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450, //apM1stop;
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30, //apM2start;
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310, //apM2stop;
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340, //apM3start;
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430, //apM3stop;
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30, //apM4start;
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430, //apM4stop;
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10, //chM1start;
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320, //chM1stop;
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140, //chM2start;
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440, //chM2stop;
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20, //chM3start;
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280, //chM3stop;
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40, //chM4start;
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440, //chM4stop;
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1,
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27,
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10,
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30,
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1,
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1,
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0,
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0,
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0,
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100,
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60,
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70,
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40,
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40,
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50,
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0x01,//flagpar caricamento parametri
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};
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typedef struct
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{
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uint16_t VirtAddress;
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uint16_t Data;
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} EE_Record_t;
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/* Active page base address (runtime selected in EE_Init) */
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static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
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/* 32 sequential virtual addresses */
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const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
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{
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0x0001, 0x0002, 0x0003, 0x0004,
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0x0005, 0x0006, 0x0007, 0x0008,
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0x0009, 0x000A, 0x000B, 0x000C,
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0x000D, 0x000E, 0x000F, 0x0010,
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0x0011, 0x0012, 0x0013, 0x0014,
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0x0015, 0x0016, 0x0017, 0x0018,
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0x0019, 0x001A, 0x001B, 0x001C,
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0x001D, 0x001E, 0x001F, 0x0020,
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0x0021, 0x0022, 0x0023, 0x0024,
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0x0025, 0x0026, 0x0027, 0x0028,
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0x0029, 0x002A, 0x002B, 0x002C,
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0x002D, 0x002E, 0x002F, 0x0030,
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0x0031, 0x0032, 0x0033, 0x0034,
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0x0035, 0x0036, 0x0037, 0x0038,
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0x0039, 0x003A, 0x003B, 0x003C,
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0x003D, 0x003E, 0x003F, 0x0040
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};
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/* ========================================================================= */
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/* --- Internal helpers ---------------------------------------------------- */
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static uint16_t EE_GetPageStatus(uint32_t pageBase)
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{
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return *(__IO uint16_t *)pageBase;
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}
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static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
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{
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HAL_StatusTypeDef status;
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HAL_FLASH_Unlock();
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status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
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HAL_FLASH_Lock();
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return status;
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}
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static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
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{
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HAL_StatusTypeDef status;
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FLASH_EraseInitTypeDef EraseInit;
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uint32_t PageError = 0;
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HAL_FLASH_Unlock();
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EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
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EraseInit.PageAddress = PageAddress;
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EraseInit.NbPages = 1;
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status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
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HAL_FLASH_Lock();
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return status;
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}
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/* Find first free record address in given page (returns 0 if full) */
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static uint32_t EE_FindFreeAddress(uint32_t pageBase)
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{
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uint32_t addr = pageBase + 2U; /* Skip status word */
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uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
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while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
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{
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uint16_t vaddr = *(__IO uint16_t *)addr;
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if (vaddr == 0xFFFFU)
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{
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/* Empty slot */
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return addr;
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}
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addr += sizeof(EE_Record_t);
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}
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return 0U; /* No space */
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}
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/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
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/* Find latest value of VirtAddress in a specific page (scan forward) */
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static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
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{
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uint32_t addr = pageBase + 2U; // skip status halfword
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uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
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EE_Status result = EE_NOT_FOUND;
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uint16_t lastVal = 0;
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if (Data == NULL)
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return EE_ERROR;
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while (addr <= (pageEnd - sizeof(EE_Record_t)))
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{
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uint16_t vaddr = *(__IO uint16_t *)addr;
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if (vaddr == 0xFFFFU)
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{
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// First empty slot => no more records in this page
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break;
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}
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uint16_t value = *(__IO uint16_t *)(addr + 2U);
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if (vaddr == VirtAddress)
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{
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lastVal = value; // keep most recent
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result = EE_OK;
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}
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addr += sizeof(EE_Record_t); // move 4 bytes forward
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}
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if (result == EE_OK)
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*Data = lastVal;
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return result;
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}
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/* Format both pages: erase and set PAGE0 as VALID */
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static EE_Status EE_Format(void)
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{
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if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
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return EE_STATUS_ERROR;
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if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
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return EE_STATUS_ERROR;
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if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
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return EE_STATUS_ERROR;
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/* PAGE1 will remain erased (status = 0xFFFF) */
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EE_ActivePageBase = EE_PAGE0_BASE;
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return EE_STATUS_OK;
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}
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/* Get the base of the other page */
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static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
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{
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return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
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}
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/* Page transfer (garbage collection + new write) */
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static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
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{
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uint32_t oldBase = EE_ActivePageBase;
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uint32_t newBase = EE_GetOtherPageBase(oldBase);
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uint32_t addr;
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uint16_t value;
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EE_Status st;
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/* Erase new page */
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if (EE_FlashErasePage(newBase) != HAL_OK)
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return EE_STATUS_ERROR;
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/* Mark new page as RECEIVE */
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if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
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return EE_STATUS_ERROR;
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/* Start writing records just after status */
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addr = newBase + 2U;
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/* For each known virtual variable */
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for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
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{
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uint16_t vaddr = EE_VirtAddrs[i];
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if (vaddr == VirtAddress)
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{
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/* Use the new data passed into PageTransfer */
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value = Data;
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}
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else
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{
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/* Read latest value from old active page */
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st = EE_FindInPage(oldBase, vaddr, &value);
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if (st != EE_STATUS_OK)
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{
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/* Variable never written -> skip */
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continue;
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}
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}
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/* Write record to new page */
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if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
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return EE_STATUS_ERROR;
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if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
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return EE_STATUS_ERROR;
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addr += sizeof(EE_Record_t);
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if (addr >= (newBase + EE_PAGE_SIZE))
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return EE_STATUS_NO_SPACE;
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}
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/* Erase old page */
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if (EE_FlashErasePage(oldBase) != HAL_OK)
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return EE_STATUS_ERROR;
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/* Mark new page as VALID */
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if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
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return EE_STATUS_ERROR;
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/* Update active page */
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EE_ActivePageBase = newBase;
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return EE_STATUS_OK;
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}
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/* --- Public API ----------------------------------------------------------- */
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/*
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* Initialize the EEPROM emulation.
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* - Checks page statuses and chooses the active page.
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* - If inconsistent or blank, formats pages.
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* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
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*/
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uint16_t EE_Init(void)
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{
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uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
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uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
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if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
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{
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/* Fresh device -> format */
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return (uint16_t)EE_Format();
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}
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else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
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{
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EE_ActivePageBase = EE_PAGE0_BASE;
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return EE_OK;
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}
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else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
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{
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EE_ActivePageBase = EE_PAGE1_BASE;
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return EE_OK;
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}
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else
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{
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/* Any weird or inconsistent state -> reformat */
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return (uint16_t)EE_Format();
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}
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}
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/*
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* Read a 16-bit variable by its virtual address.
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* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
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*/
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uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
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{
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EE_Status st;
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if (Data == NULL)
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return EE_ERROR;
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st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
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return (uint16_t)st;
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}
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/*
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* Write (append) a 16-bit variable.
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* - Writes a new record in the active page.
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* - If the page is full, triggers a page transfer (GC).
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* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
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*/
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uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
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{
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uint32_t freeAddr;
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EE_Status st;
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/* Find free space in active page */
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freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
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if (freeAddr != 0U)
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{
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/* Write new record */
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if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
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return EE_ERROR;
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if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
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return EE_ERROR;
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return EE_OK;
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}
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/* No space -> page transfer */
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st = EE_PageTransfer(VirtAddress, Data);
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return (uint16_t)st;
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}
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void loadDefault(void){
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uint8_t i;
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char s[100];
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uint16_t st;
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for(i=0;i<EE_NUM_VIRTUAL_ADDR;i++){
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st=EEW_Write(i,deftab[i]);
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if (st == EE_OK)sprintf((char*)s,"\ndone %d=%d",i,deftab[i]);
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else sprintf((char*)s,"\nee write error %d", st);
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HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
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}
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}
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void loadEE(void){
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char s [200];
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EEW_Read(M1PWMAP, &m1pwmap);
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EEW_Read(M1PWMCH, &m1pwmch);
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EEW_Read(M2PWMAP, &m2pwmap);
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EEW_Read(M2PWMCH, &m2pwmch);
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EEW_Read(M3PWMAP, &m3pwmap);
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EEW_Read(M3PWMCH, &m3pwmch);
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EEW_Read(M4PWMAP, &m4pwmap);
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EEW_Read(M4PWMCH, &m4pwmch);
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EEW_Read(M1RAMPSTART, &mrampstart[M1-1]);
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EEW_Read(M2RAMPSTART, &mrampstart[M2-1]);
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EEW_Read(M3RAMPSTART, &mrampstart[M3-1]);
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EEW_Read(M4RAMPSTART, &mrampstart[M4-1]);
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EEW_Read(M1TIMEOUTMAN, &m1TimeoutMan);
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EEW_Read(M2TIMEOUTMAN, &m2TimeoutMan);
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EEW_Read(M3TIMEOUTMAN, &m3TimeoutMan);
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EEW_Read(M4TIMEOUTMAN, &m4TimeoutMan);
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EEW_Read(THANEM, &thanem);
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EEW_Read(TANEM, &thanem);
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EEW_Read(M1PWMMAN, &m1pwmMan);
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EEW_Read(M2PWMMAN, &m2pwmMan);
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EEW_Read(M3PWMMAN, &m3pwmMan);
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EEW_Read(M4PWMMAN, &m4pwmMan);
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EEW_Read(TRAMPMAN, &trampman);
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EEW_Read(TRAMP, &tramp);
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EEW_Read(APM1START,&apM1start);
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EEW_Read(APM1STOP ,&apM1stop);
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EEW_Read(APM2START,&apM2start);
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||||
EEW_Read(APM2STOP ,&apM2stop);
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||||
EEW_Read(APM3START,&apM3start);
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||||
EEW_Read(APM3STOP ,&apM3stop);
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EEW_Read(APM4START,&apM4start);
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EEW_Read(APM4STOP ,&apM4stop);
|
||||
EEW_Read(CHM1START,&chM1start);
|
||||
EEW_Read(CHM1STOP ,&chM1stop);
|
||||
EEW_Read(CHM2START,&chM2start);
|
||||
EEW_Read(CHM2STOP ,&chM2stop);
|
||||
EEW_Read(CHM3START,&chM3start);
|
||||
EEW_Read(CHM3STOP ,&chM3stop);
|
||||
EEW_Read(CHM4START,&chM4start);
|
||||
EEW_Read(CHM4STOP ,&chM4stop);
|
||||
|
||||
EEW_Read(FLAGPAR ,&flagPar);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwmap, m4pwmch);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1TimeoutMan=%d m2TimeoutMan=%d m3TimeoutMan=%d m4TimeoutMan=%d ",m1TimeoutMan,m2TimeoutMan,m3TimeoutMan,m4TimeoutMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\ntramp=%d trampman=%d",tramp,trampman);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM1start=%d apM1stop=%d chM1start=%d chM1stop=%d",apM1start,apM1stop,chM1start,chM1stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM2start=%d apM2stop=%d chM2start=%d chM2stop=%d",apM2start,apM2stop,chM2start,chM2stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM3start=%d apM3stop=%d chM3start=%d chM3stop=%d",apM3start,apM3stop,chM3start,chM3stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM4start=%d apM4stop=%d chM4start=%d chM4stop=%d",apM4start,apM4stop,chM4start,chM4stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
}
|
||||
@@ -1,512 +0,0 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "eeprom.h"
|
||||
#include "pwm.h"
|
||||
extern UART_HandleTypeDef huart1;
|
||||
/*
|
||||
* 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 m1TimeoutMan;
|
||||
extern uint16_t m2TimeoutMan;
|
||||
extern uint16_t m3TimeoutMan;
|
||||
extern uint16_t m4TimeoutMan;
|
||||
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 tanem;
|
||||
extern uint16_t thanem;
|
||||
extern uint16_t trampman;
|
||||
extern uint16_t m1pwmMan;
|
||||
extern uint16_t m2pwmMan;
|
||||
extern uint16_t m3pwmMan;
|
||||
extern uint16_t m4pwmMan;
|
||||
extern uint16_t mrampstart[];
|
||||
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
|
||||
extern uint16_t flagPar;
|
||||
|
||||
const uint16_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
70, //m2pwmap
|
||||
70, //m2pwmch
|
||||
35, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
230,//m1timeoutman
|
||||
100,//m2timeoutman
|
||||
130,//m3timeoutman
|
||||
300,//m4timeoutman
|
||||
1, //twap
|
||||
27, //t1ch
|
||||
10, //t2ch
|
||||
30, //t3ch
|
||||
1, //t4ch
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0x400,//thanem
|
||||
20, //tanem
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
40, //m4pwmMan
|
||||
50, //trampman
|
||||
10, //tramp
|
||||
310, //apM1start;
|
||||
450, //apM1stop;
|
||||
30, //apM2start;
|
||||
310, //apM2stop;
|
||||
340, //apM3start;
|
||||
430, //apM3stop;
|
||||
30, //apM4start;
|
||||
430, //apM4stop;
|
||||
10, //chM1start;
|
||||
320, //chM1stop;
|
||||
140, //chM2start;
|
||||
440, //chM2stop;
|
||||
20, //chM3start;
|
||||
280, //chM3stop;
|
||||
40, //chM4start;
|
||||
440, //chM4stop;
|
||||
1,
|
||||
27,
|
||||
10,
|
||||
30,
|
||||
1,
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100,
|
||||
60,
|
||||
70,
|
||||
40,
|
||||
40,
|
||||
50,
|
||||
0x03,//flagpar caricamento parametri
|
||||
};
|
||||
|
||||
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,
|
||||
|
||||
0x0021, 0x0022, 0x0023, 0x0024,
|
||||
0x0025, 0x0026, 0x0027, 0x0028,
|
||||
0x0029, 0x002A, 0x002B, 0x002C,
|
||||
0x002D, 0x002E, 0x002F, 0x0030,
|
||||
0x0031, 0x0032, 0x0033, 0x0034,
|
||||
0x0035, 0x0036, 0x0037, 0x0038,
|
||||
0x0039, 0x003A, 0x003B, 0x003C,
|
||||
0x003D, 0x003E, 0x003F, 0x0040
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- 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 loadDefault(void){
|
||||
uint8_t i;
|
||||
char s[100];
|
||||
uint16_t st;
|
||||
for(i=0;i<EE_NUM_VIRTUAL_ADDR;i++){
|
||||
st=EEW_Write(i,deftab[i]);
|
||||
if (st == EE_OK)sprintf((char*)s,"\ndone %d=%d",i,deftab[i]);
|
||||
else sprintf((char*)s,"\nee write error %d", st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
char s [200];
|
||||
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(M1RAMPSTART, &mrampstart[M1-1]);
|
||||
EEW_Read(M2RAMPSTART, &mrampstart[M2-1]);
|
||||
EEW_Read(M3RAMPSTART, &mrampstart[M3-1]);
|
||||
EEW_Read(M4RAMPSTART, &mrampstart[M4-1]);
|
||||
|
||||
|
||||
EEW_Read(M1TIMEOUTMAN, &m1TimeoutMan);
|
||||
EEW_Read(M2TIMEOUTMAN, &m2TimeoutMan);
|
||||
EEW_Read(M3TIMEOUTMAN, &m3TimeoutMan);
|
||||
EEW_Read(M4TIMEOUTMAN, &m4TimeoutMan);
|
||||
|
||||
EEW_Read(THANEM, &thanem);
|
||||
EEW_Read(TANEM, &thanem);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
EEW_Read(M4PWMMAN, &m4pwmMan);
|
||||
EEW_Read(TRAMPMAN, &trampman);
|
||||
EEW_Read(TRAMP, &tramp);
|
||||
|
||||
EEW_Read(APM1START,&apM1start);
|
||||
EEW_Read(APM1STOP ,&apM1stop);
|
||||
EEW_Read(APM2START,&apM2start);
|
||||
EEW_Read(APM2STOP ,&apM2stop);
|
||||
EEW_Read(APM3START,&apM3start);
|
||||
EEW_Read(APM3STOP ,&apM3stop);
|
||||
EEW_Read(APM4START,&apM4start);
|
||||
EEW_Read(APM4STOP ,&apM4stop);
|
||||
EEW_Read(CHM1START,&chM1start);
|
||||
EEW_Read(CHM1STOP ,&chM1stop);
|
||||
EEW_Read(CHM2START,&chM2start);
|
||||
EEW_Read(CHM2STOP ,&chM2stop);
|
||||
EEW_Read(CHM3START,&chM3start);
|
||||
EEW_Read(CHM3STOP ,&chM3stop);
|
||||
EEW_Read(CHM4START,&chM4start);
|
||||
EEW_Read(CHM4STOP ,&chM4stop);
|
||||
|
||||
EEW_Read(FLAGPAR ,&flagPar);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwmap, m4pwmch);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1TimeoutMan=%d m2TimeoutMan=%d m3TimeoutMan=%d m4TimeoutMan=%d ",m1TimeoutMan,m2TimeoutMan,m3TimeoutMan,m4TimeoutMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\ntramp=%d trampman=%d",tramp,trampman);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM1start=%d apM1stop=%d chM1start=%d chM1stop=%d",apM1start,apM1stop,chM1start,chM1stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM2start=%d apM2stop=%d chM2start=%d chM2stop=%d",apM2start,apM2stop,chM2start,chM2stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM3start=%d apM3stop=%d chM3start=%d chM3stop=%d",apM3start,apM3stop,chM3start,chM3stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM4start=%d apM4stop=%d chM4start=%d chM4stop=%d",apM4start,apM4stop,chM4start,chM4stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -30,7 +30,7 @@ typedef enum
|
||||
EE_STATUS_NO_SPACE
|
||||
} EE_Status;
|
||||
|
||||
#define VERSIONE 0x06 //versione software
|
||||
#define VERSIONE 0x00 //versione software
|
||||
/* 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)
|
||||
@@ -219,14 +219,14 @@ void HAL_SYSTICK_Callback(void) {
|
||||
}
|
||||
} else if (stBuz == bzwarning) {
|
||||
if (nobuz) {
|
||||
if (c1s & 2)
|
||||
if (c1s & 1)
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin,
|
||||
GPIO_PIN_RESET);
|
||||
else
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin,
|
||||
GPIO_PIN_SET);
|
||||
} else {
|
||||
if (c1s & 2)
|
||||
if (c1s & 1)
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
|
||||
else
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
|
||||
@@ -253,6 +253,7 @@ void managePulsanti(void) {
|
||||
} else {
|
||||
if (stPulsanti & P1START) {
|
||||
stPulsanti &= (~P1START);
|
||||
stPulsanti|=P1RELEASED;
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
|
||||
} else if (rtP1 <= 190) {
|
||||
stPulsanti |= P1STOP;
|
||||
@@ -270,7 +271,7 @@ void managePulsanti(void) {
|
||||
stPulsanti |= P2STOP;
|
||||
rtP2 = 200;
|
||||
}
|
||||
stPulsanti &= (P1START | P1STOP | P2START | P2STOP);
|
||||
stPulsanti &= (P1START | P1STOP | P2START | P2STOP |P1RELEASED);
|
||||
if (stPulsanti == 0) {
|
||||
switch (pulsanti & 0x3c) {
|
||||
case 0x00:
|
||||
@@ -313,6 +314,7 @@ void manageCiclo(void) {
|
||||
motMov_st m1, m2, m3, m4;
|
||||
switch (stCiclo) {
|
||||
case omchiuso:
|
||||
stPulsanti &= (~P1RELEASED);
|
||||
if (stPulsanti & P1START) {
|
||||
stBuz = bzwarning;
|
||||
rtCiclo = 0;
|
||||
@@ -327,6 +329,7 @@ void manageCiclo(void) {
|
||||
stCiclo = omstopapertura;
|
||||
}
|
||||
if ((ch8 > thanem) && (fchiuso == false)) {
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET);
|
||||
if (rtAnem == 0) {
|
||||
stBuz = bzmoving;
|
||||
stCiclo = omchiusura1;
|
||||
@@ -335,8 +338,10 @@ void manageCiclo(void) {
|
||||
(void) m3ch();
|
||||
(void) m4ch();
|
||||
}
|
||||
} else
|
||||
} else{
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET);
|
||||
rtAnem = tanem;
|
||||
}
|
||||
break;
|
||||
case omM1fw1:
|
||||
(void) ramp(M1, FW, mrampstart[M1 - 1], m1pwmMan, trampman, RAMPRUN);
|
||||
@@ -479,10 +484,10 @@ void manageCiclo(void) {
|
||||
}
|
||||
if (stPulsanti & P1STOP)
|
||||
stCiclo = omstopapertura;
|
||||
// if (stPulsanti & P1START) {
|
||||
// stCiclo = omstoprestartchiusura;
|
||||
// rtCiclo = 0;
|
||||
// }
|
||||
if ((stPulsanti & P1START)&&(stPulsanti & P1RELEASED)) {
|
||||
stCiclo = omstoprestartchiusura;
|
||||
rtCiclo = 0;
|
||||
}
|
||||
break;
|
||||
case omstopapertura:
|
||||
SetMotPerc(M1, FW, 0);
|
||||
@@ -508,10 +513,12 @@ void manageCiclo(void) {
|
||||
SetMotPerc(M2, BW, 0);
|
||||
SetMotPerc(M3, BW, 0);
|
||||
SetMotPerc(M4, BW, 0);
|
||||
stBuz = bzoff;
|
||||
if (rtCiclo >= 20)
|
||||
stCiclo = omaperto;
|
||||
break;
|
||||
case omaperto:
|
||||
stPulsanti &= (~P1RELEASED);
|
||||
rtCiclo = 0;
|
||||
if (stPulsanti & P1START) {
|
||||
stBuz = bzmoving;
|
||||
@@ -523,6 +530,7 @@ void manageCiclo(void) {
|
||||
(void) m4ch();
|
||||
}
|
||||
if (ch8 > thanem) {
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET);
|
||||
if (rtAnem == 0) {
|
||||
stBuz = bzmoving;
|
||||
stCiclo = omchiusura1;
|
||||
@@ -531,8 +539,10 @@ void manageCiclo(void) {
|
||||
(void) m3ch();
|
||||
(void) m4ch();
|
||||
}
|
||||
} else
|
||||
} else{
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET);
|
||||
rtAnem = tanem;
|
||||
}
|
||||
|
||||
if (stPulsanti & P1STOP)
|
||||
stCiclo = omstopchiusura;
|
||||
@@ -593,7 +603,7 @@ void manageCiclo(void) {
|
||||
}
|
||||
if (stPulsanti & P1STOP)
|
||||
stCiclo = omstopchiusura;
|
||||
if (stPulsanti & P1START) {
|
||||
if ((stPulsanti & P1START)&&(stPulsanti & P1RELEASED)) {
|
||||
stCiclo = omstoprestartapertura;
|
||||
rtCiclo = 0;
|
||||
}
|
||||
@@ -607,6 +617,7 @@ void manageCiclo(void) {
|
||||
SetMotPerc(M2, BW, 0);
|
||||
SetMotPerc(M3, BW, 0);
|
||||
SetMotPerc(M4, BW, 0);
|
||||
stBuz = bzoff;
|
||||
if (rtCiclo >= 20)
|
||||
stCiclo = omchiuso;
|
||||
break;
|
||||
@@ -681,7 +692,7 @@ int main(void) {
|
||||
; //errore eeprom
|
||||
}
|
||||
loadEE();
|
||||
if (flagPar != 0x02) {
|
||||
if (flagPar != VERSIONE) {
|
||||
loadDefault();
|
||||
loadEE();
|
||||
}
|
||||
@@ -86,7 +86,7 @@ const uint16_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0x400,//thanem
|
||||
0x150,//thanem
|
||||
20, //tanem
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
@@ -1,512 +0,0 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "eeprom.h"
|
||||
#include "pwm.h"
|
||||
extern UART_HandleTypeDef huart1;
|
||||
/*
|
||||
* 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 m1TimeoutMan;
|
||||
extern uint16_t m2TimeoutMan;
|
||||
extern uint16_t m3TimeoutMan;
|
||||
extern uint16_t m4TimeoutMan;
|
||||
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 tanem;
|
||||
extern uint16_t thanem;
|
||||
extern uint16_t trampman;
|
||||
extern uint16_t m1pwmMan;
|
||||
extern uint16_t m2pwmMan;
|
||||
extern uint16_t m3pwmMan;
|
||||
extern uint16_t m4pwmMan;
|
||||
extern uint16_t mrampstart[];
|
||||
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
|
||||
extern uint16_t flagPar;
|
||||
|
||||
const uint16_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
70, //m2pwmap
|
||||
70, //m2pwmch
|
||||
35, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
230,//m1timeoutman
|
||||
100,//m2timeoutman
|
||||
130,//m3timeoutman
|
||||
300,//m4timeoutman
|
||||
1, //twap
|
||||
27, //t1ch
|
||||
10, //t2ch
|
||||
30, //t3ch
|
||||
1, //t4ch
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0x200,//thanem
|
||||
20, //tanem
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
40, //m4pwmMan
|
||||
50, //trampman
|
||||
10, //tramp
|
||||
310, //apM1start;
|
||||
450, //apM1stop;
|
||||
30, //apM2start;
|
||||
310, //apM2stop;
|
||||
340, //apM3start;
|
||||
430, //apM3stop;
|
||||
30, //apM4start;
|
||||
430, //apM4stop;
|
||||
10, //chM1start;
|
||||
320, //chM1stop;
|
||||
140, //chM2start;
|
||||
440, //chM2stop;
|
||||
20, //chM3start;
|
||||
280, //chM3stop;
|
||||
40, //chM4start;
|
||||
440, //chM4stop;
|
||||
1,
|
||||
27,
|
||||
10,
|
||||
30,
|
||||
1,
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100,
|
||||
60,
|
||||
70,
|
||||
40,
|
||||
40,
|
||||
50,
|
||||
0x03,//flagpar caricamento parametri
|
||||
};
|
||||
|
||||
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,
|
||||
|
||||
0x0021, 0x0022, 0x0023, 0x0024,
|
||||
0x0025, 0x0026, 0x0027, 0x0028,
|
||||
0x0029, 0x002A, 0x002B, 0x002C,
|
||||
0x002D, 0x002E, 0x002F, 0x0030,
|
||||
0x0031, 0x0032, 0x0033, 0x0034,
|
||||
0x0035, 0x0036, 0x0037, 0x0038,
|
||||
0x0039, 0x003A, 0x003B, 0x003C,
|
||||
0x003D, 0x003E, 0x003F, 0x0040
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- 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 loadDefault(void){
|
||||
uint8_t i;
|
||||
char s[100];
|
||||
uint16_t st;
|
||||
for(i=0;i<EE_NUM_VIRTUAL_ADDR;i++){
|
||||
st=EEW_Write(i,deftab[i]);
|
||||
if (st == EE_OK)sprintf((char*)s,"\ndone %d=%d",i,deftab[i]);
|
||||
else sprintf((char*)s,"\nee write error %d", st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
char s [200];
|
||||
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(M1RAMPSTART, &mrampstart[M1-1]);
|
||||
EEW_Read(M2RAMPSTART, &mrampstart[M2-1]);
|
||||
EEW_Read(M3RAMPSTART, &mrampstart[M3-1]);
|
||||
EEW_Read(M4RAMPSTART, &mrampstart[M4-1]);
|
||||
|
||||
|
||||
EEW_Read(M1TIMEOUTMAN, &m1TimeoutMan);
|
||||
EEW_Read(M2TIMEOUTMAN, &m2TimeoutMan);
|
||||
EEW_Read(M3TIMEOUTMAN, &m3TimeoutMan);
|
||||
EEW_Read(M4TIMEOUTMAN, &m4TimeoutMan);
|
||||
|
||||
EEW_Read(THANEM, &thanem);
|
||||
EEW_Read(TANEM, &thanem);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
EEW_Read(M4PWMMAN, &m4pwmMan);
|
||||
EEW_Read(TRAMPMAN, &trampman);
|
||||
EEW_Read(TRAMP, &tramp);
|
||||
|
||||
EEW_Read(APM1START,&apM1start);
|
||||
EEW_Read(APM1STOP ,&apM1stop);
|
||||
EEW_Read(APM2START,&apM2start);
|
||||
EEW_Read(APM2STOP ,&apM2stop);
|
||||
EEW_Read(APM3START,&apM3start);
|
||||
EEW_Read(APM3STOP ,&apM3stop);
|
||||
EEW_Read(APM4START,&apM4start);
|
||||
EEW_Read(APM4STOP ,&apM4stop);
|
||||
EEW_Read(CHM1START,&chM1start);
|
||||
EEW_Read(CHM1STOP ,&chM1stop);
|
||||
EEW_Read(CHM2START,&chM2start);
|
||||
EEW_Read(CHM2STOP ,&chM2stop);
|
||||
EEW_Read(CHM3START,&chM3start);
|
||||
EEW_Read(CHM3STOP ,&chM3stop);
|
||||
EEW_Read(CHM4START,&chM4start);
|
||||
EEW_Read(CHM4STOP ,&chM4stop);
|
||||
|
||||
EEW_Read(FLAGPAR ,&flagPar);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwmap, m4pwmch);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1TimeoutMan=%d m2TimeoutMan=%d m3TimeoutMan=%d m4TimeoutMan=%d ",m1TimeoutMan,m2TimeoutMan,m3TimeoutMan,m4TimeoutMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\ntramp=%d trampman=%d",tramp,trampman);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM1start=%d apM1stop=%d chM1start=%d chM1stop=%d",apM1start,apM1stop,chM1start,chM1stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM2start=%d apM2stop=%d chM2start=%d chM2stop=%d",apM2start,apM2stop,chM2start,chM2stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM3start=%d apM3stop=%d chM3start=%d chM3stop=%d",apM3start,apM3stop,chM3start,chM3stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM4start=%d apM4stop=%d chM4start=%d chM4stop=%d",apM4start,apM4stop,chM4start,chM4stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -30,7 +30,7 @@ typedef enum
|
||||
EE_STATUS_NO_SPACE
|
||||
} EE_Status;
|
||||
|
||||
#define VERSIONE 0x05 //versione software
|
||||
#define VERSIONE 0x09 //versione software
|
||||
/* 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)
|
||||
File diff suppressed because it is too large
Load Diff
@@ -30,6 +30,7 @@ typedef enum
|
||||
EE_STATUS_NO_SPACE
|
||||
} EE_Status;
|
||||
|
||||
#define VERSIONE 0x0b //versione software
|
||||
/* 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)
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -30,7 +30,7 @@ typedef enum
|
||||
EE_STATUS_NO_SPACE
|
||||
} EE_Status;
|
||||
|
||||
#define VERSIONE 0x07 //versione software
|
||||
#define VERSIONE 0x0a //versione software
|
||||
/* 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)
|
||||
@@ -253,6 +253,7 @@ void managePulsanti(void) {
|
||||
} else {
|
||||
if (stPulsanti & P1START) {
|
||||
stPulsanti &= (~P1START);
|
||||
stPulsanti|=P1RELEASED;
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
|
||||
} else if (rtP1 <= 190) {
|
||||
stPulsanti |= P1STOP;
|
||||
@@ -313,6 +314,7 @@ void manageCiclo(void) {
|
||||
motMov_st m1, m2, m3, m4;
|
||||
switch (stCiclo) {
|
||||
case omchiuso:
|
||||
stPulsanti &= (~P1RELEASED);
|
||||
if (stPulsanti & P1START) {
|
||||
stBuz = bzwarning;
|
||||
rtCiclo = 0;
|
||||
@@ -482,10 +484,10 @@ void manageCiclo(void) {
|
||||
}
|
||||
if (stPulsanti & P1STOP)
|
||||
stCiclo = omstopapertura;
|
||||
// if (stPulsanti & P1START) {
|
||||
// stCiclo = omstoprestartchiusura;
|
||||
// rtCiclo = 0;
|
||||
// }
|
||||
if ((stPulsanti & P1START)&&(stPulsanti & P1RELEASED)) {
|
||||
stCiclo = omstoprestartchiusura;
|
||||
rtCiclo = 0;
|
||||
}
|
||||
break;
|
||||
case omstopapertura:
|
||||
SetMotPerc(M1, FW, 0);
|
||||
@@ -515,6 +517,7 @@ void manageCiclo(void) {
|
||||
stCiclo = omaperto;
|
||||
break;
|
||||
case omaperto:
|
||||
stPulsanti &= (~P1RELEASED);
|
||||
rtCiclo = 0;
|
||||
if (stPulsanti & P1START) {
|
||||
stBuz = bzmoving;
|
||||
@@ -526,7 +529,7 @@ void manageCiclo(void) {
|
||||
(void) m4ch();
|
||||
}
|
||||
if (ch8 > thanem) {
|
||||
HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET);
|
||||
if (rtAnem == 0) {
|
||||
stBuz = bzmoving;
|
||||
stCiclo = omchiusura1;
|
||||
@@ -536,7 +539,7 @@ void manageCiclo(void) {
|
||||
(void) m4ch();
|
||||
}
|
||||
} else{
|
||||
HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_RESET);
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET);
|
||||
rtAnem = tanem;
|
||||
}
|
||||
|
||||
@@ -599,10 +602,10 @@ void manageCiclo(void) {
|
||||
}
|
||||
if (stPulsanti & P1STOP)
|
||||
stCiclo = omstopchiusura;
|
||||
// if (stPulsanti & P1START) {
|
||||
// stCiclo = omstoprestartapertura;
|
||||
// rtCiclo = 0;
|
||||
// }
|
||||
if ((stPulsanti & P1START)&&(stPulsanti & P1RELEASED)) {
|
||||
stCiclo = omstoprestartapertura;
|
||||
rtCiclo = 0;
|
||||
}
|
||||
break;
|
||||
case omstoprestartapertura:
|
||||
SetMotPerc(M1, FW, 0);
|
||||
@@ -86,8 +86,8 @@ const uint16_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0x400,//thanem
|
||||
20, //tanem
|
||||
0x200,//thanem
|
||||
30, //tanem
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
@@ -463,7 +463,7 @@ void loadEE(void){
|
||||
EEW_Read(M4TIMEOUTMAN, &m4TimeoutMan);
|
||||
|
||||
EEW_Read(THANEM, &thanem);
|
||||
EEW_Read(TANEM, &thanem);
|
||||
EEW_Read(TANEM, &tanem);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
@@ -1,512 +0,0 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "eeprom.h"
|
||||
#include "pwm.h"
|
||||
extern UART_HandleTypeDef huart1;
|
||||
/*
|
||||
* 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 m1TimeoutMan;
|
||||
extern uint16_t m2TimeoutMan;
|
||||
extern uint16_t m3TimeoutMan;
|
||||
extern uint16_t m4TimeoutMan;
|
||||
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 tanem;
|
||||
extern uint16_t thanem;
|
||||
extern uint16_t trampman;
|
||||
extern uint16_t m1pwmMan;
|
||||
extern uint16_t m2pwmMan;
|
||||
extern uint16_t m3pwmMan;
|
||||
extern uint16_t m4pwmMan;
|
||||
extern uint16_t mrampstart[];
|
||||
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
|
||||
extern uint16_t flagPar;
|
||||
|
||||
const uint16_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
70, //m2pwmap
|
||||
70, //m2pwmch
|
||||
35, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
230,//m1timeoutman
|
||||
100,//m2timeoutman
|
||||
130,//m3timeoutman
|
||||
300,//m4timeoutman
|
||||
1, //twap
|
||||
27, //t1ch
|
||||
10, //t2ch
|
||||
30, //t3ch
|
||||
1, //t4ch
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0x200,//thanem
|
||||
20, //tanem
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
40, //m4pwmMan
|
||||
50, //trampman
|
||||
10, //tramp
|
||||
310, //apM1start;
|
||||
450, //apM1stop;
|
||||
30, //apM2start;
|
||||
310, //apM2stop;
|
||||
340, //apM3start;
|
||||
430, //apM3stop;
|
||||
30, //apM4start;
|
||||
430, //apM4stop;
|
||||
10, //chM1start;
|
||||
320, //chM1stop;
|
||||
140, //chM2start;
|
||||
440, //chM2stop;
|
||||
20, //chM3start;
|
||||
280, //chM3stop;
|
||||
40, //chM4start;
|
||||
440, //chM4stop;
|
||||
1,
|
||||
27,
|
||||
10,
|
||||
30,
|
||||
1,
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100,
|
||||
60,
|
||||
70,
|
||||
40,
|
||||
40,
|
||||
50,
|
||||
0x02,//flagpar caricamento parametri
|
||||
};
|
||||
|
||||
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,
|
||||
|
||||
0x0021, 0x0022, 0x0023, 0x0024,
|
||||
0x0025, 0x0026, 0x0027, 0x0028,
|
||||
0x0029, 0x002A, 0x002B, 0x002C,
|
||||
0x002D, 0x002E, 0x002F, 0x0030,
|
||||
0x0031, 0x0032, 0x0033, 0x0034,
|
||||
0x0035, 0x0036, 0x0037, 0x0038,
|
||||
0x0039, 0x003A, 0x003B, 0x003C,
|
||||
0x003D, 0x003E, 0x003F, 0x0040
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- 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 loadDefault(void){
|
||||
uint8_t i;
|
||||
char s[100];
|
||||
uint16_t st;
|
||||
for(i=0;i<EE_NUM_VIRTUAL_ADDR;i++){
|
||||
st=EEW_Write(i,deftab[i]);
|
||||
if (st == EE_OK)sprintf((char*)s,"\ndone %d=%d",i,deftab[i]);
|
||||
else sprintf((char*)s,"\nee write error %d", st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
char s [200];
|
||||
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(M1RAMPSTART, &mrampstart[M1-1]);
|
||||
EEW_Read(M2RAMPSTART, &mrampstart[M2-1]);
|
||||
EEW_Read(M3RAMPSTART, &mrampstart[M3-1]);
|
||||
EEW_Read(M4RAMPSTART, &mrampstart[M4-1]);
|
||||
|
||||
|
||||
EEW_Read(M1TIMEOUTMAN, &m1TimeoutMan);
|
||||
EEW_Read(M2TIMEOUTMAN, &m2TimeoutMan);
|
||||
EEW_Read(M3TIMEOUTMAN, &m3TimeoutMan);
|
||||
EEW_Read(M4TIMEOUTMAN, &m4TimeoutMan);
|
||||
|
||||
EEW_Read(THANEM, &thanem);
|
||||
EEW_Read(TANEM, &thanem);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
EEW_Read(M4PWMMAN, &m4pwmMan);
|
||||
EEW_Read(TRAMPMAN, &trampman);
|
||||
EEW_Read(TRAMP, &tramp);
|
||||
|
||||
EEW_Read(APM1START,&apM1start);
|
||||
EEW_Read(APM1STOP ,&apM1stop);
|
||||
EEW_Read(APM2START,&apM2start);
|
||||
EEW_Read(APM2STOP ,&apM2stop);
|
||||
EEW_Read(APM3START,&apM3start);
|
||||
EEW_Read(APM3STOP ,&apM3stop);
|
||||
EEW_Read(APM4START,&apM4start);
|
||||
EEW_Read(APM4STOP ,&apM4stop);
|
||||
EEW_Read(CHM1START,&chM1start);
|
||||
EEW_Read(CHM1STOP ,&chM1stop);
|
||||
EEW_Read(CHM2START,&chM2start);
|
||||
EEW_Read(CHM2STOP ,&chM2stop);
|
||||
EEW_Read(CHM3START,&chM3start);
|
||||
EEW_Read(CHM3STOP ,&chM3stop);
|
||||
EEW_Read(CHM4START,&chM4start);
|
||||
EEW_Read(CHM4STOP ,&chM4stop);
|
||||
|
||||
EEW_Read(FLAGPAR ,&flagPar);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwmap, m4pwmch);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1TimeoutMan=%d m2TimeoutMan=%d m3TimeoutMan=%d m4TimeoutMan=%d ",m1TimeoutMan,m2TimeoutMan,m3TimeoutMan,m4TimeoutMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\ntramp=%d trampman=%d",tramp,trampman);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM1start=%d apM1stop=%d chM1start=%d chM1stop=%d",apM1start,apM1stop,chM1start,chM1stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM2start=%d apM2stop=%d chM2start=%d chM2stop=%d",apM2start,apM2stop,chM2start,chM2stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM3start=%d apM3stop=%d chM3start=%d chM3stop=%d",apM3start,apM3stop,chM3start,chM3stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM4start=%d apM4stop=%d chM4start=%d chM4stop=%d",apM4start,apM4stop,chM4start,chM4stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
}
|
||||
@@ -253,6 +253,7 @@ void managePulsanti(void) {
|
||||
} else {
|
||||
if (stPulsanti & P1START) {
|
||||
stPulsanti &= (~P1START);
|
||||
stPulsanti|=P1RELEASED;
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
|
||||
} else if (rtP1 <= 190) {
|
||||
stPulsanti |= P1STOP;
|
||||
@@ -270,7 +271,7 @@ void managePulsanti(void) {
|
||||
stPulsanti |= P2STOP;
|
||||
rtP2 = 200;
|
||||
}
|
||||
stPulsanti &= (P1START | P1STOP | P2START | P2STOP);
|
||||
stPulsanti &= (P1START | P1STOP | P2START | P2STOP |P1RELEASED);
|
||||
if (stPulsanti == 0) {
|
||||
switch (pulsanti & 0x3c) {
|
||||
case 0x00:
|
||||
@@ -313,6 +314,7 @@ void manageCiclo(void) {
|
||||
motMov_st m1, m2, m3, m4;
|
||||
switch (stCiclo) {
|
||||
case omchiuso:
|
||||
stPulsanti &= (~P1RELEASED);
|
||||
if (stPulsanti & P1START) {
|
||||
stBuz = bzwarning;
|
||||
rtCiclo = 0;
|
||||
@@ -337,7 +339,7 @@ void manageCiclo(void) {
|
||||
(void) m4ch();
|
||||
}
|
||||
} else{
|
||||
HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_RESET);
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET);
|
||||
rtAnem = tanem;
|
||||
}
|
||||
break;
|
||||
@@ -482,10 +484,10 @@ void manageCiclo(void) {
|
||||
}
|
||||
if (stPulsanti & P1STOP)
|
||||
stCiclo = omstopapertura;
|
||||
// if (stPulsanti & P1START) {
|
||||
// stCiclo = omstoprestartchiusura;
|
||||
// rtCiclo = 0;
|
||||
// }
|
||||
if ((stPulsanti & P1START)&&(stPulsanti & P1RELEASED)) {
|
||||
stCiclo = omstoprestartchiusura;
|
||||
rtCiclo = 0;
|
||||
}
|
||||
break;
|
||||
case omstopapertura:
|
||||
SetMotPerc(M1, FW, 0);
|
||||
@@ -515,6 +517,7 @@ void manageCiclo(void) {
|
||||
stCiclo = omaperto;
|
||||
break;
|
||||
case omaperto:
|
||||
stPulsanti &= (~P1RELEASED);
|
||||
rtCiclo = 0;
|
||||
if (stPulsanti & P1START) {
|
||||
stBuz = bzmoving;
|
||||
@@ -526,7 +529,7 @@ void manageCiclo(void) {
|
||||
(void) m4ch();
|
||||
}
|
||||
if (ch8 > thanem) {
|
||||
HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET);
|
||||
if (rtAnem == 0) {
|
||||
stBuz = bzmoving;
|
||||
stCiclo = omchiusura1;
|
||||
@@ -536,7 +539,7 @@ void manageCiclo(void) {
|
||||
(void) m4ch();
|
||||
}
|
||||
} else{
|
||||
HAL_GPIO_WritePin(LED3_GPIO_Port, LED3_Pin, GPIO_PIN_RESET);
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET);
|
||||
rtAnem = tanem;
|
||||
}
|
||||
|
||||
@@ -599,10 +602,10 @@ void manageCiclo(void) {
|
||||
}
|
||||
if (stPulsanti & P1STOP)
|
||||
stCiclo = omstopchiusura;
|
||||
// if (stPulsanti & P1START) {
|
||||
// stCiclo = omstoprestartapertura;
|
||||
// rtCiclo = 0;
|
||||
// }
|
||||
if ((stPulsanti & P1START)&&(stPulsanti & P1RELEASED)) {
|
||||
stCiclo = omstoprestartapertura;
|
||||
rtCiclo = 0;
|
||||
}
|
||||
break;
|
||||
case omstoprestartapertura:
|
||||
SetMotPerc(M1, FW, 0);
|
||||
File diff suppressed because it is too large
Load Diff
@@ -219,14 +219,14 @@ void HAL_SYSTICK_Callback(void) {
|
||||
}
|
||||
} else if (stBuz == bzwarning) {
|
||||
if (nobuz) {
|
||||
if (c1s & 2)
|
||||
if (c1s & 1)
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin,
|
||||
GPIO_PIN_RESET);
|
||||
else
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin,
|
||||
GPIO_PIN_SET);
|
||||
} else {
|
||||
if (c1s & 2)
|
||||
if (c1s & 1)
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
|
||||
else
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
|
||||
@@ -253,6 +253,7 @@ void managePulsanti(void) {
|
||||
} else {
|
||||
if (stPulsanti & P1START) {
|
||||
stPulsanti &= (~P1START);
|
||||
stPulsanti|=P1RELEASED;
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
|
||||
} else if (rtP1 <= 190) {
|
||||
stPulsanti |= P1STOP;
|
||||
@@ -270,7 +271,7 @@ void managePulsanti(void) {
|
||||
stPulsanti |= P2STOP;
|
||||
rtP2 = 200;
|
||||
}
|
||||
stPulsanti &= (P1START | P1STOP | P2START | P2STOP);
|
||||
stPulsanti &= (P1START | P1STOP | P2START | P2STOP |P1RELEASED);
|
||||
if (stPulsanti == 0) {
|
||||
switch (pulsanti & 0x3c) {
|
||||
case 0x00:
|
||||
@@ -313,6 +314,7 @@ void manageCiclo(void) {
|
||||
motMov_st m1, m2, m3, m4;
|
||||
switch (stCiclo) {
|
||||
case omchiuso:
|
||||
stPulsanti &= (~P1RELEASED);
|
||||
if (stPulsanti & P1START) {
|
||||
stBuz = bzwarning;
|
||||
rtCiclo = 0;
|
||||
@@ -327,6 +329,7 @@ void manageCiclo(void) {
|
||||
stCiclo = omstopapertura;
|
||||
}
|
||||
if ((ch8 > thanem) && (fchiuso == false)) {
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET);
|
||||
if (rtAnem == 0) {
|
||||
stBuz = bzmoving;
|
||||
stCiclo = omchiusura1;
|
||||
@@ -335,8 +338,10 @@ void manageCiclo(void) {
|
||||
(void) m3ch();
|
||||
(void) m4ch();
|
||||
}
|
||||
} else
|
||||
} else{
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET);
|
||||
rtAnem = tanem;
|
||||
}
|
||||
break;
|
||||
case omM1fw1:
|
||||
(void) ramp(M1, FW, mrampstart[M1 - 1], m1pwmMan, trampman, RAMPRUN);
|
||||
@@ -479,7 +484,7 @@ void manageCiclo(void) {
|
||||
}
|
||||
if (stPulsanti & P1STOP)
|
||||
stCiclo = omstopapertura;
|
||||
if (stPulsanti & P1START) {
|
||||
if ((stPulsanti & P1START)&&(stPulsanti & P1RELEASED)) {
|
||||
stCiclo = omstoprestartchiusura;
|
||||
rtCiclo = 0;
|
||||
}
|
||||
@@ -512,6 +517,7 @@ void manageCiclo(void) {
|
||||
stCiclo = omaperto;
|
||||
break;
|
||||
case omaperto:
|
||||
stPulsanti &= (~P1RELEASED);
|
||||
rtCiclo = 0;
|
||||
if (stPulsanti & P1START) {
|
||||
stBuz = bzmoving;
|
||||
@@ -523,6 +529,7 @@ void manageCiclo(void) {
|
||||
(void) m4ch();
|
||||
}
|
||||
if (ch8 > thanem) {
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET);
|
||||
if (rtAnem == 0) {
|
||||
stBuz = bzmoving;
|
||||
stCiclo = omchiusura1;
|
||||
@@ -531,8 +538,10 @@ void manageCiclo(void) {
|
||||
(void) m3ch();
|
||||
(void) m4ch();
|
||||
}
|
||||
} else
|
||||
} else{
|
||||
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET);
|
||||
rtAnem = tanem;
|
||||
}
|
||||
|
||||
if (stPulsanti & P1STOP)
|
||||
stCiclo = omstopchiusura;
|
||||
@@ -593,7 +602,7 @@ void manageCiclo(void) {
|
||||
}
|
||||
if (stPulsanti & P1STOP)
|
||||
stCiclo = omstopchiusura;
|
||||
if (stPulsanti & P1START) {
|
||||
if ((stPulsanti & P1START)&&(stPulsanti & P1RELEASED)) {
|
||||
stCiclo = omstoprestartapertura;
|
||||
rtCiclo = 0;
|
||||
}
|
||||
@@ -681,7 +690,7 @@ int main(void) {
|
||||
; //errore eeprom
|
||||
}
|
||||
loadEE();
|
||||
if (flagPar != 0x02) {
|
||||
if (flagPar != VERSIONE) {
|
||||
loadDefault();
|
||||
loadEE();
|
||||
}
|
||||
@@ -1,512 +0,0 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "eeprom.h"
|
||||
#include "pwm.h"
|
||||
extern UART_HandleTypeDef huart1;
|
||||
/*
|
||||
* 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 m1TimeoutMan;
|
||||
extern uint16_t m2TimeoutMan;
|
||||
extern uint16_t m3TimeoutMan;
|
||||
extern uint16_t m4TimeoutMan;
|
||||
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 tanem;
|
||||
extern uint16_t thanem;
|
||||
extern uint16_t trampman;
|
||||
extern uint16_t m1pwmMan;
|
||||
extern uint16_t m2pwmMan;
|
||||
extern uint16_t m3pwmMan;
|
||||
extern uint16_t m4pwmMan;
|
||||
extern uint16_t mrampstart[];
|
||||
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
|
||||
extern uint16_t flagPar;
|
||||
|
||||
const uint16_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
70, //m2pwmap
|
||||
70, //m2pwmch
|
||||
35, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
230,//m1timeoutman
|
||||
100,//m2timeoutman
|
||||
130,//m3timeoutman
|
||||
300,//m4timeoutman
|
||||
1, //twap
|
||||
27, //t1ch
|
||||
10, //t2ch
|
||||
30, //t3ch
|
||||
1, //t4ch
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0x200,//thanem
|
||||
20, //tanem
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
40, //m4pwmMan
|
||||
50, //trampman
|
||||
10, //tramp
|
||||
310, //apM1start;
|
||||
450, //apM1stop;
|
||||
30, //apM2start;
|
||||
310, //apM2stop;
|
||||
340, //apM3start;
|
||||
430, //apM3stop;
|
||||
30, //apM4start;
|
||||
430, //apM4stop;
|
||||
10, //chM1start;
|
||||
320, //chM1stop;
|
||||
140, //chM2start;
|
||||
440, //chM2stop;
|
||||
20, //chM3start;
|
||||
280, //chM3stop;
|
||||
40, //chM4start;
|
||||
440, //chM4stop;
|
||||
1,
|
||||
27,
|
||||
10,
|
||||
30,
|
||||
1,
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100,
|
||||
60,
|
||||
70,
|
||||
40,
|
||||
40,
|
||||
50,
|
||||
0xa5,//flag parametri caricati correttamente. deve valere 0xa5
|
||||
};
|
||||
|
||||
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,
|
||||
|
||||
0x0021, 0x0022, 0x0023, 0x0024,
|
||||
0x0025, 0x0026, 0x0027, 0x0028,
|
||||
0x0029, 0x002A, 0x002B, 0x002C,
|
||||
0x002D, 0x002E, 0x002F, 0x0030,
|
||||
0x0031, 0x0032, 0x0033, 0x0034,
|
||||
0x0035, 0x0036, 0x0037, 0x0038,
|
||||
0x0039, 0x003A, 0x003B, 0x003C,
|
||||
0x003D, 0x003E, 0x003F, 0x0040
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- 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 loadDefault(void){
|
||||
uint8_t i;
|
||||
char s[100];
|
||||
uint16_t st;
|
||||
for(i=0;i<EE_NUM_VIRTUAL_ADDR;i++){
|
||||
st=EEW_Write(i,deftab[i]);
|
||||
if (st == EE_OK)sprintf((char*)s,"\ndone %d=%d",i,deftab[i]);
|
||||
else sprintf((char*)s,"\nee write error %d", st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
char s [200];
|
||||
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(M1RAMPSTART, &mrampstart[M1-1]);
|
||||
EEW_Read(M2RAMPSTART, &mrampstart[M2-1]);
|
||||
EEW_Read(M3RAMPSTART, &mrampstart[M3-1]);
|
||||
EEW_Read(M4RAMPSTART, &mrampstart[M4-1]);
|
||||
|
||||
|
||||
EEW_Read(M1TIMEOUTMAN, &m1TimeoutMan);
|
||||
EEW_Read(M2TIMEOUTMAN, &m2TimeoutMan);
|
||||
EEW_Read(M3TIMEOUTMAN, &m3TimeoutMan);
|
||||
EEW_Read(M4TIMEOUTMAN, &m4TimeoutMan);
|
||||
|
||||
EEW_Read(THANEM, &thanem);
|
||||
EEW_Read(TANEM, &thanem);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
EEW_Read(M4PWMMAN, &m4pwmMan);
|
||||
EEW_Read(TRAMPMAN, &trampman);
|
||||
EEW_Read(TRAMP, &tramp);
|
||||
|
||||
EEW_Read(APM1START,&apM1start);
|
||||
EEW_Read(APM1STOP ,&apM1stop);
|
||||
EEW_Read(APM2START,&apM2start);
|
||||
EEW_Read(APM2STOP ,&apM2stop);
|
||||
EEW_Read(APM3START,&apM3start);
|
||||
EEW_Read(APM3STOP ,&apM3stop);
|
||||
EEW_Read(APM4START,&apM4start);
|
||||
EEW_Read(APM4STOP ,&apM4stop);
|
||||
EEW_Read(CHM1START,&chM1start);
|
||||
EEW_Read(CHM1STOP ,&chM1stop);
|
||||
EEW_Read(CHM2START,&chM2start);
|
||||
EEW_Read(CHM2STOP ,&chM2stop);
|
||||
EEW_Read(CHM3START,&chM3start);
|
||||
EEW_Read(CHM3STOP ,&chM3stop);
|
||||
EEW_Read(CHM4START,&chM4start);
|
||||
EEW_Read(CHM4STOP ,&chM4stop);
|
||||
|
||||
EEW_Read(FLAGPAR ,&flagPar);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwmap, m4pwmch);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1TimeoutMan=%d m2TimeoutMan=%d m3TimeoutMan=%d m4TimeoutMan=%d ",m1TimeoutMan,m2TimeoutMan,m3TimeoutMan,m4TimeoutMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\ntramp=%d trampman=%d",tramp,trampman);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM1start=%d apM1stop=%d chM1start=%d chM1stop=%d",apM1start,apM1stop,chM1start,chM1stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM2start=%d apM2stop=%d chM2start=%d chM2stop=%d",apM2start,apM2stop,chM2start,chM2stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM3start=%d apM3stop=%d chM3start=%d chM3stop=%d",apM3start,apM3stop,chM3start,chM3stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM4start=%d apM4stop=%d chM4start=%d chM4stop=%d",apM4start,apM4stop,chM4start,chM4stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Reference in New Issue
Block a user