494 lines
13 KiB
C
494 lines
13 KiB
C
#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 tramp1;
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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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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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0,
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100, //tramp1
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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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10,
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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 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(TRAMP1, &tramp1);
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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);
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EEW_Read(CHM1START,&chM1start);
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EEW_Read(CHM1STOP ,&chM1stop);
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EEW_Read(CHM2START,&chM2start);
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EEW_Read(CHM2STOP ,&chM2stop);
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EEW_Read(CHM3START,&chM3start);
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EEW_Read(CHM3STOP ,&chM3stop);
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EEW_Read(CHM4START,&chM4start);
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EEW_Read(CHM4STOP ,&chM4stop);
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sprintf((char*)s,"LoadEE\n");
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HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
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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);
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HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
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sprintf((char*)s,"\nm1TimeoutMan=%d m2TimeoutMan=%d m3TimeoutMan=%d m4TimeoutMan=%d ",m1TimeoutMan,m2TimeoutMan,m3TimeoutMan,m4TimeoutMan);
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HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
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sprintf((char*)s,"\ntramp=%d trampman=%d",tramp,trampman);
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HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
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sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
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HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
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sprintf((char*)s,"\napM1start=%d apM1stop=%d chM1start=%d chM1stop=%d",apM1start,apM1stop,chM1start,chM1stop);
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HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
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sprintf((char*)s,"\napM2start=%d apM2stop=%d chM2start=%d chM2stop=%d",apM2start,apM2stop,chM2start,chM2stop);
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HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
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sprintf((char*)s,"\napM3start=%d apM3stop=%d chM3start=%d chM3stop=%d",apM3start,apM3stop,chM3start,chM3stop);
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HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
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sprintf((char*)s,"\napM4start=%d apM4stop=%d chM4start=%d chM4stop=%d",apM4start,apM4stop,chM4start,chM4stop);
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HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
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}
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