servo/controller/fw/embed/bootloader/flash.cpp

#include "flash.h"
#include <stdbool.h>


static uint32_t write_ptr = SECTOR_6;


void flash_unlock(){

    // Check if flash is locked
    if(!(FLASH->CR & FLASH_CR_LOCK)) {
        return; // Already unlocked
    }

    // Write flash key sequence to unlock
    FLASH->KEYR = 0x45670123;  // First key
    FLASH->KEYR = 0xCDEF89AB;  // Second key

}

void flash_lock() {
    if(FLASH->CR & FLASH_CR_LOCK) {
        return; // Already locked
    }
    FLASH->CR |= FLASH_CR_LOCK; // Lock flash memory
}

void erase_sector(uint8_t sector){
    
    // Wait if flash is busy
    while(FLASH_BUSY);

    // Check if flash is locked and unlock if needed
    if(FLASH->CR & FLASH_CR_LOCK) {
        flash_unlock();
    }

    // Set sector erase bit and sector number
    FLASH->CR |= FLASH_CR_SER;
    FLASH->CR &= ~FLASH_CR_SNB;
    FLASH->CR |= (sector << FLASH_CR_SNB_Pos) & FLASH_CR_SNB_Msk;

    // Start erase
    FLASH->CR |= FLASH_CR_STRT;

    // Wait for erase to complete
    while(FLASH_BUSY);
    
    // Clear sector erase bit
    FLASH->CR &= ~FLASH_CR_SER;

}

void flash_program_word(uint32_t address,uint32_t data,uint32_t byte_len){

    // Wait if flash is busy
    while(FLASH_BUSY);
    // Check if flash is locked and unlock if needed
    if(FLASH->CR & FLASH_CR_LOCK) {
        flash_unlock();
    }

    // Set program bit 32bit programm size and  Write data to address
    if(byte_len == 1) {
        FLASH_8BYTE;
        FLASH->CR |= FLASH_CR_PG;
        *(volatile uint8_t*)address = (uint8_t)data;
    } else {
        FLASH_32BYTE;
        FLASH->CR |= FLASH_CR_PG;
        *(volatile uint32_t*)address = data;
    }

    // Wait for programming to complete
    while(FLASH_BUSY);

    // Clear program bit
    FLASH->CR &= ~FLASH_CR_PG;

}
void flash_write(uint32_t addr, FLASH_RECORD* record){

    uint32_t* data = (uint32_t*)record;
    uint32_t size = FLASH_RECORD_SIZE / 4;    //count words in struct
    // Wait if flash is busy
    while(FLASH_BUSY);

    // Check if flash is locked and unlock if needed
    if(FLASH->CR & FLASH_CR_LOCK) {
        flash_unlock();
    }

    // Set program bit and write data to flash
    FLASH_32BYTE;
    FLASH->CR |= FLASH_CR_PG;
    
    for(int i = 0;i < size;i++){
        *(volatile uint32_t*)(addr + i * 4) = data[i];
    }
    
    // Clear program bit
    FLASH->CR &= ~FLASH_CR_PG;
    flash_lock();
}

    // Wait if flash


bool validate_crc(FLASH_RECORD* crc){
    if(crc->crc == 0x6933)
        return true;
    return false;
}
/*      read struct from FLASH      */
void flash_read(uint32_t addr,FLASH_RECORD* ptr){
    uint32_t* flash_ptr = (uint32_t*)addr;
    uint32_t* dest = (uint32_t*)ptr;
    for (int i = 0; i < FLASH_RECORD_SIZE / 4; i++) {
        dest[i] = flash_ptr[i];
    }
}


/*      Поиск актуального адреса во флэш памяти     */
FLASH_RECORD load_params(){
    __disable_irq();
    FLASH_RECORD latest = {0};
    FLASH_RECORD res;
    for(uint32_t addr = SECTOR_6;addr < SECTOR_6_END;addr +=FLASH_RECORD_SIZE) {
        flash_read(addr,&res);
        if (!validate_crc(&res))
            break;
        else if(res.data_id == addr_id) {
            latest = res;
    }
}

    __enable_irq();
    return latest;
}
/**
  * @brief  Записывает страницу данных во флеш-память
  * @param  data: Указатель на буфер с данными
  * @param  len:  Длина данных в байтах (должна быть кратна 4)
  * @retval bool: true - успех, false - ошибка
  */
 void write_flash_page(const uint8_t* data, uint16_t len) { // Добавлен const
    flash_unlock();
    for (uint16_t i = 0; i < len; i += 4) {
        uint32_t word;
        memcpy(&word, &data[i], 4); // Безопасное копирование
        HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD, write_ptr + i, word);
    }
    flash_lock();
}