servo/controller/fw/embed/include/flash.h

#ifndef FLASH_H_
#define FLASH_H_
#include "stm32f446xx.h"
#include <stdio.h>
#include <stdlib.h>

/*      for addr in FLASH     */

/*      no padding for this struct, beacuse storing 8 bytes*/
typedef struct{
    uint8_t data_id;  // data_id = id register of can
    uint8_t data_type;  
    uint16_t crc;
    uint32_t value;
    // uint32_t write_ptr_now;
  }FLASH_RECORD;
enum {
  addr_id   = 0,
  pid_p     = 1, 
  pid_i,
  pid_d,
  firmw,
  foc_id,
  angl,
  vel,
  torq
};

/*  for saved in FLASH float data*/
union{
    uint32_t i;
    float f;
}conv_float_to_int;

#define FLASH_RECORD_SIZE sizeof(FLASH_RECORD)    //size flash struct
#define PARAM_COUNT 5             // count data in flash
#define FIRMWARE_FLAG   (uint32_t)0xDEADBEEF
// Flash sectors for STM32F407

#define SECTOR_2     0x08008000  // 16KB
#define SECTOR_3     0x0800C000  // 16KB
#define SECTOR_4     0x08010000  // 64KB
#define SECTOR_5     0x08020000  // 128KB
#define SECTOR_6     0x08040000  // 128KB
#define SECTOR_6_END (SECTOR_6 + 128 * 1024) // sector 6 end
#define SECTOR_7     0x08060000  // 128KB


#define FLAG_BOOT    (0x08040000 + 4)
// Flash keys for unlocking flash memory
#define BYTE32           0
#define BYTE8            1
#define UPDATE_FLAG     0xDEADBEEF  // Unique 32bit value
//FLASH SET ONE PROGRAMM WORD
#define FLASH_8BYTE  FLASH->CR &= ~FLASH_CR_PSIZE & ~FLASH_CR_PSIZE_1
#define FLASH_32BYTE \
    FLASH->CR = (FLASH->CR & ~FLASH_CR_PSIZE) | (0x2 << FLASH_CR_PSIZE_Pos)

// Flash command bits
#define FLASH_LOCK   FLASH->CR |= FLASH_CR_LOCK
#define FLASH_UNLOCK FLASH->KEYR = FLASH_KEY1; FLASH->KEYR = FLASH_KEY2


// Flash status flags
#define FLASH_BUSY   (FLASH->SR & FLASH_SR_BSY)
#define FLASH_ERROR  (FLASH->SR & (FLASH_SR_WRPERR | FLASH_SR_PGAERR | FLASH_SR_PGPERR | FLASH_SR_PGSERR))
static uint32_t write_ptr = SECTOR_6;
//for bootloader    
typedef void(*pFunction)(void); 


// Function prototypes
void flash_unlock(void);
void flash_lock(void);
void erase_sector(uint8_t sector);
void flash_program_word(uint32_t address, uint32_t data,uint32_t byte_len);
uint8_t flash_read_word(uint32_t address);
FLASH_RECORD* load_params();
void compact_page();
void flash_read(uint32_t addr,FLASH_RECORD* ptr);
uint16_t validate_crc16(uint8_t *data,uint32_t length);
void flash_write(uint32_t addr, FLASH_RECORD* record);
bool validaate_crc(FLASH_RECORD* crc);

void write_param(uint8_t param_id,uint32_t val);

#endif /* FLASH_H_ */