2025-05-22 18:12:54 +03:00
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#ifndef FLASH_H_
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#define FLASH_H_
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#include "stm32f446xx.h"
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#include <stdio.h>
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#include <stdlib.h>
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/* no padding for this struct, beacuse storing 8 bytes*/
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typedef struct{
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uint8_t data_id; // data_id = id register of can
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uint8_t data_type;
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uint16_t crc;
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uint32_t value;
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// uint32_t write_ptr_now;
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}FLASH_RECORD;
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enum {
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addr_id = 0,
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pid_p = 1,
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pid_i,
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pid_d,
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2025-05-23 09:12:06 +03:00
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firmw,
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2025-05-22 18:12:54 +03:00
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foc_id,
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angl,
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vel
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};
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2025-05-23 09:12:06 +03:00
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2025-05-22 18:12:54 +03:00
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/* for saved in FLASH float data*/
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union{
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uint32_t i;
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float f;
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}conv_float_to_int;
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#define FLASH_RECORD_SIZE sizeof(FLASH_RECORD) //size flash struct
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// Flash sectors for STM32F407
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#define APP_ADDRESS 0x08008000 // Адрес основной прошивки
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2025-05-23 09:12:06 +03:00
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// #define FLAG_BOOT 0x08060000 // Адрес хранения флага для обновления прошивки
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2025-05-22 18:12:54 +03:00
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#define UPDATE_FLAG 0xDEADBEEF // Уникальное 32-битное значение
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#define BOOT_CAN_ID 0x01 // CAN ID бутлоадера
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#define BOOT_CAN_END 0x02 // CAN ID завершения передачи
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#define DATA_CAN_ID 0x03 // CAN ID данных
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#define ACK_CAN_ID 0x05 // CAN ID подтверждения
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#define MAX_FW_SIZE 0x3FFF // Макс. размер прошивки (256KB)
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#define PARAM_COUNT 5 // count data in flash
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2025-05-22 18:12:54 +03:00
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#define SECTOR_6 0x08040000 // 128KB
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#define SECTOR_6_END (SECTOR_6 + 128 * 1024) // sector 6 end
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// Flash keys for unlocking flash memory
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#define BYTE32 0
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#define BYTE8 1
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//FLASH SET ONE PROGRAMM WORD
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#define FLASH_8BYTE FLASH->CR &= ~FLASH_CR_PSIZE & ~FLASH_CR_PSIZE_1
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#define FLASH_32BYTE \
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FLASH->CR = (FLASH->CR & ~FLASH_CR_PSIZE) | (0x2 << FLASH_CR_PSIZE_Pos)
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// Flash command bits
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#define FLASH_LOCK FLASH->CR |= FLASH_CR_LOCK
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#define FLASH_UNLOCK FLASH->KEYR = FLASH_KEY1; FLASH->KEYR = FLASH_KEY2
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// Flash status flags
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#define FLASH_BUSY (FLASH->SR & FLASH_SR_BSY)
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#define FLASH_ERROR (FLASH->SR & (FLASH_SR_WRPERR | FLASH_SR_PGAERR | FLASH_SR_PGPERR | FLASH_SR_PGSERR))
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//for bootloader
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typedef void(*pFunction)(void);
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/* for start addr in FLASH */
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static uint32_t write_ptr = SECTOR_6;
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static uint32_t ptr_fl = APP_ADDRESS;
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// Function prototypes
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void flash_unlock(void);
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void flash_lock(void);
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void erase_sector(uint8_t sector);
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void flash_program_word(uint32_t address, uint32_t data,uint32_t byte_len);
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uint8_t flash_read_word(uint32_t address);
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FLASH_RECORD* load_params();
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void compact_page();
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void flash_read(uint32_t addr,FLASH_RECORD* ptr);
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uint16_t validate_crc16(uint8_t *data,uint32_t length);
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void flash_write(uint32_t addr, FLASH_RECORD* record);
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void write_flash_page(const uint8_t* data, uint16_t len);
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void erase_flash_pages();
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void write_param(uint8_t param_id,uint32_t val);
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uint16_t calc_crc_struct(FLASH_RECORD* res);
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#endif /* FLASH_H_ */
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