Реализована возможность сохранения адреса устройства и чтения его с Flash памяти

controller/fw/embed/src/main.cpp

@@ -11,9 +11,24 @@
 #include "wiring_analog.h"
 #include "wiring_constants.h"
 // clang-format on
+#include "reg_cah.h"
+
+
+
+
 
 STM32_CAN Can(CAN2, DEF);
 
+/*      for FLASH         */
+uint32_t flash_flag;
+uint8_t flag_can = 0;
+uint32_t flash_error;
+FLASH_EraseInitTypeDef pEraseInit;
+uint32_t SectorError;
+
+
+
+
 static CAN_message_t CAN_TX_msg;
 static CAN_message_t CAN_inMsg;
 
@@ -34,6 +49,7 @@ struct MotorControlInputs {
   float target_angle = 0.0;
   float target_velocity = 0.0;
   bool motor_enabled = false;
+  bool foc_state = false;
 };
 
 MotorControlInputs motor_control_inputs;
@@ -109,39 +125,128 @@ void send_motor_enabled() {
   Can.write(CAN_TX_msg);
 }
 
+void send_foc_state(){
+  CAN_TX_msg.id = 1;
+  CAN_TX_msg.buf[0] = 'F';
+  memcpy(&CAN_TX_msg.buf[1], &motor_control_inputs.foc_state,
+    sizeof(motor_control_inputs.foc_state));
+Can.write(CAN_TX_msg);
+}
+
+void send_id(){
+  /*          data for reading of firmware      */
+  FLASH->KEYR = 0x45670123; // Первый ключ
+  FLASH->KEYR = 0xCDEF89AB; // Второй ключ
+  uint8_t id = *(volatile uint32_t*)ADDR_VAR_ID;
+  FLASH->CR |=  FLASH_CR_LOCK;
+  CAN_TX_msg.id = id;
+  CAN_TX_msg.buf[0] = 0x22;
+  memcpy(&CAN_TX_msg.buf[1], &id,sizeof(id));
+Can.write(CAN_TX_msg);
+}
+
+void setup_id(uint8_t my_id){
+  /*      Чтобы разблокировать флэш память для записи*/
+  FLASH->KEYR = 0x45670123; // Первый ключ
+  FLASH->KEYR = 0xCDEF89AB; // Второй ключ
+  while (FLASH->SR & FLASH_SR_BSY);
+  FLASH->CR &= ~FLASH_CR_PSIZE_0 & ~FLASH_CR_PSIZE_1; //Data write = 8bit
+  FLASH->CR |= FLASH_CR_SNB_1 | FLASH_CR_SNB_2;       //6 SECTOR FOR ERASE
+  FLASH->CR |= FLASH_CR_SER; 
+  FLASH->CR |= FLASH_CR_STRT; 
+  while((FLASH->SR & FLASH_SR_BSY) != 0) 
+      __NOP();
+  FLASH->SR |= (FLASH_SR_EOP | FLASH_SR_WRPERR | FLASH_SR_PGAERR);
+  FLASH->CR |= FLASH_CR_PG;
+  *(volatile uint8_t*)ADDR_VAR_ID = my_id;
+
+  FLASH->CR |= FLASH_CR_LOCK;
+
+}
+
+
+
 void send_data() {
   send_velocity();
   send_angle();
   send_motor_enabled();
+  
   // read_temperature();
   digitalWrite(PC11, !digitalRead(PC11));
 }
 
-void read_can_step() {
+
-  char flag = CAN_inMsg.buf[0];
+
+/*void read_can_step() {
+  char flag = CAN_inMsg.buf[1];
   if (flag == 'V') {
     motor.enable();
-    memcpy(&motor_control_inputs.target_velocity, &CAN_inMsg.buf[1],
+    memcpy(&motor_control_inputs.target_velocity, &CAN_inMsg.buf[2],
            sizeof(motor_control_inputs.target_velocity));
   } else if (flag == 'A') {
     motor.enable();
-    memcpy(&motor_control_inputs.target_angle, &CAN_inMsg.buf[1],
+    memcpy(&motor_control_inputs.target_angle, &CAN_inMsg.buf[2],
            sizeof(motor_control_inputs.target_angle));
   } else if (flag == 'E') {
-    bool enable_flag = CAN_inMsg.buf[1];
+    bool enable_flag = CAN_inMsg.buf[2];
     if (enable_flag == 1) {
-      memcpy(&motor_control_inputs.motor_enabled, &CAN_inMsg.buf[1],
+      memcpy(&motor_control_inputs.motor_enabled, &CAN_inMsg.buf[2], 
              sizeof(motor_control_inputs.motor_enabled));
       motor.enable();
     } else if (enable_flag == 0) {
-      memcpy(&motor_control_inputs.motor_enabled, &CAN_inMsg.buf[1],
+      memcpy(&motor_control_inputs.motor_enabled, &CAN_inMsg.buf[2],
              sizeof(motor_control_inputs.motor_enabled));
       motor.disable();
     }
   }
-  digitalWrite(PC10, !digitalRead(PC10));
+  GPIOC->ODR ^= GPIO_ODR_OD10;    //digitalWrite(PC10, !digitalRead(PC10));
+}*/
+
+
+
+
+void listen_can(){
+
+  uint8_t reg_id = CAN_inMsg.id;
+  if(CAN_inMsg.buf[0] == REG_WRITE){
+    switch (reg_id)
+    {
+    case REG_ID:
+  /*      setup new id            */
+      setup_id(CAN_inMsg.buf[1]);
+      break;
+  
+   case REG_LED_BLINK:
+      for(int i = 0;i < 10;i++){
+        GPIOC->ODR ^= GPIO_ODR_OD10;
+        HAL_Delay(100);
+      }
+    break;
+
+    default:
+      break;
+    }
+  }
+
+  else if(CAN_inMsg.buf[0] == REG_READ){
+    switch (reg_id)
+    {
+    case REG_ID:
+      send_id();  
+
+      break;
+    
+    default:
+      break;
+    }
+  }
+  
 }
 
+
+
+
+
 void foc_step(BLDCMotor *motor, Commander *commander) {
   if (motor_control_inputs.target_velocity != 0 ||
       motor->controller == MotionControlType::velocity) {
@@ -163,7 +268,12 @@ void foc_step(BLDCMotor *motor, Commander *commander) {
   commander->run();
 }
 
-void setup() {
+
+
+
+
+
+void setup(){
   Serial.setRx(HARDWARE_SERIAL_RX_PIN);
   Serial.setTx(HARDWARE_SERIAL_TX_PIN);
   Serial.begin(115200);
@@ -180,11 +290,21 @@ void setup() {
   SendTimer->attachInterrupt(send_data);
   SendTimer->resume();
   setup_foc(&encoder, &motor, &driver, &current_sense, &command, doMotor);
+
+  /*            Настройка параметров стирания         */
+  /*pEraseInit.TypeErase = TYPEERASE_SECTORS; // Стирание страниц
+  pEraseInit.Sector = ADDR_VAR;                     // Начальная страница
+  pEraseInit.NbSectors = 1;     
+  pEraseInit.VoltageRange = VOLTAGE_RANGE_3;*/
+}
+  void loop(){
+  foc_step(&motor, &command);
+  GPIOC->ODR ^= GPIO_ODR_OD10;
+  HAL_Delay(1000);
+  while (Can.read(CAN_inMsg)) {
+  listen_can();
+  
+ }
 }
 
-void loop() {
+
-  foc_step(&motor, &command);
-  while (Can.read(CAN_inMsg)) {
-    read_can_step();
-  }
-}