Work with register

include/flash.h

@@ -0,0 +1,72 @@
+#ifndef FLASH_H_
+#define FLASH_H_
+#include "stm32f446xx.h"
+
+
+
+
+/*      for addr in FLASH     */
+typedef struct{
+    uint8_t data_id;  // data_id = id register of can
+    uint8_t value;
+    uint16_t crc;
+    // uint32_t write_ptr_now;
+  }FLASH_RECORD;
+enum {
+  addr_id   = 0,
+  foc_id    = 1,
+kp_id       = 2,
+  ki_id     = 3,
+  kd_id     = 4
+};
+
+#define FLASH_RECORD_SIZE sizeof(FLASH_RECORD)    //size flash struct
+#define PARAM_COUNT 3             // count data in flash
+
+// 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  // Уникальное 32-битное значение
+//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))
+
+//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);
+void write_param(uint8_t param_id, uint8_t val);
+FLASH_RECORD* load_params();
+void compact_page();
+void flash_read(uint32_t addr,FLASH_RECORD* ptr);
+bool validate_crc(FLASH_RECORD* crc);
+void flash_write(uint32_t addr, FLASH_RECORD* record);
+
+#endif /* FLASH_H_ */

include/hal_conf_extra.h

@@ -0,0 +1,38 @@
+#pragma once
+
+#pragma region "Motor and sensor setup"
+#define LED1 PC10
+#define LED2 PC11
+#define HARDWARE_SERIAL_RX_PIN PB7
+#define HARDWARE_SERIAL_TX_PIN PB6
+#define AS5045_CS PB15
+#define AS5045_MISO PB14
+#define AS5045_MOSI PC1
+#define AS5045_SCLK PB10
+#define CURRENT_SENSOR_1 PB1
+#define CURRENT_SENSOR_2 PB0
+#define CURRENT_SENSOR_3 PC5
+#define TIM1_CH1 PA8
+#define TIM1_CH2 PA9
+#define TIM1_CH3 PA10
+#define EN_W_GATE_DRIVER PC6
+#define EN_U_GATE_DRIVER PA11
+#define EN_V_GATE_DRIVER PA12
+#define SLEEP_DRIVER PC9
+#define RESET_DRIVER PC8
+#define FAULT_DRIVER PC7
+#define POLE_PAIRS 14
+#define CAN2_TX PB13
+#define CAN2_RX PB12
+#define CAN1_TX PB9
+#define CAN1_RX PB8
+#define GM6208_RESISTANCE 31
+#define OWN_RESISTANCE 26
+#pragma endregion
+
+#if !defined(HAL_CAN_MODULE_ENABLED)
+#define HAL_CAN_MODULE_ENABLED
+#endif
+#include "stm32f4xx_hal.h"
+#include "stm32f4xx_hal_can.h"
+#include <STM32_CAN.h>

include/reg_cah.h

@@ -0,0 +1,40 @@
+#ifndef REG_CAH_H_
+#define REG_CAH_H_
+
+#define APP_ADDR        0x0800400  // 16KB - Application
+#define ADDR_VAR        0x8040000
+
+
+#define REG_READ                0x07
+#define REG_WRITE               0x08
+
+
+/*               Startup    ID device          */
+#define START_ID               0x00
+
+/*              CAN REGISTER     ID       */
+#define REG_ID                  0x01
+#define REG_BAUDRATE            0x02
+
+#define REG_MOTOR_POSPID_Kp     0x30
+#define REG_MOTOR_POSPID_Ki     0x31
+#define REG_MOTOR_POSPID_Kd     0x32
+
+#define REG_MOTOR_VELPID_Kp     0x40
+#define REG_MOTOR_VELPID_Ki     0x41
+#define REG_MOTOR_VELPID_Kd     0x42
+
+#define REG_MOTOR_IMPPID_Kp     0x50
+#define REG_MOTOR_IMPPID_Kd     0x51
+
+#define REG_RESET               0x88
+#define REG_LED_BLINK           0x8B
+
+#define FOC_STATE               0x60
+
+#define MOTOR_VELOCITY          0x70
+#define MOTOR_ENABLED           0x71
+#define MOTOR_ANGLE             0x72
+#define MOTOR_TORQUE            0x73
+
+#endif  // REG_CAH_H_