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


/*      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
};


/*  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

// Flash sectors for STM32F407
#define APP_ADDRESS     0x08008000    
#define UPDATE_FLAG     0xDEADBEEF  // flag forz update firmware
#define BOOT_CAN_ID     0x01         // CAN ID bootloader
#define BOOT_CAN_END    0x02         // CAN ID end of transfer
#define DATA_CAN_ID     0x03         // CAN ID packet data
#define ACK_CAN_ID      0x05         // CAN ID acknowledge
#define MAX_FW_SIZE     0x3FFF   // Max size firmware = 256 kB
#define PARAM_COUNT 5             // count data in flash
#define SECTOR_6     0x08040000  // 128KB
#define SECTOR_6_END (SECTOR_6 + 128 * 1024) // sector 6 end
// Flash keys for unlocking flash memory
#define BYTE32           0
#define BYTE8            1
//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); 


/*      for start addr in FLASH     */
static uint32_t write_ptr = SECTOR_6;
static uint32_t ptr_fl = APP_ADDRESS;
// 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);
void write_flash_page(const uint8_t* data, uint16_t len);
void erase_flash_pages();
void write_param(uint8_t param_id,uint32_t val);
uint16_t calc_crc_struct(FLASH_RECORD* res);
#endif /* FLASH_H_ */