init
This commit is contained in:
MobKBK
220
HARDWARE/stmflash.c
Normal file
220
HARDWARE/stmflash.c
Normal file
@@ -0,0 +1,220 @@
|
||||
#include "stmflash.h"
|
||||
#include "delay.h"
|
||||
#include "stmflash.h"
|
||||
#define FLASH_SAVE_ADDR 0X0800E000 //设置FLASH 保存地址(必须为偶数，且其值要大于本代码所占用FLASH的大小+0X08000000)
|
||||
//解锁STM32的FLASH
|
||||
void STMFLASH_Unlock(void)
|
||||
{
|
||||
FLASH->KEYR=FLASH_KEY1;//写入解锁序列.
|
||||
FLASH->KEYR=FLASH_KEY2;
|
||||
}
|
||||
//flash上锁
|
||||
void STMFLASH_Lock(void)
|
||||
{
|
||||
FLASH->CR|=1<<7;//上锁
|
||||
}
|
||||
//得到FLASH状态
|
||||
u8 STMFLASH_GetStatus(void)
|
||||
{
|
||||
u32 res;
|
||||
res=FLASH->SR;
|
||||
if(res&(1<<0))return 1; //忙
|
||||
else if(res&(1<<2))return 2; //编程错误
|
||||
else if(res&(1<<4))return 3; //写保护错误
|
||||
return 0; //操作完成
|
||||
}
|
||||
//等待操作完成
|
||||
//time:要延时的长短
|
||||
//返回值:状态.
|
||||
u8 STMFLASH_WaitDone(u16 time)
|
||||
{
|
||||
u8 res;
|
||||
do
|
||||
{
|
||||
res=STMFLASH_GetStatus();
|
||||
if(res!=1)break;//非忙,无需等待了,直接退出.
|
||||
delay_us(1);
|
||||
time--;
|
||||
}while(time);
|
||||
if(time==0)res=0xff;//TIMEOUT
|
||||
return res;
|
||||
}
|
||||
//擦除页
|
||||
//paddr:页地址
|
||||
//返回值:执行情况
|
||||
u8 STMFLASH_ErasePage(u32 paddr)
|
||||
{
|
||||
u8 res=0;
|
||||
res=STMFLASH_WaitDone(0X5FFF);//等待上次操作结束,>20ms
|
||||
if(res==0)
|
||||
{
|
||||
FLASH->CR|=1<<1;//页擦除
|
||||
FLASH->AR=paddr;//设置页地址
|
||||
FLASH->CR|=1<<6;//开始擦除
|
||||
res=STMFLASH_WaitDone(0X5FFF);//等待操作结束,>20ms
|
||||
if(res!=1)//非忙
|
||||
{
|
||||
FLASH->CR&=~(1<<1);//清除页擦除标志.
|
||||
}
|
||||
}
|
||||
return res;
|
||||
}
|
||||
//在FLASH指定地址写入半字
|
||||
//faddr:指定地址(此地址必须为2的倍数!!)
|
||||
//dat:要写入的数据
|
||||
//返回值:写入的情况
|
||||
u8 STMFLASH_WriteHalfWord(u32 faddr, u16 dat)
|
||||
{
|
||||
u8 res;
|
||||
res=STMFLASH_WaitDone(0XFF);
|
||||
if(res==0)//OK
|
||||
{
|
||||
FLASH->CR|=1<<0;//编程使能
|
||||
*(vu16*)faddr=dat;//写入数据
|
||||
res=STMFLASH_WaitDone(0XFF);//等待操作完成
|
||||
if(res!=1)//操作成功
|
||||
{
|
||||
FLASH->CR&=~(1<<0);//清除PG位.
|
||||
}
|
||||
}
|
||||
return res;
|
||||
}
|
||||
//读取指定地址的半字(16位数据)
|
||||
//faddr:读地址
|
||||
//返回值:对应数据.
|
||||
u16 STMFLASH_ReadHalfWord(u32 faddr)
|
||||
{
|
||||
return *(vu16*)faddr;
|
||||
}
|
||||
#if STM32_FLASH_WREN //如果使能了写
|
||||
//不检查的写入
|
||||
//WriteAddr:起始地址
|
||||
//pBuffer:数据指针
|
||||
//NumToWrite:半字(16位)数
|
||||
void STMFLASH_Write_NoCheck(u32 WriteAddr,u16 *pBuffer,u16 NumToWrite)
|
||||
{
|
||||
u16 i;
|
||||
for(i=0;i<NumToWrite;i++)
|
||||
{
|
||||
STMFLASH_WriteHalfWord(WriteAddr,pBuffer[i]);
|
||||
WriteAddr+=2;//地址增加2.
|
||||
}
|
||||
}
|
||||
//从指定地址开始写入指定长度的数据
|
||||
//WriteAddr:起始地址(此地址必须为2的倍数!!)
|
||||
//pBuffer:数据指针
|
||||
//NumToWrite:半字(16位)数(就是要写入的16位数据的个数.)
|
||||
#if STM32_FLASH_SIZE<256
|
||||
#define STM_SECTOR_SIZE 1024 //字节
|
||||
#else
|
||||
#define STM_SECTOR_SIZE 2048
|
||||
#endif
|
||||
u16 STMFLASH_BUF[STM_SECTOR_SIZE/2];//最多是2K字节
|
||||
void STMFLASH_Write(u32 WriteAddr,u16 *pBuffer,u16 NumToWrite)
|
||||
{
|
||||
u32 secpos; //扇区地址
|
||||
u16 secoff; //扇区内偏移地址(16位字计算)
|
||||
u16 secremain; //扇区内剩余地址(16位字计算)
|
||||
u16 i;
|
||||
u32 offaddr; //去掉0X08000000后的地址
|
||||
if(WriteAddr<STM32_FLASH_BASE||(WriteAddr>=(STM32_FLASH_BASE+1024*STM32_FLASH_SIZE)))return;//非法地址
|
||||
STMFLASH_Unlock(); //解锁
|
||||
offaddr=WriteAddr-STM32_FLASH_BASE; //实际偏移地址.
|
||||
secpos=offaddr/STM_SECTOR_SIZE; //扇区地址 0~127 for STM32F103RBT6
|
||||
secoff=(offaddr%STM_SECTOR_SIZE)/2; //在扇区内的偏移(2个字节为基本单位.)
|
||||
secremain=STM_SECTOR_SIZE/2-secoff; //扇区剩余空间大小
|
||||
if(NumToWrite<=secremain)secremain=NumToWrite;//不大于该扇区范围
|
||||
while(1)
|
||||
{
|
||||
STMFLASH_Read(secpos*STM_SECTOR_SIZE+STM32_FLASH_BASE,STMFLASH_BUF,STM_SECTOR_SIZE/2);//读出整个扇区的内容
|
||||
for(i=0;i<secremain;i++)//校验数据
|
||||
{
|
||||
if(STMFLASH_BUF[secoff+i]!=0XFFFF)break;//需要擦除
|
||||
}
|
||||
if(i<secremain)//需要擦除
|
||||
{
|
||||
STMFLASH_ErasePage(secpos*STM_SECTOR_SIZE+STM32_FLASH_BASE);//擦除这个扇区
|
||||
for(i=0;i<secremain;i++)//复制
|
||||
{
|
||||
STMFLASH_BUF[i+secoff]=pBuffer[i];
|
||||
}
|
||||
STMFLASH_Write_NoCheck(secpos*STM_SECTOR_SIZE+STM32_FLASH_BASE,STMFLASH_BUF,STM_SECTOR_SIZE/2);//写入整个扇区
|
||||
}else STMFLASH_Write_NoCheck(WriteAddr,pBuffer,secremain);//写已经擦除了的,直接写入扇区剩余区间.
|
||||
if(NumToWrite==secremain)break;//写入结束了
|
||||
else//写入未结束
|
||||
{
|
||||
secpos++; //扇区地址增1
|
||||
secoff=0; //偏移位置为0
|
||||
pBuffer+=secremain; //指针偏移
|
||||
WriteAddr+=secremain*2; //写地址偏移(16位数据地址,需要*2)
|
||||
NumToWrite-=secremain; //字节(16位)数递减
|
||||
if(NumToWrite>(STM_SECTOR_SIZE/2))secremain=STM_SECTOR_SIZE/2;//下一个扇区还是写不完
|
||||
else secremain=NumToWrite;//下一个扇区可以写完了
|
||||
}
|
||||
};
|
||||
STMFLASH_Lock();//上锁
|
||||
}
|
||||
#endif
|
||||
//从指定地址开始读出指定长度的数据
|
||||
//ReadAddr:起始地址
|
||||
//pBuffer:数据指针
|
||||
//NumToWrite:半字(16位)数
|
||||
void STMFLASH_Read(u32 ReadAddr,u16 *pBuffer,u16 NumToRead)
|
||||
{
|
||||
u16 i;
|
||||
for(i=0;i<NumToRead;i++)
|
||||
{
|
||||
pBuffer[i]=STMFLASH_ReadHalfWord(ReadAddr);//读取2个字节.
|
||||
ReadAddr+=2;//偏移2个字节.
|
||||
}
|
||||
}
|
||||
|
||||
//WriteAddr:起始地址
|
||||
//WriteData:要写入的数据
|
||||
void Test_Write(u32 WriteAddr,u16 WriteData)
|
||||
{
|
||||
STMFLASH_Write(WriteAddr,&WriteData,1);//写入一个字
|
||||
}
|
||||
|
||||
/**************************************************************************
|
||||
函数功能：从Flash读取指定数据
|
||||
入口参数：无
|
||||
返回 值：无
|
||||
**************************************************************************/
|
||||
void Flash_Read(void)
|
||||
{
|
||||
STMFLASH_Read(FLASH_SAVE_ADDR,(u16*)PID_Parameter,10);
|
||||
if(PID_Parameter[0]==65535&&PID_Parameter[1]==65535&&PID_Parameter[2]==65535&&PID_Parameter[3]==65535&&PID_Parameter[4]==65535&&PID_Parameter[5]==65535&&PID_Parameter[6]==65535)
|
||||
{
|
||||
RC_Velocity=30;
|
||||
Velocity_KP=12;
|
||||
Velocity_KI=12;
|
||||
}
|
||||
else
|
||||
{
|
||||
RC_Velocity=PID_Parameter[0];//从Flash里面读取数据
|
||||
Velocity_KP=PID_Parameter[1];
|
||||
Velocity_KI=PID_Parameter[2];
|
||||
}
|
||||
}
|
||||
/**************************************************************************
|
||||
函数功能：向Flash写入指定数据
|
||||
入口参数：无
|
||||
返回 值：无
|
||||
**************************************************************************/
|
||||
void Flash_Write(void)
|
||||
{
|
||||
Flash_Parameter[0]=RC_Velocity; //写入数据
|
||||
Flash_Parameter[1]=Velocity_KP; //
|
||||
Flash_Parameter[2]=Velocity_KI; //
|
||||
STMFLASH_Write(FLASH_SAVE_ADDR,(u16*)Flash_Parameter,10);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user