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