restructuring

F0:F030,F042,F072/3steppersLB/flash.h

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+/*
+ * flash.h
+ *
+ * Copyright 2017 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ *
+ */
+
+#pragma once
+#ifndef __FLASH_H__
+#define __FLASH_H__
+
+#include "hardware.h"
+
+#ifndef _U_
+#define _U_         __attribute__((unused))
+#endif
+
+// limiting values
+#define MICROSTEPSMAX       (512)
+// (STEPS per second^2)
+#define ACCELMAXSTEPS       (1000)
+// max encoder steps per rev
+#define MAXENCREV           (100000)
+
+// register with flash size (in blocks)
+#ifndef FLASH_SIZE_REG
+#define FLASH_SIZE_REG      ((uint32_t)0x1FFFF7CC)
+#endif
+
+#define FLASH_SIZE          *((uint16_t*)FLASH_SIZE_REG)
+
+// motor flags
+typedef struct{
+    uint8_t reverse : 1;        // bit0 - reversing motor rotation
+    uint8_t encreverse : 1;     // bit1 - reversing encoder rotation TODO: configure encoder's timer to downcounting
+    uint8_t haveencoder : 1;    // bit2 - have encoder
+    uint8_t donthold : 1;       // bit3 - clear power @ stop (don't hold motor when stopped)
+    uint8_t eswinv : 1;         // bit4 - inverse end-switches
+    uint8_t keeppos : 1;        // bit5 - keep current position (as servo motor)
+} motflags_t;
+
+/*
+ * struct to save user configurations
+ */
+typedef struct __attribute__((packed, aligned(4))){
+    uint16_t userconf_sz;           // "magick number"
+    uint16_t CANspeed;              // default CAN speed
+    uint16_t CANID;                 // identifier
+    uint16_t microsteps[MOTORSNO];  // microsteps amount per step
+    uint16_t accel[MOTORSNO];       // acceleration/deceleration (steps/s^2)
+    uint16_t maxspd[MOTORSNO];      // max motor speed (steps per second)
+    uint16_t minspd[MOTORSNO];      // min motor speed (steps per second)
+    uint32_t maxsteps[MOTORSNO];    // maximal amount of steps
+    uint16_t encrev[MOTORSNO];      // encoders' counts per revolution
+    uint16_t encperstepmin[MOTORSNO]; // min amount of encoder ticks per one step
+    uint16_t encperstepmax[MOTORSNO]; // max amount of encoder ticks per one step
+    motflags_t motflags[MOTORSNO];  // motor's flags
+    uint8_t ESW_reaction[MOTORSNO]; // end-switches reaction (esw_react)
+} user_conf;
+
+extern user_conf the_conf; // global user config (read from FLASH to RAM)
+// data from ld-file: start address of storage
+
+void flashstorage_init();
+int store_userconf();
+void dump_userconf(_U_ char *txt);
+
+#endif // __FLASH_H__