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3steppers next stage

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This commit is contained in:
Edward Emelianov
2021-10-24 22:29:43 +03:00
parent 9ece1bd91e
commit 9b4bb6c02f
49 changed files with 466 additions and 107 deletions
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63
F0-nolib/3steppersLB/flash.c
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@@ -26,20 +26,23 @@
#include "flash.h"
#include "strfunct.h"
extern const uint32_t __varsstart, _BLOCKSIZE;
static const uint32_t blocksize = (uint32_t)&_BLOCKSIZE;
// max amount of Config records stored (will be recalculate in flashstorage_init()
static uint32_t maxCnum = FLASH_BLOCK_SIZE / sizeof(user_conf);
static uint32_t maxCnum = 1024 / sizeof(user_conf); // can't use blocksize here
#define USERCONF_INITIALIZER { \
.userconf_sz = sizeof(user_conf) \
,.defflags.reverse = 0 \
,.CANspeed = 100 \
,.microsteps = 16 \
,.accdecsteps = 25 \
,.motspd = 1000 \
,.maxsteps = 50000 \
,.CANID = 0xaa \
,.microsteps = {32, 32, 32} \
,.accdecsteps = {25, 25, 25} \
,.maxspd = {1000, 1000, 1000} \
,.maxsteps = {50000, 50000, 50000} \
,.motflags = {{0},{0},{0}} \
}
static int erase_flash(const void*, const void*);
static int write2flash(const void*, const void*, uint32_t);
// don't write `static` here, or get error:
@@ -83,7 +86,7 @@ static int binarySearch(int r, const uint8_t *start, int stor_size){
*/
void flashstorage_init(){
if(FLASH_SIZE > 0 && FLASH_SIZE < 20000){
uint32_t flsz = FLASH_SIZE * 1024; // size in bytes
uint32_t flsz = FLASH_SIZE * blocksize; // size in bytes
flsz -= (uint32_t)(&__varsstart) - FLASH_BASE;
maxCnum = flsz / sizeof(user_conf);
}
@@ -147,13 +150,13 @@ static int erase_flash(const void *start, const void *end){
uint32_t nblocks = 1, flsz = 0;
if(!end){ // erase all remaining
if(FLASH_SIZE > 0 && FLASH_SIZE < 20000){
flsz = FLASH_SIZE * 1024; // size in bytes
flsz = FLASH_SIZE * blocksize; // size in bytes
flsz -= (uint32_t)start - FLASH_BASE;
}
}else{ // erase a part
flsz = (uint32_t)end - (uint32_t)start;
}
nblocks = flsz / FLASH_BLOCK_SIZE;
nblocks = flsz / blocksize;
if(nblocks == 0 || nblocks >= FLASH_SIZE) return 1;
for(uint32_t i = 0; i < nblocks; ++i){
IWDG->KR = IWDG_REFRESH;
@@ -177,7 +180,7 @@ static int erase_flash(const void *start, const void *end){
/* (5) Clear EOP flag by software by writing EOP at 1 */
/* (6) Reset the PER Bit to disable the page erase */
FLASH->CR |= FLASH_CR_PER; /* (1) */
FLASH->AR = (uint32_t)Flash_Data + i*FLASH_BLOCK_SIZE; /* (2) */
FLASH->AR = (uint32_t)Flash_Data + i*blocksize; /* (2) */
FLASH->CR |= FLASH_CR_STRT; /* (3) */
while(!(FLASH->SR & FLASH_SR_EOP));
FLASH->SR |= FLASH_SR_EOP; /* (5)*/
@@ -191,16 +194,32 @@ static int erase_flash(const void *start, const void *end){
return ret;
}
void dump_userconf(){
SEND("userconf_addr="); printuhex((uint32_t)Flash_Data);
SEND("\nuserconf_sz="); printu(the_conf.userconf_sz);
SEND("\nCANspeed="); printu(the_conf.CANspeed);
SEND("\nmicrosteps="); printu(the_conf.microsteps);
SEND("\naccdecsteps="); printu(the_conf.accdecsteps);
SEND("\nmotspd="); printu(the_conf.motspd);
SEND("\nmaxsteps="); printu(the_conf.maxsteps);
//flags
SEND("\nreverse="); bufputchar('0' + the_conf.defflags.reverse);
void dump_userconf(_U_ char *txt){
#ifdef EBUG
SEND("flashsize="); printu(FLASH_SIZE); bufputchar('*');
printu(blocksize); bufputchar('='); printu(FLASH_SIZE*blocksize);
newline();
sendbuf();
#endif
SEND("userconf_addr="); printuhex((uint32_t)Flash_Data);
SEND("\nuserconf_idx="); printi(currentconfidx);
SEND("\nuserconf_sz="); printu(the_conf.userconf_sz);
SEND("\ncanspeed="); printu(the_conf.CANspeed);
SEND("\ncanid="); printu(the_conf.CANID);
// motors' data
for(int i = 0; i < MOTORSNO; ++i){
char cur = '0' + i;
#define PROPNAME(nm) do{newline(); SEND(nm); bufputchar(cur); bufputchar('=');}while(0)
PROPNAME("reverse");
bufputchar('0' + the_conf.motflags[i].reverse);
PROPNAME("microsteps");
printu(the_conf.microsteps[i]);
PROPNAME("accdecsteps");
printu(the_conf.accdecsteps[i]);
PROPNAME("maxspeed");
printu(the_conf.maxspd[i]);
PROPNAME("maxsteps");
printu(the_conf.maxsteps[i]);
#undef PROPNAME
}
NL();
}