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https://github.com/eddyem/stm32samples.git
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85 lines
3.0 KiB
C
85 lines
3.0 KiB
C
/*
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* flash.h
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*
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* Copyright 2017 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
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* MA 02110-1301, USA.
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*
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*/
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#pragma once
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#ifndef __FLASH_H__
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#define __FLASH_H__
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#include "hardware.h"
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#ifndef _U_
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#define _U_ __attribute__((unused))
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#endif
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// limiting values
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#define MICROSTEPSMAX (512)
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// (STEPS per second^2)
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#define ACCELMAXSTEPS (1000)
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// max encoder steps per rev
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#define MAXENCREV (100000)
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// register with flash size (in blocks)
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#ifndef FLASH_SIZE_REG
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#define FLASH_SIZE_REG ((uint32_t)0x1FFFF7CC)
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#endif
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#define FLASH_SIZE *((uint16_t*)FLASH_SIZE_REG)
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// motor flags
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typedef struct{
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uint8_t reverse : 1; // bit0 - reversing motor rotation
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uint8_t encreverse : 1; // bit1 - reversing encoder rotation TODO: configure encoder's timer to downcounting
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uint8_t haveencoder : 1; // bit2 - have encoder
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uint8_t donthold : 1; // bit3 - clear power @ stop (don't hold motor when stopped)
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uint8_t eswinv : 1; // bit4 - inverse end-switches
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uint8_t keeppos : 1; // bit5 - keep current position (as servo motor)
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} motflags_t;
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/*
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* struct to save user configurations
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*/
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typedef struct __attribute__((packed, aligned(4))){
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uint16_t userconf_sz; // "magick number"
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uint16_t CANspeed; // default CAN speed
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uint16_t CANID; // identifier
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uint16_t microsteps[MOTORSNO]; // microsteps amount per step
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uint16_t accel[MOTORSNO]; // acceleration/deceleration (steps/s^2)
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uint16_t maxspd[MOTORSNO]; // max motor speed (steps per second)
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uint16_t minspd[MOTORSNO]; // min motor speed (steps per second)
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uint32_t maxsteps[MOTORSNO]; // maximal amount of steps
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uint16_t encrev[MOTORSNO]; // encoders' counts per revolution
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uint16_t encperstepmin[MOTORSNO]; // min amount of encoder ticks per one step
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uint16_t encperstepmax[MOTORSNO]; // max amount of encoder ticks per one step
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motflags_t motflags[MOTORSNO]; // motor's flags
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uint8_t ESW_reaction[MOTORSNO]; // end-switches reaction (esw_react)
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} user_conf;
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extern user_conf the_conf; // global user config (read from FLASH to RAM)
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// data from ld-file: start address of storage
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void flashstorage_init();
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int store_userconf();
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void dump_userconf(_U_ char *txt);
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int erase_storage();
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#endif // __FLASH_H__
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