flash.c

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/**************************************************************************/
#include "main.h"
 
#define JUDGE_AVAILABLE(x, minimum, maximum)    if (x > maximum || x < minimum) \
                                                    x = 0
 
void flash_write_parameters(void) {
    unsigned int buffer[11] = {machine_angle_offset, phase_sequence, 0x00000000UL, 0x00000000UL, 0x00000000UL,
                               0x00000000UL, 0x00000000UL, 0x00000000UL, 0x00000000UL, 0x00000000UL, 0x00000000UL};
    buffer[2] = float_to_int32(speed_pid_handler.kp);
    buffer[3] = float_to_int32(speed_pid_handler.ki);
    buffer[4] = float_to_int32(speed_pid_handler.kd);
    buffer[5] = float_to_int32(speed_pid_handler.sum_maximum);
    buffer[6] = float_to_int32(angle_pid_handler.kp);
    buffer[7] = float_to_int32(angle_pid_handler.ki);
    buffer[8] = float_to_int32(angle_pid_handler.kd);
    buffer[9] = float_to_int32(angle_pid_handler.sum_maximum);
    if (pid_parameter_available_flag == 1)
        buffer[10] = 0xA5A5A5A5UL;
    flash_erase_page();
    flash_program_word(0x00000000UL, buffer, 11);
}
 
void flash_read_parameters(void) {
    machine_angle_offset = flash_read_word(0x00000000UL);
    phase_sequence = flash_read_word(0x00000004UL);
    speed_pid_handler.kp = int32_to_float(flash_read_word(0x00000008UL));
    speed_pid_handler.ki = int32_to_float(flash_read_word(0x00000012UL));
    speed_pid_handler.kd = int32_to_float(flash_read_word(0x00000016UL));
    speed_pid_handler.sum_maximum = int32_to_float(flash_read_word(0x00000020UL));
    angle_pid_handler.kp = int32_to_float(flash_read_word(0x00000024UL));
    angle_pid_handler.ki = int32_to_float(flash_read_word(0x00000028UL));
    angle_pid_handler.kd = int32_to_float(flash_read_word(0x00000032UL));
    angle_pid_handler.sum_maximum = int32_to_float(flash_read_word(0x00000036UL));
    if (machine_angle_offset > 4096 || phase_sequence > 1)
        foc_parameter_available_flag = 0;
    if (flash_read_word(0x00000040UL) != 0xA5A5A5A5UL)
        pid_parameter_available_flag = 0;
 
    JUDGE_AVAILABLE(speed_pid_handler.kp, 10.0f, -10.0f);
    JUDGE_AVAILABLE(speed_pid_handler.ki, 10.0f, -10.0f);
    JUDGE_AVAILABLE(speed_pid_handler.kd, 10.0f, -10.0f);
    JUDGE_AVAILABLE(speed_pid_handler.sum_maximum, 10.0f, -10.0f);
 
    JUDGE_AVAILABLE(angle_pid_handler.kp, 10.0f, -10.0f);
    JUDGE_AVAILABLE(angle_pid_handler.ki, 10.0f, -10.0f);
    JUDGE_AVAILABLE(angle_pid_handler.kd, 10.0f, -10.0f);
    JUDGE_AVAILABLE(angle_pid_handler.sum_maximum, 10.0f, -10.0f);
}
 
void flash_erase_page(void) {
    /* unlock the flash program/erase controller */
    fmc_unlock();
    fmc_flag_clear(FMC_FLAG_END | FMC_FLAG_WPERR | FMC_FLAG_PGERR);
 
    /* erase the flash page */
    fmc_page_erase(FMC_WRITE_START_ADDR);
    fmc_flag_clear(FMC_FLAG_END | FMC_FLAG_WPERR | FMC_FLAG_PGERR);
 
    /* lock the main FMC after the erase operation */
    fmc_lock();
}
 
void flash_program_word(unsigned int addr, unsigned int *data, unsigned char counter) {
    /* unlock the flash program/erase controller */
    fmc_unlock();
 
    /* program flash */
    for (unsigned char data_cnt = 0; data_cnt < counter; data_cnt++) {
        fmc_word_program(addr + FMC_WRITE_START_ADDR + 4 * data_cnt, data[data_cnt]);
        fmc_flag_clear(FMC_FLAG_END | FMC_FLAG_WPERR | FMC_FLAG_PGERR);
    }
 
    /* lock the main FMC after the program operation */
    fmc_lock();
}
 
unsigned int flash_read_word(unsigned int addr) {
    /* redirect the address to access memory */
    addr = FMC_WRITE_START_ADDR + addr;
    unsigned int *ptrd = (unsigned int *) addr;
    return (*ptrd);
}