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基础响应功能的实现

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cbb
2025-12-27 19:20:23 +08:00
parent 26e73f451e
commit a25ec5f029
762 changed files with 1165 additions and 3750 deletions
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Robot_V2/sys/flash.cpp
+2 -346
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@@ -10,11 +10,8 @@
#include <stdint.h>
FlashEEPROM flashEEP = FlashEEPROM();
extern CAN_transmiter CAN0_transmiter;
constexpr u8 SIZE_U32 = sizeof(uint32_t);
constexpr u8 SIZE_FLOAT = sizeof(float);
constexpr u8 DEFAULT_VALUE = 0;
constexpr u8 NUM_SAVED = 6;
#define EEPDEBUG 0
// FlashEEPROM类实现
@@ -31,322 +28,7 @@ u8 FlashEEPROM::init() {
rcu_periph_clock_enable(RCU_CRC);
crc_deinit(); // 初始化CRC模块
FlashEepromStatus status = FLASH_EEPROM_OK;
// 读取系统配置
read_saved_system_config();
if (EEPROMStatus == FLASH_EEPROM_OK) {
return FLASH_EEPROM_OK;
} else {
return FLASH_EEPROM_READ_ERROR;
}
return 1; // 正常不会返回这个，未预料的异常情况返回
}
/**
* @brief 读取EEPROM数据
* @param virtualAddr: 虚拟地址
* @param data: 存储读取数据的指针
* @retval EEPROMStatus: 是否成功
*/
u8 FlashEEPROM::read_saved_system_config(void) {
// 读取保存的参数
u32 CRC_NUM = 0x0000;
FlashEepromStatus status_read[NUM_SAVED + 1] = {FLASH_EEPROM_OK};
float data[NUM_SAVED] = {0.0f};
// 尝试从Flash读取参数，如果不存在则使用默认值
status_read[1] = readFloat(ADDR_CONTROL_MODE, &data[0]);
status_read[2] = readFloat(ADDR_VOLTAGE_LIMIT, &data[1]);
status_read[3] = readFloat(ADDR_VEL_LIMIT, &data[2]);
status_read[4] = readFloat(ADDR_ANGLE, &data[3]);
status_read[5] = readFloat(ADDR_TARGET_ANGLE, &data[4]);
status_read[6] = readFloat(ADDR_TARGET_VEL, &data[5]);
// 读取失败则使用默认值
for (u8 i = 1; i < NUM_SAVED + 1; i++) {
if (status_read[i] ==
FLASH_EEPROM_DATA_NOT_FOUND) { // 首次读取，不保存报错
data[i - 1] = DEFAULT_VALUE;
} else if (status_read[i] != FLASH_EEPROM_OK) { // 其余错误，保存报错
data[i - 1] = DEFAULT_VALUE;
status_read[0] = status_read[i];
}
}
// 读取到全部数据
if (status_read[0] == FLASH_EEPROM_OK) {
u32 next_address = EEPROM_END_ADDRESS;
// 遍历Flash页面寻找下一个可写入位置
for (u32 address = EEPROM_DATA_START_ADDRESS - SIZE_U32;
address > EEPROM_START_ADDRESS; address -= SIZE_U32) {
// 安全读取Flash数据
volatile u32 *flash_ptr = (volatile u32 *)address;
u32 data_word = *flash_ptr;
// 找到空位置
if (data_word == 0xFFFFFFFF) {
next_address = address + SIZE_U32; // 上一个位置为有效存储的数据
break;
}
// 更新下一个可能的写入位置（如果需要格式化）
next_address = address - SIZE_U32;
}
if (next_address == EEPROM_DATA_START_ADDRESS) {
// 从来没有存储过，直接返回
return FLASH_EEPROM_OK;
}
crc_data_register_reset(); // 确保CRC计算从初始状态开始
CRC_NUM = crc_block_data_calculate((uint32_t *)data, NUM_SAVED);
#if EEPDEBUG
printf("CRC cmp1,0x%X_0x%x \r\n", CRC_NUM, *((u32 *)next_address));
#endif
if (CRC_NUM != *((u32 *)next_address)) { // CRC错误
for (u8 i = 0; i < NUM_SAVED; i++) {
data[i] = DEFAULT_VALUE;
}
EEPROMStatus = FLASH_EEPROM_CRC_ERROR;
} else { // CRC正确
EEPROMStatus = FLASH_EEPROM_OK;
}
} else {
// 读取失败，报错
EEPROMStatus = status_read[0];
}
return EEPROMStatus;
}
/**
* @brief 从Flash EEPROM读取数据
* @param virtualAddr: 虚拟地址
* @param data: 指向存储读取数据的指针
* @retval FlashEepromStatus: 操作状态
*/
FlashEepromStatus FlashEEPROM::read(u8 virtualAddr, u16 *data) const {
// 参数检查
if (data == nullptr) {
return FLASH_EEPROM_INVALID_ADDR;
}
// 从Flash末尾开始向前搜索，找到最新的数据
for (u32 address = EEPROM_END_ADDRESS - SIZE_U32;
address >= EEPROM_START_ADDRESS; address -= SIZE_U32) {
u32 data_word = *((u32 *)address);
// 检查是否是有效数据（非擦除状态）
if (data_word != 0xFFFFFFFF) {
u8 addr = (u8)(data_word & DATA_ADDR_MASK);
// 找到匹配的虚拟地址
if (addr == virtualAddr) {
*data = (u16)(data_word & DATA_U16_MASK);
return FLASH_EEPROM_OK;
}
}
}
return FLASH_EEPROM_DATA_NOT_FOUND;
}
/**
* @brief 从Flash EEPROM读取float数据
* @param virtualAddr: 虚拟地址
* @param data: 指向存储读取数据的指针
* @retval FlashEepromStatus: 操作状态
*/
FlashEepromStatus FlashEEPROM::readFloat(u8 virtualAddr, float *data) const {
// 检查参数有效性
if (data == nullptr) {
return FLASH_EEPROM_INVALID_ADDR;
}
// 从Flash末尾开始向前搜索，找到最新的数据
for (u32 address = EEPROM_END_ADDRESS - SIZE_U32;
address >= EEPROM_START_ADDRESS; address -= SIZE_U32) {
// 使用volatile确保每次都从内存读取，防止编译器优化
volatile u32 *flash_ptr = (volatile u32 *)address;
u32 data_word = *flash_ptr;
// 检查是否是有效数据（非擦除状态）
if (data_word != 0xFFFFFFFF) {
u8 addr = (u8)(data_word & DATA_ADDR_MASK);
// 找到匹配的虚拟地址
if (addr == virtualAddr) {
// 清除最低的8位地址信息，保留高24位数据
u32 float_data = data_word & DATA_FLOAT_MASK;
// 使用内存拷贝将处理后的数据解释为float
memcpy(data, &float_data, SIZE_FLOAT);
#if EEPDEBUG
printf("read:0x%x=%f\r\n", address, *data);
#endif
return FLASH_EEPROM_OK;
}
}
}
// 未找到指定虚拟地址的数据
return FLASH_EEPROM_DATA_NOT_FOUND;
}
/**
* @brief 向Flash EEPROM写入数据
* @param virtualAddr: 虚拟地址
* @param data: 要写入的数据
* @retval FlashEepromStatus: 操作状态
*/
FlashEepromStatus FlashEEPROM::write(u8 virtualAddr, u16 data) {
// 查找下一个可写入的位置
u32 next_address = EEPROM_START_ADDRESS;
u32 data_read;
// 插入虚拟地址到低8位 格式: [data:16bit][reserved:8bit][addr:8bit]
data = (data & DATA_U16_MASK) | (u32)virtualAddr;
for (u32 address = EEPROM_END_ADDRESS - SIZE_U32;
address >= EEPROM_DATA_START_ADDRESS; address -= SIZE_U32) {
// 安全读取Flash数据
volatile u32 *flash_ptr = (volatile u32 *)address;
data_read = *flash_ptr;
if ((data_read & DATA_ADDR_MASK) == (u32)virtualAddr) { // 虚拟地址相同
if ((data_read & DATA_U16_MASK) ==
(data & DATA_U16_MASK)) { // 数据相同
#if EEPDEBUG
data_read = data_read & DATA_U16_MASK;
u16 float_data_read = *((u16 *)&data_read);
printf("Found data in:0x%x=%u\r\n", address, data_read);
#endif
return FLASH_EEPROM_OK;
} else {
break;
}
}
}
// 遍历Flash页面寻找下一个可写入位置
for (u32 address = EEPROM_DATA_START_ADDRESS; address < EEPROM_END_ADDRESS;
address += SIZE_U32) {
// 安全读取Flash数据
volatile u32 *flash_ptr = (volatile u32 *)address;
u32 data_word = *flash_ptr;
// 找到空位置
if (data_word == 0xFFFFFFFF) {
next_address = address;
break;
}
// 更新下一个可能的写入位置（如果需要格式化）
next_address = address + SIZE_U32;
}
// 如果有足够空间，直接写入
if (next_address < EEPROM_END_ADDRESS) {
u32 data_word = ((u32)data << 16) | (u32)virtualAddr;
// 使用GD32库函数进行安全编程
fmc_unlock();
fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR);
fmc_state_enum fmc_status =
fmc_word_program(next_address, data_word); // 写入数据
fmc_lock();
if (fmc_status != FMC_READY) {
return FLASH_EEPROM_WRITE_ERROR;
}
return FLASH_EEPROM_OK;
} else { // 空间不足，需要格式化页面
#if EEPDEBUG
printf("no enough space\r\n");
#endif
FlashEepromStatus status = format();
if (status == FLASH_EEPROM_OK) {
return status;
} else {
return FLASH_EEPROM_ERASE_ERROR;
}
}
}
/**
* @brief 向Flash EEPROM写入float数据
* @param virtualAddr: 虚拟地址
* @param data: 要写入的数据
* @retval FlashEepromStatus: 操作状态
*/
FlashEepromStatus FlashEEPROM::writeFloat(u8 virtualAddr, float data) {
// 查找下一个可写入的位置
u32 next_address = EEPROM_START_ADDRESS;
u32 data_word;
// 将完整的float数据复制到32位变量中
memcpy(&data_word, &data, SIZE_FLOAT);
// 插入虚拟地址到低8位 格式: [data:24bit][addr:8bit]
data_word = (data_word & DATA_FLOAT_MASK) | (u32)virtualAddr;
// 从Flash末尾开始向前搜索，找到最新的数据
for (u32 address = EEPROM_END_ADDRESS - SIZE_U32;
address >= EEPROM_DATA_START_ADDRESS; address -= SIZE_U32) {
// 安全读取Flash数据
volatile u32 *flash_ptr = (volatile u32 *)address;
u32 data_word_read = *flash_ptr;
if ((data_word_read & DATA_ADDR_MASK) ==
(u32)virtualAddr) { // 虚拟地址相同
if ((data_word_read & DATA_FLOAT_MASK) ==
(data_word & DATA_FLOAT_MASK)) { // 数据相同
#if EEPDEBUG
data_word_read = data_word_read & DATA_FLOAT_MASK;
float float_data_read = *((float *)&data_word_read);
printf("Found data in:0x%x=%f\r\n", address, float_data_read);
#endif
return FLASH_EEPROM_OK;
} else {
break; // 找到相同地址但数据不同，需要更新
}
}
}
// 遍历Flash页面寻找下一个可写入位置
for (u32 address = EEPROM_DATA_START_ADDRESS; address < EEPROM_END_ADDRESS;
address += SIZE_U32) {
// 安全读取Flash数据
volatile u32 *flash_ptr = (volatile u32 *)address;
u32 data_word_read = *flash_ptr;
// 找到空位置
if (data_word_read == 0xFFFFFFFF) {
next_address = address;
break;
}
// 更新下一个可能的写入位置（如果需要格式化）
next_address = address + SIZE_U32;
}
// 如果有足够空间，直接写入
if (next_address < EEPROM_END_ADDRESS) {
// 使用GD32库函数进行安全编程
fmc_unlock();
fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR);
// 确保使用对齐地址
fmc_state_enum fmc_status = fmc_word_program(next_address, data_word);
fmc_lock();
#if EEPDEBUG
u32 data_word_c = *((u32 *)next_address);
data_word_c = data_word_c & DATA_FLOAT_MASK;
float float_data = *((float *)&data_word_c);
printf("save:0x%x=%f\r\n", next_address, float_data);
#endif
if (fmc_status != FMC_READY) {
return FLASH_EEPROM_WRITE_ERROR;
}
return FLASH_EEPROM_OK;
} else {
// 空间不足，需要格式化页面
#if EEPDEBUG
printf("no enough space\r\n");
#endif
FlashEepromStatus status = format();
if (status == FLASH_EEPROM_OK) {
return status;
} else {
return FLASH_EEPROM_ERASE_ERROR;
}
}
return 0; // 正常不会返回这个，未预料的异常情况返回
}
/**
@@ -375,24 +57,11 @@ FlashEepromStatus FlashEEPROM::format() {
return FLASH_EEPROM_OK;
}
/**
* @brief 读取角度数据从Flash
* @return float: 角度数据
*/
float FlashEEPROM::read_angle() {
float angle = DEFAULT_VALUE;
if (readFloat(ADDR_ANGLE, &angle) != FLASH_EEPROM_OK) {
angle = DEFAULT_VALUE;
}
return angle;
}
/**
* @brief 保存CRC数据到Flash
* @param saved: 是否一次性保存
* @return FlashEepromStatus: 状态
*/
FlashEepromStatus FlashEEPROM::writeCRC(u32 CRC_NUM, bool saved) {
FlashEepromStatus FlashEEPROM::writeCRC(u32 CRC_NUM) {
static u32 next_address;
// 遍历Flash页面寻找下一个可写入crc的位置
for (u32 address = EEPROM_DATA_START_ADDRESS - SIZE_U32;
@@ -426,24 +95,11 @@ FlashEepromStatus FlashEEPROM::writeCRC(u32 CRC_NUM, bool saved) {
EEPROMStatus = fmc_status;
return FLASH_EEPROM_WRITE_ERROR;
}
} else {
// 空间不足，需要格式化页面
#if EEPDEBUG
printf("no enough space\r\n");
#endif
FlashEepromStatus status = format();
if (status == FLASH_EEPROM_OK) {
return status;
} else {
EEPROMStatus = FLASH_EEPROM_ERASE_ERROR;
return FLASH_EEPROM_ERASE_ERROR;
}
}
}
// 重新读取CRC校验
if (CRC_NUM == *((u32 *)next_address)) {
system_config_saved = saved; // 标记已保存过
EEPROMStatus = FLASH_EEPROM_OK; // 设置EEPROM状态
return FLASH_EEPROM_OK;
} else {