From 02572df688547fc9f2833284f4ec0248f7f56f3e Mon Sep 17 00:00:00 2001 From: cbb <2625274797@qq.com> Date: Wed, 17 Dec 2025 01:38:48 +0800 Subject: [PATCH] =?UTF-8?q?fix(flash):=20=E4=BC=98=E5=8C=96Flash=20EEPROM?= =?UTF-8?q?=E8=AF=BB=E5=86=99=E9=80=BB=E8=BE=91=E5=B9=B6=E4=BF=AE=E5=A4=8D?= =?UTF-8?q?=E8=A7=92=E5=BA=A6=E4=BF=9D=E5=AD=98=E9=97=AE=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 移除调试打印语句，改进Flash读写稳定性。 使用类型别名统一数据访问，增强代码可读性。 修正CAN通信中角度保存逻辑，确保正确写入实时角度值。 完善错误处理机制，增加对齐检查和状态反馈。 调整EEPROM起始地址以避免潜在冲突。 --- Robot_V2/RTE/Device/GD32C103CB/gd32c10x_fmc.c | 1 - Robot_V2/device/Can.cpp | 2 +- Robot_V2/sys/flash.cpp | 157 ++++++++---------- Robot_V2/sys/flash.h | 15 +- 4 files changed, 77 insertions(+), 98 deletions(-) diff --git a/Robot_V2/RTE/Device/GD32C103CB/gd32c10x_fmc.c b/Robot_V2/RTE/Device/GD32C103CB/gd32c10x_fmc.c index d9d1a58..7f29736 100644 --- a/Robot_V2/RTE/Device/GD32C103CB/gd32c10x_fmc.c +++ b/Robot_V2/RTE/Device/GD32C103CB/gd32c10x_fmc.c @@ -330,7 +330,6 @@ fmc_state_enum fmc_doubleword_program(uint32_t address, uint64_t data) fmc_state_enum fmc_word_program(uint32_t address, uint32_t data) { fmc_state_enum fmc_state = fmc_ready_wait(FMC_TIMEOUT_COUNT); - printf("fmc_status: 0x%x\r\n", fmc_state); if(FMC_READY == fmc_state){ /* set the PG bit to start program */ diff --git a/Robot_V2/device/Can.cpp b/Robot_V2/device/Can.cpp index 6b1e4cf..82859ea 100644 --- a/Robot_V2/device/Can.cpp +++ b/Robot_V2/device/Can.cpp @@ -696,7 +696,7 @@ void CAN_transmiter::communication_check() { FOC.target_velocity = target_velocity_union.f; } else if (receive_message.rx_efid == 0x00010301) { motor_reset(); - flashEEP.save_angle(666, false); + flashEEP.save_angle((u16)FOC.rt_angle, false); } else { printf("Unknown CAN ID: %X\n", receive_message.rx_efid); } diff --git a/Robot_V2/sys/flash.cpp b/Robot_V2/sys/flash.cpp index f26a71b..ea93778 100644 --- a/Robot_V2/sys/flash.cpp +++ b/Robot_V2/sys/flash.cpp @@ -9,6 +9,7 @@ FlashEEPROM flashEEP = FlashEEPROM(); extern angle_sensor KTH7823; extern CAN_transmiter CAN0_transmiter; +constexpr u8 SIZE_U32 = sizeof(uint32_t); // FlashEEPROM类实现 FlashEEPROM::FlashEEPROM() { @@ -21,12 +22,8 @@ FlashEEPROM::FlashEEPROM() { * @retval None */ u8 FlashEEPROM::init() { - // 解锁Flash - fmc_unlock(); - // 读取保存的参数 u16 angle; - // 尝试从Flash读取参数，如果不存在则使用默认值 if (read(ADDR_ANGLE_DATA, &angle) != FLASH_EEPROM_OK) { angle = 0; // 默认值 @@ -34,9 +31,7 @@ u8 FlashEEPROM::init() { } else { std::printf("从Flash读取到角度数: %d\r\n", angle); } - KTH7823.angle_set((float)angle); - // save_angle(200, false); // 重置保存标志以允许再次保存 return 0; } @@ -46,31 +41,26 @@ u8 FlashEEPROM::init() { * @param data: 指向存储读取数据的指针 * @retval FlashEepromStatus: 操作状态 */ -FlashEepromStatus FlashEEPROM::read(uint16_t virtualAddr, - uint16_t *data) const { +FlashEepromStatus FlashEEPROM::read(u16 virtualAddr, u16 *data) const { // 检查参数有效性 - if (data == nullptr || virtualAddr == 0xFFFF) { - return FLASH_EEPROM_ERROR; + if (data == nullptr || virtualAddr > 0xFFFE) { + return FLASH_EEPROM_INVALID_ADDR; } // 从Flash末尾开始向前搜索，找到最新的数据 - for (uint32_t address = EEPROM_END_ADDRESS - sizeof(uint32_t); - address >= EEPROM_START_ADDRESS; address -= sizeof(uint32_t)) { - - uint32_t data_word = *((uint32_t *)address); - + 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) { - uint16_t addr = (uint16_t)(data_word & 0xFFFF); - + u16 addr = (u16)(data_word & 0xFFFF); // 找到匹配的虚拟地址 if (addr == virtualAddr) { - *data = (uint16_t)((data_word >> 16) & 0xFFFF); + *data = (u16)((data_word >> 16) & 0xFFFF); return FLASH_EEPROM_OK; } } } - // 未找到指定虚拟地址的数据 return FLASH_EEPROM_NOT_FOUND; } @@ -81,47 +71,45 @@ FlashEepromStatus FlashEEPROM::read(uint16_t virtualAddr, * @param data: 要写入的数据 * @retval FlashEepromStatus: 操作状态 */ -FlashEepromStatus FlashEEPROM::write(uint16_t virtualAddr, uint16_t data) { +FlashEepromStatus FlashEEPROM::write(u16 virtualAddr, u16 data) { // 参数检查 - if (virtualAddr == 0xFFFF) { + if (virtualAddr > 0xFFFE) { return FLASH_EEPROM_INVALID_ADDR; } - // 查找下一个可写入的位置 - uint32_t next_address = EEPROM_START_ADDRESS; + u32 next_address = EEPROM_START_ADDRESS; // 遍历Flash页面寻找下一个可写入位置 - for (uint32_t address = EEPROM_START_ADDRESS; address < EEPROM_END_ADDRESS; - address += sizeof(uint32_t)) { + for (u32 address = EEPROM_START_ADDRESS; address < EEPROM_END_ADDRESS; + address += SIZE_U32) { - uint32_t data_word = *((uint32_t *)address); - - // 如果找到已使用的地址且与要写入的地址相同，检查数据是否需要更新 - if ((data_word & 0xFFFF) == virtualAddr) { - uint16_t old_data = (uint16_t)((data_word >> 16) & 0xFFFF); - if (old_data == data) { - // 数据相同，无需更新 - return FLASH_EEPROM_OK; - } - } + // 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 + sizeof(uint32_t); + next_address = address + SIZE_U32; } // 如果有足够空间，直接写入 if (next_address < EEPROM_END_ADDRESS) { - u32 new_data_word = ((u32)data << 16) | (virtualAddr & 0xFFFF); - fmc_state_enum fmc_status = - fmc_word_program(next_address, new_data_word); + 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); + + // 确保使用对齐地址 + fmc_state_enum fmc_status = fmc_word_program(next_address, data_word); + + 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 @@ -131,8 +119,7 @@ FlashEepromStatus FlashEEPROM::write(uint16_t virtualAddr, uint16_t data) { } // 格式化后在页面开头写入数据 - uint32_t new_data_word = - ((uint32_t)data << 16) | (virtualAddr & 0xFFFF); + u32 new_data_word = ((u32)data << 16) | (virtualAddr & 0xFFFF); fmc_state_enum fmc_status = fmc_word_program(EEPROM_START_ADDRESS, new_data_word); @@ -153,35 +140,34 @@ FlashEepromStatus FlashEEPROM::format() { fmc_state_enum fmc_status; // 创建临时缓冲区存储唯一地址的最新数据 - uint32_t valid_entries[EEPROM_MAX_SIZE / sizeof(uint32_t)]; - uint16_t valid_count = 0; + u32 valid_entries[EEPROM_MAX_SIZE / SIZE_U32]; + u16 valid_count = 0; // 收集有效的数据项（去重，保留最新的） - for (uint32_t address = EEPROM_START_ADDRESS; address < EEPROM_END_ADDRESS; - address += sizeof(uint32_t)) { - - uint32_t data_word = *((uint32_t *)address); + for (u32 address = EEPROM_START_ADDRESS; address < EEPROM_END_ADDRESS; + address += SIZE_U32) { + u32 data_word = *((u32 *)address); // 检查是否是有效数据项 if (data_word != 0xFFFFFFFF) { - uint16_t addr = (uint16_t)(data_word & 0xFFFF); - uint16_t value = (uint16_t)((data_word >> 16) & 0xFFFF); + u16 addr = (u16)(data_word & 0xFFFF); + u16 value = (u16)((data_word >> 16) & 0xFFFF); // 查找是否已经有相同虚拟地址的数据项 uint8_t found = 0; - for (uint16_t i = 0; i < valid_count; i++) { - uint16_t existing_addr = (uint16_t)(valid_entries[i] & 0xFFFF); + for (u16 i = 0; i < valid_count; i++) { + u16 existing_addr = (u16)(valid_entries[i] & 0xFFFF); if (existing_addr == addr) { // 更新为最新的数据 - valid_entries[i] = ((uint32_t)value << 16) | addr; + valid_entries[i] = ((u32)value << 16) | addr; found = 1; break; } } // 如果是新的虚拟地址，添加到有效数据列表 - if (!found && valid_count < (EEPROM_MAX_SIZE / sizeof(uint32_t))) { - valid_entries[valid_count] = ((uint32_t)value << 16) | addr; + if (!found && valid_count < (EEPROM_MAX_SIZE / SIZE_U32)) { + valid_entries[valid_count] = ((u32)value << 16) | addr; valid_count++; } } @@ -194,9 +180,9 @@ FlashEepromStatus FlashEEPROM::format() { } // 重新写入有效的数据项 - for (uint16_t i = 0; i < valid_count; i++) { - fmc_status = fmc_word_program( - EEPROM_START_ADDRESS + i * sizeof(uint32_t), valid_entries[i]); + for (u16 i = 0; i < valid_count; i++) { + fmc_status = fmc_word_program(EEPROM_START_ADDRESS + i * SIZE_U32, + valid_entries[i]); if (fmc_status != FMC_READY) { return FLASH_EEPROM_WRITE_ERROR; } @@ -211,7 +197,7 @@ FlashEepromStatus FlashEEPROM::format() { * @param ki 新的KI值 * @param kd 新的KD值 */ -void FlashEEPROM::update_pid_parameters(uint16_t kp, uint16_t ki, uint16_t kd) { +void FlashEEPROM::update_pid_parameters(u16 kp, u16 ki, u16 kd) { write(ADDR_MOTOR_KP, kp); write(ADDR_MOTOR_KI, ki); write(ADDR_MOTOR_KD, kd); @@ -221,7 +207,7 @@ void FlashEEPROM::update_pid_parameters(uint16_t kp, uint16_t ki, uint16_t kd) { * @brief 更新系统配置并保存到Flash * @param config 新的系统配置值 */ -void FlashEEPROM::update_system_config(uint16_t config) { +void FlashEEPROM::update_system_config(u16 config) { write(ADDR_SYSTEM_CONFIG, config); } @@ -230,36 +216,27 @@ void FlashEEPROM::update_system_config(uint16_t config) { * @param angle 角度数据 * @return FlashEepromStatus: 操作状态 */ -FlashEepromStatus FlashEEPROM::save_angle(float angle, - bool saved) { // 解锁Flash - // 解锁Flash - fmc_unlock(); - - // 读取保存的参数 - u16 angle2; - - // 尝试从Flash读取参数，如果不存在则使用默认值 - if (read(ADDR_ANGLE_DATA, &angle2) != FLASH_EEPROM_OK) { - angle = 0; // 默认值 - std::printf("角度初始化为: %d\r\n", angle2); - } else { - std::printf("从Flash读取到角度数: %d\r\n", angle2); - } +FlashEepromStatus FlashEEPROM::save_angle(u16 angle, bool saved) { + u16 angle_read = 0; + FlashEepromStatus status = FLASH_EEPROM_ERROR; // 读取保存的参数 if (!angle_saved) { - printf("saved_angle: %u\r\n", (u16)angle); - FlashEepromStatus status = write(ADDR_ANGLE_DATA, (u16)angle); - if (status == FLASH_EEPROM_OK) { + // 写入参数 + status = write(ADDR_ANGLE_DATA, angle); + + if (read(ADDR_ANGLE_DATA, &angle_read) != FLASH_EEPROM_OK) + angle_read = 0; // 读不到角度值，存储失败 + + if (angle_read != angle) { + status = FLASH_EEPROM_WRITE_ERROR; + CAN0_transmiter.EEPROMStatus = 1; // 设置EEPROM错误状态 + } else { angle_saved = saved; // 标记已保存过 CAN0_transmiter.EEPROMStatus = 0; // 设置EEPROM状态 - } else { - CAN0_transmiter.EEPROMStatus = 1; // 设置EEPROM错误状态 } - CAN0_transmiter.testfloat_union.f = status; // CAN发送测试 - return status; } - return FLASH_EEPROM_OK; // 已保存过，直接返回 + return status; } /** @@ -268,17 +245,17 @@ FlashEepromStatus FlashEEPROM::save_angle(float angle, */ float FlashEEPROM::read_angle() { u16 angle = 0; - if (read(ADDR_ANGLE_DATA, &angle) == FLASH_EEPROM_OK) { - return (float)angle; + if (read(ADDR_ANGLE_DATA, &angle) != FLASH_EEPROM_OK) { + angle = 0; } - return 0.0f; // 默认返回0度 + return (float)angle; // 默认返回0度 } /** * @brief 增加错误计数并保存到Flash */ void FlashEEPROM::increment_error_count(void) { - uint16_t error_count = 0; + u16 error_count = 0; // 读取当前错误计数 FlashEepromStatus read_status = read(ADDR_ERROR_COUNT, &error_count); @@ -316,9 +293,9 @@ void flash_eeprom_example_main(void) { // 再次读取参数验证保存是否成功 std::printf("\r\n--- 验证保存的数据 ---\r\n"); - uint16_t kp_value, ki_value, kd_value; - uint16_t system_config; - uint16_t error_count; + u16 kp_value, ki_value, kd_value; + u16 system_config; + u16 error_count; // if (flashEEP.read(ADDR_MOTOR_KP, &kp_value) == FLASH_EEPROM_OK) { // std::printf("当前KP值: %d\r\n", kp_value); diff --git a/Robot_V2/sys/flash.h b/Robot_V2/sys/flash.h index c018c7d..7e6025c 100644 --- a/Robot_V2/sys/flash.h +++ b/Robot_V2/sys/flash.h @@ -3,6 +3,9 @@ #include "gd32c10x.h" #include +#include +// 修改后 - 强制4字节对齐 +#define ALIGN_4BYTE(addr) ((addr) & 0xFFFFFFFC) // 4字节对齐 // EEPROM操作状态 typedef enum { @@ -11,13 +14,14 @@ typedef enum { FLASH_EEPROM_NOT_FOUND, // 未找到指定数据 FLASH_EEPROM_INVALID_ADDR, // 无效地址 FLASH_EEPROM_WRITE_ERROR, // 写入错误 - FLASH_EEPROM_ERASE_ERROR // 擦除错误 + FLASH_EEPROM_ERASE_ERROR, // 擦除错误 + FLASH_EEPROM_ALIGNMENT_ERROR,// 对齐错误 } FlashEepromStatus; // Flash EEPROM类 class FlashEEPROM { - public: - // EEPROM emulation constants + public: + // EEPROM emulation constants static constexpr uint32_t EEPROM_START_ADDRESS = 0x0801F800; // Flash最后一页(2KB) static constexpr uint32_t EEPROM_END_ADDRESS = 0x08020000; // Flash结束地址 @@ -32,7 +36,7 @@ class FlashEEPROM { static constexpr uint16_t ADDR_ERROR_COUNT = 0x0030; // 错误计数地址 // 角度数据存储地址 - static constexpr u16 ADDR_ANGLE_DATA = 0x0021; + static constexpr u16 ADDR_ANGLE_DATA = 0x0013; bool angle_saved = false; // 构造函数 FlashEEPROM(); @@ -53,11 +57,10 @@ class FlashEEPROM { void update_pid_parameters(uint16_t kp, uint16_t ki, uint16_t kd); void update_system_config(uint16_t config); void increment_error_count(void); - FlashEepromStatus save_angle(float angle,bool saved); + FlashEepromStatus save_angle(u16 angle, bool saved); float read_angle(); private: - }; void flash_eeprom_example_main(void);