feat(can): 增加EEPROM状态码和系统配置保存功能

- 在CAN通信中增加EEPROM状态码字段，并通过CAN FD发送 - 实现Flash EEPROM对系统配置参数的CRC校验与保存 - 改进目标角度、速度等关键参数的读写逻辑，支持掉电保存 - 调整EEPROM地址映射，优化错误处理和状态反馈机制 - 修复CRC计算相关问题，增强数据可靠性
2025-12-18 18:23:34 +08:00
parent d6cf143e87
commit 7c2860f302
11 changed files with 546 additions and 225 deletions
@@ -1,17 +1,24 @@
 #include "flash.h"
+#include "DengFOC.h"
 #include "ang_sensor.h"
 #include "core_cmFunc.h"
 #include "gd32c10x_fmc.h"
 #include "math.h"
+#include <CRC.h>
 #include <Can.h>
 #include <cstdio>
+#include <cstdlib>
 #include <cstring>
 #include <stdint.h>

 FlashEEPROM flashEEP = FlashEEPROM();
 extern angle_sensor KTH7823;
 extern CAN_transmiter CAN0_transmiter;
+extern FOC_Controlroller FOC; // FOC控制
+extern CRC_Calculator CRC_Calculator;
 constexpr u8 SIZE_U32 = sizeof(uint32_t);
+constexpr u8 DEFAULT_VALUE = 0;
+constexpr u8 NUM_SAVED = 5;

 // FlashEEPROM类实现
 FlashEEPROM::FlashEEPROM() {
@@ -25,15 +32,70 @@ FlashEEPROM::FlashEEPROM() {
 */
 u8 FlashEEPROM::init() {
 	// 读取保存的参数
-	float angle;
-	// 尝试从Flash读取参数，如果不存在则使用默认值
-	if (readFloat(ADDR_ANGLE_DATA, &angle) != FLASH_EEPROM_OK) {
-		angle = 0; // 默认值
-		std::printf("角度初始化为: %f\r\n", angle);
-	} else {
-		std::printf("从Flash读取到角度数: %f\r\n", angle);
+	u32 CRC_NUM = 0x0000;
+	FlashEepromStatus status_read[NUM_SAVED + 1] = {FLASH_EEPROM_OK};
+	float angle = 0.0f;
+	float data[NUM_SAVED] = {FOC.target_angle, FOC.target_velocity,
+							 FOC.limit_voltage, (float)FOC.control_mode};
+	FlashEepromStatus status = FLASH_EEPROM_OK;
+	if (readFloat(ADDR_ANGLE, &angle) != FLASH_EEPROM_OK) {
+		angle = DEFAULT_VALUE; // 默认值
 	}
+
+	// 尝试从Flash读取参数，如果不存在则使用默认值
+	status_read[1] = readFloat(ADDR_TARGET_ANGLE, &data[0]);
+	status_read[2] = readFloat(ADDR_TARGET_VEL, &data[1]);
+	status_read[3] = readFloat(ADDR_VOLTAGE_LIMIT, &data[2]);
+	status_read[4] = readFloat(ADDR_CONTROL_MODE, &data[3]);
+
+	// 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];
+		}
+	}
+
+	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_END_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;
+				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;
+		}
+		CRC_NUM = CRC_Calculator::calculate(data, NUM_SAVED);
+
+		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];
+	}
+
 	KTH7823.angle_set(angle);
+	FOC.target_angle = data[0];
+	FOC.target_velocity = data[1];
+	FOC.limit_voltage = data[2];
+	FOC.control_mode = (u8)data[3];
 	return 0;
 }

@@ -45,7 +107,7 @@ u8 FlashEEPROM::init() {
 */
 FlashEepromStatus FlashEEPROM::read(u8 virtualAddr, u16 *data) const {
 	// 参数检查
-	if (data == nullptr or virtualAddr > 0xFE) {
+	if (data == nullptr) {
 		return FLASH_EEPROM_INVALID_ADDR;
 	}

@@ -63,8 +125,7 @@ FlashEepromStatus FlashEEPROM::read(u8 virtualAddr, u16 *data) const {
 			}
 		}
 	}
-	// 未找到指定虚拟地址的数据
-	return FLASH_EEPROM_NOT_FOUND;
+	return FLASH_EEPROM_DATA_NOT_FOUND;
 }

 /**
@@ -74,10 +135,11 @@ FlashEepromStatus FlashEEPROM::read(u8 virtualAddr, u16 *data) const {
 * @retval FlashEepromStatus: 操作状态
 */
 FlashEepromStatus FlashEEPROM::readFloat(u8 virtualAddr, float *data) const {
-	// 参数检查
-	if (data == nullptr or virtualAddr > 0xFE) {
+	// 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) {
@@ -87,14 +149,16 @@ FlashEepromStatus FlashEEPROM::readFloat(u8 virtualAddr, float *data) const {
 			u8 addr = (u8)(data_word & 0xFF);
 			// 找到匹配的虚拟地址
 			if (addr == virtualAddr) {
-				// 使用完整32位数据解释为float
-				memcpy(data, &data_word, sizeof(float));
+				// 清除最低的8位地址信息，保留高24位数据
+				u32 float_data = data_word & 0xFFFFFF00;
+				// 使用内存拷贝将处理后的数据解释为float
+				memcpy(data, &float_data, sizeof(float));
 				return FLASH_EEPROM_OK;
 			}
 		}
 	}
 	// 未找到指定虚拟地址的数据
-	return FLASH_EEPROM_NOT_FOUND;
+	return FLASH_EEPROM_DATA_NOT_FOUND;
 }

 /**
@@ -104,10 +168,6 @@ FlashEepromStatus FlashEEPROM::readFloat(u8 virtualAddr, float *data) const {
 * @retval FlashEepromStatus: 操作状态
 */
 FlashEepromStatus FlashEEPROM::write(u8 virtualAddr, u16 data) {
-	// 参数检查
-	if (virtualAddr > 0xFE) {
-		return FLASH_EEPROM_INVALID_ADDR;
-	}
 	// 查找下一个可写入的位置
 	u32 next_address = EEPROM_START_ADDRESS;

@@ -157,12 +217,14 @@ FlashEepromStatus FlashEEPROM::write(u8 virtualAddr, u16 data) {
 		fmc_state_enum fmc_status =
 			fmc_word_program(EEPROM_START_ADDRESS, new_data_word);

-		if (fmc_status != FMC_READY) {
+		if (fmc_status == FMC_READY)
+			return FLASH_EEPROM_OK;
+		if (fmc_status == FMC_PGAERR)
+			return FLASH_EEPROM_ALIGNMENT_ERROR;
+		else if (fmc_status != FMC_READY)
 			return FLASH_EEPROM_WRITE_ERROR;
-		}
-
-		return FLASH_EEPROM_OK;
 	}
+	return FLASH_EEPROM_WRITE_ERROR;
 }

 /**
@@ -172,10 +234,6 @@ FlashEepromStatus FlashEEPROM::write(u8 virtualAddr, u16 data) {
 * @retval FlashEepromStatus: 操作状态
 */
 FlashEepromStatus FlashEEPROM::writeFloat(u8 virtualAddr, float data) {
-	// 参数检查
-	if (virtualAddr > 0xFE) {
-		return FLASH_EEPROM_INVALID_ADDR;
-	}
 	// 查找下一个可写入的位置
 	u32 next_address = EEPROM_START_ADDRESS;

@@ -232,15 +290,18 @@ FlashEepromStatus FlashEEPROM::writeFloat(u8 virtualAddr, float data) {
 		memcpy(&data_word, &data, sizeof(float));
 		// 插入虚拟地址到低8位
 		data_word = (data_word & 0xFFFFFF00) | (u32)virtualAddr;
-
+		fmc_unlock();
 		fmc_state_enum fmc_status =
 			fmc_word_program(EEPROM_START_ADDRESS, data_word);
-
-		if (fmc_status != FMC_READY) {
+		fmc_lock();
+		if (fmc_status == FMC_READY)
+			return FLASH_EEPROM_OK;
+		if (fmc_status == FMC_PGAERR)
+			return FLASH_EEPROM_ALIGNMENT_ERROR;
+		else if (fmc_status != FMC_READY)
 			return FLASH_EEPROM_WRITE_ERROR;
-		}
-		return FLASH_EEPROM_OK;
 	}
+	return FLASH_EEPROM_WRITE_ERROR;
 }

 /**
@@ -276,7 +337,6 @@ FlashEepromStatus FlashEEPROM::format() {
 					break;
 				}
 			}
-
 			// 如果是新的虚拟地址/类型组合，添加到有效数据列表
 			if (!found && valid_count < (EEPROM_MAX_SIZE / SIZE_U32)) {
 				valid_entries[valid_count] =
@@ -291,7 +351,7 @@ FlashEepromStatus FlashEEPROM::format() {
 	if (fmc_status != FMC_READY) {
 		return FLASH_EEPROM_ERASE_ERROR;
 	}
-
+	fmc_unlock();
 	// 重新写入有效的数据项
 	for (u16 i = 0; i < valid_count; i++) {
 		fmc_status = fmc_word_program(EEPROM_START_ADDRESS + i * SIZE_U32,
@@ -300,17 +360,91 @@ FlashEepromStatus FlashEEPROM::format() {
 			return FLASH_EEPROM_WRITE_ERROR;
 		}
 	}
+	fmc_lock();

 	return FLASH_EEPROM_OK;
 }

-
 /**
 * @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(u16 config) {
-	write(ADDR_SYSTEM_CONFIG, config);
+FlashEepromStatus FlashEEPROM::save_system_config(bool saved) {
+	u32 CRC_NUM = 0x0000;
+	u32 next_address;
+	FlashEepromStatus status_save[NUM_SAVED] = {FLASH_EEPROM_OK};
+	float data[NUM_SAVED] = {FOC.target_angle, FOC.target_velocity,
+							 FOC.limit_voltage, (float)FOC.control_mode};
+
+	// 读取保存的参数
+	if (!system_config_saved) {
+		// 写入参数
+		status_save[0] = writeFloat(ADDR_TARGET_ANGLE, data[0]);
+		status_save[1] = writeFloat(ADDR_TARGET_VEL, data[1]);
+		status_save[2] = writeFloat(ADDR_VOLTAGE_LIMIT, data[2]);
+		status_save[3] = writeFloat(ADDR_CONTROL_MODE, data[3]);
+		for (FlashEepromStatus &p : status_save) {
+			if (p != FLASH_EEPROM_OK) {
+				EEPROMStatus = p;
+				return p;
+			}
+		}
+
+		CRC_NUM = CRC_Calculator.calculate(data, NUM_SAVED);
+		// 遍历Flash页面寻找下一个可写入位置
+		for (u32 address = EEPROM_END_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;
+				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_START_ADDRESS) {
+			fmc_unlock();
+			fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR);
+			fmc_state_enum fmc_status = fmc_word_program(next_address, CRC_NUM);
+			// printf("write address:0x%X,status:0x%x \r\n", next_address,
+			// 	   fmc_status);
+			// printf("CRC cmp1,0x%X_0x%x \r\n", CRC_NUM, *((u32
+			// *)next_address));
+			fmc_lock();
+		} else {
+			// 空间不足，需要格式化页面
+			FlashEepromStatus status = format();
+			if (status != FLASH_EEPROM_OK) {
+				return status;
+			}
+			// 格式化后在页面底部写入数据
+			fmc_unlock();
+			fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR);
+			fmc_state_enum fmc_status =
+				fmc_word_program(EEPROM_END_ADDRESS - SIZE_U32, CRC_NUM);
+			fmc_lock();
+			if (fmc_status == FMC_READY)
+				return FLASH_EEPROM_OK;
+			if (fmc_status == FMC_PGAERR)
+				return FLASH_EEPROM_ALIGNMENT_ERROR;
+			else if (fmc_status != FMC_READY)
+				return FLASH_EEPROM_WRITE_ERROR;
+		}
+		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
+		} else {
+			EEPROMStatus = FLASH_EEPROM_CRC_ERROR; // 设置EEPROM错误状态
+			return FLASH_EEPROM_CRC_ERROR;
+		}
+	}
+	EEPROMStatus = FLASH_EEPROM_OK;
+	return FLASH_EEPROM_OK;
 }

 /**
@@ -319,27 +453,30 @@ void FlashEEPROM::update_system_config(u16 config) {
 * @return FlashEepromStatus: 操作状态
 */
 FlashEepromStatus FlashEEPROM::save_angle(float angle, bool saved) {
-	float angle_read = 0;
-	FlashEepromStatus status = FLASH_EEPROM_ERROR;
+	float angle_read = DEFAULT_VALUE;
+	FlashEepromStatus status = FLASH_EEPROM_OK;

 	// 读取保存的参数
 	if (!angle_saved) {
 		// 写入参数
-		status = writeFloat(ADDR_ANGLE_DATA, angle);
+		status = writeFloat(ADDR_ANGLE, angle);
+		if (status != FLASH_EEPROM_OK) {
+			EEPROMStatus = status;
+			return status;
+		}

-		if (readFloat(ADDR_ANGLE_DATA, &angle_read) != FLASH_EEPROM_OK)
-			angle_read = 0; // 读不到角度值，存储失败
+		if (readFloat(ADDR_ANGLE, &angle_read) != FLASH_EEPROM_OK)
+			angle_read = DEFAULT_VALUE; // 读不到角度值，存储失败

-		if (fabsf(angle_read - angle) > 0.01 * angle) {
-			status = FLASH_EEPROM_WRITE_ERROR;
-			CAN0_transmiter.EEPROMStatus = 1; // 设置EEPROM错误状态
+		if (fabsf(angle_read - angle) > 0.01 * fabs(angle)) {
+			EEPROMStatus = FLASH_EEPROM_WRITE_ERROR; // 设置EEPROM错误状态
+			return FLASH_EEPROM_WRITE_ERROR;
 		} else {
-			angle_saved = saved;			  // 标记已保存过
-			CAN0_transmiter.EEPROMStatus = 0; // 设置EEPROM状态
+			angle_saved = saved;			// 标记已保存过
+			EEPROMStatus = FLASH_EEPROM_OK; // 设置EEPROM状态
 		}
-		printf("read:%f\r\n", angle_read);
 	}
-	return status;
+	return FLASH_EEPROM_OK;
 }

 /**
@@ -347,73 +484,9 @@ FlashEepromStatus FlashEEPROM::save_angle(float angle, bool saved) {
 * @return float: 角度数据
 */
 float FlashEEPROM::read_angle() {
-	float angle = 0;
-	if (readFloat(ADDR_ANGLE_DATA, &angle) != FLASH_EEPROM_OK) {
-		angle = 0;
+	float angle = DEFAULT_VALUE;
+	if (readFloat(ADDR_ANGLE, &angle) != FLASH_EEPROM_OK) {
+		angle = DEFAULT_VALUE;
 	}
-	return angle; // 默认返回0度
+	return angle;
 }
-
-/**
- * @brief 增加错误计数并保存到Flash
- */
-void FlashEEPROM::increment_error_count(void) {
-	u16 error_count = 0;
-
-	// 读取当前错误计数
-	FlashEepromStatus read_status = read(ADDR_ERROR_COUNT, &error_count);
-	if (read_status == FLASH_EEPROM_OK ||
-		read_status == FLASH_EEPROM_NOT_FOUND) {
-		// 增加错误计数（如果是NOT_FOUND，则error_count已经是0）
-		error_count++;
-
-		// 保存更新后的错误计数
-		write(ADDR_ERROR_COUNT, error_count);
-	}
-}
-
-/**
- * @brief 示例主函数 - 展示Flash EEPROM的使用方法
- */
-void flash_eeprom_example_main(void) {
-	std::printf("\r\n=== Flash EEPROM 使用示例 ===\r\n");
-
-	// 初始化Flash EEPROM
-	flashEEP.init();
-	// 模拟系统配置更新
-	std::printf("\r\n--- 更新系统配置 ---\r\n");
-	flashEEP.update_system_config(0x03);
-
-	// 模拟错误发生
-	std::printf("\r\n--- 模拟错误计数增加 ---\r\n");
-	flashEEP.increment_error_count();
-	flashEEP.increment_error_count();
-
-	// 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");
-	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);
-	// }
-
-	// if (flashEEP.read(ADDR_MOTOR_KI, &ki_value) == FLASH_EEPROM_OK) {
-	// 	std::printf("当前KI值: %d\r\n", ki_value);
-	// }
-
-	// if (flashEEP.read(ADDR_MOTOR_KD, &kd_value) == FLASH_EEPROM_OK) {
-	// 	std::printf("当前KD值: %d\r\n", kd_value);
-	// }
-
-	// if (flashEEP.read(ADDR_SYSTEM_CONFIG, &system_config) == FLASH_EEPROM_OK)
-	// { 	std::printf("当前系统配置: 0x%02X\r\n", system_config);
-	// }
-
-	// if (flashEEP.read(ADDR_ERROR_COUNT, &error_count) == FLASH_EEPROM_OK) {
-	// 	std::printf("当前错误计数: %d\r\n", error_count);
-	// }
-
-	std::printf("\r\n=== 示例结束 ===\r\n");
-}