cbb
bdf03517b3
- 添加静默模式功能，在接收到base_id=0x0000消息时停止发送10秒 - 修正节点ID加载逻辑，区分有效节点ID(0-65534)和Flash擦除状态(0xFFFF) - 添加静默模式相关的状态检查和时间管理功能 - 在CAN通信检查中集成静默模式处理流程 fix(FOC): 修复速度控制中的方向参数应用 - 在velocity_control、angle_control_with_velocity_limit和MIT_Mode函数中 正确应用DIR参数调整速度误差的符号 - 添加详细注释说明DIR参数对速度误差计算的影响 refactor(systick): 添加毫秒级系统时间功能 - 实现get_systick_ms()函数提供毫秒级系统时间 - 添加SysTick中断处理程序更新系统时间计数器 chore(init): 调整初始化顺序优化系统启动流程 - 将EEPROM初始化移至CAN初始化之前，确保正确的依赖关系
791 lines
24 KiB
C++
791 lines
24 KiB
C++
#include "flash.h"
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#include "FOC.h"
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#include "ang_sensor.h"
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#include "config.h"
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#include "gd32c10x.h" // GD32 主头文件，确保外设函数声明可用
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#include "gd32c10x_crc.h"
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#include "gd32c10x_fmc.h"
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#include "systick.h"
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#include <Can.h>
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#include <cstdio>
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#include <cstring>
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// EEP 调试宏定义
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#if EEP_DEBUG
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#define EEP_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)
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#else
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#define EEP_DEBUG_PRINT(fmt, ...) ((void)0)
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#endif
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// OTA 调试宏定义
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#if OTA_DEBUG
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#define OTA_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)
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#else
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#define OTA_DEBUG_PRINT(fmt, ...) ((void)0)
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#endif
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FlashEEPROM flashEEP = FlashEEPROM();
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extern angle_sensor KTH7823;
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extern CAN_transmiter CAN0_transmiter;
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extern FOC_Controller FOC; // FOC 控制
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fmc_state_enum write_ADDRESS(u32 address, u32 data) {
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fmc_unlock();
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fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR);
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// 确保使用对齐地址
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fmc_state_enum fmc_status = fmc_word_program(address, data);
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fmc_lock();
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return fmc_status;
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}
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// FlashEEPROM 类实现
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FlashEEPROM::FlashEEPROM() {
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// 构造函数可以为空，或者做一些初始化工作
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}
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/**
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* @brief 初始化 Flash EEPROM 模拟
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* @param None
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* @retval None
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*/
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u8 FlashEEPROM::init() {
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rcu_periph_clock_enable(RCU_CRC);
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crc_deinit(); // 初始化 CRC 模块
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FlashEepromStatus status = FLASH_EEPROM_OK;
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// 读取系统配置
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read_saved_system_config();
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if (EEPROMStatus == FLASH_EEPROM_OK) {
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return FLASH_EEPROM_OK;
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} else {
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return FLASH_EEPROM_READ_ERROR;
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}
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return 1; // 正常不会返回这个，未预料的异常情况返回
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}
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/**
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* @brief 读取 EEPROM 数据
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* @param virtualAddr: 虚拟地址
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* @param data: 存储读取数据的指针
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* @retval EEPROMStatus: 是否成功
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*/
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u8 FlashEEPROM::read_saved_system_config(void) {
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// 读取保存的参数
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u32 CRC_NUM = 0x0000;
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FlashEepromStatus status_read[CONFIG_SAVED_NUM + 1] = {FLASH_EEPROM_OK};
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float data[CONFIG_SAVED_NUM] = {0.0f};
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// 尝试从 Flash 读取参数，如果不存在则使用默认值
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status_read[1] = readFloat(ADDR_CONTROL_MODE, &data[0]);
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status_read[2] = readFloat(ADDR_VOLTAGE_LIMIT, &data[1]);
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status_read[3] = readFloat(ADDR_VEL_LIMIT, &data[2]);
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status_read[4] = readFloat(ADDR_ANGLE, &data[3]);
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status_read[5] = readFloat(ADDR_TARGET_ANGLE, &data[4]);
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status_read[6] = readFloat(ADDR_TARGET_VEL, &data[5]);
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// 读取失败则使用默认值
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for (u8 i = 1; i < CONFIG_SAVED_NUM + 1; i++) {
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if (status_read[i] ==
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FLASH_EEPROM_DATA_NOT_FOUND) { // 首次读取，不保存报错
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data[i - 1] = DEFAULT_VALUE;
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} else if (status_read[i] != FLASH_EEPROM_OK) { // 其余错误，保存报错
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data[i - 1] = DEFAULT_VALUE;
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status_read[0] = status_read[i];
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}
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}
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// 读取到全部数据
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if (status_read[0] == FLASH_EEPROM_OK) {
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u32 next_address = EEPROM_END_ADDRESS;
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// 遍历 Flash 页面寻找下一个可写入位置
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for (u32 address = EEPROM_DATA_START_ADDRESS - SIZE_U32;
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address > EEPROM_START_ADDRESS; address -= SIZE_U32) {
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// 安全读取 Flash 数据
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volatile u32 *flash_ptr = (volatile u32 *)address;
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u32 data_word = *flash_ptr;
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// 找到空位置
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if (data_word == 0xFFFFFFFF) {
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next_address = address + SIZE_U32; // 上一个位置为有效存储的数据
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break;
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}
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// 更新下一个可能的写入位置（如果需要格式化）
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next_address = address - SIZE_U32;
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}
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if (next_address == EEPROM_DATA_START_ADDRESS) {
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// 从来没有存储过，直接返回
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return FLASH_EEPROM_OK;
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}
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crc_data_register_reset(); // 确保 CRC 计算从初始状态开始
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CRC_NUM = crc_block_data_calculate((uint32_t *)data, CONFIG_SAVED_NUM);
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EEP_DEBUG_PRINT("CRC cmp1,0x%X_0x%x \r\n", CRC_NUM,
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*((u32 *)next_address));
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if (CRC_NUM != *((u32 *)next_address)) { // CRC 错误
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for (u8 i = 0; i < CONFIG_SAVED_NUM; i++) {
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data[i] = DEFAULT_VALUE;
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}
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EEPROMStatus = FLASH_EEPROM_CRC_ERROR;
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} else { // CRC 正确
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EEPROMStatus = FLASH_EEPROM_OK;
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}
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} else {
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// 读取失败，报错
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EEPROMStatus = status_read[0];
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}
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KTH7823.angle_set(0);
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FOC.control_mode = (u8)data[0];
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FOC.limit_voltage = data[1];
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FOC.target_current = data[2];
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KTH7823.angle_set(data[3]);
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FOC.target_angle = data[4];
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FOC.target_velocity = data[5];
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return EEPROMStatus;
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}
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/**
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* @brief 从 Flash EEPROM 读取数据
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* @param virtualAddr: 虚拟地址
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* @param data: 指向存储读取数据的指针
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* @retval FlashEepromStatus: 操作状态
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*/
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FlashEepromStatus FlashEEPROM::read(u8 virtualAddr, u16 *data) const {
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// 参数检查
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if (data == nullptr) {
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return FLASH_EEPROM_INVALID_ADDR;
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}
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// 从 Flash 末尾开始向前搜索，找到最新的数据
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for (u32 address = EEPROM_END_ADDRESS - SIZE_U32;
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address >= EEPROM_START_ADDRESS; address -= SIZE_U32) {
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u32 data_word = *((u32 *)address);
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// 检查是否是有效数据（非擦除状态）
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if (data_word != 0xFFFFFFFF) {
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u8 addr = (u8)(data_word & DATA_ADDR_MASK);
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// 找到匹配的虚拟地址
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if (addr == virtualAddr) {
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// 右移 16 位以提取高 16 位的 u16 数据
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*data = (u16)((data_word & DATA_U16_MASK) >> 16);
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EEP_DEBUG_PRINT("read u16: addr=0x%x, val=%d\r\n", address, *data);
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return FLASH_EEPROM_OK;
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}
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}
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}
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return FLASH_EEPROM_DATA_NOT_FOUND;
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}
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/**
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* @brief 从 Flash EEPROM 读取 float 数据
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* @param virtualAddr: 虚拟地址
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* @param data: 指向存储读取数据的指针
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* @retval FlashEepromStatus: 操作状态
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*/
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FlashEepromStatus FlashEEPROM::readFloat(u8 virtualAddr, float *data) const {
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// 检查参数有效性
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if (data == nullptr) {
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return FLASH_EEPROM_INVALID_ADDR;
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}
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// 从 Flash 末尾开始向前搜索，找到最新的数据
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for (u32 address = EEPROM_END_ADDRESS - SIZE_U32;
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address >= EEPROM_START_ADDRESS; address -= SIZE_U32) {
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// 使用 volatile 确保每次都从内存读取，防止编译器优化
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volatile u32 *flash_ptr = (volatile u32 *)address;
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u32 data_word = *flash_ptr;
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// 检查是否是有效数据（非擦除状态）
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if (data_word != 0xFFFFFFFF) {
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u8 addr = (u8)(data_word & DATA_ADDR_MASK);
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// 找到匹配的虚拟地址
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if (addr == virtualAddr) {
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// 清除最低的 8 位地址信息，保留高 24 位数据
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u32 float_data = data_word & DATA_FLOAT_MASK;
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// 使用内存拷贝将处理后的数据解释为 float
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memcpy(data, &float_data, SIZE_FLOAT);
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EEP_DEBUG_PRINT("read:0x%x=%f\r\n", address, *data);
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return FLASH_EEPROM_OK;
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}
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}
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}
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// 未找到指定虚拟地址的数据
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return FLASH_EEPROM_DATA_NOT_FOUND;
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}
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/**
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* @brief 向 Flash EEPROM 写入数据
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* @param virtualAddr: 虚拟地址
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* @param data: 要写入的数据
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* @retval FlashEepromStatus: 操作状态
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*/
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FlashEepromStatus FlashEEPROM::write(u8 virtualAddr, u16 data) {
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// 查找下一个可写入的位置
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u32 next_address = EEPROM_START_ADDRESS;
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u32 data_read;
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// 构建要写入的 32 位数据：格式 [data:16bit][reserved:8bit][addr:8bit]
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u32 data_word_to_write = ((u32)data << 16) | (u32)virtualAddr;
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for (u32 address = EEPROM_END_ADDRESS - SIZE_U32;
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address >= EEPROM_DATA_START_ADDRESS; address -= SIZE_U32) {
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// 安全读取 Flash 数据
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volatile u32 *flash_ptr = (volatile u32 *)address;
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data_read = *flash_ptr;
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if ((data_read & DATA_ADDR_MASK) == (u32)virtualAddr) { // 虚拟地址相同
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if ((data_read & DATA_U16_MASK) ==
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(data_word_to_write & DATA_U16_MASK)) { // 数据相同
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#if EEP_DEBUG
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data_read = data_read & DATA_U16_MASK;
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u16 float_data_read = *((u16 *)&data_read);
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EEP_DEBUG_PRINT("Found data in:0x%x=%u\r\n", address,
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data_read);
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#endif
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return FLASH_EEPROM_OK;
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} else {
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break;
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}
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}
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}
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// 遍历 Flash 页面寻找下一个可写入位置
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for (u32 address = EEPROM_DATA_START_ADDRESS; address < EEPROM_END_ADDRESS;
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address += SIZE_U32) {
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// 安全读取 Flash 数据
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volatile u32 *flash_ptr = (volatile u32 *)address;
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u32 data_word = *flash_ptr;
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// 找到空位置
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if (data_word == 0xFFFFFFFF) {
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next_address = address;
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break;
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}
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// 更新下一个可能的写入位置（如果需要格式化）
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next_address = address + SIZE_U32;
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}
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// 如果有足够空间，直接写入
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if (next_address < EEPROM_END_ADDRESS) {
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fmc_state_enum fmc_status =
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write_ADDRESS(next_address, data_word_to_write);
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if (fmc_status != FMC_READY) {
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return FLASH_EEPROM_WRITE_ERROR;
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}
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return FLASH_EEPROM_OK;
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} else { // 空间不足，需要格式化页面
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EEP_DEBUG_PRINT("no enough space\r\n");
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FlashEepromStatus status = format();
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if (status == FLASH_EEPROM_OK) {
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status = save_system_config(false);
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return status;
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} else {
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return FLASH_EEPROM_ERASE_ERROR;
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}
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}
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}
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/**
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* @brief 向 Flash EEPROM 写入 float 数据
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* @param virtualAddr: 虚拟地址
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* @param data: 要写入的数据
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* @retval FlashEepromStatus: 操作状态
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*/
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FlashEepromStatus FlashEEPROM::writeFloat(u8 virtualAddr, float data) {
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// 查找下一个可写入的位置
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u32 next_address = EEPROM_START_ADDRESS;
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u32 data_word;
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// 将完整的 float 数据复制到 32 位变量中
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memcpy(&data_word, &data, SIZE_FLOAT);
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// 插入虚拟地址到低 8 位 格式：[data:24bit][addr:8bit]
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data_word = (data_word & DATA_FLOAT_MASK) | (u32)virtualAddr;
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// 从 Flash 末尾开始向前搜索，找到最新的数据
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for (u32 address = EEPROM_END_ADDRESS - SIZE_U32;
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address >= EEPROM_DATA_START_ADDRESS; address -= SIZE_U32) {
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// 安全读取 Flash 数据
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volatile u32 *flash_ptr = (volatile u32 *)address;
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u32 data_word_read = *flash_ptr;
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if ((data_word_read & DATA_ADDR_MASK) ==
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(u32)virtualAddr) { // 虚拟地址相同
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if ((data_word_read & DATA_FLOAT_MASK) ==
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(data_word & DATA_FLOAT_MASK)) { // 数据相同
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#if EEP_DEBUG
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data_word_read = data_word_read & DATA_FLOAT_MASK;
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float float_data_read = *((float *)&data_word_read);
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EEP_DEBUG_PRINT("Found data in:0x%x=%f\r\n", address,
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float_data_read);
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#endif
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return FLASH_EEPROM_OK;
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} else {
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break; // 找到相同地址但数据不同，需要更新
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}
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}
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}
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// 遍历 Flash 页面寻找下一个可写入位置
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for (u32 address = EEPROM_DATA_START_ADDRESS; address < EEPROM_END_ADDRESS;
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address += SIZE_U32) {
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// 安全读取 Flash 数据
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volatile u32 *flash_ptr = (volatile u32 *)address;
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u32 data_word_read = *flash_ptr;
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// 找到空位置
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if (data_word_read == 0xFFFFFFFF) {
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next_address = address;
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break;
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}
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// 更新下一个可能的写入位置（如果需要格式化）
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next_address = address + SIZE_U32;
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}
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// 如果有足够空间，直接写入
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if (next_address < EEPROM_END_ADDRESS) {
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fmc_state_enum fmc_status = write_ADDRESS(next_address, data_word);
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#if EEP_DEBUG
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u32 data_word_c = *((u32 *)next_address);
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data_word_c = data_word_c & DATA_FLOAT_MASK;
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float float_data = *((float *)&data_word_c);
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EEP_DEBUG_PRINT("save:0x%x=%f\r\n", next_address, float_data);
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#endif
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if (fmc_status != FMC_READY) {
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return FLASH_EEPROM_WRITE_ERROR;
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}
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return FLASH_EEPROM_OK;
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} else {
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// 空间不足，需要格式化页面
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#if EEP_DEBUG
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EEP_DEBUG_PRINT("no enough space\r\n");
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#endif
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FlashEepromStatus status = format();
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if (status == FLASH_EEPROM_OK) {
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status = save_system_config(false);
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return status;
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} else {
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return FLASH_EEPROM_ERASE_ERROR;
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}
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}
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}
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/**
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* @brief 格式化 Flash EEPROM 页面
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* @param None
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* @retval FlashEepromStatus: 操作状态
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*/
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FlashEepromStatus FlashEEPROM::format() {
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fmc_state_enum fmc_status;
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EEP_DEBUG_PRINT("擦除页面\r\n");
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fmc_unlock();
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fmc_status = fmc_page_erase(EEPROM_START_ADDRESS); // 擦除第一页
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if (fmc_status != FMC_READY) {
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fmc_lock();
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return FLASH_EEPROM_ERASE_ERROR;
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}
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fmc_status = fmc_page_erase(EEPROM_DATA_PAGE2_ADDRESS); // 擦除第二页
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if (fmc_status != FMC_READY) {
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fmc_lock();
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return FLASH_EEPROM_ERASE_ERROR;
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}
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fmc_lock();
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return FLASH_EEPROM_OK;
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}
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/**
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* @brief 更新系统配置并保存到 Flash
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* @param config 新的系统配置值
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*/
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FlashEepromStatus FlashEEPROM::save_system_config(bool saved) {
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u32 CRC_NUM = 0x0000;
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float data[CONFIG_SAVED_NUM] = {
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(float)FOC.control_mode, FOC.limit_voltage,
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FOC.target_current, FOC.rt_angle,
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FOC.target_angle, FOC.target_velocity};
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// 如果系统配置标记已保存，则无需再次保存
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if (system_config_saved) {
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EEPROMStatus = FLASH_EEPROM_OK;
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return FLASH_EEPROM_OK;
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}
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// 写入参数并检查错误
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FlashEepromStatus status;
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status = writeFloat(ADDR_CONTROL_MODE, data[0]);
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if (status != FLASH_EEPROM_OK) {
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EEPROMStatus = status;
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return status;
|
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}
|
||
|
||
status = writeFloat(ADDR_VOLTAGE_LIMIT, data[1]);
|
||
if (status != FLASH_EEPROM_OK) {
|
||
EEPROMStatus = status;
|
||
return status;
|
||
}
|
||
|
||
status = writeFloat(ADDR_VEL_LIMIT, data[2]);
|
||
if (status != FLASH_EEPROM_OK) {
|
||
EEPROMStatus = status;
|
||
return status;
|
||
}
|
||
|
||
status = writeFloat(ADDR_ANGLE, data[3]);
|
||
if (status != FLASH_EEPROM_OK) {
|
||
EEPROMStatus = status;
|
||
return status;
|
||
}
|
||
|
||
status = writeFloat(ADDR_TARGET_ANGLE, data[4]);
|
||
if (status != FLASH_EEPROM_OK) {
|
||
EEPROMStatus = status;
|
||
return status;
|
||
}
|
||
|
||
status = writeFloat(ADDR_TARGET_VEL, data[5]);
|
||
if (status != FLASH_EEPROM_OK) {
|
||
EEPROMStatus = status;
|
||
return status;
|
||
}
|
||
|
||
// 创建用于 CRC 计算的模拟数据数组，模拟实际存储到 Flash 中的数据格式
|
||
u32 crc_data_words[CONFIG_SAVED_NUM];
|
||
|
||
// 按照 writeFloat 函数的方式处理数据
|
||
for (u8 i = 0; i < CONFIG_SAVED_NUM; i++) {
|
||
// 将完整的 float 数据复制到 32 位变量中
|
||
memcpy(&crc_data_words[i], &data[i], SIZE_FLOAT);
|
||
// 去除最后 2 位精度
|
||
crc_data_words[i] = crc_data_words[i] & DATA_FLOAT_MASK;
|
||
}
|
||
|
||
crc_data_register_reset(); // 确保 CRC 计算从初始状态开始
|
||
CRC_NUM = crc_block_data_calculate(crc_data_words, CONFIG_SAVED_NUM);
|
||
writeCRC(CRC_NUM, saved);
|
||
|
||
EEPROMStatus = FLASH_EEPROM_OK;
|
||
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) {
|
||
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;
|
||
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;
|
||
}
|
||
|
||
// 如果当前 CRC 与现在的 crc 值不同，则写入
|
||
if (*((u32 *)next_address) != CRC_NUM) {
|
||
// 如果有足够空间，直接写入 crc 值
|
||
if (next_address > EEPROM_START_ADDRESS) {
|
||
fmc_state_enum fmc_status = write_ADDRESS(next_address, CRC_NUM);
|
||
EEP_DEBUG_PRINT("CRC cmp1,0x%X_0x%x \r\n", CRC_NUM,
|
||
*((u32 *)next_address));
|
||
// 检查写入是否成功
|
||
if (fmc_status != FMC_READY) {
|
||
EEPROMStatus = fmc_status;
|
||
return FLASH_EEPROM_WRITE_ERROR;
|
||
}
|
||
} else {
|
||
// 空间不足，需要格式化页面
|
||
EEP_DEBUG_PRINT("no enough space\r\n");
|
||
FlashEepromStatus status = format();
|
||
if (status == FLASH_EEPROM_OK) {
|
||
status = save_system_config(false);
|
||
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 {
|
||
EEPROMStatus = FLASH_EEPROM_CRC_ERROR; // 设置 EEPROM 错误状态
|
||
return FLASH_EEPROM_CRC_ERROR;
|
||
}
|
||
}
|
||
|
||
/**
|
||
* @brief 设置 OTA 配置参数到 Flash
|
||
*
|
||
* 此函数用于更新存储在 Flash 中的 OTA 相关标志位（如 APP 可用、启用、校验等）。
|
||
* GD32 的 Flash 特性是：只能将 1 写为 0，不能将 0 写为 1。若要将 0 写为
|
||
* 1，必须先擦除整个页面。
|
||
* 因此，本函数通过读取同一页内的所有参数，擦除该页，然后重新写入有效的参数来实现"写
|
||
* 1"操作。
|
||
*
|
||
* @param addr: 要设置的 Flash 地址
|
||
* @param data: 要写入的数据 (通常为 OTA_AVAL=0x00000000 或
|
||
* OTA_NOT_AVAL=0xFFFFFFFF)
|
||
* @retval FLASH_EEPROM_OK (0) 表示成功，其他值表示失败
|
||
*/
|
||
u8 OTA_SET(u32 addr, u32 data) {
|
||
EEP_DEBUG_PRINT("OTA_prepare write%08x at %08x\r\n", data, addr);
|
||
fmc_state_enum fmc_status;
|
||
u32 temp_val[OTA_CONFIG_NUM]; // 临时数组，用于存储当前所有配置参数的值
|
||
volatile u32 *flash_ptr = (volatile u32 *)addr;
|
||
|
||
// 1. 检查目标地址的值是否已与期望值相同，如果相同则无需操作
|
||
temp_val[0] = *flash_ptr;
|
||
if (temp_val[0] == data) {
|
||
return FLASH_EEPROM_OK; // 值已正确，直接返回成功
|
||
}
|
||
|
||
// 2. 尝试直接写入数据。这适用于将 1 修改为 0 的情况（因为 Flash 允许 1->0）
|
||
if (data == OTA_AVAL) {
|
||
fmc_status = write_ADDRESS(addr, data);
|
||
// 如果写入成功，则返回成功
|
||
if (fmc_status == FMC_READY) {
|
||
return FLASH_EEPROM_OK;
|
||
}
|
||
// 如果写入失败（例如地址已被写为 0），则继续执行后续的擦除 - 重写流程
|
||
}
|
||
|
||
// 3. 对于需要将 0 改回 1 的操作，必须先擦除整个 Flash 页
|
||
flash_ptr = (volatile u32 *)n_APP_LATEST_AVAL_ADDR;
|
||
temp_val[0] = *flash_ptr;
|
||
flash_ptr = (volatile u32 *)n_APP_BACKUP_AVAL_ADDR;
|
||
temp_val[1] = *flash_ptr;
|
||
flash_ptr = (volatile u32 *)n_APP_LATEST_EN_ADDR;
|
||
temp_val[2] = *flash_ptr;
|
||
flash_ptr = (volatile u32 *)n_APP_BACKUP_EN_ADDR;
|
||
temp_val[3] = *flash_ptr;
|
||
flash_ptr = (volatile u32 *)n_APP_LATEST_CHECK_ADDR;
|
||
temp_val[4] = *flash_ptr;
|
||
flash_ptr = (volatile u32 *)n_APP_BACKUP_CHECK_ADDR;
|
||
temp_val[5] = *flash_ptr;
|
||
|
||
EEP_DEBUG_PRINT("OTA_prepare write%08x at %08x\r\n", data, addr);
|
||
// 修复：完整输出所有 6 个配置项的值，便于调试
|
||
EEP_DEBUG_PRINT("LatestAval:0x%x, BackupAval:0x%x, LatestEn:0x%x, "
|
||
"BackupEn:0x%x, LatestCheck:0x%x, BackupCheck:0x%x\r\n",
|
||
temp_val[0], temp_val[1], temp_val[2], temp_val[3],
|
||
temp_val[4], temp_val[5]);
|
||
// 4. 擦除包含所有配置参数的 Flash 页
|
||
fmc_status = fmc_page_erase(n_APP_LATEST_AVAL_ADDR);
|
||
if (fmc_status != FMC_READY) {
|
||
EEP_DEBUG_PRINT("OTA_SET - Page erase failed! Status: %d\r\n",
|
||
fmc_status);
|
||
return FLASH_EEPROM_ERASE_ERROR;
|
||
}
|
||
|
||
// 5. 重新写入所有之前读取的配置项值（恢复原始状态）
|
||
// 注意：不包括当前正在设置的地址，因为它将在最后单独处理
|
||
for (int i = 0; i < OTA_CONFIG_NUM; i++) {
|
||
u32 current_addr = n_APP_LATEST_AVAL_ADDR + 4 * i;
|
||
if (current_addr != addr and temp_val[i] != OTA_NOT_AVAL) {
|
||
fmc_status = write_ADDRESS(current_addr, temp_val[i]);
|
||
if (fmc_status != FMC_READY) {
|
||
EEP_DEBUG_PRINT("OTA_SET - Write backup value %08X failed at "
|
||
"0x%08X!status:%d\r\n",
|
||
temp_val[i], current_addr, fmc_status);
|
||
return FLASH_EEPROM_WRITE_ERROR;
|
||
}
|
||
}
|
||
}
|
||
|
||
#if EEP_DEBUG
|
||
// 3. 对于需要将 0 改回 1 的操作，必须先擦除整个 Flash 页
|
||
flash_ptr = (volatile u32 *)n_APP_LATEST_AVAL_ADDR;
|
||
temp_val[0] = *flash_ptr;
|
||
flash_ptr = (volatile u32 *)n_APP_BACKUP_AVAL_ADDR;
|
||
temp_val[1] = *flash_ptr;
|
||
flash_ptr = (volatile u32 *)n_APP_LATEST_EN_ADDR;
|
||
temp_val[2] = *flash_ptr;
|
||
flash_ptr = (volatile u32 *)n_APP_BACKUP_EN_ADDR;
|
||
temp_val[3] = *flash_ptr;
|
||
flash_ptr = (volatile u32 *)n_APP_LATEST_CHECK_ADDR;
|
||
temp_val[4] = *flash_ptr;
|
||
flash_ptr = (volatile u32 *)n_APP_BACKUP_CHECK_ADDR;
|
||
temp_val[5] = *flash_ptr;
|
||
// 修复：完整输出所有 6 个配置项的值，便于调试
|
||
EEP_DEBUG_PRINT("LatestAval:0x%x, BackupAval:0x%x, LatestEn:0x%x, "
|
||
"BackupEn:0x%x, LatestCheck:0x%x, BackupCheck:0x%x\r\n",
|
||
temp_val[0], temp_val[1], temp_val[2], temp_val[3],
|
||
temp_val[4], temp_val[5]);
|
||
#endif
|
||
|
||
return FLASH_EEPROM_OK;
|
||
}
|
||
|
||
/**
|
||
* @brief 跳转应用处理模块
|
||
* @param 无
|
||
* @retval 无
|
||
*/
|
||
void jumpToBOOT() {
|
||
// 1. 关闭所有中断
|
||
__disable_irq();
|
||
for (int i = 0; i < 8; i++) {
|
||
NVIC->ICER[i] = 0xFFFFFFFF;
|
||
}
|
||
// 2. 重置外设（特别是 CAN，防止冲突）
|
||
can_deinit(CAN0);
|
||
|
||
// 3. 重置系统时钟到默认状态
|
||
rcu_system_clock_source_config(RCU_CKSYSSRC_IRC8M);
|
||
|
||
// 4. 关闭一些关键外设时钟
|
||
rcu_periph_clock_disable(RCU_GPIOA);
|
||
// rcu_periph_clock_disable(RCU_GPIOB);
|
||
rcu_periph_clock_disable(RCU_GPIOC);
|
||
rcu_periph_clock_disable(RCU_USART0);
|
||
rcu_periph_clock_disable(RCU_CAN0);
|
||
rcu_periph_clock_disable(RCU_TIMER0);
|
||
rcu_periph_clock_disable(RCU_DMA0);
|
||
|
||
// 5. 设置中断向量表偏移到应用程序起始地址
|
||
SCB->VTOR = BOOTLOADER_START_ADDR;
|
||
|
||
// 6. 设置 MSP 并跳转
|
||
uint32_t msp_value = *(__IO uint32_t *)BOOTLOADER_START_ADDR;
|
||
uint32_t reset_handler = *(__IO uint32_t *)(BOOTLOADER_START_ADDR + 4);
|
||
typedef void (*AppEntryFunc)(void);
|
||
AppEntryFunc app_entry = (AppEntryFunc)reset_handler;
|
||
__set_MSP(msp_value);
|
||
// 7. 跳转
|
||
app_entry();
|
||
|
||
// 如果程序执行到这里，说明跳转失败
|
||
EEP_DEBUG_PRINT("Jump to application failed!\r\n");
|
||
}
|
||
|
||
/**
|
||
* @brief 将 0x08011000 地址后 0xC000 大小区域内的数据搬运到 0x08005000 地址
|
||
* @param None
|
||
* @retval fmc_state_enum: 操作状态
|
||
*/
|
||
fmc_state_enum move_app_data() {
|
||
// 源地址：APPLATEST_START_ADDR (0x08011000)
|
||
// 目标地址：APPBACK_START_ADDR (0x08005000)
|
||
// 数据大小：APP_MAX_SIZE (0xC000 = 48KB)
|
||
|
||
fmc_state_enum fmc_status = FMC_READY;
|
||
OTA_DEBUG_PRINT("move_app_data\r\n");
|
||
// 关闭全局中断以防止 Flash 操作期间的中断干扰
|
||
__disable_irq();
|
||
fmc_unlock();
|
||
|
||
// 首先擦除目标地址的 Flash 页面
|
||
uint32_t num_pages =
|
||
(APP_MAX_SIZE + FMC_PAGE_SIZE - 1) / FMC_PAGE_SIZE; // 向上取整
|
||
|
||
for (uint32_t i = 0; i < num_pages; i++) {
|
||
uint32_t page_addr = APPBACK_START_ADDR + i * FMC_PAGE_SIZE;
|
||
|
||
// 擦除页面
|
||
fmc_status = fmc_page_erase(page_addr);
|
||
if (fmc_status != FMC_READY) {
|
||
fmc_lock();
|
||
#if OTA_DEBUG
|
||
OTA_DEBUG_PRINT("move_app_data erase error\r\n");
|
||
delay_1ms(1000);
|
||
#endif
|
||
__enable_irq(); // 重新开启中断
|
||
return fmc_status;
|
||
}
|
||
}
|
||
|
||
// 复制数据 - 按字（32 位）进行复制以提高效率
|
||
uint32_t offset = 0;
|
||
uint32_t write_count = 0; // 记录实际写入的字数
|
||
const uint32_t *src_ptr = (const uint32_t *)APPLATEST_START_ADDR;
|
||
uint32_t *dst_ptr = (uint32_t *)APPBACK_START_ADDR;
|
||
|
||
// 预计算源数据的 CRC，避免重复访问内存
|
||
crc_deinit();
|
||
crc_data_register_reset();
|
||
uint32_t src_crc = crc_block_data_calculate(
|
||
(uint32_t *)APPLATEST_START_ADDR, APP_MAX_SIZE / 4);
|
||
|
||
while (offset < APP_MAX_SIZE) {
|
||
uint32_t src_data = src_ptr[offset / 4];
|
||
|
||
// 检查源地址是否为有效的 Flash 数据（非 0xFFFFFFFF 表示有数据）
|
||
if (src_data != 0xFFFFFFFF) {
|
||
fmc_unlock();
|
||
// 清除之前的标志位
|
||
fmc_flag_clear(FMC_FLAG_END | FMC_FLAG_WPERR | FMC_FLAG_PGAERR |
|
||
FMC_FLAG_PGERR);
|
||
fmc_status =
|
||
fmc_word_program(APPBACK_START_ADDR + offset, src_data);
|
||
|
||
// 检查写入操作是否成功
|
||
if (fmc_status != FMC_READY) {
|
||
#if OTA_DEBUG
|
||
OTA_DEBUG_PRINT(
|
||
"Flash write failed at offset 0x%08X with status: %d\r\n",
|
||
offset, fmc_status);
|
||
delay_1ms(1000);
|
||
#endif
|
||
fmc_lock();
|
||
__enable_irq(); // 重新开启中断
|
||
return fmc_status;
|
||
}
|
||
write_count++;
|
||
}
|
||
offset += 4;
|
||
|
||
// 每写入一定数量的数据后，喂狗一次
|
||
if ((offset % 4096) == 0) { // 每 4KB 喂狗一次
|
||
fwdgt_counter_reload();
|
||
}
|
||
}
|
||
|
||
fmc_lock();
|
||
|
||
// 重新开启全局中断
|
||
__enable_irq();
|
||
crc_data_register_reset(); // 确保 CRC 计算从初始状态开始
|
||
|
||
// 计算目标数据的 CRC 值
|
||
uint32_t dst_crc = crc_block_data_calculate((uint32_t *)APPBACK_START_ADDR,
|
||
APP_MAX_SIZE / 4);
|
||
|
||
// 比较 CRC 值，确保数据完整性
|
||
if (src_crc != dst_crc) {
|
||
OTA_DEBUG_PRINT(
|
||
"APPbackup CRC mismatch: src_crc=0x%08X, dst_crc=0x%08X\r\n",
|
||
src_crc, dst_crc);
|
||
return (fmc_state_enum)0xFF; // CRC 校验失败
|
||
}
|
||
OTA_DEBUG_PRINT("APPbackup CRC OK\r\n");
|
||
// 设置备份应用可用标志
|
||
fmc_unlock();
|
||
OTA_SET(n_APP_BACKUP_AVAL_ADDR, OTA_AVAL);
|
||
OTA_SET(n_APP_BACKUP_CHECK_ADDR, OTA_AVAL);
|
||
fmc_lock();
|
||
|
||
return fmc_status;
|
||
} |