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Merge pull request #36 from tridge/pr-DroneCAN-support
Added DroneCAN support
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,55 +1,60 @@ | ||
| #include "eeprom.h" | ||
| #include "targets.h" | ||
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| #include <string.h> | ||
| #include <stdbool.h> | ||
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| //#pragma GCC optimize("O0") | ||
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| #include "at32f415_flash.h" | ||
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| // #define APP_START (uint32_t)0x08001000 | ||
| // #define FLASH_STORAGE 0x08005000 // at the 31kb mark | ||
| #define page_size 0x400 // 1 kb for f051 | ||
| // uint32_t FLASH_FKEY1 =0x45670123; | ||
| // uint32_t FLASH_FKEY2 =0xCDEF89AB; | ||
| /* | ||
| the F415 can be either 1k or 2k sector size. The 256k flash part has | ||
| 2k sector size. We only support ESCs with 128k flash or less, so 1k | ||
| sector size, but it is useful to work with 2k sector size when using | ||
| a F415 dev board like the AT-Start F415, so we detect here. | ||
| */ | ||
| static inline uint32_t sector_size() | ||
| { | ||
| const uint16_t *F_SIZE = (const uint16_t *)0x1FFFF7E0; | ||
| if (*F_SIZE <= 128) { | ||
| // 1k sectors for 128k flash or less | ||
| return 1024; | ||
| } | ||
| // 256k flash is 2k sectors | ||
| return 2048; | ||
| } | ||
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| void save_flash_nolib(uint8_t* data, int length, uint32_t add) | ||
| { /// todo | ||
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| // fmc_wscnt_set(2); | ||
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| // fmc_prefetch_enable(); | ||
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| uint32_t data_to_FLASH[length / 4]; | ||
| memset(data_to_FLASH, 0, length / 4); | ||
| for (int i = 0; i < length / 4; i++) { | ||
| data_to_FLASH[i] = data[i * 4 + 3] << 24 | data[i * 4 + 2] << 16 | data[i * 4 + 1] << 8 | data[i * 4]; // make 16 bit | ||
| { | ||
| if ((add & 0x3) != 0 || (length & 0x3) != 0) { | ||
| return; | ||
| } | ||
| volatile uint32_t data_length = length / 4; | ||
| /* | ||
| we need the data to be 32 bit aligned | ||
| */ | ||
| const uint32_t word_length = length / 4; | ||
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| // unlock flash | ||
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| flash_unlock(); | ||
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| // erase page if address even divisable by 1024 | ||
| if ((add % 1024) == 0) { | ||
| flash_sector_erase(add); | ||
| // erase page if address even divisable by sector size | ||
| if ((add % sector_size()) == 0) { | ||
| flash_sector_erase(add); | ||
| } | ||
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| volatile uint32_t index = 0; | ||
| while (index < data_length) { | ||
| // fmc_word_program(add + (index*4),data_to_FLASH[index]); | ||
| flash_word_program(add + (index * 4), data_to_FLASH[index]); | ||
| // fmc_flag_clear(FMC_FLAG_END | | ||
| // FMC_FLAG_WPERR | | ||
| // FMC_FLAG_PGERR); | ||
| flash_flag_clear(FLASH_PROGRAM_ERROR | FLASH_EPP_ERROR | FLASH_OPERATE_DONE); | ||
| uint32_t index = 0; | ||
| while (index < word_length) { | ||
| uint32_t word; | ||
| memcpy(&word, &data[index*4], sizeof(word)); | ||
| flash_word_program(add + (index * 4), word); | ||
| flash_flag_clear(FLASH_PROGRAM_ERROR | FLASH_EPP_ERROR | FLASH_OPERATE_DONE); | ||
| index++; | ||
| } | ||
| flash_lock(); | ||
| } | ||
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| void read_flash_bin(uint8_t* data, uint32_t add, int out_buff_len) | ||
| { | ||
| // volatile uint32_t read_data; | ||
| for (int i = 0; i < out_buff_len; i++) { | ||
| data[i] = *(uint8_t*)(add + i); | ||
| } | ||
| } | ||
| memcpy(data, (void*)add, out_buff_len); | ||
| } |
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