nhan pham an / Hobbyking_Cheetah_Compact_DRV8323_StepDir

Fork and fix for mwork

Dependencies:   mbed-dev-f303 FastPWM3 millis

FlashWriter/FlashWriter.cpp@59:568e7be5232f, 2020-06-29 (annotated)

Committer:
annhandt09
Date:
Mon Jun 29 09:36:26 2020 +0000
Revision:
59:568e7be5232f
Parent:
23:2adf23ee0305 
add controller.p_des = controller.theta_mech - (controller.t_ff / controller.kp) ;  for first enable.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 23:2adf23ee0305 1 #include "stm32f4xx_flash.h"
benkatz 23:2adf23ee0305 2 #include "FlashWriter.h"
benkatz 23:2adf23ee0305 3
benkatz 23:2adf23ee0305 4 FlashWriter::FlashWriter(int sector) {
benkatz 23:2adf23ee0305 5 if (sector > 7) sector = 7;
benkatz 23:2adf23ee0305 6 __sector = sector;
benkatz 23:2adf23ee0305 7 __base = __SECTOR_ADDRS[sector];
benkatz 23:2adf23ee0305 8 __ready = false;
benkatz 23:2adf23ee0305 9 }
benkatz 23:2adf23ee0305 10
benkatz 23:2adf23ee0305 11 bool FlashWriter::ready() {
benkatz 23:2adf23ee0305 12 return __ready;
benkatz 23:2adf23ee0305 13 }
benkatz 23:2adf23ee0305 14
benkatz 23:2adf23ee0305 15 void FlashWriter::open() {
benkatz 23:2adf23ee0305 16 FLASH_Unlock();
benkatz 23:2adf23ee0305 17 FLASH_ClearFlag( FLASH_FLAG_EOP | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
benkatz 23:2adf23ee0305 18 FLASH_EraseSector(__SECTORS[__sector], VoltageRange_3);
benkatz 23:2adf23ee0305 19 __ready = true;
benkatz 23:2adf23ee0305 20 }
benkatz 23:2adf23ee0305 21
benkatz 23:2adf23ee0305 22 void FlashWriter::write(uint32_t index, int x) {
benkatz 23:2adf23ee0305 23 union {int a; uint32_t b;};
benkatz 23:2adf23ee0305 24 a = x;
benkatz 23:2adf23ee0305 25 FLASH_ProgramWord(__base + 4 * index, b);
benkatz 23:2adf23ee0305 26 }
benkatz 23:2adf23ee0305 27
benkatz 23:2adf23ee0305 28 void FlashWriter::write(uint32_t index, unsigned int x) {
benkatz 23:2adf23ee0305 29 FLASH_ProgramWord(__base + 4 * index, x);
benkatz 23:2adf23ee0305 30 }
benkatz 23:2adf23ee0305 31
benkatz 23:2adf23ee0305 32 void FlashWriter::write(uint32_t index, float x) {
benkatz 23:2adf23ee0305 33 union {float a; uint32_t b;};
benkatz 23:2adf23ee0305 34 a = x;
benkatz 23:2adf23ee0305 35 FLASH_ProgramWord(__base + 4 * index, b);
benkatz 23:2adf23ee0305 36 }
benkatz 23:2adf23ee0305 37
benkatz 23:2adf23ee0305 38 void FlashWriter::close() {
benkatz 23:2adf23ee0305 39 FLASH_Lock();
benkatz 23:2adf23ee0305 40 __ready = false;
benkatz 23:2adf23ee0305 41 }
benkatz 23:2adf23ee0305 42
benkatz 23:2adf23ee0305 43 int flashReadInt(uint32_t sector, uint32_t index) {
benkatz 23:2adf23ee0305 44 return *(int*) (__SECTOR_ADDRS[sector] + 4 * index);
benkatz 23:2adf23ee0305 45 }
benkatz 23:2adf23ee0305 46
benkatz 23:2adf23ee0305 47 uint32_t flashReadUint(uint32_t sector, uint32_t index) {
benkatz 23:2adf23ee0305 48 return *(uint32_t*) (__SECTOR_ADDRS[sector] + 4 * index);
benkatz 23:2adf23ee0305 49 }
benkatz 23:2adf23ee0305 50
benkatz 23:2adf23ee0305 51 float flashReadFloat(uint32_t sector, uint32_t index) {
benkatz 23:2adf23ee0305 52 return *(float*) (__SECTOR_ADDRS[sector] + 4 * index);
benkatz 23:2adf23ee0305 53 }